forked from autowarefoundation/autoware.universe
-
Notifications
You must be signed in to change notification settings - Fork 30
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
refactor(map_loader): modularization (autowarefoundation#2243)
* refactor(map_loader): modularization Signed-off-by: kminoda <koji.minoda@tier4.jp> * ci(pre-commit): autofix * simplified Signed-off-by: kminoda <koji.minoda@tier4.jp> * removed autoware_msgs dependency (not yet necessary at this moment) Signed-off-by: kminoda <koji.minoda@tier4.jp> * ci(pre-commit): autofix * remove unnecessary changes Signed-off-by: kminoda <koji.minoda@tier4.jp> * pre-commit Signed-off-by: kminoda <koji.minoda@tier4.jp> * ci(pre-commit): autofix * edit copyright Signed-off-by: kminoda <koji.minoda@tier4.jp> Signed-off-by: kminoda <koji.minoda@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
- Loading branch information
Showing
7 changed files
with
176 additions
and
113 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
52 changes: 0 additions & 52 deletions
52
map/map_loader/include/map_loader/pointcloud_map_loader_node.hpp
This file was deleted.
Oops, something went wrong.
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
75 changes: 75 additions & 0 deletions
75
map/map_loader/src/pointcloud_map_loader/pointcloud_map_loader_module.cpp
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,75 @@ | ||
| // Copyright 2022 The Autoware Contributors | ||
| // | ||
| // 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. | ||
|
|
||
| #include "pointcloud_map_loader_module.hpp" | ||
|
|
||
| #include <fmt/format.h> | ||
| #include <pcl/filters/voxel_grid.h> | ||
| #include <pcl/io/pcd_io.h> | ||
| #include <pcl_conversions/pcl_conversions.h> | ||
|
|
||
| #include <string> | ||
| #include <vector> | ||
|
|
||
| PointcloudMapLoaderModule::PointcloudMapLoaderModule( | ||
| rclcpp::Node * node, const std::vector<std::string> & pcd_paths, const std::string publisher_name) | ||
| : logger_(node->get_logger()) | ||
| { | ||
| rclcpp::QoS durable_qos{1}; | ||
| durable_qos.transient_local(); | ||
| pub_pointcloud_map_ = | ||
| node->create_publisher<sensor_msgs::msg::PointCloud2>(publisher_name, durable_qos); | ||
|
|
||
| sensor_msgs::msg::PointCloud2 pcd = loadPCDFiles(pcd_paths); | ||
|
|
||
| if (pcd.width == 0) { | ||
| RCLCPP_ERROR(logger_, "No PCD was loaded: pcd_paths.size() = %zu", pcd_paths.size()); | ||
| return; | ||
| } | ||
|
|
||
| pcd.header.frame_id = "map"; | ||
| pub_pointcloud_map_->publish(pcd); | ||
| } | ||
|
|
||
| sensor_msgs::msg::PointCloud2 PointcloudMapLoaderModule::loadPCDFiles( | ||
| const std::vector<std::string> & pcd_paths) const | ||
| { | ||
| sensor_msgs::msg::PointCloud2 whole_pcd; | ||
| sensor_msgs::msg::PointCloud2 partial_pcd; | ||
|
|
||
| for (int i = 0; i < static_cast<int>(pcd_paths.size()); ++i) { | ||
| auto & path = pcd_paths[i]; | ||
| if (i % 50 == 0) { | ||
| RCLCPP_INFO_STREAM( | ||
| logger_, | ||
| fmt::format("Load {} ({} out of {})", path, i + 1, static_cast<int>(pcd_paths.size()))); | ||
| } | ||
|
|
||
| if (pcl::io::loadPCDFile(path, partial_pcd) == -1) { | ||
| RCLCPP_ERROR_STREAM(logger_, "PCD load failed: " << path); | ||
| } | ||
|
|
||
| if (whole_pcd.width == 0) { | ||
| whole_pcd = partial_pcd; | ||
| } else { | ||
| whole_pcd.width += partial_pcd.width; | ||
| whole_pcd.row_step += partial_pcd.row_step; | ||
| whole_pcd.data.insert(whole_pcd.data.end(), partial_pcd.data.begin(), partial_pcd.data.end()); | ||
| } | ||
| } | ||
|
|
||
| whole_pcd.header.frame_id = "map"; | ||
|
|
||
| return whole_pcd; | ||
| } |
41 changes: 41 additions & 0 deletions
41
map/map_loader/src/pointcloud_map_loader/pointcloud_map_loader_module.hpp
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,41 @@ | ||
| // Copyright 2022 The Autoware Contributors | ||
| // | ||
| // 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 POINTCLOUD_MAP_LOADER__POINTCLOUD_MAP_LOADER_MODULE_HPP_ | ||
| #define POINTCLOUD_MAP_LOADER__POINTCLOUD_MAP_LOADER_MODULE_HPP_ | ||
|
|
||
| #include <rclcpp/rclcpp.hpp> | ||
|
|
||
| #include <sensor_msgs/msg/point_cloud2.hpp> | ||
|
|
||
| #include <boost/optional.hpp> | ||
|
|
||
| #include <string> | ||
| #include <vector> | ||
|
|
||
| class PointcloudMapLoaderModule | ||
| { | ||
| public: | ||
| explicit PointcloudMapLoaderModule( | ||
| rclcpp::Node * node, const std::vector<std::string> & pcd_paths, | ||
| const std::string publisher_name); | ||
|
|
||
| private: | ||
| rclcpp::Logger logger_; | ||
| rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr pub_pointcloud_map_; | ||
|
|
||
| sensor_msgs::msg::PointCloud2 loadPCDFiles(const std::vector<std::string> & pcd_paths) const; | ||
| }; | ||
|
|
||
| #endif // POINTCLOUD_MAP_LOADER__POINTCLOUD_MAP_LOADER_MODULE_HPP_ |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
45 changes: 45 additions & 0 deletions
45
map/map_loader/src/pointcloud_map_loader/pointcloud_map_loader_node.hpp
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,45 @@ | ||
| // Copyright 2022 The Autoware Contributors | ||
| // | ||
| // 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 POINTCLOUD_MAP_LOADER__POINTCLOUD_MAP_LOADER_NODE_HPP_ | ||
| #define POINTCLOUD_MAP_LOADER__POINTCLOUD_MAP_LOADER_NODE_HPP_ | ||
|
|
||
| #include "pointcloud_map_loader_module.hpp" | ||
|
|
||
| #include <rclcpp/rclcpp.hpp> | ||
|
|
||
| #include <pcl/common/common.h> | ||
| #include <pcl/point_cloud.h> | ||
| #include <pcl/point_types.h> | ||
|
|
||
| #include <map> | ||
| #include <memory> | ||
| #include <random> | ||
| #include <set> | ||
| #include <string> | ||
| #include <vector> | ||
|
|
||
| class PointCloudMapLoaderNode : public rclcpp::Node | ||
| { | ||
| public: | ||
| explicit PointCloudMapLoaderNode(const rclcpp::NodeOptions & options); | ||
|
|
||
| private: | ||
| std::unique_ptr<PointcloudMapLoaderModule> pcd_map_loader_; | ||
|
|
||
| std::vector<std::string> getPcdPaths( | ||
| const std::vector<std::string> & pcd_paths_or_directory) const; | ||
| }; | ||
|
|
||
| #endif // POINTCLOUD_MAP_LOADER__POINTCLOUD_MAP_LOADER_NODE_HPP_ |