normal_concatenater_nodelet.cpp

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#include "jsk_pcl_ros_utils/normal_concatenater.h"
#include <pluginlib/class_list_macros.h>
 
namespace jsk_pcl_ros_utils
{
 
  void NormalConcatenater::concatenate(const sensor_msgs::PointCloud2::ConstPtr& xyz,
                                       const sensor_msgs::PointCloud2::ConstPtr& normal)
  {
    if (xyz->width != normal->width || xyz->height != normal->height) {
      NODELET_ERROR("~input and ~normal's width or height does not match");
      NODELET_ERROR("xyz: width=%d, height=%d", xyz->width, xyz->height);
      NODELET_ERROR("normal: width=%d, height=%d", normal->width, normal->height);
      return;
    }
    pcl::PointCloud<pcl::PointXYZRGB> xyz_cloud;
    pcl::PointCloud<pcl::Normal> normal_cloud;
    pcl::PointCloud<pcl::PointXYZRGBNormal> concatenated_cloud;
    pcl::fromROSMsg(*xyz, xyz_cloud);
    pcl::fromROSMsg(*normal, normal_cloud);
 
    concatenated_cloud.points.resize(xyz_cloud.points.size());
    concatenated_cloud.width = xyz_cloud.width;
    concatenated_cloud.height = xyz_cloud.height;
    concatenated_cloud.is_dense = xyz_cloud.is_dense;
 
    for (size_t i = 0; i < concatenated_cloud.points.size(); i++) {
      pcl::PointXYZRGBNormal point;
      point.x = xyz_cloud.points[i].x;
      point.y = xyz_cloud.points[i].y;
      point.z = xyz_cloud.points[i].z;
      point.rgb = xyz_cloud.points[i].rgb;
      point.normal_x = normal_cloud.points[i].normal_x;
      point.normal_y = normal_cloud.points[i].normal_y;
      point.normal_z = normal_cloud.points[i].normal_z;
      point.curvature = normal_cloud.points[i].curvature;
      concatenated_cloud.points[i] = point;
    }
    sensor_msgs::PointCloud2 output_cloud;
    pcl::toROSMsg(concatenated_cloud, output_cloud);
    output_cloud.header = xyz->header;
    pub_.publish(output_cloud);
  }
  
  void NormalConcatenater::onInit()
  {
    ConnectionBasedNodelet::onInit();
    pcl::console::setVerbosityLevel(pcl::console::L_ERROR);
    pnh_->param("use_async", use_async_, false);
    pub_ = advertise<sensor_msgs::PointCloud2>(*pnh_, "output", 1);
    if (!pnh_->getParam("max_queue_size", maximum_queue_size_)) {
      maximum_queue_size_ = 100;
    }
    onInitPostProcess();
  }
 
  NormalConcatenater::~NormalConcatenater() {
    // message_filters::Synchronizer needs to be called reset
    // before message_filters::Subscriber is freed.
    // Calling reset fixes the following error on shutdown of the nodelet:
    // terminate called after throwing an instance of
    // 'boost::exception_detail::clone_impl<boost::exception_detail::error_info_injector<boost::lock_error> >'
    //     what():  boost: mutex lock failed in pthread_mutex_lock: Invalid argument
    // Also see https://github.com/ros/ros_comm/issues/720 .
    sync_.reset();
    async_.reset();
  }
 
  void NormalConcatenater::subscribe()
  {
    sub_xyz_.subscribe(*pnh_, "input", 1);
    sub_normal_.subscribe(*pnh_, "normal", 1);
    if (use_async_) {
      async_ = boost::make_shared<message_filters::Synchronizer<ASyncPolicy> >(maximum_queue_size_);
      async_->connectInput(sub_xyz_, sub_normal_);
      async_->registerCallback(boost::bind(&NormalConcatenater::concatenate, this, _1, _2));
    }
    else {
      sync_ = boost::make_shared<message_filters::Synchronizer<SyncPolicy> >(maximum_queue_size_);
      sync_->connectInput(sub_xyz_, sub_normal_);
      sync_->registerCallback(boost::bind(&NormalConcatenater::concatenate, this, _1, _2));
    }
  }
 
  void NormalConcatenater::unsubscribe()
  {
    sub_xyz_.unsubscribe();
    sub_normal_.unsubscribe();
  }
  
}
 
PLUGINLIB_EXPORT_CLASS (jsk_pcl_ros_utils::NormalConcatenater, nodelet::Nodelet);