driver.h

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/*
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2011 Willow Garage, Inc.
 *    Radu Bogdan Rusu <rusu@willowgarage.com>
 *    Suat Gedikli <gedikli@willowgarage.com>
 *    Patrick Mihelich <mihelich@willowgarage.com>
 *
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
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 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
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 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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#ifndef OPENNI_CAMERA_DRIVER_H
#define OPENNI_CAMERA_DRIVER_H

// ROS communication
#include <ros/ros.h>
#include <nodelet/nodelet.h>
#include <image_transport/image_transport.h>

// Configuration
#include <camera_info_manager/camera_info_manager.h>
#include <dynamic_reconfigure/server.h>
#include <openni_camera/OpenNIConfig.h>

// OpenNI
#include "openni_camera/openni_driver.h"

namespace openni_camera
{
  class DriverNodelet : public nodelet::Nodelet
  {
    public:
      virtual ~DriverNodelet ();
    private:
      typedef OpenNIConfig Config;
      typedef dynamic_reconfigure::Server<Config> ReconfigureServer;

      virtual void onInit ();
      void onInitImpl ();
      void setupDevice ();
      void updateModeMaps ();
      void startSynchronization ();
      void stopSynchronization ();
      void setupDeviceModes (int image_mode, int depth_mode);

      int mapXnMode2ConfigMode (const XnMapOutputMode& output_mode) const;
      XnMapOutputMode mapConfigMode2XnMode (int mode) const;

      // Callback methods
      void rgbCb(boost::shared_ptr<openni_wrapper::Image> image, void* cookie);
      void depthCb(boost::shared_ptr<openni_wrapper::DepthImage> depth_image, void* cookie);
      void irCb(boost::shared_ptr<openni_wrapper::IRImage> ir_image, void* cookie);
      void configCb(Config &config, uint32_t level);

      void rgbConnectCb();
      void depthConnectCb();
      void irConnectCb();

      // Methods to get calibration parameters for the various cameras
      sensor_msgs::CameraInfoPtr getDefaultCameraInfo(int width, int height, double f) const;
      sensor_msgs::CameraInfoPtr getRgbCameraInfo(ros::Time time) const;
      sensor_msgs::CameraInfoPtr getIrCameraInfo(ros::Time time) const;
      sensor_msgs::CameraInfoPtr getDepthCameraInfo(ros::Time time) const;
      sensor_msgs::CameraInfoPtr getProjectorCameraInfo(ros::Time time) const;

      // published topics
      image_transport::CameraPublisher pub_rgb_;
      image_transport::CameraPublisher pub_depth_, pub_depth_registered_;
      image_transport::CameraPublisher pub_ir_;
      ros::Publisher pub_projector_info_;

      // publish methods
      void publishRgbImage(const openni_wrapper::Image& image, ros::Time time) const;
      void publishDepthImage(const openni_wrapper::DepthImage& depth, ros::Time time) const;
      void publishIrImage(const openni_wrapper::IRImage& ir, ros::Time time) const;

      boost::shared_ptr<openni_wrapper::OpenNIDevice> device_;
      boost::thread init_thread_;
      boost::mutex connect_mutex_;

      boost::shared_ptr<ReconfigureServer> reconfigure_server_;
      Config config_;

      boost::shared_ptr<camera_info_manager::CameraInfoManager> rgb_info_manager_, ir_info_manager_;
      std::string rgb_frame_id_;
      std::string depth_frame_id_;
      double depth_ir_offset_x_;
      double depth_ir_offset_y_;
      int z_offset_mm_;

      unsigned image_width_;
      unsigned image_height_;
      unsigned depth_width_;
      unsigned depth_height_;

      // Counters/flags for skipping frames
      boost::mutex counter_mutex_;
      int rgb_frame_counter_;
      int depth_frame_counter_;
      int ir_frame_counter_;
      bool publish_rgb_;
      bool publish_ir_;
      bool publish_depth_;
      void checkFrameCounters();

      void watchDog(const ros::TimerEvent& event);

      double time_out_;
      ros::Time time_stamp_;
      ros::Timer watch_dog_timer_;

      struct modeComp
      {
        bool operator () (const XnMapOutputMode& mode1, const XnMapOutputMode& mode2) const
        {
          if (mode1.nXRes < mode2.nXRes)
            return true;
          else if (mode1.nXRes > mode2.nXRes)
            return false;
          else if (mode1.nYRes < mode2.nYRes)
            return true;
          else if (mode1.nYRes > mode2.nYRes)
            return false;
          else if (mode1.nFPS < mode2.nFPS)
            return true;
          else
            return false;
        }
      };
      std::map<XnMapOutputMode, int, modeComp> xn2config_map_;
      std::map<int, XnMapOutputMode> config2xn_map_;
  };
}

#endif