heightmap_converter.h
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35 
36 #ifndef JSK_PCL_ROS_HEIGHTMAP_CONVERTER_H_
37 #define JSK_PCL_ROS_HEIGHTMAP_CONVERTER_H_
38 
40 
41 #include <sensor_msgs/PointCloud2.h>
42 #include <jsk_pcl_ros/HeightmapConverterConfig.h>
43 #include <dynamic_reconfigure/server.h>
44 #include <opencv2/opencv.hpp>
45 #include <pcl/point_types.h>
46 #include <pcl/point_cloud.h>
47 #include <jsk_recognition_msgs/HeightmapConfig.h>
48 #include <tf/transform_listener.h>
50 
51 namespace jsk_pcl_ros
52 {
53 
55  {
56  public:
58  typedef HeightmapConverterConfig Config;
59  HeightmapConverter(): DiagnosticNodelet("HeightmapConverter") {}
60  protected:
61  virtual void onInit();
62  virtual void subscribe();
63  virtual void unsubscribe();
64  virtual void configCallback(Config &config, uint32_t level);
65  virtual void convert(const sensor_msgs::PointCloud2::ConstPtr& msg);
66  inline cv::Point toIndex(const pcl::PointXYZ& p) const
67  {
68  if (p.x > max_x_ || p.x < min_x_ ||
69  p.y > max_y_ || p.y < min_y_) {
70  return cv::Point(-1, -1);
71  }
72  const float offsetted_x = p.x - min_x_;
73  const float offsetted_y = p.y - min_y_;
74  const float dx = (max_x_ - min_x_) / resolution_x_;
75  const float dy = (max_y_ - min_y_) / resolution_y_;
76  return cv::Point(std::floor(offsetted_x / dx),
77  std::floor(offsetted_y / dy));
78  }
79 
86  double min_x_;
87  double max_x_;
88  double min_y_;
89  double max_y_;
90  double min_z_;
91  double max_z_;
95  std::string fixed_frame_id_;
96  std::string center_frame_id_;
100 
103  };
104 }
105 
106 #endif
HeightmapConverterConfig Config
config
tf::TransformBroadcaster tf_broadcaster_
DiagnosticNodelet(const std::string &name)
cv::Point toIndex(const pcl::PointXYZ &p) const
virtual void convert(const sensor_msgs::PointCloud2::ConstPtr &msg)
boost::shared_ptr< HeightmapConverter > Ptr
boost::mutex mutex
global mutex.
boost::shared_ptr< dynamic_reconfigure::Server< Config > > srv_
virtual void configCallback(Config &config, uint32_t level)


jsk_pcl_ros
Author(s): Yohei Kakiuchi
autogenerated on Mon May 3 2021 03:03:46