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IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 * 00034 * $Id: filter.cpp 35876 2011-02-09 01:04:36Z rusu $ 00035 * 00036 */ 00037 00038 #include <pcl/io/io.h> 00039 #include "pcl_ros/transforms.h" 00040 #include "pcl_ros/filters/filter.h" 00041 00042 /*//#include <pcl/filters/pixel_grid.h> 00043 //#include <pcl/filters/filter_dimension.h> 00044 */ 00045 00046 /*//typedef pcl::PixelGrid PixelGrid; 00047 //typedef pcl::FilterDimension FilterDimension; 00048 */ 00049 00050 // Include the implementations instead of compiling them separately to speed up compile time 00051 //#include "extract_indices.cpp" 00052 //#include "passthrough.cpp" 00053 //#include "project_inliers.cpp" 00054 //#include "radius_outlier_removal.cpp" 00055 //#include "statistical_outlier_removal.cpp" 00056 //#include "voxel_grid.cpp" 00057 00058 /*//PLUGINLIB_DECLARE_CLASS (pcl, PixelGrid, PixelGrid, nodelet::Nodelet); 00059 //PLUGINLIB_DECLARE_CLASS (pcl, FilterDimension, FilterDimension, nodelet::Nodelet); 00060 */ 00061 00063 void 00064 pcl_ros::Filter::computePublish (const PointCloud2::ConstPtr &input, const IndicesPtr &indices) 00065 { 00066 PointCloud2 output; 00067 // Call the virtual method in the child 00068 filter (input, indices, output); 00069 00070 PointCloud2::Ptr cloud_tf (new PointCloud2 (output)); // set the output by default 00071 // Check whether the user has given a different output TF frame 00072 if (!tf_output_frame_.empty () && output.header.frame_id != tf_output_frame_) 00073 { 00074 NODELET_DEBUG ("[%s::computePublish] Transforming output dataset from %s to %s.", getName ().c_str (), output.header.frame_id.c_str (), tf_output_frame_.c_str ()); 00075 // Convert the cloud into the different frame 00076 PointCloud2 cloud_transformed; 00077 if (!pcl_ros::transformPointCloud (tf_output_frame_, output, cloud_transformed, tf_listener_)) 00078 { 00079 NODELET_ERROR ("[%s::computePublish] Error converting output dataset from %s to %s.", getName ().c_str (), output.header.frame_id.c_str (), tf_output_frame_.c_str ()); 00080 return; 00081 } 00082 cloud_tf.reset (new PointCloud2 (cloud_transformed)); 00083 } 00084 if (tf_output_frame_.empty () && output.header.frame_id != tf_input_orig_frame_) 00085 // no tf_output_frame given, transform the dataset to its original frame 00086 { 00087 NODELET_DEBUG ("[%s::computePublish] Transforming output dataset from %s back to %s.", getName ().c_str (), output.header.frame_id.c_str (), tf_input_orig_frame_.c_str ()); 00088 // Convert the cloud into the different frame 00089 PointCloud2 cloud_transformed; 00090 if (!pcl_ros::transformPointCloud (tf_input_orig_frame_, output, cloud_transformed, tf_listener_)) 00091 { 00092 NODELET_ERROR ("[%s::computePublish] Error converting output dataset from %s back to %s.", getName ().c_str (), output.header.frame_id.c_str (), tf_input_orig_frame_.c_str ()); 00093 return; 00094 } 00095 cloud_tf.reset (new PointCloud2 (cloud_transformed)); 00096 } 00097 00098 // Publish a boost shared ptr 00099 pub_output_.publish (cloud_tf); 00100 } 00101 00103 void 00104 pcl_ros::Filter::onInit () 00105 { 00106 // Call the super onInit () 00107 PCLNodelet::onInit (); 00108 00109 // Call the child's local init 00110 bool has_service = false; 00111 if (!child_init (*pnh_, has_service)) 00112 { 00113 NODELET_ERROR ("[%s::onInit] Initialization failed.", getName ().c_str ()); 00114 return; 00115 } 00116 00117 pub_output_ = pnh_->advertise<PointCloud2> ("output", max_queue_size_); 00118 00119 // Enable the dynamic reconfigure service 00120 if (!has_service) 00121 { 00122 srv_ = boost::make_shared <dynamic_reconfigure::Server<pcl_ros::FilterConfig> > (*pnh_); 00123 dynamic_reconfigure::Server<pcl_ros::FilterConfig>::CallbackType f = boost::bind (&Filter::config_callback, this, _1, _2); 00124 srv_->setCallback (f); 00125 } 00126 00127 // If we're supposed to look for PointIndices (indices) 00128 if (use_indices_) 00129 { 00130 // Subscribe to the input using a filter 00131 sub_input_filter_.subscribe (*pnh_, "input", max_queue_size_); 00132 sub_indices_filter_.subscribe (*pnh_, "indices", max_queue_size_); 00133 00134 if (approximate_sync_) 00135 { 00136 sync_input_indices_a_ = boost::make_shared <message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloud2, pcl::PointIndices> > >(max_queue_size_); 00137 sync_input_indices_a_->connectInput (sub_input_filter_, sub_indices_filter_); 00138 sync_input_indices_a_->registerCallback (bind (&Filter::input_indices_callback, this, _1, _2)); 00139 } 00140 else 00141 { 00142 sync_input_indices_e_ = boost::make_shared <message_filters::Synchronizer<sync_policies::ExactTime<PointCloud2, pcl::PointIndices> > >(max_queue_size_); 00143 sync_input_indices_e_->connectInput (sub_input_filter_, sub_indices_filter_); 00144 sync_input_indices_e_->registerCallback (bind (&Filter::input_indices_callback, this, _1, _2)); 00145 } 00146 } 00147 else 00148 // Subscribe in an old fashion to input only (no filters) 00149 sub_input_ = pnh_->subscribe<sensor_msgs::PointCloud2> ("input", max_queue_size_, bind (&Filter::input_indices_callback, this, _1, pcl::PointIndicesConstPtr ())); 00150 00151 NODELET_DEBUG ("[%s::onInit] Nodelet successfully created.", getName ().c_str ()); 00152 } 00153 00155 void 00156 pcl_ros::Filter::config_callback (pcl_ros::FilterConfig &config, uint32_t level) 00157 { 00158 // The following parameters are updated automatically for all PCL_ROS Nodelet Filters as they are inexistent in PCL 00159 if (tf_input_frame_ != config.input_frame) 00160 { 00161 tf_input_frame_ = config.input_frame; 00162 NODELET_DEBUG ("[%s::config_callback] Setting the input TF frame to: %s.", getName ().c_str (), tf_input_frame_.c_str ()); 00163 } 00164 if (tf_output_frame_ != config.output_frame) 00165 { 00166 tf_output_frame_ = config.output_frame; 00167 NODELET_DEBUG ("[%s::config_callback] Setting the output TF frame to: %s.", getName ().c_str (), tf_output_frame_.c_str ()); 00168 } 00169 } 00170 00172 void 00173 pcl_ros::Filter::input_indices_callback (const PointCloud2::ConstPtr &cloud, const PointIndicesConstPtr &indices) 00174 { 00175 // No subscribers, no work 00176 if (pub_output_.getNumSubscribers () <= 0) 00177 return; 00178 00179 // If cloud is given, check if it's valid 00180 if (!isValid (cloud)) 00181 { 00182 NODELET_ERROR ("[%s::input_indices_callback] Invalid input!", getName ().c_str ()); 00183 return; 00184 } 00185 // If indices are given, check if they are valid 00186 if (indices && !isValid (indices)) 00187 { 00188 NODELET_ERROR ("[%s::input_indices_callback] Invalid indices!", getName ().c_str ()); 00189 return; 00190 } 00191 00193 if (indices) 00194 NODELET_DEBUG ("[%s::input_indices_callback]\n" 00195 " - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.\n" 00196 " - PointIndices with %zu values, stamp %f, and frame %s on topic %s received.", 00197 getName ().c_str (), 00198 cloud->width * cloud->height, pcl::getFieldsList (*cloud).c_str (), cloud->header.stamp.toSec (), cloud->header.frame_id.c_str (), pnh_->resolveName ("input").c_str (), 00199 indices->indices.size (), indices->header.stamp.toSec (), indices->header.frame_id.c_str (), pnh_->resolveName ("indices").c_str ()); 00200 else 00201 NODELET_DEBUG ("[%s::input_indices_callback] PointCloud with %d data points and frame %s on topic %s received.", getName ().c_str (), cloud->width * cloud->height, cloud->header.frame_id.c_str (), pnh_->resolveName ("input").c_str ()); 00203 00204 // Check whether the user has given a different input TF frame 00205 tf_input_orig_frame_ = cloud->header.frame_id; 00206 PointCloud2::ConstPtr cloud_tf; 00207 if (!tf_input_frame_.empty () && cloud->header.frame_id != tf_input_frame_) 00208 { 00209 NODELET_DEBUG ("[%s::input_indices_callback] Transforming input dataset from %s to %s.", getName ().c_str (), cloud->header.frame_id.c_str (), tf_input_frame_.c_str ()); 00210 // Save the original frame ID 00211 // Convert the cloud into the different frame 00212 PointCloud2 cloud_transformed; 00213 if (!pcl_ros::transformPointCloud (tf_input_frame_, *cloud, cloud_transformed, tf_listener_)) 00214 { 00215 NODELET_ERROR ("[%s::input_indices_callback] Error converting input dataset from %s to %s.", getName ().c_str (), cloud->header.frame_id.c_str (), tf_input_frame_.c_str ()); 00216 return; 00217 } 00218 cloud_tf = boost::make_shared<PointCloud2> (cloud_transformed); 00219 } 00220 else 00221 cloud_tf = cloud; 00222 00223 // Need setInputCloud () here because we have to extract x/y/z 00224 IndicesPtr vindices; 00225 if (indices) 00226 vindices.reset (new std::vector<int> (indices->indices)); 00227 00228 computePublish (cloud_tf, vindices); 00229 } 00230