depth_image_octomap_updater.hpp

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/* Author: Ioan Sucan */
 
#pragma once
 
#include <rclcpp/rclcpp.hpp>
#include <rclcpp/version.h>
// For Rolling, Kilted, and newer
#if RCLCPP_VERSION_GTE(29, 6, 0)
#include <tf2_ros/buffer.hpp>
// For Jazzy and older
#else
#include <tf2_ros/buffer.h>
#endif
#include <moveit/occupancy_map_monitor/occupancy_map_updater.hpp>
#include <moveit/mesh_filter/mesh_filter.hpp>
#include <moveit/mesh_filter/stereo_camera_model.hpp>
#include <moveit/lazy_free_space_updater/lazy_free_space_updater.hpp>
#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