marker_array_voxel_to_pointcloud_nodelet.cpp

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#define BOOST_PARAMETER_MAX_ARITY 7

#include <pcl_conversions/pcl_conversions.h>
#include "jsk_pcl_ros_utils/marker_array_voxel_to_pointcloud.h"

namespace jsk_pcl_ros_utils
{

  void MarkerArrayVoxelToPointCloud::onInit()
  {
    DiagnosticNodelet::onInit();

    pub_ = advertise<sensor_msgs::PointCloud2>(*pnh_, "output", 1);
    onInitPostProcess();
  }

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

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

  void MarkerArrayVoxelToPointCloud::convert(
    const visualization_msgs::MarkerArray::ConstPtr& marker_array_msg)
  {
    vital_checker_->poke();

    pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGB>);
    cloud->is_dense = true;
    for (size_t i=0; i<marker_array_msg->markers.size(); i++) {
      visualization_msgs::Marker marker = marker_array_msg->markers[i];
      for (size_t j=0; j<marker.points.size(); j++) {
        pcl::PointXYZRGB pt;
        pt.x = marker.points[j].x;
        pt.y = marker.points[j].y;
        pt.z = marker.points[j].z;
        pt.r = marker.color.r;
        pt.g = marker.color.g;
        pt.b = marker.color.b;
        cloud->points.push_back(pt);
      }
    }

    sensor_msgs::PointCloud2 ros_cloud;
    pcl::toROSMsg(*cloud, ros_cloud);
    ros_cloud.header = marker_array_msg->markers[0].header;
    pub_.publish(ros_cloud);
  }

}  // namespace jsk_pcl_ros_utils

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