plane_rejector.h
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00001 // -*- mode: C++ -*-
00002 /*********************************************************************
00003  * Software License Agreement (BSD License)
00004  *
00005  *  Copyright (c) 2013, Ryohei Ueda and 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
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00020  *     from this software without specific prior written permission.
00021  *
00022  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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00035 
00036 #ifndef JSK_PCL_ROS_UTILS_PLANE_REJECTOR_H_
00037 #define JSK_PCL_ROS_UTILS_PLANE_REJECTOR_H_
00038 
00039 
00040 // ros
00041 #include <ros/ros.h>
00042 #include <ros/names.h>
00043 #include <sensor_msgs/PointCloud2.h>
00044 #include <tf/transform_broadcaster.h>
00045 #include <message_filters/subscriber.h>
00046 #include <message_filters/time_synchronizer.h>
00047 #include <message_filters/synchronizer.h>
00048 #include "jsk_recognition_utils/tf_listener_singleton.h"
00049 
00050 #include <dynamic_reconfigure/server.h>
00051 // pcl
00052 #include <pcl_ros/pcl_nodelet.h>
00053 
00054 #include <jsk_recognition_msgs/PolygonArray.h>
00055 #include <jsk_recognition_msgs/ModelCoefficientsArray.h>
00056 #include <jsk_recognition_msgs/ClusterPointIndices.h>
00057 #include "jsk_pcl_ros_utils/PlaneRejectorConfig.h"
00058 
00059 #include "jsk_recognition_utils/pcl_conversion_util.h"
00060 #include <jsk_topic_tools/time_accumulator.h>
00061 #include <jsk_topic_tools/vital_checker.h>
00062 
00063 #include <diagnostic_updater/diagnostic_updater.h>
00064 #include <diagnostic_updater/publisher.h>
00065 #include <jsk_topic_tools/rosparam_utils.h>
00066 #include "jsk_recognition_utils/pcl_util.h"
00067 #include <jsk_topic_tools/connection_based_nodelet.h>
00068 
00069 
00070 namespace jsk_pcl_ros_utils
00071 {
00072   class PlaneRejector: public jsk_topic_tools::ConnectionBasedNodelet
00073   {
00074   public:
00075     typedef message_filters::sync_policies::ExactTime< jsk_recognition_msgs::PolygonArray,
00076                                                        jsk_recognition_msgs::ModelCoefficientsArray > SyncPolicy;
00077     typedef message_filters::sync_policies::ExactTime< jsk_recognition_msgs::PolygonArray,
00078                                                        jsk_recognition_msgs::ModelCoefficientsArray,
00079                                                        jsk_recognition_msgs::ClusterPointIndices
00080                                                        > SyncInlierPolicy;
00081     typedef jsk_pcl_ros_utils::PlaneRejectorConfig Config;
00082   protected:
00083     virtual void onInit();
00084     virtual void reject(const jsk_recognition_msgs::PolygonArray::ConstPtr& polygons,
00085                         const jsk_recognition_msgs::ModelCoefficientsArray::ConstPtr& coefficients);
00086     virtual void reject(const jsk_recognition_msgs::PolygonArray::ConstPtr& polygons,
00087                         const jsk_recognition_msgs::ModelCoefficientsArray::ConstPtr& coefficients,
00088                         const jsk_recognition_msgs::ClusterPointIndices::ConstPtr& inliers);
00089     virtual void configCallback (Config &config, uint32_t level);
00090 
00091     
00092     virtual void updateDiagnostics(const ros::TimerEvent& event);
00093     virtual void updateDiagnosticsPlaneRejector(
00094       diagnostic_updater::DiagnosticStatusWrapper &stat);
00095     virtual void subscribe();
00096     virtual void unsubscribe();
00097     
00098     message_filters::Subscriber<jsk_recognition_msgs::PolygonArray> sub_polygons_;
00099     message_filters::Subscriber<jsk_recognition_msgs::ModelCoefficientsArray> sub_coefficients_;
00100     message_filters::Subscriber<jsk_recognition_msgs::ClusterPointIndices> sub_inliers_;
00101     boost::shared_ptr<message_filters::Synchronizer<SyncPolicy> > sync_;
00102     boost::shared_ptr<message_filters::Synchronizer<SyncInlierPolicy> > sync_inlier_;
00103     
00104     bool use_tf2_;
00105     bool use_inliers_;
00106     bool allow_flip_;    
00107     std::string processing_frame_id_;
00108     // axis
00109     Eigen::Vector3d reference_axis_;
00110     double angle_thr_;
00111     tf::TransformListener* listener_;
00112     boost::mutex mutex_;
00113     boost::shared_ptr <dynamic_reconfigure::Server<Config> > srv_;
00114     ros::Publisher polygons_pub_, coefficients_pub_, inliers_pub_;
00115     ros::Timer diagnostics_timer_;
00116     boost::shared_ptr<diagnostic_updater::Updater> diagnostic_updater_;
00117     jsk_topic_tools::VitalChecker::Ptr vital_checker_;
00118     jsk_recognition_utils::SeriesedBoolean::Ptr tf_success_;
00119     
00120     jsk_recognition_utils::Counter rejected_plane_counter_;
00121     jsk_recognition_utils::Counter passed_plane_counter_;
00122     jsk_recognition_utils::Counter input_plane_counter_;
00123     double angle_;
00124   private:
00125     
00126   };
00127 }
00128 
00129 #endif 


jsk_pcl_ros_utils
Author(s): Yohei Kakiuchi
autogenerated on Sun Oct 8 2017 02:43:05