region_growing_multiple_plane_segmentation.h
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00001 // -*- mode: c++ -*-
00002 /*********************************************************************
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00035 
00036 
00037 #ifndef JSK_PCL_ROS_REGION_GROWING_MULTIPLE_PLANE_SEGMENTATION_H_
00038 #define JSK_PCL_ROS_REGION_GROWING_MULTIPLE_PLANE_SEGMENTATION_H_
00039 
00040 #include <dynamic_reconfigure/server.h>
00041 #include "jsk_pcl_ros/RegionGrowingMultiplePlaneSegmentationConfig.h"
00042 #include <message_filters/subscriber.h>
00043 #include <message_filters/time_synchronizer.h>
00044 #include <message_filters/sync_policies/approximate_time.h>
00045 #include <message_filters/synchronizer.h>
00046 #include <jsk_topic_tools/diagnostic_nodelet.h>
00047 #include "jsk_recognition_utils/geo_util.h"
00048 #include "jsk_recognition_msgs/PolygonArray.h"
00049 #include "jsk_recognition_msgs/ClusterPointIndices.h"
00050 #include "jsk_recognition_msgs/ModelCoefficientsArray.h"
00051 #include <jsk_recognition_utils/time_util.h>
00052 #include <std_msgs/Float32.h>
00053 
00054 namespace jsk_pcl_ros
00055 {
00056   class RegionGrowingMultiplePlaneSegmentation:
00057     public jsk_topic_tools::DiagnosticNodelet
00058   {
00059   public:
00060     typedef pcl::PointXYZRGB PointT;
00061     typedef RegionGrowingMultiplePlaneSegmentationConfig
00062     Config;
00063     typedef message_filters::sync_policies::ExactTime<
00064       sensor_msgs::PointCloud2,
00065       sensor_msgs::PointCloud2 > NormalSyncPolicy;
00066     RegionGrowingMultiplePlaneSegmentation()
00067       : DiagnosticNodelet("RegionGrowingMultiplePlaneSegmentation"), 
00068         timer_(10), 
00069         done_initialization_(false) {}
00070     
00071   protected:
00073     // methods
00075     virtual void onInit();
00076     virtual void subscribe();
00077     virtual void unsubscribe();
00078     virtual void segment(
00079       const sensor_msgs::PointCloud2::ConstPtr& msg,
00080       const sensor_msgs::PointCloud2::ConstPtr& normal_msg);
00081     virtual void configCallback (Config &config, uint32_t level);
00083     // static methods
00085     // static method
00086     static void setCondifionFunctionParameter(
00087       const double angular_threshold,
00088       const double distance_threshold)
00089     {
00090       global_angular_threshold = angular_threshold;
00091       global_distance_threshold = distance_threshold;
00092     }
00093     virtual void ransacEstimation(
00094       const pcl::PointCloud<pcl::PointXYZRGB>::Ptr &cloud,
00095       const pcl::PointIndices::Ptr& indices,
00096       pcl::PointIndices& inliers,
00097       pcl::ModelCoefficients& coefficient);
00098     
00099     static bool regionGrowingFunction(const pcl::PointXYZRGBNormal& a,
00100                                       const pcl::PointXYZRGBNormal& b,
00101                                       float distance)
00102     {
00103       if (distance > global_distance_threshold) {
00104         return false;
00105       }
00106       else {
00107         Eigen::Vector3f a_normal(a.normal_x, a.normal_y, a.normal_z);
00108         Eigen::Vector3f b_normal(b.normal_x, b.normal_y, b.normal_z);
00109         double dot = std::abs(a_normal.dot(b_normal));
00110         double angle;
00111         if (dot > 1.0) {
00112           angle = acos(1.0);
00113         }
00114         else if (dot < -1.0) {
00115           angle = acos(-1.0);
00116         }
00117         else {
00118           angle = acos(dot);
00119         }
00120         //ROS_INFO("angle: %f", angle);
00121         if (angle > global_angular_threshold) {
00122           return false;
00123         }
00124         else {
00125           return true;
00126         }
00127       }
00128     }
00129     
00131     // ROS variables
00133     message_filters::Subscriber<sensor_msgs::PointCloud2> sub_input_;
00134     message_filters::Subscriber<sensor_msgs::PointCloud2> sub_normal_;
00135     boost::shared_ptr<
00136       message_filters::Synchronizer<NormalSyncPolicy> > sync_;
00137     boost::shared_ptr <dynamic_reconfigure::Server<Config> > srv_;
00138     ros::Publisher pub_polygons_;
00139     ros::Publisher pub_inliers_;
00140     ros::Publisher pub_coefficients_;
00141     ros::Publisher pub_clustering_result_;
00142     ros::Publisher pub_latest_time_;
00143     ros::Publisher pub_average_time_;
00144     boost::mutex mutex_;
00145     jsk_recognition_utils::WallDurationTimer timer_;
00147     // Parameters
00149     double angular_threshold_;
00150     double distance_threshold_;
00151     double max_curvature_;
00152     int min_size_;
00153     int max_size_;
00154     double min_area_;
00155     double max_area_;
00156     double cluster_tolerance_;
00157     double ransac_refine_outlier_distance_threshold_;
00158     int ransac_refine_max_iterations_;
00159     bool done_initialization_;
00161     // static parameters
00163     static double global_angular_threshold;
00164     static double global_distance_threshold;
00165     static boost::mutex global_custom_condigion_function_mutex;
00166   private:
00167     
00168   };
00169 }
00170 
00171 #endif


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