lidar_pointcloud.h

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/******************************************************************************
 * Copyright 2023 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 <algorithm>
#include <cstring>
#include <memory>
#include <string>
 
#include "cyber/ros_bridge/converter_base/converter_interface.h"
 
#include "cyber/proto/simple.pb.h"
#include "modules/common_msgs/sensor_msgs/pointcloud.pb.h"
#include "cyber/cyber.h"
#include "cyber/plugin_manager/plugin_manager.h"
 
#if __has_include("sensor_msgs/point_cloud2_iterator.hpp")
#include "sensor_msgs/point_cloud2_iterator.hpp"
#define ENABLE_ROS_MSG
#endif
 
#ifdef ENABLE_ROS_MSG
using InputMsg = sensor_msgs::msg::PointCloud2;
#else
using InputMsg = apollo::cyber::proto::SimpleMessage;
#endif
 
using OutputMsg = apollo::drivers::PointCloud;
 
using InputMsgPtr = std::shared_ptr<InputMsg>;
using OutputMsgPtr = std::shared_ptr<OutputMsg>;
 
namespace apollo {
namespace cyber {
 
class LidarPointcloud
    : public apollo::cyber::RosApolloMessageConverter<
          InputTypes<InputMsgPtr>, OutputTypes<OutputMsgPtr>> {
 public:
  LidarPointcloud() {}
  ~LidarPointcloud() {}
 
  virtual bool ConvertMsg(InputTypes<InputMsgPtr>&, OutputTypes<OutputMsgPtr>&);
 
#ifdef ENABLE_ROS_MSG
  inline int FindFieldIndex(
      std::string name, sensor_msgs::msg::PointCloud2& cloud_msg) {  // NOLINT
    for (int i = 0; i < cloud_msg.fields.size(); i++) {
      if (cloud_msg.fields[i].name == name) {
        return i;
      }
    }
    return -1;
  }
#endif
};
 
CYBER_PLUGIN_MANAGER_REGISTER_PLUGIN(apollo::cyber::LidarPointcloud,
                                     apollo::cyber::MessageConverter)
 
}  // namespace cyber
}  // namespace apollo