tuw_checkerboard_node.h

Go to the documentation of this file.

/***************************************************************************
 * Copyright (c) 2017 
 * Florian Beck <florian.beck@tuwien.ac.at>
 * Markus Bader <markus.bader@tuwien.ac.at>
 * All rights reserved.
 * 
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 * 2. 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.
 * 3. All advertising materials mentioning features or use of this software
 *    must display the following acknowledgement:
 *    This product includes software developed by the TU-Wien.
 * 4. Neither the name of the TU-Wien 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 Markus Bader ''AS IS'' AND ANY
 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 * DISCLAIMED. IN NO EVENT SHALL Markus Bader BE LIABLE FOR ANY
 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 ***************************************************************************/


#ifndef TUW_CHECKERBOARD_NODE_H
#define TUW_CHECKERBOARD_NODE_H

#include <ros/ros.h>

#include <image_geometry/pinhole_camera_model.h>
#include <image_transport/image_transport.h>

#include <tf/transform_listener.h>
#include <tf/transform_broadcaster.h>

#include <sensor_msgs/image_encodings.h>
#include <dynamic_reconfigure/server.h>
#include <marker_msgs/MarkerDetection.h>
#include <marker_msgs/FiducialDetection.h>
#include <geometry_msgs/PoseStamped.h>
#include <tuw_checkerboard/CheckerboardDetectionConfig.h>


class CheckerboardNode 
{
public:
  CheckerboardNode(); // Constructor
private:
  
  ros::NodeHandle nh_;
  ros::NodeHandle nh_private_;
  ros::Publisher pub_pose_;
  ros::Publisher pub_markers_;
  ros::Publisher pub_fiducials_;
  std::shared_ptr<tf::TransformBroadcaster> tf_broadcaster_;
  image_geometry::PinholeCameraModel cam_model_;
  image_transport::CameraSubscriber sub_cam_;
  cv::Mat image_grey_;
  cv::Mat image_rgb_;
  tuw_checkerboard::CheckerboardDetectionConfig config_;
  std::string checkerboard_frame_id_;
  marker_msgs::MarkerDetection marker_detection_;
  marker_msgs::FiducialDetection fiducial_detection_;
  std::vector<cv::Point2f> image_corners_;
  std::vector<cv::Point3f> object_corners_;
  cv::Mat_<double> intrinsic_matrix_;
  cv::Mat_<double> extrinsic_matrix_;
  cv::Mat_<double> projection_matrix_;
  tf::Transform transform_;
  
  
  void callbackCamera(const sensor_msgs::ImageConstPtr& image_msg, const sensor_msgs::CameraInfoConstPtr& info_msg);
  dynamic_reconfigure::Server<tuw_checkerboard::CheckerboardDetectionConfig>* reconfigureServer_; 
  dynamic_reconfigure::Server<tuw_checkerboard::CheckerboardDetectionConfig>::CallbackType reconfigureFnc_;
  void callbackConfig ( tuw_checkerboard::CheckerboardDetectionConfig &_config, uint32_t _level ); 
};

#endif //TUW_CHECKERBOARD_NODE_H