heightmap_time_accumulation.h

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// -*- mode: c++ -*-
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#ifndef JSK_PCL_ROS_HEIGHTMAP_TIME_ACCUMULATION_H_
#define JSK_PCL_ROS_HEIGHTMAP_TIME_ACCUMULATION_H_

#include <jsk_topic_tools/connection_based_nodelet.h>
#include <jsk_recognition_msgs/HeightmapConfig.h>
#include <sensor_msgs/PointCloud2.h>
#include <sensor_msgs/Image.h>
#include <opencv2/opencv.hpp>
#include "jsk_pcl_ros/pcl_conversion_util.h"
#include <tf/transform_listener.h>
#include <tf/message_filter.h>
#include <message_filters/subscriber.h>
#include "jsk_pcl_ros/heightmap_utils.h"
#include <std_srvs/Empty.h>

namespace jsk_pcl_ros
{
  class HeightmapTimeAccumulation:
    public jsk_topic_tools::ConnectionBasedNodelet
  {
  public:
    typedef boost::shared_ptr<HeightmapTimeAccumulation> Ptr;
    HeightmapTimeAccumulation(): ConnectionBasedNodelet() {}
  protected:
    virtual void onInit();
    virtual void subscribe();
    virtual void unsubscribe();
    virtual void accumulate(
      const sensor_msgs::Image::ConstPtr& new_heightmap);
    virtual void publishHeightmap(
      const cv::Mat& heightmap, const std_msgs::Header& header);
    virtual cv::Point toIndex(const pcl::PointXYZ& p, const cv::Mat& map);
    virtual bool isValidIndex(const cv::Point& index, const cv::Mat& map);
    virtual bool isValidCell(const cv::Point& index, const cv::Mat& map);
    virtual void configCallback(
      const jsk_recognition_msgs::HeightmapConfig::ConstPtr& config);
    virtual void prevPointCloud(
      const sensor_msgs::PointCloud2::ConstPtr& msg);
    virtual bool resetCallback(std_srvs::Empty::Request& req,
                               std_srvs::Empty::Response& res);

    boost::mutex mutex_;
    tf::TransformListener* tf_;
    Eigen::Affine3f prev_from_center_to_fixed_;
    std::string center_frame_id_;
    std::string fixed_frame_id_;
    cv::Mat accumulated_heightmap_;
    ros::Publisher pub_output_;
    ros::Publisher pub_config_;
    ros::ServiceServer srv_reset_;
    boost::shared_ptr<tf::MessageFilter<sensor_msgs::Image> > tf_filter_;
    message_filters::Subscriber<sensor_msgs::Image> sub_heightmap_;
    ros::Subscriber sub_previous_pointcloud_;
    ros::Subscriber sub_config_;
    pcl::PointCloud<pcl::PointXYZ> prev_cloud_;
    jsk_recognition_msgs::HeightmapConfig::ConstPtr config_;
    double min_x_;
    double min_y_;
    double max_x_;
    double max_y_;
    int tf_queue_size_;
  private:
  };
}

#endif