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. More...

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. More...

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. More...

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. More...

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. More...

void	transformLaserScanToPointCloud (const std::string &target_frame, const sensor_msgs::LaserScan &scan_in, sensor_msgs::PointCloud2 &cloud_out, tf2::BufferCore &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. More...

void	transformLaserScanToPointCloud (const std::string &target_frame, const sensor_msgs::LaserScan &scan_in, sensor_msgs::PointCloud2 &cloud_out, const std::string &fixed_frame, tf2::BufferCore &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. More...

	~LaserProjection ()
	Destructor to deallocate stored unit vectors. More...

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. More...

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. More...

void	projectLaser_ (const sensor_msgs::LaserScan &scan_in, sensor_msgs::PointCloud2 &cloud_out, double range_cutoff, int channel_options)
	Internal hidden representation of projectLaser. More...

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. More...

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. More...

void	transformLaserScanToPointCloud_ (const std::string &target_frame, const sensor_msgs::LaserScan &scan_in, sensor_msgs::PointCloud2 &cloud_out, tf2::BufferCore &tf, double range_cutoff, int channel_options)
	Internal hidden representation of transformLaserScanToPointCloud2. More...

void	transformLaserScanToPointCloud_ (const std::string &target_frame, const sensor_msgs::LaserScan &scan_in, sensor_msgs::PointCloud2 &cloud_out, const std::string &fixed_frame, tf2::BufferCore &tf, double range_cutoff, int channel_options)
	Internal hidden representation of transformLaserScanToPointCloud2. More...

void	transformLaserScanToPointCloud_ (const std::string &target_frame, const sensor_msgs::LaserScan &scan_in, sensor_msgs::PointCloud2 &cloud_out, tf2::Quaternion quat_start, tf2::Vector3 origin_start, tf2::Quaternion quat_end, tf2::Vector3 origin_end, double range_cutoff, int channel_options)
	Function used by the several forms of transformLaserScanToPointCloud_. More...

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. More...

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 113 of file laser_geometry.h.

Constructor & Destructor Documentation

◆ LaserProjection()

laser_geometry::LaserProjection::LaserProjection ( )

inline

Definition at line 118 of file laser_geometry.h.

◆ ~LaserProjection()

laser_geometry::LaserProjection::~LaserProjection ( )

Destructor to deallocate stored unit vectors.

Definition at line 178 of file laser_geometry.cpp.

Member Function Documentation

◆ getUnitVectors_()

const boost::numeric::ublas::matrix< double > & laser_geometry.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 152 of file laser_geometry.cpp.

◆ projectLaser() [1/2]

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 to discard everything above it. Defaults to -1.0, which means the laser scan max range.
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 139 of file laser_geometry.h.

◆ projectLaser() [2/2]

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 to discard everything above it. Defaults to -1.0, which means the laser scan max range.
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 163 of file laser_geometry.h.

◆ projectLaser_() [1/2]

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.

◆ projectLaser_() [2/2]

void laser_geometry.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 277 of file laser_geometry.cpp.

◆ transformLaserScanToPointCloud() [1/5]

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 to discard everything above it.
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 193 of file laser_geometry.h.

◆ transformLaserScanToPointCloud() [2/5]

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 222 of file laser_geometry.h.

◆ transformLaserScanToPointCloud() [3/5]

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 to discard everything above it. Defaults to -1.0, which means the laser scan max range.
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 253 of file laser_geometry.h.

◆ transformLaserScanToPointCloud() [4/5]

void laser_geometry::LaserProjection::transformLaserScanToPointCloud	(	const std::string &	target_frame,
		const sensor_msgs::LaserScan &	scan_in,
		sensor_msgs::PointCloud2 &	cloud_out,
		tf2::BufferCore &	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 tf2::BufferCore object to use to perform the transform
range_cutoff	An additional range cutoff which can be applied to discard everything above it. Defaults to -1.0, which means the laser scan max range.
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 285 of file laser_geometry.h.

◆ transformLaserScanToPointCloud() [5/5]

void laser_geometry::LaserProjection::transformLaserScanToPointCloud	(	const std::string &	target_frame,
		const sensor_msgs::LaserScan &	scan_in,
		sensor_msgs::PointCloud2 &	cloud_out,
		const std::string &	fixed_frame,
		tf2::BufferCore &	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. This version uses an intermediate fixed frame, which enables transformation into a moving frame, including transformation to the source frame at the beginning of the scan.

Parameters

target_frame	The frame of the resulting point cloud
scan_in	The input laser scan
cloud_out	The output point cloud
fixed_frame	The intermediate fixed frame for transformation
tf	a tf2::BufferCore object to use to perform the transform
range_cutoff	An additional range cutoff which can be applied to discard everything above it. Defaults to -1.0, which means the laser scan max range.
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 318 of file laser_geometry.h.

◆ transformLaserScanToPointCloud_() [1/5]

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.

◆ transformLaserScanToPointCloud_() [2/5]

void laser_geometry.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

Internal hidden representation of transformLaserScanToPointCloud2.

Definition at line 653 of file laser_geometry.cpp.

◆ transformLaserScanToPointCloud_() [3/5]

void laser_geometry::LaserProjection::transformLaserScanToPointCloud_	(	const std::string &	target_frame,
		const sensor_msgs::LaserScan &	scan_in,
		sensor_msgs::PointCloud2 &	cloud_out,
		tf2::BufferCore &	tf,
		double	range_cutoff,
		int	channel_options
	)

private

Internal hidden representation of transformLaserScanToPointCloud2.

Definition at line 688 of file laser_geometry.cpp.

◆ transformLaserScanToPointCloud_() [4/5]

void laser_geometry::LaserProjection::transformLaserScanToPointCloud_	(	const std::string &	target_frame,
		const sensor_msgs::LaserScan &	scan_in,
		sensor_msgs::PointCloud2 &	cloud_out,
		const std::string &	fixed_frame,
		tf2::BufferCore &	tf,
		double	range_cutoff,
		int	channel_options
	)

private

Internal hidden representation of transformLaserScanToPointCloud2.

Definition at line 724 of file laser_geometry.cpp.

◆ transformLaserScanToPointCloud_() [5/5]

void laser_geometry::LaserProjection::transformLaserScanToPointCloud_	(	const std::string &	target_frame,
		const sensor_msgs::LaserScan &	scan_in,
		sensor_msgs::PointCloud2 &	cloud_out,
		tf2::Quaternion	quat_start,
		tf2::Vector3	origin_start,
		tf2::Quaternion	quat_end,
		tf2::Vector3	origin_end,
		double	range_cutoff,
		int	channel_options
	)

private

Function used by the several forms 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 497 of file laser_geometry.cpp.

Member Data Documentation

◆ angle_max_

float laser_geometry::LaserProjection::angle_max_

private

Definition at line 404 of file laser_geometry.h.

◆ angle_min_

float laser_geometry::LaserProjection::angle_min_

private

Definition at line 403 of file laser_geometry.h.

◆ co_sine_map_

Eigen::ArrayXXd laser_geometry::LaserProjection::co_sine_map_

private

Definition at line 405 of file laser_geometry.h.

◆ guv_mutex_

boost::mutex laser_geometry::LaserProjection::guv_mutex_

private

Definition at line 406 of file laser_geometry.h.

◆ unit_vector_map_

std::map<std::string,boost::numeric::ublas::matrix<double>* > laser_geometry::LaserProjection::unit_vector_map_

private

Internal map of pointers to stored values.

Definition at line 402 of file laser_geometry.h.

The documentation for this class was generated from the following files:

Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ LaserProjection()

◆ ~LaserProjection()

Member Function Documentation

◆ getUnitVectors_()

◆ projectLaser() [1/2]

◆ projectLaser() [2/2]

◆ projectLaser_() [1/2]

◆ projectLaser_() [2/2]

◆ transformLaserScanToPointCloud() [1/5]

◆ transformLaserScanToPointCloud() [2/5]

◆ transformLaserScanToPointCloud() [3/5]

◆ transformLaserScanToPointCloud() [4/5]

◆ transformLaserScanToPointCloud() [5/5]

◆ transformLaserScanToPointCloud_() [1/5]

◆ transformLaserScanToPointCloud_() [2/5]

◆ transformLaserScanToPointCloud_() [3/5]

◆ transformLaserScanToPointCloud_() [4/5]

◆ transformLaserScanToPointCloud_() [5/5]

Member Data Documentation

◆ angle_max_

◆ angle_min_

◆ co_sine_map_

◆ guv_mutex_

◆ unit_vector_map_