color_filter.h

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// -*- mode: C++ -*-
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#ifndef JSK_PCL_ROS_COLOR_FILTER_H_
#define JSK_PCL_ROS_COLOR_FILTER_H_

#include <nodelet/nodelet.h>
#include <pcl_ros/pcl_nodelet.h>
#include <pcl/filters/conditional_removal.h>
#include "jsk_pcl_ros/RGBColorFilterConfig.h"
#include "jsk_pcl_ros/HSIColorFilterConfig.h"
#include <message_filters/time_synchronizer.h>
#include <message_filters/synchronizer.h>
#include <dynamic_reconfigure/server.h>

#include "jsk_recognition_utils/pcl_conversion_util.h"
#include "jsk_topic_tools/connection_based_nodelet.h"

namespace jsk_pcl_ros
{
  class RGBColorFilter;
  class HSIColorFilter;

  template <class PackedComparison, typename Config>
  class ColorFilter: public jsk_topic_tools::ConnectionBasedNodelet
  {
    friend class RGBColorFilter;
    friend class HSIColorFilter;
  public:
    typedef message_filters::sync_policies::ExactTime<sensor_msgs::PointCloud2,
                                                      PCLIndicesMsg> SyncPolicy;
    typedef typename pcl::ConditionBase<pcl::PointXYZRGB>::Ptr ConditionPtr;
    typedef typename pcl::ComparisonBase<pcl::PointXYZRGB>::Ptr ComparisonPtr;
    typedef PackedComparison Comparison;

  protected:
    boost::mutex mutex_;
    pcl::ConditionalRemoval<pcl::PointXYZRGB> filter_instance_;
    message_filters::Subscriber<sensor_msgs::PointCloud2> sub_input_;
    message_filters::Subscriber<PCLIndicesMsg> sub_indices_;
    ros::Publisher pub_;
    sensor_msgs::PointCloud2 color_space_msg_;
    ros::Publisher color_space_pub_;
    boost::shared_ptr <dynamic_reconfigure::Server<Config> > srv_;
    virtual void configCallback(Config &config, uint32_t level) = 0;
    virtual void updateCondition() = 0;
    virtual void convertToColorSpace(float &x, float &y, float &z,
                                     unsigned char r, unsigned char g, unsigned char b) = 0;
    virtual void filter(const sensor_msgs::PointCloud2ConstPtr &input);
    virtual void filter(const sensor_msgs::PointCloud2ConstPtr &input,
                        const PCLIndicesMsg::ConstPtr& indices);
    virtual void subscribe();
    virtual void unsubscribe();
    boost::shared_ptr<message_filters::Synchronizer<SyncPolicy> >sync_;

    bool use_indices_;
  private:
    virtual void onInit();
  };

  class RGBColorFilter: public ColorFilter<pcl::PackedRGBComparison<pcl::PointXYZRGB>, jsk_pcl_ros::RGBColorFilterConfig>
  {
  public:
  protected:
    int r_min_, r_max_, b_min_, b_max_, g_min_, g_max_;
    virtual void configCallback(jsk_pcl_ros::RGBColorFilterConfig &config, uint32_t level);
    virtual void updateCondition();
    virtual void convertToColorSpace(float &x, float &y, float &z,
                                     unsigned char r, unsigned char g, unsigned char b);
  private:
    virtual void onInit();
  };

  class HSIColorFilter: public ColorFilter<pcl::PackedHSIComparison<pcl::PointXYZRGB>, jsk_pcl_ros::HSIColorFilterConfig>
  {
  public:
  protected:
    int h_min_, h_max_, s_min_, s_max_, i_min_, i_max_;
    virtual void configCallback(jsk_pcl_ros::HSIColorFilterConfig &config, uint32_t level);
    virtual void updateCondition();
    virtual void convertToColorSpace(float &x, float &y, float &z,
                                     unsigned char r, unsigned char g, unsigned char b);
  private:
    virtual void onInit();
  };
}


#endif