00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2017, JSK Lab 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/o2r other materials provided 00016 * with the distribution. 00017 * * Neither the name of the JSK Lab nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00035 #define BOOST_PARAMETER_MAX_ARITY 7 00036 00037 #include <pcl_conversions/pcl_conversions.h> 00038 00039 #include "jsk_pcl_ros_utils/pointcloud_xyzrgb_to_xyz.h" 00040 00041 namespace jsk_pcl_ros_utils 00042 { 00043 00044 void PointCloudXYZRGBToXYZ::onInit() 00045 { 00046 DiagnosticNodelet::onInit(); 00047 pub_ = advertise<sensor_msgs::PointCloud2>(*pnh_, "output", 1); 00048 onInitPostProcess(); 00049 } 00050 00051 void PointCloudXYZRGBToXYZ::subscribe() 00052 { 00053 sub_ = pnh_->subscribe("input", 1, &PointCloudXYZRGBToXYZ::convert, this); 00054 } 00055 00056 void PointCloudXYZRGBToXYZ::unsubscribe() 00057 { 00058 sub_.shutdown(); 00059 } 00060 00061 void PointCloudXYZRGBToXYZ::convert(const sensor_msgs::PointCloud2::ConstPtr& cloud_msg) 00062 { 00063 vital_checker_->poke(); 00064 pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud_xyzrgb(new pcl::PointCloud<pcl::PointXYZRGB>); 00065 pcl::fromROSMsg(*cloud_msg, *cloud_xyzrgb); 00066 00067 pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_xyz(new pcl::PointCloud<pcl::PointXYZ>); 00068 cloud_xyz->points.resize(cloud_xyzrgb->points.size()); 00069 cloud_xyz->is_dense = cloud_xyzrgb->is_dense; 00070 cloud_xyz->width = cloud_xyzrgb->width; 00071 cloud_xyz->height = cloud_xyzrgb->height; 00072 for (size_t i = 0; i < cloud_xyzrgb->points.size(); i++) { 00073 pcl::PointXYZ p; 00074 p.x = cloud_xyzrgb->points[i].x; 00075 p.y = cloud_xyzrgb->points[i].y; 00076 p.z = cloud_xyzrgb->points[i].z; 00077 cloud_xyz->points[i] = p; 00078 } 00079 sensor_msgs::PointCloud2 out_cloud_msg; 00080 pcl::toROSMsg(*cloud_xyz, out_cloud_msg); 00081 out_cloud_msg.header = cloud_msg->header; 00082 pub_.publish(out_cloud_msg); 00083 } 00084 00085 } // namespace jsk_pcl_ros_utils 00086 00087 #include <pluginlib/class_list_macros.h> 00088 PLUGINLIB_EXPORT_CLASS(jsk_pcl_ros_utils::PointCloudXYZRGBToXYZ, nodelet::Nodelet);