-
Notifications
You must be signed in to change notification settings - Fork 292
/
Copy pathOctomapServer.cpp
1287 lines (1042 loc) · 46 KB
/
OctomapServer.cpp
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
901
902
903
904
905
906
907
908
909
910
911
912
913
914
915
916
917
918
919
920
921
922
923
924
925
926
927
928
929
930
931
932
933
934
935
936
937
938
939
940
941
942
943
944
945
946
947
948
949
950
951
952
953
954
955
956
957
958
959
960
961
962
963
964
965
966
967
968
969
970
971
972
973
974
975
976
977
978
979
980
981
982
983
984
985
986
987
988
989
990
991
992
993
994
995
996
997
998
999
1000
/*
* Copyright (c) 2010-2013, A. Hornung, University of Freiburg
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* * Neither the name of the University of Freiburg nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
#include <octomap_server/OctomapServer.h>
using namespace octomap;
using octomap_msgs::Octomap;
bool is_equal (double a, double b, double epsilon = 1.0e-7)
{
return std::abs(a - b) < epsilon;
}
namespace octomap_server{
OctomapServer::OctomapServer(ros::NodeHandle private_nh_)
: m_nh(),
m_pointCloudSub(NULL),
m_tfPointCloudSub(NULL),
m_reconfigureServer(m_config_mutex),
m_octree(NULL),
m_maxRange(-1.0),
m_worldFrameId("/map"), m_baseFrameId("base_footprint"),
m_useHeightMap(true),
m_useColoredMap(false),
m_colorFactor(0.8),
m_latchedTopics(true),
m_publishFreeSpace(false),
m_res(0.05),
m_treeDepth(0),
m_maxTreeDepth(0),
m_pointcloudMinX(-std::numeric_limits<double>::max()),
m_pointcloudMaxX(std::numeric_limits<double>::max()),
m_pointcloudMinY(-std::numeric_limits<double>::max()),
m_pointcloudMaxY(std::numeric_limits<double>::max()),
m_pointcloudMinZ(-std::numeric_limits<double>::max()),
m_pointcloudMaxZ(std::numeric_limits<double>::max()),
m_occupancyMinZ(-std::numeric_limits<double>::max()),
m_occupancyMaxZ(std::numeric_limits<double>::max()),
m_minSizeX(0.0), m_minSizeY(0.0),
m_filterSpeckles(false), m_filterGroundPlane(false),
m_groundFilterDistance(0.04), m_groundFilterAngle(0.15), m_groundFilterPlaneDistance(0.07),
m_compressMap(true),
m_incrementalUpdate(false),
m_initConfig(true)
{
double probHit, probMiss, thresMin, thresMax;
ros::NodeHandle private_nh(private_nh_);
private_nh.param("frame_id", m_worldFrameId, m_worldFrameId);
private_nh.param("base_frame_id", m_baseFrameId, m_baseFrameId);
private_nh.param("height_map", m_useHeightMap, m_useHeightMap);
private_nh.param("colored_map", m_useColoredMap, m_useColoredMap);
private_nh.param("color_factor", m_colorFactor, m_colorFactor);
private_nh.param("pointcloud_min_x", m_pointcloudMinX,m_pointcloudMinX);
private_nh.param("pointcloud_max_x", m_pointcloudMaxX,m_pointcloudMaxX);
private_nh.param("pointcloud_min_y", m_pointcloudMinY,m_pointcloudMinY);
private_nh.param("pointcloud_max_y", m_pointcloudMaxY,m_pointcloudMaxY);
private_nh.param("pointcloud_min_z", m_pointcloudMinZ,m_pointcloudMinZ);
private_nh.param("pointcloud_max_z", m_pointcloudMaxZ,m_pointcloudMaxZ);
private_nh.param("occupancy_min_z", m_occupancyMinZ,m_occupancyMinZ);
private_nh.param("occupancy_max_z", m_occupancyMaxZ,m_occupancyMaxZ);
private_nh.param("min_x_size", m_minSizeX,m_minSizeX);
private_nh.param("min_y_size", m_minSizeY,m_minSizeY);
private_nh.param("filter_speckles", m_filterSpeckles, m_filterSpeckles);
private_nh.param("filter_ground", m_filterGroundPlane, m_filterGroundPlane);
// distance of points from plane for RANSAC
private_nh.param("ground_filter/distance", m_groundFilterDistance, m_groundFilterDistance);
// angular derivation of found plane:
private_nh.param("ground_filter/angle", m_groundFilterAngle, m_groundFilterAngle);
// distance of found plane from z=0 to be detected as ground (e.g. to exclude tables)
private_nh.param("ground_filter/plane_distance", m_groundFilterPlaneDistance, m_groundFilterPlaneDistance);
private_nh.param("sensor_model/max_range", m_maxRange, m_maxRange);
private_nh.param("resolution", m_res, m_res);
private_nh.param("sensor_model/hit", probHit, 0.7);
private_nh.param("sensor_model/miss", probMiss, 0.4);
private_nh.param("sensor_model/min", thresMin, 0.12);
private_nh.param("sensor_model/max", thresMax, 0.97);
private_nh.param("compress_map", m_compressMap, m_compressMap);
private_nh.param("incremental_2D_projection", m_incrementalUpdate, m_incrementalUpdate);
if (m_filterGroundPlane && (m_pointcloudMinZ > 0.0 || m_pointcloudMaxZ < 0.0)){
ROS_WARN_STREAM("You enabled ground filtering but incoming pointclouds will be pre-filtered in ["
<<m_pointcloudMinZ <<", "<< m_pointcloudMaxZ << "], excluding the ground level z=0. "
<< "This will not work.");
}
if (m_useHeightMap && m_useColoredMap) {
ROS_WARN_STREAM("You enabled both height map and RGB color registration. This is contradictory. Defaulting to height map.");
m_useColoredMap = false;
}
if (m_useColoredMap) {
#ifdef COLOR_OCTOMAP_SERVER
ROS_INFO_STREAM("Using RGB color registration (if information available)");
#else
ROS_ERROR_STREAM("Colored map requested in launch file - node not running/compiled to support colors, please define COLOR_OCTOMAP_SERVER and recompile or launch the octomap_color_server node");
#endif
}
// initialize octomap object & params
m_octree = new OcTreeT(m_res);
m_octree->setProbHit(probHit);
m_octree->setProbMiss(probMiss);
m_octree->setClampingThresMin(thresMin);
m_octree->setClampingThresMax(thresMax);
m_treeDepth = m_octree->getTreeDepth();
m_maxTreeDepth = m_treeDepth;
m_gridmap.info.resolution = m_res;
double r, g, b, a;
private_nh.param("color/r", r, 0.0);
private_nh.param("color/g", g, 0.0);
private_nh.param("color/b", b, 1.0);
private_nh.param("color/a", a, 1.0);
m_color.r = r;
m_color.g = g;
m_color.b = b;
m_color.a = a;
private_nh.param("color_free/r", r, 0.0);
private_nh.param("color_free/g", g, 1.0);
private_nh.param("color_free/b", b, 0.0);
private_nh.param("color_free/a", a, 1.0);
m_colorFree.r = r;
m_colorFree.g = g;
m_colorFree.b = b;
m_colorFree.a = a;
private_nh.param("publish_free_space", m_publishFreeSpace, m_publishFreeSpace);
private_nh.param("latch", m_latchedTopics, m_latchedTopics);
if (m_latchedTopics){
ROS_INFO("Publishing latched (single publish will take longer, all topics are prepared)");
} else
ROS_INFO("Publishing non-latched (topics are only prepared as needed, will only be re-published on map change");
m_markerPub = m_nh.advertise<visualization_msgs::MarkerArray>("occupied_cells_vis_array", 1, m_latchedTopics);
m_binaryMapPub = m_nh.advertise<Octomap>("octomap_binary", 1, m_latchedTopics);
m_fullMapPub = m_nh.advertise<Octomap>("octomap_full", 1, m_latchedTopics);
m_pointCloudPub = m_nh.advertise<sensor_msgs::PointCloud2>("octomap_point_cloud_centers", 1, m_latchedTopics);
m_mapPub = m_nh.advertise<nav_msgs::OccupancyGrid>("projected_map", 5, m_latchedTopics);
m_fmarkerPub = m_nh.advertise<visualization_msgs::MarkerArray>("free_cells_vis_array", 1, m_latchedTopics);
m_pointCloudSub = new message_filters::Subscriber<sensor_msgs::PointCloud2> (m_nh, "cloud_in", 5);
m_tfPointCloudSub = new tf::MessageFilter<sensor_msgs::PointCloud2> (*m_pointCloudSub, m_tfListener, m_worldFrameId, 5);
m_tfPointCloudSub->registerCallback(boost::bind(&OctomapServer::insertCloudCallback, this, _1));
m_octomapBinaryService = m_nh.advertiseService("octomap_binary", &OctomapServer::octomapBinarySrv, this);
m_octomapFullService = m_nh.advertiseService("octomap_full", &OctomapServer::octomapFullSrv, this);
m_clearBBXService = private_nh.advertiseService("clear_bbx", &OctomapServer::clearBBXSrv, this);
m_resetService = private_nh.advertiseService("reset", &OctomapServer::resetSrv, this);
dynamic_reconfigure::Server<OctomapServerConfig>::CallbackType f;
f = boost::bind(&OctomapServer::reconfigureCallback, this, _1, _2);
m_reconfigureServer.setCallback(f);
private_nh.createTimer(
ros::Duration(1),
&OctomapServer::updateInnerOccupancy,
this,
/*oneshot=*/false);
}
OctomapServer::~OctomapServer(){
if (m_tfPointCloudSub){
delete m_tfPointCloudSub;
m_tfPointCloudSub = NULL;
}
if (m_pointCloudSub){
delete m_pointCloudSub;
m_pointCloudSub = NULL;
}
if (m_octree){
delete m_octree;
m_octree = NULL;
}
}
bool OctomapServer::openFile(const std::string& filename){
if (filename.length() <= 3)
return false;
std::string suffix = filename.substr(filename.length()-3, 3);
if (suffix== ".bt"){
if (!m_octree->readBinary(filename)){
return false;
}
} else if (suffix == ".ot"){
AbstractOcTree* tree = AbstractOcTree::read(filename);
if (!tree){
return false;
}
if (m_octree){
delete m_octree;
m_octree = NULL;
}
m_octree = dynamic_cast<OcTreeT*>(tree);
if (!m_octree){
ROS_ERROR("Could not read OcTree in file, currently there are no other types supported in .ot");
return false;
}
} else{
return false;
}
ROS_INFO("Octomap file %s loaded (%zu nodes).", filename.c_str(),m_octree->size());
m_treeDepth = m_octree->getTreeDepth();
m_maxTreeDepth = m_treeDepth;
m_res = m_octree->getResolution();
m_gridmap.info.resolution = m_res;
double minX, minY, minZ;
double maxX, maxY, maxZ;
m_octree->getMetricMin(minX, minY, minZ);
m_octree->getMetricMax(maxX, maxY, maxZ);
m_updateBBXMin[0] = m_octree->coordToKey(minX);
m_updateBBXMin[1] = m_octree->coordToKey(minY);
m_updateBBXMin[2] = m_octree->coordToKey(minZ);
m_updateBBXMax[0] = m_octree->coordToKey(maxX);
m_updateBBXMax[1] = m_octree->coordToKey(maxY);
m_updateBBXMax[2] = m_octree->coordToKey(maxZ);
publishAll();
return true;
}
void OctomapServer::insertCloudCallback(const sensor_msgs::PointCloud2::ConstPtr& cloud){
ros::WallTime startTime = ros::WallTime::now();
//
// ground filtering in base frame
//
PCLPointCloud pc; // input cloud for filtering and ground-detection
pcl::fromROSMsg(*cloud, pc);
tf::StampedTransform sensorToWorldTf;
try {
m_tfListener.lookupTransform(m_worldFrameId, cloud->header.frame_id, cloud->header.stamp, sensorToWorldTf);
} catch(tf::TransformException& ex){
ROS_ERROR_STREAM( "Transform error of sensor data: " << ex.what() << ", quitting callback");
return;
}
Eigen::Matrix4f sensorToWorld;
pcl_ros::transformAsMatrix(sensorToWorldTf, sensorToWorld);
// set up filter for height range, also removes NANs:
pcl::PassThrough<pcl::PointXYZ> pass_x;
pass_x.setFilterFieldName("x");
pass_x.setFilterLimits(m_pointcloudMinX, m_pointcloudMaxX);
pcl::PassThrough<pcl::PointXYZ> pass_y;
pass_y.setFilterFieldName("y");
pass_y.setFilterLimits(m_pointcloudMinY, m_pointcloudMaxY);
pcl::PassThrough<pcl::PointXYZ> pass_z;
pass_z.setFilterFieldName("z");
pass_z.setFilterLimits(m_pointcloudMinZ, m_pointcloudMaxZ);
PCLPointCloud pc_ground; // segmented ground plane
PCLPointCloud pc_nonground; // everything else
if (m_filterGroundPlane){
tf::StampedTransform sensorToBaseTf, baseToWorldTf;
try{
m_tfListener.waitForTransform(m_baseFrameId, cloud->header.frame_id, cloud->header.stamp, ros::Duration(0.2));
m_tfListener.lookupTransform(m_baseFrameId, cloud->header.frame_id, cloud->header.stamp, sensorToBaseTf);
m_tfListener.lookupTransform(m_worldFrameId, m_baseFrameId, cloud->header.stamp, baseToWorldTf);
}catch(tf::TransformException& ex){
ROS_ERROR_STREAM( "Transform error for ground plane filter: " << ex.what() << ", quitting callback.\n"
"You need to set the base_frame_id or disable filter_ground.");
}
Eigen::Matrix4f sensorToBase, baseToWorld;
pcl_ros::transformAsMatrix(sensorToBaseTf, sensorToBase);
pcl_ros::transformAsMatrix(baseToWorldTf, baseToWorld);
// transform pointcloud from sensor frame to fixed robot frame
pcl::transformPointCloud(pc, pc, sensorToBase);
pass_x.setInputCloud(pc.makeShared());
pass_x.filter(pc);
pass_y.setInputCloud(pc.makeShared());
pass_y.filter(pc);
pass_z.setInputCloud(pc.makeShared());
pass_z.filter(pc);
filterGroundPlane(pc, pc_ground, pc_nonground);
// transform clouds to world frame for insertion
pcl::transformPointCloud(pc_ground, pc_ground, baseToWorld);
pcl::transformPointCloud(pc_nonground, pc_nonground, baseToWorld);
} else {
// directly transform to map frame:
pcl::transformPointCloud(pc, pc, sensorToWorld);
// just filter height range:
pass_x.setInputCloud(pc.makeShared());
pass_x.filter(pc);
pass_y.setInputCloud(pc.makeShared());
pass_y.filter(pc);
pass_z.setInputCloud(pc.makeShared());
pass_z.filter(pc);
pc_nonground = pc;
// pc_nonground is empty without ground segmentation
pc_ground.header = pc.header;
pc_nonground.header = pc.header;
}
insertScan(sensorToWorldTf.getOrigin(), pc_ground, pc_nonground);
double total_elapsed = (ros::WallTime::now() - startTime).toSec();
ROS_DEBUG("Pointcloud insertion in OctomapServer done (%zu+%zu pts (ground/nonground), %f sec)", pc_ground.size(), pc_nonground.size(), total_elapsed);
publishAll(cloud->header.stamp);
}
void OctomapServer::insertScan(const tf::Point& sensorOriginTf, const PCLPointCloud& ground, const PCLPointCloud& nonground){
point3d sensorOrigin = pointTfToOctomap(sensorOriginTf);
if (!m_octree->coordToKeyChecked(sensorOrigin, m_updateBBXMin)
|| !m_octree->coordToKeyChecked(sensorOrigin, m_updateBBXMax))
{
ROS_ERROR_STREAM("Could not generate Key for origin "<<sensorOrigin);
}
#ifdef COLOR_OCTOMAP_SERVER
unsigned char* colors = new unsigned char[3];
#endif
// instead of direct scan insertion, compute update to filter ground:
KeySet free_cells, occupied_cells;
// insert ground points only as free:
for (PCLPointCloud::const_iterator it = ground.begin(); it != ground.end(); ++it){
point3d point(it->x, it->y, it->z);
// maxrange check
if ((m_maxRange > 0.0) && ((point - sensorOrigin).norm() > m_maxRange) ) {
point = sensorOrigin + (point - sensorOrigin).normalized() * m_maxRange;
}
// only clear space (ground points)
if (m_octree->computeRayKeys(sensorOrigin, point, m_keyRay)){
free_cells.insert(m_keyRay.begin(), m_keyRay.end());
}
octomap::OcTreeKey endKey;
if (m_octree->coordToKeyChecked(point, endKey)){
updateMinKey(endKey, m_updateBBXMin);
updateMaxKey(endKey, m_updateBBXMax);
} else{
ROS_ERROR_STREAM("Could not generate Key for endpoint "<<point);
}
}
// all other points: free on ray, occupied on endpoint:
for (PCLPointCloud::const_iterator it = nonground.begin(); it != nonground.end(); ++it){
point3d point(it->x, it->y, it->z);
// maxrange check
if ((m_maxRange < 0.0) || ((point - sensorOrigin).norm() <= m_maxRange) ) {
// free cells
if (m_octree->computeRayKeys(sensorOrigin, point, m_keyRay)){
free_cells.insert(m_keyRay.begin(), m_keyRay.end());
}
// occupied endpoint
OcTreeKey key;
if (m_octree->coordToKeyChecked(point, key)){
occupied_cells.insert(key);
updateMinKey(key, m_updateBBXMin);
updateMaxKey(key, m_updateBBXMax);
#ifdef COLOR_OCTOMAP_SERVER // NB: Only read and interpret color if it's an occupied node
const int rgb = *reinterpret_cast<const int*>(&(it->rgb)); // TODO: there are other ways to encode color than this one
colors[0] = ((rgb >> 16) & 0xff);
colors[1] = ((rgb >> 8) & 0xff);
colors[2] = (rgb & 0xff);
m_octree->averageNodeColor(it->x, it->y, it->z, colors[0], colors[1], colors[2]);
#endif
}
} else {// ray longer than maxrange:;
point3d new_end = sensorOrigin + (point - sensorOrigin).normalized() * m_maxRange;
if (m_octree->computeRayKeys(sensorOrigin, new_end, m_keyRay)){
free_cells.insert(m_keyRay.begin(), m_keyRay.end());
octomap::OcTreeKey endKey;
if (m_octree->coordToKeyChecked(new_end, endKey)){
updateMinKey(endKey, m_updateBBXMin);
updateMaxKey(endKey, m_updateBBXMax);
} else{
ROS_ERROR_STREAM("Could not generate Key for endpoint "<<new_end);
}
}
}
}
// mark free cells only if not seen occupied in this cloud
for(KeySet::iterator it = free_cells.begin(), end=free_cells.end(); it!= end; ++it){
if (occupied_cells.find(*it) == occupied_cells.end()){
m_octree->updateNode(*it, false);
}
}
// now mark all occupied cells:
for (KeySet::iterator it = occupied_cells.begin(), end=occupied_cells.end(); it!= end; it++) {
m_octree->updateNode(*it, true);
}
// TODO: eval lazy+updateInner vs. proper insertion
// non-lazy by default (updateInnerOccupancy() too slow for large maps)
//m_octree->updateInnerOccupancy();
octomap::point3d minPt, maxPt;
ROS_DEBUG_STREAM("Bounding box keys (before): " << m_updateBBXMin[0] << " " <<m_updateBBXMin[1] << " " << m_updateBBXMin[2] << " / " <<m_updateBBXMax[0] << " "<<m_updateBBXMax[1] << " "<< m_updateBBXMax[2]);
// TODO: snap max / min keys to larger voxels by m_maxTreeDepth
// if (m_maxTreeDepth < 16)
// {
// OcTreeKey tmpMin = getIndexKey(m_updateBBXMin, m_maxTreeDepth); // this should give us the first key at depth m_maxTreeDepth that is smaller or equal to m_updateBBXMin (i.e. lower left in 2D grid coordinates)
// OcTreeKey tmpMax = getIndexKey(m_updateBBXMax, m_maxTreeDepth); // see above, now add something to find upper right
// tmpMax[0]+= m_octree->getNodeSize( m_maxTreeDepth ) - 1;
// tmpMax[1]+= m_octree->getNodeSize( m_maxTreeDepth ) - 1;
// tmpMax[2]+= m_octree->getNodeSize( m_maxTreeDepth ) - 1;
// m_updateBBXMin = tmpMin;
// m_updateBBXMax = tmpMax;
// }
// TODO: we could also limit the bbx to be within the map bounds here (see publishing check)
minPt = m_octree->keyToCoord(m_updateBBXMin);
maxPt = m_octree->keyToCoord(m_updateBBXMax);
ROS_DEBUG_STREAM("Updated area bounding box: "<< minPt << " - "<<maxPt);
ROS_DEBUG_STREAM("Bounding box keys (after): " << m_updateBBXMin[0] << " " <<m_updateBBXMin[1] << " " << m_updateBBXMin[2] << " / " <<m_updateBBXMax[0] << " "<<m_updateBBXMax[1] << " "<< m_updateBBXMax[2]);
if (m_compressMap)
m_octree->prune();
}
void OctomapServer::updateInnerOccupancy(const ros::TimerEvent& event)
{
m_octree->updateInnerOccupancy();
}
void OctomapServer::publishAll(const ros::Time& rostime){
ros::WallTime startTime = ros::WallTime::now();
size_t octomapSize = m_octree->size();
// TODO: estimate num occ. voxels for size of arrays (reserve)
if (octomapSize <= 1){
ROS_WARN("Nothing to publish, octree is empty");
return;
}
bool publishFreeMarkerArray = m_publishFreeSpace && (m_latchedTopics || m_fmarkerPub.getNumSubscribers() > 0);
bool publishMarkerArray = (m_latchedTopics || m_markerPub.getNumSubscribers() > 0);
bool publishPointCloud = (m_latchedTopics || m_pointCloudPub.getNumSubscribers() > 0);
bool publishBinaryMap = (m_latchedTopics || m_binaryMapPub.getNumSubscribers() > 0);
bool publishFullMap = (m_latchedTopics || m_fullMapPub.getNumSubscribers() > 0);
m_publish2DMap = (m_latchedTopics || m_mapPub.getNumSubscribers() > 0);
// init markers for free space:
visualization_msgs::MarkerArray freeNodesVis;
// each array stores all cubes of a different size, one for each depth level:
freeNodesVis.markers.resize(m_treeDepth+1);
geometry_msgs::Pose pose;
pose.orientation = tf::createQuaternionMsgFromYaw(0.0);
// init markers:
visualization_msgs::MarkerArray occupiedNodesVis;
// each array stores all cubes of a different size, one for each depth level:
occupiedNodesVis.markers.resize(m_treeDepth+1);
// init pointcloud:
pcl::PointCloud<PCLPoint> pclCloud;
// call pre-traversal hook:
handlePreNodeTraversal(rostime);
// now, traverse all leafs in the tree:
for (OcTreeT::iterator it = m_octree->begin(m_maxTreeDepth),
end = m_octree->end(); it != end; ++it)
{
bool inUpdateBBX = isInUpdateBBX(it);
// call general hook:
handleNode(it);
if (inUpdateBBX)
handleNodeInBBX(it);
if (m_octree->isNodeOccupied(*it)){
double z = it.getZ();
if (z > m_occupancyMinZ && z < m_occupancyMaxZ)
{
double size = it.getSize();
double x = it.getX();
double y = it.getY();
#ifdef COLOR_OCTOMAP_SERVER
int r = it->getColor().r;
int g = it->getColor().g;
int b = it->getColor().b;
#endif
// Ignore speckles in the map:
if (m_filterSpeckles && (it.getDepth() == m_treeDepth +1) && isSpeckleNode(it.getKey())){
ROS_DEBUG("Ignoring single speckle at (%f,%f,%f)", x, y, z);
continue;
} // else: current octree node is no speckle, send it out
handleOccupiedNode(it);
if (inUpdateBBX)
handleOccupiedNodeInBBX(it);
//create marker:
if (publishMarkerArray){
unsigned idx = it.getDepth();
assert(idx < occupiedNodesVis.markers.size());
geometry_msgs::Point cubeCenter;
cubeCenter.x = x;
cubeCenter.y = y;
cubeCenter.z = z;
occupiedNodesVis.markers[idx].points.push_back(cubeCenter);
if (m_useHeightMap){
double minX, minY, minZ, maxX, maxY, maxZ;
m_octree->getMetricMin(minX, minY, minZ);
m_octree->getMetricMax(maxX, maxY, maxZ);
double h = (1.0 - std::min(std::max((cubeCenter.z-minZ)/ (maxZ - minZ), 0.0), 1.0)) *m_colorFactor;
occupiedNodesVis.markers[idx].colors.push_back(heightMapColor(h));
}
#ifdef COLOR_OCTOMAP_SERVER
if (m_useColoredMap) {
std_msgs::ColorRGBA _color; _color.r = (r / 255.); _color.g = (g / 255.); _color.b = (b / 255.); _color.a = 1.0; // TODO/EVALUATE: potentially use occupancy as measure for alpha channel?
occupiedNodesVis.markers[idx].colors.push_back(_color);
}
#endif
}
// insert into pointcloud:
if (publishPointCloud) {
#ifdef COLOR_OCTOMAP_SERVER
PCLPoint _point = PCLPoint();
_point.x = x; _point.y = y; _point.z = z;
_point.r = r; _point.g = g; _point.b = b;
pclCloud.push_back(_point);
#else
pclCloud.push_back(PCLPoint(x, y, z));
#endif
}
}
} else{ // node not occupied => mark as free in 2D map if unknown so far
double z = it.getZ();
if (z > m_occupancyMinZ && z < m_occupancyMaxZ)
{
handleFreeNode(it);
if (inUpdateBBX)
handleFreeNodeInBBX(it);
if (m_publishFreeSpace){
double x = it.getX();
double y = it.getY();
//create marker for free space:
if (publishFreeMarkerArray){
unsigned idx = it.getDepth();
assert(idx < freeNodesVis.markers.size());
geometry_msgs::Point cubeCenter;
cubeCenter.x = x;
cubeCenter.y = y;
cubeCenter.z = z;
freeNodesVis.markers[idx].points.push_back(cubeCenter);
}
}
}
}
}
// call post-traversal hook:
handlePostNodeTraversal(rostime);
// finish MarkerArray:
if (publishMarkerArray){
for (unsigned i= 0; i < occupiedNodesVis.markers.size(); ++i){
double size = m_octree->getNodeSize(i);
occupiedNodesVis.markers[i].header.frame_id = m_worldFrameId;
occupiedNodesVis.markers[i].header.stamp = rostime;
occupiedNodesVis.markers[i].ns = "map";
occupiedNodesVis.markers[i].id = i;
occupiedNodesVis.markers[i].type = visualization_msgs::Marker::CUBE_LIST;
occupiedNodesVis.markers[i].scale.x = size;
occupiedNodesVis.markers[i].scale.y = size;
occupiedNodesVis.markers[i].scale.z = size;
if (!m_useColoredMap)
occupiedNodesVis.markers[i].color = m_color;
if (occupiedNodesVis.markers[i].points.size() > 0)
occupiedNodesVis.markers[i].action = visualization_msgs::Marker::ADD;
else
occupiedNodesVis.markers[i].action = visualization_msgs::Marker::DELETE;
}
m_markerPub.publish(occupiedNodesVis);
}
// finish FreeMarkerArray:
if (publishFreeMarkerArray){
for (unsigned i= 0; i < freeNodesVis.markers.size(); ++i){
double size = m_octree->getNodeSize(i);
freeNodesVis.markers[i].header.frame_id = m_worldFrameId;
freeNodesVis.markers[i].header.stamp = rostime;
freeNodesVis.markers[i].ns = "map";
freeNodesVis.markers[i].id = i;
freeNodesVis.markers[i].type = visualization_msgs::Marker::CUBE_LIST;
freeNodesVis.markers[i].scale.x = size;
freeNodesVis.markers[i].scale.y = size;
freeNodesVis.markers[i].scale.z = size;
freeNodesVis.markers[i].color = m_colorFree;
if (freeNodesVis.markers[i].points.size() > 0)
freeNodesVis.markers[i].action = visualization_msgs::Marker::ADD;
else
freeNodesVis.markers[i].action = visualization_msgs::Marker::DELETE;
}
m_fmarkerPub.publish(freeNodesVis);
}
// finish pointcloud:
if (publishPointCloud){
sensor_msgs::PointCloud2 cloud;
pcl::toROSMsg (pclCloud, cloud);
cloud.header.frame_id = m_worldFrameId;
cloud.header.stamp = rostime;
m_pointCloudPub.publish(cloud);
}
if (publishBinaryMap)
publishBinaryOctoMap(rostime);
if (publishFullMap)
publishFullOctoMap(rostime);
double total_elapsed = (ros::WallTime::now() - startTime).toSec();
ROS_DEBUG("Map publishing in OctomapServer took %f sec", total_elapsed);
}
bool OctomapServer::octomapBinarySrv(OctomapSrv::Request &req,
OctomapSrv::Response &res)
{
ros::WallTime startTime = ros::WallTime::now();
ROS_INFO("Sending binary map data on service request");
res.map.header.frame_id = m_worldFrameId;
res.map.header.stamp = ros::Time::now();
if (!octomap_msgs::binaryMapToMsg(*m_octree, res.map))
return false;
double total_elapsed = (ros::WallTime::now() - startTime).toSec();
ROS_INFO("Binary octomap sent in %f sec", total_elapsed);
return true;
}
bool OctomapServer::octomapFullSrv(OctomapSrv::Request &req,
OctomapSrv::Response &res)
{
ROS_INFO("Sending full map data on service request");
res.map.header.frame_id = m_worldFrameId;
res.map.header.stamp = ros::Time::now();
if (!octomap_msgs::fullMapToMsg(*m_octree, res.map))
return false;
return true;
}
bool OctomapServer::clearBBXSrv(BBXSrv::Request& req, BBXSrv::Response& resp){
point3d min = pointMsgToOctomap(req.min);
point3d max = pointMsgToOctomap(req.max);
double thresMin = m_octree->getClampingThresMin();
for(OcTreeT::leaf_bbx_iterator it = m_octree->begin_leafs_bbx(min,max),
end=m_octree->end_leafs_bbx(); it!= end; ++it){
it->setLogOdds(octomap::logodds(thresMin));
// m_octree->updateNode(it.getKey(), -6.0f);
}
// TODO: eval which is faster (setLogOdds+updateInner or updateNode)
m_octree->updateInnerOccupancy();
publishAll(ros::Time::now());
return true;
}
bool OctomapServer::resetSrv(std_srvs::Empty::Request& req, std_srvs::Empty::Response& resp) {
visualization_msgs::MarkerArray occupiedNodesVis;
occupiedNodesVis.markers.resize(m_treeDepth +1);
ros::Time rostime = ros::Time::now();
m_octree->clear();
// clear 2D map:
m_gridmap.data.clear();
m_gridmap.info.height = 0.0;
m_gridmap.info.width = 0.0;
m_gridmap.info.resolution = 0.0;
m_gridmap.info.origin.position.x = 0.0;
m_gridmap.info.origin.position.y = 0.0;
ROS_INFO("Cleared octomap");
publishAll(rostime);
publishBinaryOctoMap(rostime);
for (unsigned i= 0; i < occupiedNodesVis.markers.size(); ++i){
occupiedNodesVis.markers[i].header.frame_id = m_worldFrameId;
occupiedNodesVis.markers[i].header.stamp = rostime;
occupiedNodesVis.markers[i].ns = "map";
occupiedNodesVis.markers[i].id = i;
occupiedNodesVis.markers[i].type = visualization_msgs::Marker::CUBE_LIST;
occupiedNodesVis.markers[i].action = visualization_msgs::Marker::DELETE;
}
m_markerPub.publish(occupiedNodesVis);
visualization_msgs::MarkerArray freeNodesVis;
freeNodesVis.markers.resize(m_treeDepth +1);
for (unsigned i= 0; i < freeNodesVis.markers.size(); ++i){
freeNodesVis.markers[i].header.frame_id = m_worldFrameId;
freeNodesVis.markers[i].header.stamp = rostime;
freeNodesVis.markers[i].ns = "map";
freeNodesVis.markers[i].id = i;
freeNodesVis.markers[i].type = visualization_msgs::Marker::CUBE_LIST;
freeNodesVis.markers[i].action = visualization_msgs::Marker::DELETE;
}
m_fmarkerPub.publish(freeNodesVis);
return true;
}
void OctomapServer::publishBinaryOctoMap(const ros::Time& rostime) const{
Octomap map;
map.header.frame_id = m_worldFrameId;
map.header.stamp = rostime;
if (octomap_msgs::binaryMapToMsg(*m_octree, map))
m_binaryMapPub.publish(map);
else
ROS_ERROR("Error serializing OctoMap");
}
void OctomapServer::publishFullOctoMap(const ros::Time& rostime) const{
Octomap map;
map.header.frame_id = m_worldFrameId;
map.header.stamp = rostime;
if (octomap_msgs::fullMapToMsg(*m_octree, map))
m_fullMapPub.publish(map);
else
ROS_ERROR("Error serializing OctoMap");
}
void OctomapServer::filterGroundPlane(const PCLPointCloud& pc, PCLPointCloud& ground, PCLPointCloud& nonground) const{
ground.header = pc.header;
nonground.header = pc.header;
if (pc.size() < 50){
ROS_WARN("Pointcloud in OctomapServer too small, skipping ground plane extraction");
nonground = pc;
} else {
// plane detection for ground plane removal:
pcl::ModelCoefficients::Ptr coefficients (new pcl::ModelCoefficients);
pcl::PointIndices::Ptr inliers (new pcl::PointIndices);
// Create the segmentation object and set up:
pcl::SACSegmentation<PCLPoint> seg;
seg.setOptimizeCoefficients (true);
// TODO: maybe a filtering based on the surface normals might be more robust / accurate?
seg.setModelType(pcl::SACMODEL_PERPENDICULAR_PLANE);
seg.setMethodType(pcl::SAC_RANSAC);
seg.setMaxIterations(200);
seg.setDistanceThreshold (m_groundFilterDistance);
seg.setAxis(Eigen::Vector3f(0,0,1));
seg.setEpsAngle(m_groundFilterAngle);
PCLPointCloud cloud_filtered(pc);
// Create the filtering object
pcl::ExtractIndices<PCLPoint> extract;
bool groundPlaneFound = false;
while(cloud_filtered.size() > 10 && !groundPlaneFound){
seg.setInputCloud(cloud_filtered.makeShared());
seg.segment (*inliers, *coefficients);
if (inliers->indices.size () == 0){
ROS_INFO("PCL segmentation did not find any plane.");
break;
}
extract.setInputCloud(cloud_filtered.makeShared());
extract.setIndices(inliers);
if (std::abs(coefficients->values.at(3)) < m_groundFilterPlaneDistance){
ROS_DEBUG("Ground plane found: %zu/%zu inliers. Coeff: %f %f %f %f", inliers->indices.size(), cloud_filtered.size(),
coefficients->values.at(0), coefficients->values.at(1), coefficients->values.at(2), coefficients->values.at(3));
extract.setNegative (false);
extract.filter (ground);
// remove ground points from full pointcloud:
// workaround for PCL bug:
if(inliers->indices.size() != cloud_filtered.size()){
extract.setNegative(true);
PCLPointCloud cloud_out;
extract.filter(cloud_out);
nonground += cloud_out;
cloud_filtered = cloud_out;
}
groundPlaneFound = true;
} else{
ROS_DEBUG("Horizontal plane (not ground) found: %zu/%zu inliers. Coeff: %f %f %f %f", inliers->indices.size(), cloud_filtered.size(),
coefficients->values.at(0), coefficients->values.at(1), coefficients->values.at(2), coefficients->values.at(3));
pcl::PointCloud<PCLPoint> cloud_out;
extract.setNegative (false);
extract.filter(cloud_out);
nonground +=cloud_out;
// debug
// pcl::PCDWriter writer;
// writer.write<PCLPoint>("nonground_plane.pcd",cloud_out, false);
// remove current plane from scan for next iteration:
// workaround for PCL bug:
if(inliers->indices.size() != cloud_filtered.size()){
extract.setNegative(true);
cloud_out.points.clear();
extract.filter(cloud_out);
cloud_filtered = cloud_out;
} else{
cloud_filtered.points.clear();
}
}
}
// TODO: also do this if overall starting pointcloud too small?
if (!groundPlaneFound){ // no plane found or remaining points too small
ROS_WARN("No ground plane found in scan");
// do a rough fitlering on height to prevent spurious obstacles
pcl::PassThrough<PCLPoint> second_pass;
second_pass.setFilterFieldName("z");
second_pass.setFilterLimits(-m_groundFilterPlaneDistance, m_groundFilterPlaneDistance);
second_pass.setInputCloud(pc.makeShared());
second_pass.filter(ground);
second_pass.setFilterLimitsNegative (true);
second_pass.filter(nonground);
}
// debug:
// pcl::PCDWriter writer;
// if (pc_ground.size() > 0)
// writer.write<PCLPoint>("ground.pcd",pc_ground, false);
// if (pc_nonground.size() > 0)
// writer.write<PCLPoint>("nonground.pcd",pc_nonground, false);
}
}
void OctomapServer::handlePreNodeTraversal(const ros::Time& rostime){
if (m_publish2DMap){
// init projected 2D map:
m_gridmap.header.frame_id = m_worldFrameId;
m_gridmap.header.stamp = rostime;
nav_msgs::MapMetaData oldMapInfo = m_gridmap.info;
// TODO: move most of this stuff into c'tor and init map only once (adjust if size changes)
double minX, minY, minZ, maxX, maxY, maxZ;
m_octree->getMetricMin(minX, minY, minZ);
m_octree->getMetricMax(maxX, maxY, maxZ);
octomap::point3d minPt(minX, minY, minZ);
octomap::point3d maxPt(maxX, maxY, maxZ);
octomap::OcTreeKey minKey = m_octree->coordToKey(minPt, m_maxTreeDepth);
octomap::OcTreeKey maxKey = m_octree->coordToKey(maxPt, m_maxTreeDepth);
ROS_DEBUG("MinKey: %d %d %d / MaxKey: %d %d %d", minKey[0], minKey[1], minKey[2], maxKey[0], maxKey[1], maxKey[2]);
// add padding if requested (= new min/maxPts in x&y):
double halfPaddedX = 0.5*m_minSizeX;
double halfPaddedY = 0.5*m_minSizeY;
minX = std::min(minX, -halfPaddedX);
maxX = std::max(maxX, halfPaddedX);
minY = std::min(minY, -halfPaddedY);
maxY = std::max(maxY, halfPaddedY);
minPt = octomap::point3d(minX, minY, minZ);
maxPt = octomap::point3d(maxX, maxY, maxZ);
OcTreeKey paddedMaxKey;
if (!m_octree->coordToKeyChecked(minPt, m_maxTreeDepth, m_paddedMinKey)){
ROS_ERROR("Could not create padded min OcTree key at %f %f %f", minPt.x(), minPt.y(), minPt.z());
return;
}
if (!m_octree->coordToKeyChecked(maxPt, m_maxTreeDepth, paddedMaxKey)){
ROS_ERROR("Could not create padded max OcTree key at %f %f %f", maxPt.x(), maxPt.y(), maxPt.z());
return;
}
ROS_DEBUG("Padded MinKey: %d %d %d / padded MaxKey: %d %d %d", m_paddedMinKey[0], m_paddedMinKey[1], m_paddedMinKey[2], paddedMaxKey[0], paddedMaxKey[1], paddedMaxKey[2]);
assert(paddedMaxKey[0] >= maxKey[0] && paddedMaxKey[1] >= maxKey[1]);
m_multires2DScale = 1 << (m_treeDepth - m_maxTreeDepth);
m_gridmap.info.width = (paddedMaxKey[0] - m_paddedMinKey[0])/m_multires2DScale +1;
m_gridmap.info.height = (paddedMaxKey[1] - m_paddedMinKey[1])/m_multires2DScale +1;
int mapOriginX = minKey[0] - m_paddedMinKey[0];
int mapOriginY = minKey[1] - m_paddedMinKey[1];
assert(mapOriginX >= 0 && mapOriginY >= 0);
// might not exactly be min / max of octree:
octomap::point3d origin = m_octree->keyToCoord(m_paddedMinKey, m_treeDepth);
double gridRes = m_octree->getNodeSize(m_maxTreeDepth);
m_projectCompleteMap = (!m_incrementalUpdate || (std::abs(gridRes-m_gridmap.info.resolution) > 1e-6));
m_gridmap.info.resolution = gridRes;
m_gridmap.info.origin.position.x = origin.x() - gridRes*0.5;
m_gridmap.info.origin.position.y = origin.y() - gridRes*0.5;
if (m_maxTreeDepth != m_treeDepth){
m_gridmap.info.origin.position.x -= m_res/2.0;
m_gridmap.info.origin.position.y -= m_res/2.0;
}