pointcloud_database_server_nodelet.cpp

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// -*- mode: c++ -*-
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#include <jsk_topic_tools/log_utils.h>
#include "jsk_pcl_ros/pointcloud_database_server.h"
#include <jsk_topic_tools/rosparam_utils.h>
#include <pcl/io/pcd_io.h>

namespace jsk_pcl_ros
{

  PointCloudData::PointCloudData(const std::string fname):
    file_name_(fname)
  {
    pcl::PCDReader reader;
    cloud_.reset(new pcl::PointCloud<pcl::PointXYZRGB>);
    reader.read(file_name_, *cloud_);
  }

  pcl::PointCloud<pcl::PointXYZRGB>::Ptr PointCloudData::getPointCloud()
  {
  return cloud_;
  }

  sensor_msgs::PointCloud2
  PointCloudData::getROSPointCloud(ros::Time stamp)
  {
    sensor_msgs::PointCloud2 ros_out;
    ros_out.header.stamp = stamp;
    ros_out.header.frame_id = file_name_;
    pcl::toROSMsg(*cloud_, ros_out);
    return ros_out;
  }

  PointcloudDatabaseServer::~PointcloudDatabaseServer()
  {
    timer_.stop();
  }

  void PointcloudDatabaseServer::onInit()
  {
    PCLNodelet::onInit();
    std::vector<std::string> pcd_files;
    pub_points_ = pnh_->advertise<jsk_recognition_msgs::PointsArray>("output", 1);
    if (!jsk_topic_tools::readVectorParameter(*pnh_, "models", pcd_files)
        || pcd_files.size() == 0) {
      JSK_NODELET_FATAL("no models is specified");
      return;
    }

    for (size_t i = 0; i< pcd_files.size(); i++) {
      PointCloudData::Ptr data(new PointCloudData(pcd_files[i]));
      point_clouds_.push_back(data);
    }
    timer_ = pnh_->createTimer(ros::Duration(1.0),
                               boost::bind(
                                           &PointcloudDatabaseServer::timerCallback,
                                           this,
                                           _1));
  }

  void PointcloudDatabaseServer::timerCallback(const ros::TimerEvent& event)
  {
    jsk_recognition_msgs::PointsArray ros_out;
    ros_out.header.stamp = event.current_real;
    for (size_t i = 0; i < point_clouds_.size(); i++) {
      ros_out.cloud_list.push_back(point_clouds_[i]->getROSPointCloud(event.current_real));
                                                                      
    }
    pub_points_.publish(ros_out);
  }
}

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