costmap_to_dynamic_obstacles.h

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 *  TU Dortmund - Institute of Control Theory and Systems Engineering.
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 * The following code makes use of the OpenCV library.
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 * Authors: Franz Albers, Christoph Rösmann
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#ifndef COSTMAP_TO_DYNAMIC_OBSTACLES_H_
#define COSTMAP_TO_DYNAMIC_OBSTACLES_H_

// ROS
#include <costmap_converter/costmap_converter_interface.h>
#include <nav_msgs/Odometry.h>
#include <ros/ros.h>

// OpenCV
#include <cv_bridge/cv_bridge.h>
#include <opencv2/features2d/features2d.hpp>
#include <opencv2/video/tracking.hpp>

// dynamic reconfigure
#include <costmap_converter/CostmapToDynamicObstaclesConfig.h>
#include <dynamic_reconfigure/server.h>

// Own includes
#include <costmap_converter/costmap_to_dynamic_obstacles/multitarget_tracker/Ctracker.h>
#include <costmap_converter/costmap_to_dynamic_obstacles/background_subtractor.h>
#include <costmap_converter/costmap_to_dynamic_obstacles/blob_detector.h>

// STL
#include <memory>

namespace costmap_converter {

class CostmapToDynamicObstacles : public BaseCostmapToPolygons
{
public:
  CostmapToDynamicObstacles();

  virtual ~CostmapToDynamicObstacles();

  virtual void initialize(ros::NodeHandle nh);

  virtual void compute();

  virtual void setCostmap2D(costmap_2d::Costmap2D* costmap);

  virtual void updateCostmap2D();

  ObstacleArrayConstPtr getObstacles();

  virtual void setOdomTopic(const std::string& odom_topic)
  {
    odom_topic_ = odom_topic;
  }

  void visualize(const std::string& name, const cv::Mat& image);

protected:
  Point_t getEstimatedVelocityOfObject(unsigned int idx);

  void getContour(unsigned int idx, std::vector<Point_t>& contour);

  void updateObstacleContainer(ObstacleArrayPtr obstacles);

private:
  boost::mutex mutex_;
  costmap_2d::Costmap2D* costmap_;
  cv::Mat costmap_mat_;
  ObstacleArrayPtr obstacles_;
  cv::Mat fg_mask_;
  std::unique_ptr<BackgroundSubtractor> bg_sub_;
  cv::Ptr<BlobDetector> blob_det_;
  std::vector<cv::KeyPoint> keypoints_;
  std::unique_ptr<CTracker> tracker_;
  ros::Subscriber odom_sub_;
  Point_t ego_vel_;

  std::string odom_topic_ = "/odom";
  bool publish_static_obstacles_ = true;

  dynamic_reconfigure::Server<CostmapToDynamicObstaclesConfig>*
      dynamic_recfg_; 


  void odomCallback(const nav_msgs::Odometry::ConstPtr &msg);

  void reconfigureCB(CostmapToDynamicObstaclesConfig &config, uint32_t level);
};

} // end namespace costmap_converter

#endif /* COSTMAP_TO_DYNAMIC_OBSTACLES_H_ */