00001 // -*- mode: c++ -*- 00002 /********************************************************************* 00003 * Software License Agreement (BSD License) 00004 * 00005 * Copyright (c) 2015, 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_UTILS_CLOUD_ON_PLANE_H_ 00039 #define JSK_PCL_ROS_UTILS_CLOUD_ON_PLANE_H_ 00040 00041 #include <jsk_topic_tools/diagnostic_nodelet.h> 00042 #include <jsk_recognition_msgs/PolygonArray.h> 00043 #include <jsk_recognition_utils/geo/convex_polygon.h> 00044 #include <message_filters/subscriber.h> 00045 #include <message_filters/time_synchronizer.h> 00046 #include <message_filters/synchronizer.h> 00047 #include <message_filters/sync_policies/exact_time.h> 00048 #include <message_filters/sync_policies/approximate_time.h> 00049 #include <jsk_pcl_ros_utils/CloudOnPlaneConfig.h> 00050 #include <dynamic_reconfigure/server.h> 00051 #include <jsk_recognition_msgs/BoolStamped.h> 00052 #include <jsk_recognition_utils/pcl_util.h> 00053 00054 namespace jsk_pcl_ros_utils 00055 { 00056 class CloudOnPlane: public jsk_topic_tools::DiagnosticNodelet 00057 { 00058 public: 00059 typedef boost::shared_ptr<CloudOnPlane> Ptr; 00060 typedef CloudOnPlaneConfig Config; 00061 typedef message_filters::sync_policies::ExactTime< 00062 sensor_msgs::PointCloud2, 00063 jsk_recognition_msgs::PolygonArray > SyncPolicy; 00064 00065 CloudOnPlane(): DiagnosticNodelet("CloudOnPlane") {} 00066 protected: 00067 virtual void onInit(); 00068 virtual void subscribe(); 00069 virtual void unsubscribe(); 00070 virtual void predicate(const sensor_msgs::PointCloud2::ConstPtr& cloud_msg, 00071 const jsk_recognition_msgs::PolygonArray::ConstPtr& polygon_msg); 00072 virtual void configCallback(Config& config, uint32_t level); 00073 virtual void publishPredicate(const std_msgs::Header& header, const bool v); 00074 00075 ros::Publisher pub_; 00076 boost::mutex mutex_; 00077 boost::shared_ptr <dynamic_reconfigure::Server<Config> > srv_; 00078 message_filters::Subscriber<sensor_msgs::PointCloud2> sub_cloud_; 00079 message_filters::Subscriber<jsk_recognition_msgs::PolygonArray> sub_polygon_; 00080 boost::shared_ptr<message_filters::Synchronizer<SyncPolicy> > sync_; 00081 double distance_thr_; 00082 int buf_size_; 00083 jsk_recognition_utils::SeriesedBoolean::Ptr buffer_; 00084 private: 00085 00086 }; 00087 } 00088 00089 #endif