Updated to RTAB-Map 0.10.7. For rtabmap node: Added cloud_floor_culling_height (double) and cloud_frustum_culling (bool)

CMakeLists.txt

@@ -17,7 +17,7 @@ find_package(octomap_ros)
 
 ## System dependencies are found with CMake's conventions
 # find_package(Boost REQUIRED COMPONENTS system)
-find_package(RTABMap 0.10.6 REQUIRED)
+find_package(RTABMap 0.10.7 REQUIRED)
 
 find_package(OpenCV REQUIRED)
 

msg/NodeData.msg

@@ -29,6 +29,7 @@ geometry_msgs/Transform[] localTransform
 # use rtabmap::util3d::uncompressData() from "rtabmap/core/util3d.h"
 uint8[] laserScan
 int32 laserScanMaxPts
+float32 laserScanMaxRange
 
 # compressed user data
 # use rtabmap::util3d::uncompressData() from "rtabmap/core/util3d.h"

src/CoreWrapper.cpp

@@ -763,6 +763,7 @@ void CoreWrapper::commonDepthCallback(
 	cv::Mat depth;
 	pcl::PointCloud<pcl::PointXYZ> scanCloud;
 	std::vector<CameraModel> cameraModels;
+	int genMaxScanPts = 0;
 	for(unsigned int i=0; i<imageMsgs.size(); ++i)
 	{
 		if(!(imageMsgs[i]->encoding.compare(sensor_msgs::image_encodings::TYPE_8UC1) == 0 ||
@@ -876,6 +877,7 @@ void CoreWrapper::commonDepthCallback(
 					model.cy(),
 					genScanMaxDepth_,
 					localTransform);
+			genMaxScanPts += subDepth.cols;
 		}
 	}
 
@@ -921,7 +923,8 @@ void CoreWrapper::commonDepthCallback(
 
 	process(stamp,
 			SensorData(scan,
-					scanMsg.get() != 0?(int)scanMsg->ranges.size():0,
+					scanMsg.get() != 0?(int)scanMsg->ranges.size():genMaxScanPts,
+					scanMsg.get() != 0?scanMsg->range_max:(genScan_?genScanMaxDepth_:0.0f),
 					rgb,
 					depth,
 					cameraModels,
@@ -1016,6 +1019,7 @@ void CoreWrapper::commonStereoCallback(
 
 			}
 		}
+
 		scan = util3d::laserScanFromPointCloud(*pclScan);
 	}
 
@@ -1045,6 +1049,7 @@ void CoreWrapper::commonStereoCallback(
 	process(stamp,
 			SensorData(scan,
 					scanMsg.get() != 0?(int)scanMsg->ranges.size():0,
+					scanMsg.get() != 0?scanMsg->range_max:0,
 					ptrLeftImage->image,
 					ptrRightImage->image,
 					stereoModel,

src/GuiWrapper.cpp

@@ -676,6 +676,7 @@ void GuiWrapper::commonDepthCallback(
 			rtabmap::SensorData(
 					scan,
 					scanMsg.get()?(int)scanMsg->ranges.size():0,
+					scanMsg.get()?(int)scanMsg->range_max:0,
 					rgb,
 					depth,
 					cameraModels,
@@ -849,6 +850,7 @@ void GuiWrapper::commonStereoCallback(
 			rtabmap::SensorData(
 					scan,
 					scanMsg.get()?(int)scanMsg->ranges.size():0,
+					scanMsg.get()?(int)scanMsg->range_max:0,
 					left,
 					right,
 					stereoModel,

src/MapsManager.cpp

@@ -33,7 +33,9 @@ MapsManager::MapsManager() :
 		cloudDecimation_(4),
 		cloudMaxDepth_(4.0), // meters
 		cloudVoxelSize_(0.05), // meters
+		cloudFloorCullingHeight_(0.0),
 		cloudOutputVoxelized_(false),
+		cloudFrustumCulling_(false),
 		projMaxGroundAngle_(45.0), // degrees
 		projMinClusterSize_(20),
 		projMaxHeight_(2.0), // meters
@@ -53,7 +55,9 @@ MapsManager::MapsManager() :
 	pnh.param("cloud_decimation", cloudDecimation_, cloudDecimation_);
 	pnh.param("cloud_max_depth", cloudMaxDepth_, cloudMaxDepth_);
 	pnh.param("cloud_voxel_size", cloudVoxelSize_, cloudVoxelSize_);
+	pnh.param("cloud_floor_culling_height", cloudFloorCullingHeight_, cloudFloorCullingHeight_);
 	pnh.param("cloud_output_voxelized", cloudOutputVoxelized_, cloudOutputVoxelized_);
+	pnh.param("cloud_frustum_culling", cloudFrustumCulling_, cloudFrustumCulling_);
 
 	//projection map stuff
 	pnh.param("proj_max_ground_angle", projMaxGroundAngle_, projMaxGroundAngle_);
@@ -84,6 +88,7 @@ MapsManager::~MapsManager() {
 void MapsManager::clear()
 {
 	clouds_.clear();
+	cameraModels_.clear();
 	projMaps_.clear();
 	gridMaps_.clear();
 }
@@ -140,10 +145,17 @@ std::map<int, rtabmap::Transform> MapsManager::updateMapCaches(
 		{
 			double angle = mapFilterAngle_ == 0.0?CV_PI+0.1:mapFilterAngle_*CV_PI/180.0;
 			filteredPoses = rtabmap::graph::radiusPosesFiltering(poses, mapFilterRadius_, angle);
-			if(poses.size() && poses.begin()->first < 0)
+			for(std::map<int, rtabmap::Transform>::const_iterator iter=poses.begin(); iter!=poses.end(); ++iter)
 			{
-				// make sure to keep latest data
+				if(iter->first <=0)
-				filteredPoses.insert(*poses.begin());
+				{
+					// make sure to keep latest data
+					filteredPoses.insert(*iter);
+				}
+				else
+				{
+					break;
+				}
 			}
 		}
 		else
@@ -224,6 +236,31 @@ std::map<int, rtabmap::Transform> MapsManager::updateMapCaches(
 						if(cloudRGB.get())
 						{
 							uInsert(clouds_, std::make_pair(iter->first, cloudRGB));
+
+							// Make sure that image size is set in camera models.
+							// The camera models are used when cloud_frustum_culling=true.
+							std::vector<rtabmap::CameraModel> models;
+							if(data.stereoCameraModel().isValid())
+							{
+								//insert only the left camera model
+								rtabmap::CameraModel model = data.stereoCameraModel().left();
+								model.setImageSize(cv::Size(data.imageRaw().cols, data.imageRaw().rows));
+								models.push_back(model);
+							}
+							else if(data.cameraModels().size())
+							{
+								UASSERT_MSG(data.imageRaw().cols % data.cameraModels().size() == 0,
+										uFormat("data.imageRaw().cols=%d data.cameraModels().size()=%d",
+												data.imageRaw().cols, (int)data.cameraModels().size()).c_str());
+
+								models.resize(data.cameraModels().size());
+								for(unsigned int i=0; i<data.cameraModels().size(); ++i)
+								{
+									models[i] = data.cameraModels()[i];
+									models[i].setImageSize(cv::Size(data.imageRaw().cols/data.cameraModels().size(), data.imageRaw().rows));
+								}
+							}
+							uInsert(cameraModels_, std::make_pair(iter->first, models));
 						}
 
 						if(depthRequired)
@@ -260,7 +297,7 @@ std::map<int, rtabmap::Transform> MapsManager::updateMapCaches(
 						if(scanRequired)
 						{
 							cv::Mat ground, obstacles;
-							util3d::occupancy2DFromLaserScan(scan, ground, obstacles, gridCellSize_, data.id() < 0 || gridUnknownSpaceFilled_);
+							util3d::occupancy2DFromLaserScan(scan, ground, obstacles, gridCellSize_, data.id() < 0 || gridUnknownSpaceFilled_, data.laserScanMaxRange());
 							uInsert(gridMaps_, std::make_pair(iter->first, std::make_pair(ground, obstacles)));
 						}
 					}
@@ -317,6 +354,18 @@ std::map<int, rtabmap::Transform> MapsManager::updateMapCaches(
 				++iter;
 			}
 		}
+		for(std::map<int, std::vector<rtabmap::CameraModel> >::iterator iter=cameraModels_.begin();
+			iter!=cameraModels_.end();)
+		{
+			if(!uContains(poses, iter->first))
+			{
+				cameraModels_.erase(iter++);
+			}
+			else
+			{
+				++iter;
+			}
+		}
 	}
 
 	return filteredPoses;
@@ -336,23 +385,67 @@ void MapsManager::publishMaps(
 		UTimer time;
 		pcl::PointCloud<pcl::PointXYZRGB>::Ptr assembledCloud(new pcl::PointCloud<pcl::PointXYZRGB>);
 		int count = 0;
+		std::list<std::pair<int, Transform> > negativePoses;
 		for(std::map<int, Transform>::const_iterator iter = poses.begin(); iter!=poses.end(); ++iter)
 		{
-			std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr >::iterator jter = clouds_.find(iter->first);
+			if(iter->first > 0)
-			if(jter != clouds_.end())
 			{
-				pcl::PointCloud<pcl::PointXYZRGB>::Ptr transformed = util3d::transformPointCloud(jter->second, iter->second);
+				std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr >::iterator jter = clouds_.find(iter->first);
-				*assembledCloud+=*transformed;
+				if(jter != clouds_.end())
-				++count;
+				{
+					pcl::PointCloud<pcl::PointXYZRGB>::Ptr transformed = util3d::transformPointCloud(jter->second, iter->second);
+					*assembledCloud+=*transformed;
+					++count;
+				}
+			}
+			else
+			{
+				negativePoses.push_back(*iter);
 			}
 		}
 
 		if(assembledCloud->size())
 		{
+			if(cloudFrustumCulling_ && negativePoses.size())
+			{
+				for(std::list<std::pair<int, Transform> >::reverse_iterator iter=negativePoses.rbegin(); iter!=negativePoses.rend(); ++iter)
+				{
+					std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr >::iterator jter = clouds_.find(iter->first);
+					std::map<int, std::vector<CameraModel> >::iterator kter = cameraModels_.find(iter->first);
+					if(jter != clouds_.end() && kter != cameraModels_.end())
+					{
+						for(unsigned int i=0; i<kter->second.size(); ++i)
+						{
+							if(kter->second[i].isValid())
+							{
+								int size =  assembledCloud->size();
+								assembledCloud = util3d::frustumFiltering(
+										assembledCloud,
+										iter->second,
+										kter->second[i].horizontalFOV(),
+										kter->second[i].verticalFOV(),
+										0.0f,
+										cloudMaxDepth_>0.0?cloudMaxDepth_:999999.,
+										true);
+								//ROS_INFO("Frustum culling %d ->%d", size, (int)assembledCloud->size());
+								pcl::PointCloud<pcl::PointXYZRGB>::Ptr transformed = util3d::transformPointCloud(jter->second, iter->second);
+								*assembledCloud+=*transformed;
+							}
+						}
+					}
+				}
+			}
+
+			if(cloudFloorCullingHeight_ > 0.0)
+			{
+				assembledCloud = util3d::passThrough(assembledCloud, "z", cloudFloorCullingHeight_, 99999.0f);
+			}
+
 			if(cloudVoxelSize_ > 0 && cloudOutputVoxelized_)
 			{
 				assembledCloud = util3d::voxelize(assembledCloud, cloudVoxelSize_);
 			}
+
 			ROS_INFO("Assembled %d clouds (%fs)", count, time.ticks());
 
 			sensor_msgs::PointCloud2::Ptr cloudMsg(new sensor_msgs::PointCloud2);
@@ -369,6 +462,7 @@ void MapsManager::publishMaps(
 	else if(mapCacheCleanup_)
 	{
 		clouds_.clear();
+		cameraModels_.clear();
 	}
 
 	if(projMapPub_.getNumSubscribers())
@@ -534,6 +628,7 @@ octomap::OcTree * MapsManager::createOctomap(const std::map<int, Transform> & po
 	if(mapCacheCleanup_ && cloudMapPub_.getNumSubscribers() == 0)
 	{
 		clouds_.clear();
+		cameraModels_.clear();
 	}
 	return octree;
 }

src/MapsManager.h

@@ -68,7 +68,9 @@ private:
 	int cloudDecimation_;
 	double cloudMaxDepth_;
 	double cloudVoxelSize_;
+	double cloudFloorCullingHeight_;
 	bool cloudOutputVoxelized_;
+	bool cloudFrustumCulling_;
 	double projMaxGroundAngle_;
 	int projMinClusterSize_;
 	double projMaxHeight_;
@@ -85,6 +87,7 @@ private:
 	ros::Publisher gridMapPub_;
 
 	std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr > clouds_;
+	std::map<int, std::vector<rtabmap::CameraModel> > cameraModels_;
 	std::map<int, std::pair<cv::Mat, cv::Mat> > projMaps_; // <ground, obstacles>
 	std::map<int, std::pair<cv::Mat, cv::Mat> > gridMaps_; // <ground, obstacles>
 };

src/MsgConversion.cpp

@@ -456,6 +456,7 @@ rtabmap::Signature nodeDataFromROS(const rtabmap_ros::NodeData & msg)
 				rtabmap::SensorData(
 					compressedMatFromBytes(msg.laserScan),
 					msg.laserScanMaxPts,
+					msg.laserScanMaxRange,
 					compressedMatFromBytes(msg.image),
 					compressedMatFromBytes(msg.depth),
 					stereoModel,
@@ -465,6 +466,7 @@ rtabmap::Signature nodeDataFromROS(const rtabmap_ros::NodeData & msg)
 				rtabmap::SensorData(
 					compressedMatFromBytes(msg.laserScan),
 					msg.laserScanMaxPts,
+					msg.laserScanMaxRange,
 					compressedMatFromBytes(msg.image),
 					compressedMatFromBytes(msg.depth),
 					models,
@@ -488,6 +490,8 @@ void nodeDataToROS(const rtabmap::Signature & signature, rtabmap_ros::NodeData &
 	compressedMatToBytes(signature.sensorData().depthOrRightCompressed(), msg.depth);
 	compressedMatToBytes(signature.sensorData().laserScanCompressed(), msg.laserScan);
 	compressedMatToBytes(signature.sensorData().userDataCompressed(), msg.userData);
+	msg.laserScanMaxPts = signature.sensorData().laserScanMaxPts();
+	msg.laserScanMaxRange = signature.sensorData().laserScanMaxRange();
 	msg.baseline = 0;
 	if(signature.sensorData().cameraModels().size())
 	{

src/rviz/MapCloudDisplay.cpp

@@ -66,6 +66,7 @@ namespace rtabmap_ros
 MapCloudDisplay::CloudInfo::CloudInfo() :
 		manager_(0),
 		pose_(rtabmap::Transform::getIdentity()),
+		id_(0),
 		scene_node_(0)
 {}
 
@@ -85,6 +86,9 @@ void MapCloudDisplay::CloudInfo::clear()
 
 MapCloudDisplay::MapCloudDisplay()
   : spinner_(1, &cbqueue_),
+    new_xyz_transformer_(false),
+    new_color_transformer_(false),
+    needs_retransform_(false),
     transformer_class_loader_(NULL)
 {
 	//QIcon icon;
@@ -697,7 +701,6 @@ void MapCloudDisplay::update( float wall_dt, float ros_dt )
 
 void MapCloudDisplay::reset()
 {
-	MFDClass::reset();
 	{
 		boost::mutex::scoped_lock lock(new_clouds_mutex_);
 		cloud_infos_.clear();
@@ -707,6 +710,7 @@ void MapCloudDisplay::reset()
 		boost::mutex::scoped_lock lock(current_map_mutex_);
 		current_map_.clear();
 	}
+	MFDClass::reset();
 }
 
 void MapCloudDisplay::updateXyzTransformer()