kinfu.h

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

#include <sensor_msgs/Image.h>
#include <sensor_msgs/CameraInfo.h>
#include <pcl/gpu/kinfu_large_scale/kinfu.h>
#include <pcl/gpu/containers/initialization.h>
#include <jsk_topic_tools/diagnostic_nodelet.h>
#include <message_filters/subscriber.h>
#include <message_filters/time_synchronizer.h>
#include <message_filters/synchronizer.h>
#include "jsk_pcl_ros/tf_listener_singleton.h"
#include <tf/transform_broadcaster.h>

namespace jsk_pcl_ros
{

  class Kinfu: public jsk_topic_tools::DiagnosticNodelet
  {
  public:
    typedef message_filters::sync_policies::ExactTime<
    sensor_msgs::Image, sensor_msgs::Image> SyncPolicy;
    Kinfu(): DiagnosticNodelet("Kinfu") {}

  protected:
    virtual void onInit();
    virtual void subscribe();
    virtual void unsubscribe();
    virtual void callback(const sensor_msgs::Image::ConstPtr& depth_image,
                          const sensor_msgs::Image::ConstPtr& rgb_image);
    virtual void infoCallback(const sensor_msgs::CameraInfo::ConstPtr& info_msg);
    
    pcl::gpu::kinfuLS::KinfuTracker* kinfu_;
    pcl::gpu::kinfuLS::KinfuTracker::DepthMap depth_device_;
    pcl::gpu::kinfuLS::KinfuTracker::View colors_device_;
    pcl::gpu::DeviceArray<pcl::PointXYZ> cloud_buffer_device_;
    sensor_msgs::CameraInfo::ConstPtr info_msg_;
    ros::Subscriber sub_info_;
    ros::Publisher pub_pose_;
    ros::Publisher pub_cloud_;
    message_filters::Subscriber<sensor_msgs::Image> sub_depth_image_;
    message_filters::Subscriber<sensor_msgs::Image> sub_color_image_;
    boost::shared_ptr<message_filters::Synchronizer<SyncPolicy> > sync_;
    boost::mutex mutex_;
    std::string parent_frame_id_;
    std::string child_frame_id_;
    std::string kinfu_origin_frame_id_;
    // transformation from odom to camera frame_id at t_0
    Eigen::Affine3f initial_camera_pose_;
    Eigen::Affine3f initial_kinfu_pose_;
    bool initial_camera_pose_acquired_;
    float volume_size_;
    float shift_distance_;
    int snapshot_rate_;
    bool initialized_;
    tf::TransformListener* tf_listener_;
    tf::TransformBroadcaster tf_broadcaster_;
  };
}

#endif