intermittent_image_annotator.h
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00001 // -*- mode: c++ -*-
00002 /*********************************************************************
00003  * Software License Agreement (BSD License)
00004  *
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 
00037 #ifndef JSK_PCL_ROS_INTERMITTENT_IMAGE_ANNOTATOR_H_
00038 #define JSK_PCL_ROS_INTERMITTENT_IMAGE_ANNOTATOR_H_
00039 
00040 #include <jsk_topic_tools/diagnostic_nodelet.h>
00041 #include <sensor_msgs/Image.h>
00042 #include <sensor_msgs/CameraInfo.h>
00043 #include <std_srvs/Empty.h>
00044 #include <image_geometry/pinhole_camera_model.h>
00045 
00046 #include <image_transport/image_transport.h>
00047 #include "jsk_pcl_ros/tf_listener_singleton.h"
00048 #include <boost/circular_buffer.hpp>
00049 #include <Eigen/Geometry>
00050 #include <geometry_msgs/PolygonStamped.h>
00051 #include <jsk_recognition_msgs/PosedCameraInfo.h>
00052 #include <pcl_ros/transforms.h>
00053 
00054 
00055 namespace jsk_pcl_ros
00056 {
00057   class SnapshotInformation
00058   {
00059   public:
00060     typedef boost::shared_ptr<SnapshotInformation> Ptr;
00061     SnapshotInformation() {};
00062     virtual ~SnapshotInformation() {};
00063     
00064     Eigen::Affine3d camera_pose_;
00065     cv::Mat image_;
00066     image_geometry::PinholeCameraModel camera_;
00067     pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud_;
00068   protected:
00069   private:
00070     
00071   };
00072   
00073   class IntermittentImageAnnotator: public jsk_topic_tools::DiagnosticNodelet
00074   {
00075   public:
00076     typedef boost::shared_ptr<IntermittentImageAnnotator> Ptr;
00077     IntermittentImageAnnotator():
00078       DiagnosticNodelet("IntermittentImageAnnotator") {}
00079 
00080   protected:
00082     // methods
00084     virtual void onInit();
00085     virtual void subscribe();
00086     virtual void unsubscribe();
00087     virtual void updateDiagnostic(
00088       diagnostic_updater::DiagnosticStatusWrapper &stat);
00089     virtual void waitForNextImage();
00090     virtual void cameraCallback(
00091       const sensor_msgs::Image::ConstPtr& image_msg,
00092       const sensor_msgs::CameraInfo::ConstPtr& info_msg);
00093     virtual void cloudCallback(
00094       const sensor_msgs::PointCloud2::ConstPtr& cloud_msg);
00095     virtual void rectCallback(
00096       const geometry_msgs::PolygonStamped::ConstPtr& rect);
00097     virtual bool shutterCallback(
00098       std_srvs::Empty::Request& req,
00099       std_srvs::Empty::Response& res);
00100     virtual bool requestCallback(
00101       std_srvs::Empty::Request& req,
00102       std_srvs::Empty::Response& res);
00103     virtual bool clearCallback(
00104       std_srvs::Empty::Request& req,
00105       std_srvs::Empty::Response& res);
00106     virtual void publishCroppedPointCloud(
00107       pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud,
00108       const cv::Point3d& A, const cv::Point3d& B,
00109       const cv::Point3d& C, const cv::Point3d& D,
00110       const Eigen::Affine3d& pose);
00112     // ROS variables
00114     tf::TransformListener* listener_;
00115     double rate_;
00116     ros::Time last_publish_time_;
00117     image_transport::Publisher image_pub_;
00118     image_transport::CameraSubscriber image_sub_;
00119     boost::mutex mutex_;
00120     ros::Subscriber rect_sub_;
00121     ros::Subscriber cloud_sub_;
00122     ros::ServiceServer shutter_service_;
00123     ros::ServiceServer clear_service_;
00124     ros::ServiceServer request_service_;
00125     ros::Publisher pub_pose_;
00126     ros::Publisher pub_roi_;
00127     ros::Publisher pub_marker_;
00128     ros::Publisher pub_cloud_;
00129     sensor_msgs::Image::ConstPtr latest_image_msg_;
00130     sensor_msgs::CameraInfo::ConstPtr latest_camera_info_msg_;
00131     sensor_msgs::PointCloud2::ConstPtr latest_cloud_msg_;
00132     bool store_pointcloud_;
00133     bool keep_organized_;
00135     // Parameters
00137     int max_image_buffer_;
00138     std::string fixed_frame_id_;
00139     boost::circular_buffer<SnapshotInformation::Ptr> snapshot_buffer_;
00140     
00141   private:
00142     
00143   };
00144 }
00145 
00146 #endif


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