mtt.cpp

Go to the documentation of this file.

/**************************************************************************************************
 Software License Agreement (BSD License)

 Copyright (c) 2011-2013, LAR toolkit developers - University of Aveiro - http://lars.mec.ua.pt
 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 fomr 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 University of Aveiro 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 DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
 DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
 DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER
 IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
 OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
***************************************************************************************************/
#include <mtt/mtt.h>

bool new_data=false;
sensor_msgs::PointCloud2 pointData;

void PointsHandler(const sensor_msgs::PointCloud2& msg)
{
        pointData=msg;
        new_data=true;
}

void PointCloud2ToData(sensor_msgs::PointCloud2& cloud,t_data& data)//this function will convert the point cloud data into a laser scan type structure
{
    pcl::PointCloud<pcl::PointXYZ> PclCloud;
    pcl::PCLPointCloud2 pcl_pc;
    pcl_conversions::toPCL(cloud, pcl_pc);
    pcl::fromPCLPointCloud2(pcl_pc, PclCloud);
    
        
        double theta;
        map<double,pair<uint,double> > grid;
        map<double,pair<uint,double> >::iterator it;
        
        double spacing = 1.*M_PI/180.;
        
        double rightBorder;
        double leftBorder;
        
        double r;
        
        cout<<"mtt Input size:"<<PclCloud.points.size()<<endl;
        //get points into grid to reorder them
        for(uint i=0;i<PclCloud.points.size();i++)
        {
                theta=atan2(PclCloud.points[i].y,PclCloud.points[i].x);
                r=sqrt(pow(PclCloud.points[i].x,2)+pow(PclCloud.points[i].y,2));
                
                //get closest theta, given a predefined precision
                rightBorder = spacing * ceil(theta/spacing);
                leftBorder = rightBorder - spacing;

                if(fabs(rightBorder-theta)<fabs(leftBorder-theta))
                        theta=rightBorder;
                else
                        theta=leftBorder;
                
                if(grid.find(theta)!=grid.end())
                {
                        if(r<grid[theta].second)//using closest measurement
                        {
                                grid[theta].first=i;
                                grid[theta].second=r;
                        }
                }else
                {
                        grid[theta].first=i;
                        grid[theta].second=r;
                }
        }
        
        uint i=0;
        for(it=grid.begin();it!=grid.end();it++)
        {
                //the map auto orders the theta values
                data.x[i]=PclCloud.points[(*it).second.first].x;
                data.y[i]=PclCloud.points[(*it).second.first].y;
                data.r[i]=sqrt(pow(data.x[i],2)+pow(data.y[i],2));
                data.t[i]=atan2(data.y[i],data.x[i]);
                
                i++;
        }
        
        data.n_points=grid.size();
        cout<<"mtt Size of data:"<<data.n_points<<endl;
}




void CreateMarkers(vector<visualization_msgs::Marker>& marker_vector,mtt::TargetListPC& target_msg,vector<t_listPtr>& list)
{
        static map<pair<string,int>, pair<visualization_msgs::Marker,int> > marker_map;
        map<pair<string,int>, pair<visualization_msgs::Marker,int> >::iterator it;
        
        
        //limpar o vector todo
        marker_vector.clear();
        //colocar todos os elementos em processo de elemincação
        for(it=marker_map.begin();it!=marker_map.end();it++)
                it->second.second--;
        
        
        std_msgs::ColorRGBA color;
        class_colormap colormap("hsv",10, 1, false);
        
        visualization_msgs::Marker marker;
        
        marker.header.frame_id = target_msg.header.frame_id;
        cout<<"fid:"<<target_msg.header.frame_id<<endl;

        marker.header.stamp = ros::Time::now();
        marker.ns = "ids";
        marker.action = visualization_msgs::Marker::ADD;
        
        marker.pose.position.z=0.3;
        
        marker.type = visualization_msgs::Marker::TEXT_VIEW_FACING;
        
        marker.scale.x = 0.2; 
        marker.scale.y = 0.2; 
        marker.scale.z = 0.2; 

        marker.color.r=0;
        marker.color.g=0;
        marker.color.b=0;
        marker.color.a=1;
        
        marker.id=0;
        
        for(uint i=0;i<list.size();i++)
        {
                if(list[i]->shape.lines.size()!=0)
                {
                        marker.pose.position.x=list[i]->position.estimated_x;
                        marker.pose.position.y=list[i]->position.estimated_y;
                        
                        marker.text = boost::lexical_cast<string>(list[i]->id);
                
                        marker.id++;
                        
                        marker_map[make_pair(marker.ns,marker.id) ] = make_pair(marker,1);//isto substitui ou cria o novo marker no map
                }
        }
        
                        marker.pose.position.x=0;
                        marker.pose.position.y=0;
                        
                        marker.text = "origin";
                
                        marker.id++;
                        
                        marker_map[make_pair(marker.ns,marker.id) ] = make_pair(marker,1);//isto substitui ou cria o novo marker no map
                        
        
        // Markers for Line objects 
        marker.type = visualization_msgs::Marker::LINE_STRIP;
        marker.ns = "objects";
        
        marker.pose.position.x=0;
        marker.pose.position.y=0;
        marker.pose.position.z=0;
        
        marker.scale.x = 0.02; 
        marker.scale.y = 0.1; 
        marker.scale.z = 0.1; 
        
        for(uint i=0;i<list.size();i++)
        {
                marker.color = colormap.color(list[i]->id);

                geometry_msgs::Point p;
                p.z = 0.1;
        
                marker.points.clear();
        
                uint l;
                for(l=0;l<list[i]->shape.lines.size();l++)
                {
                        p.x = list[i]->shape.lines[l]->xi;
                        p.y = list[i]->shape.lines[l]->yi;
                        
                        marker.points.push_back(p);
                }
        
                p.x = list[i]->shape.lines[l-1]->xf;
                p.y = list[i]->shape.lines[l-1]->yf;
                
                marker.points.push_back(p);
                
                marker.id++;
                
                marker_map[make_pair(marker.ns,marker.id) ] = make_pair(marker,1);//isto substitui ou cria o novo marker no map
        }
        
        
        //para o map todo envio tudo, e meto tudo a false
        //envio todo e tudo o que ainda estiver a false vai com operaração de delete
        for(it=marker_map.begin();it!=marker_map.end();it++)
        {
                if( it->second.second==0 )//se for falso é para apagar
                        it->second.first.action = visualization_msgs::Marker::DELETE;
                else if(it->second.second<=-1)//já foi apagado
                {
                        continue;
                }
                
                marker_vector.push_back(it->second.first);
        }
}

int main(int argc,char**argv)
{
        mtt::TargetListPC targetList;
        
        t_config        config; 
        t_data          full_data;
        t_flag          flags;
        
        vector<t_clustersPtr> clusters;
        vector<t_objectPtr> object;
        vector<t_listPtr> list;
        
        visualization_msgs::MarkerArray markersMsg;
        
        // Initialize ROS
        init(argc,argv,"mtt");
        
        NodeHandle nh("~");
        
        Subscriber subs_points = nh.subscribe("/points", 1000, PointsHandler);
        Publisher target_publisher = nh.advertise<mtt::TargetList>("/targets", 1000);
        Publisher markers_publisher= nh.advertise<visualization_msgs::MarkerArray>("/markers", 1000);
        Publisher marker_publisher= nh.advertise<visualization_msgs::Marker>("/marker", 1000);
        
        init_flags(&flags);             //Inits flags values
        init_config(&config);   //Inits configuration values
        
        cout<<"Start to spin"<<endl;
        Rate r(100);
        while(ok())
        {
                spinOnce();
                r.sleep();
                
                if(!new_data)
                        continue;
                new_data=false;
                
                //Get data from PointCloud2 to full_data
                PointCloud2ToData(pointData,full_data);
                
                //clustering            
                clustering(full_data,clusters,&config,&flags);
                
                //calc_cluster_props
                calc_cluster_props(clusters,full_data);
                
                //clusters2objects              
                clusters2objects(object,clusters,full_data,config);
                
                calc_object_props(object);
                
                //AssociateObjects
                AssociateObjects(list,object,config,flags);
                
                //MotionModelsIteration
                MotionModelsIteration(list,config);

//              cout<<"Number of targets "<<list.size()<<endl;
                
                clean_objets(object);//clean current objects
                
                targetList.id.clear();
                targetList.obstacle_lines.clear();//clear all lines
                
                pcl::PointCloud<pcl::PointXYZ> target_positions;
                pcl::PointCloud<pcl::PointXYZ> velocity;
                        
                target_positions.header.frame_id = pointData.header.frame_id;
                
                velocity.header.frame_id = pointData.header.frame_id;
                
        targetList.header.stamp = ros::Time::now();
                targetList.header.frame_id = pointData.header.frame_id;
                
                
                for(uint i=0;i<list.size();i++)
                {
                        targetList.id.push_back(list[i]->id);
                  
                        pcl::PointXYZ position;
                        
                        position.x = list[i]->position.estimated_x;
                        position.y = list[i]->position.estimated_y;
                        position.z = 0;
                        
                        target_positions.points.push_back(position);
                        
                        pcl::PointXYZ vel;
                        
                        vel.x=list[i]->velocity.velocity_x;
                        vel.y=list[i]->velocity.velocity_y;
                        vel.z=0;
                        
                        velocity.points.push_back(vel);
                        
                        pcl::PointCloud<pcl::PointXYZ> shape;
                        pcl::PointXYZ line_point;
                        
                        uint j;
                        for(j=0;j<list[i]->shape.lines.size();j++)
                        {
                                line_point.x=list[i]->shape.lines[j]->xi;
                                line_point.y=list[i]->shape.lines[j]->yi;
                                
                                shape.points.push_back(line_point);
                        }
                        
                        line_point.x=list[i]->shape.lines[j-1]->xf;
                        line_point.y=list[i]->shape.lines[j-1]->yf;
                        
                        sensor_msgs::PointCloud2 shape_cloud;
                        pcl::toROSMsg(shape,shape_cloud);
                        targetList.obstacle_lines.push_back(shape_cloud);
                }
                
                pcl::toROSMsg(target_positions, targetList.position);
                pcl::toROSMsg(velocity, targetList.velocity);
                        
                target_publisher.publish(targetList);
                
                CreateMarkers(markersMsg.markers,targetList,list);
                //markersMsg.header.frame_id=targetList.header.frame_id;

                markers_publisher.publish(markersMsg);
                
                flags.fi=false;
        }
        
        return 0;
}