void WorldDownloadManager::cropMesh(const kinfu_msgs::KinfuCloudPoint & min,
const kinfu_msgs::KinfuCloudPoint & max,PointCloud::ConstPtr cloud,
TrianglesConstPtr triangles,PointCloud::Ptr out_cloud,TrianglesPtr out_triangles)
{
const uint triangles_size = triangles->size();
const uint cloud_size = cloud->size();
std::vector<bool> valid_points(cloud_size,true);
std::vector<uint> valid_points_remap(cloud_size,0);
std::cout << "Starting with " << cloud_size << " points and " << triangles_size << " triangles.\n";
uint offset;
// check the points
for (uint i = 0; i < cloud_size; i++)
{
const pcl::PointXYZ & pt = (*cloud)[i];
if (pt.x > max.x || pt.y > max.y || pt.z > max.z ||
pt.x < min.x || pt.y < min.y || pt.z < min.z)
valid_points[i] = false;
}
// discard invalid points
out_cloud->clear();
out_cloud->reserve(cloud_size);
offset = 0;
for (uint i = 0; i < cloud_size; i++)
if (valid_points[i])
{
out_cloud->push_back((*cloud)[i]);
// save new position for triangles remap
valid_points_remap[i] = offset;
offset++;
}
out_cloud->resize(offset);
// discard invalid triangles
out_triangles->clear();
out_triangles->reserve(triangles_size);
offset = 0;
for (uint i = 0; i < triangles_size; i++)
{
const kinfu_msgs::KinfuMeshTriangle & tri = (*triangles)[i];
bool is_valid = true;
// validate all the vertices
for (uint h = 0; h < 3; h++)
if (!valid_points[tri.vertex_id[h]])
{
is_valid = false;
break;
}
if (is_valid)
{
kinfu_msgs::KinfuMeshTriangle out_tri;
// remap the triangle
for (uint h = 0; h < 3; h++)
out_tri.vertex_id[h] = valid_points_remap[(*triangles)[i].vertex_id[h]];
out_triangles->push_back(out_tri);
offset++;
}
}
out_triangles->resize(offset);
std::cout << "Ended with " << out_cloud->size() << " points and " << out_triangles->size() << " triangles.\n";
}
void callback(const PointCloud::ConstPtr& cloud) {
sensor_msgs::LaserScanPtr output(new sensor_msgs::LaserScan());
NODELET_DEBUG("Got cloud");
//Copy Header
output->header = cloud->header;
output->header.frame_id = output_frame_id_;
output->angle_min = -M_PI / 6;
output->angle_max = M_PI / 6;
output->angle_increment = M_PI / 180.0 / 2.0;
output->time_increment = 0.0;
output->scan_time = 1.0 / 30.0;
output->range_min = 0.1;
output->range_max = 10.0;
uint32_t ranges_size = std::ceil(
(output->angle_max - output->angle_min)
/ output->angle_increment);
output->ranges.assign(ranges_size, output->range_max + 1.0);
//pcl::PointCloud<pcl::PointXYZ> cloud;
//pcl::fromROSMsg(*input, cloud);
visualization_msgs::Marker line_list;
float min_z = 100;
float max_z = -100;
float min_y = 100;
float max_y = -100;
// NODELET_INFO("New scan...");
for (PointCloud::const_iterator it = cloud->begin(); it != cloud->end(); ++it) {
const float &x = it->x;
const float &y = it->y;
const float &z = it->z;
if (z < min_z)
min_z = z;
if (z > max_z)
max_z = z;
if (y < min_y)
min_y = y;
if (y > max_y)
max_y = y;
/* for (uint32_t u = std::max((uint32_t)u_min_, 0U); u < std::min((uint32_t)u_max_, cloud.height - 1); u++)
for (uint32_t v = 0; v < cloud.width -1; v++)
{
//NODELET_ERROR("%d %d, %d %d", u, v, cloud.height, cloud.width);
pcl::PointXYZ point = cloud.at(v,u); ///WTF Column major?
const float &x = point.x;
const float &y = point.y;
const float &z = point.z;
*/
if (std::isnan(x) || std::isnan(y) || std::isnan(z)) {
NODELET_DEBUG("rejected for nan in point(%f, %f, %f)\n", x, y,
z);
continue;
}
if (z > max_height_ || z < min_height_) {
NODELET_DEBUG("rejected for height %f not in range (%f, %f)\n",
z, min_height_, max_height_);
continue;
}
double angle = atan2(y, x);
if (angle < output->angle_min || angle > output->angle_max) {
NODELET_DEBUG("rejected for angle %f not in range (%f, %f)\n",
angle, output->angle_min, output->angle_max);
continue;
}
int index = (angle - output->angle_min) / output->angle_increment;
// NODELET_INFO("index xyz( %f %f %f) angle %f index %d", x, y, z, angle, index);
double range_sq = y * y + x * x;
if (output->ranges[index] * output->ranges[index] > range_sq)
output->ranges[index] = sqrt(range_sq);
}
NODELET_INFO("Y: %f %f, Z: %f %f", min_y, max_y, min_z, max_z);
line_list.header = cloud->header;
line_list.header.frame_id = output_frame_id_;
line_list.ns = "points_and_lines";
line_list.action = visualization_msgs::Marker::ADD;
line_list.pose.orientation.w = 1.0;
line_list.id = 0;
line_list.type = visualization_msgs::Marker::LINE_LIST;
line_list.scale.x = 0.1;
// line_list.color.r = 1.0;
line_list.color.a = 1.0;
// Create the vertices for the points and lines
for (uint32_t i = 0; i < ranges_size; ++i) {
float rng = output->ranges[i];
float a = output->angle_min + i * output->angle_increment;
float x = rng * cos(a);
float y = rng * sin(a);
geometry_msgs::Point p;
std_msgs::ColorRGBA col;
p.x = x;
p.y = y;
p.z = min_height_;
col.g = rng / (output->range_max);
col.r = 1.0 - col.g;
line_list.colors.push_back(col);
line_list.colors.push_back(col);
// The line list needs two points for each line
line_list.points.push_back(p);
p.z = max_height_;
line_list.points.push_back(p);
}
marker_pub.publish(line_list);
pub_.publish(output);
}
void cloudCallback(const PointCloud::ConstPtr& source_msg)
{
if (source_msg->empty())
{
ROS_ERROR("Can't get source cloud message.\n");
fType_ = t_null;
return;
}
PointCloudWN::Ptr source_n (new PointCloudWN());
PointCloudWN::Ptr cloud_t (new PointCloudWN ());
Utilities::estimateNorCurv(source_msg, source_n);
Utilities::rotateCloudXY(source_n, cloud_t, roll_, pitch_, transform_inv_);
// std::cout << "trans_inv: "<< transform_inv_ << std::endl;
FindPlane FP;
FP.getParameters(GH);
FP.findPlaneInCloud(cloud_t);
PointCloudMono::Ptr plane_max (new PointCloudMono());
PointCloudMono::Ptr ground_max (new PointCloudMono());
pcl::ModelCoefficients::Ptr mcp (new pcl::ModelCoefficients);
pcl::ModelCoefficients::Ptr mcg (new pcl::ModelCoefficients);
processHullVector(FP.plane_hull, FP.plane_coeff, plane_max, mcp);
processHullVector(FP.ground_hull, FP.ground_coeff, ground_max, mcg);
if (!plane_max->empty() && (cloudPubPlaneMax_.getNumSubscribers() || posePubPlaneMax_.getNumSubscribers()))
{
sensor_msgs::PointCloud2 plane_max_msg;
pcl::toROSMsg(*plane_max, plane_max_msg);
plane_max_msg.header.frame_id = source_msg->header.frame_id;
plane_max_msg.header.stamp = pcl_conversions::fromPCL(source_msg->header.stamp);
geometry_msgs::PoseStamped pose_plane_max_msg;
pose_plane_max_msg.header = plane_max_msg.header;
pose_plane_max_msg.pose.orientation.x = mcp->values[0];
pose_plane_max_msg.pose.orientation.y = mcp->values[1];
pose_plane_max_msg.pose.orientation.z = mcp->values[2];
pose_plane_max_msg.pose.orientation.w = mcp->values[3];
cloudPubPlaneMax_.publish(plane_max_msg);
posePubPlaneMax_.publish(pose_plane_max_msg);
}
if (!ground_max->empty() && (cloudPubGround_.getNumSubscribers() || posePubGround_.getNumSubscribers()))
{
sensor_msgs::PointCloud2 ground_max_msg;
pcl::toROSMsg(*ground_max, ground_max_msg);
ground_max_msg.header.frame_id = source_msg->header.frame_id;
ground_max_msg.header.stamp = pcl_conversions::fromPCL(source_msg->header.stamp);
geometry_msgs::PoseStamped pose_ground_msg;
pose_ground_msg.header = ground_max_msg.header;
pose_ground_msg.pose.orientation.x = mcg->values[0];
pose_ground_msg.pose.orientation.y = mcg->values[1];
pose_ground_msg.pose.orientation.z = mcg->values[2];
pose_ground_msg.pose.orientation.w = mcg->values[3];
cloudPubGround_.publish(ground_max_msg);
posePubGround_.publish(pose_ground_msg);
}
if (!plane_max->empty() && !ground_max->empty())
{
fType_ = t_both;
}
else if (plane_max->empty() && !ground_max->empty())
{
fType_ = t_ground;
}
else if (!plane_max->empty() && ground_max->empty())
{
fType_ = t_table;
}
else
{
fType_ = t_null;
}
}
void cloudCallback(const tf::TransformListener& listener, const PointCloud::ConstPtr& source_msg)
{
if (modeType_ != m_recognize && modeType_ != m_track)
{
return;
}
if (source_msg->empty())
{
ROS_ERROR("Can't get source cloud message.\n");
return;
}
if (inliers->indices.empty())
{
ROS_WARN_THROTTLE(5, "Object to grasp has not been found.\n");
return;
}
PointCloud::Ptr cloud_in (new PointCloud());
msgToCloud(source_msg, cloud_in);
PointCloud::Ptr cloud_out (new PointCloud ());
getCloudByInliers(cloud_in, cloud_out, inliers, false, false);
MakePlan MP;
pcl::PointXYZRGB avrPt;
hasGraspPlan_ = MP.process(cloud_out, pa_, pb_, pc_, pd_, avrPt);
if (hasGraspPlan_)
{
visualization_msgs::Marker marker;
// Set the frame ID and timestamp. See the TF tutorials for information on these.
marker.header.frame_id = "/camera_yaw_frame";
marker.header.stamp = pcl_conversions::fromPCL(source_msg->header.stamp);
// Set the namespace and id for this marker. This serves to create a unique ID
// Any marker sent with the same namespace and id will overwrite the old one
marker.ns = "grasp";
marker.id = 0;
marker.type = shape;
marker.action = visualization_msgs::Marker::ADD;
// transform the vector
listener.waitForTransform("/camera_yaw_frame", source_msg->header.frame_id, ros::Time::now(), ros::Duration(1.0));
tf::Stamped<tf::Point> p_in_a;
tf::Stamped<tf::Point> p_out_a;
p_in_a.setX(avrPt.x);
p_in_a.setY(avrPt.y);
p_in_a.setZ(avrPt.z);
p_in_a.frame_id_ = source_msg->header.frame_id;
listener.transformPoint("/camera_yaw_frame", p_in_a, p_out_a);
tf::Stamped<tf::Point> p_in_b;
tf::Stamped<tf::Point> p_out_b;
float la, lb, lc;
normalize(la, lb, lc, 0.15);
p_in_b.setX(avrPt.x + la);
p_in_b.setY(avrPt.y + lb);
p_in_b.setZ(avrPt.z + lc);
p_in_b.frame_id_ = source_msg->header.frame_id;
listener.transformPoint("/camera_yaw_frame", p_in_b, p_out_b);
// Set the pose of the marker. This is a full 6DOF pose relative to the frame/time specified in the header
marker.points.resize(2);
marker.points[0].x = p_out_a.x() + 0.03;
marker.points[0].y = p_out_a.y();
marker.points[0].z = p_out_a.z();
marker.points[1].x = p_out_b.x() + 0.03;
marker.points[1].y = p_out_b.y();
marker.points[1].z = p_out_b.z();
// The point at index 0 is assumed to be the start point, and the point at index 1 is assumed to be the end.
// scale.x is the shaft diameter, and scale.y is the head diameter. If scale.z is not zero, it specifies the head length.
// Set the scale of the marker -- 1x1x1 here means 1m on a side
marker.scale.x = 0.01;
marker.scale.y = 0.015;
marker.scale.z = 0.04;
// Set the color -- be sure to set alpha to something non-zero!
marker.color.r = 0.0f;
marker.color.g = 1.0f;
marker.color.b = 0.0f;
marker.color.a = 1.0;
markerPub_.publish(marker);
}
else
{
ROS_WARN_THROTTLE(5, "Failed to generate grasp plan.\n");
}
}
void callback(const PointCloud::ConstPtr& cloud)
{
sensor_msgs::LaserScanPtr output(new sensor_msgs::LaserScan());
NODELET_DEBUG("Got cloud");
//Copy Header
output->header = cloud->header;
output->header.frame_id = output_frame_id_;
output->angle_min = -M_PI/2;
output->angle_max = M_PI/2;
output->angle_increment = M_PI/180.0/2.0;
output->time_increment = 0.0;
output->scan_time = 1.0/30.0;
output->range_min = 0.45;
output->range_max = 10.0;
uint32_t ranges_size = std::ceil((output->angle_max - output->angle_min) / output->angle_increment);
output->ranges.assign(ranges_size, output->range_max + 1.0);
//pcl::PointCloud<pcl::PointXYZ> cloud;
//pcl::fromROSMsg(*input, cloud);
for (PointCloud::const_iterator it = cloud->begin(); it != cloud->end(); ++it)
{
const float &x = it->x;
const float &y = it->y;
const float &z = it->z;
/* for (uint32_t u = std::max((uint32_t)u_min_, 0U); u < std::min((uint32_t)u_max_, cloud.height - 1); u++)
for (uint32_t v = 0; v < cloud.width -1; v++)
{
//NODELET_ERROR("%d %d, %d %d", u, v, cloud.height, cloud.width);
pcl::PointXYZ point = cloud.at(v,u); ///WTF Column major?
const float &x = point.x;
const float &y = point.y;
const float &z = point.z;
*/
if ( std::isnan(x) || std::isnan(y) || std::isnan(z) )
{
NODELET_DEBUG("rejected for nan in point(%f, %f, %f)\n", x, y, z);
continue;
}
if (-y > max_height_ || -y < min_height_)
{
NODELET_DEBUG("rejected for height %f not in range (%f, %f)\n", x, min_height_, max_height_);
continue;
}
double angle = -atan2(x, z);
if (angle < output->angle_min || angle > output->angle_max)
{
NODELET_DEBUG("rejected for angle %f not in range (%f, %f)\n", angle, output->angle_min, output->angle_max);
continue;
}
int index = (angle - output->angle_min) / output->angle_increment;
//printf ("index xyz( %f %f %f) angle %f index %d\n", x, y, z, angle, index);
double range_sq = z*z+x*x;
if (output->ranges[index] * output->ranges[index] > range_sq)
output->ranges[index] = sqrt(range_sq);
}
pub_.publish(output);
}
