tabletop_detector.h
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00001 #ifndef HRL_OBJECT_FETCHING_TABLETOP_DETECTOR_H
00002 #define HRL_OBJECT_FETCHING_TABLETOP_DETECTOR_H
00003 #include <numeric>
00004 #include <ros/ros.h>
00005 #include "sensor_msgs/PointCloud2.h"
00006 #include <pcl_ros/point_cloud.h>
00007 #include <tf/transform_listener.h>
00008 #include "pcl_ros/transforms.h"
00009 #include "pcl/point_types.h"
00010 #include <boost/make_shared.hpp>
00011 #include <cv_bridge/cv_bridge.h>
00012 #include <opencv/cv.h>
00013 #include <opencv2/imgproc/imgproc.hpp>
00014 #include <opencv2/highgui/highgui.hpp>
00015 #include <image_transport/image_transport.h>
00016 #include <sensor_msgs/image_encodings.h>
00017 #include <geometry_msgs/PoseArray.h>
00018 #include <hrl_object_fetching/DetectTable.h>
00019 #include <LinearMath/btMatrix3x3.h>
00020 #include <LinearMath/btQuaternion.h>
00021 
00022 using namespace sensor_msgs;
00023 using namespace std;
00024 namespace enc = sensor_msgs::image_encodings;
00025 
00026 
00027 namespace hrl_object_fetching {
00028     class TabletopDetector {
00029         public:
00030             TabletopDetector();
00031             ros::ServiceServer table_detect_service;
00032             ros::Subscriber pc_sub;
00033             ros::NodeHandle nh;
00034             ros::NodeHandle nh_priv;
00035             ros::Publisher pc_pub;
00036             ros::Publisher pose_arr_pub;
00037             bool grasp_points_found;
00038             geometry_msgs::PoseArray grasp_points;
00039             image_transport::ImageTransport img_trans;
00040             image_transport::Publisher height_pub;
00041             tf::TransformListener tf_listener;
00042             void onInit();
00043             void pcCallback(PointCloud2::ConstPtr pc);
00044             bool srvCallback(hrl_object_fetching::DetectTable::Request& req, 
00045                              hrl_object_fetching::DetectTable::Response& resp);
00046     };
00047 };
00048 #endif //HRL_OBJECT_FETCHING_TABLETOP_DETECTOR_H


hrl_object_fetching
Author(s): Kelsey Hawkins. Advisor: Prof. Charlie Kemp. Healthcare Robotics Lab, Georgia Tech
autogenerated on Wed Nov 27 2013 11:33:13