00001 /* 00002 Copyright (c) 2011-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke 00003 All rights reserved. 00004 00005 Redistribution and use in source and binary forms, with or without 00006 modification, are permitted provided that the following conditions are met: 00007 * Redistributions of source code must retain the above copyright 00008 notice, this list of conditions and the following disclaimer. 00009 * Redistributions in binary form must reproduce the above copyright 00010 notice, this list of conditions and the following disclaimer in the 00011 documentation and/or other materials provided with the distribution. 00012 * Neither the name of the Universite de Sherbrooke nor the 00013 names of its contributors may be used to endorse or promote products 00014 derived from this software without specific prior written permission. 00015 00016 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND 00017 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED 00018 WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 00019 DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY 00020 DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES 00021 (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00022 LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND 00023 ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 00024 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 00025 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 00026 */ 00027 00028 #ifndef FINDOBJECTROS_H_ 00029 #define FINDOBJECTROS_H_ 00030 00031 #include <ros/ros.h> 00032 #include <cv_bridge/cv_bridge.h> 00033 #include <tf/transform_broadcaster.h> 00034 #include "find_object/FindObject.h" 00035 00036 #include <QtCore/QObject> 00037 #include <QtCore/QMultiMap> 00038 #include <QtCore/QPair> 00039 #include <QtCore/QRect> 00040 #include <QtGui/QTransform> 00041 00042 class FindObjectROS : public find_object::FindObject 00043 { 00044 Q_OBJECT; 00045 00046 public: 00047 FindObjectROS(const std::string & objPrefix, QObject * parent = 0); 00048 virtual ~FindObjectROS() {} 00049 00050 public Q_SLOTS: 00051 void publish(const find_object::DetectionInfo & info); 00052 00053 void setDepthData(const std::string & frameId, 00054 const ros::Time & stamp, 00055 const cv::Mat & depth, 00056 float depthConstant); 00057 00058 private: 00059 cv::Vec3f getDepth(const cv::Mat & depthImage, 00060 int x, int y, 00061 float cx, float cy, 00062 float fx, float fy); 00063 00064 00065 private: 00066 ros::Publisher pub_; 00067 ros::Publisher pubStamped_; 00068 00069 std::string frameId_; 00070 ros::Time stamp_; 00071 cv::Mat depth_; 00072 float depthConstant_; 00073 00074 std::string objFramePrefix_; 00075 tf::TransformBroadcaster tfBroadcaster_; 00076 00077 }; 00078 00079 #endif /* FINDOBJECTROS_H_ */