Public Member Functions
Static Public Attributes
|float||LASER_SCAN_INVALID = 1.0|
|float||LASER_SCAN_MAX_RANGE = 3.0|
|float||LASER_SCAN_MIN_RANGE = 2.0|
Private Member Functions
A class to Project Laser Scan This calls 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 thatn the scanner min_range, 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 requirement that all ranges are between min and max_range. The generate PointClouds have a number of channels which can be enabled through the use of ChannelOption. - ChannelOption.INTENSITY - Create a channel named "intensities" with the intensity of the return for each point. - ChannelOption.INDEX - Create a channel named "index" containing the index from the original array for each point. - ChannelOption.DISTANCE - Create a channel named "distance" containing the distance from the laser to each point. - ChannelOption.TIMESTAMP - Create a channel named "stamps" containing the specific timestamp at which each point was measured.
Definition at line 36 of file laser_geometry.py.
Definition at line 102 of file laser_geometry.py.
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. Keyword arguments: scan_in -- The input laser scan. range_cutoff -- An additional range cutoff which can be applied which is more limiting than max_range in the scan (default -1.0). channel_options -- An OR'd set of channels to include.
Definition at line 84 of file laser_geometry.py.
|float laser_geometry::laser_geometry.LaserProjection::LASER_SCAN_INVALID = 1.0
Definition at line 65 of file laser_geometry.py.
|float laser_geometry::laser_geometry.LaserProjection::LASER_SCAN_MAX_RANGE = 3.0
Definition at line 67 of file laser_geometry.py.
|float laser_geometry::laser_geometry.LaserProjection::LASER_SCAN_MIN_RANGE = 2.0
Definition at line 66 of file laser_geometry.py.