00001 /* 00002 * Copyright (c) 2008, Willow Garage, Inc. 00003 * All rights reserved. 00004 * 00005 * Redistribution and use in source and binary forms, with or without 00006 * modification, are permitted provided that the following conditions are met: 00007 * 00008 * * Redistributions of source code must retain the above copyright 00009 * notice, this list of conditions and the following disclaimer. 00010 * * Redistributions in binary form must reproduce the above copyright 00011 * notice, this list of conditions and the following disclaimer in the 00012 * documentation and/or other materials provided with the distribution. 00013 * * Neither the name of the Willow Garage, Inc. nor the names of its 00014 * contributors may be used to endorse or promote products derived from 00015 * this software without specific prior written permission. 00016 * 00017 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00018 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00019 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00020 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00021 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00022 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00023 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00024 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00025 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00026 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00027 * POSSIBILITY OF SUCH DAMAGE. 00028 * 00029 */ 00030 00039 #ifndef AR_TRACK_ALVAR_KINECT_FILTERING_H 00040 #define AR_TRACK_ALVAR_KINECT_FILTERING_H 00041 00042 #include <pcl/ros/conversions.h> 00043 #include <pcl/point_types.h> 00044 #include <pcl/registration/icp.h> 00045 #include <pcl/registration/registration.h> 00046 00047 #include <geometry_msgs/PoseStamped.h> 00048 #include <ros/ros.h> 00049 #include <pcl/ModelCoefficients.h> 00050 #include <pcl/point_types.h> 00051 #include <pcl/sample_consensus/method_types.h> 00052 #include <pcl/sample_consensus/model_types.h> 00053 #include <pcl/segmentation/sac_segmentation.h> 00054 #include <pcl_ros/point_cloud.h> 00055 #include <pcl/filters/extract_indices.h> 00056 #include <boost/lexical_cast.hpp> 00057 00058 #include <opencv2/core/core.hpp> 00059 00060 #include <LinearMath/btMatrix3x3.h> 00061 00062 namespace ar_track_alvar 00063 { 00064 00065 typedef pcl::PointXYZRGB ARPoint; 00066 typedef pcl::PointCloud<ARPoint> ARCloud; 00067 00068 // Result of plane fit: inliers and the plane equation 00069 struct PlaneFitResult 00070 { 00071 EIGEN_MAKE_ALIGNED_OPERATOR_NEW 00072 PlaneFitResult () : inliers(boost::make_shared<ARCloud>()) {} 00073 ARCloud::Ptr inliers; 00074 pcl::ModelCoefficients coeffs; 00075 }; 00076 00077 // Select out a subset of a cloud corresponding to a set of pixel coordinates 00078 ARCloud::Ptr filterCloud (const ARCloud& cloud, 00079 const std::vector<cv::Point>& pixels); 00080 00081 // Wrapper for PCL plane fitting 00082 PlaneFitResult fitPlane (ARCloud::ConstPtr cloud); 00083 00084 // Given the coefficients of a plane, and two points p1 and p2, we produce a 00085 // quaternion q that sends p2'-p1' to (1,0,0) and n to (0,0,1), where p1' and 00086 // p2' are the projections of p1 and p2 onto the plane and n is the normal. 00087 // There's a sign ambiguity here, which is resolved by requiring that the 00088 // difference p4'-p3' ends up with a positive y coordinate 00089 int 00090 extractOrientation (const pcl::ModelCoefficients& coeffs, 00091 const ARPoint& p1, const ARPoint& p2, 00092 const ARPoint& p3, const ARPoint& p4, 00093 geometry_msgs::Quaternion &retQ); 00094 00095 // Like extractOrientation except return value is a btMatrix3x3 00096 int 00097 extractFrame (const pcl::ModelCoefficients& coeffs, 00098 const ARPoint& p1, const ARPoint& p2, 00099 const ARPoint& p3, const ARPoint& p4, 00100 btMatrix3x3 &retmat); 00101 00102 00103 // Return the centroid (mean) of a point cloud 00104 geometry_msgs::Point centroid (const ARCloud& points); 00105 } // namespace 00106 00107 #endif // include guard