extract_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
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00018  *   * Neither the name of the JSK Lab nor the names of its
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00035 
00036 #define BOOST_PARAMETER_MAX_ARITY 7
00037 #include "jsk_pcl_ros/extract_indices.h"
00038 #include "jsk_recognition_utils/pcl_conversion_util.h"
00039 
00040 #if PCL_MAJOR_VERSION >= 1 && PCL_MINOR_VERSION >= 8
00041 #include <pcl/filters/extract_indices.h>
00042 #else
00043 #include "jsk_pcl_ros/pcl/extract_indices_patch.h"
00044 #endif
00045 #include <pcl_conversions/pcl_conversions.h>
00046 #include <sensor_msgs/PointCloud2.h>
00047 
00048 namespace jsk_pcl_ros
00049 {
00050   void ExtractIndices::onInit()
00051   {
00052     DiagnosticNodelet::onInit();
00053     pnh_->param("keep_organized", keep_organized_, false);
00054     pnh_->param("negative", negative_, false);
00055     pnh_->param("max_queue_size", max_queue_size_, 10);
00056     pnh_->param("approximate_sync", approximate_sync_, false);
00057     pub_ = advertise<sensor_msgs::PointCloud2>(*pnh_, "output", 1);
00058     onInitPostProcess();
00059   }
00060 
00061   void ExtractIndices::subscribe()
00062   {
00063     sub_cloud_.subscribe(*pnh_, "input", max_queue_size_);
00064     sub_indices_.subscribe(*pnh_, "indices", max_queue_size_);
00065     if (approximate_sync_) {
00066       async_ = boost::make_shared<message_filters::Synchronizer<ApproximateSyncPolicy> >(100);
00067       async_->connectInput(sub_indices_, sub_cloud_);
00068       async_->registerCallback(
00069         boost::bind(&ExtractIndices::convert, this, _1, _2));
00070     }
00071     else {
00072       sync_ = boost::make_shared<message_filters::Synchronizer<SyncPolicy> >(100);
00073       sync_->connectInput(sub_indices_, sub_cloud_);
00074       sync_->registerCallback(
00075         boost::bind(&ExtractIndices::convert, this, _1, _2));
00076     }
00077   }
00078 
00079   void ExtractIndices::unsubscribe()
00080   {
00081     sub_cloud_.unsubscribe();
00082     sub_indices_.unsubscribe();
00083   }
00084 
00085   void ExtractIndices::convert(
00086     const PCLIndicesMsg::ConstPtr& indices_msg,
00087     const sensor_msgs::PointCloud2::ConstPtr& cloud_msg)
00088   {
00089     vital_checker_->poke();
00090 
00091     pcl::PCLPointCloud2::Ptr input(new pcl::PCLPointCloud2);
00092     pcl_conversions::toPCL(*cloud_msg, *input);
00093     pcl::PointIndices::Ptr indices (new pcl::PointIndices ());
00094     pcl_conversions::toPCL(*indices_msg, *indices);
00095 
00096     // extract pointcloud with indices
00097     pcl::ExtractIndices<pcl::PCLPointCloud2> extract;
00098     extract.setInputCloud(input);
00099     extract.setIndices(indices);
00100     extract.setKeepOrganized(keep_organized_);
00101     extract.setNegative(negative_);
00102     pcl::PCLPointCloud2 output;
00103     extract.filter(output);
00104 
00105     sensor_msgs::PointCloud2 out_cloud_msg;
00106 #if PCL_MAJOR_VERSION <= 1 && PCL_MINOR_VERSION < 8
00107     if (indices_msg->indices.empty() || cloud_msg->data.empty()) {
00108       out_cloud_msg.height = cloud_msg->height;
00109       out_cloud_msg.width = cloud_msg->width;
00110     }
00111 #endif
00112     pcl_conversions::moveFromPCL(output, out_cloud_msg);
00113 
00114     out_cloud_msg.header = cloud_msg->header;
00115     pub_.publish(out_cloud_msg);
00116   }
00117 }
00118 
00119 #include <pluginlib/class_list_macros.h>
00120 PLUGINLIB_EXPORT_CLASS (jsk_pcl_ros::ExtractIndices, nodelet::Nodelet);


jsk_pcl_ros
Author(s): Yohei Kakiuchi
autogenerated on Sun Oct 8 2017 02:43:49