00001 // -*- mode: c++ -*- 00002 /********************************************************************* 00003 * Software License Agreement (BSD License) 00004 * 00005 * Copyright (c) 2015, JSK Lab 00006 * All rights reserved. 00007 * 00008 * Redistribution and use in source and binary forms, with or without 00009 * modification, are permitted provided that the following conditions 00010 * are met: 00011 * 00012 * * Redistributions of source code must retain the above copyright 00013 * notice, this list of conditions and the following disclaimer. 00014 * * Redistributions in binary form must reproduce the above 00015 * copyright notice, this list of conditions and the following 00016 * disclaimer in the documentation and/o2r other materials provided 00017 * with the distribution. 00018 * * Neither the name of the JSK Lab nor the names of its 00019 * contributors may be used to endorse or promote products derived 00020 * from this software without specific prior written permission. 00021 * 00022 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00023 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00024 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00025 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00026 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 * POSSIBILITY OF SUCH DAMAGE. 00034 *********************************************************************/ 00035 00036 00037 #ifndef JSK_PERCEPTION_POLYGON_ARRAY_COLOR_HISTOGRAM_H_ 00038 #define JSK_PERCEPTION_POLYGON_ARRAY_COLOR_HISTOGRAM_H_ 00039 00040 #include <jsk_topic_tools/diagnostic_nodelet.h> 00041 #include <sensor_msgs/Image.h> 00042 #include <sensor_msgs/CameraInfo.h> 00043 #include <jsk_recognition_msgs/PolygonArray.h> 00044 #include <jsk_recognition_utils/tf_listener_singleton.h> 00045 #include <jsk_recognition_utils/geo/polygon.h> 00046 #include <message_filters/subscriber.h> 00047 #include <message_filters/sync_policies/exact_time.h> 00048 #include <message_filters/sync_policies/approximate_time.h> 00049 #include <jsk_perception/PolygonArrayColorHistogramConfig.h> 00050 #include <dynamic_reconfigure/server.h> 00051 00052 namespace jsk_perception 00053 { 00054 class PolygonArrayColorHistogram: public jsk_topic_tools::DiagnosticNodelet 00055 { 00056 public: 00057 typedef message_filters::sync_policies::ApproximateTime< 00058 sensor_msgs::Image, 00059 jsk_recognition_msgs::PolygonArray > ApproximateSyncPolicy; 00060 typedef jsk_perception::PolygonArrayColorHistogramConfig Config; 00061 PolygonArrayColorHistogram(): DiagnosticNodelet("PolygonArrayColorHistogram") {} 00062 protected: 00063 virtual void onInit(); 00064 virtual void subscribe(); 00065 virtual void unsubscribe(); 00066 virtual void infoCallback(const sensor_msgs::CameraInfo::ConstPtr& msg); 00067 virtual void compute(const sensor_msgs::Image::ConstPtr& image_msg, 00068 const jsk_recognition_msgs::PolygonArray::ConstPtr& polygon_msg); 00069 virtual void debugPolygonImage( 00070 const jsk_recognition_utils::CameraDepthSensor& model, 00071 cv::Mat& image, jsk_recognition_utils::Polygon::Ptr polygon, size_t pi) const; 00072 00073 virtual void configCallback(Config &config, uint32_t level); 00074 00075 boost::mutex mutex_; 00076 ros::Publisher pub_; 00077 ros::Publisher pub_debug_polygon_; 00078 ros::Subscriber sub_info_; 00079 boost::shared_ptr<dynamic_reconfigure::Server<Config> > srv_; 00080 sensor_msgs::CameraInfo::ConstPtr info_; 00081 message_filters::Subscriber<sensor_msgs::Image> sub_image_; 00082 message_filters::Subscriber<jsk_recognition_msgs::PolygonArray> sub_polygon_; 00083 boost::shared_ptr<message_filters::Synchronizer<ApproximateSyncPolicy> > async_; 00084 tf::TransformListener* tf_listener_; 00085 int max_queue_size_; 00086 int sync_queue_size_; 00087 int bin_size_; 00088 int pixel_min_value_, pixel_max_value_; 00089 int debug_line_width_; 00090 private: 00091 }; 00092 } 00093 00094 #endif