pmdcamera_driver_node.h

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// Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
// Author 
// All rights reserved.
//
// This file is part of iri-ros-pkg
// iri-ros-pkg is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 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 Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program.  If not, see <http://www.gnu.org/licenses/>.
// 
// IMPORTANT NOTE: This code has been generated through a script from the 
// iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
// of the scripts. ROS topics can be easly add by using those scripts. Please
// refer to the IRI wiki page for more information:
// http://wikiri.upc.es/index.php/Robotics_Lab

#ifndef _pmdcamera_driver_node_h_
#define _pmdcamera_driver_node_h_

#include <iri_base_driver/iri_base_driver_node.h>
#include "pmdcamera_driver.h"

#include <ros/ros.h>
#include <ros/package.h>
// [publisher subscriber headers]
#include <sensor_msgs/Image.h>
#include <sensor_msgs/image_encodings.h>
#include <sensor_msgs/PointCloud.h>
#include <sensor_msgs/PointCloud2.h>
#include <sensor_msgs/CameraInfo.h>
#include <camera_info_manager/camera_info_manager.h>
#include <image_transport/image_transport.h>
// [service client headers]

// [action server client headers]

typedef union {
    struct /*anonymous*/
    {
      unsigned char Blue;
      unsigned char Green;
      unsigned char Red;
      unsigned char Alpha;
    };
    float float_value;
    long long_value;
} RGBValue;

class PmdcameraDriverNode : public iri_base_driver::IriBaseNodeDriver<PmdcameraDriver>
{
  private:
    int width_,real_width_;
    int height_,real_height_;
    float max_intensity_; 
    float max_amplitude_; 
    float max_depth_; 
    image_transport::ImageTransport *it_;

    // [publisher attributes]
    //    image_transport::Publisher image_raw_publisher_;
    image_transport::CameraPublisher image_raw_publisher_;
    sensor_msgs::Image Image_int_msg_;
    
    image_transport::CameraPublisher image_flags_publisher_;
    sensor_msgs::Image Image_flags_msg_;
    
    image_transport::CameraPublisher image_amp_publisher_;
    sensor_msgs::Image Image_amp_msg_;
    
    image_transport::CameraPublisher image_depth_publisher_;
    sensor_msgs::Image Image_depth_msg_;
    
    ros::Publisher cloud_raw_publisher_;
    sensor_msgs::PointCloud PointCloud_msg_;
    
    ros::Publisher pcl_int_raw_publisher_;
    ros::Publisher pcl_amp_raw_publisher_;
    ros::Publisher pcl_range_raw_publisher_;
    sensor_msgs::PointCloud2 pcl2_int_msg_;
    sensor_msgs::PointCloud2 pcl2_amp_msg_;
    sensor_msgs::PointCloud2 pcl2_range_msg_;
    // [subscriber attributes]

    // [service attributes]

    // [client attributes]

    // [action server attributes]

    // [action client attributes]
    
    camera_info_manager::CameraInfoManager *camera_info_manager_;
    std::string camera_name_;
    std::string camera_info_url_;
    sensor_msgs::CameraInfo camera_info_;
    
    void assemblePcl2Int(const float* const coord_3D, const float* const intensity);
    
    void assemblePcl2Amp(const float* const coord_3D, const float* const amplitude); 
    
    void assemblePcl2RangeImage(const float* const coord_3D, const float* const range, const float* const amp);

    void assembleFlagsImage(float* flags);

    void assembleIntensityImage(float* intensity);
    
    void assembleAmplitudeImage(float* amplitude);
    
    void assembleDepthImage(float* distance);
    
    void findMaxIntensity(const float* intensity);
    void findMaxAmplitude(const float* amplitude);
    void findMaxDepth(const float* distance);
    
    void postNodeOpenHook(void);

  public:
    PmdcameraDriverNode(ros::NodeHandle& nh);

    ~PmdcameraDriverNode();

  protected:
    void mainNodeThread(void);

    // [diagnostic functions]

    void addNodeDiagnostics(void);

    // [driver test functions]

    void addNodeOpenedTests(void);

    void addNodeStoppedTests(void);

    void addNodeRunningTests(void);

    void reconfigureNodeHook(int level);

};

#endif