Program Listing for File plane_finder.hpp

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/*
 * Copyright (C) 2022 Michael Ferguson
 * Copyright (C) 2014-2017 Fetch Robotics Inc.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

#ifndef ROBOT_CALIBRATION_CAPTURE_PLANE_FINDER_H
#define ROBOT_CALIBRATION_CAPTURE_PLANE_FINDER_H

#include <rclcpp/rclcpp.hpp>
#include <robot_calibration/finders/feature_finder.hpp>
#include <robot_calibration/util/depth_camera_info.hpp>
#include <robot_calibration/util/eigen_geometry.hpp>
#include <robot_calibration_msgs/msg/calibration_data.hpp>
#include <cv_bridge/cv_bridge.h>

namespace robot_calibration
{
class PlaneFinder : public FeatureFinder
{
public:
  PlaneFinder();
  virtual ~PlaneFinder() = default;
  virtual bool init(const std::string& name,
                    std::shared_ptr<tf2_ros::Buffer> buffer,
                    rclcpp::Node::SharedPtr node);
  virtual bool find(robot_calibration_msgs::msg::CalibrationData * msg);

protected:
  virtual void cameraCallback(sensor_msgs::msg::PointCloud2::ConstSharedPtr cloud);

  virtual void removeInvalidPoints(sensor_msgs::msg::PointCloud2& cloud,
                                   double min_x, double max_x, double min_y, double max_y, double min_z, double max_z);

  virtual sensor_msgs::msg::PointCloud2 extractPlane(sensor_msgs::msg::PointCloud2& cloud);

  virtual void extractObservation(const std::string& sensor_name,
                                  const sensor_msgs::msg::PointCloud2& cloud,
                                  robot_calibration_msgs::msg::CalibrationData * msg,
                                  rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr publisher);

  virtual bool waitForCloud();

  rclcpp::Subscription<sensor_msgs::msg::PointCloud2>::SharedPtr subscriber_;
  rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr publisher_;
  rclcpp::Clock::SharedPtr clock_;

  bool waiting_;
  sensor_msgs::msg::PointCloud2 cloud_;
  DepthCameraInfoManager depth_camera_manager_;

  // See init() function for parameter definitions
  std::string plane_sensor_name_;
  int points_max_;
  double initial_sampling_distance_;
  double plane_tolerance_;
  double min_x_, max_x_;
  double min_y_, max_y_;
  double min_z_, max_z_;
  Eigen::Vector3d desired_normal_;
  double cos_normal_angle_;
  std::string transform_frame_;
  int ransac_iterations_;
  int ransac_points_;

  bool output_debug_;
};

}  // namespace robot_calibration

#endif  // ROBOT_CALIBRATION_CAPTURE_PLANE_FINDER_H