single_channel_histogram.h

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

#include <jsk_topic_tools/diagnostic_nodelet.h>
#include <sensor_msgs/Image.h>
#include <jsk_recognition_msgs/ColorHistogram.h>

#include <dynamic_reconfigure/server.h>
#include <jsk_perception/SingleChannelHistogramConfig.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>

namespace jsk_perception
{
  class SingleChannelHistogram: public jsk_topic_tools::DiagnosticNodelet
  {
  public:
    typedef message_filters::sync_policies::ApproximateTime<
    sensor_msgs::Image,
    sensor_msgs::Image > SyncPolicy;
    typedef SingleChannelHistogramConfig Config;
    SingleChannelHistogram(): DiagnosticNodelet("SingleChannelHistogram") {}
  protected:
    virtual void onInit();
    virtual void subscribe();
    virtual void unsubscribe();
    virtual void compute(
      const sensor_msgs::Image::ConstPtr& msg);
    virtual void compute(
      const sensor_msgs::Image::ConstPtr& msg,
      const sensor_msgs::Image::ConstPtr& mask_msg);
    virtual void configCallback(Config &config, uint32_t level);

    boost::shared_ptr<message_filters::Synchronizer<SyncPolicy> > sync_;
    message_filters::Subscriber<sensor_msgs::Image> sub_image_;
    message_filters::Subscriber<sensor_msgs::Image> sub_mask_;
    boost::shared_ptr<dynamic_reconfigure::Server<Config> > srv_;
    bool use_mask_;
    ros::Subscriber sub_;
    ros::Publisher pub_;
    boost::mutex mutex_;
    int hist_size_;
    float min_value_;
    float max_value_;
  private:
    
  };
}

#endif