add_point_indices_nodelet.cpp
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00001 // -*- mode: c++ -*-
00002 /*********************************************************************
00003  * Software License Agreement (BSD License)
00004  *
00005  *  Copyright (c) 2015, JSK Lab
00006  *  All rights reserved.
00007  *
00008  *  Redistribution and use in source and binary forms, with or without
00009  *  modification, are permitted provided that the following conditions
00010  *  are met:
00011  *
00012  *   * Redistributions of source code must retain the above copyright
00013  *     notice, this list of conditions and the following disclaimer.
00014  *   * Redistributions in binary form must reproduce the above
00015  *     copyright notice, this list of conditions and the following
00016  *     disclaimer in the documentation and/o2r other materials provided
00017  *     with the distribution.
00018  *   * Neither the name of the JSK Lab nor the names of its
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00020  *     from this software without specific prior written permission.
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00022  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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00035 
00036 #define BOOST_PARAMETER_MAX_ARITY 7
00037 #include "jsk_pcl_ros/add_point_indices.h"
00038 
00039 
00040 namespace jsk_pcl_ros
00041 {
00042   void AddPointIndices::onInit()
00043   {
00044     DiagnosticNodelet::onInit();
00045     pnh_->param("approximate_sync", approximate_sync_, false);
00046     pub_ = advertise<PCLIndicesMsg>(*pnh_, "output", 1);
00047   }
00048 
00049   void AddPointIndices::subscribe()
00050   {
00051     sub_src1_.subscribe(*pnh_, "input/src1", 1);
00052     sub_src2_.subscribe(*pnh_, "input/src2", 1);
00053     if (approximate_sync_) {
00054       async_ = boost::make_shared<message_filters::Synchronizer<ASyncPolicy> >(100);
00055       async_->connectInput(sub_src1_, sub_src2_);
00056       async_->registerCallback(
00057         boost::bind(&AddPointIndices::add,
00058                     this, _1, _2));
00059     }
00060     else {
00061       sync_ = boost::make_shared<message_filters::Synchronizer<SyncPolicy> >(100);
00062       sync_->connectInput(sub_src1_, sub_src2_);
00063       sync_->registerCallback(
00064         boost::bind(&AddPointIndices::add,
00065                     this, _1, _2));
00066     }
00067   }
00068 
00069   void AddPointIndices::unsubscribe()
00070   {
00071     sub_src1_.unsubscribe();
00072     sub_src2_.unsubscribe();
00073   }
00074 
00075   void AddPointIndices::add(
00076     const PCLIndicesMsg::ConstPtr& src1,
00077     const PCLIndicesMsg::ConstPtr& src2)
00078   {
00079     pcl::PointIndices a, b;
00080     pcl_conversions::toPCL(*src1, a);
00081     pcl_conversions::toPCL(*src2, b);
00082     pcl::PointIndices::Ptr c = addIndices(a, b);
00083     c->header = a.header;
00084     PCLIndicesMsg ros_indices;
00085     pcl_conversions::fromPCL(*c, ros_indices);
00086     ros_indices.header = src1->header;
00087     pub_.publish(ros_indices);
00088   }
00089 }
00090 
00091 #include <pluginlib/class_list_macros.h>
00092 PLUGINLIB_EXPORT_CLASS (jsk_pcl_ros::AddPointIndices, nodelet::Nodelet);
00093 


jsk_pcl_ros
Author(s): Yohei Kakiuchi
autogenerated on Wed Sep 16 2015 04:36:47