Refactor

autowarefoundation · Apr 6, 2022 · cbab6a5 · cbab6a5
1 parent 8f92448
commit cbab6a5
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Showing 3 changed files with 18 additions and 17 deletions.
diff --git a/simulator/dummy_perception_publisher/include/dummy_perception_publisher/node.hpp b/simulator/dummy_perception_publisher/include/dummy_perception_publisher/node.hpp
@@ -59,9 +59,9 @@ class PointCloudCreator
     const ObjectInfo & obj_info, const tf2::Transform & tf_base_link2map,
     std::mt19937 & random_generator, pcl::PointCloud<pcl::PointXYZ>::Ptr pointcloud) const = 0;
 
-  virtual void create_multi(
+  virtual std::vector<pcl::PointCloud<pcl::PointXYZ>::Ptr> create_pointclouds(
     const std::vector<ObjectInfo> & obj_infos, const tf2::Transform & tf_base_link2map,
-    std::mt19937 & random_generator, std::vector<pcl::PointCloud<pcl::PointXYZ>::Ptr> & pointclouds,
+    std::mt19937 & random_generator,
     pcl::PointCloud<pcl::PointXYZ>::Ptr & merged_pointcloud) const = 0;
 };
 
@@ -77,9 +77,9 @@ class ObjectCentricPointCloudCreator : public PointCloudCreator
     const ObjectInfo & obj_info, const tf2::Transform & tf_base_link2map,
     std::mt19937 & random_generator, pcl::PointCloud<pcl::PointXYZ>::Ptr pointcloud) const override;
 
-  void create_multi(
+  std::vector<pcl::PointCloud<pcl::PointXYZ>::Ptr> create_pointclouds(
     const std::vector<ObjectInfo> & obj_infos, const tf2::Transform & tf_base_link2map,
-    std::mt19937 & random_generator, std::vector<pcl::PointCloud<pcl::PointXYZ>::Ptr> & pointclouds,
+    std::mt19937 & random_generator,
     pcl::PointCloud<pcl::PointXYZ>::Ptr & merged_pointcloud) const override;
 
   bool enable_ray_tracing_;
@@ -91,9 +91,9 @@ class VehicleCentricPointCloudCreator : public PointCloudCreator
     const ObjectInfo & obj_info, const tf2::Transform & tf_base_link2map,
     std::mt19937 & random_generator, pcl::PointCloud<pcl::PointXYZ>::Ptr pointcloud) const override;
 
-  void create_multi(
+  std::vector<pcl::PointCloud<pcl::PointXYZ>::Ptr> create_pointclouds(
     const std::vector<ObjectInfo> & obj_infos, const tf2::Transform & tf_base_link2map,
-    std::mt19937 & random_generator, std::vector<pcl::PointCloud<pcl::PointXYZ>::Ptr> & pointclouds,
+    std::mt19937 & random_generator,
     pcl::PointCloud<pcl::PointXYZ>::Ptr & merged_pointcloud) const override;
 };
 

diff --git a/simulator/dummy_perception_publisher/src/node.cpp b/simulator/dummy_perception_publisher/src/node.cpp
@@ -142,10 +142,9 @@ void DummyPerceptionPublisherNode::timerCallback()
     obj_infos.push_back(obj_info);
   }
 
-  std::vector<pcl::PointCloud<pcl::PointXYZ>::Ptr> v_pointcloud;
   pcl::PointCloud<pcl::PointXYZ>::Ptr merged_pointcloud_ptr(new pcl::PointCloud<pcl::PointXYZ>);
-  pointcloud_creator_->create_multi(
-    obj_infos, tf_base_link2map, random_generator_, v_pointcloud, merged_pointcloud_ptr);
+  const auto v_pointcloud = pointcloud_creator_->create_pointclouds(
+    obj_infos, tf_base_link2map, random_generator_, merged_pointcloud_ptr);
   pcl::toROSMsg(*merged_pointcloud_ptr, output_pointcloud_msg);
 
   std::vector<size_t> delete_idxs;

diff --git a/simulator/dummy_perception_publisher/src/pointcloud_creator.cpp b/simulator/dummy_perception_publisher/src/pointcloud_creator.cpp
@@ -132,10 +132,9 @@ void ObjectCentricPointCloudCreator::create(
   }
 }
 
-void ObjectCentricPointCloudCreator::create_multi(
+std::vector<pcl::PointCloud<pcl::PointXYZ>::Ptr> ObjectCentricPointCloudCreator::create_pointclouds(
   const std::vector<ObjectInfo> & obj_infos, const tf2::Transform & tf_base_link2map,
-  std::mt19937 & random_generator, std::vector<pcl::PointCloud<pcl::PointXYZ>::Ptr> & pointclouds,
-  pcl::PointCloud<pcl::PointXYZ>::Ptr & merged_pointcloud) const
+  std::mt19937 & random_generator, pcl::PointCloud<pcl::PointXYZ>::Ptr & merged_pointcloud) const
 {
   std::vector<pcl::PointCloud<pcl::PointXYZ>::Ptr> pointclouds_tmp;
   pcl::PointCloud<pcl::PointXYZ>::Ptr merged_pointcloud_tmp(new pcl::PointCloud<pcl::PointXYZ>);
@@ -153,9 +152,8 @@ void ObjectCentricPointCloudCreator::create_multi(
   }
 
   if (!enable_ray_tracing_) {
-    pointclouds = pointclouds_tmp;
     merged_pointcloud = merged_pointcloud_tmp;
-    return;
+    return pointclouds_tmp;
   }
 
   pcl::PointCloud<pcl::PointXYZ>::Ptr ray_traced_merged_pointcloud_ptr(
@@ -164,6 +162,7 @@ void ObjectCentricPointCloudCreator::create_multi(
   ray_tracing_filter.setInputCloud(merged_pointcloud_tmp);
   ray_tracing_filter.setLeafSize(0.25, 0.25, 0.25);
   ray_tracing_filter.initializeVoxelGrid();
+  std::vector<pcl::PointCloud<pcl::PointXYZ>::Ptr> pointclouds;
   for (size_t i = 0; i < pointclouds_tmp.size(); ++i) {
     pcl::PointCloud<pcl::PointXYZ>::Ptr ray_traced_pointcloud_ptr(
       new pcl::PointCloud<pcl::PointXYZ>);
@@ -185,6 +184,7 @@ void ObjectCentricPointCloudCreator::create_multi(
     pointclouds.push_back(ray_traced_pointcloud_ptr);
   }
   merged_pointcloud = ray_traced_merged_pointcloud_ptr;
+  return pointclouds;
 }
 
 void VehicleCentricPointCloudCreator::create(
@@ -213,11 +213,12 @@ void VehicleCentricPointCloudCreator::create(
   }
 }
 
-void VehicleCentricPointCloudCreator::create_multi(
+std::vector<pcl::PointCloud<pcl::PointXYZ>::Ptr>
+VehicleCentricPointCloudCreator::create_pointclouds(
   const std::vector<ObjectInfo> & obj_infos, const tf2::Transform & tf_base_link2map,
-  std::mt19937 & random_generator, std::vector<pcl::PointCloud<pcl::PointXYZ>::Ptr> & pointclouds,
-  pcl::PointCloud<pcl::PointXYZ>::Ptr & merged_pointcloud) const
+  std::mt19937 & random_generator, pcl::PointCloud<pcl::PointXYZ>::Ptr & merged_pointcloud) const
 {
+  std::vector<pcl::PointCloud<pcl::PointXYZ>::Ptr> pointclouds;
   for (const auto & obj_info : obj_infos) {
     pcl::PointCloud<pcl::PointXYZ>::Ptr pointcloud_shared_ptr(new pcl::PointCloud<pcl::PointXYZ>);
     this->create(obj_info, tf_base_link2map, random_generator, pointcloud_shared_ptr);
@@ -229,4 +230,5 @@ void VehicleCentricPointCloudCreator::create_multi(
       merged_pointcloud->push_back(pointclouds.at(i)->at(j));
     }
   }
+  return pointclouds;
 }