organize_pointcloud_nodelet.cpp
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00002  * Software License Agreement (BSD License)
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00004  *  Copyright (c) 2013, Ryohei Ueda and JSK Lab
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00034 
00035 
00036 #include "jsk_pcl_ros/organize_pointcloud.h"
00037 #include <pluginlib/class_list_macros.h>
00038 
00039 #include <pcl/common/centroid.h>
00040 
00041 namespace jsk_pcl_ros
00042 {
00043   void OrganizePointCloud::extract(const sensor_msgs::PointCloud2ConstPtr &input)
00044   {
00045     // skip empty cloud
00046     ROS_INFO_STREAM("received input clouds, convert range image, resolution: " << angular_resolution << ", width(deg): " << angle_width << ", height(deg):" << angle_height << ", min_points:" << min_points);
00047 
00048     if ( input->width < min_points ) return;
00049 
00050     pcl::PointCloud<pcl::PointXYZ> pointCloud;
00051     pcl::fromROSMsg(*input, pointCloud);
00052 
00053     // We now want to create a range image from the above point cloud, with a 1deg angular resolution
00054     float angularResolution = (float) (angular_resolution * (M_PI/180.0f));  //   1.0 degree in radians
00055     float maxAngleWidth     = (float) (angle_width * (M_PI/180.0f));  // 120.0 degree in radians
00056     float maxAngleHeight    = (float) (angle_height * (M_PI/180.0f));  // 90.0 degree in radians
00057     Eigen::Affine3f sensorPose = (Eigen::Affine3f)Eigen::Translation3f(0.0f, 0.0f, 0.0f);
00058     pcl::RangeImage::CoordinateFrame coordinate_frame = pcl::RangeImage::CAMERA_FRAME;
00059     float noiseLevel=0.00;
00060     float minRange = 0.0f;
00061     int borderSize = 1;
00062 
00063     pcl::RangeImage rangeImage;
00064     rangeImage.createFromPointCloud(pointCloud, angularResolution, maxAngleWidth, maxAngleHeight,
00065                                     sensorPose, coordinate_frame, noiseLevel, minRange, borderSize);
00066     ROS_INFO_STREAM("input image size " << input->width << " x " << input->height << "(=" << input->width * input->height << ")");
00067     ROS_INFO_STREAM("output image size " << rangeImage.width << " x " << rangeImage.height << "(=" << rangeImage.width * rangeImage.height << ")");
00068     ROS_DEBUG_STREAM(rangeImage);
00069 
00070     sensor_msgs::PointCloud2 out;
00071     pcl::toROSMsg(rangeImage, out);
00072     out.header = input->header;
00073     pub_.publish(out);
00074   }
00075 
00076   void OrganizePointCloud::onInit(void)
00077   {
00078     ConnectionBasedNodelet::onInit();
00079     
00080     pub_ = advertise<sensor_msgs::PointCloud2>(*pnh_, "output", 1);
00081     pnh_->param<double>("angular_resolution", angular_resolution, 1.0);
00082     pnh_->param<double>("angle_width", angle_width, 120.0);
00083     pnh_->param<double>("angle_height", angle_height, 90.0);
00084     pnh_->param<int>("min_points", min_points, 1000);
00085     onInitPostProcess();
00086   }
00087 
00088   void OrganizePointCloud::subscribe()
00089   {
00090     sub_ = pnh_->subscribe("input", 1, &OrganizePointCloud::extract, this);
00091   }
00092 
00093   void OrganizePointCloud::unsubscribe()
00094   {
00095     sub_.shutdown();
00096   }
00097 }
00098 
00099 PLUGINLIB_EXPORT_CLASS (jsk_pcl_ros::OrganizePointCloud, nodelet::Nodelet);
00100 


jsk_pcl_ros
Author(s): Yohei Kakiuchi
autogenerated on Tue Jul 2 2019 19:41:43