moving_least_squares.h

Go to the documentation of this file.

/*
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2010, Willow Garage, Inc.
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Willow Garage, Inc. nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *
 * $Id: moving_least_squares.h 36097 2011-02-20 14:18:58Z marton $
 *
 */

#ifndef PCL_ROS_MOVING_LEAST_SQUARES_H_
#define PCL_ROS_MOVING_LEAST_SQUARES_H_

#include "pcl_ros/pcl_nodelet.h"

// PCL includes
#include <pcl/surface/mls.h>

// Dynamic reconfigure
#include <dynamic_reconfigure/server.h>
#include "pcl_ros/MLSConfig.h"   

namespace pcl_ros
{
  namespace sync_policies = message_filters::sync_policies;

  class MovingLeastSquares : public PCLNodelet
  {
    typedef pcl::PointXYZ PointIn;
    typedef pcl::PointNormal NormalOut;

    typedef pcl::PointCloud<PointIn> PointCloudIn;
    typedef PointCloudIn::Ptr PointCloudInPtr;
    typedef PointCloudIn::ConstPtr PointCloudInConstPtr;
    typedef pcl::PointCloud<NormalOut> NormalCloudOut;

    typedef pcl::KdTree<PointIn> KdTree;
    typedef pcl::KdTree<PointIn>::Ptr KdTreePtr; 

    protected:
      PointCloudInConstPtr surface_;

      KdTreePtr tree_;

      double search_radius_;

      //int k_;

      bool use_polynomial_fit_;

      int polynomial_order_;

      double gaussian_parameter_;

      // ROS nodelet attributes
      message_filters::Subscriber<PointCloudIn> sub_surface_filter_;
      
      int spatial_locator_type_;
    
      boost::shared_ptr <dynamic_reconfigure::Server<MLSConfig> > srv_;

      void config_callback (MLSConfig &config, uint32_t level); 
    
    private:
      virtual void onInit ();

      void input_indices_callback (const PointCloudInConstPtr &cloud, 
                                   const PointIndicesConstPtr &indices);


    private:
      pcl::MovingLeastSquares<PointIn, NormalOut> impl_;
      
      ros::Subscriber sub_input_;

      ros::Publisher pub_normals_;

      boost::shared_ptr<message_filters::Synchronizer<sync_policies::ExactTime<PointCloudIn, PointIndices> > >       sync_input_indices_e_;
      boost::shared_ptr<message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloudIn, PointIndices> > > sync_input_indices_a_;

    public:
      EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  };
}

#endif  //#ifndef PCL_ROS_MOVING_LEAST_SQUARES_H_