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Fixed message filter api #457

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Fixed message filter api #457

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a61207e
Fixed message filter api
ahcorde Jun 19, 2024
382e6a3
make linters happy
ahcorde Jun 19, 2024
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14 changes: 10 additions & 4 deletions pcl_ros/include/pcl_ros/filters/filter.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -137,11 +137,17 @@ class Filter : public PCLNode<sensor_msgs::msg::PointCloud2>
/** \brief Pointer to parameters callback handle. */
OnSetParametersCallbackHandle::SharedPtr callback_handle_;

typedef message_filters::sync_policies::ApproximateTime<
PointCloud2, PointIndices> SyncApproxPolInputIndices;
typedef message_filters::Synchronizer<SyncApproxPolInputIndices> SynchronizerApproxInputIndices;

typedef message_filters::sync_policies::ExactTime<
PointCloud2, PointIndices> SyncExactPolInputIndices;
typedef message_filters::Synchronizer<SyncExactPolInputIndices> SynchronizerExactInputIndices;

/** \brief Synchronized input, and indices.*/
std::shared_ptr<message_filters::Synchronizer<sync_policies::ExactTime<PointCloud2,
PointIndices>>> sync_input_indices_e_;
std::shared_ptr<message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloud2,
PointIndices>>> sync_input_indices_a_;
std::shared_ptr<SynchronizerExactInputIndices> sync_input_indices_e_;
std::shared_ptr<SynchronizerApproxInputIndices> sync_input_indices_a_;

/** \brief Parameter callback
* \param params parameter values to set
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17 changes: 13 additions & 4 deletions pcl_ros/include/pcl_ros/filters/project_inliers.hpp
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Expand Up @@ -77,11 +77,20 @@ class ProjectInliers : public Filter
/** \brief The message filter subscriber for model coefficients. */
message_filters::Subscriber<ModelCoefficients> sub_model_;

typedef message_filters::sync_policies::ApproximateTime<
PointCloud2, PointIndices, ModelCoefficients> SyncApproxPolInputIndicesModel;
typedef message_filters::Synchronizer<SyncApproxPolInputIndicesModel>
SynchronizerApproxInputIndicesModel;

typedef message_filters::sync_policies::ExactTime<
PointCloud2, PointIndices, ModelCoefficients> SyncExactPolInputIndicesModel;
typedef message_filters::Synchronizer<SyncExactPolInputIndicesModel>
SynchronizerExactInputIndicesModel;

/** \brief Synchronized input, indices, and model coefficients.*/
std::shared_ptr<message_filters::Synchronizer<sync_policies::ExactTime<PointCloud2,
PointIndices, ModelCoefficients>>> sync_input_indices_model_e_;
std::shared_ptr<message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloud2,
PointIndices, ModelCoefficients>>> sync_input_indices_model_a_;
std::shared_ptr<SynchronizerExactInputIndicesModel> sync_input_indices_model_e_;
std::shared_ptr<SynchronizerApproxInputIndicesModel> sync_input_indices_model_a_;

/** \brief The PCL filter implementation used. */
pcl::ProjectInliers<pcl::PCLPointCloud2> impl_;

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10 changes: 5 additions & 5 deletions pcl_ros/src/pcl_ros/filters/filter.cpp
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Expand Up @@ -119,23 +119,23 @@ pcl_ros::Filter::subscribe()
if (use_indices_) {
// Subscribe to the input using a filter
auto sensor_qos_profile =
rclcpp::SensorDataQoS().keep_last(max_queue_size_).get_rmw_qos_profile();
rclcpp::SensorDataQoS().keep_last(max_queue_size_);
sub_input_filter_.subscribe(this, "input", sensor_qos_profile);
sub_indices_filter_.subscribe(this, "indices", sensor_qos_profile);

if (approximate_sync_) {
sync_input_indices_a_ =
std::make_shared<message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloud2,
pcl_msgs::msg::PointIndices>>>(max_queue_size_);
std::make_shared<SynchronizerApproxInputIndices>(SyncApproxPolInputIndices(
max_queue_size_));
sync_input_indices_a_->connectInput(sub_input_filter_, sub_indices_filter_);
sync_input_indices_a_->registerCallback(
std::bind(
&Filter::input_indices_callback, this,
std::placeholders::_1, std::placeholders::_2));
} else {
sync_input_indices_e_ =
std::make_shared<message_filters::Synchronizer<sync_policies::ExactTime<PointCloud2,
pcl_msgs::msg::PointIndices>>>(max_queue_size_);
std::make_shared<SynchronizerExactInputIndices>(SyncExactPolInputIndices(
max_queue_size_));
sync_input_indices_e_->connectInput(sub_input_filter_, sub_indices_filter_);
sync_input_indices_e_->registerCallback(
std::bind(
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16 changes: 6 additions & 10 deletions pcl_ros/src/pcl_ros/filters/project_inliers.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -108,29 +108,25 @@ pcl_ros::ProjectInliers::subscribe()

auto qos_profile = rclcpp::QoS(
rclcpp::KeepLast(max_queue_size_),
rmw_qos_profile_default).get_rmw_qos_profile();
rmw_qos_profile_default);
auto sensor_qos_profile = rclcpp::QoS(
rclcpp::KeepLast(max_queue_size_),
rmw_qos_profile_sensor_data).get_rmw_qos_profile();
rmw_qos_profile_sensor_data);
sub_input_filter_.subscribe(this, "input", sensor_qos_profile);
sub_indices_filter_.subscribe(this, "indices", qos_profile);
sub_model_.subscribe(this, "model", qos_profile);

if (approximate_sync_) {
sync_input_indices_model_a_ = std::make_shared<
message_filters::Synchronizer<
message_filters::sync_policies::ApproximateTime<
PointCloud2, PointIndices, ModelCoefficients>>>(max_queue_size_);
sync_input_indices_model_a_ = std::make_shared<SynchronizerApproxInputIndicesModel>(
SyncApproxPolInputIndicesModel(max_queue_size_));
sync_input_indices_model_a_->connectInput(sub_input_filter_, sub_indices_filter_, sub_model_);
sync_input_indices_model_a_->registerCallback(
std::bind(
&ProjectInliers::input_indices_model_callback, this,
std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
} else {
sync_input_indices_model_e_ = std::make_shared<
message_filters::Synchronizer<
message_filters::sync_policies::ExactTime<
PointCloud2, PointIndices, ModelCoefficients>>>(max_queue_size_);
sync_input_indices_model_e_ = std::make_shared<SynchronizerExactInputIndicesModel>(
SyncExactPolInputIndicesModel(max_queue_size_));
sync_input_indices_model_e_->connectInput(sub_input_filter_, sub_indices_filter_, sub_model_);
sync_input_indices_model_e_->registerCallback(
std::bind(
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