feature_registration.h

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// -*- mode: c++ -*-
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#ifndef JSK_PCL_ROS_FEATURE_REGISTRATION_H_
#define JSK_PCL_ROS_FEATURE_REGISTRATION_H_

#include <jsk_topic_tools/diagnostic_nodelet.h>

#include <message_filters/subscriber.h>
#include <message_filters/time_synchronizer.h>
#include <message_filters/synchronizer.h>
#include <message_filters/sync_policies/approximate_time.h>

#include <dynamic_reconfigure/server.h>
#include <jsk_pcl_ros/FeatureRegistrationConfig.h>

#include <pcl/point_types.h>
#include <pcl/point_cloud.h>
#include <sensor_msgs/PointCloud2.h>
#include <geometry_msgs/PoseStamped.h>

namespace jsk_pcl_ros
{
  class FeatureRegistration: public jsk_topic_tools::DiagnosticNodelet
  {
  public:
    typedef FeatureRegistrationConfig Config;
    typedef message_filters::sync_policies::ApproximateTime<
    sensor_msgs::PointCloud2,
    sensor_msgs::PointCloud2> SyncPolicy;
    FeatureRegistration(): DiagnosticNodelet("FeatureRegistration") {};
  protected:
    virtual void onInit();
    virtual void subscribe();
    virtual void unsubscribe();

    virtual void configCallback(Config &config, uint32_t level);
    
    virtual void referenceCallback(
      const sensor_msgs::PointCloud2::ConstPtr& cloud_msg,
      const sensor_msgs::PointCloud2::ConstPtr& feature_msg);

    virtual void estimate(
      const sensor_msgs::PointCloud2::ConstPtr& cloud_msg,
      const sensor_msgs::PointCloud2::ConstPtr& feature_msg);

    boost::mutex mutex_;
    ros::Publisher pub_pose_;
    ros::Publisher pub_cloud_;
    boost::shared_ptr <dynamic_reconfigure::Server<Config> > srv_;
    
    message_filters::Subscriber<sensor_msgs::PointCloud2> sub_input_;
    message_filters::Subscriber<sensor_msgs::PointCloud2> sub_input_feature_;
    boost::shared_ptr<message_filters::Synchronizer<SyncPolicy> > sync_;
    
    message_filters::Subscriber<sensor_msgs::PointCloud2> sub_input_reference_;
    message_filters::Subscriber<sensor_msgs::PointCloud2> sub_input_reference_feature_;
    boost::shared_ptr<message_filters::Synchronizer<SyncPolicy> > reference_sync_;

    // parameters to store reference data
    pcl::PointCloud<pcl::PointNormal>::Ptr reference_cloud_;
    pcl::PointCloud<pcl::FPFHSignature33>::Ptr reference_feature_;
    
    int max_iterations_;
    int correspondence_randomness_;
    double similarity_threshold_;
    double max_correspondence_distance_;
    double inlier_fraction_;
    double transformation_epsilon_;
  private:
    
  };
}

#endif