bounding_box_to_rect.h
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00001 // -*- mode: c++ -*-
00002 /*********************************************************************
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00035 
00036 
00037 #ifndef JSK_PERCEPTION_BOUNDING_BOX_TO_RECT_H_
00038 #define JSK_PERCEPTION_BOUNDING_BOX_TO_RECT_H_
00039 
00040 #include <jsk_recognition_msgs/BoundingBoxArray.h>
00041 #include <jsk_recognition_msgs/RectArray.h>
00042 #include <jsk_recognition_msgs/BoundingBoxArrayWithCameraInfo.h>
00043 #include <sensor_msgs/CameraInfo.h>
00044 #include <jsk_topic_tools/diagnostic_nodelet.h>
00045 #include <message_filters/subscriber.h>
00046 #include <message_filters/synchronizer.h>
00047 #include <message_filters/sync_policies/exact_time.h>
00048 #include <message_filters/sync_policies/approximate_time.h>
00049 #include <jsk_recognition_utils/tf_listener_singleton.h>
00050 #include <tf/message_filter.h>
00051 
00052 namespace jsk_perception
00053 {
00054   class BoundingBoxToRect: public jsk_topic_tools::DiagnosticNodelet
00055   {
00056   public:
00057     typedef boost::shared_ptr<BoundingBoxToRect> Ptr;
00058     typedef message_filters::sync_policies::ExactTime<
00059       sensor_msgs::CameraInfo,
00060       jsk_recognition_msgs::BoundingBoxArray > SyncPolicy;
00061     typedef message_filters::sync_policies::ApproximateTime<
00062       sensor_msgs::CameraInfo,
00063       jsk_recognition_msgs::BoundingBoxArray > ApproximateSyncPolicy;
00064     typedef message_filters::sync_policies::ExactTime<
00065       sensor_msgs::CameraInfo,
00066       jsk_recognition_msgs::BoundingBox > SyncPolicyBox;
00067     typedef message_filters::sync_policies::ApproximateTime<
00068       sensor_msgs::CameraInfo,
00069       jsk_recognition_msgs::BoundingBox > ApproximateSyncPolicyBox;
00070 
00071     BoundingBoxToRect(): DiagnosticNodelet("BoundingBoxToRect") {}
00072   protected:
00073     virtual void onInit();
00074     virtual void subscribe();
00075     virtual void unsubscribe();
00076     virtual void inputCallback(const sensor_msgs::CameraInfo::ConstPtr& info_msg,
00077                                const jsk_recognition_msgs::BoundingBoxArray::ConstPtr& boxes_msg);
00078     virtual void inputBoxCallback(const sensor_msgs::CameraInfo::ConstPtr& info_msg,
00079                                   const jsk_recognition_msgs::BoundingBox::ConstPtr& box_msg);
00080 
00081     virtual void internalCallback(const jsk_recognition_msgs::BoundingBoxArrayWithCameraInfo::ConstPtr& msg);
00082 
00083     boost::mutex mutex_;
00084     std::string frame_id_;
00085     message_filters::Subscriber<sensor_msgs::CameraInfo> sub_info_;
00086     message_filters::Subscriber<jsk_recognition_msgs::BoundingBox> sub_box_;
00087     message_filters::Subscriber<jsk_recognition_msgs::BoundingBoxArray> sub_boxes_;
00088     message_filters::Subscriber<jsk_recognition_msgs::BoundingBoxArrayWithCameraInfo> sub_box_with_info_;
00089     boost::shared_ptr<message_filters::Synchronizer<SyncPolicy> > sync_;
00090     boost::shared_ptr<message_filters::Synchronizer<ApproximateSyncPolicy> > async_;
00091     boost::shared_ptr<message_filters::Synchronizer<SyncPolicyBox> > sync_box_;
00092     boost::shared_ptr<message_filters::Synchronizer<ApproximateSyncPolicyBox> > async_box_;
00093     tf::TransformListener* tf_listener_;
00094     bool approximate_sync_;
00095     int tf_queue_size_;
00096     int queue_size_;
00097     boost::shared_ptr<tf::MessageFilter<jsk_recognition_msgs::BoundingBoxArrayWithCameraInfo> > tf_filter_;
00098     ros::Publisher pub_;
00099     ros::Publisher pub_internal_;
00100   private:
00101     
00102   };
00103 }
00104 
00105 #endif


jsk_perception
Author(s): Manabu Saito, Ryohei Ueda
autogenerated on Sun Oct 8 2017 02:43:23