DuongTD/laser_geometry
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Moving back to eigen from eigen3

Browse Source 
git-svn-id: https://code.ros.org/svn/ros-pkg/stacks/laser_pipeline/trunk@35794 eb33c2ac-9c88-4c90-87e0-44a10359b0c3
This commit is contained in:
Jeremy Leibs 2011-02-07 19:17:40 +00:00
parent 2d1b9b5416
commit ae5a7968da
3 changed files with 6 additions and 6 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
include/laser_geometry/laser_geometry.h
View File

@ -43,7 +43,7 @@
#include "sensor_msgs/PointCloud.h" #include "sensor_msgs/PointCloud.h"
#include "sensor_msgs/PointCloud.h" #include "sensor_msgs/PointCloud.h"
#include <Eigen3/Core> #include <Eigen/Core>
#include <sensor_msgs/PointCloud2.h> #include <sensor_msgs/PointCloud2.h>
namespace laser_geometry namespace laser_geometry
@ -291,7 +291,7 @@ namespace laser_geometry
std::map<std::string,boost::numeric::ublas::matrix<double>* > unit_vector_map_; std::map<std::string,boost::numeric::ublas::matrix<double>* > unit_vector_map_;
float angle_min_; float angle_min_;
float angle_max_; float angle_max_;
Eigen3::ArrayXXd co_sine_map_; Eigen::ArrayXXd co_sine_map_;
boost::mutex guv_mutex_; boost::mutex guv_mutex_;
}; };

2
manifest.xml
View File

@ -15,7 +15,7 @@ for the skew resulting from moving robots or tilting laser scanners.
<depend package="roscpp"/> <depend package="roscpp"/>
<depend package="tf"/> <depend package="tf"/>
<depend package="angles"/> <depend package="angles"/>
<depend package="eigen3"/> <depend package="eigen"/>
<export> <export>
<cpp cflags="-I${prefix}/include" lflags="-Wl,-rpath,${prefix}/lib -L${prefix}/lib -llaser_geometry"/> <cpp cflags="-I${prefix}/include" lflags="-Wl,-rpath,${prefix}/lib -L${prefix}/lib -llaser_geometry"/>
</export> </export>

6
src/laser_geometry.cpp
View File

@ -280,8 +280,8 @@ const boost::numeric::ublas::matrix<double>& LaserProjection::getUnitVectors_(do
int channel_options) int channel_options)
{ {
size_t n_pts = scan_in.ranges.size (); size_t n_pts = scan_in.ranges.size ();
Eigen3::ArrayXXd ranges (n_pts, 2); Eigen::ArrayXXd ranges (n_pts, 2);
Eigen3::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)
@ -294,7 +294,7 @@ const boost::numeric::ublas::matrix<double>& LaserProjection::getUnitVectors_(do
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_ = Eigen3::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