80 lines
2.6 KiB
C
80 lines
2.6 KiB
C
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/*
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Copyright (c) 2011-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright
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notice, this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright
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notice, this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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* Neither the name of the Universite de Sherbrooke nor the
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names of its contributors may be used to endorse or promote products
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derived from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
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DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#ifndef FINDOBJECTROS_H_
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#define FINDOBJECTROS_H_
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#include <ros/ros.h>
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#include <cv_bridge/cv_bridge.h>
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#include <tf/transform_broadcaster.h>
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#include "find_object/FindObject.h"
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#include <QtCore/QObject>
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#include <QtCore/QMultiMap>
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#include <QtCore/QPair>
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#include <QtCore/QRect>
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#include <QtGui/QTransform>
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class FindObjectROS : public find_object::FindObject
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{
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Q_OBJECT;
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public:
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FindObjectROS(const std::string & objPrefix, QObject * parent = 0);
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virtual ~FindObjectROS() {}
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public Q_SLOTS:
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void publish(const find_object::DetectionInfo & info);
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void setDepthData(const std::string & frameId,
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const ros::Time & stamp,
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const cv::Mat & depth,
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float depthConstant);
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private:
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cv::Vec3f getDepth(const cv::Mat & depthImage,
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int x, int y,
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float cx, float cy,
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float fx, float fy);
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private:
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ros::Publisher pub_;
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ros::Publisher pubStamped_;
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std::string frameId_;
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ros::Time stamp_;
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cv::Mat depth_;
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float depthConstant_;
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std::string objFramePrefix_;
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tf::TransformBroadcaster tfBroadcaster_;
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};
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#endif /* FINDOBJECTROS_H_ */
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