jsk_perception: project_image_point.h Source File

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00001 // -*- mode: c++ -*-
00002 /*********************************************************************
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00035 
00036 
00037 #ifndef JSK_PERCEPTION_PROJECT_IMAGE_POINT_H_
00038 #define JSK_PERCEPTION_PROJECT_IMAGE_POINT_H_
00039 
00040 #include <sensor_msgs/CameraInfo.h>
00041 #include <geometry_msgs/PointStamped.h>
00042 #include <geometry_msgs/Vector3Stamped.h>
00043 
00044 #include <image_geometry/pinhole_camera_model.h>
00045 
00046 #include <jsk_topic_tools/diagnostic_nodelet.h>
00047 #include <dynamic_reconfigure/server.h>
00048 #include <jsk_perception/ProjectImagePointConfig.h>
00049 
00050 namespace jsk_perception
00051 {
00052   class ProjectImagePoint: public jsk_topic_tools::DiagnosticNodelet
00053   {
00054   public:
00055     typedef boost::shared_ptr<ProjectImagePoint> Ptr;
00056     typedef ProjectImagePointConfig Config;
00057     ProjectImagePoint(): DiagnosticNodelet("ProjectImagePoint") {}
00058     
00059   protected:
00060     virtual void onInit();
00061     virtual void subscribe();
00062     virtual void unsubscribe();
00063     virtual void project(const geometry_msgs::PointStamped::ConstPtr& msg);
00064     virtual void cameraInfoCallback(const sensor_msgs::CameraInfo::ConstPtr& msg);
00065     virtual void configCallback(Config& config, uint32_t level);
00066     
00067     boost::mutex mutex_;
00068     ros::Subscriber sub_;
00069     ros::Subscriber sub_camera_info_;
00070     ros::Publisher pub_;
00071     ros::Publisher pub_vector_;
00072     sensor_msgs::CameraInfo::ConstPtr camera_info_;
00073     boost::shared_ptr <dynamic_reconfigure::Server<Config> > srv_;
00074     double z_;
00075     
00076   private:
00077     
00078   };
00079 }
00080 
00081 #endif