detect_circle_3d.cpp

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// ROS core
#include <ros/ros.h>

#include "pcl/io/pcd_io.h"
#include "pcl/point_types.h"
#include "pcl_ros/transforms.h"

#include <pcl/ModelCoefficients.h>

#include <pcl/features/normal_3d.h>

#include <pcl/filters/extract_indices.h>
#include <pcl/filters/passthrough.h>

#include <pcl/sample_consensus/method_types.h>
#include <pcl/sample_consensus/model_types.h>
#include <pcl/segmentation/sac_segmentation.h>
#include <pcl_ros/point_cloud.h>
using namespace std;

typedef pcl::PointXYZ Point;
typedef pcl::PointCloud<Point> PointCloud;
typedef PointCloud::Ptr PointCloudPtr;
typedef PointCloud::ConstPtr PointCloudConstPtr;
typedef pcl::KdTree<Point>::Ptr KdTreePtr;

class DetectCircle
{
protected:
  ros::NodeHandle nh_;

public:
  string output_cloud_topic_, input_cloud_topic_;
  ros::Subscriber sub_;
  ros::Publisher pub_;
  pcl::SACSegmentation<Point> seg;
  pcl::PointIndices circle_inliers_;
  pcl::ModelCoefficients circle_coeff;
  DetectCircle  (ros::NodeHandle &n) : nh_(n)
  {
    // Maximum number of outgoing messages to be queued for delivery to subscribers = 1
    nh_.param("input_cloud_topic", input_cloud_topic_, std::string("/camera/depth/points2_throttle"));
    nh_.param("output_cloud_topic", output_cloud_topic_, std::string("circle"));
   
    sub_ = nh_.subscribe (input_cloud_topic_, 1,  &DetectCircle::cloud_cb, this);
    ROS_INFO ("[DetectCircle3D:] Listening for incoming data on topic %s", nh_.resolveName (input_cloud_topic_).c_str ());
    pub_ = nh_.advertise<sensor_msgs::PointCloud2>(output_cloud_topic_, 1);
    ROS_INFO ("[DetectCircle3D:] Will be publishing data on topic %s.", nh_.resolveName (output_cloud_topic_).c_str ());
  }

  // cloud_cb (!)
  void cloud_cb (const sensor_msgs::PointCloud2ConstPtr& pc)
  {
    PointCloud cloud_raw;
    pcl::fromROSMsg (*pc, cloud_raw);
    seg.setOptimizeCoefficients (true);
    seg.setModelType (pcl::SACMODEL_CIRCLE2D);
    seg.setMethodType (pcl::SAC_RANSAC);
    seg.setMaxIterations (10000);
    seg.setDistanceThreshold (0.05);
    seg.setRadiusLimits (0.05, 0.1);
    seg.setInputCloud (boost::make_shared<PointCloud> (cloud_raw));
    // Obtain the circle inliers and coefficients
    seg.segment (circle_inliers_, circle_coeff);
    std::cerr << "Circle inliers " << circle_inliers_.indices.size() << std::endl;
    std::cerr << "Circle coefficients: " << circle_coeff << std::endl;

    pcl::ExtractIndices<Point> extract_object_indices;
    extract_object_indices.setInputCloud (boost::make_shared<PointCloud> (cloud_raw));
    extract_object_indices.setIndices (boost::make_shared<const pcl::PointIndices> (circle_inliers_));
    pcl::PointCloud<Point> cloud_object;
    extract_object_indices.filter (cloud_object);
    pub_.publish(cloud_object);
  }
};

int main (int argc, char** argv)
{
  ros::init (argc, argv, "detect_circle_node");
  ros::NodeHandle n("~");
  DetectCircle dc(n);
  ros::spin ();
  return (0);
}