torus_finder.h

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// -*- mode: c++ -*-
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#ifndef JSK_PCL_ROS_TORUS_FINDER_H_
#define JSK_PCL_ROS_TORUS_FINDER_H_
 
#include <jsk_topic_tools/diagnostic_nodelet.h>
#include <sensor_msgs/PointCloud2.h>
#include <jsk_recognition_msgs/TorusArray.h>
#include <jsk_recognition_msgs/Torus.h>
#include <jsk_pcl_ros/TorusFinderConfig.h>
#include <dynamic_reconfigure/server.h>
#include <geometry_msgs/PoseStamped.h>
#include <Eigen/Core>
#include <geometry_msgs/PolygonStamped.h>
#include <jsk_recognition_utils/time_util.h>
 
namespace jsk_pcl_ros
{
  class TorusFinder: public jsk_topic_tools::DiagnosticNodelet
  {
  public:
    typedef TorusFinderConfig Config;
    TorusFinder(): timer_(10), done_initialization_(false), DiagnosticNodelet("TorusFinder") {}
  protected:
    virtual void onInit();
    virtual void subscribe();
    virtual void unsubscribe();
    virtual void segment(const sensor_msgs::PointCloud2::ConstPtr& cloud_msg);
    virtual void segmentFromPoints(const geometry_msgs::PolygonStamped::ConstPtr& polygon_msg);
    virtual void configCallback(Config &config, uint32_t level);
    
    // ROS variables
    boost::shared_ptr <dynamic_reconfigure::Server<Config> > srv_;
    ros::Subscriber sub_;
    ros::Subscriber sub_points_;
    ros::Publisher pub_torus_;
    ros::Publisher pub_torus_array_;
    ros::Publisher pub_torus_with_failure_;
    ros::Publisher pub_torus_array_with_failure_;
    ros::Publisher pub_inliers_;
    ros::Publisher pub_coefficients_;
    ros::Publisher pub_pose_stamped_;
    ros::Publisher pub_latest_time_;
    ros::Publisher pub_average_time_;
    jsk_recognition_utils::WallDurationTimer timer_;
    boost::mutex mutex_;
    Eigen::Vector3f hint_axis_;
 
    // Parameters
    std::string algorithm_;
    double min_radius_;
    double max_radius_;
    double outlier_threshold_;
    double eps_hint_angle_;
    bool use_hint_;
    bool use_normal_;
    int max_iterations_;
    int min_size_;
    bool voxel_grid_sampling_;
    double voxel_size_;
    bool done_initialization_;
  private:
  };
}
 
#endif