rect_array_actual_size_filter.h

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

#include <jsk_topic_tools/diagnostic_nodelet.h>
#include <sensor_msgs/Image.h>
#include <sensor_msgs/CameraInfo.h>
#include <jsk_recognition_msgs/RectArray.h>
#include <jsk_perception/RectArrayActualSizeFilterConfig.h>
#include <dynamic_reconfigure/server.h>
#include <message_filters/subscriber.h>
#include <message_filters/synchronizer.h>
#include <message_filters/sync_policies/exact_time.h>
#include <message_filters/sync_policies/approximate_time.h>
#include <opencv2/opencv.hpp>

namespace jsk_perception
{
  class RectArrayActualSizeFilter: public jsk_topic_tools::DiagnosticNodelet
  {
  public:
    typedef boost::shared_ptr<RectArrayActualSizeFilter> Ptr;
    typedef RectArrayActualSizeFilterConfig Config;
    typedef message_filters::sync_policies::ExactTime<
      jsk_recognition_msgs::RectArray,
      sensor_msgs::Image,
      sensor_msgs::CameraInfo> SyncPolicy;
    typedef message_filters::sync_policies::ApproximateTime<
      jsk_recognition_msgs::RectArray,
      sensor_msgs::Image,
      sensor_msgs::CameraInfo> ApproxSyncPolicy;

    RectArrayActualSizeFilter(): DiagnosticNodelet("RectArrayActualSizeFilter") {}
  protected:
    virtual void onInit();
    virtual void subscribe();
    virtual void unsubscribe();
    virtual void filter(const jsk_recognition_msgs::RectArray::ConstPtr& rect_array_msg,
                        const sensor_msgs::Image::ConstPtr& depth_image_msg,
                        const sensor_msgs::CameraInfo::ConstPtr& info_msg);
    virtual void configCallback(Config& config, uint32_t level);
    virtual double averageDistance(const int center_x, const int center_y, const cv::Mat& img) const;
    ros::Publisher pub_;
    bool approximate_sync_;
    message_filters::Subscriber<jsk_recognition_msgs::RectArray> sub_rect_array_;
    message_filters::Subscriber<sensor_msgs::Image> sub_image_;
    message_filters::Subscriber<sensor_msgs::CameraInfo> sub_info_;
    boost::shared_ptr<message_filters::Synchronizer<SyncPolicy> > sync_;
    boost::shared_ptr<message_filters::Synchronizer<ApproxSyncPolicy> > async_;
    boost::shared_ptr<dynamic_reconfigure::Server<Config> > srv_;
    boost::mutex mutex_;
    int kernel_size_;
    // filter parameters
    double min_x_;
    double max_x_;
    double min_y_;
    double max_y_;
    
  private:
    
  };
}

#endif