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First version rtabmap_launch working

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matlabbe
2023-02-19 18:55:24 -08:00
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rtabmap_demos/src/SaveObjectsExample.cpp
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/*
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/core.hpp>
#include <rtabmap_msgs/UserData.h>
#include <rtabmap_conversions/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_msgs::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_msgs::UserData dataMsg;
dataMsg.header.frame_id = msg->header.frame_id;
dataMsg.header.stamp = msg->header.stamp;
rtabmap_conversions::userDataToROS(data, dataMsg, false);
pub_.publish(dataMsg);
}
}
// from rtabmap to rviz visualization
void mapDataCallback(const rtabmap_msgs::MapDataConstPtr & msg)
{
std::map<int, rtabmap::Signature> signatures;
std::map<int, rtabmap::Transform> poses;
std::multimap<int, rtabmap::Link> links;
rtabmap::Transform mapToOdom;
rtabmap_conversions::mapDataFromROS(*msg, poses, links, signatures, mapToOdom);
// handle the case where we can receive only latest data, or if all data are published
for(std::map<int, rtabmap::Signature>::iterator iter=signatures.begin(); iter!=signatures.end(); ++iter)
{
int id = iter->first;
rtabmap::Signature & node = iter->second;
nodeStamps_.insert(std::make_pair(node.getStamp(), node.id()));
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));
}
}
// for the logic below, we should keep only stamps for
// nodes still in the graph (in case nodes are ignored when not moving)
std::map<double, int> nodeStamps;
for(std::map<double, int>::iterator iter=nodeStamps_.begin(); iter!=nodeStamps_.end(); ++iter)
{
std::map<int, rtabmap::Transform>::const_iterator jter = poses.find(iter->second);
if(jter != poses.end())
{
nodeStamps.insert(*iter);
}
}
// 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.lower_bound(1); 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);
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::map<double, int> nodeStamps_; // <stamp, id>
std::string frameId_;
};
int main(int argc, char * argv[])
{
ros::init(argc, argv, "save_objects_example");
SaveObjectsExample sync;
ros::spin();
}
rtabmap_demos/src/WifiSignalPubNode.cpp
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/*
Copyright (c) 2010-2016, 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 <ros/publisher.h>
#include <sys/socket.h>
#include <linux/wireless.h>
#include <sys/ioctl.h>
#include <rtabmap_conversions/MsgConversion.h>
#include <rtabmap_msgs/UserData.h>
// Demo:
// $ roslaunch freenect_launch freenect.launch depth_registration:=true
// $ roslaunch rtabmap_launch rtabmap.launch rtabmap_args:="--delete_db_on_start" user_data_async_topic:=/wifi_signal rtabmapviz:=false rviz:=true
// $ rosrun rtabmap_demos wifi_signal_pub interface:="wlan0"
// $ rosrun rtabmap_demos wifi_signal_sub
// In RVIZ add PointCloud2 "wifi_signals"
// A percentage value that represents the signal quality
// of the network. WLAN_SIGNAL_QUALITY is of type ULONG.
// This member contains a value between 0 and 100. A value
// of 0 implies an actual RSSI signal strength of -100 dbm.
// A value of 100 implies an actual RSSI signal strength of -50 dbm.
// You can calculate the RSSI signal strength value for wlanSignalQuality
// values between 1 and 99 using linear interpolation.
inline int quality2dBm(int quality)
{
// Quality to dBm:
if(quality <= 0)
return -100;
else if(quality >= 100)
return -50;
else
return (quality / 2) - 100;
}
int main(int argc, char** argv)
{
ros::init(argc, argv, "wifi_signal_pub");
ros::NodeHandle nh;
ros::NodeHandle pnh("~");
std::string interface = "wlan0";
double rateHz = 0.5; // Hz
std::string frameId = "base_link";
pnh.param("interface", interface, interface);
pnh.param("rate", rateHz, rateHz);
pnh.param("frame_id", frameId, frameId);
ros::Rate rate(rateHz);
ros::Publisher wifiPub = nh.advertise<rtabmap_msgs::UserData>("wifi_signal", 1);
while(ros::ok())
{
int dBm = 0;
// Code inspired from http://blog.ajhodges.com/2011/10/using-ioctl-to-gather-wifi-information.html
//have to use a socket for ioctl
int sockfd;
/* Any old socket will do, and a datagram socket is pretty cheap */
if((sockfd = socket(AF_INET, SOCK_DGRAM, 0)) == -1) {
ROS_ERROR("Could not create simple datagram socket");
return -1;
}
struct iwreq req;
struct iw_statistics stats;
strncpy(req.ifr_name, interface.c_str(), IFNAMSIZ);
//make room for the iw_statistics object
req.u.data.pointer = (caddr_t) &stats;
req.u.data.length = sizeof(stats);
// clear updated flag
req.u.data.flags = 1;
//this will gather the signal strength
if(ioctl(sockfd, SIOCGIWSTATS, &req) == -1)
{
//die with error, invalid interface
ROS_ERROR("Invalid interface (\"%s\"). Tip: Try with sudo!", interface.c_str());
}
else if(((iw_statistics *)req.u.data.pointer)->qual.updated & IW_QUAL_DBM)
{
//signal is measured in dBm and is valid for us to use
dBm = ((iw_statistics *)req.u.data.pointer)->qual.level - 256;
}
else
{
ROS_ERROR("Could not get signal level.");
}
close(sockfd);
if(dBm != 0)
{
ros::Time stamp = ros::Time::now();
// Create user data [level] with the value
cv::Mat data(1, 2, CV_64FC1);
data.at<double>(0) = double(dBm);
// we should set stamp in data to be able to
// retrieve it from rtabmap map data to get precise
// position in the graph afterward
data.at<double>(1) = stamp.toSec();
rtabmap_msgs::UserData dataMsg;
dataMsg.header.frame_id = frameId;
dataMsg.header.stamp = stamp;
rtabmap_conversions::userDataToROS(data, dataMsg, false);
wifiPub.publish<rtabmap_msgs::UserData>(dataMsg);
}
ros::spinOnce();
rate.sleep();
}
return 0;
}
rtabmap_demos/src/WifiSignalSubNode.cpp
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/*
Copyright (c) 2010-2016, 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 <ros/publisher.h>
#include <ros/subscriber.h>
#include <rtabmap/utilite/UStl.h>
#include <rtabmap/utilite/ULogger.h>
#include <rtabmap/core/util3d_transforms.h>
#include <rtabmap_msgs/MapData.h>
#include <rtabmap_conversions/MsgConversion.h>
#include <sensor_msgs/PointCloud2.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl_conversions/pcl_conversions.h>
bool hueSymbol = false;
int min_dbm = -100;
int max_dbm = -50;
bool autoScale = false;
// A percentage value that represents the signal quality
// of the network. WLAN_SIGNAL_QUALITY is of type ULONG.
// This member contains a value between 0 and 100. A value
// of 0 implies an actual RSSI signal strength of -100 dbm.
// A value of 100 implies an actual RSSI signal strength of -50 dbm.
// You can calculate the RSSI signal strength value for wlanSignalQuality
// values between 1 and 99 using linear interpolation.
inline int dBm2Quality(int dBm)
{
// dBm to Quality:
if(dBm <= min_dbm)
return 0;
else if(dBm >= max_dbm)
return 100;
else
{
return -(dBm-min_dbm)*100/(min_dbm-max_dbm);
}
}
void HSVtoRGB( float *r, float *g, float *b, float h, float s, float v )
{
int i;
float f, p, q, t;
if( s == 0 ) {
// achromatic (grey)
*r = *g = *b = v;
return;
}
h /= 60; // sector 0 to 5
i = floor( h );
f = h - i; // factorial part of h
p = v * ( 1 - s );
q = v * ( 1 - s * f );
t = v * ( 1 - s * ( 1 - f ) );
switch( i ) {
case 0:
*r = v;
*g = t;
*b = p;
break;
case 1:
*r = q;
*g = v;
*b = p;
break;
case 2:
*r = p;
*g = v;
*b = t;
break;
case 3:
*r = p;
*g = q;
*b = v;
break;
case 4:
*r = t;
*g = p;
*b = v;
break;
default: // case 5:
*r = v;
*g = p;
*b = q;
break;
}
}
ros::Publisher wifiSignalCloudPub;
std::map<double, int> wifiLevels;
std::map<double, int> nodeStamps_;
void mapDataCallback(const rtabmap_msgs::MapDataConstPtr & mapDataMsg)
{
ROS_INFO("Received map data!");
rtabmap::Transform mapToOdom;
std::map<int, rtabmap::Transform> poses;
std::multimap<int, rtabmap::Link> links;
std::map<int, rtabmap::Signature> signatures;
rtabmap_conversions::mapDataFromROS(*mapDataMsg, poses, links, signatures, mapToOdom);
// handle the case where we can receive only latest data, or if all data are published
for(std::map<int, rtabmap::Signature>::iterator iter=signatures.begin(); iter!=signatures.end(); ++iter)
{
int id = iter->first;
rtabmap::Signature & node = iter->second;
nodeStamps_.insert(std::make_pair(node.getStamp(), node.id()));
if(node.sensorData().envSensors().find(rtabmap::EnvSensor::kWifiSignalStrength) != node.sensorData().envSensors().end())
{
rtabmap::EnvSensor sensor = node.sensorData().envSensors().at(rtabmap::EnvSensor::kWifiSignalStrength);
wifiLevels.insert(std::make_pair(sensor.stamp()>0.0?sensor.stamp():iter->second.getStamp(), sensor.value()));
}
else if(!node.sensorData().userDataCompressed().empty())
{
cv::Mat data;
node.sensorData().uncompressDataConst(0 ,0, 0, &data);
if(data.type() == CV_64FC1 && data.rows == 1 && data.cols == 2)
{
// format [int level, double stamp], see wifi_signal_pub_node.cpp
int level = data.at<double>(0);
double stamp = data.at<double>(1);
wifiLevels.insert(std::make_pair(stamp, level));
}
else if(!data.empty())
{
ROS_ERROR("Wrong user data format for wifi signal.");
}
}
}
// for the logic below, we should keep only stamps for
// nodes still in the graph (in case nodes are ignored when not moving)
std::map<double, int> nodeStamps;
for(std::map<double, int>::iterator iter=nodeStamps_.begin(); iter!=nodeStamps_.end(); ++iter)
{
std::map<int, rtabmap::Transform>::const_iterator jter = poses.find(iter->second);
if(jter != poses.end())
{
nodeStamps.insert(*iter);
}
}
if(wifiLevels.size() == 0)
{
ROS_WARN("No wifi signal detected yet in user data of map data");
}
//============================
// Add WIFI symbols
//============================
pcl::PointCloud<pcl::PointXYZRGB>::Ptr assembledWifiSignals(new pcl::PointCloud<pcl::PointXYZRGB>);
int id = 0;
float min=0,max=0;
for(std::map<double, int>::iterator iter=wifiLevels.begin(); iter!=wifiLevels.end(); ++iter, ++id)
{
if(min == 0.0f || min > iter->second)
{
min = iter->second;
}
if(max == 0.0f || max < iter->second)
{
max = iter->second;
}
}
ROS_INFO("Min/Max dBm = %f %f", min, max);
if(autoScale && min<0 && min < max)
{
min_dbm = min;
max_dbm = max;
}
for(std::map<double, int>::iterator iter=wifiLevels.begin(); iter!=wifiLevels.end(); ++iter, ++id)
{
// The Wifi value may be taken between two nodes, interpolate its position.
double stampWifi = iter->first;
std::map<double, int>::iterator previousNode = nodeStamps.lower_bound(stampWifi); // lower bound of the stamp
if(previousNode!=nodeStamps.end() && previousNode->first > stampWifi && previousNode != nodeStamps.begin())
{
--previousNode;
}
std::map<double, int>::iterator nextNode = nodeStamps.upper_bound(stampWifi); // upper bound of the stamp
if(previousNode != nodeStamps.end() &&
nextNode != nodeStamps.end() &&
previousNode->second != nextNode->second &&
uContains(poses, previousNode->second) && uContains(poses, nextNode->second))
{
rtabmap::Transform poseA = poses.at(previousNode->second);
rtabmap::Transform poseB = poses.at(nextNode->second);
double stampA = previousNode->first;
double stampB = nextNode->first;
UASSERT(stampWifi>=stampA && stampWifi <=stampB);
rtabmap::Transform v = poseA.inverse() * poseB;
double ratio = (stampWifi-stampA)/(stampB-stampA);
v.x()*=ratio;
v.y()*=ratio;
v.z()*=ratio;
rtabmap::Transform wifiPose = (poseA*v).translation(); // rip off the rotation
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGB>);
if(hueSymbol)
{
// scale between red -> yellow -> green
int quality = dBm2Quality(iter->second)*120/100;
float r,g,b;
HSVtoRGB(&r,&g,&b,quality,1,1);
pcl::PointXYZRGB anchor;
anchor.r = r*255;
anchor.g = g*255;
anchor.b = b*255;
cloud->push_back(anchor);
}
else
{
// Make a line with points
int quality = dBm2Quality(iter->second)/10;
for(int i=0; i<10; ++i)
{
// 2 cm between each points
// the number of points depends on the dBm (which varies from -30 (near) to -80 (far))
pcl::PointXYZRGB pt;
pt.z = float(i+1)*0.02f;
if(i<quality)
{
// green
pt.g = 255;
if(i<7)
{
// yellow
pt.r = 255;
}
}
else
{
// gray
pt.r = pt.g = pt.b = 100;
}
cloud->push_back(pt);
}
pcl::PointXYZRGB anchor;
anchor.r = 255;
cloud->push_back(anchor);
}
cloud = rtabmap::util3d::transformPointCloud(cloud, wifiPose);
if(assembledWifiSignals->size() == 0)
{
*assembledWifiSignals = *cloud;
}
else
{
*assembledWifiSignals += *cloud;
}
}
}
if(assembledWifiSignals->size())
{
sensor_msgs::PointCloud2 cloudMsg;
pcl::toROSMsg(*assembledWifiSignals, cloudMsg);
cloudMsg.header = mapDataMsg->header;
wifiSignalCloudPub.publish(cloudMsg);
}
}
int main(int argc, char** argv)
{
ros::init(argc, argv, "wifi_signal_sub");
ros::NodeHandle nh;
ros::NodeHandle pnh("~");
pnh.param("hue_symbol", hueSymbol, hueSymbol);
pnh.param("min", min_dbm, min_dbm);
pnh.param("max", max_dbm, max_dbm);
pnh.param("auto", autoScale, autoScale);
wifiSignalCloudPub = nh.advertise<sensor_msgs::PointCloud2>("wifi_signals", 1);
ros::Subscriber mapDataSub = nh.subscribe("/rtabmap/mapData", 1, mapDataCallback);
ros::spin();
return 0;
}