segbot_velodyne_outlier_removal.h

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/*
 * Because of https://github.com/ros-perception/perception_pcl/issues/9, filter.cpp from pcl_ros is copied into this
 * code.
 *
 * filter.h software license:
 *
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2009, Willow Garage, Inc.
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Willow Garage, Inc. nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *
 * $Id: filter.h 35876 2011-02-09 01:04:36Z rusu $
 *
 */

#ifndef SEGBOT_SENSORS_VELODYNE_FILTER_H_
#define SEGBOT_SENSORS_VELODYNE_FILTER_H_

// PCL includes
#include <pcl/filters/filter.h>
#include "pcl_ros/pcl_nodelet.h"

// Dynamic reconfigure
#include <dynamic_reconfigure/server.h>
#include "pcl_ros/FilterConfig.h"

#include <geometry_msgs/Point.h>

// PCL includes
#include <pcl_ros/filters/filter.h>

// Dynamic reconfigure
#include <segbot_sensors/SegbotVelodyneOutlierRemovalConfig.h>

namespace segbot_sensors
{
  namespace sync_policies = message_filters::sync_policies;

  using namespace pcl_ros;

  class Filter : public PCLNodelet
  {
    public:
      typedef sensor_msgs::PointCloud2 PointCloud2;

      typedef boost::shared_ptr <std::vector<int> > IndicesPtr;
      typedef boost::shared_ptr <const std::vector<int> > IndicesConstPtr;

      Filter () {}

    protected:
      ros::Subscriber sub_input_;

      message_filters::Subscriber<PointCloud2> sub_input_filter_;

      std::string filter_field_name_;

      double filter_limit_min_;

      double filter_limit_max_;

      bool filter_limit_negative_;

      std::string tf_input_frame_;

      std::string tf_input_orig_frame_;

      std::string tf_output_frame_;

      boost::mutex mutex_;

      virtual bool
      child_init (ros::NodeHandle &nh, bool &has_service)
      {
        has_service = false;
        return (true);
      }

      virtual void
      filter (const PointCloud2::ConstPtr &input, const IndicesPtr &indices,
              PointCloud2 &output) = 0;

      virtual void
      onInit ();

      void
      computePublish (const PointCloud2::ConstPtr &input, const IndicesPtr &indices);

    private:
      boost::shared_ptr<dynamic_reconfigure::Server<pcl_ros::FilterConfig> > srv_;

      boost::shared_ptr<message_filters::Synchronizer<sync_policies::ExactTime<PointCloud2, PointIndices> > >       sync_input_indices_e_;
      boost::shared_ptr<message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloud2, PointIndices> > > sync_input_indices_a_;

      virtual void
      config_callback (pcl_ros::FilterConfig &config, uint32_t level);

      void
      input_indices_callback (const PointCloud2::ConstPtr &cloud,
                              const PointIndicesConstPtr &indices);
    public:
      EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  };

  class SegbotVelodyneOutlierRemoval : public Filter
  {
    protected:
      boost::shared_ptr <dynamic_reconfigure::Server<SegbotVelodyneOutlierRemovalConfig> > srv_;

      inline void
      filter (const PointCloud2::ConstPtr &input, const IndicesPtr &indices,
              PointCloud2 &output)
      {
        boost::mutex::scoped_lock lock (mutex_);
        pcl::PCLPointCloud2::Ptr pcl_cloud(new pcl::PCLPointCloud2);
        pcl_conversions::toPCL(*input, *pcl_cloud);
        pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);
        pcl::fromPCLPointCloud2(*pcl_cloud, *cloud);

        for (pcl::PointCloud<pcl::PointXYZ>::iterator it = cloud->begin(); it != cloud->end();) {
          // http://www.ecse.rpi.edu/Homepages/wrf/Research/Short_Notes/pnpoly.html
          float &x = it->x;
          float &y = it->y;
          bool point_not_in_polygon = false;
          for (int i = 0, j = footprint_.size() - 1; i < footprint_.size(); j = i++) {
            if (((footprint_[i].y > y) != (footprint_[j].y > y)) &&
                (x < (footprint_[j].x - footprint_[i].x) * (y - footprint_[i].y) / (footprint_[j].y - footprint_[i].y) + footprint_[i].x)) {
              point_not_in_polygon = !point_not_in_polygon;
            }
          }
          if (point_not_in_polygon) {
            it = cloud->erase(it);
          } else {
            // Keep the point.
            ++it;
          }
        }

        pcl::toPCLPointCloud2(*cloud, *pcl_cloud);
        pcl_conversions::moveFromPCL(*pcl_cloud, output);
      }

      bool child_init (ros::NodeHandle &nh, bool &has_service);

      void config_callback (segbot_sensors::SegbotVelodyneOutlierRemovalConfig &config, uint32_t level);

    public:
      EIGEN_MAKE_ALIGNED_OPERATOR_NEW

    private:
      std::vector<geometry_msgs::Point> footprint_;
      boost::shared_ptr<ros::Publisher> footprint_publisher_;
      std::string frame_;
  };
}

#endif