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Added SaveObjectsExample node (added optional dependency on find_object_2d). Updated demo_find_object.launch. rtabmap: Added mutex around user data access.

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matlabbe
2018-05-23 10:53:13 -04:00
parent a39ffe382c
commit 2139338b11
7 changed files with 344 additions and 52 deletions
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src/CoreWrapper.cpp
+11 -5
View File
@@ -1117,6 +1117,7 @@ void CoreWrapper::commonDepthCallbackImpl(
if(userDataMsg.get())
{
userData = rtabmap_ros::userDataFromROS(*userDataMsg);
UScopeMutex lock(userDataMutex_);
if(!userData_.empty())
{
NODELET_WARN("Synchronized and asynchronized user data topics cannot be used at the same time. Async user data dropped!");
@@ -1125,6 +1126,7 @@ void CoreWrapper::commonDepthCallbackImpl(
}
else
{
UScopeMutex lock(userDataMutex_);
userData = userData_;
userData_ = cv::Mat();
}
@@ -1363,6 +1365,7 @@ void CoreWrapper::commonStereoCallback(
if(userDataMsg.get())
{
userData = rtabmap_ros::userDataFromROS(*userDataMsg);
UScopeMutex lock(userDataMutex_);
if(!userData_.empty())
{
NODELET_WARN("Synchronized and asynchronized user data topics cannot be used at the same time. Async user data dropped!");
@@ -1371,6 +1374,7 @@ void CoreWrapper::commonStereoCallback(
}
else
{
UScopeMutex lock(userDataMutex_);
userData = userData_;
userData_ = cv::Mat();
}
@@ -1663,6 +1667,7 @@ void CoreWrapper::userDataAsyncCallback(const rtabmap_ros::UserDataConstPtr & da
{
if(!paused_)
{
UScopeMutex lock(userDataMutex_);
if(!userData_.empty())
{
ROS_WARN("Overwriting previous user data set. Asynchronous user "
@@ -1670,10 +1675,7 @@ void CoreWrapper::userDataAsyncCallback(const rtabmap_ros::UserDataConstPtr & da
"lower rate than map update rate (current %s=%f).",
Parameters::kRtabmapDetectionRate().c_str(), rate_);
}
else
{
userData_ = rtabmap_ros::userDataFromROS(*dataMsg);
}
userData_ = rtabmap_ros::userDataFromROS(*dataMsg);
}
}
@@ -1912,8 +1914,10 @@ bool CoreWrapper::resetRtabmapCallback(std_srvs::Empty::Request&, std_srvs::Empt
latestNodeWasReached_ = false;
mapsManager_.clear();
previousStamp_ = ros::Time(0);
userData_ = cv::Mat();
globalPose_.header.stamp = ros::Time(0);
userDataMutex_.lock();
userData_ = cv::Mat();
userDataMutex_.unlock();
return true;
}
@@ -1967,7 +1971,9 @@ bool CoreWrapper::backupDatabaseCallback(std_srvs::Empty::Request&, std_srvs::Em
currentMetricGoal_.setNull();
lastPublishedMetricGoal_.setNull();
latestNodeWasReached_ = false;
userDataMutex_.lock();
userData_ = cv::Mat();
userDataMutex_.unlock();
globalPose_.header.stamp = ros::Time(0);
NODELET_INFO("Backup: Saving \"%s\" to \"%s\"...", databasePath_.c_str(), (databasePath_+".back").c_str());
src/SaveObjectsExample.cpp
+257
View File
@@ -0,0 +1,257 @@
/*
Copyright (c) 2011-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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 Universite de Sherbrooke 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 HOLDER 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 <ros/ros.h>
#include <tf/transform_listener.h>
#include <find_object_2d/ObjectsStamped.h>
#include <rtabmap/utilite/UConversion.h>
#include <opencv2/core.hpp>
#include <rtabmap_ros/UserData.h>
#include <rtabmap_ros/MsgConversion.h>
#include <rtabmap/core/Compression.h>
#include <visualization_msgs/MarkerArray.h>
class SaveObjectsExample
{
public:
SaveObjectsExample() :
objFramePrefix_("object"),
frameId_("base_link")
{
ros::NodeHandle pnh("~");
pnh.param("object_prefix", objFramePrefix_, objFramePrefix_);
pnh.param("frame_id", frameId_, frameId_);
ros::NodeHandle nh;
subObjects_ = nh.subscribe("objectsStamped", 1, &SaveObjectsExample::objectsDetectedCallback, this);
subsMapData_ = nh.subscribe("mapData", 1, &SaveObjectsExample::mapDataCallback, this);
pub_ = nh.advertise<rtabmap_ros::UserData>("objectsData", 1);
pubMarkers_ = nh.advertise<visualization_msgs::MarkerArray>("objectsMarkers", 1);
}
// from find_object_2d to rtabmap
void objectsDetectedCallback(const find_object_2d::ObjectsStampedConstPtr & msg)
{
if(msg->objects.data.size())
{
cv::Mat data(msg->objects.data.size()/12, 9, CV_64FC1);
for(unsigned int i=0; i<msg->objects.data.size(); i+=12)
{
// get data
int id = (int)msg->objects.data[i];
std::string objectFrameId = uFormat("%s_%d", objFramePrefix_.c_str(),id); // "object_1", "object_2"
// get pose of the object in base frame
tf::StampedTransform pose;
try
{
tfListener_.lookupTransform(frameId_, objectFrameId, msg->header.stamp, pose);
}
catch(tf::TransformException & ex)
{
ROS_WARN("%s",ex.what());
return;
}
data.at<double>(i, 0) = double(id);
data.at<double>(i, 1) = ros::Time(msg->header.stamp).toSec();
data.at<double>(i, 2) = pose.getOrigin().x();
data.at<double>(i, 3) = pose.getOrigin().y();
data.at<double>(i, 4) = pose.getOrigin().z();
data.at<double>(i, 5) = pose.getRotation().x();
data.at<double>(i, 6) = pose.getRotation().y();
data.at<double>(i, 7) = pose.getRotation().z();
data.at<double>(i, 8) = pose.getRotation().w();
}
rtabmap_ros::UserData dataMsg;
dataMsg.header.frame_id = msg->header.frame_id;
dataMsg.header.stamp = msg->header.stamp;
rtabmap_ros::userDataToROS(data, dataMsg, false);
pub_.publish(dataMsg);
}
}
// from rtabmap to rviz visualization
void mapDataCallback(const rtabmap_ros::MapDataConstPtr & msg)
{
std::map<double, int> nodeStamps; // <stamp, id>
std::map<int, rtabmap::Signature> signatures;
std::map<int, rtabmap::Transform> poses;
std::multimap<int, rtabmap::Link> links;
rtabmap::Transform mapToOdom;
rtabmap_ros::mapDataFromROS(*msg, poses, links, signatures, mapToOdom);
for(std::map<int, rtabmap::Signature>::iterator iter=signatures.begin(); iter!=signatures.end(); ++iter)
{
int id = iter->first;
rtabmap::Signature & node = iter->second;
if(!node.sensorData().userDataCompressed().empty() && nodeToObjects_.find(id)==nodeToObjects_.end())
{
cv::Mat data = rtabmap::uncompressData(node.sensorData().userDataCompressed());
ROS_ASSERT(data.cols == 9 && data.type() == CV_64FC1);
ROS_INFO("Node %d has %d object(s)", id, data.rows);
nodeToObjects_.insert(std::make_pair(id, data));
}
// Sort stamps by stamps->id
nodeStamps.insert(std::make_pair(iter->second.getStamp(), iter->first));
}
// Publish markers accordingly to current optimized graph
std::map<int, float> objectsAdded;
visualization_msgs::MarkerArray markers;
if(nodeToObjects_.size())
{
for(std::map<int, rtabmap::Transform>::iterator iter=poses.begin(); iter!=poses.end(); ++iter)
{
if(nodeToObjects_.find(iter->first) != nodeToObjects_.end())
{
cv::Mat data = nodeToObjects_.at(iter->first);
for(int i=0; i<data.rows; ++i)
{
int objId = int(data.at<double>(i,0));
double stamp = data.at<double>(i,1);
// The object detection may have been taken between two nodes, interpolate its position.
std::map<double, int>::iterator previousNode = nodeStamps.lower_bound(stamp); // lower bound of the stamp
if(previousNode!=nodeStamps.end() && previousNode->first > stamp && previousNode != nodeStamps.begin())
{
--previousNode;
}
std::map<double, int>::iterator nextNode = nodeStamps.upper_bound(stamp); // upper bound of the stamp
if(previousNode != nodeStamps.end() &&
nextNode != nodeStamps.end() &&
previousNode->second != nextNode->second &&
poses.find(previousNode->second)!=poses.end() && poses.find(nextNode->second)!=poses.end())
{
rtabmap::Transform poseA = poses.at(previousNode->second);
rtabmap::Transform poseB = poses.at(nextNode->second);
double stampA = previousNode->first;
double stampB = nextNode->first;
UASSERT(stamp>=stampA && stamp <=stampB);
rtabmap::Transform v = poseA.inverse() * poseB;
double ratio = (stamp-stampA)/(stampB-stampA);
rtabmap::Transform robotPose = poseA.interpolate(ratio, poseB);
// transform object pose in map frame
rtabmap::Transform objPose(
data.at<double>(i,2), data.at<double>(i,3), data.at<double>(i,4),
data.at<double>(i,5), data.at<double>(i,6), data.at<double>(i,7), data.at<double>(i,8));
float distanceFromNode = objPose.getNorm();
objPose = robotPose * objPose;
if(objectsAdded.find(objId) == objectsAdded.end())
{
visualization_msgs::Marker marker;
marker.header.frame_id = msg->header.frame_id;
marker.header.stamp = msg->header.stamp;
marker.ns = "objects";
marker.id = objId;
marker.action = visualization_msgs::Marker::ADD;
marker.pose.position.x = objPose.x();
marker.pose.position.y = objPose.y();
marker.pose.position.z = objPose.z();
Eigen::Quaterniond q = objPose.getQuaterniond();
marker.pose.orientation.x = q.x();
marker.pose.orientation.y = q.y();
marker.pose.orientation.z = q.z();
marker.pose.orientation.w = q.w();
marker.scale.x = 0.3;
marker.scale.y = 0.3;
marker.scale.z = 0.3;
marker.color.a = 0.8;
marker.color.r = 0.0;
marker.color.g = 1.0;
marker.color.b = 0.0;
// cube
marker.type = visualization_msgs::Marker::CUBE;
markers.markers.push_back(marker);
// text
marker.type = visualization_msgs::Marker::TEXT_VIEW_FACING;
marker.text = uFormat("%s_%d", objFramePrefix_.c_str(), objId);
marker.id = -objId;
marker.color.a = 1.0;
marker.pose.position.z += 0.3; // text over the cube
markers.markers.push_back(marker);
objectsAdded.insert(std::make_pair(objId, distanceFromNode));
}
else
{
// update pose of the marker only if current observation is closer to robot
if(distanceFromNode < objectsAdded.at(objId))
{
for(unsigned int j=0; j<markers.markers.size(); ++j)
{
if(markers.markers[j].id == objId || markers.markers[j].id == -objId)
{
markers.markers[j].pose.position.x = objPose.x();
markers.markers[j].pose.position.y = objPose.y();
markers.markers[j].pose.position.z = objPose.z() + (markers.markers[j].id<0?0.3:0);
Eigen::Quaterniond q = objPose.getQuaterniond();
markers.markers[j].pose.orientation.x = q.x();
markers.markers[j].pose.orientation.y = q.y();
markers.markers[j].pose.orientation.z = q.z();
markers.markers[j].pose.orientation.w = q.w();
}
}
objectsAdded.at(objId) = distanceFromNode;
}
}
}
}
}
}
if(!markers.markers.empty())
{
pubMarkers_.publish(markers);
}
}
}
private:
std::string objFramePrefix_;
ros::Subscriber subObjects_;
ros::Subscriber subsMapData_;
tf::TransformListener tfListener_;
ros::Publisher pub_;
ros::Publisher pubMarkers_;
std::map<int, cv::Mat> nodeToObjects_;
std::string frameId_;
};
int main(int argc, char * argv[])
{
ros::init(argc, argv, "save_objects_example");
SaveObjectsExample sync;
ros::spin();
}