00001 // -*- mode: c++ -*- 00002 /********************************************************************* 00003 * Software License Agreement (BSD License) 00004 * 00005 * Copyright (c) 2014, JSK Lab 00006 * All rights reserved. 00007 * 00008 * Redistribution and use in source and binary forms, with or without 00009 * modification, are permitted provided that the following conditions 00010 * are met: 00011 * 00012 * * Redistributions of source code must retain the above copyright 00013 * notice, this list of conditions and the following disclaimer. 00014 * * Redistributions in binary form must reproduce the above 00015 * copyright notice, this list of conditions and the following 00016 * disclaimer in the documentation and/o2r other materials provided 00017 * with the distribution. 00018 * * Neither the name of the JSK Lab nor the names of its 00019 * contributors may be used to endorse or promote products derived 00020 * from this software without specific prior written permission. 00021 * 00022 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00023 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00024 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00025 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00026 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 * POSSIBILITY OF SUCH DAMAGE. 00034 *********************************************************************/ 00035 00036 00037 #ifndef JSK_PCL_ROS_COLORIZE_DISTANCE_FROM_PLANE_H_ 00038 #define JSK_PCL_ROS_COLORIZE_DISTANCE_FROM_PLANE_H_ 00039 00040 #include <pcl_ros/pcl_nodelet.h> 00041 #include <message_filters/subscriber.h> 00042 #include <message_filters/time_synchronizer.h> 00043 #include <message_filters/synchronizer.h> 00044 00045 #include <sensor_msgs/PointCloud2.h> 00046 #include <jsk_recognition_msgs/ClusterPointIndices.h> 00047 #include <jsk_recognition_msgs/ModelCoefficientsArray.h> 00048 #include <jsk_recognition_msgs/PolygonArray.h> 00049 #include <dynamic_reconfigure/server.h> 00050 #include <jsk_pcl_ros/ColorizeDistanceFromPlaneConfig.h> 00051 #include "jsk_pcl_ros/geo_util.h" 00052 #include "jsk_topic_tools/connection_based_nodelet.h" 00053 00054 namespace jsk_pcl_ros 00055 { 00056 class ColorizeDistanceFromPlane: public jsk_topic_tools::ConnectionBasedNodelet 00057 { 00058 public: 00059 typedef pcl::PointXYZRGB PointT; 00060 typedef boost::shared_ptr<ColorizeDistanceFromPlane> Ptr; 00061 typedef message_filters::sync_policies::ExactTime< 00062 sensor_msgs::PointCloud2, 00063 jsk_recognition_msgs::ModelCoefficientsArray, 00064 jsk_recognition_msgs::PolygonArray 00065 > SyncPolicy; 00066 typedef ColorizeDistanceFromPlaneConfig Config; 00067 protected: 00069 // methods 00071 virtual void onInit(); 00072 00073 virtual void colorize(const sensor_msgs::PointCloud2::ConstPtr& cloud, 00074 const jsk_recognition_msgs::ModelCoefficientsArray::ConstPtr& coefficients, 00075 const jsk_recognition_msgs::PolygonArray::ConstPtr& polygons); 00076 00077 virtual double distanceToConvexes( 00078 const PointT& p, const std::vector<ConvexPolygon::Ptr>& convexes); 00079 00080 virtual uint32_t colorForDistance(const double d); 00081 00082 virtual void configCallback(Config &config, uint32_t level); 00083 00084 virtual void subscribe(); 00085 virtual void unsubscribe(); 00086 00088 // ROS variabels 00090 ros::Publisher pub_; 00091 boost::shared_ptr<message_filters::Synchronizer<SyncPolicy> >sync_; 00092 message_filters::Subscriber<sensor_msgs::PointCloud2> sub_input_; 00093 message_filters::Subscriber<jsk_recognition_msgs::ModelCoefficientsArray> sub_coefficients_; 00094 message_filters::Subscriber<jsk_recognition_msgs::PolygonArray> sub_polygons_; 00095 boost::shared_ptr <dynamic_reconfigure::Server<Config> > srv_; 00096 boost::mutex mutex_; 00097 00099 // varibales to configure colorization 00101 double max_distance_; 00102 double min_distance_; 00103 bool only_projectable_; 00104 00105 private: 00106 00107 }; 00108 } 00109 00110 #endif