pointcloud_line_pose.cpp

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 * $Id: transform_pointcloud.cpp 30719 2010-07-09 20:28:41Z rusu $
 *
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// ROS core
#include <ros/ros.h>

#include "pcl/io/pcd_io.h"
#include "pcl/point_types.h"
#include "pcl/common/common.h"
#include "pcl/ModelCoefficients.h"

#include <tf/transform_listener.h>
#include <geometry_msgs/PoseStamped.h>

using namespace std;

class PointcloudLinePose
{
protected:
  ros::NodeHandle nh_;

public:
  string output_pose_topic_, input_model_topic_;

  ros::Subscriber sub_;
  ros::Publisher pub_;

  pcl::ModelCoefficients model_in_;
  //handle center pose
  geometry_msgs::PoseStamped handle_pose_;

  //sleep one second between publishing of handle poses to
  bool sleep_;
  PointcloudLinePose  (ros::NodeHandle &n) : nh_(n)
  {
    // Maximum number of outgoing messages to be queued for delivery to subscribers = 1
    nh_.param("input_model_topic", input_model_topic_, std::string("model"));
    nh_.param("output_pose_topic", output_pose_topic_, std::string("handle_pose"));
    nh_.param("sleep", sleep_, false);
    //5 cm between cluster
    sub_ = nh_.subscribe (input_model_topic_, 10,  &PointcloudLinePose::model_cb, this);
    ROS_INFO ("[PointcloudLinePose:] Listening for incoming data on topic %s.", nh_.resolveName (input_model_topic_).c_str ());
    pub_ = nh_.advertise<geometry_msgs::PoseStamped>(output_pose_topic_, 10);
    ROS_INFO ("[PointcloudLinePose:] Will be publishing data on topic %s.", nh_.resolveName (output_pose_topic_).c_str ());
  }

  // cloud_cb (!)
  void model_cb (const pcl::ModelCoefficientsConstPtr& model)
  {
    handle_pose_.header = model->header;
    handle_pose_.pose.position.x = model->values[0];
    handle_pose_.pose.position.y = model->values[1];
    handle_pose_.pose.position.z = model->values[2];

    //axis-angle rotation
    btVector3 axis(model->values[3], model->values[4], model->values[5]);
    btVector3 marker_axis(1, 0, 0);
    btQuaternion qt(marker_axis.cross(axis.normalize()), marker_axis.angle(axis.normalize()));
    geometry_msgs::Quaternion quat_msg;
    tf::quaternionTFToMsg(qt, quat_msg);
    handle_pose_.pose.orientation = quat_msg;
    ROS_INFO("[PointcloudLinePose:] Published cluster to topic %s", output_pose_topic_.c_str());
    if (sleep_)
      sleep(1.0);
    pub_.publish (handle_pose_);
  }

//   void compute_marker(visualization_msgs::Marker &marker,  geometry_msgs::Point32 &point)
//   {
//     marker.header.frame_id = output_cluster_.header.frame_id;
//     marker.header.stamp =  output_cluster_.header.stamp;
//     marker.ns = "object_cluster";
//     marker.id = 0;
//     marker.type = visualization_msgs::Marker::SPHERE;
//     marker.action = visualization_msgs::Marker::ADD;
//     marker.pose.position.x = point.x;
//     marker.pose.position.y = point.y;
//     marker.pose.position.z = point.z;
//     marker.pose.orientation.x = 0.0;
//     marker.pose.orientation.y = 0.0;
//     marker.pose.orientation.z = 0.0;
//     marker.pose.orientation.w = 1.0;
//     marker.scale.x = 0.05;
//     marker.scale.y = 0.05;
//     marker.scale.z = 0.05;
//     marker.color.a = 1.0;
//     marker.color.r = 0.0;
//     marker.color.g = 1.0;
//     marker.color.b = 0.0;

//   }
};

int main (int argc, char** argv)
{
  ros::init (argc, argv, "pointcloud_line_pose");
  ros::NodeHandle n("~");
  PointcloudLinePose lp(n);
  ros::spin ();
  return (0);
}