centroid_publisher.h
Go to the documentation of this file.
00001 // -*- mode: C++ -*-
00002 /*********************************************************************
00003  * Software License Agreement (BSD License)
00004  *
00005  *  Copyright (c) 2013, Ryohei Ueda and 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 #ifndef JSK_PCL_ROS_UTILS_CENTROID_PUBLISHER_H_
00037 #define JSK_PCL_ROS_UTILS_CENTROID_PUBLISHER_H_
00038 
00039 // ros
00040 #include <jsk_recognition_msgs/PolygonArray.h>
00041 #include <ros/ros.h>
00042 #include <ros/names.h>
00043 #include <sensor_msgs/PointCloud2.h>
00044 #include <tf/transform_broadcaster.h>
00045 
00046 // pcl
00047 #include <pcl_ros/pcl_nodelet.h>
00048 #include <pcl/point_types.h>
00049 #include <pcl/common/centroid.h>
00050 #include <pcl/filters/extract_indices.h>
00051 
00052 #include <jsk_topic_tools/diagnostic_nodelet.h>
00053 
00054 namespace jsk_pcl_ros_utils
00055 {
00056   class CentroidPublisher: public jsk_topic_tools::DiagnosticNodelet
00057   {
00058   public:
00059     CentroidPublisher(): DiagnosticNodelet("CentroidPublisher") {}
00060   protected:
00061     virtual void onInit();
00062     virtual void subscribe();
00063     virtual void unsubscribe();
00064     virtual void extract(const sensor_msgs::PointCloud2ConstPtr &input);
00065     virtual void extractPolygons(const jsk_recognition_msgs::PolygonArray::ConstPtr &input);
00066     
00067     ros::Subscriber sub_cloud_;
00068     ros::Subscriber sub_polygons_;
00069     tf::TransformBroadcaster br_;
00070     std::string frame_;
00071     bool publish_tf_;
00072     ros::Publisher pub_pose_;
00073     ros::Publisher pub_pose_array_;
00074     ros::Publisher pub_point_;
00075   private:
00076   };
00077 }
00078 
00079 #endif


jsk_pcl_ros_utils
Author(s): Yohei Kakiuchi
autogenerated on Sun Oct 8 2017 02:43:04