color_based_region_growing_segmentation_nodelet.cpp
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00001 // -*- mode: C++ -*-
00002 /*********************************************************************
00003  * Software License Agreement (BSD License)
00004  *
00005  *  Copyright (c) 2016, Satoshi Otsubo and 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
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00022  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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00035 
00036 #include <pcl_conversions/pcl_conversions.h>
00037 
00038 #include "jsk_pcl_ros/color_based_region_growing_segmentation.h"
00039 
00040 #include "jsk_recognition_utils/pcl_conversion_util.h"
00041 #include "jsk_recognition_msgs/ClusterPointIndices.h"
00042 
00043 
00044 namespace jsk_pcl_ros
00045 {
00046 
00047   void ColorBasedRegionGrowingSegmentation::onInit()
00048   {
00049     ConnectionBasedNodelet::onInit();
00050     srv_ = boost::make_shared <dynamic_reconfigure::Server<Config> > (*pnh_);
00051     dynamic_reconfigure::Server<Config>::CallbackType f=
00052       boost::bind (&ColorBasedRegionGrowingSegmentation::configCallback, this, _1, _2);
00053     srv_->setCallback (f);
00054     pub_ = advertise<jsk_recognition_msgs::ClusterPointIndices>(*pnh_, "output", 1);
00055     onInitPostProcess();
00056   }
00057 
00058   void ColorBasedRegionGrowingSegmentation::subscribe()
00059   {
00060     sub_ = pnh_->subscribe("input", 1, &ColorBasedRegionGrowingSegmentation::segment, this);
00061   }
00062 
00063   void ColorBasedRegionGrowingSegmentation::unsubscribe()
00064   {
00065     sub_.shutdown();
00066   }
00067 
00068   void ColorBasedRegionGrowingSegmentation::configCallback(Config &config, uint32_t level)
00069   {
00070     boost::mutex::scoped_lock lock(mutex_);
00071 
00072     if (distance_threshold_ != config.distance_threshold) {
00073       distance_threshold_ = config.distance_threshold;
00074     }
00075     if (point_color_threshold_ != config.point_color_threshold) {
00076       point_color_threshold_ = config.point_color_threshold;
00077     }
00078     if (region_color_threshold_ != config.region_color_threshold) {
00079       region_color_threshold_ = config.region_color_threshold;
00080     }
00081     if (min_cluster_size_ != config.min_cluster_size) {
00082       min_cluster_size_ = config.min_cluster_size;
00083     }
00084   }
00085 
00086   void ColorBasedRegionGrowingSegmentation::segment(const sensor_msgs::PointCloud2::ConstPtr& msg)
00087   {
00088     boost::mutex::scoped_lock lock(mutex_);
00089     pcl::search::Search <pcl::PointXYZRGB>::Ptr tree =
00090       pcl::search::Search <pcl::PointXYZRGB>::Ptr (new pcl::search::KdTree<pcl::PointXYZRGB>);
00091     pcl::PointCloud <pcl::PointXYZRGB>::Ptr cloud (new pcl::PointCloud <pcl::PointXYZRGB>);
00092     pcl::fromROSMsg(*msg, *cloud);
00093 
00094     std::vector<int> indices;
00095     pcl::removeNaNFromPointCloud(*cloud, *cloud, indices);
00096 
00097     pcl::RegionGrowingRGB<pcl::PointXYZRGB> reg;
00098     reg.setInputCloud (cloud);
00099     reg.setSearchMethod (tree);
00100     reg.setDistanceThreshold (distance_threshold_);
00101     reg.setPointColorThreshold (point_color_threshold_);
00102     reg.setRegionColorThreshold (region_color_threshold_);
00103     reg.setMinClusterSize (min_cluster_size_);
00104 
00105     std::vector <pcl::PointIndices> clusters;
00106     reg.extract (clusters);
00107 
00108     jsk_recognition_msgs::ClusterPointIndices output;
00109     output.header = msg->header;
00110 
00111     for (size_t i = 0; i < clusters.size(); i++) {
00112       PCLIndicesMsg indices;
00113       indices.header = msg->header;
00114       indices.indices = clusters[i].indices;
00115       output.cluster_indices.push_back(indices);
00116     }
00117     pub_.publish(output);
00118   }
00119 }
00120 
00121 #include <pluginlib/class_list_macros.h>
00122 PLUGINLIB_EXPORT_CLASS (jsk_pcl_ros::ColorBasedRegionGrowingSegmentation, nodelet::Nodelet);


jsk_pcl_ros
Author(s): Yohei Kakiuchi
autogenerated on Sun Oct 8 2017 02:43:49