depth_image_creator.h
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00001 // -*- mode: c++ -*-
00002 /*********************************************************************
00003  * Software License Agreement (BSD License)
00004  *
00005  *  Copyright (c) 2014, JSK Lab
00006  *  All rights reserved.
00007  *
00008  *  Redistribution and use in source and binary forms, with or without
00009  *  modification, are permitted provided that the following conditions
00010  *  are met:
00011  *
00012  *   * Redistributions of source code must retain the above copyright
00013  *     notice, this list of conditions and the following disclaimer.
00014  *   * Redistributions in binary form must reproduce the above
00015  *     copyright notice, this list of conditions and the following
00016  *     disclaimer in the documentation and/o2r other materials provided
00017  *     with the distribution.
00018  *   * Neither the name of the JSK Lab nor the names of its
00019  *     contributors may be used to endorse or promote products derived
00020  *     from this software without specific prior written permission.
00021  *
00022  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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00035 
00036 #ifndef JSK_PCL_ROS_IMAGE_CREATOR_H_
00037 #define JSK_PCL_ROS_IMAGE_CREATOR_H_
00038 
00039 #include <pcl_ros/pcl_nodelet.h>
00040 #include <pcl_ros/transforms.h>
00041 
00042 #include <pluginlib/class_list_macros.h>
00043 #include <dynamic_reconfigure/server.h>
00044 
00045 #include <pcl/range_image/range_image_planar.h>
00046 #if ( PCL_MAJOR_VERSION >= 1 && PCL_MINOR_VERSION >= 5 )
00047 #include <pcl/common/transforms.h>
00048 #else
00049 #include <pcl/common/transform.h>
00050 #endif
00051 
00052 #include <sensor_msgs/Image.h>
00053 #include <sensor_msgs/CameraInfo.h>
00054 #include <sensor_msgs/PointCloud2.h>
00055 #include <sensor_msgs/image_encodings.h>
00056 #include <stereo_msgs/DisparityImage.h>
00057 
00058 #include <opencv2/opencv.hpp>
00059 
00060 #include <std_srvs/Empty.h>
00061 #include <boost/thread/mutex.hpp>
00062 
00063 #include <jsk_topic_tools/connection_based_nodelet.h>
00064 #include "jsk_pcl_ros/tf_listener_singleton.h"
00065 
00066 namespace jsk_pcl_ros
00067 {
00068   class DepthImageCreator : public jsk_topic_tools::ConnectionBasedNodelet
00069   {
00070   protected:
00071     message_filters::Subscriber<sensor_msgs::CameraInfo> sub_info_;
00072     message_filters::Subscriber<sensor_msgs::PointCloud2> sub_cloud_;
00073     ros::Subscriber sub_as_info_;
00074     ros::Subscriber sub_as_cloud_;
00075     ros::Publisher pub_depth_;
00076     ros::Publisher pub_image_;
00077     ros::Publisher pub_cloud_;
00078     ros::Publisher pub_disp_image_;
00079     ros::ServiceServer service_;
00080 
00081     sensor_msgs::PointCloud2ConstPtr points_ptr_;
00082 
00083     boost::shared_ptr<message_filters::Synchronizer<message_filters::sync_policies::ExactTime<sensor_msgs::CameraInfo, sensor_msgs::PointCloud2> > > sync_inputs_e_;
00084     boost::shared_ptr<message_filters::Synchronizer<message_filters::sync_policies::ApproximateTime<sensor_msgs::CameraInfo, sensor_msgs::PointCloud2> > > sync_inputs_a_;
00085     boost::mutex mutex_points;
00086     bool use_fixed_transform;
00087     bool use_service;
00088     bool use_asynchronous;
00089     bool use_approximate;
00090     int info_throttle_;
00091     int info_counter_;
00092     int max_queue_size_;
00093     int max_pub_queue_size_;
00094     int max_sub_queue_size_;
00095     tf::StampedTransform fixed_transform;
00096     tf::TransformListener* tf_listener_;
00097     double scale_depth;
00098     typedef pcl::PointXYZRGB Point;
00099     typedef pcl::PointCloud< Point > PointCloud;
00100 
00101     void onInit();
00102 
00103     bool service_cb (std_srvs::Empty::Request &req,
00104                      std_srvs::Empty::Response &res);
00105 
00106     void callback_sync(const sensor_msgs::CameraInfoConstPtr& info,
00107                        const sensor_msgs::PointCloud2ConstPtr& pcloud2);
00108 
00109     void callback_cloud(const sensor_msgs::PointCloud2ConstPtr& pcloud2);
00110 
00111     void callback_info(const sensor_msgs::CameraInfoConstPtr& info);
00112 
00113     void publish_points(const sensor_msgs::CameraInfoConstPtr& info,
00114                         const sensor_msgs::PointCloud2ConstPtr& pcloud2);
00115 
00116     void subscribe();
00117     void unsubscribe();
00118   public:
00119   };
00120 }
00121 
00122 #endif
00123 


jsk_pcl_ros
Author(s): Yohei Kakiuchi
autogenerated on Tue Jul 2 2019 19:41:42