flirtlib_ros: flirtlib_ros: flirtlib.h Source File

00001 /*
00002  * Copyright (c) 2008, Willow Garage, Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  *
00029  */
00030 
00040 #ifndef FLIRTLIB_ROS_FLIRTLIB_H
00041 #define FLIRTLIB_ROS_FLIRTLIB_H
00042 
00043 #define BOOST_NO_HASH
00044 
00045 #include <flirtlib/feature/Detector.h>
00046 #include <flirtlib/feature/ShapeContext.h>
00047 #include <flirtlib/feature/BetaGrid.h>
00048 #include <flirtlib/feature/RangeDetector.h>
00049 #include <flirtlib/feature/CurvatureDetector.h>
00050 #include <flirtlib/feature/NormalBlobDetector.h>
00051 #include <flirtlib/feature/NormalEdgeDetector.h>
00052 #include <flirtlib/feature/RansacFeatureSetMatcher.h>
00053 #include <flirtlib/feature/RansacMultiFeatureSetMatcher.h>
00054 #include <flirtlib/sensorstream/CarmenLog.h>
00055 #include <flirtlib/sensorstream/LogSensorStream.h>
00056 #include <flirtlib/sensorstream/SensorStream.h>
00057 #include <flirtlib/utils/SimpleMinMaxPeakFinder.h>
00058 #include <flirtlib/utils/HistogramDistances.h>
00059 #include <sensor_msgs/LaserScan.h>
00060 #include <ros/ros.h>
00061 
00062 namespace flirtlib_ros
00063 {
00064 
00065 typedef std::vector<InterestPoint*> InterestPointVec;
00066 
00067 struct FlirtlibFeatures
00068 {
00072   FlirtlibFeatures (ros::NodeHandle nh = ros::NodeHandle("~"));
00073   
00074   boost::shared_ptr<SimpleMinMaxPeakFinder> peak_finder_;
00075   boost::shared_ptr<HistogramDistance<double> > histogram_dist_;
00076   boost::shared_ptr<Detector> detector_;
00077   boost::shared_ptr<DescriptorGenerator> descriptor_;
00078   boost::shared_ptr<RansacFeatureSetMatcher> ransac_;
00079   
00080   InterestPointVec extractFeatures (sensor_msgs::LaserScan::ConstPtr scan) const;
00081 };
00082 
00083 } // namespace
00084 
00085 #endif // include guard