octomap_filter_raycast.h

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/******************************************************************************
 * \file
 *
 * $Id:$
 *
 * Copyright (C) Brno University of Technology
 *
 * This file is part of software developed by dcgm-robotics@FIT group.
 *
 * Author: Vit Stancl (stancl@fit.vutbr.cz)
 * Supervised by: Michal Spanel (spanel@fit.vutbr.cz)
 * Date: dd/mm/2012
 *
 * This file 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 file 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 file.  If not, see <http://www.gnu.org/licenses/>.
 */

#pragma once
#ifndef OCTOMAP_FILTER_RAYCAST_H_
#define OCTOMAP_FILTER_RAYCAST_H_

#include "octomap_filter_base.h"
#include <tf/transform_listener.h>
#include <sensor_msgs/CameraInfo.h>
#include <image_geometry/pinhole_camera_model.h>
#include <pcl/filters/voxel_grid.h>

namespace srs_env_model
{

class COcFilterRaycast : public COcTreeFilterBase
{
public:
        COcFilterRaycast(const std::string & octree_frame_id, ERunMode mode = FILTER_ALLWAYS);

        virtual void init(ros::NodeHandle & node_handle);

        void setCloud(tPointCloudConstPtr cloud);

        virtual void writeLastRunInfo();

protected:
        virtual void filterInternal( tButServerOcTree & tree );

        void cameraInfoCB(const sensor_msgs::CameraInfo::ConstPtr &cam_info);

        octomap::point3d getSensorOrigin(const std_msgs::Header& sensor_header);

        bool inSensorCone(const cv::Point2d& uv) const;

        bool isOccludedMap(const octomap::point3d& sensor_origin, const octomap::point3d& p, double resolution, tButServerOcTree & tree) const;

        void computeBBX(const std_msgs::Header& sensor_header, octomap::point3d& bbx_min, octomap::point3d& bbx_max);

protected:
        std_msgs::Header m_sensor_header;

        bool m_bFilterInitialized;

        tf::TransformListener m_tfListener;

        int m_camera_stereo_offset_left, m_camera_stereo_offset_right;

        cv::Size m_camera_size;

        image_geometry::PinholeCameraModel m_camera_model;

        bool m_bCamModelInitialized;

        boost::mutex m_lockCamera;

        boost::mutex m_lockData;

        std::string m_camera_info_topic;

        ros::Subscriber m_ciSubscriber;

        tPointCloudConstPtr m_cloudPtr;

        long m_numLeafsRemoved;

        long m_numLeafsOutOfCone;

        octomap::point3d m_sensor_origin;

        ros::Publisher marker_pub_;

        ros::Publisher grid_pub_;

        pcl::VoxelGrid<tPclPoint> m_vgfilter;

        tPointCloud::Ptr m_filtered_cloud;

        float m_miss_speedup;

}; // class COcFilterRaycast

} // namespace srs_env_model

#endif /* OCTOMAP_FILTER_RAYCAST_H_ */