depth_image_error.h
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00001 // -*- mode: C++ -*-
00002 /*********************************************************************
00003  * Software License Agreement (BSD License)
00004  *
00005  *  Copyright (c) 2014, JSK Lab
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00008  *  Redistribution and use in source and binary forms, with or without
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00011  *
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00014  *   * Redistributions in binary form must reproduce the above
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00035 
00036 
00037 #ifndef JSK_PCL_ROS_UTILS_DEPTH_IMAGE_ERROR_H_
00038 #define JSK_PCL_ROS_UTILS_DEPTH_IMAGE_ERROR_H_
00039 
00040 #include <ros/ros.h>
00041 #include <pcl_ros/pcl_nodelet.h>
00042 #include <sensor_msgs/Image.h>
00043 #include <geometry_msgs/PointStamped.h>
00044 #include <jsk_recognition_msgs/DepthErrorResult.h>
00045 
00046 #include <message_filters/subscriber.h>
00047 #include <message_filters/time_synchronizer.h>
00048 #include <message_filters/synchronizer.h>
00049 #include <message_filters/sync_policies/approximate_time.h>
00050 #include <jsk_topic_tools/connection_based_nodelet.h>
00051 #include <sensor_msgs/CameraInfo.h>
00052 #include <string>
00053 
00054 namespace jsk_pcl_ros_utils
00055 {
00056   class DepthImageError: public jsk_topic_tools::ConnectionBasedNodelet
00057   {
00058   public:
00059     typedef message_filters::sync_policies::ApproximateTime<
00060     sensor_msgs::Image,
00061     geometry_msgs::PointStamped,
00062     sensor_msgs::CameraInfo
00063      > ASyncPolicy;
00064     typedef message_filters::sync_policies::ExactTime<
00065     sensor_msgs::Image,
00066     geometry_msgs::PointStamped,
00067     sensor_msgs::CameraInfo
00068      > SyncPolicy;
00069     ros::Publisher depth_error_publisher_;
00070   protected:
00071     virtual void onInit();
00072     virtual void calcError(const sensor_msgs::Image::ConstPtr& depth_image,
00073                            const geometry_msgs::PointStamped::ConstPtr& uv_point,
00074                            const sensor_msgs::CameraInfo::ConstPtr& camera_info);
00075     virtual void subscribe();
00076     virtual void unsubscribe();
00077     message_filters::Subscriber<sensor_msgs::Image> sub_image_;
00078     message_filters::Subscriber<geometry_msgs::PointStamped> sub_point_;
00079     message_filters::Subscriber<sensor_msgs::CameraInfo> sub_camera_info_;
00080     boost::shared_ptr<message_filters::Synchronizer<ASyncPolicy> > async_;
00081     boost::shared_ptr<message_filters::Synchronizer<SyncPolicy> > sync_;
00082     bool approximate_sync_;
00083   private:
00084   };
00085 }
00086 
00087 #endif


jsk_pcl_ros_utils
Author(s): Yohei Kakiuchi
autogenerated on Tue Jul 2 2019 19:40:52