color_histogram_label_match.h
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00001 // -*- mode: c++ -*-
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00035 
00036 
00037 #ifndef JSK_PERCEPTION_COLOR_HISTOGRAM_LABEL_MATCH_H_
00038 #define JSK_PERCEPTION_COLOR_HISTOGRAM_LABEL_MATCH_H_
00039 
00040 #include <jsk_topic_tools/diagnostic_nodelet.h>
00041 #include <sensor_msgs/Image.h>
00042 #include <jsk_recognition_msgs/ColorHistogram.h>
00043 
00044 #include <message_filters/subscriber.h>
00045 #include <message_filters/synchronizer.h>
00046 #include <message_filters/sync_policies/exact_time.h>
00047 #include <message_filters/sync_policies/approximate_time.h>
00048 #include <message_filters/pass_through.h>
00049 #include <jsk_perception/ColorHistogramLabelMatchConfig.h>
00050 #include <dynamic_reconfigure/server.h>
00051 
00052 #include <opencv2/opencv.hpp>
00053 
00054 namespace jsk_perception
00055 {
00056   class ColorHistogramLabelMatch: public jsk_topic_tools::DiagnosticNodelet
00057   {
00058   public:
00059     typedef ColorHistogramLabelMatchConfig Config;
00060     //typedef message_filters::sync_policies::ExactTime<
00061     typedef message_filters::sync_policies::ApproximateTime<
00062       sensor_msgs::Image,         // image
00063       sensor_msgs::Image,         // label
00064       sensor_msgs::Image          // mask
00065       > SyncPolicy;
00066     typedef message_filters::sync_policies::ApproximateTime<
00067       sensor_msgs::Image,         // image
00068       sensor_msgs::Image         // label
00069       > SyncPolicyWithoutMask;
00070 
00071     ColorHistogramLabelMatch(): DiagnosticNodelet("ColorHistogramLabelMatch") {}
00072   protected:
00073     virtual void onInit();
00074     virtual void subscribe();
00075     virtual void unsubscribe();
00076     virtual void match(
00077       const sensor_msgs::Image::ConstPtr& image_msg,
00078       const sensor_msgs::Image::ConstPtr& label_msg,
00079       const sensor_msgs::Image::ConstPtr& mask_msg);
00080     virtual void match(
00081       const sensor_msgs::Image::ConstPtr& image_msg,
00082       const sensor_msgs::Image::ConstPtr& label_msg);
00083     virtual void histogramCallback(
00084       const jsk_recognition_msgs::ColorHistogram::ConstPtr& histogram_msg);
00085     virtual bool isMasked(const cv::Mat& original_image,
00086                           const cv::Mat& masked_image);
00087     virtual void getLabels(const cv::Mat& label, std::vector<int>& labels);
00088     virtual void getMaskImage(const cv::Mat& label_image,
00089                                  const int label,
00090                                  cv::Mat& mask);
00091     virtual double coefficients(const cv::Mat& ref_hist,
00092                                 const cv::Mat& target_hist);
00093     virtual void configCallback(Config &config, uint32_t level);
00094     
00095     float max_value_;
00096     float min_value_;
00097     float coef_threshold_;
00098     float masked_coefficient_;
00099     int threshold_method_;
00100     bool use_mask_;
00101     boost::mutex mutex_;
00102     boost::shared_ptr<dynamic_reconfigure::Server<Config> > srv_;
00103     boost::shared_ptr<message_filters::Synchronizer<SyncPolicy> > sync_;
00104     boost::shared_ptr<message_filters::Synchronizer<SyncPolicyWithoutMask> > sync_wo_mask_;
00105     message_filters::Subscriber<sensor_msgs::Image> sub_image_;
00106     message_filters::Subscriber<sensor_msgs::Image> sub_label_;
00107     message_filters::Subscriber<sensor_msgs::Image> sub_mask_;
00108     int coefficient_method_;
00109     ros::Subscriber sub_histogram_;
00110     cv::Mat histogram_;
00111     ros::Publisher pub_debug_;
00112     ros::Publisher pub_coefficient_image_;
00113     ros::Publisher pub_mask_;
00114     ros::Publisher pub_result_;
00115   private:
00116     
00117   };
00118 }
00119 
00120 #endif


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