util3d_mapping.hpp
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2 Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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27 
28 #ifndef UTIL3D_MAPPING_HPP_
29 #define UTIL3D_MAPPING_HPP_
30 
31 #include <rtabmap/core/util3d_filtering.h>
32 #include <rtabmap/core/util3d.h>
33 #include <pcl/common/common.h>
34 #include <pcl/common/centroid.h>
35 #include <pcl/common/io.h>
36 
37 namespace rtabmap{
38 namespace util3d{
39 
40 template<typename PointT>
41 typename pcl::PointCloud<PointT>::Ptr projectCloudOnXYPlane(
42  const typename pcl::PointCloud<PointT> & cloud)
43 {
44  typename pcl::PointCloud<PointT>::Ptr output(new pcl::PointCloud<PointT>);
45  *output = cloud;
46  for(unsigned int i=0; i<output->size(); ++i)
47  {
48  output->at(i).z = 0;
49  }
50  return output;
51 }
52 
53 template<typename PointT>
54 void segmentObstaclesFromGround(
55  const typename pcl::PointCloud<PointT>::Ptr & cloud,
56  const typename pcl::IndicesPtr & indices,
57  pcl::IndicesPtr & ground,
58  pcl::IndicesPtr & obstacles,
59  int normalKSearch,
60  float groundNormalAngle,
61  float clusterRadius,
62  int minClusterSize,
63  bool segmentFlatObstacles,
64  float maxGroundHeight,
65  pcl::IndicesPtr * flatObstacles,
66  const Eigen::Vector4f & viewPoint,
67  float groundNormalsUp)
68 {
69  ground.reset(new std::vector<int>);
70  obstacles.reset(new std::vector<int>);
71  if(flatObstacles)
72  {
73  flatObstacles->reset(new std::vector<int>);
74  }
75 
76  if(cloud->size())
77  {
78  // Find the ground
79  pcl::IndicesPtr flatSurfaces = normalFiltering(
80  cloud,
81  indices,
82  groundNormalAngle,
83  Eigen::Vector4f(0,0,1,0),
84  normalKSearch,
85  viewPoint,
86  groundNormalsUp);
87 
88  if(segmentFlatObstacles && flatSurfaces->size())
89  {
90  int biggestFlatSurfaceIndex;
91  std::vector<pcl::IndicesPtr> clusteredFlatSurfaces = extractClusters(
92  cloud,
93  flatSurfaces,
94  clusterRadius,
95  minClusterSize,
96  std::numeric_limits<int>::max(),
97  &biggestFlatSurfaceIndex);
98 
99  // cluster all surfaces for which the centroid is in the Z-range of the bigger surface
100  if(clusteredFlatSurfaces.size())
101  {
102  Eigen::Vector4f biggestSurfaceMin,biggestSurfaceMax;
103  if(maxGroundHeight != 0.0f)
104  {
105  // Search for biggest surface under max ground height
106  size_t points = 0;
107  biggestFlatSurfaceIndex = -1;
108  for(size_t i=0;i<clusteredFlatSurfaces.size();++i)
109  {
110  Eigen::Vector4f min,max;
111  pcl::getMinMax3D(*cloud, *clusteredFlatSurfaces.at(i), min, max);
112  if(min[2]<maxGroundHeight && clusteredFlatSurfaces.at(i)->size() > points)
113  {
114  points = clusteredFlatSurfaces.at(i)->size();
115  biggestFlatSurfaceIndex = i;
116  biggestSurfaceMin = min;
117  biggestSurfaceMax = max;
118  }
119  }
120  }
121  else
122  {
123  pcl::getMinMax3D(*cloud, *clusteredFlatSurfaces.at(biggestFlatSurfaceIndex), biggestSurfaceMin, biggestSurfaceMax);
124  }
125  if(biggestFlatSurfaceIndex>=0)
126  {
127  ground = clusteredFlatSurfaces.at(biggestFlatSurfaceIndex);
128  }
129 
130  if(!ground->empty() && (maxGroundHeight == 0.0f || biggestSurfaceMin[2] < maxGroundHeight))
131  {
132  for(unsigned int i=0; i<clusteredFlatSurfaces.size(); ++i)
133  {
134  if((int)i!=biggestFlatSurfaceIndex)
135  {
136  Eigen::Vector4f centroid(0,0,0,1);
137  pcl::compute3DCentroid(*cloud, *clusteredFlatSurfaces.at(i), centroid);
138  if(maxGroundHeight==0.0f || centroid[2] <= maxGroundHeight || centroid[2] <= biggestSurfaceMax[2]) // epsilon
139  {
140  ground = util3d::concatenate(ground, clusteredFlatSurfaces.at(i));
141  }
142  else if(flatObstacles)
143  {
144  *flatObstacles = util3d::concatenate(*flatObstacles, clusteredFlatSurfaces.at(i));
145  }
146  }
147  }
148  }
149  else
150  {
151  // reject ground!
152  ground.reset(new std::vector<int>);
153  if(flatObstacles)
154  {
155  *flatObstacles = flatSurfaces;
156  }
157  }
158  }
159  }
160  else
161  {
162  ground = flatSurfaces;
163  }
164 
165  if(ground->size() != cloud->size())
166  {
167  // Remove ground
168  pcl::IndicesPtr notObstacles = ground;
169  if(indices->size())
170  {
171  notObstacles = util3d::extractIndices(cloud, indices, true);
172  notObstacles = util3d::concatenate(notObstacles, ground);
173  }
174  pcl::IndicesPtr otherStuffIndices = util3d::extractIndices(cloud, notObstacles, true);
175 
176  // If ground height is set, remove obstacles under it
177  if(maxGroundHeight != 0.0f)
178  {
179  otherStuffIndices = rtabmap::util3d::passThrough(cloud, otherStuffIndices, "z", maxGroundHeight, std::numeric_limits<float>::max());
180  }
181 
182  //Cluster remaining stuff (obstacles)
183  if(otherStuffIndices->size())
184  {
185  std::vector<pcl::IndicesPtr> clusteredObstaclesSurfaces = util3d::extractClusters(
186  cloud,
187  otherStuffIndices,
188  clusterRadius,
189  minClusterSize);
190 
191  // merge indices
192  obstacles = util3d::concatenate(clusteredObstaclesSurfaces);
193  }
194  }
195  }
196 }
197 
198 template<typename PointT>
199 void segmentObstaclesFromGround(
200  const typename pcl::PointCloud<PointT>::Ptr & cloud,
201  pcl::IndicesPtr & ground,
202  pcl::IndicesPtr & obstacles,
203  int normalKSearch,
204  float groundNormalAngle,
205  float clusterRadius,
206  int minClusterSize,
207  bool segmentFlatObstacles,
208  float maxGroundHeight,
209  pcl::IndicesPtr * flatObstacles,
210  const Eigen::Vector4f & viewPoint,
211  float groundNormalsUp)
212 {
213  pcl::IndicesPtr indices(new std::vector<int>);
214  segmentObstaclesFromGround<PointT>(
215  cloud,
216  indices,
217  ground,
218  obstacles,
219  normalKSearch,
220  groundNormalAngle,
221  clusterRadius,
222  minClusterSize,
223  segmentFlatObstacles,
224  maxGroundHeight,
225  flatObstacles,
226  viewPoint,
227  groundNormalsUp);
228 }
229 
230 template<typename PointT>
231 void occupancy2DFromGroundObstacles(
232  const typename pcl::PointCloud<PointT>::Ptr & cloud,
233  const pcl::IndicesPtr & groundIndices,
234  const pcl::IndicesPtr & obstaclesIndices,
235  cv::Mat & ground,
236  cv::Mat & obstacles,
237  float cellSize)
238 {
239  typename pcl::PointCloud<PointT>::Ptr groundCloud(new pcl::PointCloud<PointT>);
240  typename pcl::PointCloud<PointT>::Ptr obstaclesCloud(new pcl::PointCloud<PointT>);
241 
242  if(groundIndices->size())
243  {
244  pcl::copyPointCloud(*cloud, *groundIndices, *groundCloud);
245  }
246 
247  if(obstaclesIndices->size())
248  {
249  pcl::copyPointCloud(*cloud, *obstaclesIndices, *obstaclesCloud);
250  }
251 
252  occupancy2DFromGroundObstacles<PointT>(
253  groundCloud,
254  obstaclesCloud,
255  ground,
256  obstacles,
257  cellSize);
258 }
259 
260 template<typename PointT>
261 void occupancy2DFromGroundObstacles(
262  const typename pcl::PointCloud<PointT>::Ptr & groundCloud,
263  const typename pcl::PointCloud<PointT>::Ptr & obstaclesCloud,
264  cv::Mat & ground,
265  cv::Mat & obstacles,
266  float cellSize)
267 {
268  ground = cv::Mat();
269  if(groundCloud->size())
270  {
271  //project on XY plane
272  typename pcl::PointCloud<PointT>::Ptr groundCloudProjected;
273  groundCloudProjected = util3d::projectCloudOnXYPlane(*groundCloud);
274  //voxelize to grid cell size
275  groundCloudProjected = util3d::voxelize(groundCloudProjected, cellSize);
276 
277  ground = cv::Mat(1, (int)groundCloudProjected->size(), CV_32FC2);
278  for(unsigned int i=0;i<groundCloudProjected->size(); ++i)
279  {
280  cv::Vec2f * ptr = ground.ptr<cv::Vec2f>();
281  ptr[i][0] = groundCloudProjected->at(i).x;
282  ptr[i][1] = groundCloudProjected->at(i).y;
283  }
284  }
285 
286  obstacles = cv::Mat();
287  if(obstaclesCloud->size())
288  {
289  //project on XY plane
290  typename pcl::PointCloud<PointT>::Ptr obstaclesCloudProjected;
291  obstaclesCloudProjected = util3d::projectCloudOnXYPlane(*obstaclesCloud);
292  //voxelize to grid cell size
293  obstaclesCloudProjected = util3d::voxelize(obstaclesCloudProjected, cellSize);
294 
295  obstacles = cv::Mat(1, (int)obstaclesCloudProjected->size(), CV_32FC2);
296  for(unsigned int i=0;i<obstaclesCloudProjected->size(); ++i)
297  {
298  cv::Vec2f * ptr = obstacles.ptr<cv::Vec2f>();
299  ptr[i][0] = obstaclesCloudProjected->at(i).x;
300  ptr[i][1] = obstaclesCloudProjected->at(i).y;
301  }
302  }
303 }
304 
305 template<typename PointT>
306 void occupancy2DFromCloud3D(
307  const typename pcl::PointCloud<PointT>::Ptr & cloud,
308  const pcl::IndicesPtr & indices,
309  cv::Mat & ground,
310  cv::Mat & obstacles,
311  float cellSize,
312  float groundNormalAngle,
313  int minClusterSize,
314  bool segmentFlatObstacles,
315  float maxGroundHeight)
316 {
317  if(cloud->size() == 0)
318  {
319  return;
320  }
321  pcl::IndicesPtr groundIndices, obstaclesIndices;
322 
323  segmentObstaclesFromGround<PointT>(
324  cloud,
325  indices,
326  groundIndices,
327  obstaclesIndices,
328  20,
329  groundNormalAngle,
330  cellSize*2.0f,
331  minClusterSize,
332  segmentFlatObstacles,
333  maxGroundHeight);
334 
335  occupancy2DFromGroundObstacles<PointT>(
336  cloud,
337  groundIndices,
338  obstaclesIndices,
339  ground,
340  obstacles,
341  cellSize);
342 }
343 
344 template<typename PointT>
345 void occupancy2DFromCloud3D(
346  const typename pcl::PointCloud<PointT>::Ptr & cloud,
347  cv::Mat & ground,
348  cv::Mat & obstacles,
349  float cellSize,
350  float groundNormalAngle,
351  int minClusterSize,
352  bool segmentFlatObstacles,
353  float maxGroundHeight)
354 {
355  pcl::IndicesPtr indices(new std::vector<int>);
356  occupancy2DFromCloud3D<PointT>(cloud, indices, ground, obstacles, cellSize, groundNormalAngle, minClusterSize, segmentFlatObstacles, maxGroundHeight);
357 }
358 
359 }
360 }
361 
362 #endif /* UTIL3D_MAPPING_HPP_ */
rtabmap::util3d::extractClusters
std::vector< pcl::IndicesPtr > RTABMAP_EXP extractClusters(const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, float clusterTolerance, int minClusterSize, int maxClusterSize=std::numeric_limits< int >::max(), int *biggestClusterIndex=0)
Definition: util3d_filtering.cpp:2141
glm::min
GLM_FUNC_DECL genType min(genType const &x, genType const &y)
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
rtabmap::util3d::getMinMax3D
void RTABMAP_EXP getMinMax3D(const cv::Mat &laserScan, cv::Point3f &min, cv::Point3f &max)
Definition: util3d.cpp:2481
f
f
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
rtabmap::util3d::normalFiltering
pcl::IndicesPtr RTABMAP_EXP normalFiltering(const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, float angleMax, const Eigen::Vector4f &normal, int normalKSearch, const Eigen::Vector4f &viewpoint, float groundNormalsUp=0.0f)
Definition: util3d_filtering.cpp:1928
util3d_filtering.h
glm::max
GLM_FUNC_DECL genType max(genType const &x, genType const &y)
rtabmap::util3d::occupancy2DFromCloud3D
void occupancy2DFromCloud3D(const typename pcl::PointCloud< PointT >::Ptr &cloud, const pcl::IndicesPtr &indices, cv::Mat &ground, cv::Mat &obstacles, float cellSize, float groundNormalAngle, int minClusterSize, bool segmentFlatObstacles, float maxGroundHeight)
Definition: util3d_mapping.hpp:306
rtabmap::util3d::segmentObstaclesFromGround
void segmentObstaclesFromGround(const typename pcl::PointCloud< PointT >::Ptr &cloud, const typename pcl::IndicesPtr &indices, pcl::IndicesPtr &ground, pcl::IndicesPtr &obstacles, int normalKSearch, float groundNormalAngle, float clusterRadius, int minClusterSize, bool segmentFlatObstacles, float maxGroundHeight, pcl::IndicesPtr *flatObstacles, const Eigen::Vector4f &viewPoint, float groundNormalsUp)
Definition: util3d_mapping.hpp:54
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::util3d::projectCloudOnXYPlane
pcl::PointCloud< PointT >::Ptr projectCloudOnXYPlane(const typename pcl::PointCloud< PointT > &cloud)
Definition: util3d_mapping.hpp:41
rtabmap::util3d::occupancy2DFromGroundObstacles
void occupancy2DFromGroundObstacles(const typename pcl::PointCloud< PointT >::Ptr &cloud, const pcl::IndicesPtr &groundIndices, const pcl::IndicesPtr &obstaclesIndices, cv::Mat &ground, cv::Mat &obstacles, float cellSize)
Definition: util3d_mapping.hpp:231

rtabmap
Author(s): Mathieu Labbe
autogenerated on Mon Jan 23 2023 03:38:58