video_to_scene.h

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// -*- mode: C++ -*-
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/*
 * video_to_scene.h
 * Author: Kei Okada <k-okada@jsk.t.u-tokyo.ac.jp>
 */
 
#ifndef VIDEO_TO_SCENE_H_
#define VIDEO_TO_SCENE_H_
 
#include <jsk_topic_tools/diagnostic_nodelet.h>
#include <dynamic_reconfigure/server.h>
#include <jsk_perception/VideoToSceneConfig.h>
#include <sensor_msgs/Image.h>
#include <opencv2/opencv.hpp>
#include <opencv2/bgsegm.hpp>
#include <cv_bridge/cv_bridge.h>
#include <sensor_msgs/image_encodings.h>
#include <std_msgs/Float64.h>
#include <image_transport/image_transport.h>
 
 
namespace jsk_perception{
    class VideoToScene: public jsk_topic_tools::DiagnosticNodelet{
    public:
        typedef VideoToSceneConfig Config;
    VideoToScene() : DiagnosticNodelet("VideoToScene") {}
    protected:
        virtual void onInit();
        virtual void subscribe();
        virtual void unsubscribe();
        virtual void work(const sensor_msgs::Image::ConstPtr& image_msg);
        virtual void configCallback(Config &config, uint32_t level);
 
        boost::shared_ptr<dynamic_reconfigure::Server<Config> > srv_;
        image_transport::Subscriber sub_;
        boost::shared_ptr<image_transport::ImageTransport> it_;
        image_transport::Publisher pub_;
        boost::mutex mutex_;
    private:
        cv::Ptr<cv::bgsegm::BackgroundSubtractorGMG> bgsubtractor;
        int min_percent_;
        int max_percent_;
        bool captured_;
 
    };
}
 
#endif // VIDEO_TO_SCENE_H_