DuongTD/laser_geometry
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Deprecating preservative and fixing up documentation.

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git-svn-id: https://code.ros.org/svn/ros-pkg/stacks/laser_pipeline/trunk@24323 eb33c2ac-9c88-4c90-87e0-44a10359b0c3
This commit is contained in:
Jeremy Leibs
2009-09-22 21:26:12 +00:00
parent 5bd2038978
commit f7b67fb1b8
6 changed files with 61 additions and 53 deletions
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12
src/laser_scan.cc → src/laser_geometry.cpp
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@@ -34,7 +34,7 @@ namespace laser_geometry
{
void
LaserProjection::projectLaser (const sensor_msgs::LaserScan& scan_in, sensor_msgs::PointCloud & cloud_out, double range_cutoff,
LaserProjection::projectLaser_ (const sensor_msgs::LaserScan& scan_in, sensor_msgs::PointCloud & cloud_out, double range_cutoff,
bool preservative, int mask)
{
boost::numeric::ublas::matrix<double> ranges(2, scan_in.get_ranges_size());
@@ -49,7 +49,7 @@ namespace laser_geometry
//Do the projection
// NEWMAT::Matrix output = NEWMAT::SP(ranges, getUnitVectors(scan_in.angle_min, scan_in.angle_max, scan_in.angle_increment));
boost::numeric::ublas::matrix<double> output = element_prod(ranges, getUnitVectors(scan_in.angle_min, scan_in.angle_max, scan_in.angle_increment, scan_in.get_ranges_size()));
boost::numeric::ublas::matrix<double> output = element_prod(ranges, getUnitVectors_(scan_in.angle_min, scan_in.angle_max, scan_in.angle_increment, scan_in.get_ranges_size()));
//Stuff the output cloud
cloud_out.header = scan_in.header;
@@ -150,7 +150,7 @@ namespace laser_geometry
cloud_out.channels[d].set_values_size(count);
};
const boost::numeric::ublas::matrix<double>& LaserProjection::getUnitVectors(float angle_min, float angle_max, float angle_increment, unsigned int length)
const boost::numeric::ublas::matrix<double>& LaserProjection::getUnitVectors_(float angle_min, float angle_max, float angle_increment, unsigned int length)
{
if (angle_min >= angle_max)
{
@@ -193,7 +193,7 @@ const boost::numeric::ublas::matrix<double>& LaserProjection::getUnitVectors(flo
};
void
LaserProjection::transformLaserScanToPointCloud (const std::string &target_frame, sensor_msgs::PointCloud &cloud_out, const sensor_msgs::LaserScan &scan_in,
LaserProjection::transformLaserScanToPointCloud_ (const std::string &target_frame, sensor_msgs::PointCloud &cloud_out, const sensor_msgs::LaserScan &scan_in,
tf::Transformer& tf, int mask, bool preservative)
{
cloud_out.header = scan_in.header;
@@ -253,7 +253,7 @@ const boost::numeric::ublas::matrix<double>& LaserProjection::getUnitVectors(flo
///\todo this can be optimized
sensor_msgs::PointCloud intermediate; //optimize out
projectLaser (scan_in, intermediate, -1.0, true, mask);
projectLaser_ (scan_in, intermediate, -1.0, true, mask);
// Extract transforms for the beginning and end of the laser scan
ros::Time start_time = scan_in.header.stamp ;
@@ -334,4 +334,4 @@ const boost::numeric::ublas::matrix<double>& LaserProjection::getUnitVectors(flo
}
} //laser_scan
} //laser_geometry