lk_optical_flow_nodelet.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 LK_OPTICAL_FLOW_LK_OPTICAL_FLOW_NODELET_H_
#define LK_OPTICAL_FLOW_LK_OPTICAL_FLOW_NODELET_H_
 
#include <lk_optical_flow/lk_optical_flow.h>
#include <nodelet/nodelet.h>
 
#include <ff_msgs/SetBool.h>
#include <ff_util/ff_nodelet.h>
#include <image_transport/image_transport.h>
#include <ros/publisher.h>
#include <ros/subscriber.h>
 
namespace lk_optical_flow {
 
class LKOpticalFlowNodelet : public ff_util::FreeFlyerNodelet {
 public:
  LKOpticalFlowNodelet();
 
 protected:
  virtual void Initialize(ros::NodeHandle* nh);
 
 private:
  void ReadParams(void);
  void ImageCallback(const sensor_msgs::ImageConstPtr& msg);
  bool EnableService(ff_msgs::SetBool::Request & req, ff_msgs::SetBool::Response & res);
 
  boost::shared_ptr<LKOpticalFlow> inst_;
 
  config_reader::ConfigReader config_;
  ros::Timer config_timer_;
 
  int camera_id_;
 
  image_transport::Publisher img_pub_;
  image_transport::Subscriber img_sub_;
  image_transport::CameraSubscriber cam_sub_;
 
  ros::Publisher feature_pub_, reg_pub_;
  ros::Subscriber filtered_feature_sub_;
  ros::ServiceServer enable_srv_;
 
  bool debug_view_;
};
}  // namespace lk_optical_flow
 
#endif  // LK_OPTICAL_FLOW_LK_OPTICAL_FLOW_NODELET_H_