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_PERCEPTION_APPLY_MASK_IMAGE_H_ 00038 #define JSK_PERCEPTION_APPLY_MASK_IMAGE_H_ 00039 00040 #include <jsk_topic_tools/diagnostic_nodelet.h> 00041 #include <sensor_msgs/Image.h> 00042 #include <message_filters/subscriber.h> 00043 #include <message_filters/synchronizer.h> 00044 #include <message_filters/sync_policies/exact_time.h> 00045 #include <message_filters/sync_policies/approximate_time.h> 00046 00047 namespace jsk_perception 00048 { 00049 class ApplyMaskImage: public jsk_topic_tools::DiagnosticNodelet 00050 { 00051 public: 00052 typedef message_filters::sync_policies::ApproximateTime< 00053 sensor_msgs::Image, 00054 sensor_msgs::Image > ApproximateSyncPolicy; 00055 typedef message_filters::sync_policies::ExactTime< 00056 sensor_msgs::Image, 00057 sensor_msgs::Image > SyncPolicy; 00058 ApplyMaskImage(): DiagnosticNodelet("ApplyMaskImage") {} 00059 protected: 00060 00061 virtual void onInit(); 00062 virtual void subscribe(); 00063 virtual void unsubscribe(); 00064 virtual void apply( 00065 const sensor_msgs::Image::ConstPtr& image_msg, 00066 const sensor_msgs::Image::ConstPtr& mask_msg); 00067 00068 bool approximate_sync_; 00069 bool clip_; 00070 bool negative_; 00071 bool negative_before_clip_; 00072 bool mask_black_to_transparent_; 00073 int queue_size_; 00074 int cval_; 00075 boost::shared_ptr<message_filters::Synchronizer<SyncPolicy> > sync_; 00076 boost::shared_ptr<message_filters::Synchronizer<ApproximateSyncPolicy> > async_; 00077 message_filters::Subscriber<sensor_msgs::Image> sub_image_; 00078 message_filters::Subscriber<sensor_msgs::Image> sub_mask_; 00079 ros::Publisher pub_image_; 00080 ros::Publisher pub_mask_; 00081 00082 private: 00083 00084 }; 00085 } 00086 00087 #endif