pcl_ros_util.cpp
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00001 // -*- mode: c++ -*-
00002 /*********************************************************************
00003  * Software License Agreement (BSD License)
00004  *
00005  *  Copyright (c) 2015, JSK Lab
00006  *  All rights reserved.
00007  *
00008  *  Redistribution and use in source and binary forms, with or without
00009  *  modification, are permitted provided that the following conditions
00010  *  are met:
00011  *
00012  *   * Redistributions of source code must retain the above copyright
00013  *     notice, this list of conditions and the following disclaimer.
00014  *   * Redistributions in binary form must reproduce the above
00015  *     copyright notice, this list of conditions and the following
00016  *     disclaimer in the documentation and/o2r other materials provided
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00018  *   * Neither the name of the JSK Lab nor the names of its
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00035 
00036 #include "jsk_recognition_utils/pcl_ros_util.h"
00037 #include <pcl_conversions/pcl_conversions.h>
00038 
00039 namespace jsk_recognition_utils
00040 {
00041   void publishPointIndices(
00042     ros::Publisher& pub, const pcl::PointIndices& indices, const std_msgs::Header& header)
00043   {
00044     pcl_msgs::PointIndices msg;
00045     //pcl_conversions::moveFromPCL does not support const indices
00046     msg.indices = indices.indices;
00047     msg.header = header;
00048     pub.publish(msg);
00049   }
00050 
00051   bool isSameFrameId(const std::string& a, const std::string& b)
00052   {
00053     // we can ignore the first /
00054     std::string aa;
00055     if (a.length() > 0 && a[0] == '/') {
00056       aa = a.substr(1, a.length() - 1);
00057     }
00058     else {
00059       aa = a;
00060     }
00061     std::string bb;
00062     if (b.length() > 0 && b[0] == '/') {
00063       bb = b.substr(1, b.length() - 1);
00064     }
00065     else {
00066       bb = b;
00067     }
00068     return aa == bb;
00069   }
00070   
00071   bool isSameFrameId(const std_msgs::Header& a, const std_msgs::Header& b)
00072   {
00073     return isSameFrameId(a.frame_id, b.frame_id);
00074   }
00075   
00076   bool hasField(const std::string& field_name, const sensor_msgs::PointCloud2& msg)
00077   {
00078     for (size_t i = 0; i < msg.fields.size(); i++) {
00079       sensor_msgs::PointField field = msg.fields[i];
00080       if (field.name == field_name) {
00081         return true;
00082       }
00083     }
00084     return false;
00085   }
00086   
00087 }


jsk_recognition_utils
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autogenerated on Sun Oct 8 2017 02:42:48