ground_plane_finder.h
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00001 /*
00002  * Copyright (C) 2014-2016 Fetch Robotics Inc.
00003  *
00004  * Licensed under the Apache License, Version 2.0 (the "License");
00005  * you may not use this file except in compliance with the License.
00006  * You may obtain a copy of the License at
00007  *
00008  *     http://www.apache.org/licenses/LICENSE-2.0
00009  *
00010  * Unless required by applicable law or agreed to in writing, software
00011  * distributed under the License is distributed on an "AS IS" BASIS,
00012  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
00013  * See the License for the specific language governing permissions and
00014  * limitations under the License.
00015  */
00016 
00017 #ifndef ROBOT_CALIBRATION_CAPTURE_GROUND_PLANE_FINDER_H
00018 #define ROBOT_CALIBRATION_CAPTURE_GROUND_PLANE_FINDER_H
00019 
00020 #include <ros/ros.h>
00021 #include <robot_calibration/capture/depth_camera.h>
00022 #include <robot_calibration/capture/feature_finder.h>
00023 #include <robot_calibration_msgs/CalibrationData.h>
00024 #include <cv_bridge/cv_bridge.h>
00025 
00026 namespace robot_calibration
00027 {
00028 
00029 class GroundPlaneFinder : public FeatureFinder
00030 {
00031 public:
00032   GroundPlaneFinder(ros::NodeHandle & n);
00033 
00034   bool find(robot_calibration_msgs::CalibrationData * msg);
00035 
00036 private:
00037   void cameraCallback(const sensor_msgs::PointCloud2& cloud);
00038   bool waitForCloud();
00039 
00040   ros::Subscriber subscriber_;
00041   ros::Publisher publisher_;
00042 
00043   bool waiting_;
00044   sensor_msgs::PointCloud2 cloud_;
00045   DepthCameraInfoManager depth_camera_manager_;
00046 
00047   std::string camera_sensor_name_;
00048   std::string chain_sensor_name_;
00049   double points_max_;
00050   double max_z_;
00051 };
00052 
00053 }  // namespace robot_calibration
00054 
00055 #endif  // ROBOT_CALIBRATION_CAPTURE_GROUND_PLANE_FINDER_H


robot_calibration
Author(s): Michael Ferguson
autogenerated on Sat May 20 2017 02:35:31