plane_model_road_segmentation_implementation.hpp

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#ifndef _PLANE_MODEL_ROAD_SEGMENTATION_HPP_
#define _PLANE_MODEL_ROAD_SEGMENTATION_HPP_

          // PUBLIC MEMBER FUNCTIONS

template <class T> 
tf::Transform plane_model_road<T>::get_transform(T origin_projected, T pt_x_projected, T pt_y_projected)
{
  tf::Transform transform2;
  tf::Quaternion quaternion;
  transform2.setOrigin( tf::Vector3((float)origin_projected.x, (float)origin_projected.y, (float)origin_projected.z) );
  
  // Calculate RP angles  (R and P only)
  
  vector<double> RP=find_RP_angle(origin_projected, pt_x_projected, pt_y_projected);
  
  if (debug)
  {
    cout << "PMS_DEBUG: R= " << RP[0]<< " P= " << RP[1]<< " Y= "<< RP[3] << endl;
  }
  
  quaternion.setRPY(RP[0]-(pi/2),RP[1]-(pi/2),0.0); // Y does not matter
  transform2.setRotation(quaternion);  
  return transform2;
}

template<class T>
bool plane_model_road<T>::find_road_frame(pcl::PointCloud<T> cloud_in)
{
  // STEP 1 create the model coeeficients
  pcl::ModelCoefficients::Ptr coefficients (new pcl::ModelCoefficients ());
  plane_model_road::outliers=plane_model_road::get_plane_coefficients(cloud_in, plane_model_road::iterations, plane_model_road::threshold ,coefficients);
  
  plane_model_road::coef=coefficients;
  
  //STEP 2 project origin to plane, point in x and another in y
  T  origin_projected=plane_model_road::project_point_to_plane(plane_model_road::point_origin, coefficients);
  T  pt_x_projected=plane_model_road::project_point_to_plane(plane_model_road::point_x, coefficients);
  T  pt_y_projected=plane_model_road::project_point_to_plane(plane_model_road::point_y, coefficients);
  
  plane_model_road::origin_projected=origin_projected;
  plane_model_road::pt_x_projected=pt_x_projected;
  plane_model_road::pt_y_projected=pt_y_projected;
  
  // STEP 3 Find the difference between the cloud frame_id to ground
  T point2 = plane_model_road::transform_pcl_point(cloud_in.header.frame_id,plane_model_road::reference_ground_frame,plane_model_road::point_origin);
  
  //STEP 4 Calculate the difference  z axis
  double distance=point2.z-origin_projected.z;
  distance=abs(distance); 
  if (debug)
    cout << "PMS_DEBUG: Distance to reference frame "<< distance << endl;
  
  bool succeed=plane_model_road::check_distance(distance,threshold);
  return succeed;
}

template<class T>
bool plane_model_road<T>::find_road_frame(const sensor_msgs::PointCloud2ConstPtr& msg)
{
  pcl::PointCloud<T> cloud_in;
//   pcl::fromROSMsg(*msg,cloud_in);
  pcl::PCLPointCloud2 pcl_pc;
  pcl_conversions::toPCL(*msg, pcl_pc);
  pcl::fromPCLPointCloud2(pcl_pc, cloud_in);
    
  return plane_model_road::find_road_frame(cloud_in);
};

template<class T>
tf::Transform plane_model_road<T>::find_and_publish_road_frame(pcl::PointCloud<T> cloud_in)
{
  plane_model_road::outliers=cloud_in;
  bool succeed=plane_model_road::find_road_frame(plane_model_road::outliers);
  static tf::Transform transform;
  transform=plane_model_road::get_transform(plane_model_road::origin_projected, plane_model_road::pt_x_projected, plane_model_road::pt_y_projected);
  if (succeed)
  {
    plane_model_road::broadcast_ptr->sendTransform(tf::StampedTransform(transform, ros::Time::now(),cloud_in.header.frame_id, plane_model_road::pub_frame_name));
  }
  return transform;
};

template<class T>
tf::Transform plane_model_road<T>::find_and_publish_road_frame(const sensor_msgs::PointCloud2ConstPtr& msg)
{
  pcl::PointCloud<T> cloud_in;
  pcl::fromROSMsg(*msg,cloud_in);
  return plane_model_road::find_and_publish_road_frame(cloud_in);
};

template<class T>
pcl::PointCloud<T> plane_model_road<T>::get_plane_coefficients(pcl::PointCloud<T> cloud_in, int iterations, float threshold, pcl::ModelCoefficients::Ptr coefficients)
{
  typename pcl::PointCloud<T>::Ptr cloud_in_ptr  (new pcl::PointCloud<T>  (cloud_in));
  pcl::PointCloud<T> cloud_out;
  //   pcl::ModelCoefficients::Ptr coefficients_ptr (new pcl::ModelCoefficients (coefficients));
  pcl::PointIndices::Ptr inliers (new pcl::PointIndices ());
  
  // Create the segmentation object
  pcl::SACSegmentation<T> seg;
  pcl::ExtractIndices<T> extract;
  // Optional
  seg.setOptimizeCoefficients (true);
  // Mandatory
  seg.setModelType (pcl::SACMODEL_PLANE);
  seg.setMethodType (pcl::SAC_RANSAC);
  seg.setMaxIterations (iterations);
  seg.setDistanceThreshold (threshold);
  seg.setInputCloud (cloud_in_ptr);
  seg.segment (*inliers, *coefficients);
  extract.setInputCloud (cloud_in_ptr);
  extract.setIndices (inliers);
  extract.setNegative (true);
  extract.filter (cloud_out);
  
  cloud_in_ptr.reset();
  inliers.reset();
  return cloud_out;
};

        // PRIVATE CLASS FUNCTIONS


template<class T>
T plane_model_road<T>::project_point_to_plane(const T ptin, const pcl::ModelCoefficients::Ptr coeff)
{
  pcl::PointCloud<T> pcin;
  pcin.points.push_back(ptin);
  
  typename pcl::PointCloud<T>::Ptr pcin_ptr  (new pcl::PointCloud<T> (pcin) );
  //     pcin_ptr=&pcin;
  
  pcl::PointCloud<T> pcout;
  //Create the projection object
  pcl::ProjectInliers<T> projection;
  projection.setModelType(pcl::SACMODEL_PLANE); //set model type
  projection.setInputCloud(pcin_ptr);
  projection.setModelCoefficients(coeff);
  projection.filter(pcout);
  T ptout = pcout.points[0];
  return ptout;
};

template<class T>
T plane_model_road<T>::transform_pcl_point(std::string frame1, std::string frame2, T pt_origin)
{
  tf::StampedTransform transform_ground;
  try
  {
    plane_model_road::listener_atc_ground_ptr->lookupTransform(frame1, frame2, ros::Time(0), transform_ground);
  }
  catch (tf::TransformException ex)
  { 
    ROS_ERROR("%s",ex.what());
  }
  
  pcl::PointCloud<T> pc_point;   // A point cloud with a single point
  pc_point.points.push_back(pt_origin);
  pcl_ros::transformPointCloud (pc_point,pc_point,transform_ground);
  return pc_point.points[0];
};

template<class T>
vector<double> plane_model_road<T>::find_RP_angle(T origin_projected, T pt_x_projected, T pt_y_projected)
{
  double R,P;
  
  // Vector definition
  
  vector<double> vect_x;
  vect_x.push_back(pt_x_projected.x-origin_projected.x);
  vect_x.push_back(pt_x_projected.y-origin_projected.y);
  vect_x.push_back(pt_x_projected.z-origin_projected.z);
  
  vector<double> vect_y;
  vect_y.push_back(pt_y_projected.x-origin_projected.x);
  vect_y.push_back(pt_y_projected.y-origin_projected.y);
  vect_y.push_back(pt_y_projected.z-origin_projected.z);
  
  vector<double> vect_z;
  vect_z.push_back(0);  vect_z.push_back(0);  vect_z.push_back(1);
  
  double norm_x=sqrt(pow(vect_x[0],2)+pow(vect_x[1],2)+pow(vect_x[2],2));
  double norm_y=sqrt(pow(vect_y[0],2)+pow(vect_y[1],2)+pow(vect_y[2],2));
  double norm_z=sqrt(pow(vect_z[0],2)+pow(vect_z[1],2)+pow(vect_z[2],2));
  
  R=acos((vect_y[0]*vect_z[0]+vect_y[1]*vect_z[1]+vect_y[2]*vect_z[2])/norm_y*norm_z);
  P=acos((vect_x[0]*vect_z[0]+vect_x[1]*vect_z[1]+vect_x[2]*vect_z[2])/norm_x*norm_z);
  
  vector<double> result;
  result.push_back(R); result.push_back(P);
  
  return result;
}

#endif