217 lines
8.1 KiB
C++
217 lines
8.1 KiB
C++
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/*
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2010, Willow Garage, Inc.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of Willow Garage, Inc. nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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*
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*/
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#ifndef pcl_ros_IMPL_TRANSFORMS_H_
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#define pcl_ros_IMPL_TRANSFORMS_H_
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#include "pcl_ros/transforms.h"
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namespace pcl_ros
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{
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//////////////////////////////////////////////////////////////////////////////////////////////
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template <typename PointT> void
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transformPointCloudWithNormals (const pcl::PointCloud <PointT> &cloud_in,
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pcl::PointCloud <PointT> &cloud_out, const tf::Transform &transform)
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{
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// Bullet (used by tf) and Eigen both store quaternions in x,y,z,w order, despite the ordering
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// of arguments in Eigen's constructor. We could use an Eigen Map to convert without copy, but
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// this only works if Bullet uses floats, that is if BT_USE_DOUBLE_PRECISION is not defined.
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// Rather that risking a mistake, we copy the quaternion, which is a small cost compared to
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// the conversion of the point cloud anyway. Idem for the origin.
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tf::Quaternion q = transform.getRotation ();
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Eigen::Quaternionf rotation (q.w (), q.x (), q.y (), q.z ()); // internally stored as (x,y,z,w)
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tf::Vector3 v = transform.getOrigin ();
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Eigen::Vector3f origin (v.x (), v.y (), v.z ());
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// Eigen::Translation3f translation(v);
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// Assemble an Eigen Transform
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//Eigen::Transform3f t;
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//t = translation * rotation;
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transformPointCloudWithNormals (cloud_in, cloud_out, origin, rotation);
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}
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//////////////////////////////////////////////////////////////////////////////////////////////
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template <typename PointT> void
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transformPointCloud (const pcl::PointCloud <PointT> &cloud_in,
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pcl::PointCloud <PointT> &cloud_out, const tf::Transform &transform)
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{
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// Bullet (used by tf) and Eigen both store quaternions in x,y,z,w order, despite the ordering
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// of arguments in Eigen's constructor. We could use an Eigen Map to convert without copy, but
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// this only works if Bullet uses floats, that is if BT_USE_DOUBLE_PRECISION is not defined.
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// Rather that risking a mistake, we copy the quaternion, which is a small cost compared to
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// the conversion of the point cloud anyway. Idem for the origin.
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tf::Quaternion q = transform.getRotation ();
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Eigen::Quaternionf rotation (q.w (), q.x (), q.y (), q.z ()); // internally stored as (x,y,z,w)
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tf::Vector3 v = transform.getOrigin ();
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Eigen::Vector3f origin (v.x (), v.y (), v.z ());
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// Eigen::Translation3f translation(v);
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// Assemble an Eigen Transform
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//Eigen::Transform3f t;
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//t = translation * rotation;
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transformPointCloud (cloud_in, cloud_out, origin, rotation);
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}
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//////////////////////////////////////////////////////////////////////////////////////////////
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template <typename PointT> bool
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transformPointCloudWithNormals (const std::string &target_frame,
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const pcl::PointCloud <PointT> &cloud_in,
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pcl::PointCloud <PointT> &cloud_out,
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const tf::TransformListener &tf_listener)
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{
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if (cloud_in.header.frame_id == target_frame)
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{
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cloud_out = cloud_in;
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return (true);
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}
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tf::StampedTransform transform;
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try
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{
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tf_listener.lookupTransform (target_frame, cloud_in.header.frame_id, cloud_in.header.stamp, transform);
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}
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catch (tf::LookupException &e)
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{
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ROS_ERROR ("%s", e.what ());
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return (false);
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}
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catch (tf::ExtrapolationException &e)
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{
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ROS_ERROR ("%s", e.what ());
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return (false);
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}
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transformPointCloudWithNormals (cloud_in, cloud_out, transform);
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cloud_out.header.frame_id = target_frame;
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return (true);
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}
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//////////////////////////////////////////////////////////////////////////////////////////////
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template <typename PointT> bool
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transformPointCloud (const std::string &target_frame,
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const pcl::PointCloud <PointT> &cloud_in,
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pcl::PointCloud <PointT> &cloud_out,
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const tf::TransformListener &tf_listener)
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{
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if (cloud_in.header.frame_id == target_frame)
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{
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cloud_out = cloud_in;
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return (true);
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}
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tf::StampedTransform transform;
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try
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{
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tf_listener.lookupTransform (target_frame, cloud_in.header.frame_id, cloud_in.header.stamp, transform);
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}
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catch (tf::LookupException &e)
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{
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ROS_ERROR ("%s", e.what ());
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return (false);
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}
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catch (tf::ExtrapolationException &e)
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{
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ROS_ERROR ("%s", e.what ());
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return (false);
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}
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transformPointCloud (cloud_in, cloud_out, transform);
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cloud_out.header.frame_id = target_frame;
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return (true);
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}
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//////////////////////////////////////////////////////////////////////////////////////////////
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template <typename PointT> bool
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transformPointCloud (const std::string &target_frame,
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const ros::Time & target_time,
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const pcl::PointCloud <PointT> &cloud_in,
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const std::string &fixed_frame,
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pcl::PointCloud <PointT> &cloud_out,
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const tf::TransformListener &tf_listener)
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{
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tf::StampedTransform transform;
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try
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{
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tf_listener.lookupTransform (target_frame, target_time, cloud_in.header.frame_id, cloud_in.header.stamp, fixed_frame, transform);
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}
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catch (tf::LookupException &e)
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{
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ROS_ERROR ("%s", e.what ());
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return (false);
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}
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catch (tf::ExtrapolationException &e)
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{
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ROS_ERROR ("%s", e.what ());
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return (false);
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}
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transformPointCloud (cloud_in, cloud_out, transform);
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cloud_out.header.frame_id = target_frame;
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cloud_out.header.stamp = target_time;
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return (true);
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}
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//////////////////////////////////////////////////////////////////////////////////////////////
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template <typename PointT> bool
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transformPointCloudWithNormals (const std::string &target_frame,
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const ros::Time & target_time,
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const pcl::PointCloud <PointT> &cloud_in,
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const std::string &fixed_frame,
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pcl::PointCloud <PointT> &cloud_out,
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const tf::TransformListener &tf_listener)
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{
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tf::StampedTransform transform;
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try
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{
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tf_listener.lookupTransform (target_frame, target_time, cloud_in.header.frame_id, cloud_in.header.stamp, fixed_frame, transform);
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}
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catch (tf::LookupException &e)
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{
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ROS_ERROR ("%s", e.what ());
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return (false);
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}
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catch (tf::ExtrapolationException &e)
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{
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ROS_ERROR ("%s", e.what ());
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return (false);
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}
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transformPointCloudWithNormals (cloud_in, cloud_out, transform);
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cloud_out.header.frame_id = target_frame;
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cloud_out.header.stamp = target_time;
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return (true);
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}
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} // namespace pcl_ros
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#endif
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