00001 // -*- mode: c++ -*- 00002 /********************************************************************* 00003 * Software License Agreement (BSD License) 00004 * 00005 * Copyright (c) 2014, JSK Lab 00006 * All rights reserved. 00007 * 00008 * Redistribution and use in source and binary forms, with or without 00009 * modification, are permitted provided that the following conditions 00010 * are met: 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 00016 * disclaimer in the documentation and/o2r other materials provided 00017 * with the distribution. 00018 * * Neither the name of the JSK Lab nor the names of its 00019 * contributors may be used to endorse or promote products derived 00020 * from this software without specific prior written permission. 00021 * 00022 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00023 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00024 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00025 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00026 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 * POSSIBILITY OF SUCH DAMAGE. 00034 *********************************************************************/ 00035 00036 00037 #ifndef JSK_PCL_ROS_POINTCLOUD_DATABASE_SERVER_H_ 00038 #define JSK_PCL_ROS_POINTCLOUD_DATABASE_SERVER_H_ 00039 00040 #include <pcl_ros/pcl_nodelet.h> 00041 #include <dynamic_reconfigure/server.h> 00042 #include <sensor_msgs/PointCloud2.h> 00043 #include <pcl/PolygonMesh.h> 00044 #include <jsk_recognition_msgs/PointsArray.h> 00045 #include "jsk_pcl_ros/PointcloudDatabaseServerConfig.h" 00046 00047 namespace jsk_pcl_ros 00048 { 00049 class PointCloudData 00050 { 00051 public: 00052 typedef boost::shared_ptr<PointCloudData> Ptr; 00053 PointCloudData(const std::string fname); 00054 virtual ~PointCloudData() { }; 00055 virtual pcl::PointCloud<pcl::PointXYZRGB>::Ptr 00056 getPointCloud(); 00057 virtual sensor_msgs::PointCloud2 00058 getROSPointCloud(ros::Time stamp); 00059 00060 protected: 00061 const std::string file_name_; 00062 std::string ext_; 00063 pcl::PolygonMesh mesh_; 00064 std::string stem_; 00065 pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud_; 00066 private: 00067 }; 00068 00069 class PointcloudDatabaseServer: public pcl_ros::PCLNodelet 00070 { 00071 public: 00072 virtual ~PointcloudDatabaseServer(); 00073 typedef jsk_pcl_ros::PointcloudDatabaseServerConfig Config; 00074 protected: 00075 virtual void onInit(); 00076 virtual void timerCallback(const ros::TimerEvent& event); 00077 virtual void configCallback(Config &config, uint32_t level); 00078 std::vector<std::string> files_; 00079 // virtual void registerPointcloud(); 00080 // virtual void removePointcloud(); 00081 // virtual void listPointcloud(); 00082 boost::shared_ptr <dynamic_reconfigure::Server<Config> > srv_; 00083 boost::mutex mutex_; 00084 ros::Publisher pub_points_array_; 00085 ros::Publisher pub_cloud_; 00086 ros::Timer timer_; 00087 std::vector<PointCloudData::Ptr> point_clouds_; 00088 jsk_recognition_msgs::PointsArray array_msg_; 00089 sensor_msgs::PointCloud2 point_msg_; 00090 00091 double duration_; 00092 bool use_array_; 00093 00094 private: 00095 }; 00096 } 00097 00098 #endif