-
Notifications
You must be signed in to change notification settings - Fork 1
/
ModelVertices.cpp
97 lines (80 loc) · 3.57 KB
/
ModelVertices.cpp
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
/*********************************************************************
* Software License Agreement (BSD License)
*
* Copyright (c) 2011, Willow Garage, Inc.
* 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 Willow Garage 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 CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/
#include <ecto/ecto.hpp>
#include <pcl/registration/transforms.h>
#include <pose_corrector/model/rigidObjectModel.h>
namespace ecto_corrector
{
using ecto::tendrils;
struct ModelVertices
{
public:
static void declare_params(tendrils& params)
{
}
static void declare_io(const tendrils& /*params*/, tendrils& in, tendrils& out)
{
in.declare<boost::shared_ptr<pose_corrector::RigidObjectModel> >("model", "Model whose vertices are to be extracted");
in.declare<geometry_msgs::PoseStamped>("pose", "Pose of model");
out.declare<sensor_msgs::PointCloud2ConstPtr>("cloud", "PointCloud2 with vertices");
}
void configure(const tendrils& params, const tendrils& in, const tendrils& out)
{
model_ = in["model"];
pose_ = in["pose"];
cloud_ = out["cloud"];
}
int process(const tendrils& in, const tendrils& out)
{
//get cloud
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud = (*model_)->getVertexCloud();
//transform
geometry_msgs::Point t = pose_->pose.position;
geometry_msgs::Quaternion q = pose_->pose.orientation;
pcl::transformPointCloud(*cloud,*cloud,Eigen::Vector3f(t.x,t.y,t.z),Eigen::Quaternionf(q.w,q.x,q.y,q.z));
cloud->header = pose_->header;
sensor_msgs::PointCloud2Ptr cloud2(new sensor_msgs::PointCloud2());
pcl::toROSMsg(*cloud,*cloud2);
*cloud_ = cloud2;
return ecto::OK;
}
private:
//inputs
ecto::spore<boost::shared_ptr<pose_corrector::RigidObjectModel> > model_;
ecto::spore<geometry_msgs::PoseStamped> pose_;
//outputs
ecto::spore<sensor_msgs::PointCloud2ConstPtr > cloud_;
};
} //namespace
ECTO_CELL(ecto_corrector, ecto_corrector::ModelVertices, "ModelVertices", "Gets a point cloud with the vertices of a model transformed appropriately");