00001 // -*- mode: c++ -*- 00002 /********************************************************************* 00003 * Software License Agreement (BSD License) 00004 * 00005 * Copyright (c) 2015, 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_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