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Merge pull request #612 from garaemon/ycrcb-decomposer
[jsk_perception] YCrCb decomposer
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,65 @@ | ||
| // -*- mode: c++ -*- | ||
| /********************************************************************* | ||
| * Software License Agreement (BSD License) | ||
| * | ||
| * Copyright (c) 2015, JSK Lab | ||
| * All rights reserved. | ||
| * | ||
| * Redistribution and use in source and binary forms, with or without | ||
| * modification, are permitted provided that the following conditions | ||
| * are met: | ||
| * | ||
| * * Redistributions of source code must retain the above copyright | ||
| * notice, this list of conditions and the following disclaimer. | ||
| * * Redistributions in binary form must reproduce the above | ||
| * copyright notice, this list of conditions and the following | ||
| * disclaimer in the documentation and/o2r other materials provided | ||
| * with the distribution. | ||
| * * Neither the name of the JSK Lab nor the names of its | ||
| * contributors may be used to endorse or promote products derived | ||
| * from this software without specific prior written permission. | ||
| * | ||
| * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | ||
| * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE | ||
| * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, | ||
| * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, | ||
| * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
| * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER | ||
| * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT | ||
| * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN | ||
| * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| * POSSIBILITY OF SUCH DAMAGE. | ||
| *********************************************************************/ | ||
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| #ifndef JSK_PERCEPTION_YCC_DECOMPOSER_H_ | ||
| #define JSK_PERCEPTION_YCC_DECOMPOSER_H_ | ||
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| #include <jsk_topic_tools/diagnostic_nodelet.h> | ||
| #include <sensor_msgs/Image.h> | ||
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| namespace jsk_perception | ||
| { | ||
| class YCCDecomposer: public jsk_topic_tools::DiagnosticNodelet | ||
| { | ||
| public: | ||
| YCCDecomposer(): DiagnosticNodelet("YCCDecomposer") {} | ||
| protected: | ||
| virtual void onInit(); | ||
| virtual void subscribe(); | ||
| virtual void unsubscribe(); | ||
| virtual void decompose( | ||
| const sensor_msgs::Image::ConstPtr& image_msg); | ||
| ros::Subscriber sub_; | ||
| ros::Publisher pub_y_; | ||
| ros::Publisher pub_cr_; | ||
| ros::Publisher pub_cb_; | ||
| private: | ||
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| }; | ||
| } | ||
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| #endif |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,100 @@ | ||
| // -*- mode: c++ -*- | ||
| /********************************************************************* | ||
| * Software License Agreement (BSD License) | ||
| * | ||
| * Copyright (c) 2015, JSK Lab | ||
| * All rights reserved. | ||
| * | ||
| * Redistribution and use in source and binary forms, with or without | ||
| * modification, are permitted provided that the following conditions | ||
| * are met: | ||
| * | ||
| * * Redistributions of source code must retain the above copyright | ||
| * notice, this list of conditions and the following disclaimer. | ||
| * * Redistributions in binary form must reproduce the above | ||
| * copyright notice, this list of conditions and the following | ||
| * disclaimer in the documentation and/o2r other materials provided | ||
| * with the distribution. | ||
| * * Neither the name of the JSK Lab nor the names of its | ||
| * contributors may be used to endorse or promote products derived | ||
| * from this software without specific prior written permission. | ||
| * | ||
| * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | ||
| * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE | ||
| * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, | ||
| * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, | ||
| * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
| * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER | ||
| * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT | ||
| * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN | ||
| * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| * POSSIBILITY OF SUCH DAMAGE. | ||
| *********************************************************************/ | ||
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| #include "jsk_perception/ycc_decomposer.h" | ||
| #include <sensor_msgs/image_encodings.h> | ||
| #include <cv_bridge/cv_bridge.h> | ||
| #include <opencv2/opencv.hpp> | ||
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| namespace jsk_perception | ||
| { | ||
| void YCCDecomposer::onInit() | ||
| { | ||
| DiagnosticNodelet::onInit(); | ||
| pub_y_ = advertise<sensor_msgs::Image>(*pnh_, "output/y", 1); | ||
| pub_cr_ = advertise<sensor_msgs::Image>(*pnh_, "output/cr", 1); | ||
| pub_cb_ = advertise<sensor_msgs::Image>(*pnh_, "output/cb", 1); | ||
| } | ||
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| void YCCDecomposer::subscribe() | ||
| { | ||
| sub_ = pnh_->subscribe("input", 1, &YCCDecomposer::decompose, this); | ||
| } | ||
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| void YCCDecomposer::unsubscribe() | ||
| { | ||
| sub_.shutdown(); | ||
| } | ||
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| void YCCDecomposer::decompose( | ||
| const sensor_msgs::Image::ConstPtr& image_msg) | ||
| { | ||
| cv_bridge::CvImagePtr cv_ptr = cv_bridge::toCvCopy( | ||
| image_msg, image_msg->encoding); | ||
| cv::Mat image = cv_ptr->image; | ||
| cv::Mat ycc_image; | ||
| std::vector<cv::Mat> ycc_planes; | ||
| if (image_msg->encoding == sensor_msgs::image_encodings::BGR8) { | ||
| cv::cvtColor(image, ycc_image, CV_BGR2YCrCb); | ||
| } | ||
| else if (image_msg->encoding == sensor_msgs::image_encodings::RGB8) { | ||
| cv::cvtColor(image, ycc_image, CV_RGB2YCrCb); | ||
| } | ||
| else { | ||
| NODELET_ERROR("unsupported format to YCC: %s", image_msg->encoding.c_str()); | ||
| return; | ||
| } | ||
| cv::split(ycc_image, ycc_planes); | ||
| cv::Mat y = ycc_planes[0]; | ||
| cv::Mat cr = ycc_planes[1]; | ||
| cv::Mat cb = ycc_planes[2]; | ||
| pub_y_.publish(cv_bridge::CvImage( | ||
| image_msg->header, | ||
| sensor_msgs::image_encodings::MONO8, | ||
| y).toImageMsg()); | ||
| pub_cr_.publish(cv_bridge::CvImage( | ||
| image_msg->header, | ||
| sensor_msgs::image_encodings::MONO8, | ||
| cr).toImageMsg()); | ||
| pub_cb_.publish(cv_bridge::CvImage( | ||
| image_msg->header, | ||
| sensor_msgs::image_encodings::MONO8, | ||
| cb).toImageMsg()); | ||
| } | ||
| } | ||
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| #include <pluginlib/class_list_macros.h> | ||
| PLUGINLIB_EXPORT_CLASS (jsk_perception::YCCDecomposer, nodelet::Nodelet); |