sample_cube_nearest_point.cpp
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00001 // -*- mode: c++ -*-
00002 /*********************************************************************
00003  * Software License Agreement (BSD License)
00004  *
00005  *  Copyright (c) 2015, 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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00035 
00036 #define BOOST_PARAMETER_MAX_ARITY 7
00037 #include <ros/ros.h>
00038 #include "jsk_pcl_ros/geo_util.h"
00039 #include <jsk_recognition_msgs/BoundingBoxArray.h>
00040 #include <interactive_markers/interactive_marker_server.h>
00041 #include <visualization_msgs/Marker.h>
00042 #include <visualization_msgs/MarkerArray.h>
00043 #include <geometry_msgs/PointStamped.h>
00044 
00045 using namespace jsk_pcl_ros;
00046 
00047 Cube cube(Eigen::Vector3f(1, 0, 0),
00048           Eigen::Quaternionf(0.108755, 0.088921, 0.108755, 0.984092),
00049           Eigen::Vector3f(0.3, 0.3, 0.3));
00050   
00051 ros::Publisher pub_nearest_point;
00052 void processFeedbackCB(const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
00053 {
00054   Eigen::Vector3f p(feedback->pose.position.x, feedback->pose.position.y, feedback->pose.position.z);
00055   double distance;
00056   Eigen::Vector3f q = cube.nearestPoint(p, distance);
00057   ROS_INFO("distance: %f", distance);
00058   geometry_msgs::PointStamped ps;
00059   ps.header = feedback->header;
00060   ps.point.x = q[0];
00061   ps.point.y = q[1];
00062   ps.point.z = q[2];
00063   pub_nearest_point.publish(ps);
00064 }
00065 
00066 int main(int argc, char** argv)
00067 {
00068   ros::init(argc, argv, "cube_nearest_point");
00069   ros::NodeHandle nh("~");
00070   pub_nearest_point = nh.advertise<geometry_msgs::PointStamped>("nearest_point", 1);
00071   interactive_markers::InteractiveMarkerServer server("sample_cube_nearest_point");
00072   
00073   visualization_msgs::InteractiveMarker int_marker;
00074   int_marker.header.frame_id = "world";
00075   int_marker.name = "marker";
00076   int_marker.pose.orientation.w = 1.0;
00077   int_marker.pose.position.x = -2.0;
00078   visualization_msgs::Marker object_marker;
00079   object_marker.type = visualization_msgs::Marker::SPHERE;
00080   object_marker.scale.x = 0.1;
00081   object_marker.scale.y = 0.1;
00082   object_marker.scale.z = 0.1;
00083   object_marker.color.r = 1.0;
00084   object_marker.color.g = 1.0;
00085   object_marker.color.b = 1.0;
00086   object_marker.color.a = 1.0;
00087   visualization_msgs::InteractiveMarkerControl object_marker_control;
00088   object_marker_control.interaction_mode = visualization_msgs::InteractiveMarkerControl::BUTTON;
00089   object_marker_control.always_visible = true;
00090   object_marker_control.markers.push_back(object_marker);
00091   int_marker.controls.push_back(object_marker_control);
00092   visualization_msgs::InteractiveMarkerControl control;
00093   control.orientation.w = 1;
00094   control.orientation.x = 1;
00095   control.orientation.y = 0;
00096   control.orientation.z = 0;
00097     
00098   control.name = "move_x";
00099   control.interaction_mode = visualization_msgs::InteractiveMarkerControl::MOVE_AXIS;
00100   int_marker.controls.push_back(control);
00101 
00102   control.orientation.w = 1;
00103   control.orientation.x = 0;
00104   control.orientation.y = 1;
00105   control.orientation.z = 0;
00106   control.name = "move_z";
00107   control.interaction_mode = visualization_msgs::InteractiveMarkerControl::MOVE_AXIS;
00108   int_marker.controls.push_back(control);
00109 
00110   control.orientation.w = 1;
00111   control.orientation.x = 0;
00112   control.orientation.y = 0;
00113   control.orientation.z = 1;
00114   control.name = "move_y";
00115   control.interaction_mode = visualization_msgs::InteractiveMarkerControl::MOVE_AXIS;
00116   int_marker.controls.push_back(control);
00117   server.insert(int_marker, &processFeedbackCB);
00118   server.applyChanges();
00119   
00120   ros::Publisher pub_box_array = nh.advertise<jsk_recognition_msgs::BoundingBoxArray>("bbox_array", 1, true);
00121   jsk_recognition_msgs::BoundingBox box = cube.toROSMsg();
00122   box.header.frame_id = "world";
00123   box.header.stamp = ros::Time::now();
00124   jsk_recognition_msgs::BoundingBoxArray box_array;
00125   box_array.boxes.push_back(box);
00126   box_array.header = box.header;
00127   pub_box_array.publish(box_array);
00128   ros::spin();
00129 }


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