kinfu.h

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 *  Copyright (c) 2017, Kentaro Wada and JSK Lab
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#ifndef JSK_PCL_ROS_KINFU_H_
#define JSK_PCL_ROS_KINFU_H_
 
#include <pcl/console/parse.h>
#include <pcl/gpu/kinfu_large_scale/kinfu.h>
#include <pcl/gpu/kinfu_large_scale/marching_cubes.h>
#include <pcl/gpu/kinfu_large_scale/raycaster.h>
#include <pcl/gpu/containers/initialization.h>
#include <pcl/surface/texture_mapping.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/common/angles.h>
 
#include <dynamic_reconfigure/server.h>
#include <message_filters/subscriber.h>
#include <message_filters/sync_policies/exact_time.h>
#include <message_filters/sync_policies/approximate_time.h>
#include <jsk_topic_tools/connection_based_nodelet.h>
#include <jsk_recognition_utils/pcl_conversion_util.h>
#include <pcl_conversions/pcl_conversions.h>
#include <std_srvs/Empty.h>
#include <sensor_msgs/Image.h>
#include <sensor_msgs/PointCloud2.h>
#include <jsk_rviz_plugins/OverlayText.h>
#include <jsk_pcl_ros/tf_listener_singleton.h>
#include <tf/transform_broadcaster.h>
 
#include "jsk_pcl_ros/KinfuConfig.h"
 
// defined in pcl/gpu/kinfu_large_scale/src/kinfu.cpp
namespace pcl
{
  namespace gpu
  {
    namespace kinfuLS
    {
      void paint3DView (const KinfuTracker::View& rgb24, KinfuTracker::View& view, float colors_weight = 0.5f);
    }
  }
}
 
namespace jsk_pcl_ros
{
  class Kinfu: public jsk_topic_tools::ConnectionBasedNodelet
  {
  public:
    typedef message_filters::sync_policies::ExactTime<
      sensor_msgs::CameraInfo, sensor_msgs::Image> SyncPolicy;
    typedef message_filters::sync_policies::ApproximateTime<
      sensor_msgs::CameraInfo, sensor_msgs::Image, sensor_msgs::Image> SyncPolicyWithColor;
    typedef jsk_pcl_ros::KinfuConfig Config;
 
    Kinfu(): ConnectionBasedNodelet(), frame_idx_(0) {}
    virtual ~Kinfu();
  protected:
    virtual void onInit();
    virtual void subscribe();
    virtual void unsubscribe();
 
    void initKinfu(const sensor_msgs::CameraInfo::ConstPtr& caminfo_msg);
    void update(const sensor_msgs::CameraInfo::ConstPtr& caminfo_msg,
                const sensor_msgs::Image::ConstPtr& depth_msg);
    void update(const sensor_msgs::CameraInfo::ConstPtr& caminfo_msg,
                const sensor_msgs::Image::ConstPtr& depth_msg,
                const sensor_msgs::Image::ConstPtr& rgb_msg);
    bool resetCallback(std_srvs::Empty::Request& req, std_srvs::Empty::Response& res);
 
    boost::shared_ptr <dynamic_reconfigure::Server<Config> > srv_;
    virtual void configCallback(Config &config, uint32_t level);
 
    pcl::PolygonMesh createPolygonMesh();
    pcl::PolygonMesh createPolygonMesh(const jsk_recognition_msgs::BoundingBox& box_msg,
                                       const std::string& ground_frame_id);
    pcl::TextureMesh convertToTextureMesh(const pcl::PolygonMesh& triangles,
                                          const std::vector<cv::Mat> textures,
                                          pcl::texture_mapping::CameraVector cameras);
    bool saveMeshCallback(std_srvs::Empty::Request& req, std_srvs::Empty::Response& res);
    bool saveMeshWithContextCallback(
      jsk_recognition_msgs::SaveMesh::Request& req, jsk_recognition_msgs::SaveMesh::Response& res);
 
    boost::shared_ptr<pcl::gpu::kinfuLS::KinfuTracker> kinfu_;
    pcl::gpu::kinfuLS::MarchingCubes::Ptr marching_cubes_;
    pcl::gpu::kinfuLS::KinfuTracker::View colors_device_;
    pcl::gpu::kinfuLS::RayCaster::Ptr raycaster_;
    std::vector<cv::Mat> textures_;
    pcl::texture_mapping::CameraVector cameras_;
 
    int device_;
    bool auto_reset_;
    bool integrate_color_;
    bool slam_;
    std::string fixed_frame_id_;
    int n_textures_;
    float volume_size_;
 
    int frame_idx_;
    std::string save_dir_;
 
    boost::mutex mutex_;
 
    boost::shared_ptr<tf::TransformListener> tf_listener_;
    Eigen::Affine3f odom_init_to_kinfu_origin_;
 
    message_filters::Subscriber<sensor_msgs::CameraInfo> sub_camera_info_;
    message_filters::Subscriber<sensor_msgs::Image> sub_depth_;
    message_filters::Subscriber<sensor_msgs::Image> sub_color_;
    boost::shared_ptr<message_filters::Synchronizer<SyncPolicy> > sync_;
    boost::shared_ptr<message_filters::Synchronizer<SyncPolicyWithColor> > sync_with_color_;
 
    ros::Publisher pub_camera_pose_;
    ros::Publisher pub_cloud_;
    ros::Publisher pub_depth_;
    ros::Publisher pub_rendered_image_;
    ros::Publisher pub_status_;
 
    tf::TransformBroadcaster tf_broadcaster_;
 
    ros::ServiceServer srv_reset_;
    ros::ServiceServer srv_save_mesh_;
    ros::ServiceServer srv_save_mesh_with_context_;
 
  private:
  };
 
}  // namespace jsk_pcl_ros
 
#endif  // JSK_PCL_ROS_KINFU_H_