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Publish Pointcloud #10

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4 changes: 4 additions & 0 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -9,8 +9,11 @@ find_package(catkin REQUIRED COMPONENTS
nodelet
cv_bridge
image_transport
pcl_ros
)

find_package(PCL 1.7 REQUIRED)

set(CMAKE_CXX_FLAGS "-std=c++0x -pthread -fPIC ${CMAKE_CXX_FLAGS} -D__STDC_CONSTANT_MACROS")
set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -O1")

Expand All @@ -27,6 +30,7 @@ catkin_package(

include_directories(
include
${PCL_INCLUDE_DIRS}
${catkin_INCLUDE_DIRS})

set(LINK_LIBRARIES
Expand Down
27 changes: 27 additions & 0 deletions src/sc.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -11,6 +11,13 @@
#include <cv_bridge/cv_bridge.h>
#include <sensor_msgs/image_encodings.h>

#include <sensor_msgs/PointCloud2.h>
#include <pcl/PCLPointCloud2.h>
#include <pcl_ros/point_cloud.h>
#include <pcl_conversions/pcl_conversions.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>

#include <ST/CaptureSession.h>
#include <ST/CameraFrames.h>

Expand Down Expand Up @@ -44,6 +51,8 @@ struct SessionDelegate : ST::CaptureSessionDelegate {
ros::Publisher imu_pub_;
sensor_msgs::Imu imu_;

ros::Publisher cloud_pub_;

public:
SessionDelegate(ros::NodeHandle &nh, std::string &frame_id, ST::CaptureSessionSettings &sessionConfig)
{
Expand All @@ -58,6 +67,7 @@ struct SessionDelegate : ST::CaptureSessionDelegate {
// queue size is 1 because we only care about latest image
depth_image_pub_ = it.advertise("depth/image_rect", 1);
depth_caminfo_pub_ = nh_->advertise<sensor_msgs::CameraInfo>("depth/camera_info", 1);
cloud_pub_ = nh_->advertise<sensor_msgs::PointCloud2>("depth/points", 1);
}

if(sessionConfig_->structureCore.visibleEnabled)
Expand Down Expand Up @@ -233,12 +243,21 @@ struct SessionDelegate : ST::CaptureSessionDelegate {

const float* buf = depthFrame.depthInMillimeters();

pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);

for(int y = 0; y < depthFrame.height(); y++)
{
for(int x = 0; x < depthFrame.width(); x++)
{
std::size_t pixelOffset = (y * depthFrame.width()) + x;
img.at<float>(y, x) = buf[pixelOffset];

pcl::PointXYZ p;
p.z = buf[pixelOffset];
p.x = p.z * (y - depthFrame.intrinsics().cx) / depthFrame.intrinsics().fx;
p.y = p.z * (x - depthFrame.intrinsics().cy) / depthFrame.intrinsics().fy;

cloud->points.push_back(p);
}
}

Expand All @@ -253,6 +272,14 @@ struct SessionDelegate : ST::CaptureSessionDelegate {
sensor_msgs::CameraInfo cam_info;
populateCamInfo(depthFrame.intrinsics(), header, cam_info);
depth_caminfo_pub_.publish(cam_info);

cloud->width = cloud->points.size();
cloud->height = 1;
cloud->is_dense = false;
sensor_msgs::PointCloud2 output;
pcl::toROSMsg(*cloud, output);
output.header = header;
cloud_pub_.publish(output);
}

void sendIMU(double timestamp)
Expand Down