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 BOUNDING_BOX_FILTER_H_ 00038 #define BOUNDING_BOX_FILTER_H_ 00039 00040 #include <pcl_ros/pcl_nodelet.h> 00041 #include <dynamic_reconfigure/server.h> 00042 #include <message_filters/time_synchronizer.h> 00043 #include <message_filters/synchronizer.h> 00044 00045 #include "jsk_recognition_utils/pcl_util.h" 00046 #include "jsk_recognition_utils/geo_util.h" 00047 #include <jsk_recognition_msgs/BoundingBoxArray.h> 00048 #include <jsk_recognition_msgs/ClusterPointIndices.h> 00049 #include <jsk_recognition_msgs/ModelCoefficientsArray.h> 00050 #include <jsk_pcl_ros/BoundingBoxFilterConfig.h> 00051 #include <jsk_topic_tools/diagnostic_nodelet.h> 00052 00053 namespace jsk_pcl_ros 00054 { 00055 class BoundingBoxFilter: public jsk_topic_tools::DiagnosticNodelet 00056 { 00057 public: 00058 typedef jsk_pcl_ros::BoundingBoxFilterConfig Config; 00059 00060 typedef message_filters::sync_policies::ExactTime< 00061 jsk_recognition_msgs::BoundingBoxArray, 00062 jsk_recognition_msgs::ClusterPointIndices 00063 > SyncPolicy; 00064 00065 BoundingBoxFilter() : DiagnosticNodelet("BoundingBoxFilter") {} 00066 00067 protected: 00069 // methods 00071 virtual void onInit(); 00072 virtual void filter( 00073 const jsk_recognition_msgs::BoundingBoxArray::ConstPtr& box_array_msg); 00074 virtual void filterWithIndices( 00075 const jsk_recognition_msgs::BoundingBoxArray::ConstPtr& box_array_msg, 00076 const jsk_recognition_msgs::ClusterPointIndices::ConstPtr& indices_msg); 00077 virtual void configCallback(Config &config, uint32_t level); 00078 virtual void updateDiagnostic( 00079 diagnostic_updater::DiagnosticStatusWrapper &stat); 00080 virtual void subscribe(); 00081 virtual void unsubscribe(); 00082 void filterBoundingBoxes( 00083 const jsk_recognition_msgs::BoundingBoxArray::ConstPtr& box_array_msg, 00084 std::vector<size_t>& keep); 00085 00087 // ROS varariables 00089 boost::shared_ptr <dynamic_reconfigure::Server<Config> > srv_; 00090 message_filters::Subscriber<jsk_recognition_msgs::BoundingBoxArray> sub_box_; 00091 message_filters::Subscriber<jsk_recognition_msgs::ClusterPointIndices> sub_indices_; 00092 boost::shared_ptr<message_filters::Synchronizer<SyncPolicy> >sync_; 00093 ros::Publisher filtered_box_pub_; 00094 ros::Publisher filtered_indices_pub_; 00095 boost::mutex mutex_; 00096 00098 // Diagnostics Variables 00100 jsk_recognition_utils::Counter remove_counter_; 00101 jsk_recognition_utils::Counter pass_counter_; 00102 00104 // Parameters 00106 bool filter_limit_negative_; 00107 bool use_x_dimension_; 00108 bool use_y_dimension_; 00109 bool use_z_dimension_; 00110 double x_dimension_min_; 00111 double x_dimension_max_; 00112 double y_dimension_min_; 00113 double y_dimension_max_; 00114 double z_dimension_min_; 00115 double z_dimension_max_; 00116 00117 bool with_indices_; 00118 00119 private: 00120 00121 }; 00122 } 00123 00124 #endif