jsk_pcl_ros: transform_pointcloud_in_bounding

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00001 // -*- mode: c++ -*-
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00035 
00036 
00037 #ifndef JSK_PCL_ROS_TRANSFORM_POINTCLOUD_IN_BOUNDING_BOX_H_
00038 #define JSK_PCL_ROS_TRANSFORM_POINTCLOUD_IN_BOUNDING_BOX_H_
00039 
00040 #include <pcl_ros/pcl_nodelet.h>
00041 #include <jsk_recognition_msgs/BoundingBox.h>
00042 #include <message_filters/subscriber.h>
00043 #include <message_filters/time_synchronizer.h>
00044 #include <message_filters/synchronizer.h>
00045 #include "jsk_pcl_ros/tf_listener_singleton.h"
00046 #include <eigen_conversions/eigen_msg.h>
00047 #include "jsk_pcl_ros/pcl_conversion_util.h"
00048 #include <pcl/common/transforms.h>
00049 
00050 namespace jsk_pcl_ros
00051 {
00052   template <class PointT>
00053   void transformPointcloudInBoundingBox(
00054     const jsk_recognition_msgs::BoundingBox& box_msg,
00055     const sensor_msgs::PointCloud2& cloud_msg,
00056     pcl::PointCloud<PointT>& output,
00057     Eigen::Affine3f& offset,
00058     tf::TransformListener& tf_listener)
00059   {
00060     geometry_msgs::PoseStamped box_pose;
00061     box_pose.header = box_msg.header;
00062     box_pose.pose = box_msg.pose;
00063     // transform box_pose into msg frame
00064     geometry_msgs::PoseStamped box_pose_respected_to_cloud;
00065     tf_listener.transformPose(cloud_msg.header.frame_id,
00066                                 box_pose,
00067                                 box_pose_respected_to_cloud);
00068     // convert the pose into eigen
00069     Eigen::Affine3d box_pose_respected_to_cloud_eigend;
00070     tf::poseMsgToEigen(box_pose_respected_to_cloud.pose,
00071                        box_pose_respected_to_cloud_eigend);
00072     Eigen::Affine3d box_pose_respected_to_cloud_eigend_inversed
00073       = box_pose_respected_to_cloud_eigend.inverse();
00074     Eigen::Matrix4f box_pose_respected_to_cloud_eigen_inversed_matrixf;
00075     Eigen::Matrix4d box_pose_respected_to_cloud_eigen_inversed_matrixd
00076       = box_pose_respected_to_cloud_eigend_inversed.matrix();
00077     convertMatrix4<Eigen::Matrix4d, Eigen::Matrix4f>(
00078       box_pose_respected_to_cloud_eigen_inversed_matrixd,
00079       box_pose_respected_to_cloud_eigen_inversed_matrixf);
00080     offset = Eigen::Affine3f(box_pose_respected_to_cloud_eigen_inversed_matrixf);
00081     pcl::PointCloud<PointT> input;
00082     pcl::fromROSMsg(cloud_msg, input);
00083     pcl::transformPointCloud(input, output, offset);
00084   }
00085   
00086   class TransformPointcloudInBoundingBox: public pcl_ros::PCLNodelet
00087   {
00088   public:
00089     typedef pcl::PointXYZRGB PointT;
00090     typedef message_filters::sync_policies::ExactTime<
00091       sensor_msgs::PointCloud2,
00092       jsk_recognition_msgs::BoundingBox > SyncPolicy;
00093   protected:
00095     // methods
00097     virtual void onInit();
00098     virtual void transform(const sensor_msgs::PointCloud2::ConstPtr& msg,
00099                            const jsk_recognition_msgs::BoundingBox::ConstPtr& box_msg);
00100     
00102     // ROS variables
00104     message_filters::Subscriber<sensor_msgs::PointCloud2> sub_input_;
00105     message_filters::Subscriber<jsk_recognition_msgs::BoundingBox> sub_box_;
00106     boost::shared_ptr<message_filters::Synchronizer<SyncPolicy> >sync_;
00107     ros::Publisher pub_cloud_;
00108     ros::Publisher pub_offset_pose_;
00109     tf::TransformListener* tf_listener_;
00110   private:
00111     
00112   };
00113 }
00114 
00115 #endif