void pointCloudCallback(const sensor_msgs::PointCloud2& traversability_msg) {
//pcl::PointCloud<pcl::PointXYZI> traversability_pcl;
pcl::fromROSMsg(traversability_msg, traversability_pcl);
ROS_INFO("path planner input set");
if (traversability_pcl.size() > 0 && wall_flag){
tf::StampedTransform robot_pose;
getRobotPose(robot_pose);
pcl::PointXYZI robot;
robot.x = robot_pose.getOrigin().x();
robot.y = robot_pose.getOrigin().y();
robot.z = robot_pose.getOrigin().z();
//pcl::KdTreeFLANN<pcl::PointXYZI> traversability_kdtree;
traversability_kdtree.setInputCloud(traversability_pcl.makeShared());
std::vector<int> pointIdxNKNSearch(1);
std::vector<float> pointNKNSquaredDistance(1);
traversability_kdtree.nearestKSearch(robot, 1, pointIdxNKNSearch, pointNKNSquaredDistance);
robot_idx = pointIdxNKNSearch[0];
//----------------------------------------------------------------------------------------------------------------
//ho commentato questa parte perchè vogliamo disaccoppiare il planning dall'acquisizione della Point Cloud
//----------------------------------------------------------------------------------------------------------------
// planner->set_input(traversability_pcl, wall_pcl, wall_kdTree, traversability_kdtree, pointIdxNKNSearch[0]);
// wall_flag = false;
// if (goal_selection){
// nav_msgs::Path path;
// ROS_INFO("compute path");
// if(goal_selection){
// if(planner->planning(path)){
// path_pub.publish(path);
// }
// else{
// ROS_INFO("no path exist for desired goal, please choose another goal");
// goal_selection = true;
// }
// ROS_INFO("path_computed");
// }
// }
}
}
//if a point in a plane
bool isInPlane(Point p, pcl::KdTreeFLANN<Point> tree){
// Neighbors containers
vector<int> k_indices;
vector<float> k_distances;
tree.radiusSearch (p, 0.005, k_indices, k_distances);
if(k_indices.size()>0){
return true;
}
return false;
}
std::vector<Quadric> HandSearch::findQuadrics(const PointCloud::Ptr cloud,
const Eigen::VectorXi& pts_cam_source, const pcl::KdTreeFLANN<pcl::PointXYZ>& kdtree,
const std::vector<int>& indices)
{
double t1 = omp_get_wtime();
std::vector<int> nn_indices;
std::vector<float> nn_dists;
std::vector<Eigen::Matrix4d, Eigen::aligned_allocator<Eigen::Matrix4d> > T_cams;
T_cams.push_back(cam_tf_left_);
T_cams.push_back(cam_tf_right_);
std::vector<Quadric> quadric_list(indices.size());
#ifdef _OPENMP // parallelization using OpenMP
#pragma omp parallel for private(nn_indices, nn_dists) num_threads(num_threads_)
#endif
for (int i = 0; i < indices.size(); i++)
{
const pcl::PointXYZ& sample = cloud->points[indices[i]];
// std::cout << "i: " << i << ", index: " << indices[i] << ", sample: " << sample << std::endl;
if (kdtree.radiusSearch(sample, nn_radius_taubin_, nn_indices, nn_dists) > 0)
{
Eigen::VectorXi nn_cam_source(nn_indices.size());
// std::cout << " Found " << nn_indices.size() << " neighbors.\n";
for (int j = 0; j < nn_cam_source.size(); j++)
{
nn_cam_source(j) = pts_cam_source(nn_indices[j]);
}
Eigen::Vector3d sample_eigen = sample.getVector3fMap().cast<double>();
Quadric q(T_cams, cloud, sample_eigen, uses_determinstic_normal_estimation_);
q.fitQuadric(nn_indices);
// std::cout << " Fitted quadric\n";
q.findTaubinNormalAxis(nn_indices, nn_cam_source);
// std::cout << " Found local axes\n";
quadric_list[i] = q;
cloud_normals_.col(indices[i]) = q.getNormal();
}
}
double t2 = omp_get_wtime();
//std::cout << "Fitted " << quadric_list.size() << " quadrics in " << t2 - t1 << " sec.\n";
// quadric_list[0].print(); // debugging
// plot_.plotLocalAxes(quadric_list, cloud);
return quadric_list;
}
Extractor() {
tree.reset(new pcl::KdTreeFLANN<Point > ());
cloud.reset(new pcl::PointCloud<Point>);
cloud_filtered.reset(new pcl::PointCloud<Point>);
cloud_normals.reset(new pcl::PointCloud<pcl::Normal>);
coefficients_plane_.reset(new pcl::ModelCoefficients);
coefficients_cylinder_.reset(new pcl::ModelCoefficients);
inliers_plane_.reset(new pcl::PointIndices);
inliers_cylinder_.reset(new pcl::PointIndices);
// Filter Pass
pass.setFilterFieldName("z");
pass.setFilterLimits(-100, 100);
// VoxelGrid for Downsampling
LEAFSIZE = 0.01f;
vg.setLeafSize(LEAFSIZE, LEAFSIZE, LEAFSIZE);
// Any object < CUT_THRESHOLD will be abandoned.
//CUT_THRESHOLD = (int) (LEAFSIZE * LEAFSIZE * 7000000); // 700
CUT_THRESHOLD = 700; //for nonfiltering
// Clustering
cluster_.setClusterTolerance(0.06 * UNIT);
cluster_.setMinClusterSize(50.0);
cluster_.setSearchMethod(clusters_tree_);
// Normals
ne.setSearchMethod(tree);
ne.setKSearch(50); // 50 by default
// plane SAC
seg_plane.setOptimizeCoefficients(true);
seg_plane.setModelType(pcl::SACMODEL_NORMAL_PLANE);
seg_plane.setNormalDistanceWeight(0.1); // 0.1
seg_plane.setMethodType(pcl::SAC_RANSAC);
seg_plane.setMaxIterations(1000); // 10000
seg_plane.setDistanceThreshold(0.05); // 0.03
// cylinder SAC
seg_cylinder.setOptimizeCoefficients(true);
seg_cylinder.setModelType(pcl::SACMODEL_CYLINDER);
seg_cylinder.setMethodType(pcl::SAC_RANSAC);
seg_cylinder.setNormalDistanceWeight(0.1);
seg_cylinder.setMaxIterations(10000);
seg_cylinder.setDistanceThreshold(0.02); // 0.05
seg_cylinder.setRadiusLimits(0.02, 0.07); // [0, 0.1]
}
float averageKDistance(
pcl::KdTreeFLANN<PointT> & kdtree,
std::vector<int> & pointIdxNKNSearch,
std::vector<float> & pointNKNSquaredDistance,
PointT point,
int K
)
{
if (kdtree.nearestKSearch(point, K, pointIdxNKNSearch, pointNKNSquaredDistance) > 0)
{
return average(pointNKNSquaredDistance);
}
else
{
return -1;
}
}
float GetPointDelatZ(pcl::PointXYZ &new_Point, pcl::PointCloud<pcl::PointXY>::Ptr old2d_cloud, pcl::PointCloud<pcl::PointXYZ>::Ptr old_cloud, pcl::KdTreeFLANN<pcl::PointXY> &kdtree, int &oldpointindex){
//pcl::PointCloud<pcl::PointXY>::Ptr old2dlayercloud_cloud(new pcl::PointCloud<pcl::PointXY>);
std::vector<int> pointId_vector; //Vector with 1 lenght for save index of nearest point in old_cloud
std::vector<float> pointRadius_vector;
pcl::PointXY *searchPoint = new pcl::PointXY();
searchPoint->x = new_Point.x;
searchPoint->y = new_Point.y;
float deltaZ = 0;
if (kdtree.nearestKSearch(*searchPoint, 1, pointId_vector, pointRadius_vector) > 0)
{
pcl::PointXYZ founded_old_point = old_cloud->points[pointId_vector[0]];
oldpointindex = pointId_vector[0];
deltaZ = founded_old_point.z - new_Point.z; //Keep that axiz oZ is inverted (goes from up to down)
}
return deltaZ;
}
int main(int argc, char** argv)
{
ros::init(argc, argv, "laserMapping");
ros::NodeHandle nh;
ros::Subscriber subLaserCloudLast2 = nh.subscribe<sensor_msgs::PointCloud2>
("/laser_cloud_last_2", 2, laserCloudLastHandler);
ros::Subscriber subLaserOdometry = nh.subscribe<nav_msgs::Odometry>
("/cam_to_init", 5, laserOdometryHandler);
ros::Publisher pubLaserCloudSurround = nh.advertise<sensor_msgs::PointCloud2>
("/laser_cloud_surround", 1);
//ros::Publisher pub1 = nh.advertise<sensor_msgs::PointCloud2> ("/pc1", 1);
//ros::Publisher pub2 = nh.advertise<sensor_msgs::PointCloud2> ("/pc2", 1);
//ros::Publisher pub3 = nh.advertise<sensor_msgs::PointCloud2> ("/pc3", 1);
//ros::Publisher pub4 = nh.advertise<sensor_msgs::PointCloud2> ("/pc4", 1);
ros::Publisher pubOdomBefMapped = nh.advertise<nav_msgs::Odometry> ("/bef_mapped_to_init_2", 5);
nav_msgs::Odometry odomBefMapped;
odomBefMapped.header.frame_id = "/camera_init_2";
odomBefMapped.child_frame_id = "/bef_mapped";
ros::Publisher pubOdomAftMapped = nh.advertise<nav_msgs::Odometry> ("/aft_mapped_to_init_2", 5);
nav_msgs::Odometry odomAftMapped;
odomAftMapped.header.frame_id = "/camera_init_2";
odomAftMapped.child_frame_id = "/aft_mapped";
std::vector<int> pointSearchInd;
std::vector<float> pointSearchSqDis;
pcl::PointXYZHSV pointOri, pointSel, pointProj, coeff;
pcl::PointXYZI pointSurround;
cv::Mat matA0(5, 3, CV_32F, cv::Scalar::all(0));
cv::Mat matB0(5, 1, CV_32F, cv::Scalar::all(-1));
cv::Mat matX0(3, 1, CV_32F, cv::Scalar::all(0));
cv::Mat matA1(3, 3, CV_32F, cv::Scalar::all(0));
cv::Mat matD1(1, 3, CV_32F, cv::Scalar::all(0));
cv::Mat matV1(3, 3, CV_32F, cv::Scalar::all(0));
for (int i = 0; i < laserCloudNum; i++) {
laserCloudArray[i].reset(new pcl::PointCloud<pcl::PointXYZHSV>());
}
bool status = ros::ok();
while (status) {
ros::spinOnce();
if (newLaserCloudLast && newLaserOdometry && fabs(timeLaserCloudLast - timeLaserOdometry) < 0.005) {
newLaserCloudLast = false;
newLaserOdometry = false;
transformAssociateToMap();
pcl::PointXYZHSV pointOnZAxis;
pointOnZAxis.x = 0.0;
pointOnZAxis.y = 0.0;
pointOnZAxis.z = 10.0;
pointAssociateToMap(&pointOnZAxis, &pointOnZAxis);
int centerCubeI = int((transformTobeMapped[3] + 10.0) / 20.0) + laserCloudCenWidth;
int centerCubeJ = int((transformTobeMapped[4] + 10.0) / 20.0) + laserCloudCenHeight;
int centerCubeK = int((transformTobeMapped[5] + 10.0) / 20.0) + laserCloudCenDepth;
if (transformTobeMapped[3] + 10.0 < 0) centerCubeI--;
if (transformTobeMapped[4] + 10.0 < 0) centerCubeJ--;
if (transformTobeMapped[5] + 10.0 < 0) centerCubeK--;
if (centerCubeI < 0 || centerCubeI >= laserCloudWidth ||
centerCubeJ < 0 || centerCubeJ >= laserCloudHeight ||
centerCubeK < 0 || centerCubeK >= laserCloudDepth) {
transformUpdate();
continue;
}
int laserCloudValidNum = 0;
int laserCloudSurroundNum = 0;
for (int i = centerCubeI - 1; i <= centerCubeI + 1; i++) {
for (int j = centerCubeJ - 1; j <= centerCubeJ + 1; j++) {
for (int k = centerCubeK - 1; k <= centerCubeK + 1; k++) {
if (i >= 0 && i < laserCloudWidth &&
j >= 0 && j < laserCloudHeight &&
k >= 0 && k < laserCloudDepth) {
float centerX = 20.0 * (i - laserCloudCenWidth);
float centerY = 20.0 * (j - laserCloudCenHeight);
float centerZ = 20.0 * (k - laserCloudCenDepth);
bool isInLaserFOV = false;
for (int ii = -1; ii <= 1; ii += 2) {
for (int jj = -1; jj <= 1; jj += 2) {
for (int kk = -1; kk <= 1; kk += 2) {
float cornerX = centerX + 10.0 * ii;
float cornerY = centerY + 10.0 * jj;
float cornerZ = centerZ + 10.0 * kk;
float check = 100.0
+ (transformTobeMapped[3] - cornerX) * (transformTobeMapped[3] - cornerX)
+ (transformTobeMapped[4] - cornerY) * (transformTobeMapped[4] - cornerY)
+ (transformTobeMapped[5] - cornerZ) * (transformTobeMapped[5] - cornerZ)
- (pointOnZAxis.x - cornerX) * (pointOnZAxis.x - cornerX)
- (pointOnZAxis.y - cornerY) * (pointOnZAxis.y - cornerY)
- (pointOnZAxis.z - cornerZ) * (pointOnZAxis.z - cornerZ);
if (check > 0) {
isInLaserFOV = true;
}
}
}
}
if (isInLaserFOV) {
laserCloudValidInd[laserCloudValidNum] = i + laserCloudWidth * j
+ laserCloudWidth * laserCloudHeight * k;
laserCloudValidNum++;
}
laserCloudSurroundInd[laserCloudSurroundNum] = i + laserCloudWidth * j
+ laserCloudWidth * laserCloudHeight * k;
laserCloudSurroundNum++;
}
}
}
}
laserCloudFromMap->clear();
for (int i = 0; i < laserCloudValidNum; i++) {
*laserCloudFromMap += *laserCloudArray[laserCloudValidInd[i]];
}
int laserCloudFromMapNum = laserCloudFromMap->points.size();
laserCloudCornerFromMap->clear();
laserCloudSurfFromMap->clear();
for (int i = 0; i < laserCloudFromMapNum; i++) {
if (fabs(laserCloudFromMap->points[i].v - 2) < 0.005 ||
fabs(laserCloudFromMap->points[i].v - 1) < 0.005) {
laserCloudCornerFromMap->push_back(laserCloudFromMap->points[i]);
} else {
laserCloudSurfFromMap->push_back(laserCloudFromMap->points[i]);
}
}
laserCloudCorner->clear();
laserCloudSurf->clear();
int laserCloudLastNum = laserCloudLast->points.size();
for (int i = 0; i < laserCloudLastNum; i++) {
if (fabs(laserCloudLast->points[i].v - 2) < 0.005 ||
fabs(laserCloudLast->points[i].v - 1) < 0.005) {
laserCloudCorner->push_back(laserCloudLast->points[i]);
} else {
laserCloudSurf->push_back(laserCloudLast->points[i]);
}
}
laserCloudCorner2->clear();
pcl::VoxelGrid<pcl::PointXYZHSV> downSizeFilter;
downSizeFilter.setInputCloud(laserCloudCorner);
downSizeFilter.setLeafSize(0.05, 0.05, 0.05);
downSizeFilter.filter(*laserCloudCorner2);
laserCloudSurf2->clear();
downSizeFilter.setInputCloud(laserCloudSurf);
downSizeFilter.setLeafSize(0.1, 0.1, 0.1);
downSizeFilter.filter(*laserCloudSurf2);
laserCloudLast->clear();
*laserCloudLast = *laserCloudCorner2 + *laserCloudSurf2;
laserCloudLastNum = laserCloudLast->points.size();
if (laserCloudSurfFromMap->points.size() > 500) {
kdtreeCornerFromMap->setInputCloud(laserCloudCornerFromMap);
kdtreeSurfFromMap->setInputCloud(laserCloudSurfFromMap);
for (int iterCount = 0; iterCount < 10; iterCount++) {
laserCloudOri->clear();
//laserCloudSel->clear();
//laserCloudCorr->clear();
//laserCloudProj->clear();
coeffSel->clear();
for (int i = 0; i < laserCloudLastNum; i++) {
if (fabs(laserCloudLast->points[i].x > 0.3) || fabs(laserCloudLast->points[i].y > 0.3) ||
fabs(laserCloudLast->points[i].z > 0.3)) {
pointOri = laserCloudLast->points[i];
pointAssociateToMap(&pointOri, &pointSel);
if (fabs(pointOri.v) < 0.05 || fabs(pointOri.v + 1) < 0.05) {
kdtreeSurfFromMap->nearestKSearch(pointSel, 5, pointSearchInd, pointSearchSqDis);
if (pointSearchSqDis[4] < 1.0) {
for (int j = 0; j < 5; j++) {
matA0.at<float>(j, 0) = laserCloudSurfFromMap->points[pointSearchInd[j]].x;
matA0.at<float>(j, 1) = laserCloudSurfFromMap->points[pointSearchInd[j]].y;
matA0.at<float>(j, 2) = laserCloudSurfFromMap->points[pointSearchInd[j]].z;
}
cv::solve(matA0, matB0, matX0, cv::DECOMP_QR);
float pa = matX0.at<float>(0, 0);
float pb = matX0.at<float>(1, 0);
float pc = matX0.at<float>(2, 0);
float pd = 1;
float ps = sqrt(pa * pa + pb * pb + pc * pc);
pa /= ps;
pb /= ps;
pc /= ps;
pd /= ps;
bool planeValid = true;
for (int j = 0; j < 5; j++) {
if (fabs(pa * laserCloudSurfFromMap->points[pointSearchInd[j]].x +
pb * laserCloudSurfFromMap->points[pointSearchInd[j]].y +
pc * laserCloudSurfFromMap->points[pointSearchInd[j]].z + pd) > 0.05) {
planeValid = false;
break;
}
}
if (planeValid) {
float pd2 = pa * pointSel.x + pb * pointSel.y + pc * pointSel.z + pd;
pointProj = pointSel;
pointProj.x -= pa * pd2;
pointProj.y -= pb * pd2;
pointProj.z -= pc * pd2;
float s = 1;
if (iterCount >= 6) {
s = 1 - 8 * fabs(pd2) / sqrt(sqrt(pointSel.x * pointSel.x
+ pointSel.y * pointSel.y + pointSel.z * pointSel.z));
}
coeff.x = s * pa;
coeff.y = s * pb;
coeff.z = s * pc;
coeff.h = s * pd2;
if (s > 0.2) {
laserCloudOri->push_back(pointOri);
//laserCloudSel->push_back(pointSel);
//laserCloudProj->push_back(pointProj);
//laserCloudCorr->push_back(laserCloudSurfFromMap->points[pointSearchInd[0]]);
//laserCloudCorr->push_back(laserCloudSurfFromMap->points[pointSearchInd[1]]);
//laserCloudCorr->push_back(laserCloudSurfFromMap->points[pointSearchInd[2]]);
//laserCloudCorr->push_back(laserCloudSurfFromMap->points[pointSearchInd[3]]);
//laserCloudCorr->push_back(laserCloudSurfFromMap->points[pointSearchInd[4]]);
coeffSel->push_back(coeff);
}
}
}
} else {
kdtreeCornerFromMap->nearestKSearch(pointSel, 5, pointSearchInd, pointSearchSqDis);
if (pointSearchSqDis[4] < 1.0) {
float cx = 0;
float cy = 0;
float cz = 0;
for (int j = 0; j < 5; j++) {
cx += laserCloudCornerFromMap->points[pointSearchInd[j]].x;
cy += laserCloudCornerFromMap->points[pointSearchInd[j]].y;
cz += laserCloudCornerFromMap->points[pointSearchInd[j]].z;
}
cx /= 5;
cy /= 5;
cz /= 5;
float a11 = 0;
float a12 = 0;
float a13 = 0;
float a22 = 0;
float a23 = 0;
float a33 = 0;
for (int j = 0; j < 5; j++) {
float ax = laserCloudCornerFromMap->points[pointSearchInd[j]].x - cx;
float ay = laserCloudCornerFromMap->points[pointSearchInd[j]].y - cy;
float az = laserCloudCornerFromMap->points[pointSearchInd[j]].z - cz;
a11 += ax * ax;
a12 += ax * ay;
a13 += ax * az;
a22 += ay * ay;
a23 += ay * az;
a33 += az * az;
}
a11 /= 5;
a12 /= 5;
a13 /= 5;
a22 /= 5;
a23 /= 5;
a33 /= 5;
matA1.at<float>(0, 0) = a11;
matA1.at<float>(0, 1) = a12;
matA1.at<float>(0, 2) = a13;
matA1.at<float>(1, 0) = a12;
matA1.at<float>(1, 1) = a22;
matA1.at<float>(1, 2) = a23;
matA1.at<float>(2, 0) = a13;
matA1.at<float>(2, 1) = a23;
matA1.at<float>(2, 2) = a33;
cv::eigen(matA1, matD1, matV1);
if (matD1.at<float>(0, 0) > 3 * matD1.at<float>(0, 1)) {
float x0 = pointSel.x;
float y0 = pointSel.y;
float z0 = pointSel.z;
float x1 = cx + 0.1 * matV1.at<float>(0, 0);
float y1 = cy + 0.1 * matV1.at<float>(0, 1);
float z1 = cz + 0.1 * matV1.at<float>(0, 2);
float x2 = cx - 0.1 * matV1.at<float>(0, 0);
float y2 = cy - 0.1 * matV1.at<float>(0, 1);
float z2 = cz - 0.1 * matV1.at<float>(0, 2);
float a012 = sqrt(((x0 - x1)*(y0 - y2) - (x0 - x2)*(y0 - y1))
* ((x0 - x1)*(y0 - y2) - (x0 - x2)*(y0 - y1))
+ ((x0 - x1)*(z0 - z2) - (x0 - x2)*(z0 - z1))
* ((x0 - x1)*(z0 - z2) - (x0 - x2)*(z0 - z1))
+ ((y0 - y1)*(z0 - z2) - (y0 - y2)*(z0 - z1))
* ((y0 - y1)*(z0 - z2) - (y0 - y2)*(z0 - z1)));
float l12 = sqrt((x1 - x2)*(x1 - x2) + (y1 - y2)*(y1 - y2) + (z1 - z2)*(z1 - z2));
float la = ((y1 - y2)*((x0 - x1)*(y0 - y2) - (x0 - x2)*(y0 - y1))
+ (z1 - z2)*((x0 - x1)*(z0 - z2) - (x0 - x2)*(z0 - z1))) / a012 / l12;
float lb = -((x1 - x2)*((x0 - x1)*(y0 - y2) - (x0 - x2)*(y0 - y1))
- (z1 - z2)*((y0 - y1)*(z0 - z2) - (y0 - y2)*(z0 - z1))) / a012 / l12;
float lc = -((x1 - x2)*((x0 - x1)*(z0 - z2) - (x0 - x2)*(z0 - z1))
+ (y1 - y2)*((y0 - y1)*(z0 - z2) - (y0 - y2)*(z0 - z1))) / a012 / l12;
float ld2 = a012 / l12;
pointProj = pointSel;
pointProj.x -= la * ld2;
pointProj.y -= lb * ld2;
pointProj.z -= lc * ld2;
float s = 2 * (1 - 8 * fabs(ld2));
coeff.x = s * la;
coeff.y = s * lb;
coeff.z = s * lc;
coeff.h = s * ld2;
if (s > 0.4) {
laserCloudOri->push_back(pointOri);
//laserCloudSel->push_back(pointSel);
//laserCloudProj->push_back(pointProj);
//laserCloudCorr->push_back(laserCloudCornerFromMap->points[pointSearchInd[0]]);
//laserCloudCorr->push_back(laserCloudCornerFromMap->points[pointSearchInd[1]]);
//laserCloudCorr->push_back(laserCloudCornerFromMap->points[pointSearchInd[2]]);
//laserCloudCorr->push_back(laserCloudCornerFromMap->points[pointSearchInd[3]]);
//laserCloudCorr->push_back(laserCloudCornerFromMap->points[pointSearchInd[4]]);
coeffSel->push_back(coeff);
}
}
}
}
}
}
int laserCloudSelNum = laserCloudOri->points.size();
float srx = sin(transformTobeMapped[0]);
float crx = cos(transformTobeMapped[0]);
float sry = sin(transformTobeMapped[1]);
float cry = cos(transformTobeMapped[1]);
float srz = sin(transformTobeMapped[2]);
float crz = cos(transformTobeMapped[2]);
if (laserCloudSelNum < 50) {
continue;
}
cv::Mat matA(laserCloudSelNum, 6, CV_32F, cv::Scalar::all(0));
cv::Mat matAt(6, laserCloudSelNum, CV_32F, cv::Scalar::all(0));
cv::Mat matAtA(6, 6, CV_32F, cv::Scalar::all(0));
cv::Mat matB(laserCloudSelNum, 1, CV_32F, cv::Scalar::all(0));
cv::Mat matAtB(6, 1, CV_32F, cv::Scalar::all(0));
cv::Mat matX(6, 1, CV_32F, cv::Scalar::all(0));
for (int i = 0; i < laserCloudSelNum; i++) {
pointOri = laserCloudOri->points[i];
coeff = coeffSel->points[i];
float arx = (crx*sry*srz*pointOri.x + crx*crz*sry*pointOri.y - srx*sry*pointOri.z) * coeff.x
+ (-srx*srz*pointOri.x - crz*srx*pointOri.y - crx*pointOri.z) * coeff.y
+ (crx*cry*srz*pointOri.x + crx*cry*crz*pointOri.y - cry*srx*pointOri.z) * coeff.z;
float ary = ((cry*srx*srz - crz*sry)*pointOri.x
+ (sry*srz + cry*crz*srx)*pointOri.y + crx*cry*pointOri.z) * coeff.x
+ ((-cry*crz - srx*sry*srz)*pointOri.x
+ (cry*srz - crz*srx*sry)*pointOri.y - crx*sry*pointOri.z) * coeff.z;
float arz = ((crz*srx*sry - cry*srz)*pointOri.x + (-cry*crz - srx*sry*srz)*pointOri.y)*coeff.x
+ (crx*crz*pointOri.x - crx*srz*pointOri.y) * coeff.y
+ ((sry*srz + cry*crz*srx)*pointOri.x + (crz*sry - cry*srx*srz)*pointOri.y)*coeff.z;
matA.at<float>(i, 0) = arx;
matA.at<float>(i, 1) = ary;
matA.at<float>(i, 2) = arz;
matA.at<float>(i, 3) = coeff.x;
matA.at<float>(i, 4) = coeff.y;
matA.at<float>(i, 5) = coeff.z;
matB.at<float>(i, 0) = -coeff.h;
}
cv::transpose(matA, matAt);
matAtA = matAt * matA;
matAtB = matAt * matB;
cv::solve(matAtA, matAtB, matX, cv::DECOMP_QR);
if (fabs(matX.at<float>(0, 0)) < 0.5 &&
fabs(matX.at<float>(1, 0)) < 0.5 &&
fabs(matX.at<float>(2, 0)) < 0.5 &&
fabs(matX.at<float>(3, 0)) < 1 &&
fabs(matX.at<float>(4, 0)) < 1 &&
fabs(matX.at<float>(5, 0)) < 1) {
transformTobeMapped[0] += matX.at<float>(0, 0);
transformTobeMapped[1] += matX.at<float>(1, 0);
transformTobeMapped[2] += matX.at<float>(2, 0);
transformTobeMapped[3] += matX.at<float>(3, 0);
transformTobeMapped[4] += matX.at<float>(4, 0);
transformTobeMapped[5] += matX.at<float>(5, 0);
} else {
//ROS_INFO ("Mapping update out of bound");
}
}
}
transformUpdate();
for (int i = 0; i < laserCloudLastNum; i++) {
if (fabs(laserCloudLast->points[i].x) > 0.3 || fabs(laserCloudLast->points[i].y) > 0.3 ||
fabs(laserCloudLast->points[i].z) > 0.3) {
pointAssociateToMap(&laserCloudLast->points[i], &pointSel);
int cubeI = int((pointSel.x + 10.0) / 20.0) + laserCloudCenWidth;
int cubeJ = int((pointSel.y + 10.0) / 20.0) + laserCloudCenHeight;
int cubeK = int((pointSel.z + 10.0) / 20.0) + laserCloudCenDepth;
if (pointSel.x + 10.0 < 0) cubeI--;
if (pointSel.y + 10.0 < 0) cubeJ--;
if (pointSel.z + 10.0 < 0) cubeK--;
int cubeInd = cubeI + laserCloudWidth * cubeJ + laserCloudWidth * laserCloudHeight * cubeK;
laserCloudArray[cubeInd]->push_back(pointSel);
}
}
for (int i = 0; i < laserCloudValidNum; i++) {
laserCloudCorner->clear();
laserCloudSurf->clear();
pcl::PointCloud<pcl::PointXYZHSV>::Ptr laserCloudCubePointer =
laserCloudArray[laserCloudValidInd[i]];
int laserCloudCubeNum = laserCloudCubePointer->points.size();
for (int j = 0; j < laserCloudCubeNum; j++) {
if (fabs(laserCloudCubePointer->points[j].v - 2) < 0.005 ||
fabs(laserCloudCubePointer->points[j].v - 1) < 0.005) {
laserCloudCorner->push_back(laserCloudCubePointer->points[j]);
} else {
laserCloudSurf->push_back(laserCloudCubePointer->points[j]);
}
}
laserCloudCorner2->clear();
pcl::VoxelGrid<pcl::PointXYZHSV> downSizeFilter;
downSizeFilter.setInputCloud(laserCloudCorner);
downSizeFilter.setLeafSize(0.05, 0.05, 0.05);
downSizeFilter.filter(*laserCloudCorner2);
laserCloudSurf2->clear();
downSizeFilter.setInputCloud(laserCloudSurf);
downSizeFilter.setLeafSize(0.1, 0.1, 0.1);
downSizeFilter.filter(*laserCloudSurf2);
laserCloudCubePointer->clear();
*laserCloudCubePointer = *laserCloudCorner2 + *laserCloudSurf2;
}
laserCloudSurround->clear();
for (int i = 0; i < laserCloudSurroundNum; i++) {
pcl::PointCloud<pcl::PointXYZHSV>::Ptr laserCloudCubePointer =
laserCloudArray[laserCloudSurroundInd[i]];
int laserCloudCubeNum = laserCloudCubePointer->points.size();
for (int j = 0; j < laserCloudCubeNum; j++) {
pointSurround.x = laserCloudCubePointer->points[j].x;
pointSurround.y = laserCloudCubePointer->points[j].y;
pointSurround.z = laserCloudCubePointer->points[j].z;
pointSurround.intensity = laserCloudCubePointer->points[j].h;
laserCloudSurround->push_back(pointSurround);
}
}
sensor_msgs::PointCloud2 laserCloudSurround2;
pcl::toROSMsg(*laserCloudSurround, laserCloudSurround2);
laserCloudSurround2.header.stamp = ros::Time().fromSec(timeLaserCloudLast);
laserCloudSurround2.header.frame_id = "/camera_init_2";
pubLaserCloudSurround.publish(laserCloudSurround2);
geometry_msgs::Quaternion geoQuat = tf::createQuaternionMsgFromRollPitchYaw
(transformBefMapped[2], -transformBefMapped[0], -transformBefMapped[1]);
odomBefMapped.header.stamp = ros::Time().fromSec(timeLaserCloudLast);
odomBefMapped.pose.pose.orientation.x = -geoQuat.y;
odomBefMapped.pose.pose.orientation.y = -geoQuat.z;
odomBefMapped.pose.pose.orientation.z = geoQuat.x;
odomBefMapped.pose.pose.orientation.w = geoQuat.w;
odomBefMapped.pose.pose.position.x = transformBefMapped[3];
odomBefMapped.pose.pose.position.y = transformBefMapped[4];
odomBefMapped.pose.pose.position.z = transformBefMapped[5];
pubOdomBefMapped.publish(odomBefMapped);
geoQuat = tf::createQuaternionMsgFromRollPitchYaw
(transformAftMapped[2], -transformAftMapped[0], -transformAftMapped[1]);
odomAftMapped.header.stamp = ros::Time().fromSec(timeLaserCloudLast);
odomAftMapped.pose.pose.orientation.x = -geoQuat.y;
odomAftMapped.pose.pose.orientation.y = -geoQuat.z;
odomAftMapped.pose.pose.orientation.z = geoQuat.x;
odomAftMapped.pose.pose.orientation.w = geoQuat.w;
odomAftMapped.pose.pose.position.x = transformAftMapped[3];
odomAftMapped.pose.pose.position.y = transformAftMapped[4];
odomAftMapped.pose.pose.position.z = transformAftMapped[5];
pubOdomAftMapped.publish(odomAftMapped);
/*sensor_msgs::PointCloud2 pc12;
pcl::toROSMsg(*laserCloudCornerFromMap, pc12);
pc12.header.stamp = ros::Time().fromSec(timeLaserCloudLast);
pc12.header.frame_id = "/camera_init_2";
pub1.publish(pc12);
sensor_msgs::PointCloud2 pc22;
pcl::toROSMsg(*laserCloudSel, pc22);
pc22.header.stamp = ros::Time().fromSec(timeLaserCloudLast);
pc22.header.frame_id = "/camera_init_2";
pub2.publish(pc22);
sensor_msgs::PointCloud2 pc32;
pcl::toROSMsg(*laserCloudCorr, pc32);
pc32.header.stamp = ros::Time().fromSec(timeLaserCloudLast);
pc32.header.frame_id = "/camera_init_2";
pub3.publish(pc32);
sensor_msgs::PointCloud2 pc42;
pcl::toROSMsg(*laserCloudProj, pc42);
pc42.header.stamp = ros::Time().fromSec(timeLaserCloudLast);
pc42.header.frame_id = "/camera_init_2";
pub4.publish(pc42);*/
}
status = ros::ok();
cv::waitKey(10);
}
return 0;
}
std::vector<GraspHypothesis> HandSearch::findHands(const PointCloud::Ptr cloud,
const Eigen::VectorXi& pts_cam_source, const std::vector<Quadric>& quadric_list,
const Eigen::VectorXi& hands_cam_source, const pcl::KdTreeFLANN<pcl::PointXYZ>& kdtree)
{
double t1 = omp_get_wtime();
std::vector<int> nn_indices;
std::vector<float> nn_dists;
Eigen::Matrix3Xd nn_normals(3, nn_indices.size());
Eigen::VectorXi nn_cam_source(nn_indices.size());
Eigen::Matrix3Xd centered_neighborhood(3, nn_indices.size());
std::vector<RotatingHand> hand_list(quadric_list.size());
// std::vector<RotatingHand> hand_list;
double time_eval_hand = 0.0;
double time_iter = 0.0;
double time_nn = 0.0;
double time_tf = 0.0;
std::vector< std::vector<GraspHypothesis> > grasp_lists(quadric_list.size(), std::vector<GraspHypothesis>(0));
#ifdef _OPENMP // parallelization using OpenMP
#pragma omp parallel for private(nn_indices, nn_dists, nn_normals, nn_cam_source, centered_neighborhood) num_threads(num_threads_)
#endif
for (std::size_t i = 0; i < quadric_list.size(); i++)
{
double timei = omp_get_wtime();
pcl::PointXYZ sample;
sample.x = quadric_list[i].getSample()(0);
sample.y = quadric_list[i].getSample()(1);
sample.z = quadric_list[i].getSample()(2);
// std::cout << "i: " << i << ", sample: " << sample << std::endl;
if (kdtree.radiusSearch(sample, nn_radius_hands_, nn_indices, nn_dists) > 0)
{
time_nn += omp_get_wtime() - timei;
nn_normals.setZero(3, nn_indices.size());
nn_cam_source.setZero(nn_indices.size());
centered_neighborhood.setZero(3, nn_indices.size());
for (int j = 0; j < nn_indices.size(); j++)
{
nn_cam_source(j) = pts_cam_source(nn_indices[j]);
centered_neighborhood.col(j) = (cloud->points[nn_indices[j]].getVector3fMap()
- sample.getVector3fMap()).cast<double>();
nn_normals.col(j) = cloud_normals_.col(nn_indices[j]);
}
FingerHand finger_hand(finger_width_, hand_outer_diameter_, hand_depth_);
Eigen::Vector3d sample_eig = sample.getVector3fMap().cast<double>();
RotatingHand rotating_hand(cam_tf_left_.block<3, 1>(0, 3) - sample_eig,
cam_tf_right_.block<3, 1>(0, 3) - sample_eig, finger_hand, tolerant_antipodal_, hands_cam_source(i));
const Quadric& q = quadric_list[i];
double time_tf1 = omp_get_wtime();
rotating_hand.transformPoints(centered_neighborhood, q.getNormal(), q.getCurvatureAxis(), nn_normals,
nn_cam_source, hand_height_);
time_tf += omp_get_wtime() - time_tf1;
double time_eval1 = omp_get_wtime();
std::vector<GraspHypothesis> grasps = rotating_hand.evaluateHand(init_bite_, sample_eig, true);
time_eval_hand += omp_get_wtime() - time_eval1;
if (grasps.size() > 0)
{
// grasp_list.insert(grasp_list.end(), grasps.begin(), grasps.end());
grasp_lists[i] = grasps;
}
}
time_iter += omp_get_wtime() - timei;
}
time_eval_hand /= quadric_list.size();
time_nn /= quadric_list.size();
time_iter /= quadric_list.size();
time_tf /= quadric_list.size();
//std::cout << " avg time for transforming point neighborhood: " << time_tf << " sec.\n";
//std::cout << " avg time for NN search: " << time_nn << " sec.\n";
//std::cout << " avg time for rotating_hand.evaluate(): " << time_eval_hand << " sec.\n";
//std::cout << " avg time per iteration: " << time_iter << " sec.\n";
std::vector<GraspHypothesis> grasp_list;
for (std::size_t i = 0; i < grasp_lists.size(); i++)
{
// std::cout << i << " " << grasp_lists[i].size() << "\n";
if (grasp_lists[i].size() > 0)
grasp_list.insert(grasp_list.end(), grasp_lists[i].begin(), grasp_lists[i].end());
}
double t2 = omp_get_wtime();
//std::cout << " Found " << grasp_list.size() << " robot hand poses in " << t2 - t1 << " sec.\n";
return grasp_list;
}
void wallCallback(const sensor_msgs::PointCloud2& wall_msg){
pcl::fromROSMsg(wall_msg, wall_pcl);
wall_kdTree.setInputCloud(wall_pcl.makeShared());
wall_flag = true;
}