Changes

Modified euclidean_cluster_extraction.cpp

• Return all found clusters from the service instead of only the first one
• Replaced iterator for loops with equivalent ranged for b\loops
• Replaced std::shared_ptr construction with new with equivalent std::make_shared
• Added in assert statements and static_cast to eliminate possibly unsafe implicit conversions. (Also good for self documentation purposes)
• Placed the class in an anonymous namespace to avoid ODR violations if duplicate symbols appear during linking.
  Unlikely but possible if two classes have the same name.

Added simple_test_euclidean_cluster_extraction.cpp

Features

Description: Takes in a real-time camera-feed, extracts clusters, then published a new point
cloud with each cluster colored differently.

• Retrieve a point cloud from a user specified camera topic
• Down-sample the point cloud to improve performance with pcl::CropBox and pcl::VoxelGrid
• Use euclidean_cluster_extraction to retrieve the clusters from the point cloud
• For each cluster in the point cloud, do the following:
  • Pick a visible hue offset, create a pcl::PointXYZHSV, then convert the point to RGB.
  • Linear interpolate this color with the color of the point within a cluster.
  • Add the point to one final point cloud.
• Publish a PointCloud message to the topic with the clustered colored.
• Modified the naming convention for constants CONSTANT -> kConstant to follow to the style guide requirement.

Changed

• Replaced PointCloud&& with PointCloud: This better aligns to the style guide, has the same behavior, and
  better aligned with the usage of the point cloud in the code.
• Placed the class in an anonymous namespace

Modified PCLEuclideanClusterExtraction.srv

• Replaced target_cloud_out and obstacle_cloud_list_out with cloud_list_out since the first point cloud is no longer assumed to be the point cloud of interest.

Modified CMakeLists.txt

• PCL using definition for point types in pcl/point_cloud.h that are not standard compliant. Removed the -pedantic option from simple_test_euclidean_cluster_extraction.cpp since it produces warnings for these definitions. No warnings are produced as a result of my code.
• Moved the Clang/GCC check under build testing down to after the targets were defined.
• Updated the comment about the resolved Boost MPL/Numeric Clang compiler error.
• Added PCL_NO_PRECOMPILE to address issues with Address Sanitizer in gcc.
• Added dependency on the transitive dependency, Eigen, which used in the simple test.

Compatability/Testing

All tests done on Ubuntu 22.04

Asan = Address Sanitizer; Lsan = Leak Sanitizer; Ubsan = Undefined Behavior Sanitizer
icpx was not tested on aarch64 since it failed on x64

1. Address sanitizer shows a heap buffer overflow of 8 bytes, however this error went away when adding the PCL
2. icpx triggered a segmentation fault on compilation. This was in the compiler itself which is very unusual but did not occur in gcc or clang. This appears to be an internal compiler issue.

Notes

• valgrind: no memory errors, two shown memory unrelated memory leaks (do not result from my code).
• Compiler produces no warnings on -Wall -Wextra. -Wpedantic produces warnings only from PCL header files.
• There's a known issue in ROS2 with new_delete_type_mismatch, to disable the error, run
  export ASAN_OPTIONS=new_delete_type_mismatch=0

Results