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OctomapServer.cpp
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OctomapServer.cpp
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/*
* 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(const ros::NodeHandle private_nh_, const ros::NodeHandle &nh_)
: m_nh(nh_),
m_nh_private(private_nh_),
m_pointCloudSub(NULL),
m_tfPointCloudSub(NULL),
m_reconfigureServer(m_config_mutex, private_nh_),
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;
m_nh_private.param("frame_id", m_worldFrameId, m_worldFrameId);
m_nh_private.param("base_frame_id", m_baseFrameId, m_baseFrameId);
m_nh_private.param("height_map", m_useHeightMap, m_useHeightMap);
m_nh_private.param("colored_map", m_useColoredMap, m_useColoredMap);
m_nh_private.param("color_factor", m_colorFactor, m_colorFactor);
m_nh_private.param("pointcloud_min_x", m_pointcloudMinX,m_pointcloudMinX);
m_nh_private.param("pointcloud_max_x", m_pointcloudMaxX,m_pointcloudMaxX);
m_nh_private.param("pointcloud_min_y", m_pointcloudMinY,m_pointcloudMinY);
m_nh_private.param("pointcloud_max_y", m_pointcloudMaxY,m_pointcloudMaxY);
m_nh_private.param("pointcloud_min_z", m_pointcloudMinZ,m_pointcloudMinZ);
m_nh_private.param("pointcloud_max_z", m_pointcloudMaxZ,m_pointcloudMaxZ);
m_nh_private.param("occupancy_min_z", m_occupancyMinZ,m_occupancyMinZ);
m_nh_private.param("occupancy_max_z", m_occupancyMaxZ,m_occupancyMaxZ);
m_nh_private.param("min_x_size", m_minSizeX,m_minSizeX);
m_nh_private.param("min_y_size", m_minSizeY,m_minSizeY);
m_nh_private.param("filter_speckles", m_filterSpeckles, m_filterSpeckles);
m_nh_private.param("filter_ground", m_filterGroundPlane, m_filterGroundPlane);
// distance of points from plane for RANSAC
m_nh_private.param("ground_filter/distance", m_groundFilterDistance, m_groundFilterDistance);
// angular derivation of found plane:
m_nh_private.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)
m_nh_private.param("ground_filter/plane_distance", m_groundFilterPlaneDistance, m_groundFilterPlaneDistance);
m_nh_private.param("sensor_model/max_range", m_maxRange, m_maxRange);
m_nh_private.param("resolution", m_res, m_res);
m_nh_private.param("sensor_model/hit", probHit, 0.7);
m_nh_private.param("sensor_model/miss", probMiss, 0.4);
m_nh_private.param("sensor_model/min", thresMin, 0.12);
m_nh_private.param("sensor_model/max", thresMax, 0.97);
m_nh_private.param("compress_map", m_compressMap, m_compressMap);
m_nh_private.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;
m_nh_private.param("color/r", r, 0.0);
m_nh_private.param("color/g", g, 0.0);
m_nh_private.param("color/b", b, 1.0);
m_nh_private.param("color/a", a, 1.0);
m_color.r = r;
m_color.g = g;
m_color.b = b;
m_color.a = a;
m_nh_private.param("color_free/r", r, 0.0);
m_nh_private.param("color_free/g", g, 1.0);
m_nh_private.param("color_free/b", b, 0.0);
m_nh_private.param("color_free/a", a, 1.0);
m_colorFree.r = r;
m_colorFree.g = g;
m_colorFree.b = b;
m_colorFree.a = a;
m_nh_private.param("publish_free_space", m_publishFreeSpace, m_publishFreeSpace);
m_nh_private.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 = m_nh_private.advertiseService("clear_bbx", &OctomapServer::clearBBXSrv, this);
m_resetService = m_nh_private.advertiseService("reset", &OctomapServer::resetSrv, this);
dynamic_reconfigure::Server<OctomapServerConfig>::CallbackType f;
f = boost::bind(&OctomapServer::reconfigureCallback, this, _1, _2);
m_reconfigureServer.setCallback(f);
}
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<PCLPoint> pass_x;
pass_x.setFilterFieldName("x");
pass_x.setFilterLimits(m_pointcloudMinX, m_pointcloudMaxX);
pcl::PassThrough<PCLPoint> pass_y;
pass_y.setFilterFieldName("y");
pass_y.setFilterLimits(m_pointcloudMinY, m_pointcloudMaxY);
pcl::PassThrough<PCLPoint> 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
m_octree->averageNodeColor(it->x, it->y, it->z, /*r=*/it->r, /*g=*/it->g, /*b=*/it->b);
#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)){
free_cells.insert(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();
#ifdef COLOR_OCTOMAP_SERVER
if (colors)
{
delete[] colors;
colors = NULL;
}
#endif
}
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();
double half_size = it.getSize() / 2.0;
if (z + half_size > m_occupancyMinZ && z - half_size < 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();
double half_size = it.getSize() / 2.0;
if (z + half_size > m_occupancyMinZ && z - half_size < 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;
}
// workaround for multires. projection not working properly for inner nodes:
// force re-building complete map
if (m_maxTreeDepth < m_treeDepth)
m_projectCompleteMap = true;