ndt_map_publisher.hpp

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// Copyright 2020 the Autoware Foundation
//
// 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.
//
// Co-developed by Tier IV, Inc. and Apex.AI, Inc.
 
#ifndef NDT__NDT_MAP_PUBLISHER_HPP_
#define NDT__NDT_MAP_PUBLISHER_HPP_
 
#include <ndt/ndt_map.hpp>
#include <ndt/visibility_control.hpp>
#include <sensor_msgs/msg/point_cloud2.hpp>
#include <voxel_grid_nodes/algorithm/voxel_cloud_centroid.hpp>
 
#include <string>
 
using autoware::common::types::float64_t;
 
namespace autoware
{
namespace localization
{
namespace ndt
{
 
struct geodetic_pose_t
{
  float64_t latitude;
  float64_t longitude;
  float64_t elevation;
  float64_t roll;
  float64_t pitch;
  float64_t yaw;
};
 
struct geocentric_pose_t
{
  float64_t x;
  float64_t y;
  float64_t z;
  float64_t roll;
  float64_t pitch;
  float64_t yaw;
};
 
void NDT_PUBLIC read_from_yaml(
  const std::string & yaml_file_name,
  geodetic_pose_t * geo_pose);
 
void NDT_PUBLIC read_from_pcd(
  const std::string & file_name,
  sensor_msgs::msg::PointCloud2 * msg);
 
class NDT_PUBLIC NDTMapPublisher
{
public:
  using MapConfig = perception::filters::voxel_grid::Config;
  NDTMapPublisher(
    const MapConfig & map_config,
    sensor_msgs::msg::PointCloud2 & map_pc,
    sensor_msgs::msg::PointCloud2 & source_pc);
 
  geocentric_pose_t load_map(const std::string & yaml_file_name, const std::string & pcl_file_name);
 
  void map_to_pc(const ndt::DynamicNDTMap & ndt_map);
 
  void reset_pc_msg(sensor_msgs::msg::PointCloud2 & msg);
 
private:
  const MapConfig & m_map_config;
  sensor_msgs::msg::PointCloud2 & m_map_pc;
  sensor_msgs::msg::PointCloud2 & m_source_pc;
};
 
}  // namespace ndt
}  // namespace localization
}  // namespace autoware
 
#endif  // NDT__NDT_MAP_PUBLISHER_HPP_