00001 // -*- mode: c++ -*- 00002 /********************************************************************* 00003 * Software License Agreement (BSD License) 00004 * 00005 * Copyright (c) 2014, JSK Lab 00006 * All rights reserved. 00007 * 00008 * Redistribution and use in source and binary forms, with or without 00009 * modification, are permitted provided that the following conditions 00010 * are met: 00011 * 00012 * * Redistributions of source code must retain the above copyright 00013 * notice, this list of conditions and the following disclaimer. 00014 * * Redistributions in binary form must reproduce the above 00015 * copyright notice, this list of conditions and the following 00016 * disclaimer in the documentation and/o2r other materials provided 00017 * with the distribution. 00018 * * Neither the name of the JSK Lab nor the names of its 00019 * contributors may be used to endorse or promote products derived 00020 * from this software without specific prior written permission. 00021 * 00022 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00023 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00024 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00025 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00026 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 * POSSIBILITY OF SUCH DAMAGE. 00034 *********************************************************************/ 00035 00036 00037 #ifndef JSK_PCL_ROS_MASK_IMAGE_TO_DEPTH_CONSIDERED_MASK_IMAGE_H_ 00038 #define JSK_PCL_ROS_MASK_IMAGE_TO_DEPTH_CONSIDERED_MASK_IMAGE_H_ 00039 00040 #include <jsk_topic_tools/diagnostic_nodelet.h> 00041 #include <sensor_msgs/Image.h> 00042 #include <dynamic_reconfigure/server.h> 00043 #include "jsk_pcl_ros/pcl_conversion_util.h" 00044 #include <message_filters/subscriber.h> 00045 #include <message_filters/time_synchronizer.h> 00046 #include <message_filters/synchronizer.h> 00047 #include <message_filters/sync_policies/approximate_time.h> 00048 #include <jsk_pcl_ros/MaskImageToDepthConsideredMaskImageConfig.h> 00049 00050 namespace jsk_pcl_ros 00051 { 00052 class MaskImageToDepthConsideredMaskImage: public jsk_topic_tools::DiagnosticNodelet 00053 { 00054 public: 00055 typedef message_filters::sync_policies::ApproximateTime< 00056 sensor_msgs::PointCloud2, 00057 sensor_msgs::Image > ApproximateSyncPolicy; 00058 typedef message_filters::sync_policies::ExactTime< 00059 sensor_msgs::PointCloud2, 00060 sensor_msgs::Image > SyncPolicy; 00061 typedef jsk_pcl_ros::MaskImageToDepthConsideredMaskImageConfig Config; 00062 00063 MaskImageToDepthConsideredMaskImage(): DiagnosticNodelet("MaskImageToDepthConsideredMaskImage") { } 00064 protected: 00066 // methods 00068 virtual void onInit(); 00069 virtual void subscribe(); 00070 virtual void unsubscribe(); 00071 virtual void updateDiagnostic( 00072 diagnostic_updater::DiagnosticStatusWrapper &stat); 00073 virtual void extractmask 00074 ( 00075 const sensor_msgs::PointCloud2::ConstPtr& point_cloud2_msg, 00076 const sensor_msgs::Image::ConstPtr& image_msg); 00077 virtual void configCallback(Config &config, uint32_t level); 00078 virtual void mask_region_callback(const sensor_msgs::Image::ConstPtr& msg); 00079 00081 // ROS variables 00083 boost::shared_ptr <dynamic_reconfigure::Server<Config> > srv_; 00084 bool approximate_sync_; 00085 int extract_num_; 00086 boost::mutex mutex_; 00087 boost::shared_ptr<message_filters::Synchronizer<SyncPolicy> >sync_; 00088 boost::shared_ptr<message_filters::Synchronizer<ApproximateSyncPolicy> >async_; 00089 message_filters::Subscriber<sensor_msgs::PointCloud2> sub_input_; 00090 message_filters::Subscriber<sensor_msgs::Image> sub_image_; 00091 ros::Publisher pub_; 00092 ros::Publisher applypub_; 00093 ros::Subscriber sub_; 00094 int region_width_; 00095 int region_height_; 00096 int region_x_off_; 00097 int region_y_off_; 00098 double region_width_ratio_; 00099 double region_height_ratio_; 00100 double region_x_off_ratio_; 00101 double region_y_off_ratio_; 00102 bool use_region_ratio_; 00103 bool use_mask_region_; 00104 bool in_the_order_of_depth_; 00105 00106 private: 00107 00108 }; 00109 } 00110 00111 #endif