depth_image_triangulation.h

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/* 
 * Copyright (c) 2010, Dejan Pangercic <dejan.pangercic@cs.tum.edu>, 
 Zoltan-Csaba Marton <marton@cs.tum.edu>, Nico Blodow <blodow@cs.tum.edu>
 * All rights reserved.
 * 
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 * 
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of Willow Garage, Inc. nor the names of its
 *       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 "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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 */

#ifndef CLOUD_ALGOS_DEPTH_IMAGE_TRIANGULATION_H
#define CLOUD_ALGOS_DEPTH_IMAGE_TRIANGULATION_H

#include <pcl_cloud_algos/cloud_algos.h>
#include <pcl_cloud_algos/pcl_cloud_algos_point_types.h>

// For Extra Eigen functions
#include <Eigen/Core>
#include <Eigen/LU> // matrix inversion
#include <Eigen/Geometry> // cross product

// TriangleMesh to Output Triangles
#include <sensor_msgs/PointCloud.h>
#include <sensor_msgs/PointCloud2.h>
#include <geometry_msgs/Point32.h>
#include <triangle_mesh_msgs/TriangleMesh.h>

// boost
#include <boost/thread/mutex.hpp>

namespace pcl_cloud_algos
{

class DepthImageTriangulation : public CloudAlgo
{
 public:
  struct triangle 
  {  
    int a,b,c;
  };

  // Input/Output type
  typedef sensor_msgs::PointCloud2 InputType;
  typedef triangle_mesh_msgs::TriangleMesh OutputType;
  
  // Topic name to advertise
  static std::string default_output_topic ()
  {
    return std::string ("cloud_triangulated");
  }
  
  // Topic name to subscribe to
  static std::string default_input_topic ()
    {
      return std::string ("cloud_pcd");
    }

  // Node name
  static std::string default_node_name ()
    {
      return std::string ("depth_image_triangulation_node");
    }

  // Algorithm methods
  void init (ros::NodeHandle&);
  void pre  ();
  void post ();
  std::vector<std::string> requires ();
  std::vector<std::string> provides ();
  std::string process (const boost::shared_ptr<const InputType>&);
  boost::shared_ptr<const OutputType> output ();

  void get_scan_and_point_id (pcl::PointCloud<pcl::PointXYZINormalScanLine> &cloud_in);

  float dist_3d (const pcl::PointCloud<pcl::PointXYZINormalScanLine> &cloud_in, int a, int b);

  void write_vtk_file (std::string output, std::vector<triangle> triangles, const pcl::PointCloud<pcl::PointXYZINormalScanLine> &cloud_in, int nr_tr);

  // Constructor-Destructor
  DepthImageTriangulation () : CloudAlgo ()
  {
    max_length = 0.05;
    max_index_ = max_line_ = 0;
    write_to_vtk_ = true;
    save_pcd_ = false;
    line_nr_in_channel_ = index_nr_in_channel_ = -1;
  }

  // DepthImageTriangulation () { }
  ros::Publisher createPublisher (ros::NodeHandle& nh)
  {
    ros::Publisher p = nh.advertise<OutputType> (default_output_topic (), 5);
    return p;
  }

private:
  boost::mutex  cloud_lock_;
  
  // ROS stuff
  ros::NodeHandle nh_;

  pcl::PointCloud<pcl::PointXYZINormalScanLine> cloud_with_line_;
  
  int max_index_, max_line_;
  
  signed int line_nr_in_channel_, index_nr_in_channel_;

  float max_length;

  bool write_to_vtk_, save_pcd_;

  boost::shared_ptr<OutputType> mesh_;
};
}
#endif