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Create iterator for custom height field in pointcloud. #5586

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Create iterator for custom height field in pointcloud. #5586

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6 changes: 4 additions & 2 deletions nav2_collision_monitor/src/pointcloud.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -105,10 +105,12 @@ bool PointCloud::getData(
sensor_msgs::PointCloud2ConstIterator<float> iter_x(*data_, "x");
sensor_msgs::PointCloud2ConstIterator<float> iter_y(*data_, "y");
sensor_msgs::PointCloud2ConstIterator<float> iter_z(*data_, "z");
sensor_msgs::PointCloud2ConstIterator<float> iter_height(*data_, "height");

// Refill data array with PointCloud points in base frame
for (; iter_x != iter_x.end(); ++iter_x, ++iter_y, ++iter_z) {
for (; iter_x != iter_x.end(); ++iter_x, ++iter_y, ++iter_z, ++iter_height) {
// Transform point coordinates from source frame -> to base frame
//Not transforming height since it is already relative to ground
tf2::Vector3 p_v3_s(*iter_x, *iter_y, *iter_z);

// Check range from sensor origin before transformation
Expand All @@ -120,7 +122,7 @@ bool PointCloud::getData(
tf2::Vector3 p_v3_b = tf_transform * p_v3_s;

// Refill data array
if (p_v3_b.z() >= min_height_ && p_v3_b.z() <= max_height_) {
if (*iter_height >= min_height_ && *iter_height <= max_height_) {
data.push_back({p_v3_b.x(), p_v3_b.y()});
}
}
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