Program Listing for File point_cloud_xyzrgb_radial.hpp

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// Copyright (c) 2008, Willow Garage, Inc.
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#ifndef DEPTH_IMAGE_PROC__POINT_CLOUD_XYZRGB_RADIAL_HPP_
#define DEPTH_IMAGE_PROC__POINT_CLOUD_XYZRGB_RADIAL_HPP_

#include <array>
#include <memory>
#include <mutex>
#include <vector>

#include "depth_image_proc/visibility.h"
#include "image_geometry/pinhole_camera_model.h"
#include "message_filters/subscriber.h"
#include "message_filters/synchronizer.h"
#include "message_filters/sync_policies/exact_time.h"
#include "message_filters/sync_policies/approximate_time.h"

#include <opencv2/core/mat.hpp>
#include <rclcpp/rclcpp.hpp>
#include <image_transport/image_transport.hpp>
#include <image_transport/subscriber_filter.hpp>
#include <sensor_msgs/image_encodings.hpp>
#include <sensor_msgs/msg/camera_info.hpp>
#include <sensor_msgs/msg/image.hpp>
#include <sensor_msgs/msg/point_cloud2.hpp>

namespace depth_image_proc
{

class PointCloudXyzrgbRadialNode : public rclcpp::Node
{
public:
  DEPTH_IMAGE_PROC_PUBLIC PointCloudXyzrgbRadialNode(const rclcpp::NodeOptions & options);

private:
  using PointCloud2 = sensor_msgs::msg::PointCloud2;
  using Image = sensor_msgs::msg::Image;
  using CameraInfo = sensor_msgs::msg::CameraInfo;

  // Subscriptions
  image_transport::SubscriberFilter sub_depth_, sub_rgb_;
  message_filters::Subscriber<CameraInfo> sub_info_;
  using SyncPolicy =
    message_filters::sync_policies::ApproximateTime<Image, Image, CameraInfo>;
  using ExactSyncPolicy =
    message_filters::sync_policies::ExactTime<Image, Image, CameraInfo>;
  using Synchronizer = message_filters::Synchronizer<SyncPolicy>;
  using ExactSynchronizer = message_filters::Synchronizer<ExactSyncPolicy>;
  std::unique_ptr<Synchronizer> sync_;
  std::unique_ptr<ExactSynchronizer> exact_sync_;

  // Publications
  std::mutex connect_mutex_;
  rclcpp::Publisher<PointCloud2>::SharedPtr pub_point_cloud_;

  std::vector<double> D_;
  std::array<double, 9> K_;

  uint32_t width_;
  uint32_t height_;

  cv::Mat transform_;

  image_geometry::PinholeCameraModel model_;

  void connectCb();

  void imageCb(
    const Image::ConstSharedPtr & depth_msg,
    const Image::ConstSharedPtr & rgb_msg,
    const CameraInfo::ConstSharedPtr & info_msg);
};

}  // namespace depth_image_proc

#endif  // DEPTH_IMAGE_PROC__POINT_CLOUD_XYZRGB_RADIAL_HPP_