74 void filter(
const sensor_msgs::ImageConstPtr& depth_msg,
const sensor_msgs::CameraInfoConstPtr& info_msg);
88 void depthCb(
const sensor_msgs::ImageConstPtr& depth_msg,
const sensor_msgs::CameraInfoConstPtr& info_msg);
92 std::shared_ptr<image_transport::ImageTransport> input_depth_transport_;
93 std::shared_ptr<image_transport::ImageTransport> filtered_label_transport_;
94 std::shared_ptr<image_transport::ImageTransport> filtered_depth_transport_;
95 std::shared_ptr<image_transport::ImageTransport> model_depth_transport_;
96 std::shared_ptr<image_transport::ImageTransport> model_label_transport_;
97 image_transport::CameraSubscriber sub_depth_image_;
98 image_transport::CameraPublisher pub_filtered_depth_image_;
99 image_transport::CameraPublisher pub_filtered_label_image_;
100 image_transport::CameraPublisher pub_model_depth_image_;
101 image_transport::CameraPublisher pub_model_label_image_;
104 std::mutex connect_mutex_;
107 std::shared_ptr<cv_bridge::CvImage> filtered_depth_ptr_;
108 std::shared_ptr<cv_bridge::CvImage> filtered_label_ptr_;
109 std::shared_ptr<cv_bridge::CvImage> model_depth_ptr_;
110 std::shared_ptr<cv_bridge::CvImage> model_label_ptr_;
112 double near_clipping_plane_distance_;
115 double far_clipping_plane_distance_;
118 double shadow_threshold_;
121 double padding_scale_;
124 double padding_offset_;