concatenate_fields.cpp
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00001 /*
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00034  * $Id: concatenate_fields.cpp 35052 2011-01-03 21:04:57Z rusu $
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00036  */
00037 
00040 #include <pluginlib/class_list_macros.h>
00041 #include <pcl/io/io.h>
00042 #include "pcl_ros/io/concatenate_fields.h"
00043 
00044 #include <pcl_conversions/pcl_conversions.h>
00045 
00047 void
00048 pcl_ros::PointCloudConcatenateFieldsSynchronizer::onInit ()
00049 {
00050   private_nh_ = getMTPrivateNodeHandle ();
00051   // ---[ Mandatory parameters
00052   if (!private_nh_.getParam ("input_messages", input_messages_))
00053   {
00054     NODELET_ERROR ("[onInit] Need a 'input_messages' parameter to be set before continuing!");
00055     return;
00056   }
00057   if (input_messages_ < 2)
00058   {
00059     NODELET_ERROR ("[onInit] Invalid 'input_messages' parameter given!");
00060     return;
00061   }
00062   // ---[ Optional parameters
00063   private_nh_.getParam ("max_queue_size", maximum_queue_size_);
00064   private_nh_.getParam ("maximum_seconds", maximum_seconds_);
00065   sub_input_ = private_nh_.subscribe ("input", maximum_queue_size_,  &PointCloudConcatenateFieldsSynchronizer::input_callback, this);
00066   pub_output_ = private_nh_.advertise<sensor_msgs::PointCloud2> ("output", maximum_queue_size_);
00067 }
00068 
00070 void
00071 pcl_ros::PointCloudConcatenateFieldsSynchronizer::input_callback (const PointCloudConstPtr &cloud)
00072 {
00073   NODELET_DEBUG ("[input_callback] PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.",
00074                  cloud->width * cloud->height, pcl::getFieldsList (*cloud).c_str (), cloud->header.stamp.toSec (), cloud->header.frame_id.c_str (), private_nh_.resolveName ("input").c_str ());
00075 
00076   // Erase old data in the queue
00077   if (maximum_seconds_ > 0 && queue_.size () > 0)
00078   {
00079     while (fabs ( ( (*queue_.begin ()).first - cloud->header.stamp).toSec () ) > maximum_seconds_ && queue_.size () > 0)
00080     {
00081       NODELET_WARN ("[input_callback] Maximum seconds limit (%f) reached. Difference is %f, erasing message in queue with stamp %f.", maximum_seconds_,
00082                  (*queue_.begin ()).first.toSec (), fabs ( ( (*queue_.begin ()).first - cloud->header.stamp).toSec () ));
00083       queue_.erase (queue_.begin ());
00084     }
00085   }
00086 
00087   // Push back new data
00088   queue_[cloud->header.stamp].push_back (cloud);
00089   if ((int)queue_[cloud->header.stamp].size () >= input_messages_)
00090   {
00091     // Concatenate together and publish
00092     std::vector<PointCloudConstPtr> &clouds = queue_[cloud->header.stamp];
00093     PointCloud cloud_out = *clouds[0];
00094 
00095     // Resize the output dataset
00096     int data_size = cloud_out.data.size ();
00097     int nr_fields = cloud_out.fields.size ();
00098     int nr_points = cloud_out.width * cloud_out.height;
00099     for (size_t i = 1; i < clouds.size (); ++i)
00100     {
00101       assert (clouds[i]->data.size () / (clouds[i]->width * clouds[i]->height) == clouds[i]->point_step);
00102 
00103       if (clouds[i]->width != cloud_out.width || clouds[i]->height != cloud_out.height)
00104       {
00105         NODELET_ERROR ("[input_callback] Width/height of pointcloud %zu (%dx%d) differs from the others (%dx%d)!", 
00106             i, clouds[i]->width, clouds[i]->height, cloud_out.width, cloud_out.height);
00107         break;
00108       }
00109       // Point step must increase with the length of each new field
00110       cloud_out.point_step += clouds[i]->point_step;
00111       // Resize data to hold all clouds
00112       data_size += clouds[i]->data.size ();
00113 
00114       // Concatenate fields
00115       cloud_out.fields.resize (nr_fields + clouds[i]->fields.size ());
00116       int delta_offset = cloud_out.fields[nr_fields - 1].offset + pcl::getFieldSize (cloud_out.fields[nr_fields - 1].datatype);
00117       for (size_t d = 0; d < clouds[i]->fields.size (); ++d)
00118       {
00119         cloud_out.fields[nr_fields + d] = clouds[i]->fields[d];
00120         cloud_out.fields[nr_fields + d].offset += delta_offset;
00121       }
00122       nr_fields += clouds[i]->fields.size ();
00123     }
00124     // Recalculate row_step
00125     cloud_out.row_step = cloud_out.point_step * cloud_out.width;
00126     cloud_out.data.resize (data_size);
00127 
00128     // Iterate over each point and perform the appropriate memcpys
00129     int point_offset = 0;
00130     for (int cp = 0; cp < nr_points; ++cp)
00131     {
00132       for (size_t i = 0; i < clouds.size (); ++i)
00133       {
00134         // Copy each individual point
00135         memcpy (&cloud_out.data[point_offset], &clouds[i]->data[cp * clouds[i]->point_step], clouds[i]->point_step);
00136         point_offset += clouds[i]->point_step;
00137       }
00138     }
00139     pub_output_.publish (boost::make_shared<const PointCloud> (cloud_out));
00140     queue_.erase (cloud->header.stamp);
00141   }
00142 
00143   // Clean the queue to avoid overflowing
00144   if (maximum_queue_size_ > 0)
00145   {
00146     while ((int)queue_.size () > maximum_queue_size_)
00147       queue_.erase (queue_.begin ());
00148   }
00149 
00150 }
00151 
00152 typedef pcl_ros::PointCloudConcatenateFieldsSynchronizer PointCloudConcatenateFieldsSynchronizer;
00153 PLUGINLIB_EXPORT_CLASS(PointCloudConcatenateFieldsSynchronizer,nodelet::Nodelet);
00154 


pcl_ros
Author(s): Open Perception, Julius Kammerl , William Woodall
autogenerated on Thu May 5 2016 04:16:43