pcl_ros_util.cpp
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35 
38 
39 namespace jsk_recognition_utils
40 {
42  ros::Publisher& pub, const pcl::PointIndices& indices, const std_msgs::Header& header)
43  {
44  pcl_msgs::PointIndices msg;
45  //pcl_conversions::moveFromPCL does not support const indices
46  msg.indices = indices.indices;
47  msg.header = header;
48  pub.publish(msg);
49  }
50 
51  bool isSameFrameId(const std::string& a, const std::string& b)
52  {
53  // we can ignore the first /
54  std::string aa;
55  if (a.length() > 0 && a[0] == '/') {
56  aa = a.substr(1, a.length() - 1);
57  }
58  else {
59  aa = a;
60  }
61  std::string bb;
62  if (b.length() > 0 && b[0] == '/') {
63  bb = b.substr(1, b.length() - 1);
64  }
65  else {
66  bb = b;
67  }
68  return aa == bb;
69  }
70 
71  bool isSameFrameId(const std_msgs::Header& a, const std_msgs::Header& b)
72  {
73  return isSameFrameId(a.frame_id, b.frame_id);
74  }
75 
76  bool hasField(const std::string& field_name, const sensor_msgs::PointCloud2& msg)
77  {
78  for (size_t i = 0; i < msg.fields.size(); i++) {
79  sensor_msgs::PointField field = msg.fields[i];
80  if (field.name == field_name) {
81  return true;
82  }
83  }
84  return false;
85  }
86 
87 }
msg
void publish(const boost::shared_ptr< M > &message) const
void publishPointIndices(ros::Publisher &pub, const pcl::PointIndices &indices, const std_msgs::Header &header)
Convert pcl::PointIndices to pcl_msgs::PointIndices and publish it with overriding header...
bool hasField(const std::string &field_name, const sensor_msgs::PointCloud2 &msg)
check if sensor_msgs/PointCloud2 message has the specified field.
bool isSameFrameId(const std::string &a, const std::string &b)
Return true if a and b are the same frame_id.


jsk_recognition_utils
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autogenerated on Tue Mar 3 2020 03:59:38