DuongTD/laser_geometry
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provide support for tf2

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This commit is contained in:
Vincent Rabaud
2014-09-28 16:18:23 +02:00
parent 04c06208d9
commit 8d916f93d5
4 changed files with 151 additions and 23 deletions
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54
include/laser_geometry/laser_geometry.h
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@@ -37,7 +37,8 @@
#include "boost/numeric/ublas/matrix.hpp"
#include "boost/thread/mutex.hpp"
#include "tf/tf.h"
#include <tf/tf.h>
#include <tf2/buffer_core.h>
#include "sensor_msgs/LaserScan.h"
#include "sensor_msgs/PointCloud.h"
@@ -245,6 +246,38 @@ namespace laser_geometry
transformLaserScanToPointCloud_(target_frame, scan_in, cloud_out, tf, range_cutoff, channel_options);
}
//! Transform a sensor_msgs::LaserScan into a sensor_msgs::PointCloud2 in target frame
/*!
* Transform a single laser scan from a linear array into a 3D
* point cloud, accounting for movement of the laser over the
* course of the scan. In order for this transform to be
* meaningful at a single point in time, the target_frame must
* be a fixed reference frame. See the tf documentation for
* more information on fixed frames.
*
* \param target_frame The frame of the resulting point cloud
* \param scan_in The input laser scan
* \param cloud_out The output point cloud
* \param tf a tf2::BufferCore object to use to perform the
* transform
* \param range_cutoff An additional range cutoff which can be
* applied to discard everything above it.
* Defaults to -1.0, which means the laser scan max range.
* \param channel_option An OR'd set of channels to include.
* Options include: channel_option::Default,
* channel_option::Intensity, channel_option::Index,
* channel_option::Distance, channel_option::Timestamp.
*/
void transformLaserScanToPointCloud(const std::string &target_frame,
const sensor_msgs::LaserScan &scan_in,
sensor_msgs::PointCloud2 &cloud_out,
tf2::BufferCore &tf,
double range_cutoff = -1.0,
int channel_options = channel_option::Default)
{
transformLaserScanToPointCloud_(target_frame, scan_in, cloud_out, tf, range_cutoff, channel_options);
}
protected:
//! Internal protected representation of getUnitVectors
@@ -289,6 +322,25 @@ namespace laser_geometry
double range_cutoff,
int channel_options);
//! Internal hidden representation of transformLaserScanToPointCloud2
void transformLaserScanToPointCloud_ (const std::string &target_frame,
const sensor_msgs::LaserScan &scan_in,
sensor_msgs::PointCloud2 &cloud_out,
tf2::BufferCore &tf,
double range_cutoff,
int channel_options);
//! Function used by the several forms of transformLaserScanToPointCloud_
void transformLaserScanToPointCloud_ (const std::string &target_frame,
const sensor_msgs::LaserScan &scan_in,
sensor_msgs::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);
//! Internal map of pointers to stored values
std::map<std::string,boost::numeric::ublas::matrix<double>* > unit_vector_map_;
float angle_min_;