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_PERCEPTION_GRABCUT_H_ 00038 #define JSK_PERCEPTION_GRABCUT_H_ 00039 00040 #include <sensor_msgs/Image.h> 00041 00042 #include <message_filters/subscriber.h> 00043 #include <message_filters/time_synchronizer.h> 00044 #include <message_filters/synchronizer.h> 00045 00046 #include <jsk_topic_tools/diagnostic_nodelet.h> 00047 #include <dynamic_reconfigure/server.h> 00048 #include "jsk_perception/GrabCutConfig.h" 00049 00050 namespace jsk_perception 00051 { 00052 class GrabCut: public jsk_topic_tools::DiagnosticNodelet 00053 { 00054 public: 00055 typedef GrabCutConfig Config; 00056 typedef message_filters::sync_policies::ExactTime< 00057 sensor_msgs::Image, 00058 sensor_msgs::Image, 00059 sensor_msgs::Image> SyncPolicy; 00060 00061 typedef boost::shared_ptr<GrabCut> Ptr; 00062 GrabCut() : DiagnosticNodelet("GrabCut") {} 00063 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 segment( 00074 const sensor_msgs::Image::ConstPtr& image_msg, 00075 const sensor_msgs::Image::ConstPtr& foreground_msg, 00076 const sensor_msgs::Image::ConstPtr& background_msg); 00077 virtual void configCallback (Config &config, uint32_t level); 00079 // parameters 00081 ros::Publisher pub_foreground_; 00082 ros::Publisher pub_background_; 00083 ros::Publisher pub_foreground_mask_; 00084 ros::Publisher pub_background_mask_; 00085 boost::shared_ptr<message_filters::Synchronizer<SyncPolicy> >sync_; 00086 message_filters::Subscriber<sensor_msgs::Image> sub_image_; 00087 message_filters::Subscriber<sensor_msgs::Image> sub_foreground_; 00088 message_filters::Subscriber<sensor_msgs::Image> sub_background_; 00089 boost::shared_ptr<dynamic_reconfigure::Server<Config> > srv_; 00090 boost::mutex mutex_; 00091 00093 // Parameters 00095 bool use_probable_pixel_seed_; 00096 private: 00097 00098 }; 00099 } 00100 00101 #endif