bool checkCloud(const sensor_msgs::PointCloud2& cloud_msg,
typename pcl::PointCloud<T>::Ptr hand_cloud,
//typename pcl::PointCloud<T>::Ptr finger_cloud,
const std::string& frame_id,
tf::Vector3& hand_position,
tf::Vector3& arm_position,
tf::Vector3& arm_direction)
{
typename pcl::PointCloud<T>::Ptr cloud(new pcl::PointCloud<T>);
pcl::fromROSMsg(cloud_msg, *cloud);
if((cloud->points.size() < g_config.min_cluster_size) ||
(cloud->points.size() > g_config.max_cluster_size))
return false;
pcl::PCA<T> pca;
pca.setInputCloud(cloud);
Eigen::Vector4f mean = pca.getMean();
if((mean.coeff(0) < g_config.min_x) || (mean.coeff(0) > g_config.max_x)) return false;
if((mean.coeff(1) < g_config.min_y) || (mean.coeff(1) > g_config.max_y)) return false;
if((mean.coeff(2) < g_config.min_z) || (mean.coeff(2) > g_config.max_z)) return false;
Eigen::Vector3f eigen_value = pca.getEigenValues();
double ratio = eigen_value.coeff(0) / eigen_value.coeff(1);
if((ratio < g_config.min_eigen_value_ratio) || (ratio > g_config.max_eigen_value_ratio)) return false;
T search_point;
Eigen::Matrix3f ev = pca.getEigenVectors();
Eigen::Vector3f main_axis(ev.coeff(0, 0), ev.coeff(1, 0), ev.coeff(2, 0));
main_axis.normalize();
arm_direction.setX(main_axis.coeff(0));
arm_direction.setY(main_axis.coeff(1));
arm_direction.setZ(main_axis.coeff(2));
arm_position.setX(mean.coeff(0));
arm_position.setY(mean.coeff(1));
arm_position.setZ(mean.coeff(2));
main_axis = (-main_axis * 0.3) + Eigen::Vector3f(mean.coeff(0), mean.coeff(1), mean.coeff(2));
search_point.x = main_axis.coeff(0);
search_point.y = main_axis.coeff(1);
search_point.z = main_axis.coeff(2);
//find hand
pcl::KdTreeFLANN<T> kdtree;
kdtree.setInputCloud(cloud);
//find the closet point from the serach_point
std::vector<int> point_indeices(1);
std::vector<float> point_distances(1);
if ( kdtree.nearestKSearch (search_point, 1, point_indeices, point_distances) > 0 )
{
//update search point
search_point = cloud->points[point_indeices[0]];
//show seach point
if(g_marker_array_pub.getNumSubscribers() != 0)
{
pushSimpleMarker(search_point.x, search_point.y, search_point.z,
1.0, 0, 0,
0.02,
g_marker_id, g_marker_array, frame_id);
}
//hand
point_indeices.clear();
point_distances.clear();
kdtree.radiusSearch(search_point, g_config.hand_lenght, point_indeices, point_distances);
for (size_t i = 0; i < point_indeices.size (); ++i)
{
hand_cloud->points.push_back(cloud->points[point_indeices[i]]);
hand_cloud->points.back().r = 255;
hand_cloud->points.back().g = 0;
hand_cloud->points.back().b = 0;
}
Eigen::Vector4f centroid;
pcl::compute3DCentroid(*hand_cloud, centroid);
if(g_marker_array_pub.getNumSubscribers() != 0)
{
pushSimpleMarker(centroid.coeff(0), centroid.coeff(1), centroid.coeff(2),
0.0, 1.0, 0,
0.02,
g_marker_id, g_marker_array, frame_id);
}
hand_position.setX(centroid.coeff(0));
hand_position.setY(centroid.coeff(1));
hand_position.setZ(centroid.coeff(2));
#if 0
//fingers
search_point.x = centroid.coeff(0);
search_point.y = centroid.coeff(1);
search_point.z = centroid.coeff(2);
std::vector<int> point_indeices_inner;
std::vector<float> point_distances_inner;
kdtree.radiusSearch(search_point, 0.07, point_indeices_inner, point_distances_inner);
std::vector<int> point_indeices_outter;
std::vector<float> point_distances_outter;
kdtree.radiusSearch(search_point, 0.1, point_indeices_outter, point_distances_outter);
//ROS_INFO("before %d %d", point_indeices_inner.size(), point_indeices_outter.size());
std::vector<int>::iterator it;
for(size_t i = 0; i < point_indeices_inner.size(); i++)
{
it = std::find(point_indeices_outter.begin(), point_indeices_outter.end(), point_indeices_inner[i]);
if(it != point_indeices_outter.end())
{
point_indeices_outter.erase(it);
}
}
//ROS_INFO("after %d %d", point_indeices_inner.size(), point_indeices_outter.size());
//ROS_DEBUG_THROTTLE(1.0, "found %lu", point_indeices.size ());
for (size_t i = 0; i < point_indeices_outter.size (); ++i)
{
finger_cloud->points.push_back(cloud->points[point_indeices_outter[i]]);
finger_cloud->points.back().r = 255;
finger_cloud->points.back().g = 0;
finger_cloud->points.back().b = 0;
}
#endif
}
else
{
return false;
}
if(g_marker_array_pub.getNumSubscribers() != 0)
{
pushEigenMarker<T>(pca, g_marker_id, g_marker_array, 0.1, frame_id);
}
return true;
}
