polygon_points_sampler.h

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// -*- mode: c++ -*-
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#ifndef JSK_PCL_ROS_UTILS_POLYGON_POINTS_SAMPLER_H_
#define JSK_PCL_ROS_UTILS_POLYGON_POINTS_SAMPLER_H_

#include <jsk_topic_tools/diagnostic_nodelet.h>
#include "jsk_recognition_utils/geo_util.h"

#include <jsk_pcl_ros_utils/PolygonPointsSamplerConfig.h>
#include <dynamic_reconfigure/server.h>

#include <message_filters/subscriber.h>
#include <message_filters/time_synchronizer.h>
#include <message_filters/synchronizer.h>

#include <jsk_recognition_msgs/PolygonArray.h>
#include <jsk_recognition_msgs/ModelCoefficientsArray.h>
namespace jsk_pcl_ros_utils
{
  class PolygonPointsSampler: public jsk_topic_tools::DiagnosticNodelet
  {
  public:
    typedef boost::shared_ptr<PolygonPointsSampler> Ptr;
    typedef PolygonPointsSamplerConfig Config;
    
    typedef message_filters::sync_policies::ExactTime<
      jsk_recognition_msgs::PolygonArray,
      jsk_recognition_msgs::ModelCoefficientsArray > SyncPolicy;
    
    PolygonPointsSampler(): DiagnosticNodelet("PolygonPointsSampler") {}
  protected:
    virtual void onInit();
    virtual void subscribe();
    virtual void unsubscribe();
    virtual void sample(
      const jsk_recognition_msgs::PolygonArray::ConstPtr& polygon_msg,
      const jsk_recognition_msgs::ModelCoefficientsArray::ConstPtr& coefficients_msg);
    virtual void configCallback(Config& config, uint32_t level);
    virtual bool isValidMessage(
      const jsk_recognition_msgs::PolygonArray::ConstPtr& polygon_msg,
      const jsk_recognition_msgs::ModelCoefficientsArray::ConstPtr& coefficients_msg);
    boost::shared_ptr <dynamic_reconfigure::Server<Config> > srv_;
    boost::shared_ptr<message_filters::Synchronizer<SyncPolicy> > sync_;
    message_filters::Subscriber<jsk_recognition_msgs::PolygonArray> sub_polygons_;
    message_filters::Subscriber<jsk_recognition_msgs::ModelCoefficientsArray> sub_coefficients_;
    
    boost::mutex mutex_;
    ros::Publisher pub_;
    ros::Publisher pub_xyz_;
    double grid_size_;
    
  private:
    
  };
}

#endif