DuongTD/laser_geometry
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hiep sua ten file

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HiepLM
2025-12-30 09:57:01 +07:00
parent a183d4bb7b
commit 1fefb2a389
5 changed files with 48 additions and 48 deletions
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28
include/laser_geometry/laser_geometry.hpp
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@@ -40,8 +40,8 @@
#include <Eigen/Core> // NOLINT (cpplint cannot handle include order here)
#include "tf3/buffer_core.h"
#include <sensor_msgs/LaserScan.h>
#include <sensor_msgs/PointCloud2.h>
#include <robot_sensor_msgs/LaserScan.h>
#include <robot_sensor_msgs/PointCloud2.h>
#include <robot_geometry_msgs/TransformStamped.h>
#include "laser_geometry/visibility_control.hpp"
@@ -104,7 +104,7 @@ public:
LaserProjection()
: angle_min_(0), angle_max_(0) {}
// Project a sensor_msgs::LaserScan into a sensor_msgs::PointCloud2
// Project a robot_sensor_msgs::LaserScan into a robot_sensor_msgs::PointCloud2
/*!
* Project a single laser scan from a linear array into a 3D
* point cloud. The generated cloud will be in the same frame
@@ -122,15 +122,15 @@ public:
*/
LASER_GEOMETRY_PUBLIC
void projectLaser(
const sensor_msgs::LaserScan & scan_in,
sensor_msgs::PointCloud2 & cloud_out,
const robot_sensor_msgs::LaserScan & scan_in,
robot_sensor_msgs::PointCloud2 & cloud_out,
double range_cutoff = -1.0,
int channel_options = channel_option::Default)
{
projectLaser_(scan_in, cloud_out, range_cutoff, channel_options);
}
// Transform a sensor_msgs::LaserScan into a sensor_msgs::PointCloud2 in target frame
// Transform a robot_sensor_msgs::LaserScan into a robot_sensor_msgs::PointCloud2 in target frame
/*!
* Transform a single laser scan from a linear array into a 3D
* point cloud, accounting for movement of the laser over the
@@ -155,8 +155,8 @@ public:
LASER_GEOMETRY_PUBLIC
void transformLaserScanToPointCloud(
const std::string & target_frame,
const sensor_msgs::LaserScan & scan_in,
sensor_msgs::PointCloud2 & cloud_out,
const robot_sensor_msgs::LaserScan & scan_in,
robot_sensor_msgs::PointCloud2 & cloud_out,
tf3::BufferCore & tf,
double range_cutoff = -1.0,
int channel_options = channel_option::Default)
@@ -168,16 +168,16 @@ public:
private:
// Internal hidden representation of projectLaser
void projectLaser_(
const sensor_msgs::LaserScan & scan_in,
sensor_msgs::PointCloud2 & cloud_out,
const robot_sensor_msgs::LaserScan & scan_in,
robot_sensor_msgs::PointCloud2 & cloud_out,
double range_cutoff,
int channel_options);
// Internal hidden representation of transformLaserScanToPointCloud2
void transformLaserScanToPointCloud_(
const std::string & target_frame,
const sensor_msgs::LaserScan & scan_in,
sensor_msgs::PointCloud2 & cloud_out,
const robot_sensor_msgs::LaserScan & scan_in,
robot_sensor_msgs::PointCloud2 & cloud_out,
tf3::BufferCore & tf,
double range_cutoff,
int channel_options);
@@ -185,8 +185,8 @@ private:
// Function used by the several forms of transformLaserScanToPointCloud_
void transformLaserScanToPointCloud_(
const std::string & target_frame,
const sensor_msgs::LaserScan & scan_in,
sensor_msgs::PointCloud2 & cloud_out,
const robot_sensor_msgs::LaserScan & scan_in,
robot_sensor_msgs::PointCloud2 & cloud_out,
tf3::Quaternion quat_start,
tf3::Vector3 origin_start,
tf3::Quaternion quat_end,