fisheye_sphere_publisher.h

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// -*- mode: C++ -*-
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#ifndef JSK_PCL_ROS_FISHEYE_SHPHERE_PUBLISHER_H_
#define JSK_PCL_ROS_FISHEYE_SHPHERE_PUBLISHER_H_

// ros
#include <ros/ros.h>
#include <ros/names.h>
#include <sensor_msgs/Image.h>
#include <sensor_msgs/PointCloud2.h>
#include <tf/transform_broadcaster.h>

// pcl
#include <pcl_ros/pcl_nodelet.h>
#include <pcl/point_types.h>
#include <pcl/common/centroid.h>
#include <pcl/filters/extract_indices.h>

#include <jsk_pcl_ros/FisheyeSphereConfig.h>
#include <jsk_topic_tools/diagnostic_nodelet.h>
#include <dynamic_reconfigure/server.h>

namespace jsk_pcl_ros
{
  class FisheyeSpherePublisher: public jsk_topic_tools::DiagnosticNodelet
  {
  public:
    typedef FisheyeSphereConfig Config;
    FisheyeSpherePublisher(): DiagnosticNodelet("FisheyeSpherePublisher") {}
  protected:
    virtual void onInit();
    virtual void subscribe();
    virtual void unsubscribe();
    virtual void extract(const sensor_msgs::ImageConstPtr &input);
    virtual void configCallback(Config &config, uint32_t level);

    boost::shared_ptr <dynamic_reconfigure::Server<Config> > srv_;
    ros::Subscriber sub_image_;
    ros::Publisher pub_sphere_;
    float downsample_rate_;
    float sphere_radius_;
  private:
  };
}

#endif