depth_self_filter_nodelet.h

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/* Author: Suat Gedikli */

#ifndef MOVEIT_DEPTH_SELF_FILTER_NODELET_
#define MOVEIT_DEPTH_SELF_FILTER_NODELET_

#include <nodelet/nodelet.h>
#include <image_transport/image_transport.h>
#include <boost/thread.hpp>
#include <boost/thread/condition_variable.hpp>
#include <moveit/mesh_filter/transform_provider.h>
#include <moveit/mesh_filter/mesh_filter.h>
#include <moveit/mesh_filter/stereo_camera_model.h>
#include <cv_bridge/cv_bridge.h>
#include <memory>

namespace mesh_filter
{
class DepthSelfFiltering : public nodelet::Nodelet
{
public:
  virtual void onInit();

private:
  ~DepthSelfFiltering();

  void addMeshes(mesh_filter::MeshFilter<mesh_filter::StereoCameraModel>& mesh_filter);

  void filter(const sensor_msgs::ImageConstPtr& depth_msg, const sensor_msgs::CameraInfoConstPtr& info_msg);

  void connectCb();

  void depthCb(const sensor_msgs::ImageConstPtr& depth_msg, const sensor_msgs::CameraInfoConstPtr& info_msg);

private:
  // member variables to handle ros messages
  std::shared_ptr<image_transport::ImageTransport> input_depth_transport_;
  std::shared_ptr<image_transport::ImageTransport> filtered_label_transport_;
  std::shared_ptr<image_transport::ImageTransport> filtered_depth_transport_;
  std::shared_ptr<image_transport::ImageTransport> model_depth_transport_;
  std::shared_ptr<image_transport::ImageTransport> model_label_transport_;
  image_transport::CameraSubscriber sub_depth_image_;
  image_transport::CameraPublisher pub_filtered_depth_image_;
  image_transport::CameraPublisher pub_filtered_label_image_;
  image_transport::CameraPublisher pub_model_depth_image_;
  image_transport::CameraPublisher pub_model_label_image_;

  boost::mutex connect_mutex_;
  int queue_size_;
  TransformProvider transform_provider_;

  cv_bridge::CvImagePtr filtered_depth_ptr_;
  cv_bridge::CvImagePtr filtered_label_ptr_;
  cv_bridge::CvImagePtr model_depth_ptr_;
  cv_bridge::CvImagePtr model_label_ptr_;
  double near_clipping_plane_distance_;

  double far_clipping_plane_distance_;

  double shadow_threshold_;

  double padding_scale_;

  double padding_offset_;

  MeshFilter<StereoCameraModel>::Ptr mesh_filter_;
};

}  // namespace mesh_filter

#endif