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add pcl

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duongtd
2026-07-21 14:56:02 +07:00
parent 1cf62c0856
commit 5570c30deb
4 changed files with 398 additions and 7 deletions
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17
include/data_convert/data_convert.h
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@@ -1,14 +1,19 @@
#ifndef COSTMAP_2D_DATA_CONVERT_H
#define COSTMAP_2D_DATA_CONVERT_H
#ifndef ROBOT_DATA_CONVERT_H
#define ROBOT_DATA_CONVERT_H
#include <tf3/utils.h>
#include <tf3/compat.h>
#include <robot/time.h>
#include <robot_geometry_msgs/TransformStamped.h>
#include <robot_geometry_msgs/Quaternion.h>
#include <robot_geometry_msgs/Pose.h>
#include <robot_geometry_msgs/PoseStamped.h>
#include <tf3/utils.h>
#include <tf3/compat.h>
#include <robot/time.h>
#include <robot_sensor_msgs/PointCloud2.h>
#include <cmath>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
namespace data_convert
{
@@ -191,4 +196,4 @@ namespace data_convert
}
}
#endif // DATA_CONVERT_H
#endif // ROBOT_DATA_CONVERT_H

374
include/data_convert/pcl_convert.h Normal file
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@@ -0,0 +1,374 @@
/*
* Software License Agreement (BSD License)
*
* Copyright (c) 2013, Open Source Robotics Foundation, Inc.
* Copyright (c) 2010-2012, 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 Open Source Robotics Foundation, Inc. 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.
*/
#ifndef ROBOT_PCL_CONVERSIONS_H__
#define ROBOT_PCL_CONVERSIONS_H__
#include <vector>
#include <robot/robot.h>
#include <pcl/conversions.h>
#include <pcl/PCLHeader.h>
#include <robot_std_msgs/Header.h>
#include <pcl/PCLImage.h>
#include <robot_sensor_msgs/Image.h>
#include <pcl/PCLPointField.h>
#include <robot_sensor_msgs/PointField.h>
#include <pcl/PCLPointCloud2.h>
#include <robot_sensor_msgs/PointCloud2.h>
namespace robot_pcl_conversions {
/** PCLHeader <=> Header **/
inline
void fromPCL(const std::uint64_t &pcl_stamp, robot::Time &stamp)
{
stamp.fromNSec(pcl_stamp * 1000ull); // Convert from us to ns
}
inline
void toPCL(const robot::Time &stamp, std::uint64_t &pcl_stamp)
{
pcl_stamp = stamp.toNSec() / 1000ull; // Convert from ns to us
}
inline
robot::Time fromPCL(const std::uint64_t &pcl_stamp)
{
robot::Time stamp;
fromPCL(pcl_stamp, stamp);
return stamp;
}
inline
std::uint64_t toPCL(const robot::Time &stamp)
{
std::uint64_t pcl_stamp;
toPCL(stamp, pcl_stamp);
return pcl_stamp;
}
/** PCLHeader <=> Header **/
inline
void fromPCL(const pcl::PCLHeader &pcl_header, robot_std_msgs::Header &header)
{
fromPCL(pcl_header.stamp, header.stamp);
header.seq = pcl_header.seq;
header.frame_id = pcl_header.frame_id;
}
inline
void toPCL(const robot_std_msgs::Header &header, pcl::PCLHeader &pcl_header)
{
toPCL(header.stamp, pcl_header.stamp);
pcl_header.seq = header.seq;
pcl_header.frame_id = header.frame_id;
}
inline
robot_std_msgs::Header fromPCL(const pcl::PCLHeader &pcl_header)
{
robot_std_msgs::Header header;
fromPCL(pcl_header, header);
return header;
}
inline
pcl::PCLHeader toPCL(const robot_std_msgs::Header &header)
{
pcl::PCLHeader pcl_header;
toPCL(header, pcl_header);
return pcl_header;
}
/** PCLImage <=> Image **/
inline
void copyPCLImageMetaData(const pcl::PCLImage &pcl_image, robot_sensor_msgs::Image &image)
{
fromPCL(pcl_image.header, image.header);
image.height = pcl_image.height;
image.width = pcl_image.width;
image.encoding = pcl_image.encoding;
image.is_bigendian = pcl_image.is_bigendian;
image.step = pcl_image.step;
}
inline
void fromPCL(const pcl::PCLImage &pcl_image, robot_sensor_msgs::Image &image)
{
copyPCLImageMetaData(pcl_image, image);
image.data = pcl_image.data;
}
inline
void moveFromPCL(pcl::PCLImage &pcl_image, robot_sensor_msgs::Image &image)
{
copyPCLImageMetaData(pcl_image, image);
image.data.swap(pcl_image.data);
}
inline
void copyImageMetaData(const robot_sensor_msgs::Image &image, pcl::PCLImage &pcl_image)
{
toPCL(image.header, pcl_image.header);
pcl_image.height = image.height;
pcl_image.width = image.width;
pcl_image.encoding = image.encoding;
pcl_image.is_bigendian = image.is_bigendian;
pcl_image.step = image.step;
}
inline
void toPCL(const robot_sensor_msgs::Image &image, pcl::PCLImage &pcl_image)
{
copyImageMetaData(image, pcl_image);
pcl_image.data = image.data;
}
inline
void moveToPCL(robot_sensor_msgs::Image &image, pcl::PCLImage &pcl_image)
{
copyImageMetaData(image, pcl_image);
pcl_image.data.swap(image.data);
}
/** PCLPointField <=> PointField **/
inline
void fromPCL(const pcl::PCLPointField &pcl_pf, robot_sensor_msgs::PointField &pf)
{
pf.name = pcl_pf.name;
pf.offset = pcl_pf.offset;
pf.datatype = pcl_pf.datatype;
pf.count = pcl_pf.count;
}
inline
void fromPCL(const std::vector<pcl::PCLPointField> &pcl_pfs, std::vector<robot_sensor_msgs::PointField> &pfs)
{
pfs.resize(pcl_pfs.size());
std::vector<pcl::PCLPointField>::const_iterator it = pcl_pfs.begin();
int i = 0;
for(; it != pcl_pfs.end(); ++it, ++i) {
fromPCL(*(it), pfs[i]);
}
std::sort(pfs.begin(), pfs.end(), [](const auto& field_a, const auto& field_b)
{
return field_a.offset < field_b.offset;
});
}
inline
void toPCL(const robot_sensor_msgs::PointField &pf, pcl::PCLPointField &pcl_pf)
{
pcl_pf.name = pf.name;
pcl_pf.offset = pf.offset;
pcl_pf.datatype = pf.datatype;
pcl_pf.count = pf.count;
}
inline
void toPCL(const std::vector<robot_sensor_msgs::PointField> &pfs, std::vector<pcl::PCLPointField> &pcl_pfs)
{
pcl_pfs.resize(pfs.size());
std::vector<robot_sensor_msgs::PointField>::const_iterator it = pfs.begin();
int i = 0;
for(; it != pfs.end(); ++it, ++i) {
toPCL(*(it), pcl_pfs[i]);
}
}
/** PCLPointCloud2 <=> PointCloud2 **/
inline
void copyPCLPointCloud2MetaData(const pcl::PCLPointCloud2 &pcl_pc2, robot_sensor_msgs::PointCloud2 &pc2)
{
fromPCL(pcl_pc2.header, pc2.header);
pc2.height = pcl_pc2.height;
pc2.width = pcl_pc2.width;
fromPCL(pcl_pc2.fields, pc2.fields);
pc2.is_bigendian = pcl_pc2.is_bigendian;
pc2.point_step = pcl_pc2.point_step;
pc2.row_step = pcl_pc2.row_step;
pc2.is_dense = pcl_pc2.is_dense;
}
inline
void fromPCL(const pcl::PCLPointCloud2 &pcl_pc2, robot_sensor_msgs::PointCloud2 &pc2)
{
copyPCLPointCloud2MetaData(pcl_pc2, pc2);
pc2.data = pcl_pc2.data;
}
inline
void moveFromPCL(pcl::PCLPointCloud2 &pcl_pc2, robot_sensor_msgs::PointCloud2 &pc2)
{
copyPCLPointCloud2MetaData(pcl_pc2, pc2);
pc2.data.swap(pcl_pc2.data);
}
inline
void copyPointCloud2MetaData(const robot_sensor_msgs::PointCloud2 &pc2, pcl::PCLPointCloud2 &pcl_pc2)
{
toPCL(pc2.header, pcl_pc2.header);
pcl_pc2.height = pc2.height;
pcl_pc2.width = pc2.width;
toPCL(pc2.fields, pcl_pc2.fields);
pcl_pc2.is_bigendian = pc2.is_bigendian;
pcl_pc2.point_step = pc2.point_step;
pcl_pc2.row_step = pc2.row_step;
pcl_pc2.is_dense = pc2.is_dense;
}
inline
void toPCL(const robot_sensor_msgs::PointCloud2 &pc2, pcl::PCLPointCloud2 &pcl_pc2)
{
copyPointCloud2MetaData(pc2, pcl_pc2);
pcl_pc2.data = pc2.data;
}
inline
void moveToPCL(robot_sensor_msgs::PointCloud2 &pc2, pcl::PCLPointCloud2 &pcl_pc2)
{
copyPointCloud2MetaData(pc2, pcl_pc2);
pcl_pc2.data.swap(pc2.data);
}
} // namespace robot_pcl_conversions
namespace pcl {
/** Provide pcl::toROBOTMsg **/
inline
void toROBOTMsg(const robot_sensor_msgs::PointCloud2 &cloud, robot_sensor_msgs::Image &image)
{
pcl::PCLPointCloud2 pcl_cloud;
robot_pcl_conversions::toPCL(cloud, pcl_cloud);
pcl::PCLImage pcl_image;
pcl::toPCLPointCloud2(pcl_cloud, pcl_image);
robot_pcl_conversions::moveFromPCL(pcl_image, image);
}
inline
void moveToROBOTMsg(robot_sensor_msgs::PointCloud2 &cloud, robot_sensor_msgs::Image &image)
{
pcl::PCLPointCloud2 pcl_cloud;
robot_pcl_conversions::moveToPCL(cloud, pcl_cloud);
pcl::PCLImage pcl_image;
pcl::toPCLPointCloud2(pcl_cloud, pcl_image);
robot_pcl_conversions::moveFromPCL(pcl_image, image);
}
template<typename T> void
toROBOTMsg (const pcl::PointCloud<T> &cloud, robot_sensor_msgs::Image& msg)
{
// Ease the user's burden on specifying width/height for unorganized datasets
if (cloud.width == 0 && cloud.height == 0)
{
throw std::runtime_error("Needs to be a dense like cloud!!");
}
else
{
if (cloud.points.size () != cloud.width * cloud.height)
throw std::runtime_error("The width and height do not match the cloud size!");
msg.height = cloud.height;
msg.width = cloud.width;
}
// robot_sensor_msgs::image_encodings::BGR8;
msg.encoding = "bgr8";
msg.step = msg.width * sizeof (std::uint8_t) * 3;
msg.data.resize (msg.step * msg.height);
for (size_t y = 0; y < cloud.height; y++)
{
for (size_t x = 0; x < cloud.width; x++)
{
std::uint8_t * pixel = &(msg.data[y * msg.step + x * 3]);
memcpy (pixel, &cloud (x, y).rgb, 3 * sizeof(std::uint8_t));
}
}
}
/** Provide to/fromROBOTMsg for robot_sensor_msgs::PointCloud2 <=> pcl::PointCloud<T> **/
template<typename T>
void toROBOTMsg(const pcl::PointCloud<T> &pcl_cloud, robot_sensor_msgs::PointCloud2 &cloud)
{
pcl::PCLPointCloud2 pcl_pc2;
#if PCL_VERSION_COMPARE(>=, 1, 14, 1)
// if PCL version is recent enough, request that all padding be removed to make the msg as small as possible
pcl::toPCLPointCloud2(pcl_cloud, pcl_pc2, false);
#else
pcl::toPCLPointCloud2(pcl_cloud, pcl_pc2);
#endif
robot_pcl_conversions::moveFromPCL(pcl_pc2, cloud);
}
template<typename T>
void fromROBOTMsg(const robot_sensor_msgs::PointCloud2 &cloud, pcl::PointCloud<T> &pcl_cloud)
{
pcl::PCLPointCloud2 pcl_pc2;
#if PCL_VERSION_COMPARE(>=, 1, 13, 1)
robot_pcl_conversions::copyPointCloud2MetaData(cloud, pcl_pc2); // Like robot_pcl_conversions::toPCL, but does not copy the binary data
pcl::MsgFieldMap field_map;
pcl::createMapping<T> (pcl_pc2.fields, field_map);
pcl::fromPCLPointCloud2(pcl_pc2, pcl_cloud, field_map, &cloud.data[0]);
#else
robot_pcl_conversions::toPCL(cloud, pcl_pc2);
pcl::fromPCLPointCloud2(pcl_pc2, pcl_cloud);
#endif
}
template<typename T>
void moveFromROBOTMsg(robot_sensor_msgs::PointCloud2 &cloud, pcl::PointCloud<T> &pcl_cloud)
{
pcl::PCLPointCloud2 pcl_pc2;
robot_pcl_conversions::moveToPCL(cloud, pcl_pc2);
pcl::fromPCLPointCloud2(pcl_pc2, pcl_cloud);
}
} // namespace pcl
#endif /* PCL_CONVERSIONS_H__ */