point_cloud_reader.hpp

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// Copyright 2024 João Vitor Silva Mendes
 
#ifndef POINT_CLOUD_READER_HPP_
#define POINT_CLOUD_READER_HPP_
 
#include <pcl_conversions/pcl_conversions.h>
#include <pcl/point_types.h>
#include <pcl/point_cloud.h>
 
#include <memory>
#include <string>
#include <fstream>
 
#include <rclcpp/rclcpp.hpp>
#include <sensor_msgs/msg/point_cloud2.hpp>
#include <ament_index_cpp/get_package_share_directory.hpp>
 
 
namespace pointcloud_motion_capture
{
class PointCloudProcessor : public rclcpp::Node
{
public:
  PointCloudProcessor();
 
private:
  const int kRedThresholdDefault {40};
 
  const int kGreenThresholdDefault {30};
 
  const int kBlueThresholdDefault {30};
 
  const float kUpdateRate {10.0};
 
  const std::string kPointCloudTopicRaw {"/camera/camera/depth/color/points"};
 
  const std::string kPointCloudTopicFiltered {"/point_cloud/filtered"};
 
  void load_parameters();
 
  void pointCloudCallback(const sensor_msgs::msg::PointCloud2::SharedPtr msg);
 
  rclcpp::Subscription<sensor_msgs::msg::PointCloud2>::SharedPtr subscription_;
 
  rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr publisher_;
 
  int red_threshold_ {};
 
  int green_threshold_ {};
 
  int blue_threshold_ {};
 
  std::string frame_id_ {"camera_link"};
 
  std::string point_cloud_topic_raw_ {};
 
  std::string point_cloud_topic_filtered_ {};
 
  float update_rate_ {};
 
  sensor_msgs::msg::PointCloud2 filtered_msg_;
};
 
}  // namespace pointcloud_motion_capture
 
#endif  // POINT_CLOUD_READER_HPP_