00001 // -*- mode: c++ -*- 00002 /********************************************************************* 00003 * Software License Agreement (BSD License) 00004 * 00005 * Copyright (c) 2015, JSK Lab 00006 * All rights reserved. 00007 * 00008 * Redistribution and use in source and binary forms, with or without 00009 * modification, are permitted provided that the following conditions 00010 * are met: 00011 * 00012 * * Redistributions of source code must retain the above copyright 00013 * notice, this list of conditions and the following disclaimer. 00014 * * Redistributions in binary form must reproduce the above 00015 * copyright notice, this list of conditions and the following 00016 * disclaimer in the documentation and/o2r other materials provided 00017 * with the distribution. 00018 * * Neither the name of the JSK Lab nor the names of its 00019 * contributors may be used to endorse or promote products derived 00020 * from this software without specific prior written permission. 00021 * 00022 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00023 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00024 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00025 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00026 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 * POSSIBILITY OF SUCH DAMAGE. 00034 *********************************************************************/ 00035 00036 #define BOOST_PARAMETER_MAX_ARITY 7 00037 00038 #include "jsk_pcl_ros_utils/colorize_height_2d_mapping.h" 00039 00040 #include <pcl_conversions/pcl_conversions.h> 00041 00042 namespace jsk_pcl_ros_utils 00043 { 00044 void ColorizeHeight2DMapping::onInit() 00045 { 00046 DiagnosticNodelet::onInit(); 00047 pub_ = advertise<sensor_msgs::PointCloud2>(*pnh_, "output", 1); 00048 onInitPostProcess(); 00049 } 00050 00051 void ColorizeHeight2DMapping::subscribe() 00052 { 00053 sub_ = pnh_->subscribe("input", 1, &ColorizeHeight2DMapping::colorize, this); 00054 } 00055 00056 void ColorizeHeight2DMapping::unsubscribe() 00057 { 00058 sub_.shutdown(); 00059 } 00060 00061 void ColorizeHeight2DMapping::colorize( 00062 const sensor_msgs::PointCloud2::ConstPtr& msg) 00063 { 00064 vital_checker_->poke(); 00065 pcl::PointCloud<pcl::PointXYZ> cloud; 00066 pcl::fromROSMsg(*msg, cloud); 00067 00068 pcl::PointCloud<pcl::PointXYZI> colorized_cloud; 00069 for (size_t i = 0; i < cloud.points.size(); i++) { 00070 pcl::PointXYZ in = cloud.points[i]; 00071 if (isnan(in.x) || isnan(in.y) || isnan(in.z)) { 00072 continue; 00073 } 00074 pcl::PointXYZI out; 00075 out.x = in.x; 00076 out.y = in.y; 00077 out.z = 0.0; 00078 out.intensity = in.z; 00079 colorized_cloud.points.push_back(out); 00080 } 00081 sensor_msgs::PointCloud2 ros_cloud; 00082 pcl::toROSMsg(colorized_cloud, ros_cloud); 00083 ros_cloud.header = msg->header; 00084 pub_.publish(ros_cloud); 00085 } 00086 } 00087 00088 #include <pluginlib/class_list_macros.h> 00089 PLUGINLIB_EXPORT_CLASS (jsk_pcl_ros_utils::ColorizeHeight2DMapping, nodelet::Nodelet);