polygon_array_transformer.h
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00001 // -*- mode: C++ -*-
00002 /*********************************************************************
00003  * Software License Agreement (BSD License)
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00005  *  Copyright (c) 2014, JSK Lab
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00008  *  Redistribution and use in source and binary forms, with or without
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00035 
00036 #ifndef JSK_PCL_ROS_UTILS_POLYGON_TRANSFORMER_H_
00037 #define JSK_PCL_ROS_UTILS_POLYGON_TRANSFORMER_H_
00038 
00039 #include <ros/ros.h>
00040 #include <ros/names.h>
00041 #include <sensor_msgs/PointCloud2.h>
00042 
00043 #include <pcl_ros/pcl_nodelet.h>
00044 
00045 #include <jsk_recognition_msgs/PolygonArray.h>
00046 #include <jsk_recognition_msgs/ModelCoefficientsArray.h>
00047 
00048 #include "jsk_recognition_utils/tf_listener_singleton.h"
00049 
00050 #include <message_filters/subscriber.h>
00051 #include <message_filters/time_synchronizer.h>
00052 #include <message_filters/synchronizer.h>
00053 
00054 #include "jsk_recognition_utils/pcl_conversion_util.h"
00055 #include <jsk_topic_tools/connection_based_nodelet.h>
00056 
00057 namespace jsk_pcl_ros_utils
00058 {
00059   class PolygonArrayTransformer: public jsk_topic_tools::ConnectionBasedNodelet
00060   {
00061   public:
00062     typedef message_filters::sync_policies::ExactTime<
00063     jsk_recognition_msgs::PolygonArray,
00064     jsk_recognition_msgs::ModelCoefficientsArray > SyncPolicy;
00065   protected:
00066     virtual void onInit();
00067     virtual void transform(const jsk_recognition_msgs::PolygonArray::ConstPtr& polygons,
00068                            const jsk_recognition_msgs::ModelCoefficientsArray::ConstPtr& coefficients);
00069     virtual void computeCoefficients(const geometry_msgs::PolygonStamped& polygon,
00070                                      PCLModelCoefficientMsg& coefficient);
00071     virtual void transformModelCoefficient(const Eigen::Affine3d& transform,
00072                                            const PCLModelCoefficientMsg& coefficient,
00073                                            PCLModelCoefficientMsg& result);
00074     virtual void transformPolygon(const Eigen::Affine3d& transform,
00075                                   const geometry_msgs::PolygonStamped& polygon,
00076                                   geometry_msgs::PolygonStamped& result);
00077     virtual void subscribe();
00078     virtual void unsubscribe();
00079     ros::Publisher polygons_pub_, coefficients_pub_;
00080     tf::TransformListener* listener_;
00081     std::string frame_id_;
00082     message_filters::Subscriber<jsk_recognition_msgs::PolygonArray> sub_polygons_;
00083     message_filters::Subscriber<jsk_recognition_msgs::ModelCoefficientsArray> sub_coefficients_;
00084     boost::shared_ptr<message_filters::Synchronizer<SyncPolicy> >sync_;
00085   private:
00086   };
00087 }
00088 
00089 #endif


jsk_pcl_ros_utils
Author(s): Yohei Kakiuchi
autogenerated on Sun Oct 8 2017 02:43:05