color_histogram.h

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/*
 * color_histogram.h
 * Author: Yuki Furuta <furushchev@jsk.imi.i.u-tokyo.ac.jp>
 */

#ifndef JSK_PCL_ROS_COLOR_HISTOGRAM_H__
#define JSK_PCL_ROS_COLOR_HISTOGRAM_H__

#include <dynamic_reconfigure/server.h>
#include <jsk_topic_tools/diagnostic_nodelet.h>
#include <jsk_recognition_msgs/ColorHistogram.h>
#include <jsk_recognition_msgs/ColorHistogramArray.h>
#include <jsk_recognition_msgs/ClusterPointIndices.h>
#include <jsk_recognition_utils/pcl/color_histogram.h>
#include <message_filters/subscriber.h>
#include <message_filters/time_synchronizer.h>
#include <message_filters/synchronizer.h>
#include <pcl_ros/pcl_nodelet.h>
#include <sensor_msgs/PointCloud2.h>

#include <jsk_pcl_ros/ColorHistogramConfig.h>


namespace jsk_pcl_ros
{
  class ColorHistogram : public jsk_topic_tools::DiagnosticNodelet
  {
  public:
    typedef message_filters::sync_policies::ExactTime<sensor_msgs::PointCloud2,
                                                      jsk_recognition_msgs::ClusterPointIndices> SyncPolicy;
    typedef ColorHistogramConfig Config;

    ColorHistogram() : DiagnosticNodelet("ColorHistogram") {}
  protected:
    virtual void onInit();
    virtual void configCallback(Config& config, uint32_t level);
    virtual void subscribe();
    virtual void unsubscribe();
    virtual void feature(
      const sensor_msgs::PointCloud2::ConstPtr& input_cloud,
      const jsk_recognition_msgs::ClusterPointIndices::ConstPtr& input_indices);

    // properties
    boost::mutex mutex_;
    boost::shared_ptr<dynamic_reconfigure::Server<Config> > srv_;
    message_filters::Subscriber<sensor_msgs::PointCloud2> sub_cloud_;
    message_filters::Subscriber<jsk_recognition_msgs::ClusterPointIndices> sub_indices_;
    boost::shared_ptr<message_filters::Synchronizer<SyncPolicy> > sync_;
    ros::Publisher pub_histogram_;

    // parameters
    int queue_size_;
    int bin_size_;
    double white_threshold_, black_threshold_;
    jsk_recognition_utils::HistogramPolicy histogram_policy_;
  };
}

#endif // JSK_PCL_ROS_COLOR_HISTOGRAM_H__