DepthCamera.hpp

Go to the documentation of this file.

#ifndef CAMERA_HPP_
#define CAMERA_HPP_
 
#include <librealsense2/rs.hpp> // Include RealSense Cross Platform API
#include <librealsense2/rs_advanced_mode.hpp>
#include <librealsense2/hpp/rs_types.hpp>
#include <librealsense2/rsutil.h>
 
#include <rclcpp/rclcpp.hpp>
 
#include <sensor_msgs/msg/point_cloud2.hpp>
#include <sensor_msgs/point_cloud2_iterator.hpp>
 
// #include <PCLObjectDetector.hpp>
#include <string>
#include <mutex>
#include <memory>
#include <condition_variable>
 
// pcl
#include <pcl/point_types.h>
#include <pcl/filters/passthrough.h>
 
class Realsense {
private:
  rs2::config m_cfg;
  rs2::pipeline m_pipe;
  rs2::pipeline_profile m_profile;
  std::shared_ptr<std::pair<rclcpp::Time, pcl::PointCloud<pcl::PointXYZ>::Ptr>> m_currentPointCloudPairSPtr = nullptr;
  bool m_currentPointCloudPairNewData = false;
  
  rclcpp::Node* m_nodePtr;
 
  std::mutex m_mtx;
  std::condition_variable m_newPCLConditionVar;
 
  pcl::PointCloud<pcl::PointXYZ>::Ptr points_to_pcl(const rs2::points& points);
 
public:
  Realsense() {};
 
  void set_node(rclcpp::Node* ptr);
 
  void init(std::string config);
 
  std::shared_ptr<std::pair<rclcpp::Time, pcl::PointCloud<pcl::PointXYZ>::Ptr>> pop_last_grabbed_pcl(bool blocking);
  std::shared_ptr<std::pair<rclcpp::Time, pcl::PointCloud<pcl::PointXYZ>::Ptr>> get_last_grabbed_pcl();
};
 
#endif /* ifndef CAMERA_HPP_ */