Public Member Functions | Protected Member Functions | Private Member Functions | Private Attributes
laser_geometry::LaserProjection Class Reference

A Class to Project Laser Scan. More...

#include <laser_geometry.h>

Inheritance diagram for laser_geometry::LaserProjection:
Inheritance graph
[legend]

List of all members.

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.
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.
 ~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.
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.
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_.

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.

Definition at line 99 of file laser_geometry.h.


Constructor & Destructor Documentation

Definition at line 104 of file laser_geometry.h.

Destructor to deallocate stored unit vectors.

Definition at line 177 of file laser_geometry.cpp.


Member Function Documentation

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 151 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_inThe input laser scan
cloud_outThe output point cloud
range_cutoffAn additional range cutoff which can be applied to discard everything above it. Defaults to -1.0, which means the laser scan max range.
channel_optionAn 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 125 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_inThe input laser scan
cloud_outThe output point cloud
range_cutoffAn additional range cutoff which can be applied to discard everything above it. Defaults to -1.0, which means the laser scan max range.
channel_optionAn 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 149 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.

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 276 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_frameThe frame of the resulting point cloud
scan_inThe input laser scan
cloud_outThe output point cloud
tfa tf::Transformer object to use to perform the transform
range_cutoffAn additional range cutoff which can be applied to discard everything above it.
channel_optionAn 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 179 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_frameThe frame of the resulting point cloud
scan_inThe input laser scan
cloud_outThe output point cloud
tfa tf::Transformer object to use to perform the transform
channel_optionAn 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 208 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_frameThe frame of the resulting point cloud
scan_inThe input laser scan
cloud_outThe output point cloud
tfa tf::Transformer object to use to perform the transform
range_cutoffAn additional range cutoff which can be applied to discard everything above it. Defaults to -1.0, which means the laser scan max range.
channel_optionAn 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 239 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,
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_frameThe frame of the resulting point cloud
scan_inThe input laser scan
cloud_outThe output point cloud
tfa tf2::BufferCore object to use to perform the transform
range_cutoffAn additional range cutoff which can be applied to discard everything above it. Defaults to -1.0, which means the laser scan max range.
channel_optionAn 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 271 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.

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 652 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,
tf2::BufferCore tf,
double  range_cutoff,
int  channel_options 
) [private]

Internal hidden representation of transformLaserScanToPointCloud2.

Definition at line 687 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,
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 496 of file laser_geometry.cpp.


Member Data Documentation

Definition at line 347 of file laser_geometry.h.

Definition at line 346 of file laser_geometry.h.

Definition at line 348 of file laser_geometry.h.

Definition at line 349 of file laser_geometry.h.

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 345 of file laser_geometry.h.


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


laser_geometry
Author(s): Tully Foote, Radu Bogdan Rusu
autogenerated on Mon Jul 24 2017 02:35:42