pointcloud_database_server_nodelet.cpp

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// -*- mode: c++ -*-
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#include <jsk_topic_tools/log_utils.h>
#include "jsk_pcl_ros/pointcloud_database_server.h"
#include <jsk_topic_tools/rosparam_utils.h>
#include <pcl/io/pcd_io.h>
#include <pcl/io/vtk_lib_io.h>
#include "jsk_recognition_utils/pcl_conversion_util.h"
#include <boost/filesystem.hpp>
 
namespace jsk_pcl_ros
{
 
  PointCloudData::PointCloudData(const std::string fname):
    file_name_(fname)
  {
    cloud_.reset(new pcl::PointCloud<pcl::PointXYZRGB>);
    boost::filesystem::path path(file_name_);
    ext_ = path.extension().string();
    stem_ = path.stem().string();
    if (ext_ == ".stl") 
    {
      pcl::io::loadPolygonFileSTL(file_name_, mesh_);
      pcl::fromPCLPointCloud2(mesh_.cloud, *cloud_);
    }
    else
    {
      pcl::io::loadPCDFile(file_name_, *cloud_);
    }
  }
 
  pcl::PointCloud<pcl::PointXYZRGB>::Ptr PointCloudData::getPointCloud()
  {
  return cloud_;
  }
 
  sensor_msgs::PointCloud2
  PointCloudData::getROSPointCloud(ros::Time stamp)
  {
    sensor_msgs::PointCloud2 ros_out;
    pcl::toROSMsg(*cloud_, ros_out);
    ros_out.header.stamp = stamp;
    ros_out.header.frame_id = stem_;
    return ros_out;
  }
 
  PointcloudDatabaseServer::~PointcloudDatabaseServer()
  {
    timer_.stop();
  }
 
  void PointcloudDatabaseServer::onInit()
  {
    PCLNodelet::onInit();
    pub_points_array_ = pnh_->advertise<jsk_recognition_msgs::PointsArray>("output", 1);
    pub_cloud_ = pnh_->advertise<sensor_msgs::PointCloud2>("cloud", 1);
    if (!jsk_topic_tools::readVectorParameter(*pnh_, "models", files_)
        || files_.size() == 0) {
      NODELET_FATAL("no models is specified");
      return;
    }
 
    for (size_t i = 0; i< files_.size(); i++) {
      PointCloudData::Ptr data(new PointCloudData(files_[i]));
      point_clouds_.push_back(data);
      array_msg_.cloud_list.push_back(point_clouds_[i]->getROSPointCloud(ros::Time::now()));
    }
    srv_ = boost::make_shared <dynamic_reconfigure::Server<Config> > (*pnh_);
    dynamic_reconfigure::Server<Config>::CallbackType f =
      boost::bind(
        &PointcloudDatabaseServer::configCallback, this, _1, _2);
    srv_->setCallback (f);
    pnh_->getParam("duration", duration_);
  }
 
  void PointcloudDatabaseServer::timerCallback(const ros::TimerEvent& event)
  {
    if (use_array_) {
      for (size_t i = 0; i< files_.size(); i++) {
        array_msg_.cloud_list[i].header.stamp = event.current_real;
      }
      array_msg_.header.stamp = event.current_real;
      pub_points_array_.publish(array_msg_);
   } else {
      point_msg_ = point_clouds_[0]->getROSPointCloud(event.current_real);
      point_msg_.header.stamp = event.current_real;
      pub_cloud_.publish(point_msg_);
    }
  }
 
  void PointcloudDatabaseServer::configCallback(Config &config, uint32_t level)
  {
    boost::mutex::scoped_lock lock(mutex_);
    duration_ = config.duration;
    use_array_ = config.use_array;
    if (timer_) {
      timer_.stop();
    }
    timer_ = pnh_->createTimer(ros::Duration(duration_),
                               boost::bind(
                                           &PointcloudDatabaseServer::timerCallback,
                                           this,
                                           _1));
  }
}
 
#include <pluginlib/class_list_macros.h>
PLUGINLIB_EXPORT_CLASS (jsk_pcl_ros::PointcloudDatabaseServer,
                        nodelet::Nodelet);