00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2010, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 * 00034 * $Id: surface_mls.cpp 36100 2011-02-21 19:12:37Z rusu $ 00035 * 00036 */ 00037 00043 #include <ros/ros.h> 00044 #include "pcl/point_types.h" 00045 #include "pcl/surface/mls.h" 00046 #include "pcl_ros/publisher.h" 00047 00048 /* ---[ */ 00049 int 00050 main (int argc, char** argv) 00051 { 00052 ros::init (argc, argv, "pcl_surface_mls_test"); 00053 ros::NodeHandle nh; 00054 00055 typedef pcl::PointXYZ Point; 00056 00057 // ROS publisher 00058 pcl_ros::Publisher<Point> pub; 00059 pub.advertise (nh, "output", 1); 00060 00061 typedef pcl::KdTree<Point>::Ptr KdTreePtr; 00062 KdTreePtr tree = boost::make_shared<pcl::KdTreeFLANN<Point> > (); 00063 00064 // Datasets 00065 pcl::PointCloud<Point> cloud_raw; 00066 pcl::PointCloud<Point> cloud_mls; 00067 pcl::PointCloud<Point>::ConstPtr cloud_raw_ptr; 00068 // PCL Objects 00069 pcl::MovingLeastSquares<Point, pcl::PointNormal> mls; 00070 mls.setPolynomialFit (true); 00071 mls.setSearchMethod (tree); 00072 mls.setSearchRadius (0.02); 00073 00074 // Spin 00075 while (nh.ok ()) 00076 { 00077 // Wait for message 00078 sensor_msgs::PointCloud2::ConstPtr cloud = ros::topic::waitForMessage<sensor_msgs::PointCloud2>("input"); 00079 ROS_INFO ("PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.", 00080 cloud->width * cloud->height, pcl::getFieldsList (*cloud).c_str (), cloud->header.stamp.toSec (), cloud->header.frame_id.c_str (), nh.resolveName ("input").c_str ()); 00081 00082 // Convert to PointCloud<T> 00083 pcl::fromROSMsg (*cloud, cloud_raw); 00084 cloud_raw_ptr.reset (new pcl::PointCloud<Point> (cloud_raw)); 00085 00086 // Create a MLS representation 00087 mls.setInputCloud (cloud_raw_ptr); 00088 mls.reconstruct (cloud_mls); 00089 00090 // Publish 00091 pub.publish (cloud_mls); 00092 } 00093 00094 return (0); 00095 } 00096 /* ]--- */