/usr/include/laser_geometry/laser_geometry.h is in liblaser-geometry-dev 1.6.4-2.
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* Copyright (c) 2008, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* * Neither the name of the Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef LASER_SCAN_UTILS_LASERSCAN_H
#define LASER_SCAN_UTILS_LASERSCAN_H
#include <map>
#include <iostream>
#include <sstream>
#include "boost/numeric/ublas/matrix.hpp"
#include "boost/thread/mutex.hpp"
#include <tf/tf.h>
#include <tf2/buffer_core.h>
#include "sensor_msgs/LaserScan.h"
#include "sensor_msgs/PointCloud.h"
#include "sensor_msgs/PointCloud.h"
#include <Eigen/Core>
#include <sensor_msgs/PointCloud2.h>
namespace laser_geometry
{
// NOTE: invalid scan errors (will be present in LaserScan.msg in D-Turtle)
const float LASER_SCAN_INVALID = -1.0;
const float LASER_SCAN_MIN_RANGE = -2.0;
const float LASER_SCAN_MAX_RANGE = -3.0;
namespace channel_option
{
//! Enumerated output channels options.
/*!
* An OR'd set of these options is passed as the final argument of
* the projectLaser and transformLaserScanToPointCloud calls to
* enable generation of the appropriate set of additional channels.
*/
enum ChannelOption
{
None = 0x00, //!< Enable no channels
Intensity = 0x01, //!< Enable "intensities" channel
Index = 0x02, //!< Enable "index" channel
Distance = 0x04, //!< Enable "distances" channel
Timestamp = 0x08, //!< Enable "stamps" channel
Viewpoint = 0x10, //!< Enable "viewpoint" channel
Default = (Intensity | Index) //!< Enable "intensities" and "index" channels
};
}
//! \brief 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
*/
class LaserProjection
{
public:
LaserProjection() : angle_min_(0), angle_max_(0) {}
//! Destructor to deallocate stored unit vectors
~LaserProjection();
//! 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.
*
* \param scan_in The input laser scan
* \param cloud_out The output point cloud
* \param 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.
* \param 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.
*/
void projectLaser (const sensor_msgs::LaserScan& scan_in,
sensor_msgs::PointCloud& cloud_out,
double range_cutoff = -1.0,
int channel_options = channel_option::Default)
{
return projectLaser_ (scan_in, cloud_out, range_cutoff, false, channel_options);
}
//! 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.
*
* \param scan_in The input laser scan
* \param cloud_out The output point cloud
* \param 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.
* \param 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.
*/
void projectLaser (const sensor_msgs::LaserScan& scan_in,
sensor_msgs::PointCloud2 &cloud_out,
double range_cutoff = -1.0,
int channel_options = channel_option::Default)
{
projectLaser_(scan_in, cloud_out, range_cutoff, channel_options);
}
//! 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.
*
* \param target_frame The frame of the resulting point cloud
* \param scan_in The input laser scan
* \param cloud_out The output point cloud
* \param tf a tf::Transformer object to use to perform the
* transform
* \param range_cutoff An additional range cutoff which can be
* applied to discard everything above it.
* \param 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.
*/
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)
{
return transformLaserScanToPointCloud_ (target_frame, cloud_out, scan_in, tf, range_cutoff, channel_options);
}
//! 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.
*
* \param target_frame The frame of the resulting point cloud
* \param scan_in The input laser scan
* \param cloud_out The output point cloud
* \param tf a tf::Transformer object to use to perform the
* transform
* \param 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.
*/
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)
{
return transformLaserScanToPointCloud_ (target_frame, cloud_out, scan_in, tf, -1.0, channel_options);
}
//! 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.
*
* \param target_frame The frame of the resulting point cloud
* \param scan_in The input laser scan
* \param cloud_out The output point cloud
* \param tf a tf::Transformer object to use to perform the
* transform
* \param 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.
* \param 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.
*/
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)
{
transformLaserScanToPointCloud_(target_frame, scan_in, cloud_out, tf, range_cutoff, channel_options);
}
//! 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.
*
* \param target_frame The frame of the resulting point cloud
* \param scan_in The input laser scan
* \param cloud_out The output point cloud
* \param tf a tf2::BufferCore object to use to perform the
* transform
* \param 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.
* \param 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.
*/
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)
{
transformLaserScanToPointCloud_(target_frame, scan_in, cloud_out, tf, range_cutoff, channel_options);
}
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.
*/
const boost::numeric::ublas::matrix<double>& getUnitVectors_(double angle_min,
double angle_max,
double angle_increment,
unsigned int length);
private:
//! Internal hidden representation of projectLaser
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 transformLaserScanToPointCloud
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 transformLaserScanToPointCloud2
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);
//! Function used by the several forms of transformLaserScanToPointCloud_
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);
//! Internal map of pointers to stored values
std::map<std::string,boost::numeric::ublas::matrix<double>* > unit_vector_map_;
float angle_min_;
float angle_max_;
Eigen::ArrayXXd co_sine_map_;
boost::mutex guv_mutex_;
};
}
#endif //LASER_SCAN_UTILS_LASERSCAN_H
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