pointcloud_to_point_indices_nodelet.cpp

Go to the documentation of this file.

// -*- mode: c++ -*-
/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2016, JSK Lab
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/o2r other materials provided
 *     with the distribution.
 *   * Neither the name of the JSK Lab nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *********************************************************************/
#define BOOST_PARAMETER_MAX_ARITY 7
#include "jsk_pcl_ros_utils/pointcloud_to_point_indices.h"
#include <jsk_recognition_utils/pcl_conversion_util.h>
#include <cv_bridge/cv_bridge.h>
#include <sensor_msgs/image_encodings.h>

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

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

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

  void PointCloudToPointIndices::convert(const sensor_msgs::PointCloud2::ConstPtr& cloud_msg)
  {
    vital_checker_->poke();
    pcl::PointCloud<pcl::PointXYZ>::Ptr pc(new pcl::PointCloud<pcl::PointXYZ>);
    pcl::fromROSMsg(*cloud_msg, *pc);
    PCLIndicesMsg indices_msg;
    for (size_t i = 0; i < pc->points.size(); i++)
    {
      if (!isnan(pc->points[i].x) && !isnan(pc->points[i].y) && !isnan(pc->points[i].z))
      {
        indices_msg.indices.push_back(i);
      }
    }
    indices_msg.header = cloud_msg->header;
    pub_.publish(indices_msg);
  }
}

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