added PCL 1.6 stac for Groovy
This commit is contained in:
rusu
Paul Bovbel
@@ -0,0 +1,216 @@
|
||||
/*
|
||||
* Software License Agreement (BSD License)
|
||||
*
|
||||
* Copyright (c) 2010, 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_IMPL_TRANSFORMS_H_
|
||||
#define pcl_ros_IMPL_TRANSFORMS_H_
|
||||
|
||||
#include "pcl_ros/transforms.h"
|
||||
|
||||
namespace pcl_ros
|
||||
{
|
||||
//////////////////////////////////////////////////////////////////////////////////////////////
|
||||
template <typename PointT> void
|
||||
transformPointCloudWithNormals (const pcl::PointCloud <PointT> &cloud_in,
|
||||
pcl::PointCloud <PointT> &cloud_out, const tf::Transform &transform)
|
||||
{
|
||||
// Bullet (used by tf) and Eigen both store quaternions in x,y,z,w order, despite the ordering
|
||||
// of arguments in Eigen's constructor. We could use an Eigen Map to convert without copy, but
|
||||
// this only works if Bullet uses floats, that is if BT_USE_DOUBLE_PRECISION is not defined.
|
||||
// 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)
|
||||
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;
|
||||
transformPointCloudWithNormals (cloud_in, cloud_out, origin, rotation);
|
||||
}
|
||||
|
||||
//////////////////////////////////////////////////////////////////////////////////////////////
|
||||
template <typename PointT> void
|
||||
transformPointCloud (const pcl::PointCloud <PointT> &cloud_in,
|
||||
pcl::PointCloud <PointT> &cloud_out, const tf::Transform &transform)
|
||||
{
|
||||
// Bullet (used by tf) and Eigen both store quaternions in x,y,z,w order, despite the ordering
|
||||
// of arguments in Eigen's constructor. We could use an Eigen Map to convert without copy, but
|
||||
// this only works if Bullet uses floats, that is if BT_USE_DOUBLE_PRECISION is not defined.
|
||||
// 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)
|
||||
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;
|
||||
transformPointCloud (cloud_in, cloud_out, origin, rotation);
|
||||
}
|
||||
|
||||
//////////////////////////////////////////////////////////////////////////////////////////////
|
||||
template <typename PointT> bool
|
||||
transformPointCloudWithNormals (const std::string &target_frame,
|
||||
const pcl::PointCloud <PointT> &cloud_in,
|
||||
pcl::PointCloud <PointT> &cloud_out,
|
||||
const tf::TransformListener &tf_listener)
|
||||
{
|
||||
if (cloud_in.header.frame_id == target_frame)
|
||||
{
|
||||
cloud_out = cloud_in;
|
||||
return (true);
|
||||
}
|
||||
|
||||
tf::StampedTransform transform;
|
||||
try
|
||||
{
|
||||
tf_listener.lookupTransform (target_frame, cloud_in.header.frame_id, cloud_in.header.stamp, transform);
|
||||
}
|
||||
catch (tf::LookupException &e)
|
||||
{
|
||||
ROS_ERROR ("%s", e.what ());
|
||||
return (false);
|
||||
}
|
||||
catch (tf::ExtrapolationException &e)
|
||||
{
|
||||
ROS_ERROR ("%s", e.what ());
|
||||
return (false);
|
||||
}
|
||||
|
||||
transformPointCloudWithNormals (cloud_in, cloud_out, transform);
|
||||
cloud_out.header.frame_id = target_frame;
|
||||
return (true);
|
||||
}
|
||||
|
||||
//////////////////////////////////////////////////////////////////////////////////////////////
|
||||
template <typename PointT> bool
|
||||
transformPointCloud (const std::string &target_frame,
|
||||
const pcl::PointCloud <PointT> &cloud_in,
|
||||
pcl::PointCloud <PointT> &cloud_out,
|
||||
const tf::TransformListener &tf_listener)
|
||||
{
|
||||
if (cloud_in.header.frame_id == target_frame)
|
||||
{
|
||||
cloud_out = cloud_in;
|
||||
return (true);
|
||||
}
|
||||
|
||||
tf::StampedTransform transform;
|
||||
try
|
||||
{
|
||||
tf_listener.lookupTransform (target_frame, cloud_in.header.frame_id, cloud_in.header.stamp, transform);
|
||||
}
|
||||
catch (tf::LookupException &e)
|
||||
{
|
||||
ROS_ERROR ("%s", e.what ());
|
||||
return (false);
|
||||
}
|
||||
catch (tf::ExtrapolationException &e)
|
||||
{
|
||||
ROS_ERROR ("%s", e.what ());
|
||||
return (false);
|
||||
}
|
||||
transformPointCloud (cloud_in, cloud_out, transform);
|
||||
cloud_out.header.frame_id = target_frame;
|
||||
return (true);
|
||||
}
|
||||
|
||||
//////////////////////////////////////////////////////////////////////////////////////////////
|
||||
template <typename PointT> bool
|
||||
transformPointCloud (const std::string &target_frame,
|
||||
const ros::Time & target_time,
|
||||
const pcl::PointCloud <PointT> &cloud_in,
|
||||
const std::string &fixed_frame,
|
||||
pcl::PointCloud <PointT> &cloud_out,
|
||||
const tf::TransformListener &tf_listener)
|
||||
{
|
||||
tf::StampedTransform transform;
|
||||
try
|
||||
{
|
||||
tf_listener.lookupTransform (target_frame, target_time, cloud_in.header.frame_id, cloud_in.header.stamp, fixed_frame, transform);
|
||||
}
|
||||
catch (tf::LookupException &e)
|
||||
{
|
||||
ROS_ERROR ("%s", e.what ());
|
||||
return (false);
|
||||
}
|
||||
catch (tf::ExtrapolationException &e)
|
||||
{
|
||||
ROS_ERROR ("%s", e.what ());
|
||||
return (false);
|
||||
}
|
||||
|
||||
transformPointCloud (cloud_in, cloud_out, transform);
|
||||
cloud_out.header.frame_id = target_frame;
|
||||
cloud_out.header.stamp = target_time;
|
||||
return (true);
|
||||
}
|
||||
|
||||
//////////////////////////////////////////////////////////////////////////////////////////////
|
||||
template <typename PointT> bool
|
||||
transformPointCloudWithNormals (const std::string &target_frame,
|
||||
const ros::Time & target_time,
|
||||
const pcl::PointCloud <PointT> &cloud_in,
|
||||
const std::string &fixed_frame,
|
||||
pcl::PointCloud <PointT> &cloud_out,
|
||||
const tf::TransformListener &tf_listener)
|
||||
{
|
||||
tf::StampedTransform transform;
|
||||
try
|
||||
{
|
||||
tf_listener.lookupTransform (target_frame, target_time, cloud_in.header.frame_id, cloud_in.header.stamp, fixed_frame, transform);
|
||||
}
|
||||
catch (tf::LookupException &e)
|
||||
{
|
||||
ROS_ERROR ("%s", e.what ());
|
||||
return (false);
|
||||
}
|
||||
catch (tf::ExtrapolationException &e)
|
||||
{
|
||||
ROS_ERROR ("%s", e.what ());
|
||||
return (false);
|
||||
}
|
||||
|
||||
transformPointCloudWithNormals (cloud_in, cloud_out, transform);
|
||||
cloud_out.header.frame_id = target_frame;
|
||||
cloud_out.header.stamp = target_time;
|
||||
return (true);
|
||||
}
|
||||
|
||||
} // namespace pcl_ros
|
||||
#endif
|
||||
Reference in New Issue
Block a user