SaveObjectsExample.cpp

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/*
Copyright (c) 2011-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.

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    * Redistributions in binary form must reproduce the above copyright
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      names of its contributors may be used to endorse or promote products
      derived from this software without specific prior written permission.

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#include <ros/ros.h>
#include <tf/transform_listener.h>
#include <find_object_2d/ObjectsStamped.h>
#include <rtabmap/utilite/UConversion.h>
#include <opencv2/core/core.hpp>
#include <rtabmap_ros/UserData.h>
#include <rtabmap_ros/MsgConversion.h>
#include <rtabmap/core/Compression.h>
#include <visualization_msgs/MarkerArray.h>

class SaveObjectsExample
{
public:
        SaveObjectsExample() :
        objFramePrefix_("object"),
        frameId_("base_link")
    {
        ros::NodeHandle pnh("~");
        pnh.param("object_prefix", objFramePrefix_, objFramePrefix_);
        pnh.param("frame_id", frameId_, frameId_);

        ros::NodeHandle nh;
        subObjects_ = nh.subscribe("objectsStamped", 1, &SaveObjectsExample::objectsDetectedCallback, this);
        subsMapData_ = nh.subscribe("mapData", 1, &SaveObjectsExample::mapDataCallback, this);
        pub_ = nh.advertise<rtabmap_ros::UserData>("objectsData", 1);
        pubMarkers_ = nh.advertise<visualization_msgs::MarkerArray>("objectsMarkers", 1);
    }

    // from find_object_2d to rtabmap
    void objectsDetectedCallback(const find_object_2d::ObjectsStampedConstPtr & msg)
    {
        if(msg->objects.data.size())
        {
            cv::Mat data(msg->objects.data.size()/12, 9, CV_64FC1);
            for(unsigned int i=0; i<msg->objects.data.size(); i+=12)
            {
                // get data
                int id = (int)msg->objects.data[i];
                std::string objectFrameId = uFormat("%s_%d", objFramePrefix_.c_str(),id); // "object_1", "object_2"

                // get pose of the object in base frame
                tf::StampedTransform pose;
                try
                {
                    tfListener_.lookupTransform(frameId_, objectFrameId, msg->header.stamp, pose);
                }
                catch(tf::TransformException & ex)
                {
                    ROS_WARN("%s",ex.what());
                    return;
                }

                data.at<double>(i, 0) = double(id);
                data.at<double>(i, 1) = ros::Time(msg->header.stamp).toSec();
                data.at<double>(i, 2) = pose.getOrigin().x();
                data.at<double>(i, 3) = pose.getOrigin().y();
                data.at<double>(i, 4) = pose.getOrigin().z();
                data.at<double>(i, 5) = pose.getRotation().x();
                data.at<double>(i, 6) = pose.getRotation().y();
                data.at<double>(i, 7) = pose.getRotation().z();
                data.at<double>(i, 8) = pose.getRotation().w();
            }

            rtabmap_ros::UserData dataMsg;
            dataMsg.header.frame_id = msg->header.frame_id;
            dataMsg.header.stamp = msg->header.stamp;
            rtabmap_ros::userDataToROS(data, dataMsg, false);
            pub_.publish(dataMsg);
        }
    }

    // from rtabmap to rviz visualization
    void mapDataCallback(const rtabmap_ros::MapDataConstPtr & msg)
    {
        std::map<int, rtabmap::Signature> signatures;
        std::map<int, rtabmap::Transform> poses;
        std::multimap<int, rtabmap::Link> links;
        rtabmap::Transform mapToOdom;
        rtabmap_ros::mapDataFromROS(*msg, poses, links, signatures, mapToOdom);

        // handle the case where we can receive only latest data, or if all data are published
        for(std::map<int, rtabmap::Signature>::iterator iter=signatures.begin(); iter!=signatures.end(); ++iter)
        {
                int id = iter->first;
                rtabmap::Signature & node = iter->second;

                        nodeStamps_.insert(std::make_pair(node.getStamp(), node.id()));

                        if(!node.sensorData().userDataCompressed().empty() && nodeToObjects_.find(id)==nodeToObjects_.end())
                        {
                                cv::Mat data = rtabmap::uncompressData(node.sensorData().userDataCompressed());
                                ROS_ASSERT(data.cols == 9 && data.type() == CV_64FC1);
                                ROS_INFO("Node %d has %d object(s)", id, data.rows);
                                nodeToObjects_.insert(std::make_pair(id, data));
                        }
        }

                // for the logic below, we should keep only stamps for
                // nodes still in the graph (in case nodes are ignored when not moving)
                std::map<double, int> nodeStamps;
                for(std::map<double, int>::iterator iter=nodeStamps_.begin(); iter!=nodeStamps_.end(); ++iter)
                {
                        std::map<int, rtabmap::Transform>::const_iterator jter = poses.find(iter->second);
                        if(jter != poses.end())
                        {
                                nodeStamps.insert(*iter);
                        }
                }

        // Publish markers accordingly to current optimized graph
        std::map<int, float> objectsAdded;
        visualization_msgs::MarkerArray markers;

        if(nodeToObjects_.size())
        {
            for(std::map<int, rtabmap::Transform>::iterator iter=poses.lower_bound(1); iter!=poses.end(); ++iter)
            {
                if(nodeToObjects_.find(iter->first) != nodeToObjects_.end())
                {
                    cv::Mat data = nodeToObjects_.at(iter->first);
                    for(int i=0; i<data.rows; ++i)
                    {
                        int objId = int(data.at<double>(i,0));
                        double stamp = data.at<double>(i,1);

                        // The object detection may have been taken between two nodes, interpolate its position.
                        std::map<double, int>::iterator previousNode = nodeStamps.lower_bound(stamp); // lower bound of the stamp
                        if(previousNode!=nodeStamps.end() && previousNode->first > stamp && previousNode != nodeStamps.begin())
                        {
                            --previousNode;
                        }
                        std::map<double, int>::iterator nextNode = nodeStamps.upper_bound(stamp); // upper bound of the stamp

                        if(previousNode != nodeStamps.end() &&
                           nextNode != nodeStamps.end() &&
                           previousNode->second != nextNode->second &&
                           poses.find(previousNode->second)!=poses.end() && poses.find(nextNode->second)!=poses.end())
                        {
                            rtabmap::Transform poseA = poses.at(previousNode->second);
                            rtabmap::Transform poseB = poses.at(nextNode->second);
                            double stampA = previousNode->first;
                            double stampB = nextNode->first;
                            UASSERT(stamp>=stampA && stamp <=stampB);

                            double ratio = (stamp-stampA)/(stampB-stampA);
                            rtabmap::Transform robotPose = poseA.interpolate(ratio, poseB);

                            // transform object pose in map frame
                            rtabmap::Transform objPose(
                                    data.at<double>(i,2), data.at<double>(i,3), data.at<double>(i,4),
                                    data.at<double>(i,5), data.at<double>(i,6), data.at<double>(i,7), data.at<double>(i,8));
                            float distanceFromNode = objPose.getNorm();
                            objPose = robotPose * objPose;

                            if(objectsAdded.find(objId) == objectsAdded.end())
                            {
                                visualization_msgs::Marker marker;
                                marker.header.frame_id = msg->header.frame_id;
                                marker.header.stamp = msg->header.stamp;
                                marker.ns = "objects";
                                marker.id = objId;
                                marker.action = visualization_msgs::Marker::ADD;
                                marker.pose.position.x = objPose.x();
                                marker.pose.position.y = objPose.y();
                                marker.pose.position.z = objPose.z();
                                Eigen::Quaterniond q = objPose.getQuaterniond();
                                marker.pose.orientation.x = q.x();
                                marker.pose.orientation.y = q.y();
                                marker.pose.orientation.z = q.z();
                                marker.pose.orientation.w = q.w();
                                marker.scale.x = 0.3;
                                marker.scale.y = 0.3;
                                marker.scale.z = 0.3;
                                marker.color.a = 0.8;
                                marker.color.r = 0.0;
                                marker.color.g = 1.0;
                                marker.color.b = 0.0;

                                // cube
                                marker.type = visualization_msgs::Marker::CUBE;
                                markers.markers.push_back(marker);

                                // text
                                marker.type = visualization_msgs::Marker::TEXT_VIEW_FACING;
                                marker.text = uFormat("%s_%d", objFramePrefix_.c_str(), objId);
                                marker.id = -objId;
                                marker.color.a = 1.0;
                                marker.pose.position.z += 0.3; // text over the cube
                                markers.markers.push_back(marker);

                                objectsAdded.insert(std::make_pair(objId, distanceFromNode));
                            }
                            else
                            {
                                // update pose of the marker only if current observation is closer to robot
                                if(distanceFromNode < objectsAdded.at(objId))
                                {
                                    for(unsigned int j=0; j<markers.markers.size(); ++j)
                                    {
                                        if(markers.markers[j].id == objId || markers.markers[j].id == -objId)
                                        {
                                            markers.markers[j].pose.position.x = objPose.x();
                                            markers.markers[j].pose.position.y = objPose.y();
                                            markers.markers[j].pose.position.z = objPose.z() + (markers.markers[j].id<0?0.3:0);
                                            Eigen::Quaterniond q = objPose.getQuaterniond();
                                            markers.markers[j].pose.orientation.x = q.x();
                                            markers.markers[j].pose.orientation.y = q.y();
                                            markers.markers[j].pose.orientation.z = q.z();
                                            markers.markers[j].pose.orientation.w = q.w();
                                        }
                                    }
                                    objectsAdded.at(objId) = distanceFromNode;
                                }
                            }
                        }
                    }
                }
            }
            if(!markers.markers.empty())
            {
                pubMarkers_.publish(markers);
            }
        }
    }

private:
    std::string objFramePrefix_;
    ros::Subscriber subObjects_;
    ros::Subscriber subsMapData_;
    tf::TransformListener tfListener_;
    ros::Publisher pub_;
    ros::Publisher pubMarkers_;
    std::map<int, cv::Mat> nodeToObjects_;
    std::map<double, int> nodeStamps_; // <stamp, id>
    std::string frameId_;
};

int main(int argc, char * argv[])
{
    ros::init(argc, argv, "save_objects_example");

    SaveObjectsExample sync;
    ros::spin();
}