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gazebo_ros_openni_kinect.h

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/*
 *  Gazebo - Outdoor Multi-Robot Simulator
 *  Copyright (C) 2003  
 *     Nate Koenig & Andrew Howard
 *
 *  This program is free software; you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation; either version 2 of the License, or
 *  (at your option) any later version.
 *
 *  This program is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 *  GNU General Public License for more details.
 *
 *  You should have received a copy of the GNU General Public License
 *  along with this program; if not, write to the Free Software
 *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 *
 */
/*
 * Desc: A dynamic controller plugin that publishes ROS image_raw camera_info topic for generic camera sensor.
 * Author: John Hsu
 * Date: 24 Sept 2008
 * SVN: $Id$
 */
#ifndef GAZEBO_ROS_OPENNI_KINECT_HH
#define GAZEBO_ROS_OPENNI_KINECT_HH

#include <ros/callback_queue.h>
#include <ros/advertise_options.h>

#include <ros/ros.h>
#include "boost/thread/mutex.hpp"
#include <sensor_msgs/Image.h>
#include <sensor_msgs/CameraInfo.h>
#include <std_msgs/Float64.h>
#include <gazebo/Param.hh>
#include <gazebo/Controller.hh>

#include <gazebo_plugins/GazeboRosOpenniKinectConfig.h>
#include <dynamic_reconfigure/server.h>
#include <nodelet/loader.h>

#include <pcl_ros/point_cloud.h>
#include <pcl/point_types.h>

#include "image_transport/image_transport.h"

namespace gazebo
{
  class MonoCameraSensor;


class GazeboRosOpenniKinect : public Controller
{
  public: GazeboRosOpenniKinect(Entity *parent);

  public: virtual ~GazeboRosOpenniKinect();

  protected: virtual void LoadChild(XMLConfigNode *node);

  protected: virtual void InitChild();

  protected: virtual void UpdateChild();

  protected: virtual void FiniChild();

  private: void PutCameraData();
  private: void PublishCameraInfo(ros::Publisher camera_info_publisher);

  private: int imageConnectCount;
  private: void ImageConnect();
  private: void ImageDisconnect();

  private: int pointCloudConnectCount;
  private: void PointCloudConnect();
  private: void PointCloudDisconnect();

  private: int depthImageConnectCount;
  private: void DepthImageConnect();
  private: void DepthImageDisconnect();

  private: int infoConnectCount;
  private: void InfoConnect();
  private: void InfoDisconnect();
  private: void SetHFOV(const std_msgs::Float64::ConstPtr& hfov);
  private: void SetUpdateRate(const std_msgs::Float64::ConstPtr& update_rate);

  // convert image from gazebo sensor format to desired format
  private: void convertImageFormat(unsigned char *dst, const unsigned char *src);

  private: bool FillPointCloudHelper( pcl::PointCloud<pcl::PointXYZ>& point_cloud,
                                uint32_t rows_arg, uint32_t cols_arg,
                                uint32_t step_arg, void* data_arg);

  private: bool FillDepthImageHelper( sensor_msgs::Image& image_msg,
                                uint32_t height, uint32_t width,
                                uint32_t step, void* data_arg);

  private: MonoCameraSensor *myParent;

  private: ros::NodeHandle* rosnode_;
  private: ros::NodeHandle* managernode_;
  private: nodelet::Loader* manager_; 
  private: ros::Publisher point_cloud_pub_,camera_info_pub_;
  private: ros::Publisher depth_image_pub_;
  private: image_transport::Publisher image_pub_;
  private: image_transport::ImageTransport* itnode_;

  private: int depthInfoConnectCount;
  private: void DepthInfoConnect();
  private: void DepthInfoDisconnect();
  protected: ros::Publisher depth_image_camera_info_pub_;

  private: sensor_msgs::Image imageMsg;
  private: pcl::PointCloud<pcl::PointXYZ> pointCloudMsg;

  private: sensor_msgs::Image depth_image_msg_;

  private: ParamT<std::string> *imageTopicNameP; // deprecated
  private: ParamT<std::string> *cameraInfoTopicNameP; // deprecated
  private: ParamT<std::string> *depthImageCameraInfoTopicNameP; // deprecated
  private: ParamT<std::string> *pointCloudTopicNameP;
  private: ParamT<std::string> *depthImageTopicNameP;
  private: ParamT<std::string> *cameraNameP;
  private: ParamT<std::string> *frameNameP;
  private: std::string depthImageTopicName;
  private: std::string depthImageCameraInfoTopicName;

  private: ParamT<double> *CxPrimeP;       // rectified optical center x, for sim, CxPrime == Cx
  private: ParamT<double> *CxP;            // optical center x
  private: ParamT<double> *CyP;            // optical center y
  private: ParamT<double> *focal_lengthP;  // also known as focal length
  private: ParamT<double> *hack_baselineP;  // also known as focal length
  private: ParamT<double> *pointCloudCutoffP; // linear distortion
  private: ParamT<double> *distortion_k1P; // linear distortion
  private: ParamT<double> *distortion_k2P; // quadratic distortion
  private: ParamT<double> *distortion_k3P; // cubic distortion
  private: ParamT<double> *distortion_t1P; // tangential distortion
  private: ParamT<double> *distortion_t2P; // tangential distortion

  private: ParamT<std::string> *robotNamespaceP;
  private: std::string robotNamespace;

  private: std::string cameraName;
  private: std::string imageTopicName;
  private: std::string cameraInfoTopicName;
  private: std::string pointCloudTopicName;
  private: std::string frameName;

  private: double CxPrime;
  private: double Cx;
  private: double Cy;
  private: double focal_length;
  private: double hack_baseline;
  private: double pointCloudCutoff;
  private: double distortion_k1;
  private: double distortion_k2;
  private: double distortion_k3;
  private: double distortion_t1;
  private: double distortion_t2;

  private: boost::mutex lock;

  private: int height, width, depth;
  private: std::string type;
  private: int skip;

  private: ros::Subscriber cameraHFOVSubscriber_;
  private: ros::Subscriber cameraUpdateRateSubscriber_;

  // Time last published, refrain from publish unless new image has been rendered
  Time last_point_cloud_pub_time_, last_image_pub_time_, last_camera_info_pub_time_;

  // Allow dynamic reconfiguration of camera params
  dynamic_reconfigure::Server<gazebo_plugins::GazeboRosOpenniKinectConfig> *dyn_srv_;

  void configCallback(gazebo_plugins::GazeboRosOpenniKinectConfig &config, uint32_t level);

  // Name of camera
  std::string dynamicReconfigureName;

  private: ros::CallbackQueue camera_queue_;
  private: void CameraQueueThread();
  private: boost::thread callback_queue_thread_;

  public: EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
};



}
#endif

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gazebo_plugins
Author(s): Sachin Chitta, Stu Glaser, John Hsu
autogenerated on Sat Mar 2 13:39:46 2013