extract_indices_nodelet.cpp

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// -*- mode: c++ -*-
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#define BOOST_PARAMETER_MAX_ARITY 7
#include "jsk_pcl_ros/extract_indices.h"
#include "jsk_recognition_utils/pcl_conversion_util.h"
 
#if PCL_MAJOR_VERSION >= 1 && PCL_MINOR_VERSION >= 8
#include <pcl/filters/extract_indices.h>
#else
#include "jsk_pcl_ros/pcl/extract_indices_patch.h"
#endif
#include <pcl_conversions/pcl_conversions.h>
#include <sensor_msgs/PointCloud2.h>
 
namespace jsk_pcl_ros
{
  void ExtractIndices::onInit()
  {
    DiagnosticNodelet::onInit();
    pnh_->param("keep_organized", keep_organized_, false);
    pnh_->param("negative", negative_, false);
    pnh_->param("max_queue_size", max_queue_size_, 10);
    pnh_->param("approximate_sync", approximate_sync_, false);
    pub_ = advertise<sensor_msgs::PointCloud2>(*pnh_, "output", 1);
    onInitPostProcess();
  }
 
  ExtractIndices::~ExtractIndices() {
    // 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();
    async_.reset();
  }
 
  void ExtractIndices::subscribe()
  {
    sub_cloud_.subscribe(*pnh_, "input", max_queue_size_);
    sub_indices_.subscribe(*pnh_, "indices", max_queue_size_);
    if (approximate_sync_) {
      async_ = boost::make_shared<message_filters::Synchronizer<ApproximateSyncPolicy> >(100);
      async_->connectInput(sub_indices_, sub_cloud_);
      async_->registerCallback(
        boost::bind(&ExtractIndices::convert, this, _1, _2));
    }
    else {
      sync_ = boost::make_shared<message_filters::Synchronizer<SyncPolicy> >(100);
      sync_->connectInput(sub_indices_, sub_cloud_);
      sync_->registerCallback(
        boost::bind(&ExtractIndices::convert, this, _1, _2));
    }
  }
 
  void ExtractIndices::unsubscribe()
  {
    sub_cloud_.unsubscribe();
    sub_indices_.unsubscribe();
  }
 
  void ExtractIndices::convert(
    const PCLIndicesMsg::ConstPtr& indices_msg,
    const sensor_msgs::PointCloud2::ConstPtr& cloud_msg)
  {
    vital_checker_->poke();
 
    pcl::PCLPointCloud2::Ptr input(new pcl::PCLPointCloud2);
    pcl_conversions::toPCL(*cloud_msg, *input);
    pcl::PointIndices::Ptr indices (new pcl::PointIndices ());
    pcl_conversions::toPCL(*indices_msg, *indices);
    
    // check if input size is bigger than indices size 
    int32_t data_size = static_cast<int32_t>(input->data.size());
    int32_t point_step_size = static_cast<int32_t>(input->point_step);
    int32_t cloud_size = data_size / point_step_size;
    int32_t indices_size = static_cast<int32_t>(indices->indices.size());
    if (cloud_size < indices_size){
        NODELET_ERROR("Input index is out of expected cloud size: %d > %d", indices_size, cloud_size);
        return;
    }
 
    // extract pointcloud with indices
    pcl::ExtractIndices<pcl::PCLPointCloud2> extract;
    extract.setInputCloud(input);
    extract.setIndices(indices);
    extract.setKeepOrganized(keep_organized_);
    extract.setNegative(negative_);
    pcl::PCLPointCloud2 output;
    extract.filter(output);
 
    sensor_msgs::PointCloud2 out_cloud_msg;
#if PCL_MAJOR_VERSION <= 1 && PCL_MINOR_VERSION < 8
    if (indices_msg->indices.empty() || cloud_msg->data.empty()) {
      out_cloud_msg.height = cloud_msg->height;
      out_cloud_msg.width = cloud_msg->width;
    }
#endif
    pcl_conversions::moveFromPCL(output, out_cloud_msg);
 
    out_cloud_msg.header = cloud_msg->header;
    pub_.publish(out_cloud_msg);
  }
}
 
#include <pluginlib/class_list_macros.h>
PLUGINLIB_EXPORT_CLASS (jsk_pcl_ros::ExtractIndices, nodelet::Nodelet);