00001 // -*- mode: c++ -*- 00002 /********************************************************************* 00003 * Software License Agreement (BSD License) 00004 * 00005 * Copyright (c) 2015, JSK Lab 00006 * All rights reserved. 00007 * 00008 * Redistribution and use in source and binary forms, with or without 00009 * modification, are permitted provided that the following conditions 00010 * are met: 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 00016 * disclaimer in the documentation and/o2r other materials provided 00017 * with the distribution. 00018 * * Neither the name of the JSK Lab nor the names of its 00019 * contributors may be used to endorse or promote products derived 00020 * from this software without specific prior written permission. 00021 * 00022 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00023 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00024 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00025 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00026 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 * POSSIBILITY OF SUCH DAMAGE. 00034 *********************************************************************/ 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