[image_view2] Visualize label image to rgb

jsk-ros-pkg · Nov 26, 2015 · 9f4d57f · 9f4d57f
1 parent 560d701
commit 9f4d57f
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Showing 3 changed files with 22 additions and 1 deletion.
diff --git a/jsk_ros_patch/image_view2/CMakeLists.txt b/jsk_ros_patch/image_view2/CMakeLists.txt
@@ -2,7 +2,21 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(image_view2)
 
-find_package(catkin REQUIRED COMPONENTS roscpp dynamic_reconfigure  cv_bridge std_msgs sensor_msgs geometry_msgs image_transport tf image_geometry message_filters message_generation std_srvs)
+find_package(catkin REQUIRED COMPONENTS
+  cv_bridge
+  dynamic_reconfigure
+  geometry_msgs
+  image_geometry
+  image_transport
+  jsk_recognition_utils
+  message_generation
+  message_filters
+  roscpp
+  sensor_msgs
+  std_msgs
+  std_srvs
+  tf
+)
 
 generate_dynamic_reconfigure_options(
   cfg/ImageView2.cfg

diff --git a/jsk_ros_patch/image_view2/image_view2.cpp b/jsk_ros_patch/image_view2/image_view2.cpp
@@ -35,6 +35,9 @@
 
 #include "image_view2.h"
 #include <exception>
+#include <jsk_recognition_utils/cv_utils.h>
+
+
 namespace image_view2{
   ImageView2::ImageView2() : marker_topic_("image_marker"), filename_format_(""), count_(0), mode_(MODE_RECTANGLE), times_(100), window_initialized_(false),space_(10)
   {
@@ -1176,6 +1179,9 @@ namespace image_view2{
         double min, max;
         cv::minMaxIdx(input_image, &min, &max);
         cv::convertScaleAbs(input_image, original_image_, 255 / max);
+      } else if (msg->encoding == sensor_msgs::image_encodings::TYPE_32SC1) {
+        cv::Mat input_image = cv_bridge::toCvCopy(msg)->image;
+        jsk_recognition_utils::labelToRGB(input_image, original_image_);
       } else {
         try {
           original_image_ = cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::BGR8)->image;

diff --git a/jsk_ros_patch/image_view2/package.xml b/jsk_ros_patch/image_view2/package.xml
@@ -19,6 +19,7 @@
   <build_depend>sensor_msgs</build_depend>
   <build_depend>geometry_msgs</build_depend>
   <build_depend>image_transport</build_depend>
+  <build_depend>jsk_recognition_utils</build_depend>
   <build_depend>tf</build_depend>
   <build_depend>image_geometry</build_depend>
   <build_depend>message_filters</build_depend>