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Adding support for PointCloud2 to the laser projector, removing a bunch of deprecated functions, and fixing a ton of warnings

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git-svn-id: https://code.ros.org/svn/ros-pkg/stacks/laser_pipeline/trunk@35237 eb33c2ac-9c88-4c90-87e0-44a10359b0c3
This commit is contained in:
Eitan Marder-Eppstein
2011-01-14 08:05:45 +00:00
parent 9287eff456
commit 3f5ba8926a
5 changed files with 509 additions and 97 deletions
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178
include/laser_geometry/laser_geometry.h
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@@ -43,14 +43,16 @@
#include "sensor_msgs/PointCloud.h"
#include "sensor_msgs/PointCloud.h"
#if defined(__GNUC__)
#define DEPRECATED __attribute__((deprecated))
#else
#define DEPRECATED
#endif
#include <Eigen3/Core>
#include <sensor_msgs/PointCloud2.h>
namespace laser_geometry
{
// NOTE: invalid scan errors (will be present in LaserScan.msg in D-Turtle)
const float LASER_SCAN_INVALID = -1.0;
const float LASER_SCAN_MIN_RANGE = -2.0;
const float LASER_SCAN_MAX_RANGE = -3.0;
namespace channel_option
{
//! Enumerated output channels options.
@@ -65,17 +67,11 @@ namespace laser_geometry
Index = 0x02, //!< Enable "index" channel
Distance = 0x04, //!< Enable "distances" channel
Timestamp = 0x08, //!< Enable "stamps" channel
Viewpoint = 0x16, //!< Enable "viewpoint" channel
Default = (Intensity | Index) //!< Enable "intensities" and "stamps" channels
};
}
DEPRECATED const int MASK_INTENSITY = channel_option::Intensity;
DEPRECATED const int MASK_INDEX = channel_option::Index;
DEPRECATED const int MASK_DISTANCE = channel_option::Distance;
DEPRECATED const int MASK_TIMESTAMP = channel_option::Timestamp;
DEPRECATED const int DEFAULT_MASK = (channel_option::Intensity | channel_option::Index);
//! \brief A Class to Project Laser Scan
/*!
* This class will project laser scans into point clouds. It caches
@@ -131,6 +127,61 @@ namespace laser_geometry
return projectLaser_ (scan_in, cloud_out, range_cutoff, false, channel_options);
}
//! Project a sensor_msgs::LaserScan into a 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
* as the original laser scan.
*
* \param scan_in The input laser scan
* \param cloud_out The output point cloud
* \param range_cutoff An additional range cutoff which can be
* applied which is more limiting than max_range in the scan.
* \param channel_option An OR'd set of channels to include.
* Options include: channel_option::Default,
* channel_option::Intensity, channel_option::Index,
* channel_option::Distance, channel_option::Timestamp.
*/
void projectLaser (const sensor_msgs::LaserScan& scan_in,
sensor_msgs::PointCloud2 &cloud_out,
double range_cutoff = -1.0,
int channel_options = channel_option::Default)
{
projectLaser_(scan_in, cloud_out, co_sine_map_, range_cutoff, channel_options);
}
//! Transform a sensor_msgs::LaserScan into a sensor_msgs::PointCloud 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
* course of the scan. In order for this transform to be
* meaningful at a single point in time, the target_frame must
* be a fixed reference frame. See the tf documentation for
* more information on fixed frames.
*
* \param target_frame The frame of the resulting point cloud
* \param scan_in The input laser scan
* \param cloud_out The output point cloud
* \param tf a tf::Transformer object to use to perform the
* transform
* \param range_cutoff An additional range cutoff which can be
* applied which is more limiting than max_range in the scan.
* \param channel_option An OR'd set of channels to include.
* Options include: channel_option::Default,
* channel_option::Intensity, channel_option::Index,
* channel_option::Distance, channel_option::Timestamp.
*/
void transformLaserScanToPointCloud (const std::string& target_frame,
const sensor_msgs::LaserScan& scan_in,
sensor_msgs::PointCloud& cloud_out,
tf::Transformer& tf,
double range_cutoff,
int channel_options = channel_option::Default)
{
return transformLaserScanToPointCloud_ (target_frame, cloud_out, scan_in, tf, range_cutoff, channel_options, false);
}
//! Transform a sensor_msgs::LaserScan into a sensor_msgs::PointCloud in target frame
/*!
* Transform a single laser scan from a linear array into a 3D
@@ -156,51 +207,68 @@ namespace laser_geometry
tf::Transformer& tf,
int channel_options = channel_option::Default)
{
return transformLaserScanToPointCloud_ (target_frame, cloud_out, scan_in, tf, channel_options, false);
return transformLaserScanToPointCloud_ (target_frame, cloud_out, scan_in, tf, -1.0, channel_options, false);
}
//! Deprecated version of projectLaser
//! Transform a sensor_msgs::LaserScan into a sensor_msgs::PointCloud2 in target frame
/*!
* - The preservative argument has been removed.
* Transform a single laser scan from a linear array into a 3D
* point cloud, accounting for movement of the laser over the
* course of the scan. In order for this transform to be
* meaningful at a single point in time, the target_frame must
* be a fixed reference frame. See the tf documentation for
* more information on fixed frames.
*
* \param target_frame The frame of the resulting point cloud
* \param scan_in The input laser scan
* \param cloud_out The output point cloud
* \param tf a tf::Transformer object to use to perform the
* transform
* \param range_cutoff An additional range cutoff which can be
* applied which is more limiting than max_range in the scan.
* \param channel_option An OR'd set of channels to include.
* Options include: channel_option::Default,
* channel_option::Intensity, channel_option::Index,
* channel_option::Distance, channel_option::Timestamp.
*/
DEPRECATED
void projectLaser (const sensor_msgs::LaserScan& scan_in,
sensor_msgs::PointCloud & cloud_out,
double range_cutoff,
bool preservative,
int channel_options = channel_option::Default)
void transformLaserScanToPointCloud2(const std::string &target_frame,
const sensor_msgs::LaserScan &scan_in,
sensor_msgs::PointCloud2 &cloud_out,
tf::Transformer &tf,
double range_cutoff,
int channel_options = channel_option::Default)
{
return projectLaser_ (scan_in, cloud_out, range_cutoff, preservative, channel_options);
transformLaserScanToPointCloud2_(target_frame, scan_in, cloud_out, tf, co_sine_map_, range_cutoff, channel_options);
}
//! Deprecated version of projectLaser
//! Transform a sensor_msgs::LaserScan into a sensor_msgs::PointCloud2 in target frame
/*!
* - The preservative argument has been removed.
* - The ordering of cloud_out and scan_in have been reversed
* Transform a single laser scan from a linear array into a 3D
* point cloud, accounting for movement of the laser over the
* course of the scan. In order for this transform to be
* meaningful at a single point in time, the target_frame must
* be a fixed reference frame. See the tf documentation for
* more information on fixed frames.
*
* \param target_frame The frame of the resulting point cloud
* \param scan_in The input laser scan
* \param cloud_out The output point cloud
* \param tf a tf::Transformer object to use to perform the
* transform
* \param channel_option An OR'd set of channels to include.
* Options include: channel_option::Default,
* channel_option::Intensity, channel_option::Index,
* channel_option::Distance, channel_option::Timestamp.
*/
DEPRECATED
void transformLaserScanToPointCloud (const std::string& target_frame,
sensor_msgs::PointCloud & cloud_out,
const sensor_msgs::LaserScan& scan_in,
tf::Transformer & tf,
int channel_options = channel_option::Default,
bool preservative = false)
void transformLaserScanToPointCloud2(const std::string &target_frame,
const sensor_msgs::LaserScan &scan_in,
sensor_msgs::PointCloud2 &cloud_out,
tf::Transformer &tf,
int channel_options = channel_option::Default)
{
return transformLaserScanToPointCloud_ (target_frame, cloud_out, scan_in, tf, channel_options, preservative);
transformLaserScanToPointCloud2(target_frame, scan_in, cloud_out, tf, -1.0, channel_options);
}
//! Deprecated version of getUnitVectors
/*!
* - This is now assumed to be an internal, protected API. Do not call externally.
*/
DEPRECATED
const boost::numeric::ublas::matrix<double>& getUnitVectors(float angle_min,
float angle_max,
float angle_increment,
unsigned int length)
{
return getUnitVectors_(angle_min, angle_max, angle_increment, length);
}
protected:
@@ -224,22 +292,38 @@ namespace laser_geometry
bool preservative,
int channel_options);
//! Internal hidden representation of projectLaser
void projectLaser_ (const sensor_msgs::LaserScan& scan_in,
sensor_msgs::PointCloud2 &cloud_out,
Eigen3::ArrayXXd &co_sine_map,
double range_cutoff,
int channel_options);
//! Internal hidden representation of transformLaserScanToPointCloud
void transformLaserScanToPointCloud_ (const std::string& target_frame,
sensor_msgs::PointCloud& cloud_out,
const sensor_msgs::LaserScan& scan_in,
tf::Transformer & tf,
double range_cutoff,
int channel_options,
bool preservative);
//! Internal hidden representation of transformLaserScanToPointCloud2
void transformLaserScanToPointCloud2_ (const std::string &target_frame,
const sensor_msgs::LaserScan &scan_in,
sensor_msgs::PointCloud2 &cloud_out,
tf::Transformer &tf,
Eigen3::ArrayXXd &co_sine_map,
double range_cutoff,
int channel_options);
//! Internal map of pointers to stored values
std::map<std::string,boost::numeric::ublas::matrix<double>* > unit_vector_map_;
Eigen3::ArrayXXd co_sine_map_;
boost::mutex guv_mutex_;
};
}
#undef DEPRECATED
#endif //LASER_SCAN_UTILS_LASERSCAN_H