rearrange_bounding_box_nodelet.cpp
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00001 // -*- mode: c++ -*-
00002 /*********************************************************************
00003  * Software License Agreement (BSD License)
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00035 #include "jsk_pcl_ros/rearrange_bounding_box.h"
00036 
00037 namespace jsk_pcl_ros
00038 {
00039   void RearrangeBoundingBox::onInit () {
00040     ConnectionBasedNodelet::onInit();
00041 
00042     pnh_->param("offset_x", offset_x_, 0.0);
00043     pnh_->param("offset_y", offset_y_, 0.0);
00044     pnh_->param("offset_z", offset_z_, 0.0);
00045     pnh_->param("scale_x", scale_x_, 1.0);
00046     pnh_->param("scale_y", scale_y_, 1.0);
00047     pnh_->param("scale_z", scale_z_, 1.0);
00048     pnh_->param("rotate_x", rotate_x_, 0.0);
00049     pnh_->param("rotate_y", rotate_y_, 0.0);
00050     pnh_->param("rotate_z", rotate_z_, 0.0);
00051     q_ = tf2::Quaternion();
00052     q_.setEuler(rotate_y_, rotate_x_, rotate_z_);
00053 
00054     srv_ = boost::make_shared <dynamic_reconfigure::Server<Config> > (*pnh_);
00055     dynamic_reconfigure::Server<Config>::CallbackType f =
00056       boost::bind(&RearrangeBoundingBox::configCallback, this, _1, _2);
00057     srv_->setCallback (f);
00058 
00059     pub_bouding_box_array_ = advertise<jsk_recognition_msgs::BoundingBoxArray>(*pnh_, "output", 1);
00060     onInitPostProcess();
00061   }
00062 
00063   void RearrangeBoundingBox::configCallback(Config &config, uint32_t level) {
00064     boost::mutex::scoped_lock lock(mutex_);
00065     offset_x_ = config.offset_x;
00066     offset_y_ = config.offset_y;
00067     offset_z_ = config.offset_z;
00068     scale_x_ = config.scale_x;
00069     scale_y_ = config.scale_y;
00070     scale_z_ = config.scale_z;
00071     rotate_x_ = config.rotate_x;
00072     rotate_y_ = config.rotate_y;
00073     rotate_z_ = config.rotate_z;
00074     q_ = tf2::Quaternion();
00075     q_.setEuler(rotate_y_, rotate_x_, rotate_z_);
00076   }
00077 
00078   void RearrangeBoundingBox::subscribe() {
00079     sub_bounding_box_array_ = pnh_->subscribe("input", 1,
00080                                               &RearrangeBoundingBox::rearrangeBoundingBoxCallback, this);
00081   }
00082 
00083   void RearrangeBoundingBox::unsubscribe() {
00084     sub_bounding_box_array_.shutdown();
00085   }
00086 
00087   void RearrangeBoundingBox::rearrangeBoundingBoxCallback(const jsk_recognition_msgs::BoundingBoxArray::ConstPtr& box_array) {
00088     boost::mutex::scoped_lock lock(mutex_);
00089     jsk_recognition_msgs::BoundingBoxArray bba;
00090     bba.header = box_array->header;
00091     bba.boxes = box_array->boxes;
00092     for(size_t i = 0; i < box_array->boxes.size(); ++i) {
00093       bba.boxes[i].pose.position.x += offset_x_;
00094       bba.boxes[i].pose.position.y += offset_y_;
00095       bba.boxes[i].pose.position.z += offset_z_;
00096       bba.boxes[i].dimensions.x *= scale_x_;
00097       bba.boxes[i].dimensions.y *= scale_y_;
00098       bba.boxes[i].dimensions.z *= scale_z_;
00099       bba.boxes[i].pose.orientation.x += q_.x();
00100       bba.boxes[i].pose.orientation.y += q_.y();
00101       bba.boxes[i].pose.orientation.z += q_.z();
00102       bba.boxes[i].pose.orientation.w += q_.w();
00103     }
00104     pub_bouding_box_array_.publish(bba);
00105   }
00106 }
00107 
00108 #include <pluginlib/class_list_macros.h>
00109 PLUGINLIB_EXPORT_CLASS (jsk_pcl_ros::RearrangeBoundingBox, nodelet::Nodelet);


jsk_pcl_ros
Author(s): Yohei Kakiuchi
autogenerated on Tue Jul 2 2019 19:41:44