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: extract_clusters.h 35361 2011-01-20 04:34:49Z rusu $ 00035 * 00036 */ 00037 00038 #ifndef PCL_ROS_EXTRACT_CLUSTERS_H_ 00039 #define PCL_ROS_EXTRACT_CLUSTERS_H_ 00040 00041 #include <pcl/segmentation/extract_clusters.h> 00042 #include "pcl_ros/pcl_nodelet.h" 00043 00044 // Dynamic reconfigure 00045 #include <dynamic_reconfigure/server.h> 00046 #include "pcl_ros/EuclideanClusterExtractionConfig.h" 00047 00048 namespace pcl_ros 00049 { 00050 namespace sync_policies = message_filters::sync_policies; 00051 00054 00057 class EuclideanClusterExtraction : public PCLNodelet 00058 { 00059 public: 00061 EuclideanClusterExtraction () : publish_indices_ (false), max_clusters_ (std::numeric_limits<int>::max ()) {}; 00062 00063 protected: 00064 // ROS nodelet attributes 00066 bool publish_indices_; 00067 00069 int max_clusters_; 00070 00072 boost::shared_ptr<dynamic_reconfigure::Server<EuclideanClusterExtractionConfig> > srv_; 00073 00075 void onInit (); 00076 00081 void config_callback (EuclideanClusterExtractionConfig &config, uint32_t level); 00082 00087 void input_indices_callback (const PointCloudConstPtr &cloud, const PointIndicesConstPtr &indices); 00088 00089 private: 00091 pcl::EuclideanClusterExtraction<pcl::PointXYZ> impl_; 00092 00094 ros::Subscriber sub_input_; 00095 00097 boost::shared_ptr<message_filters::Synchronizer<sync_policies::ExactTime<PointCloud, PointIndices> > > sync_input_indices_e_; 00098 boost::shared_ptr<message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloud, PointIndices> > > sync_input_indices_a_; 00099 00100 public: 00101 EIGEN_MAKE_ALIGNED_OPERATOR_NEW 00102 }; 00103 } 00104 00105 #endif //#ifndef PCL_ROS_EXTRACT_CLUSTERS_H_