LocalMapMaker.hpp

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/*
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
 
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      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.
 
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*/
 
#ifndef CORELIB_INCLUDE_RTABMAP_CORE_IMPL_LOCALMAP_HPP_
#define CORELIB_INCLUDE_RTABMAP_CORE_IMPL_LOCALMAP_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 LocalGridMaker::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_);
                        UDEBUG("groundNormalsUp=%f", groundNormalsUp_);
                        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),
                                        groundNormalsUp_);
                        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("Radius filtering (%ld ground %ld obstacles, radius=%f k=%d)",
                                        groundIndices->size(),
                                        obstaclesIndices->size()+(flatObstacles?(*flatObstacles)->size():0),
                                        noiseFilteringRadius_,
                                        noiseFilteringMinNeighbors_);
                        if(groundIndices->size())
                        {
                                pcl::IndicesPtr farIndices;
                                if(rangeMax_!=0)
                                {
                                        // Don't filter points farther than maximum range, in case we want to ray trace empty space
                                        pcl::IndicesPtr closeIndices;
                                        rtabmap::util3d::rangeSplitFiltering(cloud, groundIndices, rangeMax_, closeIndices, farIndices);
                                        groundIndices = closeIndices;
                                }
                                groundIndices = rtabmap::util3d::radiusFiltering(cloud, groundIndices, noiseFilteringRadius_, noiseFilteringMinNeighbors_);
                                if(farIndices.get())
                                {
                                        groundIndices = rtabmap::util3d::concatenate(groundIndices, farIndices);
                                }
                        }
                        if(obstaclesIndices->size())
                        {
                                pcl::IndicesPtr farIndices;
                                if(rangeMax_!=0)
                                {
                                        // Don't filter points farther than maximum range, in case we want to ray trace empty space
                                        pcl::IndicesPtr closeIndices;
                                        rtabmap::util3d::rangeSplitFiltering(cloud, obstaclesIndices, rangeMax_, closeIndices, farIndices);
                                        obstaclesIndices = closeIndices;
                                }
                                obstaclesIndices = rtabmap::util3d::radiusFiltering(cloud, obstaclesIndices, noiseFilteringRadius_, noiseFilteringMinNeighbors_);
                                if(farIndices.get())
                                {
                                        obstaclesIndices = rtabmap::util3d::concatenate(obstaclesIndices, farIndices);
                                }
                        }
                        if(flatObstacles && (*flatObstacles)->size())
                        {
                                pcl::IndicesPtr farIndices;
                                if(rangeMax_!=0)
                                {
                                        // Don't filter points farther than maximum range, in case we want to ray trace empty space
                                        pcl::IndicesPtr closeIndices;
                                        rtabmap::util3d::rangeSplitFiltering(cloud, *flatObstacles, rangeMax_, closeIndices, farIndices);
                                        *flatObstacles = closeIndices;
                                }
                                *flatObstacles = rtabmap::util3d::radiusFiltering(cloud, *flatObstacles, noiseFilteringRadius_, noiseFilteringMinNeighbors_);
                                if(farIndices.get())
                                {
                                        *flatObstacles = rtabmap::util3d::concatenate(*flatObstacles, farIndices);
                                }
                        }
                        UDEBUG("Radius filtering end (%ld ground %ld obstacles)",
                                        groundIndices->size(),
                                        obstaclesIndices->size()+(flatObstacles?(*flatObstacles)->size():0));
 
                        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_LOCALMAP_HPP_ */