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0.20.13: Refacoring MsgConversion by using laserScanFromPointCloud() from rtabmap library.

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matlabbe
2021-06-27 19:37:07 -04:00
parent 4304bae9f6
commit ec9c3f236c
3 changed files with 4 additions and 102 deletions
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CMakeLists.txt
+1 -1
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@@ -31,7 +31,7 @@ find_package(find_object_2d)
## System dependencies are found with CMake's conventions ## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system) # find_package(Boost REQUIRED COMPONENTS system)
find_package(RTABMap 0.20.11 REQUIRED) find_package(RTABMap 0.20.13 REQUIRED)
find_package(OpenCV REQUIRED) find_package(OpenCV REQUIRED)
package.xml
+1 -1
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@@ -1,7 +1,7 @@
<?xml version="1.0"?> <?xml version="1.0"?>
<package> <package>
<name>rtabmap_ros</name> <name>rtabmap_ros</name>
<version>0.20.11</version> <version>0.20.13</version>
<description>RTAB-Map's ros-pkg. RTAB-Map is a RGB-D SLAM approach with real-time constraints.</description> <description>RTAB-Map's ros-pkg. RTAB-Map is a RGB-D SLAM approach with real-time constraints.</description>
<maintainer email="[email protected]">Mathieu Labbe</maintainer> <maintainer email="[email protected]">Mathieu Labbe</maintainer>
<author>Mathieu Labbe</author> <author>Mathieu Labbe</author>
src/MsgConversion.cpp
+2 -100
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@@ -2207,39 +2207,6 @@ bool convertScan3dMsg(
UASSERT_MSG(scan3dMsg.data.size() == scan3dMsg.row_step*scan3dMsg.height, UASSERT_MSG(scan3dMsg.data.size() == scan3dMsg.row_step*scan3dMsg.height,
uFormat("data=%d row_step=%d height=%d", scan3dMsg.data.size(), scan3dMsg.row_step, scan3dMsg.height).c_str()); uFormat("data=%d row_step=%d height=%d", scan3dMsg.data.size(), scan3dMsg.row_step, scan3dMsg.height).c_str());
bool hasNormals = false;
bool hasColors = false;
bool hasIntensity = false;
for(unsigned int i=0; i<scan3dMsg.fields.size(); ++i)
{
if(scan3dMsg.fields[i].name.compare("normal_x") == 0)
{
hasNormals = true;
}
if(scan3dMsg.fields[i].name.compare("rgb") == 0 || scan3dMsg.fields[i].name.compare("rgba") == 0)
{
hasColors = true;
}
if(scan3dMsg.fields[i].name.compare("intensity") == 0)
{
if(scan3dMsg.fields[i].datatype == sensor_msgs::PointField::FLOAT32)
{
hasIntensity = true;
}
else
{
static bool warningShown = false;
if(!warningShown)
{
ROS_WARN("The input scan cloud has an \"intensity\" field "
"but the datatype (%d) is not supported. Intensity will be ignored. "
"This message is only shown once.", scan3dMsg.fields[i].datatype);
warningShown = true;
}
}
}
}
rtabmap::Transform scanLocalTransform = getTransform(frameId, scan3dMsg.header.frame_id, scan3dMsg.header.stamp, listener, waitForTransform); rtabmap::Transform scanLocalTransform = getTransform(frameId, scan3dMsg.header.frame_id, scan3dMsg.header.stamp, listener, waitForTransform);
if(scanLocalTransform.isNull()) if(scanLocalTransform.isNull())
{ {
@@ -2267,73 +2234,8 @@ bool convertScan3dMsg(
scanLocalTransform = sensorT * scanLocalTransform; scanLocalTransform = sensorT * scanLocalTransform;
} }
} }
scan = rtabmap::util3d::laserScanFromPointCloud(scan3dMsg);
if(hasNormals) scan = rtabmap::LaserScan(scan, maxPoints, maxRange, scanLocalTransform);
{
if(hasColors)
{
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr pclScan(new pcl::PointCloud<pcl::PointXYZRGBNormal>);
pcl::fromROSMsg(scan3dMsg, *pclScan);
if(!pclScan->is_dense)
{
pclScan = rtabmap::util3d::removeNaNNormalsFromPointCloud(pclScan);
}
scan = rtabmap::LaserScan(rtabmap::util3d::laserScanFromPointCloud(*pclScan), maxPoints, maxRange, scanLocalTransform);
}
else if(hasIntensity)
{
pcl::PointCloud<pcl::PointXYZINormal>::Ptr pclScan(new pcl::PointCloud<pcl::PointXYZINormal>);
pcl::fromROSMsg(scan3dMsg, *pclScan);
if(!pclScan->is_dense)
{
pclScan = rtabmap::util3d::removeNaNNormalsFromPointCloud(pclScan);
}
scan = rtabmap::LaserScan(rtabmap::util3d::laserScanFromPointCloud(*pclScan), maxPoints, maxRange, scanLocalTransform);
}
else
{
pcl::PointCloud<pcl::PointNormal>::Ptr pclScan(new pcl::PointCloud<pcl::PointNormal>);
pcl::fromROSMsg(scan3dMsg, *pclScan);
if(!pclScan->is_dense)
{
pclScan = rtabmap::util3d::removeNaNNormalsFromPointCloud(pclScan);
}
scan = rtabmap::LaserScan(rtabmap::util3d::laserScanFromPointCloud(*pclScan), maxPoints, maxRange, scanLocalTransform);
}
}
else
{
if(hasColors)
{
pcl::PointCloud<pcl::PointXYZRGB>::Ptr pclScan(new pcl::PointCloud<pcl::PointXYZRGB>);
pcl::fromROSMsg(scan3dMsg, *pclScan);
if(!pclScan->is_dense)
{
pclScan = rtabmap::util3d::removeNaNFromPointCloud(pclScan);
}
scan = rtabmap::LaserScan(rtabmap::util3d::laserScanFromPointCloud(*pclScan), maxPoints, maxRange, scanLocalTransform);
}
else if(hasIntensity)
{
pcl::PointCloud<pcl::PointXYZI>::Ptr pclScan(new pcl::PointCloud<pcl::PointXYZI>);
pcl::fromROSMsg(scan3dMsg, *pclScan);
if(!pclScan->is_dense)
{
pclScan = rtabmap::util3d::removeNaNFromPointCloud(pclScan);
}
scan = rtabmap::LaserScan(rtabmap::util3d::laserScanFromPointCloud(*pclScan), maxPoints, maxRange, scanLocalTransform);
}
else
{
pcl::PointCloud<pcl::PointXYZ>::Ptr pclScan(new pcl::PointCloud<pcl::PointXYZ>);
pcl::fromROSMsg(scan3dMsg, *pclScan);
if(!pclScan->is_dense)
{
pclScan = rtabmap::util3d::removeNaNFromPointCloud(pclScan);
}
scan = rtabmap::LaserScan(rtabmap::util3d::laserScanFromPointCloud(*pclScan), maxPoints, maxRange, scanLocalTransform);
}
}
return true; return true;
} }