roi_to_rect.cpp
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00001 // -*- mode: c++ -*-
00002 /*********************************************************************
00003  * Software License Agreement (BSD License)
00004  *
00005  *  Copyright (c) 2015, JSK Lab
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00008  *  Redistribution and use in source and binary forms, with or without
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00011  *
00012  *   * Redistributions of source code must retain the above copyright
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00035 
00036 #include "jsk_perception/roi_to_rect.h"
00037 
00038 namespace jsk_perception
00039 {
00040   void ROIToRect::onInit()
00041   {
00042     DiagnosticNodelet::onInit();
00043     pub_ = advertise<geometry_msgs::PolygonStamped>(
00044       *pnh_, "output", 1);
00045   }
00046 
00047   void ROIToRect::subscribe()
00048   {
00049     sub_ = pnh_->subscribe("input", 1, &ROIToRect::convert, this);
00050   }
00051 
00052   void ROIToRect::unsubscribe()
00053   {
00054     sub_.shutdown();
00055   }
00056 
00057   void ROIToRect::convert(
00058     const sensor_msgs::CameraInfo::ConstPtr& roi_msg)
00059   {
00060     vital_checker_->poke();
00061     geometry_msgs::PolygonStamped rect;
00062     rect.header = roi_msg->header;
00063     geometry_msgs::Point32 min_pt, max_pt;
00064     min_pt.x = roi_msg->roi.x_offset;
00065     min_pt.y = roi_msg->roi.y_offset;
00066     max_pt.x = roi_msg->roi.x_offset + roi_msg->roi.width;
00067     max_pt.y = roi_msg->roi.y_offset + roi_msg->roi.height;
00068     rect.polygon.points.push_back(min_pt);
00069     rect.polygon.points.push_back(max_pt);
00070     pub_.publish(rect);
00071   }
00072 }
00073 
00074 #include <pluginlib/class_list_macros.h>
00075 PLUGINLIB_EXPORT_CLASS (jsk_perception::ROIToRect, nodelet::Nodelet);


jsk_perception
Author(s): Manabu Saito, Ryohei Ueda
autogenerated on Wed Sep 16 2015 04:36:15