uniform_sampling_nodelet.cpp

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// -*- mode: c++ -*-
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#define BOOST_PARAMETER_MAX_ARITY 7
#include "jsk_pcl_ros/uniform_sampling.h"
#if ( PCL_MAJOR_VERSION == 1 && PCL_MINOR_VERSION == 7)
#include <pcl/keypoints/uniform_sampling.h>
#elif ( PCL_MAJOR_VERSION == 1 && PCL_MINOR_VERSION >= 8)
#include <pcl/filters/uniform_sampling.h>
#endif
 
 
namespace jsk_pcl_ros
{
  void UniformSampling::onInit()
  {
    DiagnosticNodelet::onInit();
    srv_ = boost::make_shared <dynamic_reconfigure::Server<Config> > (*pnh_);
    typename dynamic_reconfigure::Server<Config>::CallbackType f =
      boost::bind (&UniformSampling::configCallback, this, _1, _2);
    srv_->setCallback (f);
 
    pub_ = advertise<PCLIndicesMsg>(*pnh_, "output", 1);
 
    onInitPostProcess();
  }
 
  void UniformSampling::subscribe()
  {
    sub_ = pnh_->subscribe("input", 1, &UniformSampling::sampling, this);
  }
 
  void UniformSampling::unsubscribe()
  {
    sub_.shutdown();
  }
 
  void UniformSampling::configCallback(Config& config, uint32_t level)
  {
    boost::mutex::scoped_lock lock(mutex_);
    search_radius_ = config.search_radius;
  }
 
  void UniformSampling::sampling(
    const sensor_msgs::PointCloud2::ConstPtr& msg)
  {
    boost::mutex::scoped_lock lock(mutex_);
    pcl::PointCloud<pcl::PointXYZ>::Ptr
      cloud (new pcl::PointCloud<pcl::PointXYZ>);
    pcl::fromROSMsg(*msg, *cloud);
#if ( PCL_MAJOR_VERSION == 1 && PCL_MINOR_VERSION >= 9)
    pcl::UniformSampling<pcl::PointXYZ> uniform_sampling(true);
#else
    pcl::UniformSampling<pcl::PointXYZ> uniform_sampling;
#endif
    uniform_sampling.setInputCloud(cloud);
    uniform_sampling.setRadiusSearch(search_radius_);
#if ( PCL_MAJOR_VERSION == 1 && PCL_MINOR_VERSION == 7)
    pcl::PointCloud<int> indices;
    uniform_sampling.compute(indices);
#elif ( PCL_MAJOR_VERSION == 1 && PCL_MINOR_VERSION >= 8)
    pcl::PointCloud<pcl::PointXYZ> output;
    uniform_sampling.filter(output);
    pcl::PointIndicesPtr indices_ptr;
    // this is all indices
    std::vector<int> &all_indices = *uniform_sampling.getIndices();
    pcl::PointIndices removed_indices;
    uniform_sampling.getRemovedIndices(removed_indices);
    std::sort(removed_indices.indices.begin(), removed_indices.indices.end());
    std::vector<int> indices;
    std::set_difference(all_indices.begin(), all_indices.end(),
                        removed_indices.indices.begin(), removed_indices.indices.end(),
                        std::inserter(indices, indices.begin()));
#endif
    PCLIndicesMsg ros_indices;
#if ( PCL_MAJOR_VERSION == 1 && PCL_MINOR_VERSION == 7)
    for (size_t i = 0; i < indices.points.size(); i++) {
      ros_indices.indices.push_back(indices.points[i]);
    }
#elif ( PCL_MAJOR_VERSION == 1 && PCL_MINOR_VERSION >= 8)
    for (size_t i = 0; i < indices.size(); i++) {
      ros_indices.indices.push_back(indices[i]);
    }
#endif
    ros_indices.header = msg->header;
    pub_.publish(ros_indices);
  }
}
 
#include <pluginlib/class_list_macros.h>
PLUGINLIB_EXPORT_CLASS (jsk_pcl_ros::UniformSampling, nodelet::Nodelet);