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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: segment_differences.cpp 35361 2011-01-20 04:34:49Z rusu $ 00035 * 00036 */ 00037 00038 #include <pluginlib/class_list_macros.h> 00039 #include "pcl_ros/segmentation/segment_differences.h" 00040 #include <pcl/io/io.h> 00041 00043 void 00044 pcl_ros::SegmentDifferences::onInit () 00045 { 00046 // Call the super onInit () 00047 PCLNodelet::onInit (); 00048 00049 pub_output_ = pnh_->advertise<PointCloud> ("output", max_queue_size_); 00050 00051 // Subscribe to the input using a filter 00052 sub_input_filter_.subscribe (*pnh_, "input", max_queue_size_); 00053 sub_target_filter_.subscribe (*pnh_, "target", max_queue_size_); 00054 00055 // Enable the dynamic reconfigure service 00056 srv_ = boost::make_shared <dynamic_reconfigure::Server<SegmentDifferencesConfig> > (*pnh_); 00057 dynamic_reconfigure::Server<SegmentDifferencesConfig>::CallbackType f = boost::bind (&SegmentDifferences::config_callback, this, _1, _2); 00058 srv_->setCallback (f); 00059 00060 if (approximate_sync_) 00061 { 00062 sync_input_target_a_ = boost::make_shared <message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloud, PointCloud> > > (max_queue_size_); 00063 sync_input_target_a_->connectInput (sub_input_filter_, sub_target_filter_); 00064 sync_input_target_a_->registerCallback (bind (&SegmentDifferences::input_target_callback, this, _1, _2)); 00065 } 00066 else 00067 { 00068 sync_input_target_e_ = boost::make_shared <message_filters::Synchronizer<sync_policies::ExactTime<PointCloud, PointCloud> > > (max_queue_size_); 00069 sync_input_target_e_->connectInput (sub_input_filter_, sub_target_filter_); 00070 sync_input_target_e_->registerCallback (bind (&SegmentDifferences::input_target_callback, this, _1, _2)); 00071 } 00072 00073 NODELET_DEBUG ("[%s::onInit] Nodelet successfully created with the following parameters:\n" 00074 " - max_queue_size : %d", 00075 getName ().c_str (), 00076 max_queue_size_); 00077 } 00078 00080 void 00081 pcl_ros::SegmentDifferences::config_callback (SegmentDifferencesConfig &config, uint32_t level) 00082 { 00083 if (impl_.getDistanceThreshold () != config.distance_threshold) 00084 { 00085 impl_.setDistanceThreshold (config.distance_threshold); 00086 NODELET_DEBUG ("[%s::config_callback] Setting new distance threshold to: %f.", getName ().c_str (), config.distance_threshold); 00087 } 00088 } 00089 00090 00092 void 00093 pcl_ros::SegmentDifferences::input_target_callback (const PointCloudConstPtr &cloud, 00094 const PointCloudConstPtr &cloud_target) 00095 { 00096 if (pub_output_.getNumSubscribers () <= 0) 00097 return; 00098 00099 if (!isValid (cloud) || !isValid (cloud_target, "target")) 00100 { 00101 NODELET_ERROR ("[%s::input_indices_callback] Invalid input!", getName ().c_str ()); 00102 PointCloud output; 00103 output.header = cloud->header; 00104 pub_output_.publish (output.makeShared ()); 00105 return; 00106 } 00107 00108 NODELET_DEBUG ("[%s::input_indices_callback]\n" 00109 " - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.\n" 00110 " - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.", 00111 getName ().c_str (), 00112 cloud->width * cloud->height, pcl::getFieldsList (*cloud).c_str (), cloud->header.stamp.toSec (), cloud->header.frame_id.c_str (), pnh_->resolveName ("input").c_str (), 00113 cloud_target->width * cloud_target->height, pcl::getFieldsList (*cloud_target).c_str (), cloud_target->header.stamp.toSec (), cloud_target->header.frame_id.c_str (), pnh_->resolveName ("target").c_str ()); 00114 00115 impl_.setInputCloud (cloud); 00116 impl_.setTargetCloud (cloud_target); 00117 00118 PointCloud output; 00119 impl_.segment (output); 00120 00121 pub_output_.publish (output.makeShared ()); 00122 NODELET_DEBUG ("[%s::segmentAndPublish] Published PointCloud2 with %zu points and stamp %f on topic %s", getName ().c_str (), 00123 output.points.size (), output.header.stamp.toSec (), pnh_->resolveName ("output").c_str ()); 00124 } 00125 00126 typedef pcl_ros::SegmentDifferences SegmentDifferences; 00127 PLUGINLIB_DECLARE_CLASS (pcl, SegmentDifferences, SegmentDifferences, nodelet::Nodelet); 00128