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Additional lidar_handler to set the timestamp of the pointcloud from specific rotation angle #73

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Additional lidar_handler to set the timestamp of the pointcloud from specific rotation angle #73

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65a22c2
Additional lidar_handler to set the timestamp of the pointcloud from …
PhilippSchmaelzle Mar 3, 2023
f5b22ac
Fix to actually ignore invalid input angles
PhilippSchmaelzle Mar 3, 2023
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34 changes: 34 additions & 0 deletions src/os_cloud_nodelet.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -61,6 +61,12 @@ class OusterCloud : public nodelet::Nodelet {
lidar_frame = tf_prefix + "os_lidar";
auto timestamp_mode_arg = pnh.param("timestamp_mode", std::string{});
use_ros_time = timestamp_mode_arg == "TIME_FROM_ROS_TIME";
if (pnh.getParam("time_reference_angle", time_reference_angle) &&
((time_reference_angle > 360.0) || (time_reference_angle < 0.0))){
NODELET_WARN_STREAM("OusterCloud: time_reference_angle " << time_reference_angle <<
" invalid and will be ignored!");
time_reference_angle = NULL;
}
}

std::string get_metadata(ros::NodeHandle& nh) {
Expand Down Expand Up @@ -121,6 +127,8 @@ class OusterCloud : public nodelet::Nodelet {
void create_subscribers(ros::NodeHandle& nh) {
auto lidar_handler = use_ros_time
? &OusterCloud::lidar_handler_ros_time
: time_reference_angle
? &OusterCloud::lidar_handler_sensor_reference_angle_time
: &OusterCloud::lidar_handler_sensor_time;

lidar_packet_sub =
Expand Down Expand Up @@ -152,6 +160,31 @@ class OusterCloud : public nodelet::Nodelet {
info.lidar_to_sensor_transform, sensor_frame, lidar_frame, msg_ts));
}

void lidar_handler_sensor_reference_angle_time(const PacketMsg::ConstPtr& packet) {
if (!(*scan_batcher)(packet->buf.data(), ls)) return;
auto ts_v = ls.timestamp();
auto m_id_v = ls.measurement_id();

std::uint16_t min_valid_idx = std::find_if(ts_v.data(), ts_v.data() + ts_v.size(),
[](uint64_t h) { return h != 0; }) - ts_v.data();
std::uint16_t max_valid_idx = *std::max_element(m_id_v.data(), m_id_v.data() + m_id_v.size());

auto time_reference_idx = int(m_id_v.size() - floor( m_id_v.size() * (time_reference_angle/360.0) ));

auto scan_ts = std::chrono::nanoseconds{ts_v(time_reference_idx)};

if (time_reference_idx < min_valid_idx || time_reference_idx > max_valid_idx){
scan_ts = std::chrono::nanoseconds{ts_v(min_valid_idx)};

double min_angle = 360.0 - (double(max_valid_idx) / double(m_id_v.size()))*360.0;
double max_angle = 360.0 - (double(max_valid_idx) / double(m_id_v.size()))*360.0;
NODELET_WARN_THROTTLE(2.0, "OusterCloud: time_reference_angle %.2f degree not within available azimuth range"
" of [%.2f %.2f] degree! \nUsing Timestamp of earliest valid package at %f degree!",
time_reference_angle, min_angle, max_angle, max_angle);
}
convert_scan_to_pointcloud_publish(scan_ts, to_ros_time(scan_ts));
}

void lidar_handler_sensor_time(const PacketMsg::ConstPtr& packet) {
if (!(*scan_batcher)(packet->buf.data(), ls)) return;
auto ts_v = ls.timestamp();
Expand Down Expand Up @@ -224,6 +257,7 @@ class OusterCloud : public nodelet::Nodelet {
tf2_ros::TransformBroadcaster tf_bcast;

bool use_ros_time;
double time_reference_angle = NULL;
};

} // namespace nodelets_os
Expand Down