voxel_grid_downsample_decoder.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
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
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00022  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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00035 
00036 #ifndef JSK_PCL_ROS_VOXEL_GRID_DOWNSAMPLE_DECODER_H_
00037 #define JSK_PCL_ROS_VOXEL_GRID_DOWNSAMPLE_DECODER_H_
00038 
00039 // ros
00040 #include <ros/ros.h>
00041 #include <ros/names.h>
00042 #include <sensor_msgs/PointCloud2.h>
00043 #include <visualization_msgs/Marker.h>
00044 #include "jsk_recognition_msgs/SlicedPointCloud.h"
00045 // pcl
00046 #include <pcl_ros/pcl_nodelet.h>
00047 #include <pcl/point_types.h>
00048 
00049 #include <jsk_topic_tools/connection_based_nodelet.h>
00050 
00051 namespace jsk_pcl_ros
00052 {
00053   class VoxelGridDownsampleDecoder :
00054     public jsk_topic_tools::ConnectionBasedNodelet
00055   {
00056   protected:
00057     tf::TransformListener tf_listener;
00058     // utility
00059     int getPointcloudID(const jsk_recognition_msgs::SlicedPointCloudConstPtr &input);
00060     int getPointcloudSequenceID(const jsk_recognition_msgs::SlicedPointCloudConstPtr &input);
00061     std::string getPointcloudFrameId(const jsk_recognition_msgs::SlicedPointCloudConstPtr &input);
00062     virtual void subscribe();
00063     virtual void unsubscribe();
00064   private:
00065     int latest_sequence_id_;
00066     int previous_id_;
00067     void publishBuffer();
00068     std::vector<jsk_recognition_msgs::SlicedPointCloudConstPtr> pc_buffer_;
00069     void pointCB(const jsk_recognition_msgs::SlicedPointCloudConstPtr &input);
00070     ros::Subscriber sub_;
00071     ros::Publisher pub_;
00072     virtual void onInit();
00073   };
00074 }
00075 
00076 #endif  // JSK_PCL_ROS_VOXEL_GRID_DOWNSAMPLE_MANAGER_H


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