00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2013, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00035 /* Author: Suat Gedikli */ 00036 00037 #ifndef MOVEIT_DEPTH_SELF_FILTER_NODELET_ 00038 #define MOVEIT_DEPTH_SELF_FILTER_NODELET_ 00039 00040 #include <nodelet/nodelet.h> 00041 #include <image_transport/image_transport.h> 00042 #include <boost/shared_ptr.hpp> 00043 #include <boost/thread.hpp> 00044 #include <boost/thread/condition_variable.hpp> 00045 #include <moveit/mesh_filter/transform_provider.h> 00046 #include <moveit/mesh_filter/mesh_filter.h> 00047 #include <moveit/mesh_filter/stereo_camera_model.h> 00048 #include <cv_bridge/cv_bridge.h> 00049 00050 namespace mesh_filter 00051 { 00052 00058 class DepthSelfFiltering : public nodelet::Nodelet 00059 { 00060 public: 00062 virtual void onInit (); 00063 00064 private: 00065 ~DepthSelfFiltering (); 00066 00072 void addMeshes (mesh_filter::MeshFilter<mesh_filter::StereoCameraModel>& mesh_filter); 00073 00078 void filter (const sensor_msgs::ImageConstPtr& depth_msg, const sensor_msgs::CameraInfoConstPtr& info_msg); 00079 00084 void connectCb(); 00085 00092 void depthCb(const sensor_msgs::ImageConstPtr& depth_msg, const sensor_msgs::CameraInfoConstPtr& info_msg); 00093 00094 private: 00095 // member variables to handle ros messages 00096 boost::shared_ptr<image_transport::ImageTransport> input_depth_transport_; 00097 boost::shared_ptr<image_transport::ImageTransport> filtered_label_transport_; 00098 boost::shared_ptr<image_transport::ImageTransport> filtered_depth_transport_; 00099 boost::shared_ptr<image_transport::ImageTransport> model_depth_transport_; 00100 boost::shared_ptr<image_transport::ImageTransport> model_label_transport_; 00101 image_transport::CameraSubscriber sub_depth_image_; 00102 image_transport::CameraPublisher pub_filtered_depth_image_; 00103 image_transport::CameraPublisher pub_filtered_label_image_; 00104 image_transport::CameraPublisher pub_model_depth_image_; 00105 image_transport::CameraPublisher pub_model_label_image_; 00106 00108 boost::mutex connect_mutex_; 00109 int queue_size_; 00110 TransformProvider transform_provider_; 00111 00112 cv_bridge::CvImagePtr filtered_depth_ptr_; 00113 cv_bridge::CvImagePtr filtered_label_ptr_; 00114 cv_bridge::CvImagePtr model_depth_ptr_; 00115 cv_bridge::CvImagePtr model_label_ptr_; 00117 double near_clipping_plane_distance_; 00118 00120 double far_clipping_plane_distance_; 00121 00123 double shadow_threshold_; 00124 00126 double padding_scale_; 00127 00129 double padding_offset_; 00130 00132 boost::shared_ptr<MeshFilter<StereoCameraModel> > mesh_filter_; 00133 }; 00134 00135 } //namespace mesh_filter 00136 00137 #endif