pointcloud_octomap_updater.h

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/* Author: Jon Binney, Ioan Sucan */

#ifndef MOVEIT_PERCEPTION_POINTCLOUD_OCTOMAP_UPDATER_
#define MOVEIT_PERCEPTION_POINTCLOUD_OCTOMAP_UPDATER_

#include <ros/ros.h>
#include <tf/tf.h>
#include <tf/message_filter.h>
#include <message_filters/subscriber.h>
#include <sensor_msgs/PointCloud2.h>
#include <moveit/occupancy_map_monitor/occupancy_map_updater.h>
#include <moveit/point_containment_filter/shape_mask.h>
#include <pcl/point_types.h>
#include <pcl/point_cloud.h>

namespace occupancy_map_monitor
{

class PointCloudOctomapUpdater : public OccupancyMapUpdater
{
public:

  PointCloudOctomapUpdater();
  virtual ~PointCloudOctomapUpdater();

  virtual bool setParams(XmlRpc::XmlRpcValue &params);

  virtual bool initialize();
  virtual void start();
  virtual void stop();
  virtual ShapeHandle excludeShape(const shapes::ShapeConstPtr &shape);
  virtual void forgetShape(ShapeHandle handle);

protected:

  virtual void updateMask(const pcl::PointCloud<pcl::PointXYZ> &cloud, const Eigen::Vector3d &sensor_origin, std::vector<int> &mask);

private:

  bool getShapeTransform(ShapeHandle h, Eigen::Affine3d &transform) const;
  void cloudMsgCallback(const sensor_msgs::PointCloud2::ConstPtr &cloud_msg);
  void stopHelper();

  ros::NodeHandle root_nh_;
  ros::NodeHandle private_nh_;
  boost::shared_ptr<tf::Transformer> tf_;

  /* params */
  std::string point_cloud_topic_;
  double scale_;
  double padding_;
  double max_range_;
  unsigned int point_subsample_;
  std::string filtered_cloud_topic_;
  ros::Publisher filtered_cloud_publisher_;

  message_filters::Subscriber<sensor_msgs::PointCloud2> *point_cloud_subscriber_;
  tf::MessageFilter<sensor_msgs::PointCloud2> *point_cloud_filter_;

  /* used to store all cells in the map which a given ray passes through during raycasting.
     we cache this here because it dynamically pre-allocates a lot of memory in its contsructor */
  octomap::KeyRay key_ray_;

  boost::scoped_ptr<point_containment_filter::ShapeMask> shape_mask_;
  std::vector<int> mask_;

};

}

#endif