00001 // -*- mode: c++ -*- 00002 /********************************************************************* 00003 * Software License Agreement (BSD License) 00004 * 00005 * Copyright (c) 2016, 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 #ifndef JSK_PERCEPTION_CONSENSUS_TRACKING_H_ 00037 #define JSK_PERCEPTION_CONSENSUS_TRACKING_H_ 00038 00039 #include <geometry_msgs/PolygonStamped.h> 00040 #include <libcmt/CMT.h> 00041 #include <message_filters/subscriber.h> 00042 #include <message_filters/synchronizer.h> 00043 #include <message_filters/sync_policies/exact_time.h> 00044 #include <message_filters/sync_policies/approximate_time.h> 00045 #include <jsk_topic_tools/diagnostic_nodelet.h> 00046 #include <sensor_msgs/Image.h> 00047 00048 namespace jsk_perception 00049 { 00050 class ConsensusTracking : public jsk_topic_tools::DiagnosticNodelet 00051 { 00052 public: 00053 ConsensusTracking() : 00054 DiagnosticNodelet("ConsensusTracking"), 00055 window_initialized_(false) {} 00056 typedef message_filters::sync_policies::ApproximateTime< 00057 sensor_msgs::Image, 00058 geometry_msgs::PolygonStamped> ApproximateSyncPolicy; 00059 typedef message_filters::sync_policies::ExactTime< 00060 sensor_msgs::Image, 00061 geometry_msgs::PolygonStamped> ExactSyncPolicy; 00062 protected: 00063 virtual void onInit(); 00064 virtual void subscribe(); 00065 virtual void unsubscribe(); 00066 virtual void getTrackingResult(const sensor_msgs::Image::ConstPtr& image_msg); 00067 void setInitialWindow(const sensor_msgs::Image::ConstPtr& img_msg, 00068 const geometry_msgs::PolygonStamped::ConstPtr& poly_msg); 00069 00070 ros::Publisher pub_mask_image_; 00071 ros::Publisher pub_debug_image_; 00072 00073 ros::Subscriber sub_image_; 00074 boost::shared_ptr<message_filters::Synchronizer<ExactSyncPolicy> > sync_; 00075 boost::shared_ptr<message_filters::Synchronizer<ApproximateSyncPolicy> > async_; 00076 message_filters::Subscriber<sensor_msgs::Image> sub_image_to_init_; 00077 message_filters::Subscriber<geometry_msgs::PolygonStamped> sub_polygon_to_init_; 00078 00079 CMT cmt; 00080 00081 boost::mutex mutex_; 00082 bool window_initialized_; 00083 bool approximate_sync_; 00084 int queue_size_; 00085 private: 00086 }; 00087 } // namespace jsk_perception 00088 00089 #endif // JSK_PERCEPTION_CONSENSUS_TRACKING_H_