laser_3d_pointcloud.h

Go to the documentation of this file.

/**************************************************************************************************
 Software License Agreement (BSD License)

 Copyright (c) 2011-2013, LAR toolkit developers - University of Aveiro - http://lars.mec.ua.pt
 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 University of Aveiro 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 HOLDER 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 _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/conversions.h>
#include <pcl_conversions/pcl_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