polygon_magnifier.h

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

#include <jsk_topic_tools/diagnostic_nodelet.h>

#include <jsk_pcl_ros_utils/PolygonMagnifierConfig.h>
#include <dynamic_reconfigure/server.h>

#include <jsk_recognition_msgs/PolygonArray.h>

namespace jsk_pcl_ros_utils
{
  class PolygonMagnifier: public jsk_topic_tools::DiagnosticNodelet
  {
  public:
    typedef boost::shared_ptr<PolygonMagnifier> Ptr;
    typedef PolygonMagnifierConfig Config;
    PolygonMagnifier(): DiagnosticNodelet("PolygonMagnifier") {}
  protected:
    virtual void onInit();
    virtual void subscribe();
    virtual void unsubscribe();
    virtual void magnify(
      const jsk_recognition_msgs::PolygonArray::ConstPtr& polygon_msg);
    virtual void configCallback(
      Config& config, uint32_t level);
    ros::Subscriber sub_;
    ros::Publisher pub_;
    boost::shared_ptr <dynamic_reconfigure::Server<Config> > srv_;
    boost::mutex mutex_;
    bool use_scale_factor_;
    double magnify_distance_;
    double magnify_scale_factor_;
  private:
    
  };
}

#endif