consensus_tracking.h
Go to the documentation of this file.
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 #ifndef JSK_PERCEPTION_CONSENSUS_TRACKING_H_
00037 #define JSK_PERCEPTION_CONSENSUS_TRACKING_H_
00038 
00039 #include <geometry_msgs/PolygonStamped.h>
00040 #include <libcmt/CMT.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 <jsk_topic_tools/diagnostic_nodelet.h>
00046 #include <sensor_msgs/Image.h>
00047 
00048 namespace jsk_perception
00049 {
00050   class ConsensusTracking : public jsk_topic_tools::DiagnosticNodelet
00051   {
00052   public:
00053     ConsensusTracking() :
00054       DiagnosticNodelet("ConsensusTracking"),
00055       window_initialized_(false) {}
00056     typedef message_filters::sync_policies::ApproximateTime<
00057       sensor_msgs::Image,
00058       geometry_msgs::PolygonStamped> ApproximateSyncPolicy;
00059     typedef message_filters::sync_policies::ExactTime<
00060       sensor_msgs::Image,
00061       geometry_msgs::PolygonStamped> ExactSyncPolicy;
00062   protected:
00063     virtual void onInit();
00064     virtual void subscribe();
00065     virtual void unsubscribe();
00066     virtual void getTrackingResult(const sensor_msgs::Image::ConstPtr& image_msg);
00067     void setInitialWindow(const sensor_msgs::Image::ConstPtr& img_msg,
00068                           const geometry_msgs::PolygonStamped::ConstPtr& poly_msg);
00069 
00070     ros::Publisher pub_mask_image_;
00071     ros::Publisher pub_debug_image_;
00072 
00073     ros::Subscriber sub_image_;
00074     boost::shared_ptr<message_filters::Synchronizer<ExactSyncPolicy> > sync_;
00075     boost::shared_ptr<message_filters::Synchronizer<ApproximateSyncPolicy> > async_;
00076     message_filters::Subscriber<sensor_msgs::Image> sub_image_to_init_;
00077     message_filters::Subscriber<geometry_msgs::PolygonStamped> sub_polygon_to_init_;
00078 
00079     CMT cmt;
00080 
00081     boost::mutex mutex_;
00082     bool window_initialized_;
00083     bool approximate_sync_;
00084     int queue_size_;
00085   private:
00086   };
00087 }  // namespace jsk_perception
00088 
00089 #endif // JSK_PERCEPTION_CONSENSUS_TRACKING_H_


jsk_perception
Author(s): Manabu Saito, Ryohei Ueda
autogenerated on Sun Oct 8 2017 02:43:23