heightmap_converter.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 #ifndef JSK_PCL_ROS_HEIGHTMAP_CONVERTER_H_
00037 #define JSK_PCL_ROS_HEIGHTMAP_CONVERTER_H_
00038 
00039 #include <jsk_topic_tools/diagnostic_nodelet.h>
00040 
00041 #include <sensor_msgs/PointCloud2.h>
00042 #include <jsk_pcl_ros/HeightmapConverterConfig.h>
00043 #include <dynamic_reconfigure/server.h>
00044 #include <opencv2/opencv.hpp>
00045 #include <pcl/point_types.h>
00046 #include <pcl/point_cloud.h>
00047 #include <jsk_recognition_msgs/HeightmapConfig.h>
00048 #include <tf/transform_listener.h>
00049 #include <tf/transform_broadcaster.h>
00050 
00051 namespace jsk_pcl_ros
00052 {
00053 
00054   class HeightmapConverter: public jsk_topic_tools::DiagnosticNodelet
00055   {
00056   public:
00057     typedef boost::shared_ptr<HeightmapConverter> Ptr;
00058     typedef HeightmapConverterConfig Config;
00059     HeightmapConverter(): DiagnosticNodelet("HeightmapConverter") {}
00060   protected:
00061     virtual void onInit();
00062     virtual void subscribe();
00063     virtual void unsubscribe();
00064     virtual void configCallback(Config &config, uint32_t level);
00065     virtual void convert(const sensor_msgs::PointCloud2::ConstPtr& msg);
00066     inline cv::Point toIndex(const pcl::PointXYZ& p) const
00067     {
00068       if (p.x > max_x_ || p.x < min_x_ ||
00069           p.y > max_y_ || p.y < min_y_) {
00070         return cv::Point(-1, -1);
00071       }
00072       const float offsetted_x = p.x - min_x_;
00073       const float offsetted_y = p.y - min_y_;
00074       const float dx = (max_x_ - min_x_) / resolution_x_;
00075       const float dy = (max_y_ - min_y_) / resolution_y_;
00076       return cv::Point(std::floor(offsetted_x / dx),
00077                        std::floor(offsetted_y / dy));
00078     }
00079 
00080     boost::mutex mutex_;
00081     ros::Publisher pub_;
00082     ros::Publisher pub_config_;
00083     ros::Subscriber sub_;
00084     boost::shared_ptr<dynamic_reconfigure::Server<Config> > srv_;
00085     double min_x_;
00086     double max_x_;
00087     double min_y_;
00088     double max_y_;
00089     int resolution_x_;
00090     int resolution_y_;
00091     int max_queue_size_;
00092     std::string fixed_frame_id_;
00093     std::string center_frame_id_;
00094     std::string projected_center_frame_id_;
00095     bool use_projected_center_;
00096     double initial_probability_;
00097 
00098     tf::TransformListener* tf_;
00099     tf::TransformBroadcaster tf_broadcaster_;
00100   };
00101 }
00102 
00103 #endif


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