capture_stereo_synchronizer.h
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00001 // -*- mode: c++ -*-
00002 /*********************************************************************
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00035 
00036 #ifndef JSK_PCL_ROS_CAPTURE_STEREO_SYNCHRONIZER_H_
00037 #define JSK_PCL_ROS_CAPTURE_STEREO_SYNCHRONIZER_H_
00038 
00039 
00040 
00041 
00042 #include <ros/ros.h>
00043 #include <message_filters/subscriber.h>
00044 #include <message_filters/time_synchronizer.h>
00045 #include <message_filters/synchronizer.h>
00046 #include <jsk_topic_tools/diagnostic_nodelet.h>
00047 
00048 #include <sensor_msgs/Image.h>
00049 #include <sensor_msgs/CameraInfo.h>
00050 #include <stereo_msgs/DisparityImage.h>
00051 #include <geometry_msgs/PoseStamped.h>
00052 #include <pcl_msgs/PointIndices.h>
00053 #include "jsk_recognition_utils/pcl_conversion_util.h"
00054 
00055 namespace jsk_pcl_ros
00056 {
00057   class CaptureStereoSynchronizer: public jsk_topic_tools::DiagnosticNodelet
00058   {
00059   public:
00060     typedef boost::shared_ptr<CaptureStereoSynchronizer> Ptr;
00061     typedef message_filters::sync_policies::ExactTime<
00062       geometry_msgs::PoseStamped, // pose of checker board
00063       sensor_msgs::Image,         // mask image
00064       pcl_msgs::PointIndices,     // mask indices
00065       sensor_msgs::Image,         // left image rect
00066       sensor_msgs::CameraInfo,    // left cmaera info
00067       sensor_msgs::CameraInfo,    // right camera info
00068       stereo_msgs::DisparityImage // stereo disparity
00069       > SyncPolicy;
00070     CaptureStereoSynchronizer(): DiagnosticNodelet("CaptureStereoSynchronizer") { }
00071   protected:
00073     // methods
00075     virtual void onInit();
00076     virtual void subscribe();
00077     virtual void unsubscribe();
00078     virtual void republish(
00079       const geometry_msgs::PoseStamped::ConstPtr& pose, // pose of checker board
00080       const sensor_msgs::Image::ConstPtr& mask,         // mask image
00081       const PCLIndicesMsg::ConstPtr& mask_indices, // mask indices
00082       const sensor_msgs::Image::ConstPtr& left_image, // left image rect
00083       const sensor_msgs::CameraInfo::ConstPtr& left_cam_info, // left cmaera info
00084       const sensor_msgs::CameraInfo::ConstPtr& right_cam_info, // right camera info
00085       const stereo_msgs::DisparityImage::ConstPtr& disparity // stereo disparity
00086       );
00087 
00088     // check is there near pose or not
00089     // if there is a near pose, return true
00090     virtual bool checkNearPose(
00091       const geometry_msgs::Pose& new_pose);
00092     
00094     // ROS variables
00096     int counter_;
00097     ros::Publisher pub_count_;
00098     ros::Publisher pub_pose_;
00099     ros::Publisher pub_mask_;
00100     ros::Publisher pub_mask_indices_;
00101     ros::Publisher pub_left_image_;
00102     ros::Publisher pub_left_cam_info_;
00103     ros::Publisher pub_right_cam_info_;
00104     ros::Publisher pub_disparity_;
00105     message_filters::Subscriber<geometry_msgs::PoseStamped> sub_pose_;
00106     message_filters::Subscriber<sensor_msgs::Image> sub_mask_;
00107     message_filters::Subscriber<PCLIndicesMsg> sub_mask_indices_;
00108     message_filters::Subscriber<sensor_msgs::Image> sub_left_image_;
00109     message_filters::Subscriber<sensor_msgs::CameraInfo> sub_left_cam_info_;
00110     message_filters::Subscriber<sensor_msgs::CameraInfo> sub_right_cam_info_;
00111     message_filters::Subscriber<stereo_msgs::DisparityImage> sub_disparity_;
00112     boost::shared_ptr<message_filters::Synchronizer<SyncPolicy> >sync_;
00113     std::vector<geometry_msgs::Pose> poses_;
00115     // Parameters
00117     double rotational_bin_size_;
00118     double positional_bin_size_;
00119   private:
00120   
00121   };
00122 }
00123 #endif


jsk_pcl_ros
Author(s): Yohei Kakiuchi
autogenerated on Tue Jul 2 2019 19:41:42