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_SLIC_SUPERPIXELS_H_ 00038 #define JSK_PERCEPTION_SLIC_SUPERPIXELS_H_ 00039 00040 #include <ros/ros.h> 00041 #include <nodelet/nodelet.h> 00042 #include <sensor_msgs/image_encodings.h> 00043 #include <cv_bridge/cv_bridge.h> 00044 #include <image_transport/image_transport.h> 00045 #include <dynamic_reconfigure/server.h> 00046 #include <boost/thread.hpp> 00047 #include <opencv/cv.h> 00048 00049 #include <jsk_perception/SLICSuperPixelsConfig.h> 00050 #include <dynamic_reconfigure/server.h> 00051 00052 namespace jsk_perception 00053 { 00054 class SLICSuperPixels: public nodelet::Nodelet 00055 { 00056 public: 00057 typedef SLICSuperPixelsConfig Config; 00058 00059 protected: 00061 // methods 00063 virtual void onInit(); 00064 virtual void imageCallback(const sensor_msgs::Image::ConstPtr& image); 00065 virtual void configCallback(Config &config, uint32_t level); 00066 00068 // ROS variables 00070 ros::NodeHandle nh_, pnh_; 00071 boost::shared_ptr<image_transport::ImageTransport> it_; 00072 boost::mutex mutex_; 00073 image_transport::Subscriber image_sub_; 00074 ros::Publisher pub_debug_; 00075 ros::Publisher pub_debug_mean_color_; 00076 ros::Publisher pub_debug_center_grid_; 00077 ros::Publisher pub_; 00078 boost::shared_ptr<dynamic_reconfigure::Server<Config> > srv_; 00079 00081 // parameters 00083 int number_of_super_pixels_; 00084 int weight_; 00085 private: 00086 }; 00087 } 00088 00089 #endif