srs_env_model_percp: srs_env_model_percp: topics

00001 /******************************************************************************
00002  * \file
00003  *
00004  * $Id:$
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: dd/mm/2012
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 
00028 #pragma once
00029 #ifndef BUT_PLANE_DETECTOR_TOPICS_LIST_H
00030 #define BUT_PLANE_DETECTOR_TOPICS_LIST_H
00031 
00032 #include "services_list.h"
00033 
00034 
00035 namespace srs_env_model_percp
00036 {
00037     /**************************************************************************
00038       * but_plane_detector - published topics
00039       */
00040         static const std::string DET_OUTPUT_POINT_CLOUD_TOPIC = PLANE_DETECTOR_PREFIX + std::string("/point_cloud");
00041         static const std::string DET_OUTPUT_PLANES_TOPIC = PLANE_DETECTOR_PREFIX + std::string("/plane_array");
00042         static const std::string DET_OUTPUT_MARKER_TOPIC = PLANE_DETECTOR_PREFIX + std::string("/poly");
00043         static const std::string DET_OUTPUT_MARKER_SRS_TOPIC = PLANE_DETECTOR_PREFIX + std::string("/srs_poly_array");
00044         static const std::string DET_OUTPUT_IMAGE_TOPIC = PLANE_DETECTOR_PREFIX + std::string("/image");
00045 
00049         static const std::string DET_INPUT_POINT_CLOUD_TOPIC = "points_in";
00050         static const std::string DET_INPUT_IMAGE_TOPIC = "depth_image_in";
00051         static const std::string DET_INPUT_CAM_INFO_TOPIC = "camera_info_in";
00052         static const std::string DET_INPUT_RGB_IMAGE_TOPIC = "rgb_in";
00053 
00057         static const std::string DET_SERVICE_INSERT_PLANES = "/but_env_model/insert_planes";
00058         static const std::string DET_SERVICE_INSERT_PLANE = "/but_env_model/insert_plane";
00059 
00060 
00061     /**************************************************************************
00062       * but_seg_utils - kinect to pcl converter topics
00063       */
00064         static const std::string KIN2PCL_NODE_NAME                                      = "but_kin2pcl_node";
00065         static const std::string KIN2PCL_INPUT_IMAGE_TOPIC                      = "/camera/depth/image";
00066         static const std::string KIN2PCL_INPUT_CAM_INFO_TOPIC           = "/camera/depth/camera_info";
00067         static const std::string KIN2PCL_OUTPUT_POINT_CLOUD_TOPIC       = PACKAGE_NAME_PREFIX + std::string("/point_cloud");
00068         static const std::string KIN2PCL_OUTPUT_POINT_CLOUD_FRAMEID = "/openni_depth_frame";
00069 
00073         static const std::string PCDEXP_NODE_NAME                                  = "but_pcd_exporter_node";
00074         static const std::string PCDEXP_INPUT_IMAGE_TOPIC                  = "/cam3d/depth/image_raw";
00075         static const std::string PCDEXP_INPUT_CAM_INFO_TOPIC       = "/cam3d/depth/camera_info";
00076         static const std::string PCDEXP_OUTPUT_POINT_CLOUD_TOPIC   = PACKAGE_NAME_PREFIX + std::string("/point_cloud");
00077         static const std::string PCDEXP_OUTPUT_POINT_CLOUD_FRAMEID = "/openni_depth_frame";
00078 
00082         static const std::string SEG_NODE_NAME                                    = "but_segmenter_node";
00083         static const std::string SEG_INPUT_IMAGE_TOPIC                    = "/cam3d/depth/image_raw";
00084         static const std::string SEG_INPUT_CAM_INFO_TOPIC                 = "/cam3d/depth/camera_info";
00085         static const std::string SEG_OUTPUT_REGION_INFO_TOPIC     = PACKAGE_NAME_PREFIX + std::string("/but_env_model/seg_region_image");
00086         static const std::string SEG_OUTPUT_DEVIATION_IMAGE_TOPIC = PACKAGE_NAME_PREFIX + std::string("/but_env_model/seg_deviation_image");
00087 
00088 
00089     /**************************************************************************
00090       * bb_estimator - default topics to subscribe
00091       */
00092         const std::string DEPTH_IMAGE_TOPIC_IN    = "depth_image_in";
00093         const std::string POINT_CLOUD_TOPIC_IN    = "points_in";
00094         const std::string CAMERA_INFO_TOPIC_IN    = "camera_info_in";
00095         const std::string RGB_IMAGE_TOPIC_IN      = "rgb_image_in";
00096 }
00097 
00098 #endif //BUT_PLANE_DETECTOR_TOPICS_LIST_H
topics_list.h
