transformation_publisher.h

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#ifndef TRANSFORMATION_PUBLISHER_H
#define TRANSFORMATION_PUBLISHER_H
#include <QThread>

#include <calibration_object.h>

#ifndef Q_MOC_RUN
#include <sensor_msgs/JointState.h>
#include <tf/transform_broadcaster.h>
#include <Eigen/Dense>
#include <ros/ros.h>
#include <ros/init.h>
#include <boost/shared_ptr.hpp>
#endif

enum Markertype
{
    LEFT,
    RIGHT
};

class Transformation_Publisher : public QThread
{
    Q_OBJECT
public:
    explicit Transformation_Publisher(boost::shared_ptr<Calibration_Object> object);

    void stop();
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
protected:

    ros::NodeHandle nh;
    ros::Publisher joint_pub;
    tf::TransformBroadcaster broadcaster;

    std::vector<geometry_msgs::TransformStamped> staticTransforms;
    geometry_msgs::TransformStamped mapToTop;
    geometry_msgs::TransformStamped topToScanFrame;
    geometry_msgs::TransformStamped markerLeftToCamera;
    geometry_msgs::TransformStamped markerRightToCamera;

    Markertype currentMarkertype;

    void run();
    geometry_msgs::Transform matrixToTransform(const Eigen::Matrix4d& matrix);

public slots:
    void newTransform_Laserscan(const Eigen::Matrix4d& transform, double distanceToTop);
    void newTransform_Camera(const Eigen::Matrix4d& transform, Markertype markertype);
};


#endif // TRANSFORMATION_PUBLISHER_H