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Fix/crop box #78

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merged 2 commits into from
Apr 28, 2024
Merged

Fix/crop box #78

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589a2b0
add marker
hakuturu583 Apr 28, 2024
9ed8246
enable publish marker
hakuturu583 Apr 28, 2024
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6 changes: 6 additions & 0 deletions pcl_apps/include/pcl_apps/filter/crop_box_filter/crop_box_filter_component.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -53,10 +53,15 @@ extern "C" {
} // extern "C"
#endif

#include <geometry_msgs/msg/point.hpp>
#include <geometry_msgs/msg/pose.hpp>
#include <geometry_msgs/msg/vector3.hpp>
#include <memory>
#include <pcl_apps/adapter.hpp>
#include <rclcpp/rclcpp.hpp>
#include <sensor_msgs/msg/point_cloud2.hpp>
#include <visualization_msgs/msg/marker.hpp>
#include <visualization_msgs/msg/marker_array.hpp>

namespace pcl_apps
{
Expand All @@ -73,6 +78,7 @@ class CropBoxFilterComponent : public rclcpp::Node
bool keep_organized_, negative_;
PointCloudPublisher pub_;
PointCloudSubscriber sub_;
std::shared_ptr<rclcpp::Publisher<visualization_msgs::msg::MarkerArray>> marker_pub_;
};
} // namespace pcl_apps

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34 changes: 33 additions & 1 deletion pcl_apps/src/filter/crop_box_filter/crop_box_filter_component.cpp
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Expand Up @@ -21,6 +21,8 @@
#include <pcl/filters/crop_box.h>
#include <pcl_conversions/pcl_conversions.h>

#include <color_names/color_names.hpp>

namespace pcl_apps
{
CropBoxFilterComponent::CropBoxFilterComponent(const rclcpp::NodeOptions & options)
Expand All @@ -42,21 +44,51 @@ CropBoxFilterComponent::CropBoxFilterComponent(const rclcpp::NodeOptions & optio
get_parameter("keep_organized", keep_organized_);
declare_parameter("negative", false);
get_parameter("negative", negative_);
marker_pub_ = create_publisher<visualization_msgs::msg::MarkerArray>("~/bbox", 1);
pub_ = create_publisher<PointCloudAdapterType>("~/points_filtered", 1);
sub_ = create_subscription<PointCloudAdapterType>(
"~/points", 1, [this](const PCLPointCloudTypePtr & msg) { pointsCallback(msg); });
}

void CropBoxFilterComponent::pointsCallback(const PCLPointCloudTypePtr & msg)
{
marker_pub_->publish(visualization_msgs::build<visualization_msgs::msg::MarkerArray>().markers(
{visualization_msgs::build<visualization_msgs::msg::Marker>()
.header(pcl_conversions::fromPCL(msg->header))
.ns("bbox")
.id(0)
.type(visualization_msgs::msg::Marker::CUBE)
.action(visualization_msgs::msg::Marker::ADD)
.pose(geometry_msgs::build<geometry_msgs::msg::Pose>()
.position(geometry_msgs::build<geometry_msgs::msg::Point>()
.x((min_x_ + max_x_) * 0.5)
.y((min_y_ + max_y_) * 0.5)
.z((min_z_ + max_z_) * 0.5))
.orientation(geometry_msgs::msg::Quaternion()))
.scale(geometry_msgs::build<geometry_msgs::msg::Vector3>()
.x(std::abs(max_x_ - min_x_))
.y(std::abs(max_y_ - min_y_))
.z(std::abs(max_z_ - min_z_)))
.color(color_names::makeColorMsg("greenyellow", 0.3))
.lifetime(builtin_interfaces::msg::Duration())
.frame_locked(true)
.points({})
.colors({})
.texture_resource("")
.texture(sensor_msgs::msg::CompressedImage())
.uv_coordinates({})
.text("")
.mesh_resource("")
.mesh_file(visualization_msgs::msg::MeshFile())
.mesh_use_embedded_materials(false)}));
pcl::CropBox<PCLPointType> filter;
Eigen::Vector4f new_min_point, new_max_point;
new_min_point << min_x_, min_y_, min_z_, 0.0;
new_max_point << max_x_, max_y_, max_z_, 0.0;
filter.setMin(new_min_point);
filter.setMax(new_max_point);
filter.setNegative(negative_);
filter.setKeepOrganized(keep_organized_);
// filter.setKeepOrganized(keep_organized_);
filter.setInputCloud(msg);
PCLPointCloudTypePtr filtered_cloud(new PCLPointCloudType());
filter.filter(*filtered_cloud);
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