forked from ros-drivers/ros2_ouster_drivers
-
Notifications
You must be signed in to change notification settings - Fork 0
/
processor_factories.hpp
175 lines (154 loc) · 5.56 KB
/
processor_factories.hpp
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
// Copyright 2020, Steve Macenski
// 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 ROS2_OUSTER__OS1__PROCESSOR_FACTORIES_HPP_
#define ROS2_OUSTER__OS1__PROCESSOR_FACTORIES_HPP_
#include <cstdint>
#include <string>
#include <map>
#include <utility>
#include "rclcpp/qos.hpp"
#include "ros2_ouster/conversions.hpp"
#include "ros2_ouster/string_utils.hpp"
#include "ros2_ouster/OS1/processors/image_processor.hpp"
#include "ros2_ouster/OS1/processors/imu_processor.hpp"
#include "ros2_ouster/OS1/processors/pointcloud_processor.hpp"
#include "ros2_ouster/OS1/processors/scan_processor.hpp"
namespace ros2_ouster
{
constexpr std::uint32_t OS1_PROC_IMG = (1 << 0);
constexpr std::uint32_t OS1_PROC_PCL = (1 << 1);
constexpr std::uint32_t OS1_PROC_IMU = (1 << 2);
constexpr std::uint32_t OS1_PROC_SCAN = (1 << 3);
constexpr std::uint32_t OS1_DEFAULT_PROC_MASK =
OS1_PROC_IMG | OS1_PROC_PCL | OS1_PROC_IMU | OS1_PROC_SCAN;
/**
* Transforms a data processor mask-like-string into a mask value
*
* We define a mask-like-string to be a pipe-separated list of
* data processor suffixes. For example, all of the following
* are valid:
*
* IMG|PCL|IMU|SCAN
* IMG|PCL
* PCL
*
* @param[in] mask_str The string to convert into a mask
* @return The mask obtained from the parsed input string.
*/
inline std::uint32_t
toProcMask(const std::string & mask_str)
{
std::uint32_t mask = 0x0;
auto tokens = ros2_ouster::split(mask_str, '|');
for (auto & token : tokens) {
if (token == "IMG") {
mask |= ros2_ouster::OS1_PROC_IMG;
} else if (token == "PCL") {
mask |= ros2_ouster::OS1_PROC_PCL;
} else if (token == "IMU") {
mask |= ros2_ouster::OS1_PROC_IMU;
} else if (token == "SCAN") {
mask |= ros2_ouster::OS1_PROC_SCAN;
}
}
return mask;
}
/**
* @brief Factory method to get a pointer to a processor
* to create the image (range, intensity, noise) interfaces
* @return Raw pointer to a data processor interface to use
*/
inline ros2_ouster::DataProcessorInterface * createImageProcessor(
const rclcpp_lifecycle::LifecycleNode::SharedPtr node,
const ros2_ouster::Metadata & mdata,
const std::string & frame,
const rclcpp::QoS & qos)
{
return new OS1::ImageProcessor(node, mdata, frame, qos);
}
/**
* @brief Factory method to get a pointer to a processor
* to create the pointcloud (PointXYZ be default) interface
* @return Raw pointer to a data processor interface to use
*/
inline ros2_ouster::DataProcessorInterface * createPointcloudProcessor(
const rclcpp_lifecycle::LifecycleNode::SharedPtr node,
const ros2_ouster::Metadata & mdata,
const std::string & frame,
const rclcpp::QoS & qos)
{
return new OS1::PointcloudProcessor(node, mdata, frame, qos);
}
/**
* @brief Factory method to get a pointer to a processor
* to create the IMU interfaces
* @return Raw pointer to a data processor interface to use
*/
inline ros2_ouster::DataProcessorInterface * createIMUProcessor(
const rclcpp_lifecycle::LifecycleNode::SharedPtr node,
const ros2_ouster::Metadata & mdata,
const std::string & frame,
const rclcpp::QoS & qos)
{
return new OS1::IMUProcessor(node, mdata, frame, qos);
}
/**
* @brief Factory method to get a pointer to a processor
* to create the scan interfaces
* @return Raw pointer to a data processor interface to use
*/
inline ros2_ouster::DataProcessorInterface * createScanProcessor(
const rclcpp_lifecycle::LifecycleNode::SharedPtr node,
const ros2_ouster::Metadata & mdata,
const std::string & frame,
const rclcpp::QoS & qos)
{
return new OS1::ScanProcessor(node, mdata, frame, qos);
}
inline std::multimap<ClientState, DataProcessorInterface *> createProcessors(
const rclcpp_lifecycle::LifecycleNode::SharedPtr node,
const ros2_ouster::Metadata & mdata,
const std::string & imu_frame,
const std::string & laser_frame,
const rclcpp::QoS & qos,
std::uint32_t mask = ros2_ouster::OS1_DEFAULT_PROC_MASK)
{
std::multimap<ClientState, DataProcessorInterface *> data_processors;
if ((mask & ros2_ouster::OS1_PROC_IMG) == ros2_ouster::OS1_PROC_IMG) {
data_processors.insert(
std::pair<ClientState, DataProcessorInterface *>(
ClientState::LIDAR_DATA, createImageProcessor(
node, mdata, laser_frame, qos)));
}
if ((mask & ros2_ouster::OS1_PROC_PCL) == ros2_ouster::OS1_PROC_PCL) {
data_processors.insert(
std::pair<ClientState, DataProcessorInterface *>(
ClientState::LIDAR_DATA, createPointcloudProcessor(
node, mdata, laser_frame, qos)));
}
if ((mask & ros2_ouster::OS1_PROC_IMU) == ros2_ouster::OS1_PROC_IMU) {
data_processors.insert(
std::pair<ClientState, DataProcessorInterface *>(
ClientState::IMU_DATA, createIMUProcessor(
node, mdata, imu_frame, qos)));
}
if ((mask & ros2_ouster::OS1_PROC_SCAN) == ros2_ouster::OS1_PROC_SCAN) {
data_processors.insert(
std::pair<ClientState, DataProcessorInterface *>(
ClientState::LIDAR_DATA, createScanProcessor(
node, mdata, laser_frame, qos)));
}
return data_processors;
}
} // namespace ros2_ouster
#endif // ROS2_OUSTER__OS1__PROCESSOR_FACTORIES_HPP_