edge_depth_refinement.h
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00001 // -*- mode: c++ -*-
00002 /*********************************************************************
00003  * Software License Agreement (BSD License)
00004  *
00005  *  Copyright (c) 2014, JSK Lab
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00008  *  Redistribution and use in source and binary forms, with or without
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00035 
00036 
00037 #ifndef JSK_PCL_ROS_EDGE_DEPTH_REFINEMENT_H_
00038 #define JSK_PCL_ROS_EDGE_DEPTH_REFINEMENT_H_
00039 
00040 #include <pcl_ros/pcl_nodelet.h>
00041 #include <sensor_msgs/PointCloud2.h>
00042 #include <jsk_recognition_msgs/ClusterPointIndices.h>
00043 #include <jsk_recognition_msgs/ModelCoefficientsArray.h>
00044 #include <jsk_recognition_msgs/SegmentArray.h>
00045 
00046 #include <message_filters/subscriber.h>
00047 #include <message_filters/time_synchronizer.h>
00048 #include <message_filters/synchronizer.h>
00049 
00050 #include "jsk_recognition_utils/pcl_conversion_util.h"
00051 #include "jsk_recognition_utils/geo_util.h"
00052 #include <jsk_pcl_ros/EdgeDepthRefinementConfig.h>
00053 #include <dynamic_reconfigure/server.h>
00054 #include <boost/tuple/tuple.hpp>
00055 
00056 #include <jsk_topic_tools/connection_based_nodelet.h>
00057 
00058 namespace jsk_pcl_ros
00059 {
00060   class EdgeDepthRefinement: public jsk_topic_tools::ConnectionBasedNodelet
00061   {
00062   public:
00063     typedef message_filters::sync_policies::ExactTime<
00064     sensor_msgs::PointCloud2,
00065     jsk_recognition_msgs::ClusterPointIndices > SyncPolicy;
00066     typedef pcl::PointXYZRGB PointT;
00067     typedef jsk_pcl_ros::EdgeDepthRefinementConfig Config;
00068   protected:
00070     // methods
00072     virtual void onInit();
00073     
00074     virtual void refine(
00075       const sensor_msgs::PointCloud2ConstPtr &point,
00076       const jsk_recognition_msgs::ClusterPointIndicesConstPtr &indices);
00077     
00078     virtual void removeOutliersByLine(
00079       const pcl::PointCloud<PointT>::Ptr& cloud,
00080       const std::vector<int>& indices,
00081       pcl::PointIndices& inliers,
00082       pcl::ModelCoefficients& coefficients);
00083     
00084     virtual void removeOutliers(
00085       const pcl::PointCloud<PointT>::Ptr& cloud,
00086       const std::vector<PCLIndicesMsg>& indices,
00087       std::vector<pcl::PointIndices::Ptr>& output_inliers,
00088       std::vector<pcl::ModelCoefficients::Ptr>& output_coefficients);
00089     
00090     virtual void removeDuplicatedEdges(
00091       const pcl::PointCloud<PointT>::Ptr& cloud,
00092       const std::vector<pcl::PointIndices::Ptr> inliers,
00093       const std::vector<pcl::ModelCoefficients::Ptr> coefficients,
00094       std::vector<pcl::PointIndices::Ptr>& output_inliers,
00095       std::vector<pcl::ModelCoefficients::Ptr>& output_coefficients);
00096     
00097     virtual jsk_recognition_utils::Line::Ptr lineFromCoefficients(
00098       const pcl::ModelCoefficients::Ptr coefficients);
00099     
00100     virtual jsk_recognition_utils::Segment::Ptr segmentFromIndices(
00101       const pcl::PointCloud<PointT>::Ptr& cloud,
00102       const std::vector<int>& indices,
00103       const jsk_recognition_utils::Line::Ptr& line);
00104     
00105     virtual void publishIndices(
00106       ros::Publisher& pub,
00107       ros::Publisher& pub_coefficients,
00108       ros::Publisher& pub_edges,
00109       const std::vector<pcl::PointIndices::Ptr> inliers,
00110       const std::vector<pcl::ModelCoefficients::Ptr> coefficients,
00111       const std_msgs::Header& header);
00112     
00113     virtual boost::tuple<int, int> findMinMaxIndex(
00114       const int width, const int height,
00115       const std::vector<int>& indices);
00116     
00117     virtual void integrateDuplicatedIndices(
00118       const pcl::PointCloud<PointT>::Ptr& cloud,
00119       const std::set<int>& duplicated_set,
00120       const std::vector<pcl::PointIndices::Ptr> all_inliers,
00121       pcl::PointIndices::Ptr& output_indices);
00122     
00123     virtual void configCallback (Config &config, uint32_t level);
00124 
00125     virtual void subscribe();
00126     virtual void unsubscribe();
00127     
00129     // ROS variables
00131     boost::shared_ptr <dynamic_reconfigure::Server<Config> > srv_;
00132     message_filters::Subscriber<sensor_msgs::PointCloud2> sub_input_;
00133     message_filters::Subscriber<jsk_recognition_msgs::ClusterPointIndices> sub_indices_;
00134     boost::shared_ptr<message_filters::Synchronizer<SyncPolicy> >sync_;
00135     ros::Publisher pub_indices_, pub_outlier_removed_indices_;
00136     ros::Publisher pub_coefficients_, pub_outlier_removed_coefficients_;
00137     ros::Publisher pub_edges_, pub_outlier_removed_edges_;
00138     boost::mutex mutex_;
00140     // outlier removal
00142     double outlier_distance_threshold_;
00143     int min_inliers_;
00145     // duplication removal
00147     double duplication_angle_threshold_;
00148     double duplication_distance_threshold_;
00149   private:
00150     
00151   };
00152 }
00153 
00154 #endif


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