depth_odometry_wrapper.h

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/* Copyright (c) 2017, United States Government, as represented by the
 * Administrator of the National Aeronautics and Space Administration.
 *
 * All rights reserved.
 *
 * The Astrobee platform is licensed under the Apache License, Version 2.0
 * (the "License"); you may not use this file except in compliance with the
 * License. You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
 * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
 * License for the specific language governing permissions and limitations
 * under the License.
 */
#ifndef DEPTH_ODOMETRY_DEPTH_ODOMETRY_WRAPPER_H_
#define DEPTH_ODOMETRY_DEPTH_ODOMETRY_WRAPPER_H_
 
#include <depth_odometry/depth_odometry.h>
#include <depth_odometry/depth_odometry_wrapper_params.h>
#include <ff_msgs/DepthOdometry.h>
#include <localization_common/time.h>
#include <localization_common/timer.h>
#include <localization_common/timestamped_set.h>
 
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
 
#include <image_transport/image_transport.h>
 
#include <sensor_msgs/PointCloud2.h>
 
#include <string>
#include <vector>
 
namespace depth_odometry {
class DepthOdometryWrapper {
 public:
  explicit DepthOdometryWrapper(const std::string& path_prefix = "localization/");
  explicit DepthOdometryWrapper(const DepthOdometryWrapperParams& params);
  std::vector<ff_msgs::DepthOdometry> PointCloudCallback(const sensor_msgs::PointCloud2ConstPtr& point_cloud_msg);
  std::vector<ff_msgs::DepthOdometry> ImageCallback(const sensor_msgs::ImageConstPtr& image_msg);
 
 private:
  void Initialize(const DepthOdometryWrapperParams& params);
  std::vector<ff_msgs::DepthOdometry> ProcessDepthImageIfAvailable();
  std::unique_ptr<DepthOdometry> depth_odometry_;
  DepthOdometryWrapperParams params_;
  localization_common::TimestampedSet<sensor_msgs::PointCloud2ConstPtr> point_cloud_buffer_;
  localization_common::TimestampedSet<sensor_msgs::ImageConstPtr> image_buffer_;
  localization_common::Timer timer_ = localization_common::Timer("Depth Odometry");
};
}  // namespace depth_odometry
 
#endif  // DEPTH_ODOMETRY_DEPTH_ODOMETRY_WRAPPER_H_