heightmap_morphological_filtering.h
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00001 // -*- mode: c++ -*-
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00035 
00036 
00037 #ifndef JSK_PCL_ROS_HEIGHTMAP_MORPHOLOGICAL_FILTERLING_H_
00038 #define JSK_PCL_ROS_HEIGHTMAP_MORPHOLOGICAL_FILTERLING_H_
00039 
00040 #include <jsk_topic_tools/diagnostic_nodelet.h>
00041 #include <cv_bridge/cv_bridge.h>
00042 #include <opencv2/opencv.hpp>
00043 #include <jsk_pcl_ros/HeightmapMorphologicalFilteringConfig.h>
00044 #include <dynamic_reconfigure/server.h>
00045 #include <jsk_recognition_msgs/HeightmapConfig.h>
00046 #include <boost/accumulators/accumulators.hpp>
00047 #include <boost/accumulators/statistics/mean.hpp>
00048 #include <boost/accumulators/statistics/variance.hpp>
00049 #include <boost/accumulators/statistics/count.hpp>
00050 #include <boost/accumulators/statistics/stats.hpp>
00051 
00052 namespace jsk_pcl_ros
00053 {
00054   class HeightmapMorphologicalFiltering: public jsk_topic_tools::DiagnosticNodelet
00055   {
00056   public:
00057     typedef boost::shared_ptr<HeightmapMorphologicalFiltering> Ptr;
00058     typedef HeightmapMorphologicalFilteringConfig Config;
00059     typedef boost::accumulators::accumulator_set<
00060       float,
00061       boost::accumulators::stats<
00062         boost::accumulators::tag::variance,
00063         boost::accumulators::tag::count,
00064         boost::accumulators::tag::mean> >  Accumulator;
00065     HeightmapMorphologicalFiltering(): DiagnosticNodelet("HeightmapMorphologicalFiltering") {}
00066   protected:
00067     virtual void onInit();
00068     virtual void subscribe();
00069     virtual void unsubscribe();
00070     virtual void filter(const sensor_msgs::Image::ConstPtr& msg);
00071     virtual void configCallback(Config& config, uint32_t level);
00072     virtual void configTopicCallback(const jsk_recognition_msgs::HeightmapConfig::ConstPtr& msg);
00073     boost::mutex mutex_;
00074     boost::shared_ptr<dynamic_reconfigure::Server<Config> > srv_;
00075     ros::Publisher pub_;
00076     ros::Publisher pub_config_;
00077     ros::Subscriber sub_;
00078     ros::Subscriber sub_config_;
00079     int mask_size_;
00080     double max_variance_;
00081     int max_queue_size_;
00082   };
00083 }
00084 
00085 #endif


jsk_pcl_ros
Author(s): Yohei Kakiuchi
autogenerated on Wed Sep 16 2015 04:36:47