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_FEATURE_REGISTRATION_H_ 00038 #define JSK_PCL_ROS_FEATURE_REGISTRATION_H_ 00039 00040 #include <jsk_topic_tools/diagnostic_nodelet.h> 00041 00042 #include <message_filters/subscriber.h> 00043 #include <message_filters/time_synchronizer.h> 00044 #include <message_filters/synchronizer.h> 00045 #include <message_filters/sync_policies/approximate_time.h> 00046 00047 #include <dynamic_reconfigure/server.h> 00048 #include <jsk_pcl_ros/FeatureRegistrationConfig.h> 00049 00050 #include <pcl/point_types.h> 00051 #include <pcl/point_cloud.h> 00052 #include <sensor_msgs/PointCloud2.h> 00053 #include <geometry_msgs/PoseStamped.h> 00054 00055 namespace jsk_pcl_ros 00056 { 00061 class FeatureRegistration: public jsk_topic_tools::DiagnosticNodelet 00062 { 00063 public: 00064 typedef FeatureRegistrationConfig Config; 00065 typedef message_filters::sync_policies::ApproximateTime< 00066 sensor_msgs::PointCloud2, 00067 sensor_msgs::PointCloud2> SyncPolicy; 00068 FeatureRegistration(): DiagnosticNodelet("FeatureRegistration") {}; 00069 protected: 00070 virtual void onInit(); 00071 virtual void subscribe(); 00072 virtual void unsubscribe(); 00073 00074 virtual void configCallback(Config &config, uint32_t level); 00075 00076 virtual void referenceCallback( 00077 const sensor_msgs::PointCloud2::ConstPtr& cloud_msg, 00078 const sensor_msgs::PointCloud2::ConstPtr& feature_msg); 00079 00080 virtual void estimate( 00081 const sensor_msgs::PointCloud2::ConstPtr& cloud_msg, 00082 const sensor_msgs::PointCloud2::ConstPtr& feature_msg); 00083 00084 boost::mutex mutex_; 00085 ros::Publisher pub_pose_; 00086 ros::Publisher pub_cloud_; 00087 boost::shared_ptr <dynamic_reconfigure::Server<Config> > srv_; 00088 00089 message_filters::Subscriber<sensor_msgs::PointCloud2> sub_input_; 00090 message_filters::Subscriber<sensor_msgs::PointCloud2> sub_input_feature_; 00091 boost::shared_ptr<message_filters::Synchronizer<SyncPolicy> > sync_; 00092 00093 message_filters::Subscriber<sensor_msgs::PointCloud2> sub_input_reference_; 00094 message_filters::Subscriber<sensor_msgs::PointCloud2> sub_input_reference_feature_; 00095 boost::shared_ptr<message_filters::Synchronizer<SyncPolicy> > reference_sync_; 00096 00097 // parameters to store reference data 00098 pcl::PointCloud<pcl::PointNormal>::Ptr reference_cloud_; 00099 pcl::PointCloud<pcl::FPFHSignature33>::Ptr reference_feature_; 00100 00101 int max_iterations_; 00102 int correspondence_randomness_; 00103 double similarity_threshold_; 00104 double max_correspondence_distance_; 00105 double inlier_fraction_; 00106 private: 00107 00108 }; 00109 } 00110 00111 #endif