mask_image_cluster_filter.h
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00001 // -*- mode: c++ -*-
00002 /*********************************************************************
00003  * Software License Agreement (BSD License)
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00035 
00036 
00037 #ifndef JSK_PCL_ROS_MASK_IMAGE_CLUSTER_FILTER_H_
00038 #define JSK_PCL_ROS_MASK_IMAGE_CLUSTER_FILTER_H_
00039 
00040 #include <jsk_topic_tools/diagnostic_nodelet.h>
00041 #include <jsk_recognition_msgs/ClusterPointIndices.h>
00042 #include <sensor_msgs/Image.h>
00043 #include <sensor_msgs/CameraInfo.h>
00044 #include <sensor_msgs/PointCloud2.h>
00045 #include <opencv2/opencv.hpp>
00046 #include <message_filters/subscriber.h>
00047 #include <message_filters/time_synchronizer.h>
00048 #include <message_filters/synchronizer.h>
00049 
00050 
00051 namespace jsk_pcl_ros
00052 {
00053   class MaskImageClusterFilter: public jsk_topic_tools::DiagnosticNodelet
00054   {
00055   public:
00056     MaskImageClusterFilter(): DiagnosticNodelet("MaskImageClusterFilter") {}
00057     typedef message_filters::sync_policies::ExactTime<
00058       sensor_msgs::PointCloud2,
00059       jsk_recognition_msgs::ClusterPointIndices > SyncPolicy;
00060 
00061   protected:
00062     virtual void onInit();
00063     virtual void subscribe();
00064     virtual void unsubscribe();
00065     virtual void concat(
00066       const sensor_msgs::PointCloud2::ConstPtr& cloud_msg,
00067       const jsk_recognition_msgs::ClusterPointIndicesConstPtr &indices);
00068     virtual void imageCalback(
00069       const sensor_msgs::Image::ConstPtr& mask_msg);
00070     virtual void infoCalback(
00071       const sensor_msgs::CameraInfo::ConstPtr& info_ms);
00072 
00073     boost::mutex mutex_;
00074     ros::Publisher pub_;
00075     message_filters::Subscriber<sensor_msgs::PointCloud2> sub_input_;
00076     message_filters::Subscriber<jsk_recognition_msgs::ClusterPointIndices> sub_target_;
00077     boost::shared_ptr<message_filters::Synchronizer<SyncPolicy> >sync_;
00078     ros::Subscriber sub_image_;
00079     ros::Subscriber sub_info_;
00080     cv::Mat mask_image_;
00081     sensor_msgs::CameraInfo::ConstPtr camera_info_;
00082     
00083   private:
00084     
00085   };
00086 }
00087 
00088 #endif


jsk_pcl_ros
Author(s): Yohei Kakiuchi
autogenerated on Sun Oct 8 2017 02:43:50