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Switch to target_link_libraries. #92

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merged 1 commit into from Nov 27, 2023
Merged

Switch to target_link_libraries. #92

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20 changes: 13 additions & 7 deletions CMakeLists.txt
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Expand Up @@ -24,10 +24,18 @@ target_include_directories(laser_geometry
$<INSTALL_INTERFACE:include/${PROJECT_NAME}>
${Eigen3_INCLUDE_DIRS}
)
ament_target_dependencies(laser_geometry
"rclcpp"
"sensor_msgs"
"tf2"
target_link_libraries(laser_geometry PUBLIC
${sensor_msgs_TARGETS}
tf2::tf2
)
if(TARGET Eigen3::Eigen)
target_link_libraries(laser_geometry PUBLIC Eigen3::Eigen)
else()
target_include_directories(laser_geometry PUBLIC ${Eigen3_INCLUDE_DIRS})
endif()

target_link_libraries(laser_geometry PRIVATE
rclcpp::rclcpp
)

# Causes the visibility macros to use dllexport rather than dllimport,
Expand All @@ -42,9 +50,7 @@ ament_export_libraries(laser_geometry)
ament_export_targets(laser_geometry)

ament_export_dependencies(
eigen3_cmake_module
Eigen3
rclcpp
sensor_msgs
tf2
)
Expand Down Expand Up @@ -80,7 +86,7 @@ if(BUILD_TESTING)
test/projection_test.cpp
TIMEOUT 240)
if(TARGET projection_test)
target_link_libraries(projection_test laser_geometry)
target_link_libraries(projection_test laser_geometry rclcpp::rclcpp)
endif()

# Python test
Expand Down
36 changes: 17 additions & 19 deletions src/laser_geometry.cpp
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Expand Up @@ -30,16 +30,14 @@

#include "laser_geometry/laser_geometry.hpp"

#include <Eigen/Core>

#include <algorithm>
#include <string>

#include "rclcpp/time.hpp"

#define TIME rclcpp::Time

#define POINT_FIELD sensor_msgs::msg::PointField

typedef double tfScalar;
#include "sensor_msgs/msg/laser_scan.hpp"
#include "sensor_msgs/msg/point_cloud2.hpp"

#include "tf2/LinearMath/Transform.h"

Expand Down Expand Up @@ -87,15 +85,15 @@ void LaserProjection::projectLaser_(
cloud_out.fields.resize(3);
cloud_out.fields[0].name = "x";
cloud_out.fields[0].offset = 0;
cloud_out.fields[0].datatype = POINT_FIELD::FLOAT32;
cloud_out.fields[0].datatype = sensor_msgs::msg::PointField::FLOAT32;
cloud_out.fields[0].count = 1;
cloud_out.fields[1].name = "y";
cloud_out.fields[1].offset = 4;
cloud_out.fields[1].datatype = POINT_FIELD::FLOAT32;
cloud_out.fields[1].datatype = sensor_msgs::msg::PointField::FLOAT32;
cloud_out.fields[1].count = 1;
cloud_out.fields[2].name = "z";
cloud_out.fields[2].offset = 8;
cloud_out.fields[2].datatype = POINT_FIELD::FLOAT32;
cloud_out.fields[2].datatype = sensor_msgs::msg::PointField::FLOAT32;
cloud_out.fields[2].count = 1;

// Define 4 indices in the channel array for each possible value type
Expand All @@ -108,7 +106,7 @@ void LaserProjection::projectLaser_(
size_t field_size = cloud_out.fields.size();
cloud_out.fields.resize(field_size + 1);
cloud_out.fields[field_size].name = "intensity";
cloud_out.fields[field_size].datatype = POINT_FIELD::FLOAT32;
cloud_out.fields[field_size].datatype = sensor_msgs::msg::PointField::FLOAT32;
cloud_out.fields[field_size].offset = offset;
cloud_out.fields[field_size].count = 1;
offset += 4;
Expand All @@ -119,7 +117,7 @@ void LaserProjection::projectLaser_(
size_t field_size = cloud_out.fields.size();
cloud_out.fields.resize(field_size + 1);
cloud_out.fields[field_size].name = "index";
cloud_out.fields[field_size].datatype = POINT_FIELD::INT32;
cloud_out.fields[field_size].datatype = sensor_msgs::msg::PointField::INT32;
cloud_out.fields[field_size].offset = offset;
cloud_out.fields[field_size].count = 1;
offset += 4;
Expand All @@ -130,7 +128,7 @@ void LaserProjection::projectLaser_(
size_t field_size = cloud_out.fields.size();
cloud_out.fields.resize(field_size + 1);
cloud_out.fields[field_size].name = "distances";
cloud_out.fields[field_size].datatype = POINT_FIELD::FLOAT32;
cloud_out.fields[field_size].datatype = sensor_msgs::msg::PointField::FLOAT32;
cloud_out.fields[field_size].offset = offset;
cloud_out.fields[field_size].count = 1;
offset += 4;
Expand All @@ -141,7 +139,7 @@ void LaserProjection::projectLaser_(
size_t field_size = cloud_out.fields.size();
cloud_out.fields.resize(field_size + 1);
cloud_out.fields[field_size].name = "stamps";
cloud_out.fields[field_size].datatype = POINT_FIELD::FLOAT32;
cloud_out.fields[field_size].datatype = sensor_msgs::msg::PointField::FLOAT32;
cloud_out.fields[field_size].offset = offset;
cloud_out.fields[field_size].count = 1;
offset += 4;
Expand All @@ -153,19 +151,19 @@ void LaserProjection::projectLaser_(
cloud_out.fields.resize(field_size + 3);

cloud_out.fields[field_size].name = "vp_x";
cloud_out.fields[field_size].datatype = POINT_FIELD::FLOAT32;
cloud_out.fields[field_size].datatype = sensor_msgs::msg::PointField::FLOAT32;
cloud_out.fields[field_size].offset = offset;
cloud_out.fields[field_size].count = 1;
offset += 4;

cloud_out.fields[field_size + 1].name = "vp_y";
cloud_out.fields[field_size + 1].datatype = POINT_FIELD::FLOAT32;
cloud_out.fields[field_size + 1].datatype = sensor_msgs::msg::PointField::FLOAT32;
cloud_out.fields[field_size + 1].offset = offset;
cloud_out.fields[field_size + 1].count = 1;
offset += 4;

cloud_out.fields[field_size + 2].name = "vp_z";
cloud_out.fields[field_size + 2].datatype = POINT_FIELD::FLOAT32;
cloud_out.fields[field_size + 2].datatype = sensor_msgs::msg::PointField::FLOAT32;
cloud_out.fields[field_size + 2].offset = offset;
cloud_out.fields[field_size + 2].count = 1;
offset += 4;
Expand Down Expand Up @@ -330,7 +328,7 @@ void LaserProjection::transformLaserScanToPointCloud_(
memcpy(&pt_index, &cloud_out.data[i * cloud_out.point_step + index_offset], sizeof(uint32_t));

// Assume constant motion during the laser-scan and use slerp to compute intermediate transforms
tfScalar ratio = pt_index * ranges_norm;
double ratio = pt_index * ranges_norm;

// TODO(anon): Make a function that performs both the slerp and linear interpolation needed to
// interpolate a Full Transform (Quaternion + Vector)
Expand Down Expand Up @@ -423,8 +421,8 @@ void LaserProjection::transformLaserScanToPointCloud_(
double range_cutoff,
int channel_options)
{
TIME start_time = scan_in.header.stamp;
TIME end_time = scan_in.header.stamp;
rclcpp::Time start_time = scan_in.header.stamp;
rclcpp::Time end_time = scan_in.header.stamp;
// TODO(anonymous): reconcile all the different time constructs
if (!scan_in.ranges.empty()) {
end_time = start_time + rclcpp::Duration::from_seconds(
Expand Down