FindObjectROS.h
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1 /*
2 Copyright (c) 2011-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
3 All rights reserved.
4 
5 Redistribution and use in source and binary forms, with or without
6 modification, are permitted provided that the following conditions are met:
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8  notice, this list of conditions and the following disclaimer.
9  * Redistributions in binary form must reproduce the above copyright
10  notice, this list of conditions and the following disclaimer in the
11  documentation and/or other materials provided with the distribution.
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14  derived from this software without specific prior written permission.
15 
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27 
28 #ifndef FINDOBJECTROS_H_
29 #define FINDOBJECTROS_H_
30 
31 #include <ros/ros.h>
32 #include <cv_bridge/cv_bridge.h>
34 #include "find_object/FindObject.h"
35 
36 #include <QtCore/QObject>
37 #include <QtCore/QMultiMap>
38 #include <QtCore/QPair>
39 #include <QtCore/QRect>
40 #include <QtGui/QTransform>
41 
43 {
44  Q_OBJECT;
45 
46 public:
47  FindObjectROS(QObject * parent = 0);
48  virtual ~FindObjectROS() {}
49 
50 public Q_SLOTS:
51  void publish(const find_object::DetectionInfo & info);
52 
53  void setDepthData(const std::string & frameId,
54  const ros::Time & stamp,
55  const cv::Mat & depth,
56  float depthConstant);
57 
58 private:
59  cv::Vec3f getDepth(const cv::Mat & depthImage,
60  int x, int y,
61  float cx, float cy,
62  float fx, float fy);
63 
64 
65 private:
68 
69  std::string frameId_;
71  cv::Mat depth_;
73 
74  std::string objFramePrefix_;
76 
77 };
78 
79 #endif /* FINDOBJECTROS_H_ */
float depthConstant_
Definition: FindObjectROS.h:72
tf::TransformBroadcaster tfBroadcaster_
Definition: FindObjectROS.h:75
void publish(const find_object::DetectionInfo &info)
ros::Publisher pubStamped_
Definition: FindObjectROS.h:67
ros::Publisher pub_
Definition: FindObjectROS.h:66
TFSIMD_FORCE_INLINE const tfScalar & y() const
std::string frameId_
Definition: FindObjectROS.h:69
FindObjectROS(QObject *parent=0)
ros::Time stamp_
Definition: FindObjectROS.h:70
std::string objFramePrefix_
Definition: FindObjectROS.h:74
TFSIMD_FORCE_INLINE const tfScalar & x() const
virtual ~FindObjectROS()
Definition: FindObjectROS.h:48
cv::Vec3f getDepth(const cv::Mat &depthImage, int x, int y, float cx, float cy, float fx, float fy)
cv::Mat depth_
Definition: FindObjectROS.h:71
void setDepthData(const std::string &frameId, const ros::Time &stamp, const cv::Mat &depth, float depthConstant)


find_object_2d
Author(s): Mathieu Labbe
autogenerated on Mon Jun 10 2019 13:21:31