fuse_images.h
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00034 
00035 #ifndef JSK_PCL_ROS_FUSE_DEPTH_IMAGES_H_
00036 #define JSK_PCL_ROS_FUSE_DEPTH_IMAGES_H_
00037 
00038 #include <vector>
00039 
00040 #include <jsk_topic_tools/diagnostic_nodelet.h>
00041 #include <message_filters/pass_through.h>
00042 #include <message_filters/subscriber.h>
00043 #include <message_filters/synchronizer.h>
00044 #include <message_filters/sync_policies/approximate_time.h>
00045 #include <message_filters/time_synchronizer.h>
00046 #include <sensor_msgs/Image.h>
00047 #include <sensor_msgs/image_encodings.h>
00048 
00049 namespace jsk_pcl_ros
00050 {
00051   class FuseImages: public jsk_topic_tools::DiagnosticNodelet
00052   {
00053   public:
00054     FuseImages(const std::string& name, const std::string& encoding):
00055       DiagnosticNodelet(name), encoding_(encoding) {}
00056   protected:
00057     virtual void onInit();
00058     virtual void subscribe();
00059     virtual void unsubscribe();
00060     virtual bool validateInput(const sensor_msgs::Image::ConstPtr& in,
00061                                const int height_expected, const int width_expected, std::vector<cv::Mat>& inputs);
00062 
00063     ros::Publisher pub_out_;
00064 
00065     bool approximate_sync_;
00066     int queue_size_;
00067     bool averaging_;
00068     std::string encoding_;
00069 
00072     message_filters::PassThrough<sensor_msgs::Image> nf_;
00073 
00075     std::vector<boost::shared_ptr<message_filters::Subscriber<sensor_msgs::Image> > > filters_;
00076 
00080     boost::shared_ptr<message_filters::Synchronizer<message_filters::sync_policies::ApproximateTime<
00081       sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::Image,
00082       sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::Image> > > async_;
00083     boost::shared_ptr<message_filters::Synchronizer<message_filters::sync_policies::ExactTime<
00084       sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::Image,
00085       sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::Image> > > sync_;
00086 
00091     inline void
00092     input_callback (const sensor_msgs::Image::ConstPtr &input)
00093     {
00094       sensor_msgs::Image imgmsg;
00095       imgmsg.header.stamp = input->header.stamp;
00096       nf_.add(boost::make_shared<sensor_msgs::Image> (imgmsg));
00097     }
00098 
00099     virtual void inputCb(const sensor_msgs::Image::ConstPtr &in1, const sensor_msgs::Image::ConstPtr &in2,
00100                          const sensor_msgs::Image::ConstPtr &in3, const sensor_msgs::Image::ConstPtr &in4,
00101                          const sensor_msgs::Image::ConstPtr &in5, const sensor_msgs::Image::ConstPtr &in6,
00102                          const sensor_msgs::Image::ConstPtr &in7, const sensor_msgs::Image::ConstPtr &in8);
00103 
00104     virtual cv::Mat fuseInputs(std::vector<cv::Mat> inputs) {};
00105   private:
00106   };
00107 
00108   class FuseDepthImages: public FuseImages
00109   {
00110   public:
00111     FuseDepthImages(): FuseImages("FuseDepthImages", sensor_msgs::image_encodings::TYPE_32FC1) {};
00112   protected:
00113     virtual cv::Mat fuseInputs(std::vector<cv::Mat> inputs);
00114   };
00115 
00116   class FuseRGBImages: public FuseImages
00117   {
00118   public:
00119     FuseRGBImages(): FuseImages("FuseRGBImages", sensor_msgs::image_encodings::RGB8) {};
00120   protected:
00121     virtual cv::Mat fuseInputs(std::vector<cv::Mat> inputs);
00122   };
00123 
00124 } // namespace jsk_pcl_ros
00125 
00126 #endif // JSK_PCL_ROS_FUSE_DEPTH_IMAGES_H_


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