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_RECT_ARRAY_ACTUAL_SIZE_FILTER_H_ 00038 #define JSK_PERCEPTION_RECT_ARRAY_ACTUAL_SIZE_FILTER_H_ 00039 00040 #include <jsk_topic_tools/diagnostic_nodelet.h> 00041 #include <sensor_msgs/Image.h> 00042 #include <sensor_msgs/CameraInfo.h> 00043 #include <jsk_recognition_msgs/RectArray.h> 00044 #include <jsk_perception/RectArrayActualSizeFilterConfig.h> 00045 #include <dynamic_reconfigure/server.h> 00046 #include <message_filters/subscriber.h> 00047 #include <message_filters/synchronizer.h> 00048 #include <message_filters/sync_policies/exact_time.h> 00049 #include <message_filters/sync_policies/approximate_time.h> 00050 #include <opencv2/opencv.hpp> 00051 00052 namespace jsk_perception 00053 { 00054 class RectArrayActualSizeFilter: public jsk_topic_tools::DiagnosticNodelet 00055 { 00056 public: 00057 typedef boost::shared_ptr<RectArrayActualSizeFilter> Ptr; 00058 typedef RectArrayActualSizeFilterConfig Config; 00059 typedef message_filters::sync_policies::ExactTime< 00060 jsk_recognition_msgs::RectArray, 00061 sensor_msgs::Image, 00062 sensor_msgs::CameraInfo> SyncPolicy; 00063 typedef message_filters::sync_policies::ApproximateTime< 00064 jsk_recognition_msgs::RectArray, 00065 sensor_msgs::Image, 00066 sensor_msgs::CameraInfo> ApproxSyncPolicy; 00067 00068 RectArrayActualSizeFilter(): DiagnosticNodelet("RectArrayActualSizeFilter") {} 00069 protected: 00070 virtual void onInit(); 00071 virtual void subscribe(); 00072 virtual void unsubscribe(); 00073 virtual void filter(const jsk_recognition_msgs::RectArray::ConstPtr& rect_array_msg, 00074 const sensor_msgs::Image::ConstPtr& depth_image_msg, 00075 const sensor_msgs::CameraInfo::ConstPtr& info_msg); 00076 virtual void configCallback(Config& config, uint32_t level); 00077 virtual double averageDistance(const int center_x, const int center_y, const cv::Mat& img) const; 00078 ros::Publisher pub_; 00079 bool approximate_sync_; 00080 message_filters::Subscriber<jsk_recognition_msgs::RectArray> sub_rect_array_; 00081 message_filters::Subscriber<sensor_msgs::Image> sub_image_; 00082 message_filters::Subscriber<sensor_msgs::CameraInfo> sub_info_; 00083 boost::shared_ptr<message_filters::Synchronizer<SyncPolicy> > sync_; 00084 boost::shared_ptr<message_filters::Synchronizer<ApproxSyncPolicy> > async_; 00085 boost::shared_ptr<dynamic_reconfigure::Server<Config> > srv_; 00086 boost::mutex mutex_; 00087 int kernel_size_; 00088 // filter parameters 00089 double min_x_; 00090 double max_x_; 00091 double min_y_; 00092 double max_y_; 00093 00094 private: 00095 00096 }; 00097 } 00098 00099 #endif