attention_clipper.h
Go to the documentation of this file.
00001 // -*- mode: c++ -*-
00002 /*********************************************************************
00003  * Software License Agreement (BSD License)
00004  *
00005  *  Copyright (c) 2014, JSK Lab
00006  *  All rights reserved.
00007  *
00008  *  Redistribution and use in source and binary forms, with or without
00009  *  modification, are permitted provided that the following conditions
00010  *  are met:
00011  *
00012  *   * Redistributions of source code must retain the above copyright
00013  *     notice, this list of conditions and the following disclaimer.
00014  *   * Redistributions in binary form must reproduce the above
00015  *     copyright notice, this list of conditions and the following
00016  *     disclaimer in the documentation and/o2r other materials provided
00017  *     with the distribution.
00018  *   * Neither the name of the JSK Lab nor the names of its
00019  *     contributors may be used to endorse or promote products derived
00020  *     from this software without specific prior written permission.
00021  *
00022  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00023  *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00024  *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00025  *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00026  *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00027  *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00028  *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00029  *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00030  *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00031  *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00032  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00033  *  POSSIBILITY OF SUCH DAMAGE.
00034  *********************************************************************/
00035 
00036 
00037 #ifndef JSK_PCL_ROS_ATTENTION_CLIPPER_H_
00038 #define JSK_PCL_ROS_ATTENTION_CLIPPER_H_
00039 
00040 #include <jsk_topic_tools/diagnostic_nodelet.h>
00041 #include <sensor_msgs/CameraInfo.h>
00042 #include "jsk_recognition_utils/pcl_conversion_util.h"
00043 #include "jsk_recognition_utils/geo_util.h"
00044 #include "jsk_pcl_ros/tf_listener_singleton.h"
00045 #include <image_geometry/pinhole_camera_model.h>
00046 #include <jsk_recognition_msgs/ClusterPointIndices.h>
00047 #include <jsk_recognition_msgs/BoundingBoxArray.h>
00048 #include <geometry_msgs/PoseArray.h>
00049 #include <sensor_msgs/Image.h>
00050 
00051 namespace jsk_pcl_ros
00052 {
00053   class AttentionClipper: public jsk_topic_tools::DiagnosticNodelet
00054   {
00055   public:
00056     AttentionClipper(): DiagnosticNodelet("AttentionClipper") { }
00057 
00058   protected:
00060     // methods
00062     virtual void onInit();
00063     virtual void clip(const sensor_msgs::CameraInfo::ConstPtr& msg);
00064     virtual void clipPointcloud(const sensor_msgs::PointCloud2::ConstPtr& msg);
00065     virtual void poseCallback(const geometry_msgs::PoseStamped::ConstPtr& pose);
00066     virtual void boxCallback(const jsk_recognition_msgs::BoundingBox::ConstPtr& box);
00067     virtual void poseArrayCallback(const geometry_msgs::PoseArray::ConstPtr& pose);
00068     virtual void boxArrayCallback(const jsk_recognition_msgs::BoundingBoxArray::ConstPtr& box);
00069     virtual jsk_recognition_utils::Vertices cubeVertices(Eigen::Vector3f& dimension);
00070     virtual void subscribe();
00071     virtual void unsubscribe();
00072     virtual void computeROI(
00073       const sensor_msgs::CameraInfo::ConstPtr& msg,
00074       std::vector<cv::Point2d>& points,
00075       cv::Mat& mask);
00076     virtual void publishBoundingBox(const std_msgs::Header& header);
00077     virtual void initializePoseList(size_t num);
00079     // ROS variables
00081     ros::Subscriber sub_;
00082     ros::Subscriber sub_pose_;
00083     ros::Subscriber sub_box_;
00084     ros::Subscriber sub_points_;
00085     ros::Publisher pub_camera_info_;
00086     ros::Publisher pub_bounding_box_array_;
00087     ros::Publisher pub_mask_;
00088     ros::Publisher pub_indices_;
00089     ros::Publisher pub_cluster_indices_;
00090     std::vector<ros::Publisher> multiple_pub_indices_;
00091     tf::TransformListener* tf_listener_;
00092     boost::mutex mutex_;
00093 
00095     // parameters
00097     // only cube is supported
00098     jsk_recognition_utils::Vertices vertices_;
00099     // for multiple attention
00100     std::vector<Eigen::Affine3f> pose_list_;
00101     std::vector<Eigen::Affine3f> transformed_pose_list_;
00102     std::vector<std::string> frame_id_list_;
00103     jsk_recognition_utils::Vertices dimensions_;
00104     std::vector<std::string > prefixes_;
00105 
00106     bool use_multiple_attention_;
00107     bool negative_;
00108   private:
00109 
00110   };
00111 }
00112 
00113 #endif


jsk_pcl_ros
Author(s): Yohei Kakiuchi
autogenerated on Tue Jul 2 2019 19:41:42