copy features/segmentation/surface from fuerte-devel
This commit is contained in:
Kei Okada
Paul Bovbel
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/*
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2010, Willow Garage, Inc.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of Willow Garage, Inc. nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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* $Id: convex_hull.h 36116 2011-02-22 00:05:23Z rusu $
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*
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*/
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#ifndef PCL_ROS_CONVEX_HULL_2D_H_
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#define PCL_ROS_CONVEX_HULL_2D_H_
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#include "pcl_ros/pcl_nodelet.h"
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// PCL includes
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#include <pcl/surface/convex_hull.h>
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// Dynamic reconfigure
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#include <dynamic_reconfigure/server.h>
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namespace pcl_ros
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{
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namespace sync_policies = message_filters::sync_policies;
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/** \brief @b ConvexHull2D represents a 2D ConvexHull implementation.
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* \author Radu Bogdan Rusu
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*/
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class ConvexHull2D : public PCLNodelet
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{
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typedef pcl::PointCloud<pcl::PointXYZ> PointCloud;
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typedef PointCloud::Ptr PointCloudPtr;
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typedef PointCloud::ConstPtr PointCloudConstPtr;
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private:
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/** \brief Nodelet initialization routine. */
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virtual void onInit ();
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/** \brief Input point cloud callback.
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* \param cloud the pointer to the input point cloud
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* \param indices the pointer to the input point cloud indices
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*/
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void input_indices_callback (const PointCloudConstPtr &cloud,
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const PointIndicesConstPtr &indices);
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private:
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/** \brief The PCL implementation used. */
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pcl::ConvexHull<pcl::PointXYZ> impl_;
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/** \brief The input PointCloud subscriber. */
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ros::Subscriber sub_input_;
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/** \brief Publisher for PolygonStamped. */
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ros::Publisher pub_plane_;
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/** \brief Synchronized input, and indices.*/
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boost::shared_ptr<message_filters::Synchronizer<sync_policies::ExactTime<PointCloud, PointIndices> > > sync_input_indices_e_;
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boost::shared_ptr<message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloud, PointIndices> > > sync_input_indices_a_;
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public:
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW
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};
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}
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#endif //#ifndef PCL_ROS_CONVEX_HULL_2D_H_
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@@ -0,0 +1,145 @@
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/*
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2010, Willow Garage, Inc.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of Willow Garage, Inc. nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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* $Id: moving_least_squares.h 36097 2011-02-20 14:18:58Z marton $
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*
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*/
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#ifndef PCL_ROS_MOVING_LEAST_SQUARES_H_
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#define PCL_ROS_MOVING_LEAST_SQUARES_H_
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#include "pcl_ros/pcl_nodelet.h"
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// PCL includes
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#include <pcl/surface/mls.h>
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// Dynamic reconfigure
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#include <dynamic_reconfigure/server.h>
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#include "pcl_ros/MLSConfig.h"
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namespace pcl_ros
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{
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namespace sync_policies = message_filters::sync_policies;
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/** \brief @b MovingLeastSquares represents a nodelet using the MovingLeastSquares implementation.
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* The type of the output is the same as the input, it only smooths the XYZ coordinates according to the parameters.
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* Normals are estimated at each point as well and published on a separate topic.
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* \author Radu Bogdan Rusu, Zoltan-Csaba Marton
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*/
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class MovingLeastSquares : public PCLNodelet
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{
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typedef pcl::PointXYZ PointIn;
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typedef pcl::Normal NormalOut;
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typedef pcl::PointCloud<PointIn> PointCloudIn;
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typedef PointCloudIn::Ptr PointCloudInPtr;
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typedef PointCloudIn::ConstPtr PointCloudInConstPtr;
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typedef pcl::PointCloud<NormalOut> NormalCloudOut;
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typedef pcl::KdTree<PointIn> KdTree;
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typedef pcl::KdTree<PointIn>::Ptr KdTreePtr;
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protected:
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/** \brief An input point cloud describing the surface that is to be used for nearest neighbors estimation. */
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PointCloudInConstPtr surface_;
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/** \brief A pointer to the spatial search object. */
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KdTreePtr tree_;
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/** \brief The nearest neighbors search radius for each point. */
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double search_radius_;
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/** \brief The number of K nearest neighbors to use for each point. */
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//int k_;
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/** \brief Whether to use a polynomial fit. */
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bool use_polynomial_fit_;
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/** \brief The order of the polynomial to be fit. */
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int polynomial_order_;
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/** \brief How 'flat' should the neighbor weighting gaussian be (the smaller, the more local the fit). */
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double gaussian_parameter_;
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// ROS nodelet attributes
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/** \brief The surface PointCloud subscriber filter. */
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message_filters::Subscriber<PointCloudIn> sub_surface_filter_;
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/** \brief Parameter for the spatial locator tree. By convention, the values represent:
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* 0: ANN (Approximate Nearest Neigbor library) kd-tree
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* 1: FLANN (Fast Library for Approximate Nearest Neighbors) kd-tree
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* 2: Organized spatial dataset index
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*/
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int spatial_locator_type_;
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/** \brief Pointer to a dynamic reconfigure service. */
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boost::shared_ptr <dynamic_reconfigure::Server<MLSConfig> > srv_;
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/** \brief Dynamic reconfigure callback
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* \param config the config object
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* \param level the dynamic reconfigure level
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*/
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void config_callback (MLSConfig &config, uint32_t level);
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private:
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/** \brief Nodelet initialization routine. */
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virtual void onInit ();
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/** \brief Input point cloud callback.
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* \param cloud the pointer to the input point cloud
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* \param indices the pointer to the input point cloud indices
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*/
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void input_indices_callback (const PointCloudInConstPtr &cloud,
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const PointIndicesConstPtr &indices);
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private:
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/** \brief The PCL implementation used. */
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pcl::MovingLeastSquares<PointIn, NormalOut> impl_;
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/** \brief The input PointCloud subscriber. */
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ros::Subscriber sub_input_;
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/** \brief The output PointCloud (containing the normals) publisher. */
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ros::Publisher pub_normals_;
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/** \brief Synchronized input, and indices.*/
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boost::shared_ptr<message_filters::Synchronizer<sync_policies::ExactTime<PointCloudIn, PointIndices> > > sync_input_indices_e_;
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boost::shared_ptr<message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloudIn, PointIndices> > > sync_input_indices_a_;
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public:
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW
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};
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}
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#endif //#ifndef PCL_ROS_MOVING_LEAST_SQUARES_H_
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