voxel_grid_downsample_manager.h
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35 
36 #ifndef JSK_PCL_ROS_VOXEL_GRID_DOWNSAMPLE_MANAGER_H_
37 #define JSK_PCL_ROS_VOXEL_GRID_DOWNSAMPLE_MANAGER_H_
38 
39 // ros
40 #include <ros/ros.h>
41 #include <ros/names.h>
42 #include <sensor_msgs/PointCloud2.h>
43 #include <visualization_msgs/Marker.h>
45 
46 // pcl
47 #include <pcl_ros/pcl_nodelet.h>
48 #include <pcl/point_types.h>
50 
51 namespace jsk_pcl_ros
52 {
54  {
55  protected:
57  std::vector<visualization_msgs::Marker::ConstPtr> grid_;
58  void addGrid(const visualization_msgs::Marker::ConstPtr &new_box);
59  virtual void subscribe();
60  virtual void unsubscribe();
61  private:
62  void pointCB(const sensor_msgs::PointCloud2ConstPtr &input);
63  void clearAll();
64  void initializeGrid(void);
69  size_t max_points_;
70  double rate_;
71  int sequence_id_; // incremented by every add_box
72  std::string base_frame_;
73  virtual void onInit();
74  };
75 }
76 
77 #endif // JSK_PCL_ROS_VOXEL_GRID_DOWNSAMPLE_MANAGER_H
std::vector< visualization_msgs::Marker::ConstPtr > grid_
void pointCB(const sensor_msgs::PointCloud2ConstPtr &input)
void addGrid(const visualization_msgs::Marker::ConstPtr &new_box)


jsk_pcl_ros
Author(s): Yohei Kakiuchi
autogenerated on Mon May 3 2021 03:03:47