heat_detection.h
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00001 #ifndef _HECTOR_HEAT_DETECTION_H_
00002 #define _HECTOR_HEAT_DETECTION_H_
00003 
00004 #include "ros/ros.h"
00005 #include "std_msgs/String.h"
00006 #include <hector_worldmodel_msgs/ImagePercept.h>
00007 #include <image_transport/image_transport.h>
00008 #include <cv_bridge/cv_bridge.h>
00009 #include <opencv2/imgproc/imgproc.hpp>
00010 #include <opencv2/features2d/features2d.hpp>
00011 #include <opencv2/highgui/highgui.hpp>
00012 #include <sensor_msgs/image_encodings.h>
00013 #include <cv_bridge/cv_bridge.h>
00014 #include <thermaleye_msgs/Mapping.h>
00015 
00016 #include <dynamic_reconfigure/server.h>
00017 #include <hector_heat_detection/HeatDetectionConfig.h>
00018 
00019 using hector_heat_detection::HeatDetectionConfig;
00020 
00021 class HeatDetection{
00022 public:
00023     HeatDetection();
00024     ~HeatDetection();
00025 private:
00026     void imageCallback(const sensor_msgs::ImageConstPtr& img, const sensor_msgs::CameraInfoConstPtr& info);
00027     void mappingCallback(const thermaleye_msgs::Mapping& mapping);
00028     void dynRecParamCallback(HeatDetectionConfig &config, uint32_t level);
00029 
00030     ros::Publisher pub_;
00031     image_transport::CameraSubscriber sub_;
00032     image_transport::CameraPublisher pub_detection_;
00033     ros::Subscriber sub_mapping_;
00034 
00035     dynamic_reconfigure::Server<HeatDetectionConfig> dyn_rec_server_;
00036 
00037     bool mappingDefined_;
00038 
00039     double minTempVictim_;
00040     double maxTempVictim_;
00041     double minAreaVictim_;
00042     double minDistBetweenBlobs_;
00043     std::string perceptClassId_;
00044 
00045     thermaleye_msgs::Mapping mapping_;
00046 
00047     int image_count_ ;
00048 
00049     cv::Mat img_thres_min_;
00050     cv::Mat img_thres_max_;
00051     cv::Mat img_thres_;
00052 
00053 };
00054 
00055 #endif


hector_heat_detection
Author(s): Konstantin Fuchs
autogenerated on Mon Oct 6 2014 10:36:46