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00028 #include <ros/ros.h>
00029 #include <sensor_msgs/PointCloud.h>
00030 #include <costmap_2d/VoxelGrid.h>
00031 #include <voxel_grid/voxel_grid.h>
00032
00033 #include "costmap_2d/voxel_costmap_2d.h"
00034
00035 struct Cell
00036 {
00037 double x;
00038 double y;
00039 double z;
00040 voxel_grid::VoxelStatus status;
00041 };
00042 typedef std::vector<Cell> V_Cell;
00043
00044 float g_colors_r[] = { 0.0f, 0.0f, 1.0f };
00045 float g_colors_g[] = { 0.0f, 0.0f, 0.0f };
00046 float g_colors_b[] = { 0.0f, 1.0f, 0.0f };
00047 float g_colors_a[] = { 0.0f, 0.5f, 1.0f };
00048
00049 V_Cell g_marked;
00050 V_Cell g_unknown;
00051 void voxelCallback(const ros::Publisher& pub_marked, const ros::Publisher& pub_unknown, const costmap_2d::VoxelGridConstPtr& grid)
00052 {
00053 if (grid->data.empty())
00054 {
00055 ROS_ERROR("Received empty voxel grid");
00056 return;
00057 }
00058
00059 ros::WallTime start = ros::WallTime::now();
00060
00061 ROS_DEBUG("Received voxel grid");
00062 const std::string frame_id = grid->header.frame_id;
00063 const ros::Time stamp = grid->header.stamp;
00064 const uint32_t* data = &grid->data.front();
00065 const double x_origin = grid->origin.x;
00066 const double y_origin = grid->origin.y;
00067 const double z_origin = grid->origin.z;
00068 const double x_res = grid->resolutions.x;
00069 const double y_res = grid->resolutions.y;
00070 const double z_res = grid->resolutions.z;
00071 const uint32_t x_size = grid->size_x;
00072 const uint32_t y_size = grid->size_y;
00073 const uint32_t z_size = grid->size_z;
00074
00075 g_marked.clear();
00076 g_unknown.clear();
00077 uint32_t num_marked = 0;
00078 uint32_t num_unknown = 0;
00079 for (uint32_t y_grid = 0; y_grid < y_size; ++y_grid)
00080 {
00081 for (uint32_t x_grid = 0; x_grid < x_size; ++x_grid)
00082 {
00083 for (uint32_t z_grid = 0; z_grid < z_size; ++z_grid)
00084 {
00085 voxel_grid::VoxelStatus status = voxel_grid::VoxelGrid::getVoxel(x_grid, y_grid, z_grid, x_size, y_size, z_size, data);
00086
00087 if (status == voxel_grid::UNKNOWN)
00088 {
00089 Cell c;
00090 c.status = status;
00091 costmap_2d::VoxelCostmap2D::mapToWorld3D(x_grid, y_grid, z_grid, x_origin, y_origin, z_origin, x_res, y_res, z_res, c.x, c.y, c.z);
00092
00093 g_unknown.push_back(c);
00094
00095 ++num_unknown;
00096 }
00097 else if (status == voxel_grid::MARKED)
00098 {
00099 Cell c;
00100 c.status = status;
00101 costmap_2d::VoxelCostmap2D::mapToWorld3D(x_grid, y_grid, z_grid, x_origin, y_origin, z_origin, x_res, y_res, z_res, c.x, c.y, c.z);
00102
00103 g_marked.push_back(c);
00104
00105 ++num_marked;
00106 }
00107
00108 }
00109 }
00110 }
00111
00112 {
00113 sensor_msgs::PointCloud cloud;
00114 cloud.points.resize(num_marked);
00115 cloud.channels.resize(1);
00116 cloud.channels[0].values.resize(num_marked);
00117 cloud.channels[0].name = "rgb";
00118 cloud.header.frame_id = frame_id;
00119 cloud.header.stamp = stamp;
00120
00121 sensor_msgs::ChannelFloat32& chan = cloud.channels[0];
00122 for (uint32_t i = 0; i < num_marked; ++i)
00123 {
00124 geometry_msgs::Point32& p = cloud.points[i];
00125 float& cval = chan.values[i];
00126 Cell& c = g_marked[i];
00127
00128 p.x = c.x;
00129 p.y = c.y;
00130 p.z = c.z;
00131
00132 uint32_t r = g_colors_r[c.status] * 255.0;
00133 uint32_t g = g_colors_g[c.status] * 255.0;
00134 uint32_t b = g_colors_b[c.status] * 255.0;
00135
00136
00137 uint32_t col = (r << 16) | (g << 8) | b;
00138 cval = *reinterpret_cast<float*>(&col);
00139 }
00140
00141 pub_marked.publish(cloud);
00142 }
00143
00144 {
00145 sensor_msgs::PointCloud cloud;
00146 cloud.points.resize(num_unknown);
00147 cloud.channels.resize(1);
00148 cloud.channels[0].values.resize(num_unknown);
00149 cloud.channels[0].name = "rgb";
00150 cloud.header.frame_id = frame_id;
00151 cloud.header.stamp = stamp;
00152
00153 sensor_msgs::ChannelFloat32& chan = cloud.channels[0];
00154 for (uint32_t i = 0; i < num_unknown; ++i)
00155 {
00156 geometry_msgs::Point32& p = cloud.points[i];
00157 float& cval = chan.values[i];
00158 Cell& c = g_unknown[i];
00159
00160 p.x = c.x;
00161 p.y = c.y;
00162 p.z = c.z;
00163
00164 uint32_t r = g_colors_r[c.status] * 255.0;
00165 uint32_t g = g_colors_g[c.status] * 255.0;
00166 uint32_t b = g_colors_b[c.status] * 255.0;
00167
00168
00169 uint32_t col = (r << 16) | (g << 8) | b;
00170 cval = *reinterpret_cast<float*>(&col);
00171 }
00172
00173 pub_unknown.publish(cloud);
00174 }
00175
00176 ros::WallTime end = ros::WallTime::now();
00177 ROS_DEBUG("Published %d points in %f seconds", num_marked + num_unknown, (end - start).toSec());
00178 }
00179
00180 int main(int argc, char** argv)
00181 {
00182 ros::init(argc, argv, "costmap_2d_cloud");
00183 ros::NodeHandle n;
00184
00185 ROS_DEBUG("Startup");
00186
00187 ros::Publisher pub_marked = n.advertise<sensor_msgs::PointCloud>("voxel_marked_cloud", 2);
00188 ros::Publisher pub_unknown = n.advertise<sensor_msgs::PointCloud>("voxel_unknown_cloud", 2);
00189 ros::Subscriber sub = n.subscribe<costmap_2d::VoxelGrid>("voxel_grid", 1, boost::bind(voxelCallback, pub_marked, pub_unknown, _1));
00190
00191 ros::spin();
00192 }
