polygon_flipper.h
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00001 // -*- mode: c++ -*-
00002 /*********************************************************************
00003  * Software License Agreement (BSD License)
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00008  *  Redistribution and use in source and binary forms, with or without
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00035 
00036 
00037 #ifndef JSK_PCL_ROS_UTILS_POLYGON_FLIPPER_H_
00038 #define JSK_PCL_ROS_UTILS_POLYGON_FLIPPER_H_
00039 
00040 #include <jsk_topic_tools/diagnostic_nodelet.h>
00041 #include <jsk_recognition_msgs/PolygonArray.h>
00042 #include <jsk_recognition_msgs/ModelCoefficientsArray.h>
00043 #include <jsk_recognition_msgs/ClusterPointIndices.h>
00044 
00045 #include "jsk_recognition_utils/geo_util.h"
00046 #include "jsk_recognition_utils/tf_listener_singleton.h"
00047 
00048 #include <message_filters/subscriber.h>
00049 #include <message_filters/time_synchronizer.h>
00050 #include <message_filters/synchronizer.h>
00051 #include <message_filters/pass_through.h>
00052 
00053 namespace jsk_pcl_ros_utils
00054 {
00055   class PolygonFlipper: public jsk_topic_tools::DiagnosticNodelet
00056   {
00057   public:
00058     typedef boost::shared_ptr<PolygonFlipper> Ptr;
00059     typedef message_filters::sync_policies::ExactTime<
00060       jsk_recognition_msgs::PolygonArray,
00061       jsk_recognition_msgs::ClusterPointIndices,
00062       jsk_recognition_msgs::ModelCoefficientsArray > SyncPolicy;
00063     PolygonFlipper(): DiagnosticNodelet("PolygonFlipper") {}
00064   protected:
00065     virtual void onInit();
00066     virtual void subscribe();
00067     virtual void unsubscribe();
00068 
00069     virtual void fillEmptyIndices(
00070       const jsk_recognition_msgs::PolygonArray::ConstPtr& polygon_msg);
00071     virtual void flip(
00072       const jsk_recognition_msgs::PolygonArray::ConstPtr& polygon_msg,
00073       const jsk_recognition_msgs::ClusterPointIndices::ConstPtr& indices_msg,
00074       const jsk_recognition_msgs::ModelCoefficientsArray::ConstPtr& coefficients_msg);
00075     
00076     boost::shared_ptr<message_filters::Synchronizer<SyncPolicy> > sync_;
00077     message_filters::Subscriber<jsk_recognition_msgs::PolygonArray> sub_polygons_;
00078     message_filters::Subscriber<jsk_recognition_msgs::ModelCoefficientsArray> sub_coefficients_;
00079     message_filters::Subscriber<jsk_recognition_msgs::ClusterPointIndices> sub_indices_;
00080     message_filters::PassThrough<jsk_recognition_msgs::ClusterPointIndices> sub_indices_null_;
00081     ros::Publisher pub_polygons_;
00082     ros::Publisher pub_indices_;
00083     ros::Publisher pub_coefficients_;
00084     tf::TransformListener* tf_listener_;
00085     std::string sensor_frame_;
00086     bool use_indices_;
00087     int queue_size_;
00088   private:
00089     
00090   };
00091 }
00092 
00093 #endif


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