LocalGridMaker.cpp
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2 Copyright (c) 2010-2023, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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27 
28 #include <rtabmap/core/LocalGridMaker.h>
29 #include <rtabmap/core/util3d.h>
30 #include <rtabmap/core/util3d_filtering.h>
31 #include <rtabmap/core/util3d_mapping.h>
32 #include <rtabmap/core/util2d.h>
33 #include <rtabmap/utilite/ULogger.h>
34 #include <rtabmap/utilite/UConversion.h>
35 #include <rtabmap/utilite/UStl.h>
36 #include <rtabmap/utilite/UTimer.h>
37 
38 #ifdef RTABMAP_OCTOMAP
39 #include <rtabmap/core/global_map/OctoMap.h>
40 #endif
41 
42 #include <pcl/io/pcd_io.h>
43 
44 namespace rtabmap {
45 
46 LocalGridMaker::LocalGridMaker(const ParametersMap & parameters) :
47  parameters_(parameters),
48  cloudDecimation_(Parameters::defaultGridDepthDecimation()),
49  rangeMax_(Parameters::defaultGridRangeMax()),
50  rangeMin_(Parameters::defaultGridRangeMin()),
51  //roiRatios_(Parameters::defaultGridDepthRoiRatios()), // initialized in parseParameters()
52  footprintLength_(Parameters::defaultGridFootprintLength()),
53  footprintWidth_(Parameters::defaultGridFootprintWidth()),
54  footprintHeight_(Parameters::defaultGridFootprintHeight()),
55  scanDecimation_(Parameters::defaultGridScanDecimation()),
56  cellSize_(Parameters::defaultGridCellSize()),
57  preVoxelFiltering_(Parameters::defaultGridPreVoxelFiltering()),
58  occupancySensor_(Parameters::defaultGridSensor()),
59  projMapFrame_(Parameters::defaultGridMapFrameProjection()),
60  maxObstacleHeight_(Parameters::defaultGridMaxObstacleHeight()),
61  normalKSearch_(Parameters::defaultGridNormalK()),
62  groundNormalsUp_(Parameters::defaultIcpPointToPlaneGroundNormalsUp()),
63  maxGroundAngle_(Parameters::defaultGridMaxGroundAngle()*M_PI/180.0f),
64  clusterRadius_(Parameters::defaultGridClusterRadius()),
65  minClusterSize_(Parameters::defaultGridMinClusterSize()),
66  flatObstaclesDetected_(Parameters::defaultGridFlatObstacleDetected()),
67  minGroundHeight_(Parameters::defaultGridMinGroundHeight()),
68  maxGroundHeight_(Parameters::defaultGridMaxGroundHeight()),
69  normalsSegmentation_(Parameters::defaultGridNormalsSegmentation()),
70  grid3D_(Parameters::defaultGrid3D()),
71  groundIsObstacle_(Parameters::defaultGridGroundIsObstacle()),
72  noiseFilteringRadius_(Parameters::defaultGridNoiseFilteringRadius()),
73  noiseFilteringMinNeighbors_(Parameters::defaultGridNoiseFilteringMinNeighbors()),
74  scan2dUnknownSpaceFilled_(Parameters::defaultGridScan2dUnknownSpaceFilled()),
75  rayTracing_(Parameters::defaultGridRayTracing())
76 {
77  this->parseParameters(parameters);
78 }
79 
80 LocalGridMaker::~LocalGridMaker()
81 {
82 }
83 
84 void LocalGridMaker::parseParameters(const ParametersMap & parameters)
85 {
86  uInsert(parameters_, parameters);
87 
88  Parameters::parse(parameters, Parameters::kGridSensor(), occupancySensor_);
89  Parameters::parse(parameters, Parameters::kGridDepthDecimation(), cloudDecimation_);
90  if(cloudDecimation_ == 0)
91  {
92  cloudDecimation_ = 1;
93  }
94  Parameters::parse(parameters, Parameters::kGridRangeMin(), rangeMin_);
95  Parameters::parse(parameters, Parameters::kGridRangeMax(), rangeMax_);
96  Parameters::parse(parameters, Parameters::kGridFootprintLength(), footprintLength_);
97  Parameters::parse(parameters, Parameters::kGridFootprintWidth(), footprintWidth_);
98  Parameters::parse(parameters, Parameters::kGridFootprintHeight(), footprintHeight_);
99  Parameters::parse(parameters, Parameters::kGridScanDecimation(), scanDecimation_);
100  Parameters::parse(parameters, Parameters::kGridCellSize(), cellSize_);
101  UASSERT(cellSize_>0.0f);
102 
103  Parameters::parse(parameters, Parameters::kGridPreVoxelFiltering(), preVoxelFiltering_);
104  Parameters::parse(parameters, Parameters::kGridMapFrameProjection(), projMapFrame_);
105  Parameters::parse(parameters, Parameters::kGridMaxObstacleHeight(), maxObstacleHeight_);
106  Parameters::parse(parameters, Parameters::kGridMinGroundHeight(), minGroundHeight_);
107  Parameters::parse(parameters, Parameters::kGridMaxGroundHeight(), maxGroundHeight_);
108  Parameters::parse(parameters, Parameters::kGridNormalK(), normalKSearch_);
109  Parameters::parse(parameters, Parameters::kIcpPointToPlaneGroundNormalsUp(), groundNormalsUp_);
110  if(Parameters::parse(parameters, Parameters::kGridMaxGroundAngle(), maxGroundAngle_))
111  {
112  maxGroundAngle_ *= M_PI/180.0f;
113  }
114  Parameters::parse(parameters, Parameters::kGridClusterRadius(), clusterRadius_);
115  UASSERT_MSG(clusterRadius_ > 0.0f, uFormat("Param name is \"%s\"", Parameters::kGridClusterRadius().c_str()).c_str());
116  Parameters::parse(parameters, Parameters::kGridMinClusterSize(), minClusterSize_);
117  Parameters::parse(parameters, Parameters::kGridFlatObstacleDetected(), flatObstaclesDetected_);
118  Parameters::parse(parameters, Parameters::kGridNormalsSegmentation(), normalsSegmentation_);
119  Parameters::parse(parameters, Parameters::kGrid3D(), grid3D_);
120  Parameters::parse(parameters, Parameters::kGridGroundIsObstacle(), groundIsObstacle_);
121  Parameters::parse(parameters, Parameters::kGridNoiseFilteringRadius(), noiseFilteringRadius_);
122  Parameters::parse(parameters, Parameters::kGridNoiseFilteringMinNeighbors(), noiseFilteringMinNeighbors_);
123  Parameters::parse(parameters, Parameters::kGridScan2dUnknownSpaceFilled(), scan2dUnknownSpaceFilled_);
124  Parameters::parse(parameters, Parameters::kGridRayTracing(), rayTracing_);
125 
126  // convert ROI from string to vector
127  ParametersMap::const_iterator iter;
128  if((iter=parameters.find(Parameters::kGridDepthRoiRatios())) != parameters.end())
129  {
130  std::list<std::string> strValues = uSplit(iter->second, ' ');
131  if(strValues.size() != 4)
132  {
133  ULOGGER_ERROR("The number of values must be 4 (%s=\"%s\")", iter->first.c_str(), iter->second.c_str());
134  }
135  else
136  {
137  std::vector<float> tmpValues(4);
138  unsigned int i=0;
139  for(std::list<std::string>::iterator jter = strValues.begin(); jter!=strValues.end(); ++jter)
140  {
141  tmpValues[i] = uStr2Float(*jter);
142  ++i;
143  }
144 
145  if(tmpValues[0] >= 0 && tmpValues[0] < 1 && tmpValues[0] < 1.0f-tmpValues[1] &&
146  tmpValues[1] >= 0 && tmpValues[1] < 1 && tmpValues[1] < 1.0f-tmpValues[0] &&
147  tmpValues[2] >= 0 && tmpValues[2] < 1 && tmpValues[2] < 1.0f-tmpValues[3] &&
148  tmpValues[3] >= 0 && tmpValues[3] < 1 && tmpValues[3] < 1.0f-tmpValues[2])
149  {
150  roiRatios_ = tmpValues;
151  }
152  else
153  {
154  ULOGGER_ERROR("The roi ratios are not valid (%s=\"%s\")", iter->first.c_str(), iter->second.c_str());
155  }
156  }
157  }
158 
159  if(maxGroundHeight_ == 0.0f && !normalsSegmentation_)
160  {
161  UWARN("\"%s\" should be not equal to 0 if not using normals "
162  "segmentation approach. Setting it to cell size (%f).",
163  Parameters::kGridMaxGroundHeight().c_str(), cellSize_);
164  maxGroundHeight_ = cellSize_;
165  }
166  if(maxGroundHeight_ != 0.0f &&
167  maxObstacleHeight_ != 0.0f &&
168  maxObstacleHeight_ < maxGroundHeight_)
169  {
170  UWARN("\"%s\" should be lower than \"%s\", setting \"%s\" to 0 (disabled).",
171  Parameters::kGridMaxGroundHeight().c_str(),
172  Parameters::kGridMaxObstacleHeight().c_str(),
173  Parameters::kGridMaxObstacleHeight().c_str());
174  maxObstacleHeight_ = 0;
175  }
176  if(maxGroundHeight_ != 0.0f &&
177  minGroundHeight_ != 0.0f &&
178  maxGroundHeight_ < minGroundHeight_)
179  {
180  UWARN("\"%s\" should be lower than \"%s\", setting \"%s\" to 0 (disabled).",
181  Parameters::kGridMinGroundHeight().c_str(),
182  Parameters::kGridMaxGroundHeight().c_str(),
183  Parameters::kGridMinGroundHeight().c_str());
184  minGroundHeight_ = 0;
185  }
186 }
187 
188 void LocalGridMaker::createLocalMap(
189  const Signature & node,
190  cv::Mat & groundCells,
191  cv::Mat & obstacleCells,
192  cv::Mat & emptyCells,
193  cv::Point3f & viewPoint)
194 {
195  UDEBUG("scan format=%s, occupancySensor_=%d normalsSegmentation_=%d grid3D_=%d",
196  node.sensorData().laserScanRaw().isEmpty()?"NA":node.sensorData().laserScanRaw().formatName().c_str(), occupancySensor_, normalsSegmentation_?1:0, grid3D_?1:0);
197 
198  if((node.sensorData().laserScanRaw().is2d()) && occupancySensor_ == 0)
199  {
200  UDEBUG("2D laser scan");
201  //2D
202  viewPoint = cv::Point3f(
203  node.sensorData().laserScanRaw().localTransform().x(),
204  node.sensorData().laserScanRaw().localTransform().y(),
205  node.sensorData().laserScanRaw().localTransform().z());
206 
207  LaserScan scan = node.sensorData().laserScanRaw();
208  if(rangeMin_ > 0.0f)
209  {
210  scan = util3d::rangeFiltering(scan, rangeMin_, 0.0f);
211  }
212 
213  float maxRange = rangeMax_;
214  if(rangeMax_>0.0f && node.sensorData().laserScanRaw().rangeMax()>0.0f)
215  {
216  maxRange = rangeMax_ < node.sensorData().laserScanRaw().rangeMax()?rangeMax_:node.sensorData().laserScanRaw().rangeMax();
217  }
218  else if(scan2dUnknownSpaceFilled_ && node.sensorData().laserScanRaw().rangeMax()>0.0f)
219  {
220  maxRange = node.sensorData().laserScanRaw().rangeMax();
221  }
222  util3d::occupancy2DFromLaserScan(
223  util3d::transformLaserScan(scan, node.sensorData().laserScanRaw().localTransform()).data(),
224  cv::Mat(),
225  viewPoint,
226  emptyCells,
227  obstacleCells,
228  cellSize_,
229  scan2dUnknownSpaceFilled_,
230  maxRange);
231 
232  UDEBUG("ground=%d obstacles=%d channels=%d", emptyCells.cols, obstacleCells.cols, obstacleCells.cols?obstacleCells.channels():emptyCells.channels());
233  }
234  else
235  {
236  // 3D
237  if(occupancySensor_ == 0 || occupancySensor_ == 2)
238  {
239  if(!node.sensorData().laserScanRaw().isEmpty())
240  {
241  UDEBUG("3D laser scan");
242  const Transform & t = node.sensorData().laserScanRaw().localTransform();
243  LaserScan scan = util3d::downsample(node.sensorData().laserScanRaw(), scanDecimation_);
244 #ifdef RTABMAP_OCTOMAP
245  // If ray tracing enabled, clipping will be done in OctoMap or in occupancy2DFromLaserScan()
246  float maxRange = rayTracing_?0.0f:rangeMax_;
247 #else
248  // If ray tracing enabled, clipping will be done in occupancy2DFromLaserScan()
249  float maxRange = !grid3D_ && rayTracing_?0.0f:rangeMax_;
250 #endif
251  if(rangeMin_ > 0.0f || maxRange > 0.0f)
252  {
253  scan = util3d::rangeFiltering(scan, rangeMin_, maxRange);
254  }
255 
256  // update viewpoint
257  viewPoint = cv::Point3f(t.x(), t.y(), t.z());
258 
259  UDEBUG("scan format=%d", scan.format());
260 
261  bool normalSegmentationTmp = normalsSegmentation_;
262  float minGroundHeightTmp = minGroundHeight_;
263  float maxGroundHeightTmp = maxGroundHeight_;
264  if(scan.is2d())
265  {
266  // if 2D, assume the whole scan is obstacle
267  normalsSegmentation_ = false;
268  minGroundHeight_ = std::numeric_limits<int>::min();
269  maxGroundHeight_ = std::numeric_limits<int>::min()+100;
270  }
271 
272  createLocalMap(scan, node.getPose(), groundCells, obstacleCells, emptyCells, viewPoint);
273 
274  if(scan.is2d())
275  {
276  // restore
277  normalsSegmentation_ = normalSegmentationTmp;
278  minGroundHeight_ = minGroundHeightTmp;
279  maxGroundHeight_ = maxGroundHeightTmp;
280  }
281  }
282  else
283  {
284  UWARN("Cannot create local map from scan: scan is empty (node=%d, %s=%d).", node.id(), Parameters::kGridSensor().c_str(), occupancySensor_);
285  }
286  }
287 
288  if(occupancySensor_ >= 1)
289  {
290  pcl::IndicesPtr indices(new std::vector<int>);
291  pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud;
292  UDEBUG("Depth image : decimation=%d max=%f min=%f",
293  cloudDecimation_,
294  rangeMax_,
295  rangeMin_);
296  cloud = util3d::cloudRGBFromSensorData(
297  node.sensorData(),
298  cloudDecimation_,
299 #ifdef RTABMAP_OCTOMAP
300  // If ray tracing enabled, clipping will be done in OctoMap or in occupancy2DFromLaserScan()
301  rayTracing_?0.0f:rangeMax_,
302 #else
303  // If ray tracing enabled, clipping will be done in occupancy2DFromLaserScan()
304  !grid3D_&&rayTracing_?0.0f:rangeMax_,
305 #endif
306  rangeMin_,
307  indices.get(),
308  parameters_,
309  roiRatios_);
310 
311  // update viewpoint
312  viewPoint = cv::Point3f(0,0,0);
313  if(node.sensorData().cameraModels().size())
314  {
315  // average of all local transforms
316  float sum = 0;
317  for(unsigned int i=0; i<node.sensorData().cameraModels().size(); ++i)
318  {
319  const Transform & t = node.sensorData().cameraModels()[i].localTransform();
320  if(!t.isNull())
321  {
322  viewPoint.x += t.x();
323  viewPoint.y += t.y();
324  viewPoint.z += t.z();
325  sum += 1.0f;
326  }
327  }
328  if(sum > 0.0f)
329  {
330  viewPoint.x /= sum;
331  viewPoint.y /= sum;
332  viewPoint.z /= sum;
333  }
334  }
335  else
336  {
337  // average of all local transforms
338  float sum = 0;
339  for(unsigned int i=0; i<node.sensorData().stereoCameraModels().size(); ++i)
340  {
341  const Transform & t = node.sensorData().stereoCameraModels()[i].localTransform();
342  if(!t.isNull())
343  {
344  viewPoint.x += t.x();
345  viewPoint.y += t.y();
346  viewPoint.z += t.z();
347  sum += 1.0f;
348  }
349  }
350  if(sum > 0.0f)
351  {
352  viewPoint.x /= sum;
353  viewPoint.y /= sum;
354  viewPoint.z /= sum;
355  }
356  }
357 
358  cv::Mat scanGroundCells;
359  cv::Mat scanObstacleCells;
360  cv::Mat scanEmptyCells;
361  if(occupancySensor_ == 2)
362  {
363  // backup
364  scanGroundCells = groundCells;
365  scanObstacleCells = obstacleCells;
366  scanEmptyCells = emptyCells;
367  groundCells = cv::Mat();
368  obstacleCells = cv::Mat();
369  emptyCells = cv::Mat();
370  }
371 
372  createLocalMap(LaserScan(util3d::laserScanFromPointCloud(*cloud, indices), 0, 0.0f), node.getPose(), groundCells, obstacleCells, emptyCells, viewPoint);
373 
374  if(occupancySensor_ == 2)
375  {
376  if(grid3D_)
377  {
378  // We should convert scans to 4 channels (XYZRGB) to be compatible
379  scanGroundCells = util3d::laserScanFromPointCloud(*util3d::laserScanToPointCloudRGB(LaserScan::backwardCompatibility(scanGroundCells), Transform::getIdentity(), 255, 255, 255)).data();
380  scanObstacleCells = util3d::laserScanFromPointCloud(*util3d::laserScanToPointCloudRGB(LaserScan::backwardCompatibility(scanObstacleCells), Transform::getIdentity(), 255, 255, 255)).data();
381  scanEmptyCells = util3d::laserScanFromPointCloud(*util3d::laserScanToPointCloudRGB(LaserScan::backwardCompatibility(scanEmptyCells), Transform::getIdentity(), 255, 255, 255)).data();
382  }
383 
384  UDEBUG("groundCells, depth: size=%d channels=%d vs scan: size=%d channels=%d", groundCells.cols, groundCells.channels(), scanGroundCells.cols, scanGroundCells.channels());
385  UDEBUG("obstacleCells, depth: size=%d channels=%d vs scan: size=%d channels=%d", obstacleCells.cols, obstacleCells.channels(), scanObstacleCells.cols, scanObstacleCells.channels());
386  UDEBUG("emptyCells, depth: size=%d channels=%d vs scan: size=%d channels=%d", emptyCells.cols, emptyCells.channels(), scanEmptyCells.cols, scanEmptyCells.channels());
387 
388  if(!groundCells.empty() && !scanGroundCells.empty())
389  cv::hconcat(groundCells, scanGroundCells, groundCells);
390  else if(!scanGroundCells.empty())
391  groundCells = scanGroundCells;
392 
393  if(!obstacleCells.empty() && !scanObstacleCells.empty())
394  cv::hconcat(obstacleCells, scanObstacleCells, obstacleCells);
395  else if(!scanObstacleCells.empty())
396  obstacleCells = scanObstacleCells;
397 
398  if(!emptyCells.empty() && !scanEmptyCells.empty())
399  cv::hconcat(emptyCells, scanEmptyCells, emptyCells);
400  else if(!scanEmptyCells.empty())
401  emptyCells = scanEmptyCells;
402  }
403  }
404  }
405 }
406 
407 void LocalGridMaker::createLocalMap(
408  const LaserScan & scan,
409  const Transform & pose,
410  cv::Mat & groundCells,
411  cv::Mat & obstacleCells,
412  cv::Mat & emptyCells,
413  cv::Point3f & viewPointInOut) const
414 {
415  if(projMapFrame_)
416  {
417  //we should rotate viewPoint in /map frame
418  float roll, pitch, yaw;
419  pose.getEulerAngles(roll, pitch, yaw);
420  Transform viewpointRotated = Transform(0,0,0,roll,pitch,0) * Transform(viewPointInOut.x, viewPointInOut.y, viewPointInOut.z, 0,0,0);
421  viewPointInOut.x = viewpointRotated.x();
422  viewPointInOut.y = viewpointRotated.y();
423  viewPointInOut.z = viewpointRotated.z();
424  }
425 
426  if(scan.size())
427  {
428  pcl::IndicesPtr groundIndices(new std::vector<int>);
429  pcl::IndicesPtr obstaclesIndices(new std::vector<int>);
430  cv::Mat groundCloud;
431  cv::Mat obstaclesCloud;
432 
433  if(scan.hasRGB() && scan.hasNormals())
434  {
435  pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloud = util3d::laserScanToPointCloudRGBNormal(scan, scan.localTransform());
436  pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloudSegmented = segmentCloud<pcl::PointXYZRGBNormal>(cloud, pcl::IndicesPtr(new std::vector<int>), pose, viewPointInOut, groundIndices, obstaclesIndices);
437  UDEBUG("groundIndices=%d, obstaclesIndices=%d", (int)groundIndices->size(), (int)obstaclesIndices->size());
438  if(grid3D_)
439  {
440  groundCloud = util3d::laserScanFromPointCloud(*cloudSegmented, groundIndices).data();
441  obstaclesCloud = util3d::laserScanFromPointCloud(*cloudSegmented, obstaclesIndices).data();
442  }
443  else
444  {
445  util3d::occupancy2DFromGroundObstacles<pcl::PointXYZRGBNormal>(cloudSegmented, groundIndices, obstaclesIndices, groundCells, obstacleCells, cellSize_);
446  }
447  }
448  else if(scan.hasRGB())
449  {
450  pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud = util3d::laserScanToPointCloudRGB(scan, scan.localTransform());
451  pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudSegmented = segmentCloud<pcl::PointXYZRGB>(cloud, pcl::IndicesPtr(new std::vector<int>), pose, viewPointInOut, groundIndices, obstaclesIndices);
452  UDEBUG("groundIndices=%d, obstaclesIndices=%d", (int)groundIndices->size(), (int)obstaclesIndices->size());
453  if(grid3D_)
454  {
455  groundCloud = util3d::laserScanFromPointCloud(*cloudSegmented, groundIndices).data();
456  obstaclesCloud = util3d::laserScanFromPointCloud(*cloudSegmented, obstaclesIndices).data();
457  }
458  else
459  {
460  util3d::occupancy2DFromGroundObstacles<pcl::PointXYZRGB>(cloudSegmented, groundIndices, obstaclesIndices, groundCells, obstacleCells, cellSize_);
461  }
462  }
463  else if(scan.hasNormals())
464  {
465  pcl::PointCloud<pcl::PointNormal>::Ptr cloud = util3d::laserScanToPointCloudNormal(scan, scan.localTransform());
466  pcl::PointCloud<pcl::PointNormal>::Ptr cloudSegmented = segmentCloud<pcl::PointNormal>(cloud, pcl::IndicesPtr(new std::vector<int>), pose, viewPointInOut, groundIndices, obstaclesIndices);
467  UDEBUG("groundIndices=%d, obstaclesIndices=%d", (int)groundIndices->size(), (int)obstaclesIndices->size());
468  if(grid3D_)
469  {
470  groundCloud = util3d::laserScanFromPointCloud(*cloudSegmented, groundIndices).data();
471  obstaclesCloud = util3d::laserScanFromPointCloud(*cloudSegmented, obstaclesIndices).data();
472  }
473  else
474  {
475  util3d::occupancy2DFromGroundObstacles<pcl::PointNormal>(cloudSegmented, groundIndices, obstaclesIndices, groundCells, obstacleCells, cellSize_);
476  }
477  }
478  else
479  {
480  pcl::PointCloud<pcl::PointXYZ>::Ptr cloud = util3d::laserScanToPointCloud(scan, scan.localTransform());
481  pcl::PointCloud<pcl::PointXYZ>::Ptr cloudSegmented = segmentCloud<pcl::PointXYZ>(cloud, pcl::IndicesPtr(new std::vector<int>), pose, viewPointInOut, groundIndices, obstaclesIndices);
482  UDEBUG("groundIndices=%d, obstaclesIndices=%d", (int)groundIndices->size(), (int)obstaclesIndices->size());
483  if(grid3D_)
484  {
485  groundCloud = util3d::laserScanFromPointCloud(*cloudSegmented, groundIndices).data();
486  obstaclesCloud = util3d::laserScanFromPointCloud(*cloudSegmented, obstaclesIndices).data();
487  }
488  else
489  {
490  util3d::occupancy2DFromGroundObstacles<pcl::PointXYZ>(cloudSegmented, groundIndices, obstaclesIndices, groundCells, obstacleCells, cellSize_);
491  }
492  }
493 
494  if(grid3D_ && (!obstaclesCloud.empty() || !groundCloud.empty()))
495  {
496  UDEBUG("ground=%d obstacles=%d", groundCloud.cols, obstaclesCloud.cols);
497  if(groundIsObstacle_ && !groundCloud.empty())
498  {
499  if(obstaclesCloud.empty())
500  {
501  obstaclesCloud = groundCloud;
502  groundCloud = cv::Mat();
503  }
504  else
505  {
506  UASSERT(obstaclesCloud.type() == groundCloud.type());
507  cv::Mat merged(1,obstaclesCloud.cols+groundCloud.cols, obstaclesCloud.type());
508  obstaclesCloud.copyTo(merged(cv::Range::all(), cv::Range(0, obstaclesCloud.cols)));
509  groundCloud.copyTo(merged(cv::Range::all(), cv::Range(obstaclesCloud.cols, obstaclesCloud.cols+groundCloud.cols)));
510  }
511  }
512 
513  // transform back in base frame
514  float roll, pitch, yaw;
515  pose.getEulerAngles(roll, pitch, yaw);
516  Transform tinv = Transform(0,0, projMapFrame_?pose.z():0, roll, pitch, 0).inverse();
517 
518  if(rayTracing_)
519  {
520 #ifdef RTABMAP_OCTOMAP
521  if(!groundCloud.empty() || !obstaclesCloud.empty())
522  {
523  //create local octomap
524  ParametersMap params;
525  params.insert(ParametersPair(Parameters::kGridCellSize(), uNumber2Str(cellSize_)));
526  params.insert(ParametersPair(Parameters::kGridRangeMax(), uNumber2Str(rangeMax_)));
527  params.insert(ParametersPair(Parameters::kGridRayTracing(), uNumber2Str(rayTracing_)));
528  LocalGridCache cache;
529  OctoMap octomap(&cache, params);
530  cache.add(1, groundCloud, obstaclesCloud, cv::Mat(), cellSize_, cv::Point3f(viewPointInOut.x, viewPointInOut.y, viewPointInOut.z));
531  std::map<int, Transform> poses;
532  poses.insert(std::make_pair(1, Transform::getIdentity()));
533  octomap.update(poses);
534 
535  pcl::IndicesPtr groundIndices(new std::vector<int>);
536  pcl::IndicesPtr obstaclesIndices(new std::vector<int>);
537  pcl::IndicesPtr emptyIndices(new std::vector<int>);
538  pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudWithRayTracing = octomap.createCloud(0, obstaclesIndices.get(), emptyIndices.get(), groundIndices.get());
539  UDEBUG("ground=%d obstacles=%d empty=%d", (int)groundIndices->size(), (int)obstaclesIndices->size(), (int)emptyIndices->size());
540  if(scan.hasRGB())
541  {
542  groundCells = util3d::laserScanFromPointCloud(*cloudWithRayTracing, groundIndices, tinv).data();
543  obstacleCells = util3d::laserScanFromPointCloud(*cloudWithRayTracing, obstaclesIndices, tinv).data();
544  emptyCells = util3d::laserScanFromPointCloud(*cloudWithRayTracing, emptyIndices, tinv).data();
545  }
546  else
547  {
548  pcl::PointCloud<pcl::PointXYZ>::Ptr cloudWithRayTracing2(new pcl::PointCloud<pcl::PointXYZ>);
549  pcl::copyPointCloud(*cloudWithRayTracing, *cloudWithRayTracing2);
550  groundCells = util3d::laserScanFromPointCloud(*cloudWithRayTracing2, groundIndices, tinv).data();
551  obstacleCells = util3d::laserScanFromPointCloud(*cloudWithRayTracing2, obstaclesIndices, tinv).data();
552  emptyCells = util3d::laserScanFromPointCloud(*cloudWithRayTracing2, emptyIndices, tinv).data();
553  }
554  }
555  }
556  else
557 #else
558  UWARN("RTAB-Map is not built with OctoMap dependency, 3D ray tracing is ignored. Set \"%s\" to false to avoid this warning.", Parameters::kGridRayTracing().c_str());
559  }
560 #endif
561  {
562  groundCells = util3d::transformLaserScan(LaserScan::backwardCompatibility(groundCloud), tinv).data();
563  obstacleCells = util3d::transformLaserScan(LaserScan::backwardCompatibility(obstaclesCloud), tinv).data();
564  }
565 
566  }
567  else if(!grid3D_ && rayTracing_ && (!obstacleCells.empty() || !groundCells.empty()))
568  {
569  cv::Mat laserScan = obstacleCells;
570  cv::Mat laserScanNoHit = groundCells;
571  obstacleCells = cv::Mat();
572  groundCells = cv::Mat();
573  util3d::occupancy2DFromLaserScan(
574  laserScan,
575  laserScanNoHit,
576  viewPointInOut,
577  emptyCells,
578  obstacleCells,
579  cellSize_,
580  false, // don't fill unknown space
581  rangeMax_);
582  }
583  }
584  UDEBUG("ground=%d obstacles=%d empty=%d, channels=%d", groundCells.cols, obstacleCells.cols, emptyCells.cols, obstacleCells.cols?obstacleCells.channels():groundCells.channels());
585 }
586 
587 } // namespace rtabmap
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Definition: Parameters.h:44
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rtabmap
Author(s): Mathieu Labbe
autogenerated on Thu Jul 25 2024 02:50:11