00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2017, JSK Lab 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/o2r other materials provided 00016 * with the distribution. 00017 * * Neither the name of the JSK Lab nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00035 00036 #ifndef JSK_PERCEPTION_FLOW_VELOCITY_THRESHOLDING_H_ 00037 #define JSK_PERCEPTION_FLOW_VELOCITY_THRESHOLDING_H_ 00038 00039 #include <jsk_topic_tools/diagnostic_nodelet.h> 00040 #include <message_filters/subscriber.h> 00041 #include <message_filters/synchronizer.h> 00042 #include <message_filters/sync_policies/exact_time.h> 00043 #include <message_filters/sync_policies/approximate_time.h> 00044 #include <sensor_msgs/CameraInfo.h> 00045 #include <opencv_apps/FlowArrayStamped.h> 00046 #include <dynamic_reconfigure/server.h> 00047 #include "jsk_perception/FlowVelocityThresholdingConfig.h" 00048 00049 namespace jsk_perception 00050 { 00051 class FlowVelocityThresholding: public jsk_topic_tools::DiagnosticNodelet 00052 { 00053 public: 00054 FlowVelocityThresholding(): DiagnosticNodelet("FlowVelocityThresholding") {} 00055 typedef jsk_perception::FlowVelocityThresholdingConfig Config; 00056 typedef message_filters::sync_policies::ApproximateTime< 00057 opencv_apps::FlowArrayStamped, 00058 sensor_msgs::CameraInfo > ApproximateSyncPolicy; 00059 typedef message_filters::sync_policies::ExactTime< 00060 opencv_apps::FlowArrayStamped, 00061 sensor_msgs::CameraInfo > SyncPolicy; 00062 protected: 00063 virtual void onInit(); 00064 virtual void configCallback(Config &config, uint32_t level); 00065 virtual void subscribe(); 00066 virtual void unsubscribe(); 00067 virtual void callback( 00068 const opencv_apps::FlowArrayStamped::ConstPtr& flows_msg); 00069 virtual void callback( 00070 const opencv_apps::FlowArrayStamped::ConstPtr& flows_msg, 00071 const sensor_msgs::CameraInfo::ConstPtr& info_msg); 00072 virtual void process( 00073 const opencv_apps::FlowArrayStamped::ConstPtr& flows_msg, 00074 const int image_height, 00075 const int image_width); 00076 00077 bool use_camera_info_; 00078 bool approximate_sync_; 00079 int queue_size_; 00080 int image_height_; 00081 int image_width_; 00082 int window_size_; 00083 double threshold_; 00084 00085 boost::mutex mutex_; 00086 ros::Publisher pub_; 00087 boost::shared_ptr<message_filters::Synchronizer<SyncPolicy> > sync_; 00088 boost::shared_ptr<message_filters::Synchronizer<ApproximateSyncPolicy> > async_; 00089 message_filters::Subscriber<opencv_apps::FlowArrayStamped> sub_flow_; 00090 message_filters::Subscriber<sensor_msgs::CameraInfo> sub_info_; 00091 boost::shared_ptr<dynamic_reconfigure::Server<Config> > srv_; 00092 private: 00093 }; 00094 } // namespace jsk_perception 00095 00096 #endif // JSK_PERCEPTION_FLOW_VELOCITY_THRESHOLDING_H_