segbot_velodyne_outlier_removal.cpp

Go to the documentation of this file.

/*
 * Because of https://github.com/ros-perception/perception_pcl/issues/9, filter.cpp from pcl_ros is copied into this
 * code.
 *
 * filter.cpp software license:
 *
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2009, Willow Garage, Inc.
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     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 Willow Garage, Inc. nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *
 * $Id: filter.cpp 35876 2011-02-09 01:04:36Z rusu $
 *
 */

#include <geometry_msgs/PolygonStamped.h>
#include <pluginlib/class_list_macros.h>
#include <segbot_sensors/segbot_velodyne_outlier_removal.h>

#include <pcl/io/io.h>
#include "pcl_ros/transforms.h"
#include "pcl_ros/filters/filter.h"

/*//#include <pcl/filters/pixel_grid.h>
//#include <pcl/filters/filter_dimension.h>
*/

/*//typedef pcl::PixelGrid PixelGrid;
//typedef pcl::FilterDimension FilterDimension;
*/

// Include the implementations instead of compiling them separately to speed up compile time
//#include "extract_indices.cpp"
//#include "passthrough.cpp"
//#include "project_inliers.cpp"
//#include "radius_outlier_removal.cpp"
//#include "statistical_outlier_removal.cpp"
//#include "voxel_grid.cpp"

/*//PLUGINLIB_EXPORT_CLASS(PixelGrid,nodelet::Nodelet);
//PLUGINLIB_EXPORT_CLASS(FilterDimension,nodelet::Nodelet);
*/

void
segbot_sensors::Filter::computePublish (const PointCloud2::ConstPtr &input, const IndicesPtr &indices)
{
  PointCloud2 output;
  // Call the virtual method in the child
  filter (input, indices, output);

  PointCloud2::Ptr cloud_tf (new PointCloud2 (output));   // set the output by default
  // Check whether the user has given a different output TF frame
  if (!tf_output_frame_.empty () && output.header.frame_id != tf_output_frame_)
  {
    NODELET_DEBUG ("[%s::computePublish] Transforming output dataset from %s to %s.", getName ().c_str (), output.header.frame_id.c_str (), tf_output_frame_.c_str ());
    // Convert the cloud into the different frame
    PointCloud2 cloud_transformed;
    if (!pcl_ros::transformPointCloud (tf_output_frame_, output, cloud_transformed, tf_listener_))
    {
      NODELET_ERROR ("[%s::computePublish] Error converting output dataset from %s to %s.", getName ().c_str (), output.header.frame_id.c_str (), tf_output_frame_.c_str ());
      return;
    }
    cloud_tf.reset (new PointCloud2 (cloud_transformed));
  }
  if (tf_output_frame_.empty () && output.header.frame_id != tf_input_orig_frame_)
  // no tf_output_frame given, transform the dataset to its original frame
  {
    NODELET_DEBUG ("[%s::computePublish] Transforming output dataset from %s back to %s.", getName ().c_str (), output.header.frame_id.c_str (), tf_input_orig_frame_.c_str ());
    // Convert the cloud into the different frame
    PointCloud2 cloud_transformed;
    if (!pcl_ros::transformPointCloud (tf_input_orig_frame_, output, cloud_transformed, tf_listener_))
    {
      NODELET_ERROR ("[%s::computePublish] Error converting output dataset from %s back to %s.", getName ().c_str (), output.header.frame_id.c_str (), tf_input_orig_frame_.c_str ());
      return;
    }
    cloud_tf.reset (new PointCloud2 (cloud_transformed));
  }

  // Copy timestamp to keep it
  cloud_tf->header.stamp = input->header.stamp;

  // Publish a boost shared ptr
  pub_output_.publish (cloud_tf);
}

void
segbot_sensors::Filter::onInit ()
{
  // Call the super onInit ()
  PCLNodelet::onInit ();

  // Call the child's local init
  bool has_service = false;
  if (!child_init (*pnh_, has_service))
  {
    NODELET_ERROR ("[%s::onInit] Initialization failed.", getName ().c_str ());
    return;
  }

  pub_output_ = pnh_->advertise<PointCloud2> ("output", max_queue_size_);

  // Enable the dynamic reconfigure service
  if (!has_service)
  {
    srv_ = boost::make_shared <dynamic_reconfigure::Server<segbot_sensors::FilterConfig> > (*pnh_);
    dynamic_reconfigure::Server<segbot_sensors::FilterConfig>::CallbackType f =  boost::bind (&Filter::config_callback, this, _1, _2);
    srv_->setCallback (f);
  }

  // If we're supposed to look for PointIndices (indices)
  if (use_indices_)
  {
    // Subscribe to the input using a filter
    sub_input_filter_.subscribe (*pnh_, "input", max_queue_size_);
    sub_indices_filter_.subscribe (*pnh_, "indices", max_queue_size_);

    if (approximate_sync_)
    {
      sync_input_indices_a_ = boost::make_shared <message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloud2, pcl_msgs::PointIndices> > >(max_queue_size_);
      sync_input_indices_a_->connectInput (sub_input_filter_, sub_indices_filter_);
      sync_input_indices_a_->registerCallback (bind (&Filter::input_indices_callback, this, _1, _2));
    }
    else
    {
      sync_input_indices_e_ = boost::make_shared <message_filters::Synchronizer<sync_policies::ExactTime<PointCloud2, pcl_msgs::PointIndices> > >(max_queue_size_);
      sync_input_indices_e_->connectInput (sub_input_filter_, sub_indices_filter_);
      sync_input_indices_e_->registerCallback (bind (&Filter::input_indices_callback, this, _1, _2));
    }
  }
  else
    // Subscribe in an old fashion to input only (no filters)
    sub_input_ = pnh_->subscribe<sensor_msgs::PointCloud2> ("input", max_queue_size_,  bind (&Filter::input_indices_callback, this, _1, pcl_msgs::PointIndicesConstPtr ()));

  NODELET_DEBUG ("[%s::onInit] Nodelet successfully created.", getName ().c_str ());
}

void
segbot_sensors::Filter::config_callback (segbot_sensors::FilterConfig &config, uint32_t level)
{
  // The following parameters are updated automatically for all PCL_ROS Nodelet Filters as they are inexistent in PCL
  if (tf_input_frame_ != config.input_frame)
  {
    tf_input_frame_ = config.input_frame;
    NODELET_DEBUG ("[%s::config_callback] Setting the input TF frame to: %s.", getName ().c_str (), tf_input_frame_.c_str ());
  }
  if (tf_output_frame_ != config.output_frame)
  {
    tf_output_frame_ = config.output_frame;
    NODELET_DEBUG ("[%s::config_callback] Setting the output TF frame to: %s.", getName ().c_str (), tf_output_frame_.c_str ());
  }
}

void
segbot_sensors::Filter::input_indices_callback (const PointCloud2::ConstPtr &cloud, const PointIndicesConstPtr &indices)
{
  // No subscribers, no work
  if (pub_output_.getNumSubscribers () <= 0)
    return;

  // If cloud is given, check if it's valid
  if (!isValid (cloud))
  {
    NODELET_ERROR ("[%s::input_indices_callback] Invalid input!", getName ().c_str ());
    return;
  }
  // If indices are given, check if they are valid
  if (indices && !isValid (indices))
  {
    NODELET_ERROR ("[%s::input_indices_callback] Invalid indices!", getName ().c_str ());
    return;
  }

  if (indices)
    NODELET_DEBUG ("[%s::input_indices_callback]\n"
                   "                                 - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.\n"
                   "                                 - PointIndices with %zu values, stamp %f, and frame %s on topic %s received.",
                   getName ().c_str (),
                   cloud->width * cloud->height, pcl::getFieldsList (*cloud).c_str (), cloud->header.stamp.toSec (), cloud->header.frame_id.c_str (), pnh_->resolveName ("input").c_str (),
                   indices->indices.size (), indices->header.stamp.toSec (), indices->header.frame_id.c_str (), pnh_->resolveName ("indices").c_str ());
  else
    NODELET_DEBUG ("[%s::input_indices_callback] PointCloud with %d data points and frame %s on topic %s received.", getName ().c_str (), cloud->width * cloud->height, cloud->header.frame_id.c_str (), pnh_->resolveName ("input").c_str ());

  // Check whether the user has given a different input TF frame
  tf_input_orig_frame_ = cloud->header.frame_id;
  PointCloud2::ConstPtr cloud_tf;
  if (!tf_input_frame_.empty () && cloud->header.frame_id != tf_input_frame_)
  {
    NODELET_DEBUG ("[%s::input_indices_callback] Transforming input dataset from %s to %s.", getName ().c_str (), cloud->header.frame_id.c_str (), tf_input_frame_.c_str ());
    // Save the original frame ID
    // Convert the cloud into the different frame
    PointCloud2 cloud_transformed;
    if (!pcl_ros::transformPointCloud (tf_input_frame_, *cloud, cloud_transformed, tf_listener_))
    {
      NODELET_ERROR ("[%s::input_indices_callback] Error converting input dataset from %s to %s.", getName ().c_str (), cloud->header.frame_id.c_str (), tf_input_frame_.c_str ());
      return;
    }
    cloud_tf = boost::make_shared<PointCloud2> (cloud_transformed);
  }
  else
    cloud_tf = cloud;

  // Need setInputCloud () here because we have to extract x/y/z
  IndicesPtr vindices;
  if (indices)
    vindices.reset (new std::vector<int> (indices->indices));

  computePublish (cloud_tf, vindices);
}
bool
segbot_sensors::SegbotVelodyneOutlierRemoval::child_init (ros::NodeHandle &nh, bool &has_service)
{
  // Enable the dynamic reconfigure service
  has_service = true;
  srv_ = boost::make_shared <dynamic_reconfigure::Server<segbot_sensors::SegbotVelodyneOutlierRemovalConfig> > (nh);
  dynamic_reconfigure::Server<segbot_sensors::SegbotVelodyneOutlierRemovalConfig>::CallbackType f =
    boost::bind (&SegbotVelodyneOutlierRemoval::config_callback, this, _1, _2);
  srv_->setCallback (f);

  return (true);
}

void
segbot_sensors::SegbotVelodyneOutlierRemoval::config_callback (segbot_sensors::SegbotVelodyneOutlierRemovalConfig &config, uint32_t level)
{
  boost::mutex::scoped_lock lock (mutex_);

  footprint_.clear();

  bool at_near = true;
  float near_range = 0.3f;
  for (int angle_idx = 0; angle_idx < 8; ++angle_idx) {
    // Assuming the wire conduit increases the 6th and 7th angles.
    float angle = (angle_idx == 3 || angle_idx == 4) ? config.wire_conduit_angle : config.support_struct_angle;
    std::vector<float> ranges;
    if (at_near) {
      angle += (angle_idx / 2) * M_PI/2;
      ranges.push_back(near_range);
      ranges.push_back(config.range);
    } else {
      angle = ((angle_idx + 1) / 2) * M_PI/2 - angle;
      ranges.push_back(config.range);
      ranges.push_back(near_range);
    }
    for (int range_idx = 0; range_idx < 2; ++range_idx) {
      geometry_msgs::Point p;
      p.x = cosf(angle) * ranges[range_idx];
      p.y = sinf(angle) * ranges[range_idx];
      footprint_.push_back(p);
    }
    at_near = !at_near;
  }

  // Publish polygon corresponding to footprint - visualization
  if (!footprint_publisher_) {
    // Latched publication.
    footprint_publisher_ = boost::make_shared<ros::Publisher>();
    *footprint_publisher_ = getPrivateNodeHandle().advertise<geometry_msgs::PolygonStamped>("footprint", 1, true);
  }

  geometry_msgs::PolygonStamped polygon_msg;
  // TODO parametrize
  polygon_msg.header.frame_id = "velodyne";
  polygon_msg.header.stamp = ros::Time::now();
  polygon_msg.polygon.points.resize(footprint_.size());
  for (uint32_t i = 0; i < footprint_.size(); ++i) {
    polygon_msg.polygon.points[i].x = footprint_[i].x;
    polygon_msg.polygon.points[i].y = footprint_[i].y;
    polygon_msg.polygon.points[i].z = 0;
  }
  footprint_publisher_->publish(polygon_msg);

}

typedef segbot_sensors::SegbotVelodyneOutlierRemoval SegbotVelodyneOutlierRemoval;
PLUGINLIB_EXPORT_CLASS(SegbotVelodyneOutlierRemoval,nodelet::Nodelet);