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point_cloud_assembler: optimized time to assemble final cloud, added circular_buffer option.

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This commit is contained in:
matlabbe
2020-04-13 19:11:41 -04:00
parent ed8f2693f5
commit e641960450
3 changed files with 112 additions and 47 deletions
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CMakeLists.txt
+5
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@@ -386,6 +386,10 @@ add_executable(rtabmap_pointcloud_to_depthimage src/PointCloudToDepthImageNode.c
target_link_libraries(rtabmap_pointcloud_to_depthimage ${Libraries})
set_target_properties(rtabmap_pointcloud_to_depthimage PROPERTIES OUTPUT_NAME "pointcloud_to_depthimage")
add_executable(rtabmap_point_cloud_assembler src/PointCloudAssemblerNode.cpp)
target_link_libraries(rtabmap_point_cloud_assembler ${Libraries})
set_target_properties(rtabmap_point_cloud_assembler PROPERTIES OUTPUT_NAME "point_cloud_assembler")
# If rviz is found, add plugins
IF(rviz_FOUND)
@@ -530,6 +534,7 @@ install(TARGETS
rtabmap_data_player
rtabmap_odom_msg_to_tf
rtabmap_pointcloud_to_depthimage
rtabmap_point_cloud_assembler
rtabmap_camera
rtabmap_rgbd_sync
rtabmap_rgbd_relay
src/PointCloudAssemblerNode.cpp
+44
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@@ -0,0 +1,44 @@
/*
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 "nodelet/loader.h"
int main(int argc, char **argv)
{
ros::init(argc, argv, "point_cloud_assembler");
nodelet::Loader nodelet;
nodelet::V_string nargv;
nodelet::M_string remap(ros::names::getRemappings());
std::string nodelet_name = ros::this_node::getName();
nodelet.load(nodelet_name, "rtabmap_ros/point_cloud_assembler", remap, nargv);
ros::spin();
return 0;
}
src/nodelets/point_cloud_assembler.cpp
+63 -47
View File
@@ -73,6 +73,7 @@ public:
assemblingTime_(0),
skipClouds_(0),
cloudsSkipped_(0),
circularBuffer_(false),
waitForTransformDuration_(0.1),
rangeMin_(0),
rangeMax_(0),
@@ -107,6 +108,7 @@ private:
pnh.param("max_clouds", maxClouds_, maxClouds_);
pnh.param("assembling_time", assemblingTime_, assemblingTime_);
pnh.param("skip_clouds", skipClouds_, skipClouds_);
pnh.param("circular_buffer", circularBuffer_, circularBuffer_);
pnh.param("wait_for_transform_duration", waitForTransformDuration_, waitForTransformDuration_);
pnh.param("range_min", rangeMin_, rangeMin_);
pnh.param("range_max", rangeMax_, rangeMax_);
@@ -210,56 +212,59 @@ private:
{
cloudsSkipped_ = 0;
sensor_msgs::PointCloud2Ptr cpy(new sensor_msgs::PointCloud2);
*cpy = *cloudMsg;
clouds_.push_back(cpy);
rtabmap::Transform t = rtabmap_ros::getTransform(
fixedFrameId_, //fromFrame
cloudMsg->header.frame_id, //toFrame
cloudMsg->header.stamp,
tfListener_,
waitForTransformDuration_);
if( (int)clouds_.size() >= maxClouds_ && maxClouds_ > 0
||
(double)(*cpy).header.stamp.toSec() >= (double)clouds_[0]->header.stamp.toSec() + assemblingTime_ && assemblingTime_ > 0.0 )
if(t.isNull())
{
ROS_ERROR("Cloud not transform all clouds! Resetting...");
clouds_.clear();
return;
}
pcl::PCLPointCloud2::Ptr newCloud(new pcl::PCLPointCloud2);
if(rangeMin_ > 0.0 || rangeMax_ > 0.0 || voxelSize_ > 0.0f)
{
pcl_conversions::toPCL(*cloudMsg, *newCloud);
rtabmap::LaserScan scan = rtabmap::util3d::laserScanFromPointCloud(*newCloud);
scan = rtabmap::util3d::commonFiltering(scan, 1, rangeMin_, rangeMax_, voxelSize_);
pcl::uint64_t stamp = newCloud->header.stamp;
newCloud = rtabmap::util3d::laserScanToPointCloud2(scan, t);
newCloud->header.stamp = stamp;
}
else
{
sensor_msgs::PointCloud2 output;
pcl_ros::transformPointCloud(t.toEigen4f(), *cloudMsg, output);
pcl_conversions::toPCL(output, *newCloud);
}
clouds_.push_back(newCloud);
bool reachedMaxSize =
((int)clouds_.size() >= maxClouds_ && maxClouds_ > 0)
||
((*newCloud).header.stamp >= clouds_.front()->header.stamp + static_cast<pcl::uint64_t>(assemblingTime_*1000000.0) && assemblingTime_ > 0.0);
if( circularBuffer_ || reachedMaxSize )
{
pcl::PCLPointCloud2Ptr assembled(new pcl::PCLPointCloud2);
pcl_conversions::toPCL(*clouds_.back(), *assembled);
for(size_t i=0; i<clouds_.size()-1; ++i)
for(std::list<pcl::PCLPointCloud2::Ptr>::iterator iter=clouds_.begin(); iter!=clouds_.end(); ++iter)
{
rtabmap::Transform t = rtabmap_ros::getTransform(
clouds_[i]->header.frame_id, //sourceTargetFrame
fixedFrameId_, //fixedFrame
clouds_[i]->header.stamp, //stampSource
clouds_.back()->header.stamp, //stampTarget
tfListener_,
waitForTransformDuration_);
if(t.isNull())
if(assembled->data.empty())
{
ROS_ERROR("Cloud not transform all clouds! Resetting...");
clouds_.clear();
return;
}
pcl::PCLPointCloud2Ptr assembledTmp(new pcl::PCLPointCloud2);
if(rangeMin_ > 0.0 || rangeMax_ > 0.0)
{
pcl::PCLPointCloud2 output2;
pcl_conversions::toPCL(*clouds_[i], output2);
rtabmap::LaserScan scan = rtabmap::util3d::laserScanFromPointCloud(output2);
if(rangeMin_ > 0.0 || rangeMax_ > 0.0)
{
scan = rtabmap::util3d::rangeFiltering(scan, rangeMin_, rangeMax_);
}
pcl::concatenatePointCloud(*assembled, *rtabmap::util3d::laserScanToPointCloud2(scan, t), *assembledTmp);
*assembled = *(*iter);
}
else
{
sensor_msgs::PointCloud2 output;
pcl_ros::transformPointCloud(t.toEigen4f(), *clouds_[i], output);
pcl::PCLPointCloud2 output2;
pcl_conversions::toPCL(output, output2);
pcl::concatenatePointCloud(*assembled, output2, *assembledTmp);
pcl::PCLPointCloud2Ptr assembledTmp(new pcl::PCLPointCloud2);
pcl::concatenatePointCloud(*assembled, *(*iter), *assembledTmp);
assembled = assembledTmp;
}
assembled = assembledTmp;
}
sensor_msgs::PointCloud2 rosCloud;
@@ -270,15 +275,25 @@ private:
filter.setInputCloud(assembled);
pcl::PCLPointCloud2Ptr output(new pcl::PCLPointCloud2);
filter.filter(*output);
pcl_conversions::moveFromPCL(*output, rosCloud);
assembled = output;
}
pcl_conversions::moveFromPCL(*assembled, rosCloud);
pcl_ros::transformPointCloud(t.toEigen4f().inverse(), rosCloud, rosCloud);
rosCloud.header = cloudMsg->header;
cloudPub_.publish(rosCloud);
if(circularBuffer_)
{
if(reachedMaxSize)
{
clouds_.pop_front();
}
}
else
{
pcl_conversions::moveFromPCL(*assembled, rosCloud);
clouds_.clear();
}
rosCloud.header = cloudMsg->header;
cloudPub_.publish(rosCloud);
clouds_.clear();
}
}
else
@@ -323,6 +338,7 @@ private:
int maxClouds_;
int skipClouds_;
int cloudsSkipped_;
bool circularBuffer_;
double assemblingTime_;
double waitForTransformDuration_;
double rangeMin_;
@@ -331,7 +347,7 @@ private:
std::string fixedFrameId_;
tf::TransformListener tfListener_;
std::vector<sensor_msgs::PointCloud2Ptr> clouds_;
std::list<pcl::PCLPointCloud2::Ptr> clouds_;
};
PLUGINLIB_EXPORT_CLASS(rtabmap_ros::PointCloudAssembler, nodelet::Nodelet);