Fixes #77 and #80 for indigo

pcl_ros/CMakeLists.txt

@@ -105,6 +105,8 @@ add_library(pcl_ros_features
   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

pcl_ros/include/pcl_ros/features/shot.h

@@ -0,0 +1,80 @@
+/*
+ * 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_
+
+

pcl_ros/include/pcl_ros/features/shot_omp.h

@@ -0,0 +1,78 @@
+/*
+ * 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_
+

pcl_ros/pcl_nodelets.xml

@@ -21,6 +21,20 @@
     </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.

pcl_ros/src/pcl_ros/features/shot.cpp

@@ -0,0 +1,75 @@
+/*
+ * 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);
+

pcl_ros/src/pcl_ros/features/shot_omp.cpp

@@ -0,0 +1,75 @@
+/*
+ * 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);
+

pcl_ros/src/pcl_ros/filters/filter.cpp

@@ -95,6 +95,9 @@ pcl_ros::Filter::computePublish (const PointCloud2::ConstPtr &input, const Indic
     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);
 }