moving_least_square_smoothing_nodelet.cpp

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#define BOOST_PARAMETER_MAX_ARITY 7
#include "jsk_pcl_ros/moving_least_square_smoothing.h"
 
#include <geometry_msgs/PoseStamped.h>
#include <geometry_msgs/PointStamped.h>
 
#include "jsk_recognition_utils/pcl_conversion_util.h"
#include <pcl/search/kdtree.h>  // for KdTree
 
namespace jsk_pcl_ros
{
  void MovingLeastSquareSmoothing::smooth(const sensor_msgs::PointCloud2ConstPtr& input)
  {
    boost::mutex::scoped_lock lock(mutex_);
    pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGB>);
    pcl::PointCloud<pcl::PointXYZRGB>::Ptr result_cloud(new pcl::PointCloud<pcl::PointXYZRGB>);
    pcl::fromROSMsg(*input, *cloud);
 
    std::vector<int> indices;
    cloud->is_dense = false;
    pcl::removeNaNFromPointCloud(*cloud, *cloud, indices);
 
    pcl::MovingLeastSquares<pcl::PointXYZRGB, pcl::PointXYZRGB> smoother;
    smoother.setSearchRadius (search_radius_);
    if (gauss_param_set_) smoother.setSqrGaussParam (gauss_param_set_);
#if PCL_VERSION_COMPARE (<, 1, 9, 0)  // https://github.com/PointCloudLibrary/pcl/blob/cc08f815a9a5f2a1d3f897fb2bc9d541635792c9/CHANGES.md?plain=1#L1633
    smoother.setPolynomialFit (use_polynomial_fit_);
#endif
    smoother.setPolynomialOrder (polynomial_order_);
    smoother.setComputeNormals (calc_normal_);
 
    typename pcl::search::KdTree<pcl::PointXYZRGB>::Ptr tree (new typename pcl::search::KdTree<pcl::PointXYZRGB> ());
    smoother.setSearchMethod (tree);
    smoother.setInputCloud (cloud);
    smoother.process (*result_cloud);
 
    sensor_msgs::PointCloud2 pointcloud2;
    pcl::toROSMsg(*result_cloud, pointcloud2);
    pointcloud2.header.frame_id = input->header.frame_id;
    pointcloud2.header.stamp = input->header.stamp;
    pub_.publish(pointcloud2);
  }
 
  void MovingLeastSquareSmoothing::subscribe()
  {
    sub_input_ = pnh_->subscribe("input", 1, &MovingLeastSquareSmoothing::smooth, this);
  }
 
  void MovingLeastSquareSmoothing::unsubscribe()
  {
    sub_input_.shutdown();
  }
 
  void MovingLeastSquareSmoothing::configCallback(Config &config, uint32_t level)
  {
    boost::mutex::scoped_lock lock(mutex_);
    search_radius_ = config.search_radius;
    gauss_param_set_ = config.gauss_param_set;
    use_polynomial_fit_ = config.use_polynomial_fit;
    polynomial_order_ = config.polynomial_order;
    calc_normal_ = config.calc_normal;
  }
 
  void MovingLeastSquareSmoothing::onInit(void)
  {
    DiagnosticNodelet::onInit();
    pnh_->param("gauss_param_set", gauss_param_set_, false);
    pnh_->param("search_radius", search_radius_, 0.03);
    pnh_->param("use_polynomial_fit", use_polynomial_fit_, false);
    pnh_->param("polynomial_order", polynomial_order_, 2);
    pnh_->param("calc_normal", calc_normal_, true);
    srv_ = boost::make_shared <dynamic_reconfigure::Server<Config> >(*pnh_);
    dynamic_reconfigure::Server<Config>::CallbackType f =
      boost::bind(&MovingLeastSquareSmoothing::configCallback, this, _1, _2);
    srv_->setCallback(f);
    pub_ =advertise<sensor_msgs::PointCloud2>(*pnh_, "output", 1);
    onInitPostProcess();
  }
}
 
#include <pluginlib/class_list_macros.h>
PLUGINLIB_EXPORT_CLASS (jsk_pcl_ros::MovingLeastSquareSmoothing, nodelet::Nodelet);