9287eff456
git-svn-id: https://code.ros.org/svn/ros-pkg/stacks/laser_pipeline/trunk@34348 eb33c2ac-9c88-4c90-87e0-44a10359b0c3
91 lines
3.8 KiB
C++
91 lines
3.8 KiB
C++
/*
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2010, Willow Garage, Inc.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of Willow Garage, Inc. nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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* $Id: point_types.h 33238 2010-03-11 00:46:58Z rusu $
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*
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*/
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#ifndef LASER_SCAN_GEOMETRY_H
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#define LASER_SCAN_GEOMETRY_H
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#include <Eigen3/Core>
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#include <sensor_msgs/LaserScan.h>
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#include <sensor_msgs/PointCloud2.h>
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#include <tf/tf.h>
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namespace laser_scan_geometry
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{
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// NOTE: invalid scan errors (will be present in LaserScan.msg in D-Turtle)
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const float LASER_SCAN_INVALID = -1.0;
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const float LASER_SCAN_MIN_RANGE = -2.0;
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const float LASER_SCAN_MAX_RANGE = -3.0;
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/** \brief Project a single laser scan from a linear array into a 3D point cloud.
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* The generated cloud will be in the same frame as the original laser scan.
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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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*/
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void projectLaser (const sensor_msgs::LaserScan& scan_in, sensor_msgs::PointCloud2 &cloud_out, Eigen3::ArrayXXd &co_sine_map);
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/** \brief Transform a sensor_msgs::LaserScan into a sensor_msgs::PointCloud in target frame
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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 transform
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*/
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void transformLaserScanToPointCloud (const std::string &target_frame, const sensor_msgs::LaserScan &scan_in, tf::Transformer &tf, sensor_msgs::PointCloud2 &cloud_out, Eigen3::ArrayXXd &co_sine_map);
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class LaserProjection
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{
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public:
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void projectLaser (const sensor_msgs::LaserScan& scan_in, sensor_msgs::PointCloud2 &cloud_out);
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void transformLaserScanToPointCloud (const std::string &target_frame, const sensor_msgs::LaserScan &scan_in, tf::Transformer &tf, sensor_msgs::PointCloud2 &cloud_out);
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private:
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Eigen3::ArrayXXd co_sine_map_;
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boost::mutex guv_mutex_;
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};
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}
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#endif
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