point_cloud_xyz.cpp
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00034 #include <ros/ros.h>
00035 #include <nodelet/nodelet.h>
00036 #include <image_transport/image_transport.h>
00037 #include <sensor_msgs/image_encodings.h>
00038 #include <image_geometry/pinhole_camera_model.h>
00039 #include <boost/thread.hpp>
00040 #include <depth_image_proc/depth_conversions.h>
00041 
00042 #include <sensor_msgs/point_cloud2_iterator.h>
00043 
00044 namespace depth_image_proc {
00045 
00046 namespace enc = sensor_msgs::image_encodings;
00047 
00048 class PointCloudXyzNodelet : public nodelet::Nodelet
00049 {
00050   // Subscriptions
00051   boost::shared_ptr<image_transport::ImageTransport> it_;
00052   image_transport::CameraSubscriber sub_depth_;
00053   int queue_size_;
00054 
00055   // Publications
00056   boost::mutex connect_mutex_;
00057   typedef sensor_msgs::PointCloud2 PointCloud;
00058   ros::Publisher pub_point_cloud_;
00059 
00060   image_geometry::PinholeCameraModel model_;
00061 
00062   virtual void onInit();
00063 
00064   void connectCb();
00065 
00066   void depthCb(const sensor_msgs::ImageConstPtr& depth_msg,
00067                const sensor_msgs::CameraInfoConstPtr& info_msg);
00068 };
00069 
00070 void PointCloudXyzNodelet::onInit()
00071 {
00072   ros::NodeHandle& nh         = getNodeHandle();
00073   ros::NodeHandle& private_nh = getPrivateNodeHandle();
00074   it_.reset(new image_transport::ImageTransport(nh));
00075 
00076   // Read parameters
00077   private_nh.param("queue_size", queue_size_, 5);
00078 
00079   // Monitor whether anyone is subscribed to the output
00080   ros::SubscriberStatusCallback connect_cb = boost::bind(&PointCloudXyzNodelet::connectCb, this);
00081   // Make sure we don't enter connectCb() between advertising and assigning to pub_point_cloud_
00082   boost::lock_guard<boost::mutex> lock(connect_mutex_);
00083   pub_point_cloud_ = nh.advertise<PointCloud>("points", 1, connect_cb, connect_cb);
00084 }
00085 
00086 // Handles (un)subscribing when clients (un)subscribe
00087 void PointCloudXyzNodelet::connectCb()
00088 {
00089   boost::lock_guard<boost::mutex> lock(connect_mutex_);
00090   if (pub_point_cloud_.getNumSubscribers() == 0)
00091   {
00092     sub_depth_.shutdown();
00093   }
00094   else if (!sub_depth_)
00095   {
00096     image_transport::TransportHints hints("raw", ros::TransportHints(), getPrivateNodeHandle());
00097     sub_depth_ = it_->subscribeCamera("image_rect", queue_size_, &PointCloudXyzNodelet::depthCb, this, hints);
00098   }
00099 }
00100 
00101 void PointCloudXyzNodelet::depthCb(const sensor_msgs::ImageConstPtr& depth_msg,
00102                                    const sensor_msgs::CameraInfoConstPtr& info_msg)
00103 {
00104   PointCloud::Ptr cloud_msg(new PointCloud);
00105   cloud_msg->header = depth_msg->header;
00106   cloud_msg->height = depth_msg->height;
00107   cloud_msg->width  = depth_msg->width;
00108   cloud_msg->is_dense = false;
00109   cloud_msg->is_bigendian = false;
00110 
00111   sensor_msgs::PointCloud2Modifier pcd_modifier(*cloud_msg);
00112   pcd_modifier.setPointCloud2FieldsByString(1, "xyz");
00113 
00114   // Update camera model
00115   model_.fromCameraInfo(info_msg);
00116 
00117   if (depth_msg->encoding == enc::TYPE_16UC1)
00118   {
00119     convert<uint16_t>(depth_msg, cloud_msg, model_);
00120   }
00121   else if (depth_msg->encoding == enc::TYPE_32FC1)
00122   {
00123     convert<float>(depth_msg, cloud_msg, model_);
00124   }
00125   else
00126   {
00127     NODELET_ERROR_THROTTLE(5, "Depth image has unsupported encoding [%s]", depth_msg->encoding.c_str());
00128     return;
00129   }
00130 
00131   pub_point_cloud_.publish (cloud_msg);
00132 }
00133 
00134 } // namespace depth_image_proc
00135 
00136 // Register as nodelet
00137 #include <pluginlib/class_list_macros.h>
00138 PLUGINLIB_EXPORT_CLASS(depth_image_proc::PointCloudXyzNodelet,nodelet::Nodelet);


depth_image_proc
Author(s): Patrick Mihelich
autogenerated on Wed May 1 2019 02:51:42