keypoints_publisher_nodelet.cpp

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 *  Copyright (c) 2013, Yuki Furuta and JSK Lab
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#include "jsk_pcl_ros/keypoints_publisher.h"
#include <pluginlib/class_list_macros.h>

#include <pcl_conversions/pcl_conversions.h>
#include <message_filters/subscriber.h>
#include <message_filters/time_synchronizer.h>

#include <pcl/range_image/range_image_planar.h>
#include <pcl/keypoints/narf_keypoint.h>
#include <pcl/features/range_image_border_extractor.h>

namespace jsk_pcl_ros
{
  void KeypointsPublisher::onInit(void)
  {
    ConnectionBasedNodelet::onInit();
    
    input_.reset(new pcl::PointCloud<pcl::PointXYZ>);
    keypoints_pub_ = advertise<sensor_msgs::PointCloud2>(*pnh_, "nerf_keypoints", 10);
    
    onInitPostProcess();
  }

  void KeypointsPublisher::subscribe()
  {
    sub_input_ = pnh_->subscribe("input", 1, &KeypointsPublisher::inputCallback, this);
  }

  void KeypointsPublisher::unsubscribe()
  {
    sub_input_.shutdown();
  }
  
  void KeypointsPublisher::inputCallback(const sensor_msgs::PointCloud2::ConstPtr& input)
  {
    pcl::fromROSMsg(*input, *input_);
    input_header_ = input->header;
    extractKeypoints(input_);
  }

  void KeypointsPublisher::extractKeypoints(pcl::PointCloud<pcl::PointXYZ>::Ptr cloud)
  {
    pcl::RangeImagePlanar rip;
    pcl::RangeImageBorderExtractor ribe;
    rip.createFromPointCloudWithFixedSize(*cloud, cloud->width, cloud->height,
                                          319.5, 239.5, 525.0, 525.0, static_cast<Eigen::Affine3f>(Eigen::Translation3f(0.0, 0.0, 0.0)));
    rip.setUnseenToMaxRange();
    ROS_INFO_STREAM("Built range image " << rip.width << "x" << rip.height);

    pcl::NarfKeypoint narf;
    narf.setRangeImageBorderExtractor(&ribe);
    narf.setRangeImage(&rip);
    narf.getParameters().support_size = 0.1;
    narf.getParameters().use_recursive_scale_reduction = true;
    narf.getParameters().calculate_sparse_interest_image = true;

    pcl::PointCloud<int> indices;
    narf.compute(indices);

    pcl::PointCloud<pcl::PointXYZ> result;
    for (int i = 0; i < indices.size(); ++i) {
      result.push_back(cloud->at(indices[i]));
    }
    sensor_msgs::PointCloud2 resMsg;
    pcl::toROSMsg(result, resMsg);
    resMsg.header = input_header_;
    keypoints_pub_.publish(resMsg);
  }
  
}
PLUGINLIB_EXPORT_CLASS (jsk_pcl_ros::KeypointsPublisher, nodelet::Nodelet);