extract_cuboid_particles_top_n.h
Go to the documentation of this file.
00001 // -*- mode: c++ -*-
00002 /*********************************************************************
00003  * Software License Agreement (BSD License)
00004  *
00005  *  Copyright (c) 2015, JSK Lab
00006  *  All rights reserved.
00007  *
00008  *  Redistribution and use in source and binary forms, with or without
00009  *  modification, are permitted provided that the following conditions
00010  *  are met:
00011  *
00012  *   * Redistributions of source code must retain the above copyright
00013  *     notice, this list of conditions and the following disclaimer.
00014  *   * Redistributions in binary form must reproduce the above
00015  *     copyright notice, this list of conditions and the following
00016  *     disclaimer in the documentation and/o2r other materials provided
00017  *     with the distribution.
00018  *   * Neither the name of the JSK Lab nor the names of its
00019  *     contributors may be used to endorse or promote products derived
00020  *     from this software without specific prior written permission.
00021  *
00022  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00023  *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00024  *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00025  *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00026  *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00027  *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00028  *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00029  *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00030  *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00031  *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00032  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00033  *  POSSIBILITY OF SUCH DAMAGE.
00034  *********************************************************************/
00035 
00036 
00037 #ifndef JSK_PCL_ROS_EXTRACT_CUBOID_PARTICLES_TOP_N_BASE_H_
00038 #define JSK_PCL_ROS_EXTRACT_CUBOID_PARTICLES_TOP_N_BASE_H_
00039 
00040 #include <jsk_topic_tools/diagnostic_nodelet.h>
00041 #include "jsk_pcl_ros/plane_supported_cuboid_estimator.h"
00042 #include <dynamic_reconfigure/server.h>
00043 #include <jsk_pcl_ros/ExtractParticlesTopNBaseConfig.h>
00044 #include <pcl/pcl_base.h>
00045 #include <pcl/impl/pcl_base.hpp>
00046 #include <pcl/filters/extract_indices.h>
00047 #include <pcl/filters/impl/extract_indices.hpp>
00048 #include <jsk_recognition_msgs/WeightedPoseArray.h>
00049 #include <jsk_recognition_msgs/BoundingBoxArray.h>
00050 
00051 namespace jsk_pcl_ros
00052 {
00053   template <class PARTICLE_T>
00054   bool compareParticleWeight(const PARTICLE_T& a, const PARTICLE_T& b)
00055   {
00056     return a.weight > b.weight;
00057   }
00058 
00059   
00060   class ExtractCuboidParticlesTopN: public jsk_topic_tools::DiagnosticNodelet
00061   {
00062   public:
00063     typedef boost::shared_ptr<ExtractCuboidParticlesTopN> Ptr;
00064     typedef ExtractParticlesTopNBaseConfig Config;
00065     ExtractCuboidParticlesTopN(): DiagnosticNodelet("ExtractCuboidParticlesTopN") {}
00066   protected:
00067     virtual void onInit();
00068     virtual void subscribe();
00069     virtual void unsubscribe();
00070     virtual void extract(const sensor_msgs::PointCloud2::ConstPtr& msg);
00071     virtual void publishBoxArray(
00072       const pcl::PointCloud<pcl::tracking::ParticleCuboid>& particles,
00073       const std_msgs::Header& header);
00074     virtual void publishPoseArray(
00075       const pcl::PointCloud<pcl::tracking::ParticleCuboid>& particles,
00076       const std_msgs::Header& header);
00077     virtual void configCallback(Config& config, uint32_t level);
00078     
00079     boost::mutex mutex_;
00080     ros::Publisher pub_;
00081     ros::Publisher pub_box_array_;
00082     ros::Publisher pub_pose_array_;
00083     ros::Subscriber sub_;
00084     boost::shared_ptr<dynamic_reconfigure::Server<Config> > srv_;
00085     double top_n_ratio_;
00086     
00087   private:
00088     
00089   };
00090   
00091 }
00092 
00093 #endif


jsk_pcl_ros
Author(s): Yohei Kakiuchi
autogenerated on Sun Oct 8 2017 02:43:49