heightmap_converter_nodelet.cpp

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// -*- mode: c++ -*-
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#define BOOST_PARAMETER_MAX_ARITY 7
#include "jsk_pcl_ros/heightmap_converter.h"
#include <pcl_conversions/pcl_conversions.h>
#include <cv_bridge/cv_bridge.h>
#include <sensor_msgs/image_encodings.h>
#include <jsk_topic_tools/color_utils.h>
#include "jsk_pcl_ros/tf_listener_singleton.h"
#include <pcl/common/transforms.h>
#include <tf_conversions/tf_eigen.h>

namespace jsk_pcl_ros
{
  void HeightmapConverter::onInit()
  {
    DiagnosticNodelet::onInit();
    pub_config_ = pnh_->advertise<jsk_recognition_msgs::HeightmapConfig>(
      "output/config", 1, true);
    srv_ = boost::make_shared <dynamic_reconfigure::Server<Config> > (*pnh_);
    typename dynamic_reconfigure::Server<Config>::CallbackType f =
      boost::bind (&HeightmapConverter::configCallback, this, _1, _2);
    srv_->setCallback (f);

    pnh_->param("fixed_frame_id", fixed_frame_id_, std::string("map"));
    pnh_->param("center_frame_id", center_frame_id_, std::string("BODY"));
    pnh_->param("projected_center_frame_id",
                projected_center_frame_id_, std::string("BODY_on_map"));
    pnh_->param("use_projected_center", use_projected_center_, false);

    pnh_->param("max_queue_size", max_queue_size_, 10);
    pnh_->param("duration_transform_timeout", duration_transform_timeout_, 1.0);
    pub_ = advertise<sensor_msgs::Image>(*pnh_, "output", 1);

    tf_ = TfListenerSingleton::getInstance();

    onInitPostProcess();
  }
  
  void HeightmapConverter::subscribe()
  {
    sub_ = pnh_->subscribe("input", max_queue_size_, &HeightmapConverter::convert, this);
  }

  void HeightmapConverter::unsubscribe()
  {
    sub_.shutdown();
  }

  void HeightmapConverter::convert(const sensor_msgs::PointCloud2::ConstPtr& msg)
  {
    boost::mutex::scoped_lock lock(mutex_);
    vital_checker_->poke();
    std_msgs::Header msg_header(msg->header);
    pcl::PointCloud<pcl::PointXYZ> transformed_cloud;
    if (use_projected_center_) {
      /* convert points */
      tf::StampedTransform ros_fixed_to_center;
      try {
        tf_->waitForTransform(fixed_frame_id_, center_frame_id_,
                              msg->header.stamp, ros::Duration(duration_transform_timeout_));
        tf_->lookupTransform(fixed_frame_id_, center_frame_id_,
                             msg->header.stamp, ros_fixed_to_center);
      }
      catch (tf2::TransformException &e) {
        NODELET_ERROR("Transform error: %s", e.what());
        return;
      }
      double roll, pitch, yaw;
      tf::Vector3 pos = ros_fixed_to_center.getOrigin();
      ros_fixed_to_center.getBasis().getRPY(roll, pitch, yaw);
      Eigen::Affine3d fixed_to_center = (Eigen::Translation3d(pos[0], pos[1], 0) *
                                         Eigen::AngleAxisd(yaw, Eigen::Vector3d::UnitZ()));

      tf::StampedTransform ros_msg_to_fixed;
      try {
        tf_->waitForTransform(msg->header.frame_id, fixed_frame_id_,
                              msg->header.stamp, ros::Duration(duration_transform_timeout_));
        tf_->lookupTransform(msg->header.frame_id, fixed_frame_id_,
                             msg->header.stamp, ros_msg_to_fixed);
      }
      catch (tf2::TransformException &e) {
        NODELET_ERROR("Transform error: %s", e.what());
        return;
      }
      Eigen::Affine3d msg_to_fixed;
      tf::transformTFToEigen(ros_msg_to_fixed, msg_to_fixed);

      pcl::PointCloud<pcl::PointXYZ> from_msg_cloud;
      pcl::fromROSMsg(*msg, from_msg_cloud);
      pcl::transformPointCloud(from_msg_cloud, transformed_cloud, (msg_to_fixed * fixed_to_center).inverse());

      tf::StampedTransform tf_fixed_to_center;
      transformEigenToTF(fixed_to_center, tf_fixed_to_center);
      tf_fixed_to_center.frame_id_ = fixed_frame_id_;
      tf_fixed_to_center.child_frame_id_ = projected_center_frame_id_;
      tf_fixed_to_center.stamp_ = msg_header.stamp;
      tf_broadcaster_.sendTransform(tf_fixed_to_center);

      msg_header.frame_id = projected_center_frame_id_;
    } else {
      pcl::fromROSMsg(*msg, transformed_cloud);
    }
    /* float image */
    cv::Mat height_map = cv::Mat(resolution_y_, resolution_x_, CV_32FC2);
    height_map = cv::Scalar::all(- FLT_MAX);

    float max_height = - FLT_MAX;
    float min_height = FLT_MAX;
    for (size_t i = 0; i < transformed_cloud.points.size(); i++) {
      pcl::PointXYZ p = transformed_cloud.points[i];
      if (std::isnan(p.x) || std::isnan(p.y) || std::isnan(p.z)) {
        continue;
      }
      if (p.z > max_z_ or p.z < min_z_) {
        continue;
      }
      cv::Point index = toIndex(p);
      if (index.x >= 0 && index.x < resolution_x_ &&
          index.y >= 0 && index.y < resolution_y_) {
        /* Store min/max value for colorization */
        max_height = std::max(max_height, p.z);
        min_height = std::min(min_height, p.z);
        // accept maximum points
        if (height_map.at<cv::Vec2f>(index.y, index.x)[0] < p.z) {
          height_map.at<cv::Vec2f>(index.y, index.x)[0] = p.z;
          height_map.at<cv::Vec2f>(index.y, index.x)[1] = initial_probability_;
        }
      }
    }
    // Convert to sensor_msgs/Image
    cv_bridge::CvImage height_map_image(msg_header,
                                        sensor_msgs::image_encodings::TYPE_32FC2,
                                        height_map);
    pub_.publish(height_map_image.toImageMsg());
  }

  void HeightmapConverter::configCallback(Config &config, uint32_t level)
  {
    boost::mutex::scoped_lock lock(mutex_);
    min_x_ = config.min_x;
    max_x_ = config.max_x;
    min_y_ = config.min_y;
    max_y_ = config.max_y;
    min_z_ = config.min_z;
    max_z_ = config.max_z;
    resolution_x_ = config.resolution_x;
    resolution_y_ = config.resolution_y;
    initial_probability_ = config.initial_probability;
    jsk_recognition_msgs::HeightmapConfig heightmap_config;
    heightmap_config.min_x = min_x_;
    heightmap_config.min_y = min_y_;
    heightmap_config.max_x = max_x_;
    heightmap_config.max_y = max_y_;
    pub_config_.publish(heightmap_config);
  }

}

#include <pluginlib/class_list_macros.h>
PLUGINLIB_EXPORT_CLASS (jsk_pcl_ros::HeightmapConverter,
                        nodelet::Nodelet);