$search
00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2009, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 * 00034 * $Id: concatenate_fields.cpp 35052 2011-01-03 21:04:57Z rusu $ 00035 * 00036 */ 00037 00040 #include <pluginlib/class_list_macros.h> 00041 #include <pcl/io/io.h> 00042 #include "pcl_ros/io/concatenate_fields.h" 00043 00045 void 00046 pcl_ros::PointCloudConcatenateFieldsSynchronizer::onInit () 00047 { 00048 private_nh_ = getMTPrivateNodeHandle (); 00049 // ---[ Mandatory parameters 00050 if (!private_nh_.getParam ("input_messages", input_messages_)) 00051 { 00052 NODELET_ERROR ("[onInit] Need a 'input_messages' parameter to be set before continuing!"); 00053 return; 00054 } 00055 if (input_messages_ < 2) 00056 { 00057 NODELET_ERROR ("[onInit] Invalid 'input_messages' parameter given!"); 00058 return; 00059 } 00060 // ---[ Optional parameters 00061 private_nh_.getParam ("max_queue_size", maximum_queue_size_); 00062 private_nh_.getParam ("maximum_seconds", maximum_seconds_); 00063 sub_input_ = private_nh_.subscribe ("input", maximum_queue_size_, &PointCloudConcatenateFieldsSynchronizer::input_callback, this); 00064 pub_output_ = private_nh_.advertise<sensor_msgs::PointCloud2> ("output", maximum_queue_size_); 00065 } 00066 00068 void 00069 pcl_ros::PointCloudConcatenateFieldsSynchronizer::input_callback (const PointCloudConstPtr &cloud) 00070 { 00071 NODELET_DEBUG ("[input_callback] PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.", 00072 cloud->width * cloud->height, pcl::getFieldsList (*cloud).c_str (), cloud->header.stamp.toSec (), cloud->header.frame_id.c_str (), private_nh_.resolveName ("input").c_str ()); 00073 00074 // Erase old data in the queue 00075 if (maximum_seconds_ > 0 && queue_.size () > 0) 00076 { 00077 while (fabs ( ( (*queue_.begin ()).first - cloud->header.stamp).toSec () ) > maximum_seconds_ && queue_.size () > 0) 00078 { 00079 NODELET_WARN ("[input_callback] Maximum seconds limit (%f) reached. Difference is %f, erasing message in queue with stamp %f.", maximum_seconds_, 00080 (*queue_.begin ()).first.toSec (), fabs ( ( (*queue_.begin ()).first - cloud->header.stamp).toSec () )); 00081 queue_.erase (queue_.begin ()); 00082 } 00083 } 00084 00085 // Push back new data 00086 queue_[cloud->header.stamp].push_back (cloud); 00087 if ((int)queue_[cloud->header.stamp].size () >= input_messages_) 00088 { 00089 // Concatenate together and publish 00090 std::vector<PointCloudConstPtr> &clouds = queue_[cloud->header.stamp]; 00091 PointCloud cloud_out = *clouds[0]; 00092 00093 // Resize the output dataset 00094 int data_size = cloud_out.data.size (); 00095 int nr_fields = cloud_out.fields.size (); 00096 int nr_points = cloud_out.width * cloud_out.height; 00097 for (size_t i = 1; i < clouds.size (); ++i) 00098 { 00099 assert (clouds[i]->data.size () / (clouds[i]->width * clouds[i]->height) == clouds[i]->point_step); 00100 00101 if (clouds[i]->width != cloud_out.width || clouds[i]->height != cloud_out.height) 00102 { 00103 NODELET_ERROR ("[input_callback] Width/height of pointcloud %zu (%dx%d) differs from the others (%dx%d)!", 00104 i, clouds[i]->width, clouds[i]->height, cloud_out.width, cloud_out.height); 00105 break; 00106 } 00107 // Point step must increase with the length of each new field 00108 cloud_out.point_step += clouds[i]->point_step; 00109 // Resize data to hold all clouds 00110 data_size += clouds[i]->data.size (); 00111 00112 // Concatenate fields 00113 cloud_out.fields.resize (nr_fields + clouds[i]->fields.size ()); 00114 int delta_offset = cloud_out.fields[nr_fields - 1].offset + pcl::getFieldSize (cloud_out.fields[nr_fields - 1].datatype); 00115 for (size_t d = 0; d < clouds[i]->fields.size (); ++d) 00116 { 00117 cloud_out.fields[nr_fields + d] = clouds[i]->fields[d]; 00118 cloud_out.fields[nr_fields + d].offset += delta_offset; 00119 } 00120 nr_fields += clouds[i]->fields.size (); 00121 } 00122 // Recalculate row_step 00123 cloud_out.row_step = cloud_out.point_step * cloud_out.width; 00124 cloud_out.data.resize (data_size); 00125 00126 // Iterate over each point and perform the appropriate memcpys 00127 int point_offset = 0; 00128 for (int cp = 0; cp < nr_points; ++cp) 00129 { 00130 for (size_t i = 0; i < clouds.size (); ++i) 00131 { 00132 // Copy each individual point 00133 memcpy (&cloud_out.data[point_offset], &clouds[i]->data[cp * clouds[i]->point_step], clouds[i]->point_step); 00134 point_offset += clouds[i]->point_step; 00135 } 00136 } 00137 pub_output_.publish (boost::make_shared<const PointCloud> (cloud_out)); 00138 queue_.erase (cloud->header.stamp); 00139 } 00140 00141 // Clean the queue to avoid overflowing 00142 if (maximum_queue_size_ > 0) 00143 { 00144 while ((int)queue_.size () > maximum_queue_size_) 00145 queue_.erase (queue_.begin ()); 00146 } 00147 00148 } 00149 00150 typedef pcl_ros::PointCloudConcatenateFieldsSynchronizer PointCloudConcatenateFieldsSynchronizer; 00151 PLUGINLIB_DECLARE_CLASS (pcl, PointCloudConcatenateFieldsSynchronizer, PointCloudConcatenateFieldsSynchronizer, nodelet::Nodelet); 00152