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[jsk_perception] Add invert_mask_image nodelet #2726

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29 changes: 29 additions & 0 deletions doc/jsk_perception/nodes/invert_mask_image.md
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# InvertMaskImage

![](images/invert_mask_image.jpg)

Inverts the input mask image.

## Subscribing Topic

* `~input` (`sensor_msgs/Image`)

Input mask image.

## Publishing Topic

* `~output` (`sensor_msgs/Image`)

Inverted mask image.

## Parameters

* `~queue_size` (Int, default: `1`)

How many messages you allow about the subscriber to keep in the queue.

## Sample

```bash
roslaunch jsk_perception sample_invert_mask_image.launch
```
1 change: 1 addition & 0 deletions jsk_perception/CMakeLists.txt
Original file line number Diff line number Diff line change
Expand Up @@ -260,6 +260,7 @@ jsk_add_nodelet(src/overlay_image_color_on_mono.cpp "jsk_perception/OverlayImage
jsk_add_nodelet(src/grid_label.cpp "jsk_perception/GridLabel" "grid_label")
jsk_add_nodelet(src/color_histogram_label_match.cpp "jsk_perception/ColorHistogramLabelMatch" "color_histogram_label_match")
jsk_add_nodelet(src/apply_mask_image.cpp "jsk_perception/ApplyMaskImage" "apply_mask_image")
jsk_add_nodelet(src/invert_mask_image.cpp "jsk_perception/InvertMaskImage" "invert_mask_image")
jsk_add_nodelet(src/unapply_mask_image.cpp "jsk_perception/UnapplyMaskImage" "unapply_mask_image")
jsk_add_nodelet(src/single_channel_histogram.cpp "jsk_perception/SingleChannelHistogram" "single_channel_histogram")
jsk_add_nodelet(src/blob_detector.cpp "jsk_perception/BlobDetector" "blob_detector")
Expand Down
66 changes: 66 additions & 0 deletions jsk_perception/include/jsk_perception/invert_mask_image.h
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// -*- mode: c++ -*-
/*********************************************************************
* Software License Agreement (BSD License)
*
* Copyright (c) 2022, 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/or 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.
*********************************************************************/


#ifndef JSK_PERCEPTION_INVERT_MASK_IMAGE_H_
#define JSK_PERCEPTION_INVERT_MASK_IMAGE_H_

#include <jsk_topic_tools/diagnostic_nodelet.h>
#include <sensor_msgs/Image.h>
#include <ros/ros.h>


namespace jsk_perception
{
class InvertMaskImage: public jsk_topic_tools::DiagnosticNodelet
{
public:
InvertMaskImage(): DiagnosticNodelet("InvertMaskImage") {}
virtual ~InvertMaskImage();
protected:

virtual void onInit();
virtual void subscribe();
virtual void unsubscribe();
virtual void invert(const sensor_msgs::Image::ConstPtr& mask_msg);

boost::mutex mutex_;
ros::Subscriber sub_mask_;
ros::Publisher pub_mask_;
private:
};
}

#endif
3 changes: 3 additions & 0 deletions jsk_perception/plugins/nodelet/libjsk_perception.xml
Original file line number Diff line number Diff line change
Expand Up @@ -143,6 +143,9 @@
<class name="jsk_perception/UnapplyMaskImage" type="jsk_perception::UnapplyMaskImage"
base_class_type="nodelet::Nodelet">
</class>
<class name="jsk_perception/InvertMaskImage" type="jsk_perception::InvertMaskImage"
base_class_type="nodelet::Nodelet">
</class>
<class name="jsk_perception/GridLabel" type="jsk_perception::GridLabel"
base_class_type="nodelet::Nodelet">
</class>
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81 changes: 81 additions & 0 deletions jsk_perception/sample/sample_invert_mask_image.launch
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<launch>

<arg name="gui" default="true" />
<arg name="launch_manager" default="true" />

<arg name="MANAGER" default="sample_manager" />
<node name="$(arg MANAGER)"
pkg="nodelet" type="nodelet" args="manager"
if="$(arg launch_manager)"
output="screen" />

<node name="image_publisher"
pkg="jsk_perception" type="image_publisher.py">
<rosparam subst_value="true">
file_name: $(find jsk_perception)/sample/kiva_pod_image_color.jpg
encoding: bgr8
publish_info: false
</rosparam>
</node>
<arg name="INPUT_IMAGE" default="image_publisher/output" />

<node name="mask_publisher"
pkg="jsk_perception" type="image_publisher.py">
<rosparam subst_value="true">
file_name: $(find jsk_perception)/sample/kiva_pod_mask.jpg
encoding: mono8
publish_info: false
</rosparam>
</node>
<arg name="MASK_IMAGE" default="mask_publisher/output" />

<node name="invert_mask_image"
pkg="nodelet" type="nodelet"
args="load jsk_perception/InvertMaskImage $(arg MANAGER)"
respawn="true" >
<remap from="~input" to="mask_publisher/output" />
</node>
<arg name="INVERTED_MASK_IMAGE" default="invert_mask_image/output" />

<node name="apply_mask_image"
pkg="nodelet" type="nodelet"
args="load jsk_perception/ApplyMaskImage $(arg MANAGER)"
respawn="true" >
<remap from="~input" to="$(arg INPUT_IMAGE)" />
<remap from="~input/mask" to="$(arg MASK_IMAGE)" />
<rosparam>
approximate_sync: true
</rosparam>
</node>

<node name="apply_mask_image_with_invert_mask_image"
pkg="nodelet" type="nodelet"
args="load jsk_perception/ApplyMaskImage $(arg MANAGER)"
respawn="true" >
<remap from="~input" to="$(arg INPUT_IMAGE)" />
<remap from="~input/mask" to="$(arg INVERTED_MASK_IMAGE)" />
<rosparam>
approximate_sync: true
</rosparam>
</node>

<group if="$(arg gui)">
<node name="image_view0"
pkg="image_view" type="image_view">
<remap from="image" to="$(arg INPUT_IMAGE)" />
</node>
<node name="image_view1"
pkg="image_view" type="image_view">
<remap from="image" to="$(arg MASK_IMAGE)" />
</node>
<node name="image_view2"
pkg="image_view" type="image_view">
<remap from="image" to="apply_mask_image/output" />
</node>
<node name="image_view3"
pkg="image_view" type="image_view">
<remap from="image" to="apply_mask_image_with_invert_mask_image/output" />
</node>
</group>

</launch>
88 changes: 88 additions & 0 deletions jsk_perception/src/invert_mask_image.cpp
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// -*- mode: c++ -*-
/*********************************************************************
* Software License Agreement (BSD License)
*
* Copyright (c) 2022, 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/or 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.
*********************************************************************/

#include "jsk_perception/invert_mask_image.h"
#include <boost/assign.hpp>
#include <jsk_topic_tools/log_utils.h>
#include <opencv2/opencv.hpp>
#include <cv_bridge/cv_bridge.h>


namespace jsk_perception
{
void InvertMaskImage::onInit()
{
DiagnosticNodelet::onInit();
pub_mask_ = advertise<sensor_msgs::Image>(*pnh_, "output", 1);
onInitPostProcess();
}

InvertMaskImage::~InvertMaskImage() {
}

void InvertMaskImage::subscribe()
{
int queue_size;
pnh_->param("queue_size", queue_size, 1);
sub_mask_ = pnh_->subscribe("input", queue_size, &InvertMaskImage::invert, this);
ros::V_string names = boost::assign::list_of("~input");
jsk_topic_tools::warnNoRemap(names);
}

void InvertMaskImage::unsubscribe()
{
sub_mask_.shutdown();
}

void InvertMaskImage::invert(const sensor_msgs::Image::ConstPtr& mask_msg)
{
vital_checker_->poke();
cv::Mat mask;
try {
mask = cv_bridge::toCvShare(mask_msg, "mono8")->image;
} catch(std::exception &e) {
ROS_ERROR("cv_bridge exception: %s", e.what());
return;
}
cv::bitwise_not(mask, mask);
pub_mask_.publish(cv_bridge::CvImage(
mask_msg->header,
"mono8",
mask).toImageMsg());
}
}

#include <pluginlib/class_list_macros.h>
PLUGINLIB_EXPORT_CLASS (jsk_perception::InvertMaskImage, nodelet::Nodelet);
19 changes: 19 additions & 0 deletions jsk_perception/test/invert_mask_image.test
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<launch>

<include file="$(find jsk_perception)/sample/sample_invert_mask_image.launch">
<arg name="gui" value="false" />
</include>

<test test-name="test_invert_mask_image"
name="test_invert_mask_image"
pkg="jsk_tools" type="test_topic_published.py"
retry="3">
<rosparam>
topic_0: /invert_mask_image/output
timeout_0: 30
check_after_kill_node: true
node_names: [invert_mask_image,]
</rosparam>
</test>

</launch>
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