jsk_pcl_ros: environment_plane_modeling.h Source File

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00001 // -*- mode: c++ -*-
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00035 
00036 #ifndef JSK_PCL_ROS_ENVIRONMENT_PLANE_MODELING_H_
00037 #define JSK_PCL_ROS_ENVIRONMENT_PLANE_MODELING_H_
00038 
00039 #include <pcl_ros/pcl_nodelet.h>
00040 
00041 #include <pcl/kdtree/kdtree_flann.h>
00042 #include <message_filters/subscriber.h>
00043 #include <message_filters/time_synchronizer.h>
00044 #include <message_filters/synchronizer.h>
00045 #include <dynamic_reconfigure/server.h>
00046 
00047 #include <jsk_recognition_msgs/PolygonArray.h>
00048 #include <jsk_recognition_msgs/ModelCoefficientsArray.h>
00049 #include <jsk_recognition_msgs/ClusterPointIndices.h>
00050 #include <sensor_msgs/PointCloud2.h>
00051 #include <jsk_recognition_msgs/EnvironmentLock.h>
00052 #include <jsk_recognition_msgs/PolygonOnEnvironment.h>
00053 
00054 #include <jsk_recognition_utils/pcl_conversion_util.h>
00055 #include <jsk_pcl_ros/EnvironmentPlaneModelingConfig.h>
00056 
00057 #include <diagnostic_updater/diagnostic_updater.h>
00058 #include <diagnostic_updater/publisher.h>
00059 
00060 #include <std_srvs/Empty.h>
00061 
00062 #include <jsk_topic_tools/time_accumulator.h>
00063 
00064 #include "jsk_recognition_utils/pcl_util.h"
00065 #include <jsk_recognition_msgs/SimpleOccupancyGridArray.h>
00066 #include <jsk_recognition_msgs/BoundingBoxArray.h>
00067 #include <jsk_topic_tools/diagnostic_nodelet.h>
00068 #include "jsk_recognition_utils/geo_util.h"
00069 #include "jsk_pcl_ros/tf_listener_singleton.h"
00070 
00071 namespace jsk_pcl_ros
00072 {
00073 
00074   // Helper classes
00075 
00080   class EnvironmentPlaneModeling: public jsk_topic_tools::DiagnosticNodelet
00081   {
00082   public:
00083     typedef EnvironmentPlaneModelingConfig Config;
00084     
00085     typedef message_filters::sync_policies::ExactTime<
00086       sensor_msgs::PointCloud2,
00087       sensor_msgs::PointCloud2,
00088       jsk_recognition_msgs::PolygonArray,
00089       jsk_recognition_msgs::ModelCoefficientsArray,
00090       jsk_recognition_msgs::ClusterPointIndices > SyncPolicy;
00091     EnvironmentPlaneModeling(): DiagnosticNodelet("EnvironmentPlaneModeling") {}
00092   protected:
00093     virtual void onInit();
00094 
00100     virtual void subscribe() {}
00101 
00107     virtual void unsubscribe() {}
00108 
00113     virtual void inputCallback(
00114       const sensor_msgs::PointCloud2::ConstPtr& cloud_msg,
00115       const sensor_msgs::PointCloud2::ConstPtr& full_cloud_msg,
00116       const jsk_recognition_msgs::PolygonArray::ConstPtr& polygon_msg,
00117       const jsk_recognition_msgs::ModelCoefficientsArray::ConstPtr& coefficients_msg,
00118       const jsk_recognition_msgs::ClusterPointIndices::ConstPtr& indices_msg);
00119 
00120     virtual void printInputData(
00121       const sensor_msgs::PointCloud2::ConstPtr& cloud_msg,
00122       const sensor_msgs::PointCloud2::ConstPtr& full_cloud_msg,
00123       const jsk_recognition_msgs::PolygonArray::ConstPtr& polygon_msg,
00124       const jsk_recognition_msgs::ModelCoefficientsArray::ConstPtr& coefficients_msg,
00125       const jsk_recognition_msgs::ClusterPointIndices::ConstPtr& indices_msg);
00126 
00127 
00128     virtual bool isValidFrameIds(
00129       const sensor_msgs::PointCloud2::ConstPtr& cloud_msg,
00130       const sensor_msgs::PointCloud2::ConstPtr& full_cloud_msg,
00131       const jsk_recognition_msgs::PolygonArray::ConstPtr& polygon_msg,
00132       const jsk_recognition_msgs::ModelCoefficientsArray::ConstPtr& coefficients_msg,
00133       const jsk_recognition_msgs::ClusterPointIndices::ConstPtr& indices_msg);
00134 
00135     virtual std::vector<jsk_recognition_utils::ConvexPolygon::Ptr> convertToConvexPolygons(
00136       const pcl::PointCloud<pcl::PointNormal>::Ptr& cloud,
00137       const jsk_recognition_msgs::ClusterPointIndices::ConstPtr& indices_msg,
00138       const jsk_recognition_msgs::ModelCoefficientsArray::ConstPtr& coefficients_msg);
00139 
00140     virtual void publishConvexPolygonsBoundaries(
00141       ros::Publisher& pub,
00142       const std_msgs::Header& header,
00143       std::vector<jsk_recognition_utils::ConvexPolygon::Ptr>& convexes);
00144     
00149     virtual void configCallback(Config &config, uint32_t level);
00150 
00155     virtual void publishConvexPolygons(
00156       ros::Publisher& pub,
00157       const std_msgs::Header& header,
00158       std::vector<jsk_recognition_utils::ConvexPolygon::Ptr>& convexes);
00159     
00164     virtual void publishGridMaps(
00165       ros::Publisher& pub,
00166       const std_msgs::Header& header,
00167       std::vector<GridPlane::Ptr>& grids);
00168     
00173     virtual std::vector<jsk_recognition_utils::ConvexPolygon::Ptr> magnifyConvexes(
00174       std::vector<jsk_recognition_utils::ConvexPolygon::Ptr>& convexes);
00175 
00180     virtual std::vector<GridPlane::Ptr> buildGridPlanes(
00181       pcl::PointCloud<pcl::PointNormal>::Ptr& cloud,
00182       std::vector<jsk_recognition_utils::ConvexPolygon::Ptr> convexes,
00183       std::set<int>& non_plane_indices);
00184 
00185     virtual std::vector<GridPlane::Ptr> morphologicalFiltering(
00186       std::vector<GridPlane::Ptr>& raw_grid_maps);
00187 
00188     virtual void boundingBoxCallback(
00189       const jsk_recognition_msgs::BoundingBox::ConstPtr& box_array);
00190 
00191     virtual std::vector<GridPlane::Ptr> completeFootprintRegion(
00192       const std_msgs::Header& header,
00193       std::vector<GridPlane::Ptr>& grid_maps);
00194     
00195     virtual std::vector<GridPlane::Ptr> erodeFiltering(
00196       std::vector<GridPlane::Ptr>& grid_maps);
00197 
00198     virtual int lookupGroundPlaneForFootprint(
00199       const std::string& footprint_frame_id, const std_msgs::Header& header,
00200       const std::vector<GridPlane::Ptr>& grid_maps);
00201     
00202     virtual int lookupGroundPlaneForFootprint(
00203       const Eigen::Affine3f& pose, const std::vector<GridPlane::Ptr>& grid_maps);
00204 
00205     virtual GridPlane::Ptr completeGridMapByBoundingBox(
00206       const jsk_recognition_msgs::BoundingBox::ConstPtr& box,
00207       const std_msgs::Header& header,
00208       GridPlane::Ptr grid_map);
00209 
00210     virtual void moveBaseSimpleGoalCallback(
00211       const geometry_msgs::PoseStamped::ConstPtr& msg);
00212     
00213     boost::mutex mutex_;
00214     boost::shared_ptr<message_filters::Synchronizer<SyncPolicy> > sync_;
00215     message_filters::Subscriber<sensor_msgs::PointCloud2> sub_cloud_;
00216     message_filters::Subscriber<sensor_msgs::PointCloud2> sub_full_cloud_;
00217     message_filters::Subscriber<jsk_recognition_msgs::ClusterPointIndices> sub_indices_;
00218     message_filters::Subscriber<jsk_recognition_msgs::PolygonArray> sub_polygons_;
00219     message_filters::Subscriber<jsk_recognition_msgs::ModelCoefficientsArray> sub_coefficients_;
00220     ros::Subscriber sub_leg_bbox_;
00221     ros::Subscriber sub_move_base_simple_goal_;
00222     ros::Publisher pub_debug_magnified_polygons_;
00223     ros::Publisher pub_debug_convex_point_cloud_;
00224     ros::Publisher pub_debug_raw_grid_map_;
00225     ros::Publisher pub_debug_noeroded_grid_map_;
00226     ros::Publisher pub_debug_plane_coords_;
00227     ros::Publisher pub_debug_magnified_plane_coords_;
00228     ros::Publisher pub_grid_map_;
00229     ros::Publisher pub_non_plane_indices_;
00230     ros::Publisher pub_snapped_move_base_simple_goal_;
00231     boost::shared_ptr <dynamic_reconfigure::Server<Config> > srv_;
00232     tf::TransformListener* tf_listener_;
00233     jsk_recognition_msgs::BoundingBox::ConstPtr latest_leg_bounding_box_;
00234     std::vector<std::string> footprint_frames_;
00235     std::vector<GridPlane::Ptr> latest_grid_maps_;
00236     std_msgs::Header latest_global_header_;
00238     // Parameters
00240     double magnify_distance_;
00241     double distance_threshold_;
00242     double normal_threshold_;
00243     double resolution_;
00244     int morphological_filter_size_;
00245     bool complete_footprint_region_;
00246     int erode_filter_size_;
00247     double footprint_plane_distance_threshold_;
00248     double footprint_plane_angular_threshold_;
00249   private:
00250   };
00251 }
00252 
00253 #endif