00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2016, JSK Lab 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/o2r other materials provided 00016 * with the distribution. 00017 * * Neither the name of the JSK Lab nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00035 #define BOOST_PARAMETER_MAX_ARITY 7 00036 00037 #include <pcl_conversions/pcl_conversions.h> 00038 #include "jsk_pcl_ros_utils/marker_array_voxel_to_pointcloud.h" 00039 00040 namespace jsk_pcl_ros_utils 00041 { 00042 00043 void MarkerArrayVoxelToPointCloud::onInit() 00044 { 00045 DiagnosticNodelet::onInit(); 00046 00047 pub_ = advertise<sensor_msgs::PointCloud2>(*pnh_, "output", 1); 00048 onInitPostProcess(); 00049 } 00050 00051 void MarkerArrayVoxelToPointCloud::subscribe() 00052 { 00053 sub_ = pnh_->subscribe("input", 1, &MarkerArrayVoxelToPointCloud::convert, this); 00054 } 00055 00056 void MarkerArrayVoxelToPointCloud::unsubscribe() 00057 { 00058 sub_.shutdown(); 00059 } 00060 00061 void MarkerArrayVoxelToPointCloud::convert( 00062 const visualization_msgs::MarkerArray::ConstPtr& marker_array_msg) 00063 { 00064 vital_checker_->poke(); 00065 00066 pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGB>); 00067 cloud->is_dense = true; 00068 for (size_t i=0; i<marker_array_msg->markers.size(); i++) { 00069 visualization_msgs::Marker marker = marker_array_msg->markers[i]; 00070 for (size_t j=0; j<marker.points.size(); j++) { 00071 pcl::PointXYZRGB pt; 00072 pt.x = marker.points[j].x; 00073 pt.y = marker.points[j].y; 00074 pt.z = marker.points[j].z; 00075 pt.r = marker.color.r; 00076 pt.g = marker.color.g; 00077 pt.b = marker.color.b; 00078 cloud->points.push_back(pt); 00079 } 00080 } 00081 00082 sensor_msgs::PointCloud2 ros_cloud; 00083 pcl::toROSMsg(*cloud, ros_cloud); 00084 ros_cloud.header = marker_array_msg->markers[0].header; 00085 pub_.publish(ros_cloud); 00086 } 00087 00088 } // namespace jsk_pcl_ros_utils 00089 00090 #include <pluginlib/class_list_macros.h> 00091 PLUGINLIB_EXPORT_CLASS(jsk_pcl_ros_utils::MarkerArrayVoxelToPointCloud, nodelet::Nodelet);