colorize_distance_from_plane.h

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// -*- mode: c++ -*-
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#ifndef JSK_PCL_ROS_UTILS_COLORIZE_DISTANCE_FROM_PLANE_H_
#define JSK_PCL_ROS_UTILS_COLORIZE_DISTANCE_FROM_PLANE_H_

#include <pcl_ros/pcl_nodelet.h>
#include <message_filters/subscriber.h>
#include <message_filters/time_synchronizer.h>
#include <message_filters/synchronizer.h>

#include <sensor_msgs/PointCloud2.h>
#include <jsk_recognition_msgs/ClusterPointIndices.h>
#include <jsk_recognition_msgs/ModelCoefficientsArray.h>
#include <jsk_recognition_msgs/PolygonArray.h>
#include <dynamic_reconfigure/server.h>
#include <jsk_pcl_ros_utils/ColorizeDistanceFromPlaneConfig.h>
#include "jsk_recognition_utils/geo_util.h"
#include "jsk_topic_tools/connection_based_nodelet.h"

namespace jsk_pcl_ros_utils
{
  class ColorizeDistanceFromPlane: public jsk_topic_tools::ConnectionBasedNodelet
  {
  public:
    typedef pcl::PointXYZRGB PointT;
    typedef boost::shared_ptr<ColorizeDistanceFromPlane> Ptr;
    typedef message_filters::sync_policies::ExactTime<
      sensor_msgs::PointCloud2,
      jsk_recognition_msgs::ModelCoefficientsArray,
      jsk_recognition_msgs::PolygonArray
      > SyncPolicy;
    typedef ColorizeDistanceFromPlaneConfig Config;
  protected:
    // methods
    virtual void onInit();
    
    virtual void colorize(const sensor_msgs::PointCloud2::ConstPtr& cloud,
                          const jsk_recognition_msgs::ModelCoefficientsArray::ConstPtr& coefficients,
                          const jsk_recognition_msgs::PolygonArray::ConstPtr& polygons);

    virtual double distanceToConvexes(
      const PointT& p, const std::vector<jsk_recognition_utils::ConvexPolygon::Ptr>& convexes);
    
    virtual uint32_t colorForDistance(const double d);
    
    virtual void configCallback(Config &config, uint32_t level);

    virtual void subscribe();
    virtual void unsubscribe();
    
    // ROS variabels
    ros::Publisher pub_;
    boost::shared_ptr<message_filters::Synchronizer<SyncPolicy> >sync_;
    message_filters::Subscriber<sensor_msgs::PointCloud2> sub_input_;
    message_filters::Subscriber<jsk_recognition_msgs::ModelCoefficientsArray> sub_coefficients_;
    message_filters::Subscriber<jsk_recognition_msgs::PolygonArray> sub_polygons_;
    boost::shared_ptr <dynamic_reconfigure::Server<Config> > srv_;
    boost::mutex mutex_;
    
    // varibales to configure colorization
    double max_distance_;
    double min_distance_;
    bool only_projectable_;
    
  private:
    
  };
}

#endif