depth_layer.h

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/*
 * Copyright (c) 2015-2016, Fetch Robotics Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
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 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Fetch Robotics Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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 */

// Author: Anuj Pasricha, Michael Ferguson

#ifndef FETCH_DEPTH_LAYER_DEPTH_LAYER_H
#define FETCH_DEPTH_LAYER_DEPTH_LAYER_H

#include <boost/thread/mutex.hpp>
#include <boost/shared_ptr.hpp>
#include <costmap_2d/voxel_layer.h>
#include <cv_bridge/cv_bridge.h>
#include <image_transport/image_transport.h>
#include <sensor_msgs/image_encodings.h>
#include <tf/message_filter.h>
#include <message_filters/subscriber.h>

#if CV_MAJOR_VERSION == 3
  #include <opencv2/rgbd.hpp>
  using cv::rgbd::DepthCleaner;
  using cv::rgbd::RgbdNormals;
  using cv::rgbd::RgbdPlane;
  using cv::rgbd::depthTo3d;
#else
  #include <opencv2/rgbd/rgbd.hpp>
  using cv::DepthCleaner;
  using cv::RgbdNormals;
  using cv::RgbdPlane;
  using cv::depthTo3d;
#endif

namespace costmap_2d
{

class FetchDepthLayer : public VoxelLayer
{
public:
  FetchDepthLayer();

  virtual ~FetchDepthLayer();

  virtual void onInitialize();

private:
  void cameraInfoCallback(
    const sensor_msgs::CameraInfo::ConstPtr& msg);
  void depthImageCallback(
    const sensor_msgs::Image::ConstPtr& msg);

  boost::shared_ptr<costmap_2d::ObservationBuffer> marking_buf_;
  boost::shared_ptr<costmap_2d::ObservationBuffer> clearing_buf_;

  // should we publish the marking/clearing observations
  bool publish_observations_;

  // distance away from ground plane at which
  // something is considered an obstacle
  double observations_threshold_;

  // should we dynamically find the ground plane?
  bool find_ground_plane_;

  // if finding ground plane, limit the tilt
  // with respect to base_link frame
  double ground_threshold_;

  // should NANs be treated as +inf and used for clearing
  bool clear_nans_;

  // skipping of potentially noisy rays near the edge of the image
  int skip_rays_bottom_;
  int skip_rays_top_;
  int skip_rays_left_;
  int skip_rays_right_;

  // should skipped edge rays be used for clearing?
  bool clear_with_skipped_rays_;

  // retrieves depth image from head_camera
  // used to fit ground plane to
  boost::shared_ptr< message_filters::Subscriber<sensor_msgs::Image> > depth_image_sub_;
  boost::shared_ptr< tf::MessageFilter<sensor_msgs::Image> > depth_image_filter_;

  // retrieves camera matrix for head_camera
  // used in calculating ground plane
  ros::Subscriber camera_info_sub_;

  // publishes clearing observations
  ros::Publisher clearing_pub_;

  // publishes marking observations
  ros::Publisher marking_pub_;

  // camera intrinsics
  boost::mutex mutex_K_;
  cv::Mat K_;

  // clean the depth image
  cv::Ptr<DepthCleaner> depth_cleaner_;

  // depth image estimation
  cv::Ptr<RgbdNormals> normals_estimator_;
  cv::Ptr<RgbdPlane> plane_estimator_;
};

}  // namespace costmap_2d

#endif  // FETCH_DEPTH_LAYER_DEPTH_LAYER_H