depth_sensor_pose_node.h

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#pragma once

#include <mutex>

#include <ros/ros.h>
#include <image_transport/image_transport.h>
#include <dynamic_reconfigure/server.h>
#include <std_msgs/Float64.h>
#include <sensor_msgs/Image.h>
#include <sensor_msgs/image_encodings.h>

#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <cv_bridge/cv_bridge.h>

#include <depth_sensor_pose/DepthSensorPoseConfig.h>
#include <depth_sensor_pose/depth_sensor_pose.h>

namespace depth_sensor_pose {

class DepthSensorPoseNode
{
public:
  DepthSensorPoseNode(ros::NodeHandle& pnh);

  ~DepthSensorPoseNode();

  DepthSensorPoseNode (const DepthSensorPoseNode &) = delete;
  DepthSensorPoseNode & operator= (const DepthSensorPoseNode &) = delete;

  void setNodeRate(const float rate);
  float getNodeRate();

 protected:
  void depthCallback(const sensor_msgs::ImageConstPtr& depth_msg,
                     const sensor_msgs::CameraInfoConstPtr& info_msg);
  void connectCallback();
  void disconnectCallback();
  void reconfigureCallback(depth_sensor_pose::DepthSensorPoseConfig& config, uint32_t level);

 private:

  float node_rate_hz_{1};                 
  ros::NodeHandle pnh_;                   

  image_transport::ImageTransport it_;    
  image_transport::CameraSubscriber sub_; 

  ros::Publisher pub_height_;             
  ros::Publisher pub_angle_;              
  image_transport::Publisher pub_;        

  dynamic_reconfigure::Server<depth_sensor_pose::DepthSensorPoseConfig> dyn_rec_srv_;

  depth_sensor_pose::DepthSensorPose estimator_;

  std::mutex connection_mutex_;
};

} // namespace depth_sensor_pose