niryo_libraries.laser_geometry.laser_geometry.LaserProjection

A class to Project Laser Scan

This calls will project laser scans into point clouds. It caches unit vectors between runs (provided the angular resolution of your scanner is not changing) to avoid excess computation.

By default all range values less thatn the scanner min_range, greater than the scanner max_range are removed from the generated point cloud, as these are assumed to be invalid.

If it is important to preserve a mapping between the index of range values and points in the cloud, the recommended approach is to pre-filter your laser scan message to meet the requirement that all ranges are between min and max_range.

The generate PointClouds have a number of channels which can be enabled through the use of ChannelOption. - ChannelOption.INTENSITY - Create a channel named "intensities" with the intensity of the return for each point. - ChannelOption.INDEX - Create a channel named "index" containing the index from the original array for each point. - ChannelOption.DISTANCE - Create a channel named "distance" containing the distance from the laser to each point. - ChannelOption.TIMESTAMP - Create a channel named "stamps" containing the specific timestamp at which each point was measured.