string Mapper::serializeTransParamCSV(const PM::TransformationParameters T, const bool getHeader, const string prefix)
{
std::stringstream stream;
for(int col=0; col < T.cols(); col++)
{
for(int row=0; row < T.rows(); row++)
{
if(getHeader)
{
stream << prefix << row << col;
}
else
{
stream << T(row,col);
}
if((col != (T.cols()-1)) || (row != (T.rows()-1)))
{
stream << ", ";
}
}
}
return stream.str();
}
// IMPORTANT: We need to receive the point clouds in local coordinates (scanner or robot)
void Mapper::processCloud(unique_ptr<DP> newPointCloud, const std::string& scannerFrame, const ros::Time& stamp, uint32_t seq)
{
// if the future has completed, use the new map
processNewMapIfAvailable(); // This call lock the tf publication
cerr << "received new map" << endl;
timer t;
processingNewCloud = true;
BoolSetter stopProcessingSetter(processingNewCloud, false);
// Convert point cloud
const size_t goodCount(newPointCloud->features.cols());
if (goodCount == 0)
{
ROS_ERROR("I found no good points in the cloud");
return;
}
// Dimension of the point cloud, important since we handle 2D and 3D
const int dimp1(newPointCloud->features.rows());
if(!(newPointCloud->descriptorExists("stamps_Msec") && newPointCloud->descriptorExists("stamps_sec") && newPointCloud->descriptorExists("stamps_nsec")))
{
const float Msec = round(stamp.sec/1e6);
const float sec = round(stamp.sec - Msec*1e6);
const float nsec = round(stamp.nsec);
const PM::Matrix desc_Msec = PM::Matrix::Constant(1, goodCount, Msec);
const PM::Matrix desc_sec = PM::Matrix::Constant(1, goodCount, sec);
const PM::Matrix desc_nsec = PM::Matrix::Constant(1, goodCount, nsec);
newPointCloud->addDescriptor("stamps_Msec", desc_Msec);
newPointCloud->addDescriptor("stamps_sec", desc_sec);
newPointCloud->addDescriptor("stamps_nsec", desc_nsec);
cout << "Adding time" << endl;
}
ROS_INFO("Processing new point cloud");
{
timer t; // Print how long take the algo
// Apply filters to incoming cloud, in scanner coordinates
inputFilters.apply(*newPointCloud);
ROS_INFO_STREAM("Input filters took " << t.elapsed() << " [s]");
}
string reason;
// Initialize the transformation to identity if empty
if(!icp.hasMap())
{
// we need to know the dimensionality of the point cloud to initialize properly
publishLock.lock();
TOdomToMap = PM::TransformationParameters::Identity(dimp1, dimp1);
TOdomToMap(2,3) = mapElevation;
publishLock.unlock();
}
// Fetch transformation from scanner to odom
// Note: we don't need to wait for transform. It is already called in transformListenerToEigenMatrix()
PM::TransformationParameters TOdomToScanner;
try
{
TOdomToScanner = PointMatcher_ros::eigenMatrixToDim<float>(
PointMatcher_ros::transformListenerToEigenMatrix<float>(
tfListener,
scannerFrame,
odomFrame,
stamp
), dimp1);
}
catch(tf::ExtrapolationException e)
{
ROS_ERROR_STREAM("Extrapolation Exception. stamp = "<< stamp << " now = " << ros::Time::now() << " delta = " << ros::Time::now() - stamp << endl << e.what() );
return;
}
ROS_DEBUG_STREAM("TOdomToScanner(" << odomFrame<< " to " << scannerFrame << "):\n" << TOdomToScanner);
ROS_DEBUG_STREAM("TOdomToMap(" << odomFrame<< " to " << mapFrame << "):\n" << TOdomToMap);
const PM::TransformationParameters TscannerToMap = TOdomToMap * TOdomToScanner.inverse();
ROS_DEBUG_STREAM("TscannerToMap (" << scannerFrame << " to " << mapFrame << "):\n" << TscannerToMap);
// Ensure a minimum amount of point after filtering
const int ptsCount = newPointCloud->features.cols();
if(ptsCount < minReadingPointCount)
{
ROS_ERROR_STREAM("Not enough points in newPointCloud: only " << ptsCount << " pts.");
return;
}
// Initialize the map if empty
if(!icp.hasMap())
{
ROS_INFO_STREAM("Creating an initial map");
mapCreationTime = stamp;
setMap(updateMap(newPointCloud.release(), TscannerToMap, false));
// we must not delete newPointCloud because we just stored it in the mapPointCloud
return;
}
// Check dimension
if (newPointCloud->features.rows() != icp.getInternalMap().features.rows())
{
ROS_ERROR_STREAM("Dimensionality missmatch: incoming cloud is " << newPointCloud->features.rows()-1 << " while map is " << icp.getInternalMap().features.rows()-1);
return;
}
try
{
// Apply ICP
PM::TransformationParameters Ticp;
Ticp = icp(*newPointCloud, TscannerToMap);
Ticp = transformation->correctParameters(Ticp);
// extract corrections
PM::TransformationParameters Tdelta = Ticp * TscannerToMap.inverse();
// ISER
//{
// // remove roll and pitch
// Tdelta(2,0) = 0;
// Tdelta(2,1) = 0;
// Tdelta(2,2) = 1;
// Tdelta(0,2) = 0;
// Tdelta(1,2) = 0;
// Tdelta(2,3) = 0; //z
// Tdelta.block(0,0,3,3) = transformation->correctParameters(Tdelta.block(0,0,3,3));
// Ticp = Tdelta*TscannerToMap;
// ROS_DEBUG_STREAM("Ticp:\n" << Ticp);
//}
// Ensure minimum overlap between scans
const double estimatedOverlap = icp.errorMinimizer->getOverlap();
ROS_INFO_STREAM("Overlap: " << estimatedOverlap);
if (estimatedOverlap < minOverlap)
{
ROS_ERROR_STREAM("Estimated overlap too small, ignoring ICP correction!");
return;
}
// Compute tf
publishStamp = stamp;
publishLock.lock();
TOdomToMap = Ticp * TOdomToScanner;
PM::TransformationParameters Terror = TscannerToMap.inverse() * Ticp;
cerr << "Correcting translation error of " << Terror.block(0,3, 3,1).norm() << " m" << endl;
// Add transformation to path
path.push_back(Ticp);
errors.push_back(Terror);
// Publish tf
if(publishMapTf == true)
{
tfBroadcaster.sendTransform(PointMatcher_ros::eigenMatrixToStampedTransform<float>(TOdomToMap, mapFrame, odomFrame, stamp));
}
publishLock.unlock();
processingNewCloud = false;
ROS_DEBUG_STREAM("TOdomToMap:\n" << TOdomToMap);
// Publish odometry
if (odomPub.getNumSubscribers())
odomPub.publish(PointMatcher_ros::eigenMatrixToOdomMsg<float>(Tdelta, mapFrame, stamp));
// TODO: check that, might be wrong....
// Publish error on odometry
if (odomErrorPub.getNumSubscribers())
odomErrorPub.publish(PointMatcher_ros::eigenMatrixToOdomMsg<float>(TOdomToMap, mapFrame, stamp));
// ***Debug:
//debugPub.publish(PointMatcher_ros::pointMatcherCloudToRosMsg<float>(transformation->compute(*newPointCloud, Ticp), mapFrame, mapCreationTime));
// ***
// check if news points should be added to the map
if (
mapping &&
((estimatedOverlap < maxOverlapToMerge) || (icp.getInternalMap().features.cols() < minMapPointCount)) &&
(!mapBuildingInProgress)
)
{
cout << "map Creation..." << endl;
// make sure we process the last available map
mapCreationTime = stamp;
ROS_INFO("Adding new points to the map in background");
mapBuildingTask = MapBuildingTask(boost::bind(&Mapper::updateMap, this, newPointCloud.release(), Ticp, true));
mapBuildingFuture = mapBuildingTask.get_future();
mapBuildingThread = boost::thread(boost::move(boost::ref(mapBuildingTask)));
mapBuildingInProgress = true;
}
}
catch (PM::ConvergenceError error)
{
ROS_ERROR_STREAM("ICP failed to converge: " << error.what());
return;
}
//Statistics about time and real-time capability
int realTimeRatio = 100*t.elapsed() / (stamp.toSec()-lastPoinCloudTime.toSec());
ROS_INFO_STREAM("[TIME] Total ICP took: " << t.elapsed() << " [s]");
if(realTimeRatio < 80)
ROS_INFO_STREAM("[TIME] Real-time capability: " << realTimeRatio << "%");
else
ROS_WARN_STREAM("[TIME] Real-time capability: " << realTimeRatio << "%");
lastPoinCloudTime = stamp;
}
// Point cloud processing
void MapMaintener::processCloud(DP newPointCloud, const TP TScannerToMap)
{
string reason;
timer t;
// Convert point cloud
const size_t goodCount(newPointCloud.features.cols());
if (goodCount == 0)
{
ROS_ERROR("I found no good points in the cloud");
return;
}
ROS_INFO("Processing new point cloud");
{
timer t; // Print how long take the algo
// Apply filters to incoming cloud, in scanner coordinates
inputFilters.apply(newPointCloud);
ROS_INFO_STREAM("Input filters took " << t.elapsed() << " [s]");
}
// Correct new points using ICP result and move them in their own frame
//cout << "TObjectToMap: " << endl << TObjectToMap << endl;
//cout << "TScannerToMap: " << endl << TScannerToMap << endl;
//cout << "concat: " << endl << TObjectToMap.inverse() * TScannerToMap << endl;
newPointCloud = transformation->compute(newPointCloud, transformation->correctParameters(TObjectToMap.inverse() * TScannerToMap));
// Preparation of cloud for inclusion in map
mapPreFilters.apply(newPointCloud);
// FIXME put that as parameter
if(newPointCloud.features.cols() < 400)
return;
// Generate first map
if(!mapPointCloud.features.rows())
{
mapPointCloud = newPointCloud;
return;
}
// Check dimension
if (newPointCloud.features.rows() != mapPointCloud.features.rows())
{
ROS_ERROR_STREAM("Dimensionality missmatch: incoming cloud is " << newPointCloud.features.rows()-1 << " while map is " << mapPointCloud.features.rows()-1);
return;
}
PM::TransformationParameters Tcorr;
try
{
Tcorr = icp(newPointCloud, mapPointCloud);
TObjectToMap = TObjectToMap * Tcorr.inverse();
}
catch (PM::ConvergenceError error)
{
ROS_WARN_STREAM("ICP failed to converge: " << error.what());
return;
}
const double estimatedOverlap = icp.errorMinimizer->getOverlap();
if(estimatedOverlap < 0.40)
{
ROS_WARN_STREAM("Estimated overlap too small: " << estimatedOverlap);
return;
}
ROS_DEBUG_STREAM("Tcorr:\n" << Tcorr);
cout << "Tcorr: " << endl << Tcorr << endl;
newPointCloud = transformation->compute(newPointCloud, Tcorr);
// Merge point clouds to map
mapPointCloud.concatenate(newPointCloud);
// Map maintenance
mapPostFilters.apply(mapPointCloud);
ROS_INFO_STREAM("New map available (" << mapPointCloud.features.cols() << " pts), update took " << t.elapsed() << " [s]");
// Publish map point cloud
// FIXME this crash when used without descriptor
if (mapPub.getNumSubscribers())
mapPub.publish(PointMatcher_ros::pointMatcherCloudToRosMsg<float>(mapPointCloud, objectFrame, ros::Time::now()));
ROS_INFO_STREAM("Total map merging: " << t.elapsed() << " [s]");
//ros::Rate r(2);
//r.sleep();
}
TEST(icpTest, icpTest)
{
DP ref = DP::load(dataPath + "cloud.00000.vtk");
DP data = DP::load(dataPath + "cloud.00001.vtk");
namespace fs = boost::filesystem;
fs::path config_dir(dataPath + "icp_data");
EXPECT_TRUE( fs::exists(config_dir) && fs::is_directory(config_dir) );
fs::directory_iterator end_iter;
for( fs::directory_iterator d(config_dir); d != end_iter; ++d)
{
if (!fs::is_regular_file(d->status()) ) continue;
// Load config file, and form ICP object
PM::ICP icp;
std::string config_file = d->path().string();
if (fs::extension(config_file) != ".yaml") continue;
std::ifstream ifs(config_file.c_str());
EXPECT_NO_THROW(icp.loadFromYaml(ifs)) << "This error was caused by the test file:" << endl << " " << config_file;
// Compute current ICP transform
PM::TransformationParameters curT = icp(data, ref);
// Write current transform to disk (to easily compare it
// with reference transform offline)
fs::path cur_file = d->path();
cur_file.replace_extension(".cur_trans");
//std::cout << "Writing: " << cur_file << std::endl;
std::ofstream otfs(cur_file.c_str());
otfs.precision(16);
otfs << curT;
otfs.close();
// Load reference transform
fs::path ref_file = d->path();
ref_file.replace_extension(".ref_trans");
PM::TransformationParameters refT = 0*curT;
//std::cout << "Reading: " << ref_file << std::endl;
std::ifstream itfs(ref_file.c_str());
for (int row = 0; row < refT.cols(); row++)
{
for (int col = 0; col < refT.cols(); col++)
{
itfs >>refT(row, col);
}
}
// Dump the reference transform and current one
//std::cout.precision(17);
//std::cout << "refT:\n" << refT << std::endl;
//std::cout << "curT:\n" << curT << std::endl;
// Tolerance for change in rotation and translation
double rotTol = 0.1, transTol = 0.1;
// Find how much the reference rotation and translation
// differ from the current values.
PM::TransformationParameters refRot = refT.block(0, 0, 3, 3);
PM::TransformationParameters refTrans = refT.block(0, 3, 3, 1);
PM::TransformationParameters curRot = curT.block(0, 0, 3, 3);
PM::TransformationParameters curTrans = curT.block(0, 3, 3, 1);
PM::TransformationParameters rotErrMat = refRot*(curRot.transpose())
- PM::TransformationParameters::Identity(3, 3);
PM::TransformationParameters transErrMat = refTrans - curTrans;
double rotErr = rotErrMat.array().abs().sum();
double transErr = transErrMat.array().abs().sum();
//std::cout << "Rotation error: " << rotErr << std::endl;
//std::cout << "Translation error: " << transErr << std::endl;
EXPECT_LT(rotErr, rotTol) << "This error was caused by the test file:" << endl << " " << config_file;
EXPECT_LT(transErr, transTol) << "This error was caused by the test file:" << endl << " " << config_file;
}
}
void Mapper::gotCloud(const sensor_msgs::PointCloud2& cloudMsgIn)
{
PM::Parameters params;
PM::TransformationParameters T = PM::TransformationParameters::Identity(4,4);
sensor_msgs::PointCloud2 cloudMsg;
pcl_ros::transformPointCloud(mapFrame, cloudMsgIn, cloudMsg, tf_listener);
size_t goodCount(0);
DP newPointCloud(rosMsgToPointMatcherCloud(cloudMsg, goodCount));
if (goodCount == 0)
{
ROS_ERROR("I found no good points in the cloud");
return;
}
else
{
ROS_INFO("Processing new point cloud");
}
bool icpWasSuccess = true;
newPointCloud = filterScannerPtsCloud(newPointCloud);
// Ensure a minimum amount of point after filtering
const int ptsCount = newPointCloud.features.cols();
if(ptsCount < minReadingPointCount)
{
ROS_ERROR_STREAM("Not enough points in newPointCloud: " << ptsCount << "pts.");
return;
}
// Keep the map in memory
if(mapPointCloud.features.rows() == 0)
{
// Initialize the map
mapPointCloud = newPointCloud;
return;
}
// Apply ICP
try
{
T = icp(newPointCloud, mapPointCloud);
mapPointCloud.features = T.inverse() * mapPointCloud.features;
// Ensure minimum overlap between scans
const double estimatedOverlap = icp.errorMinimizer->getWeightedPointUsedRatio();
if (estimatedOverlap < minOverlap)
{
ROS_ERROR("Estimated overlap too small, move back");
return;
}
ROS_INFO_STREAM("**** Adding new points to the map with " << estimatedOverlap << " overlap");
// Create point cloud filters
PM::DataPointsFilter* uniformSubsample;
params = PM::Parameters({{"aggressivity", toParam(0.5)}});
uniformSubsample = pm.DataPointsFilterRegistrar.create("UniformizeDensityDataPointsFilter", params);
// Merge point clouds to map
mapPointCloud.concatenate(newPointCloud);
mapPointCloud = uniformSubsample->filter(mapPointCloud);
// Controle the size of the point cloud
const double probToKeep = maxMapPointCount/(double)mapPointCloud.features.cols();
if(probToKeep < 1.0)
{
PM::DataPointsFilter* randSubsample;
params = PM::Parameters({{"prob", toParam(probToKeep)}});
randSubsample = pm.DataPointsFilterRegistrar.create("RandomSamplingDataPointsFilter", params);
mapPointCloud = randSubsample->filter(mapPointCloud);
}
//Publish map point cloud
stringstream nameStream;
nameStream << "nifti_map_" << cloudMsg.header.seq;
PM::saveVTK(mapPointCloud, nameStream.str());
mapPub.publish(pointMatcherCloudToRosMsg(mapPointCloud, mapFrame));
}
catch (PM::ConvergenceError error)
{
icpWasSuccess = false;
ROS_WARN_STREAM("ICP failed to converge: " << error.what());
}
}
void Mapper::processCloud(unique_ptr<DP> newPointCloud, const std::string& scannerFrame, const ros::Time& stamp, uint32_t seq)
{
processingNewCloud = true;
BoolSetter stopProcessingSetter(processingNewCloud, false);
// if the future has completed, use the new map
processNewMapIfAvailable();
// IMPORTANT: We need to receive the point clouds in local coordinates (scanner or robot)
timer t;
// Convert point cloud
const size_t goodCount(newPointCloud->features.cols());
if (goodCount == 0)
{
ROS_ERROR("I found no good points in the cloud");
return;
}
// Dimension of the point cloud, important since we handle 2D and 3D
const int dimp1(newPointCloud->features.rows());
ROS_INFO("Processing new point cloud");
{
timer t; // Print how long take the algo
// Apply filters to incoming cloud, in scanner coordinates
inputFilters.apply(*newPointCloud);
ROS_INFO_STREAM("Input filters took " << t.elapsed() << " [s]");
}
string reason;
// Initialize the transformation to identity if empty
if(!icp.hasMap())
{
// we need to know the dimensionality of the point cloud to initialize properly
publishLock.lock();
TOdomToMap = PM::TransformationParameters::Identity(dimp1, dimp1);
publishLock.unlock();
}
// Fetch transformation from scanner to odom
// Note: we don't need to wait for transform. It is already called in transformListenerToEigenMatrix()
PM::TransformationParameters TOdomToScanner;
try
{
TOdomToScanner = PointMatcher_ros::eigenMatrixToDim<float>(
PointMatcher_ros::transformListenerToEigenMatrix<float>(
tfListener,
scannerFrame,
odomFrame,
stamp
), dimp1);
}
catch(tf::ExtrapolationException e)
{
ROS_ERROR_STREAM("Extrapolation Exception. stamp = "<< stamp << " now = " << ros::Time::now() << " delta = " << ros::Time::now() - stamp);
return;
}
ROS_DEBUG_STREAM("TOdomToScanner(" << odomFrame<< " to " << scannerFrame << "):\n" << TOdomToScanner);
ROS_DEBUG_STREAM("TOdomToMap(" << odomFrame<< " to " << mapFrame << "):\n" << TOdomToMap);
const PM::TransformationParameters TscannerToMap = TOdomToMap * TOdomToScanner.inverse();
ROS_DEBUG_STREAM("TscannerToMap (" << scannerFrame << " to " << mapFrame << "):\n" << TscannerToMap);
// Ensure a minimum amount of point after filtering
const int ptsCount = newPointCloud->features.cols();
if(ptsCount < minReadingPointCount)
{
ROS_ERROR_STREAM("Not enough points in newPointCloud: only " << ptsCount << " pts.");
return;
}
// Initialize the map if empty
if(!icp.hasMap())
{
ROS_INFO_STREAM("Creating an initial map");
mapCreationTime = stamp;
setMap(updateMap(newPointCloud.release(), TscannerToMap, false));
// we must not delete newPointCloud because we just stored it in the mapPointCloud
return;
}
// Check dimension
if (newPointCloud->features.rows() != icp.getInternalMap().features.rows())
{
ROS_ERROR_STREAM("Dimensionality missmatch: incoming cloud is " << newPointCloud->features.rows()-1 << " while map is " << icp.getInternalMap().features.rows()-1);
return;
}
try
{
// Apply ICP
PM::TransformationParameters Ticp;
Ticp = icp(*newPointCloud, TscannerToMap);
ROS_DEBUG_STREAM("Ticp:\n" << Ticp);
// Ensure minimum overlap between scans
const double estimatedOverlap = icp.errorMinimizer->getOverlap();
ROS_INFO_STREAM("Overlap: " << estimatedOverlap);
if (estimatedOverlap < minOverlap)
{
ROS_ERROR_STREAM("Estimated overlap too small, ignoring ICP correction!");
return;
}
// Compute tf
publishStamp = stamp;
publishLock.lock();
TOdomToMap = Ticp * TOdomToScanner;
// Publish tf
tfBroadcaster.sendTransform(PointMatcher_ros::eigenMatrixToStampedTransform<float>(TOdomToMap, mapFrame, odomFrame, stamp));
publishLock.unlock();
processingNewCloud = false;
ROS_DEBUG_STREAM("TOdomToMap:\n" << TOdomToMap);
// Publish odometry
if (odomPub.getNumSubscribers())
odomPub.publish(PointMatcher_ros::eigenMatrixToOdomMsg<float>(Ticp, mapFrame, stamp));
// Publish error on odometry
if (odomErrorPub.getNumSubscribers())
odomErrorPub.publish(PointMatcher_ros::eigenMatrixToOdomMsg<float>(TOdomToMap, mapFrame, stamp));
// Publish outliers
if (outlierPub.getNumSubscribers())
{
//DP outliers = PM::extractOutliers(transformation->compute(*newPointCloud, Ticp), *mapPointCloud, 0.6);
//outlierPub.publish(PointMatcher_ros::pointMatcherCloudToRosMsg<float>(outliers, mapFrame, mapCreationTime));
}
// check if news points should be added to the map
if (
mapping &&
((estimatedOverlap < maxOverlapToMerge) || (icp.getInternalMap().features.cols() < minMapPointCount)) &&
#if BOOST_VERSION >= 104100
(!mapBuildingInProgress)
#else // BOOST_VERSION >= 104100
true
#endif // BOOST_VERSION >= 104100
)
{
// make sure we process the last available map
mapCreationTime = stamp;
#if BOOST_VERSION >= 104100
ROS_INFO("Adding new points to the map in background");
mapBuildingTask = MapBuildingTask(boost::bind(&Mapper::updateMap, this, newPointCloud.release(), Ticp, true));
mapBuildingFuture = mapBuildingTask.get_future();
mapBuildingThread = boost::thread(boost::move(boost::ref(mapBuildingTask)));
mapBuildingInProgress = true;
#else // BOOST_VERSION >= 104100
ROS_INFO("Adding new points to the map");
setMap(updateMap( newPointCloud.release(), Ticp, true));
#endif // BOOST_VERSION >= 104100
}
}
catch (PM::ConvergenceError error)
{
ROS_ERROR_STREAM("ICP failed to converge: " << error.what());
return;
}
//Statistics about time and real-time capability
int realTimeRatio = 100*t.elapsed() / (stamp.toSec()-lastPoinCloudTime.toSec());
ROS_INFO_STREAM("[TIME] Total ICP took: " << t.elapsed() << " [s]");
if(realTimeRatio < 80)
ROS_INFO_STREAM("[TIME] Real-time capability: " << realTimeRatio << "%");
else
ROS_WARN_STREAM("[TIME] Real-time capability: " << realTimeRatio << "%");
lastPoinCloudTime = stamp;
}