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LazyNodelet for filters/ProjectInliers

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This commit is contained in:
Kentaro Wada 2017-08-22 17:21:39 +00:00 committed by Paul Bovbel
parent 560fd2cd63
commit c4c7f30977
2 changed files with 36 additions and 14 deletions
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4
pcl_ros/include/pcl_ros/filters/project_inliers.h
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@ -97,6 +97,10 @@ namespace pcl_ros
virtual void virtual void
onInit (); onInit ();
/** \brief NodeletLazy connection routine. */
void subscribe ();
void unsubscribe ();
/** \brief PointCloud2 + Indices + Model data callback. */ /** \brief PointCloud2 + Indices + Model data callback. */
void void
input_indices_model_callback (const PointCloud2::ConstPtr &cloud, input_indices_model_callback (const PointCloud2::ConstPtr &cloud,

46
pcl_ros/src/pcl_ros/filters/project_inliers.cpp
View File

@ -43,8 +43,6 @@
void void
pcl_ros::ProjectInliers::onInit () pcl_ros::ProjectInliers::onInit ()
{ {
// No need to call the super onInit as we are overwriting everything
//Filter<sensor_msgs::PointCloud2>::onInit ();
PCLNodelet::onInit (); PCLNodelet::onInit ();
// ---[ Mandatory parameters // ---[ Mandatory parameters
@ -65,11 +63,30 @@ pcl_ros::ProjectInliers::onInit ()
pnh_->getParam ("copy_all_data", copy_all_data); pnh_->getParam ("copy_all_data", copy_all_data);
pnh_->getParam ("copy_all_fields", copy_all_fields); pnh_->getParam ("copy_all_fields", copy_all_fields);
pub_output_ = pnh_->advertise<PointCloud2> ("output", max_queue_size_); pub_output_ = advertise<PointCloud2> (*pnh_, "output", max_queue_size_);
// Subscribe to the input using a filter // Subscribe to the input using a filter
sub_input_filter_.subscribe (*pnh_, "input", max_queue_size_); sub_input_filter_.subscribe (*pnh_, "input", max_queue_size_);
NODELET_DEBUG ("[%s::onInit] Nodelet successfully created with the following parameters:\n"
" - model_type : %d\n"
" - copy_all_data : %s\n"
" - copy_all_fields : %s",
getName ().c_str (),
model_type, (copy_all_data) ? "true" : "false", (copy_all_fields) ? "true" : "false");
// Set given parameters here
impl_.setModelType (model_type);
impl_.setCopyAllFields (copy_all_fields);
impl_.setCopyAllData (copy_all_data);
onInitPostProcess ();
}
//////////////////////////////////////////////////////////////////////////////////////////////
void
pcl_ros::ProjectInliers::subscribe ()
{
/* /*
TODO : implement use_indices_ TODO : implement use_indices_
if (use_indices_) if (use_indices_)
@ -91,18 +108,19 @@ pcl_ros::ProjectInliers::onInit ()
sync_input_indices_model_e_->connectInput (sub_input_filter_, sub_indices_filter_, sub_model_); sync_input_indices_model_e_->connectInput (sub_input_filter_, sub_indices_filter_, sub_model_);
sync_input_indices_model_e_->registerCallback (bind (&ProjectInliers::input_indices_model_callback, this, _1, _2, _3)); sync_input_indices_model_e_->registerCallback (bind (&ProjectInliers::input_indices_model_callback, this, _1, _2, _3));
} }
}
NODELET_DEBUG ("[%s::onInit] Nodelet successfully created with the following parameters:\n"
" - model_type : %d\n"
" - copy_all_data : %s\n"
" - copy_all_fields : %s",
getName ().c_str (),
model_type, (copy_all_data) ? "true" : "false", (copy_all_fields) ? "true" : "false");
// Set given parameters here //////////////////////////////////////////////////////////////////////////////////////////////
impl_.setModelType (model_type); void
impl_.setCopyAllFields (copy_all_fields); pcl_ros::ProjectInliers::unsubscribe ()
impl_.setCopyAllData (copy_all_data); {
/*
TODO : implement use_indices_
if (use_indices_)
{*/
sub_input_filter_.unsubscribe ();
sub_model_.unsubscribe ();
} }
////////////////////////////////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////////////////////////////////