pointcloud_to_point_indices_nodelet.cpp

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// -*- mode: c++ -*-
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#define BOOST_PARAMETER_MAX_ARITY 7
#include "jsk_pcl_ros_utils/pointcloud_to_point_indices.h"
#include <jsk_recognition_utils/pcl_conversion_util.h>
#include <cv_bridge/cv_bridge.h>
#include <sensor_msgs/image_encodings.h>

namespace jsk_pcl_ros_utils
{
  void PointCloudToPointIndices::onInit()
  {
    DiagnosticNodelet::onInit();
    pub_ = advertise<PCLIndicesMsg>(*pnh_, "output", 1);
    onInitPostProcess();
  }

  void PointCloudToPointIndices::subscribe()
  {
    sub_ = pnh_->subscribe("input", 1, &PointCloudToPointIndices::convert, this);
  }

  void PointCloudToPointIndices::unsubscribe()
  {
    sub_.shutdown();
  }

  void PointCloudToPointIndices::updateDiagnostic(diagnostic_updater::DiagnosticStatusWrapper &stat)
  {
    if (vital_checker_->isAlive())
    {
      stat.summary(diagnostic_msgs::DiagnosticStatus::OK, "PointCloudToPointIndices running");
    }
    else
    {
      jsk_topic_tools::addDiagnosticErrorSummary("PointCloudToPointIndices", vital_checker_, stat);
    }
  }

  void PointCloudToPointIndices::convert(const sensor_msgs::PointCloud2::ConstPtr& cloud_msg)
  {
    vital_checker_->poke();
    pcl::PointCloud<pcl::PointXYZ>::Ptr pc(new pcl::PointCloud<pcl::PointXYZ>);
    pcl::fromROSMsg(*cloud_msg, *pc);
    PCLIndicesMsg indices_msg;
    for (size_t i = 0; i < pc->points.size(); i++)
    {
      if (!isnan(pc->points[i].x) && !isnan(pc->points[i].y) && !isnan(pc->points[i].z))
      {
        indices_msg.indices.push_back(i);
      }
    }
    indices_msg.header = cloud_msg->header;
    pub_.publish(indices_msg);
  }
}

#include <pluginlib/class_list_macros.h>
PLUGINLIB_EXPORT_CLASS(jsk_pcl_ros_utils::PointCloudToPointIndices, nodelet::Nodelet);