pointcloud_cropper.h
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00001 // -*- mode: c++ -*-
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00035 
00036 
00037 #ifndef JSK_INTERACTIVE_MARKER_POINTCLOUD_CLOPPER_H_
00038 #define JSK_INTERACTIVE_MARKER_POINTCLOUD_CLOPPER_H_
00039 
00040 #define BOOST_PARAMETER_MAX_ARITY 7 // its a hack
00041 
00042 #include <jsk_topic_tools/time_accumulator.h>
00043 
00044 #include <interactive_markers/interactive_marker_server.h>
00045 #include <interactive_markers/menu_handler.h>
00046 
00047 #include <sensor_msgs/PointCloud2.h>
00048 
00049 #include <pcl/point_types.h>
00050 #include <pcl/point_cloud.h>
00051 #include <sensor_msgs/PointCloud2.h>
00052 
00053 #include <tf/transform_listener.h>
00054 
00055 #include <dynamic_reconfigure/server.h>
00056 #include <jsk_interactive_marker/PointCloudCropperConfig.h>
00057 
00058 namespace jsk_interactive_marker
00059 {
00060   
00061   class Cropper
00062   {
00063   public:
00064     typedef std::shared_ptr<Cropper> Ptr;
00065     Cropper(const unsigned int nr_parameter);
00066     virtual ~Cropper();
00067     
00068     virtual void crop(const pcl::PointCloud<pcl::PointXYZ>::Ptr& input,
00069                       pcl::PointCloud<pcl::PointXYZ>::Ptr output);
00070     virtual std::string getName() = 0;
00071     virtual visualization_msgs::Marker getMarker() = 0;
00072     virtual void updateParameter(const double val, const unsigned int index);
00073     // return true if the point p is inside of the cropper
00074     virtual bool isInside(const pcl::PointXYZ& p) = 0;
00075     virtual void fillInitialParameters() = 0;
00076     virtual void setPose(Eigen::Affine3f pose);
00077     virtual Eigen::Affine3f getPose();
00078   protected:
00079     unsigned int nr_parameter_;
00080     std::vector<double> parameters_;
00081     // pose_ of the Cropper should be respected to the frame_id of pointcloud
00082     Eigen::Affine3f pose_;
00083   private:
00084     
00085   };
00086 
00087   class SphereCropper: public Cropper
00088   {
00089   public:
00090     typedef std::shared_ptr<SphereCropper> Ptr;
00091     
00092     SphereCropper();
00093     virtual ~SphereCropper();
00094     virtual std::string getName();
00095     virtual visualization_msgs::Marker getMarker();
00096     virtual bool isInside(const pcl::PointXYZ& p);
00097     virtual void fillInitialParameters();
00098     virtual double getRadius();
00099   protected:
00100   private:
00101     
00102   };
00103 
00104   class CubeCropper: public Cropper
00105   {
00106   public:
00107     typedef std::shared_ptr<CubeCropper> Ptr;
00108     
00109     CubeCropper();
00110     virtual ~CubeCropper();
00111     virtual std::string getName();
00112     virtual visualization_msgs::Marker getMarker();
00113     virtual bool isInside(const pcl::PointXYZ& p);
00114     virtual void fillInitialParameters();
00115     virtual double getWidthX();
00116     virtual double getWidthY();
00117     virtual double getWidthZ();
00118   protected:
00119   private:
00120     
00121   };
00122 
00123   
00124   class PointCloudCropper
00125   {
00126   public:
00127     PointCloudCropper(ros::NodeHandle& nh, ros::NodeHandle &pnh);
00128     virtual ~PointCloudCropper();
00129   protected:
00130     typedef PointCloudCropperConfig Config;
00131     
00132     typedef std::vector<interactive_markers::MenuHandler::EntryHandle>
00133     EntryHandleVector;
00134     virtual void changeCropper(Cropper::Ptr next_cropper);
00135     virtual void inputCallback(const sensor_msgs::PointCloud2::ConstPtr& msg);
00136     virtual void reInitializeInteractiveMarker();
00137     virtual void updateInteractiveMarker(
00138       Eigen::Affine3f pose_offset = Eigen::Affine3f::Identity());
00139     virtual void initializeInteractiveMarker(
00140       Eigen::Affine3f pose_offset = Eigen::Affine3f::Identity());
00141     virtual void processFeedback(
00142       const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback);
00143     virtual void menuFeedback(
00144       const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback);
00145     virtual void changeCropperCallback(
00146       const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback );
00147     virtual void updateMenuCheckboxStatus();
00148     virtual void cropAndPublish(ros::Publisher& pub);
00149     virtual void configCallback(Config &config, uint32_t level);
00150     boost::mutex mutex_;
00151     ros::Subscriber point_sub_;
00152     ros::Publisher point_pub_;
00153     ros::Publisher point_visualization_pub_;
00154     std::shared_ptr<interactive_markers::InteractiveMarkerServer> server_;
00155     //pcl::PointCloud<pcl::PointXYZ>::Ptr latest_pointcloud_;
00156     sensor_msgs::PointCloud2::ConstPtr latest_pointcloud_;
00157     std::shared_ptr <dynamic_reconfigure::Server<Config> > srv_;
00158     interactive_markers::MenuHandler menu_handler_;
00159     Cropper::Ptr cropper_;
00160     std::vector<Cropper::Ptr> cropper_candidates_;
00161     EntryHandleVector cropper_entries_;
00162     std::shared_ptr<tf::TransformListener> tf_listener_;
00163     
00164   private:
00165   };
00166 }
00167 
00168 #endif


jsk_interactive_marker
Author(s): furuta
autogenerated on Wed May 1 2019 02:40:31