00001 /* 00002 ***************************************************************** 00003 * Copyright (c) 2015 \n 00004 * Fraunhofer Institute for Manufacturing Engineering 00005 * and Automation (IPA) \n\n 00006 * 00007 ***************************************************************** 00008 * 00009 * \note 00010 * Project name: Care-O-bot 00011 * \note 00012 * ROS stack name: cob_people_perception 00013 * \note 00014 * ROS package name: cob_openni2_tracker 00015 * 00016 * \author 00017 * Author: Olha Meyer 00018 * \author 00019 * Supervised by: Richard Bormann 00020 * 00021 * \date Date of creation: Jan 15, 2015 00022 * 00023 * \brief 00024 * functions for detecting people using camera data 00025 * current approach: start a nodelet to launch the BodyTracker node and 00026 * camera driver simultaneously. 00027 * 00028 ***************************************************************** 00029 * 00030 * Redistribution and use in source and binary forms, with or without 00031 * modification, are permitted provided that the following conditions are met: 00032 * 00033 * - Redistributions of source code must retain the above copyright 00034 * notice, this list of conditions and the following disclaimer. \n 00035 * - Redistributions in binary form must reproduce the above copyright 00036 * notice, this list of conditions and the following disclaimer in the 00037 * documentation and/or other materials provided with the distribution. \n 00038 * - Neither the name of the Fraunhofer Institute for Manufacturing 00039 * Engineering and Automation (IPA) nor the names of its 00040 * contributors may be used to endorse or promote products derived from 00041 * this software without specific prior written permission. \n 00042 * 00043 * This program is free software: you can redistribute it and/or modify 00044 * it under the terms of the GNU Lesser General Public License LGPL as 00045 * published by the Free Software Foundation, either version 3 of the 00046 * License, or (at your option) any later version. 00047 * 00048 * This program is distributed in the hope that it will be useful, 00049 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00050 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00051 * GNU Lesser General Public License LGPL for more details. 00052 * 00053 * You should have received a copy of the GNU Lesser General Public 00054 * License LGPL along with this program. 00055 * If not, see <http://www.gnu.org/licenses/>. 00056 * 00057 ****************************************************************/ 00058 00059 00060 #ifndef BODY_TRACKER_NODELET_H_ 00061 #define BODY_TRACKER_NODELET_H_ 00062 00063 #include <nodelet/nodelet.h> 00064 #include <pluginlib/class_list_macros.h> 00065 #include <ros/ros.h> 00066 #include <ros/package.h> 00067 #include "cob_openni2_tracker/body_tracker.h" 00068 #include "openni2_camera/openni2_device_manager.h" 00069 00070 //PLUGINLIB_DECLARE_CLASS(cob_openni2_tracker, body_tracker_nodelet, body_tracker_nodelet, nodelet::Nodelet) 00071 class BodyTrackerNodelet : public nodelet::Nodelet 00072 { 00073 public: 00074 BodyTrackerNodelet(); 00075 virtual ~BodyTrackerNodelet(); 00076 virtual void onInit(); 00077 boost::shared_ptr<BodyTracker> inst_; 00078 00079 protected: 00080 BodyTracker *bt_listener; 00081 }; 00082 00083 #endif /* BODY_TRACKER_NODELET_H_ */