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Update publishScanToPoint

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jj
2025-07-04 17:28:31 +08:00
parent def6d64c81
commit 8119b233d8
2 changed files with 39 additions and 2 deletions
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orbbec_camera/launch/lidar.launch.py
+1 -1
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@@ -59,7 +59,7 @@ def generate_launch_description():
DeclareLaunchArgument('publish_tf', default_value='true'), DeclareLaunchArgument('publish_tf', default_value='true'),
DeclareLaunchArgument('tf_publish_rate', default_value='0.0'), DeclareLaunchArgument('tf_publish_rate', default_value='0.0'),
DeclareLaunchArgument('lidar_format', default_value='ANY'),#LIDAR_POINT, LIDAR_SPHERE_POINT, LIDAR_SCAN DeclareLaunchArgument('lidar_format', default_value='ANY'),#LIDAR_POINT, LIDAR_SPHERE_POINT, LIDAR_SCAN
DeclareLaunchArgument('lidar_rate', default_value='20'), DeclareLaunchArgument('lidar_rate', default_value='30'),
DeclareLaunchArgument('enable_scan_to_point', default_value='false'), DeclareLaunchArgument('enable_scan_to_point', default_value='false'),
DeclareLaunchArgument('repetitive_scan_mode', default_value='-1'), DeclareLaunchArgument('repetitive_scan_mode', default_value='-1'),
DeclareLaunchArgument('filter_level', default_value='-1'), DeclareLaunchArgument('filter_level', default_value='-1'),
orbbec_camera/src/ob_lidar_node.cpp
+38 -1
View File
@@ -460,7 +460,7 @@ void OBLidarNode::publishScan(std::shared_ptr<ob::FrameSet> frame_set) {
scan_msg->range_max = max_range_; scan_msg->range_max = max_range_;
scan_msg->ranges.resize(scan_count); scan_msg->ranges.resize(scan_count);
scan_msg->intensities.resize(scan_count); scan_msg->intensities.resize(scan_count);
for (size_t i = 0; i < scan_count; i++) { for (size_t i = 0; i < scan_count; ++i) {
if (scans_data->distance < min_range_ && scans_data->distance > max_range_) { if (scans_data->distance < min_range_ && scans_data->distance > max_range_) {
scans_data++; scans_data++;
continue; continue;
@@ -477,6 +477,43 @@ void OBLidarNode::publishScanToPoint(std::shared_ptr<ob::FrameSet> frame_set) {
if (frame_set == nullptr) { if (frame_set == nullptr) {
return; return;
} }
auto lidar_frame = frame_set->getFrame(OB_FRAME_LIDAR_POINTS);
auto *scans_data = reinterpret_cast<OBLiDARScanPoint *>(lidar_frame->getData());
auto scan_count = lidar_frame->getDataSize() / sizeof(OBLiDARScanPoint);
auto point_cloud_msg = std::make_unique<sensor_msgs::msg::PointCloud2>();
sensor_msgs::PointCloud2Modifier modifier(*point_cloud_msg);
modifier.setPointCloud2Fields(4, "x", 1, sensor_msgs::msg::PointField::FLOAT32, "y", 1,
sensor_msgs::msg::PointField::FLOAT32, "z", 1,
sensor_msgs::msg::PointField::FLOAT32, "reflectivity", 1,
sensor_msgs::msg::PointField::UINT8);
modifier.resize(scan_count);
auto frame_timestamp = getFrameTimestampUs(lidar_frame);
auto timestamp = fromUsToROSTime(frame_timestamp);
point_cloud_msg->header.stamp = timestamp;
point_cloud_msg->header.frame_id = frame_id_[LIDAR];
point_cloud_msg->height = 1;
point_cloud_msg->width = scan_count;
point_cloud_msg->is_dense = true;
point_cloud_msg->is_bigendian = false;
point_cloud_msg->row_step = point_cloud_msg->width * point_cloud_msg->point_step;
point_cloud_msg->data.resize(point_cloud_msg->height * point_cloud_msg->row_step);
sensor_msgs::PointCloud2Iterator<float> iter_x(*point_cloud_msg, "x");
sensor_msgs::PointCloud2Iterator<float> iter_y(*point_cloud_msg, "y");
sensor_msgs::PointCloud2Iterator<float> iter_z(*point_cloud_msg, "z");
sensor_msgs::PointCloud2Iterator<uint8_t> iter_reflectivity(*point_cloud_msg, "reflectivity");
for (size_t i = 0; i < scan_count; ++i, ++iter_x, ++iter_y, ++iter_z, ++iter_reflectivity) {
double rad = 0.7853981852531433 + 0.0026179938577115536 * i;
*iter_x = static_cast<float>(scans_data[i].distance * cos(rad) / 1000.0);
*iter_y = static_cast<float>(scans_data[i].distance * sin(rad) / -1000.0);
*iter_z = static_cast<float>(0.0);
*iter_reflectivity = static_cast<uint8_t>(scans_data[i].intensity);
// RCLCPP_INFO_STREAM(logger_, "*iter_x:"<<*iter_x);
}
RCLCPP_INFO(logger_, "point_step: %u", point_cloud_msg->point_step);
RCLCPP_INFO(logger_, "row_step: %u", point_cloud_msg->row_step);
RCLCPP_INFO(logger_, "data size: %zu", point_cloud_msg->data.size());
*point_cloud_msg = filterPointCloud(*point_cloud_msg);
point_cloud_pub_->publish(std::move(point_cloud_msg));
} }
void OBLidarNode::publishPointCloud(std::shared_ptr<ob::FrameSet> frame_set) { void OBLidarNode::publishPointCloud(std::shared_ptr<ob::FrameSet> frame_set) {