convert.cc

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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.
 *****************************************************************************/
 
#include "modules/drivers/lidar/lslidar/parser/convert.h"
 
namespace apollo {
namespace drivers {
namespace lslidar {
namespace parser {
 
using apollo::drivers::PointCloud;
using apollo::drivers::lslidar::LslidarScan;
 
void Convert::init(const Config& lslidar_config) {
    config_ = lslidar_config;
    // we use Beijing time by default
 
    AERROR << "Convert::init";
    parser_.reset(LslidarParserFactory::CreateParser(config_));
    if (parser_.get() == nullptr) {
        AFATAL << "Create parser failed.";
        return;
    }
    parser_->setup();
}
 
void Convert::ConvertPacketsToPointcloud(
        const std::shared_ptr<apollo::drivers::lslidar::LslidarScan>& scan_msg,
        std::shared_ptr<apollo::drivers::PointCloud> point_cloud) {
    AINFO_EVERY(100) << "Converting scan msg seq "
                     << scan_msg->header().sequence_num();
 
    parser_->GeneratePointcloud(scan_msg, point_cloud);
 
    if (point_cloud == nullptr || point_cloud->point().empty()) {
        AERROR << "point cloud has no point";
        return;
    }
 
    parser_->Order(point_cloud);
    point_cloud->set_is_dense(false);
}
 
}  // namespace parser
}  // namespace lslidar
}  // namespace drivers
}  // namespace apollo