depth_self_filter_nodelet.h
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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 {
00057 class DepthSelfFiltering : public nodelet::Nodelet
00058 {
00059 public:
00061   virtual void onInit();
00062 
00063 private:
00064   ~DepthSelfFiltering();
00065 
00071   void addMeshes(mesh_filter::MeshFilter<mesh_filter::StereoCameraModel>& mesh_filter);
00072 
00077   void filter(const sensor_msgs::ImageConstPtr& depth_msg, const sensor_msgs::CameraInfoConstPtr& info_msg);
00078 
00083   void connectCb();
00084 
00091   void depthCb(const sensor_msgs::ImageConstPtr& depth_msg, const sensor_msgs::CameraInfoConstPtr& info_msg);
00092 
00093 private:
00094   // member variables to handle ros messages
00095   boost::shared_ptr<image_transport::ImageTransport> input_depth_transport_;
00096   boost::shared_ptr<image_transport::ImageTransport> filtered_label_transport_;
00097   boost::shared_ptr<image_transport::ImageTransport> filtered_depth_transport_;
00098   boost::shared_ptr<image_transport::ImageTransport> model_depth_transport_;
00099   boost::shared_ptr<image_transport::ImageTransport> model_label_transport_;
00100   image_transport::CameraSubscriber sub_depth_image_;
00101   image_transport::CameraPublisher pub_filtered_depth_image_;
00102   image_transport::CameraPublisher pub_filtered_label_image_;
00103   image_transport::CameraPublisher pub_model_depth_image_;
00104   image_transport::CameraPublisher pub_model_label_image_;
00105 
00107   boost::mutex connect_mutex_;
00108   int queue_size_;
00109   TransformProvider transform_provider_;
00110 
00111   cv_bridge::CvImagePtr filtered_depth_ptr_;
00112   cv_bridge::CvImagePtr filtered_label_ptr_;
00113   cv_bridge::CvImagePtr model_depth_ptr_;
00114   cv_bridge::CvImagePtr model_label_ptr_;
00116   double near_clipping_plane_distance_;
00117 
00119   double far_clipping_plane_distance_;
00120 
00122   double shadow_threshold_;
00123 
00125   double padding_scale_;
00126 
00128   double padding_offset_;
00129 
00131   MeshFilter<StereoCameraModel>::Ptr mesh_filter_;
00132 };
00133 
00134 }  // namespace mesh_filter
00135 
00136 #endif


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