00001 // -*- mode: C++ -*- 00002 /********************************************************************* 00003 * Software License Agreement (BSD License) 00004 * 00005 * Copyright (c) 2013, Yuto Inagaki and JSK Lab 00006 * All rights reserved. 00007 * 00008 * Redistribution and use in source and binary forms, with or without 00009 * modification, are permitted provided that the following conditions 00010 * are met: 00011 * 00012 * * Redistributions of source code must retain the above copyright 00013 * notice, this list of conditions and the following disclaimer. 00014 * * Redistributions in binary form must reproduce the above 00015 * copyright notice, this list of conditions and the following 00016 * disclaimer in the documentation and/o2r other materials provided 00017 * with the distribution. 00018 * * Neither the name of the JSK Lab nor the names of its 00019 * contributors may be used to endorse or promote products derived 00020 * from this software without specific prior written permission. 00021 * 00022 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00023 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00024 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00025 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00026 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 * POSSIBILITY OF SUCH DAMAGE. 00034 *********************************************************************/ 00035 00036 #ifndef __JSK_PCL_ROS_OCTREE_CHANGE_PUBLISHER_H__ 00037 #define __JSK_PCL_ROS_OCTREE_CHANGE_PUBLISHER_H__ 00038 00039 // ros 00040 #include <ros/ros.h> 00041 #include <sensor_msgs/PointCloud2.h> 00042 #include <pcl_conversions/pcl_conversions.h> 00043 00044 // pcl 00045 #include <pcl_ros/pcl_nodelet.h> 00046 #include <pcl/point_types.h> 00047 #include <pcl/point_cloud.h> 00048 #include <pcl/octree/octree.h> 00049 #include <jsk_topic_tools/connection_based_nodelet.h> 00050 00051 namespace jsk_pcl_ros 00052 { 00053 class OctreeChangePublisher: public jsk_topic_tools::ConnectionBasedNodelet 00054 { 00055 protected: 00056 int counter_; 00057 int noise_filter_; 00058 double resolution_; 00059 00060 ros::Subscriber sub_; 00061 ros::Publisher diff_pub_; 00062 pcl::octree::OctreePointCloudChangeDetector<pcl::PointXYZRGB> *octree_; 00063 pcl::PointCloud<pcl::PointXYZRGB>::Ptr filtered_cloud; 00064 00065 virtual void 00066 cloud_cb (const sensor_msgs::PointCloud2 &pc); 00067 virtual void subscribe(); 00068 virtual void unsubscribe(); 00069 private: 00070 virtual void onInit(); 00071 }; 00072 } 00073 00074 #endif