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merge pull request #60

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Paul Bovbel 2014-08-01 07:02:36 -04:00 committed by Paul Bovbel
parent aac231674a
commit 08e83a67bf
5 changed files with 292 additions and 0 deletions
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2
pcl_ros/CMakeLists.txt
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@ -53,6 +53,7 @@ generate_dynamic_reconfigure_options(
cfg/SegmentDifferences.cfg cfg/SegmentDifferences.cfg
cfg/StatisticalOutlierRemoval.cfg cfg/StatisticalOutlierRemoval.cfg
cfg/VoxelGrid.cfg cfg/VoxelGrid.cfg
cfg/CropBox.cfg
) )
## Declare the catkin package ## 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/radius_outlier_removal.cpp
src/pcl_ros/filters/statistical_outlier_removal.cpp src/pcl_ros/filters/statistical_outlier_removal.cpp
src/pcl_ros/filters/voxel_grid.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}) target_link_libraries(pcl_ros_filters pcl_ros_tf ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${PCL_LIBRARIES})
add_dependencies(pcl_ros_filters ${PROJECT_NAME}_gencfg) add_dependencies(pcl_ros_filters ${PROJECT_NAME}_gencfg)

25
pcl_ros/cfg/CropBox.cfg Executable file
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@ -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"))

104
pcl_ros/include/pcl_ros/filters/crop_box.h Normal file
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@ -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 <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_

46
pcl_ros/pcl_nodelets.xml
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@ -1,3 +1,42 @@
<<<<<<< HEAD
=======
<!-- 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/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>
>>>>>>> c3c0d30... Merge pull request #60 from martimorta/hydro-devel
<!-- PCL IO library component --> <!-- PCL IO library component -->
@ -81,6 +120,13 @@
StatisticalOutlierRemoval uses point neighborhood statistics to filter outlier data. StatisticalOutlierRemoval uses point neighborhood statistics to filter outlier data.
</description> </description>
</class> </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> </library>

115
pcl_ros/src/pcl_ros/filters/crop_box.cpp Normal file
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@ -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);