robot_to_mask_image.h

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// -*- mode: c++ -*-
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#ifndef JSK_PERCEPTION_ROBOT_TO_MASK_IMAGE_H_
#define JSK_PERCEPTION_ROBOT_TO_MASK_IMAGE_H_
 
#include <robot_self_filter/self_mask.h>
#include <jsk_topic_tools/diagnostic_nodelet.h>
#include <geometry_msgs/PolygonStamped.h>
#include <sensor_msgs/CameraInfo.h>
#include <sensor_msgs/Image.h>
#include <image_geometry/pinhole_camera_model.h>
 
namespace jsk_perception
{
  class RobotToMaskImage: public jsk_topic_tools::DiagnosticNodelet
  {
  public:
    RobotToMaskImage(): DiagnosticNodelet("RobotToMaskImage") {}
  protected:
    virtual void onInit();
    virtual void subscribe();
    virtual void unsubscribe();
    virtual void infoCallback(const sensor_msgs::CameraInfo::ConstPtr& info_msg);
    virtual void initSelfMask(const ros::NodeHandle& pnh);
 
    ros::Subscriber sub_;
    ros::Publisher pub_;
    ros::Publisher pub_camera_info_;
 
    boost::shared_ptr<robot_self_filter::SelfMask<pcl::PointXYZ> > self_mask_;
    tf::TransformListener tf_listener_;
 
    double max_robot_dist_;
  private:
  };
}
 
#endif