tf_transform_bounding_box.h

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// -*- mode: c++ -*-
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#ifndef JSK_PCL_ROS_UTILS_TF_TRANFORM_BOUNDING_BOX_H_
#define JSK_PCL_ROS_UTILS_TF_TRANFORM_BOUNDING_BOX_H_
 
 
#include <jsk_topic_tools/diagnostic_nodelet.h>
#include <jsk_recognition_msgs/BoundingBox.h>
 
#include "jsk_recognition_utils/tf_listener_singleton.h"
#include <message_filters/subscriber.h>
#include <tf/message_filter.h>
 
namespace jsk_pcl_ros_utils
{
 
  class TfTransformBoundingBox: public jsk_topic_tools::DiagnosticNodelet
  {
  public:
    TfTransformBoundingBox(): DiagnosticNodelet("TfTransformBoundingBox") {}
  protected:
    virtual void onInit();
    virtual void subscribe();
    virtual void unsubscribe();
    virtual void transform(const jsk_recognition_msgs::BoundingBox::ConstPtr& msg);
    
    ros::Subscriber sub_;
    message_filters::Subscriber<jsk_recognition_msgs::BoundingBox> sub_filter_;
    ros::Publisher pub_;
    std::string target_frame_id_;
    tf::TransformListener* tf_listener_;
    boost::shared_ptr<tf::MessageFilter<jsk_recognition_msgs::BoundingBox> > tf_filter_;
    bool use_latest_tf_;
    int tf_queue_size_;
  };
}
 
 
#endif