color_laser.h

Go to the documentation of this file.

#ifndef MULTISENSE_ROS_COLOR_LASER_H
#define MULTISENSE_ROS_COLOR_LASER_H

#include <mutex>
#include <string>
#include <vector>

#include <ros/ros.h>
#include <sensor_msgs/PointCloud2.h>
#include <sensor_msgs/Image.h>
#include <sensor_msgs/CameraInfo.h>

namespace multisense_ros{

class ColorLaser
{
    public:

        ColorLaser(
            ros::NodeHandle& nh,
            const std::string &tf_prefix
        );

        ~ColorLaser() = default;

        //
        // Callbacks for subscriptions to ROS topics

        void colorImageCallback(const sensor_msgs::Image::ConstPtr& message);
        void laserPointCloudCallback(sensor_msgs::PointCloud2::Ptr message);
        void cameraInfoCallback(const sensor_msgs::CameraInfo::ConstPtr& message);

    private:

        //
        // Callback used to setup subscribers once there is a subscription
        // to the lidar_points2_color topic

        void startStreaming();
        void stopStreaming();

        //
        // Messages for local storage of sensor data

        sensor_msgs::Image       color_image_;
        sensor_msgs::CameraInfo  camera_info_;

        sensor_msgs::PointCloud2 color_laser_pointcloud_;

        //
        // Publisher for the colorized laser point cloud

        ros::Publisher color_laser_publisher_;

        //
        // Subscribers for image, point cloud, and camera info topics

        ros::Subscriber color_image_sub_;
        ros::Subscriber laser_pointcloud_sub_;
        ros::Subscriber camera_info_sub_;

        //
        // Node handle used for publishing/subscribing to topics

        ros::NodeHandle node_handle_;

        //
        // Mutex to assure callbacks don't interfere with one another

        std::mutex data_lock_;

        //
        // The number of channels in our color image

        uint8_t image_channels_;

        //
        // The TF prefix to publish laser point clouds with

        std::string tf_prefix_;
};

}// namespace

#endif