color_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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00008  *  Redistribution and use in source and binary forms, with or without
00009  *  modification, are permitted provided that the following conditions
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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.
00014  *   * Redistributions in binary form must reproduce the above
00015  *     copyright notice, this list of conditions and the following
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00035 
00036 
00037 #ifndef JSK_PCL_ROS_COLOR_FILTER_H_
00038 #define JSK_PCL_ROS_COLOR_FILTER_H_
00039 
00040 #include <nodelet/nodelet.h>
00041 #include <pcl_ros/pcl_nodelet.h>
00042 #include <pcl/filters/conditional_removal.h>
00043 #include "jsk_pcl_ros/RGBColorFilterConfig.h"
00044 #include "jsk_pcl_ros/HSIColorFilterConfig.h"
00045 #include <message_filters/time_synchronizer.h>
00046 #include <message_filters/synchronizer.h>
00047 #include <dynamic_reconfigure/server.h>
00048 
00049 #include "jsk_recognition_utils/pcl_conversion_util.h"
00050 #include "jsk_topic_tools/connection_based_nodelet.h"
00051 
00052 namespace jsk_pcl_ros
00053 {
00054   class RGBColorFilter;
00055   class HSIColorFilter;
00056 
00057   template <class PackedComparison, typename Config>
00058   class ColorFilter: public jsk_topic_tools::ConnectionBasedNodelet
00059   {
00060     friend class RGBColorFilter;
00061     friend class HSIColorFilter;
00062   public:
00063     typedef message_filters::sync_policies::ExactTime<sensor_msgs::PointCloud2,
00064                                                       PCLIndicesMsg> SyncPolicy;
00065     typedef typename pcl::ConditionBase<pcl::PointXYZRGB>::Ptr ConditionPtr;
00066     typedef typename pcl::ComparisonBase<pcl::PointXYZRGB>::Ptr ComparisonPtr;
00067     typedef PackedComparison Comparison;
00068 
00069   protected:
00070     boost::mutex mutex_;
00071     pcl::ConditionalRemoval<pcl::PointXYZRGB> filter_instance_;
00072     message_filters::Subscriber<sensor_msgs::PointCloud2> sub_input_;
00073     message_filters::Subscriber<PCLIndicesMsg> sub_indices_;
00074     ros::Publisher pub_;
00075     boost::shared_ptr <dynamic_reconfigure::Server<Config> > srv_;
00076     virtual void configCallback(Config &config, uint32_t level) = 0;
00077     virtual void updateCondition() = 0;
00078     virtual void filter(const sensor_msgs::PointCloud2ConstPtr &input);
00079     virtual void filter(const sensor_msgs::PointCloud2ConstPtr &input,
00080                         const PCLIndicesMsg::ConstPtr& indices);
00081     virtual void subscribe();
00082     virtual void unsubscribe();
00083     boost::shared_ptr<message_filters::Synchronizer<SyncPolicy> >sync_;
00084 
00085     bool use_indices_;
00086   private:
00087     virtual void onInit();
00088   };
00089 
00090   class RGBColorFilter: public ColorFilter<pcl::PackedRGBComparison<pcl::PointXYZRGB>, jsk_pcl_ros::RGBColorFilterConfig>
00091   {
00092   public:
00093   protected:
00094     int r_min_, r_max_, b_min_, b_max_, g_min_, g_max_;
00095     virtual void configCallback(jsk_pcl_ros::RGBColorFilterConfig &config, uint32_t level);
00096     virtual void updateCondition();
00097   private:
00098     virtual void onInit();
00099   };
00100 
00101   class HSIColorFilter: public ColorFilter<pcl::PackedHSIComparison<pcl::PointXYZRGB>, jsk_pcl_ros::HSIColorFilterConfig>
00102   {
00103   public:
00104   protected:
00105     int h_min_, h_max_, s_min_, s_max_, i_min_, i_max_;
00106     virtual void configCallback(jsk_pcl_ros::HSIColorFilterConfig &config, uint32_t level);
00107     virtual void updateCondition();
00108   private:
00109     virtual void onInit();
00110   };
00111 }
00112 
00113 
00114 #endif


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