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Make ament_cpplint pass (#298)

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Collection of hand-made changes to make ament_cpplint pass consisting of:
- whitespace between comments
- line length
- header ordering
- include guard formats
- remove a couple `using namespace std;`
- using c++ casts instead of c-style casts

Signed-off-by: Sean Kelly <sean@seankelly.dev>
This commit is contained in:
Sean Kelly
2020-08-09 19:47:21 -04:00
committed by GitHub
parent 9689971aee
commit 420f5b032b
67 changed files with 831 additions and 593 deletions
Download Patch File Download Diff File Expand all files Collapse all files
pcl_ros/include/pcl_ros/features/boundary.hpp
+4 -4
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@@ -35,8 +35,8 @@
*
*/
#ifndef PCL_ROS_BOUNDARY_H_
#define PCL_ROS_BOUNDARY_H_
#ifndef PCL_ROS__FEATURES__BOUNDARY_HPP_
#define PCL_ROS__FEATURES__BOUNDARY_HPP_
#define EIGEN_YES_I_KNOW_SPARSE_MODULE_IS_NOT_STABLE_YET true
@@ -82,6 +82,6 @@ private:
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
}
} // namespace pcl_ros
#endif //#ifndef PCL_ROS_BOUNDARY_H_
#endif // PCL_ROS__FEATURES__BOUNDARY_HPP_
pcl_ros/include/pcl_ros/features/feature.hpp
+16 -11
View File
@@ -35,23 +35,24 @@
*
*/
#ifndef PCL_ROS_FEATURE_H_
#define PCL_ROS_FEATURE_H_
#ifndef PCL_ROS__FEATURES__FEATURE_HPP_
#define PCL_ROS__FEATURES__FEATURE_HPP_
// PCL includes
#include <pcl/features/feature.h>
#include <pcl_msgs/PointIndices.h>
#include "pcl_ros/pcl_nodelet.hpp"
#include <message_filters/pass_through.h>
// Dynamic reconfigure
#include <dynamic_reconfigure/server.h>
#include "pcl_ros/FeatureConfig.hpp"
// PCL conversions
#include <pcl_conversions/pcl_conversions.h>
#include "pcl_ros/pcl_nodelet.hpp"
#include "pcl_ros/FeatureConfig.hpp"
namespace pcl_ros
{
namespace sync_policies = message_filters::sync_policies;
@@ -84,13 +85,15 @@ public:
protected:
/** \brief The input point cloud dataset. */
//PointCloudInConstPtr input_;
// PointCloudInConstPtr input_;
/** \brief A pointer to the vector of point indices to use. */
//IndicesConstPtr indices_;
// IndicesConstPtr indices_;
/** \brief An input point cloud describing the surface that is to be used for nearest neighbors estimation. */
//PointCloudInConstPtr surface_;
/** \brief An input point cloud describing the surface that is to be used
* for nearest neighbors estimation.
*/
// PointCloudInConstPtr surface_;
/** \brief A pointer to the spatial search object. */
KdTreePtr tree_;
@@ -108,7 +111,9 @@ protected:
/** \brief The input PointCloud subscriber. */
ros::Subscriber sub_input_;
/** \brief Set to true if the nodelet needs to listen for incoming point clouds representing the search surface. */
/** \brief Set to true if the nodelet needs to listen for incoming point
* clouds representing the search surface.
*/
bool use_surface_;
/** \brief Parameter for the spatial locator tree. By convention, the values represent:
@@ -257,6 +262,6 @@ private:
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
}
} // namespace pcl_ros
#endif //#ifndef PCL_ROS_FEATURE_H_
#endif // PCL_ROS__FEATURES__FEATURE_HPP_
pcl_ros/include/pcl_ros/features/fpfh.hpp
+4 -4
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@@ -35,8 +35,8 @@
*
*/
#ifndef PCL_ROS_FPFH_H_
#define PCL_ROS_FPFH_H_
#ifndef PCL_ROS__FEATURES__FPFH_HPP_
#define PCL_ROS__FEATURES__FPFH_HPP_
#include <pcl/features/fpfh.h>
#include "pcl_ros/features/pfh.hpp"
@@ -94,6 +94,6 @@ private:
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
}
} // namespace pcl_ros
#endif //#ifndef PCL_FPFH_H_
#endif // PCL_ROS__FEATURES__FPFH_HPP_
pcl_ros/include/pcl_ros/features/fpfh_omp.hpp
+4 -4
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@@ -35,8 +35,8 @@
*
*/
#ifndef PCL_ROS_FPFH_OMP_H_
#define PCL_ROS_FPFH_OMP_H_
#ifndef PCL_ROS__FEATURES__FPFH_OMP_HPP_
#define PCL_ROS__FEATURES__FPFH_OMP_HPP_
#include <pcl/features/fpfh_omp.h>
#include "pcl_ros/features/fpfh.hpp"
@@ -91,6 +91,6 @@ private:
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
}
} // namespace pcl_ros
#endif //#ifndef PCL_ROS_FPFH_OMP_H_
#endif // PCL_ROS__FEATURES__FPFH_OMP_HPP_
pcl_ros/include/pcl_ros/features/moment_invariants.hpp
+4 -4
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@@ -35,8 +35,8 @@
*
*/
#ifndef PCL_ROS_MOMENT_INVARIANTS_H_
#define PCL_ROS_MOMENT_INVARIANTS_H_
#ifndef PCL_ROS__FEATURES__MOMENT_INVARIANTS_HPP_
#define PCL_ROS__FEATURES__MOMENT_INVARIANTS_HPP_
#include <pcl/features/moment_invariants.h>
#include "pcl_ros/features/feature.hpp"
@@ -77,6 +77,6 @@ private:
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
}
} // namespace pcl_ros
#endif //#ifndef PCL_ROS_MOMENT_INVARIANTS_H_
#endif // PCL_ROS__FEATURES__MOMENT_INVARIANTS_HPP_
pcl_ros/include/pcl_ros/features/normal_3d.hpp
+4 -4
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@@ -35,8 +35,8 @@
*
*/
#ifndef PCL_ROS_NORMAL_3D_H_
#define PCL_ROS_NORMAL_3D_H_
#ifndef PCL_ROS__FEATURES__NORMAL_3D_HPP_
#define PCL_ROS__FEATURES__NORMAL_3D_HPP_
#include <pcl/features/normal_3d.h>
#include "pcl_ros/features/feature.hpp"
@@ -81,6 +81,6 @@ private:
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
}
} // namespace pcl_ros
#endif //#ifndef PCL_ROS_NORMAL_3D_H_
#endif // PCL_ROS__FEATURES__NORMAL_3D_HPP_
pcl_ros/include/pcl_ros/features/normal_3d_omp.hpp
+4 -4
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@@ -35,8 +35,8 @@
*
*/
#ifndef PCL_ROS_NORMAL_3D_OMP_H_
#define PCL_ROS_NORMAL_3D_OMP_H_
#ifndef PCL_ROS__FEATURES__NORMAL_3D_OMP_HPP_
#define PCL_ROS__FEATURES__NORMAL_3D_OMP_HPP_
#include <pcl/features/normal_3d_omp.h>
#include "pcl_ros/features/normal_3d.hpp"
@@ -75,6 +75,6 @@ private:
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
}
} // namespace pcl_ros
#endif //#ifndef PCL_ROS_NORMAL_3D_OMP_H_
#endif // PCL_ROS__FEATURES__NORMAL_3D_OMP_HPP_
pcl_ros/include/pcl_ros/features/normal_3d_tbb.hpp
+7 -7
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@@ -35,11 +35,11 @@
*
*/
#ifndef PCL_ROS_NORMAL_3D_TBB_H_
#define PCL_ROS_NORMAL_3D_TBB_H_
#ifndef PCL_ROS__FEATURES__NORMAL_3D_TBB_HPP_
#define PCL_ROS__FEATURES__NORMAL_3D_TBB_HPP_
//#include "pcl_ros/pcl_ros_config.hpp"
//#if defined(HAVE_TBB)
// #include "pcl_ros/pcl_ros_config.hpp"
// #if defined(HAVE_TBB)
#include <pcl/features/normal_3d_tbb.h>
#include "pcl_ros/features/normal_3d.hpp"
@@ -78,8 +78,8 @@ private:
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
}
} // namespace pcl_ros
//#endif // HAVE_TBB
// #endif // HAVE_TBB
#endif //#ifndef PCL_ROS_NORMAL_3D_TBB_H_
#endif // PCL_ROS__FEATURES__NORMAL_3D_TBB_HPP_
pcl_ros/include/pcl_ros/features/pfh.hpp
+4 -4
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@@ -35,8 +35,8 @@
*
*/
#ifndef PCL_ROS_PFH_H_
#define PCL_ROS_PFH_H_
#ifndef PCL_ROS__FEATURES__PFH_HPP_
#define PCL_ROS__FEATURES__PFH_HPP_
#include <pcl/features/pfh.h>
#include "pcl_ros/features/feature.hpp"
@@ -94,6 +94,6 @@ private:
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
}
} // namespace pcl_ros
#endif //#ifndef PCL_ROS_PFH_H_
#endif // PCL_ROS__FEATURES__PFH_HPP_
pcl_ros/include/pcl_ros/features/principal_curvatures.hpp
+4 -4
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@@ -35,8 +35,8 @@
*
*/
#ifndef PCL_ROS_PRINCIPAL_CURVATURES_H_
#define PCL_ROS_PRINCIPAL_CURVATURES_H_
#ifndef PCL_ROS__FEATURES__PRINCIPAL_CURVATURES_HPP_
#define PCL_ROS__FEATURES__PRINCIPAL_CURVATURES_HPP_
#define EIGEN_YES_I_KNOW_SPARSE_MODULE_IS_NOT_STABLE_YET true
#include <pcl/features/principal_curvatures.h>
@@ -80,6 +80,6 @@ private:
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
}
} // namespace pcl_ros
#endif //#ifndef PCL_ROS_PRINCIPAL_CURVATURES_H_
#endif // PCL_ROS__FEATURES__PRINCIPAL_CURVATURES_HPP_
pcl_ros/include/pcl_ros/features/shot.hpp
+4 -4
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@@ -34,8 +34,8 @@
*
*/
#ifndef PCL_ROS_SHOT_H_
#define PCL_ROS_SHOT_H_
#ifndef PCL_ROS__FEATURES__SHOT_HPP_
#define PCL_ROS__FEATURES__SHOT_HPP_
#include <pcl/features/shot.h>
#include "pcl_ros/features/pfh.hpp"
@@ -74,6 +74,6 @@ private:
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
}
} // namespace pcl_ros
#endif //#ifndef PCL_SHOT_H_
#endif // PCL_ROS__FEATURES__SHOT_HPP_
pcl_ros/include/pcl_ros/features/shot_omp.hpp
+4 -4
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@@ -34,8 +34,8 @@
*
*/
#ifndef PCL_ROS_SHOT_OMP_H_
#define PCL_ROS_SHOT_OMP_H_
#ifndef PCL_ROS__FEATURES__SHOT_OMP_HPP_
#define PCL_ROS__FEATURES__SHOT_OMP_HPP_
#include <pcl/features/shot_omp.h>
#include "pcl_ros/features/shot.hpp"
@@ -73,6 +73,6 @@ private:
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
}
} // namespace pcl_ros
#endif //#ifndef PCL_ROS_SHOT_OMP_H_
#endif // PCL_ROS__FEATURES__SHOT_OMP_HPP_
pcl_ros/include/pcl_ros/features/vfh.hpp
+4 -4
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@@ -35,8 +35,8 @@
*
*/
#ifndef PCL_ROS_FEATURES_VFH_H_
#define PCL_ROS_FEATURES_VFH_H_
#ifndef PCL_ROS__FEATURES__VFH_HPP_
#define PCL_ROS__FEATURES__VFH_HPP_
#include <pcl/features/vfh.h>
#include "pcl_ros/features/fpfh.hpp"
@@ -79,6 +79,6 @@ private:
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
}
} // namespace pcl_ros
#endif //#ifndef PCL_ROS_FEATURES_VFH_H_
#endif // PCL_ROS__FEATURES__VFH_HPP_
pcl_ros/include/pcl_ros/filters/crop_box.hpp
+5 -5
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@@ -36,8 +36,8 @@
*
*/
#ifndef PCL_ROS_FILTERS_CROPBOX_H_
#define PCL_ROS_FILTERS_CROPBOX_H_
#ifndef PCL_ROS__FILTERS__CROP_BOX_HPP_
#define PCL_ROS__FILTERS__CROP_BOX_HPP_
// PCL includes
#include <pcl/filters/crop_box.h>
@@ -58,7 +58,7 @@ class CropBox : public Filter
{
protected:
/** \brief Pointer to a dynamic reconfigure service. */
boost::shared_ptr<dynamic_reconfigure::Server<pcl_ros::CropBoxConfig>> srv_; // TODO
boost::shared_ptr<dynamic_reconfigure::Server<pcl_ros::CropBoxConfig>> srv_; // TODO(xxx)
/** \brief Call the actual filter.
* \param input the input point cloud dataset
@@ -101,6 +101,6 @@ private:
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
}
} // namespace pcl_ros
#endif //#ifndef PCL_ROS_FILTERS_CROPBOX_H_
#endif // PCL_ROS__FILTERS__CROP_BOX_HPP_
pcl_ros/include/pcl_ros/filters/extract_indices.hpp
+4 -4
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@@ -35,8 +35,8 @@
*
*/
#ifndef PCL_ROS_FILTERS_EXTRACTINDICES_H_
#define PCL_ROS_FILTERS_EXTRACTINDICES_H_
#ifndef PCL_ROS__FILTERS__EXTRACT_INDICES_HPP_
#define PCL_ROS__FILTERS__EXTRACT_INDICES_HPP_
// PCL includes
#include <pcl/filters/extract_indices.h>
@@ -94,6 +94,6 @@ private:
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
}
} // namespace pcl_ros
#endif //#ifndef PCL_ROS_FILTERS_EXTRACTINDICES_H_
#endif // PCL_ROS__FILTERS__EXTRACT_INDICES_HPP_
pcl_ros/include/pcl_ros/filters/filter.hpp
+17 -13
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@@ -35,23 +35,21 @@
*
*/
#ifndef PCL_ROS_FILTER_H_
#define PCL_ROS_FILTER_H_
#ifndef PCL_ROS__FILTERS__FILTER_HPP_
#define PCL_ROS__FILTERS__FILTER_HPP_
// PCL includes
#include <pcl/filters/filter.h>
#include "pcl_ros/pcl_nodelet.hpp"
// Dynamic reconfigure
#include <dynamic_reconfigure/server.h>
#include <string>
#include "pcl_ros/pcl_nodelet.hpp"
#include "pcl_ros/FilterConfig.hpp"
namespace pcl_ros
{
namespace sync_policies = message_filters::sync_policies;
/** \brief @b Filter represents the base filter class. Some generic 3D operations that are applicable to all filters
* are defined here as static methods.
/** \brief @b Filter represents the base filter class. Some generic 3D operations that are
* applicable to all filters are defined here as static methods.
* \author Radu Bogdan Rusu
*/
class Filter : public PCLNodelet
@@ -79,16 +77,22 @@ protected:
/** \brief The maximum allowed filter value a point will be considered from. */
double filter_limit_max_;
/** \brief Set to true if we want to return the data outside (\a filter_limit_min_;\a filter_limit_max_). Default: false. */
/** \brief Set to true if we want to return the data outside
* (\a filter_limit_min_;\a filter_limit_max_). Default: false.
*/
bool filter_limit_negative_;
/** \brief The input TF frame the data should be transformed into, if input.header.frame_id is different. */
/** \brief The input TF frame the data should be transformed into,
* if input.header.frame_id is different.
*/
std::string tf_input_frame_;
/** \brief The original data input TF frame. */
std::string tf_input_orig_frame_;
/** \brief The output TF frame the data should be transformed into, if input.header.frame_id is different. */
/** \brief The output TF frame the data should be transformed into,
* if input.header.frame_id is different.
*/
std::string tf_output_frame_;
/** \brief Internal mutex. */
@@ -157,6 +161,6 @@ private:
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
}
} // namespace pcl_ros
#endif //#ifndef PCL_ROS_FILTER_H_
#endif // PCL_ROS__FILTERS__FILTER_HPP_
pcl_ros/include/pcl_ros/filters/passthrough.hpp
+4 -4
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@@ -35,8 +35,8 @@
*
*/
#ifndef PCL_ROS_FILTERS_PASSTHROUGH_H_
#define PCL_ROS_FILTERS_PASSTHROUGH_H_
#ifndef PCL_ROS__FILTERS__PASSTHROUGH_HPP_
#define PCL_ROS__FILTERS__PASSTHROUGH_HPP_
// PCL includes
#include <pcl/filters/passthrough.h>
@@ -95,6 +95,6 @@ private:
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
}
} // namespace pcl_ros
#endif //#ifndef PCL_ROS_FILTERS_PASSTHROUGH_H_
#endif // PCL_ROS__FILTERS__PASSTHROUGH_HPP_
pcl_ros/include/pcl_ros/filters/project_inliers.hpp
+5 -6
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@@ -35,14 +35,13 @@
*
*/
#ifndef PCL_ROS_FILTERS_PROJECT_INLIERS_H_
#define PCL_ROS_FILTERS_PROJECT_INLIERS_H_
#ifndef PCL_ROS__FILTERS__PROJECT_INLIERS_HPP_
#define PCL_ROS__FILTERS__PROJECT_INLIERS_HPP_
// PCL includes
#include <pcl/filters/project_inliers.h>
#include <message_filters/subscriber.h>
#include "pcl_ros/filters/filter.hpp"
#include <message_filters/subscriber.h>
namespace pcl_ros
{
@@ -115,6 +114,6 @@ private:
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
}
} // namespace pcl_ros
#endif //#ifndef PCL_FILTERS_PROJECT_INLIERS_H_
#endif // PCL_ROS__FILTERS__PROJECT_INLIERS_HPP_
pcl_ros/include/pcl_ros/filters/radius_outlier_removal.hpp
+4 -4
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@@ -35,8 +35,8 @@
*
*/
#ifndef PCL_ROS_FILTERS_RADIUSOUTLIERREMOVAL_H_
#define PCL_ROS_FILTERS_RADIUSOUTLIERREMOVAL_H_
#ifndef PCL_ROS__FILTERS__RADIUS_OUTLIER_REMOVAL_HPP_
#define PCL_ROS__FILTERS__RADIUS_OUTLIER_REMOVAL_HPP_
// PCL includes
#include <pcl/filters/radius_outlier_removal.h>
@@ -96,6 +96,6 @@ private:
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
}
} // namespace pcl_ros
#endif //#ifndef PCL_FILTERS_RADIUSOUTLIERREMOVAL_H_
#endif // PCL_ROS__FILTERS__RADIUS_OUTLIER_REMOVAL_HPP_
pcl_ros/include/pcl_ros/filters/statistical_outlier_removal.hpp
+4 -4
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@@ -35,8 +35,8 @@
*
*/
#ifndef PCL_ROS_FILTERS_STATISTICALOUTLIERREMOVAL_H_
#define PCL_ROS_FILTERS_STATISTICALOUTLIERREMOVAL_H_
#ifndef PCL_ROS__FILTERS__STATISTICAL_OUTLIER_REMOVAL_HPP_
#define PCL_ROS__FILTERS__STATISTICAL_OUTLIER_REMOVAL_HPP_
// PCL includes
#include <pcl/filters/statistical_outlier_removal.h>
@@ -103,6 +103,6 @@ private:
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
}
} // namespace pcl_ros
#endif //#ifndef PCL_FILTERS_STATISTICALOUTLIERREMOVAL_H_
#endif // PCL_ROS__FILTERS__STATISTICAL_OUTLIER_REMOVAL_HPP_
pcl_ros/include/pcl_ros/filters/voxel_grid.hpp
+4 -4
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@@ -35,8 +35,8 @@
*
*/
#ifndef PCL_ROS_FILTERS_VOXEL_H_
#define PCL_ROS_FILTERS_VOXEL_H_
#ifndef PCL_ROS__FILTERS__VOXEL_GRID_HPP_
#define PCL_ROS__FILTERS__VOXEL_GRID_HPP_
// PCL includes
#include <pcl/filters/voxel_grid.h>
@@ -86,6 +86,6 @@ protected:
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
}
} // namespace pcl_ros
#endif //#ifndef PCL_ROS_FILTERS_VOXEL_H_
#endif // PCL_ROS__FILTERS__VOXEL_GRID_HPP_
pcl_ros/include/pcl_ros/impl/transforms.hpp
+10 -10
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@@ -34,10 +34,11 @@
*
*/
#ifndef pcl_ros_IMPL_TRANSFORMS_H_
#define pcl_ros_IMPL_TRANSFORMS_H_
#ifndef PCL_ROS__IMPL__TRANSFORMS_HPP_
#define PCL_ROS__IMPL__TRANSFORMS_HPP_
#include <pcl_conversions/pcl_conversions.h>
#include <string>
#include "pcl_ros/transforms.hpp"
using pcl_conversions::fromPCL;
@@ -58,13 +59,13 @@ transformPointCloudWithNormals(
// Rather that risking a mistake, we copy the quaternion, which is a small cost compared to
// the conversion of the point cloud anyway. Idem for the origin.
tf::Quaternion q = transform.getRotation();
Eigen::Quaternionf rotation(q.w(), q.x(), q.y(), q.z()); // internally stored as (x,y,z,w)
Eigen::Quaternionf rotation(q.w(), q.x(), q.y(), q.z()); // internally stored as (x,y,z,w)
tf::Vector3 v = transform.getOrigin();
Eigen::Vector3f origin(v.x(), v.y(), v.z());
// Eigen::Translation3f translation(v);
// Assemble an Eigen Transform
//Eigen::Transform3f t;
//t = translation * rotation;
// Eigen::Transform3f t;
// t = translation * rotation;
transformPointCloudWithNormals(cloud_in, cloud_out, origin, rotation);
}
@@ -81,13 +82,13 @@ transformPointCloud(
// Rather that risking a mistake, we copy the quaternion, which is a small cost compared to
// the conversion of the point cloud anyway. Idem for the origin.
tf::Quaternion q = transform.getRotation();
Eigen::Quaternionf rotation(q.w(), q.x(), q.y(), q.z()); // internally stored as (x,y,z,w)
Eigen::Quaternionf rotation(q.w(), q.x(), q.y(), q.z()); // internally stored as (x,y,z,w)
tf::Vector3 v = transform.getOrigin();
Eigen::Vector3f origin(v.x(), v.y(), v.z());
// Eigen::Translation3f translation(v);
// Assemble an Eigen Transform
//Eigen::Transform3f t;
//t = translation * rotation;
// Eigen::Transform3f t;
// t = translation * rotation;
transformPointCloud(cloud_in, cloud_out, origin, rotation);
}
@@ -217,6 +218,5 @@ transformPointCloudWithNormals(
cloud_out.header = toPCL(header);
return true;
}
} // namespace pcl_ros
#endif
#endif // PCL_ROS__IMPL__TRANSFORMS_HPP_
pcl_ros/include/pcl_ros/io/bag_io.hpp
+6 -6
View File
@@ -35,13 +35,14 @@
*
*/
#ifndef PCL_ROS_IO_BAG_IO_H_
#define PCL_ROS_IO_BAG_IO_H_
#ifndef PCL_ROS__IO__BAG_IO_HPP_
#define PCL_ROS__IO__BAG_IO_HPP_
#include <pcl_ros/pcl_nodelet.hpp>
#include <sensor_msgs/PointCloud2.h>
#include <rosbag/bag.h>
#include <rosbag/view.h>
#include <string>
namespace pcl_ros
{
@@ -120,12 +121,11 @@ private:
PointCloudPtr output_;
/** \brief Signals that a new PointCloud2 message has been read from the file. */
//bool cloud_received_;
// bool cloud_received_;
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
} // namespace pcl_ros
}
#endif //#ifndef PCL_ROS_IO_BAG_IO_H_
#endif // PCL_ROS__IO__BAG_IO_HPP_
pcl_ros/include/pcl_ros/io/concatenate_data.hpp
+10 -6
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@@ -35,8 +35,8 @@
*
*/
#ifndef PCL_IO_CONCATENATE_DATA_H_
#define PCL_IO_CONCATENATE_DATA_H_
#ifndef PCL_ROS__IO__CONCATENATE_DATA_HPP_
#define PCL_ROS__IO__CONCATENATE_DATA_HPP_
// ROS includes
#include <tf/transform_listener.h>
@@ -46,6 +46,8 @@
#include <message_filters/pass_through.h>
#include <message_filters/sync_policies/exact_time.h>
#include <message_filters/sync_policies/approximate_time.h>
#include <string>
#include <vector>
namespace pcl_ros
{
@@ -71,7 +73,7 @@ public:
/** \brief Empty constructor.
* \param queue_size the maximum queue size
*/
PointCloudConcatenateDataSynchronizer(int queue_size)
explicit PointCloudConcatenateDataSynchronizer(int queue_size)
: maximum_queue_size_(queue_size), approximate_sync_(false) {}
/** \brief Empty destructor. */
@@ -88,7 +90,9 @@ private:
/** \brief The maximum number of messages that we can store in the queue. */
int maximum_queue_size_;
/** \brief True if we use an approximate time synchronizer versus an exact one (false by default). */
/** \brief True if we use an approximate time synchronizer
* versus an exact one (false by default).
*/
bool approximate_sync_;
/** \brief A vector of message filters. */
@@ -137,6 +141,6 @@ private:
void combineClouds(const PointCloud2 & in1, const PointCloud2 & in2, PointCloud2 & out);
};
}
} // namespace pcl_ros
#endif //#ifndef PCL_ROS_IO_CONCATENATE_H_
#endif // PCL_ROS__IO__CONCATENATE_DATA_HPP_
pcl_ros/include/pcl_ros/io/concatenate_fields.hpp
+8 -5
View File
@@ -35,8 +35,8 @@
*
*/
#ifndef PCL_IO_CONCATENATE_FIELDS_H_
#define PCL_IO_CONCATENATE_FIELDS_H_
#ifndef PCL_ROS__IO__CONCATENATE_FIELDS_HPP_
#define PCL_ROS__IO__CONCATENATE_FIELDS_HPP_
// ROS includes
#include <nodelet_topic_tools/nodelet_lazy.h>
@@ -47,6 +47,9 @@
#include <sensor_msgs/PointCloud2.h>
#include <map>
#include <vector>
namespace pcl_ros
{
/** \brief @b PointCloudConcatenateFieldsSynchronizer is a special form of data synchronizer: it listens for a set of
@@ -68,7 +71,7 @@ public:
/** \brief Empty constructor.
* \param queue_size the maximum queue size
*/
PointCloudConcatenateFieldsSynchronizer(int queue_size)
explicit PointCloudConcatenateFieldsSynchronizer(int queue_size)
: maximum_queue_size_(queue_size), maximum_seconds_(0) {}
/** \brief Empty destructor. */
@@ -98,6 +101,6 @@ private:
/** \brief A queue for messages. */
std::map<ros::Time, std::vector<PointCloudConstPtr>> queue_;
};
}
} // namespace pcl_ros
#endif //#ifndef PCL_IO_CONCATENATE_H_
#endif // PCL_ROS__IO__CONCATENATE_FIELDS_HPP_
pcl_ros/include/pcl_ros/io/pcd_io.hpp
+5 -4
View File
@@ -35,10 +35,11 @@
*
*/
#ifndef PCL_ROS_IO_PCD_IO_H_
#define PCL_ROS_IO_PCD_IO_H_
#ifndef PCL_ROS__IO__PCD_IO_HPP_
#define PCL_ROS__IO__PCD_IO_HPP_
#include <pcl/io/pcd_io.h>
#include <string>
#include "pcl_ros/pcl_nodelet.hpp"
namespace pcl_ros
@@ -131,6 +132,6 @@ private:
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
}
} // namespace pcl_ros
#endif //#ifndef PCL_ROS_IO_PCD_IO_H_
#endif // PCL_ROS__IO__PCD_IO_HPP_
pcl_ros/include/pcl_ros/pcl_nodelet.hpp
+30 -12
View File
@@ -41,8 +41,8 @@
**/
#ifndef PCL_NODELET_H_
#define PCL_NODELET_H_
#ifndef PCL_ROS__PCL_NODELET_HPP_
#define PCL_ROS__PCL_NODELET_HPP_
#include <sensor_msgs/PointCloud2.h>
// PCL includes
@@ -51,7 +51,6 @@
#include <pcl/pcl_base.h>
#include <pcl/point_types.h>
#include <pcl_conversions/pcl_conversions.h>
#include "pcl_ros/point_cloud.hpp"
// ROS Nodelet includes
#include <nodelet_topic_tools/nodelet_lazy.h>
#include <message_filters/subscriber.h>
@@ -62,6 +61,11 @@
// Include TF
#include <tf/transform_listener.h>
// STL
#include <string>
#include "pcl_ros/point_cloud.hpp"
using pcl_conversions::fromPCL;
namespace pcl_ros
@@ -69,7 +73,9 @@ namespace pcl_ros
////////////////////////////////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////////////////////////////////
/** \brief @b PCLNodelet represents the base PCL Nodelet class. All PCL nodelets should inherit from this class. */
/** \brief @b PCLNodelet represents the base PCL Nodelet class. All PCL nodelets should
* inherit from this class.
**/
class PCLNodelet : public nodelet_topic_tools::NodeletLazy
{
public:
@@ -128,7 +134,9 @@ protected:
/** \brief The maximum queue size (default: 3). */
int max_queue_size_;
/** \brief True if we use an approximate time synchronizer versus an exact one (false by default). */
/** \brief True if we use an approximate time synchronizer
* versus an exact one (false by default).
**/
bool approximate_sync_;
/** \brief TF listener object. */
@@ -143,7 +151,8 @@ protected:
{
if (cloud->width * cloud->height * cloud->point_step != cloud->data.size()) {
NODELET_WARN(
"[%s] Invalid PointCloud (data = %zu, width = %d, height = %d, step = %d) with stamp %f, and frame %s on topic %s received!",
"[%s] Invalid PointCloud (data = %zu, width = %d, height = %d, step = %d) "
"with stamp %f, and frame %s on topic %s received!",
getName().c_str(),
cloud->data.size(), cloud->width, cloud->height, cloud->point_step,
cloud->header.stamp.toSec(), cloud->header.frame_id.c_str(), pnh_->resolveName(
@@ -163,7 +172,8 @@ protected:
{
if (cloud->width * cloud->height != cloud->points.size()) {
NODELET_WARN(
"[%s] Invalid PointCloud (points = %zu, width = %d, height = %d) with stamp %f, and frame %s on topic %s received!",
"[%s] Invalid PointCloud (points = %zu, width = %d, height = %d) "
"with stamp %f, and frame %s on topic %s received!",
getName().c_str(), cloud->points.size(), cloud->width, cloud->height,
fromPCL(cloud->header).stamp.toSec(), cloud->header.frame_id.c_str(),
pnh_->resolveName(topic_name).c_str());
@@ -182,7 +192,10 @@ protected:
{
/*if (indices->indices.empty ())
{
NODELET_WARN ("[%s] Empty indices (values = %zu) with stamp %f, and frame %s on topic %s received!", getName ().c_str (), indices->indices.size (), indices->header.stamp.toSec (), indices->header.frame_id.c_str (), pnh_->resolveName (topic_name).c_str ());
NODELET_WARN ("[%s] Empty indices (values = %zu) "
"with stamp %f, and frame %s on topic %s received!",
getName ().c_str (), indices->indices.size (), indices->header.stamp.toSec (),
indices->header.frame_id.c_str (), pnh_->resolveName (topic_name).c_str ());
return (true);
}*/
return true;
@@ -197,13 +210,18 @@ protected:
{
/*if (model->values.empty ())
{
NODELET_WARN ("[%s] Empty model (values = %zu) with stamp %f, and frame %s on topic %s received!", getName ().c_str (), model->values.size (), model->header.stamp.toSec (), model->header.frame_id.c_str (), pnh_->resolveName (topic_name).c_str ());
NODELET_WARN ("[%s] Empty model (values = %zu) with stamp %f, "
"and frame %s on topic %s received!",
getName ().c_str (), model->values.size (), model->header.stamp.toSec (),
model->header.frame_id.c_str (), pnh_->resolveName (topic_name).c_str ());
return (false);
}*/
return true;
}
/** \brief Lazy transport subscribe/unsubscribe routine. It is optional for backward compatibility. */
/** \brief Lazy transport subscribe/unsubscribe routine.
* It is optional for backward compatibility.
**/
virtual void subscribe() {}
virtual void unsubscribe() {}
@@ -237,6 +255,6 @@ protected:
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
}
} // namespace pcl_ros
#endif //#ifndef PCL_NODELET_H_
#endif // PCL_ROS__PCL_NODELET_HPP_
pcl_ros/include/pcl_ros/point_cloud.hpp
+68 -31
View File
@@ -1,15 +1,71 @@
#ifndef pcl_ROS_POINT_CLOUD_H_
#define pcl_ROS_POINT_CLOUD_H_
/*
* Software License Agreement (BSD License)
*
* Copyright (c) 2009, 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.
*/
#ifndef PCL_ROS__POINT_CLOUD_HPP__
#define PCL_ROS__POINT_CLOUD_HPP__
// test if testing machinery can be implemented
#if defined(__cpp_rvalue_references) && defined(__cpp_constexpr)
#define ROS_POINTER_COMPATIBILITY_IMPLEMENTED 1
#else
#define ROS_POINTER_COMPATIBILITY_IMPLEMENTED 0
#endif
#include <ros/ros.h>
#include <pcl/point_cloud.h>
#include <pcl/point_traits.h>
#include <pcl/for_each_type.h>
#include <pcl/conversions.h>
#if ROS_POINTER_COMPATIBILITY_IMPLEMENTED
#include <pcl/pcl_config.h>
#if PCL_VERSION_COMPARE(>=, 1, 11, 0)
#include <pcl/memory.h>
#elif PCL_VERSION_COMPARE(>=, 1, 10, 0)
#include <pcl/make_shared.h>
#endif
#endif
#include <pcl_conversions/pcl_conversions.h>
#include <sensor_msgs/PointCloud2.h>
#include <boost/mpl/size.hpp>
#include <boost/ref.hpp>
#include <string>
#include <utility>
#include <vector>
#if ROS_POINTER_COMPATIBILITY_IMPLEMENTED
#include <type_traits>
#include <memory>
#endif
namespace pcl
{
@@ -18,7 +74,7 @@ namespace detail
template<typename Stream, typename PointT>
struct FieldStreamer
{
FieldStreamer(Stream & stream)
explicit FieldStreamer(Stream & stream)
: stream_(stream) {}
template<typename U>
@@ -59,8 +115,8 @@ struct FieldsLength
std::uint32_t length;
};
} // namespace pcl::detail
} // namespace pcl
} // namespace detail
} // namespace pcl
namespace ros
{
@@ -161,7 +217,7 @@ struct FrameId<pcl::PointCloud<T>>
static std::string value(const pcl::PointCloud<T> & m) {return m.header.frame_id;}
};
} // namespace ros::message_traits
} // namespace message_traits
namespace serialization
{
@@ -297,30 +353,11 @@ struct Serializer<pcl::PointCloud<T>>
return length;
}
};
} // namespace ros::serialization
} // namespace serialization
/// @todo Printer specialization in message_operations
} // namespace ros
// test if testing machinery can be implemented
#if defined(__cpp_rvalue_references) && defined(__cpp_constexpr)
#define ROS_POINTER_COMPATIBILITY_IMPLEMENTED 1
#else
#define ROS_POINTER_COMPATIBILITY_IMPLEMENTED 0
#endif
#if ROS_POINTER_COMPATIBILITY_IMPLEMENTED
#include <type_traits> // for std::is_same
#include <memory> // for std::shared_ptr
#include <pcl/pcl_config.h>
#if PCL_VERSION_COMPARE(>=, 1, 11, 0)
#include <pcl/memory.h>
#elif PCL_VERSION_COMPARE(>=, 1, 10, 0)
#include <pcl/make_shared.h>
#endif
#endif
} // namespace ros
namespace pcl
{
@@ -341,7 +378,7 @@ struct Holder
{
SharedPointer p;
Holder(const SharedPointer & p)
explicit Holder(const SharedPointer & p)
: p(p) {}
Holder(const Holder & other)
: p(other.p) {}
@@ -373,7 +410,7 @@ inline boost::shared_ptr<T> to_boost_ptr(const std::shared_ptr<T> & p)
}
}
#endif
} // namespace pcl::detail
} // namespace detail
// add functions to convert to smart pointer used by ROS
template<class T>
@@ -420,6 +457,6 @@ inline boost::shared_ptr<T> pcl_ptr(const boost::shared_ptr<T> & p)
return p;
}
#endif
} // namespace pcl
} // namespace pcl
#endif
#endif // PCL_ROS__POINT_CLOUD_HPP__
pcl_ros/include/pcl_ros/publisher.hpp
+9 -7
View File
@@ -42,8 +42,8 @@
**/
#ifndef PCL_ROS_PUBLISHER_H_
#define PCL_ROS_PUBLISHER_H_
#ifndef PCL_ROS__PUBLISHER_HPP_
#define PCL_ROS__PUBLISHER_HPP_
#include <ros/ros.h>
#include <sensor_msgs/PointCloud2.h>
@@ -51,6 +51,8 @@
#include <pcl_conversions/pcl_conversions.h>
#include <string>
namespace pcl_ros
{
class BasePublisher
@@ -82,7 +84,7 @@ public:
operator void *() const
{
return (pub_) ? (void *)1 : (void *)0;
return (pub_) ? reinterpret_cast<void *>(1) : reinterpret_cast<void *>(0);
}
protected:
@@ -135,15 +137,15 @@ public:
publish(const sensor_msgs::PointCloud2Ptr & point_cloud) const
{
pub_.publish(point_cloud);
//pub_.publish (*point_cloud);
// pub_.publish (*point_cloud);
}
void
publish(const sensor_msgs::PointCloud2 & point_cloud) const
{
pub_.publish(boost::make_shared<const sensor_msgs::PointCloud2>(point_cloud));
//pub_.publish (point_cloud);
// pub_.publish (point_cloud);
}
};
}
#endif //#ifndef PCL_ROS_PUBLISHER_H_
} // namespace pcl_ros
#endif // PCL_ROS__PUBLISHER_HPP_
pcl_ros/include/pcl_ros/segmentation/extract_clusters.hpp
+7 -8
View File
@@ -35,14 +35,13 @@
*
*/
#ifndef PCL_ROS_EXTRACT_CLUSTERS_H_
#define PCL_ROS_EXTRACT_CLUSTERS_H_
#ifndef PCL_ROS__SEGMENTATION__EXTRACT_CLUSTERS_HPP_
#define PCL_ROS__SEGMENTATION__EXTRACT_CLUSTERS_HPP_
#include <pcl/segmentation/extract_clusters.h>
#include "pcl_ros/pcl_nodelet.hpp"
// Dynamic reconfigure
#include <dynamic_reconfigure/server.h>
#include <pcl/segmentation/extract_clusters.h>
#include <limits>
#include "pcl_ros/pcl_nodelet.hpp"
#include "pcl_ros/EuclideanClusterExtractionConfig.hpp"
namespace pcl_ros
@@ -109,6 +108,6 @@ private:
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
}
} // namespace pcl_ros
#endif //#ifndef PCL_ROS_EXTRACT_CLUSTERS_H_
#endif // PCL_ROS__SEGMENTATION__EXTRACT_CLUSTERS_HPP_
pcl_ros/include/pcl_ros/segmentation/extract_polygonal_prism_data.hpp
+5 -9
View File
@@ -35,20 +35,16 @@
*
*/
#ifndef PCL_ROS_EXTRACT_POLYGONAL_PRISM_DATA_H_
#define PCL_ROS_EXTRACT_POLYGONAL_PRISM_DATA_H_
#ifndef PCL_ROS__SEGMENTATION__EXTRACT_POLYGONAL_PRISM_DATA_HPP_
#define PCL_ROS__SEGMENTATION__EXTRACT_POLYGONAL_PRISM_DATA_HPP_
#include "pcl_ros/pcl_nodelet.hpp"
#include <message_filters/sync_policies/exact_time.h>
#include <message_filters/sync_policies/approximate_time.h>
#include <message_filters/pass_through.h>
// PCL includes
#include <pcl/segmentation/extract_polygonal_prism_data.h>
// Dynamic reconfigure
#include <dynamic_reconfigure/server.h>
#include "pcl_ros/ExtractPolygonalPrismDataConfig.hpp"
#include "pcl_ros/pcl_nodelet.hpp"
namespace pcl_ros
{
@@ -129,6 +125,6 @@ private:
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
}
} // namespace pcl_ros
#endif //#ifndef PCL_EXTRACT_POLYGONAL_PRISM_DATA_H_
#endif // PCL_ROS__SEGMENTATION__EXTRACT_POLYGONAL_PRISM_DATA_HPP_
pcl_ros/include/pcl_ros/segmentation/sac_segmentation.hpp
+27 -19
View File
@@ -35,17 +35,14 @@
*
*/
#ifndef PCL_ROS_SAC_SEGMENTATION_H_
#define PCL_ROS_SAC_SEGMENTATION_H_
#ifndef PCL_ROS__SEGMENTATION__SAC_SEGMENTATION_HPP_
#define PCL_ROS__SEGMENTATION__SAC_SEGMENTATION_HPP_
#include "pcl_ros/pcl_nodelet.hpp"
#include <message_filters/pass_through.h>
// PCL includes
#include <pcl/segmentation/sac_segmentation.h>
// Dynamic reconfigure
#include <dynamic_reconfigure/server.h>
#include <string>
#include "pcl_ros/pcl_nodelet.hpp"
#include "pcl_ros/SACSegmentationConfig.hpp"
#include "pcl_ros/SACSegmentationFromNormalsConfig.hpp"
@@ -54,8 +51,9 @@ namespace pcl_ros
namespace sync_policies = message_filters::sync_policies;
////////////////////////////////////////////////////////////////////////////////////////////
/** \brief @b SACSegmentation represents the Nodelet segmentation class for Sample Consensus methods and models, in
* the sense that it just creates a Nodelet wrapper for generic-purpose SAC-based segmentation.
/** \brief @b SACSegmentation represents the Nodelet segmentation class for Sample Consensus
* methods and models, in the sense that it just creates a Nodelet wrapper for generic-purpose
* SAC-based segmentation.
* \author Radu Bogdan Rusu
*/
class SACSegmentation : public PCLNodelet
@@ -69,7 +67,8 @@ public:
SACSegmentation()
: min_inliers_(0) {}
/** \brief Set the input TF frame the data should be transformed into before processing, if input.header.frame_id is different.
/** \brief Set the input TF frame the data should be transformed into before processing,
* if input.header.frame_id is different.
* \param tf_frame the TF frame the input PointCloud should be transformed into before processing
*/
inline void setInputTFframe(std::string tf_frame) {tf_input_frame_ = tf_frame;}
@@ -102,13 +101,17 @@ protected:
/** \brief Pointer to a dynamic reconfigure service. */
boost::shared_ptr<dynamic_reconfigure::Server<SACSegmentationConfig>> srv_;
/** \brief The input TF frame the data should be transformed into, if input.header.frame_id is different. */
/** \brief The input TF frame the data should be transformed into,
* if input.header.frame_id is different.
*/
std::string tf_input_frame_;
/** \brief The original data input TF frame. */
std::string tf_input_orig_frame_;
/** \brief The output TF frame the data should be transformed into, if input.header.frame_id is different. */
/** \brief The output TF frame the data should be transformed into,
* if input.header.frame_id is different.
*/
std::string tf_output_frame_;
/** \brief Null passthrough filter, used for pushing empty elements in the
@@ -180,8 +183,8 @@ public:
};
////////////////////////////////////////////////////////////////////////////////////////////
/** \brief @b SACSegmentationFromNormals represents the PCL nodelet segmentation class for Sample Consensus methods and
* models that require the use of surface normals for estimation.
/** \brief @b SACSegmentationFromNormals represents the PCL nodelet segmentation class for
* Sample Consensus methods and models that require the use of surface normals for estimation.
*/
class SACSegmentationFromNormals : public SACSegmentation
{
@@ -194,7 +197,8 @@ class SACSegmentationFromNormals : public SACSegmentation
typedef boost::shared_ptr<const PointCloudN> PointCloudNConstPtr;
public:
/** \brief Set the input TF frame the data should be transformed into before processing, if input.header.frame_id is different.
/** \brief Set the input TF frame the data should be transformed into before processing,
* if input.header.frame_id is different.
* \param tf_frame the TF frame the input PointCloud should be transformed into before processing
*/
inline void setInputTFframe(std::string tf_frame) {tf_input_frame_ = tf_frame;}
@@ -237,11 +241,15 @@ protected:
* synchronizer */
message_filters::PassThrough<PointIndices> nf_;
/** \brief The input TF frame the data should be transformed into, if input.header.frame_id is different. */
/** \brief The input TF frame the data should be transformed into,
* if input.header.frame_id is different.
*/
std::string tf_input_frame_;
/** \brief The original data input TF frame. */
std::string tf_input_orig_frame_;
/** \brief The output TF frame the data should be transformed into, if input.header.frame_id is different. */
/** \brief The output TF frame the data should be transformed into,
* if input.header.frame_id is different.
*/
std::string tf_output_frame_;
/** \brief Nodelet initialization routine. */
@@ -288,6 +296,6 @@ private:
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
}
} // namespace pcl_ros
#endif //#ifndef PCL_ROS_SAC_SEGMENTATION_H_
#endif // PCL_ROS__SEGMENTATION__SAC_SEGMENTATION_HPP_
pcl_ros/include/pcl_ros/segmentation/segment_differences.hpp
+5 -7
View File
@@ -35,15 +35,13 @@
*
*/
#ifndef PCL_ROS_SEGMENT_DIFFERENCES_H_
#define PCL_ROS_SEGMENT_DIFFERENCES_H_
#ifndef PCL_ROS__SEGMENTATION__SEGMENT_DIFFERENCES_HPP_
#define PCL_ROS__SEGMENTATION__SEGMENT_DIFFERENCES_HPP_
#include <pcl/segmentation/segment_differences.h>
#include "pcl_ros/pcl_nodelet.hpp"
// Dynamic reconfigure
#include <dynamic_reconfigure/server.h>
#include "pcl_ros/SegmentDifferencesConfig.hpp"
#include "pcl_ros/pcl_nodelet.hpp"
namespace pcl_ros
@@ -108,6 +106,6 @@ private:
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
}
} // namespace pcl_ros
#endif //#ifndef PCL_ROS_SEGMENT_DIFFERENCES_H_
#endif // PCL_ROS__SEGMENTATION__SEGMENT_DIFFERENCES_HPP_
pcl_ros/include/pcl_ros/surface/convex_hull.hpp
+5 -9
View File
@@ -35,16 +35,12 @@
*
*/
#ifndef PCL_ROS_CONVEX_HULL_2D_H_
#define PCL_ROS_CONVEX_HULL_2D_H_
#ifndef PCL_ROS__SURFACE__CONVEX_HULL_HPP_
#define PCL_ROS__SURFACE__CONVEX_HULL_HPP_
#include "pcl_ros/pcl_nodelet.hpp"
// PCL includes
#include <pcl/surface/convex_hull.h>
// Dynamic reconfigure
#include <dynamic_reconfigure/server.h>
#include "pcl_ros/pcl_nodelet.hpp"
namespace pcl_ros
{
@@ -94,6 +90,6 @@ private:
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
}
} // namespace pcl_ros
#endif //#ifndef PCL_ROS_CONVEX_HULL_2D_H_
#endif // PCL_ROS__SURFACE__CONVEX_HULL_HPP_
pcl_ros/include/pcl_ros/surface/moving_least_squares.hpp
+15 -15
View File
@@ -35,25 +35,21 @@
*
*/
#ifndef PCL_ROS_MOVING_LEAST_SQUARES_H_
#define PCL_ROS_MOVING_LEAST_SQUARES_H_
#ifndef PCL_ROS__SURFACE__MOVING_LEAST_SQUARES_HPP_
#define PCL_ROS__SURFACE__MOVING_LEAST_SQUARES_HPP_
#include "pcl_ros/pcl_nodelet.hpp"
// PCL includes
#include <pcl/surface/mls.h>
#include <pcl/kdtree/kdtree.h> // for KdTree
// Dynamic reconfigure
#include <dynamic_reconfigure/server.h>
#include "pcl_ros/MLSConfig.h"
#include "pcl_ros/pcl_nodelet.hpp"
#include "pcl_ros/MLSConfig.hpp"
namespace pcl_ros
{
namespace sync_policies = message_filters::sync_policies;
/** \brief @b MovingLeastSquares represents a nodelet using the MovingLeastSquares implementation.
* The type of the output is the same as the input, it only smooths the XYZ coordinates according to the parameters.
* The type of the output is the same as the input, it only smooths the XYZ coordinates according
* to the parameters.
* Normals are estimated at each point as well and published on a separate topic.
* \author Radu Bogdan Rusu, Zoltan-Csaba Marton
*/
@@ -71,7 +67,9 @@ class MovingLeastSquares : public PCLNodelet
typedef pcl::KdTree<PointIn>::Ptr KdTreePtr;
protected:
/** \brief An input point cloud describing the surface that is to be used for nearest neighbors estimation. */
/** \brief An input point cloud describing the surface that is to be used for
* nearest neighbors estimation.
*/
PointCloudInConstPtr surface_;
/** \brief A pointer to the spatial search object. */
@@ -81,7 +79,7 @@ protected:
double search_radius_;
/** \brief The number of K nearest neighbors to use for each point. */
//int k_;
// int k_;
/** \brief Whether to use a polynomial fit. */
bool use_polynomial_fit_;
@@ -89,7 +87,9 @@ protected:
/** \brief The order of the polynomial to be fit. */
int polynomial_order_;
/** \brief How 'flat' should the neighbor weighting gaussian be (the smaller, the more local the fit). */
/** \brief How 'flat' should the neighbor weighting gaussian be
* the smaller, the more local the fit).
*/
double gaussian_parameter_;
// ROS nodelet attributes
@@ -147,6 +147,6 @@ private:
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
}
} // namespace pcl_ros
#endif //#ifndef PCL_ROS_MOVING_LEAST_SQUARES_H_
#endif // PCL_ROS__SURFACE__MOVING_LEAST_SQUARES_HPP_
pcl_ros/include/pcl_ros/transforms.hpp
+5 -4
View File
@@ -34,13 +34,14 @@
*
*/
#ifndef pcl_ROS_TRANSFORMS_H_
#define pcl_ROS_TRANSFORMS_H_
#ifndef PCL_ROS__TRANSFORMS_HPP_
#define PCL_ROS__TRANSFORMS_HPP_
#include <sensor_msgs/PointCloud2.h>
#include <pcl/common/transforms.h>
#include <tf/transform_datatypes.h>
#include <tf/transform_listener.h>
#include <string>
namespace pcl_ros
{
@@ -176,6 +177,6 @@ transformPointCloud(
*/
void
transformAsMatrix(const tf::Transform & bt, Eigen::Matrix4f & out_mat);
}
} // namespace pcl_ros
#endif // PCL_ROS_TRANSFORMS_H_
#endif // PCL_ROS__TRANSFORMS_HPP_