joint_imager.h

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#ifndef LASER_JOINT_PROCESSOR_JOINT_IMAGER_H_
#define LASER_JOINT_PROCESSOR_JOINT_IMAGER_H_

#include <opencv2/core/core.hpp>
#include <settlerlib/sorted_deque.h>
#include <joint_states_settler/deflated_joint_states.h>
#include <calibration_msgs/DenseLaserSnapshot.h>

namespace laser_joint_processor
{

class JointImager
{
public:
  JointImager();
  ~JointImager();

  bool update(const calibration_msgs::DenseLaserSnapshot& snapshot,
              const settlerlib::SortedDeque<joint_states_settler::DeflatedJointStates>& cache,
              const ros::Duration& max_interp = ros::Duration(.25));

  void displayImage(unsigned int i);
  void writeImage(unsigned int i, const std::string& filename);
  cv::Mat_<cv::Vec2f> getJointImage(unsigned int index) const;

protected:
  std::vector<cv::Mat_<cv::Vec2f> > images;

  bool interpPosition(const ros::Time& target,
                      const settlerlib::SortedDeque<joint_states_settler::DeflatedJointStates>& cache,
                      std::vector<double>& result);

  bool computeVelocity(const ros::Time& start, const ros::Time& end,
                       const settlerlib::SortedDeque<joint_states_settler::DeflatedJointStates>& cache,
                       std::vector<double>& result);

  void allocateImages(unsigned int height, unsigned int width, unsigned int channels);

};

}


#endif