polygon_flipper.h

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// -*- mode: c++ -*-
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#ifndef JSK_PCL_ROS_UTILS_POLYGON_FLIPPER_H_
#define JSK_PCL_ROS_UTILS_POLYGON_FLIPPER_H_

#include <jsk_topic_tools/diagnostic_nodelet.h>
#include <jsk_recognition_msgs/PolygonArray.h>
#include <jsk_recognition_msgs/ModelCoefficientsArray.h>
#include <jsk_recognition_msgs/ClusterPointIndices.h>

#include "jsk_recognition_utils/geo_util.h"
#include "jsk_recognition_utils/tf_listener_singleton.h"

#include <message_filters/subscriber.h>
#include <message_filters/time_synchronizer.h>
#include <message_filters/synchronizer.h>
#include <message_filters/pass_through.h>

namespace jsk_pcl_ros_utils
{
  class PolygonFlipper: public jsk_topic_tools::DiagnosticNodelet
  {
  public:
    typedef boost::shared_ptr<PolygonFlipper> Ptr;
    typedef message_filters::sync_policies::ExactTime<
      jsk_recognition_msgs::PolygonArray,
      jsk_recognition_msgs::ClusterPointIndices,
      jsk_recognition_msgs::ModelCoefficientsArray > SyncPolicy;
    PolygonFlipper(): DiagnosticNodelet("PolygonFlipper") {}
  protected:
    virtual void onInit();
    virtual void subscribe();
    virtual void unsubscribe();

    virtual void fillEmptyIndices(
      const jsk_recognition_msgs::PolygonArray::ConstPtr& polygon_msg);
    virtual void flip(
      const jsk_recognition_msgs::PolygonArray::ConstPtr& polygon_msg,
      const jsk_recognition_msgs::ClusterPointIndices::ConstPtr& indices_msg,
      const jsk_recognition_msgs::ModelCoefficientsArray::ConstPtr& coefficients_msg);
    
    boost::shared_ptr<message_filters::Synchronizer<SyncPolicy> > sync_;
    message_filters::Subscriber<jsk_recognition_msgs::PolygonArray> sub_polygons_;
    message_filters::Subscriber<jsk_recognition_msgs::ModelCoefficientsArray> sub_coefficients_;
    message_filters::Subscriber<jsk_recognition_msgs::ClusterPointIndices> sub_indices_;
    message_filters::PassThrough<jsk_recognition_msgs::ClusterPointIndices> sub_indices_null_;
    ros::Publisher pub_polygons_;
    ros::Publisher pub_indices_;
    ros::Publisher pub_coefficients_;
    tf::TransformListener* tf_listener_;
    std::string sensor_frame_;
    bool use_indices_;
    int queue_size_;
  private:
    
  };
}

#endif