depth_image_octomap_updater.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef MOVEIT_OCCUPANCY_MAP_DEPTH_IMAGE_OCCUPANCY_MAP_UPDATER_
00038 #define MOVEIT_OCCUPANCY_MAP_DEPTH_IMAGE_OCCUPANCY_MAP_UPDATER_
00039 
00040 #include <ros/ros.h>
00041 #include <tf/tf.h>
00042 #include <moveit/occupancy_map_monitor/occupancy_map_updater.h>
00043 #include <moveit/mesh_filter/mesh_filter.h>
00044 #include <moveit/mesh_filter/stereo_camera_model.h>
00045 #include <moveit/lazy_free_space_updater/lazy_free_space_updater.h>
00046 #include <image_transport/image_transport.h>
00047 #include <boost/scoped_ptr.hpp>
00048 
00049 namespace occupancy_map_monitor
00050 {
00051 class DepthImageOctomapUpdater : public OccupancyMapUpdater
00052 {
00053 public:
00054   DepthImageOctomapUpdater();
00055   virtual ~DepthImageOctomapUpdater();
00056 
00057   virtual bool setParams(XmlRpc::XmlRpcValue& params);
00058   virtual bool initialize();
00059   virtual void start();
00060   virtual void stop();
00061   virtual ShapeHandle excludeShape(const shapes::ShapeConstPtr& shape);
00062   virtual void forgetShape(ShapeHandle handle);
00063 
00064 private:
00065   void depthImageCallback(const sensor_msgs::ImageConstPtr& depth_msg, const sensor_msgs::CameraInfoConstPtr& info_msg);
00066   bool getShapeTransform(mesh_filter::MeshHandle h, Eigen::Affine3d& transform) const;
00067   void stopHelper();
00068 
00069   ros::NodeHandle nh_;
00070   boost::shared_ptr<tf::Transformer> tf_;
00071   image_transport::ImageTransport input_depth_transport_;
00072   image_transport::ImageTransport model_depth_transport_;
00073   image_transport::ImageTransport filtered_depth_transport_;
00074   image_transport::ImageTransport filtered_label_transport_;
00075 
00076   image_transport::CameraSubscriber sub_depth_image_;
00077   image_transport::CameraPublisher pub_model_depth_image_;
00078   image_transport::CameraPublisher pub_filtered_depth_image_;
00079   image_transport::CameraPublisher pub_filtered_label_image_;
00080 
00081   std::string filtered_cloud_topic_;
00082   std::string sensor_type_;
00083   std::string image_topic_;
00084   std::size_t queue_size_;
00085   double near_clipping_plane_distance_;
00086   double far_clipping_plane_distance_;
00087   double shadow_threshold_;
00088   double padding_scale_;
00089   double padding_offset_;
00090   unsigned int skip_vertical_pixels_;
00091   unsigned int skip_horizontal_pixels_;
00092 
00093   unsigned int image_callback_count_;
00094   double average_callback_dt_;
00095   unsigned int good_tf_;
00096   unsigned int failed_tf_;
00097 
00098   boost::scoped_ptr<mesh_filter::MeshFilter<mesh_filter::StereoCameraModel> > mesh_filter_;
00099   boost::scoped_ptr<LazyFreeSpaceUpdater> free_space_updater_;
00100 
00101   std::vector<float> x_cache_, y_cache_;
00102   double inv_fx_, inv_fy_, K0_, K2_, K4_, K5_;
00103   std::vector<unsigned int> filtered_labels_;
00104   ros::WallTime last_depth_callback_start_;
00105 };
00106 }
00107 
00108 #endif


perception
Author(s): Ioan Sucan , Jon Binney , Suat Gedikli
autogenerated on Mon Apr 23 2018 10:25:10