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Reduce overhead related to memory allocation #29

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32 changes: 16 additions & 16 deletions rslidar_pointcloud/src/convert.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -41,6 +41,7 @@ Convert::Convert(ros::NodeHandle node, ros::NodeHandle private_nh) : data_(new r
private_nh.param("input_packets_topic", input_packets_topic, std::string("rslidar_packets"));
rslidar_scan_ = node.subscribe(input_packets_topic, 10, &Convert::processScan, (Convert*)this,
ros::TransportHints().tcpNoDelay(true));
out_points_.reset(new pcl::PointCloud<pcl::PointXYZI>);
}

void Convert::callback(rslidar_pointcloud::CloudNodeConfig& config, uint32_t level)
Expand All @@ -52,35 +53,34 @@ void Convert::callback(rslidar_pointcloud::CloudNodeConfig& config, uint32_t lev
/** @brief Callback for raw scan messages. */
void Convert::processScan(const rslidar_msgs::rslidarScan::ConstPtr& scanMsg)
{
pcl::PointCloud<pcl::PointXYZI>::Ptr outPoints(new pcl::PointCloud<pcl::PointXYZI>);
outPoints->header.stamp = pcl_conversions::toPCL(scanMsg->header).stamp;
outPoints->header.frame_id = scanMsg->header.frame_id;
outPoints->clear();
out_points_->header.stamp = pcl_conversions::toPCL(scanMsg->header).stamp;
out_points_->header.frame_id = scanMsg->header.frame_id;
out_points_->clear();
if (model == "RS16")
{
outPoints->height = 16;
outPoints->width = 24 * (int)scanMsg->packets.size();
outPoints->is_dense = false;
outPoints->resize(outPoints->height * outPoints->width);
out_points_->height = 16;
out_points_->width = 24 * (int)scanMsg->packets.size();
out_points_->is_dense = false;
out_points_->resize(out_points_->height * out_points_->width);
}
else if (model == "RS32")
{
outPoints->height = 32;
outPoints->width = 12 * (int)scanMsg->packets.size();
outPoints->is_dense = false;
outPoints->resize(outPoints->height * outPoints->width);
out_points_->height = 32;
out_points_->width = 12 * (int)scanMsg->packets.size();
out_points_->is_dense = false;
out_points_->resize(out_points_->height * out_points_->width);
}

// process each packet provided by the driver

data_->block_num = 0;
for (size_t i = 0; i < scanMsg->packets.size(); ++i)
{
data_->unpack(scanMsg->packets[i], outPoints);
data_->unpack(scanMsg->packets[i], out_points_);
}
sensor_msgs::PointCloud2 outMsg;
pcl::toROSMsg(*outPoints, outMsg);

output_.publish(outMsg);
pcl::toROSMsg(*out_points_, out_msg_);

output_.publish(out_msg_);
}
} // namespace rslidar_pointcloud
3 changes: 3 additions & 0 deletions rslidar_pointcloud/src/convert.h
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Expand Up @@ -44,6 +44,9 @@ class Convert
boost::shared_ptr<rslidar_rawdata::RawData> data_;
ros::Subscriber rslidar_scan_;
ros::Publisher output_;

pcl::PointCloud<pcl::PointXYZI>::Ptr out_points_;
sensor_msgs::PointCloud2 out_msg_;
};

} // namespace rslidar_pointcloud
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