plane_road_extraction.hpp

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#ifndef _PLANE_ROAD_EXTRACTION_HPP_
#define _PLANE_ROAD_EXTRACTION_HPP_

#include "plane_road_extraction.h"

template <class T>
void plane_road_extraction<T>::filter (const sensor_msgs::PointCloud2Ptr& msg)
{
    PointCloud<T> cloud;
    
    fromROSMsg(*msg,cloud);
    
    if ((int)cloud.points.size()>0)
    {
        tf::Transform road_tf=pms.find_and_publish_road_frame(cloud);    
        
        //   Create the convex hull to extract the point clouds
        T point_origin;
        T point_origin_transformed;
        T point_away;
        T point_away_transformed;
        T pt;
        
        point_origin.x=0; point_origin.y=0; point_origin.z=0;                               // Transform a point on the origin
        point_away.x=50; point_away.y=0; point_away.z=0;                                    // Transform a point far (10m)
        point_origin_transformed=transform_pcl_point(cloud.header.frame_id, road_tf, point_origin);
        point_away_transformed=transform_pcl_point(cloud.header.frame_id, road_tf, point_away);
        
        PointCloud<T> road_hull;
        road_hull.header.frame_id=cloud.header.frame_id;
        pt.x = -2; pt.y=50; pt.z=point_origin_transformed.z;
        road_hull.points.push_back(pt);
        pt.x = 50; pt.y=50; pt.z=point_away_transformed.z;
        road_hull.points.push_back(pt);
        pt.x = 50; pt.y= -50; pt.z=point_away_transformed.z;
        road_hull.points.push_back(pt);
        pt.x = -2; pt.y=-50; pt.z=point_origin_transformed.z;
        road_hull.points.push_back(pt);
        
        // Roadless point cloud
        PointCloud<T> cloud_road;
        PointCloud<T> cloud_cluster;
        points_from_volume<T> pfv_cloud;
        cloud_road.header.frame_id=cloud.header.frame_id;
        cloud_cluster.header.frame_id=cloud.header.frame_id;
        pfv_cloud.set_convex_hull(road_hull);
        pfv_cloud.convexhull_function(cloud, z_max, z_min, false);
        cloud_road=pfv_cloud.get_pc_in_volume();
        pfv_cloud.convexhull_function(cloud, 20, z_max, false);
        cloud_cluster=pfv_cloud.get_pc_in_volume();
        
        //   Project road cloud on the plane
        PointCloud<T> cloud_road_projected; 
        cloud_road_projected = project_cloud_on_plane(cloud_road, pms.coef);
        
        // Calculate the road perimeter
        PointCloud<T> road_perimeter; 
        ConvexHull<T> chull;
        chull.setInputCloud (cloud_road_projected.makeShared());
        chull.reconstruct (road_perimeter);
        
        // Create an extraction object
        points_from_volume<T> pfv;
        PointCloud<T> inside_cloud; 
        inside_cloud.header.frame_id=msg->header.frame_id;
        pfv.set_convex_hull(road_perimeter);
        pfv.convexhull_function(cloud_cluster, 20, -20, false);
        inside_cloud=pfv.get_pc_in_volume();                //  ->  All points inside road convex_hull
        
        //      cout << cloud_cluster.points.size() << endl;
        
        sensor_msgs::PointCloud2 msg_road;
        sensor_msgs::PointCloud2 msg_cluster;
        sensor_msgs::PointCloud2 msg_perimeter;
        toROSMsg(cloud_road_projected,msg_road);
        toROSMsg(inside_cloud,msg_cluster);
        toROSMsg(road_perimeter,msg_perimeter);
        pub_clusters_ptr->publish(msg_cluster);
        pub_road_ptr->publish(msg_road);
        pub_road_perimeter_ptr->publish(msg_perimeter);
        
    }
};

template<class T>
T plane_road_extraction<T>::transform_pcl_point(string frame1, tf::Transform transform, T pt_origin)
{
    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);
    return pc_point.points[0];
};

template<class T>
PointCloud<T> plane_road_extraction<T>::project_cloud_on_plane(PointCloud<T> cloud_in, ModelCoefficients::Ptr coefficients)
{
    typename PointCloud<T>::Ptr cloud_in_ptr (new PointCloud<T> (cloud_in));
    PointCloud<T> cloud_out;
    
    //Create the projection object
    ProjectInliers<T> projection;
    projection.setModelType(SACMODEL_PLANE); //set model type
    
    projection.setInputCloud(cloud_in_ptr);
    projection.setModelCoefficients(coefficients);
    projection.filter(cloud_out);
    
    cloud_in_ptr.reset();
    return cloud_out;
}

#endif