modularization/src/detection/detection_lidar_centerpoint/lib/preprocess/pointcloud_densification.cpp

// Copyright 2021 TIER IV, Inc.
//
// 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 "lidar_centerpoint/preprocess/pointcloud_densification.hpp"

//#include <pcl_ros/transforms.hpp>

#include <boost/optional.hpp>

//#include <pcl_conversions/pcl_conversions.h>
#ifdef ROS_DISTRO_GALACTIC
#include <tf2_eigen/tf2_eigen.h>
#else
//#include <tf2_eigen/tf2_eigen.hpp>
#endif

#include <string>
#include <utility>

namespace
{
//boost::optional<geometry_msgs::msg::Transform> getTransform(
//  const tf2_ros::Buffer & tf_buffer, const std::string & target_frame_id,
//  const std::string & source_frame_id, const rclcpp::Time & time)
//{
//  try {
//    geometry_msgs::msg::TransformStamped transform_stamped;
//    transform_stamped = tf_buffer.lookupTransform(
//      target_frame_id, source_frame_id, time, rclcpp::Duration::from_seconds(0.5));
//    return transform_stamped.transform;
//  } catch (tf2::TransformException & ex) {
//    RCLCPP_WARN_STREAM(rclcpp::get_logger("lidar_centerpoint"), ex.what());
//    return boost::none;
//  }
//}

//Eigen::Affine3f transformToEigen(const geometry_msgs::msg::Transform & t)
//{
//  Eigen::Affine3f a;
//  a.matrix() = tf2::transformToEigen(t).matrix().cast<float>();
//  return a;
//}

}  // namespace

namespace centerpoint
{
PointCloudDensification::PointCloudDensification(const DensificationParam & param) : param_(param)
{
}


bool PointCloudDensification::enqueuePointCloud(
   const pcl::PointCloud<pcl::PointXYZI>::Ptr & pc_ptr)
{
    affine_world2current_ =Eigen::Affine3f::Identity();
    enqueue(pc_ptr);
    dequeue();

    return true;
}

//bool PointCloudDensification::enqueuePointCloud(
//  const sensor_msgs::msg::PointCloud2 & pointcloud_msg, const tf2_ros::Buffer & tf_buffer)
//{
//  const auto header = pointcloud_msg.header;

//  if (param_.pointcloud_cache_size() > 1) {
//    auto transform_world2current =
//      getTransform(tf_buffer, header.frame_id, param_.world_frame_id(), header.stamp);
//    if (!transform_world2current) {
//      return false;
//    }
//    auto affine_world2current = transformToEigen(transform_world2current.get());

//    enqueue(pointcloud_msg, affine_world2current);
//  } else {
//    enqueue(pointcloud_msg, Eigen::Affine3f::Identity());
//  }

//  dequeue();

//  return true;
//}


void PointCloudDensification::enqueue(const pcl::PointCloud<pcl::PointXYZI>::Ptr & pc_ptr)
{
 //   affine_world2current_ = affine_world2current;
    PointCloudWithTransform pointcloud = {pc_ptr,affine_world2current_};
    pointcloud_cache_.push_front(pointcloud);
}
//void PointCloudDensification::enqueue(
//  const sensor_msgs::msg::PointCloud2 & msg, const Eigen::Affine3f & affine_world2current)
//{
//  affine_world2current_ = affine_world2current;
//  current_timestamp_ = rclcpp::Time(msg.header.stamp).seconds();
//  PointCloudWithTransform pointcloud = {msg, affine_world2current.inverse()};
//  pointcloud_cache_.push_front(pointcloud);
//}

void PointCloudDensification::dequeue()
{
  if (pointcloud_cache_.size() > param_.pointcloud_cache_size()) {
    pointcloud_cache_.pop_back();
  }
}

}  // namespace centerpoint