Uncrustify
This commit is contained in:
Martin Idel
parent
b88330b64c
commit
433181e63e
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@ -49,148 +49,153 @@
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namespace laser_geometry
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{
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// NOTE: invalid scan errors (will be present in LaserScan.msg in D-Turtle)
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const float LASER_SCAN_INVALID = -1.0;
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const float LASER_SCAN_MIN_RANGE = -2.0;
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const float LASER_SCAN_MAX_RANGE = -3.0;
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// NOTE: invalid scan errors (will be present in LaserScan.msg in D-Turtle)
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const float LASER_SCAN_INVALID = -1.0;
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const float LASER_SCAN_MIN_RANGE = -2.0;
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const float LASER_SCAN_MAX_RANGE = -3.0;
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namespace channel_option
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{
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//! Enumerated output channels options.
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namespace channel_option
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{
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//! Enumerated output channels options.
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/*!
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* An OR'd set of these options is passed as the final argument of
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* the projectLaser and transformLaserScanToPointCloud calls to
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* enable generation of the appropriate set of additional channels.
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*/
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enum ChannelOption
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{
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None = 0x00, //!< Enable no channels
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Intensity = 0x01, //!< Enable "intensities" channel
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Index = 0x02, //!< Enable "index" channel
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Distance = 0x04, //!< Enable "distances" channel
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Timestamp = 0x08, //!< Enable "stamps" channel
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Viewpoint = 0x10, //!< Enable "viewpoint" channel
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Default = (Intensity | Index) //!< Enable "intensities" and "index" channels
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};
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}
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//! \brief A Class to Project Laser Scan
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/*!
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* This class will project laser scans into point clouds. It caches
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* unit vectors between runs (provided the angular resolution of
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* your scanner is not changing) to avoid excess computation.
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*
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* By default all range values less than the scanner min_range, and
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* greater than the scanner max_range are removed from the generated
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* point cloud, as these are assumed to be invalid.
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*
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* If it is important to preserve a mapping between the index of
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* range values and points in the cloud, the recommended approach is
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* to pre-filter your laser_scan message to meet the requiremnt that all
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* ranges are between min and max_range.
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*
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* The generated PointClouds have a number of channels which can be enabled
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* through the use of ChannelOption.
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* - channel_option::Intensity - Create a channel named "intensities" with the intensity of the return for each point
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* - channel_option::Index - Create a channel named "index" containing the index from the original array for each point
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* - channel_option::Distance - Create a channel named "distances" containing the distance from the laser to each point
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* - channel_option::Timestamp - Create a channel named "stamps" containing the specific timestamp at which each point was measured
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*/
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class LaserProjection
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{
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public:
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LaserProjection()
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: angle_min_(0), angle_max_(0) {}
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//! Project a sensor_msgs::msg::LaserScan into a sensor_msgs::msg::PointCloud2
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/*!
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* An OR'd set of these options is passed as the final argument of
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* the projectLaser and transformLaserScanToPointCloud calls to
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* enable generation of the appropriate set of additional channels.
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* Project a single laser scan from a linear array into a 3D
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* point cloud. The generated cloud will be in the same frame
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* as the original laser scan.
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*
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* \param scan_in The input laser scan
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* \param cloud_out The output point cloud
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* \param range_cutoff An additional range cutoff which can be
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* applied to discard everything above it.
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* Defaults to -1.0, which means the laser scan max range.
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* \param channel_option An OR'd set of channels to include.
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* Options include: channel_option::Default,
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* channel_option::Intensity, channel_option::Index,
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* channel_option::Distance, channel_option::Timestamp.
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*/
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enum ChannelOption
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{
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None = 0x00, //!< Enable no channels
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Intensity = 0x01, //!< Enable "intensities" channel
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Index = 0x02, //!< Enable "index" channel
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Distance = 0x04, //!< Enable "distances" channel
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Timestamp = 0x08, //!< Enable "stamps" channel
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Viewpoint = 0x10, //!< Enable "viewpoint" channel
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Default = (Intensity | Index) //!< Enable "intensities" and "index" channels
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};
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void projectLaser(
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const sensor_msgs::msg::LaserScan & scan_in,
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sensor_msgs::msg::PointCloud2 & cloud_out,
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double range_cutoff = -1.0,
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int channel_options = channel_option::Default)
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{
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projectLaser_(scan_in, cloud_out, range_cutoff, channel_options);
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}
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//! \brief A Class to Project Laser Scan
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//! Transform a sensor_msgs::msg::LaserScan into a sensor_msgs::msg::PointCloud2 in target frame
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/*!
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* This class will project laser scans into point clouds. It caches
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* unit vectors between runs (provided the angular resolution of
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* your scanner is not changing) to avoid excess computation.
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* Transform a single laser scan from a linear array into a 3D
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* point cloud, accounting for movement of the laser over the
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* course of the scan. In order for this transform to be
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* meaningful at a single point in time, the target_frame must
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* be a fixed reference frame. See the tf documentation for
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* more information on fixed frames.
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*
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* By default all range values less than the scanner min_range, and
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* greater than the scanner max_range are removed from the generated
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* point cloud, as these are assumed to be invalid.
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*
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* If it is important to preserve a mapping between the index of
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* range values and points in the cloud, the recommended approach is
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* to pre-filter your laser_scan message to meet the requiremnt that all
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* ranges are between min and max_range.
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*
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* The generated PointClouds have a number of channels which can be enabled
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* through the use of ChannelOption.
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* - channel_option::Intensity - Create a channel named "intensities" with the intensity of the return for each point
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* - channel_option::Index - Create a channel named "index" containing the index from the original array for each point
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* - channel_option::Distance - Create a channel named "distances" containing the distance from the laser to each point
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* - channel_option::Timestamp - Create a channel named "stamps" containing the specific timestamp at which each point was measured
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* \param target_frame The frame of the resulting point cloud
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* \param scan_in The input laser scan
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* \param cloud_out The output point cloud
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* \param tf a tf2::BufferCore object to use to perform the
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* transform
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* \param range_cutoff An additional range cutoff which can be
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* applied to discard everything above it.
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* Defaults to -1.0, which means the laser scan max range.
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* \param channel_option An OR'd set of channels to include.
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* Options include: channel_option::Default,
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* channel_option::Intensity, channel_option::Index,
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* channel_option::Distance, channel_option::Timestamp.
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*/
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class LaserProjection
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{
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void transformLaserScanToPointCloud(
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const std::string & target_frame,
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const sensor_msgs::msg::LaserScan & scan_in,
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sensor_msgs::msg::PointCloud2 & cloud_out,
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tf2::BufferCore & tf,
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double range_cutoff = -1.0,
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int channel_options = channel_option::Default)
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{
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transformLaserScanToPointCloud_(target_frame, scan_in, cloud_out, tf, range_cutoff,
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channel_options);
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}
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public:
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private:
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//! Internal hidden representation of projectLaser
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void projectLaser_(
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const sensor_msgs::msg::LaserScan & scan_in,
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sensor_msgs::msg::PointCloud2 & cloud_out,
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double range_cutoff,
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int channel_options);
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LaserProjection() : angle_min_(0), angle_max_(0) {}
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//! Internal hidden representation of transformLaserScanToPointCloud2
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void transformLaserScanToPointCloud_(
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const std::string & target_frame,
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const sensor_msgs::msg::LaserScan & scan_in,
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sensor_msgs::msg::PointCloud2 & cloud_out,
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tf2::BufferCore & tf,
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double range_cutoff,
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int channel_options);
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//! Project a sensor_msgs::msg::LaserScan into a sensor_msgs::msg::PointCloud2
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/*!
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* Project a single laser scan from a linear array into a 3D
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* point cloud. The generated cloud will be in the same frame
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* as the original laser scan.
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*
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* \param scan_in The input laser scan
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* \param cloud_out The output point cloud
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* \param range_cutoff An additional range cutoff which can be
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* applied to discard everything above it.
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* Defaults to -1.0, which means the laser scan max range.
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* \param channel_option An OR'd set of channels to include.
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* Options include: channel_option::Default,
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* channel_option::Intensity, channel_option::Index,
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* channel_option::Distance, channel_option::Timestamp.
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*/
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void projectLaser (const sensor_msgs::msg::LaserScan& scan_in,
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sensor_msgs::msg::PointCloud2 &cloud_out,
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double range_cutoff = -1.0,
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int channel_options = channel_option::Default)
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{
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projectLaser_(scan_in, cloud_out, range_cutoff, channel_options);
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}
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//! Function used by the several forms of transformLaserScanToPointCloud_
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void transformLaserScanToPointCloud_(
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const std::string & target_frame,
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const sensor_msgs::msg::LaserScan & scan_in,
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sensor_msgs::msg::PointCloud2 & cloud_out,
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tf2::Quaternion quat_start,
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tf2::Vector3 origin_start,
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tf2::Quaternion quat_end,
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tf2::Vector3 origin_end,
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double range_cutoff,
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int channel_options);
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//! Transform a sensor_msgs::msg::LaserScan into a sensor_msgs::msg::PointCloud2 in target frame
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/*!
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* Transform a single laser scan from a linear array into a 3D
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* point cloud, accounting for movement of the laser over the
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* course of the scan. In order for this transform to be
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* meaningful at a single point in time, the target_frame must
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* be a fixed reference frame. See the tf documentation for
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* more information on fixed frames.
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*
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* \param target_frame The frame of the resulting point cloud
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* \param scan_in The input laser scan
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* \param cloud_out The output point cloud
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* \param tf a tf2::BufferCore object to use to perform the
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* transform
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* \param range_cutoff An additional range cutoff which can be
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* applied to discard everything above it.
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* Defaults to -1.0, which means the laser scan max range.
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* \param channel_option An OR'd set of channels to include.
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* Options include: channel_option::Default,
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* channel_option::Intensity, channel_option::Index,
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* channel_option::Distance, channel_option::Timestamp.
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*/
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void transformLaserScanToPointCloud(const std::string &target_frame,
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const sensor_msgs::msg::LaserScan &scan_in,
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sensor_msgs::msg::PointCloud2 &cloud_out,
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tf2::BufferCore &tf,
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double range_cutoff = -1.0,
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int channel_options = channel_option::Default)
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{
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transformLaserScanToPointCloud_(target_frame, scan_in, cloud_out, tf, range_cutoff, channel_options);
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}
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private:
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//! Internal hidden representation of projectLaser
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void projectLaser_ (const sensor_msgs::msg::LaserScan& scan_in,
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sensor_msgs::msg::PointCloud2 &cloud_out,
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double range_cutoff,
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int channel_options);
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//! Internal hidden representation of transformLaserScanToPointCloud2
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void transformLaserScanToPointCloud_ (const std::string &target_frame,
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const sensor_msgs::msg::LaserScan &scan_in,
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sensor_msgs::msg::PointCloud2 &cloud_out,
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tf2::BufferCore &tf,
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double range_cutoff,
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int channel_options);
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//! Function used by the several forms of transformLaserScanToPointCloud_
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void transformLaserScanToPointCloud_ (const std::string &target_frame,
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const sensor_msgs::msg::LaserScan &scan_in,
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sensor_msgs::msg::PointCloud2 &cloud_out,
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tf2::Quaternion quat_start,
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tf2::Vector3 origin_start,
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tf2::Quaternion quat_end,
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tf2::Vector3 origin_end,
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double range_cutoff,
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int channel_options);
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//! Internal map of pointers to stored values
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float angle_min_;
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float angle_max_;
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Eigen::ArrayXXd co_sine_map_;
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};
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//! Internal map of pointers to stored values
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float angle_min_;
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float angle_max_;
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Eigen::ArrayXXd co_sine_map_;
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};
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}
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@ -42,424 +42,418 @@ typedef double tfScalar;
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namespace laser_geometry
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{
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void LaserProjection::projectLaser_ (const sensor_msgs::msg::LaserScan& scan_in,
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sensor_msgs::msg::PointCloud2 &cloud_out,
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double range_cutoff,
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int channel_options)
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{
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size_t n_pts = scan_in.ranges.size ();
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Eigen::ArrayXXd ranges (n_pts, 2);
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Eigen::ArrayXXd output (n_pts, 2);
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void LaserProjection::projectLaser_(
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const sensor_msgs::msg::LaserScan & scan_in,
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sensor_msgs::msg::PointCloud2 & cloud_out,
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double range_cutoff,
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int channel_options)
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{
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size_t n_pts = scan_in.ranges.size();
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Eigen::ArrayXXd ranges(n_pts, 2);
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Eigen::ArrayXXd output(n_pts, 2);
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// Get the ranges into Eigen format
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for (size_t i = 0; i < n_pts; ++i)
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{
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ranges (i, 0) = (double) scan_in.ranges[i];
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ranges (i, 1) = (double) scan_in.ranges[i];
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}
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// Check if our existing co_sine_map is valid
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if (co_sine_map_.rows () != (int)n_pts || angle_min_ != scan_in.angle_min || angle_max_ != scan_in.angle_max )
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{
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ROS_DEBUG ("[projectLaser] No precomputed map given. Computing one.");
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co_sine_map_ = Eigen::ArrayXXd (n_pts, 2);
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angle_min_ = scan_in.angle_min;
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angle_max_ = scan_in.angle_max;
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// Spherical->Cartesian projection
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for (size_t i = 0; i < n_pts; ++i)
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{
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co_sine_map_ (i, 0) = cos (scan_in.angle_min + (double) i * scan_in.angle_increment);
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co_sine_map_ (i, 1) = sin (scan_in.angle_min + (double) i * scan_in.angle_increment);
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}
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}
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output = ranges * co_sine_map_;
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// Set the output cloud accordingly
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cloud_out.header = scan_in.header;
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cloud_out.height = 1;
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cloud_out.width = scan_in.ranges.size ();
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cloud_out.fields.resize (3);
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cloud_out.fields[0].name = "x";
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cloud_out.fields[0].offset = 0;
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cloud_out.fields[0].datatype = POINT_FIELD::FLOAT32;
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cloud_out.fields[0].count = 1;
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cloud_out.fields[1].name = "y";
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cloud_out.fields[1].offset = 4;
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cloud_out.fields[1].datatype = POINT_FIELD::FLOAT32;
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cloud_out.fields[1].count = 1;
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cloud_out.fields[2].name = "z";
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cloud_out.fields[2].offset = 8;
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cloud_out.fields[2].datatype = POINT_FIELD::FLOAT32;
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cloud_out.fields[2].count = 1;
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// Define 4 indices in the channel array for each possible value type
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int idx_intensity = -1, idx_index = -1, idx_distance = -1, idx_timestamp = -1, idx_vpx = -1, idx_vpy = -1, idx_vpz = -1;
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//now, we need to check what fields we need to store
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int offset = 12;
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if ((channel_options & channel_option::Intensity) && scan_in.intensities.size() > 0)
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{
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int field_size = cloud_out.fields.size();
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cloud_out.fields.resize(field_size + 1);
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cloud_out.fields[field_size].name = "intensity";
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cloud_out.fields[field_size].datatype = POINT_FIELD::FLOAT32;
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cloud_out.fields[field_size].offset = offset;
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cloud_out.fields[field_size].count = 1;
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offset += 4;
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idx_intensity = field_size;
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}
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if ((channel_options & channel_option::Index))
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{
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int field_size = cloud_out.fields.size();
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cloud_out.fields.resize(field_size + 1);
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cloud_out.fields[field_size].name = "index";
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cloud_out.fields[field_size].datatype = POINT_FIELD::INT32;
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cloud_out.fields[field_size].offset = offset;
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cloud_out.fields[field_size].count = 1;
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offset += 4;
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idx_index = field_size;
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}
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if ((channel_options & channel_option::Distance))
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{
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int field_size = cloud_out.fields.size();
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cloud_out.fields.resize(field_size + 1);
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cloud_out.fields[field_size].name = "distances";
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cloud_out.fields[field_size].datatype = POINT_FIELD::FLOAT32;
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cloud_out.fields[field_size].offset = offset;
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cloud_out.fields[field_size].count = 1;
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offset += 4;
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idx_distance = field_size;
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}
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if ((channel_options & channel_option::Timestamp))
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{
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int field_size = cloud_out.fields.size();
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cloud_out.fields.resize(field_size + 1);
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cloud_out.fields[field_size].name = "stamps";
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cloud_out.fields[field_size].datatype = POINT_FIELD::FLOAT32;
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cloud_out.fields[field_size].offset = offset;
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cloud_out.fields[field_size].count = 1;
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offset += 4;
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idx_timestamp = field_size;
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}
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if ((channel_options & channel_option::Viewpoint))
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{
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int field_size = cloud_out.fields.size();
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cloud_out.fields.resize(field_size + 3);
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cloud_out.fields[field_size].name = "vp_x";
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cloud_out.fields[field_size].datatype = POINT_FIELD::FLOAT32;
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cloud_out.fields[field_size].offset = offset;
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cloud_out.fields[field_size].count = 1;
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offset += 4;
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cloud_out.fields[field_size + 1].name = "vp_y";
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cloud_out.fields[field_size + 1].datatype = POINT_FIELD::FLOAT32;
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cloud_out.fields[field_size + 1].offset = offset;
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cloud_out.fields[field_size + 1].count = 1;
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offset += 4;
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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].offset = offset;
|
||||
cloud_out.fields[field_size + 2].count = 1;
|
||||
offset += 4;
|
||||
|
||||
idx_vpx = field_size;
|
||||
idx_vpy = field_size + 1;
|
||||
idx_vpz = field_size + 2;
|
||||
}
|
||||
|
||||
cloud_out.point_step = offset;
|
||||
cloud_out.row_step = cloud_out.point_step * cloud_out.width;
|
||||
cloud_out.data.resize (cloud_out.row_step * cloud_out.height);
|
||||
cloud_out.is_dense = false;
|
||||
|
||||
if (range_cutoff < 0)
|
||||
range_cutoff = scan_in.range_max;
|
||||
|
||||
unsigned int count = 0;
|
||||
for (size_t i = 0; i < n_pts; ++i)
|
||||
{
|
||||
//check to see if we want to keep the point
|
||||
const float range = scan_in.ranges[i];
|
||||
if (range < range_cutoff && range >= scan_in.range_min)
|
||||
{
|
||||
float *pstep = (float*)&cloud_out.data[count * cloud_out.point_step];
|
||||
|
||||
// Copy XYZ
|
||||
pstep[0] = output (i, 0);
|
||||
pstep[1] = output (i, 1);
|
||||
pstep[2] = 0;
|
||||
|
||||
// Copy intensity
|
||||
if(idx_intensity != -1)
|
||||
pstep[idx_intensity] = scan_in.intensities[i];
|
||||
|
||||
//Copy index
|
||||
if(idx_index != -1)
|
||||
((int*)(pstep))[idx_index] = i;
|
||||
|
||||
// Copy distance
|
||||
if(idx_distance != -1)
|
||||
pstep[idx_distance] = range;
|
||||
|
||||
// Copy timestamp
|
||||
if(idx_timestamp != -1)
|
||||
pstep[idx_timestamp] = i * scan_in.time_increment;
|
||||
|
||||
// Copy viewpoint (0, 0, 0)
|
||||
if(idx_vpx != -1 && idx_vpy != -1 && idx_vpz != -1)
|
||||
{
|
||||
pstep[idx_vpx] = 0;
|
||||
pstep[idx_vpy] = 0;
|
||||
pstep[idx_vpz] = 0;
|
||||
}
|
||||
|
||||
//make sure to increment count
|
||||
++count;
|
||||
}
|
||||
|
||||
/* TODO: Why was this done in this way, I don't get this at all, you end up with a ton of points with NaN values
|
||||
* why can't you just leave them out?
|
||||
*
|
||||
// Invalid measurement?
|
||||
if (scan_in.ranges[i] >= range_cutoff || scan_in.ranges[i] <= scan_in.range_min)
|
||||
{
|
||||
if (scan_in.ranges[i] != LASER_SCAN_MAX_RANGE)
|
||||
{
|
||||
for (size_t s = 0; s < cloud_out.fields.size (); ++s)
|
||||
pstep[s] = bad_point;
|
||||
}
|
||||
else
|
||||
{
|
||||
// Kind of nasty thing:
|
||||
// We keep the oringinal point information for max ranges but set x to NAN to mark the point as invalid.
|
||||
// Since we still might need the x value we store it in the distance field
|
||||
pstep[0] = bad_point; // X -> NAN to mark a bad point
|
||||
pstep[1] = co_sine_map (i, 1); // Y
|
||||
pstep[2] = 0; // Z
|
||||
|
||||
if (store_intensity)
|
||||
{
|
||||
pstep[3] = bad_point; // Intensity -> NAN to mark a bad point
|
||||
pstep[4] = co_sine_map (i, 0); // Distance -> Misused to store the originnal X
|
||||
}
|
||||
else
|
||||
pstep[3] = co_sine_map (i, 0); // Distance -> Misused to store the originnal X
|
||||
}
|
||||
}
|
||||
*/
|
||||
}
|
||||
|
||||
//resize if necessary
|
||||
cloud_out.width = count;
|
||||
cloud_out.row_step = cloud_out.point_step * cloud_out.width;
|
||||
cloud_out.data.resize (cloud_out.row_step * cloud_out.height);
|
||||
// Get the ranges into Eigen format
|
||||
for (size_t i = 0; i < n_pts; ++i) {
|
||||
ranges(i, 0) = (double) scan_in.ranges[i];
|
||||
ranges(i, 1) = (double) scan_in.ranges[i];
|
||||
}
|
||||
|
||||
void LaserProjection::transformLaserScanToPointCloud_(const std::string &target_frame,
|
||||
const sensor_msgs::msg::LaserScan &scan_in,
|
||||
sensor_msgs::msg::PointCloud2 &cloud_out,
|
||||
tf2::Quaternion quat_start,
|
||||
tf2::Vector3 origin_start,
|
||||
tf2::Quaternion quat_end,
|
||||
tf2::Vector3 origin_end,
|
||||
double range_cutoff,
|
||||
int channel_options)
|
||||
// Check if our existing co_sine_map is valid
|
||||
if (co_sine_map_.rows() != (int)n_pts || angle_min_ != scan_in.angle_min ||
|
||||
angle_max_ != scan_in.angle_max)
|
||||
{
|
||||
//check if the user has requested the index field
|
||||
bool requested_index = false;
|
||||
if ((channel_options & channel_option::Index))
|
||||
requested_index = true;
|
||||
ROS_DEBUG("[projectLaser] No precomputed map given. Computing one.");
|
||||
co_sine_map_ = Eigen::ArrayXXd(n_pts, 2);
|
||||
angle_min_ = scan_in.angle_min;
|
||||
angle_max_ = scan_in.angle_max;
|
||||
// Spherical->Cartesian projection
|
||||
for (size_t i = 0; i < n_pts; ++i) {
|
||||
co_sine_map_(i, 0) = cos(scan_in.angle_min + (double) i * scan_in.angle_increment);
|
||||
co_sine_map_(i, 1) = sin(scan_in.angle_min + (double) i * scan_in.angle_increment);
|
||||
}
|
||||
}
|
||||
|
||||
//we'll enforce that we get index values for the laser scan so that we
|
||||
//ensure that we use the correct timestamps
|
||||
channel_options |= channel_option::Index;
|
||||
output = ranges * co_sine_map_;
|
||||
|
||||
projectLaser_(scan_in, cloud_out, range_cutoff, channel_options);
|
||||
// Set the output cloud accordingly
|
||||
cloud_out.header = scan_in.header;
|
||||
cloud_out.height = 1;
|
||||
cloud_out.width = scan_in.ranges.size();
|
||||
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].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].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].count = 1;
|
||||
|
||||
//we'll assume no associated viewpoint by default
|
||||
bool has_viewpoint = false;
|
||||
uint32_t vp_x_offset = 0;
|
||||
// Define 4 indices in the channel array for each possible value type
|
||||
int idx_intensity = -1, idx_index = -1, idx_distance = -1, idx_timestamp = -1, idx_vpx = -1,
|
||||
idx_vpy = -1, idx_vpz = -1;
|
||||
|
||||
//we need to find the offset of the intensity field in the point cloud
|
||||
//we also know that the index field is guaranteed to exist since we
|
||||
//set the channel option above. To be really safe, it might be worth
|
||||
//putting in a check at some point, but I'm just going to put in an
|
||||
//assert for now
|
||||
uint32_t index_offset = 0;
|
||||
for(unsigned int i = 0; i < cloud_out.fields.size(); ++i)
|
||||
{
|
||||
if(cloud_out.fields[i].name == "index")
|
||||
{
|
||||
index_offset = cloud_out.fields[i].offset;
|
||||
//now, we need to check what fields we need to store
|
||||
int offset = 12;
|
||||
if ((channel_options & channel_option::Intensity) && scan_in.intensities.size() > 0) {
|
||||
int 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].offset = offset;
|
||||
cloud_out.fields[field_size].count = 1;
|
||||
offset += 4;
|
||||
idx_intensity = field_size;
|
||||
}
|
||||
|
||||
if ((channel_options & channel_option::Index)) {
|
||||
int 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].offset = offset;
|
||||
cloud_out.fields[field_size].count = 1;
|
||||
offset += 4;
|
||||
idx_index = field_size;
|
||||
}
|
||||
|
||||
if ((channel_options & channel_option::Distance)) {
|
||||
int 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].offset = offset;
|
||||
cloud_out.fields[field_size].count = 1;
|
||||
offset += 4;
|
||||
idx_distance = field_size;
|
||||
}
|
||||
|
||||
if ((channel_options & channel_option::Timestamp)) {
|
||||
int 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].offset = offset;
|
||||
cloud_out.fields[field_size].count = 1;
|
||||
offset += 4;
|
||||
idx_timestamp = field_size;
|
||||
}
|
||||
|
||||
if ((channel_options & channel_option::Viewpoint)) {
|
||||
int field_size = cloud_out.fields.size();
|
||||
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].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].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].offset = offset;
|
||||
cloud_out.fields[field_size + 2].count = 1;
|
||||
offset += 4;
|
||||
|
||||
idx_vpx = field_size;
|
||||
idx_vpy = field_size + 1;
|
||||
idx_vpz = field_size + 2;
|
||||
}
|
||||
|
||||
cloud_out.point_step = offset;
|
||||
cloud_out.row_step = cloud_out.point_step * cloud_out.width;
|
||||
cloud_out.data.resize(cloud_out.row_step * cloud_out.height);
|
||||
cloud_out.is_dense = false;
|
||||
|
||||
if (range_cutoff < 0) {
|
||||
range_cutoff = scan_in.range_max;
|
||||
}
|
||||
|
||||
unsigned int count = 0;
|
||||
for (size_t i = 0; i < n_pts; ++i) {
|
||||
//check to see if we want to keep the point
|
||||
const float range = scan_in.ranges[i];
|
||||
if (range < range_cutoff && range >= scan_in.range_min) {
|
||||
float * pstep = (float *)&cloud_out.data[count * cloud_out.point_step];
|
||||
|
||||
// Copy XYZ
|
||||
pstep[0] = output(i, 0);
|
||||
pstep[1] = output(i, 1);
|
||||
pstep[2] = 0;
|
||||
|
||||
// Copy intensity
|
||||
if (idx_intensity != -1) {
|
||||
pstep[idx_intensity] = scan_in.intensities[i];
|
||||
}
|
||||
|
||||
//we want to check if the cloud has a viewpoint associated with it
|
||||
//checking vp_x should be sufficient since vp_x, vp_y, and vp_z all
|
||||
//get put in together
|
||||
if(cloud_out.fields[i].name == "vp_x")
|
||||
{
|
||||
has_viewpoint = true;
|
||||
vp_x_offset = cloud_out.fields[i].offset;
|
||||
//Copy index
|
||||
if (idx_index != -1) {
|
||||
((int *)(pstep))[idx_index] = i;
|
||||
}
|
||||
|
||||
// Copy distance
|
||||
if (idx_distance != -1) {
|
||||
pstep[idx_distance] = range;
|
||||
}
|
||||
|
||||
// Copy timestamp
|
||||
if (idx_timestamp != -1) {
|
||||
pstep[idx_timestamp] = i * scan_in.time_increment;
|
||||
}
|
||||
|
||||
// Copy viewpoint (0, 0, 0)
|
||||
if (idx_vpx != -1 && idx_vpy != -1 && idx_vpz != -1) {
|
||||
pstep[idx_vpx] = 0;
|
||||
pstep[idx_vpy] = 0;
|
||||
pstep[idx_vpz] = 0;
|
||||
}
|
||||
|
||||
//make sure to increment count
|
||||
++count;
|
||||
}
|
||||
|
||||
ROS_ASSERT(index_offset > 0);
|
||||
|
||||
cloud_out.header.frame_id = target_frame;
|
||||
|
||||
tf2::Transform cur_transform ;
|
||||
|
||||
double ranges_norm = 1 / ((double) scan_in.ranges.size () - 1.0);
|
||||
|
||||
//we want to loop through all the points in the cloud
|
||||
for(size_t i = 0; i < cloud_out.width; ++i)
|
||||
/* TODO: Why was this done in this way, I don't get this at all, you end up with a ton of points with NaN values
|
||||
* why can't you just leave them out?
|
||||
*
|
||||
// Invalid measurement?
|
||||
if (scan_in.ranges[i] >= range_cutoff || scan_in.ranges[i] <= scan_in.range_min)
|
||||
{
|
||||
// Apply the transform to the current point
|
||||
float *pstep = (float*)&cloud_out.data[i * cloud_out.point_step + 0];
|
||||
if (scan_in.ranges[i] != LASER_SCAN_MAX_RANGE)
|
||||
{
|
||||
for (size_t s = 0; s < cloud_out.fields.size (); ++s)
|
||||
pstep[s] = bad_point;
|
||||
}
|
||||
else
|
||||
{
|
||||
// Kind of nasty thing:
|
||||
// We keep the oringinal point information for max ranges but set x to NAN to mark the point as invalid.
|
||||
// Since we still might need the x value we store it in the distance field
|
||||
pstep[0] = bad_point; // X -> NAN to mark a bad point
|
||||
pstep[1] = co_sine_map (i, 1); // Y
|
||||
pstep[2] = 0; // Z
|
||||
|
||||
//find the index of the point
|
||||
uint32_t pt_index;
|
||||
memcpy(&pt_index, &cloud_out.data[i * cloud_out.point_step + index_offset], sizeof(uint32_t));
|
||||
if (store_intensity)
|
||||
{
|
||||
pstep[3] = bad_point; // Intensity -> NAN to mark a bad point
|
||||
pstep[4] = co_sine_map (i, 0); // Distance -> Misused to store the originnal X
|
||||
}
|
||||
else
|
||||
pstep[3] = co_sine_map (i, 0); // Distance -> Misused to store the originnal X
|
||||
}
|
||||
}
|
||||
*/
|
||||
}
|
||||
|
||||
// Assume constant motion during the laser-scan, and use slerp to compute intermediate transforms
|
||||
tfScalar ratio = pt_index * ranges_norm;
|
||||
//resize if necessary
|
||||
cloud_out.width = count;
|
||||
cloud_out.row_step = cloud_out.point_step * cloud_out.width;
|
||||
cloud_out.data.resize(cloud_out.row_step * cloud_out.height);
|
||||
}
|
||||
|
||||
//! \todo Make a function that performs both the slerp and linear interpolation needed to interpolate a Full Transform (Quaternion + Vector)
|
||||
// Interpolate translation
|
||||
tf2::Vector3 v (0, 0, 0);
|
||||
v.setInterpolate3 (origin_start, origin_end, ratio);
|
||||
cur_transform.setOrigin (v);
|
||||
void LaserProjection::transformLaserScanToPointCloud_(
|
||||
const std::string & target_frame,
|
||||
const sensor_msgs::msg::LaserScan & scan_in,
|
||||
sensor_msgs::msg::PointCloud2 & cloud_out,
|
||||
tf2::Quaternion quat_start,
|
||||
tf2::Vector3 origin_start,
|
||||
tf2::Quaternion quat_end,
|
||||
tf2::Vector3 origin_end,
|
||||
double range_cutoff,
|
||||
int channel_options)
|
||||
{
|
||||
//check if the user has requested the index field
|
||||
bool requested_index = false;
|
||||
if ((channel_options & channel_option::Index)) {
|
||||
requested_index = true;
|
||||
}
|
||||
|
||||
// Compute the slerp-ed rotation
|
||||
cur_transform.setRotation (slerp (quat_start, quat_end , ratio));
|
||||
//we'll enforce that we get index values for the laser scan so that we
|
||||
//ensure that we use the correct timestamps
|
||||
channel_options |= channel_option::Index;
|
||||
|
||||
tf2::Vector3 point_in (pstep[0], pstep[1], pstep[2]);
|
||||
tf2::Vector3 point_out = cur_transform * point_in;
|
||||
projectLaser_(scan_in, cloud_out, range_cutoff, channel_options);
|
||||
|
||||
//we'll assume no associated viewpoint by default
|
||||
bool has_viewpoint = false;
|
||||
uint32_t vp_x_offset = 0;
|
||||
|
||||
//we need to find the offset of the intensity field in the point cloud
|
||||
//we also know that the index field is guaranteed to exist since we
|
||||
//set the channel option above. To be really safe, it might be worth
|
||||
//putting in a check at some point, but I'm just going to put in an
|
||||
//assert for now
|
||||
uint32_t index_offset = 0;
|
||||
for (unsigned int i = 0; i < cloud_out.fields.size(); ++i) {
|
||||
if (cloud_out.fields[i].name == "index") {
|
||||
index_offset = cloud_out.fields[i].offset;
|
||||
}
|
||||
|
||||
//we want to check if the cloud has a viewpoint associated with it
|
||||
//checking vp_x should be sufficient since vp_x, vp_y, and vp_z all
|
||||
//get put in together
|
||||
if (cloud_out.fields[i].name == "vp_x") {
|
||||
has_viewpoint = true;
|
||||
vp_x_offset = cloud_out.fields[i].offset;
|
||||
}
|
||||
}
|
||||
|
||||
ROS_ASSERT(index_offset > 0);
|
||||
|
||||
cloud_out.header.frame_id = target_frame;
|
||||
|
||||
tf2::Transform cur_transform;
|
||||
|
||||
double ranges_norm = 1 / ((double) scan_in.ranges.size() - 1.0);
|
||||
|
||||
//we want to loop through all the points in the cloud
|
||||
for (size_t i = 0; i < cloud_out.width; ++i) {
|
||||
// Apply the transform to the current point
|
||||
float * pstep = (float *)&cloud_out.data[i * cloud_out.point_step + 0];
|
||||
|
||||
//find the index of the point
|
||||
uint32_t pt_index;
|
||||
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;
|
||||
|
||||
//! \todo Make a function that performs both the slerp and linear interpolation needed to interpolate a Full Transform (Quaternion + Vector)
|
||||
// Interpolate translation
|
||||
tf2::Vector3 v(0, 0, 0);
|
||||
v.setInterpolate3(origin_start, origin_end, ratio);
|
||||
cur_transform.setOrigin(v);
|
||||
|
||||
// Compute the slerp-ed rotation
|
||||
cur_transform.setRotation(slerp(quat_start, quat_end, ratio));
|
||||
|
||||
tf2::Vector3 point_in(pstep[0], pstep[1], pstep[2]);
|
||||
tf2::Vector3 point_out = cur_transform * point_in;
|
||||
|
||||
// Copy transformed point into cloud
|
||||
pstep[0] = point_out.x();
|
||||
pstep[1] = point_out.y();
|
||||
pstep[2] = point_out.z();
|
||||
|
||||
// Convert the viewpoint as well
|
||||
if (has_viewpoint) {
|
||||
float * vpstep = (float *)&cloud_out.data[i * cloud_out.point_step + vp_x_offset];
|
||||
point_in = tf2::Vector3(vpstep[0], vpstep[1], vpstep[2]);
|
||||
point_out = cur_transform * point_in;
|
||||
|
||||
// Copy transformed point into cloud
|
||||
pstep[0] = point_out.x ();
|
||||
pstep[1] = point_out.y ();
|
||||
pstep[2] = point_out.z ();
|
||||
|
||||
// Convert the viewpoint as well
|
||||
if(has_viewpoint)
|
||||
{
|
||||
float *vpstep = (float*)&cloud_out.data[i * cloud_out.point_step + vp_x_offset];
|
||||
point_in = tf2::Vector3 (vpstep[0], vpstep[1], vpstep[2]);
|
||||
point_out = cur_transform * point_in;
|
||||
|
||||
// Copy transformed point into cloud
|
||||
vpstep[0] = point_out.x ();
|
||||
vpstep[1] = point_out.y ();
|
||||
vpstep[2] = point_out.z ();
|
||||
}
|
||||
}
|
||||
|
||||
//if the user didn't request the index field, then we need to copy the PointCloud and drop it
|
||||
if(!requested_index)
|
||||
{
|
||||
sensor_msgs::msg::PointCloud2 cloud_without_index;
|
||||
|
||||
//copy basic meta data
|
||||
cloud_without_index.header = cloud_out.header;
|
||||
cloud_without_index.width = cloud_out.width;
|
||||
cloud_without_index.height = cloud_out.height;
|
||||
cloud_without_index.is_bigendian = cloud_out.is_bigendian;
|
||||
cloud_without_index.is_dense = cloud_out.is_dense;
|
||||
|
||||
//copy the fields
|
||||
cloud_without_index.fields.resize(cloud_out.fields.size());
|
||||
unsigned int field_count = 0;
|
||||
unsigned int offset_shift = 0;
|
||||
for(unsigned int i = 0; i < cloud_out.fields.size(); ++i)
|
||||
{
|
||||
if(cloud_out.fields[i].name != "index")
|
||||
{
|
||||
cloud_without_index.fields[field_count] = cloud_out.fields[i];
|
||||
cloud_without_index.fields[field_count].offset -= offset_shift;
|
||||
++field_count;
|
||||
}
|
||||
else
|
||||
{
|
||||
//once we hit the index, we'll set the shift
|
||||
offset_shift = 4;
|
||||
}
|
||||
}
|
||||
|
||||
//resize the fields
|
||||
cloud_without_index.fields.resize(field_count);
|
||||
|
||||
//compute the size of the new data
|
||||
cloud_without_index.point_step = cloud_out.point_step - offset_shift;
|
||||
cloud_without_index.row_step = cloud_without_index.point_step * cloud_without_index.width;
|
||||
cloud_without_index.data.resize (cloud_without_index.row_step * cloud_without_index.height);
|
||||
|
||||
uint32_t i = 0;
|
||||
uint32_t j = 0;
|
||||
//copy over the data from one cloud to the other
|
||||
while (i < cloud_out.data.size())
|
||||
{
|
||||
if((i % cloud_out.point_step) < index_offset || (i % cloud_out.point_step) >= (index_offset + 4))
|
||||
{
|
||||
cloud_without_index.data[j++] = cloud_out.data[i];
|
||||
}
|
||||
i++;
|
||||
}
|
||||
|
||||
//make sure to actually set the output
|
||||
cloud_out = cloud_without_index;
|
||||
vpstep[0] = point_out.x();
|
||||
vpstep[1] = point_out.y();
|
||||
vpstep[2] = point_out.z();
|
||||
}
|
||||
}
|
||||
|
||||
void LaserProjection::transformLaserScanToPointCloud_ (const std::string &target_frame,
|
||||
const sensor_msgs::msg::LaserScan &scan_in,
|
||||
sensor_msgs::msg::PointCloud2 &cloud_out,
|
||||
tf2::BufferCore &tf,
|
||||
double range_cutoff,
|
||||
int channel_options)
|
||||
{
|
||||
TIME start_time = scan_in.header.stamp;
|
||||
TIME end_time = scan_in.header.stamp;
|
||||
// TODO: reconcile all the different time constructs
|
||||
if (!scan_in.ranges.empty())
|
||||
{
|
||||
end_time = end_time + rclcpp::Duration((scan_in.ranges.size() - 1) * scan_in.time_increment, 0);
|
||||
//if the user didn't request the index field, then we need to copy the PointCloud and drop it
|
||||
if (!requested_index) {
|
||||
sensor_msgs::msg::PointCloud2 cloud_without_index;
|
||||
|
||||
//copy basic meta data
|
||||
cloud_without_index.header = cloud_out.header;
|
||||
cloud_without_index.width = cloud_out.width;
|
||||
cloud_without_index.height = cloud_out.height;
|
||||
cloud_without_index.is_bigendian = cloud_out.is_bigendian;
|
||||
cloud_without_index.is_dense = cloud_out.is_dense;
|
||||
|
||||
//copy the fields
|
||||
cloud_without_index.fields.resize(cloud_out.fields.size());
|
||||
unsigned int field_count = 0;
|
||||
unsigned int offset_shift = 0;
|
||||
for (unsigned int i = 0; i < cloud_out.fields.size(); ++i) {
|
||||
if (cloud_out.fields[i].name != "index") {
|
||||
cloud_without_index.fields[field_count] = cloud_out.fields[i];
|
||||
cloud_without_index.fields[field_count].offset -= offset_shift;
|
||||
++field_count;
|
||||
} else {
|
||||
//once we hit the index, we'll set the shift
|
||||
offset_shift = 4;
|
||||
}
|
||||
}
|
||||
|
||||
std::chrono::milliseconds start(start_time.nanoseconds());
|
||||
std::chrono::time_point<std::chrono::system_clock> st(start);
|
||||
geometry_msgs::msg::TransformStamped start_transform = tf.lookupTransform(target_frame, scan_in.header.frame_id, st);
|
||||
std::chrono::milliseconds end(end_time.nanoseconds());
|
||||
std::chrono::time_point<std::chrono::system_clock> e(end);
|
||||
geometry_msgs::msg::TransformStamped end_transform = tf.lookupTransform(target_frame, scan_in.header.frame_id, e);
|
||||
//resize the fields
|
||||
cloud_without_index.fields.resize(field_count);
|
||||
|
||||
tf2::Quaternion quat_start(start_transform.transform.rotation.x,
|
||||
start_transform.transform.rotation.y,
|
||||
start_transform.transform.rotation.z,
|
||||
start_transform.transform.rotation.w);
|
||||
tf2::Quaternion quat_end(end_transform.transform.rotation.x,
|
||||
end_transform.transform.rotation.y,
|
||||
end_transform.transform.rotation.z,
|
||||
end_transform.transform.rotation.w);
|
||||
//compute the size of the new data
|
||||
cloud_without_index.point_step = cloud_out.point_step - offset_shift;
|
||||
cloud_without_index.row_step = cloud_without_index.point_step * cloud_without_index.width;
|
||||
cloud_without_index.data.resize(cloud_without_index.row_step * cloud_without_index.height);
|
||||
|
||||
tf2::Vector3 origin_start(start_transform.transform.translation.x,
|
||||
start_transform.transform.translation.y,
|
||||
start_transform.transform.translation.z);
|
||||
tf2::Vector3 origin_end(end_transform.transform.translation.x,
|
||||
end_transform.transform.translation.y,
|
||||
end_transform.transform.translation.z);
|
||||
transformLaserScanToPointCloud_(target_frame, scan_in, cloud_out,
|
||||
quat_start, origin_start,
|
||||
quat_end, origin_end,
|
||||
range_cutoff,
|
||||
channel_options);
|
||||
uint32_t i = 0;
|
||||
uint32_t j = 0;
|
||||
//copy over the data from one cloud to the other
|
||||
while (i < cloud_out.data.size()) {
|
||||
if ((i % cloud_out.point_step) < index_offset ||
|
||||
(i % cloud_out.point_step) >= (index_offset + 4))
|
||||
{
|
||||
cloud_without_index.data[j++] = cloud_out.data[i];
|
||||
}
|
||||
i++;
|
||||
}
|
||||
|
||||
//make sure to actually set the output
|
||||
cloud_out = cloud_without_index;
|
||||
}
|
||||
}
|
||||
|
||||
void LaserProjection::transformLaserScanToPointCloud_(
|
||||
const std::string & target_frame,
|
||||
const sensor_msgs::msg::LaserScan & scan_in,
|
||||
sensor_msgs::msg::PointCloud2 & cloud_out,
|
||||
tf2::BufferCore & tf,
|
||||
double range_cutoff,
|
||||
int channel_options)
|
||||
{
|
||||
TIME start_time = scan_in.header.stamp;
|
||||
TIME end_time = scan_in.header.stamp;
|
||||
// TODO: reconcile all the different time constructs
|
||||
if (!scan_in.ranges.empty()) {
|
||||
end_time = end_time + rclcpp::Duration((scan_in.ranges.size() - 1) * scan_in.time_increment, 0);
|
||||
}
|
||||
|
||||
std::chrono::milliseconds start(start_time.nanoseconds());
|
||||
std::chrono::time_point<std::chrono::system_clock> st(start);
|
||||
geometry_msgs::msg::TransformStamped start_transform = tf.lookupTransform(target_frame,
|
||||
scan_in.header.frame_id,
|
||||
st);
|
||||
std::chrono::milliseconds end(end_time.nanoseconds());
|
||||
std::chrono::time_point<std::chrono::system_clock> e(end);
|
||||
geometry_msgs::msg::TransformStamped end_transform = tf.lookupTransform(target_frame,
|
||||
scan_in.header.frame_id,
|
||||
e);
|
||||
|
||||
tf2::Quaternion quat_start(start_transform.transform.rotation.x,
|
||||
start_transform.transform.rotation.y,
|
||||
start_transform.transform.rotation.z,
|
||||
start_transform.transform.rotation.w);
|
||||
tf2::Quaternion quat_end(end_transform.transform.rotation.x,
|
||||
end_transform.transform.rotation.y,
|
||||
end_transform.transform.rotation.z,
|
||||
end_transform.transform.rotation.w);
|
||||
|
||||
tf2::Vector3 origin_start(start_transform.transform.translation.x,
|
||||
start_transform.transform.translation.y,
|
||||
start_transform.transform.translation.z);
|
||||
tf2::Vector3 origin_end(end_transform.transform.translation.x,
|
||||
end_transform.transform.translation.y,
|
||||
end_transform.transform.translation.z);
|
||||
transformLaserScanToPointCloud_(target_frame, scan_in, cloud_out,
|
||||
quat_start, origin_start,
|
||||
quat_end, origin_end,
|
||||
range_cutoff,
|
||||
channel_options);
|
||||
}
|
||||
|
||||
} //laser_geometry
|
||||
|
|
|
|||
|
|
@ -1,10 +1,10 @@
|
|||
/*
|
||||
* Copyright (c) 2008, Willow Garage, Inc.
|
||||
* All rights reserved.
|
||||
*
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions are met:
|
||||
*
|
||||
*
|
||||
* * Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* * Redistributions in binary form must reproduce the above copyright
|
||||
|
|
@ -13,7 +13,7 @@
|
|||
* * Neither the name of the Willow Garage, Inc. nor the names of its
|
||||
* contributors may be used to endorse or promote products derived from
|
||||
* this software without specific prior written permission.
|
||||
*
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
||||
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
||||
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
|
||||
|
|
@ -37,12 +37,15 @@
|
|||
#include "sensor_msgs/msg/point_cloud2.hpp"
|
||||
|
||||
#define PROJECTION_TEST_RANGE_MIN (0.23)
|
||||
#define PROJECTION_TEST_RANGE_MAX (40.0)
|
||||
#define PROJECTION_TEST_RANGE_MAX (40.0)
|
||||
|
||||
|
||||
class BuildScanException { };
|
||||
class BuildScanException
|
||||
{
|
||||
};
|
||||
|
||||
struct ScanOptions {
|
||||
struct ScanOptions
|
||||
{
|
||||
double range_;
|
||||
double intensity_;
|
||||
double ang_min_;
|
||||
|
|
@ -50,10 +53,11 @@ struct ScanOptions {
|
|||
double ang_increment_;
|
||||
rclcpp::Duration scan_time_;
|
||||
|
||||
ScanOptions(double range, double intensity,
|
||||
ScanOptions(
|
||||
double range, double intensity,
|
||||
double ang_min, double ang_max, double ang_increment,
|
||||
rclcpp::Duration scan_time) :
|
||||
range_(range),
|
||||
rclcpp::Duration scan_time)
|
||||
: range_(range),
|
||||
intensity_(intensity),
|
||||
ang_min_(ang_min),
|
||||
ang_max_(ang_max),
|
||||
|
|
@ -63,8 +67,9 @@ struct ScanOptions {
|
|||
|
||||
sensor_msgs::msg::LaserScan build_constant_scan(const ScanOptions & options)
|
||||
{
|
||||
if (((options.ang_max_ - options.ang_min_) / options.ang_increment_) < 0)
|
||||
if (((options.ang_max_ - options.ang_min_) / options.ang_increment_) < 0) {
|
||||
throw (BuildScanException());
|
||||
}
|
||||
|
||||
sensor_msgs::msg::LaserScan scan;
|
||||
scan.header.stamp = rclcpp::Clock().now();
|
||||
|
|
@ -76,21 +81,19 @@ sensor_msgs::msg::LaserScan build_constant_scan(const ScanOptions & options)
|
|||
scan.range_min = PROJECTION_TEST_RANGE_MIN;
|
||||
scan.range_max = PROJECTION_TEST_RANGE_MAX;
|
||||
uint32_t i = 0;
|
||||
for(; options.ang_min_ + i * options.ang_increment_ < options.ang_max_; i++)
|
||||
{
|
||||
for (; options.ang_min_ + i * options.ang_increment_ < options.ang_max_; i++) {
|
||||
scan.ranges.push_back(options.range_);
|
||||
scan.intensities.push_back(options.intensity_);
|
||||
}
|
||||
|
||||
scan.time_increment = options.scan_time_.nanoseconds()/(double)i;
|
||||
scan.time_increment = options.scan_time_.nanoseconds() / (double)i;
|
||||
|
||||
return scan;
|
||||
};
|
||||
}
|
||||
|
||||
TEST(laser_geometry, projectLaser2)
|
||||
{
|
||||
TEST(laser_geometry, projectLaser2) {
|
||||
double tolerance = 1e-12;
|
||||
laser_geometry::LaserProjection projector;
|
||||
laser_geometry::LaserProjection projector;
|
||||
|
||||
std::vector<double> ranges, intensities, min_angles, max_angles, angle_increments;
|
||||
std::vector<rclcpp::Duration> increment_times, scan_times;
|
||||
|
|
@ -110,34 +113,34 @@ TEST(laser_geometry, projectLaser2)
|
|||
intensities.push_back(5.0);
|
||||
|
||||
min_angles.push_back(-M_PI);
|
||||
min_angles.push_back(-M_PI/1.5);
|
||||
min_angles.push_back(-M_PI/2);
|
||||
min_angles.push_back(-M_PI/4);
|
||||
min_angles.push_back(-M_PI/8);
|
||||
min_angles.push_back(-M_PI / 1.5);
|
||||
min_angles.push_back(-M_PI / 2);
|
||||
min_angles.push_back(-M_PI / 4);
|
||||
min_angles.push_back(-M_PI / 8);
|
||||
|
||||
max_angles.push_back(M_PI);
|
||||
max_angles.push_back(M_PI/1.5);
|
||||
max_angles.push_back(M_PI/2);
|
||||
max_angles.push_back(M_PI/4);
|
||||
max_angles.push_back(M_PI/8);
|
||||
max_angles.push_back(M_PI / 1.5);
|
||||
max_angles.push_back(M_PI / 2);
|
||||
max_angles.push_back(M_PI / 4);
|
||||
max_angles.push_back(M_PI / 8);
|
||||
|
||||
// angle_increments.push_back(-M_PI/180); // -one degree
|
||||
angle_increments.push_back(M_PI/180); // one degree
|
||||
angle_increments.push_back(M_PI/360); // half degree
|
||||
angle_increments.push_back(M_PI/720); // quarter degree
|
||||
angle_increments.push_back(M_PI / 180); // one degree
|
||||
angle_increments.push_back(M_PI / 360); // half degree
|
||||
angle_increments.push_back(M_PI / 720); // quarter degree
|
||||
|
||||
scan_times.push_back(rclcpp::Duration(1/40));
|
||||
scan_times.push_back(rclcpp::Duration(1/20));
|
||||
scan_times.push_back(rclcpp::Duration(1 / 40));
|
||||
scan_times.push_back(rclcpp::Duration(1 / 20));
|
||||
|
||||
std::vector<ScanOptions> options;
|
||||
for(auto range : ranges) {
|
||||
for(auto intensity : intensities) {
|
||||
for(auto min_angle : min_angles) {
|
||||
for(auto max_angle : max_angles) {
|
||||
for(auto angle_increment : angle_increments) {
|
||||
for(auto scan_time : scan_times) {
|
||||
for (auto range : ranges) {
|
||||
for (auto intensity : intensities) {
|
||||
for (auto min_angle : min_angles) {
|
||||
for (auto max_angle : max_angles) {
|
||||
for (auto angle_increment : angle_increments) {
|
||||
for (auto scan_time : scan_times) {
|
||||
options.push_back(ScanOptions(
|
||||
range, intensity, min_angle, max_angle, angle_increment, scan_time));
|
||||
range, intensity, min_angle, max_angle, angle_increment, scan_time));
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -145,66 +148,86 @@ TEST(laser_geometry, projectLaser2)
|
|||
}
|
||||
}
|
||||
|
||||
for (auto option : options){
|
||||
try
|
||||
{
|
||||
// printf("%f %f %f %f %f %f\n", range, intensity, min_angle, max_angle, angle_increment, scan_time.toSec());
|
||||
sensor_msgs::msg::LaserScan scan = build_constant_scan(option);
|
||||
for (auto option : options) {
|
||||
try {
|
||||
// printf("%f %f %f %f %f %f\n",
|
||||
// range, intensity, min_angle, max_angle, angle_increment, scan_time.toSec());
|
||||
sensor_msgs::msg::LaserScan scan = build_constant_scan(option);
|
||||
|
||||
sensor_msgs::msg::PointCloud2 cloud_out;
|
||||
projector.projectLaser(scan, cloud_out, -1.0, laser_geometry::channel_option::Index);
|
||||
EXPECT_EQ(cloud_out.fields.size(), (unsigned int)4);
|
||||
projector.projectLaser(scan, cloud_out, -1.0, laser_geometry::channel_option::Intensity);
|
||||
EXPECT_EQ(cloud_out.fields.size(), (unsigned int)4);
|
||||
sensor_msgs::msg::PointCloud2 cloud_out;
|
||||
projector.projectLaser(scan, cloud_out, -1.0, laser_geometry::channel_option::Index);
|
||||
EXPECT_EQ(cloud_out.fields.size(), (unsigned int)4);
|
||||
projector.projectLaser(scan, cloud_out, -1.0, laser_geometry::channel_option::Intensity);
|
||||
EXPECT_EQ(cloud_out.fields.size(), (unsigned int)4);
|
||||
|
||||
projector.projectLaser(scan, cloud_out, -1.0);
|
||||
EXPECT_EQ(cloud_out.fields.size(), (unsigned int)5);
|
||||
projector.projectLaser(scan, cloud_out, -1.0, laser_geometry::channel_option::Intensity | laser_geometry::channel_option::Index);
|
||||
EXPECT_EQ(cloud_out.fields.size(), (unsigned int)5);
|
||||
projector.projectLaser(scan, cloud_out, -1.0);
|
||||
EXPECT_EQ(cloud_out.fields.size(), (unsigned int)5);
|
||||
projector.projectLaser(scan, cloud_out, -1.0,
|
||||
laser_geometry::channel_option::Intensity |
|
||||
laser_geometry::channel_option::Index);
|
||||
EXPECT_EQ(cloud_out.fields.size(), (unsigned int)5);
|
||||
|
||||
projector.projectLaser(scan, cloud_out, -1.0, laser_geometry::channel_option::Intensity | laser_geometry::channel_option::Index | laser_geometry::channel_option::Distance);
|
||||
EXPECT_EQ(cloud_out.fields.size(), (unsigned int)6);
|
||||
projector.projectLaser(scan, cloud_out, -1.0,
|
||||
laser_geometry::channel_option::Intensity | laser_geometry::channel_option::Index |
|
||||
laser_geometry::channel_option::Distance);
|
||||
EXPECT_EQ(cloud_out.fields.size(), (unsigned int)6);
|
||||
|
||||
projector.projectLaser(scan, cloud_out, -1.0, laser_geometry::channel_option::Intensity | laser_geometry::channel_option::Index | laser_geometry::channel_option::Distance | laser_geometry::channel_option::Timestamp);
|
||||
EXPECT_EQ(cloud_out.fields.size(), (unsigned int)7);
|
||||
projector.projectLaser(scan, cloud_out, -1.0,
|
||||
laser_geometry::channel_option::Intensity |
|
||||
laser_geometry::channel_option::Index |
|
||||
laser_geometry::channel_option::Distance |
|
||||
laser_geometry::channel_option::Timestamp);
|
||||
EXPECT_EQ(cloud_out.fields.size(), (unsigned int)7);
|
||||
|
||||
unsigned int valid_points = 0;
|
||||
for (unsigned int i = 0; i < scan.ranges.size(); i++)
|
||||
if (scan.ranges[i] <= PROJECTION_TEST_RANGE_MAX && scan.ranges[i] >= PROJECTION_TEST_RANGE_MIN)
|
||||
valid_points ++;
|
||||
unsigned int valid_points = 0;
|
||||
for (unsigned int i = 0; i < scan.ranges.size(); i++) {
|
||||
if (scan.ranges[i] <= PROJECTION_TEST_RANGE_MAX &&
|
||||
scan.ranges[i] >= PROJECTION_TEST_RANGE_MIN)
|
||||
{
|
||||
valid_points++;
|
||||
}
|
||||
}
|
||||
|
||||
EXPECT_EQ(valid_points, cloud_out.width);
|
||||
EXPECT_EQ(valid_points, cloud_out.width);
|
||||
|
||||
uint32_t x_offset = 0;
|
||||
uint32_t y_offset = 0;
|
||||
uint32_t z_offset = 0;
|
||||
uint32_t intensity_offset = 0;
|
||||
uint32_t index_offset = 0;
|
||||
uint32_t distance_offset = 0;
|
||||
uint32_t stamps_offset = 0;
|
||||
for (std::vector<sensor_msgs::msg::PointField>::iterator f = cloud_out.fields.begin(); f != cloud_out.fields.end(); f++) {
|
||||
if (f->name == "x") x_offset = f->offset;
|
||||
if (f->name == "y") y_offset = f->offset;
|
||||
if (f->name == "z") z_offset = f->offset;
|
||||
if (f->name == "intensity") intensity_offset = f->offset;
|
||||
if (f->name == "index") index_offset = f->offset;
|
||||
if (f->name == "distances") distance_offset = f->offset;
|
||||
if (f->name == "stamps") stamps_offset = f->offset;
|
||||
}
|
||||
uint32_t x_offset = 0;
|
||||
uint32_t y_offset = 0;
|
||||
uint32_t z_offset = 0;
|
||||
uint32_t intensity_offset = 0;
|
||||
uint32_t index_offset = 0;
|
||||
uint32_t distance_offset = 0;
|
||||
uint32_t stamps_offset = 0;
|
||||
for (std::vector<sensor_msgs::msg::PointField>::iterator f = cloud_out.fields.begin();
|
||||
f != cloud_out.fields.end(); f++)
|
||||
{
|
||||
if (f->name == "x") {x_offset = f->offset;}
|
||||
if (f->name == "y") {y_offset = f->offset;}
|
||||
if (f->name == "z") {z_offset = f->offset;}
|
||||
if (f->name == "intensity") {intensity_offset = f->offset;}
|
||||
if (f->name == "index") {index_offset = f->offset;}
|
||||
if (f->name == "distances") {distance_offset = f->offset;}
|
||||
if (f->name == "stamps") {stamps_offset = f->offset;}
|
||||
}
|
||||
|
||||
for (unsigned int i = 0; i < cloud_out.width; i++) {
|
||||
for (unsigned int i = 0; i < cloud_out.width; i++) {
|
||||
|
||||
EXPECT_NEAR(*(float*)&cloud_out.data[i*cloud_out.point_step + x_offset] , (float)((double)(scan.ranges[i]) * cos((double)(scan.angle_min) + i * (double)(scan.angle_increment))), tolerance);
|
||||
EXPECT_NEAR(*(float*)&cloud_out.data[i*cloud_out.point_step + y_offset] , (float)((double)(scan.ranges[i]) * sin((double)(scan.angle_min) + i * (double)(scan.angle_increment))), tolerance);
|
||||
EXPECT_NEAR(*(float*)&cloud_out.data[i*cloud_out.point_step + z_offset] , 0, tolerance);
|
||||
EXPECT_NEAR(*(float*)&cloud_out.data[i*cloud_out.point_step + intensity_offset] , scan.intensities[i], tolerance);//intensity \todo determine this by lookup not hard coded order
|
||||
EXPECT_NEAR(*(uint32_t*)&cloud_out.data[i*cloud_out.point_step + index_offset], i, tolerance);//index
|
||||
EXPECT_NEAR(*(float*)&cloud_out.data[i*cloud_out.point_step + distance_offset], scan.ranges[i], tolerance);//ranges
|
||||
EXPECT_NEAR(*(float*)&cloud_out.data[i*cloud_out.point_step + stamps_offset], (float)i * scan.time_increment, tolerance);//timestamps
|
||||
};
|
||||
}
|
||||
catch (BuildScanException &ex)
|
||||
{
|
||||
EXPECT_NEAR(*(float *)&cloud_out.data[i * cloud_out.point_step + x_offset],
|
||||
(float)((double)(scan.ranges[i]) *
|
||||
cos((double)(scan.angle_min) + i * (double)(scan.angle_increment))), tolerance);
|
||||
EXPECT_NEAR(*(float *)&cloud_out.data[i * cloud_out.point_step + y_offset],
|
||||
(float)((double)(scan.ranges[i]) *
|
||||
sin((double)(scan.angle_min) + i * (double)(scan.angle_increment))), tolerance);
|
||||
EXPECT_NEAR(*(float *)&cloud_out.data[i * cloud_out.point_step + z_offset], 0, tolerance);
|
||||
EXPECT_NEAR(*(float *)&cloud_out.data[i * cloud_out.point_step + intensity_offset],
|
||||
scan.intensities[i], tolerance); // intensity
|
||||
EXPECT_NEAR(*(uint32_t *)&cloud_out.data[i * cloud_out.point_step + index_offset], i,
|
||||
tolerance); // index
|
||||
EXPECT_NEAR(*(float *)&cloud_out.data[i * cloud_out.point_step + distance_offset],
|
||||
scan.ranges[i], tolerance); // ranges
|
||||
EXPECT_NEAR(*(float *)&cloud_out.data[i * cloud_out.point_step + stamps_offset],
|
||||
(float)i * scan.time_increment, tolerance); // timestamps
|
||||
}
|
||||
} catch (BuildScanException & ex) {
|
||||
// make sure it is not a false exception
|
||||
if ((option.ang_max_ - option.ang_min_) / option.ang_increment_ > 0.0) {
|
||||
FAIL();
|
||||
|
|
@ -213,13 +236,12 @@ TEST(laser_geometry, projectLaser2)
|
|||
}
|
||||
}
|
||||
|
||||
TEST(laser_geometry, transformLaserScanToPointCloud2)
|
||||
{
|
||||
TEST(laser_geometry, transformLaserScanToPointCloud2) {
|
||||
|
||||
tf2::BufferCore tf2;
|
||||
|
||||
double tolerance = 1e-12;
|
||||
laser_geometry::LaserProjection projector;
|
||||
laser_geometry::LaserProjection projector;
|
||||
|
||||
std::vector<double> ranges, intensities, min_angles, max_angles, angle_increments;
|
||||
std::vector<rclcpp::Duration> increment_times, scan_times;
|
||||
|
|
@ -239,35 +261,34 @@ TEST(laser_geometry, transformLaserScanToPointCloud2)
|
|||
intensities.push_back(5.0);
|
||||
|
||||
min_angles.push_back(-M_PI);
|
||||
min_angles.push_back(-M_PI/1.5);
|
||||
min_angles.push_back(-M_PI/2);
|
||||
min_angles.push_back(-M_PI/4);
|
||||
min_angles.push_back(-M_PI/8);
|
||||
min_angles.push_back(-M_PI / 1.5);
|
||||
min_angles.push_back(-M_PI / 2);
|
||||
min_angles.push_back(-M_PI / 4);
|
||||
min_angles.push_back(-M_PI / 8);
|
||||
|
||||
max_angles.push_back(M_PI);
|
||||
max_angles.push_back(M_PI/1.5);
|
||||
max_angles.push_back(M_PI/2);
|
||||
max_angles.push_back(M_PI/4);
|
||||
max_angles.push_back(M_PI/8);
|
||||
max_angles.push_back(M_PI / 1.5);
|
||||
max_angles.push_back(M_PI / 2);
|
||||
max_angles.push_back(M_PI / 4);
|
||||
max_angles.push_back(M_PI / 8);
|
||||
|
||||
angle_increments.push_back(-M_PI/180); // -one degree
|
||||
angle_increments.push_back(M_PI/180); // one degree
|
||||
angle_increments.push_back(M_PI/360); // half degree
|
||||
angle_increments.push_back(M_PI/720); // quarter degree
|
||||
|
||||
scan_times.push_back(rclcpp::Duration(1/40));
|
||||
scan_times.push_back(rclcpp::Duration(1/20));
|
||||
angle_increments.push_back(-M_PI / 180); // -one degree
|
||||
angle_increments.push_back(M_PI / 180); // one degree
|
||||
angle_increments.push_back(M_PI / 360); // half degree
|
||||
angle_increments.push_back(M_PI / 720); // quarter degree
|
||||
|
||||
scan_times.push_back(rclcpp::Duration(1 / 40));
|
||||
scan_times.push_back(rclcpp::Duration(1 / 20));
|
||||
|
||||
std::vector<ScanOptions> options;
|
||||
for(auto range : ranges) {
|
||||
for(auto intensity : intensities) {
|
||||
for(auto min_angle : min_angles) {
|
||||
for(auto max_angle : max_angles) {
|
||||
for(auto angle_increment : angle_increments) {
|
||||
for(auto scan_time : scan_times) {
|
||||
for (auto range : ranges) {
|
||||
for (auto intensity : intensities) {
|
||||
for (auto min_angle : min_angles) {
|
||||
for (auto max_angle : max_angles) {
|
||||
for (auto angle_increment : angle_increments) {
|
||||
for (auto scan_time : scan_times) {
|
||||
options.push_back(ScanOptions(
|
||||
range, intensity, min_angle, max_angle, angle_increment, scan_time));
|
||||
range, intensity, min_angle, max_angle, angle_increment, scan_time));
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -275,73 +296,93 @@ TEST(laser_geometry, transformLaserScanToPointCloud2)
|
|||
}
|
||||
}
|
||||
|
||||
for (auto option : options){
|
||||
try
|
||||
{
|
||||
// printf("%f %f %f %f %f %f\n", range, intensity, min_angle, max_angle, angle_increment, scan_time.toSec());
|
||||
for (auto option : options) {
|
||||
try {
|
||||
// printf("%f %f %f %f %f %f\n",
|
||||
// range, intensity, min_angle, max_angle, angle_increment, scan_time.toSec());
|
||||
sensor_msgs::msg::LaserScan scan = build_constant_scan(option);
|
||||
|
||||
scan.header.frame_id = "laser_frame";
|
||||
|
||||
sensor_msgs::msg::PointCloud2 cloud_out;
|
||||
projector.transformLaserScanToPointCloud(scan.header.frame_id, scan, cloud_out, tf2, -1.0, laser_geometry::channel_option::None);
|
||||
EXPECT_EQ(cloud_out.fields.size(), (unsigned int)3);
|
||||
projector.transformLaserScanToPointCloud(scan.header.frame_id, scan, cloud_out, tf2, -1.0, laser_geometry::channel_option::Index);
|
||||
EXPECT_EQ(cloud_out.fields.size(), (unsigned int)4);
|
||||
projector.transformLaserScanToPointCloud(scan.header.frame_id, scan, cloud_out, tf2, -1.0, laser_geometry::channel_option::Intensity);
|
||||
EXPECT_EQ(cloud_out.fields.size(), (unsigned int)4);
|
||||
sensor_msgs::msg::PointCloud2 cloud_out;
|
||||
projector.transformLaserScanToPointCloud(scan.header.frame_id, scan, cloud_out, tf2, -1.0,
|
||||
laser_geometry::channel_option::None);
|
||||
EXPECT_EQ(cloud_out.fields.size(), (unsigned int)3);
|
||||
projector.transformLaserScanToPointCloud(scan.header.frame_id, scan, cloud_out, tf2, -1.0,
|
||||
laser_geometry::channel_option::Index);
|
||||
EXPECT_EQ(cloud_out.fields.size(), (unsigned int)4);
|
||||
projector.transformLaserScanToPointCloud(scan.header.frame_id, scan, cloud_out, tf2, -1.0,
|
||||
laser_geometry::channel_option::Intensity);
|
||||
EXPECT_EQ(cloud_out.fields.size(), (unsigned int)4);
|
||||
|
||||
projector.transformLaserScanToPointCloud(scan.header.frame_id, scan, cloud_out, tf2);
|
||||
EXPECT_EQ(cloud_out.fields.size(), (unsigned int)5);
|
||||
projector.transformLaserScanToPointCloud(scan.header.frame_id, scan, cloud_out, tf2, -1.0, laser_geometry::channel_option::Intensity | laser_geometry::channel_option::Index);
|
||||
EXPECT_EQ(cloud_out.fields.size(), (unsigned int)5);
|
||||
projector.transformLaserScanToPointCloud(scan.header.frame_id, scan, cloud_out, tf2);
|
||||
EXPECT_EQ(cloud_out.fields.size(), (unsigned int)5);
|
||||
projector.transformLaserScanToPointCloud(scan.header.frame_id, scan, cloud_out, tf2, -1.0,
|
||||
laser_geometry::channel_option::Intensity |
|
||||
laser_geometry::channel_option::Index);
|
||||
EXPECT_EQ(cloud_out.fields.size(), (unsigned int)5);
|
||||
|
||||
projector.transformLaserScanToPointCloud(scan.header.frame_id, scan, cloud_out, tf2, -1.0, laser_geometry::channel_option::Intensity | laser_geometry::channel_option::Index | laser_geometry::channel_option::Distance);
|
||||
EXPECT_EQ(cloud_out.fields.size(), (unsigned int)6);
|
||||
projector.transformLaserScanToPointCloud(scan.header.frame_id, scan, cloud_out, tf2, -1.0,
|
||||
laser_geometry::channel_option::Intensity | laser_geometry::channel_option::Index |
|
||||
laser_geometry::channel_option::Distance);
|
||||
EXPECT_EQ(cloud_out.fields.size(), (unsigned int)6);
|
||||
|
||||
projector.transformLaserScanToPointCloud(scan.header.frame_id, scan, cloud_out, tf2, -1.0, laser_geometry::channel_option::Intensity | laser_geometry::channel_option::Index | laser_geometry::channel_option::Distance | laser_geometry::channel_option::Timestamp);
|
||||
EXPECT_EQ(cloud_out.fields.size(), (unsigned int)7);
|
||||
projector.transformLaserScanToPointCloud(scan.header.frame_id, scan, cloud_out, tf2, -1.0,
|
||||
laser_geometry::channel_option::Intensity | laser_geometry::channel_option::Index |
|
||||
laser_geometry::channel_option::Distance |
|
||||
laser_geometry::channel_option::Timestamp);
|
||||
EXPECT_EQ(cloud_out.fields.size(), (unsigned int)7);
|
||||
|
||||
EXPECT_EQ(cloud_out.is_dense, false);
|
||||
EXPECT_EQ(cloud_out.is_dense, false);
|
||||
|
||||
unsigned int valid_points = 0;
|
||||
for (unsigned int i = 0; i < scan.ranges.size(); i++)
|
||||
if (scan.ranges[i] <= PROJECTION_TEST_RANGE_MAX && scan.ranges[i] >= PROJECTION_TEST_RANGE_MIN)
|
||||
valid_points ++;
|
||||
EXPECT_EQ(valid_points, cloud_out.width);
|
||||
unsigned int valid_points = 0;
|
||||
for (unsigned int i = 0; i < scan.ranges.size(); i++) {
|
||||
if (scan.ranges[i] <= PROJECTION_TEST_RANGE_MAX &&
|
||||
scan.ranges[i] >= PROJECTION_TEST_RANGE_MIN)
|
||||
{
|
||||
valid_points++;
|
||||
}
|
||||
}
|
||||
EXPECT_EQ(valid_points, cloud_out.width);
|
||||
|
||||
uint32_t x_offset = 0;
|
||||
uint32_t y_offset = 0;
|
||||
uint32_t z_offset = 0;
|
||||
uint32_t intensity_offset = 0;
|
||||
uint32_t index_offset = 0;
|
||||
uint32_t distance_offset = 0;
|
||||
uint32_t stamps_offset = 0;
|
||||
for (std::vector<sensor_msgs::msg::PointField>::iterator f = cloud_out.fields.begin(); f != cloud_out.fields.end(); f++)
|
||||
{
|
||||
if (f->name == "x") x_offset = f->offset;
|
||||
if (f->name == "y") y_offset = f->offset;
|
||||
if (f->name == "z") z_offset = f->offset;
|
||||
if (f->name == "intensity") intensity_offset = f->offset;
|
||||
if (f->name == "index") index_offset = f->offset;
|
||||
if (f->name == "distances") distance_offset = f->offset;
|
||||
if (f->name == "stamps") stamps_offset = f->offset;
|
||||
}
|
||||
uint32_t x_offset = 0;
|
||||
uint32_t y_offset = 0;
|
||||
uint32_t z_offset = 0;
|
||||
uint32_t intensity_offset = 0;
|
||||
uint32_t index_offset = 0;
|
||||
uint32_t distance_offset = 0;
|
||||
uint32_t stamps_offset = 0;
|
||||
for (std::vector<sensor_msgs::msg::PointField>::iterator f = cloud_out.fields.begin();
|
||||
f != cloud_out.fields.end(); f++)
|
||||
{
|
||||
if (f->name == "x") {x_offset = f->offset;}
|
||||
if (f->name == "y") {y_offset = f->offset;}
|
||||
if (f->name == "z") {z_offset = f->offset;}
|
||||
if (f->name == "intensity") {intensity_offset = f->offset;}
|
||||
if (f->name == "index") {index_offset = f->offset;}
|
||||
if (f->name == "distances") {distance_offset = f->offset;}
|
||||
if (f->name == "stamps") {stamps_offset = f->offset;}
|
||||
}
|
||||
|
||||
for (unsigned int i = 0; i < cloud_out.width; i++)
|
||||
{
|
||||
EXPECT_NEAR(*(float*)&cloud_out.data[i*cloud_out.point_step + x_offset] , (float)((double)(scan.ranges[i]) * cos((double)(scan.angle_min) + i * (double)(scan.angle_increment))), tolerance);
|
||||
EXPECT_NEAR(*(float*)&cloud_out.data[i*cloud_out.point_step + y_offset] , (float)((double)(scan.ranges[i]) * sin((double)(scan.angle_min) + i * (double)(scan.angle_increment))), tolerance);
|
||||
EXPECT_NEAR(*(float*)&cloud_out.data[i*cloud_out.point_step + z_offset] , 0, tolerance);
|
||||
EXPECT_NEAR(*(float*)&cloud_out.data[i*cloud_out.point_step + intensity_offset] , scan.intensities[i], tolerance);//intensity \todo determine this by lookup not hard coded order
|
||||
EXPECT_NEAR(*(uint32_t*)&cloud_out.data[i*cloud_out.point_step + index_offset], i, tolerance);//index
|
||||
EXPECT_NEAR(*(float*)&cloud_out.data[i*cloud_out.point_step + distance_offset], scan.ranges[i], tolerance);//ranges
|
||||
EXPECT_NEAR(*(float*)&cloud_out.data[i*cloud_out.point_step + stamps_offset], (float)i * scan.time_increment, tolerance);//timestamps
|
||||
for (unsigned int i = 0; i < cloud_out.width; i++) {
|
||||
EXPECT_NEAR(*(float *)&cloud_out.data[i * cloud_out.point_step + x_offset],
|
||||
(float)((double)(scan.ranges[i]) *
|
||||
cos((double)(scan.angle_min) + i * (double)(scan.angle_increment))), tolerance);
|
||||
EXPECT_NEAR(*(float *)&cloud_out.data[i * cloud_out.point_step + y_offset],
|
||||
(float)((double)(scan.ranges[i]) *
|
||||
sin((double)(scan.angle_min) + i * (double)(scan.angle_increment))), tolerance);
|
||||
EXPECT_NEAR(*(float *)&cloud_out.data[i * cloud_out.point_step + z_offset], 0, tolerance);
|
||||
EXPECT_NEAR(*(float *)&cloud_out.data[i * cloud_out.point_step + intensity_offset],
|
||||
scan.intensities[i], tolerance); // intensity
|
||||
EXPECT_NEAR(*(uint32_t *)&cloud_out.data[i * cloud_out.point_step + index_offset], i,
|
||||
tolerance); // index
|
||||
EXPECT_NEAR(*(float *)&cloud_out.data[i * cloud_out.point_step + distance_offset],
|
||||
scan.ranges[i], tolerance); // ranges
|
||||
EXPECT_NEAR(*(float *)&cloud_out.data[i * cloud_out.point_step + stamps_offset],
|
||||
(float)i * scan.time_increment, tolerance); // timestamps
|
||||
|
||||
};
|
||||
}
|
||||
catch (BuildScanException &ex)
|
||||
{
|
||||
}
|
||||
} catch (BuildScanException & ex) {
|
||||
// make sure it is not a false exception
|
||||
if ((option.ang_max_ - option.ang_min_) / option.ang_increment_ > 0.0) {
|
||||
FAIL();
|
||||
|
|
@ -351,7 +392,8 @@ TEST(laser_geometry, transformLaserScanToPointCloud2)
|
|||
}
|
||||
|
||||
|
||||
int main(int argc, char **argv){
|
||||
int main(int argc, char ** argv)
|
||||
{
|
||||
testing::InitGoogleTest(&argc, argv);
|
||||
return RUN_ALL_TESTS();
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in New Issue
Block a user