278 lines
12 KiB
C++
278 lines
12 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: sac_segmentation.h 35564 2011-01-27 07:32:12Z rusu $
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*
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*/
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#ifndef PCL_ROS_SAC_SEGMENTATION_H_
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#define PCL_ROS_SAC_SEGMENTATION_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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// PCL includes
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#include <pcl/segmentation/sac_segmentation.h>
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// Dynamic reconfigure
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#include <dynamic_reconfigure/server.h>
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#include "pcl_ros/SACSegmentationConfig.h"
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#include "pcl_ros/SACSegmentationFromNormalsConfig.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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/** \brief @b SACSegmentation represents the Nodelet segmentation class for Sample Consensus methods and models, in
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* the sense that it just creates a Nodelet wrapper for generic-purpose SAC-based segmentation.
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* \author Radu Bogdan Rusu
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*/
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class SACSegmentation : 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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public:
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/** \brief Constructor. */
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SACSegmentation () : min_inliers_(0) {}
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/** \brief Set the input TF frame the data should be transformed into before processing, if input.header.frame_id is different.
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* \param tf_frame the TF frame the input PointCloud should be transformed into before processing
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*/
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inline void setInputTFframe (std::string tf_frame) { tf_input_frame_ = tf_frame; }
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/** \brief Get the TF frame the input PointCloud should be transformed into before processing. */
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inline std::string getInputTFframe () { return (tf_input_frame_); }
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/** \brief Set the output TF frame the data should be transformed into after processing.
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* \param tf_frame the TF frame the PointCloud should be transformed into after processing
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*/
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inline void setOutputTFframe (std::string tf_frame) { tf_output_frame_ = tf_frame; }
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/** \brief Get the TF frame the PointCloud should be transformed into after processing. */
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inline std::string getOutputTFframe () { return (tf_output_frame_); }
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protected:
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// The minimum number of inliers a model must have in order to be considered valid.
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int min_inliers_;
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// ROS nodelet attributes
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/** \brief The output PointIndices publisher. */
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ros::Publisher pub_indices_;
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/** \brief The output ModelCoefficients publisher. */
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ros::Publisher pub_model_;
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/** \brief The input PointCloud subscriber. */
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ros::Subscriber sub_input_;
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/** \brief Pointer to a dynamic reconfigure service. */
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boost::shared_ptr<dynamic_reconfigure::Server<SACSegmentationConfig> > srv_;
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/** \brief The input TF frame the data should be transformed into, if input.header.frame_id is different. */
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std::string tf_input_frame_;
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/** \brief The original data input TF frame. */
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std::string tf_input_orig_frame_;
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/** \brief The output TF frame the data should be transformed into, if input.header.frame_id is different. */
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std::string tf_output_frame_;
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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<pcl_msgs::PointIndices> nf_pi_;
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/** \brief Nodelet initialization routine. */
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virtual void onInit ();
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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 (SACSegmentationConfig &config, uint32_t level);
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/** \brief Input point cloud callback. Used when \a use_indices is set.
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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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/** \brief Pointer to a set of indices stored internally.
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* (used when \a latched_indices_ is set).
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*/
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PointIndices indices_;
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/** \brief Indices callback. Used when \a latched_indices_ is set.
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* \param indices the pointer to the input point cloud indices
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*/
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inline void
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indices_callback (const PointIndicesConstPtr &indices)
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{
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indices_ = *indices;
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}
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/** \brief Input callback. Used when \a latched_indices_ is set.
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* \param input the pointer to the input point cloud
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*/
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inline void
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input_callback (const PointCloudConstPtr &input)
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{
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indices_.header = fromPCL(input->header);
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PointIndicesConstPtr indices;
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indices.reset (new PointIndices (indices_));
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nf_pi_.add (indices);
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}
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private:
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/** \brief Internal mutex. */
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boost::mutex mutex_;
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/** \brief The PCL implementation used. */
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pcl::SACSegmentation<pcl::PointXYZ> impl_;
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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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/** \brief @b SACSegmentationFromNormals represents the PCL nodelet segmentation class for Sample Consensus methods and
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* models that require the use of surface normals for estimation.
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*/
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class SACSegmentationFromNormals: public SACSegmentation
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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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typedef pcl::PointCloud<pcl::Normal> PointCloudN;
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typedef PointCloudN::Ptr PointCloudNPtr;
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typedef PointCloudN::ConstPtr PointCloudNConstPtr;
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public:
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/** \brief Set the input TF frame the data should be transformed into before processing, if input.header.frame_id is different.
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* \param tf_frame the TF frame the input PointCloud should be transformed into before processing
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*/
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inline void setInputTFframe (std::string tf_frame) { tf_input_frame_ = tf_frame; }
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/** \brief Get the TF frame the input PointCloud should be transformed into before processing. */
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inline std::string getInputTFframe () { return (tf_input_frame_); }
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/** \brief Set the output TF frame the data should be transformed into after processing.
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* \param tf_frame the TF frame the PointCloud should be transformed into after processing
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*/
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inline void setOutputTFframe (std::string tf_frame) { tf_output_frame_ = tf_frame; }
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/** \brief Get the TF frame the PointCloud should be transformed into after processing. */
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inline std::string getOutputTFframe () { return (tf_output_frame_); }
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protected:
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// ROS nodelet attributes
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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 The input PointCloud subscriber. */
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ros::Subscriber sub_axis_;
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/** \brief Pointer to a dynamic reconfigure service. */
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boost::shared_ptr<dynamic_reconfigure::Server<SACSegmentationFromNormalsConfig> > srv_;
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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 PointCloudConstPtr &cloud)
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{
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PointIndices indices;
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indices.header.stamp = fromPCL(cloud->header).stamp;
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nf_.add (boost::make_shared<PointIndices> (indices));
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}
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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_;
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/** \brief The input TF frame the data should be transformed into, if input.header.frame_id is different. */
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std::string tf_input_frame_;
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/** \brief The original data input TF frame. */
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std::string tf_input_orig_frame_;
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/** \brief The output TF frame the data should be transformed into, if input.header.frame_id is different. */
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std::string tf_output_frame_;
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/** \brief Nodelet initialization routine. */
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virtual void onInit ();
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/** \brief Model callback
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* \param model the sample consensus model found
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*/
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void axis_callback (const pcl_msgs::ModelCoefficientsConstPtr &model);
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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 (SACSegmentationFromNormalsConfig &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 cloud_normals the pointer to the input point cloud normals
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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_indices_callback (const PointCloudConstPtr &cloud,
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const PointCloudNConstPtr &cloud_normals,
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const PointIndicesConstPtr &indices);
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private:
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/** \brief Internal mutex. */
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boost::mutex mutex_;
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/** \brief The PCL implementation used. */
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pcl::SACSegmentationFromNormals<pcl::PointXYZ, pcl::Normal> impl_;
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/** \brief Synchronized input, normals, and indices.*/
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boost::shared_ptr<message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloud, PointCloudN, PointIndices> > > sync_input_normals_indices_a_;
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boost::shared_ptr<message_filters::Synchronizer<sync_policies::ExactTime<PointCloud, PointCloudN, PointIndices> > > sync_input_normals_indices_e_;
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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_SAC_SEGMENTATION_H_
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