00001 // -*- mode: c++ -*- 00002 /********************************************************************* 00003 * Software License Agreement (BSD License) 00004 * 00005 * Copyright (c) 2015, 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_POLYGON_ARRAY_COLOR_LIKELIHOOD_H_ 00038 #define JSK_PERCEPTION_POLYGON_ARRAY_COLOR_LIKELIHOOD_H_ 00039 00040 #include <jsk_topic_tools/diagnostic_nodelet.h> 00041 #include <jsk_recognition_msgs/PolygonArray.h> 00042 #include <jsk_recognition_msgs/HistogramWithRangeArray.h> 00043 #include <message_filters/subscriber.h> 00044 #include <message_filters/sync_policies/exact_time.h> 00045 #include <message_filters/sync_policies/approximate_time.h> 00046 #include <jsk_perception/PolygonArrayColorLikelihoodConfig.h> 00047 #include <dynamic_reconfigure/server.h> 00048 #include <opencv2/opencv.hpp> 00049 00050 namespace jsk_perception 00051 { 00052 class PolygonArrayColorLikelihood: public jsk_topic_tools::DiagnosticNodelet 00053 { 00054 public: 00055 typedef boost::shared_ptr<PolygonArrayColorLikelihood> Ptr; 00056 typedef PolygonArrayColorLikelihoodConfig Config; 00057 PolygonArrayColorLikelihood(): DiagnosticNodelet("PolygonArrayColorLikelihood") {} 00058 typedef message_filters::sync_policies::ExactTime< 00059 jsk_recognition_msgs::PolygonArray, 00060 jsk_recognition_msgs::HistogramWithRangeArray > SyncPolicy; 00061 typedef message_filters::sync_policies::ApproximateTime< 00062 jsk_recognition_msgs::PolygonArray, 00063 jsk_recognition_msgs::HistogramWithRangeArray > ApproximateSyncPolicy; 00064 00065 protected: 00066 virtual void onInit(); 00067 virtual void subscribe(); 00068 virtual void unsubscribe(); 00069 virtual void referenceCallback( 00070 const jsk_recognition_msgs::HistogramWithRange::ConstPtr& ref_msg); 00071 virtual void likelihood( 00072 const jsk_recognition_msgs::PolygonArray::ConstPtr& polygon_msg, 00073 const jsk_recognition_msgs::HistogramWithRangeArray::ConstPtr& histogram_msg); 00074 virtual void configCallback(Config &config, uint32_t level); 00075 virtual double compareHist( 00076 const cv::MatND& ref_hist, const cv::MatND& target_hist); 00077 virtual void readReference(const std::string& file); 00078 boost::mutex mutex_; 00079 ros::Publisher pub_; 00080 ros::Subscriber sub_reference_; 00081 boost::shared_ptr<dynamic_reconfigure::Server<Config> > srv_; 00082 boost::shared_ptr<message_filters::Synchronizer<SyncPolicy> > sync_; 00083 boost::shared_ptr<message_filters::Synchronizer<ApproximateSyncPolicy> > async_; 00084 message_filters::Subscriber<jsk_recognition_msgs::PolygonArray> sub_polygon_; 00085 message_filters::Subscriber<jsk_recognition_msgs::HistogramWithRangeArray> sub_histogram_; 00086 jsk_recognition_msgs::HistogramWithRange::ConstPtr reference_; 00087 bool approximate_sync_; 00088 int max_queue_size_; 00089 int sync_queue_size_; 00090 int coefficient_method_; 00091 bool reference_from_file_; 00092 private: 00093 00094 }; 00095 } 00096 00097 #endif