obstacles_detection.cpp

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/*
Copyright (c) 2010-2016, 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.hpp>
#include <nodelet/nodelet.h>
 
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl_conversions/pcl_conversions.h>
#include <pcl/filters/filter.h>
#include <rtabmap/core/LocalGridMaker.h>
 
#include <tf/transform_listener.h>
 
#include <sensor_msgs/PointCloud2.h>
 
#include <rtabmap_conversions/MsgConversion.h>
 
#include "rtabmap/utilite/UStl.h"
 
namespace rtabmap_util
{
 
class ObstaclesDetection : public nodelet::Nodelet
{
public:
        ObstaclesDetection() :
                frameId_("base_link"),
                waitForTransform_(false),
                mapFrameProjection_(rtabmap::Parameters::defaultGridMapFrameProjection()),
                warned_(false)
        {}
 
        virtual ~ObstaclesDetection()
        {}
 
private:
 
        void parameterMoved(
                        ros::NodeHandle & nh,
                        const std::string & rosName,
                        const std::string & parameterName,
                        rtabmap::ParametersMap & parameters)
        {
                if(nh.hasParam(rosName))
                {
                        rtabmap::ParametersMap gridParameters = rtabmap::Parameters::getDefaultParameters("Grid");
                        rtabmap::ParametersMap::const_iterator iter =gridParameters.find(parameterName);
                        if(iter != gridParameters.end())
                        {
                                NODELET_ERROR("obstacles_detection: Parameter \"%s\" has moved from "
                                                 "rtabmap_conversions to rtabmap library. Use "
                                                 "parameter \"%s\" instead. The value is still "
                                                 "copied to new parameter name.",
                                                 rosName.c_str(),
                                                 parameterName.c_str());
                                std::string type = rtabmap::Parameters::getType(parameterName);
                                if(type.compare("float") || type.compare("double"))
                                {
                                        double v = uStr2Double(iter->second);
                                        nh.getParam(rosName, v);
                                        parameters.insert(rtabmap::ParametersPair(parameterName, uNumber2Str(v)));
                                }
                                else if(type.compare("int") || type.compare("unsigned int"))
                                {
                                        int v = uStr2Int(iter->second);
                                        nh.getParam(rosName, v);
                                        parameters.insert(rtabmap::ParametersPair(parameterName, uNumber2Str(v)));
                                }
                                else
                                {
                                        NODELET_ERROR("Not handled type \"%s\" for parameter \"%s\"", type.c_str(), parameterName.c_str());
                                }
                        }
                        else
                        {
                                NODELET_ERROR("Parameter \"%s\" not found in default parameters.", parameterName.c_str());
                        }
                }
        }
 
        virtual void onInit()
        {
                ROS_DEBUG("_"); // not sure why, but all NODELET_*** log are not shown if a normal ROS_*** is not called!?
                ros::NodeHandle & nh = getNodeHandle();
                ros::NodeHandle & pnh = getPrivateNodeHandle();
 
                ULogger::setType(ULogger::kTypeConsole);
                ULogger::setLevel(ULogger::kWarning);
 
                pnh.param("frame_id", frameId_, frameId_);
                pnh.param("map_frame_id", mapFrameId_, mapFrameId_);
                pnh.param("wait_for_transform", waitForTransform_, waitForTransform_);
 
                if(pnh.hasParam("optimize_for_close_objects"))
                {
                        NODELET_ERROR("\"optimize_for_close_objects\" parameter doesn't exist "
                                        "anymore. Use rtabmap_conversions/obstacles_detection_old nodelet to use "
                                        "the old interface.");
                }
 
                rtabmap::ParametersMap parameters;
 
                // Backward compatibility
                for(std::map<std::string, std::pair<bool, std::string> >::const_iterator iter=rtabmap::Parameters::getRemovedParameters().begin();
                        iter!=rtabmap::Parameters::getRemovedParameters().end();
                        ++iter)
                {
                        std::string vStr;
                        bool vBool;
                        int vInt;
                        double vDouble;
                        std::string paramValue;
                        if(pnh.getParam(iter->first, vStr))
                        {
                                paramValue = vStr;
                        }
                        else if(pnh.getParam(iter->first, vBool))
                        {
                                paramValue = uBool2Str(vBool);
                        }
                        else if(pnh.getParam(iter->first, vDouble))
                        {
                                paramValue = uNumber2Str(vDouble);
                        }
                        else if(pnh.getParam(iter->first, vInt))
                        {
                                paramValue = uNumber2Str(vInt);
                        }
                        if(!paramValue.empty())
                        {
                                if(iter->second.first)
                                {
                                        // can be migrated
                                        uInsert(parameters, rtabmap::ParametersPair(iter->second.second, paramValue));
                                        NODELET_ERROR("obstacles_detection: Parameter name changed: \"%s\" -> \"%s\". Please update your launch file accordingly. Value \"%s\" is still set to the new parameter name.",
                                                        iter->first.c_str(), iter->second.second.c_str(), paramValue.c_str());
                                }
                                else
                                {
                                        if(iter->second.second.empty())
                                        {
                                                NODELET_ERROR("obstacles_detection: Parameter \"%s\" doesn't exist anymore!",
                                                                iter->first.c_str());
                                        }
                                        else
                                        {
                                                NODELET_ERROR("obstacles_detection: Parameter \"%s\" doesn't exist anymore! You may look at this similar parameter: \"%s\"",
                                                                iter->first.c_str(), iter->second.second.c_str());
                                        }
                                }
                        }
                }
 
                rtabmap::ParametersMap gridParameters2 = rtabmap::Parameters::getDefaultParameters();
                rtabmap::ParametersMap gridParameters = rtabmap::Parameters::getDefaultParameters("Grid");
                for(rtabmap::ParametersMap::iterator iter=gridParameters.begin(); iter!=gridParameters.end(); ++iter)
                {
                        std::string vStr;
                        bool vBool;
                        int vInt;
                        double vDouble;
                        if(pnh.getParam(iter->first, vStr))
                        {
                                NODELET_INFO("obstacles_detection: Setting parameter \"%s\"=\"%s\"", iter->first.c_str(), vStr.c_str());
                                iter->second = vStr;
                        }
                        else if(pnh.getParam(iter->first, vBool))
                        {
                                NODELET_INFO("obstacles_detection: Setting parameter \"%s\"=\"%s\"", iter->first.c_str(), uBool2Str(vBool).c_str());
                                iter->second = uBool2Str(vBool);
                        }
                        else if(pnh.getParam(iter->first, vDouble))
                        {
                                NODELET_INFO("obstacles_detection: Setting parameter \"%s\"=\"%s\"", iter->first.c_str(), uNumber2Str(vDouble).c_str());
                                iter->second = uNumber2Str(vDouble);
                        }
                        else if(pnh.getParam(iter->first, vInt))
                        {
                                NODELET_INFO("obstacles_detection: Setting parameter \"%s\"=\"%s\"", iter->first.c_str(), uNumber2Str(vInt).c_str());
                                iter->second = uNumber2Str(vInt);
                        }
                }
                uInsert(parameters, gridParameters);
                parameterMoved(pnh, "proj_voxel_size", rtabmap::Parameters::kGridCellSize(), parameters);
                parameterMoved(pnh, "ground_normal_angle", rtabmap::Parameters::kGridMaxGroundAngle(), parameters);
                parameterMoved(pnh, "min_cluster_size", rtabmap::Parameters::kGridMinClusterSize(), parameters);
                parameterMoved(pnh, "normal_estimation_radius", rtabmap::Parameters::kGridClusterRadius(), parameters);
                parameterMoved(pnh, "cluster_radius", rtabmap::Parameters::kGridClusterRadius(), parameters);
                parameterMoved(pnh, "max_obstacles_height", rtabmap::Parameters::kGridMaxObstacleHeight(), parameters);
                parameterMoved(pnh, "max_ground_height", rtabmap::Parameters::kGridMaxGroundHeight(), parameters);
                parameterMoved(pnh, "detect_flat_obstacles", rtabmap::Parameters::kGridFlatObstacleDetected(), parameters);
                parameterMoved(pnh, "normal_k", rtabmap::Parameters::kGridNormalK(), parameters);
 
                UASSERT(uContains(parameters, rtabmap::Parameters::kGridMapFrameProjection()));
                mapFrameProjection_ = uStr2Bool(parameters.at(rtabmap::Parameters::kGridMapFrameProjection()));
                if(mapFrameProjection_ && mapFrameId_.empty())
                {
                        NODELET_ERROR("obstacles_detection: Parameter \"%s\" is true but map_frame_id is not set!", rtabmap::Parameters::kGridMapFrameProjection().c_str());
                }
 
                localMapMaker_.parseParameters(parameters);
 
                cloudSub_ = nh.subscribe("cloud", 1, &ObstaclesDetection::callback, this);
 
                groundPub_ = nh.advertise<sensor_msgs::PointCloud2>("ground", 1);
                obstaclesPub_ = nh.advertise<sensor_msgs::PointCloud2>("obstacles", 1);
                projObstaclesPub_ = nh.advertise<sensor_msgs::PointCloud2>("proj_obstacles", 1);
        }
 
 
 
        void callback(const sensor_msgs::PointCloud2ConstPtr & cloudMsg)
        {
                ros::WallTime time = ros::WallTime::now();
 
                if (groundPub_.getNumSubscribers() == 0 && obstaclesPub_.getNumSubscribers() == 0 && projObstaclesPub_.getNumSubscribers() == 0)
                {
                        // no one wants the results
                        return;
                }
 
                rtabmap::Transform localTransform = rtabmap::Transform::getIdentity();
                try
                {
                        if(waitForTransform_)
                        {
                                if(!tfListener_.waitForTransform(frameId_, cloudMsg->header.frame_id, cloudMsg->header.stamp, ros::Duration(1)))
                                {
                                        NODELET_ERROR("Could not get transform from %s to %s after 1 second!", frameId_.c_str(), cloudMsg->header.frame_id.c_str());
                                        return;
                                }
                        }
                        tf::StampedTransform tmp;
                        tfListener_.lookupTransform(frameId_, cloudMsg->header.frame_id, cloudMsg->header.stamp, tmp);
                        localTransform = rtabmap_conversions::transformFromTF(tmp);
                }
                catch(tf::TransformException & ex)
                {
                        NODELET_ERROR("%s",ex.what());
                        return;
                }
 
                rtabmap::Transform pose = rtabmap::Transform::getIdentity();
                if(!mapFrameId_.empty())
                {
                        try
                        {
                                if(waitForTransform_)
                                {
                                        if(!tfListener_.waitForTransform(mapFrameId_, frameId_, cloudMsg->header.stamp, ros::Duration(1)))
                                        {
                                                NODELET_ERROR("Could not get transform from %s to %s after 1 second!", mapFrameId_.c_str(), frameId_.c_str());
                                                return;
                                        }
                                }
                                tf::StampedTransform tmp;
                                tfListener_.lookupTransform(mapFrameId_, frameId_, cloudMsg->header.stamp, tmp);
                                pose = rtabmap_conversions::transformFromTF(tmp);
                        }
                        catch(tf::TransformException & ex)
                        {
                                NODELET_ERROR("%s",ex.what());
                                return;
                        }
                }
 
                UASSERT_MSG(cloudMsg->data.size() == cloudMsg->row_step*cloudMsg->height,
                                uFormat("data=%d row_step=%d height=%d", cloudMsg->data.size(), cloudMsg->row_step, cloudMsg->height).c_str());
 
                pcl::PointCloud<pcl::PointXYZ>::Ptr inputCloud(new pcl::PointCloud<pcl::PointXYZ>);
                pcl::fromROSMsg(*cloudMsg, *inputCloud);
                if(inputCloud->isOrganized())
                {
                        std::vector<int> indices;
                        pcl::removeNaNFromPointCloud(*inputCloud, *inputCloud, indices);
                }
                else if(!inputCloud->is_dense && inputCloud->height == 1)
                {
                        if(!warned_)
                        {
                                NODELET_WARN("Detected possible wrong format of point cloud \"%s\", it is "
                                                "indicated that it is not dense, but there is only one row. "
                                                "Assuming it is dense... This message will only appear once.", cloudSub_.getTopic().c_str());
                                warned_ = true;
                        }
                        inputCloud->is_dense = true;
                }
 
                //Common variables for all strategies
                pcl::IndicesPtr ground, obstacles;
                pcl::PointCloud<pcl::PointXYZ>::Ptr obstaclesCloud(new pcl::PointCloud<pcl::PointXYZ>);
                pcl::PointCloud<pcl::PointXYZ>::Ptr groundCloud(new pcl::PointCloud<pcl::PointXYZ>);
                pcl::PointCloud<pcl::PointXYZ>::Ptr obstaclesCloudWithoutFlatSurfaces(new pcl::PointCloud<pcl::PointXYZ>);
 
                if(inputCloud->size())
                {
                        inputCloud = rtabmap::util3d::transformPointCloud(inputCloud, localTransform);
 
                        pcl::IndicesPtr flatObstacles(new std::vector<int>);
                        pcl::PointCloud<pcl::PointXYZ>::Ptr cloud = localMapMaker_.segmentCloud<pcl::PointXYZ>(
                                        inputCloud,
                                        pcl::IndicesPtr(new std::vector<int>),
                                        pose,
                                        cv::Point3f(localTransform.x(), localTransform.y(), localTransform.z()),
                                        ground,
                                        obstacles,
                                        &flatObstacles);
 
                        if(cloud->size() && ((ground.get() && ground->size()) || (obstacles.get() && obstacles->size())))
                        {
                                if(groundPub_.getNumSubscribers() &&
                                                ground.get() && ground->size())
                                {
                                        pcl::copyPointCloud(*cloud, *ground, *groundCloud);
                                }
 
                                if((obstaclesPub_.getNumSubscribers() || projObstaclesPub_.getNumSubscribers()) &&
                                                obstacles.get() && obstacles->size())
                                {
                                        // remove flat obstacles from obstacles
                                        std::set<int> flatObstaclesSet;
                                        if(projObstaclesPub_.getNumSubscribers())
                                        {
                                                flatObstaclesSet.insert(flatObstacles->begin(), flatObstacles->end());
                                        }
 
                                        obstaclesCloud->resize(obstacles->size());
                                        obstaclesCloudWithoutFlatSurfaces->resize(obstacles->size());
 
                                        int oi=0;
                                        for(unsigned int i=0; i<obstacles->size(); ++i)
                                        {
                                                obstaclesCloud->points[i] = cloud->at(obstacles->at(i));
                                                if(flatObstaclesSet.size() == 0 ||
                                                   flatObstaclesSet.find(obstacles->at(i))==flatObstaclesSet.end())
                                                {
                                                        obstaclesCloudWithoutFlatSurfaces->points[oi] = obstaclesCloud->points[i];
                                                        obstaclesCloudWithoutFlatSurfaces->points[oi].z = 0;
                                                        ++oi;
                                                }
 
                                        }
 
                                        obstaclesCloudWithoutFlatSurfaces->resize(oi);
                                }
 
                                if(!localTransform.isIdentity() || !pose.isIdentity())
                                {
                                        //transform back in topic frame for 3d clouds and base frame for 2d clouds
 
                                        float roll, pitch, yaw;
                                        pose.getEulerAngles(roll, pitch, yaw);
                                        rtabmap::Transform t = rtabmap::Transform(0,0, mapFrameProjection_?pose.z():0, roll, pitch, 0);
 
                                        if(obstaclesCloudWithoutFlatSurfaces->size() && !pose.isIdentity())
                                        {
                                                obstaclesCloudWithoutFlatSurfaces = rtabmap::util3d::transformPointCloud(obstaclesCloudWithoutFlatSurfaces, t.inverse());
                                        }
 
                                        t = (t*localTransform).inverse();
                                        if(groundCloud->size())
                                        {
                                                groundCloud = rtabmap::util3d::transformPointCloud(groundCloud, t);
                                        }
                                        if(obstaclesCloud->size())
                                        {
                                                obstaclesCloud = rtabmap::util3d::transformPointCloud(obstaclesCloud, t);
                                        }
                                }
                        }
                }
                else
                {
                        ROS_WARN("obstacles_detection: Input cloud is empty! (%d x %d, is_dense=%d)", cloudMsg->width, cloudMsg->height, cloudMsg->is_dense?1:0);
                }
 
                if(groundPub_.getNumSubscribers())
                {
                        sensor_msgs::PointCloud2 rosCloud;
                        pcl::toROSMsg(*groundCloud, rosCloud);
                        rosCloud.header = cloudMsg->header;
 
                        //publish the message
                        groundPub_.publish(rosCloud);
                }
 
                if(obstaclesPub_.getNumSubscribers())
                {
                        sensor_msgs::PointCloud2 rosCloud;
                        pcl::toROSMsg(*obstaclesCloud, rosCloud);
                        rosCloud.header = cloudMsg->header;
 
                        //publish the message
                        obstaclesPub_.publish(rosCloud);
                }
 
                if(projObstaclesPub_.getNumSubscribers())
                {
                        sensor_msgs::PointCloud2 rosCloud;
                        pcl::toROSMsg(*obstaclesCloudWithoutFlatSurfaces, rosCloud);
                        rosCloud.header.stamp = cloudMsg->header.stamp;
                        rosCloud.header.frame_id = frameId_;
 
                        //publish the message
                        projObstaclesPub_.publish(rosCloud);
                }
 
                NODELET_DEBUG("Obstacles segmentation time = %f s", (ros::WallTime::now() - time).toSec());
        }
 
private:
        std::string frameId_;
        std::string mapFrameId_;
        bool waitForTransform_;
 
        rtabmap::LocalGridMaker localMapMaker_;
        bool mapFrameProjection_;
        bool warned_;
 
        tf::TransformListener tfListener_;
 
        ros::Publisher groundPub_;
        ros::Publisher obstaclesPub_;
        ros::Publisher projObstaclesPub_;
 
        ros::Subscriber cloudSub_;
};
 
PLUGINLIB_EXPORT_CLASS(rtabmap_util::ObstaclesDetection, nodelet::Nodelet);
}