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Make laser_geometry build for ros2 (on windows 10)

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This commit is contained in:
Brian Fjeldstad
2017-11-30 10:55:41 -08:00
parent c9cbfc6364
commit d39ce225c9
5 changed files with 141 additions and 280 deletions
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111
include/laser_geometry/laser_geometry.h
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@@ -37,15 +37,19 @@
#include "boost/numeric/ublas/matrix.hpp"
#include "boost/thread/mutex.hpp"
#include <tf/tf.h>
#include <tf2/buffer_core.h>
#include "sensor_msgs/msg/Laser_Scan.hpp"
#include "sensor_msgs/msg/Point_Cloud.hpp"
#include <sensor_msgs/msg/Point_Cloud2.hpp>
#include "sensor_msgs/LaserScan.h"
#include "sensor_msgs/PointCloud.h"
#include "sensor_msgs/PointCloud.h"
#ifndef ROS_DEBUG
#define ROS_DEBUG(...)
#endif // !ROS_DEBUG
#ifndef ROS_ASSERT
#define ROS_ASSERT(...)
#endif // !ROS_ASSERT
#include <Eigen/Core>
#include <sensor_msgs/PointCloud2.h>
namespace laser_geometry
{
@@ -106,7 +110,7 @@ namespace laser_geometry
//! Destructor to deallocate stored unit vectors
~LaserProjection();
//! Project a sensor_msgs::LaserScan into a sensor_msgs::PointCloud
//! Project a sensor_msgs::msg::LaserScan into a sensor_msgs::msg::PointCloud
/*!
* Project a single laser scan from a linear array into a 3D
* point cloud. The generated cloud will be in the same frame
@@ -122,15 +126,15 @@ namespace laser_geometry
* channel_option::Intensity, channel_option::Index,
* channel_option::Distance, channel_option::Timestamp.
*/
void projectLaser (const sensor_msgs::LaserScan& scan_in,
sensor_msgs::PointCloud& cloud_out,
void projectLaser (const sensor_msgs::msg::LaserScan& scan_in,
sensor_msgs::msg::PointCloud& cloud_out,
double range_cutoff = -1.0,
int channel_options = channel_option::Default)
{
return projectLaser_ (scan_in, cloud_out, range_cutoff, false, channel_options);
}
//! Project a sensor_msgs::LaserScan into a sensor_msgs::PointCloud2
//! Project a sensor_msgs::msg::LaserScan into a sensor_msgs::msg::PointCloud2
/*!
* Project a single laser scan from a linear array into a 3D
* point cloud. The generated cloud will be in the same frame
@@ -146,16 +150,15 @@ namespace laser_geometry
* channel_option::Intensity, channel_option::Index,
* channel_option::Distance, channel_option::Timestamp.
*/
void projectLaser (const sensor_msgs::LaserScan& scan_in,
sensor_msgs::PointCloud2 &cloud_out,
void projectLaser (const sensor_msgs::msg::LaserScan& scan_in,
sensor_msgs::msg::PointCloud2 &cloud_out,
double range_cutoff = -1.0,
int channel_options = channel_option::Default)
{
projectLaser_(scan_in, cloud_out, range_cutoff, channel_options);
}
//! Transform a sensor_msgs::LaserScan into a sensor_msgs::PointCloud in target frame
//! Transform a sensor_msgs::msg::LaserScan into a sensor_msgs::msg::PointCloud 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
@@ -177,16 +180,16 @@ namespace laser_geometry
* channel_option::Distance, channel_option::Timestamp.
*/
void transformLaserScanToPointCloud (const std::string& target_frame,
const sensor_msgs::LaserScan& scan_in,
sensor_msgs::PointCloud& cloud_out,
tf::Transformer& tf,
const sensor_msgs::msg::LaserScan& scan_in,
sensor_msgs::msg::PointCloud& cloud_out,
tf2::BufferCore &tf,
double range_cutoff,
int channel_options = channel_option::Default)
{
return transformLaserScanToPointCloud_ (target_frame, cloud_out, scan_in, tf, range_cutoff, channel_options);
}
//! Transform a sensor_msgs::LaserScan into a sensor_msgs::PointCloud in target frame
//! Transform a sensor_msgs::msg::LaserScan into a sensor_msgs::msg::PointCloud 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
@@ -206,47 +209,15 @@ namespace laser_geometry
* channel_option::Distance, channel_option::Timestamp.
*/
void transformLaserScanToPointCloud (const std::string& target_frame,
const sensor_msgs::LaserScan& scan_in,
sensor_msgs::PointCloud& cloud_out,
tf::Transformer& tf,
const sensor_msgs::msg::LaserScan& scan_in,
sensor_msgs::msg::PointCloud& cloud_out,
tf2::BufferCore &tf,
int channel_options = channel_option::Default)
{
return transformLaserScanToPointCloud_ (target_frame, cloud_out, scan_in, tf, -1.0, 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 tf::Transformer 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,
tf::Transformer &tf,
double range_cutoff = -1.0,
int channel_options = channel_option::Default)
{
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 sensor_msgs::msg::LaserScan into a sensor_msgs::msg::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
@@ -269,8 +240,8 @@ namespace laser_geometry
* channel_option::Distance, channel_option::Timestamp.
*/
void transformLaserScanToPointCloud(const std::string &target_frame,
const sensor_msgs::LaserScan &scan_in,
sensor_msgs::PointCloud2 &cloud_out,
const sensor_msgs::msg::LaserScan &scan_in,
sensor_msgs::msg::PointCloud2 &cloud_out,
tf2::BufferCore &tf,
double range_cutoff = -1.0,
int channel_options = channel_option::Default)
@@ -294,46 +265,38 @@ namespace laser_geometry
private:
//! Internal hidden representation of projectLaser
void projectLaser_ (const sensor_msgs::LaserScan& scan_in,
sensor_msgs::PointCloud& cloud_out,
void projectLaser_ (const sensor_msgs::msg::LaserScan& scan_in,
sensor_msgs::msg::PointCloud& cloud_out,
double range_cutoff,
bool preservative,
int channel_options);
//! Internal hidden representation of projectLaser
void projectLaser_ (const sensor_msgs::LaserScan& scan_in,
sensor_msgs::PointCloud2 &cloud_out,
void projectLaser_ (const sensor_msgs::msg::LaserScan& scan_in,
sensor_msgs::msg::PointCloud2 &cloud_out,
double range_cutoff,
int channel_options);
//! Internal hidden representation of transformLaserScanToPointCloud
void transformLaserScanToPointCloud_ (const std::string& target_frame,
sensor_msgs::PointCloud& cloud_out,
const sensor_msgs::LaserScan& scan_in,
tf::Transformer & tf,
sensor_msgs::msg::PointCloud& cloud_out,
const sensor_msgs::msg::LaserScan& scan_in,
tf2::BufferCore &tf,
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,
tf::Transformer &tf,
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,
const sensor_msgs::msg::LaserScan &scan_in,
sensor_msgs::msg::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,
const sensor_msgs::msg::LaserScan &scan_in,
sensor_msgs::msg::PointCloud2 &cloud_out,
tf2::Quaternion quat_start,
tf2::Vector3 origin_start,
tf2::Quaternion quat_end,