mask_image_filter_nodelet.cpp

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// -*- mode: c++ -*-
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#define BOOST_PARAMETER_MAX_ARITY 7
#include "jsk_pcl_ros/mask_image_filter.h"
#include <cv_bridge/cv_bridge.h>
#include <image_geometry/pinhole_camera_model.h>
#include "jsk_pcl_ros/pcl_conversion_util.h"
#include <sensor_msgs/image_encodings.h>

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

  void MaskImageFilter::subscribe()
  {
    sub_cloud_ = pnh_->subscribe("input", 1, &MaskImageFilter::filter, this);
    sub_image_ = pnh_->subscribe("input/mask", 1,
                                 &MaskImageFilter::imageCalback, this);
    sub_info_ = pnh_->subscribe("input/camera_info", 1,
                                &MaskImageFilter::infoCalback, this);
  }

  void MaskImageFilter::unsubscribe()
  {
    sub_cloud_.shutdown();
    sub_info_.shutdown();
    sub_info_.shutdown();
  }
  
  void MaskImageFilter::infoCalback(
    const sensor_msgs::CameraInfo::ConstPtr& info_ms)
  {
    boost::mutex::scoped_lock lock(mutex_);
    camera_info_ = info_ms;
  }

  void MaskImageFilter::imageCalback(
    const sensor_msgs::Image::ConstPtr& mask_msg)
  {
    boost::mutex::scoped_lock lock(mutex_);
    cv_bridge::CvImagePtr cv_ptr = cv_bridge::toCvCopy(
      mask_msg, sensor_msgs::image_encodings::MONO8);
    mask_image_ = cv_ptr->image;
  }

  void MaskImageFilter::filter(
    const sensor_msgs::PointCloud2::ConstPtr& cloud_msg)
  {
    boost::mutex::scoped_lock lock(mutex_);
    if (camera_info_ && !mask_image_.empty()) {
      image_geometry::PinholeCameraModel model;
      model.fromCameraInfo(camera_info_);
      pcl::PointCloud<pcl::PointXYZ>::Ptr cloud
        (new pcl::PointCloud<pcl::PointXYZ>);
      pcl::fromROSMsg(*cloud_msg, *cloud);
      PCLIndicesMsg indices;
      indices.header = cloud_msg->header;
      for (size_t i = 0; i < cloud->points.size(); i++) {
        pcl::PointXYZ p = cloud->points[i];
        cv::Point2d uv = model.project3dToPixel(cv::Point3d(p.x, p.y, p.z));
        // check size
        if (uv.x > 0 && uv.x < mask_image_.cols &&
            uv.y > 0 && uv.y < mask_image_.rows) {
          if (mask_image_.at<uchar>(uv.y, uv.x) == 255) {
            indices.indices.push_back(i);
          }
        }
      }
      pub_.publish(indices);
    }
  }
}

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