static void scan_callback(const sensor_msgs::PointCloud2::ConstPtr& input)
{
pcl::PointXYZI p;
pcl::PointCloud<pcl::PointXYZI> scan;
pcl::PointCloud<velodyne_pointcloud::PointXYZIR> tmp;
sensor_msgs::PointCloud2 filtered_msg;
pcl::fromROSMsg(*input, scan);
pcl::fromROSMsg(*input, tmp);
scan.points.clear();
for (pcl::PointCloud<velodyne_pointcloud::PointXYZIR>::const_iterator item = tmp.begin(); item != tmp.end(); item++)
{
p.x = (double)item->x;
p.y = (double)item->y;
p.z = (double)item->z;
p.intensity = (double)item->intensity;
if (item->ring % ring_div == 0)
{
scan.points.push_back(p);
}
if (item->ring > ring_max)
{
ring_max = item->ring;
}
}
pcl::PointCloud<pcl::PointXYZI>::Ptr scan_ptr(new pcl::PointCloud<pcl::PointXYZI>(scan));
pcl::PointCloud<pcl::PointXYZI>::Ptr filtered_scan_ptr(new pcl::PointCloud<pcl::PointXYZI>());
// if voxel_leaf_size < 0.1 voxel_grid_filter cannot down sample (It is specification in PCL)
if (voxel_leaf_size >= 0.1)
{
// Downsampling the velodyne scan using VoxelGrid filter
pcl::VoxelGrid<pcl::PointXYZI> voxel_grid_filter;
voxel_grid_filter.setLeafSize(voxel_leaf_size, voxel_leaf_size, voxel_leaf_size);
voxel_grid_filter.setInputCloud(scan_ptr);
voxel_grid_filter.filter(*filtered_scan_ptr);
pcl::toROSMsg(*filtered_scan_ptr, filtered_msg);
}
else
{
pcl::toROSMsg(*scan_ptr, filtered_msg);
}
filtered_points_pub.publish(filtered_msg);
points_filter_info_msg.header = input->header;
points_filter_info_msg.filter_name = "ring_filter";
points_filter_info_msg.original_points_size = scan.size();
if (voxel_leaf_size >= 0.1)
{
points_filter_info_msg.filtered_points_size = filtered_scan_ptr->size();
}
else
{
points_filter_info_msg.filtered_points_size = scan_ptr->size();
}
points_filter_info_msg.original_ring_size = ring_max;
points_filter_info_msg.filtered_ring_size = ring_max / ring_div;
points_filter_info_pub.publish(points_filter_info_msg);
}
static void scan_callback(const sensor_msgs::PointCloud2::ConstPtr& input)
{
pcl::PointCloud<pcl::PointXYZI> scan;
pcl::fromROSMsg(*input, scan);
if(measurement_range != MAX_MEASUREMENT_RANGE){
scan = removePointsByRange(scan, 0, measurement_range);
}
pcl::PointCloud<pcl::PointXYZI>::Ptr scan_ptr(new pcl::PointCloud<pcl::PointXYZI>(scan));
pcl::PointCloud<pcl::PointXYZI>::Ptr filtered_scan_ptr(new pcl::PointCloud<pcl::PointXYZI>());
sensor_msgs::PointCloud2 filtered_msg;
filter_start = std::chrono::system_clock::now();
// if voxel_leaf_size < 0.1 voxel_grid_filter cannot down sample (It is specification in PCL)
if (voxel_leaf_size >= 0.1)
{
// Downsampling the velodyne scan using VoxelGrid filter
pcl::VoxelGrid<pcl::PointXYZI> voxel_grid_filter;
voxel_grid_filter.setLeafSize(voxel_leaf_size, voxel_leaf_size, voxel_leaf_size);
voxel_grid_filter.setInputCloud(scan_ptr);
voxel_grid_filter.filter(*filtered_scan_ptr);
pcl::toROSMsg(*filtered_scan_ptr, filtered_msg);
}
else
{
pcl::toROSMsg(*scan_ptr, filtered_msg);
}
filter_end = std::chrono::system_clock::now();
filtered_msg.header = input->header;
filtered_points_pub.publish(filtered_msg);
points_downsampler_info_msg.header = input->header;
points_downsampler_info_msg.filter_name = "voxel_grid_filter";
points_downsampler_info_msg.measurement_range = measurement_range;
points_downsampler_info_msg.original_points_size = scan.size();
if (voxel_leaf_size >= 0.1)
{
points_downsampler_info_msg.filtered_points_size = filtered_scan_ptr->size();
}
else
{
points_downsampler_info_msg.filtered_points_size = scan_ptr->size();
}
points_downsampler_info_msg.original_ring_size = 0;
points_downsampler_info_msg.filtered_ring_size = 0;
points_downsampler_info_msg.exe_time = std::chrono::duration_cast<std::chrono::microseconds>(filter_end - filter_start).count() / 1000.0;
points_downsampler_info_pub.publish(points_downsampler_info_msg);
if(_output_log == true){
if(!ofs){
std::cerr << "Could not open " << filename << "." << std::endl;
exit(1);
}
ofs << points_downsampler_info_msg.header.seq << ","
<< points_downsampler_info_msg.header.stamp << ","
<< points_downsampler_info_msg.header.frame_id << ","
<< points_downsampler_info_msg.filter_name << ","
<< points_downsampler_info_msg.original_points_size << ","
<< points_downsampler_info_msg.filtered_points_size << ","
<< points_downsampler_info_msg.original_ring_size << ","
<< points_downsampler_info_msg.filtered_ring_size << ","
<< points_downsampler_info_msg.exe_time << ","
<< std::endl;
}
}
static void scan_callback(const sensor_msgs::PointCloud2::ConstPtr& input)
{
pcl::PointCloud<pcl::PointXYZI> scan;
pcl::PointCloud<velodyne_pointcloud::PointXYZIR> tmp;
sensor_msgs::PointCloud2 filtered_msg;
pcl::fromROSMsg(*input, scan);
pcl::fromROSMsg(*input, tmp);
filter_start = std::chrono::system_clock::now();
scan.points.clear();
double square_measurement_range = measurement_range*measurement_range;
for (pcl::PointCloud<velodyne_pointcloud::PointXYZIR>::const_iterator item = tmp.begin(); item != tmp.end(); item++)
{
pcl::PointXYZI p;
p.x = item->x;
p.y = item->y;
p.z = item->z;
p.intensity = item->intensity;
double square_distance = p.x * p.x + p.y * p.y;
if (item->ring % ring_div == 0 && square_distance <= square_measurement_range)
{
scan.points.push_back(p);
}
if (item->ring > ring_max)
{
ring_max = item->ring;
}
}
pcl::PointCloud<pcl::PointXYZI>::Ptr scan_ptr(new pcl::PointCloud<pcl::PointXYZI>(scan));
pcl::PointCloud<pcl::PointXYZI>::Ptr filtered_scan_ptr(new pcl::PointCloud<pcl::PointXYZI>());
// if voxel_leaf_size < 0.1 voxel_grid_filter cannot down sample (It is specification in PCL)
if (voxel_leaf_size >= 0.1)
{
// Downsampling the velodyne scan using VoxelGrid filter
pcl::VoxelGrid<pcl::PointXYZI> voxel_grid_filter;
voxel_grid_filter.setLeafSize(voxel_leaf_size, voxel_leaf_size, voxel_leaf_size);
voxel_grid_filter.setInputCloud(scan_ptr);
voxel_grid_filter.filter(*filtered_scan_ptr);
pcl::toROSMsg(*filtered_scan_ptr, filtered_msg);
}
else
{
pcl::toROSMsg(*scan_ptr, filtered_msg);
}
filter_end = std::chrono::system_clock::now();
filtered_msg.header = input->header;
filtered_points_pub.publish(filtered_msg);
points_downsampler_info_msg.header = input->header;
points_downsampler_info_msg.filter_name = "ring_filter";
points_downsampler_info_msg.measurement_range = measurement_range;
points_downsampler_info_msg.original_points_size = scan.size();
if (voxel_leaf_size >= 0.1)
{
points_downsampler_info_msg.filtered_points_size = filtered_scan_ptr->size();
}
else
{
points_downsampler_info_msg.filtered_points_size = scan_ptr->size();
}
points_downsampler_info_msg.original_ring_size = ring_max;
points_downsampler_info_msg.filtered_ring_size = ring_max / ring_div;
points_downsampler_info_msg.exe_time = std::chrono::duration_cast<std::chrono::microseconds>(filter_end - filter_start).count() / 1000.0;
points_downsampler_info_pub.publish(points_downsampler_info_msg);
if(_output_log == true){
if(!ofs){
std::cerr << "Could not open " << filename << "." << std::endl;
exit(1);
}
ofs << points_downsampler_info_msg.header.seq << ","
<< points_downsampler_info_msg.header.stamp << ","
<< points_downsampler_info_msg.header.frame_id << ","
<< points_downsampler_info_msg.filter_name << ","
<< points_downsampler_info_msg.original_points_size << ","
<< points_downsampler_info_msg.filtered_points_size << ","
<< points_downsampler_info_msg.original_ring_size << ","
<< points_downsampler_info_msg.filtered_ring_size << ","
<< points_downsampler_info_msg.exe_time << ","
<< std::endl;
}
}
static void scan_callback(const sensor_msgs::PointCloud2::ConstPtr& input)
{
if (map_loaded == 1 && init_pos_set == 1) {
matching_start = std::chrono::system_clock::now();
static tf::TransformBroadcaster br;
tf::Transform transform;
tf::Quaternion predict_q, ndt_q, current_q, control_q, localizer_q;
pcl::PointXYZ p;
pcl::PointCloud<pcl::PointXYZ> scan;
current_scan_time = input->header.stamp;
pcl::fromROSMsg(*input, scan);
if(_localizer == "velodyne"){
pcl::PointCloud<velodyne_pointcloud::PointXYZIR> tmp;
pcl::fromROSMsg(*input, tmp);
scan.points.clear();
for (pcl::PointCloud<velodyne_pointcloud::PointXYZIR>::const_iterator item = tmp.begin(); item != tmp.end(); item++) {
p.x = (double) item->x;
p.y = (double) item->y;
p.z = (double) item->z;
if(item->ring >= min && item->ring <= max && item->ring % layer == 0 ){
scan.points.push_back(p);
}
}
}
pcl::PointCloud<pcl::PointXYZ>::Ptr scan_ptr(new pcl::PointCloud<pcl::PointXYZ>(scan));
pcl::PointCloud<pcl::PointXYZ>::Ptr filtered_scan_ptr(new pcl::PointCloud<pcl::PointXYZ>());
Eigen::Matrix4f t(Eigen::Matrix4f::Identity()); // base_link
Eigen::Matrix4f t2(Eigen::Matrix4f::Identity()); // localizer
// Downsampling the velodyne scan using VoxelGrid filter
pcl::VoxelGrid<pcl::PointXYZ> voxel_grid_filter;
voxel_grid_filter.setLeafSize(voxel_leaf_size, voxel_leaf_size, voxel_leaf_size);
voxel_grid_filter.setInputCloud(scan_ptr);
voxel_grid_filter.filter(*filtered_scan_ptr);
// Setting point cloud to be aligned.
ndt.setInputSource(filtered_scan_ptr);
// Guess the initial gross estimation of the transformation
predict_pose.x = previous_pose.x + offset_x;
predict_pose.y = previous_pose.y + offset_y;
predict_pose.z = previous_pose.z + offset_z;
predict_pose.roll = previous_pose.roll;
predict_pose.pitch = previous_pose.pitch;
predict_pose.yaw = previous_pose.yaw + offset_yaw;
Eigen::Translation3f init_translation(predict_pose.x, predict_pose.y, predict_pose.z);
Eigen::AngleAxisf init_rotation_x(predict_pose.roll, Eigen::Vector3f::UnitX());
Eigen::AngleAxisf init_rotation_y(predict_pose.pitch, Eigen::Vector3f::UnitY());
Eigen::AngleAxisf init_rotation_z(predict_pose.yaw, Eigen::Vector3f::UnitZ());
Eigen::Matrix4f init_guess = (init_translation * init_rotation_z * init_rotation_y * init_rotation_x) * tf_btol;
pcl::PointCloud<pcl::PointXYZ>::Ptr output_cloud(new pcl::PointCloud<pcl::PointXYZ>);
ndt.align(*output_cloud, init_guess);
t = ndt.getFinalTransformation(); // localizer
t2 = t * tf_ltob; // base_link
iteration = ndt.getFinalNumIteration();
score = ndt.getFitnessScore();
trans_probability = ndt.getTransformationProbability();
tf::Matrix3x3 mat_l; // localizer
mat_l.setValue(static_cast<double>(t(0, 0)), static_cast<double>(t(0, 1)), static_cast<double>(t(0, 2)),
static_cast<double>(t(1, 0)), static_cast<double>(t(1, 1)), static_cast<double>(t(1, 2)),
static_cast<double>(t(2, 0)), static_cast<double>(t(2, 1)), static_cast<double>(t(2, 2)));
// Update ndt_pose
localizer_pose.x = t(0, 3);
localizer_pose.y = t(1, 3);
localizer_pose.z = t(2, 3);
mat_l.getRPY(localizer_pose.roll, localizer_pose.pitch, localizer_pose.yaw, 1);
tf::Matrix3x3 mat_b; // base_link
mat_b.setValue(static_cast<double>(t2(0, 0)), static_cast<double>(t2(0, 1)), static_cast<double>(t2(0, 2)),
static_cast<double>(t2(1, 0)), static_cast<double>(t2(1, 1)), static_cast<double>(t2(1, 2)),
static_cast<double>(t2(2, 0)), static_cast<double>(t2(2, 1)), static_cast<double>(t2(2, 2)));
// Update ndt_pose
ndt_pose.x = t2(0, 3);
ndt_pose.y = t2(1, 3);
ndt_pose.z = t2(2, 3);
mat_b.getRPY(ndt_pose.roll, ndt_pose.pitch, ndt_pose.yaw, 1);
// Compute the velocity
scan_duration = current_scan_time - previous_scan_time;
double secs = scan_duration.toSec();
double distance = sqrt((ndt_pose.x - previous_pose.x) * (ndt_pose.x - previous_pose.x) +
(ndt_pose.y - previous_pose.y) * (ndt_pose.y - previous_pose.y) +
(ndt_pose.z - previous_pose.z) * (ndt_pose.z - previous_pose.z));
predict_pose_error = sqrt((ndt_pose.x - predict_pose.x) * (ndt_pose.x - predict_pose.x) +
(ndt_pose.y - predict_pose.y) * (ndt_pose.y - predict_pose.y) +
(ndt_pose.z - predict_pose.z) * (ndt_pose.z - predict_pose.z));
current_velocity = distance / secs;
current_velocity_smooth = (current_velocity + previous_velocity + second_previous_velocity) / 3.0;
if(current_velocity_smooth < 0.2){
current_velocity_smooth = 0.0;
}
current_acceleration = (current_velocity - previous_velocity) / secs;
estimated_vel_mps.data = current_velocity;
estimated_vel_kmph.data = current_velocity * 3.6;
estimated_vel_mps_pub.publish(estimated_vel_mps);
estimated_vel_kmph_pub.publish(estimated_vel_kmph);
if(predict_pose_error <= PREDICT_POSE_THRESHOLD){
use_predict_pose = 0;
}else{
use_predict_pose = 1;
}
use_predict_pose = 0;
if(use_predict_pose == 0){
current_pose.x = ndt_pose.x;
current_pose.y = ndt_pose.y;
current_pose.z = ndt_pose.z;
current_pose.roll = ndt_pose.roll;
current_pose.pitch = ndt_pose.pitch;
current_pose.yaw = ndt_pose.yaw;
}else{
current_pose.x = predict_pose.x;
current_pose.y = predict_pose.y;
current_pose.z = predict_pose.z;
current_pose.roll = predict_pose.roll;
current_pose.pitch = predict_pose.pitch;
current_pose.yaw = predict_pose.yaw;
}
control_pose.roll = current_pose.roll;
control_pose.pitch = current_pose.pitch;
control_pose.yaw = current_pose.yaw - angle / 180.0 * M_PI;
double theta = control_pose.yaw;
control_pose.x = cos(theta) * (-control_shift_x) + sin(theta) * (-control_shift_y) + current_pose.x;
control_pose.y = -sin(theta) * (-control_shift_x) + cos(theta) * (-control_shift_y) + current_pose.y;
control_pose.z = current_pose.z - control_shift_z;
// Set values for publishing pose
predict_q.setRPY(predict_pose.roll, predict_pose.pitch, predict_pose.yaw);
predict_pose_msg.header.frame_id = "/map";
predict_pose_msg.header.stamp = current_scan_time;
predict_pose_msg.pose.position.x = predict_pose.x;
predict_pose_msg.pose.position.y = predict_pose.y;
predict_pose_msg.pose.position.z = predict_pose.z;
predict_pose_msg.pose.orientation.x = predict_q.x();
predict_pose_msg.pose.orientation.y = predict_q.y();
predict_pose_msg.pose.orientation.z = predict_q.z();
predict_pose_msg.pose.orientation.w = predict_q.w();
ndt_q.setRPY(ndt_pose.roll, ndt_pose.pitch, ndt_pose.yaw);
ndt_pose_msg.header.frame_id = "/map";
ndt_pose_msg.header.stamp = current_scan_time;
ndt_pose_msg.pose.position.x = ndt_pose.x;
ndt_pose_msg.pose.position.y = ndt_pose.y;
ndt_pose_msg.pose.position.z = ndt_pose.z;
ndt_pose_msg.pose.orientation.x = ndt_q.x();
ndt_pose_msg.pose.orientation.y = ndt_q.y();
ndt_pose_msg.pose.orientation.z = ndt_q.z();
ndt_pose_msg.pose.orientation.w = ndt_q.w();
current_q.setRPY(current_pose.roll, current_pose.pitch, current_pose.yaw);
current_pose_msg.header.frame_id = "/map";
current_pose_msg.header.stamp = current_scan_time;
current_pose_msg.pose.position.x = current_pose.x;
current_pose_msg.pose.position.y = current_pose.y;
current_pose_msg.pose.position.z = current_pose.z;
current_pose_msg.pose.orientation.x = current_q.x();
current_pose_msg.pose.orientation.y = current_q.y();
current_pose_msg.pose.orientation.z = current_q.z();
current_pose_msg.pose.orientation.w = current_q.w();
control_q.setRPY(control_pose.roll, control_pose.pitch, control_pose.yaw);
control_pose_msg.header.frame_id = "/map";
control_pose_msg.header.stamp = current_scan_time;
control_pose_msg.pose.position.x = control_pose.x;
control_pose_msg.pose.position.y = control_pose.y;
control_pose_msg.pose.position.z = control_pose.z;
control_pose_msg.pose.orientation.x = control_q.x();
control_pose_msg.pose.orientation.y = control_q.y();
control_pose_msg.pose.orientation.z = control_q.z();
control_pose_msg.pose.orientation.w = control_q.w();
localizer_q.setRPY(localizer_pose.roll, localizer_pose.pitch, localizer_pose.yaw);
localizer_pose_msg.header.frame_id = "/map";
localizer_pose_msg.header.stamp = current_scan_time;
localizer_pose_msg.pose.position.x = localizer_pose.x;
localizer_pose_msg.pose.position.y = localizer_pose.y;
localizer_pose_msg.pose.position.z = localizer_pose.z;
localizer_pose_msg.pose.orientation.x = localizer_q.x();
localizer_pose_msg.pose.orientation.y = localizer_q.y();
localizer_pose_msg.pose.orientation.z = localizer_q.z();
localizer_pose_msg.pose.orientation.w = localizer_q.w();
predict_pose_pub.publish(predict_pose_msg);
ndt_pose_pub.publish(ndt_pose_msg);
current_pose_pub.publish(current_pose_msg);
control_pose_pub.publish(control_pose_msg);
localizer_pose_pub.publish(localizer_pose_msg);
// Send TF "/base_link" to "/map"
transform.setOrigin(tf::Vector3(current_pose.x, current_pose.y, current_pose.z));
transform.setRotation(current_q);
br.sendTransform(tf::StampedTransform(transform, current_scan_time, "/map", "/base_link"));
matching_end = std::chrono::system_clock::now();
exe_time = std::chrono::duration_cast<std::chrono::microseconds>(matching_end-matching_start).count()/1000.0;
time_ndt_matching.data = exe_time;
time_ndt_matching_pub.publish(time_ndt_matching);
// Set values for /estimate_twist
angular_velocity = (current_pose.yaw - previous_pose.yaw) / secs;
estimate_twist_msg.header.stamp = current_scan_time;
estimate_twist_msg.twist.linear.x = current_velocity;
estimate_twist_msg.twist.linear.y = 0.0;
estimate_twist_msg.twist.linear.z = 0.0;
estimate_twist_msg.twist.angular.x = 0.0;
estimate_twist_msg.twist.angular.y = 0.0;
estimate_twist_msg.twist.angular.z = angular_velocity;
estimate_twist_pub.publish(estimate_twist_msg);
geometry_msgs::Vector3Stamped estimate_vel_msg;
estimate_vel_msg.header.stamp = current_scan_time;
estimate_vel_msg.vector.x = current_velocity;
estimated_vel_pub.publish(estimate_vel_msg);
// Set values for /ndt_stat
ndt_stat_msg.header.stamp = current_scan_time;
ndt_stat_msg.exe_time = time_ndt_matching.data;
ndt_stat_msg.iteration = iteration;
ndt_stat_msg.score = score;
ndt_stat_msg.velocity = current_velocity;
ndt_stat_msg.acceleration = current_acceleration;
ndt_stat_msg.use_predict_pose = 0;
ndt_stat_pub.publish(ndt_stat_msg);
/* Compute NDT_Reliability */
ndt_reliability.data = Wa * (exe_time/100.0) * 100.0 + Wb * (iteration/10.0) * 100.0 + Wc * ((2.0-trans_probability)/2.0) * 100.0;
ndt_reliability_pub.publish(ndt_reliability);
#ifdef OUTPUT
// Output log.csv
std::ofstream ofs_log("log.csv", std::ios::app);
if (ofs_log == NULL) {
std::cerr << "Could not open 'log.csv'." << std::endl;
exit(1);
}
ofs_log << input->header.seq << ","
<< step_size << ","
<< trans_eps << ","
<< voxel_leaf_size << ","
<< current_pose.x << ","
<< current_pose.y << ","
<< current_pose.z << ","
<< current_pose.roll << ","
<< current_pose.pitch << ","
<< current_pose.yaw << ","
<< predict_pose.x << ","
<< predict_pose.y << ","
<< predict_pose.z << ","
<< predict_pose.roll << ","
<< predict_pose.pitch << ","
<< predict_pose.yaw << ","
<< current_pose.x - predict_pose.x << ","
<< current_pose.y - predict_pose.y << ","
<< current_pose.z - predict_pose.z << ","
<< current_pose.roll - predict_pose.roll << ","
<< current_pose.pitch - predict_pose.pitch << ","
<< current_pose.yaw - predict_pose.yaw << ","
<< predict_pose_error << ","
<< iteration << ","
<< score << ","
<< trans_probability << ","
<< ndt_reliability.data << ","
<< current_velocity << ","
<< current_velocity_smooth << ","
<< current_acceleration << ","
<< angular_velocity << ","
<< time_ndt_matching.data << ","
<< std::endl;
#endif
std::cout << "-----------------------------------------------------------------" << std::endl;
std::cout << "Sequence: " << input->header.seq << std::endl;
std::cout << "Timestamp: " << input->header.stamp << std::endl;
std::cout << "Frame ID: " << input->header.frame_id << std::endl;
std::cout << "Number of Scan Points: " << scan_ptr->size() << " points." << std::endl;
std::cout << "Number of Filtered Scan Points: " << filtered_scan_ptr->size() << " points." << std::endl;
std::cout << "Leaf Size: " << voxel_leaf_size << std::endl;
std::cout << "NDT has converged: " << ndt.hasConverged() << std::endl;
std::cout << "Fitness Score: " << ndt.getFitnessScore() << std::endl;
std::cout << "Transformation Probability: " << ndt.getTransformationProbability() << std::endl;
std::cout << "Execution Time: " << exe_time << " ms." << std::endl;
std::cout << "Number of Iterations: " << ndt.getFinalNumIteration() << std::endl;
std::cout << "NDT Reliability: " << ndt_reliability.data << std::endl;
std::cout << "(x,y,z,roll,pitch,yaw): " << std::endl;
std::cout << "(" << current_pose.x << ", " << current_pose.y << ", " << current_pose.z
<< ", " << current_pose.roll << ", " << current_pose.pitch << ", " << current_pose.yaw << ")" << std::endl;
std::cout << "Transformation Matrix: " << std::endl;
std::cout << t << std::endl;
std::cout << "-----------------------------------------------------------------" << std::endl;
// Update previous_***
offset_x = current_pose.x - previous_pose.x;
offset_y = current_pose.y - previous_pose.y;
offset_z = current_pose.z - previous_pose.z;
offset_yaw = current_pose.yaw - previous_pose.yaw;
previous_pose.x = current_pose.x;
previous_pose.y = current_pose.y;
previous_pose.z = current_pose.z;
previous_pose.roll = current_pose.roll;
previous_pose.pitch = current_pose.pitch;
previous_pose.yaw = current_pose.yaw;
previous_scan_time.sec = current_scan_time.sec;
previous_scan_time.nsec = current_scan_time.nsec;
second_previous_velocity = previous_velocity;
previous_velocity = current_velocity;
previous_acceleration = current_acceleration;
previous_estimated_vel_kmph.data = estimated_vel_kmph.data;
}
}
static void points_callback(const sensor_msgs::PointCloud2::ConstPtr& input)
{
if (map_loaded == 1 && init_pos_set == 1)
{
matching_start = std::chrono::system_clock::now();
static tf::TransformBroadcaster br;
tf::Transform transform;
tf::Quaternion predict_q, icp_q, current_q, localizer_q;
pcl::PointXYZ p;
pcl::PointCloud<pcl::PointXYZ> filtered_scan;
current_scan_time = input->header.stamp;
pcl::fromROSMsg(*input, filtered_scan);
pcl::PointCloud<pcl::PointXYZ>::Ptr filtered_scan_ptr(new pcl::PointCloud<pcl::PointXYZ>(filtered_scan));
int scan_points_num = filtered_scan_ptr->size();
Eigen::Matrix4f t(Eigen::Matrix4f::Identity()); // base_link
Eigen::Matrix4f t2(Eigen::Matrix4f::Identity()); // localizer
std::chrono::time_point<std::chrono::system_clock> align_start, align_end, getFitnessScore_start, getFitnessScore_end;
static double align_time, getFitnessScore_time = 0.0;
// Setting point cloud to be aligned.
// ndt.setInputSource(filtered_scan_ptr);
icp.setInputSource(filtered_scan_ptr);
// Guess the initial gross estimation of the transformation
predict_pose.x = previous_pose.x + offset_x;
predict_pose.y = previous_pose.y + offset_y;
predict_pose.z = previous_pose.z + offset_z;
predict_pose.roll = previous_pose.roll;
predict_pose.pitch = previous_pose.pitch;
predict_pose.yaw = previous_pose.yaw + offset_yaw;
Eigen::Translation3f init_translation(predict_pose.x, predict_pose.y, predict_pose.z);
Eigen::AngleAxisf init_rotation_x(predict_pose.roll, Eigen::Vector3f::UnitX());
Eigen::AngleAxisf init_rotation_y(predict_pose.pitch, Eigen::Vector3f::UnitY());
Eigen::AngleAxisf init_rotation_z(predict_pose.yaw, Eigen::Vector3f::UnitZ());
Eigen::Matrix4f init_guess = (init_translation * init_rotation_z * init_rotation_y * init_rotation_x) * tf_btol;
pcl::PointCloud<pcl::PointXYZ>::Ptr output_cloud(new pcl::PointCloud<pcl::PointXYZ>);
// ndt.align(*output_cloud, init_guess);
icp.setMaximumIterations(maximum_iterations);
icp.setTransformationEpsilon(transformation_epsilon);
icp.setMaxCorrespondenceDistance(max_correspondence_distance);
icp.setEuclideanFitnessEpsilon(euclidean_fitness_epsilon);
icp.setRANSACOutlierRejectionThreshold(ransac_outlier_rejection_threshold);
align_start = std::chrono::system_clock::now();
icp.align(*output_cloud, init_guess);
align_end = std::chrono::system_clock::now();
align_time = std::chrono::duration_cast<std::chrono::microseconds>(align_end - align_start).count() / 1000.0;
// t = ndt.getFinalTransformation(); // localizer
t = icp.getFinalTransformation(); // localizer
t2 = t * tf_ltob; // base_link
// iteration = ndt.getFinalNumIteration();
// score = ndt.getFitnessScore();
getFitnessScore_start = std::chrono::system_clock::now();
fitness_score = icp.getFitnessScore();
getFitnessScore_end = std::chrono::system_clock::now();
getFitnessScore_time = std::chrono::duration_cast<std::chrono::microseconds>(getFitnessScore_end - getFitnessScore_start).count() / 1000.0;
// trans_probability = ndt.getTransformationProbability();
tf::Matrix3x3 mat_l; // localizer
mat_l.setValue(static_cast<double>(t(0, 0)), static_cast<double>(t(0, 1)), static_cast<double>(t(0, 2)),
static_cast<double>(t(1, 0)), static_cast<double>(t(1, 1)), static_cast<double>(t(1, 2)),
static_cast<double>(t(2, 0)), static_cast<double>(t(2, 1)), static_cast<double>(t(2, 2)));
// Update localizer_pose
localizer_pose.x = t(0, 3);
localizer_pose.y = t(1, 3);
localizer_pose.z = t(2, 3);
mat_l.getRPY(localizer_pose.roll, localizer_pose.pitch, localizer_pose.yaw, 1);
tf::Matrix3x3 mat_b; // base_link
mat_b.setValue(static_cast<double>(t2(0, 0)), static_cast<double>(t2(0, 1)), static_cast<double>(t2(0, 2)),
static_cast<double>(t2(1, 0)), static_cast<double>(t2(1, 1)), static_cast<double>(t2(1, 2)),
static_cast<double>(t2(2, 0)), static_cast<double>(t2(2, 1)), static_cast<double>(t2(2, 2)));
// Update ndt_pose
icp_pose.x = t2(0, 3);
icp_pose.y = t2(1, 3);
icp_pose.z = t2(2, 3);
mat_b.getRPY(icp_pose.roll, icp_pose.pitch, icp_pose.yaw, 1);
// Calculate the difference between ndt_pose and predict_pose
predict_pose_error = sqrt((icp_pose.x - predict_pose.x) * (icp_pose.x - predict_pose.x) +
(icp_pose.y - predict_pose.y) * (icp_pose.y - predict_pose.y) +
(icp_pose.z - predict_pose.z) * (icp_pose.z - predict_pose.z));
if (predict_pose_error <= PREDICT_POSE_THRESHOLD)
{
use_predict_pose = 0;
}
else
{
use_predict_pose = 1;
}
use_predict_pose = 0;
if (use_predict_pose == 0)
{
current_pose.x = icp_pose.x;
current_pose.y = icp_pose.y;
current_pose.z = icp_pose.z;
current_pose.roll = icp_pose.roll;
current_pose.pitch = icp_pose.pitch;
current_pose.yaw = icp_pose.yaw;
}
else
{
current_pose.x = predict_pose.x;
current_pose.y = predict_pose.y;
current_pose.z = predict_pose.z;
current_pose.roll = predict_pose.roll;
current_pose.pitch = predict_pose.pitch;
current_pose.yaw = predict_pose.yaw;
}
// Compute the velocity and acceleration
scan_duration = current_scan_time - previous_scan_time;
double secs = scan_duration.toSec();
diff_x = current_pose.x - previous_pose.x;
diff_y = current_pose.y - previous_pose.y;
diff_z = current_pose.z - previous_pose.z;
diff_yaw = current_pose.yaw - previous_pose.yaw;
diff = sqrt(diff_x * diff_x + diff_y * diff_y + diff_z * diff_z);
current_velocity = diff / secs;
current_velocity_x = diff_x / secs;
current_velocity_y = diff_y / secs;
current_velocity_z = diff_z / secs;
angular_velocity = diff_yaw / secs;
current_velocity_smooth = (current_velocity + previous_velocity + previous_previous_velocity) / 3.0;
if (current_velocity_smooth < 0.2)
{
current_velocity_smooth = 0.0;
}
current_accel = (current_velocity - previous_velocity) / secs;
current_accel_x = (current_velocity_x - previous_velocity_x) / secs;
current_accel_y = (current_velocity_y - previous_velocity_y) / secs;
current_accel_z = (current_velocity_z - previous_velocity_z) / secs;
estimated_vel_mps.data = current_velocity;
estimated_vel_kmph.data = current_velocity * 3.6;
estimated_vel_mps_pub.publish(estimated_vel_mps);
estimated_vel_kmph_pub.publish(estimated_vel_kmph);
// Set values for publishing pose
predict_q.setRPY(predict_pose.roll, predict_pose.pitch, predict_pose.yaw);
predict_pose_msg.header.frame_id = "/map";
predict_pose_msg.header.stamp = current_scan_time;
predict_pose_msg.pose.position.x = predict_pose.x;
predict_pose_msg.pose.position.y = predict_pose.y;
predict_pose_msg.pose.position.z = predict_pose.z;
predict_pose_msg.pose.orientation.x = predict_q.x();
predict_pose_msg.pose.orientation.y = predict_q.y();
predict_pose_msg.pose.orientation.z = predict_q.z();
predict_pose_msg.pose.orientation.w = predict_q.w();
icp_q.setRPY(icp_pose.roll, icp_pose.pitch, icp_pose.yaw);
icp_pose_msg.header.frame_id = "/map";
icp_pose_msg.header.stamp = current_scan_time;
icp_pose_msg.pose.position.x = icp_pose.x;
icp_pose_msg.pose.position.y = icp_pose.y;
icp_pose_msg.pose.position.z = icp_pose.z;
icp_pose_msg.pose.orientation.x = icp_q.x();
icp_pose_msg.pose.orientation.y = icp_q.y();
icp_pose_msg.pose.orientation.z = icp_q.z();
icp_pose_msg.pose.orientation.w = icp_q.w();
current_q.setRPY(current_pose.roll, current_pose.pitch, current_pose.yaw);
current_pose_msg.header.frame_id = "/map";
current_pose_msg.header.stamp = current_scan_time;
current_pose_msg.pose.position.x = current_pose.x;
current_pose_msg.pose.position.y = current_pose.y;
current_pose_msg.pose.position.z = current_pose.z;
current_pose_msg.pose.orientation.x = current_q.x();
current_pose_msg.pose.orientation.y = current_q.y();
current_pose_msg.pose.orientation.z = current_q.z();
current_pose_msg.pose.orientation.w = current_q.w();
localizer_q.setRPY(localizer_pose.roll, localizer_pose.pitch, localizer_pose.yaw);
localizer_pose_msg.header.frame_id = "/map";
localizer_pose_msg.header.stamp = current_scan_time;
localizer_pose_msg.pose.position.x = localizer_pose.x;
localizer_pose_msg.pose.position.y = localizer_pose.y;
localizer_pose_msg.pose.position.z = localizer_pose.z;
localizer_pose_msg.pose.orientation.x = localizer_q.x();
localizer_pose_msg.pose.orientation.y = localizer_q.y();
localizer_pose_msg.pose.orientation.z = localizer_q.z();
localizer_pose_msg.pose.orientation.w = localizer_q.w();
predict_pose_pub.publish(predict_pose_msg);
icp_pose_pub.publish(icp_pose_msg);
current_pose_pub.publish(current_pose_msg);
localizer_pose_pub.publish(localizer_pose_msg);
// Send TF "/base_link" to "/map"
transform.setOrigin(tf::Vector3(current_pose.x, current_pose.y, current_pose.z));
transform.setRotation(current_q);
br.sendTransform(tf::StampedTransform(transform, current_scan_time, "/map", "/base_link"));
matching_end = std::chrono::system_clock::now();
exe_time = std::chrono::duration_cast<std::chrono::microseconds>(matching_end - matching_start).count() / 1000.0;
time_icp_matching.data = exe_time;
time_icp_matching_pub.publish(time_icp_matching);
// Set values for /estimate_twist
estimate_twist_msg.header.stamp = current_scan_time;
estimate_twist_msg.twist.linear.x = current_velocity;
estimate_twist_msg.twist.linear.y = 0.0;
estimate_twist_msg.twist.linear.z = 0.0;
estimate_twist_msg.twist.angular.x = 0.0;
estimate_twist_msg.twist.angular.y = 0.0;
estimate_twist_msg.twist.angular.z = angular_velocity;
estimate_twist_pub.publish(estimate_twist_msg);
geometry_msgs::Vector3Stamped estimate_vel_msg;
estimate_vel_msg.header.stamp = current_scan_time;
estimate_vel_msg.vector.x = current_velocity;
estimated_vel_pub.publish(estimate_vel_msg);
// Set values for /icp_stat
icp_stat_msg.header.stamp = current_scan_time;
icp_stat_msg.exe_time = time_icp_matching.data;
// icp_stat_msg.iteration = iteration;
icp_stat_msg.score = fitness_score;
icp_stat_msg.velocity = current_velocity;
icp_stat_msg.acceleration = current_accel;
icp_stat_msg.use_predict_pose = 0;
icp_stat_pub.publish(icp_stat_msg);
// Write log
if (!ofs)
{
std::cerr << "Could not open " << filename << "." << std::endl;
exit(1);
}
ofs << input->header.seq << "," << scan_points_num << ","
<< current_pose.x << "," << current_pose.y << "," << current_pose.z << "," << current_pose.roll << ","
<< current_pose.pitch << "," << current_pose.yaw << "," << predict_pose.x << "," << predict_pose.y << ","
<< predict_pose.z << "," << predict_pose.roll << "," << predict_pose.pitch << "," << predict_pose.yaw << ","
<< current_pose.x - predict_pose.x << "," << current_pose.y - predict_pose.y << ","
<< current_pose.z - predict_pose.z << "," << current_pose.roll - predict_pose.roll << ","
<< current_pose.pitch - predict_pose.pitch << "," << current_pose.yaw - predict_pose.yaw << ","
<< predict_pose_error << "," << "," << fitness_score << ","
<< "," << current_velocity << "," << current_velocity_smooth << "," << current_accel
<< "," << angular_velocity << "," << exe_time << "," << align_time << "," << getFitnessScore_time << std::endl;
std::cout << "-----------------------------------------------------------------" << std::endl;
std::cout << "Sequence: " << input->header.seq << std::endl;
std::cout << "Timestamp: " << input->header.stamp << std::endl;
std::cout << "Frame ID: " << input->header.frame_id << std::endl;
// std::cout << "Number of Scan Points: " << scan_ptr->size() << " points." << std::endl;
std::cout << "Number of Filtered Scan Points: " << scan_points_num << " points." << std::endl;
std::cout << "ICP has converged: " << icp.hasConverged() << std::endl;
std::cout << "Fitness Score: " << fitness_score << std::endl;
// std::cout << "Transformation Probability: " << ndt.getTransformationProbability() << std::endl;
std::cout << "Execution Time: " << exe_time << " ms." << std::endl;
// std::cout << "Number of Iterations: " << ndt.getFinalNumIteration() << std::endl;
// std::cout << "NDT Reliability: " << ndt_reliability.data << std::endl;
std::cout << "(x,y,z,roll,pitch,yaw): " << std::endl;
std::cout << "(" << current_pose.x << ", " << current_pose.y << ", " << current_pose.z << ", " << current_pose.roll
<< ", " << current_pose.pitch << ", " << current_pose.yaw << ")" << std::endl;
std::cout << "Transformation Matrix: " << std::endl;
std::cout << t << std::endl;
std::cout << "-----------------------------------------------------------------" << std::endl;
// Update offset
if (_offset == "linear")
{
offset_x = diff_x;
offset_y = diff_y;
offset_z = diff_z;
offset_yaw = diff_yaw;
}
else if (_offset == "quadratic")
{
offset_x = (current_velocity_x + current_accel_x * secs) * secs;
offset_y = (current_velocity_y + current_accel_y * secs) * secs;
offset_z = diff_z;
offset_yaw = diff_yaw;
}
else if (_offset == "zero")
{
offset_x = 0.0;
offset_y = 0.0;
offset_z = 0.0;
offset_yaw = 0.0;
}
// Update previous_***
previous_pose.x = current_pose.x;
previous_pose.y = current_pose.y;
previous_pose.z = current_pose.z;
previous_pose.roll = current_pose.roll;
previous_pose.pitch = current_pose.pitch;
previous_pose.yaw = current_pose.yaw;
previous_scan_time.sec = current_scan_time.sec;
previous_scan_time.nsec = current_scan_time.nsec;
previous_previous_velocity = previous_velocity;
previous_velocity = current_velocity;
previous_velocity_x = current_velocity_x;
previous_velocity_y = current_velocity_y;
previous_velocity_z = current_velocity_z;
previous_accel = current_accel;
previous_estimated_vel_kmph.data = estimated_vel_kmph.data;
}
}
static void scan_callback(const sensor_msgs::PointCloud2::ConstPtr& input)
{
pcl::PointXYZI sampled_p;
pcl::PointCloud<pcl::PointXYZI> scan;
pcl::fromROSMsg(*input, scan);
if(measurement_range != MAX_MEASUREMENT_RANGE){
scan = removePointsByRange(scan, 0, measurement_range);
}
pcl::PointCloud<pcl::PointXYZI>::Ptr filtered_scan_ptr(new pcl::PointCloud<pcl::PointXYZI>());
filtered_scan_ptr->header = scan.header;
int points_num = scan.size();
double w_total = 0.0;
double w_step = 0.0;
int m = 0;
double c = 0.0;
filter_start = std::chrono::system_clock::now();
for (pcl::PointCloud<pcl::PointXYZI>::const_iterator item = scan.begin(); item != scan.end(); item++)
{
w_total += item->x * item->x + item->y * item->y + item->z * item->z;
}
w_step = w_total / sample_num;
pcl::PointCloud<pcl::PointXYZI>::const_iterator item = scan.begin();
for (m = 0; m < sample_num; m++)
{
while (m * w_step > c)
{
item++;
c += item->x * item->x + item->y * item->y + item->z * item->z;
}
sampled_p.x = item->x;
sampled_p.y = item->y;
sampled_p.z = item->z;
sampled_p.intensity = item->intensity;
filtered_scan_ptr->points.push_back(sampled_p);
}
sensor_msgs::PointCloud2 filtered_msg;
pcl::toROSMsg(*filtered_scan_ptr, filtered_msg);
filter_end = std::chrono::system_clock::now();
filtered_msg.header = input->header;
filtered_points_pub.publish(filtered_msg);
points_downsampler_info_msg.header = input->header;
points_downsampler_info_msg.filter_name = "distance_filter";
points_downsampler_info_msg.measurement_range = measurement_range;
points_downsampler_info_msg.original_points_size = points_num;
points_downsampler_info_msg.filtered_points_size = std::min((int)filtered_scan_ptr->size(), points_num);
points_downsampler_info_msg.original_ring_size = 0;
points_downsampler_info_msg.original_ring_size = 0;
points_downsampler_info_msg.exe_time = std::chrono::duration_cast<std::chrono::microseconds>(filter_end - filter_start).count() / 1000.0;
points_downsampler_info_pub.publish(points_downsampler_info_msg);
if(_output_log == true){
if(!ofs){
std::cerr << "Could not open " << filename << "." << std::endl;
exit(1);
}
ofs << points_downsampler_info_msg.header.seq << ","
<< points_downsampler_info_msg.header.stamp << ","
<< points_downsampler_info_msg.header.frame_id << ","
<< points_downsampler_info_msg.filter_name << ","
<< points_downsampler_info_msg.original_points_size << ","
<< points_downsampler_info_msg.filtered_points_size << ","
<< points_downsampler_info_msg.original_ring_size << ","
<< points_downsampler_info_msg.filtered_ring_size << ","
<< points_downsampler_info_msg.exe_time << ","
<< std::endl;
}
}
