but_depthtexture.h

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/******************************************************************************
 * \file
 *
 * $Id:$
 *
 * Copyright (C) Brno University of Technology
 *
 * This file is part of software developed by dcgm-robotics@FIT group.
 *
 * Author: Vit Stancl (stancl@fit.vutbr.cz)
 * Supervised by: Michal Spanel (spanel@fit.vutbr.cz)
 * Date: dd/mm/2011
 *
 * This file is free software: you can redistribute it and/or modify
 * it under the terms of the GNU Lesser General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * This file is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU Lesser General Public License for more details.
 *
 * You should have received a copy of the GNU Lesser General Public License
 * along with this file.  If not, see <http://www.gnu.org/licenses/>.
 */

#pragma once
#ifndef but_depthtexture_H_included
#define but_depthtexture_H_included

#include <ros/ros.h>
#include <image_transport/image_transport.h>
#include <sensor_msgs/image_encodings.h>
#include <but_rostexture.h>
#include <cv_bridge/cv_bridge.h>
#include <OGRE/OgreMatrix4.h>
#include <image_geometry/pinhole_camera_model.h>

namespace srs_ui_but
{

namespace enc = sensor_msgs::image_encodings;

class CDepthImageConvertor
{
public:
        CDepthImageConvertor(const ros::NodeHandle& nh, const std::string & topic);

        ~CDepthImageConvertor();

        sensor_msgs::ImagePtr & getSensorMsgsImage() { return m_depth_msg; }

        boost::mutex & getMutexLock() { return m_mutex; }

        bool hasData() { return m_counter > 0; }

        void setTopic(const std::string& topic);

        std::string getTopic() { return m_topic; }

        void setMatrix( const Ogre::Matrix4 & m ) { m_projectionMatrix = m; }

        void  setCameraModel(const sensor_msgs::CameraInfo& msg);

protected:
        void depthCb(const sensor_msgs::ImageConstPtr& raw_msg);

        virtual bool convertDepth(const sensor_msgs::ImageConstPtr& raw_msg);

        virtual bool convertDepth16(const sensor_msgs::ImageConstPtr& raw_msg);

        virtual bool convertDepth16UC1(const sensor_msgs::ImageConstPtr& raw_msg);

        virtual bool convertDepth8(const sensor_msgs::ImageConstPtr& raw_msg);

        bool toVisible(int coord = 2);

        bool toFloat( int coord = 2);

protected:
        // Subscriptions
        boost::shared_ptr<image_transport::ImageTransport> m_it;
        image_transport::Subscriber m_sub_raw;

        image_transport::Publisher m_pub_depth, m_pub_float;

        sensor_msgs::ImagePtr m_depth_msg, m_visible_msg, m_float_msg;

        Ogre::Vector4 m_min_range, m_max_range;

        std::string m_msg_encoding;
        std::string m_visible_encoding;

        boost::mutex m_mutex;

        long m_counter;

        std::string m_topic;

        image_transport::TransportHints m_hints;

        Ogre::Matrix4 m_projectionMatrix;

        image_geometry::PinholeCameraModel m_camera_model;

        bool m_bCamModelInitialized;

}; // class CDepthImageConvertor


class CRosDepthTexture : public CDepthImageConvertor
{
public:
        CRosDepthTexture( const ros::NodeHandle& nh, const std::string & texture_name, const std::string& topic_name,  const std::string & encoding, bool bStaticTexture = false );

        const Ogre::TexturePtr& getTexture() { return m_texture_converter.getOgreTexture(); }

        void clear();

protected:
        virtual bool convertDepth(const sensor_msgs::ImageConstPtr& raw_msg);

protected:
        CRosTextureConverter m_texture_converter;



}; // class CRosDepthTexture

} // namespace srs_ui_but

//but_depthtexture_H_included
#endif