laser_geometry.laser_geometry module

class laser_geometry.laser_geometry.LaserProjection

Bases: object

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 or 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.

class ChannelOption

Bases: object

DEFAULT = 3

DISTANCE = 4

INDEX = 2

INTENSITY = 1

NONE = 0

TIMESTAMP = 8

VIEWPOINT = 16

LASER_SCAN_INVALID = -1.0

LASER_SCAN_MAX_RANGE = -3.0

LASER_SCAN_MIN_RANGE = -2.0

projectLaser(scan_in, range_cutoff=-1.0, channel_options=3)

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.