polygon_magnifier_nodelet.cpp

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// -*- mode: c++ -*-
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#define BOOST_PARAMETER_MAX_ARITY 7
#include "jsk_pcl_ros_utils/polygon_magnifier.h"
#include "jsk_recognition_utils/geo_util.h"
 
namespace jsk_pcl_ros_utils
{
  void PolygonMagnifier::onInit()
  {
    DiagnosticNodelet::onInit();
    srv_ = boost::make_shared <dynamic_reconfigure::Server<Config> > (*pnh_);
    typename dynamic_reconfigure::Server<Config>::CallbackType f =
      boost::bind (&PolygonMagnifier::configCallback, this, _1, _2);
    srv_->setCallback (f);
 
    pub_ = advertise<jsk_recognition_msgs::PolygonArray>(*pnh_, "output", 1);
    onInitPostProcess();
  }
 
  void PolygonMagnifier::subscribe()
  {
    sub_ = pnh_->subscribe("input", 1, &PolygonMagnifier::magnify, this);
  }
 
  void PolygonMagnifier::unsubscribe()
  {
    sub_.shutdown();
  }
 
  void PolygonMagnifier::configCallback(Config &config, uint32_t level)
  {
    boost::mutex::scoped_lock lock(mutex_);
    use_scale_factor_ = config.use_scale_factor;
    magnify_distance_ = config.magnify_distance;
    magnify_scale_factor_ = config.magnify_scale_factor;
  }
 
  void PolygonMagnifier::magnify(
    const jsk_recognition_msgs::PolygonArray::ConstPtr& msg)
  {
    boost::mutex::scoped_lock lock(mutex_);
    vital_checker_->poke();
 
    jsk_recognition_msgs::PolygonArray ret_polygon_array = *msg;
 
    for (size_t i = 0; i < msg->polygons.size(); i++) {
      jsk_recognition_utils::ConvexPolygon poly =
        jsk_recognition_utils::ConvexPolygon::fromROSMsg(msg->polygons[i].polygon);
 
      jsk_recognition_utils::ConvexPolygon::Ptr magnified_poly;
      if (use_scale_factor_) magnified_poly = poly.magnify(magnify_scale_factor_);
      else                   magnified_poly = poly.magnifyByDistance(magnify_distance_);
 
      if (!magnified_poly->isConvex()) {
        ROS_WARN("Magnified polygon %ld is not convex.", i);
      }
 
      ret_polygon_array.polygons[i].polygon = magnified_poly->toROSMsg();
    }
    pub_.publish(ret_polygon_array);
  }
}
 
#include <pluginlib/class_list_macros.h>
PLUGINLIB_EXPORT_CLASS (jsk_pcl_ros_utils::PolygonMagnifier, nodelet::Nodelet);