feature.h

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 * $Id: feature.h 35422 2011-01-24 20:04:44Z rusu $
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#ifndef PCL_ROS_FEATURE_H_
#define PCL_ROS_FEATURE_H_
 
// PCL includes
#include <pcl/features/feature.h>
 
#include "pcl_ros/pcl_nodelet.h"
#include <message_filters/pass_through.h>
 
// Dynamic reconfigure
#include <dynamic_reconfigure/server.h>
#include "pcl_ros/FeatureConfig.h"
 
// PCL conversions
#include <pcl_conversions/pcl_conversions.h>
 
namespace pcl_ros
{
  namespace sync_policies = message_filters::sync_policies;
 
 
  class Feature : public PCLNodelet
  {
    public:
      typedef pcl::KdTree<pcl::PointXYZ> KdTree;
      typedef pcl::KdTree<pcl::PointXYZ>::Ptr KdTreePtr;
 
      typedef pcl::PointCloud<pcl::PointXYZ> PointCloudIn;
      typedef boost::shared_ptr<PointCloudIn> PointCloudInPtr;
      typedef boost::shared_ptr<const PointCloudIn> PointCloudInConstPtr;
 
      typedef pcl::IndicesPtr IndicesPtr;
      typedef pcl::IndicesConstPtr IndicesConstPtr;
 
      Feature () : /*input_(), indices_(), surface_(), */tree_(), k_(0), search_radius_(0),
                   use_surface_(false), spatial_locator_type_(-1) 
      {};
 
    protected:
      //PointCloudInConstPtr input_;
 
      //IndicesConstPtr indices_;
 
      //PointCloudInConstPtr surface_;
 
      KdTreePtr tree_;
 
      int k_;
 
      double search_radius_;
 
      // ROS nodelet attributes
      message_filters::Subscriber<PointCloudIn> sub_surface_filter_;
      
      ros::Subscriber sub_input_;
 
      bool use_surface_;
 
      int spatial_locator_type_;
 
      boost::shared_ptr <dynamic_reconfigure::Server<FeatureConfig> > srv_;
 
      virtual bool childInit (ros::NodeHandle &nh) = 0;
 
      virtual void emptyPublish (const PointCloudInConstPtr &cloud) = 0;
 
      virtual void computePublish (const PointCloudInConstPtr &cloud, 
                                   const PointCloudInConstPtr &surface,
                                   const IndicesPtr &indices) = 0;
 
      void config_callback (FeatureConfig &config, uint32_t level);
 
      message_filters::PassThrough<PointIndices> nf_pi_;
      message_filters::PassThrough<PointCloudIn> nf_pc_;
 
      inline void
      input_callback (const PointCloudInConstPtr &input)
      {
        PointIndices indices;
        indices.header.stamp = pcl_conversions::fromPCL(input->header).stamp;
        PointCloudIn cloud;
        cloud.header.stamp = input->header.stamp;
        nf_pc_.add (ros_ptr(cloud.makeShared ()));
        nf_pi_.add (boost::make_shared<PointIndices> (indices));
      }
 
    private:
      boost::shared_ptr <message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloudIn, PointCloudIn, PointIndices> > > sync_input_surface_indices_a_;
      boost::shared_ptr <message_filters::Synchronizer<sync_policies::ExactTime<PointCloudIn, PointCloudIn, PointIndices> > > sync_input_surface_indices_e_;
 
      virtual void onInit ();
 
      virtual void subscribe ();
      virtual void unsubscribe ();
 
      void input_surface_indices_callback (const PointCloudInConstPtr &cloud, 
                                           const PointCloudInConstPtr &cloud_surface, 
                                           const PointIndicesConstPtr &indices);
 
    public:
      EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  };
 
  class FeatureFromNormals : public Feature
  {
    public:
      typedef sensor_msgs::PointCloud2 PointCloud2;
 
      typedef pcl::PointCloud<pcl::Normal> PointCloudN;
      typedef boost::shared_ptr<PointCloudN> PointCloudNPtr;
      typedef boost::shared_ptr<const PointCloudN> PointCloudNConstPtr;
 
      FeatureFromNormals () : normals_() {};
 
    protected:
      PointCloudNConstPtr normals_;
 
      virtual bool childInit (ros::NodeHandle &nh) = 0;
 
      virtual void emptyPublish (const PointCloudInConstPtr &cloud) = 0;
 
      virtual void computePublish (const PointCloudInConstPtr &cloud, 
                                   const PointCloudNConstPtr &normals,
                                   const PointCloudInConstPtr &surface,
                                   const IndicesPtr &indices) = 0;
 
    private:
      message_filters::Subscriber<PointCloudN> sub_normals_filter_;
 
      boost::shared_ptr<message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloudIn, PointCloudN, PointCloudIn, PointIndices> > > sync_input_normals_surface_indices_a_;
      boost::shared_ptr<message_filters::Synchronizer<sync_policies::ExactTime<PointCloudIn, PointCloudN, PointCloudIn, PointIndices> > > sync_input_normals_surface_indices_e_;
 
      void computePublish (const PointCloudInConstPtr &, 
                           const PointCloudInConstPtr &,
                           const IndicesPtr &) {} // This should never be called
 
      virtual void onInit ();
 
      virtual void subscribe ();
      virtual void unsubscribe ();
 
      void input_normals_surface_indices_callback (const PointCloudInConstPtr &cloud, 
                                                   const PointCloudNConstPtr &cloud_normals, 
                                                   const PointCloudInConstPtr &cloud_surface, 
                                                   const PointIndicesConstPtr &indices);
 
    public:
      EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  };
}
 
#endif  //#ifndef PCL_ROS_FEATURE_H_