subtract_point_indices_nodelet.cpp

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// -*- mode: c++ -*-
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#define BOOST_PARAMETER_MAX_ARITY 7
#include <jsk_pcl_ros_utils/subtract_point_indices.h>


namespace jsk_pcl_ros_utils
{
  void SubtractPointIndices::onInit()
  {
    DiagnosticNodelet::onInit();
    pnh_->param("approximate_sync", approximate_sync_, false);
    pub_ = advertise<PCLIndicesMsg>(*pnh_, "output", 1);
    onInitPostProcess();
  }

  void SubtractPointIndices::subscribe()
  {
    sub_src1_.subscribe(*pnh_, "input/src1", 1);
    sub_src2_.subscribe(*pnh_, "input/src2", 1);
    if (approximate_sync_) {
      async_ = boost::make_shared<message_filters::Synchronizer<ASyncPolicy> >(100);
      async_->connectInput(sub_src1_, sub_src2_);
      async_->registerCallback(
        boost::bind(&SubtractPointIndices::subtract,
                    this, _1, _2));
    }
    else {
      sync_ = boost::make_shared<message_filters::Synchronizer<SyncPolicy> >(100);
      sync_->connectInput(sub_src1_, sub_src2_);
      sync_->registerCallback(
        boost::bind(&SubtractPointIndices::subtract,
                    this, _1, _2));
    }
  }

  void SubtractPointIndices::unsubscribe()
  {
    sub_src1_.unsubscribe();
    sub_src2_.unsubscribe();
  }

  void SubtractPointIndices::subtract(
    const PCLIndicesMsg::ConstPtr& src1,
    const PCLIndicesMsg::ConstPtr& src2)
  {
    vital_checker_->poke();
    pcl::PointIndices a, b;
    pcl_conversions::toPCL(*src1, a);
    pcl_conversions::toPCL(*src2, b);
    pcl::PointIndices::Ptr c = jsk_recognition_utils::subIndices(a, b);
    c->header = a.header;
    PCLIndicesMsg ros_indices;
    pcl_conversions::fromPCL(*c, ros_indices);
    ros_indices.header = src1->header;
    pub_.publish(ros_indices);
  }
}

#include <pluginlib/class_list_macros.h>
PLUGINLIB_EXPORT_CLASS (jsk_pcl_ros_utils::SubtractPointIndices, nodelet::Nodelet);