main.cpp

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#include <laser_3d_pointcloud/laser_3d_pointcloud.h>

//GLOBAL VARIABLES
las3D_PointCloud *g_las3D;
int phis_count=0;
int firstscan=1;
ros::Time firstscan_stamp;
ros::Time phi1_stamp;
ros::Time phi2_stamp;
sensor_msgs::JointStatePtr first_state1(new sensor_msgs::JointState);
sensor_msgs::JointStatePtr first_state2(new sensor_msgs::JointState);

void state_cb (const sensor_msgs::JointState::ConstPtr& state_in)
{
        //only access corret joint state
        std::string joint_name = "/connect_laser_roof_rotating";
        if (joint_name.compare(state_in->name[0]) != 0)
                return;
        
        if (firstscan)
        {
                *first_state1=*first_state2;
                *first_state2=*state_in;
                
                phi1_stamp=phi2_stamp;
                phi2_stamp = state_in->header.stamp;
        
                phis_count++;
        }
                        
        sensor_msgs::JointStatePtr new_state(new sensor_msgs::JointState);      
        *new_state=*state_in;
        
        if (!firstscan)//store the state joints in to vector
                g_las3D->joints.push_back(new_state);   

}

void scan_cb(const sensor_msgs::LaserScan::ConstPtr& scan_in)
{       
        
        if (g_las3D->accumulation_mode==2 || g_las3D->accumulation_mode==3)
        {
                sensor_msgs::LaserScanPtr new_scan(new sensor_msgs::LaserScan);
                *new_scan=*scan_in;
                int error=0;
                sensor_msgs::PointCloud2 pcmsg_in;
                
                //transform the laser scan using the scan time stamps
                error=g_las3D->las3D_transformLaserScanToPointCloud(ros::names::remap("/ac_frame"), *new_scan,pcmsg_in,*g_las3D->p_listener); 
        
                if (error)
                        return;
                
                pcl::PointCloud<pcl::PointXYZ> pc_in;
        pcl::PCLPointCloud2 pcl_pc;
        pcl_conversions::toPCL(pcmsg_in, pcl_pc);
        pcl::fromPCLPointCloud2(pcl_pc, pc_in);
    
                pcl::fromROSMsg(pcmsg_in,pc_in);
                
                //accumulate the laser scans
                g_las3D->accumulate_cloud(&pc_in);
                
                g_las3D->laser_count++;
                g_las3D->laserscan_arrived=true;        
                
        }       
        else if (g_las3D->accumulation_mode==1)
        {
                if (phis_count<2)
                        return;
                
                if (firstscan)
                {
                        firstscan_stamp = scan_in->header.stamp;
                        
                        if ( (firstscan_stamp>phi1_stamp && firstscan_stamp<phi2_stamp) && (phi1_stamp.toSec()>0))
                        {
                                firstscan=0;
                                g_las3D->joints.push_back(first_state1); 
                                g_las3D->joints.push_back(first_state2);
                        }
                        else
                                return;
                }
                
                int error=0;
                
                sensor_msgs::LaserScanPtr new_scan(new sensor_msgs::LaserScan);
                *new_scan=*scan_in;
                
                g_las3D->scans.push_back(new_scan); //store the scans to a vector
                
                if(g_las3D->joints.size()<2) //not enough phis to process a scan
                        return;
                
                while(g_las3D->joints.size()>=2 && g_las3D->scans.size()>0)
                {                       
                        int need_state=0;
                        sensor_msgs::LaserScanPtr working_scan(new sensor_msgs::LaserScan);
                        *working_scan=*g_las3D->scans[0]; //get the oldest scan 
                        g_las3D->scans.erase(g_las3D->scans.begin()); 
                        
                        //state start
                        sensor_msgs::JointStatePtr state_start(new sensor_msgs::JointState);    
                        *state_start=*g_las3D->joints[0];                                               
                        
                        g_las3D->joints.erase(g_las3D->joints.begin());
                        
                        //state end
                        sensor_msgs::JointStatePtr state_end(new sensor_msgs::JointState);      
                        *state_end=*g_las3D->joints[0];         
                        
                        //if phi start is lost, get new scan
                        while (working_scan->header.stamp<state_start->header.stamp)
                        {                       
                                if (g_las3D->scans.size()>0)
                                        *working_scan=*g_las3D->scans[0]; 
                                else    
                                {
                                        need_state=1;
                                        break;
                                }
                                
                                g_las3D->scans.erase(g_las3D->scans.begin()); 
                                                        
                        }
                        //if scan is lost and has no relation with the latest phi, get the phi with relation with the scan
                        while (working_scan->header.stamp>state_end->header.stamp)
                        {
                                g_las3D->joints.erase(g_las3D->joints.begin());
                                
                                if (g_las3D->joints.size()>0)
                                        *state_end=*g_las3D->joints[0];
                                else    
                                {
                                        need_state=1;
                                        break;
                                }
                        }
                
                        if (need_state)
                                return;
                                                
                        sensor_msgs::PointCloud2 pcmsg_in;
                        
                        //transform the laser scan in to a point cloud using the external shaft information
                        if (g_las3D->accumulation_mode==1) 
                                error=g_las3D->las3D_transformLaserScanToPointCloud(ros::names::remap("/ac_frame"), *working_scan,pcmsg_in,*state_start,*state_end,*g_las3D->p_listener);
                
                        if (error)
                                return;
                        
                        pcl::PointCloud<pcl::PointXYZ> pc_in;
                        pcl::fromROSMsg(pcmsg_in,pc_in);
                        
                        g_las3D->accumulate_cloud(&pc_in);

                        g_las3D->laser_count++;
                        g_las3D->laserscan_arrived=true;
                        
//                      erase some old data
                        if (g_las3D->laser_count>g_las3D->max_scans_accumulated)
                                g_las3D->pc_accumulated.erase(g_las3D->pc_accumulated.begin(),g_las3D->pc_accumulated.begin()+g_las3D->cloud_size);
                }
        }
        
}


int main(int argc, char **argv)
{
        ros::init(argc, argv, "laser3D_pointcloud");
        ros::NodeHandle n("~");
        tf::TransformListener listener(n,ros::Duration(100));
        //Declaration of class
        las3D_PointCloud las3D;
        g_las3D=&las3D;
        
        g_las3D->p_listener=&listener;

        double output_freq;
        n.param("output_frequency", output_freq, 200.0);
        n.param("accumulation_mode", g_las3D->accumulation_mode, 1);
        n.param("max_scans_accumulated", g_las3D->max_scans_accumulated, 450);
        n.param("pointcloud_stamp", g_las3D->pointcloud_stamp,1);
        
        //Test the remapping of /ac_frame
        if (ros::names::remap("/ac_frame")=="/ac_frame")
        {
                ROS_ERROR("/ac_frame was not remapped. Aborting program.");     
                ros::shutdown();
        }

        //declare the subsriber
        ros::Subscriber sub_phiversion = n.subscribe ("/laserscan0", 100, scan_cb);
        ros::Subscriber sub_state = n.subscribe ("/joint_state", 100, state_cb);
        
        //declare the publisher
        ros::Publisher pub = n.advertise<sensor_msgs::PointCloud2>("/pc_out", 1);

        ros::Rate loop_rate(output_freq);

        while (n.ok())
        {
                ros::spinOnce();

                if (g_las3D->laserscan_arrived)
                {
                        g_las3D->laserscan_arrived=false;                       
                        sensor_msgs::PointCloud2 pcmsg_out;
                        pcl::toROSMsg(g_las3D->pc_accumulated, pcmsg_out);
                        // set the time stamp of output pointcloud
                        if (g_las3D->pointcloud_stamp)
                                pcmsg_out.header.stamp = ros::Time::now();
                        else
            {
                std::cout<<"The message stamp is missing!!, please solve!!"<<std::endl;
//                              pcmsg_out.header.stamp = g_las3D->pc_accumulated.header.stamp;
            }
#if _USE_DEBUG_
                        ROS_INFO("Publishing pc_accumulated with %d points", (int)g_las3D->pc_accumulated.size());
#endif
                        //publish the pointcloud
                        pub.publish(pcmsg_out);

                }
                
                loop_rate.sleep();      
        }
        
}