From 08e83a67bf72f4a409abf2e21712b86095e018f9 Mon Sep 17 00:00:00 2001 From: Paul Bovbel Date: Fri, 1 Aug 2014 07:02:36 -0400 Subject: [PATCH] merge pull request #60 --- pcl_ros/CMakeLists.txt | 2 + pcl_ros/cfg/CropBox.cfg | 25 +++++ pcl_ros/include/pcl_ros/filters/crop_box.h | 104 +++++++++++++++++++ pcl_ros/pcl_nodelets.xml | 46 +++++++++ pcl_ros/src/pcl_ros/filters/crop_box.cpp | 115 +++++++++++++++++++++ 5 files changed, 292 insertions(+) create mode 100755 pcl_ros/cfg/CropBox.cfg create mode 100644 pcl_ros/include/pcl_ros/filters/crop_box.h create mode 100644 pcl_ros/src/pcl_ros/filters/crop_box.cpp diff --git a/pcl_ros/CMakeLists.txt b/pcl_ros/CMakeLists.txt index 9ee93674..c64b6a20 100644 --- a/pcl_ros/CMakeLists.txt +++ b/pcl_ros/CMakeLists.txt @@ -53,6 +53,7 @@ generate_dynamic_reconfigure_options( cfg/SegmentDifferences.cfg cfg/StatisticalOutlierRemoval.cfg cfg/VoxelGrid.cfg + cfg/CropBox.cfg ) ## Declare the catkin package @@ -125,6 +126,7 @@ add_library(pcl_ros_filters 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} ${PCL_LIBRARIES}) add_dependencies(pcl_ros_filters ${PROJECT_NAME}_gencfg) diff --git a/pcl_ros/cfg/CropBox.cfg b/pcl_ros/cfg/CropBox.cfg new file mode 100755 index 00000000..8031493c --- /dev/null +++ b/pcl_ros/cfg/CropBox.cfg @@ -0,0 +1,25 @@ +#! /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")) diff --git a/pcl_ros/include/pcl_ros/filters/crop_box.h b/pcl_ros/include/pcl_ros/filters/crop_box.h new file mode 100644 index 00000000..7fa08c99 --- /dev/null +++ b/pcl_ros/include/pcl_ros/filters/crop_box.h @@ -0,0 +1,104 @@ +/* + * + * 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 +#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 > 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 impl_; + public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + }; +} + +#endif //#ifndef PCL_ROS_FILTERS_CROPBOX_H_ diff --git a/pcl_ros/pcl_nodelets.xml b/pcl_ros/pcl_nodelets.xml index e6cd0f90..8fbe4a68 100644 --- a/pcl_ros/pcl_nodelets.xml +++ b/pcl_ros/pcl_nodelets.xml @@ -1,3 +1,42 @@ +<<<<<<< HEAD +======= + + + + + + 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. + + + + + + FPFHEstimation estimates the Fast Point Feature Histogram (FPFH) descriptor for a given point cloud dataset + containing points and normals. + + + + + + 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. + + + + + + MomentInvariantsEstimation estimates the 3 moment invariants (j1, j2, j3) at each 3D point. + + + + + + NormalEstimationOMP estimates local surface properties at each 3D point, such as surface normals and curvatures, + in parallel, using the OpenMP standard. + + +>>>>>>> c3c0d30... Merge pull request #60 from martimorta/hydro-devel @@ -81,6 +120,13 @@ StatisticalOutlierRemoval uses point neighborhood statistics to filter outlier data. + + + + CropBox is a filter that allows the user to filter all the data inside of a given box. + + + diff --git a/pcl_ros/src/pcl_ros/filters/crop_box.cpp b/pcl_ros/src/pcl_ros/filters/crop_box.cpp new file mode 100644 index 00000000..fc8acdad --- /dev/null +++ b/pcl_ros/src/pcl_ros/filters/crop_box.cpp @@ -0,0 +1,115 @@ +/* + * + * 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 +#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 > (nh); + dynamic_reconfigure::Server::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); +