octree_change_publisher.h
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00001 // -*- mode: C++ -*-
00002 /*********************************************************************
00003  * Software License Agreement (BSD License)
00004  *
00005  *  Copyright (c) 2013, Yuto Inagaki and 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
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00035 
00036 #ifndef __JSK_PCL_ROS_OCTREE_CHANGE_PUBLISHER_H__
00037 #define __JSK_PCL_ROS_OCTREE_CHANGE_PUBLISHER_H__
00038 
00039 // ros
00040 #include <ros/ros.h>
00041 #include <sensor_msgs/PointCloud2.h>
00042 #include <dynamic_reconfigure/server.h>
00043 #include <jsk_pcl_ros/OctreeChangePublisherConfig.h>
00044 #include <pcl_conversions/pcl_conversions.h>
00045 
00046 // pcl
00047 #include <pcl_ros/pcl_nodelet.h>
00048 #include <pcl/point_types.h>
00049 #include <pcl/point_cloud.h>
00050 #include <pcl/octree/octree.h>
00051 #include <jsk_topic_tools/connection_based_nodelet.h>
00052 
00053 namespace jsk_pcl_ros
00054 {
00070   class OctreeChangePublisher: public jsk_topic_tools::ConnectionBasedNodelet
00071   {
00072   public:
00073     typedef OctreeChangePublisherConfig Config;
00074   protected:
00075     int counter_;
00076     int noise_filter_;
00077     double resolution_;
00078     boost::mutex mtx_;
00079 
00080     ros::Subscriber sub_;
00081     ros::Publisher diff_pub_;
00082     pcl::octree::OctreePointCloudChangeDetector<pcl::PointXYZRGB> *octree_;
00083     pcl::PointCloud<pcl::PointXYZRGB>::Ptr filtered_cloud;
00084     boost::shared_ptr <dynamic_reconfigure::Server<Config> > srv_;
00085 
00086     virtual void
00087     cloud_cb (const sensor_msgs::PointCloud2 &pc);
00088     virtual void subscribe();
00089     virtual void unsubscribe();
00090     virtual void config_callback(Config &config, uint32_t level);
00091   private:
00092     virtual void onInit();
00093   };
00094 }
00095 
00096 #endif


jsk_pcl_ros
Author(s): Yohei Kakiuchi
autogenerated on Sun Oct 8 2017 02:43:50