slic_superpixels.h
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00001 // -*- mode: c++ -*-
00002 /*********************************************************************
00003  * Software License Agreement (BSD License)
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00035 
00036 
00037 #ifndef JSK_PERCEPTION_SLIC_SUPERPIXELS_H_
00038 #define JSK_PERCEPTION_SLIC_SUPERPIXELS_H_
00039 
00040 #include <ros/ros.h>
00041 #include <nodelet/nodelet.h>
00042 #include <sensor_msgs/image_encodings.h>
00043 #include <cv_bridge/cv_bridge.h>
00044 #include <image_transport/image_transport.h>
00045 #include <dynamic_reconfigure/server.h>
00046 #include <boost/thread.hpp>
00047 #include <opencv/cv.h>
00048 
00049 #include <jsk_perception/SLICSuperPixelsConfig.h>
00050 #include <dynamic_reconfigure/server.h>
00051 
00052 namespace jsk_perception
00053 {
00054   class SLICSuperPixels: public nodelet::Nodelet
00055   {
00056   public:
00057     typedef SLICSuperPixelsConfig Config;
00058     
00059   protected:
00061     // methods
00063     virtual void onInit();
00064     virtual void imageCallback(const sensor_msgs::Image::ConstPtr& image);
00065     virtual void configCallback(Config &config, uint32_t level);
00066 
00068     // ROS variables
00070     ros::NodeHandle nh_, pnh_;
00071     boost::shared_ptr<image_transport::ImageTransport> it_;
00072     boost::mutex mutex_;
00073     image_transport::Subscriber image_sub_;
00074     ros::Publisher pub_debug_;
00075     ros::Publisher pub_debug_mean_color_;
00076     ros::Publisher pub_debug_center_grid_;
00077     ros::Publisher pub_;
00078     boost::shared_ptr<dynamic_reconfigure::Server<Config> > srv_;
00079     
00081     // parameters
00083     int number_of_super_pixels_;
00084     int weight_;
00085     bool debug_image_;
00086   private:
00087   };
00088 }
00089 
00090 #endif


jsk_perception
Author(s): Manabu Saito, Ryohei Ueda
autogenerated on Tue Jul 2 2019 19:41:07