depth_image_error.h

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// -*- mode: C++ -*-
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#ifndef JSK_PCL_ROS_UTILS_DEPTH_IMAGE_ERROR_H_
#define JSK_PCL_ROS_UTILS_DEPTH_IMAGE_ERROR_H_
 
#include <ros/ros.h>
#include <pcl_ros/pcl_nodelet.h>
#include <sensor_msgs/Image.h>
#include <geometry_msgs/PointStamped.h>
#include <jsk_recognition_msgs/DepthErrorResult.h>
 
#include <message_filters/subscriber.h>
#include <message_filters/time_synchronizer.h>
#include <message_filters/synchronizer.h>
#include <message_filters/sync_policies/approximate_time.h>
#include <jsk_topic_tools/connection_based_nodelet.h>
#include <sensor_msgs/CameraInfo.h>
#include <string>
 
namespace jsk_pcl_ros_utils
{
  class DepthImageError: public jsk_topic_tools::ConnectionBasedNodelet
  {
  public:
    typedef message_filters::sync_policies::ApproximateTime<
    sensor_msgs::Image,
    geometry_msgs::PointStamped,
    sensor_msgs::CameraInfo
     > ASyncPolicy;
    typedef message_filters::sync_policies::ExactTime<
    sensor_msgs::Image,
    geometry_msgs::PointStamped,
    sensor_msgs::CameraInfo
     > SyncPolicy;
    ros::Publisher depth_error_publisher_;
    virtual ~DepthImageError();
  protected:
    virtual void onInit();
    virtual void calcError(const sensor_msgs::Image::ConstPtr& depth_image,
                           const geometry_msgs::PointStamped::ConstPtr& uv_point,
                           const sensor_msgs::CameraInfo::ConstPtr& camera_info);
    virtual void subscribe();
    virtual void unsubscribe();
    message_filters::Subscriber<sensor_msgs::Image> sub_image_;
    message_filters::Subscriber<geometry_msgs::PointStamped> sub_point_;
    message_filters::Subscriber<sensor_msgs::CameraInfo> sub_camera_info_;
    boost::shared_ptr<message_filters::Synchronizer<ASyncPolicy> > async_;
    boost::shared_ptr<message_filters::Synchronizer<SyncPolicy> > sync_;
    bool approximate_sync_;
  private:
  };
}
 
#endif