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LazyNodelet for surface/MovingLeastSquares

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This commit is contained in:
Kentaro Wada 2017-08-22 16:16:17 +00:00 committed by Paul Bovbel
parent 7c70b159da
commit 6f2d30996a
2 changed files with 32 additions and 9 deletions
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8
pcl_ros/include/pcl_ros/surface/moving_least_squares.h
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@ -110,11 +110,15 @@ namespace pcl_ros
* \param level the dynamic reconfigure level * \param level the dynamic reconfigure level
*/ */
void config_callback (MLSConfig &config, uint32_t level); void config_callback (MLSConfig &config, uint32_t level);
private:
/** \brief Nodelet initialization routine. */ /** \brief Nodelet initialization routine. */
virtual void onInit (); virtual void onInit ();
/** \brief LazyNodelet connection routine. */
virtual void subscribe ();
virtual void unsubscribe ();
private:
/** \brief Input point cloud callback. /** \brief Input point cloud callback.
* \param cloud the pointer to the input point cloud * \param cloud the pointer to the input point cloud
* \param indices the pointer to the input point cloud indices * \param indices the pointer to the input point cloud indices

33
pcl_ros/src/pcl_ros/surface/moving_least_squares.cpp
View File

@ -45,8 +45,8 @@ pcl_ros::MovingLeastSquares::onInit ()
PCLNodelet::onInit (); PCLNodelet::onInit ();
//ros::NodeHandle private_nh = getMTPrivateNodeHandle (); //ros::NodeHandle private_nh = getMTPrivateNodeHandle ();
pub_output_ = pnh_->advertise<PointCloudIn> ("output", max_queue_size_); pub_output_ = advertise<PointCloudIn> (*pnh_, "output", max_queue_size_);
pub_normals_ = pnh_->advertise<NormalCloudOut> ("normals", max_queue_size_); pub_normals_ = advertise<NormalCloudOut> (*pnh_, "normals", max_queue_size_);
//if (!pnh_->getParam ("k_search", k_) && !pnh_->getParam ("search_radius", search_radius_)) //if (!pnh_->getParam ("k_search", k_) && !pnh_->getParam ("search_radius", search_radius_))
if (!pnh_->getParam ("search_radius", search_radius_)) if (!pnh_->getParam ("search_radius", search_radius_))
@ -69,6 +69,18 @@ pcl_ros::MovingLeastSquares::onInit ()
// ---[ Optional parameters // ---[ Optional parameters
pnh_->getParam ("use_indices", use_indices_); pnh_->getParam ("use_indices", use_indices_);
NODELET_DEBUG ("[%s::onInit] Nodelet successfully created with the following parameters:\n"
" - use_indices : %s",
getName ().c_str (),
(use_indices_) ? "true" : "false");
onInitPostProcess ();
}
//////////////////////////////////////////////////////////////////////////////////////////////
void
pcl_ros::MovingLeastSquares::subscribe ()
{
// If we're supposed to look for PointIndices (indices) // If we're supposed to look for PointIndices (indices)
if (use_indices_) if (use_indices_)
{ {
@ -95,12 +107,19 @@ pcl_ros::MovingLeastSquares::onInit ()
else else
// Subscribe in an old fashion to input only (no filters) // Subscribe in an old fashion to input only (no filters)
sub_input_ = pnh_->subscribe<PointCloudIn> ("input", 1, bind (&MovingLeastSquares::input_indices_callback, this, _1, PointIndicesConstPtr ())); sub_input_ = pnh_->subscribe<PointCloudIn> ("input", 1, bind (&MovingLeastSquares::input_indices_callback, this, _1, PointIndicesConstPtr ()));
}
//////////////////////////////////////////////////////////////////////////////////////////////
NODELET_DEBUG ("[%s::onInit] Nodelet successfully created with the following parameters:\n" void
" - use_indices : %s", pcl_ros::MovingLeastSquares::unsubscribe ()
getName ().c_str (), {
(use_indices_) ? "true" : "false"); if (use_indices_)
{
sub_input_filter_.unsubscribe ();
sub_indices_filter_.unsubscribe ();
}
else
sub_input_.shutdown ();
} }
////////////////////////////////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////////////////////////////////