kinect_plugin.h

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#ifndef ED_SENSOR_INTEGRATION_KINECT_PLUGIN_H_
#define ED_SENSOR_INTEGRATION_KINECT_PLUGIN_H_
 
#include <ed/plugin.h>
#include <ed/types.h>
 
#include "ed/kinect/updater.h"
 
#include <rgbd/image_buffer/image_buffer.h>
 
// Services
#include <ros/service_server.h>
#include <ed_sensor_integration_msgs/GetImage.h>
#include <ed_sensor_integration_msgs/Update.h>
#include <ed_sensor_integration_msgs/RayTrace.h>
 
// Visualization
#include <ros/publisher.h>
#include <visualization_msgs/Marker.h>
 
// ----------------------------------------------------------------------------------------------------
 
class KinectPlugin : public ed::Plugin
{
 
public:
 
    KinectPlugin();
 
    ~KinectPlugin();
 
    void initialize(ed::InitData& init);
 
    void process(const ed::PluginInput& data, ed::UpdateRequest& req);
 
private:
 
    // Image retrieval
 
    rgbd::ImageBuffer image_buffer_;
 
//    rgbd::ImageConstPtr last_image_;
 
//    geo::Pose3D last_sensor_pose_;
 
 
    Updater updater_;
 
 
    // Communication
 
    const ed::WorldModel* world_;
 
    ed::UpdateRequest* update_req_;
 
 
    // Services
 
    ros::CallbackQueue cb_queue_;
 
    ros::ServiceServer srv_get_image_;
 
    bool srvGetImage(ed_sensor_integration_msgs::GetImage::Request& req, ed_sensor_integration_msgs::GetImage::Response& res);
 
 
    ros::ServiceServer srv_update_;
 
    bool srvUpdate(ed_sensor_integration_msgs::Update::Request& req, ed_sensor_integration_msgs::Update::Response& res);
 
    ros::ServiceServer srv_ray_trace_;
 
    bool srvRayTrace(ed_sensor_integration_msgs::RayTrace::Request& req, ed_sensor_integration_msgs::RayTrace::Response& res);
 
    ros::Publisher ray_trace_visualization_publisher_;
 
 
 
 
};
 
#endif