mask_image_to_depth_considered_mask_image.h

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

#include <jsk_topic_tools/diagnostic_nodelet.h>
#include <sensor_msgs/Image.h>
#include <dynamic_reconfigure/server.h>
#include "jsk_recognition_utils/pcl_conversion_util.h"
#include <message_filters/subscriber.h>
#include <message_filters/time_synchronizer.h>
#include <message_filters/synchronizer.h>
#include <message_filters/sync_policies/approximate_time.h>
#include <jsk_pcl_ros_utils/MaskImageToDepthConsideredMaskImageConfig.h>

namespace jsk_pcl_ros_utils
{
  class MaskImageToDepthConsideredMaskImage: public jsk_topic_tools::DiagnosticNodelet
  {
  public:
    typedef message_filters::sync_policies::ApproximateTime<
    sensor_msgs::PointCloud2,
    sensor_msgs::Image > ApproximateSyncPolicy;
    typedef message_filters::sync_policies::ExactTime<
      sensor_msgs::PointCloud2,
      sensor_msgs::Image > SyncPolicy;
    typedef jsk_pcl_ros_utils::MaskImageToDepthConsideredMaskImageConfig Config;

    MaskImageToDepthConsideredMaskImage(): DiagnosticNodelet("MaskImageToDepthConsideredMaskImage") { }
  protected:
    // methods
    virtual void onInit();
    virtual void subscribe();
    virtual void unsubscribe();
    virtual void extractmask
    (
     const sensor_msgs::PointCloud2::ConstPtr& point_cloud2_msg,
     const sensor_msgs::Image::ConstPtr& image_msg);
    virtual void configCallback(Config &config, uint32_t level);
    virtual void mask_region_callback(const sensor_msgs::Image::ConstPtr& msg);
  
    // ROS variables
    boost::shared_ptr <dynamic_reconfigure::Server<Config> > srv_;
    bool approximate_sync_;
    int queue_size_;
    int extract_num_;
    boost::mutex mutex_;
    boost::shared_ptr<message_filters::Synchronizer<SyncPolicy> >sync_;
    boost::shared_ptr<message_filters::Synchronizer<ApproximateSyncPolicy> >async_; 
    message_filters::Subscriber<sensor_msgs::PointCloud2> sub_input_;
    message_filters::Subscriber<sensor_msgs::Image> sub_image_;
    ros::Publisher pub_;
    ros::Publisher applypub_;
    ros::Subscriber sub_;
    int region_width_;
    int region_height_;
    int region_x_off_;
    int region_y_off_;
    double region_width_ratio_;
    double region_height_ratio_;
    double region_x_off_ratio_;
    double region_y_off_ratio_;
    bool use_region_ratio_;
    bool use_mask_region_;
    bool in_the_order_of_depth_;

  private:
  
  };
}

#endif