assemble_image_and_pointcloud_alg_node.cpp

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#include "assemble_image_and_pointcloud_alg_node.h"

AssembleImageAndPointcloudAlgNode::AssembleImageAndPointcloudAlgNode(void) :
  algorithm_base::IriBaseAlgorithm<AssembleImageAndPointcloudAlgorithm>(), b_pcl_(true), b_img_(true)
{
  //init class attributes if necessary
  //this->loop_rate_ = 2;//in [Hz]

  // [init publishers]
  this->output_publisher_ = this->public_node_handle_.advertise<sensor_msgs::PointCloud2>("output", 10);
  
  // [init subscribers]
  this->pointcloud_subscriber_ = this->public_node_handle_.subscribe("pointcloud", 10, &AssembleImageAndPointcloudAlgNode::pointcloud_callback, this);
  this->image_subscriber_ = this->public_node_handle_.subscribe("image", 10, &AssembleImageAndPointcloudAlgNode::image_callback, this);
  
  // [init services]
  
  // [init clients]
  
  // [init action servers]
  
  // [init action clients]
}

AssembleImageAndPointcloudAlgNode::~AssembleImageAndPointcloudAlgNode(void)
{
  // [free dynamic memory]
}

void AssembleImageAndPointcloudAlgNode::assembleImageAndPointCloud(void)
{
    if ((!b_pcl_) && (!b_img_)){ 
        if (output_publisher_.getNumSubscribers () > 0){
            if ((cloud2_->height != image_->height) && (cloud2_->width != image_->width)){
                ROS_ERROR("AssembleImageAndPointCloudAlgNode::assembleImageAndPointCloud: Input data have different size");
            } else {
                // PointCloud_msg_ re-definition
                PointCloud2_msg_.header.frame_id = cloud2_->header.frame_id;
                PointCloud2_msg_.header.stamp    = cloud2_->header.stamp;
                PointCloud2_msg_.height          = cloud2_->height;
                PointCloud2_msg_.width           = cloud2_->width;
                PointCloud2_msg_.fields.resize (4);
                PointCloud2_msg_.fields[0].name = "x";
                PointCloud2_msg_.fields[1].name = "y";
                PointCloud2_msg_.fields[2].name = "z";
                PointCloud2_msg_.fields[3].name = "intensity";
                unsigned int offset = 0;
                for (size_t s = 0; s < PointCloud2_msg_.fields.size (); ++s, offset += 4)
                {
                    PointCloud2_msg_.fields[s].offset   = offset;
                    PointCloud2_msg_.fields[s].count    = 1;
                    PointCloud2_msg_.fields[s].datatype = sensor_msgs::PointField::FLOAT32;
                }
                PointCloud2_msg_.point_step = offset;
                PointCloud2_msg_.row_step   = PointCloud2_msg_.point_step * PointCloud2_msg_.width;
                PointCloud2_msg_.data.resize (PointCloud2_msg_.row_step   * PointCloud2_msg_.height);
                PointCloud2_msg_.is_dense   = true;

                int index = 0;
                for (unsigned int v = 0; v < PointCloud2_msg_.height; ++v){
                    for (unsigned int u = 0; u < PointCloud2_msg_.width; ++u, ++index){
                        float *cstep = (float*)&cloud2_->data[(index) * cloud2_->point_step];
                        float *pstep = (float*)&PointCloud2_msg_.data[(index) * PointCloud2_msg_.point_step];
                        //unsigned int *image_data = (unsigned int *)&image_->data[index];
                        pstep[0] = cstep[0];
                        pstep[1] = cstep[1];
                        pstep[2] = cstep[2];
                        pstep[3] = image_->data[index];
                    }
                }
                output_publisher_.publish(PointCloud2_msg_);
            }
            b_pcl_ = b_img_ = true;
        }
    }
}


void AssembleImageAndPointcloudAlgNode::mainNodeThread(void)
{
  // [fill msg structures]
  //this->PointCloud2_msg_.data = my_var;
  
  // [fill srv structure and make request to the server]
  
  // [fill action structure and make request to the action server]

  // [publish messages]
  //  output_publisher_.publish(PointCloud2_msg_);
}

/*  [subscriber callbacks] */
void AssembleImageAndPointcloudAlgNode::pointcloud_callback(const sensor_msgs::PointCloud2::ConstPtr& msg) 
{ 
  //ROS_INFO("AssembleImageAndPointcloudAlgNode::pointcloud_callback: New Message Received"); 

  //use appropiate mutex to shared variables if necessary 
  //alg_.lock(); 
  //pointcloud_mutex_.enter(); 

  cloud2_ = msg;
  b_pcl_ = false;
  assembleImageAndPointCloud();

  //std::cout << msg->data << std::endl; 

  //unlock previously blocked shared variables 
  //alg_.unlock(); 
  //pointcloud_mutex_.exit(); 
}

void AssembleImageAndPointcloudAlgNode::image_callback(const sensor_msgs::Image::ConstPtr& msg) 
{ 
  //ROS_INFO("AssembleImageAndPointcloudAlgNode::image_callback: New Message Received"); 

  //use appropiate mutex to shared variables if necessary 
  //alg_.lock(); 
  //image_mutex_.enter(); 

  image_ = msg;
  b_img_ = false;
  assembleImageAndPointCloud();
  
  //std::cout << msg->data << std::endl; 

  //unlock previously blocked shared variables 
  //alg_.unlock(); 
  //image_mutex_.exit(); 
}

/*  [service callbacks] */

/*  [action callbacks] */

/*  [action requests] */

void AssembleImageAndPointcloudAlgNode::node_config_update(Config &config, uint32_t level)
{
  this->alg_.lock();

  this->alg_.unlock();
}

void AssembleImageAndPointcloudAlgNode::addNodeDiagnostics(void)
{
}

/* main function */
int main(int argc,char *argv[])
{
  return algorithm_base::main<AssembleImageAndPointcloudAlgNode>(argc, argv, "assemble_image_and_pointcloud_alg_node");
}