heightmap_converter.h

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

#include <jsk_topic_tools/diagnostic_nodelet.h>

#include <sensor_msgs/PointCloud2.h>
#include <jsk_pcl_ros/HeightmapConverterConfig.h>
#include <dynamic_reconfigure/server.h>
#include <opencv2/opencv.hpp>
#include <pcl/point_types.h>
#include <pcl/point_cloud.h>
#include <jsk_recognition_msgs/HeightmapConfig.h>
#include <tf/transform_listener.h>
#include <tf/transform_broadcaster.h>

namespace jsk_pcl_ros
{

  class HeightmapConverter: public jsk_topic_tools::DiagnosticNodelet
  {
  public:
    typedef boost::shared_ptr<HeightmapConverter> Ptr;
    typedef HeightmapConverterConfig Config;
    HeightmapConverter(): DiagnosticNodelet("HeightmapConverter") {}
  protected:
    virtual void onInit();
    virtual void subscribe();
    virtual void unsubscribe();
    virtual void configCallback(Config &config, uint32_t level);
    virtual void convert(const sensor_msgs::PointCloud2::ConstPtr& msg);
    inline cv::Point toIndex(const pcl::PointXYZ& p) const
    {
      if (p.x > max_x_ || p.x < min_x_ ||
          p.y > max_y_ || p.y < min_y_) {
        return cv::Point(-1, -1);
      }
      const float offsetted_x = p.x - min_x_;
      const float offsetted_y = p.y - min_y_;
      const float dx = (max_x_ - min_x_) / resolution_x_;
      const float dy = (max_y_ - min_y_) / resolution_y_;
      return cv::Point(std::floor(offsetted_x / dx),
                       std::floor(offsetted_y / dy));
    }

    boost::mutex mutex_;
    ros::Publisher pub_;
    ros::Publisher pub_config_;
    ros::Subscriber sub_;
    boost::shared_ptr<dynamic_reconfigure::Server<Config> > srv_;
    double min_x_;
    double max_x_;
    double min_y_;
    double max_y_;
    int resolution_x_;
    int resolution_y_;
    int max_queue_size_;
    std::string fixed_frame_id_;
    std::string center_frame_id_;
    std::string projected_center_frame_id_;
    bool use_projected_center_;
    double initial_probability_;

    tf::TransformListener* tf_;
    tf::TransformBroadcaster tf_broadcaster_;
  };
}

#endif