uniform_sampling_nodelet.cpp
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00001 // -*- mode: c++ -*-
00002 /*********************************************************************
00003  * Software License Agreement (BSD License)
00004  *
00005  *  Copyright (c) 2015, JSK Lab
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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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00035 
00036 #define BOOST_PARAMETER_MAX_ARITY 7
00037 #include "jsk_pcl_ros/uniform_sampling.h"
00038 #if ( PCL_MAJOR_VERSION == 1 && PCL_MINOR_VERSION == 7)
00039 #include <pcl/keypoints/uniform_sampling.h>
00040 #elif ( PCL_MAJOR_VERSION == 1 && PCL_MINOR_VERSION == 8)
00041 #include <pcl/filters/uniform_sampling.h>
00042 #endif
00043 
00044 
00045 namespace jsk_pcl_ros
00046 {
00047   void UniformSampling::onInit()
00048   {
00049     DiagnosticNodelet::onInit();
00050     srv_ = boost::make_shared <dynamic_reconfigure::Server<Config> > (*pnh_);
00051     typename dynamic_reconfigure::Server<Config>::CallbackType f =
00052       boost::bind (&UniformSampling::configCallback, this, _1, _2);
00053     srv_->setCallback (f);
00054 
00055     pub_ = advertise<PCLIndicesMsg>(*pnh_, "output", 1);
00056 
00057     onInitPostProcess();
00058   }
00059 
00060   void UniformSampling::subscribe()
00061   {
00062     sub_ = pnh_->subscribe("input", 1, &UniformSampling::sampling, this);
00063   }
00064 
00065   void UniformSampling::unsubscribe()
00066   {
00067     sub_.shutdown();
00068   }
00069 
00070   void UniformSampling::configCallback(Config& config, uint32_t level)
00071   {
00072     boost::mutex::scoped_lock lock(mutex_);
00073     search_radius_ = config.search_radius;
00074   }
00075 
00076   void UniformSampling::sampling(
00077     const sensor_msgs::PointCloud2::ConstPtr& msg)
00078   {
00079     boost::mutex::scoped_lock lock(mutex_);
00080     pcl::PointCloud<pcl::PointXYZ>::Ptr
00081       cloud (new pcl::PointCloud<pcl::PointXYZ>);
00082     pcl::fromROSMsg(*msg, *cloud);
00083     pcl::UniformSampling<pcl::PointXYZ> uniform_sampling;
00084     uniform_sampling.setInputCloud(cloud);
00085     uniform_sampling.setRadiusSearch(search_radius_);
00086 #if ( PCL_MAJOR_VERSION == 1 && PCL_MINOR_VERSION == 7)
00087     pcl::PointCloud<int> indices;
00088     uniform_sampling.compute(indices);
00089 #elif ( PCL_MAJOR_VERSION == 1 && PCL_MINOR_VERSION == 8)
00090     pcl::PointCloud<pcl::PointXYZ> output;
00091     uniform_sampling.filter(output);
00092     pcl::PointIndicesPtr indices_ptr;
00093     std::vector<int> &indices = *uniform_sampling.getIndices();
00094 #endif
00095     PCLIndicesMsg ros_indices;
00096 #if ( PCL_MAJOR_VERSION == 1 && PCL_MINOR_VERSION == 7)
00097     for (size_t i = 0; i < indices.points.size(); i++) {
00098       ros_indices.indices.push_back(indices.points[i]);
00099     }
00100 #elif ( PCL_MAJOR_VERSION == 1 && PCL_MINOR_VERSION == 8)
00101     for (size_t i = 0; i < indices.size(); i++) {
00102       ros_indices.indices.push_back(indices[i]);
00103     }
00104 #endif
00105     ros_indices.header = msg->header;
00106     pub_.publish(ros_indices);
00107   }
00108 }
00109 
00110 #include <pluginlib/class_list_macros.h>
00111 PLUGINLIB_EXPORT_CLASS (jsk_pcl_ros::UniformSampling, nodelet::Nodelet);


jsk_pcl_ros
Author(s): Yohei Kakiuchi
autogenerated on Sun Oct 8 2017 02:43:50