kin2pcl_node.h
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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


srs_env_model_percp
Author(s): Rostislav Hulik (ihulik@fit.vutbr.cz), Tomas Hodan, Michal Spanel (spanel@fit.vutbr.cz)
autogenerated on Sun Jan 5 2014 11:51:56