organize_pointcloud.h
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00001 // -*- mode: C++ -*-
00002 /*********************************************************************
00003  * Software License Agreement (BSD License)
00004  *
00005  *  Copyright (c) 2013, Ryohei Ueda and JSK Lab
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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
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00035 
00036 #ifndef JSK_PCL_ROS_ORGANIZE_POINTCLOUD_H_
00037 #define JSK_PCL_ROS_ORGANIZE_POINTCLOUD_H_
00038 
00039 // ros
00040 #include <ros/ros.h>
00041 #include <ros/names.h>
00042 #include <sensor_msgs/PointCloud2.h>
00043 
00044 // pcl
00045 #include <pcl_ros/pcl_nodelet.h>
00046 #include <pcl/point_types.h>
00047 #include <pcl/filters/extract_indices.h>
00048 #include <pcl/range_image/range_image.h>
00049 
00050 #include <jsk_topic_tools/connection_based_nodelet.h>
00051 
00052 namespace jsk_pcl_ros
00053 {
00054   class OrganizePointCloud: public jsk_topic_tools::ConnectionBasedNodelet
00055   {
00056   protected:
00057     double angular_resolution, angle_width, angle_height;
00058     int min_points;
00059     ros::Subscriber sub_;
00060     ros::Publisher pub_;
00061     virtual void extract(const sensor_msgs::PointCloud2ConstPtr &input);
00062     virtual void subscribe();
00063     virtual void unsubscribe();
00064   private:
00065     virtual void onInit();
00066   };
00067 }
00068 
00069 #endif


jsk_pcl_ros
Author(s): Yohei Kakiuchi
autogenerated on Wed Sep 16 2015 04:36:48