add pcl-downsampling

pc_ws/src/pcl_ros_processing/.gitignore

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+# Prerequisites
+*.d
+
+# Compiled Object files
+*.slo
+*.lo
+*.o
+*.obj
+
+# Precompiled Headers
+*.gch
+*.pch
+
+# Compiled Dynamic libraries
+*.so
+*.dylib
+*.dll
+
+# Fortran module files
+*.mod
+*.smod
+
+# Compiled Static libraries
+*.lai
+*.la
+*.a
+*.lib
+
+# Executables
+*.exe
+*.out
+*.app

pc_ws/src/pcl_ros_processing/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+project(pcl_ros_processing)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  pcl_conversions
+  pcl_ros
+  roscpp
+  sensor_msgs
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a run_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   sensor_msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a run_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES pcl_ros_processing
+#  CATKIN_DEPENDS pcl_conversions pcl_ros roscpp sensor_msgs
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+# include_directories(include)
+include_directories(
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(pcl-ros-processing
+#   src/${PROJECT_NAME}/pcl-ros-processing.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(pcl-ros-processing ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+add_executable(downsampling src/downsampling.cpp)
+add_executable(planar_segmentation src/planar_segmentation.cpp)
+add_executable(pcd_write src/pcd_write.cpp)
+add_executable(color_filter_rgb src/color_filter_rgb.cpp)
+add_executable(color_filter_hsv src/color_filter_hsv.cpp)
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(pcl-ros-processing_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+target_link_libraries(downsampling
+  ${catkin_LIBRARIES}
+)
+
+target_link_libraries(planar_segmentation
+  ${catkin_LIBRARIES}
+)
+
+target_link_libraries(pcd_write
+  ${catkin_LIBRARIES}
+)
+
+target_link_libraries(color_filter_rgb
+  ${catkin_LIBRARIES}
+)
+
+target_link_libraries(color_filter_hsv
+  ${catkin_LIBRARIES}
+)
+
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+# install(TARGETS pcl-ros-processing pcl-ros-processing_node
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_pcl-ros-processing.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)

pc_ws/src/pcl_ros_processing/LICENSE

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+MIT License
+
+Copyright (c) 2017 karaage
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

pc_ws/src/pcl_ros_processing/README.md

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+# pcl_ros_processing
+pcl sample program on ROS(Robot Operating System)
+
+# usage
+Please prepare rgbd sensor(ex:Kinect, Realsense) and build this package
+
+## downsampling
+Execute following command:
+```sh
+$ rosrun pcl_ros_processing downsampling input:=/camera/depth_registered/points
+```
+
+Execute following command for changing downsampling rate:
+```sh
+$ rosparam set down_rate 0.01
+```
+`down_rate` means voxel size
+
+
+## planar segmentation
+Execute following command:
+```sh
+$ rosrun pcl_ros_processing planar_segmentation input:=/camera/depth_registered/points
+```
+
+for rviz visualization
+```sh
+$ rosrun rviz rviz
+```
+
+for pcl viewer visualization
+```sh
+$ pcl_viewer save.pcd
+```
+press `5` for color visualization
+
+## color filter
+for rgb
+```sh
+$ rosrun pcl_ros_processing color_filter_rgb input:=/camera/depth_registered/points
+```
+
+for hsv
+```sh
+$ rosrun pcl_ros_processing color_filter_hsv input:=/camera/depth_registered/points
+```
+
+for rviz visualization
+```sh
+$ rosrun rviz rviz
+```
+
+for pcl viewer visualization
+```sh
+$ pcl_viewer save.pcd
+```
+press `5` for color visualization
+
+
+# References
+
+## planar segmentation
+- http://wiki.ros.org/pcl/Overview
+- http://pointclouds.org/documentation/tutorials/planar_segmentation.php#planar-segmentation
+- https://staff.aist.go.jp/kanezaki.asako/pdf/SSII2016_AsakoKanezaki_tutorial.pdf
+- http://ros-robot.blogspot.jp/2011/08/pclapi-point-cloud-library-pcl-pcl-api.html
+
+## color filter
+- http://qiita.com/akachochin/items/47f1470565e76adb1880

pc_ws/src/pcl_ros_processing/launch/pcl_downsampling.launch

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+<launch>
+  <node name="pcl_downsampling" pkg="pcl_ros_processing" type="downsampling">
+    <remap from="input" to="/orb_slam2_mono/map_points" />
+  </node>
+</launch>