normal_estimation_omp_nodelet.cpp

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// -*- mode: c++ -*-
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#define BOOST_PARAMETER_MAX_ARITY 7
#include "jsk_pcl_ros/normal_estimation_omp.h"
#include <pcl/point_types.h>
#include <pcl/features/normal_3d_omp.h>

namespace jsk_pcl_ros
{
  void NormalEstimationOMP::onInit()
  {
    pcl::console::setVerbosityLevel(pcl::console::L_ERROR);
    DiagnosticNodelet::onInit();
    srv_ = boost::make_shared <dynamic_reconfigure::Server<Config> > (*pnh_);
    typename dynamic_reconfigure::Server<Config>::CallbackType f =
      boost::bind (&NormalEstimationOMP::configCallback, this, _1, _2);
    srv_->setCallback (f);
    pub_ = advertise<sensor_msgs::PointCloud2>(*pnh_, "output", 1);
    pub_with_xyz_ = advertise<sensor_msgs::PointCloud2>(*pnh_, "output_with_xyz", 1);
  }

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

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

  void NormalEstimationOMP::configCallback(
    Config& config, uint32_t level)
  {
    boost::mutex::scoped_lock lock(mutex_);
    k_ = config.k_search;
    search_radius_ = config.radius_search;
  }

  void NormalEstimationOMP::estimate(
    const sensor_msgs::PointCloud2::ConstPtr& cloud_msg)
  {
    boost::mutex::scoped_lock lock(mutex_);
    vital_checker_->poke();
    pcl::PointCloud<pcl::PointXYZRGB>::Ptr
      cloud(new pcl::PointCloud<pcl::PointXYZRGB>);
    pcl::fromROSMsg(*cloud_msg, *cloud);
    pcl::NormalEstimationOMP<pcl::PointXYZRGB, pcl::Normal> impl;
    impl.setInputCloud(cloud);
    pcl::search::KdTree<pcl::PointXYZRGB>::Ptr
      tree (new pcl::search::KdTree<pcl::PointXYZRGB> ());
    impl.setSearchMethod (tree);
    impl.setKSearch(k_);
    impl.setRadiusSearch(search_radius_);
    pcl::PointCloud<pcl::Normal>::Ptr
      normal_cloud(new pcl::PointCloud<pcl::Normal>);
    impl.compute(*normal_cloud);

    sensor_msgs::PointCloud2 ros_normal_cloud;
    pcl::toROSMsg(*normal_cloud, ros_normal_cloud);
    ros_normal_cloud.header = cloud_msg->header;
    pub_.publish(ros_normal_cloud);

    pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr
      normal_xyz(new pcl::PointCloud<pcl::PointXYZRGBNormal>);
    normal_xyz->points.resize(cloud->points.size());
    for (size_t i = 0; i < normal_xyz->points.size(); i++) {
      pcl::PointXYZRGBNormal p;
      p.x = cloud->points[i].x;
      p.y = cloud->points[i].y;
      p.z = cloud->points[i].z;
      p.normal_x = normal_cloud->points[i].normal_x;
      p.normal_y = normal_cloud->points[i].normal_y;
      p.normal_z = normal_cloud->points[i].normal_z;
      normal_xyz->points[i] = p;
    }

    sensor_msgs::PointCloud2 ros_normal_xyz_cloud;
    pcl::toROSMsg(*normal_xyz, ros_normal_xyz_cloud);
    ros_normal_xyz_cloud.header = cloud_msg->header;
    pub_with_xyz_.publish(ros_normal_xyz_cloud);
  }
}

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