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refactoring

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This commit is contained in:
Oleg Sinyavskiy
2015-06-22 14:24:20 -07:00
parent 0cbdb5cd17
commit a43def5dbe
1 changed files with 102 additions and 92 deletions
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src/nodelets/obstacles_detection.cpp
+102 -92
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@@ -106,100 +106,110 @@ private:
void callback(const sensor_msgs::PointCloud2ConstPtr & cloudMsg) void callback(const sensor_msgs::PointCloud2ConstPtr & cloudMsg)
{ {
if(groundPub_.getNumSubscribers() || obstaclesPub_.getNumSubscribers()) if (groundPub_.getNumSubscribers() == 0 && obstaclesPub_.getNumSubscribers() == 0)
{ {
// no one wants the results
return;
rtabmap::Transform localTransform;
try
{
if(waitForTransform_)
{
if(!tfListener_.waitForTransform(frameId_, cloudMsg->header.frame_id, cloudMsg->header.stamp, ros::Duration(1)))
{
ROS_ERROR("Could not get transform from %s to %s after 1 second!", frameId_.c_str(), cloudMsg->header.frame_id.c_str());
return;
}
}
tf::StampedTransform tmp;
tfListener_.lookupTransform(frameId_, cloudMsg->header.frame_id, cloudMsg->header.stamp, tmp);
localTransform = rtabmap_ros::transformFromTF(tmp);
}
catch(tf::TransformException & ex)
{
ROS_ERROR("%s",ex.what());
return;
}
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
pcl::fromROSMsg(*cloudMsg, *cloud);
pcl::IndicesPtr ground, obstacles;
if(cloud->size())
{
cloud = rtabmap::util3d::transformPointCloud(cloud, localTransform);
if(maxObstaclesHeight_ > 0)
{
cloud = rtabmap::util3d::passThrough(cloud, "z", std::numeric_limits<int>::min(), maxObstaclesHeight_);
}
if(cloud->size())
{
ros::Time lasttime = ros::Time::now();
rtabmap::util3d::segmentObstaclesFromGround<pcl::PointXYZ>(cloud,
ground, obstacles, normalEstimationRadius_, groundNormalAngle_, minClusterSize_);
ros::Time curtime = ros::Time::now();
ros::Duration process_duration = curtime - lasttime;
ros::Duration between_frames = curtime - this->_lastFrameTime;
this->_lastFrameTime = curtime;
std::stringstream buffer;
buffer << "acloudsize=" << cloud->size() << " t=" << process_duration.toSec() << "s; " << (1./between_frames.toSec()) << "Hz";
ROS_ERROR("3%s: %s", this->getName().c_str(), buffer.str().c_str());
}
}
pcl::PointCloud<pcl::PointXYZ>::Ptr groundCloud(new pcl::PointCloud<pcl::PointXYZ>);
if((groundPub_.getNumSubscribers() || obstaclesPub_.getNumSubscribers()) && ground.get() && ground->size())
{
pcl::copyPointCloud(*cloud, *ground, *groundCloud);
}
pcl::PointCloud<pcl::PointXYZ>::Ptr obstaclesCloud(new pcl::PointCloud<pcl::PointXYZ>);
if(obstaclesPub_.getNumSubscribers() && obstacles.get() && obstacles->size())
{
pcl::copyPointCloud(*cloud, *obstacles, *obstaclesCloud);
}
if(maxFloorHeight_ > 0 && (groundPub_.getNumSubscribers() || obstaclesPub_.getNumSubscribers()))
{
pcl::PointCloud<pcl::PointXYZ>::Ptr flatObstaclesCloud(new pcl::PointCloud<pcl::PointXYZ>);
flatObstaclesCloud = rtabmap::util3d::passThrough(groundCloud, "z", maxFloorHeight_, std::numeric_limits<int>::max());
*obstaclesCloud += *flatObstaclesCloud;
groundCloud = rtabmap::util3d::passThrough(groundCloud, "z", std::numeric_limits<int>::min(), maxFloorHeight_);
}
if(groundPub_.getNumSubscribers())
{
sensor_msgs::PointCloud2 rosCloud;
pcl::toROSMsg(*groundCloud, rosCloud);
rosCloud.header.stamp = cloudMsg->header.stamp;
rosCloud.header.frame_id = frameId_;
//publish the message
groundPub_.publish(rosCloud);
}
if(obstaclesPub_.getNumSubscribers())
{
sensor_msgs::PointCloud2 rosCloud;
pcl::toROSMsg(*obstaclesCloud, rosCloud);
rosCloud.header.stamp = cloudMsg->header.stamp;
rosCloud.header.frame_id = frameId_;
//publish the message
obstaclesPub_.publish(rosCloud);
}
} }
rtabmap::Transform localTransform;
try
{
if(waitForTransform_)
{
if(!tfListener_.waitForTransform(frameId_, cloudMsg->header.frame_id, cloudMsg->header.stamp, ros::Duration(1)))
{
ROS_ERROR("Could not get transform from %s to %s after 1 second!", frameId_.c_str(), cloudMsg->header.frame_id.c_str());
return;
}
}
tf::StampedTransform tmp;
tfListener_.lookupTransform(frameId_, cloudMsg->header.frame_id, cloudMsg->header.stamp, tmp);
localTransform = rtabmap_ros::transformFromTF(tmp);
}
catch(tf::TransformException & ex)
{
ROS_ERROR("%s",ex.what());
return;
}
pcl::PointCloud<pcl::PointXYZ>::Ptr originalCloud(new pcl::PointCloud<pcl::PointXYZ>);
pcl::fromROSMsg(*cloudMsg, *originalCloud);
if(originalCloud->size() == 0)
{
ROS_ERROR("Recieved empty point cloud!");
return;
}
originalCloud = rtabmap::util3d::transformPointCloud(originalCloud, localTransform);
/////////////////////////////////////////////////////////////////////////////
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
pcl::copyPointCloud(*originalCloud, *cloud);
if(maxObstaclesHeight_ > 0)
{
cloud = rtabmap::util3d::passThrough(cloud, "z", std::numeric_limits<int>::min(), maxObstaclesHeight_);
}
ros::Time lasttime = ros::Time::now();
pcl::IndicesPtr ground, obstacles;
rtabmap::util3d::segmentObstaclesFromGround<pcl::PointXYZ>(cloud,
ground, obstacles, normalEstimationRadius_, groundNormalAngle_, minClusterSize_);
ros::Time curtime = ros::Time::now();
ros::Duration process_duration = curtime - lasttime;
ros::Duration between_frames = curtime - this->_lastFrameTime;
this->_lastFrameTime = curtime;
std::stringstream buffer;
buffer << "acloudsize=" << cloud->size() << " t=" << process_duration.toSec() << "s; " << (1./between_frames.toSec()) << "Hz";
ROS_ERROR("3%s: %s", this->getName().c_str(), buffer.str().c_str());
pcl::PointCloud<pcl::PointXYZ>::Ptr groundCloud(new pcl::PointCloud<pcl::PointXYZ>);
if(ground.get() && ground->size())
{
pcl::copyPointCloud(*cloud, *ground, *groundCloud);
}
pcl::PointCloud<pcl::PointXYZ>::Ptr obstaclesCloud(new pcl::PointCloud<pcl::PointXYZ>);
if(obstaclesPub_.getNumSubscribers() && obstacles.get() && obstacles->size())
{
pcl::copyPointCloud(*cloud, *obstacles, *obstaclesCloud);
}
if(maxFloorHeight_ > 0)
{
pcl::PointCloud<pcl::PointXYZ>::Ptr flatObstaclesCloud(new pcl::PointCloud<pcl::PointXYZ>);
flatObstaclesCloud = rtabmap::util3d::passThrough(groundCloud, "z", maxFloorHeight_, std::numeric_limits<int>::max());
*obstaclesCloud += *flatObstaclesCloud;
groundCloud = rtabmap::util3d::passThrough(groundCloud, "z", std::numeric_limits<int>::min(), maxFloorHeight_);
}
if(groundPub_.getNumSubscribers())
{
sensor_msgs::PointCloud2 rosCloud;
pcl::toROSMsg(*groundCloud, rosCloud);
rosCloud.header.stamp = cloudMsg->header.stamp;
rosCloud.header.frame_id = frameId_;
//publish the message
groundPub_.publish(rosCloud);
}
if(obstaclesPub_.getNumSubscribers())
{
sensor_msgs::PointCloud2 rosCloud;
pcl::toROSMsg(*obstaclesCloud, rosCloud);
rosCloud.header.stamp = cloudMsg->header.stamp;
rosCloud.header.frame_id = frameId_;
//publish the message
obstaclesPub_.publish(rosCloud);
}
} }
private: private: