concatenate_point_clouds.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/filters/voxel_grid.h"

using namespace std;
typedef pcl::PointXYZRGB PointT;

class ConcatenatePointCloudNode
{
protected:
  ros::NodeHandle nh_;
public:
  string input_cloud_topic_;
  pcl::PointCloud<PointT> concatenated_pc_, concatenated_pc_filtered_;
  pcl::PointCloud<PointT>::ConstPtr concatenated_pc_ptr_;
  ros::Subscriber sub_;
  pcl::PCDWriter pcd_writer_;
  double voxel_size_;
  pcl::VoxelGrid<PointT> vgrid_;

  ConcatenatePointCloudNode  (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"));
    nh_.param("voxel_size", voxel_size_, 0.02);
    sub_ = nh_.subscribe (input_cloud_topic_, 1,  &ConcatenatePointCloudNode::cloud_cb, this);
    ROS_INFO ("[ConcatenatePointCloudNode:] Listening for incoming data on topic %s", nh_.resolveName (input_cloud_topic_).c_str ());
    vgrid_.setLeafSize (voxel_size_, voxel_size_, voxel_size_);
    concatenated_pc_ptr_.reset(new pcl::PointCloud<PointT> ());
  }
  
  ~ConcatenatePointCloudNode ()
    {
      concatenated_pc_ptr_.reset(new pcl::PointCloud<PointT> (concatenated_pc_));
      vgrid_.setInputCloud (concatenated_pc_ptr_);
      vgrid_.setFilterFieldName("y");
      vgrid_.setFilterLimits(-3.0, 3.0);
      vgrid_.filter(concatenated_pc_filtered_);
      ROS_INFO("[ConcatenatePointCloudNode:] Writting cloud with %ld points", concatenated_pc_filtered_.points.size());
      pcd_writer_.write ("concatenated_cloud.pcd", concatenated_pc_filtered_, true);
    }
  
  // cloud_cb (!)
  void cloud_cb (const sensor_msgs::PointCloud2ConstPtr& pc)
  {
    pcl::PointCloud<PointT> pcl_cloud;
    pcl::fromROSMsg(*pc, pcl_cloud);
    concatenated_pc_.header = pcl_cloud.header;
    concatenated_pc_ += pcl_cloud;
    ROS_INFO("[ConcatenatePointCloudNode:] concatenated cloud with %ld points", concatenated_pc_.points.size());
  }
};

int main (int argc, char** argv)
{
  ros::init (argc, argv, "concatenate_pointcloud_node");
  ros::NodeHandle n("~");
  ConcatenatePointCloudNode cp(n);
  ros::spin ();
  return (0);
}

/* ]--- */