bounding_box_filter.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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00007  *
00008  *  Redistribution and use in source and binary forms, with or without
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00011  *
00012  *   * Redistributions of source code must retain the above copyright
00013  *     notice, this list of conditions and the following disclaimer.
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00035 
00036 
00037 #ifndef BOUNDING_BOX_FILTER_H_
00038 #define BOUNDING_BOX_FILTER_H_
00039 
00040 #include <pcl_ros/pcl_nodelet.h>
00041 #include <dynamic_reconfigure/server.h>
00042 #include <message_filters/time_synchronizer.h>
00043 #include <message_filters/synchronizer.h>
00044 
00045 #include "jsk_recognition_utils/pcl_util.h"
00046 #include "jsk_recognition_utils/geo_util.h"
00047 #include <jsk_recognition_msgs/BoundingBoxArray.h>
00048 #include <jsk_recognition_msgs/ClusterPointIndices.h>
00049 #include <jsk_recognition_msgs/ModelCoefficientsArray.h>
00050 #include <jsk_pcl_ros/BoundingBoxFilterConfig.h>
00051 #include "jsk_topic_tools/connection_based_nodelet.h"
00052 
00053 namespace jsk_pcl_ros
00054 {
00055   class BoundingBoxFilter: public jsk_topic_tools::ConnectionBasedNodelet
00056   {
00057   public:
00058     typedef jsk_pcl_ros::BoundingBoxFilterConfig Config;
00059 
00060     typedef message_filters::sync_policies::ExactTime<
00061       jsk_recognition_msgs::BoundingBoxArray,
00062       jsk_recognition_msgs::ClusterPointIndices
00063       > SyncPolicy;
00064 
00065   protected:
00067     // methods
00069     virtual void onInit();
00070     virtual void filter(
00071       const jsk_recognition_msgs::BoundingBoxArray::ConstPtr& box_array_msg);
00072     virtual void filterWithIndices(
00073       const jsk_recognition_msgs::BoundingBoxArray::ConstPtr& box_array_msg,
00074       const jsk_recognition_msgs::ClusterPointIndices::ConstPtr& indices_msg);
00075     virtual void configCallback(Config &config, uint32_t level);
00076     virtual void updateDiagnostic(
00077       diagnostic_updater::DiagnosticStatusWrapper &stat);
00078     virtual void subscribe();
00079     virtual void unsubscribe();
00080     void filterBoundingBoxes(
00081       const jsk_recognition_msgs::BoundingBoxArray::ConstPtr& box_array_msg,
00082       std::vector<size_t>& keep);
00083 
00085     // ROS varariables
00087     boost::shared_ptr <dynamic_reconfigure::Server<Config> > srv_;
00088     message_filters::Subscriber<jsk_recognition_msgs::BoundingBoxArray> sub_box_;
00089     message_filters::Subscriber<jsk_recognition_msgs::ClusterPointIndices> sub_indices_;
00090     boost::shared_ptr<message_filters::Synchronizer<SyncPolicy> >sync_;
00091     ros::Publisher filtered_box_pub_;
00092     ros::Publisher filtered_indices_pub_;
00093     boost::mutex mutex_;
00094     
00096     // Diagnostics Variables
00098     jsk_recognition_utils::TimeredDiagnosticUpdater::Ptr diagnostic_updater_;
00099     jsk_topic_tools::VitalChecker::Ptr vital_checker_;
00100     jsk_recognition_utils::Counter remove_counter_;
00101     jsk_recognition_utils::Counter pass_counter_;
00102     
00104     // Parameters
00106     bool filter_limit_negative_;
00107     bool use_x_dimension_;
00108     bool use_y_dimension_;
00109     bool use_z_dimension_;
00110     double x_dimension_min_;
00111     double x_dimension_max_;
00112     double y_dimension_min_;
00113     double y_dimension_max_;
00114     double z_dimension_min_;
00115     double z_dimension_max_;
00116     
00117     bool with_indices_;
00118     
00119   private:
00120     
00121   };
00122 }
00123 
00124 #endif


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