fisheye_sphere_publisher.h
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00001 // -*- mode: C++ -*-
00002 /*********************************************************************
00003  * Software License Agreement (BSD License)
00004  *
00005  *  Copyright (c) 2013, Ryohei Ueda and JSK Lab
00006  *  All rights reserved.
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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
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00035 
00036 #ifndef JSK_PCL_ROS_FISHEYE_SHPHERE_PUBLISHER_H_
00037 #define JSK_PCL_ROS_FISHEYE_SHPHERE_PUBLISHER_H_
00038 
00039 // ros
00040 #include <ros/ros.h>
00041 #include <ros/names.h>
00042 #include <sensor_msgs/Image.h>
00043 #include <sensor_msgs/PointCloud2.h>
00044 #include <tf/transform_broadcaster.h>
00045 
00046 // pcl
00047 #include <pcl_ros/pcl_nodelet.h>
00048 #include <pcl/point_types.h>
00049 #include <pcl/common/centroid.h>
00050 #include <pcl/filters/extract_indices.h>
00051 
00052 #include <jsk_pcl_ros/FisheyeSphereConfig.h>
00053 #include <jsk_topic_tools/diagnostic_nodelet.h>
00054 #include <dynamic_reconfigure/server.h>
00055 
00056 namespace jsk_pcl_ros
00057 {
00058   class FisheyeSpherePublisher: public jsk_topic_tools::DiagnosticNodelet
00059   {
00060   public:
00061     typedef FisheyeSphereConfig Config;
00062     FisheyeSpherePublisher(): DiagnosticNodelet("FisheyeSpherePublisher") {}
00063   protected:
00064     virtual void onInit();
00065     virtual void subscribe();
00066     virtual void unsubscribe();
00067     virtual void extract(const sensor_msgs::ImageConstPtr &input);
00068     virtual void configCallback(Config &config, uint32_t level);
00069 
00070     boost::shared_ptr <dynamic_reconfigure::Server<Config> > srv_;
00071     ros::Subscriber sub_image_;
00072     ros::Publisher pub_sphere_;
00073     float downsample_rate_;
00074     float sphere_radius_;
00075   private:
00076   };
00077 }
00078 
00079 #endif


jsk_pcl_ros
Author(s): Yohei Kakiuchi
autogenerated on Wed Sep 16 2015 04:36:47