merge pull request #60

2014-08-01 07:02:36 -04:00
parent aac231674a
commit 08e83a67bf
5 changed files with 292 additions and 0 deletions
@@ -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 <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);
+