110 lines
4.4 KiB
C++
110 lines
4.4 KiB
C++
/*
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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: extract_clusters.h 35361 2011-01-20 04:34:49Z rusu $
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*
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*/
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#ifndef PCL_ROS_EXTRACT_CLUSTERS_H_
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#define PCL_ROS_EXTRACT_CLUSTERS_H_
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#include <pcl/segmentation/extract_clusters.h>
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#include "pcl_ros/pcl_nodelet.h"
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// Dynamic reconfigure
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#include <dynamic_reconfigure/server.h>
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#include "pcl_ros/EuclideanClusterExtractionConfig.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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/** \brief @b EuclideanClusterExtraction represents a segmentation class for cluster extraction in an Euclidean sense.
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* \author Radu Bogdan Rusu
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*/
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class EuclideanClusterExtraction : public PCLNodelet
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{
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public:
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/** \brief Empty constructor. */
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EuclideanClusterExtraction () : publish_indices_ (false), max_clusters_ (std::numeric_limits<int>::max ()) {};
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protected:
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// ROS nodelet attributes
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/** \brief Publish indices or convert to PointCloud clusters. Default: false */
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bool publish_indices_;
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/** \brief Maximum number of clusters to publish. */
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int max_clusters_;
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/** \brief Pointer to a dynamic reconfigure service. */
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boost::shared_ptr<dynamic_reconfigure::Server<EuclideanClusterExtractionConfig> > srv_;
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/** \brief Nodelet initialization routine. */
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void onInit ();
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/** \brief LazyNodelet connection routine. */
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void subscribe ();
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void unsubscribe ();
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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 (EuclideanClusterExtractionConfig &config, uint32_t level);
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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, const PointIndicesConstPtr &indices);
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private:
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/** \brief The PCL implementation used. */
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pcl::EuclideanClusterExtraction<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 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_EXTRACT_CLUSTERS_H_
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