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_PERCEPTION_BACKGROUND_SUBSTRACTION_H_ 00038 #define JSK_PERCEPTION_BACKGROUND_SUBSTRACTION_H_ 00039 00040 #include <jsk_topic_tools/diagnostic_nodelet.h> 00041 #include <opencv/cv.hpp> 00042 #include <opencv2/opencv.hpp> 00043 #include <image_transport/image_transport.h> 00044 #include <image_transport/subscriber_filter.h> 00045 #include <sensor_msgs/image_encodings.h> 00046 #include <cv_bridge/cv_bridge.h> 00047 #include <sensor_msgs/Image.h> 00048 00049 #include <dynamic_reconfigure/server.h> 00050 #include <jsk_perception/BackgroundSubstractionConfig.h> 00051 00052 namespace jsk_perception 00053 { 00054 class BackgroundSubstraction: public jsk_topic_tools::DiagnosticNodelet 00055 { 00056 public: 00057 BackgroundSubstraction(): DiagnosticNodelet("BackgroundSubstraction") {} 00058 typedef jsk_perception::BackgroundSubstractionConfig Config; 00059 protected: 00061 // methods 00063 virtual void onInit(); 00064 virtual void subscribe(); 00065 virtual void unsubscribe(); 00066 virtual void substract( 00067 const sensor_msgs::Image::ConstPtr& image_msg); 00068 virtual void configCallback (Config &config, uint32_t level); 00070 // ROS variables 00072 ros::Publisher image_pub_; 00073 image_transport::Subscriber sub_; 00074 boost::shared_ptr<image_transport::ImageTransport> it_; 00075 boost::shared_ptr<dynamic_reconfigure::Server<Config> > srv_; 00076 boost::mutex mutex_; 00077 00079 // Parameters 00081 // http://stackoverflow.com/questions/28847289/error-cannot-declare-variable-bg-to-be-of-abstract-type-cvbackgroundsubtra 00082 #if CV_MAJOR_VERSION >= 3 00083 cv::Ptr<cv::BackgroundSubtractorMOG2> bg_; 00084 #else 00085 cv::BackgroundSubtractorMOG2 bg_; 00086 #endif 00087 bool detect_shadows_; 00088 int nmixtures_; 00089 double background_ratio_; 00090 00091 private: 00092 00093 }; 00094 } 00095 00096 #endif