////////////////////////////////////////////////////////////////////////////////
// cloud_cb (!)
void cloud_cb (const sensor_msgs::PointCloud2ConstPtr& pc)
{
pcl::PointCloud<pcl::PointXYZ> cloud_in;
pcl::PointCloud<pcl::PointXYZ> output;
pcl::PointCloud<pcl::PointXYZ> output_filtered;
pcl::fromROSMsg(*pc, cloud_in);
if (counter_ == 0)
{
ROS_INFO("Setting input cloud with %ld points", cloud_in.points.size());
seg_.setInputCloud (boost::make_shared<pcl::PointCloud<pcl::PointXYZ> >(cloud_in));
counter_++;
}
else
{
ROS_INFO("Setting target cloud with %ld points", cloud_in.points.size());
seg_.setTargetCloud(boost::make_shared<pcl::PointCloud<pcl::PointXYZ> >(cloud_in));
seg_.segment (output);
counter_ = 0;
ROS_INFO("Publishing difference cloud with %ld points", output.points.size());
pub_diff_.publish (output);
outrem_.setInputCloud (boost::make_shared<pcl::PointCloud<pcl::PointXYZ> >(output));
outrem_.setRadiusSearch (0.02);
outrem_.setMinNeighborsInRadius (15);
outrem_.filter (output_filtered);
pub_filtered_.publish (output_filtered);
}
}
CloudPublisher()
: tf_frame("/base_link"),
private_nh("~")
{
cloud_topic = "cloud";
pub.advertise(nh, cloud_topic.c_str(), 1);
private_nh.param("frame_id", tf_frame, std::string("/base_link"));
ROS_INFO_STREAM("Publishing data on topic \"" << nh.resolveName(cloud_topic) << "\" with frame_id \"" << tf_frame << "\"");
}
SegmentDifferencesNode (ros::NodeHandle &n) : nh_(n)
{
// Maximum number of outgoing messages to be queued for delivery to subscribers = 1
nh_.param("input_cloud_topic", input_cloud_topic_, std::string("/cloud_pcd"));
nh_.param("output_cloud_topic", output_cloud_topic_, std::string("difference"));
nh_.param("output_filtered_cloud_topic", output_filtered_cloud_topic_, std::string("difference_filtered"));
nh_.param("distance_threshold", distance_threshold_, 0.0005);
ROS_INFO ("Distance threshold set to %lf.", distance_threshold_);
pub_diff_.advertise (nh_, output_cloud_topic_.c_str (), 1);
ROS_INFO ("Publishing data on topic %s.", nh_.resolveName (output_cloud_topic_).c_str ());
pub_filtered_.advertise (nh_, output_filtered_cloud_topic_.c_str (), 1);
ROS_INFO ("Publishing data on topic %s.", nh_.resolveName (output_filtered_cloud_topic_).c_str ());
sub_.subscribe (nh_, input_cloud_topic_, 1, boost::bind (&SegmentDifferencesNode::cloud_cb, this, _1));
ROS_INFO ("Listening for incoming data on topic %s", nh_.resolveName (input_cloud_topic_).c_str ());
//set PCL classes
seg_.setDistanceThreshold (distance_threshold_);
rate_ = 1;
counter_ = 0;
}
bool spin ()
{
int nr_points = cloud.width * cloud.height;
std::string fields_list = pcl::getFieldsList(cloud);
ros::Rate r(ros::Duration(1,0)); //1s tact
while(nh.ok ())
{
ROS_DEBUG_STREAM_ONCE("Publishing data with " << nr_points
<< " points " << fields_list
<< " on topic \"" << nh.resolveName(cloud_topic)
<< "\" in frame \"" << cloud.header.frame_id << "\"");
cloud.header.stamp = ros::Time::now();
pub.publish(cloud);
r.sleep();
}
return (true);
}
