chroe: refactor collectorinfo structure

Signed-off-by: vividf <[email protected]>
autowarefoundation · Jan 6, 2025 · d01eba8 · d01eba8
1 parent 9523a3b
commit d01eba8
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Showing 5 changed files with 34 additions and 43 deletions.
diff --git a/sensing/autoware_pointcloud_preprocessor/config/concatenate_pointclouds.param.yaml b/sensing/autoware_pointcloud_preprocessor/config/concatenate_pointclouds.param.yaml
@@ -1,12 +1,21 @@
 /**:
   ros__parameters:
-    output_frame: base_link
-    has_static_tf_only: true
+    debug_mode: false
+    has_static_tf_only: false
+    rosbag_length: 10.0
+    maximum_queue_size: 5
+    timeout_sec: 0.2
+    is_motion_compensated: true
+    publish_synchronized_pointcloud: true
+    keep_input_frame_in_synchronized_pointcloud: true
+    publish_previous_but_late_pointcloud: false
+    synchronized_pointcloud_postfix: pointcloud
+    input_twist_topic_type: twist
     input_topics: [
-                    "/sensing/lidar/left/pointcloud_before_sync",
                     "/sensing/lidar/right/pointcloud_before_sync",
-                    "/sensing/lidar/top/pointcloud_before_sync"
+                    "/sensing/lidar/top/pointcloud_before_sync",
+                    "/sensing/lidar/left/pointcloud_before_sync",
                 ]
-    max_queue_size: 5
-    timeout_sec: 0.033
-    input_offset: [0.0 ,0.0 ,0.0]
+    output_frame: base_link
+    matching_strategy:
+      type: naive
diff --git a/...reprocessor/include/autoware/pointcloud_preprocessor/concatenate_data/cloud_collector.hpp b/...reprocessor/include/autoware/pointcloud_preprocessor/concatenate_data/cloud_collector.hpp
@@ -18,7 +18,6 @@
 
 #include <memory>
 #include <string>
-#include <tuple>
 #include <unordered_map>
 
 namespace autoware::pointcloud_preprocessor
@@ -27,32 +26,26 @@ namespace autoware::pointcloud_preprocessor
 class PointCloudConcatenateDataSynchronizerComponent;
 class CombineCloudHandler;
 
-enum class CollectorStrategyType { Naive, Advanced };
-
 struct CollectorInfoBase
 {
   virtual ~CollectorInfoBase() = default;
-  [[nodiscard]] virtual CollectorStrategyType getStrategyType() const = 0;
 };
 
 struct NaiveCollectorInfo : public CollectorInfoBase
 {
-  double timestamp{0.0};
+  double timestamp;
 
-  [[nodiscard]] CollectorStrategyType getStrategyType() const override
-  {
-    return CollectorStrategyType::Naive;
-  }
+  explicit NaiveCollectorInfo(double timestamp = 0.0) : timestamp(timestamp) {}
 };
 
 struct AdvancedCollectorInfo : public CollectorInfoBase
 {
-  double timestamp{0.0};
-  double noise_window{0.0};
+  double timestamp;
+  double noise_window;
 
-  [[nodiscard]] CollectorStrategyType getStrategyType() const override
+  explicit AdvancedCollectorInfo(double timestamp = 0.0, double noise_window = 0.0)
+  : timestamp(timestamp), noise_window(noise_window)
   {
-    return CollectorStrategyType::Advanced;
   }
 };
 

diff --git a/...include/autoware/pointcloud_preprocessor/concatenate_data/collector_matching_strategy.hpp b/...include/autoware/pointcloud_preprocessor/concatenate_data/collector_matching_strategy.hpp
@@ -47,9 +47,6 @@ class CollectorMatchingStrategy
     const MatchingParams & params) const = 0;
   virtual void set_collector_info(
     std::shared_ptr<CloudCollector> & collector, const MatchingParams & matching_params) = 0;
-
-protected:
-  CollectorStrategyType strategy_type_;
 };
 
 class NaiveMatchingStrategy : public CollectorMatchingStrategy

diff --git a/sensing/autoware_pointcloud_preprocessor/src/concatenate_data/cloud_collector.cpp b/sensing/autoware_pointcloud_preprocessor/src/concatenate_data/cloud_collector.cpp
@@ -128,18 +128,14 @@ void CloudCollector::show_debug_message()
   log_stream << "Collector's concatenate callback time: "
              << ros2_parent_node_->get_clock()->now().seconds() << " seconds\n";
 
-  if (collector_info_) {
-    if (collector_info_->getStrategyType() == CollectorStrategyType::Advanced) {
-      auto advanced_info = std::dynamic_pointer_cast<AdvancedCollectorInfo>(collector_info_);
-      log_stream << "Advanced strategy:\n Collector's reference time min: "
-                 << advanced_info->timestamp - advanced_info->noise_window
-                 << " to max: " << advanced_info->timestamp + advanced_info->noise_window
-                 << " seconds\n";
-    } else if (collector_info_->getStrategyType() == CollectorStrategyType::Naive) {
-      auto naive_info = std::dynamic_pointer_cast<NaiveCollectorInfo>(collector_info_);
-      log_stream << "Naive strategy:\n Collector's timestamp: " << naive_info->timestamp
-                 << " seconds\n";
-    }
+  if (auto advanced_info = std::dynamic_pointer_cast<AdvancedCollectorInfo>(collector_info_)) {
+    log_stream << "Advanced strategy:\n Collector's reference time min: "
+               << advanced_info->timestamp - advanced_info->noise_window
+               << " to max: " << advanced_info->timestamp + advanced_info->noise_window
+               << " seconds\n";
+  } else if (auto naive_info = std::dynamic_pointer_cast<NaiveCollectorInfo>(collector_info_)) {
+    log_stream << "Naive strategy:\n Collector's timestamp: " << naive_info->timestamp
+               << " seconds\n";
   }
 
   log_stream << "Time until trigger: " << (time_until_trigger.count() / 1e9) << " seconds\n";

diff --git a/...ing/autoware_pointcloud_preprocessor/src/concatenate_data/collector_matching_strategy.cpp b/...ing/autoware_pointcloud_preprocessor/src/concatenate_data/collector_matching_strategy.cpp
@@ -28,7 +28,6 @@ namespace autoware::pointcloud_preprocessor
 
 NaiveMatchingStrategy::NaiveMatchingStrategy(rclcpp::Node & node)
 {
-  strategy_type_ = CollectorStrategyType::Naive;
   RCLCPP_INFO(node.get_logger(), "Utilize naive matching strategy");
 }
 
@@ -58,15 +57,13 @@ std::optional<std::shared_ptr<CloudCollector>> NaiveMatchingStrategy::match_clou
 void NaiveMatchingStrategy::set_collector_info(
   std::shared_ptr<CloudCollector> & collector, const MatchingParams & matching_params)
 {
-  auto info = std::make_shared<NaiveCollectorInfo>();
-  info->timestamp = matching_params.cloud_arrival_time;
+  auto info = std::make_shared<NaiveCollectorInfo>(matching_params.cloud_arrival_time);
   collector->set_info(info);
 }
 
 AdvancedMatchingStrategy::AdvancedMatchingStrategy(
   rclcpp::Node & node, std::vector<std::string> input_topics)
 {
-  strategy_type_ = CollectorStrategyType::Advanced;
   auto lidar_timestamp_offsets =
     node.declare_parameter<std::vector<double>>("matching_strategy.lidar_timestamp_offsets");
   auto lidar_timestamp_noise_window =
@@ -114,10 +111,9 @@ std::optional<std::shared_ptr<CloudCollector>> AdvancedMatchingStrategy::match_c
 void AdvancedMatchingStrategy::set_collector_info(
   std::shared_ptr<CloudCollector> & collector, const MatchingParams & matching_params)
 {
-  auto info = std::make_shared<AdvancedCollectorInfo>();
-  info->timestamp =
-    matching_params.cloud_timestamp - topic_to_offset_map_[matching_params.topic_name];
-  info->noise_window = topic_to_noise_window_map_[matching_params.topic_name];
+  auto info = std::make_shared<AdvancedCollectorInfo>(
+    matching_params.cloud_timestamp - topic_to_offset_map_[matching_params.topic_name],
+    topic_to_noise_window_map_[matching_params.topic_name]);
   collector->set_info(info);
 }