camera_people_detection_alg_node.h

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// Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
// Author 
// All rights reserved.
//
// This file is part of iri-ros-pkg
// iri-ros-pkg is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program.  If not, see <http://www.gnu.org/licenses/>.
// 
// IMPORTANT NOTE: This code has been generated through a script from the 
// iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
// of the scripts. ROS topics can be easly add by using those scripts. Please
// refer to the IRI wiki page for more information:
// http://wikiri.upc.es/index.php/Robotics_Lab

#ifndef _camera_people_detection_alg_node_h_
#define _camera_people_detection_alg_node_h_

//std headers
//#include <vector>

//IRI-ROS
#include <iri_base_algorithm/iri_base_algorithm.h>
#include "camera_people_detection_alg.h"

//IRI external library
#include "camera_people_detector.h"

//required headers for image I/O
//#include <ros/ros.h>
#include <image_transport/image_transport.h>
#include <cv_bridge/cv_bridge.h>
#include <sensor_msgs/image_encodings.h>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/highgui/highgui.hpp>

//other ros stuff
#include <tf/tfMessage.h>
#include <tf/transform_broadcaster.h>
#include <tf/transform_listener.h>
#include <image_geometry/pinhole_camera_model.h>

// [publisher subscriber headers]
#include <iri_perception_msgs/peopleTrackingArray.h>
#include <sensor_msgs/LaserScan.h>
#include <iri_perception_msgs/detectionArray.h>
#include <visualization_msgs/MarkerArray.h>

// [service client headers]

// [action server client headers]

#include "eventserver.h"

class CameraPeopleDetectionAlgNode : public algorithm_base::IriBaseAlgorithm<CameraPeopleDetectionAlgorithm>
{
  private:
    // [publisher attributes]
    ros::Publisher markers_publisher_;
    ros::Publisher image_detection_publisher_;
    image_transport::Publisher debug_img_publisher_;

    // [subscriber attributes]
    ros::Subscriber tracker_subscriber_;
    void tracker_callback(const iri_perception_msgs::peopleTrackingArray::ConstPtr& msg);
    CMutex tracker_mutex_;

    ros::Subscriber laser_subscriber_;
    void laser_callback(const sensor_msgs::LaserScan::ConstPtr& msg);
    CMutex laser_mutex_;

    ros::Subscriber people_detection_subscriber_;
    void people_detection_callback(const iri_perception_msgs::detectionArray::ConstPtr& msg);
    CMutex people_detection_mutex_;

    image_transport::ImageTransport it_;
    image_transport::CameraSubscriber cam_sub_;
    image_geometry::PinholeCameraModel cam_model_;
    void image_callback(const sensor_msgs::ImageConstPtr& image_msg, const sensor_msgs::CameraInfoConstPtr& info_msg);
    CMutex image_mutex_;

    // [service attributes]

    // [client attributes]

    // [action server attributes]

    // [action client attributes]
    
    //class members
    cv_bridge::CvImagePtr cv_ptr_;
    CCamera_People_Detector cam_detector_;
    sensor_msgs::LaserScan scan_;
    tf::TransformListener tf_listener_;
    iri_perception_msgs::detectionArray laser_poses_msg_;
    void filterLaserDetections(iri_perception_msgs::detectionArray & fusion_poses_msg, 
                               cv_bridge::CvImage  & img_msg);
    void fillMarkerArray(const iri_perception_msgs::detectionArray & fusion_poses_msg, 
                         visualization_msgs::MarkerArray & markerArray_msg);
    CEventServer * event_server_;
    std::string new_laser_event_id_;
    std::string new_image_event_id_;
    std::string new_tracker_event_id_;
    
    iri_perception_msgs::peopleTrackingArray tracker_msg_;

    float width_resize_;
    float height_resize_;
        double minthr_;

  public:
    CameraPeopleDetectionAlgNode(void);

    ~CameraPeopleDetectionAlgNode(void);

  protected:
    void mainNodeThread(void);

    void node_config_update(Config &config, uint32_t level);

    void addNodeDiagnostics(void);

    // [diagnostic functions]
    
    // [test functions]
};

#endif