A Class to Project Laser Scan. More...

#include <laser_geometry.h>

Inheritance diagram for laser_geometry::LaserProjection:

Public Member Functions
	LaserProjection ()
void	projectLaser (const sensor_msgs::LaserScan &scan_in, sensor_msgs::PointCloud &cloud_out, double range_cutoff=-1.0, int channel_options=channel_option::Default)
	Project a sensor_msgs::LaserScan into a sensor_msgs::PointCloud.
void	projectLaser (const sensor_msgs::LaserScan &scan_in, sensor_msgs::PointCloud2 &cloud_out, double range_cutoff=-1.0, int channel_options=channel_option::Default)
	Project a sensor_msgs::LaserScan into a sensor_msgs::PointCloud2.
void	transformLaserScanToPointCloud (const std::string &target_frame, const sensor_msgs::LaserScan &scan_in, sensor_msgs::PointCloud &cloud_out, tf::Transformer &tf, double range_cutoff, int channel_options=channel_option::Default)
	Transform a sensor_msgs::LaserScan into a sensor_msgs::PointCloud in target frame.
void	transformLaserScanToPointCloud (const std::string &target_frame, const sensor_msgs::LaserScan &scan_in, sensor_msgs::PointCloud &cloud_out, tf::Transformer &tf, int channel_options=channel_option::Default)
	Transform a sensor_msgs::LaserScan into a sensor_msgs::PointCloud in target frame.
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)
	Transform a sensor_msgs::LaserScan into a sensor_msgs::PointCloud2 in target frame.
	~LaserProjection ()
	Destructor to deallocate stored unit vectors.
Protected Member Functions
const boost::numeric::ublas::matrix < double > &	getUnitVectors_ (double angle_min, double angle_max, double angle_increment, unsigned int length)
	Internal protected representation of getUnitVectors.
Private Member Functions
void	projectLaser_ (const sensor_msgs::LaserScan &scan_in, sensor_msgs::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, double range_cutoff, int channel_options)
	Internal hidden representation of projectLaser.
void	transformLaserScanToPointCloud_ (const std::string &target_frame, sensor_msgs::PointCloud &cloud_out, const sensor_msgs::LaserScan &scan_in, tf::Transformer &tf, double range_cutoff, int channel_options)
	Internal hidden representation of transformLaserScanToPointCloud.
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.
Private Attributes
float	angle_max_
float	angle_min_
Eigen::ArrayXXd	co_sine_map_
boost::mutex	guv_mutex_
std::map< std::string, boost::numeric::ublas::matrix < double > * >	unit_vector_map_
	Internal map of pointers to stored values.

Detailed Description

A Class to Project Laser Scan.

This class will project laser scans into point clouds. It caches unit vectors between runs (provided the angular resolution of your scanner is not changing) to avoid excess computation.

By default all range values less than the scanner min_range, and greater than the scanner max_range are removed from the generated point cloud, as these are assumed to be invalid.

If it is important to preserve a mapping between the index of range values and points in the cloud, the recommended approach is to pre-filter your laser_scan message to meet the requiremnt that all ranges are between min and max_range.

The generated PointClouds have a number of channels which can be enabled through the use of ChannelOption.

channel_option::Intensity - Create a channel named "intensities" with the intensity of the return for each point
channel_option::Index - Create a channel named "index" containing the index from the original array for each point
channel_option::Distance - Create a channel named "distances" containing the distance from the laser to each point
channel_option::Timestamp - Create a channel named "stamps" containing the specific timestamp at which each point was measured

Definition at line 98 of file laser_geometry.h.

Constructor & Destructor Documentation

laser_geometry::LaserProjection::LaserProjection ( ) [inline]

Definition at line 103 of file laser_geometry.h.

laser_geometry::LaserProjection::~LaserProjection ( )

Destructor to deallocate stored unit vectors.

Definition at line 180 of file laser_geometry.cpp.

Member Function Documentation

const boost::numeric::ublas::matrix< double > & laser_geometry::LaserProjection::getUnitVectors_	(	double	angle_min,
		double	angle_max,
		double	angle_increment,
		unsigned int	length
	)		`[protected]`

Internal protected representation of getUnitVectors.

This function should not be used by external users, however, it is left protected so that test code can evaluate it appropriately.

Definition at line 154 of file laser_geometry.cpp.

void laser_geometry::LaserProjection::projectLaser	(	const sensor_msgs::LaserScan &	scan_in,
		sensor_msgs::PointCloud &	cloud_out,
		double	range_cutoff = `-1.0`,
		int	channel_options = `channel_option::Default`
	)		`[inline]`

Project a sensor_msgs::LaserScan into a sensor_msgs::PointCloud.

Project a single laser scan from a linear array into a 3D point cloud. The generated cloud will be in the same frame as the original laser scan.

Parameters:

scan_in	The input laser scan
cloud_out	The output point cloud
range_cutoff	An additional range cutoff which can be applied which is more limiting than max_range in the scan.
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.

Definition at line 124 of file laser_geometry.h.

void laser_geometry::LaserProjection::projectLaser	(	const sensor_msgs::LaserScan &	scan_in,
		sensor_msgs::PointCloud2 &	cloud_out,
		double	range_cutoff = `-1.0`,
		int	channel_options = `channel_option::Default`
	)		`[inline]`

Project a sensor_msgs::LaserScan into a sensor_msgs::PointCloud2.

Project a single laser scan from a linear array into a 3D point cloud. The generated cloud will be in the same frame as the original laser scan.

Parameters:

scan_in	The input laser scan
cloud_out	The output point cloud
range_cutoff	An additional range cutoff which can be applied which is more limiting than max_range in the scan.
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.

Definition at line 147 of file laser_geometry.h.

void laser_geometry::LaserProjection::projectLaser_	(	const sensor_msgs::LaserScan &	scan_in,
		sensor_msgs::PointCloud &	cloud_out,
		double	range_cutoff,
		bool	preservative,
		int	channel_options
	)		`[private]`

Internal hidden representation of projectLaser.

Todo:: optimize and catch length difference better

Definition at line 38 of file laser_geometry.cpp.

void laser_geometry::LaserProjection::projectLaser_	(	const sensor_msgs::LaserScan &	scan_in,
		sensor_msgs::PointCloud2 &	cloud_out,
		double	range_cutoff,
		int	channel_options
	)		`[private]`

Internal hidden representation of projectLaser.

Definition at line 278 of file laser_geometry.cpp.

void laser_geometry::LaserProjection::transformLaserScanToPointCloud	(	const std::string &	target_frame,
		const sensor_msgs::LaserScan &	scan_in,
		sensor_msgs::PointCloud &	cloud_out,
		tf::Transformer &	tf,
		double	range_cutoff,
		int	channel_options = `channel_option::Default`
	)		`[inline]`

Transform a sensor_msgs::LaserScan into a sensor_msgs::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 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.

Parameters:

target_frame	The frame of the resulting point cloud
scan_in	The input laser scan
cloud_out	The output point cloud
tf	a tf::Transformer object to use to perform the transform
range_cutoff	An additional range cutoff which can be applied which is more limiting than max_range in the scan.
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.

Definition at line 177 of file laser_geometry.h.

void laser_geometry::LaserProjection::transformLaserScanToPointCloud	(	const std::string &	target_frame,
		const sensor_msgs::LaserScan &	scan_in,
		sensor_msgs::PointCloud &	cloud_out,
		tf::Transformer &	tf,
		int	channel_options = `channel_option::Default`
	)		`[inline]`

Transform a sensor_msgs::LaserScan into a sensor_msgs::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 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.

Parameters:

target_frame	The frame of the resulting point cloud
scan_in	The input laser scan
cloud_out	The output point cloud
tf	a tf::Transformer object to use to perform the transform
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.

Definition at line 206 of file laser_geometry.h.

void laser_geometry::LaserProjection::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`
	)		`[inline]`

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.

Parameters:

target_frame	The frame of the resulting point cloud
scan_in	The input laser scan
cloud_out	The output point cloud
tf	a tf::Transformer object to use to perform the transform
range_cutoff	An additional range cutoff which can be applied which is more limiting than max_range in the scan.
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.

Definition at line 236 of file laser_geometry.h.

void laser_geometry::LaserProjection::transformLaserScanToPointCloud_	(	const std::string &	target_frame,
		sensor_msgs::PointCloud &	cloud_out,
		const sensor_msgs::LaserScan &	scan_in,
		tf::Transformer &	tf,
		double	range_cutoff,
		int	channel_options
	)		`[private]`

Internal hidden representation of transformLaserScanToPointCloud.

Todo:: Make a function that performs both the slerp and linear interpolation needed to interpolate a Full Transform (Quaternion + Vector)

Definition at line 192 of file laser_geometry.cpp.

void laser_geometry::LaserProjection::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
	)		`[private]`