table_transform.h

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/*
 * Copyright (c) 2009, Willow Garage, Inc.
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#ifndef TABLE_TRANSFORM
#define TABLE_TRANSFORM

#include <sensor_msgs/Image.h>
#include <sensor_msgs/CameraInfo.h>
#include <sensor_msgs/PointCloud.h>

#include "pcl/ModelCoefficients.h"
#include "tabletop_object_detector/Table.h"

#include <tf/transform_listener.h>

namespace object_segmentation_gui {
  
  class TableTransform
  {
  public:
    
    TableTransform();
    ~TableTransform();
    
    void setParams(const sensor_msgs::CameraInfo &cam_info, float baseline, float up_direction);

    tabletop_object_detector::Table get3DTable( float alpha, float beta, float gamma, 
                                                sensor_msgs::PointCloud &table_points,
                                                std_msgs::Header table_header);
    
  protected:
    
  private:
    
    pcl::ModelCoefficients convertTo3DPlane(const sensor_msgs::CameraInfo &camera_info, 
                                            const float alpha, const float beta, const float gamma );
    
    tf::Transform getPlaneTransform (pcl::ModelCoefficients coeffs, double up_direction);

    bool transformPlanePoints ( const tf::Transform& table_plane_trans,
                                sensor_msgs::PointCloud &table_points );
    
    template <class PointCloudType>
      tabletop_object_detector::Table getTable(std_msgs::Header cloud_header,
                                               const tf::Transform &table_plane_trans, 
                                               const PointCloudType &table_points);

    sensor_msgs::CameraInfo cam_info_;
   
    float baseline_;
    float up_direction_;

    tf::TransformListener listener_;
  };
}

#endif // TABLE_TRANSFORM