colorize_height_2d_mapping_nodelet.cpp

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// -*- mode: c++ -*-
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#define BOOST_PARAMETER_MAX_ARITY 7

#include "jsk_pcl_ros/colorize_height_2d_mapping.h"

#include <pcl_conversions/pcl_conversions.h>

namespace jsk_pcl_ros
{
  void ColorizeHeight2DMapping::onInit()
  {
    DiagnosticNodelet::onInit();
    pub_ = advertise<sensor_msgs::PointCloud2>(*pnh_, "output", 1);
  }

  void ColorizeHeight2DMapping::subscribe()
  {
    sub_ = pnh_->subscribe("input", 1, &ColorizeHeight2DMapping::colorize, this);
  }

  void ColorizeHeight2DMapping::unsubscribe()
  {
    sub_.shutdown();
  }

  void ColorizeHeight2DMapping::colorize(
    const sensor_msgs::PointCloud2::ConstPtr& msg)
  {
    vital_checker_->poke();
    pcl::PointCloud<pcl::PointXYZ> cloud;
    pcl::fromROSMsg(*msg, cloud);

    pcl::PointCloud<pcl::PointXYZI> colorized_cloud;
    for (size_t i = 0; i < cloud.points.size(); i++) {
      pcl::PointXYZ in = cloud.points[i];
      if (isnan(in.x) || isnan(in.y) || isnan(in.z)) {
        continue;
      }
      pcl::PointXYZI out;
      out.x = in.x;
      out.y = in.y;
      out.z = 0.0;
      out.intensity = in.z;
      colorized_cloud.points.push_back(out);
    }
    sensor_msgs::PointCloud2 ros_cloud;
    pcl::toROSMsg(colorized_cloud, ros_cloud);
    ros_cloud.header = msg->header;
    pub_.publish(ros_cloud);
  }
}

#include <pluginlib/class_list_macros.h>
PLUGINLIB_EXPORT_CLASS (jsk_pcl_ros::ColorizeHeight2DMapping, nodelet::Nodelet);