grabcut.h
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00001 // -*- mode: c++ -*-
00002 /*********************************************************************
00003  * Software License Agreement (BSD License)
00004  *
00005  *  Copyright (c) 2014, JSK Lab
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00008  *  Redistribution and use in source and binary forms, with or without
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00011  *
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00035 
00036 
00037 #ifndef JSK_PERCEPTION_GRABCUT_H_
00038 #define JSK_PERCEPTION_GRABCUT_H_
00039 
00040 #include <sensor_msgs/Image.h>
00041 
00042 #include <message_filters/subscriber.h>
00043 #include <message_filters/time_synchronizer.h>
00044 #include <message_filters/synchronizer.h>
00045 
00046 #include <jsk_topic_tools/diagnostic_nodelet.h>
00047 #include <dynamic_reconfigure/server.h>
00048 #include "jsk_perception/GrabCutConfig.h"
00049 
00050 namespace jsk_perception
00051 {
00052   class GrabCut: public jsk_topic_tools::DiagnosticNodelet
00053   {
00054   public:
00055     typedef GrabCutConfig Config;
00056     typedef message_filters::sync_policies::ExactTime<
00057     sensor_msgs::Image,
00058     sensor_msgs::Image,
00059     sensor_msgs::Image> SyncPolicy;
00060     
00061     typedef boost::shared_ptr<GrabCut> Ptr;
00062     GrabCut() : DiagnosticNodelet("GrabCut") {}
00063 
00064   protected:
00066     // methods
00068     virtual void onInit();
00069     virtual void subscribe();
00070     virtual void unsubscribe();
00071     virtual void updateDiagnostic(
00072       diagnostic_updater::DiagnosticStatusWrapper &stat);
00073     virtual void segment(
00074       const sensor_msgs::Image::ConstPtr& image_msg,
00075       const sensor_msgs::Image::ConstPtr& foreground_msg,
00076       const sensor_msgs::Image::ConstPtr& background_msg);
00077     virtual void configCallback (Config &config, uint32_t level);    
00079     // parameters
00081     ros::Publisher pub_foreground_;
00082     ros::Publisher pub_background_;
00083     ros::Publisher pub_foreground_mask_;
00084     ros::Publisher pub_background_mask_;
00085     boost::shared_ptr<message_filters::Synchronizer<SyncPolicy> >sync_;
00086     message_filters::Subscriber<sensor_msgs::Image> sub_image_;
00087     message_filters::Subscriber<sensor_msgs::Image> sub_foreground_;
00088     message_filters::Subscriber<sensor_msgs::Image> sub_background_;
00089     boost::shared_ptr<dynamic_reconfigure::Server<Config> > srv_;
00090     boost::mutex mutex_;
00091     
00093     // Parameters
00095     bool use_probable_pixel_seed_;    
00096   private:
00097     
00098   };
00099 }
00100 
00101 #endif


jsk_perception
Author(s): Manabu Saito, Ryohei Ueda
autogenerated on Tue Jul 2 2019 19:41:07