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/* | ||
* Software License Agreement (BSD License) | ||
* | ||
* Copyright (c) 2015, Ryohei Ueda, JSK Lab | ||
* 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 JSK Lab. 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. | ||
* | ||
* | ||
*/ | ||
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||
#ifndef PCL_ROS_SHOT_H_ | ||
#define PCL_ROS_SHOT_H_ | ||
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#include <pcl/features/shot.h> | ||
#include "pcl_ros/features/pfh.h" | ||
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namespace pcl_ros | ||
{ | ||
/** \brief @b SHOTEstimation estimates SHOT descriptor. | ||
* | ||
*/ | ||
class SHOTEstimation : public FeatureFromNormals | ||
{ | ||
private: | ||
pcl::SHOTEstimation<pcl::PointXYZ, pcl::Normal, pcl::SHOT352> impl_; | ||
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typedef pcl::PointCloud<pcl::SHOT352> PointCloudOut; | ||
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/** \brief Child initialization routine. Internal method. */ | ||
inline bool | ||
childInit (ros::NodeHandle &nh) | ||
{ | ||
// Create the output publisher | ||
pub_output_ = nh.advertise<PointCloudOut> ("output", max_queue_size_); | ||
return (true); | ||
} | ||
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/** \brief Publish an empty point cloud of the feature output type. */ | ||
void emptyPublish (const PointCloudInConstPtr &cloud); | ||
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/** \brief Compute the feature and publish it. */ | ||
void computePublish (const PointCloudInConstPtr &cloud, | ||
const PointCloudNConstPtr &normals, | ||
const PointCloudInConstPtr &surface, | ||
const IndicesPtr &indices); | ||
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public: | ||
EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
}; | ||
} | ||
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#endif //#ifndef PCL_SHOT_H_ | ||
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/* | ||
* Software License Agreement (BSD License) | ||
* | ||
* Copyright (c) 2015, Ryohei Ueda, JSK Lab | ||
* 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 JSK Lab. 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. | ||
* | ||
* | ||
*/ | ||
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#ifndef PCL_ROS_SHOT_OMP_H_ | ||
#define PCL_ROS_SHOT_OMP_H_ | ||
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#include <pcl/features/shot_omp.h> | ||
#include "pcl_ros/features/shot.h" | ||
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namespace pcl_ros | ||
{ | ||
/** \brief @b SHOTEstimation estimates SHOT descriptor using OpenMP. | ||
*/ | ||
class SHOTEstimationOMP : public FeatureFromNormals | ||
{ | ||
private: | ||
pcl::SHOTEstimationOMP<pcl::PointXYZ, pcl::Normal, pcl::SHOT352> impl_; | ||
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typedef pcl::PointCloud<pcl::SHOT352> PointCloudOut; | ||
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/** \brief Child initialization routine. Internal method. */ | ||
inline bool | ||
childInit (ros::NodeHandle &nh) | ||
{ | ||
// Create the output publisher | ||
pub_output_ = nh.advertise<PointCloudOut> ("output", max_queue_size_); | ||
return (true); | ||
} | ||
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/** \brief Publish an empty point cloud of the feature output type. */ | ||
void emptyPublish (const PointCloudInConstPtr &cloud); | ||
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/** \brief Compute the feature and publish it. */ | ||
void computePublish (const PointCloudInConstPtr &cloud, | ||
const PointCloudNConstPtr &normals, | ||
const PointCloudInConstPtr &surface, | ||
const IndicesPtr &indices); | ||
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public: | ||
EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
}; | ||
} | ||
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#endif //#ifndef PCL_ROS_SHOT_OMP_H_ | ||
|
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Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -0,0 +1,75 @@ | ||
/* | ||
* Software License Agreement (BSD License) | ||
* | ||
* Copyright (c) 2015, Ryohei Ueda, JSK Lab | ||
* 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 JSK Lab. 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. | ||
* | ||
* | ||
*/ | ||
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#include <pluginlib/class_list_macros.h> | ||
#include "pcl_ros/features/shot.h" | ||
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void | ||
pcl_ros::SHOTEstimation::emptyPublish (const PointCloudInConstPtr &cloud) | ||
{ | ||
PointCloudOut output; | ||
output.header = cloud->header; | ||
pub_output_.publish (output.makeShared ()); | ||
} | ||
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void | ||
pcl_ros::SHOTEstimation::computePublish (const PointCloudInConstPtr &cloud, | ||
const PointCloudNConstPtr &normals, | ||
const PointCloudInConstPtr &surface, | ||
const IndicesPtr &indices) | ||
{ | ||
// Set the parameters | ||
impl_.setKSearch (k_); | ||
impl_.setRadiusSearch (search_radius_); | ||
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// Set the inputs | ||
impl_.setInputCloud (cloud); | ||
impl_.setIndices (indices); | ||
impl_.setSearchSurface (surface); | ||
impl_.setInputNormals (normals); | ||
// Estimate the feature | ||
PointCloudOut output; | ||
impl_.compute (output); | ||
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// Publish a Boost shared ptr const data | ||
// Enforce that the TF frame and the timestamp are copied | ||
output.header = cloud->header; | ||
pub_output_.publish (output.makeShared ()); | ||
} | ||
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typedef pcl_ros::SHOTEstimation SHOTEstimation; | ||
PLUGINLIB_DECLARE_CLASS (pcl, SHOTEstimation, SHOTEstimation, nodelet::Nodelet); | ||
|
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Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -0,0 +1,75 @@ | ||
/* | ||
* Software License Agreement (BSD License) | ||
* | ||
* Copyright (c) 2015, Ryohei Ueda, JSK Lab | ||
* 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 JSK Lab. 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. | ||
* | ||
* | ||
*/ | ||
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#include <pluginlib/class_list_macros.h> | ||
#include "pcl_ros/features/shot_omp.h" | ||
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void | ||
pcl_ros::SHOTEstimationOMP::emptyPublish (const PointCloudInConstPtr &cloud) | ||
{ | ||
PointCloudOut output; | ||
output.header = cloud->header; | ||
pub_output_.publish (output.makeShared ()); | ||
} | ||
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void | ||
pcl_ros::SHOTEstimationOMP::computePublish (const PointCloudInConstPtr &cloud, | ||
const PointCloudNConstPtr &normals, | ||
const PointCloudInConstPtr &surface, | ||
const IndicesPtr &indices) | ||
{ | ||
// Set the parameters | ||
impl_.setKSearch (k_); | ||
impl_.setRadiusSearch (search_radius_); | ||
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// Set the inputs | ||
impl_.setInputCloud (cloud); | ||
impl_.setIndices (indices); | ||
impl_.setSearchSurface (surface); | ||
impl_.setInputNormals (normals); | ||
// Estimate the feature | ||
PointCloudOut output; | ||
impl_.compute (output); | ||
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// Publish a Boost shared ptr const data | ||
// Enforce that the TF frame and the timestamp are copied | ||
output.header = cloud->header; | ||
pub_output_.publish (output.makeShared ()); | ||
} | ||
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typedef pcl_ros::SHOTEstimationOMP SHOTEstimationOMP; | ||
PLUGINLIB_DECLARE_CLASS (pcl, SHOTEstimationOMP, SHOTEstimationOMP, nodelet::Nodelet); | ||
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