OccupancyGrid.hpp
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1 /*
2 Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
3 All rights reserved.
4 
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27 
28 #ifndef CORELIB_INCLUDE_RTABMAP_CORE_IMPL_OCCUPANCYGRID_HPP_
29 #define CORELIB_INCLUDE_RTABMAP_CORE_IMPL_OCCUPANCYGRID_HPP_
30 
31 #include <rtabmap/core/util3d_mapping.h>
32 #include <rtabmap/core/util3d_transforms.h>
33 #include <rtabmap/utilite/ULogger.h>
34 
35 namespace rtabmap {
36 
37 template<typename PointT>
38 typename pcl::PointCloud<PointT>::Ptr OccupancyGrid::segmentCloud(
39  const typename pcl::PointCloud<PointT>::Ptr & cloudIn,
40  const pcl::IndicesPtr & indicesIn,
41  const Transform & pose,
42  const cv::Point3f & viewPoint,
43  pcl::IndicesPtr & groundIndices,
44  pcl::IndicesPtr & obstaclesIndices,
45  pcl::IndicesPtr * flatObstacles) const
46 {
47  groundIndices.reset(new std::vector<int>);
48  obstaclesIndices.reset(new std::vector<int>);
49  if(flatObstacles)
50  {
51  flatObstacles->reset(new std::vector<int>);
52  }
53 
54  typename pcl::PointCloud<PointT>::Ptr cloud(new pcl::PointCloud<PointT>);
55  pcl::IndicesPtr indices(new std::vector<int>);
56 
57  if(preVoxelFiltering_)
58  {
59  // voxelize to grid cell size
60  cloud = util3d::voxelize(cloudIn, indicesIn, cellSize_);
61 
62  indices->resize(cloud->size());
63  for(unsigned int i=0; i<indices->size(); ++i)
64  {
65  indices->at(i) = i;
66  }
67  }
68  else
69  {
70  cloud = cloudIn;
71  if(indicesIn->empty() && cloud->is_dense)
72  {
73  indices->resize(cloud->size());
74  for(unsigned int i=0; i<indices->size(); ++i)
75  {
76  indices->at(i) = i;
77  }
78  }
79  else
80  {
81  indices = indicesIn;
82  }
83  }
84 
85  // add pose rotation without yaw
86  float roll, pitch, yaw;
87  pose.getEulerAngles(roll, pitch, yaw);
88  UDEBUG("node.getPose()=%s projMapFrame_=%d", pose.prettyPrint().c_str(), projMapFrame_?1:0);
89  cloud = util3d::transformPointCloud(cloud, Transform(0,0, projMapFrame_?pose.z():0, roll, pitch, 0));
90 
91  // filter footprint
92  if(footprintLength_ > 0.0f || footprintWidth_ > 0.0f || footprintHeight_ > 0.0f)
93  {
94  indices = util3d::cropBox(
95  cloud,
96  indices,
97  Eigen::Vector4f(
98  footprintLength_>0.0f?-footprintLength_/2.0f:std::numeric_limits<int>::min(),
99  footprintWidth_>0.0f&&footprintLength_>0.0f?-footprintWidth_/2.0f:std::numeric_limits<int>::min(),
100  0,
101  1),
102  Eigen::Vector4f(
103  footprintLength_>0.0f?footprintLength_/2.0f:std::numeric_limits<int>::max(),
104  footprintWidth_>0.0f&&footprintLength_>0.0f?footprintWidth_/2.0f:std::numeric_limits<int>::max(),
105  footprintHeight_>0.0f&&footprintLength_>0.0f&&footprintWidth_>0.0f?footprintHeight_:std::numeric_limits<int>::max(),
106  1),
107  Transform::getIdentity(),
108  true);
109  }
110 
111  // filter ground/obstacles zone
112  if(minGroundHeight_ != 0.0f || maxObstacleHeight_ != 0.0f)
113  {
114  indices = util3d::passThrough(cloud, indices, "z",
115  minGroundHeight_!=0.0f?minGroundHeight_:std::numeric_limits<int>::min(),
116  maxObstacleHeight_>0.0f?maxObstacleHeight_:std::numeric_limits<int>::max());
117  UDEBUG("indices after max obstacles height filtering = %d", (int)indices->size());
118  }
119 
120  if(indices->size())
121  {
122  if(normalsSegmentation_ && !groundIsObstacle_)
123  {
124  UDEBUG("normalKSearch=%d", normalKSearch_);
125  UDEBUG("maxGroundAngle=%f", maxGroundAngle_);
126  UDEBUG("Cluster radius=%f", clusterRadius_);
127  UDEBUG("flatObstaclesDetected=%d", flatObstaclesDetected_?1:0);
128  UDEBUG("maxGroundHeight=%f", maxGroundHeight_);
129  UDEBUG("groundNormalsUp=%f", groundNormalsUp_);
130  util3d::segmentObstaclesFromGround<PointT>(
131  cloud,
132  indices,
133  groundIndices,
134  obstaclesIndices,
135  normalKSearch_,
136  maxGroundAngle_,
137  clusterRadius_,
138  minClusterSize_,
139  flatObstaclesDetected_,
140  maxGroundHeight_,
141  flatObstacles,
142  Eigen::Vector4f(viewPoint.x, viewPoint.y, viewPoint.z+(projMapFrame_?pose.z():0), 1),
143  groundNormalsUp_);
144  UDEBUG("viewPoint=%f,%f,%f", viewPoint.x, viewPoint.y, viewPoint.z+(projMapFrame_?pose.z():0));
145  //UWARN("Saving ground.pcd and obstacles.pcd");
146  //pcl::io::savePCDFile("ground.pcd", *cloud, *groundIndices);
147  //pcl::io::savePCDFile("obstacles.pcd", *cloud, *obstaclesIndices);
148  }
149  else
150  {
151  UDEBUG("");
152  // passthrough filter
153  groundIndices = rtabmap::util3d::passThrough(cloud, indices, "z",
154  minGroundHeight_!=0.0f?minGroundHeight_:std::numeric_limits<int>::min(),
155  maxGroundHeight_!=0.0f?maxGroundHeight_:std::numeric_limits<int>::max());
156 
157  pcl::IndicesPtr notObstacles = groundIndices;
158  if(indices->size())
159  {
160  notObstacles = util3d::extractIndices(cloud, indices, true);
161  notObstacles = util3d::concatenate(notObstacles, groundIndices);
162  }
163  obstaclesIndices = rtabmap::util3d::extractIndices(cloud, notObstacles, true);
164  }
165 
166  UDEBUG("groundIndices=%d obstaclesIndices=%d", (int)groundIndices->size(), (int)obstaclesIndices->size());
167 
168  // Do radius filtering after voxel filtering ( a lot faster)
169  if(noiseFilteringRadius_ > 0.0 && noiseFilteringMinNeighbors_ > 0)
170  {
171  UDEBUG("Radius filtering (%ld ground %ld obstacles, radius=%f k=%d)",
172  groundIndices->size(),
173  obstaclesIndices->size()+(flatObstacles?(*flatObstacles)->size():0),
174  noiseFilteringRadius_,
175  noiseFilteringMinNeighbors_);
176  if(groundIndices->size())
177  {
178  groundIndices = rtabmap::util3d::radiusFiltering(cloud, groundIndices, noiseFilteringRadius_, noiseFilteringMinNeighbors_);
179  }
180  if(obstaclesIndices->size())
181  {
182  obstaclesIndices = rtabmap::util3d::radiusFiltering(cloud, obstaclesIndices, noiseFilteringRadius_, noiseFilteringMinNeighbors_);
183  }
184  if(flatObstacles && (*flatObstacles)->size())
185  {
186  *flatObstacles = rtabmap::util3d::radiusFiltering(cloud, *flatObstacles, noiseFilteringRadius_, noiseFilteringMinNeighbors_);
187  }
188  UDEBUG("Radius filtering end (%ld ground %ld obstacles)",
189  groundIndices->size(),
190  obstaclesIndices->size()+(flatObstacles?(*flatObstacles)->size():0));
191 
192  if(groundIndices->empty() && obstaclesIndices->empty())
193  {
194  UWARN("Cloud (with %d points) is empty after noise "
195  "filtering. Occupancy grid cannot be "
196  "created.",
197  (int)cloud->size());
198 
199  }
200  }
201  }
202  return cloud;
203 }
204 
205 }
206 
207 
208 #endif /* CORELIB_INCLUDE_RTABMAP_CORE_IMPL_OCCUPANCYGRID_HPP_ */
glm::roll
GLM_FUNC_DECL T roll(detail::tquat< T, P > const &x)
rtabmap::Transform::getEulerAngles
void getEulerAngles(float &roll, float &pitch, float &yaw) const
Definition: Transform.cpp:253
glm::min
GLM_FUNC_DECL genType min(genType const &x, genType const &y)
rtabmap::util3d::transformPointCloud
pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_EXP transformPointCloud(const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const Transform &transform)
Definition: util3d_transforms.cpp:107
rtabmap::util3d::passThrough
pcl::IndicesPtr RTABMAP_EXP passThrough(const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const pcl::IndicesPtr &indices, const std::string &axis, float min, float max, bool negative=false)
Definition: util3d_filtering.cpp:720
f
f
rtabmap::Transform::getIdentity
static Transform getIdentity()
Definition: Transform.cpp:401
glm::pitch
GLM_FUNC_DECL T pitch(detail::tquat< T, P > const &x)
rtabmap::util3d::extractIndices
pcl::IndicesPtr RTABMAP_EXP extractIndices(const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const pcl::IndicesPtr &indices, bool negative)
Definition: util3d_filtering.cpp:2289
util3d_mapping.h
rtabmap::Transform::prettyPrint
std::string prettyPrint() const
Definition: Transform.cpp:316
util3d_transforms.h
rtabmap::util3d::radiusFiltering
pcl::IndicesPtr RTABMAP_EXP radiusFiltering(const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, float radiusSearch, int minNeighborsInRadius)
Definition: util3d_filtering.cpp:1077
rtabmap::OccupancyGrid::segmentCloud
pcl::PointCloud< PointT >::Ptr segmentCloud(const typename pcl::PointCloud< PointT >::Ptr &cloud, const pcl::IndicesPtr &indices, const Transform &pose, const cv::Point3f &viewPoint, pcl::IndicesPtr &groundIndices, pcl::IndicesPtr &obstaclesIndices, pcl::IndicesPtr *flatObstacles=0) const
Definition: OccupancyGrid.hpp:38
UDEBUG
#define UDEBUG(...)
glm::max
GLM_FUNC_DECL genType max(genType const &x, genType const &y)
rtabmap::util3d::cropBox
pcl::IndicesPtr RTABMAP_EXP cropBox(const pcl::PCLPointCloud2::Ptr &cloud, const pcl::IndicesPtr &indices, const Eigen::Vector4f &min, const Eigen::Vector4f &max, const Transform &transform=Transform::getIdentity(), bool negative=false)
Definition: util3d_filtering.cpp:816
ULogger.h
ULogger class and convenient macros.
UWARN
#define UWARN(...)
glm::yaw
GLM_FUNC_DECL T yaw(detail::tquat< T, P > const &x)
rtabmap::util3d::concatenate
pcl::IndicesPtr RTABMAP_EXP concatenate(const std::vector< pcl::IndicesPtr > &indices)
Concatenate a vector of indices to a single vector.
Definition: util3d.cpp:3219
rtabmap::util3d::voxelize
pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_EXP voxelize(const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const pcl::IndicesPtr &indices, float voxelSize)
Definition: util3d_filtering.cpp:603

rtabmap
Author(s): Mathieu Labbe
autogenerated on Mon Jan 23 2023 03:37:29