ppf_registration.h
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00001 // -*- mode: C++ -*-
00002 /*********************************************************************
00003  * Software License Agreement (BSD License)
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00035 
00036 #ifndef JSK_PCL_ROS_ADD_COLOR_FROM_IMAGE_H_
00037 #define JSK_PCL_ROS_ADD_COLOR_FROM_IMAGE_H_
00038 
00039 #include <jsk_topic_tools/diagnostic_nodelet.h>
00040 #include "jsk_recognition_utils/pcl_util.h"
00041 #include "jsk_recognition_utils/geo_util.h"
00042 #include "jsk_recognition_utils/pcl_conversion_util.h"
00043 
00044 #include <message_filters/subscriber.h>
00045 #include <message_filters/time_synchronizer.h>
00046 #include <message_filters/synchronizer.h>
00047 #include <message_filters/sync_policies/approximate_time.h>
00048 #include <dynamic_reconfigure/server.h>
00049 
00050 #include <sensor_msgs/PointCloud2.h>
00051 #include <jsk_recognition_msgs/PointsArray.h>
00052 #include <geometry_msgs/PoseArray.h>
00053 #include <geometry_msgs/Pose.h>
00054 #include <pcl/features/ppf.h>
00055 #include <pcl/features/normal_3d.h>
00056 #include <pcl/registration/ppf_registration.h>
00057 #include <jsk_pcl_ros/PPFRegistrationConfig.h>
00058 
00059 namespace jsk_pcl_ros
00060 {
00061   class PPFRegistration: public jsk_topic_tools::DiagnosticNodelet
00062   {
00063   public:
00064     typedef message_filters::sync_policies::ExactTime<
00065     sensor_msgs::PointCloud2,
00066     jsk_recognition_msgs::PointsArray> ArraySyncPolicy;
00067     typedef message_filters::sync_policies::ApproximateTime<
00068     sensor_msgs::PointCloud2,
00069     jsk_recognition_msgs::PointsArray> ArrayApproximateSyncPolicy;
00070     typedef message_filters::sync_policies::ExactTime<
00071     sensor_msgs::PointCloud2,
00072     sensor_msgs::PointCloud2> CloudSyncPolicy;
00073     typedef message_filters::sync_policies::ApproximateTime<
00074     sensor_msgs::PointCloud2,
00075     sensor_msgs::PointCloud2> CloudApproximateSyncPolicy;
00076     typedef jsk_pcl_ros::PPFRegistrationConfig Config;
00077     PPFRegistration(): DiagnosticNodelet("PPFRegistration") {}
00078   protected:
00079     virtual void onInit();
00080     virtual void subscribe();
00081     virtual void unsubscribe();
00082     virtual pcl::PointCloud<pcl::PointNormal>::Ptr calculateNormals (pcl::PointCloud<pcl::PointXYZ>::Ptr cloud);
00083     virtual void configCallback(Config &config, uint32_t level);
00084     virtual void updateDiagnostic(
00085       diagnostic_updater::DiagnosticStatusWrapper &stat);
00086     virtual void ArrayRegistration(
00087             const sensor_msgs::PointCloud2::ConstPtr& input_cloud,
00088             const jsk_recognition_msgs::PointsArray::ConstPtr& input_reference_points_array);
00089     virtual void CloudRegistration(
00090             const sensor_msgs::PointCloud2::ConstPtr& input_cloud,
00091             const sensor_msgs::PointCloud2::ConstPtr& input_reference_cloud);
00092     boost::shared_ptr<dynamic_reconfigure::Server<Config> > srv_;
00093     message_filters::Subscriber<sensor_msgs::PointCloud2> sub_input_;
00094     message_filters::Subscriber<sensor_msgs::PointCloud2> sub_reference_cloud_;
00095     message_filters::Subscriber<jsk_recognition_msgs::PointsArray> sub_reference_array_;
00096     boost::mutex mutex_;
00097     boost::shared_ptr<message_filters::Synchronizer<ArraySyncPolicy> > array_sync_;
00098     boost::shared_ptr<message_filters::Synchronizer<ArrayApproximateSyncPolicy> > array_async_;
00099     boost::shared_ptr<message_filters::Synchronizer<CloudSyncPolicy> > cloud_sync_;
00100     boost::shared_ptr<message_filters::Synchronizer<CloudApproximateSyncPolicy> > cloud_async_;
00101     bool approximate_sync_;
00102     int queue_size_;
00103     double search_radius_;
00104     int sampling_rate_;
00105     bool use_array_;
00106     double position_clustering_threshold_;
00107     double rotation_clustering_threshold_;
00108     ros::Publisher pub_pose_array_;
00109     ros::Publisher pub_points_array_;
00110     ros::Publisher pub_pose_stamped_;
00111     ros::Publisher pub_cloud_;
00112 
00113     pcl::PointCloud<pcl::PointNormal>::Ptr cloud_with_normals;
00114     pcl::PointCloud<pcl::PointNormal>::Ptr reference_cloud_with_normals;
00115     pcl::PPFEstimation<pcl::PointNormal, pcl::PointNormal, pcl::PPFSignature> ppf_estimator;
00116     pcl::PPFRegistration<pcl::PointNormal, pcl::PointNormal> ppf_registration;
00117   private:
00118 
00119   };
00120 }
00121 
00122 #endif


jsk_pcl_ros
Author(s): Yohei Kakiuchi
autogenerated on Sun Oct 8 2017 02:43:50