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Fixes #77 and #80 for indigo

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Lucid One 2015-05-07 15:21:11 -04:00 committed by Paul Bovbel
parent 10727ec650
commit 0a958f55ce
7 changed files with 327 additions and 0 deletions
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2
pcl_ros/CMakeLists.txt
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@ -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

80
pcl_ros/include/pcl_ros/features/shot.h Normal file
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@ -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_

78
pcl_ros/include/pcl_ros/features/shot_omp.h Normal file
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@ -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_

14
pcl_ros/pcl_nodelets.xml
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@ -20,6 +20,20 @@
containing points and normals, in parallel, using the OpenMP standard.
</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>

75
pcl_ros/src/pcl_ros/features/shot.cpp Normal file
View File

@ -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);

75
pcl_ros/src/pcl_ros/features/shot_omp.cpp Normal file
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@ -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);

3
pcl_ros/src/pcl_ros/filters/filter.cpp
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@ -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);
}