pcl_ros_util.cpp

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// -*- mode: c++ -*-
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#include "jsk_recognition_utils/pcl_ros_util.h"
#include <pcl_conversions/pcl_conversions.h>
 
namespace jsk_recognition_utils
{
  void publishPointIndices(
    ros::Publisher& pub, const pcl::PointIndices& indices, const std_msgs::Header& header)
  {
    pcl_msgs::PointIndices msg;
    //pcl_conversions::moveFromPCL does not support const indices
    msg.indices = indices.indices;
    msg.header = header;
    pub.publish(msg);
  }
 
  bool isSameFrameId(const std::string& a, const std::string& b)
  {
    // we can ignore the first /
    std::string aa;
    if (a.length() > 0 && a[0] == '/') {
      aa = a.substr(1, a.length() - 1);
    }
    else {
      aa = a;
    }
    std::string bb;
    if (b.length() > 0 && b[0] == '/') {
      bb = b.substr(1, b.length() - 1);
    }
    else {
      bb = b;
    }
    return aa == bb;
  }
  
  bool isSameFrameId(const std_msgs::Header& a, const std_msgs::Header& b)
  {
    return isSameFrameId(a.frame_id, b.frame_id);
  }
  
  bool hasField(const std::string& field_name, const sensor_msgs::PointCloud2& msg)
  {
    for (size_t i = 0; i < msg.fields.size(); i++) {
      sensor_msgs::PointField field = msg.fields[i];
      if (field.name == field_name) {
        return true;
      }
    }
    return false;
  }
  
}