apply_mask_image.h

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

#include <jsk_topic_tools/diagnostic_nodelet.h>
#include <sensor_msgs/Image.h>
#include <sensor_msgs/CameraInfo.h>
#include <message_filters/subscriber.h>
#include <message_filters/synchronizer.h>
#include <message_filters/sync_policies/exact_time.h>
#include <message_filters/sync_policies/approximate_time.h>

namespace jsk_perception
{
  class ApplyMaskImage: public jsk_topic_tools::DiagnosticNodelet
  {
  public:
    typedef message_filters::sync_policies::ApproximateTime<
    sensor_msgs::Image,
    sensor_msgs::Image > ApproximateSyncPolicy;
    typedef message_filters::sync_policies::ExactTime<
    sensor_msgs::Image,
    sensor_msgs::Image > SyncPolicy;
    ApplyMaskImage(): DiagnosticNodelet("ApplyMaskImage") {}
  protected:

    virtual void onInit();
    virtual void subscribe();
    virtual void unsubscribe();
    virtual void apply(
      const sensor_msgs::Image::ConstPtr& image_msg,
      const sensor_msgs::Image::ConstPtr& mask_msg);
    virtual void infoCallback(
      const sensor_msgs::CameraInfo::ConstPtr& info_msg);

    bool approximate_sync_;
    bool clip_;
    bool negative_;
    bool negative_before_clip_;
    bool mask_black_to_transparent_;
    bool use_rectified_image_;
    int queue_size_;
    int cval_;
    boost::shared_ptr<message_filters::Synchronizer<SyncPolicy> > sync_;
    boost::shared_ptr<message_filters::Synchronizer<ApproximateSyncPolicy> > async_;
    boost::mutex mutex_;
    sensor_msgs::CameraInfo::ConstPtr camera_info_;
    message_filters::Subscriber<sensor_msgs::Image> sub_image_;
    message_filters::Subscriber<sensor_msgs::Image> sub_mask_;
    message_filters::Subscriber<sensor_msgs::CameraInfo> sub_camera_info_;
    ros::Subscriber sub_info_;
    ros::Publisher pub_image_;
    ros::Publisher pub_mask_;
    ros::Publisher pub_camera_info_;
    
  private:
    
  };
}

#endif