rearrange_bounding_box.h

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// -*- mode: c++ -*-
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#ifndef JSK_PCL_ROS_REARRANGE_BOUNDING_BOX_H
#define JSK_PCL_ROS_REARRANGE_BOUNDING_BOX_H

#include <jsk_topic_tools/connection_based_nodelet.h>
#include <jsk_recognition_msgs/BoundingBoxArray.h>

#include <dynamic_reconfigure/server.h>
#include <tf2/LinearMath/Quaternion.h>

#include "jsk_pcl_ros/RearrangeBoundingBoxConfig.h"

namespace jsk_pcl_ros
{
  class RearrangeBoundingBox : public jsk_topic_tools::ConnectionBasedNodelet
  {
  public:
    RearrangeBoundingBox() { }
    typedef jsk_pcl_ros::RearrangeBoundingBoxConfig Config;

  protected:
    // methods
    virtual void onInit();
    virtual void rearrangeBoundingBoxCallback(const jsk_recognition_msgs::BoundingBoxArray::ConstPtr& box_array);
    virtual void subscribe();
    virtual void unsubscribe();

    // dynamic reconfigure
    boost::shared_ptr <dynamic_reconfigure::Server<Config> > srv_;
    void configCallback (Config &config, uint32_t level);

    // parameters
    ros::Subscriber sub_bounding_box_array_;
    ros::Publisher pub_bouding_box_array_;
    boost::mutex mutex_;

    double scale_x_;
    double scale_y_;
    double scale_z_;

    double offset_x_;
    double offset_y_;
    double offset_z_;

    double rotate_x_;
    double rotate_y_;
    double rotate_z_;

    tf2::Quaternion q_;
  private:
  };
}

#endif