roi_clipper.h
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00001 // -*- mode: c++ -*-
00002 /*********************************************************************
00003  * Software License Agreement (BSD License)
00004  *
00005  *  Copyright (c) 2014, JSK Lab
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00008  *  Redistribution and use in source and binary forms, with or without
00009  *  modification, are permitted provided that the following conditions
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00011  *
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00013  *     notice, this list of conditions and the following disclaimer.
00014  *   * Redistributions in binary form must reproduce the above
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00022  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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00035 
00036 
00037 
00038 #ifndef JSK_PCL_ROS_ROI_CLIPPER_H_
00039 #define JSK_PCL_ROS_ROI_CLIPPER_H_
00040 
00041 #include <jsk_topic_tools/diagnostic_nodelet.h>
00042 #include <message_filters/subscriber.h>
00043 #include <message_filters/time_synchronizer.h>
00044 #include <message_filters/synchronizer.h>
00045 #include <sensor_msgs/Image.h>
00046 #include <sensor_msgs/CameraInfo.h>
00047 #include <sensor_msgs/PointCloud2.h>
00048 #include <pcl_conversions/pcl_conversions.h>
00049 namespace jsk_pcl_ros
00050 {
00051   class ROIClipper: public jsk_topic_tools::DiagnosticNodelet
00052   {
00053   public:
00054     typedef message_filters::sync_policies::ExactTime<
00055     sensor_msgs::Image,
00056     sensor_msgs::CameraInfo > SyncPolicy;
00057     ROIClipper(): DiagnosticNodelet("ROIClipper") {}
00058     
00059   protected:
00060     virtual void onInit();
00061     virtual void clip(const sensor_msgs::Image::ConstPtr& image_msg,
00062                       const sensor_msgs::CameraInfo::ConstPtr& camera_info_msg);
00063     virtual void subscribe();
00064     virtual void unsubscribe();
00065     virtual void updateDiagnostic(
00066       diagnostic_updater::DiagnosticStatusWrapper &stat);
00067     virtual void imageCallback(
00068       const sensor_msgs::Image::ConstPtr& image_msg);
00069     virtual void infoCallback(
00070       const sensor_msgs::CameraInfo::ConstPtr& info_msg);
00071     virtual void cloudCallback(
00072       const sensor_msgs::PointCloud2::ConstPtr& cloud_msg);
00073     
00074     boost::mutex mutex_;
00075     bool not_sync_;
00076     bool keep_organized_;
00077     ros::Publisher pub_image_;
00078     ros::Publisher pub_cloud_;
00079     ros::Publisher pub_cloud_indices_;
00080     message_filters::Subscriber<sensor_msgs::Image> sub_image_;
00081     message_filters::Subscriber<sensor_msgs::CameraInfo> sub_info_;
00082     boost::shared_ptr<message_filters::Synchronizer<SyncPolicy> >sync_;
00083     ros::Subscriber sub_image_no_sync_;
00084     ros::Subscriber sub_info_no_sync_;
00085     ros::Subscriber sub_cloud_no_sync_;
00086     sensor_msgs::CameraInfo::ConstPtr latest_camera_info_;
00087   private:
00088   };
00089 }
00090 
00091 #endif


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