107 lines
4.3 KiB
C++
107 lines
4.3 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: segment_differences.h 35361 2011-01-20 04:34:49Z rusu $
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*
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*/
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#ifndef PCL_ROS_SEGMENT_DIFFERENCES_H_
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#define PCL_ROS_SEGMENT_DIFFERENCES_H_
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#include <pcl/segmentation/segment_differences.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/SegmentDifferencesConfig.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 SegmentDifferences obtains the difference between two spatially aligned point clouds and returns the
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* difference between them for a maximum given distance threshold.
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* \author Radu Bogdan Rusu
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*/
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class SegmentDifferences : 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 Empty constructor. */
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SegmentDifferences () {};
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protected:
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/** \brief The message filter subscriber for PointCloud2. */
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message_filters::Subscriber<PointCloud> sub_target_filter_;
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/** \brief Synchronized input, and planar hull.*/
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boost::shared_ptr<message_filters::Synchronizer<sync_policies::ExactTime<PointCloud, PointCloud> > > sync_input_target_e_;
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boost::shared_ptr<message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloud, PointCloud> > > sync_input_target_a_;
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/** \brief Pointer to a dynamic reconfigure service. */
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boost::shared_ptr<dynamic_reconfigure::Server<SegmentDifferencesConfig> > srv_;
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/** \brief Nodelet initialization routine. */
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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 (SegmentDifferencesConfig &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_target the pointcloud that we want to segment \a cloud from
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*/
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void input_target_callback (const PointCloudConstPtr &cloud,
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const PointCloudConstPtr &cloud_target);
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private:
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/** \brief The PCL implementation used. */
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pcl::SegmentDifferences<pcl::PointXYZ> impl_;
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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_SEGMENT_DIFFERENCES_H_
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