people_detection.h

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// -*- mode: c++ -*-
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#ifndef JSK_PCL_ROS_PEOPLE_DETECTION_H_
#define JSK_PCL_ROS_PEOPLE_DETECTION_H_

#include <jsk_topic_tools/diagnostic_nodelet.h>

#include <jsk_recognition_msgs/BoundingBoxArray.h>
#include <jsk_recognition_msgs/ModelCoefficientsArray.h>
#include <sensor_msgs/CameraInfo.h>
#include <sensor_msgs/PointCloud2.h>

#include <dynamic_reconfigure/server.h>
#include "jsk_pcl_ros/PeopleDetectionConfig.h"

#include <pcl/people/ground_based_people_detection_app.h>

namespace jsk_pcl_ros {
  class PeopleDetection : public jsk_topic_tools::DiagnosticNodelet {
   public:
    PeopleDetection() : DiagnosticNodelet("PeopleDetection") {}

    typedef jsk_pcl_ros::PeopleDetectionConfig Config;

   protected:
    // methods
    virtual void onInit();

    virtual void ground_coeffs_callback(
      const jsk_recognition_msgs::ModelCoefficientsArray::ConstPtr&
        coefficients_msg);
    virtual void set_ground_coeffs(
      const pcl_msgs::ModelCoefficients& coefficients);
    virtual void infoCallback(
      const sensor_msgs::CameraInfo::ConstPtr& info_msg);
    virtual void subscribe();
    virtual void unsubscribe();
    virtual void updateDiagnostic(
      diagnostic_updater::DiagnosticStatusWrapper& stat);
    virtual void detect(const sensor_msgs::PointCloud2::ConstPtr& cloud_msg);

    // ROS variables
    ros::Subscriber sub_cloud_;
    ros::Subscriber sub_info_;
    ros::Subscriber sub_coefficients_;

    ros::Publisher pub_box_;

    // dynamic reconfigure
    boost::shared_ptr<dynamic_reconfigure::Server<Config> > srv_;
    void configCallback(Config& config, uint32_t level);

    // parameters
    boost::mutex mutex_;

    sensor_msgs::CameraInfo::ConstPtr latest_camera_info_;

    pcl::people::PersonClassifier<pcl::RGB> person_classifier_;
    pcl::people::GroundBasedPeopleDetectionApp<pcl::PointXYZRGBA>
      people_detector_;

    Eigen::VectorXf ground_coeffs_;

    double box_depth_;
    double box_width_;
    double min_confidence_;
    double people_height_threshold_;
    double voxel_size_;
    int queue_size_;
    std::string trained_filename_;

   private:
  };
}

#endif