roi_clipper.h
Go to the documentation of this file.
00001 // -*- mode: c++ -*-
00002 /*********************************************************************
00003  * Software License Agreement (BSD License)
00004  *
00005  *  Copyright (c) 2014, 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 
00037 
00038 #ifndef JSK_PCL_ROS_ROI_CLIPPER_H_
00039 #define JSK_PCL_ROS_ROI_CLIPPER_H_
00040 
00041 #include <jsk_topic_tools/diagnostic_nodelet.h>
00042 #include <message_filters/subscriber.h>
00043 #include <message_filters/time_synchronizer.h>
00044 #include <message_filters/synchronizer.h>
00045 #include <sensor_msgs/Image.h>
00046 #include <sensor_msgs/CameraInfo.h>
00047 #include <sensor_msgs/PointCloud2.h>
00048 #include <pcl_conversions/pcl_conversions.h>
00049 namespace jsk_pcl_ros
00050 {
00051   class ROIClipper: public jsk_topic_tools::DiagnosticNodelet
00052   {
00053   public:
00054     typedef message_filters::sync_policies::ExactTime<
00055     sensor_msgs::Image,
00056     sensor_msgs::CameraInfo > SyncPolicy;
00057     ROIClipper(): DiagnosticNodelet("ROIClipper") {}
00058     
00059   protected:
00060     virtual void onInit();
00061     virtual void clip(const sensor_msgs::Image::ConstPtr& image_msg,
00062                       const sensor_msgs::CameraInfo::ConstPtr& camera_info_msg);
00063     virtual void subscribe();
00064     virtual void unsubscribe();
00065     virtual void updateDiagnostic(
00066       diagnostic_updater::DiagnosticStatusWrapper &stat);
00067     virtual void imageCallback(
00068       const sensor_msgs::Image::ConstPtr& image_msg);
00069     virtual void infoCallback(
00070       const sensor_msgs::CameraInfo::ConstPtr& info_msg);
00071     virtual void cloudCallback(
00072       const sensor_msgs::PointCloud2::ConstPtr& cloud_msg);
00073     
00074     boost::mutex mutex_;
00075     bool not_sync_;
00076     bool keep_organized_;
00077     ros::Publisher pub_image_;
00078     ros::Publisher pub_cloud_;
00079     ros::Publisher pub_cloud_indices_;
00080     message_filters::Subscriber<sensor_msgs::Image> sub_image_;
00081     message_filters::Subscriber<sensor_msgs::CameraInfo> sub_info_;
00082     boost::shared_ptr<message_filters::Synchronizer<SyncPolicy> >sync_;
00083     ros::Subscriber sub_image_no_sync_;
00084     ros::Subscriber sub_info_no_sync_;
00085     ros::Subscriber sub_cloud_no_sync_;
00086     sensor_msgs::CameraInfo::ConstPtr latest_camera_info_;
00087   private:
00088   };
00089 }
00090 
00091 #endif


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