00001 // -*- mode: C++ -*- 00002 /********************************************************************* 00003 * Software License Agreement (BSD License) 00004 * 00005 * Copyright (c) 2017, 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 * color_histogram_classifier.h 00037 * Author: Yuki Furuta <furushchev@jsk.imi.i.u-tokyo.ac.jp> 00038 */ 00039 00040 #ifndef JSK_PCL_ROS_COLOR_HISTOGRAM_CLASSIFIER_H__ 00041 #define JSK_PCL_ROS_COLOR_HISTOGRAM_CLASSIFIER_H__ 00042 00043 #include <dynamic_reconfigure/server.h> 00044 #include <jsk_topic_tools/diagnostic_nodelet.h> 00045 #include <jsk_recognition_msgs/ClusterPointIndices.h> 00046 #include <jsk_recognition_msgs/ColorHistogram.h> 00047 #include <jsk_recognition_msgs/ColorHistogramArray.h> 00048 #include <jsk_recognition_utils/pcl/color_histogram.h> 00049 #include <message_filters/subscriber.h> 00050 #include <message_filters/time_synchronizer.h> 00051 #include <message_filters/synchronizer.h> 00052 #include <jsk_pcl_ros/ColorHistogramClassifierConfig.h> 00053 00054 00055 namespace jsk_pcl_ros 00056 { 00057 class ColorHistogramClassifier : public jsk_topic_tools::DiagnosticNodelet 00058 { 00059 public: 00060 typedef ColorHistogramClassifierConfig Config; 00061 00062 ColorHistogramClassifier() : DiagnosticNodelet("ColorHistogramClassifier"){} 00063 protected: 00064 virtual void onInit(); 00065 virtual void configCallback(Config & config, uint32_t level); 00066 virtual void subscribe(); 00067 virtual void unsubscribe(); 00068 virtual bool loadReference(); 00069 virtual void computeDistance(const std::vector<float>& histogram, 00070 std::vector<double>& distance); 00071 virtual void feature(const jsk_recognition_msgs::ColorHistogram::ConstPtr& histogram); 00072 virtual void features(const jsk_recognition_msgs::ColorHistogramArray::ConstPtr& histograms); 00073 00074 // properties 00075 boost::mutex mutex_; 00076 boost::shared_ptr<dynamic_reconfigure::Server<Config> > srv_; 00077 ros::Subscriber sub_hist_, sub_hists_; 00078 ros::Publisher pub_class_; 00079 00080 // parameters 00081 int queue_size_; 00082 int bin_size_; 00083 double detection_threshold_; 00084 jsk_recognition_utils::ComparePolicy compare_policy_; 00085 jsk_recognition_msgs::ColorHistogram reference_histogram_; 00086 00087 std::string classifier_name_; 00088 std::vector<std::string> label_names_; 00089 std::vector<std::vector<float> > reference_histograms_; 00090 }; 00091 } 00092 00093 #endif // JSK_PCL_ROS_COLOR_HISTOGRAM_CLASSIFIER_H__