rearrange_bounding_box_nodelet.cpp

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// -*- mode: c++ -*-
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#include "jsk_pcl_ros/rearrange_bounding_box.h"
 
namespace jsk_pcl_ros
{
  void RearrangeBoundingBox::onInit () {
    ConnectionBasedNodelet::onInit();
 
    pnh_->param("offset_x", offset_x_, 0.0);
    pnh_->param("offset_y", offset_y_, 0.0);
    pnh_->param("offset_z", offset_z_, 0.0);
    pnh_->param("scale_x", scale_x_, 1.0);
    pnh_->param("scale_y", scale_y_, 1.0);
    pnh_->param("scale_z", scale_z_, 1.0);
    pnh_->param("rotate_x", rotate_x_, 0.0);
    pnh_->param("rotate_y", rotate_y_, 0.0);
    pnh_->param("rotate_z", rotate_z_, 0.0);
    q_ = tf2::Quaternion();
    q_.setEuler(rotate_y_, rotate_x_, rotate_z_);
 
    srv_ = boost::make_shared <dynamic_reconfigure::Server<Config> > (*pnh_);
    dynamic_reconfigure::Server<Config>::CallbackType f =
      boost::bind(&RearrangeBoundingBox::configCallback, this, _1, _2);
    srv_->setCallback (f);
 
    pub_bouding_box_array_ = advertise<jsk_recognition_msgs::BoundingBoxArray>(*pnh_, "output", 1);
    onInitPostProcess();
  }
 
  void RearrangeBoundingBox::configCallback(Config &config, uint32_t level) {
    boost::mutex::scoped_lock lock(mutex_);
    offset_x_ = config.offset_x;
    offset_y_ = config.offset_y;
    offset_z_ = config.offset_z;
    scale_x_ = config.scale_x;
    scale_y_ = config.scale_y;
    scale_z_ = config.scale_z;
    rotate_x_ = config.rotate_x;
    rotate_y_ = config.rotate_y;
    rotate_z_ = config.rotate_z;
    q_ = tf2::Quaternion();
    q_.setEuler(rotate_y_, rotate_x_, rotate_z_);
  }
 
  void RearrangeBoundingBox::subscribe() {
    sub_bounding_box_array_ = pnh_->subscribe("input", 1,
                                              &RearrangeBoundingBox::rearrangeBoundingBoxCallback, this);
  }
 
  void RearrangeBoundingBox::unsubscribe() {
    sub_bounding_box_array_.shutdown();
  }
 
  void RearrangeBoundingBox::rearrangeBoundingBoxCallback(const jsk_recognition_msgs::BoundingBoxArray::ConstPtr& box_array) {
    boost::mutex::scoped_lock lock(mutex_);
    jsk_recognition_msgs::BoundingBoxArray bba;
    bba.header = box_array->header;
    bba.boxes = box_array->boxes;
    for(size_t i = 0; i < box_array->boxes.size(); ++i) {
      geometry_msgs::Quaternion q_base_ = bba.boxes[i].pose.orientation;
      bba.boxes[i].pose.position.x += offset_x_;
      bba.boxes[i].pose.position.y += offset_y_;
      bba.boxes[i].pose.position.z += offset_z_;
      bba.boxes[i].dimensions.x *= scale_x_;
      bba.boxes[i].dimensions.y *= scale_y_;
      bba.boxes[i].dimensions.z *= scale_z_;
      bba.boxes[i].pose.orientation.x =
        q_base_.x * q_.w() + q_base_.y * q_.z() - q_base_.z * q_.y() + q_base_.w * q_.x();
      bba.boxes[i].pose.orientation.y =
        - q_base_.x * q_.z() + q_base_.y * q_.w() + q_base_.z * q_.x() + q_base_.w * q_.y();
      bba.boxes[i].pose.orientation.z =
        q_base_.x * q_.y() - q_base_.y * q_.x() + q_base_.z * q_.w() + q_base_.w * q_.z();
      bba.boxes[i].pose.orientation.w =
        - q_base_.x * q_.x() - q_base_.y * q_.y() - q_base_.z * q_.z() + q_base_.w * q_.w();
    }
    pub_bouding_box_array_.publish(bba);
  }
}
 
#include <pluginlib/class_list_macros.h>
PLUGINLIB_EXPORT_CLASS (jsk_pcl_ros::RearrangeBoundingBox, nodelet::Nodelet);