torus_finder.h
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00001 // -*- mode: c++ -*-
00002 /*********************************************************************
00003  * Software License Agreement (BSD License)
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00005  *  Copyright (c) 2015, JSK Lab
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00035 
00036 
00037 #ifndef JSK_PCL_ROS_TORUS_FINDER_H_
00038 #define JSK_PCL_ROS_TORUS_FINDER_H_
00039 
00040 #include <jsk_topic_tools/diagnostic_nodelet.h>
00041 #include <sensor_msgs/PointCloud2.h>
00042 #include <jsk_recognition_msgs/TorusArray.h>
00043 #include <jsk_recognition_msgs/Torus.h>
00044 #include <jsk_pcl_ros/TorusFinderConfig.h>
00045 #include <dynamic_reconfigure/server.h>
00046 #include <geometry_msgs/PoseStamped.h>
00047 #include <Eigen/Core>
00048 #include <geometry_msgs/PolygonStamped.h>
00049 
00050 namespace jsk_pcl_ros
00051 {
00052   class TorusFinder: public jsk_topic_tools::DiagnosticNodelet
00053   {
00054   public:
00055     typedef TorusFinderConfig Config;
00056     TorusFinder(): DiagnosticNodelet("TorusFinder") {}
00057   protected:
00058     virtual void onInit();
00059     virtual void subscribe();
00060     virtual void unsubscribe();
00061     virtual void segment(const sensor_msgs::PointCloud2::ConstPtr& cloud_msg);
00062     virtual void segmentFromPoints(const geometry_msgs::PolygonStamped::ConstPtr& polygon_msg);
00063     virtual void configCallback(Config &config, uint32_t level);
00064     
00066     // ROS variables
00068     boost::shared_ptr <dynamic_reconfigure::Server<Config> > srv_;
00069     ros::Subscriber sub_;
00070     ros::Subscriber sub_points_;
00071     ros::Publisher pub_torus_;
00072     ros::Publisher pub_torus_array_;
00073     ros::Publisher pub_inliers_;
00074     ros::Publisher pub_coefficients_;
00075     ros::Publisher pub_pose_stamped_;
00076     boost::mutex mutex_;
00077     Eigen::Vector3f hint_axis_;
00078 
00080     // Parameters
00082     std::string algorithm_;
00083     double min_radius_;
00084     double max_radius_;
00085     double outlier_threshold_;
00086     double eps_hint_angle_;
00087     bool use_hint_;
00088     bool use_normal_;
00089     int max_iterations_;
00090     int min_size_;
00091     bool voxel_grid_sampling_;
00092     double voxel_size_;
00093   private:
00094   };
00095 }
00096 
00097 #endif


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