Refactor PCLNode with Variadic Templates

pcl_ros/CMakeLists.txt

@@ -83,12 +83,6 @@ target_link_libraries(pcl_ros_tf PUBLIC
 #
 #
 
-### Declare library for base filter plugin
-add_library(pcl_ros_filter
-  src/pcl_ros/filters/filter.cpp
-)
-target_link_libraries(pcl_ros_filter pcl_ros_tf ${PCL_LIBRARIES})
-
 ### Declare the pcl_ros_filters library
 add_library(pcl_ros_filters SHARED
   src/pcl_ros/filters/extract_indices.cpp
@@ -102,7 +96,6 @@ add_library(pcl_ros_filters SHARED
 target_link_libraries(pcl_ros_filters PUBLIC
   ${PCL_LIBRARIES}
   ${visualization_msgs_TARGETS}
-  pcl_ros_filter
   pcl_ros_tf
   rclcpp_components::component
 )
@@ -137,16 +130,23 @@ rclcpp_components_register_node(pcl_ros_filters
 class_loader_hide_library_symbols(pcl_ros_filters)
 #
 ### Declare the pcl_ros_segmentation library
-#add_library (pcl_ros_segmentation
+add_library (pcl_ros_segmentation SHARED
 #  src/pcl_ros/segmentation/extract_clusters.cpp
 #  src/pcl_ros/segmentation/extract_polygonal_prism_data.cpp
-#  src/pcl_ros/segmentation/sac_segmentation.cpp
+ src/pcl_ros/segmentation/sac_segmentation.cpp
 #  src/pcl_ros/segmentation/segment_differences.cpp
 #  src/pcl_ros/segmentation/segmentation.cpp
-#)
-#target_link_libraries(pcl_ros_segmentation pcl_ros_tf ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${PCL_LIBRARIES})
-#add_dependencies(pcl_ros_segmentation ${PROJECT_NAME}_gencfg)
-#class_loader_hide_library_symbols(pcl_ros_segmentation)
+)
+target_link_libraries(pcl_ros_segmentation PUBLIC
+  ${PCL_LIBRARIES}
+  pcl_ros_tf
+  rclcpp_components::component
+)
+rclcpp_components_register_node(pcl_ros_segmentation
+  PLUGIN "pcl_ros::SACSegmentation"
+  EXECUTABLE segmentation_sac_node
+)
+class_loader_hide_library_symbols(pcl_ros_segmentation)
 #
 ### Declare the pcl_ros_surface library
 #add_library (pcl_ros_surface
@@ -290,10 +290,9 @@ install(
     pcd_to_pointcloud_lib
 #    pcl_ros_io
 #    pcl_ros_features
-    pcl_ros_filter
     pcl_ros_filters
 #    pcl_ros_surface
-#    pcl_ros_segmentation
+    pcl_ros_segmentation
     pointcloud_to_pcd_lib
     combined_pointcloud_to_pcd_lib
     bag_to_pcd_lib

pcl_ros/include/pcl_ros/filters/crop_box.hpp

@@ -43,7 +43,7 @@
 #include <pcl/filters/crop_box.h>
 #include <vector>
 #include <visualization_msgs/msg/marker.hpp>
-#include "pcl_ros/filters/filter.hpp"
+#include "pcl_ros/pcl_node.hpp"
 
 namespace pcl_ros
 {
@@ -52,49 +52,44 @@ namespace pcl_ros
   * \author Radu Bogdan Rusu
   * \author Justin Rosen
   * \author Marti Morta Garriga
+  * \author Antonio Brandi
   */
-class CropBox : public Filter
+class CropBox : public PCLNode<Input<PointCloud2>, Output<PointCloud2, visualization_msgs::msg::Marker>>
 {
-protected:
-  /** \brief Call the actual filter.
-    * \param input the input point cloud dataset
-    * \param indices the input set of indices to use from \a input
-    * \param output the resultant filtered dataset
+private:
+  /** \brief The PCL filter implementation used.
     */
-  inline void
-  filter(
-    const PointCloud2::ConstSharedPtr & input, const IndicesPtr & indices,
-    PointCloud2 & output) override;
+  pcl::CropBox<pcl::PCLPointCloud2> impl_;
 
-  /** \brief Parameter callback
-    * \param params parameter values to set
+  /** \brief The crop box marker message.
+    * The marker's cube gets updated whenever the min/max points are changed.
+    * The header is adjusted with every point cloud callback.
     */
-  rcl_interfaces::msg::SetParametersResult
-  config_callback(const std::vector<rclcpp::Parameter> & params);
-  /** \brief Create publishers for output PointCloud2 data as well as the crop box marker. */
-  void createPublishers() override;
-  /** \brief Update the crop box marker msg. */
-  void update_marker_msg();
-
-  OnSetParametersCallbackHandle::SharedPtr callback_handle_;
-  /** \brief The crop box marker msg publisher for visualization and debugging purposes. */
-  rclcpp::Publisher<visualization_msgs::msg::Marker>::SharedPtr crop_box_marker_publisher_;
-  /**
-   * \brief The crop box marker message.
-   *
-   * The marker's cube gets updated whenever the min/max points are changed.
-   * The header is adjusted with every point cloud callback.
-   */
   visualization_msgs::msg::Marker crop_box_marker_msg_;
 
-private:
-  /** \brief The PCL filter implementation used. */
-  pcl::CropBox<pcl::PCLPointCloud2> impl_;
+  /** \brief Update the crop box marker msg. */
+  void updateMarkerMsg();
 
-public:
-  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+  /** \brief Parameter callback
+    * \param params parameter values to set.
+    */
+  virtual rcl_interfaces::msg::SetParametersResult onParamsChanged(
+    const std::vector<rclcpp::Parameter> & params) override;
 
+public:
+  /** \brief Constructor.
+    * \param options A rclcpp::NodeOptions to be passed to the node.
+    */
   explicit CropBox(const rclcpp::NodeOptions & options);
+
+  /** \brief Calls the actual CropBox PCL filter.
+    * \param input the input point cloud dataset.
+    * \param output the resultant filtered dataset.
+    * \param marker the crop box marker for visualization and debugging purposes.
+    */
+  virtual void compute(
+    const PointCloud2 & input, PointCloud2 & output,
+    visualization_msgs::msg::Marker & marker) override;
 };
 }  // namespace pcl_ros
 

pcl_ros/include/pcl_ros/filters/extract_indices.hpp

@@ -41,43 +41,42 @@
 // PCL includes
 #include <pcl/filters/extract_indices.h>
 #include <vector>
-#include "pcl_ros/filters/filter.hpp"
+#include "pcl_ros/pcl_node.hpp"
 
 namespace pcl_ros
 {
 /** \brief @b ExtractIndices extracts a set of indices from a PointCloud as a separate PointCloud.
   * \note setFilterFieldName (), setFilterLimits (), and setFilterLimitNegative () are ignored.
   * \author Radu Bogdan Rusu
+  * \author Antonio Brandi
   */
-class ExtractIndices : public Filter
+class ExtractIndices : public PCLNode<Input<PointCloud2, PointIndices>, Output<PointCloud2>>
 {
-protected:
-  /** \brief Call the actual filter.
-    * \param input the input point cloud dataset
-    * \param indices the input set of indices to use from \a input
-    * \param output the resultant filtered dataset
-    */
-  inline void
-  filter(
-    const PointCloud2::ConstSharedPtr & input, const IndicesPtr & indices,
-    PointCloud2 & output) override;
+private:
+  /** \brief The PCL filter implementation used. */
+  pcl::ExtractIndices<pcl::PCLPointCloud2> impl_;
 
   /** \brief Parameter callback
     * \param params parameter values to set
     */
   rcl_interfaces::msg::SetParametersResult
-  config_callback(const std::vector<rclcpp::Parameter> & params);
-
-  OnSetParametersCallbackHandle::SharedPtr callback_handle_;
-
-private:
-  /** \brief The PCL filter implementation used. */
-  pcl::ExtractIndices<pcl::PCLPointCloud2> impl_;
+  onParamsChanged(const std::vector<rclcpp::Parameter> & params) override;
 
 public:
-  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
-
+  /** \brief Constructor
+    * \param options A rclcpp::NodeOptions to be passed to the node.
+    */
   explicit ExtractIndices(const rclcpp::NodeOptions & options);
+
+  /** \brief Calls the actual RadiusOutlierRemoval PCL filter.
+    * \param input the input point cloud dataset.
+    * \param indices the input set of indices to use from input.
+    * \param output the resultant filtered dataset.
+    */
+  virtual void compute(
+    const PointCloud2 & input, const PointIndices & indices,
+    PointCloud2 & output) override;
+
 };
 }  // namespace pcl_ros