octree_voxel_grid.h
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00001 // -*- mode: c++ -*-
00002 /*********************************************************************
00003  * Software License Agreement (BSD License)
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00035 
00036 #ifndef JSK_PCL_ROS_OCTREE_VOXEL_GRID_H_
00037 #define JSK_PCL_ROS_OCTREE_VOXEL_GRID_H_
00038 
00039 // ros
00040 #include <ros/ros.h>
00041 #include <ros/names.h>
00042 #include <dynamic_reconfigure/server.h>
00043 #include <jsk_topic_tools/diagnostic_nodelet.h>
00044 #include <sensor_msgs/PointCloud2.h>
00045 #include <visualization_msgs/Marker.h>
00046 #include <visualization_msgs/MarkerArray.h>
00047 
00048 // pcl
00049 #include <pcl_ros/pcl_nodelet.h>
00050 #include <pcl/point_types.h>
00051 #include <pcl/octree/octree_pointcloud.h>
00052 #include "jsk_pcl_ros/OctreeVoxelGridConfig.h"
00053 
00054 namespace jsk_pcl_ros
00055 {
00056   class OctreeVoxelGrid : public jsk_topic_tools::DiagnosticNodelet
00057   {
00058   public:
00059     typedef jsk_pcl_ros::OctreeVoxelGridConfig Config;
00060     OctreeVoxelGrid(): DiagnosticNodelet("OctreeVoxelGrid") {}
00061   protected:
00062     virtual void onInit();
00063     virtual void subscribe();
00064     virtual void unsubscribe();
00065     virtual void configCallback(Config &config, uint32_t level);
00066     virtual void generateVoxelCloud(const sensor_msgs::PointCloud2ConstPtr& input);
00067     template <class PointT>
00068     void generateVoxelCloudImpl(const sensor_msgs::PointCloud2ConstPtr& input);
00069 
00070     ros::Subscriber sub_input_;
00071     ros::Publisher pub_cloud_;
00072     ros::Publisher pub_marker_;
00073     ros::Publisher pub_marker_array_;
00074     ros::Publisher pub_octree_resolution_;
00075 
00076     boost::shared_ptr<dynamic_reconfigure::Server<Config> > srv_;
00077     boost::mutex mutex_;
00078 
00079     double resolution_;
00080     double marker_color_alpha_;
00081     
00082     bool publish_marker_flag_;
00083     std::string marker_color_;
00084   };
00085 }
00086 
00087 #endif // JSK_PCL_ROS_OCTREE_VOXEL_GRID_H_


jsk_pcl_ros
Author(s): Yohei Kakiuchi
autogenerated on Tue Jul 2 2019 19:41:43