Program Listing for File scan_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__SCAN_PROCESSOR_HPP_
#define ROS2_OUSTER__OS1__PROCESSORS__SCAN_PROCESSOR_HPP_
#include <vector>
#include <memory>
#include <string>
#include <utility>
#include "rclcpp/qos.hpp"
#include "ros2_ouster/conversions.hpp"
#include "sensor_msgs/msg/laser_scan.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 ScanProcessor : public ros2_ouster::DataProcessorInterface
{
public:
using OSScan = std::vector<scan_os::ScanOS>;
using OSScanIt = OSScan::iterator;
ScanProcessor(
const rclcpp_lifecycle::LifecycleNode::SharedPtr node,
const ros2_ouster::Metadata & mdata,
const std::string & frame,
const rclcpp::QoS & qos)
: DataProcessorInterface(), _node(node), _frame(frame)
{
_mdata = mdata;
_pub = _node->create_publisher<sensor_msgs::msg::LaserScan>("scan", qos);
_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);
_aggregated_scans.resize(_width * _height);
double zero_angle = 9999.0;
_ring = 0;
for (uint i = 0; i != _mdata.beam_altitude_angles.size(); i++) {
if (fabs(_mdata.beam_altitude_angles[i]) < zero_angle) {
_ring = static_cast<uint8_t>(i);
zero_angle = fabs(_mdata.beam_altitude_angles[i]);
}
}
_batch_and_publish =
OS1::batch_to_iter<OSScanIt>(
_xyz_lut, _width, _height, {}, &scan_os::ScanOS::make,
[&](uint64_t scan_ts) mutable
{
if (_pub->get_subscription_count() > 0 && _pub->is_activated()) {
auto msg_ptr =
std::make_unique<sensor_msgs::msg::LaserScan>(
std::move(
ros2_ouster::toMsg(
_aggregated_scans, std::chrono::nanoseconds(scan_ts),
_frame, _mdata, _ring)));
_pub->publish(std::move(msg_ptr));
}
});
}
~ScanProcessor()
{
_pub.reset();
}
bool process(uint8_t * data, uint64_t override_ts) override
{
OSScanIt it = _aggregated_scans.begin();
_batch_and_publish(data, it, override_ts);
return true;
}
void onActivate() override
{
_pub->on_activate();
}
void onDeactivate() override
{
_pub->on_deactivate();
}
private:
rclcpp_lifecycle::LifecyclePublisher<sensor_msgs::msg::LaserScan>::SharedPtr _pub;
std::function<void(const uint8_t *, OSScanIt, uint64_t)> _batch_and_publish;
std::shared_ptr<pcl::PointCloud<scan_os::ScanOS>> _cloud;
rclcpp_lifecycle::LifecycleNode::SharedPtr _node;
std::vector<double> _xyz_lut;
ros2_ouster::Metadata _mdata;
OSScan _aggregated_scans;
std::string _frame;
uint32_t _height;
uint32_t _width;
uint8_t _ring;
};
} // namespace OS1
#endif // ROS2_OUSTER__OS1__PROCESSORS__SCAN_PROCESSOR_HPP_