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fix: add selectable lookup time for dynamic transform #50

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fix: add selectable lookup time for dynamic transform #50

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bc9727a
fix: add selectable lookup time for dynamic transform
badai-nguyen Mar 17, 2025
1fbfb07
fix: change to select option
badai-nguyen Mar 17, 2025
3e72ec1
chore: docs
badai-nguyen Mar 17, 2025
8a37717
Merge branch 'main' into fix/transform_time
badai-nguyen Mar 18, 2025
6ca266c
fix: add selectable lookup time for dynamic transform
badai-nguyen Mar 18, 2025
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37 changes: 24 additions & 13 deletions autoware_utils_pcl/include/autoware_utils_pcl/managed_transform_buffer.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -63,30 +63,32 @@ constexpr std::array<std::string_view, 3> warn_frames = {"map", "odom", "world"}
class ManagedTransformBuffer
{
public:
explicit ManagedTransformBuffer(rclcpp::Node * node, const bool & has_static_tf_only)
: node_(node)
explicit ManagedTransformBuffer(
rclcpp::Node * node, const bool & has_static_tf_only,
const bool & use_pc_stamp_for_lookup = false)
: use_pc_stamp_for_lookup_(use_pc_stamp_for_lookup), node_(node)
{
if (has_static_tf_only) {
get_transform_ = [this](
const std::string & target_frame, const std::string & source_frame,
Eigen::Matrix4f & eigen_transform) {
return get_static_transform(target_frame, source_frame, eigen_transform);
const rclcpp::Time & lookup_time, Eigen::Matrix4f & eigen_transform) {
return get_static_transform(target_frame, source_frame, lookup_time, eigen_transform);
};
} else {
tf_listener_ = std::make_unique<autoware_utils_tf::TransformListener>(node);
get_transform_ = [this](
const std::string & target_frame, const std::string & source_frame,
Eigen::Matrix4f & eigen_transform) {
return get_dynamic_transform(target_frame, source_frame, eigen_transform);
const rclcpp::Time & lookup_time, Eigen::Matrix4f & eigen_transform) {
return get_dynamic_transform(target_frame, source_frame, lookup_time, eigen_transform);
};
}
}

bool get_transform(
const std::string & target_frame, const std::string & source_frame,
Eigen::Matrix4f & eigen_transform)
const rclcpp::Time & lookup_time, Eigen::Matrix4f & eigen_transform)
{
return get_transform_(target_frame, source_frame, eigen_transform);
return get_transform_(target_frame, source_frame, lookup_time, eigen_transform);
}

/**
Expand All @@ -112,7 +114,11 @@ class ManagedTransformBuffer
return true;
}
Eigen::Matrix4f eigen_transform;
if (!get_transform(target_frame, cloud_in.header.frame_id, eigen_transform)) {
rclcpp::Time lookup_time{rclcpp::Time(0)};
if (use_pc_stamp_for_lookup_) {
lookup_time = rclcpp::Time(cloud_in.header.stamp);
}
if (!get_transform(target_frame, cloud_in.header.frame_id, lookup_time, eigen_transform)) {
return false;
}
pcl_ros::transformPointCloud(eigen_transform, cloud_in, cloud_out);
Expand All @@ -131,13 +137,14 @@ class ManagedTransformBuffer
*
* @param target_frame The target frame.
* @param source_frame The source frame.
* @param lookup_time The target timestamp
* @param eigen_transform The output Eigen transform matrix. It is set to the identity if the
* transform is not found.
* @return True if the transform was successfully retrieved, false otherwise.
*/
bool get_static_transform(
const std::string & target_frame, const std::string & source_frame,
Eigen::Matrix4f & eigen_transform)
[[maybe_unused]] const rclcpp::Time & lookup_time, Eigen::Matrix4f & eigen_transform)
{
if (
std::find(warn_frames.begin(), warn_frames.end(), target_frame) != warn_frames.end() ||
Expand Down Expand Up @@ -198,16 +205,17 @@ class ManagedTransformBuffer
*
* @param target_frame The target frame.
* @param source_frame The source frame.
* @param lookup_time The target timestamp
* @param eigen_transform The output Eigen transformation matrix. It is set to the identity if the
* transform is not found.
* @return True if the transform was successfully retrieved, false otherwise.
*/
bool get_dynamic_transform(
const std::string & target_frame, const std::string & source_frame,
Eigen::Matrix4f & eigen_transform)
const rclcpp::Time & lookup_time, Eigen::Matrix4f & eigen_transform)
{
auto tf = tf_listener_->get_transform(
target_frame, source_frame, rclcpp::Time(0), rclcpp::Duration(1000ms));
target_frame, source_frame, lookup_time, rclcpp::Duration(1000ms));
if (tf == nullptr) {
eigen_transform = Eigen::Matrix4f::Identity();
return false;
Expand All @@ -217,9 +225,12 @@ class ManagedTransformBuffer
}

TFMap buffer_;
bool use_pc_stamp_for_lookup_;
rclcpp::Node * const node_;
std::unique_ptr<autoware_utils_tf::TransformListener> tf_listener_;
std::function<bool(const std::string &, const std::string &, Eigen::Matrix4f &)> get_transform_;
std::function<bool(
const std::string &, const std::string &, const rclcpp::Time &, Eigen::Matrix4f &)>
get_transform_;
};

} // namespace autoware_utils_pcl
Expand Down