selected_cluster_publisher_nodelet.cpp

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 *  Copyright (c) 2013, Ryohei Ueda and JSK Lab
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#include "jsk_pcl_ros/selected_cluster_publisher.h"
#include <pluginlib/class_list_macros.h>
#include <pcl/filters/extract_indices.h>
 
#include "jsk_recognition_utils/pcl_conversion_util.h"
 
namespace jsk_pcl_ros
{
  void SelectedClusterPublisher::onInit()
  {
    ConnectionBasedNodelet::onInit();
    pnh_->param("keep_organized", keep_organized_, false);
    pub_ = advertise<sensor_msgs::PointCloud2>(*pnh_, "output", 1);
    onInitPostProcess();
  }
 
  SelectedClusterPublisher::~SelectedClusterPublisher() {
    // message_filters::Synchronizer needs to be called reset
    // before message_filters::Subscriber is freed.
    // Calling reset fixes the following error on shutdown of the nodelet:
    // terminate called after throwing an instance of
    // 'boost::exception_detail::clone_impl<boost::exception_detail::error_info_injector<boost::lock_error> >'
    //     what():  boost: mutex lock failed in pthread_mutex_lock: Invalid argument
    // Also see https://github.com/ros/ros_comm/issues/720 .
    sync_.reset();
  }
 
  void SelectedClusterPublisher::subscribe()
  {
    sync_ = boost::make_shared<message_filters::Synchronizer<SyncPolicy> >(300); // 100 is enough?
    sub_input_.subscribe(*pnh_, "input", 1);
    sub_indices_.subscribe(*pnh_, "indices", 1);
    sub_index_.subscribe(*pnh_, "selected_index", 1);
    sync_->connectInput(sub_input_, sub_indices_, sub_index_);
    sync_->registerCallback(boost::bind(&SelectedClusterPublisher::extract, this, _1, _2, _3));
  }
 
  void SelectedClusterPublisher::unsubscribe()
  {
    sub_input_.unsubscribe();
    sub_indices_.unsubscribe();
    sub_index_.unsubscribe();
  }
 
  void SelectedClusterPublisher::extract(const sensor_msgs::PointCloud2::ConstPtr& input,
                                         const jsk_recognition_msgs::ClusterPointIndices::ConstPtr& indices,
                                         const jsk_recognition_msgs::Int32Stamped::ConstPtr& index)
  {
    if (indices->cluster_indices.size() <= index->data) {
      NODELET_ERROR("the selected index %d is out of clusters array %lu",
                    index->data,
                    indices->cluster_indices.size());
      return;
    }
    pcl::PointCloud<pcl::PointXYZRGB>::Ptr input_cloud (new pcl::PointCloud<pcl::PointXYZRGB>());
    pcl::fromROSMsg(*input, *input_cloud);
    pcl::ExtractIndices<pcl::PointXYZRGB> extract;
    pcl::PointIndices::Ptr pcl_indices (new pcl::PointIndices);
    pcl_indices->indices = indices->cluster_indices[index->data].indices;
    extract.setInputCloud(input_cloud);
    extract.setIndices(pcl_indices);
    pcl::PointCloud<pcl::PointXYZRGB>::Ptr extracted_cloud(new pcl::PointCloud<pcl::PointXYZRGB>());
    if(keep_organized_){
      extract.setKeepOrganized(true);
    }
    extract.filter(*extracted_cloud);
    sensor_msgs::PointCloud2 ros_msg;
    pcl::toROSMsg(*extracted_cloud, ros_msg);
    ros_msg.header = input->header;
    pub_.publish(ros_msg);
  }
}
 
PLUGINLIB_EXPORT_CLASS (jsk_pcl_ros::SelectedClusterPublisher,
                        nodelet::Nodelet);