compensator.h

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/******************************************************************************
 * Copyright 2017 The Apollo Authors. All Rights Reserved.
 *
 * 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.
 *****************************************************************************/
 
#pragma once
 
#include <memory>
#include <string>
 
#include "Eigen/Eigen"
 
// Eigen 3.3.7: #define ALIVE (0)
// fastrtps: enum ChangeKind_t { ALIVE, ... };
#if defined(ALIVE)
#undef ALIVE
#endif
 
#include "modules/common_msgs/sensor_msgs/pointcloud.pb.h"
#include "modules/drivers/lidar/compensator/proto/compensator_config.pb.h"
 
#include "modules/transform/buffer.h"
 
namespace apollo {
namespace drivers {
namespace compensator {
 
using apollo::drivers::PointCloud;
 
class Compensator {
 public:
    explicit Compensator(const CompensatorConfig& config) : config_(config) {}
    virtual ~Compensator() {}
 
    bool MotionCompensation(
            const std::shared_ptr<const PointCloud>& msg,
            std::shared_ptr<PointCloud> msg_compensated);
 
 private:
    bool QueryPoseAffineFromTF2(
            const uint64_t& timestamp,
            void* pose,
            const std::string& child_frame_id);
 
    void MotionCompensation(
            const std::shared_ptr<const PointCloud>& msg,
            std::shared_ptr<PointCloud> msg_compensated,
            const uint64_t timestamp_min,
            const uint64_t timestamp_max,
            const Eigen::Affine3d& pose_min_time,
            const Eigen::Affine3d& pose_max_time);
    inline void GetTimestampInterval(
            const std::shared_ptr<const PointCloud>& msg,
            uint64_t* timestamp_min,
            uint64_t* timestamp_max);
 
    bool IsValid(const Eigen::Vector3d& point);
 
    transform::Buffer* tf2_buffer_ptr_ = transform::Buffer::Instance();
    CompensatorConfig config_;
};
 
}  // namespace compensator
}  // namespace drivers
}  // namespace apollo