sac_segmentation.h

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 * $Id: sac_segmentation.h 35564 2011-01-27 07:32:12Z rusu $
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#ifndef PCL_ROS_SAC_SEGMENTATION_H_
#define PCL_ROS_SAC_SEGMENTATION_H_

#include "pcl_ros/pcl_nodelet.h"
#include <message_filters/pass_through.h>

// PCL includes
#include <pcl/segmentation/sac_segmentation.h>

// Dynamic reconfigure
#include <dynamic_reconfigure/server.h>
#include "pcl_ros/SACSegmentationConfig.h"
#include "pcl_ros/SACSegmentationFromNormalsConfig.h"

namespace pcl_ros
{
  namespace sync_policies = message_filters::sync_policies;


  class SACSegmentation : public PCLNodelet
  {
    typedef pcl::PointCloud<pcl::PointXYZ> PointCloud;
    typedef boost::shared_ptr<PointCloud> PointCloudPtr;
    typedef boost::shared_ptr<const PointCloud> PointCloudConstPtr;

    public:
      SACSegmentation () : min_inliers_(0) {}

      inline void setInputTFframe (std::string tf_frame) { tf_input_frame_ = tf_frame; }
      
      inline std::string getInputTFframe () { return (tf_input_frame_); }

      inline void setOutputTFframe (std::string tf_frame) { tf_output_frame_ = tf_frame; }
      
      inline std::string getOutputTFframe () { return (tf_output_frame_); }

    protected:
      // The minimum number of inliers a model must have in order to be considered valid.
      int min_inliers_;

      // ROS nodelet attributes
      ros::Publisher pub_indices_;

      ros::Publisher pub_model_;

      ros::Subscriber sub_input_;

      boost::shared_ptr<dynamic_reconfigure::Server<SACSegmentationConfig> > srv_;

      std::string tf_input_frame_;
      
      std::string tf_input_orig_frame_;
      
      std::string tf_output_frame_;

      message_filters::PassThrough<pcl_msgs::PointIndices> nf_pi_;

      virtual void onInit ();

      virtual void subscribe ();
      virtual void unsubscribe ();

      void config_callback (SACSegmentationConfig &config, uint32_t level);

      void input_indices_callback (const PointCloudConstPtr &cloud, const PointIndicesConstPtr &indices);

      PointIndices indices_;

      inline void
      indices_callback (const PointIndicesConstPtr &indices)
      {
        indices_ = *indices;
      }

      inline void
      input_callback (const PointCloudConstPtr &input)
      {
        indices_.header = fromPCL(input->header);
        PointIndicesConstPtr indices;
        indices.reset (new PointIndices (indices_));
        nf_pi_.add (indices);
      }

    private:
      boost::mutex mutex_;

      pcl::SACSegmentation<pcl::PointXYZ> impl_;

      boost::shared_ptr<message_filters::Synchronizer<sync_policies::ExactTime<PointCloud, PointIndices> > >       sync_input_indices_e_;
      boost::shared_ptr<message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloud, PointIndices> > > sync_input_indices_a_;

    public:
      EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  };


  class SACSegmentationFromNormals: public SACSegmentation
  {
    typedef pcl::PointCloud<pcl::PointXYZ> PointCloud;
    typedef boost::shared_ptr<PointCloud> PointCloudPtr;
    typedef boost::shared_ptr<const PointCloud> PointCloudConstPtr;

    typedef pcl::PointCloud<pcl::Normal> PointCloudN;
    typedef boost::shared_ptr<PointCloudN> PointCloudNPtr;
    typedef boost::shared_ptr<const PointCloudN> PointCloudNConstPtr;

    public:
      inline void setInputTFframe (std::string tf_frame) { tf_input_frame_ = tf_frame; }
      
      inline std::string getInputTFframe () { return (tf_input_frame_); }

      inline void setOutputTFframe (std::string tf_frame) { tf_output_frame_ = tf_frame; }
      
      inline std::string getOutputTFframe () { return (tf_output_frame_); }

    protected:
      // ROS nodelet attributes
      message_filters::Subscriber<PointCloudN> sub_normals_filter_;

      ros::Subscriber sub_axis_;

      boost::shared_ptr<dynamic_reconfigure::Server<SACSegmentationFromNormalsConfig> > srv_;
    
      inline void
      input_callback (const PointCloudConstPtr &cloud)
      {
        PointIndices indices;
        indices.header.stamp = fromPCL(cloud->header).stamp;
        nf_.add (boost::make_shared<PointIndices> (indices));
      }

      message_filters::PassThrough<PointIndices> nf_;

      std::string tf_input_frame_;
      std::string tf_input_orig_frame_;
      std::string tf_output_frame_;

      virtual void onInit ();

      virtual void subscribe ();
      virtual void unsubscribe ();

      void axis_callback (const pcl_msgs::ModelCoefficientsConstPtr &model);

      void config_callback (SACSegmentationFromNormalsConfig &config, uint32_t level);

      void input_normals_indices_callback (const PointCloudConstPtr &cloud, 
                                           const PointCloudNConstPtr &cloud_normals, 
                                           const PointIndicesConstPtr &indices);
   
    private:
      boost::mutex mutex_;

      pcl::SACSegmentationFromNormals<pcl::PointXYZ, pcl::Normal> impl_;

      boost::shared_ptr<message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloud, PointCloudN, PointIndices> > > sync_input_normals_indices_a_;
      boost::shared_ptr<message_filters::Synchronizer<sync_policies::ExactTime<PointCloud, PointCloudN, PointIndices> > > sync_input_normals_indices_e_;

    public:
      EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  };
}

#endif  //#ifndef PCL_ROS_SAC_SEGMENTATION_H_