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rviz_cloud_annotation_class.cpp
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rviz_cloud_annotation_class.cpp
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#include "rviz_cloud_annotation_class.h"
RVizCloudAnnotation::RVizCloudAnnotation(ros::NodeHandle &nh1) : m_nh(nh1) {
nh = &nh1;
std::string param_stringA;
std::string param_stringA1;
std::string param_stringB;
std::string param_stringC;
std::string param_stringD;
std::string param_stringE;
std::string param_stringF;
std::string param_stringO;
m_nh.param<std::string>(PARAM_NAME_NORMAL_SOURCE, param_string2,
PARAM_DEFAULT_NORMAL_SOURCE); // 点云类型
m_nh.param<std::string>(DATASET_FOLDER, param_stringA,
DATASET_FOLDER_DEFAULT); // 加载点云数据集路径
m_dataset_folder = param_stringA;
m_nh.param<std::string>(IMAGE_FOLDER, param_stringA1,
IMAGE_FOLDER_DEFAULT); // 加载图片数据集路径
m_image_folder = param_stringA1;
m_nh.param<std::string>(ANNOTATION_CLOUD_FOLDER, param_stringB,
ANNOTATION_CLOUD_FOLDER_DEFAULT); // 加载点云输出路径
m_annotation_cloud_folder = param_stringB;
m_nh.param<std::string>(ANNOTATION_FILE_FOLDER, param_stringC,
ANNOTATION_FILE_FOLDER_DEFAULT); // 加载标注记录路径
m_annotation_file_folder = param_stringC;
m_nh.param<std::string>(BBOX_NAME_FOLDER, param_stringD,
BBOX_NAME_FOLDER_DEFAULT); // 加载BBOX输出路径
m_bbox_folder = param_stringD;
m_nh.param<std::string>(LABEL_NAME_FOLDER, param_stringE,
LABEL_NAME_FOLDER_DEFAULT); // 加载标签输出路径
m_label_folder = param_stringE;
m_nh.param<std::string>(LINE_NAME_FOLDER, param_stringF,
LINE_NAME_FOLDER_DEFAULT); // 加载Line输出路径
m_line_folder = param_stringF;
m_nh.param<std::string>(LOG_FILE, param_stringO,
LOG_FILE_DEFAULT); // 加载标注日志路径
m_log_file = param_stringO;
ROS_INFO("rviz_cloud_annotation: log file: %s", m_log_file.c_str());
//根据以上路径创建文件夹
mkdir(param_stringA.c_str(), S_IRWXU);
mkdir(param_stringA1.c_str(), S_IRWXU);
mkdir(param_stringB.c_str(), S_IRWXU);
mkdir(param_stringC.c_str(), S_IRWXU);
mkdir(param_stringD.c_str(), S_IRWXU);
mkdir(param_stringE.c_str(), S_IRWXU);
//加载所有待标注数据集
LoadDataSet(param_stringA, param_stringA1, param_stringB, param_stringC,
param_stringD, param_stringE, param_stringF);
//初始化一帧点云，并开启标记
InitNewCloud(*nh);
ROS_INFO("rviz_cloud_annotation: return");
}
//加载数据集及路径信息
void RVizCloudAnnotation::LoadDataSet(std::string A, std::string A1,
std::string B, std::string C,
std::string D, std::string E,
std::string F) {
StringVector label_files;
std::ifstream ifile;
ifile.open(m_log_file.c_str());
std::string s;
while (std::getline(ifile, s)) {
label_files.push_back(s);
// ROS_INFO("rviz_cloud_annotation: label_files: %s", s.c_str());
}
PointCloudFilesTool *pcft;
StringVector m_pcd_files;
pcft->getFilesList(A, m_pcd_files);
for (int k = 0; k < m_pcd_files.size(); k++) {
bool ifNew = true;
std::string FILE_NAME = m_pcd_files[k];
std::string name = A + FILE_NAME;
for (int i = 0; i < label_files.size(); i++) {
if (name.compare(label_files[i]) == 0) {
ifNew = false;
break;
}
}
if (ifNew) {
m_dataset_files.push_back(name.c_str());
std::string index = FILE_NAME.substr(0, FILE_NAME.length() - 4);
name = A1 + index + std::string(".png");
m_image_files.push_back(name.c_str());
name = B + index + std::string(".pcd");
// ROS_INFO("rviz_cloud_annotation: Annotation Clouds: %s", name.c_str());
m_annotation_cloud_files.push_back(name.c_str());
name = C + index + std::string(".ann");
// ROS_INFO("rviz_cloud_annotation: Annotation Files: %s", name.c_str());
m_annotation_file_files.push_back(name.c_str());
name = D + index + std::string(".txt");
// ROS_INFO("rviz_cloud_annotation: BBox: %s", name.c_str());
m_bbox_files.push_back(name.c_str());
name = E + index + std::string(".txt");
// ROS_INFO("rviz_cloud_annotation: Label: %s", name.c_str());
m_label_files.push_back(name.c_str());
}
}
}
//打开新的一帧
void RVizCloudAnnotation::onNew(const std_msgs::UInt32 &label_msg) {
//保存
Save(false);
//清除旧Markers
for (int i = 0; i <= BBOX_ID; i++) {
if (BBOX_SET[i][10] > 1) {
EmptyBboxToMarker(i);
ROS_INFO("rviz_cloud_annotation: Delete BBOX ID: %i", i);
}
}
for (int i = 0; i <= KERB_ID; i++) {
EmptyKerbToMarker(i);
}
for (int i = 0; i <= LANE_ID; i++) {
EmptyLaneToMarker(i);
}
EmptyPlaneToMarker(PLANE_ID);
if (FILE_ID < m_dataset_files.size() - 1) {
FILE_ID++;
//加载新的一帧并开启标注
InitNewCloud(*nh);
}
}
//初始化新的一帧点云，并开启标注
void RVizCloudAnnotation::InitNewCloud(ros::NodeHandle &nh) {
//初始化Markers参数
BBOX_ID = 0;
KERB_ID = 0;
LANE_ID = 0;
PLANE_ID = 0;
BBOX_YAW = 0;
BBOX_YAW_ANGLE = 0;
if_tilt = false;
m_label.clear();
for (int i = 0; i < BBOXNUMBER_LINEPOINTNUMBER; i++) {
ids_in_bbox[i].clear();
m_bbox_occluded[i] = 0;
for (int j = 0; j < 11; j++) {
if (j < 6) {
m_box_bias[i][j] = 0;
}
BBOX_SET[i][j] = 0;
if (j < 10) {
BBOX_LABEL_SET[i][j] = 0;
}
}
}
//初始化Kerb
for (int k = 0; k < LINENUMBER; k++) {
for (int i = 0; i < KERB_SIZE[k]; i++) {
KERB_SET[k][i][0] = 0;
KERB_SET[k][i][1] = 0;
KERB_SET[k][i][2] = 0;
KERB_SET[k][i][3] = 0;
}
ids_in_kerb[k].clear();
KERB_SIZE[k] = 0;
}
//初始化Lane
for (int k = 0; k < LINENUMBER; k++) {
for (int i = 0; i < LANE_SIZE[k]; i++) {
LANE_SET[k][i][0] = 0;
LANE_SET[k][i][1] = 0;
LANE_SET[k][i][2] = 0;
LANE_SET[k][i][3] = 0;
}
ids_in_lane[k].clear();
LANE_SIZE[k] = 0;
}
//初始化Plane
ids_in_plane.clear();
ids_in_plane_flag.clear();
//初始化系统参数
std::string param_string;
double param_double;
int param_int;
m_nh.param<std::string>(PARAM_NAME_UPDATE_TOPIC, param_string,
PARAM_DEFAULT_UPDATE_TOPIC);
m_interactive_marker_server =
InteractiveMarkerServerPtr(new InteractiveMarkerServer(param_string));
m_cloud = PointXYZRGBNormalCloud::Ptr(new PointXYZRGBNormalCloud);
if (!m_dataset_files.empty()) {
ROS_INFO("rviz_cloud_annotation: files exist:");
try {
std::string file = m_dataset_files[FILE_ID];
std::string file1 = "$(env HOME)/Path_Call.txt";
ROS_INFO("rviz_cloud_annotation: file_now: %s", file.c_str());
LoadCloud(file, param_string2, *m_cloud); //加载点云
} catch (const std::string &msg) {
ROS_FATAL("rviz_cloud_annotation: %s", msg.c_str());
std::exit(1);
}
m_kdtree = KdTree::Ptr(new KdTree);
m_kdtree->setInputCloud(m_cloud);
{
PointNeighborhood::Conf conf;
m_nh.param<int>(PARAM_NAME_NEIGH_SEARCH_TYPE, param_int,
PARAM_DEFAULT_NEIGH_SEARCH_TYPE);
m_nh.param<std::string>(PARAM_NAME_NEIGH_SEARCH_PARAMS, param_string,
PARAM_DEFAULT_NEIGH_SEARCH_PARAMS);
if (param_int == PARAM_DEFAULT_NEIGH_SEARCH_TYPE &&
param_string == PARAM_DEFAULT_NEIGH_SEARCH_PARAMS) {
ROS_INFO("rviz_cloud_annotation: parameter %s is at default value, "
"using %s instead.",
PARAM_NAME_NEIGH_SEARCH_PARAMS,
PARAM_NAME_NEIGH_SEARCH_DISTANCE);
m_nh.param<double>(PARAM_NAME_NEIGH_SEARCH_DISTANCE, param_double,
PARAM_DEFAULT_NEIGH_SEARCH_DISTANCE);
param_string = boost::lexical_cast<std::string>(param_double);
}
try {
conf.searcher =
PointNeighborhoodSearch::CreateFromString(param_int, param_string);
} catch (const PointNeighborhoodSearch::ParserException &ex) {
ROS_ERROR("rviz_cloud_annotation: could not configure point "
"neighborhood search from ROS param: %s",
ex.message.c_str());
conf.searcher = PointNeighborhoodSearch::CreateFromString(
PARAM_DEFAULT_NEIGH_SEARCH_TYPE,
boost::lexical_cast<std::string>(
PARAM_DEFAULT_NEIGH_SEARCH_DISTANCE));
}
m_nh.param<double>(PARAM_NAME_COLOR_IMPORTANCE, param_double,
PARAM_DEFAULT_COLOR_IMPORTANCE);
conf.color_importance = param_double;
m_nh.param<double>(PARAM_NAME_NORMAL_IMPORTANCE, param_double,
PARAM_DEFAULT_NORMAL_IMPORTANCE);
conf.normal_importance = param_double;
m_nh.param<double>(PARAM_NAME_POSITION_IMPORTANCE, param_double,
PARAM_DEFAULT_POSITION_IMPORTANCE);
conf.position_importance = param_double;
m_nh.param<double>(PARAM_NAME_MAX_DISTANCE, param_double,
PARAM_DEFAULT_MAX_DISTANCE);
conf.max_distance = param_double;
ROS_INFO("rviz_cloud_annotation: building point neighborhood...");
m_point_neighborhood =
PointNeighborhood::ConstPtr(new PointNeighborhood(m_cloud, conf));
ROS_INFO("rviz_cloud_annotation: done.");
}
}
m_nh.param<int>(PARAM_NAME_WEIGHT_STEPS, param_int,
PARAM_DEFAULT_WEIGHT_STEPS);
m_control_point_max_weight = std::max<uint32>(1, param_int);
m_nh.param<std::string>(PARAM_NAME_CONTROL_POINT_WEIGHT_TOPIC, param_string,
PARAM_DEFAULT_CONTROL_POINT_WEIGHT_TOPIC);
m_control_points_weight_sub = m_nh.subscribe(
param_string, 1, &RVizCloudAnnotation::onControlPointWeightChange, this);
m_nh.param<std::string>(PARAM_NAME_CONTROL_POINT_MAX_WEIGHT_TOPIC,
param_string,
PARAM_DEFAULT_CONTROL_POINT_MAX_WEIGHT_TOPIC);
m_control_point_weight_max_weight_pub =
nh.advertise<std_msgs::Int32>(param_string, 1, true);
m_nh.param<int>(PARAM_NAME_YAW_MAX, param_int, PARAM_DEFAULT_YAW_MAX);
m_control_yaw_max = std::max<int32>(1, param_int);
m_nh.param<int>(PARAM_NAME_YAW_MIN, param_int, PARAM_DEFAULT_YAW_MIN);
m_control_yaw_min = std::min<int32>(1, param_int);
RVizCloudAnnotationPoints::Ptr default_annotation =
RVizCloudAnnotationPoints::Ptr(new RVizCloudAnnotationPoints(
m_cloud->size(), m_control_point_max_weight, m_point_neighborhood));
m_annotation = default_annotation;
m_undo_redo.SetAnnotation(default_annotation);
std::string frame_id;
m_nh.param<std::string>(PARAM_NAME_FRAME_ID, frame_id,
PARAM_DEFAULT_FRAME_ID);
std::string index;
int2str(FILE_ID, index);
m_frame_id = frame_id;
ROS_INFO("rviz_cloud_annotation: %s", m_frame_id.c_str());
m_nh.param<double>(PARAM_NAME_POINT_SIZE, param_double,
PARAM_DEFAULT_POINT_SIZE);
m_point_size = param_double;
m_nh.param<double>(PARAM_NAME_LABEL_SIZE, param_double,
PARAM_DEFAULT_LABEL_SIZE);
m_label_size = param_double;
m_nh.param<double>(PARAM_NAME_CONTROL_LABEL_SIZE, param_double,
PARAM_DEFAULT_CONTROL_LABEL_SIZE);
m_control_label_size = param_double;
m_nh.param<bool>(PARAM_NAME_SHOW_POINTS_BACK_LABELS,
m_show_points_back_labels,
PARAM_DEFAULT_SHOW_POINTS_BACK_LABELS);
m_nh.param<std::string>(PARAM_NAME_CONTROL_POINT_VISUAL, param_string,
PARAM_DEFAULT_CONTROL_POINT_VISUAL);
if (param_string == PARAM_VALUE_CONTROL_POINT_VISUAL_LINE)
m_control_points_visual = CONTROL_POINT_VISUAL_LINE;
else if (param_string == PARAM_VALUE_CONTROL_POINT_VISUAL_SPHERE)
m_control_points_visual = CONTROL_POINT_VISUAL_SPHERE;
else if (param_string == PARAM_VALUE_CONTROL_POINT_VISUAL_THREE_SPHERES)
m_control_points_visual = CONTROL_POINT_VISUAL_THREE_SPHERES;
else {
ROS_ERROR("rviz_cloud_annotation: invalid value for parameter %s: %s",
PARAM_NAME_CONTROL_POINT_VISUAL, param_string.c_str());
m_control_points_visual = CONTROL_POINT_VISUAL_SPHERE;
}
m_nh.param<double>(PARAM_NAME_CP_WEIGHT_SCALE_FRACTION, param_double,
PARAM_DEFAULT_CP_WEIGHT_SCALE_FRACTION);
m_cp_weight_scale_fraction =
std::min<float>(1.0, std::max(0.0, param_double));
m_nh.param<bool>(PARAM_NAME_ZERO_WEIGHT_CP_SHOW,
m_show_zero_weight_control_points,
PARAM_DEFAULT_ZERO_WEIGHT_CP_SHOW);
m_nh.param<std::string>(PARAM_NAME_RECT_SELECTION_TOPIC, param_string,
PARAM_DEFAULT_RECT_SELECTION_TOPIC);
m_rect_selection_sub =
m_nh.subscribe(param_string, 1,
&RVizCloudAnnotation::onRectangleSelectionViewport, this);
m_nh.param<std::string>(PARAM_NAME_SAVE_TOPIC, param_string,
PARAM_DEFAULT_SAVE_TOPIC);
m_save_sub =
m_nh.subscribe(param_string, 1, &RVizCloudAnnotation::onSave, this);
m_nh.param<std::string>(PARAM_NAME_RESTORE_TOPIC, param_string,
PARAM_DEFAULT_RESTORE_TOPIC);
m_restore_sub =
m_nh.subscribe(param_string, 1, &RVizCloudAnnotation::onRestore, this);
m_nh.param<std::string>(PARAM_NAME_CLEAR_TOPIC, param_string,
PARAM_DEFAULT_CLEAR_TOPIC);
m_clear_sub =
m_nh.subscribe(param_string, 1, &RVizCloudAnnotation::onClear, this);
m_nh.param<std::string>(PARAM_NAME_NEW_TOPIC, param_string,
PARAM_DEFAULT_NEW_TOPIC);
m_new_sub =
m_nh.subscribe(param_string, 1, &RVizCloudAnnotation::onNew, this);
m_nh.param<std::string>(PARAM_NAME_SET_EDIT_MODE_TOPIC, param_string,
PARAM_DEFAULT_SET_EDIT_MODE_TOPIC);
m_set_edit_mode_sub = m_nh.subscribe(
param_string, 1, &RVizCloudAnnotation::onSetEditMode, this);
m_nh.param<std::string>(PARAM_NAME_TOGGLE_NONE_TOPIC, param_string,
PARAM_DEFAULT_TOGGLE_NONE_TOPIC);
m_toggle_none_sub = m_nh.subscribe(
param_string, 1, &RVizCloudAnnotation::onToggleNoneMode, this);
m_nh.param<std::string>(PARAM_NAME_SET_CURRENT_LABEL_TOPIC, param_string,
PARAM_DEFAULT_SET_CURRENT_LABEL_TOPIC);
m_set_current_label_sub = m_nh.subscribe(
param_string, 1, &RVizCloudAnnotation::onSetCurrentLabel, this);
m_nh.param<std::string>(PARAM_NAME_SET_EDIT_MODE_TOPIC2, param_string,
PARAM_DEFAULT_SET_EDIT_MODE_TOPIC2);
m_set_edit_mode_pub = m_nh.advertise<std_msgs::UInt32>(param_string, 1);
m_nh.param<std::string>(PARAM_NAME_CURRENT_LABEL_TOPIC, param_string,
PARAM_DEFAULT_CURRENT_LABEL_TOPIC);
m_set_current_label_pub = m_nh.advertise<std_msgs::UInt32>(param_string, 1);
m_nh.param<std::string>(PARAM_NAME_POINT_COUNT_UPDATE_TOPIC, param_string,
PARAM_DEFAULT_POINT_COUNT_UPDATE_TOPIC);
m_point_count_update_pub =
m_nh.advertise<std_msgs::UInt64MultiArray>(param_string, 1, true);
m_nh.param<std::string>(SAVE_BBOX_NAME, m_bbox_save, SAVE_BBOX_DEFAULT_NAME);
m_nh.param<std::string>(PARAM_NAME_SET_NAME_TOPIC, param_string,
PARAM_DEFAULT_SET_NAME_TOPIC);
m_set_name_sub =
m_nh.subscribe(param_string, 1, &RVizCloudAnnotation::onSetName, this);
bbox_marker_pub =
m_nh.advertise<visualization_msgs::Marker>("bbox_marker", 1, true);
bbox_head_marker_pub =
m_nh.advertise<visualization_msgs::Marker>("bbox_head_marker", 1, true);
lane_marker_pub =
m_nh.advertise<visualization_msgs::Marker>("lane_marker", 1, true);
kerb_marker_pub =
m_nh.advertise<visualization_msgs::Marker>("kerb_marker", 1, true);
plane_marker_pub =
m_nh.advertise<visualization_msgs::Marker>("plane_marker", 1, true);
m_nh.param<std::string>(PARAM_NAME_SET_NAME_TOPIC2, param_string,
PARAM_DEFAULT_SET_NAME_TOPIC2);
m_set_name_pub = m_nh.advertise<std_msgs::String>(param_string, 1, true);
m_nh.param<std::string>(PARAM_NAME_VIEW_CONTROL_POINTS_TOPIC, param_string,
PARAM_DEFAULT_VIEW_CONTROL_POINTS_TOPIC);
m_view_control_points_sub = m_nh.subscribe(
param_string, 1, &RVizCloudAnnotation::onViewControlPoints, this);
m_nh.param<std::string>(PARAM_NAME_VIEW_CLOUD_TOPIC, param_string,
PARAM_DEFAULT_VIEW_CLOUD_TOPIC);
m_view_cloud_sub =
m_nh.subscribe(param_string, 1, &RVizCloudAnnotation::onViewCloud, this);
m_nh.param<std::string>(PARAM_NAME_VIEW_LABEL_TOPIC, param_string,
PARAM_DEFAULT_VIEW_LABEL_TOPIC);
m_view_labels_sub =
m_nh.subscribe(param_string, 1, &RVizCloudAnnotation::onViewLabels, this);
m_nh.param<std::string>(PARAM_NAME_UNDO_REDO_STATE_TOPIC, param_string,
PARAM_DEFAULT_UNDO_REDO_STATE_TOPIC);
m_undo_redo_state_pub = m_nh.advertise<rviz_cloud_annotation::UndoRedoState>(
param_string, 1, true);
m_nh.param<std::string>(PARAM_NAME_UNDO_TOPIC, param_string,
PARAM_DEFAULT_UNDO_TOPIC);
m_undo_sub =
m_nh.subscribe(param_string, 1, &RVizCloudAnnotation::onUndo, this);
m_nh.param<std::string>(PARAM_NAME_REDO_TOPIC, param_string,
PARAM_DEFAULT_REDO_TOPIC);
m_redo_sub =
m_nh.subscribe(param_string, 1, &RVizCloudAnnotation::onRedo, this);
m_nh.param<std::string>(PARAM_NAME_NEXT_TOPIC, param_string,
PARAM_DEFAULT_NEXT_TOPIC);
m_next_sub =
m_nh.subscribe(param_string, 1, &RVizCloudAnnotation::onNextObject, this);
m_nh.param<std::string>(PARAM_NAME_PRE_TOPIC, param_string,
PARAM_DEFAULT_PRE_TOPIC);
m_pre_sub =
m_nh.subscribe(param_string, 1, &RVizCloudAnnotation::onPreObject, this);
m_nh.param<std::string>(PARAM_NAME_POINT_SIZE_CHANGE_TOPIC, param_string,
PARAM_DEFAULT_POINT_SIZE_CHANGE_TOPIC);
m_point_size_change_sub = m_nh.subscribe(
param_string, 1, &RVizCloudAnnotation::onPointSizeChange, this);
m_nh.param<float>(PARAM_NAME_POINT_SIZE_CHANGE_MULT,
m_point_size_change_multiplier,
PARAM_DEFAULT_POINT_SIZE_CHANGE_MULT);
m_nh.param<std::string>(PARAM_NAME_YAW_TOPIC, param_string,
PARAM_DEFAULT_YAW_TOPIC);
m_control_yaw_sub = m_nh.subscribe(
param_string, 1, &RVizCloudAnnotation::onControlYawChange, this);
m_nh.param<std::string>(PARAM_NAME_OCCLUDED_TOPIC, param_string,
PARAM_DEFAULT_OCCLUDED_TOPIC);
m_bbox_occluded_sub = m_nh.subscribe(
param_string, 1, &RVizCloudAnnotation::onControlOccludedChange, this);
m_nh.param<std::string>(PARAM_NAME_YAW_MAX_TOPIC, param_string,
PARAM_DEFAULT_YAW_MAX_TOPIC);
m_control_yaw_max_pub = nh.advertise<std_msgs::Int32>(param_string, 1, true);
m_nh.param<std::string>(PARAM_NAME_YAW_MIN_TOPIC, param_string,
PARAM_DEFAULT_YAW_MIN_TOPIC);
m_control_yaw_min_pub = nh.advertise<std_msgs::Int32>(param_string, 1, true);
m_nh.param<std::string>(PARAM_NAME_BIAS_TOPIC, param_string,
PARAM_DEFAULT_BIAS_TOPIC);
m_control_bias_sub = m_nh.subscribe(
param_string, 1, &RVizCloudAnnotation::onControlBiasChange, this);
m_nh.param<std::string>(PARAM_NAME_BIAS_ZERO_TOPIC, param_string,
PARAM_DEFAULT_BIAS_ZERO_TOPIC);
m_control_bias_zero_pub =
nh.advertise<std_msgs::Empty>(param_string, 1, true);
m_nh.param<std::string>(PARAM_NAME_GOTO_FIRST_UNUSED_TOPIC, param_string,
PARAM_DEFAULT_GOTO_FIRST_UNUSED_TOPIC);
m_goto_first_unused_sub = nh.subscribe(
param_string, 1, &RVizCloudAnnotation::onGotoFirstUnused, this);
m_nh.param<std::string>(PARAM_NAME_GOTO_LAST_UNUSED_TOPIC, param_string,
PARAM_DEFAULT_GOTO_LAST_UNUSED_TOPIC);
m_goto_last_unused_sub = nh.subscribe(
param_string, 1, &RVizCloudAnnotation::onGotoLastUnused, this);
m_nh.param<std::string>(PARAM_NAME_GOTO_FIRST_TOPIC, param_string,
PARAM_DEFAULT_GOTO_FIRST_TOPIC);
m_goto_first_sub =
nh.subscribe(param_string, 1, &RVizCloudAnnotation::onGotoFirst, this);
m_nh.param<std::string>(PARAM_NAME_GOTO_NEXT_UNUSED_TOPIC, param_string,
PARAM_DEFAULT_GOTO_NEXT_UNUSED_TOPIC);
m_goto_next_unused_sub = nh.subscribe(
param_string, 1, &RVizCloudAnnotation::onGotoNextUnused, this);
m_nh.param<std::string>(PARAM_NAME_ANNOTATION_TYPE_TOPIC, param_string,
PARAM_DEFAULT_ANNOTATION_TYPE_TOPIC);
m_on_set_annotation_type_sub = m_nh.subscribe(
param_string, 1, &RVizCloudAnnotation::onSetAnnotationType, this);
m_nh.param<std::string>(PARAM_NAME_OBJECT_ID_TOPIC, param_string,
PARAM_DEFAULT_OBJECT_ID_TOPIC);
m_object_id_pub = nh.advertise<std_msgs::Int32>(param_string, 1, true);
m_nh.param<std::string>(PARAM_AUTO_PLANE_TOPIC, param_string,
PARAM_DEFAULT_AUTO_PLANE_TOPIC);
m_on_auto_plane_sub =
m_nh.subscribe(param_string, 1, &RVizCloudAnnotation::onAutoPlane, this);
m_nh.param<double>(PARAM_NAME_AUTOSAVE_TIME, param_double,
PARAM_DEFAULT_AUTOSAVE_TIME);
if (param_double >= 1.0) {
m_autosave_timer =
m_nh.createTimer(ros::Duration(param_double),
&RVizCloudAnnotation::onAutosave, this, false, false);
ROS_INFO("rviz_cloud_annotation: autosave every %f seconds.",
float(param_double));
}
m_nh.param<bool>(PARAM_NAME_AUTOSAVE_TIMESTAMP, m_autosave_append_timestamp,
PARAM_DEFAULT_AUTOSAVE_TIMESTAMP);
m_current_label = 1;
m_edit_mode = EDIT_MODE_NONE;
m_prev_edit_mode = EDIT_MODE_NONE;
m_point_size_multiplier = 1.0;
m_control_point_weight_step = m_control_point_max_weight;
m_control_yaw_step = m_control_yaw_max;
m_view_cloud = m_view_labels = m_view_control_points = true;
SendCloudMarker(true);
SendControlPointMaxWeight();
SendYawMax();
SendYawMin();
SendBiasZero();
// Restore(m_annotation_filename_in); //恢复标记
m_autosave_timer.start();
}
//加载一帧点云
void RVizCloudAnnotation::LoadCloud(const std::string &filename,
const std::string &normal_source,
PointXYZRGBNormalCloud &cloud) {
std::string pcd_type;
m_nh.param<std::string>(PARAM_NAME_PCD_TYPE, pcd_type,
PARAM_DEFAULT_PCD_TYPE);
ROS_INFO("rviz_cloud_annotation: expected pcd format: %s", pcd_type.c_str());
cloud.clear();
pcl::PCLPointCloud2 cloud2;
if (pcl::io::loadPCDFile(filename, cloud2)) // read pcd file
{
throw std::string(std::string("could not load cloud: ") + filename);
}
if (pcd_type == "XYZI") {
PointXYZICloud cloud_in;
pcl::fromPCLPointCloud2(cloud2, cloud_in); // input pointCloud as XYZI
// transform XYZI to XYZRGB
PointXYZRGBCloud xyz_rgb_cloud;
for (int64 i = 0; i < cloud_in.size(); i++) {
PointXYZRGB point;
point.x = cloud_in[i].x;
point.y = cloud_in[i].y;
point.z = cloud_in[i].z;
// float radius = m_sqrt(point.x * point.x + point.y * point.y);
if (true) // radius < DISTANCE_LIMMIT && point.z < HEIGHT_LIMMIT)
{
colorize_point_cloud(cloud_in[i].intensity,
&point); // Transform intensity to RGB
xyz_rgb_cloud.push_back(point);
}
}
pcl::copyPointCloud(xyz_rgb_cloud,
cloud); // Transform to XYZRGBNormal finally
} else if (pcd_type == "XYZRGB") {
PointXYZRGBCloud cloud_in;
pcl::fromPCLPointCloud2(cloud2, cloud_in); // input pointCloud as XYZRGB
pcl::copyPointCloud(cloud_in, cloud); // Transform to XYZRGBNormal finally
} else if (pcd_type == "XYZ") {
PointXYZCloud cloud_in;
pcl::fromPCLPointCloud2(cloud2, cloud_in); // input pointCloud as XYZ
pcl::copyPointCloud(cloud_in, cloud); // Transform to XYZRGBNormal finally
}
ROS_INFO("rviz_cloud_annotation: cloud size: %ld", cloud.size());
for (uint64 i = 0; i < cloud.size(); i++) {
ids_in_plane_flag.push_back(0);
}
// code for plane annotation, should be removed if you don't need plane
// annotation for decreasing running time.
// generateDefaultPlane(cloud);
//
}
//对点云进行 强度 --> RGB转换
void RVizCloudAnnotation::colorize_point_cloud(double intensity,
PointXYZRGB *sample) {
if (intensity > 1) {
intensity = intensity / 100;
}
intensity = intensity * 255;
int r, g, b;
double intensity_range = 255;
double wavelength;
double min_wavelength = 470;
if (intensity <= intensity_range)
wavelength =
intensity / intensity_range * (780 - min_wavelength) + min_wavelength;
else
wavelength = 780;
if ((wavelength >= 380) && (wavelength < 440)) {
r = (-(wavelength - 440) / (440 - 380)) * 255;
g = 0;
b = 255;
} else if ((wavelength >= 440) && (wavelength < 490)) {
r = 0;
g = ((wavelength - 440) / (490 - 440)) * 255;
b = 255;
} else if ((wavelength >= 490) && (wavelength < 510)) {
r = 0;
g = 255;
b = (-(wavelength - 510) / (510 - 490)) * 255;
} else if ((wavelength >= 510) && (wavelength < 580)) {
r = ((wavelength - 510) / (580 - 510)) * 255;
g = 255;
b = 0;
} else if ((wavelength >= 580) && (wavelength < 645)) {
r = 255;
g = (-(wavelength - 645) / (645 - 580)) * 255;
b = 0;
} else if ((wavelength >= 645) && (wavelength < 781)) {
r = 255;
g = 0;
b = 0;
} else {
r = 0;
g = 0;
b = 0;
}
uint32_t rgb = ((uint32_t)r << 16 | (uint32_t)g << 8 | (uint32_t)b);
sample->rgb = *reinterpret_cast<float *>(&rgb);
}
//取消上一次操作
void RVizCloudAnnotation::onUndo(const std_msgs::Empty &) {
if (!m_undo_redo.IsUndoEnabled())
return;
ROS_INFO("rviz_cloud_annotation: Undo.");
const Uint64Vector changed = m_undo_redo.Undo();
SendControlPointsMarker(changed, true);
SendPointCounts(changed);
SendName();
SendUndoRedoState();
}
//恢复上一次操作
void RVizCloudAnnotation::onRedo(const std_msgs::Empty &) {
if (!m_undo_redo.IsRedoEnabled())
return;
ROS_INFO("rviz_cloud_annotation: Redo.");
const Uint64Vector changed = m_undo_redo.Redo();
SendControlPointsMarker(changed, true);
SendPointCounts(changed);
SendName();
SendUndoRedoState();
}
//清除当前标记的物体 或 清除当前帧所有标记
void RVizCloudAnnotation::onClear(const std_msgs::UInt32 &label_msg) {
const uint64 old_max_label = m_annotation->GetNextLabel();
const uint64 clear_label = label_msg.data;
if (clear_label >= old_max_label)
return;
if (clear_label != 0) {
const Uint64Vector changed = m_undo_redo.ClearLabel(clear_label);
SendControlPointsMarker(changed, true);
SendPointCounts(changed);
SendName();
SendUndoRedoState();
if (ANNOTATION_TYPE == BBOX) {
EmptyBboxToMarker(BBOX_ID);
ids_in_bbox[BBOX_ID].clear();
} else if (ANNOTATION_TYPE == KERB) {
for (int i = 0; i < KERB_SIZE[KERB_ID]; i++) {
KERB_SET[KERB_ID][i][0] = 0;
KERB_SET[KERB_ID][i][1] = 0;
KERB_SET[KERB_ID][i][2] = 0;
KERB_SET[KERB_ID][i][3] = 0;
}
ids_in_kerb[KERB_ID].clear();
KERB_SIZE[KERB_ID] = 0;
EmptyKerbToMarker(KERB_ID);
} else if (ANNOTATION_TYPE == LANE) {
for (int i = 0; i < LANE_SIZE[LANE_ID]; i++) {
LANE_SET[LANE_ID][i][0] = 0;
LANE_SET[LANE_ID][i][1] = 0;
LANE_SET[LANE_ID][i][2] = 0;
LANE_SET[LANE_ID][i][3] = 0;
}
ids_in_lane[LANE_ID].clear();
LANE_SIZE[LANE_ID] = 0;
EmptyLaneToMarker(LANE_ID);
} else if (ANNOTATION_TYPE == PLANE) {
ids_in_plane.clear();
ids_in_plane_flag.clear();
EmptyPlaneToMarker(PLANE_ID);
}
return;
}
const Uint64Vector changed = m_undo_redo.Clear();
SendPointCounts(changed);
SendControlPointsMarker(changed, true);
SendName();
SendUndoRedoState();
for (int i = 0; i <= BBOX_ID; i++) {
if (BBOX_SET[i][10] > 1) // >1 则不为空BBOX
{
EmptyBboxToMarker(i);
}
ids_in_bbox[i].clear();
}
for (int k = 0; k <= KERB_ID; k++) {
for (int i = 0; i < KERB_SIZE[k]; i++) {
KERB_SET[k][i][0] = 0;
KERB_SET[k][i][1] = 0;
KERB_SET[k][i][2] = 0;
KERB_SET[k][i][3] = 0;
}
ids_in_kerb[k].clear();
KERB_SIZE[k] = 0;
EmptyKerbToMarker(k);
}
for (int k = 0; k <= LANE_ID; k++) {
for (int i = 0; i < LANE_SIZE[k]; i++) {
LANE_SET[k][i][0] = 0;
LANE_SET[k][i][1] = 0;
LANE_SET[k][i][2] = 0;
LANE_SET[k][i][3] = 0;
}
ids_in_lane[k].clear();
LANE_SIZE[k] = 0;
EmptyLaneToMarker(k);
}
ids_in_plane.clear();
ids_in_plane_flag.clear();
EmptyPlaneToMarker(PLANE_ID);
}
//根据标志记录文件恢复当前帧的标注
void RVizCloudAnnotation::Restore(const std::string &filename) {
std::ifstream ifile(filename.c_str());
if (!ifile) {
ROS_ERROR("rviz_cloud_annotation: could not open file: %s",
filename.c_str());
return;
}
ROS_INFO("rviz_cloud_annotation: loading file: %s", filename.c_str());
RVizCloudAnnotationPoints::Ptr maybe_new_annotation;
try {
maybe_new_annotation = RVizCloudAnnotationPoints::Deserialize(
ifile, m_control_point_max_weight, m_point_neighborhood);
} catch (const RVizCloudAnnotationPoints::IOE &e) {
ROS_ERROR("rviz_cloud_annotation: could not load file %s, reason: %s.",
filename.c_str(), e.description.c_str());
return;
}
if (maybe_new_annotation->GetCloudSize() != m_annotation->GetCloudSize()) {
const uint new_size = maybe_new_annotation->GetCloudSize();
const uint old_size = m_annotation->GetCloudSize();
ROS_ERROR("rviz_cloud_annotation: file was created for a cloud of size %u, "
"but it is %u. Load operation aborted.",
new_size, old_size);
return;
}
ClearControlPointsMarker(RangeUint64(1, m_annotation->GetNextLabel()), false);
m_annotation = maybe_new_annotation;
m_undo_redo.SetAnnotation(maybe_new_annotation);
SendControlPointsMarker(RangeUint64(1, m_annotation->GetNextLabel()), true);
SendName();
SendPointCounts(RangeUint64(1, m_annotation->GetNextLabel()));
SendUndoRedoState();
ROS_INFO("rviz_cloud_annotation: file loaded.");
}
//保存当前帧的标记信息的Label
void RVizCloudAnnotation::Save(const bool is_autosave) {
if (is_autosave)
ROS_INFO("rviz_cloud_annotation: auto-saving.");
if (!m_annotation_file_files.empty()) {
std::string filename = m_annotation_file_files[FILE_ID];
if (is_autosave && m_autosave_append_timestamp) {
filename = AppendTimestampBeforeExtension(filename);
}
std::ofstream ofile(filename.c_str(), std::ios::trunc);
if (!ofile) {
ROS_ERROR("rviz_cloud_annotation: could not create file: %s",
filename.c_str());
return;
}
ROS_INFO("rviz_cloud_annotation: saving file: %s", filename.c_str());
try {
m_annotation->Serialize(ofile); //输出序列化
} catch (const RVizCloudAnnotationPoints::IOE &e) {
ROS_ERROR("rviz_cloud_annotation: could not save file %s, reason: %s.",
filename.c_str(), e.description.c_str());
}
ROS_INFO("rviz_cloud_annotation: done.");
}
if (!m_annotation_cloud_files.empty()) {
//输出点云 .PCD格式
std::string cloud_filename = m_annotation_cloud_files[FILE_ID];
if (is_autosave && m_autosave_append_timestamp)
cloud_filename = AppendTimestampBeforeExtension(cloud_filename);
ROS_INFO("rviz_cloud_annotation: saving cloud: %s", cloud_filename.c_str());
{
PointXYZRGBLCloud cloud_out;
pcl::copyPointCloud(*m_cloud, cloud_out);
if (pcl::io::savePCDFileBinary(cloud_filename, cloud_out))
ROS_ERROR("rviz_cloud_annotation: could not save labeled cloud.");
}
ROS_INFO("rviz_cloud_annotation: done.");
FinalLabel(*m_cloud);
PointXYZRGBLCloud cloud_out1;
pcl::copyPointCloud(*m_cloud, cloud_out1);
std::string save_label_name = m_label_files[FILE_ID];
std::ofstream ofile1;
ofile1.open(save_label_name.c_str(), std::ios::trunc);
ROS_INFO("rviz_cloud_annotation: filename: %s", save_label_name.c_str());
for (int i = 0; i < cloud_out1.size(); i++) {
std::string m_str_ = label2Name(m_label[i]);
ofile1 << i << "\t" << cloud_out1[i].x << "\t" << cloud_out1[i].y << "\t"
<< cloud_out1[i].z << "\t" << m_str_ << "\n";
}
ofile1.close();
m_label.clear();
}
if (!m_annotation_cloud_files.empty()) {
std::string save_bbox_name = m_bbox_files[FILE_ID];
std::ofstream ofile2;
ofile2.open(save_bbox_name.c_str(), std::ios::trunc);
ROS_INFO("rviz_cloud_annotation: bbox name: %s", save_bbox_name.c_str());
for (int i = 0; i <= BBOX_ID; i++) {
if (BBOX_SET[i][10] > 1) {
ROS_INFO("rviz_cloud_annotation: bbox id: %d", i);
ofile2 << label2Name((int)(BBOX_LABEL_SET[i][0])) << "\t";
for (int j = 1; j < 10; j++) {
ofile2 << BBOX_LABEL_SET[i][j] << "\t";
}
ofile2 << "\n";
}
}
ofile2.close();
}
if (!m_dataset_files.empty()) {
std::ofstream ofile3;
ofile3.open(m_log_file.c_str(), std::ios::app);
ofile3 << m_dataset_files[FILE_ID].c_str() << "\n";
}
}
//点的 标签序号 --> Name
std::string RVizCloudAnnotation::label2Name(int label) {
std::string m_str_ = "No";
if (label > 1000) {
return m_str_;
}
if (label == -1) {
m_str_ = "Kerb";
return m_str_;
} else if (label == -2) {
m_str_ = "Lane";
return m_str_;
} else if (label == -3) {
m_str_ = "Ground";
return m_str_;
}
int64 m_label_ = (label - 1) % 20;
m_label_ = m_label_ / 5;
switch (m_label_) {
case 0:
m_str_ = "Car";
break;
case 1:
m_str_ = "Cart";
break;
case 2:
m_str_ = "Pedestrian";
break;
case 3:
m_str_ = "Cyclist";
break;
}
return m_str_;
}
//设置操作模式
void RVizCloudAnnotation::SetEditMode(const uint64 new_edit_mode) {
if (m_edit_mode == new_edit_mode)
return;
const char *info_string;
bool send_cloud = false;
switch (new_edit_mode) {
case EDIT_MODE_NONE:
if (m_edit_mode != EDIT_MODE_NONE)
send_cloud = true;
info_string = "Move";
break;
case EDIT_MODE_CONTROL_POINT:
if (m_edit_mode == EDIT_MODE_NONE)
send_cloud = true;
info_string = "Point";
break;