add_mask_image.cpp
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1 // -*- mode: c++ -*-
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35 
37 #include <boost/assign.hpp>
39 #include <opencv2/opencv.hpp>
40 #include <cv_bridge/cv_bridge.h>
42 
43 namespace jsk_perception
44 {
46  {
47  DiagnosticNodelet::onInit();
48  pnh_->param("approximate_sync", approximate_sync_, false);
49  pub_ = advertise<sensor_msgs::Image>(
50  *pnh_, "output", 1);
52  }
53 
55  {
56  sub_src1_.subscribe(*pnh_, "input/src1", 1);
57  sub_src2_.subscribe(*pnh_, "input/src2", 1);
58  if (approximate_sync_) {
59  async_ = boost::make_shared<message_filters::Synchronizer<ApproxSyncPolicy> >(100);
60  async_->connectInput(sub_src1_, sub_src2_);
61  async_->registerCallback(boost::bind(&AddMaskImage::add, this, _1, _2));
62  }
63  else {
64  sync_ = boost::make_shared<message_filters::Synchronizer<SyncPolicy> >(100);
65  sync_->connectInput(sub_src1_, sub_src2_);
66  sync_->registerCallback(boost::bind(&AddMaskImage::add, this, _1, _2));
67  }
68  ros::V_string names = boost::assign::list_of("~input/src1")("~input/src2");
70  }
71 
73  {
76  }
77 
79  const sensor_msgs::Image::ConstPtr& src1_msg,
80  const sensor_msgs::Image::ConstPtr& src2_msg)
81  {
82  cv::Mat src1 = cv_bridge::toCvShare(
83  src1_msg, src1_msg->encoding)->image;
84  cv::Mat src2 = cv_bridge::toCvShare(
85  src2_msg, src2_msg->encoding)->image;
86  cv::Mat result;
87  cv::add(src1, src2, result);
88  pub_.publish(
89  cv_bridge::CvImage(src1_msg->header,
91  result).toImageMsg());
92  }
93 
94 }
95 
96 
CvImageConstPtr toCvShare(const sensor_msgs::ImageConstPtr &source, const std::string &encoding=std::string())
message_filters::Subscriber< sensor_msgs::Image > sub_src1_
void publish(const boost::shared_ptr< M > &message) const
message_filters::Subscriber< sensor_msgs::Image > sub_src2_
std::vector< std::string > V_string
result
virtual void add(const sensor_msgs::Image::ConstPtr &src1_msg, const sensor_msgs::Image::ConstPtr &src2_msg)
boost::shared_ptr< ros::NodeHandle > pnh_
bool warnNoRemap(const std::vector< std::string > names)
void subscribe(ros::NodeHandle &nh, const std::string &topic, uint32_t queue_size, const ros::TransportHints &transport_hints=ros::TransportHints(), ros::CallbackQueueInterface *callback_queue=0)
PLUGINLIB_EXPORT_CLASS(jsk_perception::AddMaskImage, nodelet::Nodelet)
boost::shared_ptr< message_filters::Synchronizer< SyncPolicy > > sync_
sensor_msgs::ImagePtr toImageMsg() const
boost::shared_ptr< message_filters::Synchronizer< ApproxSyncPolicy > > async_


jsk_perception
Author(s): Manabu Saito, Ryohei Ueda
autogenerated on Mon May 3 2021 03:03:27