project_image_point.h

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// -*- mode: c++ -*-
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#ifndef JSK_PERCEPTION_PROJECT_IMAGE_POINT_H_
#define JSK_PERCEPTION_PROJECT_IMAGE_POINT_H_
 
#include <sensor_msgs/CameraInfo.h>
#include <geometry_msgs/PointStamped.h>
#include <geometry_msgs/Vector3Stamped.h>
 
#include <image_geometry/pinhole_camera_model.h>
 
#include <jsk_topic_tools/diagnostic_nodelet.h>
#include <dynamic_reconfigure/server.h>
#include <jsk_perception/ProjectImagePointConfig.h>
 
namespace jsk_perception
{
  class ProjectImagePoint: public jsk_topic_tools::DiagnosticNodelet
  {
  public:
    typedef boost::shared_ptr<ProjectImagePoint> Ptr;
    typedef ProjectImagePointConfig Config;
    ProjectImagePoint(): DiagnosticNodelet("ProjectImagePoint") {}
    
  protected:
    virtual void onInit();
    virtual void subscribe();
    virtual void unsubscribe();
    virtual void project(const geometry_msgs::PointStamped::ConstPtr& msg);
    virtual void cameraInfoCallback(const sensor_msgs::CameraInfo::ConstPtr& msg);
    virtual void configCallback(Config& config, uint32_t level);
    
    boost::mutex mutex_;
    ros::Subscriber sub_;
    ros::Subscriber sub_camera_info_;
    ros::Publisher pub_;
    ros::Publisher pub_vector_;
    sensor_msgs::CameraInfo::ConstPtr camera_info_;
    boost::shared_ptr <dynamic_reconfigure::Server<Config> > srv_;
    double z_;
    
  private:
    
  };
}
 
#endif