00001 // -*- mode: c++ -*- 00002 /********************************************************************* 00003 * Software License Agreement (BSD License) 00004 * 00005 * Copyright (c) 2015, 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_PCL_ROS_BOUNDING_BOX_OCCLUSION_REJECTOR_H_ 00038 #define JSK_PCL_ROS_BOUNDING_BOX_OCCLUSION_REJECTOR_H_ 00039 00040 #include <jsk_topic_tools/diagnostic_nodelet.h> 00041 #include <jsk_recognition_msgs/BoundingBoxArray.h> 00042 #include <sensor_msgs/CameraInfo.h> 00043 00044 #include <cv_bridge/cv_bridge.h> 00045 #include <image_geometry/pinhole_camera_model.h> 00046 #include "jsk_pcl_ros/tf_listener_singleton.h" 00047 00048 namespace jsk_pcl_ros 00049 { 00050 class BoundingBoxOcclusionRejector: public jsk_topic_tools::DiagnosticNodelet 00051 { 00052 public: 00053 typedef boost::shared_ptr<BoundingBoxOcclusionRejector> Ptr; 00054 BoundingBoxOcclusionRejector(): DiagnosticNodelet("BoundingBoxOcclusionRejector"){} 00055 00056 protected: 00057 virtual void onInit(); 00058 virtual void subscribe(); 00059 virtual void unsubscribe(); 00060 virtual void reject( 00061 const jsk_recognition_msgs::BoundingBoxArray::ConstPtr& candidate_boxes_msg); 00062 virtual void infoCallback( 00063 const sensor_msgs::CameraInfo::ConstPtr& info_msg); 00064 virtual void targetBoxesCallback( 00065 const jsk_recognition_msgs::BoundingBoxArray::ConstPtr& target_boxes_msg); 00066 virtual std::vector<cv::Point2i> projectVertices(const std::vector<cv::Point3d>& vertices, 00067 const image_geometry::PinholeCameraModel& model); 00068 virtual std::vector<cv::Point3d> getVertices(const jsk_recognition_msgs::BoundingBox& box); 00069 virtual std::vector<std::vector<cv::Point2i> > separateIntoFaces( 00070 const std::vector<cv::Point2i>& vertices); 00071 boost::mutex mutex_; 00072 ros::Publisher pub_; 00073 ros::Publisher pub_target_image_; 00074 ros::Publisher pub_candidate_image_; 00075 tf::TransformListener* tf_listener_; 00076 ros::Subscriber sub_camera_info_; 00077 ros::Subscriber sub_target_boxes_; 00078 ros::Subscriber sub_candidate_boxes_; 00079 sensor_msgs::CameraInfo::ConstPtr latest_info_msg_; 00080 jsk_recognition_msgs::BoundingBoxArray::ConstPtr latest_target_boxes_msg_; 00081 00082 private: 00083 00084 }; 00085 } 00086 00087 #endif