centroid_publisher.h

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// -*- mode: C++ -*-
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 *  Copyright (c) 2013, Ryohei Ueda and JSK Lab
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#ifndef JSK_PCL_ROS_UTILS_CENTROID_PUBLISHER_H_
#define JSK_PCL_ROS_UTILS_CENTROID_PUBLISHER_H_
 
// ros
#include <jsk_recognition_msgs/PolygonArray.h>
#include <ros/ros.h>
#include <ros/names.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_topic_tools/diagnostic_nodelet.h>
 
namespace jsk_pcl_ros_utils
{
  class CentroidPublisher: public jsk_topic_tools::DiagnosticNodelet
  {
  public:
    CentroidPublisher(): DiagnosticNodelet("CentroidPublisher") {}
  protected:
    virtual void onInit();
    virtual void subscribe();
    virtual void unsubscribe();
    virtual void extract(const sensor_msgs::PointCloud2ConstPtr &input);
    virtual void extractPolygons(const jsk_recognition_msgs::PolygonArray::ConstPtr &input);
    
    ros::Subscriber sub_cloud_;
    ros::Subscriber sub_polygons_;
    tf::TransformBroadcaster br_;
    std::string frame_;
    bool publish_tf_;
    ros::Publisher pub_pose_;
    ros::Publisher pub_pose_array_;
    ros::Publisher pub_point_;
  private:
  };
}
 
#endif