polygon_array_color_histogram.h

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

#include <jsk_topic_tools/diagnostic_nodelet.h>
#include <sensor_msgs/Image.h>
#include <sensor_msgs/CameraInfo.h>
#include <jsk_recognition_msgs/PolygonArray.h>
#include <jsk_recognition_utils/tf_listener_singleton.h>
#include <jsk_recognition_utils/geo/polygon.h>
#include <message_filters/subscriber.h>
#include <message_filters/sync_policies/exact_time.h>
#include <message_filters/sync_policies/approximate_time.h>
#include <jsk_perception/PolygonArrayColorHistogramConfig.h>
#include <dynamic_reconfigure/server.h>

namespace jsk_perception
{
  class PolygonArrayColorHistogram: public jsk_topic_tools::DiagnosticNodelet
  {
  public:
    typedef message_filters::sync_policies::ApproximateTime<
    sensor_msgs::Image,
    jsk_recognition_msgs::PolygonArray > ApproximateSyncPolicy;
    typedef jsk_perception::PolygonArrayColorHistogramConfig Config;
    PolygonArrayColorHistogram(): DiagnosticNodelet("PolygonArrayColorHistogram") {}
  protected:
    virtual void onInit();
    virtual void subscribe();
    virtual void unsubscribe();
    virtual void infoCallback(const sensor_msgs::CameraInfo::ConstPtr& msg);
    virtual void compute(const sensor_msgs::Image::ConstPtr& image_msg,
                         const jsk_recognition_msgs::PolygonArray::ConstPtr& polygon_msg);
    virtual void debugPolygonImage(
      const jsk_recognition_utils::CameraDepthSensor& model,
      cv::Mat& image, jsk_recognition_utils::Polygon::Ptr polygon, size_t pi) const;

    virtual void configCallback(Config &config, uint32_t level);

    boost::mutex mutex_;
    ros::Publisher pub_;
    ros::Publisher pub_debug_polygon_;
    ros::Subscriber sub_info_;
    boost::shared_ptr<dynamic_reconfigure::Server<Config> > srv_;
    sensor_msgs::CameraInfo::ConstPtr info_;
    message_filters::Subscriber<sensor_msgs::Image> sub_image_;
    message_filters::Subscriber<jsk_recognition_msgs::PolygonArray> sub_polygon_;
    boost::shared_ptr<message_filters::Synchronizer<ApproximateSyncPolicy> > async_;
    tf::TransformListener* tf_listener_;
    int max_queue_size_;
    int sync_queue_size_;
    int bin_size_;
    int pixel_min_value_, pixel_max_value_;
    int debug_line_width_;
  private:
  };
}

#endif