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More laser_geometry documentation.

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git-svn-id: https://code.ros.org/svn/ros-pkg/stacks/laser_pipeline/trunk@24351 eb33c2ac-9c88-4c90-87e0-44a10359b0c3
This commit is contained in:
Jeremy Leibs 2009-09-23 02:57:38 +00:00
parent 28004cb5da
commit 9205f96a65
1 changed files with 25 additions and 6 deletions
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31
include/laser_geometry/laser_geometry.h
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@ -61,11 +61,11 @@ namespace laser_geometry
{ {
enum ChannelOption enum ChannelOption
{ {
Intensity = 0x01, //!< Enable intensity channel Intensity = 0x01, //!< Enable "intensities" channel
Index = 0x02, //!< Enable index channel Index = 0x02, //!< Enable "index" channel
Distance = 0x04, //!< Enable distance channel Distance = 0x04, //!< Enable "distances" channel
Timestamp = 0x08, //!< Enable timestamp channel Timestamp = 0x08, //!< Enable "stamps" channel
Default = (Intensity | Index) //!< Enable intensity and index channels Default = (Intensity | Index) //!< Enable "intensities" and "stamps" channels
}; };
} }
@ -90,6 +90,13 @@ namespace laser_geometry
* range values and points in the cloud, the recommended approach is * range values and points in the cloud, the recommended approach is
* to pre-filter your laser_scan message to meet the requiremnt that all * to pre-filter your laser_scan message to meet the requiremnt that all
* ranges are between min and max_range. * ranges are between min and max_range.
*
* The generated PointClouds have a number of channels which can be enabled
* through the use of ChannelOption.
* - channel_option::Intensity - Create a channel named "intensities" with the intensity of the return for each point
* - channel_option::Index - Create a channel named "index" containing the index from the original array for 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
*/ */
class LaserProjection class LaserProjection
{ {
@ -153,6 +160,10 @@ namespace laser_geometry
return transformLaserScanToPointCloud_ (target_frame, cloud_out, scan_in, tf, channel_options, false); return transformLaserScanToPointCloud_ (target_frame, cloud_out, scan_in, tf, channel_options, false);
} }
//! Deprecated version of projectLaser
/*!
* - The preservative argument has been removed.
*/
DEPRECATED DEPRECATED
void projectLaser (const sensor_msgs::LaserScan& scan_in, void projectLaser (const sensor_msgs::LaserScan& scan_in,
sensor_msgs::PointCloud & cloud_out, sensor_msgs::PointCloud & cloud_out,
@ -163,6 +174,11 @@ namespace laser_geometry
return projectLaser_ (scan_in, cloud_out, range_cutoff, preservative, channel_options); return projectLaser_ (scan_in, cloud_out, range_cutoff, preservative, channel_options);
} }
//! Deprecated version of projectLaser
/*!
* - The preservative argument has been removed.
* - The ordering of cloud_out and scan_in have been reversed
*/
DEPRECATED DEPRECATED
void transformLaserScanToPointCloud (const std::string& target_frame, void transformLaserScanToPointCloud (const std::string& target_frame,
sensor_msgs::PointCloud & cloud_out, sensor_msgs::PointCloud & cloud_out,
@ -174,7 +190,10 @@ namespace laser_geometry
return transformLaserScanToPointCloud_ (target_frame, cloud_out, scan_in, tf, channel_options, preservative); return transformLaserScanToPointCloud_ (target_frame, cloud_out, scan_in, tf, channel_options, preservative);
} }
//! Deprecated version of getUnitVectors
/*!
* - This is now assumed to be an internal, protected API. Do not call externally.
*/
DEPRECATED DEPRECATED
const boost::numeric::ublas::matrix<double>& getUnitVectors(float angle_min, const boost::numeric::ublas::matrix<double>& getUnitVectors(float angle_min,
float angle_max, float angle_max,