camera_info_publisher.h
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00001 // -*- mode: c++ -*-
00002 /*********************************************************************
00003  * Software License Agreement (BSD License)
00004  *
00005  *  Copyright (c) 2014, 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
00013  *     notice, this list of conditions and the following disclaimer.
00014  *   * Redistributions in binary form must reproduce the above
00015  *     copyright notice, this list of conditions and the following
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00018  *   * Neither the name of the Willow Garage nor the names of its
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00022  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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00035 
00036 #include <ros/ros.h>
00037 #include <sensor_msgs/CameraInfo.h>
00038 #include <sensor_msgs/Image.h>
00039 #include <sensor_msgs/PointCloud2.h>
00040 #include <interactive_markers/interactive_marker_server.h>
00041 #include <interactive_markers/menu_handler.h>
00042 #include <tf/transform_listener.h>
00043 #include "jsk_interactive_marker/interactive_marker_helpers.h"
00044 #include <dynamic_reconfigure/server.h>
00045 #include "jsk_interactive_marker/CameraInfoPublisherConfig.h"
00046 
00047 namespace jsk_interactive_marker
00048 {
00049   class CameraInfoPublisher
00050   {
00051   public:
00052     typedef std::shared_ptr<CameraInfoPublisher> Ptr;
00053     typedef jsk_interactive_marker::CameraInfoPublisherConfig Config;
00054     CameraInfoPublisher();
00055     virtual ~CameraInfoPublisher();
00056   protected:
00058     // methods
00060     virtual void publishCameraInfo(const ros::Time& stamp);
00061     virtual void processFeedback(
00062       const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback);
00063     virtual void initializeInteractiveMarker();
00064     virtual void pointcloudCallback(
00065       const sensor_msgs::PointCloud2::ConstPtr& msg);
00066     virtual void imageCallback(
00067       const sensor_msgs::Image::ConstPtr& msg);
00068     virtual void staticRateCallback(
00069       const ros::TimerEvent& event);
00070     virtual void configCallback(Config &config, uint32_t level);
00071     
00073     // ROS variables
00075     ros::Publisher pub_camera_info_;
00076     ros::Subscriber sub_sync_;
00077     ros::Timer timer_;
00078     std::shared_ptr <dynamic_reconfigure::Server<Config> > srv_;
00079     boost::mutex mutex_;
00080     std::shared_ptr<interactive_markers::InteractiveMarkerServer> server_;
00081     std::shared_ptr<tf::TransformListener> tf_listener_;
00083     // variables
00085     std::string frame_id_;
00086     std::string parent_frame_id_;
00087     double width_;
00088     double height_;
00089     double f_;
00090     geometry_msgs::Pose latest_pose_;
00091     
00092   private:
00093     
00094   };
00095 }


jsk_interactive_marker
Author(s): furuta
autogenerated on Wed May 1 2019 02:40:31