예제 #1
0
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");
        //			}
        //		}
    }
}
예제 #2
0
//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;
}
예제 #3
0
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;
}
예제 #4
0
    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]
    }
예제 #5
0
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;
  }

} 
예제 #6
0
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;
}
예제 #8
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;
}
예제 #9
0
void wallCallback(const sensor_msgs::PointCloud2& wall_msg){
    pcl::fromROSMsg(wall_msg, wall_pcl);
    wall_kdTree.setInputCloud(wall_pcl.makeShared());
    wall_flag = true;
}