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Considerable CPU saving in BaseRealSenseNode::publishPointCloud() #1097

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merged 1 commit into from
Mar 5, 2020
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Considerable CPU saving in BaseRealSenseNode::publishPointCloud() #1097

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3 changes: 3 additions & 0 deletions realsense2_camera/include/base_realsense_node.h
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Original file line number Diff line number Diff line change
Expand Up @@ -317,6 +317,9 @@ namespace realsense2_camera
stream_index_pair _base_stream;
const std::string _namespace;

sensor_msgs::PointCloud2 _msg_pointcloud;
std::vector< unsigned int > _valid_pc_indices;

};//end class

}
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46 changes: 23 additions & 23 deletions realsense2_camera/src/base_realsense_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1985,7 +1985,8 @@ void BaseRealSenseNode::publishPointCloud(rs2::points pc, const ros::Time& t, co

const rs2::vertex* vertex = pc.get_vertices();
const rs2::texture_coordinate* color_point = pc.get_texture_coordinates();
std::list<unsigned int> valid_indices;

_valid_pc_indices.clear();
for (size_t point_idx=0; point_idx < pc.size(); point_idx++, vertex++, color_point++)
{
if (static_cast<float>(vertex->z) > 0)
Expand All @@ -1994,19 +1995,18 @@ void BaseRealSenseNode::publishPointCloud(rs2::points pc, const ros::Time& t, co
float j = static_cast<float>(color_point->v);
if (_allow_no_texture_points || (i >= 0.f && i <= 1.f && j >= 0.f && j <= 1.f))
{
valid_indices.push_back(point_idx);
_valid_pc_indices.push_back(point_idx);
}
}
}

sensor_msgs::PointCloud2 msg_pointcloud;
msg_pointcloud.header.stamp = t;
msg_pointcloud.header.frame_id = _optical_frame_id[DEPTH];
msg_pointcloud.width = valid_indices.size();
msg_pointcloud.height = 1;
msg_pointcloud.is_dense = true;
_msg_pointcloud.header.stamp = t;
_msg_pointcloud.header.frame_id = _optical_frame_id[DEPTH];
_msg_pointcloud.width = _valid_pc_indices.size();
_msg_pointcloud.height = 1;
_msg_pointcloud.is_dense = true;

sensor_msgs::PointCloud2Modifier modifier(msg_pointcloud);
sensor_msgs::PointCloud2Modifier modifier(_msg_pointcloud);
modifier.setPointCloud2FieldsByString(1, "xyz");

vertex = pc.get_vertices();
Expand All @@ -2029,19 +2029,19 @@ void BaseRealSenseNode::publishPointCloud(rs2::points pc, const ros::Time& t, co
default:
throw std::runtime_error("Unhandled texture format passed in pointcloud " + std::to_string(texture_frame.get_profile().format()));
}
msg_pointcloud.point_step = addPointField(msg_pointcloud, format_str.c_str(), 1, sensor_msgs::PointField::FLOAT32, msg_pointcloud.point_step);
msg_pointcloud.row_step = msg_pointcloud.width * msg_pointcloud.point_step;
msg_pointcloud.data.resize(msg_pointcloud.height * msg_pointcloud.row_step);

sensor_msgs::PointCloud2Iterator<float>iter_x(msg_pointcloud, "x");
sensor_msgs::PointCloud2Iterator<float>iter_y(msg_pointcloud, "y");
sensor_msgs::PointCloud2Iterator<float>iter_z(msg_pointcloud, "z");
sensor_msgs::PointCloud2Iterator<uint8_t>iter_color(msg_pointcloud, format_str);
_msg_pointcloud.point_step = addPointField(_msg_pointcloud, format_str.c_str(), 1, sensor_msgs::PointField::FLOAT32, _msg_pointcloud.point_step);
_msg_pointcloud.row_step = _msg_pointcloud.width * _msg_pointcloud.point_step;
_msg_pointcloud.data.resize(_msg_pointcloud.height * _msg_pointcloud.row_step);

sensor_msgs::PointCloud2Iterator<float>iter_x(_msg_pointcloud, "x");
sensor_msgs::PointCloud2Iterator<float>iter_y(_msg_pointcloud, "y");
sensor_msgs::PointCloud2Iterator<float>iter_z(_msg_pointcloud, "z");
sensor_msgs::PointCloud2Iterator<uint8_t>iter_color(_msg_pointcloud, format_str);
color_point = pc.get_texture_coordinates();

float color_pixel[2];
unsigned int prev_idx(0);
for (auto idx=valid_indices.begin(); idx != valid_indices.end(); idx++)
for (auto idx=_valid_pc_indices.begin(); idx != _valid_pc_indices.end(); idx++)
{
unsigned int idx_jump(*idx-prev_idx);
prev_idx = *idx;
Expand Down Expand Up @@ -2070,11 +2070,11 @@ void BaseRealSenseNode::publishPointCloud(rs2::points pc, const ros::Time& t, co
}
else
{
sensor_msgs::PointCloud2Iterator<float>iter_x(msg_pointcloud, "x");
sensor_msgs::PointCloud2Iterator<float>iter_y(msg_pointcloud, "y");
sensor_msgs::PointCloud2Iterator<float>iter_z(msg_pointcloud, "z");
sensor_msgs::PointCloud2Iterator<float>iter_x(_msg_pointcloud, "x");
sensor_msgs::PointCloud2Iterator<float>iter_y(_msg_pointcloud, "y");
sensor_msgs::PointCloud2Iterator<float>iter_z(_msg_pointcloud, "z");
unsigned int prev_idx(0);
for (auto idx=valid_indices.begin(); idx != valid_indices.end(); idx++)
for (auto idx=_valid_pc_indices.begin(); idx != _valid_pc_indices.end(); idx++)
{
unsigned int idx_jump(*idx-prev_idx);
prev_idx = *idx;
Expand All @@ -2087,7 +2087,7 @@ void BaseRealSenseNode::publishPointCloud(rs2::points pc, const ros::Time& t, co
++iter_x; ++iter_y; ++iter_z;
}
}
_pointcloud_publisher.publish(msg_pointcloud);
_pointcloud_publisher.publish(_msg_pointcloud);
}


Expand Down