single_channel_histogram.h
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00001 // -*- mode: c++ -*-
00002 /*********************************************************************
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00035 
00036 
00037 #ifndef JSK_PERCEPTION_SINGLE_CHANNEL_HISTOGRAM_H_
00038 #define JSK_PERCEPTION_SINGLE_CHANNEL_HISTOGRAM_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 <dynamic_reconfigure/server.h>
00045 #include <jsk_perception/SingleChannelHistogramConfig.h>
00046 
00047 #include <message_filters/subscriber.h>
00048 #include <message_filters/synchronizer.h>
00049 #include <message_filters/sync_policies/exact_time.h>
00050 #include <message_filters/sync_policies/approximate_time.h>
00051 
00052 namespace jsk_perception
00053 {
00054   class SingleChannelHistogram: public jsk_topic_tools::DiagnosticNodelet
00055   {
00056   public:
00057     typedef message_filters::sync_policies::ApproximateTime<
00058     sensor_msgs::Image,
00059     sensor_msgs::Image > SyncPolicy;
00060     typedef SingleChannelHistogramConfig Config;
00061     SingleChannelHistogram(): DiagnosticNodelet("SingleChannelHistogram") {}
00062   protected:
00063     virtual void onInit();
00064     virtual void subscribe();
00065     virtual void unsubscribe();
00066     virtual void compute(
00067       const sensor_msgs::Image::ConstPtr& msg);
00068     virtual void compute(
00069       const sensor_msgs::Image::ConstPtr& msg,
00070       const sensor_msgs::Image::ConstPtr& mask_msg);
00071     virtual void configCallback(Config &config, uint32_t level);
00072 
00073     boost::shared_ptr<message_filters::Synchronizer<SyncPolicy> > sync_;
00074     message_filters::Subscriber<sensor_msgs::Image> sub_image_;
00075     message_filters::Subscriber<sensor_msgs::Image> sub_mask_;
00076     boost::shared_ptr<dynamic_reconfigure::Server<Config> > srv_;
00077     bool use_mask_;
00078     ros::Subscriber sub_;
00079     ros::Publisher pub_;
00080     boost::mutex mutex_;
00081     int hist_size_;
00082     float min_value_;
00083     float max_value_;
00084   private:
00085     
00086   };
00087 }
00088 
00089 #endif


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