feature_registration.h
Go to the documentation of this file.
00001 // -*- mode: c++ -*-
00002 /*********************************************************************
00003  * Software License Agreement (BSD License)
00004  *
00005  *  Copyright (c) 2015, JSK Lab
00006  *  All rights reserved.
00007  *
00008  *  Redistribution and use in source and binary forms, with or without
00009  *  modification, are permitted provided that the following conditions
00010  *  are met:
00011  *
00012  *   * Redistributions of source code must retain the above copyright
00013  *     notice, this list of conditions and the following disclaimer.
00014  *   * Redistributions in binary form must reproduce the above
00015  *     copyright notice, this list of conditions and the following
00016  *     disclaimer in the documentation and/o2r other materials provided
00017  *     with the distribution.
00018  *   * Neither the name of the JSK Lab nor the names of its
00019  *     contributors may be used to endorse or promote products derived
00020  *     from this software without specific prior written permission.
00021  *
00022  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00023  *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00024  *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00025  *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00026  *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00027  *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00028  *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00029  *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00030  *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00031  *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00032  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00033  *  POSSIBILITY OF SUCH DAMAGE.
00034  *********************************************************************/
00035 
00036 
00037 #ifndef JSK_PCL_ROS_FEATURE_REGISTRATION_H_
00038 #define JSK_PCL_ROS_FEATURE_REGISTRATION_H_
00039 
00040 #include <jsk_topic_tools/diagnostic_nodelet.h>
00041 
00042 #include <message_filters/subscriber.h>
00043 #include <message_filters/time_synchronizer.h>
00044 #include <message_filters/synchronizer.h>
00045 #include <message_filters/sync_policies/approximate_time.h>
00046 
00047 #include <dynamic_reconfigure/server.h>
00048 #include <jsk_pcl_ros/FeatureRegistrationConfig.h>
00049 
00050 #include <pcl/point_types.h>
00051 #include <pcl/point_cloud.h>
00052 #include <sensor_msgs/PointCloud2.h>
00053 #include <geometry_msgs/PoseStamped.h>
00054 
00055 namespace jsk_pcl_ros
00056 {
00061   class FeatureRegistration: public jsk_topic_tools::DiagnosticNodelet
00062   {
00063   public:
00064     typedef FeatureRegistrationConfig Config;
00065     typedef message_filters::sync_policies::ApproximateTime<
00066     sensor_msgs::PointCloud2,
00067     sensor_msgs::PointCloud2> SyncPolicy;
00068     FeatureRegistration(): DiagnosticNodelet("FeatureRegistration") {};
00069   protected:
00070     virtual void onInit();
00071     virtual void subscribe();
00072     virtual void unsubscribe();
00073 
00074     virtual void configCallback(Config &config, uint32_t level);
00075     
00076     virtual void referenceCallback(
00077       const sensor_msgs::PointCloud2::ConstPtr& cloud_msg,
00078       const sensor_msgs::PointCloud2::ConstPtr& feature_msg);
00079 
00080     virtual void estimate(
00081       const sensor_msgs::PointCloud2::ConstPtr& cloud_msg,
00082       const sensor_msgs::PointCloud2::ConstPtr& feature_msg);
00083 
00084     boost::mutex mutex_;
00085     ros::Publisher pub_pose_;
00086     ros::Publisher pub_cloud_;
00087     boost::shared_ptr <dynamic_reconfigure::Server<Config> > srv_;
00088     
00089     message_filters::Subscriber<sensor_msgs::PointCloud2> sub_input_;
00090     message_filters::Subscriber<sensor_msgs::PointCloud2> sub_input_feature_;
00091     boost::shared_ptr<message_filters::Synchronizer<SyncPolicy> > sync_;
00092     
00093     message_filters::Subscriber<sensor_msgs::PointCloud2> sub_input_reference_;
00094     message_filters::Subscriber<sensor_msgs::PointCloud2> sub_input_reference_feature_;
00095     boost::shared_ptr<message_filters::Synchronizer<SyncPolicy> > reference_sync_;
00096 
00097     // parameters to store reference data
00098     pcl::PointCloud<pcl::PointNormal>::Ptr reference_cloud_;
00099     pcl::PointCloud<pcl::FPFHSignature33>::Ptr reference_feature_;
00100     
00101     int max_iterations_;
00102     int correspondence_randomness_;
00103     double similarity_threshold_;
00104     double max_correspondence_distance_;
00105     double inlier_fraction_;
00106   private:
00107     
00108   };
00109 }
00110 
00111 #endif


jsk_pcl_ros
Author(s): Yohei Kakiuchi
autogenerated on Tue Jul 2 2019 19:41:43