heightmap_time_accumulation.h
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00001 // -*- mode: c++ -*-
00002 /*********************************************************************
00003  * Software License Agreement (BSD License)
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00035 
00036 
00037 #ifndef JSK_PCL_ROS_HEIGHTMAP_TIME_ACCUMULATION_H_
00038 #define JSK_PCL_ROS_HEIGHTMAP_TIME_ACCUMULATION_H_
00039 
00040 #include <jsk_topic_tools/connection_based_nodelet.h>
00041 #include <jsk_recognition_msgs/HeightmapConfig.h>
00042 #include <sensor_msgs/PointCloud2.h>
00043 #include <sensor_msgs/Image.h>
00044 #include <opencv2/opencv.hpp>
00045 #include "jsk_pcl_ros/pcl_conversion_util.h"
00046 #include <tf/transform_listener.h>
00047 #include <tf/message_filter.h>
00048 #include <message_filters/subscriber.h>
00049 #include "jsk_pcl_ros/heightmap_utils.h"
00050 #include <std_srvs/Empty.h>
00051 
00052 namespace jsk_pcl_ros
00053 {
00054   class HeightmapTimeAccumulation:
00055     public jsk_topic_tools::ConnectionBasedNodelet
00056   {
00057   public:
00058     typedef boost::shared_ptr<HeightmapTimeAccumulation> Ptr;
00059     HeightmapTimeAccumulation(): ConnectionBasedNodelet() {}
00060   protected:
00061     virtual void onInit();
00062     virtual void subscribe();
00063     virtual void unsubscribe();
00064     virtual void accumulate(
00065       const sensor_msgs::Image::ConstPtr& new_heightmap);
00066     virtual void publishHeightmap(
00067       const cv::Mat& heightmap, const std_msgs::Header& header);
00068     virtual cv::Point toIndex(const pcl::PointXYZ& p, const cv::Mat& map);
00069     virtual bool isValidIndex(const cv::Point& index, const cv::Mat& map);
00070     virtual bool isValidCell(const cv::Point& index, const cv::Mat& map);
00071     virtual void configCallback(
00072       const jsk_recognition_msgs::HeightmapConfig::ConstPtr& config);
00073     virtual void prevPointCloud(
00074       const sensor_msgs::PointCloud2::ConstPtr& msg);
00075     virtual bool resetCallback(std_srvs::Empty::Request& req,
00076                                std_srvs::Empty::Response& res);
00077 
00078     boost::mutex mutex_;
00079     tf::TransformListener* tf_;
00080     Eigen::Affine3f prev_from_center_to_fixed_;
00081     std::string center_frame_id_;
00082     std::string fixed_frame_id_;
00083     cv::Mat accumulated_heightmap_;
00084     ros::Publisher pub_output_;
00085     ros::Publisher pub_config_;
00086     ros::ServiceServer srv_reset_;
00087     boost::shared_ptr<tf::MessageFilter<sensor_msgs::Image> > tf_filter_;
00088     message_filters::Subscriber<sensor_msgs::Image> sub_heightmap_;
00089     ros::Subscriber sub_previous_pointcloud_;
00090     ros::Subscriber sub_config_;
00091     pcl::PointCloud<pcl::PointXYZ> prev_cloud_;
00092     jsk_recognition_msgs::HeightmapConfig::ConstPtr config_;
00093     double min_x_;
00094     double min_y_;
00095     double max_x_;
00096     double max_y_;
00097     int tf_queue_size_;
00098   private:
00099   };
00100 }
00101 
00102 #endif


jsk_pcl_ros
Author(s): Yohei Kakiuchi
autogenerated on Wed Sep 16 2015 04:36:47