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apollo_public_repos/apollo-platform/ros/perception_pcl | apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/CMakeLists.txt | cmake_minimum_required(VERSION 2.8)
project(pcl_ros)
## Find system dependencies
find_package(cmake_modules REQUIRED)
find_package(Boost REQUIRED COMPONENTS system filesystem thread)
find_package(Eigen REQUIRED)
find_package(PCL REQUIRED)
## Find catkin packages
find_package(catkin REQUIRED COMPONENTS
dynamic_reconfigure
genmsg
nodelet
nodelet_topic_tools
pcl_conversions
pcl_msgs
pluginlib
rosbag
rosconsole
roscpp
roslib
sensor_msgs
std_msgs
tf
)
## Add include directories
include_directories(include
${Boost_INCLUDE_DIRS}
${catkin_INCLUDE_DIRS}
${Eigen_INCLUDE_DIRS}
${PCL_INCLUDE_DIRS}
)
## Generate dynamic_reconfigure
generate_dynamic_reconfigure_options(
cfg/EuclideanClusterExtraction.cfg
cfg/ExtractIndices.cfg
cfg/ExtractPolygonalPrismData.cfg
cfg/Feature.cfg
cfg/Filter.cfg
cfg/MLS.cfg
cfg/SACSegmentation.cfg
cfg/SACSegmentationFromNormals.cfg
cfg/SegmentDifferences.cfg
cfg/StatisticalOutlierRemoval.cfg
cfg/RadiusOutlierRemoval.cfg
cfg/VoxelGrid.cfg
cfg/CropBox.cfg
)
## Declare the catkin package
catkin_package(
INCLUDE_DIRS include
LIBRARIES
pcl_ros_filters
pcl_ros_io
pcl_ros_tf
CATKIN_DEPENDS
dynamic_reconfigure
message_filters
nodelet
pcl_conversions
pcl_msgs
rosbag
roscpp
sensor_msgs
std_msgs
tf
DEPENDS
Boost
Eigen
PCL
)
## Declare the pcl_ros_tf library
add_library(pcl_ros_tf src/transforms.cpp)
target_link_libraries(pcl_ros_tf ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${Eigen_LIBRARIES} ${PCL_LIBRARIES})
add_dependencies(pcl_ros_tf pcl_ros_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
## Nodelets
## Declare the pcl_ros_io library
add_library(pcl_ros_io
src/pcl_ros/io/bag_io.cpp
src/pcl_ros/io/concatenate_data.cpp
src/pcl_ros/io/concatenate_fields.cpp
src/pcl_ros/io/io.cpp
src/pcl_ros/io/pcd_io.cpp
)
target_link_libraries(pcl_ros_io pcl_ros_tf ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${Eigen_LIBRARIES} ${PCL_LIBRARIES})
class_loader_hide_library_symbols(pcl_ros_io)
## Declare the pcl_ros_features library
add_library(pcl_ros_features
src/pcl_ros/features/feature.cpp
# Compilation is much faster if we include all the following CPP files in feature.cpp
src/pcl_ros/features/boundary.cpp
src/pcl_ros/features/fpfh.cpp
src/pcl_ros/features/fpfh_omp.cpp
src/pcl_ros/features/shot.cpp
src/pcl_ros/features/shot_omp.cpp
src/pcl_ros/features/moment_invariants.cpp
src/pcl_ros/features/normal_3d.cpp
src/pcl_ros/features/normal_3d_omp.cpp
src/pcl_ros/features/pfh.cpp
src/pcl_ros/features/principal_curvatures.cpp
src/pcl_ros/features/vfh.cpp
)
target_link_libraries (pcl_ros_features ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${Eigen_LIBRARIES} ${PCL_LIBRARIES})
add_dependencies(pcl_ros_features ${PROJECT_NAME}_gencfg)
class_loader_hide_library_symbols(pcl_ros_features)
## Declare the pcl_ros_filters library
add_library(pcl_ros_filters
src/pcl_ros/filters/extract_indices.cpp
src/pcl_ros/filters/filter.cpp
src/pcl_ros/filters/passthrough.cpp
src/pcl_ros/filters/project_inliers.cpp
src/pcl_ros/filters/radius_outlier_removal.cpp
src/pcl_ros/filters/statistical_outlier_removal.cpp
src/pcl_ros/filters/voxel_grid.cpp
src/pcl_ros/filters/crop_box.cpp
)
target_link_libraries(pcl_ros_filters pcl_ros_tf ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${Eigen_LIBRARIES} ${PCL_LIBRARIES})
add_dependencies(pcl_ros_filters ${PROJECT_NAME}_gencfg)
class_loader_hide_library_symbols(pcl_ros_filters)
## Declare the pcl_ros_segmentation library
add_library (pcl_ros_segmentation
src/pcl_ros/segmentation/extract_clusters.cpp
src/pcl_ros/segmentation/extract_polygonal_prism_data.cpp
src/pcl_ros/segmentation/sac_segmentation.cpp
src/pcl_ros/segmentation/segment_differences.cpp
src/pcl_ros/segmentation/segmentation.cpp
)
target_link_libraries(pcl_ros_segmentation pcl_ros_tf ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${Eigen_LIBRARIES} ${PCL_LIBRARIES})
add_dependencies(pcl_ros_segmentation ${PROJECT_NAME}_gencfg)
class_loader_hide_library_symbols(pcl_ros_segmentation)
## Declare the pcl_ros_surface library
add_library (pcl_ros_surface
src/pcl_ros/surface/surface.cpp
# Compilation is much faster if we include all the following CPP files in surface.cpp
src/pcl_ros/surface/convex_hull.cpp
src/pcl_ros/surface/moving_least_squares.cpp
)
target_link_libraries(pcl_ros_surface ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${Eigen_LIBRARIES} ${PCL_LIBRARIES})
add_dependencies(pcl_ros_surface ${PROJECT_NAME}_gencfg)
class_loader_hide_library_symbols(pcl_ros_surface)
## Tools
add_executable(pcd_to_pointcloud tools/pcd_to_pointcloud.cpp)
target_link_libraries(pcd_to_pointcloud ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${Eigen_LIBRARIES} ${PCL_LIBRARIES})
add_executable(pointcloud_to_pcd tools/pointcloud_to_pcd.cpp)
target_link_libraries(pointcloud_to_pcd ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${Eigen_LIBRARY_DIRS} ${PCL_LIBRARIES})
add_executable(bag_to_pcd tools/bag_to_pcd.cpp)
target_link_libraries(bag_to_pcd pcl_ros_tf ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${Eigen_LIBRARY_DIRS} ${PCL_LIBRARIES})
add_executable(convert_pcd_to_image tools/convert_pcd_to_image.cpp)
target_link_libraries(convert_pcd_to_image ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${Eigen_LIBRARIES} ${PCL_LIBRARIES})
add_executable(convert_pointcloud_to_image tools/convert_pointcloud_to_image.cpp)
target_link_libraries(convert_pointcloud_to_image ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${Eigen_LIBRARIES} ${PCL_LIBRARIES})
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
install(
TARGETS
pcl_ros_tf
pcl_ros_io
pcl_ros_features
pcl_ros_filters
pcl_ros_surface
pcl_ros_segmentation
pcd_to_pointcloud
pointcloud_to_pcd
bag_to_pcd
convert_pcd_to_image
convert_pointcloud_to_image
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
)
install(FILES pcl_nodelets.xml DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
| 0 |
apollo_public_repos/apollo-platform/ros/perception_pcl | apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/package.xml | <package>
<name>pcl_ros</name>
<version>1.2.7</version>
<description>
PCL (Point Cloud Library) ROS interface stack. PCL-ROS is the preferred
bridge for 3D applications involving n-D Point Clouds and 3D geometry
processing in ROS.
</description>
<author>Open Perception</author>
<author email="[email protected]">Julius Kammerl</author>
<author email="[email protected]">William Woodall</author>
<maintainer email="[email protected]">Paul Bovbel</maintainer>
<maintainer email="[email protected]">Bill Morris</maintainer>
<license>BSD</license>
<url type="website">http://ros.org/wiki/perception_pcl</url>
<url type="bugtracker">https://github.com/ros-perception/perception_pcl/issues</url>
<url type="repository">https://github.com/ros-perception/perception_pcl</url>
<buildtool_depend>catkin</buildtool_depend>
<build_depend>cmake_modules</build_depend>
<build_depend>rosconsole</build_depend>
<build_depend>genmsg</build_depend>
<build_depend>roslib</build_depend>
<build_depend>dynamic_reconfigure</build_depend>
<build_depend>eigen</build_depend>
<build_depend>nodelet</build_depend>
<build_depend>nodelet_topic_tools</build_depend>
<build_depend>libpcl-all-dev</build_depend>
<build_depend>pcl_conversions</build_depend>
<build_depend>pcl_msgs</build_depend>
<build_depend>pluginlib</build_depend>
<build_depend>rosbag</build_depend>
<build_depend>roscpp</build_depend>
<build_depend>sensor_msgs</build_depend>
<build_depend>std_msgs</build_depend>
<build_depend>tf</build_depend>
<build_depend>python-vtk</build_depend>
<build_depend>libvtk-java</build_depend>
<run_depend>dynamic_reconfigure</run_depend>
<run_depend>eigen</run_depend>
<run_depend>message_filters</run_depend>
<run_depend>nodelet</run_depend>
<run_depend>nodelet_topic_tools</run_depend>
<run_depend>libpcl-all</run_depend>
<run_depend>libpcl-all-dev</run_depend>
<run_depend>pcl_conversions</run_depend>
<run_depend>pcl_msgs</run_depend>
<run_depend>pluginlib</run_depend>
<run_depend>rosbag</run_depend>
<run_depend>roscpp</run_depend>
<run_depend>sensor_msgs</run_depend>
<run_depend>std_msgs</run_depend>
<run_depend>tf</run_depend>
<run_depend>python-vtk</run_depend>
<run_depend>libvtk-java</run_depend>
<export>
<nodelet plugin="${prefix}/pcl_nodelets.xml"/>
</export>
</package>
| 0 |
apollo_public_repos/apollo-platform/ros/perception_pcl | apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/pcl_nodelets.xml | <!-- PCL Features library component -->
<library path="lib/libpcl_ros_features">
<class name="pcl/BoundaryEstimation" type="BoundaryEstimation" base_class_type="nodelet::Nodelet">
<description>
BoundaryEstimation estimates whether a set of points is lying on surface boundaries using an angle criterion. The
code makes use of the estimated surface normals at each point in the input data set.
</description>
</class>
<class name="pcl/FPFHEstimation" type="FPFHEstimation" base_class_type="nodelet::Nodelet">
<description>
FPFHEstimation estimates the Fast Point Feature Histogram (FPFH) descriptor for a given point cloud dataset
containing points and normals.
</description>
</class>
<class name="pcl/FPFHEstimationOMP" type="FPFHEstimationOMP" base_class_type="nodelet::Nodelet">
<description>
FPFHEstimationOMP estimates the Fast Point Feature Histogram (FPFH) descriptor for a given point cloud dataset
containing points and normals, in parallel, using the OpenMP standard.
</description>
</class>
<class name="pcl/SHOTEstimation" type="SHOTEstimation" base_class_type="nodelet::Nodelet">
<description>
SHOTEstimation estimates SHOT descriptor for a given point cloud dataset
containing points and normals.
</description>
</class>
<class name="pcl/SHOTEstimationOMP" type="SHOTEstimationOMP" base_class_type="nodelet::Nodelet">
<description>
SHOTEstimationOMP estimates SHOT descriptor for a given point cloud dataset
containing points and normals, in parallel, using the OpenMP standard.
</description>
</class>
<class name="pcl/MomentInvariantsEstimation" type="MomentInvariantsEstimation" base_class_type="nodelet::Nodelet">
<description>
MomentInvariantsEstimation estimates the 3 moment invariants (j1, j2, j3) at each 3D point.
</description>
</class>
<class name="pcl/NormalEstimationOMP" type="NormalEstimationOMP" base_class_type="nodelet::Nodelet">
<description>
NormalEstimationOMP estimates local surface properties at each 3D point, such as surface normals and curvatures,
in parallel, using the OpenMP standard.
</description>
</class>
<class name="pcl/NormalEstimationTBB" type="NormalEstimationTBB" base_class_type="nodelet::Nodelet">
<description>
NormalEstimationTBB estimates local surface properties at each 3D point, such as surface normals and curvatures, in
parallel, using Intel's Threading Building Blocks library.
</description>
</class>
<class name="pcl/NormalEstimation" type="NormalEstimation" base_class_type="nodelet::Nodelet">
<description>
NormalEstimation estimates local surface properties at each 3D point, such as surface normals and curvatures.
</description>
</class>
<class name="pcl/PFHEstimation" type="PFHEstimation" base_class_type="nodelet::Nodelet">
<description>
PFHEstimation estimates the Point Feature Histogram (PFH) descriptor for a given point cloud dataset containing
points and normals.
</description>
</class>
<class name="pcl/PrincipalCurvaturesEstimation" type="PrincipalCurvaturesEstimation" base_class_type="nodelet::Nodelet">
<description>
PrincipalCurvaturesEstimation estimates the directions (eigenvectors) and magnitudes (eigenvalues) of principal surface
curvatures for a given point cloud dataset containing points and normals.
</description>
</class>
<class name="pcl/VFHEstimation" type="VFHEstimation" base_class_type="nodelet::Nodelet">
<description>
VFHEstimation estimates the Viewpoint Feature Histogram (VFH) global descriptor for a given point cloud cluster dataset
containing points and normals.
</description>
</class>
</library>
<!-- PCL IO library component -->
<library path="lib/libpcl_ros_io">
<class name="pcl/NodeletMUX" type="NodeletMUX" base_class_type="nodelet::Nodelet">
<description>
NodeletMUX represent a mux nodelet for PointCloud topics: it takes N (up
to 8) input topics, and publishes all of them on one output topic.
</description>
</class>
<class name="pcl/NodeletDEMUX" type="NodeletDEMUX" base_class_type="nodelet::Nodelet">
<description>
NodeletDEMUX represent a demux nodelet for PointCloud topics: it
publishes 1 input topic to N output topics.
</description>
</class>
<class name="pcl/PCDReader" type="PCDReader" base_class_type="nodelet::Nodelet">
<description>
PCDReader reads in a PCD (Point Cloud Data) v.5 file from disk and converts it to a PointCloud message.
</description>
</class>
<class name="pcl/BAGReader" type="BAGReader" base_class_type="nodelet::Nodelet">
<description>
BAGReader reads in sensor_msgs/PointCloud2 messages from BAG files.
</description>
</class>
<class name="pcl/PCDWriter" type="PCDWriter" base_class_type="nodelet::Nodelet">
<description>
PCDWriter writes a PointCloud message to disk in a PCD (Point Cloud Data) v.5 file format.
</description>
</class>
<class name="pcl/PointCloudConcatenateFieldsSynchronizer" type="PointCloudConcatenateFieldsSynchronizer" base_class_type="nodelet::Nodelet">
<description>
PointCloudConcatenateFieldsSynchronizer is a special form of data synchronizer: it listens for a set of input PointCloud messages on the
same topic, checks their timestamps, and concatenates their fields together into a single PointCloud output message.
</description>
</class>
<class name="pcl/PointCloudConcatenateDataSynchronizer" type="PointCloudConcatenateDataSynchronizer" base_class_type="nodelet::Nodelet">
<description>
PointCloudConcatenateDataSynchronizer is a special form of data
synchronizer: it listens for a set of input PointCloud messages on
different topics, and concatenates them together into a single PointCloud
output message.
</description>
</class>
</library>
<!-- PCL Filters library component -->
<library path="lib/libpcl_ros_filters">
<class name="pcl/PassThrough" type="PassThrough" base_class_type="nodelet::Nodelet">
<description>
PassThrough is a filter that uses the basic Filter class mechanisms for passing data around.
</description>
</class>
<class name="pcl/VoxelGrid" type="VoxelGrid" base_class_type="nodelet::Nodelet">
<description>
VoxelGrid assembles a local 3D grid over a given PointCloud, and uses that to downsample the data.
</description>
</class>
<class name="pcl/ProjectInliers" type="ProjectInliers" base_class_type="nodelet::Nodelet">
<description>
ProjectInliers uses a model and a set of inlier indices from a PointCloud to project them into a separate PointCloud.
</description>
</class>
<class name="pcl/ExtractIndices" type="ExtractIndices" base_class_type="nodelet::Nodelet">
<description>
ExtractIndices extracts a set of indices from a PointCloud as a separate PointCloud.
</description>
</class>
<class name="pcl/StatisticalOutlierRemoval" type="StatisticalOutlierRemoval" base_class_type="nodelet::Nodelet">
<description>
StatisticalOutlierRemoval uses point neighborhood statistics to filter outlier data.
</description>
</class>
<class name="pcl/RadiusOutlierRemoval" type="RadiusOutlierRemoval" base_class_type="nodelet::Nodelet">
<description>
RadiusOutlierRemoval uses point neighborhood statistics to filter outlier data.
</description>
</class>
<class name="pcl/CropBox" type="CropBox" base_class_type="nodelet::Nodelet">
<description>
CropBox is a filter that allows the user to filter all the data inside of a given box.
</description>
</class>
</library>
<!-- PCL Segmentation library component -->
<library path="lib/libpcl_ros_segmentation">
<class name="pcl/ExtractPolygonalPrismData" type="ExtractPolygonalPrismData" base_class_type="nodelet::Nodelet">
<description>
ExtractPolygonalPrismData uses a set of point indices that represent a planar model, and together with a given
height, generates a 3D polygonal prism. The polygonal prism is then used to segment all points lying inside it.
</description>
</class>
<class name="pcl/EuclideanClusterExtraction" type="EuclideanClusterExtraction" base_class_type="nodelet::Nodelet">
<description>
EuclideanClusterExtraction represents a segmentation class for cluster extraction in an Euclidean sense.
</description>
</class>
<class name="pcl/SACSegmentationFromNormals" type="SACSegmentationFromNormals" base_class_type="nodelet::Nodelet">
<description>
SACSegmentation represents the Nodelet segmentation class for Sample Consensus methods and models, in the sense that
it just creates a Nodelet wrapper for generic-purpose SAC-based segmentation.
</description>
</class>
<class name="pcl/SACSegmentation" type="SACSegmentation" base_class_type="nodelet::Nodelet">
<description>
SACSegmentation represents the Nodelet segmentation class for Sample Consensus methods and models, in the sense that
it just creates a Nodelet wrapper for generic-purpose SAC-based segmentation.
</description>
</class>
<class name="pcl/SegmentDifferences" type="SegmentDifferences" base_class_type="nodelet::Nodelet">
<description>
SegmentDifferences obtains the difference between two spatially aligned point clouds and returns the
difference between them for a maximum given distance threshold.
</description>
</class>
</library>
<!-- PCL Surface reconstruction library component -->
<library path="lib/libpcl_ros_surface">
<class name="pcl/MovingLeastSquares" type="MovingLeastSquares" base_class_type="nodelet::Nodelet">
<description>
MovingLeastSquares is an implementation of the MLS algorithm for data reconstruction through bivariate polynomial fitting.
</description>
</class>
<class name="pcl/ConvexHull2D" type="ConvexHull2D" base_class_type="nodelet::Nodelet">
<description>
ConvexHull2D represents a 2D ConvexHull implementation.
</description>
</class>
</library>
| 0 |
apollo_public_repos/apollo-platform/ros/perception_pcl | apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/CHANGELOG.rst | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
Changelog for package pcl_ros
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
1.2.7 (2015-06-08)
------------------
* Sync pcl_nodelets.xml from hydro to indigo
Fixes to pass catkin lint -W1
* Fixes `#87 <https://github.com/ros-perception/perception_pcl/issues/87>`_ for Indigo
* Fixes `#85 <https://github.com/ros-perception/perception_pcl/issues/85>`_ for Indigo
* Fixes `#77 <https://github.com/ros-perception/perception_pcl/issues/77>`_ and `#80 <https://github.com/ros-perception/perception_pcl/issues/80>`_ for indigo
* Added option to save pointclouds in binary and binary compressed format
* Contributors: Lucid One, Mitchell Wills
1.2.6 (2015-02-04)
------------------
1.2.5 (2015-01-20)
------------------
1.2.4 (2015-01-15)
------------------
1.2.3 (2015-01-10)
------------------
* Update common.py
Extended filter limits up to ±100000.0 in order to support intensity channel filtering.
* Contributors: Dani Carbonell
1.2.2 (2014-10-25)
------------------
* Adding target_frame
[Ability to specify frame in bag_to_pcd ](https://github.com/ros-perception/perception_pcl/issues/55)
* Update pcl_nodelets.xml
Included missing closing library tag. This was causing the pcl/Filter nodelets below the missing nodelet tag to not be exported correctly.
* Contributors: Matt Derry, Paul Bovbel, Ruffin
1.2.1 (2014-09-13)
------------------
* clean up merge
* merge pull request `#60 <https://github.com/ros-perception/perception_pcl/issues/60>`_
* Contributors: Paul Bovbel
1.2.0 (2014-04-09)
------------------
* Updated maintainership
* Fix TF2 support for bag_to_pcd `#46 <https://github.com/ros-perception/perception_pcl/issues/46>`_
* Use cmake_modules to find eigen on indigo `#45 <https://github.com/ros-perception/perception_pcl/issues/45>`_
1.1.7 (2013-09-20)
------------------
* adding more uncaught config dependencies
* adding FeatureConfig dependency too
1.1.6 (2013-09-20)
------------------
* add excplicit dependency on gencfg target
1.1.5 (2013-08-27)
------------------
* Updated package.xml's to use new libpcl-all rosdep rules
* package.xml: tuned whitespaces
This commit removes trailing whitespaces and makes the line with the license information in the package.xml bitwise match exactly the common license information line in most ROS packages.
The trailing whitespaces were detected when providing a bitbake recipe in the meta-ros project (github.com/bmwcarit/meta-ros). In the recipe, the hash of the license line is declared and is used to check for changes in the license. For this recipe, it was not matching the common one.
A related already merged commit is https://github.com/ros/std_msgs/pull/3 and a related pending commit is https://github.com/ros-perception/pcl_msgs/pull/1.
1.1.4 (2013-07-23)
------------------
* Fix a serialization error with point_cloud headers
* Initialize shared pointers before use in part of the pcl_conversions
Should address runtime errors reported in `#29 <https://github.com/ros-perception/perception_pcl/issues/29>`_
* Changed the default bounds on filters to -1000, 1000 from -5, 5 in common.py
1.1.2 (2013-07-19)
------------------
* Fixed missing package exports on pcl_conversions and others
* Make find_package on Eigen and PCL REQUIRED
1.1.1 (2013-07-10)
------------------
* Add missing EIGEN define which caused failures on the farm
1.1.0 (2013-07-09)
------------------
* Add missing include in one of the installed headers
* Refactors to use pcl-1.7
* Use the PointIndices from pcl_msgs
* Experimental changes to point_cloud.h
* Fixes from converting from pcl-1.7, incomplete
* Depend on pcl_conversions and pcl_msgs
* bag_to_pcd: check return code of transformPointCloud()
This fixes a bug where bag_to_pcd segfaults because of an ignored
tf::ExtrapolationException.
* Changed #include type to lib
* Changed some #include types to lib
* removed a whitespace
1.0.34 (2013-05-21)
-------------------
* fixing catkin python imports
1.0.33 (2013-05-20)
-------------------
* Fixing catkin python imports
1.0.32 (2013-05-17)
-------------------
* Merge pull request `#11 <https://github.com/ros-perception/perception_pcl/issues/11>`_ from k-okada/groovy-devel
revert removed directories
* fix to compileable
* copy features/segmentation/surface from fuerte-devel
1.0.31 (2013-04-22 11:58)
-------------------------
* No changes
1.0.30 (2013-04-22 11:47)
-------------------------
* deprecating bin install targets
1.0.29 (2013-03-04)
-------------------
* Fixes `#7 <https://github.com/ros-perception/perception_pcl/issues/7>`_
* now also works without specifying publishing interval like described in the wiki.
1.0.28 (2013-02-05 12:29)
-------------------------
* reenabling deprecated install targets - comment added
1.0.27 (2013-02-05 12:10)
-------------------------
* Update pcl_ros/package.xml
* Fixing target install directory for pcl tools
* update pluginlib macro
1.0.26 (2013-01-17)
-------------------
* fixing catkin export
1.0.25 (2013-01-01)
-------------------
* fixes `#1 <https://github.com/ros-perception/perception_pcl/issues/1>`_
1.0.24 (2012-12-21)
-------------------
* remove obsolete roslib import
1.0.23 (2012-12-19 16:52)
-------------------------
* clean up shared parameters
1.0.22 (2012-12-19 15:22)
-------------------------
* fix dyn reconf files
1.0.21 (2012-12-18 17:42)
-------------------------
* fixing catkin_package debs
1.0.20 (2012-12-18 14:21)
-------------------------
* adding catkin_project dependencies
1.0.19 (2012-12-17 21:47)
-------------------------
* adding nodelet_topic_tools dependency
1.0.18 (2012-12-17 21:17)
-------------------------
* adding pluginlib dependency
* adding nodelet dependencies
* CMake install fixes
* migrating nodelets and tools from fuerte release to pcl_ros
* Updated for new <buildtool_depend>catkin<...> catkin rule
1.0.17 (2012-10-26 09:28)
-------------------------
* remove useless tags
1.0.16 (2012-10-26 08:53)
-------------------------
* no need to depend on a meta-package
1.0.15 (2012-10-24)
-------------------
* do not generrate messages automatically
1.0.14 (2012-10-23)
-------------------
* bring back the PCL msgs
1.0.13 (2012-10-11 17:46)
-------------------------
* install library to the right place
1.0.12 (2012-10-11 17:25)
-------------------------
1.0.11 (2012-10-10)
-------------------
* fix a few dependencies
1.0.10 (2012-10-04)
-------------------
* comply to the new catkin API
* fixed pcl_ros manifest
* added pcl exports in manifest.xml
* fixed rosdeb pcl in pcl_ros/manifest.xml
* removing common_rosdeps from manifest.xml
* perception_pcl restructuring in groovy branch
* restructuring perception_pcl in groovy branch
* catkinized version of perception_pcl for groovy
* added PCL 1.6 stack for groovy
| 0 |
apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros | apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/tools/convert_pcd_to_image.cpp | /*
* Software License Agreement (BSD License)
*
* Copyright (c) 2010, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* $Id: surface_convex_hull.cpp 34612 2010-12-08 01:06:27Z rusu $
*
*/
/**
\author Ethan Rublee
@b convert a pcd to an image file
run with:
rosrun pcl convert_pcd_image cloud_00042.pcd
It will publish a ros image message on /pcd/image
View the image with:
rosrun image_view image_view image:=/pcd/image
**/
#include <ros/ros.h>
#include <sensor_msgs/Image.h>
#include <sensor_msgs/PointCloud2.h>
#include <pcl/io/io.h>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl_conversions/pcl_conversions.h>
/* ---[ */
int
main (int argc, char **argv)
{
ros::init (argc, argv, "image_publisher");
ros::NodeHandle nh;
ros::Publisher image_pub = nh.advertise <sensor_msgs::Image> ("output", 1);
if (argc != 2)
{
std::cout << "usage:\n" << argv[0] << " cloud.pcd" << std::endl;
return 1;
}
sensor_msgs::Image image;
sensor_msgs::PointCloud2 cloud;
pcl::io::loadPCDFile (std::string (argv[1]), cloud);
try
{
pcl::toROSMsg (cloud, image); //convert the cloud
}
catch (std::runtime_error &e)
{
ROS_ERROR_STREAM("Error in converting cloud to image message: "
<< e.what());
return 1; //fail!
}
ros::Rate loop_rate (5);
while (nh.ok ())
{
image_pub.publish (image);
ros::spinOnce ();
loop_rate.sleep ();
}
return (0);
}
/* ]--- */
| 0 |
apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros | apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/tools/convert_pointcloud_to_image.cpp | /*
* Software License Agreement (BSD License)
*
* Copyright (c) 2010, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* $Id: surface_convex_hull.cpp 34612 2010-12-08 01:06:27Z rusu $
*
*/
/**
\author Ethan Rublee
**/
// ROS core
#include <ros/ros.h>
//Image message
#include <sensor_msgs/Image.h>
#include <sensor_msgs/PointCloud2.h>
//pcl::toROSMsg
#include <pcl/io/pcd_io.h>
//conversions from PCL custom types
#include <pcl_conversions/pcl_conversions.h>
//stl stuff
#include <string>
class PointCloudToImage
{
public:
void
cloud_cb (const sensor_msgs::PointCloud2ConstPtr& cloud)
{
if ((cloud->width * cloud->height) == 0)
return; //return if the cloud is not dense!
try
{
pcl::toROSMsg (*cloud, image_); //convert the cloud
}
catch (std::runtime_error &e)
{
ROS_ERROR_STREAM("Error in converting cloud to image message: "
<< e.what());
}
image_pub_.publish (image_); //publish our cloud image
}
PointCloudToImage () : cloud_topic_("input"),image_topic_("output")
{
sub_ = nh_.subscribe (cloud_topic_, 30,
&PointCloudToImage::cloud_cb, this);
image_pub_ = nh_.advertise<sensor_msgs::Image> (image_topic_, 30);
//print some info about the node
std::string r_ct = nh_.resolveName (cloud_topic_);
std::string r_it = nh_.resolveName (image_topic_);
ROS_INFO_STREAM("Listening for incoming data on topic " << r_ct );
ROS_INFO_STREAM("Publishing image on topic " << r_it );
}
private:
ros::NodeHandle nh_;
sensor_msgs::Image image_; //cache the image message
std::string cloud_topic_; //default input
std::string image_topic_; //default output
ros::Subscriber sub_; //cloud subscriber
ros::Publisher image_pub_; //image message publisher
};
int
main (int argc, char **argv)
{
ros::init (argc, argv, "convert_pointcloud_to_image");
PointCloudToImage pci; //this loads up the node
ros::spin (); //where she stops nobody knows
return 0;
}
| 0 |
apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros | apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/tools/bag_to_pcd.cpp | /*
* Software License Agreement (BSD License)
*
* Copyright (c) 2009, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* $Id: bag_to_pcd.cpp 35812 2011-02-08 00:05:03Z rusu $
*
*/
/**
\author Radu Bogdan Rusu
@b bag_to_pcd is a simple node that reads in a BAG file and saves all the PointCloud messages to disk in PCD (Point
Cloud Data) format.
**/
#include <sstream>
#include <boost/filesystem.hpp>
#include <rosbag/bag.h>
#include <rosbag/view.h>
#include <pcl/io/io.h>
#include <pcl/io/pcd_io.h>
#include <pcl_conversions/pcl_conversions.h>
#include "pcl_ros/transforms.h"
#include <tf/transform_listener.h>
#include <tf/transform_broadcaster.h>
typedef sensor_msgs::PointCloud2 PointCloud;
typedef PointCloud::Ptr PointCloudPtr;
typedef PointCloud::ConstPtr PointCloudConstPtr;
/* ---[ */
int
main (int argc, char** argv)
{
ros::init (argc, argv, "bag_to_pcd");
if (argc < 4)
{
std::cerr << "Syntax is: " << argv[0] << " <file_in.bag> <topic> <output_directory> [<target_frame>]" << std::endl;
std::cerr << "Example: " << argv[0] << " data.bag /laser_tilt_cloud ./pointclouds /base_link" << std::endl;
return (-1);
}
// TF
tf::TransformListener tf_listener;
tf::TransformBroadcaster tf_broadcaster;
rosbag::Bag bag;
rosbag::View view;
rosbag::View::iterator view_it;
try
{
bag.open (argv[1], rosbag::bagmode::Read);
}
catch (rosbag::BagException)
{
std::cerr << "Error opening file " << argv[1] << std::endl;
return (-1);
}
view.addQuery (bag, rosbag::TypeQuery ("sensor_msgs/PointCloud2"));
view.addQuery (bag, rosbag::TypeQuery ("tf/tfMessage"));
view.addQuery (bag, rosbag::TypeQuery ("tf2_msgs/TFMessage"));
view_it = view.begin ();
std::string output_dir = std::string (argv[3]);
boost::filesystem::path outpath (output_dir);
if (!boost::filesystem::exists (outpath))
{
if (!boost::filesystem::create_directories (outpath))
{
std::cerr << "Error creating directory " << output_dir << std::endl;
return (-1);
}
std::cerr << "Creating directory " << output_dir << std::endl;
}
// Add the PointCloud2 handler
std::cerr << "Saving recorded sensor_msgs::PointCloud2 messages on topic " << argv[2] << " to " << output_dir << std::endl;
PointCloud cloud_t;
ros::Duration r (0.001);
// Loop over the whole bag file
while (view_it != view.end ())
{
// Handle TF messages first
tf::tfMessage::ConstPtr tf = view_it->instantiate<tf::tfMessage> ();
if (tf != NULL)
{
tf_broadcaster.sendTransform (tf->transforms);
ros::spinOnce ();
r.sleep ();
}
else
{
// Get the PointCloud2 message
PointCloudConstPtr cloud = view_it->instantiate<PointCloud> ();
if (cloud == NULL)
{
++view_it;
continue;
}
// If a target_frame was specified
if(argc > 4)
{
// Transform it
if (!pcl_ros::transformPointCloud (argv[4], *cloud, cloud_t, tf_listener))
{
++view_it;
continue;
}
}
else
{
// Else, don't transform it
cloud_t = *cloud;
}
std::cerr << "Got " << cloud_t.width * cloud_t.height << " data points in frame " << cloud_t.header.frame_id << " with the following fields: " << pcl::getFieldsList (cloud_t) << std::endl;
std::stringstream ss;
ss << output_dir << "/" << cloud_t.header.stamp << ".pcd";
std::cerr << "Data saved to " << ss.str () << std::endl;
pcl::io::savePCDFile (ss.str (), cloud_t, Eigen::Vector4f::Zero (),
Eigen::Quaternionf::Identity (), true);
}
// Increment the iterator
++view_it;
}
return (0);
}
/* ]--- */
| 0 |
apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros | apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/tools/pcd_to_pointcloud.cpp | /*
* Software License Agreement (BSD License)
*
* Copyright (c) 2009, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* $Id: pcd_to_pointcloud.cpp 33238 2010-03-11 00:46:58Z rusu $
*
*/
/**
\author Radu Bogdan Rusu
@b pcd_to_pointcloud is a simple node that loads PCD (Point Cloud Data) files from disk and publishes them as ROS messages on the network.
**/
// ROS core
#include <ros/ros.h>
#include <pcl/io/io.h>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl_conversions/pcl_conversions.h>
#include "pcl_ros/publisher.h"
using namespace std;
class PCDGenerator
{
protected:
string tf_frame_;
ros::NodeHandle nh_;
ros::NodeHandle private_nh_;
public:
// ROS messages
sensor_msgs::PointCloud2 cloud_;
string file_name_, cloud_topic_;
double wait_;
pcl_ros::Publisher<sensor_msgs::PointCloud2> pub_;
////////////////////////////////////////////////////////////////////////////////
PCDGenerator () : tf_frame_ ("/base_link"), private_nh_("~")
{
// Maximum number of outgoing messages to be queued for delivery to subscribers = 1
cloud_topic_ = "cloud_pcd";
pub_.advertise (nh_, cloud_topic_.c_str (), 1);
private_nh_.param("frame_id", tf_frame_, std::string("/base_link"));
ROS_INFO ("Publishing data on topic %s with frame_id %s.", nh_.resolveName (cloud_topic_).c_str (), tf_frame_.c_str());
}
////////////////////////////////////////////////////////////////////////////////
// Start
int
start ()
{
if (file_name_ == "" || pcl::io::loadPCDFile (file_name_, cloud_) == -1)
return (-1);
cloud_.header.frame_id = tf_frame_;
return (0);
}
////////////////////////////////////////////////////////////////////////////////
// Spin (!)
bool spin ()
{
int nr_points = cloud_.width * cloud_.height;
string fields_list = pcl::getFieldsList (cloud_);
double interval = wait_ * 1e+6;
while (nh_.ok ())
{
ROS_DEBUG_ONCE ("Publishing data with %d points (%s) on topic %s in frame %s.", nr_points, fields_list.c_str (), nh_.resolveName (cloud_topic_).c_str (), cloud_.header.frame_id.c_str ());
cloud_.header.stamp = ros::Time::now ();
if (pub_.getNumSubscribers () > 0)
{
ROS_DEBUG ("Publishing data to %d subscribers.", pub_.getNumSubscribers ());
pub_.publish (cloud_);
}
else
{
// check once a second if there is any subscriber
ros::Duration (1).sleep ();
continue;
}
usleep (interval);
if (interval == 0) // We only publish once if a 0 seconds interval is given
{
// Give subscribers 3 seconds until point cloud decays... a little ugly!
ros::Duration (3.0).sleep ();
break;
}
}
return (true);
}
};
/* ---[ */
int
main (int argc, char** argv)
{
if (argc < 2)
{
std::cerr << "Syntax is: " << argv[0] << " <file.pcd> [publishing_interval (in seconds)]" << std::endl;
return (-1);
}
ros::init (argc, argv, "pcd_to_pointcloud");
PCDGenerator c;
c.file_name_ = string (argv[1]);
// check if publishing interval is given
if (argc == 2)
{
c.wait_ = 0;
}
else
{
c.wait_ = atof (argv[2]);
}
if (c.start () == -1)
{
ROS_ERROR ("Could not load file %s. Exiting.", argv[1]);
return (-1);
}
ROS_INFO ("Loaded a point cloud with %d points (total size is %zu) and the following channels: %s.", c.cloud_.width * c.cloud_.height, c.cloud_.data.size (), pcl::getFieldsList (c.cloud_).c_str ());
c.spin ();
return (0);
}
/* ]--- */
| 0 |
apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros | apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/tools/pointcloud_to_pcd.cpp | /*
* Software License Agreement (BSD License)
*
* Copyright (c) 2009, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* $Id: pointcloud_to_pcd.cpp 33238 2010-03-11 00:46:58Z rusu $
*
*/
// ROS core
#include <ros/ros.h>
#include <sensor_msgs/PointCloud2.h>
// PCL includes
#include <pcl/io/io.h>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl_conversions/pcl_conversions.h>
using namespace std;
/**
\author Radu Bogdan Rusu
@b pointcloud_to_pcd is a simple node that retrieves a ROS point cloud message and saves it to disk into a PCD (Point
Cloud Data) file format.
**/
class PointCloudToPCD
{
protected:
ros::NodeHandle nh_;
private:
std::string prefix_;
bool binary_;
bool compressed_;
public:
string cloud_topic_;
ros::Subscriber sub_;
////////////////////////////////////////////////////////////////////////////////
// Callback
void
cloud_cb (const pcl::PCLPointCloud2::ConstPtr& cloud)
{
if ((cloud->width * cloud->height) == 0)
return;
ROS_INFO ("Received %d data points in frame %s with the following fields: %s",
(int)cloud->width * cloud->height,
cloud->header.frame_id.c_str (),
pcl::getFieldsList (*cloud).c_str ());
std::stringstream ss;
ss << prefix_ << cloud->header.stamp << ".pcd";
ROS_INFO ("Data saved to %s", ss.str ().c_str ());
pcl::PCDWriter writer;
if(binary_)
{
if(compressed_)
{
writer.writeBinaryCompressed (ss.str (), *cloud, Eigen::Vector4f::Zero (),
Eigen::Quaternionf::Identity ());
}
else
{
writer.writeBinary (ss.str (), *cloud, Eigen::Vector4f::Zero (),
Eigen::Quaternionf::Identity ());
}
}
else
{
writer.writeASCII (ss.str (), *cloud, Eigen::Vector4f::Zero (),
Eigen::Quaternionf::Identity (), 8);
}
}
////////////////////////////////////////////////////////////////////////////////
PointCloudToPCD () : binary_(false), compressed_(false)
{
// Check if a prefix parameter is defined for output file names.
ros::NodeHandle priv_nh("~");
if (priv_nh.getParam ("prefix", prefix_))
{
ROS_INFO_STREAM ("PCD file prefix is: " << prefix_);
}
else if (nh_.getParam ("prefix", prefix_))
{
ROS_WARN_STREAM ("Non-private PCD prefix parameter is DEPRECATED: "
<< prefix_);
}
priv_nh.getParam ("binary", binary_);
priv_nh.getParam ("compressed", compressed_);
if(binary_)
{
if(compressed_)
{
ROS_INFO_STREAM ("Saving as binary compressed PCD");
}
else
{
ROS_INFO_STREAM ("Saving as binary PCD");
}
}
else
{
ROS_INFO_STREAM ("Saving as ASCII PCD");
}
cloud_topic_ = "input";
sub_ = nh_.subscribe (cloud_topic_, 1, &PointCloudToPCD::cloud_cb, this);
ROS_INFO ("Listening for incoming data on topic %s",
nh_.resolveName (cloud_topic_).c_str ());
}
};
/* ---[ */
int
main (int argc, char** argv)
{
ros::init (argc, argv, "pointcloud_to_pcd", ros::init_options::AnonymousName);
PointCloudToPCD b;
ros::spin ();
return (0);
}
/* ]--- */
| 0 |
apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/include | apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/include/pcl_ros/point_cloud.h | #ifndef pcl_ROS_POINT_CLOUD_H_
#define pcl_ROS_POINT_CLOUD_H_
#include <ros/ros.h>
#include <pcl/point_cloud.h>
#include <pcl/point_traits.h>
#include <pcl/for_each_type.h>
#include <pcl/conversions.h>
#include <pcl_conversions/pcl_conversions.h>
#include <sensor_msgs/PointCloud2.h>
#include <boost/mpl/size.hpp>
#include <boost/ref.hpp>
namespace pcl
{
namespace detail
{
template<typename Stream, typename PointT>
struct FieldStreamer
{
FieldStreamer(Stream& stream) : stream_(stream) {}
template<typename U> void operator() ()
{
const char* name = traits::name<PointT, U>::value;
uint32_t name_length = strlen(name);
stream_.next(name_length);
if (name_length > 0)
memcpy(stream_.advance(name_length), name, name_length);
uint32_t offset = traits::offset<PointT, U>::value;
stream_.next(offset);
uint8_t datatype = traits::datatype<PointT, U>::value;
stream_.next(datatype);
uint32_t count = traits::datatype<PointT, U>::size;
stream_.next(count);
}
Stream& stream_;
};
template<typename PointT>
struct FieldsLength
{
FieldsLength() : length(0) {}
template<typename U> void operator() ()
{
uint32_t name_length = strlen(traits::name<PointT, U>::value);
length += name_length + 13;
}
uint32_t length;
};
} // namespace pcl::detail
} // namespace pcl
namespace ros
{
// In ROS 1.3.1+, we can specialize the functor used to create PointCloud<T> objects
// on the subscriber side. This allows us to generate the mapping between message
// data and object fields only once and reuse it.
#if ROS_VERSION_MINIMUM(1, 3, 1)
template<typename T>
struct DefaultMessageCreator<pcl::PointCloud<T> >
{
boost::shared_ptr<pcl::MsgFieldMap> mapping_;
DefaultMessageCreator()
: mapping_( boost::make_shared<pcl::MsgFieldMap>() )
{
}
boost::shared_ptr<pcl::PointCloud<T> > operator() ()
{
boost::shared_ptr<pcl::PointCloud<T> > msg (new pcl::PointCloud<T> ());
pcl::detail::getMapping(*msg) = mapping_;
return msg;
}
};
#endif
namespace message_traits
{
template<typename T> struct MD5Sum<pcl::PointCloud<T> >
{
static const char* value() { return MD5Sum<sensor_msgs::PointCloud2>::value(); }
static const char* value(const pcl::PointCloud<T>&) { return value(); }
static const uint64_t static_value1 = MD5Sum<sensor_msgs::PointCloud2>::static_value1;
static const uint64_t static_value2 = MD5Sum<sensor_msgs::PointCloud2>::static_value2;
// If the definition of sensor_msgs/PointCloud2 changes, we'll get a compile error here.
ROS_STATIC_ASSERT(static_value1 == 0x1158d486dd51d683ULL);
ROS_STATIC_ASSERT(static_value2 == 0xce2f1be655c3c181ULL);
};
template<typename T> struct DataType<pcl::PointCloud<T> >
{
static const char* value() { return DataType<sensor_msgs::PointCloud2>::value(); }
static const char* value(const pcl::PointCloud<T>&) { return value(); }
};
template<typename T> struct Definition<pcl::PointCloud<T> >
{
static const char* value() { return Definition<sensor_msgs::PointCloud2>::value(); }
static const char* value(const pcl::PointCloud<T>&) { return value(); }
};
template<typename T> struct HasHeader<pcl::PointCloud<T> > : TrueType {};
// This is bad because it will only work for pcl::PointXYZ, but I can't
// find another way around ambiguous partial template specialization...
template<>
struct TimeStamp<pcl::PointCloud<pcl::PointXYZ> >
{
// This specialization could be dangerous, but it's the best I can do.
// If this TimeStamp struct is destroyed before they are done with the
// pointer returned by the first functions may go out of scope, but there
// isn't a lot I can do about that. This is a good reason to refuse to
// returning pointers like this...
static ros::Time* pointer(pcl::PointCloud<pcl::PointXYZ> &m) {
header_.reset(new std_msgs::Header());
pcl_conversions::fromPCL(m.header, *(header_));
return &(header_->stamp);
}
static ros::Time const* pointer(const pcl::PointCloud<pcl::PointXYZ>& m) {
header_const_.reset(new std_msgs::Header());
pcl_conversions::fromPCL(m.header, *(header_const_));
return &(header_const_->stamp);
}
static ros::Time value(const pcl::PointCloud<pcl::PointXYZ>& m) {
return pcl_conversions::fromPCL(m.header).stamp;
}
private:
static boost::shared_ptr<std_msgs::Header> header_;
static boost::shared_ptr<std_msgs::Header> header_const_;
};
template<>
struct TimeStamp<pcl::PointCloud<pcl::Normal> >
{
// This specialization could be dangerous, but it's the best I can do.
// If this TimeStamp struct is destroyed before they are done with the
// pointer returned by the first functions may go out of scope, but there
// isn't a lot I can do about that. This is a good reason to refuse to
// returning pointers like this...
static ros::Time* pointer(pcl::PointCloud<pcl::Normal> &m) {
header_.reset(new std_msgs::Header());
pcl_conversions::fromPCL(m.header, *(header_));
return &(header_->stamp);
}
static ros::Time const* pointer(const pcl::PointCloud<pcl::Normal>& m) {
header_const_.reset(new std_msgs::Header());
pcl_conversions::fromPCL(m.header, *(header_const_));
return &(header_const_->stamp);
}
static ros::Time value(const pcl::PointCloud<pcl::Normal>& m) {
return pcl_conversions::fromPCL(m.header).stamp;
}
private:
static boost::shared_ptr<std_msgs::Header> header_;
static boost::shared_ptr<std_msgs::Header> header_const_;
};
} // namespace ros::message_traits
namespace serialization
{
template<typename T>
struct Serializer<pcl::PointCloud<T> >
{
template<typename Stream>
inline static void write(Stream& stream, const pcl::PointCloud<T>& m)
{
stream.next(m.header);
// Ease the user's burden on specifying width/height for unorganized datasets
uint32_t height = m.height, width = m.width;
if (height == 0 && width == 0) {
width = m.points.size();
height = 1;
}
stream.next(height);
stream.next(width);
// Stream out point field metadata
typedef typename pcl::traits::fieldList<T>::type FieldList;
uint32_t fields_size = boost::mpl::size<FieldList>::value;
stream.next(fields_size);
pcl::for_each_type<FieldList>(pcl::detail::FieldStreamer<Stream, T>(stream));
// Assume little-endian...
uint8_t is_bigendian = false;
stream.next(is_bigendian);
// Write out point data as binary blob
uint32_t point_step = sizeof(T);
stream.next(point_step);
uint32_t row_step = point_step * width;
stream.next(row_step);
uint32_t data_size = row_step * height;
stream.next(data_size);
memcpy(stream.advance(data_size), &m.points[0], data_size);
uint8_t is_dense = m.is_dense;
stream.next(is_dense);
}
template<typename Stream>
inline static void read(Stream& stream, pcl::PointCloud<T>& m)
{
std_msgs::Header header;
stream.next(header);
pcl_conversions::toPCL(header, m.header);
stream.next(m.height);
stream.next(m.width);
/// @todo Check that fields haven't changed!
std::vector<sensor_msgs::PointField> fields;
stream.next(fields);
// Construct field mapping if deserializing for the first time
boost::shared_ptr<pcl::MsgFieldMap>& mapping_ptr = pcl::detail::getMapping(m);
if (!mapping_ptr)
{
// This normally should get allocated by DefaultMessageCreator, but just in case
mapping_ptr = boost::make_shared<pcl::MsgFieldMap>();
}
pcl::MsgFieldMap& mapping = *mapping_ptr;
if (mapping.empty())
pcl::createMapping<T> (fields, mapping);
uint8_t is_bigendian;
stream.next(is_bigendian); // ignoring...
uint32_t point_step, row_step;
stream.next(point_step);
stream.next(row_step);
// Copy point data
uint32_t data_size;
stream.next(data_size);
assert(data_size == m.height * m.width * point_step);
m.points.resize(m.height * m.width);
uint8_t* m_data = reinterpret_cast<uint8_t*>(&m.points[0]);
// If the data layouts match, can copy a whole row in one memcpy
if (mapping.size() == 1 &&
mapping[0].serialized_offset == 0 &&
mapping[0].struct_offset == 0 &&
point_step == sizeof(T))
{
uint32_t m_row_step = sizeof(T) * m.width;
// And if the row steps match, can copy whole point cloud in one memcpy
if (m_row_step == row_step)
{
memcpy (m_data, stream.advance(data_size), data_size);
}
else
{
for (uint32_t i = 0; i < m.height; ++i, m_data += m_row_step)
memcpy (m_data, stream.advance(row_step), m_row_step);
}
}
else
{
// If not, do a lot of memcpys to copy over the fields
for (uint32_t row = 0; row < m.height; ++row) {
const uint8_t* stream_data = stream.advance(row_step);
for (uint32_t col = 0; col < m.width; ++col, stream_data += point_step) {
BOOST_FOREACH(const pcl::detail::FieldMapping& fm, mapping) {
memcpy(m_data + fm.struct_offset, stream_data + fm.serialized_offset, fm.size);
}
m_data += sizeof(T);
}
}
}
uint8_t is_dense;
stream.next(is_dense);
m.is_dense = is_dense;
}
inline static uint32_t serializedLength(const pcl::PointCloud<T>& m)
{
uint32_t length = 0;
length += serializationLength(m.header);
length += 8; // height/width
pcl::detail::FieldsLength<T> fl;
typedef typename pcl::traits::fieldList<T>::type FieldList;
pcl::for_each_type<FieldList>(boost::ref(fl));
length += 4; // size of 'fields'
length += fl.length;
length += 1; // is_bigendian
length += 4; // point_step
length += 4; // row_step
length += 4; // size of 'data'
length += m.points.size() * sizeof(T); // data
length += 1; // is_dense
return length;
}
};
} // namespace ros::serialization
/// @todo Printer specialization in message_operations
} // namespace ros
#endif
| 0 |
apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/include | apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/include/pcl_ros/publisher.h | /*
* Software License Agreement (BSD License)
*
* Copyright (c) 2010, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* $Id: publisher.h 33238 2010-03-11 00:46:58Z rusu $
*
*/
/**
\author Patrick Mihelich
@b Publisher represents a ROS publisher for the templated PointCloud implementation.
**/
#ifndef PCL_ROS_PUBLISHER_H_
#define PCL_ROS_PUBLISHER_H_
#include <ros/ros.h>
#include <sensor_msgs/PointCloud2.h>
#include <pcl/conversions.h>
#include <pcl_conversions/pcl_conversions.h>
namespace pcl_ros
{
class BasePublisher
{
public:
void
advertise (ros::NodeHandle& nh, const std::string& topic, uint32_t queue_size)
{
pub_ = nh.advertise<sensor_msgs::PointCloud2>(topic, queue_size);
}
std::string
getTopic ()
{
return (pub_.getTopic ());
}
uint32_t
getNumSubscribers () const
{
return (pub_.getNumSubscribers ());
}
void
shutdown ()
{
pub_.shutdown ();
}
operator void*() const
{
return (pub_) ? (void*)1 : (void*)0;
}
protected:
ros::Publisher pub_;
};
template <typename PointT>
class Publisher : public BasePublisher
{
public:
Publisher () {}
Publisher (ros::NodeHandle& nh, const std::string& topic, uint32_t queue_size)
{
advertise (nh, topic, queue_size);
}
~Publisher () {}
inline void
publish (const boost::shared_ptr<const pcl::PointCloud<PointT> > &point_cloud) const
{
publish (*point_cloud);
}
inline void
publish (const pcl::PointCloud<PointT>& point_cloud) const
{
// Fill point cloud binary data
sensor_msgs::PointCloud2 msg;
pcl::toROSMsg (point_cloud, msg);
pub_.publish (boost::make_shared<const sensor_msgs::PointCloud2> (msg));
}
};
template <>
class Publisher<sensor_msgs::PointCloud2> : public BasePublisher
{
public:
Publisher () {}
Publisher (ros::NodeHandle& nh, const std::string& topic, uint32_t queue_size)
{
advertise (nh, topic, queue_size);
}
~Publisher () {}
void
publish (const sensor_msgs::PointCloud2Ptr& point_cloud) const
{
pub_.publish (point_cloud);
//pub_.publish (*point_cloud);
}
void
publish (const sensor_msgs::PointCloud2& point_cloud) const
{
pub_.publish (boost::make_shared<const sensor_msgs::PointCloud2> (point_cloud));
//pub_.publish (point_cloud);
}
};
}
#endif //#ifndef PCL_ROS_PUBLISHER_H_
| 0 |
apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/include | apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/include/pcl_ros/pcl_nodelet.h | /*
* Software License Agreement (BSD License)
*
* Copyright (c) 2010, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* $Id: pcl_nodelet.h 33238 2010-03-11 00:46:58Z rusu $
*
*/
/**
\author Radu Bogdan Rusu
**/
#ifndef PCL_NODELET_H_
#define PCL_NODELET_H_
#include <sensor_msgs/PointCloud2.h>
// PCL includes
#include <pcl_msgs/PointIndices.h>
#include <pcl_msgs/ModelCoefficients.h>
#include <pcl/point_types.h>
#include <pcl_conversions/pcl_conversions.h>
#include "pcl_ros/point_cloud.h"
// ROS Nodelet includes
#include <nodelet/nodelet.h>
#include <message_filters/subscriber.h>
#include <message_filters/synchronizer.h>
#include <message_filters/sync_policies/exact_time.h>
#include <message_filters/sync_policies/approximate_time.h>
// Include TF
#include <tf/transform_listener.h>
using pcl_conversions::fromPCL;
namespace pcl_ros
{
////////////////////////////////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////////////////////////////////
/** \brief @b PCLNodelet represents the base PCL Nodelet class. All PCL nodelets should inherit from this class. */
class PCLNodelet : public nodelet::Nodelet
{
public:
typedef sensor_msgs::PointCloud2 PointCloud2;
typedef pcl::PointCloud<pcl::PointXYZ> PointCloud;
typedef PointCloud::Ptr PointCloudPtr;
typedef PointCloud::ConstPtr PointCloudConstPtr;
typedef pcl_msgs::PointIndices PointIndices;
typedef PointIndices::Ptr PointIndicesPtr;
typedef PointIndices::ConstPtr PointIndicesConstPtr;
typedef pcl_msgs::ModelCoefficients ModelCoefficients;
typedef ModelCoefficients::Ptr ModelCoefficientsPtr;
typedef ModelCoefficients::ConstPtr ModelCoefficientsConstPtr;
typedef boost::shared_ptr <std::vector<int> > IndicesPtr;
typedef boost::shared_ptr <const std::vector<int> > IndicesConstPtr;
/** \brief Empty constructor. */
PCLNodelet () : use_indices_ (false), latched_indices_ (false),
max_queue_size_ (3), approximate_sync_ (false) {};
protected:
/** \brief The ROS NodeHandle used for parameters, publish/subscribe, etc. */
boost::shared_ptr<ros::NodeHandle> pnh_;
/** \brief Set to true if point indices are used.
*
* When receiving a point cloud, if use_indices_ is false, the entire
* point cloud is processed for the given operation. If use_indices_ is
* true, then the ~indices topic is read to get the vector of point
* indices specifying the subset of the point cloud that will be used for
* the operation. In the case where use_indices_ is true, the ~input and
* ~indices topics must be synchronised in time, either exact or within a
* specified jitter. See also @ref latched_indices_ and approximate_sync.
**/
bool use_indices_;
/** \brief Set to true if the indices topic is latched.
*
* If use_indices_ is true, the ~input and ~indices topics generally must
* be synchronised in time. By setting this flag to true, the most recent
* value from ~indices can be used instead of requiring a synchronised
* message.
**/
bool latched_indices_;
/** \brief The message filter subscriber for PointCloud2. */
message_filters::Subscriber<PointCloud> sub_input_filter_;
/** \brief The message filter subscriber for PointIndices. */
message_filters::Subscriber<PointIndices> sub_indices_filter_;
/** \brief The output PointCloud publisher. */
ros::Publisher pub_output_;
/** \brief The maximum queue size (default: 3). */
int max_queue_size_;
/** \brief True if we use an approximate time synchronizer versus an exact one (false by default). */
bool approximate_sync_;
/** \brief TF listener object. */
tf::TransformListener tf_listener_;
/** \brief Test whether a given PointCloud message is "valid" (i.e., has points, and width and height are non-zero).
* \param cloud the point cloud to test
* \param topic_name an optional topic name (only used for printing, defaults to "input")
*/
inline bool
isValid (const PointCloud2::ConstPtr &cloud, const std::string &topic_name = "input")
{
if (cloud->width * cloud->height * cloud->point_step != cloud->data.size ())
{
NODELET_WARN ("[%s] Invalid PointCloud (data = %zu, width = %d, height = %d, step = %d) with stamp %f, and frame %s on topic %s received!", getName ().c_str (), cloud->data.size (), cloud->width, cloud->height, cloud->point_step, cloud->header.stamp.toSec (), cloud->header.frame_id.c_str (), pnh_->resolveName (topic_name).c_str ());
return (false);
}
return (true);
}
/** \brief Test whether a given PointCloud message is "valid" (i.e., has points, and width and height are non-zero).
* \param cloud the point cloud to test
* \param topic_name an optional topic name (only used for printing, defaults to "input")
*/
inline bool
isValid (const PointCloudConstPtr &cloud, const std::string &topic_name = "input")
{
if (cloud->width * cloud->height != cloud->points.size ())
{
NODELET_WARN ("[%s] Invalid PointCloud (points = %zu, width = %d, height = %d) with stamp %f, and frame %s on topic %s received!", getName ().c_str (), cloud->points.size (), cloud->width, cloud->height, fromPCL(cloud->header).stamp.toSec (), cloud->header.frame_id.c_str (), pnh_->resolveName (topic_name).c_str ());
return (false);
}
return (true);
}
/** \brief Test whether a given PointIndices message is "valid" (i.e., has values).
* \param indices the point indices message to test
* \param topic_name an optional topic name (only used for printing, defaults to "indices")
*/
inline bool
isValid (const PointIndicesConstPtr &indices, const std::string &topic_name = "indices")
{
/*if (indices->indices.empty ())
{
NODELET_WARN ("[%s] Empty indices (values = %zu) with stamp %f, and frame %s on topic %s received!", getName ().c_str (), indices->indices.size (), indices->header.stamp.toSec (), indices->header.frame_id.c_str (), pnh_->resolveName (topic_name).c_str ());
return (true);
}*/
return (true);
}
/** \brief Test whether a given ModelCoefficients message is "valid" (i.e., has values).
* \param model the model coefficients to test
* \param topic_name an optional topic name (only used for printing, defaults to "model")
*/
inline bool
isValid (const ModelCoefficientsConstPtr &model, const std::string &topic_name = "model")
{
/*if (model->values.empty ())
{
NODELET_WARN ("[%s] Empty model (values = %zu) with stamp %f, and frame %s on topic %s received!", getName ().c_str (), model->values.size (), model->header.stamp.toSec (), model->header.frame_id.c_str (), pnh_->resolveName (topic_name).c_str ());
return (false);
}*/
return (true);
}
/** \brief Nodelet initialization routine. Reads in global parameters used by all nodelets. */
virtual void
onInit ()
{
pnh_.reset (new ros::NodeHandle (getMTPrivateNodeHandle ()));
// Parameters that we care about only at startup
pnh_->getParam ("max_queue_size", max_queue_size_);
// ---[ Optional parameters
pnh_->getParam ("use_indices", use_indices_);
pnh_->getParam ("latched_indices", latched_indices_);
pnh_->getParam ("approximate_sync", approximate_sync_);
NODELET_DEBUG ("[%s::onInit] PCL Nodelet successfully created with the following parameters:\n"
" - approximate_sync : %s\n"
" - use_indices : %s\n"
" - latched_indices : %s\n"
" - max_queue_size : %d",
getName ().c_str (),
(approximate_sync_) ? "true" : "false",
(use_indices_) ? "true" : "false",
(latched_indices_) ? "true" : "false",
max_queue_size_);
}
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
}
#endif //#ifndef PCL_NODELET_H_
| 0 |
apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/include | apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/include/pcl_ros/transforms.h | /*
* Software License Agreement (BSD License)
*
* Copyright (c) 2010, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
*
*/
#ifndef pcl_ROS_TRANSFORMS_H_
#define pcl_ROS_TRANSFORMS_H_
#include <sensor_msgs/PointCloud2.h>
#include <pcl/common/transforms.h>
#include <tf/transform_datatypes.h>
#include <tf/transform_listener.h>
namespace pcl_ros
{
/** \brief Transform a point cloud and rotate its normals using an Eigen transform.
* \param cloud_in the input point cloud
* \param cloud_out the input point cloud
* \param transform a rigid transformation from tf
* \note calls the Eigen version
*/
template <typename PointT> void
transformPointCloudWithNormals (const pcl::PointCloud <PointT> &cloud_in,
pcl::PointCloud <PointT> &cloud_out,
const tf::Transform &transform);
/** \brief Transforms a point cloud in a given target TF frame using a TransformListener
* \param target_frame the target TF frame the point cloud should be transformed to
* \param cloud_in the input point cloud
* \param cloud_out the input point cloud
* \param tf_listener a TF listener object
*/
template <typename PointT> bool
transformPointCloudWithNormals (const std::string &target_frame,
const pcl::PointCloud <PointT> &cloud_in,
pcl::PointCloud <PointT> &cloud_out,
const tf::TransformListener &tf_listener);
/** \brief Transforms a point cloud in a given target TF frame using a TransformListener
* \param target_frame the target TF frame the point cloud should be transformed to
* \param target_time the target timestamp
* \param cloud_in the input point cloud
* \param fixed_frame fixed TF frame
* \param cloud_out the input point cloud
* \param tf_listener a TF listener object
*/
template <typename PointT> bool
transformPointCloudWithNormals (const std::string &target_frame,
const ros::Time & target_time,
const pcl::PointCloud <PointT> &cloud_in,
const std::string &fixed_frame,
pcl::PointCloud <PointT> &cloud_out,
const tf::TransformListener &tf_listener);
/** \brief Apply a rigid transform defined by a 3D offset and a quaternion
* \param cloud_in the input point cloud
* \param cloud_out the input point cloud
* \param transform a rigid transformation from tf
* \note calls the Eigen version
*/
template <typename PointT> void
transformPointCloud (const pcl::PointCloud <PointT> &cloud_in,
pcl::PointCloud <PointT> &cloud_out,
const tf::Transform &transform);
/** \brief Transforms a point cloud in a given target TF frame using a TransformListener
* \param target_frame the target TF frame the point cloud should be transformed to
* \param cloud_in the input point cloud
* \param cloud_out the input point cloud
* \param tf_listener a TF listener object
*/
template <typename PointT> bool
transformPointCloud (const std::string &target_frame,
const pcl::PointCloud <PointT> &cloud_in,
pcl::PointCloud <PointT> &cloud_out,
const tf::TransformListener &tf_listener);
/** \brief Transforms a point cloud in a given target TF frame using a TransformListener
* \param target_frame the target TF frame the point cloud should be transformed to
* \param target_time the target timestamp
* \param cloud_in the input point cloud
* \param fixed_frame fixed TF frame
* \param cloud_out the input point cloud
* \param tf_listener a TF listener object
*/
template <typename PointT> bool
transformPointCloud (const std::string &target_frame, const ros::Time & target_time,
const pcl::PointCloud <PointT> &cloud_in,
const std::string &fixed_frame,
pcl::PointCloud <PointT> &cloud_out,
const tf::TransformListener &tf_listener);
/** \brief Transform a sensor_msgs::PointCloud2 dataset from its frame to a given TF target frame.
* \param target_frame the target TF frame
* \param in the input PointCloud2 dataset
* \param out the resultant transformed PointCloud2 dataset
* \param tf_listener a TF listener object
*/
bool
transformPointCloud (const std::string &target_frame,
const sensor_msgs::PointCloud2 &in,
sensor_msgs::PointCloud2 &out,
const tf::TransformListener &tf_listener);
/** \brief Transform a sensor_msgs::PointCloud2 dataset from its frame to a given TF target frame.
* \param target_frame the target TF frame
* \param net_transform the TF transformer object
* \param in the input PointCloud2 dataset
* \param out the resultant transformed PointCloud2 dataset
*/
void
transformPointCloud (const std::string &target_frame,
const tf::Transform &net_transform,
const sensor_msgs::PointCloud2 &in,
sensor_msgs::PointCloud2 &out);
/** \brief Transform a sensor_msgs::PointCloud2 dataset using an Eigen 4x4 matrix.
* \param transform the transformation to use on the points
* \param in the input PointCloud2 dataset
* \param out the resultant transformed PointCloud2 dataset
*/
void
transformPointCloud (const Eigen::Matrix4f &transform,
const sensor_msgs::PointCloud2 &in,
sensor_msgs::PointCloud2 &out);
/** \brief Obtain the transformation matrix from TF into an Eigen form
* \param bt the TF transformation
* \param out_mat the Eigen transformation
*/
void
transformAsMatrix (const tf::Transform& bt, Eigen::Matrix4f &out_mat);
}
#endif // PCL_ROS_TRANSFORMS_H_
| 0 |
apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/include/pcl_ros | apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/include/pcl_ros/impl/transforms.hpp | /*
* Software License Agreement (BSD License)
*
* Copyright (c) 2010, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
*
*/
#ifndef pcl_ros_IMPL_TRANSFORMS_H_
#define pcl_ros_IMPL_TRANSFORMS_H_
#include <pcl_conversions/pcl_conversions.h>
#include "pcl_ros/transforms.h"
using pcl_conversions::fromPCL;
using pcl_conversions::toPCL;
namespace pcl_ros
{
//////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointT> void
transformPointCloudWithNormals (const pcl::PointCloud <PointT> &cloud_in,
pcl::PointCloud <PointT> &cloud_out, const tf::Transform &transform)
{
// Bullet (used by tf) and Eigen both store quaternions in x,y,z,w order, despite the ordering
// of arguments in Eigen's constructor. We could use an Eigen Map to convert without copy, but
// this only works if Bullet uses floats, that is if BT_USE_DOUBLE_PRECISION is not defined.
// Rather that risking a mistake, we copy the quaternion, which is a small cost compared to
// the conversion of the point cloud anyway. Idem for the origin.
tf::Quaternion q = transform.getRotation ();
Eigen::Quaternionf rotation (q.w (), q.x (), q.y (), q.z ()); // internally stored as (x,y,z,w)
tf::Vector3 v = transform.getOrigin ();
Eigen::Vector3f origin (v.x (), v.y (), v.z ());
// Eigen::Translation3f translation(v);
// Assemble an Eigen Transform
//Eigen::Transform3f t;
//t = translation * rotation;
transformPointCloudWithNormals (cloud_in, cloud_out, origin, rotation);
}
//////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointT> void
transformPointCloud (const pcl::PointCloud <PointT> &cloud_in,
pcl::PointCloud <PointT> &cloud_out, const tf::Transform &transform)
{
// Bullet (used by tf) and Eigen both store quaternions in x,y,z,w order, despite the ordering
// of arguments in Eigen's constructor. We could use an Eigen Map to convert without copy, but
// this only works if Bullet uses floats, that is if BT_USE_DOUBLE_PRECISION is not defined.
// Rather that risking a mistake, we copy the quaternion, which is a small cost compared to
// the conversion of the point cloud anyway. Idem for the origin.
tf::Quaternion q = transform.getRotation ();
Eigen::Quaternionf rotation (q.w (), q.x (), q.y (), q.z ()); // internally stored as (x,y,z,w)
tf::Vector3 v = transform.getOrigin ();
Eigen::Vector3f origin (v.x (), v.y (), v.z ());
// Eigen::Translation3f translation(v);
// Assemble an Eigen Transform
//Eigen::Transform3f t;
//t = translation * rotation;
transformPointCloud (cloud_in, cloud_out, origin, rotation);
}
//////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointT> bool
transformPointCloudWithNormals (const std::string &target_frame,
const pcl::PointCloud <PointT> &cloud_in,
pcl::PointCloud <PointT> &cloud_out,
const tf::TransformListener &tf_listener)
{
if (cloud_in.header.frame_id == target_frame)
{
cloud_out = cloud_in;
return (true);
}
tf::StampedTransform transform;
try
{
tf_listener.lookupTransform (target_frame, cloud_in.header.frame_id, fromPCL(cloud_in.header).stamp, transform);
}
catch (tf::LookupException &e)
{
ROS_ERROR ("%s", e.what ());
return (false);
}
catch (tf::ExtrapolationException &e)
{
ROS_ERROR ("%s", e.what ());
return (false);
}
transformPointCloudWithNormals (cloud_in, cloud_out, transform);
cloud_out.header.frame_id = target_frame;
return (true);
}
//////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointT> bool
transformPointCloud (const std::string &target_frame,
const pcl::PointCloud <PointT> &cloud_in,
pcl::PointCloud <PointT> &cloud_out,
const tf::TransformListener &tf_listener)
{
if (cloud_in.header.frame_id == target_frame)
{
cloud_out = cloud_in;
return (true);
}
tf::StampedTransform transform;
try
{
tf_listener.lookupTransform (target_frame, cloud_in.header.frame_id, fromPCL(cloud_in.header).stamp, transform);
}
catch (tf::LookupException &e)
{
ROS_ERROR ("%s", e.what ());
return (false);
}
catch (tf::ExtrapolationException &e)
{
ROS_ERROR ("%s", e.what ());
return (false);
}
transformPointCloud (cloud_in, cloud_out, transform);
cloud_out.header.frame_id = target_frame;
return (true);
}
//////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointT> bool
transformPointCloud (const std::string &target_frame,
const ros::Time & target_time,
const pcl::PointCloud <PointT> &cloud_in,
const std::string &fixed_frame,
pcl::PointCloud <PointT> &cloud_out,
const tf::TransformListener &tf_listener)
{
tf::StampedTransform transform;
try
{
tf_listener.lookupTransform (target_frame, target_time, cloud_in.header.frame_id, fromPCL(cloud_in.header).stamp, fixed_frame, transform);
}
catch (tf::LookupException &e)
{
ROS_ERROR ("%s", e.what ());
return (false);
}
catch (tf::ExtrapolationException &e)
{
ROS_ERROR ("%s", e.what ());
return (false);
}
transformPointCloud (cloud_in, cloud_out, transform);
cloud_out.header.frame_id = target_frame;
std_msgs::Header header;
header.stamp = target_time;
cloud_out.header = toPCL(header);
return (true);
}
//////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointT> bool
transformPointCloudWithNormals (const std::string &target_frame,
const ros::Time & target_time,
const pcl::PointCloud <PointT> &cloud_in,
const std::string &fixed_frame,
pcl::PointCloud <PointT> &cloud_out,
const tf::TransformListener &tf_listener)
{
tf::StampedTransform transform;
try
{
tf_listener.lookupTransform (target_frame, target_time, cloud_in.header.frame_id, fromPCL(cloud_in.header).stamp, fixed_frame, transform);
}
catch (tf::LookupException &e)
{
ROS_ERROR ("%s", e.what ());
return (false);
}
catch (tf::ExtrapolationException &e)
{
ROS_ERROR ("%s", e.what ());
return (false);
}
transformPointCloudWithNormals (cloud_in, cloud_out, transform);
cloud_out.header.frame_id = target_frame;
std_msgs::Header header;
header.stamp = target_time;
cloud_out.header = toPCL(header);
return (true);
}
} // namespace pcl_ros
#endif
| 0 |
apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/include/pcl_ros | apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/include/pcl_ros/filters/passthrough.h | /*
* Software License Agreement (BSD License)
*
* Copyright (c) 2010, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* $Id: passthrough.h 35876 2011-02-09 01:04:36Z rusu $
*
*/
#ifndef PCL_ROS_FILTERS_PASSTHROUGH_H_
#define PCL_ROS_FILTERS_PASSTHROUGH_H_
// PCL includes
#include <pcl/filters/passthrough.h>
#include "pcl_ros/filters/filter.h"
namespace pcl_ros
{
/** \brief @b PassThrough uses the base Filter class methods to pass through all data that satisfies the user given
* constraints.
* \author Radu Bogdan Rusu
*/
class PassThrough : public Filter
{
protected:
/** \brief Pointer to a dynamic reconfigure service. */
boost::shared_ptr <dynamic_reconfigure::Server<pcl_ros::FilterConfig> > srv_;
/** \brief Call the actual filter.
* \param input the input point cloud dataset
* \param indices the input set of indices to use from \a input
* \param output the resultant filtered dataset
*/
inline void
filter (const PointCloud2::ConstPtr &input, const IndicesPtr &indices,
PointCloud2 &output)
{
boost::mutex::scoped_lock lock (mutex_);
pcl::PCLPointCloud2::Ptr pcl_input(new pcl::PCLPointCloud2);
pcl_conversions::toPCL (*(input), *(pcl_input));
impl_.setInputCloud (pcl_input);
impl_.setIndices (indices);
pcl::PCLPointCloud2 pcl_output;
impl_.filter (pcl_output);
pcl_conversions::moveFromPCL(pcl_output, output);
}
/** \brief Child initialization routine.
* \param nh ROS node handle
* \param has_service set to true if the child has a Dynamic Reconfigure service
*/
bool
child_init (ros::NodeHandle &nh, bool &has_service);
/** \brief Dynamic reconfigure service callback.
* \param config the dynamic reconfigure FilterConfig object
* \param level the dynamic reconfigure level
*/
void
config_callback (pcl_ros::FilterConfig &config, uint32_t level);
private:
/** \brief The PCL filter implementation used. */
pcl::PassThrough<pcl::PCLPointCloud2> impl_;
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
}
#endif //#ifndef PCL_ROS_FILTERS_PASSTHROUGH_H_
| 0 |
apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/include/pcl_ros | apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/include/pcl_ros/filters/radius_outlier_removal.h | /*
* Software License Agreement (BSD License)
*
* Copyright (c) 2010, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* $Id: radius_outlier_removal.h 35876 2011-02-09 01:04:36Z rusu $
*
*/
#ifndef PCL_ROS_FILTERS_RADIUSOUTLIERREMOVAL_H_
#define PCL_ROS_FILTERS_RADIUSOUTLIERREMOVAL_H_
// PCL includes
#include <pcl/filters/radius_outlier_removal.h>
#include "pcl_ros/filters/filter.h"
// Dynamic reconfigure
#include "pcl_ros/RadiusOutlierRemovalConfig.h"
namespace pcl_ros
{
/** \brief @b RadiusOutlierRemoval is a simple filter that removes outliers if the number of neighbors in a certain
* search radius is smaller than a given K.
* \note setFilterFieldName (), setFilterLimits (), and setFilterLimitNegative () are ignored.
* \author Radu Bogdan Rusu
*/
class RadiusOutlierRemoval : public Filter
{
protected:
/** \brief Pointer to a dynamic reconfigure service. */
boost::shared_ptr <dynamic_reconfigure::Server<pcl_ros::RadiusOutlierRemovalConfig> > srv_;
/** \brief Call the actual filter.
* \param input the input point cloud dataset
* \param indices the input set of indices to use from \a input
* \param output the resultant filtered dataset
*/
inline void
filter (const PointCloud2::ConstPtr &input, const IndicesPtr &indices,
PointCloud2 &output)
{
pcl::PCLPointCloud2::Ptr pcl_input(new pcl::PCLPointCloud2);
pcl_conversions::toPCL (*(input), *(pcl_input));
impl_.setInputCloud (pcl_input);
impl_.setIndices (indices);
pcl::PCLPointCloud2 pcl_output;
impl_.filter (pcl_output);
pcl_conversions::moveFromPCL(pcl_output, output);
}
/** \brief Child initialization routine.
* \param nh ROS node handle
* \param has_service set to true if the child has a Dynamic Reconfigure service
*/
virtual inline bool child_init (ros::NodeHandle &nh, bool &has_service);
/** \brief Dynamic reconfigure callback
* \param config the config object
* \param level the dynamic reconfigure level
*/
void config_callback (pcl_ros::RadiusOutlierRemovalConfig &config, uint32_t level);
private:
/** \brief The PCL filter implementation used. */
pcl::RadiusOutlierRemoval<pcl::PCLPointCloud2> impl_;
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
}
#endif //#ifndef PCL_FILTERS_RADIUSOUTLIERREMOVAL_H_
| 0 |
apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/include/pcl_ros | apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/include/pcl_ros/filters/extract_indices.h | /*
* Software License Agreement (BSD License)
*
* Copyright (c) 2009, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* $Id: extract_indices.h 35876 2011-02-09 01:04:36Z rusu $
*
*/
#ifndef PCL_ROS_FILTERS_EXTRACTINDICES_H_
#define PCL_ROS_FILTERS_EXTRACTINDICES_H_
// PCL includes
#include <pcl/filters/extract_indices.h>
#include "pcl_ros/filters/filter.h"
#include "pcl_ros/ExtractIndicesConfig.h"
namespace pcl_ros
{
/** \brief @b ExtractIndices extracts a set of indices from a PointCloud as a separate PointCloud.
* \note setFilterFieldName (), setFilterLimits (), and setFilterLimitNegative () are ignored.
* \author Radu Bogdan Rusu
*/
class ExtractIndices : public Filter
{
protected:
/** \brief Pointer to a dynamic reconfigure service. */
boost::shared_ptr <dynamic_reconfigure::Server<pcl_ros::ExtractIndicesConfig> > srv_;
/** \brief Call the actual filter.
* \param input the input point cloud dataset
* \param indices the input set of indices to use from \a input
* \param output the resultant filtered dataset
*/
inline void
filter (const PointCloud2::ConstPtr &input, const IndicesPtr &indices,
PointCloud2 &output)
{
boost::mutex::scoped_lock lock (mutex_);
pcl::PCLPointCloud2::Ptr pcl_input(new pcl::PCLPointCloud2);
pcl_conversions::toPCL(*(input), *(pcl_input));
impl_.setInputCloud (pcl_input);
impl_.setIndices (indices);
pcl::PCLPointCloud2 pcl_output;
impl_.filter (pcl_output);
pcl_conversions::moveFromPCL(pcl_output, output);
}
/** \brief Child initialization routine.
* \param nh ROS node handle
* \param has_service set to true if the child has a Dynamic Reconfigure service
*/
virtual bool
child_init (ros::NodeHandle &nh, bool &has_service);
/** \brief Dynamic reconfigure service callback. */
void
config_callback (pcl_ros::ExtractIndicesConfig &config, uint32_t level);
private:
/** \brief The PCL filter implementation used. */
pcl::ExtractIndices<pcl::PCLPointCloud2> impl_;
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
}
#endif //#ifndef PCL_ROS_FILTERS_EXTRACTINDICES_H_
| 0 |
apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/include/pcl_ros | apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/include/pcl_ros/filters/project_inliers.h | /*
* Software License Agreement (BSD License)
*
* Copyright (c) 2010, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* $Id: project_inliers.h 35876 2011-02-09 01:04:36Z rusu $
*
*/
#ifndef PCL_ROS_FILTERS_PROJECT_INLIERS_H_
#define PCL_ROS_FILTERS_PROJECT_INLIERS_H_
// PCL includes
#include <pcl/filters/project_inliers.h>
#include "pcl_ros/filters/filter.h"
#include <message_filters/subscriber.h>
namespace pcl_ros
{
namespace sync_policies = message_filters::sync_policies;
/** \brief @b ProjectInliers uses a model and a set of inlier indices from a PointCloud to project them into a
* separate PointCloud.
* \note setFilterFieldName (), setFilterLimits (), and setFilterLimitNegative () are ignored.
* \author Radu Bogdan Rusu
*/
class ProjectInliers : public Filter
{
public:
ProjectInliers () : model_ () {}
protected:
/** \brief Call the actual filter.
* \param input the input point cloud dataset
* \param indices the input set of indices to use from \a input
* \param output the resultant filtered dataset
*/
inline void
filter (const PointCloud2::ConstPtr &input, const IndicesPtr &indices,
PointCloud2 &output)
{
pcl::PCLPointCloud2::Ptr pcl_input(new pcl::PCLPointCloud2);
pcl_conversions::toPCL (*(input), *(pcl_input));
impl_.setInputCloud (pcl_input);
impl_.setIndices (indices);
pcl::ModelCoefficients::Ptr pcl_model(new pcl::ModelCoefficients);
pcl_conversions::toPCL(*(model_), *(pcl_model));
impl_.setModelCoefficients (pcl_model);
pcl::PCLPointCloud2 pcl_output;
impl_.filter (pcl_output);
pcl_conversions::moveFromPCL(pcl_output, output);
}
private:
/** \brief A pointer to the vector of model coefficients. */
ModelCoefficientsConstPtr model_;
/** \brief The message filter subscriber for model coefficients. */
message_filters::Subscriber<ModelCoefficients> sub_model_;
/** \brief Synchronized input, indices, and model coefficients.*/
boost::shared_ptr<message_filters::Synchronizer<sync_policies::ExactTime<PointCloud2, PointIndices, ModelCoefficients> > > sync_input_indices_model_e_;
boost::shared_ptr<message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloud2, PointIndices, ModelCoefficients> > > sync_input_indices_model_a_;
/** \brief The PCL filter implementation used. */
pcl::ProjectInliers<pcl::PCLPointCloud2> impl_;
/** \brief Nodelet initialization routine. */
virtual void
onInit ();
/** \brief PointCloud2 + Indices + Model data callback. */
void
input_indices_model_callback (const PointCloud2::ConstPtr &cloud,
const PointIndicesConstPtr &indices,
const ModelCoefficientsConstPtr &model);
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
}
#endif //#ifndef PCL_FILTERS_PROJECT_INLIERS_H_
| 0 |
apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/include/pcl_ros | apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/include/pcl_ros/filters/crop_box.h | /*
*
* Software License Agreement (BSD License)
*
* Copyright (c) 2010, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* $Id: cropbox.cpp
*
*/
#ifndef PCL_ROS_FILTERS_CROPBOX_H_
#define PCL_ROS_FILTERS_CROPBOX_H_
// PCL includes
#include <pcl/filters/crop_box.h>
#include "pcl_ros/filters/filter.h"
// Dynamic reconfigure
#include "pcl_ros/CropBoxConfig.h"
namespace pcl_ros
{
/** \brief @b CropBox is a filter that allows the user to filter all the data inside of a given box.
*
* \author Radu Bogdan Rusu
* \author Justin Rosen
* \author Marti Morta Garriga
*/
class CropBox : public Filter
{
protected:
/** \brief Pointer to a dynamic reconfigure service. */
boost::shared_ptr <dynamic_reconfigure::Server<pcl_ros::CropBoxConfig> > srv_; // TODO
/** \brief Call the actual filter.
* \param input the input point cloud dataset
* \param indices the input set of indices to use from \a input
* \param output the resultant filtered dataset
*/
inline void
filter (const PointCloud2::ConstPtr &input, const IndicesPtr &indices,
PointCloud2 &output)
{
boost::mutex::scoped_lock lock (mutex_);
pcl::PCLPointCloud2::Ptr pcl_input(new pcl::PCLPointCloud2);
pcl_conversions::toPCL (*(input), *(pcl_input));
impl_.setInputCloud (pcl_input);
impl_.setIndices (indices);
pcl::PCLPointCloud2 pcl_output;
impl_.filter (pcl_output);
pcl_conversions::moveFromPCL(pcl_output, output);
}
/** \brief Child initialization routine.
* \param nh ROS node handle
* \param has_service set to true if the child has a Dynamic Reconfigure service
*/
bool
child_init (ros::NodeHandle &nh, bool &has_service);
/** \brief Dynamic reconfigure service callback.
* \param config the dynamic reconfigure CropBoxConfig object
* \param level the dynamic reconfigure level
*/
void
config_callback (pcl_ros::CropBoxConfig &config, uint32_t level);
private:
/** \brief The PCL filter implementation used. */
pcl::CropBox<pcl::PCLPointCloud2> impl_;
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
}
#endif //#ifndef PCL_ROS_FILTERS_CROPBOX_H_
| 0 |
apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/include/pcl_ros | apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/include/pcl_ros/filters/statistical_outlier_removal.h | /*
* Software License Agreement (BSD License)
*
* Copyright (c) 2010, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* $Id: statistical_outlier_removal.h 35876 2011-02-09 01:04:36Z rusu $
*
*/
#ifndef PCL_ROS_FILTERS_STATISTICALOUTLIERREMOVAL_H_
#define PCL_ROS_FILTERS_STATISTICALOUTLIERREMOVAL_H_
// PCL includes
#include <pcl/filters/statistical_outlier_removal.h>
#include "pcl_ros/filters/filter.h"
// Dynamic reconfigure
#include "pcl_ros/StatisticalOutlierRemovalConfig.h"
namespace pcl_ros
{
/** \brief @b StatisticalOutlierRemoval uses point neighborhood statistics to filter outlier data. For more
* information check:
* <ul>
* <li> R. B. Rusu, Z. C. Marton, N. Blodow, M. Dolha, and M. Beetz.
* Towards 3D Point Cloud Based Object Maps for Household Environments
* Robotics and Autonomous Systems Journal (Special Issue on Semantic Knowledge), 2008.
* </ul>
*
* \note setFilterFieldName (), setFilterLimits (), and setFilterLimitNegative () are ignored.
* \author Radu Bogdan Rusu
*/
class StatisticalOutlierRemoval : public Filter
{
protected:
/** \brief Pointer to a dynamic reconfigure service. */
boost::shared_ptr <dynamic_reconfigure::Server<pcl_ros::StatisticalOutlierRemovalConfig> > srv_;
/** \brief Call the actual filter.
* \param input the input point cloud dataset
* \param indices the input set of indices to use from \a input
* \param output the resultant filtered dataset
*/
inline void
filter (const PointCloud2::ConstPtr &input, const IndicesPtr &indices,
PointCloud2 &output)
{
boost::mutex::scoped_lock lock (mutex_);
pcl::PCLPointCloud2::Ptr pcl_input(new pcl::PCLPointCloud2);
pcl_conversions::toPCL(*(input), *(pcl_input));
impl_.setInputCloud (pcl_input);
impl_.setIndices (indices);
pcl::PCLPointCloud2 pcl_output;
impl_.filter (pcl_output);
pcl_conversions::moveFromPCL(pcl_output, output);
}
/** \brief Child initialization routine.
* \param nh ROS node handle
* \param has_service set to true if the child has a Dynamic Reconfigure service
*/
bool child_init (ros::NodeHandle &nh, bool &has_service);
/** \brief Dynamic reconfigure callback
* \param config the config object
* \param level the dynamic reconfigure level
*/
void config_callback (pcl_ros::StatisticalOutlierRemovalConfig &config, uint32_t level);
private:
/** \brief The PCL filter implementation used. */
pcl::StatisticalOutlierRemoval<pcl::PCLPointCloud2> impl_;
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
}
#endif //#ifndef PCL_FILTERS_STATISTICALOUTLIERREMOVAL_H_
| 0 |
apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/include/pcl_ros | apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/include/pcl_ros/filters/voxel_grid.h | /*
* Software License Agreement (BSD License)
*
* Copyright (c) 2009, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* $Id: voxel_grid.h 35876 2011-02-09 01:04:36Z rusu $
*
*/
#ifndef PCL_ROS_FILTERS_VOXEL_H_
#define PCL_ROS_FILTERS_VOXEL_H_
// PCL includes
#include <pcl/filters/voxel_grid.h>
#include "pcl_ros/filters/filter.h"
// Dynamic reconfigure
#include "pcl_ros/VoxelGridConfig.h"
namespace pcl_ros
{
/** \brief @b VoxelGrid assembles a local 3D grid over a given PointCloud, and downsamples + filters the data.
* \author Radu Bogdan Rusu
*/
class VoxelGrid : public Filter
{
protected:
/** \brief Pointer to a dynamic reconfigure service. */
boost::shared_ptr <dynamic_reconfigure::Server<pcl_ros::VoxelGridConfig> > srv_;
/** \brief The PCL filter implementation used. */
pcl::VoxelGrid<pcl::PCLPointCloud2> impl_;
/** \brief Call the actual filter.
* \param input the input point cloud dataset
* \param indices the input set of indices to use from \a input
* \param output the resultant filtered dataset
*/
virtual void
filter (const PointCloud2::ConstPtr &input, const IndicesPtr &indices,
PointCloud2 &output);
/** \brief Child initialization routine.
* \param nh ROS node handle
* \param has_service set to true if the child has a Dynamic Reconfigure service
*/
bool
child_init (ros::NodeHandle &nh, bool &has_service);
/** \brief Dynamic reconfigure callback
* \param config the config object
* \param level the dynamic reconfigure level
*/
void
config_callback (pcl_ros::VoxelGridConfig &config, uint32_t level);
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
}
#endif //#ifndef PCL_ROS_FILTERS_VOXEL_H_
| 0 |
apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/include/pcl_ros | apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/include/pcl_ros/filters/filter.h | /*
* Software License Agreement (BSD License)
*
* Copyright (c) 2009, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* $Id: filter.h 35876 2011-02-09 01:04:36Z rusu $
*
*/
#ifndef PCL_ROS_FILTER_H_
#define PCL_ROS_FILTER_H_
// PCL includes
#include <pcl/filters/filter.h>
#include "pcl_ros/pcl_nodelet.h"
// Dynamic reconfigure
#include <dynamic_reconfigure/server.h>
#include "pcl_ros/FilterConfig.h"
namespace pcl_ros
{
namespace sync_policies = message_filters::sync_policies;
/** \brief @b Filter represents the base filter class. Some generic 3D operations that are applicable to all filters
* are defined here as static methods.
* \author Radu Bogdan Rusu
*/
class Filter : public PCLNodelet
{
public:
typedef sensor_msgs::PointCloud2 PointCloud2;
typedef boost::shared_ptr <std::vector<int> > IndicesPtr;
typedef boost::shared_ptr <const std::vector<int> > IndicesConstPtr;
Filter () {}
protected:
/** \brief The input PointCloud subscriber. */
ros::Subscriber sub_input_;
message_filters::Subscriber<PointCloud2> sub_input_filter_;
/** \brief The desired user filter field name. */
std::string filter_field_name_;
/** \brief The minimum allowed filter value a point will be considered from. */
double filter_limit_min_;
/** \brief The maximum allowed filter value a point will be considered from. */
double filter_limit_max_;
/** \brief Set to true if we want to return the data outside (\a filter_limit_min_;\a filter_limit_max_). Default: false. */
bool filter_limit_negative_;
/** \brief The input TF frame the data should be transformed into, if input.header.frame_id is different. */
std::string tf_input_frame_;
/** \brief The original data input TF frame. */
std::string tf_input_orig_frame_;
/** \brief The output TF frame the data should be transformed into, if input.header.frame_id is different. */
std::string tf_output_frame_;
/** \brief Internal mutex. */
boost::mutex mutex_;
/** \brief Child initialization routine.
* \param nh ROS node handle
* \param has_service set to true if the child has a Dynamic Reconfigure service
*/
virtual bool
child_init (ros::NodeHandle &nh, bool &has_service)
{
has_service = false;
return (true);
}
/** \brief Virtual abstract filter method. To be implemented by every child.
* \param input the input point cloud dataset.
* \param indices a pointer to the vector of point indices to use.
* \param output the resultant filtered PointCloud2
*/
virtual void
filter (const PointCloud2::ConstPtr &input, const IndicesPtr &indices,
PointCloud2 &output) = 0;
/** \brief Nodelet initialization routine. */
virtual void
onInit ();
/** \brief Call the child filter () method, optionally transform the result, and publish it.
* \param input the input point cloud dataset.
* \param indices a pointer to the vector of point indices to use.
*/
void
computePublish (const PointCloud2::ConstPtr &input, const IndicesPtr &indices);
private:
/** \brief Pointer to a dynamic reconfigure service. */
boost::shared_ptr<dynamic_reconfigure::Server<pcl_ros::FilterConfig> > srv_;
/** \brief Synchronized input, and indices.*/
boost::shared_ptr<message_filters::Synchronizer<sync_policies::ExactTime<PointCloud2, PointIndices> > > sync_input_indices_e_;
boost::shared_ptr<message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloud2, PointIndices> > > sync_input_indices_a_;
/** \brief Dynamic reconfigure service callback. */
virtual void
config_callback (pcl_ros::FilterConfig &config, uint32_t level);
/** \brief PointCloud2 + Indices data callback. */
void
input_indices_callback (const PointCloud2::ConstPtr &cloud,
const PointIndicesConstPtr &indices);
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
}
#endif //#ifndef PCL_ROS_FILTER_H_
| 0 |
apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/include/pcl_ros | apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/include/pcl_ros/segmentation/extract_clusters.h | /*
* Software License Agreement (BSD License)
*
* Copyright (c) 2010, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* $Id: extract_clusters.h 35361 2011-01-20 04:34:49Z rusu $
*
*/
#ifndef PCL_ROS_EXTRACT_CLUSTERS_H_
#define PCL_ROS_EXTRACT_CLUSTERS_H_
#include <pcl/segmentation/extract_clusters.h>
#include "pcl_ros/pcl_nodelet.h"
// Dynamic reconfigure
#include <dynamic_reconfigure/server.h>
#include "pcl_ros/EuclideanClusterExtractionConfig.h"
namespace pcl_ros
{
namespace sync_policies = message_filters::sync_policies;
////////////////////////////////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////////////////////////////////
/** \brief @b EuclideanClusterExtraction represents a segmentation class for cluster extraction in an Euclidean sense.
* \author Radu Bogdan Rusu
*/
class EuclideanClusterExtraction : public PCLNodelet
{
public:
/** \brief Empty constructor. */
EuclideanClusterExtraction () : publish_indices_ (false), max_clusters_ (std::numeric_limits<int>::max ()) {};
protected:
// ROS nodelet attributes
/** \brief Publish indices or convert to PointCloud clusters. Default: false */
bool publish_indices_;
/** \brief Maximum number of clusters to publish. */
int max_clusters_;
/** \brief Pointer to a dynamic reconfigure service. */
boost::shared_ptr<dynamic_reconfigure::Server<EuclideanClusterExtractionConfig> > srv_;
/** \brief Nodelet initialization routine. */
void onInit ();
/** \brief Dynamic reconfigure callback
* \param config the config object
* \param level the dynamic reconfigure level
*/
void config_callback (EuclideanClusterExtractionConfig &config, uint32_t level);
/** \brief Input point cloud callback.
* \param cloud the pointer to the input point cloud
* \param indices the pointer to the input point cloud indices
*/
void input_indices_callback (const PointCloudConstPtr &cloud, const PointIndicesConstPtr &indices);
private:
/** \brief The PCL implementation used. */
pcl::EuclideanClusterExtraction<pcl::PointXYZ> impl_;
/** \brief The input PointCloud subscriber. */
ros::Subscriber sub_input_;
/** \brief Synchronized input, and indices.*/
boost::shared_ptr<message_filters::Synchronizer<sync_policies::ExactTime<PointCloud, PointIndices> > > sync_input_indices_e_;
boost::shared_ptr<message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloud, PointIndices> > > sync_input_indices_a_;
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
}
#endif //#ifndef PCL_ROS_EXTRACT_CLUSTERS_H_
| 0 |
apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/include/pcl_ros | apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/include/pcl_ros/segmentation/extract_polygonal_prism_data.h | /*
* Software License Agreement (BSD License)
*
* Copyright (c) 2010, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* $Id: extract_polygonal_prism_data.h 35361 2011-01-20 04:34:49Z rusu $
*
*/
#ifndef PCL_ROS_EXTRACT_POLYGONAL_PRISM_DATA_H_
#define PCL_ROS_EXTRACT_POLYGONAL_PRISM_DATA_H_
#include "pcl_ros/pcl_nodelet.h"
#include <message_filters/sync_policies/exact_time.h>
#include <message_filters/sync_policies/approximate_time.h>
#include <message_filters/pass_through.h>
// PCL includes
#include <pcl/segmentation/extract_polygonal_prism_data.h>
// Dynamic reconfigure
#include <dynamic_reconfigure/server.h>
#include "pcl_ros/ExtractPolygonalPrismDataConfig.h"
namespace pcl_ros
{
namespace sync_policies = message_filters::sync_policies;
/** \brief @b ExtractPolygonalPrismData uses a set of point indices that represent a planar model, and together with
* a given height, generates a 3D polygonal prism. The polygonal prism is then used to segment all points lying
* inside it.
*
* An example of its usage is to extract the data lying within a set of 3D boundaries (e.g., objects supported by a plane).
* \author Radu Bogdan Rusu
*/
class ExtractPolygonalPrismData : public PCLNodelet
{
typedef pcl::PointCloud<pcl::PointXYZ> PointCloud;
typedef PointCloud::Ptr PointCloudPtr;
typedef PointCloud::ConstPtr PointCloudConstPtr;
protected:
/** \brief The output PointIndices publisher. */
ros::Publisher pub_output_;
/** \brief The message filter subscriber for PointCloud2. */
message_filters::Subscriber<PointCloud> sub_hull_filter_;
/** \brief Synchronized input, planar hull, and indices.*/
boost::shared_ptr<message_filters::Synchronizer<sync_policies::ExactTime<PointCloud, PointCloud, PointIndices> > > sync_input_hull_indices_e_;
boost::shared_ptr<message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloud, PointCloud, PointIndices> > > sync_input_hull_indices_a_;
/** \brief Pointer to a dynamic reconfigure service. */
boost::shared_ptr<dynamic_reconfigure::Server<ExtractPolygonalPrismDataConfig> > srv_;
/** \brief Null passthrough filter, used for pushing empty elements in the
* synchronizer */
message_filters::PassThrough<PointIndices> nf_;
/** \brief Input point cloud callback.
* Because we want to use the same synchronizer object, we push back
* empty elements with the same timestamp.
*/
inline void
input_callback (const PointCloudConstPtr &input)
{
PointIndices cloud;
cloud.header.stamp = pcl_conversions::fromPCL(input->header).stamp;
nf_.add (boost::make_shared<PointIndices> (cloud));
}
/** \brief Nodelet initialization routine. */
void onInit ();
/** \brief Dynamic reconfigure callback
* \param config the config object
* \param level the dynamic reconfigure level
*/
void config_callback (ExtractPolygonalPrismDataConfig &config, uint32_t level);
/** \brief Input point cloud callback. Used when \a use_indices is set.
* \param cloud the pointer to the input point cloud
* \param hull the pointer to the planar hull point cloud
* \param indices the pointer to the input point cloud indices
*/
void input_hull_indices_callback (const PointCloudConstPtr &cloud,
const PointCloudConstPtr &hull,
const PointIndicesConstPtr &indices);
private:
/** \brief The PCL implementation used. */
pcl::ExtractPolygonalPrismData<pcl::PointXYZ> impl_;
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
}
#endif //#ifndef PCL_EXTRACT_POLYGONAL_PRISM_DATA_H_
| 0 |
apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/include/pcl_ros | apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/include/pcl_ros/segmentation/segment_differences.h | /*
* Software License Agreement (BSD License)
*
* Copyright (c) 2010, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* $Id: segment_differences.h 35361 2011-01-20 04:34:49Z rusu $
*
*/
#ifndef PCL_ROS_SEGMENT_DIFFERENCES_H_
#define PCL_ROS_SEGMENT_DIFFERENCES_H_
#include <pcl/segmentation/segment_differences.h>
#include "pcl_ros/pcl_nodelet.h"
// Dynamic reconfigure
#include <dynamic_reconfigure/server.h>
#include "pcl_ros/SegmentDifferencesConfig.h"
namespace pcl_ros
{
namespace sync_policies = message_filters::sync_policies;
////////////////////////////////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////////////////////////////////
/** \brief @b SegmentDifferences obtains the difference between two spatially aligned point clouds and returns the
* difference between them for a maximum given distance threshold.
* \author Radu Bogdan Rusu
*/
class SegmentDifferences : public PCLNodelet
{
typedef pcl::PointCloud<pcl::PointXYZ> PointCloud;
typedef PointCloud::Ptr PointCloudPtr;
typedef PointCloud::ConstPtr PointCloudConstPtr;
public:
/** \brief Empty constructor. */
SegmentDifferences () {};
protected:
/** \brief The message filter subscriber for PointCloud2. */
message_filters::Subscriber<PointCloud> sub_target_filter_;
/** \brief Synchronized input, and planar hull.*/
boost::shared_ptr<message_filters::Synchronizer<sync_policies::ExactTime<PointCloud, PointCloud> > > sync_input_target_e_;
boost::shared_ptr<message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloud, PointCloud> > > sync_input_target_a_;
/** \brief Pointer to a dynamic reconfigure service. */
boost::shared_ptr<dynamic_reconfigure::Server<SegmentDifferencesConfig> > srv_;
/** \brief Nodelet initialization routine. */
void onInit ();
/** \brief Dynamic reconfigure callback
* \param config the config object
* \param level the dynamic reconfigure level
*/
void config_callback (SegmentDifferencesConfig &config, uint32_t level);
/** \brief Input point cloud callback.
* \param cloud the pointer to the input point cloud
* \param cloud_target the pointcloud that we want to segment \a cloud from
*/
void input_target_callback (const PointCloudConstPtr &cloud,
const PointCloudConstPtr &cloud_target);
private:
/** \brief The PCL implementation used. */
pcl::SegmentDifferences<pcl::PointXYZ> impl_;
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
}
#endif //#ifndef PCL_ROS_SEGMENT_DIFFERENCES_H_
| 0 |
apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/include/pcl_ros | apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/include/pcl_ros/segmentation/sac_segmentation.h | /*
* Software License Agreement (BSD License)
*
* Copyright (c) 2009, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* $Id: sac_segmentation.h 35564 2011-01-27 07:32:12Z rusu $
*
*/
#ifndef PCL_ROS_SAC_SEGMENTATION_H_
#define PCL_ROS_SAC_SEGMENTATION_H_
#include "pcl_ros/pcl_nodelet.h"
#include <message_filters/pass_through.h>
// PCL includes
#include <pcl/segmentation/sac_segmentation.h>
// Dynamic reconfigure
#include <dynamic_reconfigure/server.h>
#include "pcl_ros/SACSegmentationConfig.h"
#include "pcl_ros/SACSegmentationFromNormalsConfig.h"
namespace pcl_ros
{
namespace sync_policies = message_filters::sync_policies;
////////////////////////////////////////////////////////////////////////////////////////////
/** \brief @b SACSegmentation represents the Nodelet segmentation class for Sample Consensus methods and models, in
* the sense that it just creates a Nodelet wrapper for generic-purpose SAC-based segmentation.
* \author Radu Bogdan Rusu
*/
class SACSegmentation : public PCLNodelet
{
typedef pcl::PointCloud<pcl::PointXYZ> PointCloud;
typedef PointCloud::Ptr PointCloudPtr;
typedef PointCloud::ConstPtr PointCloudConstPtr;
public:
/** \brief Constructor. */
SACSegmentation () : min_inliers_(0) {}
/** \brief Set the input TF frame the data should be transformed into before processing, if input.header.frame_id is different.
* \param tf_frame the TF frame the input PointCloud should be transformed into before processing
*/
inline void setInputTFframe (std::string tf_frame) { tf_input_frame_ = tf_frame; }
/** \brief Get the TF frame the input PointCloud should be transformed into before processing. */
inline std::string getInputTFframe () { return (tf_input_frame_); }
/** \brief Set the output TF frame the data should be transformed into after processing.
* \param tf_frame the TF frame the PointCloud should be transformed into after processing
*/
inline void setOutputTFframe (std::string tf_frame) { tf_output_frame_ = tf_frame; }
/** \brief Get the TF frame the PointCloud should be transformed into after processing. */
inline std::string getOutputTFframe () { return (tf_output_frame_); }
protected:
// The minimum number of inliers a model must have in order to be considered valid.
int min_inliers_;
// ROS nodelet attributes
/** \brief The output PointIndices publisher. */
ros::Publisher pub_indices_;
/** \brief The output ModelCoefficients publisher. */
ros::Publisher pub_model_;
/** \brief The input PointCloud subscriber. */
ros::Subscriber sub_input_;
/** \brief Pointer to a dynamic reconfigure service. */
boost::shared_ptr<dynamic_reconfigure::Server<SACSegmentationConfig> > srv_;
/** \brief The input TF frame the data should be transformed into, if input.header.frame_id is different. */
std::string tf_input_frame_;
/** \brief The original data input TF frame. */
std::string tf_input_orig_frame_;
/** \brief The output TF frame the data should be transformed into, if input.header.frame_id is different. */
std::string tf_output_frame_;
/** \brief Null passthrough filter, used for pushing empty elements in the
* synchronizer */
message_filters::PassThrough<pcl_msgs::PointIndices> nf_pi_;
/** \brief Nodelet initialization routine. */
virtual void onInit ();
/** \brief Dynamic reconfigure callback
* \param config the config object
* \param level the dynamic reconfigure level
*/
void config_callback (SACSegmentationConfig &config, uint32_t level);
/** \brief Input point cloud callback. Used when \a use_indices is set.
* \param cloud the pointer to the input point cloud
* \param indices the pointer to the input point cloud indices
*/
void input_indices_callback (const PointCloudConstPtr &cloud, const PointIndicesConstPtr &indices);
/** \brief Pointer to a set of indices stored internally.
* (used when \a latched_indices_ is set).
*/
PointIndices indices_;
/** \brief Indices callback. Used when \a latched_indices_ is set.
* \param indices the pointer to the input point cloud indices
*/
inline void
indices_callback (const PointIndicesConstPtr &indices)
{
indices_ = *indices;
}
/** \brief Input callback. Used when \a latched_indices_ is set.
* \param input the pointer to the input point cloud
*/
inline void
input_callback (const PointCloudConstPtr &input)
{
indices_.header = fromPCL(input->header);
PointIndicesConstPtr indices;
indices.reset (new PointIndices (indices_));
nf_pi_.add (indices);
}
private:
/** \brief Internal mutex. */
boost::mutex mutex_;
/** \brief The PCL implementation used. */
pcl::SACSegmentation<pcl::PointXYZ> impl_;
/** \brief Synchronized input, and indices.*/
boost::shared_ptr<message_filters::Synchronizer<sync_policies::ExactTime<PointCloud, PointIndices> > > sync_input_indices_e_;
boost::shared_ptr<message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloud, PointIndices> > > sync_input_indices_a_;
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
////////////////////////////////////////////////////////////////////////////////////////////
/** \brief @b SACSegmentationFromNormals represents the PCL nodelet segmentation class for Sample Consensus methods and
* models that require the use of surface normals for estimation.
*/
class SACSegmentationFromNormals: public SACSegmentation
{
typedef pcl::PointCloud<pcl::PointXYZ> PointCloud;
typedef PointCloud::Ptr PointCloudPtr;
typedef PointCloud::ConstPtr PointCloudConstPtr;
typedef pcl::PointCloud<pcl::Normal> PointCloudN;
typedef PointCloudN::Ptr PointCloudNPtr;
typedef PointCloudN::ConstPtr PointCloudNConstPtr;
public:
/** \brief Set the input TF frame the data should be transformed into before processing, if input.header.frame_id is different.
* \param tf_frame the TF frame the input PointCloud should be transformed into before processing
*/
inline void setInputTFframe (std::string tf_frame) { tf_input_frame_ = tf_frame; }
/** \brief Get the TF frame the input PointCloud should be transformed into before processing. */
inline std::string getInputTFframe () { return (tf_input_frame_); }
/** \brief Set the output TF frame the data should be transformed into after processing.
* \param tf_frame the TF frame the PointCloud should be transformed into after processing
*/
inline void setOutputTFframe (std::string tf_frame) { tf_output_frame_ = tf_frame; }
/** \brief Get the TF frame the PointCloud should be transformed into after processing. */
inline std::string getOutputTFframe () { return (tf_output_frame_); }
protected:
// ROS nodelet attributes
/** \brief The normals PointCloud subscriber filter. */
message_filters::Subscriber<PointCloudN> sub_normals_filter_;
/** \brief The input PointCloud subscriber. */
ros::Subscriber sub_axis_;
/** \brief Pointer to a dynamic reconfigure service. */
boost::shared_ptr<dynamic_reconfigure::Server<SACSegmentationFromNormalsConfig> > srv_;
/** \brief Input point cloud callback.
* Because we want to use the same synchronizer object, we push back
* empty elements with the same timestamp.
*/
inline void
input_callback (const PointCloudConstPtr &cloud)
{
PointIndices indices;
indices.header.stamp = fromPCL(cloud->header).stamp;
nf_.add (boost::make_shared<PointIndices> (indices));
}
/** \brief Null passthrough filter, used for pushing empty elements in the
* synchronizer */
message_filters::PassThrough<PointIndices> nf_;
/** \brief The input TF frame the data should be transformed into, if input.header.frame_id is different. */
std::string tf_input_frame_;
/** \brief The original data input TF frame. */
std::string tf_input_orig_frame_;
/** \brief The output TF frame the data should be transformed into, if input.header.frame_id is different. */
std::string tf_output_frame_;
/** \brief Nodelet initialization routine. */
virtual void onInit ();
/** \brief Model callback
* \param model the sample consensus model found
*/
void axis_callback (const pcl_msgs::ModelCoefficientsConstPtr &model);
/** \brief Dynamic reconfigure callback
* \param config the config object
* \param level the dynamic reconfigure level
*/
void config_callback (SACSegmentationFromNormalsConfig &config, uint32_t level);
/** \brief Input point cloud callback.
* \param cloud the pointer to the input point cloud
* \param cloud_normals the pointer to the input point cloud normals
* \param indices the pointer to the input point cloud indices
*/
void input_normals_indices_callback (const PointCloudConstPtr &cloud,
const PointCloudNConstPtr &cloud_normals,
const PointIndicesConstPtr &indices);
private:
/** \brief Internal mutex. */
boost::mutex mutex_;
/** \brief The PCL implementation used. */
pcl::SACSegmentationFromNormals<pcl::PointXYZ, pcl::Normal> impl_;
/** \brief Synchronized input, normals, and indices.*/
boost::shared_ptr<message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloud, PointCloudN, PointIndices> > > sync_input_normals_indices_a_;
boost::shared_ptr<message_filters::Synchronizer<sync_policies::ExactTime<PointCloud, PointCloudN, PointIndices> > > sync_input_normals_indices_e_;
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
}
#endif //#ifndef PCL_ROS_SAC_SEGMENTATION_H_
| 0 |
apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/include/pcl_ros | apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/include/pcl_ros/io/concatenate_fields.h | /*
* Software License Agreement (BSD License)
*
* Copyright (c) 2009, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* $Id: concatenate_fields.h 35052 2011-01-03 21:04:57Z rusu $
*
*/
#ifndef PCL_IO_CONCATENATE_FIELDS_H_
#define PCL_IO_CONCATENATE_FIELDS_H_
// ROS includes
#include <nodelet/nodelet.h>
#include <message_filters/subscriber.h>
#include <message_filters/synchronizer.h>
#include <message_filters/sync_policies/exact_time.h>
#include <message_filters/sync_policies/approximate_time.h>
#include <sensor_msgs/PointCloud2.h>
namespace pcl_ros
{
/** \brief @b PointCloudConcatenateFieldsSynchronizer is a special form of data synchronizer: it listens for a set of
* input PointCloud messages on the same topic, checks their timestamps, and concatenates their fields together into
* a single PointCloud output message.
* \author Radu Bogdan Rusu
*/
class PointCloudConcatenateFieldsSynchronizer: public nodelet::Nodelet
{
public:
typedef sensor_msgs::PointCloud2 PointCloud;
typedef PointCloud::Ptr PointCloudPtr;
typedef PointCloud::ConstPtr PointCloudConstPtr;
/** \brief Empty constructor. */
PointCloudConcatenateFieldsSynchronizer () : maximum_queue_size_ (3), maximum_seconds_ (0) {};
/** \brief Empty constructor.
* \param queue_size the maximum queue size
*/
PointCloudConcatenateFieldsSynchronizer (int queue_size) : maximum_queue_size_ (queue_size), maximum_seconds_ (0) {};
/** \brief Empty destructor. */
virtual ~PointCloudConcatenateFieldsSynchronizer () {};
void onInit ();
void input_callback (const PointCloudConstPtr &cloud);
private:
/** \brief ROS local node handle. */
ros::NodeHandle private_nh_;
/** \brief The input PointCloud subscriber. */
ros::Subscriber sub_input_;
/** \brief The output PointCloud publisher. */
ros::Publisher pub_output_;
/** \brief The number of input messages that we expect on the input topic. */
int input_messages_;
/** \brief The maximum number of messages that we can store in the queue. */
int maximum_queue_size_;
/** \brief The maximum number of seconds to wait until we drop the synchronization. */
double maximum_seconds_;
/** \brief A queue for messages. */
std::map<ros::Time, std::vector<PointCloudConstPtr> > queue_;
};
}
#endif //#ifndef PCL_IO_CONCATENATE_H_
| 0 |
apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/include/pcl_ros | apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/include/pcl_ros/io/pcd_io.h | /*
* Software License Agreement (BSD License)
*
* Copyright (c) 2009, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* $Id: pcd_io.h 35054 2011-01-03 21:16:49Z rusu $
*
*/
#ifndef PCL_ROS_IO_PCD_IO_H_
#define PCL_ROS_IO_PCD_IO_H_
#include <pcl/io/pcd_io.h>
#include "pcl_ros/pcl_nodelet.h"
namespace pcl_ros
{
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
/** \brief Point Cloud Data (PCD) file format reader.
* \author Radu Bogdan Rusu
*/
class PCDReader : public PCLNodelet
{
public:
typedef sensor_msgs::PointCloud2 PointCloud2;
typedef PointCloud2::Ptr PointCloud2Ptr;
typedef PointCloud2::ConstPtr PointCloud2ConstPtr;
/** \brief Empty constructor. */
PCDReader () : publish_rate_ (0), tf_frame_ ("/base_link") {};
virtual void onInit ();
/** \brief Set the publishing rate in seconds.
* \param publish_rate the publishing rate in seconds
*/
inline void setPublishRate (double publish_rate) { publish_rate_ = publish_rate; }
/** \brief Get the publishing rate in seconds. */
inline double getPublishRate () { return (publish_rate_); }
/** \brief Set the TF frame the PointCloud will be published in.
* \param tf_frame the TF frame the PointCloud will be published in
*/
inline void setTFframe (std::string tf_frame) { tf_frame_ = tf_frame; }
/** \brief Get the TF frame the PointCloud is published in. */
inline std::string getTFframe () { return (tf_frame_); }
protected:
/** \brief The publishing interval in seconds. Set to 0 to only publish once (default). */
double publish_rate_;
/** \brief The TF frame the data should be published in ("/base_link" by default). */
std::string tf_frame_;
/** \brief The name of the file that contains the PointCloud data. */
std::string file_name_;
/** \brief The output point cloud dataset containing the points loaded from the file. */
PointCloud2Ptr output_;
private:
/** \brief The PCL implementation used. */
pcl::PCDReader impl_;
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
/** \brief Point Cloud Data (PCD) file format writer.
* \author Radu Bogdan Rusu
*/
class PCDWriter : public PCLNodelet
{
public:
PCDWriter () : file_name_ (""), binary_mode_ (true) {}
typedef sensor_msgs::PointCloud2 PointCloud2;
typedef PointCloud2::Ptr PointCloud2Ptr;
typedef PointCloud2::ConstPtr PointCloud2ConstPtr;
virtual void onInit ();
void input_callback (const PointCloud2ConstPtr &cloud);
/** \brief The input PointCloud subscriber. */
ros::Subscriber sub_input_;
protected:
/** \brief The name of the file that contains the PointCloud data. */
std::string file_name_;
/** \brief Set to true if the output files should be saved in binary mode (true). */
bool binary_mode_;
private:
/** \brief The PCL implementation used. */
pcl::PCDWriter impl_;
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
}
#endif //#ifndef PCL_ROS_IO_PCD_IO_H_
| 0 |
apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/include/pcl_ros | apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/include/pcl_ros/io/concatenate_data.h | /*
* Software License Agreement (BSD License)
*
* Copyright (c) 2009, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* $Id: concatenate_data.h 35231 2011-01-14 05:33:20Z rusu $
*
*/
#ifndef PCL_IO_CONCATENATE_DATA_H_
#define PCL_IO_CONCATENATE_DATA_H_
// ROS includes
#include <tf/transform_listener.h>
#include <nodelet/nodelet.h>
#include <message_filters/subscriber.h>
#include <message_filters/synchronizer.h>
#include <message_filters/pass_through.h>
#include <message_filters/sync_policies/exact_time.h>
#include <message_filters/sync_policies/approximate_time.h>
namespace pcl_ros
{
namespace sync_policies = message_filters::sync_policies;
/** \brief @b PointCloudConcatenateFieldsSynchronizer is a special form of data
* synchronizer: it listens for a set of input PointCloud messages on the same topic,
* checks their timestamps, and concatenates their fields together into a single
* PointCloud output message.
* \author Radu Bogdan Rusu
*/
class PointCloudConcatenateDataSynchronizer: public nodelet::Nodelet
{
public:
typedef sensor_msgs::PointCloud2 PointCloud2;
typedef PointCloud2::Ptr PointCloud2Ptr;
typedef PointCloud2::ConstPtr PointCloud2ConstPtr;
/** \brief Empty constructor. */
PointCloudConcatenateDataSynchronizer () : maximum_queue_size_ (3) {};
/** \brief Empty constructor.
* \param queue_size the maximum queue size
*/
PointCloudConcatenateDataSynchronizer (int queue_size) : maximum_queue_size_(queue_size), approximate_sync_(false) {};
/** \brief Empty destructor. */
virtual ~PointCloudConcatenateDataSynchronizer () {};
void onInit ();
private:
/** \brief ROS local node handle. */
ros::NodeHandle private_nh_;
/** \brief The output PointCloud publisher. */
ros::Publisher pub_output_;
/** \brief The maximum number of messages that we can store in the queue. */
int maximum_queue_size_;
/** \brief True if we use an approximate time synchronizer versus an exact one (false by default). */
bool approximate_sync_;
/** \brief A vector of message filters. */
std::vector<boost::shared_ptr<message_filters::Subscriber<PointCloud2> > > filters_;
/** \brief Output TF frame the concatenated points should be transformed to. */
std::string output_frame_;
/** \brief TF listener object. */
tf::TransformListener tf_;
/** \brief Null passthrough filter, used for pushing empty elements in the
* synchronizer */
message_filters::PassThrough<PointCloud2> nf_;
/** \brief Synchronizer.
* \note This will most likely be rewritten soon using the DynamicTimeSynchronizer.
*/
boost::shared_ptr<message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloud2, PointCloud2, PointCloud2, PointCloud2, PointCloud2, PointCloud2, PointCloud2, PointCloud2> > > ts_a_;
boost::shared_ptr<message_filters::Synchronizer<sync_policies::ExactTime<PointCloud2, PointCloud2, PointCloud2, PointCloud2, PointCloud2, PointCloud2, PointCloud2, PointCloud2> > > ts_e_;
/** \brief Input point cloud callback.
* Because we want to use the same synchronizer object, we push back
* empty elements with the same timestamp.
*/
inline void
input_callback (const PointCloud2ConstPtr &input)
{
PointCloud2 cloud;
cloud.header.stamp = input->header.stamp;
nf_.add (boost::make_shared<PointCloud2> (cloud));
}
/** \brief Input callback for 8 synchronized topics. */
void input (const PointCloud2::ConstPtr &in1, const PointCloud2::ConstPtr &in2,
const PointCloud2::ConstPtr &in3, const PointCloud2::ConstPtr &in4,
const PointCloud2::ConstPtr &in5, const PointCloud2::ConstPtr &in6,
const PointCloud2::ConstPtr &in7, const PointCloud2::ConstPtr &in8);
void combineClouds (const PointCloud2 &in1, const PointCloud2 &in2, PointCloud2 &out);
};
}
#endif //#ifndef PCL_ROS_IO_CONCATENATE_H_
| 0 |
apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/include/pcl_ros | apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/include/pcl_ros/io/bag_io.h | /*
* Software License Agreement (BSD License)
*
* Copyright (c) 2009, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* $Id: bag_io.h 35471 2011-01-25 06:50:00Z rusu $
*
*/
#ifndef PCL_ROS_IO_BAG_IO_H_
#define PCL_ROS_IO_BAG_IO_H_
#include <pcl_ros/pcl_nodelet.h>
#include <sensor_msgs/PointCloud2.h>
#include <rosbag/bag.h>
#include <rosbag/view.h>
namespace pcl_ros
{
////////////////////////////////////////////////////////////////////////////////////////////
/** \brief BAG PointCloud file format reader.
* \author Radu Bogdan Rusu
*/
class BAGReader: public nodelet::Nodelet
{
public:
typedef sensor_msgs::PointCloud2 PointCloud;
typedef PointCloud::Ptr PointCloudPtr;
typedef PointCloud::ConstPtr PointCloudConstPtr;
/** \brief Empty constructor. */
BAGReader () : publish_rate_ (0), output_ ()/*, cloud_received_ (false)*/ {};
/** \brief Set the publishing rate in seconds.
* \param publish_rate the publishing rate in seconds
*/
inline void setPublishRate (double publish_rate) { publish_rate_ = publish_rate; }
/** \brief Get the publishing rate in seconds. */
inline double getPublishRate () { return (publish_rate_); }
/** \brief Get the next point cloud dataset in the BAG file.
* \return the next point cloud dataset as read from the file
*/
inline PointCloudConstPtr
getNextCloud ()
{
if (it_ != view_.end ())
{
output_ = it_->instantiate<sensor_msgs::PointCloud2> ();
++it_;
}
return (output_);
}
/** \brief Open a BAG file for reading and select a specified topic
* \param file_name the BAG file to open
* \param topic_name the topic that we want to read data from
*/
bool open (const std::string &file_name, const std::string &topic_name);
/** \brief Close an open BAG file. */
inline void
close ()
{
bag_.close ();
}
/** \brief Nodelet initialization routine. */
virtual void onInit ();
private:
/** \brief The publishing interval in seconds. Set to 0 to publish once (default). */
double publish_rate_;
/** \brief The BAG object. */
rosbag::Bag bag_;
/** \brief The BAG view object. */
rosbag::View view_;
/** \brief The BAG view iterator object. */
rosbag::View::iterator it_;
/** \brief The name of the topic that contains the PointCloud data. */
std::string topic_name_;
/** \brief The name of the BAG file that contains the PointCloud data. */
std::string file_name_;
/** \brief The output point cloud dataset containing the points loaded from the file. */
PointCloudPtr output_;
/** \brief Signals that a new PointCloud2 message has been read from the file. */
//bool cloud_received_;
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
}
#endif //#ifndef PCL_ROS_IO_BAG_IO_H_
| 0 |
apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/include/pcl_ros | apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/include/pcl_ros/features/normal_3d.h | /*
* Software License Agreement (BSD License)
*
* Copyright (c) 2009, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* $Id: normal_3d.h 35361 2011-01-20 04:34:49Z rusu $
*
*/
#ifndef PCL_ROS_NORMAL_3D_H_
#define PCL_ROS_NORMAL_3D_H_
#include <pcl/features/normal_3d.h>
#include "pcl_ros/features/feature.h"
namespace pcl_ros
{
/** \brief @b NormalEstimation estimates local surface properties at each 3D point, such as surface normals and
* curvatures.
*
* @note The code is stateful as we do not expect this class to be multicore parallelized. Please look at
* \a NormalEstimationOpenMP and \a NormalEstimationTBB for parallel implementations.
* \author Radu Bogdan Rusu
*/
class NormalEstimation: public Feature
{
private:
/** \brief PCL implementation object. */
pcl::NormalEstimation<pcl::PointXYZ, pcl::Normal> impl_;
typedef pcl::PointCloud<pcl::Normal> PointCloudOut;
/** \brief Child initialization routine. Internal method. */
inline bool
childInit (ros::NodeHandle &nh)
{
// Create the output publisher
pub_output_ = nh.advertise<PointCloudOut> ("output", max_queue_size_);
return (true);
}
/** \brief Publish an empty point cloud of the feature output type.
* \param cloud the input point cloud to copy the header from.
*/
void emptyPublish (const PointCloudInConstPtr &cloud);
/** \brief Compute the feature and publish it. */
void computePublish (const PointCloudInConstPtr &cloud,
const PointCloudInConstPtr &surface,
const IndicesPtr &indices);
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
}
#endif //#ifndef PCL_ROS_NORMAL_3D_H_
| 0 |
apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/include/pcl_ros | apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/include/pcl_ros/features/vfh.h | /*
* Software License Agreement (BSD License)
*
* Copyright (c) 2009, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* $Id: vfh.h 35361 2011-01-20 04:34:49Z rusu $
*
*/
#ifndef PCL_ROS_FEATURES_VFH_H_
#define PCL_ROS_FEATURES_VFH_H_
#include <pcl/features/vfh.h>
#include "pcl_ros/features/fpfh.h"
namespace pcl_ros
{
/** \brief @b VFHEstimation estimates the <b>Viewpoint Feature Histogram (VFH)</b> descriptor for a given point cloud
* dataset containing points and normals.
*
* @note The code is stateful as we do not expect this class to be multicore parallelized. Please look at
* \a FPFHEstimationOpenMP for examples on parallel implementations of the FPFH (Fast Point Feature Histogram).
* \author Radu Bogdan Rusu
*/
class VFHEstimation : public FeatureFromNormals
{
private:
pcl::VFHEstimation<pcl::PointXYZ, pcl::Normal, pcl::VFHSignature308> impl_;
typedef pcl::PointCloud<pcl::VFHSignature308> PointCloudOut;
/** \brief Child initialization routine. Internal method. */
inline bool
childInit (ros::NodeHandle &nh)
{
// Create the output publisher
pub_output_ = nh.advertise<PointCloudOut> ("output", max_queue_size_);
return (true);
}
/** \brief Publish an empty point cloud of the feature output type. */
void emptyPublish (const PointCloudInConstPtr &cloud);
/** \brief Compute the feature and publish it. */
void computePublish (const PointCloudInConstPtr &cloud,
const PointCloudNConstPtr &normals,
const PointCloudInConstPtr &surface,
const IndicesPtr &indices);
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
}
#endif //#ifndef PCL_ROS_FEATURES_VFH_H_
| 0 |
apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/include/pcl_ros | apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/include/pcl_ros/features/normal_3d_tbb.h | /*
* Software License Agreement (BSD License)
*
* Copyright (c) 2009, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* $Id: normal_3d_tbb.h 35661 2011-02-01 06:04:14Z rusu $
*
*/
#ifndef PCL_ROS_NORMAL_3D_TBB_H_
#define PCL_ROS_NORMAL_3D_TBB_H_
//#include "pcl_ros/pcl_ros_config.h"
//#if defined(HAVE_TBB)
#include <pcl/features/normal_3d_tbb.h>
#include "pcl_ros/features/normal_3d.h"
namespace pcl_ros
{
/** \brief @b NormalEstimationTBB estimates local surface properties at each 3D point, such as surface normals and
* curvatures, in parallel, using Intel's Threading Building Blocks library.
* \author Radu Bogdan Rusu
*/
class NormalEstimationTBB: public Feature
{
private:
pcl::NormalEstimationTBB<pcl::PointXYZ, pcl::Normal> impl_;
typedef pcl::PointCloud<pcl::Normal> PointCloudOut;
/** \brief Child initialization routine. Internal method. */
inline bool
childInit (ros::NodeHandle &nh)
{
// Create the output publisher
pub_output_ = nh.advertise<PointCloud> ("output", max_queue_size_);
return (true);
}
/** \brief Publish an empty point cloud of the feature output type. */
void emptyPublish (const PointCloudInConstPtr &cloud);
/** \brief Compute the feature and publish it. */
void computePublish (const PointCloudInConstPtr &cloud,
const PointCloudInConstPtr &surface,
const IndicesPtr &indices);
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
}
//#endif // HAVE_TBB
#endif //#ifndef PCL_ROS_NORMAL_3D_TBB_H_
| 0 |
apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/include/pcl_ros | apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/include/pcl_ros/features/fpfh_omp.h | /*
* Software License Agreement (BSD License)
*
* Copyright (c) 2009, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* $Id: fpfh_omp.h 35361 2011-01-20 04:34:49Z rusu $
*
*/
#ifndef PCL_ROS_FPFH_OMP_H_
#define PCL_ROS_FPFH_OMP_H_
#include <pcl/features/fpfh_omp.h>
#include "pcl_ros/features/fpfh.h"
namespace pcl_ros
{
/** \brief @b FPFHEstimationOMP estimates the Fast Point Feature Histogram (FPFH) descriptor for a given point cloud
* dataset containing points and normals, in parallel, using the OpenMP standard.
*
* @note If you use this code in any academic work, please cite:
*
* <ul>
* <li> R.B. Rusu, N. Blodow, M. Beetz.
* Fast Point Feature Histograms (FPFH) for 3D Registration.
* In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA),
* Kobe, Japan, May 12-17 2009.
* </li>
* <li> R.B. Rusu, A. Holzbach, N. Blodow, M. Beetz.
* Fast Geometric Point Labeling using Conditional Random Fields.
* In Proceedings of the 22nd IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS),
* St. Louis, MO, USA, October 11-15 2009.
* </li>
* </ul>
* \author Radu Bogdan Rusu
*/
class FPFHEstimationOMP : public FeatureFromNormals
{
private:
pcl::FPFHEstimationOMP<pcl::PointXYZ, pcl::Normal, pcl::FPFHSignature33> impl_;
typedef pcl::PointCloud<pcl::FPFHSignature33> PointCloudOut;
/** \brief Child initialization routine. Internal method. */
inline bool
childInit (ros::NodeHandle &nh)
{
// Create the output publisher
pub_output_ = nh.advertise<PointCloudOut> ("output", max_queue_size_);
return (true);
}
/** \brief Publish an empty point cloud of the feature output type. */
void emptyPublish (const PointCloudInConstPtr &cloud);
/** \brief Compute the feature and publish it. */
void computePublish (const PointCloudInConstPtr &cloud,
const PointCloudNConstPtr &normals,
const PointCloudInConstPtr &surface,
const IndicesPtr &indices);
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
}
#endif //#ifndef PCL_ROS_FPFH_OMP_H_
| 0 |
apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/include/pcl_ros | apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/include/pcl_ros/features/boundary.h | /*
* Software License Agreement (BSD License)
*
* Copyright (c) 2009, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* $Id: boundary.h 35361 2011-01-20 04:34:49Z rusu $
*
*/
#ifndef PCL_ROS_BOUNDARY_H_
#define PCL_ROS_BOUNDARY_H_
#define EIGEN_YES_I_KNOW_SPARSE_MODULE_IS_NOT_STABLE_YET true
#include <pcl/features/boundary.h>
#include "pcl_ros/features/feature.h"
namespace pcl_ros
{
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
/** \brief @b BoundaryEstimation estimates whether a set of points is lying on surface boundaries using an angle
* criterion. The code makes use of the estimated surface normals at each point in the input dataset.
*
* @note The code is stateful as we do not expect this class to be multicore parallelized. Please look at
* \a NormalEstimationOpenMP and \a NormalEstimationTBB for examples on how to extend this to parallel implementations.
* \author Radu Bogdan Rusu
*/
class BoundaryEstimation: public FeatureFromNormals
{
private:
pcl::BoundaryEstimation<pcl::PointXYZ, pcl::Normal, pcl::Boundary> impl_;
typedef pcl::PointCloud<pcl::Boundary> PointCloudOut;
/** \brief Child initialization routine. Internal method. */
inline bool
childInit (ros::NodeHandle &nh)
{
// Create the output publisher
pub_output_ = nh.advertise<PointCloudOut> ("output", max_queue_size_);
return (true);
}
/** \brief Publish an empty point cloud of the feature output type. */
void emptyPublish (const PointCloudInConstPtr &cloud);
/** \brief Compute the feature and publish it. */
void computePublish (const PointCloudInConstPtr &cloud,
const PointCloudNConstPtr &normals,
const PointCloudInConstPtr &surface,
const IndicesPtr &indices);
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
}
#endif //#ifndef PCL_ROS_BOUNDARY_H_
| 0 |
apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/include/pcl_ros | apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/include/pcl_ros/features/pfh.h | /*
* Software License Agreement (BSD License)
*
* Copyright (c) 2009, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* $Id: pfh.h 35361 2011-01-20 04:34:49Z rusu $
*
*/
#ifndef PCL_ROS_PFH_H_
#define PCL_ROS_PFH_H_
#include <pcl/features/pfh.h>
#include "pcl_ros/features/feature.h"
namespace pcl_ros
{
/** \brief @b PFHEstimation estimates the Point Feature Histogram (PFH) descriptor for a given point cloud dataset
* containing points and normals.
*
* @note If you use this code in any academic work, please cite:
*
* <ul>
* <li> R.B. Rusu, N. Blodow, Z.C. Marton, M. Beetz.
* Aligning Point Cloud Views using Persistent Feature Histograms.
* In Proceedings of the 21st IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS),
* Nice, France, September 22-26 2008.
* </li>
* <li> R.B. Rusu, Z.C. Marton, N. Blodow, M. Beetz.
* Learning Informative Point Classes for the Acquisition of Object Model Maps.
* In Proceedings of the 10th International Conference on Control, Automation, Robotics and Vision (ICARCV),
* Hanoi, Vietnam, December 17-20 2008.
* </li>
* </ul>
*
* @note The code is stateful as we do not expect this class to be multicore parallelized. Please look at
* \a FPFHEstimationOpenMP for examples on parallel implementations of the FPFH (Fast Point Feature Histogram).
* \author Radu Bogdan Rusu
*/
class PFHEstimation : public FeatureFromNormals
{
private:
pcl::PFHEstimation<pcl::PointXYZ, pcl::Normal, pcl::PFHSignature125> impl_;
typedef pcl::PointCloud<pcl::PFHSignature125> PointCloudOut;
/** \brief Child initialization routine. Internal method. */
inline bool
childInit (ros::NodeHandle &nh)
{
// Create the output publisher
pub_output_ = nh.advertise<PointCloudOut> ("output", max_queue_size_);
return (true);
}
/** \brief Publish an empty point cloud of the feature output type. */
void emptyPublish (const PointCloudInConstPtr &cloud);
/** \brief Compute the feature and publish it. */
void computePublish (const PointCloudInConstPtr &cloud,
const PointCloudNConstPtr &normals,
const PointCloudInConstPtr &surface,
const IndicesPtr &indices);
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
}
#endif //#ifndef PCL_ROS_PFH_H_
| 0 |
apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/include/pcl_ros | apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/include/pcl_ros/features/feature.h | /*
* Software License Agreement (BSD License)
*
* Copyright (c) 2009, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* $Id: feature.h 35422 2011-01-24 20:04:44Z rusu $
*
*/
#ifndef PCL_ROS_FEATURE_H_
#define PCL_ROS_FEATURE_H_
// PCL includes
#include <pcl/features/feature.h>
#include <pcl_msgs/PointIndices.h>
#include "pcl_ros/pcl_nodelet.h"
#include <message_filters/pass_through.h>
// Dynamic reconfigure
#include <dynamic_reconfigure/server.h>
#include "pcl_ros/FeatureConfig.h"
// PCL conversions
#include <pcl_conversions/pcl_conversions.h>
namespace pcl_ros
{
namespace sync_policies = message_filters::sync_policies;
///////////////////////////////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////////////////////////////
/** \brief @b Feature represents the base feature class. Some generic 3D operations that
* are applicable to all features are defined here as static methods.
* \author Radu Bogdan Rusu
*/
class Feature : public PCLNodelet
{
public:
typedef pcl::KdTree<pcl::PointXYZ> KdTree;
typedef pcl::KdTree<pcl::PointXYZ>::Ptr KdTreePtr;
typedef pcl::PointCloud<pcl::PointXYZ> PointCloudIn;
typedef PointCloudIn::Ptr PointCloudInPtr;
typedef PointCloudIn::ConstPtr PointCloudInConstPtr;
typedef boost::shared_ptr <std::vector<int> > IndicesPtr;
typedef boost::shared_ptr <const std::vector<int> > IndicesConstPtr;
/** \brief Empty constructor. */
Feature () : /*input_(), indices_(), surface_(), */tree_(), k_(0), search_radius_(0),
use_surface_(false), spatial_locator_type_(-1)
{};
protected:
/** \brief The input point cloud dataset. */
//PointCloudInConstPtr input_;
/** \brief A pointer to the vector of point indices to use. */
//IndicesConstPtr indices_;
/** \brief An input point cloud describing the surface that is to be used for nearest neighbors estimation. */
//PointCloudInConstPtr surface_;
/** \brief A pointer to the spatial search object. */
KdTreePtr tree_;
/** \brief The number of K nearest neighbors to use for each point. */
int k_;
/** \brief The nearest neighbors search radius for each point. */
double search_radius_;
// ROS nodelet attributes
/** \brief The surface PointCloud subscriber filter. */
message_filters::Subscriber<PointCloudIn> sub_surface_filter_;
/** \brief The input PointCloud subscriber. */
ros::Subscriber sub_input_;
/** \brief Set to true if the nodelet needs to listen for incoming point clouds representing the search surface. */
bool use_surface_;
/** \brief Parameter for the spatial locator tree. By convention, the values represent:
* 0: ANN (Approximate Nearest Neigbor library) kd-tree
* 1: FLANN (Fast Library for Approximate Nearest Neighbors) kd-tree
* 2: Organized spatial dataset index
*/
int spatial_locator_type_;
/** \brief Pointer to a dynamic reconfigure service. */
boost::shared_ptr <dynamic_reconfigure::Server<FeatureConfig> > srv_;
/** \brief Child initialization routine. Internal method. */
virtual bool childInit (ros::NodeHandle &nh) = 0;
/** \brief Publish an empty point cloud of the feature output type. */
virtual void emptyPublish (const PointCloudInConstPtr &cloud) = 0;
/** \brief Compute the feature and publish it. Internal method. */
virtual void computePublish (const PointCloudInConstPtr &cloud,
const PointCloudInConstPtr &surface,
const IndicesPtr &indices) = 0;
/** \brief Dynamic reconfigure callback
* \param config the config object
* \param level the dynamic reconfigure level
*/
void config_callback (FeatureConfig &config, uint32_t level);
/** \brief Null passthrough filter, used for pushing empty elements in the
* synchronizer */
message_filters::PassThrough<PointIndices> nf_pi_;
message_filters::PassThrough<PointCloudIn> nf_pc_;
/** \brief Input point cloud callback.
* Because we want to use the same synchronizer object, we push back
* empty elements with the same timestamp.
*/
inline void
input_callback (const PointCloudInConstPtr &input)
{
PointIndices indices;
indices.header.stamp = pcl_conversions::fromPCL(input->header).stamp;
PointCloudIn cloud;
cloud.header.stamp = input->header.stamp;
nf_pc_.add (cloud.makeShared ());
nf_pi_.add (boost::make_shared<PointIndices> (indices));
}
private:
/** \brief Synchronized input, surface, and point indices.*/
boost::shared_ptr <message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloudIn, PointCloudIn, PointIndices> > > sync_input_surface_indices_a_;
boost::shared_ptr <message_filters::Synchronizer<sync_policies::ExactTime<PointCloudIn, PointCloudIn, PointIndices> > > sync_input_surface_indices_e_;
/** \brief Nodelet initialization routine. */
virtual void onInit ();
/** \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
* \param indices the pointer to the input point cloud indices
*/
void input_surface_indices_callback (const PointCloudInConstPtr &cloud,
const PointCloudInConstPtr &cloud_surface,
const PointIndicesConstPtr &indices);
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
//////////////////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////////////////
class FeatureFromNormals : public Feature
{
public:
typedef sensor_msgs::PointCloud2 PointCloud2;
typedef pcl::PointCloud<pcl::Normal> PointCloudN;
typedef PointCloudN::Ptr PointCloudNPtr;
typedef PointCloudN::ConstPtr PointCloudNConstPtr;
FeatureFromNormals () : normals_() {};
protected:
/** \brief A pointer to the input dataset that contains the point normals of the XYZ dataset. */
PointCloudNConstPtr normals_;
/** \brief Child initialization routine. Internal method. */
virtual bool childInit (ros::NodeHandle &nh) = 0;
/** \brief Publish an empty point cloud of the feature output type. */
virtual void emptyPublish (const PointCloudInConstPtr &cloud) = 0;
/** \brief Compute the feature and publish it. */
virtual void computePublish (const PointCloudInConstPtr &cloud,
const PointCloudNConstPtr &normals,
const PointCloudInConstPtr &surface,
const IndicesPtr &indices) = 0;
private:
/** \brief The normals PointCloud subscriber filter. */
message_filters::Subscriber<PointCloudN> sub_normals_filter_;
/** \brief Synchronized input, normals, surface, and point indices.*/
boost::shared_ptr<message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloudIn, PointCloudN, PointCloudIn, PointIndices> > > sync_input_normals_surface_indices_a_;
boost::shared_ptr<message_filters::Synchronizer<sync_policies::ExactTime<PointCloudIn, PointCloudN, PointCloudIn, PointIndices> > > sync_input_normals_surface_indices_e_;
/** \brief Internal method. */
void computePublish (const PointCloudInConstPtr &,
const PointCloudInConstPtr &,
const IndicesPtr &) {} // This should never be called
/** \brief Nodelet initialization routine. */
virtual void onInit ();
/** \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
* \param cloud_surface the pointer to the surface point cloud
* \param indices the pointer to the input point cloud indices
*/
void input_normals_surface_indices_callback (const PointCloudInConstPtr &cloud,
const PointCloudNConstPtr &cloud_normals,
const PointCloudInConstPtr &cloud_surface,
const PointIndicesConstPtr &indices);
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
}
#endif //#ifndef PCL_ROS_FEATURE_H_
| 0 |
apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/include/pcl_ros | apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/include/pcl_ros/features/shot_omp.h | /*
* Software License Agreement (BSD License)
*
* Copyright (c) 2015, Ryohei Ueda, JSK Lab
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of JSK Lab. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
*
*/
#ifndef PCL_ROS_SHOT_OMP_H_
#define PCL_ROS_SHOT_OMP_H_
#include <pcl/features/shot_omp.h>
#include "pcl_ros/features/shot.h"
namespace pcl_ros
{
/** \brief @b SHOTEstimation estimates SHOT descriptor using OpenMP.
*/
class SHOTEstimationOMP : public FeatureFromNormals
{
private:
pcl::SHOTEstimationOMP<pcl::PointXYZ, pcl::Normal, pcl::SHOT352> impl_;
typedef pcl::PointCloud<pcl::SHOT352> PointCloudOut;
/** \brief Child initialization routine. Internal method. */
inline bool
childInit (ros::NodeHandle &nh)
{
// Create the output publisher
pub_output_ = nh.advertise<PointCloudOut> ("output", max_queue_size_);
return (true);
}
/** \brief Publish an empty point cloud of the feature output type. */
void emptyPublish (const PointCloudInConstPtr &cloud);
/** \brief Compute the feature and publish it. */
void computePublish (const PointCloudInConstPtr &cloud,
const PointCloudNConstPtr &normals,
const PointCloudInConstPtr &surface,
const IndicesPtr &indices);
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
}
#endif //#ifndef PCL_ROS_SHOT_OMP_H_
| 0 |
apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/include/pcl_ros | apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/include/pcl_ros/features/normal_3d_omp.h | /*
* Software License Agreement (BSD License)
*
* Copyright (c) 2009, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* $Id: normal_3d_omp.h 35361 2011-01-20 04:34:49Z rusu $
*
*/
#ifndef PCL_ROS_NORMAL_3D_OMP_H_
#define PCL_ROS_NORMAL_3D_OMP_H_
#include <pcl/features/normal_3d_omp.h>
#include "pcl_ros/features/normal_3d.h"
namespace pcl_ros
{
/** \brief @b NormalEstimationOMP estimates local surface properties at each 3D point, such as surface normals and
* curvatures, in parallel, using the OpenMP standard.
* \author Radu Bogdan Rusu
*/
class NormalEstimationOMP: public Feature
{
private:
pcl::NormalEstimationOMP<pcl::PointXYZ, pcl::Normal> impl_;
typedef pcl::PointCloud<pcl::Normal> PointCloudOut;
/** \brief Child initialization routine. Internal method. */
inline bool
childInit (ros::NodeHandle &nh)
{
// Create the output publisher
pub_output_ = nh.advertise<PointCloudOut> ("output", max_queue_size_);
return (true);
}
/** \brief Publish an empty point cloud of the feature output type. */
void emptyPublish (const PointCloudInConstPtr &cloud);
/** \brief Compute the feature and publish it. */
void computePublish (const PointCloudInConstPtr &cloud,
const PointCloudInConstPtr &surface,
const IndicesPtr &indices);
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
}
#endif //#ifndef PCL_ROS_NORMAL_3D_OMP_H_
| 0 |
apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/include/pcl_ros | apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/include/pcl_ros/features/fpfh.h | /*
* Software License Agreement (BSD License)
*
* Copyright (c) 2009, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* $Id: fpfh.h 35361 2011-01-20 04:34:49Z rusu $
*
*/
#ifndef PCL_ROS_FPFH_H_
#define PCL_ROS_FPFH_H_
#include <pcl/features/fpfh.h>
#include "pcl_ros/features/pfh.h"
namespace pcl_ros
{
/** \brief @b FPFHEstimation estimates the <b>Fast Point Feature Histogram (FPFH)</b> descriptor for a given point cloud
* dataset containing points and normals.
*
* @note If you use this code in any academic work, please cite:
*
* <ul>
* <li> R.B. Rusu, N. Blodow, M. Beetz.
* Fast Point Feature Histograms (FPFH) for 3D Registration.
* In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA),
* Kobe, Japan, May 12-17 2009.
* </li>
* <li> R.B. Rusu, A. Holzbach, N. Blodow, M. Beetz.
* Fast Geometric Point Labeling using Conditional Random Fields.
* In Proceedings of the 22nd IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS),
* St. Louis, MO, USA, October 11-15 2009.
* </li>
* </ul>
*
* @note The code is stateful as we do not expect this class to be multicore parallelized. Please look at
* \a FPFHEstimationOpenMP for examples on parallel implementations of the FPFH (Fast Point Feature Histogram).
* \author Radu Bogdan Rusu
*/
class FPFHEstimation : public FeatureFromNormals
{
private:
pcl::FPFHEstimation<pcl::PointXYZ, pcl::Normal, pcl::FPFHSignature33> impl_;
typedef pcl::PointCloud<pcl::FPFHSignature33> PointCloudOut;
/** \brief Child initialization routine. Internal method. */
inline bool
childInit (ros::NodeHandle &nh)
{
// Create the output publisher
pub_output_ = nh.advertise<PointCloudOut> ("output", max_queue_size_);
return (true);
}
/** \brief Publish an empty point cloud of the feature output type. */
void emptyPublish (const PointCloudInConstPtr &cloud);
/** \brief Compute the feature and publish it. */
void computePublish (const PointCloudInConstPtr &cloud,
const PointCloudNConstPtr &normals,
const PointCloudInConstPtr &surface,
const IndicesPtr &indices);
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
}
#endif //#ifndef PCL_FPFH_H_
| 0 |
apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/include/pcl_ros | apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/include/pcl_ros/features/principal_curvatures.h | /*
* Software License Agreement (BSD License)
*
* Copyright (c) 2009, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* $Id: principal_curvatures.h 35361 2011-01-20 04:34:49Z rusu $
*
*/
#ifndef PCL_ROS_PRINCIPAL_CURVATURES_H_
#define PCL_ROS_PRINCIPAL_CURVATURES_H_
#define EIGEN_YES_I_KNOW_SPARSE_MODULE_IS_NOT_STABLE_YET true
#include <pcl/features/principal_curvatures.h>
#include "pcl_ros/features/feature.h"
namespace pcl_ros
{
/** \brief @b PrincipalCurvaturesEstimation estimates the directions (eigenvectors) and magnitudes (eigenvalues) of
* principal surface curvatures for a given point cloud dataset containing points and normals.
*
* @note The code is stateful as we do not expect this class to be multicore parallelized. Please look at
* \a NormalEstimationOpenMP and \a NormalEstimationTBB for examples on how to extend this to parallel implementations.
* \author Radu Bogdan Rusu, Jared Glover
*/
class PrincipalCurvaturesEstimation : public FeatureFromNormals
{
private:
pcl::PrincipalCurvaturesEstimation<pcl::PointXYZ, pcl::Normal, pcl::PrincipalCurvatures> impl_;
typedef pcl::PointCloud<pcl::PrincipalCurvatures> PointCloudOut;
/** \brief Child initialization routine. Internal method. */
inline bool
childInit (ros::NodeHandle &nh)
{
// Create the output publisher
pub_output_ = nh.advertise<PointCloudOut> ("output", max_queue_size_);
return (true);
}
/** \brief Publish an empty point cloud of the feature output type. */
void emptyPublish (const PointCloudInConstPtr &cloud);
/** \brief Compute the feature and publish it. */
void computePublish (const PointCloudInConstPtr &cloud,
const PointCloudNConstPtr &normals,
const PointCloudInConstPtr &surface,
const IndicesPtr &indices);
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
}
#endif //#ifndef PCL_ROS_PRINCIPAL_CURVATURES_H_
| 0 |
apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/include/pcl_ros | apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/include/pcl_ros/features/shot.h | /*
* Software License Agreement (BSD License)
*
* Copyright (c) 2015, Ryohei Ueda, JSK Lab
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of JSK Lab. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
*
*/
#ifndef PCL_ROS_SHOT_H_
#define PCL_ROS_SHOT_H_
#include <pcl/features/shot.h>
#include "pcl_ros/features/pfh.h"
namespace pcl_ros
{
/** \brief @b SHOTEstimation estimates SHOT descriptor.
*
*/
class SHOTEstimation : public FeatureFromNormals
{
private:
pcl::SHOTEstimation<pcl::PointXYZ, pcl::Normal, pcl::SHOT352> impl_;
typedef pcl::PointCloud<pcl::SHOT352> PointCloudOut;
/** \brief Child initialization routine. Internal method. */
inline bool
childInit (ros::NodeHandle &nh)
{
// Create the output publisher
pub_output_ = nh.advertise<PointCloudOut> ("output", max_queue_size_);
return (true);
}
/** \brief Publish an empty point cloud of the feature output type. */
void emptyPublish (const PointCloudInConstPtr &cloud);
/** \brief Compute the feature and publish it. */
void computePublish (const PointCloudInConstPtr &cloud,
const PointCloudNConstPtr &normals,
const PointCloudInConstPtr &surface,
const IndicesPtr &indices);
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
}
#endif //#ifndef PCL_SHOT_H_
| 0 |
apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/include/pcl_ros | apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/include/pcl_ros/features/moment_invariants.h | /*
* Software License Agreement (BSD License)
*
* Copyright (c) 2009, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* $Id: moment_invariants.h 35361 2011-01-20 04:34:49Z rusu $
*
*/
#ifndef PCL_ROS_MOMENT_INVARIANTS_H_
#define PCL_ROS_MOMENT_INVARIANTS_H_
#include <pcl/features/moment_invariants.h>
#include "pcl_ros/features/feature.h"
namespace pcl_ros
{
/** \brief MomentInvariantsEstimation estimates the 3 moment invariants (j1, j2, j3) at each 3D point.
*
* @note The code is stateful as we do not expect this class to be multicore parallelized. Please look at
* \a NormalEstimationOpenMP and \a NormalEstimationTBB for examples on how to extend this to parallel implementations.
* \author Radu Bogdan Rusu
*/
class MomentInvariantsEstimation: public Feature
{
private:
pcl::MomentInvariantsEstimation<pcl::PointXYZ, pcl::MomentInvariants> impl_;
typedef pcl::PointCloud<pcl::MomentInvariants> PointCloudOut;
/** \brief Child initialization routine. Internal method. */
inline bool
childInit (ros::NodeHandle &nh)
{
// Create the output publisher
pub_output_ = nh.advertise<PointCloudOut> ("output", max_queue_size_);
return (true);
}
/** \brief Publish an empty point cloud of the feature output type. */
void emptyPublish (const PointCloudInConstPtr &cloud);
/** \brief Compute the feature and publish it. */
void computePublish (const PointCloudInConstPtr &cloud,
const PointCloudInConstPtr &surface,
const IndicesPtr &indices);
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
}
#endif //#ifndef PCL_ROS_MOMENT_INVARIANTS_H_
| 0 |
apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/include/pcl_ros | apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/include/pcl_ros/surface/moving_least_squares.h | /*
* Software License Agreement (BSD License)
*
* Copyright (c) 2010, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* $Id: moving_least_squares.h 36097 2011-02-20 14:18:58Z marton $
*
*/
#ifndef PCL_ROS_MOVING_LEAST_SQUARES_H_
#define PCL_ROS_MOVING_LEAST_SQUARES_H_
#include "pcl_ros/pcl_nodelet.h"
// PCL includes
#include <pcl/surface/mls.h>
// Dynamic reconfigure
#include <dynamic_reconfigure/server.h>
#include "pcl_ros/MLSConfig.h"
namespace pcl_ros
{
namespace sync_policies = message_filters::sync_policies;
/** \brief @b MovingLeastSquares represents a nodelet using the MovingLeastSquares implementation.
* The type of the output is the same as the input, it only smooths the XYZ coordinates according to the parameters.
* Normals are estimated at each point as well and published on a separate topic.
* \author Radu Bogdan Rusu, Zoltan-Csaba Marton
*/
class MovingLeastSquares : public PCLNodelet
{
typedef pcl::PointXYZ PointIn;
typedef pcl::PointNormal NormalOut;
typedef pcl::PointCloud<PointIn> PointCloudIn;
typedef PointCloudIn::Ptr PointCloudInPtr;
typedef PointCloudIn::ConstPtr PointCloudInConstPtr;
typedef pcl::PointCloud<NormalOut> NormalCloudOut;
typedef pcl::KdTree<PointIn> KdTree;
typedef pcl::KdTree<PointIn>::Ptr KdTreePtr;
protected:
/** \brief An input point cloud describing the surface that is to be used for nearest neighbors estimation. */
PointCloudInConstPtr surface_;
/** \brief A pointer to the spatial search object. */
KdTreePtr tree_;
/** \brief The nearest neighbors search radius for each point. */
double search_radius_;
/** \brief The number of K nearest neighbors to use for each point. */
//int k_;
/** \brief Whether to use a polynomial fit. */
bool use_polynomial_fit_;
/** \brief The order of the polynomial to be fit. */
int polynomial_order_;
/** \brief How 'flat' should the neighbor weighting gaussian be (the smaller, the more local the fit). */
double gaussian_parameter_;
// ROS nodelet attributes
/** \brief The surface PointCloud subscriber filter. */
message_filters::Subscriber<PointCloudIn> sub_surface_filter_;
/** \brief Parameter for the spatial locator tree. By convention, the values represent:
* 0: ANN (Approximate Nearest Neigbor library) kd-tree
* 1: FLANN (Fast Library for Approximate Nearest Neighbors) kd-tree
* 2: Organized spatial dataset index
*/
int spatial_locator_type_;
/** \brief Pointer to a dynamic reconfigure service. */
boost::shared_ptr <dynamic_reconfigure::Server<MLSConfig> > srv_;
/** \brief Dynamic reconfigure callback
* \param config the config object
* \param level the dynamic reconfigure level
*/
void config_callback (MLSConfig &config, uint32_t level);
private:
/** \brief Nodelet initialization routine. */
virtual void onInit ();
/** \brief Input point cloud callback.
* \param cloud the pointer to the input point cloud
* \param indices the pointer to the input point cloud indices
*/
void input_indices_callback (const PointCloudInConstPtr &cloud,
const PointIndicesConstPtr &indices);
private:
/** \brief The PCL implementation used. */
pcl::MovingLeastSquares<PointIn, NormalOut> impl_;
/** \brief The input PointCloud subscriber. */
ros::Subscriber sub_input_;
/** \brief The output PointCloud (containing the normals) publisher. */
ros::Publisher pub_normals_;
/** \brief Synchronized input, and indices.*/
boost::shared_ptr<message_filters::Synchronizer<sync_policies::ExactTime<PointCloudIn, PointIndices> > > sync_input_indices_e_;
boost::shared_ptr<message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloudIn, PointIndices> > > sync_input_indices_a_;
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
}
#endif //#ifndef PCL_ROS_MOVING_LEAST_SQUARES_H_
| 0 |
apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/include/pcl_ros | apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/include/pcl_ros/surface/convex_hull.h | /*
* Software License Agreement (BSD License)
*
* Copyright (c) 2010, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* $Id: convex_hull.h 36116 2011-02-22 00:05:23Z rusu $
*
*/
#ifndef PCL_ROS_CONVEX_HULL_2D_H_
#define PCL_ROS_CONVEX_HULL_2D_H_
#include "pcl_ros/pcl_nodelet.h"
// PCL includes
#include <pcl/surface/convex_hull.h>
// Dynamic reconfigure
#include <dynamic_reconfigure/server.h>
namespace pcl_ros
{
namespace sync_policies = message_filters::sync_policies;
/** \brief @b ConvexHull2D represents a 2D ConvexHull implementation.
* \author Radu Bogdan Rusu
*/
class ConvexHull2D : public PCLNodelet
{
typedef pcl::PointCloud<pcl::PointXYZ> PointCloud;
typedef PointCloud::Ptr PointCloudPtr;
typedef PointCloud::ConstPtr PointCloudConstPtr;
private:
/** \brief Nodelet initialization routine. */
virtual void onInit ();
/** \brief Input point cloud callback.
* \param cloud the pointer to the input point cloud
* \param indices the pointer to the input point cloud indices
*/
void input_indices_callback (const PointCloudConstPtr &cloud,
const PointIndicesConstPtr &indices);
private:
/** \brief The PCL implementation used. */
pcl::ConvexHull<pcl::PointXYZ> impl_;
/** \brief The input PointCloud subscriber. */
ros::Subscriber sub_input_;
/** \brief Publisher for PolygonStamped. */
ros::Publisher pub_plane_;
/** \brief Synchronized input, and indices.*/
boost::shared_ptr<message_filters::Synchronizer<sync_policies::ExactTime<PointCloud, PointIndices> > > sync_input_indices_e_;
boost::shared_ptr<message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloud, PointIndices> > > sync_input_indices_a_;
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
}
#endif //#ifndef PCL_ROS_CONVEX_HULL_2D_H_
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apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros | apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/cfg/CropBox.cfg | #! /usr/bin/env python
# set up parameters that we care about
PACKAGE = 'pcl_ros'
import os
import sys
sys.path.insert(0, os.path.dirname(__file__))
from dynamic_reconfigure.parameter_generator_catkin import *
gen = ParameterGenerator ()
# def add (self, name, paramtype, level, description, default = None, min = None, max = None, edit_method = ""):
gen.add ("min_x", double_t, 0, "X coordinate of the minimum point of the box.", -1, -5, 5)
gen.add ("max_x", double_t, 0, "X coordinate of the maximum point of the box.", 1, -5, 5)
gen.add ("min_y", double_t, 0, "Y coordinate of the minimum point of the box.", -1, -5, 5)
gen.add ("max_y", double_t, 0, "Y coordinate of the maximum point of the box.", 1, -5, 5)
gen.add ("min_z", double_t, 0, "Z coordinate of the minimum point of the box.", -1, -5, 5)
gen.add ("max_z", double_t, 0, "Z coordinate of the maximum point of the box.", 1, -5, 5)
gen.add ("keep_organized", bool_t, 0, "Set whether the filtered points should be kept and set to NaN, or removed from the PointCloud, thus potentially breaking its organized structure.", False)
gen.add ("negative", bool_t, 0, "If True the box will be empty Else the remaining points will be the ones in the box", False)
gen.add ("input_frame", str_t, 0, "The input TF frame the data should be transformed into before processing, if input.header.frame_id is different.", "")
gen.add ("output_frame", str_t, 0, "The output TF frame the data should be transformed into after processing, if input.header.frame_id is different.", "")
exit (gen.generate (PACKAGE, "pcl_ros", "CropBox"))
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apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros | apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/cfg/ExtractIndices.cfg | #! /usr/bin/env python
# set up parameters that we care about
PACKAGE = 'pcl_ros'
from dynamic_reconfigure.parameter_generator_catkin import *;
gen = ParameterGenerator ()
# def add (self, name, paramtype, level, description, default = None, min = None, max = None, edit_method = ""):
gen.add ("negative", bool_t, 0, "Extract indices or the negative (all-indices)", False)
exit (gen.generate (PACKAGE, "pcl_ros", "ExtractIndices"))
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apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros | apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/cfg/Feature.cfg | #! /usr/bin/env python
PACKAGE='pcl_ros'
from dynamic_reconfigure.parameter_generator_catkin import *
gen = ParameterGenerator()
#enum = gen.enum ([ gen.const("ANN", int_t, 0, "ANN"), gen.const("FLANN", int_t, 1, "FLANN"), gen.const("organized", int_t, 2, "Dense/organized data locator") ], "Set the spatial locator")
# def add (self, name, paramtype, level, description, default = None, min = None, max = None, edit_method = ""):
gen.add ("k_search", int_t, 0, "Number of k-nearest neighbors to search for", 10, 0, 1000)
gen.add ("radius_search", double_t, 0, "Sphere radius for nearest neighbor search", 0.0, 0.0, 0.5)
#gen.add ("spatial_locator", int_t, 0, "Set the spatial locator", 0, 0, 2, enum)
#gen.add ("spatial_locator", str_t, 0, "Set the spatial locator", "ANN")
exit (gen.generate (PACKAGE, "pcl_ros", "Feature"))
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apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros | apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/cfg/SACSegmentationFromNormals.cfg | #! /usr/bin/env python
# set up parameters that we care about
PACKAGE = 'pcl_ros'
PACKAGE='pcl_ros'
from dynamic_reconfigure.parameter_generator_catkin import *
import roslib.packages
import SACSegmentation_common as common
gen = ParameterGenerator()
# def add (self, name, paramtype, level, description, default = None, min = None, max = None, edit_method = ""):
gen.add ("normal_distance_weight", double_t, 0, "The relative weight (between 0 and 1) to give to the angular distance (0 to pi/2) between point normals and the plane normal.", 0.1, 0, 1.0)
common.add_common_parameters (gen)
exit (gen.generate (PACKAGE, "pcl_ros", "SACSegmentationFromNormals"))
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apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros | apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/cfg/RadiusOutlierRemoval.cfg | #! /usr/bin/env python
# set up parameters that we care about
PACKAGE = 'pcl_ros'
from dynamic_reconfigure.parameter_generator_catkin import *;
gen = ParameterGenerator ()
# enabling/disabling the unit limits
# def add (self, name, paramtype, level, description, default = None, min = None, max = None, edit_method = ""):
gen.add ("radius_search", double_t, 0, "Radius of the sphere that will determine which points are neighbors.", 0.1, 0.0, 10.0)
gen.add ("min_neighbors", int_t, 0, "The number of neighbors that need to be present in order to be classified as an inlier.", 5, 0, 1000)
exit (gen.generate (PACKAGE, "pcl_ros", "RadiusOutlierRemoval"))
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apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros | apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/cfg/ExtractPolygonalPrismData.cfg | #! /usr/bin/env python
PACKAGE='pcl_ros'
from dynamic_reconfigure.parameter_generator_catkin import *
gen = ParameterGenerator()
# def add (self, name, paramtype, level, description, default = None, min = None, max = None, edit_method = ""):
gen.add ("height_min", double_t, 0, "The minimum allowed distance to the plane model value a point will be considered from", 0.0, -10.0, 10.0)
gen.add ("height_max", double_t, 0, "The maximum allowed distance to the plane model value a point will be considered from", 0.5, -10.0, 10.0)
exit (gen.generate (PACKAGE, "pcl_ros", "ExtractPolygonalPrismData"))
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apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros | apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/cfg/MLS.cfg | #! /usr/bin/env python
PACKAGE='pcl_ros'
from dynamic_reconfigure.parameter_generator_catkin import *
gen = ParameterGenerator()
enum = gen.enum ([ gen.const("ANN", int_t, 0, "ANN"), gen.const("FLANN", int_t, 1, "FLANN"), gen.const("organized", int_t, 2, "Dense/organized data locator") ], "Set the spatial locator")
# def add (self, name, paramtype, level, description, default = None, min = None, max = None, edit_method = ""):
gen.add ("spatial_locator", int_t, 0, "Set the spatial locator", 0, 0, 2, enum)
gen.add ("search_radius", double_t, 0, "Sphere radius for nearest neighbor search", 0.02, 0.0, 0.5)
#gen.add ("k_search", int_t, 0, "Number of k-nearest neighbors to search for", 10, 0, 1000)
gen.add ("use_polynomial_fit", bool_t, 0, "Whether to use polynomial fit", True)
gen.add ("polynomial_order", int_t, 0, "Set the spatial locator", 2, 0, 5)
gen.add ("gaussian_parameter", double_t, 0, "How 'flat' should the neighbor weighting gaussian be (the smaller, the more local the fit)", 0.02, 0.0, 0.5)
#gen.add ("spatial_locator", str_t, 0, "Set the spatial locator", "ANN")
exit (gen.generate (PACKAGE, "pcl_ros", "MLS"))
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apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros | apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/cfg/SACSegmentation_common.py | #! /usr/bin/env python
# set up parameters that we care about
PACKAGE = 'pcl_ros'
from dynamic_reconfigure.parameter_generator_catkin import *;
def add_common_parameters (gen):
# add (self, name, paramtype, level, description, default = None, min = None, max = None, edit_method = "")
gen.add ("max_iterations", int_t, 0, "The maximum number of iterations the algorithm will run for", 50, 0, 100000)
gen.add ("probability", double_t, 0, "The desired probability of choosing at least one sample free from outliers", 0.99, 0.5, 0.99)
gen.add ("distance_threshold", double_t, 0, "The distance to model threshold", 0.02, 0, 1.0)
gen.add ("optimize_coefficients", bool_t, 0, "Model coefficient refinement", True)
gen.add ("radius_min", double_t, 0, "The minimum allowed model radius (where applicable)", 0.0, 0, 1.0)
gen.add ("radius_max", double_t, 0, "The maximum allowed model radius (where applicable)", 0.05, 0, 1.0)
gen.add ("eps_angle", double_t, 0, "The maximum allowed difference between the model normal and the given axis in radians.", 0.17, 0.0, 1.5707)
gen.add ("min_inliers", int_t, 0, "The minimum number of inliers a model must have in order to be considered valid.", 0, 0, 100000)
gen.add ("input_frame", str_t, 0, "The input TF frame the data should be transformed into, if input.header.frame_id is different.", "")
gen.add ("output_frame", str_t, 0, "The output TF frame the data should be transformed into, if input.header.frame_id is different.", "")
| 0 |
apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros | apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/cfg/common.py | #! /usr/bin/env python
# set up parameters that we care about
PACKAGE = 'pcl_ros'
from dynamic_reconfigure.parameter_generator_catkin import *;
def add_common_parameters (gen):
# def add (self, name, paramtype, level, description, default = None, min = None, max = None, edit_method = ""):
gen.add ("filter_field_name", str_t, 0, "The field name used for filtering", "z")
gen.add ("filter_limit_min", double_t, 0, "The minimum allowed field value a point will be considered from", 0.0, -100000.0, 100000.0)
gen.add ("filter_limit_max", double_t, 0, "The maximum allowed field value a point will be considered from", 1.0, -100000.0, 100000.0)
gen.add ("filter_limit_negative", bool_t, 0, "Set to true if we want to return the data outside [filter_limit_min; filter_limit_max].", False)
gen.add ("keep_organized", bool_t, 0, "Set whether the filtered points should be kept and set to NaN, or removed from the PointCloud, thus potentially breaking its organized structure.", False)
gen.add ("input_frame", str_t, 0, "The input TF frame the data should be transformed into before processing, if input.header.frame_id is different.", "")
gen.add ("output_frame", str_t, 0, "The output TF frame the data should be transformed into after processing, if input.header.frame_id is different.", "")
| 0 |
apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros | apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/cfg/Filter.cfg | #! /usr/bin/env python
# set up parameters that we care about
PACKAGE = 'pcl_ros'
import os
import sys
sys.path.insert(0, os.path.dirname(__file__))
from common import add_common_parameters
from dynamic_reconfigure.parameter_generator_catkin import *
gen = ParameterGenerator ()
add_common_parameters (gen)
exit (gen.generate (PACKAGE, "pcl_ros", "Filter"))
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apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros | apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/cfg/SegmentDifferences.cfg | #! /usr/bin/env python
# set up parameters that we care about
PACKAGE='pcl_ros'
from dynamic_reconfigure.parameter_generator_catkin import *
gen = ParameterGenerator()
# enabling/disabling the unit limits
# def add (self, name, paramtype, level, description, default = None, min = None, max = None, edit_method = ""):
gen.add ("distance_threshold", double_t, 0, "The distance tolerance as a measure in the L2 Euclidean space between corresponding points.", 0.0, 0.0, 2.0)
exit (gen.generate (PACKAGE, "pcl_ros", "SegmentDifferences"))
| 0 |
apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros | apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/cfg/VoxelGrid.cfg | #! /usr/bin/env python
# set up parameters that we care about
PACKAGE = 'pcl_ros'
import os
import sys
sys.path.insert(0, os.path.dirname(__file__))
from common import add_common_parameters
from dynamic_reconfigure.parameter_generator_catkin import *
gen = ParameterGenerator ()
# def add (self, name, paramtype, level, description, default = None, min = None, max = None, edit_method = ""):
gen.add ("leaf_size", double_t, 0, "The size of a leaf (on x,y,z) used for downsampling.", 0.01, 0, 1.0)
add_common_parameters (gen)
exit (gen.generate (PACKAGE, "pcl_ros", "VoxelGrid"))
| 0 |
apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros | apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/cfg/EuclideanClusterExtraction.cfg | #! /usr/bin/env python
PACKAGE='pcl_ros'
from dynamic_reconfigure.parameter_generator_catkin import *
gen = ParameterGenerator()
# enabling/disabling the unit limits
# def add (self, name, paramtype, level, description, default = None, min = None, max = None, edit_method = ""):
gen.add ("cluster_tolerance", double_t, 0, "The spatial tolerance as a measure in the L2 Euclidean space", 0.05, 0.0, 2.0)
gen.add ("cluster_min_size", int_t, 0, "The minimum number of points that a cluster must contain in order to be accepted", 1, 0, 1000)
gen.add ("cluster_max_size", int_t, 0, "The maximum number of points that a cluster must contain in order to be accepted", 2147483647, 0, 2147483647)
gen.add ("max_clusters", int_t, 0, "The maximum number of clusters to extract.", 2147483647, 1, 2147483647)
exit (gen.generate (PACKAGE, "pcl_ros", "EuclideanClusterExtraction"))
| 0 |
apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros | apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/cfg/SACSegmentation.cfg | #! /usr/bin/env python
PACKAGE='pcl_ros'
from dynamic_reconfigure.parameter_generator_catkin import *
import SACSegmentation_common as common
gen = ParameterGenerator ()
common.add_common_parameters (gen)
exit (gen.generate (PACKAGE, "pcl_ros", "SACSegmentation"))
| 0 |
apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros | apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/cfg/StatisticalOutlierRemoval.cfg | #! /usr/bin/env python
# set up parameters that we care about
PACKAGE = 'pcl_ros'
from dynamic_reconfigure.parameter_generator_catkin import *;
gen = ParameterGenerator ()
# enabling/disabling the unit limits
# def add (self, name, paramtype, level, description, default = None, min = None, max = None, edit_method = ""):
gen.add ("mean_k", int_t, 0, "The number of points (k) to use for mean distance estimation", 2, 2, 100)
gen.add ("stddev", double_t, 0, "The standard deviation multiplier threshold. All points outside the mean +- sigma * std_mul will be considered outliers.", 0.0, 0.0, 5.0)
gen.add ("negative", bool_t, 0, "Set whether the inliers should be returned (true) or the outliers (false)", False)
exit (gen.generate (PACKAGE, "pcl_ros", "StatisticalOutlierRemoval"))
| 0 |
apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros | apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/src/transforms.cpp | /*
* Software License Agreement (BSD License)
*
* Copyright (c) 2010, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
*
*/
#include <sensor_msgs/PointCloud2.h>
#include <pcl/common/io.h>
#include <pcl/point_types.h>
#include <pcl_conversions/pcl_conversions.h>
#include "pcl_ros/transforms.h"
#include "pcl_ros/impl/transforms.hpp"
namespace pcl_ros
{
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
bool
transformPointCloud (const std::string &target_frame, const sensor_msgs::PointCloud2 &in,
sensor_msgs::PointCloud2 &out, const tf::TransformListener &tf_listener)
{
if (in.header.frame_id == target_frame)
{
out = in;
return (true);
}
// Get the TF transform
tf::StampedTransform transform;
try
{
tf_listener.lookupTransform (target_frame, in.header.frame_id, in.header.stamp, transform);
}
catch (tf::LookupException &e)
{
ROS_ERROR ("%s", e.what ());
return (false);
}
catch (tf::ExtrapolationException &e)
{
ROS_ERROR ("%s", e.what ());
return (false);
}
// Convert the TF transform to Eigen format
Eigen::Matrix4f eigen_transform;
transformAsMatrix (transform, eigen_transform);
transformPointCloud (eigen_transform, in, out);
out.header.frame_id = target_frame;
return (true);
}
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
void
transformPointCloud (const std::string &target_frame, const tf::Transform &net_transform,
const sensor_msgs::PointCloud2 &in, sensor_msgs::PointCloud2 &out)
{
if (in.header.frame_id == target_frame)
{
out = in;
return;
}
// Get the transformation
Eigen::Matrix4f transform;
transformAsMatrix (net_transform, transform);
transformPointCloud (transform, in, out);
out.header.frame_id = target_frame;
}
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
void
transformPointCloud (const Eigen::Matrix4f &transform, const sensor_msgs::PointCloud2 &in,
sensor_msgs::PointCloud2 &out)
{
// Get X-Y-Z indices
int x_idx = pcl::getFieldIndex (in, "x");
int y_idx = pcl::getFieldIndex (in, "y");
int z_idx = pcl::getFieldIndex (in, "z");
if (x_idx == -1 || y_idx == -1 || z_idx == -1)
{
ROS_ERROR ("Input dataset has no X-Y-Z coordinates! Cannot convert to Eigen format.");
return;
}
if (in.fields[x_idx].datatype != sensor_msgs::PointField::FLOAT32 ||
in.fields[y_idx].datatype != sensor_msgs::PointField::FLOAT32 ||
in.fields[z_idx].datatype != sensor_msgs::PointField::FLOAT32)
{
ROS_ERROR ("X-Y-Z coordinates not floats. Currently only floats are supported.");
return;
}
// Check if distance is available
int dist_idx = pcl::getFieldIndex (in, "distance");
// Copy the other data
if (&in != &out)
{
out.header = in.header;
out.height = in.height;
out.width = in.width;
out.fields = in.fields;
out.is_bigendian = in.is_bigendian;
out.point_step = in.point_step;
out.row_step = in.row_step;
out.is_dense = in.is_dense;
out.data.resize (in.data.size ());
// Copy everything as it's faster than copying individual elements
memcpy (&out.data[0], &in.data[0], in.data.size ());
}
Eigen::Array4i xyz_offset (in.fields[x_idx].offset, in.fields[y_idx].offset, in.fields[z_idx].offset, 0);
for (size_t i = 0; i < in.width * in.height; ++i)
{
Eigen::Vector4f pt (*(float*)&in.data[xyz_offset[0]], *(float*)&in.data[xyz_offset[1]], *(float*)&in.data[xyz_offset[2]], 1);
Eigen::Vector4f pt_out;
bool max_range_point = false;
int distance_ptr_offset = i*in.point_step + in.fields[dist_idx].offset;
float* distance_ptr = (dist_idx < 0 ? NULL : (float*)(&in.data[distance_ptr_offset]));
if (!std::isfinite (pt[0]) || !std::isfinite (pt[1]) || !std::isfinite (pt[2]))
{
if (distance_ptr==NULL || !std::isfinite(*distance_ptr)) // Invalid point
{
pt_out = pt;
}
else // max range point
{
pt[0] = *distance_ptr; // Replace x with the x value saved in distance
pt_out = transform * pt;
max_range_point = true;
//std::cout << pt[0]<<","<<pt[1]<<","<<pt[2]<<" => "<<pt_out[0]<<","<<pt_out[1]<<","<<pt_out[2]<<"\n";
}
}
else
{
pt_out = transform * pt;
}
if (max_range_point)
{
// Save x value in distance again
*(float*)(&out.data[distance_ptr_offset]) = pt_out[0];
pt_out[0] = std::numeric_limits<float>::quiet_NaN();
}
memcpy (&out.data[xyz_offset[0]], &pt_out[0], sizeof (float));
memcpy (&out.data[xyz_offset[1]], &pt_out[1], sizeof (float));
memcpy (&out.data[xyz_offset[2]], &pt_out[2], sizeof (float));
xyz_offset += in.point_step;
}
// Check if the viewpoint information is present
int vp_idx = pcl::getFieldIndex (in, "vp_x");
if (vp_idx != -1)
{
// Transform the viewpoint info too
for (size_t i = 0; i < out.width * out.height; ++i)
{
float *pstep = (float*)&out.data[i * out.point_step + out.fields[vp_idx].offset];
// Assume vp_x, vp_y, vp_z are consecutive
Eigen::Vector4f vp_in (pstep[0], pstep[1], pstep[2], 1);
Eigen::Vector4f vp_out = transform * vp_in;
pstep[0] = vp_out[0];
pstep[1] = vp_out[1];
pstep[2] = vp_out[2];
}
}
}
//////////////////////////////////////////////////////////////////////////////////////////////
void
transformAsMatrix (const tf::Transform& bt, Eigen::Matrix4f &out_mat)
{
double mv[12];
bt.getBasis ().getOpenGLSubMatrix (mv);
tf::Vector3 origin = bt.getOrigin ();
out_mat (0, 0) = mv[0]; out_mat (0, 1) = mv[4]; out_mat (0, 2) = mv[8];
out_mat (1, 0) = mv[1]; out_mat (1, 1) = mv[5]; out_mat (1, 2) = mv[9];
out_mat (2, 0) = mv[2]; out_mat (2, 1) = mv[6]; out_mat (2, 2) = mv[10];
out_mat (3, 0) = out_mat (3, 1) = out_mat (3, 2) = 0; out_mat (3, 3) = 1;
out_mat (0, 3) = origin.x ();
out_mat (1, 3) = origin.y ();
out_mat (2, 3) = origin.z ();
}
} // namespace pcl_ros
//////////////////////////////////////////////////////////////////////////////////////////////
template void pcl_ros::transformPointCloudWithNormals<pcl::PointNormal> (const pcl::PointCloud <pcl::PointNormal> &, pcl::PointCloud <pcl::PointNormal> &, const tf::Transform &);
template void pcl_ros::transformPointCloudWithNormals<pcl::PointXYZRGBNormal> (const pcl::PointCloud <pcl::PointXYZRGBNormal> &, pcl::PointCloud <pcl::PointXYZRGBNormal> &, const tf::Transform &);
template void pcl_ros::transformPointCloudWithNormals<pcl::PointXYZINormal> (const pcl::PointCloud <pcl::PointXYZINormal> &, pcl::PointCloud <pcl::PointXYZINormal> &, const tf::Transform &);
//////////////////////////////////////////////////////////////////////////////////////////////
template bool pcl_ros::transformPointCloudWithNormals<pcl::PointNormal> (const std::string &, const pcl::PointCloud<pcl::PointNormal> &, pcl::PointCloud<pcl::PointNormal> &, const tf::TransformListener &);
template bool pcl_ros::transformPointCloudWithNormals<pcl::PointXYZRGBNormal> (const std::string &, const pcl::PointCloud<pcl::PointXYZRGBNormal> &, pcl::PointCloud<pcl::PointXYZRGBNormal> &, const tf::TransformListener &);
template bool pcl_ros::transformPointCloudWithNormals<pcl::PointXYZINormal> (const std::string &, const pcl::PointCloud<pcl::PointXYZINormal> &, pcl::PointCloud<pcl::PointXYZINormal> &, const tf::TransformListener &);
//////////////////////////////////////////////////////////////////////////////////////////////
template bool pcl_ros::transformPointCloudWithNormals<pcl::PointNormal> (const std::string &, const ros::Time &, const pcl::PointCloud<pcl::PointNormal> &, const std::string &, pcl::PointCloud <pcl::PointNormal> &, const tf::TransformListener &);
template bool pcl_ros::transformPointCloudWithNormals<pcl::PointXYZRGBNormal> (const std::string &, const ros::Time &, const pcl::PointCloud<pcl::PointXYZRGBNormal> &, const std::string &, pcl::PointCloud <pcl::PointXYZRGBNormal> &, const tf::TransformListener &);
template bool pcl_ros::transformPointCloudWithNormals<pcl::PointXYZINormal> (const std::string &, const ros::Time &, const pcl::PointCloud<pcl::PointXYZINormal> &, const std::string &, pcl::PointCloud <pcl::PointXYZINormal> &, const tf::TransformListener &);
//////////////////////////////////////////////////////////////////////////////////////////////
template void pcl_ros::transformPointCloud<pcl::PointXYZ> (const pcl::PointCloud <pcl::PointXYZ> &, pcl::PointCloud <pcl::PointXYZ> &, const tf::Transform &);
template void pcl_ros::transformPointCloud<pcl::PointXYZI> (const pcl::PointCloud <pcl::PointXYZI> &, pcl::PointCloud <pcl::PointXYZI> &, const tf::Transform &);
template void pcl_ros::transformPointCloud<pcl::PointXYZRGBA> (const pcl::PointCloud <pcl::PointXYZRGBA> &, pcl::PointCloud <pcl::PointXYZRGBA> &, const tf::Transform &);
template void pcl_ros::transformPointCloud<pcl::PointXYZRGB> (const pcl::PointCloud <pcl::PointXYZRGB> &, pcl::PointCloud <pcl::PointXYZRGB> &, const tf::Transform &);
template void pcl_ros::transformPointCloud<pcl::InterestPoint> (const pcl::PointCloud <pcl::InterestPoint> &, pcl::PointCloud <pcl::InterestPoint> &, const tf::Transform &);
template void pcl_ros::transformPointCloud<pcl::PointNormal> (const pcl::PointCloud <pcl::PointNormal> &, pcl::PointCloud <pcl::PointNormal> &, const tf::Transform &);
template void pcl_ros::transformPointCloud<pcl::PointXYZRGBNormal> (const pcl::PointCloud <pcl::PointXYZRGBNormal> &, pcl::PointCloud <pcl::PointXYZRGBNormal> &, const tf::Transform &);
template void pcl_ros::transformPointCloud<pcl::PointXYZINormal> (const pcl::PointCloud <pcl::PointXYZINormal> &, pcl::PointCloud <pcl::PointXYZINormal> &, const tf::Transform &);
template void pcl_ros::transformPointCloud<pcl::PointWithRange> (const pcl::PointCloud <pcl::PointWithRange> &, pcl::PointCloud <pcl::PointWithRange> &, const tf::Transform &);
template void pcl_ros::transformPointCloud<pcl::PointWithViewpoint> (const pcl::PointCloud <pcl::PointWithViewpoint> &, pcl::PointCloud <pcl::PointWithViewpoint> &, const tf::Transform &);
//////////////////////////////////////////////////////////////////////////////////////////////
template bool pcl_ros::transformPointCloud<pcl::PointXYZ> (const std::string &, const pcl::PointCloud <pcl::PointXYZ> &, pcl::PointCloud <pcl::PointXYZ> &, const tf::TransformListener &);
template bool pcl_ros::transformPointCloud<pcl::PointXYZI> (const std::string &, const pcl::PointCloud <pcl::PointXYZI> &, pcl::PointCloud <pcl::PointXYZI> &, const tf::TransformListener &);
template bool pcl_ros::transformPointCloud<pcl::PointXYZRGBA> (const std::string &, const pcl::PointCloud <pcl::PointXYZRGBA> &, pcl::PointCloud <pcl::PointXYZRGBA> &, const tf::TransformListener &);
template bool pcl_ros::transformPointCloud<pcl::PointXYZRGB> (const std::string &, const pcl::PointCloud <pcl::PointXYZRGB> &, pcl::PointCloud <pcl::PointXYZRGB> &, const tf::TransformListener &);
template bool pcl_ros::transformPointCloud<pcl::InterestPoint> (const std::string &, const pcl::PointCloud <pcl::InterestPoint> &, pcl::PointCloud <pcl::InterestPoint> &, const tf::TransformListener &);
template bool pcl_ros::transformPointCloud<pcl::PointNormal> (const std::string &, const pcl::PointCloud <pcl::PointNormal> &, pcl::PointCloud <pcl::PointNormal> &, const tf::TransformListener &);
template bool pcl_ros::transformPointCloud<pcl::PointXYZRGBNormal> (const std::string &, const pcl::PointCloud <pcl::PointXYZRGBNormal> &, pcl::PointCloud <pcl::PointXYZRGBNormal> &, const tf::TransformListener &);
template bool pcl_ros::transformPointCloud<pcl::PointXYZINormal> (const std::string &, const pcl::PointCloud <pcl::PointXYZINormal> &, pcl::PointCloud <pcl::PointXYZINormal> &, const tf::TransformListener &);
template bool pcl_ros::transformPointCloud<pcl::PointWithRange> (const std::string &, const pcl::PointCloud <pcl::PointWithRange> &, pcl::PointCloud <pcl::PointWithRange> &, const tf::TransformListener &);
template bool pcl_ros::transformPointCloud<pcl::PointWithViewpoint> (const std::string &, const pcl::PointCloud <pcl::PointWithViewpoint> &, pcl::PointCloud <pcl::PointWithViewpoint> &, const tf::TransformListener &);
//////////////////////////////////////////////////////////////////////////////////////////////
template bool pcl_ros::transformPointCloud<pcl::PointXYZ> (const std::string &, const ros::Time &, const pcl::PointCloud <pcl::PointXYZ> &, const std::string &, pcl::PointCloud <pcl::PointXYZ> &, const tf::TransformListener &);
template bool pcl_ros::transformPointCloud<pcl::PointXYZI> (const std::string &, const ros::Time &, const pcl::PointCloud <pcl::PointXYZI> &, const std::string &, pcl::PointCloud <pcl::PointXYZI> &, const tf::TransformListener &);
template bool pcl_ros::transformPointCloud<pcl::PointXYZRGBA> (const std::string &, const ros::Time &, const pcl::PointCloud <pcl::PointXYZRGBA> &, const std::string &, pcl::PointCloud <pcl::PointXYZRGBA> &, const tf::TransformListener &);
template bool pcl_ros::transformPointCloud<pcl::PointXYZRGB> (const std::string &, const ros::Time &, const pcl::PointCloud <pcl::PointXYZRGB> &, const std::string &, pcl::PointCloud <pcl::PointXYZRGB> &, const tf::TransformListener &);
template bool pcl_ros::transformPointCloud<pcl::InterestPoint> (const std::string &, const ros::Time &, const pcl::PointCloud <pcl::InterestPoint> &, const std::string &, pcl::PointCloud <pcl::InterestPoint> &, const tf::TransformListener &);
template bool pcl_ros::transformPointCloud<pcl::PointNormal> (const std::string &, const ros::Time &, const pcl::PointCloud <pcl::PointNormal> &, const std::string &, pcl::PointCloud <pcl::PointNormal> &, const tf::TransformListener &);
template bool pcl_ros::transformPointCloud<pcl::PointXYZRGBNormal> (const std::string &, const ros::Time &, const pcl::PointCloud <pcl::PointXYZRGBNormal> &, const std::string &, pcl::PointCloud <pcl::PointXYZRGBNormal> &, const tf::TransformListener &);
template bool pcl_ros::transformPointCloud<pcl::PointXYZINormal> (const std::string &, const ros::Time &, const pcl::PointCloud <pcl::PointXYZINormal> &, const std::string &, pcl::PointCloud <pcl::PointXYZINormal> &, const tf::TransformListener &);
template bool pcl_ros::transformPointCloud<pcl::PointWithRange> (const std::string &, const ros::Time &, const pcl::PointCloud <pcl::PointWithRange> &, const std::string &, pcl::PointCloud <pcl::PointWithRange> &, const tf::TransformListener &);
template bool pcl_ros::transformPointCloud<pcl::PointWithViewpoint> (const std::string &, const ros::Time &, const pcl::PointCloud <pcl::PointWithViewpoint> &, const std::string &, pcl::PointCloud <pcl::PointWithViewpoint> &, const tf::TransformListener &);
| 0 |
apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/src/pcl_ros | apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/src/pcl_ros/filters/extract_indices.cpp | /*
* Software License Agreement (BSD License)
*
* Copyright (c) 2009, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* $Id: extract_indices.cpp 35876 2011-02-09 01:04:36Z rusu $
*
*/
#include <pluginlib/class_list_macros.h>
#include "pcl_ros/filters/extract_indices.h"
//////////////////////////////////////////////////////////////////////////////////////////////
bool
pcl_ros::ExtractIndices::child_init (ros::NodeHandle &nh, bool &has_service)
{
has_service = true;
srv_ = boost::make_shared <dynamic_reconfigure::Server<pcl_ros::ExtractIndicesConfig> > (nh);
dynamic_reconfigure::Server<pcl_ros::ExtractIndicesConfig>::CallbackType f = boost::bind (&ExtractIndices::config_callback, this, _1, _2);
srv_->setCallback (f);
use_indices_ = true;
return (true);
}
//////////////////////////////////////////////////////////////////////////////////////////////
void
pcl_ros::ExtractIndices::config_callback (pcl_ros::ExtractIndicesConfig &config, uint32_t level)
{
boost::mutex::scoped_lock lock (mutex_);
if (impl_.getNegative () != config.negative)
{
impl_.setNegative (config.negative);
NODELET_DEBUG ("[%s::config_callback] Setting the extraction to: %s.", getName ().c_str (), (config.negative ? "indices" : "everything but the indices"));
}
}
typedef pcl_ros::ExtractIndices ExtractIndices;
PLUGINLIB_EXPORT_CLASS(ExtractIndices,nodelet::Nodelet);
| 0 |
apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/src/pcl_ros | apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/src/pcl_ros/filters/crop_box.cpp | /*
*
* Software License Agreement (BSD License)
*
* Copyright (c) 2010, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* $Id: cropbox.cpp
*
*/
#include <pluginlib/class_list_macros.h>
#include "pcl_ros/filters/crop_box.h"
//////////////////////////////////////////////////////////////////////////////////////////////
bool
pcl_ros::CropBox::child_init (ros::NodeHandle &nh, bool &has_service)
{
// Enable the dynamic reconfigure service
has_service = true;
srv_ = boost::make_shared <dynamic_reconfigure::Server<pcl_ros::CropBoxConfig> > (nh);
dynamic_reconfigure::Server<pcl_ros::CropBoxConfig>::CallbackType f = boost::bind (&CropBox::config_callback, this, _1, _2);
srv_->setCallback (f);
return (true);
}
//////////////////////////////////////////////////////////////////////////////////////////////
void
pcl_ros::CropBox::config_callback (pcl_ros::CropBoxConfig &config, uint32_t level)
{
boost::mutex::scoped_lock lock (mutex_);
Eigen::Vector4f min_point,max_point;
min_point = impl_.getMin();
max_point = impl_.getMax();
Eigen::Vector4f new_min_point, new_max_point;
new_min_point << config.min_x, config.min_y, config.min_z, 0.0;
new_max_point << config.max_x, config.max_y, config.max_z, 0.0;
// Check the current values for minimum point
if (min_point != new_min_point)
{
NODELET_DEBUG ("[%s::config_callback] Setting the minimum point to: %f %f %f.", getName ().c_str (), new_min_point(0),new_min_point(1),new_min_point(2));
// Set the filter min point if different
impl_.setMin(new_min_point);
}
// Check the current values for the maximum point
if (max_point != new_max_point)
{
NODELET_DEBUG ("[%s::config_callback] Setting the maximum point to: %f %f %f.", getName ().c_str (), new_max_point(0),new_max_point(1),new_max_point(2));
// Set the filter max point if different
impl_.setMax(new_max_point);
}
// Check the current value for keep_organized
if (impl_.getKeepOrganized () != config.keep_organized)
{
NODELET_DEBUG ("[%s::config_callback] Setting the filter keep_organized value to: %s.", getName ().c_str (), config.keep_organized ? "true" : "false");
// Call the virtual method in the child
impl_.setKeepOrganized (config.keep_organized);
}
// Check the current value for the negative flag
if (impl_.getNegative() != config.negative)
{
NODELET_DEBUG ("[%s::config_callback] Setting the filter negative flag to: %s.", getName ().c_str (), config.negative ? "true" : "false");
// Call the virtual method in the child
impl_.setNegative(config.negative);
}
// The following parameters are updated automatically for all PCL_ROS Nodelet Filters as they are inexistent in PCL
if (tf_input_frame_ != config.input_frame)
{
tf_input_frame_ = config.input_frame;
NODELET_DEBUG ("[%s::config_callback] Setting the input TF frame to: %s.", getName ().c_str (), tf_input_frame_.c_str ());
}
if (tf_output_frame_ != config.output_frame)
{
tf_output_frame_ = config.output_frame;
NODELET_DEBUG ("[%s::config_callback] Setting the output TF frame to: %s.", getName ().c_str (), tf_output_frame_.c_str ());
}
}
typedef pcl_ros::CropBox CropBox;
PLUGINLIB_EXPORT_CLASS(CropBox,nodelet::Nodelet);
| 0 |
apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/src/pcl_ros | apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/src/pcl_ros/filters/filter.cpp | /*
* Software License Agreement (BSD License)
*
* Copyright (c) 2009, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* $Id: filter.cpp 35876 2011-02-09 01:04:36Z rusu $
*
*/
#include <pcl/io/io.h>
#include "pcl_ros/transforms.h"
#include "pcl_ros/filters/filter.h"
/*//#include <pcl/filters/pixel_grid.h>
//#include <pcl/filters/filter_dimension.h>
*/
/*//typedef pcl::PixelGrid PixelGrid;
//typedef pcl::FilterDimension FilterDimension;
*/
// Include the implementations instead of compiling them separately to speed up compile time
//#include "extract_indices.cpp"
//#include "passthrough.cpp"
//#include "project_inliers.cpp"
//#include "radius_outlier_removal.cpp"
//#include "statistical_outlier_removal.cpp"
//#include "voxel_grid.cpp"
/*//PLUGINLIB_EXPORT_CLASS(PixelGrid,nodelet::Nodelet);
//PLUGINLIB_EXPORT_CLASS(FilterDimension,nodelet::Nodelet);
*/
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
void
pcl_ros::Filter::computePublish (const PointCloud2::ConstPtr &input, const IndicesPtr &indices)
{
PointCloud2 output;
// Call the virtual method in the child
filter (input, indices, output);
PointCloud2::Ptr cloud_tf (new PointCloud2 (output)); // set the output by default
// Check whether the user has given a different output TF frame
if (!tf_output_frame_.empty () && output.header.frame_id != tf_output_frame_)
{
NODELET_DEBUG ("[%s::computePublish] Transforming output dataset from %s to %s.", getName ().c_str (), output.header.frame_id.c_str (), tf_output_frame_.c_str ());
// Convert the cloud into the different frame
PointCloud2 cloud_transformed;
if (!pcl_ros::transformPointCloud (tf_output_frame_, output, cloud_transformed, tf_listener_))
{
NODELET_ERROR ("[%s::computePublish] Error converting output dataset from %s to %s.", getName ().c_str (), output.header.frame_id.c_str (), tf_output_frame_.c_str ());
return;
}
cloud_tf.reset (new PointCloud2 (cloud_transformed));
}
if (tf_output_frame_.empty () && output.header.frame_id != tf_input_orig_frame_)
// no tf_output_frame given, transform the dataset to its original frame
{
NODELET_DEBUG ("[%s::computePublish] Transforming output dataset from %s back to %s.", getName ().c_str (), output.header.frame_id.c_str (), tf_input_orig_frame_.c_str ());
// Convert the cloud into the different frame
PointCloud2 cloud_transformed;
if (!pcl_ros::transformPointCloud (tf_input_orig_frame_, output, cloud_transformed, tf_listener_))
{
NODELET_ERROR ("[%s::computePublish] Error converting output dataset from %s back to %s.", getName ().c_str (), output.header.frame_id.c_str (), tf_input_orig_frame_.c_str ());
return;
}
cloud_tf.reset (new PointCloud2 (cloud_transformed));
}
// Copy timestamp to keep it
cloud_tf->header.stamp = input->header.stamp;
// Publish a boost shared ptr
pub_output_.publish (cloud_tf);
}
//////////////////////////////////////////////////////////////////////////////////////////////
void
pcl_ros::Filter::onInit ()
{
// Call the super onInit ()
PCLNodelet::onInit ();
// Call the child's local init
bool has_service = false;
if (!child_init (*pnh_, has_service))
{
NODELET_ERROR ("[%s::onInit] Initialization failed.", getName ().c_str ());
return;
}
pub_output_ = pnh_->advertise<PointCloud2> ("output", max_queue_size_);
// Enable the dynamic reconfigure service
if (!has_service)
{
srv_ = boost::make_shared <dynamic_reconfigure::Server<pcl_ros::FilterConfig> > (*pnh_);
dynamic_reconfigure::Server<pcl_ros::FilterConfig>::CallbackType f = boost::bind (&Filter::config_callback, this, _1, _2);
srv_->setCallback (f);
}
// If we're supposed to look for PointIndices (indices)
if (use_indices_)
{
// Subscribe to the input using a filter
sub_input_filter_.subscribe (*pnh_, "input", max_queue_size_);
sub_indices_filter_.subscribe (*pnh_, "indices", max_queue_size_);
if (approximate_sync_)
{
sync_input_indices_a_ = boost::make_shared <message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloud2, pcl_msgs::PointIndices> > >(max_queue_size_);
sync_input_indices_a_->connectInput (sub_input_filter_, sub_indices_filter_);
sync_input_indices_a_->registerCallback (bind (&Filter::input_indices_callback, this, _1, _2));
}
else
{
sync_input_indices_e_ = boost::make_shared <message_filters::Synchronizer<sync_policies::ExactTime<PointCloud2, pcl_msgs::PointIndices> > >(max_queue_size_);
sync_input_indices_e_->connectInput (sub_input_filter_, sub_indices_filter_);
sync_input_indices_e_->registerCallback (bind (&Filter::input_indices_callback, this, _1, _2));
}
}
else
// Subscribe in an old fashion to input only (no filters)
sub_input_ = pnh_->subscribe<sensor_msgs::PointCloud2> ("input", max_queue_size_, bind (&Filter::input_indices_callback, this, _1, pcl_msgs::PointIndicesConstPtr ()));
NODELET_DEBUG ("[%s::onInit] Nodelet successfully created.", getName ().c_str ());
}
//////////////////////////////////////////////////////////////////////////////////////////////
void
pcl_ros::Filter::config_callback (pcl_ros::FilterConfig &config, uint32_t level)
{
// The following parameters are updated automatically for all PCL_ROS Nodelet Filters as they are inexistent in PCL
if (tf_input_frame_ != config.input_frame)
{
tf_input_frame_ = config.input_frame;
NODELET_DEBUG ("[%s::config_callback] Setting the input TF frame to: %s.", getName ().c_str (), tf_input_frame_.c_str ());
}
if (tf_output_frame_ != config.output_frame)
{
tf_output_frame_ = config.output_frame;
NODELET_DEBUG ("[%s::config_callback] Setting the output TF frame to: %s.", getName ().c_str (), tf_output_frame_.c_str ());
}
}
//////////////////////////////////////////////////////////////////////////////////////////////
void
pcl_ros::Filter::input_indices_callback (const PointCloud2::ConstPtr &cloud, const PointIndicesConstPtr &indices)
{
// No subscribers, no work
if (pub_output_.getNumSubscribers () <= 0)
return;
// If cloud is given, check if it's valid
if (!isValid (cloud))
{
NODELET_ERROR ("[%s::input_indices_callback] Invalid input!", getName ().c_str ());
return;
}
// If indices are given, check if they are valid
if (indices && !isValid (indices))
{
NODELET_ERROR ("[%s::input_indices_callback] Invalid indices!", getName ().c_str ());
return;
}
/// DEBUG
if (indices)
NODELET_DEBUG ("[%s::input_indices_callback]\n"
" - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.\n"
" - PointIndices with %zu values, stamp %f, and frame %s on topic %s received.",
getName ().c_str (),
cloud->width * cloud->height, pcl::getFieldsList (*cloud).c_str (), cloud->header.stamp.toSec (), cloud->header.frame_id.c_str (), pnh_->resolveName ("input").c_str (),
indices->indices.size (), indices->header.stamp.toSec (), indices->header.frame_id.c_str (), pnh_->resolveName ("indices").c_str ());
else
NODELET_DEBUG ("[%s::input_indices_callback] PointCloud with %d data points and frame %s on topic %s received.", getName ().c_str (), cloud->width * cloud->height, cloud->header.frame_id.c_str (), pnh_->resolveName ("input").c_str ());
///
// Check whether the user has given a different input TF frame
tf_input_orig_frame_ = cloud->header.frame_id;
PointCloud2::ConstPtr cloud_tf;
if (!tf_input_frame_.empty () && cloud->header.frame_id != tf_input_frame_)
{
NODELET_DEBUG ("[%s::input_indices_callback] Transforming input dataset from %s to %s.", getName ().c_str (), cloud->header.frame_id.c_str (), tf_input_frame_.c_str ());
// Save the original frame ID
// Convert the cloud into the different frame
PointCloud2 cloud_transformed;
if (!pcl_ros::transformPointCloud (tf_input_frame_, *cloud, cloud_transformed, tf_listener_))
{
NODELET_ERROR ("[%s::input_indices_callback] Error converting input dataset from %s to %s.", getName ().c_str (), cloud->header.frame_id.c_str (), tf_input_frame_.c_str ());
return;
}
cloud_tf = boost::make_shared<PointCloud2> (cloud_transformed);
}
else
cloud_tf = cloud;
// Need setInputCloud () here because we have to extract x/y/z
IndicesPtr vindices;
if (indices)
vindices.reset (new std::vector<int> (indices->indices));
computePublish (cloud_tf, vindices);
}
| 0 |
apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/src/pcl_ros | apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/src/pcl_ros/filters/passthrough.cpp | /*
* Software License Agreement (BSD License)
*
* Copyright (c) 2010, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* $Id: passthrough.cpp 36194 2011-02-23 07:49:21Z rusu $
*
*/
#include <pluginlib/class_list_macros.h>
#include "pcl_ros/filters/passthrough.h"
//////////////////////////////////////////////////////////////////////////////////////////////
bool
pcl_ros::PassThrough::child_init (ros::NodeHandle &nh, bool &has_service)
{
// Enable the dynamic reconfigure service
has_service = true;
srv_ = boost::make_shared <dynamic_reconfigure::Server<pcl_ros::FilterConfig> > (nh);
dynamic_reconfigure::Server<pcl_ros::FilterConfig>::CallbackType f = boost::bind (&PassThrough::config_callback, this, _1, _2);
srv_->setCallback (f);
return (true);
}
//////////////////////////////////////////////////////////////////////////////////////////////
void
pcl_ros::PassThrough::config_callback (pcl_ros::FilterConfig &config, uint32_t level)
{
boost::mutex::scoped_lock lock (mutex_);
double filter_min, filter_max;
impl_.getFilterLimits (filter_min, filter_max);
// Check the current values for filter min-max
if (filter_min != config.filter_limit_min)
{
filter_min = config.filter_limit_min;
NODELET_DEBUG ("[%s::config_callback] Setting the minimum filtering value a point will be considered from to: %f.", getName ().c_str (), filter_min);
// Set the filter min-max if different
impl_.setFilterLimits (filter_min, filter_max);
}
// Check the current values for filter min-max
if (filter_max != config.filter_limit_max)
{
filter_max = config.filter_limit_max;
NODELET_DEBUG ("[%s::config_callback] Setting the maximum filtering value a point will be considered from to: %f.", getName ().c_str (), filter_max);
// Set the filter min-max if different
impl_.setFilterLimits (filter_min, filter_max);
}
// Check the current value for the filter field
//std::string filter_field = impl_.getFilterFieldName ();
if (impl_.getFilterFieldName () != config.filter_field_name)
{
// Set the filter field if different
impl_.setFilterFieldName (config.filter_field_name);
NODELET_DEBUG ("[%s::config_callback] Setting the filter field name to: %s.", getName ().c_str (), config.filter_field_name.c_str ());
}
// Check the current value for keep_organized
if (impl_.getKeepOrganized () != config.keep_organized)
{
NODELET_DEBUG ("[%s::config_callback] Setting the filter keep_organized value to: %s.", getName ().c_str (), config.keep_organized ? "true" : "false");
// Call the virtual method in the child
impl_.setKeepOrganized (config.keep_organized);
}
// Check the current value for the negative flag
if (impl_.getFilterLimitsNegative () != config.filter_limit_negative)
{
NODELET_DEBUG ("[%s::config_callback] Setting the filter negative flag to: %s.", getName ().c_str (), config.filter_limit_negative ? "true" : "false");
// Call the virtual method in the child
impl_.setFilterLimitsNegative (config.filter_limit_negative);
}
// The following parameters are updated automatically for all PCL_ROS Nodelet Filters as they are inexistent in PCL
if (tf_input_frame_ != config.input_frame)
{
tf_input_frame_ = config.input_frame;
NODELET_DEBUG ("[%s::config_callback] Setting the input TF frame to: %s.", getName ().c_str (), tf_input_frame_.c_str ());
}
if (tf_output_frame_ != config.output_frame)
{
tf_output_frame_ = config.output_frame;
NODELET_DEBUG ("[%s::config_callback] Setting the output TF frame to: %s.", getName ().c_str (), tf_output_frame_.c_str ());
}
}
typedef pcl_ros::PassThrough PassThrough;
PLUGINLIB_EXPORT_CLASS(PassThrough,nodelet::Nodelet);
| 0 |
apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/src/pcl_ros | apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/src/pcl_ros/filters/voxel_grid.cpp | /*
* Software License Agreement (BSD License)
*
* Copyright (c) 2009, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* $Id: voxel_grid.cpp 35876 2011-02-09 01:04:36Z rusu $
*
*/
#include <pluginlib/class_list_macros.h>
#include "pcl_ros/filters/voxel_grid.h"
//////////////////////////////////////////////////////////////////////////////////////////////
bool
pcl_ros::VoxelGrid::child_init (ros::NodeHandle &nh, bool &has_service)
{
// Enable the dynamic reconfigure service
has_service = true;
srv_ = boost::make_shared <dynamic_reconfigure::Server<pcl_ros::VoxelGridConfig> > (nh);
dynamic_reconfigure::Server<pcl_ros::VoxelGridConfig>::CallbackType f = boost::bind (&VoxelGrid::config_callback, this, _1, _2);
srv_->setCallback (f);
return (true);
}
//////////////////////////////////////////////////////////////////////////////////////////////
void
pcl_ros::VoxelGrid::filter (const PointCloud2::ConstPtr &input,
const IndicesPtr &indices,
PointCloud2 &output)
{
boost::mutex::scoped_lock lock (mutex_);
pcl::PCLPointCloud2::Ptr pcl_input(new pcl::PCLPointCloud2);
pcl_conversions::toPCL (*(input), *(pcl_input));
impl_.setInputCloud (pcl_input);
impl_.setIndices (indices);
pcl::PCLPointCloud2 pcl_output;
impl_.filter (pcl_output);
pcl_conversions::moveFromPCL(pcl_output, output);
}
//////////////////////////////////////////////////////////////////////////////////////////////
void
pcl_ros::VoxelGrid::config_callback (pcl_ros::VoxelGridConfig &config, uint32_t level)
{
boost::mutex::scoped_lock lock (mutex_);
Eigen::Vector3f leaf_size = impl_.getLeafSize ();
if (leaf_size[0] != config.leaf_size)
{
leaf_size.setConstant (config.leaf_size);
NODELET_DEBUG ("[config_callback] Setting the downsampling leaf size to: %f.", leaf_size[0]);
impl_.setLeafSize (leaf_size[0], leaf_size[1], leaf_size[2]);
}
double filter_min, filter_max;
impl_.getFilterLimits (filter_min, filter_max);
if (filter_min != config.filter_limit_min)
{
filter_min = config.filter_limit_min;
NODELET_DEBUG ("[config_callback] Setting the minimum filtering value a point will be considered from to: %f.", filter_min);
}
if (filter_max != config.filter_limit_max)
{
filter_max = config.filter_limit_max;
NODELET_DEBUG ("[config_callback] Setting the maximum filtering value a point will be considered from to: %f.", filter_max);
}
impl_.setFilterLimits (filter_min, filter_max);
if (impl_.getFilterLimitsNegative () != config.filter_limit_negative)
{
impl_.setFilterLimitsNegative (config.filter_limit_negative);
NODELET_DEBUG ("[%s::config_callback] Setting the filter negative flag to: %s.", getName ().c_str (), config.filter_limit_negative ? "true" : "false");
}
if (impl_.getFilterFieldName () != config.filter_field_name)
{
impl_.setFilterFieldName (config.filter_field_name);
NODELET_DEBUG ("[config_callback] Setting the filter field name to: %s.", config.filter_field_name.c_str ());
}
// ---[ These really shouldn't be here, and as soon as dynamic_reconfigure improves, we'll remove them and inherit from Filter
if (tf_input_frame_ != config.input_frame)
{
tf_input_frame_ = config.input_frame;
NODELET_DEBUG ("[config_callback] Setting the input TF frame to: %s.", tf_input_frame_.c_str ());
}
if (tf_output_frame_ != config.output_frame)
{
tf_output_frame_ = config.output_frame;
NODELET_DEBUG ("[config_callback] Setting the output TF frame to: %s.", tf_output_frame_.c_str ());
}
// ]---
}
typedef pcl_ros::VoxelGrid VoxelGrid;
PLUGINLIB_EXPORT_CLASS(VoxelGrid,nodelet::Nodelet);
| 0 |
apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/src/pcl_ros | apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/src/pcl_ros/filters/statistical_outlier_removal.cpp | /*
* Software License Agreement (BSD License)
*
* Copyright (c) 2009, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* $Id: statistical_outlier_removal.cpp 35876 2011-02-09 01:04:36Z rusu $
*
*/
#include <pluginlib/class_list_macros.h>
#include "pcl_ros/filters/statistical_outlier_removal.h"
//////////////////////////////////////////////////////////////////////////////////////////////
bool
pcl_ros::StatisticalOutlierRemoval::child_init (ros::NodeHandle &nh, bool &has_service)
{
// Enable the dynamic reconfigure service
has_service = true;
srv_ = boost::make_shared <dynamic_reconfigure::Server<pcl_ros::StatisticalOutlierRemovalConfig> > (nh);
dynamic_reconfigure::Server<pcl_ros::StatisticalOutlierRemovalConfig>::CallbackType f = boost::bind (&StatisticalOutlierRemoval::config_callback, this, _1, _2);
srv_->setCallback (f);
return (true);
}
//////////////////////////////////////////////////////////////////////////////////////////////
void
pcl_ros::StatisticalOutlierRemoval::config_callback (pcl_ros::StatisticalOutlierRemovalConfig &config, uint32_t level)
{
boost::mutex::scoped_lock lock (mutex_);
if (impl_.getMeanK () != config.mean_k)
{
impl_.setMeanK (config.mean_k);
NODELET_DEBUG ("[%s::config_callback] Setting the number of points (k) to use for mean distance estimation to: %d.", getName ().c_str (), config.mean_k);
}
if (impl_.getStddevMulThresh () != config.stddev)
{
impl_.setStddevMulThresh (config.stddev);
NODELET_DEBUG ("[%s::config_callback] Setting the standard deviation multiplier threshold to: %f.", getName ().c_str (), config.stddev);
}
if (impl_.getNegative () != config.negative)
{
impl_.setNegative (config.negative);
NODELET_DEBUG ("[%s::config_callback] Returning only inliers: %s.", getName ().c_str (), config.negative ? "false" : "true");
}
}
typedef pcl_ros::StatisticalOutlierRemoval StatisticalOutlierRemoval;
PLUGINLIB_EXPORT_CLASS(StatisticalOutlierRemoval,nodelet::Nodelet);
| 0 |
apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/src/pcl_ros | apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/src/pcl_ros/filters/radius_outlier_removal.cpp | /*
* Software License Agreement (BSD License)
*
* Copyright (c) 2009, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* $Id: radius_outlier_removal.cpp 33319 2010-10-15 04:49:28Z rusu $
*
*/
#include <pluginlib/class_list_macros.h>
#include "pcl_ros/filters/radius_outlier_removal.h"
//////////////////////////////////////////////////////////////////////////////////////////////
bool
pcl_ros::RadiusOutlierRemoval::child_init (ros::NodeHandle &nh, bool &has_service)
{
// Enable the dynamic reconfigure service
has_service = true;
srv_ = boost::make_shared <dynamic_reconfigure::Server<pcl_ros::RadiusOutlierRemovalConfig> > (nh);
dynamic_reconfigure::Server<pcl_ros::RadiusOutlierRemovalConfig>::CallbackType f = boost::bind (&RadiusOutlierRemoval::config_callback, this, _1, _2);
srv_->setCallback (f);
return (true);
}
//////////////////////////////////////////////////////////////////////////////////////////////
void
pcl_ros::RadiusOutlierRemoval::config_callback (pcl_ros::RadiusOutlierRemovalConfig &config, uint32_t level)
{
boost::mutex::scoped_lock lock (mutex_);
if (impl_.getMinNeighborsInRadius () != config.min_neighbors)
{
impl_.setMinNeighborsInRadius (config.min_neighbors);
NODELET_DEBUG ("[%s::config_callback] Setting the number of neighbors in radius: %d.", getName ().c_str (), config.min_neighbors);
}
if (impl_.getRadiusSearch () != config.radius_search)
{
impl_.setRadiusSearch (config.radius_search);
NODELET_DEBUG ("[%s::config_callback] Setting the radius to search neighbors: %f.", getName ().c_str (), config.radius_search);
}
}
typedef pcl_ros::RadiusOutlierRemoval RadiusOutlierRemoval;
PLUGINLIB_EXPORT_CLASS(RadiusOutlierRemoval,nodelet::Nodelet);
| 0 |
apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/src/pcl_ros | apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/src/pcl_ros/filters/project_inliers.cpp | /*
* Software License Agreement (BSD License)
*
* Copyright (c) 2010, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* $Id: project_inliers.cpp 35876 2011-02-09 01:04:36Z rusu $
*
*/
#include <pluginlib/class_list_macros.h>
#include "pcl_ros/filters/project_inliers.h"
#include <pcl/io/io.h>
//////////////////////////////////////////////////////////////////////////////////////////////
void
pcl_ros::ProjectInliers::onInit ()
{
// No need to call the super onInit as we are overwriting everything
//Filter<sensor_msgs::PointCloud2>::onInit ();
PCLNodelet::onInit ();
// ---[ Mandatory parameters
// The type of model to use (user given parameter).
int model_type;
if (!pnh_->getParam ("model_type", model_type))
{
NODELET_ERROR ("[%s::onInit] Need a 'model_type' parameter to be set before continuing!", getName ().c_str ());
return;
}
// ---[ Optional parameters
// True if all data will be returned, false if only the projected inliers. Default: false.
bool copy_all_data = false;
// True if all fields will be returned, false if only XYZ. Default: true.
bool copy_all_fields = true;
pnh_->getParam ("copy_all_data", copy_all_data);
pnh_->getParam ("copy_all_fields", copy_all_fields);
pub_output_ = pnh_->advertise<PointCloud2> ("output", max_queue_size_);
// Subscribe to the input using a filter
sub_input_filter_.subscribe (*pnh_, "input", max_queue_size_);
/*
TODO : implement use_indices_
if (use_indices_)
{*/
sub_indices_filter_.subscribe (*pnh_, "indices", max_queue_size_);
sub_model_.subscribe (*pnh_, "model", max_queue_size_);
if (approximate_sync_)
{
sync_input_indices_model_a_ = boost::make_shared <message_filters::Synchronizer<message_filters::sync_policies::ApproximateTime<PointCloud2, PointIndices, ModelCoefficients> > > (max_queue_size_);
sync_input_indices_model_a_->connectInput (sub_input_filter_, sub_indices_filter_, sub_model_);
sync_input_indices_model_a_->registerCallback (bind (&ProjectInliers::input_indices_model_callback, this, _1, _2, _3));
}
else
{
sync_input_indices_model_e_ = boost::make_shared <message_filters::Synchronizer<message_filters::sync_policies::ExactTime<PointCloud2, PointIndices, ModelCoefficients> > > (max_queue_size_);
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));
}
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);
}
//////////////////////////////////////////////////////////////////////////////////////////////
void
pcl_ros::ProjectInliers::input_indices_model_callback (const PointCloud2::ConstPtr &cloud,
const PointIndicesConstPtr &indices,
const ModelCoefficientsConstPtr &model)
{
if (pub_output_.getNumSubscribers () <= 0)
return;
if (!isValid (model) || !isValid (indices) || !isValid (cloud))
{
NODELET_ERROR ("[%s::input_indices_model_callback] Invalid input!", getName ().c_str ());
return;
}
NODELET_DEBUG ("[%s::input_indices_model_callback]\n"
" - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.\n"
" - PointIndices with %zu values, stamp %f, and frame %s on topic %s received.\n"
" - ModelCoefficients with %zu values, stamp %f, and frame %s on topic %s received.",
getName ().c_str (),
cloud->width * cloud->height, pcl::getFieldsList (*cloud).c_str (), cloud->header.stamp.toSec (), cloud->header.frame_id.c_str (), pnh_->resolveName ("input").c_str (),
indices->indices.size (), indices->header.stamp.toSec (), indices->header.frame_id.c_str (), pnh_->resolveName ("inliers").c_str (),
model->values.size (), model->header.stamp.toSec (), model->header.frame_id.c_str (), pnh_->resolveName ("model").c_str ());
tf_input_orig_frame_ = cloud->header.frame_id;
IndicesPtr vindices;
if (indices)
vindices.reset (new std::vector<int> (indices->indices));
model_ = model;
computePublish (cloud, vindices);
}
typedef pcl_ros::ProjectInliers ProjectInliers;
PLUGINLIB_EXPORT_CLASS(ProjectInliers,nodelet::Nodelet);
| 0 |
apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/src/pcl_ros/filters | apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/src/pcl_ros/filters/features/vfh.cpp | /*
* Software License Agreement (BSD License)
*
* Copyright (c) 2009, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNERff OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* $Id: vfh.cpp 35361 2011-01-20 04:34:49Z rusu $
*
*/
#include <pluginlib/class_list_macros.h>
#include "pcl_ros/features/vfh.h"
void
pcl_ros::VFHEstimation::emptyPublish (const PointCloudInConstPtr &cloud)
{
PointCloudOut output;
output.header = cloud->header;
pub_output_.publish (output.makeShared ());
}
void
pcl_ros::VFHEstimation::computePublish (const PointCloudInConstPtr &cloud,
const PointCloudNConstPtr &normals,
const PointCloudInConstPtr &surface,
const IndicesPtr &indices)
{
// Set the parameters
impl_.setKSearch (k_);
impl_.setRadiusSearch (search_radius_);
// Initialize the spatial locator
initTree (spatial_locator_type_, tree_, k_);
impl_.setSearchMethod (tree_);
// Set the inputs
impl_.setInputCloud (cloud);
impl_.setIndices (indices);
impl_.setSearchSurface (surface);
impl_.setInputNormals (normals);
// Estimate the feature
PointCloudOut output;
impl_.compute (output);
// Publish a Boost shared ptr const data
// Enforce that the TF frame and the timestamp are copied
output.header = cloud->header;
pub_output_.publish (output.makeShared ());
}
typedef pcl_ros::VFHEstimation VFHEstimation;
PLUGINLIB_EXPORT_CLASS(VFHEstimation,nodelet::Nodelet);
| 0 |
apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/src/pcl_ros/filters | apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/src/pcl_ros/filters/features/fpfh_omp.cpp | /*
* Software License Agreement (BSD License)
*
* Copyright (c) 2009, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNERff OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* $Id: fpfh_omp.cpp 35361 2011-01-20 04:34:49Z rusu $
*
*/
#include <pluginlib/class_list_macros.h>
#include "pcl_ros/features/fpfh_omp.h"
void
pcl_ros::FPFHEstimationOMP::emptyPublish (const PointCloudInConstPtr &cloud)
{
PointCloudOut output;
output.header = cloud->header;
pub_output_.publish (output.makeShared ());
}
void
pcl_ros::FPFHEstimationOMP::computePublish (const PointCloudInConstPtr &cloud,
const PointCloudNConstPtr &normals,
const PointCloudInConstPtr &surface,
const IndicesPtr &indices)
{
// Set the parameters
impl_.setKSearch (k_);
impl_.setRadiusSearch (search_radius_);
// Initialize the spatial locator
initTree (spatial_locator_type_, tree_, k_);
impl_.setSearchMethod (tree_);
// Set the inputs
impl_.setInputCloud (cloud);
impl_.setIndices (indices);
impl_.setSearchSurface (surface);
impl_.setInputNormals (normals);
// Estimate the feature
PointCloudOut output;
impl_.compute (output);
// Publish a Boost shared ptr const data
// Enforce that the TF frame and the timestamp are copied
output.header = cloud->header;
pub_output_.publish (output.makeShared ());
}
typedef pcl_ros::FPFHEstimationOMP FPFHEstimationOMP;
PLUGINLIB_EXPORT_CLASS(FPFHEstimationOMP,nodelet::Nodelet);
| 0 |
apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/src/pcl_ros/filters | apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/src/pcl_ros/filters/features/normal_3d_tbb.cpp | /*
* Software License Agreement (BSD License)
*
* Copyright (c) 2009, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNERff OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* $Id: normal_3d_tbb.cpp 35625 2011-01-31 07:56:13Z gbiggs $
*
*/
#include <pluginlib/class_list_macros.h>
#include "pcl_ros/features/normal_3d_tbb.h"
#if defined HAVE_TBB
void
pcl_ros::NormalEstimationTBB::emptyPublish (const PointCloudInConstPtr &cloud)
{
PointCloud output;
output.header = cloud->header;
pub_output_.publish (output.makeShared ());
}
void
pcl_ros::NormalEstimationTBB::computePublish (const PointCloudInConstPtr &cloud,
const PointCloudInConstPtr &surface,
const IndicesPtr &indices)
{
// Set the parameters
impl_.setKSearch (k_);
impl_.setRadiusSearch (search_radius_);
// Initialize the spatial locator
initTree (spatial_locator_type_, tree_, k_);
impl_.setSearchMethod (tree_);
// Set the inputs
impl_.setInputCloud (cloud);
impl_.setIndices (indices);
impl_.setSearchSurface (surface);
// Estimate the feature
PointCloudOut output;
impl_.compute (output);
// Publish a Boost shared ptr const data
// Enforce that the TF frame and the timestamp are copied
output.header = cloud->header;
pub_output_.publish (output.makeShared ());
}
typedef pcl_ros::NormalEstimationTBB NormalEstimationTBB;
PLUGINLIB_EXPORT_CLASS(NormalEstimationTBB,nodelet::Nodelet);
#endif // HAVE_TBB
| 0 |
apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/src/pcl_ros/filters | apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/src/pcl_ros/filters/features/fpfh.cpp | /*
* Software License Agreement (BSD License)
*
* Copyright (c) 2009, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNERff OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* $Id: fpfh.cpp 35361 2011-01-20 04:34:49Z rusu $
*
*/
#include <pluginlib/class_list_macros.h>
#include "pcl_ros/features/fpfh.h"
void
pcl_ros::FPFHEstimation::emptyPublish (const PointCloudInConstPtr &cloud)
{
PointCloudOut output;
output.header = cloud->header;
pub_output_.publish (output.makeShared ());
}
void
pcl_ros::FPFHEstimation::computePublish (const PointCloudInConstPtr &cloud,
const PointCloudNConstPtr &normals,
const PointCloudInConstPtr &surface,
const IndicesPtr &indices)
{
// Set the parameters
impl_.setKSearch (k_);
impl_.setRadiusSearch (search_radius_);
// Initialize the spatial locator
initTree (spatial_locator_type_, tree_, k_);
impl_.setSearchMethod (tree_);
// Set the inputs
impl_.setInputCloud (cloud);
impl_.setIndices (indices);
impl_.setSearchSurface (surface);
impl_.setInputNormals (normals);
// Estimate the feature
PointCloudOut output;
impl_.compute (output);
// Publish a Boost shared ptr const data
// Enforce that the TF frame and the timestamp are copied
output.header = cloud->header;
pub_output_.publish (output.makeShared ());
}
typedef pcl_ros::FPFHEstimation FPFHEstimation;
PLUGINLIB_EXPORT_CLASS(FPFHEstimation,nodelet::Nodelet);
| 0 |
apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/src/pcl_ros/filters | apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/src/pcl_ros/filters/features/pfh.cpp | /*
* Software License Agreement (BSD License)
*
* Copyright (c) 2009, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNERff OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* $Id: pfh.cpp 35361 2011-01-20 04:34:49Z rusu $
*
*/
#include <pluginlib/class_list_macros.h>
#include "pcl_ros/features/pfh.h"
void
pcl_ros::PFHEstimation::emptyPublish (const PointCloudInConstPtr &cloud)
{
PointCloudOut output;
output.header = cloud->header;
pub_output_.publish (output.makeShared ());
}
void
pcl_ros::PFHEstimation::computePublish (const PointCloudInConstPtr &cloud,
const PointCloudNConstPtr &normals,
const PointCloudInConstPtr &surface,
const IndicesPtr &indices)
{
// Set the parameters
impl_.setKSearch (k_);
impl_.setRadiusSearch (search_radius_);
// Initialize the spatial locator
initTree (spatial_locator_type_, tree_, k_);
impl_.setSearchMethod (tree_);
// Set the inputs
impl_.setInputCloud (cloud);
impl_.setIndices (indices);
impl_.setSearchSurface (surface);
impl_.setInputNormals (normals);
// Estimate the feature
PointCloudOut output;
impl_.compute (output);
// Publish a Boost shared ptr const data
// Enforce that the TF frame and the timestamp are copied
output.header = cloud->header;
pub_output_.publish (output.makeShared ());
}
typedef pcl_ros::PFHEstimation PFHEstimation;
PLUGINLIB_EXPORT_CLASS(PFHEstimation,nodelet::Nodelet);
| 0 |
apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/src/pcl_ros/filters | apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/src/pcl_ros/filters/features/moment_invariants.cpp | /*
* Software License Agreement (BSD License)
*
* Copyright (c) 2009, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNERff OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* $Id: moment_invariants.cpp 35361 2011-01-20 04:34:49Z rusu $
*
*/
#include <pluginlib/class_list_macros.h>
#include "pcl_ros/features/moment_invariants.h"
void
pcl_ros::MomentInvariantsEstimation::emptyPublish (const PointCloudInConstPtr &cloud)
{
PointCloudOut output;
output.header = cloud->header;
pub_output_.publish (output.makeShared ());
}
void
pcl_ros::MomentInvariantsEstimation::computePublish (const PointCloudInConstPtr &cloud,
const PointCloudInConstPtr &surface,
const IndicesPtr &indices)
{
// Set the parameters
impl_.setKSearch (k_);
impl_.setRadiusSearch (search_radius_);
// Initialize the spatial locator
initTree (spatial_locator_type_, tree_, k_);
impl_.setSearchMethod (tree_);
// Set the inputs
impl_.setInputCloud (cloud);
impl_.setIndices (indices);
impl_.setSearchSurface (surface);
// Estimate the feature
PointCloudOut output;
impl_.compute (output);
// Publish a Boost shared ptr const data
// Enforce that the TF frame and the timestamp are copied
output.header = cloud->header;
pub_output_.publish (output.makeShared ());
}
typedef pcl_ros::MomentInvariantsEstimation MomentInvariantsEstimation;
PLUGINLIB_EXPORT_CLASS(MomentInvariantsEstimation,nodelet::Nodelet);
| 0 |
apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/src/pcl_ros/filters | apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/src/pcl_ros/filters/features/boundary.cpp | /*
* Software License Agreement (BSD License)
*
* Copyright (c) 2009, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNERff OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* $Id: boundary.cpp 35361 2011-01-20 04:34:49Z rusu $
*
*/
#include <pluginlib/class_list_macros.h>
#include "pcl_ros/features/boundary.h"
void
pcl_ros::BoundaryEstimation::emptyPublish (const PointCloudInConstPtr &cloud)
{
PointCloudOut output;
output.header = cloud->header;
pub_output_.publish (output.makeShared ());
}
void
pcl_ros::BoundaryEstimation::computePublish (const PointCloudInConstPtr &cloud,
const PointCloudNConstPtr &normals,
const PointCloudInConstPtr &surface,
const IndicesPtr &indices)
{
// Set the parameters
impl_.setKSearch (k_);
impl_.setRadiusSearch (search_radius_);
// Initialize the spatial locator
initTree (spatial_locator_type_, tree_, k_);
impl_.setSearchMethod (tree_);
// Set the inputs
impl_.setInputCloud (cloud);
impl_.setIndices (indices);
impl_.setSearchSurface (surface);
impl_.setInputNormals (normals);
// Estimate the feature
PointCloudOut output;
impl_.compute (output);
// Enforce that the TF frame and the timestamp are copied
output.header = cloud->header;
pub_output_.publish (output.makeShared ());
}
typedef pcl_ros::BoundaryEstimation BoundaryEstimation;
PLUGINLIB_EXPORT_CLASS(BoundaryEstimation,nodelet::Nodelet);
| 0 |
apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/src/pcl_ros/filters | apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/src/pcl_ros/filters/features/normal_3d.cpp | /*
* Software License Agreement (BSD License)
*
* Copyright (c) 2009, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNERff OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* $Id: normal_3d.cpp 35361 2011-01-20 04:34:49Z rusu $
*
*/
#include <pluginlib/class_list_macros.h>
#include "pcl_ros/features/normal_3d.h"
void
pcl_ros::NormalEstimation::emptyPublish (const PointCloudInConstPtr &cloud)
{
PointCloudOut output;
output.header = cloud->header;
pub_output_.publish (output.makeShared ());
}
void
pcl_ros::NormalEstimation::computePublish (const PointCloudInConstPtr &cloud,
const PointCloudInConstPtr &surface,
const IndicesPtr &indices)
{
// Set the parameters
impl_.setKSearch (k_);
impl_.setRadiusSearch (search_radius_);
// Initialize the spatial locator
initTree (spatial_locator_type_, tree_, k_);
impl_.setSearchMethod (tree_);
// Set the inputs
impl_.setInputCloud (cloud);
impl_.setIndices (indices);
impl_.setSearchSurface (surface);
// Estimate the feature
PointCloudOut output;
impl_.compute (output);
// Publish a Boost shared ptr const data
// Enforce that the TF frame and the timestamp are copied
output.header = cloud->header;
pub_output_.publish (output.makeShared ());
}
typedef pcl_ros::NormalEstimation NormalEstimation;
PLUGINLIB_EXPORT_CLASS(NormalEstimation,nodelet::Nodelet);
| 0 |
apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/src/pcl_ros/filters | apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/src/pcl_ros/filters/features/principal_curvatures.cpp | /*
* Software License Agreement (BSD License)
*
* Copyright (c) 2009, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNERff OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* $Id: principal_curvatures.cpp 35361 2011-01-20 04:34:49Z rusu $
*
*/
#include <pluginlib/class_list_macros.h>
#include "pcl_ros/features/principal_curvatures.h"
void
pcl_ros::PrincipalCurvaturesEstimation::emptyPublish (const PointCloudInConstPtr &cloud)
{
PointCloudOut output;
output.header = cloud->header;
pub_output_.publish (output.makeShared ());
}
void
pcl_ros::PrincipalCurvaturesEstimation::computePublish (const PointCloudInConstPtr &cloud,
const PointCloudNConstPtr &normals,
const PointCloudInConstPtr &surface,
const IndicesPtr &indices)
{
// Set the parameters
impl_.setKSearch (k_);
impl_.setRadiusSearch (search_radius_);
// Initialize the spatial locator
initTree (spatial_locator_type_, tree_, k_);
impl_.setSearchMethod (tree_);
// Set the inputs
impl_.setInputCloud (cloud);
impl_.setIndices (indices);
impl_.setSearchSurface (surface);
impl_.setInputNormals (normals);
// Estimate the feature
PointCloudOut output;
impl_.compute (output);
// Publish a Boost shared ptr const data
// Enforce that the TF frame and the timestamp are copied
output.header = cloud->header;
pub_output_.publish (output.makeShared ());
}
typedef pcl_ros::PrincipalCurvaturesEstimation PrincipalCurvaturesEstimation;
PLUGINLIB_EXPORT_CLASS(PrincipalCurvaturesEstimation,nodelet::Nodelet);
| 0 |
apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/src/pcl_ros/filters | apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/src/pcl_ros/filters/features/feature.cpp | /*
* Software License Agreement (BSD License)
*
* Copyright (c) 2009, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNERff OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* $Id: feature.cpp 35422 2011-01-24 20:04:44Z rusu $
*
*/
//#include <pluginlib/class_list_macros.h>
// Include the implementations here instead of compiling them separately to speed up compile time
//#include "normal_3d.cpp"
//#include "boundary.cpp"
//#include "fpfh.cpp"
//#include "fpfh_omp.cpp"
//#include "moment_invariants.cpp"
//#include "normal_3d_omp.cpp"
//#include "normal_3d_tbb.cpp"
//#include "pfh.cpp"
//#include "principal_curvatures.cpp"
//#include "vfh.cpp"
#include <pcl/io/io.h>
#include "pcl_ros/features/feature.h"
#include <message_filters/null_types.h>
////////////////////////////////////////////////////////////////////////////////////////////
void
pcl_ros::Feature::onInit ()
{
// Call the super onInit ()
PCLNodelet::onInit ();
// Call the child init
childInit (*pnh_);
// Allow each individual class that inherits from us to declare their own Publisher
// This is useful for Publisher<pcl::PointCloud<T> >, as NormalEstimation can publish PointCloud<Normal>, etc
//pub_output_ = pnh_->template advertise<PointCloud2> ("output", max_queue_size_);
// ---[ Mandatory parameters
if (!pnh_->getParam ("k_search", k_) && !pnh_->getParam ("radius_search", search_radius_))
{
NODELET_ERROR ("[%s::onInit] Neither 'k_search' nor 'radius_search' set! Need to set at least one of these parameters before continuing.", getName ().c_str ());
return;
}
if (!pnh_->getParam ("spatial_locator", spatial_locator_type_))
{
NODELET_ERROR ("[%s::onInit] Need a 'spatial_locator' parameter to be set before continuing!", getName ().c_str ());
return;
}
// ---[ Optional parameters
pnh_->getParam ("use_surface", use_surface_);
// Enable the dynamic reconfigure service
srv_ = boost::make_shared<dynamic_reconfigure::Server<FeatureConfig> > (*pnh_);
dynamic_reconfigure::Server<FeatureConfig>::CallbackType f = boost::bind (&Feature::config_callback, this, _1, _2);
srv_->setCallback (f);
// If we're supposed to look for PointIndices (indices) or PointCloud (surface) messages
if (use_indices_ || use_surface_)
{
// Create the objects here
if (approximate_sync_)
sync_input_surface_indices_a_ = boost::make_shared<message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloudIn, PointCloudIn, PointIndices> > >(max_queue_size_);
else
sync_input_surface_indices_e_ = boost::make_shared<message_filters::Synchronizer<sync_policies::ExactTime<PointCloudIn, PointCloudIn, PointIndices> > >(max_queue_size_);
// Subscribe to the input using a filter
sub_input_filter_.subscribe (*pnh_, "input", max_queue_size_);
if (use_indices_)
{
// If indices are enabled, subscribe to the indices
sub_indices_filter_.subscribe (*pnh_, "indices", max_queue_size_);
if (use_surface_) // Use both indices and surface
{
// If surface is enabled, subscribe to the surface, connect the input-indices-surface trio and register
sub_surface_filter_.subscribe (*pnh_, "surface", max_queue_size_);
if (approximate_sync_)
sync_input_surface_indices_a_->connectInput (sub_input_filter_, sub_surface_filter_, sub_indices_filter_);
else
sync_input_surface_indices_e_->connectInput (sub_input_filter_, sub_surface_filter_, sub_indices_filter_);
}
else // Use only indices
{
sub_input_filter_.registerCallback (bind (&Feature::input_callback, this, _1));
// surface not enabled, connect the input-indices duo and register
if (approximate_sync_)
sync_input_surface_indices_a_->connectInput (sub_input_filter_, nf_pc_, sub_indices_filter_);
else
sync_input_surface_indices_e_->connectInput (sub_input_filter_, nf_pc_, sub_indices_filter_);
}
}
else // Use only surface
{
sub_input_filter_.registerCallback (bind (&Feature::input_callback, this, _1));
// indices not enabled, connect the input-surface duo and register
sub_surface_filter_.subscribe (*pnh_, "surface", max_queue_size_);
if (approximate_sync_)
sync_input_surface_indices_a_->connectInput (sub_input_filter_, sub_surface_filter_, nf_pi_);
else
sync_input_surface_indices_e_->connectInput (sub_input_filter_, sub_surface_filter_, nf_pi_);
}
// Register callbacks
if (approximate_sync_)
sync_input_surface_indices_a_->registerCallback (bind (&Feature::input_surface_indices_callback, this, _1, _2, _3));
else
sync_input_surface_indices_e_->registerCallback (bind (&Feature::input_surface_indices_callback, this, _1, _2, _3));
}
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::config_callback (FeatureConfig &config, uint32_t level)
{
if (k_ != config.k_search)
{
k_ = config.k_search;
NODELET_DEBUG ("[config_callback] Setting the number of K nearest neighbors to use for each point: %d.", k_);
}
if (search_radius_ != config.radius_search)
{
search_radius_ = config.radius_search;
NODELET_DEBUG ("[config_callback] Setting the nearest neighbors search radius for each point: %f.", search_radius_);
}
}
////////////////////////////////////////////////////////////////////////////////////////////
void
pcl_ros::Feature::input_surface_indices_callback (const PointCloudInConstPtr &cloud,
const PointCloudInConstPtr &cloud_surface, const PointIndicesConstPtr &indices)
{
// No subscribers, no work
if (pub_output_.getNumSubscribers () <= 0)
return;
// If cloud is given, check if it's valid
if (!isValid (cloud))
{
NODELET_ERROR ("[%s::input_surface_indices_callback] Invalid input!", getName ().c_str ());
emptyPublish (cloud);
return;
}
// If surface is given, check if it's valid
if (cloud_surface && !isValid (cloud_surface, "surface"))
{
NODELET_ERROR ("[%s::input_surface_indices_callback] Invalid input surface!", getName ().c_str ());
emptyPublish (cloud);
return;
}
// If indices are given, check if they are valid
if (indices && !isValid (indices))
{
NODELET_ERROR ("[%s::input_surface_indices_callback] Invalid input indices!", getName ().c_str ());
emptyPublish (cloud);
return;
}
/// DEBUG
if (cloud_surface)
if (indices)
NODELET_DEBUG ("[input_surface_indices_callback]\n"
" - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.\n"
" - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.\n"
" - PointIndices with %zu values, stamp %f, and frame %s on topic %s received.",
cloud->width * cloud->height, pcl::getFieldsList (*cloud).c_str (), cloud->header.stamp.toSec (), cloud->header.frame_id.c_str (), pnh_->resolveName ("input").c_str (),
cloud_surface->width * cloud_surface->height, pcl::getFieldsList (*cloud_surface).c_str (), cloud_surface->header.stamp.toSec (), cloud_surface->header.frame_id.c_str (), pnh_->resolveName ("surface").c_str (),
indices->indices.size (), indices->header.stamp.toSec (), indices->header.frame_id.c_str (), pnh_->resolveName ("indices").c_str ());
else
NODELET_DEBUG ("[input_surface_indices_callback]\n"
" - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.\n"
" - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.",
cloud->width * cloud->height, pcl::getFieldsList (*cloud).c_str (), cloud->header.stamp.toSec (), cloud->header.frame_id.c_str (), pnh_->resolveName ("input").c_str (),
cloud_surface->width * cloud_surface->height, pcl::getFieldsList (*cloud_surface).c_str (), cloud_surface->header.stamp.toSec (), cloud_surface->header.frame_id.c_str (), pnh_->resolveName ("surface").c_str ());
else
if (indices)
NODELET_DEBUG ("[input_surface_indices_callback]\n"
" - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.\n"
" - PointIndices with %zu values, stamp %f, and frame %s on topic %s received.",
cloud->width * cloud->height, pcl::getFieldsList (*cloud).c_str (), cloud->header.stamp.toSec (), cloud->header.frame_id.c_str (), pnh_->resolveName ("input").c_str (),
indices->indices.size (), indices->header.stamp.toSec (), indices->header.frame_id.c_str (), pnh_->resolveName ("indices").c_str ());
else
NODELET_DEBUG ("[input_surface_indices_callback] PointCloud with %d data points, stamp %f, and frame %s on topic %s received.", cloud->width * cloud->height, cloud->header.stamp.toSec (), cloud->header.frame_id.c_str (), pnh_->resolveName ("input").c_str ());
///
if ((int)(cloud->width * cloud->height) < k_)
{
NODELET_ERROR ("[input_surface_indices_callback] Requested number of k-nearest neighbors (%d) is larger than the PointCloud size (%d)!", k_, (int)(cloud->width * cloud->height));
emptyPublish (cloud);
return;
}
// If indices given...
IndicesPtr vindices;
if (indices && !indices->header.frame_id.empty ())
vindices.reset (new std::vector<int> (indices->indices));
computePublish (cloud, cloud_surface, vindices);
}
//////////////////////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////////////////////
void
pcl_ros::FeatureFromNormals::onInit ()
{
// Call the super onInit ()
PCLNodelet::onInit ();
// Call the child init
childInit (*pnh_);
// Allow each individual class that inherits from us to declare their own Publisher
// This is useful for Publisher<pcl::PointCloud<T> >, as NormalEstimation can publish PointCloud<Normal>, etc
//pub_output_ = pnh_->template advertise<PointCloud2> ("output", max_queue_size_);
// ---[ Mandatory parameters
if (!pnh_->getParam ("k_search", k_) && !pnh_->getParam ("radius_search", search_radius_))
{
NODELET_ERROR ("[%s::onInit] Neither 'k_search' nor 'radius_search' set! Need to set at least one of these parameters before continuing.", getName ().c_str ());
return;
}
if (!pnh_->getParam ("spatial_locator", spatial_locator_type_))
{
NODELET_ERROR ("[%s::onInit] Need a 'spatial_locator' parameter to be set before continuing!", getName ().c_str ());
return;
}
// ---[ 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);
// 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_);
else
sync_input_normals_surface_indices_e_ = boost::make_shared <message_filters::Synchronizer<sync_policies::ExactTime<PointCloudIn, PointCloudN, PointCloudIn, PointIndices> > > (max_queue_size_);
// If we're supposed to look for PointIndices (indices) or PointCloud (surface) messages
if (use_indices_ || use_surface_)
{
if (use_indices_)
{
// If indices are enabled, subscribe to the indices
sub_indices_filter_.subscribe (*pnh_, "indices", max_queue_size_);
if (use_surface_) // Use both indices and surface
{
// If surface is enabled, subscribe to the surface, connect the input-indices-surface trio and register
sub_surface_filter_.subscribe (*pnh_, "surface", max_queue_size_);
if (approximate_sync_)
sync_input_normals_surface_indices_a_->connectInput (sub_input_filter_, sub_normals_filter_, sub_surface_filter_, sub_indices_filter_);
else
sync_input_normals_surface_indices_e_->connectInput (sub_input_filter_, sub_normals_filter_, sub_surface_filter_, sub_indices_filter_);
}
else // Use only indices
{
sub_input_filter_.registerCallback (bind (&FeatureFromNormals::input_callback, this, _1));
if (approximate_sync_)
// surface not enabled, connect the input-indices duo and register
sync_input_normals_surface_indices_a_->connectInput (sub_input_filter_, sub_normals_filter_, nf_pc_, sub_indices_filter_);
else
// surface not enabled, connect the input-indices duo and register
sync_input_normals_surface_indices_e_->connectInput (sub_input_filter_, sub_normals_filter_, nf_pc_, sub_indices_filter_);
}
}
else // Use only surface
{
// indices not enabled, connect the input-surface duo and register
sub_surface_filter_.subscribe (*pnh_, "surface", max_queue_size_);
sub_input_filter_.registerCallback (bind (&FeatureFromNormals::input_callback, this, _1));
if (approximate_sync_)
sync_input_normals_surface_indices_a_->connectInput (sub_input_filter_, sub_normals_filter_, sub_surface_filter_, nf_pi_);
else
sync_input_normals_surface_indices_e_->connectInput (sub_input_filter_, sub_normals_filter_, sub_surface_filter_, nf_pi_);
}
}
else
{
sub_input_filter_.registerCallback (bind (&FeatureFromNormals::input_callback, this, _1));
if (approximate_sync_)
sync_input_normals_surface_indices_a_->connectInput (sub_input_filter_, sub_normals_filter_, nf_pc_, nf_pi_);
else
sync_input_normals_surface_indices_e_->connectInput (sub_input_filter_, sub_normals_filter_, nf_pc_, nf_pi_);
}
// Register callbacks
if (approximate_sync_)
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::input_normals_surface_indices_callback (
const PointCloudInConstPtr &cloud, const PointCloudNConstPtr &cloud_normals,
const PointCloudInConstPtr &cloud_surface, const PointIndicesConstPtr &indices)
{
// No subscribers, no work
if (pub_output_.getNumSubscribers () <= 0)
return;
// If cloud+normals is given, check if it's valid
if (!isValid (cloud))// || !isValid (cloud_normals, "normals"))
{
NODELET_ERROR ("[%s::input_normals_surface_indices_callback] Invalid input!", getName ().c_str ());
emptyPublish (cloud);
return;
}
// If surface is given, check if it's valid
if (cloud_surface && !isValid (cloud_surface, "surface"))
{
NODELET_ERROR ("[%s::input_normals_surface_indices_callback] Invalid input surface!", getName ().c_str ());
emptyPublish (cloud);
return;
}
// If indices are given, check if they are valid
if (indices && !isValid (indices))
{
NODELET_ERROR ("[%s::input_normals_surface_indices_callback] Invalid input indices!", getName ().c_str ());
emptyPublish (cloud);
return;
}
/// DEBUG
if (cloud_surface)
if (indices)
NODELET_DEBUG ("[%s::input_normals_surface_indices_callback]\n"
" - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.\n"
" - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.\n"
" - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.\n"
" - PointIndices with %zu values, stamp %f, and frame %s on topic %s received.",
getName ().c_str (),
cloud->width * cloud->height, pcl::getFieldsList (*cloud).c_str (), cloud->header.stamp.toSec (), cloud->header.frame_id.c_str (), pnh_->resolveName ("input").c_str (),
cloud_surface->width * cloud_surface->height, pcl::getFieldsList (*cloud_surface).c_str (), cloud_surface->header.stamp.toSec (), cloud_surface->header.frame_id.c_str (), pnh_->resolveName ("surface").c_str (),
cloud_normals->width * cloud_normals->height, pcl::getFieldsList (*cloud_normals).c_str (), cloud_normals->header.stamp.toSec (), cloud_normals->header.frame_id.c_str (), pnh_->resolveName ("normals").c_str (),
indices->indices.size (), indices->header.stamp.toSec (), indices->header.frame_id.c_str (), pnh_->resolveName ("indices").c_str ());
else
NODELET_DEBUG ("[%s::input_normals_surface_indices_callback]\n"
" - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.\n"
" - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.\n"
" - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.",
getName ().c_str (),
cloud->width * cloud->height, pcl::getFieldsList (*cloud).c_str (), cloud->header.stamp.toSec (), cloud->header.frame_id.c_str (), pnh_->resolveName ("input").c_str (),
cloud_surface->width * cloud_surface->height, pcl::getFieldsList (*cloud_surface).c_str (), cloud_surface->header.stamp.toSec (), cloud_surface->header.frame_id.c_str (), pnh_->resolveName ("surface").c_str (),
cloud_normals->width * cloud_normals->height, pcl::getFieldsList (*cloud_normals).c_str (), cloud_normals->header.stamp.toSec (), cloud_normals->header.frame_id.c_str (), pnh_->resolveName ("normals").c_str ());
else
if (indices)
NODELET_DEBUG ("[%s::input_normals_surface_indices_callback]\n"
" - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.\n"
" - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.\n"
" - PointIndices with %zu values, stamp %f, and frame %s on topic %s received.",
getName ().c_str (),
cloud->width * cloud->height, pcl::getFieldsList (*cloud).c_str (), cloud->header.stamp.toSec (), cloud->header.frame_id.c_str (), pnh_->resolveName ("input").c_str (),
cloud_normals->width * cloud_normals->height, pcl::getFieldsList (*cloud_normals).c_str (), cloud_normals->header.stamp.toSec (), cloud_normals->header.frame_id.c_str (), pnh_->resolveName ("normals").c_str (),
indices->indices.size (), indices->header.stamp.toSec (), indices->header.frame_id.c_str (), pnh_->resolveName ("indices").c_str ());
else
NODELET_DEBUG ("[%s::input_normals_surface_indices_callback]\n"
" - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.\n"
" - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.",
getName ().c_str (),
cloud->width * cloud->height, pcl::getFieldsList (*cloud).c_str (), cloud->header.stamp.toSec (), cloud->header.frame_id.c_str (), pnh_->resolveName ("input").c_str (),
cloud_normals->width * cloud_normals->height, pcl::getFieldsList (*cloud_normals).c_str (), cloud_normals->header.stamp.toSec (), cloud_normals->header.frame_id.c_str (), pnh_->resolveName ("normals").c_str ());
///
if ((int)(cloud->width * cloud->height) < k_)
{
NODELET_ERROR ("[%s::input_normals_surface_indices_callback] Requested number of k-nearest neighbors (%d) is larger than the PointCloud size (%d)!", getName ().c_str (), k_, (int)(cloud->width * cloud->height));
emptyPublish (cloud);
return;
}
// If indices given...
IndicesPtr vindices;
if (indices && !indices->header.frame_id.empty ())
vindices.reset (new std::vector<int> (indices->indices));
computePublish (cloud, cloud_normals, cloud_surface, vindices);
}
| 0 |
apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/src/pcl_ros/filters | apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/src/pcl_ros/filters/features/normal_3d_omp.cpp | /*
* Software License Agreement (BSD License)
*
* Copyright (c) 2009, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNERff OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* $Id: normal_3d_omp.cpp 35361 2011-01-20 04:34:49Z rusu $
*
*/
#include <pluginlib/class_list_macros.h>
#include "pcl_ros/features/normal_3d_omp.h"
void
pcl_ros::NormalEstimationOMP::emptyPublish (const PointCloudInConstPtr &cloud)
{
PointCloudOut output;
output.header = cloud->header;
pub_output_.publish (output.makeShared ());
}
void
pcl_ros::NormalEstimationOMP::computePublish (const PointCloudInConstPtr &cloud,
const PointCloudInConstPtr &surface,
const IndicesPtr &indices)
{
// Set the parameters
impl_.setKSearch (k_);
impl_.setRadiusSearch (search_radius_);
// Initialize the spatial locator
initTree (spatial_locator_type_, tree_, k_);
impl_.setSearchMethod (tree_);
// Set the inputs
impl_.setInputCloud (cloud);
impl_.setIndices (indices);
impl_.setSearchSurface (surface);
// Estimate the feature
PointCloudOut output;
impl_.compute (output);
// Publish a Boost shared ptr const data
// Enforce that the TF frame and the timestamp are copied
output.header = cloud->header;
pub_output_.publish (output.makeShared ());
}
typedef pcl_ros::NormalEstimationOMP NormalEstimationOMP;
PLUGINLIB_EXPORT_CLASS(NormalEstimationOMP,nodelet::Nodelet);
| 0 |
apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/src/pcl_ros | apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/src/pcl_ros/segmentation/segmentation.cpp | /*
* Software License Agreement (BSD License)
*
* Copyright (c) 2009, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* $Id: segmentation.cpp 34600 2010-12-07 21:12:11Z rusu $
*
*/
// Include the implementations here instead of compiling them separately to speed up compile time
//#include "extract_clusters.cpp"
//#include "extract_polygonal_prism_data.cpp"
//#include "sac_segmentation.cpp"
//#include "segment_differences.cpp"
| 0 |
apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/src/pcl_ros | apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/src/pcl_ros/segmentation/sac_segmentation.cpp | /*
* Software License Agreement (BSD License)
*
* Copyright (c) 2009, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* $Id: sac_segmentation.hpp 33195 2010-10-10 14:12:19Z marton $
*
*/
#include <pluginlib/class_list_macros.h>
#include "pcl_ros/segmentation/sac_segmentation.h"
#include <pcl/io/io.h>
#include <pcl_conversions/pcl_conversions.h>
using pcl_conversions::fromPCL;
//////////////////////////////////////////////////////////////////////////////////////////////
void
pcl_ros::SACSegmentation::onInit ()
{
// Call the super onInit ()
PCLNodelet::onInit ();
// If we're supposed to look for PointIndices (indices)
if (use_indices_)
{
// Subscribe to the input using a filter
sub_input_filter_.subscribe (*pnh_, "input", max_queue_size_);
sub_indices_filter_.subscribe (*pnh_, "indices", max_queue_size_);
// when "use_indices" is set to true, and "latched_indices" is set to true,
// we'll subscribe and get a separate callback for PointIndices that will
// save the indices internally, and a PointCloud + PointIndices callback
// will take care of meshing the new PointClouds with the old saved indices.
if (latched_indices_)
{
// Subscribe to a callback that saves the indices
sub_indices_filter_.registerCallback (bind (&SACSegmentation::indices_callback, this, _1));
// Subscribe to a callback that sets the header of the saved indices to the cloud header
sub_input_filter_.registerCallback (bind (&SACSegmentation::input_callback, this, _1));
// Synchronize the two topics. No need for an approximate synchronizer here, as we'll
// match the timestamps exactly
sync_input_indices_e_ = boost::make_shared <message_filters::Synchronizer<sync_policies::ExactTime<PointCloud, PointIndices> > > (max_queue_size_);
sync_input_indices_e_->connectInput (sub_input_filter_, nf_pi_);
sync_input_indices_e_->registerCallback (bind (&SACSegmentation::input_indices_callback, this, _1, _2));
}
// "latched_indices" not set, proceed with regular <input,indices> pairs
else
{
if (approximate_sync_)
{
sync_input_indices_a_ = boost::make_shared <message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloud, PointIndices> > > (max_queue_size_);
sync_input_indices_a_->connectInput (sub_input_filter_, sub_indices_filter_);
sync_input_indices_a_->registerCallback (bind (&SACSegmentation::input_indices_callback, this, _1, _2));
}
else
{
sync_input_indices_e_ = boost::make_shared <message_filters::Synchronizer<sync_policies::ExactTime<PointCloud, PointIndices> > > (max_queue_size_);
sync_input_indices_e_->connectInput (sub_input_filter_, sub_indices_filter_);
sync_input_indices_e_->registerCallback (bind (&SACSegmentation::input_indices_callback, this, _1, _2));
}
}
}
else
// Subscribe in an old fashion to input only (no filters)
sub_input_ = pnh_->subscribe<PointCloud> ("input", max_queue_size_, bind (&SACSegmentation::input_indices_callback, this, _1, PointIndicesConstPtr ()));
// Advertise the output topics
pub_indices_ = pnh_->advertise<PointIndices> ("inliers", max_queue_size_);
pub_model_ = pnh_->advertise<ModelCoefficients> ("model", max_queue_size_);
// ---[ Mandatory parameters
int model_type;
if (!pnh_->getParam ("model_type", model_type))
{
NODELET_ERROR ("[onInit] Need a 'model_type' parameter to be set before continuing!");
return;
}
double threshold; // unused - set via dynamic reconfigure in the callback
if (!pnh_->getParam ("distance_threshold", threshold))
{
NODELET_ERROR ("[onInit] Need a 'distance_threshold' parameter to be set before continuing!");
return;
}
// ---[ Optional parameters
int method_type = 0;
pnh_->getParam ("method_type", method_type);
XmlRpc::XmlRpcValue axis_param;
pnh_->getParam ("axis", axis_param);
Eigen::Vector3f axis = Eigen::Vector3f::Zero ();
switch (axis_param.getType ())
{
case XmlRpc::XmlRpcValue::TypeArray:
{
if (axis_param.size () != 3)
{
NODELET_ERROR ("[%s::onInit] Parameter 'axis' given but with a different number of values (%d) than required (3)!", getName ().c_str (), axis_param.size ());
return;
}
for (int i = 0; i < 3; ++i)
{
if (axis_param[i].getType () != XmlRpc::XmlRpcValue::TypeDouble)
{
NODELET_ERROR ("[%s::onInit] Need floating point values for 'axis' parameter.", getName ().c_str ());
return;
}
double value = axis_param[i]; axis[i] = value;
}
break;
}
default:
{
break;
}
}
// Initialize the random number generator
srand (time (0));
// Enable the dynamic reconfigure service
srv_ = boost::make_shared<dynamic_reconfigure::Server<SACSegmentationConfig> >(*pnh_);
dynamic_reconfigure::Server<SACSegmentationConfig>::CallbackType f = boost::bind (&SACSegmentation::config_callback, this, _1, _2);
srv_->setCallback (f);
NODELET_DEBUG ("[%s::onInit] Nodelet successfully created with the following parameters:\n"
" - model_type : %d\n"
" - method_type : %d\n"
" - model_threshold : %f\n"
" - axis : [%f, %f, %f]\n",
getName ().c_str (), model_type, method_type, threshold,
axis[0], axis[1], axis[2]);
// Set given parameters here
impl_.setModelType (model_type);
impl_.setMethodType (method_type);
impl_.setAxis (axis);
}
//////////////////////////////////////////////////////////////////////////////////////////////
void
pcl_ros::SACSegmentation::config_callback (SACSegmentationConfig &config, uint32_t level)
{
boost::mutex::scoped_lock lock (mutex_);
if (impl_.getDistanceThreshold () != config.distance_threshold)
{
//sac_->setDistanceThreshold (threshold_); - done in initSAC
impl_.setDistanceThreshold (config.distance_threshold);
NODELET_DEBUG ("[%s::config_callback] Setting new distance to model threshold to: %f.", getName ().c_str (), config.distance_threshold);
}
// The maximum allowed difference between the model normal and the given axis _in radians_
if (impl_.getEpsAngle () != config.eps_angle)
{
impl_.setEpsAngle (config.eps_angle);
NODELET_DEBUG ("[%s::config_callback] Setting new epsilon angle to model threshold to: %f (%f degrees).", getName ().c_str (), config.eps_angle, config.eps_angle * 180.0 / M_PI);
}
// Number of inliers
if (min_inliers_ != config.min_inliers)
{
min_inliers_ = config.min_inliers;
NODELET_DEBUG ("[%s::config_callback] Setting new minimum number of inliers to: %d.", getName ().c_str (), min_inliers_);
}
if (impl_.getMaxIterations () != config.max_iterations)
{
//sac_->setMaxIterations (max_iterations_); - done in initSAC
impl_.setMaxIterations (config.max_iterations);
NODELET_DEBUG ("[%s::config_callback] Setting new maximum number of iterations to: %d.", getName ().c_str (), config.max_iterations);
}
if (impl_.getProbability () != config.probability)
{
//sac_->setProbability (probability_); - done in initSAC
impl_.setProbability (config.probability);
NODELET_DEBUG ("[%s::config_callback] Setting new probability to: %f.", getName ().c_str (), config.probability);
}
if (impl_.getOptimizeCoefficients () != config.optimize_coefficients)
{
impl_.setOptimizeCoefficients (config.optimize_coefficients);
NODELET_DEBUG ("[%s::config_callback] Setting coefficient optimization to: %s.", getName ().c_str (), (config.optimize_coefficients) ? "true" : "false");
}
double radius_min, radius_max;
impl_.getRadiusLimits (radius_min, radius_max);
if (radius_min != config.radius_min)
{
radius_min = config.radius_min;
NODELET_DEBUG ("[config_callback] Setting minimum allowable model radius to: %f.", radius_min);
impl_.setRadiusLimits (radius_min, radius_max);
}
if (radius_max != config.radius_max)
{
radius_max = config.radius_max;
NODELET_DEBUG ("[config_callback] Setting maximum allowable model radius to: %f.", radius_max);
impl_.setRadiusLimits (radius_min, radius_max);
}
if (tf_input_frame_ != config.input_frame)
{
tf_input_frame_ = config.input_frame;
NODELET_DEBUG ("[config_callback] Setting the input TF frame to: %s.", tf_input_frame_.c_str ());
NODELET_WARN ("input_frame TF not implemented yet!");
}
if (tf_output_frame_ != config.output_frame)
{
tf_output_frame_ = config.output_frame;
NODELET_DEBUG ("[config_callback] Setting the output TF frame to: %s.", tf_output_frame_.c_str ());
NODELET_WARN ("output_frame TF not implemented yet!");
}
}
//////////////////////////////////////////////////////////////////////////////////////////////
void
pcl_ros::SACSegmentation::input_indices_callback (const PointCloudConstPtr &cloud,
const PointIndicesConstPtr &indices)
{
boost::mutex::scoped_lock lock (mutex_);
// No subscribers, no work
if (pub_indices_.getNumSubscribers () <= 0 && pub_model_.getNumSubscribers () <= 0)
return;
pcl_msgs::PointIndices inliers;
pcl_msgs::ModelCoefficients model;
// Enforce that the TF frame and the timestamp are copied
inliers.header = model.header = fromPCL(cloud->header);
// If cloud is given, check if it's valid
if (!isValid (cloud))
{
NODELET_ERROR ("[%s::input_indices_callback] Invalid input!", getName ().c_str ());
pub_indices_.publish (inliers);
pub_model_.publish (model);
return;
}
// If indices are given, check if they are valid
if (indices && !isValid (indices))
{
NODELET_ERROR ("[%s::input_indices_callback] Invalid indices!", getName ().c_str ());
pub_indices_.publish (inliers);
pub_model_.publish (model);
return;
}
/// DEBUG
if (indices && !indices->header.frame_id.empty ())
NODELET_DEBUG ("[%s::input_indices_callback]\n"
" - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.\n"
" - PointIndices with %zu values, stamp %f, and frame %s on topic %s received.",
getName ().c_str (),
cloud->width * cloud->height, pcl::getFieldsList (*cloud).c_str (), fromPCL(cloud->header).stamp.toSec (), cloud->header.frame_id.c_str (), pnh_->resolveName ("input").c_str (),
indices->indices.size (), indices->header.stamp.toSec (), indices->header.frame_id.c_str (), pnh_->resolveName ("indices").c_str ());
else
NODELET_DEBUG ("[%s::input_indices_callback] PointCloud with %d data points, stamp %f, and frame %s on topic %s received.",
getName ().c_str (), cloud->width * cloud->height, fromPCL(cloud->header).stamp.toSec (), cloud->header.frame_id.c_str (), pnh_->resolveName ("input").c_str ());
///
// Check whether the user has given a different input TF frame
tf_input_orig_frame_ = cloud->header.frame_id;
PointCloudConstPtr cloud_tf;
/* if (!tf_input_frame_.empty () && cloud->header.frame_id != tf_input_frame_)
{
NODELET_DEBUG ("[input_callback] Transforming input dataset from %s to %s.", cloud->header.frame_id.c_str (), tf_input_frame_.c_str ());
// Save the original frame ID
// Convert the cloud into the different frame
PointCloud cloud_transformed;
if (!pcl::transformPointCloud (tf_input_frame_, cloud->header.stamp, *cloud, cloud_transformed, tf_listener_))
return;
cloud_tf.reset (new PointCloud (cloud_transformed));
}
else*/
cloud_tf = cloud;
IndicesPtr indices_ptr;
if (indices && !indices->header.frame_id.empty ())
indices_ptr.reset (new std::vector<int> (indices->indices));
impl_.setInputCloud (cloud_tf);
impl_.setIndices (indices_ptr);
// Final check if the data is empty (remember that indices are set to the size of the data -- if indices* = NULL)
if (!cloud->points.empty ()) {
pcl::PointIndices pcl_inliers;
pcl::ModelCoefficients pcl_model;
pcl_conversions::moveToPCL(inliers, pcl_inliers);
pcl_conversions::moveToPCL(model, pcl_model);
impl_.segment (pcl_inliers, pcl_model);
pcl_conversions::moveFromPCL(pcl_inliers, inliers);
pcl_conversions::moveFromPCL(pcl_model, model);
}
// Probably need to transform the model of the plane here
// Check if we have enough inliers, clear inliers + model if not
if ((int)inliers.indices.size () <= min_inliers_)
{
inliers.indices.clear ();
model.values.clear ();
}
// Publish
pub_indices_.publish (boost::make_shared<const PointIndices> (inliers));
pub_model_.publish (boost::make_shared<const ModelCoefficients> (model));
NODELET_DEBUG ("[%s::input_indices_callback] Published PointIndices with %zu values on topic %s, and ModelCoefficients with %zu values on topic %s",
getName ().c_str (), inliers.indices.size (), pnh_->resolveName ("inliers").c_str (),
model.values.size (), pnh_->resolveName ("model").c_str ());
if (inliers.indices.empty ())
NODELET_WARN ("[%s::input_indices_callback] No inliers found!", getName ().c_str ());
}
//////////////////////////////////////////////////////////////////////////////////////////////
void
pcl_ros::SACSegmentationFromNormals::onInit ()
{
// Call the super onInit ()
PCLNodelet::onInit ();
// Enable the dynamic reconfigure service
srv_ = boost::make_shared <dynamic_reconfigure::Server<SACSegmentationFromNormalsConfig> > (*pnh_);
dynamic_reconfigure::Server<SACSegmentationFromNormalsConfig>::CallbackType f = boost::bind (&SACSegmentationFromNormals::config_callback, this, _1, _2);
srv_->setCallback (f);
// Subscribe to the input and normals using filters
sub_input_filter_.subscribe (*pnh_, "input", max_queue_size_);
sub_normals_filter_.subscribe (*pnh_, "normals", max_queue_size_);
// Subscribe to an axis direction along which the model search is to be constrained (the first 3 model coefficients will be checked)
sub_axis_ = pnh_->subscribe ("axis", 1, &SACSegmentationFromNormals::axis_callback, this);
if (approximate_sync_)
sync_input_normals_indices_a_ = boost::make_shared <message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloud, PointCloudN, PointIndices> > > (max_queue_size_);
else
sync_input_normals_indices_e_ = boost::make_shared <message_filters::Synchronizer<sync_policies::ExactTime<PointCloud, PointCloudN, PointIndices> > > (max_queue_size_);
// If we're supposed to look for PointIndices (indices)
if (use_indices_)
{
// Subscribe to the input using a filter
sub_indices_filter_.subscribe (*pnh_, "indices", max_queue_size_);
if (approximate_sync_)
sync_input_normals_indices_a_->connectInput (sub_input_filter_, sub_normals_filter_, sub_indices_filter_);
else
sync_input_normals_indices_e_->connectInput (sub_input_filter_, sub_normals_filter_, sub_indices_filter_);
}
else
{
// Create a different callback for copying over the timestamp to fake indices
sub_input_filter_.registerCallback (bind (&SACSegmentationFromNormals::input_callback, this, _1));
if (approximate_sync_)
sync_input_normals_indices_a_->connectInput (sub_input_filter_, sub_normals_filter_, nf_);
else
sync_input_normals_indices_e_->connectInput (sub_input_filter_, sub_normals_filter_, nf_);
}
if (approximate_sync_)
sync_input_normals_indices_a_->registerCallback (bind (&SACSegmentationFromNormals::input_normals_indices_callback, this, _1, _2, _3));
else
sync_input_normals_indices_e_->registerCallback (bind (&SACSegmentationFromNormals::input_normals_indices_callback, this, _1, _2, _3));
// Advertise the output topics
pub_indices_ = pnh_->advertise<PointIndices> ("inliers", max_queue_size_);
pub_model_ = pnh_->advertise<ModelCoefficients> ("model", max_queue_size_);
// ---[ Mandatory parameters
int model_type;
if (!pnh_->getParam ("model_type", model_type))
{
NODELET_ERROR ("[%s::onInit] Need a 'model_type' parameter to be set before continuing!", getName ().c_str ());
return;
}
double threshold; // unused - set via dynamic reconfigure in the callback
if (!pnh_->getParam ("distance_threshold", threshold))
{
NODELET_ERROR ("[%s::onInit] Need a 'distance_threshold' parameter to be set before continuing!", getName ().c_str ());
return;
}
// ---[ Optional parameters
int method_type = 0;
pnh_->getParam ("method_type", method_type);
XmlRpc::XmlRpcValue axis_param;
pnh_->getParam ("axis", axis_param);
Eigen::Vector3f axis = Eigen::Vector3f::Zero ();
switch (axis_param.getType ())
{
case XmlRpc::XmlRpcValue::TypeArray:
{
if (axis_param.size () != 3)
{
NODELET_ERROR ("[%s::onInit] Parameter 'axis' given but with a different number of values (%d) than required (3)!", getName ().c_str (), axis_param.size ());
return;
}
for (int i = 0; i < 3; ++i)
{
if (axis_param[i].getType () != XmlRpc::XmlRpcValue::TypeDouble)
{
NODELET_ERROR ("[%s::onInit] Need floating point values for 'axis' parameter.", getName ().c_str ());
return;
}
double value = axis_param[i]; axis[i] = value;
}
break;
}
default:
{
break;
}
}
// Initialize the random number generator
srand (time (0));
NODELET_DEBUG ("[%s::onInit] Nodelet successfully created with the following parameters:\n"
" - model_type : %d\n"
" - method_type : %d\n"
" - model_threshold : %f\n"
" - axis : [%f, %f, %f]\n",
getName ().c_str (), model_type, method_type, threshold,
axis[0], axis[1], axis[2]);
// Set given parameters here
impl_.setModelType (model_type);
impl_.setMethodType (method_type);
impl_.setAxis (axis);
}
//////////////////////////////////////////////////////////////////////////////////////////////
void
pcl_ros::SACSegmentationFromNormals::axis_callback (const pcl_msgs::ModelCoefficientsConstPtr &model)
{
boost::mutex::scoped_lock lock (mutex_);
if (model->values.size () < 3)
{
NODELET_ERROR ("[%s::axis_callback] Invalid axis direction / model coefficients with %zu values sent on %s!", getName ().c_str (), model->values.size (), pnh_->resolveName ("axis").c_str ());
return;
}
NODELET_DEBUG ("[%s::axis_callback] Received axis direction: %f %f %f", getName ().c_str (), model->values[0], model->values[1], model->values[2]);
Eigen::Vector3f axis (model->values[0], model->values[1], model->values[2]);
impl_.setAxis (axis);
}
//////////////////////////////////////////////////////////////////////////////////////////////
void
pcl_ros::SACSegmentationFromNormals::config_callback (SACSegmentationFromNormalsConfig &config, uint32_t level)
{
boost::mutex::scoped_lock lock (mutex_);
if (impl_.getDistanceThreshold () != config.distance_threshold)
{
impl_.setDistanceThreshold (config.distance_threshold);
NODELET_DEBUG ("[%s::config_callback] Setting distance to model threshold to: %f.", getName ().c_str (), config.distance_threshold);
}
// The maximum allowed difference between the model normal and the given axis _in radians_
if (impl_.getEpsAngle () != config.eps_angle)
{
impl_.setEpsAngle (config.eps_angle);
NODELET_DEBUG ("[%s::config_callback] Setting new epsilon angle to model threshold to: %f (%f degrees).", getName ().c_str (), config.eps_angle, config.eps_angle * 180.0 / M_PI);
}
if (impl_.getMaxIterations () != config.max_iterations)
{
impl_.setMaxIterations (config.max_iterations);
NODELET_DEBUG ("[%s::config_callback] Setting new maximum number of iterations to: %d.", getName ().c_str (), config.max_iterations);
}
// Number of inliers
if (min_inliers_ != config.min_inliers)
{
min_inliers_ = config.min_inliers;
NODELET_DEBUG ("[%s::config_callback] Setting new minimum number of inliers to: %d.", getName ().c_str (), min_inliers_);
}
if (impl_.getProbability () != config.probability)
{
impl_.setProbability (config.probability);
NODELET_DEBUG ("[%s::config_callback] Setting new probability to: %f.", getName ().c_str (), config.probability);
}
if (impl_.getOptimizeCoefficients () != config.optimize_coefficients)
{
impl_.setOptimizeCoefficients (config.optimize_coefficients);
NODELET_DEBUG ("[%s::config_callback] Setting coefficient optimization to: %s.", getName ().c_str (), (config.optimize_coefficients) ? "true" : "false");
}
if (impl_.getNormalDistanceWeight () != config.normal_distance_weight)
{
impl_.setNormalDistanceWeight (config.normal_distance_weight);
NODELET_DEBUG ("[%s::config_callback] Setting new distance weight to: %f.", getName ().c_str (), config.normal_distance_weight);
}
double radius_min, radius_max;
impl_.getRadiusLimits (radius_min, radius_max);
if (radius_min != config.radius_min)
{
radius_min = config.radius_min;
NODELET_DEBUG ("[%s::config_callback] Setting minimum allowable model radius to: %f.", getName ().c_str (), radius_min);
impl_.setRadiusLimits (radius_min, radius_max);
}
if (radius_max != config.radius_max)
{
radius_max = config.radius_max;
NODELET_DEBUG ("[%s::config_callback] Setting maximum allowable model radius to: %f.", getName ().c_str (), radius_max);
impl_.setRadiusLimits (radius_min, radius_max);
}
}
//////////////////////////////////////////////////////////////////////////////////////////////
void
pcl_ros::SACSegmentationFromNormals::input_normals_indices_callback (
const PointCloudConstPtr &cloud,
const PointCloudNConstPtr &cloud_normals,
const PointIndicesConstPtr &indices
)
{
boost::mutex::scoped_lock lock (mutex_);
// No subscribers, no work
if (pub_indices_.getNumSubscribers () <= 0 && pub_model_.getNumSubscribers () <= 0)
return;
PointIndices inliers;
ModelCoefficients model;
// Enforce that the TF frame and the timestamp are copied
inliers.header = model.header = fromPCL(cloud->header);
if (impl_.getModelType () < 0)
{
NODELET_ERROR ("[%s::input_normals_indices_callback] Model type not set!", getName ().c_str ());
pub_indices_.publish (boost::make_shared<const PointIndices> (inliers));
pub_model_.publish (boost::make_shared<const ModelCoefficients> (model));
return;
}
if (!isValid (cloud))// || !isValid (cloud_normals, "normals"))
{
NODELET_ERROR ("[%s::input_normals_indices_callback] Invalid input!", getName ().c_str ());
pub_indices_.publish (boost::make_shared<const PointIndices> (inliers));
pub_model_.publish (boost::make_shared<const ModelCoefficients> (model));
return;
}
// If indices are given, check if they are valid
if (indices && !isValid (indices))
{
NODELET_ERROR ("[%s::input_normals_indices_callback] Invalid indices!", getName ().c_str ());
pub_indices_.publish (boost::make_shared<const PointIndices> (inliers));
pub_model_.publish (boost::make_shared<const ModelCoefficients> (model));
return;
}
/// DEBUG
if (indices && !indices->header.frame_id.empty ())
NODELET_DEBUG ("[%s::input_normals_indices_callback]\n"
" - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.\n"
" - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.\n"
" - PointIndices with %zu values, stamp %f, and frame %s on topic %s received.",
getName ().c_str (),
cloud->width * cloud->height, pcl::getFieldsList (*cloud).c_str (), fromPCL(cloud->header).stamp.toSec (), cloud->header.frame_id.c_str (), pnh_->resolveName ("input").c_str (),
cloud_normals->width * cloud_normals->height, pcl::getFieldsList (*cloud_normals).c_str (), fromPCL(cloud_normals->header).stamp.toSec (), cloud_normals->header.frame_id.c_str (), pnh_->resolveName ("normals").c_str (),
indices->indices.size (), indices->header.stamp.toSec (), indices->header.frame_id.c_str (), pnh_->resolveName ("indices").c_str ());
else
NODELET_DEBUG ("[%s::input_normals_indices_callback]\n"
" - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.\n"
" - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.",
getName ().c_str (),
cloud->width * cloud->height, pcl::getFieldsList (*cloud).c_str (), fromPCL(cloud->header).stamp.toSec (), cloud->header.frame_id.c_str (), pnh_->resolveName ("input").c_str (),
cloud_normals->width * cloud_normals->height, pcl::getFieldsList (*cloud_normals).c_str (), fromPCL(cloud_normals->header).stamp.toSec (), cloud_normals->header.frame_id.c_str (), pnh_->resolveName ("normals").c_str ());
///
// Extra checks for safety
int cloud_nr_points = cloud->width * cloud->height;
int cloud_normals_nr_points = cloud_normals->width * cloud_normals->height;
if (cloud_nr_points != cloud_normals_nr_points)
{
NODELET_ERROR ("[%s::input_normals_indices_callback] Number of points in the input dataset (%d) differs from the number of points in the normals (%d)!", getName ().c_str (), cloud_nr_points, cloud_normals_nr_points);
pub_indices_.publish (boost::make_shared<const PointIndices> (inliers));
pub_model_.publish (boost::make_shared<const ModelCoefficients> (model));
return;
}
impl_.setInputCloud (cloud);
impl_.setInputNormals (cloud_normals);
IndicesPtr indices_ptr;
if (indices && !indices->header.frame_id.empty ())
indices_ptr.reset (new std::vector<int> (indices->indices));
impl_.setIndices (indices_ptr);
// Final check if the data is empty (remember that indices are set to the size of the data -- if indices* = NULL)
if (!cloud->points.empty ()) {
pcl::PointIndices pcl_inliers;
pcl::ModelCoefficients pcl_model;
pcl_conversions::moveToPCL(inliers, pcl_inliers);
pcl_conversions::moveToPCL(model, pcl_model);
impl_.segment (pcl_inliers, pcl_model);
pcl_conversions::moveFromPCL(pcl_inliers, inliers);
pcl_conversions::moveFromPCL(pcl_model, model);
}
// Check if we have enough inliers, clear inliers + model if not
if ((int)inliers.indices.size () <= min_inliers_)
{
inliers.indices.clear ();
model.values.clear ();
}
// Publish
pub_indices_.publish (boost::make_shared<const PointIndices> (inliers));
pub_model_.publish (boost::make_shared<const ModelCoefficients> (model));
NODELET_DEBUG ("[%s::input_normals_callback] Published PointIndices with %zu values on topic %s, and ModelCoefficients with %zu values on topic %s",
getName ().c_str (), inliers.indices.size (), pnh_->resolveName ("inliers").c_str (),
model.values.size (), pnh_->resolveName ("model").c_str ());
if (inliers.indices.empty ())
NODELET_WARN ("[%s::input_indices_callback] No inliers found!", getName ().c_str ());
}
typedef pcl_ros::SACSegmentation SACSegmentation;
typedef pcl_ros::SACSegmentationFromNormals SACSegmentationFromNormals;
PLUGINLIB_DECLARE_CLASS (pcl, SACSegmentation, SACSegmentation, nodelet::Nodelet);
PLUGINLIB_DECLARE_CLASS (pcl, SACSegmentationFromNormals, SACSegmentationFromNormals, nodelet::Nodelet);
| 0 |
apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/src/pcl_ros | apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/src/pcl_ros/segmentation/extract_clusters.cpp | /*
* Software License Agreement (BSD License)
*
* Copyright (c) 2010, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* $Id: extract_clusters.hpp 32052 2010-08-27 02:19:30Z rusu $
*
*/
#include <pluginlib/class_list_macros.h>
#include <pcl/io/io.h>
#include <pcl/PointIndices.h>
#include "pcl_ros/segmentation/extract_clusters.h"
#include <pcl_conversions/pcl_conversions.h>
using pcl_conversions::fromPCL;
using pcl_conversions::moveFromPCL;
using pcl_conversions::toPCL;
//////////////////////////////////////////////////////////////////////////////////////////////
void
pcl_ros::EuclideanClusterExtraction::onInit ()
{
// Call the super onInit ()
PCLNodelet::onInit ();
// ---[ Mandatory parameters
double cluster_tolerance;
if (!pnh_->getParam ("cluster_tolerance", cluster_tolerance))
{
NODELET_ERROR ("[%s::onInit] Need a 'cluster_tolerance' parameter to be set before continuing!", getName ().c_str ());
return;
}
int spatial_locator;
if (!pnh_->getParam ("spatial_locator", spatial_locator))
{
NODELET_ERROR ("[%s::onInit] Need a 'spatial_locator' parameter to be set before continuing!", getName ().c_str ());
return;
}
//private_nh.getParam ("use_indices", use_indices_);
pnh_->getParam ("publish_indices", publish_indices_);
if (publish_indices_)
pub_output_ = pnh_->advertise<PointIndices> ("output", max_queue_size_);
else
pub_output_ = pnh_->advertise<PointCloud> ("output", max_queue_size_);
// Enable the dynamic reconfigure service
srv_ = boost::make_shared <dynamic_reconfigure::Server<EuclideanClusterExtractionConfig> > (*pnh_);
dynamic_reconfigure::Server<EuclideanClusterExtractionConfig>::CallbackType f = boost::bind (&EuclideanClusterExtraction::config_callback, this, _1, _2);
srv_->setCallback (f);
// If we're supposed to look for PointIndices (indices)
if (use_indices_)
{
// Subscribe to the input using a filter
sub_input_filter_.subscribe (*pnh_, "input", max_queue_size_);
sub_indices_filter_.subscribe (*pnh_, "indices", max_queue_size_);
if (approximate_sync_)
{
sync_input_indices_a_ = boost::make_shared <message_filters::Synchronizer<message_filters::sync_policies::ApproximateTime<PointCloud, PointIndices> > > (max_queue_size_);
sync_input_indices_a_->connectInput (sub_input_filter_, sub_indices_filter_);
sync_input_indices_a_->registerCallback (bind (&EuclideanClusterExtraction::input_indices_callback, this, _1, _2));
}
else
{
sync_input_indices_e_ = boost::make_shared <message_filters::Synchronizer<message_filters::sync_policies::ExactTime<PointCloud, PointIndices> > > (max_queue_size_);
sync_input_indices_e_->connectInput (sub_input_filter_, sub_indices_filter_);
sync_input_indices_e_->registerCallback (bind (&EuclideanClusterExtraction::input_indices_callback, this, _1, _2));
}
}
else
// Subscribe in an old fashion to input only (no filters)
sub_input_ = pnh_->subscribe<PointCloud> ("input", max_queue_size_, bind (&EuclideanClusterExtraction::input_indices_callback, this, _1, PointIndicesConstPtr ()));
NODELET_DEBUG ("[%s::onInit] Nodelet successfully created with the following parameters:\n"
" - max_queue_size : %d\n"
" - use_indices : %s\n"
" - cluster_tolerance : %f\n",
getName ().c_str (),
max_queue_size_,
(use_indices_) ? "true" : "false", cluster_tolerance);
// Set given parameters here
impl_.setClusterTolerance (cluster_tolerance);
}
//////////////////////////////////////////////////////////////////////////////////////////////
void
pcl_ros::EuclideanClusterExtraction::config_callback (EuclideanClusterExtractionConfig &config, uint32_t level)
{
if (impl_.getClusterTolerance () != config.cluster_tolerance)
{
impl_.setClusterTolerance (config.cluster_tolerance);
NODELET_DEBUG ("[%s::config_callback] Setting new clustering tolerance to: %f.", getName ().c_str (), config.cluster_tolerance);
}
if (impl_.getMinClusterSize () != config.cluster_min_size)
{
impl_.setMinClusterSize (config.cluster_min_size);
NODELET_DEBUG ("[%s::config_callback] Setting the minimum cluster size to: %d.", getName ().c_str (), config.cluster_min_size);
}
if (impl_.getMaxClusterSize () != config.cluster_max_size)
{
impl_.setMaxClusterSize (config.cluster_max_size);
NODELET_DEBUG ("[%s::config_callback] Setting the maximum cluster size to: %d.", getName ().c_str (), config.cluster_max_size);
}
if (max_clusters_ != config.max_clusters)
{
max_clusters_ = config.max_clusters;
NODELET_DEBUG ("[%s::config_callback] Setting the maximum number of clusters to extract to: %d.", getName ().c_str (), config.max_clusters);
}
}
//////////////////////////////////////////////////////////////////////////////////////////////
void
pcl_ros::EuclideanClusterExtraction::input_indices_callback (
const PointCloudConstPtr &cloud, const PointIndicesConstPtr &indices)
{
// No subscribers, no work
if (pub_output_.getNumSubscribers () <= 0)
return;
// If cloud is given, check if it's valid
if (!isValid (cloud))
{
NODELET_ERROR ("[%s::input_indices_callback] Invalid input!", getName ().c_str ());
return;
}
// If indices are given, check if they are valid
if (indices && !isValid (indices))
{
NODELET_ERROR ("[%s::input_indices_callback] Invalid indices!", getName ().c_str ());
return;
}
/// DEBUG
if (indices) {
std_msgs::Header cloud_header = fromPCL(cloud->header);
std_msgs::Header indices_header = indices->header;
NODELET_DEBUG ("[%s::input_indices_callback]\n"
" - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.\n"
" - PointIndices with %zu values, stamp %f, and frame %s on topic %s received.",
getName ().c_str (),
cloud->width * cloud->height, pcl::getFieldsList (*cloud).c_str (), cloud_header.stamp.toSec (), cloud_header.frame_id.c_str (), pnh_->resolveName ("input").c_str (),
indices->indices.size (), indices_header.stamp.toSec (), indices_header.frame_id.c_str (), pnh_->resolveName ("indices").c_str ());
} else {
NODELET_DEBUG ("[%s::input_callback] PointCloud with %d data points, stamp %f, and frame %s on topic %s received.", getName ().c_str (), cloud->width * cloud->height, fromPCL(cloud->header).stamp.toSec (), cloud->header.frame_id.c_str (), pnh_->resolveName ("input").c_str ());
}
///
IndicesPtr indices_ptr;
if (indices)
indices_ptr.reset (new std::vector<int> (indices->indices));
impl_.setInputCloud (cloud);
impl_.setIndices (indices_ptr);
std::vector<pcl::PointIndices> clusters;
impl_.extract (clusters);
if (publish_indices_)
{
for (size_t i = 0; i < clusters.size (); ++i)
{
if ((int)i >= max_clusters_)
break;
// TODO: HACK!!! We need to change the PointCloud2 message to add for an incremental sequence ID number.
pcl_msgs::PointIndices ros_pi;
moveFromPCL(clusters[i], ros_pi);
ros_pi.header.stamp += ros::Duration (i * 0.001);
pub_output_.publish (ros_pi);
}
NODELET_DEBUG ("[segmentAndPublish] Published %zu clusters (PointIndices) on topic %s", clusters.size (), pnh_->resolveName ("output").c_str ());
}
else
{
for (size_t i = 0; i < clusters.size (); ++i)
{
if ((int)i >= max_clusters_)
break;
PointCloud output;
copyPointCloud (*cloud, clusters[i].indices, output);
//PointCloud output_blob; // Convert from the templated output to the PointCloud blob
//pcl::toROSMsg (output, output_blob);
// TODO: HACK!!! We need to change the PointCloud2 message to add for an incremental sequence ID number.
std_msgs::Header header = fromPCL(output.header);
header.stamp += ros::Duration (i * 0.001);
toPCL(header, output.header);
// Publish a Boost shared ptr const data
pub_output_.publish (output.makeShared ());
NODELET_DEBUG ("[segmentAndPublish] Published cluster %zu (with %zu values and stamp %f) on topic %s",
i, clusters[i].indices.size (), header.stamp.toSec (), pnh_->resolveName ("output").c_str ());
}
}
}
typedef pcl_ros::EuclideanClusterExtraction EuclideanClusterExtraction;
PLUGINLIB_DECLARE_CLASS (pcl, EuclideanClusterExtraction, EuclideanClusterExtraction, nodelet::Nodelet);
| 0 |
apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/src/pcl_ros | apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/src/pcl_ros/segmentation/extract_polygonal_prism_data.cpp | /*
* Software License Agreement (BSD License)
*
* Copyright (c) 2010, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* $Id: extract_polygonal_prism_data.hpp 32996 2010-09-30 23:42:11Z rusu $
*
*/
#include <pluginlib/class_list_macros.h>
#include "pcl_ros/transforms.h"
#include "pcl_ros/segmentation/extract_polygonal_prism_data.h"
#include <pcl/io/io.h>
#include <pcl_conversions/pcl_conversions.h>
using pcl_conversions::moveFromPCL;
using pcl_conversions::moveToPCL;
//////////////////////////////////////////////////////////////////////////////////////////////
void
pcl_ros::ExtractPolygonalPrismData::onInit ()
{
// Call the super onInit ()
PCLNodelet::onInit ();
sub_hull_filter_.subscribe (*pnh_, "planar_hull", max_queue_size_);
sub_input_filter_.subscribe (*pnh_, "input", max_queue_size_);
// Enable the dynamic reconfigure service
srv_ = boost::make_shared <dynamic_reconfigure::Server<ExtractPolygonalPrismDataConfig> > (*pnh_);
dynamic_reconfigure::Server<ExtractPolygonalPrismDataConfig>::CallbackType f = boost::bind (&ExtractPolygonalPrismData::config_callback, this, _1, _2);
srv_->setCallback (f);
// Create the objects here
if (approximate_sync_)
sync_input_hull_indices_a_ = boost::make_shared <message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloud, PointCloud, PointIndices> > > (max_queue_size_);
else
sync_input_hull_indices_e_ = boost::make_shared <message_filters::Synchronizer<sync_policies::ExactTime<PointCloud, PointCloud, PointIndices> > > (max_queue_size_);
if (use_indices_)
{
sub_indices_filter_.subscribe (*pnh_, "indices", max_queue_size_);
if (approximate_sync_)
sync_input_hull_indices_a_->connectInput (sub_input_filter_, sub_hull_filter_, sub_indices_filter_);
else
sync_input_hull_indices_e_->connectInput (sub_input_filter_, sub_hull_filter_, sub_indices_filter_);
}
else
{
sub_input_filter_.registerCallback (bind (&ExtractPolygonalPrismData::input_callback, this, _1));
if (approximate_sync_)
sync_input_hull_indices_a_->connectInput (sub_input_filter_, sub_hull_filter_, nf_);
else
sync_input_hull_indices_e_->connectInput (sub_input_filter_, sub_hull_filter_, nf_);
}
// Register callbacks
if (approximate_sync_)
sync_input_hull_indices_a_->registerCallback (bind (&ExtractPolygonalPrismData::input_hull_indices_callback, this, _1, _2, _3));
else
sync_input_hull_indices_e_->registerCallback (bind (&ExtractPolygonalPrismData::input_hull_indices_callback, this, _1, _2, _3));
// Advertise the output topics
pub_output_ = pnh_->advertise<PointIndices> ("output", max_queue_size_);
}
//////////////////////////////////////////////////////////////////////////////////////////////
void
pcl_ros::ExtractPolygonalPrismData::config_callback (ExtractPolygonalPrismDataConfig &config, uint32_t level)
{
double height_min, height_max;
impl_.getHeightLimits (height_min, height_max);
if (height_min != config.height_min)
{
height_min = config.height_min;
NODELET_DEBUG ("[%s::config_callback] Setting new minimum height to the planar model to: %f.", getName ().c_str (), height_min);
impl_.setHeightLimits (height_min, height_max);
}
if (height_max != config.height_max)
{
height_max = config.height_max;
NODELET_DEBUG ("[%s::config_callback] Setting new maximum height to the planar model to: %f.", getName ().c_str (), height_max);
impl_.setHeightLimits (height_min, height_max);
}
}
//////////////////////////////////////////////////////////////////////////////////////////////
void
pcl_ros::ExtractPolygonalPrismData::input_hull_indices_callback (
const PointCloudConstPtr &cloud,
const PointCloudConstPtr &hull,
const PointIndicesConstPtr &indices)
{
// No subscribers, no work
if (pub_output_.getNumSubscribers () <= 0)
return;
// Copy the header (stamp + frame_id)
pcl_msgs::PointIndices inliers;
inliers.header = fromPCL(cloud->header);
// If cloud is given, check if it's valid
if (!isValid (cloud) || !isValid (hull, "planar_hull"))
{
NODELET_ERROR ("[%s::input_hull_indices_callback] Invalid input!", getName ().c_str ());
pub_output_.publish (inliers);
return;
}
// If indices are given, check if they are valid
if (indices && !isValid (indices))
{
NODELET_ERROR ("[%s::input_hull_indices_callback] Invalid indices!", getName ().c_str ());
pub_output_.publish (inliers);
return;
}
/// DEBUG
if (indices)
NODELET_DEBUG ("[%s::input_indices_hull_callback]\n"
" - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.\n"
" - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.\n"
" - PointIndices with %zu values, stamp %f, and frame %s on topic %s received.",
getName ().c_str (),
cloud->width * cloud->height, pcl::getFieldsList (*cloud).c_str (), fromPCL(cloud->header).stamp.toSec (), cloud->header.frame_id.c_str (), pnh_->resolveName ("input").c_str (),
hull->width * hull->height, pcl::getFieldsList (*hull).c_str (), fromPCL(hull->header).stamp.toSec (), hull->header.frame_id.c_str (), pnh_->resolveName ("planar_hull").c_str (),
indices->indices.size (), indices->header.stamp.toSec (), indices->header.frame_id.c_str (), pnh_->resolveName ("indices").c_str ());
else
NODELET_DEBUG ("[%s::input_indices_hull_callback]\n"
" - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.\n"
" - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.",
getName ().c_str (),
cloud->width * cloud->height, pcl::getFieldsList (*cloud).c_str (), fromPCL(cloud->header).stamp.toSec (), cloud->header.frame_id.c_str (), pnh_->resolveName ("input").c_str (),
hull->width * hull->height, pcl::getFieldsList (*hull).c_str (), fromPCL(hull->header).stamp.toSec (), hull->header.frame_id.c_str (), pnh_->resolveName ("planar_hull").c_str ());
///
if (cloud->header.frame_id != hull->header.frame_id)
{
NODELET_DEBUG ("[%s::input_hull_callback] Planar hull has a different TF frame (%s) than the input point cloud (%s)! Using TF to transform.", getName ().c_str (), hull->header.frame_id.c_str (), cloud->header.frame_id.c_str ());
PointCloud planar_hull;
if (!pcl_ros::transformPointCloud (cloud->header.frame_id, *hull, planar_hull, tf_listener_))
{
// Publish empty before return
pub_output_.publish (inliers);
return;
}
impl_.setInputPlanarHull (planar_hull.makeShared ());
}
else
impl_.setInputPlanarHull (hull);
IndicesPtr indices_ptr;
if (indices && !indices->header.frame_id.empty ())
indices_ptr.reset (new std::vector<int> (indices->indices));
impl_.setInputCloud (cloud);
impl_.setIndices (indices_ptr);
// Final check if the data is empty (remember that indices are set to the size of the data -- if indices* = NULL)
if (!cloud->points.empty ()) {
pcl::PointIndices pcl_inliers;
moveToPCL(inliers, pcl_inliers);
impl_.segment (pcl_inliers);
moveFromPCL(pcl_inliers, inliers);
}
// Enforce that the TF frame and the timestamp are copied
inliers.header = fromPCL(cloud->header);
pub_output_.publish (inliers);
NODELET_DEBUG ("[%s::input_hull_callback] Publishing %zu indices.", getName ().c_str (), inliers.indices.size ());
}
typedef pcl_ros::ExtractPolygonalPrismData ExtractPolygonalPrismData;
PLUGINLIB_DECLARE_CLASS (pcl, ExtractPolygonalPrismData, ExtractPolygonalPrismData, nodelet::Nodelet);
| 0 |
apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/src/pcl_ros | apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/src/pcl_ros/segmentation/segment_differences.cpp | /*
* Software License Agreement (BSD License)
*
* Copyright (c) 2010, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* $Id: segment_differences.cpp 35361 2011-01-20 04:34:49Z rusu $
*
*/
#include <pluginlib/class_list_macros.h>
#include "pcl_ros/segmentation/segment_differences.h"
#include <pcl/io/io.h>
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
void
pcl_ros::SegmentDifferences::onInit ()
{
// Call the super onInit ()
PCLNodelet::onInit ();
pub_output_ = pnh_->advertise<PointCloud> ("output", max_queue_size_);
// Subscribe to the input using a filter
sub_input_filter_.subscribe (*pnh_, "input", max_queue_size_);
sub_target_filter_.subscribe (*pnh_, "target", max_queue_size_);
// Enable the dynamic reconfigure service
srv_ = boost::make_shared <dynamic_reconfigure::Server<SegmentDifferencesConfig> > (*pnh_);
dynamic_reconfigure::Server<SegmentDifferencesConfig>::CallbackType f = boost::bind (&SegmentDifferences::config_callback, this, _1, _2);
srv_->setCallback (f);
if (approximate_sync_)
{
sync_input_target_a_ = boost::make_shared <message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloud, PointCloud> > > (max_queue_size_);
sync_input_target_a_->connectInput (sub_input_filter_, sub_target_filter_);
sync_input_target_a_->registerCallback (bind (&SegmentDifferences::input_target_callback, this, _1, _2));
}
else
{
sync_input_target_e_ = boost::make_shared <message_filters::Synchronizer<sync_policies::ExactTime<PointCloud, PointCloud> > > (max_queue_size_);
sync_input_target_e_->connectInput (sub_input_filter_, sub_target_filter_);
sync_input_target_e_->registerCallback (bind (&SegmentDifferences::input_target_callback, this, _1, _2));
}
NODELET_DEBUG ("[%s::onInit] Nodelet successfully created with the following parameters:\n"
" - max_queue_size : %d",
getName ().c_str (),
max_queue_size_);
}
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
void
pcl_ros::SegmentDifferences::config_callback (SegmentDifferencesConfig &config, uint32_t level)
{
if (impl_.getDistanceThreshold () != config.distance_threshold)
{
impl_.setDistanceThreshold (config.distance_threshold);
NODELET_DEBUG ("[%s::config_callback] Setting new distance threshold to: %f.", getName ().c_str (), config.distance_threshold);
}
}
//////////////////////////////////////////////////////////////////////////////////////////////
void
pcl_ros::SegmentDifferences::input_target_callback (const PointCloudConstPtr &cloud,
const PointCloudConstPtr &cloud_target)
{
if (pub_output_.getNumSubscribers () <= 0)
return;
if (!isValid (cloud) || !isValid (cloud_target, "target"))
{
NODELET_ERROR ("[%s::input_indices_callback] Invalid input!", getName ().c_str ());
PointCloud output;
output.header = cloud->header;
pub_output_.publish (output.makeShared ());
return;
}
NODELET_DEBUG ("[%s::input_indices_callback]\n"
" - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.\n"
" - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.",
getName ().c_str (),
cloud->width * cloud->height, pcl::getFieldsList (*cloud).c_str (), fromPCL(cloud->header).stamp.toSec (), cloud->header.frame_id.c_str (), pnh_->resolveName ("input").c_str (),
cloud_target->width * cloud_target->height, pcl::getFieldsList (*cloud_target).c_str (), fromPCL(cloud_target->header).stamp.toSec (), cloud_target->header.frame_id.c_str (), pnh_->resolveName ("target").c_str ());
impl_.setInputCloud (cloud);
impl_.setTargetCloud (cloud_target);
PointCloud output;
impl_.segment (output);
pub_output_.publish (output.makeShared ());
NODELET_DEBUG ("[%s::segmentAndPublish] Published PointCloud2 with %zu points and stamp %f on topic %s", getName ().c_str (),
output.points.size (), fromPCL(output.header).stamp.toSec (), pnh_->resolveName ("output").c_str ());
}
typedef pcl_ros::SegmentDifferences SegmentDifferences;
PLUGINLIB_DECLARE_CLASS (pcl, SegmentDifferences, SegmentDifferences, nodelet::Nodelet);
| 0 |
apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/src/pcl_ros | apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/src/pcl_ros/io/bag_io.cpp | /*
* Software License Agreement (BSD License)
*
* Copyright (c) 2009, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* $Id: bag_io.cpp 34896 2010-12-19 06:21:42Z rusu $
*
*/
#include <pluginlib/class_list_macros.h>
#include "pcl_ros/io/bag_io.h"
//////////////////////////////////////////////////////////////////////////////////////////////
bool
pcl_ros::BAGReader::open (const std::string &file_name, const std::string &topic_name)
{
try
{
bag_.open (file_name, rosbag::bagmode::Read);
view_.addQuery (bag_, rosbag::TopicQuery (topic_name));
if (view_.size () == 0)
return (false);
it_ = view_.begin ();
}
catch (rosbag::BagException &e)
{
return (false);
}
return (true);
}
//////////////////////////////////////////////////////////////////////////////////////////////
void
pcl_ros::BAGReader::onInit ()
{
boost::shared_ptr<ros::NodeHandle> pnh_;
pnh_.reset (new ros::NodeHandle (getMTPrivateNodeHandle ()));
// ---[ Mandatory parameters
if (!pnh_->getParam ("file_name", file_name_))
{
NODELET_ERROR ("[onInit] Need a 'file_name' parameter to be set before continuing!");
return;
}
if (!pnh_->getParam ("topic_name", topic_name_))
{
NODELET_ERROR ("[onInit] Need a 'topic_name' parameter to be set before continuing!");
return;
}
// ---[ Optional parameters
int max_queue_size = 1;
pnh_->getParam ("publish_rate", publish_rate_);
pnh_->getParam ("max_queue_size", max_queue_size);
ros::Publisher pub_output = pnh_->advertise<sensor_msgs::PointCloud2> ("output", max_queue_size);
NODELET_DEBUG ("[onInit] Nodelet successfully created with the following parameters:\n"
" - file_name : %s\n"
" - topic_name : %s",
file_name_.c_str (), topic_name_.c_str ());
if (!open (file_name_, topic_name_))
return;
PointCloud output;
output_ = boost::make_shared<PointCloud> (output);
output_->header.stamp = ros::Time::now ();
// Continous publishing enabled?
while (pnh_->ok ())
{
PointCloudConstPtr cloud = getNextCloud ();
NODELET_DEBUG ("Publishing data (%d points) on topic %s in frame %s.", output_->width * output_->height, pnh_->resolveName ("output").c_str (), output_->header.frame_id.c_str ());
output_->header.stamp = ros::Time::now ();
pub_output.publish (output_);
ros::Duration (publish_rate_).sleep ();
ros::spinOnce ();
}
}
typedef pcl_ros::BAGReader BAGReader;
PLUGINLIB_EXPORT_CLASS(BAGReader,nodelet::Nodelet);
| 0 |
apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/src/pcl_ros | apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/src/pcl_ros/io/concatenate_data.cpp | /*
* Software License Agreement (BSD License)
*
* Copyright (c) 2009, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* $Id: concatenate_data.cpp 35231 2011-01-14 05:33:20Z rusu $
*
*/
#include <pluginlib/class_list_macros.h>
#include <pcl/io/io.h>
#include "pcl_ros/transforms.h"
#include "pcl_ros/io/concatenate_data.h"
#include <pcl_conversions/pcl_conversions.h>
//////////////////////////////////////////////////////////////////////////////////////////////
void
pcl_ros::PointCloudConcatenateDataSynchronizer::onInit ()
{
private_nh_ = getMTPrivateNodeHandle ();
// ---[ Mandatory parameters
private_nh_.getParam ("output_frame", output_frame_);
private_nh_.getParam ("approximate_sync", approximate_sync_);
if (output_frame_.empty ())
{
NODELET_ERROR ("[onInit] Need an 'output_frame' parameter to be set before continuing!");
return;
}
// ---[ Optional parameters
private_nh_.getParam ("max_queue_size", maximum_queue_size_);
// Output
pub_output_ = private_nh_.advertise<PointCloud2> ("output", maximum_queue_size_);
XmlRpc::XmlRpcValue input_topics;
if (!private_nh_.getParam ("input_topics", input_topics))
{
NODELET_ERROR ("[onInit] Need a 'input_topics' parameter to be set before continuing!");
return;
}
// Check the type
switch (input_topics.getType ())
{
case XmlRpc::XmlRpcValue::TypeArray:
{
if (input_topics.size () == 1)
{
NODELET_ERROR ("[onInit] Only one topic given. Need at least two topics to continue.");
return;
}
if (input_topics.size () > 8)
{
NODELET_ERROR ("[onInit] More than 8 topics passed!");
return;
}
ROS_INFO_STREAM ("[onInit] Subscribing to " << input_topics.size () << " user given topics as inputs:");
for (int d = 0; d < input_topics.size (); ++d)
ROS_INFO_STREAM (" - " << (std::string)(input_topics[d]));
// Subscribe to the filters
filters_.resize (input_topics.size ());
// 8 topics
if (approximate_sync_)
ts_a_.reset (new message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloud2, PointCloud2, PointCloud2,
PointCloud2, PointCloud2, PointCloud2,
PointCloud2, PointCloud2>
> (maximum_queue_size_));
else
ts_e_.reset (new message_filters::Synchronizer<sync_policies::ExactTime<PointCloud2, PointCloud2, PointCloud2,
PointCloud2, PointCloud2, PointCloud2,
PointCloud2, PointCloud2>
> (maximum_queue_size_));
// First input_topics.size () filters are valid
for (int d = 0; d < input_topics.size (); ++d)
{
filters_[d].reset (new message_filters::Subscriber<PointCloud2> ());
filters_[d]->subscribe (private_nh_, (std::string)(input_topics[d]), maximum_queue_size_);
}
// Bogus null filter
filters_[0]->registerCallback (bind (&PointCloudConcatenateDataSynchronizer::input_callback, this, _1));
switch (input_topics.size ())
{
case 2:
{
if (approximate_sync_)
ts_a_->connectInput (*filters_[0], *filters_[1], nf_, nf_, nf_, nf_, nf_, nf_);
else
ts_e_->connectInput (*filters_[0], *filters_[1], nf_, nf_, nf_, nf_, nf_, nf_);
break;
}
case 3:
{
if (approximate_sync_)
ts_a_->connectInput (*filters_[0], *filters_[1], *filters_[2], nf_, nf_, nf_, nf_, nf_);
else
ts_e_->connectInput (*filters_[0], *filters_[1], *filters_[2], nf_, nf_, nf_, nf_, nf_);
break;
}
case 4:
{
if (approximate_sync_)
ts_a_->connectInput (*filters_[0], *filters_[1], *filters_[2], *filters_[3], nf_, nf_, nf_, nf_);
else
ts_e_->connectInput (*filters_[0], *filters_[1], *filters_[2], *filters_[3], nf_, nf_, nf_, nf_);
break;
}
case 5:
{
if (approximate_sync_)
ts_a_->connectInput (*filters_[0], *filters_[1], *filters_[2], *filters_[3], *filters_[4], nf_, nf_, nf_);
else
ts_e_->connectInput (*filters_[0], *filters_[1], *filters_[2], *filters_[3], *filters_[4], nf_, nf_, nf_);
break;
}
case 6:
{
if (approximate_sync_)
ts_a_->connectInput (*filters_[0], *filters_[1], *filters_[2], *filters_[3], *filters_[4], *filters_[5], nf_, nf_);
else
ts_e_->connectInput (*filters_[0], *filters_[1], *filters_[2], *filters_[3], *filters_[4], *filters_[5], nf_, nf_);
break;
}
case 7:
{
if (approximate_sync_)
ts_a_->connectInput (*filters_[0], *filters_[1], *filters_[2], *filters_[3], *filters_[4], *filters_[5], *filters_[6], nf_);
else
ts_e_->connectInput (*filters_[0], *filters_[1], *filters_[2], *filters_[3], *filters_[4], *filters_[5], *filters_[6], nf_);
break;
}
case 8:
{
if (approximate_sync_)
ts_a_->connectInput (*filters_[0], *filters_[1], *filters_[2], *filters_[3], *filters_[4], *filters_[5], *filters_[6], *filters_[7]);
else
ts_e_->connectInput (*filters_[0], *filters_[1], *filters_[2], *filters_[3], *filters_[4], *filters_[5], *filters_[6], *filters_[7]);
break;
}
default:
{
NODELET_ERROR ("[onInit] Invalid 'input_topics' parameter given!");
return;
}
}
break;
}
default:
{
NODELET_ERROR ("[onInit] Invalid 'input_topics' parameter given!");
return;
}
}
if (approximate_sync_)
ts_a_->registerCallback (boost::bind (&PointCloudConcatenateDataSynchronizer::input, this, _1, _2, _3, _4, _5, _6, _7, _8));
else
ts_e_->registerCallback (boost::bind (&PointCloudConcatenateDataSynchronizer::input, this, _1, _2, _3, _4, _5, _6, _7, _8));
}
//////////////////////////////////////////////////////////////////////////////////////////////
void
pcl_ros::PointCloudConcatenateDataSynchronizer::combineClouds (const PointCloud2 &in1, const PointCloud2 &in2, PointCloud2 &out)
{
//ROS_INFO ("Two pointclouds received: %zu and %zu.", in1.data.size (), in2.data.size ());
PointCloud2::Ptr in1_t (new PointCloud2 ());
PointCloud2::Ptr in2_t (new PointCloud2 ());
// Transform the point clouds into the specified output frame
if (output_frame_ != in1.header.frame_id)
pcl_ros::transformPointCloud (output_frame_, in1, *in1_t, tf_);
else
in1_t = boost::make_shared<PointCloud2> (in1);
if (output_frame_ != in2.header.frame_id)
pcl_ros::transformPointCloud (output_frame_, in2, *in2_t, tf_);
else
in2_t = boost::make_shared<PointCloud2> (in2);
// Concatenate the results
pcl::concatenatePointCloud (*in1_t, *in2_t, out);
// Copy header
out.header.stamp = in1.header.stamp;
}
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
void
pcl_ros::PointCloudConcatenateDataSynchronizer::input (
const PointCloud2::ConstPtr &in1, const PointCloud2::ConstPtr &in2,
const PointCloud2::ConstPtr &in3, const PointCloud2::ConstPtr &in4,
const PointCloud2::ConstPtr &in5, const PointCloud2::ConstPtr &in6,
const PointCloud2::ConstPtr &in7, const PointCloud2::ConstPtr &in8)
{
PointCloud2::Ptr out1 (new PointCloud2 ());
PointCloud2::Ptr out2 (new PointCloud2 ());
pcl_ros::PointCloudConcatenateDataSynchronizer::combineClouds (*in1, *in2, *out1);
if (in3 && in3->width * in3->height > 0)
{
pcl_ros::PointCloudConcatenateDataSynchronizer::combineClouds (*out1, *in3, *out2);
out1 = out2;
if (in4 && in4->width * in4->height > 0)
{
pcl_ros::PointCloudConcatenateDataSynchronizer::combineClouds (*out2, *in4, *out1);
if (in5 && in5->width * in5->height > 0)
{
pcl_ros::PointCloudConcatenateDataSynchronizer::combineClouds (*out1, *in5, *out2);
out1 = out2;
if (in6 && in6->width * in6->height > 0)
{
pcl_ros::PointCloudConcatenateDataSynchronizer::combineClouds (*out2, *in6, *out1);
if (in7 && in7->width * in7->height > 0)
{
pcl_ros::PointCloudConcatenateDataSynchronizer::combineClouds (*out1, *in7, *out2);
out1 = out2;
}
}
}
}
}
pub_output_.publish (boost::make_shared<PointCloud2> (*out1));
}
typedef pcl_ros::PointCloudConcatenateDataSynchronizer PointCloudConcatenateDataSynchronizer;
PLUGINLIB_EXPORT_CLASS(PointCloudConcatenateDataSynchronizer,nodelet::Nodelet);
| 0 |
apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/src/pcl_ros | apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/src/pcl_ros/io/pcd_io.cpp | /*
* Software License Agreement (BSD License)
*
* Copyright (c) 2009, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* $Id: pcd_io.cpp 35812 2011-02-08 00:05:03Z rusu $
*
*/
#include <pluginlib/class_list_macros.h>
#include <pcl_ros/io/pcd_io.h>
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
void
pcl_ros::PCDReader::onInit ()
{
ros::NodeHandle private_nh = getMTPrivateNodeHandle ();
// Provide a latched topic
ros::Publisher pub_output = private_nh.advertise<PointCloud2> ("output", max_queue_size_, true);
private_nh.getParam ("publish_rate", publish_rate_);
private_nh.getParam ("tf_frame", tf_frame_);
NODELET_DEBUG ("[%s::onInit] Nodelet successfully created with the following parameters:\n"
" - publish_rate : %f\n"
" - tf_frame : %s",
getName ().c_str (),
publish_rate_, tf_frame_.c_str ());
PointCloud2Ptr output_new;
output_ = boost::make_shared<PointCloud2> ();
output_new = boost::make_shared<PointCloud2> ();
// Wait in a loop until someone connects
do
{
ROS_DEBUG_ONCE ("[%s::onInit] Waiting for a client to connect...", getName ().c_str ());
ros::spinOnce ();
ros::Duration (0.01).sleep ();
}
while (private_nh.ok () && pub_output.getNumSubscribers () == 0);
std::string file_name;
while (private_nh.ok ())
{
// Get the current filename parameter. If no filename set, loop
if (!private_nh.getParam ("filename", file_name_) && file_name_.empty ())
{
ROS_ERROR_ONCE ("[%s::onInit] Need a 'filename' parameter to be set before continuing!", getName ().c_str ());
ros::Duration (0.01).sleep ();
ros::spinOnce ();
continue;
}
// If the filename parameter holds a different value than the last one we read
if (file_name_.compare (file_name) != 0 && !file_name_.empty ())
{
NODELET_INFO ("[%s::onInit] New file given: %s", getName ().c_str (), file_name_.c_str ());
file_name = file_name_;
pcl::PCLPointCloud2 cloud;
if (impl_.read (file_name_, cloud) < 0)
{
NODELET_ERROR ("[%s::onInit] Error reading %s !", getName ().c_str (), file_name_.c_str ());
return;
}
pcl_conversions::moveFromPCL(cloud, *(output_));
output_->header.stamp = ros::Time::now ();
output_->header.frame_id = tf_frame_;
}
// We do not publish empty data
if (output_->data.size () == 0)
continue;
if (publish_rate_ == 0)
{
if (output_ != output_new)
{
NODELET_DEBUG ("Publishing data once (%d points) on topic %s in frame %s.", output_->width * output_->height, getMTPrivateNodeHandle ().resolveName ("output").c_str (), output_->header.frame_id.c_str ());
pub_output.publish (output_);
output_new = output_;
}
ros::Duration (0.01).sleep ();
}
else
{
NODELET_DEBUG ("Publishing data (%d points) on topic %s in frame %s.", output_->width * output_->height, getMTPrivateNodeHandle ().resolveName ("output").c_str (), output_->header.frame_id.c_str ());
output_->header.stamp = ros::Time::now ();
pub_output.publish (output_);
ros::Duration (publish_rate_).sleep ();
}
ros::spinOnce ();
// Update parameters from server
private_nh.getParam ("publish_rate", publish_rate_);
private_nh.getParam ("tf_frame", tf_frame_);
}
}
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
void
pcl_ros::PCDWriter::onInit ()
{
ros::NodeHandle pnh = getMTPrivateNodeHandle ();
sub_input_ = pnh.subscribe ("input", 1, &PCDWriter::input_callback, this);
// ---[ Optional parameters
pnh.getParam ("filename", file_name_);
pnh.getParam ("binary_mode", binary_mode_);
NODELET_DEBUG ("[%s::onInit] Nodelet successfully created with the following parameters:\n"
" - filename : %s\n"
" - binary_mode : %s",
getName ().c_str (),
file_name_.c_str (), (binary_mode_) ? "true" : "false");
}
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
void
pcl_ros::PCDWriter::input_callback (const PointCloud2ConstPtr &cloud)
{
if (!isValid (cloud))
return;
getMTPrivateNodeHandle ().getParam ("filename", file_name_);
NODELET_DEBUG ("[%s::input_callback] PointCloud with %d data points and frame %s on topic %s received.", getName ().c_str (), cloud->width * cloud->height, cloud->header.frame_id.c_str (), getMTPrivateNodeHandle ().resolveName ("input").c_str ());
std::string fname;
if (file_name_.empty ())
fname = boost::lexical_cast<std::string> (cloud->header.stamp.toSec ()) + ".pcd";
else
fname = file_name_;
pcl::PCLPointCloud2 pcl_cloud;
// It is safe to remove the const here because we are the only subscriber callback.
pcl_conversions::moveToPCL(*(const_cast<PointCloud2*>(cloud.get())), pcl_cloud);
impl_.write (fname, pcl_cloud, Eigen::Vector4f::Zero (), Eigen::Quaternionf::Identity (), binary_mode_);
NODELET_DEBUG ("[%s::input_callback] Data saved to %s", getName ().c_str (), fname.c_str ());
}
typedef pcl_ros::PCDReader PCDReader;
typedef pcl_ros::PCDWriter PCDWriter;
PLUGINLIB_EXPORT_CLASS(PCDReader,nodelet::Nodelet);
PLUGINLIB_EXPORT_CLASS(PCDWriter,nodelet::Nodelet);
| 0 |
apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/src/pcl_ros | apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/src/pcl_ros/io/io.cpp | /*
* Software License Agreement (BSD License)
*
* Copyright (c) 2009, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* $Id: io.cpp 35361 2011-01-20 04:34:49Z rusu $
*
*/
#include <pluginlib/class_list_macros.h>
#include <sensor_msgs/PointCloud2.h>
#include <message_filters/subscriber.h>
//#include <pcl_ros/subscriber.h>
#include <nodelet_topic_tools/nodelet_mux.h>
#include <nodelet_topic_tools/nodelet_demux.h>
typedef nodelet::NodeletMUX<sensor_msgs::PointCloud2, message_filters::Subscriber<sensor_msgs::PointCloud2> > NodeletMUX;
//typedef nodelet::NodeletDEMUX<sensor_msgs::PointCloud2, pcl_ros::Subscriber<sensor_msgs::PointCloud2> > NodeletDEMUX;
typedef nodelet::NodeletDEMUX<sensor_msgs::PointCloud2> NodeletDEMUX;
//#include "pcd_io.cpp"
//#include "bag_io.cpp"
//#include "concatenate_fields.cpp"
//#include "concatenate_data.cpp"
PLUGINLIB_EXPORT_CLASS(NodeletMUX,nodelet::Nodelet);
PLUGINLIB_EXPORT_CLASS(NodeletDEMUX,nodelet::Nodelet);
//PLUGINLIB_EXPORT_CLASS(NodeletDEMUX_ROS,nodelet::Nodelet);
| 0 |
apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/src/pcl_ros | apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/src/pcl_ros/io/concatenate_fields.cpp | /*
* Software License Agreement (BSD License)
*
* Copyright (c) 2009, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* $Id: concatenate_fields.cpp 35052 2011-01-03 21:04:57Z rusu $
*
*/
/** \author Radu Bogdan Rusu */
#include <pluginlib/class_list_macros.h>
#include <pcl/io/io.h>
#include "pcl_ros/io/concatenate_fields.h"
#include <pcl_conversions/pcl_conversions.h>
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
void
pcl_ros::PointCloudConcatenateFieldsSynchronizer::onInit ()
{
private_nh_ = getMTPrivateNodeHandle ();
// ---[ Mandatory parameters
if (!private_nh_.getParam ("input_messages", input_messages_))
{
NODELET_ERROR ("[onInit] Need a 'input_messages' parameter to be set before continuing!");
return;
}
if (input_messages_ < 2)
{
NODELET_ERROR ("[onInit] Invalid 'input_messages' parameter given!");
return;
}
// ---[ Optional parameters
private_nh_.getParam ("max_queue_size", maximum_queue_size_);
private_nh_.getParam ("maximum_seconds", maximum_seconds_);
sub_input_ = private_nh_.subscribe ("input", maximum_queue_size_, &PointCloudConcatenateFieldsSynchronizer::input_callback, this);
pub_output_ = private_nh_.advertise<sensor_msgs::PointCloud2> ("output", maximum_queue_size_);
}
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
void
pcl_ros::PointCloudConcatenateFieldsSynchronizer::input_callback (const PointCloudConstPtr &cloud)
{
NODELET_DEBUG ("[input_callback] PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.",
cloud->width * cloud->height, pcl::getFieldsList (*cloud).c_str (), cloud->header.stamp.toSec (), cloud->header.frame_id.c_str (), private_nh_.resolveName ("input").c_str ());
// Erase old data in the queue
if (maximum_seconds_ > 0 && queue_.size () > 0)
{
while (fabs ( ( (*queue_.begin ()).first - cloud->header.stamp).toSec () ) > maximum_seconds_ && queue_.size () > 0)
{
NODELET_WARN ("[input_callback] Maximum seconds limit (%f) reached. Difference is %f, erasing message in queue with stamp %f.", maximum_seconds_,
(*queue_.begin ()).first.toSec (), fabs ( ( (*queue_.begin ()).first - cloud->header.stamp).toSec () ));
queue_.erase (queue_.begin ());
}
}
// Push back new data
queue_[cloud->header.stamp].push_back (cloud);
if ((int)queue_[cloud->header.stamp].size () >= input_messages_)
{
// Concatenate together and publish
std::vector<PointCloudConstPtr> &clouds = queue_[cloud->header.stamp];
PointCloud cloud_out = *clouds[0];
// Resize the output dataset
int data_size = cloud_out.data.size ();
int nr_fields = cloud_out.fields.size ();
int nr_points = cloud_out.width * cloud_out.height;
for (size_t i = 1; i < clouds.size (); ++i)
{
assert (clouds[i]->data.size () / (clouds[i]->width * clouds[i]->height) == clouds[i]->point_step);
if (clouds[i]->width != cloud_out.width || clouds[i]->height != cloud_out.height)
{
NODELET_ERROR ("[input_callback] Width/height of pointcloud %zu (%dx%d) differs from the others (%dx%d)!",
i, clouds[i]->width, clouds[i]->height, cloud_out.width, cloud_out.height);
break;
}
// Point step must increase with the length of each new field
cloud_out.point_step += clouds[i]->point_step;
// Resize data to hold all clouds
data_size += clouds[i]->data.size ();
// Concatenate fields
cloud_out.fields.resize (nr_fields + clouds[i]->fields.size ());
int delta_offset = cloud_out.fields[nr_fields - 1].offset + pcl::getFieldSize (cloud_out.fields[nr_fields - 1].datatype);
for (size_t d = 0; d < clouds[i]->fields.size (); ++d)
{
cloud_out.fields[nr_fields + d] = clouds[i]->fields[d];
cloud_out.fields[nr_fields + d].offset += delta_offset;
}
nr_fields += clouds[i]->fields.size ();
}
// Recalculate row_step
cloud_out.row_step = cloud_out.point_step * cloud_out.width;
cloud_out.data.resize (data_size);
// Iterate over each point and perform the appropriate memcpys
int point_offset = 0;
for (int cp = 0; cp < nr_points; ++cp)
{
for (size_t i = 0; i < clouds.size (); ++i)
{
// Copy each individual point
memcpy (&cloud_out.data[point_offset], &clouds[i]->data[cp * clouds[i]->point_step], clouds[i]->point_step);
point_offset += clouds[i]->point_step;
}
}
pub_output_.publish (boost::make_shared<const PointCloud> (cloud_out));
queue_.erase (cloud->header.stamp);
}
// Clean the queue to avoid overflowing
if (maximum_queue_size_ > 0)
{
while ((int)queue_.size () > maximum_queue_size_)
queue_.erase (queue_.begin ());
}
}
typedef pcl_ros::PointCloudConcatenateFieldsSynchronizer PointCloudConcatenateFieldsSynchronizer;
PLUGINLIB_EXPORT_CLASS(PointCloudConcatenateFieldsSynchronizer,nodelet::Nodelet);
| 0 |
apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/src/pcl_ros | apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/src/pcl_ros/features/vfh.cpp | /*
* Software License Agreement (BSD License)
*
* Copyright (c) 2009, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNERff OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* $Id: vfh.cpp 35361 2011-01-20 04:34:49Z rusu $
*
*/
#include <pluginlib/class_list_macros.h>
#include "pcl_ros/features/vfh.h"
void
pcl_ros::VFHEstimation::emptyPublish (const PointCloudInConstPtr &cloud)
{
PointCloudOut output;
output.header = cloud->header;
pub_output_.publish (output.makeShared ());
}
void
pcl_ros::VFHEstimation::computePublish (const PointCloudInConstPtr &cloud,
const PointCloudNConstPtr &normals,
const PointCloudInConstPtr &surface,
const IndicesPtr &indices)
{
// Set the parameters
impl_.setKSearch (k_);
impl_.setRadiusSearch (search_radius_);
// Set the inputs
impl_.setInputCloud (cloud);
impl_.setIndices (indices);
impl_.setSearchSurface (surface);
impl_.setInputNormals (normals);
// Estimate the feature
PointCloudOut output;
impl_.compute (output);
// Publish a Boost shared ptr const data
// Enforce that the TF frame and the timestamp are copied
output.header = cloud->header;
pub_output_.publish (output.makeShared ());
}
typedef pcl_ros::VFHEstimation VFHEstimation;
PLUGINLIB_DECLARE_CLASS (pcl, VFHEstimation, VFHEstimation, nodelet::Nodelet);
| 0 |
apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/src/pcl_ros | apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/src/pcl_ros/features/fpfh_omp.cpp | /*
* Software License Agreement (BSD License)
*
* Copyright (c) 2009, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNERff OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* $Id: fpfh_omp.cpp 35361 2011-01-20 04:34:49Z rusu $
*
*/
#include <pluginlib/class_list_macros.h>
#include "pcl_ros/features/fpfh_omp.h"
void
pcl_ros::FPFHEstimationOMP::emptyPublish (const PointCloudInConstPtr &cloud)
{
PointCloudOut output;
output.header = cloud->header;
pub_output_.publish (output.makeShared ());
}
void
pcl_ros::FPFHEstimationOMP::computePublish (const PointCloudInConstPtr &cloud,
const PointCloudNConstPtr &normals,
const PointCloudInConstPtr &surface,
const IndicesPtr &indices)
{
// Set the parameters
impl_.setKSearch (k_);
impl_.setRadiusSearch (search_radius_);
// Set the inputs
impl_.setInputCloud (cloud);
impl_.setIndices (indices);
impl_.setSearchSurface (surface);
impl_.setInputNormals (normals);
// Estimate the feature
PointCloudOut output;
impl_.compute (output);
// Publish a Boost shared ptr const data
// Enforce that the TF frame and the timestamp are copied
output.header = cloud->header;
pub_output_.publish (output.makeShared ());
}
typedef pcl_ros::FPFHEstimationOMP FPFHEstimationOMP;
PLUGINLIB_DECLARE_CLASS (pcl, FPFHEstimationOMP, FPFHEstimationOMP, nodelet::Nodelet);
| 0 |
apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/src/pcl_ros | apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/src/pcl_ros/features/normal_3d_tbb.cpp | /*
* Software License Agreement (BSD License)
*
* Copyright (c) 2009, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNERff OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* $Id: normal_3d_tbb.cpp 35625 2011-01-31 07:56:13Z gbiggs $
*
*/
#include <pluginlib/class_list_macros.h>
#include "pcl_ros/features/normal_3d_tbb.h"
#if defined HAVE_TBB
void
pcl_ros::NormalEstimationTBB::emptyPublish (const PointCloudInConstPtr &cloud)
{
PointCloud output;
output.header = cloud->header;
pub_output_.publish (output.makeShared ());
}
void
pcl_ros::NormalEstimationTBB::computePublish (const PointCloudInConstPtr &cloud,
const PointCloudInConstPtr &surface,
const IndicesPtr &indices)
{
// Set the parameters
impl_.setKSearch (k_);
impl_.setRadiusSearch (search_radius_);
// Initialize the spatial locator
initTree (spatial_locator_type_, tree_, k_);
impl_.setSearchMethod (tree_);
// Set the inputs
impl_.setInputCloud (cloud);
impl_.setIndices (indices);
impl_.setSearchSurface (surface);
// Estimate the feature
PointCloudOut output;
impl_.compute (output);
// Publish a Boost shared ptr const data
// Enforce that the TF frame and the timestamp are copied
output.header = cloud->header;
pub_output_.publish (output.makeShared ());
}
typedef pcl_ros::NormalEstimationTBB NormalEstimationTBB;
PLUGINLIB_DECLARE_CLASS (pcl, NormalEstimationTBB, NormalEstimationTBB, nodelet::Nodelet);
#endif // HAVE_TBB
| 0 |
apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/src/pcl_ros | apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/src/pcl_ros/features/fpfh.cpp | /*
* Software License Agreement (BSD License)
*
* Copyright (c) 2009, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNERff OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* $Id: fpfh.cpp 35361 2011-01-20 04:34:49Z rusu $
*
*/
#include <pluginlib/class_list_macros.h>
#include "pcl_ros/features/fpfh.h"
void
pcl_ros::FPFHEstimation::emptyPublish (const PointCloudInConstPtr &cloud)
{
PointCloudOut output;
output.header = cloud->header;
pub_output_.publish (output.makeShared ());
}
void
pcl_ros::FPFHEstimation::computePublish (const PointCloudInConstPtr &cloud,
const PointCloudNConstPtr &normals,
const PointCloudInConstPtr &surface,
const IndicesPtr &indices)
{
// Set the parameters
impl_.setKSearch (k_);
impl_.setRadiusSearch (search_radius_);
// Set the inputs
impl_.setInputCloud (cloud);
impl_.setIndices (indices);
impl_.setSearchSurface (surface);
impl_.setInputNormals (normals);
// Estimate the feature
PointCloudOut output;
impl_.compute (output);
// Publish a Boost shared ptr const data
// Enforce that the TF frame and the timestamp are copied
output.header = cloud->header;
pub_output_.publish (output.makeShared ());
}
typedef pcl_ros::FPFHEstimation FPFHEstimation;
PLUGINLIB_DECLARE_CLASS (pcl, FPFHEstimation, FPFHEstimation, nodelet::Nodelet);
| 0 |
apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/src/pcl_ros | apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/src/pcl_ros/features/pfh.cpp | /*
* Software License Agreement (BSD License)
*
* Copyright (c) 2009, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNERff OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* $Id: pfh.cpp 35361 2011-01-20 04:34:49Z rusu $
*
*/
#include <pluginlib/class_list_macros.h>
#include "pcl_ros/features/pfh.h"
void
pcl_ros::PFHEstimation::emptyPublish (const PointCloudInConstPtr &cloud)
{
PointCloudOut output;
output.header = cloud->header;
pub_output_.publish (output.makeShared ());
}
void
pcl_ros::PFHEstimation::computePublish (const PointCloudInConstPtr &cloud,
const PointCloudNConstPtr &normals,
const PointCloudInConstPtr &surface,
const IndicesPtr &indices)
{
// Set the parameters
impl_.setKSearch (k_);
impl_.setRadiusSearch (search_radius_);
// Set the inputs
impl_.setInputCloud (cloud);
impl_.setIndices (indices);
impl_.setSearchSurface (surface);
impl_.setInputNormals (normals);
// Estimate the feature
PointCloudOut output;
impl_.compute (output);
// Publish a Boost shared ptr const data
// Enforce that the TF frame and the timestamp are copied
output.header = cloud->header;
pub_output_.publish (output.makeShared ());
}
typedef pcl_ros::PFHEstimation PFHEstimation;
PLUGINLIB_DECLARE_CLASS (pcl, PFHEstimation, PFHEstimation, nodelet::Nodelet);
| 0 |
apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/src/pcl_ros | apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/src/pcl_ros/features/shot_omp.cpp | /*
* Software License Agreement (BSD License)
*
* Copyright (c) 2015, Ryohei Ueda, JSK Lab
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of JSK Lab. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
*
*/
#include <pluginlib/class_list_macros.h>
#include "pcl_ros/features/shot_omp.h"
void
pcl_ros::SHOTEstimationOMP::emptyPublish (const PointCloudInConstPtr &cloud)
{
PointCloudOut output;
output.header = cloud->header;
pub_output_.publish (output.makeShared ());
}
void
pcl_ros::SHOTEstimationOMP::computePublish (const PointCloudInConstPtr &cloud,
const PointCloudNConstPtr &normals,
const PointCloudInConstPtr &surface,
const IndicesPtr &indices)
{
// Set the parameters
impl_.setKSearch (k_);
impl_.setRadiusSearch (search_radius_);
// Set the inputs
impl_.setInputCloud (cloud);
impl_.setIndices (indices);
impl_.setSearchSurface (surface);
impl_.setInputNormals (normals);
// Estimate the feature
PointCloudOut output;
impl_.compute (output);
// Publish a Boost shared ptr const data
// Enforce that the TF frame and the timestamp are copied
output.header = cloud->header;
pub_output_.publish (output.makeShared ());
}
typedef pcl_ros::SHOTEstimationOMP SHOTEstimationOMP;
PLUGINLIB_DECLARE_CLASS (pcl, SHOTEstimationOMP, SHOTEstimationOMP, nodelet::Nodelet);
| 0 |
apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/src/pcl_ros | apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/src/pcl_ros/features/shot.cpp | /*
* Software License Agreement (BSD License)
*
* Copyright (c) 2015, Ryohei Ueda, JSK Lab
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of JSK Lab. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
*
*/
#include <pluginlib/class_list_macros.h>
#include "pcl_ros/features/shot.h"
void
pcl_ros::SHOTEstimation::emptyPublish (const PointCloudInConstPtr &cloud)
{
PointCloudOut output;
output.header = cloud->header;
pub_output_.publish (output.makeShared ());
}
void
pcl_ros::SHOTEstimation::computePublish (const PointCloudInConstPtr &cloud,
const PointCloudNConstPtr &normals,
const PointCloudInConstPtr &surface,
const IndicesPtr &indices)
{
// Set the parameters
impl_.setKSearch (k_);
impl_.setRadiusSearch (search_radius_);
// Set the inputs
impl_.setInputCloud (cloud);
impl_.setIndices (indices);
impl_.setSearchSurface (surface);
impl_.setInputNormals (normals);
// Estimate the feature
PointCloudOut output;
impl_.compute (output);
// Publish a Boost shared ptr const data
// Enforce that the TF frame and the timestamp are copied
output.header = cloud->header;
pub_output_.publish (output.makeShared ());
}
typedef pcl_ros::SHOTEstimation SHOTEstimation;
PLUGINLIB_DECLARE_CLASS (pcl, SHOTEstimation, SHOTEstimation, nodelet::Nodelet);
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apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/src/pcl_ros | apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/src/pcl_ros/features/moment_invariants.cpp | /*
* Software License Agreement (BSD License)
*
* Copyright (c) 2009, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNERff OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* $Id: moment_invariants.cpp 35361 2011-01-20 04:34:49Z rusu $
*
*/
#include <pluginlib/class_list_macros.h>
#include "pcl_ros/features/moment_invariants.h"
void
pcl_ros::MomentInvariantsEstimation::emptyPublish (const PointCloudInConstPtr &cloud)
{
PointCloudOut output;
output.header = cloud->header;
pub_output_.publish (output.makeShared ());
}
void
pcl_ros::MomentInvariantsEstimation::computePublish (const PointCloudInConstPtr &cloud,
const PointCloudInConstPtr &surface,
const IndicesPtr &indices)
{
// Set the parameters
impl_.setKSearch (k_);
impl_.setRadiusSearch (search_radius_);
// Set the inputs
impl_.setInputCloud (cloud);
impl_.setIndices (indices);
impl_.setSearchSurface (surface);
// Estimate the feature
PointCloudOut output;
impl_.compute (output);
// Publish a Boost shared ptr const data
// Enforce that the TF frame and the timestamp are copied
output.header = cloud->header;
pub_output_.publish (output.makeShared ());
}
typedef pcl_ros::MomentInvariantsEstimation MomentInvariantsEstimation;
PLUGINLIB_DECLARE_CLASS (pcl, MomentInvariantsEstimation, MomentInvariantsEstimation, nodelet::Nodelet);
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apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/src/pcl_ros | apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/src/pcl_ros/features/boundary.cpp | /*
* Software License Agreement (BSD License)
*
* Copyright (c) 2009, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNERff OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* $Id: boundary.cpp 35361 2011-01-20 04:34:49Z rusu $
*
*/
#include <pluginlib/class_list_macros.h>
#include "pcl_ros/features/boundary.h"
void
pcl_ros::BoundaryEstimation::emptyPublish (const PointCloudInConstPtr &cloud)
{
PointCloudOut output;
output.header = cloud->header;
pub_output_.publish (output.makeShared ());
}
void
pcl_ros::BoundaryEstimation::computePublish (const PointCloudInConstPtr &cloud,
const PointCloudNConstPtr &normals,
const PointCloudInConstPtr &surface,
const IndicesPtr &indices)
{
// Set the parameters
impl_.setKSearch (k_);
impl_.setRadiusSearch (search_radius_);
// Set the inputs
impl_.setInputCloud (cloud);
impl_.setIndices (indices);
impl_.setSearchSurface (surface);
impl_.setInputNormals (normals);
// Estimate the feature
PointCloudOut output;
impl_.compute (output);
// Enforce that the TF frame and the timestamp are copied
output.header = cloud->header;
pub_output_.publish (output.makeShared ());
}
typedef pcl_ros::BoundaryEstimation BoundaryEstimation;
PLUGINLIB_DECLARE_CLASS (pcl, BoundaryEstimation, BoundaryEstimation, nodelet::Nodelet);
| 0 |
apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/src/pcl_ros | apollo_public_repos/apollo-platform/ros/perception_pcl/pcl_ros/src/pcl_ros/features/normal_3d.cpp | /*
* Software License Agreement (BSD License)
*
* Copyright (c) 2009, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNERff OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* $Id: normal_3d.cpp 35361 2011-01-20 04:34:49Z rusu $
*
*/
#include <pluginlib/class_list_macros.h>
#include "pcl_ros/features/normal_3d.h"
void
pcl_ros::NormalEstimation::emptyPublish (const PointCloudInConstPtr &cloud)
{
PointCloudOut output;
output.header = cloud->header;
pub_output_.publish (output.makeShared ());
}
void
pcl_ros::NormalEstimation::computePublish (const PointCloudInConstPtr &cloud,
const PointCloudInConstPtr &surface,
const IndicesPtr &indices)
{
// Set the parameters
impl_.setKSearch (k_);
impl_.setRadiusSearch (search_radius_);
// Set the inputs
impl_.setInputCloud (cloud);
impl_.setIndices (indices);
impl_.setSearchSurface (surface);
// Estimate the feature
PointCloudOut output;
impl_.compute (output);
// Publish a Boost shared ptr const data
// Enforce that the TF frame and the timestamp are copied
output.header = cloud->header;
pub_output_.publish (output.makeShared ());
}
typedef pcl_ros::NormalEstimation NormalEstimation;
PLUGINLIB_DECLARE_CLASS (pcl, NormalEstimation, NormalEstimation, nodelet::Nodelet);
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