image_bundles.hpp

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/*****************************************************************************
** Ifdefs
*****************************************************************************/

#ifndef cost_map_ros_LOADER_HPP_
#define cost_map_ros_LOADER_HPP_

/*****************************************************************************
** Includes
*****************************************************************************/

#include <cost_map_core/cost_map_core.hpp>
#include <cost_map_msgs/CostMap.h>
#include <mutex>
#include <ros/ros.h>
#include <std_msgs/String.h>
#include <string>

/*****************************************************************************
** Namespaces
*****************************************************************************/

namespace cost_map {

/*****************************************************************************
** Methods
*****************************************************************************/

void fromImageBundle(const std::string& filename, cost_map::CostMap& cost_map);
void toImageBundle(const std::string& filename, const cost_map::CostMap& cost_map);

// this might be an interesting api to have too
// void addLayerFromImageFile()
// and this one, which is similar to api in grid_map and inputs opencv types directly
// void addLayerFromImage()

/*****************************************************************************
** Interfaces
*****************************************************************************/

class LoadImageBundle {
public:
  LoadImageBundle(const std::string& image_bundle_location,
                  const std::string& topic_name="cost_map");
  virtual ~LoadImageBundle() {}

  void publish();

  cost_map::CostMapPtr cost_map;
  ros::Publisher publisher;
};

class SaveImageBundle {
public:
  SaveImageBundle(const std::string& topic_name, const std::string& yaml_filename="foo.yaml");
  virtual ~SaveImageBundle() {}


  std::string yaml_filename;
  bool finished;

private:
  void _costmapCallback(const cost_map_msgs::CostMap& msg);

  ros::Subscriber subscriber_;
  std::mutex mutex_;
};

/*****************************************************************************
** Trailers
*****************************************************************************/

} // namespace cost_map

#endif /* cost_map_ros_LOADER_HPP_ */