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Switch to target_link_libraries. (#92)
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This allows us to hide more of the libraries from downstream
consumers.

While we are in here, do slight cleanups so it is more clear
which libraries are depended on.

Signed-off-by: Chris Lalancette <[email protected]>
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@clalancette
clalancette authored Nov 27, 2023
1 parent df8a1e3 commit 3d913f6
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Showing 2 changed files with 30 additions and 26 deletions.
20 changes: 13 additions & 7 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
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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Original file line number Diff line number Diff line change
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

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