transform_pointcloud.cpp

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/*
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 * $Id: transform_pointcloud.cpp 30719 2010-07-09 20:28:41Z rusu $
 *
 */

// ROS core
#include <ros/ros.h>

#include "pcl/io/pcd_io.h"
#include "pcl/point_types.h"
#include "pcl_ros/transforms.h"

//#include "pcl_ros/publisher.h"
//#include "pcl_ros/subscriber.h"

#include <tf/transform_listener.h>

using namespace std;

class TransformPointcloudNode
{
protected:
  ros::NodeHandle nh_;

public:
  string output_cloud_topic_, input_cloud_topic_, to_frame_, point_cloud_name_;
  bool save_point_cloud_;

  ros::Subscriber sub_;
  ros::Publisher pub_;
  tf::TransformListener tf_;
  pcl::PCDWriter pcd_writer_;
  sensor_msgs::PointCloud2 output_cloud_;
  TransformPointcloudNode  (ros::NodeHandle &n) : nh_(n)
  {
    // Maximum number of outgoing messages to be queued for delivery to subscribers = 1
    nh_.param("input_cloud_topic", input_cloud_topic_, std::string("cloud_pcd"));
    output_cloud_topic_ = input_cloud_topic_ + "_transformed";
    nh_.param("to_frame", to_frame_, std::string("base_link"));
    nh_.param("point_cloud_name", point_cloud_name_, std::string("pc"));
    nh_.param("save_point_cloud", save_point_cloud_, false);

    sub_ = nh_.subscribe (input_cloud_topic_, 1,  &TransformPointcloudNode::cloud_cb, this);
    ROS_INFO ("[TransformPointcloudNode:] Listening for incoming data on topic %s", nh_.resolveName (input_cloud_topic_).c_str ());
    pub_ = nh_.advertise<sensor_msgs::PointCloud2>(output_cloud_topic_, 1);
    ROS_INFO ("[TransformPointcloudNode:] Will be publishing data on topic %s.", nh_.resolveName (output_cloud_topic_).c_str ());
  }

  // cloud_cb (!)
  void cloud_cb (const sensor_msgs::PointCloud2ConstPtr& pc)
  {
    bool found_transform = tf_.waitForTransform(pc->header.frame_id, to_frame_,
                                                pc->header.stamp, ros::Duration(10.0));
    if (found_transform)
    {
      //ROS_ASSERT_MSG(found_transform, "Could not transform to camera frame");
      tf::StampedTransform transform;
      tf_.lookupTransform(to_frame_,pc->header.frame_id, pc->header.stamp, transform);
      pcl_ros::transformPointCloud(to_frame_, transform, *pc, output_cloud_);
      ROS_DEBUG("[TransformPointcloudNode:] Point cloud published in frame %s", output_cloud_.header.frame_id.c_str());
      pub_.publish (output_cloud_);
      if (save_point_cloud_)
        {
          pcl::PointCloud<pcl::PointXYZ> pcl_cloud;
          pcl::fromROSMsg(output_cloud_, pcl_cloud);
          pcd_writer_.write (point_cloud_name_ + ".pcd", pcl_cloud);
      ROS_INFO("Point cloud saved as %s.pcd", point_cloud_name_.c_str());
        }
    }
  }
};

int main (int argc, char** argv)
{
  ros::init (argc, argv, "transform_pointcloud_node");
  ros::NodeHandle n("~");
  TransformPointcloudNode tp(n);
  ros::spin ();
  return (0);
}

/* ]--- */