main.cpp

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#include <navigability_map/navigability_map.h>
#include "representation_rviz.h"
#include <pcl_conversions/pcl_conversions.h>

//GLOBAL VARIABLES
Navigability_Map *g_NavMap;
bool cloud_arrived=false;

ros::Publisher elevation_map_pub;
ros::Publisher normals_pub;
ros::Publisher accessibility_map_pub;
ros::Publisher polygon_pub;
ros::Publisher obstacle_pub;

pcl::PointCloud<pcl::PointXYZ>::Ptr pc_filter (new pcl::PointCloud<pcl::PointXYZ>);

tf::TransformListener *p_listener;

void pointcloud_cb (sensor_msgs::PointCloud2 pcmsg_in)
{
        visualization_msgs::MarkerArray grid_markers_elavationmap, accessibility_markers;
        visualization_msgs::Marker marker_normals;
        visualization_msgs::Marker marker_polygon;
        visualization_msgs::Marker marker_obstacle;
        
        //Cloud received
        pcl::PointCloud<pcl::PointXYZ> pc_in;
        pcl::fromROSMsg(pcmsg_in,pc_in);
    pcl::PCLPointCloud2 pcl_pc;
    pcl_conversions::toPCL(pcmsg_in, pcl_pc);
    pcl::fromPCLPointCloud2(pcl_pc, pc_in);
    
    
        pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_in (new pcl::PointCloud<pcl::PointXYZ>);
        *cloud_in=pc_in;
        
        //filter cloud
        g_NavMap->Filter_PointCloud(cloud_in,pc_filter);
        
        //Normal Estimation
        std::cout<<"Normal Estimation"<<std::endl;
        g_NavMap->Normal_Estimation(pc_filter);

        double max_Xval=g_NavMap->Xmax_filter;                                                                  //X max range value
        double max_Yval=max(abs(g_NavMap->Ymin_filter),g_NavMap->Ymax_filter);  //y max range value
 
        //seting the grid parameter
        g_NavMap->setGrid_parameter(max_Xval,max_Yval); 
        
        //inicialize grid
        g_NavMap->inicialize_grid();

        //seting grid data
        g_NavMap->setGrid_data(*pc_filter);

        //calc grid data
        g_NavMap->calcGrid_data();

        //fill empty cells
        g_NavMap->fill_data_cells();
        
        //calc Cells_accessibility
        g_NavMap->set_Cells_accessibility();
        
        //_______________
        //               |
        //   markers     |
        //_______________|
        
        //elevation map;
        grid_markers_elavationmap.markers=create_Markers_ElavationMap(*g_NavMap, pc_filter->header.frame_id );
        //normals
        marker_normals=create_Markers_Normals(*g_NavMap, pc_filter->header.frame_id);
        //accessibility
        accessibility_markers.markers=create_Markers_AccessibilityMap(*g_NavMap, pc_filter->header.frame_id);
        
//      publish
        elevation_map_pub.publish(grid_markers_elavationmap);
        normals_pub.publish(marker_normals);
        accessibility_map_pub.publish(accessibility_markers);
        
        
        //_______________
        //               |
        //  Ground truth |
        //_______________|
//              g_NavMap->polygon_groundtruth();
//              g_NavMap->getCell_inpolygon();
//              g_NavMap->dataCell_inpolygon();
//      
//              marker_polygon=create_Markers_Polygon(*g_NavMap, pc_filter->header.frame_id);
//              marker_obstacle=create_Markers_Obstacle(*g_NavMap, pc_filter->header.frame_id);
//              polygon_pub.publish(marker_polygon);
//              obstacle_pub.publish(marker_obstacle);  
        
                
        
        cloud_arrived=true;
}

int main(int argc, char **argv)
{
        ros::init(argc, argv, "navigability_map");
        ros::NodeHandle n("~");

        tf::TransformListener listener(n,ros::Duration(1000));
        p_listener=&listener;
        
//      Declare the class
        Navigability_Map navmap;
        g_NavMap=&navmap;
        
        double output_freq;
        
        //Seting Param
        n.param("output_frequency", output_freq, 200.0);
        n.param("PointCLoud_Xmin_filter",g_NavMap->Xmin_filter,0.0);
        n.param("PointCLoud_Xmax_filter",g_NavMap->Xmax_filter,22.5);
        n.param("PointCLoud_Ymax_filter",g_NavMap->Ymax_filter,22.5);
        n.param("PointCLoud_Ymin_filter",g_NavMap->Ymin_filter,-22.5);
        n.param("PointCLoud_Zmin_filter",g_NavMap->Zmin_filter,-15.0);
        n.param("PointCLoud_Zmax_filter",g_NavMap->Zmax_filter,2.0);
        n.param("Grid_Sx",g_NavMap->Sx,0.2);
        n.param("Grid_Sy",g_NavMap->Sy,0.2);
        n.param("Radius_neighbors",g_NavMap->Radius_neighbors,0.3);
        n.param("K_neighbors",g_NavMap->K_neighbors,10);
        n.param("Use_Radius_Search",g_NavMap->Use_Radius_Search,1);
        n.param("Zmax_heigh_difference",g_NavMap->Zmax_heigh_difference,0.1);
        n.param("angleX_max_difference",g_NavMap->angleX_max_difference,0.1);
        n.param("angleY_max_difference",g_NavMap->angleY_max_difference,0.1);
        n.param("angleZ_max_difference",g_NavMap->angleZ_max_difference,0.1);
        n.param("debug_accessibility",g_NavMap->debug_accessibility,1);
        n.param("default_confidence",g_NavMap->default_confidence,0.5);
        n.param("fator_confidence_neighbour_limit",g_NavMap->fator_confidence_neighbour_limit,1.5);
        n.param("Standard_Deviation_max_confidence",g_NavMap->Standard_Deviation_max,0.2);
        n.param("Standard_Deviation_anglex_max_confidence",g_NavMap->Standard_Deviation_anglex_max_confidence,0.2);
        n.param("Standard_Deviation_angley_max_confidence",g_NavMap->Standard_Deviation_angley_max_confidence,0.2);
        n.param("Standard_Deviation_anglez_max_confidence",g_NavMap->Standard_Deviation_anglez_max_confidence,0.2);

        //      declare the subsriber
        ros::Subscriber sub_phiversion = n.subscribe ("/pointcloud0", 1, pointcloud_cb);

//      declare advertiser
        //normals
        normals_pub = n.advertise<visualization_msgs::Marker>("/normals", 1);
        //pointcloud filter
        ros::Publisher pub = n.advertise<sensor_msgs::PointCloud2>("/pc_filter_navmap", 1);     
        //maps
        elevation_map_pub = n.advertise<visualization_msgs::MarkerArray>("/elevation_map", 1);
        accessibility_map_pub = n.advertise<visualization_msgs::MarkerArray>("/accessibility_map", 1);

        //ground truth
        polygon_pub = n.advertise<visualization_msgs::Marker>("/polygon", 1);
        obstacle_pub = n.advertise<visualization_msgs::Marker>("/obstacle", 1);

        ros::Rate loop_rate(output_freq);

        while (n.ok())
        {
                ros::spinOnce();

                if (cloud_arrived)
                {
                        sensor_msgs::PointCloud2 pcmsg_out;
                        pcl::toROSMsg(*pc_filter, pcmsg_out);
                        pcmsg_out.header.stamp = ros::Time::now();
                        //publish the pointcloud
                        pub.publish(pcmsg_out);
                        
                        cloud_arrived=false;
                }
                loop_rate.sleep();      
        }
}