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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> Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>
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52 changes: 0 additions & 52 deletions
52
map/map_loader/include/map_loader/pointcloud_map_loader_node.hpp
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75 changes: 75 additions & 0 deletions
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map/map_loader/src/pointcloud_map_loader/pointcloud_map_loader_module.cpp
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| 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. | ||
|
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| #include "pointcloud_map_loader_module.hpp" | ||
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| #include <fmt/format.h> | ||
| #include <pcl/filters/voxel_grid.h> | ||
| #include <pcl/io/pcd_io.h> | ||
| #include <pcl_conversions/pcl_conversions.h> | ||
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| #include <string> | ||
| #include <vector> | ||
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| 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); | ||
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| sensor_msgs::msg::PointCloud2 pcd = loadPCDFiles(pcd_paths); | ||
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| if (pcd.width == 0) { | ||
| RCLCPP_ERROR(logger_, "No PCD was loaded: pcd_paths.size() = %zu", pcd_paths.size()); | ||
| return; | ||
| } | ||
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| pcd.header.frame_id = "map"; | ||
| pub_pointcloud_map_->publish(pcd); | ||
| } | ||
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| 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; | ||
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| 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()))); | ||
| } | ||
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| if (pcl::io::loadPCDFile(path, partial_pcd) == -1) { | ||
| RCLCPP_ERROR_STREAM(logger_, "PCD load failed: " << path); | ||
| } | ||
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| 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()); | ||
| } | ||
| } | ||
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| whole_pcd.header.frame_id = "map"; | ||
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| return whole_pcd; | ||
| } |
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map/map_loader/src/pointcloud_map_loader/pointcloud_map_loader_module.hpp
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| @@ -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. | ||
|
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| #ifndef POINTCLOUD_MAP_LOADER__POINTCLOUD_MAP_LOADER_MODULE_HPP_ | ||
| #define POINTCLOUD_MAP_LOADER__POINTCLOUD_MAP_LOADER_MODULE_HPP_ | ||
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| #include <rclcpp/rclcpp.hpp> | ||
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| #include <sensor_msgs/msg/point_cloud2.hpp> | ||
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| #include <boost/optional.hpp> | ||
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| #include <string> | ||
| #include <vector> | ||
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| class PointcloudMapLoaderModule | ||
| { | ||
| public: | ||
| explicit PointcloudMapLoaderModule( | ||
| rclcpp::Node * node, const std::vector<std::string> & pcd_paths, | ||
| const std::string publisher_name); | ||
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| private: | ||
| rclcpp::Logger logger_; | ||
| rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr pub_pointcloud_map_; | ||
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| sensor_msgs::msg::PointCloud2 loadPCDFiles(const std::vector<std::string> & pcd_paths) const; | ||
| }; | ||
|
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| #endif // POINTCLOUD_MAP_LOADER__POINTCLOUD_MAP_LOADER_MODULE_HPP_ |
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45
map/map_loader/src/pointcloud_map_loader/pointcloud_map_loader_node.hpp
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| Original file line number | Diff line number | Diff line change |
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| @@ -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. | ||
|
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| #ifndef POINTCLOUD_MAP_LOADER__POINTCLOUD_MAP_LOADER_NODE_HPP_ | ||
| #define POINTCLOUD_MAP_LOADER__POINTCLOUD_MAP_LOADER_NODE_HPP_ | ||
|
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| #include "pointcloud_map_loader_module.hpp" | ||
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| #include <rclcpp/rclcpp.hpp> | ||
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| #include <pcl/common/common.h> | ||
| #include <pcl/point_cloud.h> | ||
| #include <pcl/point_types.h> | ||
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| #include <map> | ||
| #include <memory> | ||
| #include <random> | ||
| #include <set> | ||
| #include <string> | ||
| #include <vector> | ||
|
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| class PointCloudMapLoaderNode : public rclcpp::Node | ||
| { | ||
| public: | ||
| explicit PointCloudMapLoaderNode(const rclcpp::NodeOptions & options); | ||
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| private: | ||
| std::unique_ptr<PointcloudMapLoaderModule> pcd_map_loader_; | ||
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| std::vector<std::string> getPcdPaths( | ||
| const std::vector<std::string> & pcd_paths_or_directory) const; | ||
| }; | ||
|
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| #endif // POINTCLOUD_MAP_LOADER__POINTCLOUD_MAP_LOADER_NODE_HPP_ |