OccupancyGrid.hpp

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/*
Copyright (c) 2010-2016, 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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      documentation and/or other materials provided with the distribution.
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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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#ifndef CORELIB_INCLUDE_RTABMAP_CORE_IMPL_OCCUPANCYGRID_HPP_
#define CORELIB_INCLUDE_RTABMAP_CORE_IMPL_OCCUPANCYGRID_HPP_

#include <rtabmap/core/util3d_mapping.h>
#include <rtabmap/core/util3d_transforms.h>
#include <rtabmap/utilite/ULogger.h>

namespace rtabmap {

template<typename PointT>
typename pcl::PointCloud<PointT>::Ptr OccupancyGrid::segmentCloud(
                const typename pcl::PointCloud<PointT>::Ptr & cloudIn,
                const pcl::IndicesPtr & indicesIn,
                const Transform & pose,
                const cv::Point3f & viewPoint,
                pcl::IndicesPtr & groundIndices,
                pcl::IndicesPtr & obstaclesIndices,
                pcl::IndicesPtr * flatObstacles) const
{
        groundIndices.reset(new std::vector<int>);
        obstaclesIndices.reset(new std::vector<int>);
        if(flatObstacles)
        {
                flatObstacles->reset(new std::vector<int>);
        }

        typename pcl::PointCloud<PointT>::Ptr cloud(new pcl::PointCloud<PointT>);
        pcl::IndicesPtr indices(new std::vector<int>);

        if(preVoxelFiltering_)
        {
                // voxelize to grid cell size
                cloud = util3d::voxelize(cloudIn, indicesIn, cellSize_);

                indices->resize(cloud->size());
                for(unsigned int i=0; i<indices->size(); ++i)
                {
                        indices->at(i) = i;
                }
        }
        else
        {
                cloud = cloudIn;
                if(indicesIn->empty() && cloud->is_dense)
                {
                        indices->resize(cloud->size());
                        for(unsigned int i=0; i<indices->size(); ++i)
                        {
                                indices->at(i) = i;
                        }
                }
                else
                {
                        indices = indicesIn;
                }
        }

        // add pose rotation without yaw
        float roll, pitch, yaw;
        pose.getEulerAngles(roll, pitch, yaw);
        UDEBUG("node.getPose()=%s projMapFrame_=%d", pose.prettyPrint().c_str(), projMapFrame_?1:0);
        cloud = util3d::transformPointCloud(cloud, Transform(0,0, projMapFrame_?pose.z():0, roll, pitch, 0));

        // filter footprint
        if(footprintLength_ > 0.0f || footprintWidth_ > 0.0f || footprintHeight_ > 0.0f)
        {
                indices = util3d::cropBox(
                                cloud,
                                indices,
                                Eigen::Vector4f(
                                                footprintLength_>0.0f?-footprintLength_/2.0f:std::numeric_limits<int>::min(),
                                                footprintWidth_>0.0f&&footprintLength_>0.0f?-footprintWidth_/2.0f:std::numeric_limits<int>::min(),
                                                0,
                                                1),
                                Eigen::Vector4f(
                                                footprintLength_>0.0f?footprintLength_/2.0f:std::numeric_limits<int>::max(),
                                                footprintWidth_>0.0f&&footprintLength_>0.0f?footprintWidth_/2.0f:std::numeric_limits<int>::max(),
                                                footprintHeight_>0.0f&&footprintLength_>0.0f&&footprintWidth_>0.0f?footprintHeight_:std::numeric_limits<int>::max(),
                                                1),
                                Transform::getIdentity(),
                                true);
        }

        // filter ground/obstacles zone
        if(minGroundHeight_ != 0.0f || maxObstacleHeight_ != 0.0f)
        {
                indices = util3d::passThrough(cloud, indices, "z",
                                minGroundHeight_!=0.0f?minGroundHeight_:std::numeric_limits<int>::min(),
                                maxObstacleHeight_>0.0f?maxObstacleHeight_:std::numeric_limits<int>::max());
                UDEBUG("indices after max obstacles height filtering = %d", (int)indices->size());
        }

        if(indices->size())
        {
                if(normalsSegmentation_ && !groundIsObstacle_)
                {
                        UDEBUG("normalKSearch=%d", normalKSearch_);
                        UDEBUG("maxGroundAngle=%f", maxGroundAngle_);
                        UDEBUG("Cluster radius=%f", clusterRadius_);
                        UDEBUG("flatObstaclesDetected=%d", flatObstaclesDetected_?1:0);
                        UDEBUG("maxGroundHeight=%f", maxGroundHeight_);
                        util3d::segmentObstaclesFromGround<PointT>(
                                        cloud,
                                        indices,
                                        groundIndices,
                                        obstaclesIndices,
                                        normalKSearch_,
                                        maxGroundAngle_,
                                        clusterRadius_,
                                        minClusterSize_,
                                        flatObstaclesDetected_,
                                        maxGroundHeight_,
                                        flatObstacles,
                                        Eigen::Vector4f(viewPoint.x, viewPoint.y, viewPoint.z+(projMapFrame_?pose.z():0), 1));
                        UDEBUG("viewPoint=%f,%f,%f", viewPoint.x, viewPoint.y, viewPoint.z+(projMapFrame_?pose.z():0));
                        //UWARN("Saving ground.pcd and obstacles.pcd");
                        //pcl::io::savePCDFile("ground.pcd", *cloud, *groundIndices);
                        //pcl::io::savePCDFile("obstacles.pcd", *cloud, *obstaclesIndices);
                }
                else
                {
                        UDEBUG("");
                        // passthrough filter
                        groundIndices = rtabmap::util3d::passThrough(cloud, indices, "z",
                                        minGroundHeight_!=0.0f?minGroundHeight_:std::numeric_limits<int>::min(),
                                        maxGroundHeight_!=0.0f?maxGroundHeight_:std::numeric_limits<int>::max());

                        pcl::IndicesPtr notObstacles = groundIndices;
                        if(indices->size())
                        {
                                notObstacles = util3d::extractIndices(cloud, indices, true);
                                notObstacles = util3d::concatenate(notObstacles, groundIndices);
                        }
                        obstaclesIndices = rtabmap::util3d::extractIndices(cloud, notObstacles, true);
                }

                UDEBUG("groundIndices=%d obstaclesIndices=%d", (int)groundIndices->size(), (int)obstaclesIndices->size());

                // Do radius filtering after voxel filtering ( a lot faster)
                if(noiseFilteringRadius_ > 0.0 && noiseFilteringMinNeighbors_ > 0)
                {
                        UDEBUG("");
                        if(groundIndices->size())
                        {
                                groundIndices = rtabmap::util3d::radiusFiltering(cloud, groundIndices, noiseFilteringRadius_, noiseFilteringMinNeighbors_);
                        }
                        if(obstaclesIndices->size())
                        {
                                obstaclesIndices = rtabmap::util3d::radiusFiltering(cloud, obstaclesIndices, noiseFilteringRadius_, noiseFilteringMinNeighbors_);
                        }
                        if(flatObstacles && (*flatObstacles)->size())
                        {
                                *flatObstacles = rtabmap::util3d::radiusFiltering(cloud, *flatObstacles, noiseFilteringRadius_, noiseFilteringMinNeighbors_);
                        }

                        if(groundIndices->empty() && obstaclesIndices->empty())
                        {
                                UWARN("Cloud (with %d points) is empty after noise "
                                                "filtering. Occupancy grid cannot be "
                                                "created.",
                                                (int)cloud->size());

                        }
                }
        }
        return cloud;
}

}


#endif /* CORELIB_INCLUDE_RTABMAP_CORE_IMPL_OCCUPANCYGRID_HPP_ */