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#ifndef _LASER3D_POINTCLOUD_H_
#define _LASER3D_POINTCLOUD_H_

#include <stdio.h>
#include <ros/ros.h>
#include <laser_geometry/laser_geometry.h>
#include <sensor_msgs/LaserScan.h>
#include <sensor_msgs/JointState.h>
#include <sensor_msgs/PointCloud2.h>
#include <tf/transform_listener.h>
#include <pcl_ros/transforms.h>
#include <pcl/ros/conversions.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <Eigen/Core>
#include <map>
#include <tf/tf.h>

#include <boost/numeric/ublas/matrix.hpp>
#include <boost/thread/mutex.hpp>



  // 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
  {

    enum ChannelOption
      {
        None = 0x00,      
        Intensity = 0x01, 
        Index     = 0x02, 
        Distance  = 0x04, 
        Timestamp = 0x08, 
        Viewpoint = 0x10, 
        Default   = (Intensity | Index) 
      };
  }

class las3D_PointCloud
{
        public:
                
                tf::TransformListener *p_listener;
                
                pcl::PointCloud<pcl::PointXYZ> pc_accumulated;  
                
                size_t cloud_size;      
                
                std::vector<sensor_msgs::JointStatePtr> joints;
                
                int laser_count;
                
                bool laserscan_arrived;
                
                std::vector<sensor_msgs::LaserScanPtr> scans;
                
                int accumulation_mode;

                int max_scans_accumulated;
                
                int pointcloud_stamp;
                
                las3D_PointCloud()
                {
                        accumulation_mode=1;
                        max_scans_accumulated=450;
                        pointcloud_stamp=1;
                        
                        angle_min_=0;
                        angle_max_=0;
                        laser_count=0;
                        laserscan_arrived=false;
                }
                
                ~las3D_PointCloud();
                
                void accumulate_cloud(pcl::PointCloud<pcl::PointXYZ>* pc_in);
      
      
                int las3D_transformLaserScanToPointCloud(const std::string &target_frame, 
                                           const sensor_msgs::LaserScan &scan_in, 
                                           sensor_msgs::PointCloud2 &cloud_out,
                                                                                        const sensor_msgs::JointState &state_start,
                                                                                        const sensor_msgs::JointState &state_end,
                                                                                        tf::Transformer &tf,
                                           double range_cutoff = -1.0,
                                           int channel_options = channel_option::Default)
                {
                        int error=0;
                        error=las3D_transformLaserScanToPointCloud_(target_frame, scan_in, cloud_out, state_start,state_end, tf, range_cutoff, channel_options);
                        return error;                           
                }
                
                int las3D_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)
                {
                        int error=0;
                        error=las3D_transformLaserScanToPointCloud_(target_frame, scan_in, cloud_out, tf, range_cutoff, channel_options);
                        return error;                           
                }

    protected:


      const boost::numeric::ublas::matrix<double>& getUnitVectors_(double angle_min,
                                                                   double angle_max,
                                                                   double angle_increment,
                                                                   unsigned int length);

    private:

          
      void las3D_projectLaser_ (const sensor_msgs::LaserScan& scan_in, 
                                                                sensor_msgs::PointCloud2 &cloud_out,
                                                                double range_cutoff,
                                                                int channel_options);

          
      int las3D_transformLaserScanToPointCloud_ (const std::string &target_frame, 
                                            const sensor_msgs::LaserScan &scan_in,
                                            sensor_msgs::PointCloud2 &cloud_out, 
                                            const sensor_msgs::JointState &state_start,
                                                                                         const sensor_msgs::JointState &state_end,
                                                                                         tf::Transformer &tf,
                                            double range_cutoff,
                                            int channel_options);
          
          int las3D_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);
          

      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_;          
          
}; //end class

#endif

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laser3D_pointcloud
Author(s): Matos
autogenerated on Wed Jul 23 04:33:25 2014