point_cloud_xyz.cpp

Go to the documentation of this file.

#include <ros/ros.h>
#include <nodelet/nodelet.h>
#include <image_transport/image_transport.h>
#include <pcl_ros/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/PointIndices.h>
#include <sensor_msgs/image_encodings.h>
#include <image_geometry/pinhole_camera_model.h>

namespace openni_camera {

namespace enc = sensor_msgs::image_encodings;


class PointCloudXyzNodelet : public nodelet::Nodelet
{
  // Subscriptions
  boost::shared_ptr<image_transport::ImageTransport> it_;
  image_transport::CameraSubscriber sub_depth_;
  ros::Subscriber sub_mask_indices_;
  bool subscribed_;

  // Publications
  typedef pcl::PointCloud<pcl::PointXYZ> PointCloud;
  ros::Publisher pub_point_cloud_;

  image_geometry::PinholeCameraModel model_;

  bool use_indices_; 
  std::vector<int32_t> mask_indices_; 

  virtual void onInit();

  void connectCb();

  void depthCb(const sensor_msgs::ImageConstPtr& depth_msg,
               const sensor_msgs::CameraInfoConstPtr& info_msg);

  void maskIndicesCb(const pcl::PointIndicesConstPtr& indices);
};

void PointCloudXyzNodelet::onInit()
{
  ros::NodeHandle& nh = getNodeHandle();
  it_.reset(new image_transport::ImageTransport(nh));

  // Monitor whether anyone is subscribed to the output
  subscribed_ = false;
  ros::SubscriberStatusCallback connect_cb = boost::bind(&PointCloudXyzNodelet::connectCb, this);
  pub_point_cloud_ = nh.advertise<PointCloud>("points", 1, connect_cb, connect_cb);

  getPrivateNodeHandle().param("use_indices", use_indices_, false);
  if (use_indices_)
    sub_mask_indices_ = nh.subscribe("indices", 1, &PointCloudXyzNodelet::maskIndicesCb, this);
}

// Handles (un)subscribing when clients (un)subscribe
void PointCloudXyzNodelet::connectCb()
{
  if (pub_point_cloud_.getNumSubscribers() == 0)
  {
    sub_depth_.shutdown();
    subscribed_ = false;
  }
  else if (!subscribed_)
  {
    image_transport::TransportHints hints("raw", ros::TransportHints(), getPrivateNodeHandle());
    sub_depth_ = it_->subscribeCamera("image_rect_raw", 1, &PointCloudXyzNodelet::depthCb, this, hints);
    subscribed_ = true;
  }
}

void PointCloudXyzNodelet::depthCb(const sensor_msgs::ImageConstPtr& depth_msg,
                                   const sensor_msgs::CameraInfoConstPtr& info_msg)
{
  if (depth_msg->encoding != enc::TYPE_16UC1)
  {
    NODELET_ERROR("Expected data of type [%s], got [%s]", enc::TYPE_16UC1.c_str(),
                  depth_msg->encoding.c_str());
    return;
  }
  
  PointCloud::Ptr cloud_msg (new PointCloud);
  cloud_msg->header = depth_msg->header;

  // Use correct principal point from calibration
  model_.fromCameraInfo(info_msg);
  float center_x = model_.cx();
  float center_y = model_.cy();

  bool do_masking = (use_indices_ and (mask_indices_.size() != 0));
  if (not do_masking)
  {
    cloud_msg->height = depth_msg->height;
    cloud_msg->width  = depth_msg->width;
  }
  else
  {
    cloud_msg->height = 1;
    cloud_msg->width  = mask_indices_.size();
  }
  cloud_msg->is_dense = false;
  cloud_msg->points.resize (cloud_msg->height * cloud_msg->width);

  // Pre-compute constants for focal length and m->mm conversion
  float constant_x = 0.001 / model_.fx();
  float constant_y = 0.001 / model_.fy();
  float bad_point = std::numeric_limits<float>::quiet_NaN ();
  
  int depth_idx = 0;
  pcl::PointCloud<pcl::PointXYZ>::iterator pt_iter = cloud_msg->begin ();
  const uint16_t* depth_data = reinterpret_cast<const uint16_t*>(&depth_msg->data[0]);

  if (not do_masking)
  {
    for (int v = 0; v < (int)cloud_msg->height; ++v)
    {
      for (int u = 0; u < (int)cloud_msg->width; ++u, ++depth_idx, ++pt_iter)
      {
        pcl::PointXYZ& pt = *pt_iter;

        // Check for invalid measurements
        if (depth_data[depth_idx] == 0)
        {
          // not valid
          pt.x = pt.y = pt.z = bad_point;
          continue;
        }

        // Fill in XYZ
        pt.x = (u - center_x) * depth_data[depth_idx] * constant_x;
        pt.y = (v - center_y) * depth_data[depth_idx] * constant_y;
        pt.z = depth_data[depth_idx] * 0.001;
      }
    }
  }
  else
  {
    int u, v;
    unsigned int nMask = mask_indices_.size();
    int max_index = (depth_msg->height * depth_msg->width) - 1;
    for (unsigned int i = 0; i < nMask; i++, ++pt_iter)
    {
      pcl::PointXYZ& pt = *pt_iter;

      depth_idx = mask_indices_[i];
      if (depth_idx > max_index)
      {
        NODELET_ERROR("Mask index %d exceeds maximum index of %d", depth_idx, max_index);
        continue;
      }
      v = depth_idx / depth_msg->width;
      u = depth_idx % depth_msg->width;

      // Check for invalid measurements
      if (depth_data[depth_idx] == 0)
      {
        // not valid
        pt.x = pt.y = pt.z = bad_point;
        continue;
      }

      // Fill in XYZ
      pt.x = (u - center_x) * depth_data[depth_idx] * constant_x;
      pt.y = (v - center_y) * depth_data[depth_idx] * constant_y;
      pt.z = depth_data[depth_idx] * 0.001;
    }
  }

  pub_point_cloud_.publish (cloud_msg);
}

void PointCloudXyzNodelet::maskIndicesCb(const pcl::PointIndicesConstPtr& indices)
{
  mask_indices_.resize(indices->indices.size());
//  NODELET_INFO("New mask with %d indices", int(mask_indices_.size()));
  memcpy(mask_indices_.data(), indices->indices.data(), indices->indices.size() * sizeof(int32_t));
}

} // namespace openni_camera

// Register as nodelet
#include <pluginlib/class_list_macros.h>
PLUGINLIB_DECLARE_CLASS (openni_camera, point_cloud_xyz, openni_camera::PointCloudXyzNodelet, nodelet::Nodelet);

---

openni_camera_unstable
Author(s): Suat Gedikli, Patrick Mihelich, Radu Bogdan Rusu
autogenerated on Fri Jan 11 09:14:58 2013