add pcl

CMakeLists.txt

@@ -27,6 +27,7 @@ if (NOT BUILDING_WITH_CATKIN)
 
   set(PACKAGES_DIR  
     robot_geometry_msgs
+    robot_sensor_msgs
   )
 
 else()
@@ -34,14 +35,21 @@ else()
 # ========================================================
 # Catkin specific configuration
 # ========================================================
+  find_package(PCL REQUIRED)
   find_package(catkin REQUIRED COMPONENTS         
     robot_geometry_msgs
+    robot_sensor_msgs
   )
 
   catkin_package(
     INCLUDE_DIRS include
     # LIBRARIES không cần vì đây là header-only library
-    CATKIN_DEPENDS robot_geometry_msgs
+    CATKIN_DEPENDS 
+        robot_geometry_msgs 
+        robot_sensor_msgs
+
+    DEPENDS
+        PCL
   )
 
   include_directories(
@@ -64,12 +72,14 @@ if(BUILDING_WITH_CATKIN)
     INTERFACE 
       $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
       $<INSTALL_INTERFACE:include>
+      ${PCL_INCLUDE_DIRS}
   )
 
   # Link dependencies (header-only, chỉ cần include paths)
   target_link_libraries(${PROJECT_NAME}
     INTERFACE
       ${catkin_LIBRARIES}
+      ${PCL_LIBRARIES}
   )
 
 else()

include/data_convert/data_convert.h

@@ -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

include/data_convert/pcl_convert.h

@@ -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__ */

package.xml

@@ -21,5 +21,7 @@
 
   <build_depend>robot_geometry_msgs</build_depend>
   <run_depend>robot_geometry_msgs</run_depend>
+  <build_depend>robot_sensor_msgs</build_depend>
+  <run_depend>robot_sensor_msgs</run_depend>
 
 </package>