2b770b15ed
* Deriving typedef from pcl type * Explicit boost shared_ptr for function parameters * Use boost::shared_ptr instead of PCL::Ptr * Implementing boost-std compatibility * Using the compatibility layer
252 lines
11 KiB
C++
252 lines
11 KiB
C++
/*
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2009, 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: feature.h 35422 2011-01-24 20:04:44Z rusu $
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*
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*/
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#ifndef PCL_ROS_FEATURE_H_
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#define PCL_ROS_FEATURE_H_
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// PCL includes
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#include <pcl/features/feature.h>
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#include <pcl_msgs/PointIndices.h>
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#include "pcl_ros/pcl_nodelet.h"
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#include <message_filters/pass_through.h>
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// Dynamic reconfigure
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#include <dynamic_reconfigure/server.h>
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#include "pcl_ros/FeatureConfig.h"
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// PCL conversions
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#include <pcl_conversions/pcl_conversions.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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///////////////////////////////////////////////////////////////////////////////////////////
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///////////////////////////////////////////////////////////////////////////////////////////
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///////////////////////////////////////////////////////////////////////////////////////////
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/** \brief @b Feature represents the base feature class. Some generic 3D operations that
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* are applicable to all features are defined here as static methods.
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* \author Radu Bogdan Rusu
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*/
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class Feature : public PCLNodelet
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{
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public:
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typedef pcl::KdTree<pcl::PointXYZ> KdTree;
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typedef pcl::KdTree<pcl::PointXYZ>::Ptr KdTreePtr;
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typedef pcl::PointCloud<pcl::PointXYZ> PointCloudIn;
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typedef boost::shared_ptr<PointCloudIn> PointCloudInPtr;
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typedef boost::shared_ptr<const PointCloudIn> PointCloudInConstPtr;
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typedef pcl::IndicesPtr IndicesPtr;
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typedef pcl::IndicesConstPtr IndicesConstPtr;
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/** \brief Empty constructor. */
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Feature () : /*input_(), indices_(), surface_(), */tree_(), k_(0), search_radius_(0),
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use_surface_(false), spatial_locator_type_(-1)
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{};
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protected:
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/** \brief The input point cloud dataset. */
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//PointCloudInConstPtr input_;
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/** \brief A pointer to the vector of point indices to use. */
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//IndicesConstPtr indices_;
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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 number of K nearest neighbors to use for each point. */
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int k_;
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/** \brief The nearest neighbors search radius for each point. */
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double search_radius_;
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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 The input PointCloud subscriber. */
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ros::Subscriber sub_input_;
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/** \brief Set to true if the nodelet needs to listen for incoming point clouds representing the search surface. */
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bool use_surface_;
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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<FeatureConfig> > srv_;
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/** \brief Child initialization routine. Internal method. */
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virtual bool childInit (ros::NodeHandle &nh) = 0;
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/** \brief Publish an empty point cloud of the feature output type. */
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virtual void emptyPublish (const PointCloudInConstPtr &cloud) = 0;
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/** \brief Compute the feature and publish it. Internal method. */
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virtual void computePublish (const PointCloudInConstPtr &cloud,
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const PointCloudInConstPtr &surface,
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const IndicesPtr &indices) = 0;
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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 (FeatureConfig &config, uint32_t level);
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/** \brief Null passthrough filter, used for pushing empty elements in the
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* synchronizer */
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message_filters::PassThrough<PointIndices> nf_pi_;
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message_filters::PassThrough<PointCloudIn> nf_pc_;
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/** \brief Input point cloud callback.
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* Because we want to use the same synchronizer object, we push back
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* empty elements with the same timestamp.
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*/
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inline void
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input_callback (const PointCloudInConstPtr &input)
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{
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PointIndices indices;
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indices.header.stamp = pcl_conversions::fromPCL(input->header).stamp;
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PointCloudIn cloud;
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cloud.header.stamp = input->header.stamp;
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nf_pc_.add (ros_ptr(cloud.makeShared ()));
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nf_pi_.add (boost::make_shared<PointIndices> (indices));
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}
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private:
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/** \brief Synchronized input, surface, and point indices.*/
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boost::shared_ptr <message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloudIn, PointCloudIn, PointIndices> > > sync_input_surface_indices_a_;
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boost::shared_ptr <message_filters::Synchronizer<sync_policies::ExactTime<PointCloudIn, PointCloudIn, PointIndices> > > sync_input_surface_indices_e_;
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/** \brief Nodelet initialization routine. */
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virtual void onInit ();
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/** \brief NodeletLazy connection routine. */
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virtual void subscribe ();
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virtual void unsubscribe ();
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/** \brief Input point cloud callback. Used when \a use_indices and \a use_surface are set.
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* \param cloud the pointer to the input point cloud
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* \param cloud_surface the pointer to the surface 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_surface_indices_callback (const PointCloudInConstPtr &cloud,
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const PointCloudInConstPtr &cloud_surface,
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const PointIndicesConstPtr &indices);
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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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//////////////////////////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////////////////
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class FeatureFromNormals : public Feature
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{
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public:
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typedef sensor_msgs::PointCloud2 PointCloud2;
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typedef pcl::PointCloud<pcl::Normal> PointCloudN;
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typedef boost::shared_ptr<PointCloudN> PointCloudNPtr;
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typedef boost::shared_ptr<const PointCloudN> PointCloudNConstPtr;
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FeatureFromNormals () : normals_() {};
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protected:
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/** \brief A pointer to the input dataset that contains the point normals of the XYZ dataset. */
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PointCloudNConstPtr normals_;
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/** \brief Child initialization routine. Internal method. */
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virtual bool childInit (ros::NodeHandle &nh) = 0;
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/** \brief Publish an empty point cloud of the feature output type. */
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virtual void emptyPublish (const PointCloudInConstPtr &cloud) = 0;
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/** \brief Compute the feature and publish it. */
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virtual void computePublish (const PointCloudInConstPtr &cloud,
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const PointCloudNConstPtr &normals,
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const PointCloudInConstPtr &surface,
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const IndicesPtr &indices) = 0;
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private:
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/** \brief The normals PointCloud subscriber filter. */
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message_filters::Subscriber<PointCloudN> sub_normals_filter_;
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/** \brief Synchronized input, normals, surface, and point indices.*/
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boost::shared_ptr<message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloudIn, PointCloudN, PointCloudIn, PointIndices> > > sync_input_normals_surface_indices_a_;
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boost::shared_ptr<message_filters::Synchronizer<sync_policies::ExactTime<PointCloudIn, PointCloudN, PointCloudIn, PointIndices> > > sync_input_normals_surface_indices_e_;
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/** \brief Internal method. */
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void computePublish (const PointCloudInConstPtr &,
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const PointCloudInConstPtr &,
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const IndicesPtr &) {} // This should never be called
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/** \brief Nodelet initialization routine. */
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virtual void onInit ();
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/** \brief NodeletLazy connection routine. */
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virtual void subscribe ();
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virtual void unsubscribe ();
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/** \brief Input point cloud callback. Used when \a use_indices and \a use_surface are set.
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* \param cloud the pointer to the input point cloud
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* \param cloud_normals the pointer to the input point cloud normals
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* \param cloud_surface the pointer to the surface 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_normals_surface_indices_callback (const PointCloudInConstPtr &cloud,
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const PointCloudNConstPtr &cloud_normals,
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const PointCloudInConstPtr &cloud_surface,
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const PointIndicesConstPtr &indices);
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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_FEATURE_H_
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