polygon_points_sampler_nodelet.cpp
Go to the documentation of this file.
00001 // -*- mode: c++ -*-
00002 /*********************************************************************
00003  * Software License Agreement (BSD License)
00004  *
00005  *  Copyright (c) 2015, JSK Lab
00006  *  All rights reserved.
00007  *
00008  *  Redistribution and use in source and binary forms, with or without
00009  *  modification, are permitted provided that the following conditions
00010  *  are met:
00011  *
00012  *   * Redistributions of source code must retain the above copyright
00013  *     notice, this list of conditions and the following disclaimer.
00014  *   * Redistributions in binary form must reproduce the above
00015  *     copyright notice, this list of conditions and the following
00016  *     disclaimer in the documentation and/o2r other materials provided
00017  *     with the distribution.
00018  *   * Neither the name of the JSK Lab nor the names of its
00019  *     contributors may be used to endorse or promote products derived
00020  *     from this software without specific prior written permission.
00021  *
00022  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00023  *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00024  *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00025  *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00026  *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00027  *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00028  *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00029  *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00030  *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00031  *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00032  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00033  *  POSSIBILITY OF SUCH DAMAGE.
00034  *********************************************************************/
00035 
00036 #define BOOST_PARAMETER_MAX_ARITY 7
00037 #include "jsk_recognition_utils/pcl_conversion_util.h"
00038 #include "jsk_pcl_ros_utils/polygon_points_sampler.h"
00039 
00040 namespace jsk_pcl_ros_utils
00041 {
00042   void PolygonPointsSampler::onInit()
00043   {
00044     DiagnosticNodelet::onInit();
00045     srv_ = boost::make_shared <dynamic_reconfigure::Server<Config> > (*pnh_);
00046     typename dynamic_reconfigure::Server<Config>::CallbackType f =
00047       boost::bind (&PolygonPointsSampler::configCallback, this, _1, _2);
00048     srv_->setCallback (f);
00049 
00050     pub_ = advertise<sensor_msgs::PointCloud2>(*pnh_, "output", 1);
00051     pub_xyz_ = advertise<sensor_msgs::PointCloud2>(*pnh_, "output_xyz", 1);
00052 
00053     onInitPostProcess();
00054   }
00055 
00056   void PolygonPointsSampler::subscribe()
00057   {
00058     sub_polygons_.subscribe(*pnh_, "input/polygons", 1);
00059     sub_coefficients_.subscribe(*pnh_, "input/coefficients", 1);
00060     sync_ = boost::make_shared<message_filters::Synchronizer<SyncPolicy> >(100);
00061     sync_->connectInput(sub_polygons_, sub_coefficients_);
00062     sync_->registerCallback(boost::bind(&PolygonPointsSampler::sample, this, _1, _2));
00063   }
00064 
00065   void PolygonPointsSampler::unsubscribe()
00066   {
00067     sub_polygons_.unsubscribe();
00068     sub_coefficients_.unsubscribe();
00069   }
00070 
00071   bool PolygonPointsSampler::isValidMessage(
00072     const jsk_recognition_msgs::PolygonArray::ConstPtr& polygon_msg,
00073     const jsk_recognition_msgs::ModelCoefficientsArray::ConstPtr& coefficients_msg)
00074   {
00075     if (polygon_msg->polygons.size() == 0) {
00076       NODELET_DEBUG("empty polygons");
00077       return false;
00078     }
00079     if (coefficients_msg->coefficients.size() != polygon_msg->polygons.size()) {
00080       NODELET_ERROR("The size of coefficients and polygons are not same");
00081       return false;
00082     }
00083 
00084     std::string frame_id = polygon_msg->header.frame_id;
00085     for (size_t i = 0; i < polygon_msg->polygons.size(); i++) {
00086       if (frame_id != polygon_msg->polygons[i].header.frame_id) {
00087         NODELET_ERROR("Frame id of polygon is not same: %s, %s",
00088                       frame_id.c_str(),
00089                       polygon_msg->polygons[i].header.frame_id.c_str());
00090         return false;
00091       }
00092     }
00093     for (size_t i = 0; i < coefficients_msg->coefficients.size(); i++) {
00094       if (frame_id != coefficients_msg->coefficients[i].header.frame_id) {
00095         NODELET_ERROR("Frame id of coefficient is not same: %s, %s",
00096                       frame_id.c_str(),
00097                       coefficients_msg->coefficients[i].header.frame_id.c_str());
00098         return false;
00099       }
00100     }
00101     return true;
00102   }
00103   
00104   void PolygonPointsSampler::sample(
00105     const jsk_recognition_msgs::PolygonArray::ConstPtr& polygon_msg,
00106     const jsk_recognition_msgs::ModelCoefficientsArray::ConstPtr& coefficients_msg)
00107   {
00108     boost::mutex::scoped_lock lock(mutex_);
00109     vital_checker_->poke();
00110     // check frame_ids
00111     if (!isValidMessage(polygon_msg, coefficients_msg)) {
00112       return;
00113     }
00114     // Sample points... 
00115     pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZRGBNormal>);
00116     pcl::PointCloud<pcl::PointXYZ>::Ptr xyz_cloud (new pcl::PointCloud<pcl::PointXYZ>);
00117     for (size_t i = 0; i < polygon_msg->polygons.size(); i++) {
00118       jsk_recognition_utils::Polygon polygon
00119         = jsk_recognition_utils::Polygon::fromROSMsg(polygon_msg->polygons[i].polygon);
00120       pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr one_cloud
00121         = polygon.samplePoints<pcl::PointXYZRGBNormal>(grid_size_);
00122       pcl::PointCloud<pcl::PointXYZ> one_xyz_cloud;
00123       one_xyz_cloud.points.resize(one_cloud->points.size());
00124       for (size_t i = 0; i < one_cloud->points.size(); i++) {
00125         pcl::PointXYZ p;
00126         p.getVector3fMap() = one_cloud->points[i].getVector3fMap();
00127         one_xyz_cloud.points[i] = p;
00128       }
00129       *xyz_cloud = *xyz_cloud + one_xyz_cloud;
00130       *cloud = *cloud + *one_cloud;
00131     }
00132     sensor_msgs::PointCloud2 ros_cloud;
00133     pcl::toROSMsg(*cloud, ros_cloud);
00134     ros_cloud.header = polygon_msg->header;
00135     pub_.publish(ros_cloud);
00136     sensor_msgs::PointCloud2 ros_xyz_cloud;
00137     pcl::toROSMsg(*xyz_cloud, ros_xyz_cloud);
00138     ros_xyz_cloud.header = polygon_msg->header;
00139     pub_xyz_.publish(ros_xyz_cloud);
00140   }
00141 
00142   
00143   void PolygonPointsSampler::configCallback(Config& config, uint32_t level)
00144   {
00145     boost::mutex::scoped_lock lock(mutex_);
00146     grid_size_ = config.grid_size;
00147   }
00148 }
00149 
00150 #include <pluginlib/class_list_macros.h>
00151 PLUGINLIB_EXPORT_CLASS (jsk_pcl_ros_utils::PolygonPointsSampler, nodelet::Nodelet);


jsk_pcl_ros_utils
Author(s): Yohei Kakiuchi
autogenerated on Tue Jul 2 2019 19:40:52