laserFromPointCloud.h

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/*
 * Copyright (C) 2006-2020 Istituto Italiano di Tecnologia (IIT)
 *
 * This library is free software; you can redistribute it and/or
 * modify it under the terms of the GNU Lesser General Public
 * License as published by the Free Software Foundation; either
 * version 2.1 of the License, or (at your option) any later version.
 *
 * This library is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 * Lesser General Public License for more details.
 *
 * You should have received a copy of the GNU Lesser General Public
 * License along with this library; if not, write to the Free Software
 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
 */
 
#ifndef LASER_FROM_POINTCLOUDS_H
#define LASER_FROM_POINTCLOUDS_H
 
#include <yarp/os/PeriodicThread.h>
#include <yarp/os/Semaphore.h>
#include <yarp/dev/ControlBoardInterfaces.h>
#include <yarp/dev/IRangefinder2D.h>
#include <yarp/dev/PolyDriver.h>
#include <yarp/sig/Vector.h>
#include <yarp/sig/IntrinsicParams.h>
#include <yarp/sig/PointCloud.h>
#include <yarp/sig/PointCloudUtils.h>
#include <yarp/sig/Vector.h>
#include <yarp/dev/IRGBDSensor.h>
#include <yarp/dev/Lidar2DDeviceBase.h>
#include <yarp/dev/IFrameTransform.h>
 
#include <mutex>
#include <string>
#include <vector>
 
using namespace yarp::os;
using namespace yarp::dev;
 
typedef unsigned char byte;
 
//---------------------------------------------------------------------------------------------------------------
class LaserFromPointCloud : public PeriodicThread, public yarp::dev::Lidar2DDeviceBase, public DeviceDriver
{
protected:
    PolyDriver m_rgbd_driver;
    IRGBDSensor* m_iRGBD = nullptr;
 
    PolyDriver m_tc_driver;
    IFrameTransform* m_iTc = nullptr;
 
    size_t m_depth_width = 0;
    size_t m_depth_height = 0;
    yarp::os::Property m_propIntrinsics;
    yarp::sig::IntrinsicParams m_intrinsics;
    yarp::sig::ImageOf<float> m_depth_image;
 
    //point cloud
    size_t m_pc_stepx = 0;
    size_t m_pc_stepy = 0;
    yarp::sig::utils::PCL_ROI m_pc_roi;
 
    //frames and point cloud clipping planes
    bool   m_publish_ros_pc;
    std::string m_ground_frame_id;
    std::string m_camera_frame_id;
    double m_floor_height;
    double m_ceiling_height;
    double m_pointcloud_max_distance;
    yarp::sig::Matrix m_transform_mtrx;
 
public:
    LaserFromPointCloud(double period = 0.01) : PeriodicThread(period),
        Lidar2DDeviceBase()
    {}
 
    ~LaserFromPointCloud()
    {
    }
 
    bool open(yarp::os::Searchable& config) override;
    bool close() override;
    bool threadInit() override;
    void threadRelease() override;
    void run() override;
 
public:
    //IRangefinder2D interface
    bool setDistanceRange    (double min, double max) override;
    bool setScanLimits        (double min, double max) override;
    bool setHorizontalResolution      (double step) override;
    bool setScanRate         (double rate) override;
};
 
#endif