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00047 #ifndef __pcl_ros__SACSEGMENTATIONFROMNORMALSCONFIG_H__
00048 #define __pcl_ros__SACSEGMENTATIONFROMNORMALSCONFIG_H__
00049
00050 #include <dynamic_reconfigure/config_tools.h>
00051 #include <limits>
00052 #include <ros/node_handle.h>
00053 #include <dynamic_reconfigure/ConfigDescription.h>
00054 #include <dynamic_reconfigure/ParamDescription.h>
00055 #include <dynamic_reconfigure/config_init_mutex.h>
00056
00057 namespace pcl_ros
00058 {
00059 class SACSegmentationFromNormalsConfigStatics;
00060
00061 class SACSegmentationFromNormalsConfig
00062 {
00063 public:
00064 class AbstractParamDescription : public dynamic_reconfigure::ParamDescription
00065 {
00066 public:
00067 AbstractParamDescription(std::string n, std::string t, uint32_t l,
00068 std::string d, std::string e)
00069 {
00070 name = n;
00071 type = t;
00072 level = l;
00073 description = d;
00074 edit_method = e;
00075 }
00076
00077 virtual void clamp(SACSegmentationFromNormalsConfig &config, const SACSegmentationFromNormalsConfig &max, const SACSegmentationFromNormalsConfig &min) const = 0;
00078 virtual void calcLevel(uint32_t &level, const SACSegmentationFromNormalsConfig &config1, const SACSegmentationFromNormalsConfig &config2) const = 0;
00079 virtual void fromServer(const ros::NodeHandle &nh, SACSegmentationFromNormalsConfig &config) const = 0;
00080 virtual void toServer(const ros::NodeHandle &nh, const SACSegmentationFromNormalsConfig &config) const = 0;
00081 virtual bool fromMessage(const dynamic_reconfigure::Config &msg, SACSegmentationFromNormalsConfig &config) const = 0;
00082 virtual void toMessage(dynamic_reconfigure::Config &msg, const SACSegmentationFromNormalsConfig &config) const = 0;
00083 };
00084
00085 typedef boost::shared_ptr<AbstractParamDescription> AbstractParamDescriptionPtr;
00086 typedef boost::shared_ptr<const AbstractParamDescription> AbstractParamDescriptionConstPtr;
00087
00088 template <class T>
00089 class ParamDescription : public AbstractParamDescription
00090 {
00091 public:
00092 ParamDescription(std::string name, std::string type, uint32_t level,
00093 std::string description, std::string edit_method, T SACSegmentationFromNormalsConfig::* f) :
00094 AbstractParamDescription(name, type, level, description, edit_method),
00095 field(f)
00096 {}
00097
00098 T (SACSegmentationFromNormalsConfig::* field);
00099
00100 virtual void clamp(SACSegmentationFromNormalsConfig &config, const SACSegmentationFromNormalsConfig &max, const SACSegmentationFromNormalsConfig &min) const
00101 {
00102 if (config.*field > max.*field)
00103 config.*field = max.*field;
00104
00105 if (config.*field < min.*field)
00106 config.*field = min.*field;
00107 }
00108
00109 virtual void calcLevel(uint32_t &comb_level, const SACSegmentationFromNormalsConfig &config1, const SACSegmentationFromNormalsConfig &config2) const
00110 {
00111 if (config1.*field != config2.*field)
00112 comb_level |= level;
00113 }
00114
00115 virtual void fromServer(const ros::NodeHandle &nh, SACSegmentationFromNormalsConfig &config) const
00116 {
00117 nh.getParam(name, config.*field);
00118 }
00119
00120 virtual void toServer(const ros::NodeHandle &nh, const SACSegmentationFromNormalsConfig &config) const
00121 {
00122 nh.setParam(name, config.*field);
00123 }
00124
00125 virtual bool fromMessage(const dynamic_reconfigure::Config &msg, SACSegmentationFromNormalsConfig &config) const
00126 {
00127 return dynamic_reconfigure::ConfigTools::getParameter(msg, name, config.*field);
00128 }
00129
00130 virtual void toMessage(dynamic_reconfigure::Config &msg, const SACSegmentationFromNormalsConfig &config) const
00131 {
00132 dynamic_reconfigure::ConfigTools::appendParameter(msg, name, config.*field);
00133 }
00134 };
00135
00136
00137 double normal_distance_weight;
00138
00139 int max_iterations;
00140
00141 double probability;
00142
00143 double distance_threshold;
00144
00145 bool optimize_coefficients;
00146
00147 double radius_min;
00148
00149 double radius_max;
00150
00151 double eps_angle;
00152
00153 int min_inliers;
00154
00155 std::string input_frame;
00156
00157 std::string output_frame;
00158
00159
00160 bool __fromMessage__(dynamic_reconfigure::Config &msg)
00161 {
00162 const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
00163 int count = 0;
00164 for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00165 if ((*i)->fromMessage(msg, *this))
00166 count++;
00167 if (count != dynamic_reconfigure::ConfigTools::size(msg))
00168 {
00169 ROS_ERROR("SACSegmentationFromNormalsConfig::__fromMessage__ called with an unexpected parameter.");
00170 ROS_ERROR("Booleans:");
00171 for (unsigned int i = 0; i < msg.bools.size(); i++)
00172 ROS_ERROR(" %s", msg.bools[i].name.c_str());
00173 ROS_ERROR("Integers:");
00174 for (unsigned int i = 0; i < msg.ints.size(); i++)
00175 ROS_ERROR(" %s", msg.ints[i].name.c_str());
00176 ROS_ERROR("Doubles:");
00177 for (unsigned int i = 0; i < msg.doubles.size(); i++)
00178 ROS_ERROR(" %s", msg.doubles[i].name.c_str());
00179 ROS_ERROR("Strings:");
00180 for (unsigned int i = 0; i < msg.strs.size(); i++)
00181 ROS_ERROR(" %s", msg.strs[i].name.c_str());
00182
00183
00184 return false;
00185 }
00186 return true;
00187 }
00188
00189
00190
00191 void __toMessage__(dynamic_reconfigure::Config &msg, const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__) const
00192 {
00193 dynamic_reconfigure::ConfigTools::clear(msg);
00194 for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00195 (*i)->toMessage(msg, *this);
00196 }
00197
00198 void __toMessage__(dynamic_reconfigure::Config &msg) const
00199 {
00200 const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
00201 __toMessage__(msg, __param_descriptions__);
00202 }
00203
00204 void __toServer__(const ros::NodeHandle &nh) const
00205 {
00206 const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
00207 for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00208 (*i)->toServer(nh, *this);
00209 }
00210
00211 void __fromServer__(const ros::NodeHandle &nh)
00212 {
00213 const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
00214 for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00215 (*i)->fromServer(nh, *this);
00216 }
00217
00218 void __clamp__()
00219 {
00220 const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
00221 const SACSegmentationFromNormalsConfig &__max__ = __getMax__();
00222 const SACSegmentationFromNormalsConfig &__min__ = __getMin__();
00223 for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00224 (*i)->clamp(*this, __max__, __min__);
00225 }
00226
00227 uint32_t __level__(const SACSegmentationFromNormalsConfig &config) const
00228 {
00229 const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
00230 uint32_t level = 0;
00231 for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00232 (*i)->calcLevel(level, config, *this);
00233 return level;
00234 }
00235
00236 static const dynamic_reconfigure::ConfigDescription &__getDescriptionMessage__();
00237 static const SACSegmentationFromNormalsConfig &__getDefault__();
00238 static const SACSegmentationFromNormalsConfig &__getMax__();
00239 static const SACSegmentationFromNormalsConfig &__getMin__();
00240 static const std::vector<AbstractParamDescriptionConstPtr> &__getParamDescriptions__();
00241
00242 private:
00243 static const SACSegmentationFromNormalsConfigStatics *__get_statics__();
00244 };
00245
00246 template <>
00247 inline void SACSegmentationFromNormalsConfig::ParamDescription<std::string>::clamp(SACSegmentationFromNormalsConfig &config, const SACSegmentationFromNormalsConfig &max, const SACSegmentationFromNormalsConfig &min) const
00248 {
00249 return;
00250 }
00251
00252 class SACSegmentationFromNormalsConfigStatics
00253 {
00254 friend class SACSegmentationFromNormalsConfig;
00255
00256 SACSegmentationFromNormalsConfigStatics()
00257 {
00258
00259 __min__.normal_distance_weight = 0.0;
00260
00261 __max__.normal_distance_weight = 1.0;
00262
00263 __default__.normal_distance_weight = 0.1;
00264
00265 __param_descriptions__.push_back(SACSegmentationFromNormalsConfig::AbstractParamDescriptionConstPtr(new SACSegmentationFromNormalsConfig::ParamDescription<double>("normal_distance_weight", "double", 0, "The relative weight (between 0 and 1) to give to the angular distance (0 to pi/2) between point normals and the plane normal.", "", &SACSegmentationFromNormalsConfig::normal_distance_weight)));
00266
00267 __min__.max_iterations = 0;
00268
00269 __max__.max_iterations = 100000;
00270
00271 __default__.max_iterations = 50;
00272
00273 __param_descriptions__.push_back(SACSegmentationFromNormalsConfig::AbstractParamDescriptionConstPtr(new SACSegmentationFromNormalsConfig::ParamDescription<int>("max_iterations", "int", 0, "The maximum number of iterations the algorithm will run for", "", &SACSegmentationFromNormalsConfig::max_iterations)));
00274
00275 __min__.probability = 0.5;
00276
00277 __max__.probability = 0.99;
00278
00279 __default__.probability = 0.99;
00280
00281 __param_descriptions__.push_back(SACSegmentationFromNormalsConfig::AbstractParamDescriptionConstPtr(new SACSegmentationFromNormalsConfig::ParamDescription<double>("probability", "double", 0, "The desired probability of choosing at least one sample free from outliers", "", &SACSegmentationFromNormalsConfig::probability)));
00282
00283 __min__.distance_threshold = 0.0;
00284
00285 __max__.distance_threshold = 1.0;
00286
00287 __default__.distance_threshold = 0.02;
00288
00289 __param_descriptions__.push_back(SACSegmentationFromNormalsConfig::AbstractParamDescriptionConstPtr(new SACSegmentationFromNormalsConfig::ParamDescription<double>("distance_threshold", "double", 0, "The distance to model threshold", "", &SACSegmentationFromNormalsConfig::distance_threshold)));
00290
00291 __min__.optimize_coefficients = 0;
00292
00293 __max__.optimize_coefficients = 1;
00294
00295 __default__.optimize_coefficients = 1;
00296
00297 __param_descriptions__.push_back(SACSegmentationFromNormalsConfig::AbstractParamDescriptionConstPtr(new SACSegmentationFromNormalsConfig::ParamDescription<bool>("optimize_coefficients", "bool", 0, "Model coefficient refinement", "", &SACSegmentationFromNormalsConfig::optimize_coefficients)));
00298
00299 __min__.radius_min = 0.0;
00300
00301 __max__.radius_min = 1.0;
00302
00303 __default__.radius_min = 0.0;
00304
00305 __param_descriptions__.push_back(SACSegmentationFromNormalsConfig::AbstractParamDescriptionConstPtr(new SACSegmentationFromNormalsConfig::ParamDescription<double>("radius_min", "double", 0, "The minimum allowed model radius (where applicable)", "", &SACSegmentationFromNormalsConfig::radius_min)));
00306
00307 __min__.radius_max = 0.0;
00308
00309 __max__.radius_max = 1.0;
00310
00311 __default__.radius_max = 0.05;
00312
00313 __param_descriptions__.push_back(SACSegmentationFromNormalsConfig::AbstractParamDescriptionConstPtr(new SACSegmentationFromNormalsConfig::ParamDescription<double>("radius_max", "double", 0, "The maximum allowed model radius (where applicable)", "", &SACSegmentationFromNormalsConfig::radius_max)));
00314
00315 __min__.eps_angle = 0.0;
00316
00317 __max__.eps_angle = 1.5707;
00318
00319 __default__.eps_angle = 0.17;
00320
00321 __param_descriptions__.push_back(SACSegmentationFromNormalsConfig::AbstractParamDescriptionConstPtr(new SACSegmentationFromNormalsConfig::ParamDescription<double>("eps_angle", "double", 0, "The maximum allowed difference between the model normal and the given axis in radians.", "", &SACSegmentationFromNormalsConfig::eps_angle)));
00322
00323 __min__.min_inliers = 0;
00324
00325 __max__.min_inliers = 100000;
00326
00327 __default__.min_inliers = 0;
00328
00329 __param_descriptions__.push_back(SACSegmentationFromNormalsConfig::AbstractParamDescriptionConstPtr(new SACSegmentationFromNormalsConfig::ParamDescription<int>("min_inliers", "int", 0, "The minimum number of inliers a model must have in order to be considered valid.", "", &SACSegmentationFromNormalsConfig::min_inliers)));
00330
00331 __min__.input_frame = "";
00332
00333 __max__.input_frame = "";
00334
00335 __default__.input_frame = "";
00336
00337 __param_descriptions__.push_back(SACSegmentationFromNormalsConfig::AbstractParamDescriptionConstPtr(new SACSegmentationFromNormalsConfig::ParamDescription<std::string>("input_frame", "str", 0, "The input TF frame the data should be transformed into, if input.header.frame_id is different.", "", &SACSegmentationFromNormalsConfig::input_frame)));
00338
00339 __min__.output_frame = "";
00340
00341 __max__.output_frame = "";
00342
00343 __default__.output_frame = "";
00344
00345 __param_descriptions__.push_back(SACSegmentationFromNormalsConfig::AbstractParamDescriptionConstPtr(new SACSegmentationFromNormalsConfig::ParamDescription<std::string>("output_frame", "str", 0, "The output TF frame the data should be transformed into, if input.header.frame_id is different.", "", &SACSegmentationFromNormalsConfig::output_frame)));
00346
00347
00348 for (std::vector<SACSegmentationFromNormalsConfig::AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++)
00349 __description_message__.parameters.push_back(**i);
00350 __max__.__toMessage__(__description_message__.max, __param_descriptions__);
00351 __min__.__toMessage__(__description_message__.min, __param_descriptions__);
00352 __default__.__toMessage__(__description_message__.dflt, __param_descriptions__);
00353 }
00354 std::vector<SACSegmentationFromNormalsConfig::AbstractParamDescriptionConstPtr> __param_descriptions__;
00355 SACSegmentationFromNormalsConfig __max__;
00356 SACSegmentationFromNormalsConfig __min__;
00357 SACSegmentationFromNormalsConfig __default__;
00358 dynamic_reconfigure::ConfigDescription __description_message__;
00359 static const SACSegmentationFromNormalsConfigStatics *get_instance()
00360 {
00361
00362
00363
00364
00365 static SACSegmentationFromNormalsConfigStatics instance;
00366 return &instance;
00367 }
00368 };
00369
00370 inline const dynamic_reconfigure::ConfigDescription &SACSegmentationFromNormalsConfig::__getDescriptionMessage__()
00371 {
00372 return __get_statics__()->__description_message__;
00373 }
00374
00375 inline const SACSegmentationFromNormalsConfig &SACSegmentationFromNormalsConfig::__getDefault__()
00376 {
00377 return __get_statics__()->__default__;
00378 }
00379
00380 inline const SACSegmentationFromNormalsConfig &SACSegmentationFromNormalsConfig::__getMax__()
00381 {
00382 return __get_statics__()->__max__;
00383 }
00384
00385 inline const SACSegmentationFromNormalsConfig &SACSegmentationFromNormalsConfig::__getMin__()
00386 {
00387 return __get_statics__()->__min__;
00388 }
00389
00390 inline const std::vector<SACSegmentationFromNormalsConfig::AbstractParamDescriptionConstPtr> &SACSegmentationFromNormalsConfig::__getParamDescriptions__()
00391 {
00392 return __get_statics__()->__param_descriptions__;
00393 }
00394
00395 inline const SACSegmentationFromNormalsConfigStatics *SACSegmentationFromNormalsConfig::__get_statics__()
00396 {
00397 const static SACSegmentationFromNormalsConfigStatics *statics;
00398
00399 if (statics)
00400 return statics;
00401
00402 boost::mutex::scoped_lock lock(dynamic_reconfigure::__init_mutex__);
00403
00404 if (statics)
00405 return statics;
00406
00407 statics = SACSegmentationFromNormalsConfigStatics::get_instance();
00408
00409 return statics;
00410 }
00411
00412
00413 }
00414
00415 #endif // __SACSEGMENTATIONFROMNORMALSRECONFIGURATOR_H__
