topics_list.h

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/******************************************************************************
 * \file
 *
 * $Id:$
 *
 * Copyright (C) Brno University of Technology
 *
 * This file is part of software developed by dcgm-robotics@FIT group.
 *
 * Author: Rostislav hulik (ihulik@fit.vutbr.cz)
 * Supervised by: Michal Spanel (spanel@fit.vutbr.cz)
 * Date: dd/mm/2012
 * 
 * This file is free software: you can redistribute it and/or modify
 * it under the terms of the GNU Lesser General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 * 
 * This file is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU Lesser General Public License for more details.
 * 
 * You should have received a copy of the GNU Lesser General Public License
 * along with this file.  If not, see <http://www.gnu.org/licenses/>.
 */

#pragma once
#ifndef BUT_PLANE_DETECTOR_TOPICS_LIST_H
#define BUT_PLANE_DETECTOR_TOPICS_LIST_H

#include "services_list.h"


namespace srs_env_model_percp
{
    /**************************************************************************
      * but_plane_detector - published topics
      */
        static const std::string DET_OUTPUT_POINT_CLOUD_TOPIC = PLANE_DETECTOR_PREFIX + std::string("/point_cloud");
        static const std::string DET_OUTPUT_PLANES_TOPIC = PLANE_DETECTOR_PREFIX + std::string("/plane_array");
        static const std::string DET_OUTPUT_MARKER_TOPIC = PLANE_DETECTOR_PREFIX + std::string("/poly");
        static const std::string DET_OUTPUT_MARKER_SRS_TOPIC = PLANE_DETECTOR_PREFIX + std::string("/srs_poly_array");
        static const std::string DET_OUTPUT_IMAGE_TOPIC = PLANE_DETECTOR_PREFIX + std::string("/image");

        static const std::string DET_INPUT_POINT_CLOUD_TOPIC = "points_in";
        static const std::string DET_INPUT_IMAGE_TOPIC = "depth_image_in";
        static const std::string DET_INPUT_CAM_INFO_TOPIC = "camera_info_in";
        static const std::string DET_INPUT_RGB_IMAGE_TOPIC = "rgb_in";

        static const std::string DET_SERVICE_INSERT_PLANES = "/but_env_model/insert_planes";
        static const std::string DET_SERVICE_INSERT_PLANE = "/but_env_model/insert_plane";


    /**************************************************************************
      * but_seg_utils - kinect to pcl converter topics
      */
        static const std::string KIN2PCL_NODE_NAME                                      = "but_kin2pcl_node";
        static const std::string KIN2PCL_INPUT_IMAGE_TOPIC                      = "/camera/depth/image";
        static const std::string KIN2PCL_INPUT_CAM_INFO_TOPIC           = "/camera/depth/camera_info";
        static const std::string KIN2PCL_OUTPUT_POINT_CLOUD_TOPIC       = PACKAGE_NAME_PREFIX + std::string("/point_cloud");
        static const std::string KIN2PCL_OUTPUT_POINT_CLOUD_FRAMEID = "/openni_depth_frame";

        static const std::string PCDEXP_NODE_NAME                                  = "but_pcd_exporter_node";
        static const std::string PCDEXP_INPUT_IMAGE_TOPIC                  = "/cam3d/depth/image_raw";
        static const std::string PCDEXP_INPUT_CAM_INFO_TOPIC       = "/cam3d/depth/camera_info";
        static const std::string PCDEXP_OUTPUT_POINT_CLOUD_TOPIC   = PACKAGE_NAME_PREFIX + std::string("/point_cloud");
        static const std::string PCDEXP_OUTPUT_POINT_CLOUD_FRAMEID = "/openni_depth_frame";

        static const std::string SEG_NODE_NAME                                    = "but_segmenter_node";
        static const std::string SEG_INPUT_IMAGE_TOPIC                    = "/cam3d/depth/image_raw";
        static const std::string SEG_INPUT_CAM_INFO_TOPIC                 = "/cam3d/depth/camera_info";
        static const std::string SEG_OUTPUT_REGION_INFO_TOPIC     = PACKAGE_NAME_PREFIX + std::string("/but_env_model/seg_region_image");
        static const std::string SEG_OUTPUT_DEVIATION_IMAGE_TOPIC = PACKAGE_NAME_PREFIX + std::string("/but_env_model/seg_deviation_image");


    /**************************************************************************
      * bb_estimator - default topics to subscribe
      */
        const std::string DEPTH_IMAGE_TOPIC_IN    = "depth_image_in";
        const std::string POINT_CLOUD_TOPIC_IN    = "points_in";
        const std::string CAMERA_INFO_TOPIC_IN    = "camera_info_in";
        const std::string RGB_IMAGE_TOPIC_IN      = "rgb_image_in";
}

#endif //BUT_PLANE_DETECTOR_TOPICS_LIST_H