00001 // -*- mode: c++ -*- 00002 /********************************************************************* 00003 * Software License Agreement (BSD License) 00004 * 00005 * Copyright (c) 2015, JSK Lab 00006 * All rights reserved. 00007 * 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 00016 * disclaimer in the documentation and/o2r other materials provided 00017 * with the distribution. 00018 * * Neither the name of the JSK Lab nor the names of its 00019 * contributors may be used to endorse or promote products derived 00020 * from this software without specific prior written permission. 00021 * 00022 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00023 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00024 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00025 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00026 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 * POSSIBILITY OF SUCH DAMAGE. 00034 *********************************************************************/ 00035 00036 00037 #ifndef JSK_PCL_ROS_POLYGON_FLIPPER_H_ 00038 #define JSK_PCL_ROS_POLYGON_FLIPPER_H_ 00039 00040 #include <jsk_topic_tools/diagnostic_nodelet.h> 00041 #include <jsk_recognition_msgs/PolygonArray.h> 00042 #include <jsk_recognition_msgs/ModelCoefficientsArray.h> 00043 #include <jsk_recognition_msgs/ClusterPointIndices.h> 00044 00045 #include "jsk_pcl_ros/geo_util.h" 00046 #include "jsk_pcl_ros/tf_listener_singleton.h" 00047 00048 #include <message_filters/subscriber.h> 00049 #include <message_filters/time_synchronizer.h> 00050 #include <message_filters/synchronizer.h> 00051 00052 namespace jsk_pcl_ros 00053 { 00054 class PolygonFlipper: public jsk_topic_tools::DiagnosticNodelet 00055 { 00056 public: 00057 typedef boost::shared_ptr<PolygonFlipper> Ptr; 00058 typedef message_filters::sync_policies::ExactTime< 00059 jsk_recognition_msgs::PolygonArray, 00060 jsk_recognition_msgs::ClusterPointIndices, 00061 jsk_recognition_msgs::ModelCoefficientsArray > SyncPolicy; 00062 PolygonFlipper(): DiagnosticNodelet("PolygonFlipper") {} 00063 protected: 00064 virtual void onInit(); 00065 virtual void subscribe(); 00066 virtual void unsubscribe(); 00067 00068 virtual void flip( 00069 const jsk_recognition_msgs::PolygonArray::ConstPtr& polygon_msg, 00070 const jsk_recognition_msgs::ClusterPointIndices::ConstPtr& indices_msg, 00071 const jsk_recognition_msgs::ModelCoefficientsArray::ConstPtr& coefficients_msg); 00072 00073 boost::shared_ptr<message_filters::Synchronizer<SyncPolicy> > sync_; 00074 message_filters::Subscriber<jsk_recognition_msgs::PolygonArray> sub_polygons_; 00075 message_filters::Subscriber<jsk_recognition_msgs::ClusterPointIndices> sub_indices_; 00076 message_filters::Subscriber<jsk_recognition_msgs::ModelCoefficientsArray> sub_coefficients_; 00077 ros::Publisher pub_polygons_; 00078 ros::Publisher pub_indices_; 00079 ros::Publisher pub_coefficients_; 00080 tf::TransformListener* tf_listener_; 00081 std::string sensor_frame_; 00082 private: 00083 00084 }; 00085 } 00086 00087 #endif