odom_pc.cpp

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#include <ros/ros.h>
#include <sensor_msgs/LaserScan.h>
#include <dlut_pc_odom/motor.h>
#include <std_msgs/Bool.h>
#include <std_msgs/UInt32.h>
#include <geometry_msgs/PointStamped.h>
#include <geometry_msgs/Vector3.h>

//#include <geometry_msgs/Point32.h>

#include <iostream>
#include <fstream>
#include <math.h>

#include <tf/transform_listener.h>
#include <nav_msgs/Odometry.h>

#include <pcl_ros/point_cloud.h>
#include <pcl/point_types.h>
#include "pcl/io/pcd_io.h"

#define PAI 3.1415926

typedef pcl::PointXYZRGB PointType;
typedef pcl::PointCloud<PointType> PCLPointCloud;
PCLPointCloud::Ptr final(new PCLPointCloud);//convert to PointCloud2 to publish

class PointCloudOdom
{
public:
  PointCloudOdom();
  ~PointCloudOdom();

  void scanCallBack(const sensor_msgs::LaserScan &ls);
  void motorRotateStart(const std_msgs::Bool &is_run);
  void motorParamGet(const dlut_pc_odom::motor &motor_msg);
  void odomGet(const nav_msgs::Odometry &odom);

  geometry_msgs::Vector3 rpyGet(const tf::Quaternion &qua);
  geometry_msgs::Vector3 rpyGet(const geometry_msgs::Quaternion &qua);

  ros::NodeHandle nh_;

private:
  ros::Publisher point_cloud2_pub_;//publish the PointCloud and PointCloud2 message

  ros::Subscriber laser_scan_sub_,rotate_start_sub_,motor_param_sub_,odom_sub_;

  std_msgs::Bool is_rotate_;//message which show the sick begin to rotate or not 
  dlut_pc_odom::motor motor_param_;//motor's parameters
  sensor_msgs::PointCloud odom_cloud_;//the point cloud corrected by odom

  ros::Time time_begin_rotate_,time_end_rotate_;//the time which the sick begin to rotate and stop to rotate

  double angle_rotated_;//the angle which the sick rotated
  bool is_first_flag_;//whether the first data after the sick rotated
  unsigned int num_points_;//the points num of the cloud
  
  unsigned int laser_seq_;//the sequence number of the laser data
  unsigned int num_per_cloud_;//the scan number of one cloud
  unsigned int points_per_scan_;//the points number per scan

  std::ofstream pc_data_,laser_range_data_;
  tf::TransformListener odom_tf_listener_;
  std::ofstream odom_data_;

  geometry_msgs::Vector3 ypr_;//yaw,pitch,roll

  double alpha_,beta_,gamma_,length_;//the parameters of the hokuyo platform
  double h2p_a_,h2p_b_,h2p_c_,h2p_d_,h2p_e_,h2p_f_,h2p_g_,h2p_h_,h2p_i_;//hokuyo激光到云台变换矩阵R中的值
  double p2r_a_,p2r_b_,p2r_c_,p2r_d_,p2r_e_,p2r_f_,p2r_g_,p2r_h_,p2r_i_;//云台到机器人变换矩阵R中的值
  double t_h2p_a_,t_h2p_b_,t_h2p_c_;//云台到激光的平移矩阵T

  bool is_first_circle_;//是否是第一圈激光数据
  
  PointType point2_;//save a temporary point
};

PointCloudOdom::PointCloudOdom()
{
  laser_scan_sub_ = nh_.subscribe("scan", 1000, &PointCloudOdom::scanCallBack,this);
  rotate_start_sub_ = nh_.subscribe("is_run_pch", 1, &PointCloudOdom::motorRotateStart,this);
  motor_param_sub_ = nh_.subscribe("motor_param", 1000, &PointCloudOdom::motorParamGet,this);
  odom_sub_ = nh_.subscribe("odom", 1000, &PointCloudOdom::odomGet,this);
  point_cloud2_pub_ = nh_.advertise<PCLPointCloud> ("hokuyo_point_cloud2", 1);
  //point_stamp_pub = nh_.advertise<geometry_msgs::PointStamped>("point_stamp", 1000);
  
  is_rotate_.data = false;
  angle_rotated_ = 0.0;

  is_first_flag_ = false;
        
  num_points_ = 0;
  laser_seq_ = 0;

  odom_data_.open("odometry.txt");
  laser_range_data_.open("range.txt");
  pc_data_.open("odom_pch.txt");
  pc_data_<<"//////////////////////////////////////////////////////////////////////////"<<"\n";
  pc_data_<<"// 3D Laser Scanning Data File Format: *.3dld"<<"\n";
  pc_data_<<"// Designed by: Dong Bingbing  Version 0.0"<<"\n";
  pc_data_<<"// Copyright (C) 2013 by DUT-RCIC. All rights reserved."<<"\n";
  pc_data_<<"//////////////////////////////////////////////////////////////////////////"<<"\n";
  pc_data_<<"//"<<"\n";
  pc_data_<<"BEGIN_HEADER"<<"\n";
  pc_data_<<"0                  // ScanID"<<"\n";
  pc_data_<<"Data               // ScanName"<<"\n";
  pc_data_<<"HSR5995TG          // ScannerType"<<"\n";
  pc_data_<<"8.000                      // MaxDistance"<<"\n";
  pc_data_<<"0                  // IsPoseCal"<<"\n";
  pc_data_<<"0                  // IsColored"<<"\n";

  alpha_ = 0.0095;
  beta_ = 0.0017;
  gamma_ = -0.0262;
  length_ = -0.0040;

  h2p_a_ = cos(beta_)*cos(gamma_) - sin(alpha_)*sin(beta_)*sin(gamma_);
  h2p_b_ = -cos(beta_)*sin(gamma_) - sin(alpha_)*sin(beta_)*cos(gamma_);
  h2p_c_ = -cos(alpha_)*sin(beta_);
  h2p_d_ = cos(alpha_)*sin(gamma_);
  h2p_e_ = cos(alpha_)*cos(gamma_);
  h2p_f_ = -sin(alpha_);
  h2p_g_ = sin(beta_)*cos(gamma_) + sin(alpha_)*cos(beta_)*sin(gamma_);
  h2p_h_ = -sin(beta_)*sin(gamma_) + sin(alpha_)*cos(beta_)*cos(gamma_);
  h2p_i_ = cos(alpha_)*cos(beta_);

  p2r_a_ = 0.999942368044831;   p2r_b_ = 0.00616103270670958;   p2r_c_ = 0.00879217065821694;
  p2r_d_ = -0.00613654752375238;p2r_e_ = 0.999977225469970;     p2r_f_ = -0.00280915038216528;
  p2r_g_ = -0.00880927768804484;p2r_h_ = 0.00275503491225531;   p2r_i_ = 0.999957402297342;
  
  t_h2p_a_ = -0.143284347080846;t_h2p_b_ = -0.00961421703449155;t_h2p_c_ = 0.575167371824827;

  is_first_circle_ = true;
}

PointCloudOdom::~PointCloudOdom()
{
  pc_data_<<"END_3D_LASER_DATA"<<"\n";          
  pc_data_.close();

  laser_range_data_.close();
  odom_data_.close();
}

void PointCloudOdom::scanCallBack(const sensor_msgs::LaserScan &ls)
{
  if(is_first_flag_ == true)
  {
    //每扫描半圈获取一组点云数据,hokuyo激光频率按40HZ计算
    num_per_cloud_ = 40*motor_param_.num_of_pulse_per_circle.data/(2*motor_param_.motor_freq.data);
    ROS_INFO("num_per_cloud_ =%d.",num_per_cloud_);
    points_per_scan_ = (ls.angle_max - ls.angle_min)/ls.angle_increment;
    ROS_INFO("points_per_scan_ =%d.",points_per_scan_);
    num_points_ = points_per_scan_*num_per_cloud_;
                

    is_first_flag_ = false;

    pc_data_<<num_per_cloud_<<"*"<<points_per_scan_<<"                  // DataNumber"<<"\n";
    pc_data_<<"0.000,0.000,0.000        // RobotPose1"<<"\n";
    pc_data_<<"0.000,0.000,0.000        // RobotPose2"<<"\n";
    pc_data_<<"0.000,0.000,0.000        // ParameterA"<<"\n";
    pc_data_<<"0.000,0.000,0.000        // ParameterB"<<"\n";
    pc_data_<<"0.000,0.000,0.000        // ParameterC"<<"\n";
    pc_data_<<"0.000,0.000,0.000        // ParameterD"<<"\n";
    pc_data_<<"0.000,0.000,0.000        // ParameterE"<<"\n";
    pc_data_<<"2009-1-1 0:0:0   // RecordTime"<<"\n";
    pc_data_<<""<<"\n";
    pc_data_<<"END_HEADER"<<"\n";
    pc_data_<<"//"<<"\n";
    pc_data_<<"BEGIN_3D_LASER_DATA"<<"\n";
  }

  if(is_rotate_.data == true && 
     ((ls.ranges[1078] > 0.21 && is_first_circle_ == true) || is_first_circle_ == false))//最后一个点到激光挡板的最大距离
  {
    is_first_circle_ = false;
    if(laser_seq_ >= 0 )
    {
      if(laser_seq_%num_per_cloud_ == 0)
      {
        final->points.clear();
        final->header.stamp = ros::Time::now();
        final->header.frame_id = "pch_frame";    
      }

      //laser_range_data_<<"Time stamp:"<<ls.header.stamp.toSec()<<"\n";// 激光原始数据时间戳
      /*publish the number of lines of the point cloud*/
                  
      ROS_INFO("angle_min:%f，angle_max:%f.",ls.angle_min,ls.angle_max);
      ROS_INFO("angle_increment:%f,time_increment:%f.",ls.angle_increment,ls.time_increment);
      ROS_INFO("range_min:%f,range_max:%f,points_per_scan_:%d.",ls.range_min,ls.range_max,points_per_scan_);
      ROS_INFO("The freq pulse is:%d.the num is :%d",motor_param_.motor_freq.data,motor_param_.num_of_pulse_per_circle.data);

      /*计算激光转过的角度start*/
      angle_rotated_ = laser_seq_*0.025*motor_param_.motor_freq.data*2*PAI/motor_param_.num_of_pulse_per_circle.data;
      /*计算激光转过的角度end*/

        
      tf::StampedTransform transform;

      try
      {
        odom_tf_listener_.lookupTransform("odom", "base_link", ros::Time(0), transform);
      }
      catch (tf::TransformException ex)
      {
        ROS_ERROR("%s",ex.what());
      }

      double transform_x = transform.getOrigin().x();
      double transform_y = transform.getOrigin().y();
      double transform_z = transform.getOrigin().z();
      double transform_th = rpyGet(transform.getRotation()).z;//获取里程计变换

      /*double transform_x = 0.0;
      double transform_y = 0.0;
      double transform_z = 0.0;
      double transform_th = 0.0;//获取里程计变换*/
      //double transform_rotation_x = transform.getRotation().x();
      //double transform_rotation_y = transform.getRotation().y();
      //double transform_rotation_z = transform.getRotation().z();
      //double transform_rotation_w = transform.getRotation().w();                      

      /*计算里程计原始数据时间戳start*/
      ros::Time now_range = ros::Time::now();
      double time_stamp = (now_range-time_begin_rotate_).toSec();
      /*计算里程计原始数据时间戳end*/

      laser_range_data_<<time_stamp<<" "<<angle_rotated_<<" ";//记录时间戳和云台转角
      odom_data_<<time_stamp<<" "<<transform_x<<" "<<transform_y<<" "<<transform_th<<"\n";
      


      for(unsigned int i = 0;i < points_per_scan_; i++)
      {
        laser_range_data_<<ls.ranges[i]<<" ";
        
        //计算激光坐标系下激光点坐标,激光坐标系下激光扫描角度为：
        double theta = ls.angle_min + i*ls.angle_increment;
        //激光坐标系下激光点坐标为:
        double x = ls.ranges[i]*cos(theta);
        double y = ls.ranges[i]*sin(theta);
        double z = 0;

        //将激光坐标系进行旋转以后为(乘以旋转矩阵R)：P_ = R*P
        double rx = h2p_a_*x + h2p_b_*y + h2p_c_*z;
        double ry = h2p_d_*x + h2p_e_*y + h2p_f_*z;
        double rz = h2p_g_*x + h2p_h_*y + h2p_i_*z;                     
                                
        //将激光坐标系转换为云台坐标系Pyuntai
        double yt_x = -ry*cos(angle_rotated_) + (rz + length_)*sin(angle_rotated_);
        double yt_y = -ry*sin(angle_rotated_) - (rz + length_)*cos(angle_rotated_);
        double yt_z = rx;

        //从云台坐标系转换到机器人坐标系:Probot=RZ*Pyuntai+T
        double x_robot = p2r_a_*yt_x + p2r_b_*yt_y + p2r_c_*yt_z + t_h2p_a_;
        double y_robot = p2r_d_*yt_x + p2r_e_*yt_y + p2r_f_*yt_z + t_h2p_b_;
        double z_robot = p2r_g_*yt_x + p2r_h_*yt_y + p2r_i_*yt_z + t_h2p_c_;
                                
        //机器人运动过程中，还需要将点云平移后绕z轴旋转方可

        //先绕z轴旋转，旋转角度是机器人转角
        double x_end = x_robot*cos(transform_th) - y_robot*sin(transform_th);
        double y_end = x_robot*sin(transform_th) + y_robot*cos(transform_th);
        double z_end = z_robot;

        //再平移
        x_end += transform_x;
        y_end += transform_y;
        z_end += transform_z;
                                
        pc_data_<<x_end<<" "<<y_end<<" "<<z_end<<"\n";

        point2_.x = x_end;
        point2_.y = y_end;
        point2_.z = z_end;
        //point2_.rgb = ...;//pointcloud has no colour at the present
        final->points.push_back(point2_); 
      }
      laser_range_data_<<"\n";
      //point_cloud_pub_.publish(odom_cloud_);

    }
    
    if((laser_seq_ + 1)%num_per_cloud_ == 0)
    {
      //publish the PointCloud2 msg
      point_cloud2_pub_.publish(*final);
    }

    laser_seq_++;
    ROS_INFO("laser_seq_=%d.",laser_seq_);
  }


}

void PointCloudOdom::odomGet(const nav_msgs::Odometry &odom)
{
  if(is_rotate_.data == true)
  {
    //double yaw = tf::getYaw(odom.pose.pose.orientation);
    double yaw = rpyGet(odom.pose.pose.orientation).z;
    ros::Time now = ros::Time::now();
    double time_stamp = (now-time_begin_rotate_).toSec();
    //ROS_INFO("yaw = %f.",yaw);
    //odom_data_<<time_stamp<<" "<<odom.twist.twist.linear.x<<" "<< odom.twist.twist.angular.z<<" "<<odom.pose.pose.position.x<<" "<<odom.pose.pose.position.y<<" "<<yaw<<"\n";
  }
}

void PointCloudOdom::motorRotateStart(const std_msgs::Bool &is_run)
{
  is_rotate_.data = is_run.data;
  if(is_rotate_.data == true)
  {
    time_begin_rotate_ = ros::Time::now();//电机开始转动，开始存激光数据，设个起始时间     
  }
  else
  {
    time_end_rotate_ = ros::Time::now();//电机停止转动，停止存激光数据，设个结束时间
  }
}

void PointCloudOdom::motorParamGet(const dlut_pc_odom::motor &motor_msg)
{
  motor_param_.motor_freq.data = motor_msg.motor_freq.data;
  motor_param_.num_of_pulse_per_circle.data = motor_msg.num_of_pulse_per_circle.data;
  //time_sick_per_circle = motor_param_.num_of_pulse_per_circle.data/motor_param_.motor_freq.data;//激光每转一圈需要的时间
  is_first_flag_ = true;
}

geometry_msgs::Vector3 PointCloudOdom::rpyGet(const tf::Quaternion &qua)
{
  double x = qua.x();
  double y = qua.y();
  double z = qua.z();
  double w = qua.w();

  geometry_msgs::Vector3 vec;
  vec.x = atan2(2*(w*x + y*z),1 - 2*(x*x + y*y));//from -pai to pai
  vec.y = asin(2*(w*y - z*x));          //from -pai/2 to pai/2
  vec.z = atan2(2*(w*z + x*y),1 - 2*(y*y + z*z));//from -pai to pai

  return vec;
}

geometry_msgs::Vector3 PointCloudOdom::rpyGet(const geometry_msgs::Quaternion &qua)
{
  double x = qua.x;
  double y = qua.y;
  double z = qua.z;
  double w = qua.w;

  geometry_msgs::Vector3 vec;
  vec.x = atan2(2*(w*x + y*z),1 - 2*(x*x + y*y));//from -pai to pai
  vec.y = asin(2*(w*y - z*x));          //from -pai/2 to pai/2
  vec.z = atan2(2*(w*z + x*y),1 - 2*(y*y + z*z));//from -pai to pai

  return vec;
}

int main(int argc, char** argv)
{
  ros::init(argc, argv, "odom_pch");

  PointCloudOdom pch;

  ros::spin();
  
  return 0;
}