util3d_mapping.hpp

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/*
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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#ifndef UTIL3D_MAPPING_HPP_
#define UTIL3D_MAPPING_HPP_

#include <rtabmap/core/util3d_filtering.h>
#include <rtabmap/core/util3d.h>
#include <pcl/common/common.h>
#include <pcl/common/centroid.h>
#include <pcl/common/io.h>

namespace rtabmap{
namespace util3d{

template<typename PointT>
typename pcl::PointCloud<PointT>::Ptr projectCloudOnXYPlane(
                const typename pcl::PointCloud<PointT> & cloud)
{
        typename pcl::PointCloud<PointT>::Ptr output(new pcl::PointCloud<PointT>);
        *output = cloud;
        for(unsigned int i=0; i<output->size(); ++i)
        {
                output->at(i).z = 0;
        }
        return output;
}

template<typename PointT>
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)
{
        ground.reset(new std::vector<int>);
        obstacles.reset(new std::vector<int>);
        if(flatObstacles)
        {
                flatObstacles->reset(new std::vector<int>);
        }

        if(cloud->size())
        {
                // Find the ground
                pcl::IndicesPtr flatSurfaces = normalFiltering(
                                cloud,
                                indices,
                                groundNormalAngle,
                                Eigen::Vector4f(0,0,1,0),
                                normalKSearch,
                                viewPoint);

                if(segmentFlatObstacles)
                {
                        int biggestFlatSurfaceIndex;
                        std::vector<pcl::IndicesPtr> clusteredFlatSurfaces = extractClusters(
                                        cloud,
                                        flatSurfaces,
                                        clusterRadius,
                                        minClusterSize,
                                        std::numeric_limits<int>::max(),
                                        &biggestFlatSurfaceIndex);


                        // cluster all surfaces for which the centroid is in the Z-range of the bigger surface
                        if(clusteredFlatSurfaces.size())
                        {
                                ground = clusteredFlatSurfaces.at(biggestFlatSurfaceIndex);
                                Eigen::Vector4f min,max;
                                pcl::getMinMax3D(*cloud, *clusteredFlatSurfaces.at(biggestFlatSurfaceIndex), min, max);

                                if(maxGroundHeight <= 0 || min[2] < maxGroundHeight)
                                {
                                        for(unsigned int i=0; i<clusteredFlatSurfaces.size(); ++i)
                                        {
                                                if((int)i!=biggestFlatSurfaceIndex)
                                                {
                                                        Eigen::Vector4f centroid;
                                                        pcl::compute3DCentroid(*cloud, *clusteredFlatSurfaces.at(i), centroid);
                                                        if(centroid[2] >= min[2]-0.01 &&
                                                          (centroid[2] <= max[2]+0.01 || (maxGroundHeight>0 && centroid[2] <= maxGroundHeight+0.01))) // epsilon
                                                        {
                                                                ground = util3d::concatenate(ground, clusteredFlatSurfaces.at(i));
                                                        }
                                                        else if(flatObstacles)
                                                        {
                                                                *flatObstacles = util3d::concatenate(*flatObstacles, clusteredFlatSurfaces.at(i));
                                                        }
                                                }
                                        }
                                }
                                else
                                {
                                        // reject ground!
                                        ground.reset(new std::vector<int>);
                                        if(flatObstacles)
                                        {
                                                *flatObstacles = flatSurfaces;
                                        }
                                }
                        }
                }
                else
                {
                        ground = flatSurfaces;
                }

                if(ground->size() != cloud->size())
                {
                        // Remove ground
                        pcl::IndicesPtr otherStuffIndices = util3d::extractIndices(cloud, ground, true);

                        // If ground height is set, remove obstacles under it
                        if(maxGroundHeight > 0.0f)
                        {
                                otherStuffIndices = rtabmap::util3d::passThrough(cloud, otherStuffIndices, "z", maxGroundHeight, std::numeric_limits<float>::max());
                        }

                        //Cluster remaining stuff (obstacles)
                        if(otherStuffIndices->size())
                        {
                                std::vector<pcl::IndicesPtr> clusteredObstaclesSurfaces = util3d::extractClusters(
                                                cloud,
                                                otherStuffIndices,
                                                clusterRadius,
                                                minClusterSize);

                                // merge indices
                                obstacles = util3d::concatenate(clusteredObstaclesSurfaces);
                        }
                }
        }
}

template<typename PointT>
void segmentObstaclesFromGround(
                const typename pcl::PointCloud<PointT>::Ptr & cloud,
                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)
{
        pcl::IndicesPtr indices(new std::vector<int>);
        segmentObstaclesFromGround<PointT>(
                        cloud,
                        indices,
                        ground,
                        obstacles,
                        normalKSearch,
                        groundNormalAngle,
                        clusterRadius,
                        minClusterSize,
                        segmentFlatObstacles,
                        maxGroundHeight,
                        flatObstacles,
                        viewPoint);
}

template<typename PointT>
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)
{
        typename pcl::PointCloud<PointT>::Ptr groundCloud(new pcl::PointCloud<PointT>);
        typename pcl::PointCloud<PointT>::Ptr obstaclesCloud(new pcl::PointCloud<PointT>);

        if(groundIndices->size())
        {
                pcl::copyPointCloud(*cloud, *groundIndices, *groundCloud);
        }

        if(obstaclesIndices->size())
        {
                pcl::copyPointCloud(*cloud, *obstaclesIndices, *obstaclesCloud);
        }

        occupancy2DFromGroundObstacles<PointT>(
                        groundCloud,
                        obstaclesCloud,
                        ground,
                        obstacles,
                        cellSize);
}

template<typename PointT>
void occupancy2DFromGroundObstacles(
                const typename pcl::PointCloud<PointT>::Ptr & groundCloud,
                const typename pcl::PointCloud<PointT>::Ptr & obstaclesCloud,
                cv::Mat & ground,
                cv::Mat & obstacles,
                float cellSize)
{
        ground = cv::Mat();
        if(groundCloud->size())
        {
                //project on XY plane
                typename pcl::PointCloud<PointT>::Ptr groundCloudProjected;
                groundCloudProjected = util3d::projectCloudOnXYPlane(*groundCloud);
                //voxelize to grid cell size
                groundCloudProjected = util3d::voxelize(groundCloudProjected, cellSize);

                ground = cv::Mat((int)groundCloudProjected->size(), 1, CV_32FC2);
                for(unsigned int i=0;i<groundCloudProjected->size(); ++i)
                {
                        ground.at<cv::Vec2f>(i)[0] = groundCloudProjected->at(i).x;
                        ground.at<cv::Vec2f>(i)[1] = groundCloudProjected->at(i).y;
                }
        }

        obstacles = cv::Mat();
        if(obstaclesCloud->size())
        {
                //project on XY plane
                typename pcl::PointCloud<PointT>::Ptr obstaclesCloudProjected;
                obstaclesCloudProjected = util3d::projectCloudOnXYPlane(*obstaclesCloud);
                //voxelize to grid cell size
                obstaclesCloudProjected = util3d::voxelize(obstaclesCloudProjected, cellSize);

                obstacles = cv::Mat((int)obstaclesCloudProjected->size(), 1, CV_32FC2);
                for(unsigned int i=0;i<obstaclesCloudProjected->size(); ++i)
                {
                        obstacles.at<cv::Vec2f>(i)[0] = obstaclesCloudProjected->at(i).x;
                        obstacles.at<cv::Vec2f>(i)[1] = obstaclesCloudProjected->at(i).y;
                }
        }
}

template<typename PointT>
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)
{
        if(cloud->size() == 0)
        {
                return;
        }
        pcl::IndicesPtr groundIndices, obstaclesIndices;

        segmentObstaclesFromGround<PointT>(
                        cloud,
                        indices,
                        groundIndices,
                        obstaclesIndices,
                        20,
                        groundNormalAngle,
                        cellSize*2.0f,
                        minClusterSize,
                        segmentFlatObstacles,
                        maxGroundHeight);

        occupancy2DFromGroundObstacles<PointT>(
                        cloud,
                        groundIndices,
                        obstaclesIndices,
                        ground,
                        obstacles,
                        cellSize);
}

template<typename PointT>
void occupancy2DFromCloud3D(
                const typename pcl::PointCloud<PointT>::Ptr & cloud,
                cv::Mat & ground,
                cv::Mat & obstacles,
                float cellSize,
                float groundNormalAngle,
                int minClusterSize,
                bool segmentFlatObstacles,
                float maxGroundHeight)
{
        pcl::IndicesPtr indices(new std::vector<int>);
        occupancy2DFromCloud3D<PointT>(cloud, indices, ground, obstacles, cellSize, groundNormalAngle, minClusterSize, segmentFlatObstacles, maxGroundHeight);
}

}
}

#endif /* UTIL3D_MAPPING_HPP_ */