DuongTD/laser_geometry
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52 Commits

Author SHA1 Message Date
Chris Lalancette
3d913f6483
Switch to target_link_libraries. (#92) 
This allows us to hide more of the libraries from downstream
consumers.

While we are in here, do slight cleanups so it is more clear
which libraries are depended on.

Signed-off-by: Chris Lalancette <clalancette@gmail.com>
 2023-11-27 11:31:38 -05:00
Marco Lampacrescia
93db1470f1 Explicit cast to double to prevent loss of precision 
Signed-off-by: Marco Lampacrescia <Marco.Lampacrescia@de.bosch.com>
 2021-12-09 11:44:47 +01:00
Marco Lampacrescia
784bcbcdc9 Fix Duration casting issue leading to no undistortion 
Signed-off-by: Marco Lampacrescia <Marco.Lampacrescia@de.bosch.com>
 2021-09-20 12:15:57 +02:00
Chris Lalancette
bfe1c494fd
Fix building on running on Windows Debug. (#82) 
* Fix building on running on Windows Debug.

In particular, we need to set the python executable properly
when running on Windows Debug.  While we are in here, we also
fix up some dependencies in the package.xml and CMakeLists.txt.
We also have to remove WERROR ON, due to some Python
warnings that are outside of our control.  Finally, we heavily
reduce the number of tests being run here so that the tests
complete in a reasonable amount of time, even on (slow) Windows
debug.

Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
 2021-09-09 14:59:07 -04:00
Jonathan Binney
af5bdc2874
Update python code and tests for ros2 (#80) 
* Enable projection nose test using ament

* Update python package and tests for ros2

* Remove unneeded python setup file

* Use pytest instead of nose

Nose was outputting xml that xUnit (jenkins plugin) couldn't read.

* Fix pytest warnings
 2021-08-10 21:11:23 -04:00
Dirk Thomas
f59e3fea7e
code style only: wrap after open parenthesis if not in one line (#52) 
Signed-off-by: Dirk Thomas <dirk-thomas@users.noreply.github.com>
 2020-02-04 11:43:50 -08:00
Martin Idel
21946942e3 Add Copyright 2018-03-27 09:06:28 +02:00
Martin Idel
c985f5defc Fix Windows warnings 2018-03-27 09:06:28 +02:00
Martin Idel
2783d803f8 Fix cpplint 2018-03-27 09:06:28 +02:00
Andreas Greimel
1dd3314e3b Use correct time unit 2018-03-27 09:06:28 +02:00
Martin Idel
433181e63e Uncrustify 2018-03-27 09:06:28 +02:00
Alessandro Bottero
8fb9c51bf8 Make it compile, remove PointCloud support, and remove boost 
- Compiles on Windows with VS2015/VS2017
- Compiles on Mac with clang
- Compiles on Linux with gcc
- Removed PointCloud support as this is deprecated and might not be needed in ROS 2
- Remove boost as per ROS 2 development guidelines
 2018-03-27 09:06:28 +02:00
Brian Fjeldstad
d39ce225c9 Make laser_geometry build for ros2 (on windows 10) 2018-01-09 09:26:19 -08:00
Eric Wieser
40d39e44dc Better use of numpy 2016-02-21 15:49:15 -05:00
Timm Linder
2dea4600e2 Fix segfault when laserscan ranges[] is empty 2015-05-18 01:35:41 +02:00
Vincent Rabaud
8d916f93d5 provide support for tf2 2014-09-28 16:18:23 +02:00
enriquefernandez
5d497a9295 adds license 2014-06-08 04:51:58 +02:00
enriquefernandez
d4785e879a adds python port (only simple projection) 2014-06-08 04:50:51 +02:00
Vincent Rabaud
43bb1c4191 Merge pull request #9 from efernandez/allow_cutoff_higher_than_range_max 
allows to have range_cutoff > range_max
 2014-06-05 04:08:21 +02:00
enriquefernandez
3453bce486 removes trailing white spaces and empty lines 2014-06-04 13:48:30 +02:00
enriquefernandez
d2a920ba82 no need to check for NaN 2014-06-03 09:39:22 +02:00
enriquefernandez
c8fc9bf5b4 allows to have range_cutoff > range_max 
NOTE this is required if we need to keep the range_max readings
in the point cloud.
An example application is an obstacle_layer in a costmap.
 2014-06-02 20:34:05 +02:00
Andreas Wachaja
de644f402e Fix mistake in end_time calculation for scan transformation 2013-12-20 17:13:34 +01:00
Timo Röhling
784a37caf7 Treat max_range as invalid measurement 
The stage simulator and the legacy projectLaser_ method
for sensor_msgs::PointCloud treat the max_range/range_cutoff
value as invalid, and so should the projector for
sensors_msgs::PointCloud2.
 2013-10-25 11:26:21 +02:00
Timo Röhling
959c8df64f Properly propagate range_cutoff 
LaserProjection::transformLaserScanToPointCloud_ did not
pass the range_cutoff parameter to projectLaser_.
 2013-10-25 11:17:33 +02:00
Dave Hershberger
4f690e9bee Added .count field (of 1) to every PointCloud2 field description. 
This fixes the bug referred to here: http://dev.pointclouds.org/issues/821 which is useful because that fix in PCL
seems not to be released yet.

Also this way is more correct, as far as I can tell.
 2012-11-15 13:07:51 -08:00
Brian Gerkey
9ee890e2b8 added missing header 
git-svn-id: https://code.ros.org/svn/ros-pkg/stacks/laser_pipeline/trunk@38521 eb33c2ac-9c88-4c90-87e0-44a10359b0c3
 2012-01-14 02:51:28 +00:00
Vincent Rabaud
6cebfa088a use the new bullet and eigen conventions 
git-svn-id: https://code.ros.org/svn/ros-pkg/stacks/laser_pipeline/trunk@38342 eb33c2ac-9c88-4c90-87e0-44a10359b0c3
 2011-12-13 22:29:05 +00:00
Jeremy Leibs
ae5a7968da Moving back to eigen from eigen3 
git-svn-id: https://code.ros.org/svn/ros-pkg/stacks/laser_pipeline/trunk@35794 eb33c2ac-9c88-4c90-87e0-44a10359b0c3
 2011-02-07 19:17:40 +00:00
Jeremy Leibs
2d1b9b5416 Rolling back change to laser_geometry/src/laser_geometry.cpp 
git-svn-id: https://code.ros.org/svn/ros-pkg/stacks/laser_pipeline/trunk@35367 eb33c2ac-9c88-4c90-87e0-44a10359b0c3
 2011-01-20 17:50:52 +00:00
Jeremy Leibs
1bf397f575 Removing unnecessary exports 
git-svn-id: https://code.ros.org/svn/ros-pkg/stacks/laser_pipeline/trunk@35366 eb33c2ac-9c88-4c90-87e0-44a10359b0c3
 2011-01-20 17:49:54 +00:00
Jeremy Leibs
9c8817ba97 Unit tests are actually passing now 
git-svn-id: https://code.ros.org/svn/ros-pkg/stacks/laser_pipeline/trunk@35276 eb33c2ac-9c88-4c90-87e0-44a10359b0c3
 2011-01-16 08:42:54 +00:00
Jeremy Leibs
ae9141d36d Fixing the tests in laser_geometry -- now they break 
git-svn-id: https://code.ros.org/svn/ros-pkg/stacks/laser_pipeline/trunk@35275 eb33c2ac-9c88-4c90-87e0-44a10359b0c3
 2011-01-16 04:45:46 +00:00
Jeremy Leibs
3a00224b10 Starting to add unit tests for PointCloud2 
git-svn-id: https://code.ros.org/svn/ros-pkg/stacks/laser_pipeline/trunk@35266 eb33c2ac-9c88-4c90-87e0-44a10359b0c3
 2011-01-15 02:50:28 +00:00
Jeremy Leibs
92e6c455c6 Just using internal co_sine_map for LaserProjection 
git-svn-id: https://code.ros.org/svn/ros-pkg/stacks/laser_pipeline/trunk@35260 eb33c2ac-9c88-4c90-87e0-44a10359b0c3
 2011-01-14 21:32:56 +00:00
Eitan Marder-Eppstein
47fde33dec Fixing bug in how data is copied 
git-svn-id: https://code.ros.org/svn/ros-pkg/stacks/laser_pipeline/trunk@35248 eb33c2ac-9c88-4c90-87e0-44a10359b0c3
 2011-01-14 09:51:37 +00:00
Eitan Marder-Eppstein
a85006555f We know offset_shift is always 4, makes things a lot simpler 
git-svn-id: https://code.ros.org/svn/ros-pkg/stacks/laser_pipeline/trunk@35246 eb33c2ac-9c88-4c90-87e0-44a10359b0c3
 2011-01-14 09:40:31 +00:00
Eitan Marder-Eppstein
c72d74c7fb Fixing a bug in computing the offset shift 
git-svn-id: https://code.ros.org/svn/ros-pkg/stacks/laser_pipeline/trunk@35245 eb33c2ac-9c88-4c90-87e0-44a10359b0c3
 2011-01-14 09:38:24 +00:00
Eitan Marder-Eppstein
3582dd2558 Making sure to give the user back the channel or fields that they ask for and no additional ones when transforming from laser scans to poincloud and pointcloud2 
git-svn-id: https://code.ros.org/svn/ros-pkg/stacks/laser_pipeline/trunk@35244 eb33c2ac-9c88-4c90-87e0-44a10359b0c3
 2011-01-14 09:35:45 +00:00
Eitan Marder-Eppstein
acd1b0411f We filter the point cloud so its not dense 
git-svn-id: https://code.ros.org/svn/ros-pkg/stacks/laser_pipeline/trunk@35243 eb33c2ac-9c88-4c90-87e0-44a10359b0c3
 2011-01-14 09:01:50 +00:00
Eitan Marder-Eppstein
e5a51cf5c3 Removing laser_scan_geometry files from the package 
git-svn-id: https://code.ros.org/svn/ros-pkg/stacks/laser_pipeline/trunk@35239 eb33c2ac-9c88-4c90-87e0-44a10359b0c3
 2011-01-14 08:05:50 +00:00
Eitan Marder-Eppstein
063550e67c Updating transformLaserScanToPointCloud_ to use the index channel rather than replicating all the work of the original projection. This also gets rid of an unnecessary intermediate PointCloud. It does, however, require that an index channel is always generated when a user calls the function. The overhead is low if it goes unused... not sure how big a deal this is 
git-svn-id: https://code.ros.org/svn/ros-pkg/stacks/laser_pipeline/trunk@35238 eb33c2ac-9c88-4c90-87e0-44a10359b0c3
 2011-01-14 08:05:48 +00:00
Eitan Marder-Eppstein
3f5ba8926a Adding support for PointCloud2 to the laser projector, removing a bunch of deprecated functions, and fixing a ton of warnings 
git-svn-id: https://code.ros.org/svn/ros-pkg/stacks/laser_pipeline/trunk@35237 eb33c2ac-9c88-4c90-87e0-44a10359b0c3
 2011-01-14 08:05:45 +00:00
Radu Rusu
9287eff456 added the new LaserScan->PointCloud2 geometry class 
git-svn-id: https://code.ros.org/svn/ros-pkg/stacks/laser_pipeline/trunk@34348 eb33c2ac-9c88-4c90-87e0-44a10359b0c3
 2010-11-30 02:13:43 +00:00
John Hsu
81bcc63259 fix possible race condition per ticket #3802 
git-svn-id: https://code.ros.org/svn/ros-pkg/stacks/laser_pipeline/trunk@27698 eb33c2ac-9c88-4c90-87e0-44a10359b0c3
 2010-02-09 00:50:38 +00:00
Jeremy Leibs
4c6e81b827 Applying patch for #3550 
git-svn-id: https://code.ros.org/svn/ros-pkg/stacks/laser_pipeline/trunk@26796 eb33c2ac-9c88-4c90-87e0-44a10359b0c3
 2010-01-09 04:52:34 +00:00
Jeremy Leibs
671ec17afe Resolved some float->double conversion errors to fix the tolerances for #1651 
git-svn-id: https://code.ros.org/svn/ros-pkg/stacks/laser_pipeline/trunk@26612 eb33c2ac-9c88-4c90-87e0-44a10359b0c3
 2010-01-07 19:29:45 +00:00
Tully Foote
2175503845 patching laser projection to work with inverted mode #3041 
git-svn-id: https://code.ros.org/svn/ros-pkg/stacks/laser_pipeline/trunk@25120 eb33c2ac-9c88-4c90-87e0-44a10359b0c3
 2009-10-12 22:28:38 +00:00
Jeremy Leibs
136cf0c3b8 Pulling laser processing out of laser geomtry for 0.9.0 release. 
git-svn-id: https://code.ros.org/svn/ros-pkg/stacks/laser_pipeline/trunk@24513 eb33c2ac-9c88-4c90-87e0-44a10359b0c3
 2009-09-25 20:29:41 +00:00
Jeremy Leibs
ac4a77f57a 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
 2009-09-23 01:37:30 +00:00