morphology_nodelet.cpp

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// https://docs.opencv.org/3.4/d3/dbe/tutorial_opening_closing_hats.html
// https://github.com/opencv/opencv/blob/2.4/samples/cpp/tutorial_code/ImgProc/Morphology_2.cpp
#include <ros/ros.h>
#include "opencv_apps/nodelet.h"
#include <image_transport/image_transport.h>
#include <sensor_msgs/image_encodings.h>
#include <cv_bridge/cv_bridge.h>

#include <iostream>
#include <vector>

#include "opencv2/imgproc/imgproc.hpp"
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/features2d/features2d.hpp"

#include <dynamic_reconfigure/server.h>
#include "opencv_apps/MorphologyConfig.h"

namespace opencv_apps
{
class MorphologyNodelet : public opencv_apps::Nodelet
{
  image_transport::Publisher img_pub_;
  image_transport::Subscriber img_sub_;
  image_transport::CameraSubscriber cam_sub_;
  ros::Publisher msg_pub_;

  boost::shared_ptr<image_transport::ImageTransport> it_;

  typedef opencv_apps::MorphologyConfig Config;
  typedef dynamic_reconfigure::Server<Config> ReconfigureServer;
  Config config_;
  boost::shared_ptr<ReconfigureServer> reconfigure_server_;

  int queue_size_;
  bool debug_view_;
  ros::Time prev_stamp_;

  std::string window_name_;

  void reconfigureCallback(Config& new_config, uint32_t level)
  {
    config_ = new_config;
  }

  const std::string& frameWithDefault(const std::string& frame, const std::string& image_frame)
  {
    if (frame.empty())
      return image_frame;
    return frame;
  }

  void imageCallbackWithInfo(const sensor_msgs::ImageConstPtr& msg, const sensor_msgs::CameraInfoConstPtr& cam_info)
  {
    doWork(msg, cam_info->header.frame_id);
  }

  void imageCallback(const sensor_msgs::ImageConstPtr& msg)
  {
    doWork(msg, msg->header.frame_id);
  }

  void doWork(const sensor_msgs::ImageConstPtr& msg, const std::string& input_frame_from_msg)
  {
    // Work on the image.
    try
    {
      // Convert the image into something opencv can handle.
      cv::Mat in_image = cv_bridge::toCvShare(msg, sensor_msgs::image_encodings::BGR8)->image;

      if (debug_view_)
      {
        cv::namedWindow(window_name_, cv::WINDOW_AUTOSIZE);
      }

      cv::Mat out_image = in_image.clone();

      int morph_operator = config_.morph_operator;
      int morph_element = config_.morph_element;
      int morph_size = config_.morph_size;

      ROS_DEBUG_STREAM("Applying morphology transforms with operator " << morph_operator << ", element "
                                                                       << morph_element << ", and size " << morph_size);

      cv::Mat element = cv::getStructuringElement(morph_element, cv::Size(2 * morph_size + 1, 2 * morph_size + 1),
                                                  cv::Point(morph_size, morph_size));

      // Since MORPH_X : 2,3,4,5 and 6
      cv::morphologyEx(in_image, out_image, morph_operator + 2, element);

      //-- Show what you got
      if (debug_view_)
      {
        cv::imshow(window_name_, out_image);
        int c = cv::waitKey(1);
      }

      // Publish the image.
      sensor_msgs::Image::Ptr out_img = cv_bridge::CvImage(msg->header, "bgr8", out_image).toImageMsg();
      img_pub_.publish(out_img);
    }
    catch (cv::Exception& e)
    {
      NODELET_ERROR("Image processing error: %s %s %s %i", e.err.c_str(), e.func.c_str(), e.file.c_str(), e.line);
    }

    prev_stamp_ = msg->header.stamp;
  }

  void subscribe()  // NOLINT(modernize-use-override)
  {
    NODELET_DEBUG("Subscribing to image topic.");
    if (config_.use_camera_info)
      cam_sub_ = it_->subscribeCamera("image", queue_size_, &MorphologyNodelet::imageCallbackWithInfo, this);
    else
      img_sub_ = it_->subscribe("image", queue_size_, &MorphologyNodelet::imageCallback, this);
  }

  void unsubscribe()  // NOLINT(modernize-use-override)
  {
    NODELET_DEBUG("Unsubscribing from image topic.");
    img_sub_.shutdown();
    cam_sub_.shutdown();
  }

public:
  virtual void onInit()  // NOLINT(modernize-use-override)
  {
    Nodelet::onInit();
    it_ = boost::shared_ptr<image_transport::ImageTransport>(new image_transport::ImageTransport(*nh_));

    pnh_->param("queue_size", queue_size_, 3);
    pnh_->param("debug_view", debug_view_, false);
    if (debug_view_)
    {
      always_subscribe_ = true;
    }
    prev_stamp_ = ros::Time(0, 0);

    window_name_ = "Morphology Demo (" + ros::this_node::getName() + ")";
    reconfigure_server_ = boost::make_shared<dynamic_reconfigure::Server<Config> >(*pnh_);
    dynamic_reconfigure::Server<Config>::CallbackType f =
        boost::bind(&MorphologyNodelet::reconfigureCallback, this, boost::placeholders::_1, boost::placeholders::_2);
    reconfigure_server_->setCallback(f);

    img_pub_ = advertiseImage(*pnh_, "image", 1);

    onInitPostProcess();
  }
};
}  // namespace opencv_apps

namespace morphology
{
class MorphologyNodelet : public opencv_apps::MorphologyNodelet
{
public:
  virtual void onInit()  // NOLINT(modernize-use-override)
  {
    ROS_WARN("DeprecationWarning: Nodelet morphology/morphology is deprecated, "
             "and renamed to opencv_apps/morphology.");
    opencv_apps::MorphologyNodelet::onInit();
  }
};
}  // namespace morphology

#ifdef USE_PLUGINLIB_CLASS_LIST_MACROS_H
#include <pluginlib/class_list_macros.h>
#else
#include <pluginlib/class_list_macros.hpp>
#endif
PLUGINLIB_EXPORT_CLASS(opencv_apps::MorphologyNodelet, nodelet::Nodelet);
PLUGINLIB_EXPORT_CLASS(morphology::MorphologyNodelet, nodelet::Nodelet);