voxel_grid_downsample_manager.h
Go to the documentation of this file.
00001 // -*- mode: c++ -*-
00002 /*********************************************************************
00003  * Software License Agreement (BSD License)
00004  *
00005  *  Copyright (c) 2013, Ryohei Ueda 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
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 #ifndef JSK_PCL_ROS_VOXEL_GRID_DOWNSAMPLE_MANAGER_H_
00037 #define JSK_PCL_ROS_VOXEL_GRID_DOWNSAMPLE_MANAGER_H_
00038 
00039 // ros
00040 #include <ros/ros.h>
00041 #include <ros/names.h>
00042 #include <sensor_msgs/PointCloud2.h>
00043 #include <visualization_msgs/Marker.h>
00044 #include "jsk_pcl_ros/tf_listener_singleton.h"
00045 
00046 // pcl
00047 #include <pcl_ros/pcl_nodelet.h>
00048 #include <pcl/point_types.h>
00049 #include <jsk_topic_tools/connection_based_nodelet.h>
00050 
00051 namespace jsk_pcl_ros
00052 {
00053   class VoxelGridDownsampleManager : public jsk_topic_tools::ConnectionBasedNodelet
00054   {
00055   protected:
00056     tf::TransformListener* tf_listener;
00057     std::vector<visualization_msgs::Marker::ConstPtr> grid_;
00058     void addGrid(const visualization_msgs::Marker::ConstPtr &new_box);
00059     virtual void subscribe();
00060     virtual void unsubscribe();
00061   private:
00062     void pointCB(const sensor_msgs::PointCloud2ConstPtr &input);
00063     void clearAll();
00064     void initializeGrid(void);
00065     ros::Subscriber sub_;
00066     ros::Subscriber bounding_box_sub_;
00067     ros::Publisher pub_;
00068     ros::Publisher pub_encoded_;
00069     size_t max_points_;
00070     double rate_;
00071     int sequence_id_;           // incremented by every add_box
00072     std::string base_frame_;
00073     virtual void onInit();
00074   };
00075 }
00076 
00077 #endif  // JSK_PCL_ROS_VOXEL_GRID_DOWNSAMPLE_MANAGER_H


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