zyonz_tof_color_driver_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 _zyonz_tof_color_driver_node_h_
#define _zyonz_tof_color_driver_node_h_

#include <iri_base_driver/iri_base_driver_node.h>
#include "zyonz_tof_color_driver.h"

#include <iostream>
#include <string>
//#include <sstream>
#include <fstream>

//operacions amb matrius
#include <Eigen/Core>
//#include <Eigen/Array> // Not required anymore
// import most common Eigen types 
using namespace Eigen;

// [publisher subscriber headers]
#include <sensor_msgs/Image.h>
#include <sensor_msgs/PointCloud2.h>

// [service client headers]
#include <std_srvs/Empty.h>

// [action server client headers]

class ZyonzTofColorDriverNode : public iri_base_driver::IriBaseNodeDriver<ZyonzTofColorDriver>
{
  private:
    // [publisher attributes]
    ros::Publisher cloud2_raw_publisher_;
    sensor_msgs::PointCloud2 PointCloud2_msg_;

    // [subscriber attributes]
    ros::Subscriber input_intens_subscriber_;
    void input_intens_callback(const sensor_msgs::Image::ConstPtr& msg);
    CMutex input_intens_mutex_;
    ros::Subscriber image_subscriber_;
    void image_callback(const sensor_msgs::Image::ConstPtr& msg);
    CMutex image_mutex_;
    
    ros::Subscriber pointCloud_subscriber_;
    void pointCloud_callback(const sensor_msgs::PointCloud2::ConstPtr& msg);
    CMutex pointCloud_mutex_;

    // [service attributes]
    ros::ServiceServer saveImage_server_;
    bool saveImageCallback(std_srvs::Empty::Request &req, std_srvs::Empty::Response &res);
    CMutex saveImage_mutex_;

    // [client attributes]

    // [action server attributes]

    // [action client attributes]

    void postNodeOpenHook(void);
        //matrius de calibratge
    Matrix3f K_; 
    Matrix4f P_; 
    //MatrixXf Z_buffer_;
    int kernel_size_; // size of the kernel used to mask the Z_buffer to account for 
                      // the different image resolutions     
    bool depth_sent_;
    bool rgb_sent_;
    bool intens_sent_;
    
    int zbuffer_threshold_;

    bool saveFile; //save the depth file
    int saveFileCounter;//save the depth file
    std::ofstream outFile;
    std::string fileName;

    
    sensor_msgs::Image::ConstPtr rgb_image_;
    sensor_msgs::Image::ConstPtr intens_image_;
    sensor_msgs::PointCloud2::ConstPtr cloud2_;
    void processRgbAndDepth();
    

  public:
    ZyonzTofColorDriverNode(ros::NodeHandle& nh);

    ~ZyonzTofColorDriverNode();

  protected:
    void mainNodeThread(void);

    // [diagnostic functions]

    void addNodeDiagnostics(void);

    // [driver test functions]

    void addNodeOpenedTests(void);

    void addNodeStoppedTests(void);

    void addNodeRunningTests(void);

    void reconfigureNodeHook(int level);

};

#endif