Initial code commit
This commit is contained in:
William Woodall
commit
649d1ca6ce
27
CMakeLists.txt
Normal file
27
CMakeLists.txt
Normal file
@ -0,0 +1,27 @@
|
||||
cmake_minimum_required(VERSION 2.8.3)
|
||||
project(pcl_conversions)
|
||||
|
||||
find_package(catkin REQUIRED COMPONENTS sensor_msgs std_msgs)
|
||||
|
||||
find_package(PCL REQUIRED COMPONENTS COMMON)
|
||||
|
||||
include_directories(include ${catkin_INCLUDE_DIRS} ${PCL_INCLUDE_DIRS})
|
||||
|
||||
catkin_package(
|
||||
INCLUDE_DIRS include
|
||||
CATKIN_DEPENDS sensor_msgs std_msgs
|
||||
DEPENDS pcl
|
||||
)
|
||||
|
||||
# Mark cpp header files for installation
|
||||
install(DIRECTORY include/${PROJECT_NAME}/
|
||||
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
|
||||
FILES_MATCHING PATTERN "*.h"
|
||||
PATTERN ".svn" EXCLUDE
|
||||
)
|
||||
|
||||
# Add gtest based cpp test target
|
||||
find_package(GTEST QUIET)
|
||||
if(GTEST_FOUND)
|
||||
catkin_add_gtest(${PROJECT_NAME}-test test/test_pcl_conversions.cpp)
|
||||
endif()
|
||||
169
include/pcl_conversions/pcl_conversions.h
Normal file
169
include/pcl_conversions/pcl_conversions.h
Normal file
@ -0,0 +1,169 @@
|
||||
/*
|
||||
* Software License Agreement (BSD License)
|
||||
*
|
||||
* Copyright (c) 2013, Open Source Robotics Foundation, 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 Open Source Robotics Foundation, 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.
|
||||
*/
|
||||
|
||||
#include <vector>
|
||||
|
||||
#include <boost/shared_ptr.hpp>
|
||||
|
||||
#include <pcl_std_msgs/PCLHeader.h>
|
||||
#include <std_msgs/Header.h>
|
||||
|
||||
#include <pcl_sensor_msgs/PCLImage.h>
|
||||
#include <sensor_msgs/Image.h>
|
||||
|
||||
#include <pcl_sensor_msgs/PCLPointField.h>
|
||||
#include <sensor_msgs/PointField.h>
|
||||
|
||||
#include <pcl_sensor_msgs/PCLPointCloud2.h>
|
||||
#include <sensor_msgs/PointCloud2.h>
|
||||
|
||||
namespace pcl_conversions {
|
||||
|
||||
/** PCLHeader <=> Header **/
|
||||
|
||||
void fromPCLHeaderToHeader(const pcl_std_msgs::PCLHeader &pcl_header, std_msgs::Header &header)
|
||||
{
|
||||
header.stamp.fromNSec(pcl_header.stamp);
|
||||
header.seq = pcl_header.seq;
|
||||
header.frame_id = pcl_header.frame_id;
|
||||
}
|
||||
|
||||
void fromHeaderToPCLHeader(const std_msgs::Header &header, pcl_std_msgs::PCLHeader &pcl_header)
|
||||
{
|
||||
pcl_header.stamp = header.stamp.toNSec();
|
||||
pcl_header.seq = header.seq;
|
||||
pcl_header.frame_id = header.frame_id;
|
||||
}
|
||||
|
||||
/** PCLImage <=> Image **/
|
||||
|
||||
void fromPCLImageToImage(const pcl_sensor_msgs::PCLImage &pcl_image, sensor_msgs::Image &image)
|
||||
{
|
||||
fromPCLHeaderToHeader(pcl_image.header, image.header);
|
||||
image.height = pcl_image.height;
|
||||
image.width = pcl_image.width;
|
||||
image.encoding = pcl_image.encoding;
|
||||
image.is_bigendian = pcl_image.is_bigendian;
|
||||
image.step = pcl_image.step;
|
||||
image.data = pcl_image.data;
|
||||
}
|
||||
|
||||
class ConvertedImage
|
||||
{
|
||||
public:
|
||||
ConvertedImage(boost::shared_ptr<pcl_sensor_msgs::PCLImage> pcl_image_ptr)
|
||||
: image(), _pcl_image_ptr(pcl_image_ptr)
|
||||
{
|
||||
fromPCLHeaderToHeader(pcl_image_ptr->header, image.header);
|
||||
image.height = pcl_image_ptr->height;
|
||||
image.width = pcl_image_ptr->width;
|
||||
image.encoding = pcl_image_ptr->encoding;
|
||||
image.is_bigendian = pcl_image_ptr->is_bigendian;
|
||||
image.step = pcl_image_ptr->step;
|
||||
}
|
||||
|
||||
sensor_msgs::Image image;
|
||||
private:
|
||||
boost::shared_ptr<pcl_sensor_msgs::PCLImage> _pcl_image_ptr;
|
||||
};
|
||||
|
||||
void fromImageToPCLImage(const sensor_msgs::Image &image, pcl_sensor_msgs::PCLImage &pcl_image)
|
||||
{
|
||||
fromHeaderToPCLHeader(image.header, pcl_image.header);
|
||||
pcl_image.height = image.height;
|
||||
pcl_image.width = image.width;
|
||||
pcl_image.encoding = image.encoding;
|
||||
pcl_image.is_bigendian = image.is_bigendian;
|
||||
pcl_image.step = image.step;
|
||||
pcl_image.data = image.data;
|
||||
}
|
||||
|
||||
/** PCLPointCloud2 <=> PointCloud2 **/
|
||||
|
||||
void fromPCLPointFieldToPointField(const pcl_sensor_msgs::PCLPointField &pcl_pf, sensor_msgs::PointField &pf)
|
||||
{
|
||||
pf.name = pcl_pf.name;
|
||||
pf.offset = pcl_pf.offset;
|
||||
pf.datatype = pcl_pf.datatype;
|
||||
pf.count = pcl_pf.count;
|
||||
}
|
||||
|
||||
void fromPointFieldToPCLPointField(const sensor_msgs::PointField &pf, pcl_sensor_msgs::PCLPointField &pcl_pf)
|
||||
{
|
||||
pcl_pf.name = pf.name;
|
||||
pcl_pf.offset = pf.offset;
|
||||
pcl_pf.datatype = pf.datatype;
|
||||
pcl_pf.count = pf.count;
|
||||
}
|
||||
|
||||
/** PCLPointCloud2 <=> PointCloud2 **/
|
||||
|
||||
void fromPCLPointCloud2ToPointCloud2(const pcl_sensor_msgs::PCLPointCloud2 &pcl_pc2, sensor_msgs::PointCloud2 &pc2)
|
||||
{
|
||||
fromPCLHeaderToHeader(pcl_pc2.header, pc2.header);
|
||||
pc2.height = pcl_pc2.height;
|
||||
pc2.width = pcl_pc2.width;
|
||||
pc2.fields.resize(pcl_pc2.fields.size());
|
||||
std::vector<pcl_sensor_msgs::PCLPointField>::const_iterator it = pcl_pc2.fields.begin();
|
||||
int i = 0;
|
||||
for(; it != pcl_pc2.fields.end(); ++it, ++i) {
|
||||
fromPCLPointFieldToPointField(*(it), pc2.fields[i]);
|
||||
}
|
||||
pc2.is_bigendian = pcl_pc2.is_bigendian;
|
||||
pc2.point_step = pcl_pc2.point_step;
|
||||
pc2.row_step = pcl_pc2.row_step;
|
||||
pc2.data = pcl_pc2.data;
|
||||
pc2.is_dense = pcl_pc2.is_dense;
|
||||
}
|
||||
|
||||
void fromPointCloud2ToPCLPointCloud2(const sensor_msgs::PointCloud2 &pc2, pcl_sensor_msgs::PCLPointCloud2 &pcl_pc2)
|
||||
{
|
||||
fromHeaderToPCLHeader(pc2.header, pcl_pc2.header);
|
||||
pcl_pc2.height = pc2.height;
|
||||
pcl_pc2.width = pc2.width;
|
||||
pcl_pc2.fields.resize(pc2.fields.size());
|
||||
std::vector<sensor_msgs::PointField>::const_iterator it = pc2.fields.begin();
|
||||
int i = 0;
|
||||
for(; it != pc2.fields.end(); ++it, ++i) {
|
||||
fromPointFieldToPCLPointField(*(it), pcl_pc2.fields[i]);
|
||||
}
|
||||
pcl_pc2.is_bigendian = pc2.is_bigendian;
|
||||
pcl_pc2.point_step = pc2.point_step;
|
||||
pcl_pc2.row_step = pc2.row_step;
|
||||
pcl_pc2.data = pc2.data;
|
||||
pcl_pc2.is_dense = pc2.is_dense;
|
||||
}
|
||||
|
||||
} // namespace pcl_conversions
|
||||
25
package.xml
Normal file
25
package.xml
Normal file
@ -0,0 +1,25 @@
|
||||
<?xml version="1.0"?>
|
||||
<package>
|
||||
<name>pcl_conversions</name>
|
||||
<version>0.1.0</version>
|
||||
<description>Provides conversions from PCL data types and ROS message types</description>
|
||||
<maintainer email="william@osrfoundation.org">William Woodall</maintainer>
|
||||
|
||||
<license>BSD</license>
|
||||
|
||||
<url type="repository">https://github.com/ros-perception/pcl_conversions</url>
|
||||
<url type="bugtracker">https://github.com/ros-perception/pcl_conversions/issues</url>
|
||||
|
||||
<author email="william@osrfoundation.org">William Woodall</author>
|
||||
|
||||
<buildtool_depend>catkin</buildtool_depend>
|
||||
|
||||
<build_depend>sensor_msgs</build_depend>
|
||||
<build_depend>std_msgs</build_depend>
|
||||
<build_depend>pcl</build_depend>
|
||||
|
||||
<run_depend>sensor_msgs</run_depend>
|
||||
<run_depend>std_msgs</run_depend>
|
||||
<run_depend>pcl</run_depend>
|
||||
|
||||
</package>
|
||||
5
test/test_pcl_conversions.cpp
Normal file
5
test/test_pcl_conversions.cpp
Normal file
@ -0,0 +1,5 @@
|
||||
#include "gtest/gtest.h"
|
||||
|
||||
#include "pcl_conversions/pcl_conversions.h"
|
||||
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user