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Updated ROS2 PR: pcl_conversion only to ROS2 (dashing) (#244)

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* pcl_conversion to ros2

* travis for ros2 and fixed cmakelists

* exporting dependencies

* updated travis

* fixed smaller things

* added colcon ignore to meta package

* merge pcl_conversions.h with version released in Dashing

* merge test script, CMakeListst, package.xml

* append authors, clean up

* PR feedback

* fixed PR comments

* fixed PR comments, cmakelists message_filters, reverted type masq, added maintainer

* removed dashing and made ros_distro matrix env
This commit is contained in:
Andreas Klintberg
2019-10-29 19:10:32 -04:00
committed by Steven Macenski
parent a8ba2c790d
commit a1fd4d2a09
10 changed files with 227 additions and 296 deletions
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pcl_conversions/include/pcl_conversions/pcl_conversions.h
+118 -107
View File
@@ -39,33 +39,35 @@
#include <vector>
#include <ros/ros.h>
#include <rclcpp/rclcpp.hpp>
#include <message_filters/message_event.h>
#include <message_filters/message_traits.h>
#include <pcl/conversions.h>
#include <pcl/PCLHeader.h>
#include <std_msgs/Header.h>
#include <std_msgs/msg/header.hpp>
#include <pcl/PCLImage.h>
#include <sensor_msgs/Image.h>
#include <sensor_msgs/msg/image.hpp>
#include <pcl/PCLPointField.h>
#include <sensor_msgs/PointField.h>
#include <sensor_msgs/msg/point_field.hpp>
#include <pcl/PCLPointCloud2.h>
#include <sensor_msgs/PointCloud2.h>
#include <sensor_msgs/msg/point_cloud2.hpp>
#include <pcl/PointIndices.h>
#include <pcl_msgs/PointIndices.h>
#include <pcl_msgs/msg/point_indices.hpp>
#include <pcl/ModelCoefficients.h>
#include <pcl_msgs/ModelCoefficients.h>
#include <pcl_msgs/msg/model_coefficients.hpp>
#include <pcl/Vertices.h>
#include <pcl_msgs/Vertices.h>
#include <pcl_msgs/msg/vertices.hpp>
#include <pcl/PolygonMesh.h>
#include <pcl_msgs/PolygonMesh.h>
#include <pcl_msgs/msg/polygon_mesh.hpp>
#include <pcl/io/pcd_io.h>
@@ -77,27 +79,27 @@ namespace pcl_conversions {
/** PCLHeader <=> Header **/
inline
void fromPCL(const pcl::uint64_t &pcl_stamp, ros::Time &stamp)
void fromPCL(const pcl::uint64_t &pcl_stamp, rclcpp::Time &stamp)
{
stamp.fromNSec(pcl_stamp * 1000ull); // Convert from us to ns
stamp = rclcpp::Time(pcl_stamp * 1000ull); // Convert from us to ns
}
inline
void toPCL(const ros::Time &stamp, pcl::uint64_t &pcl_stamp)
void toPCL(const rclcpp::Time &stamp, pcl::uint64_t &pcl_stamp)
{
pcl_stamp = stamp.toNSec() / 1000ull; // Convert from ns to us
pcl_stamp = stamp.nanoseconds() / 1000ull; // Convert from ns to us
}
inline
ros::Time fromPCL(const pcl::uint64_t &pcl_stamp)
rclcpp::Time fromPCL(const pcl::uint64_t &pcl_stamp)
{
ros::Time stamp;
rclcpp::Time stamp;
fromPCL(pcl_stamp, stamp);
return stamp;
}
inline
pcl::uint64_t toPCL(const ros::Time &stamp)
pcl::uint64_t toPCL(const rclcpp::Time &stamp)
{
pcl::uint64_t pcl_stamp;
toPCL(stamp, pcl_stamp);
@@ -107,31 +109,35 @@ namespace pcl_conversions {
/** PCLHeader <=> Header **/
inline
void fromPCL(const pcl::PCLHeader &pcl_header, std_msgs::Header &header)
void fromPCL(const pcl::PCLHeader &pcl_header, std_msgs::msg::Header &header)
{
fromPCL(pcl_header.stamp, header.stamp);
header.seq = pcl_header.seq;
auto time_stamp = rclcpp::Time(header.stamp);
fromPCL(pcl_header.stamp, time_stamp);
header.frame_id = pcl_header.frame_id;
}
inline
void toPCL(const std_msgs::Header &header, pcl::PCLHeader &pcl_header)
void toPCL(const std_msgs::msg::Header &header, pcl::PCLHeader &pcl_header)
{
toPCL(header.stamp, pcl_header.stamp);
pcl_header.seq = header.seq;
// TODO(clalancette): Seq doesn't exist in the ROS2 header
// anymore. wjwwood suggests that we might be able to get this
// information from the middleware in the future, but for now we
// just set it to 0.
pcl_header.seq = 0;
pcl_header.frame_id = header.frame_id;
}
inline
std_msgs::Header fromPCL(const pcl::PCLHeader &pcl_header)
std_msgs::msg::Header fromPCL(const pcl::PCLHeader &pcl_header)
{
std_msgs::Header header;
std_msgs::msg::Header header;
fromPCL(pcl_header, header);
return header;
}
inline
pcl::PCLHeader toPCL(const std_msgs::Header &header)
pcl::PCLHeader toPCL(const std_msgs::msg::Header &header)
{
pcl::PCLHeader pcl_header;
toPCL(header, pcl_header);
@@ -141,7 +147,7 @@ namespace pcl_conversions {
/** PCLImage <=> Image **/
inline
void copyPCLImageMetaData(const pcl::PCLImage &pcl_image, sensor_msgs::Image &image)
void copyPCLImageMetaData(const pcl::PCLImage &pcl_image, sensor_msgs::msg::Image &image)
{
fromPCL(pcl_image.header, image.header);
image.height = pcl_image.height;
@@ -152,21 +158,21 @@ namespace pcl_conversions {
}
inline
void fromPCL(const pcl::PCLImage &pcl_image, sensor_msgs::Image &image)
void fromPCL(const pcl::PCLImage &pcl_image, sensor_msgs::msg::Image &image)
{
copyPCLImageMetaData(pcl_image, image);
image.data = pcl_image.data;
}
inline
void moveFromPCL(pcl::PCLImage &pcl_image, sensor_msgs::Image &image)
void moveFromPCL(pcl::PCLImage &pcl_image, sensor_msgs::msg::Image &image)
{
copyPCLImageMetaData(pcl_image, image);
image.data.swap(pcl_image.data);
}
inline
void copyImageMetaData(const sensor_msgs::Image &image, pcl::PCLImage &pcl_image)
void copyImageMetaData(const sensor_msgs::msg::Image &image, pcl::PCLImage &pcl_image)
{
toPCL(image.header, pcl_image.header);
pcl_image.height = image.height;
@@ -177,14 +183,14 @@ namespace pcl_conversions {
}
inline
void toPCL(const sensor_msgs::Image &image, pcl::PCLImage &pcl_image)
void toPCL(const sensor_msgs::msg::Image &image, pcl::PCLImage &pcl_image)
{
copyImageMetaData(image, pcl_image);
pcl_image.data = image.data;
}
inline
void moveToPCL(sensor_msgs::Image &image, pcl::PCLImage &pcl_image)
void moveToPCL(sensor_msgs::msg::Image &image, pcl::PCLImage &pcl_image)
{
copyImageMetaData(image, pcl_image);
pcl_image.data.swap(image.data);
@@ -193,7 +199,7 @@ namespace pcl_conversions {
/** PCLPointField <=> PointField **/
inline
void fromPCL(const pcl::PCLPointField &pcl_pf, sensor_msgs::PointField &pf)
void fromPCL(const pcl::PCLPointField &pcl_pf, sensor_msgs::msg::PointField &pf)
{
pf.name = pcl_pf.name;
pf.offset = pcl_pf.offset;
@@ -202,7 +208,7 @@ namespace pcl_conversions {
}
inline
void fromPCL(const std::vector<pcl::PCLPointField> &pcl_pfs, std::vector<sensor_msgs::PointField> &pfs)
void fromPCL(const std::vector<pcl::PCLPointField> &pcl_pfs, std::vector<sensor_msgs::msg::PointField> &pfs)
{
pfs.resize(pcl_pfs.size());
std::vector<pcl::PCLPointField>::const_iterator it = pcl_pfs.begin();
@@ -213,7 +219,7 @@ namespace pcl_conversions {
}
inline
void toPCL(const sensor_msgs::PointField &pf, pcl::PCLPointField &pcl_pf)
void toPCL(const sensor_msgs::msg::PointField &pf, pcl::PCLPointField &pcl_pf)
{
pcl_pf.name = pf.name;
pcl_pf.offset = pf.offset;
@@ -222,10 +228,10 @@ namespace pcl_conversions {
}
inline
void toPCL(const std::vector<sensor_msgs::PointField> &pfs, std::vector<pcl::PCLPointField> &pcl_pfs)
void toPCL(const std::vector<sensor_msgs::msg::PointField> &pfs, std::vector<pcl::PCLPointField> &pcl_pfs)
{
pcl_pfs.resize(pfs.size());
std::vector<sensor_msgs::PointField>::const_iterator it = pfs.begin();
std::vector<sensor_msgs::msg::PointField>::const_iterator it = pfs.begin();
int i = 0;
for(; it != pfs.end(); ++it, ++i) {
toPCL(*(it), pcl_pfs[i]);
@@ -235,7 +241,7 @@ namespace pcl_conversions {
/** PCLPointCloud2 <=> PointCloud2 **/
inline
void copyPCLPointCloud2MetaData(const pcl::PCLPointCloud2 &pcl_pc2, sensor_msgs::PointCloud2 &pc2)
void copyPCLPointCloud2MetaData(const pcl::PCLPointCloud2 &pcl_pc2, sensor_msgs::msg::PointCloud2 &pc2)
{
fromPCL(pcl_pc2.header, pc2.header);
pc2.height = pcl_pc2.height;
@@ -248,21 +254,21 @@ namespace pcl_conversions {
}
inline
void fromPCL(const pcl::PCLPointCloud2 &pcl_pc2, sensor_msgs::PointCloud2 &pc2)
void fromPCL(const pcl::PCLPointCloud2 &pcl_pc2, sensor_msgs::msg::PointCloud2 &pc2)
{
copyPCLPointCloud2MetaData(pcl_pc2, pc2);
pc2.data = pcl_pc2.data;
}
inline
void moveFromPCL(pcl::PCLPointCloud2 &pcl_pc2, sensor_msgs::PointCloud2 &pc2)
void moveFromPCL(pcl::PCLPointCloud2 &pcl_pc2, sensor_msgs::msg::PointCloud2 &pc2)
{
copyPCLPointCloud2MetaData(pcl_pc2, pc2);
pc2.data.swap(pcl_pc2.data);
}
inline
void copyPointCloud2MetaData(const sensor_msgs::PointCloud2 &pc2, pcl::PCLPointCloud2 &pcl_pc2)
void copyPointCloud2MetaData(const sensor_msgs::msg::PointCloud2 &pc2, pcl::PCLPointCloud2 &pcl_pc2)
{
toPCL(pc2.header, pcl_pc2.header);
pcl_pc2.height = pc2.height;
@@ -275,14 +281,14 @@ namespace pcl_conversions {
}
inline
void toPCL(const sensor_msgs::PointCloud2 &pc2, pcl::PCLPointCloud2 &pcl_pc2)
void toPCL(const sensor_msgs::msg::PointCloud2 &pc2, pcl::PCLPointCloud2 &pcl_pc2)
{
copyPointCloud2MetaData(pc2, pcl_pc2);
pcl_pc2.data = pc2.data;
}
inline
void moveToPCL(sensor_msgs::PointCloud2 &pc2, pcl::PCLPointCloud2 &pcl_pc2)
void moveToPCL(sensor_msgs::msg::PointCloud2 &pc2, pcl::PCLPointCloud2 &pcl_pc2)
{
copyPointCloud2MetaData(pc2, pcl_pc2);
pcl_pc2.data.swap(pc2.data);
@@ -291,28 +297,28 @@ namespace pcl_conversions {
/** pcl::PointIndices <=> pcl_msgs::PointIndices **/
inline
void fromPCL(const pcl::PointIndices &pcl_pi, pcl_msgs::PointIndices &pi)
void fromPCL(const pcl::PointIndices &pcl_pi, pcl_msgs::msg::PointIndices &pi)
{
fromPCL(pcl_pi.header, pi.header);
pi.indices = pcl_pi.indices;
}
inline
void moveFromPCL(pcl::PointIndices &pcl_pi, pcl_msgs::PointIndices &pi)
void moveFromPCL(pcl::PointIndices &pcl_pi, pcl_msgs::msg::PointIndices &pi)
{
fromPCL(pcl_pi.header, pi.header);
pi.indices.swap(pcl_pi.indices);
}
inline
void toPCL(const pcl_msgs::PointIndices &pi, pcl::PointIndices &pcl_pi)
void toPCL(const pcl_msgs::msg::PointIndices &pi, pcl::PointIndices &pcl_pi)
{
toPCL(pi.header, pcl_pi.header);
pcl_pi.indices = pi.indices;
}
inline
void moveToPCL(pcl_msgs::PointIndices &pi, pcl::PointIndices &pcl_pi)
void moveToPCL(pcl_msgs::msg::PointIndices &pi, pcl::PointIndices &pcl_pi)
{
toPCL(pi.header, pcl_pi.header);
pcl_pi.indices.swap(pi.indices);
@@ -321,28 +327,28 @@ namespace pcl_conversions {
/** pcl::ModelCoefficients <=> pcl_msgs::ModelCoefficients **/
inline
void fromPCL(const pcl::ModelCoefficients &pcl_mc, pcl_msgs::ModelCoefficients &mc)
void fromPCL(const pcl::ModelCoefficients &pcl_mc, pcl_msgs::msg::ModelCoefficients &mc)
{
fromPCL(pcl_mc.header, mc.header);
mc.values = pcl_mc.values;
}
inline
void moveFromPCL(pcl::ModelCoefficients &pcl_mc, pcl_msgs::ModelCoefficients &mc)
void moveFromPCL(pcl::ModelCoefficients &pcl_mc, pcl_msgs::msg::ModelCoefficients &mc)
{
fromPCL(pcl_mc.header, mc.header);
mc.values.swap(pcl_mc.values);
}
inline
void toPCL(const pcl_msgs::ModelCoefficients &mc, pcl::ModelCoefficients &pcl_mc)
void toPCL(const pcl_msgs::msg::ModelCoefficients &mc, pcl::ModelCoefficients &pcl_mc)
{
toPCL(mc.header, pcl_mc.header);
pcl_mc.values = mc.values;
}
inline
void moveToPCL(pcl_msgs::ModelCoefficients &mc, pcl::ModelCoefficients &pcl_mc)
void moveToPCL(pcl_msgs::msg::ModelCoefficients &mc, pcl::ModelCoefficients &pcl_mc)
{
toPCL(mc.header, pcl_mc.header);
pcl_mc.values.swap(mc.values);
@@ -351,50 +357,50 @@ namespace pcl_conversions {
/** pcl::Vertices <=> pcl_msgs::Vertices **/
inline
void fromPCL(const pcl::Vertices &pcl_vert, pcl_msgs::Vertices &vert)
void fromPCL(const pcl::Vertices &pcl_vert, pcl_msgs::msg::Vertices &vert)
{
vert.vertices = pcl_vert.vertices;
}
inline
void fromPCL(const std::vector<pcl::Vertices> &pcl_verts, std::vector<pcl_msgs::Vertices> &verts)
void fromPCL(const std::vector<pcl::Vertices> &pcl_verts, std::vector<pcl_msgs::msg::Vertices> &verts)
{
verts.resize(pcl_verts.size());
std::vector<pcl::Vertices>::const_iterator it = pcl_verts.begin();
std::vector<pcl_msgs::Vertices>::iterator jt = verts.begin();
std::vector<pcl_msgs::msg::Vertices>::iterator jt = verts.begin();
for (; it != pcl_verts.end() && jt != verts.end(); ++it, ++jt) {
fromPCL(*(it), *(jt));
}
}
inline
void moveFromPCL(pcl::Vertices &pcl_vert, pcl_msgs::Vertices &vert)
void moveFromPCL(pcl::Vertices &pcl_vert, pcl_msgs::msg::Vertices &vert)
{
vert.vertices.swap(pcl_vert.vertices);
}
inline
void fromPCL(std::vector<pcl::Vertices> &pcl_verts, std::vector<pcl_msgs::Vertices> &verts)
void fromPCL(std::vector<pcl::Vertices> &pcl_verts, std::vector<pcl_msgs::msg::Vertices> &verts)
{
verts.resize(pcl_verts.size());
std::vector<pcl::Vertices>::iterator it = pcl_verts.begin();
std::vector<pcl_msgs::Vertices>::iterator jt = verts.begin();
std::vector<pcl_msgs::msg::Vertices>::iterator jt = verts.begin();
for (; it != pcl_verts.end() && jt != verts.end(); ++it, ++jt) {
moveFromPCL(*(it), *(jt));
}
}
inline
void toPCL(const pcl_msgs::Vertices &vert, pcl::Vertices &pcl_vert)
void toPCL(const pcl_msgs::msg::Vertices &vert, pcl::Vertices &pcl_vert)
{
pcl_vert.vertices = vert.vertices;
}
inline
void toPCL(const std::vector<pcl_msgs::Vertices> &verts, std::vector<pcl::Vertices> &pcl_verts)
void toPCL(const std::vector<pcl_msgs::msg::Vertices> &verts, std::vector<pcl::Vertices> &pcl_verts)
{
pcl_verts.resize(verts.size());
std::vector<pcl_msgs::Vertices>::const_iterator it = verts.begin();
std::vector<pcl_msgs::msg::Vertices>::const_iterator it = verts.begin();
std::vector<pcl::Vertices>::iterator jt = pcl_verts.begin();
for (; it != verts.end() && jt != pcl_verts.end(); ++it, ++jt) {
toPCL(*(it), *(jt));
@@ -402,16 +408,16 @@ namespace pcl_conversions {
}
inline
void moveToPCL(pcl_msgs::Vertices &vert, pcl::Vertices &pcl_vert)
void moveToPCL(pcl_msgs::msg::Vertices &vert, pcl::Vertices &pcl_vert)
{
pcl_vert.vertices.swap(vert.vertices);
}
inline
void moveToPCL(std::vector<pcl_msgs::Vertices> &verts, std::vector<pcl::Vertices> &pcl_verts)
void moveToPCL(std::vector<pcl_msgs::msg::Vertices> &verts, std::vector<pcl::Vertices> &pcl_verts)
{
pcl_verts.resize(verts.size());
std::vector<pcl_msgs::Vertices>::iterator it = verts.begin();
std::vector<pcl_msgs::msg::Vertices>::iterator it = verts.begin();
std::vector<pcl::Vertices>::iterator jt = pcl_verts.begin();
for (; it != verts.end() && jt != pcl_verts.end(); ++it, ++jt) {
moveToPCL(*(it), *(jt));
@@ -421,7 +427,7 @@ namespace pcl_conversions {
/** pcl::PolygonMesh <=> pcl_msgs::PolygonMesh **/
inline
void fromPCL(const pcl::PolygonMesh &pcl_mesh, pcl_msgs::PolygonMesh &mesh)
void fromPCL(const pcl::PolygonMesh &pcl_mesh, pcl_msgs::msg::PolygonMesh &mesh)
{
fromPCL(pcl_mesh.header, mesh.header);
fromPCL(pcl_mesh.cloud, mesh.cloud);
@@ -429,14 +435,14 @@ namespace pcl_conversions {
}
inline
void moveFromPCL(pcl::PolygonMesh &pcl_mesh, pcl_msgs::PolygonMesh &mesh)
void moveFromPCL(pcl::PolygonMesh &pcl_mesh, pcl_msgs::msg::PolygonMesh &mesh)
{
fromPCL(pcl_mesh.header, mesh.header);
moveFromPCL(pcl_mesh.cloud, mesh.cloud);
}
inline
void toPCL(const pcl_msgs::PolygonMesh &mesh, pcl::PolygonMesh &pcl_mesh)
void toPCL(const pcl_msgs::msg::PolygonMesh &mesh, pcl::PolygonMesh &pcl_mesh)
{
toPCL(mesh.header, pcl_mesh.header);
toPCL(mesh.cloud, pcl_mesh.cloud);
@@ -444,7 +450,7 @@ namespace pcl_conversions {
}
inline
void moveToPCL(pcl_msgs::PolygonMesh &mesh, pcl::PolygonMesh &pcl_mesh)
void moveToPCL(pcl_msgs::msg::PolygonMesh &mesh, pcl::PolygonMesh &pcl_mesh)
{
toPCL(mesh.header, pcl_mesh.header);
moveToPCL(mesh.cloud, pcl_mesh.cloud);
@@ -457,7 +463,7 @@ namespace pcl {
/** Overload pcl::getFieldIndex **/
inline int getFieldIndex(const sensor_msgs::PointCloud2 &cloud, const std::string &field_name)
inline int getFieldIndex(const sensor_msgs::msg::PointCloud2 &cloud, const std::string &field_name)
{
// Get the index we need
for (size_t d = 0; d < cloud.fields.size(); ++d) {
@@ -470,7 +476,7 @@ namespace pcl {
/** Overload pcl::getFieldsList **/
inline std::string getFieldsList(const sensor_msgs::PointCloud2 &cloud)
inline std::string getFieldsList(const sensor_msgs::msg::PointCloud2 &cloud)
{
std::string result;
for (size_t i = 0; i < cloud.fields.size () - 1; ++i) {
@@ -483,7 +489,7 @@ namespace pcl {
/** Provide pcl::toROSMsg **/
inline
void toROSMsg(const sensor_msgs::PointCloud2 &cloud, sensor_msgs::Image &image)
void toROSMsg(const sensor_msgs::msg::PointCloud2 &cloud, sensor_msgs::msg::Image &image)
{
pcl::PCLPointCloud2 pcl_cloud;
pcl_conversions::toPCL(cloud, pcl_cloud);
@@ -493,7 +499,7 @@ namespace pcl {
}
inline
void moveToROSMsg(sensor_msgs::PointCloud2 &cloud, sensor_msgs::Image &image)
void moveToROSMsg(sensor_msgs::msg::PointCloud2 &cloud, sensor_msgs::msg::Image &image)
{
pcl::PCLPointCloud2 pcl_cloud;
pcl_conversions::moveToPCL(cloud, pcl_cloud);
@@ -503,7 +509,7 @@ namespace pcl {
}
template<typename T> void
toROSMsg (const pcl::PointCloud<T> &cloud, sensor_msgs::Image& msg)
toROSMsg (const pcl::PointCloud<T> &cloud, sensor_msgs::msg::Image& msg)
{
// Ease the user's burden on specifying width/height for unorganized datasets
if (cloud.width == 0 && cloud.height == 0)
@@ -532,10 +538,10 @@ namespace pcl {
}
}
/** Provide to/fromROSMsg for sensor_msgs::PointCloud2 <=> pcl::PointCloud<T> **/
/** Provide to/fromROSMsg for sensor_msgs::msg::PointCloud2 <=> pcl::PointCloud<T> **/
template<typename T>
void toROSMsg(const pcl::PointCloud<T> &pcl_cloud, sensor_msgs::PointCloud2 &cloud)
void toROSMsg(const pcl::PointCloud<T> &pcl_cloud, sensor_msgs::msg::PointCloud2 &cloud)
{
pcl::PCLPointCloud2 pcl_pc2;
pcl::toPCLPointCloud2(pcl_cloud, pcl_pc2);
@@ -543,7 +549,7 @@ namespace pcl {
}
template<typename T>
void fromROSMsg(const sensor_msgs::PointCloud2 &cloud, pcl::PointCloud<T> &pcl_cloud)
void fromROSMsg(const sensor_msgs::msg::PointCloud2 &cloud, pcl::PointCloud<T> &pcl_cloud)
{
pcl::PCLPointCloud2 pcl_pc2;
pcl_conversions::toPCL(cloud, pcl_pc2);
@@ -551,7 +557,7 @@ namespace pcl {
}
template<typename T>
void moveFromROSMsg(sensor_msgs::PointCloud2 &cloud, pcl::PointCloud<T> &pcl_cloud)
void moveFromROSMsg(sensor_msgs::msg::PointCloud2 &cloud, pcl::PointCloud<T> &pcl_cloud)
{
pcl::PCLPointCloud2 pcl_pc2;
pcl_conversions::moveToPCL(cloud, pcl_pc2);
@@ -561,7 +567,7 @@ namespace pcl {
/** Overload pcl::createMapping **/
template<typename PointT>
void createMapping(const std::vector<sensor_msgs::PointField>& msg_fields, MsgFieldMap& field_map)
void createMapping(const std::vector<sensor_msgs::msg::PointField>& msg_fields, MsgFieldMap& field_map)
{
std::vector<pcl::PCLPointField> pcl_msg_fields;
pcl_conversions::toPCL(msg_fields, pcl_msg_fields);
@@ -573,7 +579,7 @@ namespace pcl {
/** Overload pcl::io::savePCDFile **/
inline int
savePCDFile(const std::string &file_name, const sensor_msgs::PointCloud2 &cloud,
savePCDFile(const std::string &file_name, const sensor_msgs::msg::PointCloud2 &cloud,
const Eigen::Vector4f &origin = Eigen::Vector4f::Zero (),
const Eigen::Quaternionf &orientation = Eigen::Quaternionf::Identity (),
const bool binary_mode = false)
@@ -584,7 +590,7 @@ namespace pcl {
}
inline int
destructiveSavePCDFile(const std::string &file_name, sensor_msgs::PointCloud2 &cloud,
destructiveSavePCDFile(const std::string &file_name, sensor_msgs::msg::PointCloud2 &cloud,
const Eigen::Vector4f &origin = Eigen::Vector4f::Zero (),
const Eigen::Quaternionf &orientation = Eigen::Quaternionf::Identity (),
const bool binary_mode = false)
@@ -596,7 +602,7 @@ namespace pcl {
/** Overload pcl::io::loadPCDFile **/
inline int loadPCDFile(const std::string &file_name, sensor_msgs::PointCloud2 &cloud)
inline int loadPCDFile(const std::string &file_name, sensor_msgs::msg::PointCloud2 &cloud)
{
pcl::PCLPointCloud2 pcl_cloud;
int ret = pcl::io::loadPCDFile(file_name, pcl_cloud);
@@ -609,9 +615,9 @@ namespace pcl {
/** Overload asdf **/
inline
bool concatenatePointCloud (const sensor_msgs::PointCloud2 &cloud1,
const sensor_msgs::PointCloud2 &cloud2,
sensor_msgs::PointCloud2 &cloud_out)
bool concatenatePointCloud (const sensor_msgs::msg::PointCloud2 &cloud1,
const sensor_msgs::msg::PointCloud2 &cloud2,
sensor_msgs::msg::PointCloud2 &cloud_out)
{
//if one input cloud has no points, but the other input does, just return the cloud with points
if (cloud1.width * cloud1.height == 0 && cloud2.width * cloud2.height > 0)
@@ -655,7 +661,7 @@ namespace pcl {
if (strip)
{
// Get the field sizes for the second cloud
std::vector<sensor_msgs::PointField> fields2;
std::vector<sensor_msgs::msg::PointField> fields2;
std::vector<int> fields2_sizes;
for (size_t j = 0; j < cloud2.fields.size (); ++j)
{
@@ -717,68 +723,72 @@ namespace pcl {
} // namespace pcl
/* TODO when ROS2 type masquareding is implemented */
/**
namespace ros
{
template<>
struct DefaultMessageCreator<pcl::PCLPointCloud2>
{
boost::shared_ptr<pcl::PCLPointCloud2> operator() ()
std::shared_ptr<pcl::PCLPointCloud2> operator() ()
{
boost::shared_ptr<pcl::PCLPointCloud2> msg(new pcl::PCLPointCloud2());
std::shared_ptr<pcl::PCLPointCloud2> msg(new pcl::PCLPointCloud2());
return msg;
}
};
namespace message_traits
{
template<>
struct MD5Sum<pcl::PCLPointCloud2>
{
static const char* value() { return MD5Sum<sensor_msgs::PointCloud2>::value(); }
static const char* value() { return MD5Sum<sensor_msgs::msg::PointCloud2>::value(); }
static const char* value(const pcl::PCLPointCloud2&) { return value(); }
static const uint64_t static_value1 = MD5Sum<sensor_msgs::PointCloud2>::static_value1;
static const uint64_t static_value2 = MD5Sum<sensor_msgs::PointCloud2>::static_value2;
static const uint64_t static_value1 = MD5Sum<sensor_msgs::msg::PointCloud2>::static_value1;
static const uint64_t static_value2 = MD5Sum<sensor_msgs::msg::PointCloud2>::static_value2;
// If the definition of sensor_msgs/PointCloud2 changes, we'll get a compile error here.
ROS_STATIC_ASSERT(static_value1 == 0x1158d486dd51d683ULL);
ROS_STATIC_ASSERT(static_value2 == 0xce2f1be655c3c181ULL);
static_assert(static_value1 == 0x1158d486dd51d683ULL);
static_assert(static_value2 == 0xce2f1be655c3c181ULL);
};
template<>
struct DataType<pcl::PCLPointCloud2>
{
static const char* value() { return DataType<sensor_msgs::PointCloud2>::value(); }
static const char* value() { return DataType<sensor_msgs::msg::PointCloud2>::value(); }
static const char* value(const pcl::PCLPointCloud2&) { return value(); }
};
template<>
struct Definition<pcl::PCLPointCloud2>
{
static const char* value() { return Definition<sensor_msgs::PointCloud2>::value(); }
static const char* value() { return Definition<sensor_msgs::msg::PointCloud2>::value(); }
static const char* value(const pcl::PCLPointCloud2&) { return value(); }
};
template<> struct HasHeader<pcl::PCLPointCloud2> : TrueType {};
} // namespace ros::message_traits
template<> struct HasHeader<pcl::PCLPointCloud2> : std::true_type {};
} // namespace message_filters::message_traits
namespace serialization
{
**/
/*
* Provide a custom serialization for pcl::PCLPointCloud2
*/
/**
template<>
struct Serializer<pcl::PCLPointCloud2>
{
template<typename Stream>
inline static void write(Stream& stream, const pcl::PCLPointCloud2& m)
{
std_msgs::Header header;
std_msgs::msg::Header header;
pcl_conversions::fromPCL(m.header, header);
stream.next(header);
stream.next(m.height);
stream.next(m.width);
std::vector<sensor_msgs::PointField> pfs;
std::vector<sensor_msgs::msg::PointField> pfs;
pcl_conversions::fromPCL(m.fields, pfs);
stream.next(pfs);
stream.next(m.is_bigendian);
@@ -791,12 +801,12 @@ namespace ros
template<typename Stream>
inline static void read(Stream& stream, pcl::PCLPointCloud2& m)
{
std_msgs::Header header;
std_msgs::msg::Header header;
stream.next(header);
pcl_conversions::toPCL(header, m.header);
stream.next(m.height);
stream.next(m.width);
std::vector<sensor_msgs::PointField> pfs;
std::vector<sensor_msgs::msg::PointField> pfs;
stream.next(pfs);
pcl_conversions::toPCL(pfs, m.fields);
stream.next(m.is_bigendian);
@@ -810,12 +820,12 @@ namespace ros
{
uint32_t length = 0;
std_msgs::Header header;
std_msgs::msg::Header header;
pcl_conversions::fromPCL(m.header, header);
length += serializationLength(header);
length += 4; // height
length += 4; // width
std::vector<sensor_msgs::PointField> pfs;
std::vector<sensor_msgs::msg::PointField> pfs;
pcl_conversions::fromPCL(m.fields, pfs);
length += serializationLength(pfs); // fields
length += 1; // is_bigendian
@@ -828,10 +838,11 @@ namespace ros
return length;
}
};
**/
/*
* Provide a custom serialization for pcl::PCLPointField
*/
/**
template<>
struct Serializer<pcl::PCLPointField>
{
@@ -865,17 +876,18 @@ namespace ros
return length;
}
};
**/
/*
* Provide a custom serialization for pcl::PCLHeader
*/
/**
template<>
struct Serializer<pcl::PCLHeader>
{
template<typename Stream>
inline static void write(Stream& stream, const pcl::PCLHeader& m)
{
std_msgs::Header header;
std_msgs::msg::Header header;
pcl_conversions::fromPCL(m, header);
stream.next(header);
}
@@ -883,7 +895,7 @@ namespace ros
template<typename Stream>
inline static void read(Stream& stream, pcl::PCLHeader& m)
{
std_msgs::Header header;
std_msgs::msg::Header header;
stream.next(header);
pcl_conversions::toPCL(header, m);
}
@@ -892,7 +904,7 @@ namespace ros
{
uint32_t length = 0;
std_msgs::Header header;
std_msgs::msg::Header header;
pcl_conversions::fromPCL(m, header);
length += serializationLength(header);
@@ -900,8 +912,7 @@ namespace ros
}
};
} // namespace ros::serialization
} // namespace ros
**/
#endif /* PCL_CONVERSIONS_H__ */