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_polygonal_prism_data.h 35361 2011-01-20 04:34:49Z rusu $ 00035 * 00036 */ 00037 00038 #ifndef PCL_ROS_EXTRACT_POLYGONAL_PRISM_DATA_H_ 00039 #define PCL_ROS_EXTRACT_POLYGONAL_PRISM_DATA_H_ 00040 00041 #include "pcl_ros/pcl_nodelet.h" 00042 #include <message_filters/sync_policies/exact_time.h> 00043 #include <message_filters/sync_policies/approximate_time.h> 00044 #include <message_filters/pass_through.h> 00045 00046 // PCL includes 00047 #include <pcl/segmentation/extract_polygonal_prism_data.h> 00048 00049 // Dynamic reconfigure 00050 #include <dynamic_reconfigure/server.h> 00051 #include "pcl_ros/ExtractPolygonalPrismDataConfig.h" 00052 00053 namespace pcl_ros 00054 { 00055 namespace sync_policies = message_filters::sync_policies; 00056 00064 class ExtractPolygonalPrismData : public PCLNodelet 00065 { 00066 typedef pcl::PointCloud<pcl::PointXYZ> PointCloud; 00067 typedef PointCloud::Ptr PointCloudPtr; 00068 typedef PointCloud::ConstPtr PointCloudConstPtr; 00069 00070 protected: 00072 ros::Publisher pub_output_; 00073 00075 message_filters::Subscriber<PointCloud> sub_hull_filter_; 00076 00078 boost::shared_ptr<message_filters::Synchronizer<sync_policies::ExactTime<PointCloud, PointCloud, PointIndices> > > sync_input_hull_indices_e_; 00079 boost::shared_ptr<message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloud, PointCloud, PointIndices> > > sync_input_hull_indices_a_; 00080 00082 boost::shared_ptr<dynamic_reconfigure::Server<ExtractPolygonalPrismDataConfig> > srv_; 00083 00086 message_filters::PassThrough<PointIndices> nf_; 00087 00092 inline void 00093 input_callback (const PointCloudConstPtr &input) 00094 { 00095 PointIndices cloud; 00096 cloud.header.stamp = input->header.stamp; 00097 nf_.add (boost::make_shared<PointIndices> (cloud)); 00098 } 00099 00101 void onInit (); 00102 00107 void config_callback (ExtractPolygonalPrismDataConfig &config, uint32_t level); 00108 00114 void input_hull_indices_callback (const PointCloudConstPtr &cloud, 00115 const PointCloudConstPtr &hull, 00116 const PointIndicesConstPtr &indices); 00117 00118 private: 00120 pcl::ExtractPolygonalPrismData<pcl::PointXYZ> impl_; 00121 public: 00122 EIGEN_MAKE_ALIGNED_OPERATOR_NEW 00123 }; 00124 } 00125 00126 #endif //#ifndef PCL_EXTRACT_POLYGONAL_PRISM_DATA_H_