attention_clipper.h
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00001 // -*- mode: c++ -*-
00002 /*********************************************************************
00003  * Software License Agreement (BSD License)
00004  *
00005  *  Copyright (c) 2014, JSK Lab
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00008  *  Redistribution and use in source and binary forms, with or without
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00011  *
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00015  *     copyright notice, this list of conditions and the following
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00035 
00036 
00037 #ifndef JSK_PCL_ROS_ATTENTION_CLIPPER_H_
00038 #define JSK_PCL_ROS_ATTENTION_CLIPPER_H_
00039 
00040 #include <jsk_topic_tools/diagnostic_nodelet.h>
00041 #include <sensor_msgs/CameraInfo.h>
00042 #include "jsk_recognition_utils/pcl_conversion_util.h"
00043 #include "jsk_recognition_utils/geo_util.h"
00044 #include "jsk_pcl_ros/tf_listener_singleton.h"
00045 #include <image_geometry/pinhole_camera_model.h>
00046 #include <jsk_recognition_msgs/ClusterPointIndices.h>
00047 #include <jsk_recognition_msgs/BoundingBoxArray.h>
00048 #include <geometry_msgs/PoseArray.h>
00049 #include <sensor_msgs/Image.h>
00050 
00051 namespace jsk_pcl_ros
00052 {
00053   class AttentionClipper: public jsk_topic_tools::DiagnosticNodelet
00054   {
00055   public:
00056     AttentionClipper(): DiagnosticNodelet("AttentionClipper") { }
00057 
00058   protected:
00060     // methods
00062     virtual void onInit();
00063     virtual void clip(const sensor_msgs::CameraInfo::ConstPtr& msg);
00064     virtual void clipPointcloud(const sensor_msgs::PointCloud2::ConstPtr& msg);
00065     virtual void poseCallback(const geometry_msgs::PoseStamped::ConstPtr& pose);
00066     virtual void boxCallback(const jsk_recognition_msgs::BoundingBox::ConstPtr& box);
00067     virtual void poseArrayCallback(const geometry_msgs::PoseArray::ConstPtr& pose);
00068     virtual void boxArrayCallback(const jsk_recognition_msgs::BoundingBoxArray::ConstPtr& box);
00069     virtual jsk_recognition_utils::Vertices cubeVertices(Eigen::Vector3f& dimension);
00070     virtual void subscribe();
00071     virtual void unsubscribe();
00072     virtual void updateDiagnostic(
00073       diagnostic_updater::DiagnosticStatusWrapper &stat);
00074     virtual void computeROI(
00075       const sensor_msgs::CameraInfo::ConstPtr& msg,
00076       std::vector<cv::Point2d>& points,
00077       cv::Mat& mask);
00078     virtual void publishBoundingBox(const std_msgs::Header& header);
00079     virtual void initializePoseList(size_t num);
00081     // ROS variables
00083     ros::Subscriber sub_;
00084     ros::Subscriber sub_pose_;
00085     ros::Subscriber sub_box_;
00086     ros::Subscriber sub_points_;
00087     ros::Publisher pub_camera_info_;
00088     ros::Publisher pub_bounding_box_array_;
00089     ros::Publisher pub_mask_;
00090     ros::Publisher pub_indices_;
00091     ros::Publisher pub_cluster_indices_;
00092     std::vector<ros::Publisher> multiple_pub_indices_;
00093     tf::TransformListener* tf_listener_;
00094     boost::mutex mutex_;
00095 
00097     // parameters
00099     // only cube is supported
00100     jsk_recognition_utils::Vertices vertices_;
00101     // for multiple attention
00102     std::vector<Eigen::Affine3f> pose_list_;
00103     std::vector<Eigen::Affine3f> transformed_pose_list_;
00104     std::vector<std::string> frame_id_list_;
00105     jsk_recognition_utils::Vertices dimensions_;
00106     std::vector<std::string > prefixes_;
00107 
00108     bool use_multiple_attention_;
00109     bool negative_;
00110   private:
00111 
00112   };
00113 }
00114 
00115 #endif


jsk_pcl_ros
Author(s): Yohei Kakiuchi
autogenerated on Sun Oct 8 2017 02:43:49