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IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 * 00034 * $Id: extract_clusters.hpp 32052 2010-08-27 02:19:30Z rusu $ 00035 * 00036 */ 00037 00038 #include <pluginlib/class_list_macros.h> 00039 #include <pcl/io/io.h> 00040 #include "pcl_ros/segmentation/extract_clusters.h" 00041 00043 void 00044 pcl_ros::EuclideanClusterExtraction::onInit () 00045 { 00046 // Call the super onInit () 00047 PCLNodelet::onInit (); 00048 00049 // ---[ Mandatory parameters 00050 double cluster_tolerance; 00051 if (!pnh_->getParam ("cluster_tolerance", cluster_tolerance)) 00052 { 00053 NODELET_ERROR ("[%s::onInit] Need a 'cluster_tolerance' parameter to be set before continuing!", getName ().c_str ()); 00054 return; 00055 } 00056 int spatial_locator; 00057 if (!pnh_->getParam ("spatial_locator", spatial_locator)) 00058 { 00059 NODELET_ERROR ("[%s::onInit] Need a 'spatial_locator' parameter to be set before continuing!", getName ().c_str ()); 00060 return; 00061 } 00062 00063 //private_nh.getParam ("use_indices", use_indices_); 00064 pnh_->getParam ("publish_indices", publish_indices_); 00065 00066 if (publish_indices_) 00067 pub_output_ = pnh_->advertise<PointIndices> ("output", max_queue_size_); 00068 else 00069 pub_output_ = pnh_->advertise<PointCloud> ("output", max_queue_size_); 00070 00071 // Enable the dynamic reconfigure service 00072 srv_ = boost::make_shared <dynamic_reconfigure::Server<EuclideanClusterExtractionConfig> > (*pnh_); 00073 dynamic_reconfigure::Server<EuclideanClusterExtractionConfig>::CallbackType f = boost::bind (&EuclideanClusterExtraction::config_callback, this, _1, _2); 00074 srv_->setCallback (f); 00075 00076 // If we're supposed to look for PointIndices (indices) 00077 if (use_indices_) 00078 { 00079 // Subscribe to the input using a filter 00080 sub_input_filter_.subscribe (*pnh_, "input", max_queue_size_); 00081 sub_indices_filter_.subscribe (*pnh_, "indices", max_queue_size_); 00082 00083 if (approximate_sync_) 00084 { 00085 sync_input_indices_a_ = boost::make_shared <message_filters::Synchronizer<message_filters::sync_policies::ApproximateTime<PointCloud, PointIndices> > > (max_queue_size_); 00086 sync_input_indices_a_->connectInput (sub_input_filter_, sub_indices_filter_); 00087 sync_input_indices_a_->registerCallback (bind (&EuclideanClusterExtraction::input_indices_callback, this, _1, _2)); 00088 } 00089 else 00090 { 00091 sync_input_indices_e_ = boost::make_shared <message_filters::Synchronizer<message_filters::sync_policies::ExactTime<PointCloud, PointIndices> > > (max_queue_size_); 00092 sync_input_indices_e_->connectInput (sub_input_filter_, sub_indices_filter_); 00093 sync_input_indices_e_->registerCallback (bind (&EuclideanClusterExtraction::input_indices_callback, this, _1, _2)); 00094 } 00095 } 00096 else 00097 // Subscribe in an old fashion to input only (no filters) 00098 sub_input_ = pnh_->subscribe<PointCloud> ("input", max_queue_size_, bind (&EuclideanClusterExtraction::input_indices_callback, this, _1, PointIndicesConstPtr ())); 00099 00100 NODELET_DEBUG ("[%s::onInit] Nodelet successfully created with the following parameters:\n" 00101 " - max_queue_size : %d\n" 00102 " - use_indices : %s\n" 00103 " - cluster_tolerance : %f\n" 00104 " - spatial_locator : %d", 00105 getName ().c_str (), 00106 max_queue_size_, 00107 (use_indices_) ? "true" : "false", cluster_tolerance, spatial_locator); 00108 00109 // Set given parameters here 00110 impl_.setSpatialLocator (spatial_locator); 00111 impl_.setClusterTolerance (cluster_tolerance); 00112 } 00113 00115 void 00116 pcl_ros::EuclideanClusterExtraction::config_callback (EuclideanClusterExtractionConfig &config, uint32_t level) 00117 { 00118 if (impl_.getClusterTolerance () != config.cluster_tolerance) 00119 { 00120 impl_.setClusterTolerance (config.cluster_tolerance); 00121 NODELET_DEBUG ("[%s::config_callback] Setting new clustering tolerance to: %f.", getName ().c_str (), config.cluster_tolerance); 00122 } 00123 if (impl_.getMinClusterSize () != config.cluster_min_size) 00124 { 00125 impl_.setMinClusterSize (config.cluster_min_size); 00126 NODELET_DEBUG ("[%s::config_callback] Setting the minimum cluster size to: %d.", getName ().c_str (), config.cluster_min_size); 00127 } 00128 if (impl_.getMaxClusterSize () != config.cluster_max_size) 00129 { 00130 impl_.setMaxClusterSize (config.cluster_max_size); 00131 NODELET_DEBUG ("[%s::config_callback] Setting the maximum cluster size to: %d.", getName ().c_str (), config.cluster_max_size); 00132 } 00133 if (max_clusters_ != config.max_clusters) 00134 { 00135 max_clusters_ = config.max_clusters; 00136 NODELET_DEBUG ("[%s::config_callback] Setting the maximum number of clusters to extract to: %d.", getName ().c_str (), config.max_clusters); 00137 } 00138 } 00139 00141 void 00142 pcl_ros::EuclideanClusterExtraction::input_indices_callback ( 00143 const PointCloudConstPtr &cloud, const PointIndicesConstPtr &indices) 00144 { 00145 // No subscribers, no work 00146 if (pub_output_.getNumSubscribers () <= 0) 00147 return; 00148 00149 // If cloud is given, check if it's valid 00150 if (!isValid (cloud)) 00151 { 00152 NODELET_ERROR ("[%s::input_indices_callback] Invalid input!", getName ().c_str ()); 00153 return; 00154 } 00155 // If indices are given, check if they are valid 00156 if (indices && !isValid (indices)) 00157 { 00158 NODELET_ERROR ("[%s::input_indices_callback] Invalid indices!", getName ().c_str ()); 00159 return; 00160 } 00161 00163 if (indices) 00164 NODELET_DEBUG ("[%s::input_indices_callback]\n" 00165 " - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.\n" 00166 " - PointIndices with %zu values, stamp %f, and frame %s on topic %s received.", 00167 getName ().c_str (), 00168 cloud->width * cloud->height, pcl::getFieldsList (*cloud).c_str (), cloud->header.stamp.toSec (), cloud->header.frame_id.c_str (), pnh_->resolveName ("input").c_str (), 00169 indices->indices.size (), indices->header.stamp.toSec (), indices->header.frame_id.c_str (), pnh_->resolveName ("indices").c_str ()); 00170 else 00171 NODELET_DEBUG ("[%s::input_callback] PointCloud with %d data points, stamp %f, and frame %s on topic %s received.", getName ().c_str (), cloud->width * cloud->height, cloud->header.stamp.toSec (), cloud->header.frame_id.c_str (), pnh_->resolveName ("input").c_str ()); 00173 00174 IndicesPtr indices_ptr; 00175 if (indices) 00176 indices_ptr.reset (new std::vector<int> (indices->indices)); 00177 00178 impl_.setInputCloud (cloud); 00179 impl_.setIndices (indices_ptr); 00180 00181 std::vector<PointIndices> clusters; 00182 impl_.extract (clusters); 00183 00184 if (publish_indices_) 00185 { 00186 for (size_t i = 0; i < clusters.size (); ++i) 00187 { 00188 if ((int)i >= max_clusters_) 00189 break; 00190 // TODO: HACK!!! We need to change the PointCloud2 message to add for an incremental sequence ID number. 00191 clusters[i].header.stamp += ros::Duration (i * 0.001); 00192 pub_output_.publish (boost::make_shared<const PointIndices> (clusters[i])); 00193 } 00194 00195 NODELET_DEBUG ("[segmentAndPublish] Published %zu clusters (PointIndices) on topic %s", clusters.size (), pnh_->resolveName ("output").c_str ()); 00196 } 00197 else 00198 { 00199 for (size_t i = 0; i < clusters.size (); ++i) 00200 { 00201 if ((int)i >= max_clusters_) 00202 break; 00203 PointCloud output; 00204 copyPointCloud (*cloud, clusters[i].indices, output); 00205 00206 //PointCloud output_blob; // Convert from the templated output to the PointCloud blob 00207 //pcl::toROSMsg (output, output_blob); 00208 // TODO: HACK!!! We need to change the PointCloud2 message to add for an incremental sequence ID number. 00209 output.header.stamp += ros::Duration (i * 0.001); 00210 // Publish a Boost shared ptr const data 00211 pub_output_.publish (output.makeShared ()); 00212 NODELET_DEBUG ("[segmentAndPublish] Published cluster %zu (with %zu values and stamp %f) on topic %s", 00213 i, clusters[i].indices.size (), output.header.stamp.toSec (), pnh_->resolveName ("output").c_str ()); 00214 } 00215 } 00216 } 00217 00218 typedef pcl_ros::EuclideanClusterExtraction EuclideanClusterExtraction; 00219 PLUGINLIB_DECLARE_CLASS (pcl, EuclideanClusterExtraction, EuclideanClusterExtraction, nodelet::Nodelet); 00220