00001 // -*- mode: c++ -*- 00002 /********************************************************************* 00003 * Software License Agreement (BSD License) 00004 * 00005 * Copyright (c) 2014, 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 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