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This commit is contained in:
Martin Idel 2018-03-14 13:36:50 +01:00
parent b88330b64c
commit 433181e63e
3 changed files with 730 additions and 689 deletions
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81
include/laser_geometry/laser_geometry.hpp
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@ -49,21 +49,21 @@
namespace laser_geometry namespace laser_geometry
{ {
// NOTE: invalid scan errors (will be present in LaserScan.msg in D-Turtle) // NOTE: invalid scan errors (will be present in LaserScan.msg in D-Turtle)
const float LASER_SCAN_INVALID = -1.0; const float LASER_SCAN_INVALID = -1.0;
const float LASER_SCAN_MIN_RANGE = -2.0; const float LASER_SCAN_MIN_RANGE = -2.0;
const float LASER_SCAN_MAX_RANGE = -3.0; const float LASER_SCAN_MAX_RANGE = -3.0;
namespace channel_option namespace channel_option
{ {
//! Enumerated output channels options. //! Enumerated output channels options.
/*! /*!
* An OR'd set of these options is passed as the final argument of * An OR'd set of these options is passed as the final argument of
* the projectLaser and transformLaserScanToPointCloud calls to * the projectLaser and transformLaserScanToPointCloud calls to
* enable generation of the appropriate set of additional channels. * enable generation of the appropriate set of additional channels.
*/ */
enum ChannelOption enum ChannelOption
{ {
None = 0x00, //!< Enable no channels None = 0x00, //!< Enable no channels
Intensity = 0x01, //!< Enable "intensities" channel Intensity = 0x01, //!< Enable "intensities" channel
Index = 0x02, //!< Enable "index" channel Index = 0x02, //!< Enable "index" channel
@ -71,11 +71,11 @@ namespace laser_geometry
Timestamp = 0x08, //!< Enable "stamps" channel Timestamp = 0x08, //!< Enable "stamps" channel
Viewpoint = 0x10, //!< Enable "viewpoint" channel Viewpoint = 0x10, //!< Enable "viewpoint" channel
Default = (Intensity | Index) //!< Enable "intensities" and "index" channels Default = (Intensity | Index) //!< Enable "intensities" and "index" channels
}; };
} }
//! \brief A Class to Project Laser Scan //! \brief A Class to Project Laser Scan
/*! /*!
* This class will project laser scans into point clouds. It caches * This class will project laser scans into point clouds. It caches
* unit vectors between runs (provided the angular resolution of * unit vectors between runs (provided the angular resolution of
* your scanner is not changing) to avoid excess computation. * your scanner is not changing) to avoid excess computation.
@ -96,12 +96,12 @@ namespace laser_geometry
* - channel_option::Distance - Create a channel named "distances" containing the distance from the laser to each point * - channel_option::Distance - Create a channel named "distances" containing the distance from the laser to each point
* - channel_option::Timestamp - Create a channel named "stamps" containing the specific timestamp at which each point was measured * - channel_option::Timestamp - Create a channel named "stamps" containing the specific timestamp at which each point was measured
*/ */
class LaserProjection class LaserProjection
{ {
public: public:
LaserProjection()
LaserProjection() : angle_min_(0), angle_max_(0) {} : angle_min_(0), angle_max_(0) {}
//! Project a sensor_msgs::msg::LaserScan into a sensor_msgs::msg::PointCloud2 //! Project a sensor_msgs::msg::LaserScan into a sensor_msgs::msg::PointCloud2
/*! /*!
@ -119,8 +119,9 @@ namespace laser_geometry
* channel_option::Intensity, channel_option::Index, * channel_option::Intensity, channel_option::Index,
* channel_option::Distance, channel_option::Timestamp. * channel_option::Distance, channel_option::Timestamp.
*/ */
void projectLaser (const sensor_msgs::msg::LaserScan& scan_in, void projectLaser(
sensor_msgs::msg::PointCloud2 &cloud_out, const sensor_msgs::msg::LaserScan & scan_in,
sensor_msgs::msg::PointCloud2 & cloud_out,
double range_cutoff = -1.0, double range_cutoff = -1.0,
int channel_options = channel_option::Default) int channel_options = channel_option::Default)
{ {
@ -149,36 +150,40 @@ namespace laser_geometry
* channel_option::Intensity, channel_option::Index, * channel_option::Intensity, channel_option::Index,
* channel_option::Distance, channel_option::Timestamp. * channel_option::Distance, channel_option::Timestamp.
*/ */
void transformLaserScanToPointCloud(const std::string &target_frame, void transformLaserScanToPointCloud(
const sensor_msgs::msg::LaserScan &scan_in, const std::string & target_frame,
sensor_msgs::msg::PointCloud2 &cloud_out, const sensor_msgs::msg::LaserScan & scan_in,
tf2::BufferCore &tf, sensor_msgs::msg::PointCloud2 & cloud_out,
tf2::BufferCore & tf,
double range_cutoff = -1.0, double range_cutoff = -1.0,
int channel_options = channel_option::Default) int channel_options = channel_option::Default)
{ {
transformLaserScanToPointCloud_(target_frame, scan_in, cloud_out, tf, range_cutoff, channel_options); transformLaserScanToPointCloud_(target_frame, scan_in, cloud_out, tf, range_cutoff,
channel_options);
} }
private: private:
//! Internal hidden representation of projectLaser //! Internal hidden representation of projectLaser
void projectLaser_ (const sensor_msgs::msg::LaserScan& scan_in, void projectLaser_(
sensor_msgs::msg::PointCloud2 &cloud_out, const sensor_msgs::msg::LaserScan & scan_in,
sensor_msgs::msg::PointCloud2 & cloud_out,
double range_cutoff, double range_cutoff,
int channel_options); int channel_options);
//! Internal hidden representation of transformLaserScanToPointCloud2 //! Internal hidden representation of transformLaserScanToPointCloud2
void transformLaserScanToPointCloud_ (const std::string &target_frame, void transformLaserScanToPointCloud_(
const sensor_msgs::msg::LaserScan &scan_in, const std::string & target_frame,
sensor_msgs::msg::PointCloud2 &cloud_out, const sensor_msgs::msg::LaserScan & scan_in,
tf2::BufferCore &tf, sensor_msgs::msg::PointCloud2 & cloud_out,
tf2::BufferCore & tf,
double range_cutoff, double range_cutoff,
int channel_options); int channel_options);
//! Function used by the several forms of transformLaserScanToPointCloud_ //! Function used by the several forms of transformLaserScanToPointCloud_
void transformLaserScanToPointCloud_ (const std::string &target_frame, void transformLaserScanToPointCloud_(
const sensor_msgs::msg::LaserScan &scan_in, const std::string & target_frame,
sensor_msgs::msg::PointCloud2 &cloud_out, const sensor_msgs::msg::LaserScan & scan_in,
sensor_msgs::msg::PointCloud2 & cloud_out,
tf2::Quaternion quat_start, tf2::Quaternion quat_start,
tf2::Vector3 origin_start, tf2::Vector3 origin_start,
tf2::Quaternion quat_end, tf2::Quaternion quat_end,
@ -190,7 +195,7 @@ namespace laser_geometry
float angle_min_; float angle_min_;
float angle_max_; float angle_max_;
Eigen::ArrayXXd co_sine_map_; Eigen::ArrayXXd co_sine_map_;
}; };
} }

200
src/laser_geometry.cpp
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@ -42,34 +42,34 @@ typedef double tfScalar;
namespace laser_geometry namespace laser_geometry
{ {
void LaserProjection::projectLaser_ (const sensor_msgs::msg::LaserScan& scan_in, void LaserProjection::projectLaser_(
sensor_msgs::msg::PointCloud2 &cloud_out, const sensor_msgs::msg::LaserScan & scan_in,
sensor_msgs::msg::PointCloud2 & cloud_out,
double range_cutoff, double range_cutoff,
int channel_options) int channel_options)
{ {
size_t n_pts = scan_in.ranges.size (); size_t n_pts = scan_in.ranges.size();
Eigen::ArrayXXd ranges (n_pts, 2); Eigen::ArrayXXd ranges(n_pts, 2);
Eigen::ArrayXXd output (n_pts, 2); Eigen::ArrayXXd output(n_pts, 2);
// Get the ranges into Eigen format // Get the ranges into Eigen format
for (size_t i = 0; i < n_pts; ++i) for (size_t i = 0; i < n_pts; ++i) {
{ ranges(i, 0) = (double) scan_in.ranges[i];
ranges (i, 0) = (double) scan_in.ranges[i]; ranges(i, 1) = (double) scan_in.ranges[i];
ranges (i, 1) = (double) scan_in.ranges[i];
} }
// Check if our existing co_sine_map is valid // 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 ) if (co_sine_map_.rows() != (int)n_pts || angle_min_ != scan_in.angle_min ||
angle_max_ != scan_in.angle_max)
{ {
ROS_DEBUG ("[projectLaser] No precomputed map given. Computing one."); ROS_DEBUG("[projectLaser] No precomputed map given. Computing one.");
co_sine_map_ = Eigen::ArrayXXd (n_pts, 2); co_sine_map_ = Eigen::ArrayXXd(n_pts, 2);
angle_min_ = scan_in.angle_min; angle_min_ = scan_in.angle_min;
angle_max_ = scan_in.angle_max; angle_max_ = scan_in.angle_max;
// Spherical->Cartesian projection // Spherical->Cartesian projection
for (size_t i = 0; i < n_pts; ++i) 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, 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);
co_sine_map_ (i, 1) = sin (scan_in.angle_min + (double) i * scan_in.angle_increment);
} }
} }
@ -78,8 +78,8 @@ namespace laser_geometry
// Set the output cloud accordingly // Set the output cloud accordingly
cloud_out.header = scan_in.header; cloud_out.header = scan_in.header;
cloud_out.height = 1; cloud_out.height = 1;
cloud_out.width = scan_in.ranges.size (); cloud_out.width = scan_in.ranges.size();
cloud_out.fields.resize (3); cloud_out.fields.resize(3);
cloud_out.fields[0].name = "x"; cloud_out.fields[0].name = "x";
cloud_out.fields[0].offset = 0; cloud_out.fields[0].offset = 0;
cloud_out.fields[0].datatype = POINT_FIELD::FLOAT32; cloud_out.fields[0].datatype = POINT_FIELD::FLOAT32;
@ -94,12 +94,12 @@ namespace laser_geometry
cloud_out.fields[2].count = 1; cloud_out.fields[2].count = 1;
// Define 4 indices in the channel array for each possible value type // Define 4 indices in the channel array for each possible value type
int idx_intensity = -1, idx_index = -1, idx_distance = -1, idx_timestamp = -1, idx_vpx = -1, idx_vpy = -1, idx_vpz = -1; int idx_intensity = -1, idx_index = -1, idx_distance = -1, idx_timestamp = -1, idx_vpx = -1,
idx_vpy = -1, idx_vpz = -1;
//now, we need to check what fields we need to store //now, we need to check what fields we need to store
int offset = 12; int offset = 12;
if ((channel_options & channel_option::Intensity) && scan_in.intensities.size() > 0) if ((channel_options & channel_option::Intensity) && scan_in.intensities.size() > 0) {
{
int field_size = cloud_out.fields.size(); int field_size = cloud_out.fields.size();
cloud_out.fields.resize(field_size + 1); cloud_out.fields.resize(field_size + 1);
cloud_out.fields[field_size].name = "intensity"; cloud_out.fields[field_size].name = "intensity";
@ -110,8 +110,7 @@ namespace laser_geometry
idx_intensity = field_size; idx_intensity = field_size;
} }
if ((channel_options & channel_option::Index)) if ((channel_options & channel_option::Index)) {
{
int field_size = cloud_out.fields.size(); int field_size = cloud_out.fields.size();
cloud_out.fields.resize(field_size + 1); cloud_out.fields.resize(field_size + 1);
cloud_out.fields[field_size].name = "index"; cloud_out.fields[field_size].name = "index";
@ -122,8 +121,7 @@ namespace laser_geometry
idx_index = field_size; idx_index = field_size;
} }
if ((channel_options & channel_option::Distance)) if ((channel_options & channel_option::Distance)) {
{
int field_size = cloud_out.fields.size(); int field_size = cloud_out.fields.size();
cloud_out.fields.resize(field_size + 1); cloud_out.fields.resize(field_size + 1);
cloud_out.fields[field_size].name = "distances"; cloud_out.fields[field_size].name = "distances";
@ -134,8 +132,7 @@ namespace laser_geometry
idx_distance = field_size; idx_distance = field_size;
} }
if ((channel_options & channel_option::Timestamp)) if ((channel_options & channel_option::Timestamp)) {
{
int field_size = cloud_out.fields.size(); int field_size = cloud_out.fields.size();
cloud_out.fields.resize(field_size + 1); cloud_out.fields.resize(field_size + 1);
cloud_out.fields[field_size].name = "stamps"; cloud_out.fields[field_size].name = "stamps";
@ -146,8 +143,7 @@ namespace laser_geometry
idx_timestamp = field_size; idx_timestamp = field_size;
} }
if ((channel_options & channel_option::Viewpoint)) if ((channel_options & channel_option::Viewpoint)) {
{
int field_size = cloud_out.fields.size(); int field_size = cloud_out.fields.size();
cloud_out.fields.resize(field_size + 3); cloud_out.fields.resize(field_size + 3);
@ -176,45 +172,47 @@ namespace laser_geometry
cloud_out.point_step = offset; cloud_out.point_step = offset;
cloud_out.row_step = cloud_out.point_step * cloud_out.width; cloud_out.row_step = cloud_out.point_step * cloud_out.width;
cloud_out.data.resize (cloud_out.row_step * cloud_out.height); cloud_out.data.resize(cloud_out.row_step * cloud_out.height);
cloud_out.is_dense = false; cloud_out.is_dense = false;
if (range_cutoff < 0) if (range_cutoff < 0) {
range_cutoff = scan_in.range_max; range_cutoff = scan_in.range_max;
}
unsigned int count = 0; unsigned int count = 0;
for (size_t i = 0; i < n_pts; ++i) for (size_t i = 0; i < n_pts; ++i) {
{
//check to see if we want to keep the point //check to see if we want to keep the point
const float range = scan_in.ranges[i]; const float range = scan_in.ranges[i];
if (range < range_cutoff && range >= scan_in.range_min) if (range < range_cutoff && range >= scan_in.range_min) {
{ float * pstep = (float *)&cloud_out.data[count * cloud_out.point_step];
float *pstep = (float*)&cloud_out.data[count * cloud_out.point_step];
// Copy XYZ // Copy XYZ
pstep[0] = output (i, 0); pstep[0] = output(i, 0);
pstep[1] = output (i, 1); pstep[1] = output(i, 1);
pstep[2] = 0; pstep[2] = 0;
// Copy intensity // Copy intensity
if(idx_intensity != -1) if (idx_intensity != -1) {
pstep[idx_intensity] = scan_in.intensities[i]; pstep[idx_intensity] = scan_in.intensities[i];
}
//Copy index //Copy index
if(idx_index != -1) if (idx_index != -1) {
((int*)(pstep))[idx_index] = i; ((int *)(pstep))[idx_index] = i;
}
// Copy distance // Copy distance
if(idx_distance != -1) if (idx_distance != -1) {
pstep[idx_distance] = range; pstep[idx_distance] = range;
}
// Copy timestamp // Copy timestamp
if(idx_timestamp != -1) if (idx_timestamp != -1) {
pstep[idx_timestamp] = i * scan_in.time_increment; pstep[idx_timestamp] = i * scan_in.time_increment;
}
// Copy viewpoint (0, 0, 0) // Copy viewpoint (0, 0, 0)
if(idx_vpx != -1 && idx_vpy != -1 && idx_vpz != -1) if (idx_vpx != -1 && idx_vpy != -1 && idx_vpz != -1) {
{
pstep[idx_vpx] = 0; pstep[idx_vpx] = 0;
pstep[idx_vpy] = 0; pstep[idx_vpy] = 0;
pstep[idx_vpz] = 0; pstep[idx_vpz] = 0;
@ -259,23 +257,25 @@ namespace laser_geometry
//resize if necessary //resize if necessary
cloud_out.width = count; cloud_out.width = count;
cloud_out.row_step = cloud_out.point_step * cloud_out.width; cloud_out.row_step = cloud_out.point_step * cloud_out.width;
cloud_out.data.resize (cloud_out.row_step * cloud_out.height); cloud_out.data.resize(cloud_out.row_step * cloud_out.height);
} }
void LaserProjection::transformLaserScanToPointCloud_(const std::string &target_frame, void LaserProjection::transformLaserScanToPointCloud_(
const sensor_msgs::msg::LaserScan &scan_in, const std::string & target_frame,
sensor_msgs::msg::PointCloud2 &cloud_out, const sensor_msgs::msg::LaserScan & scan_in,
sensor_msgs::msg::PointCloud2 & cloud_out,
tf2::Quaternion quat_start, tf2::Quaternion quat_start,
tf2::Vector3 origin_start, tf2::Vector3 origin_start,
tf2::Quaternion quat_end, tf2::Quaternion quat_end,
tf2::Vector3 origin_end, tf2::Vector3 origin_end,
double range_cutoff, double range_cutoff,
int channel_options) int channel_options)
{ {
//check if the user has requested the index field //check if the user has requested the index field
bool requested_index = false; bool requested_index = false;
if ((channel_options & channel_option::Index)) if ((channel_options & channel_option::Index)) {
requested_index = true; requested_index = true;
}
//we'll enforce that we get index values for the laser scan so that we //we'll enforce that we get index values for the laser scan so that we
//ensure that we use the correct timestamps //ensure that we use the correct timestamps
@ -293,18 +293,15 @@ namespace laser_geometry
//putting in a check at some point, but I'm just going to put in an //putting in a check at some point, but I'm just going to put in an
//assert for now //assert for now
uint32_t index_offset = 0; uint32_t index_offset = 0;
for(unsigned int i = 0; i < cloud_out.fields.size(); ++i) for (unsigned int i = 0; i < cloud_out.fields.size(); ++i) {
{ if (cloud_out.fields[i].name == "index") {
if(cloud_out.fields[i].name == "index")
{
index_offset = cloud_out.fields[i].offset; index_offset = cloud_out.fields[i].offset;
} }
//we want to check if the cloud has a viewpoint associated with it //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 //checking vp_x should be sufficient since vp_x, vp_y, and vp_z all
//get put in together //get put in together
if(cloud_out.fields[i].name == "vp_x") if (cloud_out.fields[i].name == "vp_x") {
{
has_viewpoint = true; has_viewpoint = true;
vp_x_offset = cloud_out.fields[i].offset; vp_x_offset = cloud_out.fields[i].offset;
} }
@ -314,15 +311,14 @@ namespace laser_geometry
cloud_out.header.frame_id = target_frame; cloud_out.header.frame_id = target_frame;
tf2::Transform cur_transform ; tf2::Transform cur_transform;
double ranges_norm = 1 / ((double) scan_in.ranges.size () - 1.0); double ranges_norm = 1 / ((double) scan_in.ranges.size() - 1.0);
//we want to loop through all the points in the cloud //we want to loop through all the points in the cloud
for(size_t i = 0; i < cloud_out.width; ++i) for (size_t i = 0; i < cloud_out.width; ++i) {
{
// Apply the transform to the current point // Apply the transform to the current point
float *pstep = (float*)&cloud_out.data[i * cloud_out.point_step + 0]; float * pstep = (float *)&cloud_out.data[i * cloud_out.point_step + 0];
//find the index of the point //find the index of the point
uint32_t pt_index; uint32_t pt_index;
@ -333,38 +329,36 @@ namespace laser_geometry
//! \todo Make a function that performs both the slerp and linear interpolation needed to interpolate a Full Transform (Quaternion + Vector) //! \todo Make a function that performs both the slerp and linear interpolation needed to interpolate a Full Transform (Quaternion + Vector)
// Interpolate translation // Interpolate translation
tf2::Vector3 v (0, 0, 0); tf2::Vector3 v(0, 0, 0);
v.setInterpolate3 (origin_start, origin_end, ratio); v.setInterpolate3(origin_start, origin_end, ratio);
cur_transform.setOrigin (v); cur_transform.setOrigin(v);
// Compute the slerp-ed rotation // Compute the slerp-ed rotation
cur_transform.setRotation (slerp (quat_start, quat_end , ratio)); cur_transform.setRotation(slerp(quat_start, quat_end, ratio));
tf2::Vector3 point_in (pstep[0], pstep[1], pstep[2]); tf2::Vector3 point_in(pstep[0], pstep[1], pstep[2]);
tf2::Vector3 point_out = cur_transform * point_in; tf2::Vector3 point_out = cur_transform * point_in;
// Copy transformed point into cloud // Copy transformed point into cloud
pstep[0] = point_out.x (); pstep[0] = point_out.x();
pstep[1] = point_out.y (); pstep[1] = point_out.y();
pstep[2] = point_out.z (); pstep[2] = point_out.z();
// Convert the viewpoint as well // Convert the viewpoint as well
if(has_viewpoint) if (has_viewpoint) {
{ float * vpstep = (float *)&cloud_out.data[i * cloud_out.point_step + vp_x_offset];
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_in = tf2::Vector3 (vpstep[0], vpstep[1], vpstep[2]);
point_out = cur_transform * point_in; point_out = cur_transform * point_in;
// Copy transformed point into cloud // Copy transformed point into cloud
vpstep[0] = point_out.x (); vpstep[0] = point_out.x();
vpstep[1] = point_out.y (); vpstep[1] = point_out.y();
vpstep[2] = point_out.z (); 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 the user didn't request the index field, then we need to copy the PointCloud and drop it
if(!requested_index) if (!requested_index) {
{
sensor_msgs::msg::PointCloud2 cloud_without_index; sensor_msgs::msg::PointCloud2 cloud_without_index;
//copy basic meta data //copy basic meta data
@ -378,16 +372,12 @@ namespace laser_geometry
cloud_without_index.fields.resize(cloud_out.fields.size()); cloud_without_index.fields.resize(cloud_out.fields.size());
unsigned int field_count = 0; unsigned int field_count = 0;
unsigned int offset_shift = 0; unsigned int offset_shift = 0;
for(unsigned int i = 0; i < cloud_out.fields.size(); ++i) for (unsigned int i = 0; i < cloud_out.fields.size(); ++i) {
{ if (cloud_out.fields[i].name != "index") {
if(cloud_out.fields[i].name != "index")
{
cloud_without_index.fields[field_count] = cloud_out.fields[i]; cloud_without_index.fields[field_count] = cloud_out.fields[i];
cloud_without_index.fields[field_count].offset -= offset_shift; cloud_without_index.fields[field_count].offset -= offset_shift;
++field_count; ++field_count;
} } else {
else
{
//once we hit the index, we'll set the shift //once we hit the index, we'll set the shift
offset_shift = 4; offset_shift = 4;
} }
@ -399,14 +389,14 @@ namespace laser_geometry
//compute the size of the new data //compute the size of the new data
cloud_without_index.point_step = cloud_out.point_step - offset_shift; 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.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); cloud_without_index.data.resize(cloud_without_index.row_step * cloud_without_index.height);
uint32_t i = 0; uint32_t i = 0;
uint32_t j = 0; uint32_t j = 0;
//copy over the data from one cloud to the other //copy over the data from one cloud to the other
while (i < cloud_out.data.size()) while (i < cloud_out.data.size()) {
{ if ((i % cloud_out.point_step) < index_offset ||
if((i % cloud_out.point_step) < index_offset || (i % cloud_out.point_step) >= (index_offset + 4)) (i % cloud_out.point_step) >= (index_offset + 4))
{ {
cloud_without_index.data[j++] = cloud_out.data[i]; cloud_without_index.data[j++] = cloud_out.data[i];
} }
@ -416,29 +406,33 @@ namespace laser_geometry
//make sure to actually set the output //make sure to actually set the output
cloud_out = cloud_without_index; cloud_out = cloud_without_index;
} }
} }
void LaserProjection::transformLaserScanToPointCloud_ (const std::string &target_frame, void LaserProjection::transformLaserScanToPointCloud_(
const sensor_msgs::msg::LaserScan &scan_in, const std::string & target_frame,
sensor_msgs::msg::PointCloud2 &cloud_out, const sensor_msgs::msg::LaserScan & scan_in,
tf2::BufferCore &tf, sensor_msgs::msg::PointCloud2 & cloud_out,
tf2::BufferCore & tf,
double range_cutoff, double range_cutoff,
int channel_options) int channel_options)
{ {
TIME start_time = scan_in.header.stamp; TIME start_time = scan_in.header.stamp;
TIME end_time = scan_in.header.stamp; TIME end_time = scan_in.header.stamp;
// TODO: reconcile all the different time constructs // TODO: reconcile all the different time constructs
if (!scan_in.ranges.empty()) if (!scan_in.ranges.empty()) {
{
end_time = end_time + rclcpp::Duration((scan_in.ranges.size() - 1) * scan_in.time_increment, 0); 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::milliseconds start(start_time.nanoseconds());
std::chrono::time_point<std::chrono::system_clock> st(start); 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); 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::milliseconds end(end_time.nanoseconds());
std::chrono::time_point<std::chrono::system_clock> e(end); 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); 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, tf2::Quaternion quat_start(start_transform.transform.rotation.x,
start_transform.transform.rotation.y, start_transform.transform.rotation.y,
@ -460,6 +454,6 @@ namespace laser_geometry
quat_end, origin_end, quat_end, origin_end,
range_cutoff, range_cutoff,
channel_options); channel_options);
} }
} //laser_geometry } //laser_geometry

274
test/projection_test.cpp
View File

@ -40,9 +40,12 @@
#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 range_;
double intensity_; double intensity_;
double ang_min_; double ang_min_;
@ -50,10 +53,11 @@ struct ScanOptions {
double ang_increment_; double ang_increment_;
rclcpp::Duration scan_time_; rclcpp::Duration scan_time_;
ScanOptions(double range, double intensity, ScanOptions(
double range, double intensity,
double ang_min, double ang_max, double ang_increment, double ang_min, double ang_max, double ang_increment,
rclcpp::Duration scan_time) : rclcpp::Duration scan_time)
range_(range), : range_(range),
intensity_(intensity), intensity_(intensity),
ang_min_(ang_min), ang_min_(ang_min),
ang_max_(ang_max), ang_max_(ang_max),
@ -63,8 +67,9 @@ struct ScanOptions {
sensor_msgs::msg::LaserScan build_constant_scan(const ScanOptions & options) 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()); throw (BuildScanException());
}
sensor_msgs::msg::LaserScan scan; sensor_msgs::msg::LaserScan scan;
scan.header.stamp = rclcpp::Clock().now(); scan.header.stamp = rclcpp::Clock().now();
@ -76,19 +81,17 @@ sensor_msgs::msg::LaserScan build_constant_scan(const ScanOptions & options)
scan.range_min = PROJECTION_TEST_RANGE_MIN; scan.range_min = PROJECTION_TEST_RANGE_MIN;
scan.range_max = PROJECTION_TEST_RANGE_MAX; scan.range_max = PROJECTION_TEST_RANGE_MAX;
uint32_t i = 0; 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.ranges.push_back(options.range_);
scan.intensities.push_back(options.intensity_); 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; return scan;
}; }
TEST(laser_geometry, projectLaser2) TEST(laser_geometry, projectLaser2) {
{
double tolerance = 1e-12; double tolerance = 1e-12;
laser_geometry::LaserProjection projector; laser_geometry::LaserProjection projector;
@ -110,32 +113,32 @@ TEST(laser_geometry, projectLaser2)
intensities.push_back(5.0); intensities.push_back(5.0);
min_angles.push_back(-M_PI); min_angles.push_back(-M_PI);
min_angles.push_back(-M_PI/1.5); min_angles.push_back(-M_PI / 1.5);
min_angles.push_back(-M_PI/2); min_angles.push_back(-M_PI / 2);
min_angles.push_back(-M_PI/4); min_angles.push_back(-M_PI / 4);
min_angles.push_back(-M_PI/8); min_angles.push_back(-M_PI / 8);
max_angles.push_back(M_PI); max_angles.push_back(M_PI);
max_angles.push_back(M_PI/1.5); max_angles.push_back(M_PI / 1.5);
max_angles.push_back(M_PI/2); max_angles.push_back(M_PI / 2);
max_angles.push_back(M_PI/4); max_angles.push_back(M_PI / 4);
max_angles.push_back(M_PI/8); 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/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 / 360); // half degree
angle_increments.push_back(M_PI/720); // quarter 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 / 40));
scan_times.push_back(rclcpp::Duration(1/20)); scan_times.push_back(rclcpp::Duration(1 / 20));
std::vector<ScanOptions> options; std::vector<ScanOptions> options;
for(auto range : ranges) { for (auto range : ranges) {
for(auto intensity : intensities) { for (auto intensity : intensities) {
for(auto min_angle : min_angles) { for (auto min_angle : min_angles) {
for(auto max_angle : max_angles) { for (auto max_angle : max_angles) {
for(auto angle_increment : angle_increments) { for (auto angle_increment : angle_increments) {
for(auto scan_time : scan_times) { for (auto scan_time : scan_times) {
options.push_back(ScanOptions( options.push_back(ScanOptions(
range, intensity, min_angle, max_angle, angle_increment, scan_time)); range, intensity, min_angle, max_angle, angle_increment, scan_time));
} }
@ -145,10 +148,10 @@ TEST(laser_geometry, projectLaser2)
} }
} }
for (auto option : options){ for (auto option : options) {
try try {
{ // printf("%f %f %f %f %f %f\n",
// printf("%f %f %f %f %f %f\n", range, intensity, min_angle, max_angle, angle_increment, scan_time.toSec()); // range, intensity, min_angle, max_angle, angle_increment, scan_time.toSec());
sensor_msgs::msg::LaserScan scan = build_constant_scan(option); sensor_msgs::msg::LaserScan scan = build_constant_scan(option);
sensor_msgs::msg::PointCloud2 cloud_out; sensor_msgs::msg::PointCloud2 cloud_out;
@ -159,19 +162,31 @@ TEST(laser_geometry, projectLaser2)
projector.projectLaser(scan, cloud_out, -1.0); projector.projectLaser(scan, cloud_out, -1.0);
EXPECT_EQ(cloud_out.fields.size(), (unsigned int)5); 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); 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); 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); 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); 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); 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); EXPECT_EQ(cloud_out.fields.size(), (unsigned int)7);
unsigned int valid_points = 0; unsigned int valid_points = 0;
for (unsigned int i = 0; i < scan.ranges.size(); i++) 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) if (scan.ranges[i] <= PROJECTION_TEST_RANGE_MAX &&
valid_points ++; scan.ranges[i] >= PROJECTION_TEST_RANGE_MIN)
{
valid_points++;
}
}
EXPECT_EQ(valid_points, cloud_out.width); EXPECT_EQ(valid_points, cloud_out.width);
@ -182,29 +197,37 @@ TEST(laser_geometry, projectLaser2)
uint32_t index_offset = 0; uint32_t index_offset = 0;
uint32_t distance_offset = 0; uint32_t distance_offset = 0;
uint32_t stamps_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++) { for (std::vector<sensor_msgs::msg::PointField>::iterator f = cloud_out.fields.begin();
if (f->name == "x") x_offset = f->offset; f != cloud_out.fields.end(); f++)
if (f->name == "y") y_offset = f->offset; {
if (f->name == "z") z_offset = f->offset; if (f->name == "x") {x_offset = f->offset;}
if (f->name == "intensity") intensity_offset = f->offset; if (f->name == "y") {y_offset = f->offset;}
if (f->name == "index") index_offset = f->offset; if (f->name == "z") {z_offset = f->offset;}
if (f->name == "distances") distance_offset = f->offset; if (f->name == "intensity") {intensity_offset = f->offset;}
if (f->name == "stamps") stamps_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 + x_offset],
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); (float)((double)(scan.ranges[i]) *
EXPECT_NEAR(*(float*)&cloud_out.data[i*cloud_out.point_step + z_offset] , 0, tolerance); cos((double)(scan.angle_min) + i * (double)(scan.angle_increment))), 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(*(float *)&cloud_out.data[i * cloud_out.point_step + y_offset],
EXPECT_NEAR(*(uint32_t*)&cloud_out.data[i*cloud_out.point_step + index_offset], i, tolerance);//index (float)((double)(scan.ranges[i]) *
EXPECT_NEAR(*(float*)&cloud_out.data[i*cloud_out.point_step + distance_offset], scan.ranges[i], tolerance);//ranges sin((double)(scan.angle_min) + i * (double)(scan.angle_increment))), tolerance);
EXPECT_NEAR(*(float*)&cloud_out.data[i*cloud_out.point_step + stamps_offset], (float)i * scan.time_increment, tolerance);//timestamps 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 // make sure it is not a false exception
if ((option.ang_max_ - option.ang_min_) / option.ang_increment_ > 0.0) { if ((option.ang_max_ - option.ang_min_) / option.ang_increment_ > 0.0) {
FAIL(); FAIL();
@ -213,8 +236,7 @@ TEST(laser_geometry, projectLaser2)
} }
} }
TEST(laser_geometry, transformLaserScanToPointCloud2) TEST(laser_geometry, transformLaserScanToPointCloud2) {
{
tf2::BufferCore tf2; tf2::BufferCore tf2;
@ -239,33 +261,32 @@ TEST(laser_geometry, transformLaserScanToPointCloud2)
intensities.push_back(5.0); intensities.push_back(5.0);
min_angles.push_back(-M_PI); min_angles.push_back(-M_PI);
min_angles.push_back(-M_PI/1.5); min_angles.push_back(-M_PI / 1.5);
min_angles.push_back(-M_PI/2); min_angles.push_back(-M_PI / 2);
min_angles.push_back(-M_PI/4); min_angles.push_back(-M_PI / 4);
min_angles.push_back(-M_PI/8); min_angles.push_back(-M_PI / 8);
max_angles.push_back(M_PI); max_angles.push_back(M_PI);
max_angles.push_back(M_PI/1.5); max_angles.push_back(M_PI / 1.5);
max_angles.push_back(M_PI/2); max_angles.push_back(M_PI / 2);
max_angles.push_back(M_PI/4); max_angles.push_back(M_PI / 4);
max_angles.push_back(M_PI/8); 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/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 / 360); // half degree
angle_increments.push_back(M_PI/720); // quarter 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; std::vector<ScanOptions> options;
for(auto range : ranges) { for (auto range : ranges) {
for(auto intensity : intensities) { for (auto intensity : intensities) {
for(auto min_angle : min_angles) { for (auto min_angle : min_angles) {
for(auto max_angle : max_angles) { for (auto max_angle : max_angles) {
for(auto angle_increment : angle_increments) { for (auto angle_increment : angle_increments) {
for(auto scan_time : scan_times) { for (auto scan_time : scan_times) {
options.push_back(ScanOptions( options.push_back(ScanOptions(
range, intensity, min_angle, max_angle, angle_increment, scan_time)); range, intensity, min_angle, max_angle, angle_increment, scan_time));
} }
@ -275,39 +296,53 @@ TEST(laser_geometry, transformLaserScanToPointCloud2)
} }
} }
for (auto option : options){ for (auto option : options) {
try try {
{ // printf("%f %f %f %f %f %f\n",
// printf("%f %f %f %f %f %f\n", range, intensity, min_angle, max_angle, angle_increment, scan_time.toSec()); // range, intensity, min_angle, max_angle, angle_increment, scan_time.toSec());
sensor_msgs::msg::LaserScan scan = build_constant_scan(option); sensor_msgs::msg::LaserScan scan = build_constant_scan(option);
scan.header.frame_id = "laser_frame"; scan.header.frame_id = "laser_frame";
sensor_msgs::msg::PointCloud2 cloud_out; sensor_msgs::msg::PointCloud2 cloud_out;
projector.transformLaserScanToPointCloud(scan.header.frame_id, scan, cloud_out, tf2, -1.0, laser_geometry::channel_option::None); 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); 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); 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); 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); 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); EXPECT_EQ(cloud_out.fields.size(), (unsigned int)4);
projector.transformLaserScanToPointCloud(scan.header.frame_id, scan, cloud_out, tf2); projector.transformLaserScanToPointCloud(scan.header.frame_id, scan, cloud_out, tf2);
EXPECT_EQ(cloud_out.fields.size(), (unsigned int)5); 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); 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); 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); 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); 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); 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.fields.size(), (unsigned int)7);
EXPECT_EQ(cloud_out.is_dense, false); EXPECT_EQ(cloud_out.is_dense, false);
unsigned int valid_points = 0; unsigned int valid_points = 0;
for (unsigned int i = 0; i < scan.ranges.size(); i++) 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) if (scan.ranges[i] <= PROJECTION_TEST_RANGE_MAX &&
valid_points ++; 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 x_offset = 0;
@ -317,31 +352,37 @@ TEST(laser_geometry, transformLaserScanToPointCloud2)
uint32_t index_offset = 0; uint32_t index_offset = 0;
uint32_t distance_offset = 0; uint32_t distance_offset = 0;
uint32_t stamps_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++) 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 == "x") {x_offset = f->offset;}
if (f->name == "y") y_offset = f->offset; if (f->name == "y") {y_offset = f->offset;}
if (f->name == "z") z_offset = f->offset; if (f->name == "z") {z_offset = f->offset;}
if (f->name == "intensity") intensity_offset = f->offset; if (f->name == "intensity") {intensity_offset = f->offset;}
if (f->name == "index") index_offset = f->offset; if (f->name == "index") {index_offset = f->offset;}
if (f->name == "distances") distance_offset = f->offset; if (f->name == "distances") {distance_offset = f->offset;}
if (f->name == "stamps") stamps_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],
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); (float)((double)(scan.ranges[i]) *
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); cos((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 + y_offset],
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 (float)((double)(scan.ranges[i]) *
EXPECT_NEAR(*(uint32_t*)&cloud_out.data[i*cloud_out.point_step + index_offset], i, tolerance);//index sin((double)(scan.angle_min) + i * (double)(scan.angle_increment))), tolerance);
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 + z_offset], 0, tolerance);
EXPECT_NEAR(*(float*)&cloud_out.data[i*cloud_out.point_step + stamps_offset], (float)i * scan.time_increment, tolerance);//timestamps 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 // make sure it is not a false exception
if ((option.ang_max_ - option.ang_min_) / option.ang_increment_ > 0.0) { if ((option.ang_max_ - option.ang_min_) / option.ang_increment_ > 0.0) {
FAIL(); 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); testing::InitGoogleTest(&argc, argv);
return RUN_ALL_TESTS(); return RUN_ALL_TESTS();
} }