background_substraction.h
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00001 // -*- mode: c++ -*-
00002 /*********************************************************************
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00035 
00036 
00037 #ifndef JSK_PERCEPTION_BACKGROUND_SUBSTRACTION_H_
00038 #define JSK_PERCEPTION_BACKGROUND_SUBSTRACTION_H_
00039 
00040 #include <jsk_topic_tools/diagnostic_nodelet.h>
00041 #include <opencv/cv.hpp>
00042 #include <opencv2/opencv.hpp>
00043 #include <image_transport/image_transport.h>
00044 #include <image_transport/subscriber_filter.h>
00045 #include <sensor_msgs/image_encodings.h>
00046 #include <cv_bridge/cv_bridge.h>
00047 #include <sensor_msgs/Image.h>
00048 
00049 #include <dynamic_reconfigure/server.h>
00050 #include <jsk_perception/BackgroundSubstractionConfig.h>
00051 
00052 namespace jsk_perception
00053 {
00054   class BackgroundSubstraction: public jsk_topic_tools::DiagnosticNodelet
00055   {
00056   public:
00057     BackgroundSubstraction(): DiagnosticNodelet("BackgroundSubstraction") {}
00058     typedef jsk_perception::BackgroundSubstractionConfig Config;
00059   protected:
00061     // methods
00063     virtual void onInit();
00064     virtual void subscribe();
00065     virtual void unsubscribe();
00066     virtual void updateDiagnostic(
00067       diagnostic_updater::DiagnosticStatusWrapper &stat);
00068     virtual void substract(
00069       const sensor_msgs::Image::ConstPtr& image_msg);
00070     virtual void configCallback (Config &config, uint32_t level);
00072     // ROS variables
00074     ros::Publisher image_pub_;
00075     image_transport::Subscriber sub_;
00076     boost::shared_ptr<image_transport::ImageTransport> it_;
00077     boost::shared_ptr<dynamic_reconfigure::Server<Config> > srv_;
00078     boost::mutex mutex_;
00079 
00081     // Parameters
00083     // http://stackoverflow.com/questions/28847289/error-cannot-declare-variable-bg-to-be-of-abstract-type-cvbackgroundsubtra
00084 #if CV_MAJOR_VERSION >= 3
00085     cv::Ptr<cv::BackgroundSubtractorMOG2> bg_;
00086 #else
00087     cv::BackgroundSubtractorMOG2 bg_;
00088 #endif
00089     bool detect_shadows_;
00090     int nmixtures_;
00091     double background_ratio_;
00092     
00093   private:
00094     
00095   };
00096 }
00097 
00098 #endif


jsk_perception
Author(s): Manabu Saito, Ryohei Ueda
autogenerated on Wed Sep 16 2015 04:36:15