extract_cuboid_particles_top_n.h
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00001 // -*- mode: c++ -*-
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00035 
00036 
00037 #ifndef JSK_PCL_ROS_EXTRACT_CUBOID_PARTICLES_TOP_N_BASE_H_
00038 #define JSK_PCL_ROS_EXTRACT_CUBOID_PARTICLES_TOP_N_BASE_H_
00039 
00040 #include <jsk_topic_tools/diagnostic_nodelet.h>
00041 #include "jsk_pcl_ros/plane_supported_cuboid_estimator.h"
00042 #include <dynamic_reconfigure/server.h>
00043 #include <jsk_pcl_ros/ExtractParticlesTopNBaseConfig.h>
00044 #include <pcl/pcl_base.h>
00045 #include <pcl/impl/pcl_base.hpp>
00046 #include <pcl/filters/extract_indices.h>
00047 #include <pcl/filters/impl/extract_indices.hpp>
00048 #include <jsk_recognition_msgs/WeightedPoseArray.h>
00049 #include <jsk_recognition_msgs/BoundingBoxArray.h>
00050 
00051 namespace jsk_pcl_ros
00052 {
00053   template <class PARTICLE_T>
00054   bool compareParticleWeight(const PARTICLE_T& a, const PARTICLE_T& b)
00055   {
00056     return a.weight > b.weight;
00057   }
00058 
00059   
00060   class ExtractCuboidParticlesTopN: public jsk_topic_tools::DiagnosticNodelet
00061   {
00062   public:
00063     typedef boost::shared_ptr<ExtractCuboidParticlesTopN> Ptr;
00064     typedef ExtractParticlesTopNBaseConfig Config;
00065     ExtractCuboidParticlesTopN(): DiagnosticNodelet("ExtractCuboidParticlesTopN") {}
00066   protected:
00067     virtual void onInit();
00068     virtual void subscribe();
00069     virtual void unsubscribe();
00070     virtual void extract(const sensor_msgs::PointCloud2::ConstPtr& msg);
00071     virtual void publishBoxArray(
00072       const pcl::PointCloud<pcl::tracking::ParticleCuboid>& particles,
00073       const std_msgs::Header& header);
00074     virtual void publishPoseArray(
00075       const pcl::PointCloud<pcl::tracking::ParticleCuboid>& particles,
00076       const std_msgs::Header& header);
00077     virtual void configCallback(Config& config, uint32_t level);
00078     
00079     boost::mutex mutex_;
00080     ros::Publisher pub_;
00081     ros::Publisher pub_box_array_;
00082     ros::Publisher pub_pose_array_;
00083     ros::Subscriber sub_;
00084     boost::shared_ptr<dynamic_reconfigure::Server<Config> > srv_;
00085     double top_n_ratio_;
00086     
00087   private:
00088     
00089   };
00090   
00091 }
00092 
00093 #endif


jsk_pcl_ros
Author(s): Yohei Kakiuchi
autogenerated on Tue Jul 2 2019 19:41:43