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.
 ~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.

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 98 of file laser_geometry.h.


Constructor & Destructor Documentation

Definition at line 103 of file laser_geometry.h.

Destructor to deallocate stored unit vectors.

Definition at line 180 of file laser_geometry.cpp.


Member Function Documentation

const boost::numeric::ublas::matrix< double > & 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 154 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 which is more limiting than max_range in the scan.
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 124 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 which is more limiting than max_range in the scan.
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 147 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.

Todo:
optimize and catch length difference better

Definition at line 38 of file laser_geometry.cpp.

void 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 278 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 which is more limiting than max_range in the scan.
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 177 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 206 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 which is more limiting than max_range in the scan.
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 236 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.

Todo:
Make a function that performs both the slerp and linear interpolation needed to interpolate a Full Transform (Quaternion + Vector)

Definition at line 192 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,
tf::Transformer tf,
double  range_cutoff,
int  channel_options 
) [private]

Internal hidden representation of transformLaserScanToPointCloud2.

Todo:
Make a function that performs both the slerp and linear interpolation needed to interpolate a Full Transform (Quaternion + Vector)

Definition at line 492 of file laser_geometry.cpp.


Member Data Documentation

Definition at line 293 of file laser_geometry.h.

Definition at line 292 of file laser_geometry.h.

Definition at line 294 of file laser_geometry.h.

Definition at line 295 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 291 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 Fri Jan 3 2014 11:27:34