depth_image_octomap_updater.h

Go to the documentation of this file.

/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2013, Willow Garage, Inc.
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * 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.
 *   * Neither the name of Willow Garage 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 THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "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 THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS 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.
 *********************************************************************/
 
/* Author: Ioan Sucan */
 
#pragma once
 
#include <rclcpp/rclcpp.hpp>
#include <tf2_ros/buffer.h>
#include <moveit/occupancy_map_monitor/occupancy_map_updater.h>
#include <moveit/mesh_filter/mesh_filter.h>
#include <moveit/mesh_filter/stereo_camera_model.h>
#include <moveit/lazy_free_space_updater/lazy_free_space_updater.h>
#include <image_transport/image_transport.hpp>
#include <memory>
 
namespace occupancy_map_monitor
{
class DepthImageOctomapUpdater : public OccupancyMapUpdater
{
public:
  DepthImageOctomapUpdater();
  ~DepthImageOctomapUpdater() override;
 
  bool setParams(const std::string& name_space) override;
  bool initialize(const rclcpp::Node::SharedPtr& node) override;
  void start() override;
  void stop() override;
  ShapeHandle excludeShape(const shapes::ShapeConstPtr& shape) override;
  void forgetShape(ShapeHandle handle) override;
 
private:
  void depthImageCallback(const sensor_msgs::msg::Image::ConstSharedPtr& depth_msg,
                          const sensor_msgs::msg::CameraInfo::ConstSharedPtr& info_msg);
  bool getShapeTransform(mesh_filter::MeshHandle h, Eigen::Isometry3d& transform) const;
 
  rclcpp::Node::SharedPtr node_;
  std::shared_ptr<tf2_ros::Buffer> tf_buffer_;
  std::unique_ptr<image_transport::ImageTransport> input_depth_transport_;
  std::unique_ptr<image_transport::ImageTransport> model_depth_transport_;
  std::unique_ptr<image_transport::ImageTransport> filtered_depth_transport_;
  std::unique_ptr<image_transport::ImageTransport> filtered_label_transport_;
 
  image_transport::CameraSubscriber sub_depth_image_;
  image_transport::CameraPublisher pub_model_depth_image_;
  image_transport::CameraPublisher pub_filtered_depth_image_;
  image_transport::CameraPublisher pub_filtered_label_image_;
 
  // Initialize clock type to RCL_ROS_TIME to prevent exception about time sources mismatch
  rclcpp::Time last_update_time_ = rclcpp::Time(0, 0, RCL_ROS_TIME);
 
  std::string filtered_cloud_topic_;
  std::string ns_;
  std::string sensor_type_;
  std::string image_topic_;
  std::size_t queue_size_;
  double near_clipping_plane_distance_;
  double far_clipping_plane_distance_;
  double shadow_threshold_;
  double padding_scale_;
  double padding_offset_;
  double max_update_rate_;
  unsigned int skip_vertical_pixels_;
  unsigned int skip_horizontal_pixels_;
 
  unsigned int image_callback_count_;
  double average_callback_dt_;
  unsigned int good_tf_;
  unsigned int failed_tf_;
 
  std::unique_ptr<mesh_filter::MeshFilter<mesh_filter::StereoCameraModel> > mesh_filter_;
  std::unique_ptr<LazyFreeSpaceUpdater> free_space_updater_;
 
  std::vector<double> x_cache_, y_cache_;
  double inv_fx_, inv_fy_, K0_, K2_, K4_, K5_;
  std::vector<unsigned int> filtered_labels_;
  rclcpp::Time last_depth_callback_start_;
  rclcpp::Logger logger_;
};
}  // namespace occupancy_map_monitor