boundingbox_occlusion_rejector.h

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

#include <jsk_topic_tools/diagnostic_nodelet.h>
#include <jsk_recognition_msgs/BoundingBoxArray.h>
#include <sensor_msgs/CameraInfo.h>

#include <cv_bridge/cv_bridge.h>
#include <image_geometry/pinhole_camera_model.h>
#include "jsk_pcl_ros/tf_listener_singleton.h"

namespace jsk_pcl_ros
{
  class BoundingBoxOcclusionRejector: public jsk_topic_tools::DiagnosticNodelet
  {
  public:
    typedef boost::shared_ptr<BoundingBoxOcclusionRejector> Ptr;
    BoundingBoxOcclusionRejector(): DiagnosticNodelet("BoundingBoxOcclusionRejector"){}

  protected:
    virtual void onInit();
    virtual void subscribe();
    virtual void unsubscribe();
    virtual void reject(
      const jsk_recognition_msgs::BoundingBoxArray::ConstPtr& candidate_boxes_msg);
    virtual void infoCallback(
      const sensor_msgs::CameraInfo::ConstPtr& info_msg);
    virtual void targetBoxesCallback(
      const jsk_recognition_msgs::BoundingBoxArray::ConstPtr& target_boxes_msg);
    virtual std::vector<cv::Point2i> projectVertices(const std::vector<cv::Point3d>& vertices,
                                                     const image_geometry::PinholeCameraModel& model);
    virtual std::vector<cv::Point3d> getVertices(const jsk_recognition_msgs::BoundingBox& box);
    virtual std::vector<std::vector<cv::Point2i> > separateIntoFaces(
      const std::vector<cv::Point2i>& vertices);
    boost::mutex mutex_;
    ros::Publisher pub_;
    ros::Publisher pub_target_image_;
    ros::Publisher pub_candidate_image_;
    tf::TransformListener* tf_listener_;
    ros::Subscriber sub_camera_info_;
    ros::Subscriber sub_target_boxes_;
    ros::Subscriber sub_candidate_boxes_;
    sensor_msgs::CameraInfo::ConstPtr latest_info_msg_;
    jsk_recognition_msgs::BoundingBoxArray::ConstPtr latest_target_boxes_msg_;
    
  private:
    
  };
}

#endif