00001 // -*- mode: c++ -*- 00002 /********************************************************************* 00003 * Software License Agreement (BSD License) 00004 * 00005 * Copyright (c) 2016, 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_BOUNDING_BOX_TO_RECT_H_ 00038 #define JSK_PERCEPTION_BOUNDING_BOX_TO_RECT_H_ 00039 00040 #include <jsk_recognition_msgs/BoundingBoxArray.h> 00041 #include <jsk_recognition_msgs/RectArray.h> 00042 #include <jsk_recognition_msgs/BoundingBoxArrayWithCameraInfo.h> 00043 #include <sensor_msgs/CameraInfo.h> 00044 #include <jsk_topic_tools/diagnostic_nodelet.h> 00045 #include <message_filters/subscriber.h> 00046 #include <message_filters/synchronizer.h> 00047 #include <message_filters/sync_policies/exact_time.h> 00048 #include <message_filters/sync_policies/approximate_time.h> 00049 #include <jsk_recognition_utils/tf_listener_singleton.h> 00050 #include <tf/message_filter.h> 00051 00052 namespace jsk_perception 00053 { 00054 class BoundingBoxToRect: public jsk_topic_tools::DiagnosticNodelet 00055 { 00056 public: 00057 typedef boost::shared_ptr<BoundingBoxToRect> Ptr; 00058 typedef message_filters::sync_policies::ExactTime< 00059 sensor_msgs::CameraInfo, 00060 jsk_recognition_msgs::BoundingBoxArray > SyncPolicy; 00061 typedef message_filters::sync_policies::ApproximateTime< 00062 sensor_msgs::CameraInfo, 00063 jsk_recognition_msgs::BoundingBoxArray > ApproximateSyncPolicy; 00064 typedef message_filters::sync_policies::ExactTime< 00065 sensor_msgs::CameraInfo, 00066 jsk_recognition_msgs::BoundingBox > SyncPolicyBox; 00067 typedef message_filters::sync_policies::ApproximateTime< 00068 sensor_msgs::CameraInfo, 00069 jsk_recognition_msgs::BoundingBox > ApproximateSyncPolicyBox; 00070 00071 BoundingBoxToRect(): DiagnosticNodelet("BoundingBoxToRect") {} 00072 protected: 00073 virtual void onInit(); 00074 virtual void subscribe(); 00075 virtual void unsubscribe(); 00076 virtual void inputCallback(const sensor_msgs::CameraInfo::ConstPtr& info_msg, 00077 const jsk_recognition_msgs::BoundingBoxArray::ConstPtr& boxes_msg); 00078 virtual void inputBoxCallback(const sensor_msgs::CameraInfo::ConstPtr& info_msg, 00079 const jsk_recognition_msgs::BoundingBox::ConstPtr& box_msg); 00080 00081 virtual void internalCallback(const jsk_recognition_msgs::BoundingBoxArrayWithCameraInfo::ConstPtr& msg); 00082 00083 boost::mutex mutex_; 00084 std::string frame_id_; 00085 message_filters::Subscriber<sensor_msgs::CameraInfo> sub_info_; 00086 message_filters::Subscriber<jsk_recognition_msgs::BoundingBox> sub_box_; 00087 message_filters::Subscriber<jsk_recognition_msgs::BoundingBoxArray> sub_boxes_; 00088 message_filters::Subscriber<jsk_recognition_msgs::BoundingBoxArrayWithCameraInfo> sub_box_with_info_; 00089 boost::shared_ptr<message_filters::Synchronizer<SyncPolicy> > sync_; 00090 boost::shared_ptr<message_filters::Synchronizer<ApproximateSyncPolicy> > async_; 00091 boost::shared_ptr<message_filters::Synchronizer<SyncPolicyBox> > sync_box_; 00092 boost::shared_ptr<message_filters::Synchronizer<ApproximateSyncPolicyBox> > async_box_; 00093 tf::TransformListener* tf_listener_; 00094 bool approximate_sync_; 00095 int tf_queue_size_; 00096 int queue_size_; 00097 boost::shared_ptr<tf::MessageFilter<jsk_recognition_msgs::BoundingBoxArrayWithCameraInfo> > tf_filter_; 00098 ros::Publisher pub_; 00099 ros::Publisher pub_internal_; 00100 private: 00101 00102 }; 00103 } 00104 00105 #endif