gaussian_blur.cpp

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// -*- mode: c++ -*-
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#include "jsk_perception/gaussian_blur.h"
#include <boost/assign.hpp>
#include <jsk_topic_tools/log_utils.h>
#include <sensor_msgs/image_encodings.h>
#include <cv_bridge/cv_bridge.h>
#include <opencv2/opencv.hpp>

namespace jsk_perception
{
  void GaussianBlur::onInit()
  {
    DiagnosticNodelet::onInit();
    srv_ = boost::make_shared <dynamic_reconfigure::Server<Config> > (*pnh_);
    dynamic_reconfigure::Server<Config>::CallbackType f =
      boost::bind (&GaussianBlur::configCallback, this, _1, _2);
    srv_->setCallback (f);

    pub_ = advertise<sensor_msgs::Image>(*pnh_, "output", 1);
    onInitPostProcess();
  }

  void GaussianBlur::subscribe()
  {
    sub_ = pnh_->subscribe("input", 1, &GaussianBlur::apply, this);
    ros::V_string names = boost::assign::list_of("~input");
    jsk_topic_tools::warnNoRemap(names);
  }

  void GaussianBlur::unsubscribe()
  {
    sub_.shutdown();
  }

  void GaussianBlur::configCallback(
    Config &config, uint32_t level)
  {
    boost::mutex::scoped_lock lock(mutex_);
    kernel_size_ = config.kernel_size;
    sigma_x_ = config.sigma_x;
    sigma_y_ = config.sigma_y;
  }

  void GaussianBlur::apply(
    const sensor_msgs::Image::ConstPtr& image_msg)
  {
    if ((image_msg->width == 0) && (image_msg->height == 0)) {
        ROS_WARN("invalid image input");
        return;
    }
    cv_bridge::CvImagePtr cv_ptr = cv_bridge::toCvCopy(
      image_msg, image_msg->encoding);
    cv::Mat image = cv_ptr->image;
    cv::Mat applied_image;
    if (kernel_size_ % 2 == 1) {
      cv::GaussianBlur(image, applied_image, cv::Size(kernel_size_, kernel_size_), sigma_x_, sigma_y_);
    } else {
      cv::GaussianBlur(image, applied_image, cv::Size(kernel_size_+1, kernel_size_+1), sigma_x_, sigma_y_);
    }
    pub_.publish(cv_bridge::CvImage(
                     image_msg->header,
                     image_msg->encoding,
                     applied_image).toImageMsg());
  }
}

#include <pluginlib/class_list_macros.h>
PLUGINLIB_EXPORT_CLASS (jsk_perception::GaussianBlur, nodelet::Nodelet);