simple_planar_pc_generator_atlasmv.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 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 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 <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>

ros::NodeHandle* p_n;
tf::TransformListener *p_listener;
pcl::PointCloud<pcl::PointXYZ> pc_accumulated;
pcl::PointCloud<pcl::PointXYZ> convex_hull;
double perpendicular_treshold = 0.2;
double output_freq;

bool laserscan_0_arrived=false;

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->waitForTransform(pc_frame_id, ros::names::remap("/tracking_frame"),ros::Time::now(), ros::Duration(0.2));
                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;
    pc_accumulated += pc_transformed;

// #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 scan_0_cb (const sensor_msgs::LaserScan::ConstPtr& scan_in)
{
        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::PCLPointCloud2 pcl_pc;
    pcl_conversions::toPCL(pcmsg_in, pcl_pc);
    pcl::fromPCLPointCloud2(pcl_pc, pc_in);
    
    pcl::fromROSMsg(pcmsg_in,pc_in);
    
        filter_cloud(&pc_in, scan_in->header.frame_id);
        
        laserscan_0_arrived=true;
}

int main(int argc, char **argv)
{
        ros::init(argc, argv, "simple_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, 200.0);
        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");

        ros::Subscriber sub_0 = n.subscribe ("/laserscan0", 1, scan_0_cb);
        
        //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::Rate loop_rate(output_freq);
        
        while (n.ok())
        {
                ros::spinOnce();

                if (laserscan_0_arrived)
                {
                        laserscan_0_arrived=false;
                        
                        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();      
        }
}