region_growing_segmentation.h
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00001 // -*- mode: C++ -*-
00002 /*********************************************************************
00003  * Software License Agreement (BSD License)
00004  *
00005  *  Copyright (c) 2013, Ryohei Ueda and 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
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00018  *   * Neither the name of the JSK Lab nor the names of its
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00022  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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00035 
00036 #ifndef JSK_PCL_ROS_REGION_GROWING_SEGMENTATION_H_
00037 #define JSK_PCL_ROS_REGION_GROWING_SEGMENTATION_H_
00038 
00039 #include <pcl_ros/pcl_nodelet.h>
00040 #include <pcl/point_types.h>
00041 #include <pcl/io/pcd_io.h>
00042 #include <pcl/search/search.h>
00043 #include <pcl/search/kdtree.h>
00044 #include <pcl/features/normal_3d.h>
00045 #include <pcl/filters/passthrough.h>
00046 #include <pcl/segmentation/region_growing.h>
00047 
00048 #include <dynamic_reconfigure/server.h>
00049 #include "jsk_pcl_ros/RegionGrowingSegmentationConfig.h"
00050 #include <jsk_topic_tools/connection_based_nodelet.h>
00051 namespace jsk_pcl_ros
00052 {
00053   class RegionGrowingSegmentation:
00054     public jsk_topic_tools::ConnectionBasedNodelet
00055   {
00056   public:
00057   protected:
00058     ros::Publisher pub_;
00059     ros::Subscriber sub_;
00060     int number_of_neighbors_;
00061     int min_size_;
00062     int max_size_;
00063     double smoothness_threshold_;
00064     double curvature_threshold_;
00065     typedef jsk_pcl_ros::RegionGrowingSegmentationConfig Config;
00066     boost::shared_ptr <dynamic_reconfigure::Server<Config> > srv_;
00067     boost::mutex mutex_;
00068     virtual void segment(const sensor_msgs::PointCloud2::ConstPtr& msg);
00069     virtual void configCallback (Config &config, uint32_t level);
00070     virtual void subscribe();
00071     virtual void unsubscribe();
00072   private:
00073     virtual void onInit();
00074   };
00075 }
00076 
00077 #endif


jsk_pcl_ros
Author(s): Yohei Kakiuchi
autogenerated on Wed Sep 16 2015 04:36:48