planar_pointcloud_simulator.h

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// -*- mode: c++ -*-
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#ifndef JSK_PCL_ROS_UTILS_PLANAR_POINTCLOUD_SIMULATOR_H_
#define JSK_PCL_ROS_UTILS_PLANAR_POINTCLOUD_SIMULATOR_H_

#include <jsk_topic_tools/diagnostic_nodelet.h>
#include "jsk_recognition_utils/pcl_conversion_util.h"
#include <jsk_pcl_ros_utils/PlanarPointCloudSimulatorConfig.h>
#include <dynamic_reconfigure/server.h>
#include <sensor_msgs/PointCloud2.h>
#include <sensor_msgs/CameraInfo.h>

namespace jsk_pcl_ros_utils
{
  class PlanarPointCloudSimulator
  {
  public:
    typedef boost::shared_ptr<PlanarPointCloudSimulator> Ptr;
    PlanarPointCloudSimulator();
    virtual ~PlanarPointCloudSimulator();

    virtual void generate(
      const sensor_msgs::CameraInfo& info, double distance,
      pcl::PointCloud<pcl::PointXYZ>& cloud);
  protected:
  private:
    
  };
  
  class PlanarPointCloudSimulatorNodelet:
    public jsk_topic_tools::DiagnosticNodelet
  {
  public:
    typedef PlanarPointCloudSimulatorConfig Config;
    PlanarPointCloudSimulatorNodelet():
      DiagnosticNodelet("PlanarPointCloudSimulatorNodelet") {}
  protected:
    virtual void onInit();
    virtual void subscribe();
    virtual void unsubscribe();

    virtual void generate(
      const sensor_msgs::CameraInfo::ConstPtr& info_msg);

    virtual void configCallback(Config &config, uint32_t level);

    boost::mutex mutex_;
    boost::shared_ptr <dynamic_reconfigure::Server<Config> > srv_;
    ros::Subscriber sub_;
    ros::Publisher pub_;
    PlanarPointCloudSimulator impl_;
    double distance_;
  private:
    
  };
}

#endif