00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2017, JSK Lab 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/o2r other materials provided 00016 * with the distribution. 00017 * * Neither the name of the JSK Lab nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00035 00036 #ifndef JSK_PERCEPTION_FILTER_MASK_IMAGE_WITH_SIZE_H_ 00037 #define JSK_PERCEPTION_FILTER_MASK_IMAGE_WITH_SIZE_H_ 00038 00039 #include <dynamic_reconfigure/server.h> 00040 #include <jsk_topic_tools/diagnostic_nodelet.h> 00041 #include <message_filters/subscriber.h> 00042 #include <message_filters/synchronizer.h> 00043 #include <message_filters/sync_policies/exact_time.h> 00044 #include <message_filters/sync_policies/approximate_time.h> 00045 #include <sensor_msgs/Image.h> 00046 00047 #include "jsk_perception/FilterMaskImageWithSizeConfig.h" 00048 00049 namespace jsk_perception 00050 { 00051 class FilterMaskImageWithSize: public jsk_topic_tools::DiagnosticNodelet 00052 { 00053 public: 00054 FilterMaskImageWithSize(): DiagnosticNodelet("FilterMaskImageWithSize") {} 00055 typedef message_filters::sync_policies::ExactTime< 00056 sensor_msgs::Image, sensor_msgs::Image > SyncPolicy; 00057 typedef message_filters::sync_policies::ApproximateTime< 00058 sensor_msgs::Image, sensor_msgs::Image > ApproxSyncPolicy; 00059 typedef jsk_perception::FilterMaskImageWithSizeConfig Config; 00060 protected: 00061 virtual void onInit(); 00062 virtual void configCallback(Config &config, uint32_t level); 00063 virtual void subscribe(); 00064 virtual void unsubscribe(); 00065 virtual void filter(const sensor_msgs::Image::ConstPtr& input_msg); 00066 virtual void filter(const sensor_msgs::Image::ConstPtr& input_msg, 00067 const sensor_msgs::Image::ConstPtr& reference_msg); 00068 00069 boost::mutex mutex_; 00070 00071 boost::shared_ptr<dynamic_reconfigure::Server<Config> > srv_; 00072 double min_size_; 00073 double max_size_; 00074 double min_relative_size_; 00075 double max_relative_size_; 00076 00077 bool approximate_sync_; 00078 int queue_size_; 00079 bool use_reference_; 00080 message_filters::Subscriber<sensor_msgs::Image> sub_input_; 00081 message_filters::Subscriber<sensor_msgs::Image> sub_reference_; 00082 boost::shared_ptr<message_filters::Synchronizer<SyncPolicy> > sync_; 00083 boost::shared_ptr<message_filters::Synchronizer<ApproxSyncPolicy> > async_; 00084 00085 ros::Publisher pub_; 00086 private: 00087 }; 00088 } // namespace jsk_perception 00089 00090 #endif // JSK_PERCEPTION_FILTER_MASK_IMAGE_WITH_RELATIVE_SIZE_H_