Switch to target_link_libraries. (#92)
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
GitHub
parent
df8a1e3565
commit
3d913f6483
|
|
@ -24,10 +24,18 @@ target_include_directories(laser_geometry
|
|||
$<INSTALL_INTERFACE:include/${PROJECT_NAME}>
|
||||
${Eigen3_INCLUDE_DIRS}
|
||||
)
|
||||
ament_target_dependencies(laser_geometry
|
||||
"rclcpp"
|
||||
"sensor_msgs"
|
||||
"tf2"
|
||||
target_link_libraries(laser_geometry PUBLIC
|
||||
${sensor_msgs_TARGETS}
|
||||
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,
|
||||
|
|
@ -42,9 +50,7 @@ ament_export_libraries(laser_geometry)
|
|||
ament_export_targets(laser_geometry)
|
||||
|
||||
ament_export_dependencies(
|
||||
eigen3_cmake_module
|
||||
Eigen3
|
||||
rclcpp
|
||||
sensor_msgs
|
||||
tf2
|
||||
)
|
||||
|
|
@ -80,7 +86,7 @@ if(BUILD_TESTING)
|
|||
test/projection_test.cpp
|
||||
TIMEOUT 240)
|
||||
if(TARGET projection_test)
|
||||
target_link_libraries(projection_test laser_geometry)
|
||||
target_link_libraries(projection_test laser_geometry rclcpp::rclcpp)
|
||||
endif()
|
||||
|
||||
# Python test
|
||||
|
|
|
|||
|
|
@ -30,16 +30,14 @@
|
|||
|
||||
#include "laser_geometry/laser_geometry.hpp"
|
||||
|
||||
#include <Eigen/Core>
|
||||
|
||||
#include <algorithm>
|
||||
#include <string>
|
||||
|
||||
#include "rclcpp/time.hpp"
|
||||
|
||||
#define TIME rclcpp::Time
|
||||
|
||||
#define POINT_FIELD sensor_msgs::msg::PointField
|
||||
|
||||
typedef double tfScalar;
|
||||
#include "sensor_msgs/msg/laser_scan.hpp"
|
||||
#include "sensor_msgs/msg/point_cloud2.hpp"
|
||||
|
||||
#include "tf2/LinearMath/Transform.h"
|
||||
|
||||
|
|
@ -87,15 +85,15 @@ void LaserProjection::projectLaser_(
|
|||
cloud_out.fields.resize(3);
|
||||
cloud_out.fields[0].name = "x";
|
||||
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[1].name = "y";
|
||||
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[2].name = "z";
|
||||
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;
|
||||
|
||||
// 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();
|
||||
cloud_out.fields.resize(field_size + 1);
|
||||
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].count = 1;
|
||||
offset += 4;
|
||||
|
|
@ -119,7 +117,7 @@ void LaserProjection::projectLaser_(
|
|||
size_t field_size = cloud_out.fields.size();
|
||||
cloud_out.fields.resize(field_size + 1);
|
||||
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].count = 1;
|
||||
offset += 4;
|
||||
|
|
@ -130,7 +128,7 @@ void LaserProjection::projectLaser_(
|
|||
size_t field_size = cloud_out.fields.size();
|
||||
cloud_out.fields.resize(field_size + 1);
|
||||
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].count = 1;
|
||||
offset += 4;
|
||||
|
|
@ -141,7 +139,7 @@ void LaserProjection::projectLaser_(
|
|||
size_t field_size = cloud_out.fields.size();
|
||||
cloud_out.fields.resize(field_size + 1);
|
||||
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].count = 1;
|
||||
offset += 4;
|
||||
|
|
@ -153,19 +151,19 @@ void LaserProjection::projectLaser_(
|
|||
cloud_out.fields.resize(field_size + 3);
|
||||
|
||||
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].count = 1;
|
||||
offset += 4;
|
||||
|
||||
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].count = 1;
|
||||
offset += 4;
|
||||
|
||||
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].count = 1;
|
||||
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));
|
||||
|
||||
// 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
|
||||
// interpolate a Full Transform (Quaternion + Vector)
|
||||
|
|
@ -423,8 +421,8 @@ void LaserProjection::transformLaserScanToPointCloud_(
|
|||
double range_cutoff,
|
||||
int channel_options)
|
||||
{
|
||||
TIME start_time = scan_in.header.stamp;
|
||||
TIME end_time = scan_in.header.stamp;
|
||||
rclcpp::Time start_time = scan_in.header.stamp;
|
||||
rclcpp::Time end_time = scan_in.header.stamp;
|
||||
// TODO(anonymous): reconcile all the different time constructs
|
||||
if (!scan_in.ranges.empty()) {
|
||||
end_time = start_time + rclcpp::Duration::from_seconds(
|
||||
|
|
|
|||
Loading…
Reference in New Issue
Block a user