point_cloud_assembler.cpp

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/*
Copyright (c) 2010-2019, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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 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.

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
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*/

#include <ros/ros.h>
#include <pluginlib/class_list_macros.h>
#include <nodelet/nodelet.h>

#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl_conversions/pcl_conversions.h>
#include <pcl/io/pcd_io.h>
#include <pcl/filters/voxel_grid.h>
#include <pcl/filters/radius_outlier_removal.h>

#include <pcl_ros/transforms.h>

#include <tf/transform_listener.h>

#include <nav_msgs/Odometry.h>
#include <sensor_msgs/PointCloud2.h>

#include <message_filters/subscriber.h>
#include <message_filters/sync_policies/exact_time.h>

#include <rtabmap_ros/MsgConversion.h>
#include <rtabmap_ros/OdomInfo.h>
#include <rtabmap/core/util3d.h>
#include <rtabmap/core/util3d_filtering.h>

namespace rtabmap_ros
{

class PointCloudAssembler : public nodelet::Nodelet
{
public:
        PointCloudAssembler() :
                warningThread_(0),
                callbackCalled_(false),
                exactSync_(0),
                exactInfoSync_(0),
                maxClouds_(0),
                assemblingTime_(0),
                skipClouds_(0),
                cloudsSkipped_(0),
                circularBuffer_(false),
                waitForTransformDuration_(0.1),
                rangeMin_(0),
                rangeMax_(0),
                voxelSize_(0),
                noiseRadius_(0),
                noiseMinNeighbors_(5),
                fixedFrameId_("odom"),
                frameId_("")
        {}

        virtual ~PointCloudAssembler()
        {
                delete exactSync_;
                delete exactInfoSync_;

                if(warningThread_)
                {
                        callbackCalled_=true;
                        warningThread_->join();
                        delete warningThread_;
                }
        }

private:
        virtual void onInit()
        {
                ros::NodeHandle & nh = getNodeHandle();
                ros::NodeHandle & pnh = getPrivateNodeHandle();

                int queueSize = 5;
                bool subscribeOdomInfo = false;

                pnh.param("queue_size", queueSize, queueSize);
                pnh.param("fixed_frame_id", fixedFrameId_, fixedFrameId_);
                pnh.param("frame_id", frameId_, frameId_);
                pnh.param("max_clouds", maxClouds_, maxClouds_);
                pnh.param("assembling_time", assemblingTime_, assemblingTime_);
                pnh.param("skip_clouds", skipClouds_, skipClouds_);
                pnh.param("circular_buffer", circularBuffer_, circularBuffer_);
                pnh.param("wait_for_transform_duration", waitForTransformDuration_, waitForTransformDuration_);
                pnh.param("range_min", rangeMin_, rangeMin_);
                pnh.param("range_max", rangeMax_, rangeMax_);
                pnh.param("voxel_size", voxelSize_, voxelSize_);
                pnh.param("noise_radius", noiseRadius_, noiseRadius_);
                pnh.param("noise_min_neighbors", noiseMinNeighbors_, noiseMinNeighbors_);
                pnh.param("subscribe_odom_info", subscribeOdomInfo, subscribeOdomInfo);
                ROS_ASSERT(maxClouds_>0 || assemblingTime_ >0.0);

                ROS_INFO("%s: queue_size=%d", getName().c_str(), queueSize);
                ROS_INFO("%s: fixed_frame_id=%s", getName().c_str(), fixedFrameId_.c_str());
                ROS_INFO("%s: frame_id=%s", getName().c_str(), frameId_.c_str());
                ROS_INFO("%s: max_clouds=%d", getName().c_str(), maxClouds_);
                ROS_INFO("%s: assembling_time=%fs", getName().c_str(), assemblingTime_);
                ROS_INFO("%s: skip_clouds=%d", getName().c_str(), skipClouds_);
                ROS_INFO("%s: circular_buffer=%s", getName().c_str(), circularBuffer_?"true":"false");
                ROS_INFO("%s: wait_for_transform_duration=%f", getName().c_str(), waitForTransformDuration_);
                ROS_INFO("%s: range_min=%f", getName().c_str(), rangeMin_);
                ROS_INFO("%s: range_max=%f", getName().c_str(), rangeMax_);
                ROS_INFO("%s: voxel_size=%fm", getName().c_str(), voxelSize_);
                ROS_INFO("%s: noise_radius=%fm", getName().c_str(), noiseRadius_);
                ROS_INFO("%s: noise_min_neighbors=%d", getName().c_str(), noiseMinNeighbors_);

                cloudsSkipped_ = skipClouds_;

                std::string subscribedTopicsMsg;
                if(!fixedFrameId_.empty())
                {
                        cloudSub_ = nh.subscribe("cloud", queueSize, &PointCloudAssembler::callbackCloud, this);
                        subscribedTopicsMsg = uFormat("\n%s subscribed to %s",
                                                                getName().c_str(),
                                                                cloudSub_.getTopic().c_str());
                }
                else if(subscribeOdomInfo)
                {
                        syncCloudSub_.subscribe(nh, "cloud", 1);
                        syncOdomSub_.subscribe(nh, "odom", 1);
                        syncOdomInfoSub_.subscribe(nh, "odom_info", 1);
                        exactInfoSync_ = new message_filters::Synchronizer<syncInfoPolicy>(syncInfoPolicy(queueSize), syncCloudSub_, syncOdomSub_, syncOdomInfoSub_);
                        exactInfoSync_->registerCallback(boost::bind(&rtabmap_ros::PointCloudAssembler::callbackCloudOdomInfo, this, _1, _2, _3));
                        subscribedTopicsMsg = uFormat("\n%s subscribed to (exact sync):\n   %s,\n   %s",
                                                                getName().c_str(),
                                                                syncCloudSub_.getTopic().c_str(),
                                                                syncOdomSub_.getTopic().c_str(),
                                                                syncOdomInfoSub_.getTopic().c_str());

                        warningThread_ = new boost::thread(boost::bind(&PointCloudAssembler::warningLoop, this, subscribedTopicsMsg));
                }
                else
                {
                        syncCloudSub_.subscribe(nh, "cloud", 1);
                        syncOdomSub_.subscribe(nh, "odom", 1);
                        exactSync_ = new message_filters::Synchronizer<syncPolicy>(syncPolicy(queueSize), syncCloudSub_, syncOdomSub_);
                        exactSync_->registerCallback(boost::bind(&rtabmap_ros::PointCloudAssembler::callbackCloudOdom, this, _1, _2));
                        subscribedTopicsMsg = uFormat("\n%s subscribed to (exact sync):\n   %s,\n   %s",
                                                                getName().c_str(),
                                                                syncCloudSub_.getTopic().c_str(),
                                                                syncOdomSub_.getTopic().c_str());

                        warningThread_ = new boost::thread(boost::bind(&PointCloudAssembler::warningLoop, this, subscribedTopicsMsg));
                }

                cloudPub_ = nh.advertise<sensor_msgs::PointCloud2>("assembled_cloud", 1);

                NODELET_INFO("%s", subscribedTopicsMsg.c_str());
        }

        void callbackCloudOdom(
                        const sensor_msgs::PointCloud2ConstPtr & cloudMsg,
                        const nav_msgs::OdometryConstPtr & odomMsg)
        {
                callbackCalled_ = true;
                rtabmap::Transform odom = rtabmap_ros::transformFromPoseMsg(odomMsg->pose.pose);
                if(!odom.isNull())
                {
                        fixedFrameId_ = odomMsg->header.frame_id;
                        callbackCloud(cloudMsg);
                }
                else
                {
                        NODELET_WARN("Reseting point cloud assembler as null odometry has been received.");
                        clouds_.clear();
                }
        }

        void callbackCloudOdomInfo(
                        const sensor_msgs::PointCloud2ConstPtr & cloudMsg,
                        const nav_msgs::OdometryConstPtr & odomMsg,
                        const rtabmap_ros::OdomInfoConstPtr & odomInfoMsg)
        {
                callbackCalled_ = true;
                rtabmap::Transform odom = rtabmap_ros::transformFromPoseMsg(odomMsg->pose.pose);
                if(!odom.isNull())
                {
                        if(odomInfoMsg->keyFrameAdded)
                        {
                                fixedFrameId_ = odomMsg->header.frame_id;
                                callbackCloud(cloudMsg);
                        }
                        else
                        {
                                NODELET_INFO("Skipping non keyframe...");
                        }
                }
                else
                {
                        NODELET_WARN("Reseting point cloud assembler as null odometry has been received.");
                        clouds_.clear();
                }
        }

        void callbackCloud(const sensor_msgs::PointCloud2ConstPtr & cloudMsg)
        {
                if(cloudPub_.getNumSubscribers())
                {
                        if(skipClouds_<=0 || cloudsSkipped_ >= skipClouds_)
                        {
                                cloudsSkipped_ = 0;

                                rtabmap::Transform t = rtabmap_ros::getTransform(
                                                fixedFrameId_, //fromFrame
                                                cloudMsg->header.frame_id, //toFrame
                                                cloudMsg->header.stamp,
                                                tfListener_,
                                                waitForTransformDuration_);

                                if(t.isNull())
                                {
                                        ROS_ERROR("Cloud not transform all clouds! Resetting...");
                                        clouds_.clear();
                                        return;
                                }

                                pcl::PCLPointCloud2::Ptr newCloud(new pcl::PCLPointCloud2);
                                if(rangeMin_ > 0.0 || rangeMax_ > 0.0 || voxelSize_ > 0.0f)
                                {
                                        pcl_conversions::toPCL(*cloudMsg, *newCloud);
                                        rtabmap::LaserScan scan = rtabmap::util3d::laserScanFromPointCloud(*newCloud);
                                        scan = rtabmap::util3d::commonFiltering(scan, 1, rangeMin_, rangeMax_, voxelSize_);
#if PCL_VERSION_COMPARE(>=, 1, 10, 0)
                                        std::uint64_t stamp = newCloud->header.stamp;
#else
                                        pcl::uint64_t stamp = newCloud->header.stamp;
#endif
                                        newCloud = rtabmap::util3d::laserScanToPointCloud2(scan, t);
                                        newCloud->header.stamp = stamp;
                                }
                                else
                                {
                                        sensor_msgs::PointCloud2 output;
                                        pcl_ros::transformPointCloud(t.toEigen4f(), *cloudMsg, output);
                                        pcl_conversions::toPCL(output, *newCloud);
                                }

                                clouds_.push_back(newCloud);

#if PCL_VERSION_COMPARE(>=, 1, 10, 0)
                                bool reachedMaxSize =
                                                ((int)clouds_.size() >= maxClouds_ && maxClouds_ > 0)
                                                ||
                                                ((*newCloud).header.stamp >= clouds_.front()->header.stamp + static_cast<std::uint64_t>(assemblingTime_*1000000.0) && assemblingTime_ > 0.0);
#else
                                bool reachedMaxSize =
                                                ((int)clouds_.size() >= maxClouds_ && maxClouds_ > 0)
                                                ||
                                                ((*newCloud).header.stamp >= clouds_.front()->header.stamp + static_cast<pcl::uint64_t>(assemblingTime_*1000000.0) && assemblingTime_ > 0.0);
#endif

                                if( circularBuffer_ || reachedMaxSize )
                                {
                                        pcl::PCLPointCloud2Ptr assembled(new pcl::PCLPointCloud2);
                                        for(std::list<pcl::PCLPointCloud2::Ptr>::iterator iter=clouds_.begin(); iter!=clouds_.end(); ++iter)
                                        {
                                                if(assembled->data.empty())
                                                {
                                                        *assembled = *(*iter);
                                                }
                                                else
                                                {
                                                        pcl::PCLPointCloud2Ptr assembledTmp(new pcl::PCLPointCloud2);
#if PCL_VERSION_COMPARE(>=, 1, 10, 0)
                                                        pcl::concatenate(*assembled, *(*iter), *assembledTmp);
#else
                                                        pcl::concatenatePointCloud(*assembled, *(*iter), *assembledTmp);
#endif
                                                        assembled = assembledTmp;
                                                }
                                        }

                                        sensor_msgs::PointCloud2 rosCloud;
                                        if(voxelSize_>0.0)
                                        {
                                                pcl::VoxelGrid<pcl::PCLPointCloud2> filter;
                                                filter.setLeafSize(voxelSize_, voxelSize_, voxelSize_);
                                                filter.setInputCloud(assembled);
                                                pcl::PCLPointCloud2Ptr output(new pcl::PCLPointCloud2);
                                                filter.filter(*output);
                                                assembled = output;
                                        }
                                        if(noiseRadius_>0.0 && noiseMinNeighbors_>0)
                                        {
                                                pcl::RadiusOutlierRemoval<pcl::PCLPointCloud2> filter;
                                                filter.setRadiusSearch(noiseRadius_);
                                                filter.setMinNeighborsInRadius(noiseMinNeighbors_);
                                                filter.setInputCloud(assembled);
                                                pcl::PCLPointCloud2Ptr output(new pcl::PCLPointCloud2);
                                                filter.filter(*output);
                                                assembled = output;
                                        }

                                        pcl_conversions::moveFromPCL(*assembled, rosCloud);
                                        if(!frameId_.empty())
                                        {
                                                // transform in target frame_id instead of sensor frame
                                                t = rtabmap_ros::getTransform(
                                                                fixedFrameId_, //fromFrame
                                                                frameId_, //toFrame
                                                                cloudMsg->header.stamp,
                                                                tfListener_,
                                                                waitForTransformDuration_);
                                                if(t.isNull())
                                                {
                                                        ROS_ERROR("Cloud not transform back assembled clouds in target frame \"%s\"! Resetting...", frameId_.c_str());
                                                        clouds_.clear();
                                                        return;
                                                }
                                        }
                                        pcl_ros::transformPointCloud(t.toEigen4f().inverse(), rosCloud, rosCloud);

                                        rosCloud.header = cloudMsg->header;
                                        if(!frameId_.empty())
                                        {
                                                rosCloud.header.frame_id = frameId_;
                                        }
                                        cloudPub_.publish(rosCloud);
                                        if(circularBuffer_)
                                        {
                                                if(reachedMaxSize)
                                                {
                                                        clouds_.pop_front();
                                                }
                                        }
                                        else
                                        {
                                                clouds_.clear();
                                        }
                                }
                        }
                        else
                        {
                                ++cloudsSkipped_;
                        }
                }
        }

        void warningLoop(const std::string & subscribedTopicsMsg)
        {
                ros::Duration r(5.0);
                while(!callbackCalled_)
                {
                        r.sleep();
                        if(!callbackCalled_)
                        {
                                ROS_WARN("%s: Did not receive data since 5 seconds! Make sure the input topics are "
                                                "published (\"$ rostopic hz my_topic\") and the timestamps in their "
                                                "header are set. %s",
                                                getName().c_str(),
                                                subscribedTopicsMsg.c_str());
                        }
                }
        }

private:
        boost::thread * warningThread_;
        bool callbackCalled_;

        ros::Subscriber cloudSub_;
        ros::Publisher cloudPub_;

        typedef message_filters::sync_policies::ExactTime<sensor_msgs::PointCloud2, nav_msgs::Odometry> syncPolicy;
        typedef message_filters::sync_policies::ExactTime<sensor_msgs::PointCloud2, nav_msgs::Odometry, rtabmap_ros::OdomInfo> syncInfoPolicy;
        message_filters::Synchronizer<syncPolicy>* exactSync_;
        message_filters::Synchronizer<syncInfoPolicy>* exactInfoSync_;
        message_filters::Subscriber<sensor_msgs::PointCloud2> syncCloudSub_;
        message_filters::Subscriber<nav_msgs::Odometry> syncOdomSub_;
        message_filters::Subscriber<rtabmap_ros::OdomInfo> syncOdomInfoSub_;

        int maxClouds_;
        int skipClouds_;
        int cloudsSkipped_;
        bool circularBuffer_;
        double assemblingTime_;
        double waitForTransformDuration_;
        double rangeMin_;
        double rangeMax_;
        double voxelSize_;
        double noiseRadius_;
        int noiseMinNeighbors_;
        std::string fixedFrameId_;
        std::string frameId_;
        tf::TransformListener tfListener_;

        std::list<pcl::PCLPointCloud2::Ptr> clouds_;
};

PLUGINLIB_EXPORT_CLASS(rtabmap_ros::PointCloudAssembler, nodelet::Nodelet);
}