planar_pc_generator.cpp

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#include <stdio.h>
#include <ros/ros.h>
#include <laser_geometry/laser_geometry.h>
#include <sensor_msgs/LaserScan.h>
#include <sensor_msgs/PointCloud2.h>
#include <tf/transform_listener.h>
#include <pcl_ros/transforms.h>
#include <pcl/conversions.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/segmentation/extract_polygonal_prism_data.h>
#include <pcl/filters/extract_indices.h>
#include <pcl/filters/project_inliers.h>
#include <pcl_conversions/pcl_conversions.h>

#define PFLN printf("file %s line %d\n",__FILE__,__LINE__);

#define _USE_DEBUG_ 0
//Global variables
ros::NodeHandle* p_n;
tf::TransformListener *p_listener;
bool process_laser_scan[5]={false,false,false,false,false};
bool process_point_cloud[5]={false,false,false,false,false};
pcl::PointCloud<pcl::PointXYZ> pc_accumulated;
pcl::PointCloud<pcl::PointXYZ> convex_hull;
double perpendicular_treshold = 0.2;
double output_freq;

void filter_cloud(pcl::PointCloud<pcl::PointXYZ>* pc_in, std::string pc_frame_id)
{
        pcl::PointCloud<pcl::PointXYZ> pc_transformed;
        pcl::PointCloud<pcl::PointXYZ> pc_filtered;
        pcl::PointCloud<pcl::PointXYZ> pc_projected;
        tf::StampedTransform transform;

        //p_listener->waitForTransform(pcmsg_in.header.frame_id, ros::names::remap("/tracking_frame"),ros::Time::now(), ros::Duration(0.2));
        try
        {
                p_listener->lookupTransform(pc_frame_id, ros::names::remap("/tracking_frame"), ros::Time(0), transform);
                //p_listener->lookupTransform(pcmsg_in.header.frame_id, ros::names::remap("/tracking_frame"), scan_in->header.stamp, transform);
        }
        catch (tf::TransformException ex)
        {
                ROS_ERROR("%s",ex.what());
        }


        pcl_ros::transformPointCloud(*pc_in,pc_transformed,transform.inverse());
        pc_transformed.header.frame_id = ros::names::remap("/tracking_frame");
        //pc_transformed.header.stamp = scan_in->header.stamp; 

        pcl::ExtractPolygonalPrismData<pcl::PointXYZ> epp; 
        pcl::PointCloud<pcl::PointXYZ>::ConstPtr input_cloud_constptr; 
        input_cloud_constptr.reset (new pcl::PointCloud<pcl::PointXYZ> (pc_transformed));
        pcl::PointCloud<pcl::PointXYZ>::ConstPtr convex_hull_constptr;
        convex_hull_constptr.reset (new pcl::PointCloud<pcl::PointXYZ> (convex_hull));

        //pcl::PointIndices::Ptr ind =  pcl::PointIndices::Ptr(new pcl::PointIndices);
        pcl::ExtractIndices<pcl::PointXYZ> extract; //Create the extraction object
        pcl::PointIndices::Ptr indices;
        indices.reset();
        indices = pcl::PointIndices::Ptr(new pcl::PointIndices); 

        //Set epp parameters
        epp.setInputCloud(input_cloud_constptr);
        epp.setInputPlanarHull(convex_hull_constptr);
        epp.setHeightLimits(-perpendicular_treshold, perpendicular_treshold); 
        epp.setViewPoint(0,0,0); //i dont think this serves any purpose in the case of epp
        epp.segment(*indices);

        extract.setInputCloud(pc_transformed.makeShared());
        extract.setIndices(indices);
        extract.setNegative(false);
        extract.filter(pc_filtered);

        pcl::ProjectInliers<pcl::PointXYZ> projection;
        projection.setModelType(pcl::SACMODEL_PLANE); //set model type
        pcl::ModelCoefficients::Ptr coeff(new pcl::ModelCoefficients);
        coeff->values.resize(4);
        coeff->values[0] = 0;
        coeff->values[1] = 0;
        coeff->values[2] = 1;
        coeff->values[3] = 0;

        projection.setInputCloud(pc_filtered.makeShared());
        projection.setModelCoefficients(coeff);
        projection.filter(pc_projected);

        coeff.reset();
        input_cloud_constptr.reset();
        convex_hull_constptr.reset();
        indices.reset();

        pc_accumulated += pc_projected;

#if _USE_DEBUG_
        ROS_INFO("pc_transformed has %d points", (int)pc_transformed.size());
        ROS_INFO("pc_filtered has %d points", (int)pc_filtered.size());
        ROS_INFO("pc_accumulated now has %d points", (int)pc_accumulated.size());
#endif
}

void cloud_cb (const sensor_msgs::PointCloud2ConstPtr & pcmsg_in)
{

#if _USE_DEBUG_
        ROS_INFO("Received point cloud");
#endif
        pcl::PointCloud<pcl::PointXYZ> pc_in;
    pcl::PCLPointCloud2 pcl_pc;
    pcl_conversions::toPCL(*pcmsg_in, pcl_pc);
    
        pcl::fromROSMsg(*pcmsg_in,pc_in);
        filter_cloud(&pc_in, pcmsg_in->header.frame_id);
}

void scan_cb (const sensor_msgs::LaserScan::ConstPtr& scan_in)
{
#if _USE_DEBUG_
        ROS_INFO("Received laser scan");
#endif

        ROS_INFO("asdasd");
        laser_geometry::LaserProjection projector;
        sensor_msgs::PointCloud2 pcmsg_in;

        projector.transformLaserScanToPointCloud(scan_in->header.frame_id, *scan_in,pcmsg_in,*p_listener);   // não é necessário
        pcmsg_in.header.stamp=ros::Time();
        pcmsg_in.header.frame_id=scan_in->header.frame_id;

        pcl::PointCloud<pcl::PointXYZ> pc_in;
        pcl::fromROSMsg(pcmsg_in,pc_in);
        filter_cloud(&pc_in, scan_in->header.frame_id);
}



int main(int argc, char **argv)
{

        ros::init(argc, argv, "planar_pc_generator_node");
        ros::NodeHandle n("~");
        tf::TransformListener listener(n,ros::Duration(10));
        p_listener=&listener;
        p_n=&n;
        n.param("output_frequency", output_freq, 30.0);
        n.param("perpendicular_treshold", perpendicular_treshold, 0.1);

        //Test the remapping of /tracking_frame
        if (ros::names::remap("/tracking_frame")=="/tracking_frame")
        {
                ROS_ERROR("/tracking_frame was not remapped. Aborting program.");       
                ros::shutdown();
        }
        pc_accumulated.header.frame_id = ros::names::remap("/tracking_frame");

        //Test the remapping of the /laserscan s
        for (int i=0; i<5; i++)
        {       
                char str[1024];
                sprintf(str,"/laserscan%d", i);
                if (ros::names::remap(str)!=str)
                {
                        process_laser_scan[i] = true;
                }
        }

        //Test the remapping of the /pointcloud s
        for (int i=0; i<5; i++)
        {       
                char str[1024];
                sprintf(str,"/pointcloud%d", i);
                if (ros::names::remap(str)!=str)
                {
                        process_point_cloud[i] = true;
                }
        }

        std::vector<ros::Subscriber> sub;

        //Creates ROS subscribers if the laserscan topics where remapped
        for (int i=0; i<5; i++)
        {
                if (process_laser_scan[i]==true)
                {
                        char str[1024];
                        sprintf(str,"/laserscan%d", i);
                        ros::Subscriber sub_ = n.subscribe (str, 1, scan_cb);
                        ROS_INFO("Subscribing to %s", (ros::names::remap(str)).c_str());
                        sub.push_back(sub_);
                }
        }

        //Creates ROS subscribers if the pointcloud topics where remapped
        for (int i=0; i<5; i++)
        {
                if (process_point_cloud[i]==true)
                {
                        char str[1024];
                        sprintf(str,"/pointcloud%d", i);
                        ros::Subscriber sub_ = n.subscribe (str, 1, cloud_cb);
                        ROS_INFO("Subscribing to %s", (ros::names::remap(str)).c_str());
                        sub.push_back(sub_);
                }
        }

        if (sub.size()==0)
        {
                ROS_ERROR("No /laserscan[0 4] or /pointcloud[0 4] where remapped. Aborting...");
                ros::shutdown();
        }

        //declare the publisher
        ros::Publisher pub = n.advertise<sensor_msgs::PointCloud2>("/pc_out", 1);

        //compute the convex hull to use in extract polygonal prism data
        //Its just a very large square (500m*2 of side) around the /tracking_frame origin
        convex_hull.header.frame_id = ros::names::remap("/tracking_frame");
        pcl::PointXYZ pt;
        pt.x = -500; pt.y=-500; pt.z=0;
        convex_hull.points.push_back(pt);

        pt.x = 500; pt.y=-500; pt.z=0;
        convex_hull.points.push_back(pt);

        pt.x = 500; pt.y= 500; pt.z=0;
        convex_hull.points.push_back(pt);

        pt.x = -500; pt.y=500; pt.z=0;
        convex_hull.points.push_back(pt);

        //ros::Snooze snooze(Duration(0,20000000); // 20ms snooze
        //snooze.initialise(); 

        //cloud_pub.publish(pcmsg_out);

        ros::Rate loop_rate(output_freq);
        while (n.ok())
        {

                //ros::spinOnce();
                //ros::Duration(0.05).sleep();

                ros::spinOnce();

                if (pc_accumulated.points.size()!=0)
                {
                        sensor_msgs::PointCloud2 pcmsg_out;
                        pcl::toROSMsg(pc_accumulated, pcmsg_out);
                        pcmsg_out.header.stamp = ros::Time::now();
#if _USE_DEBUG_
                        ROS_INFO("Publishing pc_accumulated with %d points", (int)pc_accumulated.size());
#endif
                        pub.publish(pcmsg_out);
                        pc_accumulated.erase(pc_accumulated.begin(), pc_accumulated.end());
                }

                loop_rate.sleep();      
        }
}