conversions.cpp

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// $Id:  $
 
/*
 * Copyright (c) 2010, A. Hornung, University of Freiburg
 * 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 the University of Freiburg 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
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 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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#include <sensor_msgs/point_cloud2_iterator.h>
#include <octomap_ros/conversions.h>
 
namespace octomap {
 
  void pointsOctomapToPointCloud2(const point3d_list& points, sensor_msgs::PointCloud2& cloud){
    // make sure the channel is valid
    std::vector<sensor_msgs::PointField>::const_iterator field_iter = cloud.fields.begin(), field_end =
        cloud.fields.end();
    bool has_x, has_y, has_z;
    has_x = has_y = has_z = false;
    while (field_iter != field_end) {
      if ((field_iter->name == "x") || (field_iter->name == "X"))
        has_x = true;
      if ((field_iter->name == "y") || (field_iter->name == "Y"))
        has_y = true;
      if ((field_iter->name == "z") || (field_iter->name == "Z"))
        has_z = true;
      ++field_iter;
    }
 
    if ((!has_x) || (!has_y) || (!has_z))
      throw std::runtime_error("One of the fields xyz does not exist");
 
    sensor_msgs::PointCloud2Modifier pcd_modifier(cloud);
    pcd_modifier.resize(points.size());
 
    sensor_msgs::PointCloud2Iterator<float> iter_x(cloud, "x");
    sensor_msgs::PointCloud2Iterator<float> iter_y(cloud, "y");
    sensor_msgs::PointCloud2Iterator<float> iter_z(cloud, "z");
 
    for (point3d_list::const_iterator it = points.begin(); it != points.end(); ++it, ++iter_x, ++iter_y, ++iter_z) {
      *iter_x = it->x();
      *iter_y = it->y();
      *iter_z = it->z();
    }
  }
 
 
  void pointCloud2ToOctomap(const sensor_msgs::PointCloud2& cloud, Pointcloud& octomapCloud){
    octomapCloud.reserve(cloud.data.size() / cloud.point_step);
 
    sensor_msgs::PointCloud2ConstIterator<float> iter_x(cloud, "x");
    sensor_msgs::PointCloud2ConstIterator<float> iter_y(cloud, "y");
    sensor_msgs::PointCloud2ConstIterator<float> iter_z(cloud, "z");
 
    for (; iter_x != iter_x.end(); ++iter_x, ++iter_y, ++iter_z){
      // Check if the point is invalid
      if (!std::isnan (*iter_x) && !std::isnan (*iter_y) && !std::isnan (*iter_z))
        octomapCloud.push_back(*iter_x, *iter_y, *iter_z);
    }
  }
 
 
}