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 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 #ifndef JSK_PCL_ROS_VOXEL_GRID_DOWNSAMPLE_MANAGER_H_ 00037 #define JSK_PCL_ROS_VOXEL_GRID_DOWNSAMPLE_MANAGER_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_pcl_ros/tf_listener_singleton.h" 00045 00046 // pcl 00047 #include <pcl_ros/pcl_nodelet.h> 00048 #include <pcl/point_types.h> 00049 #include <jsk_topic_tools/connection_based_nodelet.h> 00050 00051 namespace jsk_pcl_ros 00052 { 00053 class VoxelGridDownsampleManager : public jsk_topic_tools::ConnectionBasedNodelet 00054 { 00055 protected: 00056 tf::TransformListener* tf_listener; 00057 std::vector<visualization_msgs::Marker::ConstPtr> grid_; 00058 void addGrid(const visualization_msgs::Marker::ConstPtr &new_box); 00059 virtual void subscribe(); 00060 virtual void unsubscribe(); 00061 private: 00062 void pointCB(const sensor_msgs::PointCloud2ConstPtr &input); 00063 void clearAll(); 00064 void initializeGrid(void); 00065 ros::Subscriber sub_; 00066 ros::Subscriber bounding_box_sub_; 00067 ros::Publisher pub_; 00068 ros::Publisher pub_encoded_; 00069 size_t max_points_; 00070 double rate_; 00071 int sequence_id_; // incremented by every add_box 00072 std::string base_frame_; 00073 virtual void onInit(); 00074 }; 00075 } 00076 00077 #endif // JSK_PCL_ROS_VOXEL_GRID_DOWNSAMPLE_MANAGER_H