attention_clipper.h

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// -*- mode: c++ -*-
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#ifndef JSK_PCL_ROS_ATTENTION_CLIPPER_H_
#define JSK_PCL_ROS_ATTENTION_CLIPPER_H_

#include <jsk_topic_tools/diagnostic_nodelet.h>
#include <sensor_msgs/CameraInfo.h>
#include "jsk_recognition_utils/pcl_conversion_util.h"
#include "jsk_recognition_utils/geo_util.h"
#include "jsk_pcl_ros/tf_listener_singleton.h"
#include <image_geometry/pinhole_camera_model.h>
#include <jsk_recognition_msgs/ClusterPointIndices.h>
#include <jsk_recognition_msgs/BoundingBoxArray.h>
#include <geometry_msgs/PoseArray.h>
#include <sensor_msgs/Image.h>

namespace jsk_pcl_ros
{
  class AttentionClipper: public jsk_topic_tools::DiagnosticNodelet
  {
  public:
    AttentionClipper(): DiagnosticNodelet("AttentionClipper") { }

  protected:
    // methods
    virtual void onInit();
    virtual void clip(const sensor_msgs::CameraInfo::ConstPtr& msg);
    virtual void clipPointcloud(const sensor_msgs::PointCloud2::ConstPtr& msg);
    virtual void poseCallback(const geometry_msgs::PoseStamped::ConstPtr& pose);
    virtual void boxCallback(const jsk_recognition_msgs::BoundingBox::ConstPtr& box);
    virtual void poseArrayCallback(const geometry_msgs::PoseArray::ConstPtr& pose);
    virtual void boxArrayCallback(const jsk_recognition_msgs::BoundingBoxArray::ConstPtr& box);
    virtual jsk_recognition_utils::Vertices cubeVertices(Eigen::Vector3f& dimension);
    virtual void subscribe();
    virtual void unsubscribe();
    virtual void computeROI(
      const sensor_msgs::CameraInfo::ConstPtr& msg,
      std::vector<cv::Point2d>& points,
      cv::Mat& mask);
    virtual void publishBoundingBox(const std_msgs::Header& header);
    virtual void initializePoseList(size_t num);
    // ROS variables
    ros::Subscriber sub_;
    ros::Subscriber sub_pose_;
    ros::Subscriber sub_box_;
    ros::Subscriber sub_points_;
    ros::Publisher pub_camera_info_;
    ros::Publisher pub_bounding_box_array_;
    ros::Publisher pub_mask_;
    ros::Publisher pub_indices_;
    ros::Publisher pub_cluster_indices_;
    std::vector<ros::Publisher> multiple_pub_indices_;
    tf::TransformListener* tf_listener_;
    boost::mutex mutex_;

    // parameters
    // only cube is supported
    jsk_recognition_utils::Vertices vertices_;
    // for multiple attention
    std::vector<Eigen::Affine3f> pose_list_;
    std::vector<Eigen::Affine3f> transformed_pose_list_;
    std::vector<std::string> frame_id_list_;
    jsk_recognition_utils::Vertices dimensions_;
    std::vector<std::string > prefixes_;

    bool use_multiple_attention_;
    bool negative_;
  private:

  };
}

#endif