kin2pcl_node.h
Go to the documentation of this file.00001 /****************************************************************************** 00002 * \file 00003 * 00004 * $Id: kin2pcl.cpp 619 2012-04-16 13:47:28Z ihulik $ 00005 * 00006 * Copyright (C) Brno University of Technology 00007 * 00008 * This file is part of software developed by dcgm-robotics@FIT group. 00009 * 00010 * Author: Rostislav Hulik (ihulik@fit.vutbr.cz) 00011 * Supervised by: Michal Spanel (spanel@fit.vutbr.cz) 00012 * Date: 11.01.2012 (version 0.8) 00013 * 00014 * This file is free software: you can redistribute it and/or modify 00015 * it under the terms of the GNU Lesser General Public License as published by 00016 * the Free Software Foundation, either version 3 of the License, or 00017 * (at your option) any later version. 00018 * 00019 * This file is distributed in the hope that it will be useful, 00020 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00021 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00022 * GNU Lesser General Public License for more details. 00023 * 00024 * You should have received a copy of the GNU Lesser General Public License 00025 * along with this file. If not, see <http://www.gnu.org/licenses/>. 00026 */ 00027 00034 #pragma once 00035 #ifndef BUT_SEG_UTILS_PCL_CONVERTER_H 00036 #define BUT_SEG_UTILS_PCL_CONVERTER_H 00037 00038 #include <ros/ros.h> 00039 #include <pcl/io/pcd_io.h> 00040 00041 #include <sensor_msgs/Image.h> 00042 #include <sensor_msgs/CameraInfo.h> 00043 00044 #include <srs_env_model_percp/topics_list.h> 00045 00046 namespace srs_env_model_percp 00047 { 00048 static const std::string NODE_NAME = KIN2PCL_NODE_NAME; 00049 static const std::string INPUT_IMAGE_TOPIC = KIN2PCL_INPUT_IMAGE_TOPIC; 00050 static const std::string INPUT_CAM_INFO_TOPIC = KIN2PCL_INPUT_CAM_INFO_TOPIC; 00051 static const std::string OUTPUT_POINT_CLOUD_TOPIC = KIN2PCL_OUTPUT_POINT_CLOUD_TOPIC; 00052 static const std::string OUTPUT_POINT_CLOUD_FRAMEID = KIN2PCL_OUTPUT_POINT_CLOUD_FRAMEID; 00053 00054 sensor_msgs::PointCloud2 cloud_msg; 00055 ros::Publisher pub; 00056 void callback( const sensor_msgs::ImageConstPtr& dep, const sensor_msgs::CameraInfoConstPtr& cam_info); 00057 } 00058 00059 #endif