00001 // -*- mode: C++ -*- 00002 /********************************************************************* 00003 * Software License Agreement (BSD License) 00004 * 00005 * Copyright (c) 2014, JSK Lab 00006 * All rights reserved. 00007 * 00008 * Redistribution and use in source and binary forms, with or without 00009 * modification, are permitted provided that the following conditions 00010 * are met: 00011 * 00012 * * Redistributions of source code must retain the above copyright 00013 * notice, this list of conditions and the following disclaimer. 00014 * * Redistributions in binary form must reproduce the above 00015 * copyright notice, this list of conditions and the following 00016 * disclaimer in the documentation and/o2r other materials provided 00017 * with the distribution. 00018 * * Neither the name of the JSK Lab nor the names of its 00019 * contributors may be used to endorse or promote products derived 00020 * from this software without specific prior written permission. 00021 * 00022 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00023 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00024 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00025 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00026 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 * POSSIBILITY OF SUCH DAMAGE. 00034 *********************************************************************/ 00035 00036 00037 #ifndef JSK_PCL_ROS_UTILS_DEPTH_IMAGE_ERROR_H_ 00038 #define JSK_PCL_ROS_UTILS_DEPTH_IMAGE_ERROR_H_ 00039 00040 #include <ros/ros.h> 00041 #include <pcl_ros/pcl_nodelet.h> 00042 #include <sensor_msgs/Image.h> 00043 #include <geometry_msgs/PointStamped.h> 00044 #include <jsk_recognition_msgs/DepthErrorResult.h> 00045 00046 #include <message_filters/subscriber.h> 00047 #include <message_filters/time_synchronizer.h> 00048 #include <message_filters/synchronizer.h> 00049 #include <message_filters/sync_policies/approximate_time.h> 00050 #include <jsk_topic_tools/connection_based_nodelet.h> 00051 #include <sensor_msgs/CameraInfo.h> 00052 #include <string> 00053 00054 namespace jsk_pcl_ros_utils 00055 { 00056 class DepthImageError: public jsk_topic_tools::ConnectionBasedNodelet 00057 { 00058 public: 00059 typedef message_filters::sync_policies::ApproximateTime< 00060 sensor_msgs::Image, 00061 geometry_msgs::PointStamped, 00062 sensor_msgs::CameraInfo 00063 > ASyncPolicy; 00064 typedef message_filters::sync_policies::ExactTime< 00065 sensor_msgs::Image, 00066 geometry_msgs::PointStamped, 00067 sensor_msgs::CameraInfo 00068 > SyncPolicy; 00069 ros::Publisher depth_error_publisher_; 00070 protected: 00071 virtual void onInit(); 00072 virtual void calcError(const sensor_msgs::Image::ConstPtr& depth_image, 00073 const geometry_msgs::PointStamped::ConstPtr& uv_point, 00074 const sensor_msgs::CameraInfo::ConstPtr& camera_info); 00075 virtual void subscribe(); 00076 virtual void unsubscribe(); 00077 message_filters::Subscriber<sensor_msgs::Image> sub_image_; 00078 message_filters::Subscriber<geometry_msgs::PointStamped> sub_point_; 00079 message_filters::Subscriber<sensor_msgs::CameraInfo> sub_camera_info_; 00080 boost::shared_ptr<message_filters::Synchronizer<ASyncPolicy> > async_; 00081 boost::shared_ptr<message_filters::Synchronizer<SyncPolicy> > sync_; 00082 bool approximate_sync_; 00083 private: 00084 }; 00085 } 00086 00087 #endif