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Switch to target_link_libraries. (#92)

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This allows us to hide more of the libraries from downstream
consumers.

While we are in here, do slight cleanups so it is more clear
which libraries are depended on.

Signed-off-by: Chris Lalancette <clalancette@gmail.com>
This commit is contained in:
Chris Lalancette 2023-11-27 11:31:38 -05:00 committed by GitHub
parent df8a1e3565
commit 3d913f6483
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2 changed files with 30 additions and 26 deletions
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20
CMakeLists.txt
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@ -24,10 +24,18 @@ target_include_directories(laser_geometry
$<INSTALL_INTERFACE:include/${PROJECT_NAME}> $<INSTALL_INTERFACE:include/${PROJECT_NAME}>
${Eigen3_INCLUDE_DIRS} ${Eigen3_INCLUDE_DIRS}
) )
ament_target_dependencies(laser_geometry target_link_libraries(laser_geometry PUBLIC
"rclcpp" ${sensor_msgs_TARGETS}
"sensor_msgs" tf2::tf2
"tf2" )
if(TARGET Eigen3::Eigen)
target_link_libraries(laser_geometry PUBLIC Eigen3::Eigen)
else()
target_include_directories(laser_geometry PUBLIC ${Eigen3_INCLUDE_DIRS})
endif()
target_link_libraries(laser_geometry PRIVATE
rclcpp::rclcpp
) )
# Causes the visibility macros to use dllexport rather than dllimport, # Causes the visibility macros to use dllexport rather than dllimport,
@ -42,9 +50,7 @@ ament_export_libraries(laser_geometry)
ament_export_targets(laser_geometry) ament_export_targets(laser_geometry)
ament_export_dependencies( ament_export_dependencies(
eigen3_cmake_module
Eigen3 Eigen3
rclcpp
sensor_msgs sensor_msgs
tf2 tf2
) )
@ -80,7 +86,7 @@ if(BUILD_TESTING)
test/projection_test.cpp test/projection_test.cpp
TIMEOUT 240) TIMEOUT 240)
if(TARGET projection_test) if(TARGET projection_test)
target_link_libraries(projection_test laser_geometry) target_link_libraries(projection_test laser_geometry rclcpp::rclcpp)
endif() endif()
# Python test # Python test

36
src/laser_geometry.cpp
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@ -30,16 +30,14 @@
#include "laser_geometry/laser_geometry.hpp" #include "laser_geometry/laser_geometry.hpp"
#include <Eigen/Core>
#include <algorithm> #include <algorithm>
#include <string> #include <string>
#include "rclcpp/time.hpp" #include "rclcpp/time.hpp"
#include "sensor_msgs/msg/laser_scan.hpp"
#define TIME rclcpp::Time #include "sensor_msgs/msg/point_cloud2.hpp"
#define POINT_FIELD sensor_msgs::msg::PointField
typedef double tfScalar;
#include "tf2/LinearMath/Transform.h" #include "tf2/LinearMath/Transform.h"
@ -87,15 +85,15 @@ void LaserProjection::projectLaser_(
cloud_out.fields.resize(3); cloud_out.fields.resize(3);
cloud_out.fields[0].name = "x"; cloud_out.fields[0].name = "x";
cloud_out.fields[0].offset = 0; cloud_out.fields[0].offset = 0;
cloud_out.fields[0].datatype = POINT_FIELD::FLOAT32; cloud_out.fields[0].datatype = sensor_msgs::msg::PointField::FLOAT32;
cloud_out.fields[0].count = 1; cloud_out.fields[0].count = 1;
cloud_out.fields[1].name = "y"; cloud_out.fields[1].name = "y";
cloud_out.fields[1].offset = 4; cloud_out.fields[1].offset = 4;
cloud_out.fields[1].datatype = POINT_FIELD::FLOAT32; cloud_out.fields[1].datatype = sensor_msgs::msg::PointField::FLOAT32;
cloud_out.fields[1].count = 1; cloud_out.fields[1].count = 1;
cloud_out.fields[2].name = "z"; cloud_out.fields[2].name = "z";
cloud_out.fields[2].offset = 8; cloud_out.fields[2].offset = 8;
cloud_out.fields[2].datatype = POINT_FIELD::FLOAT32; cloud_out.fields[2].datatype = sensor_msgs::msg::PointField::FLOAT32;
cloud_out.fields[2].count = 1; cloud_out.fields[2].count = 1;
// Define 4 indices in the channel array for each possible value type // Define 4 indices in the channel array for each possible value type
@ -108,7 +106,7 @@ void LaserProjection::projectLaser_(
size_t field_size = cloud_out.fields.size(); size_t field_size = cloud_out.fields.size();
cloud_out.fields.resize(field_size + 1); cloud_out.fields.resize(field_size + 1);
cloud_out.fields[field_size].name = "intensity"; cloud_out.fields[field_size].name = "intensity";
cloud_out.fields[field_size].datatype = POINT_FIELD::FLOAT32; cloud_out.fields[field_size].datatype = sensor_msgs::msg::PointField::FLOAT32;
cloud_out.fields[field_size].offset = offset; cloud_out.fields[field_size].offset = offset;
cloud_out.fields[field_size].count = 1; cloud_out.fields[field_size].count = 1;
offset += 4; offset += 4;
@ -119,7 +117,7 @@ void LaserProjection::projectLaser_(
size_t field_size = cloud_out.fields.size(); size_t field_size = cloud_out.fields.size();
cloud_out.fields.resize(field_size + 1); cloud_out.fields.resize(field_size + 1);
cloud_out.fields[field_size].name = "index"; cloud_out.fields[field_size].name = "index";
cloud_out.fields[field_size].datatype = POINT_FIELD::INT32; cloud_out.fields[field_size].datatype = sensor_msgs::msg::PointField::INT32;
cloud_out.fields[field_size].offset = offset; cloud_out.fields[field_size].offset = offset;
cloud_out.fields[field_size].count = 1; cloud_out.fields[field_size].count = 1;
offset += 4; offset += 4;
@ -130,7 +128,7 @@ void LaserProjection::projectLaser_(
size_t field_size = cloud_out.fields.size(); size_t field_size = cloud_out.fields.size();
cloud_out.fields.resize(field_size + 1); cloud_out.fields.resize(field_size + 1);
cloud_out.fields[field_size].name = "distances"; cloud_out.fields[field_size].name = "distances";
cloud_out.fields[field_size].datatype = POINT_FIELD::FLOAT32; cloud_out.fields[field_size].datatype = sensor_msgs::msg::PointField::FLOAT32;
cloud_out.fields[field_size].offset = offset; cloud_out.fields[field_size].offset = offset;
cloud_out.fields[field_size].count = 1; cloud_out.fields[field_size].count = 1;
offset += 4; offset += 4;
@ -141,7 +139,7 @@ void LaserProjection::projectLaser_(
size_t field_size = cloud_out.fields.size(); size_t field_size = cloud_out.fields.size();
cloud_out.fields.resize(field_size + 1); cloud_out.fields.resize(field_size + 1);
cloud_out.fields[field_size].name = "stamps"; cloud_out.fields[field_size].name = "stamps";
cloud_out.fields[field_size].datatype = POINT_FIELD::FLOAT32; cloud_out.fields[field_size].datatype = sensor_msgs::msg::PointField::FLOAT32;
cloud_out.fields[field_size].offset = offset; cloud_out.fields[field_size].offset = offset;
cloud_out.fields[field_size].count = 1; cloud_out.fields[field_size].count = 1;
offset += 4; offset += 4;
@ -153,19 +151,19 @@ void LaserProjection::projectLaser_(
cloud_out.fields.resize(field_size + 3); cloud_out.fields.resize(field_size + 3);
cloud_out.fields[field_size].name = "vp_x"; cloud_out.fields[field_size].name = "vp_x";
cloud_out.fields[field_size].datatype = POINT_FIELD::FLOAT32; cloud_out.fields[field_size].datatype = sensor_msgs::msg::PointField::FLOAT32;
cloud_out.fields[field_size].offset = offset; cloud_out.fields[field_size].offset = offset;
cloud_out.fields[field_size].count = 1; cloud_out.fields[field_size].count = 1;
offset += 4; offset += 4;
cloud_out.fields[field_size + 1].name = "vp_y"; cloud_out.fields[field_size + 1].name = "vp_y";
cloud_out.fields[field_size + 1].datatype = POINT_FIELD::FLOAT32; cloud_out.fields[field_size + 1].datatype = sensor_msgs::msg::PointField::FLOAT32;
cloud_out.fields[field_size + 1].offset = offset; cloud_out.fields[field_size + 1].offset = offset;
cloud_out.fields[field_size + 1].count = 1; cloud_out.fields[field_size + 1].count = 1;
offset += 4; offset += 4;
cloud_out.fields[field_size + 2].name = "vp_z"; cloud_out.fields[field_size + 2].name = "vp_z";
cloud_out.fields[field_size + 2].datatype = POINT_FIELD::FLOAT32; cloud_out.fields[field_size + 2].datatype = sensor_msgs::msg::PointField::FLOAT32;
cloud_out.fields[field_size + 2].offset = offset; cloud_out.fields[field_size + 2].offset = offset;
cloud_out.fields[field_size + 2].count = 1; cloud_out.fields[field_size + 2].count = 1;
offset += 4; offset += 4;
@ -330,7 +328,7 @@ void LaserProjection::transformLaserScanToPointCloud_(
memcpy(&pt_index, &cloud_out.data[i * cloud_out.point_step + index_offset], sizeof(uint32_t)); memcpy(&pt_index, &cloud_out.data[i * cloud_out.point_step + index_offset], sizeof(uint32_t));
// Assume constant motion during the laser-scan and use slerp to compute intermediate transforms // Assume constant motion during the laser-scan and use slerp to compute intermediate transforms
tfScalar ratio = pt_index * ranges_norm; double ratio = pt_index * ranges_norm;
// TODO(anon): Make a function that performs both the slerp and linear interpolation needed to // TODO(anon): Make a function that performs both the slerp and linear interpolation needed to
// interpolate a Full Transform (Quaternion + Vector) // interpolate a Full Transform (Quaternion + Vector)
@ -423,8 +421,8 @@ void LaserProjection::transformLaserScanToPointCloud_(
double range_cutoff, double range_cutoff,
int channel_options) int channel_options)
{ {
TIME start_time = scan_in.header.stamp; rclcpp::Time start_time = scan_in.header.stamp;
TIME end_time = scan_in.header.stamp; rclcpp::Time end_time = scan_in.header.stamp;
// TODO(anonymous): reconcile all the different time constructs // TODO(anonymous): reconcile all the different time constructs
if (!scan_in.ranges.empty()) { if (!scan_in.ranges.empty()) {
end_time = start_time + rclcpp::Duration::from_seconds( end_time = start_time + rclcpp::Duration::from_seconds(