00001 // -*- mode: C++ -*- 00002 /********************************************************************* 00003 * Software License Agreement (BSD License) 00004 * 00005 * Copyright (c) 2013, yuto_inagaki 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 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 #ifndef __JSK_PCL_COLORIZE_SEGMENTED_RF__ 00037 #define __JSK_PCL_COLORIZE_SEGMENTED_RF__ 00038 00039 // ros 00040 #include <ros/ros.h> 00041 #include <ros/names.h> 00042 #include <jsk_recognition_msgs/PointsArray.h> 00043 // pcl 00044 #include <pcl_ros/pcl_nodelet.h> 00045 #include <pcl/point_types.h> 00046 #include <pcl/ModelCoefficients.h> 00047 #include <pcl/point_types.h> 00048 #include <pcl/sample_consensus/method_types.h> 00049 #include <pcl/sample_consensus/model_types.h> 00050 #include <pcl/filters/passthrough.h> 00051 #include <pcl/segmentation/sac_segmentation.h> 00052 #include <pcl/common/centroid.h> 00053 #include <pcl/common/impl/common.hpp> 00054 #include <pcl/filters/extract_indices.h> 00055 #include <pcl/features/normal_3d.h> 00056 #include <pcl/kdtree/kdtree.h> 00057 #include <pcl/segmentation/extract_clusters.h> 00058 #include <pcl/features/fpfh_omp.h> 00059 #include <ml_classifiers/ClassifyData.h> 00060 #include <ml_classifiers/ClassDataPoint.h> 00061 #include <math.h> 00062 #include <stdlib.h> 00063 00064 namespace jsk_pcl_ros 00065 { 00066 class ColorizeRandomForest: public pcl_ros::PCLNodelet 00067 { 00068 protected: 00069 ros::Subscriber sub_input_; 00070 ros::Publisher pub_; 00071 ros::Publisher pub2_; 00072 00073 double angular_threshold_; 00074 double mps_distance_threshold_; 00075 double approx_threshold_; 00076 double max_depth_change_factor_; 00077 double normal_smoothingsize_; 00078 double refinement_threshold_; 00079 float radius_search_; 00080 float pass_offset_; 00081 float pass_offset2_; 00082 int min_inliers_; 00083 int sum_num_; 00084 private: 00085 virtual void onInit(); 00086 void extract(const sensor_msgs::PointCloud2 cloud); 00087 }; 00088 } 00089 00090 #endif