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fix: not use pcl cropbox (autowarefoundation#773) (autowarefoundation…
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…#196)

* remove pcl cropbox

* fix loop condition

* fix param update

* shrink vector

* use pointcloud iterater

* fix index guard

* remove back_inserter

* use memcopy

* no use iter

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com>
Co-authored-by: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com>
Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
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@wep21 @satoshi-ota
@1222-takeshi @isamu-takagi
3 people authored and isamu-takagi committed Dec 17, 2021
1 parent cd912ad commit 641fc19
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Showing 2 changed files with 87 additions and 81 deletions.
13 changes: 11 additions & 2 deletions ..._preprocessor/include/pointcloud_preprocessor/crop_box_filter/crop_box_filter_nodelet.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -72,8 +72,17 @@ class CropBoxFilterComponent : public pointcloud_preprocessor::Filter
void publishCropBoxPolygon();

private:
/** \brief The PCL filter implementation used. */
pcl::CropBox<pcl::PCLPointCloud2> impl_;
struct CropBoxParam
{
float min_x;
float max_x;
float min_y;
float max_y;
float min_z;
float max_z;
bool negative{false};
} param_;

rclcpp::Publisher<geometry_msgs::msg::PolygonStamped>::SharedPtr crop_box_polygon_pub_;

/** \brief Parameter service callback result : needed to be hold */
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155 changes: 76 additions & 79 deletions sensing/pointcloud_preprocessor/src/crop_box_filter/crop_box_filter_nodelet.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -51,6 +51,8 @@

#include "pointcloud_preprocessor/crop_box_filter/crop_box_filter_nodelet.hpp"

#include <sensor_msgs/point_cloud2_iterator.hpp>

#include <vector>

namespace pointcloud_preprocessor
Expand All @@ -60,20 +62,14 @@ CropBoxFilterComponent::CropBoxFilterComponent(const rclcpp::NodeOptions & optio
{
// set initial parameters
{
Eigen::Vector4f new_min_point = Eigen::Vector4f::Zero();
new_min_point(0) = static_cast<float>(declare_parameter("min_x", -1.0));
new_min_point(1) = static_cast<float>(declare_parameter("min_y", -1.0));
new_min_point(2) = static_cast<float>(declare_parameter("min_z", -1.0));
impl_.setMin(new_min_point);

Eigen::Vector4f new_max_point = Eigen::Vector4f::Zero();
new_max_point(0) = static_cast<float>(declare_parameter("max_x", 1.0));
new_max_point(1) = static_cast<float>(declare_parameter("max_y", 1.0));
new_max_point(2) = static_cast<float>(declare_parameter("max_z", 1.0));
impl_.setMax(new_max_point);

impl_.setKeepOrganized(static_cast<bool>(declare_parameter("keep_organized", false)));
impl_.setNegative(static_cast<bool>(declare_parameter("negative", false)));
auto & p = param_;
p.min_x = static_cast<float>(declare_parameter("min_x", -1.0));
p.min_y = static_cast<float>(declare_parameter("min_y", -1.0));
p.min_z = static_cast<float>(declare_parameter("min_z", -1.0));
p.max_x = static_cast<float>(declare_parameter("max_x", 1.0));
p.max_y = static_cast<float>(declare_parameter("max_y", 1.0));
p.max_z = static_cast<float>(declare_parameter("max_z", 1.0));
p.negative = static_cast<float>(declare_parameter("negative", false));
}

// set additional publishers
Expand All @@ -91,16 +87,49 @@ CropBoxFilterComponent::CropBoxFilterComponent(const rclcpp::NodeOptions & optio
}

void CropBoxFilterComponent::filter(
const PointCloud2ConstPtr & input, const IndicesPtr & indices, PointCloud2 & output)
const PointCloud2ConstPtr & input, [[maybe_unused]] const IndicesPtr & indices,
PointCloud2 & output)
{
boost::mutex::scoped_lock lock(mutex_);
pcl::PCLPointCloud2::Ptr pcl_input(new pcl::PCLPointCloud2);
pcl_conversions::toPCL(*(input), *(pcl_input));
impl_.setInputCloud(pcl_input);
impl_.setIndices(indices);
pcl::PCLPointCloud2 pcl_output;
impl_.filter(pcl_output);
pcl_conversions::moveFromPCL(pcl_output, output);

output.data.resize(input->data.size());
Eigen::Vector3f pt(Eigen::Vector3f::Zero());
size_t j = 0;
const auto data_size = input->data.size();
const auto point_step = input->point_step;
// If inside the cropbox
if (!param_.negative) {
for (size_t i = 0; i + point_step < data_size; i += point_step) {
memcpy(pt.data(), &input->data[i], sizeof(float) * 3);
if (
param_.min_z < pt.z() && pt.z() < param_.max_z && param_.min_y < pt.y() &&
pt.y() < param_.max_y && param_.min_x < pt.x() && pt.x() < param_.max_x) {
memcpy(&output.data[j], &input->data[i], point_step);
j += point_step;
}
}
// If outside the cropbox
} else {
for (size_t i = 0; i + point_step < data_size; i += point_step) {
memcpy(pt.data(), &input->data[i], sizeof(float) * 3);
if (
param_.min_z > pt.z() || pt.z() > param_.max_z || param_.min_y > pt.y() ||
pt.y() > param_.max_y || param_.min_x > pt.x() || pt.x() > param_.max_x) {
memcpy(&output.data[j], &input->data[i], point_step);
j += point_step;
}
}
}

output.data.resize(j);
output.header.frame_id = input->header.frame_id;
output.height = input->height;
output.fields = input->fields;
output.is_bigendian = input->is_bigendian;
output.point_step = input->point_step;
output.is_dense = input->is_dense;
output.width = static_cast<uint32_t>(output.data.size() / output.height / output.point_step);
output.row_step = static_cast<uint32_t>(output.data.size() / output.height);

publishCropBoxPolygon();
}
Expand All @@ -115,18 +144,18 @@ void CropBoxFilterComponent::publishCropBoxPolygon()
return point;
};

const double x1 = impl_.getMax()(0);
const double x2 = impl_.getMin()(0);
const double x3 = impl_.getMin()(0);
const double x4 = impl_.getMax()(0);
const double x1 = param_.max_x;
const double x2 = param_.min_x;
const double x3 = param_.min_x;
const double x4 = param_.max_x;

const double y1 = impl_.getMax()(1);
const double y2 = impl_.getMax()(1);
const double y3 = impl_.getMin()(1);
const double y4 = impl_.getMin()(1);
const double y1 = param_.max_y;
const double y2 = param_.max_y;
const double y3 = param_.min_y;
const double y4 = param_.min_y;

const double z1 = impl_.getMin()(2);
const double z2 = impl_.getMax()(2);
const double z1 = param_.min_z;
const double z2 = param_.max_z;

geometry_msgs::msg::PolygonStamped polygon_msg;
polygon_msg.header.frame_id = tf_input_frame_;
Expand Down Expand Up @@ -161,60 +190,28 @@ rcl_interfaces::msg::SetParametersResult CropBoxFilterComponent::paramCallback(
{
boost::mutex::scoped_lock lock(mutex_);

Eigen::Vector4f min_point, max_point;
min_point = impl_.getMin();
max_point = impl_.getMax();

Eigen::Vector4f new_min_point = Eigen::Vector4f::Zero();
Eigen::Vector4f new_max_point = Eigen::Vector4f::Zero();
CropBoxParam new_param{};

// Check the current values for minimum point
if (
get_param(p, "min_x", new_min_point(0)) && get_param(p, "min_y", new_min_point(1)) &&
get_param(p, "min_z", new_min_point(2))) {
if (min_point != new_min_point) {
get_param(p, "min_x", new_param.min_x) && get_param(p, "min_y", new_param.min_y) &&
get_param(p, "min_z", new_param.min_z) && get_param(p, "max_x", new_param.max_x) &&
get_param(p, "max_y", new_param.max_y) && get_param(p, "max_z", new_param.max_z) &&
get_param(p, "negative", new_param.negative)) {
if (
param_.min_x != new_param.min_x || param_.max_x != new_param.max_x ||
param_.min_y != new_param.min_y || param_.max_y != new_param.max_y ||
param_.min_z != new_param.min_z || param_.max_z != new_param.max_z ||
param_.negative != new_param.negative) {
RCLCPP_DEBUG(
get_logger(), "[%s::paramCallback] Setting the minimum point to: %f %f %f.", get_name(),
new_min_point(0), new_min_point(1), new_min_point(2));
// Set the filter min point if different
impl_.setMin(new_min_point);
}
}

// Check the current values for the maximum point
if (
get_param(p, "max_x", new_max_point(0)) && get_param(p, "max_y", new_max_point(1)) &&
get_param(p, "max_z", new_max_point(2))) {
if (max_point != new_max_point) {
RCLCPP_DEBUG(
get_logger(), "[%s::paramCallback] Setting the maximum point to: %f %f %f.", get_name(),
new_max_point(0), new_max_point(1), new_max_point(2));
// Set the filter max point if different
impl_.setMax(new_max_point);
}
}

// Check the current value for keep_organized
bool keep_organized;
if (get_param(p, "keep_organized", keep_organized)) {
if (impl_.getKeepOrganized() != keep_organized) {
new_param.min_x, new_param.min_y, new_param.min_z);
RCLCPP_DEBUG(
get_logger(), "[%s::paramCallback] Setting the filter keep_organized value to: %s.",
get_name(), keep_organized ? "true" : "false");
// Call the virtual method in the child
impl_.setKeepOrganized(keep_organized);
}
}

// Check the current value for the negative flag
bool negative;
if (get_param(p, "negative", negative)) {
if (impl_.getNegative() != negative) {
get_logger(), "[%s::paramCallback] Setting the minimum point to: %f %f %f.", get_name(),
new_param.max_x, new_param.max_y, new_param.max_z);
RCLCPP_DEBUG(
get_logger(), "[%s::paramCallback] Setting the filter negative flag to: %s.", get_name(),
negative ? "true" : "false");
// Call the virtual method in the child
impl_.setNegative(negative);
new_param.negative ? "true" : "false");
param_ = new_param;
}
}

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