MapAssemblerNode.cpp

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/*
Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.

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      notice, this list of conditions and the following disclaimer.
    * Redistributions in binary form must reproduce the above copyright
      notice, this list of conditions and the following disclaimer in the
      documentation and/or other materials provided with the distribution.
    * Neither the name of the Universite de Sherbrooke nor the
      names of its contributors may be used to endorse or promote products
      derived from this software without specific prior written permission.

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#include <ros/ros.h>
#include "rtabmap_ros/MapData.h"
#include "rtabmap_ros/MsgConversion.h"
#include <rtabmap/core/util3d.h>
#include <rtabmap/core/Compression.h>
#include <rtabmap/core/Graph.h>
#include <rtabmap/utilite/ULogger.h>
#include <rtabmap/utilite/UStl.h>
#include <rtabmap/utilite/UTimer.h>
#include <pcl_ros/transforms.h>
#include <pcl_conversions/pcl_conversions.h>
#include <nav_msgs/OccupancyGrid.h>
#include <std_srvs/Empty.h>

using namespace rtabmap;

class MapAssembler
{

public:
        MapAssembler() :
                cloudDecimation_(4),
                cloudMaxDepth_(4.0),
                cloudVoxelSize_(0.02),
                scanVoxelSize_(0.01),
                nodeFilteringAngle_(30), // degrees
                nodeFilteringRadius_(0.5),
                noiseFilterRadius_(0.0),
                noiseFilterMinNeighbors_(5),
                computeOccupancyGrid_(false),
                gridCellSize_(0.05),
                groundMaxAngle_(M_PI_4),
                clusterMinSize_(20),
                maxHeight_(0),
                occupancyMapSize_(0.0)
        {
                ros::NodeHandle pnh("~");
                pnh.param("cloud_decimation", cloudDecimation_, cloudDecimation_);
                pnh.param("cloud_max_depth", cloudMaxDepth_, cloudMaxDepth_);
                pnh.param("cloud_voxel_size", cloudVoxelSize_, cloudVoxelSize_);
                pnh.param("scan_voxel_size", scanVoxelSize_, scanVoxelSize_);

                pnh.param("filter_radius", nodeFilteringRadius_, nodeFilteringRadius_);
                pnh.param("filter_angle", nodeFilteringAngle_, nodeFilteringAngle_);

                pnh.param("noise_filter_radius", noiseFilterRadius_, noiseFilterRadius_);
                pnh.param("noise_filter_min_neighbors", noiseFilterMinNeighbors_, noiseFilterMinNeighbors_);

                pnh.param("occupancy_grid", computeOccupancyGrid_, computeOccupancyGrid_);
                pnh.param("occupancy_cell_size", gridCellSize_, gridCellSize_);
                pnh.param("occupancy_ground_max_angle", groundMaxAngle_, groundMaxAngle_);
                pnh.param("occupancy_cluster_min_size", clusterMinSize_, clusterMinSize_);
                pnh.param("occupancy_max_height", maxHeight_, maxHeight_);
                pnh.param("occupancy_map_size", occupancyMapSize_, occupancyMapSize_);

                UASSERT(gridCellSize_ > 0);
                UASSERT(maxHeight_ >= 0);
                UASSERT(occupancyMapSize_ >=0.0);

                ros::NodeHandle nh;
                mapDataTopic_ = nh.subscribe("mapData", 1, &MapAssembler::mapDataReceivedCallback, this);

                assembledMapClouds_ = nh.advertise<sensor_msgs::PointCloud2>("assembled_clouds", 1);
                assembledMapScans_ = nh.advertise<sensor_msgs::PointCloud2>("assembled_scans", 1);
                if(computeOccupancyGrid_)
                {
                        occupancyMapPub_ = nh.advertise<nav_msgs::OccupancyGrid>("grid_projection_map", 1);
                }

                // private service
                resetService_ = pnh.advertiseService("reset", &MapAssembler::reset, this);
        }

        ~MapAssembler()
        {
        }

        void mapDataReceivedCallback(const rtabmap_ros::MapDataConstPtr & msg)
        {
                UTimer timer;
                for(unsigned int i=0; i<msg->nodes.size(); ++i)
                {
                        int id = msg->nodes[i].id;
                        if(!uContains(rgbClouds_, id))
                        {
                                rtabmap::Transform localTransform = rtabmap_ros::transformFromGeometryMsg(msg->nodes[i].localTransform);
                                if(!localTransform.isNull())
                                {
                                        cv::Mat image, depth;
                                        float fx = msg->nodes[i].fx;
                                        float fy = msg->nodes[i].fy;
                                        float cx = msg->nodes[i].cx;
                                        float cy = msg->nodes[i].cy;

                                        //uncompress data
                                        rtabmap::CompressionThread ctImage(rtabmap_ros::compressedMatFromBytes(msg->nodes[i].image, false), true);
                                        rtabmap::CompressionThread ctDepth(rtabmap_ros::compressedMatFromBytes(msg->nodes[i].depth, false), true);
                                        ctImage.start();
                                        ctDepth.start();
                                        ctImage.join();
                                        ctDepth.join();
                                        image = ctImage.getUncompressedData();
                                        depth = ctDepth.getUncompressedData();

                                        if(!image.empty() && !depth.empty() && fx > 0.0f && fy > 0.0f && cx >= 0.0f && cy >= 0.0f)
                                        {
                                                pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud;
                                                if(depth.type() == CV_8UC1)
                                                {
                                                        cloud = util3d::cloudFromStereoImages(image, depth, cx, cy, fx, fy, cloudDecimation_);
                                                }
                                                else
                                                {
                                                        cloud = util3d::cloudFromDepthRGB(image, depth, cx, cy, fx, fy, cloudDecimation_);
                                                }

                                                if(cloud->size() && cloudMaxDepth_ > 0)
                                                {
                                                        cloud = util3d::passThrough<pcl::PointXYZRGB>(cloud, "z", 0, cloudMaxDepth_);
                                                }
                                                if(cloud->size() && noiseFilterRadius_ > 0.0 && noiseFilterMinNeighbors_ > 0)
                                                {
                                                        pcl::IndicesPtr indices = rtabmap::util3d::radiusFiltering<pcl::PointXYZRGB>(cloud, noiseFilterRadius_, noiseFilterMinNeighbors_);
                                                        pcl::PointCloud<pcl::PointXYZRGB>::Ptr tmp(new pcl::PointCloud<pcl::PointXYZRGB>);
                                                        pcl::copyPointCloud(*cloud, *indices, *tmp);
                                                        cloud = tmp;
                                                }
                                                if(cloud->size() && cloudVoxelSize_ > 0)
                                                {
                                                        cloud = util3d::voxelize<pcl::PointXYZRGB>(cloud, cloudVoxelSize_);
                                                }

                                                if(cloud->size())
                                                {
                                                        cloud = util3d::transformPointCloud<pcl::PointXYZRGB>(cloud, localTransform);


                                                        rgbClouds_.insert(std::make_pair(id, cloud));

                                                        if(computeOccupancyGrid_)
                                                        {
                                                                pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudClipped = cloud;
                                                                if(cloudClipped->size() && maxHeight_ > 0)
                                                                {
                                                                        cloudClipped = util3d::passThrough<pcl::PointXYZRGB>(cloudClipped, "z", std::numeric_limits<int>::min(), maxHeight_);
                                                                }
                                                                if(cloudClipped->size())
                                                                {
                                                                        cloudClipped = util3d::voxelize<pcl::PointXYZRGB>(cloudClipped, gridCellSize_);

                                                                        cv::Mat ground, obstacles;
                                                                        util3d::occupancy2DFromCloud3D<pcl::PointXYZRGB>(cloudClipped, ground, obstacles, gridCellSize_, groundMaxAngle_, clusterMinSize_);
                                                                        if(!ground.empty() || !obstacles.empty())
                                                                        {
                                                                                occupancyLocalMaps_.insert(std::make_pair(id, std::make_pair(ground, obstacles)));
                                                                        }
                                                                }

                                                        }
                                                }
                                        }
                                }
                        }

                        if(!uContains(scans_, id) && msg->nodes[i].laserScan.size())
                        {
                                cv::Mat laserScan = rtabmap::uncompressData(msg->nodes[i].laserScan);
                                if(!laserScan.empty())
                                {
                                        pcl::PointCloud<pcl::PointXYZ>::Ptr cloud = util3d::laserScanToPointCloud(laserScan);
                                        if(cloud->size() && scanVoxelSize_ > 0)
                                        {
                                                cloud = util3d::voxelize<pcl::PointXYZ>(cloud, scanVoxelSize_);
                                        }
                                        if(cloud->size())
                                        {
                                                scans_.insert(std::make_pair(id, cloud));
                                        }
                                }
                        }
                }

                // filter poses
                std::map<int, Transform> poses;
                for(unsigned int i=0; i<msg->graph.nodeIds.size() && i<msg->graph.poses.size(); ++i)
                {
                        poses.insert(std::make_pair(msg->graph.nodeIds[i], rtabmap_ros::transformFromPoseMsg(msg->graph.poses[i])));
                }
                if(nodeFilteringAngle_ > 0.0 && nodeFilteringRadius_ > 0.0)
                {
                        poses = rtabmap::graph::radiusPosesFiltering(poses, nodeFilteringRadius_, nodeFilteringAngle_*CV_PI/180.0);
                }

                if(assembledMapClouds_.getNumSubscribers())
                {
                        // generate the assembled cloud!
                        pcl::PointCloud<pcl::PointXYZRGB>::Ptr assembledCloud(new pcl::PointCloud<pcl::PointXYZRGB>);

                        for(std::map<int, Transform>::iterator iter = poses.begin(); iter!=poses.end(); ++iter)
                        {
                                std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr >::iterator jter = rgbClouds_.find(iter->first);
                                if(jter != rgbClouds_.end())
                                {
                                        pcl::PointCloud<pcl::PointXYZRGB>::Ptr transformed = util3d::transformPointCloud<pcl::PointXYZRGB>(jter->second, iter->second);
                                        *assembledCloud+=*transformed;
                                }
                        }

                        if(assembledCloud->size())
                        {
                                if(cloudVoxelSize_ > 0)
                                {
                                        assembledCloud = util3d::voxelize<pcl::PointXYZRGB>(assembledCloud,cloudVoxelSize_);
                                }

                                sensor_msgs::PointCloud2::Ptr cloudMsg(new sensor_msgs::PointCloud2);
                                pcl::toROSMsg(*assembledCloud, *cloudMsg);
                                cloudMsg->header.stamp = ros::Time::now();
                                cloudMsg->header.frame_id = msg->header.frame_id;
                                assembledMapClouds_.publish(cloudMsg);
                        }
                }

                if(assembledMapScans_.getNumSubscribers())
                {
                        // generate the assembled scan!
                        pcl::PointCloud<pcl::PointXYZ>::Ptr assembledCloud(new pcl::PointCloud<pcl::PointXYZ>);

                        for(std::map<int, Transform>::iterator iter = poses.begin(); iter!=poses.end(); ++iter)
                        {
                                std::map<int, pcl::PointCloud<pcl::PointXYZ>::Ptr >::iterator jter = scans_.find(iter->first);
                                if(jter != scans_.end())
                                {
                                        pcl::PointCloud<pcl::PointXYZ>::Ptr transformed = util3d::transformPointCloud<pcl::PointXYZ>(jter->second, iter->second);
                                        *assembledCloud+=*transformed;
                                }
                        }

                        if(assembledCloud->size())
                        {
                                if(scanVoxelSize_ > 0)
                                {
                                        assembledCloud = util3d::voxelize<pcl::PointXYZ>(assembledCloud, scanVoxelSize_);
                                }

                                sensor_msgs::PointCloud2::Ptr cloudMsg(new sensor_msgs::PointCloud2);
                                pcl::toROSMsg(*assembledCloud, *cloudMsg);
                                cloudMsg->header.stamp = ros::Time::now();
                                cloudMsg->header.frame_id = msg->header.frame_id;
                                assembledMapScans_.publish(cloudMsg);
                        }
                }

                if(occupancyMapPub_.getNumSubscribers())
                {
                        // create the map
                        float xMin=0.0f, yMin=0.0f;
                        cv::Mat pixels = util3d::create2DMapFromOccupancyLocalMaps(
                                        poses,
                                        occupancyLocalMaps_,
                                        gridCellSize_, xMin, yMin,
                                        occupancyMapSize_);

                        if(!pixels.empty())
                        {
                                //init
                                nav_msgs::OccupancyGrid map;
                                map.info.resolution = gridCellSize_;
                                map.info.origin.position.x = 0.0;
                                map.info.origin.position.y = 0.0;
                                map.info.origin.position.z = 0.0;
                                map.info.origin.orientation.x = 0.0;
                                map.info.origin.orientation.y = 0.0;
                                map.info.origin.orientation.z = 0.0;
                                map.info.origin.orientation.w = 1.0;

                                map.info.width = pixels.cols;
                                map.info.height = pixels.rows;
                                map.info.origin.position.x = xMin;
                                map.info.origin.position.y = yMin;
                                map.data.resize(map.info.width * map.info.height);

                                memcpy(map.data.data(), pixels.data, map.info.width * map.info.height);

                                map.header.frame_id = msg->header.frame_id;
                                map.header.stamp = ros::Time::now();

                                occupancyMapPub_.publish(map);
                        }
                }
                ROS_INFO("Processing data %fs", timer.ticks());
        }

        bool reset(std_srvs::Empty::Request&, std_srvs::Empty::Response&)
        {
                ROS_INFO("map_assembler: reset!");
                occupancyLocalMaps_.clear();
                rgbClouds_.clear();
                scans_.clear();
                return true;
        }

private:
        int cloudDecimation_;
        double cloudMaxDepth_;
        double cloudVoxelSize_;
        double scanVoxelSize_;

        double nodeFilteringAngle_;
        double nodeFilteringRadius_;

        double noiseFilterRadius_;
        double noiseFilterMinNeighbors_;

        bool computeOccupancyGrid_;
        double gridCellSize_;
        double groundMaxAngle_;
        int clusterMinSize_;
        double maxHeight_;
        double occupancyMapSize_;

        std::map<int, std::pair<cv::Mat, cv::Mat> > occupancyLocalMaps_; // <ground, obstacles>

        ros::Subscriber mapDataTopic_;

        ros::Publisher assembledMapClouds_;
        ros::Publisher assembledMapScans_;
        ros::Publisher occupancyMapPub_;

        ros::ServiceServer resetService_;

        std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr > rgbClouds_;
        std::map<int, pcl::PointCloud<pcl::PointXYZ>::Ptr > scans_;
};


int main(int argc, char** argv)
{
        ros::init(argc, argv, "map_assembler");
        MapAssembler assembler;
        ros::spin();
        return 0;
}