region_growing_node.hpp

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#ifndef _REGION_GROWING_NODE_HPP_
#define _REGION_GROWING_NODE_HPP_

#include <pointcloud_segmentation/region_growing_node.h>

template<class T, class T1>
void region_growing_node<T,T1>::callback_cloud (const sensor_msgs::PointCloud2Ptr& msg)
{
    typename PointCloud<T>::Ptr cloud (new PointCloud<T> ());
    typename PointCloud<T1>::Ptr laser_scan_ptr (new PointCloud<T1> (laser_scan));
    
    fromROSMsg(*msg,*cloud);
           
    EuclideanClusterExtraction<T1> ec_inside;
    vector<PointIndices> indices;
    ec_inside.setClusterTolerance (clustering_tolerance);
    ec_inside.setMinClusterSize (min_cluster_size);
    ec_inside.setMaxClusterSize (max_cluster_size);
    ec_inside.setInputCloud (laser_scan_ptr);
    ec_inside.extract (indices);
    
    // Create markers class
    markers<PointXYZRGB> mk;
    
    static int marker_id;
    // Delete all previous markers
    if (marker_id>0)
    {
        for (int i=0; i<=marker_id; ++i)
        {
            visualization_msgs::Marker marker_eraser=mk.unmark(msg->header.frame_id, "Obstacle", i);
            pub_markers_ptr->publish(marker_eraser);
            pub_markers_text_ptr->publish(marker_eraser);
        }
    }
    
    marker_id=0;
    
    for (vector<PointIndices>::const_iterator it = indices.begin (); it != indices.end (); ++it)
    {
        
        marker_id++;
        typename PointCloud<T1>::Ptr cluster (new PointCloud<T1>);
        typename PointCloud<T>::Ptr cluster_growed (new PointCloud<T>);
        cluster->header.frame_id=msg->header.frame_id;
        cluster_growed->header.frame_id=msg->header.frame_id;
        for (vector<int>::const_iterator pit = it->indices.begin (); pit != it->indices.end (); pit++)
            cluster->points.push_back (laser_scan_ptr->points[*pit]);   
        
//      visualization_msgs::Marker marker=mark_cluster(cluster, "Obstacle" ,marker_id, 1.0, 0.0, 0.0);
//      pub_marker_ptr->publish(marker);
        
            if ((int)cluster->points.size()>0)
            {
                PointIndices::Ptr region_indices (new PointIndices ());
                
                region_growing<T, T1> rg;
                rg.radius=radius;
                rg.set_input_seeds(cluster);
                rg.set_input_cloud(cloud);
                
                rg.filter();
                
                *region_indices=rg.get_region_point_indices();
                
                if (region_indices->indices.size()>0)
                {
                    // Extract the inliers
                    ExtractIndices<T> extract;
                    extract.setInputCloud (cloud);
                    
                    extract.setIndices (region_indices);
                    extract.setNegative (false);
                    extract.filter (*cluster_growed);
                    
                    visualization_msgs::Marker marker_info=mk.mark_text(cluster_growed, "Obstacle" ,marker_id, 0.0, 1.0, 0.0);
                    visualization_msgs::Marker marker=mk.mark(cluster_growed, "Obstacle" ,marker_id, 1.0, 0.0, 0.0);
                    pub_markers_ptr->publish(marker);
                    pub_markers_text_ptr->publish(marker_info);
                }
                cluster_growed.reset();
                region_indices.reset();
            }
    }
        
    cloud.reset();
    laser_scan_ptr.reset();
};

template<class T, class T1>
void region_growing_node<T,T1>::callback_laser (const sensor_msgs::PointCloud2Ptr& msg)
{
//     fromROSMsg(*msg,laser_scan);
    pcl::PCLPointCloud2 pcl_pc;
    pcl_conversions::toPCL(*msg, pcl_pc);
    pcl::fromPCLPointCloud2(pcl_pc, laser_scan);
};

#endif