Program Listing for File pointcloud_processor.hpp

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// Copyright 2020, Steve Macenski
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef ROS2_OUSTER__OS1__PROCESSORS__POINTCLOUD_PROCESSOR_HPP_
#define ROS2_OUSTER__OS1__PROCESSORS__POINTCLOUD_PROCESSOR_HPP_

#include <vector>
#include <memory>
#include <string>
#include <utility>

#include "rclcpp/qos.hpp"

#include "ros2_ouster/conversions.hpp"

#include "sensor_msgs/msg/point_cloud2.hpp"

#include "ros2_ouster/interfaces/data_processor_interface.hpp"
#include "ros2_ouster/OS1/OS1.hpp"
#include "ros2_ouster/OS1/OS1_util.hpp"

namespace OS1
{
class PointcloudProcessor : public ros2_ouster::DataProcessorInterface
{
public:
  PointcloudProcessor(
    const rclcpp_lifecycle::LifecycleNode::SharedPtr node,
    const ros2_ouster::Metadata & mdata,
    const std::string & frame,
    const rclcpp::QoS & qos)
  : DataProcessorInterface(), _node(node), _frame(frame)
  {
    _height = OS1::pixels_per_column;
    _width = OS1::n_cols_of_lidar_mode(
      OS1::lidar_mode_of_string(mdata.mode));
    _xyz_lut = OS1::make_xyz_lut(
      _width, _height, mdata.beam_azimuth_angles, mdata.beam_altitude_angles);
    _cloud =
      std::make_shared<pcl::PointCloud<point_os::PointOS>>(_width, _height);
    _pub = _node->create_publisher<sensor_msgs::msg::PointCloud2>(
      "points", qos);

    _batch_and_publish =
      OS1::batch_to_iter<pcl::PointCloud<point_os::PointOS>::iterator>(
      _xyz_lut, _width, _height, {}, &point_os::PointOS::make,
      [&](uint64_t scan_ts) mutable
      {
        if (_pub->get_subscription_count() > 0 && _pub->is_activated()) {
          auto msg_ptr =
          std::make_unique<sensor_msgs::msg::PointCloud2>(
            std::move(
              ros2_ouster::toMsg(
                *_cloud, std::chrono::nanoseconds(scan_ts), _frame)));
          _pub->publish(std::move(msg_ptr));
        }
      });
  }

  ~PointcloudProcessor()
  {
    _pub.reset();
  }

  bool process(uint8_t * data, uint64_t override_ts) override
  {
    pcl::PointCloud<point_os::PointOS>::iterator it = _cloud->begin();
    _batch_and_publish(data, it, override_ts);
    return true;
  }

  void onActivate() override
  {
    _pub->on_activate();
  }

  void onDeactivate() override
  {
    _pub->on_deactivate();
  }

private:
  std::function<void(const uint8_t *,
    pcl::PointCloud<point_os::PointOS>::iterator, uint64_t)>
  _batch_and_publish;
  rclcpp_lifecycle::LifecyclePublisher<sensor_msgs::msg::PointCloud2>::SharedPtr _pub;
  std::shared_ptr<pcl::PointCloud<point_os::PointOS>> _cloud;
  rclcpp_lifecycle::LifecycleNode::SharedPtr _node;
  std::vector<double> _xyz_lut;
  std::string _frame;
  uint32_t _height;
  uint32_t _width;
};

}  // namespace OS1

#endif  // ROS2_OUSTER__OS1__PROCESSORS__POINTCLOUD_PROCESSOR_HPP_