table_pose.cpp

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/*
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 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
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 * $Id: table_pose.cpp 30899 2010-07-16 04:56:51Z rusu $
 *
 */

#include <ros/ros.h>
#include <sensor_msgs/PointCloud2.h>

#include <pcl/point_types.h>
#include <pcl/filters/voxel_grid.h>
#include <pcl/filters/project_inliers.h>
#include <pcl/features/normal_3d.h>
#include <pcl/kdtree/kdtree_ann.h>
#include <pcl/segmentation/sac_segmentation.h>

#include <pcl/PointIndices.h>
#include <pcl/ModelCoefficients.h>

#include <table_pose/GetPose.h>

using namespace pcl;
      
ros::Publisher pub;

bool
  getTablePose (table_pose::GetPose::Request &req, table_pose::GetPose::Response &res)
{
  PointCloud<PointXYZ> cloud;
  pcl::fromROSMsg (req.data, cloud);

  // Use an ANN kd tree representation
  KdTreeANN<PointXYZ>::Ptr tree = boost::make_shared<KdTreeANN<PointXYZ> > ();

  // ---[ Create the voxel grid
  VoxelGrid<PointXYZ> grid;
  grid.setInputCloud (cloud.makeShared ());
  grid.setLeafSize (0.01, 0.01, 0.01);
  grid.setFilterFieldName ("z");
  grid.setFilterLimits (0.5, 1.2);

  PointCloud<PointXYZ> cloud_filtered;
  grid.filter (cloud_filtered);

  // ---[ Estimate the point normals
  NormalEstimation<PointXYZ, Normal> n3d;
  n3d.setInputCloud (cloud_filtered.makeShared ());
  n3d.setSearchMethod (tree);
  n3d.setKSearch (0.01);
  
  PointCloud<Normal> cloud_normals;
  n3d.compute (cloud_normals);

  // ---[ Perform segmentation
  SACSegmentationFromNormals<PointXYZ, Normal> seg;
  seg.setInputCloud (cloud_filtered.makeShared ());
  seg.setInputNormals (cloud_normals.makeShared ());
  seg.setNormalDistanceWeight (0.1);
  seg.setModelType (SACMODEL_NORMAL_PLANE);
  seg.setMethodType (SAC_RANSAC);
  seg.setDistanceThreshold (0.1);
  seg.setMaxIterations (10000);

  PointIndices table_inliers; 
  ModelCoefficients table_coefficients;
  seg.segment (table_inliers, table_coefficients);

  // ---[ Extract the table
  PointCloud<PointXYZ> table_projected;
  ProjectInliers<PointXYZ> proj;
  proj.setModelType (SACMODEL_NORMAL_PLANE);
  proj.setInputCloud (cloud_filtered.makeShared ());
  proj.setIndices (boost::make_shared<PointIndices> (table_inliers));
  proj.setModelCoefficients (boost::make_shared<ModelCoefficients> (table_coefficients));
  proj.filter (table_projected);

  // Publish (not needed) - to be removed
  PointCloud<PointXYZ> cloud_table;
  copyPointCloud (cloud_filtered, table_inliers, cloud_table);
  sensor_msgs::PointCloud2 cloud_out;
  pcl::toROSMsg (cloud_table, cloud_out);
  pub.publish (cloud_out);

  return (true);
}

/* ---[ */
int
  main (int argc, char** argv)
{
  ros::init (argc, argv, "table_pose");

  ros::NodeHandle nh;
  
  pub = nh.advertise<sensor_msgs::PointCloud2> ("table", 1);

  ros::ServiceServer service = nh.advertiseService ("get_table_pose", getTablePose);
  ros::spin ();

  return (0);
}
/* ]--- */