incremental_model_registration.h
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00001 // -*- mode: c++ -*-
00002 /*********************************************************************
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00035 
00036 
00037 #ifndef JSK_PCL_ROS_INCREMENTAL_MODEL_REGISTRATION_H_
00038 #define JSK_PCL_ROS_INCREMENTAL_MODEL_REGISTRATION_H_
00039 
00040 #include <geometry_msgs/PoseStamped.h>
00041 #include <sensor_msgs/PointCloud.h>
00042 #include <pcl_conversions/pcl_conversions.h>
00043 #include <jsk_topic_tools/diagnostic_nodelet.h>
00044 #include <message_filters/subscriber.h>
00045 #include <message_filters/time_synchronizer.h>
00046 #include <message_filters/synchronizer.h>
00047 #include <pcl/visualization/pcl_visualizer.h>
00048 #include <std_srvs/Empty.h>
00049 
00050 namespace jsk_pcl_ros
00051 {
00052   class CapturedSamplePointCloud
00053   {
00054   public:
00055     typedef boost::shared_ptr<CapturedSamplePointCloud> Ptr;
00056     CapturedSamplePointCloud();
00057     CapturedSamplePointCloud(pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud,
00058                const Eigen::Affine3f& original_pose);
00059     virtual pcl::PointCloud<pcl::PointXYZRGB>::Ptr getOriginalPointCloud();
00060     virtual Eigen::Affine3f getOriginalPose();
00061     virtual pcl::PointCloud<pcl::PointXYZRGB>::Ptr getRefinedPointCloud();
00062     virtual Eigen::Affine3f getRefinedPose();
00063     virtual void setRefinedPointCloud(
00064       pcl::PointCloud<pcl::PointXYZRGB> cloud);
00065     virtual void setRefinedPose(Eigen::Affine3f pose);
00066     
00067   protected:
00068     pcl::PointCloud<pcl::PointXYZRGB>::Ptr original_cloud_;
00069     pcl::PointCloud<pcl::PointXYZRGB>::Ptr refined_cloud_;
00070     Eigen::Affine3f original_pose_;
00071     Eigen::Affine3f refined_pose_;
00072   private:
00073     
00074   };
00075   
00076   class IncrementalModelRegistration: public jsk_topic_tools::DiagnosticNodelet
00077   {
00078   public:
00079     IncrementalModelRegistration(): DiagnosticNodelet("IncrementalModelRegistration") {}
00080     typedef message_filters::sync_policies::ExactTime<
00081       sensor_msgs::PointCloud2,
00082       pcl_msgs::PointIndices,
00083       geometry_msgs::PoseStamped > SyncPolicy;
00084   protected:
00086     // methods
00088     virtual void onInit();
00089     virtual void subscribe() {}
00090     virtual void unsubscribe() {}
00091     virtual void updateDiagnostic(
00092       diagnostic_updater::DiagnosticStatusWrapper &stat) {}
00093     virtual void newsampleCallback(
00094       const sensor_msgs::PointCloud2::ConstPtr& cloud_msg,
00095       const pcl_msgs::PointIndices::ConstPtr& indices_msg,
00096       const geometry_msgs::PoseStamped::ConstPtr& pose_msg);
00097     virtual void transformPointCloudRepsectedToPose(
00098       pcl::PointCloud<pcl::PointXYZRGB>::Ptr input,
00099       pcl::PointCloud<pcl::PointXYZRGB>::Ptr output,
00100       const geometry_msgs::PoseStamped::ConstPtr& pose_msg);
00101     virtual bool startRegistration(
00102       std_srvs::Empty::Request& req,
00103       std_srvs::Empty::Response& res);
00104     virtual void callICP(
00105       pcl::PointCloud<pcl::PointXYZRGB>::Ptr reference,
00106       pcl::PointCloud<pcl::PointXYZRGB>::Ptr target,
00107       Eigen::Affine3f& output_transform);
00109     // ROS variables
00111     boost::shared_ptr<message_filters::Synchronizer<SyncPolicy> >sync_;
00112     message_filters::Subscriber<sensor_msgs::PointCloud2> sub_cloud_;
00113     message_filters::Subscriber<pcl_msgs::PointIndices> sub_indices_;
00114     message_filters::Subscriber<geometry_msgs::PoseStamped> sub_pose_;
00115     boost::mutex mutex_;
00116     ros::ServiceServer start_registration_srv_;
00117     ros::Publisher pub_cloud_non_registered_;
00118     ros::Publisher pub_registered_;
00119     boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer_;
00120     
00122     // parameters
00124     std::vector<CapturedSamplePointCloud::Ptr> samples_;
00125     Eigen::Affine3f origin_;
00126     pcl::PointCloud<pcl::PointXYZRGB> all_cloud_;
00127     std::string frame_id_;
00128   private:
00129     
00130   };
00131 }
00132 
00133 #endif


jsk_pcl_ros
Author(s): Yohei Kakiuchi
autogenerated on Tue Jul 2 2019 19:41:43