FindObjectROS.h
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00001 /*
00002 Copyright (c) 2011-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
00003 All rights reserved.
00004 
00005 Redistribution and use in source and binary forms, with or without
00006 modification, are permitted provided that the following conditions are met:
00007     * Redistributions of source code must retain the above copyright
00008       notice, this list of conditions and the following disclaimer.
00009     * Redistributions in binary form must reproduce the above copyright
00010       notice, this list of conditions and the following disclaimer in the
00011       documentation and/or other materials provided with the distribution.
00012     * Neither the name of the Universite de Sherbrooke nor the
00013       names of its contributors may be used to endorse or promote products
00014       derived from this software without specific prior written permission.
00015 
00016 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
00017 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
00018 WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00019 DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
00020 DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
00021 (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00022 LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
00023 ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
00024 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
00025 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00026 */
00027 
00028 #ifndef FINDOBJECTROS_H_
00029 #define FINDOBJECTROS_H_
00030 
00031 #include <ros/ros.h>
00032 #include <cv_bridge/cv_bridge.h>
00033 #include <tf/transform_broadcaster.h>
00034 #include "find_object/FindObject.h"
00035 
00036 #include <QtCore/QObject>
00037 #include <QtCore/QMultiMap>
00038 #include <QtCore/QPair>
00039 #include <QtCore/QRect>
00040 #include <QtGui/QTransform>
00041 
00042 class FindObjectROS : public find_object::FindObject
00043 {
00044         Q_OBJECT;
00045 
00046 public:
00047         FindObjectROS(const std::string & objPrefix, QObject * parent = 0);
00048         virtual ~FindObjectROS() {}
00049 
00050 public Q_SLOTS:
00051         void publish(const find_object::DetectionInfo & info);
00052 
00053         void setDepthData(const std::string & frameId,
00054                         const ros::Time & stamp,
00055                         const cv::Mat & depth,
00056                         float depthConstant);
00057 
00058 private:
00059         cv::Vec3f getDepth(const cv::Mat & depthImage,
00060                                            int x, int y,
00061                                            float cx, float cy,
00062                                            float fx, float fy);
00063 
00064 
00065 private:
00066         ros::Publisher pub_;
00067         ros::Publisher pubStamped_;
00068 
00069         std::string frameId_;
00070         ros::Time stamp_;
00071         cv::Mat depth_;
00072         float depthConstant_;
00073 
00074         std::string objFramePrefix_;
00075         tf::TransformBroadcaster tfBroadcaster_;
00076 
00077 };
00078 
00079 #endif /* FINDOBJECTROS_H_ */


find_object_2d
Author(s): Mathieu Labbe
autogenerated on Thu Aug 27 2015 13:00:33