filter_jump_edge_alg_node.cpp

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#include "filter_jump_edge_alg_node.h"

FilterJumpEdgeAlgNode::FilterJumpEdgeAlgNode(void) :
  algorithm_base::IriBaseAlgorithm<FilterJumpEdgeAlgorithm>(),
  ang_thr_(9.f),
  sx_(182.40f),
  sy_(182.91f),
  u0_(100.58f),
  v0_(94.79f),
  skw_(0.0f)
{
  //init class attributes if necessary
  //this->loop_rate_ = 2;//in [Hz]

  // Camera Intrinsic Parameters

  // [init publishers]
  residual_pc_publisher_ = public_node_handle_.advertise<sensor_msgs::PointCloud2>("residual_pc", 1);
  filtered_pc_publisher_ = public_node_handle_.advertise<sensor_msgs::PointCloud2>("filtered_pc", 1);
  residual_img_publisher_ = public_node_handle_.advertise<sensor_msgs::Image>("image/output", 1);
  
  // [init subscribers]
  camera_info_subscriber_ = public_node_handle_.subscribe("camera_info", 1, &FilterJumpEdgeAlgNode::camera_info_callback, this);
  pcl_input_subscriber_ = public_node_handle_.subscribe("input", 1, &FilterJumpEdgeAlgNode::pcl_input_callback, this);
  
  // [init services]
  apply_jump_edge_filter_server_ = public_node_handle_.advertiseService("apply_jump_edge_filter", &FilterJumpEdgeAlgNode::apply_jump_edge_filterCallback, this);
  
  // [init clients]
  
  // [init action servers]
  
  // [init action clients]
  
  ROS_INFO("starting jump_edge_filter_node with apex_thr = %f", ang_thr_);

}

FilterJumpEdgeAlgNode::~FilterJumpEdgeAlgNode(void)
{
  // [free dynamic memory]
}

void FilterJumpEdgeAlgNode::mainNodeThread(void)
{
  // [fill msg structures]
  //this->PointCloud2_msg_.data = my_var;
  //this->Image_msg_.data = my_var;
  
  // [fill srv structure and make request to the server]
  
  // [fill action structure and make request to the action server]

  // [publish messages]
//  this->residual_pc_publisher_.publish(this->PointCloud2_msg_);
//  this->filtered_pc_publisher_.publish(this->PointCloud2_msg_);
//  this->pcl_output_publisher_.publish(this->PointCloud2_msg_);
//  this->residual_img_publisher_.publish(this->Image_msg_);
}

/*  [subscriber callbacks] */
void FilterJumpEdgeAlgNode::camera_info_callback(const sensor_msgs::CameraInfo::ConstPtr& msg) 
{ 
  //ROS_INFO("FilterJumpEdgeAlgNode::camera_info_callback: New Message Received"); 

  //use appropiate mutex to shared variables if necessary 
  alg_.lock(); 
  camera_info_mutex_.enter(); 

  sx_ = msg->K[0];
  sy_ = msg->K[4];
  u0_ = msg->K[2];
  v0_ = msg->K[5];
  skw_ = msg->K[1];

  alg_.set_sx(msg->K[0]);
  alg_.set_sy(msg->K[4]);
  alg_.set_u0(msg->K[2]);
  alg_.set_v0(msg->K[5]);
  alg_.set_skw(msg->K[1]);

  //unlock previously blocked shared variables 
  alg_.unlock(); 
  camera_info_mutex_.exit(); 
}

void FilterJumpEdgeAlgNode::pcl_input_callback(const sensor_msgs::PointCloud2::ConstPtr& msg) 
{ 
  //ROS_INFO("FilterJumpEdgeAlgNode::pcl_input_callback: New Message Received"); 
  //ROS_INFO("FilterJumpEdgeAlgNode::pcl_input_callback: sx(%f), sy(%f), u0(%f), v0(%f), skw(%f).", sx_, sy_, u0_, v0_, skw_); 

  //use appropiate mutex to shared variables if necessary 
  alg_.lock(); 
  pcl_input_mutex_.enter(); 
  
  if(!alg_.apply_jump_edge_filter(msg))
  {
    ROS_INFO("FilterJumpEdgeAlgNode::pcl_input_callback: ERROR: alg is not on run mode yet.");
  }

  filtered_pc_publisher_.publish(*alg_.get_filtered_pc());
  residual_pc_publisher_.publish(*alg_.get_residual_pc());
  residual_img_publisher_.publish(*alg_.get_residual_img());

  //unlock previously blocked shared variables 
  alg_.unlock(); 
  pcl_input_mutex_.exit();
  
  // [publish messages]

}

/*  [service callbacks] */
bool FilterJumpEdgeAlgNode::apply_jump_edge_filterCallback(iri_filter_jump_edge::ApplyPointCloudFilter::Request &req, iri_filter_jump_edge::ApplyPointCloudFilter::Response &res) 
{ 
  ROS_INFO("FilterJumpEdgeAlgNode::apply_jump_edge_filterCallback: New Request Received!"); 

  //use appropiate mutex to shared variables if necessary 
  alg_.lock(); 
  apply_jump_edge_filter_mutex_.enter(); 
  
  sensor_msgs::PointCloud2::ConstPtr point_cloud_ConstPtr;
  point_cloud_ConstPtr = boost::make_shared<sensor_msgs::PointCloud2>(req.input_pc);
  
  if(!alg_.apply_jump_edge_filter(point_cloud_ConstPtr))
  {
    ROS_INFO("FilterJumpEdgeAlgNode::apply_jump_edge_filterCallback: ERROR: alg is not on run mode yet.");
  }

  res.filtered_pc = *alg_.get_filtered_pc();
  res.residual_pc = *alg_.get_residual_pc();
  res.residual_img = *alg_.get_residual_img();
  
  filtered_pc_publisher_.publish(*alg_.get_filtered_pc());
  residual_pc_publisher_.publish(*alg_.get_residual_pc());
  residual_img_publisher_.publish(*alg_.get_residual_img());

  //unlock previously blocked shared variables 
  alg_.unlock(); 
  apply_jump_edge_filter_mutex_.exit(); 

  return true; 
}

/*  [action callbacks] */

/*  [action requests] */

void FilterJumpEdgeAlgNode::node_config_update(Config &config, uint32_t level)
{
  alg_.lock();
  ang_thr_ = config.ang_thr;
  alg_.set_ang_thr(config.ang_thr);
  alg_.unlock();
}

void FilterJumpEdgeAlgNode::addNodeDiagnostics(void)
{
}

/* main function */
int main(int argc,char *argv[])
{
  return algorithm_base::main<FilterJumpEdgeAlgNode>(argc, argv, "filter_jump_edge_alg_node");
}