boundingbox_occlusion_rejector.h
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00001 // -*- mode: c++ -*-
00002 /*********************************************************************
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00035 
00036 
00037 #ifndef JSK_PCL_ROS_BOUNDING_BOX_OCCLUSION_REJECTOR_H_
00038 #define JSK_PCL_ROS_BOUNDING_BOX_OCCLUSION_REJECTOR_H_
00039 
00040 #include <jsk_topic_tools/diagnostic_nodelet.h>
00041 #include <jsk_recognition_msgs/BoundingBoxArray.h>
00042 #include <sensor_msgs/CameraInfo.h>
00043 
00044 #include <cv_bridge/cv_bridge.h>
00045 #include <image_geometry/pinhole_camera_model.h>
00046 #include "jsk_pcl_ros/tf_listener_singleton.h"
00047 
00048 namespace jsk_pcl_ros
00049 {
00050   class BoundingBoxOcclusionRejector: public jsk_topic_tools::DiagnosticNodelet
00051   {
00052   public:
00053     typedef boost::shared_ptr<BoundingBoxOcclusionRejector> Ptr;
00054     BoundingBoxOcclusionRejector(): DiagnosticNodelet("BoundingBoxOcclusionRejector"){}
00055 
00056   protected:
00057     virtual void onInit();
00058     virtual void subscribe();
00059     virtual void unsubscribe();
00060     virtual void reject(
00061       const jsk_recognition_msgs::BoundingBoxArray::ConstPtr& candidate_boxes_msg);
00062     virtual void infoCallback(
00063       const sensor_msgs::CameraInfo::ConstPtr& info_msg);
00064     virtual void targetBoxesCallback(
00065       const jsk_recognition_msgs::BoundingBoxArray::ConstPtr& target_boxes_msg);
00066     virtual std::vector<cv::Point2i> projectVertices(const std::vector<cv::Point3d>& vertices,
00067                                                      const image_geometry::PinholeCameraModel& model);
00068     virtual std::vector<cv::Point3d> getVertices(const jsk_recognition_msgs::BoundingBox& box);
00069     virtual std::vector<std::vector<cv::Point2i> > separateIntoFaces(
00070       const std::vector<cv::Point2i>& vertices);
00071     boost::mutex mutex_;
00072     ros::Publisher pub_;
00073     ros::Publisher pub_target_image_;
00074     ros::Publisher pub_candidate_image_;
00075     tf::TransformListener* tf_listener_;
00076     ros::Subscriber sub_camera_info_;
00077     ros::Subscriber sub_target_boxes_;
00078     ros::Subscriber sub_candidate_boxes_;
00079     sensor_msgs::CameraInfo::ConstPtr latest_info_msg_;
00080     jsk_recognition_msgs::BoundingBoxArray::ConstPtr latest_target_boxes_msg_;
00081     
00082   private:
00083     
00084   };
00085 }
00086 
00087 #endif


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