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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: sac_segmentation.h 35564 2011-01-27 07:32:12Z rusu $ 00035 * 00036 */ 00037 00038 #ifndef PCL_ROS_SAC_SEGMENTATION_H_ 00039 #define PCL_ROS_SAC_SEGMENTATION_H_ 00040 00041 #include "pcl_ros/pcl_nodelet.h" 00042 #include <message_filters/pass_through.h> 00043 00044 // PCL includes 00045 #include <pcl/segmentation/sac_segmentation.h> 00046 00047 // Dynamic reconfigure 00048 #include <dynamic_reconfigure/server.h> 00049 #include "pcl_ros/SACSegmentationConfig.h" 00050 #include "pcl_ros/SACSegmentationFromNormalsConfig.h" 00051 00052 namespace pcl_ros 00053 { 00054 namespace sync_policies = message_filters::sync_policies; 00055 00057 00061 class SACSegmentation : public PCLNodelet 00062 { 00063 typedef pcl::PointCloud<pcl::PointXYZ> PointCloud; 00064 typedef PointCloud::Ptr PointCloudPtr; 00065 typedef PointCloud::ConstPtr PointCloudConstPtr; 00066 00067 public: 00069 SACSegmentation () : min_inliers_(0) {} 00070 00074 inline void setInputTFframe (std::string tf_frame) { tf_input_frame_ = tf_frame; } 00075 00077 inline std::string getInputTFframe () { return (tf_input_frame_); } 00078 00082 inline void setOutputTFframe (std::string tf_frame) { tf_output_frame_ = tf_frame; } 00083 00085 inline std::string getOutputTFframe () { return (tf_output_frame_); } 00086 00087 protected: 00088 // The minimum number of inliers a model must have in order to be considered valid. 00089 int min_inliers_; 00090 00091 // ROS nodelet attributes 00093 ros::Publisher pub_indices_; 00094 00096 ros::Publisher pub_model_; 00097 00099 ros::Subscriber sub_input_; 00100 00102 boost::shared_ptr<dynamic_reconfigure::Server<SACSegmentationConfig> > srv_; 00103 00105 std::string tf_input_frame_; 00106 00108 std::string tf_input_orig_frame_; 00109 00111 std::string tf_output_frame_; 00112 00115 message_filters::PassThrough<PointIndices> nf_pi_; 00116 00118 virtual void onInit (); 00119 00124 void config_callback (SACSegmentationConfig &config, uint32_t level); 00125 00130 void input_indices_callback (const PointCloudConstPtr &cloud, const PointIndicesConstPtr &indices); 00131 00135 PointIndices indices_; 00136 00140 inline void 00141 indices_callback (const PointIndicesConstPtr &indices) 00142 { 00143 indices_ = *indices; 00144 } 00145 00149 inline void 00150 input_callback (const PointCloudConstPtr &input) 00151 { 00152 indices_.header = input->header; 00153 PointIndicesConstPtr indices; 00154 indices.reset (new PointIndices (indices_)); 00155 nf_pi_.add (indices); 00156 } 00157 00158 private: 00160 boost::mutex mutex_; 00161 00163 pcl::SACSegmentation<pcl::PointXYZ> impl_; 00164 00166 boost::shared_ptr<message_filters::Synchronizer<sync_policies::ExactTime<PointCloud, PointIndices> > > sync_input_indices_e_; 00167 boost::shared_ptr<message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloud, PointIndices> > > sync_input_indices_a_; 00168 00169 public: 00170 EIGEN_MAKE_ALIGNED_OPERATOR_NEW 00171 }; 00172 00174 00177 class SACSegmentationFromNormals: public SACSegmentation 00178 { 00179 typedef pcl::PointCloud<pcl::PointXYZ> PointCloud; 00180 typedef PointCloud::Ptr PointCloudPtr; 00181 typedef PointCloud::ConstPtr PointCloudConstPtr; 00182 00183 typedef pcl::PointCloud<pcl::Normal> PointCloudN; 00184 typedef PointCloudN::Ptr PointCloudNPtr; 00185 typedef PointCloudN::ConstPtr PointCloudNConstPtr; 00186 00187 public: 00191 inline void setInputTFframe (std::string tf_frame) { tf_input_frame_ = tf_frame; } 00192 00194 inline std::string getInputTFframe () { return (tf_input_frame_); } 00195 00199 inline void setOutputTFframe (std::string tf_frame) { tf_output_frame_ = tf_frame; } 00200 00202 inline std::string getOutputTFframe () { return (tf_output_frame_); } 00203 00204 protected: 00205 // ROS nodelet attributes 00207 message_filters::Subscriber<PointCloudN> sub_normals_filter_; 00208 00210 ros::Subscriber sub_axis_; 00211 00213 boost::shared_ptr<dynamic_reconfigure::Server<SACSegmentationFromNormalsConfig> > srv_; 00214 00219 inline void 00220 input_callback (const PointCloudConstPtr &cloud) 00221 { 00222 PointIndices indices; 00223 indices.header.stamp = cloud->header.stamp; 00224 nf_.add (boost::make_shared<PointIndices> (indices)); 00225 } 00226 00229 message_filters::PassThrough<PointIndices> nf_; 00230 00232 std::string tf_input_frame_; 00234 std::string tf_input_orig_frame_; 00236 std::string tf_output_frame_; 00237 00239 virtual void onInit (); 00240 00244 void axis_callback (const pcl::ModelCoefficientsConstPtr &model); 00245 00250 void config_callback (SACSegmentationFromNormalsConfig &config, uint32_t level); 00251 00257 void input_normals_indices_callback (const PointCloudConstPtr &cloud, 00258 const PointCloudNConstPtr &cloud_normals, 00259 const PointIndicesConstPtr &indices); 00260 00261 private: 00263 boost::mutex mutex_; 00264 00266 pcl::SACSegmentationFromNormals<pcl::PointXYZ, pcl::Normal> impl_; 00267 00269 boost::shared_ptr<message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloud, PointCloudN, PointIndices> > > sync_input_normals_indices_a_; 00270 boost::shared_ptr<message_filters::Synchronizer<sync_policies::ExactTime<PointCloud, PointCloudN, PointIndices> > > sync_input_normals_indices_e_; 00271 00272 public: 00273 EIGEN_MAKE_ALIGNED_OPERATOR_NEW 00274 }; 00275 } 00276 00277 #endif //#ifndef PCL_ROS_SAC_SEGMENTATION_H_