37 #ifndef JSK_PERCEPTION_POLYGON_ARRAY_COLOR_LIKELIHOOD_H_ 38 #define JSK_PERCEPTION_POLYGON_ARRAY_COLOR_LIKELIHOOD_H_ 41 #include <jsk_recognition_msgs/PolygonArray.h> 42 #include <jsk_recognition_msgs/HistogramWithRangeArray.h> 46 #include <jsk_perception/PolygonArrayColorLikelihoodConfig.h> 47 #include <dynamic_reconfigure/server.h> 48 #include <opencv2/opencv.hpp> 56 typedef PolygonArrayColorLikelihoodConfig
Config;
59 jsk_recognition_msgs::PolygonArray,
60 jsk_recognition_msgs::HistogramWithRangeArray >
SyncPolicy;
62 jsk_recognition_msgs::PolygonArray,
70 const jsk_recognition_msgs::HistogramWithRange::ConstPtr& ref_msg);
72 const jsk_recognition_msgs::PolygonArray::ConstPtr& polygon_msg,
73 const jsk_recognition_msgs::HistogramWithRangeArray::ConstPtr& histogram_msg);
76 const cv::MatND& ref_hist,
const cv::MatND& target_hist);
86 jsk_recognition_msgs::HistogramWithRange::ConstPtr
reference_;
virtual void likelihood(const jsk_recognition_msgs::PolygonArray::ConstPtr &polygon_msg, const jsk_recognition_msgs::HistogramWithRangeArray::ConstPtr &histogram_msg)
virtual void referenceCallback(const jsk_recognition_msgs::HistogramWithRange::ConstPtr &ref_msg)
message_filters::Subscriber< jsk_recognition_msgs::PolygonArray > sub_polygon_
jsk_recognition_msgs::HistogramWithRange::ConstPtr reference_
boost::shared_ptr< dynamic_reconfigure::Server< Config > > srv_
virtual void configCallback(Config &config, uint32_t level)
PolygonArrayColorLikelihoodConfig Config
bool reference_from_file_
virtual void unsubscribe()
message_filters::Subscriber< jsk_recognition_msgs::HistogramWithRangeArray > sub_histogram_
virtual void readReference(const std::string &file)
PolygonArrayColorLikelihood()
message_filters::sync_policies::ApproximateTime< jsk_recognition_msgs::PolygonArray, jsk_recognition_msgs::HistogramWithRangeArray > ApproximateSyncPolicy
boost::shared_ptr< message_filters::Synchronizer< ApproximateSyncPolicy > > async_
virtual double compareHist(const cv::MatND &ref_hist, const cv::MatND &target_hist)
boost::shared_ptr< message_filters::Synchronizer< SyncPolicy > > sync_
message_filters::sync_policies::ExactTime< jsk_recognition_msgs::PolygonArray, jsk_recognition_msgs::HistogramWithRangeArray > SyncPolicy
ros::Subscriber sub_reference_
boost::shared_ptr< PolygonArrayColorLikelihood > Ptr