convert.cc

Go to the documentation of this file.

/*
 *  Copyright (C) 2009, 2010 Austin Robot Technology, Jack O'Quin
 *  Copyright (C) 2011 Jesse Vera
 *  Copyright (C) 2012 Austin Robot Technology, Jack O'Quin
 *  Copyright (C) 2017 Robosense, Tony Zhang
 *  License: Modified BSD Software License Agreement
 *

 Copyright (C) 2010-2013 Austin Robot Technology, and others
 All rights reserved.


Modified BSD License:
--------------------

  Redistribution and use in source and binary forms, with or without
  modification, are permitted provided that the following conditions
  are met:

    * Redistributions of source code must retain the above copyright
      notice, this list of conditions and the following disclaimer.

    * Redistributions in binary form must reproduce the above
      copyright notice, this list of conditions and the following
      disclaimer in the documentation and/or other materials provided
      with the distribution.

    * Neither the names of the University of Texas at Austin, nor
      Austin Robot Technology, nor the names of other contributors may
      be used to endorse or promote products derived from this
      software without specific prior written permission.

  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
POSSIBILITY OF SUCH DAMAGE.
 */

#include "convert.h"
#include <pcl_conversions/pcl_conversions.h>

namespace rslidar_pointcloud
{
std::string model;

Convert::Convert(ros::NodeHandle node, ros::NodeHandle private_nh) : data_(new rslidar_rawdata::RawData())
{
  data_->loadConfigFile(node, private_nh);  // load lidar parameters
  private_nh.param("model", model, std::string("RS16"));

  // advertise output point cloud (before subscribing to input data)
  output_ = node.advertise<sensor_msgs::PointCloud2>("rslidar_points", 10);

  srv_ = boost::make_shared<dynamic_reconfigure::Server<rslidar_pointcloud::CloudNodeConfig> >(private_nh);
  dynamic_reconfigure::Server<rslidar_pointcloud::CloudNodeConfig>::CallbackType f;
  f = boost::bind(&Convert::callback, this, _1, _2);
  srv_->setCallback(f);

  // subscribe to rslidarScan packets
  rslidar_scan_ = node.subscribe("rslidar_packets", 10, &Convert::processScan, (Convert*)this,
                                 ros::TransportHints().tcpNoDelay(true));
}

void Convert::callback(rslidar_pointcloud::CloudNodeConfig& config, uint32_t level)
{
  ROS_INFO("Reconfigure Request");
  // config_.time_offset = config.time_offset;
}

void Convert::processScan(const rslidar_msgs::rslidarScan::ConstPtr& scanMsg)
{
  pcl::PointCloud<pcl::PointXYZI>::Ptr outPoints(new pcl::PointCloud<pcl::PointXYZI>);
  outPoints->header.stamp = pcl_conversions::toPCL(scanMsg->header).stamp;
  outPoints->header.frame_id = scanMsg->header.frame_id;
  outPoints->clear();
  if (model == "RS16")
  {
    outPoints->height = 16;
    outPoints->width = 24 * (int)scanMsg->packets.size();
    outPoints->is_dense = false;
    outPoints->resize(outPoints->height * outPoints->width);
  }
  else if (model == "RS32")
  {
    outPoints->height = 32;
    outPoints->width = 12 * (int)scanMsg->packets.size();
    outPoints->is_dense = false;
    outPoints->resize(outPoints->height * outPoints->width);
  }

  // process each packet provided by the driver

  data_->block_num = 0;
  for (size_t i = 0; i < scanMsg->packets.size(); ++i)
  {
    data_->unpack(scanMsg->packets[i], outPoints);
  }
  sensor_msgs::PointCloud2 outMsg;
  pcl::toROSMsg(*outPoints, outMsg);

  output_.publish(outMsg);
}
}  // namespace rslidar_pointcloud