More laser_geometry deprecations and code fixes.
git-svn-id: https://code.ros.org/svn/ros-pkg/stacks/laser_pipeline/trunk@24345 eb33c2ac-9c88-4c90-87e0-44a10359b0c3
This commit is contained in:
Jeremy Leibs
parent
f7b67fb1b8
commit
ac4a77f57a
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@ -42,91 +42,193 @@
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#include "sensor_msgs/PointCloud.h"
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#include "sensor_msgs/PointCloud.h"
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#if defined(__GNUC__)
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#define DEPRECATED __attribute__((deprecated))
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#else
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#define DEPRECATED
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#endif
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namespace laser_geometry
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{
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/** \brief Define masks for output channels */
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const int MASK_INTENSITY = 0x01;
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const int MASK_INDEX = 0x02;
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const int MASK_DISTANCE = 0x04;
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const int MASK_TIMESTAMP = 0x08;
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const int DEFAULT_MASK = (MASK_INTENSITY | MASK_INDEX);
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/** \brief A Class to Project Laser Scan
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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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* \b Example
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* - To produce a point cloud with indices and timestamp:
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\verbatim
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laser_geometry::laserProjection p_;
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sensor_msgs::PointCloud cloud_;
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p.projectLaser(scan_in, cloud_out, -1.0, laser_geometry::channel_option::Index | laser_geometry::channel_option::Timestamp);
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\endverbatim
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*/
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namespace channel_option
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{
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enum ChannelOption
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{
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Intensity = 0x01, //!< Enable intensity channel
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Index = 0x02, //!< Enable index channel
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Distance = 0x04, //!< Enable distance channel
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Timestamp = 0x08, //!< Enable timestamp channel
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Default = (Intensity | Index) //!< Enable intensity and index channels
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};
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}
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DEPRECATED const int MASK_INTENSITY = channel_option::Intensity;
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DEPRECATED const int MASK_INDEX = channel_option::Index;
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DEPRECATED const int MASK_DISTANCE = channel_option::Distance;
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DEPRECATED const int MASK_TIMESTAMP = channel_option::Timestamp;
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DEPRECATED const int DEFAULT_MASK = (channel_option::Intensity | channel_option::Index);
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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. If it is
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* important to preserve a mapping between the index of range values
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* and points in the cloud, the functions have an optional
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* "preservative" argument which will leave placeholder points as
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* appropriate.
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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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class LaserProjection
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{
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public:
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/** \brief Destructor to deallocate stored unit vectors */
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//! Destructor to deallocate stored unit vectors
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~LaserProjection();
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/** \brief Project Laser Scan
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*
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//! Project a sensor_msgs::LaserScan into a sensor_msgs::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 cloudOut The output point cloud
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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 which is more limiting than max_range in the scan.
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* \param A bitwise mask of channels to include
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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::Range, channel_option:Timestamp.
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*/
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void projectLaser (const sensor_msgs::LaserScan& scan_in, sensor_msgs::PointCloud & cloud_out, double range_cutoff=-1.0, int mask = DEFAULT_MASK)
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void projectLaser (const sensor_msgs::LaserScan& scan_in,
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sensor_msgs::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, mask);
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return projectLaser_ (scan_in, cloud_out, range_cutoff, false, channel_options);
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}
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__attribute__ ((deprecated)) void projectLaser (const sensor_msgs::LaserScan& scan_in, sensor_msgs::PointCloud & cloud_out, double range_cutoff, bool preservative, int mask = DEFAULT_MASK)
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//! Transform a sensor_msgs::LaserScan into a sensor_msgs::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 applied which is more limiting than max_range in
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* the scan.
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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::Range, 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::LaserScan& scan_in,
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sensor_msgs::PointCloud& cloud_out,
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tf::Transformer& tf,
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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, preservative, mask);
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return transformLaserScanToPointCloud_ (target_frame, cloud_out, scan_in, tf, channel_options, false);
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}
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DEPRECATED
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void projectLaser (const sensor_msgs::LaserScan& scan_in,
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sensor_msgs::PointCloud & cloud_out,
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double range_cutoff,
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bool preservative,
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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, preservative, channel_options);
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}
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DEPRECATED
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void transformLaserScanToPointCloud (const std::string& target_frame,
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sensor_msgs::PointCloud & cloud_out,
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const sensor_msgs::LaserScan& scan_in,
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tf::Transformer & tf,
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int channel_options = channel_option::Default,
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bool preservative = false)
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{
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return transformLaserScanToPointCloud_ (target_frame, cloud_out, scan_in, tf, channel_options, preservative);
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}
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/** \brief Transform a sensor_msgs::LaserScan into a PointCloud in target frame */
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void transformLaserScanToPointCloud (const std::string& target_frame, sensor_msgs::PointCloud & cloudOut, const sensor_msgs::LaserScan & scanIn, tf::Transformer & tf, int mask = DEFAULT_MASK)
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DEPRECATED
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const boost::numeric::ublas::matrix<double>& getUnitVectors(float angle_min,
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float angle_max,
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float angle_increment,
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unsigned int length)
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{
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return transformLaserScanToPointCloud_ (target_frame, cloudOut, scanIn, tf, mask, false);
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return getUnitVectors_(angle_min, angle_max, angle_increment, length);
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}
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__attribute__ ((deprecated)) void transformLaserScanToPointCloud (const std::string& target_frame, sensor_msgs::PointCloud & cloudOut, const sensor_msgs::LaserScan & scanIn, tf::Transformer & tf, int mask, bool preservative)
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{
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return transformLaserScanToPointCloud_ (target_frame, cloudOut, scanIn, tf, mask, preservative);
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}
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protected:
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/** \brief Return the unit vectors for this configuration
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* Return the unit vectors for this configuration.
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* These are dynamically generated and allocated on first request
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* and will be valid until destruction of this node. */
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__attribute__ ((deprecated)) const boost::numeric::ublas::matrix<double>& getUnitVectors(float angle_max, float angle_min, float angle_increment, unsigned int length)
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{
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return getUnitVectors_(angle_max, angle_min, angle_increment, length);
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}
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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_(float angle_min,
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float angle_max,
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float angle_increment,
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unsigned int length);
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private:
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void projectLaser_ (const sensor_msgs::LaserScan& scan_in, sensor_msgs::PointCloud & cloud_out, double range_cutoff, bool preservative, int mask = DEFAULT_MASK);
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//! Internal hidden representation of projectLaser
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void projectLaser_ (const sensor_msgs::LaserScan& scan_in,
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sensor_msgs::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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void transformLaserScanToPointCloud_ (const std::string& target_frame, sensor_msgs::PointCloud & cloudOut, const sensor_msgs::LaserScan & scanIn, tf::Transformer & tf, int mask, bool preservative);
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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::PointCloud& cloud_out,
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const sensor_msgs::LaserScan& scan_in,
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tf::Transformer & tf,
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int channel_options,
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bool preservative);
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const boost::numeric::ublas::matrix<double>& getUnitVectors_(float angle_max, float angle_min, float angle_increment, unsigned int length);
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///The map of pointers to stored values
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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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};
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}
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#undef DEPRECATED
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#endif //LASER_SCAN_UTILS_LASERSCAN_H
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@ -61,7 +61,7 @@ namespace laser_geometry
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cloud_out.set_channels_size(0);
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// Check if the intensity bit is set
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if ((mask & MASK_INTENSITY) && scan_in.get_intensities_size () > 0)
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if ((mask & channel_option::Intensity) && scan_in.get_intensities_size () > 0)
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{
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int chan_size = cloud_out.get_channels_size ();
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cloud_out.set_channels_size (chan_size + 1);
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@ -71,7 +71,7 @@ namespace laser_geometry
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}
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// Check if the index bit is set
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if (mask & MASK_INDEX)
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if (mask & channel_option::Index)
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{
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int chan_size = cloud_out.get_channels_size ();
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cloud_out.set_channels_size (chan_size +1);
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@ -81,7 +81,7 @@ namespace laser_geometry
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}
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// Check if the distance bit is set
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if (mask & MASK_DISTANCE)
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if (mask & channel_option::Distance)
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{
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int chan_size = cloud_out.get_channels_size ();
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cloud_out.set_channels_size (chan_size + 1);
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@ -90,7 +90,7 @@ namespace laser_geometry
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idx_distance = chan_size;
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}
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if (mask & MASK_TIMESTAMP)
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if (mask & channel_option::Timestamp)
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{
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int chan_size = cloud_out.get_channels_size ();
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cloud_out.set_channels_size (chan_size + 1);
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@ -207,7 +207,7 @@ const boost::numeric::ublas::matrix<double>& LaserProjection::getUnitVectors_(fl
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cloud_out.set_channels_size(0);
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// Check if the intensity bit is set
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if ((mask & MASK_INTENSITY) && scan_in.get_intensities_size () > 0)
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if ((mask & channel_option::Intensity) && scan_in.get_intensities_size () > 0)
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{
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int chan_size = cloud_out.get_channels_size ();
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cloud_out.set_channels_size (chan_size + 1);
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@ -217,7 +217,7 @@ const boost::numeric::ublas::matrix<double>& LaserProjection::getUnitVectors_(fl
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}
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// Check if the index bit is set
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if (mask & MASK_INDEX)
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if (mask & channel_option::Index)
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{
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int chan_size = cloud_out.get_channels_size ();
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cloud_out.set_channels_size (chan_size + 1);
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@ -227,7 +227,7 @@ const boost::numeric::ublas::matrix<double>& LaserProjection::getUnitVectors_(fl
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}
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// Check if the distance bit is set
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if (mask & MASK_DISTANCE)
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if (mask & channel_option::Distance)
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{
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int chan_size = cloud_out.get_channels_size ();
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cloud_out.set_channels_size (chan_size + 1);
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@ -236,7 +236,7 @@ const boost::numeric::ublas::matrix<double>& LaserProjection::getUnitVectors_(fl
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idx_distance = chan_size;
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}
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if (mask & MASK_TIMESTAMP)
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if (mask & channel_option::Timestamp)
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{
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int chan_size = cloud_out.get_channels_size ();
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cloud_out.set_channels_size (chan_size + 1);
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@ -67,10 +67,22 @@ sensor_msgs::LaserScan build_constant_scan(double range, double intensity,
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};
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void test_getUnitVectors (float angle_min, float angle_max, float angle_increment, unsigned int length)
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class TestProjection : public laser_geometry::LaserProjection
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{
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public:
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const boost::numeric::ublas::matrix<double>& getUnitVectors(float angle_min,
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float angle_max,
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float angle_increment,
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unsigned int length)
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{
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return getUnitVectors_(angle_min, angle_max, angle_increment, length);
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}
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};
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void test_getUnitVectors(float angle_min, float angle_max, float angle_increment, unsigned int length)
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{
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double tolerance = 1e-6;
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laser_geometry::LaserProjection projector;
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TestProjection projector;
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const boost::numeric::ublas::matrix<double> & mat = projector.getUnitVectors(angle_min, angle_max, angle_increment, length);
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@ -211,20 +223,20 @@ TEST(laser_geometry, projectLaser)
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sensor_msgs::LaserScan scan = build_constant_scan(range, intensity, min_angle, max_angle, angle_increment, scan_time);
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sensor_msgs::PointCloud cloud_out;
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projector.projectLaser(scan, cloud_out, -1.0, false, laser_geometry::MASK_INDEX);
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projector.projectLaser(scan, cloud_out, -1.0, laser_geometry::channel_option::Index);
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EXPECT_EQ(cloud_out.channels.size(), (unsigned int)1);
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projector.projectLaser(scan, cloud_out, -1.0, false, laser_geometry::MASK_INTENSITY);
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projector.projectLaser(scan, cloud_out, -1.0, laser_geometry::channel_option::Intensity);
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EXPECT_EQ(cloud_out.channels.size(), (unsigned int)1);
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projector.projectLaser(scan, cloud_out, -1.0, false);
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projector.projectLaser(scan, cloud_out, -1.0);
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EXPECT_EQ(cloud_out.channels.size(), (unsigned int)2);
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projector.projectLaser(scan, cloud_out, -1.0, false, laser_geometry::MASK_INTENSITY | laser_geometry::MASK_INDEX);
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projector.projectLaser(scan, cloud_out, -1.0, laser_geometry::channel_option::Intensity | laser_geometry::channel_option::Index);
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EXPECT_EQ(cloud_out.channels.size(), (unsigned int)2);
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projector.projectLaser(scan, cloud_out, -1.0, false, laser_geometry::MASK_INTENSITY | laser_geometry::MASK_INDEX | laser_geometry::MASK_DISTANCE);
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projector.projectLaser(scan, cloud_out, -1.0, laser_geometry::channel_option::Intensity | laser_geometry::channel_option::Index | laser_geometry::channel_option::Distance);
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EXPECT_EQ(cloud_out.channels.size(), (unsigned int)3);
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projector.projectLaser(scan, cloud_out, -1.0, false, laser_geometry::MASK_INTENSITY | laser_geometry::MASK_INDEX | laser_geometry::MASK_DISTANCE | laser_geometry::MASK_TIMESTAMP);
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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);
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EXPECT_EQ(cloud_out.channels.size(), (unsigned int)4);
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unsigned int valid_points = 0;
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@ -326,20 +338,20 @@ TEST(laser_geometry, transformLaserScanToPointCloud)
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scan.header.frame_id = "laser_frame";
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sensor_msgs::PointCloud cloud_out;
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projector.transformLaserScanToPointCloud(scan.header.frame_id, cloud_out, scan, tf, laser_geometry::MASK_INDEX);
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projector.transformLaserScanToPointCloud(scan.header.frame_id, scan, cloud_out, tf, laser_geometry::channel_option::Index);
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EXPECT_EQ(cloud_out.channels.size(), (unsigned int)1);
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projector.transformLaserScanToPointCloud(scan.header.frame_id, cloud_out, scan, tf, laser_geometry::MASK_INTENSITY);
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projector.transformLaserScanToPointCloud(scan.header.frame_id, scan, cloud_out, tf, laser_geometry::channel_option::Intensity);
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EXPECT_EQ(cloud_out.channels.size(), (unsigned int)1);
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projector.transformLaserScanToPointCloud(scan.header.frame_id, cloud_out, scan, tf);
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projector.transformLaserScanToPointCloud(scan.header.frame_id, scan, cloud_out, tf);
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EXPECT_EQ(cloud_out.channels.size(), (unsigned int)2);
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projector.transformLaserScanToPointCloud(scan.header.frame_id, cloud_out, scan, tf, laser_geometry::MASK_INTENSITY | laser_geometry::MASK_INDEX);
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projector.transformLaserScanToPointCloud(scan.header.frame_id, scan, cloud_out, tf, laser_geometry::channel_option::Intensity | laser_geometry::channel_option::Index);
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EXPECT_EQ(cloud_out.channels.size(), (unsigned int)2);
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projector.transformLaserScanToPointCloud(scan.header.frame_id, cloud_out, scan, tf, laser_geometry::MASK_INTENSITY | laser_geometry::MASK_INDEX | laser_geometry::MASK_DISTANCE);
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projector.transformLaserScanToPointCloud(scan.header.frame_id, scan, cloud_out, tf, laser_geometry::channel_option::Intensity | laser_geometry::channel_option::Index | laser_geometry::channel_option::Distance);
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EXPECT_EQ(cloud_out.channels.size(), (unsigned int)3);
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projector.transformLaserScanToPointCloud(scan.header.frame_id, cloud_out, scan, tf, laser_geometry::MASK_INTENSITY | laser_geometry::MASK_INDEX | laser_geometry::MASK_DISTANCE | laser_geometry::MASK_TIMESTAMP);
|
||||
projector.transformLaserScanToPointCloud(scan.header.frame_id, scan, cloud_out, tf, laser_geometry::channel_option::Intensity | laser_geometry::channel_option::Index | laser_geometry::channel_option::Distance | laser_geometry::channel_option::Timestamp);
|
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EXPECT_EQ(cloud_out.channels.size(), (unsigned int)4);
|
||||
|
||||
unsigned int valid_points = 0;
|
||||
|
|
|
|||
Loading…
Reference in New Issue
Block a user