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specialized HasHeader, TimeStamp, FrameId

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- HasHeader now returns false
- TimeStamp and FrameId specialed for pcl::PointCloud<T> for any point type T

These changes allow to use pcl::PointCloud with tf::MessageFilter
This commit is contained in:
Brice Rebsamen 2015-02-10 15:10:28 -08:00 committed by Paul Bovbel
parent afeb804f30
commit a32bff82f7
1 changed files with 14 additions and 31 deletions
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45
pcl_ros/include/pcl_ros/point_cloud.h
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@ -109,29 +109,30 @@ namespace ros
static const char* value(const pcl::PointCloud<T>&) { return value(); } static const char* value(const pcl::PointCloud<T>&) { return value(); }
}; };
template<typename T> struct HasHeader<pcl::PointCloud<T> > : TrueType {}; // pcl point clouds message don't have a ROS compatible header
// the specialized meta functions below (TimeStamp and FrameId)
// can be used to get the header data.
template<typename T> struct HasHeader<pcl::PointCloud<T> > : FalseType {};
// This is bad because it will only work for pcl::PointXYZ, but I can't template<typename T>
// find another way around ambiguous partial template specialization... struct TimeStamp<pcl::PointCloud<T> >
template<>
struct TimeStamp<pcl::PointCloud<pcl::PointXYZ> >
{ {
// This specialization could be dangerous, but it's the best I can do. // This specialization could be dangerous, but it's the best I can do.
// If this TimeStamp struct is destroyed before they are done with the // If this TimeStamp struct is destroyed before they are done with the
// pointer returned by the first functions may go out of scope, but there // pointer returned by the first functions may go out of scope, but there
// isn't a lot I can do about that. This is a good reason to refuse to // isn't a lot I can do about that. This is a good reason to refuse to
// returning pointers like this... // returning pointers like this...
static ros::Time* pointer(pcl::PointCloud<pcl::PointXYZ> &m) { static ros::Time* pointer(typename pcl::PointCloud<T> &m) {
header_.reset(new std_msgs::Header()); header_.reset(new std_msgs::Header());
pcl_conversions::fromPCL(m.header, *(header_)); pcl_conversions::fromPCL(m.header, *(header_));
return &(header_->stamp); return &(header_->stamp);
} }
static ros::Time const* pointer(const pcl::PointCloud<pcl::PointXYZ>& m) { static ros::Time const* pointer(const typename pcl::PointCloud<T>& m) {
header_const_.reset(new std_msgs::Header()); header_const_.reset(new std_msgs::Header());
pcl_conversions::fromPCL(m.header, *(header_const_)); pcl_conversions::fromPCL(m.header, *(header_const_));
return &(header_const_->stamp); return &(header_const_->stamp);
} }
static ros::Time value(const pcl::PointCloud<pcl::PointXYZ>& m) { static ros::Time value(const typename pcl::PointCloud<T>& m) {
return pcl_conversions::fromPCL(m.header).stamp; return pcl_conversions::fromPCL(m.header).stamp;
} }
private: private:
@ -139,30 +140,12 @@ namespace ros
static boost::shared_ptr<std_msgs::Header> header_const_; static boost::shared_ptr<std_msgs::Header> header_const_;
}; };
template<> template<typename T>
struct TimeStamp<pcl::PointCloud<pcl::Normal> > struct FrameId<pcl::PointCloud<T> >
{ {
// This specialization could be dangerous, but it's the best I can do. static std::string* pointer(pcl::PointCloud<T>& m) { return &m.header.frame_id; }
// If this TimeStamp struct is destroyed before they are done with the static std::string const* pointer(const pcl::PointCloud<T>& m) { return &m.header.frame_id; }
// pointer returned by the first functions may go out of scope, but there static std::string value(const pcl::PointCloud<T>& m) { return m.header.frame_id; }
// isn't a lot I can do about that. This is a good reason to refuse to
// returning pointers like this...
static ros::Time* pointer(pcl::PointCloud<pcl::Normal> &m) {
header_.reset(new std_msgs::Header());
pcl_conversions::fromPCL(m.header, *(header_));
return &(header_->stamp);
}
static ros::Time const* pointer(const pcl::PointCloud<pcl::Normal>& m) {
header_const_.reset(new std_msgs::Header());
pcl_conversions::fromPCL(m.header, *(header_const_));
return &(header_const_->stamp);
}
static ros::Time value(const pcl::PointCloud<pcl::Normal>& m) {
return pcl_conversions::fromPCL(m.header).stamp;
}
private:
static boost::shared_ptr<std_msgs::Header> header_;
static boost::shared_ptr<std_msgs::Header> header_const_;
}; };
} // namespace ros::message_traits } // namespace ros::message_traits