pcl_ros_util.h

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// -*- mode: c++ -*-
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#ifndef JSK_RECOGNITION_UTILS_PCL_ROS_UTIL_H_
#define JSK_RECOGNITION_UTILS_PCL_ROS_UTIL_H_
 
#include <ros/ros.h>
 
#include <std_msgs/Header.h>
#include <pcl_msgs/PointIndices.h>
 
#include <jsk_recognition_msgs/BoundingBox.h>
#include <pcl/PointIndices.h>
#include <pcl/filters/crop_box.h>
#include <sensor_msgs/PointCloud2.h>
 
#include "jsk_recognition_utils/pcl_conversion_util.h"
 
namespace jsk_recognition_utils
{
  void publishPointIndices(ros::Publisher& pub,
                           const pcl::PointIndices& indices,
                           const std_msgs::Header& header);
  
  bool isSameFrameId(const std::string& a, const std::string& b);
 
  bool isSameFrameId(const std_msgs::Header& a, const std_msgs::Header& b);
 
  template<class T1, class T2>
  bool isSameFrameId(const T1& a, const T2& b)
  {
    return isSameFrameId(a.header, b.header);
  }
  
  bool hasField(const std::string& field_name, const sensor_msgs::PointCloud2& msg);
 
  template<typename PointT>
  void
  cropPointCloud(const typename pcl::PointCloud<PointT>::Ptr& cloud,
                 const jsk_recognition_msgs::BoundingBox& bbox_msg,
                 std::vector<int>* indices,
                 bool extract_removed_indices=false)
  {
    if (cloud->header.frame_id != bbox_msg.header.frame_id)
    {
      fprintf(stderr, "Frame id of input cloud and bounding box must be same. Cloud: %s, BoundingBox: %s.",
              cloud->header.frame_id.c_str(), bbox_msg.header.frame_id.c_str());
      return;
    }
    pcl::CropBox<PointT> crop_box(/*extract_removed_indices=*/extract_removed_indices);
 
    crop_box.setInputCloud(cloud);
 
    Eigen::Affine3f box_pose;
    tf::poseMsgToEigen(bbox_msg.pose, box_pose);
    crop_box.setTranslation(box_pose.translation());
    float roll, pitch, yaw;
    pcl::getEulerAngles(box_pose, roll, pitch, yaw);
    crop_box.setRotation(Eigen::Vector3f(roll, pitch, yaw));
 
    Eigen::Vector4f max_point(bbox_msg.dimensions.x / 2,
                              bbox_msg.dimensions.y / 2,
                              bbox_msg.dimensions.z / 2,
                              0);
    Eigen::Vector4f min_point(-bbox_msg.dimensions.x / 2,
                              -bbox_msg.dimensions.y / 2,
                              -bbox_msg.dimensions.z / 2,
                              0);
    crop_box.setMax(max_point);
    crop_box.setMin(min_point);
 
    crop_box.filter(*indices);
  }
 
}  // namespace jsk_recognition_utils
 
#endif  // JSK_RECOGNITION_UTILS_PCL_ROS_UTIL_H_