00001 /* 00002 * Copyright (c) 2010, 2011, Ivan Dryanovski, William Morris 00003 * All rights reserved. 00004 * 00005 * Redistribution and use in source and binary forms, with or without 00006 * modification, are permitted provided that the following conditions are met: 00007 * 00008 * * Redistributions of source code must retain the above copyright 00009 * notice, this list of conditions and the following disclaimer. 00010 * * Redistributions in binary form must reproduce the above copyright 00011 * notice, this list of conditions and the following disclaimer in the 00012 * documentation and/or other materials provided with the distribution. 00013 * * Neither the name of the CCNY Robotics Lab nor the names of its 00014 * contributors may be used to endorse or promote products derived from 00015 * this software without specific prior written permission. 00016 * 00017 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00018 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00019 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00020 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00021 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00022 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00023 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00024 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00025 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00026 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00027 * POSSIBILITY OF SUCH DAMAGE. 00028 */ 00029 00030 #ifndef LASER_ORTHO_PROJECTOR_LASER_ORTHO_PROJECTOR_H 00031 #define LASER_ORTHO_PROJECTOR_LASER_ORTHO_PROJECTOR_H 00032 00033 #include <limits> 00034 #include <ros/ros.h> 00035 #include <geometry_msgs/Point32.h> 00036 #include <geometry_msgs/PoseStamped.h> 00037 #include <sensor_msgs/LaserScan.h> 00038 #include <sensor_msgs/Imu.h> 00039 #include <sensor_msgs/PointCloud2.h> 00040 #include <tf/transform_listener.h> 00041 #include <tf/transform_broadcaster.h> 00042 #include <tf/message_filter.h> 00043 #include <message_filters/subscriber.h> 00044 #include <pcl/io/pcd_io.h> 00045 #include <pcl/point_types.h> 00046 #include <pcl/point_cloud.h> 00047 #include <pcl_ros/point_cloud.h> 00048 00049 namespace scan_tools { 00050 00051 class LaserOrthoProjector 00052 { 00053 typedef pcl::PointXYZ PointT; 00054 typedef pcl::PointCloud<PointT> PointCloudT; 00055 00056 typedef geometry_msgs::PoseStamped PoseMsg; 00057 typedef sensor_msgs::Imu ImuMsg; 00058 00059 public: 00060 00061 LaserOrthoProjector (ros::NodeHandle nh, ros::NodeHandle nh_private); 00062 virtual ~ LaserOrthoProjector (); 00063 00064 private: 00065 00066 // **** ROS-related 00067 00068 ros::NodeHandle nh_; 00069 ros::NodeHandle nh_private_; 00070 00071 ros::Publisher cloud_publisher_; 00072 00073 ros::Subscriber scan_subscriber_; 00074 ros::Subscriber imu_subscriber_; 00075 ros::Subscriber pose_subscriber_; 00076 00077 tf::TransformListener tf_listener_; 00078 tf::TransformBroadcaster tf_broadcaster_; 00079 00080 // **** paramaters 00081 00082 std::string world_frame_; 00083 std::string base_frame_; 00084 std::string ortho_frame_; 00085 00086 bool publish_tf_; 00087 bool use_pose_; 00088 bool use_imu_; 00089 00090 // **** state variables 00091 00092 bool initialized_; 00093 00094 std::vector<double> a_sin_; 00095 std::vector<double> a_cos_; 00096 00097 PointT nan_point_; 00098 00099 tf::Transform base_to_laser_; // static, cached 00100 tf::Transform ortho_to_laser_; // computed from b2l, w2b, w2o 00101 00102 void scanCallback (const sensor_msgs::LaserScan::ConstPtr& scan_msg); 00103 void poseCallback (const PoseMsg::ConstPtr& pose_msg); 00104 void imuCallback (const ImuMsg::ConstPtr& imu_msg); 00105 void getOrthoTf(const tf::Transform& world_to_base, tf::Transform& world_to_ortho); 00106 bool getBaseToLaserTf (const sensor_msgs::LaserScan::ConstPtr& scan_msg); 00107 void createCache (const sensor_msgs::LaserScan::ConstPtr& scan_msg); 00108 00109 00110 }; 00111 00112 } // namespace scan_tools 00113 00114 #endif // LASER_ORTHO_PROJECTOR_LASER_ORTHO_PROJECTOR_H