add_color_from_image_nodelet.cpp
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00001 // -*- mode: c++ -*-
00002 /*********************************************************************
00003  * Software License Agreement (BSD License)
00004  *
00005  *  Copyright (c) 2014, JSK Lab
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00008  *  Redistribution and use in source and binary forms, with or without
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00011  *
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00013  *     notice, this list of conditions and the following disclaimer.
00014  *   * Redistributions in binary form must reproduce the above
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00035 
00036 #define BOOST_PARAMETER_MAX_ARITY 7
00037 
00038 #include "jsk_pcl_ros/add_color_from_image.h"
00039 #include <image_geometry/pinhole_camera_model.h>
00040 #include <cv_bridge/cv_bridge.h>
00041 #include <sensor_msgs/image_encodings.h>
00042 #include <pcl_conversions/pcl_conversions.h>
00043 
00044 namespace jsk_pcl_ros
00045 {
00046   void AddColorFromImage::onInit()
00047   {
00048     DiagnosticNodelet::onInit();
00049     pub_ = advertise<sensor_msgs::PointCloud2>(
00050       *pnh_, "output", 1);
00051   }
00052 
00053   void AddColorFromImage::subscribe()
00054   {
00055     sub_cloud_.subscribe(*pnh_, "input", 1);
00056     sub_image_.subscribe(*pnh_, "input/image", 1);
00057     sub_info_.subscribe(*pnh_, "input/camera_info", 1);
00058     sync_ = boost::make_shared<message_filters::Synchronizer<SyncPolicy> >(100);
00059     sync_->connectInput(sub_cloud_, sub_image_, sub_info_);
00060     sync_->registerCallback(boost::bind(&AddColorFromImage::addColor,
00061                                         this, _1, _2, _3));
00062   }
00063 
00064   void AddColorFromImage::unsubscribe()
00065   {
00066     sub_cloud_.unsubscribe();
00067     sub_info_.unsubscribe();
00068     sub_image_.unsubscribe();
00069   }
00070   
00071   void AddColorFromImage::addColor(
00072     const sensor_msgs::PointCloud2::ConstPtr& cloud_msg,
00073     const sensor_msgs::Image::ConstPtr& image_msg,
00074     const sensor_msgs::CameraInfo::ConstPtr& info_msg)
00075   {
00076     if ((cloud_msg->header.frame_id != image_msg->header.frame_id) ||
00077         (cloud_msg->header.frame_id != info_msg->header.frame_id)) {
00078       JSK_NODELET_FATAL("frame_id is not collect: [%s, %s, %s",
00079                     cloud_msg->header.frame_id.c_str(),
00080                     image_msg->header.frame_id.c_str(),
00081                     info_msg->header.frame_id.c_str());
00082       return;
00083     }
00084     vital_checker_->poke();
00085     pcl::PointCloud<pcl::PointXYZ>::Ptr cloud
00086       (new pcl::PointCloud<pcl::PointXYZ>);
00087     pcl::fromROSMsg(*cloud_msg, *cloud);
00088     
00089     pcl::PointCloud<pcl::PointXYZRGB>::Ptr rgb_cloud
00090       (new pcl::PointCloud<pcl::PointXYZRGB>);
00091     rgb_cloud->points.resize(cloud->points.size());
00092     rgb_cloud->is_dense = cloud->is_dense;
00093     rgb_cloud->width = cloud->width;
00094     rgb_cloud->height = cloud->height;
00095     cv::Mat image = cv_bridge::toCvCopy(
00096       image_msg, sensor_msgs::image_encodings::BGR8)->image;
00097     image_geometry::PinholeCameraModel model;
00098     model.fromCameraInfo(info_msg);
00099     for (size_t i = 0; i < cloud->points.size(); i++) {
00100       pcl::PointXYZRGB p;
00101       p.x = cloud->points[i].x;
00102       p.y = cloud->points[i].y;
00103       p.z = cloud->points[i].z;
00104       //p.getVector3fMap() = cloud->points[i].getVector3fMap();
00105       if (!isnan(p.x) && !isnan(p.y) && !isnan(p.z)) {
00106       // compute RGB
00107         cv::Point2d uv = model.project3dToPixel(cv::Point3d(p.x, p.y, p.z));
00108         if (uv.x > 0 && uv.x < image_msg->width &&
00109             uv.y > 0 && uv.y < image_msg->height) {
00110           cv::Vec3b rgb = image.at<cv::Vec3b>(uv.y, uv.x);
00111           p.r = rgb[2];
00112           p.g = rgb[1];
00113           p.b = rgb[0];
00114         }
00115       }
00116       rgb_cloud->points[i] = p;
00117     }
00118     sensor_msgs::PointCloud2 ros_cloud;
00119     pcl::toROSMsg(*rgb_cloud, ros_cloud);
00120     ros_cloud.header = cloud_msg->header;
00121     pub_.publish(ros_cloud);
00122   }
00123 }
00124 
00125 #include <pluginlib/class_list_macros.h>
00126 PLUGINLIB_EXPORT_CLASS (jsk_pcl_ros::AddColorFromImage, nodelet::Nodelet);


jsk_pcl_ros
Author(s): Yohei Kakiuchi
autogenerated on Wed Sep 16 2015 04:36:47