features/feature.cpp

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/*
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 *
 *  Copyright (c) 2009, Willow Garage, Inc.
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 *     notice, this list of conditions and the following disclaimer.
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 *     copyright notice, this list of conditions and the following
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 *     with the distribution.
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 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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 *  POSSIBILITY OF SUCH DAMAGE.
 *
 * $Id: feature.cpp 35422 2011-01-24 20:04:44Z rusu $
 *
 */

//#include <pluginlib/class_list_macros.h>
// Include the implementations here instead of compiling them separately to speed up compile time
//#include "normal_3d.cpp"
//#include "boundary.cpp"
//#include "fpfh.cpp"
//#include "fpfh_omp.cpp"
//#include "moment_invariants.cpp"
//#include "normal_3d_omp.cpp"
//#include "normal_3d_tbb.cpp"
//#include "pfh.cpp"
//#include "principal_curvatures.cpp"
//#include "vfh.cpp"
#include <pcl/io/io.h>
#include "pcl_ros/features/feature.h"
#include <message_filters/null_types.h>

void
pcl_ros::Feature::onInit ()
{
  // Call the super onInit ()
  PCLNodelet::onInit ();

  // Call the child init
  childInit (*pnh_);

  // Allow each individual class that inherits from us to declare their own Publisher
  // This is useful for Publisher<pcl::PointCloud<T> >, as NormalEstimation can publish PointCloud<Normal>, etc
  //pub_output_ = pnh_->template advertise<PointCloud2> ("output", max_queue_size_);

  // ---[ Mandatory parameters
  if (!pnh_->getParam ("k_search", k_) && !pnh_->getParam ("radius_search", search_radius_))
  {
    NODELET_ERROR ("[%s::onInit] Neither 'k_search' nor 'radius_search' set! Need to set at least one of these parameters before continuing.", getName ().c_str ());
    return;
  }
  if (!pnh_->getParam ("spatial_locator", spatial_locator_type_))
  {
    NODELET_ERROR ("[%s::onInit] Need a 'spatial_locator' parameter to be set before continuing!", getName ().c_str ());
    return;
  }

  // ---[ Optional parameters
  pnh_->getParam ("use_surface", use_surface_);

  // Enable the dynamic reconfigure service
  srv_ = boost::make_shared<dynamic_reconfigure::Server<FeatureConfig> > (*pnh_);
  dynamic_reconfigure::Server<FeatureConfig>::CallbackType f = boost::bind (&Feature::config_callback, this, _1, _2);
  srv_->setCallback (f);

  NODELET_DEBUG ("[%s::onInit] Nodelet successfully created with the following parameters:\n"
                 " - use_surface    : %s\n"
                 " - k_search       : %d\n"
                 " - radius_search  : %f\n"
                 " - spatial_locator: %d",
                getName ().c_str (),
                (use_surface_) ? "true" : "false", k_, search_radius_, spatial_locator_type_);

  onInitPostProcess ();
}

void
pcl_ros::Feature::subscribe ()
{
  // If we're supposed to look for PointIndices (indices) or PointCloud (surface) messages
  if (use_indices_ || use_surface_)
  {
    // Create the objects here
    if (approximate_sync_)
      sync_input_surface_indices_a_ = boost::make_shared<message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloudIn, PointCloudIn, PointIndices> > >(max_queue_size_);
    else
      sync_input_surface_indices_e_ = boost::make_shared<message_filters::Synchronizer<sync_policies::ExactTime<PointCloudIn, PointCloudIn, PointIndices> > >(max_queue_size_);

    // Subscribe to the input using a filter
    sub_input_filter_.subscribe (*pnh_, "input", max_queue_size_);
    if (use_indices_)
    {
      // If indices are enabled, subscribe to the indices
      sub_indices_filter_.subscribe (*pnh_, "indices", max_queue_size_);
      if (use_surface_)     // Use both indices and surface
      {
        // If surface is enabled, subscribe to the surface, connect the input-indices-surface trio and register
        sub_surface_filter_.subscribe (*pnh_, "surface", max_queue_size_);
        if (approximate_sync_)
          sync_input_surface_indices_a_->connectInput (sub_input_filter_, sub_surface_filter_, sub_indices_filter_);
        else
          sync_input_surface_indices_e_->connectInput (sub_input_filter_, sub_surface_filter_, sub_indices_filter_);
      }
      else                  // Use only indices
      {
        sub_input_filter_.registerCallback (bind (&Feature::input_callback, this, _1));
        // surface not enabled, connect the input-indices duo and register
        if (approximate_sync_)
          sync_input_surface_indices_a_->connectInput (sub_input_filter_, nf_pc_, sub_indices_filter_);
        else
          sync_input_surface_indices_e_->connectInput (sub_input_filter_, nf_pc_, sub_indices_filter_);
      }
    }
    else                    // Use only surface
    {
      sub_input_filter_.registerCallback (bind (&Feature::input_callback, this, _1));
      // indices not enabled, connect the input-surface duo and register
      sub_surface_filter_.subscribe (*pnh_, "surface", max_queue_size_);
      if (approximate_sync_)
        sync_input_surface_indices_a_->connectInput (sub_input_filter_, sub_surface_filter_, nf_pi_);
      else
        sync_input_surface_indices_e_->connectInput (sub_input_filter_, sub_surface_filter_, nf_pi_);
    }
    // Register callbacks
    if (approximate_sync_)
      sync_input_surface_indices_a_->registerCallback (bind (&Feature::input_surface_indices_callback, this, _1, _2, _3));
    else
      sync_input_surface_indices_e_->registerCallback (bind (&Feature::input_surface_indices_callback, this, _1, _2, _3));
  }
  else
    // Subscribe in an old fashion to input only (no filters)
    sub_input_ = pnh_->subscribe<PointCloudIn> ("input", max_queue_size_,  bind (&Feature::input_surface_indices_callback, this, _1, PointCloudInConstPtr (), PointIndicesConstPtr ()));
}

void
pcl_ros::Feature::unsubscribe ()
{
  if (use_indices_ || use_surface_)
  {
    sub_input_filter_.unsubscribe ();
    if (use_indices_)
    {
      sub_indices_filter_.unsubscribe ();
      if (use_surface_)
        sub_surface_filter_.unsubscribe ();
    }
    else
      sub_surface_filter_.unsubscribe ();
  }
  else
    sub_input_.shutdown ();
}

void
pcl_ros::Feature::config_callback (FeatureConfig &config, uint32_t level)
{
  if (k_ != config.k_search)
  {
    k_ = config.k_search;
    NODELET_DEBUG ("[config_callback] Setting the number of K nearest neighbors to use for each point: %d.", k_);
  }
  if (search_radius_ != config.radius_search)
  {
    search_radius_ = config.radius_search;
    NODELET_DEBUG ("[config_callback] Setting the nearest neighbors search radius for each point: %f.", search_radius_);
  }
}

void
pcl_ros::Feature::input_surface_indices_callback (const PointCloudInConstPtr &cloud, 
    const PointCloudInConstPtr &cloud_surface, const PointIndicesConstPtr &indices)
{
  // No subscribers, no work
  if (pub_output_.getNumSubscribers () <= 0)
    return;

  // If cloud is given, check if it's valid
  if (!isValid (cloud))
  {
    NODELET_ERROR ("[%s::input_surface_indices_callback] Invalid input!", getName ().c_str ());
    emptyPublish (cloud);
    return;
  }

  // If surface is given, check if it's valid
  if (cloud_surface && !isValid (cloud_surface, "surface"))
  {
    NODELET_ERROR ("[%s::input_surface_indices_callback] Invalid input surface!", getName ().c_str ());
    emptyPublish (cloud);
    return;
  }
    
  // If indices are given, check if they are valid
  if (indices && !isValid (indices))
  {
    NODELET_ERROR ("[%s::input_surface_indices_callback] Invalid input indices!", getName ().c_str ());
    emptyPublish (cloud);
    return;
  }

  if (cloud_surface)
    if (indices)
      NODELET_DEBUG ("[input_surface_indices_callback]\n"
                     "                                         - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.\n"
                     "                                         - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.\n"
                     "                                         - PointIndices with %zu values, stamp %f, and frame %s on topic %s received.",
                 cloud->width * cloud->height, pcl::getFieldsList (*cloud).c_str (), fromPCL(cloud->header).stamp.toSec (), cloud->header.frame_id.c_str (), pnh_->resolveName ("input").c_str (),
                 cloud_surface->width * cloud_surface->height, pcl::getFieldsList (*cloud_surface).c_str (), fromPCL(cloud_surface->header).stamp.toSec (), cloud_surface->header.frame_id.c_str (), pnh_->resolveName ("surface").c_str (),
                 indices->indices.size (), indices->header.stamp.toSec (), indices->header.frame_id.c_str (), pnh_->resolveName ("indices").c_str ());
    else
      NODELET_DEBUG ("[input_surface_indices_callback]\n"
                     "                                 - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.\n"
                     "                                 - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.",
                     cloud->width * cloud->height, pcl::getFieldsList (*cloud).c_str (), fromPCL(cloud->header).stamp.toSec (), cloud->header.frame_id.c_str (), pnh_->resolveName ("input").c_str (),
                     cloud_surface->width * cloud_surface->height, pcl::getFieldsList (*cloud_surface).c_str (), fromPCL(cloud_surface->header).stamp.toSec (), cloud_surface->header.frame_id.c_str (), pnh_->resolveName ("surface").c_str ());

  else
    if (indices)
      NODELET_DEBUG ("[input_surface_indices_callback]\n"
                     "                                 - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.\n"
                     "                                 - PointIndices with %zu values, stamp %f, and frame %s on topic %s received.",
                     cloud->width * cloud->height, pcl::getFieldsList (*cloud).c_str (), fromPCL(cloud->header).stamp.toSec (), cloud->header.frame_id.c_str (), pnh_->resolveName ("input").c_str (),
                     indices->indices.size (), indices->header.stamp.toSec (), indices->header.frame_id.c_str (), pnh_->resolveName ("indices").c_str ());
    else
      NODELET_DEBUG ("[input_surface_indices_callback] PointCloud with %d data points, stamp %f, and frame %s on topic %s received.", cloud->width * cloud->height, fromPCL(cloud->header).stamp.toSec (), cloud->header.frame_id.c_str (), pnh_->resolveName ("input").c_str ());


  if ((int)(cloud->width * cloud->height) < k_)
  {
    NODELET_ERROR ("[input_surface_indices_callback] Requested number of k-nearest neighbors (%d) is larger than the PointCloud size (%d)!", k_, (int)(cloud->width * cloud->height));
    emptyPublish (cloud);
    return;
  }

  // If indices given...
  IndicesPtr vindices;
  if (indices && !indices->header.frame_id.empty ())
    vindices.reset (new std::vector<int> (indices->indices));

  computePublish (cloud, cloud_surface, vindices);
}


void
pcl_ros::FeatureFromNormals::onInit ()
{
  // Call the super onInit ()
  PCLNodelet::onInit ();

  // Call the child init
  childInit (*pnh_);

  // Allow each individual class that inherits from us to declare their own Publisher
  // This is useful for Publisher<pcl::PointCloud<T> >, as NormalEstimation can publish PointCloud<Normal>, etc
  //pub_output_ = pnh_->template advertise<PointCloud2> ("output", max_queue_size_);

  // ---[ Mandatory parameters
  if (!pnh_->getParam ("k_search", k_) && !pnh_->getParam ("radius_search", search_radius_))
  {
    NODELET_ERROR ("[%s::onInit] Neither 'k_search' nor 'radius_search' set! Need to set at least one of these parameters before continuing.", getName ().c_str ());
    return;
  }
  if (!pnh_->getParam ("spatial_locator", spatial_locator_type_))
  {
    NODELET_ERROR ("[%s::onInit] Need a 'spatial_locator' parameter to be set before continuing!", getName ().c_str ());
    return;
  }
  // ---[ Optional parameters
  pnh_->getParam ("use_surface", use_surface_);

  // Enable the dynamic reconfigure service
  srv_ = boost::make_shared<dynamic_reconfigure::Server<FeatureConfig> > (*pnh_);
  dynamic_reconfigure::Server<FeatureConfig>::CallbackType f = boost::bind (&FeatureFromNormals::config_callback, this, _1, _2);
  srv_->setCallback (f);

  NODELET_DEBUG ("[%s::onInit] Nodelet successfully created with the following parameters:\n"
                 " - use_surface    : %s\n"
                 " - k_search       : %d\n"
                 " - radius_search  : %f\n"
                 " - spatial_locator: %d",
                getName ().c_str (),
                 (use_surface_) ? "true" : "false", k_, search_radius_, spatial_locator_type_);

  onInitPostProcess ();
}

void
pcl_ros::FeatureFromNormals::subscribe ()
{
  sub_input_filter_.subscribe (*pnh_, "input", max_queue_size_);
  sub_normals_filter_.subscribe (*pnh_, "normals", max_queue_size_);

  // Create the objects here
  if (approximate_sync_)
    sync_input_normals_surface_indices_a_ = boost::make_shared <message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloudIn, PointCloudN, PointCloudIn, PointIndices> > > (max_queue_size_);
  else
    sync_input_normals_surface_indices_e_ = boost::make_shared <message_filters::Synchronizer<sync_policies::ExactTime<PointCloudIn, PointCloudN, PointCloudIn, PointIndices> > > (max_queue_size_);

  // If we're supposed to look for PointIndices (indices) or PointCloud (surface) messages
  if (use_indices_ || use_surface_)
  {
    if (use_indices_)
    {
      // If indices are enabled, subscribe to the indices
      sub_indices_filter_.subscribe (*pnh_, "indices", max_queue_size_);
      if (use_surface_)     // Use both indices and surface
      {
        // If surface is enabled, subscribe to the surface, connect the input-indices-surface trio and register
        sub_surface_filter_.subscribe (*pnh_, "surface", max_queue_size_);
        if (approximate_sync_)
          sync_input_normals_surface_indices_a_->connectInput (sub_input_filter_, sub_normals_filter_, sub_surface_filter_, sub_indices_filter_);
        else
          sync_input_normals_surface_indices_e_->connectInput (sub_input_filter_, sub_normals_filter_, sub_surface_filter_, sub_indices_filter_);
      }
      else                  // Use only indices
      {
        sub_input_filter_.registerCallback (bind (&FeatureFromNormals::input_callback, this, _1));
        if (approximate_sync_)
          // surface not enabled, connect the input-indices duo and register
          sync_input_normals_surface_indices_a_->connectInput (sub_input_filter_, sub_normals_filter_, nf_pc_, sub_indices_filter_);
        else
          // surface not enabled, connect the input-indices duo and register
          sync_input_normals_surface_indices_e_->connectInput (sub_input_filter_, sub_normals_filter_, nf_pc_, sub_indices_filter_);
      }
    }
    else                    // Use only surface
    {
      // indices not enabled, connect the input-surface duo and register
      sub_surface_filter_.subscribe (*pnh_, "surface", max_queue_size_);

      sub_input_filter_.registerCallback (bind (&FeatureFromNormals::input_callback, this, _1));
      if (approximate_sync_)
        sync_input_normals_surface_indices_a_->connectInput (sub_input_filter_, sub_normals_filter_, sub_surface_filter_, nf_pi_);
      else
        sync_input_normals_surface_indices_e_->connectInput (sub_input_filter_, sub_normals_filter_, sub_surface_filter_, nf_pi_);
    }
  }
  else
  {
    sub_input_filter_.registerCallback (bind (&FeatureFromNormals::input_callback, this, _1));

    if (approximate_sync_)
      sync_input_normals_surface_indices_a_->connectInput (sub_input_filter_, sub_normals_filter_, nf_pc_, nf_pi_);
    else
      sync_input_normals_surface_indices_e_->connectInput (sub_input_filter_, sub_normals_filter_, nf_pc_, nf_pi_);
  }

  // Register callbacks
  if (approximate_sync_)
    sync_input_normals_surface_indices_a_->registerCallback (bind (&FeatureFromNormals::input_normals_surface_indices_callback, this, _1, _2, _3, _4));
  else
    sync_input_normals_surface_indices_e_->registerCallback (bind (&FeatureFromNormals::input_normals_surface_indices_callback, this, _1, _2, _3, _4));
}

void
pcl_ros::FeatureFromNormals::unsubscribe ()
{
  sub_input_filter_.unsubscribe ();
  sub_normals_filter_.unsubscribe ();
  if (use_indices_ || use_surface_)
  {
    if (use_indices_)
    {
      sub_indices_filter_.unsubscribe ();
      if (use_surface_)
        sub_surface_filter_.unsubscribe ();
    }
    else
      sub_surface_filter_.unsubscribe ();
  }
}

void
pcl_ros::FeatureFromNormals::input_normals_surface_indices_callback (
   const PointCloudInConstPtr &cloud, const PointCloudNConstPtr &cloud_normals,
   const PointCloudInConstPtr &cloud_surface, const PointIndicesConstPtr &indices)
{
  // No subscribers, no work
  if (pub_output_.getNumSubscribers () <= 0)
    return;

  // If cloud+normals is given, check if it's valid
  if (!isValid (cloud))// || !isValid (cloud_normals, "normals"))
  {
    NODELET_ERROR ("[%s::input_normals_surface_indices_callback] Invalid input!", getName ().c_str ());
    emptyPublish (cloud);
    return;
  }

  // If surface is given, check if it's valid
  if (cloud_surface && !isValid (cloud_surface, "surface"))
  {
    NODELET_ERROR ("[%s::input_normals_surface_indices_callback] Invalid input surface!", getName ().c_str ());
    emptyPublish (cloud);
    return;
  }
    
  // If indices are given, check if they are valid
  if (indices && !isValid (indices))
  {
    NODELET_ERROR ("[%s::input_normals_surface_indices_callback] Invalid input indices!", getName ().c_str ());
    emptyPublish (cloud);
    return;
  }

  if (cloud_surface)
    if (indices)
      NODELET_DEBUG ("[%s::input_normals_surface_indices_callback]\n"
                     "                                                 - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.\n"
                     "                                                 - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.\n"
                     "                                                 - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.\n"
                     "                                                 - PointIndices with %zu values, stamp %f, and frame %s on topic %s received.",
                     getName ().c_str (),
                     cloud->width * cloud->height, pcl::getFieldsList (*cloud).c_str (), fromPCL(cloud->header).stamp.toSec (), cloud->header.frame_id.c_str (), pnh_->resolveName ("input").c_str (),
                     cloud_surface->width * cloud_surface->height, pcl::getFieldsList (*cloud_surface).c_str (), fromPCL(cloud_surface->header).stamp.toSec (), cloud_surface->header.frame_id.c_str (), pnh_->resolveName ("surface").c_str (),
                     cloud_normals->width * cloud_normals->height, pcl::getFieldsList (*cloud_normals).c_str (), fromPCL(cloud_normals->header).stamp.toSec (), cloud_normals->header.frame_id.c_str (), pnh_->resolveName ("normals").c_str (),
                     indices->indices.size (), indices->header.stamp.toSec (), indices->header.frame_id.c_str (), pnh_->resolveName ("indices").c_str ());
    else
      NODELET_DEBUG ("[%s::input_normals_surface_indices_callback]\n"
                     "                                         - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.\n"
                     "                                         - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.\n"
                     "                                         - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.",
                     getName ().c_str (), 
                     cloud->width * cloud->height, pcl::getFieldsList (*cloud).c_str (), fromPCL(cloud->header).stamp.toSec (), cloud->header.frame_id.c_str (), pnh_->resolveName ("input").c_str (),
                     cloud_surface->width * cloud_surface->height, pcl::getFieldsList (*cloud_surface).c_str (), fromPCL(cloud_surface->header).stamp.toSec (), cloud_surface->header.frame_id.c_str (), pnh_->resolveName ("surface").c_str (),
                     cloud_normals->width * cloud_normals->height, pcl::getFieldsList (*cloud_normals).c_str (), fromPCL(cloud_normals->header).stamp.toSec (), cloud_normals->header.frame_id.c_str (), pnh_->resolveName ("normals").c_str ());
  else
    if (indices)
      NODELET_DEBUG ("[%s::input_normals_surface_indices_callback]\n"
                     "                                         - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.\n"
                     "                                         - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.\n"
                     "                                         - PointIndices with %zu values, stamp %f, and frame %s on topic %s received.",
                     getName ().c_str (),
                     cloud->width * cloud->height, pcl::getFieldsList (*cloud).c_str (), fromPCL(cloud->header).stamp.toSec (), cloud->header.frame_id.c_str (), pnh_->resolveName ("input").c_str (),
                     cloud_normals->width * cloud_normals->height, pcl::getFieldsList (*cloud_normals).c_str (), fromPCL(cloud_normals->header).stamp.toSec (), cloud_normals->header.frame_id.c_str (), pnh_->resolveName ("normals").c_str (),
                     indices->indices.size (), indices->header.stamp.toSec (), indices->header.frame_id.c_str (), pnh_->resolveName ("indices").c_str ());
    else
      NODELET_DEBUG ("[%s::input_normals_surface_indices_callback]\n"
                     "                                 - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.\n"
                     "                                 - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.",
                     getName ().c_str (), 
                     cloud->width * cloud->height, pcl::getFieldsList (*cloud).c_str (), fromPCL(cloud->header).stamp.toSec (), cloud->header.frame_id.c_str (), pnh_->resolveName ("input").c_str (),
                     cloud_normals->width * cloud_normals->height, pcl::getFieldsList (*cloud_normals).c_str (), fromPCL(cloud_normals->header).stamp.toSec (), cloud_normals->header.frame_id.c_str (), pnh_->resolveName ("normals").c_str ());

  if ((int)(cloud->width * cloud->height) < k_)
  {
    NODELET_ERROR ("[%s::input_normals_surface_indices_callback] Requested number of k-nearest neighbors (%d) is larger than the PointCloud size (%d)!", getName ().c_str (), k_, (int)(cloud->width * cloud->height));
    emptyPublish (cloud);
    return;
  }

  // If indices given...
  IndicesPtr vindices;
  if (indices && !indices->header.frame_id.empty ())
    vindices.reset (new std::vector<int> (indices->indices));

  computePublish (cloud, cloud_normals, cloud_surface, vindices);
}