pointcloud_preprocess_component.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 <atomic>
#include <limits>
#include <memory>
#include <string>
 
#include "modules/common_msgs/sensor_msgs/pointcloud.pb.h"
#include "modules/perception/pointcloud_preprocess/proto/pointcloud_preprocess_component_config.pb.h"
 
#include "cyber/component/component.h"
#include "modules/perception/common/onboard/inner_component_messages/lidar_inner_component_messages.h"
#include "modules/perception/common/onboard/transform_wrapper/transform_wrapper.h"
#include "modules/perception/pointcloud_preprocess/preprocessor/pointcloud_preprocessor.h"
 
namespace apollo {
namespace perception {
namespace lidar {
 
class PointCloudPreprocessComponent
    : public cyber::Component<drivers::PointCloud> {
 public:
  PointCloudPreprocessComponent() = default;
  virtual ~PointCloudPreprocessComponent() = default;
  bool Init() override;
  bool Proc(const std::shared_ptr<drivers::PointCloud>& message) override;
 
 private:
  bool InitAlgorithmPlugin();
  bool InternalProc(
      const std::shared_ptr<const drivers::PointCloud>& in_message,
      const std::shared_ptr<onboard::LidarFrameMessage>& out_message);
 
 private:
  static std::atomic<uint32_t> seq_num_;
  std::string sensor_name_;
  std::string config_path_;
  std::string config_file_;
  float lidar_query_tf_offset_ = 20.0f;
  std::string lidar2novatel_tf2_child_frame_id_;
  std::string output_channel_name_;
  std::string pointcloud_preprocess_config_file_;
  onboard::TransformWrapper lidar2world_trans_;
  base::SensorInfo sensor_info_;
 
  std::shared_ptr<apollo::cyber::Writer<onboard::LidarFrameMessage>> writer_;
 
  // preprocessor
  BasePointCloudPreprocessor* cloud_preprocessor_;
};
 
CYBER_REGISTER_COMPONENT(PointCloudPreprocessComponent);
 
}  // namespace lidar
}  // namespace perception
}  // namespace apollo