rect_array_to_density_image.h

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// -*- mode: c++ -*-
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#ifndef JSK_PERCEPTION_RECT_ARRAY_TO_DENSITY_IMAGE_H_
#define JSK_PERCEPTION_RECT_ARRAY_TO_DENSITY_IMAGE_H_
 
#include <jsk_topic_tools/diagnostic_nodelet.h>
#include <sensor_msgs/Image.h>
#include <jsk_recognition_msgs/RectArray.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 RectArrayToDensityImage: public jsk_topic_tools::DiagnosticNodelet
  {
  public:
    typedef message_filters::sync_policies::ApproximateTime<
      sensor_msgs::Image, jsk_recognition_msgs::RectArray > ApproximateSyncPolicy;
    typedef message_filters::sync_policies::ExactTime<
      sensor_msgs::Image, jsk_recognition_msgs::RectArray > SyncPolicy;
    RectArrayToDensityImage(): DiagnosticNodelet("RectArrayToDensityImage") {}
    virtual ~RectArrayToDensityImage();
  protected:
 
    virtual void onInit();
    virtual void subscribe();
    virtual void unsubscribe();
    virtual void convert(
      const sensor_msgs::Image::ConstPtr& image_msg,
      const jsk_recognition_msgs::RectArray::ConstPtr& rects_msg);
 
    bool approximate_sync_;
    int queue_size_;
    boost::shared_ptr<message_filters::Synchronizer<SyncPolicy> > sync_;
    boost::shared_ptr<message_filters::Synchronizer<ApproximateSyncPolicy> > async_;
    message_filters::Subscriber<sensor_msgs::Image> sub_image_;
    message_filters::Subscriber<jsk_recognition_msgs::RectArray> sub_rects_;
    ros::Publisher pub_;
 
  private:
 
  };
}
 
#endif