saliency_map_generator.h
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00001 
00002 #ifndef _JSK_PERCEPTION_SALIENCY_MAP_GENERATOR_H_
00003 #define _JSK_PERCEPTION_SALIENCY_MAP_GENERATOR_H_
00004 
00005 #include <ros/ros.h>
00006 #include <ros/console.h>
00007 #include <opencv2/opencv.hpp>
00008 
00009 #include <sensor_msgs/Image.h>
00010 #include <sensor_msgs/image_encodings.h>
00011 #include <cv_bridge/cv_bridge.h>
00012 #include <boost/thread/mutex.hpp>
00013 
00014 #include <jsk_topic_tools/diagnostic_nodelet.h>
00015 
00016 #include <omp.h>
00017 #include <time.h>
00018 #include <sys/time.h>
00019 
00020 namespace jsk_perception
00021 {
00022    class SaliencyMapGenerator: public jsk_topic_tools::DiagnosticNodelet
00023    {
00024     private:
00025       void calcIntensityChannel(cv::Mat, cv::Mat);
00026       void copyImage(cv::Mat, cv::Mat);
00027       void getIntensityScaled(cv::Mat, cv::Mat, cv::Mat, cv::Mat, int);
00028       float getMean(cv::Mat, cv::Point2i, int, int);
00029       void mixScales(cv::Mat *, cv::Mat, cv::Mat *, cv::Mat, const int);
00030       void mixOnOff(cv::Mat intensityOn, cv::Mat intensityOff, cv::Mat intensity);
00031       void getIntensity(cv::Mat, cv::Mat, cv::Mat, cv::Mat, bool);
00032       
00033       int num_threads_;
00034       bool print_fps_;
00035       double start_;
00036       int counter_;
00037       
00038     protected:
00039       boost::mutex lock_;
00040       ros::Subscriber sub_image_;
00041       ros::Publisher pub_image_;
00042 
00043       void onInit();
00044       void subscribe();
00045       void unsubscribe();
00046 
00047     public:
00048       SaliencyMapGenerator(): DiagnosticNodelet("SaliencyMapGenerator"),
00049                               counter_(0), num_threads_(2) {}
00050       bool computeSaliencyImpl(cv::Mat, cv::Mat &);
00051       void setNumThreads(int);
00052       void callback(const sensor_msgs::Image::ConstPtr &);
00053    };
00054 }
00055 
00056 #endif   // _JSK_PERCEPTION_SALIENCY_MAP_GENERATOR_H_
00057 
00058 


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