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_POLYGON_APPENDER_H_ 00037 #define JSK_PCL_ROS_UTILS_POLYGON_APPENDER_H_ 00038 00039 #include <jsk_recognition_msgs/PolygonArray.h> 00040 #include <jsk_recognition_msgs/ModelCoefficientsArray.h> 00041 #include <pcl_ros/pcl_nodelet.h> 00042 00043 #include <message_filters/subscriber.h> 00044 #include <message_filters/time_synchronizer.h> 00045 #include <message_filters/synchronizer.h> 00046 00047 #include <jsk_topic_tools/connection_based_nodelet.h> 00048 00049 namespace jsk_pcl_ros_utils 00050 { 00051 class PolygonAppender: public jsk_topic_tools::ConnectionBasedNodelet 00052 { 00053 public: 00054 typedef message_filters::sync_policies::ExactTime< 00055 jsk_recognition_msgs::PolygonArray, jsk_recognition_msgs::ModelCoefficientsArray, 00056 jsk_recognition_msgs::PolygonArray, jsk_recognition_msgs::ModelCoefficientsArray> SyncPolicy2; 00057 00058 protected: 00059 virtual void onInit(); 00060 virtual void subscribe(); 00061 virtual void unsubscribe(); 00062 virtual void appendAndPublish( 00063 const std::vector<jsk_recognition_msgs::PolygonArray::ConstPtr>& arrays, 00064 const std::vector<jsk_recognition_msgs::ModelCoefficientsArray::ConstPtr>& coefficients_array); 00065 virtual void callback2(const jsk_recognition_msgs::PolygonArray::ConstPtr& msg0, 00066 const jsk_recognition_msgs::ModelCoefficientsArray::ConstPtr& coefficients0, 00067 const jsk_recognition_msgs::PolygonArray::ConstPtr& msg1, 00068 const jsk_recognition_msgs::ModelCoefficientsArray::ConstPtr& coefficients1); 00069 00070 message_filters::Subscriber<jsk_recognition_msgs::PolygonArray> sub_polygon0_; 00071 message_filters::Subscriber<jsk_recognition_msgs::PolygonArray> sub_polygon1_; 00072 message_filters::Subscriber<jsk_recognition_msgs::ModelCoefficientsArray> sub_coefficients0_; 00073 message_filters::Subscriber<jsk_recognition_msgs::ModelCoefficientsArray> sub_coefficients1_; 00074 boost::shared_ptr<message_filters::Synchronizer<SyncPolicy2> >sync_; 00075 ros::Publisher pub_polygon_, pub_coefficients_; 00076 private: 00077 }; 00078 } 00079 00080 #endif