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00047 #ifndef __stereo_image_proc__DISPARITYCONFIG_H__
00048 #define __stereo_image_proc__DISPARITYCONFIG_H__
00049
00050 #include <dynamic_reconfigure/config_tools.h>
00051 #include <limits>
00052 #include <ros/node_handle.h>
00053 #include <dynamic_reconfigure/ConfigDescription.h>
00054 #include <dynamic_reconfigure/ParamDescription.h>
00055 #include <dynamic_reconfigure/config_init_mutex.h>
00056
00057 namespace stereo_image_proc
00058 {
00059 class DisparityConfigStatics;
00060
00061 class DisparityConfig
00062 {
00063 public:
00064 class AbstractParamDescription : public dynamic_reconfigure::ParamDescription
00065 {
00066 public:
00067 AbstractParamDescription(std::string n, std::string t, uint32_t l,
00068 std::string d, std::string e)
00069 {
00070 name = n;
00071 type = t;
00072 level = l;
00073 description = d;
00074 edit_method = e;
00075 }
00076
00077 virtual void clamp(DisparityConfig &config, const DisparityConfig &max, const DisparityConfig &min) const = 0;
00078 virtual void calcLevel(uint32_t &level, const DisparityConfig &config1, const DisparityConfig &config2) const = 0;
00079 virtual void fromServer(const ros::NodeHandle &nh, DisparityConfig &config) const = 0;
00080 virtual void toServer(const ros::NodeHandle &nh, const DisparityConfig &config) const = 0;
00081 virtual bool fromMessage(const dynamic_reconfigure::Config &msg, DisparityConfig &config) const = 0;
00082 virtual void toMessage(dynamic_reconfigure::Config &msg, const DisparityConfig &config) const = 0;
00083 };
00084
00085 typedef boost::shared_ptr<AbstractParamDescription> AbstractParamDescriptionPtr;
00086 typedef boost::shared_ptr<const AbstractParamDescription> AbstractParamDescriptionConstPtr;
00087
00088 template <class T>
00089 class ParamDescription : public AbstractParamDescription
00090 {
00091 public:
00092 ParamDescription(std::string name, std::string type, uint32_t level,
00093 std::string description, std::string edit_method, T DisparityConfig::* f) :
00094 AbstractParamDescription(name, type, level, description, edit_method),
00095 field(f)
00096 {}
00097
00098 T (DisparityConfig::* field);
00099
00100 virtual void clamp(DisparityConfig &config, const DisparityConfig &max, const DisparityConfig &min) const
00101 {
00102 if (config.*field > max.*field)
00103 config.*field = max.*field;
00104
00105 if (config.*field < min.*field)
00106 config.*field = min.*field;
00107 }
00108
00109 virtual void calcLevel(uint32_t &comb_level, const DisparityConfig &config1, const DisparityConfig &config2) const
00110 {
00111 if (config1.*field != config2.*field)
00112 comb_level |= level;
00113 }
00114
00115 virtual void fromServer(const ros::NodeHandle &nh, DisparityConfig &config) const
00116 {
00117 nh.getParam(name, config.*field);
00118 }
00119
00120 virtual void toServer(const ros::NodeHandle &nh, const DisparityConfig &config) const
00121 {
00122 nh.setParam(name, config.*field);
00123 }
00124
00125 virtual bool fromMessage(const dynamic_reconfigure::Config &msg, DisparityConfig &config) const
00126 {
00127 return dynamic_reconfigure::ConfigTools::getParameter(msg, name, config.*field);
00128 }
00129
00130 virtual void toMessage(dynamic_reconfigure::Config &msg, const DisparityConfig &config) const
00131 {
00132 dynamic_reconfigure::ConfigTools::appendParameter(msg, name, config.*field);
00133 }
00134 };
00135
00136
00137 int prefilter_size;
00138
00139 int prefilter_cap;
00140
00141 int correlation_window_size;
00142
00143 int min_disparity;
00144
00145 int disparity_range;
00146
00147 double uniqueness_ratio;
00148
00149 int texture_threshold;
00150
00151 int speckle_size;
00152
00153 int speckle_range;
00154
00155
00156 bool __fromMessage__(dynamic_reconfigure::Config &msg)
00157 {
00158 const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
00159 int count = 0;
00160 for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00161 if ((*i)->fromMessage(msg, *this))
00162 count++;
00163 if (count != dynamic_reconfigure::ConfigTools::size(msg))
00164 {
00165 ROS_ERROR("DisparityConfig::__fromMessage__ called with an unexpected parameter.");
00166 ROS_ERROR("Booleans:");
00167 for (unsigned int i = 0; i < msg.bools.size(); i++)
00168 ROS_ERROR(" %s", msg.bools[i].name.c_str());
00169 ROS_ERROR("Integers:");
00170 for (unsigned int i = 0; i < msg.ints.size(); i++)
00171 ROS_ERROR(" %s", msg.ints[i].name.c_str());
00172 ROS_ERROR("Doubles:");
00173 for (unsigned int i = 0; i < msg.doubles.size(); i++)
00174 ROS_ERROR(" %s", msg.doubles[i].name.c_str());
00175 ROS_ERROR("Strings:");
00176 for (unsigned int i = 0; i < msg.strs.size(); i++)
00177 ROS_ERROR(" %s", msg.strs[i].name.c_str());
00178
00179
00180 return false;
00181 }
00182 return true;
00183 }
00184
00185
00186
00187 void __toMessage__(dynamic_reconfigure::Config &msg, const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__) const
00188 {
00189 dynamic_reconfigure::ConfigTools::clear(msg);
00190 for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00191 (*i)->toMessage(msg, *this);
00192 }
00193
00194 void __toMessage__(dynamic_reconfigure::Config &msg) const
00195 {
00196 const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
00197 __toMessage__(msg, __param_descriptions__);
00198 }
00199
00200 void __toServer__(const ros::NodeHandle &nh) const
00201 {
00202 const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
00203 for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00204 (*i)->toServer(nh, *this);
00205 }
00206
00207 void __fromServer__(const ros::NodeHandle &nh)
00208 {
00209 const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
00210 for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00211 (*i)->fromServer(nh, *this);
00212 }
00213
00214 void __clamp__()
00215 {
00216 const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
00217 const DisparityConfig &__max__ = __getMax__();
00218 const DisparityConfig &__min__ = __getMin__();
00219 for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00220 (*i)->clamp(*this, __max__, __min__);
00221 }
00222
00223 uint32_t __level__(const DisparityConfig &config) const
00224 {
00225 const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
00226 uint32_t level = 0;
00227 for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00228 (*i)->calcLevel(level, config, *this);
00229 return level;
00230 }
00231
00232 static const dynamic_reconfigure::ConfigDescription &__getDescriptionMessage__();
00233 static const DisparityConfig &__getDefault__();
00234 static const DisparityConfig &__getMax__();
00235 static const DisparityConfig &__getMin__();
00236 static const std::vector<AbstractParamDescriptionConstPtr> &__getParamDescriptions__();
00237
00238 private:
00239 static const DisparityConfigStatics *__get_statics__();
00240 };
00241
00242 template <>
00243 inline void DisparityConfig::ParamDescription<std::string>::clamp(DisparityConfig &config, const DisparityConfig &max, const DisparityConfig &min) const
00244 {
00245 return;
00246 }
00247
00248 class DisparityConfigStatics
00249 {
00250 friend class DisparityConfig;
00251
00252 DisparityConfigStatics()
00253 {
00254
00255 __min__.prefilter_size = 5;
00256
00257 __max__.prefilter_size = 255;
00258
00259 __default__.prefilter_size = 9;
00260
00261 __param_descriptions__.push_back(DisparityConfig::AbstractParamDescriptionConstPtr(new DisparityConfig::ParamDescription<int>("prefilter_size", "int", 0, "Normalization window size, pixels", "", &DisparityConfig::prefilter_size)));
00262
00263 __min__.prefilter_cap = 1;
00264
00265 __max__.prefilter_cap = 63;
00266
00267 __default__.prefilter_cap = 31;
00268
00269 __param_descriptions__.push_back(DisparityConfig::AbstractParamDescriptionConstPtr(new DisparityConfig::ParamDescription<int>("prefilter_cap", "int", 0, "Bound on normalized pixel values", "", &DisparityConfig::prefilter_cap)));
00270
00271 __min__.correlation_window_size = 5;
00272
00273 __max__.correlation_window_size = 255;
00274
00275 __default__.correlation_window_size = 15;
00276
00277 __param_descriptions__.push_back(DisparityConfig::AbstractParamDescriptionConstPtr(new DisparityConfig::ParamDescription<int>("correlation_window_size", "int", 0, "SAD correlation window width, pixels", "", &DisparityConfig::correlation_window_size)));
00278
00279 __min__.min_disparity = -128;
00280
00281 __max__.min_disparity = 128;
00282
00283 __default__.min_disparity = 0;
00284
00285 __param_descriptions__.push_back(DisparityConfig::AbstractParamDescriptionConstPtr(new DisparityConfig::ParamDescription<int>("min_disparity", "int", 0, "Disparity to begin search at, pixels (may be negative)", "", &DisparityConfig::min_disparity)));
00286
00287 __min__.disparity_range = 32;
00288
00289 __max__.disparity_range = 128;
00290
00291 __default__.disparity_range = 64;
00292
00293 __param_descriptions__.push_back(DisparityConfig::AbstractParamDescriptionConstPtr(new DisparityConfig::ParamDescription<int>("disparity_range", "int", 0, "Number of disparities to search, pixels", "", &DisparityConfig::disparity_range)));
00294
00295 __min__.uniqueness_ratio = 0.0;
00296
00297 __max__.uniqueness_ratio = 100.0;
00298
00299 __default__.uniqueness_ratio = 15.0;
00300
00301 __param_descriptions__.push_back(DisparityConfig::AbstractParamDescriptionConstPtr(new DisparityConfig::ParamDescription<double>("uniqueness_ratio", "double", 0, "Filter out if best match does not sufficiently exceed the next-best match", "", &DisparityConfig::uniqueness_ratio)));
00302
00303 __min__.texture_threshold = 0;
00304
00305 __max__.texture_threshold = 10000;
00306
00307 __default__.texture_threshold = 10;
00308
00309 __param_descriptions__.push_back(DisparityConfig::AbstractParamDescriptionConstPtr(new DisparityConfig::ParamDescription<int>("texture_threshold", "int", 0, "Filter out if SAD window response does not exceed texture threshold", "", &DisparityConfig::texture_threshold)));
00310
00311 __min__.speckle_size = 0;
00312
00313 __max__.speckle_size = 1000;
00314
00315 __default__.speckle_size = 100;
00316
00317 __param_descriptions__.push_back(DisparityConfig::AbstractParamDescriptionConstPtr(new DisparityConfig::ParamDescription<int>("speckle_size", "int", 0, "Reject regions smaller than this size, pixels", "", &DisparityConfig::speckle_size)));
00318
00319 __min__.speckle_range = 0;
00320
00321 __max__.speckle_range = 31;
00322
00323 __default__.speckle_range = 4;
00324
00325 __param_descriptions__.push_back(DisparityConfig::AbstractParamDescriptionConstPtr(new DisparityConfig::ParamDescription<int>("speckle_range", "int", 0, "Max allowed difference between detected disparities", "", &DisparityConfig::speckle_range)));
00326
00327
00328 for (std::vector<DisparityConfig::AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00329 __description_message__.parameters.push_back(**i);
00330 __max__.__toMessage__(__description_message__.max, __param_descriptions__);
00331 __min__.__toMessage__(__description_message__.min, __param_descriptions__);
00332 __default__.__toMessage__(__description_message__.dflt, __param_descriptions__);
00333 }
00334 std::vector<DisparityConfig::AbstractParamDescriptionConstPtr> __param_descriptions__;
00335 DisparityConfig __max__;
00336 DisparityConfig __min__;
00337 DisparityConfig __default__;
00338 dynamic_reconfigure::ConfigDescription __description_message__;
00339 static const DisparityConfigStatics *get_instance()
00340 {
00341
00342
00343
00344
00345 static DisparityConfigStatics instance;
00346 return &instance;
00347 }
00348 };
00349
00350 inline const dynamic_reconfigure::ConfigDescription &DisparityConfig::__getDescriptionMessage__()
00351 {
00352 return __get_statics__()->__description_message__;
00353 }
00354
00355 inline const DisparityConfig &DisparityConfig::__getDefault__()
00356 {
00357 return __get_statics__()->__default__;
00358 }
00359
00360 inline const DisparityConfig &DisparityConfig::__getMax__()
00361 {
00362 return __get_statics__()->__max__;
00363 }
00364
00365 inline const DisparityConfig &DisparityConfig::__getMin__()
00366 {
00367 return __get_statics__()->__min__;
00368 }
00369
00370 inline const std::vector<DisparityConfig::AbstractParamDescriptionConstPtr> &DisparityConfig::__getParamDescriptions__()
00371 {
00372 return __get_statics__()->__param_descriptions__;
00373 }
00374
00375 inline const DisparityConfigStatics *DisparityConfig::__get_statics__()
00376 {
00377 const static DisparityConfigStatics *statics;
00378
00379 if (statics)
00380 return statics;
00381
00382 boost::mutex::scoped_lock lock(dynamic_reconfigure::__init_mutex__);
00383
00384 if (statics)
00385 return statics;
00386
00387 statics = DisparityConfigStatics::get_instance();
00388
00389 return statics;
00390 }
00391
00392
00393 }
00394
00395 #endif // __DISPARITYRECONFIGURATOR_H__
