interactive_cuboid_likelihood.h
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00001 // -*- mode: c++ -*-
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00035 
00036 
00037 #ifndef JSK_PCL_ROS_INTERACTIVE_CUBOID_LIKELIHOOD_H_
00038 #define JSK_PCL_ROS_INTERACTIVE_CUBOID_LIKELIHOOD_H_
00039 
00040 #include "jsk_pcl_ros/plane_supported_cuboid_estimator.h"
00041 #include <interactive_markers/interactive_marker_server.h>
00042 #include <jsk_pcl_ros/InteractiveCuboidLikelihoodConfig.h>
00043 #include <dynamic_reconfigure/server.h>
00044 #include <visualization_msgs/Marker.h>
00045 #include <std_msgs/Float32.h>
00046 
00047 namespace jsk_pcl_ros
00048 {
00049   class InteractiveCuboidLikelihood: public jsk_topic_tools::DiagnosticNodelet
00050   {
00051   public:
00052     typedef boost::shared_ptr<InteractiveCuboidLikelihood> Ptr;
00053     typedef InteractiveCuboidLikelihoodConfig Config;
00054     typedef pcl::tracking::ParticleCuboid Particle;
00055     InteractiveCuboidLikelihood(): DiagnosticNodelet("InteractiveCuboidLikelihood") {}
00056     
00057   protected:
00058     virtual void onInit();
00059     virtual void subscribe();
00060     virtual void unsubscribe();
00061     virtual void likelihood(const sensor_msgs::PointCloud2::ConstPtr& msg);
00062     virtual void processFeedback(const visualization_msgs::InteractiveMarkerFeedback::ConstPtr& feedback);
00063     virtual void processPlaneFeedback(const visualization_msgs::InteractiveMarkerFeedback::ConstPtr& feedback);
00064     virtual void configCallback(Config& config, uint32_t level);
00065     virtual visualization_msgs::Marker particleToMarker(const Particle& p);
00066     virtual visualization_msgs::InteractiveMarker particleToInteractiveMarker(const Particle& p);
00067     virtual visualization_msgs::InteractiveMarker planeInteractiveMarker();
00068     boost::mutex mutex_;
00069     ros::Publisher pub_;
00070     ros::Subscriber sub_;
00071     Eigen::Affine3f plane_pose_;
00072     std::string frame_id_;
00073     Particle particle_;
00074     Config config_;
00075     tf::TransformListener* tf_;
00076     Eigen::Vector3f viewpoint_;
00077     std::string sensor_frame_;
00078     boost::shared_ptr<interactive_markers::InteractiveMarkerServer> server_;
00079     boost::shared_ptr<interactive_markers::InteractiveMarkerServer> plane_server_;
00080     boost::shared_ptr<dynamic_reconfigure::Server<Config> > srv_;
00081   private:
00082     
00083   };
00084 }
00085 
00086 #endif


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