feature.h
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00001 /*
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00021  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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00034  * $Id: feature.h 35422 2011-01-24 20:04:44Z rusu $
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00036  */
00037 
00038 #ifndef PCL_ROS_FEATURE_H_
00039 #define PCL_ROS_FEATURE_H_
00040 
00041 // PCL includes
00042 #include <pcl/features/feature.h>
00043 #include <pcl/PointIndices.h>
00044 
00045 #include "pcl_ros/pcl_nodelet.h"
00046 #include <message_filters/pass_through.h>
00047 
00048 // Dynamic reconfigure
00049 #include <dynamic_reconfigure/server.h>
00050 #include "pcl_ros/FeatureConfig.h"
00051 
00052 namespace pcl_ros
00053 {
00054   namespace sync_policies = message_filters::sync_policies;
00055 
00059 
00063   class Feature : public PCLNodelet
00064   {
00065     public:
00066       typedef pcl::KdTree<pcl::PointXYZ> KdTree;
00067       typedef pcl::KdTree<pcl::PointXYZ>::Ptr KdTreePtr;
00068 
00069       typedef pcl::PointCloud<pcl::PointXYZ> PointCloudIn;
00070       typedef PointCloudIn::Ptr PointCloudInPtr;
00071       typedef PointCloudIn::ConstPtr PointCloudInConstPtr;
00072 
00073       typedef boost::shared_ptr <std::vector<int> > IndicesPtr;
00074       typedef boost::shared_ptr <const std::vector<int> > IndicesConstPtr;
00075 
00077       Feature () : /*input_(), indices_(), surface_(), */tree_(), k_(0), search_radius_(0),
00078                    use_surface_(false), spatial_locator_type_(-1) 
00079       {};
00080 
00081     protected:
00083       //PointCloudInConstPtr input_;
00084 
00086       //IndicesConstPtr indices_;
00087 
00089       //PointCloudInConstPtr surface_;
00090 
00092       KdTreePtr tree_;
00093 
00095       int k_;
00096 
00098       double search_radius_;
00099 
00100       // ROS nodelet attributes
00102       message_filters::Subscriber<PointCloudIn> sub_surface_filter_;
00103       
00105       ros::Subscriber sub_input_;
00106 
00108       bool use_surface_;
00109 
00115       int spatial_locator_type_;
00116 
00118       boost::shared_ptr <dynamic_reconfigure::Server<FeatureConfig> > srv_;
00119 
00121       virtual bool childInit (ros::NodeHandle &nh) = 0;
00122 
00124       virtual void emptyPublish (const PointCloudInConstPtr &cloud) = 0;
00125 
00127       virtual void computePublish (const PointCloudInConstPtr &cloud, 
00128                                    const PointCloudInConstPtr &surface,
00129                                    const IndicesPtr &indices) = 0;
00130 
00135       void config_callback (FeatureConfig &config, uint32_t level);
00136 
00139       message_filters::PassThrough<PointIndices> nf_pi_;
00140       message_filters::PassThrough<PointCloudIn> nf_pc_;
00141 
00146       inline void
00147       input_callback (const PointCloudInConstPtr &input)
00148       {
00149         PointIndices indices;
00150         indices.header.stamp = input->header.stamp;
00151         PointCloudIn cloud;
00152         cloud.header.stamp = input->header.stamp;
00153         nf_pc_.add (cloud.makeShared ());
00154         nf_pi_.add (boost::make_shared<PointIndices> (indices));
00155       }
00156 
00157     private:
00159       boost::shared_ptr <message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloudIn, PointCloudIn, PointIndices> > > sync_input_surface_indices_a_;
00160       boost::shared_ptr <message_filters::Synchronizer<sync_policies::ExactTime<PointCloudIn, PointCloudIn, PointIndices> > > sync_input_surface_indices_e_;
00161 
00163       virtual void onInit ();
00164 
00170       void input_surface_indices_callback (const PointCloudInConstPtr &cloud, 
00171                                            const PointCloudInConstPtr &cloud_surface, 
00172                                            const PointIndicesConstPtr &indices);
00173 
00174     public:
00175       EIGEN_MAKE_ALIGNED_OPERATOR_NEW
00176   };
00177 
00181   class FeatureFromNormals : public Feature
00182   {
00183     public:
00184       typedef sensor_msgs::PointCloud2 PointCloud2;
00185 
00186       typedef pcl::PointCloud<pcl::Normal> PointCloudN;
00187       typedef PointCloudN::Ptr PointCloudNPtr;
00188       typedef PointCloudN::ConstPtr PointCloudNConstPtr;
00189 
00190       FeatureFromNormals () : normals_() {};
00191 
00192     protected:
00194       PointCloudNConstPtr normals_;
00195 
00197       virtual bool childInit (ros::NodeHandle &nh) = 0;
00198 
00200       virtual void emptyPublish (const PointCloudInConstPtr &cloud) = 0;
00201 
00203       virtual void computePublish (const PointCloudInConstPtr &cloud, 
00204                                    const PointCloudNConstPtr &normals,
00205                                    const PointCloudInConstPtr &surface,
00206                                    const IndicesPtr &indices) = 0;
00207 
00208     private:
00210       message_filters::Subscriber<PointCloudN> sub_normals_filter_;
00211 
00213       boost::shared_ptr<message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloudIn, PointCloudN, PointCloudIn, PointIndices> > > sync_input_normals_surface_indices_a_;
00214       boost::shared_ptr<message_filters::Synchronizer<sync_policies::ExactTime<PointCloudIn, PointCloudN, PointCloudIn, PointIndices> > > sync_input_normals_surface_indices_e_;
00215 
00217       void computePublish (const PointCloudInConstPtr &, 
00218                            const PointCloudInConstPtr &,
00219                            const IndicesPtr &) {} // This should never be called
00220 
00222       virtual void onInit ();
00223 
00230       void input_normals_surface_indices_callback (const PointCloudInConstPtr &cloud, 
00231                                                    const PointCloudNConstPtr &cloud_normals, 
00232                                                    const PointCloudInConstPtr &cloud_surface, 
00233                                                    const PointIndicesConstPtr &indices);
00234 
00235     public:
00236       EIGEN_MAKE_ALIGNED_OPERATOR_NEW
00237   };
00238 }
00239 
00240 #endif  //#ifndef PCL_ROS_FEATURE_H_
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pcl_ros
Author(s): Maintained by Radu Bogdan Rusu
autogenerated on Tue Mar 5 2013 13:54:41