jsk_pcl_ros: plane_concatenator.h Source File

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00001 // -*- mode: c++ -*-
00002 /*********************************************************************
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00035 
00036 
00037 #ifndef JSK_PCL_ROS_PLANE_CONCATENATOR_H_
00038 #define JSK_PCL_ROS_PLANE_CONCATENATOR_H_
00039 
00040 #include <jsk_recognition_msgs/PolygonArray.h>
00041 #include <jsk_recognition_msgs/ModelCoefficientsArray.h>
00042 #include <jsk_recognition_msgs/ClusterPointIndices.h>
00043 
00044 #include <jsk_pcl_ros/PlaneConcatenatorConfig.h>
00045 #include <dynamic_reconfigure/server.h>
00046 #include <jsk_topic_tools/diagnostic_nodelet.h>
00047 #include <message_filters/subscriber.h>
00048 #include <message_filters/time_synchronizer.h>
00049 #include <message_filters/synchronizer.h>
00050 
00051 #include "jsk_pcl_ros/geo_util.h"
00052 
00053 namespace jsk_pcl_ros
00054 {
00055   class PlaneConcatenator: public jsk_topic_tools::DiagnosticNodelet
00056   {
00057   public:
00058     typedef boost::shared_ptr<PlaneConcatenator> Ptr;
00059     typedef PlaneConcatenatorConfig Config;
00060     typedef pcl::PointXYZRGB PointT;
00061     typedef message_filters::sync_policies::ExactTime<
00062       sensor_msgs::PointCloud2,
00063       jsk_recognition_msgs::ClusterPointIndices,
00064       jsk_recognition_msgs::PolygonArray,
00065       jsk_recognition_msgs::ModelCoefficientsArray
00066       > SyncPolicy;
00067     PlaneConcatenator(): DiagnosticNodelet("PlaneConcatenator") {}
00068     
00069   protected:
00071     // methods
00073     virtual void onInit();
00074     virtual void subscribe();
00075     virtual void unsubscribe();
00076     virtual void updateDiagnostic(
00077       diagnostic_updater::DiagnosticStatusWrapper &stat);
00078     virtual void concatenate(
00079       const sensor_msgs::PointCloud2::ConstPtr& cloud_msg,
00080       const jsk_recognition_msgs::ClusterPointIndices::ConstPtr& indices_msg,
00081       const jsk_recognition_msgs::PolygonArray::ConstPtr& polygon_array_msg,
00082       const jsk_recognition_msgs::ModelCoefficientsArray::ConstPtr& coefficients_array_msg);
00083     virtual void configCallback(Config &config, uint32_t level);
00084     virtual bool isNearPointCloud(
00085       pcl::KdTreeFLANN<PointT>& kdtree,
00086       pcl::PointCloud<PointT>::Ptr cloud,
00087       Plane::Ptr target_plane);
00088     virtual pcl::ModelCoefficients::Ptr refinement(
00089       pcl::PointCloud<PointT>::Ptr cloud,
00090       pcl::PointIndices::Ptr indices,
00091       pcl::ModelCoefficients::Ptr original_coefficients);
00093     // ROS variables
00095     message_filters::Subscriber<sensor_msgs::PointCloud2> sub_cloud_;
00096     message_filters::Subscriber<jsk_recognition_msgs::ClusterPointIndices> sub_indices_;
00097     message_filters::Subscriber<jsk_recognition_msgs::PolygonArray> sub_polygon_;
00098     message_filters::Subscriber<jsk_recognition_msgs::ModelCoefficientsArray> sub_coefficients_;
00099     boost::shared_ptr<message_filters::Synchronizer<SyncPolicy> >sync_;
00100     boost::mutex mutex_;
00101     boost::shared_ptr <dynamic_reconfigure::Server<Config> > srv_;
00102     ros::Publisher pub_indices_;
00103     ros::Publisher pub_polygon_;
00104     ros::Publisher pub_coefficients_;
00106     // parameters
00108     double connect_angular_threshold_;
00109     double connect_distance_threshold_;
00110     double connect_perpendicular_distance_threshold_;
00111     int ransac_refinement_max_iteration_;
00112     double ransac_refinement_outlier_threshold_;
00113     double ransac_refinement_eps_distance_;
00114     double ransac_refinement_eps_angle_;
00115     int min_size_;
00116   private:
00117     
00118   };
00119 }
00120 #endif