imagesift.h

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// -*- mode: c++ -*-
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#ifndef IMAGESIFT_SIFT_NODE_H_
#define IMAGESIFT_SIFT_NODE_H_
 
#include <jsk_topic_tools/diagnostic_nodelet.h>
#include <ros/node_handle.h>
#include <sensor_msgs/Image.h>
#include <posedetection_msgs/ImageFeature0D.h>
#include <posedetection_msgs/Feature0DDetect.h>
#include <image_transport/image_transport.h>
#include <image_transport/subscriber_filter.h>
 
#include <boost/shared_ptr.hpp>
#include <boost/thread/mutex.hpp>
 
#include <cv_bridge/cv_bridge.h>
#include <siftfast/siftfast.h>
 
#include <message_filters/subscriber.h>
#include <message_filters/synchronizer.h>
#include <message_filters/sync_policies/exact_time.h>
 
namespace imagesift
{
  // libsiftfast has so many static global variables. It causes segmentation fault when more than 2 imagesift nodelets are loaded into the same nodelet manager. This global variable enable more than 2 threads to use libsiftfast's variables. This means, libsiftfast becomes slow when you load 2 imagesift nodelets.
  static boost::mutex _g_siftfast_mutex;
 
  class SiftNode: public jsk_topic_tools::DiagnosticNodelet
  {
  public:
    typedef message_filters::sync_policies::ExactTime<
      sensor_msgs::Image,
      sensor_msgs::Image > SyncPolicy;
    ros::WallTime lasttime;
    SiftNode(): DiagnosticNodelet("SiftNode") {}
    virtual ~SiftNode();
  protected:
    bool _bInfoInitialized;
    bool _useMask;
    boost::mutex _mutex;
    boost::shared_ptr<image_transport::ImageTransport> _it;
    image_transport::TransportHints _hints;
    image_transport::Subscriber _subImage;
    // for useMask
    message_filters::Subscriber<sensor_msgs::Image> _subImageWithMask;
    message_filters::Subscriber<sensor_msgs::Image> _subMask;
    boost::shared_ptr<message_filters::Synchronizer<SyncPolicy> > _sync;
    ros::ServiceServer _srvDetect;
    ros::Subscriber _subInfo;
    ros::Publisher _pubFeatures;
    ros::Publisher _pubSift;
    posedetection_msgs::ImageFeature0D _sift_msg;
 
    virtual void onInit();
    virtual void subscribe();
    virtual void unsubscribe();
    void infoCb(const sensor_msgs::CameraInfoConstPtr& msg_ptr);
    bool detectCb(posedetection_msgs::Feature0DDetect::Request& req,
                  posedetection_msgs::Feature0DDetect::Response& res);
    bool detect(posedetection_msgs::Feature0D& features,
                const sensor_msgs::Image& imagemsg,
                const sensor_msgs::Image::ConstPtr& mask_ptr);
    void imageCb(const sensor_msgs::ImageConstPtr& msg_ptr,
                 const sensor_msgs::ImageConstPtr& mask_ptr);
    void imageCb(const sensor_msgs::ImageConstPtr& msg_ptr);
  private:
  };
}
 
#endif