feature.h
Go to the documentation of this file.
00001 /*
00002  * Software License Agreement (BSD License)
00003  *
00004  *  Copyright (c) 2009, Willow Garage, Inc.
00005  *  All rights reserved.
00006  *
00007  *  Redistribution and use in source and binary forms, with or without
00008  *  modification, are permitted provided that the following conditions
00009  *  are met:
00010  *
00011  *   * Redistributions of source code must retain the above copyright
00012  *     notice, this list of conditions and the following disclaimer.
00013  *   * Redistributions in binary form must reproduce the above
00014  *     copyright notice, this list of conditions and the following
00015  *     disclaimer in the documentation and/or other materials provided
00016  *     with the distribution.
00017  *   * Neither the name of Willow Garage, Inc. nor the names of its
00018  *     contributors may be used to endorse or promote products derived
00019  *     from this software without specific prior written permission.
00020  *
00021  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00022  *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00023  *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00024  *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00025  *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00026  *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00027  *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00028  *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00029  *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00030  *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00031  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00032  *  POSSIBILITY OF SUCH DAMAGE.
00033  *
00034  * $Id: feature.h 35422 2011-01-24 20:04:44Z rusu $
00035  *
00036  */
00037 
00038 #ifndef PCL_ROS_FEATURE_H_
00039 #define PCL_ROS_FEATURE_H_
00040 
00041 // PCL includes
00042 #include <pcl/features/feature.h>
00043 #include <pcl_msgs/PointIndices.h>
00044 
00045 #include "pcl_ros/pcl_nodelet.h"
00046 #include <message_filters/pass_through.h>
00047 
00048 // Dynamic reconfigure
00049 #include <dynamic_reconfigure/server.h>
00050 #include "pcl_ros/FeatureConfig.h"
00051 
00052 // PCL conversions
00053 #include <pcl_conversions/pcl_conversions.h>
00054 
00055 namespace pcl_ros
00056 {
00057   namespace sync_policies = message_filters::sync_policies;
00058 
00062 
00066   class Feature : public PCLNodelet
00067   {
00068     public:
00069       typedef pcl::KdTree<pcl::PointXYZ> KdTree;
00070       typedef pcl::KdTree<pcl::PointXYZ>::Ptr KdTreePtr;
00071 
00072       typedef pcl::PointCloud<pcl::PointXYZ> PointCloudIn;
00073       typedef PointCloudIn::Ptr PointCloudInPtr;
00074       typedef PointCloudIn::ConstPtr PointCloudInConstPtr;
00075 
00076       typedef boost::shared_ptr <std::vector<int> > IndicesPtr;
00077       typedef boost::shared_ptr <const std::vector<int> > IndicesConstPtr;
00078 
00080       Feature () : /*input_(), indices_(), surface_(), */tree_(), k_(0), search_radius_(0),
00081                    use_surface_(false), spatial_locator_type_(-1) 
00082       {};
00083 
00084     protected:
00086       //PointCloudInConstPtr input_;
00087 
00089       //IndicesConstPtr indices_;
00090 
00092       //PointCloudInConstPtr surface_;
00093 
00095       KdTreePtr tree_;
00096 
00098       int k_;
00099 
00101       double search_radius_;
00102 
00103       // ROS nodelet attributes
00105       message_filters::Subscriber<PointCloudIn> sub_surface_filter_;
00106       
00108       ros::Subscriber sub_input_;
00109 
00111       bool use_surface_;
00112 
00118       int spatial_locator_type_;
00119 
00121       boost::shared_ptr <dynamic_reconfigure::Server<FeatureConfig> > srv_;
00122 
00124       virtual bool childInit (ros::NodeHandle &nh) = 0;
00125 
00127       virtual void emptyPublish (const PointCloudInConstPtr &cloud) = 0;
00128 
00130       virtual void computePublish (const PointCloudInConstPtr &cloud, 
00131                                    const PointCloudInConstPtr &surface,
00132                                    const IndicesPtr &indices) = 0;
00133 
00138       void config_callback (FeatureConfig &config, uint32_t level);
00139 
00142       message_filters::PassThrough<PointIndices> nf_pi_;
00143       message_filters::PassThrough<PointCloudIn> nf_pc_;
00144 
00149       inline void
00150       input_callback (const PointCloudInConstPtr &input)
00151       {
00152         PointIndices indices;
00153         indices.header.stamp = pcl_conversions::fromPCL(input->header).stamp;
00154         PointCloudIn cloud;
00155         cloud.header.stamp = input->header.stamp;
00156         nf_pc_.add (cloud.makeShared ());
00157         nf_pi_.add (boost::make_shared<PointIndices> (indices));
00158       }
00159 
00160     private:
00162       boost::shared_ptr <message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloudIn, PointCloudIn, PointIndices> > > sync_input_surface_indices_a_;
00163       boost::shared_ptr <message_filters::Synchronizer<sync_policies::ExactTime<PointCloudIn, PointCloudIn, PointIndices> > > sync_input_surface_indices_e_;
00164 
00166       virtual void onInit ();
00167 
00173       void input_surface_indices_callback (const PointCloudInConstPtr &cloud, 
00174                                            const PointCloudInConstPtr &cloud_surface, 
00175                                            const PointIndicesConstPtr &indices);
00176 
00177     public:
00178       EIGEN_MAKE_ALIGNED_OPERATOR_NEW
00179   };
00180 
00184   class FeatureFromNormals : public Feature
00185   {
00186     public:
00187       typedef sensor_msgs::PointCloud2 PointCloud2;
00188 
00189       typedef pcl::PointCloud<pcl::Normal> PointCloudN;
00190       typedef PointCloudN::Ptr PointCloudNPtr;
00191       typedef PointCloudN::ConstPtr PointCloudNConstPtr;
00192 
00193       FeatureFromNormals () : normals_() {};
00194 
00195     protected:
00197       PointCloudNConstPtr normals_;
00198 
00200       virtual bool childInit (ros::NodeHandle &nh) = 0;
00201 
00203       virtual void emptyPublish (const PointCloudInConstPtr &cloud) = 0;
00204 
00206       virtual void computePublish (const PointCloudInConstPtr &cloud, 
00207                                    const PointCloudNConstPtr &normals,
00208                                    const PointCloudInConstPtr &surface,
00209                                    const IndicesPtr &indices) = 0;
00210 
00211     private:
00213       message_filters::Subscriber<PointCloudN> sub_normals_filter_;
00214 
00216       boost::shared_ptr<message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloudIn, PointCloudN, PointCloudIn, PointIndices> > > sync_input_normals_surface_indices_a_;
00217       boost::shared_ptr<message_filters::Synchronizer<sync_policies::ExactTime<PointCloudIn, PointCloudN, PointCloudIn, PointIndices> > > sync_input_normals_surface_indices_e_;
00218 
00220       void computePublish (const PointCloudInConstPtr &, 
00221                            const PointCloudInConstPtr &,
00222                            const IndicesPtr &) {} // This should never be called
00223 
00225       virtual void onInit ();
00226 
00233       void input_normals_surface_indices_callback (const PointCloudInConstPtr &cloud, 
00234                                                    const PointCloudNConstPtr &cloud_normals, 
00235                                                    const PointCloudInConstPtr &cloud_surface, 
00236                                                    const PointIndicesConstPtr &indices);
00237 
00238     public:
00239       EIGEN_MAKE_ALIGNED_OPERATOR_NEW
00240   };
00241 }
00242 
00243 #endif  //#ifndef PCL_ROS_FEATURE_H_


pcl_ros
Author(s): Open Perception, Julius Kammerl , William Woodall
autogenerated on Thu Jun 6 2019 21:01:44