Class to accumulate point clouds laser3D. More...

#include <laser_3d_pointcloud.h>

Public Member Functions
void	accumulate_cloud (pcl::PointCloud< pcl::PointXYZ > *pc_in)
	Function to accumulate PointCloud. Receives the pointcloud with the transformed laser scan and accumulates it on the class variable pc_accumulated. More...

	las3D_PointCloud ()

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)
	Transform a sensor_msgs::LaserScan into a sensor_msgs::PointCloud2 in target frame using the external information of the external shaft angle. 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. More...

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)
	Transform a sensor_msgs::LaserScan into a sensor_msgs::PointCloud2 in target frame using the scan time stamps. 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. More...

	~las3D_PointCloud ()

Public Attributes
int	accumulation_mode
	Type of accumulation wanted to be used. More...

size_t	cloud_size
	PointCloud size. More...

std::vector < sensor_msgs::JointStatePtr >	joints
	Vector with the external shaft angle mensage. More...

int	laser_count
	Number of laser scans received. More...

bool	laserscan_arrived
	bool laser scan received More...

int	max_scans_accumulated
	Max of scans to be accumulated. More...

tf::TransformListener *	p_listener
	ROS tf listener. More...

pcl::PointCloud< pcl::PointXYZ >	pc_accumulated
	PointCloud<pcl::PointXYZ> to accumulate the laser scans. More...

int	pointcloud_stamp
	Time stamp to the output cloud, when using rosbag or in real time accumulation. More...

std::vector < sensor_msgs::LaserScanPtr >	scans
	Vector with the laser scans received. More...

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. More...

Private Member Functions
void	las3D_projectLaser_ (const sensor_msgs::LaserScan &scan_in, sensor_msgs::PointCloud2 &cloud_out, double range_cutoff, int channel_options)
	Internal hidden representation of las3D_projectLaser_. More...

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)
	Internal hidden representation of las3D_transformLaserScanToPointCloud_. More...

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)

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. More...

Detailed Description

Class to accumulate point clouds laser3D.

Date: June 2013

Author: Diogo Matos

Definition at line 91 of file laser_3d_pointcloud.h.

Constructor & Destructor Documentation

las3D_PointCloud::las3D_PointCloud ( )

inline

Definition at line 125 of file laser_3d_pointcloud.h.

las3D_PointCloud::~las3D_PointCloud ( )

Definition at line 79 of file laser_3d_pointcloud.cpp.

Member Function Documentation

void las3D_PointCloud::accumulate_cloud ( pcl::PointCloud< pcl::PointXYZ > * pc_in )

Function to accumulate PointCloud. Receives the pointcloud with the transformed laser scan and accumulates it on the class variable pc_accumulated.

Parameters

pc_in pointcloud to transform

Definition at line 39 of file laser_3d_pointcloud.cpp.

const boost::numeric::ublas::matrix< double > & las3D_PointCloud::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 53 of file laser_3d_pointcloud.cpp.

void las3D_PointCloud::las3D_projectLaser_	(	const sensor_msgs::LaserScan &	scan_in,
		sensor_msgs::PointCloud2 &	cloud_out,
		double	range_cutoff,
		int	channel_options
	)

private

Internal hidden representation of las3D_projectLaser_.

Definition at line 90 of file laser_3d_pointcloud.cpp.

int las3D_PointCloud::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`
	)

inline

Transform a sensor_msgs::LaserScan into a sensor_msgs::PointCloud2 in target frame using the external information of the external shaft angle. 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.

Parameters

target_frame	The frame of the resulting point cloud
scan_in	The input laser scan
cloud_out	The output point cloud
tf	a tf::Transformer object to use to perform the transform
state_start	The external shaft angle mensage at the start of the scan
state_end	The external shaft angle mensage at the end of the scan
range_cutoff	An additional range cutoff which can be applied which is more limiting than max_range in the scan.
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.

Definition at line 172 of file laser_3d_pointcloud.h.

int las3D_PointCloud::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`
	)

inline

Transform a sensor_msgs::LaserScan into a sensor_msgs::PointCloud2 in target frame using the scan time stamps. 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.

Parameters

target_frame	The frame of the resulting point cloud
scan_in	The input laser scan
cloud_out	The output point cloud
tf	a tf::Transformer object to use to perform the transform
range_cutoff	An additional range cutoff which can be applied which is more limiting than max_range in the scan.
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.

Definition at line 207 of file laser_3d_pointcloud.h.

int las3D_PointCloud::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
	)

private

Internal hidden representation of las3D_transformLaserScanToPointCloud_.

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

Definition at line 519 of file laser_3d_pointcloud.cpp.

int las3D_PointCloud::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
	)

private

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

Definition at line 301 of file laser_3d_pointcloud.cpp.

Member Data Documentation

int las3D_PointCloud::accumulation_mode

Type of accumulation wanted to be used.

Definition at line 117 of file laser_3d_pointcloud.h.

float las3D_PointCloud::angle_max_

private

Definition at line 263 of file laser_3d_pointcloud.h.

float las3D_PointCloud::angle_min_

private

Definition at line 262 of file laser_3d_pointcloud.h.

size_t las3D_PointCloud::cloud_size

PointCloud size.

Definition at line 102 of file laser_3d_pointcloud.h.

Eigen::ArrayXXd las3D_PointCloud::co_sine_map_

private

Definition at line 264 of file laser_3d_pointcloud.h.

boost::mutex las3D_PointCloud::guv_mutex_

private

Definition at line 265 of file laser_3d_pointcloud.h.

std::vector<sensor_msgs::JointStatePtr> las3D_PointCloud::joints

Vector with the external shaft angle mensage.

Definition at line 105 of file laser_3d_pointcloud.h.

int las3D_PointCloud::laser_count

Number of laser scans received.

Definition at line 108 of file laser_3d_pointcloud.h.

bool las3D_PointCloud::laserscan_arrived

bool laser scan received

Definition at line 111 of file laser_3d_pointcloud.h.

int las3D_PointCloud::max_scans_accumulated

Max of scans to be accumulated.

Definition at line 120 of file laser_3d_pointcloud.h.

tf::TransformListener* las3D_PointCloud::p_listener

ROS tf listener.

Definition at line 96 of file laser_3d_pointcloud.h.

pcl::PointCloud<pcl::PointXYZ> las3D_PointCloud::pc_accumulated

PointCloud<pcl::PointXYZ> to accumulate the laser scans.

Definition at line 99 of file laser_3d_pointcloud.h.

int las3D_PointCloud::pointcloud_stamp

Time stamp to the output cloud, when using rosbag or in real time accumulation.

Definition at line 123 of file laser_3d_pointcloud.h.

std::vector<sensor_msgs::LaserScanPtr> las3D_PointCloud::scans

Vector with the laser scans received.

Definition at line 114 of file laser_3d_pointcloud.h.

std::map<std::string,boost::numeric::ublas::matrix<double>* > las3D_PointCloud::unit_vector_map_

private

Internal map of pointers to stored values.

Definition at line 261 of file laser_3d_pointcloud.h.

The documentation for this class was generated from the following files:

Public Member Functions

Public Attributes

Protected Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation