LocalMapMaker.hpp

/*
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
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
 
#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_filtering.h>
#include <rtabmap/core/util3d_transforms.h>
#include <rtabmap/utilite/ULogger.h>
 
namespace rtabmap {
 
template<typename PointT>
pcl::IndicesPtr LocalGridMaker::noiseFilteringWithMaxRange(
    const typename pcl::PointCloud<PointT>::Ptr & cloud,
    const pcl::IndicesPtr & indices,
    float maxRange,
    float radiusSearch,
    int minNeighborsInRadius)
{
  // util3d::radiusFiltering() would filter the whole cloud if the indices are empty
  UASSERT(indices.get() && !indices->empty());
  pcl::IndicesPtr closeIndices = indices;
  pcl::IndicesPtr farIndices;
  if(maxRange != 0.0f)
  {
    // Don't filter points farther than maximum range, in case we want to ray trace empty space
    util3d::rangeSplitFiltering(cloud, indices, maxRange, closeIndices, farIndices);
  }
  if(closeIndices->size())
  {
    // Note: radiusFiltering() would filter the whole cloud if indices are empty
    closeIndices = util3d::radiusFiltering(cloud, closeIndices, radiusSearch, minNeighborsInRadius);
  }
  if(farIndices.get())
  {
    closeIndices = util3d::concatenate(closeIndices, farIndices);
  }
  return closeIndices;
}
 
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>);
  }
 
  UASSERT(cloudIn.get());
  UASSERT(indicesIn.get());
  if(cloudIn->empty())
  {
    return cloudIn;
  }
 
  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;
    }
  }
 
  if(cloud->empty())
  {
    return cloud;
  }
 
  // 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())
      {
        groundIndices = noiseFilteringWithMaxRange<PointT>(cloud, groundIndices, rangeMax_, noiseFilteringRadius_, noiseFilteringMinNeighbors_);
      }
      if(obstaclesIndices->size())
      {
        obstaclesIndices = noiseFilteringWithMaxRange<PointT>(cloud, obstaclesIndices, rangeMax_, noiseFilteringRadius_, noiseFilteringMinNeighbors_);
      }
      if(flatObstacles && (*flatObstacles)->size())
      {
        *flatObstacles = noiseFilteringWithMaxRange<PointT>(cloud, *flatObstacles, rangeMax_, noiseFilteringRadius_, noiseFilteringMinNeighbors_);
      }
      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_ */