RgbdDetection.hpp

// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
 
#ifndef __RGBD_DETECTION_HPP__
#define __RGBD_DETECTION_HPP__
 
#include <yarp/os/Bottle.h>
#include <yarp/os/BufferedPort.h>
#include <yarp/os/RFModule.h>
 
#include <yarp/dev/PolyDriver.h>
#include <yarp/dev/IRGBDSensor.h>
 
#include <yarp/sig/Image.h>
#include <yarp/sig/IntrinsicParams.h>
 
#ifdef HAVE_ROS
# include <rclcpp/rclcpp.hpp>
# include <geometry_msgs/msg/point.hpp>
#endif // HAVE_ROS
 
#include "IDetector.hpp"
#include "YarpCropCallback.hpp"
 
namespace roboticslab
{
 
class RgbdDetection : public yarp::os::RFModule
{
public:
    ~RgbdDetection() override
    { close(); }
 
    bool configure(yarp::os::ResourceFinder &rf) override;
    double getPeriod() override;
    bool updateModule() override;
    bool interruptModule() override;
    bool close() override;
 
private:
    yarp::dev::PolyDriver sensorDevice;
    yarp::dev::IRGBDSensor * iRGBDSensor;
    yarp::sig::IntrinsicParams depthIntrinsicParams;
 
    yarp::dev::PolyDriver detectorDevice;
    IDetector * iDetector;
 
    yarp::os::BufferedPort<yarp::os::Bottle> statePort;
    yarp::os::BufferedPort<yarp::sig::ImageOf<yarp::sig::PixelRgb>> imagePort;
    yarp::os::BufferedPort<yarp::os::Bottle> cropPort;
    YarpCropCallback cropCallback;
 
#ifdef HAVE_ROS
    rclcpp::Node::SharedPtr node;
    rclcpp::Publisher<geometry_msgs::msg::Point>::SharedPtr publisher;
#endif
 
    double period;
};
 
} // namespace roboticslab
 
#endif // __RGBD_DETECTION_HPP__