Thread: [Personalrobots-commit] SF.net SVN: personalrobots:[7556] pkg/trunk (Page 18)

SourceForge Headquarters 1320 Columbia Street Suite 310 San Diego, CA 92101 +1 (858) 422-6466

Revision: 7556
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=7556&view=rev
Author:   tfoote
Date:     2008-12-04 02:50:26 +0000 (Thu, 04 Dec 2008)

Log Message:
-----------
moving laser_scan_utils to laser_scan as per API review

Modified Paths:
--------------
    pkg/trunk/drivers/robot/pr2/point_cloud_assembler/manifest.xml
    pkg/trunk/drivers/robot/pr2/point_cloud_assembler/src/point_cloud_assembler.cpp
    pkg/trunk/highlevel/highlevel_controllers/include/MoveBase.hh
    pkg/trunk/highlevel/highlevel_controllers/manifest.xml
    pkg/trunk/nav/wavefront_player/manifest.xml
    pkg/trunk/nav/wavefront_player/wavefront_player.cc
    pkg/trunk/util/laser_scan/CMakeLists.txt
    pkg/trunk/util/laser_scan/manifest.xml
    pkg/trunk/util/laser_scan/src/laser_scan.cc
    pkg/trunk/util/rosTF/include/rosTF/rosTF.h
    pkg/trunk/util/rosTF/manifest.xml
    pkg/trunk/util/tf/include/tf/transform_listener.h
    pkg/trunk/util/tf/manifest.xml
    pkg/trunk/world_models/world_3d_map/manifest.xml
    pkg/trunk/world_models/world_3d_map/src/world_3d_map.cpp

Added Paths:
-----------
    pkg/trunk/util/laser_scan/
    pkg/trunk/util/laser_scan/include/laser_scan/
    pkg/trunk/util/laser_scan/include/laser_scan/laser_scan.h

Removed Paths:
-------------
    pkg/trunk/util/laser_scan_utils/

Modified: pkg/trunk/drivers/robot/pr2/point_cloud_assembler/manifest.xml
===================================================================

--- pkg/trunk/drivers/robot/pr2/point_cloud_assembler/manifest.xml	2008-12-04 02:50:06 UTC (rev 7555)
+++ pkg/trunk/drivers/robot/pr2/point_cloud_assembler/manifest.xml	2008-12-04 02:50:26 UTC (rev 7556)
@@ -8,7 +8,7 @@
   <url>http://pr.willowgarage.com/wiki/Point_clouds_from_scanning_URG</url>
   <depend package="roscpp"/>
   <depend package="std_msgs"/>
-  <depend package="laser_scan_utils"/>
+  <depend package="laser_scan"/>
   <depend package="tf"/>
   <depend package="pr2_mechanism_controllers"/>
 </package>

Modified: pkg/trunk/drivers/robot/pr2/point_cloud_assembler/src/point_cloud_assembler.cpp
===================================================================
--- pkg/trunk/drivers/robot/pr2/point_cloud_assembler/src/point_cloud_assembler.cpp	2008-12-04 02:50:06 UTC (rev 7555)
+++ pkg/trunk/drivers/robot/pr2/point_cloud_assembler/src/point_cloud_assembler.cpp	2008-12-04 02:50:26 UTC (rev 7556)
@@ -75,7 +75,7 @@
 #include "point_cloud_assembler/BuildCloud.h"
 
 // Laser projection
-#include "laser_scan_utils/laser_scan.h"
+#include "laser_scan/laser_scan.h"
 
 #include "math.h"
 

Modified: pkg/trunk/highlevel/highlevel_controllers/include/MoveBase.hh
===================================================================
--- pkg/trunk/highlevel/highlevel_controllers/include/MoveBase.hh	2008-12-04 02:50:06 UTC (rev 7555)
+++ pkg/trunk/highlevel/highlevel_controllers/include/MoveBase.hh	2008-12-04 02:50:26 UTC (rev 7556)
@@ -57,7 +57,7 @@
 #include <tf/transform_broadcaster.h>
 
 // Laser projection
-#include "laser_scan_utils/laser_scan.h"
+#include "laser_scan/laser_scan.h"
 
 // Thread suppport
 #include <rosthread/member_thread.h>

Modified: pkg/trunk/highlevel/highlevel_controllers/manifest.xml
===================================================================
--- pkg/trunk/highlevel/highlevel_controllers/manifest.xml	2008-12-04 02:50:06 UTC (rev 7555)
+++ pkg/trunk/highlevel/highlevel_controllers/manifest.xml	2008-12-04 02:50:26 UTC (rev 7556)
@@ -18,7 +18,7 @@
  <depend package="pr2_msgs"/>
  <depend package="kinematic_planning"/>
  <depend package="trajectory_rollout"/>
- <depend package="laser_scan_utils" />
+ <depend package="laser_scan" />
  <depend package="costmap_2d"/>
  <depend package="tf"/>
  <depend package="ompl"/>

Modified: pkg/trunk/nav/wavefront_player/manifest.xml
===================================================================
--- pkg/trunk/nav/wavefront_player/manifest.xml	2008-12-04 02:50:06 UTC (rev 7555)
+++ pkg/trunk/nav/wavefront_player/manifest.xml	2008-12-04 02:50:26 UTC (rev 7556)
@@ -5,7 +5,7 @@
   <review status="unreviewed" notes=""/>
   <depend package="roscpp" />
   <depend package="player" />
-  <depend package="laser_scan_utils" />
+  <depend package="laser_scan" />
   <depend package="std_srvs" />
   <depend package="tf"/>
   <export>

Modified: pkg/trunk/nav/wavefront_player/wavefront_player.cc
===================================================================
--- pkg/trunk/nav/wavefront_player/wavefront_player.cc	2008-12-04 02:50:06 UTC (rev 7555)
+++ pkg/trunk/nav/wavefront_player/wavefront_player.cc	2008-12-04 02:50:26 UTC (rev 7556)
@@ -128,7 +128,7 @@
 #include <tf/message_notifier.h>
 
 //Laser projection
-#include "laser_scan_utils/laser_scan.h"
+#include "laser_scan/laser_scan.h"
 
 // For time support
 #include <ros/time.h>

Modified: pkg/trunk/util/laser_scan/CMakeLists.txt
===================================================================
--- pkg/trunk/util/laser_scan_utils/CMakeLists.txt	2008-11-13 06:16:44 UTC (rev 6666)
+++ pkg/trunk/util/laser_scan/CMakeLists.txt	2008-12-04 02:50:26 UTC (rev 7556)
@@ -1,4 +1,4 @@
 cmake_minimum_required(VERSION 2.6)
 include(rosbuild)
-rospack(laser_scan_utils)
+rospack(laser_scan)
 rospack_add_library(laser_scan src/laser_scan.cc )
\ No newline at end of file

Added: pkg/trunk/util/laser_scan/include/laser_scan/laser_scan.h
===================================================================
--- pkg/trunk/util/laser_scan/include/laser_scan/laser_scan.h	                        (rev 0)
+++ pkg/trunk/util/laser_scan/include/laser_scan/laser_scan.h	2008-12-04 02:50:26 UTC (rev 7556)
@@ -0,0 +1,119 @@
+/*
+ * 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 <newmat10/newmat.h>
+#include <newmat10/newmatio.h>
+#include <newmat10/newmatap.h>
+
+#include "std_msgs/LaserScan.h"
+#include "std_msgs/PointCloud.h"
+#include "std_msgs/PointCloud.h"
+
+/* \mainpage 
+ * This is a class for laser scan utilities.  
+ * \todo The first goal will be to project laser scans into point clouds efficiently.  
+ * The second goal is to provide median filtering.  
+ * \todo Other potential additions are upsampling and downsampling algorithms for the scans.
+ */
+
+namespace laser_scan{
+  /** \brief A Class to Project Laser Scan
+   * This class will project laser scans into point clouds, and caches unit vectors 
+   * between runs so as not to need to recalculate.  
+   */
+  class LaserProjection
+    {
+    public:
+      /** \brief Destructor to deallocate stored unit vectors */
+      ~LaserProjection(); 
+      
+      /** \brief Project Laser Scan
+       * This will project a laser scan from a linear array into a 3D point cloud
+       * \param scan_in The input laser scan
+       * \param cloudOut The output point cloud
+       * \param range_cutoff An additional range cutoff which can be applied which is more limiting than max_range in the scan.
+       * \param preservative Default: false  If true all points in scan will be projected, including out of range values.  Otherwise they will not be added to the cloud.
+       */
+      void projectLaser(const std_msgs::LaserScan& scan_in, std_msgs::PointCloud & cloud_out, double range_cutoff=-1.0, bool preservative = false);
+
+      
+      /** \brief Return the unit vectors for this configuration
+       * Return the unit vectors for this configuration.
+       * if they have not been calculated yet, calculate them and store them
+       * Otherwise it will return them from memory. */
+      NEWMAT::Matrix& getUnitVectors(float angle_max, float angle_min, float angle_increment);
+    private:
+      ///The map of pointers to stored values
+      std::map<std::string,NEWMAT::Matrix*> unit_vector_map_;
+      
+    };
+  
+  /** \brief A class to provide median filtering of laser scans */
+  class LaserMedianFilter
+    {
+    public:
+      enum MedianMode_t { MEDIAN_TRAILING, MEDIAN_DOWNSAMPLE};
+      
+      /** \brief Constructor
+       * \param averaging_length How many scans to average over.
+       * \param num_ranges Whether to downsample and return or compute a rolling median over the last n scans
+       * \param mode What mode to operate in Trailing or Downsampling (Effectively changes returning true every time or every 3)
+       */
+      LaserMedianFilter(unsigned int averaging_length, unsigned int num_ranges, MedianMode_t mode = MEDIAN_DOWNSAMPLE);
+      /** \brief Add a scan to the filter
+       * \param scan_in The new scan to filter
+       * return whether there is a new output to get */
+      bool addScan(const std_msgs::LaserScan& scan_in);
+      /** \brief get the Filtered results
+       * \param scan_result The scan to fill with the median results */
+      void getMedian(std_msgs::LaserScan& scan_result);
+      
+      
+    private:
+      unsigned int current_packet_num_; ///The number of scans recieved
+      NEWMAT::Matrix range_data_; ///Storage for range_data
+      NEWMAT::Matrix intensity_data_; ///Storage for intensity data
+      unsigned int filter_length_; ///How many scans to average over
+      unsigned int num_ranges_; /// How many data point are in each row
+      MedianMode_t mode_; ///Whether to return true every time or once every 3
+      
+      std_msgs::LaserScan temp_scan_; /** \todo cache only shallow info not full scan */
+      
+    };
+  
+  
+}
+#endif //LASER_SCAN_UTILS_LASERSCAN_H

Modified: pkg/trunk/util/laser_scan/manifest.xml
===================================================================
--- pkg/trunk/util/laser_scan_utils/manifest.xml	2008-11-13 06:16:44 UTC (rev 6666)
+++ pkg/trunk/util/laser_scan/manifest.xml	2008-12-04 02:50:26 UTC (rev 7556)
@@ -6,7 +6,7 @@
 </description>
 <author>Tully Foote</author>
 <license>BSD</license>
-<review status="unreviewed" notes="API review in progress (Tully)"/>
+<review status="API conditionally cleared" notes="API followup in progress (Tully)"/>
 <url>http://pr.willowgarage.com</url>
 <depend package="newmat10"/>
 <depend package="std_msgs"/>

Modified: pkg/trunk/util/laser_scan/src/laser_scan.cc
===================================================================
--- pkg/trunk/util/laser_scan_utils/src/laser_scan.cc	2008-11-13 06:16:44 UTC (rev 6666)
+++ pkg/trunk/util/laser_scan/src/laser_scan.cc	2008-12-04 02:50:26 UTC (rev 7556)
@@ -27,7 +27,7 @@
  * POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "laser_scan_utils/laser_scan.h"
+#include "laser_scan/laser_scan.h"
 #include <algorithm>
 
 namespace laser_scan{

Modified: pkg/trunk/util/rosTF/include/rosTF/rosTF.h
===================================================================
--- pkg/trunk/util/rosTF/include/rosTF/rosTF.h	2008-12-04 02:50:06 UTC (rev 7555)
+++ pkg/trunk/util/rosTF/include/rosTF/rosTF.h	2008-12-04 02:50:26 UTC (rev 7556)
@@ -45,7 +45,7 @@
 #include "rosTF/TransformArray.h"
 #include "libTF/libTF.h"
 #include "std_msgs/PointCloud.h"
-#include "laser_scan_utils/laser_scan.h"
+#include "laser_scan/laser_scan.h"
 
 
 /** \brief A basic ROS client library for libTF

Modified: pkg/trunk/util/rosTF/manifest.xml
===================================================================
--- pkg/trunk/util/rosTF/manifest.xml	2008-12-04 02:50:06 UTC (rev 7555)
+++ pkg/trunk/util/rosTF/manifest.xml	2008-12-04 02:50:26 UTC (rev 7556)
@@ -13,7 +13,7 @@
 </export>
 <depend package="libTF"/>
 <depend package="roscpp"/>
-<depend package="laser_scan_utils"/>
+<depend package="laser_scan"/>
 <depend package="std_msgs"/>
 <depend package="newmat10"/>
 </package>

Modified: pkg/trunk/util/tf/include/tf/transform_listener.h
===================================================================
--- pkg/trunk/util/tf/include/tf/transform_listener.h	2008-12-04 02:50:06 UTC (rev 7555)
+++ pkg/trunk/util/tf/include/tf/transform_listener.h	2008-12-04 02:50:26 UTC (rev 7556)
@@ -33,7 +33,7 @@
 #define TF_TRANSFORMLISTENER_H
 
 #include "std_msgs/PointCloud.h"
-#include "laser_scan_utils/laser_scan.h"
+#include "laser_scan/laser_scan.h"
 #include "tf/tfMessage.h"
 #include "tf/tf.h"
 #include "ros/node.h"

Modified: pkg/trunk/util/tf/manifest.xml
===================================================================
--- pkg/trunk/util/tf/manifest.xml	2008-12-04 02:50:06 UTC (rev 7555)
+++ pkg/trunk/util/tf/manifest.xml	2008-12-04 02:50:26 UTC (rev 7556)
@@ -15,7 +15,7 @@
 <depend package="std_msgs"/>
 <depend package="roscpp"/>
 <depend package="bullet"/>
-<depend package="laser_scan_utils"/>
+<depend package="laser_scan"/>
 <depend package="rosTF"/> <!-- For backwards compatibility only Fixme remove /-->
 <depend package="boost"/>
 <export>

Modified: pkg/trunk/world_models/world_3d_map/manifest.xml
===================================================================
--- pkg/trunk/world_models/world_3d_map/manifest.xml	2008-12-04 02:50:06 UTC (rev 7555)
+++ pkg/trunk/world_models/world_3d_map/manifest.xml	2008-12-04 02:50:26 UTC (rev 7556)
@@ -6,6 +6,7 @@
 <depend package="roscpp" />
 <depend package="std_msgs" />
 <depend package="rosTF" />
+<depend package="laser_scan" />
 <depend package="random_utils" /> 
 <depend package="wg_robot_description_parser" /> 
 <depend package="planning_models" /> 

Modified: pkg/trunk/world_models/world_3d_map/src/world_3d_map.cpp
===================================================================
--- pkg/trunk/world_models/world_3d_map/src/world_3d_map.cpp	2008-12-04 02:50:06 UTC (rev 7555)
+++ pkg/trunk/world_models/world_3d_map/src/world_3d_map.cpp	2008-12-04 02:50:26 UTC (rev 7556)
@@ -114,7 +114,7 @@
 #include <random_utils/random_utils.h>
 
 // Laser projection
-#include "laser_scan_utils/laser_scan.h"
+#include "laser_scan/laser_scan.h"
 
 #include <deque>
 #include <cmath>


This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.




Thread: [Personalrobots-commit] SF.net SVN: personalrobots:[7556] pkg/trunk (Page 18)

personalrobots-commit