00001 // -*- mode: c++ -*- 00002 /********************************************************************* 00003 * Software License Agreement (BSD License) 00004 * 00005 * Copyright (c) 2014, 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_SUPERVOXEL_SEGMENTATION_H_ 00038 #define JSK_PCL_ROS_SUPERVOXEL_SEGMENTATION_H_ 00039 00040 #include <jsk_topic_tools/diagnostic_nodelet.h> 00041 #include "jsk_recognition_utils/pcl_conversion_util.h" 00042 #include <dynamic_reconfigure/server.h> 00043 #include <jsk_pcl_ros/SupervoxelSegmentationConfig.h> 00044 #include <jsk_recognition_msgs/ClusterPointIndices.h> 00045 namespace jsk_pcl_ros 00046 { 00047 class SupervoxelSegmentation: public jsk_topic_tools::DiagnosticNodelet 00048 { 00049 public: 00050 typedef pcl::PointXYZRGB PointT; 00051 typedef boost::shared_ptr<SupervoxelSegmentation> Ptr; 00052 typedef SupervoxelSegmentationConfig Config; 00053 SupervoxelSegmentation(): DiagnosticNodelet("SupervoxelSegmentation") {} 00054 protected: 00056 // methods 00058 virtual void onInit(); 00059 virtual void subscribe(); 00060 virtual void unsubscribe(); 00061 virtual void segment( 00062 const sensor_msgs::PointCloud2::ConstPtr& cloud_msg); 00063 virtual void configCallback (Config &config, uint32_t level); 00065 // ROS variables 00067 boost::mutex mutex_; 00068 ros::Subscriber sub_; 00069 boost::shared_ptr <dynamic_reconfigure::Server<Config> > srv_; 00070 ros::Publisher pub_indices_; 00071 ros::Publisher pub_cloud_; 00072 00074 // parameters 00076 double color_importance_; 00077 double spatial_importance_; 00078 double normal_importance_; 00079 double voxel_resolution_; 00080 double seed_resolution_; 00081 bool use_transform_; 00082 private: 00083 00084 }; 00085 } 00086 00087 #endif