normal_concatenater_nodelet.cpp
Go to the documentation of this file.
00001 /*********************************************************************
00002  * Software License Agreement (BSD License)
00003  *
00004  *  Copyright (c) 2013, Ryohei Ueda and 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 #include "jsk_pcl_ros_utils/normal_concatenater.h"
00036 #include <pluginlib/class_list_macros.h>
00037 
00038 namespace jsk_pcl_ros_utils
00039 {
00040 
00041   void NormalConcatenater::concatenate(const sensor_msgs::PointCloud2::ConstPtr& xyz,
00042                                        const sensor_msgs::PointCloud2::ConstPtr& normal)
00043   {
00044     if (xyz->width != normal->width || xyz->height != normal->height) {
00045       NODELET_ERROR("~input and ~normal's width or height does not match");
00046       NODELET_ERROR("xyz: width=%d, height=%d", xyz->width, xyz->height);
00047       NODELET_ERROR("normal: width=%d, height=%d", normal->width, normal->height);
00048       return;
00049     }
00050     pcl::PointCloud<pcl::PointXYZRGB> xyz_cloud;
00051     pcl::PointCloud<pcl::Normal> normal_cloud;
00052     pcl::PointCloud<pcl::PointXYZRGBNormal> concatenated_cloud;
00053     pcl::fromROSMsg(*xyz, xyz_cloud);
00054     pcl::fromROSMsg(*normal, normal_cloud);
00055 
00056     concatenated_cloud.points.resize(xyz_cloud.points.size());
00057     concatenated_cloud.width = xyz_cloud.width;
00058     concatenated_cloud.height = xyz_cloud.height;
00059     concatenated_cloud.is_dense = xyz_cloud.is_dense;
00060 
00061     for (size_t i = 0; i < concatenated_cloud.points.size(); i++) {
00062       pcl::PointXYZRGBNormal point;
00063       point.x = xyz_cloud.points[i].x;
00064       point.y = xyz_cloud.points[i].y;
00065       point.z = xyz_cloud.points[i].z;
00066       point.rgb = xyz_cloud.points[i].rgb;
00067       point.normal_x = normal_cloud.points[i].normal_x;
00068       point.normal_y = normal_cloud.points[i].normal_y;
00069       point.normal_z = normal_cloud.points[i].normal_z;
00070       point.curvature = normal_cloud.points[i].curvature;
00071       concatenated_cloud.points[i] = point;
00072     }
00073     sensor_msgs::PointCloud2 output_cloud;
00074     pcl::toROSMsg(concatenated_cloud, output_cloud);
00075     output_cloud.header = xyz->header;
00076     pub_.publish(output_cloud);
00077   }
00078   
00079   void NormalConcatenater::onInit()
00080   {
00081     ConnectionBasedNodelet::onInit();
00082     pcl::console::setVerbosityLevel(pcl::console::L_ERROR);
00083     pnh_->param("use_async", use_async_, false);
00084     pub_ = advertise<sensor_msgs::PointCloud2>(*pnh_, "output", 1);
00085     if (!pnh_->getParam("max_queue_size", maximum_queue_size_)) {
00086       maximum_queue_size_ = 100;
00087     }
00088   }
00089 
00090   void NormalConcatenater::subscribe()
00091   {
00092     sub_xyz_.subscribe(*pnh_, "input", 1);
00093     sub_normal_.subscribe(*pnh_, "normal", 1);
00094     if (use_async_) {
00095       async_ = boost::make_shared<message_filters::Synchronizer<ASyncPolicy> >(maximum_queue_size_);
00096       async_->connectInput(sub_xyz_, sub_normal_);
00097       async_->registerCallback(boost::bind(&NormalConcatenater::concatenate, this, _1, _2));
00098     }
00099     else {
00100       sync_ = boost::make_shared<message_filters::Synchronizer<SyncPolicy> >(maximum_queue_size_);
00101       sync_->connectInput(sub_xyz_, sub_normal_);
00102       sync_->registerCallback(boost::bind(&NormalConcatenater::concatenate, this, _1, _2));
00103     }
00104   }
00105 
00106   void NormalConcatenater::unsubscribe()
00107   {
00108     sub_xyz_.unsubscribe();
00109     sub_normal_.unsubscribe();
00110   }
00111   
00112 }
00113 
00114 PLUGINLIB_EXPORT_CLASS (jsk_pcl_ros_utils::NormalConcatenater, nodelet::Nodelet);
00115 


jsk_pcl_ros_utils
Author(s): Yohei Kakiuchi
autogenerated on Sun Oct 8 2017 02:43:05