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LazyNodelet for features/*

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This commit is contained in:
Kentaro Wada 2017-08-22 17:40:39 +00:00 committed by Paul Bovbel
parent c4c7f30977
commit 9ac65d9d20
14 changed files with 90 additions and 29 deletions
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2
pcl_ros/include/pcl_ros/features/boundary.h
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@ -65,7 +65,7 @@ namespace pcl_ros
childInit (ros::NodeHandle &nh)
{
// Create the output publisher
pub_output_ = nh.advertise<PointCloudOut> ("output", max_queue_size_);
pub_output_ = advertise<PointCloudOut> (nh, "output", max_queue_size_);
return (true);
}

8
pcl_ros/include/pcl_ros/features/feature.h
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@ -165,6 +165,10 @@ namespace pcl_ros
/** \brief Nodelet initialization routine. */
virtual void onInit ();
/** \brief NodeletLazy connection routine. */
virtual void subscribe ();
virtual void unsubscribe ();
/** \brief Input point cloud callback. Used when \a use_indices and \a use_surface are set.
* \param cloud the pointer to the input point cloud
* \param cloud_surface the pointer to the surface point cloud
@ -224,6 +228,10 @@ namespace pcl_ros
/** \brief Nodelet initialization routine. */
virtual void onInit ();
/** \brief NodeletLazy connection routine. */
virtual void subscribe ();
virtual void unsubscribe ();
/** \brief Input point cloud callback. Used when \a use_indices and \a use_surface are set.
* \param cloud the pointer to the input point cloud
* \param cloud_normals the pointer to the input point cloud normals

2
pcl_ros/include/pcl_ros/features/fpfh.h
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@ -77,7 +77,7 @@ namespace pcl_ros
childInit (ros::NodeHandle &nh)
{
// Create the output publisher
pub_output_ = nh.advertise<PointCloudOut> ("output", max_queue_size_);
pub_output_ = advertise<PointCloudOut> (nh, "output", max_queue_size_);
return (true);
}

2
pcl_ros/include/pcl_ros/features/fpfh_omp.h
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@ -74,7 +74,7 @@ namespace pcl_ros
childInit (ros::NodeHandle &nh)
{
// Create the output publisher
pub_output_ = nh.advertise<PointCloudOut> ("output", max_queue_size_);
pub_output_ = advertise<PointCloudOut> (nh, "output", max_queue_size_);
return (true);
}

2
pcl_ros/include/pcl_ros/features/moment_invariants.h
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@ -61,7 +61,7 @@ namespace pcl_ros
childInit (ros::NodeHandle &nh)
{
// Create the output publisher
pub_output_ = nh.advertise<PointCloudOut> ("output", max_queue_size_);
pub_output_ = advertise<PointCloudOut> (nh, "output", max_queue_size_);
return (true);
}

2
pcl_ros/include/pcl_ros/features/normal_3d.h
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@ -63,7 +63,7 @@ namespace pcl_ros
childInit (ros::NodeHandle &nh)
{
// Create the output publisher
pub_output_ = nh.advertise<PointCloudOut> ("output", max_queue_size_);
pub_output_ = advertise<PointCloudOut> (nh, "output", max_queue_size_);
return (true);
}

2
pcl_ros/include/pcl_ros/features/normal_3d_omp.h
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@ -59,7 +59,7 @@ namespace pcl_ros
childInit (ros::NodeHandle &nh)
{
// Create the output publisher
pub_output_ = nh.advertise<PointCloudOut> ("output", max_queue_size_);
pub_output_ = advertise<PointCloudOut> (nh, "output", max_queue_size_);
return (true);
}

2
pcl_ros/include/pcl_ros/features/normal_3d_tbb.h
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@ -62,7 +62,7 @@ namespace pcl_ros
childInit (ros::NodeHandle &nh)
{
// Create the output publisher
pub_output_ = nh.advertise<PointCloud> ("output", max_queue_size_);
pub_output_ = advertise<PointCloud> (nh, "output", max_queue_size_);
return (true);
}

2
pcl_ros/include/pcl_ros/features/pfh.h
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@ -77,7 +77,7 @@ namespace pcl_ros
childInit (ros::NodeHandle &nh)
{
// Create the output publisher
pub_output_ = nh.advertise<PointCloudOut> ("output", max_queue_size_);
pub_output_ = advertise<PointCloudOut> (nh, "output", max_queue_size_);
return (true);
}

2
pcl_ros/include/pcl_ros/features/principal_curvatures.h
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@ -63,7 +63,7 @@ namespace pcl_ros
childInit (ros::NodeHandle &nh)
{
// Create the output publisher
pub_output_ = nh.advertise<PointCloudOut> ("output", max_queue_size_);
pub_output_ = advertise<PointCloudOut> (nh, "output", max_queue_size_);
return (true);
}

2
pcl_ros/include/pcl_ros/features/shot.h
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@ -57,7 +57,7 @@ namespace pcl_ros
childInit (ros::NodeHandle &nh)
{
// Create the output publisher
pub_output_ = nh.advertise<PointCloudOut> ("output", max_queue_size_);
pub_output_ = advertise<PointCloudOut> (nh, "output", max_queue_size_);
return (true);
}

2
pcl_ros/include/pcl_ros/features/shot_omp.h
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@ -56,7 +56,7 @@ namespace pcl_ros
childInit (ros::NodeHandle &nh)
{
// Create the output publisher
pub_output_ = nh.advertise<PointCloudOut> ("output", max_queue_size_);
pub_output_ = advertise<PointCloudOut> (nh, "output", max_queue_size_);
return (true);
}

2
pcl_ros/include/pcl_ros/features/vfh.h
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@ -62,7 +62,7 @@ namespace pcl_ros
childInit (ros::NodeHandle &nh)
{
// Create the output publisher
pub_output_ = nh.advertise<PointCloudOut> ("output", max_queue_size_);
pub_output_ = advertise<PointCloudOut> (nh, "output", max_queue_size_);
return (true);
}

87
pcl_ros/src/pcl_ros/features/feature.cpp
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@ -85,6 +85,21 @@ pcl_ros::Feature::onInit ()
dynamic_reconfigure::Server<FeatureConfig>::CallbackType f = boost::bind (&Feature::config_callback, this, _1, _2);
srv_->setCallback (f);
NODELET_DEBUG ("[%s::onInit] Nodelet successfully created with the following parameters:\n"
" - use_surface : %s\n"
" - k_search : %d\n"
" - radius_search : %f\n"
" - spatial_locator: %d",
getName ().c_str (),
(use_surface_) ? "true" : "false", k_, search_radius_, spatial_locator_type_);
onInitPostProcess ();
}
////////////////////////////////////////////////////////////////////////////////////////////
void
pcl_ros::Feature::subscribe ()
{
// If we're supposed to look for PointIndices (indices) or PointCloud (surface) messages
if (use_indices_ || use_surface_)
{
@ -138,14 +153,26 @@ pcl_ros::Feature::onInit ()
else
// Subscribe in an old fashion to input only (no filters)
sub_input_ = pnh_->subscribe<PointCloudIn> ("input", max_queue_size_, bind (&Feature::input_surface_indices_callback, this, _1, PointCloudInConstPtr (), PointIndicesConstPtr ()));
}
NODELET_DEBUG ("[%s::onInit] Nodelet successfully created with the following parameters:\n"
" - use_surface : %s\n"
" - k_search : %d\n"
" - radius_search : %f\n"
" - spatial_locator: %d",
getName ().c_str (),
(use_surface_) ? "true" : "false", k_, search_radius_, spatial_locator_type_);
////////////////////////////////////////////////////////////////////////////////////////////
void
pcl_ros::Feature::unsubscribe ()
{
if (use_indices_ || use_surface_)
{
sub_input_filter_.unsubscribe ();
if (use_indices_)
{
sub_indices_filter_.unsubscribe ();
if (use_surface_)
sub_surface_filter_.unsubscribe ();
}
else
sub_surface_filter_.unsubscribe ();
}
else
sub_input_.shutdown ();
}
////////////////////////////////////////////////////////////////////////////////////////////
@ -273,14 +300,29 @@ pcl_ros::FeatureFromNormals::onInit ()
// ---[ Optional parameters
pnh_->getParam ("use_surface", use_surface_);
sub_input_filter_.subscribe (*pnh_, "input", max_queue_size_);
sub_normals_filter_.subscribe (*pnh_, "normals", max_queue_size_);
// Enable the dynamic reconfigure service
srv_ = boost::make_shared<dynamic_reconfigure::Server<FeatureConfig> > (*pnh_);
dynamic_reconfigure::Server<FeatureConfig>::CallbackType f = boost::bind (&FeatureFromNormals::config_callback, this, _1, _2);
srv_->setCallback (f);
NODELET_DEBUG ("[%s::onInit] Nodelet successfully created with the following parameters:\n"
" - use_surface : %s\n"
" - k_search : %d\n"
" - radius_search : %f\n"
" - spatial_locator: %d",
getName ().c_str (),
(use_surface_) ? "true" : "false", k_, search_radius_, spatial_locator_type_);
onInitPostProcess ();
}
//////////////////////////////////////////////////////////////////////////////////////////////
void
pcl_ros::FeatureFromNormals::subscribe ()
{
sub_input_filter_.subscribe (*pnh_, "input", max_queue_size_);
sub_normals_filter_.subscribe (*pnh_, "normals", max_queue_size_);
// Create the objects here
if (approximate_sync_)
sync_input_normals_surface_indices_a_ = boost::make_shared <message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloudIn, PointCloudN, PointCloudIn, PointIndices> > > (max_queue_size_);
@ -341,14 +383,25 @@ pcl_ros::FeatureFromNormals::onInit ()
sync_input_normals_surface_indices_a_->registerCallback (bind (&FeatureFromNormals::input_normals_surface_indices_callback, this, _1, _2, _3, _4));
else
sync_input_normals_surface_indices_e_->registerCallback (bind (&FeatureFromNormals::input_normals_surface_indices_callback, this, _1, _2, _3, _4));
}
NODELET_DEBUG ("[%s::onInit] Nodelet successfully created with the following parameters:\n"
" - use_surface : %s\n"
" - k_search : %d\n"
" - radius_search : %f\n"
" - spatial_locator: %d",
getName ().c_str (),
(use_surface_) ? "true" : "false", k_, search_radius_, spatial_locator_type_);
//////////////////////////////////////////////////////////////////////////////////////////////
void
pcl_ros::FeatureFromNormals::unsubscribe ()
{
sub_input_filter_.unsubscribe ();
sub_normals_filter_.unsubscribe ();
if (use_indices_ || use_surface_)
{
if (use_indices_)
{
sub_indices_filter_.unsubscribe ();
if (use_surface_)
sub_surface_filter_.unsubscribe ();
}
else
sub_surface_filter_.unsubscribe ();
}
}
//////////////////////////////////////////////////////////////////////////////////////////////