Make it compile, remove PointCloud support, and remove boost
- Compiles on Windows with VS2015/VS2017 - Compiles on Mac with clang - Compiles on Linux with gcc - Removed PointCloud support as this is deprecated and might not be needed in ROS 2 - Remove boost as per ROS 2 development guidelines
This commit is contained in:
Alessandro Bottero
committed by
Martin Idel
Martin Idel
parent
7ad6e21d3d
commit
8fb9c51bf8
@@ -34,13 +34,9 @@
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#include <iostream>
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#include <sstream>
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#include "boost/numeric/ublas/matrix.hpp"
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#include "boost/thread/mutex.hpp"
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#include <tf2/buffer_core.h>
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#include <sensor_msgs/msg/laser_scan.hpp>
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#include <sensor_msgs/msg/point_cloud.hpp>
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#include <sensor_msgs/msg/point_cloud2.hpp>
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#include "tf2/buffer_core.h"
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#include "sensor_msgs/msg/laser_scan.hpp"
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#include "sensor_msgs/msg/point_cloud2.hpp"
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#ifndef ROS_DEBUG
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#define ROS_DEBUG(...)
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@@ -107,33 +103,6 @@ namespace laser_geometry
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LaserProjection() : angle_min_(0), angle_max_(0) {}
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//! Destructor to deallocate stored unit vectors
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~LaserProjection();
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//! Project a sensor_msgs::msg::LaserScan into a sensor_msgs::msg::PointCloud
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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::PointCloud& 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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return projectLaser_ (scan_in, cloud_out, range_cutoff, false, channel_options);
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}
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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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@@ -158,65 +127,6 @@ namespace laser_geometry
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projectLaser_(scan_in, cloud_out, range_cutoff, channel_options);
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}
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//! Transform a sensor_msgs::msg::LaserScan into a sensor_msgs::msg::PointCloud 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 tf::Transformer 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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* \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::PointCloud& cloud_out,
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tf2::BufferCore &tf,
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double range_cutoff,
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int channel_options = channel_option::Default)
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{
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return transformLaserScanToPointCloud_ (target_frame, cloud_out, scan_in, tf, range_cutoff, channel_options);
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}
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//! Transform a sensor_msgs::msg::LaserScan into a sensor_msgs::msg::PointCloud 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 tf::Transformer object to use to perform the
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* transform
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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::PointCloud& cloud_out,
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tf2::BufferCore &tf,
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int channel_options = channel_option::Default)
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{
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return transformLaserScanToPointCloud_ (target_frame, cloud_out, scan_in, tf, -1.0, channel_options);
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}
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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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@@ -249,42 +159,14 @@ namespace laser_geometry
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transformLaserScanToPointCloud_(target_frame, scan_in, cloud_out, tf, range_cutoff, channel_options);
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}
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protected:
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//! Internal protected representation of getUnitVectors
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/*!
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* This function should not be used by external users, however,
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* it is left protected so that test code can evaluate it
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* appropriately.
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*/
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const boost::numeric::ublas::matrix<double>& getUnitVectors_(double angle_min,
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double angle_max,
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double angle_increment,
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unsigned int length);
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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::PointCloud& cloud_out,
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double range_cutoff,
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bool preservative,
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int channel_options);
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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 transformLaserScanToPointCloud
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void transformLaserScanToPointCloud_ (const std::string& target_frame,
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sensor_msgs::msg::PointCloud& cloud_out,
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const sensor_msgs::msg::LaserScan& scan_in,
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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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//! 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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@@ -305,11 +187,9 @@ namespace laser_geometry
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int channel_options);
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//! Internal map of pointers to stored values
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std::map<std::string,boost::numeric::ublas::matrix<double>* > unit_vector_map_;
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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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boost::mutex guv_mutex_;
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};
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}
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