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[Personalrobots-commit] SF.net SVN: personalrobots:[21050] pkg/trunk
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From: <jfa...@us...> - 2009-08-07 22:13:43
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Revision: 21050
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=21050&view=rev
Author: jfaustwg
Date: 2009-08-07 21:24:30 +0000 (Fri, 07 Aug 2009)
Log Message:
-----------
PointCloud:
* pts -> points
* chan -> channels
ChannelFloat32:
* vals -> values
Modified Paths:
--------------
pkg/trunk/calibration/kinematic_calibration/src/laser_head_grabber.cpp
pkg/trunk/calibration/kinematic_calibration/src/sensor_kinematics_grabber.cpp
pkg/trunk/calibration/laser_cb_processing/src/laser_cb_processing.cpp
pkg/trunk/calibration/laser_cb_processing/src/pr2_tilt_laser_projector.cpp
pkg/trunk/drivers/simulator/gazebo_plugin/src/ros_block_laser.cpp
pkg/trunk/highlevel/doors/doors_core/src/action_detect_door.cpp
pkg/trunk/highlevel/doors/doors_core/src/action_detect_handle.cpp
pkg/trunk/highlevel/doors/doors_core/src/action_detect_handle_no_camera.cpp
pkg/trunk/highlevel/writing/writing_core/src/whiteboard_detector.cpp
pkg/trunk/mapping/annotated_planar_patch_map/include/annotated_planar_patch_map/generic_map_base_assembler_srv.h
pkg/trunk/mapping/annotated_planar_patch_map/include/annotated_planar_patch_map/map_base_assembler_srv.h
pkg/trunk/mapping/annotated_planar_patch_map/src/annotated_map_lib.cpp
pkg/trunk/mapping/annotated_planar_patch_map/src/annotated_planar_patch_map_builder.cpp
pkg/trunk/mapping/annotated_planar_patch_map/src/annotation2d_lifter_to_pcd_via_service.cpp
pkg/trunk/mapping/annotated_planar_patch_map/src/annotation2d_lifter_to_planar_patch_map.cpp
pkg/trunk/mapping/annotated_planar_patch_map/src/annotation2d_lifter_to_tagged_patch_map.cpp
pkg/trunk/mapping/annotated_planar_patch_map/src/annotation2d_lifter_to_tagged_patch_map_via_service.cpp
pkg/trunk/mapping/annotated_planar_patch_map/src/binding.cpp
pkg/trunk/mapping/annotated_planar_patch_map/src/empty_annotated_map.cpp
pkg/trunk/mapping/annotated_planar_patch_map/src/pcd_assembler_srv.cpp
pkg/trunk/mapping/annotated_planar_patch_map/src/projection.cpp
pkg/trunk/mapping/collision_map/src/collision_map.cpp
pkg/trunk/mapping/collision_map/src/collision_map_buffer.cpp
pkg/trunk/mapping/collision_map/src/collision_map_occ.cpp
pkg/trunk/mapping/collision_map/src/collision_map_self_occ.cpp
pkg/trunk/mapping/door_stereo_detector/src/door_stereo_detector.cpp
pkg/trunk/mapping/door_tracker/src/door_tracker.cpp
pkg/trunk/mapping/hallway_tracker/src/hallway_tracker.cpp
pkg/trunk/mapping/planar_patch_map/src/planar_patch_map.cpp
pkg/trunk/mapping/planar_patch_map/src/planar_patch_map_omp.cpp
pkg/trunk/mapping/stereo_convex_patch_histogram/src/convex_patch_histogram.cpp
pkg/trunk/mapping/table_object_detector/src/table_object_detector.cpp
pkg/trunk/motion_planning/plan_ompl_path/src/plan_kinematic_path.cpp
pkg/trunk/motion_planning/plan_ompl_path/src/right_arm/execute_replan_to_state.cpp
pkg/trunk/motion_planning/planning_environment/src/tools/clear_known_objects.cpp
pkg/trunk/motion_planning/planning_research/sbpl_arm_planner_node/src/sbpl_arm_planner_node.cpp
pkg/trunk/nav/visual_nav/src/ros_visual_nav.cpp
pkg/trunk/nav/wavefront/src/wavefront_node.cpp
pkg/trunk/sandbox/descriptors_3d/examples/interest_point_example.cpp
pkg/trunk/sandbox/descriptors_3d/src/bounding_box_raw.cpp
pkg/trunk/sandbox/descriptors_3d/src/bounding_box_spectral.cpp
pkg/trunk/sandbox/descriptors_3d/src/spin_image_generic.cpp
pkg/trunk/sandbox/functional_m3n/examples/classify_m3n.cpp
pkg/trunk/sandbox/functional_m3n/examples/train_m3n.cpp
pkg/trunk/sandbox/functional_m3n/src/example/pt_cloud_rf_creator.cpp
pkg/trunk/sandbox/functional_m3n_ros/src/m3n_learning_node.cpp
pkg/trunk/sandbox/functional_m3n_ros/src/m3n_prediction_node.cpp
pkg/trunk/sandbox/functional_m3n_ros/src/random_field_creator.cpp
pkg/trunk/sandbox/labeled_object_detector/src/pcd_misc.cpp
pkg/trunk/sandbox/labeled_object_detector/src/planar_object_detector.cpp
pkg/trunk/sandbox/labeled_object_detector/src/segment_objects.cpp
pkg/trunk/sandbox/labeled_object_detector/test/test_pcd_segmentation.cpp
pkg/trunk/sandbox/pcd_novelty/src/novelty_estimator.cpp
pkg/trunk/sandbox/pcd_novelty/src/novelty_estimator_node.cpp
pkg/trunk/sandbox/pcd_novelty/test/test_novelty_estimator.cpp
pkg/trunk/sandbox/person_follower/src/follower.cpp
pkg/trunk/sandbox/planar_objects/src/box_detector.cpp
pkg/trunk/sandbox/planar_objects/src/cornercandidate.cpp
pkg/trunk/sandbox/planar_objects/src/find_planes.cpp
pkg/trunk/sandbox/planar_objects/src/rectangular_fit.cpp
pkg/trunk/sandbox/planar_objects/src/vis_utils.cpp
pkg/trunk/sandbox/point_cloud_clustering/src/kmeans.cpp
pkg/trunk/sandbox/point_cloud_clustering/src/pairwise_neighbors.cpp
pkg/trunk/sandbox/point_cloud_clustering/src/point_cloud_clustering.cpp
pkg/trunk/sandbox/point_cloud_tutorials/src/planar_fit.cpp
pkg/trunk/sandbox/point_cloud_tutorials/src/plane_fit.cpp
pkg/trunk/sandbox/rf_detector/src/ObjectInPerspective.cpp
pkg/trunk/sandbox/test_arm_vision_calibration/src/test_arm_vision_calibration.cpp
pkg/trunk/sandbox/test_arm_vision_calibration/src/test_arm_vision_callibration.cpp
pkg/trunk/sandbox/voxel3d/src/voxel3d.cpp
pkg/trunk/sandbox/voxel3d/src/voxel_node.cpp
pkg/trunk/stacks/common/laser_scan/include/laser_scan/footprint_filter.h
pkg/trunk/stacks/common/laser_scan/include/laser_scan/point_cloud_footprint_filter.h
pkg/trunk/stacks/common/laser_scan/src/laser_processor.cpp
pkg/trunk/stacks/common/laser_scan/src/laser_scan.cc
pkg/trunk/stacks/common/laser_scan/src/scan_shadows_filter.cpp
pkg/trunk/stacks/common/laser_scan/src/scan_to_cloud.cpp
pkg/trunk/stacks/common/laser_scan/test/projection_test.cpp
pkg/trunk/stacks/common_msgs/sensor_msgs/msg/ChannelFloat32.msg
pkg/trunk/stacks/common_msgs/sensor_msgs/msg/PointCloud.msg
pkg/trunk/stacks/geometry/tf/src/transform_listener.cpp
pkg/trunk/stacks/laser_drivers/point_cloud_assembler/include/point_cloud_assembler/base_assembler_srv.h
pkg/trunk/stacks/laser_drivers/point_cloud_assembler/src/grab_cloud_data.cpp
pkg/trunk/stacks/laser_drivers/point_cloud_assembler/src/merge_clouds.cpp
pkg/trunk/stacks/laser_drivers/point_cloud_assembler/src/point_cloud_assembler_srv.cpp
pkg/trunk/stacks/laser_drivers/point_cloud_assembler/src/point_cloud_snapshotter.cpp
pkg/trunk/stacks/laser_drivers/point_cloud_assembler/src/point_cloud_srv.cpp
pkg/trunk/stacks/laser_drivers/point_cloud_assembler/test/test_assembler.cpp
pkg/trunk/stacks/navigation/base_local_planner/src/point_grid.cpp
pkg/trunk/stacks/navigation/base_local_planner/src/voxel_grid_model.cpp
pkg/trunk/stacks/navigation/costmap_2d/src/costmap_2d.cpp
pkg/trunk/stacks/navigation/costmap_2d/src/costmap_2d_cloud.cpp
pkg/trunk/stacks/navigation/costmap_2d/src/observation_buffer.cpp
pkg/trunk/stacks/navigation/costmap_2d/src/voxel_costmap_2d.cpp
pkg/trunk/stacks/semantic_mapping/door_handle_detector/scripts/point_cloud_cropper.py
pkg/trunk/stacks/semantic_mapping/door_handle_detector/src/doors_detector.cpp
pkg/trunk/stacks/semantic_mapping/door_handle_detector/src/geometric_helper.cpp
pkg/trunk/stacks/semantic_mapping/door_handle_detector/src/handle_detector.cpp
pkg/trunk/stacks/semantic_mapping/door_handle_detector/src/handle_detector_vision.cpp
pkg/trunk/stacks/semantic_mapping/door_handle_detector/test/point_cloud_cropper.cpp
pkg/trunk/stacks/semantic_mapping/plug_onbase_detector/include/plug_onbase_detector/plug_onbase_detector.h
pkg/trunk/stacks/semantic_mapping/point_cloud_mapping/include/point_cloud_mapping/cloud_io.h
pkg/trunk/stacks/semantic_mapping/point_cloud_mapping/include/point_cloud_mapping/geometry/nearest.h
pkg/trunk/stacks/semantic_mapping/point_cloud_mapping/include/point_cloud_mapping/geometry/point.h
pkg/trunk/stacks/semantic_mapping/point_cloud_mapping/include/point_cloud_mapping/geometry/projections.h
pkg/trunk/stacks/semantic_mapping/point_cloud_mapping/include/point_cloud_mapping/geometry/statistics.h
pkg/trunk/stacks/semantic_mapping/point_cloud_mapping/include/point_cloud_mapping/kdtree/kdtree_ann.h
pkg/trunk/stacks/semantic_mapping/point_cloud_mapping/include/point_cloud_mapping/sample_consensus/sac.h
pkg/trunk/stacks/semantic_mapping/point_cloud_mapping/include/point_cloud_mapping/sample_consensus/sac_model.h
pkg/trunk/stacks/semantic_mapping/point_cloud_mapping/src/cloud_downsampler.cpp
pkg/trunk/stacks/semantic_mapping/point_cloud_mapping/src/cloud_geometry/areas.cpp
pkg/trunk/stacks/semantic_mapping/point_cloud_mapping/src/cloud_geometry/nearest.cpp
pkg/trunk/stacks/semantic_mapping/point_cloud_mapping/src/cloud_geometry/point.cpp
pkg/trunk/stacks/semantic_mapping/point_cloud_mapping/src/cloud_geometry/statistics.cpp
pkg/trunk/stacks/semantic_mapping/point_cloud_mapping/src/cloud_io/misc.cpp
pkg/trunk/stacks/semantic_mapping/point_cloud_mapping/src/cloud_io/read.cpp
pkg/trunk/stacks/semantic_mapping/point_cloud_mapping/src/cloud_io/tools/bag_to_pcd.cpp
pkg/trunk/stacks/semantic_mapping/point_cloud_mapping/src/cloud_io/tools/cloudmsg_to_screen.cpp
pkg/trunk/stacks/semantic_mapping/point_cloud_mapping/src/cloud_io/tools/convert_pcd_ascii_binary.cpp
pkg/trunk/stacks/semantic_mapping/point_cloud_mapping/src/cloud_io/tools/pcd_to_msg.cpp
pkg/trunk/stacks/semantic_mapping/point_cloud_mapping/src/cloud_io/write.cpp
pkg/trunk/stacks/semantic_mapping/point_cloud_mapping/src/cloud_kdtree/kdtree_ann.cpp
pkg/trunk/stacks/semantic_mapping/point_cloud_mapping/src/cloud_kdtree/kdtree_flann.cpp
pkg/trunk/stacks/semantic_mapping/point_cloud_mapping/src/normal_estimation.cpp
pkg/trunk/stacks/semantic_mapping/point_cloud_mapping/src/normal_estimation_in_proc.cpp
pkg/trunk/stacks/semantic_mapping/point_cloud_mapping/src/organized_normal_estimation.cpp
pkg/trunk/stacks/semantic_mapping/point_cloud_mapping/src/planar_fit.cpp
pkg/trunk/stacks/semantic_mapping/point_cloud_mapping/src/sample_consensus/sac.cpp
pkg/trunk/stacks/semantic_mapping/point_cloud_mapping/src/sample_consensus/sac_model_circle.cpp
pkg/trunk/stacks/semantic_mapping/point_cloud_mapping/src/sample_consensus/sac_model_cylinder.cpp
pkg/trunk/stacks/semantic_mapping/point_cloud_mapping/src/sample_consensus/sac_model_line.cpp
pkg/trunk/stacks/semantic_mapping/point_cloud_mapping/src/sample_consensus/sac_model_oriented_line.cpp
pkg/trunk/stacks/semantic_mapping/point_cloud_mapping/src/sample_consensus/sac_model_oriented_plane.cpp
pkg/trunk/stacks/semantic_mapping/point_cloud_mapping/src/sample_consensus/sac_model_parallel_lines.cpp
pkg/trunk/stacks/semantic_mapping/point_cloud_mapping/src/sample_consensus/sac_model_plane.cpp
pkg/trunk/stacks/semantic_mapping/point_cloud_mapping/src/sample_consensus/sac_model_sphere.cpp
pkg/trunk/stacks/semantic_mapping/point_cloud_mapping/test/cloud_geometry/test_geometry_statistics.cpp
pkg/trunk/stacks/semantic_mapping/point_cloud_mapping/test/cloud_io/test_io.cpp
pkg/trunk/stacks/semantic_mapping/point_cloud_mapping/test/cloud_kdtree/bunny_model.h
pkg/trunk/stacks/semantic_mapping/point_cloud_mapping/test/cloud_kdtree/test_kdtree.cpp
pkg/trunk/stacks/semantic_mapping/point_cloud_mapping/test/sample_consensus/test_circle_fit.cpp
pkg/trunk/stacks/semantic_mapping/point_cloud_mapping/test/sample_consensus/test_cylinder_fit.cpp
pkg/trunk/stacks/semantic_mapping/point_cloud_mapping/test/sample_consensus/test_line_fit.cpp
pkg/trunk/stacks/semantic_mapping/point_cloud_mapping/test/sample_consensus/test_plane_fit.cpp
pkg/trunk/stacks/semantic_mapping/point_cloud_mapping/test/sample_consensus/test_sphere_fit.cpp
pkg/trunk/stacks/semantic_mapping/semantic_point_annotator/src/sac_ground_removal.cpp
pkg/trunk/stacks/semantic_mapping/semantic_point_annotator/src/sac_inc_ground_removal.cpp
pkg/trunk/stacks/semantic_mapping/semantic_point_annotator/src/semantic_point_annotator.cpp
pkg/trunk/stacks/semantic_mapping/semantic_point_annotator/src/semantic_point_annotator_omp.cpp
pkg/trunk/stacks/sound_drivers/sound_play/scripts/soundplay_node.py
pkg/trunk/stacks/stereo/stereo_image_proc/src/stereoproc.cpp
pkg/trunk/stacks/visual_feature_detectors/outlet_detection/src/outlet_spotting.cpp
pkg/trunk/stacks/visual_feature_detectors/outlet_detection/src/outlet_spotting2.cpp
pkg/trunk/stacks/visual_feature_detectors/outlet_detection/src/outlet_util.cpp
pkg/trunk/stacks/visualization/rviz/src/rviz/displays/point_cloud_base.cpp
pkg/trunk/stacks/visualization/rviz/src/rviz/displays/point_cloud_base.h
pkg/trunk/stacks/visualization/rviz/src/test/cloud_test.cpp
pkg/trunk/stacks/world_models/topological_map/src/visualization.cpp
pkg/trunk/util/or_robot_self_filter/src/robotlinks_filter_node.cpp
pkg/trunk/util/prosilica_capture_rectified/src/prosilica_capture.cpp
pkg/trunk/util/robot_self_filter/include/robot_self_filter/self_see_filter.h
pkg/trunk/util/robot_self_filter/src/draw_rays.cpp
pkg/trunk/util/robot_self_filter/src/self_filter.cpp
pkg/trunk/util/robot_self_filter/src/self_mask.cpp
pkg/trunk/util/robot_self_filter/src/test_filter.cpp
pkg/trunk/vision/calib_converter/src/calib_converter.cpp
pkg/trunk/vision/cv_mech_turk/src/annotation_to_data_sync.py
pkg/trunk/vision/people/src/face_detection.cpp
pkg/trunk/vision/people/src/filter/mcpdf_pos_vel.cpp
pkg/trunk/vision/people/src/filter/mcpdf_vector.cpp
pkg/trunk/vision/people/src/filter/people_tracking_node.cpp
pkg/trunk/vision/people/src/leg_detector.cpp
pkg/trunk/vision/people/src/people_follower.cpp
pkg/trunk/vision/people/src/stereo_face_feature_tracker.py
pkg/trunk/vision/recognition_lambertian/src/model_fitter.cpp
pkg/trunk/vision/recognition_lambertian/src/plane_fit.cpp
pkg/trunk/vision/recognition_lambertian/src/publish_scene.cpp
pkg/trunk/vision/recognition_lambertian/src/rec_lam_normal_features.cpp
pkg/trunk/vision/recognition_lambertian/src/recognition_lambertian.cpp
pkg/trunk/vision/recognition_lambertian/src/visualization.cpp
pkg/trunk/vision/recognition_lambertian/src/voxel_grid.py
pkg/trunk/vision/spacetime_stereo/sts_dynamic.cpp
pkg/trunk/vision/spacetime_stereo/sts_node.cpp
pkg/trunk/vision/stereo_capture/src/stereo_capture.cpp
pkg/trunk/vision/stereo_checkerboard_detector/src/checkerboard_corners_node.cpp
pkg/trunk/vision/stereo_checkerboard_detector/src/image_pc_debugger.cpp
pkg/trunk/vision/stereo_checkerboard_detector/src/stereo_checkerboard_node.cpp
Modified: pkg/trunk/calibration/kinematic_calibration/src/laser_head_grabber.cpp
===================================================================
--- pkg/trunk/calibration/kinematic_calibration/src/laser_head_grabber.cpp 2009-08-07 21:22:37 UTC (rev 21049)
+++ pkg/trunk/calibration/kinematic_calibration/src/laser_head_grabber.cpp 2009-08-07 21:24:30 UTC (rev 21050)
@@ -321,12 +321,12 @@
// Build Laser Measurement Vector (Tilt angle, pointing angle, dist)
SensorSample laser_sample ;
- laser_sample.m.resize(safe_laser_measurement_.pts.size()*3) ;
- for(unsigned int i=0; i<safe_laser_measurement_.pts.size(); i++)
+ laser_sample.m.resize(safe_laser_measurement_.points.size()*3) ;
+ for(unsigned int i=0; i<safe_laser_measurement_.points.size(); i++)
{
- laser_sample.m[3*i+0] = safe_laser_measurement_.pts[i].x ;
- laser_sample.m[3*i+1] = safe_laser_measurement_.pts[i].y ;
- laser_sample.m[3*i+2] = safe_laser_measurement_.pts[i].z ;
+ laser_sample.m[3*i+0] = safe_laser_measurement_.points[i].x ;
+ laser_sample.m[3*i+1] = safe_laser_measurement_.points[i].y ;
+ laser_sample.m[3*i+2] = safe_laser_measurement_.points[i].z ;
}
laser_sample.sensor = "tilt_laser" ;
laser_sample.target = "6x8_cb" ;
@@ -382,11 +382,11 @@
SensorSample sample ;
sample.sensor = sensor ;
sample.target = target ;
- sample.m.resize(2*corners.pts.size()) ;
- for(unsigned int i=0; i<corners.pts.size(); i++)
+ sample.m.resize(2*corners.points.size()) ;
+ for(unsigned int i=0; i<corners.points.size(); i++)
{
- sample.m[2*i+0] = corners.pts[i].x ;
- sample.m[2*i+1] = corners.pts[i].y ;
+ sample.m[2*i+0] = corners.points[i].x ;
+ sample.m[2*i+1] = corners.points[i].y ;
}
return sample ;
}
Modified: pkg/trunk/calibration/kinematic_calibration/src/sensor_kinematics_grabber.cpp
===================================================================
--- pkg/trunk/calibration/kinematic_calibration/src/sensor_kinematics_grabber.cpp 2009-08-07 21:22:37 UTC (rev 21049)
+++ pkg/trunk/calibration/kinematic_calibration/src/sensor_kinematics_grabber.cpp 2009-08-07 21:24:30 UTC (rev 21050)
@@ -287,7 +287,7 @@
printf(" Mechanism State: %lf %u Joints\n", lag.toSec(), data.mechanism_state.get_joint_states_size()) ;
lag = data.laser_cloud.header.stamp-cur_time ;
- printf(" Laser Cloud: %lf %u points\n", lag.toSec(), data.laser_cloud.get_pts_size() ) ;
+ printf(" Laser Cloud: %lf %u points\n", lag.toSec(), data.laser_cloud.get_points_size() ) ;
lag = data.mocap_snapshot.header.stamp-cur_time ;
printf(" MoCap: %lf %u Markers | %u Bodies\n", lag.toSec(), data.mocap_snapshot.get_markers_size(),
Modified: pkg/trunk/calibration/laser_cb_processing/src/laser_cb_processing.cpp
===================================================================
--- pkg/trunk/calibration/laser_cb_processing/src/laser_cb_processing.cpp 2009-08-07 21:22:37 UTC (rev 21049)
+++ pkg/trunk/calibration/laser_cb_processing/src/laser_cb_processing.cpp 2009-08-07 21:24:30 UTC (rev 21050)
@@ -87,11 +87,11 @@
{
ROS_INFO("%f - Callback", t.toSec());
- unsigned int C = pixel_corners_.pts.size() ;
+ unsigned int C = pixel_corners_.points.size() ;
sensor_msgs::PointCloud measured_corners;
measured_corners.header.stamp = pixel_corners_.header.stamp ;
measured_corners.header.frame_id = "NOT_APPLICABLE" ;
- measured_corners.pts.resize(C);
+ measured_corners.points.resize(C);
if (C > 0)
{
@@ -122,8 +122,8 @@
for (unsigned int i = 0; i < C; i++)
{
- corners_pix_x[i] = pixel_corners_.pts[i].x;
- corners_pix_y[i] = pixel_corners_.pts[i].y;
+ corners_pix_x[i] = pixel_corners_.points[i].x;
+ corners_pix_y[i] = pixel_corners_.points[i].y;
}
float x_scale = (float)(joint_info_.data.layout.dim[1].size - 1)
@@ -150,11 +150,11 @@
for (unsigned int i = 0; i < C; i++)
{
// Tilt angle
- measured_corners.pts[i].x = corners_joint[i];
+ measured_corners.points[i].x = corners_joint[i];
// Pointing angle
- measured_corners.pts[i].y = pointingAngle(scan_info_, pixel_corners_.pts[i].x);
+ measured_corners.points[i].y = pointingAngle(scan_info_, pixel_corners_.points[i].x);
// Range
- measured_corners.pts[i].z = corners_range[i];
+ measured_corners.points[i].z = corners_range[i];
}
}
Modified: pkg/trunk/calibration/laser_cb_processing/src/pr2_tilt_laser_projector.cpp
===================================================================
--- pkg/trunk/calibration/laser_cb_processing/src/pr2_tilt_laser_projector.cpp 2009-08-07 21:22:37 UTC (rev 21049)
+++ pkg/trunk/calibration/laser_cb_processing/src/pr2_tilt_laser_projector.cpp 2009-08-07 21:24:30 UTC (rev 21050)
@@ -133,9 +133,9 @@
void callback()
{
- unsigned int C = in_.pts.size() ;
+ unsigned int C = in_.points.size() ;
sensor_msgs::PointCloud cloud_out ;
- cloud_out.pts.resize(C) ;
+ cloud_out.points.resize(C) ;
KDL::ChainFkSolverPos_recursive solver(chain_) ;
KDL::Frame loc ;
@@ -144,13 +144,13 @@
for (unsigned int i=0; i<C; i++)
{
- joint_vals(0) = in_.pts[i].x ;
- joint_vals(1) = in_.pts[i].y ;
- joint_vals(2) = in_.pts[i].z ;
+ joint_vals(0) = in_.points[i].x ;
+ joint_vals(1) = in_.points[i].y ;
+ joint_vals(2) = in_.points[i].z ;
solver.JntToCart(joint_vals, loc) ;
- cloud_out.pts[i].x = loc.p.x() ;
- cloud_out.pts[i].y = loc.p.y() ;
- cloud_out.pts[i].z = loc.p.z() ;
+ cloud_out.points[i].x = loc.p.x() ;
+ cloud_out.points[i].y = loc.p.y() ;
+ cloud_out.points[i].z = loc.p.z() ;
}
cloud_out.header.stamp = in_.header.stamp ;
cloud_out.header.frame_id = "torso_lift_link" ;
Modified: pkg/trunk/drivers/simulator/gazebo_plugin/src/ros_block_laser.cpp
===================================================================
--- pkg/trunk/drivers/simulator/gazebo_plugin/src/ros_block_laser.cpp 2009-08-07 21:22:37 UTC (rev 21049)
+++ pkg/trunk/drivers/simulator/gazebo_plugin/src/ros_block_laser.cpp 2009-08-07 21:24:30 UTC (rev 21050)
@@ -90,9 +90,9 @@
Angle verticalMinAngle = this->myParent->GetVerticalMinAngle();
int r_size = rangeCount * verticalRangeCount;
- this->cloudMsg.set_pts_size(r_size);
- this->cloudMsg.set_chan_size(1);
- this->cloudMsg.chan[0].set_vals_size(r_size);
+ this->cloudMsg.set_points_size(r_size);
+ this->cloudMsg.set_channels_size(1);
+ this->cloudMsg.channels[0].set_values_size(r_size);
}
@@ -146,9 +146,9 @@
// set size of cloud message everytime!
int r_size = rangeCount * verticalRangeCount;
- this->cloudMsg.set_pts_size(r_size);
- this->cloudMsg.set_chan_size(1);
- this->cloudMsg.chan[0].set_vals_size(r_size);
+ this->cloudMsg.set_points_size(r_size);
+ this->cloudMsg.set_channels_size(1);
+ this->cloudMsg.channels[0].set_values_size(r_size);
/***************************************************************/
/* */
@@ -222,17 +222,17 @@
if (r == maxRange - minRange)
{
// no noise if at max range
- this->cloudMsg.pts[n].x = (r+minRange) * cos(pAngle)*cos(yAngle);
- this->cloudMsg.pts[n].y = (r+minRange) * sin(yAngle);
- this->cloudMsg.pts[n].z = (r+minRange) * sin(pAngle)*cos(yAngle);
+ this->cloudMsg.points[n].x = (r+minRange) * cos(pAngle)*cos(yAngle);
+ this->cloudMsg.points[n].y = (r+minRange) * sin(yAngle);
+ this->cloudMsg.points[n].z = (r+minRange) * sin(pAngle)*cos(yAngle);
}
else
{
- this->cloudMsg.pts[n].x = (r+minRange) * cos(pAngle)*cos(yAngle) + this->GaussianKernel(0,this->gaussianNoise) ;
- this->cloudMsg.pts[n].y = (r+minRange) * sin(yAngle) + this->GaussianKernel(0,this->gaussianNoise) ;
- this->cloudMsg.pts[n].z = (r+minRange) * sin(pAngle)*cos(yAngle) + this->GaussianKernel(0,this->gaussianNoise) ;
+ this->cloudMsg.points[n].x = (r+minRange) * cos(pAngle)*cos(yAngle) + this->GaussianKernel(0,this->gaussianNoise) ;
+ this->cloudMsg.points[n].y = (r+minRange) * sin(yAngle) + this->GaussianKernel(0,this->gaussianNoise) ;
+ this->cloudMsg.points[n].z = (r+minRange) * sin(pAngle)*cos(yAngle) + this->GaussianKernel(0,this->gaussianNoise) ;
}
- this->cloudMsg.chan[0].vals[n] = intensity + this->GaussianKernel(0,this->gaussianNoise) ;
+ this->cloudMsg.channels[0].values[n] = intensity + this->GaussianKernel(0,this->gaussianNoise) ;
}
}
Modified: pkg/trunk/highlevel/doors/doors_core/src/action_detect_door.cpp
===================================================================
--- pkg/trunk/highlevel/doors/doors_core/src/action_detect_door.cpp 2009-08-07 21:22:37 UTC (rev 21049)
+++ pkg/trunk/highlevel/doors/doors_core/src/action_detect_door.cpp 2009-08-07 21:24:30 UTC (rev 21050)
@@ -148,7 +148,7 @@
// detect door
if (isPreemptRequested()) return false;
- ROS_INFO("DetectDoorAction: detect the door in a pointcloud of size %i", res_pointcloud.cloud.pts.size());
+ ROS_INFO("DetectDoorAction: detect the door in a pointcloud of size %i", res_pointcloud.cloud.points.size());
door_handle_detector::DoorsDetectorCloud::Request req_doordetect;
door_handle_detector::DoorsDetectorCloud::Response res_doordetect;
req_doordetect.door = door_in;
Modified: pkg/trunk/highlevel/doors/doors_core/src/action_detect_handle.cpp
===================================================================
--- pkg/trunk/highlevel/doors/doors_core/src/action_detect_handle.cpp 2009-08-07 21:22:37 UTC (rev 21049)
+++ pkg/trunk/highlevel/doors/doors_core/src/action_detect_handle.cpp 2009-08-07 21:24:30 UTC (rev 21050)
@@ -235,7 +235,7 @@
// detect handle
if (isPreemptRequested()) return false;
- ROS_INFO("start detecting the handle using the laser, in a pointcloud of size %i", res_pointcloud.cloud.pts.size());
+ ROS_INFO("start detecting the handle using the laser, in a pointcloud of size %i", res_pointcloud.cloud.points.size());
door_handle_detector::DoorsDetectorCloud::Request req_handledetect;
door_handle_detector::DoorsDetectorCloud::Response res_handledetect;
req_handledetect.door = door_in;
Modified: pkg/trunk/highlevel/doors/doors_core/src/action_detect_handle_no_camera.cpp
===================================================================
--- pkg/trunk/highlevel/doors/doors_core/src/action_detect_handle_no_camera.cpp 2009-08-07 21:22:37 UTC (rev 21049)
+++ pkg/trunk/highlevel/doors/doors_core/src/action_detect_handle_no_camera.cpp 2009-08-07 21:24:30 UTC (rev 21050)
@@ -203,7 +203,7 @@
// detect handle
if (isPreemptRequested()) return false;
- ROS_INFO("start detecting the handle using the laser, in a pointcloud of size %i", res_pointcloud.cloud.pts.size());
+ ROS_INFO("start detecting the handle using the laser, in a pointcloud of size %i", res_pointcloud.cloud.points.size());
door_handle_detector::DoorsDetectorCloud::Request req_handledetect;
door_handle_detector::DoorsDetectorCloud::Response res_handledetect;
req_handledetect.door = door_in;
Modified: pkg/trunk/highlevel/writing/writing_core/src/whiteboard_detector.cpp
===================================================================
--- pkg/trunk/highlevel/writing/writing_core/src/whiteboard_detector.cpp 2009-08-07 21:22:37 UTC (rev 21049)
+++ pkg/trunk/highlevel/writing/writing_core/src/whiteboard_detector.cpp 2009-08-07 21:24:30 UTC (rev 21050)
@@ -96,16 +96,16 @@
out.header.stamp = in.header.stamp;
out.header.frame_id = in.header.frame_id;
- out.chan.resize(in.chan.size());
- for (size_t c=0;c<in.chan.size();++c) {
- out.chan[c].name = in.chan[c].name;
+ out.channels.resize(in.channels.size());
+ for (size_t c=0;c<in.channels.size();++c) {
+ out.channels[c].name = in.channels[c].name;
}
- for (size_t i=0;i<in.get_pts_size();++i) {
- if (in.pts[i].z>min_height_) {
- out.pts.push_back(in.pts[i]);
- for (size_t c=0;c<in.chan.size();++c) {
- out.chan[c].vals.push_back(in.chan[c].vals[i]);
+ for (size_t i=0;i<in.get_points_size();++i) {
+ if (in.points[i].z>min_height_) {
+ out.points.push_back(in.points[i]);
+ for (size_t c=0;c<in.channels.size();++c) {
+ out.channels[c].values.push_back(in.channels[c].values[i]);
}
}
}
@@ -121,8 +121,8 @@
cloud_pub_.publish(cloud);
- vector<int> indices(cloud.get_pts_size());
- for (size_t i=0;i<cloud.get_pts_size();++i) {
+ vector<int> indices(cloud.get_points_size());
+ for (size_t i=0;i<cloud.get_points_size();++i) {
indices[i] = i;
}
geometry_msgs::Point32 viewpoint;
@@ -219,7 +219,7 @@
}
// Flip the plane normal towards the viewpoint
- cloud_geometry::angles::flipNormalTowardsViewpoint (coeff, points.pts.at(inliers[0]), viewpoint);
+ cloud_geometry::angles::flipNormalTowardsViewpoint (coeff, points.points.at(inliers[0]), viewpoint);
ROS_INFO ("Found a planar model supported by %d inliers: [%g, %g, %g, %g]", (int)inliers.size (), coeff[0], coeff[1], coeff[2], coeff[3]);
}
Modified: pkg/trunk/mapping/annotated_planar_patch_map/include/annotated_planar_patch_map/generic_map_base_assembler_srv.h
===================================================================
--- pkg/trunk/mapping/annotated_planar_patch_map/include/annotated_planar_patch_map/generic_map_base_assembler_srv.h 2009-08-07 21:22:37 UTC (rev 21049)
+++ pkg/trunk/mapping/annotated_planar_patch_map/include/annotated_planar_patch_map/generic_map_base_assembler_srv.h 2009-08-07 21:24:30 UTC (rev 21050)
@@ -221,11 +221,11 @@
scan_hist_mutex_.lock() ;
if (scan_hist_.size() == max_scans_) // Is our deque full?
{
- //total_pts_ -= scan_hist_.front().get_pts_size() ; // We're removing an elem, so this reduces our total point count
+ //total_pts_ -= scan_hist_.front().get_points_size() ; // We're removing an elem, so this reduces our total point count
scan_hist_.pop_front() ; // The front of the deque has the oldest elem, so we can get rid of it
}
scan_hist_.push_back(cur_cloud) ; // Add the newest scan to the back of the deque
- //total_pts_ += cur_cloud.get_pts_size() ; // Add the new scan to the running total of points
+ //total_pts_ += cur_cloud.get_points_size() ; // Add the new scan to the running total of points
//printf("Scans: %4u Points: %10u\n", scan_hist_.size(), total_pts_) ;
Modified: pkg/trunk/mapping/annotated_planar_patch_map/include/annotated_planar_patch_map/map_base_assembler_srv.h
===================================================================
--- pkg/trunk/mapping/annotated_planar_patch_map/include/annotated_planar_patch_map/map_base_assembler_srv.h 2009-08-07 21:22:37 UTC (rev 21049)
+++ pkg/trunk/mapping/annotated_planar_patch_map/include/annotated_planar_patch_map/map_base_assembler_srv.h 2009-08-07 21:24:30 UTC (rev 21050)
@@ -241,11 +241,11 @@
scan_hist_mutex_.lock() ;
if (scan_hist_.size() == max_scans_) // Is our deque full?
{
- //total_pts_ -= scan_hist_.front().get_pts_size() ; // We're removing an elem, so this reduces our total point count
+ //total_pts_ -= scan_hist_.front().get_points_size() ; // We're removing an elem, so this reduces our total point count
scan_hist_.pop_front() ; // The front of the deque has the oldest elem, so we can get rid of it
}
scan_hist_.push_back(cur_cloud) ; // Add the newest scan to the back of the deque
- //total_pts_ += cur_cloud.get_pts_size() ; // Add the new scan to the running total of points
+ //total_pts_ += cur_cloud.get_points_size() ; // Add the new scan to the running total of points
//printf("Scans: %4u Points: %10u\n", scan_hist_.size(), total_pts_) ;
@@ -346,10 +346,10 @@
canonical_polygon_output_id.resize(num_poly);
sensor_msgs::PointCloud centers;
- centers.pts.resize(num_poly);
+ centers.points.resize(num_poly);
for(unsigned int iPoly=0;iPoly<num_poly;iPoly++){
- centers.pts[iPoly]=annotated_map_lib::computeMean(map_in.polygons[iPoly].polygon);
+ centers.points[iPoly]=annotated_map_lib::computeMean(map_in.polygons[iPoly].polygon);
}
ROS_DEBUG("Building KDtree");
@@ -449,7 +449,7 @@
if(polyIn.tags[iT]==polyOut.tags[iT])
{
//FIXME: assume that count is #0 . No merging for others
- polyOut.tags_chan[iHitsChannelOut].vals[outT]+=polyIn.tags_chan[iHitsChannelIn].vals[iT];
+ polyOut.tags_chan[iHitsChannelOut].values[outT]+=polyIn.tags_chan[iHitsChannelIn].values[iT];
bMerged=true;
break;
}
@@ -466,7 +466,7 @@
polyOut.set_tags_size(num_tags_new);
for(unsigned int iC=0;iC<polyOut.get_tags_chan_size();iC++)
{
- polyOut.tags_chan[iC].set_vals_size(num_tags_new);
+ polyOut.tags_chan[iC].set_values_size(num_tags_new);
}
unsigned int iOut=num_tags_out;
for(unsigned int iT=0;iT<num_tags_in;iT++)
@@ -476,8 +476,8 @@
polyOut.tags[iOut] = polyIn.tags[iT];
for(unsigned int iC=0;iC<polyOut.get_tags_chan_size();iC++)
{
- polyOut.tags_chan[iC].vals[iOut]=
- polyIn.tags_chan[iC].vals[iT];
+ polyOut.tags_chan[iC].values[iOut]=
+ polyIn.tags_chan[iC].values[iT];
}
iOut++;
}
Modified: pkg/trunk/mapping/annotated_planar_patch_map/src/annotated_map_lib.cpp
===================================================================
--- pkg/trunk/mapping/annotated_planar_patch_map/src/annotated_map_lib.cpp 2009-08-07 21:22:37 UTC (rev 21049)
+++ pkg/trunk/mapping/annotated_planar_patch_map/src/annotated_map_lib.cpp 2009-08-07 21:24:30 UTC (rev 21050)
@@ -100,9 +100,9 @@
if (! bSame )
{
polymapOut.header = polymapIn.header;
- polymapOut.set_chan_size(polymapIn.get_chan_size());
- for (unsigned int i = 0 ; i < polymapIn.get_chan_size() ; ++i)
- polymapOut.chan[i] = polymapIn.chan[i];
+ polymapOut.set_channels_size(polymapIn.get_channels_size());
+ for (unsigned int i = 0 ; i < polymapIn.get_channels_size() ; ++i)
+ polymapOut.channels[i] = polymapIn.channels[i];
}
//Override the positions
@@ -171,9 +171,9 @@
if (! bSame )
{
polymapOut.header = polymapIn.header;
- /*polymapOut.set_chan_size(polymapIn.get_chan_size());
- for (unsigned int i = 0 ; i < polymapIn.get_chan_size() ; ++i)
- polymapOut.chan[i] = polymapIn.chan[i];
+ /*polymapOut.set_channels_size(polymapIn.get_channels_size());
+ for (unsigned int i = 0 ; i < polymapIn.get_channels_size() ; ++i)
+ polymapOut.channels[i] = polymapIn.channels[i];
*/
}
Modified: pkg/trunk/mapping/annotated_planar_patch_map/src/annotated_planar_patch_map_builder.cpp
===================================================================
--- pkg/trunk/mapping/annotated_planar_patch_map/src/annotated_planar_patch_map_builder.cpp 2009-08-07 21:22:37 UTC (rev 21049)
+++ pkg/trunk/mapping/annotated_planar_patch_map/src/annotated_planar_patch_map_builder.cpp 2009-08-07 21:24:30 UTC (rev 21050)
@@ -156,9 +156,9 @@
if (! bSame )
{
polymapOut.header = polymapIn.header;
- polymapOut.set_chan_size(polymapIn.get_chan_size());
- for (unsigned int i = 0 ; i < polymapIn.get_chan_size() ; ++i)
- polymapOut.chan[i] = polymapIn.chan[i];
+ polymapOut.set_channels_size(polymapIn.get_channels_size());
+ for (unsigned int i = 0 ; i < polymapIn.get_channels_size() ; ++i)
+ polymapOut.channels[i] = polymapIn.channels[i];
}
//Override the positions
Modified: pkg/trunk/mapping/annotated_planar_patch_map/src/annotation2d_lifter_to_pcd_via_service.cpp
===================================================================
--- pkg/trunk/mapping/annotated_planar_patch_map/src/annotation2d_lifter_to_pcd_via_service.cpp 2009-08-07 21:22:37 UTC (rev 21049)
+++ pkg/trunk/mapping/annotated_planar_patch_map/src/annotation2d_lifter_to_pcd_via_service.cpp 2009-08-07 21:24:30 UTC (rev 21050)
@@ -254,12 +254,12 @@
normal_estimator_.process_cloud(transformed_map_3D_fixed,transformed_map_3D_fixed_w_normals);
- ROS_INFO("\t cloud sizes %d/%d/%d/%d ",cloud.pts.size(),transformed_map_3D.pts.size(),transformed_map_3D.pts.size(),transformed_map_3D_fixed.pts.size());
+ ROS_INFO("\t cloud sizes %d/%d/%d/%d ",cloud.points.size(),transformed_map_3D.points.size(),transformed_map_3D.points.size(),transformed_map_3D_fixed.points.size());
bindAnnotations(annotation,transformed_map_2D,transformed_map_3D_fixed_w_normals,map_final);
- if(map_final.pts.size()>0)
+ if(map_final.points.size()>0)
{
- ROS_INFO("Lifting produced point cloud with %d points", map_final.pts.size());
+ ROS_INFO("Lifting produced point cloud with %d points", map_final.points.size());
lifted_pub_.publish(map_final);
}
else
@@ -275,7 +275,7 @@
{
// Allocate overlap buffer to store 1-1 correspondence
- unsigned int num_3D_pts=map_3D.pts.size();
+ unsigned int num_3D_pts=map_3D.points.size();
printf("%d n3dp\n",num_3D_pts);
@@ -361,14 +361,14 @@
if(overlap[iPt]>0)
continue;
- bool in_depth=(map_2D.pts[iPt].z <= max_depth_) && (map_2D.pts[iPt].z >= min_depth_);
+ bool in_depth=(map_2D.points[iPt].z <= max_depth_) && (map_2D.points[iPt].z >= min_depth_);
if(! in_depth)
{
continue;
}
CvPoint2D32f pt;
- pt.x=map_2D.pts[iPt].x;
- pt.y=map_2D.pts[iPt].y;
+ pt.x=map_2D.points[iPt].x;
+ pt.y=map_2D.points[iPt].y;
double dist = cvPointPolygonTest( poly_annotation, pt, 0 );
@@ -386,14 +386,14 @@
if(overlap[iPt]>0)
continue;
- bool in_depth=(map_2D.pts[iPt].z <= max_depth_) && (map_2D.pts[iPt].z >= min_depth_);
+ bool in_depth=(map_2D.points[iPt].z <= max_depth_) && (map_2D.points[iPt].z >= min_depth_);
if(! in_depth)
{
continue;
}
CvPoint2D32f pt;
- pt.x=map_2D.pts[iPt].x;
- pt.y=map_2D.pts[iPt].y;
+ pt.x=map_2D.points[iPt].x;
+ pt.y=map_2D.points[iPt].y;
if(pt.x<0 || pt.y<0 || pt.x>=640 || pt.y>=480)
continue;
@@ -402,9 +402,9 @@
}
map_final.header=map_3D.header;
- map_final.pts.resize(num_in);
+ map_final.points.resize(num_in);
std::string new_channel_name=std::string("ann-")+annotation->task;
- unsigned int nC=map_3D.chan.size();
+ unsigned int nC=map_3D.channels.size();
unsigned int nCout=nC+1;
if(annotate_reprojection_)
{
@@ -418,12 +418,12 @@
{
nCout+=1;
}
- map_final.chan.resize(nCout);
+ map_final.channels.resize(nCout);
for(unsigned int iC=0;iC<nC;iC++)
{
- map_final.chan[iC].vals.resize(num_in);
- map_final.chan[iC].name=map_3D.chan[iC].name;
+ map_final.channels[iC].values.resize(num_in);
+ map_final.channels[iC].name=map_3D.channels[iC].name;
}
unsigned int free_channel=nC;
@@ -456,28 +456,28 @@
- map_final.chan[new_channel_id].name=new_channel_name;
- map_final.chan[new_channel_id].vals.resize(num_in);
+ map_final.channels[new_channel_id].name=new_channel_name;
+ map_final.channels[new_channel_id].values.resize(num_in);
if(annotate_reprojection_)
{
- map_final.chan[chan_X_id].name="imgX";
- map_final.chan[chan_X_id].vals.resize(num_in);
- map_final.chan[chan_Y_id].name="imgY";
- map_final.chan[chan_Y_id].vals.resize(num_in);
- map_final.chan[chan_Z_id].name="imgZ";
- map_final.chan[chan_Z_id].vals.resize(num_in);
+ map_final.channels[chan_X_id].name="imgX";
+ map_final.channels[chan_X_id].values.resize(num_in);
+ map_final.channels[chan_Y_id].name="imgY";
+ map_final.channels[chan_Y_id].values.resize(num_in);
+ map_final.channels[chan_Z_id].name="imgZ";
+ map_final.channels[chan_Z_id].values.resize(num_in);
}
if(use_colors_)
{
- map_final.chan[chan_RGB_id].name="rgb";
- map_final.chan[chan_RGB_id].vals.resize(num_in);
+ map_final.channels[chan_RGB_id].name="rgb";
+ map_final.channels[chan_RGB_id].values.resize(num_in);
}
if(annotate_image_id_)
{
- map_final.chan[chan_IMG_id].name="img_id";
- map_final.chan[chan_IMG_id].vals.resize(num_in);
+ map_final.channels[chan_IMG_id].name="img_id";
+ map_final.channels[chan_IMG_id].values.resize(num_in);
}
unsigned int iOut=0;
@@ -488,18 +488,18 @@
for(unsigned int iC=0;iC<nC;iC++)
{
- map_final.chan[iC].vals[iOut]=map_3D.chan[iC].vals[iPt];
+ map_final.channels[iC].values[iOut]=map_3D.channels[iC].values[iPt];
}
if(overlap[iPt]>0)
- map_final.chan[new_channel_id].vals[iOut] = object_labels[overlap[iPt]-1];
+ map_final.channels[new_channel_id].values[iOut] = object_labels[overlap[iPt]-1];
else
- map_final.chan[new_channel_id].vals[iOut] = 0;
+ map_final.channels[new_channel_id].values[iOut] = 0;
if(annotate_reprojection_)
{
- map_final.chan[chan_X_id].vals[iOut] = map_2D.pts[iPt].x;
- map_final.chan[chan_Y_id].vals[iOut] = map_2D.pts[iPt].y;
- map_final.chan[chan_Z_id].vals[iOut] = map_2D.pts[iPt].z;
+ map_final.channels[chan_X_id].values[iOut] = map_2D.points[iPt].x;
+ map_final.channels[chan_Y_id].values[iOut] = map_2D.points[iPt].y;
+ map_final.channels[chan_Z_id].values[iOut] = map_2D.points[iPt].z;
}
if(use_colors_)
{
@@ -509,14 +509,14 @@
int g=int(round(color.g*255));
int b=int(round(color.b*255));
int rgb = (r << 16) | (g << 8) | b;
- map_final.chan[chan_RGB_id].vals[iOut] = *reinterpret_cast<float*>(&rgb);
+ map_final.channels[chan_RGB_id].values[iOut] = *reinterpret_cast<float*>(&rgb);
}
if(annotate_image_id_)
{
- map_final.chan[chan_IMG_id].vals[iOut] = active_image_id_;
+ map_final.channels[chan_IMG_id].values[iOut] = active_image_id_;
}
- map_final.pts[iOut] = map_3D.pts[iPt];
+ map_final.points[iOut] = map_3D.points[iPt];
iOut++;
}
}
Modified: pkg/trunk/mapping/annotated_planar_patch_map/src/annotation2d_lifter_to_planar_patch_map.cpp
===================================================================
--- pkg/trunk/mapping/annotated_planar_patch_map/src/annotation2d_lifter_to_planar_patch_map.cpp 2009-08-07 21:22:37 UTC (rev 21049)
+++ pkg/trunk/mapping/annotated_planar_patch_map/src/annotation2d_lifter_to_planar_patch_map.cpp 2009-08-07 21:24:30 UTC (rev 21050)
@@ -274,8 +274,8 @@
newPoly.tags[0]=poly.object_name;
newPoly.set_tags_chan_size(1);
newPoly.tags_chan[0].name=std::string("hits"); //num labeled
- newPoly.tags_chan[0].set_vals_size(1);
- newPoly.tags_chan[0].vals[0]=1.0;
+ newPoly.tags_chan[0].set_values_size(1);
+ newPoly.tags_chan[0].values[0]=1.0;
newPoly.polygon=transformed_map_3D.polygons[iPoly];
Modified: pkg/trunk/mapping/annotated_planar_patch_map/src/annotation2d_lifter_to_tagged_patch_map.cpp
===================================================================
--- pkg/trunk/mapping/annotated_planar_patch_map/src/annotation2d_lifter_to_tagged_patch_map.cpp 2009-08-07 21:22:37 UTC (rev 21049)
+++ pkg/trunk/mapping/annotated_planar_patch_map/src/annotation2d_lifter_to_tagged_patch_map.cpp 2009-08-07 21:24:30 UTC (rev 21050)
@@ -297,8 +297,8 @@
newPoly.tags[0]=poly.object_name;
newPoly.set_tags_chan_size(1);
newPoly.tags_chan[0].name=std::string("hits"); //num labeled
- newPoly.tags_chan[0].set_vals_size(1);
- newPoly.tags_chan[0].vals[0]=1.0;
+ newPoly.tags_chan[0].set_values_size(1);
+ newPoly.tags_chan[0].values[0]=1.0;
newPoly.polygon=transformed_map_3D.polygons[iPoly].polygon;
Modified: pkg/trunk/mapping/annotated_planar_patch_map/src/annotation2d_lifter_to_tagged_patch_map_via_service.cpp
===================================================================
--- pkg/trunk/mapping/annotated_planar_patch_map/src/annotation2d_lifter_to_tagged_patch_map_via_service.cpp 2009-08-07 21:22:37 UTC (rev 21049)
+++ pkg/trunk/mapping/annotated_planar_patch_map/src/annotation2d_lifter_to_tagged_patch_map_via_service.cpp 2009-08-07 21:24:30 UTC (rev 21050)
@@ -336,8 +336,8 @@
newPoly.tags[0]=poly.object_name;
newPoly.set_tags_chan_size(1);
newPoly.tags_chan[0].name=std::string("hits"); //num labeled
- newPoly.tags_chan[0].set_vals_size(1);
- newPoly.tags_chan[0].vals[0]=1.0;
+ newPoly.tags_chan[0].set_values_size(1);
+ newPoly.tags_chan[0].values[0]=1.0;
newPoly.polygon=transformed_map_3D.polygons[iPoly].polygon;
Modified: pkg/trunk/mapping/annotated_planar_patch_map/src/binding.cpp
===================================================================
--- pkg/trunk/mapping/annotated_planar_patch_map/src/binding.cpp 2009-08-07 21:22:37 UTC (rev 21049)
+++ pkg/trunk/mapping/annotated_planar_patch_map/src/binding.cpp 2009-08-07 21:24:30 UTC (rev 21050)
@@ -60,20 +60,20 @@
sensor_msgs::PointCloud centers_from;
- centers_from.pts.resize(num_poly_from);
+ centers_from.points.resize(num_poly_from);
result.resize(num_poly_from);
for(unsigned int iPoly=0;iPoly<num_poly_from;iPoly++){
- centers_from.pts[iPoly]=annotated_map_lib::computeMean(map_from.polygons[iPoly].polygon);
+ centers_from.points[iPoly]=annotated_map_lib::computeMean(map_from.polygons[iPoly].polygon);
result[iPoly]=-1;
}
unsigned int num_poly_to=map_to.polygons.size();
sensor_msgs::PointCloud centers_to;
- centers_to.pts.resize(num_poly_to);
+ centers_to.points.resize(num_poly_to);
for(unsigned int iPoly=0;iPoly<num_poly_to;iPoly++){
- centers_to.pts[iPoly]=annotated_map_lib::computeMean(map_to.polygons[iPoly].polygon);
+ centers_to.points[iPoly]=annotated_map_lib::computeMean(map_to.polygons[iPoly].polygon);
}
ROS_DEBUG("Building KDtree");
Modified: pkg/trunk/mapping/annotated_planar_patch_map/src/empty_annotated_map.cpp
===================================================================
--- pkg/trunk/mapping/annotated_planar_patch_map/src/empty_annotated_map.cpp 2009-08-07 21:22:37 UTC (rev 21049)
+++ pkg/trunk/mapping/annotated_planar_patch_map/src/empty_annotated_map.cpp 2009-08-07 21:24:30 UTC (rev 21050)
@@ -114,8 +114,8 @@
newPoly.tags[0]="dup";
newPoly.set_tags_chan_size(1);
newPoly.tags_chan[0].name="hits";
- newPoly.tags_chan[0].set_vals_size(1);
- newPoly.tags_chan[0].vals[0]=1;
+ newPoly.tags_chan[0].set_values_size(1);
+ newPoly.tags_chan[0].values[0]=1;
newPoly.polygon=transformed_map_3D.polygons[iPoly];
//append polygon to the map
Modified: pkg/trunk/mapping/annotated_planar_patch_map/src/pcd_assembler_srv.cpp
===================================================================
--- pkg/trunk/mapping/annotated_planar_patch_map/src/pcd_assembler_srv.cpp 2009-08-07 21:22:37 UTC (rev 21049)
+++ pkg/trunk/mapping/annotated_planar_patch_map/src/pcd_assembler_srv.cpp 2009-08-07 21:24:30 UTC (rev 21050)
@@ -76,7 +76,7 @@
unsigned int GetPointsInCloud(const sensor_msgs::PointCloud& scan)
{
- return scan.pts.size();
+ return scan.points.size();
}
void ConvertScanToCloud(const string& fixed_frame_id, const sensor_msgs::PointCloud& scan_in, sensor_msgs::PointCloud& cloud_out)
@@ -128,37 +128,37 @@
{
resp.cloud.header.frame_id = fixed_frame_ ;
resp.cloud.header.stamp = req.end ;
- resp.cloud.set_pts_size(0) ;
- resp.cloud.set_chan_size(0) ;
+ resp.cloud.set_points_size(0) ;
+ resp.cloud.set_channels_size(0) ;
}
else
{
// Note: We are assuming that channel information is consistent across multiple scans. If not, then bad things (segfaulting) will happen
// Allocate space for the cloud
- unsigned int nC=scan_hist_[start_index].chan.size();
+ unsigned int nC=scan_hist_[start_index].channels.size();
sensor_msgs::PointCloud& map=resp.cloud;
map.header.frame_id = fixed_frame_ ;
map.header.stamp = req.end ;
- map.set_pts_size(req_pts) ;
- map.set_chan_size(nC) ;
+ map.set_points_size(req_pts) ;
+ map.set_channels_size(nC) ;
for(unsigned int iC=0;iC<nC;iC++)
{
- map.chan[iC].vals.resize(req_pts);
- map.chan[iC].name=scan_hist_[start_index].chan[iC].name;
+ map.channels[iC].values.resize(req_pts);
+ map.channels[iC].name=scan_hist_[start_index].channels[iC].name;
}
unsigned int cloud_count = 0 ;
for (i=start_index; i<past_end_index; i+=downsample_factor_)
{
- for(unsigned int j=0; j<scan_hist_[i].pts.size(); j+=1)
+ for(unsigned int j=0; j<scan_hist_[i].points.size(); j+=1)
{
- map.pts[cloud_count] = scan_hist_[i].pts[j] ;
+ map.points[cloud_count] = scan_hist_[i].points[j] ;
for(unsigned int iC=0;iC<nC;iC++)
{
- map.chan[iC].vals[cloud_count]=scan_hist_[i].chan[iC].vals[j];
+ map.channels[iC].values[cloud_count]=scan_hist_[i].channels[iC].values[j];
}
cloud_count++ ;
}
Modified: pkg/trunk/mapping/annotated_planar_patch_map/src/projection.cpp
===================================================================
--- pkg/trunk/mapping/annotated_planar_patch_map/src/projection.cpp 2009-08-07 21:22:37 UTC (rev 21049)
+++ pkg/trunk/mapping/annotated_planar_patch_map/src/projection.cpp 2009-08-07 21:24:30 UTC (rev 21050)
@@ -144,20 +144,20 @@
//Input/output points
- unsigned int num_pts = source_3D.pts.size();
- target_2D.set_pts_size(num_pts);
+ unsigned int num_pts = source_3D.points.size();
+ target_2D.set_points_size(num_pts);
CvMat* object_points = cvCreateMat( 1, num_pts , CV_64FC3 );
CvMat* image_points = cvCreateMat( 1, num_pts , CV_64FC2 );
for (unsigned int iP=0;iP<num_pts;iP++){
CvPoint3D64f pt;
- //pt.x=-source_3D.pts[iP].y;
- //pt.y=-source_3D.pts[iP].z;
- //pt.z= source_3D.pts[iP].x;
- pt.x= source_3D.pts[iP].x;
- pt.y= source_3D.pts[iP].y;
- pt.z= source_3D.pts[iP].z;
+ //pt.x=-source_3D.points[iP].y;
+ //pt.y=-source_3D.points[iP].z;
+ //pt.z= source_3D.points[iP].x;
+ pt.x= source_3D.points[iP].x;
+ pt.y= source_3D.points[iP].y;
+ pt.z= source_3D.points[iP].z;
CV_MAT_ELEM( *object_points, CvPoint3D64f, 0, iP ) = pt;
@@ -171,8 +171,8 @@
{
CvPoint2D64f &img_pt=CV_MAT_ELEM( *image_points, CvPoint2D64f, 0, iPt );
- const geometry_msgs::Point32 &old_pt=source_3D.pts[iPt];
- geometry_msgs::Point32 &new_pt=target_2D.pts[iPt];
+ const geometry_msgs::Point32 &old_pt=source_3D.points[iPt];
+ geometry_msgs::Point32 &new_pt=target_2D.points[iPt];
new_pt.x=img_pt.x;
new_pt.y=img_pt.y;
new_pt.z=old_pt.z; //I mean, this is the "z" - distance from the image
Modified: pkg/trunk/mapping/collision_map/src/collision_map.cpp
===================================================================
--- pkg/trunk/mapping/collision_map/src/collision_map.cpp 2009-08-07 21:22:37 UTC (rev 21049)
+++ pkg/trunk/mapping/collision_map/src/collision_map.cpp 2009-08-07 21:24:30 UTC (rev 21050)
@@ -202,7 +202,7 @@
{
// Copy the header (and implicitly the frame_id)
cmap.header = cloud_.header;
- cmap.boxes.resize (cloud_.pts.size ());
+ cmap.boxes.resize (cloud_.points.size ());
geometry_msgs::PointStamped base_origin, torso_lift_origin;
base_origin.point.x = base_origin.point.y = base_origin.point.z = 0.0;
@@ -220,30 +220,30 @@
torso_lift_origin = base_origin;
}
// Get a set of point indices that respect our bounding limits around the robot
- vector<int> indices (cloud_.pts.size ());
+ vector<int> indices (cloud_.points.size ());
int nr_p = 0;
geometry_msgs::Point32 minP, maxP;
minP.x = minP.y = minP.z = FLT_MAX;
maxP.x = maxP.y = maxP.z = FLT_MIN;
double distance_sqr_x, distance_sqr_y, distance_sqr_z;
- for (unsigned int i = 0; i < cloud_.pts.size (); i++)
+ for (unsigned int i = 0; i < cloud_.points.size (); i++)
{
// We split the "distance" on all 3 dimensions to allow greater flexibility
- distance_sqr_x = fabs ((cloud_.pts[i].x - torso_lift_origin.point.x) * (cloud_.pts[i].x - torso_lift_origin.point.x));
- distance_sqr_y = fabs ((cloud_.pts[i].y - torso_lift_origin.point.y) * (cloud_.pts[i].y - torso_lift_origin.point.y));
- distance_sqr_z = fabs ((cloud_.pts[i].z - torso_lift_origin.point.z) * (cloud_.pts[i].z - torso_lift_origin.point.z));
+ distance_sqr_x = fabs ((cloud_.points[i].x - torso_lift_origin.point.x) * (cloud_.points[i].x - torso_lift_origin.point.x));
+ distance_sqr_y = fabs ((cloud_.points[i].y - torso_lift_origin.point.y) * (cloud_.points[i].y - torso_lift_origin.point.y));
+ distance_sqr_z = fabs ((cloud_.points[i].z - torso_lift_origin.point.z) * (cloud_.points[i].z - torso_lift_origin.point.z));
// If the point is within the bounds, use it for minP/maxP calculations
if (distance_sqr_x < robot_max_.x && distance_sqr_y < robot_max_.y && distance_sqr_z < robot_max_.z)
{
- minP.x = (cloud_.pts[i].x < minP.x) ? cloud_.pts[i].x : minP.x;
- minP.y = (cloud_.pts[i].y < minP.y) ? cloud_.pts[i].y : minP.y;
- minP.z = (cloud_.pts[i].z < minP.z) ? cloud_.pts[i].z : minP.z;
+ minP.x = (cloud_.points[i].x < minP.x) ? cloud_.points[i].x : minP.x;
+ minP.y = (cloud_.points[i].y < minP.y) ? cloud_.points[i].y : minP.y;
+ minP.z = (cloud_.points[i].z < minP.z) ? cloud_.points[i].z : minP.z;
- maxP.x = (cloud_.pts[i].x > maxP.x) ? cloud_.pts[i].x : maxP.x;
- maxP.y = (cloud_.pts[i].y > maxP.y) ? cloud_.pts[i].y : maxP.y;
- maxP.z = (cloud_.pts[i].z > maxP.z) ? cloud_.pts[i].z : maxP.z;
+ maxP.x = (cloud_.points[i].x > maxP.x) ? cloud_.points[i].x : maxP.x;
+ maxP.y = (cloud_.points[i].y > maxP.y) ? cloud_.points[i].y : maxP.y;
+ maxP.z = (cloud_.points[i].z > maxP.z) ? cloud_.points[i].z : maxP.z;
indices[nr_p] = i;
nr_p++;
}
@@ -283,9 +283,9 @@
int i = 0, j = 0, k = 0;
for (unsigned int cp = 0; cp < indices.size (); cp++)
{
- i = (int)(floor (cloud_.pts[indices.at (cp)].x / leaf_width_.x));
- j = (int)(floor (cloud_.pts[indices.at (cp)].y / leaf_width_.y));
- k = (int)(floor (cloud_.pts[indices.at (cp)].z / leaf_width_.z));
+ i = (int)(floor (cloud_.points[indices.at (cp)].x / leaf_width_.x));
+ j = (int)(floor (cloud_.points[indices.at (cp)].y / leaf_width_.y));
+ k = (int)(floor (cloud_.points[indices.at (cp)].z / leaf_width_.z));
int idx = ( (k - minB.z) * divB.y * divB.x ) + ( (j - minB.y) * divB.x ) + (i - minB.x);
leaves[idx].i_ = i;
@@ -351,7 +351,7 @@
void
cloud_cb ()
{
- ROS_INFO ("Received %u data points.", (unsigned int)cloud_.pts.size ());
+ ROS_INFO ("Received %u data points.", (unsigned int)cloud_.points.size ());
m_lock_.lock ();
updateParametersFromServer ();
Modified: pkg/trunk/mapping/collision_map/src/collision_map_buffer.cpp
===================================================================
--- pkg/trunk/mapping/collision_map/src/collision_map_buffer.cpp 2009-08-07 21:22:37 UTC (rev 21049)
+++ pkg/trunk/mapping/collision_map/src/collision_map_buffer.cpp 2009-08-07 21:24:30 UTC (rev 21050)
@@ -281,30 +281,30 @@
torso_lift_origin = base_origin;
}
// Get a set of point indices that respect our bounding limits around the robot
- vector<int> indices (cloud_.pts.size ());
+ vector<int> indices (cloud_.points.size ());
int nr_p = 0;
geometry_msgs::Point32 minP, maxP;
minP.x = minP.y = minP.z = FLT_MAX;
maxP.x = maxP.y = maxP.z = FLT_MIN;
double distance_sqr_x, distance_sqr_y, distance_sqr_z;
- for (unsigned int i = 0; i < points->pts.size (); i++)
+ for (unsigned int i = 0; i < points->points.size (); i++)
{
// We split the "distance" on all 3 dimensions to allow greater flexibility
- distance_sqr_x = fabs ((points->pts[i].x - torso_lift_origin.point.x) * (points->pts[i].x - torso_lift_origin.point.x));
- distance_sqr_y = fabs ((points->pts[i].y - torso_lift_origin.point.y) * (points->pts[i].y - torso_lift_origin.point.y));
- distance_sqr_z = fabs ((points->pts[i].z - torso_lift_origin.point.z) * (points->pts[i].z - torso_lift_origin.point.z));
+ distance_sqr_x = fabs ((points->points[i].x - torso_lift_origin.point.x) * (points->points[i].x - torso_lift_origin.point.x));
+ distance_sqr_y = fabs ((points->points[i].y - torso_lift_origin.point.y) * (points->points[i].y - torso_lift_origin.point.y));
+ distance_sqr_z = fabs ((points->points[i].z - torso_lift_origin.point.z) * (points->points[i].z - torso_lift_origin.point.z));
// If the point is within the bounds, use it for minP/maxP calculations
if (distance_sqr_x < robot_max_.x && distance_sqr_y < robot_max_.y && distance_sqr_z < robot_max_.z)
{
- minP.x = (points->pts[i].x < minP.x) ? points->pts[i].x : minP.x;
- minP.y = (points->pts[i].y < minP.y) ? points->pts[i].y : minP.y;
- minP.z = (points->pts[i].z < minP.z) ? points->pts[i].z : minP.z;
+ minP.x = (points->points[i].x < minP.x) ? points->points[i].x : minP.x;
+ minP.y = (points->points[i].y < minP.y) ? points->points[i].y : minP.y;
+ minP.z = (points->points[i].z < minP.z) ? points->points[i].z : minP.z;
- maxP.x = (points->pts[i].x > maxP.x) ? points->pts[i].x : maxP.x;
- maxP.y = (points->pts[i].y > maxP.y) ? points->pts[i].y : maxP.y;
- maxP.z = (points->pts[i].z > maxP.z) ? points->pts[i].z : maxP.z;
+ maxP.x = (points->points[i].x > maxP.x) ? points->points[i].x : maxP.x;
+ maxP.y = (points->points[i].y > maxP.y) ? points->points[i].y : maxP.y;
+ maxP.z = (points->points[i].z > maxP.z) ? points->points[i].z : maxP.z;
indices[nr_p] = i;
nr_p++;
}
@@ -342,7 +342,7 @@
// Return a point cloud message containing the centers of the leaves as well
centers.header = points->header;
- centers.pts.resize (indices.size ());
+ centers.points.resize (indices.size ());
float extents[3];
extents[0] = leaf_width_.x / 2.0;
extents[1] = leaf_width_.y / 2.0;
@@ -352,9 +352,9 @@
int i = 0, j = 0, k = 0;
for (unsigned int cp = 0; cp < indices.size (); cp++)
{
- i = (int)(floor (points->pts[indices.at (cp)].x / leaf_width_.x));
- j = (int)(floor (points->pts[indices.at (cp)].y / leaf_width_.y));
- k = (int)(floor (points->pts[indices.at (cp)].z / leaf_width_.z));
+ i = (int)(floor (points->points[indices.at (cp)].x / leaf_width_.x));
+ j = (int)(floor (points->points[indices.at (cp)].y / leaf_width_.y));
+ k = (int)(floor (points->points[indices.at (cp)].z / leaf_width_.z));
int idx = ( (k - minB.z) * divB.y * divB.x ) + ( (j - minB.y) * divB.x ) + (i - minB.x);
leaves[idx].i_ = i;
@@ -363,9 +363,9 @@
leaves[idx].nr_points_++;
// Get the point
- centers.pts[cp].x = (i + 1) * leaf_width_.x - extents[0];
- centers.pts[cp].y = (j + 1) * leaf_width_.y - extents[1];
- centers.pts[cp].z = (k + 1) * leaf_width_.z - extents[2];
+ centers.points[cp].x = (i + 1) * leaf_width_.x - extents[0];
+ centers.points[cp].y = (j + 1) * leaf_width_.y - extents[1];
+ centers.points[cp].z = (k + 1) * leaf_width_.z - extents[2];
}
sort (leaves.begin (), leaves.end (), compareLeaf);
@@ -482,17 +482,17 @@
ROS_ERROR("Extrapolation exception from %s to %s.", target_frame.c_str(), points->header.frame_id.c_str());
}
- vector<int> object_indices (points_tgt.pts.size ());
+ vector<int> object_indices (points_tgt.points.size ());
int nr_p = 0;
// Check and mark point indices in the bounds of the objects
- for (unsigned int i = 0; i < points_tgt.pts.size (); i++)
+ for (unsigned int i = 0; i < points_tgt.points.size (); i++)
{
- if (points_tgt.pts[i].x > min_b->x &&
- points_tgt.pts[i].x < max_b->x &&
- points_tgt.pts[i].y > min_b->y &&
- points_tgt.pts[i].y < max_b->y &&
- points_tgt.pts[i].z > min_b->z &&
- points_tgt.pts[i].z < max_b->z)
+ if (points_tgt.points[i].x > min_b->x &&
+ points_tgt.points[i].x < max_b->x &&
+ points_tgt.points[i].y > min_b->y &&
+ points_tgt.points[i].y < max_b->y...
[truncated message content] |
