heightmap_to_pointcloud_nodelet.cpp

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

#include "jsk_pcl_ros/heightmap_to_pointcloud.h"
#include <pcl_conversions/pcl_conversions.h>
#include <cv_bridge/cv_bridge.h>
#include <sensor_msgs/image_encodings.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>

namespace jsk_pcl_ros
{
  void HeightmapToPointCloud::onInit()
  {
    DiagnosticNodelet::onInit();
    pub_config_ = pnh_->advertise<jsk_recognition_msgs::HeightmapConfig>(
      "output/config", 1);
    sub_config_ = pnh_->subscribe(
      getHeightmapConfigTopic(pnh_->resolveName("input")), 1,
      &HeightmapToPointCloud::configCallback, this);
    pub_ = advertise<sensor_msgs::PointCloud2>(*pnh_, "output", 1);
  }

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

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

  void HeightmapToPointCloud::configCallback(
    const jsk_recognition_msgs::HeightmapConfig::ConstPtr& msg)
  {
    boost::mutex::scoped_lock lock(mutex_);
    config_msg_ = msg;
    min_x_ = msg->min_x;
    max_x_ = msg->max_x;
    min_y_ = msg->min_y;
    max_y_ = msg->max_y;
    pub_config_.publish(msg);
  }

  void HeightmapToPointCloud::convert(const sensor_msgs::Image::ConstPtr& msg)
  {
    boost::mutex::scoped_lock lock(mutex_);
    if (!config_msg_) {
      JSK_NODELET_ERROR("no ~input/config is yet available");
      return;
    }
    cv::Mat float_image = cv_bridge::toCvShare(msg, sensor_msgs::image_encodings::TYPE_32FC1)->image;
    pcl::PointCloud<pcl::PointXYZ> cloud;
    cloud.points.reserve(float_image.rows * float_image.cols);
    double dx = (max_x_ - min_x_) / float_image.cols;
    double dy = (max_y_ - min_y_) / float_image.rows;
    for (size_t j = 0; j < float_image.rows; j++) {
      for (size_t i = 0; i < float_image.cols; i++) {
        float v = float_image.at<float>(j, i);
        pcl::PointXYZ p;
        if (v != -FLT_MAX) {
          p.y = j * dy + min_y_ + dy / 2.0;
          p.x = i * dx + min_x_ + dx / 2.0;
          p.z = v;
          cloud.points.push_back(p);
        }
      }
    }
    sensor_msgs::PointCloud2 ros_cloud;
    pcl::toROSMsg(cloud, ros_cloud);
    ros_cloud.header = msg->header;
    pub_.publish(ros_cloud);
  }
}

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