depth_image_creator.h

Go to the documentation of this file.

// -*- mode: c++ -*-
/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2014, JSK Lab
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/o2r other materials provided
 *     with the distribution.
 *   * Neither the name of the JSK Lab nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *********************************************************************/

#ifndef JSK_PCL_ROS_IMAGE_CREATOR_H_
#define JSK_PCL_ROS_IMAGE_CREATOR_H_

#include <pcl_ros/pcl_nodelet.h>
#include <pcl_ros/transforms.h>

#include <pluginlib/class_list_macros.h>
#include <dynamic_reconfigure/server.h>

#include <pcl/range_image/range_image_planar.h>
#if ( PCL_MAJOR_VERSION >= 1 && PCL_MINOR_VERSION >= 5 )
#include <pcl/common/transforms.h>
#else
#include <pcl/common/transform.h>
#endif

#include <sensor_msgs/Image.h>
#include <sensor_msgs/CameraInfo.h>
#include <sensor_msgs/PointCloud2.h>
#include <sensor_msgs/image_encodings.h>
#include <stereo_msgs/DisparityImage.h>

#include <opencv2/opencv.hpp>

#include <std_srvs/Empty.h>
#include <boost/thread/mutex.hpp>

#include <jsk_topic_tools/connection_based_nodelet.h>
#include "jsk_pcl_ros/tf_listener_singleton.h"

namespace jsk_pcl_ros
{
  class DepthImageCreator : public jsk_topic_tools::ConnectionBasedNodelet
  {
  protected:
    message_filters::Subscriber<sensor_msgs::CameraInfo> sub_info_;
    message_filters::Subscriber<sensor_msgs::PointCloud2> sub_cloud_;
    ros::Subscriber sub_as_info_;
    ros::Subscriber sub_as_cloud_;
    ros::Publisher pub_depth_;
    ros::Publisher pub_image_;
    ros::Publisher pub_cloud_;
    ros::Publisher pub_disp_image_;
    ros::ServiceServer service_;

    sensor_msgs::PointCloud2ConstPtr points_ptr_;

    boost::shared_ptr<message_filters::Synchronizer<message_filters::sync_policies::ExactTime<sensor_msgs::CameraInfo, sensor_msgs::PointCloud2> > > sync_inputs_e_;
    boost::shared_ptr<message_filters::Synchronizer<message_filters::sync_policies::ApproximateTime<sensor_msgs::CameraInfo, sensor_msgs::PointCloud2> > > sync_inputs_a_;
    boost::mutex mutex_points;
    bool use_fixed_transform;
    bool use_service;
    bool use_asynchronous;
    bool use_approximate;
    int info_throttle_;
    int info_counter_;
    int max_queue_size_;
    int max_pub_queue_size_;
    int max_sub_queue_size_;
    tf::StampedTransform fixed_transform;
    tf::TransformListener* tf_listener_;
    double scale_depth;
    typedef pcl::PointXYZRGB Point;
    typedef pcl::PointCloud< Point > PointCloud;

    void onInit();

    bool service_cb (std_srvs::Empty::Request &req,
                     std_srvs::Empty::Response &res);

    void callback_sync(const sensor_msgs::CameraInfoConstPtr& info,
                       const sensor_msgs::PointCloud2ConstPtr& pcloud2);

    void callback_cloud(const sensor_msgs::PointCloud2ConstPtr& pcloud2);

    void callback_info(const sensor_msgs::CameraInfoConstPtr& info);

    void publish_points(const sensor_msgs::CameraInfoConstPtr& info,
                        const sensor_msgs::PointCloud2ConstPtr& pcloud2);

    void subscribe();
    void unsubscribe();
  public:
  };
}

#endif