Program Listing for File point_cloud_xyz.hpp

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#ifndef DEPTH_IMAGE_PROC__POINT_CLOUD_XYZ_HPP_
#define DEPTH_IMAGE_PROC__POINT_CLOUD_XYZ_HPP_

#include <mutex>

#include "depth_image_proc/visibility.h"
#include "image_geometry/pinhole_camera_model.hpp"

#include <rclcpp/rclcpp.hpp>
#include <image_transport/image_transport.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>
#include <depth_image_proc/conversions.hpp>

#include <sensor_msgs/point_cloud2_iterator.hpp>

namespace depth_image_proc
{

namespace enc = sensor_msgs::image_encodings;

class PointCloudXyzNode : public rclcpp::Node
{
public:
  DEPTH_IMAGE_PROC_PUBLIC PointCloudXyzNode(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::CameraSubscriber sub_depth_;
  int queue_size_;

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

  image_geometry::PinholeCameraModel model_;

  void connectCb();

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

}  // namespace depth_image_proc

#endif  // DEPTH_IMAGE_PROC__POINT_CLOUD_XYZ_HPP_