Port transforms library to ROS2 (#301)
* Port transforms library to ROS2 - Port the transforms library to ROS2 - Update CMakeLists - Update package.xml - Enable the package Signed-off-by: Sean Kelly <sean@seankelly.dev> * Feedback from PR
This commit is contained in:
Sean Kelly
GitHub
parent
420f5b032b
commit
d7a79b927f
@ -1,245 +1,198 @@
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cmake_minimum_required(VERSION 2.8)
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cmake_minimum_required(VERSION 3.5)
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project(pcl_ros)
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if(NOT CMAKE_CXX_STANDARD)
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set(CMAKE_CXX_STANDARD 14)
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endif()
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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## Find system dependencies
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find_package(cmake_modules REQUIRED)
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find_package(Boost REQUIRED COMPONENTS system filesystem thread)
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find_package(Eigen3 REQUIRED)
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find_package(PCL REQUIRED COMPONENTS core features filters io segmentation surface)
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find_package(PCL REQUIRED QUIET COMPONENTS core features filters io segmentation surface)
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if(NOT "${PCL_LIBRARIES}" STREQUAL "")
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# For debian: https://github.com/ros-perception/perception_pcl/issues/139
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list(REMOVE_ITEM PCL_LIBRARIES
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"vtkGUISupportQt"
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"vtkGUISupportQtOpenGL"
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"vtkGUISupportQtSQL"
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"vtkGUISupportQtWebkit"
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"vtkViewsQt"
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"vtkRenderingQt")
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endif()
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## Find ROS package dependencies
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find_package(ament_cmake_ros REQUIRED)
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find_package(pcl_conversions REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(sensor_msgs REQUIRED)
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find_package(geometry_msgs REQUIRED)
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find_package(tf2 REQUIRED)
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find_package(tf2_geometry_msgs REQUIRED)
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find_package(tf2_ros REQUIRED)
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# There is a bug in the Ubuntu Artful (17.10) version of the VTK package,
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# where it includes /usr/include/*-linux-gnu/freetype2 in the include
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# directories (which doesn't exist). This filters down to the PCL_INCLUDE_DIRS,
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# and causes downstream projects trying to use these libraries to fail to
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# configure properly. Here we remove those bogus entries so that downstream
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# consumers of this package succeed.
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if(NOT "${PCL_INCLUDE_DIRS}" STREQUAL "")
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foreach(item ${PCL_INCLUDE_DIRS})
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string(REGEX MATCH "/usr/include/.*-linux-gnu/freetype2" item ${item})
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if(item)
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list(REMOVE_ITEM PCL_INCLUDE_DIRS ${item})
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endif()
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endforeach()
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endif()
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## Find catkin packages
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find_package(catkin REQUIRED COMPONENTS
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dynamic_reconfigure
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message_filters
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nodelet
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nodelet_topic_tools
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set(dependencies
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pcl_conversions
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pcl_msgs
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pluginlib
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rosbag
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rosconsole
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roscpp
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roslib
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rclcpp
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sensor_msgs
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std_msgs
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tf
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tf2_eigen
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geometry_msgs
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tf2
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tf2_geometry_msgs
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tf2_ros
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EIGEN3
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PCL
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)
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## Add include directories
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include_directories(include
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${Boost_INCLUDE_DIRS}
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${catkin_INCLUDE_DIRS}
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${EIGEN3_INCLUDE_DIRS}
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include_directories(
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include
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${PCL_INCLUDE_DIRS}
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)
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## Generate dynamic_reconfigure
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generate_dynamic_reconfigure_options(
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cfg/EuclideanClusterExtraction.cfg
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cfg/ExtractIndices.cfg
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cfg/ExtractPolygonalPrismData.cfg
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cfg/Feature.cfg
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cfg/Filter.cfg
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cfg/MLS.cfg
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cfg/SACSegmentation.cfg
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cfg/SACSegmentationFromNormals.cfg
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cfg/SegmentDifferences.cfg
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cfg/StatisticalOutlierRemoval.cfg
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cfg/RadiusOutlierRemoval.cfg
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cfg/VoxelGrid.cfg
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cfg/CropBox.cfg
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)
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## Declare the catkin package
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catkin_package(
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INCLUDE_DIRS include
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LIBRARIES
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pcl_ros_filters
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pcl_ros_io
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pcl_ros_tf
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CATKIN_DEPENDS
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dynamic_reconfigure
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message_filters
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nodelet
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nodelet_topic_tools
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pcl_conversions
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pcl_msgs
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rosbag
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roscpp
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sensor_msgs
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std_msgs
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tf
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DEPENDS
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Boost
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EIGEN3
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PCL
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)
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## Declare the pcl_ros_tf library
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add_library(pcl_ros_tf src/transforms.cpp)
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target_link_libraries(pcl_ros_tf ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${PCL_LIBRARIES})
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add_dependencies(pcl_ros_tf ${catkin_EXPORTED_TARGETS})
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## Nodelets
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## Declare the pcl_ros_io library
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add_library(pcl_ros_io
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src/pcl_ros/io/bag_io.cpp
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src/pcl_ros/io/concatenate_data.cpp
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src/pcl_ros/io/concatenate_fields.cpp
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src/pcl_ros/io/io.cpp
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src/pcl_ros/io/pcd_io.cpp
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ament_target_dependencies(pcl_ros_tf
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${dependencies}
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)
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target_link_libraries(pcl_ros_io pcl_ros_tf ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${PCL_LIBRARIES})
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class_loader_hide_library_symbols(pcl_ros_io)
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target_link_libraries(pcl_ros_tf ${PCL_LIBRARIES})
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## Declare the pcl_ros_features library
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add_library(pcl_ros_features
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src/pcl_ros/features/feature.cpp
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# Compilation is much faster if we include all the following CPP files in feature.cpp
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src/pcl_ros/features/boundary.cpp
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src/pcl_ros/features/fpfh.cpp
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src/pcl_ros/features/fpfh_omp.cpp
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src/pcl_ros/features/shot.cpp
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src/pcl_ros/features/shot_omp.cpp
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src/pcl_ros/features/moment_invariants.cpp
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src/pcl_ros/features/normal_3d.cpp
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src/pcl_ros/features/normal_3d_omp.cpp
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src/pcl_ros/features/pfh.cpp
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src/pcl_ros/features/principal_curvatures.cpp
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src/pcl_ros/features/vfh.cpp
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)
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target_link_libraries (pcl_ros_features ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${PCL_LIBRARIES})
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add_dependencies(pcl_ros_features ${PROJECT_NAME}_gencfg)
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class_loader_hide_library_symbols(pcl_ros_features)
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## Declare the pcl_ros_filters library
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add_library(pcl_ros_filters
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src/pcl_ros/filters/extract_indices.cpp
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src/pcl_ros/filters/filter.cpp
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src/pcl_ros/filters/passthrough.cpp
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src/pcl_ros/filters/project_inliers.cpp
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src/pcl_ros/filters/radius_outlier_removal.cpp
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src/pcl_ros/filters/statistical_outlier_removal.cpp
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src/pcl_ros/filters/voxel_grid.cpp
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src/pcl_ros/filters/crop_box.cpp
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)
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target_link_libraries(pcl_ros_filters pcl_ros_tf ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${PCL_LIBRARIES})
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add_dependencies(pcl_ros_filters ${PROJECT_NAME}_gencfg)
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class_loader_hide_library_symbols(pcl_ros_filters)
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## Declare the pcl_ros_segmentation library
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add_library (pcl_ros_segmentation
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src/pcl_ros/segmentation/extract_clusters.cpp
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src/pcl_ros/segmentation/extract_polygonal_prism_data.cpp
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src/pcl_ros/segmentation/sac_segmentation.cpp
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src/pcl_ros/segmentation/segment_differences.cpp
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src/pcl_ros/segmentation/segmentation.cpp
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)
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target_link_libraries(pcl_ros_segmentation pcl_ros_tf ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${PCL_LIBRARIES})
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add_dependencies(pcl_ros_segmentation ${PROJECT_NAME}_gencfg)
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class_loader_hide_library_symbols(pcl_ros_segmentation)
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## Declare the pcl_ros_surface library
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add_library (pcl_ros_surface
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src/pcl_ros/surface/surface.cpp
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# Compilation is much faster if we include all the following CPP files in surface.cpp
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src/pcl_ros/surface/convex_hull.cpp
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src/pcl_ros/surface/moving_least_squares.cpp
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)
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target_link_libraries(pcl_ros_surface ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${PCL_LIBRARIES})
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add_dependencies(pcl_ros_surface ${PROJECT_NAME}_gencfg)
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class_loader_hide_library_symbols(pcl_ros_surface)
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## Tools
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add_executable(pcd_to_pointcloud tools/pcd_to_pointcloud.cpp)
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target_link_libraries(pcd_to_pointcloud ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${PCL_LIBRARIES})
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add_executable(pointcloud_to_pcd tools/pointcloud_to_pcd.cpp)
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target_link_libraries(pointcloud_to_pcd ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${PCL_LIBRARIES})
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add_executable(bag_to_pcd tools/bag_to_pcd.cpp)
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target_link_libraries(bag_to_pcd pcl_ros_tf ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${PCL_LIBRARIES})
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add_executable(convert_pcd_to_image tools/convert_pcd_to_image.cpp)
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target_link_libraries(convert_pcd_to_image ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${PCL_LIBRARIES})
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add_executable(convert_pointcloud_to_image tools/convert_pointcloud_to_image.cpp)
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target_link_libraries(convert_pointcloud_to_image ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${PCL_LIBRARIES})
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## Downloads
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catkin_download(table_scene_lms400.pcd http://download.ros.org/data/pcl/table_scene_lms400.pcd
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DESTINATION ${CMAKE_CURRENT_SOURCE_DIR}/samples/data
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MD5 546b5b4822fb1de21b0cf83d41ad6683
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)
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add_custom_target(download ALL DEPENDS download_extra_data)
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### Nodelets
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#
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### Declare the pcl_ros_io library
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#add_library(pcl_ros_io
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# src/pcl_ros/io/bag_io.cpp
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# src/pcl_ros/io/concatenate_data.cpp
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# src/pcl_ros/io/concatenate_fields.cpp
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# src/pcl_ros/io/io.cpp
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# src/pcl_ros/io/pcd_io.cpp
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#)
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#target_link_libraries(pcl_ros_io pcl_ros_tf ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${PCL_LIBRARIES})
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#class_loader_hide_library_symbols(pcl_ros_io)
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#
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### Declare the pcl_ros_features library
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#add_library(pcl_ros_features
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# src/pcl_ros/features/feature.cpp
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# # Compilation is much faster if we include all the following CPP files in feature.cpp
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# src/pcl_ros/features/boundary.cpp
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# src/pcl_ros/features/fpfh.cpp
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# src/pcl_ros/features/fpfh_omp.cpp
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# src/pcl_ros/features/shot.cpp
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# src/pcl_ros/features/shot_omp.cpp
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# src/pcl_ros/features/moment_invariants.cpp
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# src/pcl_ros/features/normal_3d.cpp
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# src/pcl_ros/features/normal_3d_omp.cpp
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# src/pcl_ros/features/pfh.cpp
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# src/pcl_ros/features/principal_curvatures.cpp
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# src/pcl_ros/features/vfh.cpp
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#)
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#target_link_libraries (pcl_ros_features ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${PCL_LIBRARIES})
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#add_dependencies(pcl_ros_features ${PROJECT_NAME}_gencfg)
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#class_loader_hide_library_symbols(pcl_ros_features)
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#
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#
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### Declare the pcl_ros_filters library
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#add_library(pcl_ros_filters
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# src/pcl_ros/filters/extract_indices.cpp
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# src/pcl_ros/filters/filter.cpp
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# src/pcl_ros/filters/passthrough.cpp
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# src/pcl_ros/filters/project_inliers.cpp
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# src/pcl_ros/filters/radius_outlier_removal.cpp
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# src/pcl_ros/filters/statistical_outlier_removal.cpp
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# src/pcl_ros/filters/voxel_grid.cpp
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# src/pcl_ros/filters/crop_box.cpp
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#)
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#target_link_libraries(pcl_ros_filters pcl_ros_tf ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${PCL_LIBRARIES})
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#add_dependencies(pcl_ros_filters ${PROJECT_NAME}_gencfg)
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#class_loader_hide_library_symbols(pcl_ros_filters)
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#
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### Declare the pcl_ros_segmentation library
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#add_library (pcl_ros_segmentation
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# src/pcl_ros/segmentation/extract_clusters.cpp
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# src/pcl_ros/segmentation/extract_polygonal_prism_data.cpp
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# src/pcl_ros/segmentation/sac_segmentation.cpp
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# src/pcl_ros/segmentation/segment_differences.cpp
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# src/pcl_ros/segmentation/segmentation.cpp
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#)
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#target_link_libraries(pcl_ros_segmentation pcl_ros_tf ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${PCL_LIBRARIES})
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#add_dependencies(pcl_ros_segmentation ${PROJECT_NAME}_gencfg)
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#class_loader_hide_library_symbols(pcl_ros_segmentation)
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#
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### Declare the pcl_ros_surface library
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#add_library (pcl_ros_surface
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# src/pcl_ros/surface/surface.cpp
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# # Compilation is much faster if we include all the following CPP files in surface.cpp
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# src/pcl_ros/surface/convex_hull.cpp
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# src/pcl_ros/surface/moving_least_squares.cpp
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#)
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#target_link_libraries(pcl_ros_surface ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${PCL_LIBRARIES})
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#add_dependencies(pcl_ros_surface ${PROJECT_NAME}_gencfg)
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#class_loader_hide_library_symbols(pcl_ros_surface)
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#
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### Tools
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#
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#add_executable(pcd_to_pointcloud tools/pcd_to_pointcloud.cpp)
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#target_link_libraries(pcd_to_pointcloud ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${PCL_LIBRARIES})
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#
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#add_executable(pointcloud_to_pcd tools/pointcloud_to_pcd.cpp)
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#target_link_libraries(pointcloud_to_pcd ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${PCL_LIBRARIES})
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#
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#add_executable(bag_to_pcd tools/bag_to_pcd.cpp)
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#target_link_libraries(bag_to_pcd pcl_ros_tf ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${PCL_LIBRARIES})
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#
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#add_executable(convert_pcd_to_image tools/convert_pcd_to_image.cpp)
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#target_link_libraries(convert_pcd_to_image ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${PCL_LIBRARIES})
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#
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#add_executable(convert_pointcloud_to_image tools/convert_pointcloud_to_image.cpp)
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#target_link_libraries(convert_pointcloud_to_image ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${PCL_LIBRARIES})
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#
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### Downloads
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#
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#catkin_download(table_scene_lms400.pcd http://download.ros.org/data/pcl/table_scene_lms400.pcd
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# DESTINATION ${CMAKE_CURRENT_SOURCE_DIR}/samples/data
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# MD5 546b5b4822fb1de21b0cf83d41ad6683
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#)
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#add_custom_target(download ALL DEPENDS download_extra_data)
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#############
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## Testing ##
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#############
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if(CATKIN_ENABLE_TESTING)
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find_package(rostest REQUIRED)
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add_rostest_gtest(test_tf_message_filter_pcl tests/test_tf_message_filter_pcl.launch src/test/test_tf_message_filter_pcl.cpp)
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target_link_libraries(test_tf_message_filter_pcl ${catkin_LIBRARIES} ${GTEST_LIBRARIES})
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add_rostest(samples/pcl_ros/features/sample_normal_3d.launch ARGS gui:=false)
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add_rostest(samples/pcl_ros/filters/sample_statistical_outlier_removal.launch ARGS gui:=false)
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add_rostest(samples/pcl_ros/filters/sample_voxel_grid.launch ARGS gui:=false)
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add_rostest(samples/pcl_ros/segmentation/sample_extract_clusters.launch ARGS gui:=false)
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add_rostest(samples/pcl_ros/surface/sample_convex_hull.launch ARGS gui:=false)
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endif(CATKIN_ENABLE_TESTING)
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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set(ament_cmake_copyright_FOUND TRUE)
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ament_lint_auto_find_test_dependencies()
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find_package(ament_cmake_gtest REQUIRED)
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#add_rostest_gtest(test_tf_message_filter_pcl tests/test_tf_message_filter_pcl.launch src/test/test_tf_message_filter_pcl.cpp)
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#target_link_libraries(test_tf_message_filter_pcl ${catkin_LIBRARIES} ${GTEST_LIBRARIES})
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#add_rostest(samples/pcl_ros/features/sample_normal_3d.launch ARGS gui:=false)
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#add_rostest(samples/pcl_ros/filters/sample_statistical_outlier_removal.launch ARGS gui:=false)
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#add_rostest(samples/pcl_ros/filters/sample_voxel_grid.launch ARGS gui:=false)
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#add_rostest(samples/pcl_ros/segmentation/sample_extract_clusters.launch ARGS gui:=false)
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#add_rostest(samples/pcl_ros/surface/sample_convex_hull.launch ARGS gui:=false)
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endif()
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install(DIRECTORY include/${PROJECT_NAME}/
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||||
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
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||||
install(
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||||
DIRECTORY include/
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||||
DESTINATION include
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||||
)
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||||
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||||
install(
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||||
TARGETS
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||||
pcl_ros_tf
|
||||
pcl_ros_io
|
||||
pcl_ros_features
|
||||
pcl_ros_filters
|
||||
pcl_ros_surface
|
||||
pcl_ros_segmentation
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||||
pcd_to_pointcloud
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pointcloud_to_pcd
|
||||
bag_to_pcd
|
||||
convert_pcd_to_image
|
||||
convert_pointcloud_to_image
|
||||
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
|
||||
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
|
||||
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
|
||||
# pcl_ros_io
|
||||
# pcl_ros_features
|
||||
# pcl_ros_filters
|
||||
# pcl_ros_surface
|
||||
# pcl_ros_segmentation
|
||||
# pcd_to_pointcloud
|
||||
# pointcloud_to_pcd
|
||||
# bag_to_pcd
|
||||
# convert_pcd_to_image
|
||||
# convert_pointcloud_to_image
|
||||
EXPORT export_pcl_ros
|
||||
RUNTIME DESTINATION bin
|
||||
ARCHIVE DESTINATION lib
|
||||
LIBRARY DESTINATION lib
|
||||
INCLUDES DESTINATION include
|
||||
)
|
||||
|
||||
install(DIRECTORY plugins samples
|
||||
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
|
||||
DESTINATION share/${PROJECT_NAME})
|
||||
|
||||
ament_export_include_directories(include)
|
||||
ament_export_libraries(pcl_ros_tf)
|
||||
ament_export_dependencies(${dependencies})
|
||||
ament_export_targets(export_pcl_ros HAS_LIBRARY_TARGET)
|
||||
ament_package()
|
||||
|
||||
@ -37,9 +37,22 @@
|
||||
#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"
|
||||
#include <pcl/common/transforms.h>
|
||||
#include <pcl_conversions/pcl_conversions.h>
|
||||
#include <tf2/convert.h>
|
||||
#include <tf2/exceptions.h>
|
||||
#include <tf2/LinearMath/Transform.h>
|
||||
#include <tf2/LinearMath/Quaternion.h>
|
||||
#include <tf2/LinearMath/Vector3.h>
|
||||
#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
|
||||
#include <tf2_ros/buffer.h>
|
||||
#include <tf2_ros/transform_listener.h>
|
||||
#include <geometry_msgs/msg/transform_stamped.hpp>
|
||||
#include <rclcpp/logging.hpp>
|
||||
#include <rclcpp/time.hpp>
|
||||
#include <Eigen/Dense>
|
||||
#include <string>
|
||||
|
||||
using pcl_conversions::fromPCL;
|
||||
using pcl_conversions::toPCL;
|
||||
@ -51,16 +64,16 @@ template<typename PointT>
|
||||
void
|
||||
transformPointCloudWithNormals(
|
||||
const pcl::PointCloud<PointT> & cloud_in,
|
||||
pcl::PointCloud<PointT> & cloud_out, const tf::Transform & transform)
|
||||
pcl::PointCloud<PointT> & cloud_out, const tf2::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();
|
||||
tf2::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();
|
||||
tf2::Vector3 v = transform.getOrigin();
|
||||
Eigen::Vector3f origin(v.x(), v.y(), v.z());
|
||||
// Eigen::Translation3f translation(v);
|
||||
// Assemble an Eigen Transform
|
||||
@ -69,21 +82,33 @@ transformPointCloudWithNormals(
|
||||
transformPointCloudWithNormals(cloud_in, cloud_out, origin, rotation);
|
||||
}
|
||||
|
||||
//////////////////////////////////////////////////////////////////////////////////////////////
|
||||
template<typename PointT>
|
||||
void
|
||||
transformPointCloudWithNormals(
|
||||
const pcl::PointCloud<PointT> & cloud_in,
|
||||
pcl::PointCloud<PointT> & cloud_out, const geometry_msgs::msg::TransformStamped & transform)
|
||||
{
|
||||
tf2::Transform tf;
|
||||
tf2::convert(transform.transform, tf);
|
||||
transformPointCloudWithNormals(cloud_in, cloud_out, tf);
|
||||
}
|
||||
|
||||
//////////////////////////////////////////////////////////////////////////////////////////////
|
||||
template<typename PointT>
|
||||
void
|
||||
transformPointCloud(
|
||||
const pcl::PointCloud<PointT> & cloud_in,
|
||||
pcl::PointCloud<PointT> & cloud_out, const tf::Transform & transform)
|
||||
pcl::PointCloud<PointT> & cloud_out, const tf2::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();
|
||||
tf2::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();
|
||||
tf2::Vector3 v = transform.getOrigin();
|
||||
Eigen::Vector3f origin(v.x(), v.y(), v.z());
|
||||
// Eigen::Translation3f translation(v);
|
||||
// Assemble an Eigen Transform
|
||||
@ -92,6 +117,18 @@ transformPointCloud(
|
||||
transformPointCloud(cloud_in, cloud_out, origin, rotation);
|
||||
}
|
||||
|
||||
//////////////////////////////////////////////////////////////////////////////////////////////
|
||||
template<typename PointT>
|
||||
void
|
||||
transformPointCloud(
|
||||
const pcl::PointCloud<PointT> & cloud_in,
|
||||
pcl::PointCloud<PointT> & cloud_out, const geometry_msgs::msg::TransformStamped & transform)
|
||||
{
|
||||
tf2::Transform tf;
|
||||
tf2::convert(transform.transform, tf);
|
||||
transformPointCloud(cloud_in, cloud_out, tf);
|
||||
}
|
||||
|
||||
//////////////////////////////////////////////////////////////////////////////////////////////
|
||||
template<typename PointT>
|
||||
bool
|
||||
@ -99,23 +136,24 @@ transformPointCloudWithNormals(
|
||||
const std::string & target_frame,
|
||||
const pcl::PointCloud<PointT> & cloud_in,
|
||||
pcl::PointCloud<PointT> & cloud_out,
|
||||
const tf::TransformListener & tf_listener)
|
||||
const tf2_ros::Buffer & tf_buffer)
|
||||
{
|
||||
if (cloud_in.header.frame_id == target_frame) {
|
||||
cloud_out = cloud_in;
|
||||
return true;
|
||||
}
|
||||
|
||||
tf::StampedTransform transform;
|
||||
geometry_msgs::msg::TransformStamped transform;
|
||||
try {
|
||||
tf_listener.lookupTransform(
|
||||
target_frame, cloud_in.header.frame_id, fromPCL(
|
||||
cloud_in.header).stamp, transform);
|
||||
} catch (tf::LookupException & e) {
|
||||
ROS_ERROR("%s", e.what());
|
||||
transform =
|
||||
tf_buffer.lookupTransform(
|
||||
target_frame, cloud_in.header.frame_id,
|
||||
fromPCL(cloud_in.header.stamp));
|
||||
} catch (tf2::LookupException & e) {
|
||||
RCLCPP_ERROR(rclcpp::get_logger("pcl_ros"), "%s", e.what());
|
||||
return false;
|
||||
} catch (tf::ExtrapolationException & e) {
|
||||
ROS_ERROR("%s", e.what());
|
||||
} catch (tf2::ExtrapolationException & e) {
|
||||
RCLCPP_ERROR(rclcpp::get_logger("pcl_ros"), "%s", e.what());
|
||||
return false;
|
||||
}
|
||||
|
||||
@ -131,25 +169,27 @@ transformPointCloud(
|
||||
const std::string & target_frame,
|
||||
const pcl::PointCloud<PointT> & cloud_in,
|
||||
pcl::PointCloud<PointT> & cloud_out,
|
||||
const tf::TransformListener & tf_listener)
|
||||
const tf2_ros::Buffer & tf_buffer)
|
||||
{
|
||||
if (cloud_in.header.frame_id == target_frame) {
|
||||
cloud_out = cloud_in;
|
||||
return true;
|
||||
}
|
||||
|
||||
tf::StampedTransform transform;
|
||||
geometry_msgs::msg::TransformStamped transform;
|
||||
try {
|
||||
tf_listener.lookupTransform(
|
||||
target_frame, cloud_in.header.frame_id, fromPCL(
|
||||
cloud_in.header).stamp, transform);
|
||||
} catch (tf::LookupException & e) {
|
||||
ROS_ERROR("%s", e.what());
|
||||
transform =
|
||||
tf_buffer.lookupTransform(
|
||||
target_frame, cloud_in.header.frame_id,
|
||||
fromPCL(cloud_in.header.stamp));
|
||||
} catch (tf2::LookupException & e) {
|
||||
RCLCPP_ERROR(rclcpp::get_logger("pcl_ros"), "%s", e.what());
|
||||
return false;
|
||||
} catch (tf::ExtrapolationException & e) {
|
||||
ROS_ERROR("%s", e.what());
|
||||
} catch (tf2::ExtrapolationException & e) {
|
||||
RCLCPP_ERROR(rclcpp::get_logger("pcl_ros"), "%s", e.what());
|
||||
return false;
|
||||
}
|
||||
|
||||
transformPointCloud(cloud_in, cloud_out, transform);
|
||||
cloud_out.header.frame_id = target_frame;
|
||||
return true;
|
||||
@ -160,28 +200,28 @@ template<typename PointT>
|
||||
bool
|
||||
transformPointCloud(
|
||||
const std::string & target_frame,
|
||||
const ros::Time & target_time,
|
||||
const rclcpp::Time & target_time,
|
||||
const pcl::PointCloud<PointT> & cloud_in,
|
||||
const std::string & fixed_frame,
|
||||
pcl::PointCloud<PointT> & cloud_out,
|
||||
const tf::TransformListener & tf_listener)
|
||||
const tf2_ros::Buffer & tf_buffer)
|
||||
{
|
||||
tf::StampedTransform transform;
|
||||
geometry_msgs::msg::TransformStamped transform;
|
||||
try {
|
||||
tf_listener.lookupTransform(
|
||||
transform = tf_buffer.lookupTransform(
|
||||
target_frame, target_time, cloud_in.header.frame_id,
|
||||
fromPCL(cloud_in.header).stamp, fixed_frame, transform);
|
||||
} catch (tf::LookupException & e) {
|
||||
ROS_ERROR("%s", e.what());
|
||||
fromPCL(cloud_in.header.stamp), fixed_frame);
|
||||
} catch (tf2::LookupException & e) {
|
||||
RCLCPP_ERROR(rclcpp::get_logger("pcl_ros"), "%s", e.what());
|
||||
return false;
|
||||
} catch (tf::ExtrapolationException & e) {
|
||||
ROS_ERROR("%s", e.what());
|
||||
} catch (tf2::ExtrapolationException & e) {
|
||||
RCLCPP_ERROR(rclcpp::get_logger("pcl_ros"), "%s", e.what());
|
||||
return false;
|
||||
}
|
||||
|
||||
transformPointCloud(cloud_in, cloud_out, transform);
|
||||
cloud_out.header.frame_id = target_frame;
|
||||
std_msgs::Header header;
|
||||
std_msgs::msg::Header header;
|
||||
header.stamp = target_time;
|
||||
cloud_out.header = toPCL(header);
|
||||
return true;
|
||||
@ -192,28 +232,28 @@ template<typename PointT>
|
||||
bool
|
||||
transformPointCloudWithNormals(
|
||||
const std::string & target_frame,
|
||||
const ros::Time & target_time,
|
||||
const rclcpp::Time & target_time,
|
||||
const pcl::PointCloud<PointT> & cloud_in,
|
||||
const std::string & fixed_frame,
|
||||
pcl::PointCloud<PointT> & cloud_out,
|
||||
const tf::TransformListener & tf_listener)
|
||||
const tf2_ros::Buffer & tf_buffer)
|
||||
{
|
||||
tf::StampedTransform transform;
|
||||
geometry_msgs::msg::TransformStamped transform;
|
||||
try {
|
||||
tf_listener.lookupTransform(
|
||||
transform = tf_buffer.lookupTransform(
|
||||
target_frame, target_time, cloud_in.header.frame_id,
|
||||
fromPCL(cloud_in.header).stamp, fixed_frame, transform);
|
||||
} catch (tf::LookupException & e) {
|
||||
ROS_ERROR("%s", e.what());
|
||||
fromPCL(cloud_in.header.stamp), fixed_frame);
|
||||
} catch (tf2::LookupException & e) {
|
||||
RCLCPP_ERROR(rclcpp::get_logger("pcl_ros"), "%s", e.what());
|
||||
return false;
|
||||
} catch (tf::ExtrapolationException & e) {
|
||||
ROS_ERROR("%s", e.what());
|
||||
} catch (tf2::ExtrapolationException & e) {
|
||||
RCLCPP_ERROR(rclcpp::get_logger("pcl_ros"), "%s", e.what());
|
||||
return false;
|
||||
}
|
||||
|
||||
transformPointCloudWithNormals(cloud_in, cloud_out, transform);
|
||||
cloud_out.header.frame_id = target_frame;
|
||||
std_msgs::Header header;
|
||||
std_msgs::msg::Header header;
|
||||
header.stamp = target_time;
|
||||
cloud_out.header = toPCL(header);
|
||||
return true;
|
||||
|
||||
@ -37,10 +37,14 @@
|
||||
#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 <tf2/LinearMath/Transform.h>
|
||||
#include <tf2_ros/buffer.h>
|
||||
#include <tf2_ros/transform_listener.h>
|
||||
#include <rclcpp/time.hpp>
|
||||
#include <sensor_msgs/msg/point_cloud2.hpp>
|
||||
#include <geometry_msgs/msg/transform_stamped.hpp>
|
||||
#include <Eigen/Dense>
|
||||
#include <string>
|
||||
|
||||
namespace pcl_ros
|
||||
@ -56,13 +60,26 @@ void
|
||||
transformPointCloudWithNormals(
|
||||
const pcl::PointCloud<PointT> & cloud_in,
|
||||
pcl::PointCloud<PointT> & cloud_out,
|
||||
const tf::Transform & transform);
|
||||
const tf2::Transform & transform);
|
||||
|
||||
/** \brief Transform a point cloud and rotate its normals using an Eigen transform.
|
||||
* \param cloud_in the input point cloud
|
||||
* \param cloud_out the input point cloud
|
||||
* \param transform a rigid transformation from tf
|
||||
* \note calls the Eigen version
|
||||
*/
|
||||
template<typename PointT>
|
||||
void
|
||||
transformPointCloudWithNormals(
|
||||
const pcl::PointCloud<PointT> & cloud_in,
|
||||
pcl::PointCloud<PointT> & cloud_out,
|
||||
const geometry_msgs::msg::TransformStamped & transform);
|
||||
|
||||
/** \brief Transforms a point cloud in a given target TF frame using a TransformListener
|
||||
* \param target_frame the target TF frame the point cloud should be transformed to
|
||||
* \param cloud_in the input point cloud
|
||||
* \param cloud_out the input point cloud
|
||||
* \param tf_listener a TF listener object
|
||||
* \param tf_buffer a TF buffer object
|
||||
*/
|
||||
template<typename PointT>
|
||||
bool
|
||||
@ -70,7 +87,7 @@ transformPointCloudWithNormals(
|
||||
const std::string & target_frame,
|
||||
const pcl::PointCloud<PointT> & cloud_in,
|
||||
pcl::PointCloud<PointT> & cloud_out,
|
||||
const tf::TransformListener & tf_listener);
|
||||
const tf2_ros::Buffer & tf_buffer);
|
||||
|
||||
/** \brief Transforms a point cloud in a given target TF frame using a TransformListener
|
||||
* \param target_frame the target TF frame the point cloud should be transformed to
|
||||
@ -78,17 +95,17 @@ transformPointCloudWithNormals(
|
||||
* \param cloud_in the input point cloud
|
||||
* \param fixed_frame fixed TF frame
|
||||
* \param cloud_out the input point cloud
|
||||
* \param tf_listener a TF listener object
|
||||
* \param tf_buffer a TF buffer object
|
||||
*/
|
||||
template<typename PointT>
|
||||
bool
|
||||
transformPointCloudWithNormals(
|
||||
const std::string & target_frame,
|
||||
const ros::Time & target_time,
|
||||
const rclcpp::Time & target_time,
|
||||
const pcl::PointCloud<PointT> & cloud_in,
|
||||
const std::string & fixed_frame,
|
||||
pcl::PointCloud<PointT> & cloud_out,
|
||||
const tf::TransformListener & tf_listener);
|
||||
const tf2_ros::Buffer & tf_buffer);
|
||||
|
||||
/** \brief Apply a rigid transform defined by a 3D offset and a quaternion
|
||||
* \param cloud_in the input point cloud
|
||||
@ -101,13 +118,26 @@ void
|
||||
transformPointCloud(
|
||||
const pcl::PointCloud<PointT> & cloud_in,
|
||||
pcl::PointCloud<PointT> & cloud_out,
|
||||
const tf::Transform & transform);
|
||||
const tf2::Transform & transform);
|
||||
|
||||
/** \brief Apply a rigid transform defined by a 3D offset and a quaternion
|
||||
* \param cloud_in the input point cloud
|
||||
* \param cloud_out the input point cloud
|
||||
* \param transform a rigid transformation from tf
|
||||
* \note calls the Eigen version
|
||||
*/
|
||||
template<typename PointT>
|
||||
void
|
||||
transformPointCloud(
|
||||
const pcl::PointCloud<PointT> & cloud_in,
|
||||
pcl::PointCloud<PointT> & cloud_out,
|
||||
const geometry_msgs::msg::TransformStamped & transform);
|
||||
|
||||
/** \brief Transforms a point cloud in a given target TF frame using a TransformListener
|
||||
* \param target_frame the target TF frame the point cloud should be transformed to
|
||||
* \param cloud_in the input point cloud
|
||||
* \param cloud_out the input point cloud
|
||||
* \param tf_listener a TF listener object
|
||||
* \param tf_buffer a TF buffer object
|
||||
*/
|
||||
template<typename PointT>
|
||||
bool
|
||||
@ -115,7 +145,7 @@ transformPointCloud(
|
||||
const std::string & target_frame,
|
||||
const pcl::PointCloud<PointT> & cloud_in,
|
||||
pcl::PointCloud<PointT> & cloud_out,
|
||||
const tf::TransformListener & tf_listener);
|
||||
const tf2_ros::Buffer & tf_buffer);
|
||||
|
||||
/** \brief Transforms a point cloud in a given target TF frame using a TransformListener
|
||||
* \param target_frame the target TF frame the point cloud should be transformed to
|
||||
@ -123,29 +153,30 @@ transformPointCloud(
|
||||
* \param cloud_in the input point cloud
|
||||
* \param fixed_frame fixed TF frame
|
||||
* \param cloud_out the input point cloud
|
||||
* \param tf_listener a TF listener object
|
||||
* \param tf_buffer a TF buffer object
|
||||
*/
|
||||
template<typename PointT>
|
||||
bool
|
||||
transformPointCloud(
|
||||
const std::string & target_frame, const ros::Time & target_time,
|
||||
const std::string & target_frame,
|
||||
const rclcpp::Time & target_time,
|
||||
const pcl::PointCloud<PointT> & cloud_in,
|
||||
const std::string & fixed_frame,
|
||||
pcl::PointCloud<PointT> & cloud_out,
|
||||
const tf::TransformListener & tf_listener);
|
||||
const tf2_ros::Buffer & tf_buffer);
|
||||
|
||||
/** \brief Transform a sensor_msgs::PointCloud2 dataset from its frame to a given TF target frame.
|
||||
* \param target_frame the target TF frame
|
||||
* \param in the input PointCloud2 dataset
|
||||
* \param out the resultant transformed PointCloud2 dataset
|
||||
* \param tf_listener a TF listener object
|
||||
* \param tf_buffer a TF buffer object
|
||||
*/
|
||||
bool
|
||||
transformPointCloud(
|
||||
const std::string & target_frame,
|
||||
const sensor_msgs::PointCloud2 & in,
|
||||
sensor_msgs::PointCloud2 & out,
|
||||
const tf::TransformListener & tf_listener);
|
||||
const sensor_msgs::msg::PointCloud2 & in,
|
||||
sensor_msgs::msg::PointCloud2 & out,
|
||||
const tf2_ros::Buffer & tf_buffer);
|
||||
|
||||
/** \brief Transform a sensor_msgs::PointCloud2 dataset from its frame to a given TF target frame.
|
||||
* \param target_frame the target TF frame
|
||||
@ -156,9 +187,22 @@ transformPointCloud(
|
||||
void
|
||||
transformPointCloud(
|
||||
const std::string & target_frame,
|
||||
const tf::Transform & net_transform,
|
||||
const sensor_msgs::PointCloud2 & in,
|
||||
sensor_msgs::PointCloud2 & out);
|
||||
const tf2::Transform & net_transform,
|
||||
const sensor_msgs::msg::PointCloud2 & in,
|
||||
sensor_msgs::msg::PointCloud2 & out);
|
||||
|
||||
/** \brief Transform a sensor_msgs::PointCloud2 dataset from its frame to a given TF target frame.
|
||||
* \param target_frame the target TF frame
|
||||
* \param net_transform the TF transformer object
|
||||
* \param in the input PointCloud2 dataset
|
||||
* \param out the resultant transformed PointCloud2 dataset
|
||||
*/
|
||||
void
|
||||
transformPointCloud(
|
||||
const std::string & target_frame,
|
||||
const geometry_msgs::msg::TransformStamped & net_transform,
|
||||
const sensor_msgs::msg::PointCloud2 & in,
|
||||
sensor_msgs::msg::PointCloud2 & out);
|
||||
|
||||
/** \brief Transform a sensor_msgs::PointCloud2 dataset using an Eigen 4x4 matrix.
|
||||
* \param transform the transformation to use on the points
|
||||
@ -168,15 +212,22 @@ transformPointCloud(
|
||||
void
|
||||
transformPointCloud(
|
||||
const Eigen::Matrix4f & transform,
|
||||
const sensor_msgs::PointCloud2 & in,
|
||||
sensor_msgs::PointCloud2 & out);
|
||||
const sensor_msgs::msg::PointCloud2 & in,
|
||||
sensor_msgs::msg::PointCloud2 & out);
|
||||
|
||||
/** \brief Obtain the transformation matrix from TF into an Eigen form
|
||||
* \param bt the TF transformation
|
||||
* \param out_mat the Eigen transformation
|
||||
*/
|
||||
void
|
||||
transformAsMatrix(const tf::Transform & bt, Eigen::Matrix4f & out_mat);
|
||||
transformAsMatrix(const tf2::Transform & bt, Eigen::Matrix4f & out_mat);
|
||||
|
||||
/** \brief Obtain the transformation matrix from TF into an Eigen form
|
||||
* \param bt the TF transformation
|
||||
* \param out_mat the Eigen transformation
|
||||
*/
|
||||
void
|
||||
transformAsMatrix(const geometry_msgs::msg::TransformStamped & bt, Eigen::Matrix4f & out_mat);
|
||||
} // namespace pcl_ros
|
||||
|
||||
#endif // PCL_ROS__TRANSFORMS_HPP_
|
||||
|
||||
@ -1,5 +1,6 @@
|
||||
<?xml version="1.0"?>
|
||||
<package format="2">
|
||||
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
|
||||
<package format="3">
|
||||
<name>pcl_ros</name>
|
||||
<version>2.2.0</version>
|
||||
<description>
|
||||
@ -10,10 +11,6 @@
|
||||
|
||||
</description>
|
||||
|
||||
<author>Open Perception</author>
|
||||
<author email="julius@kammerl.de">Julius Kammerl</author>
|
||||
<author email="william@osrfoundation.org">William Woodall</author>
|
||||
|
||||
<maintainer email="paul@bovbel.com">Paul Bovbel</maintainer>
|
||||
<maintainer email="stevenmacenski@gmail.com">Steve Macenski</maintainer>
|
||||
<maintainer email="www.kentaro.wada@gmail.com">Kentaro Wada</maintainer>
|
||||
@ -24,35 +21,37 @@
|
||||
<url type="bugtracker">https://github.com/ros-perception/perception_pcl/issues</url>
|
||||
<url type="repository">https://github.com/ros-perception/perception_pcl</url>
|
||||
|
||||
<buildtool_depend>catkin</buildtool_depend>
|
||||
<build_depend>cmake_modules</build_depend>
|
||||
<build_depend>rosconsole</build_depend>
|
||||
<build_depend>roslib</build_depend>
|
||||
<author>Open Perception</author>
|
||||
<author email="julius@kammerl.de">Julius Kammerl</author>
|
||||
<author email="william@osrfoundation.org">William Woodall</author>
|
||||
|
||||
<depend>dynamic_reconfigure</depend>
|
||||
<buildtool_depend>ament_cmake</buildtool_depend>
|
||||
<depend>eigen</depend>
|
||||
<depend>message_filters</depend>
|
||||
<depend>nodelet</depend>
|
||||
<depend>nodelet_topic_tools</depend>
|
||||
<depend>libpcl-all-dev</depend>
|
||||
<depend>pcl_conversions</depend>
|
||||
<depend>pcl_msgs</depend>
|
||||
<depend>pluginlib</depend>
|
||||
<depend>rosbag</depend>
|
||||
<depend>roscpp</depend>
|
||||
<depend>rclcpp</depend>
|
||||
<depend>sensor_msgs</depend>
|
||||
<depend>std_msgs</depend>
|
||||
<depend>tf</depend>
|
||||
<depend>tf2_eigen</depend>
|
||||
<depend>geometry_msgs</depend>
|
||||
<depend>tf2</depend>
|
||||
<depend>tf2_geometry_msgs</depend>
|
||||
<depend>tf2_ros</depend>
|
||||
|
||||
<test_depend>rostest</test_depend>
|
||||
<test_depend>ament_lint_auto</test_depend>
|
||||
<test_depend>ament_lint_common</test_depend>
|
||||
<test_depend>ament_cmake_gtest</test_depend>
|
||||
|
||||
<export>
|
||||
<!--
|
||||
<export>
|
||||
<nodelet plugin="${prefix}/plugins/nodelet/libpcl_ros_features.xml"/>
|
||||
<nodelet plugin="${prefix}/plugins/nodelet/libpcl_ros_filters.xml"/>
|
||||
<nodelet plugin="${prefix}/plugins/nodelet/libpcl_ros_io.xml"/>
|
||||
<nodelet plugin="${prefix}/plugins/nodelet/libpcl_ros_segmentation.xml"/>
|
||||
<nodelet plugin="${prefix}/plugins/nodelet/libpcl_ros_surface.xml"/>
|
||||
</export>
|
||||
-->
|
||||
|
||||
<export>
|
||||
<build_type>ament_cmake</build_type>
|
||||
</export>
|
||||
|
||||
</package>
|
||||
|
||||
@ -34,22 +34,34 @@
|
||||
*
|
||||
*/
|
||||
|
||||
#include <sensor_msgs/PointCloud2.h>
|
||||
#include <pcl/common/io.h>
|
||||
#include <pcl/point_types.h>
|
||||
#include <pcl_conversions/pcl_conversions.h>
|
||||
#include <limits>
|
||||
#include <string>
|
||||
#include "pcl_ros/transforms.hpp"
|
||||
#include "pcl_ros/impl/transforms.hpp"
|
||||
#include <pcl/common/transforms.h>
|
||||
#include <pcl/point_types.h>
|
||||
#include <pcl_conversions/pcl_conversions.h>
|
||||
#include <tf2/convert.h>
|
||||
#include <tf2/exceptions.h>
|
||||
#include <tf2/LinearMath/Transform.h>
|
||||
#include <tf2/LinearMath/Vector3.h>
|
||||
#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
|
||||
#include <tf2_ros/buffer.h>
|
||||
#include <tf2_ros/transform_listener.h>
|
||||
#include <sensor_msgs/msg/point_cloud2.hpp>
|
||||
#include <geometry_msgs/msg/transform_stamped.hpp>
|
||||
#include <rclcpp/logging.hpp>
|
||||
#include <rclcpp/time.hpp>
|
||||
#include <Eigen/Dense>
|
||||
#include <cmath>
|
||||
#include <limits>
|
||||
#include <string>
|
||||
|
||||
namespace pcl_ros
|
||||
{
|
||||
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
|
||||
bool
|
||||
transformPointCloud(
|
||||
const std::string & target_frame, const sensor_msgs::PointCloud2 & in,
|
||||
sensor_msgs::PointCloud2 & out, const tf::TransformListener & tf_listener)
|
||||
const std::string & target_frame, const sensor_msgs::msg::PointCloud2 & in,
|
||||
sensor_msgs::msg::PointCloud2 & out, const tf2_ros::Buffer & tf_buffer)
|
||||
{
|
||||
if (in.header.frame_id == target_frame) {
|
||||
out = in;
|
||||
@ -57,14 +69,17 @@ transformPointCloud(
|
||||
}
|
||||
|
||||
// Get the TF transform
|
||||
tf::StampedTransform transform;
|
||||
geometry_msgs::msg::TransformStamped transform;
|
||||
try {
|
||||
tf_listener.lookupTransform(target_frame, in.header.frame_id, in.header.stamp, transform);
|
||||
} catch (tf::LookupException & e) {
|
||||
ROS_ERROR("%s", e.what());
|
||||
transform =
|
||||
tf_buffer.lookupTransform(
|
||||
target_frame, in.header.frame_id, tf2_ros::fromMsg(
|
||||
in.header.stamp));
|
||||
} catch (tf2::LookupException & e) {
|
||||
RCLCPP_ERROR(rclcpp::get_logger("pcl_ros"), "%s", e.what());
|
||||
return false;
|
||||
} catch (tf::ExtrapolationException & e) {
|
||||
ROS_ERROR("%s", e.what());
|
||||
} catch (tf2::ExtrapolationException & e) {
|
||||
RCLCPP_ERROR(rclcpp::get_logger("pcl_ros"), "%s", e.what());
|
||||
return false;
|
||||
}
|
||||
|
||||
@ -81,8 +96,8 @@ transformPointCloud(
|
||||
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
|
||||
void
|
||||
transformPointCloud(
|
||||
const std::string & target_frame, const tf::Transform & net_transform,
|
||||
const sensor_msgs::PointCloud2 & in, sensor_msgs::PointCloud2 & out)
|
||||
const std::string & target_frame, const tf2::Transform & net_transform,
|
||||
const sensor_msgs::msg::PointCloud2 & in, sensor_msgs::msg::PointCloud2 & out)
|
||||
{
|
||||
if (in.header.frame_id == target_frame) {
|
||||
out = in;
|
||||
@ -98,11 +113,21 @@ transformPointCloud(
|
||||
out.header.frame_id = target_frame;
|
||||
}
|
||||
|
||||
void
|
||||
transformPointCloud(
|
||||
const std::string & target_frame, const geometry_msgs::msg::TransformStamped & net_transform,
|
||||
const sensor_msgs::msg::PointCloud2 & in, sensor_msgs::msg::PointCloud2 & out)
|
||||
{
|
||||
tf2::Transform transform;
|
||||
tf2::convert(net_transform.transform, transform);
|
||||
transformPointCloud(target_frame, transform, in, out);
|
||||
}
|
||||
|
||||
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
|
||||
void
|
||||
transformPointCloud(
|
||||
const Eigen::Matrix4f & transform, const sensor_msgs::PointCloud2 & in,
|
||||
sensor_msgs::PointCloud2 & out)
|
||||
const Eigen::Matrix4f & transform, const sensor_msgs::msg::PointCloud2 & in,
|
||||
sensor_msgs::msg::PointCloud2 & out)
|
||||
{
|
||||
// Get X-Y-Z indices
|
||||
int x_idx = pcl::getFieldIndex(in, "x");
|
||||
@ -110,15 +135,19 @@ transformPointCloud(
|
||||
int z_idx = pcl::getFieldIndex(in, "z");
|
||||
|
||||
if (x_idx == -1 || y_idx == -1 || z_idx == -1) {
|
||||
ROS_ERROR("Input dataset has no X-Y-Z coordinates! Cannot convert to Eigen format.");
|
||||
RCLCPP_ERROR(
|
||||
rclcpp::get_logger("pcl_ros"),
|
||||
"Input dataset has no X-Y-Z coordinates! Cannot convert to Eigen format.");
|
||||
return;
|
||||
}
|
||||
|
||||
if (in.fields[x_idx].datatype != sensor_msgs::PointField::FLOAT32 ||
|
||||
in.fields[y_idx].datatype != sensor_msgs::PointField::FLOAT32 ||
|
||||
in.fields[z_idx].datatype != sensor_msgs::PointField::FLOAT32)
|
||||
if (in.fields[x_idx].datatype != sensor_msgs::msg::PointField::FLOAT32 ||
|
||||
in.fields[y_idx].datatype != sensor_msgs::msg::PointField::FLOAT32 ||
|
||||
in.fields[z_idx].datatype != sensor_msgs::msg::PointField::FLOAT32)
|
||||
{
|
||||
ROS_ERROR("X-Y-Z coordinates not floats. Currently only floats are supported.");
|
||||
RCLCPP_ERROR(
|
||||
rclcpp::get_logger("pcl_ros"),
|
||||
"X-Y-Z coordinates not floats. Currently only floats are supported.");
|
||||
return;
|
||||
}
|
||||
|
||||
@ -144,15 +173,15 @@ transformPointCloud(
|
||||
in.fields[z_idx].offset, 0);
|
||||
|
||||
for (size_t i = 0; i < in.width * in.height; ++i) {
|
||||
Eigen::Vector4f pt(*reinterpret_cast<float *>(&in.data[xyz_offset[0]]),
|
||||
*reinterpret_cast<float *>(&in.data[xyz_offset[1]]),
|
||||
*reinterpret_cast<float *>(&in.data[xyz_offset[2]], 1));
|
||||
Eigen::Vector4f pt(*reinterpret_cast<const float *>(&in.data[xyz_offset[0]]),
|
||||
*reinterpret_cast<const float *>(&in.data[xyz_offset[1]]),
|
||||
*reinterpret_cast<const float *>(&in.data[xyz_offset[2]]), 1);
|
||||
Eigen::Vector4f pt_out;
|
||||
|
||||
bool max_range_point = false;
|
||||
int distance_ptr_offset = i * in.point_step + in.fields[dist_idx].offset;
|
||||
float * distance_ptr =
|
||||
(dist_idx < 0 ? NULL : reinterpret_cast<float *>(&in.data[distance_ptr_offset]));
|
||||
const float * distance_ptr = (dist_idx < 0 ?
|
||||
NULL : reinterpret_cast<const float *>(&in.data[distance_ptr_offset]));
|
||||
if (!std::isfinite(pt[0]) || !std::isfinite(pt[1]) || !std::isfinite(pt[2])) {
|
||||
if (distance_ptr == NULL || !std::isfinite(*distance_ptr)) { // Invalid point
|
||||
pt_out = pt;
|
||||
@ -160,8 +189,6 @@ transformPointCloud(
|
||||
pt[0] = *distance_ptr; // Replace x with the x value saved in distance
|
||||
pt_out = transform * pt;
|
||||
max_range_point = true;
|
||||
// std::cout << pt[0]<<","<<pt[1]<<","<<pt[2]<<" => "<<pt_out[0]<<",
|
||||
// "<<pt_out[1]<<","<<pt_out[2]<<"\n";
|
||||
}
|
||||
} else {
|
||||
pt_out = transform * pt;
|
||||
@ -201,12 +228,12 @@ transformPointCloud(
|
||||
|
||||
//////////////////////////////////////////////////////////////////////////////////////////////
|
||||
void
|
||||
transformAsMatrix(const tf::Transform & bt, Eigen::Matrix4f & out_mat)
|
||||
transformAsMatrix(const tf2::Transform & bt, Eigen::Matrix4f & out_mat)
|
||||
{
|
||||
double mv[12];
|
||||
bt.getBasis().getOpenGLSubMatrix(mv);
|
||||
|
||||
tf::Vector3 origin = bt.getOrigin();
|
||||
tf2::Vector3 origin = bt.getOrigin();
|
||||
|
||||
out_mat(0, 0) = mv[0]; out_mat(0, 1) = mv[4]; out_mat(0, 2) = mv[8];
|
||||
out_mat(1, 0) = mv[1]; out_mat(1, 1) = mv[5]; out_mat(1, 2) = mv[9];
|
||||
@ -218,176 +245,231 @@ transformAsMatrix(const tf::Transform & bt, Eigen::Matrix4f & out_mat)
|
||||
out_mat(2, 3) = origin.z();
|
||||
}
|
||||
|
||||
void
|
||||
transformAsMatrix(const geometry_msgs::msg::TransformStamped & bt, Eigen::Matrix4f & out_mat)
|
||||
{
|
||||
tf2::Transform transform;
|
||||
tf2::convert(bt.transform, transform);
|
||||
transformAsMatrix(transform, out_mat);
|
||||
}
|
||||
} // namespace pcl_ros
|
||||
|
||||
//////////////////////////////////////////////////////////////////////////////////////////////
|
||||
template void pcl_ros::transformPointCloudWithNormals<pcl::PointNormal>(
|
||||
const pcl::PointCloud<pcl::PointNormal> &, pcl::PointCloud<pcl::PointNormal> &,
|
||||
const tf::Transform &);
|
||||
const tf2::Transform &);
|
||||
template void pcl_ros::transformPointCloudWithNormals<pcl::PointXYZRGBNormal>(
|
||||
const pcl::PointCloud<pcl::PointXYZRGBNormal> &, pcl::PointCloud<pcl::PointXYZRGBNormal> &,
|
||||
const tf::Transform &);
|
||||
const tf2::Transform &);
|
||||
template void pcl_ros::transformPointCloudWithNormals<pcl::PointXYZINormal>(
|
||||
const pcl::PointCloud<pcl::PointXYZINormal> &, pcl::PointCloud<pcl::PointXYZINormal> &,
|
||||
const tf::Transform &);
|
||||
const tf2::Transform &);
|
||||
|
||||
//////////////////////////////////////////////////////////////////////////////////////////////
|
||||
template void pcl_ros::transformPointCloudWithNormals<pcl::PointNormal>(
|
||||
const pcl::PointCloud<pcl::PointNormal> &, pcl::PointCloud<pcl::PointNormal> &,
|
||||
const geometry_msgs::msg::TransformStamped &);
|
||||
template void pcl_ros::transformPointCloudWithNormals<pcl::PointXYZRGBNormal>(
|
||||
const pcl::PointCloud<pcl::PointXYZRGBNormal> &, pcl::PointCloud<pcl::PointXYZRGBNormal> &,
|
||||
const geometry_msgs::msg::TransformStamped &);
|
||||
template void pcl_ros::transformPointCloudWithNormals<pcl::PointXYZINormal>(
|
||||
const pcl::PointCloud<pcl::PointXYZINormal> &, pcl::PointCloud<pcl::PointXYZINormal> &,
|
||||
const geometry_msgs::msg::TransformStamped &);
|
||||
|
||||
//////////////////////////////////////////////////////////////////////////////////////////////
|
||||
template bool pcl_ros::transformPointCloudWithNormals<pcl::PointNormal>(
|
||||
const std::string &,
|
||||
const pcl::PointCloud<pcl::PointNormal> &, pcl::PointCloud<pcl::PointNormal> &,
|
||||
const tf::TransformListener &);
|
||||
const tf2_ros::Buffer &);
|
||||
template bool pcl_ros::transformPointCloudWithNormals<pcl::PointXYZRGBNormal>(
|
||||
const std::string &,
|
||||
const pcl::PointCloud<pcl::PointXYZRGBNormal> &, pcl::PointCloud<pcl::PointXYZRGBNormal> &,
|
||||
const tf::TransformListener &);
|
||||
const tf2_ros::Buffer &);
|
||||
template bool pcl_ros::transformPointCloudWithNormals<pcl::PointXYZINormal>(
|
||||
const std::string &,
|
||||
const pcl::PointCloud<pcl::PointXYZINormal> &, pcl::PointCloud<pcl::PointXYZINormal> &,
|
||||
const tf::TransformListener &);
|
||||
const tf2_ros::Buffer &);
|
||||
|
||||
//////////////////////////////////////////////////////////////////////////////////////////////
|
||||
template bool pcl_ros::transformPointCloudWithNormals<pcl::PointNormal>(
|
||||
const std::string &,
|
||||
const ros::Time &,
|
||||
const rclcpp::Time &,
|
||||
const pcl::PointCloud<pcl::PointNormal> &, const std::string &,
|
||||
pcl::PointCloud<pcl::PointNormal> &, const tf::TransformListener &);
|
||||
pcl::PointCloud<pcl::PointNormal> &, const tf2_ros::Buffer &);
|
||||
template bool pcl_ros::transformPointCloudWithNormals<pcl::PointXYZRGBNormal>(
|
||||
const std::string &,
|
||||
const ros::Time &,
|
||||
const rclcpp::Time &,
|
||||
const pcl::PointCloud<pcl::PointXYZRGBNormal> &, const std::string &,
|
||||
pcl::PointCloud<pcl::PointXYZRGBNormal> &, const tf::TransformListener &);
|
||||
pcl::PointCloud<pcl::PointXYZRGBNormal> &, const tf2_ros::Buffer &);
|
||||
template bool pcl_ros::transformPointCloudWithNormals<pcl::PointXYZINormal>(
|
||||
const std::string &,
|
||||
const ros::Time &,
|
||||
const rclcpp::Time &,
|
||||
const pcl::PointCloud<pcl::PointXYZINormal> &, const std::string &,
|
||||
pcl::PointCloud<pcl::PointXYZINormal> &, const tf::TransformListener &);
|
||||
pcl::PointCloud<pcl::PointXYZINormal> &, const tf2_ros::Buffer &);
|
||||
|
||||
//////////////////////////////////////////////////////////////////////////////////////////////
|
||||
template void pcl_ros::transformPointCloud<pcl::PointXYZ>(
|
||||
const pcl::PointCloud<pcl::PointXYZ> &,
|
||||
pcl::PointCloud<pcl::PointXYZ> &,
|
||||
const tf::Transform &);
|
||||
const tf2::Transform &);
|
||||
template void pcl_ros::transformPointCloud<pcl::PointXYZI>(
|
||||
const pcl::PointCloud<pcl::PointXYZI> &,
|
||||
pcl::PointCloud<pcl::PointXYZI> &,
|
||||
const tf::Transform &);
|
||||
const tf2::Transform &);
|
||||
template void pcl_ros::transformPointCloud<pcl::PointXYZRGBA>(
|
||||
const pcl::PointCloud<pcl::PointXYZRGBA> &, pcl::PointCloud<pcl::PointXYZRGBA> &,
|
||||
const tf::Transform &);
|
||||
const tf2::Transform &);
|
||||
template void pcl_ros::transformPointCloud<pcl::PointXYZRGB>(
|
||||
const pcl::PointCloud<pcl::PointXYZRGB> &, pcl::PointCloud<pcl::PointXYZRGB> &,
|
||||
const tf::Transform &);
|
||||
const tf2::Transform &);
|
||||
template void pcl_ros::transformPointCloud<pcl::InterestPoint>(
|
||||
const pcl::PointCloud<pcl::InterestPoint> &, pcl::PointCloud<pcl::InterestPoint> &,
|
||||
const tf::Transform &);
|
||||
const tf2::Transform &);
|
||||
template void pcl_ros::transformPointCloud<pcl::PointNormal>(
|
||||
const pcl::PointCloud<pcl::PointNormal> &, pcl::PointCloud<pcl::PointNormal> &,
|
||||
const tf::Transform &);
|
||||
const tf2::Transform &);
|
||||
template void pcl_ros::transformPointCloud<pcl::PointXYZRGBNormal>(
|
||||
const pcl::PointCloud<pcl::PointXYZRGBNormal> &, pcl::PointCloud<pcl::PointXYZRGBNormal> &,
|
||||
const tf::Transform &);
|
||||
const tf2::Transform &);
|
||||
template void pcl_ros::transformPointCloud<pcl::PointXYZINormal>(
|
||||
const pcl::PointCloud<pcl::PointXYZINormal> &, pcl::PointCloud<pcl::PointXYZINormal> &,
|
||||
const tf::Transform &);
|
||||
const tf2::Transform &);
|
||||
template void pcl_ros::transformPointCloud<pcl::PointWithRange>(
|
||||
const pcl::PointCloud<pcl::PointWithRange> &, pcl::PointCloud<pcl::PointWithRange> &,
|
||||
const tf::Transform &);
|
||||
const tf2::Transform &);
|
||||
template void pcl_ros::transformPointCloud<pcl::PointWithViewpoint>(
|
||||
const pcl::PointCloud<pcl::PointWithViewpoint> &, pcl::PointCloud<pcl::PointWithViewpoint> &,
|
||||
const tf::Transform &);
|
||||
const tf2::Transform &);
|
||||
|
||||
//////////////////////////////////////////////////////////////////////////////////////////////
|
||||
template void pcl_ros::transformPointCloud<pcl::PointXYZ>(
|
||||
const pcl::PointCloud<pcl::PointXYZ> &,
|
||||
pcl::PointCloud<pcl::PointXYZ> &,
|
||||
const geometry_msgs::msg::TransformStamped &);
|
||||
template void pcl_ros::transformPointCloud<pcl::PointXYZI>(
|
||||
const pcl::PointCloud<pcl::PointXYZI> &,
|
||||
pcl::PointCloud<pcl::PointXYZI> &,
|
||||
const geometry_msgs::msg::TransformStamped &);
|
||||
template void pcl_ros::transformPointCloud<pcl::PointXYZRGBA>(
|
||||
const pcl::PointCloud<pcl::PointXYZRGBA> &, pcl::PointCloud<pcl::PointXYZRGBA> &,
|
||||
const geometry_msgs::msg::TransformStamped &);
|
||||
template void pcl_ros::transformPointCloud<pcl::PointXYZRGB>(
|
||||
const pcl::PointCloud<pcl::PointXYZRGB> &, pcl::PointCloud<pcl::PointXYZRGB> &,
|
||||
const geometry_msgs::msg::TransformStamped &);
|
||||
template void pcl_ros::transformPointCloud<pcl::InterestPoint>(
|
||||
const pcl::PointCloud<pcl::InterestPoint> &, pcl::PointCloud<pcl::InterestPoint> &,
|
||||
const geometry_msgs::msg::TransformStamped &);
|
||||
template void pcl_ros::transformPointCloud<pcl::PointNormal>(
|
||||
const pcl::PointCloud<pcl::PointNormal> &, pcl::PointCloud<pcl::PointNormal> &,
|
||||
const geometry_msgs::msg::TransformStamped &);
|
||||
template void pcl_ros::transformPointCloud<pcl::PointXYZRGBNormal>(
|
||||
const pcl::PointCloud<pcl::PointXYZRGBNormal> &, pcl::PointCloud<pcl::PointXYZRGBNormal> &,
|
||||
const geometry_msgs::msg::TransformStamped &);
|
||||
template void pcl_ros::transformPointCloud<pcl::PointXYZINormal>(
|
||||
const pcl::PointCloud<pcl::PointXYZINormal> &, pcl::PointCloud<pcl::PointXYZINormal> &,
|
||||
const geometry_msgs::msg::TransformStamped &);
|
||||
template void pcl_ros::transformPointCloud<pcl::PointWithRange>(
|
||||
const pcl::PointCloud<pcl::PointWithRange> &, pcl::PointCloud<pcl::PointWithRange> &,
|
||||
const geometry_msgs::msg::TransformStamped &);
|
||||
template void pcl_ros::transformPointCloud<pcl::PointWithViewpoint>(
|
||||
const pcl::PointCloud<pcl::PointWithViewpoint> &, pcl::PointCloud<pcl::PointWithViewpoint> &,
|
||||
const geometry_msgs::msg::TransformStamped &);
|
||||
|
||||
//////////////////////////////////////////////////////////////////////////////////////////////
|
||||
template bool pcl_ros::transformPointCloud<pcl::PointXYZ>(
|
||||
const std::string &,
|
||||
const pcl::PointCloud<pcl::PointXYZ> &,
|
||||
pcl::PointCloud<pcl::PointXYZ> &,
|
||||
const tf::TransformListener &);
|
||||
const tf2_ros::Buffer &);
|
||||
template bool pcl_ros::transformPointCloud<pcl::PointXYZI>(
|
||||
const std::string &,
|
||||
const pcl::PointCloud<pcl::PointXYZI> &,
|
||||
pcl::PointCloud<pcl::PointXYZI> &,
|
||||
const tf::TransformListener &);
|
||||
const tf2_ros::Buffer &);
|
||||
template bool pcl_ros::transformPointCloud<pcl::PointXYZRGBA>(
|
||||
const std::string &,
|
||||
const pcl::PointCloud<pcl::PointXYZRGBA> &, pcl::PointCloud<pcl::PointXYZRGBA> &,
|
||||
const tf::TransformListener &);
|
||||
const tf2_ros::Buffer &);
|
||||
template bool pcl_ros::transformPointCloud<pcl::PointXYZRGB>(
|
||||
const std::string &,
|
||||
const pcl::PointCloud<pcl::PointXYZRGB> &, pcl::PointCloud<pcl::PointXYZRGB> &,
|
||||
const tf::TransformListener &);
|
||||
const tf2_ros::Buffer &);
|
||||
template bool pcl_ros::transformPointCloud<pcl::InterestPoint>(
|
||||
const std::string &,
|
||||
const pcl::PointCloud<pcl::InterestPoint> &, pcl::PointCloud<pcl::InterestPoint> &,
|
||||
const tf::TransformListener &);
|
||||
const tf2_ros::Buffer &);
|
||||
template bool pcl_ros::transformPointCloud<pcl::PointNormal>(
|
||||
const std::string &,
|
||||
const pcl::PointCloud<pcl::PointNormal> &, pcl::PointCloud<pcl::PointNormal> &,
|
||||
const tf::TransformListener &);
|
||||
const tf2_ros::Buffer &);
|
||||
template bool pcl_ros::transformPointCloud<pcl::PointXYZRGBNormal>(
|
||||
const std::string &,
|
||||
const pcl::PointCloud<pcl::PointXYZRGBNormal> &, pcl::PointCloud<pcl::PointXYZRGBNormal> &,
|
||||
const tf::TransformListener &);
|
||||
const tf2_ros::Buffer &);
|
||||
template bool pcl_ros::transformPointCloud<pcl::PointXYZINormal>(
|
||||
const std::string &,
|
||||
const pcl::PointCloud<pcl::PointXYZINormal> &, pcl::PointCloud<pcl::PointXYZINormal> &,
|
||||
const tf::TransformListener &);
|
||||
const tf2_ros::Buffer &);
|
||||
template bool pcl_ros::transformPointCloud<pcl::PointWithRange>(
|
||||
const std::string &,
|
||||
const pcl::PointCloud<pcl::PointWithRange> &, pcl::PointCloud<pcl::PointWithRange> &,
|
||||
const tf::TransformListener &);
|
||||
const tf2_ros::Buffer &);
|
||||
template bool pcl_ros::transformPointCloud<pcl::PointWithViewpoint>(
|
||||
const std::string &,
|
||||
const pcl::PointCloud<pcl::PointWithViewpoint> &, pcl::PointCloud<pcl::PointWithViewpoint> &,
|
||||
const tf::TransformListener &);
|
||||
const tf2_ros::Buffer &);
|
||||
|
||||
//////////////////////////////////////////////////////////////////////////////////////////////
|
||||
template bool pcl_ros::transformPointCloud<pcl::PointXYZ>(
|
||||
const std::string &, const ros::Time &,
|
||||
const std::string &, const rclcpp::Time &,
|
||||
const pcl::PointCloud<pcl::PointXYZ> &,
|
||||
const std::string &,
|
||||
pcl::PointCloud<pcl::PointXYZ> &,
|
||||
const tf::TransformListener &);
|
||||
const tf2_ros::Buffer &);
|
||||
template bool pcl_ros::transformPointCloud<pcl::PointXYZI>(
|
||||
const std::string &, const ros::Time &,
|
||||
const std::string &,
|
||||
const rclcpp::Time &,
|
||||
const pcl::PointCloud<pcl::PointXYZI> &,
|
||||
const std::string &,
|
||||
pcl::PointCloud<pcl::PointXYZI> &,
|
||||
const tf::TransformListener &);
|
||||
const tf2_ros::Buffer &);
|
||||
template bool pcl_ros::transformPointCloud<pcl::PointXYZRGBA>(
|
||||
const std::string &,
|
||||
const ros::Time &,
|
||||
const rclcpp::Time &,
|
||||
const pcl::PointCloud<pcl::PointXYZRGBA> &, const std::string &,
|
||||
pcl::PointCloud<pcl::PointXYZRGBA> &, const tf::TransformListener &);
|
||||
pcl::PointCloud<pcl::PointXYZRGBA> &, const tf2_ros::Buffer &);
|
||||
template bool pcl_ros::transformPointCloud<pcl::PointXYZRGB>(
|
||||
const std::string &, const ros::Time &,
|
||||
const std::string &,
|
||||
const rclcpp::Time &,
|
||||
const pcl::PointCloud<pcl::PointXYZRGB> &, const std::string &,
|
||||
pcl::PointCloud<pcl::PointXYZRGB> &, const tf::TransformListener &);
|
||||
pcl::PointCloud<pcl::PointXYZRGB> &, const tf2_ros::Buffer &);
|
||||
template bool pcl_ros::transformPointCloud<pcl::InterestPoint>(
|
||||
const std::string &,
|
||||
const ros::Time &,
|
||||
const rclcpp::Time &,
|
||||
const pcl::PointCloud<pcl::InterestPoint> &, const std::string &,
|
||||
pcl::PointCloud<pcl::InterestPoint> &, const tf::TransformListener &);
|
||||
pcl::PointCloud<pcl::InterestPoint> &, const tf2_ros::Buffer &);
|
||||
template bool pcl_ros::transformPointCloud<pcl::PointNormal>(
|
||||
const std::string &, const ros::Time &,
|
||||
const std::string &,
|
||||
const rclcpp::Time &,
|
||||
const pcl::PointCloud<pcl::PointNormal> &, const std::string &,
|
||||
pcl::PointCloud<pcl::PointNormal> &, const tf::TransformListener &);
|
||||
pcl::PointCloud<pcl::PointNormal> &, const tf2_ros::Buffer &);
|
||||
template bool pcl_ros::transformPointCloud<pcl::PointXYZRGBNormal>(
|
||||
const std::string &,
|
||||
const ros::Time &,
|
||||
const rclcpp::Time &,
|
||||
const pcl::PointCloud<pcl::PointXYZRGBNormal> &, const std::string &,
|
||||
pcl::PointCloud<pcl::PointXYZRGBNormal> &, const tf::TransformListener &);
|
||||
pcl::PointCloud<pcl::PointXYZRGBNormal> &, const tf2_ros::Buffer &);
|
||||
template bool pcl_ros::transformPointCloud<pcl::PointXYZINormal>(
|
||||
const std::string &,
|
||||
const ros::Time &,
|
||||
const rclcpp::Time &,
|
||||
const pcl::PointCloud<pcl::PointXYZINormal> &, const std::string &,
|
||||
pcl::PointCloud<pcl::PointXYZINormal> &, const tf::TransformListener &);
|
||||
pcl::PointCloud<pcl::PointXYZINormal> &, const tf2_ros::Buffer &);
|
||||
template bool pcl_ros::transformPointCloud<pcl::PointWithRange>(
|
||||
const std::string &,
|
||||
const ros::Time &,
|
||||
const rclcpp::Time &,
|
||||
const pcl::PointCloud<pcl::PointWithRange> &, const std::string &,
|
||||
pcl::PointCloud<pcl::PointWithRange> &, const tf::TransformListener &);
|
||||
pcl::PointCloud<pcl::PointWithRange> &, const tf2_ros::Buffer &);
|
||||
template bool pcl_ros::transformPointCloud<pcl::PointWithViewpoint>(
|
||||
const std::string &,
|
||||
const ros::Time &,
|
||||
const rclcpp::Time &,
|
||||
const pcl::PointCloud<pcl::PointWithViewpoint> &, const std::string &,
|
||||
pcl::PointCloud<pcl::PointWithViewpoint> &, const tf::TransformListener &);
|
||||
pcl::PointCloud<pcl::PointWithViewpoint> &, const tf2_ros::Buffer &);
|
||||
|
||||
@ -27,7 +27,7 @@
|
||||
|
||||
<exec_depend>pcl_conversions</exec_depend>
|
||||
<exec_depend>pcl_msgs</exec_depend>
|
||||
<!--<exec_depend>pcl_ros</exec_depend>-->
|
||||
<exec_depend>pcl_ros</exec_depend>
|
||||
|
||||
<export>
|
||||
<build_type>ament_cmake</build_type>
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user