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 * subtract_mask_image.h 00037 * Author: Yuki Furuta <furushchev@jsk.imi.i.u-tokyo.ac.jp> 00038 */ 00039 00040 00041 #ifndef JSK_PERCEPTION_SUBTRACT_MASK_IMAGE_H__ 00042 #define JSK_PERCEPTION_SUBTRACT_MASK_IMAGE_H__ 00043 00044 #include <jsk_topic_tools/diagnostic_nodelet.h> 00045 #include <sensor_msgs/Image.h> 00046 00047 #include <message_filters/subscriber.h> 00048 #include <message_filters/synchronizer.h> 00049 #include <message_filters/sync_policies/exact_time.h> 00050 #include <message_filters/sync_policies/approximate_time.h> 00051 00052 namespace jsk_perception 00053 { 00054 class SubtractMaskImage: public jsk_topic_tools::DiagnosticNodelet 00055 { 00056 public: 00057 typedef message_filters::sync_policies::ExactTime< 00058 sensor_msgs::Image, 00059 sensor_msgs::Image > SyncPolicy; 00060 typedef message_filters::sync_policies::ApproximateTime< 00061 sensor_msgs::Image, 00062 sensor_msgs::Image > ApproxSyncPolicy; 00063 00064 SubtractMaskImage(): DiagnosticNodelet("SubtractMaskImage") {} 00065 protected: 00066 virtual void onInit(); 00067 virtual void subscribe(); 00068 virtual void unsubscribe(); 00069 virtual void subtract( 00070 const sensor_msgs::Image::ConstPtr& src1_msg, 00071 const sensor_msgs::Image::ConstPtr& src2_msg); 00072 00073 bool approximate_sync_; 00074 int queue_size_; 00075 ros::Publisher pub_; 00076 message_filters::Subscriber<sensor_msgs::Image> sub_src1_; 00077 message_filters::Subscriber<sensor_msgs::Image> sub_src2_; 00078 boost::shared_ptr<message_filters::Synchronizer<SyncPolicy> > sync_; 00079 boost::shared_ptr<message_filters::Synchronizer<ApproxSyncPolicy> > async_; 00080 }; 00081 } 00082 00083 #endif // SUBTRACT_MASK_IMAGE_H__