From ad8ac7e53a8e647cdb9a8f2f275bec000780f8d6 Mon Sep 17 00:00:00 2001 From: Marko Bjelonic Date: Tue, 12 Nov 2019 12:33:05 +0100 Subject: [PATCH 001/504] Added loco_perception utils. From 9aff521bfa492df2c7eb83a8d109d17ee853f0b5 Mon Sep 17 00:00:00 2001 From: Marko Bjelonic Date: Tue, 12 Nov 2019 16:23:56 +0100 Subject: [PATCH 002/504] Added jenkins. --- jenkins-pipeline | 2 ++ 1 file changed, 2 insertions(+) create mode 100644 jenkins-pipeline diff --git a/jenkins-pipeline b/jenkins-pipeline new file mode 100644 index 00000000..59d9ff9b --- /dev/null +++ b/jenkins-pipeline @@ -0,0 +1,2 @@ +library 'continuous_integration_pipeline' +ciPipeline("") From 82a57e4307e550cfa645b823574d43a21ffcabdb Mon Sep 17 00:00:00 2001 From: Marko Bjelonic Date: Tue, 12 Nov 2019 17:45:47 +0100 Subject: [PATCH 003/504] Added loco perception ros. --- loco_perception_ros/CMakeLists.txt | 51 ++++++++ .../loco_perception_ros/ConvexSetSequence.hpp | 57 +++++++++ loco_perception_ros/package.xml | 13 ++ loco_perception_ros/src/ConvexSetSequence.cpp | 113 ++++++++++++++++++ 4 files changed, 234 insertions(+) create mode 100644 loco_perception_ros/CMakeLists.txt create mode 100644 loco_perception_ros/include/loco_perception_ros/ConvexSetSequence.hpp create mode 100644 loco_perception_ros/package.xml create mode 100644 loco_perception_ros/src/ConvexSetSequence.cpp diff --git a/loco_perception_ros/CMakeLists.txt b/loco_perception_ros/CMakeLists.txt new file mode 100644 index 00000000..b5be54c7 --- /dev/null +++ b/loco_perception_ros/CMakeLists.txt @@ -0,0 +1,51 @@ +# Project configuration +cmake_minimum_required (VERSION 2.8) +project(loco_perception_ros) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + loco_ros + loco_perception_utils +) + +catkin_package( + INCLUDE_DIRS include + LIBRARIES loco_perception_ros + CATKIN_DEPENDS + loco_ros + loco_perception_utils +# DEPENDS system_lib +) + +find_package(Eigen3 REQUIRED) +find_package(Boost COMPONENTS timer REQUIRED) + +add_definitions(--std=c++11) + +include_directories(include) +include_directories(${EIGEN3_INCLUDE_DIR}) +include_directories(${catkin_INCLUDE_DIRS}) +include_directories(${Boost_INCLUDE_DIRS}) + +add_library(loco_perception_ros SHARED + src/ConvexSetSequence.cpp +) + +add_dependencies(loco_perception_ros ${catkin_EXPORTED_TARGETS}) + +target_link_libraries(loco_perception_ros + ${catkin_LIBRARIES} + ${Boost_LIBRARIES} +) + +install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION}/${PROJECT_NAME} + PATTERN ".svn" EXCLUDE +) +install(TARGETS ${PROJECT_NAME} + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) diff --git a/loco_perception_ros/include/loco_perception_ros/ConvexSetSequence.hpp b/loco_perception_ros/include/loco_perception_ros/ConvexSetSequence.hpp new file mode 100644 index 00000000..98b7d12b --- /dev/null +++ b/loco_perception_ros/include/loco_perception_ros/ConvexSetSequence.hpp @@ -0,0 +1,57 @@ +/* + * ConvexSetSequence.hpp + * + * Created on: Nov 12, 2019 + * Author: Marko Bjelonic + */ + +#pragma once + +// ros +#include +#include + +// loco +#include + +// loco perception utils +#include + +// loco ros +#include +#include + +// robot utils +#include + +// stl +#include + + +namespace loco_perception_ros { + +class ConvexSetSequence { + public: + ConvexSetSequence(); + virtual ~ConvexSetSequence() = default; + + bool initialize(ros::NodeHandle& nodeHandle, const std::string& topic); + bool shutdown(); + + bool update(const std::vector& convexSets); + bool publish(); + + void setColorVector(std::vector>& colors); + void setColorVectorId(unsigned int colorId); + + unsigned int getNumSubscribers() const; + + protected: + ros::NodeHandle nodeHandle_; + visualization_msgs::MarkerArray convexSetSequence_; + ros::Publisher publisher_; + std::vector> colors_; + unsigned int colorId_; +}; + +} /* namespace loco */ diff --git a/loco_perception_ros/package.xml b/loco_perception_ros/package.xml new file mode 100644 index 00000000..38d4e8f7 --- /dev/null +++ b/loco_perception_ros/package.xml @@ -0,0 +1,13 @@ + + + loco_perception_ros + 0.2.0 + The loco_perception_ros package + Marko Bjelonic + Proprietary + https://bitbucket.org/leggedrobotics/loco_anymal_wheels + Marko Bjelonic + catkin + loco_ros + loco_perception_utils + diff --git a/loco_perception_ros/src/ConvexSetSequence.cpp b/loco_perception_ros/src/ConvexSetSequence.cpp new file mode 100644 index 00000000..3e7defe2 --- /dev/null +++ b/loco_perception_ros/src/ConvexSetSequence.cpp @@ -0,0 +1,113 @@ +/* + * ConvexSetSequence.cpp + * + * Created on: Nov 12, 2019 + * Author: Marko Bjelonic + */ + + +// loco perception ros +#include "loco_perception_ros/ConvexSetSequence.hpp" + +namespace loco_perception_ros { + +ConvexSetSequence::ConvexSetSequence() + : nodeHandle_(), + convexSetSequence_(), + publisher_(), + colorId_(0u) +{ + +} + +void ConvexSetSequence::setColorVector(std::vector>& colors) { + colors_ = colors; +} + +void ConvexSetSequence::setColorVectorId(unsigned int colorId) { + colorId_ = colorId; +} + +bool ConvexSetSequence::initialize(ros::NodeHandle& nodeHandle, const std::string& topic) { + nodeHandle_ = nodeHandle; + publisher_ = nodeHandle.advertise(topic, 100); + + return true; +} + +bool ConvexSetSequence::shutdown() { + publisher_.shutdown(); + return true; +} + +bool ConvexSetSequence::update(const std::vector& convexSets) { + if (convexSets.size() == 0u) { + return true; + } + + if (getNumSubscribers() > 0u) { + convexSetSequence_.markers.clear(); + + unsigned int id = 0u; + unsigned int offset = 0u; + + for (const auto& convexSet : convexSets) { + // Number of vertices should not be zero. + if (convexSet.getNumOfVertices() <= 0u) { + ++offset; + continue; + } + + visualization_msgs::Marker convexSetSequence; + convexSetSequence.pose.orientation.w = 1.0; + convexSetSequence.action = visualization_msgs::Marker::ADD; + convexSetSequence.type = visualization_msgs::Marker::LINE_STRIP; + convexSetSequence.scale.x = 0.00200; + convexSetSequence.scale.y = 0.00200; + convexSetSequence.scale.z = 0.00200; + convexSetSequence.color.a = 1.0; + convexSetSequence.header.frame_id = "odom"; + + const unsigned int colorId = robot_utils::intmod(colorId_, colors_.size()); + + convexSetSequence.color.r = colors_[colorId].x(); + convexSetSequence.color.g = colors_[colorId].y(); + convexSetSequence.color.b = colors_[colorId].z(); + + convexSetSequence.id = id; + convexSetSequence.ns = "convex_set" + std::to_string(convexSetSequence.id); + + geometry_msgs::Point point; + convexSetSequence.points.reserve(convexSet.getConvexSetInWorldFrame().getVertices().size()); + for (const auto& vertex : convexSet.getConvexSetInWorldFrame().getVertices()) { + const loco::Position positionWorldToVertexInWorldFrame = + loco::Position(vertex.x(), vertex.y(), 0.0); + point.x = positionWorldToVertexInWorldFrame.x(); + point.y = positionWorldToVertexInWorldFrame.y(); + point.z = positionWorldToVertexInWorldFrame.z(); + convexSetSequence.points.push_back(point); + } + + // Add first point again to reconnect the polygon. + if (convexSetSequence.points.size() > 2) { + convexSetSequence.points.push_back(convexSetSequence.points.front()); + convexSetSequence_.markers.push_back(convexSetSequence); + } + + ++id; + } + } + + return true; +} + +bool ConvexSetSequence::publish() { + loco_ros::publishMsg(publisher_, convexSetSequence_); + return true; +} + +unsigned int ConvexSetSequence::getNumSubscribers() const { + return publisher_.getNumSubscribers(); +} + +} /* namespace loco */ From 65b3ba7189c0a553eb3ee4a77351f52acb25e959 Mon Sep 17 00:00:00 2001 From: Marko Bjelonic Date: Wed, 13 Nov 2019 13:13:05 +0100 Subject: [PATCH 004/504] Fixed vertex iterator. --- loco_perception_ros/src/ConvexSetSequence.cpp | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/loco_perception_ros/src/ConvexSetSequence.cpp b/loco_perception_ros/src/ConvexSetSequence.cpp index 3e7defe2..64213b92 100644 --- a/loco_perception_ros/src/ConvexSetSequence.cpp +++ b/loco_perception_ros/src/ConvexSetSequence.cpp @@ -62,9 +62,7 @@ bool ConvexSetSequence::update(const std::vector Date: Thu, 30 Jan 2020 10:01:31 +0100 Subject: [PATCH 005/504] Ignore .idea. --- .gitignore | 1 + .idea/.gitignore | 2 -- 2 files changed, 1 insertion(+), 2 deletions(-) create mode 100644 .gitignore delete mode 100644 .idea/.gitignore diff --git a/.gitignore b/.gitignore new file mode 100644 index 00000000..9f11b755 --- /dev/null +++ b/.gitignore @@ -0,0 +1 @@ +.idea/ diff --git a/.idea/.gitignore b/.idea/.gitignore deleted file mode 100644 index 5c98b428..00000000 --- a/.idea/.gitignore +++ /dev/null @@ -1,2 +0,0 @@ -# Default ignored files -/workspace.xml \ No newline at end of file From a5284a5979eac1a41e934c7b3d8d50b4011e43b9 Mon Sep 17 00:00:00 2001 From: andrej1001 Date: Thu, 30 Jan 2020 11:04:12 +0100 Subject: [PATCH 006/504] Added missing geomery utils. --- .../include/geometry_utils.hpp | 23 +++++++ .../src/geometry_utils.cpp | 60 +++++++++++++++++++ convex_plane_decomposition/src/polygon.cpp | 18 +++--- 3 files changed, 92 insertions(+), 9 deletions(-) create mode 100644 convex_plane_decomposition/include/geometry_utils.hpp create mode 100644 convex_plane_decomposition/src/geometry_utils.cpp diff --git a/convex_plane_decomposition/include/geometry_utils.hpp b/convex_plane_decomposition/include/geometry_utils.hpp new file mode 100644 index 00000000..a2b1f786 --- /dev/null +++ b/convex_plane_decomposition/include/geometry_utils.hpp @@ -0,0 +1,23 @@ +#ifndef CONVEX_PLANE_EXTRACTION_INCLUDE_GEOMETRY_UTILS_HPP_ +#define CONVEX_PLANE_EXTRACTION_INCLUDE_GEOMETRY_UTILS_HPP_ + +#include "types.hpp" + +namespace convex_plane_extraction { + +double scalarCrossProduct(const Vector2d &leftVector, const Vector2d &rightVector); + +double distanceToLine(const Vector2d& lineSupportVector, const Vector2d& lineDirectionalVector, const Vector2d& testPoint); + +bool isPointOnRightSide(const Vector2d& line_support_vector, const Vector2d& line_direction_vector, const Vector2d& point); + +double computeAngleBetweenVectors(const Vector2d& first_vector, const Vector2d& second_vector); + +bool isPointOnLeftSide(const Vector2d& line_support_vector, const Vector2d& line_direction_vector, const Vector2d& point); + +bool intersectRayWithLineSegment(const Vector2d& ray_source, const Vector2d& ray_direction, + const Vector2d& segment_source, const Vector2d& segment_target, Vector2d* intersection_point); + +double distanceBetweenPoints(Vector2d first, Vector2d second); +} +#endif //CONVEX_PLANE_EXTRACTION_INCLUDE_GEOMETRY_UTILS_HPP_ diff --git a/convex_plane_decomposition/src/geometry_utils.cpp b/convex_plane_decomposition/src/geometry_utils.cpp new file mode 100644 index 00000000..fb794e89 --- /dev/null +++ b/convex_plane_decomposition/src/geometry_utils.cpp @@ -0,0 +1,60 @@ +#include +#include "geometry_utils.hpp" + +namespace convex_plane_extraction { + + double scalarCrossProduct(const Vector2d &leftVector, const Vector2d &rightVector) { + return leftVector.y() * rightVector.x() - leftVector.x() * rightVector.y(); + } + + // Return the non-normalized distance of a 2D-point to a line given by support vector and direction vector. + // Negative distance corresponds to a point on the left of the direction vector + double distanceToLine(const Vector2d &lineSupportVector, + const Vector2d &lineDirectionalVector, + const Vector2d &testPoint) { + Vector2d secondPointOnLine = lineSupportVector + lineDirectionalVector; + return scalarCrossProduct(lineDirectionalVector, testPoint) + + scalarCrossProduct(lineSupportVector, secondPointOnLine); + } + + bool isPointOnRightSide(const Vector2d& line_support_vector, const Vector2d& line_direction_vector, const Vector2d& point){ + Vector2d normal_vector(line_direction_vector.y(), (-1.0)*line_direction_vector.x()); + normal_vector.normalize(); + Vector2d point_vector = point - line_support_vector; + return point_vector.transpose() * normal_vector > 0; + } + + bool isPointOnLeftSide(const Vector2d& line_support_vector, const Vector2d& line_direction_vector, const Vector2d& point){ + Vector2d normal_vector(line_direction_vector.y(), (-1.0)*line_direction_vector.x()); + normal_vector.normalize(); + Vector2d point_vector = point - line_support_vector; + return point_vector.dot(normal_vector) < 0; + } + + double computeAngleBetweenVectors(const Vector2d& first_vector, const Vector2d& second_vector){ + double scalar_product = first_vector.transpose() * second_vector; + return acos( abs(scalar_product) / (first_vector.norm() * second_vector.norm())); + } + + bool intersectRayWithLineSegment(const Vector2d& ray_source, const Vector2d& ray_direction, + const Vector2d& segment_source, const Vector2d& segment_target, Vector2d* intersection_point){ + CHECK_NOTNULL(intersection_point); + Vector2d segment_direction = segment_target - segment_source; + Matrix2d A; + A.col(0) = ray_direction; + A.col(1) = - segment_direction; + Vector2d b = segment_source - ray_source; + Vector2d solution = A.fullPivHouseholderQr().solve(b); + if (solution(0) <= 0 || solution(1) < 0 || solution(1) > 1){ + return false; + } + *intersection_point = segment_source + solution(1) * segment_direction; + return true; + } + + double distanceBetweenPoints(Vector2d first, Vector2d second){ + return (second - first).norm(); + } + +} + diff --git a/convex_plane_decomposition/src/polygon.cpp b/convex_plane_decomposition/src/polygon.cpp index aa120ae7..0eb7bba9 100644 --- a/convex_plane_decomposition/src/polygon.cpp +++ b/convex_plane_decomposition/src/polygon.cpp @@ -7,15 +7,15 @@ namespace convex_plane_extraction { CHECK(polygon.is_simple()); LOG(INFO) << "Started convex decomposition..."; size_t old_list_size = output_polygon_list->size(); - CGAL::optimal_convex_partition_2(polygon.vertices_begin(), - polygon.vertices_end(), - std::back_inserter(*output_polygon_list)); - - assert(CGAL::partition_is_valid_2(polygon.vertices_begin(), - polygon.vertices_end(), - polygon_list.begin(), - polygon_list.end())); -// *output_polygon_list = decomposeInnerApproximation(polygon); +// CGAL::optimal_convex_partition_2(polygon.vertices_begin(), +// polygon.vertices_end(), +// std::back_inserter(*output_polygon_list)); +// +// assert(CGAL::partition_is_valid_2(polygon.vertices_begin(), +// polygon.vertices_end(), +// polygon_list.begin(), +// polygon_list.end())); + *output_polygon_list = decomposeInnerApproximation(polygon); CHECK_GT(output_polygon_list->size(), old_list_size); LOG(INFO) << "done."; } From 93059007340d39df2dfb8263ba6b0a12335d1d45 Mon Sep 17 00:00:00 2001 From: andrej1001 Date: Thu, 30 Jan 2020 16:45:58 +0100 Subject: [PATCH 007/504] Fix. --- .../include/polygon.hpp | 2 +- .../src/geometry_utils.cpp | 6 ++- convex_plane_decomposition/src/polygon.cpp | 40 ++++++++++++------- 3 files changed, 30 insertions(+), 18 deletions(-) diff --git a/convex_plane_decomposition/include/polygon.hpp b/convex_plane_decomposition/include/polygon.hpp index 9ec9168c..d1ab2bfb 100644 --- a/convex_plane_decomposition/include/polygon.hpp +++ b/convex_plane_decomposition/include/polygon.hpp @@ -118,7 +118,7 @@ namespace convex_plane_extraction{ CgalPoint2d intersection_point_; }; - void intersectPolygonWithRay(int ray_source_location, CGAL::Orientation orientation, const CgalPolygon2d& polygon, + bool intersectPolygonWithRay(int ray_source_location, CGAL::Orientation orientation, const CgalPolygon2d& polygon, Intersection* intersection); CgalPolygon2dVertexIterator erase(CgalPolygon2dVertexIterator first, CgalPolygon2dVertexIterator last, diff --git a/convex_plane_decomposition/src/geometry_utils.cpp b/convex_plane_decomposition/src/geometry_utils.cpp index fb794e89..3d2509ba 100644 --- a/convex_plane_decomposition/src/geometry_utils.cpp +++ b/convex_plane_decomposition/src/geometry_utils.cpp @@ -45,10 +45,12 @@ namespace convex_plane_extraction { A.col(1) = - segment_direction; Vector2d b = segment_source - ray_source; Vector2d solution = A.fullPivHouseholderQr().solve(b); - if (solution(0) <= 0 || solution(1) < 0 || solution(1) > 1){ + Vector2d ray_solution = ray_source + solution(0) * segment_direction; + Vector2d segment_solution = segment_source + solution(1) * segment_direction; + if (solution(0) <= 0 || solution(1) <= 0 || solution(1) > 1){ // || (ray_solution - segment_solution).norm() > 0.001) { return false; } - *intersection_point = segment_source + solution(1) * segment_direction; + *intersection_point = segment_solution; return true; } diff --git a/convex_plane_decomposition/src/polygon.cpp b/convex_plane_decomposition/src/polygon.cpp index 0eb7bba9..d967f5f1 100644 --- a/convex_plane_decomposition/src/polygon.cpp +++ b/convex_plane_decomposition/src/polygon.cpp @@ -200,32 +200,31 @@ namespace convex_plane_extraction { std::list decomposeInnerApproximation(const CgalPolygon2d& polygon){ CHECK(polygon.orientation() == CGAL::COUNTERCLOCKWISE); std::list return_list; - // If polygon ceonvex terminate recursion. -// if(polygon.is_convex()){ -// return_list.push_back(polygon); -// return return_list; -// } std::vector dent_locations; detectDentLocations(&dent_locations, polygon); if (dent_locations.empty()){ -// printPolygon(polygon); -// LOG(FATAL) << "No dents detected, but polygon not convex!"; + // No dents detected, polygon must be convex. + // CGAL convexity check might still fail, since very shallow dents are ignored. return_list.push_back(polygon); return return_list; } - //CHECK(!dent_locations.empty()); // If no dents, polygon would be convex, which should have terminated recursion. std::cout << "Dent locations:" << std::endl; for (int location : dent_locations){ std::cout << location << std::endl; } std::cout << "Polygon:" << std::endl; printPolygon(polygon); + bool intersection_clockwise_flag = false; Intersection intersection_clockwise; + bool intersection_counterclockwise_flag = false; Intersection intersection_counterclockwise; - intersectPolygonWithRay(dent_locations.at(0), CGAL::COUNTERCLOCKWISE, + intersection_clockwise_flag = intersectPolygonWithRay(dent_locations.at(0), CGAL::COUNTERCLOCKWISE, polygon, &intersection_counterclockwise); - intersectPolygonWithRay(dent_locations.at(0), CGAL::CLOCKWISE, + intersection_counterclockwise_flag = intersectPolygonWithRay(dent_locations.at(0), CGAL::CLOCKWISE, polygon, &intersection_clockwise); + if (!intersection_clockwise_flag || !intersection_counterclockwise_flag ){ + // return return_list; + } // Generate resulting polygons from cut. // Resulting cut from counter clockwise ray intersection. CgalPolygon2d polygon_counterclockwise_1 = polygon; @@ -247,7 +246,11 @@ namespace convex_plane_extraction { std::cout << "Copy succeeded without problems!" << std::endl; // polygon_counterclockwise_2.insert(polygon_counterclockwise_2.vertices_end(), // first_vertex_to_erase_it, last_vertex_to_erase_it); - polygon_counterclockwise_2.push_back(intersection_counterclockwise.intersection_point_); + CgalPoint2d point_before_intersection = *(previous(last_vertex_to_erase_it, polygon_counterclockwise_2)); + constexpr double kSquaredLengthThreshold = 1e-6; + if ((intersection_counterclockwise.intersection_point_ - point_before_intersection).squared_length() > kSquaredLengthThreshold) { + polygon_counterclockwise_2.push_back(intersection_counterclockwise.intersection_point_); + } // auto element_behind_deleted_it = polygon_counterclockwise_1.erase(first_vertex_to_erase_it, std::next(last_vertex_to_erase_it)); CgalPolygon2dVertexIterator element_behind_deleted_it = erase(first_vertex_to_erase_it, last_vertex_to_erase_it, &polygon_counterclockwise_1); polygon_counterclockwise_1.insert(element_behind_deleted_it, intersection_counterclockwise.intersection_point_); @@ -256,9 +259,12 @@ namespace convex_plane_extraction { // Resulting cut from clockwise ray intersection. CgalPolygon2d polygon_clockwise_1 = polygon; CgalPolygon2d polygon_clockwise_2; - polygon_clockwise_2.push_back(intersection_clockwise.intersection_point_); + first_vertex_to_erase_it = polygon_clockwise_1.vertices_begin(); std::advance(first_vertex_to_erase_it, intersection_clockwise.edge_target_location_); + if ((*first_vertex_to_erase_it - intersection_clockwise.intersection_point_).squared_length() > kSquaredLengthThreshold) { + polygon_clockwise_2.push_back(intersection_clockwise.intersection_point_); + } last_vertex_to_erase_it = polygon_clockwise_1.vertices_begin(); std::advance(last_vertex_to_erase_it, dent_locations.at(0)); copyVertices(polygon_clockwise_1, first_vertex_to_erase_it, last_vertex_to_erase_it, &polygon_clockwise_2, @@ -319,7 +325,7 @@ namespace convex_plane_extraction { return return_list; } - void intersectPolygonWithRay(int ray_source_location, CGAL::Orientation orientation, const CgalPolygon2d& polygon, + bool intersectPolygonWithRay(int ray_source_location, CGAL::Orientation orientation, const CgalPolygon2d& polygon, Intersection* intersection){ CHECK_NOTNULL(intersection); CHECK(orientation == CGAL::COUNTERCLOCKWISE || orientation == CGAL::CLOCKWISE); @@ -356,7 +362,7 @@ namespace convex_plane_extraction { if (intersectRayWithLineSegment(ray_source, ray_direction, segment_source, segment_target, &intersection_point)){ std::cout << "Intersection succeeded with: " << std::endl; - std::cout << "Ray target" << ray_target << std::endl; + std::cout << "Ray source" << ray_source << std::endl; std::cout << "Segment source: " << segment_source << std::endl; std::cout << "Segment target: " << segment_target << std::endl; std::cout << "Intersection point: " << intersection_point << std::endl; @@ -370,9 +376,13 @@ namespace convex_plane_extraction { } vertex_it = next(vertex_it, polygon); } - CHECK(one_intersection_at_least); + //CHECK(one_intersection_at_least); + if (!one_intersection_at_least){ + return false; + } intersection->setAllMembers(intersection_tmp.edge_source_location_, intersection_tmp.edge_target_location_, intersection_tmp.intersection_point_); + return true; } CgalPolygon2dVertexIterator erase(CgalPolygon2dVertexIterator first, CgalPolygon2dVertexIterator last, From 1b03e2c02d1ac1467f7295ad55efdba7f362aa3a Mon Sep 17 00:00:00 2001 From: andrej1001 Date: Thu, 30 Jan 2020 18:08:35 +0100 Subject: [PATCH 008/504] Added priority to shallow dents. Clean-up. --- .../include/polygon.hpp | 5 +- .../src/geometry_utils.cpp | 2 +- convex_plane_decomposition/src/polygon.cpp | 100 ++++++++---------- 3 files changed, 48 insertions(+), 59 deletions(-) diff --git a/convex_plane_decomposition/include/polygon.hpp b/convex_plane_decomposition/include/polygon.hpp index d1ab2bfb..3430ffb0 100644 --- a/convex_plane_decomposition/include/polygon.hpp +++ b/convex_plane_decomposition/include/polygon.hpp @@ -4,6 +4,7 @@ #include #include #include +#include #include #include @@ -95,7 +96,7 @@ namespace convex_plane_extraction{ double getEdgeLength(const CgalPolygon2dVertexIterator& source, const CgalPolygon2d& polygon); - void detectDentLocations(std::vector* dent_locations, const CgalPolygon2d& polygon); + void detectDentLocations(std::map* dent_locations, const CgalPolygon2d& polygon); struct Intersection{ void setEdgeSourceLocation(const int location){ @@ -118,7 +119,7 @@ namespace convex_plane_extraction{ CgalPoint2d intersection_point_; }; - bool intersectPolygonWithRay(int ray_source_location, CGAL::Orientation orientation, const CgalPolygon2d& polygon, + bool intersectPolygonWithRay(int ray_target_location, CGAL::Orientation orientation, const CgalPolygon2d& polygon, Intersection* intersection); CgalPolygon2dVertexIterator erase(CgalPolygon2dVertexIterator first, CgalPolygon2dVertexIterator last, diff --git a/convex_plane_decomposition/src/geometry_utils.cpp b/convex_plane_decomposition/src/geometry_utils.cpp index 3d2509ba..627c7244 100644 --- a/convex_plane_decomposition/src/geometry_utils.cpp +++ b/convex_plane_decomposition/src/geometry_utils.cpp @@ -47,7 +47,7 @@ namespace convex_plane_extraction { Vector2d solution = A.fullPivHouseholderQr().solve(b); Vector2d ray_solution = ray_source + solution(0) * segment_direction; Vector2d segment_solution = segment_source + solution(1) * segment_direction; - if (solution(0) <= 0 || solution(1) <= 0 || solution(1) > 1){ // || (ray_solution - segment_solution).norm() > 0.001) { + if (solution(0) <= 0 || solution(1) <= 0 || solution(1) > 1){ return false; } *intersection_point = segment_solution; diff --git a/convex_plane_decomposition/src/polygon.cpp b/convex_plane_decomposition/src/polygon.cpp index d967f5f1..8d9f853f 100644 --- a/convex_plane_decomposition/src/polygon.cpp +++ b/convex_plane_decomposition/src/polygon.cpp @@ -177,7 +177,9 @@ namespace convex_plane_extraction { + (destination_point.y() - source_point.y()) * (destination_point.y() - source_point.y()))); } - void detectDentLocations(std::vector* dent_locations, const CgalPolygon2d& polygon){ + // A dent is a vertex, which lies in a counter-clockwise oriented polygon on the left side of its neighbors. + // Dents cause non-convexity. + void detectDentLocations(std::map* dent_locations, const CgalPolygon2d& polygon){ CHECK_NOTNULL(dent_locations); CHECK(dent_locations->empty()); CHECK(polygon.orientation() == CGAL::COUNTERCLOCKWISE); @@ -185,14 +187,15 @@ namespace convex_plane_extraction { auto dent_it = next(source_it, polygon); auto destination_it = next(dent_it, polygon); Vector2d source_point = Vector2d(source_it->x(), source_it->y()); - Vector2d direction_vector = Vector2d(destination_it->x() - source_it->x(), destination_it->y() - source_it->y()); + Vector2d destination_point = Vector2d(destination_it->x(), destination_it->y()); + Vector2d direction_vector = destination_point - source_point; Vector2d test_point = Vector2d(dent_it->x(), dent_it->y()); - const double kAngleThreshold = 0.001;//0.1 * M_PI / 180.0; + const double kAngleThresholdRad = 0.001; // 0.05 deg in rad. if(isPointOnLeftSide(source_point, direction_vector, test_point)){ - std::cout << "Computed angle " << (abs(computeAngleBetweenVectors(direction_vector, test_point - source_point)) > kAngleThreshold) << - std::endl; - if ( abs(computeAngleBetweenVectors(direction_vector, test_point - source_point)) > kAngleThreshold) - dent_locations->push_back(std::distance(polygon.vertices_begin(), dent_it)); + double angle = abs(computeAngleBetweenVectors(source_point - test_point, destination_point - test_point)); + // Ignore very shallow dents. Approximate convex decomposition. + if ( angle > kAngleThresholdRad) + dent_locations->insert(std::make_pair(angle, std::distance(polygon.vertices_begin(), dent_it))); } } } @@ -200,7 +203,7 @@ namespace convex_plane_extraction { std::list decomposeInnerApproximation(const CgalPolygon2d& polygon){ CHECK(polygon.orientation() == CGAL::COUNTERCLOCKWISE); std::list return_list; - std::vector dent_locations; + std::map dent_locations; detectDentLocations(&dent_locations, polygon); if (dent_locations.empty()){ // No dents detected, polygon must be convex. @@ -208,54 +211,48 @@ namespace convex_plane_extraction { return_list.push_back(polygon); return return_list; } - std::cout << "Dent locations:" << std::endl; - for (int location : dent_locations){ - std::cout << location << std::endl; - } - std::cout << "Polygon:" << std::endl; - printPolygon(polygon); + int dent_location = dent_locations.begin()->second; bool intersection_clockwise_flag = false; Intersection intersection_clockwise; bool intersection_counterclockwise_flag = false; Intersection intersection_counterclockwise; - intersection_clockwise_flag = intersectPolygonWithRay(dent_locations.at(0), CGAL::COUNTERCLOCKWISE, + intersection_clockwise_flag = intersectPolygonWithRay(dent_location, CGAL::COUNTERCLOCKWISE, polygon, &intersection_counterclockwise); - intersection_counterclockwise_flag = intersectPolygonWithRay(dent_locations.at(0), CGAL::CLOCKWISE, + intersection_counterclockwise_flag = intersectPolygonWithRay(dent_location, CGAL::CLOCKWISE, polygon, &intersection_clockwise); if (!intersection_clockwise_flag || !intersection_counterclockwise_flag ){ - // return return_list; + LOG(FATAL) << "At least one intersection of dent ray with polygon failed!"; } // Generate resulting polygons from cut. // Resulting cut from counter clockwise ray intersection. CgalPolygon2d polygon_counterclockwise_1 = polygon; CgalPolygon2d polygon_counterclockwise_2; auto first_vertex_to_erase_it = polygon_counterclockwise_1.vertices_begin(); - std::advance(first_vertex_to_erase_it, dent_locations.at(0)); + std::advance(first_vertex_to_erase_it, dent_location); + // Add dent to second polygon. polygon_counterclockwise_2.push_back(*first_vertex_to_erase_it); first_vertex_to_erase_it = next(first_vertex_to_erase_it, polygon_counterclockwise_1); -// for (int i = 0; i < 2; ++i){ -// first_vertex_to_erase_it = previous(first_vertex_to_erase_it, polygon); -// } auto last_vertex_to_erase_it = polygon_counterclockwise_1.vertices_begin(); + // Intersection somewhere must be at or after source vertex of intersection edge. std::advance(last_vertex_to_erase_it, intersection_counterclockwise.edge_source_location_); -// auto last_vertex_to_erase_it = polygon.vertices_begin(); -// std::advance(last_vertex_to_erase_it, intersection_counterclockwise.edge_source_location_); + // Take next vertex due to exclusive upper limit logic. last_vertex_to_erase_it = next(last_vertex_to_erase_it, polygon_counterclockwise_1); + // Copy vertices that will be deleted to second polygon. copyVertices(polygon_counterclockwise_1,first_vertex_to_erase_it,last_vertex_to_erase_it, &polygon_counterclockwise_2, polygon_counterclockwise_2.vertices_end()); - std::cout << "Copy succeeded without problems!" << std::endl; -// polygon_counterclockwise_2.insert(polygon_counterclockwise_2.vertices_end(), -// first_vertex_to_erase_it, last_vertex_to_erase_it); + // Get last point that was erased. CgalPoint2d point_before_intersection = *(previous(last_vertex_to_erase_it, polygon_counterclockwise_2)); + // To avoid numerical issues and duplicate vertices, intersection point is only inserted if sufficiently + // far away from exisiting vertex. constexpr double kSquaredLengthThreshold = 1e-6; if ((intersection_counterclockwise.intersection_point_ - point_before_intersection).squared_length() > kSquaredLengthThreshold) { polygon_counterclockwise_2.push_back(intersection_counterclockwise.intersection_point_); } -// auto element_behind_deleted_it = polygon_counterclockwise_1.erase(first_vertex_to_erase_it, std::next(last_vertex_to_erase_it)); CgalPolygon2dVertexIterator element_behind_deleted_it = erase(first_vertex_to_erase_it, last_vertex_to_erase_it, &polygon_counterclockwise_1); - polygon_counterclockwise_1.insert(element_behind_deleted_it, intersection_counterclockwise.intersection_point_); - std::cout << "First polygon counter-clockwise: " << polygon_counterclockwise_1 << std::endl; - std::cout << "Second polygon counter-clockwise: " << polygon_counterclockwise_2 << std::endl; + // Add intersection vertex to first polygon if existing vertex too far away. +// if ((intersection_counterclockwise.intersection_point_ - *element_behind_deleted_it).squared_length() > kSquaredLengthThreshold) { + polygon_counterclockwise_1.insert(element_behind_deleted_it, intersection_counterclockwise.intersection_point_); +// } // Resulting cut from clockwise ray intersection. CgalPolygon2d polygon_clockwise_1 = polygon; CgalPolygon2d polygon_clockwise_2; @@ -266,16 +263,14 @@ namespace convex_plane_extraction { polygon_clockwise_2.push_back(intersection_clockwise.intersection_point_); } last_vertex_to_erase_it = polygon_clockwise_1.vertices_begin(); - std::advance(last_vertex_to_erase_it, dent_locations.at(0)); + std::advance(last_vertex_to_erase_it, dent_location); copyVertices(polygon_clockwise_1, first_vertex_to_erase_it, last_vertex_to_erase_it, &polygon_clockwise_2, polygon_clockwise_2.vertices_end()); polygon_clockwise_2.push_back(*last_vertex_to_erase_it); element_behind_deleted_it = erase(first_vertex_to_erase_it, last_vertex_to_erase_it, &polygon_clockwise_1); - polygon_clockwise_1.insert(element_behind_deleted_it, intersection_clockwise.intersection_point_); -// std::advance(first_element_to_insert_it, intersection_clockwise.edge_target_location_); -// copyVertices(polygon, first_element_to_insert_it, first_vertex_to_erase_it, &polygon_clockwise_2, -// polygon_clockwise_2.vertices_end()); - +// if ((intersection_clockwise.intersection_point_ - *element_behind_deleted_it).squared_length() > kSquaredLengthThreshold) { + polygon_clockwise_1.insert(element_behind_deleted_it, intersection_clockwise.intersection_point_); +// } // Take the cut with smallest min. area of resulting polygons. double area[4] = {polygon_counterclockwise_1.area(), polygon_counterclockwise_2.area(), polygon_clockwise_1.area(), polygon_clockwise_2.area()}; @@ -318,14 +313,12 @@ namespace convex_plane_extraction { } return_list.splice(return_list.end(), recursion_1); return_list.splice(return_list.end(), recursion_2); - // Check that returned decomposition is in fact convex. -// for (const CgalPolygon2d& polygon_under_test : return_list){ -// CHECK(polygon_under_test.is_convex()); -// } + return return_list; } - bool intersectPolygonWithRay(int ray_source_location, CGAL::Orientation orientation, const CgalPolygon2d& polygon, + // Counter-clockwise orientation: ray source vertex is previous vertex in counter-clockwise polygon orientation. + bool intersectPolygonWithRay(int ray_target_location, CGAL::Orientation orientation, const CgalPolygon2d& polygon, Intersection* intersection){ CHECK_NOTNULL(intersection); CHECK(orientation == CGAL::COUNTERCLOCKWISE || orientation == CGAL::CLOCKWISE); @@ -335,7 +328,7 @@ namespace convex_plane_extraction { double min_distance = kLargeDistanceValue; bool one_intersection_at_least = false; auto vertex_it = polygon.vertices_begin(); - std::advance(vertex_it, ray_source_location); + std::advance(vertex_it, ray_target_location); auto ray_source_it = vertex_it; CgalPolygon2dVertexIterator ray_target_it = vertex_it; if (orientation == CGAL::COUNTERCLOCKWISE) { @@ -347,11 +340,10 @@ namespace convex_plane_extraction { Vector2d ray_source = Vector2d(ray_source_it->x(), ray_source_it->y()); Vector2d ray_target = Vector2d(ray_target_it->x(), ray_target_it->y()); Vector2d ray_direction = ray_target - ray_source; - std::cout << "Ray direction: " << ray_direction << std::endl; vertex_it = next(vertex_it, polygon); + // Do not intersect with adjacent edges since the intersect already in common vertex. auto condition_it = ray_source_it; if (orientation == CGAL::CLOCKWISE){ - //vertex_it = next(vertex_it, polygon); // Compensate for previous above. condition_it = ray_target_it; } while(next(vertex_it, polygon) != condition_it){ @@ -361,12 +353,8 @@ namespace convex_plane_extraction { Vector2d intersection_point; if (intersectRayWithLineSegment(ray_source, ray_direction, segment_source, segment_target, &intersection_point)){ - std::cout << "Intersection succeeded with: " << std::endl; - std::cout << "Ray source" << ray_source << std::endl; - std::cout << "Segment source: " << segment_source << std::endl; - std::cout << "Segment target: " << segment_target << std::endl; - std::cout << "Intersection point: " << intersection_point << std::endl; - double current_distance = distanceBetweenPoints(ray_target, intersection_point); + double current_distance = distanceBetweenPoints(ray_target, intersection_point); + // Take first intersection on ray. if (current_distance < min_distance){ one_intersection_at_least = true; min_distance = current_distance; @@ -376,7 +364,7 @@ namespace convex_plane_extraction { } vertex_it = next(vertex_it, polygon); } - //CHECK(one_intersection_at_least); + if (!one_intersection_at_least){ return false; } @@ -385,16 +373,15 @@ namespace convex_plane_extraction { return true; } + // Erases vertices [first, last), takes warp around into account. CgalPolygon2dVertexIterator erase(CgalPolygon2dVertexIterator first, CgalPolygon2dVertexIterator last, CgalPolygon2d* polygon){ CHECK_NOTNULL(polygon); CHECK(first != last); - std::cout << "Starting erasing!" << std::endl; if ((std::distance(polygon->vertices_begin(), last) - std::distance(polygon->vertices_begin(), first)) > 0){ - std::cout << (std::distance(polygon->vertices_begin(), last) - std::distance(polygon->vertices_begin(), first)) << std::endl; + // std::cout << (std::distance(polygon->vertices_begin(), last) - std::distance(polygon->vertices_begin(), first)) << std::endl; return polygon->erase(first, last); } else { - std::cout << "Erasing overflow!" << std::endl; int last_iterator_distance = std::distance(polygon->vertices_begin(), last); polygon->erase(first, polygon->vertices_end()); auto erase_iterator = polygon->vertices_begin(); @@ -402,8 +389,9 @@ namespace convex_plane_extraction { return polygon->erase(polygon->vertices_begin(), erase_iterator); } } - // Solves the wrap around issue. - // [first last) are copied to new_polygon before the position indicated ny insert_position. + + // [first last) are copied to new_polygon before the position indicated by insert_position. + // Takes wrap around into account void copyVertices(const CgalPolygon2d& old_polygon, const CgalPolygon2dVertexIterator first, const CgalPolygon2dVertexIterator last, CgalPolygon2d* new_polygon, const CgalPolygon2dVertexIterator insert_position){ CHECK_NOTNULL(new_polygon); From 08ef1d473a1eaee3df6920156aac013e24120541 Mon Sep 17 00:00:00 2001 From: andrej1001 Date: Thu, 30 Jan 2020 20:50:07 +0100 Subject: [PATCH 009/504] Fix rank loss. --- .../src/geometry_utils.cpp | 8 ++++-- convex_plane_decomposition/src/polygon.cpp | 26 +++++++++++++++---- 2 files changed, 27 insertions(+), 7 deletions(-) diff --git a/convex_plane_decomposition/src/geometry_utils.cpp b/convex_plane_decomposition/src/geometry_utils.cpp index 627c7244..b5af2e9a 100644 --- a/convex_plane_decomposition/src/geometry_utils.cpp +++ b/convex_plane_decomposition/src/geometry_utils.cpp @@ -44,10 +44,14 @@ namespace convex_plane_extraction { A.col(0) = ray_direction; A.col(1) = - segment_direction; Vector2d b = segment_source - ray_source; - Vector2d solution = A.fullPivHouseholderQr().solve(b); + auto householder_qr = A.fullPivHouseholderQr(); + if (householder_qr.rank() < 2){ + return false; + } + Vector2d solution = householder_qr.solve(b); Vector2d ray_solution = ray_source + solution(0) * segment_direction; Vector2d segment_solution = segment_source + solution(1) * segment_direction; - if (solution(0) <= 0 || solution(1) <= 0 || solution(1) > 1){ + if (solution(0) <= 1 || solution(1) < 0 || solution(1) > 1){ return false; } *intersection_point = segment_solution; diff --git a/convex_plane_decomposition/src/polygon.cpp b/convex_plane_decomposition/src/polygon.cpp index 8d9f853f..96229ea9 100644 --- a/convex_plane_decomposition/src/polygon.cpp +++ b/convex_plane_decomposition/src/polygon.cpp @@ -204,7 +204,9 @@ namespace convex_plane_extraction { CHECK(polygon.orientation() == CGAL::COUNTERCLOCKWISE); std::list return_list; std::map dent_locations; + LOG(INFO) << "Before dent detection"; detectDentLocations(&dent_locations, polygon); + LOG(INFO) << "Passed dent detection"; if (dent_locations.empty()){ // No dents detected, polygon must be convex. // CGAL convexity check might still fail, since very shallow dents are ignored. @@ -248,11 +250,12 @@ namespace convex_plane_extraction { if ((intersection_counterclockwise.intersection_point_ - point_before_intersection).squared_length() > kSquaredLengthThreshold) { polygon_counterclockwise_2.push_back(intersection_counterclockwise.intersection_point_); } + LOG(INFO) << "Before erase!"; CgalPolygon2dVertexIterator element_behind_deleted_it = erase(first_vertex_to_erase_it, last_vertex_to_erase_it, &polygon_counterclockwise_1); // Add intersection vertex to first polygon if existing vertex too far away. -// if ((intersection_counterclockwise.intersection_point_ - *element_behind_deleted_it).squared_length() > kSquaredLengthThreshold) { + if ((intersection_counterclockwise.intersection_point_ - *element_behind_deleted_it).squared_length() > kSquaredLengthThreshold) { polygon_counterclockwise_1.insert(element_behind_deleted_it, intersection_counterclockwise.intersection_point_); -// } + } // Resulting cut from clockwise ray intersection. CgalPolygon2d polygon_clockwise_1 = polygon; CgalPolygon2d polygon_clockwise_2; @@ -268,12 +271,18 @@ namespace convex_plane_extraction { polygon_clockwise_2.vertices_end()); polygon_clockwise_2.push_back(*last_vertex_to_erase_it); element_behind_deleted_it = erase(first_vertex_to_erase_it, last_vertex_to_erase_it, &polygon_clockwise_1); -// if ((intersection_clockwise.intersection_point_ - *element_behind_deleted_it).squared_length() > kSquaredLengthThreshold) { + LOG(INFO) << "After erase!"; + if ((intersection_clockwise.intersection_point_ - *element_behind_deleted_it).squared_length() > kSquaredLengthThreshold) { polygon_clockwise_1.insert(element_behind_deleted_it, intersection_clockwise.intersection_point_); -// } + } + printPolygon(polygon_counterclockwise_1); + printPolygon(polygon_counterclockwise_2); + printPolygon(polygon_clockwise_1); + printPolygon(polygon_clockwise_2); // Take the cut with smallest min. area of resulting polygons. double area[4] = {polygon_counterclockwise_1.area(), polygon_counterclockwise_2.area(), polygon_clockwise_1.area(), polygon_clockwise_2.area()}; + LOG(INFO) << "Passed area computation!"; double* min_area_strategy = std::min_element(area, area+4); std::list recursion_1; std::list recursion_2; @@ -313,7 +322,7 @@ namespace convex_plane_extraction { } return_list.splice(return_list.end(), recursion_1); return_list.splice(return_list.end(), recursion_2); - + LOG(INFO) << "Reached bottom!"; return return_list; } @@ -338,6 +347,7 @@ namespace convex_plane_extraction { ray_source_it = vertex_it; } Vector2d ray_source = Vector2d(ray_source_it->x(), ray_source_it->y()); + LOG(INFO) << "Source ray:" << ray_source; Vector2d ray_target = Vector2d(ray_target_it->x(), ray_target_it->y()); Vector2d ray_direction = ray_target - ray_source; vertex_it = next(vertex_it, polygon); @@ -353,6 +363,12 @@ namespace convex_plane_extraction { Vector2d intersection_point; if (intersectRayWithLineSegment(ray_source, ray_direction, segment_source, segment_target, &intersection_point)){ + LOG(INFO) << "Intersection point:" << intersection_point; + LOG(INFO) << segment_source; + if ((ray_target - intersection_point).norm() < 0.001){ + LOG(INFO) << segment_source; + continue; + } double current_distance = distanceBetweenPoints(ray_target, intersection_point); // Take first intersection on ray. if (current_distance < min_distance){ From fc9c66c467f09a4624a232db114b8616d376df94 Mon Sep 17 00:00:00 2001 From: andrej1001 Date: Fri, 31 Jan 2020 09:52:50 +0100 Subject: [PATCH 010/504] Fix infinite loop. --- convex_plane_decomposition/src/polygon.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/convex_plane_decomposition/src/polygon.cpp b/convex_plane_decomposition/src/polygon.cpp index 96229ea9..e65da1d5 100644 --- a/convex_plane_decomposition/src/polygon.cpp +++ b/convex_plane_decomposition/src/polygon.cpp @@ -367,6 +367,7 @@ namespace convex_plane_extraction { LOG(INFO) << segment_source; if ((ray_target - intersection_point).norm() < 0.001){ LOG(INFO) << segment_source; + vertex_it = next(vertex_it, polygon); continue; } double current_distance = distanceBetweenPoints(ray_target, intersection_point); From 0c95dc3f1b9c13e7dfb1aa8020ccadcc4c40d4d9 Mon Sep 17 00:00:00 2001 From: andrej1001 Date: Fri, 31 Jan 2020 14:33:58 +0100 Subject: [PATCH 011/504] Csv export. --- convex_plane_decomposition/CMakeLists.txt | 3 ++- .../include/convex_plane_extraction_ros.hpp | 10 +------- .../include/export_utils.hpp | 21 +++++++++++++++++ .../src/convex_plane_extraction_ros.cpp | 3 +++ .../src/export_utils.cpp | 23 +++++++++++++++++++ 5 files changed, 50 insertions(+), 10 deletions(-) create mode 100644 convex_plane_decomposition/include/export_utils.hpp create mode 100644 convex_plane_decomposition/src/export_utils.cpp diff --git a/convex_plane_decomposition/CMakeLists.txt b/convex_plane_decomposition/CMakeLists.txt index 077381ca..c0d32a3b 100644 --- a/convex_plane_decomposition/CMakeLists.txt +++ b/convex_plane_decomposition/CMakeLists.txt @@ -163,7 +163,8 @@ add_executable(${PROJECT_NAME}_node src/plane.cpp src/polygon.cpp src/ros_visualizations.cpp - src/geometry_utils.cpp) + src/geometry_utils.cpp + src/export_utils.cpp) ## Rename C++ executable without prefix ## The above recommended prefix causes long target names, the following renames the diff --git a/convex_plane_decomposition/include/convex_plane_extraction_ros.hpp b/convex_plane_decomposition/include/convex_plane_extraction_ros.hpp index d94efe33..6f1de627 100644 --- a/convex_plane_decomposition/include/convex_plane_extraction_ros.hpp +++ b/convex_plane_decomposition/include/convex_plane_extraction_ros.hpp @@ -1,12 +1,3 @@ -/* - * FiltersDemo.hpp - * - * Created on: Aug 16, 2017 - * Author: Peter Fankhauser - * Institute: ETH Zurich, ANYbotics - * - */ - #pragma once #include @@ -18,6 +9,7 @@ #include +#include "export_utils.hpp" #include "grid_map_preprocessing.hpp" #include "plane_extractor.hpp" #include "ransac_plane_extractor.hpp" diff --git a/convex_plane_decomposition/include/export_utils.hpp b/convex_plane_decomposition/include/export_utils.hpp new file mode 100644 index 00000000..a902ee93 --- /dev/null +++ b/convex_plane_decomposition/include/export_utils.hpp @@ -0,0 +1,21 @@ +#ifndef CONVEX_PLANE_EXTRACTION_INCLUDE_EXPORT_UTILS_HPP_ +#define CONVEX_PLANE_EXTRACTION_INCLUDE_EXPORT_UTILS_HPP_ + +#include +#include +#include + +#include +#include + +#include "grid_map_ros/grid_map_ros.hpp" + + +namespace convex_plane_extraction { + + bool exportPointsWithNormalsToCsv(grid_map::GridMap &map, const std::string &normals_layer_prefix, + const std::string &layer_height); + +} + +#endif //CONVEX_PLANE_EXTRACTION_INCLUDE_EXPORT_UTILS_HPP_ diff --git a/convex_plane_decomposition/src/convex_plane_extraction_ros.cpp b/convex_plane_decomposition/src/convex_plane_extraction_ros.cpp index 54b90b4d..7ff74e33 100644 --- a/convex_plane_decomposition/src/convex_plane_extraction_ros.cpp +++ b/convex_plane_decomposition/src/convex_plane_extraction_ros.cpp @@ -91,6 +91,9 @@ void ConvexPlaneExtractionROS::callback(const grid_map_msgs::GridMap& message) { std::cout << inputMap.getPosition() << std::endl; CHECK(success); ROS_INFO("...done."); +// if(exportPointsWithNormalsToCsv(inputMap, "normal_vectors_", "elevation")){ +// ROS_INFO("Map exported to csv."); +// } applyMedianFilter(inputMap.get("elevation"), 5); // Compute planar region segmentation ROS_INFO("Initializing plane extractor..."); diff --git a/convex_plane_decomposition/src/export_utils.cpp b/convex_plane_decomposition/src/export_utils.cpp new file mode 100644 index 00000000..fd1a762d --- /dev/null +++ b/convex_plane_decomposition/src/export_utils.cpp @@ -0,0 +1,23 @@ +#include "export_utils.hpp" + + +namespace convex_plane_extraction { + + bool exportPointsWithNormalsToCsv(grid_map::GridMap &map, const std::string &normals_layer_prefix, + const std::string &layer_height) { + std::ofstream output_file; + output_file.open("/home/andrej/sp_ws/points_and_normals.csv"); + for (grid_map::GridMapIterator iterator(map); + !iterator.isPastEnd(); ++iterator) { + grid_map::Position3 position3; + Eigen::Vector3d point; + Eigen::Vector3d normal; + map.getPosition3(layer_height, *iterator, point); + map.getVector(normals_layer_prefix, *iterator, normal); + output_file << point(0) << ", " << point(1) << ", " << point(2) << ", " << + normal(0) << ", " << normal(1) << ", " << normal(2) << "\n"; + } + return true; + } + +} \ No newline at end of file From 836587a93fbeeaecacba26dfcdd357f2e9aceedb Mon Sep 17 00:00:00 2001 From: andrej1001 Date: Fri, 31 Jan 2020 18:54:35 +0100 Subject: [PATCH 012/504] Fix assertion fail on overlapping rays. --- .../src/geometry_utils.cpp | 26 +++++++++++++++++++ 1 file changed, 26 insertions(+) diff --git a/convex_plane_decomposition/src/geometry_utils.cpp b/convex_plane_decomposition/src/geometry_utils.cpp index b5af2e9a..a32ad2e8 100644 --- a/convex_plane_decomposition/src/geometry_utils.cpp +++ b/convex_plane_decomposition/src/geometry_utils.cpp @@ -46,6 +46,32 @@ namespace convex_plane_extraction { Vector2d b = segment_source - ray_source; auto householder_qr = A.fullPivHouseholderQr(); if (householder_qr.rank() < 2){ + // Check whether segment and ray overlap. + Vector2d p_ray_source_segment_source = segment_source - ray_source; + Vector2d ray_parameter_solution = Vector2d(p_ray_source_segment_source.x() / ray_direction.x(), + p_ray_source_segment_source.y() / ray_direction.y()); + constexpr double kSolutionDeviation = 0.0001; + if (abs(ray_parameter_solution.x() - ray_parameter_solution.y()) < kSolutionDeviation){ + double parameter_solution_tmp = ray_parameter_solution.mean(); + if (parameter_solution_tmp < 0){ + return false; + } + CHECK_GT(parameter_solution_tmp, 0); + Vector2d p_ray_source_segment_target = segment_target - ray_source; + ray_parameter_solution = Vector2d(p_ray_source_segment_target.x() / ray_direction.x(), + p_ray_source_segment_target.y() / ray_direction.y()); + // If ray is parallel (rank loss) and source point lies on ray, then target point has to as well. + CHECK(abs(ray_parameter_solution.x() - ray_parameter_solution.y()) < kSolutionDeviation); + if(ray_parameter_solution.mean() < 0){ + return false; + } + if (ray_parameter_solution.mean() < parameter_solution_tmp){ + *intersection_point = segment_target; + } else { + *intersection_point = segment_source; + } + return true; + } return false; } Vector2d solution = householder_qr.solve(b); From 9935987e2b1b1d3f72f73404448a9eca9e82fc32 Mon Sep 17 00:00:00 2001 From: andrej1001 Date: Sun, 2 Feb 2020 16:58:00 +0100 Subject: [PATCH 013/504] Some improvement. Check fails. --- .../include/geometry_utils.hpp | 3 + convex_plane_decomposition/include/plane.hpp | 2 +- .../include/polygon.hpp | 3 +- .../src/geometry_utils.cpp | 49 ++++++++++++++++ convex_plane_decomposition/src/plane.cpp | 56 ++++++++++++------- convex_plane_decomposition/src/polygon.cpp | 50 ++++++++++++----- .../src/sliding_window_plane_extractor.cpp | 3 +- 7 files changed, 130 insertions(+), 36 deletions(-) diff --git a/convex_plane_decomposition/include/geometry_utils.hpp b/convex_plane_decomposition/include/geometry_utils.hpp index a2b1f786..3f1304ca 100644 --- a/convex_plane_decomposition/include/geometry_utils.hpp +++ b/convex_plane_decomposition/include/geometry_utils.hpp @@ -19,5 +19,8 @@ bool intersectRayWithLineSegment(const Vector2d& ray_source, const Vector2d& ray const Vector2d& segment_source, const Vector2d& segment_target, Vector2d* intersection_point); double distanceBetweenPoints(Vector2d first, Vector2d second); + +bool intersectLineSegmentWithLineSegment(const Vector2d& segment_1_source, const Vector2d& segment_1_target, + const Vector2d& segment_2_source, const Vector2d& segment_2_target, Vector2d* intersection_point); } #endif //CONVEX_PLANE_EXTRACTION_INCLUDE_GEOMETRY_UTILS_HPP_ diff --git a/convex_plane_decomposition/include/plane.hpp b/convex_plane_decomposition/include/plane.hpp index 25387a05..fe6645f3 100644 --- a/convex_plane_decomposition/include/plane.hpp +++ b/convex_plane_decomposition/include/plane.hpp @@ -54,7 +54,7 @@ namespace convex_plane_extraction { void extractSlConcavityPointsOfHole(const CgalPolygon2d& hole, std::vector* concavity_positions); - void slConcavityHoleVertexSorting(const CgalPolygon2d& hole, std::multimap* concavity_positions); + void slConcavityHoleVertexSorting(const CgalPolygon2d& hole, std::multimap>* concavity_positions); bool initialized_; diff --git a/convex_plane_decomposition/include/polygon.hpp b/convex_plane_decomposition/include/polygon.hpp index 3430ffb0..b4062d5a 100644 --- a/convex_plane_decomposition/include/polygon.hpp +++ b/convex_plane_decomposition/include/polygon.hpp @@ -41,6 +41,7 @@ namespace convex_plane_extraction{ typedef std::vector Polygon3d; typedef std::vector Polygon3dVectorContainer; + typedef K::Intersect_2 Intersect_2; template @@ -77,7 +78,7 @@ namespace convex_plane_extraction{ void performConvexDecomposition(const CgalPolygon2d& polygon, CgalPolygon2dListContainer* output_polyong_list); - bool doPolygonAndSegmentIntersect(const CgalPolygon2d& polygon, const CgalSegment2d& segment); + bool doPolygonAndSegmentIntersect(const CgalPolygon2d& polygon, const CgalSegment2d& segment, bool print_flag); int getClosestPolygonVertexPosition(const CgalPolygon2d& polygon, const CgalPoint2d& point); diff --git a/convex_plane_decomposition/src/geometry_utils.cpp b/convex_plane_decomposition/src/geometry_utils.cpp index a32ad2e8..07e6714a 100644 --- a/convex_plane_decomposition/src/geometry_utils.cpp +++ b/convex_plane_decomposition/src/geometry_utils.cpp @@ -84,6 +84,55 @@ namespace convex_plane_extraction { return true; } + bool intersectLineSegmentWithLineSegment(const Vector2d& segment_1_source, const Vector2d& segment_1_target, + const Vector2d& segment_2_source, const Vector2d& segment_2_target, Vector2d* intersection_point){ + CHECK_NOTNULL(intersection_point); + Vector2d segment_1_direction = segment_1_target - segment_1_source; + Vector2d segment_2_direction = segment_2_target - segment_2_source; + Matrix2d A; + A.col(0) = segment_1_direction; + A.col(1) = - segment_2_direction; + Vector2d b = segment_2_source - segment_1_source; + auto householder_qr = A.fullPivHouseholderQr(); + if (householder_qr.rank() < 2){ + // Check whether segment and ray overlap. + Vector2d p_ray_source_segment_source = segment_2_source - segment_1_source; + Vector2d ray_parameter_solution = Vector2d(p_ray_source_segment_source.x() / segment_1_direction.x(), + p_ray_source_segment_source.y() / segment_1_direction.y()); + constexpr double kSolutionDeviation = 0.0001; + if (abs(ray_parameter_solution.x() - ray_parameter_solution.y()) < kSolutionDeviation){ + double parameter_solution_tmp = ray_parameter_solution.mean(); + if (parameter_solution_tmp < 0){ + return false; + } + CHECK_GT(parameter_solution_tmp, 0); + Vector2d p_ray_source_segment_target = segment_2_target - segment_1_source; + ray_parameter_solution = Vector2d(p_ray_source_segment_target.x() / segment_1_direction.x(), + p_ray_source_segment_target.y() / segment_1_direction.y()); + // If ray is parallel (rank loss) and source point lies on ray, then target point has to as well. + CHECK(abs(ray_parameter_solution.x() - ray_parameter_solution.y()) < kSolutionDeviation); + if(ray_parameter_solution.mean() < 0){ + return false; + } + if (ray_parameter_solution.mean() < parameter_solution_tmp){ + *intersection_point = segment_2_target; + } else { + *intersection_point = segment_2_source; + } + return true; + } + return false; + } + Vector2d solution = householder_qr.solve(b); + Vector2d ray_solution = segment_1_source + solution(0) * segment_2_direction; + Vector2d segment_solution = segment_2_source + solution(1) * segment_2_direction; + if (solution(0) < 0 || solution(0) > 1 || solution(1) < 0 || solution(1) > 1){ + return false; + } + *intersection_point = segment_solution; + return true; + } + double distanceBetweenPoints(Vector2d first, Vector2d second){ return (second - first).norm(); } diff --git a/convex_plane_decomposition/src/plane.cpp b/convex_plane_decomposition/src/plane.cpp index 51101330..33959bcf 100644 --- a/convex_plane_decomposition/src/plane.cpp +++ b/convex_plane_decomposition/src/plane.cpp @@ -190,47 +190,62 @@ namespace convex_plane_extraction{ ++hole_it; hole_polygon_list_.erase(std::prev(hole_it)); } else { - std::multimap connection_candidates; + std::cout << "List size: " << hole_polygon_list_.size() << std::endl; + std::cout << "Outer: " << std::endl; + printPolygon(outer_polygon_); + std::cout << "Hole: " << std::endl; + printPolygon(*hole_polygon_list_.begin()); + std::multimap> connection_candidates; slConcavityHoleVertexSorting(*hole_it, &connection_candidates); - CHECK_GT(connection_candidates.size(), 0); + CHECK(connection_candidates.size() == hole_it->size()*outer_polygon_.size()); // Instead of extracting only the 2 SL-concavity points, sort vertices according to SL-concavity measure. // Then iterate over sorted vertices until a connection to the outer contour is not intersecting the polyogn. // Implement function that checks for intersections with existing polygon contour. int hole_connection_vertex_position; int outer_polygon_connection_vertex_position; bool valid_connection = true; + int i = 0; for (const auto& position : connection_candidates){ auto hole_vertex_it = hole_it->vertices_begin(); - std::advance(hole_vertex_it, position.second); + std::advance(hole_vertex_it, position.second.first); + bool print_flag = false; + if (position.second.first == 7){ + print_flag = true; + } CgalPoint2d hole_vertex = *hole_vertex_it; // Get outer contour connection vertices sorted according to distance to hole vertex. - std::multimap outer_polygon_vertices; - getVertexPositionsInAscendingDistanceToPoint(outer_polygon_, hole_vertex, &outer_polygon_vertices); auto outer_vertex_it = outer_polygon_.vertices_begin(); - std::advance(outer_vertex_it, outer_polygon_vertices.begin()->second); + std::advance(outer_vertex_it, position.second.second); CgalVector2d direction = *outer_vertex_it - hole_vertex; direction = (1.0/direction.squared_length()) * direction; - CgalSegment2d connection(hole_vertex + 0.001 * direction, *outer_vertex_it - 0.001 * direction); - if (!doPolygonAndSegmentIntersect(outer_polygon_, connection)){ + CgalSegment2d connection(hole_vertex + 0.0001 * direction, *outer_vertex_it - 0.0001 * direction); + if (!doPolygonAndSegmentIntersect(outer_polygon_, connection, print_flag)){ for (auto hole_iterator = hole_polygon_list_.begin(); hole_iterator != hole_polygon_list_.end(); ++hole_iterator){ if (hole_iterator->size() < 3){ continue; } - if (doPolygonAndSegmentIntersect(*hole_iterator, connection)) { + if (doPolygonAndSegmentIntersect(*hole_iterator, connection, print_flag)) { valid_connection = false; + //std::cout << "Hole and connection intersect!" << std::endl; + ++i; break; } } + valid_connection = true; } else { + //std::cout << "Outer contour and connection intersect!" << std::endl; + ++i; valid_connection = false; } if (valid_connection){ - hole_connection_vertex_position = position.second; - outer_polygon_connection_vertex_position = outer_polygon_vertices.begin()->second; + hole_connection_vertex_position = position.second.first; + outer_polygon_connection_vertex_position = position.second.second; break; } } if (!valid_connection){ + CHECK_EQ(i, hole_it->size()*outer_polygon_.size()); + LOG(WARNING) << "No valid connection found! " << i << " iterations."; ++hole_it; continue; } @@ -274,9 +289,9 @@ namespace convex_plane_extraction{ Eigen::Vector2d translation_vector(next_vertex->x() - outer_contour_connection_vertex->x(), next_vertex->y() - outer_contour_connection_vertex->y()); translation_vector.normalize(); - outer_point += kPointOffset * translation_vector; + outer_point += kPointOffset * translation_vector.normalized(); } else { - outer_point += kPointOffset * normal_vector; + outer_point += kPointOffset * normal_vector.normalized(); } next_vertex = hole_contour_connection_vertex; if (next_vertex == hole_it->vertices_begin()){ @@ -306,12 +321,11 @@ namespace convex_plane_extraction{ for (; vertex_it != outer_polygon_.vertices_end(); ++vertex_it){ new_polygon.push_back(*vertex_it); } - if (new_polygon.is_simple()){ + if (!new_polygon.is_simple()){ std::cout << "Hole orientation: " << hole_it->orientation() << std::endl; std::cout <<"Hole vertex: " << *hole_contour_connection_vertex << std::endl; std::cout <<"Outer vertex: " << *outer_contour_connection_vertex << std::endl; - for (auto& point : new_polygon) - std::cout << point << std::endl; + printPolygon(new_polygon); } CHECK(new_polygon.is_simple()); outer_polygon_ = new_polygon; @@ -319,7 +333,7 @@ namespace convex_plane_extraction{ hole_polygon_list_.erase(std::prev(hole_it)); } } - approximateContour(&outer_polygon_); + //approximateContour(&outer_polygon_); CHECK(outer_polygon_.is_simple()); } @@ -373,13 +387,15 @@ namespace convex_plane_extraction{ } } - void Plane::slConcavityHoleVertexSorting(const CgalPolygon2d& hole, std::multimap* concavity_positions){ + void Plane::slConcavityHoleVertexSorting(const CgalPolygon2d& hole, std::multimap>* concavity_positions){ CHECK_NOTNULL(concavity_positions); for (auto vertex_it = hole.vertices_begin(); vertex_it != hole.vertices_end(); ++vertex_it){ std::multimap outer_polygon_vertices; getVertexPositionsInAscendingDistanceToPoint(outer_polygon_, *vertex_it, &outer_polygon_vertices); - concavity_positions->insert(std::pair(outer_polygon_vertices.begin()->first, - std::distance(hole.vertices_begin(), vertex_it))); + for (const auto& outer_distance_vertex_pair : outer_polygon_vertices) { + concavity_positions->insert(std::pair>(outer_distance_vertex_pair.first, + std::pair(std::distance(hole.vertices_begin(), vertex_it),outer_distance_vertex_pair.second))); + } } } diff --git a/convex_plane_decomposition/src/polygon.cpp b/convex_plane_decomposition/src/polygon.cpp index e65da1d5..1c02ede8 100644 --- a/convex_plane_decomposition/src/polygon.cpp +++ b/convex_plane_decomposition/src/polygon.cpp @@ -7,29 +7,53 @@ namespace convex_plane_extraction { CHECK(polygon.is_simple()); LOG(INFO) << "Started convex decomposition..."; size_t old_list_size = output_polygon_list->size(); -// CGAL::optimal_convex_partition_2(polygon.vertices_begin(), -// polygon.vertices_end(), -// std::back_inserter(*output_polygon_list)); -// -// assert(CGAL::partition_is_valid_2(polygon.vertices_begin(), -// polygon.vertices_end(), -// polygon_list.begin(), -// polygon_list.end())); - *output_polygon_list = decomposeInnerApproximation(polygon); + CGAL::optimal_convex_partition_2(polygon.vertices_begin(), + polygon.vertices_end(), + std::back_inserter(*output_polygon_list)); + + assert(CGAL::partition_is_valid_2(polygon.vertices_begin(), + polygon.vertices_end(), + polygon_list.begin(), + polygon_list.end())); +// *output_polygon_list = decomposeInnerApproximation(polygon); CHECK_GT(output_polygon_list->size(), old_list_size); LOG(INFO) << "done."; } - bool doPolygonAndSegmentIntersect(const CgalPolygon2d& polygon, const CgalSegment2d& segment){ + bool doPolygonAndSegmentIntersect(const CgalPolygon2d& polygon, const CgalSegment2d& segment, bool print_flag){ for (auto vertex_it = polygon.vertices_begin(); vertex_it != polygon.vertices_end(); ++vertex_it){ auto next_vertex_it = std::next(vertex_it); if (next_vertex_it == polygon.vertices_end()){ next_vertex_it = polygon.vertices_begin(); } CgalSegment2d test_segment(*vertex_it, *next_vertex_it); - if (do_intersect(test_segment, segment)){ - return true; + CGAL::cpp11::result_of::type + result = intersection(test_segment, segment); + if (result) { + if (const CgalSegment2d *s = boost::get(&*result)) { + std::cout << *s << std::endl; + return true; + } else { + const CgalPoint2d *p = boost::get(&*result); + if (print_flag) { + std::cout << *p << ";" << std::endl; + } + return true; + } } +// Vector2d test_segment_source(vertex_it->x(), vertex_it->y()); +// Vector2d test_segment_target(next_vertex_it->x(), next_vertex_it->y()); +// Vector2d segment_source(segment.source().x(), segment.source().y()); +// Vector2d segment_target(segment.target().x(), segment.target().y()); +// Vector2d intersection_point; +// if (intersectLineSegmentWithLineSegment(test_segment_source, test_segment_target, +// segment_source, segment_target, &intersection_point)){ +// std::cout << intersection_point.x() << ", " << intersection_point.y() << ";" << std::endl; +// return true; +// } +// if (do_intersect(test_segment, segment)){ +// return true; +// } } return false; } @@ -95,7 +119,7 @@ namespace convex_plane_extraction { double a = (third_point - first_point).norm(); double b = (second_point - third_point).norm(); double c = (first_point - second_point).norm(); - constexpr double areaThresholdFactor = 0.01; + constexpr double areaThresholdFactor = 0.025; if (computeTriangleArea(a, b, c) < areaThresholdFactor * area) { LOG(INFO) << "Area sufficiently small!"; CgalPolygon2d new_polygon(*polygon); diff --git a/convex_plane_decomposition/src/sliding_window_plane_extractor.cpp b/convex_plane_decomposition/src/sliding_window_plane_extractor.cpp index 6d1aac6b..b2a1e141 100644 --- a/convex_plane_decomposition/src/sliding_window_plane_extractor.cpp +++ b/convex_plane_decomposition/src/sliding_window_plane_extractor.cpp @@ -153,6 +153,7 @@ namespace sliding_window_plane_extractor{ constexpr int kParentFlagIndex = 3; if (hierarchy[hierachy_it-1][kParentFlagIndex] < 0) { //convex_plane_extraction::upSampleLongEdges(&polygon); +// convex_plane_extraction::approximateContour(&polygon); CHECK(plane.addOuterPolygon(polygon)); } else { CHECK(plane.addHolePolygon(polygon)); @@ -163,7 +164,7 @@ namespace sliding_window_plane_extractor{ computePlaneFrameFromLabeledImage(binary_image, &plane); if(plane.isValid()) { LOG(INFO) << "Starting resolving holes..."; - // plane.resolveHoles(); + plane.resolveHoles(); LOG(INFO) << "done."; CHECK(plane.decomposePlaneInConvexPolygons()); planes_.push_back(plane); From 50f18ec6a612a00e24cc4c0e935630f27c11fb4b Mon Sep 17 00:00:00 2001 From: andrej1001 Date: Sun, 2 Feb 2020 20:45:30 +0100 Subject: [PATCH 014/504] Fix. --- convex_plane_decomposition/src/plane.cpp | 29 ++++++++++++++++++++++-- 1 file changed, 27 insertions(+), 2 deletions(-) diff --git a/convex_plane_decomposition/src/plane.cpp b/convex_plane_decomposition/src/plane.cpp index 33959bcf..e22e795b 100644 --- a/convex_plane_decomposition/src/plane.cpp +++ b/convex_plane_decomposition/src/plane.cpp @@ -220,6 +220,7 @@ namespace convex_plane_extraction{ direction = (1.0/direction.squared_length()) * direction; CgalSegment2d connection(hole_vertex + 0.0001 * direction, *outer_vertex_it - 0.0001 * direction); if (!doPolygonAndSegmentIntersect(outer_polygon_, connection, print_flag)){ + valid_connection = true; for (auto hole_iterator = hole_polygon_list_.begin(); hole_iterator != hole_polygon_list_.end(); ++hole_iterator){ if (hole_iterator->size() < 3){ continue; @@ -231,7 +232,6 @@ namespace convex_plane_extraction{ break; } } - valid_connection = true; } else { //std::cout << "Outer contour and connection intersect!" << std::endl; ++i; @@ -283,7 +283,7 @@ namespace convex_plane_extraction{ next_vertex = outer_polygon_.begin(); } Eigen::Vector2d test_point(next_vertex->x(), next_vertex->y()); - constexpr double kPointOffset = 0.001; + constexpr double kPointOffset = 0.0001; Eigen::Vector2d outer_point(outer_contour_connection_vertex->x(), outer_contour_connection_vertex->y()); if (isPointOnLeftSide(line_start_point, direction_vector, test_point)){ Eigen::Vector2d translation_vector(next_vertex->x() - outer_contour_connection_vertex->x(), @@ -312,6 +312,31 @@ namespace convex_plane_extraction{ } else { hole_point += kPointOffset * normal_vector; } + Vector2d new_edge_direction = outer_point - hole_point; + new_edge_direction.normalize(); + constexpr double kShiftFactor = 0.0001; + bool intersection_caused = false; + CgalSegment2d new_edge(CgalPoint2d(hole_point.x() + kShiftFactor * new_edge_direction.x(), + hole_point.y() + kShiftFactor * new_edge_direction.y()),CgalPoint2d(outer_point.x() - + kShiftFactor * new_edge_direction.x(), outer_point.y() - kShiftFactor * new_edge_direction.y())); + if (!doPolygonAndSegmentIntersect(outer_polygon_, new_edge, false)){ + for (auto hole_iterator = hole_polygon_list_.begin(); hole_iterator != hole_polygon_list_.end(); ++hole_iterator){ + if (hole_iterator->size() < 3){ + continue; + } + if (doPolygonAndSegmentIntersect(*hole_iterator, new_edge, false)) { + intersection_caused = true; + break; + } + } + } else { + //std::cout << "Outer contour and connection intersect!" << std::endl; + intersection_caused = true; + } + if (intersection_caused){ + ++hole_it; + continue; + } // Add new vertices to outer contour. new_polygon.push_back(CgalPoint2d(hole_point.x(), hole_point.y())); new_polygon.push_back(CgalPoint2d(outer_point.x(), outer_point.y())); From cc715c3ce32fa3286f9152a8d6cf058862558144 Mon Sep 17 00:00:00 2001 From: andrej1001 Date: Mon, 3 Feb 2020 12:17:17 +0100 Subject: [PATCH 015/504] Experimental exports. --- convex_plane_decomposition/include/plane.hpp | 2 ++ .../include/plane_extractor.hpp | 1 + .../sliding_window_plane_extractor.hpp | 3 +++ convex_plane_decomposition/src/plane.cpp | 4 +++ convex_plane_decomposition/src/polygon.cpp | 18 ++++++------- .../src/sliding_window_plane_extractor.cpp | 25 +++++++++++++++++++ 6 files changed, 44 insertions(+), 9 deletions(-) diff --git a/convex_plane_decomposition/include/plane.hpp b/convex_plane_decomposition/include/plane.hpp index fe6645f3..bc57ebf2 100644 --- a/convex_plane_decomposition/include/plane.hpp +++ b/convex_plane_decomposition/include/plane.hpp @@ -50,6 +50,8 @@ namespace convex_plane_extraction { void resolveHoles(); + const CgalPolygon2dListContainer& getConvexPolygons() const; + private: void extractSlConcavityPointsOfHole(const CgalPolygon2d& hole, std::vector* concavity_positions); diff --git a/convex_plane_decomposition/include/plane_extractor.hpp b/convex_plane_decomposition/include/plane_extractor.hpp index 01a373a4..4434f111 100644 --- a/convex_plane_decomposition/include/plane_extractor.hpp +++ b/convex_plane_decomposition/include/plane_extractor.hpp @@ -61,6 +61,7 @@ namespace convex_plane_extraction { void visualizeConvexDecomposition(jsk_recognition_msgs::PolygonArray* ros_polygon_array){ CHECK_NOTNULL(ros_polygon_array); sliding_window_plane_extractor_.visualizeConvexDecomposition(ros_polygon_array); + sliding_window_plane_extractor_.exportConvexPolygons("/home/andrej/Desktop/"); } void visualizePlaneContours(jsk_recognition_msgs::PolygonArray* ros_polygon_outer_contours, jsk_recognition_msgs::PolygonArray* ros_polygon_hole_contours){ diff --git a/convex_plane_decomposition/include/sliding_window_plane_extractor.hpp b/convex_plane_decomposition/include/sliding_window_plane_extractor.hpp index d1f7a3e3..0cc76ea0 100644 --- a/convex_plane_decomposition/include/sliding_window_plane_extractor.hpp +++ b/convex_plane_decomposition/include/sliding_window_plane_extractor.hpp @@ -1,6 +1,7 @@ #ifndef CONVEX_PLANE_EXTRACTION_INCLUDE_SLIDING_WINDOW_PLANE_EXTRACTOR_HPP_ #define CONVEX_PLANE_EXTRACTION_INCLUDE_SLIDING_WINDOW_PLANE_EXTRACTOR_HPP_ +#include #include #include #include @@ -50,6 +51,8 @@ namespace sliding_window_plane_extractor { void visualizePlaneContours(jsk_recognition_msgs::PolygonArray* outer_polygons, jsk_recognition_msgs::PolygonArray* hole_poylgons) const; + void exportConvexPolygons(const std::string& path) const; + private: grid_map::GridMap& map_; diff --git a/convex_plane_decomposition/src/plane.cpp b/convex_plane_decomposition/src/plane.cpp index e22e795b..e164c3d5 100644 --- a/convex_plane_decomposition/src/plane.cpp +++ b/convex_plane_decomposition/src/plane.cpp @@ -424,4 +424,8 @@ namespace convex_plane_extraction{ } } + const CgalPolygon2dListContainer& Plane::getConvexPolygons() const { + return convex_polygon_list_; + } + } diff --git a/convex_plane_decomposition/src/polygon.cpp b/convex_plane_decomposition/src/polygon.cpp index 1c02ede8..97c33bca 100644 --- a/convex_plane_decomposition/src/polygon.cpp +++ b/convex_plane_decomposition/src/polygon.cpp @@ -7,15 +7,15 @@ namespace convex_plane_extraction { CHECK(polygon.is_simple()); LOG(INFO) << "Started convex decomposition..."; size_t old_list_size = output_polygon_list->size(); - CGAL::optimal_convex_partition_2(polygon.vertices_begin(), - polygon.vertices_end(), - std::back_inserter(*output_polygon_list)); - - assert(CGAL::partition_is_valid_2(polygon.vertices_begin(), - polygon.vertices_end(), - polygon_list.begin(), - polygon_list.end())); -// *output_polygon_list = decomposeInnerApproximation(polygon); +// CGAL::optimal_convex_partition_2(polygon.vertices_begin(), +// polygon.vertices_end(), +// std::back_inserter(*output_polygon_list)); +// +// assert(CGAL::partition_is_valid_2(polygon.vertices_begin(), +// polygon.vertices_end(), +// polygon_list.begin(), +// polygon_list.end())); + *output_polygon_list = decomposeInnerApproximation(polygon); CHECK_GT(output_polygon_list->size(), old_list_size); LOG(INFO) << "done."; } diff --git a/convex_plane_decomposition/src/sliding_window_plane_extractor.cpp b/convex_plane_decomposition/src/sliding_window_plane_extractor.cpp index b2a1e141..a33292ee 100644 --- a/convex_plane_decomposition/src/sliding_window_plane_extractor.cpp +++ b/convex_plane_decomposition/src/sliding_window_plane_extractor.cpp @@ -241,5 +241,30 @@ namespace sliding_window_plane_extractor{ } } } + + void SlidingWindowPlaneExtractor::exportConvexPolygons(const std::string& path) const { + std::ofstream output_file; + output_file.open(path + "convex_polygons.txt", std::ofstream::app); + std::chrono::milliseconds time_stamp = std::chrono::duration_cast( + std::chrono::system_clock::now().time_since_epoch()); + for (const auto& plane : planes_){ + for (const auto& polygon : plane.getConvexPolygons()){ + output_file << time_stamp.count() << ", "; + for (const auto& vertex : polygon){ + output_file << vertex.x() << ", "; + } + for (auto vertex_it = polygon.vertices_begin(); vertex_it != polygon.vertices_end(); ++vertex_it){ + output_file << vertex_it->y(); + if (vertex_it != std::prev(polygon.vertices_end())){ + output_file << ", "; + } else { + output_file << "\n"; + } + } + } + } + output_file.close(); + LOG(INFO) << "Exported polygons!"; + } } From b90e9f8571ccad9890b4b101439ed4bee13f2753 Mon Sep 17 00:00:00 2001 From: andrej1001 Date: Sun, 23 Feb 2020 20:21:12 +0100 Subject: [PATCH 016/504] Evaluation dependent stuff. --- .../launch/convex_plane_extraction.launch | 8 ++-- .../src/convex_plane_extraction_ros.cpp | 33 ++++++++++++-- convex_plane_decomposition/src/polygon.cpp | 18 ++++---- .../src/ransac_plane_extractor.cpp | 6 ++- .../src/sliding_window_plane_extractor.cpp | 44 ++++++++++++++++--- 5 files changed, 86 insertions(+), 23 deletions(-) diff --git a/convex_plane_decomposition/launch/convex_plane_extraction.launch b/convex_plane_decomposition/launch/convex_plane_extraction.launch index 8e347c3a..11ea00bc 100644 --- a/convex_plane_decomposition/launch/convex_plane_extraction.launch +++ b/convex_plane_decomposition/launch/convex_plane_extraction.launch @@ -5,12 +5,12 @@ --> - + - - + + - + diff --git a/convex_plane_decomposition/src/convex_plane_extraction_ros.cpp b/convex_plane_decomposition/src/convex_plane_extraction_ros.cpp index 7ff74e33..699f2613 100644 --- a/convex_plane_decomposition/src/convex_plane_extraction_ros.cpp +++ b/convex_plane_decomposition/src/convex_plane_extraction_ros.cpp @@ -80,12 +80,14 @@ bool ConvexPlaneExtractionROS::readParameters() } void ConvexPlaneExtractionROS::callback(const grid_map_msgs::GridMap& message) { + auto start_total = std::chrono::system_clock::now(); + // Convert message to map. ROS_INFO("Reading input map..."); GridMap messageMap; GridMapRosConverter::fromMessage(message, messageMap); bool success; - GridMap inputMap = messageMap.getSubmap(messageMap.getPosition(), Eigen::Array2d(6, 6), success); + GridMap inputMap = messageMap.getSubmap(messageMap.getPosition(), Eigen::Array2d(4, 4), success); Position3 position; inputMap.getPosition3("elevation", Index(0,0), position); std::cout << inputMap.getPosition() << std::endl; @@ -104,22 +106,47 @@ void ConvexPlaneExtractionROS::callback(const grid_map_msgs::GridMap& message) { jsk_recognition_msgs::PolygonArray ros_polygon_hole_contours; switch (plane_extractor_selector_) { case kRansacExtractor : { + auto start = std::chrono::system_clock::now(); extractor.setRansacParameters(ransac_parameters_); extractor.runRansacPlaneExtractor(); + auto end = std::chrono::system_clock::now(); + auto duration = std::chrono::duration_cast(end - start); + std::ofstream output_file; + output_file.open("/home/andrej/Desktop/computation_times_ransac_12.txt", std::ofstream::app);; + output_file << duration.count() << "\n"; + output_file.close(); extractor.augmentMapWithRansacPlanes(); break; } case kSlidingWindowExtractor : { extractor.setSlidingWindowParameters(sliding_window_parameters_); + auto start = std::chrono::system_clock::now(); extractor.runSlidingWindowPlaneExtractor(); - extractor.augmentMapWithSlidingWindowPlanes(); + auto intermediate = std::chrono::system_clock::now(); + auto duration_intermediate = std::chrono::duration_cast(intermediate - start); + std::ofstream intermediate_runtime_file; + intermediate_runtime_file.open("/home/andrej/Desktop/computation_times_SWE_plane_detect.txt", std::ofstream::app); + intermediate_runtime_file << duration_intermediate.count() << "\n"; + intermediate_runtime_file.close(); +// extractor.augmentMapWithSlidingWindowPlanes(); extractor.generatePlanes(); + auto end = std::chrono::system_clock::now(); + auto duration = std::chrono::duration_cast(end - start); + std::ofstream total_runtime_file; + total_runtime_file.open("/home/andrej/Desktop/computation_times_SWE_full_pipeline.txt", std::ofstream::app); + total_runtime_file << duration.count() << "\n"; + total_runtime_file.close(); extractor.visualizeConvexDecomposition(&ros_polygon_array); extractor.visualizePlaneContours(&ros_polygon_outer_contours, &ros_polygon_hole_contours); break; } } - + auto end_total = std::chrono::system_clock::now(); + auto duration_total = std::chrono::duration_cast(end_total - start_total); + std::ofstream total_file; + total_file.open("/home/andrej/Desktop/computation_times_total.txt", std::ofstream::app); + total_file << duration_total.count() << "\n"; + total_file.close(); grid_map_msgs::GridMap outputMessage; GridMapRosConverter::toMessage(inputMap, outputMessage); grid_map_publisher_.publish(outputMessage); diff --git a/convex_plane_decomposition/src/polygon.cpp b/convex_plane_decomposition/src/polygon.cpp index 97c33bca..1c02ede8 100644 --- a/convex_plane_decomposition/src/polygon.cpp +++ b/convex_plane_decomposition/src/polygon.cpp @@ -7,15 +7,15 @@ namespace convex_plane_extraction { CHECK(polygon.is_simple()); LOG(INFO) << "Started convex decomposition..."; size_t old_list_size = output_polygon_list->size(); -// CGAL::optimal_convex_partition_2(polygon.vertices_begin(), -// polygon.vertices_end(), -// std::back_inserter(*output_polygon_list)); -// -// assert(CGAL::partition_is_valid_2(polygon.vertices_begin(), -// polygon.vertices_end(), -// polygon_list.begin(), -// polygon_list.end())); - *output_polygon_list = decomposeInnerApproximation(polygon); + CGAL::optimal_convex_partition_2(polygon.vertices_begin(), + polygon.vertices_end(), + std::back_inserter(*output_polygon_list)); + + assert(CGAL::partition_is_valid_2(polygon.vertices_begin(), + polygon.vertices_end(), + polygon_list.begin(), + polygon_list.end())); +// *output_polygon_list = decomposeInnerApproximation(polygon); CHECK_GT(output_polygon_list->size(), old_list_size); LOG(INFO) << "done."; } diff --git a/convex_plane_decomposition/src/ransac_plane_extractor.cpp b/convex_plane_decomposition/src/ransac_plane_extractor.cpp index c52beb7f..c37a5eb9 100644 --- a/convex_plane_decomposition/src/ransac_plane_extractor.cpp +++ b/convex_plane_decomposition/src/ransac_plane_extractor.cpp @@ -74,10 +74,14 @@ void RansacPlaneExtractor::ransacPlaneVisualization(){ Point_3D& point = points_with_normal_.getPoint(*plane_points_it); Eigen::Array2i map_indices; map_.getIndex(Eigen::Vector2d(point.x(), point.y()), map_indices); - ransac_map_(map_indices(0), map_indices(1)) = plane_label_iterator; + ransac_map_(map_indices(0), map_indices(1)) = 1;//plane_label_iterator; } ++plane_label_iterator; } + std::ofstream output_file; + output_file.open("/home/andrej/Desktop/number_of_planes_ransac_12.txt", std::ofstream::app);; + output_file << plane_label_iterator << "\n"; + output_file.close(); map_.add("ransac_planes", ransac_map_); std::cout << "Added ransac plane layer!" << std::endl; } diff --git a/convex_plane_decomposition/src/sliding_window_plane_extractor.cpp b/convex_plane_decomposition/src/sliding_window_plane_extractor.cpp index a33292ee..8c6ebd2e 100644 --- a/convex_plane_decomposition/src/sliding_window_plane_extractor.cpp +++ b/convex_plane_decomposition/src/sliding_window_plane_extractor.cpp @@ -84,13 +84,31 @@ namespace sliding_window_plane_extractor{ data_points.col(0) = Eigen::Map(&row_position.front(), row_position.size()) * resolution_; data_points.col(1) = Eigen::Map(&col_position.front(), col_position.size()) * resolution_; data_points.col(2) = Eigen::Map(&height_instances.front(), height_instances.size()); - Eigen::BDCSVD svd = data_points.bdcSvd(Eigen::ComputeFullU | Eigen::ComputeFullV); - if(svd.rank() < 3){ - LOG(WARNING) << "Rank loss, cell will be ignored!"; - continue; + const Eigen::Matrix3d covarianceMatrix(data_points.transpose() * data_points); + Vector3 eigenvalues = Vector3::Ones(); + Eigen::Matrix3d eigenvectors = Eigen::Matrix3d::Identity(); + const Eigen::SelfAdjointEigenSolver solver(covarianceMatrix); + eigenvalues = solver.eigenvalues().real(); + eigenvectors = solver.eigenvectors().real(); + //Eigen::BDCSVD svd = data_points.bdcSvd(Eigen::ComputeFullU | Eigen::ComputeFullV); +// if(svd.rank() < 3){ +// LOG(WARNING) << "Rank loss, cell will be ignored!"; +// continue; +// } +// Eigen::Matrix3d V = svd.matrixV(); +// Eigen::Vector3d n = (V.col(0)).cross(V.col(1)); + int smallestId(0); + double smallestValue(std::numeric_limits::max()); + for (int j = 0; j < eigenvectors.cols(); j++) { + if (eigenvalues(j) < smallestValue) { + smallestId = j; + smallestValue = eigenvalues(j); + } } - Eigen::Matrix3d V = svd.matrixV(); - Eigen::Vector3d n = (V.col(0)).cross(V.col(1)); + Vector3 eigenvector = eigenvectors.col(smallestId); + const Eigen::Vector3d normalVectorPositiveAxis_(0,0,1); + if (eigenvector.dot(normalVectorPositiveAxis_) < 0.0) eigenvector = -eigenvector; + Eigen::Vector3d n = eigenvector; Index index = *window_iterator; double mean_error = ((data_points * n).cwiseAbs()).sum() / height_instances.size(); Eigen::Vector3d upwards(0,0,1); @@ -117,7 +135,14 @@ namespace sliding_window_plane_extractor{ } void SlidingWindowPlaneExtractor::generatePlanes(){ + std::ofstream polygonizer_file; + polygonizer_file.open("/home/andrej/Desktop/polygonizer_time.txt", std::ofstream::app); + std::ofstream decomposer_file; + decomposer_file.open("/home/andrej/Desktop/decomposer_time.txt", std::ofstream::app); + std::chrono::milliseconds time_stamp = std::chrono::duration_cast( + std::chrono::system_clock::now().time_since_epoch()); for (int label_it = 1; label_it <= number_of_extracted_planes_; ++label_it) { + auto polygonizer_start = std::chrono::system_clock::now(); convex_plane_extraction::Plane plane; std::vector> contours; std::vector hierarchy; @@ -162,11 +187,18 @@ namespace sliding_window_plane_extractor{ if(plane.hasOuterContour()) { //LOG(WARNING) << "Dropping plane, no outer contour detected!"; computePlaneFrameFromLabeledImage(binary_image, &plane); + auto polygonizer_end = std::chrono::system_clock::now(); + auto polygonizer_duration = std::chrono::duration_cast(polygonizer_end - polygonizer_start); + polygonizer_file << time_stamp.count() << ", " << polygonizer_duration.count() << "\n"; if(plane.isValid()) { LOG(INFO) << "Starting resolving holes..."; plane.resolveHoles(); LOG(INFO) << "done."; + auto decomposer_start = std::chrono::system_clock::now(); CHECK(plane.decomposePlaneInConvexPolygons()); + auto decomposer_end = std::chrono::system_clock::now(); + auto decomposer_duration = std::chrono::duration_cast(decomposer_end - decomposer_start); + decomposer_file << time_stamp.count() << ", " << decomposer_duration.count() << "\n"; planes_.push_back(plane); } else { LOG(WARNING) << "Dropping plane, normal vector could not be inferred!"; From 43dff316f7293cdbc0f42857ef3639e44b0daf1c Mon Sep 17 00:00:00 2001 From: andrej1001 Date: Sun, 1 Mar 2020 22:02:06 +0100 Subject: [PATCH 017/504] Started refactoring. --- convex_plane_decomposition/CMakeLists.txt | 4 +- .../include/convex_plane_extraction_ros.hpp | 2 +- convex_plane_decomposition/include/plane.hpp | 22 +- .../include/plane_extractor.hpp | 2 +- .../include/plane_factory.hpp | 35 +++ .../include/polygon.hpp | 11 +- .../include/polygonizer.hpp | 42 +++ .../include/ransac_plane_extractor.hpp | 74 +++--- .../sliding_window_plane_extractor.hpp | 47 ++-- convex_plane_decomposition/src/plane.cpp | 22 +- .../src/plane_extractor.cpp | 2 +- .../src/plane_factory.cpp | 97 +++++++ convex_plane_decomposition/src/polygon.cpp | 14 +- .../src/polygonizer.cpp | 249 ++++++++++++++++++ .../src/ransac_plane_extractor.cpp | 55 +--- .../src/sliding_window_plane_extractor.cpp | 229 +++++++++++----- 16 files changed, 706 insertions(+), 201 deletions(-) create mode 100644 convex_plane_decomposition/include/plane_factory.hpp create mode 100644 convex_plane_decomposition/include/polygonizer.hpp create mode 100644 convex_plane_decomposition/src/plane_factory.cpp create mode 100644 convex_plane_decomposition/src/polygonizer.cpp diff --git a/convex_plane_decomposition/CMakeLists.txt b/convex_plane_decomposition/CMakeLists.txt index c0d32a3b..4c4069d4 100644 --- a/convex_plane_decomposition/CMakeLists.txt +++ b/convex_plane_decomposition/CMakeLists.txt @@ -164,7 +164,9 @@ add_executable(${PROJECT_NAME}_node src/polygon.cpp src/ros_visualizations.cpp src/geometry_utils.cpp - src/export_utils.cpp) + src/export_utils.cpp + src/plane_factory.cpp + src/polygonizer.cpp) ## Rename C++ executable without prefix ## The above recommended prefix causes long target names, the following renames the diff --git a/convex_plane_decomposition/include/convex_plane_extraction_ros.hpp b/convex_plane_decomposition/include/convex_plane_extraction_ros.hpp index 6f1de627..a0d49bcf 100644 --- a/convex_plane_decomposition/include/convex_plane_extraction_ros.hpp +++ b/convex_plane_decomposition/include/convex_plane_extraction_ros.hpp @@ -71,7 +71,7 @@ class ConvexPlaneExtractionROS ros::Publisher hole_contours_publsiher_; //! Ransac plane extractor parameters. - ransac_plane_extractor::RansacParameters ransac_parameters_; + ransac_plane_extractor::RansacPlaneExtractorParameters ransac_parameters_; PlaneExtractorType plane_extractor_selector_; diff --git a/convex_plane_decomposition/include/plane.hpp b/convex_plane_decomposition/include/plane.hpp index bc57ebf2..fa558500 100644 --- a/convex_plane_decomposition/include/plane.hpp +++ b/convex_plane_decomposition/include/plane.hpp @@ -8,13 +8,23 @@ namespace convex_plane_extraction { + struct PlaneParameters{ + + PlaneParameters(Eigen::Vector3d normal_vector, Eigen::Vector3d support_vector) + : support_vector(support_vector), + normal_vector(normal_vector){}; + + Eigen::Vector3d support_vector; + Eigen::Vector3d normal_vector; + }; + class Plane { public: Plane(); - Plane(CgalPolygon2d& outer_polygon, CgalPolygon2dListContainer& hole_polygon_list); + Plane(CgalPolygon2d& outer_polygon, CgalPolygon2dContainer& holes); virtual ~Plane(); @@ -32,9 +42,9 @@ namespace convex_plane_extraction { CgalPolygon2dVertexConstIterator outerPolygonVertexEnd() const; - CgalPolygon2dListConstIterator holePolygonBegin() const; + CgalPolygon2dContainerConstIterator holePolygonBegin() const; - CgalPolygon2dListConstIterator holePolygonEnd() const; + CgalPolygon2dContainerConstIterator holePolygonEnd() const; bool isValid() const; @@ -50,7 +60,7 @@ namespace convex_plane_extraction { void resolveHoles(); - const CgalPolygon2dListContainer& getConvexPolygons() const; + const CgalPolygon2dContainer& getConvexPolygons() const; private: @@ -61,8 +71,8 @@ namespace convex_plane_extraction { bool initialized_; CgalPolygon2d outer_polygon_; - CgalPolygon2dListContainer hole_polygon_list_; - CgalPolygon2dListContainer convex_polygon_list_; + CgalPolygon2dContainer hole_polygon_list_; + CgalPolygon2dContainer convex_polygon_list_; Vector3d normal_vector_; Vector3d support_vector_; diff --git a/convex_plane_decomposition/include/plane_extractor.hpp b/convex_plane_decomposition/include/plane_extractor.hpp index 4434f111..ec2059f7 100644 --- a/convex_plane_decomposition/include/plane_extractor.hpp +++ b/convex_plane_decomposition/include/plane_extractor.hpp @@ -41,7 +41,7 @@ namespace convex_plane_extraction { grid_map::GridMap& getMap(); // Ransac plane extractor related functions. - void setRansacParameters(const ransac_plane_extractor::RansacParameters& parameters); + void setRansacParameters(const ransac_plane_extractor::RansacPlaneExtractorParameters& parameters); void runRansacPlaneExtractor(); diff --git a/convex_plane_decomposition/include/plane_factory.hpp b/convex_plane_decomposition/include/plane_factory.hpp new file mode 100644 index 00000000..d6deff89 --- /dev/null +++ b/convex_plane_decomposition/include/plane_factory.hpp @@ -0,0 +1,35 @@ +#ifndef CONVEX_PLANE_EXTRACTION_INCLUDE_PLANE_FACTORY_HPP_ +#define CONVEX_PLANE_EXTRACTION_INCLUDE_PLANE_FACTORY_HPP_ + +#include + +#include "plane.hpp" + +namespace convex_plane_extraction { + +class PlaneFactory { + public: + + PlaneFactory(grid_map::GridMap& map) + :map_(map){ + computeMapTransformation(); + }; + + void computeMapTransformation(); + + void createPlanesFromLabeledImageAndPlaneParameters(const cv::Mat& labeled_image, + const std::map& parameters); + + private: + + // Grid map related members. + grid_map::GridMap& map_; + Eigen::Matrix2d transformation_xy_to_world_frame_; + Eigen::Vector2d map_offset_; + + + std::vector planes_; + +}; +} // namespace convex_plane_extraction +#endif //CONVEX_PLANE_EXTRACTION_INCLUDE_PLANE_FACTORY_HPP_ diff --git a/convex_plane_decomposition/include/polygon.hpp b/convex_plane_decomposition/include/polygon.hpp index b4062d5a..409a3151 100644 --- a/convex_plane_decomposition/include/polygon.hpp +++ b/convex_plane_decomposition/include/polygon.hpp @@ -33,8 +33,8 @@ namespace convex_plane_extraction{ typedef Traits::Vector_2 CgalVector2d; typedef Traits::Polygon_2 CgalPolygon2d; typedef Traits::Segment_2 CgalSegment2d; - typedef std::list CgalPolygon2dListContainer; - typedef CgalPolygon2dListContainer::const_iterator CgalPolygon2dListConstIterator; + typedef std::vector CgalPolygon2dContainer; + typedef CgalPolygon2dContainer::const_iterator CgalPolygon2dConstIterator; typedef CGAL::Polygon_set_2> CgalPolygon2dSetContainer; typedef CgalPolygon2d::Vertex_const_iterator CgalPolygon2dVertexConstIterator; typedef CgalPolygon2d::Vertex_iterator CgalPolygon2dVertexIterator; @@ -43,6 +43,11 @@ namespace convex_plane_extraction{ typedef std::vector Polygon3dVectorContainer; typedef K::Intersect_2 Intersect_2; + struct PolygonWithHoles{ + CgalPolygon2d outer_contour; + CgalPolygon2dContainer holes; + }; + template bool isContourSimple_impl(Iter begin, Iter end, std::bidirectional_iterator_tag){ @@ -76,7 +81,7 @@ namespace convex_plane_extraction{ typename std::iterator_traits::iterator_category()); }; - void performConvexDecomposition(const CgalPolygon2d& polygon, CgalPolygon2dListContainer* output_polyong_list); + void performConvexDecomposition(const CgalPolygon2d& polygon, CgalPolygon2dContainer* output_polyong_list); bool doPolygonAndSegmentIntersect(const CgalPolygon2d& polygon, const CgalSegment2d& segment, bool print_flag); diff --git a/convex_plane_decomposition/include/polygonizer.hpp b/convex_plane_decomposition/include/polygonizer.hpp new file mode 100644 index 00000000..19090feb --- /dev/null +++ b/convex_plane_decomposition/include/polygonizer.hpp @@ -0,0 +1,42 @@ +#ifndef CONVEX_PLANE_EXTRACTION_INCLUDE_POLYGONIZER_HPP_ +#define CONVEX_PLANE_EXTRACTION_INCLUDE_POLYGONIZER_HPP_ + +#include + +#include +#include +#include + +#include "plane.hpp" +#include "polygon.hpp" + +namespace convex_plane_extraction { + +struct PolygonizerParameters{ + double resolution = 0.02; + int upsampling_factor = 3; + bool activate_long_edge_upsampling = false; + bool activate_contour_approximation = false; + double hole_area_threshold_squared_meters = 2e-3; +}; + +class Polygonizer { + public: + + Polygonizer(const PolygonizerParameters parameters = PolygonizerParameters()) + :parameters_(parameters){}; + + PolygonWithHoles extractPolygonsFromBinaryImage(const cv::Mat& binary_image) const; + + CgalPolygon2d resolveHoles(PolygonWithHoles& polygon_with_holes) const; + + private: + + PolygonizerParameters parameters_; + +}; + + +} // namespace convex_plane_extraction + +#endif //CONVEX_PLANE_EXTRACTION_INCLUDE_POLYGONIZER_HPP_ diff --git a/convex_plane_decomposition/include/ransac_plane_extractor.hpp b/convex_plane_decomposition/include/ransac_plane_extractor.hpp index 047d46b4..ed41149e 100644 --- a/convex_plane_decomposition/include/ransac_plane_extractor.hpp +++ b/convex_plane_decomposition/include/ransac_plane_extractor.hpp @@ -19,66 +19,60 @@ #include "CGAL/Shape_detection/Efficient_RANSAC.h" #include "Eigen/Core" #include "Eigen/Dense" +#include #include "grid_map_ros/grid_map_ros.hpp" -#include "point_with_normal_container.hpp" - - - - namespace ransac_plane_extractor { - using namespace point_with_normal_container; - // Type declarations. - typedef CGAL::First_of_pair_property_map PointMap; - typedef CGAL::Second_of_pair_property_map NormalMap; - typedef CGAL::Shape_detection::Efficient_RANSAC_traits - Traits; - typedef CGAL::Shape_detection::Efficient_RANSAC EfficientRansac; - typedef CGAL::Shape_detection::Plane Plane; - - - struct RansacParameters{ - double probability; - double min_points; - double epsilon; - double cluster_epsilon; - double normal_threshold; + // Point with normal related type declarations. + using Kernel = CGAL::Exact_predicates_inexact_constructions_kernel; + using Point3D = Kernel::Point_3; + using Vector3D = Kernel::Vector_3; + using PointWithNormal = std::pair; + using PwnVector = std::vector; + + // RANSAC plane extractor related type declarations. + using PointMap = CGAL::First_of_pair_property_map; + using NormalMap = CGAL::Second_of_pair_property_map; + using Traits = CGAL::Shape_detection::Efficient_RANSAC_traits + ; + using EfficientRansac = CGAL::Shape_detection::Efficient_RANSAC; + using Plane = CGAL::Shape_detection::Plane; + + struct RansacPlaneExtractorParameters{ + // Set probability to miss the largest primitive at each iteration. + double probability = 0.01; + // Detect shapes with at least 200 points. + double min_points = 200; + // Set maximum Euclidean distance between a point and a shape. + double epsilon = 0.004; + // Set maximum Euclidean distance between points to be clustered. + double cluster_epsilon = 0.0282842712475; + // Set maximum normal deviation. 0.98 < dot(surface_normal, point_normal); + double normal_threshold = 0.98; }; class RansacPlaneExtractor { public: - /*! - * Constructor. - */ - explicit RansacPlaneExtractor(grid_map::GridMap &map, double resolution, const std::string &normals_layer_prefix, - const std::string &layer_height); - - /*! - * Destructor. - */ - virtual ~RansacPlaneExtractor(); + RansacPlaneExtractor(std::vector& points_with_normal, const RansacPlaneExtractorParameters& parameters); - void setParameters(const RansacParameters& parameters); + void setParameters(const RansacPlaneExtractorParameters& parameters); void runDetection(); - void ransacPlaneVisualization(); + const auto& getDetectedPlanes() const{ + return ransac_.shapes(); + }; - private: - - grid_map::GridMap& map_; - double resolution_; +// void ransacPlaneVisualization(); - PointWithNormalContainer points_with_normal_; + private: EfficientRansac ransac_; EfficientRansac::Parameters parameters_; - Eigen::MatrixXf ransac_map_; - }; } diff --git a/convex_plane_decomposition/include/sliding_window_plane_extractor.hpp b/convex_plane_decomposition/include/sliding_window_plane_extractor.hpp index 0cc76ea0..d7de989d 100644 --- a/convex_plane_decomposition/include/sliding_window_plane_extractor.hpp +++ b/convex_plane_decomposition/include/sliding_window_plane_extractor.hpp @@ -16,29 +16,34 @@ #include "plane.hpp" #include "polygon.hpp" +#include "ransac_plane_extractor.hpp" #include "ros_visualizations.hpp" namespace sliding_window_plane_extractor { - struct SlidingWindowParameters{ - int kernel_size; - double plane_error_threshold; + + struct SlidingWindowPlaneExtractorParameters{ + int kernel_size = 3; + double plane_patch_error_threshold = 0.004; + double surface_normal_angle_threshold; + bool include_curvature_detection; + bool include_ransac_refinement; + double global_plane_fit_error_threshold = 0.01; }; + class SlidingWindowPlaneExtractor{ public: SlidingWindowPlaneExtractor(grid_map::GridMap &map, double resolution, const std::string& layer_height, - const std::string& normal_layer_prefix, SlidingWindowParameters& parameters); - - SlidingWindowPlaneExtractor(grid_map::GridMap &map, double resolution, const std::string& normal_layer_prefix, - const std::string& layer_height); + const std::string& normal_layer_prefix, const SlidingWindowPlaneExtractorParameters& parameters = SlidingWindowPlaneExtractorParameters(), + const ransac_plane_extractor::RansacPlaneExtractorParameters& ransac_parameters = ransac_plane_extractor::RansacPlaneExtractorParameters()); - virtual ~SlidingWindowPlaneExtractor(); - - void setParameters(const SlidingWindowParameters& parameters); + void setParameters(const SlidingWindowPlaneExtractorParameters& parameters); void runDetection(); + void runSurfaceNormalCurvatureDetection(); + void slidingWindowPlaneVisualization(); void generatePlanes(); @@ -47,6 +52,16 @@ namespace sliding_window_plane_extractor { void computePlaneFrameFromLabeledImage(const cv::Mat& binary_image, convex_plane_extraction::Plane* plane); + void extractPlaneParametersFromLabeledImage(); + + void computePlaneParametersForLabel(int label); + + double computeAverageErrorToPlane(const Eigen::Vector3d& normal_vector, const Eigen::Vector3d& support_vector, + const std::vector& points_with_normal) const; + const auto& runRansacRefinement(std::vector& points_with_normal) const; + + void runSegmentation() + void visualizeConvexDecomposition(jsk_recognition_msgs::PolygonArray* ros_polygon_array); void visualizePlaneContours(jsk_recognition_msgs::PolygonArray* outer_polygons, jsk_recognition_msgs::PolygonArray* hole_poylgons) const; @@ -60,15 +75,13 @@ namespace sliding_window_plane_extractor { std::string normal_layer_prefix_; double resolution_; - Eigen::Matrix2d transformation_xy_to_world_frame_; - Eigen::Vector2d map_offset_; - - int kernel_size_; - double plane_error_threshold_; + SlidingWindowPlaneExtractorParameters parameters_; + ransac_plane_extractor::RansacPlaneExtractorParameters ransac_parameters_; + cv::Mat binary_image_patch_; + cv::Mat binary_image_angle_; cv::Mat labeled_image_; int number_of_extracted_planes_; - - convex_plane_extraction::PlaneListContainer planes_; + std::map plane_parameters_; }; } diff --git a/convex_plane_decomposition/src/plane.cpp b/convex_plane_decomposition/src/plane.cpp index e164c3d5..13459666 100644 --- a/convex_plane_decomposition/src/plane.cpp +++ b/convex_plane_decomposition/src/plane.cpp @@ -5,9 +5,9 @@ namespace convex_plane_extraction{ Plane::Plane() : initialized_(false){} - Plane::Plane(CgalPolygon2d& outer_polygon, CgalPolygon2dListContainer& hole_polygon_list) + Plane::Plane(CgalPolygon2d& outer_polygon, CgalPolygon2dContainer& holes) : outer_polygon_(outer_polygon), - hole_polygon_list_(hole_polygon_list), + hole_polygon_list_(holes), initialized_(false){}; Plane::~Plane() = default; @@ -160,12 +160,12 @@ namespace convex_plane_extraction{ return outer_polygon_.vertices_end(); } - CgalPolygon2dListConstIterator Plane::holePolygonBegin() const{ + CgalPolygon2dConstIterator Plane::holePolygonBegin() const{ CHECK(isValid()); return hole_polygon_list_.begin(); } - CgalPolygon2dListConstIterator Plane::holePolygonEnd() const{ + CgalPolygon2dConstIterator Plane::holePolygonEnd() const{ CHECK(isValid()); return hole_polygon_list_.end(); } @@ -412,19 +412,7 @@ namespace convex_plane_extraction{ } } - void Plane::slConcavityHoleVertexSorting(const CgalPolygon2d& hole, std::multimap>* concavity_positions){ - CHECK_NOTNULL(concavity_positions); - for (auto vertex_it = hole.vertices_begin(); vertex_it != hole.vertices_end(); ++vertex_it){ - std::multimap outer_polygon_vertices; - getVertexPositionsInAscendingDistanceToPoint(outer_polygon_, *vertex_it, &outer_polygon_vertices); - for (const auto& outer_distance_vertex_pair : outer_polygon_vertices) { - concavity_positions->insert(std::pair>(outer_distance_vertex_pair.first, - std::pair(std::distance(hole.vertices_begin(), vertex_it),outer_distance_vertex_pair.second))); - } - } - } - - const CgalPolygon2dListContainer& Plane::getConvexPolygons() const { + const CgalPolygon2dContainer& Plane::getConvexPolygons() const { return convex_polygon_list_; } diff --git a/convex_plane_decomposition/src/plane_extractor.cpp b/convex_plane_decomposition/src/plane_extractor.cpp index 7e5e2bcc..a885fcba 100644 --- a/convex_plane_decomposition/src/plane_extractor.cpp +++ b/convex_plane_decomposition/src/plane_extractor.cpp @@ -25,7 +25,7 @@ using namespace grid_map; return map_; } - void PlaneExtractor::setRansacParameters(const ransac_plane_extractor::RansacParameters& parameters){ + void PlaneExtractor::setRansacParameters(const ransac_plane_extractor::RansacPlaneExtractorParameters& parameters){ ransac_plane_extractor_.setParameters(parameters); ROS_INFO("RANSAC parameters set!"); } diff --git a/convex_plane_decomposition/src/plane_factory.cpp b/convex_plane_decomposition/src/plane_factory.cpp new file mode 100644 index 00000000..9eb4b184 --- /dev/null +++ b/convex_plane_decomposition/src/plane_factory.cpp @@ -0,0 +1,97 @@ +// +// Created by andrej on 3/1/20. +// + +#include "plane_factory.hpp" + +using namespace convex_plane_extraction; + +void PlaneFactory::computeMapTransformation(){ + Eigen::Vector2i map_size = map_.getSize(); + CHECK(map_.getPosition(Eigen::Vector2i::Zero(), map_offset_)); + Eigen::Vector2d lower_left_cell_position; + CHECK(map_.getPosition(Eigen::Vector2i(map_size.x() - 1, 0), lower_left_cell_position)); + Eigen::Vector2d upper_right_cell_position; + CHECK(map_.getPosition(Eigen::Vector2i(0, map_size.y() - 1), upper_right_cell_position)); + transformation_xy_to_world_frame_.col(0) = (lower_left_cell_position - map_offset_).normalized(); + transformation_xy_to_world_frame_.col(1) = (upper_right_cell_position - map_offset_).normalized(); +} + +void createPlanesFromLabeledImageAndPlaneParameters(const cv::Mat& labeled_image, const int number_of_labels, + const std::map& parameters){ + CHECK_GT(number_of_labels, 0); + CHECK_EQ(number_of_labels, parameters.size()); + for (int label = 1; label < number_of_labels; ++label){ + cv::Mat binary_image(labeled_image.size(), CV_8UC1); + binary_image = labeled_image == label; + extractPolygonsFromBinaryImage(binary_image) + } +} + + + + +for (int label_it = 1; label_it <= number_of_extracted_planes_; ++label_it) { +auto polygonizer_start = std::chrono::system_clock::now(); +convex_plane_extraction::Plane plane; +std::vector> contours; +std::vector hierarchy; +cv::Mat binary_image(labeled_image_.size(), CV_8UC1); +binary_image = labeled_image_ == label_it; +constexpr int kUpSamplingFactor = 3; +cv::Mat binary_image_upsampled; +cv::resize(binary_image, binary_image_upsampled, cv::Size(kUpSamplingFactor*binary_image.size().height, kUpSamplingFactor*binary_image.size().width)); +findContours(binary_image_upsampled, contours, hierarchy, + CV_RETR_TREE, CV_CHAIN_APPROX_SIMPLE); +std::list> approx_contours; +int hierachy_it = 0; +for (auto& contour : contours) { +++hierachy_it; +std::vector approx_contour; +if (contour.size() <= 10){ +approx_contour = contour; +} else { +cv::approxPolyDP(contour, approx_contour, 9, true); +} +if (approx_contour.size() <= 2) { +LOG_IF(WARNING, hierarchy[hierachy_it-1][3] < 0 && contour.size() > 4) << "Removing parental polygon since too few vertices!"; +continue; +} +convex_plane_extraction::CgalPolygon2d polygon = convex_plane_extraction::createCgalPolygonFromOpenCvPoints(approx_contour.begin(), approx_contour.end(), resolution_ / kUpSamplingFactor); + +if(!polygon.is_simple()) { +convex_plane_extraction::Vector2i index; +index << (*polygon.begin()).x(), (*polygon.begin()).y(); +LOG(WARNING) << "Polygon starting at " << index << " is not simple, will be ignored!"; +continue; +} +constexpr int kParentFlagIndex = 3; +if (hierarchy[hierachy_it-1][kParentFlagIndex] < 0) { +//convex_plane_extraction::upSampleLongEdges(&polygon); +// convex_plane_extraction::approximateContour(&polygon); +CHECK(plane.addOuterPolygon(polygon)); +} else { +CHECK(plane.addHolePolygon(polygon)); +} +} +if(plane.hasOuterContour()) { +//LOG(WARNING) << "Dropping plane, no outer contour detected!"; +computePlaneFrameFromLabeledImage(binary_image, &plane); +auto polygonizer_end = std::chrono::system_clock::now(); +auto polygonizer_duration = std::chrono::duration_cast(polygonizer_end - polygonizer_start); +polygonizer_file << time_stamp.count() << ", " << polygonizer_duration.count() << "\n"; +if(plane.isValid()) { +LOG(INFO) << "Starting resolving holes..."; +plane.resolveHoles(); +LOG(INFO) << "done."; +auto decomposer_start = std::chrono::system_clock::now(); +CHECK(plane.decomposePlaneInConvexPolygons()); +auto decomposer_end = std::chrono::system_clock::now(); +auto decomposer_duration = std::chrono::duration_cast(decomposer_end - decomposer_start); +decomposer_file << time_stamp.count() << ", " << decomposer_duration.count() << "\n"; +planes_.push_back(plane); +} else { +LOG(WARNING) << "Dropping plane, normal vector could not be inferred!"; +} +} +} diff --git a/convex_plane_decomposition/src/polygon.cpp b/convex_plane_decomposition/src/polygon.cpp index 1c02ede8..6d1dbd5d 100644 --- a/convex_plane_decomposition/src/polygon.cpp +++ b/convex_plane_decomposition/src/polygon.cpp @@ -2,7 +2,7 @@ namespace convex_plane_extraction { - void performConvexDecomposition(const CgalPolygon2d& polygon, CgalPolygon2dListContainer* output_polygon_list){ + void performConvexDecomposition(const CgalPolygon2d& polygon, CgalPolygon2dContainer* output_polygon_list){ CHECK_GE(polygon.size(), 3); CHECK(polygon.is_simple()); LOG(INFO) << "Started convex decomposition..."; @@ -457,4 +457,16 @@ namespace convex_plane_extraction { } } + void slConcavityHoleVertexSorting(const CgalPolygon2d& hole, std::multimap>* concavity_positions){ + CHECK_NOTNULL(concavity_positions); + for (auto vertex_it = hole.vertices_begin(); vertex_it != hole.vertices_end(); ++vertex_it){ + std::multimap outer_polygon_vertices; + getVertexPositionsInAscendingDistanceToPoint(outer_polygon_, *vertex_it, &outer_polygon_vertices); + for (const auto& outer_distance_vertex_pair : outer_polygon_vertices) { + concavity_positions->insert(std::pair>(outer_distance_vertex_pair.first, + std::pair(std::distance(hole.vertices_begin(), vertex_it),outer_distance_vertex_pair.second))); + } + } + } + } diff --git a/convex_plane_decomposition/src/polygonizer.cpp b/convex_plane_decomposition/src/polygonizer.cpp new file mode 100644 index 00000000..04a83bb1 --- /dev/null +++ b/convex_plane_decomposition/src/polygonizer.cpp @@ -0,0 +1,249 @@ +#include "polygonizer.hpp" + +using namespace convex_plane_extraction; + +PolygonWithHoles Polygonizer::extractPolygonsFromBinaryImage(const cv::Mat& binary_image) const{ + PolygonWithHoles plane_polygons; + std::vector> contours; + std::vector hierarchy; + cv::Mat binary_image_upsampled; + cv::resize(binary_image, + binary_image_upsampled, + cv::Size(parameters_.upsampling_factor * binary_image.size().height, + parameters_.upsampling_factor * binary_image.size().width)); + findContours(binary_image_upsampled, contours, hierarchy, + CV_RETR_TREE, CV_CHAIN_APPROX_SIMPLE); + std::vector> approx_contours; + int hierachy_it = 0; + for (auto &contour : contours) { + ++hierachy_it; + std::vector approx_contour; + if (contour.size() <= 10) { + approx_contour = contour; + } else { + cv::approxPolyDP(contour, approx_contour, 9, true); + } + if (approx_contour.size() <= 2) { + LOG_IF(WARNING, hierarchy[hierachy_it - 1][3] < 0 && contour.size() > 3) + << "Removing parental polygon since too few vertices!"; + continue; + } + CgalPolygon2d polygon = convex_plane_extraction::createCgalPolygonFromOpenCvPoints( + approx_contour.begin(), + approx_contour.end(), + parameters_.resolution / parameters_.upsampling_factor); + + if (!polygon.is_simple()) { + convex_plane_extraction::Vector2i index; + index << (*polygon.begin()).x(), (*polygon.begin()).y(); + LOG(WARNING) << "Polygon starting at " << index << " is not simple, will be ignored!"; + continue; + } + constexpr int kParentFlagIndex = 3; + if (hierarchy[hierachy_it - 1][kParentFlagIndex] < 0) { + if (parameters_.activate_long_edge_upsampling) { + upSampleLongEdges(&polygon); + } + if (parameters_.activate_contour_approximation) { + approximateContour(&polygon); + } + plane_polygons.outer_contour = polygon; + } else { + plane_polygons.holes.push_back(polygon); + } + } + return plane_polygons; +} + +CgalPolygon2d Polygonizer::resolveHoles(PolygonWithHoles& polygon_with_holes) const{ + CgalPolygon2dContainer& holes = polygon_with_holes.holes; + if (holes.empty()) { + return polygon_with_holes.outer_contour; + } + auto hole_it = holes.begin(); + while(!holes.empty()) { + if (hole_it == holes.end()){ + hole_it = holes.begin(); + } + // Compute distance to outer contour for each hole. + std::vector distance_to_outer_polygon; + std::vector outer_contour_connection_vertex_positions; // closest outer contour vertex for each hole + std::vector hole_connection_vertex_positions; + if (hole_it->size() < 3) { + ++hole_it; + holes.erase(std::prev(hole_it)); + } else if (abs(hole_it->area()) < parameters_.hole_area_threshold_squared_meters) { + ++hole_it; + holes.erase(std::prev(hole_it)); + } else { + std::cout << "List size: " << holes.size() << std::endl; + std::cout << "Outer: " << std::endl; + printPolygon(polygon_with_holes.outer_contour); + std::cout << "Hole: " << std::endl; + printPolygon(*holes.begin()); + std::multimap> connection_candidates; + slConcavityHoleVertexSorting(*hole_it, &connection_candidates); + CHECK(connection_candidates.size() == hole_it->size()*outer_polygon_.size()); + // Instead of extracting only the 2 SL-concavity points, sort vertices according to SL-concavity measure. + // Then iterate over sorted vertices until a connection to the outer contour is not intersecting the polyogn. + // Implement function that checks for intersections with existing polygon contour. + int hole_connection_vertex_position; + int outer_polygon_connection_vertex_position; + bool valid_connection = true; + int i = 0; + for (const auto& position : connection_candidates){ + auto hole_vertex_it = hole_it->vertices_begin(); + std::advance(hole_vertex_it, position.second.first); + bool print_flag = false; + if (position.second.first == 7){ + print_flag = true; + } + CgalPoint2d hole_vertex = *hole_vertex_it; + // Get outer contour connection vertices sorted according to distance to hole vertex. + auto outer_vertex_it = outer_polygon_.vertices_begin(); + std::advance(outer_vertex_it, position.second.second); + CgalVector2d direction = *outer_vertex_it - hole_vertex; + direction = (1.0/direction.squared_length()) * direction; + CgalSegment2d connection(hole_vertex + 0.0001 * direction, *outer_vertex_it - 0.0001 * direction); + if (!doPolygonAndSegmentIntersect(outer_polygon_, connection, print_flag)){ + valid_connection = true; + for (auto hole_iterator = hole_polygon_list_.begin(); hole_iterator != hole_polygon_list_.end(); ++hole_iterator){ + if (hole_iterator->size() < 3){ + continue; + } + if (doPolygonAndSegmentIntersect(*hole_iterator, connection, print_flag)) { + valid_connection = false; + //std::cout << "Hole and connection intersect!" << std::endl; + ++i; + break; + } + } + } else { + //std::cout << "Outer contour and connection intersect!" << std::endl; + ++i; + valid_connection = false; + } + if (valid_connection){ + hole_connection_vertex_position = position.second.first; + outer_polygon_connection_vertex_position = position.second.second; + break; + } + } + if (!valid_connection){ + CHECK_EQ(i, hole_it->size()*outer_polygon_.size()); + LOG(WARNING) << "No valid connection found! " << i << " iterations."; + ++hole_it; + continue; + } + CHECK(valid_connection); + // Perform the integration of the hole into the outer contour. + auto outer_contour_connection_vertex = outer_polygon_.vertices_begin(); + std::advance(outer_contour_connection_vertex, outer_polygon_connection_vertex_position); + auto hole_contour_connection_vertex = hole_it->vertices_begin(); + std::advance(hole_contour_connection_vertex, hole_connection_vertex_position); + CgalPolygon2d new_polygon; + // Start filling new polygon with outer contour. + for (auto vertex_it = outer_polygon_.vertices_begin(); vertex_it != outer_contour_connection_vertex; ++vertex_it){ + new_polygon.push_back(*vertex_it); + } + new_polygon.push_back(*outer_contour_connection_vertex); + auto hole_vertex_it = hole_contour_connection_vertex; + do { + new_polygon.push_back(*hole_vertex_it); + if (hole_vertex_it != std::prev(hole_it->vertices_end())){ + hole_vertex_it = std::next(hole_vertex_it); + } else { + hole_vertex_it = hole_it->vertices_begin(); + } + } while(hole_vertex_it != hole_contour_connection_vertex); + // Create new vertices next to connection points to avoid same enter and return path. + CgalSegment2d enter_connection(*outer_contour_connection_vertex, *hole_contour_connection_vertex); + Eigen::Vector2d normal_vector; + getSegmentNormalVector(enter_connection, &normal_vector); + // Check for possible intersections. + Eigen::Vector2d line_start_point(hole_contour_connection_vertex->x(), hole_contour_connection_vertex->y()); + Eigen::Vector2d direction_vector(outer_contour_connection_vertex->x() - hole_contour_connection_vertex->x(), + outer_contour_connection_vertex->y() - hole_contour_connection_vertex->y()); + auto next_vertex = std::next(outer_contour_connection_vertex); + if (next_vertex == outer_polygon_.vertices_end()){ + next_vertex = outer_polygon_.begin(); + } + Eigen::Vector2d test_point(next_vertex->x(), next_vertex->y()); + constexpr double kPointOffset = 0.0001; + Eigen::Vector2d outer_point(outer_contour_connection_vertex->x(), outer_contour_connection_vertex->y()); + if (isPointOnLeftSide(line_start_point, direction_vector, test_point)){ + Eigen::Vector2d translation_vector(next_vertex->x() - outer_contour_connection_vertex->x(), + next_vertex->y() - outer_contour_connection_vertex->y()); + translation_vector.normalize(); + outer_point += kPointOffset * translation_vector.normalized(); + } else { + outer_point += kPointOffset * normal_vector.normalized(); + } + next_vertex = hole_contour_connection_vertex; + if (next_vertex == hole_it->vertices_begin()){ + next_vertex = hole_it->vertices_end(); + next_vertex = std::prev(next_vertex); + } else { + next_vertex = std::prev(next_vertex); + } + Eigen::Vector2d hole_point(hole_contour_connection_vertex->x(), hole_contour_connection_vertex->y()); + test_point << next_vertex->x(), next_vertex->y(); + constexpr double kPiHalf = 3.1416 / 2; + if (isPointOnLeftSide(line_start_point, direction_vector, test_point) + && computeAngleBetweenVectors(test_point - line_start_point, direction_vector) < kPiHalf){ + Eigen::Vector2d translation_vector(next_vertex->x() - hole_contour_connection_vertex->x(), + next_vertex->y() - hole_contour_connection_vertex->y()); + translation_vector.normalize(); + hole_point += kPointOffset * translation_vector; + } else { + hole_point += kPointOffset * normal_vector; + } + Vector2d new_edge_direction = outer_point - hole_point; + new_edge_direction.normalize(); + constexpr double kShiftFactor = 0.0001; + bool intersection_caused = false; + CgalSegment2d new_edge(CgalPoint2d(hole_point.x() + kShiftFactor * new_edge_direction.x(), + hole_point.y() + kShiftFactor * new_edge_direction.y()),CgalPoint2d(outer_point.x() - + kShiftFactor * new_edge_direction.x(), outer_point.y() - kShiftFactor * new_edge_direction.y())); + if (!doPolygonAndSegmentIntersect(outer_polygon_, new_edge, false)){ + for (auto hole_iterator = hole_polygon_list_.begin(); hole_iterator != hole_polygon_list_.end(); ++hole_iterator){ + if (hole_iterator->size() < 3){ + continue; + } + if (doPolygonAndSegmentIntersect(*hole_iterator, new_edge, false)) { + intersection_caused = true; + break; + } + } + } else { + //std::cout << "Outer contour and connection intersect!" << std::endl; + intersection_caused = true; + } + if (intersection_caused){ + ++hole_it; + continue; + } + // Add new vertices to outer contour. + new_polygon.push_back(CgalPoint2d(hole_point.x(), hole_point.y())); + new_polygon.push_back(CgalPoint2d(outer_point.x(), outer_point.y())); + // Add remaining outer contour vertices to new polygon. + auto vertex_it = outer_contour_connection_vertex; + vertex_it = std::next(vertex_it); + for (; vertex_it != outer_polygon_.vertices_end(); ++vertex_it){ + new_polygon.push_back(*vertex_it); + } + if (!new_polygon.is_simple()){ + std::cout << "Hole orientation: " << hole_it->orientation() << std::endl; + std::cout <<"Hole vertex: " << *hole_contour_connection_vertex << std::endl; + std::cout <<"Outer vertex: " << *outer_contour_connection_vertex << std::endl; + printPolygon(new_polygon); + } + CHECK(new_polygon.is_simple()); + outer_polygon_ = new_polygon; + ++hole_it; + hole_polygon_list_.erase(std::prev(hole_it)); + } + } + //approximateContour(&outer_polygon_); + CHECK(outer_polygon_.is_simple()); +} \ No newline at end of file diff --git a/convex_plane_decomposition/src/ransac_plane_extractor.cpp b/convex_plane_decomposition/src/ransac_plane_extractor.cpp index c37a5eb9..302f85b6 100644 --- a/convex_plane_decomposition/src/ransac_plane_extractor.cpp +++ b/convex_plane_decomposition/src/ransac_plane_extractor.cpp @@ -1,66 +1,27 @@ -// -// Created by andrej on 11/21/19. -// - #include "ransac_plane_extractor.hpp" using namespace ransac_plane_extractor; -RansacPlaneExtractor::RansacPlaneExtractor(grid_map::GridMap &map, double resolution, const std::string &normals_layer_prefix, - const std::string &layer_height) - : map_(map){ - int map_rows = (map.getSize())(0); - int map_cols = (map.getSize())(1); - double resolution_ = resolution; - ransac_map_ = Eigen::MatrixXf::Zero(map_rows, map_cols); - for (grid_map::GridMapIterator iterator(map_); - !iterator.isPastEnd(); ++iterator) { - grid_map::Position3 position3; - Eigen::Vector3d point; - Eigen::Vector3d normal; - map.getPosition3(layer_height, *iterator, point); - map.getVector(normals_layer_prefix, *iterator, normal); - points_with_normal_.addPointNormalPair(point, normal); - } - ransac_.set_input(points_with_normal_.getReference()); +RansacPlaneExtractor::RansacPlaneExtractor(std::vector& points_with_normal, const RansacPlaneExtractorParameters& parameters){ + ransac_.set_input(points_with_normal); ransac_.add_shape_factory(); - // Set parameters for shape detection. - // Set probability to miss the largest primitive at each iteration. - parameters_.probability = 0.01; - - // Detect shapes with at least 500 points. - parameters_.min_points = 200; - // Set maximum Euclidean distance between a point and a shape. - parameters_.epsilon = 0.004; - - // Set maximum Euclidean distance between points to be clustered. - parameters_.cluster_epsilon = 0.0282842712475 ; - - // Set maximum normal deviation. - // 0.9 < dot(surface_normal, point_normal); - parameters_.normal_threshold = 0.98; + parameters_.probability = parameters.probability; + parameters_.min_points = parameters.min_points; + parameters_.epsilon = parameters.epsilon; + parameters_.cluster_epsilon = parameters.cluster_epsilon; + parameters_.normal_threshold = parameters.normal_threshold; } -RansacPlaneExtractor::~RansacPlaneExtractor(){} - void RansacPlaneExtractor::runDetection(){ // Detect shapes. ransac_.detect(parameters_); } -void RansacPlaneExtractor::setParameters(const RansacParameters& parameters){ - // Set probability to miss the largest primitive at each iteration. +void RansacPlaneExtractor::setParameters(const RansacPlaneExtractorParameters& parameters){ parameters_.probability = parameters.probability; - // Detect shapes with at least min_points number of points. parameters_.min_points = parameters.min_points; - // Set maximum Euclidean distance between a point and a shape. parameters_.epsilon = parameters.epsilon; - - // Set maximum Euclidean distance between points to be clustered. parameters_.cluster_epsilon = parameters.cluster_epsilon; - - // Set maximum normal deviation. - // Example: 0.9 < dot(surface_normal, point_normal). parameters_.normal_threshold = parameters.normal_threshold; } diff --git a/convex_plane_decomposition/src/sliding_window_plane_extractor.cpp b/convex_plane_decomposition/src/sliding_window_plane_extractor.cpp index 8c6ebd2e..41f3b3a1 100644 --- a/convex_plane_decomposition/src/sliding_window_plane_extractor.cpp +++ b/convex_plane_decomposition/src/sliding_window_plane_extractor.cpp @@ -6,65 +6,46 @@ namespace sliding_window_plane_extractor{ using namespace grid_map; SlidingWindowPlaneExtractor::SlidingWindowPlaneExtractor(grid_map::GridMap &map, double resolution, - const std::string& layer_height, const std::string& normal_layer_prefix, SlidingWindowParameters& parameters) + const std::string& layer_height, const std::string& normal_layer_prefix, + const SlidingWindowPlaneExtractorParameters& parameters, + const ransac_plane_extractor::RansacPlaneExtractorParameters& ransac_parameters) : map_(map), resolution_(resolution), elevation_layer_(layer_height), normal_layer_prefix_(normal_layer_prefix), - kernel_size_(parameters.kernel_size), - plane_error_threshold_(parameters.plane_error_threshold){ - number_of_extracted_planes_ = 0; + parameters_(parameters), + ransac_parameters_(ransac_parameters){ + number_of_extracted_planes_ = -1; + const grid_map::Size map_size = map.getSize(); + binary_image_patch_ = cv::Mat(map_size(0), map_size(1), CV_8U, false); + binary_image_angle_ = cv::Mat(map_size(0), map_size(1), CV_8U, false); computeMapTransformation(); } - SlidingWindowPlaneExtractor::SlidingWindowPlaneExtractor(grid_map::GridMap &map, double resolution, - const std::string& normal_layer_prefix, const std::string& layer_height) - : map_(map), - resolution_(resolution), - elevation_layer_(layer_height), - normal_layer_prefix_(normal_layer_prefix){ - kernel_size_ = 5; - plane_error_threshold_ = 0.004; - number_of_extracted_planes_ = 0; - computeMapTransformation(); - } - - - SlidingWindowPlaneExtractor::~SlidingWindowPlaneExtractor() = default; - - void SlidingWindowPlaneExtractor::computeMapTransformation(){ - Eigen::Vector2i map_size = map_.getSize(); - CHECK(map_.getPosition(Eigen::Vector2i::Zero(), map_offset_)); - Eigen::Vector2d lower_left_cell_position; - CHECK(map_.getPosition(Eigen::Vector2i(map_size.x() - 1, 0), lower_left_cell_position)); - Eigen::Vector2d upper_right_cell_position; - CHECK(map_.getPosition(Eigen::Vector2i(0, map_size.y() - 1), upper_right_cell_position)); - transformation_xy_to_world_frame_.col(0) = (lower_left_cell_position - map_offset_).normalized(); - transformation_xy_to_world_frame_.col(1) = (upper_right_cell_position - map_offset_).normalized(); - } - void SlidingWindowPlaneExtractor::runDetection(){ - std::cout << "Starting detection!" << std::endl; - Eigen::Matrix binary_map = - Eigen::Matrix::Zero(map_.getSize().x(), map_.getSize().y()); - CHECK(map_.getSize().x() >= kernel_size_); - CHECK(map_.getSize().y() >= kernel_size_); + VLOG(1) << "Starting detection!"; + const grid_map::Size map_size = map_.getSize(); + Eigen::Matrix normal_x(map_size(0), map_size(1)); + Eigen::Matrix normal_y(map_size(0), map_size(1)); + Eigen::Matrix normal_z(map_size(0), map_size(1)); + CHECK(map_.getSize().x() >= parameters_.kernel_size); + CHECK(map_.getSize().y() >= parameters_.kernel_size); SlidingWindowIterator window_iterator(map_, elevation_layer_, SlidingWindowIterator::EdgeHandling::INSIDE, - kernel_size_); + parameters_.kernel_size); for (; !window_iterator.isPastEnd(); ++window_iterator) { Eigen::MatrixXf window_data = window_iterator.getData(); int instance_iterator = 0; std::vector height_instances; std::vector row_position; std::vector col_position; - for (int kernel_col = 0; kernel_col < kernel_size_; ++kernel_col) { - for (int kernel_row = 0; kernel_row < kernel_size_; ++kernel_row) { + for (int kernel_col = 0; kernel_col < parameters_.kernel_size; ++kernel_col) { + for (int kernel_row = 0; kernel_row < parameters_.kernel_size; ++kernel_row) { if (!isfinite(window_data(kernel_row, kernel_col))) { continue; } height_instances.push_back(window_data(kernel_row, kernel_col)); - row_position.push_back(kernel_row - static_cast(kernel_size_ / 2)); - col_position.push_back(kernel_col - static_cast(kernel_size_ / 2)); + row_position.push_back(kernel_row - static_cast(parameters_.kernel_size / 2)); + col_position.push_back(kernel_col - static_cast(parameters_.kernel_size / 2)); } } constexpr int kMinNumberOfDataPoints = 9; @@ -90,13 +71,6 @@ namespace sliding_window_plane_extractor{ const Eigen::SelfAdjointEigenSolver solver(covarianceMatrix); eigenvalues = solver.eigenvalues().real(); eigenvectors = solver.eigenvectors().real(); - //Eigen::BDCSVD svd = data_points.bdcSvd(Eigen::ComputeFullU | Eigen::ComputeFullV); -// if(svd.rank() < 3){ -// LOG(WARNING) << "Rank loss, cell will be ignored!"; -// continue; -// } -// Eigen::Matrix3d V = svd.matrixV(); -// Eigen::Vector3d n = (V.col(0)).cross(V.col(1)); int smallestId(0); double smallestValue(std::numeric_limits::max()); for (int j = 0; j < eigenvectors.cols(); j++) { @@ -108,23 +82,74 @@ namespace sliding_window_plane_extractor{ Vector3 eigenvector = eigenvectors.col(smallestId); const Eigen::Vector3d normalVectorPositiveAxis_(0,0,1); if (eigenvector.dot(normalVectorPositiveAxis_) < 0.0) eigenvector = -eigenvector; - Eigen::Vector3d n = eigenvector; + Eigen::Vector3d n = eigenvector.normalized(); Index index = *window_iterator; double mean_error = ((data_points * n).cwiseAbs()).sum() / height_instances.size(); Eigen::Vector3d upwards(0,0,1); constexpr double kInclinationThreshold = 0.35; - if (mean_error < plane_error_threshold_ && abs(n.transpose()*upwards) > kInclinationThreshold) { - binary_map((*window_iterator).x(), (*window_iterator).y()) = true; + if (mean_error < parameters_.plane_patch_error_threshold && abs(n.transpose()*upwards) > kInclinationThreshold) { + binary_image_patch_.at((*window_iterator).x(), (*window_iterator).y()) = true; + normal_x(index.x(), index.y()) = n.x(); + normal_y(index.x(), index.y()) = n.y(); + normal_z(index.x(), index.y()) = n.z(); } } - cv::Mat binary_image(binary_map.rows(), binary_map.cols(), CV_8U, binary_map.data()); - cv::eigen2cv(binary_map, binary_image); - number_of_extracted_planes_ = cv::connectedComponents(binary_image, labeled_image_, 8, CV_32SC1); + map_.add("normals_x", normal_x); + map_.add("normals_y", normal_y); + map_.add("normals_z", normal_z); } - void SlidingWindowPlaneExtractor::setParameters(const SlidingWindowParameters& parameters){ - kernel_size_ = parameters.kernel_size; - plane_error_threshold_ = parameters.plane_error_threshold; + void SlidingWindowPlaneExtractor::runSurfaceNormalCurvatureDetection(){ + VLOG(1) << "Starting surface normal edge detection!"; + CHECK(map_.exists("normals_x")); + CHECK(map_.exists("normals_y")); + CHECK(map_.exists("normals_z")); + const int surface_normal_map_boundary_offset = parameters_.kernel_size / 2; + CHECK_GT(surface_normal_map_boundary_offset, 0); + const grid_map::Size map_rows_cols = map_.getSize(); + for( int cols = surface_normal_map_boundary_offset; cols < map_rows_cols(1) - surface_normal_map_boundary_offset - 1; ++cols){ + for (int rows = surface_normal_map_boundary_offset; rows < map_rows_cols(0) - surface_normal_map_boundary_offset - 1; ++rows){ + const Eigen::Vector2f normal_vector_center(map_.at("normals_x", Index(rows, cols)), map_.at("normals_y", Index(rows, cols)), + map_.at("normals_z", Index(rows, cols))); + const Eigen::Vector2f normal_vector_next_row(map_.at("normals_x", Index(rows+1, cols)), map_.at("normals_y", Index(rows+1, cols)), + map_.at("normals_z", Index(rows+1, cols))); + const Eigen::Vector2f normal_vector_next_col(map_.at("normals_x", Index(rows, cols+1)), map_.at("normals_y", Index(rows, cols+1)), + map_.at("normals_z", Index(rows, cols+1))); + const float angle_in_col_direction_radians = std::atan2(1.0, normal_vector_center.dot(normal_vector_next_col)); + const float angle_in_row_direction_radians = std::atan2(1.0, normal_vector_center.dot(normal_vector_next_row)); + const double gradient_magnitude_normalized = sqrt((angle_in_col_direction_radians*angle_in_col_direction_radians) + + (angle_in_row_direction_radians * angle_in_row_direction_radians)) / (sqrt(2.0)*M_PI); + binary_image_angle_.at(rows, cols) = gradient_magnitude_normalized <= parameters_.surface_normal_angle_threshold; + } + } + } + + // Label cells according to which cell they belong to using connected component labeling. + void SlidingWindowPlaneExtractor::runSegmentation() { + CHECK_EQ(binary_image_patch_.type(), CV_8U); + const grid_map::Size map_size = map_.getSize(); + CHECK_EQ(binary_image_patch_.rows, map_size(0)); + CHECK_EQ(binary_image_patch_.cols, map_size(1)); + if (parameters_.include_curvature_detection){ + CHECK_EQ(binary_image_patch_.type(), binary_image_angle_.type()); + CHECK_EQ(binary_image_patch_.size, binary_image_angle_.size); + number_of_extracted_planes_ = cv::connectedComponents(binary_image_patch_ & binary_image_angle_, labeled_image_, 8, CV_32SC1); + } else { + number_of_extracted_planes_ = cv::connectedComponents(binary_image_patch_, labeled_image_, 8, CV_32SC1); + } + } + + // Refine connected component using RANSAC. Input vector is modified by function! + const auto& SlidingWindowPlaneExtractor::runRansacRefinement(std::vector& points_with_normal) const { + CHECK(!points_with_normal.empty()); + ransac_plane_extractor::RansacPlaneExtractor ransac_plane_extractor(points_with_normal, ransac_parameters_); + ransac_plane_extractor.runDetection(); + return ransac_plane_extractor.getDetectedPlanes(); + } + + void SlidingWindowPlaneExtractor::setParameters(const SlidingWindowPlaneExtractorParameters& parameters){ + parameters_.kernel_size = parameters.kernel_size; + parameters_.plane_patch_error_threshold = parameters.plane_patch_error_threshold; } void SlidingWindowPlaneExtractor::slidingWindowPlaneVisualization(){ @@ -134,13 +159,18 @@ namespace sliding_window_plane_extractor{ std::cout << "Added ransac plane layer!" << std::endl; } + void SlidingWindowPlaneExtractor::extractPlaneParametersFromLabeledImage(){ + if (number_of_extracted_planes_ < 1){ + LOG(WARNING) << "No planes detected by Sliding Window Plane Extractor!"; + return; + } + const int number_of_extracted_planes_without_refinement = number_of_extracted_planes_; + for (int label = 1; label <= number_of_extracted_planes_without_refinement; ++label) { + computePlaneParametersForLabel(label); + } + } + void SlidingWindowPlaneExtractor::generatePlanes(){ - std::ofstream polygonizer_file; - polygonizer_file.open("/home/andrej/Desktop/polygonizer_time.txt", std::ofstream::app); - std::ofstream decomposer_file; - decomposer_file.open("/home/andrej/Desktop/decomposer_time.txt", std::ofstream::app); - std::chrono::milliseconds time_stamp = std::chrono::duration_cast( - std::chrono::system_clock::now().time_since_epoch()); for (int label_it = 1; label_it <= number_of_extracted_planes_; ++label_it) { auto polygonizer_start = std::chrono::system_clock::now(); convex_plane_extraction::Plane plane; @@ -207,11 +237,16 @@ namespace sliding_window_plane_extractor{ } } - void SlidingWindowPlaneExtractor::computePlaneFrameFromLabeledImage(const cv::Mat& binary_image, - convex_plane_extraction::Plane* plane){ - CHECK_NOTNULL(plane); + void SlidingWindowPlaneExtractor::computePlaneParametersForLabel(int label){ + CHECK(map_.exists(elevation_layer_)); + CHECK(map_.exists("normals_x")); + CHECK(map_.exists("normals_y")); + CHECK(map_.exists("normals_z")); Eigen::Vector3d normal_vector = Eigen::Vector3d::Zero(); Eigen::Vector3d support_vector = Eigen::Vector3d::Zero(); + std::vector points_with_normal; + cv::Mat binary_image(labeled_image_.size(), CV_8UC1); + binary_image = labeled_image_ == label; int number_of_normal_instances = 0; int number_of_position_instances = 0; for (int row = 0; row < binary_image.rows; ++row){ @@ -229,15 +264,77 @@ namespace sliding_window_plane_extractor{ support_vector += support_vector_temp; ++number_of_position_instances; } + ransac_plane_extractor::PointWithNormal point_with_normal = std::make_pair(ransac_plane_extractor::Point3D(support_vector_temp.x(), support_vector_temp.y(), support_vector_temp.z()), + ransac_plane_extractor::Vector3D(normal_vector_temp.x(), normal_vector_temp.y(), normal_vector_temp.z())); + points_with_normal.push_back(point_with_normal); } } } if (number_of_normal_instances == 0 || number_of_position_instances == 0){ + LOG(WARNING) << "Label empty, NO plane parameters are created!"; return; } normal_vector = normal_vector / static_cast(number_of_normal_instances); support_vector = support_vector / static_cast(number_of_position_instances); - CHECK(plane->setNormalAndSupportVector(normal_vector, support_vector)); + bool refinement_performed = false; + if (parameters_.include_ransac_refinement) { + // Compute error to fitted plane. + if (computeAverageErrorToPlane(normal_vector, support_vector, points_with_normal) + > parameters_.global_plane_fit_error_threshold){ + const auto& planes = runRansacRefinement(points_with_normal); + CHECK(!planes.empty()) << "No planes detected by RANSAC in as planar classified region."; + int label_counter = 0; + for (const auto& plane : planes){ + const std::vector& plane_point_indices = (*plane.get()).indices_of_assigned_points(); + CHECK(!plane_point_indices.empty()); + Eigen::Vector3d support_vector; + Eigen::Vector3d normal_vector; + for (const auto index : plane_point_indices) { + const auto &point = points_with_normal.at(index).first; + const auto &normal = points_with_normal.at(index).second; + support_vector += Eigen::Vector3d(point.x(), point.y(), point.z()); + normal_vector += Eigen::Vector3d(normal.x(), normal.y(), normal.z()); + Eigen::Array2i map_indices; + map_.getIndex(Eigen::Vector2d(point.x(), point.y()), map_indices); + if (label_counter == 0){ + labeled_image_.at(map_indices(0), map_indices(1)) = label; + } else { + labeled_image_.at(map_indices(0), map_indices(1)) = number_of_extracted_planes_ + label_counter; + } + } + support_vector /= static_cast(plane_point_indices.size()); + normal_vector /= static_cast(plane_point_indices.size()); + const convex_plane_extraction::PlaneParameters temp_plane_parameters(normal_vector, support_vector); + if (label_counter == 0) { + plane_parameters_.emplace(label, temp_plane_parameters); + } else { + plane_parameters_.emplace(number_of_extracted_planes_ + label_counter, temp_plane_parameters); + } + ++label_counter; + } + CHECK_EQ(label_counter + 1, planes.size()); + number_of_extracted_planes_ += label_counter; + refinement_performed = true; + } + } + if (refinement_performed){ + const convex_plane_extraction::PlaneParameters temp_plane_parameters(normal_vector, support_vector); + plane_parameters_.emplace(label, temp_plane_parameters); + } + } + + double SlidingWindowPlaneExtractor::computeAverageErrorToPlane(const Eigen::Vector3d& normal_vector, const Eigen::Vector3d& support_vector, + const std::vector& points_with_normal) const { + CHECK(!points_with_normal.empty()); + double average_error = 0.0; + for (const auto& point_with_normal : points_with_normal){ + Eigen::Vector3d p_S_P(point_with_normal.first.x() - support_vector.x(), point_with_normal.first.y() - support_vector.y(), + point_with_normal.first.z() - support_vector.z()); + average_error += abs(normal_vector.dot(p_S_P)); + } + average_error /= static_cast(points_with_normal.size()); + return average_error; } void SlidingWindowPlaneExtractor::visualizeConvexDecomposition(jsk_recognition_msgs::PolygonArray* ros_polygon_array){ From 97f16fb7065c8b8c50d31c00ae71f7f23608c744 Mon Sep 17 00:00:00 2001 From: andrej1001 Date: Mon, 2 Mar 2020 10:08:47 +0100 Subject: [PATCH 018/504] Clean-up. --- convex_plane_decomposition/include/polygon.hpp | 16 ++++++++++------ 1 file changed, 10 insertions(+), 6 deletions(-) diff --git a/convex_plane_decomposition/include/polygon.hpp b/convex_plane_decomposition/include/polygon.hpp index 409a3151..6305a8b6 100644 --- a/convex_plane_decomposition/include/polygon.hpp +++ b/convex_plane_decomposition/include/polygon.hpp @@ -104,20 +104,24 @@ namespace convex_plane_extraction{ void detectDentLocations(std::map* dent_locations, const CgalPolygon2d& polygon); + void connectSecondPolygonToFirst(CgalPolygon2d& left_polygon, CgalPolygon2d& right_polygon); + + std::pair getIndicesOfClosestVertexPair(CgalPolygon2d& left_polygon, CgalPolygon2d& right_polygon); + struct Intersection{ void setEdgeSourceLocation(const int location){ - this->edge_source_location_ = location; + edge_source_location_ = location; } void setEdgeTargetLocation(const int location){ - this->edge_target_location_ = location; + edge_target_location_ = location; } void setIntersectionPoint(const CgalPoint2d& intersection_point){ - this->intersection_point_ = intersection_point; + intersection_point_ = intersection_point; } void setAllMembers(const int source_location, const int target_location, const CgalPoint2d& intersection_point){ - this->edge_source_location_ = source_location; - this->edge_target_location_ = target_location; - this->intersection_point_ = intersection_point; + edge_source_location_ = source_location; + edge_target_location_ = target_location; + intersection_point_ = intersection_point; } int edge_source_location_; From b03e75e3ee2ea790dda29f86e66d38c2ddba7e4b Mon Sep 17 00:00:00 2001 From: andrej1001 Date: Tue, 3 Mar 2020 21:11:42 +0100 Subject: [PATCH 019/504] Refactoring continued. --- convex_plane_decomposition/CMakeLists.txt | 2 +- .../include/convex_decomposer.hpp | 38 ++ .../include/pipeline.hpp | 43 ++ convex_plane_decomposition/include/plane.hpp | 58 ++- .../include/plane_factory.hpp | 26 +- .../include/polygon.hpp | 15 +- .../include/polygonizer.hpp | 17 +- .../sliding_window_plane_extractor.hpp | 53 ++- .../src/convex_decomposer.cpp | 189 ++++++++ convex_plane_decomposition/src/pipeline.cpp | 40 ++ convex_plane_decomposition/src/plane.cpp | 310 +------------ .../src/plane_extractor.cpp | 2 +- .../src/plane_factory.cpp | 89 +--- convex_plane_decomposition/src/polygon.cpp | 94 ++-- .../src/polygonizer.cpp | 433 ++++++++++-------- .../src/sliding_window_plane_extractor.cpp | 133 ++---- 16 files changed, 783 insertions(+), 759 deletions(-) create mode 100644 convex_plane_decomposition/include/convex_decomposer.hpp create mode 100644 convex_plane_decomposition/include/pipeline.hpp create mode 100644 convex_plane_decomposition/src/convex_decomposer.cpp create mode 100644 convex_plane_decomposition/src/pipeline.cpp diff --git a/convex_plane_decomposition/CMakeLists.txt b/convex_plane_decomposition/CMakeLists.txt index 4c4069d4..014b21c5 100644 --- a/convex_plane_decomposition/CMakeLists.txt +++ b/convex_plane_decomposition/CMakeLists.txt @@ -166,7 +166,7 @@ add_executable(${PROJECT_NAME}_node src/geometry_utils.cpp src/export_utils.cpp src/plane_factory.cpp - src/polygonizer.cpp) + src/polygonizer.cpp src/convex_decomposer.cpp include/convex_decomposer.hpp src/pipeline.cpp include/pipeline.hpp) ## Rename C++ executable without prefix ## The above recommended prefix causes long target names, the following renames the diff --git a/convex_plane_decomposition/include/convex_decomposer.hpp b/convex_plane_decomposition/include/convex_decomposer.hpp new file mode 100644 index 00000000..f3b5f52a --- /dev/null +++ b/convex_plane_decomposition/include/convex_decomposer.hpp @@ -0,0 +1,38 @@ +#ifndef CONVEX_PLANE_EXTRACTION_INCLUDE_CONVEX_DECOMPOSER_HPP_ +#define CONVEX_PLANE_EXTRACTION_INCLUDE_CONVEX_DECOMPOSER_HPP_ + +#include "polygon.hpp" + +namespace convex_plane_extraction { + +enum class ConvexDecompositionType{ + kGreeneOptimalDecomposition = 1, + kInnerConvexApproximation = 2 +}; + +struct ConvexDecomposerParameters{ + ConvexDecompositionType decomposition_type = ConvexDecompositionType::kGreeneOptimalDecomposition; + double dent_angle_threshold_rad = 0.001; // 0.05 deg in rad. +}; + +class ConvexDecomposer { + public: + + explicit ConvexDecomposer(const ConvexDecomposerParameters& parameters); + + CgalPolygon2dContainer performConvexDecomposition(const CgalPolygon2d& polygon) const; + + CgalPolygon2dContainer performOptimalConvexDecomposition(const CgalPolygon2d& polygon) const; + + CgalPolygon2dContainer performInnerConvexApproximation(const CgalPolygon2d& polygon) const; + + std::multimap detectDentLocations(const CgalPolygon2d& polygon) const; + + private: + + ConvexDecomposerParameters parameters_; +}; + +} // namespace convex_plane_extraction + +#endif //CONVEX_PLANE_EXTRACTION_INCLUDE_CONVEX_DECOMPOSER_HPP_ diff --git a/convex_plane_decomposition/include/pipeline.hpp b/convex_plane_decomposition/include/pipeline.hpp new file mode 100644 index 00000000..8a4edaae --- /dev/null +++ b/convex_plane_decomposition/include/pipeline.hpp @@ -0,0 +1,43 @@ +#ifndef CONVEX_PLANE_EXTRACTION__PIPELINE_HPP_ +#define CONVEX_PLANE_EXTRACTION__PIPELINE_HPP_ + +#include "convex_decomposer.hpp" +#include "plane_factory.hpp" +#include "sliding_window_plane_extractor.hpp" + +namespace convex_plane_extraction { + +struct PipelineParameters{ + sliding_window_plane_extractor::SlidingWindowPlaneExtractorParameters sliding_window_plane_extractor_parameters = + sliding_window_plane_extractor::SlidingWindowPlaneExtractorParameters(); + PlaneFactoryParameters plane_factory_parameters_ = PlaneFactoryParameters(); + ConvexDecomposerParameters convex_decomposer_parameters = ConvexDecomposerParameters(); +}; + +struct GridMapParameters{ + grid_map::GridMap& map; + double resolution; + std::string& layer_height; + std::string& normal_layer_prefix; +}; + + +class Pipeline { + public: + + explicit Pipeline(const PipelineParameters& parameters) + : parameters_(parameters){}; + + void runPipeline(); + + + private: + + void exportConvexPolygons(const std::string& export_path) const; + + PipelineParameters pipeline_parameters_; + GridMapParameters grid_map_parameters_; + +}; +} // namespace_convex_plane_extraction +#endif //CONVEX_PLANE_EXTRACTION__PIPELINE_HPP_ diff --git a/convex_plane_decomposition/include/plane.hpp b/convex_plane_decomposition/include/plane.hpp index fa558500..80e08443 100644 --- a/convex_plane_decomposition/include/plane.hpp +++ b/convex_plane_decomposition/include/plane.hpp @@ -22,29 +22,34 @@ namespace convex_plane_extraction { public: - Plane(); + Plane(const CgalPolygon2d& plane_contour, const PlaneParameters parameters) + : plane_contour_(plane_contour), + normal_vector_(parameters.normal_vector), + support_vector_(parameters.support_vector){} - Plane(CgalPolygon2d& outer_polygon, CgalPolygon2dContainer& holes); + bool setPlaneContour(const CgalPolygon2d& plane_contour){ + plane_contour_ = plane_contour; + } - virtual ~Plane(); + const Eigen::Vector3d& getPlaneNormalVector() const{ + return normal_vector_; + } - bool addOuterPolygon(const CgalPolygon2d& outer_polygon); - - bool addHolePolygon(const CgalPolygon2d& hole_polygon); + Eigen::Vector3d& getPlaneNormalVectorMutable(){ + return normal_vector_; + } bool setNormalAndSupportVector(const Eigen::Vector3d& normal_vector,const Eigen::Vector3d& support_vector); - bool decomposePlaneInConvexPolygons(); - bool hasOuterContour() const; - CgalPolygon2dVertexConstIterator outerPolygonVertexBegin() const; - - CgalPolygon2dVertexConstIterator outerPolygonVertexEnd() const; - - CgalPolygon2dContainerConstIterator holePolygonBegin() const; + CgalPolygon2d& getOuterPolygonMutable(){ + return plane_contour_; + } - CgalPolygon2dContainerConstIterator holePolygonEnd() const; + const CgalPolygon2d& getOuterPolygon() const{ + return plane_contour_; + } bool isValid() const; @@ -58,9 +63,21 @@ namespace convex_plane_extraction { void computePoint3dWorldFrame(const Vector2d& input_point, Vector3d* output_point) const; - void resolveHoles(); + CgalPolygon2dContainer& getConvexPolygonsMutable(){ + return convex_polygons_; + } - const CgalPolygon2dContainer& getConvexPolygons() const; + const CgalPolygon2dContainer& getConvexPolygons() const{ + return convex_polygons_; + } + + void addConvexPolygon(const CgalPolygon2d& convex_polygon){ + convex_polygons_.push_back(convex_polygon); + } + + void setConvexPolygons(CgalPolygon2dContainer& convex_polygons){ + convex_polygons_ = convex_polygons; + } private: @@ -68,17 +85,12 @@ namespace convex_plane_extraction { void slConcavityHoleVertexSorting(const CgalPolygon2d& hole, std::multimap>* concavity_positions); - bool initialized_; - - CgalPolygon2d outer_polygon_; - CgalPolygon2dContainer hole_polygon_list_; - CgalPolygon2dContainer convex_polygon_list_; + CgalPolygon2d plane_contour_; + CgalPolygon2dContainer convex_polygons_; Vector3d normal_vector_; Vector3d support_vector_; }; - typedef std::list PlaneListContainer; - } #endif //CONVEX_PLANE_EXTRACTION_SRC_PLANE_HPP_ diff --git a/convex_plane_decomposition/include/plane_factory.hpp b/convex_plane_decomposition/include/plane_factory.hpp index d6deff89..5fbc2bbe 100644 --- a/convex_plane_decomposition/include/plane_factory.hpp +++ b/convex_plane_decomposition/include/plane_factory.hpp @@ -1,32 +1,46 @@ #ifndef CONVEX_PLANE_EXTRACTION_INCLUDE_PLANE_FACTORY_HPP_ #define CONVEX_PLANE_EXTRACTION_INCLUDE_PLANE_FACTORY_HPP_ +#include #include #include "plane.hpp" +#include "polygonizer.hpp" namespace convex_plane_extraction { +struct PlaneFactoryParameters{ + PolygonizerParameters polygonizer_parameters = PolygonizerParameters(); + double plane_inclination_threshold_degrees = 70; +}; + class PlaneFactory { public: - PlaneFactory(grid_map::GridMap& map) - :map_(map){ + PlaneFactory(grid_map::GridMap& map, const PlaneFactoryParameters& parameters) + :map_(map), + parameters_(parameters){ computeMapTransformation(); }; - void computeMapTransformation(); - - void createPlanesFromLabeledImageAndPlaneParameters(const cv::Mat& labeled_image, - const std::map& parameters); + void createPlanesFromLabeledImageAndPlaneParameters(const cv::Mat& labeled_image, const int number_of_labels, + const std::map& plane_parameters); private: + void computeMapTransformation(); + + bool isPlaneInclinationBelowThreshold(const Eigen::Vector3d& plane_normal_vector) const; + // Grid map related members. grid_map::GridMap& map_; Eigen::Matrix2d transformation_xy_to_world_frame_; Eigen::Vector2d map_offset_; + // Parameters. + + PlaneFactoryParameters parameters_; + std::vector planes_; diff --git a/convex_plane_decomposition/include/polygon.hpp b/convex_plane_decomposition/include/polygon.hpp index 6305a8b6..c8c57a0d 100644 --- a/convex_plane_decomposition/include/polygon.hpp +++ b/convex_plane_decomposition/include/polygon.hpp @@ -31,7 +31,8 @@ namespace convex_plane_extraction{ typedef CGAL::Partition_traits_2 Traits; typedef Traits::Point_2 CgalPoint2d; typedef Traits::Vector_2 CgalVector2d; - typedef Traits::Polygon_2 CgalPolygon2d; + typedef CGAL::Polygon_2 CgalPolygon2d; + typedef CGAL::Polygon_with_holes_2 CgalPolygonWithHoles2d; typedef Traits::Segment_2 CgalSegment2d; typedef std::vector CgalPolygon2dContainer; typedef CgalPolygon2dContainer::const_iterator CgalPolygon2dConstIterator; @@ -96,17 +97,25 @@ namespace convex_plane_extraction{ CgalPolygon2dVertexIterator next(const CgalPolygon2dVertexIterator& iterator, const CgalPolygon2d& polygon); + CgalPolygon2dVertexIterator previous(const CgalPolygon2dVertexIterator& iterator, const CgalPolygon2d& polygon); + void approximateContour(CgalPolygon2d* polygon); void upSampleLongEdges(CgalPolygon2d* polygon); double getEdgeLength(const CgalPolygon2dVertexIterator& source, const CgalPolygon2d& polygon); - void detectDentLocations(std::map* dent_locations, const CgalPolygon2d& polygon); + std::multimap detectDentLocations(const CgalPolygon2d& polygon); void connectSecondPolygonToFirst(CgalPolygon2d& left_polygon, CgalPolygon2d& right_polygon); - std::pair getIndicesOfClosestVertexPair(CgalPolygon2d& left_polygon, CgalPolygon2d& right_polygon); + std::pair getIndicesOfClosestVertexPair(CgalPolygon2d& first_polygon, CgalPolygon2d& second_polygon); + + std::multimap> getClosestVertexPairsOrdered(const CgalPolygon2d& first_polygon, const CgalPolygon2d& second_polygon); + + CgalPoint2d getPolygonVertexAtIndex(const CgalPolygon2d& polygon, int index); + + bool doPointAndPolygonIntersect(const CgalPolygon2d& polygon, const CgalPoint2d& point, int& segment_source_vertex_index); struct Intersection{ void setEdgeSourceLocation(const int location){ diff --git a/convex_plane_decomposition/include/polygonizer.hpp b/convex_plane_decomposition/include/polygonizer.hpp index 19090feb..2947c67c 100644 --- a/convex_plane_decomposition/include/polygonizer.hpp +++ b/convex_plane_decomposition/include/polygonizer.hpp @@ -3,6 +3,10 @@ #include +#include +#include +#include +#include #include #include #include @@ -18,17 +22,26 @@ struct PolygonizerParameters{ bool activate_long_edge_upsampling = false; bool activate_contour_approximation = false; double hole_area_threshold_squared_meters = 2e-3; + double contour_approximation_deviation_threshold = 0.06; }; class Polygonizer { public: - Polygonizer(const PolygonizerParameters parameters = PolygonizerParameters()) + explicit Polygonizer(const PolygonizerParameters parameters = PolygonizerParameters()) :parameters_(parameters){}; PolygonWithHoles extractPolygonsFromBinaryImage(const cv::Mat& binary_image) const; - CgalPolygon2d resolveHoles(PolygonWithHoles& polygon_with_holes) const; + void removeAreasNotContainedInOuterContourFromHoles(const CgalPolygon2d& outer_polygon, std::vector& holes) const; + + CgalPolygon2d resolveHolesWithVerticalConnection(PolygonWithHoles& polygon_with_holes) const; + + void approximatePolygon(CgalPolygon2d& polygon) const; + + CgalPolygon2d runPolygonizationOnBinaryImage(const cv::Mat& binary_image) const; + + bool addHoleToOuterContourAtVertexIndex(int segment_target_vertex_index, const CgalPolygon2d& hole, CgalPolygon2d& outer_contour) const; private: diff --git a/convex_plane_decomposition/include/sliding_window_plane_extractor.hpp b/convex_plane_decomposition/include/sliding_window_plane_extractor.hpp index d7de989d..b4619b77 100644 --- a/convex_plane_decomposition/include/sliding_window_plane_extractor.hpp +++ b/convex_plane_decomposition/include/sliding_window_plane_extractor.hpp @@ -25,50 +25,63 @@ namespace sliding_window_plane_extractor { struct SlidingWindowPlaneExtractorParameters{ int kernel_size = 3; double plane_patch_error_threshold = 0.004; - double surface_normal_angle_threshold; - bool include_curvature_detection; - bool include_ransac_refinement; + double surface_normal_angle_threshold_degrees = 1.0; + bool include_curvature_detection = false; + bool include_ransac_refinement = false; double global_plane_fit_error_threshold = 0.01; + + ransac_plane_extractor::RansacPlaneExtractorParameters ransac_parameters = ransac_plane_extractor::RansacPlaneExtractorParameters(); }; class SlidingWindowPlaneExtractor{ public: SlidingWindowPlaneExtractor(grid_map::GridMap &map, double resolution, const std::string& layer_height, - const std::string& normal_layer_prefix, const SlidingWindowPlaneExtractorParameters& parameters = SlidingWindowPlaneExtractorParameters(), - const ransac_plane_extractor::RansacPlaneExtractorParameters& ransac_parameters = ransac_plane_extractor::RansacPlaneExtractorParameters()); + const std::string& normal_layer_prefix, const SlidingWindowPlaneExtractorParameters& parameters = SlidingWindowPlaneExtractorParameters()); void setParameters(const SlidingWindowPlaneExtractorParameters& parameters); - void runDetection(); + void runExtraction(); - void runSurfaceNormalCurvatureDetection(); + const cv::Mat& getLabeledImage() const{ + return labeled_image_; + } - void slidingWindowPlaneVisualization(); + const auto& getLabelPlaneParameterMap() const{ + return label_plane_parameters_map_; + } - void generatePlanes(); + const int getNumberOfExtractedPlanes() const{ + return number_of_extracted_planes_; + } - void computeMapTransformation(); +// void slidingWindowPlaneVisualization(); - void computePlaneFrameFromLabeledImage(const cv::Mat& binary_image, convex_plane_extraction::Plane* plane); +// void computePlaneFrameFromLabeledImage(const cv::Mat& binary_image, convex_plane_extraction::Plane* plane); - void extractPlaneParametersFromLabeledImage(); +// void visualizeConvexDecomposition(jsk_recognition_msgs::PolygonArray* ros_polygon_array); +// +// void visualizePlaneContours(jsk_recognition_msgs::PolygonArray* outer_polygons, jsk_recognition_msgs::PolygonArray* hole_poylgons) const; +// +// void exportConvexPolygons(const std::string& path) const; - void computePlaneParametersForLabel(int label); + private: double computeAverageErrorToPlane(const Eigen::Vector3d& normal_vector, const Eigen::Vector3d& support_vector, const std::vector& points_with_normal) const; - const auto& runRansacRefinement(std::vector& points_with_normal) const; - void runSegmentation() + void computePlaneParametersForLabel(int label); - void visualizeConvexDecomposition(jsk_recognition_msgs::PolygonArray* ros_polygon_array); + void extractPlaneParametersFromLabeledImage(); - void visualizePlaneContours(jsk_recognition_msgs::PolygonArray* outer_polygons, jsk_recognition_msgs::PolygonArray* hole_poylgons) const; + const auto& runRansacRefinement(std::vector& points_with_normal) const; - void exportConvexPolygons(const std::string& path) const; + void runSegmentation(); + + void runSlidingWindowDetector(); + + void runSurfaceNormalCurvatureDetection(); - private: grid_map::GridMap& map_; std::string elevation_layer_; @@ -81,7 +94,7 @@ namespace sliding_window_plane_extractor { cv::Mat binary_image_angle_; cv::Mat labeled_image_; int number_of_extracted_planes_; - std::map plane_parameters_; + std::map label_plane_parameters_map_; }; } diff --git a/convex_plane_decomposition/src/convex_decomposer.cpp b/convex_plane_decomposition/src/convex_decomposer.cpp new file mode 100644 index 00000000..5f532ed9 --- /dev/null +++ b/convex_plane_decomposition/src/convex_decomposer.cpp @@ -0,0 +1,189 @@ +#include "convex_decomposer.hpp" + +using namespace convex_plane_extraction; + +ConvexDecomposer::ConvexDecomposer(const convex_plane_extraction::ConvexDecomposerParameters ¶meters) + :parameters_(parameters){} + +CgalPolygon2dContainer ConvexDecomposer::performConvexDecomposition(const CgalPolygon2d& polygon) const { + CHECK_GE(polygon.size(), 3); + CHECK(polygon.is_simple()); + VLOG(1) << "Started convex decomposition..."; + CgalPolygon2dContainer convex_polygons; + if(polygon.is_convex()){ + LOG(INFO) << "Polygon already convex, no decompostion performed."; + convex_polygons.push_back(polygon); + return convex_polygons; + } + switch (parameters_.decomposition_type){ + case ConvexDecompositionType::kGreeneOptimalDecomposition : + convex_polygons = performOptimalConvexDecomposition(polygon); + break; + case ConvexDecompositionType::kInnerConvexApproximation : + convex_polygons = performInnerConvexApproximation(polygon); + break; + } + VLOG(1) << "done."; + return convex_polygons; +} + +CgalPolygon2dContainer ConvexDecomposer::performOptimalConvexDecomposition(const CgalPolygon2d& polygon) const{ + CgalPolygon2dContainer output_polygons; + size_t old_container_size = output_polygons.size(); + CGAL::optimal_convex_partition_2(polygon.vertices_begin(), polygon.vertices_end(), + std::back_inserter(output_polygons)); + assert(CGAL::partition_is_valid_2(polygon.vertices_begin(), polygon.vertices_end(), output_polygons.begin(), + output_polygons.end())); + CHECK_GT(output_polygons.size(), old_container_size); + return output_polygons; +} + +CgalPolygon2dContainer ConvexDecomposer::performInnerConvexApproximation(const CgalPolygon2d& polygon) const{ + CHECK(polygon.orientation() == CGAL::COUNTERCLOCKWISE); + CgalPolygon2dContainer convex_polygons; + const std::multimap dent_locations = detectDentLocations(polygon); + if (dent_locations.empty()){ + // No dents detected, polygon must be convex. + // CGAL convexity check might still fail, since very shallow dents are ignored. + convex_polygons.push_back(polygon); + return convex_polygons; + } + int dent_location = dent_locations.begin()->second; + bool intersection_clockwise_flag = false; + Intersection intersection_clockwise; + bool intersection_counterclockwise_flag = false; + Intersection intersection_counterclockwise; + intersection_clockwise_flag = intersectPolygonWithRay(dent_location, CGAL::COUNTERCLOCKWISE, + polygon, &intersection_counterclockwise); + intersection_counterclockwise_flag = intersectPolygonWithRay(dent_location, CGAL::CLOCKWISE, + polygon, &intersection_clockwise); + if (!intersection_clockwise_flag || !intersection_counterclockwise_flag ){ + LOG(FATAL) << "At least one intersection of dent ray with polygon failed!"; + } + // Generate resulting polygons from cut. + // Resulting cut from counter clockwise ray intersection. + CgalPolygon2d polygon_counterclockwise_1 = polygon; + CgalPolygon2d polygon_counterclockwise_2; + auto first_vertex_to_erase_it = polygon_counterclockwise_1.vertices_begin(); + std::advance(first_vertex_to_erase_it, dent_location); + // Add dent to second polygon. + polygon_counterclockwise_2.push_back(*first_vertex_to_erase_it); + first_vertex_to_erase_it = next(first_vertex_to_erase_it, polygon_counterclockwise_1); + auto last_vertex_to_erase_it = polygon_counterclockwise_1.vertices_begin(); + // Intersection somewhere must be at or after source vertex of intersection edge. + std::advance(last_vertex_to_erase_it, intersection_counterclockwise.edge_source_location_); + // Take next vertex due to exclusive upper limit logic. + last_vertex_to_erase_it = next(last_vertex_to_erase_it, polygon_counterclockwise_1); + // Copy vertices that will be deleted to second polygon. + copyVertices(polygon_counterclockwise_1,first_vertex_to_erase_it,last_vertex_to_erase_it, + &polygon_counterclockwise_2, polygon_counterclockwise_2.vertices_end()); + // Get last point that was erased. + CgalPoint2d point_before_intersection = *(previous(last_vertex_to_erase_it, polygon_counterclockwise_2)); + // To avoid numerical issues and duplicate vertices, intersection point is only inserted if sufficiently + // far away from exisiting vertex. + constexpr double kSquaredLengthThreshold = 1e-6; + if ((intersection_counterclockwise.intersection_point_ - point_before_intersection).squared_length() > kSquaredLengthThreshold) { + polygon_counterclockwise_2.push_back(intersection_counterclockwise.intersection_point_); + } + VLOG(1) << "Started splitting vertices..."; + CgalPolygon2dVertexIterator element_behind_deleted_it = erase(first_vertex_to_erase_it, last_vertex_to_erase_it, &polygon_counterclockwise_1); + // Add intersection vertex to first polygon if existing vertex too far away. + if ((intersection_counterclockwise.intersection_point_ - *element_behind_deleted_it).squared_length() > kSquaredLengthThreshold) { + polygon_counterclockwise_1.insert(element_behind_deleted_it, intersection_counterclockwise.intersection_point_); + } + // Resulting cut from clockwise ray intersection. + CgalPolygon2d polygon_clockwise_1 = polygon; + CgalPolygon2d polygon_clockwise_2; + + first_vertex_to_erase_it = polygon_clockwise_1.vertices_begin(); + std::advance(first_vertex_to_erase_it, intersection_clockwise.edge_target_location_); + if ((*first_vertex_to_erase_it - intersection_clockwise.intersection_point_).squared_length() > kSquaredLengthThreshold) { + polygon_clockwise_2.push_back(intersection_clockwise.intersection_point_); + } + last_vertex_to_erase_it = polygon_clockwise_1.vertices_begin(); + std::advance(last_vertex_to_erase_it, dent_location); + copyVertices(polygon_clockwise_1, first_vertex_to_erase_it, last_vertex_to_erase_it, &polygon_clockwise_2, + polygon_clockwise_2.vertices_end()); + polygon_clockwise_2.push_back(*last_vertex_to_erase_it); + element_behind_deleted_it = erase(first_vertex_to_erase_it, last_vertex_to_erase_it, &polygon_clockwise_1); + VLOG(1) << "done."; + if ((intersection_clockwise.intersection_point_ - *element_behind_deleted_it).squared_length() > kSquaredLengthThreshold) { + polygon_clockwise_1.insert(element_behind_deleted_it, intersection_clockwise.intersection_point_); + } + printPolygon(polygon_counterclockwise_1); + printPolygon(polygon_counterclockwise_2); + printPolygon(polygon_clockwise_1); + printPolygon(polygon_clockwise_2); + VLOG(1) << "Started cut area computation..."; + // Take the cut with smallest min. area of resulting polygons. + double area[4] = {polygon_counterclockwise_1.area(), polygon_counterclockwise_2.area(), + polygon_clockwise_1.area(), polygon_clockwise_2.area()}; + VLOG(1) << "done."; + double* min_area_strategy = std::min_element(area, area+4); + CgalPolygon2dContainer recursion_1; + CgalPolygon2dContainer recursion_2; + if ((min_area_strategy - area) < 2){ + // In this case the counter clockwise intersection leads to less loss in area. + // Perform recursion with this split. + if(polygon_counterclockwise_1.orientation() != CGAL::COUNTERCLOCKWISE){ + LOG(WARNING) << "Polygon orientation wrong! Printing polygon ..."; + printPolygon(polygon_counterclockwise_1); + recursion_1 = std::vector(); + } else { + recursion_1 = performInnerConvexApproximation(polygon_counterclockwise_1); + } + if(polygon_counterclockwise_2.orientation() != CGAL::COUNTERCLOCKWISE){ + LOG(WARNING) << "Polygon orientation wrong! Printing polygon ..."; + printPolygon(polygon_counterclockwise_2); + recursion_2 = std::vector(); + } else{ + recursion_2 = performInnerConvexApproximation(polygon_counterclockwise_2); + } + } else { + // In this case the clockwise intersection leads to less loss in area. + if(polygon_clockwise_1.orientation() != CGAL::COUNTERCLOCKWISE){ + LOG(WARNING) << "Polygon orientation wrong! Printing polygon ..."; + printPolygon(polygon_clockwise_1); + recursion_1 = std::vector(); + } else{ + recursion_1 = performInnerConvexApproximation(polygon_clockwise_1); + } + if(polygon_clockwise_2.orientation() != CGAL::COUNTERCLOCKWISE){ + LOG(WARNING) << "Polygon orientation wrong! Printing polygon ..."; + printPolygon(polygon_clockwise_2); + recursion_2 = std::vector(); + } else{ + recursion_2 = performInnerConvexApproximation(polygon_clockwise_2); + } + } + std::move(recursion_1.begin(),recursion_1.end(), std::back_inserter(convex_polygons)); + std::move(recursion_1.begin(), recursion_2.end(), std::back_inserter(convex_polygons)); + VLOG(1) << "Reached bottom!"; + return convex_polygons; +} + +// A dent is a vertex, which lies in a counter-clockwise oriented polygon on the left side of its neighbors. +// Dents cause non-convexity. +std::multimap ConvexDecomposer::detectDentLocations(const CgalPolygon2d& polygon) const { + VLOG(1) << "Starting dent detection..."; + CHECK(polygon.orientation() == CGAL::COUNTERCLOCKWISE); + std::multimap dent_locations; + for (auto source_it = polygon.vertices_begin(); source_it != polygon.vertices_end(); ++source_it){ + auto dent_it = next(source_it, polygon); + auto destination_it = next(dent_it, polygon); + Vector2d source_point = Vector2d(source_it->x(), source_it->y()); + Vector2d destination_point = Vector2d(destination_it->x(), destination_it->y()); + Vector2d direction_vector = destination_point - source_point; + Vector2d test_point = Vector2d(dent_it->x(), dent_it->y()); + if(isPointOnLeftSide(source_point, direction_vector, test_point)){ + double angle = abs(computeAngleBetweenVectors(source_point - test_point, destination_point - test_point)); + // Ignore very shallow dents. Approximate convex decomposition. + if ( angle > parameters_.dent_angle_threshold_rad) + dent_locations.insert(std::make_pair(angle, std::distance(polygon.vertices_begin(), dent_it))); + } + } + VLOG(1) << "done."; + return dent_locations; +} + +// *output_polygon_list = decomposeInnerApproximation(polygon); \ No newline at end of file diff --git a/convex_plane_decomposition/src/pipeline.cpp b/convex_plane_decomposition/src/pipeline.cpp new file mode 100644 index 00000000..e82ae21c --- /dev/null +++ b/convex_plane_decomposition/src/pipeline.cpp @@ -0,0 +1,40 @@ + +#include "pipeline.hpp" + +using namespace convex_plane_extraction; + +void Pipeline::runPipeline() { + sliding_window_plane_extractor::SlidingWindowPlaneExtractor sliding_window_plane_extractor(grid_map_parameters_.map, + grid_map_parameters_.resolution, grid_map_parameters_.layer_height, grid_map_parameters_.normal_layer_prefix, + pipeline_parameters_.sliding_window_plane_extractor_parameters); + sliding_window_plane_extractor.runExtraction(); + PlaneFactory plane_factory(grid_map_parameters_.map, pipeline_parameters_.plane_factory_parameters_); + plane_factory.createPlanesFromLabeledImageAndPlaneParameters(sliding_window_plane_extractor.getLabeledImage(), + sliding_window_plane_extractor.getNumberOfExtractedPlanes(), sliding_window_plane_extractor.getLabelPlaneParameterMap()); + +} + +void Pipeline::exportConvexPolygons(const std::string& export_path) const { + std::ofstream output_file; + output_file.open(export_path + "convex_polygons.txt", std::ofstream::app); + std::chrono::milliseconds time_stamp = std::chrono::duration_cast( + std::chrono::system_clock::now().time_since_epoch()); + for (const auto& plane : planes_){ + for (const auto& polygon : plane.getConvexPolygons()){ + output_file << time_stamp.count() << ", "; + for (const auto& vertex : polygon){ + output_file << vertex.x() << ", "; + } + for (auto vertex_it = polygon.vertices_begin(); vertex_it != polygon.vertices_end(); ++vertex_it){ + output_file << vertex_it->y(); + if (vertex_it != std::prev(polygon.vertices_end())){ + output_file << ", "; + } else { + output_file << "\n"; + } + } + } + } + output_file.close(); + VLOG(1) << "Exported polygons to " << export_path << "convex_polygons.txt !"; +} \ No newline at end of file diff --git a/convex_plane_decomposition/src/plane.cpp b/convex_plane_decomposition/src/plane.cpp index 13459666..b1565257 100644 --- a/convex_plane_decomposition/src/plane.cpp +++ b/convex_plane_decomposition/src/plane.cpp @@ -7,36 +7,11 @@ namespace convex_plane_extraction{ Plane::Plane(CgalPolygon2d& outer_polygon, CgalPolygon2dContainer& holes) : outer_polygon_(outer_polygon), - hole_polygon_list_(holes), - initialized_(false){}; - - Plane::~Plane() = default; - - bool Plane::addHolePolygon(const convex_plane_extraction::CgalPolygon2d & hole_polygon) { - if (initialized_){ - LOG(ERROR) << "Hole cannot be added to plane since already initialized!"; - return false; - } - CHECK(!hole_polygon.is_empty()); - hole_polygon_list_.push_back(hole_polygon); - return true; - } - - bool Plane::addOuterPolygon(const convex_plane_extraction::CgalPolygon2d & outer_polygon) { - if (initialized_){ - LOG(ERROR) << "Outer polygon cannot be added to plane since already initialized!"; - return false; - } - CHECK(!outer_polygon.is_empty()); - outer_polygon_ = (outer_polygon); - return true; - } + hole_polygons_(holes), + initialized_(false){} bool Plane::setNormalAndSupportVector(const Eigen::Vector3d& normal_vector, const Eigen::Vector3d& support_vector){ - if (initialized_){ - LOG(ERROR) << "Could not set normal and support vector of plane since already initialized!"; - return false; - } + CHECK(!initialized_) << "Could not set normal and support vector of plane since already initialized!"; normal_vector_ = normal_vector; support_vector_ = support_vector; constexpr double inclinationThreshold = 0.35; // cos(70°) @@ -60,17 +35,17 @@ namespace convex_plane_extraction{ LOG(ERROR) << "Connot perform convex decomposition of plane, since not yet initialized."; return false; } - performConvexDecomposition(outer_polygon_, &convex_polygon_list_); + performConvexDecomposition(outer_polygon_, &convex_polygons_); return true; } bool Plane::convertConvexPolygonsToWorldFrame(Polygon3dVectorContainer* output_container, const Eigen::Matrix2d& transformation, const Eigen::Vector2d& map_position) const{ CHECK_NOTNULL(output_container); - if (convex_polygon_list_.empty()){ + if (convex_polygons_.empty()){ LOG(INFO) << "No convex polygons to convert!"; return false; } - for (const auto& polygon : convex_polygon_list_){ + for (const auto& polygon : convex_polygons_){ if (polygon.is_empty()){ continue; } @@ -107,11 +82,11 @@ namespace convex_plane_extraction{ bool Plane::convertHolePolygonsToWorldFrame(Polygon3dVectorContainer* output_container, const Eigen::Matrix2d& transformation, const Eigen::Vector2d& map_position) const{ CHECK_NOTNULL(output_container); - if (hole_polygon_list_.empty()){ + if (hole_polygons_.empty()){ LOG(INFO) << "No hole polygons to convert!"; return false; } - for (const auto& polygon : hole_polygon_list_){ + for (const auto& polygon : hole_polygons_){ if (polygon.is_empty()){ continue; } @@ -146,274 +121,5 @@ namespace convex_plane_extraction{ *output_point = Vector3d(input_point.x(), input_point.y(), z); } - bool Plane::hasOuterContour() const{ - return !outer_polygon_.is_empty(); - } - - CgalPolygon2dVertexConstIterator Plane::outerPolygonVertexBegin() const{ - CHECK(isValid()); - return outer_polygon_.vertices_begin(); - } - - CgalPolygon2dVertexConstIterator Plane::outerPolygonVertexEnd() const{ - CHECK(isValid()); - return outer_polygon_.vertices_end(); - } - - CgalPolygon2dConstIterator Plane::holePolygonBegin() const{ - CHECK(isValid()); - return hole_polygon_list_.begin(); - } - - CgalPolygon2dConstIterator Plane::holePolygonEnd() const{ - CHECK(isValid()); - return hole_polygon_list_.end(); - } - - void Plane::resolveHoles() { - if (hole_polygon_list_.empty()) { - return; - } - auto hole_it = hole_polygon_list_.begin(); - while(!hole_polygon_list_.empty()) { - if (hole_it == hole_polygon_list_.end()){ - hole_it = hole_polygon_list_.begin(); - } - // Compute distance to outer contour for each hole. - std::vector distance_to_outer_polygon; - std::vector outer_contour_connection_vertex_positions; // closest outer contour vertex for each hole - std::vector hole_connection_vertex_positions; - if (hole_it->size() < 3) { - ++hole_it; - hole_polygon_list_.erase(std::prev(hole_it)); - } else if (abs(hole_it->area()) < 2e-3) { - ++hole_it; - hole_polygon_list_.erase(std::prev(hole_it)); - } else { - std::cout << "List size: " << hole_polygon_list_.size() << std::endl; - std::cout << "Outer: " << std::endl; - printPolygon(outer_polygon_); - std::cout << "Hole: " << std::endl; - printPolygon(*hole_polygon_list_.begin()); - std::multimap> connection_candidates; - slConcavityHoleVertexSorting(*hole_it, &connection_candidates); - CHECK(connection_candidates.size() == hole_it->size()*outer_polygon_.size()); - // Instead of extracting only the 2 SL-concavity points, sort vertices according to SL-concavity measure. - // Then iterate over sorted vertices until a connection to the outer contour is not intersecting the polyogn. - // Implement function that checks for intersections with existing polygon contour. - int hole_connection_vertex_position; - int outer_polygon_connection_vertex_position; - bool valid_connection = true; - int i = 0; - for (const auto& position : connection_candidates){ - auto hole_vertex_it = hole_it->vertices_begin(); - std::advance(hole_vertex_it, position.second.first); - bool print_flag = false; - if (position.second.first == 7){ - print_flag = true; - } - CgalPoint2d hole_vertex = *hole_vertex_it; - // Get outer contour connection vertices sorted according to distance to hole vertex. - auto outer_vertex_it = outer_polygon_.vertices_begin(); - std::advance(outer_vertex_it, position.second.second); - CgalVector2d direction = *outer_vertex_it - hole_vertex; - direction = (1.0/direction.squared_length()) * direction; - CgalSegment2d connection(hole_vertex + 0.0001 * direction, *outer_vertex_it - 0.0001 * direction); - if (!doPolygonAndSegmentIntersect(outer_polygon_, connection, print_flag)){ - valid_connection = true; - for (auto hole_iterator = hole_polygon_list_.begin(); hole_iterator != hole_polygon_list_.end(); ++hole_iterator){ - if (hole_iterator->size() < 3){ - continue; - } - if (doPolygonAndSegmentIntersect(*hole_iterator, connection, print_flag)) { - valid_connection = false; - //std::cout << "Hole and connection intersect!" << std::endl; - ++i; - break; - } - } - } else { - //std::cout << "Outer contour and connection intersect!" << std::endl; - ++i; - valid_connection = false; - } - if (valid_connection){ - hole_connection_vertex_position = position.second.first; - outer_polygon_connection_vertex_position = position.second.second; - break; - } - } - if (!valid_connection){ - CHECK_EQ(i, hole_it->size()*outer_polygon_.size()); - LOG(WARNING) << "No valid connection found! " << i << " iterations."; - ++hole_it; - continue; - } - CHECK(valid_connection); - // Perform the integration of the hole into the outer contour. - auto outer_contour_connection_vertex = outer_polygon_.vertices_begin(); - std::advance(outer_contour_connection_vertex, outer_polygon_connection_vertex_position); - auto hole_contour_connection_vertex = hole_it->vertices_begin(); - std::advance(hole_contour_connection_vertex, hole_connection_vertex_position); - CgalPolygon2d new_polygon; - // Start filling new polygon with outer contour. - for (auto vertex_it = outer_polygon_.vertices_begin(); vertex_it != outer_contour_connection_vertex; ++vertex_it){ - new_polygon.push_back(*vertex_it); - } - new_polygon.push_back(*outer_contour_connection_vertex); - auto hole_vertex_it = hole_contour_connection_vertex; - do { - new_polygon.push_back(*hole_vertex_it); - if (hole_vertex_it != std::prev(hole_it->vertices_end())){ - hole_vertex_it = std::next(hole_vertex_it); - } else { - hole_vertex_it = hole_it->vertices_begin(); - } - } while(hole_vertex_it != hole_contour_connection_vertex); - // Create new vertices next to connection points to avoid same enter and return path. - CgalSegment2d enter_connection(*outer_contour_connection_vertex, *hole_contour_connection_vertex); - Eigen::Vector2d normal_vector; - getSegmentNormalVector(enter_connection, &normal_vector); - // Check for possible intersections. - Eigen::Vector2d line_start_point(hole_contour_connection_vertex->x(), hole_contour_connection_vertex->y()); - Eigen::Vector2d direction_vector(outer_contour_connection_vertex->x() - hole_contour_connection_vertex->x(), - outer_contour_connection_vertex->y() - hole_contour_connection_vertex->y()); - auto next_vertex = std::next(outer_contour_connection_vertex); - if (next_vertex == outer_polygon_.vertices_end()){ - next_vertex = outer_polygon_.begin(); - } - Eigen::Vector2d test_point(next_vertex->x(), next_vertex->y()); - constexpr double kPointOffset = 0.0001; - Eigen::Vector2d outer_point(outer_contour_connection_vertex->x(), outer_contour_connection_vertex->y()); - if (isPointOnLeftSide(line_start_point, direction_vector, test_point)){ - Eigen::Vector2d translation_vector(next_vertex->x() - outer_contour_connection_vertex->x(), - next_vertex->y() - outer_contour_connection_vertex->y()); - translation_vector.normalize(); - outer_point += kPointOffset * translation_vector.normalized(); - } else { - outer_point += kPointOffset * normal_vector.normalized(); - } - next_vertex = hole_contour_connection_vertex; - if (next_vertex == hole_it->vertices_begin()){ - next_vertex = hole_it->vertices_end(); - next_vertex = std::prev(next_vertex); - } else { - next_vertex = std::prev(next_vertex); - } - Eigen::Vector2d hole_point(hole_contour_connection_vertex->x(), hole_contour_connection_vertex->y()); - test_point << next_vertex->x(), next_vertex->y(); - constexpr double kPiHalf = 3.1416 / 2; - if (isPointOnLeftSide(line_start_point, direction_vector, test_point) - && computeAngleBetweenVectors(test_point - line_start_point, direction_vector) < kPiHalf){ - Eigen::Vector2d translation_vector(next_vertex->x() - hole_contour_connection_vertex->x(), - next_vertex->y() - hole_contour_connection_vertex->y()); - translation_vector.normalize(); - hole_point += kPointOffset * translation_vector; - } else { - hole_point += kPointOffset * normal_vector; - } - Vector2d new_edge_direction = outer_point - hole_point; - new_edge_direction.normalize(); - constexpr double kShiftFactor = 0.0001; - bool intersection_caused = false; - CgalSegment2d new_edge(CgalPoint2d(hole_point.x() + kShiftFactor * new_edge_direction.x(), - hole_point.y() + kShiftFactor * new_edge_direction.y()),CgalPoint2d(outer_point.x() - - kShiftFactor * new_edge_direction.x(), outer_point.y() - kShiftFactor * new_edge_direction.y())); - if (!doPolygonAndSegmentIntersect(outer_polygon_, new_edge, false)){ - for (auto hole_iterator = hole_polygon_list_.begin(); hole_iterator != hole_polygon_list_.end(); ++hole_iterator){ - if (hole_iterator->size() < 3){ - continue; - } - if (doPolygonAndSegmentIntersect(*hole_iterator, new_edge, false)) { - intersection_caused = true; - break; - } - } - } else { - //std::cout << "Outer contour and connection intersect!" << std::endl; - intersection_caused = true; - } - if (intersection_caused){ - ++hole_it; - continue; - } - // Add new vertices to outer contour. - new_polygon.push_back(CgalPoint2d(hole_point.x(), hole_point.y())); - new_polygon.push_back(CgalPoint2d(outer_point.x(), outer_point.y())); - // Add remaining outer contour vertices to new polygon. - auto vertex_it = outer_contour_connection_vertex; - vertex_it = std::next(vertex_it); - for (; vertex_it != outer_polygon_.vertices_end(); ++vertex_it){ - new_polygon.push_back(*vertex_it); - } - if (!new_polygon.is_simple()){ - std::cout << "Hole orientation: " << hole_it->orientation() << std::endl; - std::cout <<"Hole vertex: " << *hole_contour_connection_vertex << std::endl; - std::cout <<"Outer vertex: " << *outer_contour_connection_vertex << std::endl; - printPolygon(new_polygon); - } - CHECK(new_polygon.is_simple()); - outer_polygon_ = new_polygon; - ++hole_it; - hole_polygon_list_.erase(std::prev(hole_it)); - } - } - //approximateContour(&outer_polygon_); - CHECK(outer_polygon_.is_simple()); - } - - void Plane::extractSlConcavityPointsOfHole(const CgalPolygon2d& hole, std::vector* concavity_positions){ - CHECK_NOTNULL(concavity_positions); - if (hole.is_empty()) { - return; - } else if (hole.size() == 1){ - concavity_positions->push_back(0); - } else if (hole.size() == 2){ - concavity_positions->push_back(0); - concavity_positions->push_back(1); - } else { - MatrixXd data_matrix(hole.size(), 2); - Eigen::Vector2d mean_position = Eigen::Vector2d::Zero(2,1); - auto hole_vertex_it = hole.vertices_begin(); - for (int row = 0; row < hole.size(); ++row){ - data_matrix(row, 0) = (*hole_vertex_it).x(); - data_matrix(row, 1) = (*hole_vertex_it).y(); - mean_position(0) += (*hole_vertex_it).x(); - mean_position(1) += (*hole_vertex_it).y(); - ++hole_vertex_it; - } - mean_position *= (1.0 / static_cast(hole.size())); - for (int row = 0; row < data_matrix.rows(); ++row) { - data_matrix.row(row) -= mean_position.transpose(); - } - Eigen::BDCSVD svd = data_matrix.bdcSvd(Eigen::ComputeFullU | Eigen::ComputeFullV); - Eigen::Vector2d orthonormal_to_PC_axis = svd.matrixV().col(1); - // Place vector to mean position of hole. - Eigen::Vector2d second_point_axis = mean_position + orthonormal_to_PC_axis; - double max_distance = 0; - double min_distance = 0; - int position_right_concavity_point; - int position_left_concavity_point; - hole_vertex_it = hole.vertices_begin(); - for (; hole_vertex_it != hole.vertices_end(); ++hole_vertex_it){ - Eigen::Vector2d vertex_point; - vertex_point << (*hole_vertex_it).x(), (*hole_vertex_it).y(); - double current_distance = distanceToLine(mean_position, orthonormal_to_PC_axis, vertex_point); - if (current_distance > max_distance) { - max_distance = current_distance; - position_right_concavity_point = std::distance(hole.vertices_begin(), hole_vertex_it); - } else if (current_distance < min_distance){ - min_distance = current_distance; - position_left_concavity_point = std::distance(hole.vertices_begin(), hole_vertex_it); - } - } - concavity_positions->push_back(position_left_concavity_point); - concavity_positions->push_back(position_right_concavity_point); - } - } - - const CgalPolygon2dContainer& Plane::getConvexPolygons() const { - return convex_polygon_list_; - } } diff --git a/convex_plane_decomposition/src/plane_extractor.cpp b/convex_plane_decomposition/src/plane_extractor.cpp index a885fcba..e1369da6 100644 --- a/convex_plane_decomposition/src/plane_extractor.cpp +++ b/convex_plane_decomposition/src/plane_extractor.cpp @@ -47,7 +47,7 @@ using namespace grid_map; void PlaneExtractor::runSlidingWindowPlaneExtractor(){ ROS_INFO("Starting sliding window plane extraction..."); - sliding_window_plane_extractor_.runDetection(); + sliding_window_plane_extractor_.runSlidingWindowDetector(); ROS_INFO("... done."); } diff --git a/convex_plane_decomposition/src/plane_factory.cpp b/convex_plane_decomposition/src/plane_factory.cpp index 9eb4b184..c659f4bb 100644 --- a/convex_plane_decomposition/src/plane_factory.cpp +++ b/convex_plane_decomposition/src/plane_factory.cpp @@ -1,7 +1,3 @@ -// -// Created by andrej on 3/1/20. -// - #include "plane_factory.hpp" using namespace convex_plane_extraction; @@ -17,81 +13,26 @@ void PlaneFactory::computeMapTransformation(){ transformation_xy_to_world_frame_.col(1) = (upper_right_cell_position - map_offset_).normalized(); } -void createPlanesFromLabeledImageAndPlaneParameters(const cv::Mat& labeled_image, const int number_of_labels, - const std::map& parameters){ +void PlaneFactory::createPlanesFromLabeledImageAndPlaneParameters(const cv::Mat& labeled_image, const int number_of_labels, + const std::map& plane_parameters){ CHECK_GT(number_of_labels, 0); - CHECK_EQ(number_of_labels, parameters.size()); + CHECK_EQ(number_of_labels, plane_parameters.size()); + Polygonizer polygonizer(parameters_.polygonizer_parameters); for (int label = 1; label < number_of_labels; ++label){ cv::Mat binary_image(labeled_image.size(), CV_8UC1); binary_image = labeled_image == label; - extractPolygonsFromBinaryImage(binary_image) + const CgalPolygon2d plane_contour = polygonizer.runPolygonizationOnBinaryImage(binary_image); + const auto plane_parameter_it = plane_parameters.find(label); + CHECK_NE(plane_parameter_it, plane_parameters.end()) << "Label not contained in plane parameter container!"; + if (isPlaneInclinationBelowThreshold(plane_parameter_it->second.normal_vector)){ + planes_.emplace_back(plane_contour, plane_parameter_it->second); + } else { + LOG(WARNING) << "Dropping plane due to exceeded inclination threshold!"; + } } } - - - -for (int label_it = 1; label_it <= number_of_extracted_planes_; ++label_it) { -auto polygonizer_start = std::chrono::system_clock::now(); -convex_plane_extraction::Plane plane; -std::vector> contours; -std::vector hierarchy; -cv::Mat binary_image(labeled_image_.size(), CV_8UC1); -binary_image = labeled_image_ == label_it; -constexpr int kUpSamplingFactor = 3; -cv::Mat binary_image_upsampled; -cv::resize(binary_image, binary_image_upsampled, cv::Size(kUpSamplingFactor*binary_image.size().height, kUpSamplingFactor*binary_image.size().width)); -findContours(binary_image_upsampled, contours, hierarchy, - CV_RETR_TREE, CV_CHAIN_APPROX_SIMPLE); -std::list> approx_contours; -int hierachy_it = 0; -for (auto& contour : contours) { -++hierachy_it; -std::vector approx_contour; -if (contour.size() <= 10){ -approx_contour = contour; -} else { -cv::approxPolyDP(contour, approx_contour, 9, true); -} -if (approx_contour.size() <= 2) { -LOG_IF(WARNING, hierarchy[hierachy_it-1][3] < 0 && contour.size() > 4) << "Removing parental polygon since too few vertices!"; -continue; -} -convex_plane_extraction::CgalPolygon2d polygon = convex_plane_extraction::createCgalPolygonFromOpenCvPoints(approx_contour.begin(), approx_contour.end(), resolution_ / kUpSamplingFactor); - -if(!polygon.is_simple()) { -convex_plane_extraction::Vector2i index; -index << (*polygon.begin()).x(), (*polygon.begin()).y(); -LOG(WARNING) << "Polygon starting at " << index << " is not simple, will be ignored!"; -continue; -} -constexpr int kParentFlagIndex = 3; -if (hierarchy[hierachy_it-1][kParentFlagIndex] < 0) { -//convex_plane_extraction::upSampleLongEdges(&polygon); -// convex_plane_extraction::approximateContour(&polygon); -CHECK(plane.addOuterPolygon(polygon)); -} else { -CHECK(plane.addHolePolygon(polygon)); -} -} -if(plane.hasOuterContour()) { -//LOG(WARNING) << "Dropping plane, no outer contour detected!"; -computePlaneFrameFromLabeledImage(binary_image, &plane); -auto polygonizer_end = std::chrono::system_clock::now(); -auto polygonizer_duration = std::chrono::duration_cast(polygonizer_end - polygonizer_start); -polygonizer_file << time_stamp.count() << ", " << polygonizer_duration.count() << "\n"; -if(plane.isValid()) { -LOG(INFO) << "Starting resolving holes..."; -plane.resolveHoles(); -LOG(INFO) << "done."; -auto decomposer_start = std::chrono::system_clock::now(); -CHECK(plane.decomposePlaneInConvexPolygons()); -auto decomposer_end = std::chrono::system_clock::now(); -auto decomposer_duration = std::chrono::duration_cast(decomposer_end - decomposer_start); -decomposer_file << time_stamp.count() << ", " << decomposer_duration.count() << "\n"; -planes_.push_back(plane); -} else { -LOG(WARNING) << "Dropping plane, normal vector could not be inferred!"; -} -} +bool PlaneFactory::isPlaneInclinationBelowThreshold(const Eigen::Vector3d& plane_normal_vector) const { + const Eigen::Vector3d z_axis(0,0,1); + return std::atan2(1.0, z_axis.dot(plane_normal_vector)) < (parameters_.plane_inclination_threshold_degrees / 180.0 * M_PI); } diff --git a/convex_plane_decomposition/src/polygon.cpp b/convex_plane_decomposition/src/polygon.cpp index 6d1dbd5d..d75328f5 100644 --- a/convex_plane_decomposition/src/polygon.cpp +++ b/convex_plane_decomposition/src/polygon.cpp @@ -2,24 +2,6 @@ namespace convex_plane_extraction { - void performConvexDecomposition(const CgalPolygon2d& polygon, CgalPolygon2dContainer* output_polygon_list){ - CHECK_GE(polygon.size(), 3); - CHECK(polygon.is_simple()); - LOG(INFO) << "Started convex decomposition..."; - size_t old_list_size = output_polygon_list->size(); - CGAL::optimal_convex_partition_2(polygon.vertices_begin(), - polygon.vertices_end(), - std::back_inserter(*output_polygon_list)); - - assert(CGAL::partition_is_valid_2(polygon.vertices_begin(), - polygon.vertices_end(), - polygon_list.begin(), - polygon_list.end())); -// *output_polygon_list = decomposeInnerApproximation(polygon); - CHECK_GT(output_polygon_list->size(), old_list_size); - LOG(INFO) << "done."; - } - bool doPolygonAndSegmentIntersect(const CgalPolygon2d& polygon, const CgalSegment2d& segment, bool print_flag){ for (auto vertex_it = polygon.vertices_begin(); vertex_it != polygon.vertices_end(); ++vertex_it){ auto next_vertex_it = std::next(vertex_it); @@ -201,29 +183,6 @@ namespace convex_plane_extraction { + (destination_point.y() - source_point.y()) * (destination_point.y() - source_point.y()))); } - // A dent is a vertex, which lies in a counter-clockwise oriented polygon on the left side of its neighbors. - // Dents cause non-convexity. - void detectDentLocations(std::map* dent_locations, const CgalPolygon2d& polygon){ - CHECK_NOTNULL(dent_locations); - CHECK(dent_locations->empty()); - CHECK(polygon.orientation() == CGAL::COUNTERCLOCKWISE); - for (auto source_it = polygon.vertices_begin(); source_it != polygon.vertices_end(); ++source_it){ - auto dent_it = next(source_it, polygon); - auto destination_it = next(dent_it, polygon); - Vector2d source_point = Vector2d(source_it->x(), source_it->y()); - Vector2d destination_point = Vector2d(destination_it->x(), destination_it->y()); - Vector2d direction_vector = destination_point - source_point; - Vector2d test_point = Vector2d(dent_it->x(), dent_it->y()); - const double kAngleThresholdRad = 0.001; // 0.05 deg in rad. - if(isPointOnLeftSide(source_point, direction_vector, test_point)){ - double angle = abs(computeAngleBetweenVectors(source_point - test_point, destination_point - test_point)); - // Ignore very shallow dents. Approximate convex decomposition. - if ( angle > kAngleThresholdRad) - dent_locations->insert(std::make_pair(angle, std::distance(polygon.vertices_begin(), dent_it))); - } - } - } - std::list decomposeInnerApproximation(const CgalPolygon2d& polygon){ CHECK(polygon.orientation() == CGAL::COUNTERCLOCKWISE); std::list return_list; @@ -469,4 +428,57 @@ namespace convex_plane_extraction { } } + std::pair getIndicesOfClosestVertexPair(const CgalPolygon2d& first_polygon, const CgalPolygon2d& second_polygon){ + CHECK_GT(first_polygon.size(), 0); + CHECK_GT(second_polygon.size(), 0); + std::multimap> buffer = getClosestVertexPairsOrdered(first_polygon, second_polygon); + CHECK(!buffer.empty()); + return buffer.begin()->second; + } + + std::multimap> getClosestVertexPairsOrdered(const CgalPolygon2d& first_polygon, const CgalPolygon2d& second_polygon){ + CHECK_GT(first_polygon.size(), 0); + CHECK_GT(second_polygon.size(), 0); + std::multimap> buffer; + for (auto vertex_it = first_polygon.vertices_begin(); vertex_it != first_polygon.vertices_end(); ++vertex_it){ + int first_vertex_index = std::distance(first_polygon.vertices_begin(), vertex_it); + double distance = std::numeric_limits::max(); + int second_vertex_index = 0; + for (auto second_vertex_it = second_polygon.vertices_begin(); second_vertex_it != second_polygon.vertices_begin(); ++second_vertex_it){ + const double temp_distance = sqrt(static_cast(*vertex_it - *second_vertex_it).squared_length()); + if (temp_distance < distance){ + distance = temp_distance; + second_vertex_index = std::distance(second_polygon.vertices_begin(), second_vertex_it); + } + } + buffer.insert(std::make_pair(distance, std::make_pair(first_vertex_index, second_vertex_index))); + } + return buffer; + } + + CgalPoint2d getPolygonVertexAtIndex(const CgalPolygon2d& polygon, int index){ + CHECK_GT(index, 0); + CHECK_LT(index, polygon.size()); + auto vertex_it = polygon.vertices_begin(); + std::advance(vertex_it, index); + return *vertex_it; + } + + bool doPointAndPolygonIntersect(const CgalPolygon2d& polygon, const CgalPoint2d& point, int& segment_target_vertex_index){ + for (auto vertex_it = polygon.vertices_begin(); vertex_it != polygon.vertices_end(); ++vertex_it) { + auto next_vertex_it = std::next(vertex_it); + if (next_vertex_it == polygon.vertices_end()) { + next_vertex_it = polygon.vertices_begin(); + } + CgalSegment2d test_segment(*vertex_it, *next_vertex_it); + if (test_segment.has_on(point)){ + segment_target_vertex_index = std::distance(polygon.vertices_begin(), next_vertex_it); + return true; + } + } + return false; + } + + CgalPolygon2d + } diff --git a/convex_plane_decomposition/src/polygonizer.cpp b/convex_plane_decomposition/src/polygonizer.cpp index 04a83bb1..e331347b 100644 --- a/convex_plane_decomposition/src/polygonizer.cpp +++ b/convex_plane_decomposition/src/polygonizer.cpp @@ -21,7 +21,8 @@ PolygonWithHoles Polygonizer::extractPolygonsFromBinaryImage(const cv::Mat& bina if (contour.size() <= 10) { approx_contour = contour; } else { - cv::approxPolyDP(contour, approx_contour, 9, true); + approx_contour = contour; // Do this at later stage so that no intersections with holes are generated. + //cv::approxPolyDP(contour, approx_contour, 9, true); } if (approx_contour.size() <= 2) { LOG_IF(WARNING, hierarchy[hierachy_it - 1][3] < 0 && contour.size() > 3) @@ -55,195 +56,263 @@ PolygonWithHoles Polygonizer::extractPolygonsFromBinaryImage(const cv::Mat& bina return plane_polygons; } -CgalPolygon2d Polygonizer::resolveHoles(PolygonWithHoles& polygon_with_holes) const{ +//CgalPolygon2d Polygonizer::resolveHoles(PolygonWithHoles& polygon_with_holes) const{ +// CgalPolygon2dContainer& holes = polygon_with_holes.holes; +// // Get hole part which is entirely contained in outer contour. +// // In the contour simplification stage intersections may have been introduced. +// removeAreasNotContainedInOuterContourFromHoles(polygon_with_holes.outer_contour, holes); +// if (holes.empty()) { +// return polygon_with_holes.outer_contour; +// } +// auto hole_it = holes.begin(); +// while(!holes.empty()) { +// if (hole_it == holes.end()){ +// hole_it = holes.begin(); +// } +// // Compute distance to outer contour for each hole. +// if (hole_it->size() < 3) { +// hole_it = holes.erase(hole_it); +// } else if (abs(hole_it->area()) < parameters_.hole_area_threshold_squared_meters) { +// hole_it = holes.erase(hole_it); +// } else { +// // Does one hole edge overlap with outer polygon? Treat this separately. +// doHole +// std::pair bridge_hole_outer_vertex = getIndicesOfClosestVertexPair(*hole_it, polygon_with_holes.outer_contour); +// CgalSegment2d bridge(getPolygonVertexAtIndex(*hole_it, bridge_hole_outer_vertex .first), +// getPolygonVertexAtIndex(polygon_with_holes.outer_contour, bridge_hole_outer_vertex .second)); +// int segment_target_vertex_index; +// if (doPointAndPolygonIntersect(polygon_with_holes.outer_contour, getPolygonVertexAtIndex(*hole_it, +// bridge_hole_outer_vertex.first), segment_target_vertex_index)){ +// addHoleToOuterContourAtVertexIndex(bridge_hole_outer_vertex.first, segment_target_vertex_index, *hole_it, polygon_with_holes.outer_contour); +// } +// int hole_connection_vertex_position; +// int outer_polygon_connection_vertex_position; +// bool valid_connection = true; +// int i = 0; +// for (const auto& position : connection_candidates){ +// auto hole_vertex_it = hole_it->vertices_begin(); +// std::advance(hole_vertex_it, position.second.first); +// bool print_flag = false; +// if (position.second.first == 7){ +// print_flag = true; +// } +// CgalPoint2d hole_vertex = *hole_vertex_it; +// // Get outer contour connection vertices sorted according to distance to hole vertex. +// auto outer_vertex_it = outer_polygon_.vertices_begin(); +// std::advance(outer_vertex_it, position.second.second); +// CgalVector2d direction = *outer_vertex_it - hole_vertex; +// direction = (1.0/direction.squared_length()) * direction; +// CgalSegment2d connection(hole_vertex + 0.0001 * direction, *outer_vertex_it - 0.0001 * direction); +// if (!doPolygonAndSegmentIntersect(outer_polygon_, connection, print_flag)){ +// valid_connection = true; +// for (auto hole_iterator = hole_polygons_.begin(); hole_iterator != hole_polygons_.end(); ++hole_iterator){ +// if (hole_iterator->size() < 3){ +// continue; +// } +// if (doPolygonAndSegmentIntersect(*hole_iterator, connection, print_flag)) { +// valid_connection = false; +// //std::cout << "Hole and connection intersect!" << std::endl; +// ++i; +// break; +// } +// } +// } else { +// //std::cout << "Outer contour and connection intersect!" << std::endl; +// ++i; +// valid_connection = false; +// } +// if (valid_connection){ +// hole_connection_vertex_position = position.second.first; +// outer_polygon_connection_vertex_position = position.second.second; +// break; +// } +// } +// if (!valid_connection){ +// CHECK_EQ(i, hole_it->size()*outer_polygon_.size()); +// LOG(WARNING) << "No valid connection found! " << i << " iterations."; +// ++hole_it; +// continue; +// } +// CHECK(valid_connection); +// // Perform the integration of the hole into the outer contour. +// auto outer_contour_connection_vertex = outer_polygon_.vertices_begin(); +// std::advance(outer_contour_connection_vertex, outer_polygon_connection_vertex_position); +// auto hole_contour_connection_vertex = hole_it->vertices_begin(); +// std::advance(hole_contour_connection_vertex, hole_connection_vertex_position); +// CgalPolygon2d new_polygon; +// // Start filling new polygon with outer contour. +// for (auto vertex_it = outer_polygon_.vertices_begin(); vertex_it != outer_contour_connection_vertex; ++vertex_it){ +// new_polygon.push_back(*vertex_it); +// } +// new_polygon.push_back(*outer_contour_connection_vertex); +// auto hole_vertex_it = hole_contour_connection_vertex; +// do { +// new_polygon.push_back(*hole_vertex_it); +// if (hole_vertex_it != std::prev(hole_it->vertices_end())){ +// hole_vertex_it = std::next(hole_vertex_it); +// } else { +// hole_vertex_it = hole_it->vertices_begin(); +// } +// } while(hole_vertex_it != hole_contour_connection_vertex); +// // Create new vertices next to connection points to avoid same enter and return path. +// CgalSegment2d enter_connection(*outer_contour_connection_vertex, *hole_contour_connection_vertex); +// Eigen::Vector2d normal_vector; +// getSegmentNormalVector(enter_connection, &normal_vector); +// // Check for possible intersections. +// Eigen::Vector2d line_start_point(hole_contour_connection_vertex->x(), hole_contour_connection_vertex->y()); +// Eigen::Vector2d direction_vector(outer_contour_connection_vertex->x() - hole_contour_connection_vertex->x(), +// outer_contour_connection_vertex->y() - hole_contour_connection_vertex->y()); +// auto next_vertex = std::next(outer_contour_connection_vertex); +// if (next_vertex == outer_polygon_.vertices_end()){ +// next_vertex = outer_polygon_.begin(); +// } +// Eigen::Vector2d test_point(next_vertex->x(), next_vertex->y()); +// constexpr double kPointOffset = 0.0001; +// Eigen::Vector2d outer_point(outer_contour_connection_vertex->x(), outer_contour_connection_vertex->y()); +// if (isPointOnLeftSide(line_start_point, direction_vector, test_point)){ +// Eigen::Vector2d translation_vector(next_vertex->x() - outer_contour_connection_vertex->x(), +// next_vertex->y() - outer_contour_connection_vertex->y()); +// translation_vector.normalize(); +// outer_point += kPointOffset * translation_vector.normalized(); +// } else { +// outer_point += kPointOffset * normal_vector.normalized(); +// } +// next_vertex = hole_contour_connection_vertex; +// if (next_vertex == hole_it->vertices_begin()){ +// next_vertex = hole_it->vertices_end(); +// next_vertex = std::prev(next_vertex); +// } else { +// next_vertex = std::prev(next_vertex); +// } +// Eigen::Vector2d hole_point(hole_contour_connection_vertex->x(), hole_contour_connection_vertex->y()); +// test_point << next_vertex->x(), next_vertex->y(); +// constexpr double kPiHalf = 3.1416 / 2; +// if (isPointOnLeftSide(line_start_point, direction_vector, test_point) +// && computeAngleBetweenVectors(test_point - line_start_point, direction_vector) < kPiHalf){ +// Eigen::Vector2d translation_vector(next_vertex->x() - hole_contour_connection_vertex->x(), +// next_vertex->y() - hole_contour_connection_vertex->y()); +// translation_vector.normalize(); +// hole_point += kPointOffset * translation_vector; +// } else { +// hole_point += kPointOffset * normal_vector; +// } +// Vector2d new_edge_direction = outer_point - hole_point; +// new_edge_direction.normalize(); +// constexpr double kShiftFactor = 0.0001; +// bool intersection_caused = false; +// CgalSegment2d new_edge(CgalPoint2d(hole_point.x() + kShiftFactor * new_edge_direction.x(), +// hole_point.y() + kShiftFactor * new_edge_direction.y()),CgalPoint2d(outer_point.x() - +// kShiftFactor * new_edge_direction.x(), outer_point.y() - kShiftFactor * new_edge_direction.y())); +// if (!doPolygonAndSegmentIntersect(outer_polygon_, new_edge, false)){ +// for (auto hole_iterator = hole_polygons_.begin(); hole_iterator != hole_polygons_.end(); ++hole_iterator){ +// if (hole_iterator->size() < 3){ +// continue; +// } +// if (doPolygonAndSegmentIntersect(*hole_iterator, new_edge, false)) { +// intersection_caused = true; +// break; +// } +// } +// } else { +// //std::cout << "Outer contour and connection intersect!" << std::endl; +// intersection_caused = true; +// } +// if (intersection_caused){ +// ++hole_it; +// continue; +// } +// // Add new vertices to outer contour. +// new_polygon.push_back(CgalPoint2d(hole_point.x(), hole_point.y())); +// new_polygon.push_back(CgalPoint2d(outer_point.x(), outer_point.y())); +// // Add remaining outer contour vertices to new polygon. +// auto vertex_it = outer_contour_connection_vertex; +// vertex_it = std::next(vertex_it); +// for (; vertex_it != outer_polygon_.vertices_end(); ++vertex_it){ +// new_polygon.push_back(*vertex_it); +// } +// if (!new_polygon.is_simple()){ +// std::cout << "Hole orientation: " << hole_it->orientation() << std::endl; +// std::cout <<"Hole vertex: " << *hole_contour_connection_vertex << std::endl; +// std::cout <<"Outer vertex: " << *outer_contour_connection_vertex << std::endl; +// printPolygon(new_polygon); +// } +// CHECK(new_polygon.is_simple()); +// outer_polygon_ = new_polygon; +// ++hole_it; +// hole_polygons_.erase(std::prev(hole_it)); +// } +// } +// //approximateContour(&outer_polygon_); +// CHECK(outer_polygon_.is_simple()); +//} + +void Polygonizer::removeAreasNotContainedInOuterContourFromHoles(const CgalPolygon2d& outer_polygon, std::vector& holes) const{ + auto hole_it = holes.begin(); + while(hole_it != holes.end()) { + std::vector buffer; + std::vector::const_iterator buffer_it; + CGAL::intersection(outer_polygon, *hole_it, std::back_inserter(buffer_it)); + if (buffer.empty()){ + hole_it = holes.erase(hole_it); + } else { + CHECK_EQ(buffer.size(), 1) << "Intersection of hole and outer contour cannot have multiple polygons!"; + *hole_it = CgalPolygon2d(buffer.begin()->outer_boundary().vertices_begin(), buffer.begin()->outer_boundary().vertices_end()); + ++hole_it; + } + } +} + +bool Polygonizer::addHoleToOuterContourAtVertexIndex(int segment_target_vertex_index, const CgalPolygon2d& hole, CgalPolygon2d& outer_contour) const{ + CHECK_EQ(outer_contour.orientation(), CGAL::COUNTERCLOCKWISE); + CHECK_EQ(hole.orientation(), CGAL::COUNTERCLOCKWISE); + auto outer_vertex_it = outer_contour.vertices_begin(); + std::advance(outer_vertex_it, segment_target_vertex_index); + const auto& hole_vertex_buffer = hole.container(); + // TODO + return false; +} + +CgalPolygon2d Polygonizer::resolveHolesWithVerticalConnection(PolygonWithHoles& polygon_with_holes) const{ CgalPolygon2dContainer& holes = polygon_with_holes.holes; + // Get hole part which is entirely contained in outer contour. + // In the contour simplification stage intersections may have been introduced. + removeAreasNotContainedInOuterContourFromHoles(polygon_with_holes.outer_contour, holes); if (holes.empty()) { return polygon_with_holes.outer_contour; } auto hole_it = holes.begin(); - while(!holes.empty()) { - if (hole_it == holes.end()){ - hole_it = holes.begin(); - } - // Compute distance to outer contour for each hole. - std::vector distance_to_outer_polygon; - std::vector outer_contour_connection_vertex_positions; // closest outer contour vertex for each hole - std::vector hole_connection_vertex_positions; + while(hole_it!= holes.end()) { if (hole_it->size() < 3) { - ++hole_it; - holes.erase(std::prev(hole_it)); + hole_it = holes.erase(hole_it); } else if (abs(hole_it->area()) < parameters_.hole_area_threshold_squared_meters) { + hole_it = holes.erase(hole_it); + } else { ++hole_it; - holes.erase(std::prev(hole_it)); - } else { - std::cout << "List size: " << holes.size() << std::endl; - std::cout << "Outer: " << std::endl; - printPolygon(polygon_with_holes.outer_contour); - std::cout << "Hole: " << std::endl; - printPolygon(*holes.begin()); - std::multimap> connection_candidates; - slConcavityHoleVertexSorting(*hole_it, &connection_candidates); - CHECK(connection_candidates.size() == hole_it->size()*outer_polygon_.size()); - // Instead of extracting only the 2 SL-concavity points, sort vertices according to SL-concavity measure. - // Then iterate over sorted vertices until a connection to the outer contour is not intersecting the polyogn. - // Implement function that checks for intersections with existing polygon contour. - int hole_connection_vertex_position; - int outer_polygon_connection_vertex_position; - bool valid_connection = true; - int i = 0; - for (const auto& position : connection_candidates){ - auto hole_vertex_it = hole_it->vertices_begin(); - std::advance(hole_vertex_it, position.second.first); - bool print_flag = false; - if (position.second.first == 7){ - print_flag = true; - } - CgalPoint2d hole_vertex = *hole_vertex_it; - // Get outer contour connection vertices sorted according to distance to hole vertex. - auto outer_vertex_it = outer_polygon_.vertices_begin(); - std::advance(outer_vertex_it, position.second.second); - CgalVector2d direction = *outer_vertex_it - hole_vertex; - direction = (1.0/direction.squared_length()) * direction; - CgalSegment2d connection(hole_vertex + 0.0001 * direction, *outer_vertex_it - 0.0001 * direction); - if (!doPolygonAndSegmentIntersect(outer_polygon_, connection, print_flag)){ - valid_connection = true; - for (auto hole_iterator = hole_polygon_list_.begin(); hole_iterator != hole_polygon_list_.end(); ++hole_iterator){ - if (hole_iterator->size() < 3){ - continue; - } - if (doPolygonAndSegmentIntersect(*hole_iterator, connection, print_flag)) { - valid_connection = false; - //std::cout << "Hole and connection intersect!" << std::endl; - ++i; - break; - } - } - } else { - //std::cout << "Outer contour and connection intersect!" << std::endl; - ++i; - valid_connection = false; - } - if (valid_connection){ - hole_connection_vertex_position = position.second.first; - outer_polygon_connection_vertex_position = position.second.second; - break; - } - } - if (!valid_connection){ - CHECK_EQ(i, hole_it->size()*outer_polygon_.size()); - LOG(WARNING) << "No valid connection found! " << i << " iterations."; - ++hole_it; - continue; - } - CHECK(valid_connection); - // Perform the integration of the hole into the outer contour. - auto outer_contour_connection_vertex = outer_polygon_.vertices_begin(); - std::advance(outer_contour_connection_vertex, outer_polygon_connection_vertex_position); - auto hole_contour_connection_vertex = hole_it->vertices_begin(); - std::advance(hole_contour_connection_vertex, hole_connection_vertex_position); - CgalPolygon2d new_polygon; - // Start filling new polygon with outer contour. - for (auto vertex_it = outer_polygon_.vertices_begin(); vertex_it != outer_contour_connection_vertex; ++vertex_it){ - new_polygon.push_back(*vertex_it); - } - new_polygon.push_back(*outer_contour_connection_vertex); - auto hole_vertex_it = hole_contour_connection_vertex; - do { - new_polygon.push_back(*hole_vertex_it); - if (hole_vertex_it != std::prev(hole_it->vertices_end())){ - hole_vertex_it = std::next(hole_vertex_it); - } else { - hole_vertex_it = hole_it->vertices_begin(); - } - } while(hole_vertex_it != hole_contour_connection_vertex); - // Create new vertices next to connection points to avoid same enter and return path. - CgalSegment2d enter_connection(*outer_contour_connection_vertex, *hole_contour_connection_vertex); - Eigen::Vector2d normal_vector; - getSegmentNormalVector(enter_connection, &normal_vector); - // Check for possible intersections. - Eigen::Vector2d line_start_point(hole_contour_connection_vertex->x(), hole_contour_connection_vertex->y()); - Eigen::Vector2d direction_vector(outer_contour_connection_vertex->x() - hole_contour_connection_vertex->x(), - outer_contour_connection_vertex->y() - hole_contour_connection_vertex->y()); - auto next_vertex = std::next(outer_contour_connection_vertex); - if (next_vertex == outer_polygon_.vertices_end()){ - next_vertex = outer_polygon_.begin(); - } - Eigen::Vector2d test_point(next_vertex->x(), next_vertex->y()); - constexpr double kPointOffset = 0.0001; - Eigen::Vector2d outer_point(outer_contour_connection_vertex->x(), outer_contour_connection_vertex->y()); - if (isPointOnLeftSide(line_start_point, direction_vector, test_point)){ - Eigen::Vector2d translation_vector(next_vertex->x() - outer_contour_connection_vertex->x(), - next_vertex->y() - outer_contour_connection_vertex->y()); - translation_vector.normalize(); - outer_point += kPointOffset * translation_vector.normalized(); - } else { - outer_point += kPointOffset * normal_vector.normalized(); - } - next_vertex = hole_contour_connection_vertex; - if (next_vertex == hole_it->vertices_begin()){ - next_vertex = hole_it->vertices_end(); - next_vertex = std::prev(next_vertex); - } else { - next_vertex = std::prev(next_vertex); - } - Eigen::Vector2d hole_point(hole_contour_connection_vertex->x(), hole_contour_connection_vertex->y()); - test_point << next_vertex->x(), next_vertex->y(); - constexpr double kPiHalf = 3.1416 / 2; - if (isPointOnLeftSide(line_start_point, direction_vector, test_point) - && computeAngleBetweenVectors(test_point - line_start_point, direction_vector) < kPiHalf){ - Eigen::Vector2d translation_vector(next_vertex->x() - hole_contour_connection_vertex->x(), - next_vertex->y() - hole_contour_connection_vertex->y()); - translation_vector.normalize(); - hole_point += kPointOffset * translation_vector; - } else { - hole_point += kPointOffset * normal_vector; - } - Vector2d new_edge_direction = outer_point - hole_point; - new_edge_direction.normalize(); - constexpr double kShiftFactor = 0.0001; - bool intersection_caused = false; - CgalSegment2d new_edge(CgalPoint2d(hole_point.x() + kShiftFactor * new_edge_direction.x(), - hole_point.y() + kShiftFactor * new_edge_direction.y()),CgalPoint2d(outer_point.x() - - kShiftFactor * new_edge_direction.x(), outer_point.y() - kShiftFactor * new_edge_direction.y())); - if (!doPolygonAndSegmentIntersect(outer_polygon_, new_edge, false)){ - for (auto hole_iterator = hole_polygon_list_.begin(); hole_iterator != hole_polygon_list_.end(); ++hole_iterator){ - if (hole_iterator->size() < 3){ - continue; - } - if (doPolygonAndSegmentIntersect(*hole_iterator, new_edge, false)) { - intersection_caused = true; - break; - } - } - } else { - //std::cout << "Outer contour and connection intersect!" << std::endl; - intersection_caused = true; - } - if (intersection_caused){ - ++hole_it; - continue; - } - // Add new vertices to outer contour. - new_polygon.push_back(CgalPoint2d(hole_point.x(), hole_point.y())); - new_polygon.push_back(CgalPoint2d(outer_point.x(), outer_point.y())); - // Add remaining outer contour vertices to new polygon. - auto vertex_it = outer_contour_connection_vertex; - vertex_it = std::next(vertex_it); - for (; vertex_it != outer_polygon_.vertices_end(); ++vertex_it){ - new_polygon.push_back(*vertex_it); - } - if (!new_polygon.is_simple()){ - std::cout << "Hole orientation: " << hole_it->orientation() << std::endl; - std::cout <<"Hole vertex: " << *hole_contour_connection_vertex << std::endl; - std::cout <<"Outer vertex: " << *outer_contour_connection_vertex << std::endl; - printPolygon(new_polygon); - } - CHECK(new_polygon.is_simple()); - outer_polygon_ = new_polygon; - ++hole_it; - hole_polygon_list_.erase(std::prev(hole_it)); } } - //approximateContour(&outer_polygon_); - CHECK(outer_polygon_.is_simple()); + CgalPolygonWithHoles2d temp_polygon_with_holes(polygon_with_holes.outer_contour, + polygon_with_holes.holes.begin(), polygon_with_holes.holes.end()); + CgalPolygon2d resolved_polygon; + connect_holes(temp_polygon_with_holes, std::back_inserter (resolved_polygon.container())); + // Create offset polygon to return + constexpr double kSmallOffsetMeters = 1e-12; + std::vector> offset_polygons = CGAL::create_interior_skeleton_and_offset_polygons_2(1e-12, resolved_polygon); + CHECK_EQ(offset_polygons.size(), 1); + return **offset_polygons.begin(); +} + +void Polygonizer::approximatePolygon(CgalPolygon2d& polygon) const{ + std::vector contour; + for (const auto& vertex : polygon.container()){ + contour.emplace_back(vertex.x(), vertex.y()); + } + std::vector approx_contour; + cv::approxPolyDP(contour, approx_contour, parameters_.contour_approximation_deviation_threshold, true); +} + +CgalPolygon2d Polygonizer::runPolygonizationOnBinaryImage(const cv::Mat& binary_image) const{ + PolygonWithHoles polygon_with_holes = extractPolygonsFromBinaryImage(binary_image); + CgalPolygon2d polygon = resolveHolesWithVerticalConnection(polygon_with_holes); + approximatePolygon(polygon); + return polygon; } \ No newline at end of file diff --git a/convex_plane_decomposition/src/sliding_window_plane_extractor.cpp b/convex_plane_decomposition/src/sliding_window_plane_extractor.cpp index 41f3b3a1..27d4ea60 100644 --- a/convex_plane_decomposition/src/sliding_window_plane_extractor.cpp +++ b/convex_plane_decomposition/src/sliding_window_plane_extractor.cpp @@ -14,16 +14,14 @@ namespace sliding_window_plane_extractor{ elevation_layer_(layer_height), normal_layer_prefix_(normal_layer_prefix), parameters_(parameters), - ransac_parameters_(ransac_parameters){ + ransac_parameters_(parameters.ransac_parameters){ number_of_extracted_planes_ = -1; const grid_map::Size map_size = map.getSize(); binary_image_patch_ = cv::Mat(map_size(0), map_size(1), CV_8U, false); binary_image_angle_ = cv::Mat(map_size(0), map_size(1), CV_8U, false); - computeMapTransformation(); } - void SlidingWindowPlaneExtractor::runDetection(){ - VLOG(1) << "Starting detection!"; + void SlidingWindowPlaneExtractor::runSlidingWindowDetector(){ const grid_map::Size map_size = map_.getSize(); Eigen::Matrix normal_x(map_size(0), map_size(1)); Eigen::Matrix normal_y(map_size(0), map_size(1)); @@ -100,7 +98,6 @@ namespace sliding_window_plane_extractor{ } void SlidingWindowPlaneExtractor::runSurfaceNormalCurvatureDetection(){ - VLOG(1) << "Starting surface normal edge detection!"; CHECK(map_.exists("normals_x")); CHECK(map_.exists("normals_y")); CHECK(map_.exists("normals_z")); @@ -119,7 +116,7 @@ namespace sliding_window_plane_extractor{ const float angle_in_row_direction_radians = std::atan2(1.0, normal_vector_center.dot(normal_vector_next_row)); const double gradient_magnitude_normalized = sqrt((angle_in_col_direction_radians*angle_in_col_direction_radians) + (angle_in_row_direction_radians * angle_in_row_direction_radians)) / (sqrt(2.0)*M_PI); - binary_image_angle_.at(rows, cols) = gradient_magnitude_normalized <= parameters_.surface_normal_angle_threshold; + binary_image_angle_.at(rows, cols) = gradient_magnitude_normalized <= parameters_.surface_normal_angle_threshold_degrees; } } } @@ -152,13 +149,14 @@ namespace sliding_window_plane_extractor{ parameters_.plane_patch_error_threshold = parameters.plane_patch_error_threshold; } + /* void SlidingWindowPlaneExtractor::slidingWindowPlaneVisualization(){ Eigen::MatrixXf new_layer = Eigen::MatrixXf::Zero(map_.getSize().x(), map_.getSize().y()); cv::cv2eigen(labeled_image_, new_layer); map_.add("sliding_window_planes", new_layer); std::cout << "Added ransac plane layer!" << std::endl; } - +*/ void SlidingWindowPlaneExtractor::extractPlaneParametersFromLabeledImage(){ if (number_of_extracted_planes_ < 1){ LOG(WARNING) << "No planes detected by Sliding Window Plane Extractor!"; @@ -170,73 +168,6 @@ namespace sliding_window_plane_extractor{ } } - void SlidingWindowPlaneExtractor::generatePlanes(){ - for (int label_it = 1; label_it <= number_of_extracted_planes_; ++label_it) { - auto polygonizer_start = std::chrono::system_clock::now(); - convex_plane_extraction::Plane plane; - std::vector> contours; - std::vector hierarchy; - cv::Mat binary_image(labeled_image_.size(), CV_8UC1); - binary_image = labeled_image_ == label_it; - constexpr int kUpSamplingFactor = 3; - cv::Mat binary_image_upsampled; - cv::resize(binary_image, binary_image_upsampled, cv::Size(kUpSamplingFactor*binary_image.size().height, kUpSamplingFactor*binary_image.size().width)); - findContours(binary_image_upsampled, contours, hierarchy, - CV_RETR_TREE, CV_CHAIN_APPROX_SIMPLE); - std::list> approx_contours; - int hierachy_it = 0; - for (auto& contour : contours) { - ++hierachy_it; - std::vector approx_contour; - if (contour.size() <= 10){ - approx_contour = contour; - } else { - cv::approxPolyDP(contour, approx_contour, 9, true); - } - if (approx_contour.size() <= 2) { - LOG_IF(WARNING, hierarchy[hierachy_it-1][3] < 0 && contour.size() > 4) << "Removing parental polygon since too few vertices!"; - continue; - } - convex_plane_extraction::CgalPolygon2d polygon = convex_plane_extraction::createCgalPolygonFromOpenCvPoints(approx_contour.begin(), approx_contour.end(), resolution_ / kUpSamplingFactor); - - if(!polygon.is_simple()) { - convex_plane_extraction::Vector2i index; - index << (*polygon.begin()).x(), (*polygon.begin()).y(); - LOG(WARNING) << "Polygon starting at " << index << " is not simple, will be ignored!"; - continue; - } - constexpr int kParentFlagIndex = 3; - if (hierarchy[hierachy_it-1][kParentFlagIndex] < 0) { - //convex_plane_extraction::upSampleLongEdges(&polygon); -// convex_plane_extraction::approximateContour(&polygon); - CHECK(plane.addOuterPolygon(polygon)); - } else { - CHECK(plane.addHolePolygon(polygon)); - } - } - if(plane.hasOuterContour()) { - //LOG(WARNING) << "Dropping plane, no outer contour detected!"; - computePlaneFrameFromLabeledImage(binary_image, &plane); - auto polygonizer_end = std::chrono::system_clock::now(); - auto polygonizer_duration = std::chrono::duration_cast(polygonizer_end - polygonizer_start); - polygonizer_file << time_stamp.count() << ", " << polygonizer_duration.count() << "\n"; - if(plane.isValid()) { - LOG(INFO) << "Starting resolving holes..."; - plane.resolveHoles(); - LOG(INFO) << "done."; - auto decomposer_start = std::chrono::system_clock::now(); - CHECK(plane.decomposePlaneInConvexPolygons()); - auto decomposer_end = std::chrono::system_clock::now(); - auto decomposer_duration = std::chrono::duration_cast(decomposer_end - decomposer_start); - decomposer_file << time_stamp.count() << ", " << decomposer_duration.count() << "\n"; - planes_.push_back(plane); - } else { - LOG(WARNING) << "Dropping plane, normal vector could not be inferred!"; - } - } - } - } - void SlidingWindowPlaneExtractor::computePlaneParametersForLabel(int label){ CHECK(map_.exists(elevation_layer_)); CHECK(map_.exists("normals_x")); @@ -288,8 +219,8 @@ namespace sliding_window_plane_extractor{ for (const auto& plane : planes){ const std::vector& plane_point_indices = (*plane.get()).indices_of_assigned_points(); CHECK(!plane_point_indices.empty()); - Eigen::Vector3d support_vector; - Eigen::Vector3d normal_vector; + support_vector = Eigen::Vector3d::Zero(); + normal_vector = Eigen::Vector3d::Zero(); for (const auto index : plane_point_indices) { const auto &point = points_with_normal.at(index).first; const auto &normal = points_with_normal.at(index).second; @@ -307,9 +238,9 @@ namespace sliding_window_plane_extractor{ normal_vector /= static_cast(plane_point_indices.size()); const convex_plane_extraction::PlaneParameters temp_plane_parameters(normal_vector, support_vector); if (label_counter == 0) { - plane_parameters_.emplace(label, temp_plane_parameters); + label_plane_parameters_map_.emplace(label, temp_plane_parameters); } else { - plane_parameters_.emplace(number_of_extracted_planes_ + label_counter, temp_plane_parameters); + label_plane_parameters_map_.emplace(number_of_extracted_planes_ + label_counter, temp_plane_parameters); } ++label_counter; } @@ -320,7 +251,7 @@ namespace sliding_window_plane_extractor{ } if (refinement_performed){ const convex_plane_extraction::PlaneParameters temp_plane_parameters(normal_vector, support_vector); - plane_parameters_.emplace(label, temp_plane_parameters); + label_plane_parameters_map_.emplace(label, temp_plane_parameters); } } @@ -337,6 +268,24 @@ namespace sliding_window_plane_extractor{ return average_error; } + void SlidingWindowPlaneExtractor::runExtraction(){ + VLOG(1) << "Started sliding window plane detector ..."; + runSlidingWindowDetector(); + VLOG(1) << "done."; + if (parameters_.include_curvature_detection){ + VLOG(1) << "Starting surface normal curvature detection ..."; + runSurfaceNormalCurvatureDetection(); + VLOG(1) << "done."; + } + VLOG(1) << "Starting segmentation ..."; + runSegmentation(); + VLOG(1) << "done."; + VLOG(1) << "Extracting plane parameters from labeled image ..."; + extractPlaneParametersFromLabeledImage(); + VLOG(1) << "done."; + } + + /* void SlidingWindowPlaneExtractor::visualizeConvexDecomposition(jsk_recognition_msgs::PolygonArray* ros_polygon_array){ CHECK_NOTNULL(ros_polygon_array); if (planes_.empty()){ @@ -370,30 +319,6 @@ namespace sliding_window_plane_extractor{ } } } - - void SlidingWindowPlaneExtractor::exportConvexPolygons(const std::string& path) const { - std::ofstream output_file; - output_file.open(path + "convex_polygons.txt", std::ofstream::app); - std::chrono::milliseconds time_stamp = std::chrono::duration_cast( - std::chrono::system_clock::now().time_since_epoch()); - for (const auto& plane : planes_){ - for (const auto& polygon : plane.getConvexPolygons()){ - output_file << time_stamp.count() << ", "; - for (const auto& vertex : polygon){ - output_file << vertex.x() << ", "; - } - for (auto vertex_it = polygon.vertices_begin(); vertex_it != polygon.vertices_end(); ++vertex_it){ - output_file << vertex_it->y(); - if (vertex_it != std::prev(polygon.vertices_end())){ - output_file << ", "; - } else { - output_file << "\n"; - } - } - } - } - output_file.close(); - LOG(INFO) << "Exported polygons!"; - } +*/ } From a0149efa3a703b68f78eb248e5c1d6f231295639 Mon Sep 17 00:00:00 2001 From: andrej1001 Date: Wed, 4 Mar 2020 14:15:07 +0100 Subject: [PATCH 020/504] Refactoring continued. --- .../config/parameters.yaml | 32 +++++++ .../include/convex_decomposer.hpp | 4 +- .../include/convex_plane_extraction_ros.hpp | 18 +--- .../include/pipeline.hpp | 12 ++- .../include/pipeline_ros.hpp | 20 ++++ convex_plane_decomposition/include/plane.hpp | 6 +- .../include/plane_factory.hpp | 17 ++++ .../src/convex_plane_extraction_node.cpp | 94 +------------------ .../src/convex_plane_extraction_ros.cpp | 8 +- .../src/grid_map_preprocessing.cpp | 5 +- convex_plane_decomposition/src/pipeline.cpp | 75 ++++++++------- .../src/pipeline_ros.cpp | 5 + convex_plane_decomposition/src/plane.cpp | 72 -------------- .../src/plane_factory.cpp | 65 +++++++++++++ 14 files changed, 205 insertions(+), 228 deletions(-) create mode 100644 convex_plane_decomposition/config/parameters.yaml create mode 100644 convex_plane_decomposition/include/pipeline_ros.hpp create mode 100644 convex_plane_decomposition/src/pipeline_ros.cpp diff --git a/convex_plane_decomposition/config/parameters.yaml b/convex_plane_decomposition/config/parameters.yaml new file mode 100644 index 00000000..8ef9b19c --- /dev/null +++ b/convex_plane_decomposition/config/parameters.yaml @@ -0,0 +1,32 @@ +input_map_topic: '/elevation_mapping/elevation_map' + + + +plane_factory: + plane_inclination_threshold_degrees : 70 + +polygonizer: + upsampling_factor : 3 + activate_long_edge_upsampling : false + activate_contour_approximation : false + hole_area_threshold_squared_meters : 2e-3 + +convex_decomposer: + decomposer_type : 'optimal_decompostion' + +sliding_window_plane_extractor: + kernel_size : 3 + plane_patch_error_threshold : 0.004 + surface_normal_angle_threshold_degrees : 5.0 + include_curvature_detection : false + include_ransac_refinement : false + global_plane_fit_error_threshold : 0.02 + +ransac_plane_refinement: + probability : 0.01 + min_points : 200 + epsilon : 0.004 + cluster_epsilon : 0.0282842712475 + # Set maximum normal deviation. 0.98 < dot(surface_normal, point_normal); + normal_threshold : 0.98 + diff --git a/convex_plane_decomposition/include/convex_decomposer.hpp b/convex_plane_decomposition/include/convex_decomposer.hpp index f3b5f52a..680b2b0b 100644 --- a/convex_plane_decomposition/include/convex_decomposer.hpp +++ b/convex_plane_decomposition/include/convex_decomposer.hpp @@ -22,14 +22,14 @@ class ConvexDecomposer { CgalPolygon2dContainer performConvexDecomposition(const CgalPolygon2d& polygon) const; + private: + CgalPolygon2dContainer performOptimalConvexDecomposition(const CgalPolygon2d& polygon) const; CgalPolygon2dContainer performInnerConvexApproximation(const CgalPolygon2d& polygon) const; std::multimap detectDentLocations(const CgalPolygon2d& polygon) const; - private: - ConvexDecomposerParameters parameters_; }; diff --git a/convex_plane_decomposition/include/convex_plane_extraction_ros.hpp b/convex_plane_decomposition/include/convex_plane_extraction_ros.hpp index a0d49bcf..dc4cbf1e 100644 --- a/convex_plane_decomposition/include/convex_plane_extraction_ros.hpp +++ b/convex_plane_decomposition/include/convex_plane_extraction_ros.hpp @@ -3,16 +3,14 @@ #include #include -#include - #include +#include #include -#include "export_utils.hpp" #include "grid_map_preprocessing.hpp" -#include "plane_extractor.hpp" -#include "ransac_plane_extractor.hpp" +#include "pipeline_ros.hpp" + namespace convex_plane_extraction { @@ -68,14 +66,8 @@ class ConvexPlaneExtractionROS ros::Publisher outer_contours_publisher_; - ros::Publisher hole_contours_publsiher_; - - //! Ransac plane extractor parameters. - ransac_plane_extractor::RansacPlaneExtractorParameters ransac_parameters_; - - PlaneExtractorType plane_extractor_selector_; - - sliding_window_plane_extractor::SlidingWindowParameters sliding_window_parameters_; + //! Convex Plane Extraction Pipeline. + PipelineROS pipeline_ros_; }; diff --git a/convex_plane_decomposition/include/pipeline.hpp b/convex_plane_decomposition/include/pipeline.hpp index 8a4edaae..50279600 100644 --- a/convex_plane_decomposition/include/pipeline.hpp +++ b/convex_plane_decomposition/include/pipeline.hpp @@ -11,7 +11,6 @@ struct PipelineParameters{ sliding_window_plane_extractor::SlidingWindowPlaneExtractorParameters sliding_window_plane_extractor_parameters = sliding_window_plane_extractor::SlidingWindowPlaneExtractorParameters(); PlaneFactoryParameters plane_factory_parameters_ = PlaneFactoryParameters(); - ConvexDecomposerParameters convex_decomposer_parameters = ConvexDecomposerParameters(); }; struct GridMapParameters{ @@ -25,19 +24,22 @@ struct GridMapParameters{ class Pipeline { public: - explicit Pipeline(const PipelineParameters& parameters) - : parameters_(parameters){}; + Pipeline(const PipelineParameters& pipeline_parameters, const GridMapParameters& grid_map_parameters); - void runPipeline(); + Polygon3dVectorContainer getConvexPolygons() const; + Polygon3dVectorContainer getPlaneContours() const; private: - void exportConvexPolygons(const std::string& export_path) const; +// void exportConvexPolygons(const std::string& export_path) const; PipelineParameters pipeline_parameters_; GridMapParameters grid_map_parameters_; + sliding_window_plane_extractor::SlidingWindowPlaneExtractor sliding_window_plane_extractor_; + PlaneFactory plane_factory_; + }; } // namespace_convex_plane_extraction #endif //CONVEX_PLANE_EXTRACTION__PIPELINE_HPP_ diff --git a/convex_plane_decomposition/include/pipeline_ros.hpp b/convex_plane_decomposition/include/pipeline_ros.hpp new file mode 100644 index 00000000..c082151f --- /dev/null +++ b/convex_plane_decomposition/include/pipeline_ros.hpp @@ -0,0 +1,20 @@ +#ifndef CONVEX_PLANE_EXTRACTION__PIPELINE_ROS_HPP_ +#define CONVEX_PLANE_EXTRACTION__PIPELINE_ROS_HPP_ + +#include + +#include "pipeline.hpp" + +namespace convex_plane_extraction { + +PipelineParameters loadPipelineParameters() + +class PipelineROS { + + private: + + Pipeline pipeline_; +}; + +} // namespace convex_plane_extraction +#endif //CONVEX_PLANE_EXTRACTION__PIPELINE_ROS_HPP_ diff --git a/convex_plane_decomposition/include/plane.hpp b/convex_plane_decomposition/include/plane.hpp index 80e08443..d51e7069 100644 --- a/convex_plane_decomposition/include/plane.hpp +++ b/convex_plane_decomposition/include/plane.hpp @@ -27,6 +27,10 @@ namespace convex_plane_extraction { normal_vector_(parameters.normal_vector), support_vector_(parameters.support_vector){} + PlaneParameters getPlaneParameters() const { + return PlaneParameters(normal_vector_, support_vector_); + } + bool setPlaneContour(const CgalPolygon2d& plane_contour){ plane_contour_ = plane_contour; } @@ -51,8 +55,6 @@ namespace convex_plane_extraction { return plane_contour_; } - bool isValid() const; - bool convertConvexPolygonsToWorldFrame(Polygon3dVectorContainer* output_container, const Eigen::Matrix2d& transformation, const Eigen::Vector2d& map_position) const; bool convertOuterPolygonToWorldFrame(Polygon3dVectorContainer* output_container, const Eigen::Matrix2d& transformation, const Eigen::Vector2d& map_position) const; diff --git a/convex_plane_decomposition/include/plane_factory.hpp b/convex_plane_decomposition/include/plane_factory.hpp index 5fbc2bbe..8c6e5f07 100644 --- a/convex_plane_decomposition/include/plane_factory.hpp +++ b/convex_plane_decomposition/include/plane_factory.hpp @@ -4,6 +4,7 @@ #include #include +#include "convex_decomposer.hpp" #include "plane.hpp" #include "polygonizer.hpp" @@ -11,6 +12,7 @@ namespace convex_plane_extraction { struct PlaneFactoryParameters{ PolygonizerParameters polygonizer_parameters = PolygonizerParameters(); + ConvexDecomposerParameters convex_decomposer_parameters = ConvexDecomposerParameters(); double plane_inclination_threshold_degrees = 70; }; @@ -26,12 +28,27 @@ class PlaneFactory { void createPlanesFromLabeledImageAndPlaneParameters(const cv::Mat& labeled_image, const int number_of_labels, const std::map& plane_parameters); + void decomposePlanesInConvexPolygons(); + + Polygon3dVectorContainer getConvexPolygonsInWorldFrame() const; + + Polygon3dVectorContainer getPlaneContoursInWorldFrame() const; + private: void computeMapTransformation(); bool isPlaneInclinationBelowThreshold(const Eigen::Vector3d& plane_normal_vector) const; + Eigen::Vector3d convertPlanePointToWorldFrame(const CgalPoint2d& point, + const PlaneParameters& plane_parameters) const; + + Polygon3dVectorContainer convertPlanePolygonsToWorldFrame(const CgalPolygon2dContainer& polygons, + const PlaneParameters& plane_parameters) const; + + Polygon3dVectorContainer convertPlanePolygonToWorldFrame(const CgalPolygon2d& polygon, + const PlaneParameters& plane_parameters) const; + // Grid map related members. grid_map::GridMap& map_; Eigen::Matrix2d transformation_xy_to_world_frame_; diff --git a/convex_plane_decomposition/src/convex_plane_extraction_node.cpp b/convex_plane_decomposition/src/convex_plane_extraction_node.cpp index 0d5112e6..c13c893b 100644 --- a/convex_plane_decomposition/src/convex_plane_extraction_node.cpp +++ b/convex_plane_decomposition/src/convex_plane_extraction_node.cpp @@ -1,11 +1,3 @@ -/* - * filters_demo_node.cpp - * - * Created on: Aug 14, 2017 - * Author: Peter Fankhauser - * Institute: ETH Zurich, ANYbotics - */ - #include "convex_plane_extraction_ros.hpp" #include @@ -16,94 +8,10 @@ int main(int argc, char** argv) FLAGS_alsologtostderr = 1; FLAGS_colorlogtostderr = 1; google::InitGoogleLogging(argv[0]); - ros::init(argc, argv, "grid_map_segmentation_demo"); + ros::init(argc, argv, "convex_plane_extraction"); ros::NodeHandle nodeHandle("~"); bool success; convex_plane_extraction::ConvexPlaneExtractionROS convex_plane_extraction_ros(nodeHandle, success); if (success) ros::spin(); return 0; } - - - - - -///* -// * filters_demo_node.cpp -// * -// * Created on: Aug 14, 2017 -// * Author: Peter Fankhauser -// * Institute: ETH Zurich, ANYbotics -// */ -// -//#include -//#include -//#include -//#include -//#include -// -//using namespace grid_map; -// -//class GridMapFilterChain -// -// -//(const grid_map_msgs::GridMapPtr& message) -//{ -// GridMap inputMap; -// GridMapRosConverter::fromMessage(message, inputMap); -// ROS_INFO("I heard: [%s]", msg->data.c_str()); -//} -// -//int main(int argc, char** argv) -//{ -// ros::init(argc, argv, "grid_map_filters_demo"); -// ros::NodeHandle nodeHandle("~"); -// ros::Subscriber subscriber = nodeHandle.subscribe("grid_map_in", 1000, chatterCallback); -// ros::Publisher publisher = nodeHandle.advertise("grid_map_out", 1, true); -// -// // Setup filter chain. -// filters::FilterChain filterChain("grid_map::GridMap"); -// if (!filterChain.configure("grid_map_filters", nodeHandle)) { -// ROS_ERROR("Could not configure the filter chain!"); -// return false; -// } -// -// // Create input grid map. -// GridMap inputMap({"elevation"}); -// inputMap.setFrameId("map"); -// inputMap.setGeometry(Length(0.7, 0.7), 0.01, Position(0.0, 0.0)); -// ROS_INFO("Created map with size %f x %f m (%i x %i cells).\n The center of the map is located at (%f, %f) in the %s frame.", -// inputMap.getLength().x(), inputMap.getLength().y(), -// inputMap.getSize()(0), inputMap.getSize()(1), -// inputMap.getPosition().x(), inputMap.getPosition().y(), inputMap.getFrameId().c_str()); -// inputMap["elevation"].setRandom(); -// inputMap["elevation"] *= 0.01; -// for (grid_map::CircleIterator iterator(inputMap, Position(0.0, 0.0), 0.15); !iterator.isPastEnd(); ++iterator) { -// inputMap.at("elevation", *iterator) = 0.1; -// } -// -// while (nodeHandle.ok()) { -// -// // Publish original grid map. -// inputMap.setTimestamp(ros::Time::now().toNSec()); -// grid_map_msgs::GridMap message; -// GridMapRosConverter::toMessage(inputMap, message); -// publisher.publish(message); -// ros::Duration(1.0).sleep(); -// -// // Apply filter chain. -// GridMap outputMap; -// if (!filterChain.update(inputMap, outputMap)) { -// ROS_ERROR("Could not update the grid map filter chain!"); -// break; -// } -// -// // Publish filtered output grid map. -// outputMap.setTimestamp(ros::Time::now().toNSec()); -// GridMapRosConverter::toMessage(outputMap, message); -// publisher.publish(message); -// ros::Duration(1.0).sleep(); -// } -// -// return 0; -//} diff --git a/convex_plane_decomposition/src/convex_plane_extraction_ros.cpp b/convex_plane_decomposition/src/convex_plane_extraction_ros.cpp index 699f2613..f557b084 100644 --- a/convex_plane_decomposition/src/convex_plane_extraction_ros.cpp +++ b/convex_plane_decomposition/src/convex_plane_extraction_ros.cpp @@ -13,8 +13,7 @@ using namespace grid_map; namespace convex_plane_extraction { ConvexPlaneExtractionROS::ConvexPlaneExtractionROS(ros::NodeHandle& nodeHandle, bool& success) - : nodeHandle_(nodeHandle) -{ + : nodeHandle_(nodeHandle) { if (!readParameters()) { success = false; return; @@ -24,13 +23,10 @@ ConvexPlaneExtractionROS::ConvexPlaneExtractionROS(ros::NodeHandle& nodeHandle, grid_map_publisher_ = nodeHandle_.advertise("convex_plane_extraction", 1, true); convex_polygon_publisher_ = nodeHandle_.advertise("convex_polygons", 1); outer_contours_publisher_ = nodeHandle_.advertise("outer_contours", 1); - hole_contours_publsiher_ = nodeHandle_.advertise("hole_contours", 1); success = true; } -ConvexPlaneExtractionROS::~ConvexPlaneExtractionROS() -{ -} +ConvexPlaneExtractionROS::~ConvexPlaneExtractionROS(){} bool ConvexPlaneExtractionROS::readParameters() { diff --git a/convex_plane_decomposition/src/grid_map_preprocessing.cpp b/convex_plane_decomposition/src/grid_map_preprocessing.cpp index f4dfddf6..dd57bc9f 100644 --- a/convex_plane_decomposition/src/grid_map_preprocessing.cpp +++ b/convex_plane_decomposition/src/grid_map_preprocessing.cpp @@ -1,7 +1,6 @@ -// -// Created by andrej on 12/7/19. -// + #include "grid_map_preprocessing.hpp" + namespace convex_plane_extraction{ void applyMedianFilter(Eigen::MatrixXf& elevation_map, int kernel_size) { diff --git a/convex_plane_decomposition/src/pipeline.cpp b/convex_plane_decomposition/src/pipeline.cpp index e82ae21c..56a3e03b 100644 --- a/convex_plane_decomposition/src/pipeline.cpp +++ b/convex_plane_decomposition/src/pipeline.cpp @@ -3,38 +3,49 @@ using namespace convex_plane_extraction; -void Pipeline::runPipeline() { - sliding_window_plane_extractor::SlidingWindowPlaneExtractor sliding_window_plane_extractor(grid_map_parameters_.map, - grid_map_parameters_.resolution, grid_map_parameters_.layer_height, grid_map_parameters_.normal_layer_prefix, - pipeline_parameters_.sliding_window_plane_extractor_parameters); - sliding_window_plane_extractor.runExtraction(); - PlaneFactory plane_factory(grid_map_parameters_.map, pipeline_parameters_.plane_factory_parameters_); - plane_factory.createPlanesFromLabeledImageAndPlaneParameters(sliding_window_plane_extractor.getLabeledImage(), - sliding_window_plane_extractor.getNumberOfExtractedPlanes(), sliding_window_plane_extractor.getLabelPlaneParameterMap()); +Pipeline::Pipeline(const PipelineParameters& pipeline_parameters, const GridMapParameters& grid_map_parameters) + : pipeline_parameters_(pipeline_parameters), + grid_map_parameters_(grid_map_parameters), + sliding_window_plane_extractor_(sliding_window_plane_extractor::SlidingWindowPlaneExtractor(grid_map_parameters_.map, + grid_map_parameters_.resolution, grid_map_parameters_.layer_height, grid_map_parameters_.normal_layer_prefix, + pipeline_parameters_.sliding_window_plane_extractor_parameters)), + plane_factory_(PlaneFactory(grid_map_parameters_.map, pipeline_parameters_.plane_factory_parameters_)){ + sliding_window_plane_extractor_.runExtraction(); + plane_factory_.createPlanesFromLabeledImageAndPlaneParameters(sliding_window_plane_extractor_.getLabeledImage(), + sliding_window_plane_extractor_.getNumberOfExtractedPlanes(), sliding_window_plane_extractor_.getLabelPlaneParameterMap()); + plane_factory_.decomposePlanesInConvexPolygons(); +} + +Polygon3dVectorContainer Pipeline::getConvexPolygons() const{ + return plane_factory_.getConvexPolygonsInWorldFrame(); +} +Polygon3dVectorContainer Pipeline::getPlaneContours() const{ + return plane_factory_.getPlaneContoursInWorldFrame(); } -void Pipeline::exportConvexPolygons(const std::string& export_path) const { - std::ofstream output_file; - output_file.open(export_path + "convex_polygons.txt", std::ofstream::app); - std::chrono::milliseconds time_stamp = std::chrono::duration_cast( - std::chrono::system_clock::now().time_since_epoch()); - for (const auto& plane : planes_){ - for (const auto& polygon : plane.getConvexPolygons()){ - output_file << time_stamp.count() << ", "; - for (const auto& vertex : polygon){ - output_file << vertex.x() << ", "; - } - for (auto vertex_it = polygon.vertices_begin(); vertex_it != polygon.vertices_end(); ++vertex_it){ - output_file << vertex_it->y(); - if (vertex_it != std::prev(polygon.vertices_end())){ - output_file << ", "; - } else { - output_file << "\n"; - } - } - } - } - output_file.close(); - VLOG(1) << "Exported polygons to " << export_path << "convex_polygons.txt !"; -} \ No newline at end of file + +//void Pipeline::exportConvexPolygons(const std::string& export_path) const { +// std::ofstream output_file; +// output_file.open(export_path + "convex_polygons.txt", std::ofstream::app); +// std::chrono::milliseconds time_stamp = std::chrono::duration_cast( +// std::chrono::system_clock::now().time_since_epoch()); +// for (const auto& plane : planes_){ +// for (const auto& polygon : plane.getConvexPolygons()){ +// output_file << time_stamp.count() << ", "; +// for (const auto& vertex : polygon){ +// output_file << vertex.x() << ", "; +// } +// for (auto vertex_it = polygon.vertices_begin(); vertex_it != polygon.vertices_end(); ++vertex_it){ +// output_file << vertex_it->y(); +// if (vertex_it != std::prev(polygon.vertices_end())){ +// output_file << ", "; +// } else { +// output_file << "\n"; +// } +// } +// } +// } +// output_file.close(); +// VLOG(1) << "Exported polygons to " << export_path << "convex_polygons.txt !"; +//} \ No newline at end of file diff --git a/convex_plane_decomposition/src/pipeline_ros.cpp b/convex_plane_decomposition/src/pipeline_ros.cpp new file mode 100644 index 00000000..82f69b7f --- /dev/null +++ b/convex_plane_decomposition/src/pipeline_ros.cpp @@ -0,0 +1,5 @@ +#include "pipeline_ros.hpp" + +using namespace convex_plane_extraction; + +PipelineParameters loadParameters() \ No newline at end of file diff --git a/convex_plane_decomposition/src/plane.cpp b/convex_plane_decomposition/src/plane.cpp index b1565257..0b7c561b 100644 --- a/convex_plane_decomposition/src/plane.cpp +++ b/convex_plane_decomposition/src/plane.cpp @@ -2,63 +2,9 @@ namespace convex_plane_extraction{ - Plane::Plane() - : initialized_(false){} - - Plane::Plane(CgalPolygon2d& outer_polygon, CgalPolygon2dContainer& holes) - : outer_polygon_(outer_polygon), - hole_polygons_(holes), - initialized_(false){} - bool Plane::setNormalAndSupportVector(const Eigen::Vector3d& normal_vector, const Eigen::Vector3d& support_vector){ - CHECK(!initialized_) << "Could not set normal and support vector of plane since already initialized!"; normal_vector_ = normal_vector; support_vector_ = support_vector; - constexpr double inclinationThreshold = 0.35; // cos(70°) - Eigen::Vector3d upwards(0,0,1); - if (abs(normal_vector.transpose()*upwards < inclinationThreshold)){ - initialized_ = false; - LOG(WARNING) << "Inclination to high, plane will be ignored!"; - } else if (!outer_polygon_.is_empty()) { - initialized_ = true; - LOG(INFO) << "Initialized plane located around support vector " << support_vector << " !"; - } - return true; - } - - bool Plane::isValid() const{ - return !outer_polygon_.is_empty() && initialized_; - } - - bool Plane::decomposePlaneInConvexPolygons(){ - if (!initialized_){ - LOG(ERROR) << "Connot perform convex decomposition of plane, since not yet initialized."; - return false; - } - performConvexDecomposition(outer_polygon_, &convex_polygons_); - return true; - } - - bool Plane::convertConvexPolygonsToWorldFrame(Polygon3dVectorContainer* output_container, const Eigen::Matrix2d& transformation, const Eigen::Vector2d& map_position) const{ - CHECK_NOTNULL(output_container); - if (convex_polygons_.empty()){ - LOG(INFO) << "No convex polygons to convert!"; - return false; - } - for (const auto& polygon : convex_polygons_){ - if (polygon.is_empty()){ - continue; - } - Polygon3d polygon_temp; - for (const auto& point : polygon){ - Vector2d point_2d_world_frame; - convertPoint2dToWorldFrame(point, &point_2d_world_frame, transformation, map_position); - Vector3d point_3d_world_frame; - computePoint3dWorldFrame(point_2d_world_frame, &point_3d_world_frame); - polygon_temp.push_back(point_3d_world_frame); - } - output_container->push_back(polygon_temp); - } return true; } @@ -103,23 +49,5 @@ namespace convex_plane_extraction{ return true; } - void Plane::convertPoint2dToWorldFrame(const CgalPoint2d& point, Vector2d* output_point, const Eigen::Matrix2d& transformation, const Eigen::Vector2d& map_position) const{ - CHECK_NOTNULL(output_point); - Eigen::Vector2d point_vector(point.x(), point.y()); - point_vector = transformation * point_vector; - point_vector = point_vector + map_position; - LOG_IF(FATAL, !std::isfinite(point_vector.x())) << "Not finite x value!"; - LOG_IF(FATAL, !std::isfinite(point_vector.y())) << "Not finite y value!"; - *output_point = point_vector; - } - - void Plane::computePoint3dWorldFrame(const Vector2d& input_point, Vector3d* output_point) const{ - CHECK_NOTNULL(output_point); - double z = (-(input_point.x() - support_vector_.x())*normal_vector_.x() - - (input_point.y() - support_vector_.y())* normal_vector_.y())/normal_vector_(2) + support_vector_(2); - LOG_IF(FATAL, !std::isfinite(z)) << "Not finite z value!"; - *output_point = Vector3d(input_point.x(), input_point.y(), z); - } - } diff --git a/convex_plane_decomposition/src/plane_factory.cpp b/convex_plane_decomposition/src/plane_factory.cpp index c659f4bb..ba5c931c 100644 --- a/convex_plane_decomposition/src/plane_factory.cpp +++ b/convex_plane_decomposition/src/plane_factory.cpp @@ -36,3 +36,68 @@ bool PlaneFactory::isPlaneInclinationBelowThreshold(const Eigen::Vector3d& plane const Eigen::Vector3d z_axis(0,0,1); return std::atan2(1.0, z_axis.dot(plane_normal_vector)) < (parameters_.plane_inclination_threshold_degrees / 180.0 * M_PI); } + +void PlaneFactory::decomposePlanesInConvexPolygons(){ + ConvexDecomposer convex_decomposer(parameters_.convex_decomposer_parameters); + for(Plane& plane : planes_){ + CgalPolygon2dContainer& convex_polygons = plane.getConvexPolygonsMutable(); + convex_polygons = convex_decomposer.performConvexDecomposition(plane.getOuterPolygon()); + } +} + +Polygon3dVectorContainer PlaneFactory::getConvexPolygonsInWorldFrame() const{ + Polygon3dVectorContainer polygon_buffer; + for(const Plane& plane : planes_){ + Polygon3dVectorContainer temp_polygon_buffer = convertPlanePolygonsToWorldFrame(plane.getConvexPolygons(), plane.getPlaneParameters()); + std::move(temp_polygon_buffer.begin(), temp_polygon_buffer.end(), std::back_inserter(polygon_buffer)); + } + return polygon_buffer; +} + +Polygon3dVectorContainer PlaneFactory::getPlaneContoursInWorldFrame() const{ + Polygon3dVectorContainer polygon_buffer; + for(const Plane& plane : planes_){ + Polygon3dVectorContainer temp_polygon_buffer = convertPlanePolygonToWorldFrame(plane.getOuterPolygon(), plane.getPlaneParameters()); + std::move(temp_polygon_buffer.begin(), temp_polygon_buffer.end(), std::back_inserter(polygon_buffer)); + } + return polygon_buffer; +} + +Polygon3dVectorContainer PlaneFactory::convertPlanePolygonToWorldFrame(const CgalPolygon2d& polygon, const PlaneParameters& plane_parameters) const{ + Polygon3dVectorContainer output_polygons; + CHECK(!polygon.is_empty()); + Polygon3d polygon_temp; + for (const auto& point : polygon){ + polygon_temp.push_back(convertPlanePointToWorldFrame(point, plane_parameters)); + } + output_polygons.push_back(polygon_temp); + return output_polygons; +} + +Polygon3dVectorContainer PlaneFactory::convertPlanePolygonsToWorldFrame(const CgalPolygon2dContainer& polygons, const PlaneParameters& plane_parameters) const{ + CHECK(!polygons.empty()) << "Input polygon container empty!"; + Polygon3dVectorContainer output_polygons; + for (const auto& polygon : polygons){ + CHECK(!polygon.is_empty()); + Polygon3d polygon_temp; + for (const auto& point : polygon){ + polygon_temp.push_back(convertPlanePointToWorldFrame(point, plane_parameters)); + } + output_polygons.push_back(polygon_temp); + } + return output_polygons; +} + +Eigen::Vector3d PlaneFactory::convertPlanePointToWorldFrame(const CgalPoint2d& point, const PlaneParameters& plane_parameters) const{ + Eigen::Vector2d temp_point(point.x(), point.y()); + temp_point = transformation_xy_to_world_frame_ * temp_point; + temp_point = temp_point + map_offset_; + LOG_IF(FATAL, !std::isfinite(temp_point.x())) << "Not finite x value!"; + LOG_IF(FATAL, !std::isfinite(temp_point.y())) << "Not finite y value!"; + const double z = (-(temp_point.x() - plane_parameters.support_vector.x())*plane_parameters.normal_vector.x() - + (temp_point.y() - plane_parameters.support_vector.y())* plane_parameters.normal_vector.y()) / + plane_parameters.normal_vector(2) + plane_parameters.support_vector(2); + LOG_IF(FATAL, !std::isfinite(z)) << "Not finite z value!"; + return Vector3d(temp_point.x(), temp_point.y(), z); +} + From 84362c75c45ccbfd9b222ee651c5171ba6f147f8 Mon Sep 17 00:00:00 2001 From: andrej1001 Date: Wed, 4 Mar 2020 22:33:07 +0100 Subject: [PATCH 021/504] Ros split. --- convex_plane_decomposition/CMakeLists.txt | 38 ++- .../include/pipeline.hpp | 14 +- .../include/pipeline_ros.hpp | 20 -- convex_plane_decomposition/include/plane.hpp | 13 - .../include/point_with_normal_container.hpp | 82 ------ .../include/polygon.hpp | 4 +- .../include/ransac_plane_extractor.hpp | 3 +- .../sliding_window_plane_extractor.hpp | 16 +- convex_plane_decomposition/package.xml | 33 --- .../src/convex_decomposer.cpp | 24 +- .../src/convex_plane_extraction_ros.cpp | 156 ------------ convex_plane_decomposition/src/pipeline.cpp | 6 +- .../src/pipeline_ros.cpp | 5 - convex_plane_decomposition/src/plane.cpp | 40 --- .../src/plane_factory.cpp | 2 +- .../src/point_with_normal_container.cpp | 37 --- convex_plane_decomposition/src/polygon.cpp | 150 +---------- .../src/polygonizer.cpp | 3 +- .../src/ransac_plane_extractor.cpp | 42 ++-- .../src/sliding_window_plane_extractor.cpp | 77 ++---- convex_plane_decomposition_ros/CMakeLists.txt | 234 ++++++++++++++++++ .../config/parameters.yaml | 6 +- .../include/convex_plane_extraction_ros.hpp | 7 +- .../include/grid_map_preprocessing.hpp | 4 +- .../include/pipeline_ros.hpp | 43 ++++ .../include/ros_visualizations.hpp | 6 +- .../launch/convex_plane_extraction.launch | 0 convex_plane_decomposition_ros/package.xml | 41 +++ .../rviz/config.rviz | 0 .../src/convex_plane_extraction_node.cpp | 2 +- .../src/convex_plane_extraction_ros.cpp | 68 +++++ .../src/grid_map_preprocessing.cpp | 0 .../src/pipeline_ros.cpp | 121 +++++++++ .../src/ros_visualizations.cpp | 11 +- 34 files changed, 640 insertions(+), 668 deletions(-) delete mode 100644 convex_plane_decomposition/include/pipeline_ros.hpp delete mode 100644 convex_plane_decomposition/include/point_with_normal_container.hpp delete mode 100644 convex_plane_decomposition/src/convex_plane_extraction_ros.cpp delete mode 100644 convex_plane_decomposition/src/pipeline_ros.cpp delete mode 100644 convex_plane_decomposition/src/point_with_normal_container.cpp create mode 100644 convex_plane_decomposition_ros/CMakeLists.txt rename {convex_plane_decomposition => convex_plane_decomposition_ros}/config/parameters.yaml (82%) rename {convex_plane_decomposition => convex_plane_decomposition_ros}/include/convex_plane_extraction_ros.hpp (89%) rename {convex_plane_decomposition => convex_plane_decomposition_ros}/include/grid_map_preprocessing.hpp (73%) create mode 100644 convex_plane_decomposition_ros/include/pipeline_ros.hpp rename {convex_plane_decomposition => convex_plane_decomposition_ros}/include/ros_visualizations.hpp (56%) rename {convex_plane_decomposition => convex_plane_decomposition_ros}/launch/convex_plane_extraction.launch (100%) create mode 100644 convex_plane_decomposition_ros/package.xml rename {convex_plane_decomposition => convex_plane_decomposition_ros}/rviz/config.rviz (100%) rename {convex_plane_decomposition => convex_plane_decomposition_ros}/src/convex_plane_extraction_node.cpp (88%) create mode 100644 convex_plane_decomposition_ros/src/convex_plane_extraction_ros.cpp rename {convex_plane_decomposition => convex_plane_decomposition_ros}/src/grid_map_preprocessing.cpp (100%) create mode 100644 convex_plane_decomposition_ros/src/pipeline_ros.cpp rename {convex_plane_decomposition => convex_plane_decomposition_ros}/src/ros_visualizations.cpp (63%) diff --git a/convex_plane_decomposition/CMakeLists.txt b/convex_plane_decomposition/CMakeLists.txt index 014b21c5..804da261 100644 --- a/convex_plane_decomposition/CMakeLists.txt +++ b/convex_plane_decomposition/CMakeLists.txt @@ -26,6 +26,8 @@ find_package(catkin REQUIRED COMPONENTS ## System dependencies are found with CMake's conventions find_package(CGAL QUIET) +add_definitions(-DCGAL_HAS_NO_THREADS) + find_package(OpenCV REQUIRED COMPONENTS opencv_highgui @@ -121,8 +123,21 @@ find_package(glog 0.4.0 REQUIRED) ## DEPENDS: system dependencies of this project that dependent projects also need catkin_package( INCLUDE_DIRS include -# LIBRARIES convex_plane_extraction + LIBRARIES convex_plane_extraction CATKIN_DEPENDS + roscpp + grid_map_core + grid_map_ros + grid_map_cv + grid_map_filters + grid_map_loader + grid_map_msgs + grid_map_octomap + grid_map_rviz_plugin + grid_map_visualization + geometry_msgs + sensor_msgs + cv_bridge # DEPENDS system_lib ) @@ -151,22 +166,21 @@ include_directories( ## Declare a C++ executable ## With catkin_make all packages are built within a single CMake context ## The recommended prefix ensures that target names across packages don't collide -add_executable(${PROJECT_NAME}_node - src/convex_plane_extraction_node.cpp - src/convex_plane_extraction_ros.cpp - src/plane_extractor.cpp +add_library(${PROJECT_NAME} src/ransac_plane_extractor.cpp - src/point_with_normal_container.cpp - include/types.hpp - src/grid_map_preprocessing.cpp src/sliding_window_plane_extractor.cpp src/plane.cpp src/polygon.cpp - src/ros_visualizations.cpp src/geometry_utils.cpp src/export_utils.cpp src/plane_factory.cpp - src/polygonizer.cpp src/convex_decomposer.cpp include/convex_decomposer.hpp src/pipeline.cpp include/pipeline.hpp) + src/polygonizer.cpp + src/convex_decomposer.cpp + src/pipeline.cpp) + +add_dependencies(${PROJECT_NAME} + ${catkin_EXPORTED_TARGETS} + ) ## Rename C++ executable without prefix ## The above recommended prefix causes long target names, the following renames the @@ -179,7 +193,7 @@ add_executable(${PROJECT_NAME}_node # add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) ## Specify libraries to link a library or executable target against -target_link_libraries(${PROJECT_NAME}_node +target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} ${CGAL_LIBRARIES} ${CGAL_3RD_PARTY_LIBRARIES} @@ -206,7 +220,7 @@ target_link_libraries(${PROJECT_NAME}_node # RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} # ) install( - TARGETS ${PROJECT_NAME}_node + TARGETS ${PROJECT_NAME} ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} diff --git a/convex_plane_decomposition/include/pipeline.hpp b/convex_plane_decomposition/include/pipeline.hpp index 50279600..a16f4069 100644 --- a/convex_plane_decomposition/include/pipeline.hpp +++ b/convex_plane_decomposition/include/pipeline.hpp @@ -10,14 +10,18 @@ namespace convex_plane_extraction { struct PipelineParameters{ sliding_window_plane_extractor::SlidingWindowPlaneExtractorParameters sliding_window_plane_extractor_parameters = sliding_window_plane_extractor::SlidingWindowPlaneExtractorParameters(); - PlaneFactoryParameters plane_factory_parameters_ = PlaneFactoryParameters(); + PlaneFactoryParameters plane_factory_parameters = PlaneFactoryParameters(); }; struct GridMapParameters{ + GridMapParameters(grid_map::GridMap& input_map, const std::string& height_layer) + : map(input_map), + resolution(input_map.getResolution()), + layer_height(height_layer){} + grid_map::GridMap& map; double resolution; - std::string& layer_height; - std::string& normal_layer_prefix; + const std::string& layer_height; }; @@ -26,6 +30,10 @@ class Pipeline { Pipeline(const PipelineParameters& pipeline_parameters, const GridMapParameters& grid_map_parameters); + const cv::Mat& getSegmentationImage() const{ + return sliding_window_plane_extractor_.getLabeledImage(); + }; + Polygon3dVectorContainer getConvexPolygons() const; Polygon3dVectorContainer getPlaneContours() const; diff --git a/convex_plane_decomposition/include/pipeline_ros.hpp b/convex_plane_decomposition/include/pipeline_ros.hpp deleted file mode 100644 index c082151f..00000000 --- a/convex_plane_decomposition/include/pipeline_ros.hpp +++ /dev/null @@ -1,20 +0,0 @@ -#ifndef CONVEX_PLANE_EXTRACTION__PIPELINE_ROS_HPP_ -#define CONVEX_PLANE_EXTRACTION__PIPELINE_ROS_HPP_ - -#include - -#include "pipeline.hpp" - -namespace convex_plane_extraction { - -PipelineParameters loadPipelineParameters() - -class PipelineROS { - - private: - - Pipeline pipeline_; -}; - -} // namespace convex_plane_extraction -#endif //CONVEX_PLANE_EXTRACTION__PIPELINE_ROS_HPP_ diff --git a/convex_plane_decomposition/include/plane.hpp b/convex_plane_decomposition/include/plane.hpp index d51e7069..2747985a 100644 --- a/convex_plane_decomposition/include/plane.hpp +++ b/convex_plane_decomposition/include/plane.hpp @@ -55,15 +55,6 @@ namespace convex_plane_extraction { return plane_contour_; } - bool convertConvexPolygonsToWorldFrame(Polygon3dVectorContainer* output_container, const Eigen::Matrix2d& transformation, const Eigen::Vector2d& map_position) const; - - bool convertOuterPolygonToWorldFrame(Polygon3dVectorContainer* output_container, const Eigen::Matrix2d& transformation, const Eigen::Vector2d& map_position) const; - - bool convertHolePolygonsToWorldFrame(Polygon3dVectorContainer* output_container, const Eigen::Matrix2d& transformation, const Eigen::Vector2d& map_position) const; - - void convertPoint2dToWorldFrame(const CgalPoint2d& point, Vector2d* output_point, const Eigen::Matrix2d& transformation, const Eigen::Vector2d& map_position) const; - - void computePoint3dWorldFrame(const Vector2d& input_point, Vector3d* output_point) const; CgalPolygon2dContainer& getConvexPolygonsMutable(){ return convex_polygons_; @@ -83,10 +74,6 @@ namespace convex_plane_extraction { private: - void extractSlConcavityPointsOfHole(const CgalPolygon2d& hole, std::vector* concavity_positions); - - void slConcavityHoleVertexSorting(const CgalPolygon2d& hole, std::multimap>* concavity_positions); - CgalPolygon2d plane_contour_; CgalPolygon2dContainer convex_polygons_; diff --git a/convex_plane_decomposition/include/point_with_normal_container.hpp b/convex_plane_decomposition/include/point_with_normal_container.hpp deleted file mode 100644 index 6406953f..00000000 --- a/convex_plane_decomposition/include/point_with_normal_container.hpp +++ /dev/null @@ -1,82 +0,0 @@ -// -// Created by andrej on 11/21/19. -// - -#ifndef CONVEX_PLANE_EXTRACTION_POINTWITHNORMALCONTAINER_HPP_ -#define CONVEX_PLANE_EXTRACTION_POINTWITHNORMALCONTAINER_HPP_ - -#include - -#include -#include - -#include -#include -#include - -namespace point_with_normal_container { - // Typedefs - typedef CGAL::Exact_predicates_inexact_constructions_kernel Kernel; - typedef Kernel::Point_3 Point_3D; - typedef Kernel::Vector_3 Vector_3D; - typedef std::pair PointWithNormal; - typedef std::vector PwnVector; - - struct PointIterator{ - - explicit PointIterator(std::vector::iterator c){ - it = c; - } - - Point_3D& operator* (){ - return std::get<0>(*it); - } - - PointIterator operator++ (){ - it++; - return *this; - } - - std::vector::iterator it; - }; - - class PointWithNormalContainer { - public: - - PointWithNormalContainer(); - - virtual ~PointWithNormalContainer(); - - const Point_3D& getPoint(size_t index) const; - const Vector_3D& getNormalVector(size_t index) const; - void addPointNormalPair(Eigen::Vector3d& position, Eigen::Vector3d& normal); - void addPointNormalPair(Point_3D& position, Vector_3D& normal); - - std::vector& getReference(){ - return container; - } - - // Pointer to first element in container - auto begin(); - - auto end(); - - PointIterator pointsBegin(){ - return PointIterator(container.begin()); - }; - - PointIterator pointsEnd(){ - return PointIterator(container.end()); - }; - - Point_3D& getPoint(size_t index){ - return std::get<0>(container.at(index)); - } - - private: - std::vector container; - }; - -} - -#endif //GRID_MAP_DEMOS_POINTWITHNORMALCONTAINER_HPP_ diff --git a/convex_plane_decomposition/include/polygon.hpp b/convex_plane_decomposition/include/polygon.hpp index c8c57a0d..fb8a1209 100644 --- a/convex_plane_decomposition/include/polygon.hpp +++ b/convex_plane_decomposition/include/polygon.hpp @@ -29,8 +29,8 @@ namespace convex_plane_extraction{ typedef CGAL::Exact_predicates_inexact_constructions_kernel K; typedef CGAL::Partition_traits_2 Traits; - typedef Traits::Point_2 CgalPoint2d; - typedef Traits::Vector_2 CgalVector2d; + typedef CGAL::Point_2 CgalPoint2d; + typedef CGAL::Vector_2 CgalVector2d; typedef CGAL::Polygon_2 CgalPolygon2d; typedef CGAL::Polygon_with_holes_2 CgalPolygonWithHoles2d; typedef Traits::Segment_2 CgalSegment2d; diff --git a/convex_plane_decomposition/include/ransac_plane_extractor.hpp b/convex_plane_decomposition/include/ransac_plane_extractor.hpp index ed41149e..4e527f46 100644 --- a/convex_plane_decomposition/include/ransac_plane_extractor.hpp +++ b/convex_plane_decomposition/include/ransac_plane_extractor.hpp @@ -21,7 +21,6 @@ #include "Eigen/Dense" #include -#include "grid_map_ros/grid_map_ros.hpp" namespace ransac_plane_extractor { @@ -62,7 +61,7 @@ namespace ransac_plane_extractor { void runDetection(); - const auto& getDetectedPlanes() const{ + auto getDetectedPlanes() const{ return ransac_.shapes(); }; diff --git a/convex_plane_decomposition/include/sliding_window_plane_extractor.hpp b/convex_plane_decomposition/include/sliding_window_plane_extractor.hpp index b4619b77..f260bc6e 100644 --- a/convex_plane_decomposition/include/sliding_window_plane_extractor.hpp +++ b/convex_plane_decomposition/include/sliding_window_plane_extractor.hpp @@ -17,7 +17,6 @@ #include "plane.hpp" #include "polygon.hpp" #include "ransac_plane_extractor.hpp" -#include "ros_visualizations.hpp" namespace sliding_window_plane_extractor { @@ -36,8 +35,8 @@ namespace sliding_window_plane_extractor { class SlidingWindowPlaneExtractor{ public: - SlidingWindowPlaneExtractor(grid_map::GridMap &map, double resolution, const std::string& layer_height, - const std::string& normal_layer_prefix, const SlidingWindowPlaneExtractorParameters& parameters = SlidingWindowPlaneExtractorParameters()); + SlidingWindowPlaneExtractor(grid_map::GridMap &map, double resolution, const std::string& layer_height, const SlidingWindowPlaneExtractorParameters& parameters = SlidingWindowPlaneExtractorParameters(), + const ransac_plane_extractor::RansacPlaneExtractorParameters& ransac_parameters = ransac_plane_extractor::RansacPlaneExtractorParameters()); void setParameters(const SlidingWindowPlaneExtractorParameters& parameters); @@ -55,14 +54,6 @@ namespace sliding_window_plane_extractor { return number_of_extracted_planes_; } -// void slidingWindowPlaneVisualization(); - -// void computePlaneFrameFromLabeledImage(const cv::Mat& binary_image, convex_plane_extraction::Plane* plane); - -// void visualizeConvexDecomposition(jsk_recognition_msgs::PolygonArray* ros_polygon_array); -// -// void visualizePlaneContours(jsk_recognition_msgs::PolygonArray* outer_polygons, jsk_recognition_msgs::PolygonArray* hole_poylgons) const; -// // void exportConvexPolygons(const std::string& path) const; private: @@ -74,7 +65,7 @@ namespace sliding_window_plane_extractor { void extractPlaneParametersFromLabeledImage(); - const auto& runRansacRefinement(std::vector& points_with_normal) const; + auto runRansacRefinement(std::vector& points_with_normal) const; void runSegmentation(); @@ -85,7 +76,6 @@ namespace sliding_window_plane_extractor { grid_map::GridMap& map_; std::string elevation_layer_; - std::string normal_layer_prefix_; double resolution_; SlidingWindowPlaneExtractorParameters parameters_; diff --git a/convex_plane_decomposition/package.xml b/convex_plane_decomposition/package.xml index 3870c2f4..9a024564 100644 --- a/convex_plane_decomposition/package.xml +++ b/convex_plane_decomposition/package.xml @@ -15,39 +15,6 @@ TODO - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - catkin catkin roscpp diff --git a/convex_plane_decomposition/src/convex_decomposer.cpp b/convex_plane_decomposition/src/convex_decomposer.cpp index 5f532ed9..ba1ab03f 100644 --- a/convex_plane_decomposition/src/convex_decomposer.cpp +++ b/convex_plane_decomposition/src/convex_decomposer.cpp @@ -28,13 +28,25 @@ CgalPolygon2dContainer ConvexDecomposer::performConvexDecomposition(const CgalPo } CgalPolygon2dContainer ConvexDecomposer::performOptimalConvexDecomposition(const CgalPolygon2d& polygon) const{ - CgalPolygon2dContainer output_polygons; - size_t old_container_size = output_polygons.size(); + std::vector polygon_buffer; + size_t old_container_size = polygon_buffer.size(); + Traits::Polygon_2 input_polygon; + for (const auto& vertex : polygon.container()){ + input_polygon.insert(input_polygon.vertices_end(),Traits::Point_2(vertex.x(), vertex.y())); + } CGAL::optimal_convex_partition_2(polygon.vertices_begin(), polygon.vertices_end(), - std::back_inserter(output_polygons)); - assert(CGAL::partition_is_valid_2(polygon.vertices_begin(), polygon.vertices_end(), output_polygons.begin(), - output_polygons.end())); - CHECK_GT(output_polygons.size(), old_container_size); + std::back_inserter(polygon_buffer)); +// assert(CGAL::partition_is_valid_2(polygon.vertices_begin(), polygon.vertices_end(), output_polygons.begin(), +// output_polygons.end())); + CHECK_GT(polygon_buffer.size(), old_container_size); + CgalPolygon2dContainer output_polygons; + for (const auto& buffer_polygon : polygon_buffer){ + CgalPolygon2d temp_polygon; + for (const auto& vertex : buffer_polygon.container()){ + temp_polygon.insert(temp_polygon.vertices_end(), CgalPoint2d(vertex.x(), vertex.y())); + } + output_polygons.push_back(temp_polygon); + } return output_polygons; } diff --git a/convex_plane_decomposition/src/convex_plane_extraction_ros.cpp b/convex_plane_decomposition/src/convex_plane_extraction_ros.cpp deleted file mode 100644 index f557b084..00000000 --- a/convex_plane_decomposition/src/convex_plane_extraction_ros.cpp +++ /dev/null @@ -1,156 +0,0 @@ -#include - - -#include "geometry_msgs/Point32.h" -#include "geometry_msgs/PolygonStamped.h" -#include "jsk_recognition_msgs/PolygonArray.h" - - -#include "convex_plane_extraction_ros.hpp" - -using namespace grid_map; - -namespace convex_plane_extraction { - -ConvexPlaneExtractionROS::ConvexPlaneExtractionROS(ros::NodeHandle& nodeHandle, bool& success) - : nodeHandle_(nodeHandle) { - if (!readParameters()) { - success = false; - return; - } - - subscriber_ = nodeHandle_.subscribe(inputTopic_, 1, &ConvexPlaneExtractionROS::callback, this); - grid_map_publisher_ = nodeHandle_.advertise("convex_plane_extraction", 1, true); - convex_polygon_publisher_ = nodeHandle_.advertise("convex_polygons", 1); - outer_contours_publisher_ = nodeHandle_.advertise("outer_contours", 1); - success = true; -} - -ConvexPlaneExtractionROS::~ConvexPlaneExtractionROS(){} - -bool ConvexPlaneExtractionROS::readParameters() -{ - if (!nodeHandle_.getParam("input_topic", inputTopic_)) { - ROS_ERROR("Could not read parameter `input_topic`."); - return false; - } - if (!nodeHandle_.getParam("ransac_probability", ransac_parameters_.probability)) { - ROS_ERROR("Could not read parameter `ransac_probability`. Setting parameter to default value."); - ransac_parameters_.probability = 0.01; - } - if (!nodeHandle_.getParam("ransac_min_points", ransac_parameters_.min_points)) { - ROS_ERROR("Could not read parameter `ransac_min_points`. Setting parameter to default value."); - ransac_parameters_.min_points = 200; - } - if (!nodeHandle_.getParam("ransac_epsilon", ransac_parameters_.epsilon)) { - ROS_ERROR("Could not read parameter `ransac_epsilon`. Setting parameter to default value."); - ransac_parameters_.epsilon = 0.004; - } - if (!nodeHandle_.getParam("ransac_cluster_epsilon", ransac_parameters_.cluster_epsilon)) { - ROS_ERROR("Could not read parameter `ransac_cluster_epsilon`. Setting parameter to default value."); - ransac_parameters_.cluster_epsilon = 0.0282842712475; - } - if (!nodeHandle_.getParam("ransac_normal_threshold", ransac_parameters_.normal_threshold)) { - ROS_ERROR("Could not read parameter `ransac_normal_threshold`. Setting parameter to default value."); - ransac_parameters_.normal_threshold = 0.98; - } - if (!nodeHandle_.getParam("sliding_window_kernel_size", sliding_window_parameters_.kernel_size)) { - ROS_ERROR("Could not read parameter `sliding_window_kernel_size`. Setting parameter to default value."); - sliding_window_parameters_.kernel_size = 5; - } - if (!nodeHandle_.getParam("sliding_window_plane_error", sliding_window_parameters_.plane_error_threshold)) { - ROS_ERROR("Could not read parameter `sliding_window_plane_error`. Setting parameter to default value."); - sliding_window_parameters_.plane_error_threshold = 0.004; - } - std::string extractor_type; - if (!nodeHandle_.getParam("plane_extractor_type", extractor_type)) { - ROS_ERROR("Could not read parameter `plane_extractor_type`. Setting parameter to default value."); - return false; - } - if (extractor_type.compare("ransac") == 0){ - plane_extractor_selector_ = kRansacExtractor; - } else{ - plane_extractor_selector_ = kSlidingWindowExtractor; - } - return true; -} - -void ConvexPlaneExtractionROS::callback(const grid_map_msgs::GridMap& message) { - auto start_total = std::chrono::system_clock::now(); - - // Convert message to map. - ROS_INFO("Reading input map..."); - GridMap messageMap; - GridMapRosConverter::fromMessage(message, messageMap); - bool success; - GridMap inputMap = messageMap.getSubmap(messageMap.getPosition(), Eigen::Array2d(4, 4), success); - Position3 position; - inputMap.getPosition3("elevation", Index(0,0), position); - std::cout << inputMap.getPosition() << std::endl; - CHECK(success); - ROS_INFO("...done."); -// if(exportPointsWithNormalsToCsv(inputMap, "normal_vectors_", "elevation")){ -// ROS_INFO("Map exported to csv."); -// } - applyMedianFilter(inputMap.get("elevation"), 5); - // Compute planar region segmentation - ROS_INFO("Initializing plane extractor..."); - PlaneExtractor extractor(inputMap, inputMap.getResolution(), "normal_vectors_", "elevation"); - ROS_INFO("...done."); - jsk_recognition_msgs::PolygonArray ros_polygon_array; - jsk_recognition_msgs::PolygonArray ros_polygon_outer_contours; - jsk_recognition_msgs::PolygonArray ros_polygon_hole_contours; - switch (plane_extractor_selector_) { - case kRansacExtractor : { - auto start = std::chrono::system_clock::now(); - extractor.setRansacParameters(ransac_parameters_); - extractor.runRansacPlaneExtractor(); - auto end = std::chrono::system_clock::now(); - auto duration = std::chrono::duration_cast(end - start); - std::ofstream output_file; - output_file.open("/home/andrej/Desktop/computation_times_ransac_12.txt", std::ofstream::app);; - output_file << duration.count() << "\n"; - output_file.close(); - extractor.augmentMapWithRansacPlanes(); - break; - } - case kSlidingWindowExtractor : { - extractor.setSlidingWindowParameters(sliding_window_parameters_); - auto start = std::chrono::system_clock::now(); - extractor.runSlidingWindowPlaneExtractor(); - auto intermediate = std::chrono::system_clock::now(); - auto duration_intermediate = std::chrono::duration_cast(intermediate - start); - std::ofstream intermediate_runtime_file; - intermediate_runtime_file.open("/home/andrej/Desktop/computation_times_SWE_plane_detect.txt", std::ofstream::app); - intermediate_runtime_file << duration_intermediate.count() << "\n"; - intermediate_runtime_file.close(); -// extractor.augmentMapWithSlidingWindowPlanes(); - extractor.generatePlanes(); - auto end = std::chrono::system_clock::now(); - auto duration = std::chrono::duration_cast(end - start); - std::ofstream total_runtime_file; - total_runtime_file.open("/home/andrej/Desktop/computation_times_SWE_full_pipeline.txt", std::ofstream::app); - total_runtime_file << duration.count() << "\n"; - total_runtime_file.close(); - extractor.visualizeConvexDecomposition(&ros_polygon_array); - extractor.visualizePlaneContours(&ros_polygon_outer_contours, &ros_polygon_hole_contours); - break; - } - } - auto end_total = std::chrono::system_clock::now(); - auto duration_total = std::chrono::duration_cast(end_total - start_total); - std::ofstream total_file; - total_file.open("/home/andrej/Desktop/computation_times_total.txt", std::ofstream::app); - total_file << duration_total.count() << "\n"; - total_file.close(); - grid_map_msgs::GridMap outputMessage; - GridMapRosConverter::toMessage(inputMap, outputMessage); - grid_map_publisher_.publish(outputMessage); - - convex_polygon_publisher_.publish(ros_polygon_array); - outer_contours_publisher_.publish(ros_polygon_outer_contours); - hole_contours_publsiher_.publish(ros_polygon_hole_contours); - -} - -} /* namespace */ diff --git a/convex_plane_decomposition/src/pipeline.cpp b/convex_plane_decomposition/src/pipeline.cpp index 56a3e03b..7600ecff 100644 --- a/convex_plane_decomposition/src/pipeline.cpp +++ b/convex_plane_decomposition/src/pipeline.cpp @@ -7,9 +7,9 @@ Pipeline::Pipeline(const PipelineParameters& pipeline_parameters, const GridMapP : pipeline_parameters_(pipeline_parameters), grid_map_parameters_(grid_map_parameters), sliding_window_plane_extractor_(sliding_window_plane_extractor::SlidingWindowPlaneExtractor(grid_map_parameters_.map, - grid_map_parameters_.resolution, grid_map_parameters_.layer_height, grid_map_parameters_.normal_layer_prefix, - pipeline_parameters_.sliding_window_plane_extractor_parameters)), - plane_factory_(PlaneFactory(grid_map_parameters_.map, pipeline_parameters_.plane_factory_parameters_)){ + grid_map_parameters_.resolution, grid_map_parameters_.layer_height, + pipeline_parameters_.sliding_window_plane_extractor_parameters, pipeline_parameters_.sliding_window_plane_extractor_parameters.ransac_parameters)), + plane_factory_(PlaneFactory(grid_map_parameters_.map, pipeline_parameters_.plane_factory_parameters)){ sliding_window_plane_extractor_.runExtraction(); plane_factory_.createPlanesFromLabeledImageAndPlaneParameters(sliding_window_plane_extractor_.getLabeledImage(), sliding_window_plane_extractor_.getNumberOfExtractedPlanes(), sliding_window_plane_extractor_.getLabelPlaneParameterMap()); diff --git a/convex_plane_decomposition/src/pipeline_ros.cpp b/convex_plane_decomposition/src/pipeline_ros.cpp deleted file mode 100644 index 82f69b7f..00000000 --- a/convex_plane_decomposition/src/pipeline_ros.cpp +++ /dev/null @@ -1,5 +0,0 @@ -#include "pipeline_ros.hpp" - -using namespace convex_plane_extraction; - -PipelineParameters loadParameters() \ No newline at end of file diff --git a/convex_plane_decomposition/src/plane.cpp b/convex_plane_decomposition/src/plane.cpp index 0b7c561b..c2fe0ed8 100644 --- a/convex_plane_decomposition/src/plane.cpp +++ b/convex_plane_decomposition/src/plane.cpp @@ -8,46 +8,6 @@ namespace convex_plane_extraction{ return true; } - bool Plane::convertOuterPolygonToWorldFrame(Polygon3dVectorContainer* output_container, const Eigen::Matrix2d& transformation, const Eigen::Vector2d& map_position) const{ - CHECK_NOTNULL(output_container); - if (outer_polygon_.is_empty()){ - LOG(INFO) << "No convex polygons to convert!"; - return false; - } - Polygon3d polygon_temp; - for (const auto& point : outer_polygon_){ - Vector2d point_2d_world_frame; - convertPoint2dToWorldFrame(point, &point_2d_world_frame, transformation, map_position); - Vector3d point_3d_world_frame; - computePoint3dWorldFrame(point_2d_world_frame, &point_3d_world_frame); - polygon_temp.push_back(point_3d_world_frame); - } - output_container->push_back(polygon_temp); - return true; - } - - bool Plane::convertHolePolygonsToWorldFrame(Polygon3dVectorContainer* output_container, const Eigen::Matrix2d& transformation, const Eigen::Vector2d& map_position) const{ - CHECK_NOTNULL(output_container); - if (hole_polygons_.empty()){ - LOG(INFO) << "No hole polygons to convert!"; - return false; - } - for (const auto& polygon : hole_polygons_){ - if (polygon.is_empty()){ - continue; - } - Polygon3d polygon_temp; - for (const auto& point : polygon){ - Vector2d point_2d_world_frame; - convertPoint2dToWorldFrame(point, &point_2d_world_frame, transformation, map_position); - Vector3d point_3d_world_frame; - computePoint3dWorldFrame(point_2d_world_frame, &point_3d_world_frame); - polygon_temp.push_back(point_3d_world_frame); - } - output_container->push_back(polygon_temp); - } - return true; - } } diff --git a/convex_plane_decomposition/src/plane_factory.cpp b/convex_plane_decomposition/src/plane_factory.cpp index ba5c931c..d969db9e 100644 --- a/convex_plane_decomposition/src/plane_factory.cpp +++ b/convex_plane_decomposition/src/plane_factory.cpp @@ -23,7 +23,7 @@ void PlaneFactory::createPlanesFromLabeledImageAndPlaneParameters(const cv::Mat& binary_image = labeled_image == label; const CgalPolygon2d plane_contour = polygonizer.runPolygonizationOnBinaryImage(binary_image); const auto plane_parameter_it = plane_parameters.find(label); - CHECK_NE(plane_parameter_it, plane_parameters.end()) << "Label not contained in plane parameter container!"; + CHECK(plane_parameter_it != plane_parameters.end()) << "Label not contained in plane parameter container!"; if (isPlaneInclinationBelowThreshold(plane_parameter_it->second.normal_vector)){ planes_.emplace_back(plane_contour, plane_parameter_it->second); } else { diff --git a/convex_plane_decomposition/src/point_with_normal_container.cpp b/convex_plane_decomposition/src/point_with_normal_container.cpp deleted file mode 100644 index 2f79cde6..00000000 --- a/convex_plane_decomposition/src/point_with_normal_container.cpp +++ /dev/null @@ -1,37 +0,0 @@ -// -// Created by andrej on 11/21/19. -// - -#include "point_with_normal_container.hpp" - -namespace point_with_normal_container{ - - PointWithNormalContainer::PointWithNormalContainer() = default; - - PointWithNormalContainer::~PointWithNormalContainer() = default; - - const Point_3D& PointWithNormalContainer::getPoint(size_t index) const{ - return std::get<0>(container.at(index)); - } - - const Vector_3D& PointWithNormalContainer::getNormalVector(size_t index) const{ - return std::get<1>(container.at(index)); - } - - void PointWithNormalContainer::addPointNormalPair(Eigen::Vector3d& position, Eigen::Vector3d& normal){ - container.push_back(std::make_pair(*reinterpret_cast(const_cast(position.data())), - *reinterpret_cast(const_cast(normal.data())))); - } - - void PointWithNormalContainer::addPointNormalPair(Point_3D& position, Vector_3D& normal){ - container.push_back(std::make_pair(position, normal)); - } - - auto PointWithNormalContainer::begin(){ - return container.begin(); - } - - auto PointWithNormalContainer::end(){ - return container.end(); - } -} \ No newline at end of file diff --git a/convex_plane_decomposition/src/polygon.cpp b/convex_plane_decomposition/src/polygon.cpp index d75328f5..6e40c86e 100644 --- a/convex_plane_decomposition/src/polygon.cpp +++ b/convex_plane_decomposition/src/polygon.cpp @@ -183,132 +183,6 @@ namespace convex_plane_extraction { + (destination_point.y() - source_point.y()) * (destination_point.y() - source_point.y()))); } - std::list decomposeInnerApproximation(const CgalPolygon2d& polygon){ - CHECK(polygon.orientation() == CGAL::COUNTERCLOCKWISE); - std::list return_list; - std::map dent_locations; - LOG(INFO) << "Before dent detection"; - detectDentLocations(&dent_locations, polygon); - LOG(INFO) << "Passed dent detection"; - if (dent_locations.empty()){ - // No dents detected, polygon must be convex. - // CGAL convexity check might still fail, since very shallow dents are ignored. - return_list.push_back(polygon); - return return_list; - } - int dent_location = dent_locations.begin()->second; - bool intersection_clockwise_flag = false; - Intersection intersection_clockwise; - bool intersection_counterclockwise_flag = false; - Intersection intersection_counterclockwise; - intersection_clockwise_flag = intersectPolygonWithRay(dent_location, CGAL::COUNTERCLOCKWISE, - polygon, &intersection_counterclockwise); - intersection_counterclockwise_flag = intersectPolygonWithRay(dent_location, CGAL::CLOCKWISE, - polygon, &intersection_clockwise); - if (!intersection_clockwise_flag || !intersection_counterclockwise_flag ){ - LOG(FATAL) << "At least one intersection of dent ray with polygon failed!"; - } - // Generate resulting polygons from cut. - // Resulting cut from counter clockwise ray intersection. - CgalPolygon2d polygon_counterclockwise_1 = polygon; - CgalPolygon2d polygon_counterclockwise_2; - auto first_vertex_to_erase_it = polygon_counterclockwise_1.vertices_begin(); - std::advance(first_vertex_to_erase_it, dent_location); - // Add dent to second polygon. - polygon_counterclockwise_2.push_back(*first_vertex_to_erase_it); - first_vertex_to_erase_it = next(first_vertex_to_erase_it, polygon_counterclockwise_1); - auto last_vertex_to_erase_it = polygon_counterclockwise_1.vertices_begin(); - // Intersection somewhere must be at or after source vertex of intersection edge. - std::advance(last_vertex_to_erase_it, intersection_counterclockwise.edge_source_location_); - // Take next vertex due to exclusive upper limit logic. - last_vertex_to_erase_it = next(last_vertex_to_erase_it, polygon_counterclockwise_1); - // Copy vertices that will be deleted to second polygon. - copyVertices(polygon_counterclockwise_1,first_vertex_to_erase_it,last_vertex_to_erase_it, - &polygon_counterclockwise_2, polygon_counterclockwise_2.vertices_end()); - // Get last point that was erased. - CgalPoint2d point_before_intersection = *(previous(last_vertex_to_erase_it, polygon_counterclockwise_2)); - // To avoid numerical issues and duplicate vertices, intersection point is only inserted if sufficiently - // far away from exisiting vertex. - constexpr double kSquaredLengthThreshold = 1e-6; - if ((intersection_counterclockwise.intersection_point_ - point_before_intersection).squared_length() > kSquaredLengthThreshold) { - polygon_counterclockwise_2.push_back(intersection_counterclockwise.intersection_point_); - } - LOG(INFO) << "Before erase!"; - CgalPolygon2dVertexIterator element_behind_deleted_it = erase(first_vertex_to_erase_it, last_vertex_to_erase_it, &polygon_counterclockwise_1); - // Add intersection vertex to first polygon if existing vertex too far away. - if ((intersection_counterclockwise.intersection_point_ - *element_behind_deleted_it).squared_length() > kSquaredLengthThreshold) { - polygon_counterclockwise_1.insert(element_behind_deleted_it, intersection_counterclockwise.intersection_point_); - } - // Resulting cut from clockwise ray intersection. - CgalPolygon2d polygon_clockwise_1 = polygon; - CgalPolygon2d polygon_clockwise_2; - - first_vertex_to_erase_it = polygon_clockwise_1.vertices_begin(); - std::advance(first_vertex_to_erase_it, intersection_clockwise.edge_target_location_); - if ((*first_vertex_to_erase_it - intersection_clockwise.intersection_point_).squared_length() > kSquaredLengthThreshold) { - polygon_clockwise_2.push_back(intersection_clockwise.intersection_point_); - } - last_vertex_to_erase_it = polygon_clockwise_1.vertices_begin(); - std::advance(last_vertex_to_erase_it, dent_location); - copyVertices(polygon_clockwise_1, first_vertex_to_erase_it, last_vertex_to_erase_it, &polygon_clockwise_2, - polygon_clockwise_2.vertices_end()); - polygon_clockwise_2.push_back(*last_vertex_to_erase_it); - element_behind_deleted_it = erase(first_vertex_to_erase_it, last_vertex_to_erase_it, &polygon_clockwise_1); - LOG(INFO) << "After erase!"; - if ((intersection_clockwise.intersection_point_ - *element_behind_deleted_it).squared_length() > kSquaredLengthThreshold) { - polygon_clockwise_1.insert(element_behind_deleted_it, intersection_clockwise.intersection_point_); - } - printPolygon(polygon_counterclockwise_1); - printPolygon(polygon_counterclockwise_2); - printPolygon(polygon_clockwise_1); - printPolygon(polygon_clockwise_2); - // Take the cut with smallest min. area of resulting polygons. - double area[4] = {polygon_counterclockwise_1.area(), polygon_counterclockwise_2.area(), - polygon_clockwise_1.area(), polygon_clockwise_2.area()}; - LOG(INFO) << "Passed area computation!"; - double* min_area_strategy = std::min_element(area, area+4); - std::list recursion_1; - std::list recursion_2; - if ((min_area_strategy - area) < 2){ - // In this case the counter clockwise intersection leads to less loss in area. - // Perform recursion with this split. - if(polygon_counterclockwise_1.orientation() != CGAL::COUNTERCLOCKWISE){ - LOG(WARNING) << "Polygon orientation wrong! Printing polygon ..."; - printPolygon(polygon_counterclockwise_1); - recursion_1 = std::list(); - } else { - recursion_1 = decomposeInnerApproximation(polygon_counterclockwise_1); - } - if(polygon_counterclockwise_2.orientation() != CGAL::COUNTERCLOCKWISE){ - LOG(WARNING) << "Polygon orientation wrong! Printing polygon ..."; - printPolygon(polygon_counterclockwise_2); - recursion_2 = std::list(); - } else{ - recursion_2 = decomposeInnerApproximation(polygon_counterclockwise_2); - } - } else { - // In this case the clockwise intersection leads to less loss in area. - if(polygon_clockwise_1.orientation() != CGAL::COUNTERCLOCKWISE){ - LOG(WARNING) << "Polygon orientation wrong! Printing polygon ..."; - printPolygon(polygon_clockwise_1); - recursion_1 = std::list(); - } else{ - recursion_1 = decomposeInnerApproximation(polygon_clockwise_1); - } - if(polygon_clockwise_2.orientation() != CGAL::COUNTERCLOCKWISE){ - LOG(WARNING) << "Polygon orientation wrong! Printing polygon ..."; - printPolygon(polygon_clockwise_2); - recursion_2 = std::list(); - } else{ - recursion_2 = decomposeInnerApproximation(polygon_clockwise_2); - } - } - return_list.splice(return_list.end(), recursion_1); - return_list.splice(return_list.end(), recursion_2); - LOG(INFO) << "Reached bottom!"; - return return_list; - } - // Counter-clockwise orientation: ray source vertex is previous vertex in counter-clockwise polygon orientation. bool intersectPolygonWithRay(int ray_target_location, CGAL::Orientation orientation, const CgalPolygon2d& polygon, Intersection* intersection){ @@ -416,17 +290,17 @@ namespace convex_plane_extraction { } } - void slConcavityHoleVertexSorting(const CgalPolygon2d& hole, std::multimap>* concavity_positions){ - CHECK_NOTNULL(concavity_positions); - for (auto vertex_it = hole.vertices_begin(); vertex_it != hole.vertices_end(); ++vertex_it){ - std::multimap outer_polygon_vertices; - getVertexPositionsInAscendingDistanceToPoint(outer_polygon_, *vertex_it, &outer_polygon_vertices); - for (const auto& outer_distance_vertex_pair : outer_polygon_vertices) { - concavity_positions->insert(std::pair>(outer_distance_vertex_pair.first, - std::pair(std::distance(hole.vertices_begin(), vertex_it),outer_distance_vertex_pair.second))); - } - } - } +// void slConcavityHoleVertexSorting(const CgalPolygon2d& hole, std::multimap>* concavity_positions){ +// CHECK_NOTNULL(concavity_positions); +// for (auto vertex_it = hole.vertices_begin(); vertex_it != hole.vertices_end(); ++vertex_it){ +// std::multimap outer_polygon_vertices; +// getVertexPositionsInAscendingDistanceToPoint(outer_polygon_, *vertex_it, &outer_polygon_vertices); +// for (const auto& outer_distance_vertex_pair : outer_polygon_vertices) { +// concavity_positions->insert(std::pair>(outer_distance_vertex_pair.first, +// std::pair(std::distance(hole.vertices_begin(), vertex_it),outer_distance_vertex_pair.second))); +// } +// } +// } std::pair getIndicesOfClosestVertexPair(const CgalPolygon2d& first_polygon, const CgalPolygon2d& second_polygon){ CHECK_GT(first_polygon.size(), 0); @@ -479,6 +353,4 @@ namespace convex_plane_extraction { return false; } - CgalPolygon2d - } diff --git a/convex_plane_decomposition/src/polygonizer.cpp b/convex_plane_decomposition/src/polygonizer.cpp index e331347b..4066acfb 100644 --- a/convex_plane_decomposition/src/polygonizer.cpp +++ b/convex_plane_decomposition/src/polygonizer.cpp @@ -250,8 +250,7 @@ void Polygonizer::removeAreasNotContainedInOuterContourFromHoles(const CgalPolyg auto hole_it = holes.begin(); while(hole_it != holes.end()) { std::vector buffer; - std::vector::const_iterator buffer_it; - CGAL::intersection(outer_polygon, *hole_it, std::back_inserter(buffer_it)); + CGAL::intersection(outer_polygon, *hole_it, std::back_inserter(buffer)); if (buffer.empty()){ hole_it = holes.erase(hole_it); } else { diff --git a/convex_plane_decomposition/src/ransac_plane_extractor.cpp b/convex_plane_decomposition/src/ransac_plane_extractor.cpp index 302f85b6..7e7ce385 100644 --- a/convex_plane_decomposition/src/ransac_plane_extractor.cpp +++ b/convex_plane_decomposition/src/ransac_plane_extractor.cpp @@ -25,26 +25,26 @@ void RansacPlaneExtractor::setParameters(const RansacPlaneExtractorParameters& p parameters_.normal_threshold = parameters.normal_threshold; } -void RansacPlaneExtractor::ransacPlaneVisualization(){ - Eigen::MatrixXf plane_map = Eigen::MatrixXf::Zero(map_.getSize().x(), map_.getSize().y()); - int32_t plane_label_iterator = 1; - for (auto plane : ransac_.shapes()){ - const std::vector& plane_points = (*plane.get()).indices_of_assigned_points(); - auto plane_points_it = plane_points.begin(); - for (; plane_points_it != plane_points.end(); ++plane_points_it){ - Point_3D& point = points_with_normal_.getPoint(*plane_points_it); - Eigen::Array2i map_indices; - map_.getIndex(Eigen::Vector2d(point.x(), point.y()), map_indices); - ransac_map_(map_indices(0), map_indices(1)) = 1;//plane_label_iterator; - } - ++plane_label_iterator; - } - std::ofstream output_file; - output_file.open("/home/andrej/Desktop/number_of_planes_ransac_12.txt", std::ofstream::app);; - output_file << plane_label_iterator << "\n"; - output_file.close(); - map_.add("ransac_planes", ransac_map_); - std::cout << "Added ransac plane layer!" << std::endl; -} +//void RansacPlaneExtractor::ransacPlaneVisualization(){ +// Eigen::MatrixXf plane_map = Eigen::MatrixXf::Zero(map_.getSize().x(), map_.getSize().y()); +// int32_t plane_label_iterator = 1; +// for (auto plane : ransac_.shapes()){ +// const std::vector& plane_points = (*plane.get()).indices_of_assigned_points(); +// auto plane_points_it = plane_points.begin(); +// for (; plane_points_it != plane_points.end(); ++plane_points_it){ +// Point_3D& point = points_with_normal_.getPoint(*plane_points_it); +// Eigen::Array2i map_indices; +// map_.getIndex(Eigen::Vector2d(point.x(), point.y()), map_indices); +// ransac_map_(map_indices(0), map_indices(1)) = 1;//plane_label_iterator; +// } +// ++plane_label_iterator; +// } +// std::ofstream output_file; +// output_file.open("/home/andrej/Desktop/number_of_planes_ransac_12.txt", std::ofstream::app);; +// output_file << plane_label_iterator << "\n"; +// output_file.close(); +// map_.add("ransac_planes", ransac_map_); +// std::cout << "Added ransac plane layer!" << std::endl; +//} diff --git a/convex_plane_decomposition/src/sliding_window_plane_extractor.cpp b/convex_plane_decomposition/src/sliding_window_plane_extractor.cpp index 27d4ea60..90937b88 100644 --- a/convex_plane_decomposition/src/sliding_window_plane_extractor.cpp +++ b/convex_plane_decomposition/src/sliding_window_plane_extractor.cpp @@ -3,16 +3,12 @@ namespace sliding_window_plane_extractor{ - using namespace grid_map; - - SlidingWindowPlaneExtractor::SlidingWindowPlaneExtractor(grid_map::GridMap &map, double resolution, - const std::string& layer_height, const std::string& normal_layer_prefix, - const SlidingWindowPlaneExtractorParameters& parameters, + SlidingWindowPlaneExtractor::SlidingWindowPlaneExtractor(grid_map::GridMap& map, double resolution, + const std::string& layer_height, const SlidingWindowPlaneExtractorParameters& parameters, const ransac_plane_extractor::RansacPlaneExtractorParameters& ransac_parameters) : map_(map), resolution_(resolution), elevation_layer_(layer_height), - normal_layer_prefix_(normal_layer_prefix), parameters_(parameters), ransac_parameters_(parameters.ransac_parameters){ number_of_extracted_planes_ = -1; @@ -28,7 +24,7 @@ namespace sliding_window_plane_extractor{ Eigen::Matrix normal_z(map_size(0), map_size(1)); CHECK(map_.getSize().x() >= parameters_.kernel_size); CHECK(map_.getSize().y() >= parameters_.kernel_size); - SlidingWindowIterator window_iterator(map_, elevation_layer_, SlidingWindowIterator::EdgeHandling::INSIDE, + grid_map::SlidingWindowIterator window_iterator(map_, elevation_layer_, grid_map::SlidingWindowIterator::EdgeHandling::INSIDE, parameters_.kernel_size); for (; !window_iterator.isPastEnd(); ++window_iterator) { Eigen::MatrixXf window_data = window_iterator.getData(); @@ -64,7 +60,7 @@ namespace sliding_window_plane_extractor{ data_points.col(1) = Eigen::Map(&col_position.front(), col_position.size()) * resolution_; data_points.col(2) = Eigen::Map(&height_instances.front(), height_instances.size()); const Eigen::Matrix3d covarianceMatrix(data_points.transpose() * data_points); - Vector3 eigenvalues = Vector3::Ones(); + Eigen::Vector3d eigenvalues = Eigen::Vector3d::Ones(); Eigen::Matrix3d eigenvectors = Eigen::Matrix3d::Identity(); const Eigen::SelfAdjointEigenSolver solver(covarianceMatrix); eigenvalues = solver.eigenvalues().real(); @@ -77,11 +73,11 @@ namespace sliding_window_plane_extractor{ smallestValue = eigenvalues(j); } } - Vector3 eigenvector = eigenvectors.col(smallestId); + Eigen::Vector3d eigenvector = eigenvectors.col(smallestId); const Eigen::Vector3d normalVectorPositiveAxis_(0,0,1); if (eigenvector.dot(normalVectorPositiveAxis_) < 0.0) eigenvector = -eigenvector; Eigen::Vector3d n = eigenvector.normalized(); - Index index = *window_iterator; + grid_map::Index index = *window_iterator; double mean_error = ((data_points * n).cwiseAbs()).sum() / height_instances.size(); Eigen::Vector3d upwards(0,0,1); constexpr double kInclinationThreshold = 0.35; @@ -106,12 +102,12 @@ namespace sliding_window_plane_extractor{ const grid_map::Size map_rows_cols = map_.getSize(); for( int cols = surface_normal_map_boundary_offset; cols < map_rows_cols(1) - surface_normal_map_boundary_offset - 1; ++cols){ for (int rows = surface_normal_map_boundary_offset; rows < map_rows_cols(0) - surface_normal_map_boundary_offset - 1; ++rows){ - const Eigen::Vector2f normal_vector_center(map_.at("normals_x", Index(rows, cols)), map_.at("normals_y", Index(rows, cols)), - map_.at("normals_z", Index(rows, cols))); - const Eigen::Vector2f normal_vector_next_row(map_.at("normals_x", Index(rows+1, cols)), map_.at("normals_y", Index(rows+1, cols)), - map_.at("normals_z", Index(rows+1, cols))); - const Eigen::Vector2f normal_vector_next_col(map_.at("normals_x", Index(rows, cols+1)), map_.at("normals_y", Index(rows, cols+1)), - map_.at("normals_z", Index(rows, cols+1))); + const Eigen::Vector3f normal_vector_center(map_.at("normals_x", grid_map::Index(rows, cols)), map_.at("normals_y", grid_map::Index(rows, cols)), + map_.at("normals_z", grid_map::Index(rows, cols))); + const Eigen::Vector3f normal_vector_next_row(map_.at("normals_x", grid_map::Index(rows+1, cols)), map_.at("normals_y", grid_map::Index(rows+1, cols)), + map_.at("normals_z", grid_map::Index(rows+1, cols))); + const Eigen::Vector3f normal_vector_next_col(map_.at("normals_x", grid_map::Index(rows, cols+1)), map_.at("normals_y", grid_map::Index(rows, cols+1)), + map_.at("normals_z", grid_map::Index(rows, cols+1))); const float angle_in_col_direction_radians = std::atan2(1.0, normal_vector_center.dot(normal_vector_next_col)); const float angle_in_row_direction_radians = std::atan2(1.0, normal_vector_center.dot(normal_vector_next_row)); const double gradient_magnitude_normalized = sqrt((angle_in_col_direction_radians*angle_in_col_direction_radians) + @@ -137,7 +133,7 @@ namespace sliding_window_plane_extractor{ } // Refine connected component using RANSAC. Input vector is modified by function! - const auto& SlidingWindowPlaneExtractor::runRansacRefinement(std::vector& points_with_normal) const { + auto SlidingWindowPlaneExtractor::runRansacRefinement(std::vector& points_with_normal) const { CHECK(!points_with_normal.empty()); ransac_plane_extractor::RansacPlaneExtractor ransac_plane_extractor(points_with_normal, ransac_parameters_); ransac_plane_extractor.runDetection(); @@ -149,14 +145,6 @@ namespace sliding_window_plane_extractor{ parameters_.plane_patch_error_threshold = parameters.plane_patch_error_threshold; } - /* - void SlidingWindowPlaneExtractor::slidingWindowPlaneVisualization(){ - Eigen::MatrixXf new_layer = Eigen::MatrixXf::Zero(map_.getSize().x(), map_.getSize().y()); - cv::cv2eigen(labeled_image_, new_layer); - map_.add("sliding_window_planes", new_layer); - std::cout << "Added ransac plane layer!" << std::endl; - } -*/ void SlidingWindowPlaneExtractor::extractPlaneParametersFromLabeledImage(){ if (number_of_extracted_planes_ < 1){ LOG(WARNING) << "No planes detected by Sliding Window Plane Extractor!"; @@ -187,7 +175,7 @@ namespace sliding_window_plane_extractor{ index << row, col; Eigen::Vector3d normal_vector_temp; Eigen::Vector3d support_vector_temp; - if(map_.getVector(normal_layer_prefix_, index, normal_vector_temp)){ + if(map_.getVector("normals", index, normal_vector_temp)){ normal_vector += normal_vector_temp; ++number_of_normal_instances; } @@ -213,7 +201,7 @@ namespace sliding_window_plane_extractor{ // Compute error to fitted plane. if (computeAverageErrorToPlane(normal_vector, support_vector, points_with_normal) > parameters_.global_plane_fit_error_threshold){ - const auto& planes = runRansacRefinement(points_with_normal); + const auto planes = runRansacRefinement(points_with_normal); CHECK(!planes.empty()) << "No planes detected by RANSAC in as planar classified region."; int label_counter = 0; for (const auto& plane : planes){ @@ -285,40 +273,5 @@ namespace sliding_window_plane_extractor{ VLOG(1) << "done."; } - /* - void SlidingWindowPlaneExtractor::visualizeConvexDecomposition(jsk_recognition_msgs::PolygonArray* ros_polygon_array){ - CHECK_NOTNULL(ros_polygon_array); - if (planes_.empty()){ - LOG(INFO) << "No convex polygons to visualize!"; - return; - } - for (const auto& plane : planes_){ - convex_plane_extraction::Polygon3dVectorContainer polygon_container; - if(!plane.convertConvexPolygonsToWorldFrame(&polygon_container, transformation_xy_to_world_frame_, map_offset_)){ - continue; - } - convex_plane_extraction::addRosPolygons(polygon_container, ros_polygon_array); - } - } - - void SlidingWindowPlaneExtractor::visualizePlaneContours(jsk_recognition_msgs::PolygonArray* outer_polygons, jsk_recognition_msgs::PolygonArray* hole_poylgons) const { - CHECK_NOTNULL(outer_polygons); - CHECK_NOTNULL(hole_poylgons); - if (planes_.empty()){ - LOG(INFO) << "No convex polygons to visualize!"; - return; - } - for (const auto& plane : planes_){ - convex_plane_extraction::Polygon3dVectorContainer outer_contour; - if(plane.convertOuterPolygonToWorldFrame(&outer_contour, transformation_xy_to_world_frame_, map_offset_)){ - convex_plane_extraction::addRosPolygons(outer_contour, outer_polygons); - } - convex_plane_extraction::Polygon3dVectorContainer hole_contours; - if (plane.convertHolePolygonsToWorldFrame(&hole_contours, transformation_xy_to_world_frame_, map_offset_)){ - convex_plane_extraction::addRosPolygons(hole_contours, hole_poylgons); - } - } - } -*/ } diff --git a/convex_plane_decomposition_ros/CMakeLists.txt b/convex_plane_decomposition_ros/CMakeLists.txt new file mode 100644 index 00000000..edfed337 --- /dev/null +++ b/convex_plane_decomposition_ros/CMakeLists.txt @@ -0,0 +1,234 @@ +cmake_minimum_required(VERSION 3.1...3.15) +project(convex_plane_extraction_ros) + +## Compile as C++11, supported in ROS Kinetic and newer +set(CMAKE_CXX_FLAGS "-std=c++14 ${CMAKE_CXX_FLAGS}") + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + roscpp + grid_map_core + grid_map_ros + grid_map_cv + grid_map_filters + grid_map_loader + grid_map_msgs + grid_map_octomap + grid_map_rviz_plugin + grid_map_visualization + geometry_msgs + sensor_msgs + cv_bridge + convex_plane_extraction + ) + +## System dependencies are found with CMake's conventions +find_package(CGAL QUIET) + +add_definitions(-DCGAL_HAS_NO_THREADS) + +find_package(glog 0.4.0 REQUIRED) + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a exec_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# std_msgs # Or other packages containing msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( + INCLUDE_DIRS include + # LIBRARIES convex_plane_extraction + CATKIN_DEPENDS + # DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( + include + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/convex_plane_extraction.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +add_executable(${PROJECT_NAME} + src/convex_plane_extraction_node.cpp + src/convex_plane_extraction_ros.cpp + src/grid_map_preprocessing.cpp + src/pipeline_ros.cpp + src/ros_visualizations.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +target_link_libraries(${PROJECT_NAME} + ${catkin_LIBRARIES} + ${CGAL_LIBRARIES} + ${CGAL_3RD_PARTY_LIBRARIES} + glog + ) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# install(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html +# install(TARGETS ${PROJECT_NAME}_node +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) +install( + TARGETS ${PROJECT_NAME} + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) + +## Mark libraries for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html +# install(TARGETS ${PROJECT_NAME} +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_convex_plane_extraction.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) \ No newline at end of file diff --git a/convex_plane_decomposition/config/parameters.yaml b/convex_plane_decomposition_ros/config/parameters.yaml similarity index 82% rename from convex_plane_decomposition/config/parameters.yaml rename to convex_plane_decomposition_ros/config/parameters.yaml index 8ef9b19c..d496c9db 100644 --- a/convex_plane_decomposition/config/parameters.yaml +++ b/convex_plane_decomposition_ros/config/parameters.yaml @@ -1,5 +1,5 @@ -input_map_topic: '/elevation_mapping/elevation_map' - +input_map_topic : '/elevation_mapping/elevation_map' +height_layer : 'elevation' plane_factory: @@ -10,9 +10,11 @@ polygonizer: activate_long_edge_upsampling : false activate_contour_approximation : false hole_area_threshold_squared_meters : 2e-3 + contour_approximation_deviation_threshold : 0.04 convex_decomposer: decomposer_type : 'optimal_decompostion' + dent_angle_threshold_rad : 0.001 sliding_window_plane_extractor: kernel_size : 3 diff --git a/convex_plane_decomposition/include/convex_plane_extraction_ros.hpp b/convex_plane_decomposition_ros/include/convex_plane_extraction_ros.hpp similarity index 89% rename from convex_plane_decomposition/include/convex_plane_extraction_ros.hpp rename to convex_plane_decomposition_ros/include/convex_plane_extraction_ros.hpp index dc4cbf1e..30586205 100644 --- a/convex_plane_decomposition/include/convex_plane_extraction_ros.hpp +++ b/convex_plane_decomposition_ros/include/convex_plane_extraction_ros.hpp @@ -1,3 +1,6 @@ +#ifndef CONVEX_PLANE_EXTRACTION_ROS_INCLUDE_CONVEX_PLANE_EXTRACTION_ROS_HPP_ +#define CONVEX_PLANE_EXTRACTION_ROS_INCLUDE_CONVEX_PLANE_EXTRACTION_ROS_HPP_ + #pragma once #include @@ -66,9 +69,7 @@ class ConvexPlaneExtractionROS ros::Publisher outer_contours_publisher_; - //! Convex Plane Extraction Pipeline. - PipelineROS pipeline_ros_; - }; } /* namespace */ +#endif \ No newline at end of file diff --git a/convex_plane_decomposition/include/grid_map_preprocessing.hpp b/convex_plane_decomposition_ros/include/grid_map_preprocessing.hpp similarity index 73% rename from convex_plane_decomposition/include/grid_map_preprocessing.hpp rename to convex_plane_decomposition_ros/include/grid_map_preprocessing.hpp index df07522b..ad2a3979 100644 --- a/convex_plane_decomposition/include/grid_map_preprocessing.hpp +++ b/convex_plane_decomposition_ros/include/grid_map_preprocessing.hpp @@ -1,5 +1,5 @@ -#ifndef CONVEX_PLANE_EXTRACTION_INCLUDE_GRID_MAP_PREPROCESSING_HPP_ -#define CONVEX_PLANE_EXTRACTION_INCLUDE_GRID_MAP_PREPROCESSING_HPP_ +#ifndef CONVEX_PLANE_EXTRACTION_ROS_INCLUDE_GRID_MAP_PREPROCESSING_HPP_ +#define CONVEX_PLANE_EXTRACTION_ROS_INCLUDE_GRID_MAP_PREPROCESSING_HPP_ #include "Eigen/Core" #include "Eigen/Dense" diff --git a/convex_plane_decomposition_ros/include/pipeline_ros.hpp b/convex_plane_decomposition_ros/include/pipeline_ros.hpp new file mode 100644 index 00000000..84f6a10f --- /dev/null +++ b/convex_plane_decomposition_ros/include/pipeline_ros.hpp @@ -0,0 +1,43 @@ +#ifndef CONVEX_PLANE_EXTRACTION_ROS_INCLUDE_PIPELINE_ROS_HPP_ +#define CONVEX_PLANE_EXTRACTION_ROS_INCLUDE_PIPELINE_ROS_HPP_ + +#include +#include +#include +#include +#include + +#include "pipeline.hpp" +#include "ros_visualizations.hpp" + +namespace convex_plane_extraction { + +PipelineParameters loadPipelineParameters(ros::NodeHandle& nodeHandle, grid_map::GridMap& map); + +GridMapParameters loadGridMapParameters(ros::NodeHandle& nodeHandle, grid_map::GridMap& map){ + // Grid map parameters. + std::string height_layer; + CHECK(nodeHandle.getParam("height_layer", height_layer)); + GridMapParameters grid_map_parameters(map,height_layer); + + return grid_map_parameters; +} + +class PipelineROS { + public: + PipelineROS(ros::NodeHandle& nodeHandle, grid_map::GridMap& map) + : pipeline_(loadPipelineParameters(nodeHandle, map), loadGridMapParameters(nodeHandle, map)){} + + jsk_recognition_msgs::PolygonArray getConvexPolygons() const; + + jsk_recognition_msgs::PolygonArray getOuterPlaneContours() const; + + void augmentGridMapWithSegmentation(grid_map::GridMap& map); + + private: + + Pipeline pipeline_; +}; + +} // namespace convex_plane_extraction +#endif //CONVEX_PLANE_EXTRACTION_ROS__PIPELINE_ROS_HPP_ diff --git a/convex_plane_decomposition/include/ros_visualizations.hpp b/convex_plane_decomposition_ros/include/ros_visualizations.hpp similarity index 56% rename from convex_plane_decomposition/include/ros_visualizations.hpp rename to convex_plane_decomposition_ros/include/ros_visualizations.hpp index bb998e77..8499d4d9 100644 --- a/convex_plane_decomposition/include/ros_visualizations.hpp +++ b/convex_plane_decomposition_ros/include/ros_visualizations.hpp @@ -1,5 +1,5 @@ -#ifndef CONVEX_PLANE_EXTRACTION_INCLUDE_ROS_VISUALIZATIONS_HPP_ -#define CONVEX_PLANE_EXTRACTION_INCLUDE_ROS_VISUALIZATIONS_HPP_ +#ifndef CONVEX_PLANE_EXTRACTION_ROS_INCLUDE_ROS_VISUALIZATIONS_HPP_ +#define CONVEX_PLANE_EXTRACTION_ROS_INCLUDE_ROS_VISUALIZATIONS_HPP_ #include #include "Eigen/Core" @@ -13,7 +13,7 @@ namespace convex_plane_extraction{ - void addRosPolygons(const Polygon3dVectorContainer& input_polygons, jsk_recognition_msgs::PolygonArray* polygon_array); + jsk_recognition_msgs::PolygonArray convertToRosPolygons(const Polygon3dVectorContainer &input_polygons); } diff --git a/convex_plane_decomposition/launch/convex_plane_extraction.launch b/convex_plane_decomposition_ros/launch/convex_plane_extraction.launch similarity index 100% rename from convex_plane_decomposition/launch/convex_plane_extraction.launch rename to convex_plane_decomposition_ros/launch/convex_plane_extraction.launch diff --git a/convex_plane_decomposition_ros/package.xml b/convex_plane_decomposition_ros/package.xml new file mode 100644 index 00000000..cf3c6112 --- /dev/null +++ b/convex_plane_decomposition_ros/package.xml @@ -0,0 +1,41 @@ + + + convex_plane_extraction_ros + 0.0.0 + The convex_plane_extraction_ros package + + + + + andrej + + + + + + TODO + + catkin + catkin + roscpp + grid_map_core + grid_map_ros + grid_map_cv + grid_map_filters + grid_map_loader + grid_map_msgs + grid_map_octomap + grid_map_rviz_plugin + grid_map_visualization + geometry_msgs + sensor_msgs + cv_bridge + convex_plane_extraction + + + + + + + + \ No newline at end of file diff --git a/convex_plane_decomposition/rviz/config.rviz b/convex_plane_decomposition_ros/rviz/config.rviz similarity index 100% rename from convex_plane_decomposition/rviz/config.rviz rename to convex_plane_decomposition_ros/rviz/config.rviz diff --git a/convex_plane_decomposition/src/convex_plane_extraction_node.cpp b/convex_plane_decomposition_ros/src/convex_plane_extraction_node.cpp similarity index 88% rename from convex_plane_decomposition/src/convex_plane_extraction_node.cpp rename to convex_plane_decomposition_ros/src/convex_plane_extraction_node.cpp index c13c893b..987d4241 100644 --- a/convex_plane_decomposition/src/convex_plane_extraction_node.cpp +++ b/convex_plane_decomposition_ros/src/convex_plane_extraction_node.cpp @@ -8,7 +8,7 @@ int main(int argc, char** argv) FLAGS_alsologtostderr = 1; FLAGS_colorlogtostderr = 1; google::InitGoogleLogging(argv[0]); - ros::init(argc, argv, "convex_plane_extraction"); + ros::init(argc, argv, "convex_plane_extraction_ros"); ros::NodeHandle nodeHandle("~"); bool success; convex_plane_extraction::ConvexPlaneExtractionROS convex_plane_extraction_ros(nodeHandle, success); diff --git a/convex_plane_decomposition_ros/src/convex_plane_extraction_ros.cpp b/convex_plane_decomposition_ros/src/convex_plane_extraction_ros.cpp new file mode 100644 index 00000000..32665192 --- /dev/null +++ b/convex_plane_decomposition_ros/src/convex_plane_extraction_ros.cpp @@ -0,0 +1,68 @@ +#include + +#include "convex_plane_extraction_ros.hpp" + +using namespace grid_map; + +namespace convex_plane_extraction { + +ConvexPlaneExtractionROS::ConvexPlaneExtractionROS(ros::NodeHandle& nodeHandle, bool& success) + : nodeHandle_(nodeHandle) { + if (!readParameters()) { + success = false; + return; + } + + subscriber_ = nodeHandle_.subscribe(inputTopic_, 1, &ConvexPlaneExtractionROS::callback, this); + grid_map_publisher_ = nodeHandle_.advertise("convex_plane_extraction", 1, true); + convex_polygon_publisher_ = nodeHandle_.advertise("convex_polygons", 1); + outer_contours_publisher_ = nodeHandle_.advertise("outer_contours", 1); + success = true; +} + +ConvexPlaneExtractionROS::~ConvexPlaneExtractionROS(){} + +bool ConvexPlaneExtractionROS::readParameters() +{ + if (!nodeHandle_.getParam("input_topic", inputTopic_)) { + ROS_ERROR("Could not read parameter `input_topic`."); + return false; + } + return true; +} + +void ConvexPlaneExtractionROS::callback(const grid_map_msgs::GridMap& message) { + auto start_total = std::chrono::system_clock::now(); + + // Convert message to map. + ROS_INFO("Reading input map..."); + GridMap messageMap; + GridMapRosConverter::fromMessage(message, messageMap); + bool success; + GridMap inputMap = messageMap.getSubmap(messageMap.getPosition(), Eigen::Array2d(4, 4), success); + Position3 position; + inputMap.getPosition3("elevation", Index(0,0), position); + VLOG(1) << inputMap.getPosition(); + CHECK(success); + ROS_INFO("...done."); + + applyMedianFilter(inputMap.get("elevation"), 5); + + // Run pipeline. + PipelineROS pipeline_ros(nodeHandle_, inputMap); + + // Visualize in Rviz. + jsk_recognition_msgs::PolygonArray outer_plane_contours = pipeline_ros.getOuterPlaneContours(); + jsk_recognition_msgs::PolygonArray convex_polygons = pipeline_ros.getConvexPolygons(); + pipeline_ros.augmentGridMapWithSegmentation(inputMap); + + grid_map_msgs::GridMap outputMessage; + GridMapRosConverter::toMessage(inputMap, outputMessage); + grid_map_publisher_.publish(outputMessage); + + convex_polygon_publisher_.publish(convex_polygons); + outer_contours_publisher_.publish(outer_plane_contours); + +} + +} /* namespace */ diff --git a/convex_plane_decomposition/src/grid_map_preprocessing.cpp b/convex_plane_decomposition_ros/src/grid_map_preprocessing.cpp similarity index 100% rename from convex_plane_decomposition/src/grid_map_preprocessing.cpp rename to convex_plane_decomposition_ros/src/grid_map_preprocessing.cpp diff --git a/convex_plane_decomposition_ros/src/pipeline_ros.cpp b/convex_plane_decomposition_ros/src/pipeline_ros.cpp new file mode 100644 index 00000000..e05ac9ae --- /dev/null +++ b/convex_plane_decomposition_ros/src/pipeline_ros.cpp @@ -0,0 +1,121 @@ +#include "pipeline_ros.hpp" + +using namespace convex_plane_extraction; + +PipelineParameters loadPipelineParameters(ros::NodeHandle& nodeHandle, grid_map::GridMap& map){ + + // Grid map parameters. + GridMapParameters grid_map_parameters = loadGridMapParameters(nodeHandle, map); + + // Sliding Window Plane Extractor parameters. + sliding_window_plane_extractor::SlidingWindowPlaneExtractorParameters sliding_window_plane_extractor_parameters; + const std::string kSlidingWindowParametersPrefix = "/sliding_window_plane_extractor/"; + if (!nodeHandle.getParam(kSlidingWindowParametersPrefix + "kernel_size", sliding_window_plane_extractor_parameters.kernel_size)) { + ROS_ERROR("Could not read parameter `kernel_size`. Setting parameter to default value."); + } + if (!nodeHandle.getParam(kSlidingWindowParametersPrefix + "plane_patch_error_threshold", sliding_window_plane_extractor_parameters.plane_patch_error_threshold)) { + ROS_ERROR("Could not read parameter `plane_patch_error_threshold`. Setting parameter to default value."); + } + if (!nodeHandle.getParam(kSlidingWindowParametersPrefix + "include_curvature_detection", sliding_window_plane_extractor_parameters.include_curvature_detection)) { + ROS_ERROR("Could not read parameter `include_curvature_detection`. Setting parameter to default value."); + } + if (!nodeHandle.getParam(kSlidingWindowParametersPrefix + "include_ransac_refinement", sliding_window_plane_extractor_parameters.include_ransac_refinement)) { + ROS_ERROR("Could not read parameter `include_ransac_refinement`. Setting parameter to default value."); + } + if (!nodeHandle.getParam(kSlidingWindowParametersPrefix + "global_plane_fit_error_threshold", sliding_window_plane_extractor_parameters.global_plane_fit_error_threshold)) { + ROS_ERROR("Could not read parameter `global_plane_fit_error_threshold`. Setting parameter to default value."); + } + if(sliding_window_plane_extractor_parameters.include_ransac_refinement){ + // RASNAC refinement related parameters. + ransac_plane_extractor::RansacPlaneExtractorParameters ransac_plane_extractor_parameters; + const std::string kRansacRefinementParameterPrefix = "/ransac_plane_refinement/"; + if (!nodeHandle.getParam(kRansacRefinementParameterPrefix + "probability", ransac_plane_extractor_parameters.probability)) { + LOG(WARNING) << "Could not read parameter" << kRansacRefinementParameterPrefix << "probability. Setting parameter to default value."; + } + if (!nodeHandle.getParam(kRansacRefinementParameterPrefix + "min_points", ransac_plane_extractor_parameters.min_points)) { + LOG(WARNING) << "Could not read parameter" << kRansacRefinementParameterPrefix << "ransac_min_points. Setting parameter to default value."; + } + if (!nodeHandle.getParam(kRansacRefinementParameterPrefix + "epsilon", ransac_plane_extractor_parameters.epsilon)) { + ROS_ERROR("Could not read parameter `epsilon`. Setting parameter to default value."); + } + if (!nodeHandle.getParam(kRansacRefinementParameterPrefix + "cluster_epsilon", ransac_plane_extractor_parameters.cluster_epsilon)) { + ROS_ERROR("Could not read parameter `cluster_epsilon`. Setting parameter to default value."); + } + if (!nodeHandle.getParam(kRansacRefinementParameterPrefix + "normal_threshold", ransac_plane_extractor_parameters.normal_threshold)) { + ROS_ERROR("Could not read parameter `normal_threshold`. Setting parameter to default value."); + } + sliding_window_plane_extractor_parameters.ransac_parameters = ransac_plane_extractor_parameters; + } + + // Polygonizer parameters. + PolygonizerParameters polygonizer_parameters; + polygonizer_parameters.resolution = grid_map_parameters.resolution; + const std::string kPolygonizerParametersPrefix = "/polygonizer/"; + if (!nodeHandle.getParam(kPolygonizerParametersPrefix + "upsampling_factor", polygonizer_parameters.resolution)) { + ROS_ERROR("Could not read parameter `normal_threshold`. Setting parameter to default value."); + } + if (!nodeHandle.getParam(kPolygonizerParametersPrefix + "activate_long_edge_upsampling", polygonizer_parameters.activate_long_edge_upsampling)) { + ROS_ERROR("Could not read parameter `activate_long_edge_upsampling`. Setting parameter to default value."); + } + if (!nodeHandle.getParam(kPolygonizerParametersPrefix + "activate_contour_approximation", polygonizer_parameters.activate_contour_approximation)) { + ROS_ERROR("Could not read parameter `activate_contour_approximation`. Setting parameter to default value."); + } + if (polygonizer_parameters.activate_contour_approximation){ + if (!nodeHandle.getParam(kPolygonizerParametersPrefix + "contour_approximation_deviation_threshold", polygonizer_parameters.contour_approximation_deviation_threshold)) { + ROS_ERROR("Could not read parameter `contour_approximation_deviation_threshold`. Setting parameter to default value."); + } + } + if (!nodeHandle.getParam(kPolygonizerParametersPrefix + "hole_area_threshold_squared_meters", polygonizer_parameters.hole_area_threshold_squared_meters)) { + ROS_ERROR("Could not read parameter `hole_area_threshold_squared_meters`. Setting parameter to default value."); + } + + // Convex decomposer parameters. + ConvexDecomposerParameters convex_decomposer_parameters; + const std::string kConvexDecomposerParametersPrefix = "/convex_decomposer/"; + std::string decomposer_type; + if (!nodeHandle.getParam(kConvexDecomposerParametersPrefix + "decomposer_type", decomposer_type)) { + ROS_ERROR("Could not read parameter `decomposer_type`. Setting parameter to default value."); + } + if(decomposer_type == "optimal_decompostion"){ + convex_decomposer_parameters.decomposition_type = ConvexDecompositionType::kGreeneOptimalDecomposition; + } else if (decomposer_type == "inner_convex_decomposition"){ + convex_decomposer_parameters.decomposition_type = ConvexDecompositionType::kInnerConvexApproximation; + } + if (!nodeHandle.getParam(kConvexDecomposerParametersPrefix + "dent_angle_threshold_rad", convex_decomposer_parameters.dent_angle_threshold_rad)) { + ROS_ERROR("Could not read parameter `dent_angle_threshold_rad`. Setting parameter to default value."); + } + + // Plane Factory parameters. + PlaneFactoryParameters plane_factory_parameters; + const std::string kPlaneFactoryParametersPrefix = "/plane_factory/"; + if (!nodeHandle.getParam(kPlaneFactoryParametersPrefix + "plane_inclination_threshold_degrees", plane_factory_parameters.plane_inclination_threshold_degrees)) { + ROS_ERROR("Could not read parameter `plane_inclination_threshold_degrees`. Setting parameter to default value."); + } + plane_factory_parameters.polygonizer_parameters = polygonizer_parameters; + plane_factory_parameters.convex_decomposer_parameters = convex_decomposer_parameters; + + // Pipeline parameters. + PipelineParameters pipeline_parameters; + pipeline_parameters.sliding_window_plane_extractor_parameters = sliding_window_plane_extractor_parameters; + pipeline_parameters.plane_factory_parameters = plane_factory_parameters; + + return pipeline_parameters; +} + +jsk_recognition_msgs::PolygonArray PipelineROS::getConvexPolygons() const{ + const Polygon3dVectorContainer convex_polygon_buffer = pipeline_.getConvexPolygons(); + return convertToRosPolygons(convex_polygon_buffer); +} + +jsk_recognition_msgs::PolygonArray PipelineROS::getOuterPlaneContours() const{ + const Polygon3dVectorContainer plane_contour_buffer = pipeline_.getPlaneContours(); + return convertToRosPolygons(plane_contour_buffer); +} + +void PipelineROS::augmentGridMapWithSegmentation(grid_map::GridMap& map){ + Eigen::MatrixXf new_layer = Eigen::MatrixXf::Zero(map.getSize().x(), map.getSize().y()); + cv::cv2eigen(pipeline_.getSegmentationImage(), new_layer); + map.add("plane_segmentation", new_layer); + VLOG(1) << "Added plane segmentation to Grid Map!"; +} + diff --git a/convex_plane_decomposition/src/ros_visualizations.cpp b/convex_plane_decomposition_ros/src/ros_visualizations.cpp similarity index 63% rename from convex_plane_decomposition/src/ros_visualizations.cpp rename to convex_plane_decomposition_ros/src/ros_visualizations.cpp index 67c6468d..765e3ea1 100644 --- a/convex_plane_decomposition/src/ros_visualizations.cpp +++ b/convex_plane_decomposition_ros/src/ros_visualizations.cpp @@ -2,10 +2,10 @@ namespace convex_plane_extraction { - void addRosPolygons(const Polygon3dVectorContainer &input_polygons, jsk_recognition_msgs::PolygonArray *polygon_array) { - - polygon_array->header.stamp = ros::Time::now(); - polygon_array->header.frame_id = "odom"; + jsk_recognition_msgs::PolygonArray convertToRosPolygons(const Polygon3dVectorContainer &input_polygons) { + jsk_recognition_msgs::PolygonArray polygon_buffer; + polygon_buffer.header.stamp = ros::Time::now(); + polygon_buffer.header.frame_id = "odom"; for (const auto &polygon : input_polygons) { if (polygon.empty()) { continue; @@ -20,8 +20,9 @@ namespace convex_plane_extraction { point_ros.z = point(2); polygon_stamped.polygon.points.push_back(point_ros); } - polygon_array->polygons.push_back(polygon_stamped); + polygon_buffer.polygons.push_back(polygon_stamped); } + return polygon_buffer; } } From f63721d0c496b8df0ba52cb56e3d9a3aa0e8f578 Mon Sep 17 00:00:00 2001 From: andrej1001 Date: Wed, 4 Mar 2020 23:15:19 +0100 Subject: [PATCH 022/504] Passed build. --- .../include/convex_plane_extraction_ros.hpp | 2 - .../include/pipeline_ros.hpp | 11 +-- .../src/pipeline_ros.cpp | 82 +++++++++++++------ 3 files changed, 57 insertions(+), 38 deletions(-) diff --git a/convex_plane_decomposition_ros/include/convex_plane_extraction_ros.hpp b/convex_plane_decomposition_ros/include/convex_plane_extraction_ros.hpp index 30586205..40c5fec4 100644 --- a/convex_plane_decomposition_ros/include/convex_plane_extraction_ros.hpp +++ b/convex_plane_decomposition_ros/include/convex_plane_extraction_ros.hpp @@ -1,8 +1,6 @@ #ifndef CONVEX_PLANE_EXTRACTION_ROS_INCLUDE_CONVEX_PLANE_EXTRACTION_ROS_HPP_ #define CONVEX_PLANE_EXTRACTION_ROS_INCLUDE_CONVEX_PLANE_EXTRACTION_ROS_HPP_ -#pragma once - #include #include diff --git a/convex_plane_decomposition_ros/include/pipeline_ros.hpp b/convex_plane_decomposition_ros/include/pipeline_ros.hpp index 84f6a10f..8ba2ec8c 100644 --- a/convex_plane_decomposition_ros/include/pipeline_ros.hpp +++ b/convex_plane_decomposition_ros/include/pipeline_ros.hpp @@ -12,16 +12,9 @@ namespace convex_plane_extraction { -PipelineParameters loadPipelineParameters(ros::NodeHandle& nodeHandle, grid_map::GridMap& map); - -GridMapParameters loadGridMapParameters(ros::NodeHandle& nodeHandle, grid_map::GridMap& map){ - // Grid map parameters. - std::string height_layer; - CHECK(nodeHandle.getParam("height_layer", height_layer)); - GridMapParameters grid_map_parameters(map,height_layer); +GridMapParameters loadGridMapParameters(ros::NodeHandle& nodeHandle, grid_map::GridMap& map); - return grid_map_parameters; -} +PipelineParameters loadPipelineParameters(ros::NodeHandle& nodeHandle, grid_map::GridMap& map); class PipelineROS { public: diff --git a/convex_plane_decomposition_ros/src/pipeline_ros.cpp b/convex_plane_decomposition_ros/src/pipeline_ros.cpp index e05ac9ae..4bc56811 100644 --- a/convex_plane_decomposition_ros/src/pipeline_ros.cpp +++ b/convex_plane_decomposition_ros/src/pipeline_ros.cpp @@ -1,8 +1,8 @@ #include "pipeline_ros.hpp" -using namespace convex_plane_extraction; +namespace convex_plane_extraction { -PipelineParameters loadPipelineParameters(ros::NodeHandle& nodeHandle, grid_map::GridMap& map){ +PipelineParameters loadPipelineParameters(ros::NodeHandle &nodeHandle, grid_map::GridMap &map) { // Grid map parameters. GridMapParameters grid_map_parameters = loadGridMapParameters(nodeHandle, map); @@ -10,38 +10,49 @@ PipelineParameters loadPipelineParameters(ros::NodeHandle& nodeHandle, grid_map: // Sliding Window Plane Extractor parameters. sliding_window_plane_extractor::SlidingWindowPlaneExtractorParameters sliding_window_plane_extractor_parameters; const std::string kSlidingWindowParametersPrefix = "/sliding_window_plane_extractor/"; - if (!nodeHandle.getParam(kSlidingWindowParametersPrefix + "kernel_size", sliding_window_plane_extractor_parameters.kernel_size)) { + if (!nodeHandle.getParam(kSlidingWindowParametersPrefix + "kernel_size", + sliding_window_plane_extractor_parameters.kernel_size)) { ROS_ERROR("Could not read parameter `kernel_size`. Setting parameter to default value."); } - if (!nodeHandle.getParam(kSlidingWindowParametersPrefix + "plane_patch_error_threshold", sliding_window_plane_extractor_parameters.plane_patch_error_threshold)) { + if (!nodeHandle.getParam(kSlidingWindowParametersPrefix + "plane_patch_error_threshold", + sliding_window_plane_extractor_parameters.plane_patch_error_threshold)) { ROS_ERROR("Could not read parameter `plane_patch_error_threshold`. Setting parameter to default value."); } - if (!nodeHandle.getParam(kSlidingWindowParametersPrefix + "include_curvature_detection", sliding_window_plane_extractor_parameters.include_curvature_detection)) { + if (!nodeHandle.getParam(kSlidingWindowParametersPrefix + "include_curvature_detection", + sliding_window_plane_extractor_parameters.include_curvature_detection)) { ROS_ERROR("Could not read parameter `include_curvature_detection`. Setting parameter to default value."); } - if (!nodeHandle.getParam(kSlidingWindowParametersPrefix + "include_ransac_refinement", sliding_window_plane_extractor_parameters.include_ransac_refinement)) { + if (!nodeHandle.getParam(kSlidingWindowParametersPrefix + "include_ransac_refinement", + sliding_window_plane_extractor_parameters.include_ransac_refinement)) { ROS_ERROR("Could not read parameter `include_ransac_refinement`. Setting parameter to default value."); } - if (!nodeHandle.getParam(kSlidingWindowParametersPrefix + "global_plane_fit_error_threshold", sliding_window_plane_extractor_parameters.global_plane_fit_error_threshold)) { + if (!nodeHandle.getParam(kSlidingWindowParametersPrefix + "global_plane_fit_error_threshold", + sliding_window_plane_extractor_parameters.global_plane_fit_error_threshold)) { ROS_ERROR("Could not read parameter `global_plane_fit_error_threshold`. Setting parameter to default value."); } - if(sliding_window_plane_extractor_parameters.include_ransac_refinement){ + if (sliding_window_plane_extractor_parameters.include_ransac_refinement) { // RASNAC refinement related parameters. ransac_plane_extractor::RansacPlaneExtractorParameters ransac_plane_extractor_parameters; const std::string kRansacRefinementParameterPrefix = "/ransac_plane_refinement/"; - if (!nodeHandle.getParam(kRansacRefinementParameterPrefix + "probability", ransac_plane_extractor_parameters.probability)) { - LOG(WARNING) << "Could not read parameter" << kRansacRefinementParameterPrefix << "probability. Setting parameter to default value."; + if (!nodeHandle.getParam(kRansacRefinementParameterPrefix + "probability", + ransac_plane_extractor_parameters.probability)) { + LOG(WARNING) << "Could not read parameter" << kRansacRefinementParameterPrefix + << "probability. Setting parameter to default value."; } - if (!nodeHandle.getParam(kRansacRefinementParameterPrefix + "min_points", ransac_plane_extractor_parameters.min_points)) { - LOG(WARNING) << "Could not read parameter" << kRansacRefinementParameterPrefix << "ransac_min_points. Setting parameter to default value."; + if (!nodeHandle.getParam(kRansacRefinementParameterPrefix + "min_points", + ransac_plane_extractor_parameters.min_points)) { + LOG(WARNING) << "Could not read parameter" << kRansacRefinementParameterPrefix + << "ransac_min_points. Setting parameter to default value."; } if (!nodeHandle.getParam(kRansacRefinementParameterPrefix + "epsilon", ransac_plane_extractor_parameters.epsilon)) { ROS_ERROR("Could not read parameter `epsilon`. Setting parameter to default value."); } - if (!nodeHandle.getParam(kRansacRefinementParameterPrefix + "cluster_epsilon", ransac_plane_extractor_parameters.cluster_epsilon)) { + if (!nodeHandle.getParam(kRansacRefinementParameterPrefix + "cluster_epsilon", + ransac_plane_extractor_parameters.cluster_epsilon)) { ROS_ERROR("Could not read parameter `cluster_epsilon`. Setting parameter to default value."); } - if (!nodeHandle.getParam(kRansacRefinementParameterPrefix + "normal_threshold", ransac_plane_extractor_parameters.normal_threshold)) { + if (!nodeHandle.getParam(kRansacRefinementParameterPrefix + "normal_threshold", + ransac_plane_extractor_parameters.normal_threshold)) { ROS_ERROR("Could not read parameter `normal_threshold`. Setting parameter to default value."); } sliding_window_plane_extractor_parameters.ransac_parameters = ransac_plane_extractor_parameters; @@ -54,18 +65,23 @@ PipelineParameters loadPipelineParameters(ros::NodeHandle& nodeHandle, grid_map: if (!nodeHandle.getParam(kPolygonizerParametersPrefix + "upsampling_factor", polygonizer_parameters.resolution)) { ROS_ERROR("Could not read parameter `normal_threshold`. Setting parameter to default value."); } - if (!nodeHandle.getParam(kPolygonizerParametersPrefix + "activate_long_edge_upsampling", polygonizer_parameters.activate_long_edge_upsampling)) { + if (!nodeHandle.getParam(kPolygonizerParametersPrefix + "activate_long_edge_upsampling", + polygonizer_parameters.activate_long_edge_upsampling)) { ROS_ERROR("Could not read parameter `activate_long_edge_upsampling`. Setting parameter to default value."); } - if (!nodeHandle.getParam(kPolygonizerParametersPrefix + "activate_contour_approximation", polygonizer_parameters.activate_contour_approximation)) { + if (!nodeHandle.getParam(kPolygonizerParametersPrefix + "activate_contour_approximation", + polygonizer_parameters.activate_contour_approximation)) { ROS_ERROR("Could not read parameter `activate_contour_approximation`. Setting parameter to default value."); } - if (polygonizer_parameters.activate_contour_approximation){ - if (!nodeHandle.getParam(kPolygonizerParametersPrefix + "contour_approximation_deviation_threshold", polygonizer_parameters.contour_approximation_deviation_threshold)) { - ROS_ERROR("Could not read parameter `contour_approximation_deviation_threshold`. Setting parameter to default value."); + if (polygonizer_parameters.activate_contour_approximation) { + if (!nodeHandle.getParam(kPolygonizerParametersPrefix + "contour_approximation_deviation_threshold", + polygonizer_parameters.contour_approximation_deviation_threshold)) { + ROS_ERROR( + "Could not read parameter `contour_approximation_deviation_threshold`. Setting parameter to default value."); } } - if (!nodeHandle.getParam(kPolygonizerParametersPrefix + "hole_area_threshold_squared_meters", polygonizer_parameters.hole_area_threshold_squared_meters)) { + if (!nodeHandle.getParam(kPolygonizerParametersPrefix + "hole_area_threshold_squared_meters", + polygonizer_parameters.hole_area_threshold_squared_meters)) { ROS_ERROR("Could not read parameter `hole_area_threshold_squared_meters`. Setting parameter to default value."); } @@ -76,19 +92,21 @@ PipelineParameters loadPipelineParameters(ros::NodeHandle& nodeHandle, grid_map: if (!nodeHandle.getParam(kConvexDecomposerParametersPrefix + "decomposer_type", decomposer_type)) { ROS_ERROR("Could not read parameter `decomposer_type`. Setting parameter to default value."); } - if(decomposer_type == "optimal_decompostion"){ + if (decomposer_type == "optimal_decompostion") { convex_decomposer_parameters.decomposition_type = ConvexDecompositionType::kGreeneOptimalDecomposition; - } else if (decomposer_type == "inner_convex_decomposition"){ + } else if (decomposer_type == "inner_convex_decomposition") { convex_decomposer_parameters.decomposition_type = ConvexDecompositionType::kInnerConvexApproximation; } - if (!nodeHandle.getParam(kConvexDecomposerParametersPrefix + "dent_angle_threshold_rad", convex_decomposer_parameters.dent_angle_threshold_rad)) { + if (!nodeHandle.getParam(kConvexDecomposerParametersPrefix + "dent_angle_threshold_rad", + convex_decomposer_parameters.dent_angle_threshold_rad)) { ROS_ERROR("Could not read parameter `dent_angle_threshold_rad`. Setting parameter to default value."); } // Plane Factory parameters. PlaneFactoryParameters plane_factory_parameters; const std::string kPlaneFactoryParametersPrefix = "/plane_factory/"; - if (!nodeHandle.getParam(kPlaneFactoryParametersPrefix + "plane_inclination_threshold_degrees", plane_factory_parameters.plane_inclination_threshold_degrees)) { + if (!nodeHandle.getParam(kPlaneFactoryParametersPrefix + "plane_inclination_threshold_degrees", + plane_factory_parameters.plane_inclination_threshold_degrees)) { ROS_ERROR("Could not read parameter `plane_inclination_threshold_degrees`. Setting parameter to default value."); } plane_factory_parameters.polygonizer_parameters = polygonizer_parameters; @@ -102,20 +120,30 @@ PipelineParameters loadPipelineParameters(ros::NodeHandle& nodeHandle, grid_map: return pipeline_parameters; } -jsk_recognition_msgs::PolygonArray PipelineROS::getConvexPolygons() const{ +GridMapParameters loadGridMapParameters(ros::NodeHandle &nodeHandle, grid_map::GridMap &map) { + // Grid map parameters. + std::string height_layer; + CHECK(nodeHandle.getParam("height_layer", height_layer)); + GridMapParameters grid_map_parameters(map, height_layer); + + return grid_map_parameters; +} + +jsk_recognition_msgs::PolygonArray PipelineROS::getConvexPolygons() const { const Polygon3dVectorContainer convex_polygon_buffer = pipeline_.getConvexPolygons(); return convertToRosPolygons(convex_polygon_buffer); } -jsk_recognition_msgs::PolygonArray PipelineROS::getOuterPlaneContours() const{ +jsk_recognition_msgs::PolygonArray PipelineROS::getOuterPlaneContours() const { const Polygon3dVectorContainer plane_contour_buffer = pipeline_.getPlaneContours(); return convertToRosPolygons(plane_contour_buffer); } -void PipelineROS::augmentGridMapWithSegmentation(grid_map::GridMap& map){ +void PipelineROS::augmentGridMapWithSegmentation(grid_map::GridMap &map) { Eigen::MatrixXf new_layer = Eigen::MatrixXf::Zero(map.getSize().x(), map.getSize().y()); cv::cv2eigen(pipeline_.getSegmentationImage(), new_layer); map.add("plane_segmentation", new_layer); VLOG(1) << "Added plane segmentation to Grid Map!"; } +} \ No newline at end of file From 9b133a8a8f9b4341b8b41b2f9b1f42ea5a7e1f07 Mon Sep 17 00:00:00 2001 From: andrej1001 Date: Thu, 5 Mar 2020 14:46:10 +0100 Subject: [PATCH 023/504] Diverse fixes. --- .../include/pipeline.hpp | 2 +- .../src/convex_decomposer.cpp | 7 ++-- convex_plane_decomposition/src/pipeline.cpp | 8 +++-- .../src/plane_factory.cpp | 5 ++- .../src/polygonizer.cpp | 14 +++++--- .../src/sliding_window_plane_extractor.cpp | 32 +++++++++++++------ .../config/parameters.yaml | 6 ++-- .../launch/convex_plane_extraction.launch | 15 ++------- .../rviz/config.rviz | 6 ++-- .../src/convex_plane_extraction_node.cpp | 1 + .../src/convex_plane_extraction_ros.cpp | 10 +++--- .../src/pipeline_ros.cpp | 17 ++++++---- 12 files changed, 70 insertions(+), 53 deletions(-) diff --git a/convex_plane_decomposition/include/pipeline.hpp b/convex_plane_decomposition/include/pipeline.hpp index a16f4069..d0a97920 100644 --- a/convex_plane_decomposition/include/pipeline.hpp +++ b/convex_plane_decomposition/include/pipeline.hpp @@ -21,7 +21,7 @@ struct GridMapParameters{ grid_map::GridMap& map; double resolution; - const std::string& layer_height; + std::string layer_height; }; diff --git a/convex_plane_decomposition/src/convex_decomposer.cpp b/convex_plane_decomposition/src/convex_decomposer.cpp index ba1ab03f..13e38836 100644 --- a/convex_plane_decomposition/src/convex_decomposer.cpp +++ b/convex_plane_decomposition/src/convex_decomposer.cpp @@ -6,10 +6,13 @@ ConvexDecomposer::ConvexDecomposer(const convex_plane_extraction::ConvexDecompos :parameters_(parameters){} CgalPolygon2dContainer ConvexDecomposer::performConvexDecomposition(const CgalPolygon2d& polygon) const { - CHECK_GE(polygon.size(), 3); - CHECK(polygon.is_simple()); VLOG(1) << "Started convex decomposition..."; CgalPolygon2dContainer convex_polygons; + if (polygon.size() == 2) { + convex_polygons.push_back(polygon); + return convex_polygons; + } + CHECK(polygon.is_simple()); if(polygon.is_convex()){ LOG(INFO) << "Polygon already convex, no decompostion performed."; convex_polygons.push_back(polygon); diff --git a/convex_plane_decomposition/src/pipeline.cpp b/convex_plane_decomposition/src/pipeline.cpp index 7600ecff..36d8d53a 100644 --- a/convex_plane_decomposition/src/pipeline.cpp +++ b/convex_plane_decomposition/src/pipeline.cpp @@ -6,11 +6,13 @@ using namespace convex_plane_extraction; Pipeline::Pipeline(const PipelineParameters& pipeline_parameters, const GridMapParameters& grid_map_parameters) : pipeline_parameters_(pipeline_parameters), grid_map_parameters_(grid_map_parameters), - sliding_window_plane_extractor_(sliding_window_plane_extractor::SlidingWindowPlaneExtractor(grid_map_parameters_.map, + sliding_window_plane_extractor_(grid_map_parameters_.map, grid_map_parameters_.resolution, grid_map_parameters_.layer_height, - pipeline_parameters_.sliding_window_plane_extractor_parameters, pipeline_parameters_.sliding_window_plane_extractor_parameters.ransac_parameters)), - plane_factory_(PlaneFactory(grid_map_parameters_.map, pipeline_parameters_.plane_factory_parameters)){ + pipeline_parameters_.sliding_window_plane_extractor_parameters, pipeline_parameters_.sliding_window_plane_extractor_parameters.ransac_parameters), + plane_factory_(grid_map_parameters_.map, pipeline_parameters_.plane_factory_parameters){ + VLOG(1) << "Starting plane extraction..."; sliding_window_plane_extractor_.runExtraction(); + VLOG(1) << "done"; plane_factory_.createPlanesFromLabeledImageAndPlaneParameters(sliding_window_plane_extractor_.getLabeledImage(), sliding_window_plane_extractor_.getNumberOfExtractedPlanes(), sliding_window_plane_extractor_.getLabelPlaneParameterMap()); plane_factory_.decomposePlanesInConvexPolygons(); diff --git a/convex_plane_decomposition/src/plane_factory.cpp b/convex_plane_decomposition/src/plane_factory.cpp index d969db9e..375c9922 100644 --- a/convex_plane_decomposition/src/plane_factory.cpp +++ b/convex_plane_decomposition/src/plane_factory.cpp @@ -16,9 +16,12 @@ void PlaneFactory::computeMapTransformation(){ void PlaneFactory::createPlanesFromLabeledImageAndPlaneParameters(const cv::Mat& labeled_image, const int number_of_labels, const std::map& plane_parameters){ CHECK_GT(number_of_labels, 0); - CHECK_EQ(number_of_labels, plane_parameters.size()); + //CHECK_EQ(number_of_labels, plane_parameters.size()); Polygonizer polygonizer(parameters_.polygonizer_parameters); for (int label = 1; label < number_of_labels; ++label){ + if (plane_parameters.find(label) == plane_parameters.end()){ + continue; + } cv::Mat binary_image(labeled_image.size(), CV_8UC1); binary_image = labeled_image == label; const CgalPolygon2d plane_contour = polygonizer.runPolygonizationOnBinaryImage(binary_image); diff --git a/convex_plane_decomposition/src/polygonizer.cpp b/convex_plane_decomposition/src/polygonizer.cpp index 4066acfb..7db14262 100644 --- a/convex_plane_decomposition/src/polygonizer.cpp +++ b/convex_plane_decomposition/src/polygonizer.cpp @@ -32,7 +32,7 @@ PolygonWithHoles Polygonizer::extractPolygonsFromBinaryImage(const cv::Mat& bina CgalPolygon2d polygon = convex_plane_extraction::createCgalPolygonFromOpenCvPoints( approx_contour.begin(), approx_contour.end(), - parameters_.resolution / parameters_.upsampling_factor); + parameters_.resolution / static_cast(parameters_.upsampling_factor)); if (!polygon.is_simple()) { convex_plane_extraction::Vector2i index; @@ -46,7 +46,7 @@ PolygonWithHoles Polygonizer::extractPolygonsFromBinaryImage(const cv::Mat& bina upSampleLongEdges(&polygon); } if (parameters_.activate_contour_approximation) { - approximateContour(&polygon); + //approximateContour(&polygon); } plane_polygons.outer_contour = polygon; } else { @@ -301,12 +301,16 @@ CgalPolygon2d Polygonizer::resolveHolesWithVerticalConnection(PolygonWithHoles& } void Polygonizer::approximatePolygon(CgalPolygon2d& polygon) const{ - std::vector contour; + std::vector contour; for (const auto& vertex : polygon.container()){ - contour.emplace_back(vertex.x(), vertex.y()); + contour.emplace_back(vertex.y(), vertex.x()); } - std::vector approx_contour; + std::vector approx_contour; cv::approxPolyDP(contour, approx_contour, parameters_.contour_approximation_deviation_threshold, true); + polygon.clear(); + for (const auto& point : approx_contour){ + polygon.push_back(CgalPoint2d(point.y, point.x)); + } } CgalPolygon2d Polygonizer::runPolygonizationOnBinaryImage(const cv::Mat& binary_image) const{ diff --git a/convex_plane_decomposition/src/sliding_window_plane_extractor.cpp b/convex_plane_decomposition/src/sliding_window_plane_extractor.cpp index 90937b88..ee8075c8 100644 --- a/convex_plane_decomposition/src/sliding_window_plane_extractor.cpp +++ b/convex_plane_decomposition/src/sliding_window_plane_extractor.cpp @@ -11,10 +11,14 @@ namespace sliding_window_plane_extractor{ elevation_layer_(layer_height), parameters_(parameters), ransac_parameters_(parameters.ransac_parameters){ + VLOG(1) << "Constructing SWE..."; + VLOG(1) << "Set elevation layer is: " << elevation_layer_; + CHECK(map_.exists(elevation_layer_)); number_of_extracted_planes_ = -1; const grid_map::Size map_size = map.getSize(); binary_image_patch_ = cv::Mat(map_size(0), map_size(1), CV_8U, false); binary_image_angle_ = cv::Mat(map_size(0), map_size(1), CV_8U, false); + VLOG(1) << "done."; } void SlidingWindowPlaneExtractor::runSlidingWindowDetector(){ @@ -175,18 +179,25 @@ namespace sliding_window_plane_extractor{ index << row, col; Eigen::Vector3d normal_vector_temp; Eigen::Vector3d support_vector_temp; - if(map_.getVector("normals", index, normal_vector_temp)){ + if(map_.getVector("normals_", index, normal_vector_temp)) { normal_vector += normal_vector_temp; ++number_of_normal_instances; + if (map_.getPosition3(elevation_layer_, index, support_vector_temp)) { + support_vector += support_vector_temp; + ++number_of_position_instances; + + ransac_plane_extractor::PointWithNormal + point_with_normal = std::make_pair( + ransac_plane_extractor::Point3D(support_vector_temp.x(), + support_vector_temp.y(), + support_vector_temp.z()), + ransac_plane_extractor::Vector3D(normal_vector_temp.x(), + normal_vector_temp.y(), + normal_vector_temp.z())); + points_with_normal.push_back(point_with_normal); + } } - if (map_.getPosition3(elevation_layer_, index, support_vector_temp)) { - support_vector += support_vector_temp; - ++number_of_position_instances; - } - ransac_plane_extractor::PointWithNormal point_with_normal = std::make_pair(ransac_plane_extractor::Point3D(support_vector_temp.x(), support_vector_temp.y(), support_vector_temp.z()), - ransac_plane_extractor::Vector3D(normal_vector_temp.x(), normal_vector_temp.y(), normal_vector_temp.z())); - points_with_normal.push_back(point_with_normal); } } } @@ -237,10 +248,11 @@ namespace sliding_window_plane_extractor{ refinement_performed = true; } } - if (refinement_performed){ + if (!refinement_performed){ const convex_plane_extraction::PlaneParameters temp_plane_parameters(normal_vector, support_vector); label_plane_parameters_map_.emplace(label, temp_plane_parameters); } + VLOG(1) << "Added plane!"; } double SlidingWindowPlaneExtractor::computeAverageErrorToPlane(const Eigen::Vector3d& normal_vector, const Eigen::Vector3d& support_vector, diff --git a/convex_plane_decomposition_ros/config/parameters.yaml b/convex_plane_decomposition_ros/config/parameters.yaml index d496c9db..7ccb6053 100644 --- a/convex_plane_decomposition_ros/config/parameters.yaml +++ b/convex_plane_decomposition_ros/config/parameters.yaml @@ -1,4 +1,4 @@ -input_map_topic : '/elevation_mapping/elevation_map' +input_topic : '/elevation_mapping/elevation_map_raw' height_layer : 'elevation' @@ -8,8 +8,8 @@ plane_factory: polygonizer: upsampling_factor : 3 activate_long_edge_upsampling : false - activate_contour_approximation : false - hole_area_threshold_squared_meters : 2e-3 + activate_contour_approximation : true + hole_area_threshold_squared_meters : 0.002 contour_approximation_deviation_threshold : 0.04 convex_decomposer: diff --git a/convex_plane_decomposition_ros/launch/convex_plane_extraction.launch b/convex_plane_decomposition_ros/launch/convex_plane_extraction.launch index 11ea00bc..5eee1575 100644 --- a/convex_plane_decomposition_ros/launch/convex_plane_extraction.launch +++ b/convex_plane_decomposition_ros/launch/convex_plane_extraction.launch @@ -1,17 +1,8 @@ - - - - --> - - - - - - - + + - + diff --git a/convex_plane_decomposition_ros/rviz/config.rviz b/convex_plane_decomposition_ros/rviz/config.rviz index 885051e5..f8fb179b 100644 --- a/convex_plane_decomposition_ros/rviz/config.rviz +++ b/convex_plane_decomposition_ros/rviz/config.rviz @@ -171,7 +171,7 @@ Visualization Manager: Color: 25; 255; 0 Enabled: true Name: PolygonArray - Topic: /convex_plane_extraction/hole_contours + Topic: /convex_plane_extraction_ros/convex_polygons Unreliable: false Value: true coloring: Auto @@ -184,7 +184,7 @@ Visualization Manager: Color: 25; 255; 0 Enabled: true Name: PolygonArray - Topic: /convex_plane_extraction/outer_contours + Topic: /convex_plane_extraction_ros/outer_contours Unreliable: false Value: true coloring: Auto @@ -209,7 +209,7 @@ Visualization Manager: Min Intensity: 0 Name: GridMap Show Grid Lines: true - Topic: /convex_plane_extraction/convex_plane_extraction + Topic: /convex_plane_extraction_ros/convex_plane_extraction Unreliable: false Use Rainbow: true Value: true diff --git a/convex_plane_decomposition_ros/src/convex_plane_extraction_node.cpp b/convex_plane_decomposition_ros/src/convex_plane_extraction_node.cpp index 987d4241..2b2e0b2a 100644 --- a/convex_plane_decomposition_ros/src/convex_plane_extraction_node.cpp +++ b/convex_plane_decomposition_ros/src/convex_plane_extraction_node.cpp @@ -7,6 +7,7 @@ int main(int argc, char** argv) { FLAGS_alsologtostderr = 1; FLAGS_colorlogtostderr = 1; + FLAGS_v = 1; google::InitGoogleLogging(argv[0]); ros::init(argc, argv, "convex_plane_extraction_ros"); ros::NodeHandle nodeHandle("~"); diff --git a/convex_plane_decomposition_ros/src/convex_plane_extraction_ros.cpp b/convex_plane_decomposition_ros/src/convex_plane_extraction_ros.cpp index 32665192..4fb98843 100644 --- a/convex_plane_decomposition_ros/src/convex_plane_extraction_ros.cpp +++ b/convex_plane_decomposition_ros/src/convex_plane_extraction_ros.cpp @@ -39,18 +39,16 @@ void ConvexPlaneExtractionROS::callback(const grid_map_msgs::GridMap& message) { GridMap messageMap; GridMapRosConverter::fromMessage(message, messageMap); bool success; - GridMap inputMap = messageMap.getSubmap(messageMap.getPosition(), Eigen::Array2d(4, 4), success); - Position3 position; - inputMap.getPosition3("elevation", Index(0,0), position); - VLOG(1) << inputMap.getPosition(); + GridMap inputMap = messageMap.getSubmap(messageMap.getPosition(), Eigen::Array2d(6, 6), success); CHECK(success); ROS_INFO("...done."); - + VLOG(1) << "Applying median filtering to map."; applyMedianFilter(inputMap.get("elevation"), 5); // Run pipeline. + VLOG(1) << "Running pipeline ..."; PipelineROS pipeline_ros(nodeHandle_, inputMap); - + VLOG(1) << "done."; // Visualize in Rviz. jsk_recognition_msgs::PolygonArray outer_plane_contours = pipeline_ros.getOuterPlaneContours(); jsk_recognition_msgs::PolygonArray convex_polygons = pipeline_ros.getConvexPolygons(); diff --git a/convex_plane_decomposition_ros/src/pipeline_ros.cpp b/convex_plane_decomposition_ros/src/pipeline_ros.cpp index 4bc56811..02097b89 100644 --- a/convex_plane_decomposition_ros/src/pipeline_ros.cpp +++ b/convex_plane_decomposition_ros/src/pipeline_ros.cpp @@ -4,12 +4,14 @@ namespace convex_plane_extraction { PipelineParameters loadPipelineParameters(ros::NodeHandle &nodeHandle, grid_map::GridMap &map) { + const std::string kPackagePrefix = "/convex_plane_extraction_ros"; + // Grid map parameters. GridMapParameters grid_map_parameters = loadGridMapParameters(nodeHandle, map); // Sliding Window Plane Extractor parameters. sliding_window_plane_extractor::SlidingWindowPlaneExtractorParameters sliding_window_plane_extractor_parameters; - const std::string kSlidingWindowParametersPrefix = "/sliding_window_plane_extractor/"; + const std::string kSlidingWindowParametersPrefix = kPackagePrefix + "/sliding_window_plane_extractor/"; if (!nodeHandle.getParam(kSlidingWindowParametersPrefix + "kernel_size", sliding_window_plane_extractor_parameters.kernel_size)) { ROS_ERROR("Could not read parameter `kernel_size`. Setting parameter to default value."); @@ -33,7 +35,7 @@ PipelineParameters loadPipelineParameters(ros::NodeHandle &nodeHandle, grid_map: if (sliding_window_plane_extractor_parameters.include_ransac_refinement) { // RASNAC refinement related parameters. ransac_plane_extractor::RansacPlaneExtractorParameters ransac_plane_extractor_parameters; - const std::string kRansacRefinementParameterPrefix = "/ransac_plane_refinement/"; + const std::string kRansacRefinementParameterPrefix = kPackagePrefix + "/ransac_plane_refinement/"; if (!nodeHandle.getParam(kRansacRefinementParameterPrefix + "probability", ransac_plane_extractor_parameters.probability)) { LOG(WARNING) << "Could not read parameter" << kRansacRefinementParameterPrefix @@ -61,8 +63,8 @@ PipelineParameters loadPipelineParameters(ros::NodeHandle &nodeHandle, grid_map: // Polygonizer parameters. PolygonizerParameters polygonizer_parameters; polygonizer_parameters.resolution = grid_map_parameters.resolution; - const std::string kPolygonizerParametersPrefix = "/polygonizer/"; - if (!nodeHandle.getParam(kPolygonizerParametersPrefix + "upsampling_factor", polygonizer_parameters.resolution)) { + const std::string kPolygonizerParametersPrefix = kPackagePrefix + "/polygonizer/"; + if (!nodeHandle.getParam(kPolygonizerParametersPrefix + "upsampling_factor", polygonizer_parameters.upsampling_factor)) { ROS_ERROR("Could not read parameter `normal_threshold`. Setting parameter to default value."); } if (!nodeHandle.getParam(kPolygonizerParametersPrefix + "activate_long_edge_upsampling", @@ -87,7 +89,7 @@ PipelineParameters loadPipelineParameters(ros::NodeHandle &nodeHandle, grid_map: // Convex decomposer parameters. ConvexDecomposerParameters convex_decomposer_parameters; - const std::string kConvexDecomposerParametersPrefix = "/convex_decomposer/"; + const std::string kConvexDecomposerParametersPrefix = kPackagePrefix + "/convex_decomposer/"; std::string decomposer_type; if (!nodeHandle.getParam(kConvexDecomposerParametersPrefix + "decomposer_type", decomposer_type)) { ROS_ERROR("Could not read parameter `decomposer_type`. Setting parameter to default value."); @@ -104,7 +106,7 @@ PipelineParameters loadPipelineParameters(ros::NodeHandle &nodeHandle, grid_map: // Plane Factory parameters. PlaneFactoryParameters plane_factory_parameters; - const std::string kPlaneFactoryParametersPrefix = "/plane_factory/"; + const std::string kPlaneFactoryParametersPrefix = kPackagePrefix + "/plane_factory/"; if (!nodeHandle.getParam(kPlaneFactoryParametersPrefix + "plane_inclination_threshold_degrees", plane_factory_parameters.plane_inclination_threshold_degrees)) { ROS_ERROR("Could not read parameter `plane_inclination_threshold_degrees`. Setting parameter to default value."); @@ -116,7 +118,6 @@ PipelineParameters loadPipelineParameters(ros::NodeHandle &nodeHandle, grid_map: PipelineParameters pipeline_parameters; pipeline_parameters.sliding_window_plane_extractor_parameters = sliding_window_plane_extractor_parameters; pipeline_parameters.plane_factory_parameters = plane_factory_parameters; - return pipeline_parameters; } @@ -124,6 +125,7 @@ GridMapParameters loadGridMapParameters(ros::NodeHandle &nodeHandle, grid_map::G // Grid map parameters. std::string height_layer; CHECK(nodeHandle.getParam("height_layer", height_layer)); + VLOG(1) << "Height layer is: " << height_layer; GridMapParameters grid_map_parameters(map, height_layer); return grid_map_parameters; @@ -136,6 +138,7 @@ jsk_recognition_msgs::PolygonArray PipelineROS::getConvexPolygons() const { jsk_recognition_msgs::PolygonArray PipelineROS::getOuterPlaneContours() const { const Polygon3dVectorContainer plane_contour_buffer = pipeline_.getPlaneContours(); + VLOG(1) << "Exported polygons: " << plane_contour_buffer.size(); return convertToRosPolygons(plane_contour_buffer); } From b179bdaf4e0cd774542f2245aee7854ed414347b Mon Sep 17 00:00:00 2001 From: andrej1001 Date: Sun, 22 Mar 2020 21:10:48 +0100 Subject: [PATCH 024/504] Patched polygon approximation. --- convex_plane_decomposition/CMakeLists.txt | 3 +- .../include/geometry_utils.hpp | 8 +- .../include/polygon.hpp | 13 +- .../include/polygonizer.hpp | 12 +- .../src/geometry_utils.cpp | 24 ++- convex_plane_decomposition/src/pipeline.cpp | 2 +- .../src/plane_factory.cpp | 4 + convex_plane_decomposition/src/polygon.cpp | 189 +++++++++++++----- .../src/polygonizer.cpp | 114 +++++++++-- convex_plane_decomposition_ros/CMakeLists.txt | 1 + .../config/parameters.yaml | 5 +- .../src/convex_plane_extraction_ros.cpp | 4 +- .../src/pipeline_ros.cpp | 16 +- 13 files changed, 315 insertions(+), 80 deletions(-) diff --git a/convex_plane_decomposition/CMakeLists.txt b/convex_plane_decomposition/CMakeLists.txt index 804da261..3a9f58d9 100644 --- a/convex_plane_decomposition/CMakeLists.txt +++ b/convex_plane_decomposition/CMakeLists.txt @@ -195,7 +195,8 @@ add_dependencies(${PROJECT_NAME} ## Specify libraries to link a library or executable target against target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} - ${CGAL_LIBRARIES} + ${CGAL_LIBRARIES} + ${OpenCV_LIBRARIES} ${CGAL_3RD_PARTY_LIBRARIES} glog ) diff --git a/convex_plane_decomposition/include/geometry_utils.hpp b/convex_plane_decomposition/include/geometry_utils.hpp index 3f1304ca..ef05241e 100644 --- a/convex_plane_decomposition/include/geometry_utils.hpp +++ b/convex_plane_decomposition/include/geometry_utils.hpp @@ -9,7 +9,7 @@ double scalarCrossProduct(const Vector2d &leftVector, const Vector2d &rightVecto double distanceToLine(const Vector2d& lineSupportVector, const Vector2d& lineDirectionalVector, const Vector2d& testPoint); -bool isPointOnRightSide(const Vector2d& line_support_vector, const Vector2d& line_direction_vector, const Vector2d& point); +bool isPointOnRightSideOfLine(const Vector2d& line_support_vector, const Vector2d& line_direction_vector, const Vector2d& point); double computeAngleBetweenVectors(const Vector2d& first_vector, const Vector2d& second_vector); @@ -18,7 +18,11 @@ bool isPointOnLeftSide(const Vector2d& line_support_vector, const Vector2d& line bool intersectRayWithLineSegment(const Vector2d& ray_source, const Vector2d& ray_direction, const Vector2d& segment_source, const Vector2d& segment_target, Vector2d* intersection_point); -double distanceBetweenPoints(Vector2d first, Vector2d second); +double distanceBetweenPoints(const Vector2d& first, const Vector2d& second); + +double getDistanceOfPointToLineSegment(const Vector2d& point, const Vector2d& source, Vector2d& target); + +std::pair getDistanceAndClosestPointOnLineSegment(const Vector2d& point, const Vector2d& source, const Vector2d& target); bool intersectLineSegmentWithLineSegment(const Vector2d& segment_1_source, const Vector2d& segment_1_target, const Vector2d& segment_2_source, const Vector2d& segment_2_target, Vector2d* intersection_point); diff --git a/convex_plane_decomposition/include/polygon.hpp b/convex_plane_decomposition/include/polygon.hpp index fb8a1209..b6d5a2b2 100644 --- a/convex_plane_decomposition/include/polygon.hpp +++ b/convex_plane_decomposition/include/polygon.hpp @@ -5,6 +5,7 @@ #include #include #include +#include #include #include @@ -97,9 +98,11 @@ namespace convex_plane_extraction{ CgalPolygon2dVertexIterator next(const CgalPolygon2dVertexIterator& iterator, const CgalPolygon2d& polygon); + bool next(const CgalPolygon2dVertexIterator& iterator, CgalPolygon2dVertexIterator& output_iterator, const CgalPolygon2d& polygon); + CgalPolygon2dVertexIterator previous(const CgalPolygon2dVertexIterator& iterator, const CgalPolygon2d& polygon); - void approximateContour(CgalPolygon2d* polygon); +void approximateContour(CgalPolygon2d* polygon, int max_number_of_iterations, double relative_area_threshold, double absolute_area_threshold); void upSampleLongEdges(CgalPolygon2d* polygon); @@ -150,5 +153,13 @@ namespace convex_plane_extraction{ std::list decomposeInnerApproximation(const CgalPolygon2d& polygon); void printPolygon(const CgalPolygon2d& polygon); + + std::pair getVertexPositionsWithHighestHoleSlConcavityMeasure(const CgalPolygon2d& polygon); + + std::pair getClosestPointAndSegmentOnPolygonToPoint(const CgalPoint2d& point, const CgalPolygon2d& polygon); + + std::vector> getCommonVertexPairIndices(const CgalPolygon2d& first_polygon, const CgalPolygon2d& second_polygon); + + std::vector getVertexIndicesOfFirstPolygonContainedInSecondPolygonContour(const CgalPolygon2d& first_polygon, const CgalPolygon2d& second_polygon); } #endif //CONVEX_PLANE_EXTRACTION_INCLUDE_POLYGON_HPP_ diff --git a/convex_plane_decomposition/include/polygonizer.hpp b/convex_plane_decomposition/include/polygonizer.hpp index 2947c67c..20c04728 100644 --- a/convex_plane_decomposition/include/polygonizer.hpp +++ b/convex_plane_decomposition/include/polygonizer.hpp @@ -9,6 +9,8 @@ #include #include #include +#include +#include #include #include "plane.hpp" @@ -22,7 +24,9 @@ struct PolygonizerParameters{ bool activate_long_edge_upsampling = false; bool activate_contour_approximation = false; double hole_area_threshold_squared_meters = 2e-3; - double contour_approximation_deviation_threshold = 0.06; + double contour_approximation_relative_area_threshold = 0.01; + double contour_approximation_absolute_area_threshold_squared_meters = 0.04; + int max_number_of_iterations = 5; }; class Polygonizer { @@ -43,6 +47,12 @@ class Polygonizer { bool addHoleToOuterContourAtVertexIndex(int segment_target_vertex_index, const CgalPolygon2d& hole, CgalPolygon2d& outer_contour) const; + CgalPolygon2d resolveHolesUsingSlConnection(const PolygonWithHoles& polygon_with_holes) const; + + void resolveHolesInBinaryImage(cv::Mat& binary_image, const PolygonWithHoles& contour_with_holes) const; + + PolygonWithHoles extractContoursFromBinaryImage(cv::Mat& binary_image) const; + private: PolygonizerParameters parameters_; diff --git a/convex_plane_decomposition/src/geometry_utils.cpp b/convex_plane_decomposition/src/geometry_utils.cpp index 07e6714a..3e6088c7 100644 --- a/convex_plane_decomposition/src/geometry_utils.cpp +++ b/convex_plane_decomposition/src/geometry_utils.cpp @@ -17,7 +17,7 @@ namespace convex_plane_extraction { + scalarCrossProduct(lineSupportVector, secondPointOnLine); } - bool isPointOnRightSide(const Vector2d& line_support_vector, const Vector2d& line_direction_vector, const Vector2d& point){ + bool isPointOnRightSideOfLine(const Vector2d& line_support_vector, const Vector2d& line_direction_vector, const Vector2d& point){ Vector2d normal_vector(line_direction_vector.y(), (-1.0)*line_direction_vector.x()); normal_vector.normalize(); Vector2d point_vector = point - line_support_vector; @@ -133,9 +133,29 @@ namespace convex_plane_extraction { return true; } - double distanceBetweenPoints(Vector2d first, Vector2d second){ + double distanceBetweenPoints(const Vector2d& first, const Vector2d& second){ return (second - first).norm(); } + double getDistanceOfPointToLineSegment(const Vector2d& point, const Vector2d& source, const Vector2d& target){ + return getDistanceAndClosestPointOnLineSegment(point, source, target).first; + } + + std::pair getDistanceAndClosestPointOnLineSegment(const Vector2d& point, const Vector2d& source, const Vector2d& target){ + const double segment_squared_length = (target - source).squaredNorm(); + if (segment_squared_length == 0.0){ + return std::make_pair(distanceBetweenPoints(point, source), source); + } + const double t = (point - source).dot(target - source) / segment_squared_length; + if (t > 1.0){ + return std::make_pair((target - point).norm(), target); + } else if (t < 0.0){ + return std::make_pair((source - point).norm(), source); + } else { + const Vector2d point_temp = abs(t)*(target - source); + return std::make_pair((point_temp - point).norm(), point_temp); + } + } + } diff --git a/convex_plane_decomposition/src/pipeline.cpp b/convex_plane_decomposition/src/pipeline.cpp index 36d8d53a..27929c4a 100644 --- a/convex_plane_decomposition/src/pipeline.cpp +++ b/convex_plane_decomposition/src/pipeline.cpp @@ -15,7 +15,7 @@ Pipeline::Pipeline(const PipelineParameters& pipeline_parameters, const GridMapP VLOG(1) << "done"; plane_factory_.createPlanesFromLabeledImageAndPlaneParameters(sliding_window_plane_extractor_.getLabeledImage(), sliding_window_plane_extractor_.getNumberOfExtractedPlanes(), sliding_window_plane_extractor_.getLabelPlaneParameterMap()); - plane_factory_.decomposePlanesInConvexPolygons(); + //plane_factory_.decomposePlanesInConvexPolygons(); } Polygon3dVectorContainer Pipeline::getConvexPolygons() const{ diff --git a/convex_plane_decomposition/src/plane_factory.cpp b/convex_plane_decomposition/src/plane_factory.cpp index 375c9922..338932ae 100644 --- a/convex_plane_decomposition/src/plane_factory.cpp +++ b/convex_plane_decomposition/src/plane_factory.cpp @@ -27,6 +27,10 @@ void PlaneFactory::createPlanesFromLabeledImageAndPlaneParameters(const cv::Mat& const CgalPolygon2d plane_contour = polygonizer.runPolygonizationOnBinaryImage(binary_image); const auto plane_parameter_it = plane_parameters.find(label); CHECK(plane_parameter_it != plane_parameters.end()) << "Label not contained in plane parameter container!"; + if (plane_contour.is_empty()){ + LOG(WARNING) << "Dropping plane, polygon negligible!"; + continue; + } if (isPlaneInclinationBelowThreshold(plane_parameter_it->second.normal_vector)){ planes_.emplace_back(plane_contour, plane_parameter_it->second); } else { diff --git a/convex_plane_decomposition/src/polygon.cpp b/convex_plane_decomposition/src/polygon.cpp index 6e40c86e..6b336521 100644 --- a/convex_plane_decomposition/src/polygon.cpp +++ b/convex_plane_decomposition/src/polygon.cpp @@ -13,29 +13,18 @@ namespace convex_plane_extraction { result = intersection(test_segment, segment); if (result) { if (const CgalSegment2d *s = boost::get(&*result)) { - std::cout << *s << std::endl; + if (print_flag) { + VLOG(1) << "Intersection over segment: " << *s; + } return true; } else { const CgalPoint2d *p = boost::get(&*result); if (print_flag) { - std::cout << *p << ";" << std::endl; + VLOG(1) << "Intersection in in point: " << *p; } return true; } } -// Vector2d test_segment_source(vertex_it->x(), vertex_it->y()); -// Vector2d test_segment_target(next_vertex_it->x(), next_vertex_it->y()); -// Vector2d segment_source(segment.source().x(), segment.source().y()); -// Vector2d segment_target(segment.target().x(), segment.target().y()); -// Vector2d intersection_point; -// if (intersectLineSegmentWithLineSegment(test_segment_source, test_segment_target, -// segment_source, segment_target, &intersection_point)){ -// std::cout << intersection_point.x() << ", " << intersection_point.y() << ";" << std::endl; -// return true; -// } -// if (do_intersect(test_segment, segment)){ -// return true; -// } } return false; } @@ -76,7 +65,7 @@ namespace convex_plane_extraction { *normal_vector = normal; } - void approximateContour(CgalPolygon2d* polygon){ + void approximateContour(CgalPolygon2d* polygon, int max_number_of_iterations, double relative_area_threshold, double absolute_area_threshold){ CHECK_NOTNULL(polygon); if (polygon->size() < 4){ return; @@ -87,50 +76,73 @@ namespace convex_plane_extraction { auto second_vertex_it = std::next(first_vertex_it); auto third_vertex_it = std::next(second_vertex_it); double area = polygon->area(); - do { + int number_of_iterations = 0; + while (number_of_iterations < max_number_of_iterations ){ old_size = polygon->size(); - for (int vertex_position = 0; vertex_position < old_size; ++vertex_position){ - if (polygon->size() < 4){ - break; - } - Vector2d first_point(first_vertex_it->x(), first_vertex_it->y()); - Vector2d second_point(second_vertex_it->x(), second_vertex_it->y()); - Vector2d third_point(third_vertex_it->x(), third_vertex_it->y()); - if (isPointOnRightSide(first_point, third_point - first_point, second_point)) { - LOG(INFO) << "Point on right side!"; - double a = (third_point - first_point).norm(); - double b = (second_point - third_point).norm(); - double c = (first_point - second_point).norm(); - constexpr double areaThresholdFactor = 0.025; - if (computeTriangleArea(a, b, c) < areaThresholdFactor * area) { - LOG(INFO) << "Area sufficiently small!"; - CgalPolygon2d new_polygon(*polygon); - int vertex_position_offset = std::distance(polygon->vertices_begin(), second_vertex_it); - CgalPolygon2dVertexIterator tmp_iterator = new_polygon.vertices_begin(); - std::advance(tmp_iterator, vertex_position_offset); - LOG(INFO) << "Before erase call!"; - new_polygon.erase(tmp_iterator); - LOG(INFO) << "After ease call!"; - if (new_polygon.is_simple()) { - first_vertex_it = third_vertex_it; - polygon->erase(second_vertex_it); - second_vertex_it = next(first_vertex_it, *polygon); - third_vertex_it = next(second_vertex_it, *polygon); - LOG(INFO) << "Removed one vertex!"; - continue; + if (polygon->size() < 4){ + break; + } + Vector2d first_point(first_vertex_it->x(), first_vertex_it->y()); + Vector2d second_point(second_vertex_it->x(), second_vertex_it->y()); + Vector2d third_point(third_vertex_it->x(), third_vertex_it->y()); + LOG(WARNING) << "Got here!"; + if (isPointOnRightSideOfLine(first_point, third_point - first_point, second_point)) { + VLOG(1) << "Point on right side!"; + double a = (third_point - first_point).norm(); + double b = (second_point - third_point).norm(); + double c = (first_point - second_point).norm(); + const double triangle_area = computeTriangleArea(a, b, c); + CHECK(isfinite(triangle_area)) << "Area: " << triangle_area << ", a: " << a << ", b: " << b << ", c: " << c; + CHECK_GE(triangle_area, 0.0); + if ((triangle_area < relative_area_threshold * area) && (triangle_area < absolute_area_threshold)) { + VLOG(1) << "Area sufficiently small!"; + CgalPolygon2d new_polygon(*polygon); + int vertex_position_offset = std::distance(polygon->vertices_begin(), second_vertex_it); + CgalPolygon2dVertexIterator tmp_iterator = new_polygon.vertices_begin(); + std::advance(tmp_iterator, vertex_position_offset); + VLOG(1) << "Before erase call!"; + new_polygon.erase(tmp_iterator); + VLOG(1) << "After ease call!"; + if (new_polygon.is_simple() && (new_polygon.orientation() == CGAL::COUNTERCLOCKWISE) && abs(new_polygon.area() - area) < 0.1 * area && abs(new_polygon.area() - area) < 0.5) { + CHECK_LE(triangle_area, area); + first_vertex_it = polygon->erase(second_vertex_it); + if (first_vertex_it == polygon->vertices_end()){ + first_vertex_it = polygon->vertices_begin(); + } + second_vertex_it = next(first_vertex_it, *polygon); + third_vertex_it = next(second_vertex_it, *polygon); + if ((std::distance(polygon->begin(), first_vertex_it) >= std::distance(polygon->begin(), second_vertex_it)) || + (std::distance(polygon->begin(), first_vertex_it) >= std::distance(polygon->begin(), third_vertex_it)) || + (std::distance(polygon->begin(), second_vertex_it) >= std::distance(polygon->begin(), third_vertex_it))){ + ++number_of_iterations; } + VLOG(1) << "Removed one vertex!"; + continue; } } - first_vertex_it = second_vertex_it; - second_vertex_it = third_vertex_it; - third_vertex_it = next(second_vertex_it, *polygon); } - } while (polygon->size() < old_size); + first_vertex_it = second_vertex_it; + second_vertex_it = third_vertex_it; + third_vertex_it = next(second_vertex_it, *polygon); + LOG(WARNING) << "Got to bottom! Number of iterations: " << std::distance(polygon->begin(), first_vertex_it) << " " << + std::distance(polygon->begin(), second_vertex_it) << " " << std::distance(polygon->begin(), third_vertex_it); + if ((std::distance(polygon->begin(), first_vertex_it) >= std::distance(polygon->begin(), second_vertex_it) || + std::distance(polygon->begin(), first_vertex_it) >= std::distance(polygon->begin(), third_vertex_it) || + std::distance(polygon->begin(), second_vertex_it) >= std::distance(polygon->begin(), third_vertex_it) )){ + ++number_of_iterations; + } + } } double computeTriangleArea(double side_length_a, double side_length_b, double side_length_c){ - double s = (side_length_a + side_length_b + side_length_c) / 2.0; - return sqrt(s * (s-side_length_a) * (s - side_length_b) * (s - side_length_c)); + const double s = (side_length_a + side_length_b + side_length_c) / 2.0; + CHECK_GT(s, 0.0); + double sqrt_argument = s * (s-side_length_a) * (s - side_length_b) * (s - side_length_c); + if (abs(sqrt_argument) < 1e-6){ + sqrt_argument = 0.0; + } + CHECK_GE(sqrt_argument, 0.0); + return sqrt(sqrt_argument); } CgalPolygon2dVertexIterator next(const CgalPolygon2dVertexIterator& iterator, const CgalPolygon2d& polygon){ @@ -141,6 +153,18 @@ namespace convex_plane_extraction { } } + // Retrieves the following vertex in polygon, including wrap around, when last polygon reached. + // In this case the output flag is set to true. + bool next(const CgalPolygon2dVertexIterator& iterator, CgalPolygon2dVertexIterator& output_iterator, const CgalPolygon2d& polygon){ + if (std::next(iterator) == polygon.vertices_end()){ + output_iterator = polygon.vertices_begin(); + return true; + } else { + output_iterator = std::next(iterator); + return false; + } + } + CgalPolygon2dVertexIterator previous(const CgalPolygon2dVertexIterator& iterator, const CgalPolygon2d& polygon){ if (iterator == polygon.vertices_begin()){ return std::prev(polygon.vertices_end()); @@ -353,4 +377,65 @@ namespace convex_plane_extraction { return false; } + std::pair getVertexPositionsWithHighestHoleSlConcavityMeasure(const CgalPolygon2d& polygon){ + CHECK(polygon.size() > 2); + std::multimap> slConcavityScoreMap; + const int number_of_vertices = polygon.size(); + for (int first_vertex_counter = 0; first_vertex_counter < number_of_vertices - 1; ++first_vertex_counter){ + const auto& vertex_container = polygon.container(); + const CgalPoint2d& first_vertex = vertex_container.at(first_vertex_counter); + for (int second_vertex_counter = first_vertex_counter + 1; second_vertex_counter < number_of_vertices; ++second_vertex_counter){ + const CgalPoint2d& second_vertex = vertex_container.at(second_vertex_counter); + const double vertex_squared_distance = (first_vertex - second_vertex).squared_length(); + slConcavityScoreMap.insert(std::make_pair(vertex_squared_distance, std::make_pair(first_vertex_counter, second_vertex_counter))); + } + } + return slConcavityScoreMap.begin()->second; + } + + // Attention, if point overlaps with existing vertex. + std::pair getClosestPointAndSegmentOnPolygonToPoint(const CgalPoint2d& point, const CgalPolygon2d& polygon){ + CHECK_GT(polygon.size(), 2); + std::multimap> distance_to_segment_closest_point_map; + int edge_counter = 0; + for(auto edge_it = polygon.edges_begin(); edge_it != polygon.edges_end(); ++edge_it){ + if (edge_it->has_on(point)){ + distance_to_segment_closest_point_map.insert(std::make_pair(0.0, std::make_pair(edge_counter, Vector2d(point.x(), point.y())))); + ++edge_counter; + continue; + } + const Vector2d source(edge_it->source().x(), edge_it->source().y()); + const Vector2d target(edge_it->target().x(), edge_it->target().y()); + const Vector2d test_point(point.x(), point.y()); + std::pair distance_closest_point = getDistanceAndClosestPointOnLineSegment(test_point, source, target); + distance_to_segment_closest_point_map.insert(std::make_pair(distance_closest_point.first, std::make_pair(edge_counter, distance_closest_point.second))); + ++edge_counter; + } + const int closest_edge_index = distance_to_segment_closest_point_map.begin()->second.first; + const CgalPoint2d closest_point(distance_to_segment_closest_point_map.begin()->second.second.x(), distance_to_segment_closest_point_map.begin()->second.second.y()); + return std::make_pair(closest_edge_index, closest_point); + } + + std::vector> getCommonVertexPairIndices(const CgalPolygon2d& first_polygon, const CgalPolygon2d& second_polygon){ + std::vector> return_buffer; + for(int first_polygon_vertex_index = 0; first_polygon_vertex_index < first_polygon.container().size(); ++first_polygon_vertex_index){ + for(int second_polygon_vertex_index = 0; second_polygon_vertex_index < second_polygon.container().size(); ++second_polygon_vertex_index){ + if (first_polygon.container().at(first_polygon_vertex_index) == second_polygon.container().at(second_polygon_vertex_index)){ + return_buffer.push_back(std::make_pair(first_polygon_vertex_index, second_polygon_vertex_index)); + } + } + } + return return_buffer; + } + + std::vector getVertexIndicesOfFirstPolygonContainedInSecondPolygonContour(const CgalPolygon2d& first_polygon, const CgalPolygon2d& second_polygon){ + std::vector return_buffer; + for (int vertex_index = 0; vertex_index < first_polygon.container().size(); ++vertex_index){ + if (second_polygon.has_on_boundary(first_polygon.container().at(vertex_index))){ + return_buffer.push_back(vertex_index); + } + } + return return_buffer; + } + } diff --git a/convex_plane_decomposition/src/polygonizer.cpp b/convex_plane_decomposition/src/polygonizer.cpp index 7db14262..f829ea55 100644 --- a/convex_plane_decomposition/src/polygonizer.cpp +++ b/convex_plane_decomposition/src/polygonizer.cpp @@ -11,11 +11,12 @@ PolygonWithHoles Polygonizer::extractPolygonsFromBinaryImage(const cv::Mat& bina binary_image_upsampled, cv::Size(parameters_.upsampling_factor * binary_image.size().height, parameters_.upsampling_factor * binary_image.size().width)); + findContours(binary_image_upsampled, contours, hierarchy, CV_RETR_TREE, CV_CHAIN_APPROX_SIMPLE); std::vector> approx_contours; int hierachy_it = 0; - for (auto &contour : contours) { + for (auto& contour : contours) { ++hierachy_it; std::vector approx_contour; if (contour.size() <= 10) { @@ -33,20 +34,16 @@ PolygonWithHoles Polygonizer::extractPolygonsFromBinaryImage(const cv::Mat& bina approx_contour.begin(), approx_contour.end(), parameters_.resolution / static_cast(parameters_.upsampling_factor)); - - if (!polygon.is_simple()) { - convex_plane_extraction::Vector2i index; - index << (*polygon.begin()).x(), (*polygon.begin()).y(); - LOG(WARNING) << "Polygon starting at " << index << " is not simple, will be ignored!"; - continue; - } + CHECK(polygon.is_simple()) << "Contour extraction from binary image caused intersection!"; constexpr int kParentFlagIndex = 3; if (hierarchy[hierachy_it - 1][kParentFlagIndex] < 0) { if (parameters_.activate_long_edge_upsampling) { upSampleLongEdges(&polygon); } if (parameters_.activate_contour_approximation) { - //approximateContour(&polygon); + approximateContour(&polygon, parameters_.max_number_of_iterations, parameters_.contour_approximation_relative_area_threshold, + parameters_.contour_approximation_absolute_area_threshold_squared_meters); + VLOG(1) << "Contour approximated!"; } plane_polygons.outer_contour = polygon; } else { @@ -56,6 +53,57 @@ PolygonWithHoles Polygonizer::extractPolygonsFromBinaryImage(const cv::Mat& bina return plane_polygons; } +PolygonWithHoles Polygonizer::extractContoursFromBinaryImage(cv::Mat& binary_image) const{ + PolygonWithHoles plane_polygons; + std::vector> contours; + std::vector hierarchy; + findContours(binary_image, contours, hierarchy, + CV_RETR_TREE, CV_CHAIN_APPROX_SIMPLE); + std::vector> approx_contours; + int hierachy_it = 0; + for (auto& contour : contours) { + ++hierachy_it; + CHECK_GE(contour.size(), 2); + CgalPolygon2d polygon = convex_plane_extraction::createCgalPolygonFromOpenCvPoints( + contour.begin(), contour.end(), 1); + constexpr int kParentFlagIndex = 3; + if (hierarchy[hierachy_it - 1][kParentFlagIndex] < 0) { + plane_polygons.outer_contour = polygon; + } else { + plane_polygons.holes.push_back(polygon); + } + } + return plane_polygons; +} + +void Polygonizer::resolveHolesInBinaryImage(cv::Mat& binary_image, const PolygonWithHoles& contour_with_holes) const{ + for(const auto& hole : contour_with_holes.holes){ + if (hole.area() > 36){ + continue; + } + std::pair slConcavityVertices = getVertexPositionsWithHighestHoleSlConcavityMeasure(hole); + const CgalPoint2d first_sl_point = hole.container().at(slConcavityVertices.first); + const CgalPoint2d second_sl_point = hole.container().at(slConcavityVertices.second); + std::pair first_connection_candidate = + getClosestPointAndSegmentOnPolygonToPoint(first_sl_point, contour_with_holes.outer_contour); + std::pair second_connection_candidate = + getClosestPointAndSegmentOnPolygonToPoint(second_sl_point, contour_with_holes.outer_contour); + if ((first_connection_candidate.second - first_sl_point).squared_length() < + (second_connection_candidate.second - second_sl_point).squared_length()){ + cv::Point first_point(first_connection_candidate.second.y(), first_connection_candidate.second.x()); + cv::Point second_point(first_sl_point.y(), first_sl_point.x()); + cv::line(binary_image, first_point, second_point, CV_RGB(0,0,0),2); + } else{ + cv::Point first_point(second_connection_candidate.second.y(), second_connection_candidate.second.x()); + cv::Point second_point(second_sl_point.y(), second_sl_point.x()); + cv::line(binary_image, first_point, second_point, CV_RGB(0,0,0), 2); + } + } +// cv::namedWindow( "Display window", cv::WINDOW_AUTOSIZE); // Create a window for display. +// cv::imshow( "Display window", binary_image); +// cv::waitKey(0); +} + //CgalPolygon2d Polygonizer::resolveHoles(PolygonWithHoles& polygon_with_holes) const{ // CgalPolygon2dContainer& holes = polygon_with_holes.holes; // // Get hole part which is entirely contained in outer contour. @@ -300,6 +348,7 @@ CgalPolygon2d Polygonizer::resolveHolesWithVerticalConnection(PolygonWithHoles& return **offset_polygons.begin(); } +/* void Polygonizer::approximatePolygon(CgalPolygon2d& polygon) const{ std::vector contour; for (const auto& vertex : polygon.container()){ @@ -312,10 +361,49 @@ void Polygonizer::approximatePolygon(CgalPolygon2d& polygon) const{ polygon.push_back(CgalPoint2d(point.y, point.x)); } } - +*/ CgalPolygon2d Polygonizer::runPolygonizationOnBinaryImage(const cv::Mat& binary_image) const{ PolygonWithHoles polygon_with_holes = extractPolygonsFromBinaryImage(binary_image); - CgalPolygon2d polygon = resolveHolesWithVerticalConnection(polygon_with_holes); - approximatePolygon(polygon); - return polygon; + //CgalPolygon2d polygon = resolveHolesWithVerticalConnection(polygon_with_holes); + //approximatePolygon(polygon_with_holes.outer_contour); + return polygon_with_holes.outer_contour; +} + +CgalPolygon2d Polygonizer::resolveHolesUsingSlConnection(const PolygonWithHoles& polygon_with_holes) const{ + CgalPolygon2dContainer holes = polygon_with_holes.holes; + // Get hole part which is entirely contained in outer contour. + // In the contour simplification stage intersections may have been introduced. + removeAreasNotContainedInOuterContourFromHoles(polygon_with_holes.outer_contour, holes); + if (holes.empty()) { + return polygon_with_holes.outer_contour; + } + auto hole_it = holes.begin(); + while(hole_it!= holes.end()) { + if (hole_it->size() < 3) { + hole_it = holes.erase(hole_it); + } else if (abs(hole_it->area()) < parameters_.hole_area_threshold_squared_meters) { + hole_it = holes.erase(hole_it); + } else { + ++hole_it; + } + } + std::vector difference_polygons; + difference_polygons.emplace_back(polygon_with_holes.outer_contour); + for (const auto& hole : holes) { + std::vector temp_polygon_buffer; + for (const auto& polygon : difference_polygons) { + CGAL::difference(polygon, hole, std::back_inserter(temp_polygon_buffer)); + } + difference_polygons.clear(); + std::move(temp_polygon_buffer.begin(), temp_polygon_buffer.end(), std::back_inserter(difference_polygons)); + } + CgalPolygon2d outer_contour = difference_polygons.rbegin()->outer_boundary(); + holes.clear(); + std::move(difference_polygons.rbegin()->holes_begin(), difference_polygons.rbegin()->holes_end(), std::back_inserter(holes)); + for (const auto& hole : holes){ + if (CGAL::do_intersect(hole, outer_contour)){ + // At this point intersections may only occur in single points. Overlapping edges are not possible. + + } + } } \ No newline at end of file diff --git a/convex_plane_decomposition_ros/CMakeLists.txt b/convex_plane_decomposition_ros/CMakeLists.txt index edfed337..72555cc2 100644 --- a/convex_plane_decomposition_ros/CMakeLists.txt +++ b/convex_plane_decomposition_ros/CMakeLists.txt @@ -169,6 +169,7 @@ target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} ${CGAL_LIBRARIES} ${CGAL_3RD_PARTY_LIBRARIES} + ${OpenCV_LIBRARIES} glog ) diff --git a/convex_plane_decomposition_ros/config/parameters.yaml b/convex_plane_decomposition_ros/config/parameters.yaml index 7ccb6053..105ceb7e 100644 --- a/convex_plane_decomposition_ros/config/parameters.yaml +++ b/convex_plane_decomposition_ros/config/parameters.yaml @@ -9,8 +9,9 @@ polygonizer: upsampling_factor : 3 activate_long_edge_upsampling : false activate_contour_approximation : true - hole_area_threshold_squared_meters : 0.002 - contour_approximation_deviation_threshold : 0.04 + contour_approximation_relative_area_threshold : 0.02 + contour_approximation_absolute_area_threshold_squared_meters : 0.04 + max_number_of_iterations : 15 convex_decomposer: decomposer_type : 'optimal_decompostion' diff --git a/convex_plane_decomposition_ros/src/convex_plane_extraction_ros.cpp b/convex_plane_decomposition_ros/src/convex_plane_extraction_ros.cpp index 4fb98843..8d448778 100644 --- a/convex_plane_decomposition_ros/src/convex_plane_extraction_ros.cpp +++ b/convex_plane_decomposition_ros/src/convex_plane_extraction_ros.cpp @@ -51,14 +51,14 @@ void ConvexPlaneExtractionROS::callback(const grid_map_msgs::GridMap& message) { VLOG(1) << "done."; // Visualize in Rviz. jsk_recognition_msgs::PolygonArray outer_plane_contours = pipeline_ros.getOuterPlaneContours(); - jsk_recognition_msgs::PolygonArray convex_polygons = pipeline_ros.getConvexPolygons(); + //jsk_recognition_msgs::PolygonArray convex_polygons = pipeline_ros.getConvexPolygons(); pipeline_ros.augmentGridMapWithSegmentation(inputMap); grid_map_msgs::GridMap outputMessage; GridMapRosConverter::toMessage(inputMap, outputMessage); grid_map_publisher_.publish(outputMessage); - convex_polygon_publisher_.publish(convex_polygons); + //convex_polygon_publisher_.publish(convex_polygons); outer_contours_publisher_.publish(outer_plane_contours); } diff --git a/convex_plane_decomposition_ros/src/pipeline_ros.cpp b/convex_plane_decomposition_ros/src/pipeline_ros.cpp index 02097b89..87b98d34 100644 --- a/convex_plane_decomposition_ros/src/pipeline_ros.cpp +++ b/convex_plane_decomposition_ros/src/pipeline_ros.cpp @@ -76,10 +76,20 @@ PipelineParameters loadPipelineParameters(ros::NodeHandle &nodeHandle, grid_map: ROS_ERROR("Could not read parameter `activate_contour_approximation`. Setting parameter to default value."); } if (polygonizer_parameters.activate_contour_approximation) { - if (!nodeHandle.getParam(kPolygonizerParametersPrefix + "contour_approximation_deviation_threshold", - polygonizer_parameters.contour_approximation_deviation_threshold)) { + if (!nodeHandle.getParam(kPolygonizerParametersPrefix + "contour_approximation_relative_area_threshold", + polygonizer_parameters.contour_approximation_relative_area_threshold)) { ROS_ERROR( - "Could not read parameter `contour_approximation_deviation_threshold`. Setting parameter to default value."); + "Could not read parameter `contour_approximation_relative_area_threshold`. Setting parameter to default value."); + } + if (!nodeHandle.getParam(kPolygonizerParametersPrefix + "contour_approximation_absolute_area_threshold_squared_meters", + polygonizer_parameters.contour_approximation_absolute_area_threshold_squared_meters)) { + ROS_ERROR( + "Could not read parameter `contour_approximation_absolute_area_threshold_squared_meters`. Setting parameter to default value."); + } + if (!nodeHandle.getParam(kPolygonizerParametersPrefix + "max_number_of_iterations", + polygonizer_parameters.max_number_of_iterations)) { + ROS_ERROR( + "Could not read parameter `max_number_of_iterations`. Setting parameter to default value."); } } if (!nodeHandle.getParam(kPolygonizerParametersPrefix + "hole_area_threshold_squared_meters", From e1ee083aecea2af34817a86f18b4ba0d3b7e2e4c Mon Sep 17 00:00:00 2001 From: Marko Bjelonic Date: Mon, 23 Mar 2020 19:25:15 +0100 Subject: [PATCH 025/504] Removed old loco_perception packages. --- loco_perception_ros/CMakeLists.txt | 51 -------- .../loco_perception_ros/ConvexSetSequence.hpp | 57 --------- loco_perception_ros/package.xml | 13 -- loco_perception_ros/src/ConvexSetSequence.cpp | 111 ------------------ 4 files changed, 232 deletions(-) delete mode 100644 loco_perception_ros/CMakeLists.txt delete mode 100644 loco_perception_ros/include/loco_perception_ros/ConvexSetSequence.hpp delete mode 100644 loco_perception_ros/package.xml delete mode 100644 loco_perception_ros/src/ConvexSetSequence.cpp diff --git a/loco_perception_ros/CMakeLists.txt b/loco_perception_ros/CMakeLists.txt deleted file mode 100644 index b5be54c7..00000000 --- a/loco_perception_ros/CMakeLists.txt +++ /dev/null @@ -1,51 +0,0 @@ -# Project configuration -cmake_minimum_required (VERSION 2.8) -project(loco_perception_ros) - -## Find catkin macros and libraries -## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) -## is used, also find other catkin packages -find_package(catkin REQUIRED COMPONENTS - loco_ros - loco_perception_utils -) - -catkin_package( - INCLUDE_DIRS include - LIBRARIES loco_perception_ros - CATKIN_DEPENDS - loco_ros - loco_perception_utils -# DEPENDS system_lib -) - -find_package(Eigen3 REQUIRED) -find_package(Boost COMPONENTS timer REQUIRED) - -add_definitions(--std=c++11) - -include_directories(include) -include_directories(${EIGEN3_INCLUDE_DIR}) -include_directories(${catkin_INCLUDE_DIRS}) -include_directories(${Boost_INCLUDE_DIRS}) - -add_library(loco_perception_ros SHARED - src/ConvexSetSequence.cpp -) - -add_dependencies(loco_perception_ros ${catkin_EXPORTED_TARGETS}) - -target_link_libraries(loco_perception_ros - ${catkin_LIBRARIES} - ${Boost_LIBRARIES} -) - -install(DIRECTORY include/${PROJECT_NAME}/ - DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION}/${PROJECT_NAME} - PATTERN ".svn" EXCLUDE -) -install(TARGETS ${PROJECT_NAME} - ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -) diff --git a/loco_perception_ros/include/loco_perception_ros/ConvexSetSequence.hpp b/loco_perception_ros/include/loco_perception_ros/ConvexSetSequence.hpp deleted file mode 100644 index 98b7d12b..00000000 --- a/loco_perception_ros/include/loco_perception_ros/ConvexSetSequence.hpp +++ /dev/null @@ -1,57 +0,0 @@ -/* - * ConvexSetSequence.hpp - * - * Created on: Nov 12, 2019 - * Author: Marko Bjelonic - */ - -#pragma once - -// ros -#include -#include - -// loco -#include - -// loco perception utils -#include - -// loco ros -#include -#include - -// robot utils -#include - -// stl -#include - - -namespace loco_perception_ros { - -class ConvexSetSequence { - public: - ConvexSetSequence(); - virtual ~ConvexSetSequence() = default; - - bool initialize(ros::NodeHandle& nodeHandle, const std::string& topic); - bool shutdown(); - - bool update(const std::vector& convexSets); - bool publish(); - - void setColorVector(std::vector>& colors); - void setColorVectorId(unsigned int colorId); - - unsigned int getNumSubscribers() const; - - protected: - ros::NodeHandle nodeHandle_; - visualization_msgs::MarkerArray convexSetSequence_; - ros::Publisher publisher_; - std::vector> colors_; - unsigned int colorId_; -}; - -} /* namespace loco */ diff --git a/loco_perception_ros/package.xml b/loco_perception_ros/package.xml deleted file mode 100644 index 38d4e8f7..00000000 --- a/loco_perception_ros/package.xml +++ /dev/null @@ -1,13 +0,0 @@ - - - loco_perception_ros - 0.2.0 - The loco_perception_ros package - Marko Bjelonic - Proprietary - https://bitbucket.org/leggedrobotics/loco_anymal_wheels - Marko Bjelonic - catkin - loco_ros - loco_perception_utils - diff --git a/loco_perception_ros/src/ConvexSetSequence.cpp b/loco_perception_ros/src/ConvexSetSequence.cpp deleted file mode 100644 index 64213b92..00000000 --- a/loco_perception_ros/src/ConvexSetSequence.cpp +++ /dev/null @@ -1,111 +0,0 @@ -/* - * ConvexSetSequence.cpp - * - * Created on: Nov 12, 2019 - * Author: Marko Bjelonic - */ - - -// loco perception ros -#include "loco_perception_ros/ConvexSetSequence.hpp" - -namespace loco_perception_ros { - -ConvexSetSequence::ConvexSetSequence() - : nodeHandle_(), - convexSetSequence_(), - publisher_(), - colorId_(0u) -{ - -} - -void ConvexSetSequence::setColorVector(std::vector>& colors) { - colors_ = colors; -} - -void ConvexSetSequence::setColorVectorId(unsigned int colorId) { - colorId_ = colorId; -} - -bool ConvexSetSequence::initialize(ros::NodeHandle& nodeHandle, const std::string& topic) { - nodeHandle_ = nodeHandle; - publisher_ = nodeHandle.advertise(topic, 100); - - return true; -} - -bool ConvexSetSequence::shutdown() { - publisher_.shutdown(); - return true; -} - -bool ConvexSetSequence::update(const std::vector& convexSets) { - if (convexSets.size() == 0u) { - return true; - } - - if (getNumSubscribers() > 0u) { - convexSetSequence_.markers.clear(); - - unsigned int id = 0u; - unsigned int offset = 0u; - - for (const auto& convexSet : convexSets) { - // Number of vertices should not be zero. - if (convexSet.getNumOfVertices() <= 0u) { - ++offset; - continue; - } - - visualization_msgs::Marker convexSetSequence; - convexSetSequence.pose.orientation.w = 1.0; - convexSetSequence.action = visualization_msgs::Marker::ADD; - convexSetSequence.type = visualization_msgs::Marker::LINE_STRIP; - convexSetSequence.scale.x = 0.02000; - convexSetSequence.color.a = 1.0; - convexSetSequence.header.frame_id = "odom"; - - const unsigned int colorId = robot_utils::intmod(colorId_, colors_.size()); - - convexSetSequence.color.r = colors_[colorId].x(); - convexSetSequence.color.g = colors_[colorId].y(); - convexSetSequence.color.b = colors_[colorId].z(); - - convexSetSequence.id = id; - convexSetSequence.ns = "convex_set" + std::to_string(convexSetSequence.id); - - geometry_msgs::Point point; - convexSetSequence.points.reserve(convexSet.getConvexSetInWorldFrame().getVertices().size()); - for (const auto& vertex : convexSet.getConvexSetInWorldFrame().getVertices()) { - const loco::Position positionWorldToVertexInWorldFrame = - loco::Position(vertex.x(), vertex.y(), 0.0); - point.x = positionWorldToVertexInWorldFrame.x(); - point.y = positionWorldToVertexInWorldFrame.y(); - point.z = positionWorldToVertexInWorldFrame.z(); - convexSetSequence.points.push_back(point); - } - - // Add first point again to reconnect the polygon. - if (convexSetSequence.points.size() > 2) { - convexSetSequence.points.push_back(convexSetSequence.points.front()); - convexSetSequence_.markers.push_back(convexSetSequence); - } - - ++id; - } - } - - return true; -} - -bool ConvexSetSequence::publish() { - loco_ros::publishMsg(publisher_, convexSetSequence_); - return true; -} - -unsigned int ConvexSetSequence::getNumSubscribers() const { - return publisher_.getNumSubscribers(); -} - -} /* namespace loco */ From 5d39a29acbd32c8edeff0f4b5431688f37549c39 Mon Sep 17 00:00:00 2001 From: andrej1001 Date: Wed, 25 Mar 2020 23:09:43 +0100 Subject: [PATCH 026/504] Fix, normal vector in world frame. --- .../sliding_window_plane_extractor.hpp | 17 ++++++------- convex_plane_decomposition/src/pipeline.cpp | 1 - .../src/sliding_window_plane_extractor.cpp | 24 +++++++++++++++---- 3 files changed, 26 insertions(+), 16 deletions(-) diff --git a/convex_plane_decomposition/include/sliding_window_plane_extractor.hpp b/convex_plane_decomposition/include/sliding_window_plane_extractor.hpp index f260bc6e..36211326 100644 --- a/convex_plane_decomposition/include/sliding_window_plane_extractor.hpp +++ b/convex_plane_decomposition/include/sliding_window_plane_extractor.hpp @@ -46,21 +46,18 @@ namespace sliding_window_plane_extractor { return labeled_image_; } - const auto& getLabelPlaneParameterMap() const{ - return label_plane_parameters_map_; - } + const auto& getLabelPlaneParameterMap() const{ return label_plane_parameters_map_; } - const int getNumberOfExtractedPlanes() const{ - return number_of_extracted_planes_; - } + const int getNumberOfExtractedPlanes() const { return number_of_extracted_planes_; } -// void exportConvexPolygons(const std::string& path) const; + // void exportConvexPolygons(const std::string& path) const; private: - double computeAverageErrorToPlane(const Eigen::Vector3d& normal_vector, const Eigen::Vector3d& support_vector, const std::vector& points_with_normal) const; + void computeMapTransformation(); + void computePlaneParametersForLabel(int label); void extractPlaneParametersFromLabeledImage(); @@ -73,10 +70,11 @@ namespace sliding_window_plane_extractor { void runSurfaceNormalCurvatureDetection(); - grid_map::GridMap& map_; std::string elevation_layer_; double resolution_; + Eigen::Matrix2d transformation_xy_to_world_frame_; + Eigen::Vector2d map_offset_; SlidingWindowPlaneExtractorParameters parameters_; ransac_plane_extractor::RansacPlaneExtractorParameters ransac_parameters_; @@ -85,7 +83,6 @@ namespace sliding_window_plane_extractor { cv::Mat labeled_image_; int number_of_extracted_planes_; std::map label_plane_parameters_map_; - }; } #endif //CONVEX_PLANE_EXTRACTION_INCLUDE_SLIDING_WINDOW_PLANE_EXTRACTOR_HPP_ diff --git a/convex_plane_decomposition/src/pipeline.cpp b/convex_plane_decomposition/src/pipeline.cpp index 27929c4a..ea792b53 100644 --- a/convex_plane_decomposition/src/pipeline.cpp +++ b/convex_plane_decomposition/src/pipeline.cpp @@ -26,7 +26,6 @@ Polygon3dVectorContainer Pipeline::getPlaneContours() const{ return plane_factory_.getPlaneContoursInWorldFrame(); } - //void Pipeline::exportConvexPolygons(const std::string& export_path) const { // std::ofstream output_file; // output_file.open(export_path + "convex_polygons.txt", std::ofstream::app); diff --git a/convex_plane_decomposition/src/sliding_window_plane_extractor.cpp b/convex_plane_decomposition/src/sliding_window_plane_extractor.cpp index ee8075c8..6da3f5d1 100644 --- a/convex_plane_decomposition/src/sliding_window_plane_extractor.cpp +++ b/convex_plane_decomposition/src/sliding_window_plane_extractor.cpp @@ -11,6 +11,7 @@ namespace sliding_window_plane_extractor{ elevation_layer_(layer_height), parameters_(parameters), ransac_parameters_(parameters.ransac_parameters){ + computeMapTransformation(); VLOG(1) << "Constructing SWE..."; VLOG(1) << "Set elevation layer is: " << elevation_layer_; CHECK(map_.exists(elevation_layer_)); @@ -78,15 +79,18 @@ namespace sliding_window_plane_extractor{ } } Eigen::Vector3d eigenvector = eigenvectors.col(smallestId); - const Eigen::Vector3d normalVectorPositiveAxis_(0,0,1); - if (eigenvector.dot(normalVectorPositiveAxis_) < 0.0) eigenvector = -eigenvector; + const Eigen::Vector3d normalVectorPositiveAxis(0, 0, 1); + if (eigenvector.dot(normalVectorPositiveAxis) < 0.0) { + eigenvector = -eigenvector; + } Eigen::Vector3d n = eigenvector.normalized(); grid_map::Index index = *window_iterator; double mean_error = ((data_points * n).cwiseAbs()).sum() / height_instances.size(); - Eigen::Vector3d upwards(0,0,1); + Eigen::Vector3d upwards(0, 0, 1); constexpr double kInclinationThreshold = 0.35; - if (mean_error < parameters_.plane_patch_error_threshold && abs(n.transpose()*upwards) > kInclinationThreshold) { + if (mean_error < parameters_.plane_patch_error_threshold && abs(n.transpose() * upwards) > kInclinationThreshold) { binary_image_patch_.at((*window_iterator).x(), (*window_iterator).y()) = true; + n.head(2) = transformation_xy_to_world_frame_ * n.head(2); normal_x(index.x(), index.y()) = n.x(); normal_y(index.x(), index.y()) = n.y(); normal_z(index.x(), index.y()) = n.z(); @@ -285,5 +289,15 @@ namespace sliding_window_plane_extractor{ VLOG(1) << "done."; } -} + void SlidingWindowPlaneExtractor::computeMapTransformation() { + Eigen::Vector2i map_size = map_.getSize(); + CHECK(map_.getPosition(Eigen::Vector2i::Zero(), map_offset_)); + Eigen::Vector2d lower_left_cell_position; + CHECK(map_.getPosition(Eigen::Vector2i(map_size.x() - 1, 0), lower_left_cell_position)); + Eigen::Vector2d upper_right_cell_position; + CHECK(map_.getPosition(Eigen::Vector2i(0, map_size.y() - 1), upper_right_cell_position)); + transformation_xy_to_world_frame_.col(0) = (lower_left_cell_position - map_offset_).normalized(); + transformation_xy_to_world_frame_.col(1) = (upper_right_cell_position - map_offset_).normalized(); + } + } // namespace sliding_window_plane_extractor From 5050db322e3fa4a445e0c8d9f6161c399b6323bd Mon Sep 17 00:00:00 2001 From: andrej1001 Date: Wed, 25 Mar 2020 23:16:50 +0100 Subject: [PATCH 027/504] Removed deprecated directories. --- include/geometry_utils.hpp | 23 --------------- src/geometry_utils.cpp | 60 -------------------------------------- 2 files changed, 83 deletions(-) delete mode 100644 include/geometry_utils.hpp delete mode 100644 src/geometry_utils.cpp diff --git a/include/geometry_utils.hpp b/include/geometry_utils.hpp deleted file mode 100644 index a2b1f786..00000000 --- a/include/geometry_utils.hpp +++ /dev/null @@ -1,23 +0,0 @@ -#ifndef CONVEX_PLANE_EXTRACTION_INCLUDE_GEOMETRY_UTILS_HPP_ -#define CONVEX_PLANE_EXTRACTION_INCLUDE_GEOMETRY_UTILS_HPP_ - -#include "types.hpp" - -namespace convex_plane_extraction { - -double scalarCrossProduct(const Vector2d &leftVector, const Vector2d &rightVector); - -double distanceToLine(const Vector2d& lineSupportVector, const Vector2d& lineDirectionalVector, const Vector2d& testPoint); - -bool isPointOnRightSide(const Vector2d& line_support_vector, const Vector2d& line_direction_vector, const Vector2d& point); - -double computeAngleBetweenVectors(const Vector2d& first_vector, const Vector2d& second_vector); - -bool isPointOnLeftSide(const Vector2d& line_support_vector, const Vector2d& line_direction_vector, const Vector2d& point); - -bool intersectRayWithLineSegment(const Vector2d& ray_source, const Vector2d& ray_direction, - const Vector2d& segment_source, const Vector2d& segment_target, Vector2d* intersection_point); - -double distanceBetweenPoints(Vector2d first, Vector2d second); -} -#endif //CONVEX_PLANE_EXTRACTION_INCLUDE_GEOMETRY_UTILS_HPP_ diff --git a/src/geometry_utils.cpp b/src/geometry_utils.cpp deleted file mode 100644 index fb794e89..00000000 --- a/src/geometry_utils.cpp +++ /dev/null @@ -1,60 +0,0 @@ -#include -#include "geometry_utils.hpp" - -namespace convex_plane_extraction { - - double scalarCrossProduct(const Vector2d &leftVector, const Vector2d &rightVector) { - return leftVector.y() * rightVector.x() - leftVector.x() * rightVector.y(); - } - - // Return the non-normalized distance of a 2D-point to a line given by support vector and direction vector. - // Negative distance corresponds to a point on the left of the direction vector - double distanceToLine(const Vector2d &lineSupportVector, - const Vector2d &lineDirectionalVector, - const Vector2d &testPoint) { - Vector2d secondPointOnLine = lineSupportVector + lineDirectionalVector; - return scalarCrossProduct(lineDirectionalVector, testPoint) - + scalarCrossProduct(lineSupportVector, secondPointOnLine); - } - - bool isPointOnRightSide(const Vector2d& line_support_vector, const Vector2d& line_direction_vector, const Vector2d& point){ - Vector2d normal_vector(line_direction_vector.y(), (-1.0)*line_direction_vector.x()); - normal_vector.normalize(); - Vector2d point_vector = point - line_support_vector; - return point_vector.transpose() * normal_vector > 0; - } - - bool isPointOnLeftSide(const Vector2d& line_support_vector, const Vector2d& line_direction_vector, const Vector2d& point){ - Vector2d normal_vector(line_direction_vector.y(), (-1.0)*line_direction_vector.x()); - normal_vector.normalize(); - Vector2d point_vector = point - line_support_vector; - return point_vector.dot(normal_vector) < 0; - } - - double computeAngleBetweenVectors(const Vector2d& first_vector, const Vector2d& second_vector){ - double scalar_product = first_vector.transpose() * second_vector; - return acos( abs(scalar_product) / (first_vector.norm() * second_vector.norm())); - } - - bool intersectRayWithLineSegment(const Vector2d& ray_source, const Vector2d& ray_direction, - const Vector2d& segment_source, const Vector2d& segment_target, Vector2d* intersection_point){ - CHECK_NOTNULL(intersection_point); - Vector2d segment_direction = segment_target - segment_source; - Matrix2d A; - A.col(0) = ray_direction; - A.col(1) = - segment_direction; - Vector2d b = segment_source - ray_source; - Vector2d solution = A.fullPivHouseholderQr().solve(b); - if (solution(0) <= 0 || solution(1) < 0 || solution(1) > 1){ - return false; - } - *intersection_point = segment_source + solution(1) * segment_direction; - return true; - } - - double distanceBetweenPoints(Vector2d first, Vector2d second){ - return (second - first).norm(); - } - -} - From 1071441a389a96579a4b08bcde03b337834d85c0 Mon Sep 17 00:00:00 2001 From: andrej1001 Date: Thu, 26 Mar 2020 12:56:19 +0100 Subject: [PATCH 028/504] Fix surface normal gradient and parameter tuning. --- convex_plane_decomposition/src/polygon.cpp | 31 ++++++++++--------- .../src/sliding_window_plane_extractor.cpp | 31 ++++++++++++------- .../config/parameters.yaml | 4 +-- .../src/pipeline_ros.cpp | 4 +++ 4 files changed, 41 insertions(+), 29 deletions(-) diff --git a/convex_plane_decomposition/src/polygon.cpp b/convex_plane_decomposition/src/polygon.cpp index 6b336521..5bc7ff4c 100644 --- a/convex_plane_decomposition/src/polygon.cpp +++ b/convex_plane_decomposition/src/polygon.cpp @@ -77,17 +77,17 @@ namespace convex_plane_extraction { auto third_vertex_it = std::next(second_vertex_it); double area = polygon->area(); int number_of_iterations = 0; - while (number_of_iterations < max_number_of_iterations ){ + while (number_of_iterations < max_number_of_iterations ) { old_size = polygon->size(); - if (polygon->size() < 4){ + if (polygon->size() < 4) { break; } Vector2d first_point(first_vertex_it->x(), first_vertex_it->y()); Vector2d second_point(second_vertex_it->x(), second_vertex_it->y()); Vector2d third_point(third_vertex_it->x(), third_vertex_it->y()); - LOG(WARNING) << "Got here!"; + VLOG(2) << "Got here!"; if (isPointOnRightSideOfLine(first_point, third_point - first_point, second_point)) { - VLOG(1) << "Point on right side!"; + VLOG(2) << "Point on right side!"; double a = (third_point - first_point).norm(); double b = (second_point - third_point).norm(); double c = (first_point - second_point).norm(); @@ -95,28 +95,29 @@ namespace convex_plane_extraction { CHECK(isfinite(triangle_area)) << "Area: " << triangle_area << ", a: " << a << ", b: " << b << ", c: " << c; CHECK_GE(triangle_area, 0.0); if ((triangle_area < relative_area_threshold * area) && (triangle_area < absolute_area_threshold)) { - VLOG(1) << "Area sufficiently small!"; + VLOG(2) << "Area sufficiently small!"; CgalPolygon2d new_polygon(*polygon); int vertex_position_offset = std::distance(polygon->vertices_begin(), second_vertex_it); CgalPolygon2dVertexIterator tmp_iterator = new_polygon.vertices_begin(); std::advance(tmp_iterator, vertex_position_offset); - VLOG(1) << "Before erase call!"; + VLOG(2) << "Before erase call!"; new_polygon.erase(tmp_iterator); - VLOG(1) << "After ease call!"; - if (new_polygon.is_simple() && (new_polygon.orientation() == CGAL::COUNTERCLOCKWISE) && abs(new_polygon.area() - area) < 0.1 * area && abs(new_polygon.area() - area) < 0.5) { + VLOG(2) << "After ease call!"; + if (new_polygon.is_simple() && (new_polygon.orientation() == CGAL::COUNTERCLOCKWISE) && + abs(new_polygon.area() - area) < 0.1 * area && abs(new_polygon.area() - area) < 0.5) { CHECK_LE(triangle_area, area); first_vertex_it = polygon->erase(second_vertex_it); - if (first_vertex_it == polygon->vertices_end()){ + if (first_vertex_it == polygon->vertices_end()) { first_vertex_it = polygon->vertices_begin(); } second_vertex_it = next(first_vertex_it, *polygon); third_vertex_it = next(second_vertex_it, *polygon); if ((std::distance(polygon->begin(), first_vertex_it) >= std::distance(polygon->begin(), second_vertex_it)) || (std::distance(polygon->begin(), first_vertex_it) >= std::distance(polygon->begin(), third_vertex_it)) || - (std::distance(polygon->begin(), second_vertex_it) >= std::distance(polygon->begin(), third_vertex_it))){ + (std::distance(polygon->begin(), second_vertex_it) >= std::distance(polygon->begin(), third_vertex_it))) { ++number_of_iterations; } - VLOG(1) << "Removed one vertex!"; + VLOG(2) << "Removed one vertex!"; continue; } } @@ -124,11 +125,11 @@ namespace convex_plane_extraction { first_vertex_it = second_vertex_it; second_vertex_it = third_vertex_it; third_vertex_it = next(second_vertex_it, *polygon); - LOG(WARNING) << "Got to bottom! Number of iterations: " << std::distance(polygon->begin(), first_vertex_it) << " " << - std::distance(polygon->begin(), second_vertex_it) << " " << std::distance(polygon->begin(), third_vertex_it); + VLOG(2) << "Got to bottom! Number of iterations: " << std::distance(polygon->begin(), first_vertex_it) << " " + << std::distance(polygon->begin(), second_vertex_it) << " " << std::distance(polygon->begin(), third_vertex_it); if ((std::distance(polygon->begin(), first_vertex_it) >= std::distance(polygon->begin(), second_vertex_it) || - std::distance(polygon->begin(), first_vertex_it) >= std::distance(polygon->begin(), third_vertex_it) || - std::distance(polygon->begin(), second_vertex_it) >= std::distance(polygon->begin(), third_vertex_it) )){ + std::distance(polygon->begin(), first_vertex_it) >= std::distance(polygon->begin(), third_vertex_it) || + std::distance(polygon->begin(), second_vertex_it) >= std::distance(polygon->begin(), third_vertex_it))) { ++number_of_iterations; } } diff --git a/convex_plane_decomposition/src/sliding_window_plane_extractor.cpp b/convex_plane_decomposition/src/sliding_window_plane_extractor.cpp index 6da3f5d1..980ab6d7 100644 --- a/convex_plane_decomposition/src/sliding_window_plane_extractor.cpp +++ b/convex_plane_decomposition/src/sliding_window_plane_extractor.cpp @@ -109,18 +109,25 @@ namespace sliding_window_plane_extractor{ CHECK_GT(surface_normal_map_boundary_offset, 0); const grid_map::Size map_rows_cols = map_.getSize(); for( int cols = surface_normal_map_boundary_offset; cols < map_rows_cols(1) - surface_normal_map_boundary_offset - 1; ++cols){ - for (int rows = surface_normal_map_boundary_offset; rows < map_rows_cols(0) - surface_normal_map_boundary_offset - 1; ++rows){ - const Eigen::Vector3f normal_vector_center(map_.at("normals_x", grid_map::Index(rows, cols)), map_.at("normals_y", grid_map::Index(rows, cols)), - map_.at("normals_z", grid_map::Index(rows, cols))); - const Eigen::Vector3f normal_vector_next_row(map_.at("normals_x", grid_map::Index(rows+1, cols)), map_.at("normals_y", grid_map::Index(rows+1, cols)), - map_.at("normals_z", grid_map::Index(rows+1, cols))); - const Eigen::Vector3f normal_vector_next_col(map_.at("normals_x", grid_map::Index(rows, cols+1)), map_.at("normals_y", grid_map::Index(rows, cols+1)), - map_.at("normals_z", grid_map::Index(rows, cols+1))); - const float angle_in_col_direction_radians = std::atan2(1.0, normal_vector_center.dot(normal_vector_next_col)); - const float angle_in_row_direction_radians = std::atan2(1.0, normal_vector_center.dot(normal_vector_next_row)); - const double gradient_magnitude_normalized = sqrt((angle_in_col_direction_radians*angle_in_col_direction_radians) + - (angle_in_row_direction_radians * angle_in_row_direction_radians)) / (sqrt(2.0)*M_PI); - binary_image_angle_.at(rows, cols) = gradient_magnitude_normalized <= parameters_.surface_normal_angle_threshold_degrees; + for (int rows = surface_normal_map_boundary_offset; rows < map_rows_cols(0) - surface_normal_map_boundary_offset - 1; ++rows) { + const Eigen::Vector3f normal_vector_center(map_.at("normals_x", grid_map::Index(rows, cols)), + map_.at("normals_y", grid_map::Index(rows, cols)), + map_.at("normals_z", grid_map::Index(rows, cols))); + const Eigen::Vector3f normal_vector_next_row(map_.at("normals_x", grid_map::Index(rows + 1, cols)), + map_.at("normals_y", grid_map::Index(rows + 1, cols)), + map_.at("normals_z", grid_map::Index(rows + 1, cols))); + const Eigen::Vector3f normal_vector_next_col(map_.at("normals_x", grid_map::Index(rows, cols + 1)), + map_.at("normals_y", grid_map::Index(rows, cols + 1)), + map_.at("normals_z", grid_map::Index(rows, cols + 1))); + const double angle_in_col_direction_deg = + std::atan2(normal_vector_center.cross(normal_vector_next_col).norm(), normal_vector_center.dot(normal_vector_next_col)) / M_PI * + 180.0; + const double angle_in_row_direction_deg = + std::atan2(normal_vector_center.cross(normal_vector_next_row).norm(), normal_vector_center.dot(normal_vector_next_row)) / M_PI * + 180.0; + binary_image_angle_.at(rows, cols) = isfinite(angle_in_col_direction_deg) && isfinite(angle_in_row_direction_deg) && + abs(angle_in_col_direction_deg) <= parameters_.surface_normal_angle_threshold_degrees && + abs(angle_in_row_direction_deg) <= parameters_.surface_normal_angle_threshold_degrees; } } } diff --git a/convex_plane_decomposition_ros/config/parameters.yaml b/convex_plane_decomposition_ros/config/parameters.yaml index 105ceb7e..95215c2d 100644 --- a/convex_plane_decomposition_ros/config/parameters.yaml +++ b/convex_plane_decomposition_ros/config/parameters.yaml @@ -20,8 +20,8 @@ convex_decomposer: sliding_window_plane_extractor: kernel_size : 3 plane_patch_error_threshold : 0.004 - surface_normal_angle_threshold_degrees : 5.0 - include_curvature_detection : false + surface_normal_angle_threshold_degrees : 10.0 + include_curvature_detection : true include_ransac_refinement : false global_plane_fit_error_threshold : 0.02 diff --git a/convex_plane_decomposition_ros/src/pipeline_ros.cpp b/convex_plane_decomposition_ros/src/pipeline_ros.cpp index 87b98d34..3bdd77b5 100644 --- a/convex_plane_decomposition_ros/src/pipeline_ros.cpp +++ b/convex_plane_decomposition_ros/src/pipeline_ros.cpp @@ -20,6 +20,10 @@ PipelineParameters loadPipelineParameters(ros::NodeHandle &nodeHandle, grid_map: sliding_window_plane_extractor_parameters.plane_patch_error_threshold)) { ROS_ERROR("Could not read parameter `plane_patch_error_threshold`. Setting parameter to default value."); } + if (!nodeHandle.getParam(kSlidingWindowParametersPrefix + "surface_normal_angle_threshold_degrees", + sliding_window_plane_extractor_parameters.surface_normal_angle_threshold_degrees)) { + ROS_ERROR("Could not read parameter `plane_patch_error_threshold`. Setting parameter to default value."); + } if (!nodeHandle.getParam(kSlidingWindowParametersPrefix + "include_curvature_detection", sliding_window_plane_extractor_parameters.include_curvature_detection)) { ROS_ERROR("Could not read parameter `include_curvature_detection`. Setting parameter to default value."); From 24b51a2770cd40337400a4445bd9825ceb69c699 Mon Sep 17 00:00:00 2001 From: andrej1001 Date: Sat, 28 Mar 2020 00:27:01 +0100 Subject: [PATCH 029/504] Fixes for inner convex approximation, to be continued. --- .../include/polygon.hpp | 37 ++++++++----- .../src/convex_decomposer.cpp | 23 +++++--- .../src/geometry_utils.cpp | 52 ++++++++++++------ convex_plane_decomposition/src/pipeline.cpp | 5 +- convex_plane_decomposition/src/polygon.cpp | 55 +++++++++++++++---- .../src/sliding_window_plane_extractor.cpp | 2 +- .../config/parameters.yaml | 6 +- .../src/convex_plane_extraction_ros.cpp | 4 +- 8 files changed, 127 insertions(+), 57 deletions(-) diff --git a/convex_plane_decomposition/include/polygon.hpp b/convex_plane_decomposition/include/polygon.hpp index b6d5a2b2..0f8b5085 100644 --- a/convex_plane_decomposition/include/polygon.hpp +++ b/convex_plane_decomposition/include/polygon.hpp @@ -9,14 +9,15 @@ #include #include -#include -#include #include #include #include -#include +#include #include #include +#include +#include +#include #include #include @@ -35,24 +36,31 @@ namespace convex_plane_extraction{ typedef CGAL::Polygon_2 CgalPolygon2d; typedef CGAL::Polygon_with_holes_2 CgalPolygonWithHoles2d; typedef Traits::Segment_2 CgalSegment2d; - typedef std::vector CgalPolygon2dContainer; - typedef CgalPolygon2dContainer::const_iterator CgalPolygon2dConstIterator; + typedef std::vector CgalPolygon2dContainer; + typedef Traits::Ray_2 CgalRay2d; + typedef CgalPolygon2dContainer::const_iterator CgalPolygon2dConstIterator; typedef CGAL::Polygon_set_2> CgalPolygon2dSetContainer; typedef CgalPolygon2d::Vertex_const_iterator CgalPolygon2dVertexConstIterator; - typedef CgalPolygon2d::Vertex_iterator CgalPolygon2dVertexIterator; + typedef CgalPolygon2d::Vertex_iterator CgalPolygon2dVertexIterator; - typedef std::vector Polygon3d; - typedef std::vector Polygon3dVectorContainer; - typedef K::Intersect_2 Intersect_2; + typedef std::vector Polygon3d; + typedef std::vector Polygon3dVectorContainer; + typedef K::Intersect_2 Intersect_2; - struct PolygonWithHoles{ + struct PolygonWithHoles { CgalPolygon2d outer_contour; CgalPolygon2dContainer holes; }; + enum class SegmentIntersectionLocation { kSource, kTarget, kInterior }; + + struct RaySegmentIntersection { + SegmentInterSectionLocation intersection_location; + CgalPoint2d intersection_point; + }; template - bool isContourSimple_impl(Iter begin, Iter end, std::bidirectional_iterator_tag){ + bool isContourSimple_impl(Iter begin, Iter end, std::bidirectional_iterator_tag) { CgalPolygon2d polygon; for (auto it = begin; it < end; ++it) { polygon.push_back(Point((*it).x, (*it).y)); @@ -160,6 +168,9 @@ void approximateContour(CgalPolygon2d* polygon, int max_number_of_iterations, do std::vector> getCommonVertexPairIndices(const CgalPolygon2d& first_polygon, const CgalPolygon2d& second_polygon); - std::vector getVertexIndicesOfFirstPolygonContainedInSecondPolygonContour(const CgalPolygon2d& first_polygon, const CgalPolygon2d& second_polygon); -} + std::vector getVertexIndicesOfFirstPolygonContainedInSecondPolygonContour(const CgalPolygon2d& first_polygon, + const CgalPolygon2d& second_polygon); + + bool doRayAndSegmentIntersect(const CgalRay2d& ray, const CgalSegment2d& segment, RaySegmentIntersection* intersection); + } // namespace convex_plane_extraction #endif //CONVEX_PLANE_EXTRACTION_INCLUDE_POLYGON_HPP_ diff --git a/convex_plane_decomposition/src/convex_decomposer.cpp b/convex_plane_decomposition/src/convex_decomposer.cpp index 13e38836..aa064e02 100644 --- a/convex_plane_decomposition/src/convex_decomposer.cpp +++ b/convex_plane_decomposition/src/convex_decomposer.cpp @@ -53,11 +53,17 @@ CgalPolygon2dContainer ConvexDecomposer::performOptimalConvexDecomposition(const return output_polygons; } -CgalPolygon2dContainer ConvexDecomposer::performInnerConvexApproximation(const CgalPolygon2d& polygon) const{ +CgalPolygon2dContainer ConvexDecomposer::performInnerConvexApproximation(const CgalPolygon2d& polygon) const { CHECK(polygon.orientation() == CGAL::COUNTERCLOCKWISE); + VLOG(1) << "Polygon under decomposition: "; + printPolygon(polygon); CgalPolygon2dContainer convex_polygons; + if (polygon.size() == 3) { + convex_polygons.push_back(polygon); + return convex_polygons; + } const std::multimap dent_locations = detectDentLocations(polygon); - if (dent_locations.empty()){ + if (dent_locations.empty()) { // No dents detected, polygon must be convex. // CGAL convexity check might still fail, since very shallow dents are ignored. convex_polygons.push_back(polygon); @@ -85,13 +91,15 @@ CgalPolygon2dContainer ConvexDecomposer::performInnerConvexApproximation(const C polygon_counterclockwise_2.push_back(*first_vertex_to_erase_it); first_vertex_to_erase_it = next(first_vertex_to_erase_it, polygon_counterclockwise_1); auto last_vertex_to_erase_it = polygon_counterclockwise_1.vertices_begin(); + VLOG(1) << "Add dent to second polygon succeeded."; // Intersection somewhere must be at or after source vertex of intersection edge. std::advance(last_vertex_to_erase_it, intersection_counterclockwise.edge_source_location_); // Take next vertex due to exclusive upper limit logic. last_vertex_to_erase_it = next(last_vertex_to_erase_it, polygon_counterclockwise_1); // Copy vertices that will be deleted to second polygon. - copyVertices(polygon_counterclockwise_1,first_vertex_to_erase_it,last_vertex_to_erase_it, - &polygon_counterclockwise_2, polygon_counterclockwise_2.vertices_end()); + copyVertices(polygon_counterclockwise_1, first_vertex_to_erase_it, last_vertex_to_erase_it, &polygon_counterclockwise_2, + polygon_counterclockwise_2.vertices_end()); + VLOG(1) << "Copy vertices that will be deleted succeeded."; // Get last point that was erased. CgalPoint2d point_before_intersection = *(previous(last_vertex_to_erase_it, polygon_counterclockwise_2)); // To avoid numerical issues and duplicate vertices, intersection point is only inserted if sufficiently @@ -101,7 +109,8 @@ CgalPolygon2dContainer ConvexDecomposer::performInnerConvexApproximation(const C polygon_counterclockwise_2.push_back(intersection_counterclockwise.intersection_point_); } VLOG(1) << "Started splitting vertices..."; - CgalPolygon2dVertexIterator element_behind_deleted_it = erase(first_vertex_to_erase_it, last_vertex_to_erase_it, &polygon_counterclockwise_1); + CgalPolygon2dVertexIterator element_behind_deleted_it = + erase(first_vertex_to_erase_it, last_vertex_to_erase_it, &polygon_counterclockwise_1); // Add intersection vertex to first polygon if existing vertex too far away. if ((intersection_counterclockwise.intersection_point_ - *element_behind_deleted_it).squared_length() > kSquaredLengthThreshold) { polygon_counterclockwise_1.insert(element_behind_deleted_it, intersection_counterclockwise.intersection_point_); @@ -171,8 +180,8 @@ CgalPolygon2dContainer ConvexDecomposer::performInnerConvexApproximation(const C recursion_2 = performInnerConvexApproximation(polygon_clockwise_2); } } - std::move(recursion_1.begin(),recursion_1.end(), std::back_inserter(convex_polygons)); - std::move(recursion_1.begin(), recursion_2.end(), std::back_inserter(convex_polygons)); + std::move(recursion_1.begin(), recursion_1.end(), std::back_inserter(convex_polygons)); + std::move(recursion_2.begin(), recursion_2.end(), std::back_inserter(convex_polygons)); VLOG(1) << "Reached bottom!"; return convex_polygons; } diff --git a/convex_plane_decomposition/src/geometry_utils.cpp b/convex_plane_decomposition/src/geometry_utils.cpp index 3e6088c7..171c61bc 100644 --- a/convex_plane_decomposition/src/geometry_utils.cpp +++ b/convex_plane_decomposition/src/geometry_utils.cpp @@ -45,27 +45,30 @@ namespace convex_plane_extraction { A.col(1) = - segment_direction; Vector2d b = segment_source - ray_source; auto householder_qr = A.fullPivHouseholderQr(); - if (householder_qr.rank() < 2){ + if (householder_qr.rank() < 2) { // Check whether segment and ray overlap. - Vector2d p_ray_source_segment_source = segment_source - ray_source; - Vector2d ray_parameter_solution = Vector2d(p_ray_source_segment_source.x() / ray_direction.x(), - p_ray_source_segment_source.y() / ray_direction.y()); + const Vector2d p_ray_source_segment_source = segment_source - ray_source; + const Vector2d p_ray_source_segment_target = segment_target - ray_source; + if (p_ray_source_segment_source.norm() > p_ray_source_segment_target) { + } + Vector2d ray_parameter_solution = + Vector2d(p_ray_source_segment_source.x() / ray_direction.x(), p_ray_source_segment_source.y() / ray_direction.y()); constexpr double kSolutionDeviation = 0.0001; - if (abs(ray_parameter_solution.x() - ray_parameter_solution.y()) < kSolutionDeviation){ + if (abs(ray_parameter_solution.x() - ray_parameter_solution.y()) < kSolutionDeviation) { double parameter_solution_tmp = ray_parameter_solution.mean(); - if (parameter_solution_tmp < 0){ + if (parameter_solution_tmp < 0) { return false; } CHECK_GT(parameter_solution_tmp, 0); Vector2d p_ray_source_segment_target = segment_target - ray_source; - ray_parameter_solution = Vector2d(p_ray_source_segment_target.x() / ray_direction.x(), - p_ray_source_segment_target.y() / ray_direction.y()); + ray_parameter_solution = + Vector2d(p_ray_source_segment_target.x() / ray_direction.x(), p_ray_source_segment_target.y() / ray_direction.y()); // If ray is parallel (rank loss) and source point lies on ray, then target point has to as well. - CHECK(abs(ray_parameter_solution.x() - ray_parameter_solution.y()) < kSolutionDeviation); - if(ray_parameter_solution.mean() < 0){ + CHECK_LT(abs(ray_parameter_solution.x() - ray_parameter_solution.y()), kSolutionDeviation); + if (ray_parameter_solution.mean() < 0) { return false; } - if (ray_parameter_solution.mean() < parameter_solution_tmp){ + if (ray_parameter_solution.mean() < parameter_solution_tmp) { *intersection_point = segment_target; } else { *intersection_point = segment_source; @@ -77,11 +80,26 @@ namespace convex_plane_extraction { Vector2d solution = householder_qr.solve(b); Vector2d ray_solution = ray_source + solution(0) * segment_direction; Vector2d segment_solution = segment_source + solution(1) * segment_direction; - if (solution(0) <= 1 || solution(1) < 0 || solution(1) > 1){ + constexpr double kSegmentBorderToleranceMeters = 0.001; + if (solution(0) <= 1) { return false; + } else if (solution(1) < 0) { + if ((segment_solution - segment_source).norm() > kSegmentBorderToleranceMeters) { + return false; + } else { + *intersection_point = segment_source; + return true; + } + } else if (solution(1) > 1) { + if ((segment_solution - segment_target).norm() > kSegmentBorderToleranceMeters) { + return false; + } else { + *intersection_point = segment_target; + } + } else { + *intersection_point = segment_solution; + return true; } - *intersection_point = segment_solution; - return true; } bool intersectLineSegmentWithLineSegment(const Vector2d& segment_1_source, const Vector2d& segment_1_target, @@ -114,7 +132,7 @@ namespace convex_plane_extraction { if(ray_parameter_solution.mean() < 0){ return false; } - if (ray_parameter_solution.mean() < parameter_solution_tmp){ + if (ray_parameter_solution.mean() < parameter_solution_tmp) { *intersection_point = segment_2_target; } else { *intersection_point = segment_2_source; @@ -123,10 +141,10 @@ namespace convex_plane_extraction { } return false; } - Vector2d solution = householder_qr.solve(b); + Vector2d solution = A.inverse() * b; // householder_qr.solve(b); Vector2d ray_solution = segment_1_source + solution(0) * segment_2_direction; Vector2d segment_solution = segment_2_source + solution(1) * segment_2_direction; - if (solution(0) < 0 || solution(0) > 1 || solution(1) < 0 || solution(1) > 1){ + if (solution(0) < 0 || solution(0) > 1 || solution(1) < 0 || solution(1) > 1) { return false; } *intersection_point = segment_solution; diff --git a/convex_plane_decomposition/src/pipeline.cpp b/convex_plane_decomposition/src/pipeline.cpp index ea792b53..1811f0e4 100644 --- a/convex_plane_decomposition/src/pipeline.cpp +++ b/convex_plane_decomposition/src/pipeline.cpp @@ -14,8 +14,9 @@ Pipeline::Pipeline(const PipelineParameters& pipeline_parameters, const GridMapP sliding_window_plane_extractor_.runExtraction(); VLOG(1) << "done"; plane_factory_.createPlanesFromLabeledImageAndPlaneParameters(sliding_window_plane_extractor_.getLabeledImage(), - sliding_window_plane_extractor_.getNumberOfExtractedPlanes(), sliding_window_plane_extractor_.getLabelPlaneParameterMap()); - //plane_factory_.decomposePlanesInConvexPolygons(); + sliding_window_plane_extractor_.getNumberOfExtractedPlanes(), + sliding_window_plane_extractor_.getLabelPlaneParameterMap()); + plane_factory_.decomposePlanesInConvexPolygons(); } Polygon3dVectorContainer Pipeline::getConvexPolygons() const{ diff --git a/convex_plane_decomposition/src/polygon.cpp b/convex_plane_decomposition/src/polygon.cpp index 5bc7ff4c..0f29587d 100644 --- a/convex_plane_decomposition/src/polygon.cpp +++ b/convex_plane_decomposition/src/polygon.cpp @@ -244,21 +244,22 @@ namespace convex_plane_extraction { Vector2d segment_target = Vector2d(segment_target_it->x(), segment_target_it->y()); Vector2d intersection_point; if (intersectRayWithLineSegment(ray_source, ray_direction, segment_source, segment_target, - &intersection_point)){ + &intersection_point)) { LOG(INFO) << "Intersection point:" << intersection_point; LOG(INFO) << segment_source; - if ((ray_target - intersection_point).norm() < 0.001){ - LOG(INFO) << segment_source; - vertex_it = next(vertex_it, polygon); - continue; - } + // if ((ray_target - intersection_point).norm() < 0.001){ + // LOG(INFO) << ray_target; + // vertex_it = next(vertex_it, polygon); + // continue; + // } double current_distance = distanceBetweenPoints(ray_target, intersection_point); // Take first intersection on ray. - if (current_distance < min_distance){ + if (current_distance < min_distance) { one_intersection_at_least = true; min_distance = current_distance; intersection_tmp.setAllMembers(std::distance(polygon.vertices_begin(), vertex_it), - std::distance(polygon.vertices_begin(), segment_target_it), CgalPoint2d(intersection_point.x(), intersection_point.y())); + std::distance(polygon.vertices_begin(), segment_target_it), + CgalPoint2d(intersection_point.x(), intersection_point.y())); } } vertex_it = next(vertex_it, polygon); @@ -429,14 +430,44 @@ namespace convex_plane_extraction { return return_buffer; } - std::vector getVertexIndicesOfFirstPolygonContainedInSecondPolygonContour(const CgalPolygon2d& first_polygon, const CgalPolygon2d& second_polygon){ + std::vector getVertexIndicesOfFirstPolygonContainedInSecondPolygonContour(const CgalPolygon2d& first_polygon, + const CgalPolygon2d& second_polygon) { std::vector return_buffer; - for (int vertex_index = 0; vertex_index < first_polygon.container().size(); ++vertex_index){ - if (second_polygon.has_on_boundary(first_polygon.container().at(vertex_index))){ + for (int vertex_index = 0; vertex_index < first_polygon.container().size(); ++vertex_index) { + if (second_polygon.has_on_boundary(first_polygon.container().at(vertex_index))) { return_buffer.push_back(vertex_index); } } return return_buffer; } -} + bool doRayAndSegmentIntersect(const CgalRay2d& ray, const CgalSegment2d& segment, RaySegmentIntersection* intersection) { + CGAL::cpp11::result_of::type result = CGAL::intersection(ray, segment); + if (result) { + if (const CgalSegment2d* s = boost::get(&*result)) { + if ((ray.source() - segment.source()).squared_length() < (ray.source() - segment.target()).squared_length()) { + intersection->intersection_location = SegmentIntersectionLocation::kSource; + intersection->intersection_point = segment.source(); + } else { + intersection->intersection_location = SegmentIntersectionLocation::kTarget; + intersection->intersection_point = segment.target(); + } + } else { + const CgalPoint2d* intersection_point = boost::get(&*result); + if (*intersection_point == segment.source()) { + intersection->intersection_location = SegmentIntersectionLocation::kSource; + intersection->intersection_point = segment.source(); + } else if (*intersection_point == segment.target()) { + intersection->intersection_location = SegmentIntersectionLocation::kTarget; + intersection->intersection_point = segment.target(); + } else { + intersection->intersection_location = SegmentIntersectionLocation::kInterior; + intersection->intersection_point = *intersection_point; + } + } + return true; + } + return false; + } + + } // namespace convex_plane_extraction diff --git a/convex_plane_decomposition/src/sliding_window_plane_extractor.cpp b/convex_plane_decomposition/src/sliding_window_plane_extractor.cpp index 980ab6d7..8cb62a8e 100644 --- a/convex_plane_decomposition/src/sliding_window_plane_extractor.cpp +++ b/convex_plane_decomposition/src/sliding_window_plane_extractor.cpp @@ -254,7 +254,7 @@ namespace sliding_window_plane_extractor{ } ++label_counter; } - CHECK_EQ(label_counter + 1, planes.size()); + CHECK_EQ(label_counter, planes.size()); number_of_extracted_planes_ += label_counter; refinement_performed = true; } diff --git a/convex_plane_decomposition_ros/config/parameters.yaml b/convex_plane_decomposition_ros/config/parameters.yaml index 95215c2d..33e7f560 100644 --- a/convex_plane_decomposition_ros/config/parameters.yaml +++ b/convex_plane_decomposition_ros/config/parameters.yaml @@ -9,12 +9,12 @@ polygonizer: upsampling_factor : 3 activate_long_edge_upsampling : false activate_contour_approximation : true - contour_approximation_relative_area_threshold : 0.02 + contour_approximation_relative_area_threshold : 0.1 contour_approximation_absolute_area_threshold_squared_meters : 0.04 - max_number_of_iterations : 15 + max_number_of_iterations : 3 convex_decomposer: - decomposer_type : 'optimal_decompostion' + decomposer_type : 'inner_convex_decomposition' #'optimal_decompostion' dent_angle_threshold_rad : 0.001 sliding_window_plane_extractor: diff --git a/convex_plane_decomposition_ros/src/convex_plane_extraction_ros.cpp b/convex_plane_decomposition_ros/src/convex_plane_extraction_ros.cpp index 8d448778..4fb98843 100644 --- a/convex_plane_decomposition_ros/src/convex_plane_extraction_ros.cpp +++ b/convex_plane_decomposition_ros/src/convex_plane_extraction_ros.cpp @@ -51,14 +51,14 @@ void ConvexPlaneExtractionROS::callback(const grid_map_msgs::GridMap& message) { VLOG(1) << "done."; // Visualize in Rviz. jsk_recognition_msgs::PolygonArray outer_plane_contours = pipeline_ros.getOuterPlaneContours(); - //jsk_recognition_msgs::PolygonArray convex_polygons = pipeline_ros.getConvexPolygons(); + jsk_recognition_msgs::PolygonArray convex_polygons = pipeline_ros.getConvexPolygons(); pipeline_ros.augmentGridMapWithSegmentation(inputMap); grid_map_msgs::GridMap outputMessage; GridMapRosConverter::toMessage(inputMap, outputMessage); grid_map_publisher_.publish(outputMessage); - //convex_polygon_publisher_.publish(convex_polygons); + convex_polygon_publisher_.publish(convex_polygons); outer_contours_publisher_.publish(outer_plane_contours); } From 3388059a0e535702e6f9869faf1288a63a4ae3b7 Mon Sep 17 00:00:00 2001 From: andrej1001 Date: Sun, 29 Mar 2020 18:32:55 +0200 Subject: [PATCH 030/504] Fixed inner convex approximation intersection problems: CAUTION with inexact construction kernels. If performance not an issue, go for exact construction kernels. --- .../include/polygon.hpp | 22 +-- .../src/convex_decomposer.cpp | 115 ++++++++++---- .../src/geometry_utils.cpp | 139 +++++++++-------- convex_plane_decomposition/src/polygon.cpp | 147 +++++++++++++----- 4 files changed, 270 insertions(+), 153 deletions(-) diff --git a/convex_plane_decomposition/include/polygon.hpp b/convex_plane_decomposition/include/polygon.hpp index 0f8b5085..f5e617fe 100644 --- a/convex_plane_decomposition/include/polygon.hpp +++ b/convex_plane_decomposition/include/polygon.hpp @@ -29,15 +29,17 @@ namespace convex_plane_extraction{ - typedef CGAL::Exact_predicates_inexact_constructions_kernel K; - typedef CGAL::Partition_traits_2 Traits; - typedef CGAL::Point_2 CgalPoint2d; +typedef CGAL::Exact_predicates_inexact_constructions_kernel K; +typedef CGAL::Exact_predicates_exact_constructions_kernel EKernel; +typedef CGAL::Partition_traits_2 Traits; +typedef CGAL::Point_2 CgalPoint2d; typedef CGAL::Vector_2 CgalVector2d; typedef CGAL::Polygon_2 CgalPolygon2d; typedef CGAL::Polygon_with_holes_2 CgalPolygonWithHoles2d; typedef Traits::Segment_2 CgalSegment2d; typedef std::vector CgalPolygon2dContainer; typedef Traits::Ray_2 CgalRay2d; + typedef Traits::Circle_2 CgalCircle2d; typedef CgalPolygon2dContainer::const_iterator CgalPolygon2dConstIterator; typedef CGAL::Polygon_set_2> CgalPolygon2dSetContainer; typedef CgalPolygon2d::Vertex_const_iterator CgalPolygon2dVertexConstIterator; @@ -52,10 +54,10 @@ namespace convex_plane_extraction{ CgalPolygon2dContainer holes; }; - enum class SegmentIntersectionLocation { kSource, kTarget, kInterior }; + enum class SegmentIntersectionType : int { kSource, kTarget, kInterior }; struct RaySegmentIntersection { - SegmentInterSectionLocation intersection_location; + SegmentIntersectionType intersection_location; CgalPoint2d intersection_point; }; @@ -135,17 +137,18 @@ void approximateContour(CgalPolygon2d* polygon, int max_number_of_iterations, do void setEdgeTargetLocation(const int location){ edge_target_location_ = location; } - void setIntersectionPoint(const CgalPoint2d& intersection_point){ - intersection_point_ = intersection_point; - } - void setAllMembers(const int source_location, const int target_location, const CgalPoint2d& intersection_point){ + void setIntersectionPoint(const CgalPoint2d& intersection_point) { intersection_point_ = intersection_point; } + void setAllMembers(const int source_location, const int target_location, const CgalPoint2d& intersection_point, + const SegmentIntersectionType& intersection_type) { edge_source_location_ = source_location; edge_target_location_ = target_location; + intersection_type_ = intersection_type; intersection_point_ = intersection_point; } int edge_source_location_; int edge_target_location_; + SegmentIntersectionType intersection_type_; CgalPoint2d intersection_point_; }; @@ -172,5 +175,6 @@ void approximateContour(CgalPolygon2d* polygon, int max_number_of_iterations, do const CgalPolygon2d& second_polygon); bool doRayAndSegmentIntersect(const CgalRay2d& ray, const CgalSegment2d& segment, RaySegmentIntersection* intersection); + } // namespace convex_plane_extraction #endif //CONVEX_PLANE_EXTRACTION_INCLUDE_POLYGON_HPP_ diff --git a/convex_plane_decomposition/src/convex_decomposer.cpp b/convex_plane_decomposition/src/convex_decomposer.cpp index aa064e02..3d914ebd 100644 --- a/convex_plane_decomposition/src/convex_decomposer.cpp +++ b/convex_plane_decomposition/src/convex_decomposer.cpp @@ -76,77 +76,124 @@ CgalPolygon2dContainer ConvexDecomposer::performInnerConvexApproximation(const C Intersection intersection_counterclockwise; intersection_clockwise_flag = intersectPolygonWithRay(dent_location, CGAL::COUNTERCLOCKWISE, polygon, &intersection_counterclockwise); - intersection_counterclockwise_flag = intersectPolygonWithRay(dent_location, CGAL::CLOCKWISE, - polygon, &intersection_clockwise); - if (!intersection_clockwise_flag || !intersection_counterclockwise_flag ){ + intersection_counterclockwise_flag = intersectPolygonWithRay(dent_location, CGAL::CLOCKWISE, polygon, &intersection_clockwise); + if (!intersection_clockwise_flag || !intersection_counterclockwise_flag) { LOG(FATAL) << "At least one intersection of dent ray with polygon failed!"; } + // Generate resulting polygons from cut. // Resulting cut from counter clockwise ray intersection. CgalPolygon2d polygon_counterclockwise_1 = polygon; CgalPolygon2d polygon_counterclockwise_2; + + SegmentIntersectionType intersection_type = intersection_counterclockwise.intersection_type_; + auto first_vertex_to_erase_it = polygon_counterclockwise_1.vertices_begin(); std::advance(first_vertex_to_erase_it, dent_location); // Add dent to second polygon. polygon_counterclockwise_2.push_back(*first_vertex_to_erase_it); + // First vertex to erase is the vertex following the dent. first_vertex_to_erase_it = next(first_vertex_to_erase_it, polygon_counterclockwise_1); + // Last vertex to erase is the source vertex of the intersecting polygon edge. auto last_vertex_to_erase_it = polygon_counterclockwise_1.vertices_begin(); - VLOG(1) << "Add dent to second polygon succeeded."; - // Intersection somewhere must be at or after source vertex of intersection edge. std::advance(last_vertex_to_erase_it, intersection_counterclockwise.edge_source_location_); // Take next vertex due to exclusive upper limit logic. last_vertex_to_erase_it = next(last_vertex_to_erase_it, polygon_counterclockwise_1); // Copy vertices that will be deleted to second polygon. copyVertices(polygon_counterclockwise_1, first_vertex_to_erase_it, last_vertex_to_erase_it, &polygon_counterclockwise_2, polygon_counterclockwise_2.vertices_end()); - VLOG(1) << "Copy vertices that will be deleted succeeded."; - // Get last point that was erased. - CgalPoint2d point_before_intersection = *(previous(last_vertex_to_erase_it, polygon_counterclockwise_2)); - // To avoid numerical issues and duplicate vertices, intersection point is only inserted if sufficiently - // far away from exisiting vertex. - constexpr double kSquaredLengthThreshold = 1e-6; - if ((intersection_counterclockwise.intersection_point_ - point_before_intersection).squared_length() > kSquaredLengthThreshold) { - polygon_counterclockwise_2.push_back(intersection_counterclockwise.intersection_point_); - } - VLOG(1) << "Started splitting vertices..."; - CgalPolygon2dVertexIterator element_behind_deleted_it = - erase(first_vertex_to_erase_it, last_vertex_to_erase_it, &polygon_counterclockwise_1); - // Add intersection vertex to first polygon if existing vertex too far away. - if ((intersection_counterclockwise.intersection_point_ - *element_behind_deleted_it).squared_length() > kSquaredLengthThreshold) { - polygon_counterclockwise_1.insert(element_behind_deleted_it, intersection_counterclockwise.intersection_point_); + + CgalPolygon2dVertexIterator element_behind_deleted_it; + + switch (intersection_type) { + case SegmentIntersectionType::kInterior: + polygon_counterclockwise_2.push_back(intersection_counterclockwise.intersection_point_); + element_behind_deleted_it = erase(first_vertex_to_erase_it, last_vertex_to_erase_it, &polygon_counterclockwise_1); + polygon_counterclockwise_1.insert(element_behind_deleted_it, intersection_counterclockwise.intersection_point_); + break; + case SegmentIntersectionType::kSource: + element_behind_deleted_it = erase(first_vertex_to_erase_it, last_vertex_to_erase_it, &polygon_counterclockwise_1); + // Add source vertex again to polygon, since it coincides with intersection point. + polygon_counterclockwise_1.insert(element_behind_deleted_it, intersection_counterclockwise.intersection_point_); + break; + case SegmentIntersectionType::kTarget: + // The intersection point coincides with the target of the intersecting polygon edge, and has to be added here. + polygon_counterclockwise_2.push_back(intersection_counterclockwise.intersection_point_); + element_behind_deleted_it = erase(first_vertex_to_erase_it, last_vertex_to_erase_it, &polygon_counterclockwise_1); + break; } + + VLOG(1) << "Finished counter-clockwise cut."; + // Resulting cut from clockwise ray intersection. CgalPolygon2d polygon_clockwise_1 = polygon; CgalPolygon2d polygon_clockwise_2; + intersection_type = intersection_clockwise.intersection_type_; + + // First vertex, which is pruned off is the target of the intersecting polygon edge. first_vertex_to_erase_it = polygon_clockwise_1.vertices_begin(); std::advance(first_vertex_to_erase_it, intersection_clockwise.edge_target_location_); - if ((*first_vertex_to_erase_it - intersection_clockwise.intersection_point_).squared_length() > kSquaredLengthThreshold) { - polygon_clockwise_2.push_back(intersection_clockwise.intersection_point_); - } + // Last vertex, which is pruned off is the vertex before the dent. (Past-the-end-logic!) last_vertex_to_erase_it = polygon_clockwise_1.vertices_begin(); std::advance(last_vertex_to_erase_it, dent_location); - copyVertices(polygon_clockwise_1, first_vertex_to_erase_it, last_vertex_to_erase_it, &polygon_clockwise_2, - polygon_clockwise_2.vertices_end()); - polygon_clockwise_2.push_back(*last_vertex_to_erase_it); - element_behind_deleted_it = erase(first_vertex_to_erase_it, last_vertex_to_erase_it, &polygon_clockwise_1); - VLOG(1) << "done."; - if ((intersection_clockwise.intersection_point_ - *element_behind_deleted_it).squared_length() > kSquaredLengthThreshold) { - polygon_clockwise_1.insert(element_behind_deleted_it, intersection_clockwise.intersection_point_); + + switch (intersection_type) { + case SegmentIntersectionType::kInterior: + // First vertex to be added to new polygon is the intersection point. + polygon_clockwise_2.push_back(intersection_clockwise.intersection_point_); + // Added vertices to be deleted to new polygon (Past-the-end-logic!) + copyVertices(polygon_clockwise_1, first_vertex_to_erase_it, last_vertex_to_erase_it, &polygon_clockwise_2, + polygon_clockwise_2.vertices_end()); + // Add dent vertex as well. + polygon_clockwise_2.push_back(*last_vertex_to_erase_it); + // Perform erase operation. + element_behind_deleted_it = erase(first_vertex_to_erase_it, last_vertex_to_erase_it, &polygon_clockwise_1); + // Add intersection point to polygon. + polygon_clockwise_1.insert(element_behind_deleted_it, intersection_clockwise.intersection_point_); + break; + case SegmentIntersectionType::kSource: + // First vertex to be added to new polygon is source of intersecting polygon edge. + polygon_clockwise_2.push_back(intersection_clockwise.intersection_point_); // Intersection point is equivalent here with source. + // Added vertices to be deleted to new polygon (Past-the-end-logic!) + copyVertices(polygon_clockwise_1, first_vertex_to_erase_it, last_vertex_to_erase_it, &polygon_clockwise_2, + polygon_clockwise_2.vertices_end()); + // Add dent vertex as well. + polygon_clockwise_2.push_back(*last_vertex_to_erase_it); + // Perform erase operation. + element_behind_deleted_it = erase(first_vertex_to_erase_it, last_vertex_to_erase_it, &polygon_clockwise_1); + break; + case SegmentIntersectionType::kTarget: + // Added vertices to be deleted to new polygon (Past-the-end-logic!) + copyVertices(polygon_clockwise_1, first_vertex_to_erase_it, last_vertex_to_erase_it, &polygon_clockwise_2, + polygon_clockwise_2.vertices_end()); + // Add dent vertex as well. + polygon_clockwise_2.push_back(*last_vertex_to_erase_it); + // Perform erase operation. + element_behind_deleted_it = erase(first_vertex_to_erase_it, last_vertex_to_erase_it, &polygon_clockwise_1); + // Add intersection point to polygon, which is in this case the target vertex of the intersecting polygon edge. + polygon_clockwise_1.insert(element_behind_deleted_it, intersection_clockwise.intersection_point_); + break; } + + VLOG(1) << "Finished clockwise cut."; printPolygon(polygon_counterclockwise_1); printPolygon(polygon_counterclockwise_2); printPolygon(polygon_clockwise_1); printPolygon(polygon_clockwise_2); + CHECK(polygon_counterclockwise_1.is_simple()); + CHECK(polygon_counterclockwise_2.is_simple()); + CHECK(polygon_clockwise_1.is_simple()); + CHECK(polygon_clockwise_2.is_simple()); VLOG(1) << "Started cut area computation..."; // Take the cut with smallest min. area of resulting polygons. - double area[4] = {polygon_counterclockwise_1.area(), polygon_counterclockwise_2.area(), - polygon_clockwise_1.area(), polygon_clockwise_2.area()}; + double area[4] = {polygon_counterclockwise_1.area(), polygon_counterclockwise_2.area(), polygon_clockwise_1.area(), + polygon_clockwise_2.area()}; VLOG(1) << "done."; - double* min_area_strategy = std::min_element(area, area+4); + double* min_area_strategy = std::min_element(area, area + 4); CgalPolygon2dContainer recursion_1; CgalPolygon2dContainer recursion_2; - if ((min_area_strategy - area) < 2){ + if ((min_area_strategy - area) < 2) { // In this case the counter clockwise intersection leads to less loss in area. // Perform recursion with this split. if(polygon_counterclockwise_1.orientation() != CGAL::COUNTERCLOCKWISE){ diff --git a/convex_plane_decomposition/src/geometry_utils.cpp b/convex_plane_decomposition/src/geometry_utils.cpp index 171c61bc..51aeb611 100644 --- a/convex_plane_decomposition/src/geometry_utils.cpp +++ b/convex_plane_decomposition/src/geometry_utils.cpp @@ -31,85 +31,86 @@ namespace convex_plane_extraction { return point_vector.dot(normal_vector) < 0; } - double computeAngleBetweenVectors(const Vector2d& first_vector, const Vector2d& second_vector){ + double computeAngleBetweenVectors(const Vector2d& first_vector, const Vector2d& second_vector) { double scalar_product = first_vector.transpose() * second_vector; - return acos( abs(scalar_product) / (first_vector.norm() * second_vector.norm())); + return acos(abs(scalar_product) / (first_vector.norm() * second_vector.norm())); } - bool intersectRayWithLineSegment(const Vector2d& ray_source, const Vector2d& ray_direction, - const Vector2d& segment_source, const Vector2d& segment_target, Vector2d* intersection_point){ - CHECK_NOTNULL(intersection_point); - Vector2d segment_direction = segment_target - segment_source; - Matrix2d A; - A.col(0) = ray_direction; - A.col(1) = - segment_direction; - Vector2d b = segment_source - ray_source; - auto householder_qr = A.fullPivHouseholderQr(); - if (householder_qr.rank() < 2) { - // Check whether segment and ray overlap. - const Vector2d p_ray_source_segment_source = segment_source - ray_source; - const Vector2d p_ray_source_segment_target = segment_target - ray_source; - if (p_ray_source_segment_source.norm() > p_ray_source_segment_target) { - } - Vector2d ray_parameter_solution = - Vector2d(p_ray_source_segment_source.x() / ray_direction.x(), p_ray_source_segment_source.y() / ray_direction.y()); - constexpr double kSolutionDeviation = 0.0001; - if (abs(ray_parameter_solution.x() - ray_parameter_solution.y()) < kSolutionDeviation) { - double parameter_solution_tmp = ray_parameter_solution.mean(); - if (parameter_solution_tmp < 0) { - return false; - } - CHECK_GT(parameter_solution_tmp, 0); - Vector2d p_ray_source_segment_target = segment_target - ray_source; - ray_parameter_solution = - Vector2d(p_ray_source_segment_target.x() / ray_direction.x(), p_ray_source_segment_target.y() / ray_direction.y()); - // If ray is parallel (rank loss) and source point lies on ray, then target point has to as well. - CHECK_LT(abs(ray_parameter_solution.x() - ray_parameter_solution.y()), kSolutionDeviation); - if (ray_parameter_solution.mean() < 0) { - return false; - } - if (ray_parameter_solution.mean() < parameter_solution_tmp) { - *intersection_point = segment_target; - } else { - *intersection_point = segment_source; - } - return true; - } - return false; - } - Vector2d solution = householder_qr.solve(b); - Vector2d ray_solution = ray_source + solution(0) * segment_direction; - Vector2d segment_solution = segment_source + solution(1) * segment_direction; - constexpr double kSegmentBorderToleranceMeters = 0.001; - if (solution(0) <= 1) { - return false; - } else if (solution(1) < 0) { - if ((segment_solution - segment_source).norm() > kSegmentBorderToleranceMeters) { - return false; - } else { - *intersection_point = segment_source; - return true; - } - } else if (solution(1) > 1) { - if ((segment_solution - segment_target).norm() > kSegmentBorderToleranceMeters) { - return false; - } else { - *intersection_point = segment_target; - } - } else { - *intersection_point = segment_solution; - return true; - } - } + // bool intersectRayWithLineSegment(const Vector2d& ray_source, const Vector2d& ray_direction, + // const Vector2d& segment_source, const Vector2d& segment_target, Vector2d* intersection_point){ + // CHECK_NOTNULL(intersection_point); + // Vector2d segment_direction = segment_target - segment_source; + // Matrix2d A; + // A.col(0) = ray_direction; + // A.col(1) = - segment_direction; + // Vector2d b = segment_source - ray_source; + // auto householder_qr = A.fullPivHouseholderQr(); + // if (householder_qr.rank() < 2) { + // // Check whether segment and ray overlap. + // const Vector2d p_ray_source_segment_source = segment_source - ray_source; + // const Vector2d p_ray_source_segment_target = segment_target - ray_source; + // if (p_ray_source_segment_source.norm() > p_ray_source_segment_target) { + // } + // Vector2d ray_parameter_solution = + // Vector2d(p_ray_source_segment_source.x() / ray_direction.x(), p_ray_source_segment_source.y() / ray_direction.y()); + // constexpr double kSolutionDeviation = 0.0001; + // if (abs(ray_parameter_solution.x() - ray_parameter_solution.y()) < kSolutionDeviation) { + // double parameter_solution_tmp = ray_parameter_solution.mean(); + // if (parameter_solution_tmp < 0) { + // return false; + // } + // CHECK_GT(parameter_solution_tmp, 0); + // Vector2d p_ray_source_segment_target = segment_target - ray_source; + // ray_parameter_solution = + // Vector2d(p_ray_source_segment_target.x() / ray_direction.x(), p_ray_source_segment_target.y() / ray_direction.y()); + // // If ray is parallel (rank loss) and source point lies on ray, then target point has to as well. + // CHECK_LT(abs(ray_parameter_solution.x() - ray_parameter_solution.y()), kSolutionDeviation); + // if (ray_parameter_solution.mean() < 0) { + // return false; + // } + // if (ray_parameter_solution.mean() < parameter_solution_tmp) { + // *intersection_point = segment_target; + // } else { + // *intersection_point = segment_source; + // } + // return true; + // } + // return false; + // } + // Vector2d solution = householder_qr.solve(b); + // Vector2d ray_solution = ray_source + solution(0) * segment_direction; + // Vector2d segment_solution = segment_source + solution(1) * segment_direction; + // constexpr double kSegmentBorderToleranceMeters = 0.001; + // if (solution(0) <= 1) { + // return false; + // } else if (solution(1) < 0) { + // if ((segment_solution - segment_source).norm() > kSegmentBorderToleranceMeters) { + // return false; + // } else { + // *intersection_point = segment_source; + // return true; + // } + // } else if (solution(1) > 1) { + // if ((segment_solution - segment_target).norm() > kSegmentBorderToleranceMeters) { + // return false; + // } else { + // *intersection_point = segment_target; + // } + // } else { + // *intersection_point = segment_solution; + // return true; + // } + // } bool intersectLineSegmentWithLineSegment(const Vector2d& segment_1_source, const Vector2d& segment_1_target, - const Vector2d& segment_2_source, const Vector2d& segment_2_target, Vector2d* intersection_point){ + const Vector2d& segment_2_source, const Vector2d& segment_2_target, + Vector2d* intersection_point) { CHECK_NOTNULL(intersection_point); Vector2d segment_1_direction = segment_1_target - segment_1_source; Vector2d segment_2_direction = segment_2_target - segment_2_source; Matrix2d A; A.col(0) = segment_1_direction; - A.col(1) = - segment_2_direction; + A.col(1) = -segment_2_direction; Vector2d b = segment_2_source - segment_1_source; auto householder_qr = A.fullPivHouseholderQr(); if (householder_qr.rank() < 2){ diff --git a/convex_plane_decomposition/src/polygon.cpp b/convex_plane_decomposition/src/polygon.cpp index 0f29587d..eb6dc7d6 100644 --- a/convex_plane_decomposition/src/polygon.cpp +++ b/convex_plane_decomposition/src/polygon.cpp @@ -210,8 +210,8 @@ namespace convex_plane_extraction { // Counter-clockwise orientation: ray source vertex is previous vertex in counter-clockwise polygon orientation. bool intersectPolygonWithRay(int ray_target_location, CGAL::Orientation orientation, const CgalPolygon2d& polygon, - Intersection* intersection){ - CHECK_NOTNULL(intersection); + Intersection* output_intersection) { + CHECK_NOTNULL(output_intersection); CHECK(orientation == CGAL::COUNTERCLOCKWISE || orientation == CGAL::CLOCKWISE); CHECK(polygon.orientation() == CGAL::COUNTERCLOCKWISE); Intersection intersection_tmp; @@ -221,55 +221,56 @@ namespace convex_plane_extraction { auto vertex_it = polygon.vertices_begin(); std::advance(vertex_it, ray_target_location); auto ray_source_it = vertex_it; - CgalPolygon2dVertexIterator ray_target_it = vertex_it; + auto ray_target_it = vertex_it; if (orientation == CGAL::COUNTERCLOCKWISE) { ray_source_it = previous(vertex_it, polygon); } else { vertex_it = next(vertex_it, polygon); ray_source_it = vertex_it; } - Vector2d ray_source = Vector2d(ray_source_it->x(), ray_source_it->y()); - LOG(INFO) << "Source ray:" << ray_source; - Vector2d ray_target = Vector2d(ray_target_it->x(), ray_target_it->y()); - Vector2d ray_direction = ray_target - ray_source; vertex_it = next(vertex_it, polygon); - // Do not intersect with adjacent edges since the intersect already in common vertex. + const CgalPoint2d ray_source = *ray_source_it; + VLOG(1) << "Source ray:" << ray_source; + const CgalPoint2d ray_target = *ray_target_it; + const CgalRay2d ray(*ray_target_it, *ray_target_it - *ray_source_it); + VLOG(1) << "Ray target: " << ray.source(); + VLOG(1) << "Ray direction: " << ray.direction(); + CHECK(!ray.is_degenerate()); + // Do not intersect with adjacent edges since they intersect already in common vertex. auto condition_it = ray_source_it; - if (orientation == CGAL::CLOCKWISE){ + if (orientation == CGAL::CLOCKWISE) { condition_it = ray_target_it; } - while(next(vertex_it, polygon) != condition_it){ - Vector2d segment_source = Vector2d(vertex_it->x(), vertex_it->y()); - auto segment_target_it = next(vertex_it, polygon); - Vector2d segment_target = Vector2d(segment_target_it->x(), segment_target_it->y()); - Vector2d intersection_point; - if (intersectRayWithLineSegment(ray_source, ray_direction, segment_source, segment_target, - &intersection_point)) { - LOG(INFO) << "Intersection point:" << intersection_point; - LOG(INFO) << segment_source; - // if ((ray_target - intersection_point).norm() < 0.001){ - // LOG(INFO) << ray_target; - // vertex_it = next(vertex_it, polygon); - // continue; - // } - double current_distance = distanceBetweenPoints(ray_target, intersection_point); + int number_of_polygon_edges_visited = 0; + while (next(vertex_it, polygon) != condition_it) { + ++number_of_polygon_edges_visited; + const CgalPoint2d segment_source = *vertex_it; + const auto segment_target_it = next(vertex_it, polygon); + const CgalPoint2d segment_target = *segment_target_it; + VLOG(1) << "Segment under test: Source: " << segment_source << " Target: " << segment_target; + const CgalSegment2d segment(*vertex_it, *segment_target_it); + RaySegmentIntersection intersection; + if (doRayAndSegmentIntersect(ray, segment, &intersection)) { + VLOG(1) << "Intersection type: " << static_cast(intersection.intersection_location); + VLOG(1) << "Intersection point:" << intersection.intersection_point; + VLOG(1) << segment_source; + const double current_distance = sqrt((ray_target - intersection.intersection_point).squared_length()); // Take first intersection on ray. if (current_distance < min_distance) { one_intersection_at_least = true; min_distance = current_distance; intersection_tmp.setAllMembers(std::distance(polygon.vertices_begin(), vertex_it), - std::distance(polygon.vertices_begin(), segment_target_it), - CgalPoint2d(intersection_point.x(), intersection_point.y())); + std::distance(polygon.vertices_begin(), segment_target_it), intersection.intersection_point, + intersection.intersection_location); } } vertex_it = next(vertex_it, polygon); } - - if (!one_intersection_at_least){ + CHECK_EQ(number_of_polygon_edges_visited, polygon.size() - 3); + if (!one_intersection_at_least) { return false; } - intersection->setAllMembers(intersection_tmp.edge_source_location_, intersection_tmp.edge_target_location_, - intersection_tmp.intersection_point_); + *output_intersection = intersection_tmp; return true; } @@ -442,31 +443,95 @@ namespace convex_plane_extraction { } bool doRayAndSegmentIntersect(const CgalRay2d& ray, const CgalSegment2d& segment, RaySegmentIntersection* intersection) { - CGAL::cpp11::result_of::type result = CGAL::intersection(ray, segment); + constexpr double kSquaredToleranceMeters = 1e-8; + CGAL::Cartesian_converter to_exact; + CGAL::Cartesian_converter to_inexact; + CGAL::cpp11::result_of::type result = + CGAL::intersection(to_exact(ray), to_exact(segment)); + if (result) { - if (const CgalSegment2d* s = boost::get(&*result)) { + if (const EKernel::Segment_2* ek_segment = boost::get(&*result)) { + VLOG(1) << "Segment intersection."; + VLOG(1) << "Segment source: " << segment.source(); + VLOG(1) << "Segment target: " << segment.target(); + VLOG(1) << "Ray point: " << ray.source(); + VLOG(1) << "Ray direction: " << ray.direction(); if ((ray.source() - segment.source()).squared_length() < (ray.source() - segment.target()).squared_length()) { - intersection->intersection_location = SegmentIntersectionLocation::kSource; + intersection->intersection_location = SegmentIntersectionType::kSource; intersection->intersection_point = segment.source(); } else { - intersection->intersection_location = SegmentIntersectionLocation::kTarget; + intersection->intersection_location = SegmentIntersectionType::kTarget; intersection->intersection_point = segment.target(); } } else { - const CgalPoint2d* intersection_point = boost::get(&*result); - if (*intersection_point == segment.source()) { - intersection->intersection_location = SegmentIntersectionLocation::kSource; + VLOG(1) << "Point intersection."; + VLOG(1) << "Segment source: " << segment.source(); + VLOG(1) << "Segment target: " << segment.target(); + VLOG(1) << "Ray point: " << ray.source(); + VLOG(1) << "Ray direction: " << ray.direction(); + const EKernel::Point_2* ek_point = boost::get(&*result); + const CgalPoint2d intersection_point = to_inexact(*ek_point); + if ((intersection_point - segment.source()).squared_length() <= kSquaredToleranceMeters) { + intersection->intersection_location = SegmentIntersectionType::kSource; intersection->intersection_point = segment.source(); - } else if (*intersection_point == segment.target()) { - intersection->intersection_location = SegmentIntersectionLocation::kTarget; + } else if ((intersection_point - segment.target()).squared_length() <= kSquaredToleranceMeters) { + intersection->intersection_location = SegmentIntersectionType::kTarget; intersection->intersection_point = segment.target(); } else { - intersection->intersection_location = SegmentIntersectionLocation::kInterior; - intersection->intersection_point = *intersection_point; + intersection->intersection_location = SegmentIntersectionType::kInterior; + intersection->intersection_point = intersection_point; } } return true; } + constexpr double kToleranceMeters = 1e-6; + const Vector2d ray_source = Vector2d(ray.source().x(), ray.source().y()); + const Vector2d ray_direction = Vector2d(ray.direction().dx(), ray.direction().dy()).normalized(); + const Vector2d segment_source = Vector2d(segment.source().x(), segment.source().y()); + const Vector2d segment_target = Vector2d(segment.target().x(), segment.target().y()); + const Vector2d p_ray_source__segment_source = segment_source - ray_source; + const Vector2d p_ray_source__segment_target = segment_target - ray_source; + const double segment_source_projection = p_ray_source__segment_source.dot(ray_direction); + const double segment_target_projection = p_ray_source__segment_target.dot(ray_direction); + const Vector2d segment_source_projection_point = ray_source + segment_source_projection * ray_direction; + const Vector2d segment_target_projection_point = ray_source + segment_target_projection * ray_direction; + if (segment_source_projection >= 0.0 && segment_target_projection >= 0.0) { + if ((segment_source_projection_point - segment_source).norm() < kToleranceMeters && + (segment_target_projection_point - segment_target).norm() < kToleranceMeters) { + // Source and target lie on ray. Determine, which point is closer. + if ((segment_source_projection_point - ray_source).norm() <= (segment_target_projection_point - ray_source).norm()) { + intersection->intersection_location = SegmentIntersectionType::kSource; + intersection->intersection_point = segment.source(); + return true; + } else { + intersection->intersection_location = SegmentIntersectionType::kTarget; + intersection->intersection_point = segment.target(); + return true; + } + } else if ((segment_source_projection_point - segment_source).norm() < kToleranceMeters) { + // Only source lies on ray. + intersection->intersection_location = SegmentIntersectionType::kSource; + intersection->intersection_point = segment.source(); + return true; + } else if ((segment_target_projection_point - segment_target).norm() < kToleranceMeters) { + // Only target lies on ray. + intersection->intersection_location = SegmentIntersectionType::kTarget; + intersection->intersection_point = segment.target(); + return true; + } + } else if (segment_source_projection >= 0.0) { + if ((segment_source_projection_point - segment_source).norm() < kToleranceMeters) { + intersection->intersection_location = SegmentIntersectionType::kSource; + intersection->intersection_point = segment.source(); + return true; + } + } else if (segment_target_projection >= 0.0) { + if ((segment_target_projection_point - segment_target).norm() < kToleranceMeters) { + intersection->intersection_location = SegmentIntersectionType::kTarget; + intersection->intersection_point = segment.target(); + return true; + } + } return false; } From 3df73fefd6cb22b16bae02bc01f20d789b7703fa Mon Sep 17 00:00:00 2001 From: andrej1001 Date: Mon, 30 Mar 2020 11:07:44 +0200 Subject: [PATCH 031/504] Exposed new parameters for contour approximation. --- .../include/polygon.hpp | 3 ++- .../include/polygonizer.hpp | 6 ++++-- convex_plane_decomposition/src/polygon.cpp | 15 ++++++++------- .../src/polygonizer.cpp | 19 ++++++------------- .../config/parameters.yaml | 12 +++++++----- .../src/pipeline_ros.cpp | 18 ++++++++++++++---- 6 files changed, 41 insertions(+), 32 deletions(-) diff --git a/convex_plane_decomposition/include/polygon.hpp b/convex_plane_decomposition/include/polygon.hpp index f5e617fe..b30f9cd8 100644 --- a/convex_plane_decomposition/include/polygon.hpp +++ b/convex_plane_decomposition/include/polygon.hpp @@ -112,7 +112,8 @@ typedef CGAL::Point_2 CgalPoint2d; CgalPolygon2dVertexIterator previous(const CgalPolygon2dVertexIterator& iterator, const CgalPolygon2d& polygon); -void approximateContour(CgalPolygon2d* polygon, int max_number_of_iterations, double relative_area_threshold, double absolute_area_threshold); + void approximateContour(CgalPolygon2d* polygon, int max_number_of_iterations, double relative_local_area_threshold, + double absolute_local_area_threshold, double relative_total_area_threshold, double absolute_total_area_threshold); void upSampleLongEdges(CgalPolygon2d* polygon); diff --git a/convex_plane_decomposition/include/polygonizer.hpp b/convex_plane_decomposition/include/polygonizer.hpp index 20c04728..1e8b6d58 100644 --- a/convex_plane_decomposition/include/polygonizer.hpp +++ b/convex_plane_decomposition/include/polygonizer.hpp @@ -24,8 +24,10 @@ struct PolygonizerParameters{ bool activate_long_edge_upsampling = false; bool activate_contour_approximation = false; double hole_area_threshold_squared_meters = 2e-3; - double contour_approximation_relative_area_threshold = 0.01; - double contour_approximation_absolute_area_threshold_squared_meters = 0.04; + double contour_approximation_relative_local_area_threshold = 0.01; + double contour_approximation_absolute_local_area_threshold_squared_meters = 0.04; + double contour_approximation_relative_total_area_threshold = 0.5; + double contour_approximation_absolute_total_area_threshold_squared_meters = 1.0; int max_number_of_iterations = 5; }; diff --git a/convex_plane_decomposition/src/polygon.cpp b/convex_plane_decomposition/src/polygon.cpp index eb6dc7d6..e41bde39 100644 --- a/convex_plane_decomposition/src/polygon.cpp +++ b/convex_plane_decomposition/src/polygon.cpp @@ -65,9 +65,11 @@ namespace convex_plane_extraction { *normal_vector = normal; } - void approximateContour(CgalPolygon2d* polygon, int max_number_of_iterations, double relative_area_threshold, double absolute_area_threshold){ + void approximateContour(CgalPolygon2d* polygon, int max_number_of_iterations, double relative_local_area_threshold, + double absolute_local_area_threshold, double relative_total_area_threshold, + double absolute_total_area_threshold) { CHECK_NOTNULL(polygon); - if (polygon->size() < 4){ + if (polygon->size() < 4) { return; } CHECK(polygon->orientation() == CGAL::COUNTERCLOCKWISE); @@ -94,7 +96,7 @@ namespace convex_plane_extraction { const double triangle_area = computeTriangleArea(a, b, c); CHECK(isfinite(triangle_area)) << "Area: " << triangle_area << ", a: " << a << ", b: " << b << ", c: " << c; CHECK_GE(triangle_area, 0.0); - if ((triangle_area < relative_area_threshold * area) && (triangle_area < absolute_area_threshold)) { + if ((triangle_area < relative_local_area_threshold * area) && (triangle_area < absolute_local_area_threshold)) { VLOG(2) << "Area sufficiently small!"; CgalPolygon2d new_polygon(*polygon); int vertex_position_offset = std::distance(polygon->vertices_begin(), second_vertex_it); @@ -104,7 +106,8 @@ namespace convex_plane_extraction { new_polygon.erase(tmp_iterator); VLOG(2) << "After ease call!"; if (new_polygon.is_simple() && (new_polygon.orientation() == CGAL::COUNTERCLOCKWISE) && - abs(new_polygon.area() - area) < 0.1 * area && abs(new_polygon.area() - area) < 0.5) { + abs(new_polygon.area() - area) < relative_total_area_threshold * area && + abs(new_polygon.area() - area) < absolute_total_area_threshold) { CHECK_LE(triangle_area, area); first_vertex_it = polygon->erase(second_vertex_it); if (first_vertex_it == polygon->vertices_end()) { @@ -127,9 +130,7 @@ namespace convex_plane_extraction { third_vertex_it = next(second_vertex_it, *polygon); VLOG(2) << "Got to bottom! Number of iterations: " << std::distance(polygon->begin(), first_vertex_it) << " " << std::distance(polygon->begin(), second_vertex_it) << " " << std::distance(polygon->begin(), third_vertex_it); - if ((std::distance(polygon->begin(), first_vertex_it) >= std::distance(polygon->begin(), second_vertex_it) || - std::distance(polygon->begin(), first_vertex_it) >= std::distance(polygon->begin(), third_vertex_it) || - std::distance(polygon->begin(), second_vertex_it) >= std::distance(polygon->begin(), third_vertex_it))) { + if (std::distance(polygon->begin(), first_vertex_it) >= std::distance(polygon->begin(), second_vertex_it)) { ++number_of_iterations; } } diff --git a/convex_plane_decomposition/src/polygonizer.cpp b/convex_plane_decomposition/src/polygonizer.cpp index f829ea55..4ee8e71d 100644 --- a/convex_plane_decomposition/src/polygonizer.cpp +++ b/convex_plane_decomposition/src/polygonizer.cpp @@ -16,23 +16,15 @@ PolygonWithHoles Polygonizer::extractPolygonsFromBinaryImage(const cv::Mat& bina CV_RETR_TREE, CV_CHAIN_APPROX_SIMPLE); std::vector> approx_contours; int hierachy_it = 0; - for (auto& contour : contours) { + for (const auto& contour : contours) { ++hierachy_it; - std::vector approx_contour; - if (contour.size() <= 10) { - approx_contour = contour; - } else { - approx_contour = contour; // Do this at later stage so that no intersections with holes are generated. - //cv::approxPolyDP(contour, approx_contour, 9, true); - } - if (approx_contour.size() <= 2) { + if (contour.size() <= 2) { LOG_IF(WARNING, hierarchy[hierachy_it - 1][3] < 0 && contour.size() > 3) << "Removing parental polygon since too few vertices!"; continue; } CgalPolygon2d polygon = convex_plane_extraction::createCgalPolygonFromOpenCvPoints( - approx_contour.begin(), - approx_contour.end(), + contour.begin(), contour.end(), parameters_.resolution / static_cast(parameters_.upsampling_factor)); CHECK(polygon.is_simple()) << "Contour extraction from binary image caused intersection!"; constexpr int kParentFlagIndex = 3; @@ -41,8 +33,9 @@ PolygonWithHoles Polygonizer::extractPolygonsFromBinaryImage(const cv::Mat& bina upSampleLongEdges(&polygon); } if (parameters_.activate_contour_approximation) { - approximateContour(&polygon, parameters_.max_number_of_iterations, parameters_.contour_approximation_relative_area_threshold, - parameters_.contour_approximation_absolute_area_threshold_squared_meters); + approximateContour(&polygon, parameters_.max_number_of_iterations, parameters_.contour_approximation_relative_local_area_threshold, + parameters_.contour_approximation_absolute_local_area_threshold_squared_meters, + parameters_.contour_approximation_relative_total_area_threshold, parameters_.contour_approximation_absolute_total_area_threshold_squared_meters); VLOG(1) << "Contour approximated!"; } plane_polygons.outer_contour = polygon; diff --git a/convex_plane_decomposition_ros/config/parameters.yaml b/convex_plane_decomposition_ros/config/parameters.yaml index 33e7f560..28a293db 100644 --- a/convex_plane_decomposition_ros/config/parameters.yaml +++ b/convex_plane_decomposition_ros/config/parameters.yaml @@ -9,13 +9,15 @@ polygonizer: upsampling_factor : 3 activate_long_edge_upsampling : false activate_contour_approximation : true - contour_approximation_relative_area_threshold : 0.1 - contour_approximation_absolute_area_threshold_squared_meters : 0.04 - max_number_of_iterations : 3 + contour_approximation_relative_local_area_threshold : 0.1 + contour_approximation_absolute_local_area_threshold_squared_meters : 0.05 + contour_approximation_relative_total_area_threshold : 0.5 + contour_approximation_absolute_total_area_threshold : 1.0 + max_number_of_iterations : 5 convex_decomposer: - decomposer_type : 'inner_convex_decomposition' #'optimal_decompostion' - dent_angle_threshold_rad : 0.001 + decomposer_type : 'inner_convex_decomposition' # 'optimal_decompostion' + dent_angle_threshold_rad : 0.05 sliding_window_plane_extractor: kernel_size : 3 diff --git a/convex_plane_decomposition_ros/src/pipeline_ros.cpp b/convex_plane_decomposition_ros/src/pipeline_ros.cpp index 3bdd77b5..492155c2 100644 --- a/convex_plane_decomposition_ros/src/pipeline_ros.cpp +++ b/convex_plane_decomposition_ros/src/pipeline_ros.cpp @@ -80,13 +80,23 @@ PipelineParameters loadPipelineParameters(ros::NodeHandle &nodeHandle, grid_map: ROS_ERROR("Could not read parameter `activate_contour_approximation`. Setting parameter to default value."); } if (polygonizer_parameters.activate_contour_approximation) { - if (!nodeHandle.getParam(kPolygonizerParametersPrefix + "contour_approximation_relative_area_threshold", - polygonizer_parameters.contour_approximation_relative_area_threshold)) { + if (!nodeHandle.getParam(kPolygonizerParametersPrefix + "contour_approximation_relative_local_area_threshold", + polygonizer_parameters.contour_approximation_relative_local_area_threshold)) { ROS_ERROR( "Could not read parameter `contour_approximation_relative_area_threshold`. Setting parameter to default value."); } - if (!nodeHandle.getParam(kPolygonizerParametersPrefix + "contour_approximation_absolute_area_threshold_squared_meters", - polygonizer_parameters.contour_approximation_absolute_area_threshold_squared_meters)) { + if (!nodeHandle.getParam(kPolygonizerParametersPrefix + "contour_approximation_absolute_local_area_threshold_squared_meters", + polygonizer_parameters.contour_approximation_absolute_local_area_threshold_squared_meters)) { + ROS_ERROR( + "Could not read parameter `contour_approximation_absolute_area_threshold_squared_meters`. Setting parameter to default value."); + } + if (!nodeHandle.getParam(kPolygonizerParametersPrefix + "contour_approximation_relative_total_local_area_threshold", + polygonizer_parameters.contour_approximation_relative_total_area_threshold)) { + ROS_ERROR( + "Could not read parameter `contour_approximation_relative_area_threshold`. Setting parameter to default value."); + } + if (!nodeHandle.getParam(kPolygonizerParametersPrefix + "contour_approximation_absolute_total_area_threshold_squared_meters", + polygonizer_parameters.contour_approximation_absolute_total_area_threshold_squared_meters)) { ROS_ERROR( "Could not read parameter `contour_approximation_absolute_area_threshold_squared_meters`. Setting parameter to default value."); } From 7c15f81568f265d110445702cde302e2e78aea80 Mon Sep 17 00:00:00 2001 From: andrej1001 Date: Mon, 30 Mar 2020 12:45:01 +0200 Subject: [PATCH 032/504] Added demo. --- ...nvex_plane_extraction_demo_parameters.yaml | 36 ++++++++++++++++++ .../config/image_loader_demo_parameters.yaml | 6 +++ .../data/demo_map.png | Bin 0 -> 74823 bytes .../convex_plane_extraction_demo.launch | 17 +++++++++ .../src/convex_plane_extraction_ros.cpp | 1 + .../src/pipeline_ros.cpp | 5 +-- 6 files changed, 62 insertions(+), 3 deletions(-) create mode 100644 convex_plane_decomposition_ros/config/convex_plane_extraction_demo_parameters.yaml create mode 100644 convex_plane_decomposition_ros/config/image_loader_demo_parameters.yaml create mode 100644 convex_plane_decomposition_ros/data/demo_map.png create mode 100644 convex_plane_decomposition_ros/launch/convex_plane_extraction_demo.launch diff --git a/convex_plane_decomposition_ros/config/convex_plane_extraction_demo_parameters.yaml b/convex_plane_decomposition_ros/config/convex_plane_extraction_demo_parameters.yaml new file mode 100644 index 00000000..ee434007 --- /dev/null +++ b/convex_plane_decomposition_ros/config/convex_plane_extraction_demo_parameters.yaml @@ -0,0 +1,36 @@ +input_topic: '/image_to_gridmap_demo/grid_map' +height_layer: 'elevation' + + +plane_factory: + plane_inclination_threshold_degrees: 70 + +polygonizer: + upsampling_factor: 3 + activate_long_edge_upsampling: false + activate_contour_approximation: true + contour_approximation_relative_local_area_threshold: 0.1 + contour_approximation_absolute_local_area_threshold_squared_meters: 0.05 + contour_approximation_relative_total_area_threshold: 0.2 + contour_approximation_absolute_total_area_threshold_squared_meters: 0.3 + max_number_of_iterations: 5 + +convex_decomposer: + decomposer_type: 'inner_convex_decomposition' # 'optimal_decompostion' + dent_angle_threshold_rad: 0.05 + +sliding_window_plane_extractor: + kernel_size: 3 + plane_patch_error_threshold: 0.004 + surface_normal_angle_threshold_degrees: 10.0 + include_curvature_detection: true + include_ransac_refinement: false + global_plane_fit_error_threshold: 0.02 + +ransac_plane_refinement: + probability: 0.01 + min_points: 200 + epsilon: 0.004 + cluster_epsilon: 0.0282842712475 + # Set maximum normal deviation. 0.98 < dot(surface_normal, point_normal); + normal_threshold: 0.98 \ No newline at end of file diff --git a/convex_plane_decomposition_ros/config/image_loader_demo_parameters.yaml b/convex_plane_decomposition_ros/config/image_loader_demo_parameters.yaml new file mode 100644 index 00000000..42a93854 --- /dev/null +++ b/convex_plane_decomposition_ros/config/image_loader_demo_parameters.yaml @@ -0,0 +1,6 @@ +image_to_gridmap_demo: + image_topic: "/image_publisher/image" + resolution: 0.02 + map_frame_id: "odom" + min_height: 0 + max_height: 1.0 \ No newline at end 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UqU<<5|FxL+#z@=MPD)WJ1hj?~~E_^&aw_>4P=9MsU zWs47?4t;$+Rb7e`T=LLMXzp*Qi9_py8)O&x1IzzHt7dp&lP zXHS7wWL~FjmsCp@Zqa3m#)Vs2M8o zwXl9R$EdS|P-E6;Tqd=E5H@pxOA-Jv!7nK>yY5fmWHOb%H8f7Q>O;Y>hbN1Q|4ws} zwG-KDcxNx=4z33V?7ZrBHh`@?G-MFPSXF;YmjZj9OcI+pH=_1cTGgaBYI&_9#L*H9h*6Un<>Tj zr|t6qDQueq8D#6ny7BzB=>KkIJkXlt2^J{Fn0cn-ui^CQ{;>UTjMK5TcDJV_cx8dl z#cK6uo4IlAO9OHSA$jNc9ZEF!nCbcYR!PsSOatum1E;s<&ks62I?7{>70@N*NU4P8D;URNiEk5Uo85+AaS zoCzGHfisV)f)uq;FnKrQrfu-{ly(`d3LIy8Z^kM`4EFj^5a47IY(<5nC?>(Ic*ZM+z>HI`BRo8ZF0>JwVP4r$j=IXi+`fRIw)Ur9 z=)647BWK5BkAj|SQ!Dv9r5Fm!cj@k1R$Iy)0d{6=%7%YOsd|zxPrKr$im)b`o1Z6+5;)fk9i6MHS`PwNBqoHS0~QCJJz(?!6ER z^g0B8!P=*uv|?3MR1&txZQJ>r>G38y81lGj_5JG2T~(ma^2^-5WFKNcSIgho=v?(C z=5|w)1qcx)T={A6@}Te9O^@g9ruu=$A|_`LdEI;0?Z=~I@UZ)`jl=}o>nfQX@gCob zM442P=u#@TB$n5e%Dq1otnC_piqBD||`>*UjRNr>p*kIz! zlc8)!y$Ix2O+lwr1?@Z|KVX%IMy%9Qdui7xa8$0<9h3%@cU~gL9O}2H03GiQGbdA+ z^R7+&Yue}Xp56Y?371ElK!*%R-2_Mb7lvQf4;}oAY5e-kJVcc4&hkUUXCi9?BT^wR zOQBhU`|-|K%~g)p`(@D(((;~x(DI~y34MV{h3CdQ(&U0+yV2D<(H$c$9|DROGB3z9 zNH0@zeve*bP}!MTFA8mcorrVhukjsOBYNT^tE + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/convex_plane_decomposition_ros/src/convex_plane_extraction_ros.cpp b/convex_plane_decomposition_ros/src/convex_plane_extraction_ros.cpp index 4fb98843..8b0002bc 100644 --- a/convex_plane_decomposition_ros/src/convex_plane_extraction_ros.cpp +++ b/convex_plane_decomposition_ros/src/convex_plane_extraction_ros.cpp @@ -41,6 +41,7 @@ void ConvexPlaneExtractionROS::callback(const grid_map_msgs::GridMap& message) { bool success; GridMap inputMap = messageMap.getSubmap(messageMap.getPosition(), Eigen::Array2d(6, 6), success); CHECK(success); + inputMap.setFrameId("odom"); ROS_INFO("...done."); VLOG(1) << "Applying median filtering to map."; applyMedianFilter(inputMap.get("elevation"), 5); diff --git a/convex_plane_decomposition_ros/src/pipeline_ros.cpp b/convex_plane_decomposition_ros/src/pipeline_ros.cpp index 492155c2..22c4b338 100644 --- a/convex_plane_decomposition_ros/src/pipeline_ros.cpp +++ b/convex_plane_decomposition_ros/src/pipeline_ros.cpp @@ -90,10 +90,9 @@ PipelineParameters loadPipelineParameters(ros::NodeHandle &nodeHandle, grid_map: ROS_ERROR( "Could not read parameter `contour_approximation_absolute_area_threshold_squared_meters`. Setting parameter to default value."); } - if (!nodeHandle.getParam(kPolygonizerParametersPrefix + "contour_approximation_relative_total_local_area_threshold", + if (!nodeHandle.getParam(kPolygonizerParametersPrefix + "contour_approximation_relative_total_area_threshold", polygonizer_parameters.contour_approximation_relative_total_area_threshold)) { - ROS_ERROR( - "Could not read parameter `contour_approximation_relative_area_threshold`. Setting parameter to default value."); + ROS_ERROR("Could not read parameter `contour_approximation_relative_area_threshold`. Setting parameter to default value."); } if (!nodeHandle.getParam(kPolygonizerParametersPrefix + "contour_approximation_absolute_total_area_threshold_squared_meters", polygonizer_parameters.contour_approximation_absolute_total_area_threshold_squared_meters)) { From 24445ae22762ff46d33e2d3d309d83b08db72dbc Mon Sep 17 00:00:00 2001 From: andrej1001 Date: Mon, 30 Mar 2020 20:34:27 +0200 Subject: [PATCH 033/504] Major clean-up. --- .../include/convex_decomposer.hpp | 6 +- .../include/convex_polygon_decomposition.hpp | 43 ---- .../include/export_utils.hpp | 5 +- .../include/geometry_utils.hpp | 29 +-- .../include/pipeline.hpp | 17 +- convex_plane_decomposition/include/plane.hpp | 56 ++--- .../include/plane_extractor.hpp | 85 ------- .../include/plane_factory.hpp | 16 +- .../include/polygon.hpp | 217 +++++++++--------- .../include/polygonizer.hpp | 20 +- .../include/ransac_plane_extractor.hpp | 6 - .../sliding_window_plane_extractor.hpp | 23 +- .../src/convex_decomposer.cpp | 59 ++--- .../src/convex_polygon_decomposition.cpp | 19 -- .../src/export_utils.cpp | 24 +- .../src/geometry_utils.cpp | 67 ------ convex_plane_decomposition/src/pipeline.cpp | 26 --- convex_plane_decomposition/src/plane.cpp | 2 - .../src/plane_extractor.cpp | 58 ----- .../src/plane_factory.cpp | 25 +- convex_plane_decomposition/src/polygon.cpp | 28 ++- .../src/polygonizer.cpp | 211 +---------------- .../src/ransac_plane_extractor.cpp | 22 -- .../src/sliding_window_plane_extractor.cpp | 1 - 24 files changed, 226 insertions(+), 839 deletions(-) delete mode 100644 convex_plane_decomposition/include/convex_polygon_decomposition.hpp delete mode 100644 convex_plane_decomposition/include/plane_extractor.hpp delete mode 100644 convex_plane_decomposition/src/convex_polygon_decomposition.cpp delete mode 100644 convex_plane_decomposition/src/plane_extractor.cpp diff --git a/convex_plane_decomposition/include/convex_decomposer.hpp b/convex_plane_decomposition/include/convex_decomposer.hpp index 680b2b0b..a4da6a62 100644 --- a/convex_plane_decomposition/include/convex_decomposer.hpp +++ b/convex_plane_decomposition/include/convex_decomposer.hpp @@ -17,18 +17,16 @@ struct ConvexDecomposerParameters{ class ConvexDecomposer { public: - explicit ConvexDecomposer(const ConvexDecomposerParameters& parameters); CgalPolygon2dContainer performConvexDecomposition(const CgalPolygon2d& polygon) const; private: - - CgalPolygon2dContainer performOptimalConvexDecomposition(const CgalPolygon2d& polygon) const; + std::multimap detectDentLocations(const CgalPolygon2d& polygon) const; CgalPolygon2dContainer performInnerConvexApproximation(const CgalPolygon2d& polygon) const; - std::multimap detectDentLocations(const CgalPolygon2d& polygon) const; + CgalPolygon2dContainer performOptimalConvexDecomposition(const CgalPolygon2d& polygon) const; ConvexDecomposerParameters parameters_; }; diff --git a/convex_plane_decomposition/include/convex_polygon_decomposition.hpp b/convex_plane_decomposition/include/convex_polygon_decomposition.hpp deleted file mode 100644 index 1131ca82..00000000 --- a/convex_plane_decomposition/include/convex_polygon_decomposition.hpp +++ /dev/null @@ -1,43 +0,0 @@ -#ifndef CONVEX_PLANE_EXTRACTION_INCLUDE_CONVEX_POLYGON_DECOMPOSITION_HPP_ -#define CONVEX_PLANE_EXTRACTION_INCLUDE_CONVEX_POLYGON_DECOMPOSITION_HPP_ - -#include -#include - -#include -#include -#include -#include -#include -#include - -#include "types.hpp" - -namespace convex_plane_extraction { - - typedef CGAL::Exact_predicates_inexact_constructions_kernel K; - typedef CGAL::Partition_traits_2 Traits; - typedef Traits::Point_2 CgalPoint2d; - typedef Traits::Polygon_2 CgalPolygon2d; - typedef std::list CgalPolygon2dListContainer; - - template - CgalPolygon2d createCgalPolygonFromOpenCvPoints_impl(Iter begin, Iter end, std::bidirectional_iterator_tag){ - CgalPolygon2d polygon; - for (auto it = begin; it < end; ++it) { - polygon.push_back(CgalPoint2d((*it).x, (*it).y)); - std::cout << *it << std::endl; - } - return polygon; - } - - template - CgalPolygon2d createCgalPolygonFromOpenCvPoints(Iter begin, Iter end){ - return createCgalPolygonFromOpenCvPoints_impl(begin, end, - typename std::iterator_traits::iterator_category()); - } - - void performConvexDecomposition(const CgalPolygon2d& polygon, CgalPolygon2dListContainer* output_polyong_list); - -} -#endif //CONVEX_PLANE_EXTRACTION_INCLUDE_CONVEX_POLYGON_DECOMPOSITION_HPP_ diff --git a/convex_plane_decomposition/include/export_utils.hpp b/convex_plane_decomposition/include/export_utils.hpp index a902ee93..ab53fb63 100644 --- a/convex_plane_decomposition/include/export_utils.hpp +++ b/convex_plane_decomposition/include/export_utils.hpp @@ -13,9 +13,8 @@ namespace convex_plane_extraction { - bool exportPointsWithNormalsToCsv(grid_map::GridMap &map, const std::string &normals_layer_prefix, - const std::string &layer_height); +bool exportPointsWithNormalsToCsv(grid_map::GridMap& map, const std::string& normals_layer_prefix, const std::string& layer_height, + const std::string& path); } - #endif //CONVEX_PLANE_EXTRACTION_INCLUDE_EXPORT_UTILS_HPP_ diff --git a/convex_plane_decomposition/include/geometry_utils.hpp b/convex_plane_decomposition/include/geometry_utils.hpp index ef05241e..94dc8f08 100644 --- a/convex_plane_decomposition/include/geometry_utils.hpp +++ b/convex_plane_decomposition/include/geometry_utils.hpp @@ -5,26 +5,27 @@ namespace convex_plane_extraction { -double scalarCrossProduct(const Vector2d &leftVector, const Vector2d &rightVector); - -double distanceToLine(const Vector2d& lineSupportVector, const Vector2d& lineDirectionalVector, const Vector2d& testPoint); - -bool isPointOnRightSideOfLine(const Vector2d& line_support_vector, const Vector2d& line_direction_vector, const Vector2d& point); +double scalarCrossProduct(const Vector2d& leftVector, const Vector2d& rightVector); double computeAngleBetweenVectors(const Vector2d& first_vector, const Vector2d& second_vector); -bool isPointOnLeftSide(const Vector2d& line_support_vector, const Vector2d& line_direction_vector, const Vector2d& point); - -bool intersectRayWithLineSegment(const Vector2d& ray_source, const Vector2d& ray_direction, - const Vector2d& segment_source, const Vector2d& segment_target, Vector2d* intersection_point); - double distanceBetweenPoints(const Vector2d& first, const Vector2d& second); -double getDistanceOfPointToLineSegment(const Vector2d& point, const Vector2d& source, Vector2d& target); +double distanceToLine(const Vector2d& lineSupportVector, const Vector2d& lineDirectionalVector, const Vector2d& testPoint); std::pair getDistanceAndClosestPointOnLineSegment(const Vector2d& point, const Vector2d& source, const Vector2d& target); +double getDistanceOfPointToLineSegment(const Vector2d& point, const Vector2d& source, Vector2d& target); + bool intersectLineSegmentWithLineSegment(const Vector2d& segment_1_source, const Vector2d& segment_1_target, - const Vector2d& segment_2_source, const Vector2d& segment_2_target, Vector2d* intersection_point); -} -#endif //CONVEX_PLANE_EXTRACTION_INCLUDE_GEOMETRY_UTILS_HPP_ + const Vector2d& segment_2_source, const Vector2d& segment_2_target, Vector2d* intersection_point); + +bool intersectRayWithLineSegment(const Vector2d& ray_source, const Vector2d& ray_direction, const Vector2d& segment_source, + const Vector2d& segment_target, Vector2d* intersection_point); + +bool isPointOnLeftSide(const Vector2d& line_support_vector, const Vector2d& line_direction_vector, const Vector2d& point); + +bool isPointOnRightSideOfLine(const Vector2d& line_support_vector, const Vector2d& line_direction_vector, const Vector2d& point); + +} // namespace convex_plane_extraction +#endif // CONVEX_PLANE_EXTRACTION_INCLUDE_GEOMETRY_UTILS_HPP_ diff --git a/convex_plane_decomposition/include/pipeline.hpp b/convex_plane_decomposition/include/pipeline.hpp index d0a97920..ba3572a5 100644 --- a/convex_plane_decomposition/include/pipeline.hpp +++ b/convex_plane_decomposition/include/pipeline.hpp @@ -24,30 +24,23 @@ struct GridMapParameters{ std::string layer_height; }; - class Pipeline { public: - Pipeline(const PipelineParameters& pipeline_parameters, const GridMapParameters& grid_map_parameters); - const cv::Mat& getSegmentationImage() const{ - return sliding_window_plane_extractor_.getLabeledImage(); - }; - Polygon3dVectorContainer getConvexPolygons() const; Polygon3dVectorContainer getPlaneContours() const; - private: - -// void exportConvexPolygons(const std::string& export_path) const; + const cv::Mat& getSegmentationImage() const { return sliding_window_plane_extractor_.getLabeledImage(); }; - PipelineParameters pipeline_parameters_; + private: + // Parameters GridMapParameters grid_map_parameters_; + PipelineParameters pipeline_parameters_; - sliding_window_plane_extractor::SlidingWindowPlaneExtractor sliding_window_plane_extractor_; PlaneFactory plane_factory_; - + sliding_window_plane_extractor::SlidingWindowPlaneExtractor sliding_window_plane_extractor_; }; } // namespace_convex_plane_extraction #endif //CONVEX_PLANE_EXTRACTION__PIPELINE_HPP_ diff --git a/convex_plane_decomposition/include/plane.hpp b/convex_plane_decomposition/include/plane.hpp index 2747985a..00ce8f14 100644 --- a/convex_plane_decomposition/include/plane.hpp +++ b/convex_plane_decomposition/include/plane.hpp @@ -19,61 +19,33 @@ namespace convex_plane_extraction { }; class Plane { - public: - Plane(const CgalPolygon2d& plane_contour, const PlaneParameters parameters) - : plane_contour_(plane_contour), - normal_vector_(parameters.normal_vector), - support_vector_(parameters.support_vector){} - - PlaneParameters getPlaneParameters() const { - return PlaneParameters(normal_vector_, support_vector_); - } + : plane_contour_(plane_contour), normal_vector_(parameters.normal_vector), support_vector_(parameters.support_vector) {} - bool setPlaneContour(const CgalPolygon2d& plane_contour){ - plane_contour_ = plane_contour; - } + void addConvexPolygon(const CgalPolygon2d& convex_polygon) { convex_polygons_.push_back(convex_polygon); } - const Eigen::Vector3d& getPlaneNormalVector() const{ - return normal_vector_; - } + const CgalPolygon2dContainer& getConvexPolygons() const { return convex_polygons_; } - Eigen::Vector3d& getPlaneNormalVectorMutable(){ - return normal_vector_; - } + CgalPolygon2dContainer& getConvexPolygonsMutable() { return convex_polygons_; } - bool setNormalAndSupportVector(const Eigen::Vector3d& normal_vector,const Eigen::Vector3d& support_vector); + const Eigen::Vector3d& getPlaneNormalVector() const { return normal_vector_; } - bool hasOuterContour() const; + Eigen::Vector3d& getPlaneNormalVectorMutable() { return normal_vector_; } - CgalPolygon2d& getOuterPolygonMutable(){ - return plane_contour_; - } + const CgalPolygon2d& getOuterPolygon() const { return plane_contour_; } - const CgalPolygon2d& getOuterPolygon() const{ - return plane_contour_; - } + CgalPolygon2d& getOuterPolygonMutable() { return plane_contour_; } + PlaneParameters getPlaneParameters() const { return PlaneParameters(normal_vector_, support_vector_); } - CgalPolygon2dContainer& getConvexPolygonsMutable(){ - return convex_polygons_; - } + void setConvexPolygons(CgalPolygon2dContainer& convex_polygons) { convex_polygons_ = convex_polygons; } - const CgalPolygon2dContainer& getConvexPolygons() const{ - return convex_polygons_; - } + bool setNormalAndSupportVector(const Eigen::Vector3d& normal_vector, const Eigen::Vector3d& support_vector); - void addConvexPolygon(const CgalPolygon2d& convex_polygon){ - convex_polygons_.push_back(convex_polygon); - } - - void setConvexPolygons(CgalPolygon2dContainer& convex_polygons){ - convex_polygons_ = convex_polygons; - } + bool setPlaneContour(const CgalPolygon2d& plane_contour) { plane_contour_ = plane_contour; } private: - CgalPolygon2d plane_contour_; CgalPolygon2dContainer convex_polygons_; @@ -81,5 +53,5 @@ namespace convex_plane_extraction { Vector3d support_vector_; }; -} -#endif //CONVEX_PLANE_EXTRACTION_SRC_PLANE_HPP_ + } // namespace convex_plane_extraction +#endif // CONVEX_PLANE_EXTRACTION_SRC_PLANE_HPP_ diff --git a/convex_plane_decomposition/include/plane_extractor.hpp b/convex_plane_decomposition/include/plane_extractor.hpp deleted file mode 100644 index ec2059f7..00000000 --- a/convex_plane_decomposition/include/plane_extractor.hpp +++ /dev/null @@ -1,85 +0,0 @@ -// -// Created by andrej on 12/6/19. -// - -#ifndef CONVEX_PLANE_EXTRACTION_INCLUDE_PLANE_EXTRACTOR_HPP_ -#define CONVEX_PLANE_EXTRACTION_INCLUDE_PLANE_EXTRACTOR_HPP_ - -#include - -#include "Eigen/Core" -#include "Eigen/Dense" -#include "opencv2/core/eigen.hpp" -#include "opencv2/core/mat.hpp" - -#include "ransac_plane_extractor.hpp" -#include "sliding_window_plane_extractor.hpp" -#include "types.hpp" - -namespace convex_plane_extraction { - using namespace grid_map; - - enum PlaneExtractorType : int { - kRansacExtractor = 0, - kSlidingWindowExtractor = 1 - }; - - class PlaneExtractor { - public: - - /*! - * Constructor. - */ - PlaneExtractor(grid_map::GridMap &map, double resolution, const std::string &normals_layer_prefix, - const std::string &height_layer); - - /*! - * Destructor. - */ - virtual ~PlaneExtractor(); - - grid_map::GridMap& getMap(); - - // Ransac plane extractor related functions. - void setRansacParameters(const ransac_plane_extractor::RansacPlaneExtractorParameters& parameters); - - void runRansacPlaneExtractor(); - - void augmentMapWithRansacPlanes(); - - // Sliding window plane extractor related functions. - void setSlidingWindowParameters(const sliding_window_plane_extractor::SlidingWindowParameters& parameters); - - void runSlidingWindowPlaneExtractor(); - - void augmentMapWithSlidingWindowPlanes(); - - void generatePlanes(){ - sliding_window_plane_extractor_.generatePlanes(); - } - - void visualizeConvexDecomposition(jsk_recognition_msgs::PolygonArray* ros_polygon_array){ - CHECK_NOTNULL(ros_polygon_array); - sliding_window_plane_extractor_.visualizeConvexDecomposition(ros_polygon_array); - sliding_window_plane_extractor_.exportConvexPolygons("/home/andrej/Desktop/"); - } - - void visualizePlaneContours(jsk_recognition_msgs::PolygonArray* ros_polygon_outer_contours, jsk_recognition_msgs::PolygonArray* ros_polygon_hole_contours){ - sliding_window_plane_extractor_.visualizePlaneContours(ros_polygon_outer_contours, ros_polygon_hole_contours); - } - - private: - - // Grid map related - grid_map::GridMap& map_; - double resolution_; - std::string normal_layer_prefix_; - std::string height_layer_; - Vector2i map_size_; - - ransac_plane_extractor::RansacPlaneExtractor ransac_plane_extractor_; - sliding_window_plane_extractor::SlidingWindowPlaneExtractor sliding_window_plane_extractor_; - }; - -} -#endif //CONVEX_PLANE_EXTRACTION_INCLUDE_PLANE_EXTRACTOR_HPP_ diff --git a/convex_plane_decomposition/include/plane_factory.hpp b/convex_plane_decomposition/include/plane_factory.hpp index 8c6e5f07..4582581f 100644 --- a/convex_plane_decomposition/include/plane_factory.hpp +++ b/convex_plane_decomposition/include/plane_factory.hpp @@ -1,7 +1,7 @@ #ifndef CONVEX_PLANE_EXTRACTION_INCLUDE_PLANE_FACTORY_HPP_ #define CONVEX_PLANE_EXTRACTION_INCLUDE_PLANE_FACTORY_HPP_ -#include +#include #include #include "convex_decomposer.hpp" @@ -38,16 +38,14 @@ class PlaneFactory { void computeMapTransformation(); - bool isPlaneInclinationBelowThreshold(const Eigen::Vector3d& plane_normal_vector) const; - - Eigen::Vector3d convertPlanePointToWorldFrame(const CgalPoint2d& point, - const PlaneParameters& plane_parameters) const; + Eigen::Vector3d convertPlanePointToWorldFrame(const CgalPoint2d& point, const PlaneParameters& plane_parameters) const; Polygon3dVectorContainer convertPlanePolygonsToWorldFrame(const CgalPolygon2dContainer& polygons, - const PlaneParameters& plane_parameters) const; + const PlaneParameters& plane_parameters) const; + + Polygon3dVectorContainer convertPlanePolygonToWorldFrame(const CgalPolygon2d& polygon, const PlaneParameters& plane_parameters) const; - Polygon3dVectorContainer convertPlanePolygonToWorldFrame(const CgalPolygon2d& polygon, - const PlaneParameters& plane_parameters) const; + bool isPlaneInclinationBelowThreshold(const Eigen::Vector3d& plane_normal_vector) const; // Grid map related members. grid_map::GridMap& map_; @@ -55,10 +53,8 @@ class PlaneFactory { Eigen::Vector2d map_offset_; // Parameters. - PlaneFactoryParameters parameters_; - std::vector planes_; }; diff --git a/convex_plane_decomposition/include/polygon.hpp b/convex_plane_decomposition/include/polygon.hpp index b30f9cd8..eac6246b 100644 --- a/convex_plane_decomposition/include/polygon.hpp +++ b/convex_plane_decomposition/include/polygon.hpp @@ -27,155 +27,150 @@ #include "geometry_utils.hpp" #include "types.hpp" -namespace convex_plane_extraction{ +namespace convex_plane_extraction { + +using K = CGAL::Exact_predicates_inexact_constructions_kernel; +using EKernel = CGAL::Exact_predicates_exact_constructions_kernel; +using Traits = CGAL::Partition_traits_2; +using CgalPoint2d = CGAL::Point_2; +using CgalVector2d = CGAL::Vector_2; +using CgalPolygon2d = CGAL::Polygon_2; +using CgalPolygonWithHoles2d = CGAL::Polygon_with_holes_2; +using CgalSegment2d = Traits::Segment_2; +using CgalPolygon2dContainer = std::vector; +using CgalRay2d = Traits::Ray_2; +using CgalCircle2d = Traits::Circle_2; +using CgalPolygon2dConstIterator = CgalPolygon2dContainer::const_iterator; +using CgalPolygon2dSetContainer = CGAL::Polygon_set_2>; +using CgalPolygon2dVertexConstIterator = CgalPolygon2d::Vertex_const_iterator; +using CgalPolygon2dVertexIterator = CgalPolygon2d::Vertex_iterator; -typedef CGAL::Exact_predicates_inexact_constructions_kernel K; -typedef CGAL::Exact_predicates_exact_constructions_kernel EKernel; -typedef CGAL::Partition_traits_2 Traits; -typedef CGAL::Point_2 CgalPoint2d; - typedef CGAL::Vector_2 CgalVector2d; - typedef CGAL::Polygon_2 CgalPolygon2d; - typedef CGAL::Polygon_with_holes_2 CgalPolygonWithHoles2d; - typedef Traits::Segment_2 CgalSegment2d; - typedef std::vector CgalPolygon2dContainer; - typedef Traits::Ray_2 CgalRay2d; - typedef Traits::Circle_2 CgalCircle2d; - typedef CgalPolygon2dContainer::const_iterator CgalPolygon2dConstIterator; - typedef CGAL::Polygon_set_2> CgalPolygon2dSetContainer; - typedef CgalPolygon2d::Vertex_const_iterator CgalPolygon2dVertexConstIterator; - typedef CgalPolygon2d::Vertex_iterator CgalPolygon2dVertexIterator; +using Polygon3d = std::vector; +using Polygon3dVectorContainer = std::vector; +using Intersect_2 = K::Intersect_2; - typedef std::vector Polygon3d; - typedef std::vector Polygon3dVectorContainer; - typedef K::Intersect_2 Intersect_2; +enum class SegmentIntersectionType : int { kSource, kTarget, kInterior }; - struct PolygonWithHoles { - CgalPolygon2d outer_contour; - CgalPolygon2dContainer holes; - }; +struct Intersection { + void setEdgeSourceLocation(const int location) { edge_source_location_ = location; } + void setEdgeTargetLocation(const int location) { edge_target_location_ = location; } + void setIntersectionPoint(const CgalPoint2d& intersection_point) { intersection_point_ = intersection_point; } + void setAllMembers(const int source_location, const int target_location, const CgalPoint2d& intersection_point, + const SegmentIntersectionType& intersection_type) { + edge_source_location_ = source_location; + edge_target_location_ = target_location; + intersection_type_ = intersection_type; + intersection_point_ = intersection_point; + } - enum class SegmentIntersectionType : int { kSource, kTarget, kInterior }; + int edge_source_location_; + int edge_target_location_; + SegmentIntersectionType intersection_type_; + CgalPoint2d intersection_point_; +}; - struct RaySegmentIntersection { - SegmentIntersectionType intersection_location; - CgalPoint2d intersection_point; - }; +struct PolygonWithHoles { + CgalPolygon2d outer_contour; + CgalPolygon2dContainer holes; +}; - template - bool isContourSimple_impl(Iter begin, Iter end, std::bidirectional_iterator_tag) { - CgalPolygon2d polygon; - for (auto it = begin; it < end; ++it) { - polygon.push_back(Point((*it).x, (*it).y)); - std::cout << *it << std::endl; - } - return polygon.is_simple(); - }; +struct RaySegmentIntersection { + SegmentIntersectionType intersection_location; + CgalPoint2d intersection_point; +}; - template - bool isContourSimple(Iter begin, Iter end){ - return isContourSimple_impl(begin, end, - typename std::iterator_traits::iterator_category()); - }; +void approximateContour(CgalPolygon2d* polygon, int max_number_of_iterations, double relative_local_area_threshold, + double absolute_local_area_threshold, double relative_total_area_threshold, double absolute_total_area_threshold); - template - CgalPolygon2d createCgalPolygonFromOpenCvPoints_impl(Iter begin, Iter end, const double& resolution, std::bidirectional_iterator_tag){ - CgalPolygon2d polygon; - for (auto it = begin; it < end; ++it) { +template +bool isContourSimple_impl(Iter begin, Iter end, std::bidirectional_iterator_tag) { + CgalPolygon2d polygon; + for (auto it = begin; it < end; ++it) { + polygon.push_back(Point((*it).x, (*it).y)); + std::cout << *it << std::endl; + } + return polygon.is_simple(); +}; - polygon.push_back(CgalPoint2d(static_cast((*it).y * resolution), static_cast((*it).x) * resolution)); - } - return polygon; - }; +template +bool isContourSimple(Iter begin, Iter end) { + return isContourSimple_impl(begin, end, typename std::iterator_traits::iterator_category()); +}; - template - CgalPolygon2d createCgalPolygonFromOpenCvPoints(Iter begin, Iter end, const double& resolution){ - return createCgalPolygonFromOpenCvPoints_impl(begin, end, resolution, - typename std::iterator_traits::iterator_category()); - }; +double computeTriangleArea(double side_length_a, double side_length_b, double side_length_c); - void performConvexDecomposition(const CgalPolygon2d& polygon, CgalPolygon2dContainer* output_polyong_list); +void connectSecondPolygonToFirst(CgalPolygon2d& left_polygon, CgalPolygon2d& right_polygon); - bool doPolygonAndSegmentIntersect(const CgalPolygon2d& polygon, const CgalSegment2d& segment, bool print_flag); +void copyVertices(const CgalPolygon2d& old_polygon, const CgalPolygon2dVertexIterator first, const CgalPolygon2dVertexIterator last, + CgalPolygon2d* new_polygon, const CgalPolygon2dVertexIterator insert_position); - int getClosestPolygonVertexPosition(const CgalPolygon2d& polygon, const CgalPoint2d& point); +template +CgalPolygon2d createCgalPolygonFromOpenCvPoints_impl(Iter begin, Iter end, const double& resolution, std::bidirectional_iterator_tag) { + CgalPolygon2d polygon; + for (auto it = begin; it < end; ++it) { + polygon.push_back(CgalPoint2d(static_cast((*it).y * resolution), static_cast((*it).x) * resolution)); + } + return polygon; +}; - void getVertexPositionsInAscendingDistanceToPoint(const CgalPolygon2d& polygon, const CgalPoint2d& point, - std::multimap* vertex_positions); +template +CgalPolygon2d createCgalPolygonFromOpenCvPoints(Iter begin, Iter end, const double& resolution) { + return createCgalPolygonFromOpenCvPoints_impl(begin, end, resolution, typename std::iterator_traits::iterator_category()); +}; - void getSegmentNormalVector(const CgalSegment2d& segment, Eigen::Vector2d* normal_vector); +std::list decomposeInnerApproximation(const CgalPolygon2d& polygon); - double computeTriangleArea(double side_length_a, double side_length_b, double side_length_c); +std::multimap detectDentLocations(const CgalPolygon2d& polygon); - CgalPolygon2dVertexIterator next(const CgalPolygon2dVertexIterator& iterator, const CgalPolygon2d& polygon); +bool doPointAndPolygonIntersect(const CgalPolygon2d& polygon, const CgalPoint2d& point, int& segment_source_vertex_index); - bool next(const CgalPolygon2dVertexIterator& iterator, CgalPolygon2dVertexIterator& output_iterator, const CgalPolygon2d& polygon); +bool doPolygonAndSegmentIntersect(const CgalPolygon2d& polygon, const CgalSegment2d& segment, bool print_flag); - CgalPolygon2dVertexIterator previous(const CgalPolygon2dVertexIterator& iterator, const CgalPolygon2d& polygon); +bool doRayAndSegmentIntersect(const CgalRay2d& ray, const CgalSegment2d& segment, RaySegmentIntersection* intersection); - void approximateContour(CgalPolygon2d* polygon, int max_number_of_iterations, double relative_local_area_threshold, - double absolute_local_area_threshold, double relative_total_area_threshold, double absolute_total_area_threshold); +CgalPolygon2dVertexIterator erase(CgalPolygon2dVertexIterator first, CgalPolygon2dVertexIterator last, CgalPolygon2d* polygon); - void upSampleLongEdges(CgalPolygon2d* polygon); +std::pair getClosestPointAndSegmentOnPolygonToPoint(const CgalPoint2d& point, const CgalPolygon2d& polygon); - double getEdgeLength(const CgalPolygon2dVertexIterator& source, const CgalPolygon2d& polygon); +int getClosestPolygonVertexPosition(const CgalPolygon2d& polygon, const CgalPoint2d& point); - std::multimap detectDentLocations(const CgalPolygon2d& polygon); +std::multimap> getClosestVertexPairsOrdered(const CgalPolygon2d& first_polygon, + const CgalPolygon2d& second_polygon); - void connectSecondPolygonToFirst(CgalPolygon2d& left_polygon, CgalPolygon2d& right_polygon); +std::vector> getCommonVertexPairIndices(const CgalPolygon2d& first_polygon, const CgalPolygon2d& second_polygon); - std::pair getIndicesOfClosestVertexPair(CgalPolygon2d& first_polygon, CgalPolygon2d& second_polygon); +double getEdgeLength(const CgalPolygon2dVertexIterator& source, const CgalPolygon2d& polygon); - std::multimap> getClosestVertexPairsOrdered(const CgalPolygon2d& first_polygon, const CgalPolygon2d& second_polygon); +std::pair getIndicesOfClosestVertexPair(CgalPolygon2d& first_polygon, CgalPolygon2d& second_polygon); - CgalPoint2d getPolygonVertexAtIndex(const CgalPolygon2d& polygon, int index); +CgalPoint2d getPolygonVertexAtIndex(const CgalPolygon2d& polygon, int index); - bool doPointAndPolygonIntersect(const CgalPolygon2d& polygon, const CgalPoint2d& point, int& segment_source_vertex_index); +void getSegmentNormalVector(const CgalSegment2d& segment, Eigen::Vector2d* normal_vector); - struct Intersection{ - void setEdgeSourceLocation(const int location){ - edge_source_location_ = location; - } - void setEdgeTargetLocation(const int location){ - edge_target_location_ = location; - } - void setIntersectionPoint(const CgalPoint2d& intersection_point) { intersection_point_ = intersection_point; } - void setAllMembers(const int source_location, const int target_location, const CgalPoint2d& intersection_point, - const SegmentIntersectionType& intersection_type) { - edge_source_location_ = source_location; - edge_target_location_ = target_location; - intersection_type_ = intersection_type; - intersection_point_ = intersection_point; - } +std::vector getVertexIndicesOfFirstPolygonContainedInSecondPolygonContour(const CgalPolygon2d& first_polygon, + const CgalPolygon2d& second_polygon); - int edge_source_location_; - int edge_target_location_; - SegmentIntersectionType intersection_type_; - CgalPoint2d intersection_point_; - }; +void getVertexPositionsInAscendingDistanceToPoint(const CgalPolygon2d& polygon, const CgalPoint2d& point, + std::multimap* vertex_positions); - bool intersectPolygonWithRay(int ray_target_location, CGAL::Orientation orientation, const CgalPolygon2d& polygon, - Intersection* intersection); +std::pair getVertexPositionsWithHighestHoleSlConcavityMeasure(const CgalPolygon2d& polygon); - CgalPolygon2dVertexIterator erase(CgalPolygon2dVertexIterator first, CgalPolygon2dVertexIterator last, - CgalPolygon2d* polygon); +bool intersectPolygonWithRay(int ray_target_location, CGAL::Orientation orientation, const CgalPolygon2d& polygon, + Intersection* intersection); - void copyVertices(const CgalPolygon2d& old_polygon, const CgalPolygon2dVertexIterator first, const CgalPolygon2dVertexIterator last, - CgalPolygon2d* new_polygon, const CgalPolygon2dVertexIterator insert_position); +CgalPolygon2dVertexIterator next(const CgalPolygon2dVertexIterator& iterator, const CgalPolygon2d& polygon); - std::list decomposeInnerApproximation(const CgalPolygon2d& polygon); +bool next(const CgalPolygon2dVertexIterator& iterator, CgalPolygon2dVertexIterator& output_iterator, const CgalPolygon2d& polygon); - void printPolygon(const CgalPolygon2d& polygon); +void performConvexDecomposition(const CgalPolygon2d& polygon, CgalPolygon2dContainer* output_polyong_list); - std::pair getVertexPositionsWithHighestHoleSlConcavityMeasure(const CgalPolygon2d& polygon); +CgalPolygon2dVertexIterator previous(const CgalPolygon2dVertexIterator& iterator, const CgalPolygon2d& polygon); - std::pair getClosestPointAndSegmentOnPolygonToPoint(const CgalPoint2d& point, const CgalPolygon2d& polygon); +void printPolygon(const CgalPolygon2d& polygon); - std::vector> getCommonVertexPairIndices(const CgalPolygon2d& first_polygon, const CgalPolygon2d& second_polygon); +std::string printPolygonToString(const CgalPolygon2d& polygon); - std::vector getVertexIndicesOfFirstPolygonContainedInSecondPolygonContour(const CgalPolygon2d& first_polygon, - const CgalPolygon2d& second_polygon); +void upSampleLongEdges(CgalPolygon2d* polygon); - bool doRayAndSegmentIntersect(const CgalRay2d& ray, const CgalSegment2d& segment, RaySegmentIntersection* intersection); - - } // namespace convex_plane_extraction +} // namespace convex_plane_extraction #endif //CONVEX_PLANE_EXTRACTION_INCLUDE_POLYGON_HPP_ diff --git a/convex_plane_decomposition/include/polygonizer.hpp b/convex_plane_decomposition/include/polygonizer.hpp index 1e8b6d58..a13ed17b 100644 --- a/convex_plane_decomposition/include/polygonizer.hpp +++ b/convex_plane_decomposition/include/polygonizer.hpp @@ -33,32 +33,26 @@ struct PolygonizerParameters{ class Polygonizer { public: + explicit Polygonizer(const PolygonizerParameters parameters = PolygonizerParameters()) : parameters_(parameters){}; - explicit Polygonizer(const PolygonizerParameters parameters = PolygonizerParameters()) - :parameters_(parameters){}; + bool addHoleToOuterContourAtVertexIndex(int segment_target_vertex_index, const CgalPolygon2d& hole, CgalPolygon2d& outer_contour) const; + + PolygonWithHoles extractContoursFromBinaryImage(cv::Mat& binary_image) const; PolygonWithHoles extractPolygonsFromBinaryImage(const cv::Mat& binary_image) const; void removeAreasNotContainedInOuterContourFromHoles(const CgalPolygon2d& outer_polygon, std::vector& holes) const; - CgalPolygon2d resolveHolesWithVerticalConnection(PolygonWithHoles& polygon_with_holes) const; - - void approximatePolygon(CgalPolygon2d& polygon) const; - - CgalPolygon2d runPolygonizationOnBinaryImage(const cv::Mat& binary_image) const; - - bool addHoleToOuterContourAtVertexIndex(int segment_target_vertex_index, const CgalPolygon2d& hole, CgalPolygon2d& outer_contour) const; + void resolveHolesInBinaryImage(cv::Mat& binary_image, const PolygonWithHoles& contour_with_holes) const; CgalPolygon2d resolveHolesUsingSlConnection(const PolygonWithHoles& polygon_with_holes) const; - void resolveHolesInBinaryImage(cv::Mat& binary_image, const PolygonWithHoles& contour_with_holes) const; + CgalPolygon2d resolveHolesWithVerticalConnection(PolygonWithHoles& polygon_with_holes) const; - PolygonWithHoles extractContoursFromBinaryImage(cv::Mat& binary_image) const; + CgalPolygon2d runPolygonizationOnBinaryImage(const cv::Mat& binary_image) const; private: - PolygonizerParameters parameters_; - }; diff --git a/convex_plane_decomposition/include/ransac_plane_extractor.hpp b/convex_plane_decomposition/include/ransac_plane_extractor.hpp index 4e527f46..00ed69a9 100644 --- a/convex_plane_decomposition/include/ransac_plane_extractor.hpp +++ b/convex_plane_decomposition/include/ransac_plane_extractor.hpp @@ -1,7 +1,3 @@ -// -// Created by andrej on 11/21/19. -// - #ifndef CONVEX_PLANE_EXTRACTION_RANSACPLANEEXTRACTOR_HPP_ #define CONVEX_PLANE_EXTRACTION_RANSACPLANEEXTRACTOR_HPP_ @@ -65,8 +61,6 @@ namespace ransac_plane_extractor { return ransac_.shapes(); }; -// void ransacPlaneVisualization(); - private: EfficientRansac ransac_; diff --git a/convex_plane_decomposition/include/sliding_window_plane_extractor.hpp b/convex_plane_decomposition/include/sliding_window_plane_extractor.hpp index 36211326..5e985def 100644 --- a/convex_plane_decomposition/include/sliding_window_plane_extractor.hpp +++ b/convex_plane_decomposition/include/sliding_window_plane_extractor.hpp @@ -34,23 +34,20 @@ namespace sliding_window_plane_extractor { class SlidingWindowPlaneExtractor{ public: - - SlidingWindowPlaneExtractor(grid_map::GridMap &map, double resolution, const std::string& layer_height, const SlidingWindowPlaneExtractorParameters& parameters = SlidingWindowPlaneExtractorParameters(), - const ransac_plane_extractor::RansacPlaneExtractorParameters& ransac_parameters = ransac_plane_extractor::RansacPlaneExtractorParameters()); - - void setParameters(const SlidingWindowPlaneExtractorParameters& parameters); + SlidingWindowPlaneExtractor(grid_map::GridMap& map, double resolution, const std::string& layer_height, + const SlidingWindowPlaneExtractorParameters& parameters = SlidingWindowPlaneExtractorParameters(), + const ransac_plane_extractor::RansacPlaneExtractorParameters& ransac_parameters = + ransac_plane_extractor::RansacPlaneExtractorParameters()); void runExtraction(); - const cv::Mat& getLabeledImage() const{ - return labeled_image_; - } + const cv::Mat& getLabeledImage() const { return labeled_image_; } - const auto& getLabelPlaneParameterMap() const{ return label_plane_parameters_map_; } + const auto& getLabelPlaneParameterMap() const { return label_plane_parameters_map_; } - const int getNumberOfExtractedPlanes() const { return number_of_extracted_planes_; } + int getNumberOfExtractedPlanes() const { return number_of_extracted_planes_; } - // void exportConvexPolygons(const std::string& path) const; + void setParameters(const SlidingWindowPlaneExtractorParameters& parameters); private: double computeAverageErrorToPlane(const Eigen::Vector3d& normal_vector, const Eigen::Vector3d& support_vector, @@ -84,5 +81,5 @@ namespace sliding_window_plane_extractor { int number_of_extracted_planes_; std::map label_plane_parameters_map_; }; -} -#endif //CONVEX_PLANE_EXTRACTION_INCLUDE_SLIDING_WINDOW_PLANE_EXTRACTOR_HPP_ + } // namespace sliding_window_plane_extractor +#endif // CONVEX_PLANE_EXTRACTION_INCLUDE_SLIDING_WINDOW_PLANE_EXTRACTOR_HPP_ diff --git a/convex_plane_decomposition/src/convex_decomposer.cpp b/convex_plane_decomposition/src/convex_decomposer.cpp index 3d914ebd..869b89cc 100644 --- a/convex_plane_decomposition/src/convex_decomposer.cpp +++ b/convex_plane_decomposition/src/convex_decomposer.cpp @@ -13,8 +13,8 @@ CgalPolygon2dContainer ConvexDecomposer::performConvexDecomposition(const CgalPo return convex_polygons; } CHECK(polygon.is_simple()); - if(polygon.is_convex()){ - LOG(INFO) << "Polygon already convex, no decompostion performed."; + if(polygon.is_convex()) { + VLOG(1) << "Polygon already convex, no decompostion performed."; convex_polygons.push_back(polygon); return convex_polygons; } @@ -39,8 +39,6 @@ CgalPolygon2dContainer ConvexDecomposer::performOptimalConvexDecomposition(const } CGAL::optimal_convex_partition_2(polygon.vertices_begin(), polygon.vertices_end(), std::back_inserter(polygon_buffer)); -// assert(CGAL::partition_is_valid_2(polygon.vertices_begin(), polygon.vertices_end(), output_polygons.begin(), -// output_polygons.end())); CHECK_GT(polygon_buffer.size(), old_container_size); CgalPolygon2dContainer output_polygons; for (const auto& buffer_polygon : polygon_buffer){ @@ -187,45 +185,29 @@ CgalPolygon2dContainer ConvexDecomposer::performInnerConvexApproximation(const C CHECK(polygon_clockwise_2.is_simple()); VLOG(1) << "Started cut area computation..."; // Take the cut with smallest min. area of resulting polygons. - double area[4] = {polygon_counterclockwise_1.area(), polygon_counterclockwise_2.area(), polygon_clockwise_1.area(), - polygon_clockwise_2.area()}; + std::array area = {polygon_counterclockwise_1.area(), polygon_counterclockwise_2.area(), polygon_clockwise_1.area(), + polygon_clockwise_2.area()}; VLOG(1) << "done."; - double* min_area_strategy = std::min_element(area, area + 4); + const auto min_area_strategy = std::min_element(area.begin(), area.end()); CgalPolygon2dContainer recursion_1; CgalPolygon2dContainer recursion_2; - if ((min_area_strategy - area) < 2) { + if (std::distance(area.begin(), min_area_strategy) < 2) { // In this case the counter clockwise intersection leads to less loss in area. // Perform recursion with this split. - if(polygon_counterclockwise_1.orientation() != CGAL::COUNTERCLOCKWISE){ - LOG(WARNING) << "Polygon orientation wrong! Printing polygon ..."; - printPolygon(polygon_counterclockwise_1); - recursion_1 = std::vector(); - } else { - recursion_1 = performInnerConvexApproximation(polygon_counterclockwise_1); - } - if(polygon_counterclockwise_2.orientation() != CGAL::COUNTERCLOCKWISE){ - LOG(WARNING) << "Polygon orientation wrong! Printing polygon ..."; - printPolygon(polygon_counterclockwise_2); - recursion_2 = std::vector(); - } else{ - recursion_2 = performInnerConvexApproximation(polygon_counterclockwise_2); - } + CHECK_EQ(polygon_counterclockwise_1.orientation(), CGAL::COUNTERCLOCKWISE) + << "Polygon orientation wrong! Printing polygon ..." << printPolygonToString(polygon_counterclockwise_1); + recursion_1 = performInnerConvexApproximation(polygon_counterclockwise_1); + CHECK_EQ(polygon_counterclockwise_2.orientation(), CGAL::COUNTERCLOCKWISE) + << "Polygon orientation wrong! Printing polygon ..." << printPolygonToString(polygon_counterclockwise_2); + recursion_2 = performInnerConvexApproximation(polygon_counterclockwise_2); } else { // In this case the clockwise intersection leads to less loss in area. - if(polygon_clockwise_1.orientation() != CGAL::COUNTERCLOCKWISE){ - LOG(WARNING) << "Polygon orientation wrong! Printing polygon ..."; - printPolygon(polygon_clockwise_1); - recursion_1 = std::vector(); - } else{ - recursion_1 = performInnerConvexApproximation(polygon_clockwise_1); - } - if(polygon_clockwise_2.orientation() != CGAL::COUNTERCLOCKWISE){ - LOG(WARNING) << "Polygon orientation wrong! Printing polygon ..."; - printPolygon(polygon_clockwise_2); - recursion_2 = std::vector(); - } else{ - recursion_2 = performInnerConvexApproximation(polygon_clockwise_2); - } + CHECK_EQ(polygon_clockwise_1.orientation(), CGAL::COUNTERCLOCKWISE) + << "Polygon orientation wrong! Printing polygon ..." << printPolygonToString(polygon_clockwise_1); + recursion_1 = performInnerConvexApproximation(polygon_clockwise_1); + CHECK_EQ(polygon_clockwise_2.orientation(), CGAL::COUNTERCLOCKWISE) + << "Polygon orientation wrong! Printing polygon ..." << printPolygonToString(polygon_clockwise_2); + recursion_2 = performInnerConvexApproximation(polygon_clockwise_2); } std::move(recursion_1.begin(), recursion_1.end(), std::back_inserter(convex_polygons)); std::move(recursion_2.begin(), recursion_2.end(), std::back_inserter(convex_polygons)); @@ -249,12 +231,11 @@ std::multimap ConvexDecomposer::detectDentLocations(const CgalPolyg if(isPointOnLeftSide(source_point, direction_vector, test_point)){ double angle = abs(computeAngleBetweenVectors(source_point - test_point, destination_point - test_point)); // Ignore very shallow dents. Approximate convex decomposition. - if ( angle > parameters_.dent_angle_threshold_rad) + if (angle > parameters_.dent_angle_threshold_rad) { dent_locations.insert(std::make_pair(angle, std::distance(polygon.vertices_begin(), dent_it))); + } } } VLOG(1) << "done."; return dent_locations; } - -// *output_polygon_list = decomposeInnerApproximation(polygon); \ No newline at end of file diff --git a/convex_plane_decomposition/src/convex_polygon_decomposition.cpp b/convex_plane_decomposition/src/convex_polygon_decomposition.cpp deleted file mode 100644 index 7e794d9b..00000000 --- a/convex_plane_decomposition/src/convex_polygon_decomposition.cpp +++ /dev/null @@ -1,19 +0,0 @@ -#include "convex_polygon_decomposition.hpp" - -namespace convex_plane_extraction { - void performConvexDecomposition(const CgalPolygon2d& polygon, CgalPolygon2dListContainer* output_polyong_list){ - CHECK_GE(polygon.size(), 3); - CHECK(polygon.is_simple()); - LOG(INFO) << "Started convex decomposition..."; - CGAL::optimal_convex_partition_2(polygon.vertices_begin(), - polygon.vertices_end(), - std::back_inserter(*output_polyong_list)); - - assert(CGAL::partition_is_valid_2(polygon.vertices_begin(), - polygon.vertices_end(), - polygon_list.begin(), - polygon_list.end())); - LOG(INFO) << "done."; - } -} - diff --git a/convex_plane_decomposition/src/export_utils.cpp b/convex_plane_decomposition/src/export_utils.cpp index fd1a762d..fb24c046 100644 --- a/convex_plane_decomposition/src/export_utils.cpp +++ b/convex_plane_decomposition/src/export_utils.cpp @@ -3,19 +3,17 @@ namespace convex_plane_extraction { - bool exportPointsWithNormalsToCsv(grid_map::GridMap &map, const std::string &normals_layer_prefix, - const std::string &layer_height) { - std::ofstream output_file; - output_file.open("/home/andrej/sp_ws/points_and_normals.csv"); - for (grid_map::GridMapIterator iterator(map); - !iterator.isPastEnd(); ++iterator) { - grid_map::Position3 position3; - Eigen::Vector3d point; - Eigen::Vector3d normal; - map.getPosition3(layer_height, *iterator, point); - map.getVector(normals_layer_prefix, *iterator, normal); - output_file << point(0) << ", " << point(1) << ", " << point(2) << ", " << - normal(0) << ", " << normal(1) << ", " << normal(2) << "\n"; +bool exportPointsWithNormalsToCsv(grid_map::GridMap& map, const std::string& normals_layer_prefix, const std::string& layer_height, + const std::string& path) { + std::ofstream output_file; + output_file.open(path + "points_and_normals.csv"); + for (grid_map::GridMapIterator iterator(map); !iterator.isPastEnd(); ++iterator) { + grid_map::Position3 position3; + Eigen::Vector3d point; + Eigen::Vector3d normal; + map.getPosition3(layer_height, *iterator, point); + map.getVector(normals_layer_prefix, *iterator, normal); + output_file << point(0) << ", " << point(1) << ", " << point(2) << ", " << normal(0) << ", " << normal(1) << ", " << normal(2) << "\n"; } return true; } diff --git a/convex_plane_decomposition/src/geometry_utils.cpp b/convex_plane_decomposition/src/geometry_utils.cpp index 51aeb611..a1d97ccf 100644 --- a/convex_plane_decomposition/src/geometry_utils.cpp +++ b/convex_plane_decomposition/src/geometry_utils.cpp @@ -36,72 +36,6 @@ namespace convex_plane_extraction { return acos(abs(scalar_product) / (first_vector.norm() * second_vector.norm())); } - // bool intersectRayWithLineSegment(const Vector2d& ray_source, const Vector2d& ray_direction, - // const Vector2d& segment_source, const Vector2d& segment_target, Vector2d* intersection_point){ - // CHECK_NOTNULL(intersection_point); - // Vector2d segment_direction = segment_target - segment_source; - // Matrix2d A; - // A.col(0) = ray_direction; - // A.col(1) = - segment_direction; - // Vector2d b = segment_source - ray_source; - // auto householder_qr = A.fullPivHouseholderQr(); - // if (householder_qr.rank() < 2) { - // // Check whether segment and ray overlap. - // const Vector2d p_ray_source_segment_source = segment_source - ray_source; - // const Vector2d p_ray_source_segment_target = segment_target - ray_source; - // if (p_ray_source_segment_source.norm() > p_ray_source_segment_target) { - // } - // Vector2d ray_parameter_solution = - // Vector2d(p_ray_source_segment_source.x() / ray_direction.x(), p_ray_source_segment_source.y() / ray_direction.y()); - // constexpr double kSolutionDeviation = 0.0001; - // if (abs(ray_parameter_solution.x() - ray_parameter_solution.y()) < kSolutionDeviation) { - // double parameter_solution_tmp = ray_parameter_solution.mean(); - // if (parameter_solution_tmp < 0) { - // return false; - // } - // CHECK_GT(parameter_solution_tmp, 0); - // Vector2d p_ray_source_segment_target = segment_target - ray_source; - // ray_parameter_solution = - // Vector2d(p_ray_source_segment_target.x() / ray_direction.x(), p_ray_source_segment_target.y() / ray_direction.y()); - // // If ray is parallel (rank loss) and source point lies on ray, then target point has to as well. - // CHECK_LT(abs(ray_parameter_solution.x() - ray_parameter_solution.y()), kSolutionDeviation); - // if (ray_parameter_solution.mean() < 0) { - // return false; - // } - // if (ray_parameter_solution.mean() < parameter_solution_tmp) { - // *intersection_point = segment_target; - // } else { - // *intersection_point = segment_source; - // } - // return true; - // } - // return false; - // } - // Vector2d solution = householder_qr.solve(b); - // Vector2d ray_solution = ray_source + solution(0) * segment_direction; - // Vector2d segment_solution = segment_source + solution(1) * segment_direction; - // constexpr double kSegmentBorderToleranceMeters = 0.001; - // if (solution(0) <= 1) { - // return false; - // } else if (solution(1) < 0) { - // if ((segment_solution - segment_source).norm() > kSegmentBorderToleranceMeters) { - // return false; - // } else { - // *intersection_point = segment_source; - // return true; - // } - // } else if (solution(1) > 1) { - // if ((segment_solution - segment_target).norm() > kSegmentBorderToleranceMeters) { - // return false; - // } else { - // *intersection_point = segment_target; - // } - // } else { - // *intersection_point = segment_solution; - // return true; - // } - // } - bool intersectLineSegmentWithLineSegment(const Vector2d& segment_1_source, const Vector2d& segment_1_target, const Vector2d& segment_2_source, const Vector2d& segment_2_target, Vector2d* intersection_point) { @@ -177,4 +111,3 @@ namespace convex_plane_extraction { } } - diff --git a/convex_plane_decomposition/src/pipeline.cpp b/convex_plane_decomposition/src/pipeline.cpp index 1811f0e4..131e72bf 100644 --- a/convex_plane_decomposition/src/pipeline.cpp +++ b/convex_plane_decomposition/src/pipeline.cpp @@ -1,4 +1,3 @@ - #include "pipeline.hpp" using namespace convex_plane_extraction; @@ -26,28 +25,3 @@ Polygon3dVectorContainer Pipeline::getConvexPolygons() const{ Polygon3dVectorContainer Pipeline::getPlaneContours() const{ return plane_factory_.getPlaneContoursInWorldFrame(); } - -//void Pipeline::exportConvexPolygons(const std::string& export_path) const { -// std::ofstream output_file; -// output_file.open(export_path + "convex_polygons.txt", std::ofstream::app); -// std::chrono::milliseconds time_stamp = std::chrono::duration_cast( -// std::chrono::system_clock::now().time_since_epoch()); -// for (const auto& plane : planes_){ -// for (const auto& polygon : plane.getConvexPolygons()){ -// output_file << time_stamp.count() << ", "; -// for (const auto& vertex : polygon){ -// output_file << vertex.x() << ", "; -// } -// for (auto vertex_it = polygon.vertices_begin(); vertex_it != polygon.vertices_end(); ++vertex_it){ -// output_file << vertex_it->y(); -// if (vertex_it != std::prev(polygon.vertices_end())){ -// output_file << ", "; -// } else { -// output_file << "\n"; -// } -// } -// } -// } -// output_file.close(); -// VLOG(1) << "Exported polygons to " << export_path << "convex_polygons.txt !"; -//} \ No newline at end of file diff --git a/convex_plane_decomposition/src/plane.cpp b/convex_plane_decomposition/src/plane.cpp index c2fe0ed8..6ae4908d 100644 --- a/convex_plane_decomposition/src/plane.cpp +++ b/convex_plane_decomposition/src/plane.cpp @@ -8,6 +8,4 @@ namespace convex_plane_extraction{ return true; } - - } diff --git a/convex_plane_decomposition/src/plane_extractor.cpp b/convex_plane_decomposition/src/plane_extractor.cpp deleted file mode 100644 index e1369da6..00000000 --- a/convex_plane_decomposition/src/plane_extractor.cpp +++ /dev/null @@ -1,58 +0,0 @@ -// -// Created by andrej on 12/6/19. -// - -#include "plane_extractor.hpp" - -namespace convex_plane_extraction { -using namespace grid_map; - - PlaneExtractor::PlaneExtractor(grid_map::GridMap &map, double resolution, const std::string &normals_layer_prefix, - const std::string &height_layer) - : map_(map), - resolution_(resolution), - normal_layer_prefix_(normals_layer_prefix), - height_layer_(height_layer), - ransac_plane_extractor_(ransac_plane_extractor::RansacPlaneExtractor(map, resolution, normals_layer_prefix, height_layer)), - sliding_window_plane_extractor_(sliding_window_plane_extractor::SlidingWindowPlaneExtractor(map,resolution, normals_layer_prefix, height_layer)){ - map_size_ = map.getSize(); - ROS_INFO("Plane extractor initialization successful!"); - } - - PlaneExtractor::~PlaneExtractor(){} - - grid_map::GridMap& PlaneExtractor::getMap(){ - return map_; - } - - void PlaneExtractor::setRansacParameters(const ransac_plane_extractor::RansacPlaneExtractorParameters& parameters){ - ransac_plane_extractor_.setParameters(parameters); - ROS_INFO("RANSAC parameters set!"); - } - - void PlaneExtractor::runRansacPlaneExtractor(){ - ROS_INFO("Starting RANSAC plane extraction..."); - ransac_plane_extractor_.runDetection(); - ROS_INFO("... done."); - } - - void PlaneExtractor::augmentMapWithRansacPlanes(){ - ransac_plane_extractor_.ransacPlaneVisualization(); - } - - void PlaneExtractor::setSlidingWindowParameters(const sliding_window_plane_extractor::SlidingWindowParameters & parameters) { - sliding_window_plane_extractor_.setParameters(parameters); - ROS_INFO("Sliding window parameters set!"); - } - - void PlaneExtractor::runSlidingWindowPlaneExtractor(){ - ROS_INFO("Starting sliding window plane extraction..."); - sliding_window_plane_extractor_.runSlidingWindowDetector(); - ROS_INFO("... done."); - } - -void PlaneExtractor::augmentMapWithSlidingWindowPlanes(){ - sliding_window_plane_extractor_.slidingWindowPlaneVisualization(); -} - -} \ No newline at end of file diff --git a/convex_plane_decomposition/src/plane_factory.cpp b/convex_plane_decomposition/src/plane_factory.cpp index 338932ae..1e18d838 100644 --- a/convex_plane_decomposition/src/plane_factory.cpp +++ b/convex_plane_decomposition/src/plane_factory.cpp @@ -16,7 +16,6 @@ void PlaneFactory::computeMapTransformation(){ void PlaneFactory::createPlanesFromLabeledImageAndPlaneParameters(const cv::Mat& labeled_image, const int number_of_labels, const std::map& plane_parameters){ CHECK_GT(number_of_labels, 0); - //CHECK_EQ(number_of_labels, plane_parameters.size()); Polygonizer polygonizer(parameters_.polygonizer_parameters); for (int label = 1; label < number_of_labels; ++label){ if (plane_parameters.find(label) == plane_parameters.end()){ @@ -27,14 +26,14 @@ void PlaneFactory::createPlanesFromLabeledImageAndPlaneParameters(const cv::Mat& const CgalPolygon2d plane_contour = polygonizer.runPolygonizationOnBinaryImage(binary_image); const auto plane_parameter_it = plane_parameters.find(label); CHECK(plane_parameter_it != plane_parameters.end()) << "Label not contained in plane parameter container!"; - if (plane_contour.is_empty()){ - LOG(WARNING) << "Dropping plane, polygon negligible!"; + if (plane_contour.is_empty()) { + LOG(INFO) << "Dropping plane, polygon empty!"; continue; } if (isPlaneInclinationBelowThreshold(plane_parameter_it->second.normal_vector)){ planes_.emplace_back(plane_contour, plane_parameter_it->second); } else { - LOG(WARNING) << "Dropping plane due to exceeded inclination threshold!"; + LOG(INFO) << "Dropping plane due to exceeded inclination threshold!"; } } } @@ -95,16 +94,16 @@ Polygon3dVectorContainer PlaneFactory::convertPlanePolygonsToWorldFrame(const Cg return output_polygons; } -Eigen::Vector3d PlaneFactory::convertPlanePointToWorldFrame(const CgalPoint2d& point, const PlaneParameters& plane_parameters) const{ +Eigen::Vector3d PlaneFactory::convertPlanePointToWorldFrame(const CgalPoint2d& point, const PlaneParameters& plane_parameters) const { Eigen::Vector2d temp_point(point.x(), point.y()); temp_point = transformation_xy_to_world_frame_ * temp_point; temp_point = temp_point + map_offset_; - LOG_IF(FATAL, !std::isfinite(temp_point.x())) << "Not finite x value!"; - LOG_IF(FATAL, !std::isfinite(temp_point.y())) << "Not finite y value!"; - const double z = (-(temp_point.x() - plane_parameters.support_vector.x())*plane_parameters.normal_vector.x() - - (temp_point.y() - plane_parameters.support_vector.y())* plane_parameters.normal_vector.y()) / - plane_parameters.normal_vector(2) + plane_parameters.support_vector(2); - LOG_IF(FATAL, !std::isfinite(z)) << "Not finite z value!"; - return Vector3d(temp_point.x(), temp_point.y(), z); + CHECK(std::isfinite(temp_point.x())) << "Not finite x value!"; + CHECK(std::isfinite(temp_point.y())) << "Not finite y value!"; + const double z = (-(temp_point.x() - plane_parameters.support_vector.x()) * plane_parameters.normal_vector.x() - + (temp_point.y() - plane_parameters.support_vector.y()) * plane_parameters.normal_vector.y()) / + plane_parameters.normal_vector(2) + + plane_parameters.support_vector(2); + CHECK(std::isfinite(z)) << "Not finite z value!"; + return {temp_point.x(), temp_point.y(), z}; } - diff --git a/convex_plane_decomposition/src/polygon.cpp b/convex_plane_decomposition/src/polygon.cpp index e41bde39..786bd332 100644 --- a/convex_plane_decomposition/src/polygon.cpp +++ b/convex_plane_decomposition/src/polygon.cpp @@ -311,26 +311,23 @@ namespace convex_plane_extraction { } } - void printPolygon(const CgalPolygon2d& polygon){ + void printPolygon(const CgalPolygon2d& polygon) { std::cout << "Polygon has " << polygon.size() << " vertices." << std::endl; - for (const CgalPoint2d& vertex : polygon){ + for (const CgalPoint2d& vertex : polygon) { std::cout << vertex.x() << " , " << vertex.y() << " ; " << std::endl; } } -// void slConcavityHoleVertexSorting(const CgalPolygon2d& hole, std::multimap>* concavity_positions){ -// CHECK_NOTNULL(concavity_positions); -// for (auto vertex_it = hole.vertices_begin(); vertex_it != hole.vertices_end(); ++vertex_it){ -// std::multimap outer_polygon_vertices; -// getVertexPositionsInAscendingDistanceToPoint(outer_polygon_, *vertex_it, &outer_polygon_vertices); -// for (const auto& outer_distance_vertex_pair : outer_polygon_vertices) { -// concavity_positions->insert(std::pair>(outer_distance_vertex_pair.first, -// std::pair(std::distance(hole.vertices_begin(), vertex_it),outer_distance_vertex_pair.second))); -// } -// } -// } + std::string printPolygonToString(const CgalPolygon2d& polygon) { + std::string string; + string = "Polygon has " + std::to_string(polygon.size()) + " vertices. \n"; + for (const CgalPoint2d& vertex : polygon) { + string += std::to_string(vertex.x()) + " , " + std::to_string(vertex.y()) + " ;\n"; + } + return string; + } - std::pair getIndicesOfClosestVertexPair(const CgalPolygon2d& first_polygon, const CgalPolygon2d& second_polygon){ + std::pair getIndicesOfClosestVertexPair(const CgalPolygon2d& first_polygon, const CgalPolygon2d& second_polygon) { CHECK_GT(first_polygon.size(), 0); CHECK_GT(second_polygon.size(), 0); std::multimap> buffer = getClosestVertexPairsOrdered(first_polygon, second_polygon); @@ -338,7 +335,8 @@ namespace convex_plane_extraction { return buffer.begin()->second; } - std::multimap> getClosestVertexPairsOrdered(const CgalPolygon2d& first_polygon, const CgalPolygon2d& second_polygon){ + std::multimap> getClosestVertexPairsOrdered(const CgalPolygon2d& first_polygon, + const CgalPolygon2d& second_polygon) { CHECK_GT(first_polygon.size(), 0); CHECK_GT(second_polygon.size(), 0); std::multimap> buffer; diff --git a/convex_plane_decomposition/src/polygonizer.cpp b/convex_plane_decomposition/src/polygonizer.cpp index 4ee8e71d..9b0d8f40 100644 --- a/convex_plane_decomposition/src/polygonizer.cpp +++ b/convex_plane_decomposition/src/polygonizer.cpp @@ -69,6 +69,7 @@ PolygonWithHoles Polygonizer::extractContoursFromBinaryImage(cv::Mat& binary_ima return plane_polygons; } +// Deprecated: Due to finite resolution in image, complicated contours are extracted in the end. void Polygonizer::resolveHolesInBinaryImage(cv::Mat& binary_image, const PolygonWithHoles& contour_with_holes) const{ for(const auto& hole : contour_with_holes.holes){ if (hole.area() > 36){ @@ -92,201 +93,8 @@ void Polygonizer::resolveHolesInBinaryImage(cv::Mat& binary_image, const Polygon cv::line(binary_image, first_point, second_point, CV_RGB(0,0,0), 2); } } -// cv::namedWindow( "Display window", cv::WINDOW_AUTOSIZE); // Create a window for display. -// cv::imshow( "Display window", binary_image); -// cv::waitKey(0); } -//CgalPolygon2d Polygonizer::resolveHoles(PolygonWithHoles& polygon_with_holes) const{ -// CgalPolygon2dContainer& holes = polygon_with_holes.holes; -// // Get hole part which is entirely contained in outer contour. -// // In the contour simplification stage intersections may have been introduced. -// removeAreasNotContainedInOuterContourFromHoles(polygon_with_holes.outer_contour, holes); -// if (holes.empty()) { -// return polygon_with_holes.outer_contour; -// } -// auto hole_it = holes.begin(); -// while(!holes.empty()) { -// if (hole_it == holes.end()){ -// hole_it = holes.begin(); -// } -// // Compute distance to outer contour for each hole. -// if (hole_it->size() < 3) { -// hole_it = holes.erase(hole_it); -// } else if (abs(hole_it->area()) < parameters_.hole_area_threshold_squared_meters) { -// hole_it = holes.erase(hole_it); -// } else { -// // Does one hole edge overlap with outer polygon? Treat this separately. -// doHole -// std::pair bridge_hole_outer_vertex = getIndicesOfClosestVertexPair(*hole_it, polygon_with_holes.outer_contour); -// CgalSegment2d bridge(getPolygonVertexAtIndex(*hole_it, bridge_hole_outer_vertex .first), -// getPolygonVertexAtIndex(polygon_with_holes.outer_contour, bridge_hole_outer_vertex .second)); -// int segment_target_vertex_index; -// if (doPointAndPolygonIntersect(polygon_with_holes.outer_contour, getPolygonVertexAtIndex(*hole_it, -// bridge_hole_outer_vertex.first), segment_target_vertex_index)){ -// addHoleToOuterContourAtVertexIndex(bridge_hole_outer_vertex.first, segment_target_vertex_index, *hole_it, polygon_with_holes.outer_contour); -// } -// int hole_connection_vertex_position; -// int outer_polygon_connection_vertex_position; -// bool valid_connection = true; -// int i = 0; -// for (const auto& position : connection_candidates){ -// auto hole_vertex_it = hole_it->vertices_begin(); -// std::advance(hole_vertex_it, position.second.first); -// bool print_flag = false; -// if (position.second.first == 7){ -// print_flag = true; -// } -// CgalPoint2d hole_vertex = *hole_vertex_it; -// // Get outer contour connection vertices sorted according to distance to hole vertex. -// auto outer_vertex_it = outer_polygon_.vertices_begin(); -// std::advance(outer_vertex_it, position.second.second); -// CgalVector2d direction = *outer_vertex_it - hole_vertex; -// direction = (1.0/direction.squared_length()) * direction; -// CgalSegment2d connection(hole_vertex + 0.0001 * direction, *outer_vertex_it - 0.0001 * direction); -// if (!doPolygonAndSegmentIntersect(outer_polygon_, connection, print_flag)){ -// valid_connection = true; -// for (auto hole_iterator = hole_polygons_.begin(); hole_iterator != hole_polygons_.end(); ++hole_iterator){ -// if (hole_iterator->size() < 3){ -// continue; -// } -// if (doPolygonAndSegmentIntersect(*hole_iterator, connection, print_flag)) { -// valid_connection = false; -// //std::cout << "Hole and connection intersect!" << std::endl; -// ++i; -// break; -// } -// } -// } else { -// //std::cout << "Outer contour and connection intersect!" << std::endl; -// ++i; -// valid_connection = false; -// } -// if (valid_connection){ -// hole_connection_vertex_position = position.second.first; -// outer_polygon_connection_vertex_position = position.second.second; -// break; -// } -// } -// if (!valid_connection){ -// CHECK_EQ(i, hole_it->size()*outer_polygon_.size()); -// LOG(WARNING) << "No valid connection found! " << i << " iterations."; -// ++hole_it; -// continue; -// } -// CHECK(valid_connection); -// // Perform the integration of the hole into the outer contour. -// auto outer_contour_connection_vertex = outer_polygon_.vertices_begin(); -// std::advance(outer_contour_connection_vertex, outer_polygon_connection_vertex_position); -// auto hole_contour_connection_vertex = hole_it->vertices_begin(); -// std::advance(hole_contour_connection_vertex, hole_connection_vertex_position); -// CgalPolygon2d new_polygon; -// // Start filling new polygon with outer contour. -// for (auto vertex_it = outer_polygon_.vertices_begin(); vertex_it != outer_contour_connection_vertex; ++vertex_it){ -// new_polygon.push_back(*vertex_it); -// } -// new_polygon.push_back(*outer_contour_connection_vertex); -// auto hole_vertex_it = hole_contour_connection_vertex; -// do { -// new_polygon.push_back(*hole_vertex_it); -// if (hole_vertex_it != std::prev(hole_it->vertices_end())){ -// hole_vertex_it = std::next(hole_vertex_it); -// } else { -// hole_vertex_it = hole_it->vertices_begin(); -// } -// } while(hole_vertex_it != hole_contour_connection_vertex); -// // Create new vertices next to connection points to avoid same enter and return path. -// CgalSegment2d enter_connection(*outer_contour_connection_vertex, *hole_contour_connection_vertex); -// Eigen::Vector2d normal_vector; -// getSegmentNormalVector(enter_connection, &normal_vector); -// // Check for possible intersections. -// Eigen::Vector2d line_start_point(hole_contour_connection_vertex->x(), hole_contour_connection_vertex->y()); -// Eigen::Vector2d direction_vector(outer_contour_connection_vertex->x() - hole_contour_connection_vertex->x(), -// outer_contour_connection_vertex->y() - hole_contour_connection_vertex->y()); -// auto next_vertex = std::next(outer_contour_connection_vertex); -// if (next_vertex == outer_polygon_.vertices_end()){ -// next_vertex = outer_polygon_.begin(); -// } -// Eigen::Vector2d test_point(next_vertex->x(), next_vertex->y()); -// constexpr double kPointOffset = 0.0001; -// Eigen::Vector2d outer_point(outer_contour_connection_vertex->x(), outer_contour_connection_vertex->y()); -// if (isPointOnLeftSide(line_start_point, direction_vector, test_point)){ -// Eigen::Vector2d translation_vector(next_vertex->x() - outer_contour_connection_vertex->x(), -// next_vertex->y() - outer_contour_connection_vertex->y()); -// translation_vector.normalize(); -// outer_point += kPointOffset * translation_vector.normalized(); -// } else { -// outer_point += kPointOffset * normal_vector.normalized(); -// } -// next_vertex = hole_contour_connection_vertex; -// if (next_vertex == hole_it->vertices_begin()){ -// next_vertex = hole_it->vertices_end(); -// next_vertex = std::prev(next_vertex); -// } else { -// next_vertex = std::prev(next_vertex); -// } -// Eigen::Vector2d hole_point(hole_contour_connection_vertex->x(), hole_contour_connection_vertex->y()); -// test_point << next_vertex->x(), next_vertex->y(); -// constexpr double kPiHalf = 3.1416 / 2; -// if (isPointOnLeftSide(line_start_point, direction_vector, test_point) -// && computeAngleBetweenVectors(test_point - line_start_point, direction_vector) < kPiHalf){ -// Eigen::Vector2d translation_vector(next_vertex->x() - hole_contour_connection_vertex->x(), -// next_vertex->y() - hole_contour_connection_vertex->y()); -// translation_vector.normalize(); -// hole_point += kPointOffset * translation_vector; -// } else { -// hole_point += kPointOffset * normal_vector; -// } -// Vector2d new_edge_direction = outer_point - hole_point; -// new_edge_direction.normalize(); -// constexpr double kShiftFactor = 0.0001; -// bool intersection_caused = false; -// CgalSegment2d new_edge(CgalPoint2d(hole_point.x() + kShiftFactor * new_edge_direction.x(), -// hole_point.y() + kShiftFactor * new_edge_direction.y()),CgalPoint2d(outer_point.x() - -// kShiftFactor * new_edge_direction.x(), outer_point.y() - kShiftFactor * new_edge_direction.y())); -// if (!doPolygonAndSegmentIntersect(outer_polygon_, new_edge, false)){ -// for (auto hole_iterator = hole_polygons_.begin(); hole_iterator != hole_polygons_.end(); ++hole_iterator){ -// if (hole_iterator->size() < 3){ -// continue; -// } -// if (doPolygonAndSegmentIntersect(*hole_iterator, new_edge, false)) { -// intersection_caused = true; -// break; -// } -// } -// } else { -// //std::cout << "Outer contour and connection intersect!" << std::endl; -// intersection_caused = true; -// } -// if (intersection_caused){ -// ++hole_it; -// continue; -// } -// // Add new vertices to outer contour. -// new_polygon.push_back(CgalPoint2d(hole_point.x(), hole_point.y())); -// new_polygon.push_back(CgalPoint2d(outer_point.x(), outer_point.y())); -// // Add remaining outer contour vertices to new polygon. -// auto vertex_it = outer_contour_connection_vertex; -// vertex_it = std::next(vertex_it); -// for (; vertex_it != outer_polygon_.vertices_end(); ++vertex_it){ -// new_polygon.push_back(*vertex_it); -// } -// if (!new_polygon.is_simple()){ -// std::cout << "Hole orientation: " << hole_it->orientation() << std::endl; -// std::cout <<"Hole vertex: " << *hole_contour_connection_vertex << std::endl; -// std::cout <<"Outer vertex: " << *outer_contour_connection_vertex << std::endl; -// printPolygon(new_polygon); -// } -// CHECK(new_polygon.is_simple()); -// outer_polygon_ = new_polygon; -// ++hole_it; -// hole_polygons_.erase(std::prev(hole_it)); -// } -// } -// //approximateContour(&outer_polygon_); -// CHECK(outer_polygon_.is_simple()); -//} - void Polygonizer::removeAreasNotContainedInOuterContourFromHoles(const CgalPolygon2d& outer_polygon, std::vector& holes) const{ auto hole_it = holes.begin(); while(hole_it != holes.end()) { @@ -312,6 +120,7 @@ bool Polygonizer::addHoleToOuterContourAtVertexIndex(int segment_target_vertex_i return false; } +// Deprecated: This method produces non-simple polygons. CgalPolygon2d Polygonizer::resolveHolesWithVerticalConnection(PolygonWithHoles& polygon_with_holes) const{ CgalPolygon2dContainer& holes = polygon_with_holes.holes; // Get hole part which is entirely contained in outer contour. @@ -341,27 +150,13 @@ CgalPolygon2d Polygonizer::resolveHolesWithVerticalConnection(PolygonWithHoles& return **offset_polygons.begin(); } -/* -void Polygonizer::approximatePolygon(CgalPolygon2d& polygon) const{ - std::vector contour; - for (const auto& vertex : polygon.container()){ - contour.emplace_back(vertex.y(), vertex.x()); - } - std::vector approx_contour; - cv::approxPolyDP(contour, approx_contour, parameters_.contour_approximation_deviation_threshold, true); - polygon.clear(); - for (const auto& point : approx_contour){ - polygon.push_back(CgalPoint2d(point.y, point.x)); - } -} -*/ CgalPolygon2d Polygonizer::runPolygonizationOnBinaryImage(const cv::Mat& binary_image) const{ PolygonWithHoles polygon_with_holes = extractPolygonsFromBinaryImage(binary_image); //CgalPolygon2d polygon = resolveHolesWithVerticalConnection(polygon_with_holes); - //approximatePolygon(polygon_with_holes.outer_contour); return polygon_with_holes.outer_contour; } +// TODO: complete implementation! CgalPolygon2d Polygonizer::resolveHolesUsingSlConnection(const PolygonWithHoles& polygon_with_holes) const{ CgalPolygon2dContainer holes = polygon_with_holes.holes; // Get hole part which is entirely contained in outer contour. diff --git a/convex_plane_decomposition/src/ransac_plane_extractor.cpp b/convex_plane_decomposition/src/ransac_plane_extractor.cpp index 7e7ce385..1d6f94fd 100644 --- a/convex_plane_decomposition/src/ransac_plane_extractor.cpp +++ b/convex_plane_decomposition/src/ransac_plane_extractor.cpp @@ -25,26 +25,4 @@ void RansacPlaneExtractor::setParameters(const RansacPlaneExtractorParameters& p parameters_.normal_threshold = parameters.normal_threshold; } -//void RansacPlaneExtractor::ransacPlaneVisualization(){ -// Eigen::MatrixXf plane_map = Eigen::MatrixXf::Zero(map_.getSize().x(), map_.getSize().y()); -// int32_t plane_label_iterator = 1; -// for (auto plane : ransac_.shapes()){ -// const std::vector& plane_points = (*plane.get()).indices_of_assigned_points(); -// auto plane_points_it = plane_points.begin(); -// for (; plane_points_it != plane_points.end(); ++plane_points_it){ -// Point_3D& point = points_with_normal_.getPoint(*plane_points_it); -// Eigen::Array2i map_indices; -// map_.getIndex(Eigen::Vector2d(point.x(), point.y()), map_indices); -// ransac_map_(map_indices(0), map_indices(1)) = 1;//plane_label_iterator; -// } -// ++plane_label_iterator; -// } -// std::ofstream output_file; -// output_file.open("/home/andrej/Desktop/number_of_planes_ransac_12.txt", std::ofstream::app);; -// output_file << plane_label_iterator << "\n"; -// output_file.close(); -// map_.add("ransac_planes", ransac_map_); -// std::cout << "Added ransac plane layer!" << std::endl; -//} - diff --git a/convex_plane_decomposition/src/sliding_window_plane_extractor.cpp b/convex_plane_decomposition/src/sliding_window_plane_extractor.cpp index 8cb62a8e..e1f3227e 100644 --- a/convex_plane_decomposition/src/sliding_window_plane_extractor.cpp +++ b/convex_plane_decomposition/src/sliding_window_plane_extractor.cpp @@ -1,4 +1,3 @@ - #include "sliding_window_plane_extractor.hpp" namespace sliding_window_plane_extractor{ From 6b52c6efe14143e69d5439d9929031f40ea56b1b Mon Sep 17 00:00:00 2001 From: andrej1001 Date: Mon, 30 Mar 2020 21:02:22 +0200 Subject: [PATCH 034/504] Clean-up. --- convex_plane_decomposition/include/plane.hpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/convex_plane_decomposition/include/plane.hpp b/convex_plane_decomposition/include/plane.hpp index 00ce8f14..93aa7b22 100644 --- a/convex_plane_decomposition/include/plane.hpp +++ b/convex_plane_decomposition/include/plane.hpp @@ -20,7 +20,7 @@ namespace convex_plane_extraction { class Plane { public: - Plane(const CgalPolygon2d& plane_contour, const PlaneParameters parameters) + Plane(const CgalPolygon2d& plane_contour, const PlaneParameters& parameters) : plane_contour_(plane_contour), normal_vector_(parameters.normal_vector), support_vector_(parameters.support_vector) {} void addConvexPolygon(const CgalPolygon2d& convex_polygon) { convex_polygons_.push_back(convex_polygon); } From 26bfee9c8e9ccc833f14ad30704fcf3a1e0a0ee7 Mon Sep 17 00:00:00 2001 From: andrej1001 Date: Sun, 5 Apr 2020 19:32:31 +0200 Subject: [PATCH 035/504] Modified rviz view. --- .../convex_plane_extraction_demo.launch | 4 +- .../rviz/config.rviz | 8 +- .../rviz/config_demo.rviz | 281 ++++++++++++++++++ 3 files changed, 287 insertions(+), 6 deletions(-) create mode 100644 convex_plane_decomposition_ros/rviz/config_demo.rviz diff --git a/convex_plane_decomposition_ros/launch/convex_plane_extraction_demo.launch b/convex_plane_decomposition_ros/launch/convex_plane_extraction_demo.launch index 9829094c..95cc115d 100644 --- a/convex_plane_decomposition_ros/launch/convex_plane_extraction_demo.launch +++ b/convex_plane_decomposition_ros/launch/convex_plane_extraction_demo.launch @@ -13,5 +13,5 @@ - - \ No newline at end of file + + diff --git a/convex_plane_decomposition_ros/rviz/config.rviz b/convex_plane_decomposition_ros/rviz/config.rviz index f8fb179b..3ee6f810 100644 --- a/convex_plane_decomposition_ros/rviz/config.rviz +++ b/convex_plane_decomposition_ros/rviz/config.rviz @@ -248,9 +248,9 @@ Visualization Manager: Swap Stereo Eyes: false Value: false Focal Point: - X: 1.046505093574524 - Y: -13.699677467346191 - Z: 6.601845741271973 + X: -1 + Y: -1 + Z: 2 Focal Shape Fixed Size: true Focal Shape Size: 0.05000000074505806 Invert Z Axis: false @@ -259,7 +259,7 @@ Visualization Manager: Pitch: 0.6597966551780701 Target Frame: Value: Orbit (rviz) - Yaw: 0.7649338245391846 + Yaw: 0 Saved: ~ Window Geometry: Displays: diff --git a/convex_plane_decomposition_ros/rviz/config_demo.rviz b/convex_plane_decomposition_ros/rviz/config_demo.rviz new file mode 100644 index 00000000..39ec3a20 --- /dev/null +++ b/convex_plane_decomposition_ros/rviz/config_demo.rviz @@ -0,0 +1,281 @@ +Panels: + - Class: rviz/Displays + Help Height: 0 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /PolygonArray1 + - /PolygonArray2 + - /GridMap1 + Splitter Ratio: 0.6114649772644043 + Tree Height: 1173 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: "" +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Class: rviz/Axes + Enabled: false + Length: 0.20000000298023224 + Name: Axes + Radius: 0.009999999776482582 + Reference Frame: + Value: false + - Alpha: 1 + Autocompute Intensity Bounds: true + Class: grid_map_rviz_plugin/GridMap + Color: 200; 200; 200 + Color Layer: elevation + Color Transformer: GridMapLayer + Enabled: false + Height Layer: elevation + Height Transformer: GridMapLayer + History Length: 1 + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 10 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: Elevation + Show Grid Lines: true + Topic: /grid_map_filter_demo/filtered_map + Unreliable: false + Use Rainbow: true + Value: false + - Alpha: 1 + Autocompute Intensity Bounds: true + Class: grid_map_rviz_plugin/GridMap + Color: 200; 200; 200 + Color Layer: normal_color + Color Transformer: ColorLayer + Enabled: false + Height Layer: elevation + Height Transformer: GridMapLayer + History Length: 1 + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 10 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: Normal mapping + Show Grid Lines: false + Topic: /grid_map_filter_demo/filtered_map + Unreliable: false + Use Rainbow: false + Value: false + - Alpha: 1 + Autocompute Intensity Bounds: true + Class: grid_map_rviz_plugin/GridMap + Color: 200; 200; 200 + Color Layer: edges + Color Transformer: IntensityLayer + Enabled: false + Height Layer: elevation + Height Transformer: GridMapLayer + History Length: 1 + Invert Rainbow: false + Max Color: 255; 0; 0 + Max Intensity: 10 + Min Color: 255; 255; 255 + Min Intensity: 0 + Name: Edges + Show Grid Lines: false + Topic: /grid_map_filter_demo/filtered_map + Unreliable: false + Use Rainbow: false + Value: false + - Alpha: 1 + Autocompute Intensity Bounds: false + Class: grid_map_rviz_plugin/GridMap + Color: 200; 200; 200 + Color Layer: roughness + Color Transformer: IntensityLayer + Enabled: false + Height Layer: elevation + Height Transformer: GridMapLayer + History Length: 1 + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 0.07999999821186066 + Min Color: 0; 0; 0 + Min Intensity: -0.019999999552965164 + Name: Roughness + Show Grid Lines: false + Topic: /grid_map_filter_demo/filtered_map + Unreliable: false + Use Rainbow: true + Value: false + - Alpha: 1 + Autocompute Intensity Bounds: false + Class: grid_map_rviz_plugin/GridMap + Color: 200; 200; 200 + Color Layer: traversability + Color Transformer: GridMapLayer + Enabled: false + Height Layer: elevation + Height Transformer: GridMapLayer + History Length: 1 + Invert Rainbow: true + Max Color: 255; 255; 255 + Max Intensity: 1.2000000476837158 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: Traversability + Show Grid Lines: false + Topic: /grid_map_filter_demo/filtered_map + Unreliable: false + Use Rainbow: true + Value: false + - Class: rviz/Marker + Enabled: false + Marker Topic: /grid_map_visualization/surface_normals + Name: Surface Normals + Namespaces: + {} + Queue Size: 100 + Value: false + - Alpha: 1 + Class: rviz/Map + Color Scheme: map + Draw Behind: false + Enabled: false + Name: Elevation + Topic: /grid_map_visualization/elevation_grid + Unreliable: false + Use Timestamp: false + Value: false + - Alpha: 1 + Class: jsk_rviz_plugin/PolygonArray + Color: 25; 255; 0 + Enabled: true + Name: PolygonArray + Topic: /convex_plane_extraction_ros/convex_polygons + Unreliable: false + Value: true + coloring: Auto + enable lighting: true + normal length: 0.10000000149011612 + only border: false + show normal: true + - Alpha: 1 + Class: jsk_rviz_plugin/PolygonArray + Color: 25; 255; 0 + Enabled: true + Name: PolygonArray + Topic: /convex_plane_extraction_ros/outer_contours + Unreliable: false + Value: true + coloring: Auto + enable lighting: true + normal length: 0.10000000149011612 + only border: true + show normal: true + - Alpha: 0.10000000149011612 + Autocompute Intensity Bounds: true + Class: grid_map_rviz_plugin/GridMap + Color: 200; 200; 200 + Color Layer: elevation + Color Transformer: GridMapLayer + Enabled: true + Height Layer: elevation + Height Transformer: GridMapLayer + History Length: 1 + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 10 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: GridMap + Show Grid Lines: true + Topic: /convex_plane_extraction_ros/convex_plane_extraction + Unreliable: false + Use Rainbow: true + Value: true + Enabled: true + Global Options: + Background Color: 255; 255; 255 + Default Light: true + Fixed Frame: odom + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Theta std deviation: 0.2617993950843811 + Topic: /initialpose + X std deviation: 0.5 + Y std deviation: 0.5 + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 6.349719524383545 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: -1 + Y: -1 + Z: 2 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.7997971177101135 + Target Frame: + Value: Orbit (rviz) + Yaw: 4.123183727264404 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1403 + Hide Left Dock: false + Hide Right Dock: true + QMainWindow State: 000000ff00000000fd00000004000000000000016a000004d7fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005e00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed0000033300000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000040000004d7000000ce00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000040efc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000000280000040e000000ac00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e1000001970000000300000a000000003efc0100000002fb0000000800540069006d0065010000000000000a000000025700fffffffb0000000800540069006d0065010000000000000450000000000000000000000890000004d700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: true + Width: 2560 + X: 1360 + Y: 0 From dff75bca0436f955e53bb977fcd78d71e7c640f0 Mon Sep 17 00:00:00 2001 From: andrej1001 Date: Thu, 16 Apr 2020 10:56:51 +0200 Subject: [PATCH 036/504] Edited README. --- README.md | 67 ++++++++++++++++++++++- convex_plane_decomposition/CMakeLists.txt | 7 ++- 2 files changed, 70 insertions(+), 4 deletions(-) diff --git a/README.md b/README.md index 7da6c9a7..97810666 100644 --- a/README.md +++ b/README.md @@ -1,3 +1,68 @@ # loco_perception # -This repo is for perceptive motion optimization problems. +## Overview +This is a C++ ROS package for extracting convex polygons from elevation maps created by elevation_mapping. + +![screenshot](convex_plane_decomposition_ros/data/entire_map_decomposed.png) + +## Installation + +### Dependencies + +#### OpenCV +Make sure you have openCV installed. +You can execute the following command to install it. +```bash +sudo apt-get install libopencv-dev +``` + +#### Eigen +```bash +sudo apt install libeigen3-dev +``` + +#### GLOG +```bash +sudo apt-get install libgoogle-glog-dev +``` + +#### CGAL +CGAL5 is required. You can download it from [here](https://github.com/CGAL/cgal/releases/tag/releases%2FCGAL-5.0.2) +and follow the instructions [here](https://doc.cgal.org/latest/Manual/installation.html#installation_idealworld). +Make sure you have the third-party libaries installed on you machine: +```bash +sudo apt-get install libgmp-dev +sudo apt-get install libgmp3-dev +sudo apt-get install libmpfr-dev +sudo apt-get install libboost-all-dev +``` + + +### ROS package dependencies + +#### JSK-visualization +For rviz-visualization the jsk-library is used. +```bash +sudo apt-get install ros-melodic-jsk-visualization +``` + +#### Grid Map +Grid map has to be located in you workspace. You can clone it using: +```bash +git clone https://github.com/ANYbotics/grid_map.git +``` + +## Usage +### Build +```bash +catkin build convex_plane_extraction +``` +### Run demo +```bash +roslaunch convex_plane_extraction_ros convex_plane_extraction_demo.launch +``` + +### Parameters +You can select input map topics, pipeline parameters etc. in the respective yaml file in ```bash +convex_plane_decomposition_ros/config/ +``` diff --git a/convex_plane_decomposition/CMakeLists.txt b/convex_plane_decomposition/CMakeLists.txt index 3a9f58d9..76a2ab55 100644 --- a/convex_plane_decomposition/CMakeLists.txt +++ b/convex_plane_decomposition/CMakeLists.txt @@ -34,7 +34,8 @@ find_package(OpenCV REQUIRED CONFIG ) -find_package(glog 0.4.0 REQUIRED) +find_package(PkgConfig REQUIRED) +pkg_check_modules(glog libglog REQUIRED) ## Uncomment this if the package has a setup.py. This macro ensures ## modules and global scripts declared therein get installed @@ -138,7 +139,6 @@ catkin_package( geometry_msgs sensor_msgs cv_bridge -# DEPENDS system_lib ) ########### @@ -197,8 +197,9 @@ target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} ${CGAL_LIBRARIES} ${OpenCV_LIBRARIES} - ${CGAL_3RD_PARTY_LIBRARIES} glog + gmp + mpfr ) ############# From f398318eafd8bc9d3381838a0c20b7881a5ac321 Mon Sep 17 00:00:00 2001 From: Andrej Adzic Date: Thu, 16 Apr 2020 08:59:56 +0000 Subject: [PATCH 037/504] README.md edited online with Bitbucket --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index 97810666..de90885e 100644 --- a/README.md +++ b/README.md @@ -55,7 +55,7 @@ git clone https://github.com/ANYbotics/grid_map.git ## Usage ### Build ```bash -catkin build convex_plane_extraction +catkin build convex_plane_extraction_ros ``` ### Run demo ```bash From 9540f303447d9050363053edea3809125086f1e9 Mon Sep 17 00:00:00 2001 From: Andrej Adzic Date: Thu, 16 Apr 2020 09:01:17 +0000 Subject: [PATCH 038/504] README.md edited online with Bitbucket --- README.md | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/README.md b/README.md index de90885e..31e91372 100644 --- a/README.md +++ b/README.md @@ -63,6 +63,7 @@ roslaunch convex_plane_extraction_ros convex_plane_extraction_demo.launch ``` ### Parameters -You can select input map topics, pipeline parameters etc. in the respective yaml file in ```bash +You can select input map topics, pipeline parameters etc. in the respective yaml file in +```bash convex_plane_decomposition_ros/config/ ``` From 8a2cd25eef1d6c5c73da65f7508501afc0485ddb Mon Sep 17 00:00:00 2001 From: Marko Bjelonic Date: Mon, 20 Apr 2020 13:12:57 +0200 Subject: [PATCH 039/504] Fixed Cmake regarding gmp. --- convex_plane_decomposition_ros/CMakeLists.txt | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/convex_plane_decomposition_ros/CMakeLists.txt b/convex_plane_decomposition_ros/CMakeLists.txt index 72555cc2..3d53d3f7 100644 --- a/convex_plane_decomposition_ros/CMakeLists.txt +++ b/convex_plane_decomposition_ros/CMakeLists.txt @@ -171,6 +171,7 @@ target_link_libraries(${PROJECT_NAME} ${CGAL_3RD_PARTY_LIBRARIES} ${OpenCV_LIBRARIES} glog + gmp ) ############# @@ -232,4 +233,4 @@ install( # endif() ## Add folders to be run by python nosetests -# catkin_add_nosetests(test) \ No newline at end of file +# catkin_add_nosetests(test) From 876d5a65118a1a909320cf4894de75b35892a8f5 Mon Sep 17 00:00:00 2001 From: Marko Bjelonic Date: Mon, 20 Apr 2020 14:59:32 +0200 Subject: [PATCH 040/504] convex_plane_extraction renamed to convex_plane_decomposition. --- README.md | 8 ++++---- convex_plane_decomposition/CMakeLists.txt | 10 +++++----- .../include/convex_decomposer.hpp | 4 ++-- .../include/export_utils.hpp | 2 +- .../include/geometry_utils.hpp | 4 ++-- convex_plane_decomposition/include/pipeline.hpp | 4 ++-- convex_plane_decomposition/include/plane.hpp | 4 ++-- .../include/plane_factory.hpp | 6 +++--- convex_plane_decomposition/include/polygon.hpp | 4 ++-- .../include/polygonizer.hpp | 4 ++-- .../include/sliding_window_plane_extractor.hpp | 2 +- convex_plane_decomposition/include/types.hpp | 2 +- convex_plane_decomposition/package.xml | 4 ++-- .../src/convex_decomposer.cpp | 4 ++-- convex_plane_decomposition/src/export_utils.cpp | 2 +- .../src/geometry_utils.cpp | 2 +- convex_plane_decomposition/src/pipeline.cpp | 2 +- convex_plane_decomposition/src/plane.cpp | 2 +- .../src/plane_factory.cpp | 4 ++-- convex_plane_decomposition/src/polygon.cpp | 4 ++-- convex_plane_decomposition/src/polygonizer.cpp | 6 +++--- .../src/sliding_window_plane_extractor.cpp | 4 ++-- convex_plane_decomposition_ros/CMakeLists.txt | 14 +++++++------- ...ex_plane_decomposition_demo_parameters.yaml} | 0 ...s.hpp => convex_plane_decomposition_ros.hpp} | 2 +- .../include/grid_map_preprocessing.hpp | 2 +- .../include/pipeline_ros.hpp | 4 ++-- .../include/ros_visualizations.hpp | 2 +- .../launch/convex_plane_decomposition.launch | 8 ++++++++ .../convex_plane_decomposition_demo.launch | 17 +++++++++++++++++ .../launch/convex_plane_extraction.launch | 8 -------- .../launch/convex_plane_extraction_demo.launch | 17 ----------------- convex_plane_decomposition_ros/package.xml | 6 +++--- convex_plane_decomposition_ros/rviz/config.rviz | 6 +++--- .../rviz/config_demo.rviz | 6 +++--- ....cpp => convex_plane_decomposition_node.cpp} | 6 +++--- ...s.cpp => convex_plane_decomposition_ros.cpp} | 6 +++--- .../src/grid_map_preprocessing.cpp | 2 +- .../src/pipeline_ros.cpp | 4 ++-- .../src/ros_visualizations.cpp | 2 +- 40 files changed, 100 insertions(+), 100 deletions(-) rename convex_plane_decomposition_ros/config/{convex_plane_extraction_demo_parameters.yaml => convex_plane_decomposition_demo_parameters.yaml} (100%) rename convex_plane_decomposition_ros/include/{convex_plane_extraction_ros.hpp => convex_plane_decomposition_ros.hpp} (97%) create mode 100644 convex_plane_decomposition_ros/launch/convex_plane_decomposition.launch create mode 100644 convex_plane_decomposition_ros/launch/convex_plane_decomposition_demo.launch delete mode 100644 convex_plane_decomposition_ros/launch/convex_plane_extraction.launch delete mode 100644 convex_plane_decomposition_ros/launch/convex_plane_extraction_demo.launch rename convex_plane_decomposition_ros/src/{convex_plane_extraction_node.cpp => convex_plane_decomposition_node.cpp} (57%) rename convex_plane_decomposition_ros/src/{convex_plane_extraction_ros.cpp => convex_plane_decomposition_ros.cpp} (94%) diff --git a/README.md b/README.md index 31e91372..18def001 100644 --- a/README.md +++ b/README.md @@ -1,4 +1,4 @@ -# loco_perception # +# Convex Terrain Representation # ## Overview This is a C++ ROS package for extracting convex polygons from elevation maps created by elevation_mapping. @@ -55,15 +55,15 @@ git clone https://github.com/ANYbotics/grid_map.git ## Usage ### Build ```bash -catkin build convex_plane_extraction_ros +catkin build convex_plane_decomposition_ros ``` ### Run demo ```bash -roslaunch convex_plane_extraction_ros convex_plane_extraction_demo.launch +roslaunch convex_plane_decomposition_ros convex_plane_decomposition_demo.launch ``` ### Parameters -You can select input map topics, pipeline parameters etc. in the respective yaml file in +You can select input map topics, pipeline parameters etc. in the respective yaml file in ```bash convex_plane_decomposition_ros/config/ ``` diff --git a/convex_plane_decomposition/CMakeLists.txt b/convex_plane_decomposition/CMakeLists.txt index 76a2ab55..96589cdc 100644 --- a/convex_plane_decomposition/CMakeLists.txt +++ b/convex_plane_decomposition/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.1...3.15) -project(convex_plane_extraction) +project(convex_plane_decomposition) ## Compile as C++11, supported in ROS Kinetic and newer set(CMAKE_CXX_FLAGS "-std=c++14 ${CMAKE_CXX_FLAGS}") @@ -124,7 +124,7 @@ pkg_check_modules(glog libglog REQUIRED) ## DEPENDS: system dependencies of this project that dependent projects also need catkin_package( INCLUDE_DIRS include - LIBRARIES convex_plane_extraction + LIBRARIES convex_plane_decomposition CATKIN_DEPENDS roscpp grid_map_core @@ -155,7 +155,7 @@ include_directories( ## Declare a C++ library # add_library(${PROJECT_NAME} -# src/${PROJECT_NAME}/convex_plane_extraction.cpp +# src/${PROJECT_NAME}/convex_plane_decomposition.cpp # ) ## Add cmake target dependencies of the library @@ -194,7 +194,7 @@ add_dependencies(${PROJECT_NAME} ## Specify libraries to link a library or executable target against target_link_libraries(${PROJECT_NAME} - ${catkin_LIBRARIES} + ${catkin_LIBRARIES} ${CGAL_LIBRARIES} ${OpenCV_LIBRARIES} glog @@ -255,7 +255,7 @@ install( ############# ## Add gtest based cpp test target and link libraries -# catkin_add_gtest(${PROJECT_NAME}-test test/test_convex_plane_extraction.cpp) +# catkin_add_gtest(${PROJECT_NAME}-test test/test_convex_plane_decomposition.cpp) # if(TARGET ${PROJECT_NAME}-test) # target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) # endif() diff --git a/convex_plane_decomposition/include/convex_decomposer.hpp b/convex_plane_decomposition/include/convex_decomposer.hpp index a4da6a62..71391f97 100644 --- a/convex_plane_decomposition/include/convex_decomposer.hpp +++ b/convex_plane_decomposition/include/convex_decomposer.hpp @@ -3,7 +3,7 @@ #include "polygon.hpp" -namespace convex_plane_extraction { +namespace convex_plane_decomposition { enum class ConvexDecompositionType{ kGreeneOptimalDecomposition = 1, @@ -31,6 +31,6 @@ class ConvexDecomposer { ConvexDecomposerParameters parameters_; }; -} // namespace convex_plane_extraction +} // namespace convex_plane_decomposition #endif //CONVEX_PLANE_EXTRACTION_INCLUDE_CONVEX_DECOMPOSER_HPP_ diff --git a/convex_plane_decomposition/include/export_utils.hpp b/convex_plane_decomposition/include/export_utils.hpp index ab53fb63..19b93dad 100644 --- a/convex_plane_decomposition/include/export_utils.hpp +++ b/convex_plane_decomposition/include/export_utils.hpp @@ -11,7 +11,7 @@ #include "grid_map_ros/grid_map_ros.hpp" -namespace convex_plane_extraction { +namespace convex_plane_decomposition { bool exportPointsWithNormalsToCsv(grid_map::GridMap& map, const std::string& normals_layer_prefix, const std::string& layer_height, const std::string& path); diff --git a/convex_plane_decomposition/include/geometry_utils.hpp b/convex_plane_decomposition/include/geometry_utils.hpp index 94dc8f08..e0a9528b 100644 --- a/convex_plane_decomposition/include/geometry_utils.hpp +++ b/convex_plane_decomposition/include/geometry_utils.hpp @@ -3,7 +3,7 @@ #include "types.hpp" -namespace convex_plane_extraction { +namespace convex_plane_decomposition { double scalarCrossProduct(const Vector2d& leftVector, const Vector2d& rightVector); @@ -27,5 +27,5 @@ bool isPointOnLeftSide(const Vector2d& line_support_vector, const Vector2d& line bool isPointOnRightSideOfLine(const Vector2d& line_support_vector, const Vector2d& line_direction_vector, const Vector2d& point); -} // namespace convex_plane_extraction +} // namespace convex_plane_decomposition #endif // CONVEX_PLANE_EXTRACTION_INCLUDE_GEOMETRY_UTILS_HPP_ diff --git a/convex_plane_decomposition/include/pipeline.hpp b/convex_plane_decomposition/include/pipeline.hpp index ba3572a5..dd9559d7 100644 --- a/convex_plane_decomposition/include/pipeline.hpp +++ b/convex_plane_decomposition/include/pipeline.hpp @@ -5,7 +5,7 @@ #include "plane_factory.hpp" #include "sliding_window_plane_extractor.hpp" -namespace convex_plane_extraction { +namespace convex_plane_decomposition { struct PipelineParameters{ sliding_window_plane_extractor::SlidingWindowPlaneExtractorParameters sliding_window_plane_extractor_parameters = @@ -42,5 +42,5 @@ class Pipeline { PlaneFactory plane_factory_; sliding_window_plane_extractor::SlidingWindowPlaneExtractor sliding_window_plane_extractor_; }; -} // namespace_convex_plane_extraction +} // namespace_convex_plane_decomposition #endif //CONVEX_PLANE_EXTRACTION__PIPELINE_HPP_ diff --git a/convex_plane_decomposition/include/plane.hpp b/convex_plane_decomposition/include/plane.hpp index 93aa7b22..8baeaf6c 100644 --- a/convex_plane_decomposition/include/plane.hpp +++ b/convex_plane_decomposition/include/plane.hpp @@ -6,7 +6,7 @@ #include "geometry_utils.hpp" #include "polygon.hpp" -namespace convex_plane_extraction { +namespace convex_plane_decomposition { struct PlaneParameters{ @@ -53,5 +53,5 @@ namespace convex_plane_extraction { Vector3d support_vector_; }; - } // namespace convex_plane_extraction + } // namespace convex_plane_decomposition #endif // CONVEX_PLANE_EXTRACTION_SRC_PLANE_HPP_ diff --git a/convex_plane_decomposition/include/plane_factory.hpp b/convex_plane_decomposition/include/plane_factory.hpp index 4582581f..f9f9039a 100644 --- a/convex_plane_decomposition/include/plane_factory.hpp +++ b/convex_plane_decomposition/include/plane_factory.hpp @@ -8,7 +8,7 @@ #include "plane.hpp" #include "polygonizer.hpp" -namespace convex_plane_extraction { +namespace convex_plane_decomposition { struct PlaneFactoryParameters{ PolygonizerParameters polygonizer_parameters = PolygonizerParameters(); @@ -26,7 +26,7 @@ class PlaneFactory { }; void createPlanesFromLabeledImageAndPlaneParameters(const cv::Mat& labeled_image, const int number_of_labels, - const std::map& plane_parameters); + const std::map& plane_parameters); void decomposePlanesInConvexPolygons(); @@ -58,5 +58,5 @@ class PlaneFactory { std::vector planes_; }; -} // namespace convex_plane_extraction +} // namespace convex_plane_decomposition #endif //CONVEX_PLANE_EXTRACTION_INCLUDE_PLANE_FACTORY_HPP_ diff --git a/convex_plane_decomposition/include/polygon.hpp b/convex_plane_decomposition/include/polygon.hpp index eac6246b..5bc90fed 100644 --- a/convex_plane_decomposition/include/polygon.hpp +++ b/convex_plane_decomposition/include/polygon.hpp @@ -27,7 +27,7 @@ #include "geometry_utils.hpp" #include "types.hpp" -namespace convex_plane_extraction { +namespace convex_plane_decomposition { using K = CGAL::Exact_predicates_inexact_constructions_kernel; using EKernel = CGAL::Exact_predicates_exact_constructions_kernel; @@ -172,5 +172,5 @@ std::string printPolygonToString(const CgalPolygon2d& polygon); void upSampleLongEdges(CgalPolygon2d* polygon); -} // namespace convex_plane_extraction +} // namespace convex_plane_decomposition #endif //CONVEX_PLANE_EXTRACTION_INCLUDE_POLYGON_HPP_ diff --git a/convex_plane_decomposition/include/polygonizer.hpp b/convex_plane_decomposition/include/polygonizer.hpp index a13ed17b..ac514d57 100644 --- a/convex_plane_decomposition/include/polygonizer.hpp +++ b/convex_plane_decomposition/include/polygonizer.hpp @@ -16,7 +16,7 @@ #include "plane.hpp" #include "polygon.hpp" -namespace convex_plane_extraction { +namespace convex_plane_decomposition { struct PolygonizerParameters{ double resolution = 0.02; @@ -56,6 +56,6 @@ class Polygonizer { }; -} // namespace convex_plane_extraction +} // namespace convex_plane_decomposition #endif //CONVEX_PLANE_EXTRACTION_INCLUDE_POLYGONIZER_HPP_ diff --git a/convex_plane_decomposition/include/sliding_window_plane_extractor.hpp b/convex_plane_decomposition/include/sliding_window_plane_extractor.hpp index 5e985def..19adf4f9 100644 --- a/convex_plane_decomposition/include/sliding_window_plane_extractor.hpp +++ b/convex_plane_decomposition/include/sliding_window_plane_extractor.hpp @@ -79,7 +79,7 @@ namespace sliding_window_plane_extractor { cv::Mat binary_image_angle_; cv::Mat labeled_image_; int number_of_extracted_planes_; - std::map label_plane_parameters_map_; + std::map label_plane_parameters_map_; }; } // namespace sliding_window_plane_extractor #endif // CONVEX_PLANE_EXTRACTION_INCLUDE_SLIDING_WINDOW_PLANE_EXTRACTOR_HPP_ diff --git a/convex_plane_decomposition/include/types.hpp b/convex_plane_decomposition/include/types.hpp index 311ad783..cb608b3b 100644 --- a/convex_plane_decomposition/include/types.hpp +++ b/convex_plane_decomposition/include/types.hpp @@ -12,7 +12,7 @@ #include "opencv2/core/eigen.hpp" #include "opencv2/core/mat.hpp" -namespace convex_plane_extraction { +namespace convex_plane_decomposition { typedef Eigen::VectorXd VectorXd; typedef Eigen::MatrixXd MatrixXd; diff --git a/convex_plane_decomposition/package.xml b/convex_plane_decomposition/package.xml index 9a024564..32945b22 100644 --- a/convex_plane_decomposition/package.xml +++ b/convex_plane_decomposition/package.xml @@ -1,8 +1,8 @@ - convex_plane_extraction + convex_plane_decomposition 0.0.0 - The convex_plane_extraction package + The convex_plane_decomposition package diff --git a/convex_plane_decomposition/src/convex_decomposer.cpp b/convex_plane_decomposition/src/convex_decomposer.cpp index 869b89cc..d4ae4829 100644 --- a/convex_plane_decomposition/src/convex_decomposer.cpp +++ b/convex_plane_decomposition/src/convex_decomposer.cpp @@ -1,8 +1,8 @@ #include "convex_decomposer.hpp" -using namespace convex_plane_extraction; +using namespace convex_plane_decomposition; -ConvexDecomposer::ConvexDecomposer(const convex_plane_extraction::ConvexDecomposerParameters ¶meters) +ConvexDecomposer::ConvexDecomposer(const convex_plane_decomposition::ConvexDecomposerParameters ¶meters) :parameters_(parameters){} CgalPolygon2dContainer ConvexDecomposer::performConvexDecomposition(const CgalPolygon2d& polygon) const { diff --git a/convex_plane_decomposition/src/export_utils.cpp b/convex_plane_decomposition/src/export_utils.cpp index fb24c046..b6010baa 100644 --- a/convex_plane_decomposition/src/export_utils.cpp +++ b/convex_plane_decomposition/src/export_utils.cpp @@ -1,7 +1,7 @@ #include "export_utils.hpp" -namespace convex_plane_extraction { +namespace convex_plane_decomposition { bool exportPointsWithNormalsToCsv(grid_map::GridMap& map, const std::string& normals_layer_prefix, const std::string& layer_height, const std::string& path) { diff --git a/convex_plane_decomposition/src/geometry_utils.cpp b/convex_plane_decomposition/src/geometry_utils.cpp index a1d97ccf..34b98aeb 100644 --- a/convex_plane_decomposition/src/geometry_utils.cpp +++ b/convex_plane_decomposition/src/geometry_utils.cpp @@ -1,7 +1,7 @@ #include #include "geometry_utils.hpp" -namespace convex_plane_extraction { +namespace convex_plane_decomposition { double scalarCrossProduct(const Vector2d &leftVector, const Vector2d &rightVector) { return leftVector.y() * rightVector.x() - leftVector.x() * rightVector.y(); diff --git a/convex_plane_decomposition/src/pipeline.cpp b/convex_plane_decomposition/src/pipeline.cpp index 131e72bf..89d89ac6 100644 --- a/convex_plane_decomposition/src/pipeline.cpp +++ b/convex_plane_decomposition/src/pipeline.cpp @@ -1,6 +1,6 @@ #include "pipeline.hpp" -using namespace convex_plane_extraction; +using namespace convex_plane_decomposition; Pipeline::Pipeline(const PipelineParameters& pipeline_parameters, const GridMapParameters& grid_map_parameters) : pipeline_parameters_(pipeline_parameters), diff --git a/convex_plane_decomposition/src/plane.cpp b/convex_plane_decomposition/src/plane.cpp index 6ae4908d..a474e93d 100644 --- a/convex_plane_decomposition/src/plane.cpp +++ b/convex_plane_decomposition/src/plane.cpp @@ -1,6 +1,6 @@ #include "plane.hpp" -namespace convex_plane_extraction{ +namespace convex_plane_decomposition{ bool Plane::setNormalAndSupportVector(const Eigen::Vector3d& normal_vector, const Eigen::Vector3d& support_vector){ normal_vector_ = normal_vector; diff --git a/convex_plane_decomposition/src/plane_factory.cpp b/convex_plane_decomposition/src/plane_factory.cpp index 1e18d838..62b0bc0d 100644 --- a/convex_plane_decomposition/src/plane_factory.cpp +++ b/convex_plane_decomposition/src/plane_factory.cpp @@ -1,6 +1,6 @@ #include "plane_factory.hpp" -using namespace convex_plane_extraction; +using namespace convex_plane_decomposition; void PlaneFactory::computeMapTransformation(){ Eigen::Vector2i map_size = map_.getSize(); @@ -14,7 +14,7 @@ void PlaneFactory::computeMapTransformation(){ } void PlaneFactory::createPlanesFromLabeledImageAndPlaneParameters(const cv::Mat& labeled_image, const int number_of_labels, - const std::map& plane_parameters){ + const std::map& plane_parameters){ CHECK_GT(number_of_labels, 0); Polygonizer polygonizer(parameters_.polygonizer_parameters); for (int label = 1; label < number_of_labels; ++label){ diff --git a/convex_plane_decomposition/src/polygon.cpp b/convex_plane_decomposition/src/polygon.cpp index 786bd332..5834d296 100644 --- a/convex_plane_decomposition/src/polygon.cpp +++ b/convex_plane_decomposition/src/polygon.cpp @@ -1,6 +1,6 @@ #include "polygon.hpp" -namespace convex_plane_extraction { +namespace convex_plane_decomposition { bool doPolygonAndSegmentIntersect(const CgalPolygon2d& polygon, const CgalSegment2d& segment, bool print_flag){ for (auto vertex_it = polygon.vertices_begin(); vertex_it != polygon.vertices_end(); ++vertex_it){ @@ -534,4 +534,4 @@ namespace convex_plane_extraction { return false; } - } // namespace convex_plane_extraction + } // namespace convex_plane_decomposition diff --git a/convex_plane_decomposition/src/polygonizer.cpp b/convex_plane_decomposition/src/polygonizer.cpp index 9b0d8f40..de1c220a 100644 --- a/convex_plane_decomposition/src/polygonizer.cpp +++ b/convex_plane_decomposition/src/polygonizer.cpp @@ -1,6 +1,6 @@ #include "polygonizer.hpp" -using namespace convex_plane_extraction; +using namespace convex_plane_decomposition; PolygonWithHoles Polygonizer::extractPolygonsFromBinaryImage(const cv::Mat& binary_image) const{ PolygonWithHoles plane_polygons; @@ -23,7 +23,7 @@ PolygonWithHoles Polygonizer::extractPolygonsFromBinaryImage(const cv::Mat& bina << "Removing parental polygon since too few vertices!"; continue; } - CgalPolygon2d polygon = convex_plane_extraction::createCgalPolygonFromOpenCvPoints( + CgalPolygon2d polygon = convex_plane_decomposition::createCgalPolygonFromOpenCvPoints( contour.begin(), contour.end(), parameters_.resolution / static_cast(parameters_.upsampling_factor)); CHECK(polygon.is_simple()) << "Contour extraction from binary image caused intersection!"; @@ -57,7 +57,7 @@ PolygonWithHoles Polygonizer::extractContoursFromBinaryImage(cv::Mat& binary_ima for (auto& contour : contours) { ++hierachy_it; CHECK_GE(contour.size(), 2); - CgalPolygon2d polygon = convex_plane_extraction::createCgalPolygonFromOpenCvPoints( + CgalPolygon2d polygon = convex_plane_decomposition::createCgalPolygonFromOpenCvPoints( contour.begin(), contour.end(), 1); constexpr int kParentFlagIndex = 3; if (hierarchy[hierachy_it - 1][kParentFlagIndex] < 0) { diff --git a/convex_plane_decomposition/src/sliding_window_plane_extractor.cpp b/convex_plane_decomposition/src/sliding_window_plane_extractor.cpp index e1f3227e..cdc42568 100644 --- a/convex_plane_decomposition/src/sliding_window_plane_extractor.cpp +++ b/convex_plane_decomposition/src/sliding_window_plane_extractor.cpp @@ -245,7 +245,7 @@ namespace sliding_window_plane_extractor{ } support_vector /= static_cast(plane_point_indices.size()); normal_vector /= static_cast(plane_point_indices.size()); - const convex_plane_extraction::PlaneParameters temp_plane_parameters(normal_vector, support_vector); + const convex_plane_decomposition::PlaneParameters temp_plane_parameters(normal_vector, support_vector); if (label_counter == 0) { label_plane_parameters_map_.emplace(label, temp_plane_parameters); } else { @@ -259,7 +259,7 @@ namespace sliding_window_plane_extractor{ } } if (!refinement_performed){ - const convex_plane_extraction::PlaneParameters temp_plane_parameters(normal_vector, support_vector); + const convex_plane_decomposition::PlaneParameters temp_plane_parameters(normal_vector, support_vector); label_plane_parameters_map_.emplace(label, temp_plane_parameters); } VLOG(1) << "Added plane!"; diff --git a/convex_plane_decomposition_ros/CMakeLists.txt b/convex_plane_decomposition_ros/CMakeLists.txt index 3d53d3f7..fcabaec2 100644 --- a/convex_plane_decomposition_ros/CMakeLists.txt +++ b/convex_plane_decomposition_ros/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.1...3.15) -project(convex_plane_extraction_ros) +project(convex_plane_decomposition_ros) ## Compile as C++11, supported in ROS Kinetic and newer set(CMAKE_CXX_FLAGS "-std=c++14 ${CMAKE_CXX_FLAGS}") @@ -21,7 +21,7 @@ find_package(catkin REQUIRED COMPONENTS geometry_msgs sensor_msgs cv_bridge - convex_plane_extraction + convex_plane_decomposition ) ## System dependencies are found with CMake's conventions @@ -118,7 +118,7 @@ find_package(glog 0.4.0 REQUIRED) ## DEPENDS: system dependencies of this project that dependent projects also need catkin_package( INCLUDE_DIRS include - # LIBRARIES convex_plane_extraction + # LIBRARIES convex_plane_decomposition CATKIN_DEPENDS # DEPENDS system_lib ) @@ -136,7 +136,7 @@ include_directories( ## Declare a C++ library # add_library(${PROJECT_NAME} -# src/${PROJECT_NAME}/convex_plane_extraction.cpp +# src/${PROJECT_NAME}/convex_plane_decomposition.cpp # ) ## Add cmake target dependencies of the library @@ -148,8 +148,8 @@ include_directories( ## With catkin_make all packages are built within a single CMake context ## The recommended prefix ensures that target names across packages don't collide add_executable(${PROJECT_NAME} - src/convex_plane_extraction_node.cpp - src/convex_plane_extraction_ros.cpp + src/convex_plane_decomposition_node.cpp + src/convex_plane_decomposition_ros.cpp src/grid_map_preprocessing.cpp src/pipeline_ros.cpp src/ros_visualizations.cpp) @@ -227,7 +227,7 @@ install( ############# ## Add gtest based cpp test target and link libraries -# catkin_add_gtest(${PROJECT_NAME}-test test/test_convex_plane_extraction.cpp) +# catkin_add_gtest(${PROJECT_NAME}-test test/test_convex_plane_decomposition.cpp) # if(TARGET ${PROJECT_NAME}-test) # target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) # endif() diff --git a/convex_plane_decomposition_ros/config/convex_plane_extraction_demo_parameters.yaml b/convex_plane_decomposition_ros/config/convex_plane_decomposition_demo_parameters.yaml similarity index 100% rename from convex_plane_decomposition_ros/config/convex_plane_extraction_demo_parameters.yaml rename to convex_plane_decomposition_ros/config/convex_plane_decomposition_demo_parameters.yaml diff --git a/convex_plane_decomposition_ros/include/convex_plane_extraction_ros.hpp b/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros.hpp similarity index 97% rename from convex_plane_decomposition_ros/include/convex_plane_extraction_ros.hpp rename to convex_plane_decomposition_ros/include/convex_plane_decomposition_ros.hpp index 40c5fec4..bcc06ad2 100644 --- a/convex_plane_decomposition_ros/include/convex_plane_extraction_ros.hpp +++ b/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros.hpp @@ -13,7 +13,7 @@ #include "pipeline_ros.hpp" -namespace convex_plane_extraction { +namespace convex_plane_decomposition { /*! * Applies a chain of grid map filters to a topic and diff --git a/convex_plane_decomposition_ros/include/grid_map_preprocessing.hpp b/convex_plane_decomposition_ros/include/grid_map_preprocessing.hpp index ad2a3979..101f76c8 100644 --- a/convex_plane_decomposition_ros/include/grid_map_preprocessing.hpp +++ b/convex_plane_decomposition_ros/include/grid_map_preprocessing.hpp @@ -9,7 +9,7 @@ #include -namespace convex_plane_extraction{ +namespace convex_plane_decomposition{ using namespace grid_map; void applyMedianFilter(Eigen::MatrixXf& elevation_map, int kernel_size); diff --git a/convex_plane_decomposition_ros/include/pipeline_ros.hpp b/convex_plane_decomposition_ros/include/pipeline_ros.hpp index 8ba2ec8c..7c7e0f77 100644 --- a/convex_plane_decomposition_ros/include/pipeline_ros.hpp +++ b/convex_plane_decomposition_ros/include/pipeline_ros.hpp @@ -10,7 +10,7 @@ #include "pipeline.hpp" #include "ros_visualizations.hpp" -namespace convex_plane_extraction { +namespace convex_plane_decomposition { GridMapParameters loadGridMapParameters(ros::NodeHandle& nodeHandle, grid_map::GridMap& map); @@ -32,5 +32,5 @@ class PipelineROS { Pipeline pipeline_; }; -} // namespace convex_plane_extraction +} // namespace convex_plane_decomposition #endif //CONVEX_PLANE_EXTRACTION_ROS__PIPELINE_ROS_HPP_ diff --git a/convex_plane_decomposition_ros/include/ros_visualizations.hpp b/convex_plane_decomposition_ros/include/ros_visualizations.hpp index 8499d4d9..ac88afa6 100644 --- a/convex_plane_decomposition_ros/include/ros_visualizations.hpp +++ b/convex_plane_decomposition_ros/include/ros_visualizations.hpp @@ -11,7 +11,7 @@ #include "plane.hpp" -namespace convex_plane_extraction{ +namespace convex_plane_decomposition{ jsk_recognition_msgs::PolygonArray convertToRosPolygons(const Polygon3dVectorContainer &input_polygons); diff --git a/convex_plane_decomposition_ros/launch/convex_plane_decomposition.launch b/convex_plane_decomposition_ros/launch/convex_plane_decomposition.launch new file mode 100644 index 00000000..5c72ea36 --- /dev/null +++ b/convex_plane_decomposition_ros/launch/convex_plane_decomposition.launch @@ -0,0 +1,8 @@ + + + + + + + + diff --git a/convex_plane_decomposition_ros/launch/convex_plane_decomposition_demo.launch b/convex_plane_decomposition_ros/launch/convex_plane_decomposition_demo.launch new file mode 100644 index 00000000..c8ec1644 --- /dev/null +++ b/convex_plane_decomposition_ros/launch/convex_plane_decomposition_demo.launch @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + + + diff --git a/convex_plane_decomposition_ros/launch/convex_plane_extraction.launch b/convex_plane_decomposition_ros/launch/convex_plane_extraction.launch deleted file mode 100644 index 5eee1575..00000000 --- a/convex_plane_decomposition_ros/launch/convex_plane_extraction.launch +++ /dev/null @@ -1,8 +0,0 @@ - - - - - - - - diff --git a/convex_plane_decomposition_ros/launch/convex_plane_extraction_demo.launch b/convex_plane_decomposition_ros/launch/convex_plane_extraction_demo.launch deleted file mode 100644 index 95cc115d..00000000 --- a/convex_plane_decomposition_ros/launch/convex_plane_extraction_demo.launch +++ /dev/null @@ -1,17 +0,0 @@ - - - - - - - - - - - - - - - - - diff --git a/convex_plane_decomposition_ros/package.xml b/convex_plane_decomposition_ros/package.xml index cf3c6112..97e0d3ef 100644 --- a/convex_plane_decomposition_ros/package.xml +++ b/convex_plane_decomposition_ros/package.xml @@ -1,8 +1,8 @@ - convex_plane_extraction_ros + convex_plane_decomposition_ros 0.0.0 - The convex_plane_extraction_ros package + The convex_plane_decomposition_ros package @@ -30,7 +30,7 @@ geometry_msgs sensor_msgs cv_bridge - convex_plane_extraction + convex_plane_decomposition diff --git a/convex_plane_decomposition_ros/rviz/config.rviz b/convex_plane_decomposition_ros/rviz/config.rviz index 3ee6f810..febf095e 100644 --- a/convex_plane_decomposition_ros/rviz/config.rviz +++ b/convex_plane_decomposition_ros/rviz/config.rviz @@ -171,7 +171,7 @@ Visualization Manager: Color: 25; 255; 0 Enabled: true Name: PolygonArray - Topic: /convex_plane_extraction_ros/convex_polygons + Topic: /convex_plane_decomposition_ros/convex_polygons Unreliable: false Value: true coloring: Auto @@ -184,7 +184,7 @@ Visualization Manager: Color: 25; 255; 0 Enabled: true Name: PolygonArray - Topic: /convex_plane_extraction_ros/outer_contours + Topic: /convex_plane_decomposition_ros/outer_contours Unreliable: false Value: true coloring: Auto @@ -209,7 +209,7 @@ Visualization Manager: Min Intensity: 0 Name: GridMap Show Grid Lines: true - Topic: /convex_plane_extraction_ros/convex_plane_extraction + Topic: /convex_plane_decomposition_ros/convex_plane_decomposition Unreliable: false Use Rainbow: true Value: true diff --git a/convex_plane_decomposition_ros/rviz/config_demo.rviz b/convex_plane_decomposition_ros/rviz/config_demo.rviz index 39ec3a20..42dc80c8 100644 --- a/convex_plane_decomposition_ros/rviz/config_demo.rviz +++ b/convex_plane_decomposition_ros/rviz/config_demo.rviz @@ -171,7 +171,7 @@ Visualization Manager: Color: 25; 255; 0 Enabled: true Name: PolygonArray - Topic: /convex_plane_extraction_ros/convex_polygons + Topic: /convex_plane_decomposition_ros/convex_polygons Unreliable: false Value: true coloring: Auto @@ -184,7 +184,7 @@ Visualization Manager: Color: 25; 255; 0 Enabled: true Name: PolygonArray - Topic: /convex_plane_extraction_ros/outer_contours + Topic: /convex_plane_decomposition_ros/outer_contours Unreliable: false Value: true coloring: Auto @@ -209,7 +209,7 @@ Visualization Manager: Min Intensity: 0 Name: GridMap Show Grid Lines: true - Topic: /convex_plane_extraction_ros/convex_plane_extraction + Topic: /convex_plane_decomposition_ros/convex_plane_decomposition Unreliable: false Use Rainbow: true Value: true diff --git a/convex_plane_decomposition_ros/src/convex_plane_extraction_node.cpp b/convex_plane_decomposition_ros/src/convex_plane_decomposition_node.cpp similarity index 57% rename from convex_plane_decomposition_ros/src/convex_plane_extraction_node.cpp rename to convex_plane_decomposition_ros/src/convex_plane_decomposition_node.cpp index 2b2e0b2a..3b4d5841 100644 --- a/convex_plane_decomposition_ros/src/convex_plane_extraction_node.cpp +++ b/convex_plane_decomposition_ros/src/convex_plane_decomposition_node.cpp @@ -1,4 +1,4 @@ -#include "convex_plane_extraction_ros.hpp" +#include "convex_plane_decomposition_ros.hpp" #include #include @@ -9,10 +9,10 @@ int main(int argc, char** argv) FLAGS_colorlogtostderr = 1; FLAGS_v = 1; google::InitGoogleLogging(argv[0]); - ros::init(argc, argv, "convex_plane_extraction_ros"); + ros::init(argc, argv, "convex_plane_decomposition_ros"); ros::NodeHandle nodeHandle("~"); bool success; - convex_plane_extraction::ConvexPlaneExtractionROS convex_plane_extraction_ros(nodeHandle, success); + convex_plane_decomposition::ConvexPlaneExtractionROS convex_plane_decomposition_ros(nodeHandle, success); if (success) ros::spin(); return 0; } diff --git a/convex_plane_decomposition_ros/src/convex_plane_extraction_ros.cpp b/convex_plane_decomposition_ros/src/convex_plane_decomposition_ros.cpp similarity index 94% rename from convex_plane_decomposition_ros/src/convex_plane_extraction_ros.cpp rename to convex_plane_decomposition_ros/src/convex_plane_decomposition_ros.cpp index 8b0002bc..2e58295e 100644 --- a/convex_plane_decomposition_ros/src/convex_plane_extraction_ros.cpp +++ b/convex_plane_decomposition_ros/src/convex_plane_decomposition_ros.cpp @@ -1,10 +1,10 @@ #include -#include "convex_plane_extraction_ros.hpp" +#include "convex_plane_decomposition_ros.hpp" using namespace grid_map; -namespace convex_plane_extraction { +namespace convex_plane_decomposition { ConvexPlaneExtractionROS::ConvexPlaneExtractionROS(ros::NodeHandle& nodeHandle, bool& success) : nodeHandle_(nodeHandle) { @@ -14,7 +14,7 @@ ConvexPlaneExtractionROS::ConvexPlaneExtractionROS(ros::NodeHandle& nodeHandle, } subscriber_ = nodeHandle_.subscribe(inputTopic_, 1, &ConvexPlaneExtractionROS::callback, this); - grid_map_publisher_ = nodeHandle_.advertise("convex_plane_extraction", 1, true); + grid_map_publisher_ = nodeHandle_.advertise("convex_plane_decomposition", 1, true); convex_polygon_publisher_ = nodeHandle_.advertise("convex_polygons", 1); outer_contours_publisher_ = nodeHandle_.advertise("outer_contours", 1); success = true; diff --git a/convex_plane_decomposition_ros/src/grid_map_preprocessing.cpp b/convex_plane_decomposition_ros/src/grid_map_preprocessing.cpp index dd57bc9f..223c6e95 100644 --- a/convex_plane_decomposition_ros/src/grid_map_preprocessing.cpp +++ b/convex_plane_decomposition_ros/src/grid_map_preprocessing.cpp @@ -1,7 +1,7 @@ #include "grid_map_preprocessing.hpp" -namespace convex_plane_extraction{ +namespace convex_plane_decomposition{ void applyMedianFilter(Eigen::MatrixXf& elevation_map, int kernel_size) { cv::Mat elevation_image; diff --git a/convex_plane_decomposition_ros/src/pipeline_ros.cpp b/convex_plane_decomposition_ros/src/pipeline_ros.cpp index 22c4b338..9732ebdb 100644 --- a/convex_plane_decomposition_ros/src/pipeline_ros.cpp +++ b/convex_plane_decomposition_ros/src/pipeline_ros.cpp @@ -1,10 +1,10 @@ #include "pipeline_ros.hpp" -namespace convex_plane_extraction { +namespace convex_plane_decomposition { PipelineParameters loadPipelineParameters(ros::NodeHandle &nodeHandle, grid_map::GridMap &map) { - const std::string kPackagePrefix = "/convex_plane_extraction_ros"; + const std::string kPackagePrefix = "/convex_plane_decomposition_ros"; // Grid map parameters. GridMapParameters grid_map_parameters = loadGridMapParameters(nodeHandle, map); diff --git a/convex_plane_decomposition_ros/src/ros_visualizations.cpp b/convex_plane_decomposition_ros/src/ros_visualizations.cpp index 765e3ea1..e29ee718 100644 --- a/convex_plane_decomposition_ros/src/ros_visualizations.cpp +++ b/convex_plane_decomposition_ros/src/ros_visualizations.cpp @@ -1,6 +1,6 @@ #include "ros_visualizations.hpp" -namespace convex_plane_extraction { +namespace convex_plane_decomposition { jsk_recognition_msgs::PolygonArray convertToRosPolygons(const Polygon3dVectorContainer &input_polygons) { jsk_recognition_msgs::PolygonArray polygon_buffer; From 5091489c05f12cd9cc56bde8ef0f5eaa4073ea75 Mon Sep 17 00:00:00 2001 From: rgrandia Date: Mon, 20 Apr 2020 17:35:04 +0200 Subject: [PATCH 041/504] clean up CMakeLists, package.xml, and includes --- convex_plane_decomposition/CMakeLists.txt | 221 ++-------------- .../convex_decomposer.hpp | 0 .../export_utils.hpp | 7 +- .../geometry_utils.hpp | 0 .../pipeline.hpp | 0 .../plane.hpp | 0 .../plane_factory.hpp | 0 .../polygon.hpp | 3 +- .../polygonizer.hpp | 0 .../ransac_plane_extractor.hpp | 4 +- .../sliding_window_plane_extractor.hpp | 4 +- .../types.hpp | 4 +- convex_plane_decomposition/package.xml | 26 -- .../src/convex_decomposer.cpp | 2 +- .../src/export_utils.cpp | 5 +- .../src/geometry_utils.cpp | 3 +- convex_plane_decomposition/src/pipeline.cpp | 2 +- convex_plane_decomposition/src/plane.cpp | 2 +- .../src/plane_factory.cpp | 2 +- convex_plane_decomposition/src/polygon.cpp | 2 +- .../src/polygonizer.cpp | 2 +- .../src/ransac_plane_extractor.cpp | 2 +- .../src/sliding_window_plane_extractor.cpp | 5 +- convex_plane_decomposition_ros/CMakeLists.txt | 247 +++--------------- .../convex_plane_decomposition_ros.hpp | 0 .../grid_map_preprocessing.hpp | 7 +- .../pipeline_ros.hpp | 2 +- .../ros_visualizations.hpp | 13 +- convex_plane_decomposition_ros/package.xml | 17 +- .../src/convex_plane_decomposition_node.cpp | 3 +- .../src/convex_plane_decomposition_ros.cpp | 4 +- .../src/grid_map_preprocessing.cpp | 5 +- .../src/pipeline_ros.cpp | 2 +- .../src/ros_visualizations.cpp | 2 +- 34 files changed, 118 insertions(+), 480 deletions(-) rename convex_plane_decomposition/include/{ => convex_plane_decomposition}/convex_decomposer.hpp (100%) rename convex_plane_decomposition/include/{ => convex_plane_decomposition}/export_utils.hpp (82%) rename convex_plane_decomposition/include/{ => convex_plane_decomposition}/geometry_utils.hpp (100%) rename convex_plane_decomposition/include/{ => convex_plane_decomposition}/pipeline.hpp (100%) rename convex_plane_decomposition/include/{ => convex_plane_decomposition}/plane.hpp (100%) rename convex_plane_decomposition/include/{ => convex_plane_decomposition}/plane_factory.hpp (100%) rename convex_plane_decomposition/include/{ => convex_plane_decomposition}/polygon.hpp (99%) rename convex_plane_decomposition/include/{ => convex_plane_decomposition}/polygonizer.hpp (100%) rename convex_plane_decomposition/include/{ => convex_plane_decomposition}/ransac_plane_extractor.hpp (98%) rename convex_plane_decomposition/include/{ => convex_plane_decomposition}/sliding_window_plane_extractor.hpp (97%) rename convex_plane_decomposition/include/{ => convex_plane_decomposition}/types.hpp (94%) rename convex_plane_decomposition_ros/include/{ => convex_plane_decomposition_ros}/convex_plane_decomposition_ros.hpp (100%) rename convex_plane_decomposition_ros/include/{ => convex_plane_decomposition_ros}/grid_map_preprocessing.hpp (73%) rename convex_plane_decomposition_ros/include/{ => convex_plane_decomposition_ros}/pipeline_ros.hpp (95%) rename convex_plane_decomposition_ros/include/{ => convex_plane_decomposition_ros}/ros_visualizations.hpp (63%) diff --git a/convex_plane_decomposition/CMakeLists.txt b/convex_plane_decomposition/CMakeLists.txt index 96589cdc..ac696a76 100644 --- a/convex_plane_decomposition/CMakeLists.txt +++ b/convex_plane_decomposition/CMakeLists.txt @@ -1,171 +1,55 @@ cmake_minimum_required(VERSION 3.1...3.15) project(convex_plane_decomposition) -## Compile as C++11, supported in ROS Kinetic and newer -set(CMAKE_CXX_FLAGS "-std=c++14 ${CMAKE_CXX_FLAGS}") +# Catkin dependencies +set(CATKIN_PACKAGE_DEPENDENCIES + grid_map_core +) -## Find catkin macros and libraries -## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) -## is used, also find other catkin packages find_package(catkin REQUIRED COMPONENTS - roscpp - grid_map_core - grid_map_ros - grid_map_cv - grid_map_filters - grid_map_loader - grid_map_msgs - grid_map_octomap - grid_map_rviz_plugin - grid_map_visualization - geometry_msgs - sensor_msgs - cv_bridge + ${CATKIN_PACKAGE_DEPENDENCIES} ) -## System dependencies are found with CMake's conventions +# CGAL find_package(CGAL QUIET) +find_package(GMP REQUIRED) +find_package(MPFR REQUIRED) -add_definitions(-DCGAL_HAS_NO_THREADS) - +# OpenCv find_package(OpenCV REQUIRED COMPONENTS - opencv_highgui + opencv_highgui CONFIG ) +# glog find_package(PkgConfig REQUIRED) pkg_check_modules(glog libglog REQUIRED) -## Uncomment this if the package has a setup.py. This macro ensures -## modules and global scripts declared therein get installed -## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html -# catkin_python_setup() - -################################################ -## Declare ROS messages, services and actions ## -################################################ - -## To declare and build messages, services or actions from within this -## package, follow these steps: -## * Let MSG_DEP_SET be the set of packages whose message types you use in -## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). -## * In the file package.xml: -## * add a build_depend tag for "message_generation" -## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET -## * If MSG_DEP_SET isn't empty the following dependency has been pulled in -## but can be declared for certainty nonetheless: -## * add a exec_depend tag for "message_runtime" -## * In this file (CMakeLists.txt): -## * add "message_generation" and every package in MSG_DEP_SET to -## find_package(catkin REQUIRED COMPONENTS ...) -## * add "message_runtime" and every package in MSG_DEP_SET to -## catkin_package(CATKIN_DEPENDS ...) -## * uncomment the add_*_files sections below as needed -## and list every .msg/.srv/.action file to be processed -## * uncomment the generate_messages entry below -## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) - -## Generate messages in the 'msg' folder -# add_message_files( -# FILES -# Message1.msg -# Message2.msg -# ) - -## Generate services in the 'srv' folder -# add_service_files( -# FILES -# Service1.srv -# Service2.srv -# ) - -## Generate actions in the 'action' folder -# add_action_files( -# FILES -# Action1.action -# Action2.action -# ) - -## Generate added messages and services with any dependencies listed here -# generate_messages( -# DEPENDENCIES -# std_msgs # Or other packages containing msgs -# ) - -################################################ -## Declare ROS dynamic reconfigure parameters ## -################################################ - -## To declare and build dynamic reconfigure parameters within this -## package, follow these steps: -## * In the file package.xml: -## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" -## * In this file (CMakeLists.txt): -## * add "dynamic_reconfigure" to -## find_package(catkin REQUIRED COMPONENTS ...) -## * uncomment the "generate_dynamic_reconfigure_options" section below -## and list every .cfg file to be processed - -## Generate dynamic reconfigure parameters in the 'cfg' folder -# generate_dynamic_reconfigure_options( -# cfg/DynReconf1.cfg -# cfg/DynReconf2.cfg -# ) +# Cpp standard version +set(CMAKE_CXX_STANDARD 14) +set(CMAKE_CXX_STANDARD_REQUIRED ON) ################################### ## catkin specific configuration ## ################################### -## The catkin_package macro generates cmake config files for your package -## Declare things to be passed to dependent projects -## INCLUDE_DIRS: uncomment this if your package contains header files -## LIBRARIES: libraries you create in this project that dependent projects also need -## CATKIN_DEPENDS: catkin_packages dependent projects also need -## DEPENDS: system dependencies of this project that dependent projects also need catkin_package( INCLUDE_DIRS include - LIBRARIES convex_plane_decomposition - CATKIN_DEPENDS - roscpp - grid_map_core - grid_map_ros - grid_map_cv - grid_map_filters - grid_map_loader - grid_map_msgs - grid_map_octomap - grid_map_rviz_plugin - grid_map_visualization - geometry_msgs - sensor_msgs - cv_bridge + LIBRARIES ${PROJECT_NAME} + CATKIN_DEPENDS ${CATKIN_PACKAGE_DEPENDENCIES} + DEPENDS OpenCV CGAL GMP MPFR glog ) ########### ## Build ## ########### -## Specify additional locations of header files -## Your package locations should be listed before other locations include_directories( include ${catkin_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIR} ) -## Declare a C++ library -# add_library(${PROJECT_NAME} -# src/${PROJECT_NAME}/convex_plane_decomposition.cpp -# ) - -## Add cmake target dependencies of the library -## as an example, code may need to be generated before libraries -## either from message generation or dynamic reconfigure -# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) - -## Declare a C++ executable -## With catkin_make all packages are built within a single CMake context -## The recommended prefix ensures that target names across packages don't collide add_library(${PROJECT_NAME} src/ransac_plane_extractor.cpp src/sliding_window_plane_extractor.cpp @@ -176,23 +60,11 @@ add_library(${PROJECT_NAME} src/plane_factory.cpp src/polygonizer.cpp src/convex_decomposer.cpp - src/pipeline.cpp) - + src/pipeline.cpp +) add_dependencies(${PROJECT_NAME} - ${catkin_EXPORTED_TARGETS} - ) - -## Rename C++ executable without prefix -## The above recommended prefix causes long target names, the following renames the -## target back to the shorter version for ease of user use -## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" -# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") - -## Add cmake target dependencies of the executable -## same as for the library above -# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) - -## Specify libraries to link a library or executable target against + ${catkin_EXPORTED_TARGETS} +) target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} ${CGAL_LIBRARIES} @@ -201,64 +73,23 @@ target_link_libraries(${PROJECT_NAME} gmp mpfr ) +target_compile_options(${PROJECT_NAME} + PUBLIC -DCGAL_HAS_NO_THREADS +) ############# ## Install ## ############# -# all install targets should use catkin DESTINATION variables -# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html - -## Mark executable scripts (Python etc.) for installation -## in contrast to setup.py, you can choose the destination -# install(PROGRAMS -# scripts/my_python_script -# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) - -## Mark executables for installation -## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html -# install(TARGETS ${PROJECT_NAME}_node -# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) install( TARGETS ${PROJECT_NAME} ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} ) - -## Mark libraries for installation -## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html -# install(TARGETS ${PROJECT_NAME} -# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} -# ) - -## Mark cpp header files for installation -# install(DIRECTORY include/${PROJECT_NAME}/ -# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} -# FILES_MATCHING PATTERN "*.h" -# PATTERN ".svn" EXCLUDE -# ) - -## Mark other files for installation (e.g. launch and bag files, etc.) -# install(FILES -# # myfile1 -# # myfile2 -# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} -# ) +install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}) ############# ## Testing ## ############# - -## Add gtest based cpp test target and link libraries -# catkin_add_gtest(${PROJECT_NAME}-test test/test_convex_plane_decomposition.cpp) -# if(TARGET ${PROJECT_NAME}-test) -# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) -# endif() - -## Add folders to be run by python nosetests -# catkin_add_nosetests(test) diff --git a/convex_plane_decomposition/include/convex_decomposer.hpp b/convex_plane_decomposition/include/convex_plane_decomposition/convex_decomposer.hpp similarity index 100% rename from convex_plane_decomposition/include/convex_decomposer.hpp rename to convex_plane_decomposition/include/convex_plane_decomposition/convex_decomposer.hpp diff --git a/convex_plane_decomposition/include/export_utils.hpp b/convex_plane_decomposition/include/convex_plane_decomposition/export_utils.hpp similarity index 82% rename from convex_plane_decomposition/include/export_utils.hpp rename to convex_plane_decomposition/include/convex_plane_decomposition/export_utils.hpp index 19b93dad..a029f37a 100644 --- a/convex_plane_decomposition/include/export_utils.hpp +++ b/convex_plane_decomposition/include/convex_plane_decomposition/export_utils.hpp @@ -1,15 +1,12 @@ #ifndef CONVEX_PLANE_EXTRACTION_INCLUDE_EXPORT_UTILS_HPP_ #define CONVEX_PLANE_EXTRACTION_INCLUDE_EXPORT_UTILS_HPP_ -#include -#include -#include +#include #include #include -#include "grid_map_ros/grid_map_ros.hpp" - +#include namespace convex_plane_decomposition { diff --git a/convex_plane_decomposition/include/geometry_utils.hpp b/convex_plane_decomposition/include/convex_plane_decomposition/geometry_utils.hpp similarity index 100% rename from convex_plane_decomposition/include/geometry_utils.hpp rename to convex_plane_decomposition/include/convex_plane_decomposition/geometry_utils.hpp diff --git a/convex_plane_decomposition/include/pipeline.hpp b/convex_plane_decomposition/include/convex_plane_decomposition/pipeline.hpp similarity index 100% rename from convex_plane_decomposition/include/pipeline.hpp rename to convex_plane_decomposition/include/convex_plane_decomposition/pipeline.hpp diff --git a/convex_plane_decomposition/include/plane.hpp b/convex_plane_decomposition/include/convex_plane_decomposition/plane.hpp similarity index 100% rename from convex_plane_decomposition/include/plane.hpp rename to convex_plane_decomposition/include/convex_plane_decomposition/plane.hpp diff --git a/convex_plane_decomposition/include/plane_factory.hpp b/convex_plane_decomposition/include/convex_plane_decomposition/plane_factory.hpp similarity index 100% rename from convex_plane_decomposition/include/plane_factory.hpp rename to convex_plane_decomposition/include/convex_plane_decomposition/plane_factory.hpp diff --git a/convex_plane_decomposition/include/polygon.hpp b/convex_plane_decomposition/include/convex_plane_decomposition/polygon.hpp similarity index 99% rename from convex_plane_decomposition/include/polygon.hpp rename to convex_plane_decomposition/include/convex_plane_decomposition/polygon.hpp index 5bc90fed..2f5adbb9 100644 --- a/convex_plane_decomposition/include/polygon.hpp +++ b/convex_plane_decomposition/include/convex_plane_decomposition/polygon.hpp @@ -23,7 +23,8 @@ #include #include -#include "grid_map_core/GridMap.hpp" +#include + #include "geometry_utils.hpp" #include "types.hpp" diff --git a/convex_plane_decomposition/include/polygonizer.hpp b/convex_plane_decomposition/include/convex_plane_decomposition/polygonizer.hpp similarity index 100% rename from convex_plane_decomposition/include/polygonizer.hpp rename to convex_plane_decomposition/include/convex_plane_decomposition/polygonizer.hpp diff --git a/convex_plane_decomposition/include/ransac_plane_extractor.hpp b/convex_plane_decomposition/include/convex_plane_decomposition/ransac_plane_extractor.hpp similarity index 98% rename from convex_plane_decomposition/include/ransac_plane_extractor.hpp rename to convex_plane_decomposition/include/convex_plane_decomposition/ransac_plane_extractor.hpp index 00ed69a9..6fa88a66 100644 --- a/convex_plane_decomposition/include/ransac_plane_extractor.hpp +++ b/convex_plane_decomposition/include/convex_plane_decomposition/ransac_plane_extractor.hpp @@ -13,8 +13,8 @@ #include "CGAL/Point_with_normal_3.h" #include "CGAL/Exact_predicates_inexact_constructions_kernel.h" #include "CGAL/Shape_detection/Efficient_RANSAC.h" -#include "Eigen/Core" -#include "Eigen/Dense" +#include +#include #include diff --git a/convex_plane_decomposition/include/sliding_window_plane_extractor.hpp b/convex_plane_decomposition/include/convex_plane_decomposition/sliding_window_plane_extractor.hpp similarity index 97% rename from convex_plane_decomposition/include/sliding_window_plane_extractor.hpp rename to convex_plane_decomposition/include/convex_plane_decomposition/sliding_window_plane_extractor.hpp index 19adf4f9..d64926f3 100644 --- a/convex_plane_decomposition/include/sliding_window_plane_extractor.hpp +++ b/convex_plane_decomposition/include/convex_plane_decomposition/sliding_window_plane_extractor.hpp @@ -11,8 +11,8 @@ #include #include -#include "grid_map_ros/grid_map_ros.hpp" -#include "grid_map_core/GridMapMath.hpp" +#include +#include #include "plane.hpp" #include "polygon.hpp" diff --git a/convex_plane_decomposition/include/types.hpp b/convex_plane_decomposition/include/convex_plane_decomposition/types.hpp similarity index 94% rename from convex_plane_decomposition/include/types.hpp rename to convex_plane_decomposition/include/convex_plane_decomposition/types.hpp index cb608b3b..00ae1f3e 100644 --- a/convex_plane_decomposition/include/types.hpp +++ b/convex_plane_decomposition/include/convex_plane_decomposition/types.hpp @@ -9,8 +9,8 @@ #include #include -#include "opencv2/core/eigen.hpp" -#include "opencv2/core/mat.hpp" +#include +#include namespace convex_plane_decomposition { diff --git a/convex_plane_decomposition/package.xml b/convex_plane_decomposition/package.xml index 32945b22..375c4daf 100644 --- a/convex_plane_decomposition/package.xml +++ b/convex_plane_decomposition/package.xml @@ -4,37 +4,11 @@ 0.0.0 The convex_plane_decomposition package - - - andrej - - - - TODO catkin - catkin - roscpp grid_map_core - grid_map_ros - grid_map_cv - grid_map_filters - grid_map_loader - grid_map_msgs - grid_map_octomap - grid_map_rviz_plugin - grid_map_visualization - geometry_msgs - sensor_msgs - cv_bridge - - - - - - diff --git a/convex_plane_decomposition/src/convex_decomposer.cpp b/convex_plane_decomposition/src/convex_decomposer.cpp index d4ae4829..cd3dc99f 100644 --- a/convex_plane_decomposition/src/convex_decomposer.cpp +++ b/convex_plane_decomposition/src/convex_decomposer.cpp @@ -1,4 +1,4 @@ -#include "convex_decomposer.hpp" +#include "convex_plane_decomposition/convex_decomposer.hpp" using namespace convex_plane_decomposition; diff --git a/convex_plane_decomposition/src/export_utils.cpp b/convex_plane_decomposition/src/export_utils.cpp index b6010baa..fbcd181e 100644 --- a/convex_plane_decomposition/src/export_utils.cpp +++ b/convex_plane_decomposition/src/export_utils.cpp @@ -1,5 +1,8 @@ -#include "export_utils.hpp" +#include "convex_plane_decomposition/export_utils.hpp" +#include + +#include namespace convex_plane_decomposition { diff --git a/convex_plane_decomposition/src/geometry_utils.cpp b/convex_plane_decomposition/src/geometry_utils.cpp index 34b98aeb..cfdbb065 100644 --- a/convex_plane_decomposition/src/geometry_utils.cpp +++ b/convex_plane_decomposition/src/geometry_utils.cpp @@ -1,5 +1,6 @@ +#include "convex_plane_decomposition/geometry_utils.hpp" + #include -#include "geometry_utils.hpp" namespace convex_plane_decomposition { diff --git a/convex_plane_decomposition/src/pipeline.cpp b/convex_plane_decomposition/src/pipeline.cpp index 89d89ac6..b605c50d 100644 --- a/convex_plane_decomposition/src/pipeline.cpp +++ b/convex_plane_decomposition/src/pipeline.cpp @@ -1,4 +1,4 @@ -#include "pipeline.hpp" +#include "convex_plane_decomposition/pipeline.hpp" using namespace convex_plane_decomposition; diff --git a/convex_plane_decomposition/src/plane.cpp b/convex_plane_decomposition/src/plane.cpp index a474e93d..c8b1f4b5 100644 --- a/convex_plane_decomposition/src/plane.cpp +++ b/convex_plane_decomposition/src/plane.cpp @@ -1,4 +1,4 @@ -#include "plane.hpp" +#include "convex_plane_decomposition/plane.hpp" namespace convex_plane_decomposition{ diff --git a/convex_plane_decomposition/src/plane_factory.cpp b/convex_plane_decomposition/src/plane_factory.cpp index 62b0bc0d..71102881 100644 --- a/convex_plane_decomposition/src/plane_factory.cpp +++ b/convex_plane_decomposition/src/plane_factory.cpp @@ -1,4 +1,4 @@ -#include "plane_factory.hpp" +#include "convex_plane_decomposition/plane_factory.hpp" using namespace convex_plane_decomposition; diff --git a/convex_plane_decomposition/src/polygon.cpp b/convex_plane_decomposition/src/polygon.cpp index 5834d296..134a3159 100644 --- a/convex_plane_decomposition/src/polygon.cpp +++ b/convex_plane_decomposition/src/polygon.cpp @@ -1,4 +1,4 @@ -#include "polygon.hpp" +#include "convex_plane_decomposition/polygon.hpp" namespace convex_plane_decomposition { diff --git a/convex_plane_decomposition/src/polygonizer.cpp b/convex_plane_decomposition/src/polygonizer.cpp index de1c220a..41084675 100644 --- a/convex_plane_decomposition/src/polygonizer.cpp +++ b/convex_plane_decomposition/src/polygonizer.cpp @@ -1,4 +1,4 @@ -#include "polygonizer.hpp" +#include "convex_plane_decomposition/polygonizer.hpp" using namespace convex_plane_decomposition; diff --git a/convex_plane_decomposition/src/ransac_plane_extractor.cpp b/convex_plane_decomposition/src/ransac_plane_extractor.cpp index 1d6f94fd..b4266dab 100644 --- a/convex_plane_decomposition/src/ransac_plane_extractor.cpp +++ b/convex_plane_decomposition/src/ransac_plane_extractor.cpp @@ -1,4 +1,4 @@ -#include "ransac_plane_extractor.hpp" +#include "convex_plane_decomposition/ransac_plane_extractor.hpp" using namespace ransac_plane_extractor; diff --git a/convex_plane_decomposition/src/sliding_window_plane_extractor.cpp b/convex_plane_decomposition/src/sliding_window_plane_extractor.cpp index cdc42568..f2082e0e 100644 --- a/convex_plane_decomposition/src/sliding_window_plane_extractor.cpp +++ b/convex_plane_decomposition/src/sliding_window_plane_extractor.cpp @@ -1,4 +1,7 @@ -#include "sliding_window_plane_extractor.hpp" +#include "convex_plane_decomposition/sliding_window_plane_extractor.hpp" + +#include +#include namespace sliding_window_plane_extractor{ diff --git a/convex_plane_decomposition_ros/CMakeLists.txt b/convex_plane_decomposition_ros/CMakeLists.txt index fcabaec2..0c29b611 100644 --- a/convex_plane_decomposition_ros/CMakeLists.txt +++ b/convex_plane_decomposition_ros/CMakeLists.txt @@ -1,236 +1,75 @@ cmake_minimum_required(VERSION 3.1...3.15) project(convex_plane_decomposition_ros) -## Compile as C++11, supported in ROS Kinetic and newer -set(CMAKE_CXX_FLAGS "-std=c++14 ${CMAKE_CXX_FLAGS}") - -## Find catkin macros and libraries -## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) -## is used, also find other catkin packages +# Catkin dependencies find_package(catkin REQUIRED COMPONENTS - roscpp - grid_map_core - grid_map_ros - grid_map_cv - grid_map_filters - grid_map_loader - grid_map_msgs - grid_map_octomap - grid_map_rviz_plugin - grid_map_visualization - geometry_msgs - sensor_msgs - cv_bridge - convex_plane_decomposition - ) - -## System dependencies are found with CMake's conventions -find_package(CGAL QUIET) - -add_definitions(-DCGAL_HAS_NO_THREADS) - -find_package(glog 0.4.0 REQUIRED) - -## Uncomment this if the package has a setup.py. This macro ensures -## modules and global scripts declared therein get installed -## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html -# catkin_python_setup() - -################################################ -## Declare ROS messages, services and actions ## -################################################ - -## To declare and build messages, services or actions from within this -## package, follow these steps: -## * Let MSG_DEP_SET be the set of packages whose message types you use in -## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). -## * In the file package.xml: -## * add a build_depend tag for "message_generation" -## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET -## * If MSG_DEP_SET isn't empty the following dependency has been pulled in -## but can be declared for certainty nonetheless: -## * add a exec_depend tag for "message_runtime" -## * In this file (CMakeLists.txt): -## * add "message_generation" and every package in MSG_DEP_SET to -## find_package(catkin REQUIRED COMPONENTS ...) -## * add "message_runtime" and every package in MSG_DEP_SET to -## catkin_package(CATKIN_DEPENDS ...) -## * uncomment the add_*_files sections below as needed -## and list every .msg/.srv/.action file to be processed -## * uncomment the generate_messages entry below -## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) - -## Generate messages in the 'msg' folder -# add_message_files( -# FILES -# Message1.msg -# Message2.msg -# ) - -## Generate services in the 'srv' folder -# add_service_files( -# FILES -# Service1.srv -# Service2.srv -# ) - -## Generate actions in the 'action' folder -# add_action_files( -# FILES -# Action1.action -# Action2.action -# ) - -## Generate added messages and services with any dependencies listed here -# generate_messages( -# DEPENDENCIES -# std_msgs # Or other packages containing msgs -# ) + roscpp + grid_map_core + grid_map_ros + grid_map_cv + grid_map_filters + grid_map_loader + grid_map_msgs + grid_map_octomap + grid_map_rviz_plugin + grid_map_visualization + geometry_msgs + sensor_msgs + cv_bridge + jsk_recognition_msgs + convex_plane_decomposition +) -################################################ -## Declare ROS dynamic reconfigure parameters ## -################################################ +# OpenCv +find_package(OpenCV REQUIRED) -## To declare and build dynamic reconfigure parameters within this -## package, follow these steps: -## * In the file package.xml: -## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" -## * In this file (CMakeLists.txt): -## * add "dynamic_reconfigure" to -## find_package(catkin REQUIRED COMPONENTS ...) -## * uncomment the "generate_dynamic_reconfigure_options" section below -## and list every .cfg file to be processed +# glog +find_package(PkgConfig REQUIRED) +pkg_check_modules(glog libglog REQUIRED) -## Generate dynamic reconfigure parameters in the 'cfg' folder -# generate_dynamic_reconfigure_options( -# cfg/DynReconf1.cfg -# cfg/DynReconf2.cfg -# ) +# Cpp standard version +set(CMAKE_CXX_STANDARD 14) +set(CMAKE_CXX_STANDARD_REQUIRED ON) ################################### ## catkin specific configuration ## ################################### -## The catkin_package macro generates cmake config files for your package -## Declare things to be passed to dependent projects -## INCLUDE_DIRS: uncomment this if your package contains header files -## LIBRARIES: libraries you create in this project that dependent projects also need -## CATKIN_DEPENDS: catkin_packages dependent projects also need -## DEPENDS: system dependencies of this project that dependent projects also need -catkin_package( - INCLUDE_DIRS include - # LIBRARIES convex_plane_decomposition - CATKIN_DEPENDS - # DEPENDS system_lib -) +catkin_package() ########### ## Build ## ########### -## Specify additional locations of header files -## Your package locations should be listed before other locations include_directories( - include - ${catkin_INCLUDE_DIRS} + include + ${catkin_INCLUDE_DIRS} ) -## Declare a C++ library -# add_library(${PROJECT_NAME} -# src/${PROJECT_NAME}/convex_plane_decomposition.cpp -# ) - -## Add cmake target dependencies of the library -## as an example, code may need to be generated before libraries -## either from message generation or dynamic reconfigure -# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) - -## Declare a C++ executable -## With catkin_make all packages are built within a single CMake context -## The recommended prefix ensures that target names across packages don't collide add_executable(${PROJECT_NAME} - src/convex_plane_decomposition_node.cpp - src/convex_plane_decomposition_ros.cpp - src/grid_map_preprocessing.cpp - src/pipeline_ros.cpp - src/ros_visualizations.cpp) - -## Rename C++ executable without prefix -## The above recommended prefix causes long target names, the following renames the -## target back to the shorter version for ease of user use -## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" -# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") - -## Add cmake target dependencies of the executable -## same as for the library above -# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) - -## Specify libraries to link a library or executable target against + src/convex_plane_decomposition_node.cpp + src/convex_plane_decomposition_ros.cpp + src/grid_map_preprocessing.cpp + src/pipeline_ros.cpp + src/ros_visualizations.cpp +) target_link_libraries(${PROJECT_NAME} - ${catkin_LIBRARIES} - ${CGAL_LIBRARIES} - ${CGAL_3RD_PARTY_LIBRARIES} - ${OpenCV_LIBRARIES} - glog - gmp - ) + ${catkin_LIBRARIES} + ${OpenCV_LIBRARIES} + glog +) ############# ## Install ## ############# -# all install targets should use catkin DESTINATION variables -# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html - -## Mark executable scripts (Python etc.) for installation -## in contrast to setup.py, you can choose the destination -# install(PROGRAMS -# scripts/my_python_script -# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) - -## Mark executables for installation -## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html -# install(TARGETS ${PROJECT_NAME}_node -# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) -install( - TARGETS ${PROJECT_NAME} - ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +install(TARGETS ${PROJECT_NAME} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) +install(DIRECTORY config data launch rviz + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} ) - -## Mark libraries for installation -## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html -# install(TARGETS ${PROJECT_NAME} -# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} -# ) - -## Mark cpp header files for installation -# install(DIRECTORY include/${PROJECT_NAME}/ -# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} -# FILES_MATCHING PATTERN "*.h" -# PATTERN ".svn" EXCLUDE -# ) - -## Mark other files for installation (e.g. launch and bag files, etc.) -# install(FILES -# # myfile1 -# # myfile2 -# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} -# ) ############# ## Testing ## ############# -## Add gtest based cpp test target and link libraries -# catkin_add_gtest(${PROJECT_NAME}-test test/test_convex_plane_decomposition.cpp) -# if(TARGET ${PROJECT_NAME}-test) -# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) -# endif() - -## Add folders to be run by python nosetests -# catkin_add_nosetests(test) diff --git a/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros.hpp b/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/convex_plane_decomposition_ros.hpp similarity index 100% rename from convex_plane_decomposition_ros/include/convex_plane_decomposition_ros.hpp rename to convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/convex_plane_decomposition_ros.hpp diff --git a/convex_plane_decomposition_ros/include/grid_map_preprocessing.hpp b/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/grid_map_preprocessing.hpp similarity index 73% rename from convex_plane_decomposition_ros/include/grid_map_preprocessing.hpp rename to convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/grid_map_preprocessing.hpp index 101f76c8..d11cd155 100644 --- a/convex_plane_decomposition_ros/include/grid_map_preprocessing.hpp +++ b/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/grid_map_preprocessing.hpp @@ -1,11 +1,8 @@ #ifndef CONVEX_PLANE_EXTRACTION_ROS_INCLUDE_GRID_MAP_PREPROCESSING_HPP_ #define CONVEX_PLANE_EXTRACTION_ROS_INCLUDE_GRID_MAP_PREPROCESSING_HPP_ -#include "Eigen/Core" -#include "Eigen/Dense" -#include "opencv2/core/eigen.hpp" -#include "opencv2/core/mat.hpp" -#include "opencv2/imgproc.hpp" +#include +#include #include diff --git a/convex_plane_decomposition_ros/include/pipeline_ros.hpp b/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/pipeline_ros.hpp similarity index 95% rename from convex_plane_decomposition_ros/include/pipeline_ros.hpp rename to convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/pipeline_ros.hpp index 7c7e0f77..b3bd98fc 100644 --- a/convex_plane_decomposition_ros/include/pipeline_ros.hpp +++ b/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/pipeline_ros.hpp @@ -7,7 +7,7 @@ #include #include -#include "pipeline.hpp" +#include "convex_plane_decomposition/pipeline.hpp" #include "ros_visualizations.hpp" namespace convex_plane_decomposition { diff --git a/convex_plane_decomposition_ros/include/ros_visualizations.hpp b/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/ros_visualizations.hpp similarity index 63% rename from convex_plane_decomposition_ros/include/ros_visualizations.hpp rename to convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/ros_visualizations.hpp index ac88afa6..42c14d45 100644 --- a/convex_plane_decomposition_ros/include/ros_visualizations.hpp +++ b/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/ros_visualizations.hpp @@ -1,15 +1,16 @@ #ifndef CONVEX_PLANE_EXTRACTION_ROS_INCLUDE_ROS_VISUALIZATIONS_HPP_ #define CONVEX_PLANE_EXTRACTION_ROS_INCLUDE_ROS_VISUALIZATIONS_HPP_ + #include -#include "Eigen/Core" -#include "Eigen/Dense" +#include +#include -#include "geometry_msgs/Point32.h" -#include "geometry_msgs/PolygonStamped.h" -#include "jsk_recognition_msgs/PolygonArray.h" +#include +#include +#include -#include "plane.hpp" +#include "convex_plane_decomposition/plane.hpp" namespace convex_plane_decomposition{ diff --git a/convex_plane_decomposition_ros/package.xml b/convex_plane_decomposition_ros/package.xml index 97e0d3ef..a1669e4d 100644 --- a/convex_plane_decomposition_ros/package.xml +++ b/convex_plane_decomposition_ros/package.xml @@ -4,18 +4,10 @@ 0.0.0 The convex_plane_decomposition_ros package - - - andrej - - - - TODO - catkin catkin roscpp grid_map_core @@ -30,12 +22,7 @@ geometry_msgs sensor_msgs cv_bridge + jsk_recognition_msgs convex_plane_decomposition - - - - - - - \ No newline at end of file + diff --git a/convex_plane_decomposition_ros/src/convex_plane_decomposition_node.cpp b/convex_plane_decomposition_ros/src/convex_plane_decomposition_node.cpp index 3b4d5841..1714111c 100644 --- a/convex_plane_decomposition_ros/src/convex_plane_decomposition_node.cpp +++ b/convex_plane_decomposition_ros/src/convex_plane_decomposition_node.cpp @@ -1,4 +1,5 @@ -#include "convex_plane_decomposition_ros.hpp" +#include "convex_plane_decomposition_ros/convex_plane_decomposition_ros.hpp" + #include #include diff --git a/convex_plane_decomposition_ros/src/convex_plane_decomposition_ros.cpp b/convex_plane_decomposition_ros/src/convex_plane_decomposition_ros.cpp index 2e58295e..4b9b20cb 100644 --- a/convex_plane_decomposition_ros/src/convex_plane_decomposition_ros.cpp +++ b/convex_plane_decomposition_ros/src/convex_plane_decomposition_ros.cpp @@ -1,6 +1,6 @@ -#include +#include "convex_plane_decomposition_ros/convex_plane_decomposition_ros.hpp" -#include "convex_plane_decomposition_ros.hpp" +#include using namespace grid_map; diff --git a/convex_plane_decomposition_ros/src/grid_map_preprocessing.cpp b/convex_plane_decomposition_ros/src/grid_map_preprocessing.cpp index 223c6e95..057552fd 100644 --- a/convex_plane_decomposition_ros/src/grid_map_preprocessing.cpp +++ b/convex_plane_decomposition_ros/src/grid_map_preprocessing.cpp @@ -1,5 +1,8 @@ +#include "convex_plane_decomposition_ros/grid_map_preprocessing.hpp" -#include "grid_map_preprocessing.hpp" +#include +#include +#include namespace convex_plane_decomposition{ diff --git a/convex_plane_decomposition_ros/src/pipeline_ros.cpp b/convex_plane_decomposition_ros/src/pipeline_ros.cpp index 9732ebdb..1d076389 100644 --- a/convex_plane_decomposition_ros/src/pipeline_ros.cpp +++ b/convex_plane_decomposition_ros/src/pipeline_ros.cpp @@ -1,4 +1,4 @@ -#include "pipeline_ros.hpp" +#include "convex_plane_decomposition_ros/pipeline_ros.hpp" namespace convex_plane_decomposition { diff --git a/convex_plane_decomposition_ros/src/ros_visualizations.cpp b/convex_plane_decomposition_ros/src/ros_visualizations.cpp index e29ee718..71a0ce09 100644 --- a/convex_plane_decomposition_ros/src/ros_visualizations.cpp +++ b/convex_plane_decomposition_ros/src/ros_visualizations.cpp @@ -1,4 +1,4 @@ -#include "ros_visualizations.hpp" +#include "convex_plane_decomposition_ros/ros_visualizations.hpp" namespace convex_plane_decomposition { From 3af54df1d739a1cea8a7ed05f76706445af0915b Mon Sep 17 00:00:00 2001 From: rgrandia Date: Mon, 20 Apr 2020 17:48:19 +0200 Subject: [PATCH 042/504] some formatting in CMakeLists --- convex_plane_decomposition/CMakeLists.txt | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/convex_plane_decomposition/CMakeLists.txt b/convex_plane_decomposition/CMakeLists.txt index ac696a76..1868b5f0 100644 --- a/convex_plane_decomposition/CMakeLists.txt +++ b/convex_plane_decomposition/CMakeLists.txt @@ -37,7 +37,7 @@ catkin_package( INCLUDE_DIRS include LIBRARIES ${PROJECT_NAME} CATKIN_DEPENDS ${CATKIN_PACKAGE_DEPENDENCIES} - DEPENDS OpenCV CGAL GMP MPFR glog + DEPENDS OpenCV CGAL GMP MPFR glog ) ########### @@ -81,14 +81,14 @@ target_compile_options(${PROJECT_NAME} ## Install ## ############# -install( - TARGETS ${PROJECT_NAME} +install(TARGETS ${PROJECT_NAME} ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} ) install(DIRECTORY include/${PROJECT_NAME}/ - DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}) + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +) ############# ## Testing ## From 3dd591decccbe96d44b392260b6f598fe542a264 Mon Sep 17 00:00:00 2001 From: Marko Bjelonic Date: Mon, 20 Apr 2020 20:28:42 +0200 Subject: [PATCH 043/504] Fixed without knowing why cmake. --- convex_plane_decomposition/CMakeLists.txt | 2 +- convex_plane_decomposition_ros/CMakeLists.txt | 5 ++++- 2 files changed, 5 insertions(+), 2 deletions(-) diff --git a/convex_plane_decomposition/CMakeLists.txt b/convex_plane_decomposition/CMakeLists.txt index 1868b5f0..09742831 100644 --- a/convex_plane_decomposition/CMakeLists.txt +++ b/convex_plane_decomposition/CMakeLists.txt @@ -37,7 +37,7 @@ catkin_package( INCLUDE_DIRS include LIBRARIES ${PROJECT_NAME} CATKIN_DEPENDS ${CATKIN_PACKAGE_DEPENDENCIES} - DEPENDS OpenCV CGAL GMP MPFR glog + DEPENDS OpenCV CGAL GMP MPFR ) ########### diff --git a/convex_plane_decomposition_ros/CMakeLists.txt b/convex_plane_decomposition_ros/CMakeLists.txt index 0c29b611..2067b156 100644 --- a/convex_plane_decomposition_ros/CMakeLists.txt +++ b/convex_plane_decomposition_ros/CMakeLists.txt @@ -23,6 +23,9 @@ find_package(catkin REQUIRED COMPONENTS # OpenCv find_package(OpenCV REQUIRED) +# CGAL +find_package(GMP QUIET) + # glog find_package(PkgConfig REQUIRED) pkg_check_modules(glog libglog REQUIRED) @@ -56,6 +59,7 @@ target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} ${OpenCV_LIBRARIES} glog + gmp ) ############# @@ -72,4 +76,3 @@ install(DIRECTORY config data launch rviz ############# ## Testing ## ############# - From f5f433e742f58ec13fe251ee948889a6635f56c1 Mon Sep 17 00:00:00 2001 From: Marko Bjelonic Date: Tue, 21 Apr 2020 10:57:11 +0200 Subject: [PATCH 044/504] Reverted back last commit. --- convex_plane_decomposition/CMakeLists.txt | 2 +- convex_plane_decomposition_ros/CMakeLists.txt | 4 ---- 2 files changed, 1 insertion(+), 5 deletions(-) diff --git a/convex_plane_decomposition/CMakeLists.txt b/convex_plane_decomposition/CMakeLists.txt index 09742831..1868b5f0 100644 --- a/convex_plane_decomposition/CMakeLists.txt +++ b/convex_plane_decomposition/CMakeLists.txt @@ -37,7 +37,7 @@ catkin_package( INCLUDE_DIRS include LIBRARIES ${PROJECT_NAME} CATKIN_DEPENDS ${CATKIN_PACKAGE_DEPENDENCIES} - DEPENDS OpenCV CGAL GMP MPFR + DEPENDS OpenCV CGAL GMP MPFR glog ) ########### diff --git a/convex_plane_decomposition_ros/CMakeLists.txt b/convex_plane_decomposition_ros/CMakeLists.txt index 2067b156..a3ba343c 100644 --- a/convex_plane_decomposition_ros/CMakeLists.txt +++ b/convex_plane_decomposition_ros/CMakeLists.txt @@ -23,9 +23,6 @@ find_package(catkin REQUIRED COMPONENTS # OpenCv find_package(OpenCV REQUIRED) -# CGAL -find_package(GMP QUIET) - # glog find_package(PkgConfig REQUIRED) pkg_check_modules(glog libglog REQUIRED) @@ -59,7 +56,6 @@ target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} ${OpenCV_LIBRARIES} glog - gmp ) ############# From d9d124f1ae9c99c00f21968d31fb925450bec777 Mon Sep 17 00:00:00 2001 From: rgrandia Date: Wed, 24 Jun 2020 17:38:03 +0200 Subject: [PATCH 045/504] squash region growing dev --- README.md | 69 --- convex_plane_decomposition/CMakeLists.txt | 26 +- .../ConvexRegionGrowing.h | 23 + .../include/convex_plane_decomposition/Draw.h | 24 + .../GeometryUtils.h | 140 +++++ .../GridMapPreprocessing.h | 30 + .../include/convex_plane_decomposition/Nan.h | 29 + .../convex_plane_decomposition/PlanarRegion.h | 38 ++ .../convex_plane_decomposition/PolygonTypes.h | 23 + .../SegmentedPlanesMap.h | 31 + .../contour_extraction/ContourExtraction.h | 49 ++ .../ContourExtractionParameters.h | 16 + .../convex_decomposer.hpp | 36 -- .../export_utils.hpp | 17 - .../geometry_utils.hpp | 31 - .../convex_plane_decomposition/pipeline.hpp | 46 -- .../convex_plane_decomposition/plane.hpp | 57 -- .../plane_factory.hpp | 62 -- .../convex_plane_decomposition/polygon.hpp | 177 ------ .../polygonizer.hpp | 61 -- .../ransac/RansacPlaneExtractor.hpp | 47 ++ .../ransac/RansacPlaneExtractorParameters.h | 22 + .../ransac_plane_extractor.hpp | 73 --- .../SlidingWindowPlaneExtractor.h | 57 ++ .../SlidingWindowPlaneExtractorParameters.h | 38 ++ .../sliding_window_plane_extractor.hpp | 85 --- .../convex_plane_decomposition/types.hpp | 42 -- convex_plane_decomposition/package.xml | 2 + .../src/ConvexRegionGrowing.cpp | 138 +++++ convex_plane_decomposition/src/Draw.cpp | 60 ++ .../src/GridMapPreprocessing.cpp | 73 +++ .../contour_extraction/ContourExtraction.cpp | 127 +++++ .../src/convex_decomposer.cpp | 241 -------- .../src/export_utils.cpp | 24 - .../src/geometry_utils.cpp | 114 ---- convex_plane_decomposition/src/pipeline.cpp | 27 - convex_plane_decomposition/src/plane.cpp | 11 - .../src/plane_factory.cpp | 109 ---- convex_plane_decomposition/src/polygon.cpp | 537 ------------------ .../src/polygonizer.cpp | 197 ------- .../src/ransac/RansacPlaneExtractor.cpp | 23 + .../src/ransac_plane_extractor.cpp | 28 - .../SlidingWindowPlaneExtractor.cpp | 282 +++++++++ .../src/sliding_window_plane_extractor.cpp | 312 ---------- .../CMakeLists.txt | 34 ++ .../msg/BoundingBox2d.msg | 5 + .../msg/PlanarRegion.msg | 7 + .../msg/PlanarTerrain.msg | 1 + .../msg/Point2d.msg | 2 + .../msg/Polygon2d.msg | 2 + .../msg/PolygonWithHoles2d.msg | 3 + convex_plane_decomposition_msgs/package.xml | 21 + convex_plane_decomposition_ros/CMakeLists.txt | 89 ++- ...x_plane_decomposition_demo_parameters.yaml | 55 +- .../config/parameters.yaml | 55 +- .../data/elevationMap_10_277cm.png | Bin 0 -> 21378 bytes .../data/elevationMap_11_278cm.png | Bin 0 -> 21764 bytes .../data/elevationMap_8_139cm.png | Bin 0 -> 20686 bytes .../data/elevationMap_9_308cm.png | Bin 0 -> 16873 bytes convex_plane_decomposition_ros/data/holes.png | Bin 0 -> 350 bytes .../data/realStairs_125cm.png | Bin 0 -> 4211 bytes .../data/slope_1m_1m_20cm.png | Bin 0 -> 358 bytes .../data/straightStairs_1m_1m_60cm.png | Bin 0 -> 262 bytes .../data/terrain.png | Bin 0 -> 112548 bytes .../ConvexPlaneDecompositionRos.h | 57 ++ .../MessageConversion.h | 42 ++ .../ParameterLoading.h | 27 + .../RosVisualizations.h | 13 + .../convex_plane_decomposition_ros.hpp | 73 --- .../grid_map_preprocessing.hpp | 14 - .../pipeline_ros.hpp | 36 -- .../ros_visualizations.hpp | 21 - .../launch/convex_plane_decomposition.launch | 5 +- ...ane_decomposition_save_elevationmap.launch | 11 + ..._decomposition_demo.launch => demo.launch} | 22 +- .../launch/rviz.launch | 5 + convex_plane_decomposition_ros/package.xml | 1 + .../rviz/config_demo.rviz | 218 +++---- ...e.cpp => ConvexPlaneDecompositionNode.cpp} | 12 +- .../src/ConvexPlaneDecompositionRos.cpp | 116 ++++ .../src/MessageConversion.cpp | 139 +++++ .../src/ParameterLoading.cpp | 59 ++ .../src/RosVisualizations.cpp | 70 +++ .../src/SaveElevationMapAsImageNode.cpp | 74 +++ .../src/convex_plane_decomposition_ros.cpp | 67 --- .../src/grid_map_preprocessing.cpp | 17 - .../src/pipeline_ros.cpp | 175 ------ .../src/ros_visualizations.cpp | 28 - .../test/shapeGrowing.cpp | 52 ++ convex_plane_decomposition_ros/test/test.cpp | 181 ++++++ segmented_planes_terrain_model/CMakeLists.txt | 91 +++ .../SegmentedPlanesTerrainModel.h | 29 + .../SegmentedPlanesTerrainModelRos.h | 32 ++ .../launch/demo.launch | 15 + segmented_planes_terrain_model/package.xml | 19 + .../src/DemoNode.cpp | 110 ++++ .../src/SegmentedPlanesTerrainModel.cpp | 150 +++++ .../src/SegmentedPlanesTerrainModelRos.cpp | 32 ++ 98 files changed, 2908 insertions(+), 3033 deletions(-) delete mode 100644 README.md create mode 100644 convex_plane_decomposition/include/convex_plane_decomposition/ConvexRegionGrowing.h create mode 100644 convex_plane_decomposition/include/convex_plane_decomposition/Draw.h create mode 100644 convex_plane_decomposition/include/convex_plane_decomposition/GeometryUtils.h create mode 100644 convex_plane_decomposition/include/convex_plane_decomposition/GridMapPreprocessing.h create mode 100644 convex_plane_decomposition/include/convex_plane_decomposition/Nan.h create mode 100644 convex_plane_decomposition/include/convex_plane_decomposition/PlanarRegion.h create mode 100644 convex_plane_decomposition/include/convex_plane_decomposition/PolygonTypes.h create mode 100644 convex_plane_decomposition/include/convex_plane_decomposition/SegmentedPlanesMap.h create mode 100644 convex_plane_decomposition/include/convex_plane_decomposition/contour_extraction/ContourExtraction.h create mode 100644 convex_plane_decomposition/include/convex_plane_decomposition/contour_extraction/ContourExtractionParameters.h delete mode 100644 convex_plane_decomposition/include/convex_plane_decomposition/convex_decomposer.hpp delete mode 100644 convex_plane_decomposition/include/convex_plane_decomposition/export_utils.hpp delete mode 100644 convex_plane_decomposition/include/convex_plane_decomposition/geometry_utils.hpp delete mode 100644 convex_plane_decomposition/include/convex_plane_decomposition/pipeline.hpp delete mode 100644 convex_plane_decomposition/include/convex_plane_decomposition/plane.hpp delete mode 100644 convex_plane_decomposition/include/convex_plane_decomposition/plane_factory.hpp delete mode 100644 convex_plane_decomposition/include/convex_plane_decomposition/polygon.hpp delete mode 100644 convex_plane_decomposition/include/convex_plane_decomposition/polygonizer.hpp create mode 100644 convex_plane_decomposition/include/convex_plane_decomposition/ransac/RansacPlaneExtractor.hpp create mode 100644 convex_plane_decomposition/include/convex_plane_decomposition/ransac/RansacPlaneExtractorParameters.h delete mode 100644 convex_plane_decomposition/include/convex_plane_decomposition/ransac_plane_extractor.hpp create mode 100644 convex_plane_decomposition/include/convex_plane_decomposition/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.h create mode 100644 convex_plane_decomposition/include/convex_plane_decomposition/sliding_window_plane_extraction/SlidingWindowPlaneExtractorParameters.h delete mode 100644 convex_plane_decomposition/include/convex_plane_decomposition/sliding_window_plane_extractor.hpp delete mode 100644 convex_plane_decomposition/include/convex_plane_decomposition/types.hpp create mode 100644 convex_plane_decomposition/src/ConvexRegionGrowing.cpp create mode 100644 convex_plane_decomposition/src/Draw.cpp create mode 100644 convex_plane_decomposition/src/GridMapPreprocessing.cpp create mode 100644 convex_plane_decomposition/src/contour_extraction/ContourExtraction.cpp delete mode 100644 convex_plane_decomposition/src/convex_decomposer.cpp delete mode 100644 convex_plane_decomposition/src/export_utils.cpp delete mode 100644 convex_plane_decomposition/src/geometry_utils.cpp delete mode 100644 convex_plane_decomposition/src/pipeline.cpp delete mode 100644 convex_plane_decomposition/src/plane.cpp delete mode 100644 convex_plane_decomposition/src/plane_factory.cpp delete mode 100644 convex_plane_decomposition/src/polygon.cpp delete mode 100644 convex_plane_decomposition/src/polygonizer.cpp create mode 100644 convex_plane_decomposition/src/ransac/RansacPlaneExtractor.cpp delete mode 100644 convex_plane_decomposition/src/ransac_plane_extractor.cpp create mode 100644 convex_plane_decomposition/src/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.cpp delete mode 100644 convex_plane_decomposition/src/sliding_window_plane_extractor.cpp create mode 100644 convex_plane_decomposition_msgs/CMakeLists.txt create mode 100644 convex_plane_decomposition_msgs/msg/BoundingBox2d.msg create mode 100644 convex_plane_decomposition_msgs/msg/PlanarRegion.msg create mode 100644 convex_plane_decomposition_msgs/msg/PlanarTerrain.msg create mode 100644 convex_plane_decomposition_msgs/msg/Point2d.msg create mode 100644 convex_plane_decomposition_msgs/msg/Polygon2d.msg create mode 100644 convex_plane_decomposition_msgs/msg/PolygonWithHoles2d.msg create mode 100644 convex_plane_decomposition_msgs/package.xml create mode 100644 convex_plane_decomposition_ros/data/elevationMap_10_277cm.png create mode 100644 convex_plane_decomposition_ros/data/elevationMap_11_278cm.png create mode 100644 convex_plane_decomposition_ros/data/elevationMap_8_139cm.png create mode 100644 convex_plane_decomposition_ros/data/elevationMap_9_308cm.png create mode 100644 convex_plane_decomposition_ros/data/holes.png create mode 100644 convex_plane_decomposition_ros/data/realStairs_125cm.png create mode 100644 convex_plane_decomposition_ros/data/slope_1m_1m_20cm.png create mode 100644 convex_plane_decomposition_ros/data/straightStairs_1m_1m_60cm.png create mode 100644 convex_plane_decomposition_ros/data/terrain.png create mode 100644 convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/ConvexPlaneDecompositionRos.h create mode 100644 convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/MessageConversion.h create mode 100644 convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/ParameterLoading.h create mode 100644 convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/RosVisualizations.h delete mode 100644 convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/convex_plane_decomposition_ros.hpp delete mode 100644 convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/grid_map_preprocessing.hpp delete mode 100644 convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/pipeline_ros.hpp delete mode 100644 convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/ros_visualizations.hpp create mode 100644 convex_plane_decomposition_ros/launch/convex_plane_decomposition_save_elevationmap.launch rename convex_plane_decomposition_ros/launch/{convex_plane_decomposition_demo.launch => demo.launch} (51%) create mode 100644 convex_plane_decomposition_ros/launch/rviz.launch rename convex_plane_decomposition_ros/src/{convex_plane_decomposition_node.cpp => ConvexPlaneDecompositionNode.cpp} (62%) create mode 100644 convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp create mode 100644 convex_plane_decomposition_ros/src/MessageConversion.cpp create mode 100644 convex_plane_decomposition_ros/src/ParameterLoading.cpp create mode 100644 convex_plane_decomposition_ros/src/RosVisualizations.cpp create mode 100644 convex_plane_decomposition_ros/src/SaveElevationMapAsImageNode.cpp delete mode 100644 convex_plane_decomposition_ros/src/convex_plane_decomposition_ros.cpp delete mode 100644 convex_plane_decomposition_ros/src/grid_map_preprocessing.cpp delete mode 100644 convex_plane_decomposition_ros/src/pipeline_ros.cpp delete mode 100644 convex_plane_decomposition_ros/src/ros_visualizations.cpp create mode 100644 convex_plane_decomposition_ros/test/shapeGrowing.cpp create mode 100644 convex_plane_decomposition_ros/test/test.cpp create mode 100644 segmented_planes_terrain_model/CMakeLists.txt create mode 100644 segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesTerrainModel.h create mode 100644 segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesTerrainModelRos.h create mode 100644 segmented_planes_terrain_model/launch/demo.launch create mode 100644 segmented_planes_terrain_model/package.xml create mode 100644 segmented_planes_terrain_model/src/DemoNode.cpp create mode 100644 segmented_planes_terrain_model/src/SegmentedPlanesTerrainModel.cpp create mode 100644 segmented_planes_terrain_model/src/SegmentedPlanesTerrainModelRos.cpp diff --git a/README.md b/README.md deleted file mode 100644 index 18def001..00000000 --- a/README.md +++ /dev/null @@ -1,69 +0,0 @@ -# Convex Terrain Representation # - -## Overview -This is a C++ ROS package for extracting convex polygons from elevation maps created by elevation_mapping. - -![screenshot](convex_plane_decomposition_ros/data/entire_map_decomposed.png) - -## Installation - -### Dependencies - -#### OpenCV -Make sure you have openCV installed. -You can execute the following command to install it. -```bash -sudo apt-get install libopencv-dev -``` - -#### Eigen -```bash -sudo apt install libeigen3-dev -``` - -#### GLOG -```bash -sudo apt-get install libgoogle-glog-dev -``` - -#### CGAL -CGAL5 is required. You can download it from [here](https://github.com/CGAL/cgal/releases/tag/releases%2FCGAL-5.0.2) -and follow the instructions [here](https://doc.cgal.org/latest/Manual/installation.html#installation_idealworld). -Make sure you have the third-party libaries installed on you machine: -```bash -sudo apt-get install libgmp-dev -sudo apt-get install libgmp3-dev -sudo apt-get install libmpfr-dev -sudo apt-get install libboost-all-dev -``` - - -### ROS package dependencies - -#### JSK-visualization -For rviz-visualization the jsk-library is used. -```bash -sudo apt-get install ros-melodic-jsk-visualization -``` - -#### Grid Map -Grid map has to be located in you workspace. You can clone it using: -```bash -git clone https://github.com/ANYbotics/grid_map.git -``` - -## Usage -### Build -```bash -catkin build convex_plane_decomposition_ros -``` -### Run demo -```bash -roslaunch convex_plane_decomposition_ros convex_plane_decomposition_demo.launch -``` - -### Parameters -You can select input map topics, pipeline parameters etc. in the respective yaml file in -```bash -convex_plane_decomposition_ros/config/ -``` diff --git a/convex_plane_decomposition/CMakeLists.txt b/convex_plane_decomposition/CMakeLists.txt index 1868b5f0..10109aa6 100644 --- a/convex_plane_decomposition/CMakeLists.txt +++ b/convex_plane_decomposition/CMakeLists.txt @@ -4,6 +4,7 @@ project(convex_plane_decomposition) # Catkin dependencies set(CATKIN_PACKAGE_DEPENDENCIES grid_map_core + ocs2_switched_model_interface ) find_package(catkin REQUIRED COMPONENTS @@ -15,6 +16,9 @@ find_package(CGAL QUIET) find_package(GMP REQUIRED) find_package(MPFR REQUIRED) +# Boost +find_package(Boost COMPONENTS thread REQUIRED) + # OpenCv find_package(OpenCV REQUIRED COMPONENTS @@ -37,7 +41,7 @@ catkin_package( INCLUDE_DIRS include LIBRARIES ${PROJECT_NAME} CATKIN_DEPENDS ${CATKIN_PACKAGE_DEPENDENCIES} - DEPENDS OpenCV CGAL GMP MPFR glog + DEPENDS OpenCV CGAL GMP MPFR glog Boost ) ########### @@ -48,19 +52,16 @@ include_directories( include ${catkin_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIR} + ${Boost_INCLUDE_DIR} ) add_library(${PROJECT_NAME} - src/ransac_plane_extractor.cpp - src/sliding_window_plane_extractor.cpp - src/plane.cpp - src/polygon.cpp - src/geometry_utils.cpp - src/export_utils.cpp - src/plane_factory.cpp - src/polygonizer.cpp - src/convex_decomposer.cpp - src/pipeline.cpp + src/contour_extraction/ContourExtraction.cpp + src/ransac/RansacPlaneExtractor.cpp + src/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.cpp + src/GridMapPreprocessing.cpp + src/ConvexRegionGrowing.cpp + src/Draw.cpp ) add_dependencies(${PROJECT_NAME} ${catkin_EXPORTED_TARGETS} @@ -69,12 +70,13 @@ target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} ${CGAL_LIBRARIES} ${OpenCV_LIBRARIES} + ${Boost_LIBRARIES} glog gmp mpfr ) target_compile_options(${PROJECT_NAME} - PUBLIC -DCGAL_HAS_NO_THREADS + PUBLIC -DCGAL_HAS_THREADS ) ############# diff --git a/convex_plane_decomposition/include/convex_plane_decomposition/ConvexRegionGrowing.h b/convex_plane_decomposition/include/convex_plane_decomposition/ConvexRegionGrowing.h new file mode 100644 index 00000000..42bf71b3 --- /dev/null +++ b/convex_plane_decomposition/include/convex_plane_decomposition/ConvexRegionGrowing.h @@ -0,0 +1,23 @@ +// +// Created by rgrandia on 09.06.20. +// + +#pragma once + +#include "PolygonTypes.h" + +namespace convex_plane_decomposition { + +CgalPolygon2d createRegularPolygon(const CgalPoint2d& center, double radius, int numberOfVertices); + +CgalPolygon2d growConvexPolygonInsideShape(const CgalPolygon2d& parentShape, CgalPoint2d center, int numberOfVertices, double growthFactor); + +CgalPolygon2d growConvexPolygonInsideShape(const CgalPolygonWithHoles2d & parentShape, CgalPoint2d center, int numberOfVertices, double growthFactor); + + +template +bool pointCanBeMoved(const CgalPolygon2d& growthShape, int i, const CgalPoint2d& candidatePoint, CgalCircle2d& freeSphere, + const T& parentShape); + +void updateMean(CgalPoint2d & mean, const CgalPoint2d& oldValue, const CgalPoint2d& updatedValue, int N); +} \ No newline at end of file diff --git a/convex_plane_decomposition/include/convex_plane_decomposition/Draw.h b/convex_plane_decomposition/include/convex_plane_decomposition/Draw.h new file mode 100644 index 00000000..9bb6103c --- /dev/null +++ b/convex_plane_decomposition/include/convex_plane_decomposition/Draw.h @@ -0,0 +1,24 @@ +// +// Created by rgrandia on 09.06.20. +// + +#pragma once + +#include +#include +#include +#include "opencv2/imgproc/imgproc.hpp" + +#include "PolygonTypes.h" + +namespace convex_plane_decomposition { + +cv::Vec3b randomColor(); +std::vector toCv(const CgalPolygon2d& polygon); +void drawContour(cv::Mat& img, const CgalPoint2d& point, double radius = 1, const cv::Vec3b* color = nullptr); +void drawContour(cv::Mat& img, const CgalPolygon2d& polygon, const cv::Vec3b* color = nullptr); +void drawContour(cv::Mat& img, const CgalPolygonWithHoles2d& polygonWithHoles2d, const cv::Vec3b* color = nullptr); +CgalPolygon2d scaleShape(const CgalPolygon2d& polygon, double scale); +CgalPolygonWithHoles2d scaleShape(const CgalPolygonWithHoles2d& polygonWithHoles, double scale); + +} \ No newline at end of file diff --git a/convex_plane_decomposition/include/convex_plane_decomposition/GeometryUtils.h b/convex_plane_decomposition/include/convex_plane_decomposition/GeometryUtils.h new file mode 100644 index 00000000..5ccc1749 --- /dev/null +++ b/convex_plane_decomposition/include/convex_plane_decomposition/GeometryUtils.h @@ -0,0 +1,140 @@ +// +// Created by rgrandia on 09.06.20. +// + +#include "PolygonTypes.h" +#include "PlanarRegion.h" + +#pragma once + +namespace convex_plane_decomposition { + +inline bool doEdgesIntersect(const CgalSegment2d& line, const CgalPolygon2d& contour) { + for (auto edgeIt = contour.edges_begin(); edgeIt != contour.edges_end(); ++edgeIt) { + if (CGAL::do_intersect(line, *edgeIt)) { + return true; + } + } + return false; +} + +inline bool doEdgesIntersect(const CgalSegment2d& line, const CgalPolygonWithHoles2d& parentShape) { + if (doEdgesIntersect(line, parentShape.outer_boundary())) { + return true; + } else { + for (const auto& hole : parentShape.holes()) { + if (doEdgesIntersect(line, hole)) { + return true; + } + } + } + return false; +} + +inline double squaredDistance(const CgalPoint2d& point, const CgalPolygon2d& polygon) { + double minDistSquared = std::numeric_limits::max(); + for (auto edgeIt = polygon.edges_begin(); edgeIt != polygon.edges_end(); ++edgeIt) { + double distSquare = CGAL::squared_distance(point, *edgeIt); + minDistSquared = std::min(distSquare, minDistSquared); + } + return minDistSquared; +} + +inline double squaredDistance(const CgalPoint2d& point, const CgalPolygonWithHoles2d& parentShape) { + double minDistSquared = squaredDistance(point, parentShape.outer_boundary()); + for (const auto& hole : parentShape.holes()) { + double distSquare = squaredDistance(point, hole); + minDistSquared = std::min(distSquare, minDistSquared); + } + return minDistSquared; +} + +inline double squaredDistance(const CgalPoint2d& point, const CgalCircle2d& circle) { + auto dx = (point.x() - circle.center().x()); + auto dy = (point.y() - circle.center().y()); + return dx * dx + dy * dy; +} + +template +double distance(const CgalPoint2d& point, const T& shape) { + double distanceSquared = squaredDistance(point, shape); + return (distanceSquared > 0.0) ? std::sqrt(distanceSquared) : 0.0; +} + +inline bool isInside(const CgalPoint2d& point, const CgalCircle2d& circle) { + return squaredDistance(point, circle) <= circle.squared_radius(); +} + +inline bool isInside(const CgalPoint2d& point, const CgalPolygon2d& polygon) { + const auto boundedSide = CGAL::bounded_side_2(polygon.begin(), polygon.end(), point); + return boundedSide == CGAL::ON_BOUNDED_SIDE || boundedSide == CGAL::ON_BOUNDARY; +} + +inline bool isInside(const CgalPoint2d& point, const CgalPolygonWithHoles2d& polygonWithHoles) { + if (isInside(point, polygonWithHoles.outer_boundary())) { + // Inside the outer contour -> return false if the point is inside any of the holes + for (const auto& hole : polygonWithHoles.holes()) { + const auto boundedSide = CGAL::bounded_side_2(hole.begin(), hole.end(), point); + if (boundedSide == CGAL::ON_BOUNDED_SIDE) { // The edge of the hole is considered part of the polygon + return false; + } + } + return true; + } else { + return false; + } +} + +inline CgalPoint2d getPointOnLine(const CgalPoint2d& start, const CgalPoint2d& end, double factor) { + return {factor * (end.x() - start.x()) + start.x(), factor * (end.y() - start.y()) + start.y()}; +} + +inline CgalPoint2d projectToClosestPoint(const CgalPoint2d& point, const CgalSegment2d& segment) { + // The segment as a vector, with the source being the origin + const Eigen::Vector2d sourceToTarget{segment.target().x() - segment.source().x(), segment.target().y() - segment.source().y()}; + const double sourceToTargetDistance = sourceToTarget.norm(); + const Eigen::Vector2d n = sourceToTarget / sourceToTargetDistance; + + // Vector from source to the query point + const Eigen::Vector2d sourceToPoint{point.x() - segment.source().x(), point.y() - segment.source().y()}; + + // Projection to the line, clamped to be between source and target points + const double coeff = std::min(std::max(0.0, n.dot(sourceToPoint)), sourceToTargetDistance); + + return {coeff * n.x() + segment.source().x(), coeff * n.y() + segment.source().y()}; +} + +inline CgalPoint2d projectToClosestPoint(const CgalPoint2d& point, const CgalPolygon2d& polygon) { + double minDistSquared = CGAL::squared_distance(point, *polygon.edges_begin()); + auto closestEdge = polygon.edges_begin(); + for (auto edgeIt = std::next(polygon.edges_begin()); edgeIt != polygon.edges_end(); ++edgeIt) { + double distSquare = CGAL::squared_distance(point, *edgeIt); + if (distSquare < minDistSquared) { + closestEdge = edgeIt; + minDistSquared = distSquare; + } + } + return projectToClosestPoint(point, *closestEdge); +} + +inline void transformInPlace(CgalPolygon2d& polygon, const std::function & f) { + for (auto& point : polygon) { + f(point); + } +} + +inline void transformInPlace(CgalPolygonWithHoles2d& polygonWithHoles, const std::function & f) { + transformInPlace(polygonWithHoles.outer_boundary(), f); + for (auto& hole: polygonWithHoles.holes()) { + transformInPlace(hole, f); + } +} + +inline void transformInPlace(BoundaryWithInset& boundaryWithInset, const std::function & f) { + transformInPlace(boundaryWithInset.boundary, f); + for (auto& inset: boundaryWithInset.insets) { + transformInPlace(inset, f); + } +} + +} // namespace convex_plane_decomposition diff --git a/convex_plane_decomposition/include/convex_plane_decomposition/GridMapPreprocessing.h b/convex_plane_decomposition/include/convex_plane_decomposition/GridMapPreprocessing.h new file mode 100644 index 00000000..b532bdae --- /dev/null +++ b/convex_plane_decomposition/include/convex_plane_decomposition/GridMapPreprocessing.h @@ -0,0 +1,30 @@ +#pragma once + +#include + +#include + +namespace convex_plane_decomposition { + +struct PreprocessingParameters { + int kernelSize = 5; // Kernel size of the median filter + int numberOfRepeats = 1; // Number of times the image is filtered + bool increasing = false; // If the kernel size should increase each filter step. + double inpaintRadius = 0.05; // [in m] +}; + +class GridMapPreprocessing { + public: + GridMapPreprocessing(const PreprocessingParameters& parameters); + + void preprocess(grid_map::GridMap& gridMap, const std::string& layer); + + private: + void denoise(grid_map::GridMap& gridMap, const std::string& layer); + void inpaint(grid_map::GridMap& gridMap, const std::string& layer, float minValue, float maxValue); + + PreprocessingParameters parameters_; +}; + +} // namespace convex_plane_decomposition + diff --git a/convex_plane_decomposition/include/convex_plane_decomposition/Nan.h b/convex_plane_decomposition/include/convex_plane_decomposition/Nan.h new file mode 100644 index 00000000..a2867698 --- /dev/null +++ b/convex_plane_decomposition/include/convex_plane_decomposition/Nan.h @@ -0,0 +1,29 @@ +// +// Created by rgrandia on 11.06.20. +// + +#pragma once + +#include + +namespace convex_plane_decomposition { + +constexpr float nanfPatch = std::numeric_limits::max(); + +inline bool isNan(float val) { + return val == nanfPatch; +} + +inline bool isNan(double val) { + throw std::runtime_error("Should not call the custom isNan with a double"); +} + +inline void patchNans(Eigen::MatrixXf& matrix) { + matrix = matrix.unaryExpr([](float val) { return (std::isnan(val)) ? nanfPatch : val; }); +} + +inline void reapplyNans(Eigen::MatrixXf& matrix) { + matrix = matrix.unaryExpr([](float val) { return (isNan(val)) ? std::nanf("") : val; }); +} + +} // namespace convex_plane_decomposition diff --git a/convex_plane_decomposition/include/convex_plane_decomposition/PlanarRegion.h b/convex_plane_decomposition/include/convex_plane_decomposition/PlanarRegion.h new file mode 100644 index 00000000..eb7cd415 --- /dev/null +++ b/convex_plane_decomposition/include/convex_plane_decomposition/PlanarRegion.h @@ -0,0 +1,38 @@ +// +// Created by rgrandia on 10.06.20. +// + +#pragma once + +#include + +#include + +#include "PolygonTypes.h" + +namespace convex_plane_decomposition { + +using switched_model::TerrainPlane; + +struct BoundaryWithInset { + /// Boundary of the planar region. + CgalPolygonWithHoles2d boundary; + + /// Encodes an inward offset to the boundary. + std::vector insets; +}; + +struct PlanarRegion { + /// All 2d points are in the terrain frame + BoundaryWithInset boundaryWithInset; + + /// 2D bounding box in terrain frame containing all the boundary points + CgalBbox2d bbox2d; + + /// 3D parameters of the plane + TerrainPlane planeParameters; +}; + +using PlanarTerrain = std::vector; + +} // namespace convex_plane_decomposition diff --git a/convex_plane_decomposition/include/convex_plane_decomposition/PolygonTypes.h b/convex_plane_decomposition/include/convex_plane_decomposition/PolygonTypes.h new file mode 100644 index 00000000..82acad6e --- /dev/null +++ b/convex_plane_decomposition/include/convex_plane_decomposition/PolygonTypes.h @@ -0,0 +1,23 @@ +// +// Created by rgrandia on 07.06.20. +// + +#pragma once + +#include + +#include +#include +#include + +namespace convex_plane_decomposition { + +using K = CGAL::Exact_predicates_inexact_constructions_kernel; +using CgalPoint2d = K::Point_2; +using CgalCircle2d = K::Circle_2; +using CgalPolygon2d = CGAL::Polygon_2; +using CgalSegment2d = CgalPolygon2d::Segment_2; +using CgalPolygonWithHoles2d = CGAL::Polygon_with_holes_2; +using CgalBbox2d = CGAL::Bbox_2; + +} // namespace convex_plane_decomposition diff --git a/convex_plane_decomposition/include/convex_plane_decomposition/SegmentedPlanesMap.h b/convex_plane_decomposition/include/convex_plane_decomposition/SegmentedPlanesMap.h new file mode 100644 index 00000000..1c437773 --- /dev/null +++ b/convex_plane_decomposition/include/convex_plane_decomposition/SegmentedPlanesMap.h @@ -0,0 +1,31 @@ +// +// Created by rgrandia on 10.06.20. +// + +#pragma once + +#include + +#include "PlanarRegion.h" + +namespace convex_plane_decomposition { + +struct SegmentedPlanesMap { + /// Unordered collection of all labels and corresponding plane parameters + std::vector> labelPlaneParameters; + + /// Image with a each pixel being assigned and integer value corresponding to the label. Might contain labels that are not in + /// labelPlaneParameters. These labels should be seen as background. + cv::Mat labeledImage; + + /// Size of each pixel [m] + double resolution; + + /// World X-Y position [m] of the (0, 0) pixel in the image. + Eigen::Vector2d mapOrigin; + + /// All label values are smaller than or equal to highestLabel + int highestLabel; +}; + +} // namespace convex_plane_decomposition diff --git a/convex_plane_decomposition/include/convex_plane_decomposition/contour_extraction/ContourExtraction.h b/convex_plane_decomposition/include/convex_plane_decomposition/contour_extraction/ContourExtraction.h new file mode 100644 index 00000000..aee87d57 --- /dev/null +++ b/convex_plane_decomposition/include/convex_plane_decomposition/contour_extraction/ContourExtraction.h @@ -0,0 +1,49 @@ +// +// Created by rgrandia on 04.06.20. +// + +#pragma once + +#include + +#include "convex_plane_decomposition/PlanarRegion.h" +#include "convex_plane_decomposition/PolygonTypes.h" +#include "convex_plane_decomposition/SegmentedPlanesMap.h" + +#include "ContourExtractionParameters.h" + +namespace convex_plane_decomposition { +namespace contour_extraction { + + +/** + * Extracts the contours in map resolution, but with the x and y axis flipped. + * This way all contours are in counter clockwise direction. + */ +class ContourExtraction { + public: + ContourExtraction(const ContourExtractionParameters& parameters); + + std::vector extractPlanarRegions(const SegmentedPlanesMap& segmentedPlanesMap); + + private: + ContourExtractionParameters parameters_; + cv::Mat erosionKernel_; + + // Memory to reuse between calls + cv::Mat binaryImage_; +}; + +/// Modifies the image in-place! +std::vector extractBoundaryAndInset(cv::Mat& binary_image, const cv::Mat& erosionKernel); + +std::vector extractPolygonsFromBinaryImage(const cv::Mat& binary_image); + +CgalPolygon2d cgalPolygonFromOpenCv(const std::vector& openCvPolygon); + +CgalPoint2d worldFrameToTerrainFrame(const CgalPoint2d& worldFrameXY, const TerrainPlane& plane); + +CgalPoint2d pixelToWorldFrame(const CgalPoint2d& pixelspaceCgalPoint2d, double resolution, const Eigen::Vector2d& mapOffset); + +} +} \ No newline at end of file diff --git a/convex_plane_decomposition/include/convex_plane_decomposition/contour_extraction/ContourExtractionParameters.h b/convex_plane_decomposition/include/convex_plane_decomposition/contour_extraction/ContourExtractionParameters.h new file mode 100644 index 00000000..b003cb1e --- /dev/null +++ b/convex_plane_decomposition/include/convex_plane_decomposition/contour_extraction/ContourExtractionParameters.h @@ -0,0 +1,16 @@ +// +// Created by rgrandia on 07.06.20. +// + +#pragma once + +namespace convex_plane_decomposition { +namespace contour_extraction { + +struct ContourExtractionParameters { + int offsetSize = 2; /// Size of the kernel creating the boundary offset. In number of pixels. +}; + +} // namespace contour_extraction +} + diff --git a/convex_plane_decomposition/include/convex_plane_decomposition/convex_decomposer.hpp b/convex_plane_decomposition/include/convex_plane_decomposition/convex_decomposer.hpp deleted file mode 100644 index 71391f97..00000000 --- a/convex_plane_decomposition/include/convex_plane_decomposition/convex_decomposer.hpp +++ /dev/null @@ -1,36 +0,0 @@ -#ifndef CONVEX_PLANE_EXTRACTION_INCLUDE_CONVEX_DECOMPOSER_HPP_ -#define CONVEX_PLANE_EXTRACTION_INCLUDE_CONVEX_DECOMPOSER_HPP_ - -#include "polygon.hpp" - -namespace convex_plane_decomposition { - -enum class ConvexDecompositionType{ - kGreeneOptimalDecomposition = 1, - kInnerConvexApproximation = 2 -}; - -struct ConvexDecomposerParameters{ - ConvexDecompositionType decomposition_type = ConvexDecompositionType::kGreeneOptimalDecomposition; - double dent_angle_threshold_rad = 0.001; // 0.05 deg in rad. -}; - -class ConvexDecomposer { - public: - explicit ConvexDecomposer(const ConvexDecomposerParameters& parameters); - - CgalPolygon2dContainer performConvexDecomposition(const CgalPolygon2d& polygon) const; - - private: - std::multimap detectDentLocations(const CgalPolygon2d& polygon) const; - - CgalPolygon2dContainer performInnerConvexApproximation(const CgalPolygon2d& polygon) const; - - CgalPolygon2dContainer performOptimalConvexDecomposition(const CgalPolygon2d& polygon) const; - - ConvexDecomposerParameters parameters_; -}; - -} // namespace convex_plane_decomposition - -#endif //CONVEX_PLANE_EXTRACTION_INCLUDE_CONVEX_DECOMPOSER_HPP_ diff --git a/convex_plane_decomposition/include/convex_plane_decomposition/export_utils.hpp b/convex_plane_decomposition/include/convex_plane_decomposition/export_utils.hpp deleted file mode 100644 index a029f37a..00000000 --- a/convex_plane_decomposition/include/convex_plane_decomposition/export_utils.hpp +++ /dev/null @@ -1,17 +0,0 @@ -#ifndef CONVEX_PLANE_EXTRACTION_INCLUDE_EXPORT_UTILS_HPP_ -#define CONVEX_PLANE_EXTRACTION_INCLUDE_EXPORT_UTILS_HPP_ - -#include - -#include -#include - -#include - -namespace convex_plane_decomposition { - -bool exportPointsWithNormalsToCsv(grid_map::GridMap& map, const std::string& normals_layer_prefix, const std::string& layer_height, - const std::string& path); - -} -#endif //CONVEX_PLANE_EXTRACTION_INCLUDE_EXPORT_UTILS_HPP_ diff --git a/convex_plane_decomposition/include/convex_plane_decomposition/geometry_utils.hpp b/convex_plane_decomposition/include/convex_plane_decomposition/geometry_utils.hpp deleted file mode 100644 index e0a9528b..00000000 --- a/convex_plane_decomposition/include/convex_plane_decomposition/geometry_utils.hpp +++ /dev/null @@ -1,31 +0,0 @@ -#ifndef CONVEX_PLANE_EXTRACTION_INCLUDE_GEOMETRY_UTILS_HPP_ -#define CONVEX_PLANE_EXTRACTION_INCLUDE_GEOMETRY_UTILS_HPP_ - -#include "types.hpp" - -namespace convex_plane_decomposition { - -double scalarCrossProduct(const Vector2d& leftVector, const Vector2d& rightVector); - -double computeAngleBetweenVectors(const Vector2d& first_vector, const Vector2d& second_vector); - -double distanceBetweenPoints(const Vector2d& first, const Vector2d& second); - -double distanceToLine(const Vector2d& lineSupportVector, const Vector2d& lineDirectionalVector, const Vector2d& testPoint); - -std::pair getDistanceAndClosestPointOnLineSegment(const Vector2d& point, const Vector2d& source, const Vector2d& target); - -double getDistanceOfPointToLineSegment(const Vector2d& point, const Vector2d& source, Vector2d& target); - -bool intersectLineSegmentWithLineSegment(const Vector2d& segment_1_source, const Vector2d& segment_1_target, - const Vector2d& segment_2_source, const Vector2d& segment_2_target, Vector2d* intersection_point); - -bool intersectRayWithLineSegment(const Vector2d& ray_source, const Vector2d& ray_direction, const Vector2d& segment_source, - const Vector2d& segment_target, Vector2d* intersection_point); - -bool isPointOnLeftSide(const Vector2d& line_support_vector, const Vector2d& line_direction_vector, const Vector2d& point); - -bool isPointOnRightSideOfLine(const Vector2d& line_support_vector, const Vector2d& line_direction_vector, const Vector2d& point); - -} // namespace convex_plane_decomposition -#endif // CONVEX_PLANE_EXTRACTION_INCLUDE_GEOMETRY_UTILS_HPP_ diff --git a/convex_plane_decomposition/include/convex_plane_decomposition/pipeline.hpp b/convex_plane_decomposition/include/convex_plane_decomposition/pipeline.hpp deleted file mode 100644 index dd9559d7..00000000 --- a/convex_plane_decomposition/include/convex_plane_decomposition/pipeline.hpp +++ /dev/null @@ -1,46 +0,0 @@ -#ifndef CONVEX_PLANE_EXTRACTION__PIPELINE_HPP_ -#define CONVEX_PLANE_EXTRACTION__PIPELINE_HPP_ - -#include "convex_decomposer.hpp" -#include "plane_factory.hpp" -#include "sliding_window_plane_extractor.hpp" - -namespace convex_plane_decomposition { - -struct PipelineParameters{ - sliding_window_plane_extractor::SlidingWindowPlaneExtractorParameters sliding_window_plane_extractor_parameters = - sliding_window_plane_extractor::SlidingWindowPlaneExtractorParameters(); - PlaneFactoryParameters plane_factory_parameters = PlaneFactoryParameters(); -}; - -struct GridMapParameters{ - GridMapParameters(grid_map::GridMap& input_map, const std::string& height_layer) - : map(input_map), - resolution(input_map.getResolution()), - layer_height(height_layer){} - - grid_map::GridMap& map; - double resolution; - std::string layer_height; -}; - -class Pipeline { - public: - Pipeline(const PipelineParameters& pipeline_parameters, const GridMapParameters& grid_map_parameters); - - Polygon3dVectorContainer getConvexPolygons() const; - - Polygon3dVectorContainer getPlaneContours() const; - - const cv::Mat& getSegmentationImage() const { return sliding_window_plane_extractor_.getLabeledImage(); }; - - private: - // Parameters - GridMapParameters grid_map_parameters_; - PipelineParameters pipeline_parameters_; - - PlaneFactory plane_factory_; - sliding_window_plane_extractor::SlidingWindowPlaneExtractor sliding_window_plane_extractor_; -}; -} // namespace_convex_plane_decomposition -#endif //CONVEX_PLANE_EXTRACTION__PIPELINE_HPP_ diff --git a/convex_plane_decomposition/include/convex_plane_decomposition/plane.hpp b/convex_plane_decomposition/include/convex_plane_decomposition/plane.hpp deleted file mode 100644 index 8baeaf6c..00000000 --- a/convex_plane_decomposition/include/convex_plane_decomposition/plane.hpp +++ /dev/null @@ -1,57 +0,0 @@ -#ifndef CONVEX_PLANE_EXTRACTION_SRC_PLANE_HPP_ -#define CONVEX_PLANE_EXTRACTION_SRC_PLANE_HPP_ - -#include - -#include "geometry_utils.hpp" -#include "polygon.hpp" - -namespace convex_plane_decomposition { - - struct PlaneParameters{ - - PlaneParameters(Eigen::Vector3d normal_vector, Eigen::Vector3d support_vector) - : support_vector(support_vector), - normal_vector(normal_vector){}; - - Eigen::Vector3d support_vector; - Eigen::Vector3d normal_vector; - }; - - class Plane { - public: - Plane(const CgalPolygon2d& plane_contour, const PlaneParameters& parameters) - : plane_contour_(plane_contour), normal_vector_(parameters.normal_vector), support_vector_(parameters.support_vector) {} - - void addConvexPolygon(const CgalPolygon2d& convex_polygon) { convex_polygons_.push_back(convex_polygon); } - - const CgalPolygon2dContainer& getConvexPolygons() const { return convex_polygons_; } - - CgalPolygon2dContainer& getConvexPolygonsMutable() { return convex_polygons_; } - - const Eigen::Vector3d& getPlaneNormalVector() const { return normal_vector_; } - - Eigen::Vector3d& getPlaneNormalVectorMutable() { return normal_vector_; } - - const CgalPolygon2d& getOuterPolygon() const { return plane_contour_; } - - CgalPolygon2d& getOuterPolygonMutable() { return plane_contour_; } - - PlaneParameters getPlaneParameters() const { return PlaneParameters(normal_vector_, support_vector_); } - - void setConvexPolygons(CgalPolygon2dContainer& convex_polygons) { convex_polygons_ = convex_polygons; } - - bool setNormalAndSupportVector(const Eigen::Vector3d& normal_vector, const Eigen::Vector3d& support_vector); - - bool setPlaneContour(const CgalPolygon2d& plane_contour) { plane_contour_ = plane_contour; } - - private: - CgalPolygon2d plane_contour_; - CgalPolygon2dContainer convex_polygons_; - - Vector3d normal_vector_; - Vector3d support_vector_; - }; - - } // namespace convex_plane_decomposition -#endif // CONVEX_PLANE_EXTRACTION_SRC_PLANE_HPP_ diff --git a/convex_plane_decomposition/include/convex_plane_decomposition/plane_factory.hpp b/convex_plane_decomposition/include/convex_plane_decomposition/plane_factory.hpp deleted file mode 100644 index f9f9039a..00000000 --- a/convex_plane_decomposition/include/convex_plane_decomposition/plane_factory.hpp +++ /dev/null @@ -1,62 +0,0 @@ -#ifndef CONVEX_PLANE_EXTRACTION_INCLUDE_PLANE_FACTORY_HPP_ -#define CONVEX_PLANE_EXTRACTION_INCLUDE_PLANE_FACTORY_HPP_ - -#include -#include - -#include "convex_decomposer.hpp" -#include "plane.hpp" -#include "polygonizer.hpp" - -namespace convex_plane_decomposition { - -struct PlaneFactoryParameters{ - PolygonizerParameters polygonizer_parameters = PolygonizerParameters(); - ConvexDecomposerParameters convex_decomposer_parameters = ConvexDecomposerParameters(); - double plane_inclination_threshold_degrees = 70; -}; - -class PlaneFactory { - public: - - PlaneFactory(grid_map::GridMap& map, const PlaneFactoryParameters& parameters) - :map_(map), - parameters_(parameters){ - computeMapTransformation(); - }; - - void createPlanesFromLabeledImageAndPlaneParameters(const cv::Mat& labeled_image, const int number_of_labels, - const std::map& plane_parameters); - - void decomposePlanesInConvexPolygons(); - - Polygon3dVectorContainer getConvexPolygonsInWorldFrame() const; - - Polygon3dVectorContainer getPlaneContoursInWorldFrame() const; - - private: - - void computeMapTransformation(); - - Eigen::Vector3d convertPlanePointToWorldFrame(const CgalPoint2d& point, const PlaneParameters& plane_parameters) const; - - Polygon3dVectorContainer convertPlanePolygonsToWorldFrame(const CgalPolygon2dContainer& polygons, - const PlaneParameters& plane_parameters) const; - - Polygon3dVectorContainer convertPlanePolygonToWorldFrame(const CgalPolygon2d& polygon, const PlaneParameters& plane_parameters) const; - - bool isPlaneInclinationBelowThreshold(const Eigen::Vector3d& plane_normal_vector) const; - - // Grid map related members. - grid_map::GridMap& map_; - Eigen::Matrix2d transformation_xy_to_world_frame_; - Eigen::Vector2d map_offset_; - - // Parameters. - PlaneFactoryParameters parameters_; - - std::vector planes_; - -}; -} // namespace convex_plane_decomposition -#endif //CONVEX_PLANE_EXTRACTION_INCLUDE_PLANE_FACTORY_HPP_ diff --git a/convex_plane_decomposition/include/convex_plane_decomposition/polygon.hpp b/convex_plane_decomposition/include/convex_plane_decomposition/polygon.hpp deleted file mode 100644 index 2f5adbb9..00000000 --- a/convex_plane_decomposition/include/convex_plane_decomposition/polygon.hpp +++ /dev/null @@ -1,177 +0,0 @@ -#ifndef CONVEX_PLANE_EXTRACTION_INCLUDE_POLYGON_HPP_ -#define CONVEX_PLANE_EXTRACTION_INCLUDE_POLYGON_HPP_ - -#include -#include -#include -#include -#include -#include - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include -#include -#include - -#include - -#include "geometry_utils.hpp" -#include "types.hpp" - -namespace convex_plane_decomposition { - -using K = CGAL::Exact_predicates_inexact_constructions_kernel; -using EKernel = CGAL::Exact_predicates_exact_constructions_kernel; -using Traits = CGAL::Partition_traits_2; -using CgalPoint2d = CGAL::Point_2; -using CgalVector2d = CGAL::Vector_2; -using CgalPolygon2d = CGAL::Polygon_2; -using CgalPolygonWithHoles2d = CGAL::Polygon_with_holes_2; -using CgalSegment2d = Traits::Segment_2; -using CgalPolygon2dContainer = std::vector; -using CgalRay2d = Traits::Ray_2; -using CgalCircle2d = Traits::Circle_2; -using CgalPolygon2dConstIterator = CgalPolygon2dContainer::const_iterator; -using CgalPolygon2dSetContainer = CGAL::Polygon_set_2>; -using CgalPolygon2dVertexConstIterator = CgalPolygon2d::Vertex_const_iterator; -using CgalPolygon2dVertexIterator = CgalPolygon2d::Vertex_iterator; - -using Polygon3d = std::vector; -using Polygon3dVectorContainer = std::vector; -using Intersect_2 = K::Intersect_2; - -enum class SegmentIntersectionType : int { kSource, kTarget, kInterior }; - -struct Intersection { - void setEdgeSourceLocation(const int location) { edge_source_location_ = location; } - void setEdgeTargetLocation(const int location) { edge_target_location_ = location; } - void setIntersectionPoint(const CgalPoint2d& intersection_point) { intersection_point_ = intersection_point; } - void setAllMembers(const int source_location, const int target_location, const CgalPoint2d& intersection_point, - const SegmentIntersectionType& intersection_type) { - edge_source_location_ = source_location; - edge_target_location_ = target_location; - intersection_type_ = intersection_type; - intersection_point_ = intersection_point; - } - - int edge_source_location_; - int edge_target_location_; - SegmentIntersectionType intersection_type_; - CgalPoint2d intersection_point_; -}; - -struct PolygonWithHoles { - CgalPolygon2d outer_contour; - CgalPolygon2dContainer holes; -}; - -struct RaySegmentIntersection { - SegmentIntersectionType intersection_location; - CgalPoint2d intersection_point; -}; - -void approximateContour(CgalPolygon2d* polygon, int max_number_of_iterations, double relative_local_area_threshold, - double absolute_local_area_threshold, double relative_total_area_threshold, double absolute_total_area_threshold); - -template -bool isContourSimple_impl(Iter begin, Iter end, std::bidirectional_iterator_tag) { - CgalPolygon2d polygon; - for (auto it = begin; it < end; ++it) { - polygon.push_back(Point((*it).x, (*it).y)); - std::cout << *it << std::endl; - } - return polygon.is_simple(); -}; - -template -bool isContourSimple(Iter begin, Iter end) { - return isContourSimple_impl(begin, end, typename std::iterator_traits::iterator_category()); -}; - -double computeTriangleArea(double side_length_a, double side_length_b, double side_length_c); - -void connectSecondPolygonToFirst(CgalPolygon2d& left_polygon, CgalPolygon2d& right_polygon); - -void copyVertices(const CgalPolygon2d& old_polygon, const CgalPolygon2dVertexIterator first, const CgalPolygon2dVertexIterator last, - CgalPolygon2d* new_polygon, const CgalPolygon2dVertexIterator insert_position); - -template -CgalPolygon2d createCgalPolygonFromOpenCvPoints_impl(Iter begin, Iter end, const double& resolution, std::bidirectional_iterator_tag) { - CgalPolygon2d polygon; - for (auto it = begin; it < end; ++it) { - polygon.push_back(CgalPoint2d(static_cast((*it).y * resolution), static_cast((*it).x) * resolution)); - } - return polygon; -}; - -template -CgalPolygon2d createCgalPolygonFromOpenCvPoints(Iter begin, Iter end, const double& resolution) { - return createCgalPolygonFromOpenCvPoints_impl(begin, end, resolution, typename std::iterator_traits::iterator_category()); -}; - -std::list decomposeInnerApproximation(const CgalPolygon2d& polygon); - -std::multimap detectDentLocations(const CgalPolygon2d& polygon); - -bool doPointAndPolygonIntersect(const CgalPolygon2d& polygon, const CgalPoint2d& point, int& segment_source_vertex_index); - -bool doPolygonAndSegmentIntersect(const CgalPolygon2d& polygon, const CgalSegment2d& segment, bool print_flag); - -bool doRayAndSegmentIntersect(const CgalRay2d& ray, const CgalSegment2d& segment, RaySegmentIntersection* intersection); - -CgalPolygon2dVertexIterator erase(CgalPolygon2dVertexIterator first, CgalPolygon2dVertexIterator last, CgalPolygon2d* polygon); - -std::pair getClosestPointAndSegmentOnPolygonToPoint(const CgalPoint2d& point, const CgalPolygon2d& polygon); - -int getClosestPolygonVertexPosition(const CgalPolygon2d& polygon, const CgalPoint2d& point); - -std::multimap> getClosestVertexPairsOrdered(const CgalPolygon2d& first_polygon, - const CgalPolygon2d& second_polygon); - -std::vector> getCommonVertexPairIndices(const CgalPolygon2d& first_polygon, const CgalPolygon2d& second_polygon); - -double getEdgeLength(const CgalPolygon2dVertexIterator& source, const CgalPolygon2d& polygon); - -std::pair getIndicesOfClosestVertexPair(CgalPolygon2d& first_polygon, CgalPolygon2d& second_polygon); - -CgalPoint2d getPolygonVertexAtIndex(const CgalPolygon2d& polygon, int index); - -void getSegmentNormalVector(const CgalSegment2d& segment, Eigen::Vector2d* normal_vector); - -std::vector getVertexIndicesOfFirstPolygonContainedInSecondPolygonContour(const CgalPolygon2d& first_polygon, - const CgalPolygon2d& second_polygon); - -void getVertexPositionsInAscendingDistanceToPoint(const CgalPolygon2d& polygon, const CgalPoint2d& point, - std::multimap* vertex_positions); - -std::pair getVertexPositionsWithHighestHoleSlConcavityMeasure(const CgalPolygon2d& polygon); - -bool intersectPolygonWithRay(int ray_target_location, CGAL::Orientation orientation, const CgalPolygon2d& polygon, - Intersection* intersection); - -CgalPolygon2dVertexIterator next(const CgalPolygon2dVertexIterator& iterator, const CgalPolygon2d& polygon); - -bool next(const CgalPolygon2dVertexIterator& iterator, CgalPolygon2dVertexIterator& output_iterator, const CgalPolygon2d& polygon); - -void performConvexDecomposition(const CgalPolygon2d& polygon, CgalPolygon2dContainer* output_polyong_list); - -CgalPolygon2dVertexIterator previous(const CgalPolygon2dVertexIterator& iterator, const CgalPolygon2d& polygon); - -void printPolygon(const CgalPolygon2d& polygon); - -std::string printPolygonToString(const CgalPolygon2d& polygon); - -void upSampleLongEdges(CgalPolygon2d* polygon); - -} // namespace convex_plane_decomposition -#endif //CONVEX_PLANE_EXTRACTION_INCLUDE_POLYGON_HPP_ diff --git a/convex_plane_decomposition/include/convex_plane_decomposition/polygonizer.hpp b/convex_plane_decomposition/include/convex_plane_decomposition/polygonizer.hpp deleted file mode 100644 index ac514d57..00000000 --- a/convex_plane_decomposition/include/convex_plane_decomposition/polygonizer.hpp +++ /dev/null @@ -1,61 +0,0 @@ -#ifndef CONVEX_PLANE_EXTRACTION_INCLUDE_POLYGONIZER_HPP_ -#define CONVEX_PLANE_EXTRACTION_INCLUDE_POLYGONIZER_HPP_ - -#include - -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include "plane.hpp" -#include "polygon.hpp" - -namespace convex_plane_decomposition { - -struct PolygonizerParameters{ - double resolution = 0.02; - int upsampling_factor = 3; - bool activate_long_edge_upsampling = false; - bool activate_contour_approximation = false; - double hole_area_threshold_squared_meters = 2e-3; - double contour_approximation_relative_local_area_threshold = 0.01; - double contour_approximation_absolute_local_area_threshold_squared_meters = 0.04; - double contour_approximation_relative_total_area_threshold = 0.5; - double contour_approximation_absolute_total_area_threshold_squared_meters = 1.0; - int max_number_of_iterations = 5; -}; - -class Polygonizer { - public: - explicit Polygonizer(const PolygonizerParameters parameters = PolygonizerParameters()) : parameters_(parameters){}; - - bool addHoleToOuterContourAtVertexIndex(int segment_target_vertex_index, const CgalPolygon2d& hole, CgalPolygon2d& outer_contour) const; - - PolygonWithHoles extractContoursFromBinaryImage(cv::Mat& binary_image) const; - - PolygonWithHoles extractPolygonsFromBinaryImage(const cv::Mat& binary_image) const; - - void removeAreasNotContainedInOuterContourFromHoles(const CgalPolygon2d& outer_polygon, std::vector& holes) const; - - void resolveHolesInBinaryImage(cv::Mat& binary_image, const PolygonWithHoles& contour_with_holes) const; - - CgalPolygon2d resolveHolesUsingSlConnection(const PolygonWithHoles& polygon_with_holes) const; - - CgalPolygon2d resolveHolesWithVerticalConnection(PolygonWithHoles& polygon_with_holes) const; - - CgalPolygon2d runPolygonizationOnBinaryImage(const cv::Mat& binary_image) const; - - private: - PolygonizerParameters parameters_; -}; - - -} // namespace convex_plane_decomposition - -#endif //CONVEX_PLANE_EXTRACTION_INCLUDE_POLYGONIZER_HPP_ diff --git a/convex_plane_decomposition/include/convex_plane_decomposition/ransac/RansacPlaneExtractor.hpp b/convex_plane_decomposition/include/convex_plane_decomposition/ransac/RansacPlaneExtractor.hpp new file mode 100644 index 00000000..82a8ba65 --- /dev/null +++ b/convex_plane_decomposition/include/convex_plane_decomposition/ransac/RansacPlaneExtractor.hpp @@ -0,0 +1,47 @@ +#pragma once + +#include + +#include "CGAL/Exact_predicates_inexact_constructions_kernel.h" +#include "CGAL/Point_with_normal_3.h" +#include "CGAL/Shape_detection/Efficient_RANSAC.h" +#include "CGAL/property_map.h" + +#include "RansacPlaneExtractorParameters.h" + +namespace ransac_plane_extractor { + +// Point with normal related type declarations. +using Kernel = CGAL::Exact_predicates_inexact_constructions_kernel; +using Point3D = Kernel::Point_3; +using Vector3D = Kernel::Vector_3; +using PointWithNormal = std::pair; +using PwnVector = std::vector; + +// RANSAC plane extractor related type declarations. +using PointMap = CGAL::First_of_pair_property_map; +using NormalMap = CGAL::Second_of_pair_property_map; +using Traits = CGAL::Shape_detection::Efficient_RANSAC_traits; +using EfficientRansac = CGAL::Shape_detection::Efficient_RANSAC; +using Plane = CGAL::Shape_detection::Plane; + +class RansacPlaneExtractor { + public: + RansacPlaneExtractor(const RansacPlaneExtractorParameters& parameters); + + void setParameters(const RansacPlaneExtractorParameters& parameters); + + void detectPlanes(std::vector& points_with_normal); + + /// Returns an iterator range. Data is still in the ransac_object + EfficientRansac::Shape_range getDetectedPlanes() const { return ransac_.shapes(); }; + + /// Returns an iterator range. Data is still in the ransac_object + EfficientRansac::Point_index_range getUnassignedPointIndices() { return ransac_.indices_of_unassigned_points(); } + + private: + EfficientRansac ransac_; + EfficientRansac::Parameters cgalRansacParameters_; +}; + +} // namespace ransac_plane_extractor diff --git a/convex_plane_decomposition/include/convex_plane_decomposition/ransac/RansacPlaneExtractorParameters.h b/convex_plane_decomposition/include/convex_plane_decomposition/ransac/RansacPlaneExtractorParameters.h new file mode 100644 index 00000000..1bb09f76 --- /dev/null +++ b/convex_plane_decomposition/include/convex_plane_decomposition/ransac/RansacPlaneExtractorParameters.h @@ -0,0 +1,22 @@ +// +// Created by rgrandia on 07.06.20. +// + +#pragma once + +namespace ransac_plane_extractor { + +struct RansacPlaneExtractorParameters { + /// Set probability to miss the largest primitive at each iteration. + double probability = 0.01; + /// Detect shapes with at least 200 points. + double min_points = 200; + /// Set maximum Euclidean distance between a point and a shape. + double epsilon = 0.004; + /// Set maximum Euclidean distance between points to be clustered. Two points are connected if separated by a distance of at most 2*sqrt(2)*cluster_epsilon = 2.828 * cluster_epsilon + double cluster_epsilon = 0.03; + /// Set maximum normal deviation. normal_threshold < dot(surface_normal, point_normal); + double normal_threshold = 0.98; +}; + +} // namespace ransac_plane_extractor diff --git a/convex_plane_decomposition/include/convex_plane_decomposition/ransac_plane_extractor.hpp b/convex_plane_decomposition/include/convex_plane_decomposition/ransac_plane_extractor.hpp deleted file mode 100644 index 6fa88a66..00000000 --- a/convex_plane_decomposition/include/convex_plane_decomposition/ransac_plane_extractor.hpp +++ /dev/null @@ -1,73 +0,0 @@ -#ifndef CONVEX_PLANE_EXTRACTION_RANSACPLANEEXTRACTOR_HPP_ -#define CONVEX_PLANE_EXTRACTION_RANSACPLANEEXTRACTOR_HPP_ - -#if defined (_MSC_VER) && !defined (_WIN64) -#pragma warning(disable:4244) // boost::number_distance::distance() - // converts 64 to 32 bits integers -#endif - -#include -#include - -#include "CGAL/property_map.h" -#include "CGAL/Point_with_normal_3.h" -#include "CGAL/Exact_predicates_inexact_constructions_kernel.h" -#include "CGAL/Shape_detection/Efficient_RANSAC.h" -#include -#include -#include - - -namespace ransac_plane_extractor { - - // Point with normal related type declarations. - using Kernel = CGAL::Exact_predicates_inexact_constructions_kernel; - using Point3D = Kernel::Point_3; - using Vector3D = Kernel::Vector_3; - using PointWithNormal = std::pair; - using PwnVector = std::vector; - - // RANSAC plane extractor related type declarations. - using PointMap = CGAL::First_of_pair_property_map; - using NormalMap = CGAL::Second_of_pair_property_map; - using Traits = CGAL::Shape_detection::Efficient_RANSAC_traits - ; - using EfficientRansac = CGAL::Shape_detection::Efficient_RANSAC; - using Plane = CGAL::Shape_detection::Plane; - - struct RansacPlaneExtractorParameters{ - // Set probability to miss the largest primitive at each iteration. - double probability = 0.01; - // Detect shapes with at least 200 points. - double min_points = 200; - // Set maximum Euclidean distance between a point and a shape. - double epsilon = 0.004; - // Set maximum Euclidean distance between points to be clustered. - double cluster_epsilon = 0.0282842712475; - // Set maximum normal deviation. 0.98 < dot(surface_normal, point_normal); - double normal_threshold = 0.98; - }; - - class RansacPlaneExtractor { - public: - - RansacPlaneExtractor(std::vector& points_with_normal, const RansacPlaneExtractorParameters& parameters); - - void setParameters(const RansacPlaneExtractorParameters& parameters); - - void runDetection(); - - auto getDetectedPlanes() const{ - return ransac_.shapes(); - }; - - private: - - EfficientRansac ransac_; - EfficientRansac::Parameters parameters_; - - }; - -} - -#endif //GRID_MAP_DEMOS_RANSACPLANEEXTRACTOR_HPP_ diff --git a/convex_plane_decomposition/include/convex_plane_decomposition/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.h b/convex_plane_decomposition/include/convex_plane_decomposition/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.h new file mode 100644 index 00000000..f1244163 --- /dev/null +++ b/convex_plane_decomposition/include/convex_plane_decomposition/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.h @@ -0,0 +1,57 @@ +#pragma once + +#include + +#include +#include + +#include "convex_plane_decomposition/ransac/RansacPlaneExtractor.hpp" +#include "convex_plane_decomposition/SegmentedPlanesMap.h" + +#include "SlidingWindowPlaneExtractorParameters.h" + +namespace convex_plane_decomposition { +namespace sliding_window_plane_extractor { + + +class SlidingWindowPlaneExtractor { + public: + SlidingWindowPlaneExtractor(const SlidingWindowPlaneExtractorParameters& parameters, + const ransac_plane_extractor::RansacPlaneExtractorParameters& ransacParameters); + + void runExtraction(const grid_map::GridMap& map, const std::string& layer_height); + + const SegmentedPlanesMap& getSegmentedPlanesMap() const { return segmentedPlanesMap_; } + + const cv::Mat& getBinaryLabeledImage() const { return binaryImagePatch_; } + + private: + bool isGloballyPlanar(const Eigen::Vector3d& normalVectorPlane, const Eigen::Vector3d& supportVectorPlane, + const std::vector& points_with_normal) const; + + std::pair computeNormalAndErrorForWindow(const Eigen::MatrixXf& windowData) const; + bool isLocallyPlanar(const Eigen::Vector3d& localNormal, double meanError) const; + + int getLinearIndex(int row, int col) const { return row + col * map_->getSize()[0]; }; + + void computePlaneParametersForLabel(int label); + + void extractPlaneParametersFromLabeledImage(); + + void runSegmentation(); + + void runSlidingWindowDetector(); + + SlidingWindowPlaneExtractorParameters parameters_; + ransac_plane_extractor::RansacPlaneExtractorParameters ransacParameters_; + + const grid_map::GridMap* map_; + std::string elevationLayer_; + + std::vector surfaceNormals_; + + cv::Mat binaryImagePatch_; + SegmentedPlanesMap segmentedPlanesMap_; +}; +} // namespace sliding_window_plane_extractor +} // namespace convex_plane_decomposition diff --git a/convex_plane_decomposition/include/convex_plane_decomposition/sliding_window_plane_extraction/SlidingWindowPlaneExtractorParameters.h b/convex_plane_decomposition/include/convex_plane_decomposition/sliding_window_plane_extraction/SlidingWindowPlaneExtractorParameters.h new file mode 100644 index 00000000..40604651 --- /dev/null +++ b/convex_plane_decomposition/include/convex_plane_decomposition/sliding_window_plane_extraction/SlidingWindowPlaneExtractorParameters.h @@ -0,0 +1,38 @@ +// +// Created by rgrandia on 07.06.20. +// + +#pragma once + +namespace convex_plane_decomposition { +namespace sliding_window_plane_extractor { + +struct SlidingWindowPlaneExtractorParameters { + /// Size of the sliding window patch used for normal vector calculation and planarity detection + /// Should be an odd number and at least 3. + int kernel_size = 3; + + /// [deg] Maximum allowed angle between the surface normal and the world-z direction for a patch + double plane_inclination_threshold_degrees = 70.0; + + /// [m] The allowed root-mean-squared deviation from the plane fitted to the patch. Higher -> not planar + double plane_patch_error_threshold = 0.005; + + /// [#] Labels with less points assigned to them are discarded + int min_number_points_per_label = 10; + + /// Label kernel connectivity. 4 or 8 (cross or box) + int connectivity = 4; + + /// Enable RANSAC refinement if the plane is not globally fitting to the assigned points. + bool include_ransac_refinement = true; + + /// [m] Allowed maximum distance from a point to the plane. If any point violates this, RANSAC is triggered + double global_plane_fit_distance_error_threshold = 0.04; + + /// [deg] Allowed normal vector deviation for a point w.r.t. the plane normal. If any point violates this, RANSAC is triggered + double global_plane_fit_angle_error_threshold_degrees = 5.0; +}; + +} // namespace sliding_window_plane_extractor +} // namespace convex_plane_decomposition diff --git a/convex_plane_decomposition/include/convex_plane_decomposition/sliding_window_plane_extractor.hpp b/convex_plane_decomposition/include/convex_plane_decomposition/sliding_window_plane_extractor.hpp deleted file mode 100644 index d64926f3..00000000 --- a/convex_plane_decomposition/include/convex_plane_decomposition/sliding_window_plane_extractor.hpp +++ /dev/null @@ -1,85 +0,0 @@ -#ifndef CONVEX_PLANE_EXTRACTION_INCLUDE_SLIDING_WINDOW_PLANE_EXTRACTOR_HPP_ -#define CONVEX_PLANE_EXTRACTION_INCLUDE_SLIDING_WINDOW_PLANE_EXTRACTOR_HPP_ - -#include -#include -#include -#include - -#include -#include -#include -#include - -#include -#include - -#include "plane.hpp" -#include "polygon.hpp" -#include "ransac_plane_extractor.hpp" - - -namespace sliding_window_plane_extractor { - - struct SlidingWindowPlaneExtractorParameters{ - int kernel_size = 3; - double plane_patch_error_threshold = 0.004; - double surface_normal_angle_threshold_degrees = 1.0; - bool include_curvature_detection = false; - bool include_ransac_refinement = false; - double global_plane_fit_error_threshold = 0.01; - - ransac_plane_extractor::RansacPlaneExtractorParameters ransac_parameters = ransac_plane_extractor::RansacPlaneExtractorParameters(); - }; - - class SlidingWindowPlaneExtractor{ - public: - SlidingWindowPlaneExtractor(grid_map::GridMap& map, double resolution, const std::string& layer_height, - const SlidingWindowPlaneExtractorParameters& parameters = SlidingWindowPlaneExtractorParameters(), - const ransac_plane_extractor::RansacPlaneExtractorParameters& ransac_parameters = - ransac_plane_extractor::RansacPlaneExtractorParameters()); - - void runExtraction(); - - const cv::Mat& getLabeledImage() const { return labeled_image_; } - - const auto& getLabelPlaneParameterMap() const { return label_plane_parameters_map_; } - - int getNumberOfExtractedPlanes() const { return number_of_extracted_planes_; } - - void setParameters(const SlidingWindowPlaneExtractorParameters& parameters); - - private: - double computeAverageErrorToPlane(const Eigen::Vector3d& normal_vector, const Eigen::Vector3d& support_vector, - const std::vector& points_with_normal) const; - - void computeMapTransformation(); - - void computePlaneParametersForLabel(int label); - - void extractPlaneParametersFromLabeledImage(); - - auto runRansacRefinement(std::vector& points_with_normal) const; - - void runSegmentation(); - - void runSlidingWindowDetector(); - - void runSurfaceNormalCurvatureDetection(); - - grid_map::GridMap& map_; - std::string elevation_layer_; - double resolution_; - Eigen::Matrix2d transformation_xy_to_world_frame_; - Eigen::Vector2d map_offset_; - - SlidingWindowPlaneExtractorParameters parameters_; - ransac_plane_extractor::RansacPlaneExtractorParameters ransac_parameters_; - cv::Mat binary_image_patch_; - cv::Mat binary_image_angle_; - cv::Mat labeled_image_; - int number_of_extracted_planes_; - std::map label_plane_parameters_map_; - }; - } // namespace sliding_window_plane_extractor -#endif // CONVEX_PLANE_EXTRACTION_INCLUDE_SLIDING_WINDOW_PLANE_EXTRACTOR_HPP_ diff --git a/convex_plane_decomposition/include/convex_plane_decomposition/types.hpp b/convex_plane_decomposition/include/convex_plane_decomposition/types.hpp deleted file mode 100644 index 00ae1f3e..00000000 --- a/convex_plane_decomposition/include/convex_plane_decomposition/types.hpp +++ /dev/null @@ -1,42 +0,0 @@ -// -// Created by andrej on 12/6/19. -// - -#ifndef CONVEX_PLANE_EXTRACTION_INCLUDE_TYPES_HPP_ -#define CONVEX_PLANE_EXTRACTION_INCLUDE_TYPES_HPP_ - -#include - -#include -#include -#include -#include - -namespace convex_plane_decomposition { - - typedef Eigen::VectorXd VectorXd; - typedef Eigen::MatrixXd MatrixXd; - typedef Eigen::Vector3d Vector3d; - typedef Eigen::Matrix3d Matrix3d; - typedef Eigen::Matrix2d Matrix2d; - typedef Eigen::Vector2d Vector2d; - typedef Eigen::VectorXf VectorXf; - typedef Eigen::MatrixXf MatrixXf; - typedef Eigen::Vector3f Vector3f; - typedef Eigen::Matrix3f Matrix3f; - typedef Eigen::Matrix2f Matrix2f; - typedef Eigen::Vector2f Vector2f; - typedef Eigen::VectorXi VectorXi; - typedef Eigen::MatrixXi MatrixXi; - typedef Eigen::Vector3i Vector3i; - typedef Eigen::Matrix3i Matrix3i; - typedef Eigen::Matrix2i Matrix2i; - typedef Eigen::Vector2i Vector2i; - typedef Eigen::Matrix MatrixXb; - - typedef cv::Point CvPoint2i; - typedef cv::Point2f CvPoint2f; - -} - -#endif //CONVEX_PLANE_EXTRACTION_INCLUDE_TYPES_HPP_ diff --git a/convex_plane_decomposition/package.xml b/convex_plane_decomposition/package.xml index 375c4daf..840a1008 100644 --- a/convex_plane_decomposition/package.xml +++ b/convex_plane_decomposition/package.xml @@ -10,5 +10,7 @@ catkin grid_map_core + ocs2_switched_model_interface + diff --git a/convex_plane_decomposition/src/ConvexRegionGrowing.cpp b/convex_plane_decomposition/src/ConvexRegionGrowing.cpp new file mode 100644 index 00000000..a3f963a1 --- /dev/null +++ b/convex_plane_decomposition/src/ConvexRegionGrowing.cpp @@ -0,0 +1,138 @@ +// +// Created by rgrandia on 09.06.20. +// + +#include "convex_plane_decomposition/ConvexRegionGrowing.h" + +#include "convex_plane_decomposition/GeometryUtils.h" + +namespace convex_plane_decomposition { + +CgalPolygon2d createRegularPolygon(const CgalPoint2d& center, double radius, int numberOfVertices) { + assert(numberOfVertices > 2); + CgalPolygon2d polygon; + double angle = (2. * M_PI) / numberOfVertices; + for (int i = 0; i < numberOfVertices; ++i) { + double phi = i * angle; + double px = radius * std::cos(phi) + center.x(); + double py = radius * std::sin(phi) + center.y(); + // Counter clockwise + polygon.push_back({px, py}); + } + return polygon; +} + +int getCounterClockWiseNeighbour(int i, int lastVertex) { + return (i > 0) ? i - 1 : lastVertex; +} + +int getClockWiseNeighbour(int i, int lastVertex) { + return (i < lastVertex) ? i + 1 : 0; +} + +void updateMean(CgalPoint2d & mean, const CgalPoint2d& oldValue, const CgalPoint2d& updatedValue, int N) { + // old_mean = 1/N * ( others + old_value); -> others = N*old_mean - old_value + // new_mean = 1/N * ( others + new_value); -> new_mean = old_mean - 1/N * oldValue + 1/N * updatedValue + mean += 1.0 / N * (updatedValue - oldValue); +} + +std::array getNeighbours(const CgalPolygon2d& polygon, int i) { + assert(i < polygon.size()); + assert(polygon.size() > 1); + int lastVertex = static_cast(polygon.size()) - 1; + int cwNeighbour = getClockWiseNeighbour(i, lastVertex); + int ccwNeighbour = getCounterClockWiseNeighbour(i, lastVertex); + return {polygon.vertex(cwNeighbour), polygon.vertex(ccwNeighbour)}; +} + +std::array get2ndNeighbours(const CgalPolygon2d& polygon, int i) { + assert(i < polygon.size()); + assert(polygon.size() > 1); + int lastVertex = static_cast(polygon.size()) - 1; + int cwNeighbour1 = getClockWiseNeighbour(i, lastVertex); + int cwNeighbour2 = getClockWiseNeighbour(cwNeighbour1, lastVertex); + int ccwNeighbour1 = getCounterClockWiseNeighbour(i, lastVertex); + int ccwNeighbour2 = getCounterClockWiseNeighbour(ccwNeighbour1, lastVertex); + return {polygon.vertex(cwNeighbour2), polygon.vertex(cwNeighbour1), polygon.vertex(ccwNeighbour1), polygon.vertex(ccwNeighbour2)}; +} + +bool remainsConvexWhenMovingPoint(const CgalPolygon2d& polygon, int i, const CgalPoint2d& point) { + auto secondNeighbours = get2ndNeighbours(polygon, i); + CgalPolygon2d subPolygon; + subPolygon.container().reserve(5); + subPolygon.push_back(secondNeighbours[0]); + subPolygon.push_back(secondNeighbours[1]); + subPolygon.push_back(point); + subPolygon.push_back(secondNeighbours[2]); + subPolygon.push_back(secondNeighbours[3]); + return subPolygon.is_convex(); +} + +bool pointAndNeighboursAreWithinFreeSphere(const std::array& neighbours, const CgalPoint2d& point, + const CgalCircle2d& circle) { + return isInside(neighbours[0], circle) && isInside(point, circle) && isInside(neighbours[1], circle); +} + +template +bool pointCanBeMoved(const CgalPolygon2d& growthShape, int i, const CgalPoint2d& candidatePoint, CgalCircle2d& freeSphere, + const T& parentShape) { + if (remainsConvexWhenMovingPoint(growthShape, i, candidatePoint)) { + auto neighbours = getNeighbours(growthShape, i); + if (pointAndNeighboursAreWithinFreeSphere(neighbours, candidatePoint, freeSphere)) { + return true; + } else { + // Update free sphere around new point + freeSphere = CgalCircle2d(candidatePoint, squaredDistance(candidatePoint, parentShape)); + CgalSegment2d segment0{neighbours[0], candidatePoint}; + CgalSegment2d segment1{neighbours[1], candidatePoint}; + + bool segment0IsFree = isInside(neighbours[0], freeSphere) || !doEdgesIntersect(segment0, parentShape); + if (segment0IsFree) { + bool segment1IsFree = isInside(neighbours[1], freeSphere) || !doEdgesIntersect(segment1, parentShape); + return segment1IsFree; + } else { + return false; + } + } + } else { + return false; + } +} + +template +CgalPolygon2d growConvexPolygonInsideShape_impl(const T& parentShape, CgalPoint2d center, int numberOfVertices, double growthFactor) { + constexpr double initialRadiusFactor = 0.999; + double radius = initialRadiusFactor * distance(center, parentShape); + CgalPolygon2d growthShape = createRegularPolygon(center, radius, numberOfVertices); + + // Cached values per vertex + std::vector blocked(numberOfVertices, false); + std::vector freeSpheres(numberOfVertices, CgalCircle2d(center, radius*radius)); + + int Nblocked = 0; + while (Nblocked < numberOfVertices) { + for (int i = 0; i < numberOfVertices; i++) { + if (!blocked[i]) { + const auto candidatePoint = getPointOnLine(center, growthShape.vertex(i), growthFactor); + if (pointCanBeMoved(growthShape, i, candidatePoint, freeSpheres[i], parentShape)) { + updateMean(center, growthShape.vertex(i), candidatePoint, numberOfVertices); + growthShape.vertex(i) = candidatePoint; + } else { + blocked[i] = true; + ++Nblocked; + } + } + } + } + return growthShape; +} + +CgalPolygon2d growConvexPolygonInsideShape(const CgalPolygon2d & parentShape, CgalPoint2d center, int numberOfVertices, double growthFactor) { + return growConvexPolygonInsideShape_impl(parentShape, center, numberOfVertices, growthFactor); +} + +CgalPolygon2d growConvexPolygonInsideShape(const CgalPolygonWithHoles2d& parentShape, CgalPoint2d center, int numberOfVertices, + double growthFactor) { + return growConvexPolygonInsideShape_impl(parentShape, center, numberOfVertices, growthFactor); +} +} // namespace convex_plane_decomposition diff --git a/convex_plane_decomposition/src/Draw.cpp b/convex_plane_decomposition/src/Draw.cpp new file mode 100644 index 00000000..3c20b8c4 --- /dev/null +++ b/convex_plane_decomposition/src/Draw.cpp @@ -0,0 +1,60 @@ +// +// Created by rgrandia on 09.06.20. +// + +#include "convex_plane_decomposition/Draw.h" + +namespace convex_plane_decomposition { + +cv::Vec3b randomColor() { + return cv::Vec3b((rand() & 255), (rand() & 255), (rand() & 255)); +} + +std::vector toCv(const CgalPolygon2d& polygon) { + std::vector contour; + contour.reserve(polygon.size()); + for (const auto& point : polygon) { + contour.emplace_back(point.x(), point.y()); + } + return contour; +} + +void drawContour(cv::Mat& img, const CgalPoint2d& point, double radius, const cv::Vec3b* color) { + const cv::Vec3b contourColor = (color == nullptr) ? randomColor() : *color; + cv::Point cvPoint(point.x(), point.y()); + cv::circle(img, cvPoint, radius, contourColor); +} + +void drawContour(cv::Mat& img, const CgalPolygon2d& polygon, const cv::Vec3b* color) { + const cv::Vec3b contourColor = (color == nullptr) ? randomColor() : *color; + std::vector> contours{toCv(polygon)}; + drawContours(img, contours, 0, contourColor); +} + +void drawContour(cv::Mat& img, const CgalPolygonWithHoles2d& polygonWithHoles2d, const cv::Vec3b* color) { + const cv::Vec3b contourColor = (color == nullptr) ? randomColor() : *color; + + drawContour(img, polygonWithHoles2d.outer_boundary(), &contourColor); + for (const auto& hole : polygonWithHoles2d.holes()) { + drawContour(img, hole, &contourColor); + } +} + +CgalPolygon2d scaleShape(const CgalPolygon2d& polygon, double scale) { + CgalPolygon2d scaledShape; + scaledShape.container().reserve(polygon.size()); + for (const auto& point : polygon) { + scaledShape.push_back({scale * point.x(), scale * point.y()}); + } + return scaledShape; +} +CgalPolygonWithHoles2d scaleShape(const CgalPolygonWithHoles2d& polygonWithHoles, double scale) { + CgalPolygonWithHoles2d scaledShape(scaleShape(polygonWithHoles.outer_boundary(), scale)); + + for (const auto& hole : polygonWithHoles.holes()) { + scaledShape.add_hole(scaleShape(hole, scale)); + } + return scaledShape; +} + +} \ No newline at end of file diff --git a/convex_plane_decomposition/src/GridMapPreprocessing.cpp b/convex_plane_decomposition/src/GridMapPreprocessing.cpp new file mode 100644 index 00000000..650e59a5 --- /dev/null +++ b/convex_plane_decomposition/src/GridMapPreprocessing.cpp @@ -0,0 +1,73 @@ +#include "convex_plane_decomposition/GridMapPreprocessing.h" + +#include +#include +#include +#include +#include + +#include "convex_plane_decomposition/Nan.h" + +namespace convex_plane_decomposition { + +GridMapPreprocessing::GridMapPreprocessing(const PreprocessingParameters& parameters) : parameters_(parameters) {} + +void GridMapPreprocessing::preprocess(grid_map::GridMap& gridMap, const std::string& layer) { + const float minValue = gridMap.get(layer).minCoeffOfFinites(); + const float maxValue = gridMap.get(layer).maxCoeffOfFinites(); + + patchNans(gridMap.get(layer)); + denoise(gridMap, layer); + + if (parameters_.inpaintRadius > 0) { + inpaint(gridMap, layer, minValue, maxValue); + } +} + +void GridMapPreprocessing::denoise(grid_map::GridMap& gridMap, const std::string& layer) { + Eigen::MatrixXf& elevation_map = gridMap.get(layer); + + cv::Mat elevationImage; + cv::eigen2cv(elevation_map, elevationImage); + + int kernelSize = parameters_.kernelSize; + for (int i = 0; i < parameters_.numberOfRepeats; ++i) { + cv::medianBlur(elevationImage, elevationImage, parameters_.kernelSize); + if (parameters_.increasing) { + kernelSize += 2; + } + } + + cv::cv2eigen(elevationImage, elevation_map); +} + +void GridMapPreprocessing::inpaint(grid_map::GridMap& gridMap, const std::string& layer, float minValue, float maxValue) { + Eigen::MatrixXf& elevation_map = gridMap.get(layer); + + Eigen::Matrix mask = elevation_map.unaryExpr([](float val) { return (isNan(val)) ? uchar(1) : uchar(0); }); + + cv::Mat maskImage; + cv::eigen2cv(mask, maskImage); + + cv::Mat elevationImage; + grid_map::GridMapCvConverter::toImage(gridMap, layer, CV_8UC1, minValue, maxValue, elevationImage); + + // Inpainting + cv::Mat filledImage; + const double radiusInPixels = parameters_.inpaintRadius / gridMap.getResolution(); + cv::inpaint(elevationImage, maskImage, filledImage, radiusInPixels, cv::INPAINT_NS); + + // Get inpainting as float + cv::Mat filledImageFloat; + const float maxUCharValue = 255.F; + filledImage.convertTo(filledImageFloat, CV_32F, (maxValue - minValue) / maxUCharValue, minValue); + + // Copy inpainted values back to elevation map + cv::Mat elevationImageFloat; + cv::eigen2cv(elevation_map, elevationImageFloat); + filledImageFloat.copyTo(elevationImageFloat, maskImage); + + cv::cv2eigen(elevationImageFloat, elevation_map); +} + +} // namespace convex_plane_decomposition diff --git a/convex_plane_decomposition/src/contour_extraction/ContourExtraction.cpp b/convex_plane_decomposition/src/contour_extraction/ContourExtraction.cpp new file mode 100644 index 00000000..4777192c --- /dev/null +++ b/convex_plane_decomposition/src/contour_extraction/ContourExtraction.cpp @@ -0,0 +1,127 @@ +// +// Created by rgrandia on 04.06.20. +// + +#include "convex_plane_decomposition/contour_extraction/ContourExtraction.h" + +#include +#include + +namespace convex_plane_decomposition { +namespace contour_extraction { + +ContourExtraction::ContourExtraction(const ContourExtractionParameters& parameters) : parameters_(parameters), + binaryImage_(cv::Size(0, 0), CV_8UC1) { + int erosionSize = parameters_.offsetSize; // single sided length of the kernel + int erosionType = cv::MORPH_CROSS; // cv::MORPH_ELLIPSE, cv::MORPH_RECT + erosionKernel_ = cv::getStructuringElement(erosionType, cv::Size(2 * erosionSize + 1, 2 * erosionSize + 1)); +} + +std::vector ContourExtraction::extractPlanarRegions(const SegmentedPlanesMap& segmentedPlanesMap) { + std::vector planarRegions; + for (const auto& label_plane : segmentedPlanesMap.labelPlaneParameters) { + const int label = label_plane.first; + const auto& plane_parameters = label_plane.second; + + binaryImage_ = segmentedPlanesMap.labeledImage == label; + + auto boundariesAndInsets = contour_extraction::extractBoundaryAndInset(binaryImage_, erosionKernel_); + + for (auto& boundaryAndInset : boundariesAndInsets) { + // Transform points from pixel space to local terrain frame + transformInPlace(boundaryAndInset, [&](CgalPoint2d& point) { + auto pointInWorld = pixelToWorldFrame(point, segmentedPlanesMap.resolution, segmentedPlanesMap.mapOrigin); + point = worldFrameToTerrainFrame(pointInWorld, plane_parameters); + }); + + PlanarRegion planarRegion; + planarRegion.boundaryWithInset = std::move(boundaryAndInset); + planarRegion.planeParameters = plane_parameters; + planarRegion.bbox2d = planarRegion.boundaryWithInset.boundary.outer_boundary().bbox(); + planarRegions.push_back(std::move(planarRegion)); + } + } + return planarRegions; +} + +std::vector extractBoundaryAndInset(cv::Mat& binary_image, const cv::Mat& erosionKernel) { + // Get boundary + std::vector boundaries = extractPolygonsFromBinaryImage(binary_image); + + // Erode + cv::erode( binary_image, binary_image, erosionKernel ); + + // Get insets + std::vector insets = extractPolygonsFromBinaryImage(binary_image); + + // Associate boundaries with insets + std::vector boundariesWithInsets; + for (const auto& boundary : boundaries) { + std::vector assignedInsets; + for (const auto& inset : insets) { + if (isInside(inset.outer_boundary().vertex(0), boundary)) { + assignedInsets.push_back(inset); + } + } + + if (!assignedInsets.empty()){ + BoundaryWithInset boundaryWithInset; + boundaryWithInset.boundary = boundary; + boundaryWithInset.insets = assignedInsets; + boundariesWithInsets.push_back(std::move(boundaryWithInset)); + } + } + return boundariesWithInsets; +} + +std::vector extractPolygonsFromBinaryImage(const cv::Mat& binary_image) { + std::vector> contours; + std::vector hierarchy; // [Next, Previous, First_Child, Parent] + auto isOuterContour = [](const cv::Vec4i& hierarchyVector) { + return hierarchyVector[3] < 0; // no parent + }; + + cv::findContours(binary_image, contours, hierarchy, CV_RETR_CCOMP, CV_CHAIN_APPROX_SIMPLE); + + std::vector plane_polygons; + for (int i = 0; i < contours.size(); i++) { + if (isOuterContour(hierarchy[i]) && contours[i].size() > 1) { + CgalPolygonWithHoles2d polygon; + polygon.outer_boundary() = cgalPolygonFromOpenCv(contours[i]); + + // Add children as holes + int childIndex = hierarchy[i][2]; // First child + while (childIndex > 0) { + polygon.add_hole(cgalPolygonFromOpenCv(contours[childIndex])); + childIndex = hierarchy[childIndex][0]; // Next child + } + plane_polygons.push_back(std::move(polygon)); + } + } + return plane_polygons; +} + +CgalPolygon2d cgalPolygonFromOpenCv(const std::vector& openCvPolygon) { + CgalPolygon2d polygon; + polygon.container().reserve(openCvPolygon.size()); + for (const auto& point: openCvPolygon) { + polygon.container().emplace_back(point.x, point.y); + } + return polygon; +} + +CgalPoint2d worldFrameToTerrainFrame(const CgalPoint2d& worldFrameXY, const TerrainPlane& plane) { + const auto projectedPositionInWorld = projectPositionInWorldOntoPlaneAlongGravity({worldFrameXY.x(), worldFrameXY.y(), 0.0}, plane); + const auto positionInTerrainFrame = positionInTerrainFrameFromPositionInWorld(projectedPositionInWorld, plane); + return {positionInTerrainFrame.x(), positionInTerrainFrame.y()}; +} + +CgalPoint2d pixelToWorldFrame(const CgalPoint2d& pixelspaceCgalPoint2d, double resolution, const Eigen::Vector2d& mapOffset) { + // Notice the transpose of x and y! + return {mapOffset.x() -resolution * pixelspaceCgalPoint2d.y(), mapOffset.y() -resolution * pixelspaceCgalPoint2d.x()}; +} + + + +} // namespace contour_extraction +} // namespace convex_plane_decomposition diff --git a/convex_plane_decomposition/src/convex_decomposer.cpp b/convex_plane_decomposition/src/convex_decomposer.cpp deleted file mode 100644 index cd3dc99f..00000000 --- a/convex_plane_decomposition/src/convex_decomposer.cpp +++ /dev/null @@ -1,241 +0,0 @@ -#include "convex_plane_decomposition/convex_decomposer.hpp" - -using namespace convex_plane_decomposition; - -ConvexDecomposer::ConvexDecomposer(const convex_plane_decomposition::ConvexDecomposerParameters ¶meters) - :parameters_(parameters){} - -CgalPolygon2dContainer ConvexDecomposer::performConvexDecomposition(const CgalPolygon2d& polygon) const { - VLOG(1) << "Started convex decomposition..."; - CgalPolygon2dContainer convex_polygons; - if (polygon.size() == 2) { - convex_polygons.push_back(polygon); - return convex_polygons; - } - CHECK(polygon.is_simple()); - if(polygon.is_convex()) { - VLOG(1) << "Polygon already convex, no decompostion performed."; - convex_polygons.push_back(polygon); - return convex_polygons; - } - switch (parameters_.decomposition_type){ - case ConvexDecompositionType::kGreeneOptimalDecomposition : - convex_polygons = performOptimalConvexDecomposition(polygon); - break; - case ConvexDecompositionType::kInnerConvexApproximation : - convex_polygons = performInnerConvexApproximation(polygon); - break; - } - VLOG(1) << "done."; - return convex_polygons; -} - -CgalPolygon2dContainer ConvexDecomposer::performOptimalConvexDecomposition(const CgalPolygon2d& polygon) const{ - std::vector polygon_buffer; - size_t old_container_size = polygon_buffer.size(); - Traits::Polygon_2 input_polygon; - for (const auto& vertex : polygon.container()){ - input_polygon.insert(input_polygon.vertices_end(),Traits::Point_2(vertex.x(), vertex.y())); - } - CGAL::optimal_convex_partition_2(polygon.vertices_begin(), polygon.vertices_end(), - std::back_inserter(polygon_buffer)); - CHECK_GT(polygon_buffer.size(), old_container_size); - CgalPolygon2dContainer output_polygons; - for (const auto& buffer_polygon : polygon_buffer){ - CgalPolygon2d temp_polygon; - for (const auto& vertex : buffer_polygon.container()){ - temp_polygon.insert(temp_polygon.vertices_end(), CgalPoint2d(vertex.x(), vertex.y())); - } - output_polygons.push_back(temp_polygon); - } - return output_polygons; -} - -CgalPolygon2dContainer ConvexDecomposer::performInnerConvexApproximation(const CgalPolygon2d& polygon) const { - CHECK(polygon.orientation() == CGAL::COUNTERCLOCKWISE); - VLOG(1) << "Polygon under decomposition: "; - printPolygon(polygon); - CgalPolygon2dContainer convex_polygons; - if (polygon.size() == 3) { - convex_polygons.push_back(polygon); - return convex_polygons; - } - const std::multimap dent_locations = detectDentLocations(polygon); - if (dent_locations.empty()) { - // No dents detected, polygon must be convex. - // CGAL convexity check might still fail, since very shallow dents are ignored. - convex_polygons.push_back(polygon); - return convex_polygons; - } - int dent_location = dent_locations.begin()->second; - bool intersection_clockwise_flag = false; - Intersection intersection_clockwise; - bool intersection_counterclockwise_flag = false; - Intersection intersection_counterclockwise; - intersection_clockwise_flag = intersectPolygonWithRay(dent_location, CGAL::COUNTERCLOCKWISE, - polygon, &intersection_counterclockwise); - intersection_counterclockwise_flag = intersectPolygonWithRay(dent_location, CGAL::CLOCKWISE, polygon, &intersection_clockwise); - if (!intersection_clockwise_flag || !intersection_counterclockwise_flag) { - LOG(FATAL) << "At least one intersection of dent ray with polygon failed!"; - } - - // Generate resulting polygons from cut. - // Resulting cut from counter clockwise ray intersection. - CgalPolygon2d polygon_counterclockwise_1 = polygon; - CgalPolygon2d polygon_counterclockwise_2; - - SegmentIntersectionType intersection_type = intersection_counterclockwise.intersection_type_; - - auto first_vertex_to_erase_it = polygon_counterclockwise_1.vertices_begin(); - std::advance(first_vertex_to_erase_it, dent_location); - // Add dent to second polygon. - polygon_counterclockwise_2.push_back(*first_vertex_to_erase_it); - // First vertex to erase is the vertex following the dent. - first_vertex_to_erase_it = next(first_vertex_to_erase_it, polygon_counterclockwise_1); - // Last vertex to erase is the source vertex of the intersecting polygon edge. - auto last_vertex_to_erase_it = polygon_counterclockwise_1.vertices_begin(); - std::advance(last_vertex_to_erase_it, intersection_counterclockwise.edge_source_location_); - // Take next vertex due to exclusive upper limit logic. - last_vertex_to_erase_it = next(last_vertex_to_erase_it, polygon_counterclockwise_1); - // Copy vertices that will be deleted to second polygon. - copyVertices(polygon_counterclockwise_1, first_vertex_to_erase_it, last_vertex_to_erase_it, &polygon_counterclockwise_2, - polygon_counterclockwise_2.vertices_end()); - - CgalPolygon2dVertexIterator element_behind_deleted_it; - - switch (intersection_type) { - case SegmentIntersectionType::kInterior: - polygon_counterclockwise_2.push_back(intersection_counterclockwise.intersection_point_); - element_behind_deleted_it = erase(first_vertex_to_erase_it, last_vertex_to_erase_it, &polygon_counterclockwise_1); - polygon_counterclockwise_1.insert(element_behind_deleted_it, intersection_counterclockwise.intersection_point_); - break; - case SegmentIntersectionType::kSource: - element_behind_deleted_it = erase(first_vertex_to_erase_it, last_vertex_to_erase_it, &polygon_counterclockwise_1); - // Add source vertex again to polygon, since it coincides with intersection point. - polygon_counterclockwise_1.insert(element_behind_deleted_it, intersection_counterclockwise.intersection_point_); - break; - case SegmentIntersectionType::kTarget: - // The intersection point coincides with the target of the intersecting polygon edge, and has to be added here. - polygon_counterclockwise_2.push_back(intersection_counterclockwise.intersection_point_); - element_behind_deleted_it = erase(first_vertex_to_erase_it, last_vertex_to_erase_it, &polygon_counterclockwise_1); - break; - } - - VLOG(1) << "Finished counter-clockwise cut."; - - // Resulting cut from clockwise ray intersection. - CgalPolygon2d polygon_clockwise_1 = polygon; - CgalPolygon2d polygon_clockwise_2; - - intersection_type = intersection_clockwise.intersection_type_; - - // First vertex, which is pruned off is the target of the intersecting polygon edge. - first_vertex_to_erase_it = polygon_clockwise_1.vertices_begin(); - std::advance(first_vertex_to_erase_it, intersection_clockwise.edge_target_location_); - // Last vertex, which is pruned off is the vertex before the dent. (Past-the-end-logic!) - last_vertex_to_erase_it = polygon_clockwise_1.vertices_begin(); - std::advance(last_vertex_to_erase_it, dent_location); - - switch (intersection_type) { - case SegmentIntersectionType::kInterior: - // First vertex to be added to new polygon is the intersection point. - polygon_clockwise_2.push_back(intersection_clockwise.intersection_point_); - // Added vertices to be deleted to new polygon (Past-the-end-logic!) - copyVertices(polygon_clockwise_1, first_vertex_to_erase_it, last_vertex_to_erase_it, &polygon_clockwise_2, - polygon_clockwise_2.vertices_end()); - // Add dent vertex as well. - polygon_clockwise_2.push_back(*last_vertex_to_erase_it); - // Perform erase operation. - element_behind_deleted_it = erase(first_vertex_to_erase_it, last_vertex_to_erase_it, &polygon_clockwise_1); - // Add intersection point to polygon. - polygon_clockwise_1.insert(element_behind_deleted_it, intersection_clockwise.intersection_point_); - break; - case SegmentIntersectionType::kSource: - // First vertex to be added to new polygon is source of intersecting polygon edge. - polygon_clockwise_2.push_back(intersection_clockwise.intersection_point_); // Intersection point is equivalent here with source. - // Added vertices to be deleted to new polygon (Past-the-end-logic!) - copyVertices(polygon_clockwise_1, first_vertex_to_erase_it, last_vertex_to_erase_it, &polygon_clockwise_2, - polygon_clockwise_2.vertices_end()); - // Add dent vertex as well. - polygon_clockwise_2.push_back(*last_vertex_to_erase_it); - // Perform erase operation. - element_behind_deleted_it = erase(first_vertex_to_erase_it, last_vertex_to_erase_it, &polygon_clockwise_1); - break; - case SegmentIntersectionType::kTarget: - // Added vertices to be deleted to new polygon (Past-the-end-logic!) - copyVertices(polygon_clockwise_1, first_vertex_to_erase_it, last_vertex_to_erase_it, &polygon_clockwise_2, - polygon_clockwise_2.vertices_end()); - // Add dent vertex as well. - polygon_clockwise_2.push_back(*last_vertex_to_erase_it); - // Perform erase operation. - element_behind_deleted_it = erase(first_vertex_to_erase_it, last_vertex_to_erase_it, &polygon_clockwise_1); - // Add intersection point to polygon, which is in this case the target vertex of the intersecting polygon edge. - polygon_clockwise_1.insert(element_behind_deleted_it, intersection_clockwise.intersection_point_); - break; - } - - VLOG(1) << "Finished clockwise cut."; - printPolygon(polygon_counterclockwise_1); - printPolygon(polygon_counterclockwise_2); - printPolygon(polygon_clockwise_1); - printPolygon(polygon_clockwise_2); - CHECK(polygon_counterclockwise_1.is_simple()); - CHECK(polygon_counterclockwise_2.is_simple()); - CHECK(polygon_clockwise_1.is_simple()); - CHECK(polygon_clockwise_2.is_simple()); - VLOG(1) << "Started cut area computation..."; - // Take the cut with smallest min. area of resulting polygons. - std::array area = {polygon_counterclockwise_1.area(), polygon_counterclockwise_2.area(), polygon_clockwise_1.area(), - polygon_clockwise_2.area()}; - VLOG(1) << "done."; - const auto min_area_strategy = std::min_element(area.begin(), area.end()); - CgalPolygon2dContainer recursion_1; - CgalPolygon2dContainer recursion_2; - if (std::distance(area.begin(), min_area_strategy) < 2) { - // In this case the counter clockwise intersection leads to less loss in area. - // Perform recursion with this split. - CHECK_EQ(polygon_counterclockwise_1.orientation(), CGAL::COUNTERCLOCKWISE) - << "Polygon orientation wrong! Printing polygon ..." << printPolygonToString(polygon_counterclockwise_1); - recursion_1 = performInnerConvexApproximation(polygon_counterclockwise_1); - CHECK_EQ(polygon_counterclockwise_2.orientation(), CGAL::COUNTERCLOCKWISE) - << "Polygon orientation wrong! Printing polygon ..." << printPolygonToString(polygon_counterclockwise_2); - recursion_2 = performInnerConvexApproximation(polygon_counterclockwise_2); - } else { - // In this case the clockwise intersection leads to less loss in area. - CHECK_EQ(polygon_clockwise_1.orientation(), CGAL::COUNTERCLOCKWISE) - << "Polygon orientation wrong! Printing polygon ..." << printPolygonToString(polygon_clockwise_1); - recursion_1 = performInnerConvexApproximation(polygon_clockwise_1); - CHECK_EQ(polygon_clockwise_2.orientation(), CGAL::COUNTERCLOCKWISE) - << "Polygon orientation wrong! Printing polygon ..." << printPolygonToString(polygon_clockwise_2); - recursion_2 = performInnerConvexApproximation(polygon_clockwise_2); - } - std::move(recursion_1.begin(), recursion_1.end(), std::back_inserter(convex_polygons)); - std::move(recursion_2.begin(), recursion_2.end(), std::back_inserter(convex_polygons)); - VLOG(1) << "Reached bottom!"; - return convex_polygons; -} - -// A dent is a vertex, which lies in a counter-clockwise oriented polygon on the left side of its neighbors. -// Dents cause non-convexity. -std::multimap ConvexDecomposer::detectDentLocations(const CgalPolygon2d& polygon) const { - VLOG(1) << "Starting dent detection..."; - CHECK(polygon.orientation() == CGAL::COUNTERCLOCKWISE); - std::multimap dent_locations; - for (auto source_it = polygon.vertices_begin(); source_it != polygon.vertices_end(); ++source_it){ - auto dent_it = next(source_it, polygon); - auto destination_it = next(dent_it, polygon); - Vector2d source_point = Vector2d(source_it->x(), source_it->y()); - Vector2d destination_point = Vector2d(destination_it->x(), destination_it->y()); - Vector2d direction_vector = destination_point - source_point; - Vector2d test_point = Vector2d(dent_it->x(), dent_it->y()); - if(isPointOnLeftSide(source_point, direction_vector, test_point)){ - double angle = abs(computeAngleBetweenVectors(source_point - test_point, destination_point - test_point)); - // Ignore very shallow dents. Approximate convex decomposition. - if (angle > parameters_.dent_angle_threshold_rad) { - dent_locations.insert(std::make_pair(angle, std::distance(polygon.vertices_begin(), dent_it))); - } - } - } - VLOG(1) << "done."; - return dent_locations; -} diff --git a/convex_plane_decomposition/src/export_utils.cpp b/convex_plane_decomposition/src/export_utils.cpp deleted file mode 100644 index fbcd181e..00000000 --- a/convex_plane_decomposition/src/export_utils.cpp +++ /dev/null @@ -1,24 +0,0 @@ -#include "convex_plane_decomposition/export_utils.hpp" - -#include - -#include - -namespace convex_plane_decomposition { - -bool exportPointsWithNormalsToCsv(grid_map::GridMap& map, const std::string& normals_layer_prefix, const std::string& layer_height, - const std::string& path) { - std::ofstream output_file; - output_file.open(path + "points_and_normals.csv"); - for (grid_map::GridMapIterator iterator(map); !iterator.isPastEnd(); ++iterator) { - grid_map::Position3 position3; - Eigen::Vector3d point; - Eigen::Vector3d normal; - map.getPosition3(layer_height, *iterator, point); - map.getVector(normals_layer_prefix, *iterator, normal); - output_file << point(0) << ", " << point(1) << ", " << point(2) << ", " << normal(0) << ", " << normal(1) << ", " << normal(2) << "\n"; - } - return true; - } - -} \ No newline at end of file diff --git a/convex_plane_decomposition/src/geometry_utils.cpp b/convex_plane_decomposition/src/geometry_utils.cpp deleted file mode 100644 index cfdbb065..00000000 --- a/convex_plane_decomposition/src/geometry_utils.cpp +++ /dev/null @@ -1,114 +0,0 @@ -#include "convex_plane_decomposition/geometry_utils.hpp" - -#include - -namespace convex_plane_decomposition { - - double scalarCrossProduct(const Vector2d &leftVector, const Vector2d &rightVector) { - return leftVector.y() * rightVector.x() - leftVector.x() * rightVector.y(); - } - - // Return the non-normalized distance of a 2D-point to a line given by support vector and direction vector. - // Negative distance corresponds to a point on the left of the direction vector - double distanceToLine(const Vector2d &lineSupportVector, - const Vector2d &lineDirectionalVector, - const Vector2d &testPoint) { - Vector2d secondPointOnLine = lineSupportVector + lineDirectionalVector; - return scalarCrossProduct(lineDirectionalVector, testPoint) - + scalarCrossProduct(lineSupportVector, secondPointOnLine); - } - - bool isPointOnRightSideOfLine(const Vector2d& line_support_vector, const Vector2d& line_direction_vector, const Vector2d& point){ - Vector2d normal_vector(line_direction_vector.y(), (-1.0)*line_direction_vector.x()); - normal_vector.normalize(); - Vector2d point_vector = point - line_support_vector; - return point_vector.transpose() * normal_vector > 0; - } - - bool isPointOnLeftSide(const Vector2d& line_support_vector, const Vector2d& line_direction_vector, const Vector2d& point){ - Vector2d normal_vector(line_direction_vector.y(), (-1.0)*line_direction_vector.x()); - normal_vector.normalize(); - Vector2d point_vector = point - line_support_vector; - return point_vector.dot(normal_vector) < 0; - } - - double computeAngleBetweenVectors(const Vector2d& first_vector, const Vector2d& second_vector) { - double scalar_product = first_vector.transpose() * second_vector; - return acos(abs(scalar_product) / (first_vector.norm() * second_vector.norm())); - } - - bool intersectLineSegmentWithLineSegment(const Vector2d& segment_1_source, const Vector2d& segment_1_target, - const Vector2d& segment_2_source, const Vector2d& segment_2_target, - Vector2d* intersection_point) { - CHECK_NOTNULL(intersection_point); - Vector2d segment_1_direction = segment_1_target - segment_1_source; - Vector2d segment_2_direction = segment_2_target - segment_2_source; - Matrix2d A; - A.col(0) = segment_1_direction; - A.col(1) = -segment_2_direction; - Vector2d b = segment_2_source - segment_1_source; - auto householder_qr = A.fullPivHouseholderQr(); - if (householder_qr.rank() < 2){ - // Check whether segment and ray overlap. - Vector2d p_ray_source_segment_source = segment_2_source - segment_1_source; - Vector2d ray_parameter_solution = Vector2d(p_ray_source_segment_source.x() / segment_1_direction.x(), - p_ray_source_segment_source.y() / segment_1_direction.y()); - constexpr double kSolutionDeviation = 0.0001; - if (abs(ray_parameter_solution.x() - ray_parameter_solution.y()) < kSolutionDeviation){ - double parameter_solution_tmp = ray_parameter_solution.mean(); - if (parameter_solution_tmp < 0){ - return false; - } - CHECK_GT(parameter_solution_tmp, 0); - Vector2d p_ray_source_segment_target = segment_2_target - segment_1_source; - ray_parameter_solution = Vector2d(p_ray_source_segment_target.x() / segment_1_direction.x(), - p_ray_source_segment_target.y() / segment_1_direction.y()); - // If ray is parallel (rank loss) and source point lies on ray, then target point has to as well. - CHECK(abs(ray_parameter_solution.x() - ray_parameter_solution.y()) < kSolutionDeviation); - if(ray_parameter_solution.mean() < 0){ - return false; - } - if (ray_parameter_solution.mean() < parameter_solution_tmp) { - *intersection_point = segment_2_target; - } else { - *intersection_point = segment_2_source; - } - return true; - } - return false; - } - Vector2d solution = A.inverse() * b; // householder_qr.solve(b); - Vector2d ray_solution = segment_1_source + solution(0) * segment_2_direction; - Vector2d segment_solution = segment_2_source + solution(1) * segment_2_direction; - if (solution(0) < 0 || solution(0) > 1 || solution(1) < 0 || solution(1) > 1) { - return false; - } - *intersection_point = segment_solution; - return true; - } - - double distanceBetweenPoints(const Vector2d& first, const Vector2d& second){ - return (second - first).norm(); - } - - double getDistanceOfPointToLineSegment(const Vector2d& point, const Vector2d& source, const Vector2d& target){ - return getDistanceAndClosestPointOnLineSegment(point, source, target).first; - } - - std::pair getDistanceAndClosestPointOnLineSegment(const Vector2d& point, const Vector2d& source, const Vector2d& target){ - const double segment_squared_length = (target - source).squaredNorm(); - if (segment_squared_length == 0.0){ - return std::make_pair(distanceBetweenPoints(point, source), source); - } - const double t = (point - source).dot(target - source) / segment_squared_length; - if (t > 1.0){ - return std::make_pair((target - point).norm(), target); - } else if (t < 0.0){ - return std::make_pair((source - point).norm(), source); - } else { - const Vector2d point_temp = abs(t)*(target - source); - return std::make_pair((point_temp - point).norm(), point_temp); - } - } - -} diff --git a/convex_plane_decomposition/src/pipeline.cpp b/convex_plane_decomposition/src/pipeline.cpp deleted file mode 100644 index b605c50d..00000000 --- a/convex_plane_decomposition/src/pipeline.cpp +++ /dev/null @@ -1,27 +0,0 @@ -#include "convex_plane_decomposition/pipeline.hpp" - -using namespace convex_plane_decomposition; - -Pipeline::Pipeline(const PipelineParameters& pipeline_parameters, const GridMapParameters& grid_map_parameters) - : pipeline_parameters_(pipeline_parameters), - grid_map_parameters_(grid_map_parameters), - sliding_window_plane_extractor_(grid_map_parameters_.map, - grid_map_parameters_.resolution, grid_map_parameters_.layer_height, - pipeline_parameters_.sliding_window_plane_extractor_parameters, pipeline_parameters_.sliding_window_plane_extractor_parameters.ransac_parameters), - plane_factory_(grid_map_parameters_.map, pipeline_parameters_.plane_factory_parameters){ - VLOG(1) << "Starting plane extraction..."; - sliding_window_plane_extractor_.runExtraction(); - VLOG(1) << "done"; - plane_factory_.createPlanesFromLabeledImageAndPlaneParameters(sliding_window_plane_extractor_.getLabeledImage(), - sliding_window_plane_extractor_.getNumberOfExtractedPlanes(), - sliding_window_plane_extractor_.getLabelPlaneParameterMap()); - plane_factory_.decomposePlanesInConvexPolygons(); -} - -Polygon3dVectorContainer Pipeline::getConvexPolygons() const{ - return plane_factory_.getConvexPolygonsInWorldFrame(); -} - -Polygon3dVectorContainer Pipeline::getPlaneContours() const{ - return plane_factory_.getPlaneContoursInWorldFrame(); -} diff --git a/convex_plane_decomposition/src/plane.cpp b/convex_plane_decomposition/src/plane.cpp deleted file mode 100644 index c8b1f4b5..00000000 --- a/convex_plane_decomposition/src/plane.cpp +++ /dev/null @@ -1,11 +0,0 @@ -#include "convex_plane_decomposition/plane.hpp" - -namespace convex_plane_decomposition{ - - bool Plane::setNormalAndSupportVector(const Eigen::Vector3d& normal_vector, const Eigen::Vector3d& support_vector){ - normal_vector_ = normal_vector; - support_vector_ = support_vector; - return true; - } - -} diff --git a/convex_plane_decomposition/src/plane_factory.cpp b/convex_plane_decomposition/src/plane_factory.cpp deleted file mode 100644 index 71102881..00000000 --- a/convex_plane_decomposition/src/plane_factory.cpp +++ /dev/null @@ -1,109 +0,0 @@ -#include "convex_plane_decomposition/plane_factory.hpp" - -using namespace convex_plane_decomposition; - -void PlaneFactory::computeMapTransformation(){ - Eigen::Vector2i map_size = map_.getSize(); - CHECK(map_.getPosition(Eigen::Vector2i::Zero(), map_offset_)); - Eigen::Vector2d lower_left_cell_position; - CHECK(map_.getPosition(Eigen::Vector2i(map_size.x() - 1, 0), lower_left_cell_position)); - Eigen::Vector2d upper_right_cell_position; - CHECK(map_.getPosition(Eigen::Vector2i(0, map_size.y() - 1), upper_right_cell_position)); - transformation_xy_to_world_frame_.col(0) = (lower_left_cell_position - map_offset_).normalized(); - transformation_xy_to_world_frame_.col(1) = (upper_right_cell_position - map_offset_).normalized(); -} - -void PlaneFactory::createPlanesFromLabeledImageAndPlaneParameters(const cv::Mat& labeled_image, const int number_of_labels, - const std::map& plane_parameters){ - CHECK_GT(number_of_labels, 0); - Polygonizer polygonizer(parameters_.polygonizer_parameters); - for (int label = 1; label < number_of_labels; ++label){ - if (plane_parameters.find(label) == plane_parameters.end()){ - continue; - } - cv::Mat binary_image(labeled_image.size(), CV_8UC1); - binary_image = labeled_image == label; - const CgalPolygon2d plane_contour = polygonizer.runPolygonizationOnBinaryImage(binary_image); - const auto plane_parameter_it = plane_parameters.find(label); - CHECK(plane_parameter_it != plane_parameters.end()) << "Label not contained in plane parameter container!"; - if (plane_contour.is_empty()) { - LOG(INFO) << "Dropping plane, polygon empty!"; - continue; - } - if (isPlaneInclinationBelowThreshold(plane_parameter_it->second.normal_vector)){ - planes_.emplace_back(plane_contour, plane_parameter_it->second); - } else { - LOG(INFO) << "Dropping plane due to exceeded inclination threshold!"; - } - } -} - -bool PlaneFactory::isPlaneInclinationBelowThreshold(const Eigen::Vector3d& plane_normal_vector) const { - const Eigen::Vector3d z_axis(0,0,1); - return std::atan2(1.0, z_axis.dot(plane_normal_vector)) < (parameters_.plane_inclination_threshold_degrees / 180.0 * M_PI); -} - -void PlaneFactory::decomposePlanesInConvexPolygons(){ - ConvexDecomposer convex_decomposer(parameters_.convex_decomposer_parameters); - for(Plane& plane : planes_){ - CgalPolygon2dContainer& convex_polygons = plane.getConvexPolygonsMutable(); - convex_polygons = convex_decomposer.performConvexDecomposition(plane.getOuterPolygon()); - } -} - -Polygon3dVectorContainer PlaneFactory::getConvexPolygonsInWorldFrame() const{ - Polygon3dVectorContainer polygon_buffer; - for(const Plane& plane : planes_){ - Polygon3dVectorContainer temp_polygon_buffer = convertPlanePolygonsToWorldFrame(plane.getConvexPolygons(), plane.getPlaneParameters()); - std::move(temp_polygon_buffer.begin(), temp_polygon_buffer.end(), std::back_inserter(polygon_buffer)); - } - return polygon_buffer; -} - -Polygon3dVectorContainer PlaneFactory::getPlaneContoursInWorldFrame() const{ - Polygon3dVectorContainer polygon_buffer; - for(const Plane& plane : planes_){ - Polygon3dVectorContainer temp_polygon_buffer = convertPlanePolygonToWorldFrame(plane.getOuterPolygon(), plane.getPlaneParameters()); - std::move(temp_polygon_buffer.begin(), temp_polygon_buffer.end(), std::back_inserter(polygon_buffer)); - } - return polygon_buffer; -} - -Polygon3dVectorContainer PlaneFactory::convertPlanePolygonToWorldFrame(const CgalPolygon2d& polygon, const PlaneParameters& plane_parameters) const{ - Polygon3dVectorContainer output_polygons; - CHECK(!polygon.is_empty()); - Polygon3d polygon_temp; - for (const auto& point : polygon){ - polygon_temp.push_back(convertPlanePointToWorldFrame(point, plane_parameters)); - } - output_polygons.push_back(polygon_temp); - return output_polygons; -} - -Polygon3dVectorContainer PlaneFactory::convertPlanePolygonsToWorldFrame(const CgalPolygon2dContainer& polygons, const PlaneParameters& plane_parameters) const{ - CHECK(!polygons.empty()) << "Input polygon container empty!"; - Polygon3dVectorContainer output_polygons; - for (const auto& polygon : polygons){ - CHECK(!polygon.is_empty()); - Polygon3d polygon_temp; - for (const auto& point : polygon){ - polygon_temp.push_back(convertPlanePointToWorldFrame(point, plane_parameters)); - } - output_polygons.push_back(polygon_temp); - } - return output_polygons; -} - -Eigen::Vector3d PlaneFactory::convertPlanePointToWorldFrame(const CgalPoint2d& point, const PlaneParameters& plane_parameters) const { - Eigen::Vector2d temp_point(point.x(), point.y()); - temp_point = transformation_xy_to_world_frame_ * temp_point; - temp_point = temp_point + map_offset_; - CHECK(std::isfinite(temp_point.x())) << "Not finite x value!"; - CHECK(std::isfinite(temp_point.y())) << "Not finite y value!"; - const double z = (-(temp_point.x() - plane_parameters.support_vector.x()) * plane_parameters.normal_vector.x() - - (temp_point.y() - plane_parameters.support_vector.y()) * plane_parameters.normal_vector.y()) / - plane_parameters.normal_vector(2) + - plane_parameters.support_vector(2); - CHECK(std::isfinite(z)) << "Not finite z value!"; - return {temp_point.x(), temp_point.y(), z}; -} diff --git a/convex_plane_decomposition/src/polygon.cpp b/convex_plane_decomposition/src/polygon.cpp deleted file mode 100644 index 134a3159..00000000 --- a/convex_plane_decomposition/src/polygon.cpp +++ /dev/null @@ -1,537 +0,0 @@ -#include "convex_plane_decomposition/polygon.hpp" - -namespace convex_plane_decomposition { - - bool doPolygonAndSegmentIntersect(const CgalPolygon2d& polygon, const CgalSegment2d& segment, bool print_flag){ - for (auto vertex_it = polygon.vertices_begin(); vertex_it != polygon.vertices_end(); ++vertex_it){ - auto next_vertex_it = std::next(vertex_it); - if (next_vertex_it == polygon.vertices_end()){ - next_vertex_it = polygon.vertices_begin(); - } - CgalSegment2d test_segment(*vertex_it, *next_vertex_it); - CGAL::cpp11::result_of::type - result = intersection(test_segment, segment); - if (result) { - if (const CgalSegment2d *s = boost::get(&*result)) { - if (print_flag) { - VLOG(1) << "Intersection over segment: " << *s; - } - return true; - } else { - const CgalPoint2d *p = boost::get(&*result); - if (print_flag) { - VLOG(1) << "Intersection in in point: " << *p; - } - return true; - } - } - } - return false; - } - - int getClosestPolygonVertexPosition(const CgalPolygon2d& polygon, const CgalPoint2d& point){ - int closest_vertex_position = 0; - double smallest_distance = std::numeric_limits::infinity(); - int position = 0; - for(auto vertex_it = polygon.vertices_begin(); vertex_it != polygon.vertices_end(); ++vertex_it){ - double temp_distance = squared_distance(*vertex_it, point); - if (temp_distance < smallest_distance){ - smallest_distance = temp_distance; - closest_vertex_position = position; - } - ++position; - } - return closest_vertex_position; - } - - void getVertexPositionsInAscendingDistanceToPoint(const CgalPolygon2d& polygon, const CgalPoint2d& point, - std::multimap* vertex_positions){ - CHECK_NOTNULL(vertex_positions); - int position = 0; - for (auto vertex_it = polygon.vertices_begin(); vertex_it != polygon.vertices_end(); ++vertex_it) { - vertex_positions->insert(std::pair(squared_distance(*vertex_it, point), position)); - ++position; - } - } - - void getSegmentNormalVector(const CgalSegment2d& segment, Eigen::Vector2d* normal_vector){ - CHECK_NOTNULL(normal_vector); - const auto first_vertex = segment.source(); - const auto second_vertex = segment.target(); - double d_x = second_vertex.x() - first_vertex.x(); - double d_y = second_vertex.y() - first_vertex.y(); - Eigen::Vector2d normal(d_y, -d_x); - normal.normalize(); - *normal_vector = normal; - } - - void approximateContour(CgalPolygon2d* polygon, int max_number_of_iterations, double relative_local_area_threshold, - double absolute_local_area_threshold, double relative_total_area_threshold, - double absolute_total_area_threshold) { - CHECK_NOTNULL(polygon); - if (polygon->size() < 4) { - return; - } - CHECK(polygon->orientation() == CGAL::COUNTERCLOCKWISE); - int old_size; - auto first_vertex_it = polygon->vertices_begin(); - auto second_vertex_it = std::next(first_vertex_it); - auto third_vertex_it = std::next(second_vertex_it); - double area = polygon->area(); - int number_of_iterations = 0; - while (number_of_iterations < max_number_of_iterations ) { - old_size = polygon->size(); - if (polygon->size() < 4) { - break; - } - Vector2d first_point(first_vertex_it->x(), first_vertex_it->y()); - Vector2d second_point(second_vertex_it->x(), second_vertex_it->y()); - Vector2d third_point(third_vertex_it->x(), third_vertex_it->y()); - VLOG(2) << "Got here!"; - if (isPointOnRightSideOfLine(first_point, third_point - first_point, second_point)) { - VLOG(2) << "Point on right side!"; - double a = (third_point - first_point).norm(); - double b = (second_point - third_point).norm(); - double c = (first_point - second_point).norm(); - const double triangle_area = computeTriangleArea(a, b, c); - CHECK(isfinite(triangle_area)) << "Area: " << triangle_area << ", a: " << a << ", b: " << b << ", c: " << c; - CHECK_GE(triangle_area, 0.0); - if ((triangle_area < relative_local_area_threshold * area) && (triangle_area < absolute_local_area_threshold)) { - VLOG(2) << "Area sufficiently small!"; - CgalPolygon2d new_polygon(*polygon); - int vertex_position_offset = std::distance(polygon->vertices_begin(), second_vertex_it); - CgalPolygon2dVertexIterator tmp_iterator = new_polygon.vertices_begin(); - std::advance(tmp_iterator, vertex_position_offset); - VLOG(2) << "Before erase call!"; - new_polygon.erase(tmp_iterator); - VLOG(2) << "After ease call!"; - if (new_polygon.is_simple() && (new_polygon.orientation() == CGAL::COUNTERCLOCKWISE) && - abs(new_polygon.area() - area) < relative_total_area_threshold * area && - abs(new_polygon.area() - area) < absolute_total_area_threshold) { - CHECK_LE(triangle_area, area); - first_vertex_it = polygon->erase(second_vertex_it); - if (first_vertex_it == polygon->vertices_end()) { - first_vertex_it = polygon->vertices_begin(); - } - second_vertex_it = next(first_vertex_it, *polygon); - third_vertex_it = next(second_vertex_it, *polygon); - if ((std::distance(polygon->begin(), first_vertex_it) >= std::distance(polygon->begin(), second_vertex_it)) || - (std::distance(polygon->begin(), first_vertex_it) >= std::distance(polygon->begin(), third_vertex_it)) || - (std::distance(polygon->begin(), second_vertex_it) >= std::distance(polygon->begin(), third_vertex_it))) { - ++number_of_iterations; - } - VLOG(2) << "Removed one vertex!"; - continue; - } - } - } - first_vertex_it = second_vertex_it; - second_vertex_it = third_vertex_it; - third_vertex_it = next(second_vertex_it, *polygon); - VLOG(2) << "Got to bottom! Number of iterations: " << std::distance(polygon->begin(), first_vertex_it) << " " - << std::distance(polygon->begin(), second_vertex_it) << " " << std::distance(polygon->begin(), third_vertex_it); - if (std::distance(polygon->begin(), first_vertex_it) >= std::distance(polygon->begin(), second_vertex_it)) { - ++number_of_iterations; - } - } - } - - double computeTriangleArea(double side_length_a, double side_length_b, double side_length_c){ - const double s = (side_length_a + side_length_b + side_length_c) / 2.0; - CHECK_GT(s, 0.0); - double sqrt_argument = s * (s-side_length_a) * (s - side_length_b) * (s - side_length_c); - if (abs(sqrt_argument) < 1e-6){ - sqrt_argument = 0.0; - } - CHECK_GE(sqrt_argument, 0.0); - return sqrt(sqrt_argument); - } - - CgalPolygon2dVertexIterator next(const CgalPolygon2dVertexIterator& iterator, const CgalPolygon2d& polygon){ - if (std::next(iterator) == polygon.vertices_end()){ - return polygon.vertices_begin(); - } else { - return std::next(iterator); - } - } - - // Retrieves the following vertex in polygon, including wrap around, when last polygon reached. - // In this case the output flag is set to true. - bool next(const CgalPolygon2dVertexIterator& iterator, CgalPolygon2dVertexIterator& output_iterator, const CgalPolygon2d& polygon){ - if (std::next(iterator) == polygon.vertices_end()){ - output_iterator = polygon.vertices_begin(); - return true; - } else { - output_iterator = std::next(iterator); - return false; - } - } - - CgalPolygon2dVertexIterator previous(const CgalPolygon2dVertexIterator& iterator, const CgalPolygon2d& polygon){ - if (iterator == polygon.vertices_begin()){ - return std::prev(polygon.vertices_end()); - } else { - return std::prev(iterator); - } - } - - void upSampleLongEdges(CgalPolygon2d* polygon){ - CHECK_NOTNULL(polygon); - for (auto vertex_it = polygon->vertices_begin(); vertex_it != polygon->vertices_end(); ++vertex_it) { - double edge_length = getEdgeLength(vertex_it, *polygon); - CHECK_GT(edge_length, 0); - double kEdgeLengthThreshold = 0.5; - if (edge_length > 2 * kEdgeLengthThreshold){ - int number_of_intervals = static_cast(round(ceil(edge_length / kEdgeLengthThreshold))); - CgalPoint2d source_point = *vertex_it; - CgalPoint2d destination_point = *(next(vertex_it, *polygon)); - CHECK_NE(number_of_intervals , 0); - CgalPoint2d direction_vector = CgalPoint2d((destination_point.x() - source_point.x()) / - static_cast(number_of_intervals),(destination_point.y() - source_point.y()) / - static_cast(number_of_intervals)); - - CHECK_LE(abs(sqrt(pow(direction_vector.x(),2) + pow(direction_vector.y(),2))),edge_length); - std::cout << "Direction vector: " << direction_vector << std::endl; - auto inserter_it = next(vertex_it, *polygon); - for (int i = 0; i < number_of_intervals-1; ++i){ - CgalVector2d new_point = *inserter_it - direction_vector; - inserter_it = polygon->insert(inserter_it, CgalPoint2d(new_point.x(), new_point.y())); - } - std::advance(vertex_it, number_of_intervals - 1); - } - } - } - - double getEdgeLength(const CgalPolygon2dVertexIterator& source, const CgalPolygon2d& polygon) { - CgalPoint2d source_point = *source; - CgalPoint2d destination_point = *(next(source, polygon)); - return abs(sqrt((destination_point.x() - source_point.x()) * (destination_point.x() - source_point.x()) - + (destination_point.y() - source_point.y()) * (destination_point.y() - source_point.y()))); - } - - // Counter-clockwise orientation: ray source vertex is previous vertex in counter-clockwise polygon orientation. - bool intersectPolygonWithRay(int ray_target_location, CGAL::Orientation orientation, const CgalPolygon2d& polygon, - Intersection* output_intersection) { - CHECK_NOTNULL(output_intersection); - CHECK(orientation == CGAL::COUNTERCLOCKWISE || orientation == CGAL::CLOCKWISE); - CHECK(polygon.orientation() == CGAL::COUNTERCLOCKWISE); - Intersection intersection_tmp; - constexpr double kLargeDistanceValue = 1000; - double min_distance = kLargeDistanceValue; - bool one_intersection_at_least = false; - auto vertex_it = polygon.vertices_begin(); - std::advance(vertex_it, ray_target_location); - auto ray_source_it = vertex_it; - auto ray_target_it = vertex_it; - if (orientation == CGAL::COUNTERCLOCKWISE) { - ray_source_it = previous(vertex_it, polygon); - } else { - vertex_it = next(vertex_it, polygon); - ray_source_it = vertex_it; - } - vertex_it = next(vertex_it, polygon); - const CgalPoint2d ray_source = *ray_source_it; - VLOG(1) << "Source ray:" << ray_source; - const CgalPoint2d ray_target = *ray_target_it; - const CgalRay2d ray(*ray_target_it, *ray_target_it - *ray_source_it); - VLOG(1) << "Ray target: " << ray.source(); - VLOG(1) << "Ray direction: " << ray.direction(); - CHECK(!ray.is_degenerate()); - // Do not intersect with adjacent edges since they intersect already in common vertex. - auto condition_it = ray_source_it; - if (orientation == CGAL::CLOCKWISE) { - condition_it = ray_target_it; - } - int number_of_polygon_edges_visited = 0; - while (next(vertex_it, polygon) != condition_it) { - ++number_of_polygon_edges_visited; - const CgalPoint2d segment_source = *vertex_it; - const auto segment_target_it = next(vertex_it, polygon); - const CgalPoint2d segment_target = *segment_target_it; - VLOG(1) << "Segment under test: Source: " << segment_source << " Target: " << segment_target; - const CgalSegment2d segment(*vertex_it, *segment_target_it); - RaySegmentIntersection intersection; - if (doRayAndSegmentIntersect(ray, segment, &intersection)) { - VLOG(1) << "Intersection type: " << static_cast(intersection.intersection_location); - VLOG(1) << "Intersection point:" << intersection.intersection_point; - VLOG(1) << segment_source; - const double current_distance = sqrt((ray_target - intersection.intersection_point).squared_length()); - // Take first intersection on ray. - if (current_distance < min_distance) { - one_intersection_at_least = true; - min_distance = current_distance; - intersection_tmp.setAllMembers(std::distance(polygon.vertices_begin(), vertex_it), - std::distance(polygon.vertices_begin(), segment_target_it), intersection.intersection_point, - intersection.intersection_location); - } - } - vertex_it = next(vertex_it, polygon); - } - CHECK_EQ(number_of_polygon_edges_visited, polygon.size() - 3); - if (!one_intersection_at_least) { - return false; - } - *output_intersection = intersection_tmp; - return true; - } - - // Erases vertices [first, last), takes warp around into account. - CgalPolygon2dVertexIterator erase(CgalPolygon2dVertexIterator first, CgalPolygon2dVertexIterator last, - CgalPolygon2d* polygon){ - CHECK_NOTNULL(polygon); - CHECK(first != last); - if ((std::distance(polygon->vertices_begin(), last) - std::distance(polygon->vertices_begin(), first)) > 0){ - // std::cout << (std::distance(polygon->vertices_begin(), last) - std::distance(polygon->vertices_begin(), first)) << std::endl; - return polygon->erase(first, last); - } else { - int last_iterator_distance = std::distance(polygon->vertices_begin(), last); - polygon->erase(first, polygon->vertices_end()); - auto erase_iterator = polygon->vertices_begin(); - std::advance(erase_iterator, last_iterator_distance); - return polygon->erase(polygon->vertices_begin(), erase_iterator); - } - } - - // [first last) are copied to new_polygon before the position indicated by insert_position. - // Takes wrap around into account - void copyVertices(const CgalPolygon2d& old_polygon, const CgalPolygon2dVertexIterator first, const CgalPolygon2dVertexIterator last, - CgalPolygon2d* new_polygon, const CgalPolygon2dVertexIterator insert_position){ - CHECK_NOTNULL(new_polygon); - CHECK(first != last); - if (std::distance(old_polygon.vertices_begin(), last) - std::distance(old_polygon.vertices_begin(), first) > 0){ - return new_polygon->insert(insert_position, first, last); - } else { - int insert_position_distance = std::distance(new_polygon->vertices_begin(), insert_position); - int number_of_inserted_elements = std::distance(first, old_polygon.vertices_end()); - new_polygon->insert(insert_position, first, old_polygon.vertices_end()); - CgalPolygon2dVertexIterator insert_position_mutable = new_polygon->vertices_begin(); - std::advance(insert_position_mutable, insert_position_distance + number_of_inserted_elements); - new_polygon->insert(insert_position_mutable, old_polygon.vertices_begin(), last); - return; - } - } - - void printPolygon(const CgalPolygon2d& polygon) { - std::cout << "Polygon has " << polygon.size() << " vertices." << std::endl; - for (const CgalPoint2d& vertex : polygon) { - std::cout << vertex.x() << " , " << vertex.y() << " ; " << std::endl; - } - } - - std::string printPolygonToString(const CgalPolygon2d& polygon) { - std::string string; - string = "Polygon has " + std::to_string(polygon.size()) + " vertices. \n"; - for (const CgalPoint2d& vertex : polygon) { - string += std::to_string(vertex.x()) + " , " + std::to_string(vertex.y()) + " ;\n"; - } - return string; - } - - std::pair getIndicesOfClosestVertexPair(const CgalPolygon2d& first_polygon, const CgalPolygon2d& second_polygon) { - CHECK_GT(first_polygon.size(), 0); - CHECK_GT(second_polygon.size(), 0); - std::multimap> buffer = getClosestVertexPairsOrdered(first_polygon, second_polygon); - CHECK(!buffer.empty()); - return buffer.begin()->second; - } - - std::multimap> getClosestVertexPairsOrdered(const CgalPolygon2d& first_polygon, - const CgalPolygon2d& second_polygon) { - CHECK_GT(first_polygon.size(), 0); - CHECK_GT(second_polygon.size(), 0); - std::multimap> buffer; - for (auto vertex_it = first_polygon.vertices_begin(); vertex_it != first_polygon.vertices_end(); ++vertex_it){ - int first_vertex_index = std::distance(first_polygon.vertices_begin(), vertex_it); - double distance = std::numeric_limits::max(); - int second_vertex_index = 0; - for (auto second_vertex_it = second_polygon.vertices_begin(); second_vertex_it != second_polygon.vertices_begin(); ++second_vertex_it){ - const double temp_distance = sqrt(static_cast(*vertex_it - *second_vertex_it).squared_length()); - if (temp_distance < distance){ - distance = temp_distance; - second_vertex_index = std::distance(second_polygon.vertices_begin(), second_vertex_it); - } - } - buffer.insert(std::make_pair(distance, std::make_pair(first_vertex_index, second_vertex_index))); - } - return buffer; - } - - CgalPoint2d getPolygonVertexAtIndex(const CgalPolygon2d& polygon, int index){ - CHECK_GT(index, 0); - CHECK_LT(index, polygon.size()); - auto vertex_it = polygon.vertices_begin(); - std::advance(vertex_it, index); - return *vertex_it; - } - - bool doPointAndPolygonIntersect(const CgalPolygon2d& polygon, const CgalPoint2d& point, int& segment_target_vertex_index){ - for (auto vertex_it = polygon.vertices_begin(); vertex_it != polygon.vertices_end(); ++vertex_it) { - auto next_vertex_it = std::next(vertex_it); - if (next_vertex_it == polygon.vertices_end()) { - next_vertex_it = polygon.vertices_begin(); - } - CgalSegment2d test_segment(*vertex_it, *next_vertex_it); - if (test_segment.has_on(point)){ - segment_target_vertex_index = std::distance(polygon.vertices_begin(), next_vertex_it); - return true; - } - } - return false; - } - - std::pair getVertexPositionsWithHighestHoleSlConcavityMeasure(const CgalPolygon2d& polygon){ - CHECK(polygon.size() > 2); - std::multimap> slConcavityScoreMap; - const int number_of_vertices = polygon.size(); - for (int first_vertex_counter = 0; first_vertex_counter < number_of_vertices - 1; ++first_vertex_counter){ - const auto& vertex_container = polygon.container(); - const CgalPoint2d& first_vertex = vertex_container.at(first_vertex_counter); - for (int second_vertex_counter = first_vertex_counter + 1; second_vertex_counter < number_of_vertices; ++second_vertex_counter){ - const CgalPoint2d& second_vertex = vertex_container.at(second_vertex_counter); - const double vertex_squared_distance = (first_vertex - second_vertex).squared_length(); - slConcavityScoreMap.insert(std::make_pair(vertex_squared_distance, std::make_pair(first_vertex_counter, second_vertex_counter))); - } - } - return slConcavityScoreMap.begin()->second; - } - - // Attention, if point overlaps with existing vertex. - std::pair getClosestPointAndSegmentOnPolygonToPoint(const CgalPoint2d& point, const CgalPolygon2d& polygon){ - CHECK_GT(polygon.size(), 2); - std::multimap> distance_to_segment_closest_point_map; - int edge_counter = 0; - for(auto edge_it = polygon.edges_begin(); edge_it != polygon.edges_end(); ++edge_it){ - if (edge_it->has_on(point)){ - distance_to_segment_closest_point_map.insert(std::make_pair(0.0, std::make_pair(edge_counter, Vector2d(point.x(), point.y())))); - ++edge_counter; - continue; - } - const Vector2d source(edge_it->source().x(), edge_it->source().y()); - const Vector2d target(edge_it->target().x(), edge_it->target().y()); - const Vector2d test_point(point.x(), point.y()); - std::pair distance_closest_point = getDistanceAndClosestPointOnLineSegment(test_point, source, target); - distance_to_segment_closest_point_map.insert(std::make_pair(distance_closest_point.first, std::make_pair(edge_counter, distance_closest_point.second))); - ++edge_counter; - } - const int closest_edge_index = distance_to_segment_closest_point_map.begin()->second.first; - const CgalPoint2d closest_point(distance_to_segment_closest_point_map.begin()->second.second.x(), distance_to_segment_closest_point_map.begin()->second.second.y()); - return std::make_pair(closest_edge_index, closest_point); - } - - std::vector> getCommonVertexPairIndices(const CgalPolygon2d& first_polygon, const CgalPolygon2d& second_polygon){ - std::vector> return_buffer; - for(int first_polygon_vertex_index = 0; first_polygon_vertex_index < first_polygon.container().size(); ++first_polygon_vertex_index){ - for(int second_polygon_vertex_index = 0; second_polygon_vertex_index < second_polygon.container().size(); ++second_polygon_vertex_index){ - if (first_polygon.container().at(first_polygon_vertex_index) == second_polygon.container().at(second_polygon_vertex_index)){ - return_buffer.push_back(std::make_pair(first_polygon_vertex_index, second_polygon_vertex_index)); - } - } - } - return return_buffer; - } - - std::vector getVertexIndicesOfFirstPolygonContainedInSecondPolygonContour(const CgalPolygon2d& first_polygon, - const CgalPolygon2d& second_polygon) { - std::vector return_buffer; - for (int vertex_index = 0; vertex_index < first_polygon.container().size(); ++vertex_index) { - if (second_polygon.has_on_boundary(first_polygon.container().at(vertex_index))) { - return_buffer.push_back(vertex_index); - } - } - return return_buffer; - } - - bool doRayAndSegmentIntersect(const CgalRay2d& ray, const CgalSegment2d& segment, RaySegmentIntersection* intersection) { - constexpr double kSquaredToleranceMeters = 1e-8; - CGAL::Cartesian_converter to_exact; - CGAL::Cartesian_converter to_inexact; - CGAL::cpp11::result_of::type result = - CGAL::intersection(to_exact(ray), to_exact(segment)); - - if (result) { - if (const EKernel::Segment_2* ek_segment = boost::get(&*result)) { - VLOG(1) << "Segment intersection."; - VLOG(1) << "Segment source: " << segment.source(); - VLOG(1) << "Segment target: " << segment.target(); - VLOG(1) << "Ray point: " << ray.source(); - VLOG(1) << "Ray direction: " << ray.direction(); - if ((ray.source() - segment.source()).squared_length() < (ray.source() - segment.target()).squared_length()) { - intersection->intersection_location = SegmentIntersectionType::kSource; - intersection->intersection_point = segment.source(); - } else { - intersection->intersection_location = SegmentIntersectionType::kTarget; - intersection->intersection_point = segment.target(); - } - } else { - VLOG(1) << "Point intersection."; - VLOG(1) << "Segment source: " << segment.source(); - VLOG(1) << "Segment target: " << segment.target(); - VLOG(1) << "Ray point: " << ray.source(); - VLOG(1) << "Ray direction: " << ray.direction(); - const EKernel::Point_2* ek_point = boost::get(&*result); - const CgalPoint2d intersection_point = to_inexact(*ek_point); - if ((intersection_point - segment.source()).squared_length() <= kSquaredToleranceMeters) { - intersection->intersection_location = SegmentIntersectionType::kSource; - intersection->intersection_point = segment.source(); - } else if ((intersection_point - segment.target()).squared_length() <= kSquaredToleranceMeters) { - intersection->intersection_location = SegmentIntersectionType::kTarget; - intersection->intersection_point = segment.target(); - } else { - intersection->intersection_location = SegmentIntersectionType::kInterior; - intersection->intersection_point = intersection_point; - } - } - return true; - } - constexpr double kToleranceMeters = 1e-6; - const Vector2d ray_source = Vector2d(ray.source().x(), ray.source().y()); - const Vector2d ray_direction = Vector2d(ray.direction().dx(), ray.direction().dy()).normalized(); - const Vector2d segment_source = Vector2d(segment.source().x(), segment.source().y()); - const Vector2d segment_target = Vector2d(segment.target().x(), segment.target().y()); - const Vector2d p_ray_source__segment_source = segment_source - ray_source; - const Vector2d p_ray_source__segment_target = segment_target - ray_source; - const double segment_source_projection = p_ray_source__segment_source.dot(ray_direction); - const double segment_target_projection = p_ray_source__segment_target.dot(ray_direction); - const Vector2d segment_source_projection_point = ray_source + segment_source_projection * ray_direction; - const Vector2d segment_target_projection_point = ray_source + segment_target_projection * ray_direction; - if (segment_source_projection >= 0.0 && segment_target_projection >= 0.0) { - if ((segment_source_projection_point - segment_source).norm() < kToleranceMeters && - (segment_target_projection_point - segment_target).norm() < kToleranceMeters) { - // Source and target lie on ray. Determine, which point is closer. - if ((segment_source_projection_point - ray_source).norm() <= (segment_target_projection_point - ray_source).norm()) { - intersection->intersection_location = SegmentIntersectionType::kSource; - intersection->intersection_point = segment.source(); - return true; - } else { - intersection->intersection_location = SegmentIntersectionType::kTarget; - intersection->intersection_point = segment.target(); - return true; - } - } else if ((segment_source_projection_point - segment_source).norm() < kToleranceMeters) { - // Only source lies on ray. - intersection->intersection_location = SegmentIntersectionType::kSource; - intersection->intersection_point = segment.source(); - return true; - } else if ((segment_target_projection_point - segment_target).norm() < kToleranceMeters) { - // Only target lies on ray. - intersection->intersection_location = SegmentIntersectionType::kTarget; - intersection->intersection_point = segment.target(); - return true; - } - } else if (segment_source_projection >= 0.0) { - if ((segment_source_projection_point - segment_source).norm() < kToleranceMeters) { - intersection->intersection_location = SegmentIntersectionType::kSource; - intersection->intersection_point = segment.source(); - return true; - } - } else if (segment_target_projection >= 0.0) { - if ((segment_target_projection_point - segment_target).norm() < kToleranceMeters) { - intersection->intersection_location = SegmentIntersectionType::kTarget; - intersection->intersection_point = segment.target(); - return true; - } - } - return false; - } - - } // namespace convex_plane_decomposition diff --git a/convex_plane_decomposition/src/polygonizer.cpp b/convex_plane_decomposition/src/polygonizer.cpp deleted file mode 100644 index 41084675..00000000 --- a/convex_plane_decomposition/src/polygonizer.cpp +++ /dev/null @@ -1,197 +0,0 @@ -#include "convex_plane_decomposition/polygonizer.hpp" - -using namespace convex_plane_decomposition; - -PolygonWithHoles Polygonizer::extractPolygonsFromBinaryImage(const cv::Mat& binary_image) const{ - PolygonWithHoles plane_polygons; - std::vector> contours; - std::vector hierarchy; - cv::Mat binary_image_upsampled; - cv::resize(binary_image, - binary_image_upsampled, - cv::Size(parameters_.upsampling_factor * binary_image.size().height, - parameters_.upsampling_factor * binary_image.size().width)); - - findContours(binary_image_upsampled, contours, hierarchy, - CV_RETR_TREE, CV_CHAIN_APPROX_SIMPLE); - std::vector> approx_contours; - int hierachy_it = 0; - for (const auto& contour : contours) { - ++hierachy_it; - if (contour.size() <= 2) { - LOG_IF(WARNING, hierarchy[hierachy_it - 1][3] < 0 && contour.size() > 3) - << "Removing parental polygon since too few vertices!"; - continue; - } - CgalPolygon2d polygon = convex_plane_decomposition::createCgalPolygonFromOpenCvPoints( - contour.begin(), contour.end(), - parameters_.resolution / static_cast(parameters_.upsampling_factor)); - CHECK(polygon.is_simple()) << "Contour extraction from binary image caused intersection!"; - constexpr int kParentFlagIndex = 3; - if (hierarchy[hierachy_it - 1][kParentFlagIndex] < 0) { - if (parameters_.activate_long_edge_upsampling) { - upSampleLongEdges(&polygon); - } - if (parameters_.activate_contour_approximation) { - approximateContour(&polygon, parameters_.max_number_of_iterations, parameters_.contour_approximation_relative_local_area_threshold, - parameters_.contour_approximation_absolute_local_area_threshold_squared_meters, - parameters_.contour_approximation_relative_total_area_threshold, parameters_.contour_approximation_absolute_total_area_threshold_squared_meters); - VLOG(1) << "Contour approximated!"; - } - plane_polygons.outer_contour = polygon; - } else { - plane_polygons.holes.push_back(polygon); - } - } - return plane_polygons; -} - -PolygonWithHoles Polygonizer::extractContoursFromBinaryImage(cv::Mat& binary_image) const{ - PolygonWithHoles plane_polygons; - std::vector> contours; - std::vector hierarchy; - findContours(binary_image, contours, hierarchy, - CV_RETR_TREE, CV_CHAIN_APPROX_SIMPLE); - std::vector> approx_contours; - int hierachy_it = 0; - for (auto& contour : contours) { - ++hierachy_it; - CHECK_GE(contour.size(), 2); - CgalPolygon2d polygon = convex_plane_decomposition::createCgalPolygonFromOpenCvPoints( - contour.begin(), contour.end(), 1); - constexpr int kParentFlagIndex = 3; - if (hierarchy[hierachy_it - 1][kParentFlagIndex] < 0) { - plane_polygons.outer_contour = polygon; - } else { - plane_polygons.holes.push_back(polygon); - } - } - return plane_polygons; -} - -// Deprecated: Due to finite resolution in image, complicated contours are extracted in the end. -void Polygonizer::resolveHolesInBinaryImage(cv::Mat& binary_image, const PolygonWithHoles& contour_with_holes) const{ - for(const auto& hole : contour_with_holes.holes){ - if (hole.area() > 36){ - continue; - } - std::pair slConcavityVertices = getVertexPositionsWithHighestHoleSlConcavityMeasure(hole); - const CgalPoint2d first_sl_point = hole.container().at(slConcavityVertices.first); - const CgalPoint2d second_sl_point = hole.container().at(slConcavityVertices.second); - std::pair first_connection_candidate = - getClosestPointAndSegmentOnPolygonToPoint(first_sl_point, contour_with_holes.outer_contour); - std::pair second_connection_candidate = - getClosestPointAndSegmentOnPolygonToPoint(second_sl_point, contour_with_holes.outer_contour); - if ((first_connection_candidate.second - first_sl_point).squared_length() < - (second_connection_candidate.second - second_sl_point).squared_length()){ - cv::Point first_point(first_connection_candidate.second.y(), first_connection_candidate.second.x()); - cv::Point second_point(first_sl_point.y(), first_sl_point.x()); - cv::line(binary_image, first_point, second_point, CV_RGB(0,0,0),2); - } else{ - cv::Point first_point(second_connection_candidate.second.y(), second_connection_candidate.second.x()); - cv::Point second_point(second_sl_point.y(), second_sl_point.x()); - cv::line(binary_image, first_point, second_point, CV_RGB(0,0,0), 2); - } - } -} - -void Polygonizer::removeAreasNotContainedInOuterContourFromHoles(const CgalPolygon2d& outer_polygon, std::vector& holes) const{ - auto hole_it = holes.begin(); - while(hole_it != holes.end()) { - std::vector buffer; - CGAL::intersection(outer_polygon, *hole_it, std::back_inserter(buffer)); - if (buffer.empty()){ - hole_it = holes.erase(hole_it); - } else { - CHECK_EQ(buffer.size(), 1) << "Intersection of hole and outer contour cannot have multiple polygons!"; - *hole_it = CgalPolygon2d(buffer.begin()->outer_boundary().vertices_begin(), buffer.begin()->outer_boundary().vertices_end()); - ++hole_it; - } - } -} - -bool Polygonizer::addHoleToOuterContourAtVertexIndex(int segment_target_vertex_index, const CgalPolygon2d& hole, CgalPolygon2d& outer_contour) const{ - CHECK_EQ(outer_contour.orientation(), CGAL::COUNTERCLOCKWISE); - CHECK_EQ(hole.orientation(), CGAL::COUNTERCLOCKWISE); - auto outer_vertex_it = outer_contour.vertices_begin(); - std::advance(outer_vertex_it, segment_target_vertex_index); - const auto& hole_vertex_buffer = hole.container(); - // TODO - return false; -} - -// Deprecated: This method produces non-simple polygons. -CgalPolygon2d Polygonizer::resolveHolesWithVerticalConnection(PolygonWithHoles& polygon_with_holes) const{ - CgalPolygon2dContainer& holes = polygon_with_holes.holes; - // Get hole part which is entirely contained in outer contour. - // In the contour simplification stage intersections may have been introduced. - removeAreasNotContainedInOuterContourFromHoles(polygon_with_holes.outer_contour, holes); - if (holes.empty()) { - return polygon_with_holes.outer_contour; - } - auto hole_it = holes.begin(); - while(hole_it!= holes.end()) { - if (hole_it->size() < 3) { - hole_it = holes.erase(hole_it); - } else if (abs(hole_it->area()) < parameters_.hole_area_threshold_squared_meters) { - hole_it = holes.erase(hole_it); - } else { - ++hole_it; - } - } - CgalPolygonWithHoles2d temp_polygon_with_holes(polygon_with_holes.outer_contour, - polygon_with_holes.holes.begin(), polygon_with_holes.holes.end()); - CgalPolygon2d resolved_polygon; - connect_holes(temp_polygon_with_holes, std::back_inserter (resolved_polygon.container())); - // Create offset polygon to return - constexpr double kSmallOffsetMeters = 1e-12; - std::vector> offset_polygons = CGAL::create_interior_skeleton_and_offset_polygons_2(1e-12, resolved_polygon); - CHECK_EQ(offset_polygons.size(), 1); - return **offset_polygons.begin(); -} - -CgalPolygon2d Polygonizer::runPolygonizationOnBinaryImage(const cv::Mat& binary_image) const{ - PolygonWithHoles polygon_with_holes = extractPolygonsFromBinaryImage(binary_image); - //CgalPolygon2d polygon = resolveHolesWithVerticalConnection(polygon_with_holes); - return polygon_with_holes.outer_contour; -} - -// TODO: complete implementation! -CgalPolygon2d Polygonizer::resolveHolesUsingSlConnection(const PolygonWithHoles& polygon_with_holes) const{ - CgalPolygon2dContainer holes = polygon_with_holes.holes; - // Get hole part which is entirely contained in outer contour. - // In the contour simplification stage intersections may have been introduced. - removeAreasNotContainedInOuterContourFromHoles(polygon_with_holes.outer_contour, holes); - if (holes.empty()) { - return polygon_with_holes.outer_contour; - } - auto hole_it = holes.begin(); - while(hole_it!= holes.end()) { - if (hole_it->size() < 3) { - hole_it = holes.erase(hole_it); - } else if (abs(hole_it->area()) < parameters_.hole_area_threshold_squared_meters) { - hole_it = holes.erase(hole_it); - } else { - ++hole_it; - } - } - std::vector difference_polygons; - difference_polygons.emplace_back(polygon_with_holes.outer_contour); - for (const auto& hole : holes) { - std::vector temp_polygon_buffer; - for (const auto& polygon : difference_polygons) { - CGAL::difference(polygon, hole, std::back_inserter(temp_polygon_buffer)); - } - difference_polygons.clear(); - std::move(temp_polygon_buffer.begin(), temp_polygon_buffer.end(), std::back_inserter(difference_polygons)); - } - CgalPolygon2d outer_contour = difference_polygons.rbegin()->outer_boundary(); - holes.clear(); - std::move(difference_polygons.rbegin()->holes_begin(), difference_polygons.rbegin()->holes_end(), std::back_inserter(holes)); - for (const auto& hole : holes){ - if (CGAL::do_intersect(hole, outer_contour)){ - // At this point intersections may only occur in single points. Overlapping edges are not possible. - - } - } -} \ No newline at end of file diff --git a/convex_plane_decomposition/src/ransac/RansacPlaneExtractor.cpp b/convex_plane_decomposition/src/ransac/RansacPlaneExtractor.cpp new file mode 100644 index 00000000..ccc70966 --- /dev/null +++ b/convex_plane_decomposition/src/ransac/RansacPlaneExtractor.cpp @@ -0,0 +1,23 @@ +#include "convex_plane_decomposition/ransac/RansacPlaneExtractor.hpp" + +namespace ransac_plane_extractor { + +RansacPlaneExtractor::RansacPlaneExtractor(const RansacPlaneExtractorParameters& parameters) { + setParameters(parameters); + ransac_.add_shape_factory(); +} + +void RansacPlaneExtractor::setParameters(const RansacPlaneExtractorParameters& parameters) { + cgalRansacParameters_.probability = parameters.probability; + cgalRansacParameters_.min_points = parameters.min_points; + cgalRansacParameters_.epsilon = parameters.epsilon; + cgalRansacParameters_.cluster_epsilon = parameters.cluster_epsilon; + cgalRansacParameters_.normal_threshold = parameters.normal_threshold; +} + +void RansacPlaneExtractor::detectPlanes(std::vector& points_with_normal) { + ransac_.set_input(points_with_normal); + ransac_.detect(cgalRansacParameters_); +} + +} // namespace ransac_plane_extractor diff --git a/convex_plane_decomposition/src/ransac_plane_extractor.cpp b/convex_plane_decomposition/src/ransac_plane_extractor.cpp deleted file mode 100644 index b4266dab..00000000 --- a/convex_plane_decomposition/src/ransac_plane_extractor.cpp +++ /dev/null @@ -1,28 +0,0 @@ -#include "convex_plane_decomposition/ransac_plane_extractor.hpp" - -using namespace ransac_plane_extractor; - -RansacPlaneExtractor::RansacPlaneExtractor(std::vector& points_with_normal, const RansacPlaneExtractorParameters& parameters){ - ransac_.set_input(points_with_normal); - ransac_.add_shape_factory(); - parameters_.probability = parameters.probability; - parameters_.min_points = parameters.min_points; - parameters_.epsilon = parameters.epsilon; - parameters_.cluster_epsilon = parameters.cluster_epsilon; - parameters_.normal_threshold = parameters.normal_threshold; -} - -void RansacPlaneExtractor::runDetection(){ - // Detect shapes. - ransac_.detect(parameters_); -} - -void RansacPlaneExtractor::setParameters(const RansacPlaneExtractorParameters& parameters){ - parameters_.probability = parameters.probability; - parameters_.min_points = parameters.min_points; - parameters_.epsilon = parameters.epsilon; - parameters_.cluster_epsilon = parameters.cluster_epsilon; - parameters_.normal_threshold = parameters.normal_threshold; -} - - diff --git a/convex_plane_decomposition/src/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.cpp b/convex_plane_decomposition/src/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.cpp new file mode 100644 index 00000000..c72380bf --- /dev/null +++ b/convex_plane_decomposition/src/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.cpp @@ -0,0 +1,282 @@ +#include "convex_plane_decomposition/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.h" + +#include +#include +#include +#include + +#include + +#include + +#include + +#include + +#include "convex_plane_decomposition/Nan.h" + +namespace convex_plane_decomposition { +namespace sliding_window_plane_extractor { + +double angleBetweenVectorsInDegrees(const Eigen::Vector3d& v1, const Eigen::Vector3d& v2) { + double cos_rad = v1.normalized().dot(v2.normalized()); + if (cos_rad < -1.0) { + cos_rad = -1.0; + } else if (cos_rad > 1.0) { + cos_rad = 1.0; + } + return std::abs(std::acos(cos_rad) * 180.0 / M_PI); +} + +SlidingWindowPlaneExtractor::SlidingWindowPlaneExtractor(const SlidingWindowPlaneExtractorParameters& parameters, + const ransac_plane_extractor::RansacPlaneExtractorParameters& ransacParameters) + : parameters_(parameters), ransacParameters_(ransacParameters) {} + +void SlidingWindowPlaneExtractor::runExtraction(const grid_map::GridMap& map, const std::string& layer_height) { + // Extract basic map information + map_ = ↦ + elevationLayer_ = layer_height; + segmentedPlanesMap_.resolution = map_->getResolution(); + map_->getPosition(Eigen::Vector2i(0, 0), segmentedPlanesMap_.mapOrigin); + + // Initialize based on map size. + segmentedPlanesMap_.highestLabel = -1; + segmentedPlanesMap_.labelPlaneParameters.clear(); + const auto& mapSize = map_->getSize(); + binaryImagePatch_ = cv::Mat(mapSize(0), mapSize(1), CV_8U, 0.0); // Zero initialize to set untouched pixels to not planar; + // Need a buffer of at least the linear size of the image. But no need to shrink if the buffer is already bigger. + const int linearMapSize = mapSize(0) * mapSize(1); + if (surfaceNormals_.size() < linearMapSize) { + surfaceNormals_.reserve(linearMapSize); + std::fill_n(surfaceNormals_.begin(), linearMapSize, Eigen::Vector3d::Zero()); + } + + // Run + runSlidingWindowDetector(); + runSegmentation(); + extractPlaneParametersFromLabeledImage(); +} + +std::pair SlidingWindowPlaneExtractor::computeNormalAndErrorForWindow(const Eigen::MatrixXf& windowData) const { + // Gather surrounding data. + size_t nPoints = 0; + Eigen::Vector3d sum = Eigen::Vector3d::Zero(); + Eigen::Matrix3d sumSquared = Eigen::Matrix3d::Zero(); + for (int kernel_col = 0; kernel_col < parameters_.kernel_size; ++kernel_col) { + for (int kernel_row = 0; kernel_row < parameters_.kernel_size; ++kernel_row) { + float height = windowData(kernel_row, kernel_col); + if (isNan(height)) { + continue; + } + // No need to account for map offset. Will substract the mean anyway. + Eigen::Vector3d point{-kernel_row * segmentedPlanesMap_.resolution, -kernel_col * segmentedPlanesMap_.resolution, height}; + nPoints++; + sum += point; + sumSquared.noalias() += point * point.transpose(); + } + } + + if (nPoints < 3) { + // Not enough points to establish normal direction + return {Eigen::Vector3d::UnitZ(), 1e30}; + } else { + const Eigen::Vector3d mean = sum / nPoints; + const Eigen::Matrix3d covarianceMatrix = sumSquared / nPoints - mean * mean.transpose(); + + // Compute Eigenvectors. + // Eigenvalues are ordered small to large. + // Worst case bound for zero eigenvalue from : https://eigen.tuxfamily.org/dox/classEigen_1_1SelfAdjointEigenSolver.html + Eigen::SelfAdjointEigenSolver solver; + solver.computeDirect(covarianceMatrix, Eigen::DecompositionOptions::ComputeEigenvectors); + if (solver.eigenvalues()(1) > 1e-8) { + Eigen::Vector3d unitaryNormalVector = solver.eigenvectors().col(0); + + // Check direction of the normal vector and flip the sign upwards + if (unitaryNormalVector.z() < 0.0) { + unitaryNormalVector = -unitaryNormalVector; + } + // The first eigenvalue might become slightly negative due to numerics. + double rmsError = (solver.eigenvalues()(0) > 0.0) ? std::sqrt(solver.eigenvalues()(0)) : 0.0; + return {unitaryNormalVector, rmsError}; + } else { // If second eigenvalue is zero, the normal is not defined. + return {Eigen::Vector3d::UnitZ(), 1e30}; + } + } +} + +bool SlidingWindowPlaneExtractor::isLocallyPlanar(const Eigen::Vector3d& localNormal, double meanError) const { + return (meanError < parameters_.plane_patch_error_threshold && + angleBetweenVectorsInDegrees(localNormal, Eigen::Vector3d::UnitZ()) < parameters_.plane_inclination_threshold_degrees); +} + +void SlidingWindowPlaneExtractor::runSlidingWindowDetector() { + grid_map::SlidingWindowIterator window_iterator(*map_, elevationLayer_, grid_map::SlidingWindowIterator::EdgeHandling::INSIDE, + parameters_.kernel_size); + const int kernelMiddle = (parameters_.kernel_size - 1) / 2; + + for (; !window_iterator.isPastEnd(); ++window_iterator) { + grid_map::Index index = *window_iterator; + Eigen::MatrixXf window_data = window_iterator.getData(); + const auto middleValue = window_data(kernelMiddle, kernelMiddle); + + if (isNan(middleValue)) { + binaryImagePatch_.at(index.x(), index.y()) = false; + } else { + Eigen::Vector3d n; + double mean_error; + std::tie(n, mean_error) = computeNormalAndErrorForWindow(window_data); + + surfaceNormals_[getLinearIndex(index.x(), index.y())] = n; + binaryImagePatch_.at(index.x(), index.y()) = isLocallyPlanar(n, mean_error); + } + } +} + +// Label cells according to which cell they belong to using connected component labeling. +void SlidingWindowPlaneExtractor::runSegmentation() { + int numberOfLabel = cv::connectedComponents(binaryImagePatch_, segmentedPlanesMap_.labeledImage, parameters_.connectivity, CV_32S); + segmentedPlanesMap_.highestLabel = numberOfLabel - 1; // Labels are [0, N-1] +} + +void SlidingWindowPlaneExtractor::extractPlaneParametersFromLabeledImage() { + if (segmentedPlanesMap_.highestLabel < 1) { + LOG(WARNING) << "No planes detected by Sliding Window Plane Extractor!"; + return; + } + const int numberOfExtractedPlanesWithoutRefinement = segmentedPlanesMap_.highestLabel; // Make local copy. The highestLabel is incremented inside the loop + + // Skip label 0. This is the background, i.e. non-planar region. + for (int label = 1; label <= numberOfExtractedPlanesWithoutRefinement; ++label) { + computePlaneParametersForLabel(label); + } +} + +void SlidingWindowPlaneExtractor::computePlaneParametersForLabel(int label) { + const auto& elevationData = (*map_)[elevationLayer_]; + + std::vector points_with_normal; + int approximate_num_points = + segmentedPlanesMap_.labeledImage.rows * segmentedPlanesMap_.labeledImage.cols / segmentedPlanesMap_.highestLabel; + points_with_normal.reserve(approximate_num_points); + + int number_of_normal_instances = 0; + int number_of_position_instances = 0; + Eigen::Vector3d normal_vector_sum = Eigen::Vector3d::Zero(); + Eigen::Vector3d support_vector_sum = Eigen::Vector3d::Zero(); + for (int row = 0; row < segmentedPlanesMap_.labeledImage.rows; ++row) { + for (int col = 0; col < segmentedPlanesMap_.labeledImage.cols; ++col) { + if (segmentedPlanesMap_.labeledImage.at(row, col) == label) { + double height = elevationData(row, col); + if (std::isfinite(height)) { + Eigen::Vector2i index{row, col}; + + Eigen::Vector3d normal_vector_temp = surfaceNormals_[getLinearIndex(index.x(), index.y())]; + normal_vector_sum += normal_vector_temp; + ++number_of_normal_instances; + + Eigen::Vector3d point3d{segmentedPlanesMap_.mapOrigin.x() - row * segmentedPlanesMap_.resolution, segmentedPlanesMap_.mapOrigin.y() - col * segmentedPlanesMap_.resolution, height}; + support_vector_sum += point3d; + ++number_of_position_instances; + + points_with_normal.emplace_back( + ransac_plane_extractor::Point3D(point3d.x(), point3d.y(), point3d.z()), + ransac_plane_extractor::Vector3D(normal_vector_temp.x(), normal_vector_temp.y(), normal_vector_temp.z())); + } + } + } + } + if (number_of_position_instances < parameters_.min_number_points_per_label) { + // Label has too little points, no plane parameters are created + return; + } + Eigen::Vector3d normal_vector_avg = normal_vector_sum / number_of_normal_instances; + normal_vector_avg.normalize(); // Averaging does not preserve norm + Eigen::Vector3d support_vector_avg = support_vector_sum / number_of_position_instances; + + // Compute error to fitted plane. + if (parameters_.include_ransac_refinement && !isGloballyPlanar(normal_vector_avg, support_vector_avg, points_with_normal)) { + // Fix the seed for each label to get deterministic behaviour + CGAL::get_default_random() = CGAL::Random(0); + + // Run ransac + ransac_plane_extractor::RansacPlaneExtractor ransac_plane_extractor(ransacParameters_); + ransac_plane_extractor.detectPlanes(points_with_normal); + const auto& planes = ransac_plane_extractor.getDetectedPlanes(); + + bool reuseLabel = true; + for (const auto& plane : planes) { + // Bookkeeping of labels : reuse old label for the first plane + int newLabel = (reuseLabel) ? label : ++segmentedPlanesMap_.highestLabel; + reuseLabel = false; + + // Compute average plane parameters for refined segmentation + const std::vector& plane_point_indices = plane->indices_of_assigned_points(); + CHECK(!plane_point_indices.empty()); + Eigen::Vector3d support_vector_refined_sum = Eigen::Vector3d::Zero(); + Eigen::Vector3d normal_vector_refined_sum = Eigen::Vector3d::Zero(); + for (const auto index : plane_point_indices) { + const auto& point = points_with_normal[index].first; + const auto& normal = points_with_normal[index].second; + support_vector_refined_sum += Eigen::Vector3d(point.x(), point.y(), point.z()); + normal_vector_refined_sum += Eigen::Vector3d(normal.x(), normal.y(), normal.z()); + + // relabel if required + if (newLabel != label) { + // Need to lookup indices in map, because RANSAC has reordered the points + Eigen::Array2i map_indices; + map_->getIndex(Eigen::Vector2d(point.x(), point.y()), map_indices); + segmentedPlanesMap_.labeledImage.at(map_indices(0), map_indices(1)) = newLabel; + } + } + + Eigen::Vector3d normal_vector_refined_avg = normal_vector_refined_sum / plane_point_indices.size(); + normal_vector_refined_avg.normalize(); // Averaging does not preserve norm + Eigen::Vector3d support_vector_refined_avg = support_vector_refined_sum / plane_point_indices.size(); + + if (angleBetweenVectorsInDegrees(normal_vector_refined_avg, Eigen::Vector3d::UnitZ()) < + parameters_.plane_inclination_threshold_degrees) { + const TerrainPlane temp_plane_parameters(support_vector_refined_avg, switched_model::orientationWorldToTerrainFromSurfaceNormalInWorld(normal_vector_refined_avg)); + segmentedPlanesMap_.labelPlaneParameters.emplace_back(newLabel, temp_plane_parameters); + } + } + + const auto& unassigned_points = ransac_plane_extractor.getUnassignedPointIndices(); + for (const auto index : unassigned_points) { + const auto& point = points_with_normal[index].first; + + // Need to lookup indices in map, because RANSAC has reordered the points + Eigen::Array2i map_indices; + map_->getIndex(Eigen::Vector2d(point.x(), point.y()), map_indices); + segmentedPlanesMap_.labeledImage.at(map_indices(0), map_indices(1)) = 0; + } + } else { + if (angleBetweenVectorsInDegrees(normal_vector_avg, Eigen::Vector3d::UnitZ()) < + parameters_.plane_inclination_threshold_degrees) { + const TerrainPlane temp_plane_parameters(support_vector_avg, switched_model::orientationWorldToTerrainFromSurfaceNormalInWorld(normal_vector_avg)); + segmentedPlanesMap_.labelPlaneParameters.emplace_back(label, temp_plane_parameters); + } + } +} + +bool SlidingWindowPlaneExtractor::isGloballyPlanar(const Eigen::Vector3d& normalVectorPlane, const Eigen::Vector3d& supportVectorPlane, + const std::vector& points_with_normal) const { + CHECK(!points_with_normal.empty()); + for (const auto& point_with_normal : points_with_normal) { + Eigen::Vector3d p_S_P(point_with_normal.first.x() - supportVectorPlane.x(), point_with_normal.first.y() - supportVectorPlane.y(), + point_with_normal.first.z() - supportVectorPlane.z()); + double distanceError = std::abs(normalVectorPlane.dot(p_S_P)); + if (distanceError > parameters_.global_plane_fit_distance_error_threshold) { + return false; + } else { + Eigen::Vector3d pointNormal{point_with_normal.second.x(), point_with_normal.second.y(), point_with_normal.second.z()}; + double angleError = angleBetweenVectorsInDegrees(pointNormal, normalVectorPlane); + if (angleError > parameters_.global_plane_fit_angle_error_threshold_degrees) { + return false; + } + } + } + return true; +} + +} // namespace sliding_window_plane_extractor +} // namespace convex_plane_decomposition diff --git a/convex_plane_decomposition/src/sliding_window_plane_extractor.cpp b/convex_plane_decomposition/src/sliding_window_plane_extractor.cpp deleted file mode 100644 index f2082e0e..00000000 --- a/convex_plane_decomposition/src/sliding_window_plane_extractor.cpp +++ /dev/null @@ -1,312 +0,0 @@ -#include "convex_plane_decomposition/sliding_window_plane_extractor.hpp" - -#include -#include - -namespace sliding_window_plane_extractor{ - - SlidingWindowPlaneExtractor::SlidingWindowPlaneExtractor(grid_map::GridMap& map, double resolution, - const std::string& layer_height, const SlidingWindowPlaneExtractorParameters& parameters, - const ransac_plane_extractor::RansacPlaneExtractorParameters& ransac_parameters) - : map_(map), - resolution_(resolution), - elevation_layer_(layer_height), - parameters_(parameters), - ransac_parameters_(parameters.ransac_parameters){ - computeMapTransformation(); - VLOG(1) << "Constructing SWE..."; - VLOG(1) << "Set elevation layer is: " << elevation_layer_; - CHECK(map_.exists(elevation_layer_)); - number_of_extracted_planes_ = -1; - const grid_map::Size map_size = map.getSize(); - binary_image_patch_ = cv::Mat(map_size(0), map_size(1), CV_8U, false); - binary_image_angle_ = cv::Mat(map_size(0), map_size(1), CV_8U, false); - VLOG(1) << "done."; - } - - void SlidingWindowPlaneExtractor::runSlidingWindowDetector(){ - const grid_map::Size map_size = map_.getSize(); - Eigen::Matrix normal_x(map_size(0), map_size(1)); - Eigen::Matrix normal_y(map_size(0), map_size(1)); - Eigen::Matrix normal_z(map_size(0), map_size(1)); - CHECK(map_.getSize().x() >= parameters_.kernel_size); - CHECK(map_.getSize().y() >= parameters_.kernel_size); - grid_map::SlidingWindowIterator window_iterator(map_, elevation_layer_, grid_map::SlidingWindowIterator::EdgeHandling::INSIDE, - parameters_.kernel_size); - for (; !window_iterator.isPastEnd(); ++window_iterator) { - Eigen::MatrixXf window_data = window_iterator.getData(); - int instance_iterator = 0; - std::vector height_instances; - std::vector row_position; - std::vector col_position; - for (int kernel_col = 0; kernel_col < parameters_.kernel_size; ++kernel_col) { - for (int kernel_row = 0; kernel_row < parameters_.kernel_size; ++kernel_row) { - if (!isfinite(window_data(kernel_row, kernel_col))) { - continue; - } - height_instances.push_back(window_data(kernel_row, kernel_col)); - row_position.push_back(kernel_row - static_cast(parameters_.kernel_size / 2)); - col_position.push_back(kernel_col - static_cast(parameters_.kernel_size / 2)); - } - } - constexpr int kMinNumberOfDataPoints = 9; - if (height_instances.size() < kMinNumberOfDataPoints) { - continue; - } - CHECK(height_instances.size() == col_position.size()); - CHECK(height_instances.size() == row_position.size()); - // Center height around mean. - double mean_height = std::accumulate(height_instances.begin(), height_instances.end(), 0.0); - mean_height = mean_height / static_cast(height_instances.size()); - for(double& element : height_instances) { - element -= mean_height; - } - // Collect centered data points into matrix. - Eigen::MatrixXd data_points(height_instances.size(), 3); - data_points.col(0) = Eigen::Map(&row_position.front(), row_position.size()) * resolution_; - data_points.col(1) = Eigen::Map(&col_position.front(), col_position.size()) * resolution_; - data_points.col(2) = Eigen::Map(&height_instances.front(), height_instances.size()); - const Eigen::Matrix3d covarianceMatrix(data_points.transpose() * data_points); - Eigen::Vector3d eigenvalues = Eigen::Vector3d::Ones(); - Eigen::Matrix3d eigenvectors = Eigen::Matrix3d::Identity(); - const Eigen::SelfAdjointEigenSolver solver(covarianceMatrix); - eigenvalues = solver.eigenvalues().real(); - eigenvectors = solver.eigenvectors().real(); - int smallestId(0); - double smallestValue(std::numeric_limits::max()); - for (int j = 0; j < eigenvectors.cols(); j++) { - if (eigenvalues(j) < smallestValue) { - smallestId = j; - smallestValue = eigenvalues(j); - } - } - Eigen::Vector3d eigenvector = eigenvectors.col(smallestId); - const Eigen::Vector3d normalVectorPositiveAxis(0, 0, 1); - if (eigenvector.dot(normalVectorPositiveAxis) < 0.0) { - eigenvector = -eigenvector; - } - Eigen::Vector3d n = eigenvector.normalized(); - grid_map::Index index = *window_iterator; - double mean_error = ((data_points * n).cwiseAbs()).sum() / height_instances.size(); - Eigen::Vector3d upwards(0, 0, 1); - constexpr double kInclinationThreshold = 0.35; - if (mean_error < parameters_.plane_patch_error_threshold && abs(n.transpose() * upwards) > kInclinationThreshold) { - binary_image_patch_.at((*window_iterator).x(), (*window_iterator).y()) = true; - n.head(2) = transformation_xy_to_world_frame_ * n.head(2); - normal_x(index.x(), index.y()) = n.x(); - normal_y(index.x(), index.y()) = n.y(); - normal_z(index.x(), index.y()) = n.z(); - } - } - map_.add("normals_x", normal_x); - map_.add("normals_y", normal_y); - map_.add("normals_z", normal_z); - } - - void SlidingWindowPlaneExtractor::runSurfaceNormalCurvatureDetection(){ - CHECK(map_.exists("normals_x")); - CHECK(map_.exists("normals_y")); - CHECK(map_.exists("normals_z")); - const int surface_normal_map_boundary_offset = parameters_.kernel_size / 2; - CHECK_GT(surface_normal_map_boundary_offset, 0); - const grid_map::Size map_rows_cols = map_.getSize(); - for( int cols = surface_normal_map_boundary_offset; cols < map_rows_cols(1) - surface_normal_map_boundary_offset - 1; ++cols){ - for (int rows = surface_normal_map_boundary_offset; rows < map_rows_cols(0) - surface_normal_map_boundary_offset - 1; ++rows) { - const Eigen::Vector3f normal_vector_center(map_.at("normals_x", grid_map::Index(rows, cols)), - map_.at("normals_y", grid_map::Index(rows, cols)), - map_.at("normals_z", grid_map::Index(rows, cols))); - const Eigen::Vector3f normal_vector_next_row(map_.at("normals_x", grid_map::Index(rows + 1, cols)), - map_.at("normals_y", grid_map::Index(rows + 1, cols)), - map_.at("normals_z", grid_map::Index(rows + 1, cols))); - const Eigen::Vector3f normal_vector_next_col(map_.at("normals_x", grid_map::Index(rows, cols + 1)), - map_.at("normals_y", grid_map::Index(rows, cols + 1)), - map_.at("normals_z", grid_map::Index(rows, cols + 1))); - const double angle_in_col_direction_deg = - std::atan2(normal_vector_center.cross(normal_vector_next_col).norm(), normal_vector_center.dot(normal_vector_next_col)) / M_PI * - 180.0; - const double angle_in_row_direction_deg = - std::atan2(normal_vector_center.cross(normal_vector_next_row).norm(), normal_vector_center.dot(normal_vector_next_row)) / M_PI * - 180.0; - binary_image_angle_.at(rows, cols) = isfinite(angle_in_col_direction_deg) && isfinite(angle_in_row_direction_deg) && - abs(angle_in_col_direction_deg) <= parameters_.surface_normal_angle_threshold_degrees && - abs(angle_in_row_direction_deg) <= parameters_.surface_normal_angle_threshold_degrees; - } - } - } - - // Label cells according to which cell they belong to using connected component labeling. - void SlidingWindowPlaneExtractor::runSegmentation() { - CHECK_EQ(binary_image_patch_.type(), CV_8U); - const grid_map::Size map_size = map_.getSize(); - CHECK_EQ(binary_image_patch_.rows, map_size(0)); - CHECK_EQ(binary_image_patch_.cols, map_size(1)); - if (parameters_.include_curvature_detection){ - CHECK_EQ(binary_image_patch_.type(), binary_image_angle_.type()); - CHECK_EQ(binary_image_patch_.size, binary_image_angle_.size); - number_of_extracted_planes_ = cv::connectedComponents(binary_image_patch_ & binary_image_angle_, labeled_image_, 8, CV_32SC1); - } else { - number_of_extracted_planes_ = cv::connectedComponents(binary_image_patch_, labeled_image_, 8, CV_32SC1); - } - } - - // Refine connected component using RANSAC. Input vector is modified by function! - auto SlidingWindowPlaneExtractor::runRansacRefinement(std::vector& points_with_normal) const { - CHECK(!points_with_normal.empty()); - ransac_plane_extractor::RansacPlaneExtractor ransac_plane_extractor(points_with_normal, ransac_parameters_); - ransac_plane_extractor.runDetection(); - return ransac_plane_extractor.getDetectedPlanes(); - } - - void SlidingWindowPlaneExtractor::setParameters(const SlidingWindowPlaneExtractorParameters& parameters){ - parameters_.kernel_size = parameters.kernel_size; - parameters_.plane_patch_error_threshold = parameters.plane_patch_error_threshold; - } - - void SlidingWindowPlaneExtractor::extractPlaneParametersFromLabeledImage(){ - if (number_of_extracted_planes_ < 1){ - LOG(WARNING) << "No planes detected by Sliding Window Plane Extractor!"; - return; - } - const int number_of_extracted_planes_without_refinement = number_of_extracted_planes_; - for (int label = 1; label <= number_of_extracted_planes_without_refinement; ++label) { - computePlaneParametersForLabel(label); - } - } - - void SlidingWindowPlaneExtractor::computePlaneParametersForLabel(int label){ - CHECK(map_.exists(elevation_layer_)); - CHECK(map_.exists("normals_x")); - CHECK(map_.exists("normals_y")); - CHECK(map_.exists("normals_z")); - Eigen::Vector3d normal_vector = Eigen::Vector3d::Zero(); - Eigen::Vector3d support_vector = Eigen::Vector3d::Zero(); - std::vector points_with_normal; - cv::Mat binary_image(labeled_image_.size(), CV_8UC1); - binary_image = labeled_image_ == label; - int number_of_normal_instances = 0; - int number_of_position_instances = 0; - for (int row = 0; row < binary_image.rows; ++row){ - for (int col = 0; col < binary_image.cols; ++col){ - if (binary_image.at(row, col)) { - Eigen::Vector2i index; - index << row, col; - Eigen::Vector3d normal_vector_temp; - Eigen::Vector3d support_vector_temp; - if(map_.getVector("normals_", index, normal_vector_temp)) { - normal_vector += normal_vector_temp; - ++number_of_normal_instances; - if (map_.getPosition3(elevation_layer_, index, support_vector_temp)) { - support_vector += support_vector_temp; - ++number_of_position_instances; - - ransac_plane_extractor::PointWithNormal - point_with_normal = std::make_pair( - ransac_plane_extractor::Point3D(support_vector_temp.x(), - support_vector_temp.y(), - support_vector_temp.z()), - ransac_plane_extractor::Vector3D(normal_vector_temp.x(), - normal_vector_temp.y(), - normal_vector_temp.z())); - points_with_normal.push_back(point_with_normal); - } - } - } - } - } - if (number_of_normal_instances == 0 || number_of_position_instances == 0){ - LOG(WARNING) << "Label empty, NO plane parameters are created!"; - return; - } - normal_vector = normal_vector / static_cast(number_of_normal_instances); - support_vector = support_vector / static_cast(number_of_position_instances); - bool refinement_performed = false; - if (parameters_.include_ransac_refinement) { - // Compute error to fitted plane. - if (computeAverageErrorToPlane(normal_vector, support_vector, points_with_normal) - > parameters_.global_plane_fit_error_threshold){ - const auto planes = runRansacRefinement(points_with_normal); - CHECK(!planes.empty()) << "No planes detected by RANSAC in as planar classified region."; - int label_counter = 0; - for (const auto& plane : planes){ - const std::vector& plane_point_indices = (*plane.get()).indices_of_assigned_points(); - CHECK(!plane_point_indices.empty()); - support_vector = Eigen::Vector3d::Zero(); - normal_vector = Eigen::Vector3d::Zero(); - for (const auto index : plane_point_indices) { - const auto &point = points_with_normal.at(index).first; - const auto &normal = points_with_normal.at(index).second; - support_vector += Eigen::Vector3d(point.x(), point.y(), point.z()); - normal_vector += Eigen::Vector3d(normal.x(), normal.y(), normal.z()); - Eigen::Array2i map_indices; - map_.getIndex(Eigen::Vector2d(point.x(), point.y()), map_indices); - if (label_counter == 0){ - labeled_image_.at(map_indices(0), map_indices(1)) = label; - } else { - labeled_image_.at(map_indices(0), map_indices(1)) = number_of_extracted_planes_ + label_counter; - } - } - support_vector /= static_cast(plane_point_indices.size()); - normal_vector /= static_cast(plane_point_indices.size()); - const convex_plane_decomposition::PlaneParameters temp_plane_parameters(normal_vector, support_vector); - if (label_counter == 0) { - label_plane_parameters_map_.emplace(label, temp_plane_parameters); - } else { - label_plane_parameters_map_.emplace(number_of_extracted_planes_ + label_counter, temp_plane_parameters); - } - ++label_counter; - } - CHECK_EQ(label_counter, planes.size()); - number_of_extracted_planes_ += label_counter; - refinement_performed = true; - } - } - if (!refinement_performed){ - const convex_plane_decomposition::PlaneParameters temp_plane_parameters(normal_vector, support_vector); - label_plane_parameters_map_.emplace(label, temp_plane_parameters); - } - VLOG(1) << "Added plane!"; - } - - double SlidingWindowPlaneExtractor::computeAverageErrorToPlane(const Eigen::Vector3d& normal_vector, const Eigen::Vector3d& support_vector, - const std::vector& points_with_normal) const { - CHECK(!points_with_normal.empty()); - double average_error = 0.0; - for (const auto& point_with_normal : points_with_normal){ - Eigen::Vector3d p_S_P(point_with_normal.first.x() - support_vector.x(), point_with_normal.first.y() - support_vector.y(), - point_with_normal.first.z() - support_vector.z()); - average_error += abs(normal_vector.dot(p_S_P)); - } - average_error /= static_cast(points_with_normal.size()); - return average_error; - } - - void SlidingWindowPlaneExtractor::runExtraction(){ - VLOG(1) << "Started sliding window plane detector ..."; - runSlidingWindowDetector(); - VLOG(1) << "done."; - if (parameters_.include_curvature_detection){ - VLOG(1) << "Starting surface normal curvature detection ..."; - runSurfaceNormalCurvatureDetection(); - VLOG(1) << "done."; - } - VLOG(1) << "Starting segmentation ..."; - runSegmentation(); - VLOG(1) << "done."; - VLOG(1) << "Extracting plane parameters from labeled image ..."; - extractPlaneParametersFromLabeledImage(); - VLOG(1) << "done."; - } - - void SlidingWindowPlaneExtractor::computeMapTransformation() { - Eigen::Vector2i map_size = map_.getSize(); - CHECK(map_.getPosition(Eigen::Vector2i::Zero(), map_offset_)); - Eigen::Vector2d lower_left_cell_position; - CHECK(map_.getPosition(Eigen::Vector2i(map_size.x() - 1, 0), lower_left_cell_position)); - Eigen::Vector2d upper_right_cell_position; - CHECK(map_.getPosition(Eigen::Vector2i(0, map_size.y() - 1), upper_right_cell_position)); - transformation_xy_to_world_frame_.col(0) = (lower_left_cell_position - map_offset_).normalized(); - transformation_xy_to_world_frame_.col(1) = (upper_right_cell_position - map_offset_).normalized(); - } - - } // namespace sliding_window_plane_extractor diff --git a/convex_plane_decomposition_msgs/CMakeLists.txt b/convex_plane_decomposition_msgs/CMakeLists.txt new file mode 100644 index 00000000..ab3b36ae --- /dev/null +++ b/convex_plane_decomposition_msgs/CMakeLists.txt @@ -0,0 +1,34 @@ +cmake_minimum_required(VERSION 3.1...3.15) +project(convex_plane_decomposition_msgs) + +set(CATKIN_PACKAGE_DEPENDENCIES + std_msgs + geometry_msgs +) + +find_package(catkin REQUIRED + COMPONENTS + ${CATKIN_PACKAGE_DEPENDENCIES} + message_generation +) + +add_message_files( + FILES + BoundingBox2d.msg + PlanarRegion.msg + PlanarTerrain.msg + Point2d.msg + Polygon2d.msg + PolygonWithHoles2d.msg +) + +generate_messages( + DEPENDENCIES + ${CATKIN_PACKAGE_DEPENDENCIES} +) + +catkin_package( + CATKIN_DEPENDS + ${CATKIN_PACKAGE_DEPENDENCIES} + message_runtime +) diff --git a/convex_plane_decomposition_msgs/msg/BoundingBox2d.msg b/convex_plane_decomposition_msgs/msg/BoundingBox2d.msg new file mode 100644 index 00000000..2327348a --- /dev/null +++ b/convex_plane_decomposition_msgs/msg/BoundingBox2d.msg @@ -0,0 +1,5 @@ +# 3D, axis-aligned, bounding box +float32 min_x +float32 min_y +float32 max_x +float32 max_y \ No newline at end of file diff --git a/convex_plane_decomposition_msgs/msg/PlanarRegion.msg b/convex_plane_decomposition_msgs/msg/PlanarRegion.msg new file mode 100644 index 00000000..d93d2478 --- /dev/null +++ b/convex_plane_decomposition_msgs/msg/PlanarRegion.msg @@ -0,0 +1,7 @@ +geometry_msgs/Pose plane_parameters + +BoundingBox2d bbox2d + +PolygonWithHoles2d boundary + +PolygonWithHoles2d[] insets diff --git a/convex_plane_decomposition_msgs/msg/PlanarTerrain.msg b/convex_plane_decomposition_msgs/msg/PlanarTerrain.msg new file mode 100644 index 00000000..c48da4ba --- /dev/null +++ b/convex_plane_decomposition_msgs/msg/PlanarTerrain.msg @@ -0,0 +1 @@ +PlanarRegion[] planarRegions \ No newline at end of file diff --git a/convex_plane_decomposition_msgs/msg/Point2d.msg b/convex_plane_decomposition_msgs/msg/Point2d.msg new file mode 100644 index 00000000..220abf75 --- /dev/null +++ b/convex_plane_decomposition_msgs/msg/Point2d.msg @@ -0,0 +1,2 @@ +float32 x +float32 y \ No newline at end of file diff --git a/convex_plane_decomposition_msgs/msg/Polygon2d.msg b/convex_plane_decomposition_msgs/msg/Polygon2d.msg new file mode 100644 index 00000000..e52128c5 --- /dev/null +++ b/convex_plane_decomposition_msgs/msg/Polygon2d.msg @@ -0,0 +1,2 @@ +# Specification of a 2D polygon where the first and last points are connected +Point2d[] points \ No newline at end of file diff --git a/convex_plane_decomposition_msgs/msg/PolygonWithHoles2d.msg b/convex_plane_decomposition_msgs/msg/PolygonWithHoles2d.msg new file mode 100644 index 00000000..8513f45c --- /dev/null +++ b/convex_plane_decomposition_msgs/msg/PolygonWithHoles2d.msg @@ -0,0 +1,3 @@ +# Specification of a 2D polygon with holes +Polygon2d outer_boundary +Polygon2d[] holes \ No newline at end of file diff --git a/convex_plane_decomposition_msgs/package.xml b/convex_plane_decomposition_msgs/package.xml new file mode 100644 index 00000000..295c4157 --- /dev/null +++ b/convex_plane_decomposition_msgs/package.xml @@ -0,0 +1,21 @@ + + + + + convex_plane_decomposition_msgs + 0.0.0 + Convex plane decomposition message definitions. + + TODO + Ruben Grandia + + catkin + + message_generation + + std_msgs + geometry_msgs + + message_runtime + + diff --git a/convex_plane_decomposition_ros/CMakeLists.txt b/convex_plane_decomposition_ros/CMakeLists.txt index a3ba343c..69bf7f72 100644 --- a/convex_plane_decomposition_ros/CMakeLists.txt +++ b/convex_plane_decomposition_ros/CMakeLists.txt @@ -18,11 +18,18 @@ find_package(catkin REQUIRED COMPONENTS cv_bridge jsk_recognition_msgs convex_plane_decomposition + convex_plane_decomposition_msgs ) # OpenCv find_package(OpenCV REQUIRED) +# Qt +find_package(Qt5 COMPONENTS Xml Script OpenGL Svg) + +# CGAL +find_package(CGAL COMPONENTS Core Qt5) + # glog find_package(PkgConfig REQUIRED) pkg_check_modules(glog libglog REQUIRED) @@ -34,7 +41,12 @@ set(CMAKE_CXX_STANDARD_REQUIRED ON) ################################### ## catkin specific configuration ## ################################### -catkin_package() +catkin_package( + INCLUDE_DIRS include + LIBRARIES ${PROJECT_NAME} + CATKIN_DEPENDS ${CATKIN_PACKAGE_DEPENDENCIES} + DEPENDS +) ########### ## Build ## @@ -45,26 +57,87 @@ include_directories( ${catkin_INCLUDE_DIRS} ) -add_executable(${PROJECT_NAME} - src/convex_plane_decomposition_node.cpp - src/convex_plane_decomposition_ros.cpp - src/grid_map_preprocessing.cpp - src/pipeline_ros.cpp - src/ros_visualizations.cpp -) +add_library(${PROJECT_NAME} + src/ConvexPlaneDecompositionRos.cpp + src/MessageConversion.cpp + src/ParameterLoading.cpp + src/RosVisualizations.cpp + ) +add_dependencies(${PROJECT_NAME} + ${catkin_EXPORTED_TARGETS} + ) target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} ${OpenCV_LIBRARIES} glog + ) +target_compile_options(${PROJECT_NAME} + PUBLIC -DCGAL_HAS_THREADS + ) + +add_executable(${PROJECT_NAME}_node + src/ConvexPlaneDecompositionNode.cpp +) +target_link_libraries(${PROJECT_NAME}_node + ${catkin_LIBRARIES} + ${OpenCV_LIBRARIES} + glog + ${PROJECT_NAME} ) +add_executable(${PROJECT_NAME}_test + test/test.cpp + ) +target_link_libraries(${PROJECT_NAME}_test + ${catkin_LIBRARIES} + ${OpenCV_LIBRARIES} + glog + Qt5::Xml Qt5::Script Qt5::OpenGL Qt5::Svg + CGAL::CGAL CGAL::CGAL_Core CGAL::CGAL_Qt5 + ) +target_compile_options(${PROJECT_NAME}_test + PUBLIC -DCGAL_HAS_THREADS -DCGAL_USE_BASIC_VIEWER + ) + +add_executable(${PROJECT_NAME}_shapegrowing + test/shapeGrowing.cpp + ) +target_link_libraries(${PROJECT_NAME}_shapegrowing + ${catkin_LIBRARIES} + ${OpenCV_LIBRARIES} + glog + Qt5::Xml Qt5::Script Qt5::OpenGL Qt5::Svg + CGAL::CGAL CGAL::CGAL_Core CGAL::CGAL_Qt5 + ) +target_compile_options(${PROJECT_NAME}_shapegrowing + PUBLIC -DCGAL_HAS_THREADS -DCGAL_USE_BASIC_VIEWER + ) + +add_executable(${PROJECT_NAME}_save_elevationmap + src/SaveElevationMapAsImageNode.cpp + ) +target_link_libraries(${PROJECT_NAME}_save_elevationmap + ${catkin_LIBRARIES} + ${OpenCV_LIBRARIES} + ) + ############# ## Install ## ############# install(TARGETS ${PROJECT_NAME} + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} + ) +install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} + ) + +install(TARGETS ${PROJECT_NAME}_node RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} ) + install(DIRECTORY config data launch rviz DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} ) diff --git a/convex_plane_decomposition_ros/config/convex_plane_decomposition_demo_parameters.yaml b/convex_plane_decomposition_ros/config/convex_plane_decomposition_demo_parameters.yaml index ee434007..d3ee9e81 100644 --- a/convex_plane_decomposition_ros/config/convex_plane_decomposition_demo_parameters.yaml +++ b/convex_plane_decomposition_ros/config/convex_plane_decomposition_demo_parameters.yaml @@ -1,36 +1,31 @@ -input_topic: '/image_to_gridmap_demo/grid_map' +elevation_topic: '/image_to_gridmap_demo/grid_map' height_layer: 'elevation' +submap: + width: 6.0 + length: 6.0 - -plane_factory: - plane_inclination_threshold_degrees: 70 - -polygonizer: - upsampling_factor: 3 - activate_long_edge_upsampling: false - activate_contour_approximation: true - contour_approximation_relative_local_area_threshold: 0.1 - contour_approximation_absolute_local_area_threshold_squared_meters: 0.05 - contour_approximation_relative_total_area_threshold: 0.2 - contour_approximation_absolute_total_area_threshold_squared_meters: 0.3 - max_number_of_iterations: 5 - -convex_decomposer: - decomposer_type: 'inner_convex_decomposition' # 'optimal_decompostion' - dent_angle_threshold_rad: 0.05 +preprocessing: + kernelSize: 3 # Kernel size of the median filter + numberOfRepeats: 3 # Number of times to apply the same filter + increasing: True # Increase the kernel size each iteration. + inpaintRadius: 0.05 # [m] sliding_window_plane_extractor: - kernel_size: 3 - plane_patch_error_threshold: 0.004 - surface_normal_angle_threshold_degrees: 10.0 - include_curvature_detection: true - include_ransac_refinement: false - global_plane_fit_error_threshold: 0.02 + kernel_size: 3 # Size of the sliding window patch used for normal vector calculation and planarity detection. Should be an odd number and at least 3. + plane_inclination_threshold_degrees: 45.0 # [deg] Maximum allowed angle between the surface normal and the world-z direction for a patch + plane_patch_error_threshold: 0.005 # [m] The allowed root-mean-squared deviation from the plane fitted to the sliding window. + min_number_points_per_label: 10 # [#] Labels with less points assigned to them are discarded + connectivity: 4 # Label kernel connectivity. 4 or 8 (cross or box) + include_ransac_refinement: true # Enable RANSAC refinement if the plane is not globally fitting to the assigned points. + global_plane_fit_distance_error_threshold: 0.04 # [m] Allowed maximum distance from a point to the plane. If any point violates this, RANSAC is triggered + global_plane_fit_angle_error_threshold_degrees: 5.0 # [deg] Allowed normal vector deviation for a point w.r.t. the plane normal. If any point violates this, RANSAC is triggered ransac_plane_refinement: - probability: 0.01 - min_points: 200 - epsilon: 0.004 - cluster_epsilon: 0.0282842712475 - # Set maximum normal deviation. 0.98 < dot(surface_normal, point_normal); - normal_threshold: 0.98 \ No newline at end of file + probability: 0.01 # Probability to miss the largest candidate shape. A lower probability provides a higher reliability and determinism at the cost of longer running times + min_points: 25 # This minimum number of points per plane. Controls the termination of the algorithm. + epsilon: 0.02 # Maximum distance to plane + cluster_epsilon: 0.05 # Set maximum Euclidean distance between points to be clustered. Two points are connected if separated by a distance of at most 2*sqrt(2)*cluster_epsilon = 2.828 * cluster_epsilon + normal_threshold: 0.98 # Set maximum normal deviation. normal_threshold < dot(surface_normal, point_normal); + +contour_extraction: + offsetSize: 2 # Size of the kernel creating the boundary offset. In number of pixels. diff --git a/convex_plane_decomposition_ros/config/parameters.yaml b/convex_plane_decomposition_ros/config/parameters.yaml index 28a293db..d6fe9e03 100644 --- a/convex_plane_decomposition_ros/config/parameters.yaml +++ b/convex_plane_decomposition_ros/config/parameters.yaml @@ -1,37 +1,32 @@ -input_topic : '/elevation_mapping/elevation_map_raw' +elevation_topic : '/elevation_mapping/elevation_map_raw' height_layer : 'elevation' +submap: + width: 3.0 + length: 3.0 - -plane_factory: - plane_inclination_threshold_degrees : 70 - -polygonizer: - upsampling_factor : 3 - activate_long_edge_upsampling : false - activate_contour_approximation : true - contour_approximation_relative_local_area_threshold : 0.1 - contour_approximation_absolute_local_area_threshold_squared_meters : 0.05 - contour_approximation_relative_total_area_threshold : 0.5 - contour_approximation_absolute_total_area_threshold : 1.0 - max_number_of_iterations : 5 - -convex_decomposer: - decomposer_type : 'inner_convex_decomposition' # 'optimal_decompostion' - dent_angle_threshold_rad : 0.05 +preprocessing: + kernelSize: 3 # Kernel size of the median filter + numberOfRepeats: 3 # Number of times to apply the same filter + increasing: True # Increase the kernel size each iteration. + inpaintRadius: 0.05 # [m] sliding_window_plane_extractor: - kernel_size : 3 - plane_patch_error_threshold : 0.004 - surface_normal_angle_threshold_degrees : 10.0 - include_curvature_detection : true - include_ransac_refinement : false - global_plane_fit_error_threshold : 0.02 + kernel_size: 3 # Size of the sliding window patch used for normal vector calculation and planarity detection. Should be an odd number and at least 3. + plane_inclination_threshold_degrees: 45.0 # [deg] Maximum allowed angle between the surface normal and the world-z direction for a patch + plane_patch_error_threshold: 0.005 # [m] The allowed root-mean-squared deviation from the plane fitted to the sliding window. + min_number_points_per_label: 10 # [#] Labels with less points assigned to them are discarded + connectivity: 4 # Label kernel connectivity. 4 or 8 (cross or box) + include_ransac_refinement: true # Enable RANSAC refinement if the plane is not globally fitting to the assigned points. + global_plane_fit_distance_error_threshold: 0.04 # [m] Allowed maximum distance from a point to the plane. If any point violates this, RANSAC is triggered + global_plane_fit_angle_error_threshold_degrees: 5.0 # [deg] Allowed normal vector deviation for a point w.r.t. the plane normal. If any point violates this, RANSAC is triggered ransac_plane_refinement: - probability : 0.01 - min_points : 200 - epsilon : 0.004 - cluster_epsilon : 0.0282842712475 - # Set maximum normal deviation. 0.98 < dot(surface_normal, point_normal); - normal_threshold : 0.98 + probability: 0.01 # Probability to miss the largest candidate shape. A lower probability provides a higher reliability and determinism at the cost of longer running times + min_points: 25 # This minimum number of points per plane. Controls the termination of the algorithm. + epsilon: 0.02 # Maximum distance to plane + cluster_epsilon: 0.05 # Set maximum Euclidean distance between points to be clustered. Two points are connected if separated by a distance of at most 2*sqrt(2)*cluster_epsilon = 2.828 * cluster_epsilon + normal_threshold: 0.98 # Set maximum normal deviation. normal_threshold < dot(surface_normal, point_normal); + +contour_extraction: + offsetSize: 2 # Size of the kernel creating the boundary offset. 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zH`Pu9B;Bt@t#~w*iIrgcg#}elO&=$wy^6__2+3Y@@!Hpr=qjjuvn;eJK$DOqq@qdF z{4!-iTfOU(@b~8PWIp2Fvnv^mFPiL%Qupg>qg>Ga0W0dkmiJ~=^}7x1yX4nZ*ahR- zYnB)Tlf%Zz2i-ELu~oB8(v$_OG%99ksQH|u$C^G#uq!q~m4pG})1Wpb0ln}(p?B51 zPY+|{Y)PsB9Fnz60@yE92y*l#2vp^e$g+8tHa)SW-=~fmz3PVM1Yqn%jw-%K3JvW) zx-E8)f2psUIpMpv^KOTKya~S7o!^Oqx)zg~e-A(iT?8Xu^`MAe(@1q09W^_x^iwRx>Qagy}8Ml$+zL!^L~~xRn7vYm8ENXe(|u zB!a)jMBQB_^Pi^8dmLZ!W7b3&zE(e2r-BxwXNsdLVWPVdgNs^(#tVNM+_~Fdtah`q z2g7{OkAA!fN5#f`Lr>n2US6tb>Fx49a z2X0Xjh`aEvhF3Do*7b+lj;8!6s`MA!CL2b?bT0ZnI|Z7$b^dX8jF@$O9a4%R-oH)S z|2hvNW5-h6j4R%(o%UA{m>G4=;0G2QRDQWFh%hgSmo>gTI9!X_>%bIab%tyBgC|R$ zWh}E>SdRO`8YjHJ)S?I}V8fYLjQR~#isp;1|E#oVzlNT$K1{1#T6b4!Zh@}Z0+E*4)V4JPO7P-t8c%|-` zLt}3Ph*Ip~jco0O4;x%Pi0ffOHt6m9B)<7b|83n0GtwHQ9G*RsvjTthBk6|C{+e{G z`pJ~(w9m~pnm0t{#HnX!wo8o#_Q1hdwYjwDu)9oB#ha`SYgclP;h>gU;Xdyvh;*ta g`e0c+1#i3!b+ +#include +#include + +#include + +#include + +namespace convex_plane_decomposition { + +// Forward declaration +class GridMapPreprocessing; +namespace sliding_window_plane_extractor { +class SlidingWindowPlaneExtractor; +} +namespace contour_extraction { +class ContourExtraction; +} + +class ConvexPlaneExtractionROS { + public: + ConvexPlaneExtractionROS(ros::NodeHandle& nodeHandle); + + ~ConvexPlaneExtractionROS(); + + bool loadParameters(const ros::NodeHandle& nodeHandle); + + private: + /** + * Callback method for the incoming grid map message. + * @param message the incoming message. + */ + void callback(const grid_map_msgs::GridMap& message); + + // Parameters + std::string elevationMapTopic_; + std::string elevationLayer_; + double subMapWidth_; + double subMapLength_; + + // ROS communication + ros::Subscriber elevationMapSubscriber_; + ros::Publisher filteredmapPublisher_; + ros::Publisher boundaryPublisher_; + ros::Publisher insetPublisher_; + ros::Publisher regionPublisher_; + + // Pipeline + std::mutex mutex_; + std::unique_ptr preprocessing_; + std::unique_ptr slidingWindowPlaneExtractor_; + std::unique_ptr contourExtraction_; +}; + +} // namespace convex_plane_decomposition diff --git a/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/MessageConversion.h b/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/MessageConversion.h new file mode 100644 index 00000000..7fe2271f --- /dev/null +++ b/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/MessageConversion.h @@ -0,0 +1,42 @@ +// +// Created by rgrandia on 14.06.20. +// + +#pragma once + +#include + +#include +#include +#include +#include +#include +#include + +#include +#include + +namespace convex_plane_decomposition { + +CgalBbox2d fromMessage(const convex_plane_decomposition_msgs::BoundingBox2d& msg); +convex_plane_decomposition_msgs::BoundingBox2d toMessage(const CgalBbox2d& bbox2d); + +PlanarRegion fromMessage(const convex_plane_decomposition_msgs::PlanarRegion& msg); +convex_plane_decomposition_msgs::PlanarRegion toMessage(const PlanarRegion& planarRegion); + +PlanarTerrain fromMessage(const convex_plane_decomposition_msgs::PlanarTerrain& msg); +convex_plane_decomposition_msgs::PlanarTerrain toMessage(const PlanarTerrain& planarTerrain); + +TerrainPlane fromMessage(const geometry_msgs::Pose& msg); +geometry_msgs::Pose toMessage(const TerrainPlane& plane); + +CgalPoint2d fromMessage(const convex_plane_decomposition_msgs::Point2d& msg); +convex_plane_decomposition_msgs::Point2d toMessage(const CgalPoint2d& point2d); + +CgalPolygon2d fromMessage(const convex_plane_decomposition_msgs::Polygon2d& msg); +convex_plane_decomposition_msgs::Polygon2d toMessage(const CgalPolygon2d& polygon2d); + +CgalPolygonWithHoles2d fromMessage(const convex_plane_decomposition_msgs::PolygonWithHoles2d& msg); +convex_plane_decomposition_msgs::PolygonWithHoles2d toMessage(const CgalPolygonWithHoles2d& polygonWithHoles2d); + +} // namespace convex_plane_decomposition diff --git a/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/ParameterLoading.h b/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/ParameterLoading.h new file mode 100644 index 00000000..fffd28d7 --- /dev/null +++ b/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/ParameterLoading.h @@ -0,0 +1,27 @@ +// +// Created by rgrandia on 10.06.20. +// + +#pragma once + +#include + +#include +#include +#include +#include + +namespace convex_plane_decomposition { + +PreprocessingParameters loadPreprocessingParameters(const ros::NodeHandle& nodeHandle, const std::string& prefix); + +contour_extraction::ContourExtractionParameters loadContourExtractionParameters(const ros::NodeHandle& nodeHandle, + const std::string& prefix); + +ransac_plane_extractor::RansacPlaneExtractorParameters loadRansacPlaneExtractorParameters(const ros::NodeHandle& nodeHandle, + const std::string& prefix); + +sliding_window_plane_extractor::SlidingWindowPlaneExtractorParameters loadSlidingWindowPlaneExtractorParameters( + const ros::NodeHandle& nodeHandle, const std::string& prefix); + +} // namespace convex_plane_decomposition diff --git a/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/RosVisualizations.h b/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/RosVisualizations.h new file mode 100644 index 00000000..d642c8cb --- /dev/null +++ b/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/RosVisualizations.h @@ -0,0 +1,13 @@ +#pragma once + +#include + +#include + +namespace convex_plane_decomposition { + +jsk_recognition_msgs::PolygonArray convertBoundariesToRosPolygons(const std::vector& planarRegions, const std::string& frameId); + +jsk_recognition_msgs::PolygonArray convertInsetsToRosPolygons(const std::vector& planarRegions, const std::string& frameId); + +} // namespace convex_plane_decomposition diff --git a/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/convex_plane_decomposition_ros.hpp b/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/convex_plane_decomposition_ros.hpp deleted file mode 100644 index bcc06ad2..00000000 --- a/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/convex_plane_decomposition_ros.hpp +++ /dev/null @@ -1,73 +0,0 @@ -#ifndef CONVEX_PLANE_EXTRACTION_ROS_INCLUDE_CONVEX_PLANE_EXTRACTION_ROS_HPP_ -#define CONVEX_PLANE_EXTRACTION_ROS_INCLUDE_CONVEX_PLANE_EXTRACTION_ROS_HPP_ - -#include - -#include -#include -#include - -#include - -#include "grid_map_preprocessing.hpp" -#include "pipeline_ros.hpp" - - -namespace convex_plane_decomposition { - -/*! - * Applies a chain of grid map filters to a topic and - * republishes the resulting grid map. - */ -class ConvexPlaneExtractionROS -{ - public: - - /*! - * Constructor. - * @param nodeHandle the ROS node handle. - * @param success signalizes if filter is configured ok or not. - */ - ConvexPlaneExtractionROS(ros::NodeHandle& nodeHandle, bool& success); - - /*! - * Destructor. - */ - virtual ~ConvexPlaneExtractionROS(); - - /*! - * Reads and verifies the ROS parameters. - * @return true if successful. - */ - bool readParameters(); - - /*! - * Callback method for the incoming grid map message. - * @param message the incoming message. - */ - void callback(const grid_map_msgs::GridMap& message); - - private: - - //! ROS nodehandle. - ros::NodeHandle& nodeHandle_; - - //! Name of the input grid map topic. - std::string inputTopic_; - - //! Name of the output grid map topic. - std::string outputTopic_; - - //! Grid map subscriber - ros::Subscriber subscriber_; - - ros::Publisher grid_map_publisher_; - - ros::Publisher convex_polygon_publisher_; - - ros::Publisher outer_contours_publisher_; - -}; - -} /* namespace */ -#endif \ No newline at end of file diff --git a/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/grid_map_preprocessing.hpp b/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/grid_map_preprocessing.hpp deleted file mode 100644 index d11cd155..00000000 --- a/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/grid_map_preprocessing.hpp +++ /dev/null @@ -1,14 +0,0 @@ -#ifndef CONVEX_PLANE_EXTRACTION_ROS_INCLUDE_GRID_MAP_PREPROCESSING_HPP_ -#define CONVEX_PLANE_EXTRACTION_ROS_INCLUDE_GRID_MAP_PREPROCESSING_HPP_ - -#include -#include - -#include - -namespace convex_plane_decomposition{ - using namespace grid_map; - - void applyMedianFilter(Eigen::MatrixXf& elevation_map, int kernel_size); -} -#endif //CONVEX_PLANE_EXTRACTION_INCLUDE_GRID_MAP_PREPROCESSING_HPP_ diff --git a/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/pipeline_ros.hpp b/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/pipeline_ros.hpp deleted file mode 100644 index b3bd98fc..00000000 --- a/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/pipeline_ros.hpp +++ /dev/null @@ -1,36 +0,0 @@ -#ifndef CONVEX_PLANE_EXTRACTION_ROS_INCLUDE_PIPELINE_ROS_HPP_ -#define CONVEX_PLANE_EXTRACTION_ROS_INCLUDE_PIPELINE_ROS_HPP_ - -#include -#include -#include -#include -#include - -#include "convex_plane_decomposition/pipeline.hpp" -#include "ros_visualizations.hpp" - -namespace convex_plane_decomposition { - -GridMapParameters loadGridMapParameters(ros::NodeHandle& nodeHandle, grid_map::GridMap& map); - -PipelineParameters loadPipelineParameters(ros::NodeHandle& nodeHandle, grid_map::GridMap& map); - -class PipelineROS { - public: - PipelineROS(ros::NodeHandle& nodeHandle, grid_map::GridMap& map) - : pipeline_(loadPipelineParameters(nodeHandle, map), loadGridMapParameters(nodeHandle, map)){} - - jsk_recognition_msgs::PolygonArray getConvexPolygons() const; - - jsk_recognition_msgs::PolygonArray getOuterPlaneContours() const; - - void augmentGridMapWithSegmentation(grid_map::GridMap& map); - - private: - - Pipeline pipeline_; -}; - -} // namespace convex_plane_decomposition -#endif //CONVEX_PLANE_EXTRACTION_ROS__PIPELINE_ROS_HPP_ diff --git a/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/ros_visualizations.hpp b/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/ros_visualizations.hpp deleted file mode 100644 index 42c14d45..00000000 --- a/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/ros_visualizations.hpp +++ /dev/null @@ -1,21 +0,0 @@ -#ifndef CONVEX_PLANE_EXTRACTION_ROS_INCLUDE_ROS_VISUALIZATIONS_HPP_ -#define CONVEX_PLANE_EXTRACTION_ROS_INCLUDE_ROS_VISUALIZATIONS_HPP_ - -#include - -#include -#include - -#include -#include -#include - -#include "convex_plane_decomposition/plane.hpp" - -namespace convex_plane_decomposition{ - - jsk_recognition_msgs::PolygonArray convertToRosPolygons(const Polygon3dVectorContainer &input_polygons); - -} - -#endif //CONVEX_PLANE_EXTRACTION_INCLUDE_ROS_VISUALIZATIONS_HPP_ diff --git a/convex_plane_decomposition_ros/launch/convex_plane_decomposition.launch b/convex_plane_decomposition_ros/launch/convex_plane_decomposition.launch index 5c72ea36..6666f0c9 100644 --- a/convex_plane_decomposition_ros/launch/convex_plane_decomposition.launch +++ b/convex_plane_decomposition_ros/launch/convex_plane_decomposition.launch @@ -1,8 +1,9 @@ - + - + diff --git a/convex_plane_decomposition_ros/launch/convex_plane_decomposition_save_elevationmap.launch b/convex_plane_decomposition_ros/launch/convex_plane_decomposition_save_elevationmap.launch new file mode 100644 index 00000000..f884c382 --- /dev/null +++ b/convex_plane_decomposition_ros/launch/convex_plane_decomposition_save_elevationmap.launch @@ -0,0 +1,11 @@ + + + + + + + + + + diff --git a/convex_plane_decomposition_ros/launch/convex_plane_decomposition_demo.launch b/convex_plane_decomposition_ros/launch/demo.launch similarity index 51% rename from convex_plane_decomposition_ros/launch/convex_plane_decomposition_demo.launch rename to convex_plane_decomposition_ros/launch/demo.launch index c8ec1644..43c47e4d 100644 --- a/convex_plane_decomposition_ros/launch/convex_plane_decomposition_demo.launch +++ b/convex_plane_decomposition_ros/launch/demo.launch @@ -1,17 +1,29 @@ + + + + - - + + - + + + + + + - + - + + + diff --git a/convex_plane_decomposition_ros/launch/rviz.launch b/convex_plane_decomposition_ros/launch/rviz.launch new file mode 100644 index 00000000..b3062364 --- /dev/null +++ b/convex_plane_decomposition_ros/launch/rviz.launch @@ -0,0 +1,5 @@ + + + + + diff --git a/convex_plane_decomposition_ros/package.xml b/convex_plane_decomposition_ros/package.xml index a1669e4d..2b59347f 100644 --- a/convex_plane_decomposition_ros/package.xml +++ b/convex_plane_decomposition_ros/package.xml @@ -24,5 +24,6 @@ cv_bridge jsk_recognition_msgs convex_plane_decomposition + convex_plane_decomposition_msgs diff --git a/convex_plane_decomposition_ros/rviz/config_demo.rviz b/convex_plane_decomposition_ros/rviz/config_demo.rviz index 42dc80c8..1eaec5a6 100644 --- a/convex_plane_decomposition_ros/rviz/config_demo.rviz +++ b/convex_plane_decomposition_ros/rviz/config_demo.rviz @@ -5,11 +5,8 @@ Panels: Property Tree Widget: Expanded: - /Global Options1 - - /PolygonArray1 - - /PolygonArray2 - - /GridMap1 - Splitter Ratio: 0.6114649772644043 - Tree Height: 1173 + Splitter Ratio: 0.4083484709262848 + Tree Height: 806 - Class: rviz/Selection Name: Selection - Class: rviz/Tool Properties @@ -36,20 +33,39 @@ Toolbars: Visualization Manager: Class: "" Displays: - - Class: rviz/Axes + - Alpha: 1 + Class: jsk_rviz_plugin/PolygonArray + Color: 25; 255; 0 Enabled: false - Length: 0.20000000298023224 - Name: Axes - Radius: 0.009999999776482582 - Reference Frame: + Name: Boundaries + Topic: /convex_plane_decomposition_ros/boundaries + Unreliable: false Value: false + coloring: Auto + enable lighting: true + normal length: 0.10000000149011612 + only border: true + show normal: false - Alpha: 1 + Class: jsk_rviz_plugin/PolygonArray + Color: 25; 255; 0 + Enabled: false + Name: Insets + Topic: /convex_plane_decomposition_ros/insets + Unreliable: false + Value: false + coloring: Auto + enable lighting: true + normal length: 0.10000000149011612 + only border: true + show normal: false + - Alpha: 0.10000000149011612 Autocompute Intensity Bounds: true Class: grid_map_rviz_plugin/GridMap Color: 200; 200; 200 Color Layer: elevation Color Transformer: GridMapLayer - Enabled: false + Enabled: true Height Layer: elevation Height Transformer: GridMapLayer History Length: 1 @@ -58,59 +74,17 @@ Visualization Manager: Max Intensity: 10 Min Color: 0; 0; 0 Min Intensity: 0 - Name: Elevation + Name: GridMap Show Grid Lines: true - Topic: /grid_map_filter_demo/filtered_map + Topic: /image_to_gridmap_demo/grid_map Unreliable: false Use Rainbow: true - Value: false - - Alpha: 1 - Autocompute Intensity Bounds: true - Class: grid_map_rviz_plugin/GridMap - Color: 200; 200; 200 - Color Layer: normal_color - Color Transformer: ColorLayer - Enabled: false - Height Layer: elevation - Height Transformer: GridMapLayer - History Length: 1 - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 10 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: Normal mapping - Show Grid Lines: false - Topic: /grid_map_filter_demo/filtered_map - Unreliable: false - Use Rainbow: false - Value: false - - Alpha: 1 + Value: true + - Alpha: 0.10000000149011612 Autocompute Intensity Bounds: true Class: grid_map_rviz_plugin/GridMap Color: 200; 200; 200 - Color Layer: edges - Color Transformer: IntensityLayer - Enabled: false - Height Layer: elevation - Height Transformer: GridMapLayer - History Length: 1 - Invert Rainbow: false - Max Color: 255; 0; 0 - Max Intensity: 10 - Min Color: 255; 255; 255 - Min Intensity: 0 - Name: Edges - Show Grid Lines: false - Topic: /grid_map_filter_demo/filtered_map - Unreliable: false - Use Rainbow: false - Value: false - - Alpha: 1 - Autocompute Intensity Bounds: false - Class: grid_map_rviz_plugin/GridMap - Color: 200; 200; 200 - Color Layer: roughness + Color Layer: segmentation Color Transformer: IntensityLayer Enabled: false Height Layer: elevation @@ -118,106 +92,44 @@ Visualization Manager: History Length: 1 Invert Rainbow: false Max Color: 255; 255; 255 - Max Intensity: 0.07999999821186066 - Min Color: 0; 0; 0 - Min Intensity: -0.019999999552965164 - Name: Roughness - Show Grid Lines: false - Topic: /grid_map_filter_demo/filtered_map - Unreliable: false - Use Rainbow: true - Value: false - - Alpha: 1 - Autocompute Intensity Bounds: false - Class: grid_map_rviz_plugin/GridMap - Color: 200; 200; 200 - Color Layer: traversability - Color Transformer: GridMapLayer - Enabled: false - Height Layer: elevation - Height Transformer: GridMapLayer - History Length: 1 - Invert Rainbow: true - Max Color: 255; 255; 255 - Max Intensity: 1.2000000476837158 + Max Intensity: 10 Min Color: 0; 0; 0 Min Intensity: 0 - Name: Traversability - Show Grid Lines: false - Topic: /grid_map_filter_demo/filtered_map + Name: FilteredMap + Show Grid Lines: true + Topic: /convex_plane_decomposition_ros/filtered_map Unreliable: false Use Rainbow: true Value: false - - Class: rviz/Marker - Enabled: false - Marker Topic: /grid_map_visualization/surface_normals - Name: Surface Normals + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /segmented_planes_terrain_model_demo_node/convex_terrain + Name: ConvexRegion Namespaces: - {} + "": true Queue Size: 100 - Value: false - - Alpha: 1 - Class: rviz/Map - Color Scheme: map - Draw Behind: false - Enabled: false - Name: Elevation - Topic: /grid_map_visualization/elevation_grid - Unreliable: false - Use Timestamp: false - Value: false - - Alpha: 1 - Class: jsk_rviz_plugin/PolygonArray - Color: 25; 255; 0 - Enabled: true - Name: PolygonArray - Topic: /convex_plane_decomposition_ros/convex_polygons - Unreliable: false Value: true - coloring: Auto - enable lighting: true - normal length: 0.10000000149011612 - only border: false - show normal: true - - Alpha: 1 - Class: jsk_rviz_plugin/PolygonArray - Color: 25; 255; 0 + - Class: rviz/Marker Enabled: true - Name: PolygonArray - Topic: /convex_plane_decomposition_ros/outer_contours - Unreliable: false + Marker Topic: /segmented_planes_terrain_model_demo_node/queryPosition + Name: queryPosition + Namespaces: + "": true + Queue Size: 100 Value: true - coloring: Auto - enable lighting: true - normal length: 0.10000000149011612 - only border: true - show normal: true - - Alpha: 0.10000000149011612 - Autocompute Intensity Bounds: true - Class: grid_map_rviz_plugin/GridMap - Color: 200; 200; 200 - Color Layer: elevation - Color Transformer: GridMapLayer + - Class: rviz/MarkerArray Enabled: true - Height Layer: elevation - Height Transformer: GridMapLayer - History Length: 1 - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 10 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: GridMap - Show Grid Lines: true - Topic: /convex_plane_decomposition_ros/convex_plane_decomposition - Unreliable: false - Use Rainbow: true + Marker Topic: /segmented_planes_terrain_model_demo_node/regionBoundary + Name: SelectedRegion + Namespaces: + "": true + Queue Size: 100 Value: true Enabled: true Global Options: Background Color: 255; 255; 255 Default Light: true - Fixed Frame: odom + Fixed Frame: map Frame Rate: 30 Name: root Tools: @@ -241,33 +153,33 @@ Visualization Manager: Views: Current: Class: rviz/Orbit - Distance: 6.349719524383545 + Distance: 0.8380365371704102 Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 Swap Stereo Eyes: false Value: false Focal Point: - X: -1 - Y: -1 - Z: 2 + X: -0.02726033888757229 + Y: -0.07391251623630524 + Z: 0.2781669795513153 Focal Shape Fixed Size: true Focal Shape Size: 0.05000000074505806 Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Pitch: 0.7997971177101135 + Pitch: 0.6397972702980042 Target Frame: Value: Orbit (rviz) - Yaw: 4.123183727264404 + Yaw: 3.0349738597869873 Saved: ~ Window Geometry: Displays: collapsed: false - Height: 1403 + Height: 1025 Hide Left Dock: false Hide Right Dock: true - QMainWindow State: 000000ff00000000fd00000004000000000000016a000004d7fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005e00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed0000033300000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000040000004d7000000ce00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000040efc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000000280000040e000000ac00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e1000001970000000300000a000000003efc0100000002fb0000000800540069006d0065010000000000000a000000025700fffffffb0000000800540069006d0065010000000000000450000000000000000000000890000004d700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + QMainWindow State: 000000ff00000000fd00000004000000000000022900000363fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed0000033300000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000363000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000040efc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000000280000040e000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073d0000003efc0100000002fb0000000800540069006d006501000000000000073d000002eb00fffffffb0000000800540069006d006501000000000000045000000000000000000000050e0000036300000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Selection: collapsed: false Time: @@ -276,6 +188,6 @@ Window Geometry: collapsed: false Views: collapsed: true - Width: 2560 - X: 1360 - Y: 0 + Width: 1853 + X: 67 + Y: 253 diff --git a/convex_plane_decomposition_ros/src/convex_plane_decomposition_node.cpp b/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionNode.cpp similarity index 62% rename from convex_plane_decomposition_ros/src/convex_plane_decomposition_node.cpp rename to convex_plane_decomposition_ros/src/ConvexPlaneDecompositionNode.cpp index 1714111c..fa32c89d 100644 --- a/convex_plane_decomposition_ros/src/convex_plane_decomposition_node.cpp +++ b/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionNode.cpp @@ -1,19 +1,19 @@ -#include "convex_plane_decomposition_ros/convex_plane_decomposition_ros.hpp" +#include "convex_plane_decomposition_ros/ConvexPlaneDecompositionRos.h" #include #include -int main(int argc, char** argv) -{ +int main(int argc, char** argv) { FLAGS_alsologtostderr = 1; FLAGS_colorlogtostderr = 1; FLAGS_v = 1; google::InitGoogleLogging(argv[0]); ros::init(argc, argv, "convex_plane_decomposition_ros"); ros::NodeHandle nodeHandle("~"); - bool success; - convex_plane_decomposition::ConvexPlaneExtractionROS convex_plane_decomposition_ros(nodeHandle, success); - if (success) ros::spin(); + + convex_plane_decomposition::ConvexPlaneExtractionROS convex_plane_decomposition_ros(nodeHandle); + ros::spin(); + return 0; } diff --git a/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp b/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp new file mode 100644 index 00000000..0384fe9f --- /dev/null +++ b/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp @@ -0,0 +1,116 @@ +#include "convex_plane_decomposition_ros/ConvexPlaneDecompositionRos.h" + +#include + +#include + +#include + +#include + +#include +#include + +#include +#include + +#include "convex_plane_decomposition/GridMapPreprocessing.h" +#include "convex_plane_decomposition/Nan.h" +#include "convex_plane_decomposition_msgs/PlanarTerrain.h" +#include "convex_plane_decomposition_ros/ParameterLoading.h" +#include "convex_plane_decomposition_ros/RosVisualizations.h" + +#include "convex_plane_decomposition_ros/MessageConversion.h" + +namespace convex_plane_decomposition { + +ConvexPlaneExtractionROS::ConvexPlaneExtractionROS(ros::NodeHandle& nodeHandle) { + bool parametersLoaded = loadParameters(nodeHandle); + + if (parametersLoaded) { + elevationMapSubscriber_ = nodeHandle.subscribe(elevationMapTopic_, 1, &ConvexPlaneExtractionROS::callback, this); + filteredmapPublisher_ = nodeHandle.advertise("filtered_map", 1); + boundaryPublisher_ = nodeHandle.advertise("boundaries", 1); + insetPublisher_ = nodeHandle.advertise("insets", 1); + regionPublisher_ = nodeHandle.advertise("planar_terrain", 1); + } +} + +ConvexPlaneExtractionROS::~ConvexPlaneExtractionROS() = default; + +bool ConvexPlaneExtractionROS::loadParameters(const ros::NodeHandle& nodeHandle) { + if (!nodeHandle.getParam("elevation_topic", elevationMapTopic_)) { + ROS_ERROR("[ConvexPlaneExtractionROS] Could not read parameter `elevation_topic`."); + return false; + } + if (!nodeHandle.getParam("height_layer", elevationLayer_)) { + ROS_ERROR("[ConvexPlaneExtractionROS] Could not read parameter `height_layer`."); + return false; + } + if (!nodeHandle.getParam("submap/width", subMapWidth_)) { + ROS_ERROR("[ConvexPlaneExtractionROS] Could not read parameter `submap/width`."); + return false; + } + if (!nodeHandle.getParam("submap/length", subMapLength_)) { + ROS_ERROR("[ConvexPlaneExtractionROS] Could not read parameter `submap/length`."); + return false; + } + + const auto preprocessingParameters = loadPreprocessingParameters(nodeHandle, "preprocessing/"); + const auto contourExtractionParameters = loadContourExtractionParameters(nodeHandle, "contour_extraction/"); + const auto ransacPlaneExtractorParameters = loadRansacPlaneExtractorParameters(nodeHandle, "ransac_plane_refinement/"); + const auto slidingWindowPlaneExtractorParameters = loadSlidingWindowPlaneExtractorParameters(nodeHandle, "sliding_window_plane_extractor/"); + + std::lock_guard lock(mutex_); + preprocessing_ = std::make_unique(preprocessingParameters); + slidingWindowPlaneExtractor_ = std::make_unique(slidingWindowPlaneExtractorParameters, ransacPlaneExtractorParameters); + contourExtraction_ = std::make_unique(contourExtractionParameters); + + return true; +} + +void ConvexPlaneExtractionROS::callback(const grid_map_msgs::GridMap& message) { + std::lock_guard lock(mutex_); + + // Convert message to map. + ROS_INFO("Reading input map..."); + grid_map::GridMap messageMap; + grid_map::GridMapRosConverter::fromMessage(message, messageMap, {elevationLayer_}, false, false); + bool success; + grid_map::GridMap elevationMap = messageMap.getSubmap(messageMap.getPosition(), Eigen::Array2d(subMapWidth_, subMapLength_), success); + ROS_INFO("...done."); + + if (success) { + auto t0 = std::chrono::high_resolution_clock::now(); + preprocessing_ ->preprocess(elevationMap, elevationLayer_); + auto t1 = std::chrono::high_resolution_clock::now(); + VLOG(1) << "Preprocessing took " << 1e-3 * std::chrono::duration_cast( t1 - t0 ).count() << " [ms]\n"; + + // Run pipeline. + slidingWindowPlaneExtractor_->runExtraction(elevationMap, elevationLayer_); + auto t2 = std::chrono::high_resolution_clock::now(); + VLOG(1) << "Sliding window took " << 1e-3 * std::chrono::duration_cast( t2 - t1 ).count() << " [ms]\n"; + + const auto planarRegions = contourExtraction_->extractPlanarRegions(slidingWindowPlaneExtractor_->getSegmentedPlanesMap()); + auto t3 = std::chrono::high_resolution_clock::now(); + VLOG(1) << "Contour extraction took " << 1e-3 * std::chrono::duration_cast( t3 - t2 ).count() << " [ms]\n"; + + // Publish terrain + regionPublisher_.publish(toMessage(planarRegions)); + + // Visualize in Rviz. + reapplyNans(elevationMap.get(elevationLayer_)); + elevationMap.add("segmentation"); + cv::cv2eigen(slidingWindowPlaneExtractor_->getSegmentedPlanesMap().labeledImage, elevationMap.get("segmentation")); + grid_map_msgs::GridMap outputMessage; + grid_map::GridMapRosConverter::toMessage(elevationMap, outputMessage); + filteredmapPublisher_.publish(outputMessage); + + boundaryPublisher_.publish(convertBoundariesToRosPolygons(planarRegions, elevationMap.getFrameId())); + insetPublisher_.publish(convertInsetsToRosPolygons(planarRegions, elevationMap.getFrameId())); + } else { + ROS_WARN("[ConvexPlaneExtractionROS] Could not extract submap"); + } +} + +} // namespace convex_plane_decomposition diff --git a/convex_plane_decomposition_ros/src/MessageConversion.cpp b/convex_plane_decomposition_ros/src/MessageConversion.cpp new file mode 100644 index 00000000..a14f83a4 --- /dev/null +++ b/convex_plane_decomposition_ros/src/MessageConversion.cpp @@ -0,0 +1,139 @@ +// +// Created by rgrandia on 14.06.20. +// + +#include "convex_plane_decomposition_ros/MessageConversion.h" + +namespace convex_plane_decomposition { + +CgalBbox2d fromMessage(const convex_plane_decomposition_msgs::BoundingBox2d& msg) { + return {msg.min_x, msg.min_y, msg.max_x, msg.max_y}; +} + +convex_plane_decomposition_msgs::BoundingBox2d toMessage(const CgalBbox2d& bbox2d) { + convex_plane_decomposition_msgs::BoundingBox2d msg; + msg.min_x = bbox2d.xmin(); + msg.min_y = bbox2d.ymin(); + msg.max_x = bbox2d.xmax(); + msg.max_y = bbox2d.ymax(); + return msg; +} + +PlanarRegion fromMessage(const convex_plane_decomposition_msgs::PlanarRegion& msg) { + PlanarRegion planarRegion; + planarRegion.planeParameters = fromMessage(msg.plane_parameters); + planarRegion.boundaryWithInset.boundary = fromMessage(msg.boundary); + planarRegion.boundaryWithInset.insets.reserve(msg.insets.size()); + for (const auto& inset : msg.insets) { + planarRegion.boundaryWithInset.insets.emplace_back(fromMessage(inset)); + } + planarRegion.bbox2d = fromMessage(msg.bbox2d); + return planarRegion; +} + +convex_plane_decomposition_msgs::PlanarRegion toMessage(const PlanarRegion& planarRegion) { + convex_plane_decomposition_msgs::PlanarRegion msg; + msg.plane_parameters = toMessage(planarRegion.planeParameters); + msg.boundary = toMessage(planarRegion.boundaryWithInset.boundary); + msg.insets.reserve(planarRegion.boundaryWithInset.insets.size()); + for (const auto& inset : planarRegion.boundaryWithInset.insets) { + msg.insets.emplace_back(toMessage(inset)); + } + msg.bbox2d = toMessage(planarRegion.bbox2d); + return msg; +} + +PlanarTerrain fromMessage(const convex_plane_decomposition_msgs::PlanarTerrain& msg) { + PlanarTerrain planarTerrain; + planarTerrain.reserve(msg.planarRegions.size()); + for (const auto& planarRegion : msg.planarRegions) { + planarTerrain.emplace_back(fromMessage(planarRegion)); + } + return planarTerrain; +} + +convex_plane_decomposition_msgs::PlanarTerrain toMessage(const PlanarTerrain& planarTerrain) { + convex_plane_decomposition_msgs::PlanarTerrain msg; + msg.planarRegions.reserve(planarTerrain.size()); + for (const auto& planarRegion : planarTerrain) { + msg.planarRegions.emplace_back(toMessage(planarRegion)); + } + return msg; +} + +TerrainPlane fromMessage(const geometry_msgs::Pose& msg){ + TerrainPlane plane; + plane.positionInWorld.x() = msg.position.x; + plane.positionInWorld.y() = msg.position.y; + plane.positionInWorld.z() = msg.position.z; + Eigen::Quaterniond terrainOrientation; + terrainOrientation.x() = msg.orientation.x; + terrainOrientation.y() = msg.orientation.y; + terrainOrientation.z() = msg.orientation.z; + terrainOrientation.w() = msg.orientation.w; + plane.orientationWorldToTerrain = terrainOrientation.toRotationMatrix().transpose(); + return plane; +} + +geometry_msgs::Pose toMessage(const TerrainPlane& plane){ + geometry_msgs::Pose pose; + pose.position.x = plane.positionInWorld.x(); + pose.position.y = plane.positionInWorld.y(); + pose.position.z = plane.positionInWorld.z(); + Eigen::Quaterniond terrainOrientation(plane.orientationWorldToTerrain.transpose()); + pose.orientation.x = terrainOrientation.x(); + pose.orientation.y = terrainOrientation.y(); + pose.orientation.z = terrainOrientation.z(); + pose.orientation.w = terrainOrientation.w(); + return pose; +} + +CgalPoint2d fromMessage(const convex_plane_decomposition_msgs::Point2d& msg) { + return {msg.x, msg.y}; +} + +convex_plane_decomposition_msgs::Point2d toMessage(const CgalPoint2d& point2d) { + convex_plane_decomposition_msgs::Point2d msg; + msg.x = point2d.x(); + msg.y = point2d.y(); + return msg; +} + +CgalPolygon2d fromMessage(const convex_plane_decomposition_msgs::Polygon2d& msg) { + CgalPolygon2d polygon2d; + polygon2d.container().reserve(msg.points.size()); + for (const auto& point : msg.points) { + polygon2d.container().emplace_back(fromMessage(point)); + } + return polygon2d; +} + +convex_plane_decomposition_msgs::Polygon2d toMessage(const CgalPolygon2d& polygon2d) { + convex_plane_decomposition_msgs::Polygon2d msg; + msg.points.reserve(polygon2d.container().size()); + for (const auto& point : polygon2d) { + msg.points.emplace_back(toMessage(point)); + } + return msg; +} + +CgalPolygonWithHoles2d fromMessage(const convex_plane_decomposition_msgs::PolygonWithHoles2d& msg) { + CgalPolygonWithHoles2d polygonWithHoles2d; + polygonWithHoles2d.outer_boundary() = fromMessage(msg.outer_boundary); + for (const auto& hole : msg.holes) { + polygonWithHoles2d.add_hole(fromMessage(hole)); + } + return polygonWithHoles2d; +} + +convex_plane_decomposition_msgs::PolygonWithHoles2d toMessage(const CgalPolygonWithHoles2d& polygonWithHoles2d) { + convex_plane_decomposition_msgs::PolygonWithHoles2d msg; + msg.outer_boundary = toMessage(polygonWithHoles2d.outer_boundary()); + msg.holes.reserve(polygonWithHoles2d.number_of_holes()); + for (const auto& hole : polygonWithHoles2d.holes()) { + msg.holes.emplace_back(toMessage(hole)); + } + return msg; +} + +} // namespace convex_plane_decomposition diff --git a/convex_plane_decomposition_ros/src/ParameterLoading.cpp b/convex_plane_decomposition_ros/src/ParameterLoading.cpp new file mode 100644 index 00000000..a702326f --- /dev/null +++ b/convex_plane_decomposition_ros/src/ParameterLoading.cpp @@ -0,0 +1,59 @@ +// +// Created by rgrandia on 10.06.20. +// + +#include "convex_plane_decomposition_ros/ParameterLoading.h" + +namespace convex_plane_decomposition { + +template +void loadParameter(const ros::NodeHandle& nodeHandle, const std::string& prefix, const std::string& param, T& value) { + if (!nodeHandle.getParam(prefix + param, value)) { + ROS_ERROR_STREAM("[ConvexPlaneExtractionROS] Could not read parameter `" << param << "`. Setting parameter to default value : " << std::to_string(value)); + } +} + +PreprocessingParameters loadPreprocessingParameters(const ros::NodeHandle& nodeHandle, + const std::string& prefix) { + PreprocessingParameters preprocessingParameters; + loadParameter(nodeHandle, prefix, "kernelSize", preprocessingParameters.kernelSize); + loadParameter(nodeHandle, prefix, "numberOfRepeats", preprocessingParameters.numberOfRepeats); + loadParameter(nodeHandle, prefix, "increasing", preprocessingParameters.increasing); + loadParameter(nodeHandle, prefix, "inpaintRadius", preprocessingParameters.inpaintRadius); + return preprocessingParameters; +} + +contour_extraction::ContourExtractionParameters loadContourExtractionParameters(const ros::NodeHandle& nodeHandle, + const std::string& prefix) { + contour_extraction::ContourExtractionParameters contourParams; + loadParameter(nodeHandle, prefix, "offsetSize", contourParams.offsetSize); + return contourParams; +} + +ransac_plane_extractor::RansacPlaneExtractorParameters loadRansacPlaneExtractorParameters(const ros::NodeHandle& nodeHandle, + const std::string& prefix) { + ransac_plane_extractor::RansacPlaneExtractorParameters ransacParams; + loadParameter(nodeHandle, prefix, "probability", ransacParams.probability); + loadParameter(nodeHandle, prefix, "min_points", ransacParams.min_points); + loadParameter(nodeHandle, prefix, "epsilon", ransacParams.epsilon); + loadParameter(nodeHandle, prefix, "cluster_epsilon", ransacParams.cluster_epsilon); + loadParameter(nodeHandle, prefix, "normal_threshold", ransacParams.normal_threshold); + return ransacParams; +} + +sliding_window_plane_extractor::SlidingWindowPlaneExtractorParameters loadSlidingWindowPlaneExtractorParameters( + const ros::NodeHandle& nodeHandle, const std::string& prefix) { + sliding_window_plane_extractor::SlidingWindowPlaneExtractorParameters swParams; + loadParameter(nodeHandle, prefix, "kernel_size", swParams.kernel_size); + loadParameter(nodeHandle, prefix, "plane_inclination_threshold_degrees", swParams.plane_inclination_threshold_degrees); + loadParameter(nodeHandle, prefix, "plane_patch_error_threshold", swParams.plane_patch_error_threshold); + loadParameter(nodeHandle, prefix, "min_number_points_per_label", swParams.min_number_points_per_label); + loadParameter(nodeHandle, prefix, "connectivity", swParams.connectivity); + loadParameter(nodeHandle, prefix, "include_ransac_refinement", swParams.include_ransac_refinement); + loadParameter(nodeHandle, prefix, "global_plane_fit_distance_error_threshold", swParams.global_plane_fit_distance_error_threshold); + loadParameter(nodeHandle, prefix, "global_plane_fit_angle_error_threshold_degrees", + swParams.global_plane_fit_angle_error_threshold_degrees); + return swParams; +} + +} // namespace convex_plane_decomposition diff --git a/convex_plane_decomposition_ros/src/RosVisualizations.cpp b/convex_plane_decomposition_ros/src/RosVisualizations.cpp new file mode 100644 index 00000000..8622e0cc --- /dev/null +++ b/convex_plane_decomposition_ros/src/RosVisualizations.cpp @@ -0,0 +1,70 @@ +#include "convex_plane_decomposition_ros/RosVisualizations.h" + +#include +#include + +namespace convex_plane_decomposition { + +inline geometry_msgs::PolygonStamped to3d(const CgalPolygon2d& polygon, const TerrainPlane& planeParameters, + const std_msgs::Header& header) { + geometry_msgs::PolygonStamped polygon3d; + polygon3d.header = header; + for (const auto& point : polygon) { + geometry_msgs::Point32 point_ros; + const auto pointInWorld = positionInWorldFrameFromPositionInTerrain({point.x(), point.y(), 0.0}, planeParameters); + point_ros.x = pointInWorld.x(); + point_ros.y = pointInWorld.y(); + point_ros.z = pointInWorld.z(); + polygon3d.polygon.points.push_back(point_ros); + } + return polygon3d; +} + +inline std::vector to3d(const CgalPolygonWithHoles2d& polygonWithHoles, const TerrainPlane& planeParameters, + const std_msgs::Header& header) { + std::vector polygons; + + polygons.reserve(polygonWithHoles.number_of_holes() + 1); + polygons.emplace_back(to3d(polygonWithHoles.outer_boundary(), planeParameters, header)); + + for (const auto& hole : polygonWithHoles.holes()) { + polygons.emplace_back(to3d(hole, planeParameters, header)); + } + return polygons; +} + +jsk_recognition_msgs::PolygonArray convertBoundariesToRosPolygons(const std::vector& planarRegions, + const std::string& frameId) { + jsk_recognition_msgs::PolygonArray polygon_buffer; + std_msgs::Header header; + header.stamp = ros::Time::now(); + header.frame_id = frameId; + + polygon_buffer.header = header; + polygon_buffer.polygons.reserve(planarRegions.size()); // lower bound + for (const auto& planarRegion : planarRegions) { + auto boundaries = to3d(planarRegion.boundaryWithInset.boundary, planarRegion.planeParameters, header); + std::move(boundaries.begin(), boundaries.end(), std::back_inserter(polygon_buffer.polygons)); + } + + return polygon_buffer; +} + +jsk_recognition_msgs::PolygonArray convertInsetsToRosPolygons(const std::vector& planarRegions, const std::string& frameId) { + jsk_recognition_msgs::PolygonArray polygon_buffer; + std_msgs::Header header; + header.stamp = ros::Time::now(); + header.frame_id = frameId; + + polygon_buffer.header = header; + polygon_buffer.polygons.reserve(planarRegions.size()); // lower bound + for (const auto& planarRegion : planarRegions) { + for (const auto& inset : planarRegion.boundaryWithInset.insets) { + auto insets = to3d(inset, planarRegion.planeParameters, header); + std::move(insets.begin(), insets.end(), std::back_inserter(polygon_buffer.polygons)); + } + } + return polygon_buffer; +} + +} // namespace convex_plane_decomposition diff --git a/convex_plane_decomposition_ros/src/SaveElevationMapAsImageNode.cpp b/convex_plane_decomposition_ros/src/SaveElevationMapAsImageNode.cpp new file mode 100644 index 00000000..b6f51ae0 --- /dev/null +++ b/convex_plane_decomposition_ros/src/SaveElevationMapAsImageNode.cpp @@ -0,0 +1,74 @@ +// +// Created by rgrandia on 11.06.20. +// + +#include + +#include +#include +#include + +#include + +int count = 0; +double frequency; +std::string elevationMapTopic; +std::string elevationLayer; +std::string imageName; + +void callback(const grid_map_msgs::GridMap::ConstPtr& message) { + grid_map::GridMap messageMap; + grid_map::GridMapRosConverter::fromMessage(*message, messageMap); + + const auto& data = messageMap[elevationLayer]; + float maxHeight = std::numeric_limits::lowest(); + float minHeight = std::numeric_limits::max(); + for (int i=0; i(messageMap, elevationLayer, CV_8UC1, minHeight, maxHeight, image); + + int range = 100 * (maxHeight - minHeight); + cv::imwrite( imageName + "_" + std::to_string(count++) + "_" + std::to_string(range) + "cm.png", image); +} + +int main(int argc, char** argv) { + ros::init(argc, argv, "save_elevation_map_to_image"); + ros::NodeHandle nodeHandle("~"); + + if (!nodeHandle.getParam("frequency", frequency)) { + ROS_ERROR("[ConvexPlaneExtractionROS] Could not read parameter `frequency`."); + return 1; + } + if (!nodeHandle.getParam("elevation_topic", elevationMapTopic)) { + ROS_ERROR("[ConvexPlaneExtractionROS] Could not read parameter `elevation_topic`."); + return 1; + } + if (!nodeHandle.getParam("height_layer", elevationLayer)) { + ROS_ERROR("[ConvexPlaneExtractionROS] Could not read parameter `height_layer`."); + return 1; + } + if (!nodeHandle.getParam("imageName", imageName)) { + ROS_ERROR("[ConvexPlaneExtractionROS] Could not read parameter `imageName`."); + return 1; + } + + auto elevationMapSubscriber_ = nodeHandle.subscribe(elevationMapTopic, 1, callback); + + ros::Rate rate(frequency); + while(ros::ok()) + { + ros::spinOnce(); + rate.sleep(); + } + + return 0; +} \ No newline at end of file diff --git a/convex_plane_decomposition_ros/src/convex_plane_decomposition_ros.cpp b/convex_plane_decomposition_ros/src/convex_plane_decomposition_ros.cpp deleted file mode 100644 index 4b9b20cb..00000000 --- a/convex_plane_decomposition_ros/src/convex_plane_decomposition_ros.cpp +++ /dev/null @@ -1,67 +0,0 @@ -#include "convex_plane_decomposition_ros/convex_plane_decomposition_ros.hpp" - -#include - -using namespace grid_map; - -namespace convex_plane_decomposition { - -ConvexPlaneExtractionROS::ConvexPlaneExtractionROS(ros::NodeHandle& nodeHandle, bool& success) - : nodeHandle_(nodeHandle) { - if (!readParameters()) { - success = false; - return; - } - - subscriber_ = nodeHandle_.subscribe(inputTopic_, 1, &ConvexPlaneExtractionROS::callback, this); - grid_map_publisher_ = nodeHandle_.advertise("convex_plane_decomposition", 1, true); - convex_polygon_publisher_ = nodeHandle_.advertise("convex_polygons", 1); - outer_contours_publisher_ = nodeHandle_.advertise("outer_contours", 1); - success = true; -} - -ConvexPlaneExtractionROS::~ConvexPlaneExtractionROS(){} - -bool ConvexPlaneExtractionROS::readParameters() -{ - if (!nodeHandle_.getParam("input_topic", inputTopic_)) { - ROS_ERROR("Could not read parameter `input_topic`."); - return false; - } - return true; -} - -void ConvexPlaneExtractionROS::callback(const grid_map_msgs::GridMap& message) { - auto start_total = std::chrono::system_clock::now(); - - // Convert message to map. - ROS_INFO("Reading input map..."); - GridMap messageMap; - GridMapRosConverter::fromMessage(message, messageMap); - bool success; - GridMap inputMap = messageMap.getSubmap(messageMap.getPosition(), Eigen::Array2d(6, 6), success); - CHECK(success); - inputMap.setFrameId("odom"); - ROS_INFO("...done."); - VLOG(1) << "Applying median filtering to map."; - applyMedianFilter(inputMap.get("elevation"), 5); - - // Run pipeline. - VLOG(1) << "Running pipeline ..."; - PipelineROS pipeline_ros(nodeHandle_, inputMap); - VLOG(1) << "done."; - // Visualize in Rviz. - jsk_recognition_msgs::PolygonArray outer_plane_contours = pipeline_ros.getOuterPlaneContours(); - jsk_recognition_msgs::PolygonArray convex_polygons = pipeline_ros.getConvexPolygons(); - pipeline_ros.augmentGridMapWithSegmentation(inputMap); - - grid_map_msgs::GridMap outputMessage; - GridMapRosConverter::toMessage(inputMap, outputMessage); - grid_map_publisher_.publish(outputMessage); - - convex_polygon_publisher_.publish(convex_polygons); - outer_contours_publisher_.publish(outer_plane_contours); - -} - -} /* namespace */ diff --git a/convex_plane_decomposition_ros/src/grid_map_preprocessing.cpp b/convex_plane_decomposition_ros/src/grid_map_preprocessing.cpp deleted file mode 100644 index 057552fd..00000000 --- a/convex_plane_decomposition_ros/src/grid_map_preprocessing.cpp +++ /dev/null @@ -1,17 +0,0 @@ -#include "convex_plane_decomposition_ros/grid_map_preprocessing.hpp" - -#include -#include -#include - -namespace convex_plane_decomposition{ - - void applyMedianFilter(Eigen::MatrixXf& elevation_map, int kernel_size) { - cv::Mat elevation_image; - cv::eigen2cv(elevation_map, elevation_image); - cv::Mat blurred_image; - cv::medianBlur(elevation_image, blurred_image, kernel_size); - cv::cv2eigen(blurred_image, elevation_map); - } - -} \ No newline at end of file diff --git a/convex_plane_decomposition_ros/src/pipeline_ros.cpp b/convex_plane_decomposition_ros/src/pipeline_ros.cpp deleted file mode 100644 index 1d076389..00000000 --- a/convex_plane_decomposition_ros/src/pipeline_ros.cpp +++ /dev/null @@ -1,175 +0,0 @@ -#include "convex_plane_decomposition_ros/pipeline_ros.hpp" - -namespace convex_plane_decomposition { - -PipelineParameters loadPipelineParameters(ros::NodeHandle &nodeHandle, grid_map::GridMap &map) { - - const std::string kPackagePrefix = "/convex_plane_decomposition_ros"; - - // Grid map parameters. - GridMapParameters grid_map_parameters = loadGridMapParameters(nodeHandle, map); - - // Sliding Window Plane Extractor parameters. - sliding_window_plane_extractor::SlidingWindowPlaneExtractorParameters sliding_window_plane_extractor_parameters; - const std::string kSlidingWindowParametersPrefix = kPackagePrefix + "/sliding_window_plane_extractor/"; - if (!nodeHandle.getParam(kSlidingWindowParametersPrefix + "kernel_size", - sliding_window_plane_extractor_parameters.kernel_size)) { - ROS_ERROR("Could not read parameter `kernel_size`. Setting parameter to default value."); - } - if (!nodeHandle.getParam(kSlidingWindowParametersPrefix + "plane_patch_error_threshold", - sliding_window_plane_extractor_parameters.plane_patch_error_threshold)) { - ROS_ERROR("Could not read parameter `plane_patch_error_threshold`. Setting parameter to default value."); - } - if (!nodeHandle.getParam(kSlidingWindowParametersPrefix + "surface_normal_angle_threshold_degrees", - sliding_window_plane_extractor_parameters.surface_normal_angle_threshold_degrees)) { - ROS_ERROR("Could not read parameter `plane_patch_error_threshold`. Setting parameter to default value."); - } - if (!nodeHandle.getParam(kSlidingWindowParametersPrefix + "include_curvature_detection", - sliding_window_plane_extractor_parameters.include_curvature_detection)) { - ROS_ERROR("Could not read parameter `include_curvature_detection`. Setting parameter to default value."); - } - if (!nodeHandle.getParam(kSlidingWindowParametersPrefix + "include_ransac_refinement", - sliding_window_plane_extractor_parameters.include_ransac_refinement)) { - ROS_ERROR("Could not read parameter `include_ransac_refinement`. Setting parameter to default value."); - } - if (!nodeHandle.getParam(kSlidingWindowParametersPrefix + "global_plane_fit_error_threshold", - sliding_window_plane_extractor_parameters.global_plane_fit_error_threshold)) { - ROS_ERROR("Could not read parameter `global_plane_fit_error_threshold`. Setting parameter to default value."); - } - if (sliding_window_plane_extractor_parameters.include_ransac_refinement) { - // RASNAC refinement related parameters. - ransac_plane_extractor::RansacPlaneExtractorParameters ransac_plane_extractor_parameters; - const std::string kRansacRefinementParameterPrefix = kPackagePrefix + "/ransac_plane_refinement/"; - if (!nodeHandle.getParam(kRansacRefinementParameterPrefix + "probability", - ransac_plane_extractor_parameters.probability)) { - LOG(WARNING) << "Could not read parameter" << kRansacRefinementParameterPrefix - << "probability. Setting parameter to default value."; - } - if (!nodeHandle.getParam(kRansacRefinementParameterPrefix + "min_points", - ransac_plane_extractor_parameters.min_points)) { - LOG(WARNING) << "Could not read parameter" << kRansacRefinementParameterPrefix - << "ransac_min_points. Setting parameter to default value."; - } - if (!nodeHandle.getParam(kRansacRefinementParameterPrefix + "epsilon", ransac_plane_extractor_parameters.epsilon)) { - ROS_ERROR("Could not read parameter `epsilon`. Setting parameter to default value."); - } - if (!nodeHandle.getParam(kRansacRefinementParameterPrefix + "cluster_epsilon", - ransac_plane_extractor_parameters.cluster_epsilon)) { - ROS_ERROR("Could not read parameter `cluster_epsilon`. Setting parameter to default value."); - } - if (!nodeHandle.getParam(kRansacRefinementParameterPrefix + "normal_threshold", - ransac_plane_extractor_parameters.normal_threshold)) { - ROS_ERROR("Could not read parameter `normal_threshold`. Setting parameter to default value."); - } - sliding_window_plane_extractor_parameters.ransac_parameters = ransac_plane_extractor_parameters; - } - - // Polygonizer parameters. - PolygonizerParameters polygonizer_parameters; - polygonizer_parameters.resolution = grid_map_parameters.resolution; - const std::string kPolygonizerParametersPrefix = kPackagePrefix + "/polygonizer/"; - if (!nodeHandle.getParam(kPolygonizerParametersPrefix + "upsampling_factor", polygonizer_parameters.upsampling_factor)) { - ROS_ERROR("Could not read parameter `normal_threshold`. Setting parameter to default value."); - } - if (!nodeHandle.getParam(kPolygonizerParametersPrefix + "activate_long_edge_upsampling", - polygonizer_parameters.activate_long_edge_upsampling)) { - ROS_ERROR("Could not read parameter `activate_long_edge_upsampling`. Setting parameter to default value."); - } - if (!nodeHandle.getParam(kPolygonizerParametersPrefix + "activate_contour_approximation", - polygonizer_parameters.activate_contour_approximation)) { - ROS_ERROR("Could not read parameter `activate_contour_approximation`. Setting parameter to default value."); - } - if (polygonizer_parameters.activate_contour_approximation) { - if (!nodeHandle.getParam(kPolygonizerParametersPrefix + "contour_approximation_relative_local_area_threshold", - polygonizer_parameters.contour_approximation_relative_local_area_threshold)) { - ROS_ERROR( - "Could not read parameter `contour_approximation_relative_area_threshold`. Setting parameter to default value."); - } - if (!nodeHandle.getParam(kPolygonizerParametersPrefix + "contour_approximation_absolute_local_area_threshold_squared_meters", - polygonizer_parameters.contour_approximation_absolute_local_area_threshold_squared_meters)) { - ROS_ERROR( - "Could not read parameter `contour_approximation_absolute_area_threshold_squared_meters`. Setting parameter to default value."); - } - if (!nodeHandle.getParam(kPolygonizerParametersPrefix + "contour_approximation_relative_total_area_threshold", - polygonizer_parameters.contour_approximation_relative_total_area_threshold)) { - ROS_ERROR("Could not read parameter `contour_approximation_relative_area_threshold`. Setting parameter to default value."); - } - if (!nodeHandle.getParam(kPolygonizerParametersPrefix + "contour_approximation_absolute_total_area_threshold_squared_meters", - polygonizer_parameters.contour_approximation_absolute_total_area_threshold_squared_meters)) { - ROS_ERROR( - "Could not read parameter `contour_approximation_absolute_area_threshold_squared_meters`. Setting parameter to default value."); - } - if (!nodeHandle.getParam(kPolygonizerParametersPrefix + "max_number_of_iterations", - polygonizer_parameters.max_number_of_iterations)) { - ROS_ERROR( - "Could not read parameter `max_number_of_iterations`. Setting parameter to default value."); - } - } - if (!nodeHandle.getParam(kPolygonizerParametersPrefix + "hole_area_threshold_squared_meters", - polygonizer_parameters.hole_area_threshold_squared_meters)) { - ROS_ERROR("Could not read parameter `hole_area_threshold_squared_meters`. Setting parameter to default value."); - } - - // Convex decomposer parameters. - ConvexDecomposerParameters convex_decomposer_parameters; - const std::string kConvexDecomposerParametersPrefix = kPackagePrefix + "/convex_decomposer/"; - std::string decomposer_type; - if (!nodeHandle.getParam(kConvexDecomposerParametersPrefix + "decomposer_type", decomposer_type)) { - ROS_ERROR("Could not read parameter `decomposer_type`. Setting parameter to default value."); - } - if (decomposer_type == "optimal_decompostion") { - convex_decomposer_parameters.decomposition_type = ConvexDecompositionType::kGreeneOptimalDecomposition; - } else if (decomposer_type == "inner_convex_decomposition") { - convex_decomposer_parameters.decomposition_type = ConvexDecompositionType::kInnerConvexApproximation; - } - if (!nodeHandle.getParam(kConvexDecomposerParametersPrefix + "dent_angle_threshold_rad", - convex_decomposer_parameters.dent_angle_threshold_rad)) { - ROS_ERROR("Could not read parameter `dent_angle_threshold_rad`. Setting parameter to default value."); - } - - // Plane Factory parameters. - PlaneFactoryParameters plane_factory_parameters; - const std::string kPlaneFactoryParametersPrefix = kPackagePrefix + "/plane_factory/"; - if (!nodeHandle.getParam(kPlaneFactoryParametersPrefix + "plane_inclination_threshold_degrees", - plane_factory_parameters.plane_inclination_threshold_degrees)) { - ROS_ERROR("Could not read parameter `plane_inclination_threshold_degrees`. Setting parameter to default value."); - } - plane_factory_parameters.polygonizer_parameters = polygonizer_parameters; - plane_factory_parameters.convex_decomposer_parameters = convex_decomposer_parameters; - - // Pipeline parameters. - PipelineParameters pipeline_parameters; - pipeline_parameters.sliding_window_plane_extractor_parameters = sliding_window_plane_extractor_parameters; - pipeline_parameters.plane_factory_parameters = plane_factory_parameters; - return pipeline_parameters; -} - -GridMapParameters loadGridMapParameters(ros::NodeHandle &nodeHandle, grid_map::GridMap &map) { - // Grid map parameters. - std::string height_layer; - CHECK(nodeHandle.getParam("height_layer", height_layer)); - VLOG(1) << "Height layer is: " << height_layer; - GridMapParameters grid_map_parameters(map, height_layer); - - return grid_map_parameters; -} - -jsk_recognition_msgs::PolygonArray PipelineROS::getConvexPolygons() const { - const Polygon3dVectorContainer convex_polygon_buffer = pipeline_.getConvexPolygons(); - return convertToRosPolygons(convex_polygon_buffer); -} - -jsk_recognition_msgs::PolygonArray PipelineROS::getOuterPlaneContours() const { - const Polygon3dVectorContainer plane_contour_buffer = pipeline_.getPlaneContours(); - VLOG(1) << "Exported polygons: " << plane_contour_buffer.size(); - return convertToRosPolygons(plane_contour_buffer); -} - -void PipelineROS::augmentGridMapWithSegmentation(grid_map::GridMap &map) { - Eigen::MatrixXf new_layer = Eigen::MatrixXf::Zero(map.getSize().x(), map.getSize().y()); - cv::cv2eigen(pipeline_.getSegmentationImage(), new_layer); - map.add("plane_segmentation", new_layer); - VLOG(1) << "Added plane segmentation to Grid Map!"; -} - -} \ No newline at end of file diff --git a/convex_plane_decomposition_ros/src/ros_visualizations.cpp b/convex_plane_decomposition_ros/src/ros_visualizations.cpp deleted file mode 100644 index 71a0ce09..00000000 --- a/convex_plane_decomposition_ros/src/ros_visualizations.cpp +++ /dev/null @@ -1,28 +0,0 @@ -#include "convex_plane_decomposition_ros/ros_visualizations.hpp" - -namespace convex_plane_decomposition { - - jsk_recognition_msgs::PolygonArray convertToRosPolygons(const Polygon3dVectorContainer &input_polygons) { - jsk_recognition_msgs::PolygonArray polygon_buffer; - polygon_buffer.header.stamp = ros::Time::now(); - polygon_buffer.header.frame_id = "odom"; - for (const auto &polygon : input_polygons) { - if (polygon.empty()) { - continue; - } - geometry_msgs::PolygonStamped polygon_stamped; - polygon_stamped.header.stamp = ros::Time::now(); - polygon_stamped.header.frame_id = "odom"; - for (const auto &point : polygon) { - geometry_msgs::Point32 point_ros; - point_ros.x = point.x(); - point_ros.y = point.y(); - point_ros.z = point(2); - polygon_stamped.polygon.points.push_back(point_ros); - } - polygon_buffer.polygons.push_back(polygon_stamped); - } - return polygon_buffer; - } -} - diff --git a/convex_plane_decomposition_ros/test/shapeGrowing.cpp b/convex_plane_decomposition_ros/test/shapeGrowing.cpp new file mode 100644 index 00000000..400af2e2 --- /dev/null +++ b/convex_plane_decomposition_ros/test/shapeGrowing.cpp @@ -0,0 +1,52 @@ +// +// Created by rgrandia on 08.06.20. +// + +#include +#include +#include + +#include + +using namespace convex_plane_decomposition; + +int main(int argc, char** argv) { + CgalPolygonWithHoles2d parentShape; + parentShape.outer_boundary().push_back({0.0, 0.0}); + parentShape.outer_boundary().push_back({0.0, 1000.0}); + parentShape.outer_boundary().push_back({400.0, 800.0}); + parentShape.outer_boundary().push_back({1000.0, 1000.0}); + parentShape.outer_boundary().push_back({800.0, 400.0}); + parentShape.outer_boundary().push_back({1000.0, 0.0}); + parentShape.add_hole(createRegularPolygon(CgalPoint2d(200.0, 200.0), 50, 4)); + parentShape.add_hole(createRegularPolygon(CgalPoint2d(600.0, 700.0), 100, 100)); + + // bounded_side_2 -> is inside + + int numberOfVertices = 16; // Multiple of 4 is nice. + double growthFactor = 1.05; + CgalPoint2d center{700.0, 300.0}; + + cv::Size imgSize(1000, 1000); + + const auto parentColor = randomColor(); + const auto fitColor = randomColor(); + + int N_test = 10; + for (int i = 0; i < N_test; i++) { + center = CgalPoint2d(rand()%1000, rand()%1000); + cv::Mat polygonImage(imgSize, CV_8UC3, cv::Vec3b(0, 0, 0)); + drawContour(polygonImage, parentShape, &parentColor); + drawContour(polygonImage, center, 2, &fitColor); + if (isInside(center, parentShape )) { + const auto fittedPolygon2d = growConvexPolygonInsideShape(parentShape, center, numberOfVertices, growthFactor); + drawContour(polygonImage, fittedPolygon2d, &fitColor); + } + + cv::namedWindow("Polygon", cv::WindowFlags::WINDOW_NORMAL); + cv::imshow("Polygon", polygonImage); + cv::waitKey(0); // Wait for a keystroke in the window + } + + return 0; +} diff --git a/convex_plane_decomposition_ros/test/test.cpp b/convex_plane_decomposition_ros/test/test.cpp new file mode 100644 index 00000000..64f3b18d --- /dev/null +++ b/convex_plane_decomposition_ros/test/test.cpp @@ -0,0 +1,181 @@ +// +// Created by rgrandia on 04.06.20. +// + +#include +#include +#include + +#include +#include + +#include +#include +#include + +#include +#include +#include +#include + +using namespace convex_plane_decomposition; + +grid_map::GridMap loadElevationMapFromFile(const std::string& filePath, double resolution, double scale) { + // Read the file + cv::Mat image; + image = cv::imread(filePath, cv::ImreadModes::IMREAD_GRAYSCALE); + + // Check for invalid input + if (!image.data) { + throw std::runtime_error("Could not open or find the image"); + } + + // Min max values + double minValue, maxValue; + cv::minMaxLoc(image, &minValue, &maxValue); + + grid_map::GridMap mapOut({"elevation"}); + mapOut.setFrameId("odom"); + grid_map::GridMapCvConverter::initializeFromImage(image, resolution, mapOut, grid_map::Position(0.0, 0.0)); + grid_map::GridMapCvConverter::addLayerFromImage(image, std::string("elevation"), mapOut, float(0.0), float(scale), 0.5); + return mapOut; +} + +void plotSlidingWindow(const sliding_window_plane_extractor::SlidingWindowPlaneExtractor& planeExtractor) { + cv::namedWindow("Sliding Window binarymap", cv::WindowFlags::WINDOW_NORMAL); + cv::Mat binaryImage = planeExtractor.getBinaryLabeledImage(); + binaryImage.convertTo(binaryImage, CV_8UC1, 255); + cv::imshow("Sliding Window binarymap", binaryImage); + + cv::namedWindow("Sliding Window labels", cv::WindowFlags::WINDOW_NORMAL); + const auto& labelledImage = planeExtractor.getSegmentedPlanesMap().labeledImage; + const auto& labelsAndPlaneParameters = planeExtractor.getSegmentedPlanesMap().labelPlaneParameters; + std::vector colors(planeExtractor.getSegmentedPlanesMap().highestLabel + 1); + + colors[0] = cv::Vec3b(0, 0, 0); // background in white + for (int label = 1; label <= planeExtractor.getSegmentedPlanesMap().highestLabel; ++label) { + const auto labelIt = + std::find_if(labelsAndPlaneParameters.begin(), labelsAndPlaneParameters.end(), + [=](const std::pair& x) { return x.first == label; }); + if (labelIt != labelsAndPlaneParameters.end()) { + colors[label] = randomColor(); + } else { + colors[label] = colors[0]; + } + } + cv::Mat colorImg(labelledImage.size(), CV_8UC3); + for (int r = 0; r < colorImg.rows; ++r) { + for (int c = 0; c < colorImg.cols; ++c) { + int label = labelledImage.at(r, c); + auto& pixel = colorImg.at(r, c); + pixel = colors[label]; + } + } + cv::imshow("Sliding Window labels", colorImg); +} + +int main(int argc, char** argv) { + std::string folder = "/home/rgrandia/git/anymal/convex_terrain_representation/convex_plane_decomposition_ros/data/"; + std::string file = "elevationMap_8_139cm.png"; double heightScale = 1.39; +// std::string file = "demo_map.png"; double heightScale = 1.25; +// std::string file = "realStairs_125cm.png"; double heightScale = 1.25; +// std::string file = "terrain.png"; double heightScale = 1.25; +// std::string file = "holes.png"; double heightScale = 1.0; +// std::string file = "slope_1m_1m_20cm.png"; double heightScale = 0.2; +// std::string file = "straightStairs_1m_1m_60cm.png"; double heightScale = 0.6; + double resolution = 0.02; + + auto elevationMap = loadElevationMapFromFile(folder + file, resolution, heightScale); + + + cv::Mat image; + grid_map::GridMapCvConverter::toImage(elevationMap, "elevation", CV_8UC1, 0.0, heightScale, image); + cv::namedWindow("Elevation Map", cv::WindowFlags::WINDOW_NORMAL); + cv::imshow("Elevation Map", image); + + // ================== Filter ======================== // + PreprocessingParameters preprocessingParameters; + preprocessingParameters.kernelSize = 5; + preprocessingParameters.numberOfRepeats = 1; + + GridMapPreprocessing preprocessing(preprocessingParameters); + preprocessing.preprocess(elevationMap, "elevation"); + + grid_map::GridMapCvConverter::toImage(elevationMap, "elevation", CV_8UC1, 0.0, heightScale, image); + cv::namedWindow("Filtered Map", cv::WindowFlags::WINDOW_NORMAL); + cv::imshow("Filtered Map", image); + + // ============== Sliding Window =================== // + sliding_window_plane_extractor::SlidingWindowPlaneExtractorParameters swParams; + swParams.kernel_size = 3; + swParams.plane_inclination_threshold_degrees = 45.0; + swParams.plane_patch_error_threshold = 0.005; + swParams.min_number_points_per_label = 10; + swParams.include_ransac_refinement = true; + swParams.global_plane_fit_distance_error_threshold = 0.04; + swParams.global_plane_fit_angle_error_threshold_degrees = 5.0; + + ransac_plane_extractor::RansacPlaneExtractorParameters ransacParameters; + ransacParameters.probability = 0.01; + ransacParameters.min_points = 25; + ransacParameters.epsilon = 0.02; + ransacParameters.cluster_epsilon = 0.05; + ransacParameters.normal_threshold = 0.98; + + sliding_window_plane_extractor::SlidingWindowPlaneExtractor planeExtractor(swParams, ransacParameters); + planeExtractor.runExtraction(elevationMap, "elevation"); + plotSlidingWindow(planeExtractor); + + // ============== Polygons =================== // + const auto& labeled_image = planeExtractor.getSegmentedPlanesMap().labeledImage; + cv::Mat binary_image(labeled_image.size(), CV_8UC1); + + for (const auto& label_plane : planeExtractor.getSegmentedPlanesMap().labelPlaneParameters) { + const int label = label_plane.first; + const auto& plane_parameters = label_plane.second; + + binary_image = labeled_image == label; + + // Plot binary image + cv::Mat binaryImagePlot = binary_image; + binaryImagePlot.convertTo(binaryImagePlot, CV_8UC1, 255); + cv::namedWindow("Polygon binary image label", cv::WindowFlags::WINDOW_NORMAL); + cv::imshow("Polygon binary image label", binaryImagePlot); + + // Extract + int erosion_size = 2; // single sided length of the kernel + int erosion_type = cv::MORPH_CROSS; // cv::MORPH_ELLIPSE, cv::MORPH_RECT + cv::Mat element = cv::getStructuringElement( erosion_type, cv::Size( 2*erosion_size + 1, 2*erosion_size+1 ) ); + const auto boundariesAndInsets = contour_extraction::extractBoundaryAndInset(binary_image, element); + + // Plot eroded image + cv::Mat erodedImagePlot = binary_image; + erodedImagePlot.convertTo(erodedImagePlot, CV_8UC1, 255); + cv::namedWindow("Polygon binary eroded label", cv::WindowFlags::WINDOW_NORMAL); + cv::imshow("Polygon binary eroded label", erodedImagePlot); + + // Plot contours + int scale = 5; + cv::Size scaledSize = {scale* binary_image.size().width, scale* binary_image.size().height}; // transposed + cv::Mat realPolygonImage(scaledSize, CV_8UC3, cv::Vec3b(0, 0, 0)); + for (const auto& boundaryAndInset : boundariesAndInsets) { + drawContour(realPolygonImage, scaleShape(boundaryAndInset.boundary, scale)); + for (const auto& inset : boundaryAndInset.insets) { + drawContour(realPolygonImage, scaleShape(inset, scale)); + } + } + + cv::namedWindow("Polygon real", cv::WindowFlags::WINDOW_NORMAL); + cv::imshow("Polygon real", realPolygonImage); + cv::waitKey(0); // Wait for a keystroke in the window + } + + // ============== planar regions extraction ================ + contour_extraction::ContourExtractionParameters polyParams; + polyParams.offsetSize = 2; + + contour_extraction::ContourExtraction contourExtraction(polyParams); + contourExtraction.extractPlanarRegions(planeExtractor.getSegmentedPlanesMap()); + + return 0; +} \ No newline at end of file diff --git a/segmented_planes_terrain_model/CMakeLists.txt b/segmented_planes_terrain_model/CMakeLists.txt new file mode 100644 index 00000000..9b581345 --- /dev/null +++ b/segmented_planes_terrain_model/CMakeLists.txt @@ -0,0 +1,91 @@ +cmake_minimum_required(VERSION 3.1...3.15) +project(segmented_planes_terrain_model) + +# Catkin dependencies +find_package(catkin REQUIRED COMPONENTS + ocs2_switched_model_interface + ocs2_quadruped_interface + convex_plane_decomposition + convex_plane_decomposition_msgs + convex_plane_decomposition_ros + roscpp +) + +# OpenCv +find_package(OpenCV REQUIRED) + +# CGAL +find_package(CGAL COMPONENTS Core) + +# glog +find_package(PkgConfig REQUIRED) +pkg_check_modules(glog libglog REQUIRED) + +# Cpp standard version +set(CMAKE_CXX_STANDARD 14) +set(CMAKE_CXX_STANDARD_REQUIRED ON) + +################################### +## catkin specific configuration ## +################################### +catkin_package() + +########### +## Build ## +########### + +include_directories( + include + ${catkin_INCLUDE_DIRS} +) + +add_library(${PROJECT_NAME} + src/SegmentedPlanesTerrainModel.cpp + src/SegmentedPlanesTerrainModelRos.cpp + ) +add_dependencies(${PROJECT_NAME} + ${catkin_EXPORTED_TARGETS} + ) +target_link_libraries(${PROJECT_NAME} + ${catkin_LIBRARIES} + ${OpenCV_LIBRARIES} + glog + ) +target_compile_options(${PROJECT_NAME} + PUBLIC -DCGAL_HAS_THREADS + ) + +add_executable(${PROJECT_NAME}_demo_node + src/DemoNode.cpp +) +target_link_libraries(${PROJECT_NAME}_demo_node + ${catkin_LIBRARIES} + ${OpenCV_LIBRARIES} + glog + ${PROJECT_NAME} +) + +############# +## Install ## +############# + +install(TARGETS ${PROJECT_NAME} + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} + ) +install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} + ) + +install(TARGETS ${PROJECT_NAME}_demo_node + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) + +install(DIRECTORY launch + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) + +############# +## Testing ## +############# diff --git a/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesTerrainModel.h b/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesTerrainModel.h new file mode 100644 index 00000000..93c47671 --- /dev/null +++ b/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesTerrainModel.h @@ -0,0 +1,29 @@ +// +// Created by rgrandia on 23.06.20. +// + +#pragma once + +#include +#include "ocs2_switched_model_interface/terrain/TerrainModel.h" + +namespace switched_model { + +class SegmentedPlanesTerrainModel : switched_model::TerrainModel { + public: + SegmentedPlanesTerrainModel(convex_plane_decomposition::PlanarTerrain planarTerrain); + + TerrainPlane getLocalTerrainAtPositionInWorld(const vector3_t& positionInWorld) const override; + + ConvexTerrain getConvexTerrainAtPositionInWorld(const vector3_t& positionInWorld) const override; + + const convex_plane_decomposition::PlanarTerrain& PlanarTerrain() const { return planarTerrain_; } + + private: + convex_plane_decomposition::PlanarTerrain planarTerrain_; +}; + +std::pair getPlanarRegionAtPositionInWorld( + const vector3_t& positionInWorld, const convex_plane_decomposition::PlanarTerrain& planarTerrain); + +} // namespace switched_model diff --git a/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesTerrainModelRos.h b/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesTerrainModelRos.h new file mode 100644 index 00000000..1192f57a --- /dev/null +++ b/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesTerrainModelRos.h @@ -0,0 +1,32 @@ +// +// Created by rgrandia on 24.06.20. +// + +#pragma once + +#include + +#include + +#include + +#include "SegmentedPlanesTerrainModel.h" + +namespace switched_model { + +class SegmentedPlanesTerrainModelRos { + public: + SegmentedPlanesTerrainModelRos(ros::NodeHandle& nodehandle); + + /// Updates the terrain if a new one is available. Return if an update was made + bool update(std::unique_ptr& terrainPtr); + + private: + void callback(const convex_plane_decomposition_msgs::PlanarTerrain::ConstPtr& msg); + + ros::Subscriber terrainSubscriber_; + std::mutex updateMutex_; + std::unique_ptr terrainPtr_; +}; + +} // namespace switched_model diff --git a/segmented_planes_terrain_model/launch/demo.launch b/segmented_planes_terrain_model/launch/demo.launch new file mode 100644 index 00000000..be8661cb --- /dev/null +++ b/segmented_planes_terrain_model/launch/demo.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + \ No newline at end of file diff --git a/segmented_planes_terrain_model/package.xml b/segmented_planes_terrain_model/package.xml new file mode 100644 index 00000000..a0923b28 --- /dev/null +++ b/segmented_planes_terrain_model/package.xml @@ -0,0 +1,19 @@ + + + segmented_planes_terrain_model + 0.0.0 + The segmented_planes_terrain_model package + + Ruben Grandia + + TODO + + catkin + ocs2_switched_model_interface + ocs2_quadruped_interface + convex_plane_decomposition + convex_plane_decomposition_msgs + convex_plane_decomposition_ros + roscpp + + diff --git a/segmented_planes_terrain_model/src/DemoNode.cpp b/segmented_planes_terrain_model/src/DemoNode.cpp new file mode 100644 index 00000000..41547703 --- /dev/null +++ b/segmented_planes_terrain_model/src/DemoNode.cpp @@ -0,0 +1,110 @@ +// +// Created by rgrandia on 24.06.20. +// + +#include "segmented_planes_terrain_model/SegmentedPlanesTerrainModelRos.h" + +#include + +#include +#include + +#include + +#include +#include + +const std::string originFrameId_ = "map"; + +visualization_msgs::MarkerArray toMarker(const switched_model::ConvexTerrain& convexTerrain) { + visualization_msgs::MarkerArray markerArray; + + // Polygon message + std::vector boundary; + boundary.reserve(convexTerrain.boundary.size() + 1); + for (const auto& point : convexTerrain.boundary) { + const auto& pointInWorldFrame = positionInWorldFrameFromPositionInTerrain({point.x(), point.y(), 0.0}, convexTerrain.plane); + boundary.emplace_back(switched_model::getPointMsg(pointInWorldFrame)); + } + // Close the polygon + const auto& pointInWorldFrame = positionInWorldFrameFromPositionInTerrain({convexTerrain.boundary.front().x(), convexTerrain.boundary.front().y(), 0.0}, convexTerrain.plane); + boundary.emplace_back(switched_model::getPointMsg(pointInWorldFrame)); + + markerArray.markers.emplace_back(switched_model::getSphereMsg(convexTerrain.plane.positionInWorld, switched_model::Color::orange, 0.02)); + markerArray.markers.emplace_back(switched_model::getLineMsg(std::move(boundary), switched_model::Color::orange, 0.005)); + + // Add headers and Id + const ros::Time timeStamp = ros::Time::now(); + switched_model::assignHeader(markerArray.markers.begin(), markerArray.markers.end(), switched_model::getHeaderMsg(originFrameId_, timeStamp)); + switched_model::assignIncreasingId(markerArray.markers.begin(), markerArray.markers.end()); + + return markerArray; +} + +visualization_msgs::Marker toMarker(const switched_model::vector3_t& position) { + auto marker = switched_model::getSphereMsg(position, switched_model::Color::green, 0.02); + + const ros::Time timeStamp = ros::Time::now(); + marker.header = switched_model::getHeaderMsg(originFrameId_, timeStamp); + return marker; +} + +switched_model::ConvexTerrain toConvexTerrain(const convex_plane_decomposition::CgalPoint2d& centerInTerrainFrame, const convex_plane_decomposition::CgalPolygon2d& polygon, const switched_model::TerrainPlane& plane) { + // Return convex region with origin at the seedpoint + switched_model::ConvexTerrain convexTerrain; + const auto& seedpointInWorldFrame = positionInWorldFrameFromPositionInTerrain({centerInTerrainFrame.x(), centerInTerrainFrame.y(), 0.0}, plane); + convexTerrain.plane = {seedpointInWorldFrame, plane.orientationWorldToTerrain}; // Origin is at the seedpoint + convexTerrain.boundary.reserve(polygon.size()); + for (const auto& point : polygon) { + convexTerrain.boundary.emplace_back(point.x() - centerInTerrainFrame.x(), point.y() - centerInTerrainFrame.y()); // Shift points to new origin + } + return convexTerrain; +} + +int main(int argc, char** argv) { + ros::init(argc, argv, "segmented_planes_demo_node"); + ros::NodeHandle nodeHandle("~"); + + // Subscription to terrain + switched_model::SegmentedPlanesTerrainModelRos segmentedPlanesTerrainModelRos(nodeHandle); + std::unique_ptr terrainModel; + + // Publishers for visualization + auto positionPublisher_ = nodeHandle.advertise("queryPosition", 1); + auto convexTerrainPublisher_ = nodeHandle.advertise("convex_terrain", 1); + auto regionBoundaryPublisher_ = nodeHandle.advertise("regionBoundary", 1); + + // Node loop + ros::Rate rate(2.); + while (ros::ok()) { + if (segmentedPlanesTerrainModelRos.update(terrainModel)) { + ROS_INFO("Terrain model updated!!"); + } + + if (terrainModel) { + const auto RandomFloat = [](float a, float b) { + float random = ((float) rand()) / (float) RAND_MAX; + float diff = b - a; + float r = random * diff; + return a + r; + }; + + switched_model::vector3_t positionInWorld{RandomFloat(-2.0, 2.0), RandomFloat(-2.0, 2.0), RandomFloat(0.0, 1.0)}; + positionPublisher_.publish(toMarker(positionInWorld)); + std::cout << "Query position: " << positionInWorld.transpose() << std::endl; + + auto t0 = std::chrono::high_resolution_clock::now(); + const auto convexTerrain = terrainModel->getConvexTerrainAtPositionInWorld(positionInWorld); + auto t1 = std::chrono::high_resolution_clock::now(); + std::cout << "Query took " << 1e-3 * std::chrono::duration_cast( t1 - t0 ).count() << " [ms]\n"; + + positionPublisher_.publish(toMarker(positionInWorld)); + convexTerrainPublisher_.publish(toMarker(convexTerrain)); + } + + ros::spinOnce(); + rate.sleep(); + } + + return 0; +} \ No newline at end of file diff --git a/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModel.cpp b/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModel.cpp new file mode 100644 index 00000000..48e3c036 --- /dev/null +++ b/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModel.cpp @@ -0,0 +1,150 @@ +// +// Created by rgrandia on 23.06.20. +// + +#include "segmented_planes_terrain_model/SegmentedPlanesTerrainModel.h" + +#include + +#include +#include + +namespace switched_model { + +SegmentedPlanesTerrainModel::SegmentedPlanesTerrainModel(convex_plane_decomposition::PlanarTerrain planarTerrain) + : planarTerrain_(std::move(planarTerrain)) {} + +TerrainPlane SegmentedPlanesTerrainModel::getLocalTerrainAtPositionInWorld(const vector3_t& positionInWorld) const { + const auto regionAndSeedPoint = getPlanarRegionAtPositionInWorld(positionInWorld, planarTerrain_); + const auto& region = *regionAndSeedPoint.first; + const auto& seedpoint = regionAndSeedPoint.second; + const auto& seedpointInWorldFrame = positionInWorldFrameFromPositionInTerrain({seedpoint.x(), seedpoint.y(), 0.0}, region.planeParameters); + return TerrainPlane{seedpointInWorldFrame, region.planeParameters.orientationWorldToTerrain}; +} + +ConvexTerrain SegmentedPlanesTerrainModel::getConvexTerrainAtPositionInWorld(const vector3_t& positionInWorld) const { + const auto regionAndSeedPoint = getPlanarRegionAtPositionInWorld(positionInWorld, planarTerrain_); + const auto& region = *regionAndSeedPoint.first; + const auto& seedpoint = regionAndSeedPoint.second; + const auto& seedpointInWorldFrame = positionInWorldFrameFromPositionInTerrain({seedpoint.x(), seedpoint.y(), 0.0}, region.planeParameters); + + // Convert boundary and seedpoint to terrain frame + const int numberOfVertices = 16; // Multiple of 4 is nice for symmetry. + const double growthFactor = 1.05; + const auto convexRegion = convex_plane_decomposition::growConvexPolygonInsideShape(region.boundaryWithInset.boundary, seedpoint, + numberOfVertices, growthFactor); + + // Return convex region with origin at the seedpoint + ConvexTerrain convexTerrain; + convexTerrain.plane = {seedpointInWorldFrame, region.planeParameters.orientationWorldToTerrain}; // Origin is at the seedpoint + convexTerrain.boundary.reserve(convexRegion.size()); + for (const auto& point : convexRegion) { + convexTerrain.boundary.emplace_back(point.x() - seedpoint.x(), point.y() - seedpoint.y()); // Shift points to new origin + } + return convexTerrain; +} + +double singleSidedSquaredDistance(double value, double min, double max) { + // - | 0 | + + // min max + // Returns 0.0 if between min and max. Returns the distance to one boundary otherwise. + if (value < min) { + double diff = min - value; + return diff * diff; + } else if (value < max) { + return 0.0; + } else { + double diff = max - value; + return diff * diff; + } +} + +double squaredDistanceToBoundingBox(const vector3_t& positionInWorld, const convex_plane_decomposition::PlanarRegion& planarRegion) { + const auto& positionInTerrainFrame = positionInTerrainFrameFromPositionInWorld(positionInWorld, planarRegion.planeParameters); + double dxdx = singleSidedSquaredDistance(positionInTerrainFrame.x(), planarRegion.bbox2d.xmin(), planarRegion.bbox2d.xmax()); + double dydy = singleSidedSquaredDistance(positionInTerrainFrame.y(), planarRegion.bbox2d.ymin(), planarRegion.bbox2d.ymax()); + double dzdz = positionInTerrainFrame.z()* positionInTerrainFrame.z(); + return dxdx + dydy + dzdz; +} + +const convex_plane_decomposition::CgalPolygonWithHoles2d* findInsetContainingThePoint(const convex_plane_decomposition::CgalPoint2d& point, const std::vector& insets){ + for (const auto& inset : insets) { + if (convex_plane_decomposition::isInside(point, inset.outer_boundary())) { + return &inset; + } + } + return nullptr; +} + +std::pair squaredDistanceToBoundary(const vector3_t& positionInWorld, const convex_plane_decomposition::PlanarRegion& planarRegion) { + const auto& positionInTerrainFrame = positionInTerrainFrameFromPositionInWorld(positionInWorld, planarRegion.planeParameters); + const double dzdz = positionInTerrainFrame.z()* positionInTerrainFrame.z(); + const convex_plane_decomposition::CgalPoint2d queryProjectedToPlane {positionInTerrainFrame.x(), positionInTerrainFrame.y()}; + + // First search if the projected point is inside any of the insets. + const auto insetPtrContainingPoint = findInsetContainingThePoint(queryProjectedToPlane, planarRegion.boundaryWithInset.insets); + + // Compute the projection + convex_plane_decomposition::CgalPoint2d projectedPoint; + if (insetPtrContainingPoint == nullptr) { + // Not inside any of the insets. Need to look for the closest one. The projection will be to the boundary + double minDistSquared = std::numeric_limits::max(); + for (const auto& inset : planarRegion.boundaryWithInset.insets) { + const auto closestPoint = convex_plane_decomposition::projectToClosestPoint(queryProjectedToPlane, inset.outer_boundary()); + double distSquare = convex_plane_decomposition::squaredDistance(closestPoint, queryProjectedToPlane); + if (distSquare < minDistSquared) { + projectedPoint = closestPoint; + minDistSquared = distSquare; + } + } + } else { + // Query point is inside and does not need projection... + projectedPoint = queryProjectedToPlane; + + // ... unless it is inside a hole + for (const auto& hole : insetPtrContainingPoint->holes()) { + if (convex_plane_decomposition::isInside(queryProjectedToPlane, hole)) { + projectedPoint = convex_plane_decomposition::projectToClosestPoint(queryProjectedToPlane, hole); + break; // No need to search other holes. Holes are not overlapping + } + } + } + + return {dzdz + convex_plane_decomposition::squaredDistance(projectedPoint, queryProjectedToPlane), projectedPoint}; +} + +std::pair +getPlanarRegionAtPositionInWorld(const vector3_t& positionInWorld, const convex_plane_decomposition::PlanarTerrain& planarTerrain) { + // Compute distance to bounding boxes + std::vector> regionsAndBboxSquareDistances; + regionsAndBboxSquareDistances.reserve(planarTerrain.size()); + for (const auto& planarRegion : planarTerrain) { + regionsAndBboxSquareDistances.emplace_back(&planarRegion, squaredDistanceToBoundingBox(positionInWorld, planarRegion)); + } + + // Sort regions close to far + std::sort(regionsAndBboxSquareDistances.begin(), regionsAndBboxSquareDistances.end(), + [](const std::pair& lhs, + const std::pair& rhs) { + return lhs.second < rhs.second; + }); + + // Look for closest planar region. Use bbox as lower bound to stop searching. + double minDistSquared = std::numeric_limits::max(); + std::pair closestRegionAndProjection; + for(const auto& regionAndBboxSquareDistance : regionsAndBboxSquareDistances) { + if (regionAndBboxSquareDistance.second > minDistSquared) { + break; // regions are sorted. Can exit on the first lower bound being larger than running minimum + } + + const auto distanceSqrAndProjection = squaredDistanceToBoundary(positionInWorld, *regionAndBboxSquareDistance.first); + if (distanceSqrAndProjection.first < minDistSquared) { + minDistSquared = distanceSqrAndProjection.first; + closestRegionAndProjection = {regionAndBboxSquareDistance.first, distanceSqrAndProjection.second}; + } + } + + return closestRegionAndProjection; +} + +} // namespace switched_model diff --git a/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModelRos.cpp b/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModelRos.cpp new file mode 100644 index 00000000..f9a1e35e --- /dev/null +++ b/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModelRos.cpp @@ -0,0 +1,32 @@ +// +// Created by rgrandia on 24.06.20. +// + +#include "segmented_planes_terrain_model/SegmentedPlanesTerrainModelRos.h" + +#include + +namespace switched_model { + +SegmentedPlanesTerrainModelRos::SegmentedPlanesTerrainModelRos(ros::NodeHandle& nodehandle) { + terrainSubscriber_ = nodehandle.subscribe("/convex_plane_decomposition_ros/planar_terrain", 1, &SegmentedPlanesTerrainModelRos::callback, this); +} + +bool SegmentedPlanesTerrainModelRos::update(std::unique_ptr& terrainPtr) { + std::lock_guard lock(updateMutex_); + + if (terrainPtr_) { + terrainPtr = std::move(terrainPtr_); + terrainPtr_ = nullptr; + return true; + } else { + return false; + } +} + +void SegmentedPlanesTerrainModelRos::callback(const convex_plane_decomposition_msgs::PlanarTerrain::ConstPtr& msg) { + std::lock_guard lock(updateMutex_); + terrainPtr_ = std::make_unique(convex_plane_decomposition::fromMessage(*msg)); +} + +} // namespace switched_model From 42df5accf24f4590739a939c4cfeb8179dfb76eb Mon Sep 17 00:00:00 2001 From: rgrandia Date: Wed, 24 Jun 2020 17:54:41 +0200 Subject: [PATCH 046/504] remove large image --- README.md | 67 +++++++++++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 67 insertions(+) create mode 100644 README.md diff --git a/README.md b/README.md new file mode 100644 index 00000000..6258b4d1 --- /dev/null +++ b/README.md @@ -0,0 +1,67 @@ +# Convex Terrain Representation # + +## Overview +This is a C++ ROS package for extracting convex polygons from elevation maps created by elevation_mapping. + +## Installation + +### Dependencies + +#### OpenCV +Make sure you have openCV installed. +You can execute the following command to install it. +```bash +sudo apt-get install libopencv-dev +``` + +#### Eigen +```bash +sudo apt install libeigen3-dev +``` + +#### GLOG +```bash +sudo apt-get install libgoogle-glog-dev +``` + +#### CGAL +CGAL5 is required. You can download it from [here](https://github.com/CGAL/cgal/releases/tag/releases%2FCGAL-5.0.2) +and follow the instructions [here](https://doc.cgal.org/latest/Manual/installation.html#installation_idealworld). +Make sure you have the third-party libaries installed on you machine: +```bash +sudo apt-get install libgmp-dev +sudo apt-get install libgmp3-dev +sudo apt-get install libmpfr-dev +sudo apt-get install libboost-all-dev +``` + + +### ROS package dependencies + +#### JSK-visualization +For rviz-visualization the jsk-library is used. +```bash +sudo apt-get install ros-melodic-jsk-visualization +``` + +#### Grid Map +Grid map has to be located in you workspace. You can clone it using: +```bash +git clone https://github.com/ANYbotics/grid_map.git +``` + +## Usage +### Build +```bash +catkin build convex_plane_decomposition_ros +``` +### Run demo +```bash +roslaunch convex_plane_decomposition_ros convex_plane_decomposition_demo.launch +``` + +### Parameters +You can select input map topics, pipeline parameters etc. in the respective yaml file in +```bash +convex_plane_decomposition_ros/config/ +``` From 3f3c202cdfb3acf0f2a979e6e44601c3f539e2c2 Mon Sep 17 00:00:00 2001 From: rgrandia Date: Thu, 25 Jun 2020 14:19:23 +0200 Subject: [PATCH 047/504] cleanup to integrate with controller --- segmented_planes_terrain_model/CMakeLists.txt | 14 ++++++- .../SegmentedPlanesTerrainModel.h | 2 +- .../SegmentedPlanesTerrainModelRos.h | 1 + .../SegmentedPlanesTerrainVisualization.h | 18 ++++++++ .../launch/demo.launch | 2 +- .../src/DemoNode.cpp | 31 +------------- .../src/SegmentedPlanesTerrainModelRos.cpp | 10 +++-- .../SegmentedPlanesTerrainVisualization.cpp | 41 +++++++++++++++++++ 8 files changed, 82 insertions(+), 37 deletions(-) create mode 100644 segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesTerrainVisualization.h create mode 100644 segmented_planes_terrain_model/src/SegmentedPlanesTerrainVisualization.cpp diff --git a/segmented_planes_terrain_model/CMakeLists.txt b/segmented_planes_terrain_model/CMakeLists.txt index 9b581345..253ee617 100644 --- a/segmented_planes_terrain_model/CMakeLists.txt +++ b/segmented_planes_terrain_model/CMakeLists.txt @@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 3.1...3.15) project(segmented_planes_terrain_model) # Catkin dependencies -find_package(catkin REQUIRED COMPONENTS +set(CATKIN_PACKAGE_DEPENDENCIES ocs2_switched_model_interface ocs2_quadruped_interface convex_plane_decomposition @@ -11,6 +11,10 @@ find_package(catkin REQUIRED COMPONENTS roscpp ) +find_package(catkin REQUIRED COMPONENTS + ${CATKIN_PACKAGE_DEPENDENCIES} +) + # OpenCv find_package(OpenCV REQUIRED) @@ -28,7 +32,12 @@ set(CMAKE_CXX_STANDARD_REQUIRED ON) ################################### ## catkin specific configuration ## ################################### -catkin_package() +catkin_package( + INCLUDE_DIRS include + LIBRARIES ${PROJECT_NAME} + CATKIN_DEPENDS ${CATKIN_PACKAGE_DEPENDENCIES} + DEPENDS OpenCV +) ########### ## Build ## @@ -42,6 +51,7 @@ include_directories( add_library(${PROJECT_NAME} src/SegmentedPlanesTerrainModel.cpp src/SegmentedPlanesTerrainModelRos.cpp + src/SegmentedPlanesTerrainVisualization.cpp ) add_dependencies(${PROJECT_NAME} ${catkin_EXPORTED_TARGETS} diff --git a/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesTerrainModel.h b/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesTerrainModel.h index 93c47671..2c5bc281 100644 --- a/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesTerrainModel.h +++ b/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesTerrainModel.h @@ -9,7 +9,7 @@ namespace switched_model { -class SegmentedPlanesTerrainModel : switched_model::TerrainModel { +class SegmentedPlanesTerrainModel : public switched_model::TerrainModel { public: SegmentedPlanesTerrainModel(convex_plane_decomposition::PlanarTerrain planarTerrain); diff --git a/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesTerrainModelRos.h b/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesTerrainModelRos.h index 1192f57a..c55bfcfd 100644 --- a/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesTerrainModelRos.h +++ b/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesTerrainModelRos.h @@ -26,6 +26,7 @@ class SegmentedPlanesTerrainModelRos { ros::Subscriber terrainSubscriber_; std::mutex updateMutex_; + std::atomic_bool terrainUpdated_; std::unique_ptr terrainPtr_; }; diff --git a/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesTerrainVisualization.h b/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesTerrainVisualization.h new file mode 100644 index 00000000..8a1c63ae --- /dev/null +++ b/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesTerrainVisualization.h @@ -0,0 +1,18 @@ +// +// Created by rgrandia on 24.06.20. +// + +#pragma once + +#include +#include + +#include + +#include + +namespace switched_model { + +visualization_msgs::MarkerArray getConvexTerrainMarkers(const ConvexTerrain& convexTerrain, Color color, double diameter, double linewidth, double normalLength); + +} // namespace switched_model diff --git a/segmented_planes_terrain_model/launch/demo.launch b/segmented_planes_terrain_model/launch/demo.launch index be8661cb..ef8c03d9 100644 --- a/segmented_planes_terrain_model/launch/demo.launch +++ b/segmented_planes_terrain_model/launch/demo.launch @@ -1,6 +1,6 @@ - + diff --git a/segmented_planes_terrain_model/src/DemoNode.cpp b/segmented_planes_terrain_model/src/DemoNode.cpp index 41547703..5bf1a721 100644 --- a/segmented_planes_terrain_model/src/DemoNode.cpp +++ b/segmented_planes_terrain_model/src/DemoNode.cpp @@ -11,27 +11,12 @@ #include -#include -#include +#include "segmented_planes_terrain_model/SegmentedPlanesTerrainVisualization.h" const std::string originFrameId_ = "map"; visualization_msgs::MarkerArray toMarker(const switched_model::ConvexTerrain& convexTerrain) { - visualization_msgs::MarkerArray markerArray; - - // Polygon message - std::vector boundary; - boundary.reserve(convexTerrain.boundary.size() + 1); - for (const auto& point : convexTerrain.boundary) { - const auto& pointInWorldFrame = positionInWorldFrameFromPositionInTerrain({point.x(), point.y(), 0.0}, convexTerrain.plane); - boundary.emplace_back(switched_model::getPointMsg(pointInWorldFrame)); - } - // Close the polygon - const auto& pointInWorldFrame = positionInWorldFrameFromPositionInTerrain({convexTerrain.boundary.front().x(), convexTerrain.boundary.front().y(), 0.0}, convexTerrain.plane); - boundary.emplace_back(switched_model::getPointMsg(pointInWorldFrame)); - - markerArray.markers.emplace_back(switched_model::getSphereMsg(convexTerrain.plane.positionInWorld, switched_model::Color::orange, 0.02)); - markerArray.markers.emplace_back(switched_model::getLineMsg(std::move(boundary), switched_model::Color::orange, 0.005)); + visualization_msgs::MarkerArray markerArray = switched_model::getConvexTerrainMarkers(convexTerrain, switched_model::Color::orange, 0.02, 0.005, 0.1); // Add headers and Id const ros::Time timeStamp = ros::Time::now(); @@ -49,18 +34,6 @@ visualization_msgs::Marker toMarker(const switched_model::vector3_t& position) { return marker; } -switched_model::ConvexTerrain toConvexTerrain(const convex_plane_decomposition::CgalPoint2d& centerInTerrainFrame, const convex_plane_decomposition::CgalPolygon2d& polygon, const switched_model::TerrainPlane& plane) { - // Return convex region with origin at the seedpoint - switched_model::ConvexTerrain convexTerrain; - const auto& seedpointInWorldFrame = positionInWorldFrameFromPositionInTerrain({centerInTerrainFrame.x(), centerInTerrainFrame.y(), 0.0}, plane); - convexTerrain.plane = {seedpointInWorldFrame, plane.orientationWorldToTerrain}; // Origin is at the seedpoint - convexTerrain.boundary.reserve(polygon.size()); - for (const auto& point : polygon) { - convexTerrain.boundary.emplace_back(point.x() - centerInTerrainFrame.x(), point.y() - centerInTerrainFrame.y()); // Shift points to new origin - } - return convexTerrain; -} - int main(int argc, char** argv) { ros::init(argc, argv, "segmented_planes_demo_node"); ros::NodeHandle nodeHandle("~"); diff --git a/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModelRos.cpp b/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModelRos.cpp index f9a1e35e..dc450792 100644 --- a/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModelRos.cpp +++ b/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModelRos.cpp @@ -8,16 +8,17 @@ namespace switched_model { -SegmentedPlanesTerrainModelRos::SegmentedPlanesTerrainModelRos(ros::NodeHandle& nodehandle) { +SegmentedPlanesTerrainModelRos::SegmentedPlanesTerrainModelRos(ros::NodeHandle& nodehandle) : terrainUpdated_(false) { terrainSubscriber_ = nodehandle.subscribe("/convex_plane_decomposition_ros/planar_terrain", 1, &SegmentedPlanesTerrainModelRos::callback, this); } bool SegmentedPlanesTerrainModelRos::update(std::unique_ptr& terrainPtr) { - std::lock_guard lock(updateMutex_); - - if (terrainPtr_) { + // Avoid locking the mutex in the common case that the terrain is not updated. + if (terrainUpdated_) { + std::lock_guard lock(updateMutex_); terrainPtr = std::move(terrainPtr_); terrainPtr_ = nullptr; + terrainUpdated_ = false; return true; } else { return false; @@ -27,6 +28,7 @@ bool SegmentedPlanesTerrainModelRos::update(std::unique_ptr lock(updateMutex_); terrainPtr_ = std::make_unique(convex_plane_decomposition::fromMessage(*msg)); + terrainUpdated_ = true; } } // namespace switched_model diff --git a/segmented_planes_terrain_model/src/SegmentedPlanesTerrainVisualization.cpp b/segmented_planes_terrain_model/src/SegmentedPlanesTerrainVisualization.cpp new file mode 100644 index 00000000..cad3bc3d --- /dev/null +++ b/segmented_planes_terrain_model/src/SegmentedPlanesTerrainVisualization.cpp @@ -0,0 +1,41 @@ +// +// Created by rgrandia on 24.06.20. +// + +#include "segmented_planes_terrain_model/SegmentedPlanesTerrainVisualization.h" + +namespace switched_model { + +visualization_msgs::MarkerArray getConvexTerrainMarkers(const ConvexTerrain& convexTerrain, Color color, double diameter, double linewidth, double normalLength) { + visualization_msgs::MarkerArray markerArray; + markerArray.markers.reserve(3); + + // Mark the center point + markerArray.markers.emplace_back(getSphereMsg(convexTerrain.plane.positionInWorld, color, diameter)); + + // Mark the surface normal + const vector3_t surfaceNormal = normalLength * surfaceNormalInWorld(convexTerrain.plane); + markerArray.markers.emplace_back(getArrowAtPointMsg(surfaceNormal, convexTerrain.plane.positionInWorld, color)); + + // Polygon message + if (!convexTerrain.boundary.empty()){ + std::vector boundary; + boundary.reserve(convexTerrain.boundary.size() + 1); + for (const auto& point : convexTerrain.boundary) { + const auto& pointInWorldFrame = positionInWorldFrameFromPositionInTerrain({point.x(), point.y(), 0.0}, convexTerrain.plane); + boundary.emplace_back(getPointMsg(pointInWorldFrame)); + } + // Close the polygon + const auto& pointInWorldFrame = positionInWorldFrameFromPositionInTerrain({convexTerrain.boundary.front().x(), convexTerrain.boundary.front().y(), 0.0}, convexTerrain.plane); + boundary.emplace_back(getPointMsg(pointInWorldFrame)); + + markerArray.markers.emplace_back(getLineMsg(std::move(boundary), color, linewidth)); + } else { + + } + + + return markerArray; +} + +} // namespace switched_model From e05d8b7e8b1e343fffccec2218931cf063feee1d Mon Sep 17 00:00:00 2001 From: rgrandia Date: Mon, 29 Jun 2020 13:51:56 +0200 Subject: [PATCH 048/504] minor fixes --- convex_plane_decomposition_ros/CMakeLists.txt | 6 +++++- convex_plane_decomposition_ros/config/parameters.yaml | 2 +- .../convex_plane_decomposition_ros/MessageConversion.h | 2 +- .../convex_plane_decomposition_save_elevationmap.launch | 2 +- 4 files changed, 8 insertions(+), 4 deletions(-) diff --git a/convex_plane_decomposition_ros/CMakeLists.txt b/convex_plane_decomposition_ros/CMakeLists.txt index 69bf7f72..1ba33625 100644 --- a/convex_plane_decomposition_ros/CMakeLists.txt +++ b/convex_plane_decomposition_ros/CMakeLists.txt @@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 3.1...3.15) project(convex_plane_decomposition_ros) # Catkin dependencies -find_package(catkin REQUIRED COMPONENTS +set(CATKIN_PACKAGE_DEPENDENCIES roscpp grid_map_core grid_map_ros @@ -21,6 +21,10 @@ find_package(catkin REQUIRED COMPONENTS convex_plane_decomposition_msgs ) +find_package(catkin REQUIRED COMPONENTS + ${CATKIN_PACKAGE_DEPENDENCIES} +) + # OpenCv find_package(OpenCV REQUIRED) diff --git a/convex_plane_decomposition_ros/config/parameters.yaml b/convex_plane_decomposition_ros/config/parameters.yaml index d6fe9e03..180bf395 100644 --- a/convex_plane_decomposition_ros/config/parameters.yaml +++ b/convex_plane_decomposition_ros/config/parameters.yaml @@ -24,7 +24,7 @@ ransac_plane_refinement: probability: 0.01 # Probability to miss the largest candidate shape. A lower probability provides a higher reliability and determinism at the cost of longer running times min_points: 25 # This minimum number of points per plane. Controls the termination of the algorithm. epsilon: 0.02 # Maximum distance to plane - cluster_epsilon: 0.05 # Set maximum Euclidean distance between points to be clustered. Two points are connected if separated by a distance of at most 2*sqrt(2)*cluster_epsilon = 2.828 * cluster_epsilon + cluster_epsilon: 0.02 # Set maximum Euclidean distance between points to be clustered. Two points are connected if separated by a distance of at most 2*sqrt(2)*cluster_epsilon = 2.828 * cluster_epsilon normal_threshold: 0.98 # Set maximum normal deviation. normal_threshold < dot(surface_normal, point_normal); contour_extraction: diff --git a/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/MessageConversion.h b/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/MessageConversion.h index 7fe2271f..24d40a11 100644 --- a/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/MessageConversion.h +++ b/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/MessageConversion.h @@ -6,7 +6,7 @@ #include -#include +#include #include #include #include diff --git a/convex_plane_decomposition_ros/launch/convex_plane_decomposition_save_elevationmap.launch b/convex_plane_decomposition_ros/launch/convex_plane_decomposition_save_elevationmap.launch index f884c382..d2b9ec81 100644 --- a/convex_plane_decomposition_ros/launch/convex_plane_decomposition_save_elevationmap.launch +++ b/convex_plane_decomposition_ros/launch/convex_plane_decomposition_save_elevationmap.launch @@ -3,7 +3,7 @@ - + From 9953d0f73809ce02e95573d6013c96ac4a332f1c Mon Sep 17 00:00:00 2001 From: rgrandia Date: Mon, 29 Jun 2020 17:10:16 +0200 Subject: [PATCH 049/504] wrap cgal into a catkin package --- cgal5_catkin/.gitignore | 32 ++++++++++++++++ cgal5_catkin/CMakeLists.txt | 28 ++++++++++++++ cgal5_catkin/README.md | 2 + cgal5_catkin/cmake/cgal-extras.cmake.in | 2 + cgal5_catkin/package.xml | 10 +++++ convex_plane_decomposition/CMakeLists.txt | 37 +++++++++---------- .../ransac/RansacPlaneExtractor.hpp | 8 ++-- convex_plane_decomposition/package.xml | 1 + convex_plane_decomposition_ros/CMakeLists.txt | 19 ---------- .../rviz/config_demo.rviz | 18 ++++----- segmented_planes_terrain_model/CMakeLists.txt | 16 +------- 11 files changed, 107 insertions(+), 66 deletions(-) create mode 100644 cgal5_catkin/.gitignore create mode 100644 cgal5_catkin/CMakeLists.txt create mode 100644 cgal5_catkin/README.md create mode 100644 cgal5_catkin/cmake/cgal-extras.cmake.in create mode 100644 cgal5_catkin/package.xml diff --git a/cgal5_catkin/.gitignore b/cgal5_catkin/.gitignore new file mode 100644 index 00000000..259148fa --- /dev/null +++ b/cgal5_catkin/.gitignore @@ -0,0 +1,32 @@ +# Prerequisites +*.d + +# Compiled Object files +*.slo +*.lo +*.o +*.obj + +# Precompiled Headers +*.gch +*.pch + +# Compiled Dynamic libraries +*.so +*.dylib +*.dll + +# Fortran module files +*.mod +*.smod + +# Compiled Static libraries +*.lai +*.la +*.a +*.lib + +# Executables +*.exe +*.out +*.app diff --git a/cgal5_catkin/CMakeLists.txt b/cgal5_catkin/CMakeLists.txt new file mode 100644 index 00000000..2582a1a7 --- /dev/null +++ b/cgal5_catkin/CMakeLists.txt @@ -0,0 +1,28 @@ +cmake_minimum_required(VERSION 3.10) +project(cgal5_catkin) + +find_package(catkin REQUIRED) + +include(ExternalProject) + +set(VERSION 5.0.2) + +file(MAKE_DIRECTORY ${CATKIN_DEVEL_PREFIX}/include) + +set(CGAL_VERSION 5.0.2) +ExternalProject_Add(cgal + URL https://github.com/CGAL/cgal/archive/releases/CGAL-${CGAL_VERSION}.tar.gz + UPDATE_COMMAND "" + CMAKE_ARGS + -DCMAKE_INSTALL_PREFIX=${CATKIN_DEVEL_PREFIX} + -DWITH_CGAL_Qt5:BOOL=OFF + -DWITH_CGAL_ImageIO:BOOL=OFF + -DCMAKE_BUILD_TYPE:STRING=Release + BUILD_COMMAND $(MAKE) + INSTALL_COMMAND $(MAKE) install +) + +catkin_package( + INCLUDE_DIRS ${CATKIN_DEVEL_PREFIX}/include + CFG_EXTRAS cgal-extras.cmake +) diff --git a/cgal5_catkin/README.md b/cgal5_catkin/README.md new file mode 100644 index 00000000..6d808478 --- /dev/null +++ b/cgal5_catkin/README.md @@ -0,0 +1,2 @@ +# cgal_catkin +Catkin wrapper of the Computational Geometry Algorithms Library (CGAL) diff --git a/cgal5_catkin/cmake/cgal-extras.cmake.in b/cgal5_catkin/cmake/cgal-extras.cmake.in new file mode 100644 index 00000000..aebefc49 --- /dev/null +++ b/cgal5_catkin/cmake/cgal-extras.cmake.in @@ -0,0 +1,2 @@ +# Makes CGAL/find___.cmake available +list(APPEND CMAKE_MODULE_PATH @CATKIN_DEVEL_PREFIX@/lib/cmake/CGAL) \ No newline at end of file diff --git a/cgal5_catkin/package.xml b/cgal5_catkin/package.xml new file mode 100644 index 00000000..29ae2f27 --- /dev/null +++ b/cgal5_catkin/package.xml @@ -0,0 +1,10 @@ + + cgal5_catkin + 5.0.2 + Catkin wrapper for CGAL 5. + Ruben Grandia + + See package + + catkin + diff --git a/convex_plane_decomposition/CMakeLists.txt b/convex_plane_decomposition/CMakeLists.txt index 10109aa6..327de6aa 100644 --- a/convex_plane_decomposition/CMakeLists.txt +++ b/convex_plane_decomposition/CMakeLists.txt @@ -3,6 +3,7 @@ project(convex_plane_decomposition) # Catkin dependencies set(CATKIN_PACKAGE_DEPENDENCIES + cgal5_catkin grid_map_core ocs2_switched_model_interface ) @@ -11,25 +12,21 @@ find_package(catkin REQUIRED COMPONENTS ${CATKIN_PACKAGE_DEPENDENCIES} ) -# CGAL -find_package(CGAL QUIET) -find_package(GMP REQUIRED) -find_package(MPFR REQUIRED) - -# Boost -find_package(Boost COMPONENTS thread REQUIRED) +# CGAL dependencies (QUIET because they cannot be found by Clion) +find_package(GMP 4.2 QUIET) +find_package(MPFR 2.2.1 QUIET) +find_package(Boost 1.57 QUIET) # OpenCv -find_package(OpenCV REQUIRED - COMPONENTS - opencv_highgui - CONFIG -) +find_package(OpenCV REQUIRED COMPONENTS opencv_highgui CONFIG) # glog find_package(PkgConfig REQUIRED) pkg_check_modules(glog libglog REQUIRED) +# Eigen +find_package(Eigen3 3.3 REQUIRED NO_MODULE) + # Cpp standard version set(CMAKE_CXX_STANDARD 14) set(CMAKE_CXX_STANDARD_REQUIRED ON) @@ -38,10 +35,15 @@ set(CMAKE_CXX_STANDARD_REQUIRED ON) ## catkin specific configuration ## ################################### catkin_package( - INCLUDE_DIRS include - LIBRARIES ${PROJECT_NAME} - CATKIN_DEPENDS ${CATKIN_PACKAGE_DEPENDENCIES} - DEPENDS OpenCV CGAL GMP MPFR glog Boost + INCLUDE_DIRS + include + ${EIGEN3_INCLUDE_DIRS} + LIBRARIES + ${PROJECT_NAME} + CATKIN_DEPENDS + ${CATKIN_PACKAGE_DEPENDENCIES} + DEPENDS + OpenCV glog GMP MPFR Boost ) ########### @@ -52,7 +54,6 @@ include_directories( include ${catkin_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIR} - ${Boost_INCLUDE_DIR} ) add_library(${PROJECT_NAME} @@ -68,9 +69,7 @@ add_dependencies(${PROJECT_NAME} ) target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} - ${CGAL_LIBRARIES} ${OpenCV_LIBRARIES} - ${Boost_LIBRARIES} glog gmp mpfr diff --git a/convex_plane_decomposition/include/convex_plane_decomposition/ransac/RansacPlaneExtractor.hpp b/convex_plane_decomposition/include/convex_plane_decomposition/ransac/RansacPlaneExtractor.hpp index 82a8ba65..8a9ad54d 100644 --- a/convex_plane_decomposition/include/convex_plane_decomposition/ransac/RansacPlaneExtractor.hpp +++ b/convex_plane_decomposition/include/convex_plane_decomposition/ransac/RansacPlaneExtractor.hpp @@ -2,10 +2,10 @@ #include -#include "CGAL/Exact_predicates_inexact_constructions_kernel.h" -#include "CGAL/Point_with_normal_3.h" -#include "CGAL/Shape_detection/Efficient_RANSAC.h" -#include "CGAL/property_map.h" +#include +#include +#include +#include #include "RansacPlaneExtractorParameters.h" diff --git a/convex_plane_decomposition/package.xml b/convex_plane_decomposition/package.xml index 840a1008..df94a10d 100644 --- a/convex_plane_decomposition/package.xml +++ b/convex_plane_decomposition/package.xml @@ -9,6 +9,7 @@ TODO catkin + cgal5_catkin grid_map_core ocs2_switched_model_interface diff --git a/convex_plane_decomposition_ros/CMakeLists.txt b/convex_plane_decomposition_ros/CMakeLists.txt index 1ba33625..fcfe971f 100644 --- a/convex_plane_decomposition_ros/CMakeLists.txt +++ b/convex_plane_decomposition_ros/CMakeLists.txt @@ -28,12 +28,6 @@ find_package(catkin REQUIRED COMPONENTS # OpenCv find_package(OpenCV REQUIRED) -# Qt -find_package(Qt5 COMPONENTS Xml Script OpenGL Svg) - -# CGAL -find_package(CGAL COMPONENTS Core Qt5) - # glog find_package(PkgConfig REQUIRED) pkg_check_modules(glog libglog REQUIRED) @@ -75,9 +69,6 @@ target_link_libraries(${PROJECT_NAME} ${OpenCV_LIBRARIES} glog ) -target_compile_options(${PROJECT_NAME} - PUBLIC -DCGAL_HAS_THREADS - ) add_executable(${PROJECT_NAME}_node src/ConvexPlaneDecompositionNode.cpp @@ -96,11 +87,6 @@ target_link_libraries(${PROJECT_NAME}_test ${catkin_LIBRARIES} ${OpenCV_LIBRARIES} glog - Qt5::Xml Qt5::Script Qt5::OpenGL Qt5::Svg - CGAL::CGAL CGAL::CGAL_Core CGAL::CGAL_Qt5 - ) -target_compile_options(${PROJECT_NAME}_test - PUBLIC -DCGAL_HAS_THREADS -DCGAL_USE_BASIC_VIEWER ) add_executable(${PROJECT_NAME}_shapegrowing @@ -110,11 +96,6 @@ target_link_libraries(${PROJECT_NAME}_shapegrowing ${catkin_LIBRARIES} ${OpenCV_LIBRARIES} glog - Qt5::Xml Qt5::Script Qt5::OpenGL Qt5::Svg - CGAL::CGAL CGAL::CGAL_Core CGAL::CGAL_Qt5 - ) -target_compile_options(${PROJECT_NAME}_shapegrowing - PUBLIC -DCGAL_HAS_THREADS -DCGAL_USE_BASIC_VIEWER ) add_executable(${PROJECT_NAME}_save_elevationmap diff --git a/convex_plane_decomposition_ros/rviz/config_demo.rviz b/convex_plane_decomposition_ros/rviz/config_demo.rviz index 1eaec5a6..7f2f8a13 100644 --- a/convex_plane_decomposition_ros/rviz/config_demo.rviz +++ b/convex_plane_decomposition_ros/rviz/config_demo.rviz @@ -36,11 +36,11 @@ Visualization Manager: - Alpha: 1 Class: jsk_rviz_plugin/PolygonArray Color: 25; 255; 0 - Enabled: false + Enabled: true Name: Boundaries Topic: /convex_plane_decomposition_ros/boundaries Unreliable: false - Value: false + Value: true coloring: Auto enable lighting: true normal length: 0.10000000149011612 @@ -106,7 +106,7 @@ Visualization Manager: Marker Topic: /segmented_planes_terrain_model_demo_node/convex_terrain Name: ConvexRegion Namespaces: - "": true + {} Queue Size: 100 Value: true - Class: rviz/Marker @@ -114,7 +114,7 @@ Visualization Manager: Marker Topic: /segmented_planes_terrain_model_demo_node/queryPosition Name: queryPosition Namespaces: - "": true + {} Queue Size: 100 Value: true - Class: rviz/MarkerArray @@ -122,7 +122,7 @@ Visualization Manager: Marker Topic: /segmented_planes_terrain_model_demo_node/regionBoundary Name: SelectedRegion Namespaces: - "": true + {} Queue Size: 100 Value: true Enabled: true @@ -153,7 +153,7 @@ Visualization Manager: Views: Current: Class: rviz/Orbit - Distance: 0.8380365371704102 + Distance: 4.217182636260986 Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 @@ -168,10 +168,10 @@ Visualization Manager: Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Pitch: 0.6397972702980042 + Pitch: 0.6197972893714905 Target Frame: Value: Orbit (rviz) - Yaw: 3.0349738597869873 + Yaw: 3.8899669647216797 Saved: ~ Window Geometry: Displays: @@ -190,4 +190,4 @@ Window Geometry: collapsed: true Width: 1853 X: 67 - Y: 253 + Y: 27 diff --git a/segmented_planes_terrain_model/CMakeLists.txt b/segmented_planes_terrain_model/CMakeLists.txt index 253ee617..9aa9420a 100644 --- a/segmented_planes_terrain_model/CMakeLists.txt +++ b/segmented_planes_terrain_model/CMakeLists.txt @@ -15,16 +15,6 @@ find_package(catkin REQUIRED COMPONENTS ${CATKIN_PACKAGE_DEPENDENCIES} ) -# OpenCv -find_package(OpenCV REQUIRED) - -# CGAL -find_package(CGAL COMPONENTS Core) - -# glog -find_package(PkgConfig REQUIRED) -pkg_check_modules(glog libglog REQUIRED) - # Cpp standard version set(CMAKE_CXX_STANDARD 14) set(CMAKE_CXX_STANDARD_REQUIRED ON) @@ -36,7 +26,7 @@ catkin_package( INCLUDE_DIRS include LIBRARIES ${PROJECT_NAME} CATKIN_DEPENDS ${CATKIN_PACKAGE_DEPENDENCIES} - DEPENDS OpenCV + DEPENDS ) ########### @@ -58,8 +48,6 @@ add_dependencies(${PROJECT_NAME} ) target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} - ${OpenCV_LIBRARIES} - glog ) target_compile_options(${PROJECT_NAME} PUBLIC -DCGAL_HAS_THREADS @@ -70,8 +58,6 @@ add_executable(${PROJECT_NAME}_demo_node ) target_link_libraries(${PROJECT_NAME}_demo_node ${catkin_LIBRARIES} - ${OpenCV_LIBRARIES} - glog ${PROJECT_NAME} ) From 0c61359dbfa11615fe63604187f38252bf689471 Mon Sep 17 00:00:00 2001 From: rgrandia Date: Tue, 30 Jun 2020 10:47:11 +0200 Subject: [PATCH 050/504] clean up dependencies --- README.md | 13 +--- cgal5_catkin/README.md | 2 +- convex_plane_decomposition/CMakeLists.txt | 11 +-- .../ConvexRegionGrowing.h | 9 +-- .../include/convex_plane_decomposition/Draw.h | 5 +- .../GeometryUtils.h | 12 ++-- .../GridMapPreprocessing.h | 13 ++-- .../convex_plane_decomposition/PolygonTypes.h | 2 - .../SegmentedPlanesMap.h | 1 + .../ContourExtractionParameters.h | 3 +- .../SlidingWindowPlaneExtractor.h | 1 - .../SlidingWindowPlaneExtractor.cpp | 9 --- .../CMakeLists.txt | 2 +- convex_plane_decomposition_ros/CMakeLists.txt | 53 ++++++--------- .../ConvexPlaneDecompositionRos.h | 2 +- .../launch/convex_plane_decomposition.launch | 1 + .../launch/demo.launch | 1 + convex_plane_decomposition_ros/package.xml | 6 -- .../src/ConvexPlaneDecompositionNode.cpp | 19 ++++-- .../src/ConvexPlaneDecompositionRos.cpp | 16 ++--- segmented_planes_terrain_model/CMakeLists.txt | 3 +- .../SegmentedPlanesTerrainModel.h | 4 +- .../SegmentedPlanesTerrainVisualization.h | 3 +- segmented_planes_terrain_model/package.xml | 1 + .../src/DemoNode.cpp | 14 ++-- .../src/SegmentedPlanesTerrainModel.cpp | 68 ++++++++++--------- .../src/SegmentedPlanesTerrainModelRos.cpp | 3 +- .../SegmentedPlanesTerrainVisualization.cpp | 10 +-- 28 files changed, 134 insertions(+), 153 deletions(-) diff --git a/README.md b/README.md index 6258b4d1..0fa1cce7 100644 --- a/README.md +++ b/README.md @@ -19,23 +19,15 @@ sudo apt-get install libopencv-dev sudo apt install libeigen3-dev ``` -#### GLOG -```bash -sudo apt-get install libgoogle-glog-dev -``` - #### CGAL -CGAL5 is required. You can download it from [here](https://github.com/CGAL/cgal/releases/tag/releases%2FCGAL-5.0.2) -and follow the instructions [here](https://doc.cgal.org/latest/Manual/installation.html#installation_idealworld). +CGAL5 is required. It will be automatically downloaded and installed into the catkin workspace by the cgal5_catkin package. Make sure you have the third-party libaries installed on you machine: ```bash sudo apt-get install libgmp-dev -sudo apt-get install libgmp3-dev sudo apt-get install libmpfr-dev sudo apt-get install libboost-all-dev ``` - ### ROS package dependencies #### JSK-visualization @@ -45,7 +37,7 @@ sudo apt-get install ros-melodic-jsk-visualization ``` #### Grid Map -Grid map has to be located in you workspace. You can clone it using: +Grid map is available through ANYmal-research, or you can add it to your workspace. You can clone it using: ```bash git clone https://github.com/ANYbotics/grid_map.git ``` @@ -65,3 +57,4 @@ You can select input map topics, pipeline parameters etc. in the respective yaml ```bash convex_plane_decomposition_ros/config/ ``` +Some other parameters are set through the launch files. \ No newline at end of file diff --git a/cgal5_catkin/README.md b/cgal5_catkin/README.md index 6d808478..6079c91e 100644 --- a/cgal5_catkin/README.md +++ b/cgal5_catkin/README.md @@ -1,2 +1,2 @@ -# cgal_catkin +# cgal5_catkin Catkin wrapper of the Computational Geometry Algorithms Library (CGAL) diff --git a/convex_plane_decomposition/CMakeLists.txt b/convex_plane_decomposition/CMakeLists.txt index 327de6aa..9a973bb5 100644 --- a/convex_plane_decomposition/CMakeLists.txt +++ b/convex_plane_decomposition/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 3.1...3.15) +cmake_minimum_required(VERSION 3.10) project(convex_plane_decomposition) # Catkin dependencies @@ -18,11 +18,7 @@ find_package(MPFR 2.2.1 QUIET) find_package(Boost 1.57 QUIET) # OpenCv -find_package(OpenCV REQUIRED COMPONENTS opencv_highgui CONFIG) - -# glog -find_package(PkgConfig REQUIRED) -pkg_check_modules(glog libglog REQUIRED) +find_package(OpenCV REQUIRED) # Eigen find_package(Eigen3 3.3 REQUIRED NO_MODULE) @@ -43,7 +39,7 @@ catkin_package( CATKIN_DEPENDS ${CATKIN_PACKAGE_DEPENDENCIES} DEPENDS - OpenCV glog GMP MPFR Boost + OpenCV GMP MPFR Boost ) ########### @@ -70,7 +66,6 @@ add_dependencies(${PROJECT_NAME} target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} ${OpenCV_LIBRARIES} - glog gmp mpfr ) diff --git a/convex_plane_decomposition/include/convex_plane_decomposition/ConvexRegionGrowing.h b/convex_plane_decomposition/include/convex_plane_decomposition/ConvexRegionGrowing.h index 42bf71b3..498ce95b 100644 --- a/convex_plane_decomposition/include/convex_plane_decomposition/ConvexRegionGrowing.h +++ b/convex_plane_decomposition/include/convex_plane_decomposition/ConvexRegionGrowing.h @@ -12,12 +12,13 @@ CgalPolygon2d createRegularPolygon(const CgalPoint2d& center, double radius, int CgalPolygon2d growConvexPolygonInsideShape(const CgalPolygon2d& parentShape, CgalPoint2d center, int numberOfVertices, double growthFactor); -CgalPolygon2d growConvexPolygonInsideShape(const CgalPolygonWithHoles2d & parentShape, CgalPoint2d center, int numberOfVertices, double growthFactor); - +CgalPolygon2d growConvexPolygonInsideShape(const CgalPolygonWithHoles2d& parentShape, CgalPoint2d center, int numberOfVertices, + double growthFactor); template bool pointCanBeMoved(const CgalPolygon2d& growthShape, int i, const CgalPoint2d& candidatePoint, CgalCircle2d& freeSphere, const T& parentShape); -void updateMean(CgalPoint2d & mean, const CgalPoint2d& oldValue, const CgalPoint2d& updatedValue, int N); -} \ No newline at end of file +void updateMean(CgalPoint2d& mean, const CgalPoint2d& oldValue, const CgalPoint2d& updatedValue, int N); + +} // namespace convex_plane_decomposition diff --git a/convex_plane_decomposition/include/convex_plane_decomposition/Draw.h b/convex_plane_decomposition/include/convex_plane_decomposition/Draw.h index 9bb6103c..07de3c16 100644 --- a/convex_plane_decomposition/include/convex_plane_decomposition/Draw.h +++ b/convex_plane_decomposition/include/convex_plane_decomposition/Draw.h @@ -14,11 +14,14 @@ namespace convex_plane_decomposition { cv::Vec3b randomColor(); + std::vector toCv(const CgalPolygon2d& polygon); + void drawContour(cv::Mat& img, const CgalPoint2d& point, double radius = 1, const cv::Vec3b* color = nullptr); void drawContour(cv::Mat& img, const CgalPolygon2d& polygon, const cv::Vec3b* color = nullptr); void drawContour(cv::Mat& img, const CgalPolygonWithHoles2d& polygonWithHoles2d, const cv::Vec3b* color = nullptr); + CgalPolygon2d scaleShape(const CgalPolygon2d& polygon, double scale); CgalPolygonWithHoles2d scaleShape(const CgalPolygonWithHoles2d& polygonWithHoles, double scale); -} \ No newline at end of file +} // namespace convex_plane_decomposition diff --git a/convex_plane_decomposition/include/convex_plane_decomposition/GeometryUtils.h b/convex_plane_decomposition/include/convex_plane_decomposition/GeometryUtils.h index 5ccc1749..1a2f432d 100644 --- a/convex_plane_decomposition/include/convex_plane_decomposition/GeometryUtils.h +++ b/convex_plane_decomposition/include/convex_plane_decomposition/GeometryUtils.h @@ -2,8 +2,8 @@ // Created by rgrandia on 09.06.20. // -#include "PolygonTypes.h" #include "PlanarRegion.h" +#include "PolygonTypes.h" #pragma once @@ -117,22 +117,22 @@ inline CgalPoint2d projectToClosestPoint(const CgalPoint2d& point, const CgalPol return projectToClosestPoint(point, *closestEdge); } -inline void transformInPlace(CgalPolygon2d& polygon, const std::function & f) { +inline void transformInPlace(CgalPolygon2d& polygon, const std::function& f) { for (auto& point : polygon) { f(point); } } -inline void transformInPlace(CgalPolygonWithHoles2d& polygonWithHoles, const std::function & f) { +inline void transformInPlace(CgalPolygonWithHoles2d& polygonWithHoles, const std::function& f) { transformInPlace(polygonWithHoles.outer_boundary(), f); - for (auto& hole: polygonWithHoles.holes()) { + for (auto& hole : polygonWithHoles.holes()) { transformInPlace(hole, f); } } -inline void transformInPlace(BoundaryWithInset& boundaryWithInset, const std::function & f) { +inline void transformInPlace(BoundaryWithInset& boundaryWithInset, const std::function& f) { transformInPlace(boundaryWithInset.boundary, f); - for (auto& inset: boundaryWithInset.insets) { + for (auto& inset : boundaryWithInset.insets) { transformInPlace(inset, f); } } diff --git a/convex_plane_decomposition/include/convex_plane_decomposition/GridMapPreprocessing.h b/convex_plane_decomposition/include/convex_plane_decomposition/GridMapPreprocessing.h index b532bdae..9cb83f68 100644 --- a/convex_plane_decomposition/include/convex_plane_decomposition/GridMapPreprocessing.h +++ b/convex_plane_decomposition/include/convex_plane_decomposition/GridMapPreprocessing.h @@ -7,10 +7,14 @@ namespace convex_plane_decomposition { struct PreprocessingParameters { - int kernelSize = 5; // Kernel size of the median filter - int numberOfRepeats = 1; // Number of times the image is filtered - bool increasing = false; // If the kernel size should increase each filter step. - double inpaintRadius = 0.05; // [in m] + /// Kernel size of the median filter + int kernelSize = 5; + /// Number of times the image is filtered + int numberOfRepeats = 1; + /// If the kernel size should increase each filter step. + bool increasing = false; + /// [m] radius used for inpainting + double inpaintRadius = 0.05; }; class GridMapPreprocessing { @@ -27,4 +31,3 @@ class GridMapPreprocessing { }; } // namespace convex_plane_decomposition - diff --git a/convex_plane_decomposition/include/convex_plane_decomposition/PolygonTypes.h b/convex_plane_decomposition/include/convex_plane_decomposition/PolygonTypes.h index 82acad6e..40fe764f 100644 --- a/convex_plane_decomposition/include/convex_plane_decomposition/PolygonTypes.h +++ b/convex_plane_decomposition/include/convex_plane_decomposition/PolygonTypes.h @@ -4,8 +4,6 @@ #pragma once -#include - #include #include #include diff --git a/convex_plane_decomposition/include/convex_plane_decomposition/SegmentedPlanesMap.h b/convex_plane_decomposition/include/convex_plane_decomposition/SegmentedPlanesMap.h index 1c437773..0a48b91f 100644 --- a/convex_plane_decomposition/include/convex_plane_decomposition/SegmentedPlanesMap.h +++ b/convex_plane_decomposition/include/convex_plane_decomposition/SegmentedPlanesMap.h @@ -4,6 +4,7 @@ #pragma once +#include #include #include "PlanarRegion.h" diff --git a/convex_plane_decomposition/include/convex_plane_decomposition/contour_extraction/ContourExtractionParameters.h b/convex_plane_decomposition/include/convex_plane_decomposition/contour_extraction/ContourExtractionParameters.h index b003cb1e..8ac00075 100644 --- a/convex_plane_decomposition/include/convex_plane_decomposition/contour_extraction/ContourExtractionParameters.h +++ b/convex_plane_decomposition/include/convex_plane_decomposition/contour_extraction/ContourExtractionParameters.h @@ -8,7 +8,8 @@ namespace convex_plane_decomposition { namespace contour_extraction { struct ContourExtractionParameters { - int offsetSize = 2; /// Size of the kernel creating the boundary offset. In number of pixels. + /// Size of the kernel creating the boundary offset. In number of pixels. + int offsetSize = 2; }; } // namespace contour_extraction diff --git a/convex_plane_decomposition/include/convex_plane_decomposition/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.h b/convex_plane_decomposition/include/convex_plane_decomposition/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.h index f1244163..0c496eb1 100644 --- a/convex_plane_decomposition/include/convex_plane_decomposition/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.h +++ b/convex_plane_decomposition/include/convex_plane_decomposition/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.h @@ -13,7 +13,6 @@ namespace convex_plane_decomposition { namespace sliding_window_plane_extractor { - class SlidingWindowPlaneExtractor { public: SlidingWindowPlaneExtractor(const SlidingWindowPlaneExtractorParameters& parameters, diff --git a/convex_plane_decomposition/src/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.cpp b/convex_plane_decomposition/src/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.cpp index c72380bf..e32e6fd3 100644 --- a/convex_plane_decomposition/src/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.cpp +++ b/convex_plane_decomposition/src/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.cpp @@ -3,7 +3,6 @@ #include #include #include -#include #include @@ -11,8 +10,6 @@ #include -#include - #include "convex_plane_decomposition/Nan.h" namespace convex_plane_decomposition { @@ -139,10 +136,6 @@ void SlidingWindowPlaneExtractor::runSegmentation() { } void SlidingWindowPlaneExtractor::extractPlaneParametersFromLabeledImage() { - if (segmentedPlanesMap_.highestLabel < 1) { - LOG(WARNING) << "No planes detected by Sliding Window Plane Extractor!"; - return; - } const int numberOfExtractedPlanesWithoutRefinement = segmentedPlanesMap_.highestLabel; // Make local copy. The highestLabel is incremented inside the loop // Skip label 0. This is the background, i.e. non-planar region. @@ -211,7 +204,6 @@ void SlidingWindowPlaneExtractor::computePlaneParametersForLabel(int label) { // Compute average plane parameters for refined segmentation const std::vector& plane_point_indices = plane->indices_of_assigned_points(); - CHECK(!plane_point_indices.empty()); Eigen::Vector3d support_vector_refined_sum = Eigen::Vector3d::Zero(); Eigen::Vector3d normal_vector_refined_sum = Eigen::Vector3d::Zero(); for (const auto index : plane_point_indices) { @@ -260,7 +252,6 @@ void SlidingWindowPlaneExtractor::computePlaneParametersForLabel(int label) { bool SlidingWindowPlaneExtractor::isGloballyPlanar(const Eigen::Vector3d& normalVectorPlane, const Eigen::Vector3d& supportVectorPlane, const std::vector& points_with_normal) const { - CHECK(!points_with_normal.empty()); for (const auto& point_with_normal : points_with_normal) { Eigen::Vector3d p_S_P(point_with_normal.first.x() - supportVectorPlane.x(), point_with_normal.first.y() - supportVectorPlane.y(), point_with_normal.first.z() - supportVectorPlane.z()); diff --git a/convex_plane_decomposition_msgs/CMakeLists.txt b/convex_plane_decomposition_msgs/CMakeLists.txt index ab3b36ae..ebf14939 100644 --- a/convex_plane_decomposition_msgs/CMakeLists.txt +++ b/convex_plane_decomposition_msgs/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 3.1...3.15) +cmake_minimum_required(VERSION 3.10) project(convex_plane_decomposition_msgs) set(CATKIN_PACKAGE_DEPENDENCIES diff --git a/convex_plane_decomposition_ros/CMakeLists.txt b/convex_plane_decomposition_ros/CMakeLists.txt index fcfe971f..ead67e38 100644 --- a/convex_plane_decomposition_ros/CMakeLists.txt +++ b/convex_plane_decomposition_ros/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 3.1...3.15) +cmake_minimum_required(VERSION 3.10) project(convex_plane_decomposition_ros) # Catkin dependencies @@ -7,15 +7,9 @@ set(CATKIN_PACKAGE_DEPENDENCIES grid_map_core grid_map_ros grid_map_cv - grid_map_filters - grid_map_loader grid_map_msgs - grid_map_octomap grid_map_rviz_plugin - grid_map_visualization geometry_msgs - sensor_msgs - cv_bridge jsk_recognition_msgs convex_plane_decomposition convex_plane_decomposition_msgs @@ -28,9 +22,8 @@ find_package(catkin REQUIRED COMPONENTS # OpenCv find_package(OpenCV REQUIRED) -# glog -find_package(PkgConfig REQUIRED) -pkg_check_modules(glog libglog REQUIRED) +# Eigen +find_package(Eigen3 3.3 REQUIRED NO_MODULE) # Cpp standard version set(CMAKE_CXX_STANDARD 14) @@ -40,10 +33,10 @@ set(CMAKE_CXX_STANDARD_REQUIRED ON) ## catkin specific configuration ## ################################### catkin_package( - INCLUDE_DIRS include + INCLUDE_DIRS include ${EIGEN3_INCLUDE_DIRS} LIBRARIES ${PROJECT_NAME} CATKIN_DEPENDS ${CATKIN_PACKAGE_DEPENDENCIES} - DEPENDS + DEPENDS OpenCV ) ########### @@ -52,6 +45,7 @@ catkin_package( include_directories( include + ${EIGEN3_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS} ) @@ -67,7 +61,6 @@ add_dependencies(${PROJECT_NAME} target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} ${OpenCV_LIBRARIES} - glog ) add_executable(${PROJECT_NAME}_node @@ -76,28 +69,9 @@ add_executable(${PROJECT_NAME}_node target_link_libraries(${PROJECT_NAME}_node ${catkin_LIBRARIES} ${OpenCV_LIBRARIES} - glog ${PROJECT_NAME} ) -add_executable(${PROJECT_NAME}_test - test/test.cpp - ) -target_link_libraries(${PROJECT_NAME}_test - ${catkin_LIBRARIES} - ${OpenCV_LIBRARIES} - glog - ) - -add_executable(${PROJECT_NAME}_shapegrowing - test/shapeGrowing.cpp - ) -target_link_libraries(${PROJECT_NAME}_shapegrowing - ${catkin_LIBRARIES} - ${OpenCV_LIBRARIES} - glog - ) - add_executable(${PROJECT_NAME}_save_elevationmap src/SaveElevationMapAsImageNode.cpp ) @@ -130,3 +104,18 @@ install(DIRECTORY config data launch rviz ############# ## Testing ## ############# +add_executable(${PROJECT_NAME}_test + test/test.cpp +) +target_link_libraries(${PROJECT_NAME}_test + ${catkin_LIBRARIES} + ${OpenCV_LIBRARIES} +) + +add_executable(${PROJECT_NAME}_shapegrowing + test/shapeGrowing.cpp +) +target_link_libraries(${PROJECT_NAME}_shapegrowing + ${catkin_LIBRARIES} + ${OpenCV_LIBRARIES} +) \ No newline at end of file diff --git a/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/ConvexPlaneDecompositionRos.h b/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/ConvexPlaneDecompositionRos.h index c9018f66..4f4c0fdb 100644 --- a/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/ConvexPlaneDecompositionRos.h +++ b/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/ConvexPlaneDecompositionRos.h @@ -10,7 +10,7 @@ namespace convex_plane_decomposition { -// Forward declaration +// Forward declarations class GridMapPreprocessing; namespace sliding_window_plane_extractor { class SlidingWindowPlaneExtractor; diff --git a/convex_plane_decomposition_ros/launch/convex_plane_decomposition.launch b/convex_plane_decomposition_ros/launch/convex_plane_decomposition.launch index 6666f0c9..a02a07b0 100644 --- a/convex_plane_decomposition_ros/launch/convex_plane_decomposition.launch +++ b/convex_plane_decomposition_ros/launch/convex_plane_decomposition.launch @@ -4,6 +4,7 @@ + diff --git a/convex_plane_decomposition_ros/launch/demo.launch b/convex_plane_decomposition_ros/launch/demo.launch index 43c47e4d..a2be6e15 100644 --- a/convex_plane_decomposition_ros/launch/demo.launch +++ b/convex_plane_decomposition_ros/launch/demo.launch @@ -22,6 +22,7 @@ + diff --git a/convex_plane_decomposition_ros/package.xml b/convex_plane_decomposition_ros/package.xml index 2b59347f..0ae94d4e 100644 --- a/convex_plane_decomposition_ros/package.xml +++ b/convex_plane_decomposition_ros/package.xml @@ -13,15 +13,9 @@ grid_map_core grid_map_ros grid_map_cv - grid_map_filters - grid_map_loader grid_map_msgs - grid_map_octomap grid_map_rviz_plugin - grid_map_visualization geometry_msgs - sensor_msgs - cv_bridge jsk_recognition_msgs convex_plane_decomposition convex_plane_decomposition_msgs diff --git a/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionNode.cpp b/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionNode.cpp index fa32c89d..df7417c9 100644 --- a/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionNode.cpp +++ b/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionNode.cpp @@ -2,18 +2,23 @@ #include -#include - int main(int argc, char** argv) { - FLAGS_alsologtostderr = 1; - FLAGS_colorlogtostderr = 1; - FLAGS_v = 1; - google::InitGoogleLogging(argv[0]); ros::init(argc, argv, "convex_plane_decomposition_ros"); ros::NodeHandle nodeHandle("~"); + double frequency; + if (!nodeHandle.getParam("frequency", frequency)) { + ROS_ERROR("[ConvexPlaneDecompositionNode] Could not read parameter `frequency`."); + return 1; + } + convex_plane_decomposition::ConvexPlaneExtractionROS convex_plane_decomposition_ros(nodeHandle); - ros::spin(); + ros::Rate rate(frequency); + while(ros::ok()) + { + ros::spinOnce(); + rate.sleep(); + } return 0; } diff --git a/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp b/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp index 0384fe9f..a910d005 100644 --- a/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp +++ b/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp @@ -2,8 +2,6 @@ #include -#include - #include #include @@ -13,13 +11,13 @@ #include #include +#include +#include + +#include -#include "convex_plane_decomposition/GridMapPreprocessing.h" -#include "convex_plane_decomposition/Nan.h" -#include "convex_plane_decomposition_msgs/PlanarTerrain.h" #include "convex_plane_decomposition_ros/ParameterLoading.h" #include "convex_plane_decomposition_ros/RosVisualizations.h" - #include "convex_plane_decomposition_ros/MessageConversion.h" namespace convex_plane_decomposition { @@ -84,16 +82,16 @@ void ConvexPlaneExtractionROS::callback(const grid_map_msgs::GridMap& message) { auto t0 = std::chrono::high_resolution_clock::now(); preprocessing_ ->preprocess(elevationMap, elevationLayer_); auto t1 = std::chrono::high_resolution_clock::now(); - VLOG(1) << "Preprocessing took " << 1e-3 * std::chrono::duration_cast( t1 - t0 ).count() << " [ms]\n"; + ROS_INFO_STREAM("Preprocessing took " << 1e-3 * std::chrono::duration_cast( t1 - t0 ).count() << " [ms]"); // Run pipeline. slidingWindowPlaneExtractor_->runExtraction(elevationMap, elevationLayer_); auto t2 = std::chrono::high_resolution_clock::now(); - VLOG(1) << "Sliding window took " << 1e-3 * std::chrono::duration_cast( t2 - t1 ).count() << " [ms]\n"; + ROS_INFO_STREAM("Sliding window took " << 1e-3 * std::chrono::duration_cast( t2 - t1 ).count() << " [ms]"); const auto planarRegions = contourExtraction_->extractPlanarRegions(slidingWindowPlaneExtractor_->getSegmentedPlanesMap()); auto t3 = std::chrono::high_resolution_clock::now(); - VLOG(1) << "Contour extraction took " << 1e-3 * std::chrono::duration_cast( t3 - t2 ).count() << " [ms]\n"; + ROS_INFO_STREAM("Contour extraction took " << 1e-3 * std::chrono::duration_cast( t3 - t2 ).count() << " [ms]"); // Publish terrain regionPublisher_.publish(toMessage(planarRegions)); diff --git a/segmented_planes_terrain_model/CMakeLists.txt b/segmented_planes_terrain_model/CMakeLists.txt index 9aa9420a..ff8aea6b 100644 --- a/segmented_planes_terrain_model/CMakeLists.txt +++ b/segmented_planes_terrain_model/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 3.1...3.15) +cmake_minimum_required(VERSION 3.10) project(segmented_planes_terrain_model) # Catkin dependencies @@ -9,6 +9,7 @@ set(CATKIN_PACKAGE_DEPENDENCIES convex_plane_decomposition_msgs convex_plane_decomposition_ros roscpp + visualization_msgs ) find_package(catkin REQUIRED COMPONENTS diff --git a/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesTerrainModel.h b/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesTerrainModel.h index 2c5bc281..1f7617fe 100644 --- a/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesTerrainModel.h +++ b/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesTerrainModel.h @@ -5,7 +5,7 @@ #pragma once #include -#include "ocs2_switched_model_interface/terrain/TerrainModel.h" +#include namespace switched_model { @@ -24,6 +24,6 @@ class SegmentedPlanesTerrainModel : public switched_model::TerrainModel { }; std::pair getPlanarRegionAtPositionInWorld( - const vector3_t& positionInWorld, const convex_plane_decomposition::PlanarTerrain& planarTerrain); + const vector3_t& positionInWorld, const convex_plane_decomposition::PlanarTerrain& planarTerrain); } // namespace switched_model diff --git a/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesTerrainVisualization.h b/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesTerrainVisualization.h index 8a1c63ae..3cabb232 100644 --- a/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesTerrainVisualization.h +++ b/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesTerrainVisualization.h @@ -13,6 +13,7 @@ namespace switched_model { -visualization_msgs::MarkerArray getConvexTerrainMarkers(const ConvexTerrain& convexTerrain, Color color, double diameter, double linewidth, double normalLength); +visualization_msgs::MarkerArray getConvexTerrainMarkers(const ConvexTerrain& convexTerrain, Color color, double diameter, double linewidth, + double normalLength); } // namespace switched_model diff --git a/segmented_planes_terrain_model/package.xml b/segmented_planes_terrain_model/package.xml index a0923b28..c6c2d86a 100644 --- a/segmented_planes_terrain_model/package.xml +++ b/segmented_planes_terrain_model/package.xml @@ -15,5 +15,6 @@ convex_plane_decomposition_msgs convex_plane_decomposition_ros roscpp + visualization_msgs diff --git a/segmented_planes_terrain_model/src/DemoNode.cpp b/segmented_planes_terrain_model/src/DemoNode.cpp index 5bf1a721..892d0445 100644 --- a/segmented_planes_terrain_model/src/DemoNode.cpp +++ b/segmented_planes_terrain_model/src/DemoNode.cpp @@ -16,11 +16,13 @@ const std::string originFrameId_ = "map"; visualization_msgs::MarkerArray toMarker(const switched_model::ConvexTerrain& convexTerrain) { - visualization_msgs::MarkerArray markerArray = switched_model::getConvexTerrainMarkers(convexTerrain, switched_model::Color::orange, 0.02, 0.005, 0.1); + visualization_msgs::MarkerArray markerArray = + switched_model::getConvexTerrainMarkers(convexTerrain, switched_model::Color::orange, 0.02, 0.005, 0.1); // Add headers and Id const ros::Time timeStamp = ros::Time::now(); - switched_model::assignHeader(markerArray.markers.begin(), markerArray.markers.end(), switched_model::getHeaderMsg(originFrameId_, timeStamp)); + switched_model::assignHeader(markerArray.markers.begin(), markerArray.markers.end(), + switched_model::getHeaderMsg(originFrameId_, timeStamp)); switched_model::assignIncreasingId(markerArray.markers.begin(), markerArray.markers.end()); return markerArray; @@ -30,7 +32,7 @@ visualization_msgs::Marker toMarker(const switched_model::vector3_t& position) { auto marker = switched_model::getSphereMsg(position, switched_model::Color::green, 0.02); const ros::Time timeStamp = ros::Time::now(); - marker.header = switched_model::getHeaderMsg(originFrameId_, timeStamp); + marker.header = switched_model::getHeaderMsg(originFrameId_, timeStamp); return marker; } @@ -56,20 +58,20 @@ int main(int argc, char** argv) { if (terrainModel) { const auto RandomFloat = [](float a, float b) { - float random = ((float) rand()) / (float) RAND_MAX; + float random = ((float)rand()) / (float)RAND_MAX; float diff = b - a; float r = random * diff; return a + r; }; - switched_model::vector3_t positionInWorld{RandomFloat(-2.0, 2.0), RandomFloat(-2.0, 2.0), RandomFloat(0.0, 1.0)}; + switched_model::vector3_t positionInWorld{RandomFloat(-2.0, 2.0), RandomFloat(-2.0, 2.0), RandomFloat(0.0, 1.0)}; positionPublisher_.publish(toMarker(positionInWorld)); std::cout << "Query position: " << positionInWorld.transpose() << std::endl; auto t0 = std::chrono::high_resolution_clock::now(); const auto convexTerrain = terrainModel->getConvexTerrainAtPositionInWorld(positionInWorld); auto t1 = std::chrono::high_resolution_clock::now(); - std::cout << "Query took " << 1e-3 * std::chrono::duration_cast( t1 - t0 ).count() << " [ms]\n"; + std::cout << "Query took " << 1e-3 * std::chrono::duration_cast(t1 - t0).count() << " [ms]\n"; positionPublisher_.publish(toMarker(positionInWorld)); convexTerrainPublisher_.publish(toMarker(convexTerrain)); diff --git a/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModel.cpp b/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModel.cpp index 48e3c036..9ce41303 100644 --- a/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModel.cpp +++ b/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModel.cpp @@ -18,30 +18,32 @@ TerrainPlane SegmentedPlanesTerrainModel::getLocalTerrainAtPositionInWorld(const const auto regionAndSeedPoint = getPlanarRegionAtPositionInWorld(positionInWorld, planarTerrain_); const auto& region = *regionAndSeedPoint.first; const auto& seedpoint = regionAndSeedPoint.second; - const auto& seedpointInWorldFrame = positionInWorldFrameFromPositionInTerrain({seedpoint.x(), seedpoint.y(), 0.0}, region.planeParameters); + const auto& seedpointInWorldFrame = + positionInWorldFrameFromPositionInTerrain({seedpoint.x(), seedpoint.y(), 0.0}, region.planeParameters); return TerrainPlane{seedpointInWorldFrame, region.planeParameters.orientationWorldToTerrain}; } ConvexTerrain SegmentedPlanesTerrainModel::getConvexTerrainAtPositionInWorld(const vector3_t& positionInWorld) const { - const auto regionAndSeedPoint = getPlanarRegionAtPositionInWorld(positionInWorld, planarTerrain_); - const auto& region = *regionAndSeedPoint.first; - const auto& seedpoint = regionAndSeedPoint.second; - const auto& seedpointInWorldFrame = positionInWorldFrameFromPositionInTerrain({seedpoint.x(), seedpoint.y(), 0.0}, region.planeParameters); - - // Convert boundary and seedpoint to terrain frame - const int numberOfVertices = 16; // Multiple of 4 is nice for symmetry. - const double growthFactor = 1.05; - const auto convexRegion = convex_plane_decomposition::growConvexPolygonInsideShape(region.boundaryWithInset.boundary, seedpoint, - numberOfVertices, growthFactor); - - // Return convex region with origin at the seedpoint - ConvexTerrain convexTerrain; - convexTerrain.plane = {seedpointInWorldFrame, region.planeParameters.orientationWorldToTerrain}; // Origin is at the seedpoint - convexTerrain.boundary.reserve(convexRegion.size()); - for (const auto& point : convexRegion) { - convexTerrain.boundary.emplace_back(point.x() - seedpoint.x(), point.y() - seedpoint.y()); // Shift points to new origin - } - return convexTerrain; + const auto regionAndSeedPoint = getPlanarRegionAtPositionInWorld(positionInWorld, planarTerrain_); + const auto& region = *regionAndSeedPoint.first; + const auto& seedpoint = regionAndSeedPoint.second; + const auto& seedpointInWorldFrame = + positionInWorldFrameFromPositionInTerrain({seedpoint.x(), seedpoint.y(), 0.0}, region.planeParameters); + + // Convert boundary and seedpoint to terrain frame + const int numberOfVertices = 16; // Multiple of 4 is nice for symmetry. + const double growthFactor = 1.05; + const auto convexRegion = convex_plane_decomposition::growConvexPolygonInsideShape(region.boundaryWithInset.boundary, seedpoint, + numberOfVertices, growthFactor); + + // Return convex region with origin at the seedpoint + ConvexTerrain convexTerrain; + convexTerrain.plane = {seedpointInWorldFrame, region.planeParameters.orientationWorldToTerrain}; // Origin is at the seedpoint + convexTerrain.boundary.reserve(convexRegion.size()); + for (const auto& point : convexRegion) { + convexTerrain.boundary.emplace_back(point.x() - seedpoint.x(), point.y() - seedpoint.y()); // Shift points to new origin + } + return convexTerrain; } double singleSidedSquaredDistance(double value, double min, double max) { @@ -63,11 +65,12 @@ double squaredDistanceToBoundingBox(const vector3_t& positionInWorld, const conv const auto& positionInTerrainFrame = positionInTerrainFrameFromPositionInWorld(positionInWorld, planarRegion.planeParameters); double dxdx = singleSidedSquaredDistance(positionInTerrainFrame.x(), planarRegion.bbox2d.xmin(), planarRegion.bbox2d.xmax()); double dydy = singleSidedSquaredDistance(positionInTerrainFrame.y(), planarRegion.bbox2d.ymin(), planarRegion.bbox2d.ymax()); - double dzdz = positionInTerrainFrame.z()* positionInTerrainFrame.z(); + double dzdz = positionInTerrainFrame.z() * positionInTerrainFrame.z(); return dxdx + dydy + dzdz; } -const convex_plane_decomposition::CgalPolygonWithHoles2d* findInsetContainingThePoint(const convex_plane_decomposition::CgalPoint2d& point, const std::vector& insets){ +const convex_plane_decomposition::CgalPolygonWithHoles2d* findInsetContainingThePoint( + const convex_plane_decomposition::CgalPoint2d& point, const std::vector& insets) { for (const auto& inset : insets) { if (convex_plane_decomposition::isInside(point, inset.outer_boundary())) { return &inset; @@ -76,10 +79,11 @@ const convex_plane_decomposition::CgalPolygonWithHoles2d* findInsetContainingThe return nullptr; } -std::pair squaredDistanceToBoundary(const vector3_t& positionInWorld, const convex_plane_decomposition::PlanarRegion& planarRegion) { +std::pair squaredDistanceToBoundary( + const vector3_t& positionInWorld, const convex_plane_decomposition::PlanarRegion& planarRegion) { const auto& positionInTerrainFrame = positionInTerrainFrameFromPositionInWorld(positionInWorld, planarRegion.planeParameters); - const double dzdz = positionInTerrainFrame.z()* positionInTerrainFrame.z(); - const convex_plane_decomposition::CgalPoint2d queryProjectedToPlane {positionInTerrainFrame.x(), positionInTerrainFrame.y()}; + const double dzdz = positionInTerrainFrame.z() * positionInTerrainFrame.z(); + const convex_plane_decomposition::CgalPoint2d queryProjectedToPlane{positionInTerrainFrame.x(), positionInTerrainFrame.y()}; // First search if the projected point is inside any of the insets. const auto insetPtrContainingPoint = findInsetContainingThePoint(queryProjectedToPlane, planarRegion.boundaryWithInset.insets); @@ -105,7 +109,7 @@ std::pair squaredDistanceToBoun for (const auto& hole : insetPtrContainingPoint->holes()) { if (convex_plane_decomposition::isInside(queryProjectedToPlane, hole)) { projectedPoint = convex_plane_decomposition::projectToClosestPoint(queryProjectedToPlane, hole); - break; // No need to search other holes. Holes are not overlapping + break; // No need to search other holes. Holes are not overlapping } } } @@ -113,8 +117,8 @@ std::pair squaredDistanceToBoun return {dzdz + convex_plane_decomposition::squaredDistance(projectedPoint, queryProjectedToPlane), projectedPoint}; } -std::pair -getPlanarRegionAtPositionInWorld(const vector3_t& positionInWorld, const convex_plane_decomposition::PlanarTerrain& planarTerrain) { +std::pair getPlanarRegionAtPositionInWorld( + const vector3_t& positionInWorld, const convex_plane_decomposition::PlanarTerrain& planarTerrain) { // Compute distance to bounding boxes std::vector> regionsAndBboxSquareDistances; regionsAndBboxSquareDistances.reserve(planarTerrain.size()); @@ -125,16 +129,14 @@ getPlanarRegionAtPositionInWorld(const vector3_t& positionInWorld, const convex // Sort regions close to far std::sort(regionsAndBboxSquareDistances.begin(), regionsAndBboxSquareDistances.end(), [](const std::pair& lhs, - const std::pair& rhs) { - return lhs.second < rhs.second; - }); + const std::pair& rhs) { return lhs.second < rhs.second; }); // Look for closest planar region. Use bbox as lower bound to stop searching. double minDistSquared = std::numeric_limits::max(); std::pair closestRegionAndProjection; - for(const auto& regionAndBboxSquareDistance : regionsAndBboxSquareDistances) { + for (const auto& regionAndBboxSquareDistance : regionsAndBboxSquareDistances) { if (regionAndBboxSquareDistance.second > minDistSquared) { - break; // regions are sorted. Can exit on the first lower bound being larger than running minimum + break; // regions are sorted. Can exit on the first lower bound being larger than running minimum } const auto distanceSqrAndProjection = squaredDistanceToBoundary(positionInWorld, *regionAndBboxSquareDistance.first); diff --git a/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModelRos.cpp b/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModelRos.cpp index dc450792..4fd04973 100644 --- a/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModelRos.cpp +++ b/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModelRos.cpp @@ -9,7 +9,8 @@ namespace switched_model { SegmentedPlanesTerrainModelRos::SegmentedPlanesTerrainModelRos(ros::NodeHandle& nodehandle) : terrainUpdated_(false) { - terrainSubscriber_ = nodehandle.subscribe("/convex_plane_decomposition_ros/planar_terrain", 1, &SegmentedPlanesTerrainModelRos::callback, this); + terrainSubscriber_ = + nodehandle.subscribe("/convex_plane_decomposition_ros/planar_terrain", 1, &SegmentedPlanesTerrainModelRos::callback, this); } bool SegmentedPlanesTerrainModelRos::update(std::unique_ptr& terrainPtr) { diff --git a/segmented_planes_terrain_model/src/SegmentedPlanesTerrainVisualization.cpp b/segmented_planes_terrain_model/src/SegmentedPlanesTerrainVisualization.cpp index cad3bc3d..73956a99 100644 --- a/segmented_planes_terrain_model/src/SegmentedPlanesTerrainVisualization.cpp +++ b/segmented_planes_terrain_model/src/SegmentedPlanesTerrainVisualization.cpp @@ -6,7 +6,8 @@ namespace switched_model { -visualization_msgs::MarkerArray getConvexTerrainMarkers(const ConvexTerrain& convexTerrain, Color color, double diameter, double linewidth, double normalLength) { +visualization_msgs::MarkerArray getConvexTerrainMarkers(const ConvexTerrain& convexTerrain, Color color, double diameter, double linewidth, + double normalLength) { visualization_msgs::MarkerArray markerArray; markerArray.markers.reserve(3); @@ -18,7 +19,7 @@ visualization_msgs::MarkerArray getConvexTerrainMarkers(const ConvexTerrain& con markerArray.markers.emplace_back(getArrowAtPointMsg(surfaceNormal, convexTerrain.plane.positionInWorld, color)); // Polygon message - if (!convexTerrain.boundary.empty()){ + if (!convexTerrain.boundary.empty()) { std::vector boundary; boundary.reserve(convexTerrain.boundary.size() + 1); for (const auto& point : convexTerrain.boundary) { @@ -26,15 +27,14 @@ visualization_msgs::MarkerArray getConvexTerrainMarkers(const ConvexTerrain& con boundary.emplace_back(getPointMsg(pointInWorldFrame)); } // Close the polygon - const auto& pointInWorldFrame = positionInWorldFrameFromPositionInTerrain({convexTerrain.boundary.front().x(), convexTerrain.boundary.front().y(), 0.0}, convexTerrain.plane); + const auto& pointInWorldFrame = positionInWorldFrameFromPositionInTerrain( + {convexTerrain.boundary.front().x(), convexTerrain.boundary.front().y(), 0.0}, convexTerrain.plane); boundary.emplace_back(getPointMsg(pointInWorldFrame)); markerArray.markers.emplace_back(getLineMsg(std::move(boundary), color, linewidth)); } else { - } - return markerArray; } From 3ee5496e696af18b8a084ae2af2f5aba32cf86b5 Mon Sep 17 00:00:00 2001 From: rgrandia Date: Tue, 30 Jun 2020 15:23:48 +0200 Subject: [PATCH 051/504] split parameters into node and pipeline --- ...x_plane_decomposition_demo_parameters.yaml | 31 ------------------- .../config/demo_node.yaml | 7 +++++ .../config/node.yaml | 7 +++++ .../config/parameters.yaml | 7 ----- .../config/standalone_node.yaml | 7 +++++ .../ConvexPlaneDecompositionRos.h | 1 + .../launch/convex_plane_decomposition.launch | 7 +++-- .../launch/demo.launch | 12 +++---- .../launch/standalone.launch | 11 +++++++ .../src/ConvexPlaneDecompositionRos.cpp | 8 ++++- 10 files changed, 51 insertions(+), 47 deletions(-) delete mode 100644 convex_plane_decomposition_ros/config/convex_plane_decomposition_demo_parameters.yaml create mode 100644 convex_plane_decomposition_ros/config/demo_node.yaml create mode 100644 convex_plane_decomposition_ros/config/node.yaml create mode 100644 convex_plane_decomposition_ros/config/standalone_node.yaml create mode 100644 convex_plane_decomposition_ros/launch/standalone.launch diff --git a/convex_plane_decomposition_ros/config/convex_plane_decomposition_demo_parameters.yaml b/convex_plane_decomposition_ros/config/convex_plane_decomposition_demo_parameters.yaml deleted file mode 100644 index d3ee9e81..00000000 --- a/convex_plane_decomposition_ros/config/convex_plane_decomposition_demo_parameters.yaml +++ /dev/null @@ -1,31 +0,0 @@ -elevation_topic: '/image_to_gridmap_demo/grid_map' -height_layer: 'elevation' -submap: - width: 6.0 - length: 6.0 - -preprocessing: - kernelSize: 3 # Kernel size of the median filter - numberOfRepeats: 3 # Number of times to apply the same filter - increasing: True # Increase the kernel size each iteration. - inpaintRadius: 0.05 # [m] - -sliding_window_plane_extractor: - kernel_size: 3 # Size of the sliding window patch used for normal vector calculation and planarity detection. Should be an odd number and at least 3. - plane_inclination_threshold_degrees: 45.0 # [deg] Maximum allowed angle between the surface normal and the world-z direction for a patch - plane_patch_error_threshold: 0.005 # [m] The allowed root-mean-squared deviation from the plane fitted to the sliding window. - min_number_points_per_label: 10 # [#] Labels with less points assigned to them are discarded - connectivity: 4 # Label kernel connectivity. 4 or 8 (cross or box) - include_ransac_refinement: true # Enable RANSAC refinement if the plane is not globally fitting to the assigned points. - global_plane_fit_distance_error_threshold: 0.04 # [m] Allowed maximum distance from a point to the plane. If any point violates this, RANSAC is triggered - global_plane_fit_angle_error_threshold_degrees: 5.0 # [deg] Allowed normal vector deviation for a point w.r.t. the plane normal. If any point violates this, RANSAC is triggered - -ransac_plane_refinement: - probability: 0.01 # Probability to miss the largest candidate shape. A lower probability provides a higher reliability and determinism at the cost of longer running times - min_points: 25 # This minimum number of points per plane. Controls the termination of the algorithm. - epsilon: 0.02 # Maximum distance to plane - cluster_epsilon: 0.05 # Set maximum Euclidean distance between points to be clustered. Two points are connected if separated by a distance of at most 2*sqrt(2)*cluster_epsilon = 2.828 * cluster_epsilon - normal_threshold: 0.98 # Set maximum normal deviation. normal_threshold < dot(surface_normal, point_normal); - -contour_extraction: - offsetSize: 2 # Size of the kernel creating the boundary offset. In number of pixels. diff --git a/convex_plane_decomposition_ros/config/demo_node.yaml b/convex_plane_decomposition_ros/config/demo_node.yaml new file mode 100644 index 00000000..8f24686d --- /dev/null +++ b/convex_plane_decomposition_ros/config/demo_node.yaml @@ -0,0 +1,7 @@ +elevation_topic: '/image_to_gridmap_demo/grid_map' +height_layer: 'elevation' +submap: + width: 6.0 + length: 6.0 +publish_to_controller: false +frequency: 10.0 diff --git a/convex_plane_decomposition_ros/config/node.yaml b/convex_plane_decomposition_ros/config/node.yaml new file mode 100644 index 00000000..4343d077 --- /dev/null +++ b/convex_plane_decomposition_ros/config/node.yaml @@ -0,0 +1,7 @@ +elevation_topic: '/elevation_mapping/elevation_map_raw' +height_layer: 'elevation' +submap: + width: 3.0 + length: 3.0 +publish_to_controller: true +frequency: 10.0 diff --git a/convex_plane_decomposition_ros/config/parameters.yaml b/convex_plane_decomposition_ros/config/parameters.yaml index 180bf395..1ac210c1 100644 --- a/convex_plane_decomposition_ros/config/parameters.yaml +++ b/convex_plane_decomposition_ros/config/parameters.yaml @@ -1,9 +1,3 @@ -elevation_topic : '/elevation_mapping/elevation_map_raw' -height_layer : 'elevation' -submap: - width: 3.0 - length: 3.0 - preprocessing: kernelSize: 3 # Kernel size of the median filter numberOfRepeats: 3 # Number of times to apply the same filter @@ -29,4 +23,3 @@ ransac_plane_refinement: contour_extraction: offsetSize: 2 # Size of the kernel creating the boundary offset. In number of pixels. - diff --git a/convex_plane_decomposition_ros/config/standalone_node.yaml b/convex_plane_decomposition_ros/config/standalone_node.yaml new file mode 100644 index 00000000..ab2ee21b --- /dev/null +++ b/convex_plane_decomposition_ros/config/standalone_node.yaml @@ -0,0 +1,7 @@ +elevation_topic: '/elevation_mapping/elevation_map_raw' +height_layer: 'elevation' +submap: + width: 6.0 + length: 6.0 +publish_to_controller: false +frequency: 10.0 diff --git a/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/ConvexPlaneDecompositionRos.h b/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/ConvexPlaneDecompositionRos.h index 4f4c0fdb..62d15f91 100644 --- a/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/ConvexPlaneDecompositionRos.h +++ b/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/ConvexPlaneDecompositionRos.h @@ -39,6 +39,7 @@ class ConvexPlaneExtractionROS { std::string elevationLayer_; double subMapWidth_; double subMapLength_; + bool publishToController_; // ROS communication ros::Subscriber elevationMapSubscriber_; diff --git a/convex_plane_decomposition_ros/launch/convex_plane_decomposition.launch b/convex_plane_decomposition_ros/launch/convex_plane_decomposition.launch index a02a07b0..7716193d 100644 --- a/convex_plane_decomposition_ros/launch/convex_plane_decomposition.launch +++ b/convex_plane_decomposition_ros/launch/convex_plane_decomposition.launch @@ -1,10 +1,13 @@ + + + - - + + diff --git a/convex_plane_decomposition_ros/launch/demo.launch b/convex_plane_decomposition_ros/launch/demo.launch index a2be6e15..5a1fbf20 100644 --- a/convex_plane_decomposition_ros/launch/demo.launch +++ b/convex_plane_decomposition_ros/launch/demo.launch @@ -19,12 +19,12 @@ - - - - + + + + - + + diff --git a/convex_plane_decomposition_ros/launch/standalone.launch b/convex_plane_decomposition_ros/launch/standalone.launch new file mode 100644 index 00000000..06cf11f5 --- /dev/null +++ b/convex_plane_decomposition_ros/launch/standalone.launch @@ -0,0 +1,11 @@ + + + + + + + + + + + diff --git a/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp b/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp index a910d005..aef0efb1 100644 --- a/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp +++ b/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp @@ -53,6 +53,10 @@ bool ConvexPlaneExtractionROS::loadParameters(const ros::NodeHandle& nodeHandle) ROS_ERROR("[ConvexPlaneExtractionROS] Could not read parameter `submap/length`."); return false; } + if (!nodeHandle.getParam("publish_to_controller", publishToController_)) { + ROS_ERROR("[ConvexPlaneExtractionROS] Could not read parameter `publish_to_controller`."); + return false; + } const auto preprocessingParameters = loadPreprocessingParameters(nodeHandle, "preprocessing/"); const auto contourExtractionParameters = loadContourExtractionParameters(nodeHandle, "contour_extraction/"); @@ -94,7 +98,9 @@ void ConvexPlaneExtractionROS::callback(const grid_map_msgs::GridMap& message) { ROS_INFO_STREAM("Contour extraction took " << 1e-3 * std::chrono::duration_cast( t3 - t2 ).count() << " [ms]"); // Publish terrain - regionPublisher_.publish(toMessage(planarRegions)); + if (publishToController_) { + regionPublisher_.publish(toMessage(planarRegions)); + } // Visualize in Rviz. reapplyNans(elevationMap.get(elevationLayer_)); From 6ee539b305f903bf029eb625072c2222e28abe8a Mon Sep 17 00:00:00 2001 From: rgrandia Date: Thu, 2 Jul 2020 09:29:48 +0200 Subject: [PATCH 052/504] add deadzone to z-direction for computing distance cost --- .../src/SegmentedPlanesTerrainModel.cpp | 35 +++++++++++++++++-- 1 file changed, 32 insertions(+), 3 deletions(-) diff --git a/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModel.cpp b/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModel.cpp index 9ce41303..3bfdbe38 100644 --- a/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModel.cpp +++ b/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModel.cpp @@ -11,6 +11,30 @@ namespace switched_model { +const double zHeightDistanceDeadzone = 0.1; // [m] This difference in z height is not counted + +double distanceCost(const vector3_t& query, const vector3_t& terrainPoint) { + const double dx = query.x() - terrainPoint.x(); + const double dy = query.y() - terrainPoint.y(); + const double dz = std::max(0.0, std::abs(query.z() - terrainPoint.z()) - zHeightDistanceDeadzone); + return dx * dx + dy * dy + dz * dz; +} + +double distanceCostLowerbound(double distanceSquared) { + // cost = dx*dx + dy*dy + max(0.0, (|dz| - z0)).^2 with z0 >= 0 + // Need a lower bound for this cost derived from square distance and shift + // + // dz*dz - z0*z0 < max(0.0, (|dz| - z0)).^2 + // if |dz| > z0 ==> + // dz*dz - 2*|dz|*z0 + z0*z0 = (|dz| - z0).^2 + // dz*dz - 2*z0*z0 + z0*z0 < (|dz| - z0).^2 + // dz*dz - z0*z0 < (|dz| - z0).^2 + // + // if |dz| < z0 ==> + // dz*dz - z0*z0 < 0.0 (true) + return distanceSquared - zHeightDistanceDeadzone * zHeightDistanceDeadzone; +} + SegmentedPlanesTerrainModel::SegmentedPlanesTerrainModel(convex_plane_decomposition::PlanarTerrain planarTerrain) : planarTerrain_(std::move(planarTerrain)) {} @@ -123,7 +147,8 @@ std::pair> regionsAndBboxSquareDistances; regionsAndBboxSquareDistances.reserve(planarTerrain.size()); for (const auto& planarRegion : planarTerrain) { - regionsAndBboxSquareDistances.emplace_back(&planarRegion, squaredDistanceToBoundingBox(positionInWorld, planarRegion)); + double squareDistance = squaredDistanceToBoundingBox(positionInWorld, planarRegion); + regionsAndBboxSquareDistances.emplace_back(&planarRegion, distanceCostLowerbound(squareDistance)); } // Sort regions close to far @@ -140,8 +165,12 @@ std::pairplaneParameters); + const double distCost = distanceCost(positionInWorld, projectionInWorldFrame); + if (distCost < minDistSquared) { + minDistSquared = distCost; closestRegionAndProjection = {regionAndBboxSquareDistance.first, distanceSqrAndProjection.second}; } } From d0e5b2b6d54bb89ff5f66fb5f7bb60b919762cd5 Mon Sep 17 00:00:00 2001 From: rgrandia Date: Mon, 6 Jul 2020 23:29:39 +0200 Subject: [PATCH 053/504] listen to tf tree to transform the elevation map to odom --- convex_plane_decomposition_ros/CMakeLists.txt | 1 + .../config/image_loader_demo_parameters.yaml | 2 +- .../ConvexPlaneDecompositionRos.h | 13 ++++- .../RosVisualizations.h | 3 +- .../launch/demo.launch | 3 + convex_plane_decomposition_ros/package.xml | 1 + .../src/ConvexPlaneDecompositionNode.cpp | 3 +- .../src/ConvexPlaneDecompositionRos.cpp | 56 +++++++++++++++---- .../src/MessageConversion.cpp | 4 +- .../src/ParameterLoading.cpp | 6 +- .../src/SaveElevationMapAsImageNode.cpp | 13 ++--- 11 files changed, 77 insertions(+), 28 deletions(-) diff --git a/convex_plane_decomposition_ros/CMakeLists.txt b/convex_plane_decomposition_ros/CMakeLists.txt index ead67e38..ef57d760 100644 --- a/convex_plane_decomposition_ros/CMakeLists.txt +++ b/convex_plane_decomposition_ros/CMakeLists.txt @@ -13,6 +13,7 @@ set(CATKIN_PACKAGE_DEPENDENCIES jsk_recognition_msgs convex_plane_decomposition convex_plane_decomposition_msgs + tf2_ros ) find_package(catkin REQUIRED COMPONENTS diff --git a/convex_plane_decomposition_ros/config/image_loader_demo_parameters.yaml b/convex_plane_decomposition_ros/config/image_loader_demo_parameters.yaml index 42a93854..d53ea989 100644 --- a/convex_plane_decomposition_ros/config/image_loader_demo_parameters.yaml +++ b/convex_plane_decomposition_ros/config/image_loader_demo_parameters.yaml @@ -1,6 +1,6 @@ image_to_gridmap_demo: image_topic: "/image_publisher/image" resolution: 0.02 - map_frame_id: "odom" + map_frame_id: "map" # This parameter is actually not used. The gridmap is always in map frame min_height: 0 max_height: 1.0 \ No newline at end of file diff --git a/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/ConvexPlaneDecompositionRos.h b/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/ConvexPlaneDecompositionRos.h index 62d15f91..fcca9c26 100644 --- a/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/ConvexPlaneDecompositionRos.h +++ b/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/ConvexPlaneDecompositionRos.h @@ -1,10 +1,14 @@ #pragma once -#include #include #include +#include +#include #include +#include + +#include #include @@ -15,7 +19,7 @@ class GridMapPreprocessing; namespace sliding_window_plane_extractor { class SlidingWindowPlaneExtractor; } -namespace contour_extraction { +namespace contour_extraction { class ContourExtraction; } @@ -34,9 +38,12 @@ class ConvexPlaneExtractionROS { */ void callback(const grid_map_msgs::GridMap& message); + Eigen::Isometry3d getTransformToTargetFrame(const std::string& sourceFrame); + // Parameters std::string elevationMapTopic_; std::string elevationLayer_; + std::string targetFrameId_ = "odom"; double subMapWidth_; double subMapLength_; bool publishToController_; @@ -47,6 +54,8 @@ class ConvexPlaneExtractionROS { ros::Publisher boundaryPublisher_; ros::Publisher insetPublisher_; ros::Publisher regionPublisher_; + tf2_ros::Buffer tfBuffer_; + tf2_ros::TransformListener tfListener_; // Pipeline std::mutex mutex_; diff --git a/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/RosVisualizations.h b/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/RosVisualizations.h index d642c8cb..eaac3612 100644 --- a/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/RosVisualizations.h +++ b/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/RosVisualizations.h @@ -6,7 +6,8 @@ namespace convex_plane_decomposition { -jsk_recognition_msgs::PolygonArray convertBoundariesToRosPolygons(const std::vector& planarRegions, const std::string& frameId); +jsk_recognition_msgs::PolygonArray convertBoundariesToRosPolygons(const std::vector& planarRegions, + const std::string& frameId); jsk_recognition_msgs::PolygonArray convertInsetsToRosPolygons(const std::vector& planarRegions, const std::string& frameId); diff --git a/convex_plane_decomposition_ros/launch/demo.launch b/convex_plane_decomposition_ros/launch/demo.launch index 5a1fbf20..b0df4646 100644 --- a/convex_plane_decomposition_ros/launch/demo.launch +++ b/convex_plane_decomposition_ros/launch/demo.launch @@ -19,6 +19,9 @@ + + + diff --git a/convex_plane_decomposition_ros/package.xml b/convex_plane_decomposition_ros/package.xml index 0ae94d4e..74382d54 100644 --- a/convex_plane_decomposition_ros/package.xml +++ b/convex_plane_decomposition_ros/package.xml @@ -19,5 +19,6 @@ jsk_recognition_msgs convex_plane_decomposition convex_plane_decomposition_msgs + tf2_ros diff --git a/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionNode.cpp b/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionNode.cpp index df7417c9..3d622df7 100644 --- a/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionNode.cpp +++ b/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionNode.cpp @@ -15,8 +15,7 @@ int main(int argc, char** argv) { convex_plane_decomposition::ConvexPlaneExtractionROS convex_plane_decomposition_ros(nodeHandle); ros::Rate rate(frequency); - while(ros::ok()) - { + while (ros::ok()) { ros::spinOnce(); rate.sleep(); } diff --git a/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp b/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp index aef0efb1..bf9bae7f 100644 --- a/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp +++ b/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp @@ -9,20 +9,20 @@ #include #include -#include -#include #include #include +#include +#include #include +#include "convex_plane_decomposition_ros/MessageConversion.h" #include "convex_plane_decomposition_ros/ParameterLoading.h" #include "convex_plane_decomposition_ros/RosVisualizations.h" -#include "convex_plane_decomposition_ros/MessageConversion.h" namespace convex_plane_decomposition { -ConvexPlaneExtractionROS::ConvexPlaneExtractionROS(ros::NodeHandle& nodeHandle) { +ConvexPlaneExtractionROS::ConvexPlaneExtractionROS(ros::NodeHandle& nodeHandle) : tfBuffer_(), tfListener_(tfBuffer_) { bool parametersLoaded = loadParameters(nodeHandle); if (parametersLoaded) { @@ -61,11 +61,13 @@ bool ConvexPlaneExtractionROS::loadParameters(const ros::NodeHandle& nodeHandle) const auto preprocessingParameters = loadPreprocessingParameters(nodeHandle, "preprocessing/"); const auto contourExtractionParameters = loadContourExtractionParameters(nodeHandle, "contour_extraction/"); const auto ransacPlaneExtractorParameters = loadRansacPlaneExtractorParameters(nodeHandle, "ransac_plane_refinement/"); - const auto slidingWindowPlaneExtractorParameters = loadSlidingWindowPlaneExtractorParameters(nodeHandle, "sliding_window_plane_extractor/"); + const auto slidingWindowPlaneExtractorParameters = + loadSlidingWindowPlaneExtractorParameters(nodeHandle, "sliding_window_plane_extractor/"); std::lock_guard lock(mutex_); preprocessing_ = std::make_unique(preprocessingParameters); - slidingWindowPlaneExtractor_ = std::make_unique(slidingWindowPlaneExtractorParameters, ransacPlaneExtractorParameters); + slidingWindowPlaneExtractor_ = std::make_unique( + slidingWindowPlaneExtractorParameters, ransacPlaneExtractorParameters); contourExtraction_ = std::make_unique(contourExtractionParameters); return true; @@ -82,20 +84,31 @@ void ConvexPlaneExtractionROS::callback(const grid_map_msgs::GridMap& message) { grid_map::GridMap elevationMap = messageMap.getSubmap(messageMap.getPosition(), Eigen::Array2d(subMapWidth_, subMapLength_), success); ROS_INFO("...done."); + // Transform map if necessary + if (targetFrameId_ != elevationMap.getFrameId()) { + std::string errorMsg; + if (tfBuffer_.canTransform(targetFrameId_, elevationMap.getFrameId(), ros::Time(0), &errorMsg)) { + elevationMap = elevationMap.getTransformedMap(getTransformToTargetFrame(elevationMap.getFrameId()), elevationLayer_, targetFrameId_); + } else { + ROS_ERROR_STREAM("[ConvexPlaneExtractionROS] " << errorMsg); + return; + } + } + if (success) { auto t0 = std::chrono::high_resolution_clock::now(); - preprocessing_ ->preprocess(elevationMap, elevationLayer_); + preprocessing_->preprocess(elevationMap, elevationLayer_); auto t1 = std::chrono::high_resolution_clock::now(); - ROS_INFO_STREAM("Preprocessing took " << 1e-3 * std::chrono::duration_cast( t1 - t0 ).count() << " [ms]"); + ROS_INFO_STREAM("Preprocessing took " << 1e-3 * std::chrono::duration_cast(t1 - t0).count() << " [ms]"); // Run pipeline. slidingWindowPlaneExtractor_->runExtraction(elevationMap, elevationLayer_); auto t2 = std::chrono::high_resolution_clock::now(); - ROS_INFO_STREAM("Sliding window took " << 1e-3 * std::chrono::duration_cast( t2 - t1 ).count() << " [ms]"); + ROS_INFO_STREAM("Sliding window took " << 1e-3 * std::chrono::duration_cast(t2 - t1).count() << " [ms]"); const auto planarRegions = contourExtraction_->extractPlanarRegions(slidingWindowPlaneExtractor_->getSegmentedPlanesMap()); auto t3 = std::chrono::high_resolution_clock::now(); - ROS_INFO_STREAM("Contour extraction took " << 1e-3 * std::chrono::duration_cast( t3 - t2 ).count() << " [ms]"); + ROS_INFO_STREAM("Contour extraction took " << 1e-3 * std::chrono::duration_cast(t3 - t2).count() << " [ms]"); // Publish terrain if (publishToController_) { @@ -117,4 +130,27 @@ void ConvexPlaneExtractionROS::callback(const grid_map_msgs::GridMap& message) { } } +Eigen::Isometry3d ConvexPlaneExtractionROS::getTransformToTargetFrame(const std::string& sourceFrame) { + geometry_msgs::TransformStamped transformStamped; + try { + transformStamped = tfBuffer_.lookupTransform(targetFrameId_, sourceFrame, ros::Time(0)); + } catch (tf2::TransformException& ex) { + ROS_ERROR("[ConvexPlaneExtractionROS] %s", ex.what()); + return Eigen::Isometry3d(); + } + + Eigen::Isometry3d transformation; + + // Extract translation. + transformation.translation().x() = transformStamped.transform.translation.x; + transformation.translation().y() = transformStamped.transform.translation.y; + transformation.translation().z() = transformStamped.transform.translation.z; + + // Extract rotation. + Eigen::Quaterniond rotationQuaternion(transformStamped.transform.rotation.w, transformStamped.transform.rotation.x, + transformStamped.transform.rotation.y, transformStamped.transform.rotation.z); + transformation.linear() = rotationQuaternion.toRotationMatrix(); + return transformation; +} + } // namespace convex_plane_decomposition diff --git a/convex_plane_decomposition_ros/src/MessageConversion.cpp b/convex_plane_decomposition_ros/src/MessageConversion.cpp index a14f83a4..d60e47de 100644 --- a/convex_plane_decomposition_ros/src/MessageConversion.cpp +++ b/convex_plane_decomposition_ros/src/MessageConversion.cpp @@ -61,7 +61,7 @@ convex_plane_decomposition_msgs::PlanarTerrain toMessage(const PlanarTerrain& pl return msg; } -TerrainPlane fromMessage(const geometry_msgs::Pose& msg){ +TerrainPlane fromMessage(const geometry_msgs::Pose& msg) { TerrainPlane plane; plane.positionInWorld.x() = msg.position.x; plane.positionInWorld.y() = msg.position.y; @@ -75,7 +75,7 @@ TerrainPlane fromMessage(const geometry_msgs::Pose& msg){ return plane; } -geometry_msgs::Pose toMessage(const TerrainPlane& plane){ +geometry_msgs::Pose toMessage(const TerrainPlane& plane) { geometry_msgs::Pose pose; pose.position.x = plane.positionInWorld.x(); pose.position.y = plane.positionInWorld.y(); diff --git a/convex_plane_decomposition_ros/src/ParameterLoading.cpp b/convex_plane_decomposition_ros/src/ParameterLoading.cpp index a702326f..76c3b688 100644 --- a/convex_plane_decomposition_ros/src/ParameterLoading.cpp +++ b/convex_plane_decomposition_ros/src/ParameterLoading.cpp @@ -9,12 +9,12 @@ namespace convex_plane_decomposition { template void loadParameter(const ros::NodeHandle& nodeHandle, const std::string& prefix, const std::string& param, T& value) { if (!nodeHandle.getParam(prefix + param, value)) { - ROS_ERROR_STREAM("[ConvexPlaneExtractionROS] Could not read parameter `" << param << "`. Setting parameter to default value : " << std::to_string(value)); + ROS_ERROR_STREAM("[ConvexPlaneExtractionROS] Could not read parameter `" + << param << "`. Setting parameter to default value : " << std::to_string(value)); } } -PreprocessingParameters loadPreprocessingParameters(const ros::NodeHandle& nodeHandle, - const std::string& prefix) { +PreprocessingParameters loadPreprocessingParameters(const ros::NodeHandle& nodeHandle, const std::string& prefix) { PreprocessingParameters preprocessingParameters; loadParameter(nodeHandle, prefix, "kernelSize", preprocessingParameters.kernelSize); loadParameter(nodeHandle, prefix, "numberOfRepeats", preprocessingParameters.numberOfRepeats); diff --git a/convex_plane_decomposition_ros/src/SaveElevationMapAsImageNode.cpp b/convex_plane_decomposition_ros/src/SaveElevationMapAsImageNode.cpp index b6f51ae0..8f471b22 100644 --- a/convex_plane_decomposition_ros/src/SaveElevationMapAsImageNode.cpp +++ b/convex_plane_decomposition_ros/src/SaveElevationMapAsImageNode.cpp @@ -23,10 +23,10 @@ void callback(const grid_map_msgs::GridMap::ConstPtr& message) { const auto& data = messageMap[elevationLayer]; float maxHeight = std::numeric_limits::lowest(); float minHeight = std::numeric_limits::max(); - for (int i=0; i(messageMap, elevationLayer, CV_8UC1, minHeight, maxHeight, image); int range = 100 * (maxHeight - minHeight); - cv::imwrite( imageName + "_" + std::to_string(count++) + "_" + std::to_string(range) + "cm.png", image); + cv::imwrite(imageName + "_" + std::to_string(count++) + "_" + std::to_string(range) + "cm.png", image); } int main(int argc, char** argv) { @@ -64,8 +64,7 @@ int main(int argc, char** argv) { auto elevationMapSubscriber_ = nodeHandle.subscribe(elevationMapTopic, 1, callback); ros::Rate rate(frequency); - while(ros::ok()) - { + while (ros::ok()) { ros::spinOnce(); rate.sleep(); } From 528239dd8f8d280ddd1eb970d7a7304eeb80f70a Mon Sep 17 00:00:00 2001 From: rgrandia Date: Mon, 6 Jul 2020 23:42:00 +0200 Subject: [PATCH 054/504] formatting --- .../contour_extraction/ContourExtraction.h | 5 ++--- .../ContourExtractionParameters.h | 3 +-- .../ransac/RansacPlaneExtractorParameters.h | 3 ++- .../SlidingWindowPlaneExtractor.h | 4 ++-- .../src/ConvexRegionGrowing.cpp | 7 ++++--- .../contour_extraction/ContourExtraction.cpp | 18 ++++++++---------- .../SlidingWindowPlaneExtractor.cpp | 19 +++++++++++-------- 7 files changed, 30 insertions(+), 29 deletions(-) diff --git a/convex_plane_decomposition/include/convex_plane_decomposition/contour_extraction/ContourExtraction.h b/convex_plane_decomposition/include/convex_plane_decomposition/contour_extraction/ContourExtraction.h index aee87d57..310bdf21 100644 --- a/convex_plane_decomposition/include/convex_plane_decomposition/contour_extraction/ContourExtraction.h +++ b/convex_plane_decomposition/include/convex_plane_decomposition/contour_extraction/ContourExtraction.h @@ -15,7 +15,6 @@ namespace convex_plane_decomposition { namespace contour_extraction { - /** * Extracts the contours in map resolution, but with the x and y axis flipped. * This way all contours are in counter clockwise direction. @@ -45,5 +44,5 @@ CgalPoint2d worldFrameToTerrainFrame(const CgalPoint2d& worldFrameXY, const Terr CgalPoint2d pixelToWorldFrame(const CgalPoint2d& pixelspaceCgalPoint2d, double resolution, const Eigen::Vector2d& mapOffset); -} -} \ No newline at end of file +} // namespace contour_extraction +} // namespace convex_plane_decomposition diff --git a/convex_plane_decomposition/include/convex_plane_decomposition/contour_extraction/ContourExtractionParameters.h b/convex_plane_decomposition/include/convex_plane_decomposition/contour_extraction/ContourExtractionParameters.h index 8ac00075..1d92911b 100644 --- a/convex_plane_decomposition/include/convex_plane_decomposition/contour_extraction/ContourExtractionParameters.h +++ b/convex_plane_decomposition/include/convex_plane_decomposition/contour_extraction/ContourExtractionParameters.h @@ -13,5 +13,4 @@ struct ContourExtractionParameters { }; } // namespace contour_extraction -} - +} // namespace convex_plane_decomposition diff --git a/convex_plane_decomposition/include/convex_plane_decomposition/ransac/RansacPlaneExtractorParameters.h b/convex_plane_decomposition/include/convex_plane_decomposition/ransac/RansacPlaneExtractorParameters.h index 1bb09f76..60fe43ef 100644 --- a/convex_plane_decomposition/include/convex_plane_decomposition/ransac/RansacPlaneExtractorParameters.h +++ b/convex_plane_decomposition/include/convex_plane_decomposition/ransac/RansacPlaneExtractorParameters.h @@ -13,7 +13,8 @@ struct RansacPlaneExtractorParameters { double min_points = 200; /// Set maximum Euclidean distance between a point and a shape. double epsilon = 0.004; - /// Set maximum Euclidean distance between points to be clustered. Two points are connected if separated by a distance of at most 2*sqrt(2)*cluster_epsilon = 2.828 * cluster_epsilon + /// Set maximum Euclidean distance between points to be clustered. Two points are connected if separated by a distance of at most + /// 2*sqrt(2)*cluster_epsilon = 2.828 * cluster_epsilon double cluster_epsilon = 0.03; /// Set maximum normal deviation. normal_threshold < dot(surface_normal, point_normal); double normal_threshold = 0.98; diff --git a/convex_plane_decomposition/include/convex_plane_decomposition/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.h b/convex_plane_decomposition/include/convex_plane_decomposition/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.h index 0c496eb1..e62d2dab 100644 --- a/convex_plane_decomposition/include/convex_plane_decomposition/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.h +++ b/convex_plane_decomposition/include/convex_plane_decomposition/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.h @@ -5,8 +5,8 @@ #include #include -#include "convex_plane_decomposition/ransac/RansacPlaneExtractor.hpp" #include "convex_plane_decomposition/SegmentedPlanesMap.h" +#include "convex_plane_decomposition/ransac/RansacPlaneExtractor.hpp" #include "SlidingWindowPlaneExtractorParameters.h" @@ -16,7 +16,7 @@ namespace sliding_window_plane_extractor { class SlidingWindowPlaneExtractor { public: SlidingWindowPlaneExtractor(const SlidingWindowPlaneExtractorParameters& parameters, - const ransac_plane_extractor::RansacPlaneExtractorParameters& ransacParameters); + const ransac_plane_extractor::RansacPlaneExtractorParameters& ransacParameters); void runExtraction(const grid_map::GridMap& map, const std::string& layer_height); diff --git a/convex_plane_decomposition/src/ConvexRegionGrowing.cpp b/convex_plane_decomposition/src/ConvexRegionGrowing.cpp index a3f963a1..b5fd52c1 100644 --- a/convex_plane_decomposition/src/ConvexRegionGrowing.cpp +++ b/convex_plane_decomposition/src/ConvexRegionGrowing.cpp @@ -30,7 +30,7 @@ int getClockWiseNeighbour(int i, int lastVertex) { return (i < lastVertex) ? i + 1 : 0; } -void updateMean(CgalPoint2d & mean, const CgalPoint2d& oldValue, const CgalPoint2d& updatedValue, int N) { +void updateMean(CgalPoint2d& mean, const CgalPoint2d& oldValue, const CgalPoint2d& updatedValue, int N) { // old_mean = 1/N * ( others + old_value); -> others = N*old_mean - old_value // new_mean = 1/N * ( others + new_value); -> new_mean = old_mean - 1/N * oldValue + 1/N * updatedValue mean += 1.0 / N * (updatedValue - oldValue); @@ -107,7 +107,7 @@ CgalPolygon2d growConvexPolygonInsideShape_impl(const T& parentShape, CgalPoint2 // Cached values per vertex std::vector blocked(numberOfVertices, false); - std::vector freeSpheres(numberOfVertices, CgalCircle2d(center, radius*radius)); + std::vector freeSpheres(numberOfVertices, CgalCircle2d(center, radius * radius)); int Nblocked = 0; while (Nblocked < numberOfVertices) { @@ -127,7 +127,8 @@ CgalPolygon2d growConvexPolygonInsideShape_impl(const T& parentShape, CgalPoint2 return growthShape; } -CgalPolygon2d growConvexPolygonInsideShape(const CgalPolygon2d & parentShape, CgalPoint2d center, int numberOfVertices, double growthFactor) { +CgalPolygon2d growConvexPolygonInsideShape(const CgalPolygon2d& parentShape, CgalPoint2d center, int numberOfVertices, + double growthFactor) { return growConvexPolygonInsideShape_impl(parentShape, center, numberOfVertices, growthFactor); } diff --git a/convex_plane_decomposition/src/contour_extraction/ContourExtraction.cpp b/convex_plane_decomposition/src/contour_extraction/ContourExtraction.cpp index 4777192c..58c3b16b 100644 --- a/convex_plane_decomposition/src/contour_extraction/ContourExtraction.cpp +++ b/convex_plane_decomposition/src/contour_extraction/ContourExtraction.cpp @@ -10,10 +10,10 @@ namespace convex_plane_decomposition { namespace contour_extraction { -ContourExtraction::ContourExtraction(const ContourExtractionParameters& parameters) : parameters_(parameters), - binaryImage_(cv::Size(0, 0), CV_8UC1) { - int erosionSize = parameters_.offsetSize; // single sided length of the kernel - int erosionType = cv::MORPH_CROSS; // cv::MORPH_ELLIPSE, cv::MORPH_RECT +ContourExtraction::ContourExtraction(const ContourExtractionParameters& parameters) + : parameters_(parameters), binaryImage_(cv::Size(0, 0), CV_8UC1) { + int erosionSize = parameters_.offsetSize; // single sided length of the kernel + int erosionType = cv::MORPH_CROSS; // cv::MORPH_ELLIPSE, cv::MORPH_RECT erosionKernel_ = cv::getStructuringElement(erosionType, cv::Size(2 * erosionSize + 1, 2 * erosionSize + 1)); } @@ -49,7 +49,7 @@ std::vector extractBoundaryAndInset(cv::Mat& binary_image, co std::vector boundaries = extractPolygonsFromBinaryImage(binary_image); // Erode - cv::erode( binary_image, binary_image, erosionKernel ); + cv::erode(binary_image, binary_image, erosionKernel); // Get insets std::vector insets = extractPolygonsFromBinaryImage(binary_image); @@ -64,7 +64,7 @@ std::vector extractBoundaryAndInset(cv::Mat& binary_image, co } } - if (!assignedInsets.empty()){ + if (!assignedInsets.empty()) { BoundaryWithInset boundaryWithInset; boundaryWithInset.boundary = boundary; boundaryWithInset.insets = assignedInsets; @@ -104,7 +104,7 @@ std::vector extractPolygonsFromBinaryImage(const cv::Mat CgalPolygon2d cgalPolygonFromOpenCv(const std::vector& openCvPolygon) { CgalPolygon2d polygon; polygon.container().reserve(openCvPolygon.size()); - for (const auto& point: openCvPolygon) { + for (const auto& point : openCvPolygon) { polygon.container().emplace_back(point.x, point.y); } return polygon; @@ -118,10 +118,8 @@ CgalPoint2d worldFrameToTerrainFrame(const CgalPoint2d& worldFrameXY, const Terr CgalPoint2d pixelToWorldFrame(const CgalPoint2d& pixelspaceCgalPoint2d, double resolution, const Eigen::Vector2d& mapOffset) { // Notice the transpose of x and y! - return {mapOffset.x() -resolution * pixelspaceCgalPoint2d.y(), mapOffset.y() -resolution * pixelspaceCgalPoint2d.x()}; + return {mapOffset.x() - resolution * pixelspaceCgalPoint2d.y(), mapOffset.y() - resolution * pixelspaceCgalPoint2d.x()}; } - - } // namespace contour_extraction } // namespace convex_plane_decomposition diff --git a/convex_plane_decomposition/src/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.cpp b/convex_plane_decomposition/src/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.cpp index e32e6fd3..0f0a7aa1 100644 --- a/convex_plane_decomposition/src/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.cpp +++ b/convex_plane_decomposition/src/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.cpp @@ -40,7 +40,7 @@ void SlidingWindowPlaneExtractor::runExtraction(const grid_map::GridMap& map, co segmentedPlanesMap_.highestLabel = -1; segmentedPlanesMap_.labelPlaneParameters.clear(); const auto& mapSize = map_->getSize(); - binaryImagePatch_ = cv::Mat(mapSize(0), mapSize(1), CV_8U, 0.0); // Zero initialize to set untouched pixels to not planar; + binaryImagePatch_ = cv::Mat(mapSize(0), mapSize(1), CV_8U, 0.0); // Zero initialize to set untouched pixels to not planar; // Need a buffer of at least the linear size of the image. But no need to shrink if the buffer is already bigger. const int linearMapSize = mapSize(0) * mapSize(1); if (surfaceNormals_.size() < linearMapSize) { @@ -132,11 +132,12 @@ void SlidingWindowPlaneExtractor::runSlidingWindowDetector() { // Label cells according to which cell they belong to using connected component labeling. void SlidingWindowPlaneExtractor::runSegmentation() { int numberOfLabel = cv::connectedComponents(binaryImagePatch_, segmentedPlanesMap_.labeledImage, parameters_.connectivity, CV_32S); - segmentedPlanesMap_.highestLabel = numberOfLabel - 1; // Labels are [0, N-1] + segmentedPlanesMap_.highestLabel = numberOfLabel - 1; // Labels are [0, N-1] } void SlidingWindowPlaneExtractor::extractPlaneParametersFromLabeledImage() { - const int numberOfExtractedPlanesWithoutRefinement = segmentedPlanesMap_.highestLabel; // Make local copy. The highestLabel is incremented inside the loop + const int numberOfExtractedPlanesWithoutRefinement = + segmentedPlanesMap_.highestLabel; // Make local copy. The highestLabel is incremented inside the loop // Skip label 0. This is the background, i.e. non-planar region. for (int label = 1; label <= numberOfExtractedPlanesWithoutRefinement; ++label) { @@ -167,7 +168,8 @@ void SlidingWindowPlaneExtractor::computePlaneParametersForLabel(int label) { normal_vector_sum += normal_vector_temp; ++number_of_normal_instances; - Eigen::Vector3d point3d{segmentedPlanesMap_.mapOrigin.x() - row * segmentedPlanesMap_.resolution, segmentedPlanesMap_.mapOrigin.y() - col * segmentedPlanesMap_.resolution, height}; + Eigen::Vector3d point3d{segmentedPlanesMap_.mapOrigin.x() - row * segmentedPlanesMap_.resolution, + segmentedPlanesMap_.mapOrigin.y() - col * segmentedPlanesMap_.resolution, height}; support_vector_sum += point3d; ++number_of_position_instances; @@ -227,7 +229,8 @@ void SlidingWindowPlaneExtractor::computePlaneParametersForLabel(int label) { if (angleBetweenVectorsInDegrees(normal_vector_refined_avg, Eigen::Vector3d::UnitZ()) < parameters_.plane_inclination_threshold_degrees) { - const TerrainPlane temp_plane_parameters(support_vector_refined_avg, switched_model::orientationWorldToTerrainFromSurfaceNormalInWorld(normal_vector_refined_avg)); + const TerrainPlane temp_plane_parameters( + support_vector_refined_avg, switched_model::orientationWorldToTerrainFromSurfaceNormalInWorld(normal_vector_refined_avg)); segmentedPlanesMap_.labelPlaneParameters.emplace_back(newLabel, temp_plane_parameters); } } @@ -242,9 +245,9 @@ void SlidingWindowPlaneExtractor::computePlaneParametersForLabel(int label) { segmentedPlanesMap_.labeledImage.at(map_indices(0), map_indices(1)) = 0; } } else { - if (angleBetweenVectorsInDegrees(normal_vector_avg, Eigen::Vector3d::UnitZ()) < - parameters_.plane_inclination_threshold_degrees) { - const TerrainPlane temp_plane_parameters(support_vector_avg, switched_model::orientationWorldToTerrainFromSurfaceNormalInWorld(normal_vector_avg)); + if (angleBetweenVectorsInDegrees(normal_vector_avg, Eigen::Vector3d::UnitZ()) < parameters_.plane_inclination_threshold_degrees) { + const TerrainPlane temp_plane_parameters(support_vector_avg, + switched_model::orientationWorldToTerrainFromSurfaceNormalInWorld(normal_vector_avg)); segmentedPlanesMap_.labelPlaneParameters.emplace_back(label, temp_plane_parameters); } } From 2122467e5744dfe00b1ef10f634b188ee1bbd4c4 Mon Sep 17 00:00:00 2001 From: rgrandia Date: Wed, 5 Aug 2020 11:13:08 +0200 Subject: [PATCH 055/504] add comment --- .../src/SegmentedPlanesTerrainModel.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModel.cpp b/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModel.cpp index 3bfdbe38..ab2ea0c4 100644 --- a/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModel.cpp +++ b/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModel.cpp @@ -11,6 +11,7 @@ namespace switched_model { +// TODO (rgrandia) : deadzone a parameter const double zHeightDistanceDeadzone = 0.1; // [m] This difference in z height is not counted double distanceCost(const vector3_t& query, const vector3_t& terrainPoint) { From b4b63b86c5c1e7737cdae9fe7bfae6e6f4184b52 Mon Sep 17 00:00:00 2001 From: rgrandia Date: Wed, 5 Aug 2020 11:23:53 +0200 Subject: [PATCH 056/504] adapt to renaming --- .../SegmentedPlanesTerrainModel.h | 2 +- .../src/SegmentedPlanesTerrainModel.cpp | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesTerrainModel.h b/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesTerrainModel.h index 1f7617fe..ace46075 100644 --- a/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesTerrainModel.h +++ b/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesTerrainModel.h @@ -13,7 +13,7 @@ class SegmentedPlanesTerrainModel : public switched_model::TerrainModel { public: SegmentedPlanesTerrainModel(convex_plane_decomposition::PlanarTerrain planarTerrain); - TerrainPlane getLocalTerrainAtPositionInWorld(const vector3_t& positionInWorld) const override; + TerrainPlane getLocalTerrainAtPositionInWorldAlongGravity(const vector3_t& positionInWorld) const override; ConvexTerrain getConvexTerrainAtPositionInWorld(const vector3_t& positionInWorld) const override; diff --git a/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModel.cpp b/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModel.cpp index ab2ea0c4..ec958a2d 100644 --- a/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModel.cpp +++ b/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModel.cpp @@ -39,7 +39,7 @@ double distanceCostLowerbound(double distanceSquared) { SegmentedPlanesTerrainModel::SegmentedPlanesTerrainModel(convex_plane_decomposition::PlanarTerrain planarTerrain) : planarTerrain_(std::move(planarTerrain)) {} -TerrainPlane SegmentedPlanesTerrainModel::getLocalTerrainAtPositionInWorld(const vector3_t& positionInWorld) const { +TerrainPlane SegmentedPlanesTerrainModel::getLocalTerrainAtPositionInWorldAlongGravity(const vector3_t& positionInWorld) const { const auto regionAndSeedPoint = getPlanarRegionAtPositionInWorld(positionInWorld, planarTerrain_); const auto& region = *regionAndSeedPoint.first; const auto& seedpoint = regionAndSeedPoint.second; From 1f70e6d952ddd53026ef4a2756f1afe2b911cc26 Mon Sep 17 00:00:00 2001 From: rgrandia Date: Wed, 5 Aug 2020 11:25:37 +0200 Subject: [PATCH 057/504] install gmp, mfpr on the buildserver --- cgal5_catkin/package.xml | 2 ++ 1 file changed, 2 insertions(+) diff --git a/cgal5_catkin/package.xml b/cgal5_catkin/package.xml index 29ae2f27..87364daa 100644 --- a/cgal5_catkin/package.xml +++ b/cgal5_catkin/package.xml @@ -7,4 +7,6 @@ See package catkin + libgmp-dev + libmpfr-dev From b859b5999294232ea9c0cf06134f2359d0b79ba6 Mon Sep 17 00:00:00 2001 From: rgrandia Date: Wed, 5 Aug 2020 11:27:36 +0200 Subject: [PATCH 058/504] change package xml version --- cgal5_catkin/package.xml | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/cgal5_catkin/package.xml b/cgal5_catkin/package.xml index 87364daa..4cbb5614 100644 --- a/cgal5_catkin/package.xml +++ b/cgal5_catkin/package.xml @@ -1,4 +1,5 @@ - + + cgal5_catkin 5.0.2 Catkin wrapper for CGAL 5. From 99e7063d09d42e65e73d5ee700f5f7b238570458 Mon Sep 17 00:00:00 2001 From: rgrandia Date: Wed, 5 Aug 2020 12:04:47 +0200 Subject: [PATCH 059/504] install headers --- cgal5_catkin/CMakeLists.txt | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/cgal5_catkin/CMakeLists.txt b/cgal5_catkin/CMakeLists.txt index 2582a1a7..445a42f5 100644 --- a/cgal5_catkin/CMakeLists.txt +++ b/cgal5_catkin/CMakeLists.txt @@ -26,3 +26,8 @@ catkin_package( INCLUDE_DIRS ${CATKIN_DEVEL_PREFIX}/include CFG_EXTRAS cgal-extras.cmake ) + +install(DIRECTORY ${CATKIN_DEVEL_PREFIX}/include/CGAL/ + DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION}/CGAL/ +) + From 596385c7f5b8fc4e38e4d7c7353f017d75a54c94 Mon Sep 17 00:00:00 2001 From: rgrandia Date: Wed, 5 Aug 2020 11:10:21 +0200 Subject: [PATCH 060/504] signed distance wip --- .../config/demo_node.yaml | 2 +- .../config/image_loader_demo_parameters.yaml | 2 +- .../config/parameters.yaml | 2 +- .../config/standalone_node.yaml | 6 +- .../rviz/config_demo.rviz | 588 +++++++++++++++++- segmented_planes_terrain_model/CMakeLists.txt | 12 + .../distance_transform/COPYING | 339 ++++++++++ .../distance_transform/dt.h | 117 ++++ .../distance_transform/image.h | 101 +++ .../distance_transform/imconv.h | 179 ++++++ .../distance_transform/imutil.h | 67 ++ .../distance_transform/misc.h | 62 ++ .../distance_transform/pnmfile.h | 214 +++++++ segmented_planes_terrain_model/package.xml | 4 + .../src/DemoNode.cpp | 61 +- .../test/signedDistanceTest.cpp | 261 ++++++++ signed_distance_field/CMakeLists.txt | 72 +++ .../signed_distance_field/SignedDistance2d.h | 28 + .../include/signed_distance_field/Utils.h | 12 + signed_distance_field/package.xml | 15 + .../src/SignedDistance2d.cpp | 177 ++++++ .../src/SignedDistanceField.cpp | 7 + .../test/testSignedDistance2d.cpp | 161 +++++ 23 files changed, 2458 insertions(+), 31 deletions(-) create mode 100755 segmented_planes_terrain_model/include/segmented_planes_terrain_model/distance_transform/COPYING create mode 100755 segmented_planes_terrain_model/include/segmented_planes_terrain_model/distance_transform/dt.h create mode 100755 segmented_planes_terrain_model/include/segmented_planes_terrain_model/distance_transform/image.h create mode 100755 segmented_planes_terrain_model/include/segmented_planes_terrain_model/distance_transform/imconv.h create mode 100755 segmented_planes_terrain_model/include/segmented_planes_terrain_model/distance_transform/imutil.h create mode 100755 segmented_planes_terrain_model/include/segmented_planes_terrain_model/distance_transform/misc.h create mode 100755 segmented_planes_terrain_model/include/segmented_planes_terrain_model/distance_transform/pnmfile.h create mode 100644 segmented_planes_terrain_model/test/signedDistanceTest.cpp create mode 100644 signed_distance_field/CMakeLists.txt create mode 100644 signed_distance_field/include/signed_distance_field/SignedDistance2d.h create mode 100644 signed_distance_field/include/signed_distance_field/Utils.h create mode 100644 signed_distance_field/package.xml create mode 100644 signed_distance_field/src/SignedDistance2d.cpp create mode 100644 signed_distance_field/src/SignedDistanceField.cpp create mode 100644 signed_distance_field/test/testSignedDistance2d.cpp diff --git a/convex_plane_decomposition_ros/config/demo_node.yaml b/convex_plane_decomposition_ros/config/demo_node.yaml index 8f24686d..a25332aa 100644 --- a/convex_plane_decomposition_ros/config/demo_node.yaml +++ b/convex_plane_decomposition_ros/config/demo_node.yaml @@ -3,5 +3,5 @@ height_layer: 'elevation' submap: width: 6.0 length: 6.0 -publish_to_controller: false +publish_to_controller: true frequency: 10.0 diff --git a/convex_plane_decomposition_ros/config/image_loader_demo_parameters.yaml b/convex_plane_decomposition_ros/config/image_loader_demo_parameters.yaml index d53ea989..fcf5ef45 100644 --- a/convex_plane_decomposition_ros/config/image_loader_demo_parameters.yaml +++ b/convex_plane_decomposition_ros/config/image_loader_demo_parameters.yaml @@ -1,6 +1,6 @@ image_to_gridmap_demo: image_topic: "/image_publisher/image" resolution: 0.02 - map_frame_id: "map" # This parameter is actually not used. The gridmap is always in map frame + map_frame_id: "map" # This parameter is actually not used. The gridmap is always in map frame min_height: 0 max_height: 1.0 \ No newline at end of file diff --git a/convex_plane_decomposition_ros/config/parameters.yaml b/convex_plane_decomposition_ros/config/parameters.yaml index 1ac210c1..aa45a11c 100644 --- a/convex_plane_decomposition_ros/config/parameters.yaml +++ b/convex_plane_decomposition_ros/config/parameters.yaml @@ -18,7 +18,7 @@ ransac_plane_refinement: probability: 0.01 # Probability to miss the largest candidate shape. A lower probability provides a higher reliability and determinism at the cost of longer running times min_points: 25 # This minimum number of points per plane. Controls the termination of the algorithm. epsilon: 0.02 # Maximum distance to plane - cluster_epsilon: 0.02 # Set maximum Euclidean distance between points to be clustered. Two points are connected if separated by a distance of at most 2*sqrt(2)*cluster_epsilon = 2.828 * cluster_epsilon + cluster_epsilon: 0.05 # Set maximum Euclidean distance between points to be clustered. Two points are connected if separated by a distance of at most 2*sqrt(2)*cluster_epsilon = 2.828 * cluster_epsilon normal_threshold: 0.98 # Set maximum normal deviation. normal_threshold < dot(surface_normal, point_normal); contour_extraction: diff --git a/convex_plane_decomposition_ros/config/standalone_node.yaml b/convex_plane_decomposition_ros/config/standalone_node.yaml index ab2ee21b..f6b76949 100644 --- a/convex_plane_decomposition_ros/config/standalone_node.yaml +++ b/convex_plane_decomposition_ros/config/standalone_node.yaml @@ -1,7 +1,7 @@ -elevation_topic: '/elevation_mapping/elevation_map_raw' +elevation_topic: '/elevation_mapping/elevation_map_recordable' height_layer: 'elevation' submap: - width: 6.0 - length: 6.0 + width: 3.0 + length: 3.0 publish_to_controller: false frequency: 10.0 diff --git a/convex_plane_decomposition_ros/rviz/config_demo.rviz b/convex_plane_decomposition_ros/rviz/config_demo.rviz index 7f2f8a13..9aeda245 100644 --- a/convex_plane_decomposition_ros/rviz/config_demo.rviz +++ b/convex_plane_decomposition_ros/rviz/config_demo.rviz @@ -6,7 +6,7 @@ Panels: Expanded: - /Global Options1 Splitter Ratio: 0.4083484709262848 - Tree Height: 806 + Tree Height: 540 - Class: rviz/Selection Name: Selection - Class: rviz/Tool Properties @@ -76,7 +76,7 @@ Visualization Manager: Min Intensity: 0 Name: GridMap Show Grid Lines: true - Topic: /image_to_gridmap_demo/grid_map + Topic: /elevation_mapping/elevation_map_recordable Unreliable: false Use Rainbow: true Value: true @@ -125,11 +125,571 @@ Visualization Manager: {} Queue Size: 100 Value: true + - Class: anymal_rviz_plugin/AnymalDisplay + Contact Polygon: + CoM Arrow Alpha: 0.6000000238418579 + CoM Arrow Color: 0; 204; 204 + CoM Arrow Thickness: 0.029999999329447746 + CoM Polygon Projection Alpha: 0.6000000238418579 + CoM Polygon Projection Color: 0; 102; 102 + Polygon Line Color: 204; 204; 204 + Polygon Line Thickness: 0.009999999776482582 + Polygon Line alpha: 0.6000000238418579 + Show CoM Column: true + Show CoM Projection: true + Value: false + Contacts: + Alpha: 0.30000001192092896 + Color: 100; 100; 100 + Color Mode: Contact/Plane + LF_FOOT: + Alpha: 0.30000001192092896 + Color: 204; 41; 204 + Color Mode: Contact/Plane + Normal Plane Size: 0.20000000298023224 + Show Normal: true + Show Wrench: true + Value: false + Wrench Arrow Width: 0.009999999776482582 + Wrench Scale: 0.003000000026077032 + LH_FOOT: + Alpha: 0.30000001192092896 + Color: 204; 41; 204 + Color Mode: Contact/Plane + Normal Plane Size: 0.20000000298023224 + Show Normal: true + Show Wrench: true + Value: false + Wrench Arrow Width: 0.009999999776482582 + Wrench Scale: 0.003000000026077032 + Normal Plane Size: 0.20000000298023224 + RF_FOOT: + Alpha: 0.30000001192092896 + Color: 204; 41; 204 + Color Mode: Contact/Plane + Normal Plane Size: 0.20000000298023224 + Show Normal: true + Show Wrench: true + Value: false + Wrench Arrow Width: 0.009999999776482582 + Wrench Scale: 0.003000000026077032 + RH_FOOT: + Alpha: 0.30000001192092896 + Color: 204; 41; 204 + Color Mode: Contact/Plane + Normal Plane Size: 0.20000000298023224 + Show Normal: true + Show Wrench: true + Value: false + Wrench Arrow Width: 0.009999999776482582 + Wrench Scale: 0.003000000026077032 + Show Normal: true + Show Wrench: true + Value: false + Wrench Arrow Width: 0.009999999776482582 + Wrench Scale: 0.003000000026077032 + Enabled: true + Joint Torques: + Alpha: 1 + Color: 240; 240; 240 + Color Mode: + Threshold: 0.75 + Value: Solid Color + LF_HAA: + Offset: 0 + Torque Maximum: 40 + Value: false + LF_HFE: + Offset: 0 + Torque Maximum: 40 + Value: false + LF_KFE: + Offset: 0 + Torque Maximum: 40 + Value: false + LH_HAA: + Offset: 0 + Torque Maximum: 40 + Value: false + LH_HFE: + Offset: 0 + Torque Maximum: 40 + Value: false + LH_KFE: + Offset: 0 + Torque Maximum: 40 + Value: false + RF_HAA: + Offset: 0 + Torque Maximum: 40 + Value: false + RF_HFE: + Offset: 0 + Torque Maximum: 40 + Value: false + RF_KFE: + Offset: 0 + Torque Maximum: 40 + Value: false + RH_HAA: + Offset: 0 + Torque Maximum: 40 + Value: false + RH_HFE: + Offset: 0 + Torque Maximum: 40 + Value: false + RH_KFE: + Offset: 0 + Torque Maximum: 40 + Value: false + Size: 0.10000000149011612 + Value: false + Name: AnymalDisplay + Robot Description: anymal_description + Robot Display Options: + Alpha: 1 + Collision Enabled: false + Color Mode: + Color: 204; 204; 204 + Value: Mesh Texture + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + LF_FOOT: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + LF_HAA: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + LF_HFE: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + LF_HIP: + Alpha: 1 + Show Axes: false + Show Trail: false + LF_KFE: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + LF_SHANK: + Alpha: 1 + Show Axes: false + Show Trail: false + LF_THIGH: + Alpha: 1 + Show Axes: false + Show Trail: false + LF_hip_fixed: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + LF_shank_fixed: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + LF_thigh_fixed: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + LH_FOOT: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + LH_HAA: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + LH_HFE: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + LH_HIP: + Alpha: 1 + Show Axes: false + Show Trail: false + LH_KFE: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + LH_SHANK: + Alpha: 1 + Show Axes: false + Show Trail: false + LH_THIGH: + Alpha: 1 + Show Axes: false + Show Trail: false + LH_hip_fixed: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + LH_shank_fixed: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + LH_thigh_fixed: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Link Tree Style: Links in Alphabetic Order + RF_FOOT: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + RF_HAA: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + RF_HFE: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + RF_HIP: + Alpha: 1 + Show Axes: false + Show Trail: false + RF_KFE: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + RF_SHANK: + Alpha: 1 + Show Axes: false + Show Trail: false + RF_THIGH: + Alpha: 1 + Show Axes: false + Show Trail: false + RF_hip_fixed: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + RF_shank_fixed: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + RF_thigh_fixed: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + RH_FOOT: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + RH_HAA: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + RH_HFE: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + RH_HIP: + Alpha: 1 + Show Axes: false + Show Trail: false + RH_KFE: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + RH_SHANK: + Alpha: 1 + Show Axes: false + Show Trail: false + RH_THIGH: + Alpha: 1 + Show Axes: false + Show Trail: false + RH_hip_fixed: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + RH_shank_fixed: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + RH_thigh_fixed: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_inertia: + Alpha: 1 + Show Axes: false + Show Trail: false + battery: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + blackfly_front_camera: + Alpha: 1 + Show Axes: false + Show Trail: false + blackfly_front_camera_parent: + Alpha: 1 + Show Axes: false + Show Trail: false + blackfly_rear_camera: + Alpha: 1 + Show Axes: false + Show Trail: false + blackfly_rear_camera_parent: + Alpha: 1 + Show Axes: false + Show Trail: false + docking_socket: + Alpha: 1 + Show Axes: false + Show Trail: false + face_front: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + face_rear: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + hatch: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + imu_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + realsense_d435_front_camera: + Alpha: 1 + Show Axes: false + Show Trail: false + realsense_d435_front_camera_parent: + Alpha: 1 + Show Axes: false + Show Trail: false + realsense_d435_front_color_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + realsense_d435_front_color_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + realsense_d435_front_depth_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + realsense_d435_left_camera: + Alpha: 1 + Show Axes: false + Show Trail: false + realsense_d435_left_camera_parent: + Alpha: 1 + Show Axes: false + Show Trail: false + realsense_d435_left_color_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + realsense_d435_left_color_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + realsense_d435_left_depth_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + realsense_d435_rear_camera: + Alpha: 1 + Show Axes: false + Show Trail: false + realsense_d435_rear_camera_parent: + Alpha: 1 + Show Axes: false + Show Trail: false + realsense_d435_rear_color_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + realsense_d435_rear_color_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + realsense_d435_rear_depth_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + realsense_d435_right_camera: + Alpha: 1 + Show Axes: false + Show Trail: false + realsense_d435_right_camera_parent: + Alpha: 1 + Show Axes: false + Show Trail: false + realsense_d435_right_color_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + realsense_d435_right_color_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + realsense_d435_right_depth_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + shell: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + velodyne: + Alpha: 1 + Show Axes: false + Show Trail: false + velodyne_cage: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Visual Enabled: true + Robot Velocity: + Alpha: 0.6000000238418579 + Angular Color: 0; 204; 0 + Angular Scale: 0.5 + Linear Color: 0; 0; 204 + Linear Scale: 1 + Offset: 0.4000000059604645 + Show Angular: true + Show Linear: true + Value: false + Topic: /state_estimator/anymal_state + Traces: + Alpha: 0.5 + Color: 255; 0; 0 + LF_FOOT: + Alpha: 0.5 + Color: 255; 0; 0 + Value: false + LF_HIP: + Alpha: 0.5 + Color: 255; 0; 0 + Value: false + LF_SHANK: + Alpha: 0.5 + Color: 255; 0; 0 + Value: false + LF_THIGH: + Alpha: 0.5 + Color: 255; 0; 0 + Value: false + LH_FOOT: + Alpha: 0.5 + Color: 255; 0; 0 + Value: false + LH_HIP: + Alpha: 0.5 + Color: 255; 0; 0 + Value: false + LH_SHANK: + Alpha: 0.5 + Color: 255; 0; 0 + Value: false + LH_THIGH: + Alpha: 0.5 + Color: 255; 0; 0 + Value: false + RF_FOOT: + Alpha: 0.5 + Color: 255; 0; 0 + Value: false + RF_HIP: + Alpha: 0.5 + Color: 255; 0; 0 + Value: false + RF_SHANK: + Alpha: 0.5 + Color: 255; 0; 0 + Value: false + RF_THIGH: + Alpha: 0.5 + Color: 255; 0; 0 + Value: false + RH_FOOT: + Alpha: 0.5 + Color: 255; 0; 0 + Value: false + RH_HIP: + Alpha: 0.5 + Color: 255; 0; 0 + Value: false + RH_SHANK: + Alpha: 0.5 + Color: 255; 0; 0 + Value: false + RH_THIGH: + Alpha: 0.5 + Color: 255; 0; 0 + Value: false + Time Length: 10 + Value: false + Width: 0.004999999888241291 + base: + Alpha: 0.5 + Color: 255; 0; 0 + Value: false + Unreliable: false + Update Rate: 20 + Value: true + World Frame Name: odom Enabled: true Global Options: Background Color: 255; 255; 255 Default Light: true - Fixed Frame: map + Fixed Frame: odom Frame Rate: 30 Name: root Tools: @@ -153,33 +713,33 @@ Visualization Manager: Views: Current: Class: rviz/Orbit - Distance: 4.217182636260986 + Distance: 2.9079933166503906 Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 Swap Stereo Eyes: false Value: false Focal Point: - X: -0.02726033888757229 - Y: -0.07391251623630524 - Z: 0.2781669795513153 + X: 2.382049322128296 + Y: -0.7195556163787842 + Z: -0.01261717639863491 Focal Shape Fixed Size: true Focal Shape Size: 0.05000000074505806 Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Pitch: 0.6197972893714905 + Pitch: 0.499797523021698 Target Frame: Value: Orbit (rviz) - Yaw: 3.8899669647216797 + Yaw: 1.5949591398239136 Saved: ~ Window Geometry: Displays: collapsed: false - Height: 1025 + Height: 759 Hide Left Dock: false Hide Right Dock: true - QMainWindow State: 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+ QMainWindow State: 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Selection: collapsed: false Time: @@ -188,6 +748,6 @@ Window Geometry: collapsed: false Views: collapsed: true - Width: 1853 - X: 67 - Y: 27 + Width: 1389 + X: 2208 + Y: 195 diff --git a/segmented_planes_terrain_model/CMakeLists.txt b/segmented_planes_terrain_model/CMakeLists.txt index ff8aea6b..9482e05c 100644 --- a/segmented_planes_terrain_model/CMakeLists.txt +++ b/segmented_planes_terrain_model/CMakeLists.txt @@ -5,11 +5,15 @@ project(segmented_planes_terrain_model) set(CATKIN_PACKAGE_DEPENDENCIES ocs2_switched_model_interface ocs2_quadruped_interface + grid_map_sdf + pcl_ros convex_plane_decomposition convex_plane_decomposition_msgs convex_plane_decomposition_ros + signed_distance_field roscpp visualization_msgs + sensor_msgs ) find_package(catkin REQUIRED COMPONENTS @@ -86,3 +90,11 @@ install(DIRECTORY launch ############# ## Testing ## ############# + +add_executable(${PROJECT_NAME}_signed_distance_test + test/signedDistanceTest.cpp + ) +target_link_libraries(${PROJECT_NAME}_signed_distance_test + ${catkin_LIBRARIES} + ${PROJECT_NAME} + ) \ No newline at end of file diff --git a/segmented_planes_terrain_model/include/segmented_planes_terrain_model/distance_transform/COPYING b/segmented_planes_terrain_model/include/segmented_planes_terrain_model/distance_transform/COPYING new file mode 100755 index 00000000..d511905c --- /dev/null +++ b/segmented_planes_terrain_model/include/segmented_planes_terrain_model/distance_transform/COPYING @@ -0,0 +1,339 @@ + GNU GENERAL PUBLIC LICENSE + Version 2, June 1991 + + Copyright (C) 1989, 1991 Free Software Foundation, Inc., + 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA + Everyone is permitted to copy and distribute verbatim copies + of this license document, but changing it is not allowed. + + Preamble + + The licenses for most software are designed to take away your +freedom to share and change it. By contrast, the GNU General Public +License is intended to guarantee your freedom to share and change free +software--to make sure the software is free for all its users. This +General Public License applies to most of the Free Software +Foundation's software and to any other program whose authors commit to +using it. (Some other Free Software Foundation software is covered by +the GNU Lesser General Public License instead.) You can apply it to +your programs, too. + + When we speak of free software, we are referring to freedom, not +price. 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If this is what you want to do, use the GNU Lesser General +Public License instead of this License. diff --git a/segmented_planes_terrain_model/include/segmented_planes_terrain_model/distance_transform/dt.h b/segmented_planes_terrain_model/include/segmented_planes_terrain_model/distance_transform/dt.h new file mode 100755 index 00000000..2c83de57 --- /dev/null +++ b/segmented_planes_terrain_model/include/segmented_planes_terrain_model/distance_transform/dt.h @@ -0,0 +1,117 @@ +/* +Copyright (C) 2006 Pedro Felzenszwalb + +This program is free software; you can redistribute it and/or modify +it under the terms of the GNU General Public License as published by +the Free Software Foundation; either version 2 of the License, or +(at your option) any later version. + +This program is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +GNU General Public License for more details. + +You should have received a copy of the GNU General Public License +along with this program; if not, write to the Free Software +Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA +*/ + +/* distance transform */ + +#pragma once + +#include + +#include "image.h" +#include "imconv.h" + +namespace distance_transform +{ + const double INF = 1E20; + + /* dt of 1d function using squared distance */ + static float *dt_1d(float *f, int n) { + float *d = new float[n]; + int *v = new int[n]; + float *z = new float[n+1]; + int k = 0; + v[0] = 0; + z[0] = -INF; + z[1] = +INF; + for (int q = 1; q <= n-1; q++) { + float s = ((f[q]+square(q))-(f[v[k]]+square(v[k])))/(2*q-2*v[k]); + while (s <= z[k]) { + k--; + s = ((f[q]+square(q))-(f[v[k]]+square(v[k])))/(2*q-2*v[k]); + } + k++; + v[k] = q; + z[k] = s; + z[k+1] = +INF; + } + + k = 0; + for (int q = 0; q <= n-1; q++) { + while (z[k+1] < q) + k++; + d[q] = square(q-v[k]) + f[v[k]]; + } + + delete [] v; + delete [] z; + return d; + } + + /* dt of 2d function using squared distance */ + static void dt_2d(image *im) { + int width = im->width(); + int height = im->height(); + float *f = new float[std::max(width,height)]; + + // transform along columns + for (int x = 0; x < width; x++) { + for (int y = 0; y < height; y++) { + f[y] = imRef(im, x, y); + } + float *d = dt_1d(f, height); + for (int y = 0; y < height; y++) { + imRef(im, x, y) = d[y]; + } + delete [] d; + } + + // transform along rows + for (int y = 0; y < height; y++) { + for (int x = 0; x < width; x++) { + f[x] = imRef(im, x, y); + } + float *d = dt_1d(f, width); + for (int x = 0; x < width; x++) { + imRef(im, x, y) = d[x]; + } + delete [] d; + } + + delete [] f; + } + + /* dt of binary image using squared distance */ + static image *dt(image *im, uchar on = 1) { + int width = im->width(); + int height = im->height(); + + image *out = new image(width, height, false); + for (int y = 0; y < height; y++) { + for (int x = 0; x < width; x++) { + if (imRef(im, x, y) == on) + imRef(out, x, y) = 0; + else + imRef(out, x, y) = INF; + } + } + + dt_2d(out); + return out; + } + +} // namespace diff --git a/segmented_planes_terrain_model/include/segmented_planes_terrain_model/distance_transform/image.h b/segmented_planes_terrain_model/include/segmented_planes_terrain_model/distance_transform/image.h new file mode 100755 index 00000000..47cada09 --- /dev/null +++ b/segmented_planes_terrain_model/include/segmented_planes_terrain_model/distance_transform/image.h @@ -0,0 +1,101 @@ +/* +Copyright (C) 2006 Pedro Felzenszwalb + +This program is free software; you can redistribute it and/or modify +it under the terms of the GNU General Public License as published by +the Free Software Foundation; either version 2 of the License, or +(at your option) any later version. + +This program is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +GNU General Public License for more details. + +You should have received a copy of the GNU General Public License +along with this program; if not, write to the Free Software +Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA +*/ + +/* a simple image class */ + +#pragma once + +#include + +namespace distance_transform +{ + + template + class image { + public: + /* create an image */ + image(const int width, const int height, const bool init = true); + + /* delete an image */ + ~image(); + + /* init an image */ + void init(const T &val); + + /* copy an image */ + image *copy() const; + + /* get the width of an image. */ + int width() const { return w; } + + /* get the height of an image. */ + int height() const { return h; } + + /* image data. */ + T *data; + + /* row pointers. */ + T **access; + + private: + int w, h; + }; + + /* use imRef to access image data. */ +#define imRef(im, x, y) (im->access[y][x]) + + /* use imPtr to get pointer to image data. */ +#define imPtr(im, x, y) &(im->access[y][x]) + + template + image::image(const int width, const int height, const bool init) { + w = width; + h = height; + data = new T[w * h]; // allocate space for image data + access = new T*[h]; // allocate space for row pointers + + // initialize row pointers + for (int i = 0; i < h; i++) + access[i] = data + (i * w); + + if (init) + memset(data, 0, w * h * sizeof(T)); + } + + template + image::~image() { + delete [] data; + delete [] access; + } + + template + void image::init(const T &val) { + T *ptr = imPtr(this, 0, 0); + T *end = imPtr(this, w-1, h-1); + while (ptr <= end) + *ptr++ = val; + } + + template + image *image::copy() const { + image *im = new image(w, h, false); + memcpy(im->data, data, w * h * sizeof(T)); + return im; + } + +} // namespace diff --git a/segmented_planes_terrain_model/include/segmented_planes_terrain_model/distance_transform/imconv.h b/segmented_planes_terrain_model/include/segmented_planes_terrain_model/distance_transform/imconv.h new file mode 100755 index 00000000..b4f27ff3 --- /dev/null +++ b/segmented_planes_terrain_model/include/segmented_planes_terrain_model/distance_transform/imconv.h @@ -0,0 +1,179 @@ +/* +Copyright (C) 2006 Pedro Felzenszwalb + +This program is free software; you can redistribute it and/or modify +it under the terms of the GNU General Public License as published by +the Free Software Foundation; either version 2 of the License, or +(at your option) any later version. + +This program is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +GNU General Public License for more details. + +You should have received a copy of the GNU General Public License +along with this program; if not, write to the Free Software +Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA +*/ + +/* image conversion */ + +#pragma once + +#include + +#include "image.h" +#include "imutil.h" +#include "misc.h" + +namespace distance_transform +{ + const double RED_WEIGHT = 0.299; + const double GREEN_WEIGHT = 0.584; + const double BLUE_WEIGHT = 0.114; + + static image *imageRGBtoGRAY(image *input) { + int width = input->width(); + int height = input->height(); + image *output = new image(width, height, false); + + for (int y = 0; y < height; y++) { + for (int x = 0; x < width; x++) { + imRef(output, x, y) = (uchar) + (imRef(input, x, y).r * RED_WEIGHT + + imRef(input, x, y).g * GREEN_WEIGHT + + imRef(input, x, y).b * BLUE_WEIGHT); + } + } + return output; + } + + static image *imageGRAYtoRGB(image *input) { + int width = input->width(); + int height = input->height(); + image *output = new image(width, height, false); + + for (int y = 0; y < height; y++) { + for (int x = 0; x < width; x++) { + imRef(output, x, y).r = imRef(input, x, y); + imRef(output, x, y).g = imRef(input, x, y); + imRef(output, x, y).b = imRef(input, x, y); + } + } + return output; + } + + static image *imageUCHARtoFLOAT(image *input) { + int width = input->width(); + int height = input->height(); + image *output = new image(width, height, false); + + for (int y = 0; y < height; y++) { + for (int x = 0; x < width; x++) { + imRef(output, x, y) = imRef(input, x, y); + } + } + return output; + } + + static image *imageINTtoFLOAT(image *input) { + int width = input->width(); + int height = input->height(); + image *output = new image(width, height, false); + + for (int y = 0; y < height; y++) { + for (int x = 0; x < width; x++) { + imRef(output, x, y) = imRef(input, x, y); + } + } + return output; + } + + static image *imageFLOATtoUCHAR(image *input, + float min, float max) { + int width = input->width(); + int height = input->height(); + image *output = new image(width, height, false); + + if (max == min) + return output; + + float scale = UCHAR_MAX / (max - min); + for (int y = 0; y < height; y++) { + for (int x = 0; x < width; x++) { + uchar val = (uchar)((imRef(input, x, y) - min) * scale); + imRef(output, x, y) = bound(val, (uchar)0, (uchar)UCHAR_MAX); + } + } + return output; + } + + static image *imageFLOATtoUCHAR(image *input) { + float min, max; + min_max(input, &min, &max); + return imageFLOATtoUCHAR(input, min, max); + } + + static image *imageUCHARtoLONG(image *input) { + int width = input->width(); + int height = input->height(); + image *output = new image(width, height, false); + + for (int y = 0; y < height; y++) { + for (int x = 0; x < width; x++) { + imRef(output, x, y) = imRef(input, x, y); + } + } + return output; + } + + static image *imageLONGtoUCHAR(image *input, long min, long max) { + int width = input->width(); + int height = input->height(); + image *output = new image(width, height, false); + + if (max == min) + return output; + + float scale = UCHAR_MAX / (float)(max - min); + for (int y = 0; y < height; y++) { + for (int x = 0; x < width; x++) { + uchar val = (uchar)((imRef(input, x, y) - min) * scale); + imRef(output, x, y) = bound(val, (uchar)0, (uchar)UCHAR_MAX); + } + } + return output; + } + + static image *imageLONGtoUCHAR(image *input) { + long min, max; + min_max(input, &min, &max); + return imageLONGtoUCHAR(input, min, max); + } + + static image *imageSHORTtoUCHAR(image *input, + short min, short max) { + int width = input->width(); + int height = input->height(); + image *output = new image(width, height, false); + + if (max == min) + return output; + + float scale = UCHAR_MAX / (float)(max - min); + for (int y = 0; y < height; y++) { + for (int x = 0; x < width; x++) { + uchar val = (uchar)((imRef(input, x, y) - min) * scale); + imRef(output, x, y) = bound(val, (uchar)0, (uchar)UCHAR_MAX); + } + } + return output; + } + + static image *imageSHORTtoUCHAR(image *input) { + short min, max; + min_max(input, &min, &max); + return imageSHORTtoUCHAR(input, min, max); + } + +} // namespace diff --git a/segmented_planes_terrain_model/include/segmented_planes_terrain_model/distance_transform/imutil.h b/segmented_planes_terrain_model/include/segmented_planes_terrain_model/distance_transform/imutil.h new file mode 100755 index 00000000..ad09d1f8 --- /dev/null +++ b/segmented_planes_terrain_model/include/segmented_planes_terrain_model/distance_transform/imutil.h @@ -0,0 +1,67 @@ +/* +Copyright (C) 2006 Pedro Felzenszwalb + +This program is free software; you can redistribute it and/or modify +it under the terms of the GNU General Public License as published by +the Free Software Foundation; either version 2 of the License, or +(at your option) any later version. + +This program is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +GNU General Public License for more details. + +You should have received a copy of the GNU General Public License +along with this program; if not, write to the Free Software +Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA +*/ + +/* some image utilities */ + +#pragma once + +#include "image.h" +#include "misc.h" + +namespace distance_transform +{ + + /* compute minimum and maximum value in an image */ + template + void min_max(image *im, T *ret_min, T *ret_max) { + int width = im->width(); + int height = im->height(); + + T min = imRef(im, 0, 0); + T max = imRef(im, 0, 0); + for (int y = 0; y < height; y++) { + for (int x = 0; x < width; x++) { + T val = imRef(im, x, y); + if (min > val) + min = val; + if (max < val) + max = val; + } + } + + *ret_min = min; + *ret_max = max; + } + + /* threshold image */ + template + image *threshold(image *src, int t) { + int width = src->width(); + int height = src->height(); + image *dst = new image(width, height); + + for (int y = 0; y < height; y++) { + for (int x = 0; x < width; x++) { + imRef(dst, x, y) = (imRef(src, x, y) >= t); + } + } + + return dst; + } + +} // namespace diff --git a/segmented_planes_terrain_model/include/segmented_planes_terrain_model/distance_transform/misc.h b/segmented_planes_terrain_model/include/segmented_planes_terrain_model/distance_transform/misc.h new file mode 100755 index 00000000..a9514d1f --- /dev/null +++ b/segmented_planes_terrain_model/include/segmented_planes_terrain_model/distance_transform/misc.h @@ -0,0 +1,62 @@ +/* +Copyright (C) 2006 Pedro Felzenszwalb + +This program is free software; you can redistribute it and/or modify +it under the terms of the GNU General Public License as published by +the Free Software Foundation; either version 2 of the License, or +(at your option) any later version. + +This program is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +GNU General Public License for more details. + +You should have received a copy of the GNU General Public License +along with this program; if not, write to the Free Software +Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA +*/ + +/* random stuff */ + +#pragma once + +#include + +namespace distance_transform +{ + typedef unsigned char uchar; + + typedef struct { uchar r, g, b; } rgb; + + inline bool operator==(const rgb &a, const rgb &b) { + return ((a.r == b.r) && (a.g == b.g) && (a.b == b.b)); + } + + template + inline T abs(const T &x) { return (x > 0 ? x : -x); }; + + template + inline int sign(const T &x) { return (x >= 0 ? 1 : -1); }; + + template + inline T square(const T &x) { return x*x; }; + + template + inline T bound(const T &x, const T &min, const T &max) { + return (x < min ? min : (x > max ? max : x)); + } + + template + inline bool check_bound(const T &x, const T&min, const T &max) { + return ((x < min) || (x > max)); + } + + inline int vlib_round(float x) { return (int)(x + 0.5F); } + + inline int vlib_round(double x) { return (int)(x + 0.5); } + + inline double gaussian(double val, double sigma) { + return exp(-square(val/sigma)/2)/(sqrt(2*M_PI)*sigma); + } + +} // namespace diff --git a/segmented_planes_terrain_model/include/segmented_planes_terrain_model/distance_transform/pnmfile.h b/segmented_planes_terrain_model/include/segmented_planes_terrain_model/distance_transform/pnmfile.h new file mode 100755 index 00000000..28284328 --- /dev/null +++ b/segmented_planes_terrain_model/include/segmented_planes_terrain_model/distance_transform/pnmfile.h @@ -0,0 +1,214 @@ +/* +Copyright (C) 2006 Pedro Felzenszwalb + +This program is free software; you can redistribute it and/or modify +it under the terms of the GNU General Public License as published by +the Free Software Foundation; either version 2 of the License, or +(at your option) any later version. + +This program is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +GNU General Public License for more details. + +You should have received a copy of the GNU General Public License +along with this program; if not, write to the Free Software +Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA +*/ + +/* basic image I/O */ + +#pragma once + +#include +#include +#include +#include + +#include "image.h" +#include "misc.h" + +namespace distance_transform +{ + + const short BUF_SIZE = 256; + + class pnm_error { }; + + static void read_packed(unsigned char *data, int size, std::ifstream &f) { + unsigned char c = 0; + + int bitshift = -1; + for (int pos = 0; pos < size; pos++) { + if (bitshift == -1) { + c = f.get(); + bitshift = 7; + } + data[pos] = (c >> bitshift) & 1; + bitshift--; + } + } + + static void write_packed(unsigned char *data, int size, std::ofstream &f) { + unsigned char c = 0; + + int bitshift = 7; + for (int pos = 0; pos < size; pos++) { + c = c | (data[pos] << bitshift); + bitshift--; + if ((bitshift == -1) || (pos == size-1)) { + f.put(c); + bitshift = 7; + c = 0; + } + } + } + + /* read PNM field, skipping comments */ + static void pnm_read(std::ifstream &file, char *buf) { + char doc[BUF_SIZE]; + char c; + + file >> c; + while (c == '#') { + file.getline(doc, BUF_SIZE); + file >> c; + } + file.putback(c); + + file.width(BUF_SIZE); + file >> buf; + file.ignore(); + } + + static image *loadPBM(const char *name) { + char buf[BUF_SIZE]; + + /* read header */ + std::ifstream file(name, std::ios::in | std::ios::binary); + pnm_read(file, buf); + if (strncmp(buf, "P4", 2)) + throw pnm_error(); + + pnm_read(file, buf); + int width = atoi(buf); + pnm_read(file, buf); + int height = atoi(buf); + + /* read data */ + image *im = new image(width, height); + for (int i = 0; i < height; i++) + read_packed(imPtr(im, 0, i), width, file); + + return im; + } + + static void savePBM(image *im, const char *name) { + int width = im->width(); + int height = im->height(); + std::ofstream file(name, std::ios::out | std::ios::binary); + + file << "P4\n" << width << " " << height << "\n"; + for (int i = 0; i < height; i++) + write_packed(imPtr(im, 0, i), width, file); + } + + static image *loadPGM(const char *name) { + char buf[BUF_SIZE]; + + /* read header */ + std::ifstream file(name, std::ios::in | std::ios::binary); + pnm_read(file, buf); + if (strncmp(buf, "P5", 2)) + throw pnm_error(); + + pnm_read(file, buf); + int width = atoi(buf); + pnm_read(file, buf); + int height = atoi(buf); + + pnm_read(file, buf); + if (atoi(buf) > UCHAR_MAX) + throw pnm_error(); + + /* read data */ + image *im = new image(width, height); + file.read((char *)imPtr(im, 0, 0), width * height * sizeof(uchar)); + + return im; + } + + static void savePGM(image *im, const char *name) { + int width = im->width(); + int height = im->height(); + std::ofstream file(name, std::ios::out | std::ios::binary); + + file << "P5\n" << width << " " << height << "\n" << UCHAR_MAX << "\n"; + file.write((char *)imPtr(im, 0, 0), width * height * sizeof(uchar)); + } + + static image *loadPPM(const char *name) { + char buf[BUF_SIZE], doc[BUF_SIZE]; + + /* read header */ + std::ifstream file(name, std::ios::in | std::ios::binary); + pnm_read(file, buf); + if (strncmp(buf, "P6", 2)) + throw pnm_error(); + + pnm_read(file, buf); + int width = atoi(buf); + pnm_read(file, buf); + int height = atoi(buf); + + pnm_read(file, buf); + if (atoi(buf) > UCHAR_MAX) + throw pnm_error(); + + /* read data */ + image *im = new image(width, height); + file.read((char *)imPtr(im, 0, 0), width * height * sizeof(rgb)); + + return im; + } + + static void savePPM(image *im, const char *name) { + int width = im->width(); + int height = im->height(); + std::ofstream file(name, std::ios::out | std::ios::binary); + + file << "P6\n" << width << " " << height << "\n" << UCHAR_MAX << "\n"; + file.write((char *)imPtr(im, 0, 0), width * height * sizeof(rgb)); + } + + template + void load_image(image **im, const char *name) { + char buf[BUF_SIZE]; + + /* read header */ + std::ifstream file(name, std::ios::in | std::ios::binary); + pnm_read(file, buf); + if (strncmp(buf, "VLIB", 9)) + throw pnm_error(); + + pnm_read(file, buf); + int width = atoi(buf); + pnm_read(file, buf); + int height = atoi(buf); + + /* read data */ + *im = new image(width, height); + file.read((char *)imPtr((*im), 0, 0), width * height * sizeof(T)); + } + + template + void save_image(image *im, const char *name) { + int width = im->width(); + int height = im->height(); + std::ofstream file(name, std::ios::out | std::ios::binary); + + file << "VLIB\n" << width << " " << height << "\n"; + file.write((char *)imPtr(im, 0, 0), width * height * sizeof(T)); + } + +} // namespace diff --git a/segmented_planes_terrain_model/package.xml b/segmented_planes_terrain_model/package.xml index c6c2d86a..8547f888 100644 --- a/segmented_planes_terrain_model/package.xml +++ b/segmented_planes_terrain_model/package.xml @@ -11,10 +11,14 @@ catkin ocs2_switched_model_interface ocs2_quadruped_interface + grid_map_sdf + pcl_ros convex_plane_decomposition convex_plane_decomposition_msgs convex_plane_decomposition_ros + signed_distance_field roscpp visualization_msgs + sensor_msgs diff --git a/segmented_planes_terrain_model/src/DemoNode.cpp b/segmented_planes_terrain_model/src/DemoNode.cpp index 892d0445..73507c03 100644 --- a/segmented_planes_terrain_model/src/DemoNode.cpp +++ b/segmented_planes_terrain_model/src/DemoNode.cpp @@ -9,11 +9,19 @@ #include #include +#include +#include +#include +#include +#include +#include + #include #include "segmented_planes_terrain_model/SegmentedPlanesTerrainVisualization.h" -const std::string originFrameId_ = "map"; +const std::string originFrameId_ = "odom"; +std::unique_ptr messageMap; visualization_msgs::MarkerArray toMarker(const switched_model::ConvexTerrain& convexTerrain) { visualization_msgs::MarkerArray markerArray = @@ -36,6 +44,20 @@ visualization_msgs::Marker toMarker(const switched_model::vector3_t& position) { return marker; } +void elevationMappingCallback(const grid_map_msgs::GridMap& message) { + if (!messageMap) { + messageMap = std::make_unique(); + } + grid_map::GridMapRosConverter::fromMessage(message, *messageMap, {"elevation"}, false, false); +} + +float randomFloat(float a, float b) { + float random = ((float)rand()) / (float)RAND_MAX; + float diff = b - a; + float r = random * diff; + return a + r; +} + int main(int argc, char** argv) { ros::init(argc, argv, "segmented_planes_demo_node"); ros::NodeHandle nodeHandle("~"); @@ -44,27 +66,24 @@ int main(int argc, char** argv) { switched_model::SegmentedPlanesTerrainModelRos segmentedPlanesTerrainModelRos(nodeHandle); std::unique_ptr terrainModel; + // Elevation subscription + // Publishers for visualization auto positionPublisher_ = nodeHandle.advertise("queryPosition", 1); auto convexTerrainPublisher_ = nodeHandle.advertise("convex_terrain", 1); auto regionBoundaryPublisher_ = nodeHandle.advertise("regionBoundary", 1); + auto distanceFieldPublisher = nodeHandle.advertise("signed_distance_field", 1); + auto elevationMapSubscriber = nodeHandle.subscribe("/convex_plane_decomposition_ros/filtered_map", 1, &elevationMappingCallback); // Node loop - ros::Rate rate(2.); + ros::Rate rate(1./5.); while (ros::ok()) { if (segmentedPlanesTerrainModelRos.update(terrainModel)) { ROS_INFO("Terrain model updated!!"); } - if (terrainModel) { - const auto RandomFloat = [](float a, float b) { - float random = ((float)rand()) / (float)RAND_MAX; - float diff = b - a; - float r = random * diff; - return a + r; - }; - - switched_model::vector3_t positionInWorld{RandomFloat(-2.0, 2.0), RandomFloat(-2.0, 2.0), RandomFloat(0.0, 1.0)}; + if (terrainModel && messageMap) { + switched_model::vector3_t positionInWorld{randomFloat(-2.0, 2.0), randomFloat(-2.0, 2.0), randomFloat(0.0, 1.0)}; positionPublisher_.publish(toMarker(positionInWorld)); std::cout << "Query position: " << positionInWorld.transpose() << std::endl; @@ -75,6 +94,26 @@ int main(int argc, char** argv) { positionPublisher_.publish(toMarker(positionInWorld)); convexTerrainPublisher_.publish(toMarker(convexTerrain)); + + + grid_map::SignedDistanceField signedDistanceField; + double heightClearance = 0.1; + double width = 0.5; + bool success; + grid_map::GridMap localMap = messageMap->getSubmap({convexTerrain.plane.positionInWorld.x(), convexTerrain.plane.positionInWorld.y()}, Eigen::Array2d(width, width), success); + auto t2 = std::chrono::high_resolution_clock::now(); + signedDistanceField.calculateSignedDistanceField(*messageMap, "elevation", heightClearance); + auto t3 = std::chrono::high_resolution_clock::now(); + std::cout << "Sdf computation took " << 1e-3 * std::chrono::duration_cast(t3 - t2).count() << " [ms]\n"; + + pcl::PointCloud points; + signedDistanceField.convertToPointCloud(points); + + sensor_msgs::PointCloud2 pointCloud2Msg; + pcl::toROSMsg(points, pointCloud2Msg); + pointCloud2Msg.header = switched_model::getHeaderMsg(originFrameId_, ros::Time::now()); + + distanceFieldPublisher.publish(pointCloud2Msg); } ros::spinOnce(); diff --git a/segmented_planes_terrain_model/test/signedDistanceTest.cpp b/segmented_planes_terrain_model/test/signedDistanceTest.cpp new file mode 100644 index 00000000..d288977b --- /dev/null +++ b/segmented_planes_terrain_model/test/signedDistanceTest.cpp @@ -0,0 +1,261 @@ +// +// Created by rgrandia on 09.07.20. +// + +#include + +#include +#include +#include + +#include +#include +#include +#include +#include + +using namespace distance_transform; + +constexpr float myINF = 1e20F; + +grid_map::GridMap loadElevationMapFromFile(const std::string& filePath, double resolution, double scale) { + // Read the file + cv::Mat image; + image = cv::imread(filePath, cv::ImreadModes::IMREAD_GRAYSCALE); + + // Check for invalid input + if (!image.data) { + throw std::runtime_error("Could not open or find the image"); + } + + // Min max values + double minValue, maxValue; + cv::minMaxLoc(image, &minValue, &maxValue); + + grid_map::GridMap mapOut({"elevation"}); + mapOut.setFrameId("odom"); + grid_map::GridMapCvConverter::initializeFromImage(image, resolution, mapOut, grid_map::Position(0.0, 0.0)); + grid_map::GridMapCvConverter::addLayerFromImage(image, std::string("elevation"), mapOut, float(0.0), float(scale), 0.5); + return mapOut; +} + +grid_map::Matrix getPlanarSignedDistanceField(const Eigen::Matrix& data) { + image* input = new image(data.rows(), data.cols(), true); + + for (int y = 0; y < input->height(); y++) { + for (int x = 0; x < input->width(); x++) { + imRef(input, x, y) = data(x, y); + } + } + + // Compute dt. + image* out = dt(input); + + grid_map::Matrix result(data.rows(), data.cols()); + + // Take square roots. + for (int y = 0; y < out->height(); y++) { + for (int x = 0; x < out->width(); x++) { + result(x, y) = sqrt(imRef(out, x, y)); + } + } + return result; +} + +void squaredDistanceTransform_1d_inplace(Eigen::Ref squareDistance1d, Eigen::Ref d, + Eigen::Ref z, std::vector& v) { + const int n = squareDistance1d.size(); + const auto& f = squareDistance1d; + assert(d.size() == n); + assert(z.size() == n + 1); + assert(v.size() == n); + + // Initialize + int k = 0; + v[0] = 0; + z[0] = -myINF; + z[1] = myINF; + + // Compute bounds + for (int q = 1; q < n; q++) { + auto factor1 = static_cast(q - v[k]); + auto factor2 = static_cast(q + v[k]); + float s = 0.5F * ( (f[q] - f[v[k]]) / factor1 + factor2); + while (s <= z[k]) { + k--; + factor1 = static_cast(q - v[k]); + factor2 = static_cast(q + v[k]); + s = 0.5F * ( (f[q] - f[v[k]]) / factor1 + factor2); + } + k++; + v[k] = q; + z[k] = s; + z[k + 1] = myINF; + } + + // Collect results + k = 0; + for (int q = 0; q < n; q++) { + while (z[k + 1] < static_cast(q)) { + k++; + } + d[q] = square(q - v[k]) + f[v[k]]; + } + + // Write distance result back in place + squareDistance1d = d; +} + +void squaredDistanceTransform_2d_columnwiseInplace(grid_map::Matrix& squareDistance, bool skipCheck) { + const size_t n = squareDistance.cols(); + Eigen::VectorXf workvector(2 * n + 1); + std::vector intWorkvector(n); + + for (size_t i = 0; i < n; i++) { + // Only when there is a mix of elements and free space, we need to update the initialized distance. + bool needsComputation = skipCheck || ((squareDistance.col(i).array() == 0.0).any() && (squareDistance.col(i).array() == myINF).any()); + if (needsComputation) { + squaredDistanceTransform_1d_inplace(squareDistance.col(i), workvector.segment(0, n), workvector.segment(n, n+1), + intWorkvector); + } + } +} + +void squaredDistanceTransform_2d(grid_map::Matrix& squareDistance) { + // TODO (check which one we want to do first) + + // Process columns + squaredDistanceTransform_2d_columnwiseInplace(squareDistance, false); + + // Process rows + squareDistance.transposeInPlace(); + squaredDistanceTransform_2d_columnwiseInplace(squareDistance, true); + squareDistance.transposeInPlace(); +} + +void getPlanarSignedDistanceField_2(grid_map::Matrix& squareDistance) { + squaredDistanceTransform_2d(squareDistance); + squareDistance = squareDistance.cwiseSqrt(); +} + +grid_map::Matrix getPlanarSignedDistanceField_3(const grid_map::Matrix& map, float threshold, float resolution) { + bool hasObstacles = (map.array() >= threshold).any(); + if (hasObstacles) { + bool hasFreeSpace = (map.array() < threshold).any(); + if (hasFreeSpace) { + // Both obstacles and free space -> compute planar signed distance + // Compute pixel distance to obstacles + grid_map::Matrix sdfObstacle = map.unaryExpr([=](float val) {return (val >= threshold) ? 0.0F : myINF;}); + getPlanarSignedDistanceField_2(sdfObstacle); + + // Compute pixel distance to obstacle free space + grid_map::Matrix sdfObstacleFree = map.unaryExpr([=](float val) {return (val < threshold) ? 0.0F : myINF;}); + getPlanarSignedDistanceField_2(sdfObstacleFree); + + grid_map::Matrix sdf2d = resolution * (sdfObstacle - sdfObstacleFree); + return sdf2d; + } else { + // Only obstacles -> distance is zero everywhere + return grid_map::Matrix::Zero(map.rows(), map.cols()); + } + } else { + // No obstacles -> planar distance is infinite + return grid_map::Matrix::Constant(map.rows(), map.cols(), myINF); + } +} + +int main(int argc, char** argv) { + std::string folder = "/home/rgrandia/git/anymal/convex_terrain_representation/convex_plane_decomposition_ros/data/"; + // std::string file = "elevationMap_8_139cm.png"; + // double heightScale = 1.39; + std::string file = "demo_map.png"; + double heightScale = 1.25; + // std::string file = "realStairs_125cm.png"; double heightScale = 1.25; + // std::string file = "terrain.png"; double heightScale = 1.25; + // std::string file = "holes.png"; double heightScale = 1.0; + // std::string file = "slope_1m_1m_20cm.png"; double heightScale = 0.2; + // std::string file = "straightStairs_1m_1m_60cm.png"; double heightScale = 0.6; + double resolution = 0.02; + + auto messageMap = loadElevationMapFromFile(folder + file, resolution, heightScale); + + grid_map::SignedDistanceField signedDistanceField; + + double width = 1.0; + bool success; + grid_map::GridMap localMap = messageMap.getSubmap(messageMap.getPosition(), Eigen::Array2d(width, width), success); + + // signedDistanceField.calculateSignedDistanceField(messageMap, "elevation", heightClearance); + const grid_map::GridMap& gridMap = localMap; + const std::string& layer = "elevation"; + const double heightClearance = 0.1; + + // Members + float resolution_; + grid_map::Size size_; + grid_map::Position position_; + std::vector data_; + float zIndexStartHeight_; + float maxDistance_; + const float lowestHeight_ = -1e5; + using grid_map::Matrix; + + auto t2 = std::chrono::high_resolution_clock::now(); + const int N = 30; + for (int rep = 0; rep < N; rep++) { + // ========================================================= + data_.clear(); + resolution_ = gridMap.getResolution(); + position_ = gridMap.getPosition(); + size_ = gridMap.getSize(); + Matrix map = gridMap.get(layer); // Copy! + + float minHeight = map.minCoeffOfFinites(); + if (!std::isfinite(minHeight)) minHeight = lowestHeight_; + float maxHeight = map.maxCoeffOfFinites(); + if (!std::isfinite(maxHeight)) maxHeight = lowestHeight_; + + const float valueForEmptyCells = lowestHeight_; // maxHeight, minHeight (TODO Make this an option). + for (size_t i = 0; i < map.size(); ++i) { + if (std::isnan(map(i))) map(i) = valueForEmptyCells; + } + + // Height range of the signed distance field is higher than the max height. + maxHeight += heightClearance; + + Matrix sdfElevationAbove = Matrix::Ones(map.rows(), map.cols()) * maxDistance_; + Matrix sdfLayer = Matrix::Zero(map.rows(), map.cols()); + + zIndexStartHeight_ = minHeight; + + // Calculate signed distance field from bottom. + Eigen::Matrix obstacleFreeField; + Eigen::Matrix obstacleField; + for (float h = minHeight; h < maxHeight; h += resolution_) { + Matrix sdf2d = signed_distance_field::computeSignedDistanceAtHeight(map, h, resolution_); + + for (size_t i = 0; i < sdfElevationAbove.size(); ++i) { + if (map(i) <= h) { + if (sdfElevationAbove(i) == maxDistance_) { + sdfElevationAbove(i) = h - map(i); + } else { + sdfElevationAbove(i) = sdfLayer(i) + resolution_; + } + } + + if (sdf2d(i) == 0) { + sdfLayer(i) = h - map(i); + } else if (sdf2d(i) < 0) { + sdfLayer(i) = -std::min(fabs(sdf2d(i)), fabs(map(i) - h)); + } else { + sdfLayer(i) = std::min(sdf2d(i), sdfElevationAbove(i)); + } + } + data_.push_back(sdfLayer); + } + + // ========================================================= + } + auto t3 = std::chrono::high_resolution_clock::now(); + std::cout << "Sdf computation took " << 1e-3 * std::chrono::duration_cast(t3 - t2).count() / N << " [ms]\n"; +} \ No newline at end of file diff --git a/signed_distance_field/CMakeLists.txt b/signed_distance_field/CMakeLists.txt new file mode 100644 index 00000000..252d1bf2 --- /dev/null +++ b/signed_distance_field/CMakeLists.txt @@ -0,0 +1,72 @@ +cmake_minimum_required(VERSION 3.10) +project(signed_distance_field) + +# Catkin dependencies +set(CATKIN_PACKAGE_DEPENDENCIES + grid_map_core +) + +find_package(catkin REQUIRED COMPONENTS + ${CATKIN_PACKAGE_DEPENDENCIES} +) + +# Cpp standard version +set(CMAKE_CXX_STANDARD 14) +set(CMAKE_CXX_STANDARD_REQUIRED ON) + +################################### +## catkin specific configuration ## +################################### +catkin_package( + INCLUDE_DIRS include + LIBRARIES ${PROJECT_NAME} + CATKIN_DEPENDS ${CATKIN_PACKAGE_DEPENDENCIES} + DEPENDS +) + +########### +## Build ## +########### + +include_directories( + include + ${catkin_INCLUDE_DIRS} +) + +add_library(${PROJECT_NAME} + src/SignedDistanceField.cpp + src/SignedDistance2d.cpp + ) +add_dependencies(${PROJECT_NAME} + ${catkin_EXPORTED_TARGETS} + ) +target_link_libraries(${PROJECT_NAME} + ${catkin_LIBRARIES} + ) + + +############# +## Install ## +############# + +install(TARGETS ${PROJECT_NAME} + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} + ) +install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} + ) + +############# +## Testing ## +############# + +add_executable(${PROJECT_NAME}_test + test/testSignedDistance2d.cpp + ) +target_link_libraries(${PROJECT_NAME}_test + ${catkin_LIBRARIES} + ${PROJECT_NAME} + gtest_main + ) \ No newline at end of file diff --git a/signed_distance_field/include/signed_distance_field/SignedDistance2d.h b/signed_distance_field/include/signed_distance_field/SignedDistance2d.h new file mode 100644 index 00000000..89edb3a7 --- /dev/null +++ b/signed_distance_field/include/signed_distance_field/SignedDistance2d.h @@ -0,0 +1,28 @@ +// +// Created by rgrandia on 10.07.20. +// + +#pragma once + +#include + +#include + +#include "Utils.h" + +namespace signed_distance_field { + +struct SparsityInfo { + bool hasObstacles; + bool hasFreeSpace; + std::vector rowsIsHomogenous; + std::vector colsIsHomogenous; + int numRowsHomogeneous; + int numColsHomogeneous; +}; + +SparsityInfo collectSparsityInfo(const grid_map::Matrix& elevationMap, float height); + +grid_map::Matrix computeSignedDistanceAtHeight(const grid_map::Matrix& elevationMap, float height, float resolution); + +} \ No newline at end of file diff --git a/signed_distance_field/include/signed_distance_field/Utils.h b/signed_distance_field/include/signed_distance_field/Utils.h new file mode 100644 index 00000000..37c437e4 --- /dev/null +++ b/signed_distance_field/include/signed_distance_field/Utils.h @@ -0,0 +1,12 @@ +// +// Created by rgrandia on 10.07.20. +// + +#pragma once + + +namespace signed_distance_field { + +constexpr float INF = 1e15; // maximum well below numeric_limits::max + +} \ No newline at end of file diff --git a/signed_distance_field/package.xml b/signed_distance_field/package.xml new file mode 100644 index 00000000..e27f28e4 --- /dev/null +++ b/signed_distance_field/package.xml @@ -0,0 +1,15 @@ + + + signed_distance_field + 0.0.0 + The signed_distance_field package + + Ruben Grandia + + TODO + + catkin + + grid_map_core + + diff --git a/signed_distance_field/src/SignedDistance2d.cpp b/signed_distance_field/src/SignedDistance2d.cpp new file mode 100644 index 00000000..113d7dc2 --- /dev/null +++ b/signed_distance_field/src/SignedDistance2d.cpp @@ -0,0 +1,177 @@ +// +// Created by rgrandia on 10.07.20. +// + +#include "signed_distance_field/SignedDistance2d.h" + +namespace signed_distance_field { + +namespace internal { +template +T square(T x) { + return x * x; +} + +/** + * 1D Euclidean Distance Transform based on: http://cs.brown.edu/people/pfelzens/dt/ + * Adapted to work on Eigen objects directly + * Optimized computation of s + */ +void squaredDistanceTransform_1d_inplace(Eigen::Ref squareDistance1d, Eigen::Ref d, + Eigen::Ref z, std::vector& v) { + const int n = squareDistance1d.size(); + const auto& f = squareDistance1d; + assert(d.size() == n); + assert(z.size() == n + 1); + assert(v.size() == n); + + // Initialize + int k = 0; + v[0] = 0; + z[0] = -INF; + z[1] = INF; + + // Compute bounds + for (int q = 1; q < n; q++) { + auto factor1 = static_cast(q - v[k]); + auto factor2 = static_cast(q + v[k]); + float s = 0.5F * ((f[q] - f[v[k]]) / factor1 + factor2); + while (s <= z[k]) { + k--; + factor1 = static_cast(q - v[k]); + factor2 = static_cast(q + v[k]); + s = 0.5F * ((f[q] - f[v[k]]) / factor1 + factor2); + } + k++; + v[k] = q; + z[k] = s; + z[k + 1] = INF; + } + + // Collect results + k = 0; + for (int q = 0; q < n; q++) { + while (z[k + 1] < static_cast(q)) { + k++; + } + d[q] = square(q - v[k]) + f[v[k]]; + } + + // Write distance result back in place + squareDistance1d = d; +} + +void squaredDistanceTransform_2d_columnwiseInplace(grid_map::Matrix& squareDistance, const std::vector* skipLine = nullptr) { + const size_t n = squareDistance.rows(); + const size_t m = squareDistance.cols(); + Eigen::VectorXf workvector(2 * n + 1); + std::vector intWorkvector(n); + + for (size_t i = 0; i < m; i++) { + if (skipLine == nullptr || !(*skipLine)[i]) { + squaredDistanceTransform_1d_inplace(squareDistance.col(i), workvector.segment(0, n), workvector.segment(n, n + 1), intWorkvector); + } + } +} + +// SquareDistance must be initialized with 0.0 for elements and INF for non-elements +void computePixelDistance2d(grid_map::Matrix& squareDistance, const SparsityInfo& sparsityInfo) { + // Start with the dimension that maximizes the number of points being skips + if (sparsityInfo.numColsHomogeneous * squareDistance.rows() > sparsityInfo.numRowsHomogeneous * squareDistance.cols()) { + // Process columns + squaredDistanceTransform_2d_columnwiseInplace(squareDistance, &sparsityInfo.colsIsHomogenous); + + // Process rows + squareDistance.transposeInPlace(); + squaredDistanceTransform_2d_columnwiseInplace(squareDistance); + squareDistance.transposeInPlace(); + } else { + // Process rows + squareDistance.transposeInPlace(); + squaredDistanceTransform_2d_columnwiseInplace(squareDistance, &sparsityInfo.rowsIsHomogenous); + squareDistance.transposeInPlace(); + + // Process columns + squaredDistanceTransform_2d_columnwiseInplace(squareDistance); + } + + // Convert square distance to absolute distance + squareDistance = squareDistance.cwiseSqrt(); +} +} // namespace internal + +grid_map::Matrix computeSignedDistanceAtHeight(const grid_map::Matrix& elevationMap, float height, float resolution) { + const auto sparsityInfo = signed_distance_field::collectSparsityInfo(elevationMap, height); + + if (sparsityInfo.hasObstacles) { + if (sparsityInfo.hasFreeSpace) { + // Both obstacles and free space -> compute planar signed distance + // Compute pixel distance to obstacles + grid_map::Matrix sdfObstacle = elevationMap.unaryExpr([=](float val) { return (val >= height) ? 0.0F : INF; }); + internal::computePixelDistance2d(sdfObstacle, sparsityInfo); + + // Compute pixel distance to obstacle free space + grid_map::Matrix sdfObstacleFree = elevationMap.unaryExpr([=](float val) { return (val < height) ? 0.0F : INF; }); + internal::computePixelDistance2d(sdfObstacleFree, sparsityInfo); + + grid_map::Matrix sdf2d = resolution * (sdfObstacle - sdfObstacleFree); + return sdf2d; + } else { + // Only obstacles -> distance is zero everywhere + return grid_map::Matrix::Zero(elevationMap.rows(), elevationMap.cols()); + } + } else { + // No obstacles -> planar distance is infinite + return grid_map::Matrix::Constant(elevationMap.rows(), elevationMap.cols(), INF); + } +} + +SparsityInfo collectSparsityInfo(const grid_map::Matrix& elevationMap, float height) { + const size_t n = elevationMap.rows(); + const size_t m = elevationMap.cols(); + + SparsityInfo sparsityInfo; + // Assume false and set true if detected otherwise + sparsityInfo.hasObstacles = false; + sparsityInfo.hasFreeSpace = false; + + // Assume true and set false if detected otherwise + sparsityInfo.rowsIsHomogenous.resize(elevationMap.rows(), true); + sparsityInfo.colsIsHomogenous.resize(elevationMap.cols(), true); + + Eigen::Matrix firstColIsObstacle = elevationMap.col(0).array() >= height; + + // Loop according to Eigen column major storage order. + for (size_t j = 0; j < m; ++j) { + bool firstRowIsObstacle = elevationMap(0, j) >= height; + bool thisColIsHomogeneous = true; + for (size_t i = 0; i < n; ++i) { + float currentValue = elevationMap(i, j); + if (currentValue >= height) { // current location contains obstacle + sparsityInfo.hasObstacles = true; + if (!firstRowIsObstacle) { + thisColIsHomogeneous = false; + } + if (!firstColIsObstacle(i)) { + sparsityInfo.rowsIsHomogenous[i] = false; + } + } else { // current location is free + sparsityInfo.hasFreeSpace = true; + if (firstRowIsObstacle) { + thisColIsHomogeneous = false; + } + if (firstColIsObstacle(i)) { + sparsityInfo.rowsIsHomogenous[i] = false; + } + } + } + sparsityInfo.colsIsHomogenous[j] = thisColIsHomogeneous; + } + + sparsityInfo.numRowsHomogeneous = std::count(sparsityInfo.rowsIsHomogenous.begin(), sparsityInfo.rowsIsHomogenous.end(), true); + sparsityInfo.numColsHomogeneous = std::count(sparsityInfo.colsIsHomogenous.begin(), sparsityInfo.colsIsHomogenous.end(), true); + + return sparsityInfo; +} + +} // namespace signed_distance_field diff --git a/signed_distance_field/src/SignedDistanceField.cpp b/signed_distance_field/src/SignedDistanceField.cpp new file mode 100644 index 00000000..3fe2c783 --- /dev/null +++ b/signed_distance_field/src/SignedDistanceField.cpp @@ -0,0 +1,7 @@ +// +// Created by rgrandia on 10.07.20. +// + +#include "signed_distance_field/SignedDistanceField.h" + +#include "signed_distance_field/SignedDistance2d.h" \ No newline at end of file diff --git a/signed_distance_field/test/testSignedDistance2d.cpp b/signed_distance_field/test/testSignedDistance2d.cpp new file mode 100644 index 00000000..2cd2d3d5 --- /dev/null +++ b/signed_distance_field/test/testSignedDistance2d.cpp @@ -0,0 +1,161 @@ +// +// Created by rgrandia on 10.07.20. +// + +#include + +#include "signed_distance_field/SignedDistance2d.h" + +namespace signed_distance_field { + +// N^2 naive implementation, for testing purposes +grid_map::Matrix naiveSignedDistance(const grid_map::Matrix& elevationMap, float height, float resolution) { + grid_map::Matrix signedDistance(elevationMap.rows(), elevationMap.cols()); + + // For each point + for (int row = 0; row < elevationMap.rows(); ++row) { + for (int col = 0; col < elevationMap.cols(); ++col) { + if (elevationMap(row, col) >= height) { + signedDistance(row, col) = -INF; + // find closest open space over all other points + for (int i = 0; i < elevationMap.rows(); ++i) { + for (int j = 0; j < elevationMap.cols(); ++j) { + if (elevationMap(i, j) < height) { + float dx = resolution * (i - row); + float dy = resolution * (j - col); + float currentSignedDistance = -std::sqrt(dx * dx + dy * dy); + signedDistance(row, col) = std::max(signedDistance(row, col), currentSignedDistance); + } + } + } + } else { + signedDistance(row, col) = INF; + // find closest object over all other points + for (int i = 0; i < elevationMap.rows(); ++i) { + for (int j = 0; j < elevationMap.cols(); ++j) { + if (elevationMap(i, j) >= height) { + float dx = resolution * (i - row); + float dy = resolution * (j - col); + float currentSignedDistance = std::sqrt(dx * dx + dy * dy); + signedDistance(row, col) = std::min(signedDistance(row, col), currentSignedDistance); + } + } + } + } + } + } + + return signedDistance; +} +} // namespace signed_distance_field + +TEST(testSignedDistance2d, sparsityInfo_noObstacles) { + const int n = 3; + const int m = 4; + const grid_map::Matrix map = grid_map::Matrix::Ones(n, m); + + const auto sparsityInfo = signed_distance_field::collectSparsityInfo(map, 2.0); + + ASSERT_TRUE(sparsityInfo.hasFreeSpace); + ASSERT_FALSE(sparsityInfo.hasObstacles); + ASSERT_EQ(sparsityInfo.numColsHomogeneous, m); + ASSERT_EQ(sparsityInfo.numRowsHomogeneous, n); +} + +TEST(testSignedDistance2d, sparsityInfo_allObstacles) { + const int n = 3; + const int m = 4; + const grid_map::Matrix map = grid_map::Matrix::Ones(n, m); + + const auto sparsityInfo = signed_distance_field::collectSparsityInfo(map, 0.0); + + ASSERT_FALSE(sparsityInfo.hasFreeSpace); + ASSERT_TRUE(sparsityInfo.hasObstacles); + ASSERT_EQ(sparsityInfo.numColsHomogeneous, m); + ASSERT_EQ(sparsityInfo.numRowsHomogeneous, n); +} + +TEST(testSignedDistance2d, sparsityInfo_mixed) { + const int n = 2; + const int m = 3; + grid_map::Matrix map(n, m); + map << 0.0, 1.0, 1.0, 0.0, 0.0, 0.0; + + const auto sparsityInfo = signed_distance_field::collectSparsityInfo(map, 0.5); + + ASSERT_TRUE(sparsityInfo.hasFreeSpace); + ASSERT_TRUE(sparsityInfo.hasObstacles); + ASSERT_TRUE(sparsityInfo.colsIsHomogenous[0]); + ASSERT_TRUE(sparsityInfo.rowsIsHomogenous[1]); + ASSERT_EQ(sparsityInfo.numColsHomogeneous, 1); + ASSERT_EQ(sparsityInfo.numRowsHomogeneous, 1); +} + +TEST(testSignedDistance2d, signedDistance2d_noObstacles) { + const int n = 3; + const int m = 4; + const float resolution = 0.1; + const grid_map::Matrix map = grid_map::Matrix::Ones(n, m); + + const auto signedDistance = signed_distance_field::computeSignedDistanceAtHeight(map, 2.0, resolution); + + ASSERT_TRUE((signedDistance.array() == signed_distance_field::INF).all()); +} + +TEST(testSignedDistance2d, signedDistance2d_allObstacles) { + const int n = 3; + const int m = 4; + const float resolution = 0.1; + const grid_map::Matrix map = grid_map::Matrix::Ones(n, m); + + const auto signedDistance = signed_distance_field::computeSignedDistanceAtHeight(map, 0.0, resolution); + + ASSERT_TRUE((signedDistance.array() == 0.0).all()); +} + +TEST(testSignedDistance2d, signedDistance2d_mixed) { + const int n = 2; + const int m = 3; + const float resolution = 0.1; + grid_map::Matrix map(n, m); + map << 0.0, 1.0, 1.0, 0.0, 0.0, 0.0; + + const auto naiveSignedDistance = signed_distance_field::naiveSignedDistance(map, 0.5, resolution); + const auto signedDistance = signed_distance_field::computeSignedDistanceAtHeight(map, 0.5, resolution); + ASSERT_TRUE(signedDistance.isApprox(naiveSignedDistance)); +} + +TEST(testSignedDistance2d, signedDistance2d_oneObstacle) { + const int n = 20; + const int m = 30; + const float resolution = 0.1; + grid_map::Matrix map = grid_map::Matrix::Zero(n, m); + map(n/2, m/2) = 1.0; + + const auto naiveSignedDistance = signed_distance_field::naiveSignedDistance(map, 0.5, resolution); + const auto signedDistance = signed_distance_field::computeSignedDistanceAtHeight(map, 0.5, resolution); + ASSERT_TRUE(signedDistance.isApprox(naiveSignedDistance)); +} + +TEST(testSignedDistance2d, signedDistance2d_oneFreeSpace) { + const int n = 20; + const int m = 30; + const float resolution = 0.1; + grid_map::Matrix map = grid_map::Matrix::Ones(n, m); + map(n/2, m/2) = 0.0; + + const auto naiveSignedDistance = signed_distance_field::naiveSignedDistance(map, 0.5, resolution); + const auto signedDistance = signed_distance_field::computeSignedDistanceAtHeight(map, 0.5, resolution); + ASSERT_TRUE(signedDistance.isApprox(naiveSignedDistance)); +} + +TEST(testSignedDistance2d, signedDistance2d_random) { + const int n = 20; + const int m = 30; + const float resolution = 0.1; + grid_map::Matrix map = grid_map::Matrix::Random(n, m); // random [-1.0, 1.0] + + const auto naiveSignedDistance = signed_distance_field::naiveSignedDistance(map, 0.0, resolution); + const auto signedDistance = signed_distance_field::computeSignedDistanceAtHeight(map, 0.0, resolution); + ASSERT_TRUE(signedDistance.isApprox(naiveSignedDistance)); +} \ No newline at end of file From ebb7f7f9f5f9ca5b34bfefca9c8b5f09e3cec102 Mon Sep 17 00:00:00 2001 From: rgrandia Date: Wed, 5 Aug 2020 11:15:47 +0200 Subject: [PATCH 061/504] add file --- .../signed_distance_field/SignedDistanceField.h | 12 ++++++++++++ 1 file changed, 12 insertions(+) create mode 100644 signed_distance_field/include/signed_distance_field/SignedDistanceField.h diff --git a/signed_distance_field/include/signed_distance_field/SignedDistanceField.h b/signed_distance_field/include/signed_distance_field/SignedDistanceField.h new file mode 100644 index 00000000..18756fa6 --- /dev/null +++ b/signed_distance_field/include/signed_distance_field/SignedDistanceField.h @@ -0,0 +1,12 @@ +// +// Created by rgrandia on 10.07.20. +// + +#pragma once + +namespace signed_distance_field { + +class SignedDistanceField {}; + +} + From b27d6121018df16a039d25845029ffef62e2c8a1 Mon Sep 17 00:00:00 2001 From: rgrandia Date: Mon, 10 Aug 2020 13:32:21 +0200 Subject: [PATCH 062/504] 3d signed distance working and tested --- .../test/signedDistanceTest.cpp | 30 +-- signed_distance_field/CMakeLists.txt | 3 + .../PixelBorderDistance.h | 38 ++++ .../signed_distance_field/SignedDistance2d.h | 18 +- .../SignedDistanceField.h | 23 ++- .../src/PixelBorderDistance.cpp | 52 ++++++ .../src/SignedDistance2d.cpp | 175 ++++++++---------- .../test/naiveSignedDistance.h | 93 ++++++++++ .../test/testPixelBorderDistance.cpp | 50 +++++ .../test/testSignedDistance2d.cpp | 151 +++++---------- .../test/testSignedDistance3d.cpp | 44 +++++ 11 files changed, 439 insertions(+), 238 deletions(-) create mode 100644 signed_distance_field/include/signed_distance_field/PixelBorderDistance.h create mode 100644 signed_distance_field/src/PixelBorderDistance.cpp create mode 100644 signed_distance_field/test/naiveSignedDistance.h create mode 100644 signed_distance_field/test/testPixelBorderDistance.cpp create mode 100644 signed_distance_field/test/testSignedDistance3d.cpp diff --git a/segmented_planes_terrain_model/test/signedDistanceTest.cpp b/segmented_planes_terrain_model/test/signedDistanceTest.cpp index d288977b..64e17157 100644 --- a/segmented_planes_terrain_model/test/signedDistanceTest.cpp +++ b/segmented_planes_terrain_model/test/signedDistanceTest.cpp @@ -201,7 +201,7 @@ int main(int argc, char** argv) { using grid_map::Matrix; auto t2 = std::chrono::high_resolution_clock::now(); - const int N = 30; + const int N = 300; for (int rep = 0; rep < N; rep++) { // ========================================================= data_.clear(); @@ -223,35 +223,9 @@ int main(int argc, char** argv) { // Height range of the signed distance field is higher than the max height. maxHeight += heightClearance; - Matrix sdfElevationAbove = Matrix::Ones(map.rows(), map.cols()) * maxDistance_; - Matrix sdfLayer = Matrix::Zero(map.rows(), map.cols()); - - zIndexStartHeight_ = minHeight; - // Calculate signed distance field from bottom. - Eigen::Matrix obstacleFreeField; - Eigen::Matrix obstacleField; for (float h = minHeight; h < maxHeight; h += resolution_) { - Matrix sdf2d = signed_distance_field::computeSignedDistanceAtHeight(map, h, resolution_); - - for (size_t i = 0; i < sdfElevationAbove.size(); ++i) { - if (map(i) <= h) { - if (sdfElevationAbove(i) == maxDistance_) { - sdfElevationAbove(i) = h - map(i); - } else { - sdfElevationAbove(i) = sdfLayer(i) + resolution_; - } - } - - if (sdf2d(i) == 0) { - sdfLayer(i) = h - map(i); - } else if (sdf2d(i) < 0) { - sdfLayer(i) = -std::min(fabs(sdf2d(i)), fabs(map(i) - h)); - } else { - sdfLayer(i) = std::min(sdf2d(i), sdfElevationAbove(i)); - } - } - data_.push_back(sdfLayer); + data_.emplace_back(signed_distance_field::signedDistanceAtHeight(map, h, resolution)); } // ========================================================= diff --git a/signed_distance_field/CMakeLists.txt b/signed_distance_field/CMakeLists.txt index 252d1bf2..458c8dc3 100644 --- a/signed_distance_field/CMakeLists.txt +++ b/signed_distance_field/CMakeLists.txt @@ -34,6 +34,7 @@ include_directories( ) add_library(${PROJECT_NAME} + src/PixelBorderDistance.cpp src/SignedDistanceField.cpp src/SignedDistance2d.cpp ) @@ -63,7 +64,9 @@ install(DIRECTORY include/${PROJECT_NAME}/ ############# add_executable(${PROJECT_NAME}_test + test/testPixelBorderDistance.cpp test/testSignedDistance2d.cpp + test/testSignedDistance3d.cpp ) target_link_libraries(${PROJECT_NAME}_test ${catkin_LIBRARIES} diff --git a/signed_distance_field/include/signed_distance_field/PixelBorderDistance.h b/signed_distance_field/include/signed_distance_field/PixelBorderDistance.h new file mode 100644 index 00000000..394753d3 --- /dev/null +++ b/signed_distance_field/include/signed_distance_field/PixelBorderDistance.h @@ -0,0 +1,38 @@ +// +// Created by rgrandia on 07.08.20. +// + +#pragma once + +#include + +namespace signed_distance_field { + +/** + * Returns distance between the center of a pixel and the border of an other pixel. + * Returns zero if the center is inside the other pixel. + * Pixels are assumed to have size 1.0F + * @param i : location of pixel 1 + * @param j : location of pixel 2 + * @return : absolute distance between center of pixel 1 and the border of pixel 2 + */ +inline float pixelBorderDistance(float i, float j) { + return std::max(std::abs(i-j) - 0.5F, 0.0F); +} + +/** + * Returns square pixelBorderDistance, adding offset f. + */ +inline float squarePixelBorderDistance(float i, float j, float f) { + float distance = pixelBorderDistance(i, j); + return distance * distance + f; +} + +/** + * Return the point s in pixel space that is equally far from p and q (taking into account offsets fp, and fq) + * It is the solution to the following equation: + * squarePixelBorderDistance(s, q, fq) == squarePixelBorderDistance(s, p, fp) + */ +float equidistancePoint(int q, float fq, int p, float fp); + +} // namespace signed_distance_field diff --git a/signed_distance_field/include/signed_distance_field/SignedDistance2d.h b/signed_distance_field/include/signed_distance_field/SignedDistance2d.h index 89edb3a7..fe5b5ea3 100644 --- a/signed_distance_field/include/signed_distance_field/SignedDistance2d.h +++ b/signed_distance_field/include/signed_distance_field/SignedDistance2d.h @@ -12,17 +12,13 @@ namespace signed_distance_field { -struct SparsityInfo { - bool hasObstacles; - bool hasFreeSpace; - std::vector rowsIsHomogenous; - std::vector colsIsHomogenous; - int numRowsHomogeneous; - int numColsHomogeneous; -}; +inline Eigen::Matrix occupancyAtHeight(const grid_map::Matrix& elevationMap, float height) { + Eigen::Matrix occupany = elevationMap.unaryExpr([=](float val) { return val > height; }); + return occupany; +} -SparsityInfo collectSparsityInfo(const grid_map::Matrix& elevationMap, float height); +grid_map::Matrix signedDistanceAtHeight(const grid_map::Matrix& elevationMap, float height, float resolution); -grid_map::Matrix computeSignedDistanceAtHeight(const grid_map::Matrix& elevationMap, float height, float resolution); +grid_map::Matrix signedDistanceFromOccupancy(const Eigen::Matrix& occupancyGrid, float resolution); -} \ No newline at end of file +} // namespace signed_distance_field \ No newline at end of file diff --git a/signed_distance_field/include/signed_distance_field/SignedDistanceField.h b/signed_distance_field/include/signed_distance_field/SignedDistanceField.h index 18756fa6..c6e1b9d9 100644 --- a/signed_distance_field/include/signed_distance_field/SignedDistanceField.h +++ b/signed_distance_field/include/signed_distance_field/SignedDistanceField.h @@ -4,9 +4,28 @@ #pragma once +#include + +#include + namespace signed_distance_field { -class SignedDistanceField {}; +class SignedDistanceField { + public: + double atPosition(const Eigen::Vector3d& position) const; + Eigen::Vector3d derivativeAtPosition(const Eigen::Vector3d& position) const; + + private: + size_t nearestNode(const Eigen::Vector3d& position) const; + Eigen::Vector3d nodePosition(const Eigen::Vector3d& position) const; + + using node_data_t = std::array; + static double distance(const node_data_t& nodeData) noexcept { return nodeData[0]; } + static Eigen::Vector3d derivative(const node_data_t& nodeData) noexcept { return {nodeData[1], nodeData[2], nodeData[3]}; } -} + double resolution_; + std::array gridsize_; + std::vector data_; +}; +} // namespace signed_distance_field diff --git a/signed_distance_field/src/PixelBorderDistance.cpp b/signed_distance_field/src/PixelBorderDistance.cpp new file mode 100644 index 00000000..51d71d75 --- /dev/null +++ b/signed_distance_field/src/PixelBorderDistance.cpp @@ -0,0 +1,52 @@ +// +// Created by rgrandia on 07.08.20. +// + +#include "signed_distance_field/PixelBorderDistance.h" + +#include + +namespace signed_distance_field { + +namespace internal { + +/** + * Return equidistancepoint between origin and pixel p (with p > 0) with offset fp + */ +inline float intersectionPointRightSideOfOrigin(int p, float fp) { + auto pFloat = static_cast(p); + auto pSquared = pFloat * pFloat; + auto fpAbs = std::abs(fp); + if (fpAbs >= pSquared) { + float s = (pSquared + fp) / (2.0F * pFloat); + return (fp > 0.0F) ? s + 0.5F : s - 0.5F; + } else { + float boundary = (pSquared - 2 * pFloat + 1); + if (fpAbs < boundary) { + return (pSquared - pFloat + fp) / (2.0F * pFloat - 2.0F); + } else { + float s = 0.5F + std::sqrt(fpAbs); + return (fp > 0.0F) ? s : pFloat - s; + } + } +} + +/** + * Return equidistancepoint between origin and pixel p with offset fp + */ +inline float intersectionOffsetFromOrigin(int p, float fp) { + float intersectionOffset = intersectionPointRightSideOfOrigin(std::abs(p), fp); + return (p > 0) ? intersectionOffset : -intersectionOffset; +} + +} // namespace internal + +float equidistancePoint(int q, float fq, int p, float fp) { + if (q != p) { + return internal::intersectionOffsetFromOrigin(p - q, fp - fq) + static_cast(q); + } else { + return static_cast(q); + } +} + +} \ No newline at end of file diff --git a/signed_distance_field/src/SignedDistance2d.cpp b/signed_distance_field/src/SignedDistance2d.cpp index 113d7dc2..46ea838e 100644 --- a/signed_distance_field/src/SignedDistance2d.cpp +++ b/signed_distance_field/src/SignedDistance2d.cpp @@ -4,14 +4,11 @@ #include "signed_distance_field/SignedDistance2d.h" +#include "signed_distance_field/PixelBorderDistance.h" + namespace signed_distance_field { namespace internal { -template -T square(T x) { - return x * x; -} - /** * 1D Euclidean Distance Transform based on: http://cs.brown.edu/people/pfelzens/dt/ * Adapted to work on Eigen objects directly @@ -33,14 +30,10 @@ void squaredDistanceTransform_1d_inplace(Eigen::Ref squareDista // Compute bounds for (int q = 1; q < n; q++) { - auto factor1 = static_cast(q - v[k]); - auto factor2 = static_cast(q + v[k]); - float s = 0.5F * ((f[q] - f[v[k]]) / factor1 + factor2); + float s = equidistancePoint(q, f[q], v[k], f[v[k]]); while (s <= z[k]) { k--; - factor1 = static_cast(q - v[k]); - factor2 = static_cast(q + v[k]); - s = 0.5F * ((f[q] - f[v[k]]) / factor1 + factor2); + s = equidistancePoint(q, f[q], v[k], f[v[k]]); } k++; v[k] = q; @@ -51,127 +44,119 @@ void squaredDistanceTransform_1d_inplace(Eigen::Ref squareDista // Collect results k = 0; for (int q = 0; q < n; q++) { - while (z[k + 1] < static_cast(q)) { + auto qFloat = static_cast(q); + while (z[k + 1] < qFloat) { k++; } - d[q] = square(q - v[k]) + f[v[k]]; + d[q] = squarePixelBorderDistance(qFloat, v[k], f[v[k]]); } // Write distance result back in place squareDistance1d = d; } -void squaredDistanceTransform_2d_columnwiseInplace(grid_map::Matrix& squareDistance, const std::vector* skipLine = nullptr) { +void squaredDistanceTransform_2d_columnwiseInplace(grid_map::Matrix& squareDistance) { const size_t n = squareDistance.rows(); const size_t m = squareDistance.cols(); Eigen::VectorXf workvector(2 * n + 1); std::vector intWorkvector(n); for (size_t i = 0; i < m; i++) { - if (skipLine == nullptr || !(*skipLine)[i]) { - squaredDistanceTransform_1d_inplace(squareDistance.col(i), workvector.segment(0, n), workvector.segment(n, n + 1), intWorkvector); - } + squaredDistanceTransform_1d_inplace(squareDistance.col(i), workvector.segment(0, n), workvector.segment(n, n + 1), intWorkvector); } } // SquareDistance must be initialized with 0.0 for elements and INF for non-elements -void computePixelDistance2d(grid_map::Matrix& squareDistance, const SparsityInfo& sparsityInfo) { - // Start with the dimension that maximizes the number of points being skips - if (sparsityInfo.numColsHomogeneous * squareDistance.rows() > sparsityInfo.numRowsHomogeneous * squareDistance.cols()) { - // Process columns - squaredDistanceTransform_2d_columnwiseInplace(squareDistance, &sparsityInfo.colsIsHomogenous); - - // Process rows - squareDistance.transposeInPlace(); - squaredDistanceTransform_2d_columnwiseInplace(squareDistance); - squareDistance.transposeInPlace(); - } else { - // Process rows - squareDistance.transposeInPlace(); - squaredDistanceTransform_2d_columnwiseInplace(squareDistance, &sparsityInfo.rowsIsHomogenous); - squareDistance.transposeInPlace(); +void computePixelDistance2d(grid_map::Matrix& squareDistance) { + // Process columns + squaredDistanceTransform_2d_columnwiseInplace(squareDistance); - // Process columns - squaredDistanceTransform_2d_columnwiseInplace(squareDistance); - } + // Process rows + squareDistance.transposeInPlace(); + squaredDistanceTransform_2d_columnwiseInplace(squareDistance); + squareDistance.transposeInPlace(); // Convert square distance to absolute distance squareDistance = squareDistance.cwiseSqrt(); } + +// Initialize with square distance in height direction in pixel units if above the surface +grid_map::Matrix initializeObstacleDistance(const grid_map::Matrix& elevationMap, float height, float resolution) { + return elevationMap.unaryExpr([=](float elevation) { + if (height > elevation) { + const auto diff = (height - elevation) / resolution; + return diff * diff; + } else { + return 0.0F; + } + }); +} + +// Initialize with square distance in height direction in pixel units if below the surface +grid_map::Matrix initializeObstacleFreeDistance(const grid_map::Matrix& elevationMap, float height, float resolution) { + return elevationMap.unaryExpr([=](float elevation) { + if (height < elevation) { + const auto diff = (height - elevation) / resolution; + return diff * diff; + } else { + return 0.0F; + } + }); +} + +grid_map::Matrix pixelDistanceToFreeSpace(const grid_map::Matrix& elevationMap, float height, float resolution) { + grid_map::Matrix sdfObstacleFree = internal::initializeObstacleFreeDistance(elevationMap, height, resolution); + internal::computePixelDistance2d(sdfObstacleFree); + return sdfObstacleFree; +} + +grid_map::Matrix pixelDistanceToObstacle(const grid_map::Matrix& elevationMap, float height, float resolution) { + grid_map::Matrix sdfObstacle = internal::initializeObstacleDistance(elevationMap, height, resolution); + internal::computePixelDistance2d(sdfObstacle); + return sdfObstacle; +} + } // namespace internal -grid_map::Matrix computeSignedDistanceAtHeight(const grid_map::Matrix& elevationMap, float height, float resolution) { - const auto sparsityInfo = signed_distance_field::collectSparsityInfo(elevationMap, height); +grid_map::Matrix signedDistanceAtHeight(const grid_map::Matrix& elevationMap, float height, float resolution) { + auto obstacleCount = (elevationMap.array() > height).count(); + bool allPixelsAreObstacles = obstacleCount == elevationMap.size(); + bool allPixelsAreFreeSpace = obstacleCount == 0; + + if (allPixelsAreObstacles) { + return -resolution * internal::pixelDistanceToFreeSpace(elevationMap, height, resolution); + } else if (allPixelsAreFreeSpace) { + return resolution * internal::pixelDistanceToObstacle(elevationMap, height, resolution); + } else { // This layer contains a mix of obstacles and free space + return resolution * (internal::pixelDistanceToObstacle(elevationMap, height, resolution) - + internal::pixelDistanceToFreeSpace(elevationMap, height, resolution)); + } +} - if (sparsityInfo.hasObstacles) { - if (sparsityInfo.hasFreeSpace) { - // Both obstacles and free space -> compute planar signed distance +grid_map::Matrix signedDistanceFromOccupancy(const Eigen::Matrix& occupancyGrid, float resolution) { + auto obstacleCount = occupancyGrid.count(); + bool hasObstacles = obstacleCount > 0; + if (hasObstacles){ + bool hasFreeSpace = obstacleCount < occupancyGrid.size(); + if (hasFreeSpace){ // Compute pixel distance to obstacles - grid_map::Matrix sdfObstacle = elevationMap.unaryExpr([=](float val) { return (val >= height) ? 0.0F : INF; }); - internal::computePixelDistance2d(sdfObstacle, sparsityInfo); + grid_map::Matrix sdfObstacle = occupancyGrid.unaryExpr([=](bool val) { return (val) ? 0.0F : INF; }); + internal::computePixelDistance2d(sdfObstacle); // Compute pixel distance to obstacle free space - grid_map::Matrix sdfObstacleFree = elevationMap.unaryExpr([=](float val) { return (val < height) ? 0.0F : INF; }); - internal::computePixelDistance2d(sdfObstacleFree, sparsityInfo); + grid_map::Matrix sdfObstacleFree = occupancyGrid.unaryExpr([=](bool val) { return (val) ? INF : 0.0F; }); + internal::computePixelDistance2d(sdfObstacleFree); grid_map::Matrix sdf2d = resolution * (sdfObstacle - sdfObstacleFree); return sdf2d; } else { - // Only obstacles -> distance is zero everywhere - return grid_map::Matrix::Zero(elevationMap.rows(), elevationMap.cols()); + // Only obstacles -> distance is minus infinity everywhere + return grid_map::Matrix::Constant(occupancyGrid.rows(), occupancyGrid.cols(), -INF); } } else { // No obstacles -> planar distance is infinite - return grid_map::Matrix::Constant(elevationMap.rows(), elevationMap.cols(), INF); + return grid_map::Matrix::Constant(occupancyGrid.rows(), occupancyGrid.cols(), INF); } } -SparsityInfo collectSparsityInfo(const grid_map::Matrix& elevationMap, float height) { - const size_t n = elevationMap.rows(); - const size_t m = elevationMap.cols(); - - SparsityInfo sparsityInfo; - // Assume false and set true if detected otherwise - sparsityInfo.hasObstacles = false; - sparsityInfo.hasFreeSpace = false; - - // Assume true and set false if detected otherwise - sparsityInfo.rowsIsHomogenous.resize(elevationMap.rows(), true); - sparsityInfo.colsIsHomogenous.resize(elevationMap.cols(), true); - - Eigen::Matrix firstColIsObstacle = elevationMap.col(0).array() >= height; - - // Loop according to Eigen column major storage order. - for (size_t j = 0; j < m; ++j) { - bool firstRowIsObstacle = elevationMap(0, j) >= height; - bool thisColIsHomogeneous = true; - for (size_t i = 0; i < n; ++i) { - float currentValue = elevationMap(i, j); - if (currentValue >= height) { // current location contains obstacle - sparsityInfo.hasObstacles = true; - if (!firstRowIsObstacle) { - thisColIsHomogeneous = false; - } - if (!firstColIsObstacle(i)) { - sparsityInfo.rowsIsHomogenous[i] = false; - } - } else { // current location is free - sparsityInfo.hasFreeSpace = true; - if (firstRowIsObstacle) { - thisColIsHomogeneous = false; - } - if (firstColIsObstacle(i)) { - sparsityInfo.rowsIsHomogenous[i] = false; - } - } - } - sparsityInfo.colsIsHomogenous[j] = thisColIsHomogeneous; - } - - sparsityInfo.numRowsHomogeneous = std::count(sparsityInfo.rowsIsHomogenous.begin(), sparsityInfo.rowsIsHomogenous.end(), true); - sparsityInfo.numColsHomogeneous = std::count(sparsityInfo.colsIsHomogenous.begin(), sparsityInfo.colsIsHomogenous.end(), true); - - return sparsityInfo; -} - } // namespace signed_distance_field diff --git a/signed_distance_field/test/naiveSignedDistance.h b/signed_distance_field/test/naiveSignedDistance.h new file mode 100644 index 00000000..622cd240 --- /dev/null +++ b/signed_distance_field/test/naiveSignedDistance.h @@ -0,0 +1,93 @@ +// +// Created by rgrandia on 10.08.20. +// + +#pragma once + +namespace signed_distance_field { + +inline bool isEqualSdf(const grid_map::Matrix& sdf0, const grid_map::Matrix& sdf1, float tol) { + grid_map::Matrix error = (sdf0 - sdf1).array().abs(); + float maxDifference = error.maxCoeff(); + return maxDifference < tol; +} + +// N^2 naive implementation, for testing purposes +inline grid_map::Matrix naiveSignedDistanceAtHeight(const grid_map::Matrix& elevationMap, float height, float resolution) { + grid_map::Matrix signedDistance(elevationMap.rows(), elevationMap.cols()); + + // For each point + for (int row = 0; row < elevationMap.rows(); ++row) { + for (int col = 0; col < elevationMap.cols(); ++col) { + if (elevationMap(row, col) >= height) { // point is below surface + signedDistance(row, col) = -INF; + // find closest open space over all other points + for (int i = 0; i < elevationMap.rows(); ++i) { + for (int j = 0; j < elevationMap.cols(); ++j) { + // Compute distance to free cube at location (i, j) + float dx = resolution * pixelBorderDistance(i, row); + float dy = resolution * pixelBorderDistance(j, col); + float dz = std::max(elevationMap(i, j) - height, 0.0F); + float currentSignedDistance = -std::sqrt(dx * dx + dy * dy + dz * dz); + signedDistance(row, col) = std::max(signedDistance(row, col), currentSignedDistance); + } + } + } else { // point is above surface + signedDistance(row, col) = INF; + // find closest object over all other points + for (int i = 0; i < elevationMap.rows(); ++i) { + for (int j = 0; j < elevationMap.cols(); ++j) { + // Compute distance to occupied cube at location (i, j) + float dx = resolution * pixelBorderDistance(i, row); + float dy = resolution * pixelBorderDistance(j, col); + float dz = std::max(height - elevationMap(i, j), 0.0F); + float currentSignedDistance = std::sqrt(dx * dx + dy * dy + dz * dz); + signedDistance(row, col) = std::min(signedDistance(row, col), currentSignedDistance); + } + } + } + } + } + + return signedDistance; +} + +inline grid_map::Matrix naiveSignedDistanceFromOccupancy(const Eigen::Matrix& occupancyGrid, float resolution) { + grid_map::Matrix signedDistance(occupancyGrid.rows(), occupancyGrid.cols()); + + // For each point + for (int row = 0; row < occupancyGrid.rows(); ++row) { + for (int col = 0; col < occupancyGrid.cols(); ++col) { + if (occupancyGrid(row, col)) { // This point is an obstable + signedDistance(row, col) = -INF; + // find closest open space over all other points + for (int i = 0; i < occupancyGrid.rows(); ++i) { + for (int j = 0; j < occupancyGrid.cols(); ++j) { + if (!occupancyGrid(i, j)) { + float dx = resolution * pixelBorderDistance(i, row); + float dy = resolution * pixelBorderDistance(j, col); + float currentSignedDistance = -std::sqrt(dx * dx + dy * dy); + signedDistance(row, col) = std::max(signedDistance(row, col), currentSignedDistance); + } + } + } + } else { // This point is in free space + signedDistance(row, col) = INF; + // find closest object over all other points + for (int i = 0; i < occupancyGrid.rows(); ++i) { + for (int j = 0; j < occupancyGrid.cols(); ++j) { + if (occupancyGrid(i, j)) { + float dx = resolution * pixelBorderDistance(i, row); + float dy = resolution * pixelBorderDistance(j, col); + float currentSignedDistance = std::sqrt(dx * dx + dy * dy); + signedDistance(row, col) = std::min(signedDistance(row, col), currentSignedDistance); + } + } + } + } + } + } + + return signedDistance; +} +} \ No newline at end of file diff --git a/signed_distance_field/test/testPixelBorderDistance.cpp b/signed_distance_field/test/testPixelBorderDistance.cpp new file mode 100644 index 00000000..8e83a04a --- /dev/null +++ b/signed_distance_field/test/testPixelBorderDistance.cpp @@ -0,0 +1,50 @@ +// +// Created by rgrandia on 07.08.20. +// + +#include + +#include "signed_distance_field/PixelBorderDistance.h" + + +TEST(testPixelBorderDistance, distanceFunction) { + using signed_distance_field::pixelBorderDistance; + // Basic properties of the distance function + ASSERT_TRUE(pixelBorderDistance(0, 0) == 0.0F); + ASSERT_FLOAT_EQ(pixelBorderDistance(0, 1), 0.5); + ASSERT_FLOAT_EQ(pixelBorderDistance(0, 2), 1.5); + ASSERT_TRUE(pixelBorderDistance(0, 1) == pixelBorderDistance(1, 0)); + ASSERT_TRUE(pixelBorderDistance(-10, 42) == pixelBorderDistance(42, -10)); +} + +TEST(testPixelBorderDistance, equidistantPoint) { + using signed_distance_field::equidistancePoint; + using signed_distance_field::squarePixelBorderDistance; + + int pixelRange = 10; + float offsetRange = 20.0; + float offsetStep = 0.25; + float tol = 1e-4; + + for (int p =-pixelRange; p #include "signed_distance_field/SignedDistance2d.h" +#include "signed_distance_field/PixelBorderDistance.h" -namespace signed_distance_field { - -// N^2 naive implementation, for testing purposes -grid_map::Matrix naiveSignedDistance(const grid_map::Matrix& elevationMap, float height, float resolution) { - grid_map::Matrix signedDistance(elevationMap.rows(), elevationMap.cols()); - - // For each point - for (int row = 0; row < elevationMap.rows(); ++row) { - for (int col = 0; col < elevationMap.cols(); ++col) { - if (elevationMap(row, col) >= height) { - signedDistance(row, col) = -INF; - // find closest open space over all other points - for (int i = 0; i < elevationMap.rows(); ++i) { - for (int j = 0; j < elevationMap.cols(); ++j) { - if (elevationMap(i, j) < height) { - float dx = resolution * (i - row); - float dy = resolution * (j - col); - float currentSignedDistance = -std::sqrt(dx * dx + dy * dy); - signedDistance(row, col) = std::max(signedDistance(row, col), currentSignedDistance); - } - } - } - } else { - signedDistance(row, col) = INF; - // find closest object over all other points - for (int i = 0; i < elevationMap.rows(); ++i) { - for (int j = 0; j < elevationMap.cols(); ++j) { - if (elevationMap(i, j) >= height) { - float dx = resolution * (i - row); - float dy = resolution * (j - col); - float currentSignedDistance = std::sqrt(dx * dx + dy * dy); - signedDistance(row, col) = std::min(signedDistance(row, col), currentSignedDistance); - } - } - } - } - } - } - - return signedDistance; -} -} // namespace signed_distance_field - -TEST(testSignedDistance2d, sparsityInfo_noObstacles) { - const int n = 3; - const int m = 4; - const grid_map::Matrix map = grid_map::Matrix::Ones(n, m); - - const auto sparsityInfo = signed_distance_field::collectSparsityInfo(map, 2.0); - - ASSERT_TRUE(sparsityInfo.hasFreeSpace); - ASSERT_FALSE(sparsityInfo.hasObstacles); - ASSERT_EQ(sparsityInfo.numColsHomogeneous, m); - ASSERT_EQ(sparsityInfo.numRowsHomogeneous, n); -} - -TEST(testSignedDistance2d, sparsityInfo_allObstacles) { - const int n = 3; - const int m = 4; - const grid_map::Matrix map = grid_map::Matrix::Ones(n, m); - - const auto sparsityInfo = signed_distance_field::collectSparsityInfo(map, 0.0); - - ASSERT_FALSE(sparsityInfo.hasFreeSpace); - ASSERT_TRUE(sparsityInfo.hasObstacles); - ASSERT_EQ(sparsityInfo.numColsHomogeneous, m); - ASSERT_EQ(sparsityInfo.numRowsHomogeneous, n); -} - -TEST(testSignedDistance2d, sparsityInfo_mixed) { - const int n = 2; - const int m = 3; - grid_map::Matrix map(n, m); - map << 0.0, 1.0, 1.0, 0.0, 0.0, 0.0; - - const auto sparsityInfo = signed_distance_field::collectSparsityInfo(map, 0.5); - - ASSERT_TRUE(sparsityInfo.hasFreeSpace); - ASSERT_TRUE(sparsityInfo.hasObstacles); - ASSERT_TRUE(sparsityInfo.colsIsHomogenous[0]); - ASSERT_TRUE(sparsityInfo.rowsIsHomogenous[1]); - ASSERT_EQ(sparsityInfo.numColsHomogeneous, 1); - ASSERT_EQ(sparsityInfo.numRowsHomogeneous, 1); -} +#include "naiveSignedDistance.h" TEST(testSignedDistance2d, signedDistance2d_noObstacles) { const int n = 3; @@ -97,7 +15,8 @@ TEST(testSignedDistance2d, signedDistance2d_noObstacles) { const float resolution = 0.1; const grid_map::Matrix map = grid_map::Matrix::Ones(n, m); - const auto signedDistance = signed_distance_field::computeSignedDistanceAtHeight(map, 2.0, resolution); + const auto occupancy = signed_distance_field::occupancyAtHeight(map, 2.0); + const auto signedDistance = signed_distance_field::signedDistanceFromOccupancy(occupancy, resolution); ASSERT_TRUE((signedDistance.array() == signed_distance_field::INF).all()); } @@ -108,21 +27,23 @@ TEST(testSignedDistance2d, signedDistance2d_allObstacles) { const float resolution = 0.1; const grid_map::Matrix map = grid_map::Matrix::Ones(n, m); - const auto signedDistance = signed_distance_field::computeSignedDistanceAtHeight(map, 0.0, resolution); + const auto occupancy = signed_distance_field::occupancyAtHeight(map, 0.0); + const auto signedDistance = signed_distance_field::signedDistanceFromOccupancy(occupancy, resolution); - ASSERT_TRUE((signedDistance.array() == 0.0).all()); + ASSERT_TRUE((signedDistance.array() == -signed_distance_field::INF).all()); } TEST(testSignedDistance2d, signedDistance2d_mixed) { const int n = 2; const int m = 3; - const float resolution = 0.1; + const float resolution = 1.0; grid_map::Matrix map(n, m); - map << 0.0, 1.0, 1.0, 0.0, 0.0, 0.0; + map << 0.0, 1.0, 1.0, 0.0, 0.0, 1.0; + const auto occupancy = signed_distance_field::occupancyAtHeight(map, 0.5); - const auto naiveSignedDistance = signed_distance_field::naiveSignedDistance(map, 0.5, resolution); - const auto signedDistance = signed_distance_field::computeSignedDistanceAtHeight(map, 0.5, resolution); - ASSERT_TRUE(signedDistance.isApprox(naiveSignedDistance)); + const auto naiveSignedDistance = signed_distance_field::naiveSignedDistanceFromOccupancy(occupancy, resolution); + const auto signedDistance = signed_distance_field::signedDistanceFromOccupancy(occupancy, resolution); + ASSERT_TRUE(signed_distance_field::isEqualSdf(signedDistance, naiveSignedDistance, 1e-4)); } TEST(testSignedDistance2d, signedDistance2d_oneObstacle) { @@ -131,10 +52,11 @@ TEST(testSignedDistance2d, signedDistance2d_oneObstacle) { const float resolution = 0.1; grid_map::Matrix map = grid_map::Matrix::Zero(n, m); map(n/2, m/2) = 1.0; + const auto occupancy = signed_distance_field::occupancyAtHeight(map, 0.5); - const auto naiveSignedDistance = signed_distance_field::naiveSignedDistance(map, 0.5, resolution); - const auto signedDistance = signed_distance_field::computeSignedDistanceAtHeight(map, 0.5, resolution); - ASSERT_TRUE(signedDistance.isApprox(naiveSignedDistance)); + const auto naiveSignedDistance = signed_distance_field::naiveSignedDistanceFromOccupancy(occupancy, resolution); + const auto signedDistance = signed_distance_field::signedDistanceFromOccupancy(occupancy, resolution); + ASSERT_TRUE(signed_distance_field::isEqualSdf(signedDistance, naiveSignedDistance, 1e-4)); } TEST(testSignedDistance2d, signedDistance2d_oneFreeSpace) { @@ -144,18 +66,43 @@ TEST(testSignedDistance2d, signedDistance2d_oneFreeSpace) { grid_map::Matrix map = grid_map::Matrix::Ones(n, m); map(n/2, m/2) = 0.0; - const auto naiveSignedDistance = signed_distance_field::naiveSignedDistance(map, 0.5, resolution); - const auto signedDistance = signed_distance_field::computeSignedDistanceAtHeight(map, 0.5, resolution); - ASSERT_TRUE(signedDistance.isApprox(naiveSignedDistance)); + const auto occupancy = signed_distance_field::occupancyAtHeight(map, 0.5); + + const auto naiveSignedDistance = signed_distance_field::naiveSignedDistanceFromOccupancy(occupancy, resolution); + const auto signedDistance = signed_distance_field::signedDistanceFromOccupancy(occupancy, resolution); + ASSERT_TRUE(signed_distance_field::isEqualSdf(signedDistance, naiveSignedDistance, 1e-4)); +} + +TEST(testSignedDistance2d, signedDistance2d_debugcase) { + const int n = 3; + const int m = 3; + const float resolution = 1.0; + grid_map::Matrix map(n, m); + map << + 1.0, 1.0, 1.0, + 0.0, 1.0, 1.0, + 1.0, 1.0, 0.0; + + const auto occupancy = signed_distance_field::occupancyAtHeight(map, 0.5); + + const auto naiveSignedDistance = signed_distance_field::naiveSignedDistanceFromOccupancy(occupancy, resolution); + const auto signedDistance = signed_distance_field::signedDistanceFromOccupancy(occupancy, resolution); + ASSERT_TRUE(signed_distance_field::isEqualSdf(signedDistance, naiveSignedDistance, 1e-4)); } TEST(testSignedDistance2d, signedDistance2d_random) { const int n = 20; const int m = 30; - const float resolution = 0.1; + const float resolution = 1.0; grid_map::Matrix map = grid_map::Matrix::Random(n, m); // random [-1.0, 1.0] - const auto naiveSignedDistance = signed_distance_field::naiveSignedDistance(map, 0.0, resolution); - const auto signedDistance = signed_distance_field::computeSignedDistanceAtHeight(map, 0.0, resolution); - ASSERT_TRUE(signedDistance.isApprox(naiveSignedDistance)); + // Check at different heights, resulting in different levels of sparsity. + float heightStep = 0.1; + for (float height = -1.0 - heightStep; height < 1.0 + heightStep; height+=heightStep) { + const auto occupancy = signed_distance_field::occupancyAtHeight(map, height); + + const auto naiveSignedDistance = signed_distance_field::naiveSignedDistanceFromOccupancy(occupancy, resolution); + const auto signedDistance = signed_distance_field::signedDistanceFromOccupancy(occupancy, resolution); + ASSERT_TRUE(signed_distance_field::isEqualSdf(signedDistance, naiveSignedDistance, 1e-4)) << "height: " << height; + } } \ No newline at end of file diff --git a/signed_distance_field/test/testSignedDistance3d.cpp b/signed_distance_field/test/testSignedDistance3d.cpp new file mode 100644 index 00000000..d90eb679 --- /dev/null +++ b/signed_distance_field/test/testSignedDistance3d.cpp @@ -0,0 +1,44 @@ +// +// Created by rgrandia on 10.08.20. +// + +#include + +#include "signed_distance_field/PixelBorderDistance.h" +#include "signed_distance_field/SignedDistance2d.h" + +#include "naiveSignedDistance.h" + +TEST(testSignedDistance3d, flatTerrain) { + const int n = 3; + const int m = 4; + const float resolution = 0.1; + const float terrainHeight = 0.5; + const grid_map::Matrix map = grid_map::Matrix::Constant(n, m, terrainHeight); + + const float testHeightAboveTerrain = 3.0; + const auto naiveSignedDistanceAbove = signed_distance_field::naiveSignedDistanceAtHeight(map, testHeightAboveTerrain, resolution); + const auto signedDistanceAbove = signed_distance_field::signedDistanceAtHeight(map, testHeightAboveTerrain, resolution); + ASSERT_TRUE(signed_distance_field::isEqualSdf(signedDistanceAbove, naiveSignedDistanceAbove, 1e-4)); + + const float testHeightBelowTerrain = -3.0; + const auto naiveSignedDistanceBelow = signed_distance_field::naiveSignedDistanceAtHeight(map, testHeightBelowTerrain, resolution); + const auto signedDistanceBelow = signed_distance_field::signedDistanceAtHeight(map, testHeightBelowTerrain, resolution); + ASSERT_TRUE(signed_distance_field::isEqualSdf(signedDistanceBelow, naiveSignedDistanceBelow, 1e-4)); +} + +TEST(testSignedDistance3d, randomTerrain) { + const int n = 20; + const int m = 30; + const float resolution = 0.1; + grid_map::Matrix map = grid_map::Matrix::Random(n, m); // random [-1.0, 1.0] + + // Check at different heights, resulting in different levels of sparsity. + float heightStep = 0.1; + for (float height = -1.0 - heightStep; height < 1.0 + heightStep; height+=heightStep) { + const auto naiveSignedDistance = signed_distance_field::naiveSignedDistanceAtHeight(map, height, resolution); + const auto signedDistance = signed_distance_field::signedDistanceAtHeight(map, height, resolution); + + ASSERT_TRUE(signed_distance_field::isEqualSdf(signedDistance, naiveSignedDistance, 1e-4)) << "height: " << height; + } +} \ No newline at end of file From 3b3f4bbd589b94e070ac49fce8c1c86dd829886d Mon Sep 17 00:00:00 2001 From: rgrandia Date: Tue, 11 Aug 2020 15:08:37 +0200 Subject: [PATCH 063/504] implemented signed distance class with derivatives precomputed --- .../src/DemoNode.cpp | 17 ++-- .../test/signedDistanceTest.cpp | 56 ++++++----- signed_distance_field/CMakeLists.txt | 2 + .../DistanceDerivatives.h | 45 +++++++++ .../PixelBorderDistance.h | 56 ++++++++++- .../SignedDistanceField.h | 21 +++- signed_distance_field/package.xml | 1 + .../src/PixelBorderDistance.cpp | 44 +-------- .../src/SignedDistance2d.cpp | 96 ++++++++++++------- .../src/SignedDistanceField.cpp | 90 ++++++++++++++++- .../test/testDerivatives.cpp | 44 +++++++++ 11 files changed, 355 insertions(+), 117 deletions(-) create mode 100644 signed_distance_field/include/signed_distance_field/DistanceDerivatives.h create mode 100644 signed_distance_field/test/testDerivatives.cpp diff --git a/segmented_planes_terrain_model/src/DemoNode.cpp b/segmented_planes_terrain_model/src/DemoNode.cpp index 73507c03..db208601 100644 --- a/segmented_planes_terrain_model/src/DemoNode.cpp +++ b/segmented_planes_terrain_model/src/DemoNode.cpp @@ -13,6 +13,7 @@ #include #include #include +#include #include #include @@ -96,21 +97,19 @@ int main(int argc, char** argv) { convexTerrainPublisher_.publish(toMarker(convexTerrain)); - grid_map::SignedDistanceField signedDistanceField; - double heightClearance = 0.1; - double width = 0.5; + + double heightClearance = 0.35; + double width = 1.5; + double length = 2.0; bool success; - grid_map::GridMap localMap = messageMap->getSubmap({convexTerrain.plane.positionInWorld.x(), convexTerrain.plane.positionInWorld.y()}, Eigen::Array2d(width, width), success); + grid_map::GridMap localMap = messageMap->getSubmap({convexTerrain.plane.positionInWorld.x(), convexTerrain.plane.positionInWorld.y()}, Eigen::Array2d(width, length), success); auto t2 = std::chrono::high_resolution_clock::now(); - signedDistanceField.calculateSignedDistanceField(*messageMap, "elevation", heightClearance); + signed_distance_field::SignedDistanceField sdf(localMap, "elevation", convexTerrain.plane.positionInWorld.z() - heightClearance, convexTerrain.plane.positionInWorld.z() + heightClearance); auto t3 = std::chrono::high_resolution_clock::now(); std::cout << "Sdf computation took " << 1e-3 * std::chrono::duration_cast(t3 - t2).count() << " [ms]\n"; - pcl::PointCloud points; - signedDistanceField.convertToPointCloud(points); - sensor_msgs::PointCloud2 pointCloud2Msg; - pcl::toROSMsg(points, pointCloud2Msg); + pcl::toROSMsg(sdf.asPointCloud(), pointCloud2Msg); pointCloud2Msg.header = switched_model::getHeaderMsg(originFrameId_, ros::Time::now()); distanceFieldPublisher.publish(pointCloud2Msg); diff --git a/segmented_planes_terrain_model/test/signedDistanceTest.cpp b/segmented_planes_terrain_model/test/signedDistanceTest.cpp index 64e17157..0ead6ebe 100644 --- a/segmented_planes_terrain_model/test/signedDistanceTest.cpp +++ b/segmented_planes_terrain_model/test/signedDistanceTest.cpp @@ -9,6 +9,7 @@ #include #include +#include #include #include #include @@ -181,7 +182,7 @@ int main(int argc, char** argv) { grid_map::SignedDistanceField signedDistanceField; - double width = 1.0; + double width = 4.0; bool success; grid_map::GridMap localMap = messageMap.getSubmap(messageMap.getPosition(), Eigen::Array2d(width, width), success); @@ -200,33 +201,36 @@ int main(int argc, char** argv) { const float lowestHeight_ = -1e5; using grid_map::Matrix; - auto t2 = std::chrono::high_resolution_clock::now(); - const int N = 300; - for (int rep = 0; rep < N; rep++) { - // ========================================================= - data_.clear(); - resolution_ = gridMap.getResolution(); - position_ = gridMap.getPosition(); - size_ = gridMap.getSize(); - Matrix map = gridMap.get(layer); // Copy! - - float minHeight = map.minCoeffOfFinites(); - if (!std::isfinite(minHeight)) minHeight = lowestHeight_; - float maxHeight = map.maxCoeffOfFinites(); - if (!std::isfinite(maxHeight)) maxHeight = lowestHeight_; - - const float valueForEmptyCells = lowestHeight_; // maxHeight, minHeight (TODO Make this an option). - for (size_t i = 0; i < map.size(); ++i) { - if (std::isnan(map(i))) map(i) = valueForEmptyCells; - } + // initialization + resolution_ = gridMap.getResolution(); + position_ = gridMap.getPosition(); + size_ = gridMap.getSize(); + Matrix map = gridMap.get(layer); // Copy! - // Height range of the signed distance field is higher than the max height. - maxHeight += heightClearance; + float minHeight = map.minCoeffOfFinites(); + if (!std::isfinite(minHeight)) minHeight = lowestHeight_; + float maxHeight = map.maxCoeffOfFinites(); + if (!std::isfinite(maxHeight)) maxHeight = lowestHeight_; - // Calculate signed distance field from bottom. - for (float h = minHeight; h < maxHeight; h += resolution_) { - data_.emplace_back(signed_distance_field::signedDistanceAtHeight(map, h, resolution)); - } + const float valueForEmptyCells = lowestHeight_; // maxHeight, minHeight (TODO Make this an option). + for (size_t i = 0; i < map.size(); ++i) { + if (std::isnan(map(i))) map(i) = valueForEmptyCells; + } + + // Height range of the signed distance field is higher than the max height. + maxHeight += heightClearance; + + auto t2 = std::chrono::high_resolution_clock::now(); + const int N = 50; + for (int rep = 0; rep < N; rep++) { +// // ========================================================= +// data_.clear(); +// +// // Calculate signed distance field from bottom. +// for (float h = minHeight; h < maxHeight; h += resolution_) { +// data_.emplace_back(signed_distance_field::signedDistanceAtHeight(map, h, resolution)); +// } + auto sdf = signed_distance_field::SignedDistanceField(gridMap, layer, minHeight, maxHeight); // ========================================================= } diff --git a/signed_distance_field/CMakeLists.txt b/signed_distance_field/CMakeLists.txt index 458c8dc3..b324e0a1 100644 --- a/signed_distance_field/CMakeLists.txt +++ b/signed_distance_field/CMakeLists.txt @@ -4,6 +4,7 @@ project(signed_distance_field) # Catkin dependencies set(CATKIN_PACKAGE_DEPENDENCIES grid_map_core + pcl_ros ) find_package(catkin REQUIRED COMPONENTS @@ -64,6 +65,7 @@ install(DIRECTORY include/${PROJECT_NAME}/ ############# add_executable(${PROJECT_NAME}_test + test/testDerivatives.cpp test/testPixelBorderDistance.cpp test/testSignedDistance2d.cpp test/testSignedDistance3d.cpp diff --git a/signed_distance_field/include/signed_distance_field/DistanceDerivatives.h b/signed_distance_field/include/signed_distance_field/DistanceDerivatives.h new file mode 100644 index 00000000..d0e97a7d --- /dev/null +++ b/signed_distance_field/include/signed_distance_field/DistanceDerivatives.h @@ -0,0 +1,45 @@ +// +// Created by rgrandia on 10.08.20. +// + +#pragma once + +#include + +namespace signed_distance_field { + +inline Eigen::MatrixXf columnwiseCentralDifference(const Eigen::MatrixXf& data, float resolution) { + assert(data.cols() >= 2); // Minimum size to take finite differences. + + const int m = data.cols(); + Eigen::MatrixXf centralDifference(data.rows(), data.cols()); + + // First column + centralDifference.col(0) = (data.col(1) - data.col(0)) / resolution; + + // All the middle columns + float doubleResolution = 2.0F * resolution; + for (int i = 1; i + 1 < m; ++i) { + centralDifference.col(i) = (data.col(i + 1) - data.col(i - 1)) / doubleResolution; + } + + // Last column + centralDifference.col(m - 1) = (data.col(m - 1) - data.col(m - 2)) / resolution; + + return centralDifference; +} + +inline Eigen::MatrixXf rowwiseCentralDifference(const Eigen::MatrixXf& data, float resolution) { + return columnwiseCentralDifference(data.transpose(), resolution).transpose(); +} + +inline Eigen::MatrixXf layerFiniteDifference(const Eigen::MatrixXf& data_k, const Eigen::MatrixXf& data_kp1, float resolution) { + return (data_kp1 - data_k) / resolution; +} + +inline Eigen::MatrixXf layerCentralDifference(const Eigen::MatrixXf& data_km1, const Eigen::MatrixXf& data_kp1, float resolution) { + float doubleResolution = 2.0F * resolution; + return (data_kp1 - data_km1) / doubleResolution; +} + +} // namespace signed_distance_field diff --git a/signed_distance_field/include/signed_distance_field/PixelBorderDistance.h b/signed_distance_field/include/signed_distance_field/PixelBorderDistance.h index 394753d3..9412e1bd 100644 --- a/signed_distance_field/include/signed_distance_field/PixelBorderDistance.h +++ b/signed_distance_field/include/signed_distance_field/PixelBorderDistance.h @@ -5,6 +5,8 @@ #pragma once #include +#include +#include namespace signed_distance_field { @@ -24,15 +26,63 @@ inline float pixelBorderDistance(float i, float j) { * Returns square pixelBorderDistance, adding offset f. */ inline float squarePixelBorderDistance(float i, float j, float f) { - float distance = pixelBorderDistance(i, j); - return distance * distance + f; + assert(i == j || std::abs(i - j) >= 1.0F); // Check that q and p are proper pixel locations: either the same pixel or non-overlapping pixels + if (i == j) { + return f; + } else { + float diff = std::abs(i-j) - 0.5F; + return diff * diff + f; + } } +namespace internal { + +/** + * Return equidistancepoint between origin and pixel p (with p > 0) with offset fp + */ +inline float intersectionPointRightSideOfOrigin(float p, float fp) { + auto pSquared = p * p; + auto fpAbs = std::abs(fp); + if (fpAbs >= pSquared) { + float s = (pSquared + fp) / (2.0F * p); + return (fp > 0.0F) ? s + 0.5F : s - 0.5F; + } else { + float boundary = pSquared - 2.0F * p + 1.0F; + if (fpAbs < boundary) { + return (pSquared - p + fp) / (2.0F * p - 2.0F); + } else { + float s = 0.5F + std::sqrt(fpAbs); + return (fp > 0.0F) ? s : p - s; + } + } +} + +/** + * Return equidistancepoint between origin and pixel p with offset fp + */ +inline float intersectionOffsetFromOrigin(float p, float fp) { + float intersectionOffset = intersectionPointRightSideOfOrigin(std::abs(p), fp); + return (p > 0) ? intersectionOffset : -intersectionOffset; +} + +} // namespace internal + /** * Return the point s in pixel space that is equally far from p and q (taking into account offsets fp, and fq) * It is the solution to the following equation: * squarePixelBorderDistance(s, q, fq) == squarePixelBorderDistance(s, p, fp) */ -float equidistancePoint(int q, float fq, int p, float fp); +inline float equidistancePoint(float q, float fq, float p, float fp) { + assert(q == p || std::abs(q-p) >= 1.0F); // Check that q and p are proper pixel locations: either the same pixel or non-overlapping pixels + assert((q == p) ? fp == fq : true); // Check when q and p are equal, the offsets are also equal + + float df = fp - fq; + if (df==0) { // quite common case when both pixels are of the same class (occupied / free) + return 0.5F * (p + q); + } else { + float dr = p - q; + return internal::intersectionOffsetFromOrigin(dr, df) + q; + } +} } // namespace signed_distance_field diff --git a/signed_distance_field/include/signed_distance_field/SignedDistanceField.h b/signed_distance_field/include/signed_distance_field/SignedDistanceField.h index c6e1b9d9..e7de346b 100644 --- a/signed_distance_field/include/signed_distance_field/SignedDistanceField.h +++ b/signed_distance_field/include/signed_distance_field/SignedDistanceField.h @@ -8,23 +8,40 @@ #include +#include +#include + +#include +#include + namespace signed_distance_field { class SignedDistanceField { public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + + SignedDistanceField(const grid_map::GridMap& gridMap, const std::string& elevationLayer, double minHeight, double maxHeight); + double atPosition(const Eigen::Vector3d& position) const; Eigen::Vector3d derivativeAtPosition(const Eigen::Vector3d& position) const; + pcl::PointCloud asPointCloud() const; + private: + void computeSignedDistance(const grid_map::Matrix& elevation); + // Must be called in ascending layers numbers [0, gridSize_[2]-1] + void emplacebackLayerData(const grid_map::Matrix& signedDistance, const grid_map::Matrix& dx, const grid_map::Matrix& dy, const grid_map::Matrix& dz); size_t nearestNode(const Eigen::Vector3d& position) const; - Eigen::Vector3d nodePosition(const Eigen::Vector3d& position) const; + Eigen::Vector3d nodePosition(size_t rowX, size_t colY, size_t layerZ) const; + size_t linearIndex(size_t rowX, size_t colY, size_t layerZ) const ; using node_data_t = std::array; static double distance(const node_data_t& nodeData) noexcept { return nodeData[0]; } static Eigen::Vector3d derivative(const node_data_t& nodeData) noexcept { return {nodeData[1], nodeData[2], nodeData[3]}; } - double resolution_; + float resolution_; std::array gridsize_; + Eigen::Vector3d gridOrigin_; std::vector data_; }; diff --git a/signed_distance_field/package.xml b/signed_distance_field/package.xml index e27f28e4..a6ba2663 100644 --- a/signed_distance_field/package.xml +++ b/signed_distance_field/package.xml @@ -11,5 +11,6 @@ catkin grid_map_core + pcl_ros diff --git a/signed_distance_field/src/PixelBorderDistance.cpp b/signed_distance_field/src/PixelBorderDistance.cpp index 51d71d75..2a1ed055 100644 --- a/signed_distance_field/src/PixelBorderDistance.cpp +++ b/signed_distance_field/src/PixelBorderDistance.cpp @@ -4,49 +4,11 @@ #include "signed_distance_field/PixelBorderDistance.h" -#include namespace signed_distance_field { -namespace internal { - -/** - * Return equidistancepoint between origin and pixel p (with p > 0) with offset fp - */ -inline float intersectionPointRightSideOfOrigin(int p, float fp) { - auto pFloat = static_cast(p); - auto pSquared = pFloat * pFloat; - auto fpAbs = std::abs(fp); - if (fpAbs >= pSquared) { - float s = (pSquared + fp) / (2.0F * pFloat); - return (fp > 0.0F) ? s + 0.5F : s - 0.5F; - } else { - float boundary = (pSquared - 2 * pFloat + 1); - if (fpAbs < boundary) { - return (pSquared - pFloat + fp) / (2.0F * pFloat - 2.0F); - } else { - float s = 0.5F + std::sqrt(fpAbs); - return (fp > 0.0F) ? s : pFloat - s; - } - } -} - -/** - * Return equidistancepoint between origin and pixel p with offset fp - */ -inline float intersectionOffsetFromOrigin(int p, float fp) { - float intersectionOffset = intersectionPointRightSideOfOrigin(std::abs(p), fp); - return (p > 0) ? intersectionOffset : -intersectionOffset; -} - -} // namespace internal - -float equidistancePoint(int q, float fq, int p, float fp) { - if (q != p) { - return internal::intersectionOffsetFromOrigin(p - q, fp - fq) + static_cast(q); - } else { - return static_cast(q); - } -} + + + } \ No newline at end of file diff --git a/signed_distance_field/src/SignedDistance2d.cpp b/signed_distance_field/src/SignedDistance2d.cpp index 46ea838e..f673cb71 100644 --- a/signed_distance_field/src/SignedDistance2d.cpp +++ b/signed_distance_field/src/SignedDistance2d.cpp @@ -9,64 +9,90 @@ namespace signed_distance_field { namespace internal { -/** - * 1D Euclidean Distance Transform based on: http://cs.brown.edu/people/pfelzens/dt/ - * Adapted to work on Eigen objects directly - * Optimized computation of s - */ -void squaredDistanceTransform_1d_inplace(Eigen::Ref squareDistance1d, Eigen::Ref d, - Eigen::Ref z, std::vector& v) { +struct DistanceLowerBound { + float v; // origin of bounding function + float f; // functional offset at the origin + float zprev; // lhs of interval where this bound holds + float z; // rhs of interval where this lower bound holds +}; + +inline void fillLowerBounds(const Eigen::Ref& squareDistance1d, std::vector& lowerBounds) { const int n = squareDistance1d.size(); - const auto& f = squareDistance1d; - assert(d.size() == n); - assert(z.size() == n + 1); - assert(v.size() == n); // Initialize - int k = 0; - v[0] = 0; - z[0] = -INF; - z[1] = INF; + auto lowerBoundIt = lowerBounds.begin(); + *lowerBoundIt = DistanceLowerBound{0.0F, squareDistance1d[0], -INF, INF}; // Compute bounds + float qFloat = 1.0F; for (int q = 1; q < n; q++) { - float s = equidistancePoint(q, f[q], v[k], f[v[k]]); - while (s <= z[k]) { - k--; - s = equidistancePoint(q, f[q], v[k], f[v[k]]); + // Storing these quantaties by value gives better performance (removed indirection?) + const float fq = squareDistance1d[q]; + DistanceLowerBound lastBound = *lowerBoundIt; + + float s = equidistancePoint(qFloat, fq, lastBound.v, lastBound.f); + + // Search backwards in bounds until s is within [zprev, z] + while (s <= lastBound.zprev) { + --lowerBoundIt; + lastBound = *lowerBoundIt; + s = equidistancePoint(qFloat, fq, lastBound.v, lastBound.f); } - k++; - v[k] = q; - z[k] = s; - z[k + 1] = INF; + lowerBoundIt->z = s; + ++lowerBoundIt; + *lowerBoundIt = DistanceLowerBound{qFloat, fq, s, INF}; + qFloat += 1.0F; } +} + +inline void extractDistances(Eigen::Ref squareDistance1d, const std::vector& lowerBounds) { + const int n = squareDistance1d.size(); + auto lowerBoundIt = lowerBounds.begin(); - // Collect results - k = 0; + // Store active lower bound by value to remove indirection + auto lastz = lowerBoundIt->z; + auto lastv = lowerBoundIt->v; + auto lastf = lowerBoundIt->f; + + float qFloat = 0.0F; for (int q = 0; q < n; q++) { - auto qFloat = static_cast(q); - while (z[k + 1] < qFloat) { - k++; + // Find the new active lower bound if q no longer belongs to current interval + if (qFloat > lastz) { + do { + ++lowerBoundIt; + lastz = lowerBoundIt->z; + } while (lastz < qFloat); + lastv = lowerBoundIt->v; + lastf = lowerBoundIt->f; } - d[q] = squarePixelBorderDistance(qFloat, v[k], f[v[k]]); + + squareDistance1d[q] = squarePixelBorderDistance(qFloat, lastv, lastf); + qFloat += 1.0F; } +} + +/** + * 1D Euclidean Distance Transform based on: http://cs.brown.edu/people/pfelzens/dt/ + * Adapted to work on Eigen objects directly + * Optimized computation of s + */ +inline void squaredDistanceTransform_1d_inplace(Eigen::Ref squareDistance1d, std::vector& lowerBounds) { + assert(lowerBounds.size() == squareDistance1d.size()); - // Write distance result back in place - squareDistance1d = d; + fillLowerBounds(squareDistance1d, lowerBounds); + extractDistances(squareDistance1d, lowerBounds); } void squaredDistanceTransform_2d_columnwiseInplace(grid_map::Matrix& squareDistance) { const size_t n = squareDistance.rows(); const size_t m = squareDistance.cols(); - Eigen::VectorXf workvector(2 * n + 1); - std::vector intWorkvector(n); + std::vector lowerBounds(n); for (size_t i = 0; i < m; i++) { - squaredDistanceTransform_1d_inplace(squareDistance.col(i), workvector.segment(0, n), workvector.segment(n, n + 1), intWorkvector); + squaredDistanceTransform_1d_inplace(squareDistance.col(i), lowerBounds); } } -// SquareDistance must be initialized with 0.0 for elements and INF for non-elements void computePixelDistance2d(grid_map::Matrix& squareDistance) { // Process columns squaredDistanceTransform_2d_columnwiseInplace(squareDistance); diff --git a/signed_distance_field/src/SignedDistanceField.cpp b/signed_distance_field/src/SignedDistanceField.cpp index 3fe2c783..38618ef6 100644 --- a/signed_distance_field/src/SignedDistanceField.cpp +++ b/signed_distance_field/src/SignedDistanceField.cpp @@ -4,4 +4,92 @@ #include "signed_distance_field/SignedDistanceField.h" -#include "signed_distance_field/SignedDistance2d.h" \ No newline at end of file +#include "signed_distance_field/DistanceDerivatives.h" +#include "signed_distance_field/SignedDistance2d.h" + +namespace signed_distance_field { + +SignedDistanceField::SignedDistanceField(const grid_map::GridMap& gridMap, const std::string& elevationLayer, double minHeight, double maxHeight) : + resolution_(static_cast(gridMap.getResolution())) { + assert(maxHeight >= minHeight); + grid_map::Position mapOriginXY; + gridMap.getPosition(Eigen::Vector2i(0, 0), mapOriginXY); + gridOrigin_ = {mapOriginXY.x(), mapOriginXY.y(), minHeight}; + + // Take minimum of two layers to enable finite difference in Z direction + const auto numZLayers = static_cast(std::max(std::ceil((maxHeight - minHeight) / gridMap.getResolution() ), 2.0)); + const size_t numXrows = gridMap.getSize().x(); + const size_t numYrows = gridMap.getSize().y(); + gridsize_ = {numXrows, numYrows, numZLayers}; + + data_.reserve(numXrows * numYrows * numZLayers); + computeSignedDistance(gridMap.get(elevationLayer)); +} +Eigen::Vector3d SignedDistanceField::nodePosition(size_t rowX, size_t colY, size_t layerZ) const { + return {gridOrigin_.x() - rowX * resolution_, gridOrigin_.y() - colY * resolution_, gridOrigin_.z() + layerZ * resolution_}; +} + +size_t SignedDistanceField::linearIndex(size_t rowX, size_t colY, size_t layerZ) const { + return layerZ * gridsize_[1] * gridsize_[0] + colY * gridsize_[0] + rowX; +} + +void SignedDistanceField::computeSignedDistance(const grid_map::Matrix& elevation) { + // First layer: forward difference in z + grid_map::Matrix currentLayer = signed_distance_field::signedDistanceAtHeight(elevation, gridOrigin_.z(), resolution_); + grid_map::Matrix nextLayer = signed_distance_field::signedDistanceAtHeight(elevation, gridOrigin_.z() + resolution_, resolution_); + grid_map::Matrix dz = signed_distance_field::layerFiniteDifference(currentLayer, nextLayer, resolution_); // dz / layer = +resolution + grid_map::Matrix dy = signed_distance_field::columnwiseCentralDifference(currentLayer, -resolution_); // dy / dcol = -resolution + grid_map::Matrix dx = signed_distance_field::rowwiseCentralDifference(currentLayer, -resolution_); // dx / drow = -resolution + emplacebackLayerData(currentLayer, dx, dy, dz); + + // Middle layers: central difference in z + for (size_t layerZ = 1; layerZ + 1 < gridsize_[2]; ++layerZ) { + grid_map::Matrix previousLayer = std::move(currentLayer); + currentLayer = std::move(nextLayer); + nextLayer = signed_distance_field::signedDistanceAtHeight(elevation, gridOrigin_.z() + (layerZ + 1) * resolution_, resolution_); + + dz = signed_distance_field::layerCentralDifference(previousLayer, nextLayer, resolution_); + dy = signed_distance_field::columnwiseCentralDifference(currentLayer, -resolution_); + dx = signed_distance_field::rowwiseCentralDifference(currentLayer, -resolution_); + emplacebackLayerData(currentLayer, dx, dy, dz); + } + + // Last layer: backward difference in z + grid_map::Matrix previousLayer = std::move(currentLayer); + currentLayer = std::move(nextLayer); + dz = signed_distance_field::layerCentralDifference(previousLayer, currentLayer, resolution_); + dy = signed_distance_field::columnwiseCentralDifference(currentLayer, -resolution_); + dx = signed_distance_field::rowwiseCentralDifference(currentLayer, -resolution_); + emplacebackLayerData(currentLayer, dx, dy, dz); +} + +void SignedDistanceField::emplacebackLayerData(const grid_map::Matrix& signedDistance, const grid_map::Matrix& dx, + const grid_map::Matrix& dy, const grid_map::Matrix& dz) { + for (size_t colY=0; colY SignedDistanceField::asPointCloud() const { + pcl::PointCloud points; + points.reserve(gridsize_[0]*gridsize_[1]*gridsize_[2]); + for (size_t layerZ=0; layerZ + +#include "signed_distance_field/DistanceDerivatives.h" + + +TEST(testDerivatives, columnwise) { + Eigen::MatrixXf data(2, 3); + data << 1.0, 2.0, 4.0, + 2.0, 4.0, 6.0; + + float resolution = 0.1; + float doubleResolution = 2.0F * resolution; + + Eigen::MatrixXf manualDifference(2, 3); + manualDifference << 1.0 /resolution, 3.0 /doubleResolution, 2.0 /resolution, + 2.0 /resolution, 4.0 /doubleResolution, 2.0 /resolution; + + const auto computedDifference = signed_distance_field::columnwiseCentralDifference(data, resolution); + + ASSERT_TRUE(manualDifference.isApprox(computedDifference)); +} + +TEST(testDerivatives, rowwise) { + Eigen::MatrixXf data(3, 2); + data << 1.0, 2.0, + 4.0, 2.0, + 4.0, 6.0; + + float resolution = 0.1; + float doubleResolution = 2.0F * resolution; + + Eigen::MatrixXf manualDifference(3, 2); + manualDifference << 3.0 /resolution, 0.0 /resolution, + 3.0 /doubleResolution, 4.0 /doubleResolution, + 0.0 /resolution, 4.0 /resolution; + + const auto computedDifference = signed_distance_field::rowwiseCentralDifference(data, resolution); + + ASSERT_TRUE(manualDifference.isApprox(computedDifference)); +} \ No newline at end of file From 42e09b5c203af3328312d6e84e2007daa0f200d4 Mon Sep 17 00:00:00 2001 From: rgrandia Date: Wed, 12 Aug 2020 11:23:16 +0200 Subject: [PATCH 064/504] start lowerbound building at the minimum --- .../PixelBorderDistance.h | 6 +- .../src/SignedDistance2d.cpp | 109 +++++++++++++----- 2 files changed, 81 insertions(+), 34 deletions(-) diff --git a/signed_distance_field/include/signed_distance_field/PixelBorderDistance.h b/signed_distance_field/include/signed_distance_field/PixelBorderDistance.h index 9412e1bd..0db7cfcf 100644 --- a/signed_distance_field/include/signed_distance_field/PixelBorderDistance.h +++ b/signed_distance_field/include/signed_distance_field/PixelBorderDistance.h @@ -26,7 +26,7 @@ inline float pixelBorderDistance(float i, float j) { * Returns square pixelBorderDistance, adding offset f. */ inline float squarePixelBorderDistance(float i, float j, float f) { - assert(i == j || std::abs(i - j) >= 1.0F); // Check that q and p are proper pixel locations: either the same pixel or non-overlapping pixels + assert(i == j || std::abs(i - j) >= 1.0F); // Check that i and j are proper pixel locations: either the same pixel or non-overlapping pixels if (i == j) { return f; } else { @@ -76,10 +76,10 @@ inline float equidistancePoint(float q, float fq, float p, float fp) { assert(q == p || std::abs(q-p) >= 1.0F); // Check that q and p are proper pixel locations: either the same pixel or non-overlapping pixels assert((q == p) ? fp == fq : true); // Check when q and p are equal, the offsets are also equal - float df = fp - fq; - if (df==0) { // quite common case when both pixels are of the same class (occupied / free) + if (fp == fq) { // quite common case when both pixels are of the same class (occupied / free) return 0.5F * (p + q); } else { + float df = fp - fq; float dr = p - q; return internal::intersectionOffsetFromOrigin(dr, df) + q; } diff --git a/signed_distance_field/src/SignedDistance2d.cpp b/signed_distance_field/src/SignedDistance2d.cpp index f673cb71..3dd68d1c 100644 --- a/signed_distance_field/src/SignedDistance2d.cpp +++ b/signed_distance_field/src/SignedDistance2d.cpp @@ -10,47 +10,90 @@ namespace signed_distance_field { namespace internal { struct DistanceLowerBound { - float v; // origin of bounding function - float f; // functional offset at the origin - float zprev; // lhs of interval where this bound holds - float z; // rhs of interval where this lower bound holds + float v; // origin of bounding function + float f; // functional offset at the origin + float z_lhs; // lhs of interval where this bound holds + float z_rhs; // rhs of interval where this lower bound holds }; -inline void fillLowerBounds(const Eigen::Ref& squareDistance1d, std::vector& lowerBounds) { +inline std::vector::iterator fillLowerBounds(const Eigen::Ref& squareDistance1d, + std::vector& lowerBounds) { const int n = squareDistance1d.size(); + const auto nFloat = static_cast(n); + + // Find minimum + int qMin = 0; + float fMin = squareDistance1d[0]; + if (fMin > 0.0F) { + for (int q = 1; q < n; ++q) { + const float fq = squareDistance1d[q]; + if (fq < fMin) { + qMin = q; + fMin = fq; + if (fMin == 0.0F) { + break; + } + } + } + } // Initialize - auto lowerBoundIt = lowerBounds.begin(); - *lowerBoundIt = DistanceLowerBound{0.0F, squareDistance1d[0], -INF, INF}; + auto lowerBoundIt = lowerBounds.begin() + qMin; + *lowerBoundIt = DistanceLowerBound{static_cast(qMin), fMin, -INF, INF}; - // Compute bounds - float qFloat = 1.0F; - for (int q = 1; q < n; q++) { + // Compute bounds to the right of minimum + float qFloat = static_cast(qMin) + 1.0F; + for (int q = qMin + 1; q < n; ++q) { // Storing these quantaties by value gives better performance (removed indirection?) const float fq = squareDistance1d[q]; DistanceLowerBound lastBound = *lowerBoundIt; float s = equidistancePoint(qFloat, fq, lastBound.v, lastBound.f); + if (s < nFloat) { // Can ignore the lower bound derived from this point if it is only active outsize of [0, n] + // Search backwards in bounds until s is within [z_lhs, z_rhs] + while (s < lastBound.z_lhs) { + --lowerBoundIt; + lastBound = *lowerBoundIt; + s = equidistancePoint(qFloat, fq, lastBound.v, lastBound.f); + } + lowerBoundIt->z_rhs = s; + ++lowerBoundIt; + *lowerBoundIt = DistanceLowerBound{qFloat, fq, s, INF}; + } + qFloat += 1.0F; + } + + // Compute bounds to the left of minimum + lowerBoundIt = lowerBounds.begin() + qMin; + qFloat = static_cast(qMin) - 1.0F; + for (int q = qMin - 1; q >= 0; --q) { + const float fq = squareDistance1d[q]; + DistanceLowerBound lastBound = *lowerBoundIt; - // Search backwards in bounds until s is within [zprev, z] - while (s <= lastBound.zprev) { + float s = equidistancePoint(qFloat, fq, lastBound.v, lastBound.f); + if (s > 0.0F) { // Can ignore the lower bound derived from this point if it is only active outsize of [0, n] + // Search forwards in bounds until s is within [z_lhs, z_rhs] + while (s > lastBound.z_rhs) { + ++lowerBoundIt; + lastBound = *lowerBoundIt; + s = equidistancePoint(qFloat, fq, lastBound.v, lastBound.f); + } + lowerBoundIt->z_lhs = s; --lowerBoundIt; - lastBound = *lowerBoundIt; - s = equidistancePoint(qFloat, fq, lastBound.v, lastBound.f); + *lowerBoundIt = DistanceLowerBound{qFloat, fq, -INF, s}; } - lowerBoundIt->z = s; - ++lowerBoundIt; - *lowerBoundIt = DistanceLowerBound{qFloat, fq, s, INF}; - qFloat += 1.0F; + qFloat -= 1.0F; } + + return lowerBoundIt; } -inline void extractDistances(Eigen::Ref squareDistance1d, const std::vector& lowerBounds) { +inline void extractDistances(Eigen::Ref squareDistance1d, const std::vector& lowerBounds, + std::vector::iterator lowerBoundIt) { const int n = squareDistance1d.size(); - auto lowerBoundIt = lowerBounds.begin(); // Store active lower bound by value to remove indirection - auto lastz = lowerBoundIt->z; + auto lastz = lowerBoundIt->z_rhs; auto lastv = lowerBoundIt->v; auto lastf = lowerBoundIt->f; @@ -60,7 +103,7 @@ inline void extractDistances(Eigen::Ref squareDistance1d, const if (qFloat > lastz) { do { ++lowerBoundIt; - lastz = lowerBoundIt->z; + lastz = lowerBoundIt->z_rhs; } while (lastz < qFloat); lastv = lowerBoundIt->v; lastf = lowerBoundIt->f; @@ -76,11 +119,15 @@ inline void extractDistances(Eigen::Ref squareDistance1d, const * Adapted to work on Eigen objects directly * Optimized computation of s */ -inline void squaredDistanceTransform_1d_inplace(Eigen::Ref squareDistance1d, std::vector& lowerBounds) { - assert(lowerBounds.size() == squareDistance1d.size()); - - fillLowerBounds(squareDistance1d, lowerBounds); - extractDistances(squareDistance1d, lowerBounds); +inline void squaredDistanceTransform_1d_inplace(Eigen::Ref squareDistance1d, + std::vector& lowerBounds) { + assert(lowerBounds.size() == squareDistance1d.size()); + + // If all distances are zero, then result remains all zeros + if ((squareDistance1d.array() > 0.0F).any()) { + auto startIt = fillLowerBounds(squareDistance1d, lowerBounds); + extractDistances(squareDistance1d, lowerBounds, startIt); + } } void squaredDistanceTransform_2d_columnwiseInplace(grid_map::Matrix& squareDistance) { @@ -110,7 +157,7 @@ void computePixelDistance2d(grid_map::Matrix& squareDistance) { grid_map::Matrix initializeObstacleDistance(const grid_map::Matrix& elevationMap, float height, float resolution) { return elevationMap.unaryExpr([=](float elevation) { if (height > elevation) { - const auto diff = (height - elevation) / resolution; + const auto diff = (height - elevation) / resolution; return diff * diff; } else { return 0.0F; @@ -122,7 +169,7 @@ grid_map::Matrix initializeObstacleDistance(const grid_map::Matrix& elevationMap grid_map::Matrix initializeObstacleFreeDistance(const grid_map::Matrix& elevationMap, float height, float resolution) { return elevationMap.unaryExpr([=](float elevation) { if (height < elevation) { - const auto diff = (height - elevation) / resolution; + const auto diff = (height - elevation) / resolution; return diff * diff; } else { return 0.0F; @@ -162,9 +209,9 @@ grid_map::Matrix signedDistanceAtHeight(const grid_map::Matrix& elevationMap, fl grid_map::Matrix signedDistanceFromOccupancy(const Eigen::Matrix& occupancyGrid, float resolution) { auto obstacleCount = occupancyGrid.count(); bool hasObstacles = obstacleCount > 0; - if (hasObstacles){ + if (hasObstacles) { bool hasFreeSpace = obstacleCount < occupancyGrid.size(); - if (hasFreeSpace){ + if (hasFreeSpace) { // Compute pixel distance to obstacles grid_map::Matrix sdfObstacle = occupancyGrid.unaryExpr([=](bool val) { return (val) ? 0.0F : INF; }); internal::computePixelDistance2d(sdfObstacle); From 28bf3812f8fd7e5fd7baa54b22cd876e14b3e976 Mon Sep 17 00:00:00 2001 From: rgrandia Date: Thu, 13 Aug 2020 19:46:43 +0200 Subject: [PATCH 065/504] separate grid lookup into separate class --- .../src/DemoNode.cpp | 8 +- .../signed_distance_field/Gridmap3dLookup.h | 69 +++++++++++++++ .../SignedDistanceField.h | 13 ++- .../src/SignedDistanceField.cpp | 84 ++++++++++++------- 4 files changed, 131 insertions(+), 43 deletions(-) create mode 100644 signed_distance_field/include/signed_distance_field/Gridmap3dLookup.h diff --git a/segmented_planes_terrain_model/src/DemoNode.cpp b/segmented_planes_terrain_model/src/DemoNode.cpp index db208601..2d8b13e2 100644 --- a/segmented_planes_terrain_model/src/DemoNode.cpp +++ b/segmented_planes_terrain_model/src/DemoNode.cpp @@ -21,7 +21,7 @@ #include "segmented_planes_terrain_model/SegmentedPlanesTerrainVisualization.h" -const std::string originFrameId_ = "odom"; +const std::string frameId_ = "odom"; std::unique_ptr messageMap; visualization_msgs::MarkerArray toMarker(const switched_model::ConvexTerrain& convexTerrain) { @@ -31,7 +31,7 @@ visualization_msgs::MarkerArray toMarker(const switched_model::ConvexTerrain& co // Add headers and Id const ros::Time timeStamp = ros::Time::now(); switched_model::assignHeader(markerArray.markers.begin(), markerArray.markers.end(), - switched_model::getHeaderMsg(originFrameId_, timeStamp)); + switched_model::getHeaderMsg(frameId_, timeStamp)); switched_model::assignIncreasingId(markerArray.markers.begin(), markerArray.markers.end()); return markerArray; @@ -41,7 +41,7 @@ visualization_msgs::Marker toMarker(const switched_model::vector3_t& position) { auto marker = switched_model::getSphereMsg(position, switched_model::Color::green, 0.02); const ros::Time timeStamp = ros::Time::now(); - marker.header = switched_model::getHeaderMsg(originFrameId_, timeStamp); + marker.header = switched_model::getHeaderMsg(frameId_, timeStamp); return marker; } @@ -110,7 +110,7 @@ int main(int argc, char** argv) { sensor_msgs::PointCloud2 pointCloud2Msg; pcl::toROSMsg(sdf.asPointCloud(), pointCloud2Msg); - pointCloud2Msg.header = switched_model::getHeaderMsg(originFrameId_, ros::Time::now()); + pointCloud2Msg.header = switched_model::getHeaderMsg(frameId_, ros::Time::now()); distanceFieldPublisher.publish(pointCloud2Msg); } diff --git a/signed_distance_field/include/signed_distance_field/Gridmap3dLookup.h b/signed_distance_field/include/signed_distance_field/Gridmap3dLookup.h new file mode 100644 index 00000000..4ec61f89 --- /dev/null +++ b/signed_distance_field/include/signed_distance_field/Gridmap3dLookup.h @@ -0,0 +1,69 @@ +// +// Created by rgrandia on 13.08.20. +// + +#pragma once + +#include +#include + +#include + +namespace signed_distance_field { + +/** + * Stores 3 dimensional grid information and provides methods to convert between position - 3d Index - linear index. + * + * As with grid map, the X-Y position is opposite to the row-col-index: lowest at (0,0) and highest at (n, m). + * The z-position is increasing with the layer-index. + */ +struct Gridmap3dLookup { + public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + /// size_t in 3 dimensions + struct size_t_3d { + size_t x; + size_t y; + size_t z; + }; + + size_t_3d gridsize_; + Eigen::Vector3d gridOrigin_; + double resolution_; + + /** + * Constructor + * @param gridsize : x, y, z size of the grid + * @param gridOrigin : position at x=y=z=0 + * @param resolution : (>0.0) size of 1 voxel + */ + Gridmap3dLookup(const size_t_3d& gridsize, const Eigen::Vector3d& gridOrigin, double resolution) : + gridsize_(gridsize), gridOrigin_(gridOrigin), resolution_(resolution) { + assert(resolution_ > 0.0); + }; + + /** Default constructor: creates an empty grid */ + Gridmap3dLookup() : Gridmap3dLookup({0, 0, 0}, {0.0,0.0,0.0}, 1.0) {} + + /** Returns the 3d index of the grid node closest to the query position */ + size_t_3d nearestNode(const Eigen::Vector3d& position) const noexcept { + auto round = [](double val) { + return static_cast(std::round(val)); + }; + Eigen::Vector3d subpixelVector = (position - gridOrigin_) / resolution_; + return {round(subpixelVector.x()), round(subpixelVector.y()), round(subpixelVector.z())}; + } + + /** Returns the 3d node position from a 3d index */ + Eigen::Vector3d nodePosition(const size_t_3d& index) const noexcept { + return {gridOrigin_.x() - index.x * resolution_, gridOrigin_.y() - index.y * resolution_, gridOrigin_.z() + index.z * resolution_}; + } + + /** Returns the linear node index from a 3d node index */ + size_t linearIndex(const size_t_3d& index) const noexcept { return index.z * gridsize_.y * gridsize_.x + index.y * gridsize_.x + index.x; } + + /** Linear size */ + size_t linearSize() const noexcept { return gridsize_.x * gridsize_.y * gridsize_.z; } +}; + +} // namespace signed_distance_field diff --git a/signed_distance_field/include/signed_distance_field/SignedDistanceField.h b/signed_distance_field/include/signed_distance_field/SignedDistanceField.h index e7de346b..33c5717c 100644 --- a/signed_distance_field/include/signed_distance_field/SignedDistanceField.h +++ b/signed_distance_field/include/signed_distance_field/SignedDistanceField.h @@ -14,6 +14,8 @@ #include #include +#include "Gridmap3dLookup.h" + namespace signed_distance_field { class SignedDistanceField { @@ -23,25 +25,22 @@ class SignedDistanceField { SignedDistanceField(const grid_map::GridMap& gridMap, const std::string& elevationLayer, double minHeight, double maxHeight); double atPosition(const Eigen::Vector3d& position) const; + Eigen::Vector3d derivativeAtPosition(const Eigen::Vector3d& position) const; + std::pair distanceAndDerivativeAt(const Eigen::Vector3d& position) const; + pcl::PointCloud asPointCloud() const; private: void computeSignedDistance(const grid_map::Matrix& elevation); - // Must be called in ascending layers numbers [0, gridSize_[2]-1] void emplacebackLayerData(const grid_map::Matrix& signedDistance, const grid_map::Matrix& dx, const grid_map::Matrix& dy, const grid_map::Matrix& dz); - size_t nearestNode(const Eigen::Vector3d& position) const; - Eigen::Vector3d nodePosition(size_t rowX, size_t colY, size_t layerZ) const; - size_t linearIndex(size_t rowX, size_t colY, size_t layerZ) const ; using node_data_t = std::array; static double distance(const node_data_t& nodeData) noexcept { return nodeData[0]; } static Eigen::Vector3d derivative(const node_data_t& nodeData) noexcept { return {nodeData[1], nodeData[2], nodeData[3]}; } - float resolution_; - std::array gridsize_; - Eigen::Vector3d gridOrigin_; + Gridmap3dLookup gridmap3DLookup_; std::vector data_; }; diff --git a/signed_distance_field/src/SignedDistanceField.cpp b/signed_distance_field/src/SignedDistanceField.cpp index 38618ef6..d1884ff0 100644 --- a/signed_distance_field/src/SignedDistanceField.cpp +++ b/signed_distance_field/src/SignedDistanceField.cpp @@ -9,64 +9,84 @@ namespace signed_distance_field { -SignedDistanceField::SignedDistanceField(const grid_map::GridMap& gridMap, const std::string& elevationLayer, double minHeight, double maxHeight) : - resolution_(static_cast(gridMap.getResolution())) { +SignedDistanceField::SignedDistanceField(const grid_map::GridMap& gridMap, const std::string& elevationLayer, double minHeight, + double maxHeight) { assert(maxHeight >= minHeight); grid_map::Position mapOriginXY; gridMap.getPosition(Eigen::Vector2i(0, 0), mapOriginXY); - gridOrigin_ = {mapOriginXY.x(), mapOriginXY.y(), minHeight}; + Eigen::Vector3d gridOrigin(mapOriginXY.x(), mapOriginXY.y(), minHeight); // Take minimum of two layers to enable finite difference in Z direction - const auto numZLayers = static_cast(std::max(std::ceil((maxHeight - minHeight) / gridMap.getResolution() ), 2.0)); + const auto numZLayers = static_cast(std::max(std::ceil((maxHeight - minHeight) / gridMap.getResolution()), 2.0)); const size_t numXrows = gridMap.getSize().x(); const size_t numYrows = gridMap.getSize().y(); - gridsize_ = {numXrows, numYrows, numZLayers}; + Gridmap3dLookup::size_t_3d gridsize = {numXrows, numYrows, numZLayers}; - data_.reserve(numXrows * numYrows * numZLayers); + gridmap3DLookup_ = Gridmap3dLookup(gridsize, gridOrigin, gridMap.getResolution()); + + data_.reserve(gridmap3DLookup_.linearSize()); computeSignedDistance(gridMap.get(elevationLayer)); } -Eigen::Vector3d SignedDistanceField::nodePosition(size_t rowX, size_t colY, size_t layerZ) const { - return {gridOrigin_.x() - rowX * resolution_, gridOrigin_.y() - colY * resolution_, gridOrigin_.z() + layerZ * resolution_}; + +double SignedDistanceField::atPosition(const Eigen::Vector3d& position) const { + const auto nodeIndex = gridmap3DLookup_.nearestNode(position); + const Eigen::Vector3d nodePosition = gridmap3DLookup_.nodePosition(nodeIndex); + const node_data_t nodeData = data_[gridmap3DLookup_.linearIndex(nodeIndex)]; + const Eigen::Vector3d jacobian = derivative(nodeData); + return distance(nodeData) + jacobian.dot(position - nodePosition); } -size_t SignedDistanceField::linearIndex(size_t rowX, size_t colY, size_t layerZ) const { - return layerZ * gridsize_[1] * gridsize_[0] + colY * gridsize_[0] + rowX; +Eigen::Vector3d SignedDistanceField::derivativeAtPosition(const Eigen::Vector3d& position) const { + const auto nodeIndex = gridmap3DLookup_.nearestNode(position); + const node_data_t nodeData = data_[gridmap3DLookup_.linearIndex(nodeIndex)]; + return derivative(nodeData); +} + +std::pair SignedDistanceField::distanceAndDerivativeAt(const Eigen::Vector3d& position) const { + const auto nodeIndex = gridmap3DLookup_.nearestNode(position); + const Eigen::Vector3d nodePosition = gridmap3DLookup_.nodePosition(nodeIndex); + const node_data_t nodeData = data_[gridmap3DLookup_.linearIndex(nodeIndex)]; + const Eigen::Vector3d jacobian = derivative(nodeData); + return {distance(nodeData) + jacobian.dot(position - nodePosition), jacobian}; } void SignedDistanceField::computeSignedDistance(const grid_map::Matrix& elevation) { + const auto gridOriginZ = static_cast(gridmap3DLookup_.gridOrigin_.z()); + const auto resolution = static_cast(gridmap3DLookup_.resolution_); + // First layer: forward difference in z - grid_map::Matrix currentLayer = signed_distance_field::signedDistanceAtHeight(elevation, gridOrigin_.z(), resolution_); - grid_map::Matrix nextLayer = signed_distance_field::signedDistanceAtHeight(elevation, gridOrigin_.z() + resolution_, resolution_); - grid_map::Matrix dz = signed_distance_field::layerFiniteDifference(currentLayer, nextLayer, resolution_); // dz / layer = +resolution - grid_map::Matrix dy = signed_distance_field::columnwiseCentralDifference(currentLayer, -resolution_); // dy / dcol = -resolution - grid_map::Matrix dx = signed_distance_field::rowwiseCentralDifference(currentLayer, -resolution_); // dx / drow = -resolution + grid_map::Matrix currentLayer = signed_distance_field::signedDistanceAtHeight(elevation, gridOriginZ, resolution); + grid_map::Matrix nextLayer = signed_distance_field::signedDistanceAtHeight(elevation, gridOriginZ + resolution, resolution); + grid_map::Matrix dz = signed_distance_field::layerFiniteDifference(currentLayer, nextLayer, resolution); // dz / layer = +resolution + grid_map::Matrix dy = signed_distance_field::columnwiseCentralDifference(currentLayer, -resolution); // dy / dcol = -resolution + grid_map::Matrix dx = signed_distance_field::rowwiseCentralDifference(currentLayer, -resolution); // dx / drow = -resolution emplacebackLayerData(currentLayer, dx, dy, dz); // Middle layers: central difference in z - for (size_t layerZ = 1; layerZ + 1 < gridsize_[2]; ++layerZ) { + for (size_t layerZ = 1; layerZ + 1 < gridmap3DLookup_.gridsize_.z; ++layerZ) { grid_map::Matrix previousLayer = std::move(currentLayer); currentLayer = std::move(nextLayer); - nextLayer = signed_distance_field::signedDistanceAtHeight(elevation, gridOrigin_.z() + (layerZ + 1) * resolution_, resolution_); + nextLayer = signed_distance_field::signedDistanceAtHeight(elevation, gridOriginZ + (layerZ + 1) * resolution, resolution); - dz = signed_distance_field::layerCentralDifference(previousLayer, nextLayer, resolution_); - dy = signed_distance_field::columnwiseCentralDifference(currentLayer, -resolution_); - dx = signed_distance_field::rowwiseCentralDifference(currentLayer, -resolution_); + dz = signed_distance_field::layerCentralDifference(previousLayer, nextLayer, resolution); + dy = signed_distance_field::columnwiseCentralDifference(currentLayer, -resolution); + dx = signed_distance_field::rowwiseCentralDifference(currentLayer, -resolution); emplacebackLayerData(currentLayer, dx, dy, dz); } // Last layer: backward difference in z grid_map::Matrix previousLayer = std::move(currentLayer); currentLayer = std::move(nextLayer); - dz = signed_distance_field::layerCentralDifference(previousLayer, currentLayer, resolution_); - dy = signed_distance_field::columnwiseCentralDifference(currentLayer, -resolution_); - dx = signed_distance_field::rowwiseCentralDifference(currentLayer, -resolution_); + dz = signed_distance_field::layerCentralDifference(previousLayer, currentLayer, resolution); + dy = signed_distance_field::columnwiseCentralDifference(currentLayer, -resolution); + dx = signed_distance_field::rowwiseCentralDifference(currentLayer, -resolution); emplacebackLayerData(currentLayer, dx, dy, dz); } void SignedDistanceField::emplacebackLayerData(const grid_map::Matrix& signedDistance, const grid_map::Matrix& dx, - const grid_map::Matrix& dy, const grid_map::Matrix& dz) { - for (size_t colY=0; colY SignedDistanceField::asPointCloud() const { pcl::PointCloud points; - points.reserve(gridsize_[0]*gridsize_[1]*gridsize_[2]); - for (size_t layerZ=0; layerZ Date: Fri, 14 Aug 2020 11:10:22 +0200 Subject: [PATCH 066/504] add different pointcloud views to sdf --- .../src/DemoNode.cpp | 2 +- .../SignedDistanceField.h | 27 ++++++++++++-- .../src/SignedDistanceField.cpp | 37 +++++++++++++------ 3 files changed, 49 insertions(+), 17 deletions(-) diff --git a/segmented_planes_terrain_model/src/DemoNode.cpp b/segmented_planes_terrain_model/src/DemoNode.cpp index 2d8b13e2..d716059f 100644 --- a/segmented_planes_terrain_model/src/DemoNode.cpp +++ b/segmented_planes_terrain_model/src/DemoNode.cpp @@ -109,7 +109,7 @@ int main(int argc, char** argv) { std::cout << "Sdf computation took " << 1e-3 * std::chrono::duration_cast(t3 - t2).count() << " [ms]\n"; sensor_msgs::PointCloud2 pointCloud2Msg; - pcl::toROSMsg(sdf.asPointCloud(), pointCloud2Msg); + pcl::toROSMsg(sdf.obstaclePointCloud(4), pointCloud2Msg); pointCloud2Msg.header = switched_model::getHeaderMsg(frameId_, ros::Time::now()); distanceFieldPublisher.publish(pointCloud2Msg); diff --git a/signed_distance_field/include/signed_distance_field/SignedDistanceField.h b/signed_distance_field/include/signed_distance_field/SignedDistanceField.h index 33c5717c..453345c2 100644 --- a/signed_distance_field/include/signed_distance_field/SignedDistanceField.h +++ b/signed_distance_field/include/signed_distance_field/SignedDistanceField.h @@ -8,11 +8,11 @@ #include -#include #include +#include -#include #include +#include #include "Gridmap3dLookup.h" @@ -30,11 +30,30 @@ class SignedDistanceField { std::pair distanceAndDerivativeAt(const Eigen::Vector3d& position) const; - pcl::PointCloud asPointCloud() const; + /** + * Return the signed distance field as a pointcloud. The signed distance is assigned to the point's intensity. + * @param decimation : specifies how many points are returned. 1: all points, 2: every second point, etc. + * @param condition : specifies the condition on the distance value to add it to the pointcloud (default = any distance is added) + */ + pcl::PointCloud asPointCloud( + size_t decimation = 1, const std::function& condition = [](float) { return true; }) const; + + /** + * Return the signed distance field as a pointcloud where the distance is positive. + * @param decimation : specifies how many points are returned. 1: all points, 2: every second point, etc. + */ + pcl::PointCloud freeSpacePointCloud(size_t decimation = 1) const; + + /** + * Return the signed distance field as a pointcloud where the distance is negative. + * @param decimation : specifies how many points are returned. 1: all points, 2: every second point, etc. + */ + pcl::PointCloud obstaclePointCloud(size_t decimation = 1) const; private: void computeSignedDistance(const grid_map::Matrix& elevation); - void emplacebackLayerData(const grid_map::Matrix& signedDistance, const grid_map::Matrix& dx, const grid_map::Matrix& dy, const grid_map::Matrix& dz); + void emplacebackLayerData(const grid_map::Matrix& signedDistance, const grid_map::Matrix& dx, const grid_map::Matrix& dy, + const grid_map::Matrix& dz); using node_data_t = std::array; static double distance(const node_data_t& nodeData) noexcept { return nodeData[0]; } diff --git a/signed_distance_field/src/SignedDistanceField.cpp b/signed_distance_field/src/SignedDistanceField.cpp index d1884ff0..21736102 100644 --- a/signed_distance_field/src/SignedDistanceField.cpp +++ b/signed_distance_field/src/SignedDistanceField.cpp @@ -92,24 +92,37 @@ void SignedDistanceField::emplacebackLayerData(const grid_map::Matrix& signedDis } } -pcl::PointCloud SignedDistanceField::asPointCloud() const { +pcl::PointCloud SignedDistanceField::asPointCloud(size_t decimation, const std::function& condition) const { pcl::PointCloud points; points.reserve(gridmap3DLookup_.linearSize()); - for (size_t layerZ = 0; layerZ < gridmap3DLookup_.gridsize_.z; ++layerZ) { - for (size_t colY = 0; colY < gridmap3DLookup_.gridsize_.y; ++colY) { - for (size_t rowX = 0; rowX < gridmap3DLookup_.gridsize_.x; ++rowX) { - const auto index = gridmap3DLookup_.linearIndex({rowX, colY, layerZ}); - const auto p = gridmap3DLookup_.nodePosition({rowX, colY, layerZ}); - pcl::PointXYZI point; - point.x = p.x(); - point.y = p.y(); - point.z = p.z(); - point.intensity = data_[index][0]; - points.push_back(point); + for (size_t layerZ = 0; layerZ < gridmap3DLookup_.gridsize_.z; layerZ+=decimation) { + for (size_t colY = 0; colY < gridmap3DLookup_.gridsize_.y; colY+=decimation) { + for (size_t rowX = 0; rowX < gridmap3DLookup_.gridsize_.x; rowX+=decimation) { + const Gridmap3dLookup::size_t_3d index3d = {rowX, colY, layerZ}; + const auto index = gridmap3DLookup_.linearIndex(index3d); + const auto signeddistance = distance(data_[index]); + if (condition(signeddistance)) { + const auto p = gridmap3DLookup_.nodePosition(index3d); + pcl::PointXYZI point; + point.x = p.x(); + point.y = p.y(); + point.z = p.z(); + point.intensity = signeddistance; + points.push_back(point); + } + } } } return points; } +pcl::PointCloud SignedDistanceField::freeSpacePointCloud(size_t decimation) const { + return asPointCloud(decimation, [](float signedDistance){return signedDistance >=0.0F; }); +} + +pcl::PointCloud SignedDistanceField::obstaclePointCloud(size_t decimation) const { + return asPointCloud(decimation, [](float signedDistance){return signedDistance <=0.0F; }); +} + } // namespace signed_distance_field From d7b6811a50648631dc66c5dc3f28f0bc07a86aea Mon Sep 17 00:00:00 2001 From: rgrandia Date: Fri, 14 Aug 2020 15:41:05 +0200 Subject: [PATCH 067/504] add signed distance to the terrain model, add gridmap to the planarTerrain message --- .../convex_plane_decomposition/PlanarRegion.h | 7 +- .../CMakeLists.txt | 3 +- .../msg/PlanarTerrain.msg | 3 +- convex_plane_decomposition_msgs/package.xml | 1 + .../src/ConvexPlaneDecompositionRos.cpp | 20 +-- .../src/MessageConversion.cpp | 12 +- .../SegmentedPlanesTerrainModel.h | 6 +- .../src/DemoNode.cpp | 15 +- .../src/SegmentedPlanesTerrainModel.cpp | 12 +- .../test/signedDistanceTest.cpp | 131 +----------------- signed_distance_field/CMakeLists.txt | 3 +- ...ceField.h => GridmapSignedDistanceField.h} | 17 ++- signed_distance_field/package.xml | 1 + ...eld.cpp => GridmapSignedDistanceField.cpp} | 44 +++--- 14 files changed, 91 insertions(+), 184 deletions(-) rename signed_distance_field/include/signed_distance_field/{SignedDistanceField.h => GridmapSignedDistanceField.h} (73%) rename signed_distance_field/src/{SignedDistanceField.cpp => GridmapSignedDistanceField.cpp} (71%) diff --git a/convex_plane_decomposition/include/convex_plane_decomposition/PlanarRegion.h b/convex_plane_decomposition/include/convex_plane_decomposition/PlanarRegion.h index eb7cd415..d7091e14 100644 --- a/convex_plane_decomposition/include/convex_plane_decomposition/PlanarRegion.h +++ b/convex_plane_decomposition/include/convex_plane_decomposition/PlanarRegion.h @@ -6,6 +6,8 @@ #include +#include + #include #include "PolygonTypes.h" @@ -33,6 +35,9 @@ struct PlanarRegion { TerrainPlane planeParameters; }; -using PlanarTerrain = std::vector; +struct PlanarTerrain { + std::vector planarRegions; + grid_map::GridMap gridMap; +}; } // namespace convex_plane_decomposition diff --git a/convex_plane_decomposition_msgs/CMakeLists.txt b/convex_plane_decomposition_msgs/CMakeLists.txt index ebf14939..12f1b2b4 100644 --- a/convex_plane_decomposition_msgs/CMakeLists.txt +++ b/convex_plane_decomposition_msgs/CMakeLists.txt @@ -4,6 +4,7 @@ project(convex_plane_decomposition_msgs) set(CATKIN_PACKAGE_DEPENDENCIES std_msgs geometry_msgs + grid_map_msgs ) find_package(catkin REQUIRED @@ -30,5 +31,5 @@ generate_messages( catkin_package( CATKIN_DEPENDS ${CATKIN_PACKAGE_DEPENDENCIES} - message_runtime + message_runtime ) diff --git a/convex_plane_decomposition_msgs/msg/PlanarTerrain.msg b/convex_plane_decomposition_msgs/msg/PlanarTerrain.msg index c48da4ba..c50376ee 100644 --- a/convex_plane_decomposition_msgs/msg/PlanarTerrain.msg +++ b/convex_plane_decomposition_msgs/msg/PlanarTerrain.msg @@ -1 +1,2 @@ -PlanarRegion[] planarRegions \ No newline at end of file +PlanarRegion[] planarRegions +grid_map_msgs/GridMap gridmap \ No newline at end of file diff --git a/convex_plane_decomposition_msgs/package.xml b/convex_plane_decomposition_msgs/package.xml index 295c4157..3e20ee3b 100644 --- a/convex_plane_decomposition_msgs/package.xml +++ b/convex_plane_decomposition_msgs/package.xml @@ -15,6 +15,7 @@ std_msgs geometry_msgs + grid_map_msgs message_runtime diff --git a/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp b/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp index bf9bae7f..e63edc83 100644 --- a/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp +++ b/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp @@ -106,25 +106,29 @@ void ConvexPlaneExtractionROS::callback(const grid_map_msgs::GridMap& message) { auto t2 = std::chrono::high_resolution_clock::now(); ROS_INFO_STREAM("Sliding window took " << 1e-3 * std::chrono::duration_cast(t2 - t1).count() << " [ms]"); - const auto planarRegions = contourExtraction_->extractPlanarRegions(slidingWindowPlaneExtractor_->getSegmentedPlanesMap()); + PlanarTerrain planarTerrain; + planarTerrain.planarRegions = contourExtraction_->extractPlanarRegions(slidingWindowPlaneExtractor_->getSegmentedPlanesMap()); auto t3 = std::chrono::high_resolution_clock::now(); ROS_INFO_STREAM("Contour extraction took " << 1e-3 * std::chrono::duration_cast(t3 - t2).count() << " [ms]"); + // Add grid map to the terrain + planarTerrain.gridMap = std::move(elevationMap); + // Publish terrain if (publishToController_) { - regionPublisher_.publish(toMessage(planarRegions)); + regionPublisher_.publish(toMessage(planarTerrain)); } // Visualize in Rviz. - reapplyNans(elevationMap.get(elevationLayer_)); - elevationMap.add("segmentation"); - cv::cv2eigen(slidingWindowPlaneExtractor_->getSegmentedPlanesMap().labeledImage, elevationMap.get("segmentation")); + reapplyNans(planarTerrain.gridMap.get(elevationLayer_)); + planarTerrain.gridMap.add("segmentation"); + cv::cv2eigen(slidingWindowPlaneExtractor_->getSegmentedPlanesMap().labeledImage, planarTerrain.gridMap.get("segmentation")); grid_map_msgs::GridMap outputMessage; - grid_map::GridMapRosConverter::toMessage(elevationMap, outputMessage); + grid_map::GridMapRosConverter::toMessage(planarTerrain.gridMap, outputMessage); filteredmapPublisher_.publish(outputMessage); - boundaryPublisher_.publish(convertBoundariesToRosPolygons(planarRegions, elevationMap.getFrameId())); - insetPublisher_.publish(convertInsetsToRosPolygons(planarRegions, elevationMap.getFrameId())); + boundaryPublisher_.publish(convertBoundariesToRosPolygons(planarTerrain.planarRegions, planarTerrain.gridMap.getFrameId())); + insetPublisher_.publish(convertInsetsToRosPolygons(planarTerrain.planarRegions, planarTerrain.gridMap.getFrameId())); } else { ROS_WARN("[ConvexPlaneExtractionROS] Could not extract submap"); } diff --git a/convex_plane_decomposition_ros/src/MessageConversion.cpp b/convex_plane_decomposition_ros/src/MessageConversion.cpp index d60e47de..1e44dae2 100644 --- a/convex_plane_decomposition_ros/src/MessageConversion.cpp +++ b/convex_plane_decomposition_ros/src/MessageConversion.cpp @@ -4,6 +4,8 @@ #include "convex_plane_decomposition_ros/MessageConversion.h" +#include + namespace convex_plane_decomposition { CgalBbox2d fromMessage(const convex_plane_decomposition_msgs::BoundingBox2d& msg) { @@ -45,19 +47,21 @@ convex_plane_decomposition_msgs::PlanarRegion toMessage(const PlanarRegion& plan PlanarTerrain fromMessage(const convex_plane_decomposition_msgs::PlanarTerrain& msg) { PlanarTerrain planarTerrain; - planarTerrain.reserve(msg.planarRegions.size()); + planarTerrain.planarRegions.reserve(msg.planarRegions.size()); for (const auto& planarRegion : msg.planarRegions) { - planarTerrain.emplace_back(fromMessage(planarRegion)); + planarTerrain.planarRegions.emplace_back(fromMessage(planarRegion)); } + grid_map::GridMapRosConverter::fromMessage(msg.gridmap, planarTerrain.gridMap); return planarTerrain; } convex_plane_decomposition_msgs::PlanarTerrain toMessage(const PlanarTerrain& planarTerrain) { convex_plane_decomposition_msgs::PlanarTerrain msg; - msg.planarRegions.reserve(planarTerrain.size()); - for (const auto& planarRegion : planarTerrain) { + msg.planarRegions.reserve(planarTerrain.planarRegions.size()); + for (const auto& planarRegion : planarTerrain.planarRegions) { msg.planarRegions.emplace_back(toMessage(planarRegion)); } + grid_map::GridMapRosConverter::toMessage(planarTerrain.gridMap, msg.gridmap); return msg; } diff --git a/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesTerrainModel.h b/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesTerrainModel.h index ace46075..0ce10ec6 100644 --- a/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesTerrainModel.h +++ b/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesTerrainModel.h @@ -17,13 +17,15 @@ class SegmentedPlanesTerrainModel : public switched_model::TerrainModel { ConvexTerrain getConvexTerrainAtPositionInWorld(const vector3_t& positionInWorld) const override; - const convex_plane_decomposition::PlanarTerrain& PlanarTerrain() const { return planarTerrain_; } + const SignedDistanceField* getSignedDistanceField() const override { return nullptr; } + + const convex_plane_decomposition::PlanarTerrain& planarTerrain() const { return planarTerrain_; } private: convex_plane_decomposition::PlanarTerrain planarTerrain_; }; std::pair getPlanarRegionAtPositionInWorld( - const vector3_t& positionInWorld, const convex_plane_decomposition::PlanarTerrain& planarTerrain); + const vector3_t& positionInWorld, const std::vector& planarRegions); } // namespace switched_model diff --git a/segmented_planes_terrain_model/src/DemoNode.cpp b/segmented_planes_terrain_model/src/DemoNode.cpp index d716059f..b9ae9d7d 100644 --- a/segmented_planes_terrain_model/src/DemoNode.cpp +++ b/segmented_planes_terrain_model/src/DemoNode.cpp @@ -10,12 +10,12 @@ #include #include +#include +#include +#include #include #include #include -#include -#include -#include #include @@ -96,18 +96,21 @@ int main(int argc, char** argv) { positionPublisher_.publish(toMarker(positionInWorld)); convexTerrainPublisher_.publish(toMarker(convexTerrain)); - - double heightClearance = 0.35; double width = 1.5; double length = 2.0; bool success; grid_map::GridMap localMap = messageMap->getSubmap({convexTerrain.plane.positionInWorld.x(), convexTerrain.plane.positionInWorld.y()}, Eigen::Array2d(width, length), success); auto t2 = std::chrono::high_resolution_clock::now(); - signed_distance_field::SignedDistanceField sdf(localMap, "elevation", convexTerrain.plane.positionInWorld.z() - heightClearance, convexTerrain.plane.positionInWorld.z() + heightClearance); + signed_distance_field::GridmapSignedDistanceField sdf(localMap, "elevation", convexTerrain.plane.positionInWorld.z() - heightClearance, convexTerrain.plane.positionInWorld.z() + heightClearance); auto t3 = std::chrono::high_resolution_clock::now(); std::cout << "Sdf computation took " << 1e-3 * std::chrono::duration_cast(t3 - t2).count() << " [ms]\n"; + auto t4 = std::chrono::high_resolution_clock::now(); + auto sdfClone = std::unique_ptr(sdf.clone()); + auto t5 = std::chrono::high_resolution_clock::now(); + std::cout << "Sdf.clone() computation took " << 1e-3 * std::chrono::duration_cast(t5 - t4).count() << " [ms]\n"; + sensor_msgs::PointCloud2 pointCloud2Msg; pcl::toROSMsg(sdf.obstaclePointCloud(4), pointCloud2Msg); pointCloud2Msg.header = switched_model::getHeaderMsg(frameId_, ros::Time::now()); diff --git a/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModel.cpp b/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModel.cpp index ec958a2d..9a65d5e4 100644 --- a/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModel.cpp +++ b/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModel.cpp @@ -40,7 +40,7 @@ SegmentedPlanesTerrainModel::SegmentedPlanesTerrainModel(convex_plane_decomposit : planarTerrain_(std::move(planarTerrain)) {} TerrainPlane SegmentedPlanesTerrainModel::getLocalTerrainAtPositionInWorldAlongGravity(const vector3_t& positionInWorld) const { - const auto regionAndSeedPoint = getPlanarRegionAtPositionInWorld(positionInWorld, planarTerrain_); + const auto regionAndSeedPoint = getPlanarRegionAtPositionInWorld(positionInWorld, planarTerrain_.planarRegions); const auto& region = *regionAndSeedPoint.first; const auto& seedpoint = regionAndSeedPoint.second; const auto& seedpointInWorldFrame = @@ -49,7 +49,7 @@ TerrainPlane SegmentedPlanesTerrainModel::getLocalTerrainAtPositionInWorldAlongG } ConvexTerrain SegmentedPlanesTerrainModel::getConvexTerrainAtPositionInWorld(const vector3_t& positionInWorld) const { - const auto regionAndSeedPoint = getPlanarRegionAtPositionInWorld(positionInWorld, planarTerrain_); + const auto regionAndSeedPoint = getPlanarRegionAtPositionInWorld(positionInWorld, planarTerrain_.planarRegions); const auto& region = *regionAndSeedPoint.first; const auto& seedpoint = regionAndSeedPoint.second; const auto& seedpointInWorldFrame = @@ -111,7 +111,7 @@ std::pair squaredDistanceToBoun const convex_plane_decomposition::CgalPoint2d queryProjectedToPlane{positionInTerrainFrame.x(), positionInTerrainFrame.y()}; // First search if the projected point is inside any of the insets. - const auto insetPtrContainingPoint = findInsetContainingThePoint(queryProjectedToPlane, planarRegion.boundaryWithInset.insets); + const auto* const insetPtrContainingPoint = findInsetContainingThePoint(queryProjectedToPlane, planarRegion.boundaryWithInset.insets); // Compute the projection convex_plane_decomposition::CgalPoint2d projectedPoint; @@ -143,11 +143,11 @@ std::pair squaredDistanceToBoun } std::pair getPlanarRegionAtPositionInWorld( - const vector3_t& positionInWorld, const convex_plane_decomposition::PlanarTerrain& planarTerrain) { + const vector3_t& positionInWorld, const std::vector& planarRegions) { // Compute distance to bounding boxes std::vector> regionsAndBboxSquareDistances; - regionsAndBboxSquareDistances.reserve(planarTerrain.size()); - for (const auto& planarRegion : planarTerrain) { + regionsAndBboxSquareDistances.reserve(planarRegions.size()); + for (const auto& planarRegion : planarRegions) { double squareDistance = squaredDistanceToBoundingBox(positionInWorld, planarRegion); regionsAndBboxSquareDistances.emplace_back(&planarRegion, distanceCostLowerbound(squareDistance)); } diff --git a/segmented_planes_terrain_model/test/signedDistanceTest.cpp b/segmented_planes_terrain_model/test/signedDistanceTest.cpp index 0ead6ebe..b58a3964 100644 --- a/segmented_planes_terrain_model/test/signedDistanceTest.cpp +++ b/segmented_planes_terrain_model/test/signedDistanceTest.cpp @@ -8,16 +8,14 @@ #include #include +#include #include -#include #include #include -#include #include using namespace distance_transform; -constexpr float myINF = 1e20F; grid_map::GridMap loadElevationMapFromFile(const std::string& filePath, double resolution, double scale) { // Read the file @@ -40,131 +38,6 @@ grid_map::GridMap loadElevationMapFromFile(const std::string& filePath, double r return mapOut; } -grid_map::Matrix getPlanarSignedDistanceField(const Eigen::Matrix& data) { - image* input = new image(data.rows(), data.cols(), true); - - for (int y = 0; y < input->height(); y++) { - for (int x = 0; x < input->width(); x++) { - imRef(input, x, y) = data(x, y); - } - } - - // Compute dt. - image* out = dt(input); - - grid_map::Matrix result(data.rows(), data.cols()); - - // Take square roots. - for (int y = 0; y < out->height(); y++) { - for (int x = 0; x < out->width(); x++) { - result(x, y) = sqrt(imRef(out, x, y)); - } - } - return result; -} - -void squaredDistanceTransform_1d_inplace(Eigen::Ref squareDistance1d, Eigen::Ref d, - Eigen::Ref z, std::vector& v) { - const int n = squareDistance1d.size(); - const auto& f = squareDistance1d; - assert(d.size() == n); - assert(z.size() == n + 1); - assert(v.size() == n); - - // Initialize - int k = 0; - v[0] = 0; - z[0] = -myINF; - z[1] = myINF; - - // Compute bounds - for (int q = 1; q < n; q++) { - auto factor1 = static_cast(q - v[k]); - auto factor2 = static_cast(q + v[k]); - float s = 0.5F * ( (f[q] - f[v[k]]) / factor1 + factor2); - while (s <= z[k]) { - k--; - factor1 = static_cast(q - v[k]); - factor2 = static_cast(q + v[k]); - s = 0.5F * ( (f[q] - f[v[k]]) / factor1 + factor2); - } - k++; - v[k] = q; - z[k] = s; - z[k + 1] = myINF; - } - - // Collect results - k = 0; - for (int q = 0; q < n; q++) { - while (z[k + 1] < static_cast(q)) { - k++; - } - d[q] = square(q - v[k]) + f[v[k]]; - } - - // Write distance result back in place - squareDistance1d = d; -} - -void squaredDistanceTransform_2d_columnwiseInplace(grid_map::Matrix& squareDistance, bool skipCheck) { - const size_t n = squareDistance.cols(); - Eigen::VectorXf workvector(2 * n + 1); - std::vector intWorkvector(n); - - for (size_t i = 0; i < n; i++) { - // Only when there is a mix of elements and free space, we need to update the initialized distance. - bool needsComputation = skipCheck || ((squareDistance.col(i).array() == 0.0).any() && (squareDistance.col(i).array() == myINF).any()); - if (needsComputation) { - squaredDistanceTransform_1d_inplace(squareDistance.col(i), workvector.segment(0, n), workvector.segment(n, n+1), - intWorkvector); - } - } -} - -void squaredDistanceTransform_2d(grid_map::Matrix& squareDistance) { - // TODO (check which one we want to do first) - - // Process columns - squaredDistanceTransform_2d_columnwiseInplace(squareDistance, false); - - // Process rows - squareDistance.transposeInPlace(); - squaredDistanceTransform_2d_columnwiseInplace(squareDistance, true); - squareDistance.transposeInPlace(); -} - -void getPlanarSignedDistanceField_2(grid_map::Matrix& squareDistance) { - squaredDistanceTransform_2d(squareDistance); - squareDistance = squareDistance.cwiseSqrt(); -} - -grid_map::Matrix getPlanarSignedDistanceField_3(const grid_map::Matrix& map, float threshold, float resolution) { - bool hasObstacles = (map.array() >= threshold).any(); - if (hasObstacles) { - bool hasFreeSpace = (map.array() < threshold).any(); - if (hasFreeSpace) { - // Both obstacles and free space -> compute planar signed distance - // Compute pixel distance to obstacles - grid_map::Matrix sdfObstacle = map.unaryExpr([=](float val) {return (val >= threshold) ? 0.0F : myINF;}); - getPlanarSignedDistanceField_2(sdfObstacle); - - // Compute pixel distance to obstacle free space - grid_map::Matrix sdfObstacleFree = map.unaryExpr([=](float val) {return (val < threshold) ? 0.0F : myINF;}); - getPlanarSignedDistanceField_2(sdfObstacleFree); - - grid_map::Matrix sdf2d = resolution * (sdfObstacle - sdfObstacleFree); - return sdf2d; - } else { - // Only obstacles -> distance is zero everywhere - return grid_map::Matrix::Zero(map.rows(), map.cols()); - } - } else { - // No obstacles -> planar distance is infinite - return grid_map::Matrix::Constant(map.rows(), map.cols(), myINF); - } -} - int main(int argc, char** argv) { std::string folder = "/home/rgrandia/git/anymal/convex_terrain_representation/convex_plane_decomposition_ros/data/"; // std::string file = "elevationMap_8_139cm.png"; @@ -230,7 +103,7 @@ int main(int argc, char** argv) { // for (float h = minHeight; h < maxHeight; h += resolution_) { // data_.emplace_back(signed_distance_field::signedDistanceAtHeight(map, h, resolution)); // } - auto sdf = signed_distance_field::SignedDistanceField(gridMap, layer, minHeight, maxHeight); + signed_distance_field::GridmapSignedDistanceField sdf(gridMap, layer, minHeight, maxHeight); // ========================================================= } diff --git a/signed_distance_field/CMakeLists.txt b/signed_distance_field/CMakeLists.txt index b324e0a1..bd3fda80 100644 --- a/signed_distance_field/CMakeLists.txt +++ b/signed_distance_field/CMakeLists.txt @@ -5,6 +5,7 @@ project(signed_distance_field) set(CATKIN_PACKAGE_DEPENDENCIES grid_map_core pcl_ros + ocs2_switched_model_interface ) find_package(catkin REQUIRED COMPONENTS @@ -36,7 +37,7 @@ include_directories( add_library(${PROJECT_NAME} src/PixelBorderDistance.cpp - src/SignedDistanceField.cpp + src/GridmapSignedDistanceField.cpp src/SignedDistance2d.cpp ) add_dependencies(${PROJECT_NAME} diff --git a/signed_distance_field/include/signed_distance_field/SignedDistanceField.h b/signed_distance_field/include/signed_distance_field/GridmapSignedDistanceField.h similarity index 73% rename from signed_distance_field/include/signed_distance_field/SignedDistanceField.h rename to signed_distance_field/include/signed_distance_field/GridmapSignedDistanceField.h index 453345c2..e7da9cf5 100644 --- a/signed_distance_field/include/signed_distance_field/SignedDistanceField.h +++ b/signed_distance_field/include/signed_distance_field/GridmapSignedDistanceField.h @@ -14,21 +14,23 @@ #include #include +#include + #include "Gridmap3dLookup.h" namespace signed_distance_field { -class SignedDistanceField { +class GridmapSignedDistanceField : public switched_model::SignedDistanceField { public: EIGEN_MAKE_ALIGNED_OPERATOR_NEW - SignedDistanceField(const grid_map::GridMap& gridMap, const std::string& elevationLayer, double minHeight, double maxHeight); - - double atPosition(const Eigen::Vector3d& position) const; - - Eigen::Vector3d derivativeAtPosition(const Eigen::Vector3d& position) const; + GridmapSignedDistanceField(const grid_map::GridMap& gridMap, const std::string& elevationLayer, double minHeight, double maxHeight); + GridmapSignedDistanceField* clone() const override; - std::pair distanceAndDerivativeAt(const Eigen::Vector3d& position) const; + switched_model::scalar_t value(const switched_model::vector3_t& position) const override; + switched_model::vector3_t derivative(const switched_model::vector3_t& position) const override; + std::pair valueAndDerivative( + const switched_model::vector3_t& position) const override; /** * Return the signed distance field as a pointcloud. The signed distance is assigned to the point's intensity. @@ -51,6 +53,7 @@ class SignedDistanceField { pcl::PointCloud obstaclePointCloud(size_t decimation = 1) const; private: + GridmapSignedDistanceField(const GridmapSignedDistanceField& other); void computeSignedDistance(const grid_map::Matrix& elevation); void emplacebackLayerData(const grid_map::Matrix& signedDistance, const grid_map::Matrix& dx, const grid_map::Matrix& dy, const grid_map::Matrix& dz); diff --git a/signed_distance_field/package.xml b/signed_distance_field/package.xml index a6ba2663..86d78b3a 100644 --- a/signed_distance_field/package.xml +++ b/signed_distance_field/package.xml @@ -12,5 +12,6 @@ grid_map_core pcl_ros + ocs2_switched_model_interface diff --git a/signed_distance_field/src/SignedDistanceField.cpp b/signed_distance_field/src/GridmapSignedDistanceField.cpp similarity index 71% rename from signed_distance_field/src/SignedDistanceField.cpp rename to signed_distance_field/src/GridmapSignedDistanceField.cpp index 21736102..bb959f94 100644 --- a/signed_distance_field/src/SignedDistanceField.cpp +++ b/signed_distance_field/src/GridmapSignedDistanceField.cpp @@ -2,15 +2,15 @@ // Created by rgrandia on 10.07.20. // -#include "signed_distance_field/SignedDistanceField.h" +#include "signed_distance_field/GridmapSignedDistanceField.h" #include "signed_distance_field/DistanceDerivatives.h" #include "signed_distance_field/SignedDistance2d.h" namespace signed_distance_field { -SignedDistanceField::SignedDistanceField(const grid_map::GridMap& gridMap, const std::string& elevationLayer, double minHeight, - double maxHeight) { +GridmapSignedDistanceField::GridmapSignedDistanceField(const grid_map::GridMap& gridMap, const std::string& elevationLayer, + double minHeight, double maxHeight) { assert(maxHeight >= minHeight); grid_map::Position mapOriginXY; gridMap.getPosition(Eigen::Vector2i(0, 0), mapOriginXY); @@ -28,7 +28,14 @@ SignedDistanceField::SignedDistanceField(const grid_map::GridMap& gridMap, const computeSignedDistance(gridMap.get(elevationLayer)); } -double SignedDistanceField::atPosition(const Eigen::Vector3d& position) const { +GridmapSignedDistanceField::GridmapSignedDistanceField(const GridmapSignedDistanceField& other) + : gridmap3DLookup_(other.gridmap3DLookup_), data_(other.data_) {} + +GridmapSignedDistanceField* GridmapSignedDistanceField::clone() const { + return new GridmapSignedDistanceField(*this); +} + +switched_model::scalar_t GridmapSignedDistanceField::value(const switched_model::vector3_t& position) const { const auto nodeIndex = gridmap3DLookup_.nearestNode(position); const Eigen::Vector3d nodePosition = gridmap3DLookup_.nodePosition(nodeIndex); const node_data_t nodeData = data_[gridmap3DLookup_.linearIndex(nodeIndex)]; @@ -36,13 +43,14 @@ double SignedDistanceField::atPosition(const Eigen::Vector3d& position) const { return distance(nodeData) + jacobian.dot(position - nodePosition); } -Eigen::Vector3d SignedDistanceField::derivativeAtPosition(const Eigen::Vector3d& position) const { +switched_model::vector3_t GridmapSignedDistanceField::derivative(const switched_model::vector3_t& position) const { const auto nodeIndex = gridmap3DLookup_.nearestNode(position); const node_data_t nodeData = data_[gridmap3DLookup_.linearIndex(nodeIndex)]; return derivative(nodeData); } -std::pair SignedDistanceField::distanceAndDerivativeAt(const Eigen::Vector3d& position) const { +std::pair GridmapSignedDistanceField::valueAndDerivative( + const switched_model::vector3_t& position) const { const auto nodeIndex = gridmap3DLookup_.nearestNode(position); const Eigen::Vector3d nodePosition = gridmap3DLookup_.nodePosition(nodeIndex); const node_data_t nodeData = data_[gridmap3DLookup_.linearIndex(nodeIndex)]; @@ -50,7 +58,7 @@ std::pair SignedDistanceField::distanceAndDerivativeAt( return {distance(nodeData) + jacobian.dot(position - nodePosition), jacobian}; } -void SignedDistanceField::computeSignedDistance(const grid_map::Matrix& elevation) { +void GridmapSignedDistanceField::computeSignedDistance(const grid_map::Matrix& elevation) { const auto gridOriginZ = static_cast(gridmap3DLookup_.gridOrigin_.z()); const auto resolution = static_cast(gridmap3DLookup_.resolution_); @@ -83,8 +91,8 @@ void SignedDistanceField::computeSignedDistance(const grid_map::Matrix& elevatio emplacebackLayerData(currentLayer, dx, dy, dz); } -void SignedDistanceField::emplacebackLayerData(const grid_map::Matrix& signedDistance, const grid_map::Matrix& dx, - const grid_map::Matrix& dy, const grid_map::Matrix& dz) { +void GridmapSignedDistanceField::emplacebackLayerData(const grid_map::Matrix& signedDistance, const grid_map::Matrix& dx, + const grid_map::Matrix& dy, const grid_map::Matrix& dz) { for (size_t colY = 0; colY < gridmap3DLookup_.gridsize_.y; ++colY) { for (size_t rowX = 0; rowX < gridmap3DLookup_.gridsize_.x; ++rowX) { data_.emplace_back(node_data_t{signedDistance(rowX, colY), dx(rowX, colY), dy(rowX, colY), dz(rowX, colY)}); @@ -92,12 +100,13 @@ void SignedDistanceField::emplacebackLayerData(const grid_map::Matrix& signedDis } } -pcl::PointCloud SignedDistanceField::asPointCloud(size_t decimation, const std::function& condition) const { +pcl::PointCloud GridmapSignedDistanceField::asPointCloud(size_t decimation, + const std::function& condition) const { pcl::PointCloud points; points.reserve(gridmap3DLookup_.linearSize()); - for (size_t layerZ = 0; layerZ < gridmap3DLookup_.gridsize_.z; layerZ+=decimation) { - for (size_t colY = 0; colY < gridmap3DLookup_.gridsize_.y; colY+=decimation) { - for (size_t rowX = 0; rowX < gridmap3DLookup_.gridsize_.x; rowX+=decimation) { + for (size_t layerZ = 0; layerZ < gridmap3DLookup_.gridsize_.z; layerZ += decimation) { + for (size_t colY = 0; colY < gridmap3DLookup_.gridsize_.y; colY += decimation) { + for (size_t rowX = 0; rowX < gridmap3DLookup_.gridsize_.x; rowX += decimation) { const Gridmap3dLookup::size_t_3d index3d = {rowX, colY, layerZ}; const auto index = gridmap3DLookup_.linearIndex(index3d); const auto signeddistance = distance(data_[index]); @@ -110,19 +119,18 @@ pcl::PointCloud SignedDistanceField::asPointCloud(size_t decimat point.intensity = signeddistance; points.push_back(point); } - } } } return points; } -pcl::PointCloud SignedDistanceField::freeSpacePointCloud(size_t decimation) const { - return asPointCloud(decimation, [](float signedDistance){return signedDistance >=0.0F; }); +pcl::PointCloud GridmapSignedDistanceField::freeSpacePointCloud(size_t decimation) const { + return asPointCloud(decimation, [](float signedDistance) { return signedDistance >= 0.0F; }); } -pcl::PointCloud SignedDistanceField::obstaclePointCloud(size_t decimation) const { - return asPointCloud(decimation, [](float signedDistance){return signedDistance <=0.0F; }); +pcl::PointCloud GridmapSignedDistanceField::obstaclePointCloud(size_t decimation) const { + return asPointCloud(decimation, [](float signedDistance) { return signedDistance <= 0.0F; }); } } // namespace signed_distance_field From 4e2d6e89d0ce0917a8262413b85f761922525436 Mon Sep 17 00:00:00 2001 From: rgrandia Date: Mon, 17 Aug 2020 18:20:08 +0200 Subject: [PATCH 068/504] add signed distance communication and publishing --- .../SegmentedPlanesTerrainModel.h | 7 ++- .../SegmentedPlanesTerrainModelRos.h | 18 +++++++ .../src/SegmentedPlanesTerrainModel.cpp | 17 +++++- .../src/SegmentedPlanesTerrainModelRos.cpp | 54 +++++++++++++++++-- 4 files changed, 90 insertions(+), 6 deletions(-) diff --git a/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesTerrainModel.h b/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesTerrainModel.h index 0ce10ec6..b83c8262 100644 --- a/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesTerrainModel.h +++ b/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesTerrainModel.h @@ -7,6 +7,8 @@ #include #include +#include + namespace switched_model { class SegmentedPlanesTerrainModel : public switched_model::TerrainModel { @@ -17,12 +19,15 @@ class SegmentedPlanesTerrainModel : public switched_model::TerrainModel { ConvexTerrain getConvexTerrainAtPositionInWorld(const vector3_t& positionInWorld) const override; - const SignedDistanceField* getSignedDistanceField() const override { return nullptr; } + void createSignedDistanceBetween(const Eigen::Vector3d& minCoordinates, const Eigen::Vector3d& maxCoordinates); + + const signed_distance_field::GridmapSignedDistanceField* getSignedDistanceField() const override { return signedDistanceField_.get(); } const convex_plane_decomposition::PlanarTerrain& planarTerrain() const { return planarTerrain_; } private: convex_plane_decomposition::PlanarTerrain planarTerrain_; + std::unique_ptr signedDistanceField_; }; std::pair getPlanarRegionAtPositionInWorld( diff --git a/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesTerrainModelRos.h b/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesTerrainModelRos.h index c55bfcfd..3f9cc207 100644 --- a/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesTerrainModelRos.h +++ b/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesTerrainModelRos.h @@ -8,6 +8,9 @@ #include +#include +#include + #include #include "SegmentedPlanesTerrainModel.h" @@ -16,18 +19,33 @@ namespace switched_model { class SegmentedPlanesTerrainModelRos { public: + std::string frameId_ = "odom"; + SegmentedPlanesTerrainModelRos(ros::NodeHandle& nodehandle); /// Updates the terrain if a new one is available. Return if an update was made bool update(std::unique_ptr& terrainPtr); + void createSignedDistanceBetween(const Eigen::Vector3d& minCoordinates, const Eigen::Vector3d& maxCoordinates); + + void publish(); + private: void callback(const convex_plane_decomposition_msgs::PlanarTerrain::ConstPtr& msg); ros::Subscriber terrainSubscriber_; + ros::Publisher distanceFieldPublisher_; + std::mutex updateMutex_; std::atomic_bool terrainUpdated_; std::unique_ptr terrainPtr_; + + std::mutex updateCoordinatesMutex_; + Eigen::Vector3d minCoordinates_; + Eigen::Vector3d maxCoordinates_; + + std::mutex pointCloudMutex_; + pcl::PointCloud pointCloud_; }; } // namespace switched_model diff --git a/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModel.cpp b/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModel.cpp index 9a65d5e4..aeb225cc 100644 --- a/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModel.cpp +++ b/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModel.cpp @@ -8,6 +8,7 @@ #include #include +#include namespace switched_model { @@ -37,7 +38,7 @@ double distanceCostLowerbound(double distanceSquared) { } SegmentedPlanesTerrainModel::SegmentedPlanesTerrainModel(convex_plane_decomposition::PlanarTerrain planarTerrain) - : planarTerrain_(std::move(planarTerrain)) {} + : planarTerrain_(std::move(planarTerrain)), signedDistanceField_(nullptr) {} TerrainPlane SegmentedPlanesTerrainModel::getLocalTerrainAtPositionInWorldAlongGravity(const vector3_t& positionInWorld) const { const auto regionAndSeedPoint = getPlanarRegionAtPositionInWorld(positionInWorld, planarTerrain_.planarRegions); @@ -71,6 +72,20 @@ ConvexTerrain SegmentedPlanesTerrainModel::getConvexTerrainAtPositionInWorld(con return convexTerrain; } +void SegmentedPlanesTerrainModel::createSignedDistanceBetween(const Eigen::Vector3d& minCoordinates, + const Eigen::Vector3d& maxCoordinates) { + Eigen::Vector3d centerCoordinates = 0.5 * (minCoordinates + maxCoordinates); + Eigen::Vector3d lengths = maxCoordinates - minCoordinates; + + bool success = true; + grid_map::GridMap subMap = + planarTerrain_.gridMap.getSubmap({centerCoordinates.x(), centerCoordinates.y()}, Eigen::Array2d(lengths.x(), lengths.y()), success); + if (success) { + signedDistanceField_ = + std::make_unique(subMap, "elevation", minCoordinates.z(), maxCoordinates.z()); + } +} + double singleSidedSquaredDistance(double value, double min, double max) { // - | 0 | + // min max diff --git a/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModelRos.cpp b/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModelRos.cpp index 4fd04973..0fccb2f8 100644 --- a/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModelRos.cpp +++ b/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModelRos.cpp @@ -4,13 +4,18 @@ #include "segmented_planes_terrain_model/SegmentedPlanesTerrainModelRos.h" +#include +#include + #include +#include namespace switched_model { -SegmentedPlanesTerrainModelRos::SegmentedPlanesTerrainModelRos(ros::NodeHandle& nodehandle) : terrainUpdated_(false) { +SegmentedPlanesTerrainModelRos::SegmentedPlanesTerrainModelRos(ros::NodeHandle& nodehandle) : terrainUpdated_(false), minCoordinates_(Eigen::Vector3d::Zero()), maxCoordinates_(Eigen::Vector3d::Zero()) { terrainSubscriber_ = nodehandle.subscribe("/convex_plane_decomposition_ros/planar_terrain", 1, &SegmentedPlanesTerrainModelRos::callback, this); + distanceFieldPublisher_ = nodehandle.advertise("/convex_plane_decomposition_ros/signed_distance_field", 1); } bool SegmentedPlanesTerrainModelRos::update(std::unique_ptr& terrainPtr) { @@ -26,10 +31,51 @@ bool SegmentedPlanesTerrainModelRos::update(std::unique_ptr lock(updateCoordinatesMutex_); + minCoordinates_ = minCoordinates; + maxCoordinates_ = maxCoordinates; +} + +void SegmentedPlanesTerrainModelRos::publish() { + sensor_msgs::PointCloud2 pointCloud2Msg; + { + std::lock_guard lock(pointCloudMutex_); + pcl::toROSMsg(pointCloud_, pointCloud2Msg); + } + + pointCloud2Msg.header = switched_model::getHeaderMsg(frameId_, ros::Time::now()); + distanceFieldPublisher_.publish(pointCloud2Msg); +} + void SegmentedPlanesTerrainModelRos::callback(const convex_plane_decomposition_msgs::PlanarTerrain::ConstPtr& msg) { - std::lock_guard lock(updateMutex_); - terrainPtr_ = std::make_unique(convex_plane_decomposition::fromMessage(*msg)); - terrainUpdated_ = true; + // Read terrain + auto terrainPtr = std::make_unique(convex_plane_decomposition::fromMessage(*msg)); + + // Extract coordinates for signed distance field + Eigen::Vector3d minCoordinates; + Eigen::Vector3d maxCoordinates; + { + std::lock_guard lock(updateCoordinatesMutex_); + minCoordinates = minCoordinates_; + maxCoordinates = maxCoordinates_; + } + + // Build signed distance field + terrainPtr->createSignedDistanceBetween(minCoordinates_, maxCoordinates_); + + // Create pointcloud + { + std::lock_guard lock(pointCloudMutex_); + pointCloud_ = terrainPtr->getSignedDistanceField()->asPointCloud(1, [](float val) { return -0.05F <= val && val <= 0.0F; }); + } + + // Move to storage under the lock + { + std::lock_guard lock(updateMutex_); + terrainPtr_ = std::move(terrainPtr); + terrainUpdated_ = true; + } } } // namespace switched_model From c2bfd3484dc5a28038bead3161ab9e050bd1d3b3 Mon Sep 17 00:00:00 2001 From: rgrandia Date: Tue, 18 Aug 2020 09:17:35 +0200 Subject: [PATCH 069/504] delete third-party files --- .../distance_transform/COPYING | 339 ------------------ .../distance_transform/dt.h | 117 ------ .../distance_transform/image.h | 101 ------ .../distance_transform/imconv.h | 179 --------- .../distance_transform/imutil.h | 67 ---- .../distance_transform/misc.h | 62 ---- .../distance_transform/pnmfile.h | 214 ----------- .../test/signedDistanceTest.cpp | 5 +- 8 files changed, 1 insertion(+), 1083 deletions(-) delete mode 100755 segmented_planes_terrain_model/include/segmented_planes_terrain_model/distance_transform/COPYING delete mode 100755 segmented_planes_terrain_model/include/segmented_planes_terrain_model/distance_transform/dt.h delete mode 100755 segmented_planes_terrain_model/include/segmented_planes_terrain_model/distance_transform/image.h delete mode 100755 segmented_planes_terrain_model/include/segmented_planes_terrain_model/distance_transform/imconv.h delete mode 100755 segmented_planes_terrain_model/include/segmented_planes_terrain_model/distance_transform/imutil.h delete mode 100755 segmented_planes_terrain_model/include/segmented_planes_terrain_model/distance_transform/misc.h delete mode 100755 segmented_planes_terrain_model/include/segmented_planes_terrain_model/distance_transform/pnmfile.h diff --git a/segmented_planes_terrain_model/include/segmented_planes_terrain_model/distance_transform/COPYING b/segmented_planes_terrain_model/include/segmented_planes_terrain_model/distance_transform/COPYING deleted file mode 100755 index d511905c..00000000 --- a/segmented_planes_terrain_model/include/segmented_planes_terrain_model/distance_transform/COPYING +++ /dev/null @@ -1,339 +0,0 @@ - GNU GENERAL PUBLIC LICENSE - Version 2, June 1991 - - Copyright (C) 1989, 1991 Free Software Foundation, Inc., - 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA - Everyone is permitted to copy and distribute verbatim copies - of this license document, but changing it is not allowed. - - Preamble - - The licenses for most software are designed to take away your -freedom to share and change it. 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If this is what you want to do, use the GNU Lesser General -Public License instead of this License. diff --git a/segmented_planes_terrain_model/include/segmented_planes_terrain_model/distance_transform/dt.h b/segmented_planes_terrain_model/include/segmented_planes_terrain_model/distance_transform/dt.h deleted file mode 100755 index 2c83de57..00000000 --- a/segmented_planes_terrain_model/include/segmented_planes_terrain_model/distance_transform/dt.h +++ /dev/null @@ -1,117 +0,0 @@ -/* -Copyright (C) 2006 Pedro Felzenszwalb - -This program is free software; you can redistribute it and/or modify -it under the terms of the GNU General Public License as published by -the Free Software Foundation; either version 2 of the License, or -(at your option) any later version. - -This program is distributed in the hope that it will be useful, -but WITHOUT ANY WARRANTY; without even the implied warranty of -MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -GNU General Public License for more details. - -You should have received a copy of the GNU General Public License -along with this program; if not, write to the Free Software -Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA -*/ - -/* distance transform */ - -#pragma once - -#include - -#include "image.h" -#include "imconv.h" - -namespace distance_transform -{ - const double INF = 1E20; - - /* dt of 1d function using squared distance */ - static float *dt_1d(float *f, int n) { - float *d = new float[n]; - int *v = new int[n]; - float *z = new float[n+1]; - int k = 0; - v[0] = 0; - z[0] = -INF; - z[1] = +INF; - for (int q = 1; q <= n-1; q++) { - float s = ((f[q]+square(q))-(f[v[k]]+square(v[k])))/(2*q-2*v[k]); - while (s <= z[k]) { - k--; - s = ((f[q]+square(q))-(f[v[k]]+square(v[k])))/(2*q-2*v[k]); - } - k++; - v[k] = q; - z[k] = s; - z[k+1] = +INF; - } - - k = 0; - for (int q = 0; q <= n-1; q++) { - while (z[k+1] < q) - k++; - d[q] = square(q-v[k]) + f[v[k]]; - } - - delete [] v; - delete [] z; - return d; - } - - /* dt of 2d function using squared distance */ - static void dt_2d(image *im) { - int width = im->width(); - int height = im->height(); - float *f = new float[std::max(width,height)]; - - // transform along columns - for (int x = 0; x < width; x++) { - for (int y = 0; y < height; y++) { - f[y] = imRef(im, x, y); - } - float *d = dt_1d(f, height); - for (int y = 0; y < height; y++) { - imRef(im, x, y) = d[y]; - } - delete [] d; - } - - // transform along rows - for (int y = 0; y < height; y++) { - for (int x = 0; x < width; x++) { - f[x] = imRef(im, x, y); - } - float *d = dt_1d(f, width); - for (int x = 0; x < width; x++) { - imRef(im, x, y) = d[x]; - } - delete [] d; - } - - delete [] f; - } - - /* dt of binary image using squared distance */ - static image *dt(image *im, uchar on = 1) { - int width = im->width(); - int height = im->height(); - - image *out = new image(width, height, false); - for (int y = 0; y < height; y++) { - for (int x = 0; x < width; x++) { - if (imRef(im, x, y) == on) - imRef(out, x, y) = 0; - else - imRef(out, x, y) = INF; - } - } - - dt_2d(out); - return out; - } - -} // namespace diff --git a/segmented_planes_terrain_model/include/segmented_planes_terrain_model/distance_transform/image.h b/segmented_planes_terrain_model/include/segmented_planes_terrain_model/distance_transform/image.h deleted file mode 100755 index 47cada09..00000000 --- a/segmented_planes_terrain_model/include/segmented_planes_terrain_model/distance_transform/image.h +++ /dev/null @@ -1,101 +0,0 @@ -/* -Copyright (C) 2006 Pedro Felzenszwalb - -This program is free software; you can redistribute it and/or modify -it under the terms of the GNU General Public License as published by -the Free Software Foundation; either version 2 of the License, or -(at your option) any later version. - -This program is distributed in the hope that it will be useful, -but WITHOUT ANY WARRANTY; without even the implied warranty of -MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -GNU General Public License for more details. - -You should have received a copy of the GNU General Public License -along with this program; if not, write to the Free Software -Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA -*/ - -/* a simple image class */ - -#pragma once - -#include - -namespace distance_transform -{ - - template - class image { - public: - /* create an image */ - image(const int width, const int height, const bool init = true); - - /* delete an image */ - ~image(); - - /* init an image */ - void init(const T &val); - - /* copy an image */ - image *copy() const; - - /* get the width of an image. */ - int width() const { return w; } - - /* get the height of an image. */ - int height() const { return h; } - - /* image data. */ - T *data; - - /* row pointers. */ - T **access; - - private: - int w, h; - }; - - /* use imRef to access image data. */ -#define imRef(im, x, y) (im->access[y][x]) - - /* use imPtr to get pointer to image data. */ -#define imPtr(im, x, y) &(im->access[y][x]) - - template - image::image(const int width, const int height, const bool init) { - w = width; - h = height; - data = new T[w * h]; // allocate space for image data - access = new T*[h]; // allocate space for row pointers - - // initialize row pointers - for (int i = 0; i < h; i++) - access[i] = data + (i * w); - - if (init) - memset(data, 0, w * h * sizeof(T)); - } - - template - image::~image() { - delete [] data; - delete [] access; - } - - template - void image::init(const T &val) { - T *ptr = imPtr(this, 0, 0); - T *end = imPtr(this, w-1, h-1); - while (ptr <= end) - *ptr++ = val; - } - - template - image *image::copy() const { - image *im = new image(w, h, false); - memcpy(im->data, data, w * h * sizeof(T)); - return im; - } - -} // namespace diff --git a/segmented_planes_terrain_model/include/segmented_planes_terrain_model/distance_transform/imconv.h b/segmented_planes_terrain_model/include/segmented_planes_terrain_model/distance_transform/imconv.h deleted file mode 100755 index b4f27ff3..00000000 --- a/segmented_planes_terrain_model/include/segmented_planes_terrain_model/distance_transform/imconv.h +++ /dev/null @@ -1,179 +0,0 @@ -/* -Copyright (C) 2006 Pedro Felzenszwalb - -This program is free software; you can redistribute it and/or modify -it under the terms of the GNU General Public License as published by -the Free Software Foundation; either version 2 of the License, or -(at your option) any later version. - -This program is distributed in the hope that it will be useful, -but WITHOUT ANY WARRANTY; without even the implied warranty of -MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -GNU General Public License for more details. - -You should have received a copy of the GNU General Public License -along with this program; if not, write to the Free Software -Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA -*/ - -/* image conversion */ - -#pragma once - -#include - -#include "image.h" -#include "imutil.h" -#include "misc.h" - -namespace distance_transform -{ - const double RED_WEIGHT = 0.299; - const double GREEN_WEIGHT = 0.584; - const double BLUE_WEIGHT = 0.114; - - static image *imageRGBtoGRAY(image *input) { - int width = input->width(); - int height = input->height(); - image *output = new image(width, height, false); - - for (int y = 0; y < height; y++) { - for (int x = 0; x < width; x++) { - imRef(output, x, y) = (uchar) - (imRef(input, x, y).r * RED_WEIGHT + - imRef(input, x, y).g * GREEN_WEIGHT + - imRef(input, x, y).b * BLUE_WEIGHT); - } - } - return output; - } - - static image *imageGRAYtoRGB(image *input) { - int width = input->width(); - int height = input->height(); - image *output = new image(width, height, false); - - for (int y = 0; y < height; y++) { - for (int x = 0; x < width; x++) { - imRef(output, x, y).r = imRef(input, x, y); - imRef(output, x, y).g = imRef(input, x, y); - imRef(output, x, y).b = imRef(input, x, y); - } - } - return output; - } - - static image *imageUCHARtoFLOAT(image *input) { - int width = input->width(); - int height = input->height(); - image *output = new image(width, height, false); - - for (int y = 0; y < height; y++) { - for (int x = 0; x < width; x++) { - imRef(output, x, y) = imRef(input, x, y); - } - } - return output; - } - - static image *imageINTtoFLOAT(image *input) { - int width = input->width(); - int height = input->height(); - image *output = new image(width, height, false); - - for (int y = 0; y < height; y++) { - for (int x = 0; x < width; x++) { - imRef(output, x, y) = imRef(input, x, y); - } - } - return output; - } - - static image *imageFLOATtoUCHAR(image *input, - float min, float max) { - int width = input->width(); - int height = input->height(); - image *output = new image(width, height, false); - - if (max == min) - return output; - - float scale = UCHAR_MAX / (max - min); - for (int y = 0; y < height; y++) { - for (int x = 0; x < width; x++) { - uchar val = (uchar)((imRef(input, x, y) - min) * scale); - imRef(output, x, y) = bound(val, (uchar)0, (uchar)UCHAR_MAX); - } - } - return output; - } - - static image *imageFLOATtoUCHAR(image *input) { - float min, max; - min_max(input, &min, &max); - return imageFLOATtoUCHAR(input, min, max); - } - - static image *imageUCHARtoLONG(image *input) { - int width = input->width(); - int height = input->height(); - image *output = new image(width, height, false); - - for (int y = 0; y < height; y++) { - for (int x = 0; x < width; x++) { - imRef(output, x, y) = imRef(input, x, y); - } - } - return output; - } - - static image *imageLONGtoUCHAR(image *input, long min, long max) { - int width = input->width(); - int height = input->height(); - image *output = new image(width, height, false); - - if (max == min) - return output; - - float scale = UCHAR_MAX / (float)(max - min); - for (int y = 0; y < height; y++) { - for (int x = 0; x < width; x++) { - uchar val = (uchar)((imRef(input, x, y) - min) * scale); - imRef(output, x, y) = bound(val, (uchar)0, (uchar)UCHAR_MAX); - } - } - return output; - } - - static image *imageLONGtoUCHAR(image *input) { - long min, max; - min_max(input, &min, &max); - return imageLONGtoUCHAR(input, min, max); - } - - static image *imageSHORTtoUCHAR(image *input, - short min, short max) { - int width = input->width(); - int height = input->height(); - image *output = new image(width, height, false); - - if (max == min) - return output; - - float scale = UCHAR_MAX / (float)(max - min); - for (int y = 0; y < height; y++) { - for (int x = 0; x < width; x++) { - uchar val = (uchar)((imRef(input, x, y) - min) * scale); - imRef(output, x, y) = bound(val, (uchar)0, (uchar)UCHAR_MAX); - } - } - return output; - } - - static image *imageSHORTtoUCHAR(image *input) { - short min, max; - min_max(input, &min, &max); - return imageSHORTtoUCHAR(input, min, max); - } - -} // namespace diff --git a/segmented_planes_terrain_model/include/segmented_planes_terrain_model/distance_transform/imutil.h b/segmented_planes_terrain_model/include/segmented_planes_terrain_model/distance_transform/imutil.h deleted file mode 100755 index ad09d1f8..00000000 --- a/segmented_planes_terrain_model/include/segmented_planes_terrain_model/distance_transform/imutil.h +++ /dev/null @@ -1,67 +0,0 @@ -/* -Copyright (C) 2006 Pedro Felzenszwalb - -This program is free software; you can redistribute it and/or modify -it under the terms of the GNU General Public License as published by -the Free Software Foundation; either version 2 of the License, or -(at your option) any later version. - -This program is distributed in the hope that it will be useful, -but WITHOUT ANY WARRANTY; without even the implied warranty of -MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -GNU General Public License for more details. - -You should have received a copy of the GNU General Public License -along with this program; if not, write to the Free Software -Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA -*/ - -/* some image utilities */ - -#pragma once - -#include "image.h" -#include "misc.h" - -namespace distance_transform -{ - - /* compute minimum and maximum value in an image */ - template - void min_max(image *im, T *ret_min, T *ret_max) { - int width = im->width(); - int height = im->height(); - - T min = imRef(im, 0, 0); - T max = imRef(im, 0, 0); - for (int y = 0; y < height; y++) { - for (int x = 0; x < width; x++) { - T val = imRef(im, x, y); - if (min > val) - min = val; - if (max < val) - max = val; - } - } - - *ret_min = min; - *ret_max = max; - } - - /* threshold image */ - template - image *threshold(image *src, int t) { - int width = src->width(); - int height = src->height(); - image *dst = new image(width, height); - - for (int y = 0; y < height; y++) { - for (int x = 0; x < width; x++) { - imRef(dst, x, y) = (imRef(src, x, y) >= t); - } - } - - return dst; - } - -} // namespace diff --git a/segmented_planes_terrain_model/include/segmented_planes_terrain_model/distance_transform/misc.h b/segmented_planes_terrain_model/include/segmented_planes_terrain_model/distance_transform/misc.h deleted file mode 100755 index a9514d1f..00000000 --- a/segmented_planes_terrain_model/include/segmented_planes_terrain_model/distance_transform/misc.h +++ /dev/null @@ -1,62 +0,0 @@ -/* -Copyright (C) 2006 Pedro Felzenszwalb - -This program is free software; you can redistribute it and/or modify -it under the terms of the GNU General Public License as published by -the Free Software Foundation; either version 2 of the License, or -(at your option) any later version. - -This program is distributed in the hope that it will be useful, -but WITHOUT ANY WARRANTY; without even the implied warranty of -MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -GNU General Public License for more details. - -You should have received a copy of the GNU General Public License -along with this program; if not, write to the Free Software -Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA -*/ - -/* random stuff */ - -#pragma once - -#include - -namespace distance_transform -{ - typedef unsigned char uchar; - - typedef struct { uchar r, g, b; } rgb; - - inline bool operator==(const rgb &a, const rgb &b) { - return ((a.r == b.r) && (a.g == b.g) && (a.b == b.b)); - } - - template - inline T abs(const T &x) { return (x > 0 ? x : -x); }; - - template - inline int sign(const T &x) { return (x >= 0 ? 1 : -1); }; - - template - inline T square(const T &x) { return x*x; }; - - template - inline T bound(const T &x, const T &min, const T &max) { - return (x < min ? min : (x > max ? max : x)); - } - - template - inline bool check_bound(const T &x, const T&min, const T &max) { - return ((x < min) || (x > max)); - } - - inline int vlib_round(float x) { return (int)(x + 0.5F); } - - inline int vlib_round(double x) { return (int)(x + 0.5); } - - inline double gaussian(double val, double sigma) { - return exp(-square(val/sigma)/2)/(sqrt(2*M_PI)*sigma); - } - -} // namespace diff --git a/segmented_planes_terrain_model/include/segmented_planes_terrain_model/distance_transform/pnmfile.h b/segmented_planes_terrain_model/include/segmented_planes_terrain_model/distance_transform/pnmfile.h deleted file mode 100755 index 28284328..00000000 --- a/segmented_planes_terrain_model/include/segmented_planes_terrain_model/distance_transform/pnmfile.h +++ /dev/null @@ -1,214 +0,0 @@ -/* -Copyright (C) 2006 Pedro Felzenszwalb - -This program is free software; you can redistribute it and/or modify -it under the terms of the GNU General Public License as published by -the Free Software Foundation; either version 2 of the License, or -(at your option) any later version. - -This program is distributed in the hope that it will be useful, -but WITHOUT ANY WARRANTY; without even the implied warranty of -MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -GNU General Public License for more details. - -You should have received a copy of the GNU General Public License -along with this program; if not, write to the Free Software -Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA -*/ - -/* basic image I/O */ - -#pragma once - -#include -#include -#include -#include - -#include "image.h" -#include "misc.h" - -namespace distance_transform -{ - - const short BUF_SIZE = 256; - - class pnm_error { }; - - static void read_packed(unsigned char *data, int size, std::ifstream &f) { - unsigned char c = 0; - - int bitshift = -1; - for (int pos = 0; pos < size; pos++) { - if (bitshift == -1) { - c = f.get(); - bitshift = 7; - } - data[pos] = (c >> bitshift) & 1; - bitshift--; - } - } - - static void write_packed(unsigned char *data, int size, std::ofstream &f) { - unsigned char c = 0; - - int bitshift = 7; - for (int pos = 0; pos < size; pos++) { - c = c | (data[pos] << bitshift); - bitshift--; - if ((bitshift == -1) || (pos == size-1)) { - f.put(c); - bitshift = 7; - c = 0; - } - } - } - - /* read PNM field, skipping comments */ - static void pnm_read(std::ifstream &file, char *buf) { - char doc[BUF_SIZE]; - char c; - - file >> c; - while (c == '#') { - file.getline(doc, BUF_SIZE); - file >> c; - } - file.putback(c); - - file.width(BUF_SIZE); - file >> buf; - file.ignore(); - } - - static image *loadPBM(const char *name) { - char buf[BUF_SIZE]; - - /* read header */ - std::ifstream file(name, std::ios::in | std::ios::binary); - pnm_read(file, buf); - if (strncmp(buf, "P4", 2)) - throw pnm_error(); - - pnm_read(file, buf); - int width = atoi(buf); - pnm_read(file, buf); - int height = atoi(buf); - - /* read data */ - image *im = new image(width, height); - for (int i = 0; i < height; i++) - read_packed(imPtr(im, 0, i), width, file); - - return im; - } - - static void savePBM(image *im, const char *name) { - int width = im->width(); - int height = im->height(); - std::ofstream file(name, std::ios::out | std::ios::binary); - - file << "P4\n" << width << " " << height << "\n"; - for (int i = 0; i < height; i++) - write_packed(imPtr(im, 0, i), width, file); - } - - static image *loadPGM(const char *name) { - char buf[BUF_SIZE]; - - /* read header */ - std::ifstream file(name, std::ios::in | std::ios::binary); - pnm_read(file, buf); - if (strncmp(buf, "P5", 2)) - throw pnm_error(); - - pnm_read(file, buf); - int width = atoi(buf); - pnm_read(file, buf); - int height = atoi(buf); - - pnm_read(file, buf); - if (atoi(buf) > UCHAR_MAX) - throw pnm_error(); - - /* read data */ - image *im = new image(width, height); - file.read((char *)imPtr(im, 0, 0), width * height * sizeof(uchar)); - - return im; - } - - static void savePGM(image *im, const char *name) { - int width = im->width(); - int height = im->height(); - std::ofstream file(name, std::ios::out | std::ios::binary); - - file << "P5\n" << width << " " << height << "\n" << UCHAR_MAX << "\n"; - file.write((char *)imPtr(im, 0, 0), width * height * sizeof(uchar)); - } - - static image *loadPPM(const char *name) { - char buf[BUF_SIZE], doc[BUF_SIZE]; - - /* read header */ - std::ifstream file(name, std::ios::in | std::ios::binary); - pnm_read(file, buf); - if (strncmp(buf, "P6", 2)) - throw pnm_error(); - - pnm_read(file, buf); - int width = atoi(buf); - pnm_read(file, buf); - int height = atoi(buf); - - pnm_read(file, buf); - if (atoi(buf) > UCHAR_MAX) - throw pnm_error(); - - /* read data */ - image *im = new image(width, height); - file.read((char *)imPtr(im, 0, 0), width * height * sizeof(rgb)); - - return im; - } - - static void savePPM(image *im, const char *name) { - int width = im->width(); - int height = im->height(); - std::ofstream file(name, std::ios::out | std::ios::binary); - - file << "P6\n" << width << " " << height << "\n" << UCHAR_MAX << "\n"; - file.write((char *)imPtr(im, 0, 0), width * height * sizeof(rgb)); - } - - template - void load_image(image **im, const char *name) { - char buf[BUF_SIZE]; - - /* read header */ - std::ifstream file(name, std::ios::in | std::ios::binary); - pnm_read(file, buf); - if (strncmp(buf, "VLIB", 9)) - throw pnm_error(); - - pnm_read(file, buf); - int width = atoi(buf); - pnm_read(file, buf); - int height = atoi(buf); - - /* read data */ - *im = new image(width, height); - file.read((char *)imPtr((*im), 0, 0), width * height * sizeof(T)); - } - - template - void save_image(image *im, const char *name) { - int width = im->width(); - int height = im->height(); - std::ofstream file(name, std::ios::out | std::ios::binary); - - file << "VLIB\n" << width << " " << height << "\n"; - file.write((char *)imPtr(im, 0, 0), width * height * sizeof(T)); - } - -} // namespace diff --git a/segmented_planes_terrain_model/test/signedDistanceTest.cpp b/segmented_planes_terrain_model/test/signedDistanceTest.cpp index b58a3964..d0a4b2c8 100644 --- a/segmented_planes_terrain_model/test/signedDistanceTest.cpp +++ b/segmented_planes_terrain_model/test/signedDistanceTest.cpp @@ -4,7 +4,7 @@ #include -#include + #include #include @@ -14,9 +14,6 @@ #include #include -using namespace distance_transform; - - grid_map::GridMap loadElevationMapFromFile(const std::string& filePath, double resolution, double scale) { // Read the file cv::Mat image; From 93954c523f7cb15aba660a619628de4df310608f Mon Sep 17 00:00:00 2001 From: rgrandia Date: Wed, 19 Aug 2020 14:45:28 +0200 Subject: [PATCH 070/504] fix 3d lookup --- signed_distance_field/CMakeLists.txt | 1 + .../signed_distance_field/Gridmap3dLookup.h | 35 +++++++----- .../GridmapSignedDistanceField.h | 1 + .../src/GridmapSignedDistanceField.cpp | 2 +- signed_distance_field/test/test3dLookup.cpp | 54 +++++++++++++++++++ .../test/testDerivatives.cpp | 1 - 6 files changed, 80 insertions(+), 14 deletions(-) create mode 100644 signed_distance_field/test/test3dLookup.cpp diff --git a/signed_distance_field/CMakeLists.txt b/signed_distance_field/CMakeLists.txt index bd3fda80..c61862b2 100644 --- a/signed_distance_field/CMakeLists.txt +++ b/signed_distance_field/CMakeLists.txt @@ -66,6 +66,7 @@ install(DIRECTORY include/${PROJECT_NAME}/ ############# add_executable(${PROJECT_NAME}_test + test/test3dLookup.cpp test/testDerivatives.cpp test/testPixelBorderDistance.cpp test/testSignedDistance2d.cpp diff --git a/signed_distance_field/include/signed_distance_field/Gridmap3dLookup.h b/signed_distance_field/include/signed_distance_field/Gridmap3dLookup.h index 4ec61f89..90ec2d06 100644 --- a/signed_distance_field/include/signed_distance_field/Gridmap3dLookup.h +++ b/signed_distance_field/include/signed_distance_field/Gridmap3dLookup.h @@ -14,7 +14,7 @@ namespace signed_distance_field { /** * Stores 3 dimensional grid information and provides methods to convert between position - 3d Index - linear index. * - * As with grid map, the X-Y position is opposite to the row-col-index: lowest at (0,0) and highest at (n, m). + * As with grid map, the X-Y position is opposite to the row-col-index: (X,Y) is highest at (0,0) and lowest at (n, m). * The z-position is increasing with the layer-index. */ struct Gridmap3dLookup { @@ -37,21 +37,22 @@ struct Gridmap3dLookup { * @param gridOrigin : position at x=y=z=0 * @param resolution : (>0.0) size of 1 voxel */ - Gridmap3dLookup(const size_t_3d& gridsize, const Eigen::Vector3d& gridOrigin, double resolution) : - gridsize_(gridsize), gridOrigin_(gridOrigin), resolution_(resolution) { - assert(resolution_ > 0.0); - }; + Gridmap3dLookup(const size_t_3d& gridsize, const Eigen::Vector3d& gridOrigin, double resolution) + : gridsize_(gridsize), gridOrigin_(gridOrigin), resolution_(resolution) { + assert(resolution_ > 0.0); + assert(gridsize_.x > 0); + assert(gridsize_.y > 0); + assert(gridsize_.z > 0); + }; /** Default constructor: creates an empty grid */ - Gridmap3dLookup() : Gridmap3dLookup({0, 0, 0}, {0.0,0.0,0.0}, 1.0) {} + Gridmap3dLookup() : Gridmap3dLookup({1, 1, 1}, {0.0, 0.0, 0.0}, 1.0) {} /** Returns the 3d index of the grid node closest to the query position */ size_t_3d nearestNode(const Eigen::Vector3d& position) const noexcept { - auto round = [](double val) { - return static_cast(std::round(val)); - }; - Eigen::Vector3d subpixelVector = (position - gridOrigin_) / resolution_; - return {round(subpixelVector.x()), round(subpixelVector.y()), round(subpixelVector.z())}; + Eigen::Vector3d subpixelVector{(gridOrigin_.x() - position.x()) / resolution_, (gridOrigin_.y() - position.y()) / resolution_, (position.z() - gridOrigin_.z()) / resolution_}; + return {nearestPositiveInteger(subpixelVector.x(), gridsize_.x - 1), nearestPositiveInteger(subpixelVector.y(), gridsize_.y - 1), + nearestPositiveInteger(subpixelVector.z(), gridsize_.z - 1)}; } /** Returns the 3d node position from a 3d index */ @@ -60,10 +61,20 @@ struct Gridmap3dLookup { } /** Returns the linear node index from a 3d node index */ - size_t linearIndex(const size_t_3d& index) const noexcept { return index.z * gridsize_.y * gridsize_.x + index.y * gridsize_.x + index.x; } + size_t linearIndex(const size_t_3d& index) const noexcept { return (index.z * gridsize_.y + index.y) * gridsize_.x + index.x; } /** Linear size */ size_t linearSize() const noexcept { return gridsize_.x * gridsize_.y * gridsize_.z; } + + /** rounds subindex value and clamps it to [0, max] */ + static size_t nearestPositiveInteger(double val, size_t max) { + // Comparing bounds as double prevents underflow/overflow + if (val > 0.0) { + return static_cast(std::min(std::round(val), static_cast(max))); + } else { + return 0; + } + } }; } // namespace signed_distance_field diff --git a/signed_distance_field/include/signed_distance_field/GridmapSignedDistanceField.h b/signed_distance_field/include/signed_distance_field/GridmapSignedDistanceField.h index e7da9cf5..5967439c 100644 --- a/signed_distance_field/include/signed_distance_field/GridmapSignedDistanceField.h +++ b/signed_distance_field/include/signed_distance_field/GridmapSignedDistanceField.h @@ -25,6 +25,7 @@ class GridmapSignedDistanceField : public switched_model::SignedDistanceField { EIGEN_MAKE_ALIGNED_OPERATOR_NEW GridmapSignedDistanceField(const grid_map::GridMap& gridMap, const std::string& elevationLayer, double minHeight, double maxHeight); + ~GridmapSignedDistanceField() override = default; GridmapSignedDistanceField* clone() const override; switched_model::scalar_t value(const switched_model::vector3_t& position) const override; diff --git a/signed_distance_field/src/GridmapSignedDistanceField.cpp b/signed_distance_field/src/GridmapSignedDistanceField.cpp index bb959f94..2c5558fe 100644 --- a/signed_distance_field/src/GridmapSignedDistanceField.cpp +++ b/signed_distance_field/src/GridmapSignedDistanceField.cpp @@ -29,7 +29,7 @@ GridmapSignedDistanceField::GridmapSignedDistanceField(const grid_map::GridMap& } GridmapSignedDistanceField::GridmapSignedDistanceField(const GridmapSignedDistanceField& other) - : gridmap3DLookup_(other.gridmap3DLookup_), data_(other.data_) {} + : switched_model::SignedDistanceField(), gridmap3DLookup_(other.gridmap3DLookup_), data_(other.data_) {} GridmapSignedDistanceField* GridmapSignedDistanceField::clone() const { return new GridmapSignedDistanceField(*this); diff --git a/signed_distance_field/test/test3dLookup.cpp b/signed_distance_field/test/test3dLookup.cpp new file mode 100644 index 00000000..64be208e --- /dev/null +++ b/signed_distance_field/test/test3dLookup.cpp @@ -0,0 +1,54 @@ +// +// Created by rgrandia on 18.08.20. +// + +#include + +#include "signed_distance_field/Gridmap3dLookup.h" + +using signed_distance_field::Gridmap3dLookup; +using size_t_3d = signed_distance_field::Gridmap3dLookup::size_t_3d; + +TEST(testGridmap3dLookup, nearestNode) { + const size_t_3d gridsize{8, 9, 10}; + const Eigen::Vector3d gridOrigin{-0.1, -0.2, -0.4}; + const double resolution = 0.1; + + signed_distance_field::Gridmap3dLookup gridmap3DLookup(gridsize, gridOrigin, resolution); + + // Retreive origin + const size_t_3d originNode = gridmap3DLookup.nearestNode(gridOrigin); + ASSERT_EQ(originNode.x, 0); + ASSERT_EQ(originNode.y, 0); + ASSERT_EQ(originNode.z, 0); + + // test underflow + const size_t_3d originNodeProjected = gridmap3DLookup.nearestNode(gridOrigin + Eigen::Vector3d{1e20, 1e20, -1e20}); + ASSERT_EQ(originNodeProjected.x, 0); + ASSERT_EQ(originNodeProjected.y, 0); + ASSERT_EQ(originNodeProjected.z, 0); + + // test overflow + const size_t_3d maxNodeProjected = gridmap3DLookup.nearestNode(gridOrigin + Eigen::Vector3d{-1e20, -1e20, +1e20}); + ASSERT_EQ(maxNodeProjected.x, gridsize.x - 1); + ASSERT_EQ(maxNodeProjected.y, gridsize.y - 1); + ASSERT_EQ(maxNodeProjected.z, gridsize.z - 1); + + // Nearest neighbour + const size_t_3d nodeIndex{3, 4, 5}; + const Eigen::Vector3d nodePosition = gridmap3DLookup.nodePosition(nodeIndex); + const size_t_3d closestNodeIndex = gridmap3DLookup.nearestNode(nodePosition + 0.49 * Eigen::Vector3d::Constant(resolution)); + ASSERT_EQ(closestNodeIndex.x, nodeIndex.x); + ASSERT_EQ(closestNodeIndex.y, nodeIndex.y); + ASSERT_EQ(closestNodeIndex.z, nodeIndex.z); +} + +TEST(testGridmap3dLookup, linearIndex) { + const size_t_3d gridsize{8, 9, 10}; + const Eigen::Vector3d gridOrigin{-0.1, -0.2, -0.4}; + const double resolution = 0.1; + + signed_distance_field::Gridmap3dLookup gridmap3DLookup(gridsize, gridOrigin, resolution); + ASSERT_EQ(gridmap3DLookup.linearIndex({0, 0, 0}), 0); + ASSERT_EQ(gridmap3DLookup.linearIndex({gridsize.x - 1, gridsize.y - 1, gridsize.z - 1}), gridmap3DLookup.linearSize() - 1); +} \ No newline at end of file diff --git a/signed_distance_field/test/testDerivatives.cpp b/signed_distance_field/test/testDerivatives.cpp index eac1e207..f56c35b7 100644 --- a/signed_distance_field/test/testDerivatives.cpp +++ b/signed_distance_field/test/testDerivatives.cpp @@ -6,7 +6,6 @@ #include "signed_distance_field/DistanceDerivatives.h" - TEST(testDerivatives, columnwise) { Eigen::MatrixXf data(2, 3); data << 1.0, 2.0, 4.0, From da846853750aed8d470d505b46ccef1abcf2984e Mon Sep 17 00:00:00 2001 From: rgrandia Date: Tue, 25 Aug 2020 13:53:22 +0200 Subject: [PATCH 071/504] decrease ransac connectivity distance --- convex_plane_decomposition_ros/config/parameters.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/convex_plane_decomposition_ros/config/parameters.yaml b/convex_plane_decomposition_ros/config/parameters.yaml index aa45a11c..1ac210c1 100644 --- a/convex_plane_decomposition_ros/config/parameters.yaml +++ b/convex_plane_decomposition_ros/config/parameters.yaml @@ -18,7 +18,7 @@ ransac_plane_refinement: probability: 0.01 # Probability to miss the largest candidate shape. A lower probability provides a higher reliability and determinism at the cost of longer running times min_points: 25 # This minimum number of points per plane. Controls the termination of the algorithm. epsilon: 0.02 # Maximum distance to plane - cluster_epsilon: 0.05 # Set maximum Euclidean distance between points to be clustered. Two points are connected if separated by a distance of at most 2*sqrt(2)*cluster_epsilon = 2.828 * cluster_epsilon + cluster_epsilon: 0.02 # Set maximum Euclidean distance between points to be clustered. Two points are connected if separated by a distance of at most 2*sqrt(2)*cluster_epsilon = 2.828 * cluster_epsilon normal_threshold: 0.98 # Set maximum normal deviation. normal_threshold < dot(surface_normal, point_normal); contour_extraction: From d4677d1d66c37b2842817f228bf86fae928f8862 Mon Sep 17 00:00:00 2001 From: rgrandia Date: Fri, 11 Sep 2020 10:01:19 +0200 Subject: [PATCH 072/504] make brace initializer type explicit --- .../src/ConvexPlaneDecompositionRos.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp b/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp index bf9bae7f..af1d0458 100644 --- a/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp +++ b/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp @@ -79,7 +79,8 @@ void ConvexPlaneExtractionROS::callback(const grid_map_msgs::GridMap& message) { // Convert message to map. ROS_INFO("Reading input map..."); grid_map::GridMap messageMap; - grid_map::GridMapRosConverter::fromMessage(message, messageMap, {elevationLayer_}, false, false); + std::vector layers{elevationLayer_}; + grid_map::GridMapRosConverter::fromMessage(message, messageMap, layers, false, false); bool success; grid_map::GridMap elevationMap = messageMap.getSubmap(messageMap.getPosition(), Eigen::Array2d(subMapWidth_, subMapLength_), success); ROS_INFO("...done."); From 9ea8b1c3c874ba4f5c6746bc351c007be5a0169c Mon Sep 17 00:00:00 2001 From: rgrandia Date: Fri, 11 Sep 2020 10:40:37 +0200 Subject: [PATCH 073/504] environment anymal --- jenkins-pipeline | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/jenkins-pipeline b/jenkins-pipeline index 59d9ff9b..ba291975 100644 --- a/jenkins-pipeline +++ b/jenkins-pipeline @@ -1,2 +1,2 @@ library 'continuous_integration_pipeline' -ciPipeline("") +ciPipeline("--environment anymal") From 209f78ae2961ab2bd2f79fb436f4d1cde8379e72 Mon Sep 17 00:00:00 2001 From: rgrandia Date: Mon, 28 Sep 2020 15:36:34 +0200 Subject: [PATCH 074/504] point to ocs2_anymal branch for CI --- jenkins-pipeline | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/jenkins-pipeline b/jenkins-pipeline index ba291975..cc00826c 100644 --- a/jenkins-pipeline +++ b/jenkins-pipeline @@ -1,2 +1,2 @@ library 'continuous_integration_pipeline' -ciPipeline("--environment anymal") +ciPipeline("--environment anymal --dependencies git@bitbucket.org:leggedrobotics/ocs2_anymal.git;feature/perception;git") From fd202f0a83ad9f75f51c03ecc552ced0c2fe121c Mon Sep 17 00:00:00 2001 From: rgrandia Date: Mon, 28 Sep 2020 17:26:53 +0200 Subject: [PATCH 075/504] move visualization helpers to switched_model --- cgal5_catkin/CMakeLists.txt | 4 +++ segmented_planes_terrain_model/CMakeLists.txt | 1 - .../SegmentedPlanesTerrainModelRos.h | 1 + .../SegmentedPlanesTerrainVisualization.h | 3 +-- segmented_planes_terrain_model/package.xml | 1 - .../src/DemoNode.cpp | 2 +- .../src/SegmentedPlanesTerrainModelRos.cpp | 25 ++++++++++++------- 7 files changed, 23 insertions(+), 14 deletions(-) diff --git a/cgal5_catkin/CMakeLists.txt b/cgal5_catkin/CMakeLists.txt index 445a42f5..687ee40d 100644 --- a/cgal5_catkin/CMakeLists.txt +++ b/cgal5_catkin/CMakeLists.txt @@ -9,6 +9,10 @@ set(VERSION 5.0.2) file(MAKE_DIRECTORY ${CATKIN_DEVEL_PREFIX}/include) +# Cpp standard version +set(CMAKE_CXX_STANDARD 14) +set(CMAKE_CXX_STANDARD_REQUIRED ON) + set(CGAL_VERSION 5.0.2) ExternalProject_Add(cgal URL https://github.com/CGAL/cgal/archive/releases/CGAL-${CGAL_VERSION}.tar.gz diff --git a/segmented_planes_terrain_model/CMakeLists.txt b/segmented_planes_terrain_model/CMakeLists.txt index 9482e05c..dccffca0 100644 --- a/segmented_planes_terrain_model/CMakeLists.txt +++ b/segmented_planes_terrain_model/CMakeLists.txt @@ -4,7 +4,6 @@ project(segmented_planes_terrain_model) # Catkin dependencies set(CATKIN_PACKAGE_DEPENDENCIES ocs2_switched_model_interface - ocs2_quadruped_interface grid_map_sdf pcl_ros convex_plane_decomposition diff --git a/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesTerrainModelRos.h b/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesTerrainModelRos.h index 3f9cc207..46f0931f 100644 --- a/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesTerrainModelRos.h +++ b/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesTerrainModelRos.h @@ -43,6 +43,7 @@ class SegmentedPlanesTerrainModelRos { std::mutex updateCoordinatesMutex_; Eigen::Vector3d minCoordinates_; Eigen::Vector3d maxCoordinates_; + bool createSignedDistance_ = false; std::mutex pointCloudMutex_; pcl::PointCloud pointCloud_; diff --git a/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesTerrainVisualization.h b/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesTerrainVisualization.h index 3cabb232..a89c2cb9 100644 --- a/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesTerrainVisualization.h +++ b/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesTerrainVisualization.h @@ -8,8 +8,7 @@ #include #include - -#include +#include namespace switched_model { diff --git a/segmented_planes_terrain_model/package.xml b/segmented_planes_terrain_model/package.xml index 8547f888..2034ed44 100644 --- a/segmented_planes_terrain_model/package.xml +++ b/segmented_planes_terrain_model/package.xml @@ -10,7 +10,6 @@ catkin ocs2_switched_model_interface - ocs2_quadruped_interface grid_map_sdf pcl_ros convex_plane_decomposition diff --git a/segmented_planes_terrain_model/src/DemoNode.cpp b/segmented_planes_terrain_model/src/DemoNode.cpp index b9ae9d7d..0500d2e8 100644 --- a/segmented_planes_terrain_model/src/DemoNode.cpp +++ b/segmented_planes_terrain_model/src/DemoNode.cpp @@ -17,7 +17,7 @@ #include #include -#include +#include #include "segmented_planes_terrain_model/SegmentedPlanesTerrainVisualization.h" diff --git a/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModelRos.cpp b/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModelRos.cpp index 0fccb2f8..78b6f36b 100644 --- a/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModelRos.cpp +++ b/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModelRos.cpp @@ -8,11 +8,12 @@ #include #include -#include +#include namespace switched_model { -SegmentedPlanesTerrainModelRos::SegmentedPlanesTerrainModelRos(ros::NodeHandle& nodehandle) : terrainUpdated_(false), minCoordinates_(Eigen::Vector3d::Zero()), maxCoordinates_(Eigen::Vector3d::Zero()) { +SegmentedPlanesTerrainModelRos::SegmentedPlanesTerrainModelRos(ros::NodeHandle& nodehandle) + : terrainUpdated_(false), minCoordinates_(Eigen::Vector3d::Zero()), maxCoordinates_(Eigen::Vector3d::Zero()) { terrainSubscriber_ = nodehandle.subscribe("/convex_plane_decomposition_ros/planar_terrain", 1, &SegmentedPlanesTerrainModelRos::callback, this); distanceFieldPublisher_ = nodehandle.advertise("/convex_plane_decomposition_ros/signed_distance_field", 1); @@ -31,10 +32,12 @@ bool SegmentedPlanesTerrainModelRos::update(std::unique_ptr lock(updateCoordinatesMutex_); minCoordinates_ = minCoordinates; maxCoordinates_ = maxCoordinates; + createSignedDistance_ = true; } void SegmentedPlanesTerrainModelRos::publish() { @@ -53,21 +56,25 @@ void SegmentedPlanesTerrainModelRos::callback(const convex_plane_decomposition_m auto terrainPtr = std::make_unique(convex_plane_decomposition::fromMessage(*msg)); // Extract coordinates for signed distance field + bool createSignedDistance = false; Eigen::Vector3d minCoordinates; Eigen::Vector3d maxCoordinates; { std::lock_guard lock(updateCoordinatesMutex_); minCoordinates = minCoordinates_; maxCoordinates = maxCoordinates_; + createSignedDistance = createSignedDistance_; } - // Build signed distance field - terrainPtr->createSignedDistanceBetween(minCoordinates_, maxCoordinates_); + if (createSignedDistance) { + // Build signed distance field + terrainPtr->createSignedDistanceBetween(minCoordinates_, maxCoordinates_); - // Create pointcloud - { - std::lock_guard lock(pointCloudMutex_); - pointCloud_ = terrainPtr->getSignedDistanceField()->asPointCloud(1, [](float val) { return -0.05F <= val && val <= 0.0F; }); + // Create pointcloud + { + std::lock_guard lock(pointCloudMutex_); + pointCloud_ = terrainPtr->getSignedDistanceField()->asPointCloud(1, [](float val) { return -0.05F <= val && val <= 0.0F; }); + } } // Move to storage under the lock From 0320f050cde6c4f6b8c722af5df14db13ee232df Mon Sep 17 00:00:00 2001 From: rgrandia Date: Mon, 28 Sep 2020 18:29:08 +0200 Subject: [PATCH 076/504] add cpp14 as requirement for CGAL --- cgal5_catkin/CMakeLists.txt | 4 ---- cgal5_catkin/cmake/cgal-extras.cmake.in | 6 +++++- 2 files changed, 5 insertions(+), 5 deletions(-) diff --git a/cgal5_catkin/CMakeLists.txt b/cgal5_catkin/CMakeLists.txt index 687ee40d..445a42f5 100644 --- a/cgal5_catkin/CMakeLists.txt +++ b/cgal5_catkin/CMakeLists.txt @@ -9,10 +9,6 @@ set(VERSION 5.0.2) file(MAKE_DIRECTORY ${CATKIN_DEVEL_PREFIX}/include) -# Cpp standard version -set(CMAKE_CXX_STANDARD 14) -set(CMAKE_CXX_STANDARD_REQUIRED ON) - set(CGAL_VERSION 5.0.2) ExternalProject_Add(cgal URL https://github.com/CGAL/cgal/archive/releases/CGAL-${CGAL_VERSION}.tar.gz diff --git a/cgal5_catkin/cmake/cgal-extras.cmake.in b/cgal5_catkin/cmake/cgal-extras.cmake.in index aebefc49..3db7988c 100644 --- a/cgal5_catkin/cmake/cgal-extras.cmake.in +++ b/cgal5_catkin/cmake/cgal-extras.cmake.in @@ -1,2 +1,6 @@ # Makes CGAL/find___.cmake available -list(APPEND CMAKE_MODULE_PATH @CATKIN_DEVEL_PREFIX@/lib/cmake/CGAL) \ No newline at end of file +list(APPEND CMAKE_MODULE_PATH @CATKIN_DEVEL_PREFIX@/lib/cmake/CGAL) + +# Cpp standard version +set(CMAKE_CXX_STANDARD 14) +set(CMAKE_CXX_STANDARD_REQUIRED ON) \ No newline at end of file From 54242698a97e1bc7af6daff9e7062641c3a54d55 Mon Sep 17 00:00:00 2001 From: rgrandia Date: Mon, 5 Oct 2020 17:07:32 +0200 Subject: [PATCH 077/504] check for nullptr --- .../src/SegmentedPlanesTerrainModelRos.cpp | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModelRos.cpp b/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModelRos.cpp index 78b6f36b..9bc758bf 100644 --- a/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModelRos.cpp +++ b/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModelRos.cpp @@ -69,11 +69,12 @@ void SegmentedPlanesTerrainModelRos::callback(const convex_plane_decomposition_m if (createSignedDistance) { // Build signed distance field terrainPtr->createSignedDistanceBetween(minCoordinates_, maxCoordinates_); + const auto* sdfPtr = terrainPtr->getSignedDistanceField(); // Create pointcloud - { + if (sdfPtr != nullptr) { std::lock_guard lock(pointCloudMutex_); - pointCloud_ = terrainPtr->getSignedDistanceField()->asPointCloud(1, [](float val) { return -0.05F <= val && val <= 0.0F; }); + pointCloud_ = sdfPtr->asPointCloud(1, [](float val) { return -0.05F <= val && val <= 0.0F; }); } } From 5302efccf9eaacc1107af8d410ad6cb53360c29a Mon Sep 17 00:00:00 2001 From: Marko Bjelonic Date: Sun, 22 Nov 2020 14:37:00 +0100 Subject: [PATCH 078/504] Genralize launch and config files. --- convex_plane_decomposition_ros/config/node.yaml | 1 + .../ConvexPlaneDecompositionRos.h | 2 +- .../launch/convex_plane_decomposition.launch | 8 ++++---- .../src/ConvexPlaneDecompositionRos.cpp | 6 +++++- 4 files changed, 11 insertions(+), 6 deletions(-) diff --git a/convex_plane_decomposition_ros/config/node.yaml b/convex_plane_decomposition_ros/config/node.yaml index 4343d077..e7901ec4 100644 --- a/convex_plane_decomposition_ros/config/node.yaml +++ b/convex_plane_decomposition_ros/config/node.yaml @@ -1,5 +1,6 @@ elevation_topic: '/elevation_mapping/elevation_map_raw' height_layer: 'elevation' +target_frame_id: 'odom' submap: width: 3.0 length: 3.0 diff --git a/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/ConvexPlaneDecompositionRos.h b/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/ConvexPlaneDecompositionRos.h index fcca9c26..6b37f375 100644 --- a/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/ConvexPlaneDecompositionRos.h +++ b/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/ConvexPlaneDecompositionRos.h @@ -43,7 +43,7 @@ class ConvexPlaneExtractionROS { // Parameters std::string elevationMapTopic_; std::string elevationLayer_; - std::string targetFrameId_ = "odom"; + std::string targetFrameId_; double subMapWidth_; double subMapLength_; bool publishToController_; diff --git a/convex_plane_decomposition_ros/launch/convex_plane_decomposition.launch b/convex_plane_decomposition_ros/launch/convex_plane_decomposition.launch index 7716193d..d72f65e1 100644 --- a/convex_plane_decomposition_ros/launch/convex_plane_decomposition.launch +++ b/convex_plane_decomposition_ros/launch/convex_plane_decomposition.launch @@ -1,13 +1,13 @@ - - + + - - + + diff --git a/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp b/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp index 03db24e0..f7ffa7e0 100644 --- a/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp +++ b/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp @@ -41,6 +41,10 @@ bool ConvexPlaneExtractionROS::loadParameters(const ros::NodeHandle& nodeHandle) ROS_ERROR("[ConvexPlaneExtractionROS] Could not read parameter `elevation_topic`."); return false; } + if (!nodeHandle.getParam("target_frame_id", targetFrameId_)) { + ROS_ERROR("[ConvexPlaneExtractionROS] Could not read parameter `elevation_topic`."); + return false; + } if (!nodeHandle.getParam("height_layer", elevationLayer_)) { ROS_ERROR("[ConvexPlaneExtractionROS] Could not read parameter `height_layer`."); return false; @@ -82,7 +86,7 @@ void ConvexPlaneExtractionROS::callback(const grid_map_msgs::GridMap& message) { std::vector layers{elevationLayer_}; grid_map::GridMapRosConverter::fromMessage(message, messageMap, layers, false, false); bool success; - grid_map::GridMap elevationMap = messageMap.getSubmap(messageMap.getPosition(), Eigen::Array2d(subMapWidth_, subMapLength_), success); + grid_map::GridMap elevationMap = messageMap.getSubmap(messageMap.getPosition(), Eigen::Array2d(subMapLength_, subMapWidth_), success); ROS_INFO("...done."); // Transform map if necessary From db64d24d85403d65ca67786a5f08ca3a8d2b063b Mon Sep 17 00:00:00 2001 From: Marko Bjelonic Date: Mon, 23 Nov 2020 11:15:31 +0100 Subject: [PATCH 079/504] Fixed error message when reading target frame id. --- .../src/ConvexPlaneDecompositionRos.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp b/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp index f7ffa7e0..8407842f 100644 --- a/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp +++ b/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp @@ -42,7 +42,7 @@ bool ConvexPlaneExtractionROS::loadParameters(const ros::NodeHandle& nodeHandle) return false; } if (!nodeHandle.getParam("target_frame_id", targetFrameId_)) { - ROS_ERROR("[ConvexPlaneExtractionROS] Could not read parameter `elevation_topic`."); + ROS_ERROR("[ConvexPlaneExtractionROS] Could not read parameter `target_frame_id`."); return false; } if (!nodeHandle.getParam("height_layer", elevationLayer_)) { From 31cfb2fd3f3cef2f009fcc690243a577ed002859 Mon Sep 17 00:00:00 2001 From: rgrandia Date: Fri, 27 Nov 2020 11:55:51 +0100 Subject: [PATCH 080/504] - generate sdf pointcloud without holding the lock. - return terrainPtr by value - create full sdf if no range is specified. --- .../SegmentedPlanesTerrainModelRos.h | 16 ++- .../src/DemoNode.cpp | 3 +- .../src/SegmentedPlanesTerrainModelRos.cpp | 107 ++++++++++++------ 3 files changed, 84 insertions(+), 42 deletions(-) diff --git a/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesTerrainModelRos.h b/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesTerrainModelRos.h index 46f0931f..f16aa770 100644 --- a/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesTerrainModelRos.h +++ b/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesTerrainModelRos.h @@ -11,6 +11,7 @@ #include #include +#include #include #include "SegmentedPlanesTerrainModel.h" @@ -19,12 +20,12 @@ namespace switched_model { class SegmentedPlanesTerrainModelRos { public: - std::string frameId_ = "odom"; - SegmentedPlanesTerrainModelRos(ros::NodeHandle& nodehandle); - /// Updates the terrain if a new one is available. Return if an update was made - bool update(std::unique_ptr& terrainPtr); + ~SegmentedPlanesTerrainModelRos(); + + /// Extract the latest terrain model. Resets internal model to a nullptr + std::unique_ptr getTerrainModel(); void createSignedDistanceBetween(const Eigen::Vector3d& minCoordinates, const Eigen::Vector3d& maxCoordinates); @@ -33,6 +34,8 @@ class SegmentedPlanesTerrainModelRos { private: void callback(const convex_plane_decomposition_msgs::PlanarTerrain::ConstPtr& msg); + std::pair getSignedDistanceRange(const grid_map::GridMap& gridMap, const std::string& elevationLayer); + ros::Subscriber terrainSubscriber_; ros::Publisher distanceFieldPublisher_; @@ -43,10 +46,13 @@ class SegmentedPlanesTerrainModelRos { std::mutex updateCoordinatesMutex_; Eigen::Vector3d minCoordinates_; Eigen::Vector3d maxCoordinates_; - bool createSignedDistance_ = false; + bool externalCoordinatesGiven_; std::mutex pointCloudMutex_; pcl::PointCloud pointCloud_; + std::string frameId_; + + ocs2::benchmark::RepeatedTimer callbackTimer_; }; } // namespace switched_model diff --git a/segmented_planes_terrain_model/src/DemoNode.cpp b/segmented_planes_terrain_model/src/DemoNode.cpp index 0500d2e8..d5a1a0c7 100644 --- a/segmented_planes_terrain_model/src/DemoNode.cpp +++ b/segmented_planes_terrain_model/src/DemoNode.cpp @@ -79,7 +79,8 @@ int main(int argc, char** argv) { // Node loop ros::Rate rate(1./5.); while (ros::ok()) { - if (segmentedPlanesTerrainModelRos.update(terrainModel)) { + if (auto newTerrain = segmentedPlanesTerrainModelRos.getTerrainModel()) { + terrainModel = std::move(newTerrain); ROS_INFO("Terrain model updated!!"); } diff --git a/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModelRos.cpp b/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModelRos.cpp index 9bc758bf..cc0ceef6 100644 --- a/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModelRos.cpp +++ b/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModelRos.cpp @@ -13,77 +13,112 @@ namespace switched_model { SegmentedPlanesTerrainModelRos::SegmentedPlanesTerrainModelRos(ros::NodeHandle& nodehandle) - : terrainUpdated_(false), minCoordinates_(Eigen::Vector3d::Zero()), maxCoordinates_(Eigen::Vector3d::Zero()) { + : terrainUpdated_(false), + minCoordinates_(Eigen::Vector3d::Zero()), + maxCoordinates_(Eigen::Vector3d::Zero()), + externalCoordinatesGiven_(false) { terrainSubscriber_ = nodehandle.subscribe("/convex_plane_decomposition_ros/planar_terrain", 1, &SegmentedPlanesTerrainModelRos::callback, this); - distanceFieldPublisher_ = nodehandle.advertise("/convex_plane_decomposition_ros/signed_distance_field", 1); + distanceFieldPublisher_ = + nodehandle.advertise("/convex_plane_decomposition_ros/signed_distance_field", 1, true); } -bool SegmentedPlanesTerrainModelRos::update(std::unique_ptr& terrainPtr) { - // Avoid locking the mutex in the common case that the terrain is not updated. - if (terrainUpdated_) { - std::lock_guard lock(updateMutex_); - terrainPtr = std::move(terrainPtr_); - terrainPtr_ = nullptr; - terrainUpdated_ = false; - return true; - } else { - return false; +SegmentedPlanesTerrainModelRos::~SegmentedPlanesTerrainModelRos() { + if (callbackTimer_.getNumTimedIntervals() > 0) { + std::cout << "[SegmentedPlanesTerrainModelRos] Benchmarking terrain Callback\n" + << "\tStatistics computed over " << callbackTimer_.getNumTimedIntervals() << " iterations. \n" + << "\tAverage time [ms] " << callbackTimer_.getAverageInMilliseconds() << "\n" + << "\tMaximum time [ms] " << callbackTimer_.getMaxIntervalInMilliseconds() << std::endl; } } +std::unique_ptr SegmentedPlanesTerrainModelRos::getTerrainModel() { + std::lock_guard lock(updateMutex_); + return std::move(terrainPtr_); +} + void SegmentedPlanesTerrainModelRos::createSignedDistanceBetween(const Eigen::Vector3d& minCoordinates, const Eigen::Vector3d& maxCoordinates) { std::lock_guard lock(updateCoordinatesMutex_); minCoordinates_ = minCoordinates; maxCoordinates_ = maxCoordinates; - createSignedDistance_ = true; + externalCoordinatesGiven_ = true; } void SegmentedPlanesTerrainModelRos::publish() { - sensor_msgs::PointCloud2 pointCloud2Msg; + // Extract point cloud. + pcl::PointCloud pointcloud; { std::lock_guard lock(pointCloudMutex_); - pcl::toROSMsg(pointCloud_, pointCloud2Msg); + pointcloud.swap(pointCloud_); } - pointCloud2Msg.header = switched_model::getHeaderMsg(frameId_, ros::Time::now()); - distanceFieldPublisher_.publish(pointCloud2Msg); + // Publish. + if (!pointcloud.empty()) { + sensor_msgs::PointCloud2 pointCloud2Msg; + pcl::toROSMsg(pointcloud, pointCloud2Msg); + + pointCloud2Msg.header = switched_model::getHeaderMsg(frameId_, ros::Time::now()); + distanceFieldPublisher_.publish(pointCloud2Msg); + } } void SegmentedPlanesTerrainModelRos::callback(const convex_plane_decomposition_msgs::PlanarTerrain::ConstPtr& msg) { + callbackTimer_.startTimer(); + // Read terrain auto terrainPtr = std::make_unique(convex_plane_decomposition::fromMessage(*msg)); + // Create SDF + const std::string elevationLayer = "elevation"; + if (terrainPtr->planarTerrain().gridMap.exists(elevationLayer)) { + const auto sdfRange = getSignedDistanceRange(terrainPtr->planarTerrain().gridMap, elevationLayer); + terrainPtr->createSignedDistanceBetween(sdfRange.first, sdfRange.second); + } + + // Create pointcloud for visualization + const auto* sdfPtr = terrainPtr->getSignedDistanceField(); + if (sdfPtr != nullptr) { + auto pointCloud = sdfPtr->asPointCloud(1, [](float val) { return -0.05F <= val && val <= 0.0F; }); + std::lock_guard lock(pointCloudMutex_); + pointCloud_.swap(pointCloud); + frameId_ = terrainPtr->planarTerrain().gridMap.getFrameId(); + } + + { // Move to storage under the lock + std::lock_guard lock(updateMutex_); + terrainPtr_ = std::move(terrainPtr); + } + + callbackTimer_.endTimer(); +} + +std::pair SegmentedPlanesTerrainModelRos::getSignedDistanceRange(const grid_map::GridMap& gridMap, + const std::string& elevationLayer) { // Extract coordinates for signed distance field - bool createSignedDistance = false; Eigen::Vector3d minCoordinates; Eigen::Vector3d maxCoordinates; + bool externalRangeGiven; { std::lock_guard lock(updateCoordinatesMutex_); minCoordinates = minCoordinates_; maxCoordinates = maxCoordinates_; - createSignedDistance = createSignedDistance_; + externalRangeGiven = externalCoordinatesGiven_; } - if (createSignedDistance) { - // Build signed distance field - terrainPtr->createSignedDistanceBetween(minCoordinates_, maxCoordinates_); - const auto* sdfPtr = terrainPtr->getSignedDistanceField(); + if (!externalRangeGiven) { + // Read min-max from elevation map + const float heightMargin = 0.1; + const auto& elevationData = gridMap.get(elevationLayer); + const float minValue = elevationData.minCoeffOfFinites() - heightMargin; + const float maxValue = elevationData.maxCoeffOfFinites() + heightMargin; + auto minXY = gridMap.getClosestPositionInMap({std::numeric_limits::lowest(), std::numeric_limits::lowest()}); + auto maxXY = gridMap.getClosestPositionInMap({std::numeric_limits::max(), std::numeric_limits::max()}); + minCoordinates = {minXY.x(), minXY.y(), minValue}; + maxCoordinates = {maxXY.x(), maxXY.y(), maxValue}; + }; - // Create pointcloud - if (sdfPtr != nullptr) { - std::lock_guard lock(pointCloudMutex_); - pointCloud_ = sdfPtr->asPointCloud(1, [](float val) { return -0.05F <= val && val <= 0.0F; }); - } - } - - // Move to storage under the lock - { - std::lock_guard lock(updateMutex_); - terrainPtr_ = std::move(terrainPtr); - terrainUpdated_ = true; - } + return {minCoordinates, maxCoordinates}; } } // namespace switched_model From fb57bc26eb32d38013148d3f4f8c78ac7e8a466a Mon Sep 17 00:00:00 2001 From: rgrandia Date: Thu, 3 Dec 2020 10:56:30 +0100 Subject: [PATCH 081/504] Project coordinates to map to make getSubmap succeed. Print warning on failure --- .../src/SegmentedPlanesTerrainModel.cpp | 12 ++++++++---- .../src/GridmapSignedDistanceField.cpp | 6 +++++- 2 files changed, 13 insertions(+), 5 deletions(-) diff --git a/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModel.cpp b/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModel.cpp index aeb225cc..23ab8f3d 100644 --- a/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModel.cpp +++ b/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModel.cpp @@ -74,15 +74,19 @@ ConvexTerrain SegmentedPlanesTerrainModel::getConvexTerrainAtPositionInWorld(con void SegmentedPlanesTerrainModel::createSignedDistanceBetween(const Eigen::Vector3d& minCoordinates, const Eigen::Vector3d& maxCoordinates) { - Eigen::Vector3d centerCoordinates = 0.5 * (minCoordinates + maxCoordinates); - Eigen::Vector3d lengths = maxCoordinates - minCoordinates; + // Compute coordinates of submap + const auto minXY = planarTerrain_.gridMap.getClosestPositionInMap({minCoordinates.x(), minCoordinates.y()}); + const auto maxXY = planarTerrain_.gridMap.getClosestPositionInMap({maxCoordinates.x(), maxCoordinates.y()}); + const auto centerXY = 0.5 * (minXY + maxXY); + const auto lengths = maxXY - minXY; bool success = true; - grid_map::GridMap subMap = - planarTerrain_.gridMap.getSubmap({centerCoordinates.x(), centerCoordinates.y()}, Eigen::Array2d(lengths.x(), lengths.y()), success); + grid_map::GridMap subMap = planarTerrain_.gridMap.getSubmap(centerXY, lengths, success); if (success) { signedDistanceField_ = std::make_unique(subMap, "elevation", minCoordinates.z(), maxCoordinates.z()); + } else { + std::cerr << "[SegmentedPlanesTerrainModel] Failed to get subMap" << std::endl; } } diff --git a/signed_distance_field/src/GridmapSignedDistanceField.cpp b/signed_distance_field/src/GridmapSignedDistanceField.cpp index 2c5558fe..68fcd043 100644 --- a/signed_distance_field/src/GridmapSignedDistanceField.cpp +++ b/signed_distance_field/src/GridmapSignedDistanceField.cpp @@ -25,7 +25,11 @@ GridmapSignedDistanceField::GridmapSignedDistanceField(const grid_map::GridMap& gridmap3DLookup_ = Gridmap3dLookup(gridsize, gridOrigin, gridMap.getResolution()); data_.reserve(gridmap3DLookup_.linearSize()); - computeSignedDistance(gridMap.get(elevationLayer)); + const auto& elevationData = gridMap.get(elevationLayer); + if (elevationData.hasNaN()) { + std::cerr << "[GridmapSignedDistanceField] elevation data contains NaN" << std::endl; + } + computeSignedDistance(elevationData); } GridmapSignedDistanceField::GridmapSignedDistanceField(const GridmapSignedDistanceField& other) From 92d8d6663d5b6fce0c8c4d30ed3fe56f433dc22d Mon Sep 17 00:00:00 2001 From: rgrandia Date: Fri, 11 Dec 2020 10:13:38 +0100 Subject: [PATCH 082/504] no change --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index 0fa1cce7..5652a860 100644 --- a/README.md +++ b/README.md @@ -57,4 +57,4 @@ You can select input map topics, pipeline parameters etc. in the respective yaml ```bash convex_plane_decomposition_ros/config/ ``` -Some other parameters are set through the launch files. \ No newline at end of file +Some other parameters are set through the launch files. From 3fd62ef02e507f25284dcf9c10fd7d86bddaca66 Mon Sep 17 00:00:00 2001 From: Jan Carius Date: Tue, 23 Feb 2021 11:47:45 +0100 Subject: [PATCH 083/504] update to ubuntu20 and ros noetic. --- README.md | 2 +- .../src/contour_extraction/ContourExtraction.cpp | 2 +- .../SlidingWindowPlaneExtractor.cpp | 3 ++- 3 files changed, 4 insertions(+), 3 deletions(-) diff --git a/README.md b/README.md index 5652a860..bef9dce0 100644 --- a/README.md +++ b/README.md @@ -33,7 +33,7 @@ sudo apt-get install libboost-all-dev #### JSK-visualization For rviz-visualization the jsk-library is used. ```bash -sudo apt-get install ros-melodic-jsk-visualization +sudo apt-get install ros-noetic-jsk-visualization ``` #### Grid Map diff --git a/convex_plane_decomposition/src/contour_extraction/ContourExtraction.cpp b/convex_plane_decomposition/src/contour_extraction/ContourExtraction.cpp index 58c3b16b..1963af66 100644 --- a/convex_plane_decomposition/src/contour_extraction/ContourExtraction.cpp +++ b/convex_plane_decomposition/src/contour_extraction/ContourExtraction.cpp @@ -81,7 +81,7 @@ std::vector extractPolygonsFromBinaryImage(const cv::Mat return hierarchyVector[3] < 0; // no parent }; - cv::findContours(binary_image, contours, hierarchy, CV_RETR_CCOMP, CV_CHAIN_APPROX_SIMPLE); + cv::findContours(binary_image, contours, hierarchy, cv::RETR_CCOMP, cv::CHAIN_APPROX_SIMPLE); std::vector plane_polygons; for (int i = 0; i < contours.size(); i++) { diff --git a/convex_plane_decomposition/src/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.cpp b/convex_plane_decomposition/src/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.cpp index 0f0a7aa1..8ea045eb 100644 --- a/convex_plane_decomposition/src/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.cpp +++ b/convex_plane_decomposition/src/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.cpp @@ -6,7 +6,8 @@ #include -#include +#include +#include #include From 26684a2f373c548f2198ae0570ab46285014700f Mon Sep 17 00:00:00 2001 From: rgrandia Date: Fri, 26 Feb 2021 08:32:05 +0100 Subject: [PATCH 084/504] add PCL build from source --- README.md | 9 ++++++++ pcl_catkin/.gitignore | 32 ++++++++++++++++++++++++++++ pcl_catkin/CMakeLists.txt | 31 +++++++++++++++++++++++++++ pcl_catkin/README.md | 2 ++ pcl_catkin/cmake/pcl-extras.cmake.in | 3 +++ pcl_catkin/package.xml | 13 +++++++++++ 6 files changed, 90 insertions(+) create mode 100644 pcl_catkin/.gitignore create mode 100644 pcl_catkin/CMakeLists.txt create mode 100644 pcl_catkin/README.md create mode 100644 pcl_catkin/cmake/pcl-extras.cmake.in create mode 100644 pcl_catkin/package.xml diff --git a/README.md b/README.md index bef9dce0..434d7e76 100644 --- a/README.md +++ b/README.md @@ -28,6 +28,15 @@ sudo apt-get install libmpfr-dev sudo apt-get install libboost-all-dev ``` +#### PCL +PCL is required, but the ANYbotics distributed version does not contain visualization components. +With the following commands PCL can be build from source directly into your catkin workspace. +DO NOT do this on the ANYmal onboard PCs, only on OPC and simulation PCs. +```bash +sudo apt-get install libvtk7-dev +catkin build pcl_catkin +``` + ### ROS package dependencies #### JSK-visualization diff --git a/pcl_catkin/.gitignore b/pcl_catkin/.gitignore new file mode 100644 index 00000000..259148fa --- /dev/null +++ b/pcl_catkin/.gitignore @@ -0,0 +1,32 @@ +# Prerequisites +*.d + +# Compiled Object files +*.slo +*.lo +*.o +*.obj + +# Precompiled Headers +*.gch +*.pch + +# Compiled Dynamic libraries +*.so +*.dylib +*.dll + +# Fortran module files +*.mod +*.smod + +# Compiled Static libraries +*.lai +*.la +*.a +*.lib + +# Executables +*.exe +*.out +*.app diff --git a/pcl_catkin/CMakeLists.txt b/pcl_catkin/CMakeLists.txt new file mode 100644 index 00000000..f9db00da --- /dev/null +++ b/pcl_catkin/CMakeLists.txt @@ -0,0 +1,31 @@ +cmake_minimum_required(VERSION 3.10) +project(pcl_catkin) + +find_package(catkin REQUIRED) + +include(ExternalProject) + +set(VERSION 1.10.0) + +file(MAKE_DIRECTORY ${CATKIN_DEVEL_PREFIX}/include) + +set(PCL_VERSION 1.10.0) +ExternalProject_Add(pcl + URL https://github.com/PointCloudLibrary/pcl/archive/pcl-${PCL_VERSION}.tar.gz + UPDATE_COMMAND "" + CMAKE_ARGS + -DCMAKE_INSTALL_PREFIX=${CATKIN_DEVEL_PREFIX} + -DCMAKE_BUILD_TYPE:STRING=Release + BUILD_COMMAND $(MAKE) + INSTALL_COMMAND $(MAKE) install +) + +catkin_package( + INCLUDE_DIRS ${CATKIN_DEVEL_PREFIX}/include + CFG_EXTRAS pcl-extras.cmake +) + +install(DIRECTORY ${CATKIN_DEVEL_PREFIX}/include/pcl-1.10/pcl/ + DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION}/pcl/ +) + diff --git a/pcl_catkin/README.md b/pcl_catkin/README.md new file mode 100644 index 00000000..a8b07986 --- /dev/null +++ b/pcl_catkin/README.md @@ -0,0 +1,2 @@ +# pcl_catkin +Catkin wrapper of the Point Cloud Library (PCL) diff --git a/pcl_catkin/cmake/pcl-extras.cmake.in b/pcl_catkin/cmake/pcl-extras.cmake.in new file mode 100644 index 00000000..3dc8a6c5 --- /dev/null +++ b/pcl_catkin/cmake/pcl-extras.cmake.in @@ -0,0 +1,3 @@ +# Cpp standard version +set(CMAKE_CXX_STANDARD 14) +set(CMAKE_CXX_STANDARD_REQUIRED ON) \ No newline at end of file diff --git a/pcl_catkin/package.xml b/pcl_catkin/package.xml new file mode 100644 index 00000000..65f211f3 --- /dev/null +++ b/pcl_catkin/package.xml @@ -0,0 +1,13 @@ + + + pcl_catkin + 1.7.2 + Catkin wrapper for PCL. + Ruben Grandia + + See package + + catkin + libvtk7-dev + + From 65229ccc1bd214dafbe136f555dda1c55990ad8f Mon Sep 17 00:00:00 2001 From: rgrandia Date: Fri, 26 Feb 2021 08:32:13 +0100 Subject: [PATCH 085/504] fix demo node --- .../config/demo_node.yaml | 1 + .../launch/demo.launch | 2 +- .../rviz/config_demo.rviz | 576 +----------------- 3 files changed, 11 insertions(+), 568 deletions(-) diff --git a/convex_plane_decomposition_ros/config/demo_node.yaml b/convex_plane_decomposition_ros/config/demo_node.yaml index a25332aa..22ceb32a 100644 --- a/convex_plane_decomposition_ros/config/demo_node.yaml +++ b/convex_plane_decomposition_ros/config/demo_node.yaml @@ -1,5 +1,6 @@ elevation_topic: '/image_to_gridmap_demo/grid_map' height_layer: 'elevation' +target_frame_id: 'odom' submap: width: 6.0 length: 6.0 diff --git a/convex_plane_decomposition_ros/launch/demo.launch b/convex_plane_decomposition_ros/launch/demo.launch index b0df4646..82561c20 100644 --- a/convex_plane_decomposition_ros/launch/demo.launch +++ b/convex_plane_decomposition_ros/launch/demo.launch @@ -24,7 +24,7 @@ - + diff --git a/convex_plane_decomposition_ros/rviz/config_demo.rviz b/convex_plane_decomposition_ros/rviz/config_demo.rviz index 9aeda245..d15f170f 100644 --- a/convex_plane_decomposition_ros/rviz/config_demo.rviz +++ b/convex_plane_decomposition_ros/rviz/config_demo.rviz @@ -38,6 +38,7 @@ Visualization Manager: Color: 25; 255; 0 Enabled: true Name: Boundaries + Queue Size: 10 Topic: /convex_plane_decomposition_ros/boundaries Unreliable: false Value: true @@ -51,6 +52,7 @@ Visualization Manager: Color: 25; 255; 0 Enabled: false Name: Insets + Queue Size: 10 Topic: /convex_plane_decomposition_ros/insets Unreliable: false Value: false @@ -125,566 +127,6 @@ Visualization Manager: {} Queue Size: 100 Value: true - - Class: anymal_rviz_plugin/AnymalDisplay - Contact Polygon: - CoM Arrow Alpha: 0.6000000238418579 - CoM Arrow Color: 0; 204; 204 - CoM Arrow Thickness: 0.029999999329447746 - CoM Polygon Projection Alpha: 0.6000000238418579 - CoM Polygon Projection Color: 0; 102; 102 - Polygon Line Color: 204; 204; 204 - Polygon Line Thickness: 0.009999999776482582 - Polygon Line alpha: 0.6000000238418579 - Show CoM Column: true - Show CoM Projection: true - Value: false - Contacts: - Alpha: 0.30000001192092896 - Color: 100; 100; 100 - Color Mode: Contact/Plane - LF_FOOT: - Alpha: 0.30000001192092896 - Color: 204; 41; 204 - Color Mode: Contact/Plane - Normal Plane Size: 0.20000000298023224 - Show Normal: true - Show Wrench: true - Value: false - Wrench Arrow Width: 0.009999999776482582 - Wrench Scale: 0.003000000026077032 - LH_FOOT: - Alpha: 0.30000001192092896 - Color: 204; 41; 204 - Color Mode: Contact/Plane - Normal Plane Size: 0.20000000298023224 - Show Normal: true - Show Wrench: true - Value: false - Wrench Arrow Width: 0.009999999776482582 - Wrench Scale: 0.003000000026077032 - Normal Plane Size: 0.20000000298023224 - RF_FOOT: - Alpha: 0.30000001192092896 - Color: 204; 41; 204 - Color Mode: Contact/Plane - Normal Plane Size: 0.20000000298023224 - Show Normal: true - Show Wrench: true - Value: false - Wrench Arrow Width: 0.009999999776482582 - Wrench Scale: 0.003000000026077032 - RH_FOOT: - Alpha: 0.30000001192092896 - Color: 204; 41; 204 - Color Mode: Contact/Plane - Normal Plane Size: 0.20000000298023224 - Show Normal: true - Show Wrench: true - Value: false - Wrench Arrow Width: 0.009999999776482582 - Wrench Scale: 0.003000000026077032 - Show Normal: true - Show Wrench: true - Value: false - Wrench Arrow Width: 0.009999999776482582 - Wrench Scale: 0.003000000026077032 - Enabled: true - Joint Torques: - Alpha: 1 - Color: 240; 240; 240 - Color Mode: - Threshold: 0.75 - Value: Solid Color - LF_HAA: - Offset: 0 - Torque Maximum: 40 - Value: false - LF_HFE: - Offset: 0 - Torque Maximum: 40 - Value: false - LF_KFE: - Offset: 0 - Torque Maximum: 40 - Value: false - LH_HAA: - Offset: 0 - Torque Maximum: 40 - Value: false - LH_HFE: - Offset: 0 - Torque Maximum: 40 - Value: false - LH_KFE: - Offset: 0 - Torque Maximum: 40 - Value: false - RF_HAA: - Offset: 0 - Torque Maximum: 40 - Value: false - RF_HFE: - Offset: 0 - Torque Maximum: 40 - Value: false - RF_KFE: - Offset: 0 - Torque Maximum: 40 - Value: false - RH_HAA: - Offset: 0 - Torque Maximum: 40 - Value: false - RH_HFE: - Offset: 0 - Torque Maximum: 40 - Value: false - RH_KFE: - Offset: 0 - Torque Maximum: 40 - Value: false - Size: 0.10000000149011612 - Value: false - Name: AnymalDisplay - Robot Description: anymal_description - Robot Display Options: - Alpha: 1 - Collision Enabled: false - Color Mode: - Color: 204; 204; 204 - Value: Mesh Texture - Links: - All Links Enabled: true - Expand Joint Details: false - Expand Link Details: false - Expand Tree: false - LF_FOOT: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - LF_HAA: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - LF_HFE: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - LF_HIP: - Alpha: 1 - Show Axes: false - Show Trail: false - LF_KFE: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - LF_SHANK: - Alpha: 1 - Show Axes: false - Show Trail: false - LF_THIGH: - Alpha: 1 - Show Axes: false - Show Trail: false - LF_hip_fixed: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - LF_shank_fixed: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - LF_thigh_fixed: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - LH_FOOT: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - LH_HAA: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - LH_HFE: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - LH_HIP: - Alpha: 1 - Show Axes: false - Show Trail: false - LH_KFE: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - LH_SHANK: - Alpha: 1 - Show Axes: false - Show Trail: false - LH_THIGH: - Alpha: 1 - Show Axes: false - Show Trail: false - LH_hip_fixed: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - LH_shank_fixed: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - LH_thigh_fixed: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - Link Tree Style: Links in Alphabetic Order - RF_FOOT: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - RF_HAA: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - RF_HFE: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - RF_HIP: - Alpha: 1 - Show Axes: false - Show Trail: false - RF_KFE: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - RF_SHANK: - Alpha: 1 - Show Axes: false - Show Trail: false - RF_THIGH: - Alpha: 1 - Show Axes: false - Show Trail: false - RF_hip_fixed: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - RF_shank_fixed: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - RF_thigh_fixed: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - RH_FOOT: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - RH_HAA: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - RH_HFE: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - RH_HIP: - Alpha: 1 - Show Axes: false - Show Trail: false - RH_KFE: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - RH_SHANK: - Alpha: 1 - Show Axes: false - Show Trail: false - RH_THIGH: - Alpha: 1 - Show Axes: false - Show Trail: false - RH_hip_fixed: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - RH_shank_fixed: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - RH_thigh_fixed: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - base: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - base_inertia: - Alpha: 1 - Show Axes: false - Show Trail: false - battery: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - blackfly_front_camera: - Alpha: 1 - Show Axes: false - Show Trail: false - blackfly_front_camera_parent: - Alpha: 1 - Show Axes: false - Show Trail: false - blackfly_rear_camera: - Alpha: 1 - Show Axes: false - Show Trail: false - blackfly_rear_camera_parent: - Alpha: 1 - Show Axes: false - Show Trail: false - docking_socket: - Alpha: 1 - Show Axes: false - Show Trail: false - face_front: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - face_rear: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - hatch: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - imu_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - realsense_d435_front_camera: - Alpha: 1 - Show Axes: false - Show Trail: false - realsense_d435_front_camera_parent: - Alpha: 1 - Show Axes: false - Show Trail: false - realsense_d435_front_color_frame: - Alpha: 1 - Show Axes: false - Show Trail: false - realsense_d435_front_color_optical_frame: - Alpha: 1 - Show Axes: false - Show Trail: false - realsense_d435_front_depth_optical_frame: - Alpha: 1 - Show Axes: false - Show Trail: false - realsense_d435_left_camera: - Alpha: 1 - Show Axes: false - Show Trail: false - realsense_d435_left_camera_parent: - Alpha: 1 - Show Axes: false - Show Trail: false - realsense_d435_left_color_frame: - Alpha: 1 - Show Axes: false - Show Trail: false - realsense_d435_left_color_optical_frame: - Alpha: 1 - Show Axes: false - Show Trail: false - realsense_d435_left_depth_optical_frame: - Alpha: 1 - Show Axes: false - Show Trail: false - realsense_d435_rear_camera: - Alpha: 1 - Show Axes: false - Show Trail: false - realsense_d435_rear_camera_parent: - Alpha: 1 - Show Axes: false - Show Trail: false - realsense_d435_rear_color_frame: - Alpha: 1 - Show Axes: false - Show Trail: false - realsense_d435_rear_color_optical_frame: - Alpha: 1 - Show Axes: false - Show Trail: false - realsense_d435_rear_depth_optical_frame: - Alpha: 1 - Show Axes: false - Show Trail: false - realsense_d435_right_camera: - Alpha: 1 - Show Axes: false - Show Trail: false - realsense_d435_right_camera_parent: - Alpha: 1 - Show Axes: false - Show Trail: false - realsense_d435_right_color_frame: - Alpha: 1 - Show Axes: false - Show Trail: false - realsense_d435_right_color_optical_frame: - Alpha: 1 - Show Axes: false - Show Trail: false - realsense_d435_right_depth_optical_frame: - Alpha: 1 - Show Axes: false - Show Trail: false - shell: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - velodyne: - Alpha: 1 - Show Axes: false - Show Trail: false - velodyne_cage: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - Visual Enabled: true - Robot Velocity: - Alpha: 0.6000000238418579 - Angular Color: 0; 204; 0 - Angular Scale: 0.5 - Linear Color: 0; 0; 204 - Linear Scale: 1 - Offset: 0.4000000059604645 - Show Angular: true - Show Linear: true - Value: false - Topic: /state_estimator/anymal_state - Traces: - Alpha: 0.5 - Color: 255; 0; 0 - LF_FOOT: - Alpha: 0.5 - Color: 255; 0; 0 - Value: false - LF_HIP: - Alpha: 0.5 - Color: 255; 0; 0 - Value: false - LF_SHANK: - Alpha: 0.5 - Color: 255; 0; 0 - Value: false - LF_THIGH: - Alpha: 0.5 - Color: 255; 0; 0 - Value: false - LH_FOOT: - Alpha: 0.5 - Color: 255; 0; 0 - Value: false - LH_HIP: - Alpha: 0.5 - Color: 255; 0; 0 - Value: false - LH_SHANK: - Alpha: 0.5 - Color: 255; 0; 0 - Value: false - LH_THIGH: - Alpha: 0.5 - Color: 255; 0; 0 - Value: false - RF_FOOT: - Alpha: 0.5 - Color: 255; 0; 0 - Value: false - RF_HIP: - Alpha: 0.5 - Color: 255; 0; 0 - Value: false - RF_SHANK: - Alpha: 0.5 - Color: 255; 0; 0 - Value: false - RF_THIGH: - Alpha: 0.5 - Color: 255; 0; 0 - Value: false - RH_FOOT: - Alpha: 0.5 - Color: 255; 0; 0 - Value: false - RH_HIP: - Alpha: 0.5 - Color: 255; 0; 0 - Value: false - RH_SHANK: - Alpha: 0.5 - Color: 255; 0; 0 - Value: false - RH_THIGH: - Alpha: 0.5 - Color: 255; 0; 0 - Value: false - Time Length: 10 - Value: false - Width: 0.004999999888241291 - base: - Alpha: 0.5 - Color: 255; 0; 0 - Value: false - Unreliable: false - Update Rate: 20 - Value: true - World Frame Name: odom Enabled: true Global Options: Background Color: 255; 255; 255 @@ -713,25 +155,25 @@ Visualization Manager: Views: Current: Class: rviz/Orbit - Distance: 2.9079933166503906 + Distance: 7.077206611633301 Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 Swap Stereo Eyes: false Value: false + Field of View: 0.7853981852531433 Focal Point: - X: 2.382049322128296 - Y: -0.7195556163787842 - Z: -0.01261717639863491 + X: 1.0492274761199951 + Y: -0.5030490159988403 + Z: -2.4208056926727295 Focal Shape Fixed Size: true Focal Shape Size: 0.05000000074505806 Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Pitch: 0.499797523021698 + Pitch: 0.6197975277900696 Target Frame: - Value: Orbit (rviz) - Yaw: 1.5949591398239136 + Yaw: 2.844961643218994 Saved: ~ Window Geometry: Displays: From 63b70fa2c4f1fe533e7a5f630105d01a9449a809 Mon Sep 17 00:00:00 2001 From: rgrandia Date: Fri, 26 Feb 2021 08:38:50 +0100 Subject: [PATCH 086/504] add correct version to package.xml --- pcl_catkin/package.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/pcl_catkin/package.xml b/pcl_catkin/package.xml index 65f211f3..afe59140 100644 --- a/pcl_catkin/package.xml +++ b/pcl_catkin/package.xml @@ -1,7 +1,7 @@ pcl_catkin - 1.7.2 + 1.10.0 Catkin wrapper for PCL. Ruben Grandia From 9efcaffc47d93865a31ba5c1dcd4cce0eca0829f Mon Sep 17 00:00:00 2001 From: rgrandia Date: Fri, 26 Feb 2021 11:01:24 +0100 Subject: [PATCH 087/504] fix launch file name --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index 434d7e76..df2bef02 100644 --- a/README.md +++ b/README.md @@ -58,7 +58,7 @@ catkin build convex_plane_decomposition_ros ``` ### Run demo ```bash -roslaunch convex_plane_decomposition_ros convex_plane_decomposition_demo.launch +roslaunch convex_plane_decomposition_ros demo.launch ``` ### Parameters From 44ab36fe144a99149781b92e39705f5aa324a6c3 Mon Sep 17 00:00:00 2001 From: rgrandia Date: Wed, 3 Mar 2021 15:10:25 +0100 Subject: [PATCH 088/504] fix maintainer, remove grid_map_rviz from dependencies. --- convex_plane_decomposition/package.xml | 2 +- convex_plane_decomposition_ros/CMakeLists.txt | 1 - convex_plane_decomposition_ros/package.xml | 3 +-- 3 files changed, 2 insertions(+), 4 deletions(-) diff --git a/convex_plane_decomposition/package.xml b/convex_plane_decomposition/package.xml index df94a10d..a9084924 100644 --- a/convex_plane_decomposition/package.xml +++ b/convex_plane_decomposition/package.xml @@ -4,7 +4,7 @@ 0.0.0 The convex_plane_decomposition package - andrej + Ruben Grandia TODO diff --git a/convex_plane_decomposition_ros/CMakeLists.txt b/convex_plane_decomposition_ros/CMakeLists.txt index ef57d760..1c34b62f 100644 --- a/convex_plane_decomposition_ros/CMakeLists.txt +++ b/convex_plane_decomposition_ros/CMakeLists.txt @@ -8,7 +8,6 @@ set(CATKIN_PACKAGE_DEPENDENCIES grid_map_ros grid_map_cv grid_map_msgs - grid_map_rviz_plugin geometry_msgs jsk_recognition_msgs convex_plane_decomposition diff --git a/convex_plane_decomposition_ros/package.xml b/convex_plane_decomposition_ros/package.xml index 74382d54..126edcfe 100644 --- a/convex_plane_decomposition_ros/package.xml +++ b/convex_plane_decomposition_ros/package.xml @@ -4,7 +4,7 @@ 0.0.0 The convex_plane_decomposition_ros package - andrej + Ruben Grandia TODO @@ -14,7 +14,6 @@ grid_map_ros grid_map_cv grid_map_msgs - grid_map_rviz_plugin geometry_msgs jsk_recognition_msgs convex_plane_decomposition From e18bd1575fbe75621d9367aa1450990a70dda543 Mon Sep 17 00:00:00 2001 From: rgrandia Date: Thu, 8 Apr 2021 16:03:22 +0200 Subject: [PATCH 089/504] implement resampling to change the gridmap resolution --- .../GridMapPreprocessing.h | 9 ++++-- .../src/GridMapPreprocessing.cpp | 31 +++++++++++++++++-- .../config/image_loader_demo_parameters.yaml | 6 ---- .../config/parameters.yaml | 1 + .../launch/demo.launch | 4 +-- .../src/ParameterLoading.cpp | 1 + 6 files changed, 37 insertions(+), 15 deletions(-) delete mode 100644 convex_plane_decomposition_ros/config/image_loader_demo_parameters.yaml diff --git a/convex_plane_decomposition/include/convex_plane_decomposition/GridMapPreprocessing.h b/convex_plane_decomposition/include/convex_plane_decomposition/GridMapPreprocessing.h index 9cb83f68..d8ab63ed 100644 --- a/convex_plane_decomposition/include/convex_plane_decomposition/GridMapPreprocessing.h +++ b/convex_plane_decomposition/include/convex_plane_decomposition/GridMapPreprocessing.h @@ -7,6 +7,8 @@ namespace convex_plane_decomposition { struct PreprocessingParameters { + /// Resample to this resolution, set to negative values to skip + double resolution = -1.0; /// Kernel size of the median filter int kernelSize = 5; /// Number of times the image is filtered @@ -21,11 +23,12 @@ class GridMapPreprocessing { public: GridMapPreprocessing(const PreprocessingParameters& parameters); - void preprocess(grid_map::GridMap& gridMap, const std::string& layer); + void preprocess(grid_map::GridMap& gridMap, const std::string& layer) const; private: - void denoise(grid_map::GridMap& gridMap, const std::string& layer); - void inpaint(grid_map::GridMap& gridMap, const std::string& layer, float minValue, float maxValue); + void denoise(grid_map::GridMap& gridMap, const std::string& layer) const; + void changeResolution(grid_map::GridMap& gridMap, const std::string& layer) const; + void inpaint(grid_map::GridMap& gridMap, const std::string& layer, float minValue, float maxValue) const; PreprocessingParameters parameters_; }; diff --git a/convex_plane_decomposition/src/GridMapPreprocessing.cpp b/convex_plane_decomposition/src/GridMapPreprocessing.cpp index 650e59a5..92ad38cf 100644 --- a/convex_plane_decomposition/src/GridMapPreprocessing.cpp +++ b/convex_plane_decomposition/src/GridMapPreprocessing.cpp @@ -12,7 +12,7 @@ namespace convex_plane_decomposition { GridMapPreprocessing::GridMapPreprocessing(const PreprocessingParameters& parameters) : parameters_(parameters) {} -void GridMapPreprocessing::preprocess(grid_map::GridMap& gridMap, const std::string& layer) { +void GridMapPreprocessing::preprocess(grid_map::GridMap& gridMap, const std::string& layer) const { const float minValue = gridMap.get(layer).minCoeffOfFinites(); const float maxValue = gridMap.get(layer).maxCoeffOfFinites(); @@ -21,10 +21,11 @@ void GridMapPreprocessing::preprocess(grid_map::GridMap& gridMap, const std::str if (parameters_.inpaintRadius > 0) { inpaint(gridMap, layer, minValue, maxValue); + changeResolution(gridMap, layer); } } -void GridMapPreprocessing::denoise(grid_map::GridMap& gridMap, const std::string& layer) { +void GridMapPreprocessing::denoise(grid_map::GridMap& gridMap, const std::string& layer) const { Eigen::MatrixXf& elevation_map = gridMap.get(layer); cv::Mat elevationImage; @@ -41,7 +42,31 @@ void GridMapPreprocessing::denoise(grid_map::GridMap& gridMap, const std::string cv::cv2eigen(elevationImage, elevation_map); } -void GridMapPreprocessing::inpaint(grid_map::GridMap& gridMap, const std::string& layer, float minValue, float maxValue) { +void GridMapPreprocessing::changeResolution(grid_map::GridMap& gridMap, const std::string& layer) const { + if (parameters_.resolution > 0.0 && gridMap.getResolution() != parameters_.resolution) { + Eigen::MatrixXf elevation_map = std::move(gridMap.get(layer)); + + cv::Mat elevationImage; + cv::eigen2cv(elevation_map, elevationImage); + + double scaling = gridMap.getResolution() / parameters_.resolution; + int width = int(elevationImage.size[1] * scaling); + int height = int(elevationImage.size[0] * scaling); + cv::Size dim{width, height}; + + cv::Mat resizedImage; + cv::resize(elevationImage, resizedImage, dim, 0, 0, cv::INTER_LINEAR); + + cv::cv2eigen(resizedImage, elevation_map); + + const auto oldPosition = gridMap.getPosition(); + gridMap.setGeometry({elevation_map.rows() * parameters_.resolution, elevation_map.cols() * parameters_.resolution}, + parameters_.resolution, oldPosition); + gridMap.get(layer) = std::move(elevation_map); + } +} + +void GridMapPreprocessing::inpaint(grid_map::GridMap& gridMap, const std::string& layer, float minValue, float maxValue) const { Eigen::MatrixXf& elevation_map = gridMap.get(layer); Eigen::Matrix mask = elevation_map.unaryExpr([](float val) { return (isNan(val)) ? uchar(1) : uchar(0); }); diff --git a/convex_plane_decomposition_ros/config/image_loader_demo_parameters.yaml b/convex_plane_decomposition_ros/config/image_loader_demo_parameters.yaml deleted file mode 100644 index fcf5ef45..00000000 --- a/convex_plane_decomposition_ros/config/image_loader_demo_parameters.yaml +++ /dev/null @@ -1,6 +0,0 @@ -image_to_gridmap_demo: - image_topic: "/image_publisher/image" - resolution: 0.02 - map_frame_id: "map" # This parameter is actually not used. The gridmap is always in map frame - min_height: 0 - max_height: 1.0 \ No newline at end of file diff --git a/convex_plane_decomposition_ros/config/parameters.yaml b/convex_plane_decomposition_ros/config/parameters.yaml index 1ac210c1..bbc9780f 100644 --- a/convex_plane_decomposition_ros/config/parameters.yaml +++ b/convex_plane_decomposition_ros/config/parameters.yaml @@ -1,4 +1,5 @@ preprocessing: + resolution: 0.02 # Resampling resolution, set negative to skip, requires inpainting to be used kernelSize: 3 # Kernel size of the median filter numberOfRepeats: 3 # Number of times to apply the same filter increasing: True # Increase the kernel size each iteration. diff --git a/convex_plane_decomposition_ros/launch/demo.launch b/convex_plane_decomposition_ros/launch/demo.launch index 82561c20..6f37b3e5 100644 --- a/convex_plane_decomposition_ros/launch/demo.launch +++ b/convex_plane_decomposition_ros/launch/demo.launch @@ -3,8 +3,6 @@ - - @@ -15,7 +13,7 @@ - + diff --git a/convex_plane_decomposition_ros/src/ParameterLoading.cpp b/convex_plane_decomposition_ros/src/ParameterLoading.cpp index 76c3b688..034c38b9 100644 --- a/convex_plane_decomposition_ros/src/ParameterLoading.cpp +++ b/convex_plane_decomposition_ros/src/ParameterLoading.cpp @@ -16,6 +16,7 @@ void loadParameter(const ros::NodeHandle& nodeHandle, const std::string& prefix, PreprocessingParameters loadPreprocessingParameters(const ros::NodeHandle& nodeHandle, const std::string& prefix) { PreprocessingParameters preprocessingParameters; + loadParameter(nodeHandle, prefix, "resolution", preprocessingParameters.resolution); loadParameter(nodeHandle, prefix, "kernelSize", preprocessingParameters.kernelSize); loadParameter(nodeHandle, prefix, "numberOfRepeats", preprocessingParameters.numberOfRepeats); loadParameter(nodeHandle, prefix, "increasing", preprocessingParameters.increasing); From ae8933b978eb1bbb9baa095a9a01346313fe4f6c Mon Sep 17 00:00:00 2001 From: rgrandia Date: Thu, 6 May 2021 08:58:58 +0200 Subject: [PATCH 090/504] add height offset as postprocessing --- convex_plane_decomposition/CMakeLists.txt | 9 +++---- .../Postprocessing.h | 24 +++++++++++++++++++ .../src/Postprocessing.cpp | 19 +++++++++++++++ .../config/parameters.yaml | 3 +++ .../ConvexPlaneDecompositionRos.h | 2 ++ .../ParameterLoading.h | 3 +++ .../src/ConvexPlaneDecompositionRos.cpp | 7 ++++++ .../src/ParameterLoading.cpp | 6 +++++ 8 files changed, 69 insertions(+), 4 deletions(-) create mode 100644 convex_plane_decomposition/include/convex_plane_decomposition/Postprocessing.h create mode 100644 convex_plane_decomposition/src/Postprocessing.cpp diff --git a/convex_plane_decomposition/CMakeLists.txt b/convex_plane_decomposition/CMakeLists.txt index 9a973bb5..dafad609 100644 --- a/convex_plane_decomposition/CMakeLists.txt +++ b/convex_plane_decomposition/CMakeLists.txt @@ -53,12 +53,13 @@ include_directories( ) add_library(${PROJECT_NAME} - src/contour_extraction/ContourExtraction.cpp - src/ransac/RansacPlaneExtractor.cpp + src/contour_extraction/ContourExtraction.cpp + src/ransac/RansacPlaneExtractor.cpp src/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.cpp src/GridMapPreprocessing.cpp - src/ConvexRegionGrowing.cpp - src/Draw.cpp + src/ConvexRegionGrowing.cpp + src/Draw.cpp + src/Postprocessing.cpp ) add_dependencies(${PROJECT_NAME} ${catkin_EXPORTED_TARGETS} diff --git a/convex_plane_decomposition/include/convex_plane_decomposition/Postprocessing.h b/convex_plane_decomposition/include/convex_plane_decomposition/Postprocessing.h new file mode 100644 index 00000000..ff058f6f --- /dev/null +++ b/convex_plane_decomposition/include/convex_plane_decomposition/Postprocessing.h @@ -0,0 +1,24 @@ +#pragma once + +#include "convex_plane_decomposition/PlanarRegion.h" + +namespace convex_plane_decomposition { + +struct PostprocessingParameters { + /// Added offset in z direction to compensate for the location of the foot frame w.r.t. the elevation map + double extracted_planes_height_offset = 0.0; +}; + +class Postprocessing { + public: + Postprocessing(const PostprocessingParameters& parameters); + + void postprocess(PlanarTerrain& planarTerrain) const; + + private: + void addHeightOffset(PlanarTerrain& planarTerrain) const; + + PostprocessingParameters parameters_; +}; + +} // namespace convex_plane_decomposition diff --git a/convex_plane_decomposition/src/Postprocessing.cpp b/convex_plane_decomposition/src/Postprocessing.cpp new file mode 100644 index 00000000..5ace7cb6 --- /dev/null +++ b/convex_plane_decomposition/src/Postprocessing.cpp @@ -0,0 +1,19 @@ +#include "convex_plane_decomposition/Postprocessing.h" + +namespace convex_plane_decomposition { + +Postprocessing::Postprocessing(const PostprocessingParameters& parameters) : parameters_(parameters) {} + +void Postprocessing::postprocess(PlanarTerrain& planarTerrain) const { + addHeightOffset(planarTerrain); +} + +void Postprocessing::addHeightOffset(PlanarTerrain& planarTerrain) const { + if (parameters_.extracted_planes_height_offset != 0.0) { + for (auto& planarRegion : planarTerrain.planarRegions) { + planarRegion.planeParameters.positionInWorld.z() += parameters_.extracted_planes_height_offset; + } + } +} + +} // namespace convex_plane_decomposition diff --git a/convex_plane_decomposition_ros/config/parameters.yaml b/convex_plane_decomposition_ros/config/parameters.yaml index bbc9780f..46355abb 100644 --- a/convex_plane_decomposition_ros/config/parameters.yaml +++ b/convex_plane_decomposition_ros/config/parameters.yaml @@ -24,3 +24,6 @@ ransac_plane_refinement: contour_extraction: offsetSize: 2 # Size of the kernel creating the boundary offset. In number of pixels. + +postprocessing: + extracted_planes_height_offset: 0.02 # Added offset in z direction to compensate for the location of the foot frame w.r.t. the elevation map diff --git a/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/ConvexPlaneDecompositionRos.h b/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/ConvexPlaneDecompositionRos.h index 6b37f375..279002c3 100644 --- a/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/ConvexPlaneDecompositionRos.h +++ b/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/ConvexPlaneDecompositionRos.h @@ -16,6 +16,7 @@ namespace convex_plane_decomposition { // Forward declarations class GridMapPreprocessing; +class Postprocessing; namespace sliding_window_plane_extractor { class SlidingWindowPlaneExtractor; } @@ -62,6 +63,7 @@ class ConvexPlaneExtractionROS { std::unique_ptr preprocessing_; std::unique_ptr slidingWindowPlaneExtractor_; std::unique_ptr contourExtraction_; + std::unique_ptr postprocessing_; }; } // namespace convex_plane_decomposition diff --git a/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/ParameterLoading.h b/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/ParameterLoading.h index fffd28d7..704ad73a 100644 --- a/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/ParameterLoading.h +++ b/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/ParameterLoading.h @@ -7,6 +7,7 @@ #include #include +#include #include #include #include @@ -24,4 +25,6 @@ ransac_plane_extractor::RansacPlaneExtractorParameters loadRansacPlaneExtractorP sliding_window_plane_extractor::SlidingWindowPlaneExtractorParameters loadSlidingWindowPlaneExtractorParameters( const ros::NodeHandle& nodeHandle, const std::string& prefix); +PostprocessingParameters loadPostprocessingParameters(const ros::NodeHandle& nodeHandle, const std::string& prefix); + } // namespace convex_plane_decomposition diff --git a/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp b/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp index 8407842f..288e5165 100644 --- a/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp +++ b/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp @@ -11,6 +11,7 @@ #include #include +#include #include #include @@ -67,12 +68,14 @@ bool ConvexPlaneExtractionROS::loadParameters(const ros::NodeHandle& nodeHandle) const auto ransacPlaneExtractorParameters = loadRansacPlaneExtractorParameters(nodeHandle, "ransac_plane_refinement/"); const auto slidingWindowPlaneExtractorParameters = loadSlidingWindowPlaneExtractorParameters(nodeHandle, "sliding_window_plane_extractor/"); + const auto postprocessingParameters = loadPostprocessingParameters(nodeHandle, "postprocessing/"); std::lock_guard lock(mutex_); preprocessing_ = std::make_unique(preprocessingParameters); slidingWindowPlaneExtractor_ = std::make_unique( slidingWindowPlaneExtractorParameters, ransacPlaneExtractorParameters); contourExtraction_ = std::make_unique(contourExtractionParameters); + postprocessing_ = std::make_unique(postprocessingParameters); return true; } @@ -119,6 +122,10 @@ void ConvexPlaneExtractionROS::callback(const grid_map_msgs::GridMap& message) { // Add grid map to the terrain planarTerrain.gridMap = std::move(elevationMap); + postprocessing_->postprocess(planarTerrain); + auto t4 = std::chrono::high_resolution_clock::now(); + ROS_INFO_STREAM("Postprocessing took " << 1e-3 * std::chrono::duration_cast(t4 - t3).count() << " [ms]"); + // Publish terrain if (publishToController_) { regionPublisher_.publish(toMessage(planarTerrain)); diff --git a/convex_plane_decomposition_ros/src/ParameterLoading.cpp b/convex_plane_decomposition_ros/src/ParameterLoading.cpp index 034c38b9..4936b7d6 100644 --- a/convex_plane_decomposition_ros/src/ParameterLoading.cpp +++ b/convex_plane_decomposition_ros/src/ParameterLoading.cpp @@ -57,4 +57,10 @@ sliding_window_plane_extractor::SlidingWindowPlaneExtractorParameters loadSlidin return swParams; } +PostprocessingParameters loadPostprocessingParameters(const ros::NodeHandle& nodeHandle, const std::string& prefix) { + PostprocessingParameters postprocessingParameters; + loadParameter(nodeHandle, prefix, "extracted_planes_height_offset", postprocessingParameters.extracted_planes_height_offset); + return postprocessingParameters; +} + } // namespace convex_plane_decomposition From 5f8f5a37a4547d247e8b0a5c2f9bb7141f40164b Mon Sep 17 00:00:00 2001 From: rgrandia Date: Thu, 6 May 2021 10:09:24 +0200 Subject: [PATCH 091/504] tune segmentation parameters --- .../ransac/RansacPlaneExtractorParameters.h | 6 +++--- .../src/ransac/RansacPlaneExtractor.cpp | 2 +- convex_plane_decomposition_ros/config/parameters.yaml | 10 +++++----- .../src/ConvexPlaneDecompositionRos.cpp | 2 ++ 4 files changed, 11 insertions(+), 9 deletions(-) diff --git a/convex_plane_decomposition/include/convex_plane_decomposition/ransac/RansacPlaneExtractorParameters.h b/convex_plane_decomposition/include/convex_plane_decomposition/ransac/RansacPlaneExtractorParameters.h index 60fe43ef..bb1f3ba9 100644 --- a/convex_plane_decomposition/include/convex_plane_decomposition/ransac/RansacPlaneExtractorParameters.h +++ b/convex_plane_decomposition/include/convex_plane_decomposition/ransac/RansacPlaneExtractorParameters.h @@ -11,13 +11,13 @@ struct RansacPlaneExtractorParameters { double probability = 0.01; /// Detect shapes with at least 200 points. double min_points = 200; - /// Set maximum Euclidean distance between a point and a shape. + /// [m] Set maximum Euclidean distance between a point and a shape. double epsilon = 0.004; /// Set maximum Euclidean distance between points to be clustered. Two points are connected if separated by a distance of at most /// 2*sqrt(2)*cluster_epsilon = 2.828 * cluster_epsilon double cluster_epsilon = 0.03; - /// Set maximum normal deviation. normal_threshold < dot(surface_normal, point_normal); - double normal_threshold = 0.98; + /// [deg] Set maximum normal deviation between cluster surface_normal and point normal. + double normal_threshold = 25.0; }; } // namespace ransac_plane_extractor diff --git a/convex_plane_decomposition/src/ransac/RansacPlaneExtractor.cpp b/convex_plane_decomposition/src/ransac/RansacPlaneExtractor.cpp index ccc70966..b035af32 100644 --- a/convex_plane_decomposition/src/ransac/RansacPlaneExtractor.cpp +++ b/convex_plane_decomposition/src/ransac/RansacPlaneExtractor.cpp @@ -12,7 +12,7 @@ void RansacPlaneExtractor::setParameters(const RansacPlaneExtractorParameters& p cgalRansacParameters_.min_points = parameters.min_points; cgalRansacParameters_.epsilon = parameters.epsilon; cgalRansacParameters_.cluster_epsilon = parameters.cluster_epsilon; - cgalRansacParameters_.normal_threshold = parameters.normal_threshold; + cgalRansacParameters_.normal_threshold = std::cos(parameters.normal_threshold * M_PI / 180.0); } void RansacPlaneExtractor::detectPlanes(std::vector& points_with_normal) { diff --git a/convex_plane_decomposition_ros/config/parameters.yaml b/convex_plane_decomposition_ros/config/parameters.yaml index 46355abb..72f81315 100644 --- a/convex_plane_decomposition_ros/config/parameters.yaml +++ b/convex_plane_decomposition_ros/config/parameters.yaml @@ -12,15 +12,15 @@ sliding_window_plane_extractor: min_number_points_per_label: 10 # [#] Labels with less points assigned to them are discarded connectivity: 4 # Label kernel connectivity. 4 or 8 (cross or box) include_ransac_refinement: true # Enable RANSAC refinement if the plane is not globally fitting to the assigned points. - global_plane_fit_distance_error_threshold: 0.04 # [m] Allowed maximum distance from a point to the plane. If any point violates this, RANSAC is triggered - global_plane_fit_angle_error_threshold_degrees: 5.0 # [deg] Allowed normal vector deviation for a point w.r.t. the plane normal. If any point violates this, RANSAC is triggered + global_plane_fit_distance_error_threshold: 0.025 # [m] Allowed maximum distance from a point to the plane. If any point violates this, RANSAC is triggered + global_plane_fit_angle_error_threshold_degrees: 25.0 # [deg] Allowed normal vector deviation for a point w.r.t. the plane normal. If any point violates this, RANSAC is triggered ransac_plane_refinement: probability: 0.01 # Probability to miss the largest candidate shape. A lower probability provides a higher reliability and determinism at the cost of longer running times min_points: 25 # This minimum number of points per plane. Controls the termination of the algorithm. - epsilon: 0.02 # Maximum distance to plane - cluster_epsilon: 0.02 # Set maximum Euclidean distance between points to be clustered. Two points are connected if separated by a distance of at most 2*sqrt(2)*cluster_epsilon = 2.828 * cluster_epsilon - normal_threshold: 0.98 # Set maximum normal deviation. normal_threshold < dot(surface_normal, point_normal); + epsilon: 0.025 # Maximum distance to plane + cluster_epsilon: 0.02 # [m] Set maximum Euclidean distance between points to be clustered. Two points are connected if separated by a distance of at most 2*sqrt(2)*cluster_epsilon = 2.828 * cluster_epsilon + normal_threshold: 25.0 # [deg] Set maximum normal deviation between cluster surface_normal and point normal. contour_extraction: offsetSize: 2 # Size of the kernel creating the boundary offset. In number of pixels. diff --git a/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp b/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp index 288e5165..025e74b0 100644 --- a/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp +++ b/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp @@ -133,6 +133,8 @@ void ConvexPlaneExtractionROS::callback(const grid_map_msgs::GridMap& message) { // Visualize in Rviz. reapplyNans(planarTerrain.gridMap.get(elevationLayer_)); + // planarTerrain.gridMap.add("plane_classification"); + // cv::cv2eigen(slidingWindowPlaneExtractor_->getBinaryLabeledImage(), planarTerrain.gridMap.get("plane_classification")); planarTerrain.gridMap.add("segmentation"); cv::cv2eigen(slidingWindowPlaneExtractor_->getSegmentedPlanesMap().labeledImage, planarTerrain.gridMap.get("segmentation")); grid_map_msgs::GridMap outputMessage; From a70176f323c8b083878e7e85728f1f06f2283e8c Mon Sep 17 00:00:00 2001 From: rgrandia Date: Tue, 11 May 2021 18:40:02 +0200 Subject: [PATCH 092/504] also lift elevation map in postprocessing --- .../convex_plane_decomposition/Postprocessing.h | 4 ++-- convex_plane_decomposition/src/Postprocessing.cpp | 10 +++++++--- .../src/ConvexPlaneDecompositionRos.cpp | 2 +- 3 files changed, 10 insertions(+), 6 deletions(-) diff --git a/convex_plane_decomposition/include/convex_plane_decomposition/Postprocessing.h b/convex_plane_decomposition/include/convex_plane_decomposition/Postprocessing.h index ff058f6f..7d178a78 100644 --- a/convex_plane_decomposition/include/convex_plane_decomposition/Postprocessing.h +++ b/convex_plane_decomposition/include/convex_plane_decomposition/Postprocessing.h @@ -13,10 +13,10 @@ class Postprocessing { public: Postprocessing(const PostprocessingParameters& parameters); - void postprocess(PlanarTerrain& planarTerrain) const; + void postprocess(PlanarTerrain& planarTerrain, const std::string& layer) const; private: - void addHeightOffset(PlanarTerrain& planarTerrain) const; + void addHeightOffset(PlanarTerrain& planarTerrain, const std::string& layer) const; PostprocessingParameters parameters_; }; diff --git a/convex_plane_decomposition/src/Postprocessing.cpp b/convex_plane_decomposition/src/Postprocessing.cpp index 5ace7cb6..fd703e7c 100644 --- a/convex_plane_decomposition/src/Postprocessing.cpp +++ b/convex_plane_decomposition/src/Postprocessing.cpp @@ -4,15 +4,19 @@ namespace convex_plane_decomposition { Postprocessing::Postprocessing(const PostprocessingParameters& parameters) : parameters_(parameters) {} -void Postprocessing::postprocess(PlanarTerrain& planarTerrain) const { - addHeightOffset(planarTerrain); +void Postprocessing::postprocess(PlanarTerrain& planarTerrain, const std::string& layer) const { + addHeightOffset(planarTerrain, layer); } -void Postprocessing::addHeightOffset(PlanarTerrain& planarTerrain) const { +void Postprocessing::addHeightOffset(PlanarTerrain& planarTerrain, const std::string& layer) const { if (parameters_.extracted_planes_height_offset != 0.0) { + // Lift planar regions for (auto& planarRegion : planarTerrain.planarRegions) { planarRegion.planeParameters.positionInWorld.z() += parameters_.extracted_planes_height_offset; } + + // lift elevation layer + planarTerrain.gridMap.get(layer).array() += parameters_.extracted_planes_height_offset; } } diff --git a/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp b/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp index 025e74b0..4a7ea73f 100644 --- a/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp +++ b/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp @@ -122,7 +122,7 @@ void ConvexPlaneExtractionROS::callback(const grid_map_msgs::GridMap& message) { // Add grid map to the terrain planarTerrain.gridMap = std::move(elevationMap); - postprocessing_->postprocess(planarTerrain); + postprocessing_->postprocess(planarTerrain, elevationLayer_); auto t4 = std::chrono::high_resolution_clock::now(); ROS_INFO_STREAM("Postprocessing took " << 1e-3 * std::chrono::duration_cast(t4 - t3).count() << " [ms]"); From 69424094767cd98d610629f6df341d1a843bea07 Mon Sep 17 00:00:00 2001 From: rgrandia Date: Tue, 8 Jun 2021 09:20:51 +0200 Subject: [PATCH 093/504] fix median filter kernel size --- .../convex_plane_decomposition/GridMapPreprocessing.h | 2 +- convex_plane_decomposition/src/GridMapPreprocessing.cpp | 8 +++++--- convex_plane_decomposition_ros/config/parameters.yaml | 4 ++-- 3 files changed, 8 insertions(+), 6 deletions(-) diff --git a/convex_plane_decomposition/include/convex_plane_decomposition/GridMapPreprocessing.h b/convex_plane_decomposition/include/convex_plane_decomposition/GridMapPreprocessing.h index d8ab63ed..9fef5c32 100644 --- a/convex_plane_decomposition/include/convex_plane_decomposition/GridMapPreprocessing.h +++ b/convex_plane_decomposition/include/convex_plane_decomposition/GridMapPreprocessing.h @@ -9,7 +9,7 @@ namespace convex_plane_decomposition { struct PreprocessingParameters { /// Resample to this resolution, set to negative values to skip double resolution = -1.0; - /// Kernel size of the median filter + /// Kernel size of the median filter, either 3 or 5 int kernelSize = 5; /// Number of times the image is filtered int numberOfRepeats = 1; diff --git a/convex_plane_decomposition/src/GridMapPreprocessing.cpp b/convex_plane_decomposition/src/GridMapPreprocessing.cpp index 92ad38cf..b72ce854 100644 --- a/convex_plane_decomposition/src/GridMapPreprocessing.cpp +++ b/convex_plane_decomposition/src/GridMapPreprocessing.cpp @@ -29,12 +29,14 @@ void GridMapPreprocessing::denoise(grid_map::GridMap& gridMap, const std::string Eigen::MatrixXf& elevation_map = gridMap.get(layer); cv::Mat elevationImage; - cv::eigen2cv(elevation_map, elevationImage); + cv::eigen2cv(elevation_map, elevationImage); // creates CV_32F image int kernelSize = parameters_.kernelSize; + for (int i = 0; i < parameters_.numberOfRepeats; ++i) { - cv::medianBlur(elevationImage, elevationImage, parameters_.kernelSize); - if (parameters_.increasing) { + kernelSize = std::max(3, std::min(kernelSize, 5)); // must be 3 or 5 for current image type, see doc of cv::medianBlur + cv::medianBlur(elevationImage, elevationImage, kernelSize); + if (parameters_.increasing) { // TODO (rgrandia) : remove this option or enable kernels of other size than 3 / 5 kernelSize += 2; } } diff --git a/convex_plane_decomposition_ros/config/parameters.yaml b/convex_plane_decomposition_ros/config/parameters.yaml index 72f81315..717ae0b9 100644 --- a/convex_plane_decomposition_ros/config/parameters.yaml +++ b/convex_plane_decomposition_ros/config/parameters.yaml @@ -1,8 +1,8 @@ preprocessing: resolution: 0.02 # Resampling resolution, set negative to skip, requires inpainting to be used - kernelSize: 3 # Kernel size of the median filter + kernelSize: 3 # Kernel size of the median filter, either 3 or 5 numberOfRepeats: 3 # Number of times to apply the same filter - increasing: True # Increase the kernel size each iteration. + increasing: False # Increase the kernel size each iteration. inpaintRadius: 0.05 # [m] sliding_window_plane_extractor: From 9ebf94da7f3e8201723ee991586affc5d189d0ca Mon Sep 17 00:00:00 2001 From: rgrandia Date: Thu, 24 Jun 2021 17:46:48 +0200 Subject: [PATCH 094/504] blow up non-planar region for better collision avoidance --- .../Postprocessing.h | 17 +++++- .../src/Postprocessing.cpp | 57 ++++++++++++++++--- .../config/parameters.yaml | 4 +- .../src/ConvexPlaneDecompositionRos.cpp | 10 +++- .../src/ParameterLoading.cpp | 2 + 5 files changed, 76 insertions(+), 14 deletions(-) diff --git a/convex_plane_decomposition/include/convex_plane_decomposition/Postprocessing.h b/convex_plane_decomposition/include/convex_plane_decomposition/Postprocessing.h index 7d178a78..d56279ff 100644 --- a/convex_plane_decomposition/include/convex_plane_decomposition/Postprocessing.h +++ b/convex_plane_decomposition/include/convex_plane_decomposition/Postprocessing.h @@ -7,16 +7,29 @@ namespace convex_plane_decomposition { struct PostprocessingParameters { /// Added offset in z direction to compensate for the location of the foot frame w.r.t. the elevation map double extracted_planes_height_offset = 0.0; + + /// Added offset in z direction added in cells that are not traversable + double nonplanar_height_offset = 0.0; + + /// Size of the kernel creating the boundary offset. In number of pixels. + int nonplanar_horizontal_offset = 2; }; class Postprocessing { public: Postprocessing(const PostprocessingParameters& parameters); - void postprocess(PlanarTerrain& planarTerrain, const std::string& layer) const; + /** + * @param planarTerrain + * @param elevationLayer : name of the elevation layer + * @param planeSegmentationLayer : name of the planarity layer with planar = 1.0, non-planar = 0.0 + */ + void postprocess(PlanarTerrain& planarTerrain, const std::string& elevationLayer, const std::string& planeSegmentationLayer) const; private: - void addHeightOffset(PlanarTerrain& planarTerrain, const std::string& layer) const; + void dilationInNonplanarRegions(Eigen::MatrixXf& elevationData, const Eigen::MatrixXf& planarityMask) const; + void addHeightOffset(Eigen::MatrixXf& elevationData, const Eigen::MatrixXf& planarityMask) const; + void addHeightOffset(std::vector& planarRegions) const; PostprocessingParameters parameters_; }; diff --git a/convex_plane_decomposition/src/Postprocessing.cpp b/convex_plane_decomposition/src/Postprocessing.cpp index fd703e7c..f0e5887d 100644 --- a/convex_plane_decomposition/src/Postprocessing.cpp +++ b/convex_plane_decomposition/src/Postprocessing.cpp @@ -1,22 +1,63 @@ #include "convex_plane_decomposition/Postprocessing.h" +#include +#include +#include + namespace convex_plane_decomposition { Postprocessing::Postprocessing(const PostprocessingParameters& parameters) : parameters_(parameters) {} -void Postprocessing::postprocess(PlanarTerrain& planarTerrain, const std::string& layer) const { - addHeightOffset(planarTerrain, layer); +void Postprocessing::postprocess(PlanarTerrain& planarTerrain, const std::string& elevationLayer, + const std::string& planeSegmentationLayer) const { + auto& elevationData = planarTerrain.gridMap.get(elevationLayer); + const auto& planarityMask = planarTerrain.gridMap.get(planeSegmentationLayer); + + // post process planar regions + addHeightOffset(planarTerrain.planarRegions); + + // post process elevation map + dilationInNonplanarRegions(elevationData, planarityMask); + addHeightOffset(elevationData, planarityMask); } -void Postprocessing::addHeightOffset(PlanarTerrain& planarTerrain, const std::string& layer) const { +void Postprocessing::dilationInNonplanarRegions(Eigen::MatrixXf& elevationData, const Eigen::MatrixXf& planarityMask) const { + if (parameters_.nonplanar_horizontal_offset > 0) { + // Convert to opencv image + cv::Mat elevationImage; + cv::eigen2cv(elevationData, elevationImage); // creates CV_32F image + + // dilate + const int dilationSize = 2 * parameters_.nonplanar_horizontal_offset + 1; // + const int dilationType = cv::MORPH_ELLIPSE; // ellipse inscribed in the square of size dilationSize + const auto dilationKernel_ = cv::getStructuringElement(dilationType, cv::Size(dilationSize, dilationSize)); + cv::dilate(elevationImage, elevationImage, dilationKernel_); + + // convert back + Eigen::MatrixXf elevationDilated; + cv::cv2eigen(elevationImage, elevationDilated); + + // merge: original elevation for planar regions (mask = 1.0), dilated elevation for non-planar (mask = 0.0) + elevationData = planarityMask.array() * elevationData.array() + (1.0 - planarityMask.array()) * elevationDilated.array(); + } +} + +void Postprocessing::addHeightOffset(Eigen::MatrixXf& elevationData, const Eigen::MatrixXf& planarityMask) const { + // lift elevation layer. For untraversable offset we first add the offset everywhere and substract it again in traversable regions. + if (parameters_.extracted_planes_height_offset != 0.0 || parameters_.nonplanar_height_offset != 0.0) { + elevationData.array() += (parameters_.extracted_planes_height_offset + parameters_.nonplanar_height_offset); + + if (parameters_.nonplanar_height_offset != 0.0) { + elevationData.noalias() -= parameters_.nonplanar_height_offset * planarityMask; + } + } +} + +void Postprocessing::addHeightOffset(std::vector& planarRegions) const { if (parameters_.extracted_planes_height_offset != 0.0) { - // Lift planar regions - for (auto& planarRegion : planarTerrain.planarRegions) { + for (auto& planarRegion : planarRegions) { planarRegion.planeParameters.positionInWorld.z() += parameters_.extracted_planes_height_offset; } - - // lift elevation layer - planarTerrain.gridMap.get(layer).array() += parameters_.extracted_planes_height_offset; } } diff --git a/convex_plane_decomposition_ros/config/parameters.yaml b/convex_plane_decomposition_ros/config/parameters.yaml index 717ae0b9..804feaf8 100644 --- a/convex_plane_decomposition_ros/config/parameters.yaml +++ b/convex_plane_decomposition_ros/config/parameters.yaml @@ -26,4 +26,6 @@ contour_extraction: offsetSize: 2 # Size of the kernel creating the boundary offset. In number of pixels. postprocessing: - extracted_planes_height_offset: 0.02 # Added offset in z direction to compensate for the location of the foot frame w.r.t. the elevation map + extracted_planes_height_offset: 0.02 # Added offset in Z direction for the full map to compensate for the location of the foot frame w.r.t. the contact point + nonplanar_height_offset: 0.02 # Added offset in Z direction for non-planar cells of the map. (Additional to extracted_planes_height_offset) + nonplanar_horizontal_offset: 2 # Added offset in XY direction for non-planar cells of the map. In number of pixels. \ No newline at end of file diff --git a/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp b/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp index 4a7ea73f..54d6f8f8 100644 --- a/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp +++ b/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp @@ -122,7 +122,13 @@ void ConvexPlaneExtractionROS::callback(const grid_map_msgs::GridMap& message) { // Add grid map to the terrain planarTerrain.gridMap = std::move(elevationMap); - postprocessing_->postprocess(planarTerrain, elevationLayer_); + // Add binary map + const std::string planeClassificationLayer{"plane_classification"}; + planarTerrain.gridMap.add(planeClassificationLayer); + auto& traversabilityMask = planarTerrain.gridMap.get(planeClassificationLayer); + cv::cv2eigen(slidingWindowPlaneExtractor_->getBinaryLabeledImage(), traversabilityMask); + + postprocessing_->postprocess(planarTerrain, elevationLayer_, planeClassificationLayer); auto t4 = std::chrono::high_resolution_clock::now(); ROS_INFO_STREAM("Postprocessing took " << 1e-3 * std::chrono::duration_cast(t4 - t3).count() << " [ms]"); @@ -133,8 +139,6 @@ void ConvexPlaneExtractionROS::callback(const grid_map_msgs::GridMap& message) { // Visualize in Rviz. reapplyNans(planarTerrain.gridMap.get(elevationLayer_)); - // planarTerrain.gridMap.add("plane_classification"); - // cv::cv2eigen(slidingWindowPlaneExtractor_->getBinaryLabeledImage(), planarTerrain.gridMap.get("plane_classification")); planarTerrain.gridMap.add("segmentation"); cv::cv2eigen(slidingWindowPlaneExtractor_->getSegmentedPlanesMap().labeledImage, planarTerrain.gridMap.get("segmentation")); grid_map_msgs::GridMap outputMessage; diff --git a/convex_plane_decomposition_ros/src/ParameterLoading.cpp b/convex_plane_decomposition_ros/src/ParameterLoading.cpp index 4936b7d6..7bb76b52 100644 --- a/convex_plane_decomposition_ros/src/ParameterLoading.cpp +++ b/convex_plane_decomposition_ros/src/ParameterLoading.cpp @@ -60,6 +60,8 @@ sliding_window_plane_extractor::SlidingWindowPlaneExtractorParameters loadSlidin PostprocessingParameters loadPostprocessingParameters(const ros::NodeHandle& nodeHandle, const std::string& prefix) { PostprocessingParameters postprocessingParameters; loadParameter(nodeHandle, prefix, "extracted_planes_height_offset", postprocessingParameters.extracted_planes_height_offset); + loadParameter(nodeHandle, prefix, "nonplanar_height_offset", postprocessingParameters.nonplanar_height_offset); + loadParameter(nodeHandle, prefix, "nonplanar_horizontal_offset", postprocessingParameters.nonplanar_horizontal_offset); return postprocessingParameters; } From 555b1e071a814450ec895b66d455fd495a5605be Mon Sep 17 00:00:00 2001 From: rgrandia Date: Tue, 6 Jul 2021 15:55:13 +0200 Subject: [PATCH 095/504] fix visualization --- .../SegmentedPlanesTerrainVisualization.h | 6 ++--- .../src/DemoNode.cpp | 27 ++++++++++--------- .../src/SegmentedPlanesTerrainModelRos.cpp | 4 +-- .../SegmentedPlanesTerrainVisualization.cpp | 16 ++++++----- 4 files changed, 29 insertions(+), 24 deletions(-) diff --git a/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesTerrainVisualization.h b/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesTerrainVisualization.h index a89c2cb9..bc2f14e4 100644 --- a/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesTerrainVisualization.h +++ b/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesTerrainVisualization.h @@ -7,12 +7,12 @@ #include #include +#include #include -#include namespace switched_model { -visualization_msgs::MarkerArray getConvexTerrainMarkers(const ConvexTerrain& convexTerrain, Color color, double diameter, double linewidth, - double normalLength); +visualization_msgs::MarkerArray getConvexTerrainMarkers(const ConvexTerrain& convexTerrain, ocs2::Color color, double diameter, + double linewidth, double normalLength); } // namespace switched_model diff --git a/segmented_planes_terrain_model/src/DemoNode.cpp b/segmented_planes_terrain_model/src/DemoNode.cpp index d5a1a0c7..875c4e4c 100644 --- a/segmented_planes_terrain_model/src/DemoNode.cpp +++ b/segmented_planes_terrain_model/src/DemoNode.cpp @@ -17,7 +17,7 @@ #include #include -#include +#include #include "segmented_planes_terrain_model/SegmentedPlanesTerrainVisualization.h" @@ -26,22 +26,21 @@ std::unique_ptr messageMap; visualization_msgs::MarkerArray toMarker(const switched_model::ConvexTerrain& convexTerrain) { visualization_msgs::MarkerArray markerArray = - switched_model::getConvexTerrainMarkers(convexTerrain, switched_model::Color::orange, 0.02, 0.005, 0.1); + switched_model::getConvexTerrainMarkers(convexTerrain, ocs2::Color::orange, 0.02, 0.005, 0.1); // Add headers and Id const ros::Time timeStamp = ros::Time::now(); - switched_model::assignHeader(markerArray.markers.begin(), markerArray.markers.end(), - switched_model::getHeaderMsg(frameId_, timeStamp)); - switched_model::assignIncreasingId(markerArray.markers.begin(), markerArray.markers.end()); + ocs2::assignHeader(markerArray.markers.begin(), markerArray.markers.end(), ocs2::getHeaderMsg(frameId_, timeStamp)); + ocs2::assignIncreasingId(markerArray.markers.begin(), markerArray.markers.end()); return markerArray; } visualization_msgs::Marker toMarker(const switched_model::vector3_t& position) { - auto marker = switched_model::getSphereMsg(position, switched_model::Color::green, 0.02); + auto marker = ocs2::getSphereMsg(position, ocs2::Color::green, 0.02); const ros::Time timeStamp = ros::Time::now(); - marker.header = switched_model::getHeaderMsg(frameId_, timeStamp); + marker.header = ocs2::getHeaderMsg(frameId_, timeStamp); return marker; } @@ -77,7 +76,7 @@ int main(int argc, char** argv) { auto elevationMapSubscriber = nodeHandle.subscribe("/convex_plane_decomposition_ros/filtered_map", 1, &elevationMappingCallback); // Node loop - ros::Rate rate(1./5.); + ros::Rate rate(1. / 5.); while (ros::ok()) { if (auto newTerrain = segmentedPlanesTerrainModelRos.getTerrainModel()) { terrainModel = std::move(newTerrain); @@ -101,20 +100,24 @@ int main(int argc, char** argv) { double width = 1.5; double length = 2.0; bool success; - grid_map::GridMap localMap = messageMap->getSubmap({convexTerrain.plane.positionInWorld.x(), convexTerrain.plane.positionInWorld.y()}, Eigen::Array2d(width, length), success); + grid_map::GridMap localMap = messageMap->getSubmap({convexTerrain.plane.positionInWorld.x(), convexTerrain.plane.positionInWorld.y()}, + Eigen::Array2d(width, length), success); auto t2 = std::chrono::high_resolution_clock::now(); - signed_distance_field::GridmapSignedDistanceField sdf(localMap, "elevation", convexTerrain.plane.positionInWorld.z() - heightClearance, convexTerrain.plane.positionInWorld.z() + heightClearance); + signed_distance_field::GridmapSignedDistanceField sdf(localMap, "elevation", + convexTerrain.plane.positionInWorld.z() - heightClearance, + convexTerrain.plane.positionInWorld.z() + heightClearance); auto t3 = std::chrono::high_resolution_clock::now(); std::cout << "Sdf computation took " << 1e-3 * std::chrono::duration_cast(t3 - t2).count() << " [ms]\n"; auto t4 = std::chrono::high_resolution_clock::now(); auto sdfClone = std::unique_ptr(sdf.clone()); auto t5 = std::chrono::high_resolution_clock::now(); - std::cout << "Sdf.clone() computation took " << 1e-3 * std::chrono::duration_cast(t5 - t4).count() << " [ms]\n"; + std::cout << "Sdf.clone() computation took " << 1e-3 * std::chrono::duration_cast(t5 - t4).count() + << " [ms]\n"; sensor_msgs::PointCloud2 pointCloud2Msg; pcl::toROSMsg(sdf.obstaclePointCloud(4), pointCloud2Msg); - pointCloud2Msg.header = switched_model::getHeaderMsg(frameId_, ros::Time::now()); + pointCloud2Msg.header = ocs2::getHeaderMsg(frameId_, ros::Time::now()); distanceFieldPublisher.publish(pointCloud2Msg); } diff --git a/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModelRos.cpp b/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModelRos.cpp index cc0ceef6..7ce7d3a6 100644 --- a/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModelRos.cpp +++ b/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModelRos.cpp @@ -8,7 +8,7 @@ #include #include -#include +#include namespace switched_model { @@ -58,7 +58,7 @@ void SegmentedPlanesTerrainModelRos::publish() { sensor_msgs::PointCloud2 pointCloud2Msg; pcl::toROSMsg(pointcloud, pointCloud2Msg); - pointCloud2Msg.header = switched_model::getHeaderMsg(frameId_, ros::Time::now()); + pointCloud2Msg.header = ocs2::getHeaderMsg(frameId_, ros::Time::now()); distanceFieldPublisher_.publish(pointCloud2Msg); } } diff --git a/segmented_planes_terrain_model/src/SegmentedPlanesTerrainVisualization.cpp b/segmented_planes_terrain_model/src/SegmentedPlanesTerrainVisualization.cpp index 73956a99..bfadd576 100644 --- a/segmented_planes_terrain_model/src/SegmentedPlanesTerrainVisualization.cpp +++ b/segmented_planes_terrain_model/src/SegmentedPlanesTerrainVisualization.cpp @@ -4,19 +4,21 @@ #include "segmented_planes_terrain_model/SegmentedPlanesTerrainVisualization.h" +#include + namespace switched_model { -visualization_msgs::MarkerArray getConvexTerrainMarkers(const ConvexTerrain& convexTerrain, Color color, double diameter, double linewidth, - double normalLength) { +visualization_msgs::MarkerArray getConvexTerrainMarkers(const ConvexTerrain& convexTerrain, ocs2::Color color, double diameter, + double linewidth, double normalLength) { visualization_msgs::MarkerArray markerArray; markerArray.markers.reserve(3); // Mark the center point - markerArray.markers.emplace_back(getSphereMsg(convexTerrain.plane.positionInWorld, color, diameter)); + markerArray.markers.emplace_back(ocs2::getSphereMsg(convexTerrain.plane.positionInWorld, color, diameter)); // Mark the surface normal const vector3_t surfaceNormal = normalLength * surfaceNormalInWorld(convexTerrain.plane); - markerArray.markers.emplace_back(getArrowAtPointMsg(surfaceNormal, convexTerrain.plane.positionInWorld, color)); + markerArray.markers.emplace_back(ocs2::getArrowAtPointMsg(surfaceNormal, convexTerrain.plane.positionInWorld, color)); // Polygon message if (!convexTerrain.boundary.empty()) { @@ -24,14 +26,14 @@ visualization_msgs::MarkerArray getConvexTerrainMarkers(const ConvexTerrain& con boundary.reserve(convexTerrain.boundary.size() + 1); for (const auto& point : convexTerrain.boundary) { const auto& pointInWorldFrame = positionInWorldFrameFromPositionInTerrain({point.x(), point.y(), 0.0}, convexTerrain.plane); - boundary.emplace_back(getPointMsg(pointInWorldFrame)); + boundary.emplace_back(ocs2::getPointMsg(pointInWorldFrame)); } // Close the polygon const auto& pointInWorldFrame = positionInWorldFrameFromPositionInTerrain( {convexTerrain.boundary.front().x(), convexTerrain.boundary.front().y(), 0.0}, convexTerrain.plane); - boundary.emplace_back(getPointMsg(pointInWorldFrame)); + boundary.emplace_back(ocs2::getPointMsg(pointInWorldFrame)); - markerArray.markers.emplace_back(getLineMsg(std::move(boundary), color, linewidth)); + markerArray.markers.emplace_back(ocs2::getLineMsg(std::move(boundary), color, linewidth)); } else { } From 0762df8f7a1f1e3ceb462de211ac0bd80bb91bc9 Mon Sep 17 00:00:00 2001 From: rgrandia Date: Tue, 6 Jul 2021 15:55:23 +0200 Subject: [PATCH 096/504] add planarity_erosion --- .../SlidingWindowPlaneExtractorParameters.h | 3 +++ .../SlidingWindowPlaneExtractor.cpp | 8 ++++++++ convex_plane_decomposition_ros/config/parameters.yaml | 3 ++- convex_plane_decomposition_ros/src/ParameterLoading.cpp | 1 + 4 files changed, 14 insertions(+), 1 deletion(-) diff --git a/convex_plane_decomposition/include/convex_plane_decomposition/sliding_window_plane_extraction/SlidingWindowPlaneExtractorParameters.h b/convex_plane_decomposition/include/convex_plane_decomposition/sliding_window_plane_extraction/SlidingWindowPlaneExtractorParameters.h index 40604651..d60607fe 100644 --- a/convex_plane_decomposition/include/convex_plane_decomposition/sliding_window_plane_extraction/SlidingWindowPlaneExtractorParameters.h +++ b/convex_plane_decomposition/include/convex_plane_decomposition/sliding_window_plane_extraction/SlidingWindowPlaneExtractorParameters.h @@ -12,6 +12,9 @@ struct SlidingWindowPlaneExtractorParameters { /// Should be an odd number and at least 3. int kernel_size = 3; + /// [#] Erode planarity detection by this amount of pixels + int planarity_erosion = 0; + /// [deg] Maximum allowed angle between the surface normal and the world-z direction for a patch double plane_inclination_threshold_degrees = 70.0; diff --git a/convex_plane_decomposition/src/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.cpp b/convex_plane_decomposition/src/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.cpp index 8ea045eb..24942288 100644 --- a/convex_plane_decomposition/src/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.cpp +++ b/convex_plane_decomposition/src/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.cpp @@ -128,6 +128,14 @@ void SlidingWindowPlaneExtractor::runSlidingWindowDetector() { binaryImagePatch_.at(index.x(), index.y()) = isLocallyPlanar(n, mean_error); } } + + // erode + if (parameters_.planarity_erosion > 0) { + const int erosionSize = 2 * parameters_.planarity_erosion + 1; + const int erosionType = cv::MORPH_CROSS; + const auto erosionKernel_ = cv::getStructuringElement(erosionType, cv::Size(erosionSize, erosionSize)); + cv::erode(binaryImagePatch_, binaryImagePatch_, erosionKernel_); + } } // Label cells according to which cell they belong to using connected component labeling. diff --git a/convex_plane_decomposition_ros/config/parameters.yaml b/convex_plane_decomposition_ros/config/parameters.yaml index 804feaf8..14e53db1 100644 --- a/convex_plane_decomposition_ros/config/parameters.yaml +++ b/convex_plane_decomposition_ros/config/parameters.yaml @@ -7,6 +7,7 @@ preprocessing: sliding_window_plane_extractor: kernel_size: 3 # Size of the sliding window patch used for normal vector calculation and planarity detection. Should be an odd number and at least 3. + planarity_erosion: 1 # [#] Erode planarity detection by this amount of pixels plane_inclination_threshold_degrees: 45.0 # [deg] Maximum allowed angle between the surface normal and the world-z direction for a patch plane_patch_error_threshold: 0.005 # [m] The allowed root-mean-squared deviation from the plane fitted to the sliding window. min_number_points_per_label: 10 # [#] Labels with less points assigned to them are discarded @@ -26,6 +27,6 @@ contour_extraction: offsetSize: 2 # Size of the kernel creating the boundary offset. In number of pixels. postprocessing: - extracted_planes_height_offset: 0.02 # Added offset in Z direction for the full map to compensate for the location of the foot frame w.r.t. the contact point + extracted_planes_height_offset: 0.0 # Added offset in Z direction for the full map to compensate for the location of the foot frame w.r.t. the contact point nonplanar_height_offset: 0.02 # Added offset in Z direction for non-planar cells of the map. (Additional to extracted_planes_height_offset) nonplanar_horizontal_offset: 2 # Added offset in XY direction for non-planar cells of the map. In number of pixels. \ No newline at end of file diff --git a/convex_plane_decomposition_ros/src/ParameterLoading.cpp b/convex_plane_decomposition_ros/src/ParameterLoading.cpp index 7bb76b52..e6953c43 100644 --- a/convex_plane_decomposition_ros/src/ParameterLoading.cpp +++ b/convex_plane_decomposition_ros/src/ParameterLoading.cpp @@ -46,6 +46,7 @@ sliding_window_plane_extractor::SlidingWindowPlaneExtractorParameters loadSlidin const ros::NodeHandle& nodeHandle, const std::string& prefix) { sliding_window_plane_extractor::SlidingWindowPlaneExtractorParameters swParams; loadParameter(nodeHandle, prefix, "kernel_size", swParams.kernel_size); + loadParameter(nodeHandle, prefix, "planarity_erosion", swParams.planarity_erosion); loadParameter(nodeHandle, prefix, "plane_inclination_threshold_degrees", swParams.plane_inclination_threshold_degrees); loadParameter(nodeHandle, prefix, "plane_patch_error_threshold", swParams.plane_patch_error_threshold); loadParameter(nodeHandle, prefix, "min_number_points_per_label", swParams.min_number_points_per_label); From 7adb7de8091d82e945b39af8b5656b35fe6a6e04 Mon Sep 17 00:00:00 2001 From: rgrandia Date: Wed, 7 Jul 2021 13:41:53 +0200 Subject: [PATCH 097/504] change openCV inpaint to min-inpaint. Remove custom NaN processing --- convex_plane_decomposition/CMakeLists.txt | 1 + .../GridMapPreprocessing.h | 4 +- .../include/convex_plane_decomposition/Nan.h | 29 ------------ convex_plane_decomposition/package.xml | 1 + .../src/GridMapPreprocessing.cpp | 46 ++++--------------- .../SlidingWindowPlaneExtractor.cpp | 6 +-- .../config/parameters.yaml | 3 +- .../src/ConvexPlaneDecompositionRos.cpp | 2 - .../src/ParameterLoading.cpp | 1 - 9 files changed, 14 insertions(+), 79 deletions(-) delete mode 100644 convex_plane_decomposition/include/convex_plane_decomposition/Nan.h diff --git a/convex_plane_decomposition/CMakeLists.txt b/convex_plane_decomposition/CMakeLists.txt index dafad609..82659a85 100644 --- a/convex_plane_decomposition/CMakeLists.txt +++ b/convex_plane_decomposition/CMakeLists.txt @@ -6,6 +6,7 @@ set(CATKIN_PACKAGE_DEPENDENCIES cgal5_catkin grid_map_core ocs2_switched_model_interface + grid_map_filters_rsl ) find_package(catkin REQUIRED COMPONENTS diff --git a/convex_plane_decomposition/include/convex_plane_decomposition/GridMapPreprocessing.h b/convex_plane_decomposition/include/convex_plane_decomposition/GridMapPreprocessing.h index 9fef5c32..4eede3f0 100644 --- a/convex_plane_decomposition/include/convex_plane_decomposition/GridMapPreprocessing.h +++ b/convex_plane_decomposition/include/convex_plane_decomposition/GridMapPreprocessing.h @@ -15,8 +15,6 @@ struct PreprocessingParameters { int numberOfRepeats = 1; /// If the kernel size should increase each filter step. bool increasing = false; - /// [m] radius used for inpainting - double inpaintRadius = 0.05; }; class GridMapPreprocessing { @@ -28,7 +26,7 @@ class GridMapPreprocessing { private: void denoise(grid_map::GridMap& gridMap, const std::string& layer) const; void changeResolution(grid_map::GridMap& gridMap, const std::string& layer) const; - void inpaint(grid_map::GridMap& gridMap, const std::string& layer, float minValue, float maxValue) const; + void inpaint(grid_map::GridMap& gridMap, const std::string& layer) const; PreprocessingParameters parameters_; }; diff --git a/convex_plane_decomposition/include/convex_plane_decomposition/Nan.h b/convex_plane_decomposition/include/convex_plane_decomposition/Nan.h deleted file mode 100644 index a2867698..00000000 --- a/convex_plane_decomposition/include/convex_plane_decomposition/Nan.h +++ /dev/null @@ -1,29 +0,0 @@ -// -// Created by rgrandia on 11.06.20. -// - -#pragma once - -#include - -namespace convex_plane_decomposition { - -constexpr float nanfPatch = std::numeric_limits::max(); - -inline bool isNan(float val) { - return val == nanfPatch; -} - -inline bool isNan(double val) { - throw std::runtime_error("Should not call the custom isNan with a double"); -} - -inline void patchNans(Eigen::MatrixXf& matrix) { - matrix = matrix.unaryExpr([](float val) { return (std::isnan(val)) ? nanfPatch : val; }); -} - -inline void reapplyNans(Eigen::MatrixXf& matrix) { - matrix = matrix.unaryExpr([](float val) { return (isNan(val)) ? std::nanf("") : val; }); -} - -} // namespace convex_plane_decomposition diff --git a/convex_plane_decomposition/package.xml b/convex_plane_decomposition/package.xml index a9084924..43e12a95 100644 --- a/convex_plane_decomposition/package.xml +++ b/convex_plane_decomposition/package.xml @@ -12,6 +12,7 @@ cgal5_catkin grid_map_core ocs2_switched_model_interface + grid_map_filters_rsl diff --git a/convex_plane_decomposition/src/GridMapPreprocessing.cpp b/convex_plane_decomposition/src/GridMapPreprocessing.cpp index b72ce854..10b0629a 100644 --- a/convex_plane_decomposition/src/GridMapPreprocessing.cpp +++ b/convex_plane_decomposition/src/GridMapPreprocessing.cpp @@ -1,28 +1,19 @@ #include "convex_plane_decomposition/GridMapPreprocessing.h" -#include #include #include #include -#include -#include "convex_plane_decomposition/Nan.h" +#include namespace convex_plane_decomposition { GridMapPreprocessing::GridMapPreprocessing(const PreprocessingParameters& parameters) : parameters_(parameters) {} void GridMapPreprocessing::preprocess(grid_map::GridMap& gridMap, const std::string& layer) const { - const float minValue = gridMap.get(layer).minCoeffOfFinites(); - const float maxValue = gridMap.get(layer).maxCoeffOfFinites(); - - patchNans(gridMap.get(layer)); denoise(gridMap, layer); - - if (parameters_.inpaintRadius > 0) { - inpaint(gridMap, layer, minValue, maxValue); - changeResolution(gridMap, layer); - } + inpaint(gridMap, layer); + changeResolution(gridMap, layer); } void GridMapPreprocessing::denoise(grid_map::GridMap& gridMap, const std::string& layer) const { @@ -68,33 +59,12 @@ void GridMapPreprocessing::changeResolution(grid_map::GridMap& gridMap, const st } } -void GridMapPreprocessing::inpaint(grid_map::GridMap& gridMap, const std::string& layer, float minValue, float maxValue) const { - Eigen::MatrixXf& elevation_map = gridMap.get(layer); - - Eigen::Matrix mask = elevation_map.unaryExpr([](float val) { return (isNan(val)) ? uchar(1) : uchar(0); }); - - cv::Mat maskImage; - cv::eigen2cv(mask, maskImage); - - cv::Mat elevationImage; - grid_map::GridMapCvConverter::toImage(gridMap, layer, CV_8UC1, minValue, maxValue, elevationImage); - - // Inpainting - cv::Mat filledImage; - const double radiusInPixels = parameters_.inpaintRadius / gridMap.getResolution(); - cv::inpaint(elevationImage, maskImage, filledImage, radiusInPixels, cv::INPAINT_NS); - - // Get inpainting as float - cv::Mat filledImageFloat; - const float maxUCharValue = 255.F; - filledImage.convertTo(filledImageFloat, CV_32F, (maxValue - minValue) / maxUCharValue, minValue); - - // Copy inpainted values back to elevation map - cv::Mat elevationImageFloat; - cv::eigen2cv(elevation_map, elevationImageFloat); - filledImageFloat.copyTo(elevationImageFloat, maskImage); +void GridMapPreprocessing::inpaint(grid_map::GridMap& gridMap, const std::string& layer) const { + const std::string& layerOut = "tmp"; + grid_map::inpainting::minValues(gridMap, layer, layerOut); - cv::cv2eigen(elevationImageFloat, elevation_map); + gridMap.get(layer) = std::move(gridMap.get(layerOut)); + gridMap.erase(layerOut); } } // namespace convex_plane_decomposition diff --git a/convex_plane_decomposition/src/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.cpp b/convex_plane_decomposition/src/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.cpp index 24942288..b5a3e677 100644 --- a/convex_plane_decomposition/src/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.cpp +++ b/convex_plane_decomposition/src/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.cpp @@ -11,8 +11,6 @@ #include -#include "convex_plane_decomposition/Nan.h" - namespace convex_plane_decomposition { namespace sliding_window_plane_extractor { @@ -63,7 +61,7 @@ std::pair SlidingWindowPlaneExtractor::computeNormalAnd for (int kernel_col = 0; kernel_col < parameters_.kernel_size; ++kernel_col) { for (int kernel_row = 0; kernel_row < parameters_.kernel_size; ++kernel_row) { float height = windowData(kernel_row, kernel_col); - if (isNan(height)) { + if (!std::isfinite(height)) { continue; } // No need to account for map offset. Will substract the mean anyway. @@ -117,7 +115,7 @@ void SlidingWindowPlaneExtractor::runSlidingWindowDetector() { Eigen::MatrixXf window_data = window_iterator.getData(); const auto middleValue = window_data(kernelMiddle, kernelMiddle); - if (isNan(middleValue)) { + if (!std::isfinite(middleValue)) { binaryImagePatch_.at(index.x(), index.y()) = false; } else { Eigen::Vector3d n; diff --git a/convex_plane_decomposition_ros/config/parameters.yaml b/convex_plane_decomposition_ros/config/parameters.yaml index 14e53db1..305a0083 100644 --- a/convex_plane_decomposition_ros/config/parameters.yaml +++ b/convex_plane_decomposition_ros/config/parameters.yaml @@ -3,11 +3,10 @@ preprocessing: kernelSize: 3 # Kernel size of the median filter, either 3 or 5 numberOfRepeats: 3 # Number of times to apply the same filter increasing: False # Increase the kernel size each iteration. - inpaintRadius: 0.05 # [m] sliding_window_plane_extractor: kernel_size: 3 # Size of the sliding window patch used for normal vector calculation and planarity detection. Should be an odd number and at least 3. - planarity_erosion: 1 # [#] Erode planarity detection by this amount of pixels + planarity_erosion: 0 # [#] Erode planarity detection by this amount of pixels plane_inclination_threshold_degrees: 45.0 # [deg] Maximum allowed angle between the surface normal and the world-z direction for a patch plane_patch_error_threshold: 0.005 # [m] The allowed root-mean-squared deviation from the plane fitted to the sliding window. min_number_points_per_label: 10 # [#] Labels with less points assigned to them are discarded diff --git a/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp b/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp index 54d6f8f8..beaa63ad 100644 --- a/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp +++ b/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp @@ -10,7 +10,6 @@ #include #include -#include #include #include #include @@ -138,7 +137,6 @@ void ConvexPlaneExtractionROS::callback(const grid_map_msgs::GridMap& message) { } // Visualize in Rviz. - reapplyNans(planarTerrain.gridMap.get(elevationLayer_)); planarTerrain.gridMap.add("segmentation"); cv::cv2eigen(slidingWindowPlaneExtractor_->getSegmentedPlanesMap().labeledImage, planarTerrain.gridMap.get("segmentation")); grid_map_msgs::GridMap outputMessage; diff --git a/convex_plane_decomposition_ros/src/ParameterLoading.cpp b/convex_plane_decomposition_ros/src/ParameterLoading.cpp index e6953c43..853d359f 100644 --- a/convex_plane_decomposition_ros/src/ParameterLoading.cpp +++ b/convex_plane_decomposition_ros/src/ParameterLoading.cpp @@ -20,7 +20,6 @@ PreprocessingParameters loadPreprocessingParameters(const ros::NodeHandle& nodeH loadParameter(nodeHandle, prefix, "kernelSize", preprocessingParameters.kernelSize); loadParameter(nodeHandle, prefix, "numberOfRepeats", preprocessingParameters.numberOfRepeats); loadParameter(nodeHandle, prefix, "increasing", preprocessingParameters.increasing); - loadParameter(nodeHandle, prefix, "inpaintRadius", preprocessingParameters.inpaintRadius); return preprocessingParameters; } From 7cd95a1704ae4ba78b11749b0e1fa4dc95a5ea34 Mon Sep 17 00:00:00 2001 From: rgrandia Date: Wed, 14 Jul 2021 09:48:48 +0200 Subject: [PATCH 098/504] update jenkins pipeline --- jenkins-pipeline | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/jenkins-pipeline b/jenkins-pipeline index cc00826c..f0fe0a26 100644 --- a/jenkins-pipeline +++ b/jenkins-pipeline @@ -1,2 +1,4 @@ library 'continuous_integration_pipeline' -ciPipeline("--environment anymal --dependencies git@bitbucket.org:leggedrobotics/ocs2_anymal.git;feature/perception;git") +ciPipeline("--environment anymal \ + --dependencies 'git@bitbucket.org:leggedrobotics/ocs2_anymal.git;feature/perception;git'\ + 'git@bitbucket.org:leggedrobotics/ocs2_dev;feature/perception;git'") From 99f475fa9b981e7ed7903f16564b82fe7b430d3f Mon Sep 17 00:00:00 2001 From: rgrandia Date: Thu, 29 Jul 2021 12:48:28 +0200 Subject: [PATCH 099/504] check there is at least one finite value in the submap --- .../GridMapPreprocessing.h | 5 +++++ .../src/GridMapPreprocessing.cpp | 17 ++++++++++++++--- .../src/ConvexPlaneDecompositionRos.cpp | 1 + 3 files changed, 20 insertions(+), 3 deletions(-) diff --git a/convex_plane_decomposition/include/convex_plane_decomposition/GridMapPreprocessing.h b/convex_plane_decomposition/include/convex_plane_decomposition/GridMapPreprocessing.h index 4eede3f0..abcf9e25 100644 --- a/convex_plane_decomposition/include/convex_plane_decomposition/GridMapPreprocessing.h +++ b/convex_plane_decomposition/include/convex_plane_decomposition/GridMapPreprocessing.h @@ -31,4 +31,9 @@ class GridMapPreprocessing { PreprocessingParameters parameters_; }; +/** + * @return true if any of the elements in the map are finite + */ +bool containsFiniteValue(const grid_map::Matrix& map); + } // namespace convex_plane_decomposition diff --git a/convex_plane_decomposition/src/GridMapPreprocessing.cpp b/convex_plane_decomposition/src/GridMapPreprocessing.cpp index 10b0629a..65cea07d 100644 --- a/convex_plane_decomposition/src/GridMapPreprocessing.cpp +++ b/convex_plane_decomposition/src/GridMapPreprocessing.cpp @@ -20,14 +20,14 @@ void GridMapPreprocessing::denoise(grid_map::GridMap& gridMap, const std::string Eigen::MatrixXf& elevation_map = gridMap.get(layer); cv::Mat elevationImage; - cv::eigen2cv(elevation_map, elevationImage); // creates CV_32F image + cv::eigen2cv(elevation_map, elevationImage); // creates CV_32F image int kernelSize = parameters_.kernelSize; for (int i = 0; i < parameters_.numberOfRepeats; ++i) { - kernelSize = std::max(3, std::min(kernelSize, 5)); // must be 3 or 5 for current image type, see doc of cv::medianBlur + kernelSize = std::max(3, std::min(kernelSize, 5)); // must be 3 or 5 for current image type, see doc of cv::medianBlur cv::medianBlur(elevationImage, elevationImage, kernelSize); - if (parameters_.increasing) { // TODO (rgrandia) : remove this option or enable kernels of other size than 3 / 5 + if (parameters_.increasing) { // TODO (rgrandia) : remove this option or enable kernels of other size than 3 / 5 kernelSize += 2; } } @@ -67,4 +67,15 @@ void GridMapPreprocessing::inpaint(grid_map::GridMap& gridMap, const std::string gridMap.erase(layerOut); } +bool containsFiniteValue(const grid_map::Matrix& map) { + for (int col = 0; col < map.cols(); ++col) { + for (int row = 0; row < map.rows(); ++row) { + if (std::isfinite(map(col, row))) { + return true; + } + } + } + return false; +} + } // namespace convex_plane_decomposition diff --git a/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp b/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp index beaa63ad..2a42d3b6 100644 --- a/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp +++ b/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp @@ -89,6 +89,7 @@ void ConvexPlaneExtractionROS::callback(const grid_map_msgs::GridMap& message) { grid_map::GridMapRosConverter::fromMessage(message, messageMap, layers, false, false); bool success; grid_map::GridMap elevationMap = messageMap.getSubmap(messageMap.getPosition(), Eigen::Array2d(subMapLength_, subMapWidth_), success); + success = success && containsFiniteValue(elevationMap.get(elevationLayer_)); // Check if there are values ROS_INFO("...done."); // Transform map if necessary From f36e12e33ecb3b5095277a477ff1eeb5872fbcc9 Mon Sep 17 00:00:00 2001 From: rgrandia Date: Thu, 5 Aug 2021 13:32:14 +0200 Subject: [PATCH 100/504] add highest obstacle interface --- segmented_planes_terrain_model/CMakeLists.txt | 1 + .../SegmentedPlanesTerrainModel.h | 2 ++ segmented_planes_terrain_model/package.xml | 1 + .../src/SegmentedPlanesTerrainModel.cpp | 18 ++++++++++++++++++ 4 files changed, 22 insertions(+) diff --git a/segmented_planes_terrain_model/CMakeLists.txt b/segmented_planes_terrain_model/CMakeLists.txt index dccffca0..e9d3fa10 100644 --- a/segmented_planes_terrain_model/CMakeLists.txt +++ b/segmented_planes_terrain_model/CMakeLists.txt @@ -3,6 +3,7 @@ project(segmented_planes_terrain_model) # Catkin dependencies set(CATKIN_PACKAGE_DEPENDENCIES + grid_map_filters_rsl ocs2_switched_model_interface grid_map_sdf pcl_ros diff --git a/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesTerrainModel.h b/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesTerrainModel.h index b83c8262..ccfce13a 100644 --- a/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesTerrainModel.h +++ b/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesTerrainModel.h @@ -23,6 +23,8 @@ class SegmentedPlanesTerrainModel : public switched_model::TerrainModel { const signed_distance_field::GridmapSignedDistanceField* getSignedDistanceField() const override { return signedDistanceField_.get(); } + vector3_t getHighestObstacleAlongLine(const vector3_t& position1InWorld, const vector3_t& position2InWorld) const override; + const convex_plane_decomposition::PlanarTerrain& planarTerrain() const { return planarTerrain_; } private: diff --git a/segmented_planes_terrain_model/package.xml b/segmented_planes_terrain_model/package.xml index 2034ed44..a876d763 100644 --- a/segmented_planes_terrain_model/package.xml +++ b/segmented_planes_terrain_model/package.xml @@ -9,6 +9,7 @@ TODO catkin + grid_map_filters_rsl ocs2_switched_model_interface grid_map_sdf pcl_ros diff --git a/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModel.cpp b/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModel.cpp index 23ab8f3d..2a8880e2 100644 --- a/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModel.cpp +++ b/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModel.cpp @@ -9,6 +9,7 @@ #include #include #include +#include namespace switched_model { @@ -198,4 +199,21 @@ std::pair position2InWorld.z()) { + return position1InWorld; + } else { + return position2InWorld; + } + } +} + } // namespace switched_model From b9aa43b73bf2248f39c94e4c00f23576fe89a3c3 Mon Sep 17 00:00:00 2001 From: rgrandia Date: Wed, 11 Aug 2021 16:56:45 +0200 Subject: [PATCH 101/504] take reference to elevation data during initialization --- .../SegmentedPlanesTerrainModel.h | 3 ++- .../src/SegmentedPlanesTerrainModel.cpp | 14 +++++++++----- 2 files changed, 11 insertions(+), 6 deletions(-) diff --git a/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesTerrainModel.h b/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesTerrainModel.h index ccfce13a..098b28df 100644 --- a/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesTerrainModel.h +++ b/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesTerrainModel.h @@ -28,8 +28,9 @@ class SegmentedPlanesTerrainModel : public switched_model::TerrainModel { const convex_plane_decomposition::PlanarTerrain& planarTerrain() const { return planarTerrain_; } private: - convex_plane_decomposition::PlanarTerrain planarTerrain_; + const convex_plane_decomposition::PlanarTerrain planarTerrain_; std::unique_ptr signedDistanceField_; + const grid_map::Matrix* const elevationData_; }; std::pair getPlanarRegionAtPositionInWorld( diff --git a/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModel.cpp b/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModel.cpp index 2a8880e2..22883179 100644 --- a/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModel.cpp +++ b/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModel.cpp @@ -13,8 +13,11 @@ namespace switched_model { +namespace { // TODO (rgrandia) : deadzone a parameter const double zHeightDistanceDeadzone = 0.1; // [m] This difference in z height is not counted +const std::string elevationLayerName = "elevation"; +} // namespace double distanceCost(const vector3_t& query, const vector3_t& terrainPoint) { const double dx = query.x() - terrainPoint.x(); @@ -39,7 +42,9 @@ double distanceCostLowerbound(double distanceSquared) { } SegmentedPlanesTerrainModel::SegmentedPlanesTerrainModel(convex_plane_decomposition::PlanarTerrain planarTerrain) - : planarTerrain_(std::move(planarTerrain)), signedDistanceField_(nullptr) {} + : planarTerrain_(std::move(planarTerrain)), + signedDistanceField_(nullptr), + elevationData_(&planarTerrain_.gridMap.get(elevationLayerName)) {} TerrainPlane SegmentedPlanesTerrainModel::getLocalTerrainAtPositionInWorldAlongGravity(const vector3_t& positionInWorld) const { const auto regionAndSeedPoint = getPlanarRegionAtPositionInWorld(positionInWorld, planarTerrain_.planarRegions); @@ -84,8 +89,8 @@ void SegmentedPlanesTerrainModel::createSignedDistanceBetween(const Eigen::Vecto bool success = true; grid_map::GridMap subMap = planarTerrain_.gridMap.getSubmap(centerXY, lengths, success); if (success) { - signedDistanceField_ = - std::make_unique(subMap, "elevation", minCoordinates.z(), maxCoordinates.z()); + signedDistanceField_ = std::make_unique(subMap, elevationLayerName, + minCoordinates.z(), maxCoordinates.z()); } else { std::cerr << "[SegmentedPlanesTerrainModel] Failed to get subMap" << std::endl; } @@ -201,9 +206,8 @@ std::pair Date: Tue, 17 Aug 2021 16:33:48 +0200 Subject: [PATCH 102/504] fix: swap over move under lock --- .../src/SegmentedPlanesTerrainModelRos.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModelRos.cpp b/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModelRos.cpp index 7ce7d3a6..1fb14c5f 100644 --- a/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModelRos.cpp +++ b/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModelRos.cpp @@ -87,7 +87,7 @@ void SegmentedPlanesTerrainModelRos::callback(const convex_plane_decomposition_m { // Move to storage under the lock std::lock_guard lock(updateMutex_); - terrainPtr_ = std::move(terrainPtr); + terrainPtr_.swap(terrainPtr); } callbackTimer_.endTimer(); From 538322df32145784263349ad87519b022e9bc868 Mon Sep 17 00:00:00 2001 From: rgrandia Date: Tue, 17 Aug 2021 23:41:42 +0200 Subject: [PATCH 103/504] keep distance as float converting to pointcloud --- .../include/signed_distance_field/GridmapSignedDistanceField.h | 1 + signed_distance_field/src/GridmapSignedDistanceField.cpp | 2 +- 2 files changed, 2 insertions(+), 1 deletion(-) diff --git a/signed_distance_field/include/signed_distance_field/GridmapSignedDistanceField.h b/signed_distance_field/include/signed_distance_field/GridmapSignedDistanceField.h index 5967439c..4ed38749 100644 --- a/signed_distance_field/include/signed_distance_field/GridmapSignedDistanceField.h +++ b/signed_distance_field/include/signed_distance_field/GridmapSignedDistanceField.h @@ -61,6 +61,7 @@ class GridmapSignedDistanceField : public switched_model::SignedDistanceField { using node_data_t = std::array; static double distance(const node_data_t& nodeData) noexcept { return nodeData[0]; } + static float distanceFloat(const node_data_t& nodeData) noexcept { return nodeData[0]; } static Eigen::Vector3d derivative(const node_data_t& nodeData) noexcept { return {nodeData[1], nodeData[2], nodeData[3]}; } Gridmap3dLookup gridmap3DLookup_; diff --git a/signed_distance_field/src/GridmapSignedDistanceField.cpp b/signed_distance_field/src/GridmapSignedDistanceField.cpp index 68fcd043..af67d5a3 100644 --- a/signed_distance_field/src/GridmapSignedDistanceField.cpp +++ b/signed_distance_field/src/GridmapSignedDistanceField.cpp @@ -113,7 +113,7 @@ pcl::PointCloud GridmapSignedDistanceField::asPointCloud(size_t for (size_t rowX = 0; rowX < gridmap3DLookup_.gridsize_.x; rowX += decimation) { const Gridmap3dLookup::size_t_3d index3d = {rowX, colY, layerZ}; const auto index = gridmap3DLookup_.linearIndex(index3d); - const auto signeddistance = distance(data_[index]); + const auto signeddistance = distanceFloat(data_[index]); if (condition(signeddistance)) { const auto p = gridmap3DLookup_.nodePosition(index3d); pcl::PointXYZI point; From 433ac1370f969efbcd8d1803e11979d5fe261a1f Mon Sep 17 00:00:00 2001 From: rgrandia Date: Wed, 18 Aug 2021 20:28:09 +0200 Subject: [PATCH 104/504] inpaint before denoising operation --- convex_plane_decomposition/src/GridMapPreprocessing.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/convex_plane_decomposition/src/GridMapPreprocessing.cpp b/convex_plane_decomposition/src/GridMapPreprocessing.cpp index 65cea07d..19979602 100644 --- a/convex_plane_decomposition/src/GridMapPreprocessing.cpp +++ b/convex_plane_decomposition/src/GridMapPreprocessing.cpp @@ -11,8 +11,8 @@ namespace convex_plane_decomposition { GridMapPreprocessing::GridMapPreprocessing(const PreprocessingParameters& parameters) : parameters_(parameters) {} void GridMapPreprocessing::preprocess(grid_map::GridMap& gridMap, const std::string& layer) const { - denoise(gridMap, layer); inpaint(gridMap, layer); + denoise(gridMap, layer); changeResolution(gridMap, layer); } From 25f8a8f8a41712f3b1ea1411fafd9ce72ac9c3f9 Mon Sep 17 00:00:00 2001 From: rgrandia Date: Thu, 19 Aug 2021 21:54:32 +0200 Subject: [PATCH 105/504] reduce median filter to 1 repetition --- convex_plane_decomposition_ros/config/parameters.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/convex_plane_decomposition_ros/config/parameters.yaml b/convex_plane_decomposition_ros/config/parameters.yaml index 305a0083..41db87d4 100644 --- a/convex_plane_decomposition_ros/config/parameters.yaml +++ b/convex_plane_decomposition_ros/config/parameters.yaml @@ -1,7 +1,7 @@ preprocessing: resolution: 0.02 # Resampling resolution, set negative to skip, requires inpainting to be used kernelSize: 3 # Kernel size of the median filter, either 3 or 5 - numberOfRepeats: 3 # Number of times to apply the same filter + numberOfRepeats: 1 # Number of times to apply the same filter increasing: False # Increase the kernel size each iteration. sliding_window_plane_extractor: From a759aa907e7f3ba44a22c5b1efefff0b336eb161 Mon Sep 17 00:00:00 2001 From: rgrandia Date: Tue, 12 Oct 2021 15:41:06 +0200 Subject: [PATCH 106/504] add a smooth layer to be used as base reference --- .../Postprocessing.h | 10 ++++ .../src/Postprocessing.cpp | 58 +++++++++++++++++++ .../config/parameters.yaml | 5 +- .../src/ParameterLoading.cpp | 3 + 4 files changed, 75 insertions(+), 1 deletion(-) diff --git a/convex_plane_decomposition/include/convex_plane_decomposition/Postprocessing.h b/convex_plane_decomposition/include/convex_plane_decomposition/Postprocessing.h index d56279ff..5dfb751e 100644 --- a/convex_plane_decomposition/include/convex_plane_decomposition/Postprocessing.h +++ b/convex_plane_decomposition/include/convex_plane_decomposition/Postprocessing.h @@ -13,6 +13,15 @@ struct PostprocessingParameters { /// Size of the kernel creating the boundary offset. In number of pixels. int nonplanar_horizontal_offset = 2; + + /// Half the width of the dilation used before the smooth layer [m] + double smoothing_dilation_size = 0.2; + + /// Half the width of the box kernel used for the smooth layer [m] + double smoothing_box_kernel_size = 0.3; + + /// Half the width of the Gaussian kernel used for the smooth layer [m] + double smoothing_gauss_kernel_size = 0.1; }; class Postprocessing { @@ -30,6 +39,7 @@ class Postprocessing { void dilationInNonplanarRegions(Eigen::MatrixXf& elevationData, const Eigen::MatrixXf& planarityMask) const; void addHeightOffset(Eigen::MatrixXf& elevationData, const Eigen::MatrixXf& planarityMask) const; void addHeightOffset(std::vector& planarRegions) const; + void addSmoothLayer(grid_map::GridMap& gridMap, const Eigen::MatrixXf& elevationData, const Eigen::MatrixXf& planarityMask) const; PostprocessingParameters parameters_; }; diff --git a/convex_plane_decomposition/src/Postprocessing.cpp b/convex_plane_decomposition/src/Postprocessing.cpp index f0e5887d..331573ac 100644 --- a/convex_plane_decomposition/src/Postprocessing.cpp +++ b/convex_plane_decomposition/src/Postprocessing.cpp @@ -4,6 +4,8 @@ #include #include +#include + namespace convex_plane_decomposition { Postprocessing::Postprocessing(const PostprocessingParameters& parameters) : parameters_(parameters) {} @@ -16,6 +18,9 @@ void Postprocessing::postprocess(PlanarTerrain& planarTerrain, const std::string // post process planar regions addHeightOffset(planarTerrain.planarRegions); + // Add smooth layer for base reference + addSmoothLayer(planarTerrain.gridMap, elevationData, planarityMask); + // post process elevation map dilationInNonplanarRegions(elevationData, planarityMask); addHeightOffset(elevationData, planarityMask); @@ -61,4 +66,57 @@ void Postprocessing::addHeightOffset(std::vector& planarRegions) c } } +void Postprocessing::addSmoothLayer(grid_map::GridMap& gridMap, const Eigen::MatrixXf& elevationData, + const Eigen::MatrixXf& planarityMask) const { + const int dilationSize = 2 * std::round(parameters_.smoothing_dilation_size / gridMap.getResolution()) + 1; + const int kernel = 2 * std::round(parameters_.smoothing_box_kernel_size / gridMap.getResolution()) + 1; + const int kernelGauss = 2 * std::round(parameters_.smoothing_gauss_kernel_size / gridMap.getResolution()) + 1; + + // Set nonplanar regions to "NaN" + const auto lowestFloat = std::numeric_limits::lowest(); // Take lowest to not interfere with Dilation, using true NaN doesn't work with opencv dilation. + Eigen::MatrixXf elevationWithNaN = + (planarityMask.array() == 1.0).select(elevationData, Eigen::MatrixXf::Constant(elevationData.rows(), elevationData.cols(), lowestFloat)); + + // Convert to openCV + cv::Mat elevationWithNaNImage; + cv::eigen2cv(elevationWithNaN, elevationWithNaNImage); // creates CV_32F image + + // Dilate + const int dilationType = cv::MORPH_ELLIPSE; // ellipse inscribed in the square of size dilationSize + const auto dilationKernel_ = cv::getStructuringElement(dilationType, cv::Size(dilationSize, dilationSize)); + cv::dilate(elevationWithNaNImage, elevationWithNaNImage, dilationKernel_); + + // Take complement image where elevation data was set to NaN + cv::Mat indicatorImage = cv::Mat::ones(elevationWithNaNImage.rows, elevationWithNaNImage.cols, CV_32F); + indicatorImage.setTo(0.0, elevationWithNaNImage == lowestFloat); + + // Set NaN's to 0.0 + elevationWithNaNImage.setTo(0.0, elevationWithNaNImage == lowestFloat); + + // Filter definition + auto smoothingFilter = [kernel, kernelGauss](const cv::Mat& imageIn) { + cv::Mat imageOut; + cv::boxFilter(imageIn, imageOut, -1, {kernel, kernel}, cv::Point(-1, -1), true, cv::BorderTypes::BORDER_CONSTANT); + cv::GaussianBlur(imageOut, imageOut, {kernelGauss, kernelGauss}, 0, 0, cv::BorderTypes::BORDER_CONSTANT); + return imageOut; + }; + + // Helper to convert to Eigen + auto toEigen = [](const cv::Mat& image) { + Eigen::MatrixXf data; + cv::cv2eigen(image, data); + return data; + }; + + // Filter trick for data with NaN from: https://stackoverflow.com/questions/18697532/gaussian-filtering-a-image-with-nan-in-python + auto planarOnly = smoothingFilter(elevationWithNaNImage); + auto complement = smoothingFilter(indicatorImage); + complement += 1e-6; // Prevent division by zero + cv::Mat result; + cv::divide(planarOnly, complement, result); + + // Add layer to map. + gridMap.add("smooth_planar", toEigen(result)); +} + } // namespace convex_plane_decomposition diff --git a/convex_plane_decomposition_ros/config/parameters.yaml b/convex_plane_decomposition_ros/config/parameters.yaml index 41db87d4..32e4529c 100644 --- a/convex_plane_decomposition_ros/config/parameters.yaml +++ b/convex_plane_decomposition_ros/config/parameters.yaml @@ -28,4 +28,7 @@ contour_extraction: postprocessing: extracted_planes_height_offset: 0.0 # Added offset in Z direction for the full map to compensate for the location of the foot frame w.r.t. the contact point nonplanar_height_offset: 0.02 # Added offset in Z direction for non-planar cells of the map. (Additional to extracted_planes_height_offset) - nonplanar_horizontal_offset: 2 # Added offset in XY direction for non-planar cells of the map. In number of pixels. \ No newline at end of file + nonplanar_horizontal_offset: 2 # Added offset in XY direction for non-planar cells of the map. In number of pixels. + smoothing_dilation_size: 0.2 # Half the width of the dilation used before the smooth layer [m] + smoothing_box_kernel_size: 0.3 # Half the width of the box kernel used for the smooth layer [m] + smoothing_gauss_kernel_size: 0.1 # Half the width of the Gaussian kernel used for the smooth layer [m] \ No newline at end of file diff --git a/convex_plane_decomposition_ros/src/ParameterLoading.cpp b/convex_plane_decomposition_ros/src/ParameterLoading.cpp index 853d359f..cc444ab5 100644 --- a/convex_plane_decomposition_ros/src/ParameterLoading.cpp +++ b/convex_plane_decomposition_ros/src/ParameterLoading.cpp @@ -62,6 +62,9 @@ PostprocessingParameters loadPostprocessingParameters(const ros::NodeHandle& nod loadParameter(nodeHandle, prefix, "extracted_planes_height_offset", postprocessingParameters.extracted_planes_height_offset); loadParameter(nodeHandle, prefix, "nonplanar_height_offset", postprocessingParameters.nonplanar_height_offset); loadParameter(nodeHandle, prefix, "nonplanar_horizontal_offset", postprocessingParameters.nonplanar_horizontal_offset); + loadParameter(nodeHandle, prefix, "smoothing_dilation_size", postprocessingParameters.smoothing_dilation_size); + loadParameter(nodeHandle, prefix, "smoothing_box_kernel_size", postprocessingParameters.smoothing_box_kernel_size); + loadParameter(nodeHandle, prefix, "smoothing_gauss_kernel_size", postprocessingParameters.smoothing_gauss_kernel_size); return postprocessingParameters; } From 3d725f5487c7bbb0685378faf05fb9e4528fc54a Mon Sep 17 00:00:00 2001 From: rgrandia Date: Tue, 12 Oct 2021 16:38:30 +0200 Subject: [PATCH 107/504] remove one marker from convex terrain --- .../SegmentedPlanesTerrainVisualization.h | 4 ++-- segmented_planes_terrain_model/src/DemoNode.cpp | 3 +-- .../src/SegmentedPlanesTerrainVisualization.cpp | 9 +++------ 3 files changed, 6 insertions(+), 10 deletions(-) diff --git a/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesTerrainVisualization.h b/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesTerrainVisualization.h index bc2f14e4..6c8acf6b 100644 --- a/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesTerrainVisualization.h +++ b/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesTerrainVisualization.h @@ -12,7 +12,7 @@ namespace switched_model { -visualization_msgs::MarkerArray getConvexTerrainMarkers(const ConvexTerrain& convexTerrain, ocs2::Color color, double diameter, - double linewidth, double normalLength); +visualization_msgs::MarkerArray getConvexTerrainMarkers(const ConvexTerrain& convexTerrain, ocs2::Color color, double linewidth, + double normalLength); } // namespace switched_model diff --git a/segmented_planes_terrain_model/src/DemoNode.cpp b/segmented_planes_terrain_model/src/DemoNode.cpp index 875c4e4c..2e4a0d81 100644 --- a/segmented_planes_terrain_model/src/DemoNode.cpp +++ b/segmented_planes_terrain_model/src/DemoNode.cpp @@ -25,8 +25,7 @@ const std::string frameId_ = "odom"; std::unique_ptr messageMap; visualization_msgs::MarkerArray toMarker(const switched_model::ConvexTerrain& convexTerrain) { - visualization_msgs::MarkerArray markerArray = - switched_model::getConvexTerrainMarkers(convexTerrain, ocs2::Color::orange, 0.02, 0.005, 0.1); + visualization_msgs::MarkerArray markerArray = switched_model::getConvexTerrainMarkers(convexTerrain, ocs2::Color::orange, 0.005, 0.1); // Add headers and Id const ros::Time timeStamp = ros::Time::now(); diff --git a/segmented_planes_terrain_model/src/SegmentedPlanesTerrainVisualization.cpp b/segmented_planes_terrain_model/src/SegmentedPlanesTerrainVisualization.cpp index bfadd576..b8a576c3 100644 --- a/segmented_planes_terrain_model/src/SegmentedPlanesTerrainVisualization.cpp +++ b/segmented_planes_terrain_model/src/SegmentedPlanesTerrainVisualization.cpp @@ -8,13 +8,10 @@ namespace switched_model { -visualization_msgs::MarkerArray getConvexTerrainMarkers(const ConvexTerrain& convexTerrain, ocs2::Color color, double diameter, - double linewidth, double normalLength) { +visualization_msgs::MarkerArray getConvexTerrainMarkers(const ConvexTerrain& convexTerrain, ocs2::Color color, double linewidth, + double normalLength) { visualization_msgs::MarkerArray markerArray; - markerArray.markers.reserve(3); - - // Mark the center point - markerArray.markers.emplace_back(ocs2::getSphereMsg(convexTerrain.plane.positionInWorld, color, diameter)); + markerArray.markers.reserve(2); // Mark the surface normal const vector3_t surfaceNormal = normalLength * surfaceNormalInWorld(convexTerrain.plane); From 922c436cd247bf8b934bc57aeae45b02a0aacd26 Mon Sep 17 00:00:00 2001 From: rgrandia Date: Tue, 12 Oct 2021 17:25:09 +0200 Subject: [PATCH 108/504] refactor: move free standing function to separate file --- segmented_planes_terrain_model/CMakeLists.txt | 1 + .../SegmentedPlaneProjection.h | 31 ++++ .../src/SegmentedPlaneProjection.cpp | 147 ++++++++++++++++++ .../src/SegmentedPlanesTerrainModel.cpp | 135 +--------------- 4 files changed, 181 insertions(+), 133 deletions(-) create mode 100644 segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlaneProjection.h create mode 100644 segmented_planes_terrain_model/src/SegmentedPlaneProjection.cpp diff --git a/segmented_planes_terrain_model/CMakeLists.txt b/segmented_planes_terrain_model/CMakeLists.txt index e9d3fa10..39d96401 100644 --- a/segmented_planes_terrain_model/CMakeLists.txt +++ b/segmented_planes_terrain_model/CMakeLists.txt @@ -44,6 +44,7 @@ include_directories( ) add_library(${PROJECT_NAME} + src/SegmentedPlaneProjection.cpp src/SegmentedPlanesTerrainModel.cpp src/SegmentedPlanesTerrainModelRos.cpp src/SegmentedPlanesTerrainVisualization.cpp diff --git a/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlaneProjection.h b/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlaneProjection.h new file mode 100644 index 00000000..95be21a5 --- /dev/null +++ b/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlaneProjection.h @@ -0,0 +1,31 @@ +// +// Created by rgrandia on 12.10.21. +// + +#pragma once + +#include + +#include +#include + +namespace switched_model { + +double distanceCost(const vector3_t& query, const vector3_t& terrainPoint); + +double distanceCostLowerbound(double distanceSquared); + +double singleSidedSquaredDistance(double value, double min, double max); + +double squaredDistanceToBoundingBox(const vector3_t& positionInWorld, const convex_plane_decomposition::PlanarRegion& planarRegion); + +const convex_plane_decomposition::CgalPolygonWithHoles2d* findInsetContainingThePoint( + const convex_plane_decomposition::CgalPoint2d& point, const std::vector& insets); + +std::pair squaredDistanceToBoundary( + const vector3_t& positionInWorld, const convex_plane_decomposition::PlanarRegion& planarRegion); + +std::pair getPlanarRegionAtPositionInWorld( + const vector3_t& positionInWorld, const std::vector& planarRegions); + +} // namespace switched_model \ No newline at end of file diff --git a/segmented_planes_terrain_model/src/SegmentedPlaneProjection.cpp b/segmented_planes_terrain_model/src/SegmentedPlaneProjection.cpp new file mode 100644 index 00000000..de82571c --- /dev/null +++ b/segmented_planes_terrain_model/src/SegmentedPlaneProjection.cpp @@ -0,0 +1,147 @@ +// +// Created by rgrandia on 12.10.21. +// + +#include "segmented_planes_terrain_model/SegmentedPlaneProjection.h" + +#include + +namespace switched_model { + +// alias to avoid long namespace +namespace cpd = convex_plane_decomposition; + +// TODO (rgrandia) : deadzone a parameter +const double zHeightDistanceDeadzone = 0.1; // [m] This difference in z height is not counted + +double distanceCost(const vector3_t& query, const vector3_t& terrainPoint) { + const double dx = query.x() - terrainPoint.x(); + const double dy = query.y() - terrainPoint.y(); + const double dz = std::max(0.0, std::abs(query.z() - terrainPoint.z()) - zHeightDistanceDeadzone); + return dx * dx + dy * dy + dz * dz; +} + +double distanceCostLowerbound(double distanceSquared) { + // cost = dx*dx + dy*dy + max(0.0, (|dz| - z0)).^2 with z0 >= 0 + // Need a lower bound for this cost derived from square distance and shift + // + // dz*dz - z0*z0 < max(0.0, (|dz| - z0)).^2 + // if |dz| > z0 ==> + // dz*dz - 2*|dz|*z0 + z0*z0 = (|dz| - z0).^2 + // dz*dz - 2*z0*z0 + z0*z0 < (|dz| - z0).^2 + // dz*dz - z0*z0 < (|dz| - z0).^2 + // + // if |dz| < z0 ==> + // dz*dz - z0*z0 < 0.0 (true) + return distanceSquared - zHeightDistanceDeadzone * zHeightDistanceDeadzone; +} + +double singleSidedSquaredDistance(double value, double min, double max) { + // - | 0 | + + // min max + // Returns 0.0 if between min and max. Returns the distance to one boundary otherwise. + if (value < min) { + double diff = min - value; + return diff * diff; + } else if (value < max) { + return 0.0; + } else { + double diff = max - value; + return diff * diff; + } +} + +double squaredDistanceToBoundingBox(const vector3_t& positionInWorld, const cpd::PlanarRegion& planarRegion) { + const auto& positionInTerrainFrame = positionInTerrainFrameFromPositionInWorld(positionInWorld, planarRegion.planeParameters); + double dxdx = singleSidedSquaredDistance(positionInTerrainFrame.x(), planarRegion.bbox2d.xmin(), planarRegion.bbox2d.xmax()); + double dydy = singleSidedSquaredDistance(positionInTerrainFrame.y(), planarRegion.bbox2d.ymin(), planarRegion.bbox2d.ymax()); + double dzdz = positionInTerrainFrame.z() * positionInTerrainFrame.z(); + return dxdx + dydy + dzdz; +} + +const cpd::CgalPolygonWithHoles2d* findInsetContainingThePoint(const cpd::CgalPoint2d& point, + const std::vector& insets) { + for (const auto& inset : insets) { + if (cpd::isInside(point, inset.outer_boundary())) { + return &inset; + } + } + return nullptr; +} + +std::pair squaredDistanceToBoundary(const vector3_t& positionInWorld, const cpd::PlanarRegion& planarRegion) { + const auto& positionInTerrainFrame = positionInTerrainFrameFromPositionInWorld(positionInWorld, planarRegion.planeParameters); + const double dzdz = positionInTerrainFrame.z() * positionInTerrainFrame.z(); + const cpd::CgalPoint2d queryProjectedToPlane{positionInTerrainFrame.x(), positionInTerrainFrame.y()}; + + // First search if the projected point is inside any of the insets. + const auto* const insetPtrContainingPoint = findInsetContainingThePoint(queryProjectedToPlane, planarRegion.boundaryWithInset.insets); + + // Compute the projection + cpd::CgalPoint2d projectedPoint; + if (insetPtrContainingPoint == nullptr) { + // Not inside any of the insets. Need to look for the closest one. The projection will be to the boundary + double minDistSquared = std::numeric_limits::max(); + for (const auto& inset : planarRegion.boundaryWithInset.insets) { + const auto closestPoint = cpd::projectToClosestPoint(queryProjectedToPlane, inset.outer_boundary()); + double distSquare = cpd::squaredDistance(closestPoint, queryProjectedToPlane); + if (distSquare < minDistSquared) { + projectedPoint = closestPoint; + minDistSquared = distSquare; + } + } + } else { + // Query point is inside and does not need projection... + projectedPoint = queryProjectedToPlane; + + // ... unless it is inside a hole + for (const auto& hole : insetPtrContainingPoint->holes()) { + if (cpd::isInside(queryProjectedToPlane, hole)) { + projectedPoint = cpd::projectToClosestPoint(queryProjectedToPlane, hole); + break; // No need to search other holes. Holes are not overlapping + } + } + } + + return {dzdz + cpd::squaredDistance(projectedPoint, queryProjectedToPlane), projectedPoint}; +} + +std::pair getPlanarRegionAtPositionInWorld( + const vector3_t& positionInWorld, const std::vector& planarRegions) { + // Compute distance to bounding boxes + std::vector> regionsAndBboxSquareDistances; + regionsAndBboxSquareDistances.reserve(planarRegions.size()); + for (const auto& planarRegion : planarRegions) { + double squareDistance = squaredDistanceToBoundingBox(positionInWorld, planarRegion); + regionsAndBboxSquareDistances.emplace_back(&planarRegion, distanceCostLowerbound(squareDistance)); + } + + // Sort regions close to far + std::sort(regionsAndBboxSquareDistances.begin(), regionsAndBboxSquareDistances.end(), + [](const std::pair& lhs, const std::pair& rhs) { + return lhs.second < rhs.second; + }); + + // Look for closest planar region. Use bbox as lower bound to stop searching. + double minDistSquared = std::numeric_limits::max(); + std::pair closestRegionAndProjection; + for (const auto& regionAndBboxSquareDistance : regionsAndBboxSquareDistances) { + if (regionAndBboxSquareDistance.second > minDistSquared) { + break; // regions are sorted. Can exit on the first lower bound being larger than running minimum + } + + const auto distanceSqrAndProjection = squaredDistanceToBoundary(positionInWorld, *regionAndBboxSquareDistance.first); + const auto& projectionInWorldFrame = + positionInWorldFrameFromPositionInTerrain({distanceSqrAndProjection.second.x(), distanceSqrAndProjection.second.y(), 0.0}, + regionAndBboxSquareDistance.first->planeParameters); + const double distCost = distanceCost(positionInWorld, projectionInWorldFrame); + if (distCost < minDistSquared) { + minDistSquared = distCost; + closestRegionAndProjection = {regionAndBboxSquareDistance.first, distanceSqrAndProjection.second}; + } + } + + return closestRegionAndProjection; +} + +} // namespace switched_model \ No newline at end of file diff --git a/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModel.cpp b/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModel.cpp index 22883179..8cdb4d0f 100644 --- a/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModel.cpp +++ b/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModel.cpp @@ -7,40 +7,17 @@ #include #include -#include #include #include +#include "segmented_planes_terrain_model/SegmentedPlaneProjection.h" + namespace switched_model { namespace { -// TODO (rgrandia) : deadzone a parameter -const double zHeightDistanceDeadzone = 0.1; // [m] This difference in z height is not counted const std::string elevationLayerName = "elevation"; } // namespace -double distanceCost(const vector3_t& query, const vector3_t& terrainPoint) { - const double dx = query.x() - terrainPoint.x(); - const double dy = query.y() - terrainPoint.y(); - const double dz = std::max(0.0, std::abs(query.z() - terrainPoint.z()) - zHeightDistanceDeadzone); - return dx * dx + dy * dy + dz * dz; -} - -double distanceCostLowerbound(double distanceSquared) { - // cost = dx*dx + dy*dy + max(0.0, (|dz| - z0)).^2 with z0 >= 0 - // Need a lower bound for this cost derived from square distance and shift - // - // dz*dz - z0*z0 < max(0.0, (|dz| - z0)).^2 - // if |dz| > z0 ==> - // dz*dz - 2*|dz|*z0 + z0*z0 = (|dz| - z0).^2 - // dz*dz - 2*z0*z0 + z0*z0 < (|dz| - z0).^2 - // dz*dz - z0*z0 < (|dz| - z0).^2 - // - // if |dz| < z0 ==> - // dz*dz - z0*z0 < 0.0 (true) - return distanceSquared - zHeightDistanceDeadzone * zHeightDistanceDeadzone; -} - SegmentedPlanesTerrainModel::SegmentedPlanesTerrainModel(convex_plane_decomposition::PlanarTerrain planarTerrain) : planarTerrain_(std::move(planarTerrain)), signedDistanceField_(nullptr), @@ -96,114 +73,6 @@ void SegmentedPlanesTerrainModel::createSignedDistanceBetween(const Eigen::Vecto } } -double singleSidedSquaredDistance(double value, double min, double max) { - // - | 0 | + - // min max - // Returns 0.0 if between min and max. Returns the distance to one boundary otherwise. - if (value < min) { - double diff = min - value; - return diff * diff; - } else if (value < max) { - return 0.0; - } else { - double diff = max - value; - return diff * diff; - } -} - -double squaredDistanceToBoundingBox(const vector3_t& positionInWorld, const convex_plane_decomposition::PlanarRegion& planarRegion) { - const auto& positionInTerrainFrame = positionInTerrainFrameFromPositionInWorld(positionInWorld, planarRegion.planeParameters); - double dxdx = singleSidedSquaredDistance(positionInTerrainFrame.x(), planarRegion.bbox2d.xmin(), planarRegion.bbox2d.xmax()); - double dydy = singleSidedSquaredDistance(positionInTerrainFrame.y(), planarRegion.bbox2d.ymin(), planarRegion.bbox2d.ymax()); - double dzdz = positionInTerrainFrame.z() * positionInTerrainFrame.z(); - return dxdx + dydy + dzdz; -} - -const convex_plane_decomposition::CgalPolygonWithHoles2d* findInsetContainingThePoint( - const convex_plane_decomposition::CgalPoint2d& point, const std::vector& insets) { - for (const auto& inset : insets) { - if (convex_plane_decomposition::isInside(point, inset.outer_boundary())) { - return &inset; - } - } - return nullptr; -} - -std::pair squaredDistanceToBoundary( - const vector3_t& positionInWorld, const convex_plane_decomposition::PlanarRegion& planarRegion) { - const auto& positionInTerrainFrame = positionInTerrainFrameFromPositionInWorld(positionInWorld, planarRegion.planeParameters); - const double dzdz = positionInTerrainFrame.z() * positionInTerrainFrame.z(); - const convex_plane_decomposition::CgalPoint2d queryProjectedToPlane{positionInTerrainFrame.x(), positionInTerrainFrame.y()}; - - // First search if the projected point is inside any of the insets. - const auto* const insetPtrContainingPoint = findInsetContainingThePoint(queryProjectedToPlane, planarRegion.boundaryWithInset.insets); - - // Compute the projection - convex_plane_decomposition::CgalPoint2d projectedPoint; - if (insetPtrContainingPoint == nullptr) { - // Not inside any of the insets. Need to look for the closest one. The projection will be to the boundary - double minDistSquared = std::numeric_limits::max(); - for (const auto& inset : planarRegion.boundaryWithInset.insets) { - const auto closestPoint = convex_plane_decomposition::projectToClosestPoint(queryProjectedToPlane, inset.outer_boundary()); - double distSquare = convex_plane_decomposition::squaredDistance(closestPoint, queryProjectedToPlane); - if (distSquare < minDistSquared) { - projectedPoint = closestPoint; - minDistSquared = distSquare; - } - } - } else { - // Query point is inside and does not need projection... - projectedPoint = queryProjectedToPlane; - - // ... unless it is inside a hole - for (const auto& hole : insetPtrContainingPoint->holes()) { - if (convex_plane_decomposition::isInside(queryProjectedToPlane, hole)) { - projectedPoint = convex_plane_decomposition::projectToClosestPoint(queryProjectedToPlane, hole); - break; // No need to search other holes. Holes are not overlapping - } - } - } - - return {dzdz + convex_plane_decomposition::squaredDistance(projectedPoint, queryProjectedToPlane), projectedPoint}; -} - -std::pair getPlanarRegionAtPositionInWorld( - const vector3_t& positionInWorld, const std::vector& planarRegions) { - // Compute distance to bounding boxes - std::vector> regionsAndBboxSquareDistances; - regionsAndBboxSquareDistances.reserve(planarRegions.size()); - for (const auto& planarRegion : planarRegions) { - double squareDistance = squaredDistanceToBoundingBox(positionInWorld, planarRegion); - regionsAndBboxSquareDistances.emplace_back(&planarRegion, distanceCostLowerbound(squareDistance)); - } - - // Sort regions close to far - std::sort(regionsAndBboxSquareDistances.begin(), regionsAndBboxSquareDistances.end(), - [](const std::pair& lhs, - const std::pair& rhs) { return lhs.second < rhs.second; }); - - // Look for closest planar region. Use bbox as lower bound to stop searching. - double minDistSquared = std::numeric_limits::max(); - std::pair closestRegionAndProjection; - for (const auto& regionAndBboxSquareDistance : regionsAndBboxSquareDistances) { - if (regionAndBboxSquareDistance.second > minDistSquared) { - break; // regions are sorted. Can exit on the first lower bound being larger than running minimum - } - - const auto distanceSqrAndProjection = squaredDistanceToBoundary(positionInWorld, *regionAndBboxSquareDistance.first); - const auto& projectionInWorldFrame = - positionInWorldFrameFromPositionInTerrain({distanceSqrAndProjection.second.x(), distanceSqrAndProjection.second.y(), 0.0}, - regionAndBboxSquareDistance.first->planeParameters); - const double distCost = distanceCost(positionInWorld, projectionInWorldFrame); - if (distCost < minDistSquared) { - minDistSquared = distCost; - closestRegionAndProjection = {regionAndBboxSquareDistance.first, distanceSqrAndProjection.second}; - } - } - - return closestRegionAndProjection; -} - vector3_t SegmentedPlanesTerrainModel::getHighestObstacleAlongLine(const vector3_t& position1InWorld, const vector3_t& position2InWorld) const { const auto result = grid_map::lookup::maxValueBetweenLocations( From e51ea24065920316c612ddf62a20054f37d2f427 Mon Sep 17 00:00:00 2001 From: rgrandia Date: Tue, 12 Oct 2021 18:58:07 +0200 Subject: [PATCH 109/504] refactor shortest plane projection. Remove discount on z-direction. No longer necessary with perceptive base reference. --- .../SegmentedPlaneProjection.h | 30 +++++- .../src/SegmentedPlaneProjection.cpp | 98 ++++++++++--------- .../src/SegmentedPlanesTerrainModel.cpp | 6 +- 3 files changed, 78 insertions(+), 56 deletions(-) diff --git a/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlaneProjection.h b/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlaneProjection.h index 95be21a5..07df944f 100644 --- a/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlaneProjection.h +++ b/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlaneProjection.h @@ -5,6 +5,7 @@ #pragma once #include +#include #include #include @@ -15,15 +16,36 @@ double distanceCost(const vector3_t& query, const vector3_t& terrainPoint); double distanceCostLowerbound(double distanceSquared); -double singleSidedSquaredDistance(double value, double min, double max); +double intervalSquareDistance(double value, double min, double max); -double squaredDistanceToBoundingBox(const vector3_t& positionInWorld, const convex_plane_decomposition::PlanarRegion& planarRegion); +double squaredDistanceToBoundingBox(const convex_plane_decomposition::CgalPoint2d& point, const convex_plane_decomposition::CgalBbox2d& boundingBox) ; + +/** Converts a 3D position in world frame to a 2D position in the terrain frame. */ +inline convex_plane_decomposition::CgalPoint2d position2dInTerrainFrameFromPositionInWorld(const vector3_t& positionWorld, + const TerrainPlane& terrainPlane) { + const auto& positionInTerrainFrame = positionInTerrainFrameFromPositionInWorld(positionWorld, terrainPlane); + return {positionInTerrainFrame.x(), positionInTerrainFrame.y()}; +} + +/** Converts a 2D position in terrain frame to a 3D position in the world frame. */ +inline vector3_t positionInWorldFrameFromPosition2dInTerrain(const convex_plane_decomposition::CgalPoint2d& positionInTerrain, + const TerrainPlane& terrainPlane) { + return positionInWorldFrameFromPositionInTerrain({positionInTerrain.x(), positionInTerrain.y(), 0.0}, terrainPlane); +} const convex_plane_decomposition::CgalPolygonWithHoles2d* findInsetContainingThePoint( const convex_plane_decomposition::CgalPoint2d& point, const std::vector& insets); -std::pair squaredDistanceToBoundary( - const vector3_t& positionInWorld, const convex_plane_decomposition::PlanarRegion& planarRegion); +convex_plane_decomposition::CgalPoint2d projectToPlanarRegion(const convex_plane_decomposition::CgalPoint2d& queryProjectedToPlane, + const convex_plane_decomposition::PlanarRegion& planarRegion); + +struct RegionSortingInfo { + const convex_plane_decomposition::PlanarRegion* regionPtr; + convex_plane_decomposition::CgalPoint2d positionInTerrainFrame; + double boundingBoxSquareDistance; +}; +std::vector sortWithBoundingBoxes(const vector3_t& positionInWorld, + const std::vector& planarRegions); std::pair getPlanarRegionAtPositionInWorld( const vector3_t& positionInWorld, const std::vector& planarRegions); diff --git a/segmented_planes_terrain_model/src/SegmentedPlaneProjection.cpp b/segmented_planes_terrain_model/src/SegmentedPlaneProjection.cpp index de82571c..b8463cf9 100644 --- a/segmented_planes_terrain_model/src/SegmentedPlaneProjection.cpp +++ b/segmented_planes_terrain_model/src/SegmentedPlaneProjection.cpp @@ -11,32 +11,18 @@ namespace switched_model { // alias to avoid long namespace namespace cpd = convex_plane_decomposition; -// TODO (rgrandia) : deadzone a parameter -const double zHeightDistanceDeadzone = 0.1; // [m] This difference in z height is not counted - double distanceCost(const vector3_t& query, const vector3_t& terrainPoint) { const double dx = query.x() - terrainPoint.x(); const double dy = query.y() - terrainPoint.y(); - const double dz = std::max(0.0, std::abs(query.z() - terrainPoint.z()) - zHeightDistanceDeadzone); + const double dz = query.z() - terrainPoint.z(); return dx * dx + dy * dy + dz * dz; } double distanceCostLowerbound(double distanceSquared) { - // cost = dx*dx + dy*dy + max(0.0, (|dz| - z0)).^2 with z0 >= 0 - // Need a lower bound for this cost derived from square distance and shift - // - // dz*dz - z0*z0 < max(0.0, (|dz| - z0)).^2 - // if |dz| > z0 ==> - // dz*dz - 2*|dz|*z0 + z0*z0 = (|dz| - z0).^2 - // dz*dz - 2*z0*z0 + z0*z0 < (|dz| - z0).^2 - // dz*dz - z0*z0 < (|dz| - z0).^2 - // - // if |dz| < z0 ==> - // dz*dz - z0*z0 < 0.0 (true) - return distanceSquared - zHeightDistanceDeadzone * zHeightDistanceDeadzone; + return distanceSquared; } -double singleSidedSquaredDistance(double value, double min, double max) { +double intervalSquareDistance(double value, double min, double max) { // - | 0 | + // min max // Returns 0.0 if between min and max. Returns the distance to one boundary otherwise. @@ -51,12 +37,10 @@ double singleSidedSquaredDistance(double value, double min, double max) { } } -double squaredDistanceToBoundingBox(const vector3_t& positionInWorld, const cpd::PlanarRegion& planarRegion) { - const auto& positionInTerrainFrame = positionInTerrainFrameFromPositionInWorld(positionInWorld, planarRegion.planeParameters); - double dxdx = singleSidedSquaredDistance(positionInTerrainFrame.x(), planarRegion.bbox2d.xmin(), planarRegion.bbox2d.xmax()); - double dydy = singleSidedSquaredDistance(positionInTerrainFrame.y(), planarRegion.bbox2d.ymin(), planarRegion.bbox2d.ymax()); - double dzdz = positionInTerrainFrame.z() * positionInTerrainFrame.z(); - return dxdx + dydy + dzdz; +double squaredDistanceToBoundingBox(const cpd::CgalPoint2d& point, const cpd::CgalBbox2d& boundingBox) { + double dxdx = intervalSquareDistance(point.x(), boundingBox.xmin(), boundingBox.xmax()); + double dydy = intervalSquareDistance(point.y(), boundingBox.ymin(), boundingBox.ymax()); + return dxdx + dydy; } const cpd::CgalPolygonWithHoles2d* findInsetContainingThePoint(const cpd::CgalPoint2d& point, @@ -69,11 +53,7 @@ const cpd::CgalPolygonWithHoles2d* findInsetContainingThePoint(const cpd::CgalPo return nullptr; } -std::pair squaredDistanceToBoundary(const vector3_t& positionInWorld, const cpd::PlanarRegion& planarRegion) { - const auto& positionInTerrainFrame = positionInTerrainFrameFromPositionInWorld(positionInWorld, planarRegion.planeParameters); - const double dzdz = positionInTerrainFrame.z() * positionInTerrainFrame.z(); - const cpd::CgalPoint2d queryProjectedToPlane{positionInTerrainFrame.x(), positionInTerrainFrame.y()}; - +cpd::CgalPoint2d projectToPlanarRegion(const cpd::CgalPoint2d& queryProjectedToPlane, const cpd::PlanarRegion& planarRegion) { // First search if the projected point is inside any of the insets. const auto* const insetPtrContainingPoint = findInsetContainingThePoint(queryProjectedToPlane, planarRegion.boundaryWithInset.insets); @@ -103,41 +83,63 @@ std::pair squaredDistanceToBoundary(const vector3_t& p } } - return {dzdz + cpd::squaredDistance(projectedPoint, queryProjectedToPlane), projectedPoint}; + return projectedPoint; } -std::pair getPlanarRegionAtPositionInWorld( - const vector3_t& positionInWorld, const std::vector& planarRegions) { +std::vector sortWithBoundingBoxes(const vector3_t& positionInWorld, + const std::vector& planarRegions) { // Compute distance to bounding boxes - std::vector> regionsAndBboxSquareDistances; + std::vector regionsAndBboxSquareDistances; regionsAndBboxSquareDistances.reserve(planarRegions.size()); for (const auto& planarRegion : planarRegions) { - double squareDistance = squaredDistanceToBoundingBox(positionInWorld, planarRegion); - regionsAndBboxSquareDistances.emplace_back(&planarRegion, distanceCostLowerbound(squareDistance)); + const auto& positionInTerrainFrame = positionInTerrainFrameFromPositionInWorld(positionInWorld, planarRegion.planeParameters); + const double dzdz = positionInTerrainFrame.z() * positionInTerrainFrame.z(); + + RegionSortingInfo regionSortingInfo; + regionSortingInfo.regionPtr = &planarRegion; + regionSortingInfo.positionInTerrainFrame = {positionInTerrainFrame.x(), positionInTerrainFrame.y()}; + regionSortingInfo.boundingBoxSquareDistance = + squaredDistanceToBoundingBox(regionSortingInfo.positionInTerrainFrame, planarRegion.bbox2d) + dzdz; + + regionsAndBboxSquareDistances.push_back(regionSortingInfo); } // Sort regions close to far std::sort(regionsAndBboxSquareDistances.begin(), regionsAndBboxSquareDistances.end(), - [](const std::pair& lhs, const std::pair& rhs) { - return lhs.second < rhs.second; + [](const RegionSortingInfo& lhs, const RegionSortingInfo& rhs) { + return lhs.boundingBoxSquareDistance < rhs.boundingBoxSquareDistance; }); - // Look for closest planar region. Use bbox as lower bound to stop searching. - double minDistSquared = std::numeric_limits::max(); + return regionsAndBboxSquareDistances; +} + +std::pair getPlanarRegionAtPositionInWorld( + const vector3_t& positionInWorld, const std::vector& planarRegions) { + const auto sortedRegions = sortWithBoundingBoxes(positionInWorld, planarRegions); + + // Look for closest planar region. + double minCost = std::numeric_limits::max(); std::pair closestRegionAndProjection; - for (const auto& regionAndBboxSquareDistance : regionsAndBboxSquareDistances) { - if (regionAndBboxSquareDistance.second > minDistSquared) { - break; // regions are sorted. Can exit on the first lower bound being larger than running minimum + for (const auto& regionInfo : sortedRegions) { + // Skip based on lower bound + if (distanceCostLowerbound(regionInfo.boundingBoxSquareDistance) > minCost) { + continue; } - const auto distanceSqrAndProjection = squaredDistanceToBoundary(positionInWorld, *regionAndBboxSquareDistance.first); - const auto& projectionInWorldFrame = - positionInWorldFrameFromPositionInTerrain({distanceSqrAndProjection.second.x(), distanceSqrAndProjection.second.y(), 0.0}, - regionAndBboxSquareDistance.first->planeParameters); + // Shorthand + const auto* regionPtr = regionInfo.regionPtr; + const auto& planeParameters = regionPtr->planeParameters; + + // Project onto planar region + const auto projectedPointInTerrainFrame = projectToPlanarRegion(regionInfo.positionInTerrainFrame, *regionPtr); + + // Express projected point in World frame + const auto projectionInWorldFrame = positionInWorldFrameFromPosition2dInTerrain(projectedPointInTerrainFrame, planeParameters); + const double distCost = distanceCost(positionInWorld, projectionInWorldFrame); - if (distCost < minDistSquared) { - minDistSquared = distCost; - closestRegionAndProjection = {regionAndBboxSquareDistance.first, distanceSqrAndProjection.second}; + if (distCost < minCost) { + minCost = distCost; + closestRegionAndProjection = {regionPtr, projectedPointInTerrainFrame}; } } diff --git a/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModel.cpp b/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModel.cpp index 8cdb4d0f..ebf05fbe 100644 --- a/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModel.cpp +++ b/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModel.cpp @@ -27,8 +27,7 @@ TerrainPlane SegmentedPlanesTerrainModel::getLocalTerrainAtPositionInWorldAlongG const auto regionAndSeedPoint = getPlanarRegionAtPositionInWorld(positionInWorld, planarTerrain_.planarRegions); const auto& region = *regionAndSeedPoint.first; const auto& seedpoint = regionAndSeedPoint.second; - const auto& seedpointInWorldFrame = - positionInWorldFrameFromPositionInTerrain({seedpoint.x(), seedpoint.y(), 0.0}, region.planeParameters); + const auto& seedpointInWorldFrame = positionInWorldFrameFromPosition2dInTerrain(seedpoint, region.planeParameters); return TerrainPlane{seedpointInWorldFrame, region.planeParameters.orientationWorldToTerrain}; } @@ -36,8 +35,7 @@ ConvexTerrain SegmentedPlanesTerrainModel::getConvexTerrainAtPositionInWorld(con const auto regionAndSeedPoint = getPlanarRegionAtPositionInWorld(positionInWorld, planarTerrain_.planarRegions); const auto& region = *regionAndSeedPoint.first; const auto& seedpoint = regionAndSeedPoint.second; - const auto& seedpointInWorldFrame = - positionInWorldFrameFromPositionInTerrain({seedpoint.x(), seedpoint.y(), 0.0}, region.planeParameters); + const auto& seedpointInWorldFrame = positionInWorldFrameFromPosition2dInTerrain(seedpoint, region.planeParameters); // Convert boundary and seedpoint to terrain frame const int numberOfVertices = 16; // Multiple of 4 is nice for symmetry. From 09eb0f627d975a46468c82a4765368d1a78eb238 Mon Sep 17 00:00:00 2001 From: rgrandia Date: Fri, 15 Oct 2021 16:57:04 +0200 Subject: [PATCH 110/504] provide height profile along line --- .../SegmentedPlanesTerrainModel.h | 2 ++ .../src/SegmentedPlanesTerrainModel.cpp | 31 +++++++++++++++++++ 2 files changed, 33 insertions(+) diff --git a/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesTerrainModel.h b/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesTerrainModel.h index 098b28df..23960def 100644 --- a/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesTerrainModel.h +++ b/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesTerrainModel.h @@ -25,6 +25,8 @@ class SegmentedPlanesTerrainModel : public switched_model::TerrainModel { vector3_t getHighestObstacleAlongLine(const vector3_t& position1InWorld, const vector3_t& position2InWorld) const override; + std::vector getHeightProfileAlongLine(const vector3_t& position1InWorld, const vector3_t& position2InWorld) const override; + const convex_plane_decomposition::PlanarTerrain& planarTerrain() const { return planarTerrain_; } private: diff --git a/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModel.cpp b/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModel.cpp index ebf05fbe..f3a7bc1a 100644 --- a/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModel.cpp +++ b/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModel.cpp @@ -87,4 +87,35 @@ vector3_t SegmentedPlanesTerrainModel::getHighestObstacleAlongLine(const vector3 } } +std::vector SegmentedPlanesTerrainModel::getHeightProfileAlongLine(const vector3_t& position1InWorld, + const vector3_t& position2InWorld) const { + const vector2_t diff2d = position2InWorld.head<2>() - position1InWorld.head<2>(); + const scalar_t diffSquareNorm = diff2d.squaredNorm(); + const auto resolution = planarTerrain_.gridMap.getResolution(); + + if (diffSquareNorm > (resolution * resolution)) { // norm(p2-p1)_XY > resolution + const auto pointsOnLine = + grid_map::lookup::valuesBetweenLocations({position1InWorld.x(), position1InWorld.y()}, {position2InWorld.x(), position2InWorld.y()}, + planarTerrain_.gridMap, *elevationData_); + + std::vector heightProfile; + heightProfile.reserve(pointsOnLine.size()); + + for (const auto& point : pointsOnLine) { + const vector2_t pointDiff = point.head<2>() - position1InWorld.head<2>(); + const scalar_t lineProgress = pointDiff.dot(diff2d) / diffSquareNorm; + if (lineProgress >= 0.0 && lineProgress <= 1.0) { + heightProfile.push_back({lineProgress, point.z()}); + } + } + + return heightProfile; + } else { + grid_map::Index index; + planarTerrain_.gridMap.getIndex({position1InWorld.x(), position1InWorld.y()}, index); + scalar_t heightData = (*elevationData_)(index(0), index(1)); + return {{0.0, heightData}, {1.0, heightData}}; + } +} + } // namespace switched_model From 3905fac9388120923828430725642a0d5cbe48df Mon Sep 17 00:00:00 2001 From: rgrandia Date: Sun, 17 Oct 2021 20:56:09 +0200 Subject: [PATCH 111/504] fix plane surface normal computation (avg -> covariance based). + refactor --- .../SlidingWindowPlaneExtractor.h | 5 +- .../SlidingWindowPlaneExtractor.cpp | 237 +++++++++--------- 2 files changed, 127 insertions(+), 115 deletions(-) diff --git a/convex_plane_decomposition/include/convex_plane_decomposition/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.h b/convex_plane_decomposition/include/convex_plane_decomposition/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.h index e62d2dab..3003d818 100644 --- a/convex_plane_decomposition/include/convex_plane_decomposition/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.h +++ b/convex_plane_decomposition/include/convex_plane_decomposition/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.h @@ -26,14 +26,15 @@ class SlidingWindowPlaneExtractor { private: bool isGloballyPlanar(const Eigen::Vector3d& normalVectorPlane, const Eigen::Vector3d& supportVectorPlane, - const std::vector& points_with_normal) const; + const std::vector& pointsWithNormal) const; std::pair computeNormalAndErrorForWindow(const Eigen::MatrixXf& windowData) const; bool isLocallyPlanar(const Eigen::Vector3d& localNormal, double meanError) const; int getLinearIndex(int row, int col) const { return row + col * map_->getSize()[0]; }; - void computePlaneParametersForLabel(int label); + void computePlaneParametersForLabel(int label, std::vector& pointsWithNormal); + void refineLabelWithRansac(int label, std::vector& pointsWithNormal); void extractPlaneParametersFromLabeledImage(); diff --git a/convex_plane_decomposition/src/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.cpp b/convex_plane_decomposition/src/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.cpp index b5a3e677..e3459371 100644 --- a/convex_plane_decomposition/src/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.cpp +++ b/convex_plane_decomposition/src/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.cpp @@ -14,8 +14,11 @@ namespace convex_plane_decomposition { namespace sliding_window_plane_extractor { -double angleBetweenVectorsInDegrees(const Eigen::Vector3d& v1, const Eigen::Vector3d& v2) { - double cos_rad = v1.normalized().dot(v2.normalized()); +namespace { + +// Assumes v1 and v2 are of unit lenght +double angleBetweenNormalizedVectorsInDegrees(const Eigen::Vector3d& v1, const Eigen::Vector3d& v2) { + double cos_rad = v1.dot(v2); if (cos_rad < -1.0) { cos_rad = -1.0; } else if (cos_rad > 1.0) { @@ -24,6 +27,32 @@ double angleBetweenVectorsInDegrees(const Eigen::Vector3d& v1, const Eigen::Vect return std::abs(std::acos(cos_rad) * 180.0 / M_PI); } +std::pair normalAndErrorFromCovariance(int numPoint, const Eigen::Vector3d& mean, + const Eigen::Matrix3d& sumSquared) { + const Eigen::Matrix3d covarianceMatrix = sumSquared / numPoint - mean * mean.transpose(); + + // Compute Eigenvectors. + // Eigenvalues are ordered small to large. + // Worst case bound for zero eigenvalue from : https://eigen.tuxfamily.org/dox/classEigen_1_1SelfAdjointEigenSolver.html + Eigen::SelfAdjointEigenSolver solver; + solver.computeDirect(covarianceMatrix, Eigen::DecompositionOptions::ComputeEigenvectors); + if (solver.eigenvalues()(1) > 1e-8) { + Eigen::Vector3d unitaryNormalVector = solver.eigenvectors().col(0); + + // Check direction of the normal vector and flip the sign upwards + if (unitaryNormalVector.z() < 0.0) { + unitaryNormalVector = -unitaryNormalVector; + } + // The first eigenvalue might become slightly negative due to numerics. + double rmsError = (solver.eigenvalues()(0) > 0.0) ? std::sqrt(solver.eigenvalues()(0)) : 0.0; + return {unitaryNormalVector, rmsError}; + } else { // If second eigenvalue is zero, the normal is not defined. + return {Eigen::Vector3d::UnitZ(), 1e30}; + } +} + +} // namespace + SlidingWindowPlaneExtractor::SlidingWindowPlaneExtractor(const SlidingWindowPlaneExtractorParameters& parameters, const ransac_plane_extractor::RansacPlaneExtractorParameters& ransacParameters) : parameters_(parameters), ransacParameters_(ransacParameters) {} @@ -77,32 +106,13 @@ std::pair SlidingWindowPlaneExtractor::computeNormalAnd return {Eigen::Vector3d::UnitZ(), 1e30}; } else { const Eigen::Vector3d mean = sum / nPoints; - const Eigen::Matrix3d covarianceMatrix = sumSquared / nPoints - mean * mean.transpose(); - - // Compute Eigenvectors. - // Eigenvalues are ordered small to large. - // Worst case bound for zero eigenvalue from : https://eigen.tuxfamily.org/dox/classEigen_1_1SelfAdjointEigenSolver.html - Eigen::SelfAdjointEigenSolver solver; - solver.computeDirect(covarianceMatrix, Eigen::DecompositionOptions::ComputeEigenvectors); - if (solver.eigenvalues()(1) > 1e-8) { - Eigen::Vector3d unitaryNormalVector = solver.eigenvectors().col(0); - - // Check direction of the normal vector and flip the sign upwards - if (unitaryNormalVector.z() < 0.0) { - unitaryNormalVector = -unitaryNormalVector; - } - // The first eigenvalue might become slightly negative due to numerics. - double rmsError = (solver.eigenvalues()(0) > 0.0) ? std::sqrt(solver.eigenvalues()(0)) : 0.0; - return {unitaryNormalVector, rmsError}; - } else { // If second eigenvalue is zero, the normal is not defined. - return {Eigen::Vector3d::UnitZ(), 1e30}; - } + return normalAndErrorFromCovariance(nPoints, mean, sumSquared); } } bool SlidingWindowPlaneExtractor::isLocallyPlanar(const Eigen::Vector3d& localNormal, double meanError) const { return (meanError < parameters_.plane_patch_error_threshold && - angleBetweenVectorsInDegrees(localNormal, Eigen::Vector3d::UnitZ()) < parameters_.plane_inclination_threshold_degrees); + angleBetweenNormalizedVectorsInDegrees(localNormal, Eigen::Vector3d::UnitZ()) < parameters_.plane_inclination_threshold_degrees); } void SlidingWindowPlaneExtractor::runSlidingWindowDetector() { @@ -146,131 +156,132 @@ void SlidingWindowPlaneExtractor::extractPlaneParametersFromLabeledImage() { const int numberOfExtractedPlanesWithoutRefinement = segmentedPlanesMap_.highestLabel; // Make local copy. The highestLabel is incremented inside the loop + // Reserve a workvector that is reused between processing labels + std::vector pointsWithNormal; + pointsWithNormal.reserve(segmentedPlanesMap_.labeledImage.rows * segmentedPlanesMap_.labeledImage.cols); + // Skip label 0. This is the background, i.e. non-planar region. for (int label = 1; label <= numberOfExtractedPlanesWithoutRefinement; ++label) { - computePlaneParametersForLabel(label); + computePlaneParametersForLabel(label, pointsWithNormal); } } -void SlidingWindowPlaneExtractor::computePlaneParametersForLabel(int label) { +void SlidingWindowPlaneExtractor::computePlaneParametersForLabel(int label, + std::vector& pointsWithNormal) { const auto& elevationData = (*map_)[elevationLayer_]; + pointsWithNormal.clear(); // clear the workvector - std::vector points_with_normal; - int approximate_num_points = - segmentedPlanesMap_.labeledImage.rows * segmentedPlanesMap_.labeledImage.cols / segmentedPlanesMap_.highestLabel; - points_with_normal.reserve(approximate_num_points); - - int number_of_normal_instances = 0; - int number_of_position_instances = 0; - Eigen::Vector3d normal_vector_sum = Eigen::Vector3d::Zero(); - Eigen::Vector3d support_vector_sum = Eigen::Vector3d::Zero(); - for (int row = 0; row < segmentedPlanesMap_.labeledImage.rows; ++row) { - for (int col = 0; col < segmentedPlanesMap_.labeledImage.cols; ++col) { + int numPoints = 0; + Eigen::Vector3d sum = Eigen::Vector3d::Zero(); + Eigen::Matrix3d sumSquared = Eigen::Matrix3d::Zero(); + for (int col = 0; col < segmentedPlanesMap_.labeledImage.cols; ++col) { + for (int row = 0; row < segmentedPlanesMap_.labeledImage.rows; ++row) { if (segmentedPlanesMap_.labeledImage.at(row, col) == label) { double height = elevationData(row, col); if (std::isfinite(height)) { - Eigen::Vector2i index{row, col}; - - Eigen::Vector3d normal_vector_temp = surfaceNormals_[getLinearIndex(index.x(), index.y())]; - normal_vector_sum += normal_vector_temp; - ++number_of_normal_instances; + const Eigen::Vector3d point3d{segmentedPlanesMap_.mapOrigin.x() - row * segmentedPlanesMap_.resolution, + segmentedPlanesMap_.mapOrigin.y() - col * segmentedPlanesMap_.resolution, height}; - Eigen::Vector3d point3d{segmentedPlanesMap_.mapOrigin.x() - row * segmentedPlanesMap_.resolution, - segmentedPlanesMap_.mapOrigin.y() - col * segmentedPlanesMap_.resolution, height}; - support_vector_sum += point3d; - ++number_of_position_instances; + ++numPoints; + sum += point3d; + sumSquared.noalias() += point3d * point3d.transpose(); - points_with_normal.emplace_back( + const auto& localSurfaceNormal = surfaceNormals_[getLinearIndex(row, col)]; + pointsWithNormal.emplace_back( ransac_plane_extractor::Point3D(point3d.x(), point3d.y(), point3d.z()), - ransac_plane_extractor::Vector3D(normal_vector_temp.x(), normal_vector_temp.y(), normal_vector_temp.z())); + ransac_plane_extractor::Vector3D(localSurfaceNormal.x(), localSurfaceNormal.y(), localSurfaceNormal.z())); } } } } - if (number_of_position_instances < parameters_.min_number_points_per_label) { + if (numPoints < parameters_.min_number_points_per_label || numPoints < 3) { // Label has too little points, no plane parameters are created return; } - Eigen::Vector3d normal_vector_avg = normal_vector_sum / number_of_normal_instances; - normal_vector_avg.normalize(); // Averaging does not preserve norm - Eigen::Vector3d support_vector_avg = support_vector_sum / number_of_position_instances; - // Compute error to fitted plane. - if (parameters_.include_ransac_refinement && !isGloballyPlanar(normal_vector_avg, support_vector_avg, points_with_normal)) { - // Fix the seed for each label to get deterministic behaviour - CGAL::get_default_random() = CGAL::Random(0); - - // Run ransac - ransac_plane_extractor::RansacPlaneExtractor ransac_plane_extractor(ransacParameters_); - ransac_plane_extractor.detectPlanes(points_with_normal); - const auto& planes = ransac_plane_extractor.getDetectedPlanes(); - - bool reuseLabel = true; - for (const auto& plane : planes) { - // Bookkeeping of labels : reuse old label for the first plane - int newLabel = (reuseLabel) ? label : ++segmentedPlanesMap_.highestLabel; - reuseLabel = false; - - // Compute average plane parameters for refined segmentation - const std::vector& plane_point_indices = plane->indices_of_assigned_points(); - Eigen::Vector3d support_vector_refined_sum = Eigen::Vector3d::Zero(); - Eigen::Vector3d normal_vector_refined_sum = Eigen::Vector3d::Zero(); - for (const auto index : plane_point_indices) { - const auto& point = points_with_normal[index].first; - const auto& normal = points_with_normal[index].second; - support_vector_refined_sum += Eigen::Vector3d(point.x(), point.y(), point.z()); - normal_vector_refined_sum += Eigen::Vector3d(normal.x(), normal.y(), normal.z()); - - // relabel if required - if (newLabel != label) { - // Need to lookup indices in map, because RANSAC has reordered the points - Eigen::Array2i map_indices; - map_->getIndex(Eigen::Vector2d(point.x(), point.y()), map_indices); - segmentedPlanesMap_.labeledImage.at(map_indices(0), map_indices(1)) = newLabel; - } - } + const Eigen::Vector3d supportVector = sum / numPoints; + const Eigen::Vector3d normalVector = normalAndErrorFromCovariance(numPoints, supportVector, sumSquared).first; - Eigen::Vector3d normal_vector_refined_avg = normal_vector_refined_sum / plane_point_indices.size(); - normal_vector_refined_avg.normalize(); // Averaging does not preserve norm - Eigen::Vector3d support_vector_refined_avg = support_vector_refined_sum / plane_point_indices.size(); + // Compute error to fitted plane. + if (parameters_.include_ransac_refinement && !isGloballyPlanar(normalVector, supportVector, pointsWithNormal)) { + refineLabelWithRansac(label, pointsWithNormal); + } else { + if (angleBetweenNormalizedVectorsInDegrees(normalVector, Eigen::Vector3d::UnitZ()) < parameters_.plane_inclination_threshold_degrees) { + const auto terrainOrientation = switched_model::orientationWorldToTerrainFromSurfaceNormalInWorld(normalVector); + segmentedPlanesMap_.labelPlaneParameters.emplace_back(label, TerrainPlane(supportVector, terrainOrientation)); + } + } +} - if (angleBetweenVectorsInDegrees(normal_vector_refined_avg, Eigen::Vector3d::UnitZ()) < - parameters_.plane_inclination_threshold_degrees) { - const TerrainPlane temp_plane_parameters( - support_vector_refined_avg, switched_model::orientationWorldToTerrainFromSurfaceNormalInWorld(normal_vector_refined_avg)); - segmentedPlanesMap_.labelPlaneParameters.emplace_back(newLabel, temp_plane_parameters); +void SlidingWindowPlaneExtractor::refineLabelWithRansac(int label, std::vector& pointsWithNormal) { + // Fix the seed for each label to get deterministic behaviour + CGAL::get_default_random() = CGAL::Random(0); + + // Run ransac + ransac_plane_extractor::RansacPlaneExtractor ransac_plane_extractor(ransacParameters_); + ransac_plane_extractor.detectPlanes(pointsWithNormal); + const auto& planes = ransac_plane_extractor.getDetectedPlanes(); + + bool reuseLabel = true; + for (const auto& plane : planes) { + // Bookkeeping of labels : reuse old label for the first plane + const int newLabel = (reuseLabel) ? label : ++segmentedPlanesMap_.highestLabel; + reuseLabel = false; + + // Compute average plane parameters for refined segmentation + const std::vector& plane_point_indices = plane->indices_of_assigned_points(); + Eigen::Vector3d sum = Eigen::Vector3d::Zero(); + Eigen::Matrix3d sumSquared = Eigen::Matrix3d::Zero(); + for (const auto index : plane_point_indices) { + const auto& point = pointsWithNormal[index].first; + const Eigen::Vector3d point3d(point.x(), point.y(), point.z()); + + sum += point3d; + sumSquared.noalias() += point3d * point3d.transpose(); + + // relabel if required + if (newLabel != label) { + // Need to lookup indices in map, because RANSAC has reordered the points + Eigen::Array2i map_indices; + map_->getIndex(Eigen::Vector2d(point.x(), point.y()), map_indices); + segmentedPlanesMap_.labeledImage.at(map_indices(0), map_indices(1)) = newLabel; } } - const auto& unassigned_points = ransac_plane_extractor.getUnassignedPointIndices(); - for (const auto index : unassigned_points) { - const auto& point = points_with_normal[index].first; + const auto numPoints = plane_point_indices.size(); + const Eigen::Vector3d supportVector = sum / numPoints; + const Eigen::Vector3d normalVector = normalAndErrorFromCovariance(numPoints, supportVector, sumSquared).first; - // Need to lookup indices in map, because RANSAC has reordered the points - Eigen::Array2i map_indices; - map_->getIndex(Eigen::Vector2d(point.x(), point.y()), map_indices); - segmentedPlanesMap_.labeledImage.at(map_indices(0), map_indices(1)) = 0; - } - } else { - if (angleBetweenVectorsInDegrees(normal_vector_avg, Eigen::Vector3d::UnitZ()) < parameters_.plane_inclination_threshold_degrees) { - const TerrainPlane temp_plane_parameters(support_vector_avg, - switched_model::orientationWorldToTerrainFromSurfaceNormalInWorld(normal_vector_avg)); - segmentedPlanesMap_.labelPlaneParameters.emplace_back(label, temp_plane_parameters); + if (angleBetweenNormalizedVectorsInDegrees(normalVector, Eigen::Vector3d::UnitZ()) < parameters_.plane_inclination_threshold_degrees) { + const auto terrainOrientation = switched_model::orientationWorldToTerrainFromSurfaceNormalInWorld(normalVector); + segmentedPlanesMap_.labelPlaneParameters.emplace_back(newLabel, TerrainPlane(supportVector, terrainOrientation)); } } + + const auto& unassigned_points = ransac_plane_extractor.getUnassignedPointIndices(); + for (const auto index : unassigned_points) { + const auto& point = pointsWithNormal[index].first; + + // Need to lookup indices in map, because RANSAC has reordered the points + Eigen::Array2i map_indices; + map_->getIndex(Eigen::Vector2d(point.x(), point.y()), map_indices); + segmentedPlanesMap_.labeledImage.at(map_indices(0), map_indices(1)) = 0; + } } bool SlidingWindowPlaneExtractor::isGloballyPlanar(const Eigen::Vector3d& normalVectorPlane, const Eigen::Vector3d& supportVectorPlane, - const std::vector& points_with_normal) const { - for (const auto& point_with_normal : points_with_normal) { - Eigen::Vector3d p_S_P(point_with_normal.first.x() - supportVectorPlane.x(), point_with_normal.first.y() - supportVectorPlane.y(), - point_with_normal.first.z() - supportVectorPlane.z()); - double distanceError = std::abs(normalVectorPlane.dot(p_S_P)); + const std::vector& pointsWithNormal) const { + const double normalDotSupportvector = normalVectorPlane.dot(supportVectorPlane); + + for (const auto& pointWithNormal : pointsWithNormal) { + const double normalDotPoint = normalVectorPlane.x() * pointWithNormal.first.x() + normalVectorPlane.y() * pointWithNormal.first.y() + + normalVectorPlane.z() * pointWithNormal.first.z(); + const double distanceError = std::abs(normalDotPoint - normalDotSupportvector); if (distanceError > parameters_.global_plane_fit_distance_error_threshold) { return false; } else { - Eigen::Vector3d pointNormal{point_with_normal.second.x(), point_with_normal.second.y(), point_with_normal.second.z()}; - double angleError = angleBetweenVectorsInDegrees(pointNormal, normalVectorPlane); + Eigen::Vector3d pointNormal{pointWithNormal.second.x(), pointWithNormal.second.y(), pointWithNormal.second.z()}; + double angleError = angleBetweenNormalizedVectorsInDegrees(pointNormal, normalVectorPlane); if (angleError > parameters_.global_plane_fit_angle_error_threshold_degrees) { return false; } From f83b8abcd2f3581edb7c0d8b3dea79273d5bc834 Mon Sep 17 00:00:00 2001 From: rgrandia Date: Mon, 18 Oct 2021 12:56:16 +0200 Subject: [PATCH 112/504] take cosine computation for angle threshold out of the loop --- .../SlidingWindowPlaneExtractor.cpp | 18 +++++++++++------- 1 file changed, 11 insertions(+), 7 deletions(-) diff --git a/convex_plane_decomposition/src/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.cpp b/convex_plane_decomposition/src/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.cpp index e3459371..a2d1dc7a 100644 --- a/convex_plane_decomposition/src/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.cpp +++ b/convex_plane_decomposition/src/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.cpp @@ -271,22 +271,26 @@ void SlidingWindowPlaneExtractor::refineLabelWithRansac(int label, std::vector& pointsWithNormal) const { + // Part of the plane projection that is independent of the point const double normalDotSupportvector = normalVectorPlane.dot(supportVectorPlane); + // Convert threshold in degrees to threshold on dot product (between normalized vectors) + const double dotProductThreshold = std::cos(parameters_.global_plane_fit_angle_error_threshold_degrees * M_PI / 180.0); + for (const auto& pointWithNormal : pointsWithNormal) { const double normalDotPoint = normalVectorPlane.x() * pointWithNormal.first.x() + normalVectorPlane.y() * pointWithNormal.first.y() + normalVectorPlane.z() * pointWithNormal.first.z(); const double distanceError = std::abs(normalDotPoint - normalDotSupportvector); - if (distanceError > parameters_.global_plane_fit_distance_error_threshold) { + + const double dotProductNormals = normalVectorPlane.x() * pointWithNormal.second.x() + + normalVectorPlane.y() * pointWithNormal.second.y() + + normalVectorPlane.z() * pointWithNormal.second.z(); + + if (distanceError > parameters_.global_plane_fit_distance_error_threshold || dotProductNormals > dotProductThreshold) { return false; - } else { - Eigen::Vector3d pointNormal{pointWithNormal.second.x(), pointWithNormal.second.y(), pointWithNormal.second.z()}; - double angleError = angleBetweenNormalizedVectorsInDegrees(pointNormal, normalVectorPlane); - if (angleError > parameters_.global_plane_fit_angle_error_threshold_degrees) { - return false; - } } } + return true; } From 71195377fa578edf3f333d69d3056d016394957e Mon Sep 17 00:00:00 2001 From: rgrandia Date: Mon, 18 Oct 2021 13:26:17 +0200 Subject: [PATCH 113/504] save elevation before postprocessing --- convex_plane_decomposition/src/Postprocessing.cpp | 3 +++ 1 file changed, 3 insertions(+) diff --git a/convex_plane_decomposition/src/Postprocessing.cpp b/convex_plane_decomposition/src/Postprocessing.cpp index 331573ac..eca1808a 100644 --- a/convex_plane_decomposition/src/Postprocessing.cpp +++ b/convex_plane_decomposition/src/Postprocessing.cpp @@ -15,6 +15,9 @@ void Postprocessing::postprocess(PlanarTerrain& planarTerrain, const std::string auto& elevationData = planarTerrain.gridMap.get(elevationLayer); const auto& planarityMask = planarTerrain.gridMap.get(planeSegmentationLayer); + // Store the unaltered map + planarTerrain.gridMap.add(elevationLayer + "_before_postprocess", elevationData); + // post process planar regions addHeightOffset(planarTerrain.planarRegions); From 618b48db38765b7a4032bf652514370747d1488d Mon Sep 17 00:00:00 2001 From: rgrandia Date: Mon, 18 Oct 2021 13:26:35 +0200 Subject: [PATCH 114/504] lookup tf at the time of the gridmap message --- .../ConvexPlaneDecompositionRos.h | 2 +- .../src/ConvexPlaneDecompositionRos.cpp | 102 +++++++++--------- 2 files changed, 54 insertions(+), 50 deletions(-) diff --git a/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/ConvexPlaneDecompositionRos.h b/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/ConvexPlaneDecompositionRos.h index 279002c3..d15083a7 100644 --- a/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/ConvexPlaneDecompositionRos.h +++ b/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/ConvexPlaneDecompositionRos.h @@ -39,7 +39,7 @@ class ConvexPlaneExtractionROS { */ void callback(const grid_map_msgs::GridMap& message); - Eigen::Isometry3d getTransformToTargetFrame(const std::string& sourceFrame); + Eigen::Isometry3d getTransformToTargetFrame(const std::string& sourceFrame, const ros::Time& time); // Parameters std::string elevationMapTopic_; diff --git a/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp b/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp index 2a42d3b6..26e0cd8f 100644 --- a/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp +++ b/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp @@ -89,72 +89,76 @@ void ConvexPlaneExtractionROS::callback(const grid_map_msgs::GridMap& message) { grid_map::GridMapRosConverter::fromMessage(message, messageMap, layers, false, false); bool success; grid_map::GridMap elevationMap = messageMap.getSubmap(messageMap.getPosition(), Eigen::Array2d(subMapLength_, subMapWidth_), success); - success = success && containsFiniteValue(elevationMap.get(elevationLayer_)); // Check if there are values + success = success && containsFiniteValue(elevationMap.get(elevationLayer_)); // Check if there are values ROS_INFO("...done."); + // Exit early if map is not valid. + if (!success) { + ROS_WARN("[ConvexPlaneExtractionROS] Could not extract submap"); + return; + } + // Transform map if necessary if (targetFrameId_ != elevationMap.getFrameId()) { std::string errorMsg; - if (tfBuffer_.canTransform(targetFrameId_, elevationMap.getFrameId(), ros::Time(0), &errorMsg)) { - elevationMap = elevationMap.getTransformedMap(getTransformToTargetFrame(elevationMap.getFrameId()), elevationLayer_, targetFrameId_); + ros::Time timeStamp(messageMap.getTimestamp()); + if (tfBuffer_.canTransform(targetFrameId_, elevationMap.getFrameId(), timeStamp, &errorMsg)) { + elevationMap = + elevationMap.getTransformedMap(getTransformToTargetFrame(elevationMap.getFrameId(), timeStamp), elevationLayer_, targetFrameId_); } else { ROS_ERROR_STREAM("[ConvexPlaneExtractionROS] " << errorMsg); return; } } - if (success) { - auto t0 = std::chrono::high_resolution_clock::now(); - preprocessing_->preprocess(elevationMap, elevationLayer_); - auto t1 = std::chrono::high_resolution_clock::now(); - ROS_INFO_STREAM("Preprocessing took " << 1e-3 * std::chrono::duration_cast(t1 - t0).count() << " [ms]"); - - // Run pipeline. - slidingWindowPlaneExtractor_->runExtraction(elevationMap, elevationLayer_); - auto t2 = std::chrono::high_resolution_clock::now(); - ROS_INFO_STREAM("Sliding window took " << 1e-3 * std::chrono::duration_cast(t2 - t1).count() << " [ms]"); - - PlanarTerrain planarTerrain; - planarTerrain.planarRegions = contourExtraction_->extractPlanarRegions(slidingWindowPlaneExtractor_->getSegmentedPlanesMap()); - auto t3 = std::chrono::high_resolution_clock::now(); - ROS_INFO_STREAM("Contour extraction took " << 1e-3 * std::chrono::duration_cast(t3 - t2).count() << " [ms]"); - - // Add grid map to the terrain - planarTerrain.gridMap = std::move(elevationMap); - - // Add binary map - const std::string planeClassificationLayer{"plane_classification"}; - planarTerrain.gridMap.add(planeClassificationLayer); - auto& traversabilityMask = planarTerrain.gridMap.get(planeClassificationLayer); - cv::cv2eigen(slidingWindowPlaneExtractor_->getBinaryLabeledImage(), traversabilityMask); - - postprocessing_->postprocess(planarTerrain, elevationLayer_, planeClassificationLayer); - auto t4 = std::chrono::high_resolution_clock::now(); - ROS_INFO_STREAM("Postprocessing took " << 1e-3 * std::chrono::duration_cast(t4 - t3).count() << " [ms]"); - - // Publish terrain - if (publishToController_) { - regionPublisher_.publish(toMessage(planarTerrain)); - } + auto t0 = std::chrono::high_resolution_clock::now(); + preprocessing_->preprocess(elevationMap, elevationLayer_); + auto t1 = std::chrono::high_resolution_clock::now(); + ROS_INFO_STREAM("Preprocessing took " << 1e-3 * std::chrono::duration_cast(t1 - t0).count() << " [ms]"); + + // Run pipeline. + slidingWindowPlaneExtractor_->runExtraction(elevationMap, elevationLayer_); + auto t2 = std::chrono::high_resolution_clock::now(); + ROS_INFO_STREAM("Sliding window took " << 1e-3 * std::chrono::duration_cast(t2 - t1).count() << " [ms]"); + + PlanarTerrain planarTerrain; + planarTerrain.planarRegions = contourExtraction_->extractPlanarRegions(slidingWindowPlaneExtractor_->getSegmentedPlanesMap()); + auto t3 = std::chrono::high_resolution_clock::now(); + ROS_INFO_STREAM("Contour extraction took " << 1e-3 * std::chrono::duration_cast(t3 - t2).count() << " [ms]"); + + // Add grid map to the terrain + planarTerrain.gridMap = std::move(elevationMap); + + // Add binary map + const std::string planeClassificationLayer{"plane_classification"}; + planarTerrain.gridMap.add(planeClassificationLayer); + auto& traversabilityMask = planarTerrain.gridMap.get(planeClassificationLayer); + cv::cv2eigen(slidingWindowPlaneExtractor_->getBinaryLabeledImage(), traversabilityMask); + + postprocessing_->postprocess(planarTerrain, elevationLayer_, planeClassificationLayer); + auto t4 = std::chrono::high_resolution_clock::now(); + ROS_INFO_STREAM("Postprocessing took " << 1e-3 * std::chrono::duration_cast(t4 - t3).count() << " [ms]"); + + // Publish terrain + if (publishToController_) { + regionPublisher_.publish(toMessage(planarTerrain)); + } - // Visualize in Rviz. - planarTerrain.gridMap.add("segmentation"); - cv::cv2eigen(slidingWindowPlaneExtractor_->getSegmentedPlanesMap().labeledImage, planarTerrain.gridMap.get("segmentation")); - grid_map_msgs::GridMap outputMessage; - grid_map::GridMapRosConverter::toMessage(planarTerrain.gridMap, outputMessage); - filteredmapPublisher_.publish(outputMessage); + // Visualize in Rviz. + planarTerrain.gridMap.add("segmentation"); + cv::cv2eigen(slidingWindowPlaneExtractor_->getSegmentedPlanesMap().labeledImage, planarTerrain.gridMap.get("segmentation")); + grid_map_msgs::GridMap outputMessage; + grid_map::GridMapRosConverter::toMessage(planarTerrain.gridMap, outputMessage); + filteredmapPublisher_.publish(outputMessage); - boundaryPublisher_.publish(convertBoundariesToRosPolygons(planarTerrain.planarRegions, planarTerrain.gridMap.getFrameId())); - insetPublisher_.publish(convertInsetsToRosPolygons(planarTerrain.planarRegions, planarTerrain.gridMap.getFrameId())); - } else { - ROS_WARN("[ConvexPlaneExtractionROS] Could not extract submap"); - } + boundaryPublisher_.publish(convertBoundariesToRosPolygons(planarTerrain.planarRegions, planarTerrain.gridMap.getFrameId())); + insetPublisher_.publish(convertInsetsToRosPolygons(planarTerrain.planarRegions, planarTerrain.gridMap.getFrameId())); } -Eigen::Isometry3d ConvexPlaneExtractionROS::getTransformToTargetFrame(const std::string& sourceFrame) { +Eigen::Isometry3d ConvexPlaneExtractionROS::getTransformToTargetFrame(const std::string& sourceFrame, const ros::Time& time) { geometry_msgs::TransformStamped transformStamped; try { - transformStamped = tfBuffer_.lookupTransform(targetFrameId_, sourceFrame, ros::Time(0)); + transformStamped = tfBuffer_.lookupTransform(targetFrameId_, sourceFrame, time); } catch (tf2::TransformException& ex) { ROS_ERROR("[ConvexPlaneExtractionROS] %s", ex.what()); return Eigen::Isometry3d(); From 468ddb3b1bfaf96c5589fc36b6e673834ed37710 Mon Sep 17 00:00:00 2001 From: rgrandia Date: Mon, 18 Oct 2021 16:52:01 +0200 Subject: [PATCH 115/504] - Split global / local inclination threshold - Change convolution borders to REPLICATE - Fix unassigned cells with nonzero labels -> set them to background - Extract classification after plane segmentation - Add opening filter and adapt inset size --- .../SlidingWindowPlaneExtractor.h | 2 + .../SlidingWindowPlaneExtractorParameters.h | 7 ++- .../src/Postprocessing.cpp | 8 +-- .../contour_extraction/ContourExtraction.cpp | 2 +- .../SlidingWindowPlaneExtractor.cpp | 53 ++++++++++--------- .../config/parameters.yaml | 7 +-- .../src/ParameterLoading.cpp | 3 +- 7 files changed, 47 insertions(+), 35 deletions(-) diff --git a/convex_plane_decomposition/include/convex_plane_decomposition/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.h b/convex_plane_decomposition/include/convex_plane_decomposition/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.h index 3003d818..699dfcc5 100644 --- a/convex_plane_decomposition/include/convex_plane_decomposition/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.h +++ b/convex_plane_decomposition/include/convex_plane_decomposition/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.h @@ -42,6 +42,8 @@ class SlidingWindowPlaneExtractor { void runSlidingWindowDetector(); + void setToBackground(int label); + SlidingWindowPlaneExtractorParameters parameters_; ransac_plane_extractor::RansacPlaneExtractorParameters ransacParameters_; diff --git a/convex_plane_decomposition/include/convex_plane_decomposition/sliding_window_plane_extraction/SlidingWindowPlaneExtractorParameters.h b/convex_plane_decomposition/include/convex_plane_decomposition/sliding_window_plane_extraction/SlidingWindowPlaneExtractorParameters.h index d60607fe..bcdabb48 100644 --- a/convex_plane_decomposition/include/convex_plane_decomposition/sliding_window_plane_extraction/SlidingWindowPlaneExtractorParameters.h +++ b/convex_plane_decomposition/include/convex_plane_decomposition/sliding_window_plane_extraction/SlidingWindowPlaneExtractorParameters.h @@ -12,12 +12,15 @@ struct SlidingWindowPlaneExtractorParameters { /// Should be an odd number and at least 3. int kernel_size = 3; - /// [#] Erode planarity detection by this amount of pixels - int planarity_erosion = 0; + /// [#] Apply opening filter (erosion -> dilation) to planarity detection by this amount of pixels + int planarity_opening_filter = 0; /// [deg] Maximum allowed angle between the surface normal and the world-z direction for a patch double plane_inclination_threshold_degrees = 70.0; + /// [deg] Maximum allowed angle between the surface normal and the world-z direction for a cell + double local_plane_inclination_threshold_degrees = 70.0; + /// [m] The allowed root-mean-squared deviation from the plane fitted to the patch. Higher -> not planar double plane_patch_error_threshold = 0.005; diff --git a/convex_plane_decomposition/src/Postprocessing.cpp b/convex_plane_decomposition/src/Postprocessing.cpp index eca1808a..355ef6c4 100644 --- a/convex_plane_decomposition/src/Postprocessing.cpp +++ b/convex_plane_decomposition/src/Postprocessing.cpp @@ -39,7 +39,7 @@ void Postprocessing::dilationInNonplanarRegions(Eigen::MatrixXf& elevationData, const int dilationSize = 2 * parameters_.nonplanar_horizontal_offset + 1; // const int dilationType = cv::MORPH_ELLIPSE; // ellipse inscribed in the square of size dilationSize const auto dilationKernel_ = cv::getStructuringElement(dilationType, cv::Size(dilationSize, dilationSize)); - cv::dilate(elevationImage, elevationImage, dilationKernel_); + cv::dilate(elevationImage, elevationImage, dilationKernel_, cv::Point(-1, -1), 1, cv::BORDER_REPLICATE); // convert back Eigen::MatrixXf elevationDilated; @@ -87,7 +87,7 @@ void Postprocessing::addSmoothLayer(grid_map::GridMap& gridMap, const Eigen::Mat // Dilate const int dilationType = cv::MORPH_ELLIPSE; // ellipse inscribed in the square of size dilationSize const auto dilationKernel_ = cv::getStructuringElement(dilationType, cv::Size(dilationSize, dilationSize)); - cv::dilate(elevationWithNaNImage, elevationWithNaNImage, dilationKernel_); + cv::dilate(elevationWithNaNImage, elevationWithNaNImage, dilationKernel_, cv::Point(-1, -1), 1, cv::BORDER_REPLICATE); // Take complement image where elevation data was set to NaN cv::Mat indicatorImage = cv::Mat::ones(elevationWithNaNImage.rows, elevationWithNaNImage.cols, CV_32F); @@ -99,8 +99,8 @@ void Postprocessing::addSmoothLayer(grid_map::GridMap& gridMap, const Eigen::Mat // Filter definition auto smoothingFilter = [kernel, kernelGauss](const cv::Mat& imageIn) { cv::Mat imageOut; - cv::boxFilter(imageIn, imageOut, -1, {kernel, kernel}, cv::Point(-1, -1), true, cv::BorderTypes::BORDER_CONSTANT); - cv::GaussianBlur(imageOut, imageOut, {kernelGauss, kernelGauss}, 0, 0, cv::BorderTypes::BORDER_CONSTANT); + cv::boxFilter(imageIn, imageOut, -1, {kernel, kernel}, cv::Point(-1, -1), true, cv::BorderTypes::BORDER_REPLICATE); + cv::GaussianBlur(imageOut, imageOut, {kernelGauss, kernelGauss}, 0, 0, cv::BorderTypes::BORDER_REPLICATE); return imageOut; }; diff --git a/convex_plane_decomposition/src/contour_extraction/ContourExtraction.cpp b/convex_plane_decomposition/src/contour_extraction/ContourExtraction.cpp index 1963af66..21c4ac8f 100644 --- a/convex_plane_decomposition/src/contour_extraction/ContourExtraction.cpp +++ b/convex_plane_decomposition/src/contour_extraction/ContourExtraction.cpp @@ -49,7 +49,7 @@ std::vector extractBoundaryAndInset(cv::Mat& binary_image, co std::vector boundaries = extractPolygonsFromBinaryImage(binary_image); // Erode - cv::erode(binary_image, binary_image, erosionKernel); + cv::erode(binary_image, binary_image, erosionKernel, cv::Point(-1,-1), 1, cv::BORDER_REPLICATE); // Get insets std::vector insets = extractPolygonsFromBinaryImage(binary_image); diff --git a/convex_plane_decomposition/src/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.cpp b/convex_plane_decomposition/src/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.cpp index a2d1dc7a..3f0686b7 100644 --- a/convex_plane_decomposition/src/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.cpp +++ b/convex_plane_decomposition/src/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.cpp @@ -80,6 +80,10 @@ void SlidingWindowPlaneExtractor::runExtraction(const grid_map::GridMap& map, co runSlidingWindowDetector(); runSegmentation(); extractPlaneParametersFromLabeledImage(); + + // Get classification from segmentation to account for unassigned points. + binaryImagePatch_ = segmentedPlanesMap_.labeledImage > 0; + binaryImagePatch_.setTo(1, binaryImagePatch_ == 255); } std::pair SlidingWindowPlaneExtractor::computeNormalAndErrorForWindow(const Eigen::MatrixXf& windowData) const { @@ -112,7 +116,7 @@ std::pair SlidingWindowPlaneExtractor::computeNormalAnd bool SlidingWindowPlaneExtractor::isLocallyPlanar(const Eigen::Vector3d& localNormal, double meanError) const { return (meanError < parameters_.plane_patch_error_threshold && - angleBetweenNormalizedVectorsInDegrees(localNormal, Eigen::Vector3d::UnitZ()) < parameters_.plane_inclination_threshold_degrees); + angleBetweenNormalizedVectorsInDegrees(localNormal, Eigen::Vector3d::UnitZ()) < parameters_.local_plane_inclination_threshold_degrees); } void SlidingWindowPlaneExtractor::runSlidingWindowDetector() { @@ -137,12 +141,12 @@ void SlidingWindowPlaneExtractor::runSlidingWindowDetector() { } } - // erode - if (parameters_.planarity_erosion > 0) { - const int erosionSize = 2 * parameters_.planarity_erosion + 1; - const int erosionType = cv::MORPH_CROSS; - const auto erosionKernel_ = cv::getStructuringElement(erosionType, cv::Size(erosionSize, erosionSize)); - cv::erode(binaryImagePatch_, binaryImagePatch_, erosionKernel_); + // opening filter + if (parameters_.planarity_opening_filter > 0) { + const int openingKernelSize = 2 * parameters_.planarity_opening_filter + 1; + const int openingKernelType = cv::MORPH_RECT; + const auto kernel_ = cv::getStructuringElement(openingKernelType, cv::Size(openingKernelSize, openingKernelSize)); + cv::morphologyEx(binaryImagePatch_, binaryImagePatch_, cv::MORPH_OPEN, kernel_, cv::Point(-1, -1), 1, cv::BORDER_REPLICATE); } } @@ -209,6 +213,8 @@ void SlidingWindowPlaneExtractor::computePlaneParametersForLabel(int label, if (angleBetweenNormalizedVectorsInDegrees(normalVector, Eigen::Vector3d::UnitZ()) < parameters_.plane_inclination_threshold_degrees) { const auto terrainOrientation = switched_model::orientationWorldToTerrainFromSurfaceNormalInWorld(normalVector); segmentedPlanesMap_.labelPlaneParameters.emplace_back(label, TerrainPlane(supportVector, terrainOrientation)); + } else { + setToBackground(label); } } } @@ -222,6 +228,9 @@ void SlidingWindowPlaneExtractor::refineLabelWithRansac(int label, std::vectorgetIndex(Eigen::Vector2d(point.x(), point.y()), map_indices); - segmentedPlanesMap_.labeledImage.at(map_indices(0), map_indices(1)) = newLabel; - } } const auto numPoints = plane_point_indices.size(); @@ -255,17 +256,17 @@ void SlidingWindowPlaneExtractor::refineLabelWithRansac(int label, std::vectorgetIndex(Eigen::Vector2d(point.x(), point.y()), map_indices); - segmentedPlanesMap_.labeledImage.at(map_indices(0), map_indices(1)) = 0; + // Need to lookup indices in map, because RANSAC has reordered the points + Eigen::Array2i map_indices; + map_->getIndex(Eigen::Vector2d(point.x(), point.y()), map_indices); + segmentedPlanesMap_.labeledImage.at(map_indices(0), map_indices(1)) = newLabel; + } + } } } @@ -294,5 +295,9 @@ bool SlidingWindowPlaneExtractor::isGloballyPlanar(const Eigen::Vector3d& normal return true; } +void SlidingWindowPlaneExtractor::setToBackground(int label) { + segmentedPlanesMap_.labeledImage.setTo(0, segmentedPlanesMap_.labeledImage == label); +} + } // namespace sliding_window_plane_extractor } // namespace convex_plane_decomposition diff --git a/convex_plane_decomposition_ros/config/parameters.yaml b/convex_plane_decomposition_ros/config/parameters.yaml index 32e4529c..45df5bd0 100644 --- a/convex_plane_decomposition_ros/config/parameters.yaml +++ b/convex_plane_decomposition_ros/config/parameters.yaml @@ -6,8 +6,9 @@ preprocessing: sliding_window_plane_extractor: kernel_size: 3 # Size of the sliding window patch used for normal vector calculation and planarity detection. Should be an odd number and at least 3. - planarity_erosion: 0 # [#] Erode planarity detection by this amount of pixels - plane_inclination_threshold_degrees: 45.0 # [deg] Maximum allowed angle between the surface normal and the world-z direction for a patch + planarity_opening_filter: 2 # [#] Apply opening filter (erosion -> dilation) to planarity detection by this amount of pixels + plane_inclination_threshold_degrees: 40.0 # [deg] Maximum allowed angle between the surface normal and the world-z direction for a patch + local_plane_inclination_threshold_degrees: 55.0 # [deg] Maximum allowed angle between the surface normal and the world-z direction for a cell plane_patch_error_threshold: 0.005 # [m] The allowed root-mean-squared deviation from the plane fitted to the sliding window. min_number_points_per_label: 10 # [#] Labels with less points assigned to them are discarded connectivity: 4 # Label kernel connectivity. 4 or 8 (cross or box) @@ -23,7 +24,7 @@ ransac_plane_refinement: normal_threshold: 25.0 # [deg] Set maximum normal deviation between cluster surface_normal and point normal. contour_extraction: - offsetSize: 2 # Size of the kernel creating the boundary offset. In number of pixels. + offsetSize: 1 # Size of the kernel creating the boundary offset. In number of pixels. postprocessing: extracted_planes_height_offset: 0.0 # Added offset in Z direction for the full map to compensate for the location of the foot frame w.r.t. the contact point diff --git a/convex_plane_decomposition_ros/src/ParameterLoading.cpp b/convex_plane_decomposition_ros/src/ParameterLoading.cpp index cc444ab5..b94c8925 100644 --- a/convex_plane_decomposition_ros/src/ParameterLoading.cpp +++ b/convex_plane_decomposition_ros/src/ParameterLoading.cpp @@ -45,8 +45,9 @@ sliding_window_plane_extractor::SlidingWindowPlaneExtractorParameters loadSlidin const ros::NodeHandle& nodeHandle, const std::string& prefix) { sliding_window_plane_extractor::SlidingWindowPlaneExtractorParameters swParams; loadParameter(nodeHandle, prefix, "kernel_size", swParams.kernel_size); - loadParameter(nodeHandle, prefix, "planarity_erosion", swParams.planarity_erosion); + loadParameter(nodeHandle, prefix, "planarity_opening_filter", swParams.planarity_opening_filter); loadParameter(nodeHandle, prefix, "plane_inclination_threshold_degrees", swParams.plane_inclination_threshold_degrees); + loadParameter(nodeHandle, prefix, "local_plane_inclination_threshold_degrees", swParams.local_plane_inclination_threshold_degrees); loadParameter(nodeHandle, prefix, "plane_patch_error_threshold", swParams.plane_patch_error_threshold); loadParameter(nodeHandle, prefix, "min_number_points_per_label", swParams.min_number_points_per_label); loadParameter(nodeHandle, prefix, "connectivity", swParams.connectivity); From 27905a4f1f91b092d600d396e803be52059973fe Mon Sep 17 00:00:00 2001 From: rgrandia Date: Mon, 18 Oct 2021 17:11:01 +0200 Subject: [PATCH 116/504] simple optimizations. No sqrt for error comparison. Take angle threshold on dot product directly --- .../SlidingWindowPlaneExtractor.h | 2 +- .../SlidingWindowPlaneExtractorParameters.h | 8 ++--- .../SlidingWindowPlaneExtractor.cpp | 34 +++++++------------ .../src/ParameterLoading.cpp | 6 ++-- convex_plane_decomposition_ros/test/test.cpp | 33 +++++++++--------- 5 files changed, 38 insertions(+), 45 deletions(-) diff --git a/convex_plane_decomposition/include/convex_plane_decomposition/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.h b/convex_plane_decomposition/include/convex_plane_decomposition/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.h index 699dfcc5..374cd1a7 100644 --- a/convex_plane_decomposition/include/convex_plane_decomposition/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.h +++ b/convex_plane_decomposition/include/convex_plane_decomposition/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.h @@ -29,7 +29,7 @@ class SlidingWindowPlaneExtractor { const std::vector& pointsWithNormal) const; std::pair computeNormalAndErrorForWindow(const Eigen::MatrixXf& windowData) const; - bool isLocallyPlanar(const Eigen::Vector3d& localNormal, double meanError) const; + bool isLocallyPlanar(const Eigen::Vector3d& localNormal, double meanSquaredError) const; int getLinearIndex(int row, int col) const { return row + col * map_->getSize()[0]; }; diff --git a/convex_plane_decomposition/include/convex_plane_decomposition/sliding_window_plane_extraction/SlidingWindowPlaneExtractorParameters.h b/convex_plane_decomposition/include/convex_plane_decomposition/sliding_window_plane_extraction/SlidingWindowPlaneExtractorParameters.h index bcdabb48..2309aaec 100644 --- a/convex_plane_decomposition/include/convex_plane_decomposition/sliding_window_plane_extraction/SlidingWindowPlaneExtractorParameters.h +++ b/convex_plane_decomposition/include/convex_plane_decomposition/sliding_window_plane_extraction/SlidingWindowPlaneExtractorParameters.h @@ -15,11 +15,11 @@ struct SlidingWindowPlaneExtractorParameters { /// [#] Apply opening filter (erosion -> dilation) to planarity detection by this amount of pixels int planarity_opening_filter = 0; - /// [deg] Maximum allowed angle between the surface normal and the world-z direction for a patch - double plane_inclination_threshold_degrees = 70.0; + /// [-] Maximum allowed angle between the surface normal and the world-z direction for a patch (converted to dotproduct bound) + double plane_inclination_threshold = std::cos(70.0 * M_PI / 180.0); - /// [deg] Maximum allowed angle between the surface normal and the world-z direction for a cell - double local_plane_inclination_threshold_degrees = 70.0; + /// [-] Maximum allowed angle between the surface normal and the world-z direction for a cell (converted to dotproduct bound) + double local_plane_inclination_threshold = std::cos(70.0 * M_PI / 180.0); /// [m] The allowed root-mean-squared deviation from the plane fitted to the patch. Higher -> not planar double plane_patch_error_threshold = 0.005; diff --git a/convex_plane_decomposition/src/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.cpp b/convex_plane_decomposition/src/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.cpp index 3f0686b7..b7635c07 100644 --- a/convex_plane_decomposition/src/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.cpp +++ b/convex_plane_decomposition/src/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.cpp @@ -16,17 +16,6 @@ namespace sliding_window_plane_extractor { namespace { -// Assumes v1 and v2 are of unit lenght -double angleBetweenNormalizedVectorsInDegrees(const Eigen::Vector3d& v1, const Eigen::Vector3d& v2) { - double cos_rad = v1.dot(v2); - if (cos_rad < -1.0) { - cos_rad = -1.0; - } else if (cos_rad > 1.0) { - cos_rad = 1.0; - } - return std::abs(std::acos(cos_rad) * 180.0 / M_PI); -} - std::pair normalAndErrorFromCovariance(int numPoint, const Eigen::Vector3d& mean, const Eigen::Matrix3d& sumSquared) { const Eigen::Matrix3d covarianceMatrix = sumSquared / numPoint - mean * mean.transpose(); @@ -44,8 +33,8 @@ std::pair normalAndErrorFromCovariance(int numPoint, co unitaryNormalVector = -unitaryNormalVector; } // The first eigenvalue might become slightly negative due to numerics. - double rmsError = (solver.eigenvalues()(0) > 0.0) ? std::sqrt(solver.eigenvalues()(0)) : 0.0; - return {unitaryNormalVector, rmsError}; + double squareError = (solver.eigenvalues()(0) > 0.0) ? solver.eigenvalues()(0) : 0.0; + return {unitaryNormalVector, squareError}; } else { // If second eigenvalue is zero, the normal is not defined. return {Eigen::Vector3d::UnitZ(), 1e30}; } @@ -114,9 +103,12 @@ std::pair SlidingWindowPlaneExtractor::computeNormalAnd } } -bool SlidingWindowPlaneExtractor::isLocallyPlanar(const Eigen::Vector3d& localNormal, double meanError) const { - return (meanError < parameters_.plane_patch_error_threshold && - angleBetweenNormalizedVectorsInDegrees(localNormal, Eigen::Vector3d::UnitZ()) < parameters_.local_plane_inclination_threshold_degrees); +bool SlidingWindowPlaneExtractor::isLocallyPlanar(const Eigen::Vector3d& localNormal, double meanSquaredError) const { + const double thresholdSquared = parameters_.plane_patch_error_threshold * parameters_.plane_patch_error_threshold; + + // Dotproduct between normal and Eigen::Vector3d::UnitZ(); + const double normalDotProduct = localNormal.z(); + return (meanSquaredError < thresholdSquared && normalDotProduct > parameters_.local_plane_inclination_threshold); } void SlidingWindowPlaneExtractor::runSlidingWindowDetector() { @@ -133,11 +125,11 @@ void SlidingWindowPlaneExtractor::runSlidingWindowDetector() { binaryImagePatch_.at(index.x(), index.y()) = false; } else { Eigen::Vector3d n; - double mean_error; - std::tie(n, mean_error) = computeNormalAndErrorForWindow(window_data); + double meanSquaredError; + std::tie(n, meanSquaredError) = computeNormalAndErrorForWindow(window_data); surfaceNormals_[getLinearIndex(index.x(), index.y())] = n; - binaryImagePatch_.at(index.x(), index.y()) = isLocallyPlanar(n, mean_error); + binaryImagePatch_.at(index.x(), index.y()) = isLocallyPlanar(n, meanSquaredError); } } @@ -210,7 +202,7 @@ void SlidingWindowPlaneExtractor::computePlaneParametersForLabel(int label, if (parameters_.include_ransac_refinement && !isGloballyPlanar(normalVector, supportVector, pointsWithNormal)) { refineLabelWithRansac(label, pointsWithNormal); } else { - if (angleBetweenNormalizedVectorsInDegrees(normalVector, Eigen::Vector3d::UnitZ()) < parameters_.plane_inclination_threshold_degrees) { + if (normalVector.z() > parameters_.plane_inclination_threshold) { const auto terrainOrientation = switched_model::orientationWorldToTerrainFromSurfaceNormalInWorld(normalVector); segmentedPlanesMap_.labelPlaneParameters.emplace_back(label, TerrainPlane(supportVector, terrainOrientation)); } else { @@ -253,7 +245,7 @@ void SlidingWindowPlaneExtractor::refineLabelWithRansac(int label, std::vector parameters_.plane_inclination_threshold) { const auto terrainOrientation = switched_model::orientationWorldToTerrainFromSurfaceNormalInWorld(normalVector); segmentedPlanesMap_.labelPlaneParameters.emplace_back(newLabel, TerrainPlane(supportVector, terrainOrientation)); diff --git a/convex_plane_decomposition_ros/src/ParameterLoading.cpp b/convex_plane_decomposition_ros/src/ParameterLoading.cpp index b94c8925..88218cb8 100644 --- a/convex_plane_decomposition_ros/src/ParameterLoading.cpp +++ b/convex_plane_decomposition_ros/src/ParameterLoading.cpp @@ -46,8 +46,10 @@ sliding_window_plane_extractor::SlidingWindowPlaneExtractorParameters loadSlidin sliding_window_plane_extractor::SlidingWindowPlaneExtractorParameters swParams; loadParameter(nodeHandle, prefix, "kernel_size", swParams.kernel_size); loadParameter(nodeHandle, prefix, "planarity_opening_filter", swParams.planarity_opening_filter); - loadParameter(nodeHandle, prefix, "plane_inclination_threshold_degrees", swParams.plane_inclination_threshold_degrees); - loadParameter(nodeHandle, prefix, "local_plane_inclination_threshold_degrees", swParams.local_plane_inclination_threshold_degrees); + loadParameter(nodeHandle, prefix, "plane_inclination_threshold_degrees", swParams.plane_inclination_threshold); + swParams.plane_inclination_threshold = std::cos(swParams.plane_inclination_threshold * M_PI / 180.0); + loadParameter(nodeHandle, prefix, "local_plane_inclination_threshold_degrees", swParams.local_plane_inclination_threshold); + swParams.local_plane_inclination_threshold = std::cos(swParams.local_plane_inclination_threshold * M_PI / 180.0); loadParameter(nodeHandle, prefix, "plane_patch_error_threshold", swParams.plane_patch_error_threshold); loadParameter(nodeHandle, prefix, "min_number_points_per_label", swParams.min_number_points_per_label); loadParameter(nodeHandle, prefix, "connectivity", swParams.connectivity); diff --git a/convex_plane_decomposition_ros/test/test.cpp b/convex_plane_decomposition_ros/test/test.cpp index 64f3b18d..30b997be 100644 --- a/convex_plane_decomposition_ros/test/test.cpp +++ b/convex_plane_decomposition_ros/test/test.cpp @@ -54,9 +54,8 @@ void plotSlidingWindow(const sliding_window_plane_extractor::SlidingWindowPlaneE colors[0] = cv::Vec3b(0, 0, 0); // background in white for (int label = 1; label <= planeExtractor.getSegmentedPlanesMap().highestLabel; ++label) { - const auto labelIt = - std::find_if(labelsAndPlaneParameters.begin(), labelsAndPlaneParameters.end(), - [=](const std::pair& x) { return x.first == label; }); + const auto labelIt = std::find_if(labelsAndPlaneParameters.begin(), labelsAndPlaneParameters.end(), + [=](const std::pair& x) { return x.first == label; }); if (labelIt != labelsAndPlaneParameters.end()) { colors[label] = randomColor(); } else { @@ -76,18 +75,18 @@ void plotSlidingWindow(const sliding_window_plane_extractor::SlidingWindowPlaneE int main(int argc, char** argv) { std::string folder = "/home/rgrandia/git/anymal/convex_terrain_representation/convex_plane_decomposition_ros/data/"; - std::string file = "elevationMap_8_139cm.png"; double heightScale = 1.39; -// std::string file = "demo_map.png"; double heightScale = 1.25; -// std::string file = "realStairs_125cm.png"; double heightScale = 1.25; -// std::string file = "terrain.png"; double heightScale = 1.25; -// std::string file = "holes.png"; double heightScale = 1.0; -// std::string file = "slope_1m_1m_20cm.png"; double heightScale = 0.2; -// std::string file = "straightStairs_1m_1m_60cm.png"; double heightScale = 0.6; + std::string file = "elevationMap_8_139cm.png"; + double heightScale = 1.39; + // std::string file = "demo_map.png"; double heightScale = 1.25; + // std::string file = "realStairs_125cm.png"; double heightScale = 1.25; + // std::string file = "terrain.png"; double heightScale = 1.25; + // std::string file = "holes.png"; double heightScale = 1.0; + // std::string file = "slope_1m_1m_20cm.png"; double heightScale = 0.2; + // std::string file = "straightStairs_1m_1m_60cm.png"; double heightScale = 0.6; double resolution = 0.02; auto elevationMap = loadElevationMapFromFile(folder + file, resolution, heightScale); - cv::Mat image; grid_map::GridMapCvConverter::toImage(elevationMap, "elevation", CV_8UC1, 0.0, heightScale, image); cv::namedWindow("Elevation Map", cv::WindowFlags::WINDOW_NORMAL); @@ -108,7 +107,7 @@ int main(int argc, char** argv) { // ============== Sliding Window =================== // sliding_window_plane_extractor::SlidingWindowPlaneExtractorParameters swParams; swParams.kernel_size = 3; - swParams.plane_inclination_threshold_degrees = 45.0; + swParams.plane_inclination_threshold = std::cos(45.0 * M_PI / 180); swParams.plane_patch_error_threshold = 0.005; swParams.min_number_points_per_label = 10; swParams.include_ransac_refinement = true; @@ -143,9 +142,9 @@ int main(int argc, char** argv) { cv::imshow("Polygon binary image label", binaryImagePlot); // Extract - int erosion_size = 2; // single sided length of the kernel - int erosion_type = cv::MORPH_CROSS; // cv::MORPH_ELLIPSE, cv::MORPH_RECT - cv::Mat element = cv::getStructuringElement( erosion_type, cv::Size( 2*erosion_size + 1, 2*erosion_size+1 ) ); + int erosion_size = 2; // single sided length of the kernel + int erosion_type = cv::MORPH_CROSS; // cv::MORPH_ELLIPSE, cv::MORPH_RECT + cv::Mat element = cv::getStructuringElement(erosion_type, cv::Size(2 * erosion_size + 1, 2 * erosion_size + 1)); const auto boundariesAndInsets = contour_extraction::extractBoundaryAndInset(binary_image, element); // Plot eroded image @@ -156,10 +155,10 @@ int main(int argc, char** argv) { // Plot contours int scale = 5; - cv::Size scaledSize = {scale* binary_image.size().width, scale* binary_image.size().height}; // transposed + cv::Size scaledSize = {scale * binary_image.size().width, scale * binary_image.size().height}; // transposed cv::Mat realPolygonImage(scaledSize, CV_8UC3, cv::Vec3b(0, 0, 0)); for (const auto& boundaryAndInset : boundariesAndInsets) { - drawContour(realPolygonImage, scaleShape(boundaryAndInset.boundary, scale)); + drawContour(realPolygonImage, scaleShape(boundaryAndInset.boundary, scale)); for (const auto& inset : boundaryAndInset.insets) { drawContour(realPolygonImage, scaleShape(inset, scale)); } From 1db2bc60a9af27215975cc6e0de934331d756512 Mon Sep 17 00:00:00 2001 From: rgrandia Date: Mon, 18 Oct 2021 17:30:52 +0200 Subject: [PATCH 117/504] fix convergion in load degrees --- .../src/ParameterLoading.cpp | 15 ++++++++++----- 1 file changed, 10 insertions(+), 5 deletions(-) diff --git a/convex_plane_decomposition_ros/src/ParameterLoading.cpp b/convex_plane_decomposition_ros/src/ParameterLoading.cpp index 88218cb8..021d6516 100644 --- a/convex_plane_decomposition_ros/src/ParameterLoading.cpp +++ b/convex_plane_decomposition_ros/src/ParameterLoading.cpp @@ -7,10 +7,13 @@ namespace convex_plane_decomposition { template -void loadParameter(const ros::NodeHandle& nodeHandle, const std::string& prefix, const std::string& param, T& value) { +bool loadParameter(const ros::NodeHandle& nodeHandle, const std::string& prefix, const std::string& param, T& value) { if (!nodeHandle.getParam(prefix + param, value)) { ROS_ERROR_STREAM("[ConvexPlaneExtractionROS] Could not read parameter `" << param << "`. Setting parameter to default value : " << std::to_string(value)); + return false; + } else { + return true; } } @@ -46,10 +49,12 @@ sliding_window_plane_extractor::SlidingWindowPlaneExtractorParameters loadSlidin sliding_window_plane_extractor::SlidingWindowPlaneExtractorParameters swParams; loadParameter(nodeHandle, prefix, "kernel_size", swParams.kernel_size); loadParameter(nodeHandle, prefix, "planarity_opening_filter", swParams.planarity_opening_filter); - loadParameter(nodeHandle, prefix, "plane_inclination_threshold_degrees", swParams.plane_inclination_threshold); - swParams.plane_inclination_threshold = std::cos(swParams.plane_inclination_threshold * M_PI / 180.0); - loadParameter(nodeHandle, prefix, "local_plane_inclination_threshold_degrees", swParams.local_plane_inclination_threshold); - swParams.local_plane_inclination_threshold = std::cos(swParams.local_plane_inclination_threshold * M_PI / 180.0); + if (loadParameter(nodeHandle, prefix, "plane_inclination_threshold_degrees", swParams.plane_inclination_threshold)) { + swParams.plane_inclination_threshold = std::cos(swParams.plane_inclination_threshold * M_PI / 180.0); + } + if (loadParameter(nodeHandle, prefix, "local_plane_inclination_threshold_degrees", swParams.local_plane_inclination_threshold)) { + swParams.local_plane_inclination_threshold = std::cos(swParams.local_plane_inclination_threshold * M_PI / 180.0); + } loadParameter(nodeHandle, prefix, "plane_patch_error_threshold", swParams.plane_patch_error_threshold); loadParameter(nodeHandle, prefix, "min_number_points_per_label", swParams.min_number_points_per_label); loadParameter(nodeHandle, prefix, "connectivity", swParams.connectivity); From 1ca025a440b0370479fc4aba0b5261793d24623f Mon Sep 17 00:00:00 2001 From: rgrandia Date: Mon, 18 Oct 2021 17:39:38 +0200 Subject: [PATCH 118/504] fix funny oversegmentation. Numerical issue in cluster epsilon --- convex_plane_decomposition_ros/config/parameters.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/convex_plane_decomposition_ros/config/parameters.yaml b/convex_plane_decomposition_ros/config/parameters.yaml index 45df5bd0..0a01c966 100644 --- a/convex_plane_decomposition_ros/config/parameters.yaml +++ b/convex_plane_decomposition_ros/config/parameters.yaml @@ -20,7 +20,7 @@ ransac_plane_refinement: probability: 0.01 # Probability to miss the largest candidate shape. A lower probability provides a higher reliability and determinism at the cost of longer running times min_points: 25 # This minimum number of points per plane. Controls the termination of the algorithm. epsilon: 0.025 # Maximum distance to plane - cluster_epsilon: 0.02 # [m] Set maximum Euclidean distance between points to be clustered. Two points are connected if separated by a distance of at most 2*sqrt(2)*cluster_epsilon = 2.828 * cluster_epsilon + cluster_epsilon: 0.025 # [m] Set maximum Euclidean distance between points to be clustered. Two points are connected if separated by a distance of at most 2*sqrt(2)*cluster_epsilon = 2.828 * cluster_epsilon. Set this higher than resolution normal_threshold: 25.0 # [deg] Set maximum normal deviation between cluster surface_normal and point normal. contour_extraction: From 2f1f85c666579a637b6de4a00f5f97a822bc20b6 Mon Sep 17 00:00:00 2001 From: rgrandia Date: Tue, 19 Oct 2021 10:31:47 +0200 Subject: [PATCH 119/504] real to pixel kernel conversion as lambda --- .../src/Postprocessing.cpp | 16 +++++++++++----- 1 file changed, 11 insertions(+), 5 deletions(-) diff --git a/convex_plane_decomposition/src/Postprocessing.cpp b/convex_plane_decomposition/src/Postprocessing.cpp index 355ef6c4..460a15a7 100644 --- a/convex_plane_decomposition/src/Postprocessing.cpp +++ b/convex_plane_decomposition/src/Postprocessing.cpp @@ -71,14 +71,20 @@ void Postprocessing::addHeightOffset(std::vector& planarRegions) c void Postprocessing::addSmoothLayer(grid_map::GridMap& gridMap, const Eigen::MatrixXf& elevationData, const Eigen::MatrixXf& planarityMask) const { - const int dilationSize = 2 * std::round(parameters_.smoothing_dilation_size / gridMap.getResolution()) + 1; - const int kernel = 2 * std::round(parameters_.smoothing_box_kernel_size / gridMap.getResolution()) + 1; - const int kernelGauss = 2 * std::round(parameters_.smoothing_gauss_kernel_size / gridMap.getResolution()) + 1; + auto kernelSizeInPixels = [res = gridMap.getResolution()](double realSize) { + return 2 * static_cast(std::round(realSize / res)) + 1; + }; + + const int dilationSize = kernelSizeInPixels(parameters_.smoothing_dilation_size); + const int kernel = kernelSizeInPixels(parameters_.smoothing_box_kernel_size); + const int kernelGauss = kernelSizeInPixels(parameters_.smoothing_gauss_kernel_size); // Set nonplanar regions to "NaN" - const auto lowestFloat = std::numeric_limits::lowest(); // Take lowest to not interfere with Dilation, using true NaN doesn't work with opencv dilation. + const auto lowestFloat = std::numeric_limits::lowest(); // Take lowest to not interfere with Dilation, using true NaN doesn't work + // with opencv dilation. Eigen::MatrixXf elevationWithNaN = - (planarityMask.array() == 1.0).select(elevationData, Eigen::MatrixXf::Constant(elevationData.rows(), elevationData.cols(), lowestFloat)); + (planarityMask.array() == 1.0) + .select(elevationData, Eigen::MatrixXf::Constant(elevationData.rows(), elevationData.cols(), lowestFloat)); // Convert to openCV cv::Mat elevationWithNaNImage; From 7167f265d6413847a3f32ada5298f45c2b08004d Mon Sep 17 00:00:00 2001 From: rgrandia Date: Tue, 19 Oct 2021 12:10:12 +0200 Subject: [PATCH 120/504] fix error in globally planarity normal threshold --- .../SlidingWindowPlaneExtractor.cpp | 18 +++++++++++++----- 1 file changed, 13 insertions(+), 5 deletions(-) diff --git a/convex_plane_decomposition/src/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.cpp b/convex_plane_decomposition/src/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.cpp index b7635c07..bac12ca2 100644 --- a/convex_plane_decomposition/src/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.cpp +++ b/convex_plane_decomposition/src/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.cpp @@ -198,10 +198,18 @@ void SlidingWindowPlaneExtractor::computePlaneParametersForLabel(int label, const Eigen::Vector3d supportVector = sum / numPoints; const Eigen::Vector3d normalVector = normalAndErrorFromCovariance(numPoints, supportVector, sumSquared).first; - // Compute error to fitted plane. - if (parameters_.include_ransac_refinement && !isGloballyPlanar(normalVector, supportVector, pointsWithNormal)) { - refineLabelWithRansac(label, pointsWithNormal); - } else { + if (parameters_.include_ransac_refinement) { // with RANSAC + if (isGloballyPlanar(normalVector, supportVector, pointsWithNormal)) { // Already planar enough + if (normalVector.z() > parameters_.plane_inclination_threshold) { + const auto terrainOrientation = switched_model::orientationWorldToTerrainFromSurfaceNormalInWorld(normalVector); + segmentedPlanesMap_.labelPlaneParameters.emplace_back(label, TerrainPlane(supportVector, terrainOrientation)); + } else { + setToBackground(label); + } + } else { + refineLabelWithRansac(label, pointsWithNormal); + } + } else { // no RANSAC if (normalVector.z() > parameters_.plane_inclination_threshold) { const auto terrainOrientation = switched_model::orientationWorldToTerrainFromSurfaceNormalInWorld(normalVector); segmentedPlanesMap_.labelPlaneParameters.emplace_back(label, TerrainPlane(supportVector, terrainOrientation)); @@ -279,7 +287,7 @@ bool SlidingWindowPlaneExtractor::isGloballyPlanar(const Eigen::Vector3d& normal normalVectorPlane.y() * pointWithNormal.second.y() + normalVectorPlane.z() * pointWithNormal.second.z(); - if (distanceError > parameters_.global_plane_fit_distance_error_threshold || dotProductNormals > dotProductThreshold) { + if (distanceError > parameters_.global_plane_fit_distance_error_threshold || dotProductNormals < dotProductThreshold) { return false; } } From e9e74a93593f9a28249a64a196595ae85175542e Mon Sep 17 00:00:00 2001 From: rgrandia Date: Tue, 26 Oct 2021 12:12:33 +0200 Subject: [PATCH 121/504] add some maps --- .../data/elevationMap_0_107cm.png | Bin 0 -> 1316 bytes .../data/elevationMap_0_148cm.png | Bin 0 -> 797 bytes .../data/elevationMap_0_44cm.png | Bin 0 -> 1175 bytes 3 files changed, 0 insertions(+), 0 deletions(-) create mode 100644 convex_plane_decomposition_ros/data/elevationMap_0_107cm.png create mode 100644 convex_plane_decomposition_ros/data/elevationMap_0_148cm.png create mode 100644 convex_plane_decomposition_ros/data/elevationMap_0_44cm.png diff --git a/convex_plane_decomposition_ros/data/elevationMap_0_107cm.png b/convex_plane_decomposition_ros/data/elevationMap_0_107cm.png new file mode 100644 index 0000000000000000000000000000000000000000..8426c5fa39263a68ca9d06e3533ca0d595b2834b GIT binary patch literal 1316 zcmXYxYfuwc6vu-Bvx$I<0WlHih7I5lMxKMpqmZ!V#Y14?1D!HvTzO1w>ja7eh(g@N zM0sq2K@ycVvb91fWN>V$R*@~mL>OV>RHa3fX&lOwT1qL85w#oJ59gf!?|;ud_k6ng zyj+P7i_4Ury=*4$Qn@> zF7hXUh1+ecbLY&%SBU4^b%Obih#lKY^Z0x|2w9P{sn_3M`nlwf_*W&3W22aP#=w9! 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Improved RANSAC --- cgal5_catkin/CMakeLists.txt | 10 ++++------ 1 file changed, 4 insertions(+), 6 deletions(-) diff --git a/cgal5_catkin/CMakeLists.txt b/cgal5_catkin/CMakeLists.txt index 445a42f5..75aa205a 100644 --- a/cgal5_catkin/CMakeLists.txt +++ b/cgal5_catkin/CMakeLists.txt @@ -1,22 +1,20 @@ -cmake_minimum_required(VERSION 3.10) +cmake_minimum_required(VERSION 3.14) project(cgal5_catkin) find_package(catkin REQUIRED) include(ExternalProject) -set(VERSION 5.0.2) +set(VERSION 5.3) file(MAKE_DIRECTORY ${CATKIN_DEVEL_PREFIX}/include) -set(CGAL_VERSION 5.0.2) +set(CGAL_VERSION 5.3) ExternalProject_Add(cgal - URL https://github.com/CGAL/cgal/archive/releases/CGAL-${CGAL_VERSION}.tar.gz + URL https://github.com/CGAL/cgal/archive/refs/tags/v${CGAL_VERSION}.tar.gz UPDATE_COMMAND "" CMAKE_ARGS -DCMAKE_INSTALL_PREFIX=${CATKIN_DEVEL_PREFIX} - -DWITH_CGAL_Qt5:BOOL=OFF - -DWITH_CGAL_ImageIO:BOOL=OFF -DCMAKE_BUILD_TYPE:STRING=Release BUILD_COMMAND $(MAKE) INSTALL_COMMAND $(MAKE) install From 55fdd481e3bcc0ebe11b7d889d0536fee1749218 Mon Sep 17 00:00:00 2001 From: rgrandia Date: Tue, 26 Oct 2021 12:17:40 +0200 Subject: [PATCH 123/504] add plotting of surface normals --- .../SlidingWindowPlaneExtractor.h | 4 ++ .../SlidingWindowPlaneExtractor.cpp | 40 +++++++++++++++---- 2 files changed, 36 insertions(+), 8 deletions(-) diff --git a/convex_plane_decomposition/include/convex_plane_decomposition/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.h b/convex_plane_decomposition/include/convex_plane_decomposition/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.h index 374cd1a7..77b20537 100644 --- a/convex_plane_decomposition/include/convex_plane_decomposition/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.h +++ b/convex_plane_decomposition/include/convex_plane_decomposition/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.h @@ -24,9 +24,13 @@ class SlidingWindowPlaneExtractor { const cv::Mat& getBinaryLabeledImage() const { return binaryImagePatch_; } + /** Can be run after extraction for debugging purpose */ + void addSurfaceNormalToMap(grid_map::GridMap& map, const std::string& layerPrefix) const; + private: bool isGloballyPlanar(const Eigen::Vector3d& normalVectorPlane, const Eigen::Vector3d& supportVectorPlane, const std::vector& pointsWithNormal) const; + bool isWithinInclinationLimit(const Eigen::Vector3d& normalVectorPlane) const; std::pair computeNormalAndErrorForWindow(const Eigen::MatrixXf& windowData) const; bool isLocallyPlanar(const Eigen::Vector3d& localNormal, double meanSquaredError) const; diff --git a/convex_plane_decomposition/src/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.cpp b/convex_plane_decomposition/src/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.cpp index bac12ca2..4d641bca 100644 --- a/convex_plane_decomposition/src/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.cpp +++ b/convex_plane_decomposition/src/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.cpp @@ -112,7 +112,7 @@ bool SlidingWindowPlaneExtractor::isLocallyPlanar(const Eigen::Vector3d& localNo } void SlidingWindowPlaneExtractor::runSlidingWindowDetector() { - grid_map::SlidingWindowIterator window_iterator(*map_, elevationLayer_, grid_map::SlidingWindowIterator::EdgeHandling::INSIDE, + grid_map::SlidingWindowIterator window_iterator(*map_, elevationLayer_, grid_map::SlidingWindowIterator::EdgeHandling::EMPTY, parameters_.kernel_size); const int kernelMiddle = (parameters_.kernel_size - 1) / 2; @@ -136,7 +136,7 @@ void SlidingWindowPlaneExtractor::runSlidingWindowDetector() { // opening filter if (parameters_.planarity_opening_filter > 0) { const int openingKernelSize = 2 * parameters_.planarity_opening_filter + 1; - const int openingKernelType = cv::MORPH_RECT; + const int openingKernelType = cv::MORPH_CROSS; const auto kernel_ = cv::getStructuringElement(openingKernelType, cv::Size(openingKernelSize, openingKernelSize)); cv::morphologyEx(binaryImagePatch_, binaryImagePatch_, cv::MORPH_OPEN, kernel_, cv::Point(-1, -1), 1, cv::BORDER_REPLICATE); } @@ -198,9 +198,9 @@ void SlidingWindowPlaneExtractor::computePlaneParametersForLabel(int label, const Eigen::Vector3d supportVector = sum / numPoints; const Eigen::Vector3d normalVector = normalAndErrorFromCovariance(numPoints, supportVector, sumSquared).first; - if (parameters_.include_ransac_refinement) { // with RANSAC - if (isGloballyPlanar(normalVector, supportVector, pointsWithNormal)) { // Already planar enough - if (normalVector.z() > parameters_.plane_inclination_threshold) { + if (parameters_.include_ransac_refinement) { // with RANSAC + if (isGloballyPlanar(normalVector, supportVector, pointsWithNormal)) { // Already planar enough + if (isWithinInclinationLimit(normalVector)) { const auto terrainOrientation = switched_model::orientationWorldToTerrainFromSurfaceNormalInWorld(normalVector); segmentedPlanesMap_.labelPlaneParameters.emplace_back(label, TerrainPlane(supportVector, terrainOrientation)); } else { @@ -209,8 +209,8 @@ void SlidingWindowPlaneExtractor::computePlaneParametersForLabel(int label, } else { refineLabelWithRansac(label, pointsWithNormal); } - } else { // no RANSAC - if (normalVector.z() > parameters_.plane_inclination_threshold) { + } else { // no RANSAC + if (isWithinInclinationLimit(normalVector)) { const auto terrainOrientation = switched_model::orientationWorldToTerrainFromSurfaceNormalInWorld(normalVector); segmentedPlanesMap_.labelPlaneParameters.emplace_back(label, TerrainPlane(supportVector, terrainOrientation)); } else { @@ -253,7 +253,7 @@ void SlidingWindowPlaneExtractor::refineLabelWithRansac(int label, std::vector parameters_.plane_inclination_threshold) { + if (isWithinInclinationLimit(normalVector)) { const auto terrainOrientation = switched_model::orientationWorldToTerrainFromSurfaceNormalInWorld(normalVector); segmentedPlanesMap_.labelPlaneParameters.emplace_back(newLabel, TerrainPlane(supportVector, terrainOrientation)); @@ -270,6 +270,26 @@ void SlidingWindowPlaneExtractor::refineLabelWithRansac(int label, std::vector& pointsWithNormal) const { // Part of the plane projection that is independent of the point @@ -295,6 +315,10 @@ bool SlidingWindowPlaneExtractor::isGloballyPlanar(const Eigen::Vector3d& normal return true; } +bool SlidingWindowPlaneExtractor::isWithinInclinationLimit(const Eigen::Vector3d& normalVectorPlane) const { + return normalVectorPlane.z() > parameters_.plane_inclination_threshold; +} + void SlidingWindowPlaneExtractor::setToBackground(int label) { segmentedPlanesMap_.labeledImage.setTo(0, segmentedPlanesMap_.labeledImage == label); } From 06d85dd050c843be8151cf79006c4ca26f09bc4a Mon Sep 17 00:00:00 2001 From: rgrandia Date: Tue, 26 Oct 2021 12:18:32 +0200 Subject: [PATCH 124/504] set up node that republishes the map with noise --- convex_plane_decomposition_ros/CMakeLists.txt | 7 ++ .../config/demo_node.yaml | 2 +- .../launch/demo.launch | 21 +++- .../rviz/config_demo.rviz | 50 ++++---- .../src/noiseNode.cpp | 107 ++++++++++++++++++ 5 files changed, 158 insertions(+), 29 deletions(-) create mode 100644 convex_plane_decomposition_ros/src/noiseNode.cpp diff --git a/convex_plane_decomposition_ros/CMakeLists.txt b/convex_plane_decomposition_ros/CMakeLists.txt index 1c34b62f..a30f0a7d 100644 --- a/convex_plane_decomposition_ros/CMakeLists.txt +++ b/convex_plane_decomposition_ros/CMakeLists.txt @@ -72,6 +72,13 @@ target_link_libraries(${PROJECT_NAME}_node ${PROJECT_NAME} ) +add_executable(${PROJECT_NAME}_add_noise + src/noiseNode.cpp +) +target_link_libraries(${PROJECT_NAME}_add_noise + ${catkin_LIBRARIES} +) + add_executable(${PROJECT_NAME}_save_elevationmap src/SaveElevationMapAsImageNode.cpp ) diff --git a/convex_plane_decomposition_ros/config/demo_node.yaml b/convex_plane_decomposition_ros/config/demo_node.yaml index 22ceb32a..214d2a57 100644 --- a/convex_plane_decomposition_ros/config/demo_node.yaml +++ b/convex_plane_decomposition_ros/config/demo_node.yaml @@ -1,4 +1,4 @@ -elevation_topic: '/image_to_gridmap_demo/grid_map' +elevation_topic: '/elevation_mapping/elevation_map_raw' height_layer: 'elevation' target_frame_id: 'odom' submap: diff --git a/convex_plane_decomposition_ros/launch/demo.launch b/convex_plane_decomposition_ros/launch/demo.launch index 6f37b3e5..09f41c17 100644 --- a/convex_plane_decomposition_ros/launch/demo.launch +++ b/convex_plane_decomposition_ros/launch/demo.launch @@ -1,7 +1,7 @@ - - + + @@ -14,11 +14,24 @@ - + + + + + + + + + + + + + - + diff --git a/convex_plane_decomposition_ros/rviz/config_demo.rviz b/convex_plane_decomposition_ros/rviz/config_demo.rviz index d15f170f..8ed503d8 100644 --- a/convex_plane_decomposition_ros/rviz/config_demo.rviz +++ b/convex_plane_decomposition_ros/rviz/config_demo.rviz @@ -5,8 +5,10 @@ Panels: Property Tree Widget: Expanded: - /Global Options1 + - /GridMap1 + - /FilteredMap1 Splitter Ratio: 0.4083484709262848 - Tree Height: 540 + Tree Height: 824 - Class: rviz/Selection Name: Selection - Class: rviz/Tool Properties @@ -36,12 +38,12 @@ Visualization Manager: - Alpha: 1 Class: jsk_rviz_plugin/PolygonArray Color: 25; 255; 0 - Enabled: true + Enabled: false Name: Boundaries Queue Size: 10 Topic: /convex_plane_decomposition_ros/boundaries Unreliable: false - Value: true + Value: false coloring: Auto enable lighting: true normal length: 0.10000000149011612 @@ -67,7 +69,7 @@ Visualization Manager: Color: 200; 200; 200 Color Layer: elevation Color Transformer: GridMapLayer - Enabled: true + Enabled: false Height Layer: elevation Height Transformer: GridMapLayer History Length: 1 @@ -78,19 +80,19 @@ Visualization Manager: Min Intensity: 0 Name: GridMap Show Grid Lines: true - Topic: /elevation_mapping/elevation_map_recordable + Topic: /elevation_mapping/elevation_map_raw Unreliable: false Use Rainbow: true - Value: true - - Alpha: 0.10000000149011612 + Value: false + - Alpha: 0.6000000238418579 Autocompute Intensity Bounds: true Class: grid_map_rviz_plugin/GridMap Color: 200; 200; 200 - Color Layer: segmentation + Color Layer: plane_classification Color Transformer: IntensityLayer - Enabled: false - Height Layer: elevation - Height Transformer: GridMapLayer + Enabled: true + Height Layer: elevation_before_postprocess + Height Transformer: "" History Length: 1 Invert Rainbow: false Max Color: 255; 255; 255 @@ -101,8 +103,8 @@ Visualization Manager: Show Grid Lines: true Topic: /convex_plane_decomposition_ros/filtered_map Unreliable: false - Use Rainbow: true - Value: false + Use Rainbow: false + Value: true - Class: rviz/MarkerArray Enabled: true Marker Topic: /segmented_planes_terrain_model_demo_node/convex_terrain @@ -155,7 +157,7 @@ Visualization Manager: Views: Current: Class: rviz/Orbit - Distance: 7.077206611633301 + Distance: 12.107149124145508 Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 @@ -163,25 +165,25 @@ Visualization Manager: Value: false Field of View: 0.7853981852531433 Focal Point: - X: 1.0492274761199951 - Y: -0.5030490159988403 - Z: -2.4208056926727295 + X: -3.3109402656555176 + Y: -1.6383998394012451 + Z: -3.4406676292419434 Focal Shape Fixed Size: true Focal Shape Size: 0.05000000074505806 Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Pitch: 0.6197975277900696 + Pitch: 0.5047986507415771 Target Frame: - Yaw: 2.844961643218994 + Yaw: 1.6149601936340332 Saved: ~ Window Geometry: Displays: collapsed: false - Height: 759 + Height: 1043 Hide Left Dock: false Hide Right Dock: true - QMainWindow State: 000000ff00000000fd00000004000000000000022900000259fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed0000033300000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000259000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000040efc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000000280000040e000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000056d0000003efc0100000002fb0000000800540069006d006501000000000000056d000002eb00fffffffb0000000800540069006d006501000000000000045000000000000000000000033e0000025900000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + QMainWindow State: 000000ff00000000fd00000004000000000000022900000375fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed0000033300000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000375000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000040efc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000000280000040e000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000003efc0100000002fb0000000800540069006d0065010000000000000738000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000005090000037500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Selection: collapsed: false Time: @@ -190,6 +192,6 @@ Window Geometry: collapsed: false Views: collapsed: true - Width: 1389 - X: 2208 - Y: 195 + Width: 1848 + X: 72 + Y: 0 diff --git a/convex_plane_decomposition_ros/src/noiseNode.cpp b/convex_plane_decomposition_ros/src/noiseNode.cpp new file mode 100644 index 00000000..c65f03de --- /dev/null +++ b/convex_plane_decomposition_ros/src/noiseNode.cpp @@ -0,0 +1,107 @@ +// +// Created by rgrandia on 25.10.21. +// + +#include + +#include +#include + +#include +#include + +double noiseUniform; +double noiseGauss; +double outlierPercentage; +bool blur; +double frequency; +std::string elevationMapTopicIn; +std::string elevationMapTopicOut; +std::string elevationLayer; +ros::Publisher publisher; +grid_map::GridMap::Matrix noiseLayer; + +void createNoise(size_t row, size_t col) { + // Box-Muller Transform + grid_map::GridMap::Matrix u1 = 0.5 * grid_map::GridMap::Matrix::Random(row, col).array() + 0.5; + grid_map::GridMap::Matrix u2 = 0.5 * grid_map::GridMap::Matrix::Random(row, col).array() + 0.5; + grid_map::GridMap::Matrix gauss01 = + u1.binaryExpr(u2, [&](float v1, float v2) { return std::sqrt(-2.0f * log(v1)) * cos(2.0f * M_PIf32 * v2); }); + + noiseLayer = noiseUniform * grid_map::GridMap::Matrix::Random(row, col) + noiseGauss * gauss01; +} + +void callback(const grid_map_msgs::GridMap::ConstPtr& message) { + grid_map::GridMap messageMap; + grid_map::GridMapRosConverter::fromMessage(*message, messageMap); + + if (blur) { + // Copy! + auto originalMap = messageMap.get(elevationLayer); + + // Blur (remove nan -> filter -> put back nan + grid_map::inpainting::minValues(messageMap, elevationLayer, "i"); + grid_map::smoothing::boxBlur(messageMap, "i", elevationLayer, 3, 1); + messageMap.get(elevationLayer) = (originalMap.array().isFinite()).select(messageMap.get(elevationLayer), originalMap); + } + + auto& elevation = messageMap.get(elevationLayer); + if (noiseLayer.size() != elevation.size()) { + createNoise(elevation.rows(), elevation.cols()); + } + + elevation += noiseLayer; + + grid_map_msgs::GridMap messageMapOut; + grid_map::GridMapRosConverter::toMessage(messageMap, messageMapOut); + publisher.publish(messageMapOut); +} + +int main(int argc, char** argv) { + ros::init(argc, argv, "noise_node"); + ros::NodeHandle nodeHandle("~"); + + if (!nodeHandle.getParam("frequency", frequency)) { + ROS_ERROR("[ConvexPlaneExtractionROS::NoiseNode] Could not read parameter `frequency`."); + return 1; + } + if (!nodeHandle.getParam("noiseGauss", noiseGauss)) { + ROS_ERROR("[ConvexPlaneExtractionROS:NoiseNode] Could not read parameter `noiseGauss`."); + return 1; + } + if (!nodeHandle.getParam("noiseUniform", noiseUniform)) { + ROS_ERROR("[ConvexPlaneExtractionROS:NoiseNode] Could not read parameter `noiseUniform`."); + return 1; + } + if (!nodeHandle.getParam("blur", blur)) { + ROS_ERROR("[ConvexPlaneExtractionROS:NoiseNode] Could not read parameter `blur`."); + return 1; + } + if (!nodeHandle.getParam("outlier_percentage", outlierPercentage)) { + ROS_ERROR("[ConvexPlaneExtractionROS:NoiseNode] Could not read parameter `outlier_percentage`."); + return 1; + } + if (!nodeHandle.getParam("elevation_topic_in", elevationMapTopicIn)) { + ROS_ERROR("[ConvexPlaneExtractionROS:NoiseNode] Could not read parameter `elevation_topic_in`."); + return 1; + } + if (!nodeHandle.getParam("elevation_topic_out", elevationMapTopicOut)) { + ROS_ERROR("[ConvexPlaneExtractionROS:NoiseNode] Could not read parameter `elevation_topic_out`."); + return 1; + } + if (!nodeHandle.getParam("height_layer", elevationLayer)) { + ROS_ERROR("[ConvexPlaneExtractionROS:NoiseNode] Could not read parameter `height_layer`."); + return 1; + } + + publisher = nodeHandle.advertise(elevationMapTopicOut, 1); + auto elevationMapSubscriber_ = nodeHandle.subscribe(elevationMapTopicIn, 1, callback); + + ros::Rate rate(frequency); + while (ros::ok()) { + ros::spinOnce(); + rate.sleep(); + } + + return 0; +} \ No newline at end of file From 81ff51ce1170781a6d7f8bb1df8a501fd54599f6 Mon Sep 17 00:00:00 2001 From: rgrandia Date: Tue, 26 Oct 2021 12:58:45 +0200 Subject: [PATCH 125/504] store map rows for linear dimension --- .../SlidingWindowPlaneExtractor.h | 3 ++- .../SlidingWindowPlaneExtractor.cpp | 1 + 2 files changed, 3 insertions(+), 1 deletion(-) diff --git a/convex_plane_decomposition/include/convex_plane_decomposition/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.h b/convex_plane_decomposition/include/convex_plane_decomposition/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.h index 77b20537..f86fdc79 100644 --- a/convex_plane_decomposition/include/convex_plane_decomposition/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.h +++ b/convex_plane_decomposition/include/convex_plane_decomposition/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.h @@ -35,7 +35,7 @@ class SlidingWindowPlaneExtractor { std::pair computeNormalAndErrorForWindow(const Eigen::MatrixXf& windowData) const; bool isLocallyPlanar(const Eigen::Vector3d& localNormal, double meanSquaredError) const; - int getLinearIndex(int row, int col) const { return row + col * map_->getSize()[0]; }; + int getLinearIndex(int row, int col) const { return row + col * mapRows_; }; void computePlaneParametersForLabel(int label, std::vector& pointsWithNormal); void refineLabelWithRansac(int label, std::vector& pointsWithNormal); @@ -53,6 +53,7 @@ class SlidingWindowPlaneExtractor { const grid_map::GridMap* map_; std::string elevationLayer_; + int mapRows_; std::vector surfaceNormals_; diff --git a/convex_plane_decomposition/src/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.cpp b/convex_plane_decomposition/src/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.cpp index 4d641bca..4b58285a 100644 --- a/convex_plane_decomposition/src/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.cpp +++ b/convex_plane_decomposition/src/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.cpp @@ -50,6 +50,7 @@ void SlidingWindowPlaneExtractor::runExtraction(const grid_map::GridMap& map, co // Extract basic map information map_ = ↦ elevationLayer_ = layer_height; + mapRows_ = map_->getSize()[0]; segmentedPlanesMap_.resolution = map_->getResolution(); map_->getPosition(Eigen::Vector2i(0, 0), segmentedPlanesMap_.mapOrigin); From 9751d4d8ce59de88e37af7c760ed02ffb3a8c317 Mon Sep 17 00:00:00 2001 From: rgrandia Date: Tue, 26 Oct 2021 13:01:33 +0200 Subject: [PATCH 126/504] use inpainting between planar regions instead of NaN tricks --- .../src/Postprocessing.cpp | 75 +++++++++++-------- 1 file changed, 45 insertions(+), 30 deletions(-) diff --git a/convex_plane_decomposition/src/Postprocessing.cpp b/convex_plane_decomposition/src/Postprocessing.cpp index 460a15a7..4aacec43 100644 --- a/convex_plane_decomposition/src/Postprocessing.cpp +++ b/convex_plane_decomposition/src/Postprocessing.cpp @@ -5,6 +5,7 @@ #include #include +#include namespace convex_plane_decomposition { @@ -75,32 +76,59 @@ void Postprocessing::addSmoothLayer(grid_map::GridMap& gridMap, const Eigen::Mat return 2 * static_cast(std::round(realSize / res)) + 1; }; + // Helper to convert to Eigen + auto toEigen = [](const cv::Mat& image) { + Eigen::MatrixXf data; + cv::cv2eigen(image, data); + return data; + }; + + // Helper to openCV + auto toCv = [](const Eigen::MatrixXf& data) { + cv::Mat image; + cv::eigen2cv(data, image); + return image; + }; + const int dilationSize = kernelSizeInPixels(parameters_.smoothing_dilation_size); const int kernel = kernelSizeInPixels(parameters_.smoothing_box_kernel_size); const int kernelGauss = kernelSizeInPixels(parameters_.smoothing_gauss_kernel_size); - // Set nonplanar regions to "NaN" - const auto lowestFloat = std::numeric_limits::lowest(); // Take lowest to not interfere with Dilation, using true NaN doesn't work - // with opencv dilation. + + // Set non planar regions to NaN Eigen::MatrixXf elevationWithNaN = (planarityMask.array() == 1.0) - .select(elevationData, Eigen::MatrixXf::Constant(elevationData.rows(), elevationData.cols(), lowestFloat)); + .select(elevationData, Eigen::MatrixXf::Constant(elevationData.rows(), elevationData.cols(), NAN)); + gridMap.add("elevationWithNaN", elevationWithNaN); - // Convert to openCV - cv::Mat elevationWithNaNImage; - cv::eigen2cv(elevationWithNaN, elevationWithNaNImage); // creates CV_32F image + // Inpainting + grid_map::inpainting::minValues(gridMap, "elevationWithNaN", "elevationWithNaN_i"); - // Dilate + // Closing + auto elevationWithNaNCv = toCv(gridMap.get("elevationWithNaN_i")); const int dilationType = cv::MORPH_ELLIPSE; // ellipse inscribed in the square of size dilationSize const auto dilationKernel_ = cv::getStructuringElement(dilationType, cv::Size(dilationSize, dilationSize)); - cv::dilate(elevationWithNaNImage, elevationWithNaNImage, dilationKernel_, cv::Point(-1, -1), 1, cv::BORDER_REPLICATE); - - // Take complement image where elevation data was set to NaN - cv::Mat indicatorImage = cv::Mat::ones(elevationWithNaNImage.rows, elevationWithNaNImage.cols, CV_32F); - indicatorImage.setTo(0.0, elevationWithNaNImage == lowestFloat); + cv::morphologyEx(elevationWithNaNCv, elevationWithNaNCv, cv::MORPH_CLOSE, dilationKernel_, cv::Point(-1, -1), 1, cv::BORDER_REPLICATE); + + gridMap.add("elevationWithNaNClosed", toEigen(elevationWithNaNCv)); + + // Dilation with a slope of 45 deg + int halfDilationSize = (dilationSize - 1) / 2; + float slope = gridMap.getResolution(); // dh dpixel + Eigen::MatrixXf offsets(dilationSize, dilationSize); + for (int i = 0; i < dilationSize; ++i) { + for (int j = 0; j < dilationSize; ++j) { + const auto dx = (i - halfDilationSize); + const auto dy = (j - halfDilationSize); + offsets(i, j) = slope * std::sqrt(dx * dx + dy * dy); + } + } + grid_map::processing::applyKernelFunction( + gridMap, "elevationWithNaNClosed", "elevationWithNaNClosedDilated", dilationSize, + [&](const Eigen::Ref& data) -> float { return (data - offsets).maxCoeffOfFinites(); }); - // Set NaN's to 0.0 - elevationWithNaNImage.setTo(0.0, elevationWithNaNImage == lowestFloat); + // Convert to openCV + auto elevationWithNaNImage = toCv(gridMap.get("elevationWithNaNClosedDilated")); // Filter definition auto smoothingFilter = [kernel, kernelGauss](const cv::Mat& imageIn) { @@ -109,23 +137,10 @@ void Postprocessing::addSmoothLayer(grid_map::GridMap& gridMap, const Eigen::Mat cv::GaussianBlur(imageOut, imageOut, {kernelGauss, kernelGauss}, 0, 0, cv::BorderTypes::BORDER_REPLICATE); return imageOut; }; - - // Helper to convert to Eigen - auto toEigen = [](const cv::Mat& image) { - Eigen::MatrixXf data; - cv::cv2eigen(image, data); - return data; - }; - - // Filter trick for data with NaN from: https://stackoverflow.com/questions/18697532/gaussian-filtering-a-image-with-nan-in-python - auto planarOnly = smoothingFilter(elevationWithNaNImage); - auto complement = smoothingFilter(indicatorImage); - complement += 1e-6; // Prevent division by zero - cv::Mat result; - cv::divide(planarOnly, complement, result); + auto smooth_planar = smoothingFilter(elevationWithNaNImage); // Add layer to map. - gridMap.add("smooth_planar", toEigen(result)); + gridMap.add("smooth_planar", toEigen(smooth_planar)); } } // namespace convex_plane_decomposition From 6c0c6ef4c58e156a67a9601f3b4906c24a0e07c0 Mon Sep 17 00:00:00 2001 From: rgrandia Date: Tue, 26 Oct 2021 13:01:50 +0200 Subject: [PATCH 127/504] rotate before extacting submap. Add surface normals for debugging --- .../ConvexPlaneDecompositionRos.h | 2 + .../src/ConvexPlaneDecompositionRos.cpp | 48 +++++++++++++------ 2 files changed, 36 insertions(+), 14 deletions(-) diff --git a/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/ConvexPlaneDecompositionRos.h b/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/ConvexPlaneDecompositionRos.h index d15083a7..d0578334 100644 --- a/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/ConvexPlaneDecompositionRos.h +++ b/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/ConvexPlaneDecompositionRos.h @@ -41,6 +41,8 @@ class ConvexPlaneExtractionROS { Eigen::Isometry3d getTransformToTargetFrame(const std::string& sourceFrame, const ros::Time& time); + ros::Time getMessageTime(const grid_map_msgs::GridMap& message) const; + // Parameters std::string elevationMapTopic_; std::string elevationLayer_; diff --git a/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp b/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp index 26e0cd8f..87c1118d 100644 --- a/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp +++ b/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp @@ -87,30 +87,33 @@ void ConvexPlaneExtractionROS::callback(const grid_map_msgs::GridMap& message) { grid_map::GridMap messageMap; std::vector layers{elevationLayer_}; grid_map::GridMapRosConverter::fromMessage(message, messageMap, layers, false, false); - bool success; - grid_map::GridMap elevationMap = messageMap.getSubmap(messageMap.getPosition(), Eigen::Array2d(subMapLength_, subMapWidth_), success); - success = success && containsFiniteValue(elevationMap.get(elevationLayer_)); // Check if there are values - ROS_INFO("...done."); - - // Exit early if map is not valid. - if (!success) { - ROS_WARN("[ConvexPlaneExtractionROS] Could not extract submap"); + if (!containsFiniteValue(messageMap.get(elevationLayer_))) { + ROS_WARN("[ConvexPlaneExtractionROS] map does not contain any values"); return; } // Transform map if necessary - if (targetFrameId_ != elevationMap.getFrameId()) { + if (targetFrameId_ != messageMap.getFrameId()) { std::string errorMsg; - ros::Time timeStamp(messageMap.getTimestamp()); - if (tfBuffer_.canTransform(targetFrameId_, elevationMap.getFrameId(), timeStamp, &errorMsg)) { - elevationMap = - elevationMap.getTransformedMap(getTransformToTargetFrame(elevationMap.getFrameId(), timeStamp), elevationLayer_, targetFrameId_); + ros::Time timeStamp = getMessageTime(message); + if (tfBuffer_.canTransform(targetFrameId_, messageMap.getFrameId(), timeStamp, &errorMsg)) { + messageMap = + messageMap.getTransformedMap(getTransformToTargetFrame(messageMap.getFrameId(), timeStamp), elevationLayer_, targetFrameId_); } else { ROS_ERROR_STREAM("[ConvexPlaneExtractionROS] " << errorMsg); return; } } + // Extract submap + bool success; + grid_map::GridMap elevationMap = messageMap.getSubmap(messageMap.getPosition(), Eigen::Array2d(subMapLength_, subMapWidth_), success); + if (!success) { + ROS_WARN("[ConvexPlaneExtractionROS] Could not extract submap"); + return; + } + ROS_INFO("...done."); + auto t0 = std::chrono::high_resolution_clock::now(); preprocessing_->preprocess(elevationMap, elevationLayer_); auto t1 = std::chrono::high_resolution_clock::now(); @@ -126,6 +129,8 @@ void ConvexPlaneExtractionROS::callback(const grid_map_msgs::GridMap& message) { auto t3 = std::chrono::high_resolution_clock::now(); ROS_INFO_STREAM("Contour extraction took " << 1e-3 * std::chrono::duration_cast(t3 - t2).count() << " [ms]"); + + // Add grid map to the terrain planarTerrain.gridMap = std::move(elevationMap); @@ -144,9 +149,15 @@ void ConvexPlaneExtractionROS::callback(const grid_map_msgs::GridMap& message) { regionPublisher_.publish(toMessage(planarTerrain)); } - // Visualize in Rviz. + // --- Visualize in Rviz --- Not published to the controller + + // Add surface normals + slidingWindowPlaneExtractor_->addSurfaceNormalToMap(planarTerrain.gridMap, "normal"); + + // Add surface normals planarTerrain.gridMap.add("segmentation"); cv::cv2eigen(slidingWindowPlaneExtractor_->getSegmentedPlanesMap().labeledImage, planarTerrain.gridMap.get("segmentation")); + grid_map_msgs::GridMap outputMessage; grid_map::GridMapRosConverter::toMessage(planarTerrain.gridMap, outputMessage); filteredmapPublisher_.publish(outputMessage); @@ -178,4 +189,13 @@ Eigen::Isometry3d ConvexPlaneExtractionROS::getTransformToTargetFrame(const std: return transformation; } +ros::Time ConvexPlaneExtractionROS::getMessageTime(const grid_map_msgs::GridMap& message) const { + try { + return ros::Time(message.info.header.stamp.toNSec()); + } catch (std::runtime_error& ex) { + ROS_WARN("[ConvexPlaneExtractionROS::getMessageTime] %s", ex.what()); + return ros::Time::now(); + } +} + } // namespace convex_plane_decomposition From 5d915ebfa3c00db4aeab14cf95695a3c5b3312ab Mon Sep 17 00:00:00 2001 From: rgrandia Date: Tue, 26 Oct 2021 13:02:10 +0200 Subject: [PATCH 128/504] tune parameters to work with 4cm resolution --- .../config/parameters.yaml | 24 +++++++++---------- 1 file changed, 12 insertions(+), 12 deletions(-) diff --git a/convex_plane_decomposition_ros/config/parameters.yaml b/convex_plane_decomposition_ros/config/parameters.yaml index 0a01c966..6ac7df7c 100644 --- a/convex_plane_decomposition_ros/config/parameters.yaml +++ b/convex_plane_decomposition_ros/config/parameters.yaml @@ -1,16 +1,16 @@ preprocessing: - resolution: 0.02 # Resampling resolution, set negative to skip, requires inpainting to be used + resolution: 0.04 # Resampling resolution, set negative to skip, requires inpainting to be used kernelSize: 3 # Kernel size of the median filter, either 3 or 5 - numberOfRepeats: 1 # Number of times to apply the same filter + numberOfRepeats: 2 # Number of times to apply the same filter increasing: False # Increase the kernel size each iteration. sliding_window_plane_extractor: kernel_size: 3 # Size of the sliding window patch used for normal vector calculation and planarity detection. Should be an odd number and at least 3. - planarity_opening_filter: 2 # [#] Apply opening filter (erosion -> dilation) to planarity detection by this amount of pixels - plane_inclination_threshold_degrees: 40.0 # [deg] Maximum allowed angle between the surface normal and the world-z direction for a patch - local_plane_inclination_threshold_degrees: 55.0 # [deg] Maximum allowed angle between the surface normal and the world-z direction for a cell - plane_patch_error_threshold: 0.005 # [m] The allowed root-mean-squared deviation from the plane fitted to the sliding window. - min_number_points_per_label: 10 # [#] Labels with less points assigned to them are discarded + planarity_opening_filter: 1 # [#] Apply opening filter (erosion -> dilation) to planarity detection by this amount of pixels + plane_inclination_threshold_degrees: 30.0 # [deg] Maximum allowed angle between the surface normal and the world-z direction for a patch + local_plane_inclination_threshold_degrees: 35.0 # [deg] Maximum allowed angle between the surface normal and the world-z direction for a cell + plane_patch_error_threshold: 0.02 # [m] The allowed root-mean-squared deviation from the plane fitted to the sliding window. + min_number_points_per_label: 4 # [#] Labels with less points assigned to them are discarded connectivity: 4 # Label kernel connectivity. 4 or 8 (cross or box) include_ransac_refinement: true # Enable RANSAC refinement if the plane is not globally fitting to the assigned points. global_plane_fit_distance_error_threshold: 0.025 # [m] Allowed maximum distance from a point to the plane. If any point violates this, RANSAC is triggered @@ -18,9 +18,9 @@ sliding_window_plane_extractor: ransac_plane_refinement: probability: 0.01 # Probability to miss the largest candidate shape. A lower probability provides a higher reliability and determinism at the cost of longer running times - min_points: 25 # This minimum number of points per plane. Controls the termination of the algorithm. + min_points: 4 # This minimum number of points per plane. Controls the termination of the algorithm. epsilon: 0.025 # Maximum distance to plane - cluster_epsilon: 0.025 # [m] Set maximum Euclidean distance between points to be clustered. Two points are connected if separated by a distance of at most 2*sqrt(2)*cluster_epsilon = 2.828 * cluster_epsilon. Set this higher than resolution + cluster_epsilon: 0.08 # [m] Set maximum Euclidean distance between points to be clustered. Two points are connected if separated by a distance of at most 2*sqrt(2)*cluster_epsilon = 2.828 * cluster_epsilon. Set this higher than resolution normal_threshold: 25.0 # [deg] Set maximum normal deviation between cluster surface_normal and point normal. contour_extraction: @@ -29,7 +29,7 @@ contour_extraction: postprocessing: extracted_planes_height_offset: 0.0 # Added offset in Z direction for the full map to compensate for the location of the foot frame w.r.t. the contact point nonplanar_height_offset: 0.02 # Added offset in Z direction for non-planar cells of the map. (Additional to extracted_planes_height_offset) - nonplanar_horizontal_offset: 2 # Added offset in XY direction for non-planar cells of the map. In number of pixels. + nonplanar_horizontal_offset: 1 # Added offset in XY direction for non-planar cells of the map. In number of pixels. smoothing_dilation_size: 0.2 # Half the width of the dilation used before the smooth layer [m] - smoothing_box_kernel_size: 0.3 # Half the width of the box kernel used for the smooth layer [m] - smoothing_gauss_kernel_size: 0.1 # Half the width of the Gaussian kernel used for the smooth layer [m] \ No newline at end of file + smoothing_box_kernel_size: 0.2 # Half the width of the box kernel used for the smooth layer [m] + smoothing_gauss_kernel_size: 0.05 # Half the width of the Gaussian kernel used for the smooth layer [m] \ No newline at end of file From 5aa734a1104d7f934b3afb359030a276a82ccd9a Mon Sep 17 00:00:00 2001 From: rgrandia Date: Wed, 27 Oct 2021 12:22:08 +0200 Subject: [PATCH 129/504] add upsampling algorithm --- convex_plane_decomposition/CMakeLists.txt | 13 ++++ .../contour_extraction/Upsampling.h | 31 ++++++++ .../src/contour_extraction/Upsampling.cpp | 71 +++++++++++++++++++ .../test/testUpsampling.cpp | 28 ++++++++ 4 files changed, 143 insertions(+) create mode 100644 convex_plane_decomposition/include/convex_plane_decomposition/contour_extraction/Upsampling.h create mode 100644 convex_plane_decomposition/src/contour_extraction/Upsampling.cpp create mode 100644 convex_plane_decomposition/test/testUpsampling.cpp diff --git a/convex_plane_decomposition/CMakeLists.txt b/convex_plane_decomposition/CMakeLists.txt index 82659a85..fc25bfcf 100644 --- a/convex_plane_decomposition/CMakeLists.txt +++ b/convex_plane_decomposition/CMakeLists.txt @@ -55,6 +55,7 @@ include_directories( add_library(${PROJECT_NAME} src/contour_extraction/ContourExtraction.cpp + src/contour_extraction/Upsampling.cpp src/ransac/RansacPlaneExtractor.cpp src/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.cpp src/GridMapPreprocessing.cpp @@ -91,3 +92,15 @@ install(DIRECTORY include/${PROJECT_NAME}/ ############# ## Testing ## ############# + +catkin_add_gtest(test_${PROJECT_NAME}_upsampling + test/testUpsampling.cpp +) +target_link_libraries(test_${PROJECT_NAME}_upsampling + ${PROJECT_NAME} + ${catkin_LIBRARIES} + ${OpenCV_LIBRARIES} + gmp + mpfr + gtest_main +) diff --git a/convex_plane_decomposition/include/convex_plane_decomposition/contour_extraction/Upsampling.h b/convex_plane_decomposition/include/convex_plane_decomposition/contour_extraction/Upsampling.h new file mode 100644 index 00000000..0f80223b --- /dev/null +++ b/convex_plane_decomposition/include/convex_plane_decomposition/contour_extraction/Upsampling.h @@ -0,0 +1,31 @@ +// +// Created by rgrandia on 26.10.21. +// + +#pragma once + +#include "convex_plane_decomposition/SegmentedPlanesMap.h" + +namespace convex_plane_decomposition { +namespace contour_extraction { + +/** + * Upsamples an image such that all pixels are turned into 9 pixels, with the original pixel in the middle. + * Around the edges, each pixel is only upsamples in the inward direction. + * + * @param image : source image + * @return upsamples image + */ +cv::Mat upSample(const cv::Mat& image); + +/** + * Upsamples a segmented terrain such that the resulting terrain has 1/3 of the input resolution. (Each cell is split into 9 cells) + * This specific upsampling ratio makes it possible to keep labels in their exact original location in world frame. + * + * @param mapIn : source terrain + * @return upsampled terrain + */ +SegmentedPlanesMap upSample(const SegmentedPlanesMap& mapIn); + +} // namespace contour_extraction +} // namespace convex_plane_decomposition \ No newline at end of file diff --git a/convex_plane_decomposition/src/contour_extraction/Upsampling.cpp b/convex_plane_decomposition/src/contour_extraction/Upsampling.cpp new file mode 100644 index 00000000..a742d069 --- /dev/null +++ b/convex_plane_decomposition/src/contour_extraction/Upsampling.cpp @@ -0,0 +1,71 @@ +// +// Created by rgrandia on 26.10.21. +// + +#include "convex_plane_decomposition/contour_extraction/Upsampling.h" + +namespace convex_plane_decomposition { +namespace contour_extraction { + +namespace { +// Helper function that upsamples a single column. Writes into a target that is already allocated with the right size +void upSampleColumn(const cv::Mat& column, cv::Mat& target, int col, int rows, int upsampledRows) { + for (int row = 0; row < rows; ++row) { + const auto value = column.at(row); + if (row == 0) { + target.at(0, col) = value; + target.at(1, col) = value; + } else if (row + 1 == rows) { + target.at(upsampledRows - 2, col) = value; + target.at(upsampledRows - 1, col) = value; + } else { + const int targetRow = 2 + 3 * (row - 1); + target.at(targetRow, col) = value; + target.at(targetRow + 1, col) = value; + target.at(targetRow + 2, col) = value; + } + } +} +} // namespace + +cv::Mat upSample(const cv::Mat& image) { + const int rows = image.rows; + const int cols = image.cols; + assert(rows >= 2); + assert(cols >= 2); + const int upsampledRows = 4 + 3 * (rows - 2); + const int upsampledCols = 4 + 3 * (cols - 2); + + cv::Mat result(upsampledRows, upsampledCols, image.type()); + + for (int col = 0; col < cols; ++col) { + const auto& column = image.col(col); + if (col == 0) { + upSampleColumn(column, result, 0, rows, upsampledRows); + result.col(0).copyTo(result.col(1)); + } else if (col + 1 == cols) { + upSampleColumn(column, result, upsampledCols - 2, rows, upsampledRows); + result.col(upsampledCols - 2).copyTo(result.col(upsampledCols - 1)); + } else { + const int targetCol = 2 + 3 * (col - 1); + upSampleColumn(column, result, targetCol, rows, upsampledRows); + result.col(targetCol).copyTo(result.col(targetCol + 1)); + result.col(targetCol + 1).copyTo(result.col(targetCol + 2)); + } + } + + return result; +} + +SegmentedPlanesMap upSample(const SegmentedPlanesMap& mapIn) { + SegmentedPlanesMap mapOut; + mapOut.labelPlaneParameters = mapIn.labelPlaneParameters; + mapOut.labeledImage = upSample(mapIn.labeledImage); + mapOut.resolution = mapIn.resolution / 3.0; + mapOut.mapOrigin = mapIn.mapOrigin; + mapOut.highestLabel = mapIn.highestLabel; + return mapOut; +} + +} // namespace contour_extraction +} // namespace convex_plane_decomposition \ No newline at end of file diff --git a/convex_plane_decomposition/test/testUpsampling.cpp b/convex_plane_decomposition/test/testUpsampling.cpp new file mode 100644 index 00000000..06538b10 --- /dev/null +++ b/convex_plane_decomposition/test/testUpsampling.cpp @@ -0,0 +1,28 @@ +// +// Created by rgrandia on 26.10.21. +// + +#include + +#include "convex_plane_decomposition/contour_extraction/Upsampling.h" + +TEST(TestUpsampling, upsampleImage) { + // clang-format off + cv::Mat M = (cv::Mat_(3, 3) << + 1, 2, 3, + 4, 5, 6, + 7, 8, 9); + cv::Mat MoutCheck = (cv::Mat_(7, 7) << + 1, 1, 2, 2, 2, 3, 3, + 1, 1, 2, 2, 2, 3, 3, + 4, 4, 5, 5, 5, 6, 6, + 4, 4, 5, 5, 5, 6, 6, + 4, 4, 5, 5, 5, 6, 6, + 7, 7, 8, 8, 8, 9, 9, + 7, 7, 8, 8, 8, 9, 9); + // clang-format on + + const auto Mout = convex_plane_decomposition::contour_extraction::upSample(M); + + ASSERT_TRUE(std::equal(MoutCheck.begin(), MoutCheck.end(), Mout.begin())); +} \ No newline at end of file From c658d705cd23f2180e953baf56de26445304419c Mon Sep 17 00:00:00 2001 From: rgrandia Date: Wed, 27 Oct 2021 12:22:42 +0200 Subject: [PATCH 130/504] add stepping stones terrain --- .../data/stepping_stones_65cm.png | Bin 0 -> 2364 bytes 1 file changed, 0 insertions(+), 0 deletions(-) create mode 100644 convex_plane_decomposition_ros/data/stepping_stones_65cm.png diff --git a/convex_plane_decomposition_ros/data/stepping_stones_65cm.png b/convex_plane_decomposition_ros/data/stepping_stones_65cm.png new file mode 100644 index 0000000000000000000000000000000000000000..36cd697478aa5a51158c7654d575639be4cf4663 GIT binary patch literal 2364 zcmX9=dr*?;8gHjI+jh0oM8R9@BwH%7)`xO*)v++eyWov9GjLT9G&022%rk47A)%ez zCZovITp>jy!ZcBj1vqP7(mro^OK8(ja&^7s^CC^~d1!HF4+e(?7c+Ssgca?fPan7UL6<@-?rmtMKf%M97;Z-P4>o+Ck%hk`v{M ze}C`)qmS%6+&&;@q-t#OU#A=F2gTKKA?{-)b{#*?wcR*Ig8#Yuzx&Fsk8BAx#VcNn ztqz7q=0HI!kC_yz&XAj5?lGMcC`{*}YPQS|I4zlU(Y)(!63Ny(nna`K=ia;7<{pN3 z9sNA9op5DkFn3Pmw>9Txo|`Odu(qAJn$$t(NB3xodZ~mAlm$v_aX+)~k;GXa*gj6EVuCu8!q3$7*`>0DQd)4I7xUat)Kn22ct+72M~$Fg1R2swn~*lor2b?l z6BL&gcbll0#$D@Gdd}Yx=KbLlFgDx(e3R-o0t-^r@L2iOF)Yd&CTuqQ$Qf4l*5~tf2S{T=W$*BcX&Md+xw1VnHTvjW-MaHjcT{Z907boXG^wr=VW?(ys=|Nqt z`{J|a*}wcww=gLEIfEQ^tf%pihd7!-f^4Y0n}JJKxKeTk87G;FGhq@%a0NV;Jnp?< z@9JzxS$+^GHfK_zs89RByTe(~L*A&yj|s@-fK#-mk>{pIzAe5_G%L0gn;Vdv1};Ot zAT5aMgSCc6>PL_n*-hjk0B>${xR#oihvqBX@3w%UdyD50Q76YY1@d^Sek$)S8St8D zwN<@u+Ws}&&}+GMlWCky50fzB0~8bSU3(4HqZTz8OW~fd_A;+?+DDlt@^X4rOnZNi zZ0i6LnU=qH#VlKD>JtRZ{@FV2P87aWs1DKDV>B2-`+F%*>=n)OU;r3n18Jcmm8o2d zKyl;az=AH~eaYf%~j)@xy>`R=et?iqP^ zs9i(b+mf-82svx$b>L5#RiK~{6RhqovT1+6H@p+5tYopITyRBeziqMQy7QP?4K zwBo48@Q{A#y=h*p1<8 z7^Uj;6i$pU&RtqMaGg2lwGr*Tp<`}#HPxndsxc%aQOr^Dh?kr*DabDG^}DDhdPG^7 zF<`<*oU)GWXAKGRR;RXqeWzp<KI? 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Use upsampling to make sure the erosion operations don't fully remove regions --- .../contour_extraction/ContourExtraction.h | 3 +- .../ContourExtractionParameters.h | 4 +-- .../contour_extraction/ContourExtraction.cpp | 35 +++++++++++++++---- .../config/parameters.yaml | 4 +-- .../src/ParameterLoading.cpp | 2 +- convex_plane_decomposition_ros/test/test.cpp | 2 +- 6 files changed, 36 insertions(+), 14 deletions(-) diff --git a/convex_plane_decomposition/include/convex_plane_decomposition/contour_extraction/ContourExtraction.h b/convex_plane_decomposition/include/convex_plane_decomposition/contour_extraction/ContourExtraction.h index 310bdf21..568cdada 100644 --- a/convex_plane_decomposition/include/convex_plane_decomposition/contour_extraction/ContourExtraction.h +++ b/convex_plane_decomposition/include/convex_plane_decomposition/contour_extraction/ContourExtraction.h @@ -27,7 +27,8 @@ class ContourExtraction { private: ContourExtractionParameters parameters_; - cv::Mat erosionKernel_; + cv::Mat insetKernel_; + cv::Mat marginKernel_; // Memory to reuse between calls cv::Mat binaryImage_; diff --git a/convex_plane_decomposition/include/convex_plane_decomposition/contour_extraction/ContourExtractionParameters.h b/convex_plane_decomposition/include/convex_plane_decomposition/contour_extraction/ContourExtractionParameters.h index 1d92911b..662f4671 100644 --- a/convex_plane_decomposition/include/convex_plane_decomposition/contour_extraction/ContourExtractionParameters.h +++ b/convex_plane_decomposition/include/convex_plane_decomposition/contour_extraction/ContourExtractionParameters.h @@ -8,8 +8,8 @@ namespace convex_plane_decomposition { namespace contour_extraction { struct ContourExtractionParameters { - /// Size of the kernel creating the boundary offset. In number of pixels. - int offsetSize = 2; + /// Size of the kernel creating the boundary offset. In number of (sub) pixels. + int marginSize = 2; }; } // namespace contour_extraction diff --git a/convex_plane_decomposition/src/contour_extraction/ContourExtraction.cpp b/convex_plane_decomposition/src/contour_extraction/ContourExtraction.cpp index 21c4ac8f..b09af9f7 100644 --- a/convex_plane_decomposition/src/contour_extraction/ContourExtraction.cpp +++ b/convex_plane_decomposition/src/contour_extraction/ContourExtraction.cpp @@ -3,6 +3,7 @@ // #include "convex_plane_decomposition/contour_extraction/ContourExtraction.h" +#include "convex_plane_decomposition/contour_extraction/Upsampling.h" #include #include @@ -12,25 +13,44 @@ namespace contour_extraction { ContourExtraction::ContourExtraction(const ContourExtractionParameters& parameters) : parameters_(parameters), binaryImage_(cv::Size(0, 0), CV_8UC1) { - int erosionSize = parameters_.offsetSize; // single sided length of the kernel - int erosionType = cv::MORPH_CROSS; // cv::MORPH_ELLIPSE, cv::MORPH_RECT - erosionKernel_ = cv::getStructuringElement(erosionType, cv::Size(2 * erosionSize + 1, 2 * erosionSize + 1)); + { + int erosionSize = 1; // single sided length of the kernel + int erosionType = cv::MORPH_CROSS; + insetKernel_ = cv::getStructuringElement(erosionType, cv::Size(2 * erosionSize + 1, 2 * erosionSize + 1)); + } + { + int erosionSize = 1 + parameters_.marginSize; // single sided length of the kernel + int erosionType = cv::MORPH_ELLIPSE; + marginKernel_ = cv::getStructuringElement(erosionType, cv::Size(2 * erosionSize + 1, 2 * erosionSize + 1)); + } } std::vector ContourExtraction::extractPlanarRegions(const SegmentedPlanesMap& segmentedPlanesMap) { + const auto upSampledMap = upSample(segmentedPlanesMap); + std::vector planarRegions; - for (const auto& label_plane : segmentedPlanesMap.labelPlaneParameters) { + for (const auto& label_plane : upSampledMap.labelPlaneParameters) { const int label = label_plane.first; const auto& plane_parameters = label_plane.second; - binaryImage_ = segmentedPlanesMap.labeledImage == label; + binaryImage_ = upSampledMap.labeledImage == label; - auto boundariesAndInsets = contour_extraction::extractBoundaryAndInset(binaryImage_, erosionKernel_); + // Try with safety margin + cv::erode(binaryImage_, binaryImage_, marginKernel_, cv::Point(-1,-1), 1, cv::BORDER_REPLICATE); + auto boundariesAndInsets = contour_extraction::extractBoundaryAndInset(binaryImage_, insetKernel_); + + // If safety margin makes the region disappear -> try without + if (boundariesAndInsets.empty()) { + binaryImage_ = upSampledMap.labeledImage == label; + // still 1 pixel erosion to remove the growth after upsampling + cv::erode(binaryImage_, binaryImage_, insetKernel_, cv::Point(-1,-1), 1, cv::BORDER_REPLICATE); + boundariesAndInsets = contour_extraction::extractBoundaryAndInset(binaryImage_, insetKernel_); + } for (auto& boundaryAndInset : boundariesAndInsets) { // Transform points from pixel space to local terrain frame transformInPlace(boundaryAndInset, [&](CgalPoint2d& point) { - auto pointInWorld = pixelToWorldFrame(point, segmentedPlanesMap.resolution, segmentedPlanesMap.mapOrigin); + auto pointInWorld = pixelToWorldFrame(point, upSampledMap.resolution, upSampledMap.mapOrigin); point = worldFrameToTerrainFrame(pointInWorld, plane_parameters); }); @@ -45,6 +65,7 @@ std::vector ContourExtraction::extractPlanarRegions(const Segmente } std::vector extractBoundaryAndInset(cv::Mat& binary_image, const cv::Mat& erosionKernel) { + // Get boundary std::vector boundaries = extractPolygonsFromBinaryImage(binary_image); diff --git a/convex_plane_decomposition_ros/config/parameters.yaml b/convex_plane_decomposition_ros/config/parameters.yaml index 6ac7df7c..46a41500 100644 --- a/convex_plane_decomposition_ros/config/parameters.yaml +++ b/convex_plane_decomposition_ros/config/parameters.yaml @@ -6,7 +6,7 @@ preprocessing: sliding_window_plane_extractor: kernel_size: 3 # Size of the sliding window patch used for normal vector calculation and planarity detection. Should be an odd number and at least 3. - planarity_opening_filter: 1 # [#] Apply opening filter (erosion -> dilation) to planarity detection by this amount of pixels + planarity_opening_filter: 0 # [#] Apply opening filter (erosion -> dilation) to planarity detection by this amount of pixels plane_inclination_threshold_degrees: 30.0 # [deg] Maximum allowed angle between the surface normal and the world-z direction for a patch local_plane_inclination_threshold_degrees: 35.0 # [deg] Maximum allowed angle between the surface normal and the world-z direction for a cell plane_patch_error_threshold: 0.02 # [m] The allowed root-mean-squared deviation from the plane fitted to the sliding window. @@ -24,7 +24,7 @@ ransac_plane_refinement: normal_threshold: 25.0 # [deg] Set maximum normal deviation between cluster surface_normal and point normal. contour_extraction: - offsetSize: 1 # Size of the kernel creating the boundary offset. In number of pixels. + marginSize: 1 # Size of the kernel creating the boundary offset. In number of (sub) pixels. postprocessing: extracted_planes_height_offset: 0.0 # Added offset in Z direction for the full map to compensate for the location of the foot frame w.r.t. the contact point diff --git a/convex_plane_decomposition_ros/src/ParameterLoading.cpp b/convex_plane_decomposition_ros/src/ParameterLoading.cpp index 021d6516..1859b1df 100644 --- a/convex_plane_decomposition_ros/src/ParameterLoading.cpp +++ b/convex_plane_decomposition_ros/src/ParameterLoading.cpp @@ -29,7 +29,7 @@ PreprocessingParameters loadPreprocessingParameters(const ros::NodeHandle& nodeH contour_extraction::ContourExtractionParameters loadContourExtractionParameters(const ros::NodeHandle& nodeHandle, const std::string& prefix) { contour_extraction::ContourExtractionParameters contourParams; - loadParameter(nodeHandle, prefix, "offsetSize", contourParams.offsetSize); + loadParameter(nodeHandle, prefix, "marginSize", contourParams.marginSize); return contourParams; } diff --git a/convex_plane_decomposition_ros/test/test.cpp b/convex_plane_decomposition_ros/test/test.cpp index 30b997be..86acc44b 100644 --- a/convex_plane_decomposition_ros/test/test.cpp +++ b/convex_plane_decomposition_ros/test/test.cpp @@ -171,7 +171,7 @@ int main(int argc, char** argv) { // ============== planar regions extraction ================ contour_extraction::ContourExtractionParameters polyParams; - polyParams.offsetSize = 2; + polyParams.marginSize = 2; contour_extraction::ContourExtraction contourExtraction(polyParams); contourExtraction.extractPlanarRegions(planeExtractor.getSegmentedPlanesMap()); From 4c6cd0b8d3a85e059df7441c58d89eafbb70bd71 Mon Sep 17 00:00:00 2001 From: rgrandia Date: Sat, 30 Oct 2021 22:02:49 +0200 Subject: [PATCH 132/504] fix pixelborder distance test. Need special case for the test --- .../PixelBorderDistance.h | 1 + .../test/testPixelBorderDistance.cpp | 34 +++++++++++++------ 2 files changed, 25 insertions(+), 10 deletions(-) diff --git a/signed_distance_field/include/signed_distance_field/PixelBorderDistance.h b/signed_distance_field/include/signed_distance_field/PixelBorderDistance.h index 0db7cfcf..9456d3fa 100644 --- a/signed_distance_field/include/signed_distance_field/PixelBorderDistance.h +++ b/signed_distance_field/include/signed_distance_field/PixelBorderDistance.h @@ -24,6 +24,7 @@ inline float pixelBorderDistance(float i, float j) { /** * Returns square pixelBorderDistance, adding offset f. + * ! only works when i and j are cast from integers. */ inline float squarePixelBorderDistance(float i, float j, float f) { assert(i == j || std::abs(i - j) >= 1.0F); // Check that i and j are proper pixel locations: either the same pixel or non-overlapping pixels diff --git a/signed_distance_field/test/testPixelBorderDistance.cpp b/signed_distance_field/test/testPixelBorderDistance.cpp index 8e83a04a..de6b3101 100644 --- a/signed_distance_field/test/testPixelBorderDistance.cpp +++ b/signed_distance_field/test/testPixelBorderDistance.cpp @@ -6,6 +6,21 @@ #include "signed_distance_field/PixelBorderDistance.h" +namespace { +/* + * Specialization of the pixel border distance to test for the correctness of the equidistant point. + * The function contained in the library can only be called for casts from integer i, and j + */ +inline float squarePixelBorderDistanceTest(float i, float j, float f) { + if (i == j) { + return f; + } else { + float diff = std::abs(i - j) - 0.5F; + diff = std::max(diff, 0.0F); // ! adaptation needed to test for non integer i, j + return diff * diff + f; + } +} +} // namespace TEST(testPixelBorderDistance, distanceFunction) { using signed_distance_field::pixelBorderDistance; @@ -19,17 +34,16 @@ TEST(testPixelBorderDistance, distanceFunction) { TEST(testPixelBorderDistance, equidistantPoint) { using signed_distance_field::equidistancePoint; - using signed_distance_field::squarePixelBorderDistance; int pixelRange = 10; float offsetRange = 20.0; float offsetStep = 0.25; float tol = 1e-4; - for (int p =-pixelRange; p Date: Sat, 30 Oct 2021 22:03:24 +0200 Subject: [PATCH 133/504] improve shortcut to detect if a layer is of only obstacles or freespace --- .../signed_distance_field/SignedDistance2d.h | 18 ++++++++++++------ .../src/GridmapSignedDistanceField.cpp | 10 +++++++--- signed_distance_field/src/SignedDistance2d.cpp | 8 ++++---- .../test/naiveSignedDistance.h | 5 +++++ .../test/testSignedDistance3d.cpp | 10 +++++++--- 5 files changed, 35 insertions(+), 16 deletions(-) diff --git a/signed_distance_field/include/signed_distance_field/SignedDistance2d.h b/signed_distance_field/include/signed_distance_field/SignedDistance2d.h index fe5b5ea3..1ecb2036 100644 --- a/signed_distance_field/include/signed_distance_field/SignedDistance2d.h +++ b/signed_distance_field/include/signed_distance_field/SignedDistance2d.h @@ -12,12 +12,18 @@ namespace signed_distance_field { -inline Eigen::Matrix occupancyAtHeight(const grid_map::Matrix& elevationMap, float height) { - Eigen::Matrix occupany = elevationMap.unaryExpr([=](float val) { return val > height; }); - return occupany; -} - -grid_map::Matrix signedDistanceAtHeight(const grid_map::Matrix& elevationMap, float height, float resolution); +/** + * Computes the signed distance field at a specified height for a given elevation map. + * + * @param elevationMap : elevation data. + * @param height : height to generate the signed distance at. + * @param resolution : resolution of the elevation map. (The true distance [m] between cells in world frame) + * @param minHeight : the lowest height contained in elevationMap + * @param maxHeight : the maximum height contained in elevationMap + * @return The signed distance field at the query height. + */ +grid_map::Matrix signedDistanceAtHeight(const grid_map::Matrix& elevationMap, float height, float resolution, float minHeight, + float maxHeight); grid_map::Matrix signedDistanceFromOccupancy(const Eigen::Matrix& occupancyGrid, float resolution); diff --git a/signed_distance_field/src/GridmapSignedDistanceField.cpp b/signed_distance_field/src/GridmapSignedDistanceField.cpp index af67d5a3..1a8b3c60 100644 --- a/signed_distance_field/src/GridmapSignedDistanceField.cpp +++ b/signed_distance_field/src/GridmapSignedDistanceField.cpp @@ -65,10 +65,13 @@ std::pair GridmapSignedDist void GridmapSignedDistanceField::computeSignedDistance(const grid_map::Matrix& elevation) { const auto gridOriginZ = static_cast(gridmap3DLookup_.gridOrigin_.z()); const auto resolution = static_cast(gridmap3DLookup_.resolution_); + const auto minHeight = elevation.minCoeff(); + const auto maxHeight = elevation.maxCoeff(); // First layer: forward difference in z - grid_map::Matrix currentLayer = signed_distance_field::signedDistanceAtHeight(elevation, gridOriginZ, resolution); - grid_map::Matrix nextLayer = signed_distance_field::signedDistanceAtHeight(elevation, gridOriginZ + resolution, resolution); + grid_map::Matrix currentLayer = signed_distance_field::signedDistanceAtHeight(elevation, gridOriginZ, resolution, minHeight, maxHeight); + grid_map::Matrix nextLayer = + signed_distance_field::signedDistanceAtHeight(elevation, gridOriginZ + resolution, resolution, minHeight, maxHeight); grid_map::Matrix dz = signed_distance_field::layerFiniteDifference(currentLayer, nextLayer, resolution); // dz / layer = +resolution grid_map::Matrix dy = signed_distance_field::columnwiseCentralDifference(currentLayer, -resolution); // dy / dcol = -resolution grid_map::Matrix dx = signed_distance_field::rowwiseCentralDifference(currentLayer, -resolution); // dx / drow = -resolution @@ -78,7 +81,8 @@ void GridmapSignedDistanceField::computeSignedDistance(const grid_map::Matrix& e for (size_t layerZ = 1; layerZ + 1 < gridmap3DLookup_.gridsize_.z; ++layerZ) { grid_map::Matrix previousLayer = std::move(currentLayer); currentLayer = std::move(nextLayer); - nextLayer = signed_distance_field::signedDistanceAtHeight(elevation, gridOriginZ + (layerZ + 1) * resolution, resolution); + nextLayer = + signed_distance_field::signedDistanceAtHeight(elevation, gridOriginZ + (layerZ + 1) * resolution, resolution, minHeight, maxHeight); dz = signed_distance_field::layerCentralDifference(previousLayer, nextLayer, resolution); dy = signed_distance_field::columnwiseCentralDifference(currentLayer, -resolution); diff --git a/signed_distance_field/src/SignedDistance2d.cpp b/signed_distance_field/src/SignedDistance2d.cpp index 3dd68d1c..17ca4e1b 100644 --- a/signed_distance_field/src/SignedDistance2d.cpp +++ b/signed_distance_field/src/SignedDistance2d.cpp @@ -191,10 +191,10 @@ grid_map::Matrix pixelDistanceToObstacle(const grid_map::Matrix& elevationMap, f } // namespace internal -grid_map::Matrix signedDistanceAtHeight(const grid_map::Matrix& elevationMap, float height, float resolution) { - auto obstacleCount = (elevationMap.array() > height).count(); - bool allPixelsAreObstacles = obstacleCount == elevationMap.size(); - bool allPixelsAreFreeSpace = obstacleCount == 0; +grid_map::Matrix signedDistanceAtHeight(const grid_map::Matrix& elevationMap, float height, float resolution, float minHeight, + float maxHeight) { + const bool allPixelsAreObstacles = height < minHeight; + const bool allPixelsAreFreeSpace = height > maxHeight; if (allPixelsAreObstacles) { return -resolution * internal::pixelDistanceToFreeSpace(elevationMap, height, resolution); diff --git a/signed_distance_field/test/naiveSignedDistance.h b/signed_distance_field/test/naiveSignedDistance.h index 622cd240..2ea41685 100644 --- a/signed_distance_field/test/naiveSignedDistance.h +++ b/signed_distance_field/test/naiveSignedDistance.h @@ -6,6 +6,11 @@ namespace signed_distance_field { +inline Eigen::Matrix occupancyAtHeight(const grid_map::Matrix& elevationMap, float height) { + Eigen::Matrix occupany = elevationMap.unaryExpr([=](float val) { return val > height; }); + return occupany; +} + inline bool isEqualSdf(const grid_map::Matrix& sdf0, const grid_map::Matrix& sdf1, float tol) { grid_map::Matrix error = (sdf0 - sdf1).array().abs(); float maxDifference = error.maxCoeff(); diff --git a/signed_distance_field/test/testSignedDistance3d.cpp b/signed_distance_field/test/testSignedDistance3d.cpp index d90eb679..8a5545fd 100644 --- a/signed_distance_field/test/testSignedDistance3d.cpp +++ b/signed_distance_field/test/testSignedDistance3d.cpp @@ -15,15 +15,17 @@ TEST(testSignedDistance3d, flatTerrain) { const float resolution = 0.1; const float terrainHeight = 0.5; const grid_map::Matrix map = grid_map::Matrix::Constant(n, m, terrainHeight); + const float minHeight = map.minCoeff(); + const float maxHeight = map.maxCoeff(); const float testHeightAboveTerrain = 3.0; const auto naiveSignedDistanceAbove = signed_distance_field::naiveSignedDistanceAtHeight(map, testHeightAboveTerrain, resolution); - const auto signedDistanceAbove = signed_distance_field::signedDistanceAtHeight(map, testHeightAboveTerrain, resolution); + const auto signedDistanceAbove = signed_distance_field::signedDistanceAtHeight(map, testHeightAboveTerrain, resolution, minHeight, maxHeight); ASSERT_TRUE(signed_distance_field::isEqualSdf(signedDistanceAbove, naiveSignedDistanceAbove, 1e-4)); const float testHeightBelowTerrain = -3.0; const auto naiveSignedDistanceBelow = signed_distance_field::naiveSignedDistanceAtHeight(map, testHeightBelowTerrain, resolution); - const auto signedDistanceBelow = signed_distance_field::signedDistanceAtHeight(map, testHeightBelowTerrain, resolution); + const auto signedDistanceBelow = signed_distance_field::signedDistanceAtHeight(map, testHeightBelowTerrain, resolution, minHeight, maxHeight); ASSERT_TRUE(signed_distance_field::isEqualSdf(signedDistanceBelow, naiveSignedDistanceBelow, 1e-4)); } @@ -32,12 +34,14 @@ TEST(testSignedDistance3d, randomTerrain) { const int m = 30; const float resolution = 0.1; grid_map::Matrix map = grid_map::Matrix::Random(n, m); // random [-1.0, 1.0] + const float minHeight = map.minCoeff(); + const float maxHeight = map.maxCoeff(); // Check at different heights, resulting in different levels of sparsity. float heightStep = 0.1; for (float height = -1.0 - heightStep; height < 1.0 + heightStep; height+=heightStep) { const auto naiveSignedDistance = signed_distance_field::naiveSignedDistanceAtHeight(map, height, resolution); - const auto signedDistance = signed_distance_field::signedDistanceAtHeight(map, height, resolution); + const auto signedDistance = signed_distance_field::signedDistanceAtHeight(map, height, resolution, minHeight, maxHeight); ASSERT_TRUE(signed_distance_field::isEqualSdf(signedDistance, naiveSignedDistance, 1e-4)) << "height: " << height; } From c0efdba74fa34e9278cb03709fb1409f97aea8ee Mon Sep 17 00:00:00 2001 From: rgrandia Date: Sun, 31 Oct 2021 21:16:39 +0100 Subject: [PATCH 134/504] refactor pixel border distance to minimize branching --- .../PixelBorderDistance.h | 52 ++++++++++++------- .../src/PixelBorderDistance.cpp | 9 +--- 2 files changed, 35 insertions(+), 26 deletions(-) diff --git a/signed_distance_field/include/signed_distance_field/PixelBorderDistance.h b/signed_distance_field/include/signed_distance_field/PixelBorderDistance.h index 9456d3fa..32375335 100644 --- a/signed_distance_field/include/signed_distance_field/PixelBorderDistance.h +++ b/signed_distance_field/include/signed_distance_field/PixelBorderDistance.h @@ -5,8 +5,8 @@ #pragma once #include -#include #include +#include namespace signed_distance_field { @@ -19,7 +19,7 @@ namespace signed_distance_field { * @return : absolute distance between center of pixel 1 and the border of pixel 2 */ inline float pixelBorderDistance(float i, float j) { - return std::max(std::abs(i-j) - 0.5F, 0.0F); + return std::max(std::abs(i - j) - 0.5F, 0.0F); } /** @@ -27,11 +27,12 @@ inline float pixelBorderDistance(float i, float j) { * ! only works when i and j are cast from integers. */ inline float squarePixelBorderDistance(float i, float j, float f) { - assert(i == j || std::abs(i - j) >= 1.0F); // Check that i and j are proper pixel locations: either the same pixel or non-overlapping pixels + assert(i == j || + std::abs(i - j) >= 1.0F); // Check that i and j are proper pixel locations: either the same pixel or non-overlapping pixels if (i == j) { return f; } else { - float diff = std::abs(i-j) - 0.5F; + float diff = std::abs(i - j) - 0.5F; return diff * diff + f; } } @@ -42,18 +43,28 @@ namespace internal { * Return equidistancepoint between origin and pixel p (with p > 0) with offset fp */ inline float intersectionPointRightSideOfOrigin(float p, float fp) { + /* + * There are 5 different solutions + * In decreasing order: + * sol 1 in [p^2, inf] + * sol 2 in [bound, p^2] + * sol 3 in [-bound, bound] + * sol 4 in [-p^2, -bound] + * sol 5 in [-inf, -p^2] + */ auto pSquared = p * p; - auto fpAbs = std::abs(fp); - if (fpAbs >= pSquared) { - float s = (pSquared + fp) / (2.0F * p); - return (fp > 0.0F) ? s + 0.5F : s - 0.5F; + if (fp > pSquared) { + return (pSquared + p + fp) / (2.0F * p); // sol 1 + } else if (fp < -pSquared) { + return (pSquared - p + fp) / (2.0F * p); // sol 5 } else { - float boundary = pSquared - 2.0F * p + 1.0F; - if (fpAbs < boundary) { - return (pSquared - p + fp) / (2.0F * p - 2.0F); + float bound = pSquared - 2.0F * p + 1.0F; // Always positive because (p > 0) + if (fp > bound) { + return 0.5F + std::sqrt(fp); // sol 2 + } else if (fp < -bound) { + return p - 0.5F - std::sqrt(-fp); // sol 4 } else { - float s = 0.5F + std::sqrt(fpAbs); - return (fp > 0.0F) ? s : p - s; + return (pSquared - p + fp) / (2.0F * p - 2.0F); // sol 3 } } } @@ -62,8 +73,12 @@ inline float intersectionPointRightSideOfOrigin(float p, float fp) { * Return equidistancepoint between origin and pixel p with offset fp */ inline float intersectionOffsetFromOrigin(float p, float fp) { - float intersectionOffset = intersectionPointRightSideOfOrigin(std::abs(p), fp); - return (p > 0) ? intersectionOffset : -intersectionOffset; + if (p > 0.0F) { + return intersectionPointRightSideOfOrigin(p, fp); + } else { + // call with negative p and flip the result + return -intersectionPointRightSideOfOrigin(-p, fp); + } } } // namespace internal @@ -74,10 +89,11 @@ inline float intersectionOffsetFromOrigin(float p, float fp) { * squarePixelBorderDistance(s, q, fq) == squarePixelBorderDistance(s, p, fp) */ inline float equidistancePoint(float q, float fq, float p, float fp) { - assert(q == p || std::abs(q-p) >= 1.0F); // Check that q and p are proper pixel locations: either the same pixel or non-overlapping pixels - assert((q == p) ? fp == fq : true); // Check when q and p are equal, the offsets are also equal + assert(q == p || + std::abs(q - p) >= 1.0F); // Check that q and p are proper pixel locations: either the same pixel or non-overlapping pixels + assert((q == p) ? fp == fq : true); // Check when q and p are equal, the offsets are also equal - if (fp == fq) { // quite common case when both pixels are of the same class (occupied / free) + if (fp == fq) { // quite common case when both pixels are of the same class (occupied / free) return 0.5F * (p + q); } else { float df = fp - fq; diff --git a/signed_distance_field/src/PixelBorderDistance.cpp b/signed_distance_field/src/PixelBorderDistance.cpp index 2a1ed055..34047f8e 100644 --- a/signed_distance_field/src/PixelBorderDistance.cpp +++ b/signed_distance_field/src/PixelBorderDistance.cpp @@ -4,11 +4,4 @@ #include "signed_distance_field/PixelBorderDistance.h" - -namespace signed_distance_field { - - - - - -} \ No newline at end of file +namespace signed_distance_field {} \ No newline at end of file From 402b8efbf5b612e45996bcfc27be5df373a8dc46 Mon Sep 17 00:00:00 2001 From: rgrandia Date: Sun, 31 Oct 2021 22:23:30 +0100 Subject: [PATCH 135/504] refactor and simplify bound computation --- .../PixelBorderDistance.h | 2 +- .../src/SignedDistance2d.cpp | 100 ++++++------------ 2 files changed, 33 insertions(+), 69 deletions(-) diff --git a/signed_distance_field/include/signed_distance_field/PixelBorderDistance.h b/signed_distance_field/include/signed_distance_field/PixelBorderDistance.h index 32375335..785d20f2 100644 --- a/signed_distance_field/include/signed_distance_field/PixelBorderDistance.h +++ b/signed_distance_field/include/signed_distance_field/PixelBorderDistance.h @@ -58,7 +58,7 @@ inline float intersectionPointRightSideOfOrigin(float p, float fp) { } else if (fp < -pSquared) { return (pSquared - p + fp) / (2.0F * p); // sol 5 } else { - float bound = pSquared - 2.0F * p + 1.0F; // Always positive because (p > 0) + const float bound = pSquared - 2.0F * p + 1.0F; // Always positive because (p > 0) if (fp > bound) { return 0.5F + std::sqrt(fp); // sol 2 } else if (fp < -bound) { diff --git a/signed_distance_field/src/SignedDistance2d.cpp b/signed_distance_field/src/SignedDistance2d.cpp index 17ca4e1b..18ec6de4 100644 --- a/signed_distance_field/src/SignedDistance2d.cpp +++ b/signed_distance_field/src/SignedDistance2d.cpp @@ -16,100 +16,64 @@ struct DistanceLowerBound { float z_rhs; // rhs of interval where this lower bound holds }; -inline std::vector::iterator fillLowerBounds(const Eigen::Ref& squareDistance1d, - std::vector& lowerBounds) { - const int n = squareDistance1d.size(); +std::vector::iterator fillLowerBounds(const Eigen::Ref& squareDistance1d, + std::vector& lowerBounds) { + const auto n = squareDistance1d.size(); const auto nFloat = static_cast(n); - // Find minimum - int qMin = 0; - float fMin = squareDistance1d[0]; - if (fMin > 0.0F) { - for (int q = 1; q < n; ++q) { - const float fq = squareDistance1d[q]; - if (fq < fMin) { - qMin = q; - fMin = fq; - if (fMin == 0.0F) { - break; - } - } - } - } - // Initialize - auto lowerBoundIt = lowerBounds.begin() + qMin; - *lowerBoundIt = DistanceLowerBound{static_cast(qMin), fMin, -INF, INF}; + auto rhsBoundIt = lowerBounds.begin(); + *rhsBoundIt = DistanceLowerBound{0.0F, squareDistance1d[0], -INF, INF}; + auto firstBoundIt = lowerBounds.begin(); // Compute bounds to the right of minimum - float qFloat = static_cast(qMin) + 1.0F; - for (int q = qMin + 1; q < n; ++q) { - // Storing these quantaties by value gives better performance (removed indirection?) + float qFloat = 1.0F; + for (Eigen::Index q = 1; q < n; ++q) { + // Storing this by value gives better performance (removed indirection?) const float fq = squareDistance1d[q]; - DistanceLowerBound lastBound = *lowerBoundIt; - float s = equidistancePoint(qFloat, fq, lastBound.v, lastBound.f); + float s = equidistancePoint(qFloat, fq, rhsBoundIt->v, rhsBoundIt->f); if (s < nFloat) { // Can ignore the lower bound derived from this point if it is only active outsize of [0, n] // Search backwards in bounds until s is within [z_lhs, z_rhs] - while (s < lastBound.z_lhs) { - --lowerBoundIt; - lastBound = *lowerBoundIt; - s = equidistancePoint(qFloat, fq, lastBound.v, lastBound.f); + while (s < rhsBoundIt->z_lhs) { + --rhsBoundIt; + s = equidistancePoint(qFloat, fq, rhsBoundIt->v, rhsBoundIt->f); } - lowerBoundIt->z_rhs = s; - ++lowerBoundIt; - *lowerBoundIt = DistanceLowerBound{qFloat, fq, s, INF}; - } - qFloat += 1.0F; - } - - // Compute bounds to the left of minimum - lowerBoundIt = lowerBounds.begin() + qMin; - qFloat = static_cast(qMin) - 1.0F; - for (int q = qMin - 1; q >= 0; --q) { - const float fq = squareDistance1d[q]; - DistanceLowerBound lastBound = *lowerBoundIt; - - float s = equidistancePoint(qFloat, fq, lastBound.v, lastBound.f); - if (s > 0.0F) { // Can ignore the lower bound derived from this point if it is only active outsize of [0, n] - // Search forwards in bounds until s is within [z_lhs, z_rhs] - while (s > lastBound.z_rhs) { - ++lowerBoundIt; - lastBound = *lowerBoundIt; - s = equidistancePoint(qFloat, fq, lastBound.v, lastBound.f); + if (s >= 0.0F) { // Intersection is within [0, n]. Adjust current lowerbound and insert the new one after + rhsBoundIt->z_rhs = s; // Update the bound that comes before + ++rhsBoundIt; // insert new bound after. + *rhsBoundIt = DistanceLowerBound{qFloat, fq, s, INF}; // Valid from s till infinity + } else { // Intersection is outside [0, n]. This means that the new bound dominates all previous bounds + *rhsBoundIt = DistanceLowerBound{qFloat, fq, -INF, INF}; + firstBoundIt = rhsBoundIt; // No need to keep other bounds, so update the first bound iterator to this one. } - lowerBoundIt->z_lhs = s; - --lowerBoundIt; - *lowerBoundIt = DistanceLowerBound{qFloat, fq, -INF, s}; } - qFloat -= 1.0F; + + // Increment to follow loop counter as float + qFloat += 1.0F; } - return lowerBoundIt; + return firstBoundIt; } -inline void extractDistances(Eigen::Ref squareDistance1d, const std::vector& lowerBounds, - std::vector::iterator lowerBoundIt) { - const int n = squareDistance1d.size(); +void extractDistances(Eigen::Ref squareDistance1d, const std::vector& lowerBounds, + std::vector::const_iterator lowerBoundIt) { + const auto n = squareDistance1d.size(); - // Store active lower bound by value to remove indirection + // Store active bound by value to remove indirection auto lastz = lowerBoundIt->z_rhs; - auto lastv = lowerBoundIt->v; - auto lastf = lowerBoundIt->f; float qFloat = 0.0F; - for (int q = 0; q < n; q++) { + for (Eigen::Index q = 0; q < n; ++q) { // Find the new active lower bound if q no longer belongs to current interval if (qFloat > lastz) { do { ++lowerBoundIt; - lastz = lowerBoundIt->z_rhs; - } while (lastz < qFloat); - lastv = lowerBoundIt->v; - lastf = lowerBoundIt->f; + } while (lowerBoundIt->z_rhs < qFloat); + lastz = lowerBoundIt->z_rhs; } - squareDistance1d[q] = squarePixelBorderDistance(qFloat, lastv, lastf); + squareDistance1d[q] = squarePixelBorderDistance(qFloat, lowerBoundIt->v, lowerBoundIt->f); qFloat += 1.0F; } } From f5ee84f9b4b9f569c8df2ecda74891130b9e94ac Mon Sep 17 00:00:00 2001 From: rgrandia Date: Tue, 2 Nov 2021 10:27:06 +0100 Subject: [PATCH 136/504] add test for interpolation of the sdf --- .../test/testSignedDistance3d.cpp | 42 +++++++++++++++++-- 1 file changed, 38 insertions(+), 4 deletions(-) diff --git a/signed_distance_field/test/testSignedDistance3d.cpp b/signed_distance_field/test/testSignedDistance3d.cpp index 8a5545fd..b846165d 100644 --- a/signed_distance_field/test/testSignedDistance3d.cpp +++ b/signed_distance_field/test/testSignedDistance3d.cpp @@ -4,6 +4,7 @@ #include +#include "signed_distance_field/GridmapSignedDistanceField.h" #include "signed_distance_field/PixelBorderDistance.h" #include "signed_distance_field/SignedDistance2d.h" @@ -20,12 +21,14 @@ TEST(testSignedDistance3d, flatTerrain) { const float testHeightAboveTerrain = 3.0; const auto naiveSignedDistanceAbove = signed_distance_field::naiveSignedDistanceAtHeight(map, testHeightAboveTerrain, resolution); - const auto signedDistanceAbove = signed_distance_field::signedDistanceAtHeight(map, testHeightAboveTerrain, resolution, minHeight, maxHeight); + const auto signedDistanceAbove = + signed_distance_field::signedDistanceAtHeight(map, testHeightAboveTerrain, resolution, minHeight, maxHeight); ASSERT_TRUE(signed_distance_field::isEqualSdf(signedDistanceAbove, naiveSignedDistanceAbove, 1e-4)); const float testHeightBelowTerrain = -3.0; const auto naiveSignedDistanceBelow = signed_distance_field::naiveSignedDistanceAtHeight(map, testHeightBelowTerrain, resolution); - const auto signedDistanceBelow = signed_distance_field::signedDistanceAtHeight(map, testHeightBelowTerrain, resolution, minHeight, maxHeight); + const auto signedDistanceBelow = + signed_distance_field::signedDistanceAtHeight(map, testHeightBelowTerrain, resolution, minHeight, maxHeight); ASSERT_TRUE(signed_distance_field::isEqualSdf(signedDistanceBelow, naiveSignedDistanceBelow, 1e-4)); } @@ -33,16 +36,47 @@ TEST(testSignedDistance3d, randomTerrain) { const int n = 20; const int m = 30; const float resolution = 0.1; - grid_map::Matrix map = grid_map::Matrix::Random(n, m); // random [-1.0, 1.0] + grid_map::Matrix map = grid_map::Matrix::Random(n, m); // random [-1.0, 1.0] const float minHeight = map.minCoeff(); const float maxHeight = map.maxCoeff(); // Check at different heights, resulting in different levels of sparsity. float heightStep = 0.1; - for (float height = -1.0 - heightStep; height < 1.0 + heightStep; height+=heightStep) { + for (float height = -1.0 - heightStep; height < 1.0 + heightStep; height += heightStep) { const auto naiveSignedDistance = signed_distance_field::naiveSignedDistanceAtHeight(map, height, resolution); const auto signedDistance = signed_distance_field::signedDistanceAtHeight(map, height, resolution, minHeight, maxHeight); ASSERT_TRUE(signed_distance_field::isEqualSdf(signedDistance, naiveSignedDistance, 1e-4)) << "height: " << height; } +} + +TEST(testSignedDistance3d, randomTerrainInterpolation) { + const int n = 20; + const int m = 30; + const float resolution = 0.1; + grid_map::GridMap map; + map.setGeometry({n * resolution, m * resolution}, resolution); + map.add("elevation"); + map.get("elevation").setRandom(); // random [-1.0, 1.0] + const grid_map::Matrix mapData = map.get("elevation"); + const float minHeight = mapData.minCoeff(); + const float maxHeight = mapData.maxCoeff(); + + signed_distance_field::GridmapSignedDistanceField sdf(map, "elevation", minHeight, maxHeight); + + // Check at different heights/ + for (float height = minHeight; height < maxHeight; height += resolution) { + const auto naiveSignedDistance = signed_distance_field::naiveSignedDistanceAtHeight(mapData, height, resolution); + + for (int i = 0; i < mapData.rows(); ++i) { + for (int j = 0; j < mapData.rows(); ++j) { + grid_map::Position position2d; + map.getPosition({i, j}, position2d); + + const auto sdfValue = sdf.value({position2d.x(), position2d.y(), height}); + const auto sdfCheck = naiveSignedDistance(i, j); + ASSERT_LT(std::abs(sdfValue - sdfCheck), 1e-4); + } + } + } } \ No newline at end of file From ae7b5b053ccaa416731c25f244a1f3bdaf2ca61e Mon Sep 17 00:00:00 2001 From: rgrandia Date: Tue, 2 Nov 2021 10:27:48 +0100 Subject: [PATCH 137/504] simplify square distance --- .../PixelBorderDistance.h | 10 +++------ .../test/testPixelBorderDistance.cpp | 21 +++---------------- 2 files changed, 6 insertions(+), 25 deletions(-) diff --git a/signed_distance_field/include/signed_distance_field/PixelBorderDistance.h b/signed_distance_field/include/signed_distance_field/PixelBorderDistance.h index 785d20f2..c72db18e 100644 --- a/signed_distance_field/include/signed_distance_field/PixelBorderDistance.h +++ b/signed_distance_field/include/signed_distance_field/PixelBorderDistance.h @@ -24,17 +24,13 @@ inline float pixelBorderDistance(float i, float j) { /** * Returns square pixelBorderDistance, adding offset f. - * ! only works when i and j are cast from integers. */ inline float squarePixelBorderDistance(float i, float j, float f) { assert(i == j || std::abs(i - j) >= 1.0F); // Check that i and j are proper pixel locations: either the same pixel or non-overlapping pixels - if (i == j) { - return f; - } else { - float diff = std::abs(i - j) - 0.5F; - return diff * diff + f; - } + + float d = pixelBorderDistance(i, j); + return d * d + f; } namespace internal { diff --git a/signed_distance_field/test/testPixelBorderDistance.cpp b/signed_distance_field/test/testPixelBorderDistance.cpp index de6b3101..43f6bf0e 100644 --- a/signed_distance_field/test/testPixelBorderDistance.cpp +++ b/signed_distance_field/test/testPixelBorderDistance.cpp @@ -6,22 +6,6 @@ #include "signed_distance_field/PixelBorderDistance.h" -namespace { -/* - * Specialization of the pixel border distance to test for the correctness of the equidistant point. - * The function contained in the library can only be called for casts from integer i, and j - */ -inline float squarePixelBorderDistanceTest(float i, float j, float f) { - if (i == j) { - return f; - } else { - float diff = std::abs(i - j) - 0.5F; - diff = std::max(diff, 0.0F); // ! adaptation needed to test for non integer i, j - return diff * diff + f; - } -} -} // namespace - TEST(testPixelBorderDistance, distanceFunction) { using signed_distance_field::pixelBorderDistance; // Basic properties of the distance function @@ -34,6 +18,7 @@ TEST(testPixelBorderDistance, distanceFunction) { TEST(testPixelBorderDistance, equidistantPoint) { using signed_distance_field::equidistancePoint; + using signed_distance_field::squarePixelBorderDistance; int pixelRange = 10; float offsetRange = 20.0; @@ -54,8 +39,8 @@ TEST(testPixelBorderDistance, equidistantPoint) { ASSERT_LT(std::abs(s0 - s1), tol); // Check that the distance from s0 to p and q is indeed equal - float dp = squarePixelBorderDistanceTest(s0, p, fp); - float dq = squarePixelBorderDistanceTest(s0, q, fq); + float dp = squarePixelBorderDistance(s0, p, fp); + float dq = squarePixelBorderDistance(s0, q, fq); ASSERT_LT(std::abs(dp - dq), tol) << "p: " << p << ", q: " << q << ", fp: " << fp << ", fq: " << fq; } } From 60a4abf85aba1fb3739bd79cfe3974d5fb88bf42 Mon Sep 17 00:00:00 2001 From: rgrandia Date: Tue, 2 Nov 2021 10:29:20 +0100 Subject: [PATCH 138/504] reduce amount of transposing. better exploit leading zeros also in bound computation --- .../GridmapSignedDistanceField.h | 2 +- .../signed_distance_field/SignedDistance2d.h | 6 + .../src/GridmapSignedDistanceField.cpp | 51 ++++-- .../src/SignedDistance2d.cpp | 171 +++++++++++------- 4 files changed, 150 insertions(+), 80 deletions(-) diff --git a/signed_distance_field/include/signed_distance_field/GridmapSignedDistanceField.h b/signed_distance_field/include/signed_distance_field/GridmapSignedDistanceField.h index 4ed38749..d803dfa6 100644 --- a/signed_distance_field/include/signed_distance_field/GridmapSignedDistanceField.h +++ b/signed_distance_field/include/signed_distance_field/GridmapSignedDistanceField.h @@ -56,7 +56,7 @@ class GridmapSignedDistanceField : public switched_model::SignedDistanceField { private: GridmapSignedDistanceField(const GridmapSignedDistanceField& other); void computeSignedDistance(const grid_map::Matrix& elevation); - void emplacebackLayerData(const grid_map::Matrix& signedDistance, const grid_map::Matrix& dx, const grid_map::Matrix& dy, + void emplacebackLayerData(const grid_map::Matrix& signedDistance, const grid_map::Matrix& dxTranspose, const grid_map::Matrix& dy, const grid_map::Matrix& dz); using node_data_t = std::array; diff --git a/signed_distance_field/include/signed_distance_field/SignedDistance2d.h b/signed_distance_field/include/signed_distance_field/SignedDistance2d.h index 1ecb2036..e937ad3a 100644 --- a/signed_distance_field/include/signed_distance_field/SignedDistance2d.h +++ b/signed_distance_field/include/signed_distance_field/SignedDistance2d.h @@ -25,6 +25,12 @@ namespace signed_distance_field { grid_map::Matrix signedDistanceAtHeight(const grid_map::Matrix& elevationMap, float height, float resolution, float minHeight, float maxHeight); +/** + * Same as above, but returns the sdf in transposed form. + */ +grid_map::Matrix signedDistanceAtHeightTranspose(const grid_map::Matrix& elevationMap, float height, float resolution, float minHeight, + float maxHeight); + grid_map::Matrix signedDistanceFromOccupancy(const Eigen::Matrix& occupancyGrid, float resolution); } // namespace signed_distance_field \ No newline at end of file diff --git a/signed_distance_field/src/GridmapSignedDistanceField.cpp b/signed_distance_field/src/GridmapSignedDistanceField.cpp index 1a8b3c60..de2a2e77 100644 --- a/signed_distance_field/src/GridmapSignedDistanceField.cpp +++ b/signed_distance_field/src/GridmapSignedDistanceField.cpp @@ -68,42 +68,69 @@ void GridmapSignedDistanceField::computeSignedDistance(const grid_map::Matrix& e const auto minHeight = elevation.minCoeff(); const auto maxHeight = elevation.maxCoeff(); + /* + * General strategy to reduce the amount of transposing: + * - SDF at a height is in transposed form after computing it. + * - Take the finite difference in dx, now that this data is continuous in memory. + * - Transpose the SDF + * - Take other finite differences, now dy is efficient. + * - When writing to the 3D structure, keep in mind that dx is still transposed. + */ + // First layer: forward difference in z - grid_map::Matrix currentLayer = signed_distance_field::signedDistanceAtHeight(elevation, gridOriginZ, resolution, minHeight, maxHeight); + grid_map::Matrix currentLayer = + signed_distance_field::signedDistanceAtHeightTranspose(elevation, gridOriginZ, resolution, minHeight, maxHeight); + grid_map::Matrix dxTranspose = signed_distance_field::columnwiseCentralDifference(currentLayer, -resolution); // dx / drow = -resolution + currentLayer.transposeInPlace(); + grid_map::Matrix nextLayer = - signed_distance_field::signedDistanceAtHeight(elevation, gridOriginZ + resolution, resolution, minHeight, maxHeight); + signed_distance_field::signedDistanceAtHeightTranspose(elevation, gridOriginZ + resolution, resolution, minHeight, maxHeight); + grid_map::Matrix dxNextTranspose = signed_distance_field::columnwiseCentralDifference(nextLayer, -resolution); + nextLayer.transposeInPlace(); + grid_map::Matrix dz = signed_distance_field::layerFiniteDifference(currentLayer, nextLayer, resolution); // dz / layer = +resolution grid_map::Matrix dy = signed_distance_field::columnwiseCentralDifference(currentLayer, -resolution); // dy / dcol = -resolution - grid_map::Matrix dx = signed_distance_field::rowwiseCentralDifference(currentLayer, -resolution); // dx / drow = -resolution - emplacebackLayerData(currentLayer, dx, dy, dz); + + emplacebackLayerData(currentLayer, dxTranspose, dy, dz); // Middle layers: central difference in z for (size_t layerZ = 1; layerZ + 1 < gridmap3DLookup_.gridsize_.z; ++layerZ) { grid_map::Matrix previousLayer = std::move(currentLayer); currentLayer = std::move(nextLayer); - nextLayer = - signed_distance_field::signedDistanceAtHeight(elevation, gridOriginZ + (layerZ + 1) * resolution, resolution, minHeight, maxHeight); + dxTranspose = std::move(dxNextTranspose); + // Compute next layer transposed + nextLayer = signed_distance_field::signedDistanceAtHeightTranspose(elevation, gridOriginZ + (layerZ + 1) * resolution, resolution, + minHeight, maxHeight); + + // Take dx here, so we can operate on columns before transposing + dxNextTranspose = signed_distance_field::columnwiseCentralDifference(nextLayer, -resolution); + + // Transpose the data + nextLayer.transposeInPlace(); + + // Compute other finite differences dz = signed_distance_field::layerCentralDifference(previousLayer, nextLayer, resolution); dy = signed_distance_field::columnwiseCentralDifference(currentLayer, -resolution); - dx = signed_distance_field::rowwiseCentralDifference(currentLayer, -resolution); - emplacebackLayerData(currentLayer, dx, dy, dz); + + // Add the data to the 3D structure + emplacebackLayerData(currentLayer, dxTranspose, dy, dz); } // Last layer: backward difference in z grid_map::Matrix previousLayer = std::move(currentLayer); currentLayer = std::move(nextLayer); + dxTranspose = std::move(dxNextTranspose); dz = signed_distance_field::layerCentralDifference(previousLayer, currentLayer, resolution); dy = signed_distance_field::columnwiseCentralDifference(currentLayer, -resolution); - dx = signed_distance_field::rowwiseCentralDifference(currentLayer, -resolution); - emplacebackLayerData(currentLayer, dx, dy, dz); + emplacebackLayerData(currentLayer, dxTranspose, dy, dz); } -void GridmapSignedDistanceField::emplacebackLayerData(const grid_map::Matrix& signedDistance, const grid_map::Matrix& dx, +void GridmapSignedDistanceField::emplacebackLayerData(const grid_map::Matrix& signedDistance, const grid_map::Matrix& dxdxTranspose, const grid_map::Matrix& dy, const grid_map::Matrix& dz) { for (size_t colY = 0; colY < gridmap3DLookup_.gridsize_.y; ++colY) { for (size_t rowX = 0; rowX < gridmap3DLookup_.gridsize_.x; ++rowX) { - data_.emplace_back(node_data_t{signedDistance(rowX, colY), dx(rowX, colY), dy(rowX, colY), dz(rowX, colY)}); + data_.emplace_back(node_data_t{signedDistance(rowX, colY), dxdxTranspose(colY, rowX), dy(rowX, colY), dz(rowX, colY)}); } } } diff --git a/signed_distance_field/src/SignedDistance2d.cpp b/signed_distance_field/src/SignedDistance2d.cpp index 18ec6de4..edfc3b21 100644 --- a/signed_distance_field/src/SignedDistance2d.cpp +++ b/signed_distance_field/src/SignedDistance2d.cpp @@ -17,29 +17,30 @@ struct DistanceLowerBound { }; std::vector::iterator fillLowerBounds(const Eigen::Ref& squareDistance1d, - std::vector& lowerBounds) { + std::vector& lowerBounds, Eigen::Index start) { const auto n = squareDistance1d.size(); const auto nFloat = static_cast(n); + const auto startFloat = static_cast(start); // Initialize auto rhsBoundIt = lowerBounds.begin(); - *rhsBoundIt = DistanceLowerBound{0.0F, squareDistance1d[0], -INF, INF}; + *rhsBoundIt = DistanceLowerBound{startFloat, squareDistance1d[start], -INF, INF}; auto firstBoundIt = lowerBounds.begin(); // Compute bounds to the right of minimum - float qFloat = 1.0F; - for (Eigen::Index q = 1; q < n; ++q) { + float qFloat = rhsBoundIt->v + 1.0F; + for (Eigen::Index q = start + 1; q < n; ++q) { // Storing this by value gives better performance (removed indirection?) const float fq = squareDistance1d[q]; float s = equidistancePoint(qFloat, fq, rhsBoundIt->v, rhsBoundIt->f); - if (s < nFloat) { // Can ignore the lower bound derived from this point if it is only active outsize of [0, n] + if (s < nFloat) { // Can ignore the lower bound derived from this point if it is only active outsize of [start, n] // Search backwards in bounds until s is within [z_lhs, z_rhs] while (s < rhsBoundIt->z_lhs) { --rhsBoundIt; s = equidistancePoint(qFloat, fq, rhsBoundIt->v, rhsBoundIt->f); } - if (s >= 0.0F) { // Intersection is within [0, n]. Adjust current lowerbound and insert the new one after + if (s > startFloat) { // Intersection is within [start, n]. Adjust current lowerbound and insert the new one after rhsBoundIt->z_rhs = s; // Update the bound that comes before ++rhsBoundIt; // insert new bound after. *rhsBoundIt = DistanceLowerBound{qFloat, fq, s, INF}; // Valid from s till infinity @@ -57,27 +58,45 @@ std::vector::iterator fillLowerBounds(const Eigen::Ref squareDistance1d, const std::vector& lowerBounds, - std::vector::const_iterator lowerBoundIt) { + std::vector::const_iterator lowerBoundIt, Eigen::Index start) { const auto n = squareDistance1d.size(); // Store active bound by value to remove indirection auto lastz = lowerBoundIt->z_rhs; - float qFloat = 0.0F; - for (Eigen::Index q = 0; q < n; ++q) { - // Find the new active lower bound if q no longer belongs to current interval - if (qFloat > lastz) { - do { - ++lowerBoundIt; - } while (lowerBoundIt->z_rhs < qFloat); - lastz = lowerBoundIt->z_rhs; + auto qFloat = static_cast(start); + for (Eigen::Index q = start; q < n; ++q) { + if (squareDistance1d[q] > 0.0F) { // Observe that if squareDistance1d[q] == 0.0, this is already the minimum and it will stay 0.0 + // Find the new active lower bound if q no longer belongs to current interval + if (qFloat > lastz) { + do { + ++lowerBoundIt; + } while (lowerBoundIt->z_rhs < qFloat); + lastz = lowerBoundIt->z_rhs; + } + + squareDistance1d[q] = squarePixelBorderDistance(qFloat, lowerBoundIt->v, lowerBoundIt->f); } - squareDistance1d[q] = squarePixelBorderDistance(qFloat, lowerBoundIt->v, lowerBoundIt->f); qFloat += 1.0F; } } +Eigen::Index lastZero(const Eigen::Ref& squareDistance1d) { + const auto n = squareDistance1d.size(); + + for (Eigen::Index q = 0; q < n; ++q) { + if (squareDistance1d[q] > 0.0F) { + if (q > 0) { + return q - 1; + } else { + return 0; + } + } + } + return n; +} + /** * 1D Euclidean Distance Transform based on: http://cs.brown.edu/people/pfelzens/dt/ * Adapted to work on Eigen objects directly @@ -85,33 +104,36 @@ void extractDistances(Eigen::Ref squareDistance1d, const std::v */ inline void squaredDistanceTransform_1d_inplace(Eigen::Ref squareDistance1d, std::vector& lowerBounds) { - assert(lowerBounds.size() == squareDistance1d.size()); + assert(lowerBounds.size() >= squareDistance1d.size()); + + auto start = lastZero(squareDistance1d); - // If all distances are zero, then result remains all zeros - if ((squareDistance1d.array() > 0.0F).any()) { - auto startIt = fillLowerBounds(squareDistance1d, lowerBounds); - extractDistances(squareDistance1d, lowerBounds, startIt); + // Only need to process line if there are nonzero elements. Also the first zeros stay untouched. + if (start < squareDistance1d.size()) { + auto startIt = fillLowerBounds(squareDistance1d, lowerBounds, start); + extractDistances(squareDistance1d, lowerBounds, startIt, start); } } -void squaredDistanceTransform_2d_columnwiseInplace(grid_map::Matrix& squareDistance) { - const size_t n = squareDistance.rows(); - const size_t m = squareDistance.cols(); - std::vector lowerBounds(n); - - for (size_t i = 0; i < m; i++) { +void squaredDistanceTransform_2d_columnwiseInplace(grid_map::Matrix& squareDistance, std::vector& lowerBounds) { + const auto m = squareDistance.cols(); + for (Eigen::Index i = 0; i < m; ++i) { squaredDistanceTransform_1d_inplace(squareDistance.col(i), lowerBounds); } } -void computePixelDistance2d(grid_map::Matrix& squareDistance) { +void computePixelDistance2dTranspose(grid_map::Matrix& squareDistance) { + // Allocate a buffer big enough for processing both rowise and columnwise + const size_t n = squareDistance.rows(); + const size_t m = squareDistance.cols(); + std::vector lowerBounds(std::max(n, m)); + // Process columns - squaredDistanceTransform_2d_columnwiseInplace(squareDistance); + squaredDistanceTransform_2d_columnwiseInplace(squareDistance, lowerBounds); // Process rows squareDistance.transposeInPlace(); - squaredDistanceTransform_2d_columnwiseInplace(squareDistance); - squareDistance.transposeInPlace(); + squaredDistanceTransform_2d_columnwiseInplace(squareDistance, lowerBounds); // Convert square distance to absolute distance squareDistance = squareDistance.cwiseSqrt(); @@ -119,73 +141,88 @@ void computePixelDistance2d(grid_map::Matrix& squareDistance) { // Initialize with square distance in height direction in pixel units if above the surface grid_map::Matrix initializeObstacleDistance(const grid_map::Matrix& elevationMap, float height, float resolution) { - return elevationMap.unaryExpr([=](float elevation) { - if (height > elevation) { - const auto diff = (height - elevation) / resolution; - return diff * diff; - } else { - return 0.0F; - } - }); + /* Vectorized implementation of: + * if (height > elevation) { + * const auto diff = (height - elevation) / resolution; + * return diff * diff; + * } else { + * return 0.0F; + * } + */ + return ((1.0F / resolution) * (height - elevationMap.array()).cwiseMax(0.0F)).square(); } // Initialize with square distance in height direction in pixel units if below the surface grid_map::Matrix initializeObstacleFreeDistance(const grid_map::Matrix& elevationMap, float height, float resolution) { - return elevationMap.unaryExpr([=](float elevation) { - if (height < elevation) { - const auto diff = (height - elevation) / resolution; - return diff * diff; - } else { - return 0.0F; - } - }); + /* Vectorized implementation of: + * if (height < elevation) { + * const auto diff = (height - elevation) / resolution; + * return diff * diff; + * } else { + * return 0.0F; + * } + */ + return ((1.0F / resolution) * (height - elevationMap.array()).cwiseMin(0.0F)).square(); } -grid_map::Matrix pixelDistanceToFreeSpace(const grid_map::Matrix& elevationMap, float height, float resolution) { +grid_map::Matrix pixelDistanceToFreeSpaceTranspose(const grid_map::Matrix& elevationMap, float height, float resolution) { grid_map::Matrix sdfObstacleFree = internal::initializeObstacleFreeDistance(elevationMap, height, resolution); - internal::computePixelDistance2d(sdfObstacleFree); + internal::computePixelDistance2dTranspose(sdfObstacleFree); return sdfObstacleFree; } -grid_map::Matrix pixelDistanceToObstacle(const grid_map::Matrix& elevationMap, float height, float resolution) { +grid_map::Matrix pixelDistanceToObstacleTranspose(const grid_map::Matrix& elevationMap, float height, float resolution) { grid_map::Matrix sdfObstacle = internal::initializeObstacleDistance(elevationMap, height, resolution); - internal::computePixelDistance2d(sdfObstacle); + internal::computePixelDistance2dTranspose(sdfObstacle); return sdfObstacle; } +grid_map::Matrix signedDistanceFromOccupancyTranspose(const Eigen::Matrix& occupancyGrid, float resolution) { + // Compute pixel distance to obstacles + grid_map::Matrix sdfObstacle = occupancyGrid.unaryExpr([=](bool val) { return (val) ? 0.0F : INF; }); + internal::computePixelDistance2dTranspose(sdfObstacle); + + // Compute pixel distance to obstacle free space + grid_map::Matrix sdfObstacleFree = occupancyGrid.unaryExpr([=](bool val) { return (val) ? INF : 0.0F; }); + internal::computePixelDistance2dTranspose(sdfObstacleFree); + + grid_map::Matrix sdf2d = resolution * (sdfObstacle - sdfObstacleFree); + return sdf2d; +} + } // namespace internal -grid_map::Matrix signedDistanceAtHeight(const grid_map::Matrix& elevationMap, float height, float resolution, float minHeight, - float maxHeight) { +grid_map::Matrix signedDistanceAtHeightTranspose(const grid_map::Matrix& elevationMap, float height, float resolution, float minHeight, + float maxHeight) { const bool allPixelsAreObstacles = height < minHeight; const bool allPixelsAreFreeSpace = height > maxHeight; if (allPixelsAreObstacles) { - return -resolution * internal::pixelDistanceToFreeSpace(elevationMap, height, resolution); + return -resolution * internal::pixelDistanceToFreeSpaceTranspose(elevationMap, height, resolution); } else if (allPixelsAreFreeSpace) { - return resolution * internal::pixelDistanceToObstacle(elevationMap, height, resolution); + return resolution * internal::pixelDistanceToObstacleTranspose(elevationMap, height, resolution); } else { // This layer contains a mix of obstacles and free space - return resolution * (internal::pixelDistanceToObstacle(elevationMap, height, resolution) - - internal::pixelDistanceToFreeSpace(elevationMap, height, resolution)); + return resolution * (internal::pixelDistanceToObstacleTranspose(elevationMap, height, resolution) - + internal::pixelDistanceToFreeSpaceTranspose(elevationMap, height, resolution)); } } +grid_map::Matrix signedDistanceAtHeight(const grid_map::Matrix& elevationMap, float height, float resolution, float minHeight, + float maxHeight) { + grid_map::Matrix sdfTranspose = signedDistanceAtHeightTranspose(elevationMap, height, resolution, minHeight, maxHeight); + sdfTranspose.transposeInPlace(); + return sdfTranspose; +} + grid_map::Matrix signedDistanceFromOccupancy(const Eigen::Matrix& occupancyGrid, float resolution) { auto obstacleCount = occupancyGrid.count(); bool hasObstacles = obstacleCount > 0; if (hasObstacles) { bool hasFreeSpace = obstacleCount < occupancyGrid.size(); if (hasFreeSpace) { - // Compute pixel distance to obstacles - grid_map::Matrix sdfObstacle = occupancyGrid.unaryExpr([=](bool val) { return (val) ? 0.0F : INF; }); - internal::computePixelDistance2d(sdfObstacle); - - // Compute pixel distance to obstacle free space - grid_map::Matrix sdfObstacleFree = occupancyGrid.unaryExpr([=](bool val) { return (val) ? INF : 0.0F; }); - internal::computePixelDistance2d(sdfObstacleFree); - - grid_map::Matrix sdf2d = resolution * (sdfObstacle - sdfObstacleFree); - return sdf2d; + grid_map::Matrix sdfTranspose = internal::signedDistanceFromOccupancyTranspose(occupancyGrid, resolution); + sdfTranspose.transposeInPlace(); + return sdfTranspose; } else { // Only obstacles -> distance is minus infinity everywhere return grid_map::Matrix::Constant(occupancyGrid.rows(), occupancyGrid.cols(), -INF); From d21627e3b04aa35e0d579370d38f87e69ce7d3d2 Mon Sep 17 00:00:00 2001 From: rgrandia Date: Tue, 2 Nov 2021 14:10:53 +0100 Subject: [PATCH 139/504] add test for derivatives --- .../test/testSignedDistance3d.cpp | 71 +++++++++++++++++++ 1 file changed, 71 insertions(+) diff --git a/signed_distance_field/test/testSignedDistance3d.cpp b/signed_distance_field/test/testSignedDistance3d.cpp index b846165d..1f08434e 100644 --- a/signed_distance_field/test/testSignedDistance3d.cpp +++ b/signed_distance_field/test/testSignedDistance3d.cpp @@ -79,4 +79,75 @@ TEST(testSignedDistance3d, randomTerrainInterpolation) { } } } +} + +TEST(testSignedDistance3d, randomTerrainDerivative) { + const int n = 10; + const int m = 20; + const float resolution = 0.1; + grid_map::GridMap map; + map.setGeometry({n * resolution, m * resolution}, resolution); + map.add("elevation"); + map.get("elevation").setRandom(); // random [-1.0, 1.0] + const grid_map::Matrix mapData = map.get("elevation"); + const float minHeight = mapData.minCoeff(); + const float maxHeight = mapData.maxCoeff(); + + signed_distance_field::GridmapSignedDistanceField sdf(map, "elevation", minHeight, maxHeight); + + // Check at different heights/ + int numLayers = (maxHeight - minHeight) / resolution; + for (int k = 0; k <= numLayers; ++k) { + const float height = minHeight + k * resolution; + const auto naiveSignedDistance = signed_distance_field::naiveSignedDistanceAtHeight(mapData, height, resolution); + const auto naiveSignedDistanceNext = signed_distance_field::naiveSignedDistanceAtHeight(mapData, height + resolution, resolution); + const auto naiveSignedDistancePrevious = signed_distance_field::naiveSignedDistanceAtHeight(mapData, height - resolution, resolution); + + for (int i = 0; i < mapData.rows(); ++i) { + for (int j = 0; j < mapData.rows(); ++j) { + grid_map::Position position2d; + map.getPosition({i, j}, position2d); + const auto sdfderivative = sdf.valueAndDerivative(switched_model::vector3_t{position2d.x(), position2d.y(), height}); + const auto sdfCheck = naiveSignedDistance(i, j); + ASSERT_LT(std::abs(sdfderivative.first - sdfCheck), 1e-4); + + // Check finite difference + float dx = 0.0; + if (i > 0) { + if (i + 1 < mapData.rows()) { + dx = (naiveSignedDistance(i + 1, j) - naiveSignedDistance(i - 1, j)) / (-2.0 * resolution); + } else { + dx = (naiveSignedDistance(i, j) - naiveSignedDistance(i - 1, j)) / (-resolution); + } + } else { + dx = (naiveSignedDistance(i + 1, j) - naiveSignedDistance(i, j)) / (-resolution); + } + ASSERT_LT(std::abs(dx - sdfderivative.second.x()), 1e-4); + + float dy = 0.0; + if (j > 0) { + if (j + 1 < mapData.cols()) { + dy = (naiveSignedDistance(i, j + 1) - naiveSignedDistance(i, j - 1)) / (-2.0 * resolution); + } else { + dy = (naiveSignedDistance(i, j) - naiveSignedDistance(i, j - 1)) / (-resolution); + } + } else { + dy = (naiveSignedDistance(i, j + 1) - naiveSignedDistance(i, j)) / (-resolution); + } + ASSERT_LT(std::abs(dy - sdfderivative.second.y()), 1e-4); + + float dz = 0.0; + if (k > 0) { + if (k < numLayers) { + dz = (naiveSignedDistanceNext(i, j) - naiveSignedDistancePrevious(i, j)) / (2.0 * resolution); + } else { + dz = (naiveSignedDistance(i, j) - naiveSignedDistancePrevious(i, j)) / (resolution); + } + } else { + dz = (naiveSignedDistanceNext(i, j) - naiveSignedDistance(i, j)) / (resolution); + } + ASSERT_LT(std::abs(dz - sdfderivative.second.z()), 1e-4); + } + } + } } \ No newline at end of file From aa768469aefe8a066e579d44a076959595626e9a Mon Sep 17 00:00:00 2001 From: rgrandia Date: Tue, 2 Nov 2021 14:16:23 +0100 Subject: [PATCH 140/504] refactor to reduce temporaries in SDF computation --- .../DistanceDerivatives.h | 18 +- .../GridmapSignedDistanceField.h | 3 + .../PixelBorderDistance.h | 3 - .../signed_distance_field/SignedDistance2d.h | 14 +- .../src/GridmapSignedDistanceField.cpp | 89 ++++++---- .../src/SignedDistance2d.cpp | 161 ++++++++++++------ .../test/testDerivatives.cpp | 22 +-- 7 files changed, 190 insertions(+), 120 deletions(-) diff --git a/signed_distance_field/include/signed_distance_field/DistanceDerivatives.h b/signed_distance_field/include/signed_distance_field/DistanceDerivatives.h index d0e97a7d..eb37ac65 100644 --- a/signed_distance_field/include/signed_distance_field/DistanceDerivatives.h +++ b/signed_distance_field/include/signed_distance_field/DistanceDerivatives.h @@ -8,11 +8,10 @@ namespace signed_distance_field { -inline Eigen::MatrixXf columnwiseCentralDifference(const Eigen::MatrixXf& data, float resolution) { +inline void columnwiseCentralDifference(const Eigen::MatrixXf& data, Eigen::MatrixXf& centralDifference, float resolution) { assert(data.cols() >= 2); // Minimum size to take finite differences. const int m = data.cols(); - Eigen::MatrixXf centralDifference(data.rows(), data.cols()); // First column centralDifference.col(0) = (data.col(1) - data.col(0)) / resolution; @@ -25,21 +24,16 @@ inline Eigen::MatrixXf columnwiseCentralDifference(const Eigen::MatrixXf& data, // Last column centralDifference.col(m - 1) = (data.col(m - 1) - data.col(m - 2)) / resolution; - - return centralDifference; -} - -inline Eigen::MatrixXf rowwiseCentralDifference(const Eigen::MatrixXf& data, float resolution) { - return columnwiseCentralDifference(data.transpose(), resolution).transpose(); } -inline Eigen::MatrixXf layerFiniteDifference(const Eigen::MatrixXf& data_k, const Eigen::MatrixXf& data_kp1, float resolution) { - return (data_kp1 - data_k) / resolution; +inline void layerFiniteDifference(const Eigen::MatrixXf& data_k, const Eigen::MatrixXf& data_kp1, Eigen::MatrixXf& result, + float resolution) { + result = (1.0F / resolution) * (data_kp1 - data_k); } -inline Eigen::MatrixXf layerCentralDifference(const Eigen::MatrixXf& data_km1, const Eigen::MatrixXf& data_kp1, float resolution) { +inline void layerCentralDifference(const Eigen::MatrixXf& data_km1, const Eigen::MatrixXf& data_kp1, Eigen::MatrixXf& result, float resolution) { float doubleResolution = 2.0F * resolution; - return (data_kp1 - data_km1) / doubleResolution; + result = (1.0F / doubleResolution) * (data_kp1 - data_km1); } } // namespace signed_distance_field diff --git a/signed_distance_field/include/signed_distance_field/GridmapSignedDistanceField.h b/signed_distance_field/include/signed_distance_field/GridmapSignedDistanceField.h index d803dfa6..927fa7a8 100644 --- a/signed_distance_field/include/signed_distance_field/GridmapSignedDistanceField.h +++ b/signed_distance_field/include/signed_distance_field/GridmapSignedDistanceField.h @@ -56,6 +56,9 @@ class GridmapSignedDistanceField : public switched_model::SignedDistanceField { private: GridmapSignedDistanceField(const GridmapSignedDistanceField& other); void computeSignedDistance(const grid_map::Matrix& elevation); + void computeLayerSdfandDeltaX(const grid_map::Matrix& elevation, grid_map::Matrix& currentLayer, grid_map::Matrix& dxTranspose, + grid_map::Matrix& sdfTranspose, grid_map::Matrix& tmp, grid_map::Matrix& tmpTranspose, + const float gridOriginZ, const float resolution, const float minHeight, const float maxHeight) const; void emplacebackLayerData(const grid_map::Matrix& signedDistance, const grid_map::Matrix& dxTranspose, const grid_map::Matrix& dy, const grid_map::Matrix& dz); diff --git a/signed_distance_field/include/signed_distance_field/PixelBorderDistance.h b/signed_distance_field/include/signed_distance_field/PixelBorderDistance.h index c72db18e..bee0014e 100644 --- a/signed_distance_field/include/signed_distance_field/PixelBorderDistance.h +++ b/signed_distance_field/include/signed_distance_field/PixelBorderDistance.h @@ -26,9 +26,6 @@ inline float pixelBorderDistance(float i, float j) { * Returns square pixelBorderDistance, adding offset f. */ inline float squarePixelBorderDistance(float i, float j, float f) { - assert(i == j || - std::abs(i - j) >= 1.0F); // Check that i and j are proper pixel locations: either the same pixel or non-overlapping pixels - float d = pixelBorderDistance(i, j); return d * d + f; } diff --git a/signed_distance_field/include/signed_distance_field/SignedDistance2d.h b/signed_distance_field/include/signed_distance_field/SignedDistance2d.h index e937ad3a..8f1b8709 100644 --- a/signed_distance_field/include/signed_distance_field/SignedDistance2d.h +++ b/signed_distance_field/include/signed_distance_field/SignedDistance2d.h @@ -27,9 +27,19 @@ grid_map::Matrix signedDistanceAtHeight(const grid_map::Matrix& elevationMap, fl /** * Same as above, but returns the sdf in transposed form. + * Also takes temporary variables from outside to prevent memory allocation. + * + * @param elevationMap : elevation data. + * @param sdfTranspose : [output] resulting sdf in transposed form (automatically allocated if of wrong size) + * @param tmp : temporary of size elevationMap (automatically allocated if of wrong size) + * @param tmpTranspose : temporary of size elevationMap transpose (automatically allocated if of wrong size) + * @param height : height to generate the signed distance at. + * @param resolution : resolution of the elevation map. (The true distance [m] between cells in world frame) + * @param minHeight : the lowest height contained in elevationMap + * @param maxHeight : the maximum height contained in elevationMap */ -grid_map::Matrix signedDistanceAtHeightTranspose(const grid_map::Matrix& elevationMap, float height, float resolution, float minHeight, - float maxHeight); +void signedDistanceAtHeightTranspose(const grid_map::Matrix& elevationMap, grid_map::Matrix& sdfTranspose, grid_map::Matrix& tmp, + grid_map::Matrix& tmpTranspose, float height, float resolution, float minHeight, float maxHeight); grid_map::Matrix signedDistanceFromOccupancy(const Eigen::Matrix& occupancyGrid, float resolution); diff --git a/signed_distance_field/src/GridmapSignedDistanceField.cpp b/signed_distance_field/src/GridmapSignedDistanceField.cpp index de2a2e77..05666083 100644 --- a/signed_distance_field/src/GridmapSignedDistanceField.cpp +++ b/signed_distance_field/src/GridmapSignedDistanceField.cpp @@ -63,6 +63,11 @@ std::pair GridmapSignedDist } void GridmapSignedDistanceField::computeSignedDistance(const grid_map::Matrix& elevation) { + using signed_distance_field::columnwiseCentralDifference; + using signed_distance_field::layerCentralDifference; + using signed_distance_field::layerFiniteDifference; + using signed_distance_field::signedDistanceAtHeightTranspose; + const auto gridOriginZ = static_cast(gridmap3DLookup_.gridOrigin_.z()); const auto resolution = static_cast(gridmap3DLookup_.resolution_); const auto minHeight = elevation.minCoeff(); @@ -73,58 +78,80 @@ void GridmapSignedDistanceField::computeSignedDistance(const grid_map::Matrix& e * - SDF at a height is in transposed form after computing it. * - Take the finite difference in dx, now that this data is continuous in memory. * - Transpose the SDF - * - Take other finite differences, now dy is efficient. + * - Take other finite differences. Now dy is efficient. * - When writing to the 3D structure, keep in mind that dx is still transposed. */ - // First layer: forward difference in z - grid_map::Matrix currentLayer = - signed_distance_field::signedDistanceAtHeightTranspose(elevation, gridOriginZ, resolution, minHeight, maxHeight); - grid_map::Matrix dxTranspose = signed_distance_field::columnwiseCentralDifference(currentLayer, -resolution); // dx / drow = -resolution - currentLayer.transposeInPlace(); + // Memory needed to compute the SDF at a layer + grid_map::Matrix tmp; // allocated on first use + grid_map::Matrix tmpTranspose; // allocated on first use + grid_map::Matrix sdfTranspose; // allocated on first use + + // Memory needed to keep a buffer of layers. We need 3 due to the central difference + grid_map::Matrix currentLayer; // allocated on first use + grid_map::Matrix nextLayer; // allocated on first use + grid_map::Matrix previousLayer; // allocated on first use - grid_map::Matrix nextLayer = - signed_distance_field::signedDistanceAtHeightTranspose(elevation, gridOriginZ + resolution, resolution, minHeight, maxHeight); - grid_map::Matrix dxNextTranspose = signed_distance_field::columnwiseCentralDifference(nextLayer, -resolution); - nextLayer.transposeInPlace(); + // Memory needed to compute finite differences + grid_map::Matrix dxTranspose = grid_map::Matrix::Zero(elevation.cols(), elevation.rows()); + grid_map::Matrix dxNextTranspose = grid_map::Matrix::Zero(elevation.cols(), elevation.rows()); + grid_map::Matrix dy = grid_map::Matrix::Zero(elevation.rows(), elevation.cols()); + grid_map::Matrix dz = grid_map::Matrix::Zero(elevation.rows(), elevation.cols()); - grid_map::Matrix dz = signed_distance_field::layerFiniteDifference(currentLayer, nextLayer, resolution); // dz / layer = +resolution - grid_map::Matrix dy = signed_distance_field::columnwiseCentralDifference(currentLayer, -resolution); // dy / dcol = -resolution + // Compute SDF of first layer + computeLayerSdfandDeltaX(elevation, currentLayer, dxTranspose, sdfTranspose, tmp, tmpTranspose, gridOriginZ, resolution, minHeight, + maxHeight); + + // Compute SDF of second layer + computeLayerSdfandDeltaX(elevation, nextLayer, dxNextTranspose, sdfTranspose, tmp, tmpTranspose, gridOriginZ + resolution, resolution, + minHeight, maxHeight); + + // First layer: forward difference in z + layerFiniteDifference(currentLayer, nextLayer, dz, resolution); // dz / layer = +resolution + columnwiseCentralDifference(currentLayer, dy, -resolution); // dy / dcol = -resolution emplacebackLayerData(currentLayer, dxTranspose, dy, dz); // Middle layers: central difference in z for (size_t layerZ = 1; layerZ + 1 < gridmap3DLookup_.gridsize_.z; ++layerZ) { - grid_map::Matrix previousLayer = std::move(currentLayer); - currentLayer = std::move(nextLayer); - dxTranspose = std::move(dxNextTranspose); + // Circulate layer buffers + previousLayer.swap(currentLayer); + currentLayer.swap(nextLayer); + dxTranspose.swap(dxNextTranspose); - // Compute next layer transposed - nextLayer = signed_distance_field::signedDistanceAtHeightTranspose(elevation, gridOriginZ + (layerZ + 1) * resolution, resolution, - minHeight, maxHeight); - - // Take dx here, so we can operate on columns before transposing - dxNextTranspose = signed_distance_field::columnwiseCentralDifference(nextLayer, -resolution); - - // Transpose the data - nextLayer.transposeInPlace(); + // Compute SDF of next layer + computeLayerSdfandDeltaX(elevation, nextLayer, dxNextTranspose, sdfTranspose, tmp, tmpTranspose, + gridOriginZ + (layerZ + 1) * resolution, resolution, minHeight, maxHeight); // Compute other finite differences - dz = signed_distance_field::layerCentralDifference(previousLayer, nextLayer, resolution); - dy = signed_distance_field::columnwiseCentralDifference(currentLayer, -resolution); + layerCentralDifference(previousLayer, nextLayer, dz, resolution); + columnwiseCentralDifference(currentLayer, dy, -resolution); // Add the data to the 3D structure emplacebackLayerData(currentLayer, dxTranspose, dy, dz); } + // Circulate layer buffers on last time + previousLayer.swap(currentLayer); + currentLayer.swap(nextLayer); + dxTranspose.swap(dxNextTranspose); + // Last layer: backward difference in z - grid_map::Matrix previousLayer = std::move(currentLayer); - currentLayer = std::move(nextLayer); - dxTranspose = std::move(dxNextTranspose); - dz = signed_distance_field::layerCentralDifference(previousLayer, currentLayer, resolution); - dy = signed_distance_field::columnwiseCentralDifference(currentLayer, -resolution); + layerFiniteDifference(previousLayer, currentLayer, dz, resolution); + columnwiseCentralDifference(currentLayer, dy, -resolution); + + // Add the data to the 3D structure emplacebackLayerData(currentLayer, dxTranspose, dy, dz); } +void GridmapSignedDistanceField::computeLayerSdfandDeltaX(const grid_map::Matrix& elevation, grid_map::Matrix& currentLayer, + grid_map::Matrix& dxTranspose, grid_map::Matrix& sdfTranspose, + grid_map::Matrix& tmp, grid_map::Matrix& tmpTranspose, const float gridOriginZ, + const float resolution, const float minHeight, const float maxHeight) const { + // Compute SDF + dx of layer: compute sdfTranspose -> take dxTranspose -> transpose to get sdf + signedDistanceAtHeightTranspose(elevation, sdfTranspose, tmp, tmpTranspose, gridOriginZ, resolution, minHeight, maxHeight); + columnwiseCentralDifference(sdfTranspose, dxTranspose, -resolution); // dx / drow = -resolution + currentLayer = sdfTranspose.transpose(); +} void GridmapSignedDistanceField::emplacebackLayerData(const grid_map::Matrix& signedDistance, const grid_map::Matrix& dxdxTranspose, const grid_map::Matrix& dy, const grid_map::Matrix& dz) { diff --git a/signed_distance_field/src/SignedDistance2d.cpp b/signed_distance_field/src/SignedDistance2d.cpp index edfc3b21..e4248770 100644 --- a/signed_distance_field/src/SignedDistance2d.cpp +++ b/signed_distance_field/src/SignedDistance2d.cpp @@ -16,6 +16,12 @@ struct DistanceLowerBound { float z_rhs; // rhs of interval where this lower bound holds }; +/** + * 1D Euclidean Distance Transform based on: http://cs.brown.edu/people/pfelzens/dt/ + * Adapted to work on Eigen objects directly + * Optimized computation of s. + * Some optimization to not keep track of bounds that lie fully outside the grid. + */ std::vector::iterator fillLowerBounds(const Eigen::Ref& squareDistance1d, std::vector& lowerBounds, Eigen::Index start) { const auto n = squareDistance1d.size(); @@ -57,7 +63,7 @@ std::vector::iterator fillLowerBounds(const Eigen::Ref squareDistance1d, const std::vector& lowerBounds, +void extractSquareDistances(Eigen::Ref squareDistance1d, const std::vector& lowerBounds, std::vector::const_iterator lowerBoundIt, Eigen::Index start) { const auto n = squareDistance1d.size(); @@ -82,7 +88,39 @@ void extractDistances(Eigen::Ref squareDistance1d, const std::v } } -Eigen::Index lastZero(const Eigen::Ref& squareDistance1d) { +/** + * Same as extractSquareDistances, but takes the sqrt as a final step. + * Because several cells will have a value of 0.0 (obstacle / free space label), we can skip the sqrt computation for those. + */ +void extractDistances(Eigen::Ref squareDistance1d, const std::vector& lowerBounds, + std::vector::const_iterator lowerBoundIt, Eigen::Index start) { + const auto n = squareDistance1d.size(); + + // Store active bound by value to remove indirection + auto lastz = lowerBoundIt->z_rhs; + + auto qFloat = static_cast(start); + for (Eigen::Index q = start; q < n; ++q) { + if (squareDistance1d[q] > 0.0F) { // Observe that if squareDistance1d[q] == 0.0, this is already the minimum and it will stay 0.0 + // Find the new active lower bound if q no longer belongs to current interval + if (qFloat > lastz) { + do { + ++lowerBoundIt; + } while (lowerBoundIt->z_rhs < qFloat); + lastz = lowerBoundIt->z_rhs; + } + + squareDistance1d[q] = std::sqrt(squarePixelBorderDistance(qFloat, lowerBoundIt->v, lowerBoundIt->f)); + } + + qFloat += 1.0F; + } +} + +/** + * Find the location of the last zero value from the front + */ +Eigen::Index lastZeroFromFront(const Eigen::Ref& squareDistance1d) { const auto n = squareDistance1d.size(); for (Eigen::Index q = 0; q < n; ++q) { @@ -97,50 +135,60 @@ Eigen::Index lastZero(const Eigen::Ref& squareDistance1d) { return n; } -/** - * 1D Euclidean Distance Transform based on: http://cs.brown.edu/people/pfelzens/dt/ - * Adapted to work on Eigen objects directly - * Optimized computation of s - */ inline void squaredDistanceTransform_1d_inplace(Eigen::Ref squareDistance1d, std::vector& lowerBounds) { assert(lowerBounds.size() >= squareDistance1d.size()); - auto start = lastZero(squareDistance1d); + auto start = lastZeroFromFront(squareDistance1d); // Only need to process line if there are nonzero elements. Also the first zeros stay untouched. if (start < squareDistance1d.size()) { auto startIt = fillLowerBounds(squareDistance1d, lowerBounds, start); - extractDistances(squareDistance1d, lowerBounds, startIt, start); + extractSquareDistances(squareDistance1d, lowerBounds, startIt, start); } } -void squaredDistanceTransform_2d_columnwiseInplace(grid_map::Matrix& squareDistance, std::vector& lowerBounds) { - const auto m = squareDistance.cols(); - for (Eigen::Index i = 0; i < m; ++i) { - squaredDistanceTransform_1d_inplace(squareDistance.col(i), lowerBounds); +/** + * Same as above, but takes sqrt as final step (within the same loop) + * @param squareDistance1d : input as squared distance, output is the distance after sqrt. + * @param lowerBounds : work vector + */ +inline void distanceTransform_1d_inplace(Eigen::Ref squareDistance1d, + std::vector& lowerBounds) { + assert(lowerBounds.size() >= squareDistance1d.size()); + + auto start = lastZeroFromFront(squareDistance1d); + + // Only need to process line if there are nonzero elements. Also the first zeros stay untouched. + if (start < squareDistance1d.size()) { + auto startIt = fillLowerBounds(squareDistance1d, lowerBounds, start); + extractDistances(squareDistance1d, lowerBounds, startIt, start); } } -void computePixelDistance2dTranspose(grid_map::Matrix& squareDistance) { +void computePixelDistance2dTranspose(grid_map::Matrix& input, grid_map::Matrix& distanceTranspose) { + const size_t n = input.rows(); + const size_t m = input.cols(); + // Allocate a buffer big enough for processing both rowise and columnwise - const size_t n = squareDistance.rows(); - const size_t m = squareDistance.cols(); std::vector lowerBounds(std::max(n, m)); // Process columns - squaredDistanceTransform_2d_columnwiseInplace(squareDistance, lowerBounds); - - // Process rows - squareDistance.transposeInPlace(); - squaredDistanceTransform_2d_columnwiseInplace(squareDistance, lowerBounds); + for (Eigen::Index i = 0; i < m; ++i) { + squaredDistanceTransform_1d_inplace(input.col(i), lowerBounds); + } - // Convert square distance to absolute distance - squareDistance = squareDistance.cwiseSqrt(); + // Process rows (= columns after transpose). + distanceTranspose = input.transpose(); + for (Eigen::Index i = 0; i < n; ++i) { + // Fuses square distance algorithm and taking sqrt. + distanceTransform_1d_inplace(distanceTranspose.col(i), lowerBounds); + } } // Initialize with square distance in height direction in pixel units if above the surface -grid_map::Matrix initializeObstacleDistance(const grid_map::Matrix& elevationMap, float height, float resolution) { +void initializeObstacleDistance(const grid_map::Matrix& elevationMap, grid_map::Matrix& result, float height, + float resolution) { /* Vectorized implementation of: * if (height > elevation) { * const auto diff = (height - elevation) / resolution; @@ -149,11 +197,12 @@ grid_map::Matrix initializeObstacleDistance(const grid_map::Matrix& elevationMap * return 0.0F; * } */ - return ((1.0F / resolution) * (height - elevationMap.array()).cwiseMax(0.0F)).square(); + result = ((1.0F / resolution) * (height - elevationMap.array()).cwiseMax(0.0F)).square(); } // Initialize with square distance in height direction in pixel units if below the surface -grid_map::Matrix initializeObstacleFreeDistance(const grid_map::Matrix& elevationMap, float height, float resolution) { +void initializeObstacleFreeDistance(const grid_map::Matrix& elevationMap, grid_map::Matrix& result, float height, + float resolution) { /* Vectorized implementation of: * if (height < elevation) { * const auto diff = (height - elevation) / resolution; @@ -162,56 +211,66 @@ grid_map::Matrix initializeObstacleFreeDistance(const grid_map::Matrix& elevatio * return 0.0F; * } */ - return ((1.0F / resolution) * (height - elevationMap.array()).cwiseMin(0.0F)).square(); + result = ((1.0F / resolution) * (height - elevationMap.array()).cwiseMin(0.0F)).square(); } -grid_map::Matrix pixelDistanceToFreeSpaceTranspose(const grid_map::Matrix& elevationMap, float height, float resolution) { - grid_map::Matrix sdfObstacleFree = internal::initializeObstacleFreeDistance(elevationMap, height, resolution); - internal::computePixelDistance2dTranspose(sdfObstacleFree); - return sdfObstacleFree; +void pixelDistanceToFreeSpaceTranspose(const grid_map::Matrix& elevationMap, grid_map::Matrix& sdfObstacleFree, grid_map::Matrix& tmp, float height, + float resolution) { + internal::initializeObstacleFreeDistance(elevationMap, tmp, height, resolution); + internal::computePixelDistance2dTranspose(tmp, sdfObstacleFree); } -grid_map::Matrix pixelDistanceToObstacleTranspose(const grid_map::Matrix& elevationMap, float height, float resolution) { - grid_map::Matrix sdfObstacle = internal::initializeObstacleDistance(elevationMap, height, resolution); - internal::computePixelDistance2dTranspose(sdfObstacle); - return sdfObstacle; +void pixelDistanceToObstacleTranspose(const grid_map::Matrix& elevationMap, grid_map::Matrix& sdfObstacleTranspose, grid_map::Matrix& tmp, float height, + float resolution) { + internal::initializeObstacleDistance(elevationMap, tmp, height, resolution); + internal::computePixelDistance2dTranspose(tmp, sdfObstacleTranspose); } grid_map::Matrix signedDistanceFromOccupancyTranspose(const Eigen::Matrix& occupancyGrid, float resolution) { // Compute pixel distance to obstacles - grid_map::Matrix sdfObstacle = occupancyGrid.unaryExpr([=](bool val) { return (val) ? 0.0F : INF; }); - internal::computePixelDistance2dTranspose(sdfObstacle); + grid_map::Matrix sdfObstacle; + grid_map::Matrix init = occupancyGrid.unaryExpr([=](bool val) { return (val) ? 0.0F : INF; }); + internal::computePixelDistance2dTranspose(init, sdfObstacle); // Compute pixel distance to obstacle free space - grid_map::Matrix sdfObstacleFree = occupancyGrid.unaryExpr([=](bool val) { return (val) ? INF : 0.0F; }); - internal::computePixelDistance2dTranspose(sdfObstacleFree); + grid_map::Matrix sdfObstacleFree; + init = occupancyGrid.unaryExpr([=](bool val) { return (val) ? INF : 0.0F; }); + internal::computePixelDistance2dTranspose(init, sdfObstacleFree); - grid_map::Matrix sdf2d = resolution * (sdfObstacle - sdfObstacleFree); - return sdf2d; + return resolution * (sdfObstacle - sdfObstacleFree); } } // namespace internal -grid_map::Matrix signedDistanceAtHeightTranspose(const grid_map::Matrix& elevationMap, float height, float resolution, float minHeight, +void signedDistanceAtHeightTranspose(const grid_map::Matrix& elevationMap, grid_map::Matrix& sdfTranspose, grid_map::Matrix& tmp, grid_map::Matrix& tmpTranspose, float height, float resolution, float minHeight, float maxHeight) { const bool allPixelsAreObstacles = height < minHeight; const bool allPixelsAreFreeSpace = height > maxHeight; if (allPixelsAreObstacles) { - return -resolution * internal::pixelDistanceToFreeSpaceTranspose(elevationMap, height, resolution); + internal::pixelDistanceToFreeSpaceTranspose(elevationMap, sdfTranspose, tmp, height, resolution); + + sdfTranspose *= -resolution; } else if (allPixelsAreFreeSpace) { - return resolution * internal::pixelDistanceToObstacleTranspose(elevationMap, height, resolution); + internal::pixelDistanceToObstacleTranspose(elevationMap, sdfTranspose, tmp, height, resolution); + + sdfTranspose *= resolution; } else { // This layer contains a mix of obstacles and free space - return resolution * (internal::pixelDistanceToObstacleTranspose(elevationMap, height, resolution) - - internal::pixelDistanceToFreeSpaceTranspose(elevationMap, height, resolution)); + internal::pixelDistanceToObstacleTranspose(elevationMap, sdfTranspose, tmp, height, resolution); + internal::pixelDistanceToFreeSpaceTranspose(elevationMap, tmpTranspose, tmp, height, resolution); + + sdfTranspose = resolution * (sdfTranspose - tmpTranspose); } } grid_map::Matrix signedDistanceAtHeight(const grid_map::Matrix& elevationMap, float height, float resolution, float minHeight, float maxHeight) { - grid_map::Matrix sdfTranspose = signedDistanceAtHeightTranspose(elevationMap, height, resolution, minHeight, maxHeight); - sdfTranspose.transposeInPlace(); - return sdfTranspose; + grid_map::Matrix sdfTranspose; + grid_map::Matrix tmp; + grid_map::Matrix tmpTranspose; + + signedDistanceAtHeightTranspose(elevationMap, sdfTranspose, tmp, tmpTranspose, height, resolution, minHeight, maxHeight); + return sdfTranspose.transpose(); } grid_map::Matrix signedDistanceFromOccupancy(const Eigen::Matrix& occupancyGrid, float resolution) { @@ -220,9 +279,7 @@ grid_map::Matrix signedDistanceFromOccupancy(const Eigen::Matrix& if (hasObstacles) { bool hasFreeSpace = obstacleCount < occupancyGrid.size(); if (hasFreeSpace) { - grid_map::Matrix sdfTranspose = internal::signedDistanceFromOccupancyTranspose(occupancyGrid, resolution); - sdfTranspose.transposeInPlace(); - return sdfTranspose; + return internal::signedDistanceFromOccupancyTranspose(occupancyGrid, resolution).transpose(); } else { // Only obstacles -> distance is minus infinity everywhere return grid_map::Matrix::Constant(occupancyGrid.rows(), occupancyGrid.cols(), -INF); diff --git a/signed_distance_field/test/testDerivatives.cpp b/signed_distance_field/test/testDerivatives.cpp index f56c35b7..538a3505 100644 --- a/signed_distance_field/test/testDerivatives.cpp +++ b/signed_distance_field/test/testDerivatives.cpp @@ -18,26 +18,8 @@ TEST(testDerivatives, columnwise) { manualDifference << 1.0 /resolution, 3.0 /doubleResolution, 2.0 /resolution, 2.0 /resolution, 4.0 /doubleResolution, 2.0 /resolution; - const auto computedDifference = signed_distance_field::columnwiseCentralDifference(data, resolution); + Eigen::MatrixXf computedDifference = Eigen::MatrixXf::Zero(data.rows(), data.cols()); + signed_distance_field::columnwiseCentralDifference(data, computedDifference, resolution); ASSERT_TRUE(manualDifference.isApprox(computedDifference)); } - -TEST(testDerivatives, rowwise) { - Eigen::MatrixXf data(3, 2); - data << 1.0, 2.0, - 4.0, 2.0, - 4.0, 6.0; - - float resolution = 0.1; - float doubleResolution = 2.0F * resolution; - - Eigen::MatrixXf manualDifference(3, 2); - manualDifference << 3.0 /resolution, 0.0 /resolution, - 3.0 /doubleResolution, 4.0 /doubleResolution, - 0.0 /resolution, 4.0 /resolution; - - const auto computedDifference = signed_distance_field::rowwiseCentralDifference(data, resolution); - - ASSERT_TRUE(manualDifference.isApprox(computedDifference)); -} \ No newline at end of file From 69eef105aaeed016ae49206d3f9acbd3d6c37b23 Mon Sep 17 00:00:00 2001 From: rgrandia Date: Thu, 4 Nov 2021 10:32:38 +0100 Subject: [PATCH 141/504] Fix extraction of plane parameters after RANSAC. Get plane from RANSAC results directly --- .../ransac/RansacPlaneExtractor.hpp | 6 ++++ .../src/ransac/RansacPlaneExtractor.cpp | 16 +++++++++++ .../SlidingWindowPlaneExtractor.cpp | 28 ++++++------------- 3 files changed, 30 insertions(+), 20 deletions(-) diff --git a/convex_plane_decomposition/include/convex_plane_decomposition/ransac/RansacPlaneExtractor.hpp b/convex_plane_decomposition/include/convex_plane_decomposition/ransac/RansacPlaneExtractor.hpp index 8a9ad54d..ca76b89d 100644 --- a/convex_plane_decomposition/include/convex_plane_decomposition/ransac/RansacPlaneExtractor.hpp +++ b/convex_plane_decomposition/include/convex_plane_decomposition/ransac/RansacPlaneExtractor.hpp @@ -2,6 +2,8 @@ #include +#include + #include #include #include @@ -24,6 +26,7 @@ using NormalMap = CGAL::Second_of_pair_property_map; using Traits = CGAL::Shape_detection::Efficient_RANSAC_traits; using EfficientRansac = CGAL::Shape_detection::Efficient_RANSAC; using Plane = CGAL::Shape_detection::Plane; +using Shape = CGAL::Shape_detection::Shape_base; class RansacPlaneExtractor { public: @@ -33,6 +36,9 @@ class RansacPlaneExtractor { void detectPlanes(std::vector& points_with_normal); + /// Return {plane normal, support vector} for the detected shape + static std::pair getPlaneParameters(Shape* shapePtr); + /// Returns an iterator range. Data is still in the ransac_object EfficientRansac::Shape_range getDetectedPlanes() const { return ransac_.shapes(); }; diff --git a/convex_plane_decomposition/src/ransac/RansacPlaneExtractor.cpp b/convex_plane_decomposition/src/ransac/RansacPlaneExtractor.cpp index b035af32..a977c31e 100644 --- a/convex_plane_decomposition/src/ransac/RansacPlaneExtractor.cpp +++ b/convex_plane_decomposition/src/ransac/RansacPlaneExtractor.cpp @@ -20,4 +20,20 @@ void RansacPlaneExtractor::detectPlanes(std::vector& points_wit ransac_.detect(cgalRansacParameters_); } +std::pair RansacPlaneExtractor::getPlaneParameters(Shape* shapePtr) { + const auto* planePtr = static_cast(shapePtr); + + // Get Normal, pointing upwards + Eigen::Vector3d normalVector(planePtr->plane_normal().x(), planePtr->plane_normal().y(), planePtr->plane_normal().z()); + if (normalVector.z() < 0.0) { + normalVector = -normalVector; + } + + // Project origin to get a point on the plane. + const auto support = planePtr->projection({0.0, 0.0, 0.0}); + const Eigen::Vector3d supportVector(support.x(), support.y(), support.z()); + + return {normalVector, supportVector}; +} + } // namespace ransac_plane_extractor diff --git a/convex_plane_decomposition/src/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.cpp b/convex_plane_decomposition/src/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.cpp index 4b58285a..9ba4c54d 100644 --- a/convex_plane_decomposition/src/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.cpp +++ b/convex_plane_decomposition/src/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.cpp @@ -234,32 +234,20 @@ void SlidingWindowPlaneExtractor::refineLabelWithRansac(int label, std::vector& plane_point_indices = plane->indices_of_assigned_points(); - Eigen::Vector3d sum = Eigen::Vector3d::Zero(); - Eigen::Matrix3d sumSquared = Eigen::Matrix3d::Zero(); - for (const auto index : plane_point_indices) { - const auto& point = pointsWithNormal[index].first; - const Eigen::Vector3d point3d(point.x(), point.y(), point.z()); - - sum += point3d; - sumSquared.noalias() += point3d * point3d.transpose(); - } - - const auto numPoints = plane_point_indices.size(); - const Eigen::Vector3d supportVector = sum / numPoints; - const Eigen::Vector3d normalVector = normalAndErrorFromCovariance(numPoints, supportVector, sumSquared).first; + const auto planeInfo = ransac_plane_extractor::RansacPlaneExtractor::getPlaneParameters(plane.get()); + const auto& normalVector = planeInfo.first; + const auto& supportVector = planeInfo.second; if (isWithinInclinationLimit(normalVector)) { + // Bookkeeping of labels : reuse old label for the first plane + const int newLabel = (reuseLabel) ? label : ++segmentedPlanesMap_.highestLabel; + reuseLabel = false; + const auto terrainOrientation = switched_model::orientationWorldToTerrainFromSurfaceNormalInWorld(normalVector); segmentedPlanesMap_.labelPlaneParameters.emplace_back(newLabel, TerrainPlane(supportVector, terrainOrientation)); // Assign label in segmentation - for (const auto index : plane_point_indices) { + for (const auto index : plane->indices_of_assigned_points()) { const auto& point = pointsWithNormal[index].first; // Need to lookup indices in map, because RANSAC has reordered the points From 94e3b1278dd313ae984cbf49fd38c24bbfb62077 Mon Sep 17 00:00:00 2001 From: rgrandia Date: Tue, 23 Nov 2021 10:24:55 +0100 Subject: [PATCH 142/504] add raw map to visualization --- .../src/ConvexPlaneDecompositionRos.cpp | 3 +++ 1 file changed, 3 insertions(+) diff --git a/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp b/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp index 87c1118d..f23e7e82 100644 --- a/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp +++ b/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp @@ -113,6 +113,7 @@ void ConvexPlaneExtractionROS::callback(const grid_map_msgs::GridMap& message) { return; } ROS_INFO("...done."); + const auto elevationRaw = elevationMap.get(elevationLayer_); auto t0 = std::chrono::high_resolution_clock::now(); preprocessing_->preprocess(elevationMap, elevationLayer_); @@ -150,6 +151,8 @@ void ConvexPlaneExtractionROS::callback(const grid_map_msgs::GridMap& message) { } // --- Visualize in Rviz --- Not published to the controller + // Add raw map + planarTerrain.gridMap.add("elevation_raw", elevationRaw); // Add surface normals slidingWindowPlaneExtractor_->addSurfaceNormalToMap(planarTerrain.gridMap, "normal"); From 2a6aa6776581e962d9ca32fd7d2ac0b185ca2bdc Mon Sep 17 00:00:00 2001 From: rgrandia Date: Wed, 1 Dec 2021 15:49:03 +0100 Subject: [PATCH 143/504] adapt smoothing size after changing reference generation --- convex_plane_decomposition_ros/config/parameters.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/convex_plane_decomposition_ros/config/parameters.yaml b/convex_plane_decomposition_ros/config/parameters.yaml index 46a41500..0ecc3d1d 100644 --- a/convex_plane_decomposition_ros/config/parameters.yaml +++ b/convex_plane_decomposition_ros/config/parameters.yaml @@ -31,5 +31,5 @@ postprocessing: nonplanar_height_offset: 0.02 # Added offset in Z direction for non-planar cells of the map. (Additional to extracted_planes_height_offset) nonplanar_horizontal_offset: 1 # Added offset in XY direction for non-planar cells of the map. In number of pixels. smoothing_dilation_size: 0.2 # Half the width of the dilation used before the smooth layer [m] - smoothing_box_kernel_size: 0.2 # Half the width of the box kernel used for the smooth layer [m] + smoothing_box_kernel_size: 0.1 # Half the width of the box kernel used for the smooth layer [m] smoothing_gauss_kernel_size: 0.05 # Half the width of the Gaussian kernel used for the smooth layer [m] \ No newline at end of file From 376215d1bd4f6410c9fbd158af73b78dcc4aeb65 Mon Sep 17 00:00:00 2001 From: rgrandia Date: Mon, 6 Dec 2021 19:36:39 +0100 Subject: [PATCH 144/504] copy shared library instead of building from source --- pcl_catkin/CMakeLists.txt | 28 ++++++------------ pcl_catkin/README.md | 3 +- pcl_catkin/cmake/pcl-extras.cmake.in | 3 -- pcl_catkin/lib/libpcl_visualization.so.1.10 | Bin 0 -> 1747408 bytes pcl_catkin/lib/libpcl_visualization.so.1.10.0 | Bin 0 -> 1747408 bytes .../lib/pkgconfig/pcl_visualization-1.10.pc | 13 ++++++++ 6 files changed, 24 insertions(+), 23 deletions(-) delete mode 100644 pcl_catkin/cmake/pcl-extras.cmake.in create mode 100644 pcl_catkin/lib/libpcl_visualization.so.1.10 create mode 100644 pcl_catkin/lib/libpcl_visualization.so.1.10.0 create mode 100644 pcl_catkin/lib/pkgconfig/pcl_visualization-1.10.pc diff --git a/pcl_catkin/CMakeLists.txt b/pcl_catkin/CMakeLists.txt index f9db00da..00484962 100644 --- a/pcl_catkin/CMakeLists.txt +++ b/pcl_catkin/CMakeLists.txt @@ -3,29 +3,19 @@ project(pcl_catkin) find_package(catkin REQUIRED) -include(ExternalProject) +file(MAKE_DIRECTORY ${CATKIN_DEVEL_PREFIX}/lib) +file(COPY ${CMAKE_CURRENT_SOURCE_DIR}/lib/libpcl_visualization.so DESTINATION ${CATKIN_DEVEL_PREFIX}/lib) +file(COPY ${CMAKE_CURRENT_SOURCE_DIR}/lib/libpcl_visualization.so.1.10 DESTINATION ${CATKIN_DEVEL_PREFIX}/lib) +file(COPY ${CMAKE_CURRENT_SOURCE_DIR}/lib/libpcl_visualization.so.1.10.0 DESTINATION ${CATKIN_DEVEL_PREFIX}/lib) -set(VERSION 1.10.0) - -file(MAKE_DIRECTORY ${CATKIN_DEVEL_PREFIX}/include) - -set(PCL_VERSION 1.10.0) -ExternalProject_Add(pcl - URL https://github.com/PointCloudLibrary/pcl/archive/pcl-${PCL_VERSION}.tar.gz - UPDATE_COMMAND "" - CMAKE_ARGS - -DCMAKE_INSTALL_PREFIX=${CATKIN_DEVEL_PREFIX} - -DCMAKE_BUILD_TYPE:STRING=Release - BUILD_COMMAND $(MAKE) - INSTALL_COMMAND $(MAKE) install -) +file(MAKE_DIRECTORY ${CATKIN_DEVEL_PREFIX}/lib/pkgconfig) +file(COPY ${CMAKE_CURRENT_SOURCE_DIR}/lib/pkgconfig/pcl_visualization-1.10.pc DESTINATION ${CATKIN_DEVEL_PREFIX}/lib/pkgconfig) catkin_package( - INCLUDE_DIRS ${CATKIN_DEVEL_PREFIX}/include - CFG_EXTRAS pcl-extras.cmake + INCLUDE_DIRS ) -install(DIRECTORY ${CATKIN_DEVEL_PREFIX}/include/pcl-1.10/pcl/ - DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION}/pcl/ +install(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/lib + DESTINATION ${CMAKE_INSTALL_LIBDIR} ) diff --git a/pcl_catkin/README.md b/pcl_catkin/README.md index a8b07986..bba5b2ad 100644 --- a/pcl_catkin/README.md +++ b/pcl_catkin/README.md @@ -1,2 +1,3 @@ # pcl_catkin -Catkin 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+libdir=${prefix}/lib/x86_64-linux-gnu +#includedir=${prefix}/include/pcl-1.10/pcl +includedir=${prefix}/include/pcl-1.10 +Name: pcl_visualization +Description: Point cloud visualization library +Version: 1.10.0 +Requires: libopenni libopenni2 pcl_common-1.10 pcl_io-1.10 pcl_kdtree-1.10 pcl_geometry-1.10 pcl_search-1.10 pcl_octree-1.10 +Libs: -L${libdir} -lpcl_visualization +Cflags: -I${includedir} + From e1ab2aaf5e9da7a474bee585f18f09f48514098b Mon Sep 17 00:00:00 2001 From: rgrandia Date: Mon, 6 Dec 2021 19:52:06 +0100 Subject: [PATCH 145/504] . --- pcl_catkin/README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/pcl_catkin/README.md b/pcl_catkin/README.md index bba5b2ad..36bf8783 100644 --- a/pcl_catkin/README.md +++ b/pcl_catkin/README.md @@ -1,3 +1,3 @@ # pcl_catkin -Catkin wrapper of the visualization part of Point Cloud Library (PCL) +Catkin wrapper of the visualization part of Point Cloud Library (PCL). Just copies the shared library into the catkin workspace. \ No newline at end of file From 0aaabf87aaa3a50eadba5a07e520ab0c1cd62f91 Mon Sep 17 00:00:00 2001 From: rgrandia Date: Mon, 6 Dec 2021 19:58:53 +0100 Subject: [PATCH 146/504] un-ignore the shared library --- pcl_catkin/.gitignore | 32 ------------------------- pcl_catkin/lib/libpcl_visualization.so | Bin 0 -> 1747408 bytes 2 files changed, 32 deletions(-) delete mode 100644 pcl_catkin/.gitignore create mode 100644 pcl_catkin/lib/libpcl_visualization.so diff --git a/pcl_catkin/.gitignore b/pcl_catkin/.gitignore deleted file mode 100644 index 259148fa..00000000 --- a/pcl_catkin/.gitignore +++ /dev/null @@ -1,32 +0,0 @@ -# Prerequisites -*.d - -# Compiled Object files -*.slo -*.lo -*.o -*.obj - -# Precompiled Headers -*.gch -*.pch - -# Compiled Dynamic libraries -*.so -*.dylib -*.dll - -# Fortran module files -*.mod -*.smod - -# Compiled Static libraries -*.lai -*.la -*.a -*.lib - -# Executables -*.exe -*.out -*.app diff --git 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zkeie0#!wE-)sS&f8=U0Bve%|!m@Txc67ZU^;xY(wL{pwCGXZ#TK)yuyXM#qBt3#BY z$HLWNlFpgTxseoEw?Xd!_Z9{!sHo|6CWyYHJmKhVoBD+F7btMkjr9UfYmx$@)Q*Is z8c%BL!Q$>3=_nqNb@Stu{b@Q|W)A=}KDaTngSH+Ne>z{~lkwlo$6NdYO82%NjPIuS zFnL_g`p-f42|cwLh502Y7Vf|9j^B z_VKRC4r}@D?{<9N#gMDB4{ZH`ppTK|i{r~8tyxu+R#;|2y`Z3UTk*qxlK0z3 zT3_xzdmQ#}e-A&n@Bhra-#&hC&%RO~zh{26kN-G$|Mqv}2<@YNo&6O1yM6qp!TWz; z-fthb8ovKugzx`b^8G(BkIVmNub3Qx{a$-K|0;O@Z~o;!%}?3KKWSfR9>eSRug&}I z{omS__uI$cp&R7<`^@>7e*7)`N7vuJ|9AeKyx%@9e}E^Qf8qE4E}nDWfAD|h{q}Ki zO3#-6{Hw9G^&jz+`~IK4_%r-s`}n(~^1bv^`2GI{fBRGTkM=PAyZZO?{;S`R$6x2a zmj7qJ-#-3#JoO9s&%Xb=|3TjO-QP5i;D5OdqJuI literal 0 HcmV?d00001 From 9bd1707ebd558b0e6d72937a1b9d1c6516266364 Mon Sep 17 00:00:00 2001 From: rgrandia Date: Wed, 8 Dec 2021 10:10:36 +0100 Subject: [PATCH 147/504] make matrix type explicit. Produced corrupted data before --- .../src/ConvexPlaneDecompositionRos.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp b/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp index f23e7e82..e00518b3 100644 --- a/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp +++ b/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp @@ -113,7 +113,7 @@ void ConvexPlaneExtractionROS::callback(const grid_map_msgs::GridMap& message) { return; } ROS_INFO("...done."); - const auto elevationRaw = elevationMap.get(elevationLayer_); + const grid_map::Matrix elevationRaw = elevationMap.get(elevationLayer_); auto t0 = std::chrono::high_resolution_clock::now(); preprocessing_->preprocess(elevationMap, elevationLayer_); From 7d3f66c862313c52e617be53976810cb3672dd0f Mon Sep 17 00:00:00 2001 From: rgrandia Date: Wed, 8 Dec 2021 19:04:08 +0100 Subject: [PATCH 148/504] formatting --- .../src/ConvexPlaneDecompositionRos.cpp | 2 -- 1 file changed, 2 deletions(-) diff --git a/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp b/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp index e00518b3..6a23dc3b 100644 --- a/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp +++ b/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp @@ -130,8 +130,6 @@ void ConvexPlaneExtractionROS::callback(const grid_map_msgs::GridMap& message) { auto t3 = std::chrono::high_resolution_clock::now(); ROS_INFO_STREAM("Contour extraction took " << 1e-3 * std::chrono::duration_cast(t3 - t2).count() << " [ms]"); - - // Add grid map to the terrain planarTerrain.gridMap = std::move(elevationMap); From b6128ece325ba5859d8949dbc44cd098d2864233 Mon Sep 17 00:00:00 2001 From: rgrandia Date: Thu, 9 Dec 2021 12:02:23 +0100 Subject: [PATCH 149/504] add penalty function to terrain selection --- .../SegmentedPlaneProjection.h | 6 ++++-- .../SegmentedPlanesTerrainModel.h | 10 +++++----- .../src/SegmentedPlaneProjection.cpp | 11 ++++++----- .../src/SegmentedPlanesTerrainModel.cpp | 12 ++++++++---- 4 files changed, 23 insertions(+), 16 deletions(-) diff --git a/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlaneProjection.h b/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlaneProjection.h index 07df944f..f8779221 100644 --- a/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlaneProjection.h +++ b/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlaneProjection.h @@ -18,7 +18,8 @@ double distanceCostLowerbound(double distanceSquared); double intervalSquareDistance(double value, double min, double max); -double squaredDistanceToBoundingBox(const convex_plane_decomposition::CgalPoint2d& point, const convex_plane_decomposition::CgalBbox2d& boundingBox) ; +double squaredDistanceToBoundingBox(const convex_plane_decomposition::CgalPoint2d& point, + const convex_plane_decomposition::CgalBbox2d& boundingBox); /** Converts a 3D position in world frame to a 2D position in the terrain frame. */ inline convex_plane_decomposition::CgalPoint2d position2dInTerrainFrameFromPositionInWorld(const vector3_t& positionWorld, @@ -48,6 +49,7 @@ std::vector sortWithBoundingBoxes(const vector3_t& positionIn const std::vector& planarRegions); std::pair getPlanarRegionAtPositionInWorld( - const vector3_t& positionInWorld, const std::vector& planarRegions); + const vector3_t& positionInWorld, const std::vector& planarRegions, + std::function penaltyFunction); } // namespace switched_model \ No newline at end of file diff --git a/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesTerrainModel.h b/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesTerrainModel.h index 23960def..f8fdf4b6 100644 --- a/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesTerrainModel.h +++ b/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesTerrainModel.h @@ -15,9 +15,12 @@ class SegmentedPlanesTerrainModel : public switched_model::TerrainModel { public: SegmentedPlanesTerrainModel(convex_plane_decomposition::PlanarTerrain planarTerrain); - TerrainPlane getLocalTerrainAtPositionInWorldAlongGravity(const vector3_t& positionInWorld) const override; + TerrainPlane getLocalTerrainAtPositionInWorldAlongGravity(const vector3_t& positionInWorld, + std::function penaltyFunction) const override; - ConvexTerrain getConvexTerrainAtPositionInWorld(const vector3_t& positionInWorld) const override; + using switched_model::TerrainModel::getConvexTerrainAtPositionInWorld; + ConvexTerrain getConvexTerrainAtPositionInWorld(const vector3_t& positionInWorld, + std::function penaltyFunction) const override; void createSignedDistanceBetween(const Eigen::Vector3d& minCoordinates, const Eigen::Vector3d& maxCoordinates); @@ -35,7 +38,4 @@ class SegmentedPlanesTerrainModel : public switched_model::TerrainModel { const grid_map::Matrix* const elevationData_; }; -std::pair getPlanarRegionAtPositionInWorld( - const vector3_t& positionInWorld, const std::vector& planarRegions); - } // namespace switched_model diff --git a/segmented_planes_terrain_model/src/SegmentedPlaneProjection.cpp b/segmented_planes_terrain_model/src/SegmentedPlaneProjection.cpp index b8463cf9..11172165 100644 --- a/segmented_planes_terrain_model/src/SegmentedPlaneProjection.cpp +++ b/segmented_planes_terrain_model/src/SegmentedPlaneProjection.cpp @@ -114,11 +114,12 @@ std::vector sortWithBoundingBoxes(const vector3_t& positionIn } std::pair getPlanarRegionAtPositionInWorld( - const vector3_t& positionInWorld, const std::vector& planarRegions) { + const vector3_t& positionInWorld, const std::vector& planarRegions, + std::function penaltyFunction) { const auto sortedRegions = sortWithBoundingBoxes(positionInWorld, planarRegions); // Look for closest planar region. - double minCost = std::numeric_limits::max(); + scalar_t minCost = std::numeric_limits::max(); std::pair closestRegionAndProjection; for (const auto& regionInfo : sortedRegions) { // Skip based on lower bound @@ -136,9 +137,9 @@ std::pair getPlanarRegionAtPositionI // Express projected point in World frame const auto projectionInWorldFrame = positionInWorldFrameFromPosition2dInTerrain(projectedPointInTerrainFrame, planeParameters); - const double distCost = distanceCost(positionInWorld, projectionInWorldFrame); - if (distCost < minCost) { - minCost = distCost; + const scalar_t cost = distanceCost(positionInWorld, projectionInWorldFrame) + penaltyFunction(projectionInWorldFrame); + if (cost < minCost) { + minCost = cost; closestRegionAndProjection = {regionPtr, projectedPointInTerrainFrame}; } } diff --git a/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModel.cpp b/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModel.cpp index f3a7bc1a..bc37607d 100644 --- a/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModel.cpp +++ b/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModel.cpp @@ -23,16 +23,20 @@ SegmentedPlanesTerrainModel::SegmentedPlanesTerrainModel(convex_plane_decomposit signedDistanceField_(nullptr), elevationData_(&planarTerrain_.gridMap.get(elevationLayerName)) {} -TerrainPlane SegmentedPlanesTerrainModel::getLocalTerrainAtPositionInWorldAlongGravity(const vector3_t& positionInWorld) const { - const auto regionAndSeedPoint = getPlanarRegionAtPositionInWorld(positionInWorld, planarTerrain_.planarRegions); +TerrainPlane SegmentedPlanesTerrainModel::getLocalTerrainAtPositionInWorldAlongGravity( + const vector3_t& positionInWorld, std::function penaltyFunction) const { + const auto regionAndSeedPoint = + getPlanarRegionAtPositionInWorld(positionInWorld, planarTerrain_.planarRegions, std::move(penaltyFunction)); const auto& region = *regionAndSeedPoint.first; const auto& seedpoint = regionAndSeedPoint.second; const auto& seedpointInWorldFrame = positionInWorldFrameFromPosition2dInTerrain(seedpoint, region.planeParameters); return TerrainPlane{seedpointInWorldFrame, region.planeParameters.orientationWorldToTerrain}; } -ConvexTerrain SegmentedPlanesTerrainModel::getConvexTerrainAtPositionInWorld(const vector3_t& positionInWorld) const { - const auto regionAndSeedPoint = getPlanarRegionAtPositionInWorld(positionInWorld, planarTerrain_.planarRegions); +ConvexTerrain SegmentedPlanesTerrainModel::getConvexTerrainAtPositionInWorld( + const vector3_t& positionInWorld, std::function penaltyFunction) const { + const auto regionAndSeedPoint = + getPlanarRegionAtPositionInWorld(positionInWorld, planarTerrain_.planarRegions, std::move(penaltyFunction)); const auto& region = *regionAndSeedPoint.first; const auto& seedpoint = regionAndSeedPoint.second; const auto& seedpointInWorldFrame = positionInWorldFrameFromPosition2dInTerrain(seedpoint, region.planeParameters); From 89b7c3dd9c9226690c7f573f99d9f0a8f85340dd Mon Sep 17 00:00:00 2001 From: rgrandia Date: Mon, 13 Dec 2021 10:59:33 +0100 Subject: [PATCH 150/504] compute true resolution after rescaling --- .../src/GridMapPreprocessing.cpp | 16 ++++++++++++---- 1 file changed, 12 insertions(+), 4 deletions(-) diff --git a/convex_plane_decomposition/src/GridMapPreprocessing.cpp b/convex_plane_decomposition/src/GridMapPreprocessing.cpp index 19979602..1dc8c055 100644 --- a/convex_plane_decomposition/src/GridMapPreprocessing.cpp +++ b/convex_plane_decomposition/src/GridMapPreprocessing.cpp @@ -37,12 +37,17 @@ void GridMapPreprocessing::denoise(grid_map::GridMap& gridMap, const std::string void GridMapPreprocessing::changeResolution(grid_map::GridMap& gridMap, const std::string& layer) const { if (parameters_.resolution > 0.0 && gridMap.getResolution() != parameters_.resolution) { + // Original map info + const auto oldPosition = gridMap.getPosition(); + const auto oldSize = gridMap.getSize(); + const auto oldResolution = gridMap.getResolution(); + Eigen::MatrixXf elevation_map = std::move(gridMap.get(layer)); cv::Mat elevationImage; cv::eigen2cv(elevation_map, elevationImage); - double scaling = gridMap.getResolution() / parameters_.resolution; + double scaling = oldResolution / parameters_.resolution; int width = int(elevationImage.size[1] * scaling); int height = int(elevationImage.size[0] * scaling); cv::Size dim{width, height}; @@ -52,9 +57,12 @@ void GridMapPreprocessing::changeResolution(grid_map::GridMap& gridMap, const st cv::cv2eigen(resizedImage, elevation_map); - const auto oldPosition = gridMap.getPosition(); - gridMap.setGeometry({elevation_map.rows() * parameters_.resolution, elevation_map.cols() * parameters_.resolution}, - parameters_.resolution, oldPosition); + // Compute true new resolution. Might be slightly different due to rounding. Take average of both dimensions. + grid_map::Size newSize = {elevation_map.rows(), elevation_map.cols()}; + const double newResolution = 0.5 * ((oldSize[0] * oldResolution) / newSize[0] + (oldSize[1] * oldResolution) / newSize[1]); + grid_map::Position newPosition = oldPosition; + + gridMap.setGeometry({newSize[0] * newResolution, newSize[1] * newResolution}, newResolution, newPosition); gridMap.get(layer) = std::move(elevation_map); } } From c3f9fc9cf4c458755a29bd392053258da15b7d52 Mon Sep 17 00:00:00 2001 From: rgrandia Date: Mon, 13 Dec 2021 11:00:17 +0100 Subject: [PATCH 151/504] take submap around closest central cell --- .../src/ConvexPlaneDecompositionRos.cpp | 11 ++++++++++- 1 file changed, 10 insertions(+), 1 deletion(-) diff --git a/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp b/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp index 6a23dc3b..24209a03 100644 --- a/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp +++ b/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp @@ -107,7 +107,16 @@ void ConvexPlaneExtractionROS::callback(const grid_map_msgs::GridMap& message) { // Extract submap bool success; - grid_map::GridMap elevationMap = messageMap.getSubmap(messageMap.getPosition(), Eigen::Array2d(subMapLength_, subMapWidth_), success); + const grid_map::Position submapPosition = [&]() { + // The map center might be between cells. Taking the submap there can result in changing submap dimensions. + // project map center to an index and index to center s.t. we get the location of a cell. + grid_map::Index centerIndex; + grid_map::Position centerPosition; + messageMap.getIndex(messageMap.getPosition(), centerIndex); + messageMap.getPosition(centerIndex, centerPosition); + return centerPosition; + }(); + grid_map::GridMap elevationMap = messageMap.getSubmap(submapPosition, Eigen::Array2d(subMapLength_, subMapWidth_), success); if (!success) { ROS_WARN("[ConvexPlaneExtractionROS] Could not extract submap"); return; From 34634ace0c5f678c99e6df56ecbf06a359e3dd23 Mon Sep 17 00:00:00 2001 From: rgrandia Date: Fri, 17 Dec 2021 09:15:09 +0100 Subject: [PATCH 152/504] move call the label reset --- .../SlidingWindowPlaneExtractor.cpp | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/convex_plane_decomposition/src/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.cpp b/convex_plane_decomposition/src/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.cpp index 9ba4c54d..cc5ef599 100644 --- a/convex_plane_decomposition/src/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.cpp +++ b/convex_plane_decomposition/src/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.cpp @@ -208,6 +208,8 @@ void SlidingWindowPlaneExtractor::computePlaneParametersForLabel(int label, setToBackground(label); } } else { + // Set entire label to background, so unassigned points are automatically in background + setToBackground(label); refineLabelWithRansac(label, pointsWithNormal); } } else { // no RANSAC @@ -229,9 +231,6 @@ void SlidingWindowPlaneExtractor::refineLabelWithRansac(int label, std::vector Date: Fri, 17 Dec 2021 09:15:49 +0100 Subject: [PATCH 153/504] fix RANSAC distance threshold. Need to divide by 3 to counter a multiplication by 3 in the CGAL implementation --- convex_plane_decomposition/src/ransac/RansacPlaneExtractor.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/convex_plane_decomposition/src/ransac/RansacPlaneExtractor.cpp b/convex_plane_decomposition/src/ransac/RansacPlaneExtractor.cpp index a977c31e..98dc720e 100644 --- a/convex_plane_decomposition/src/ransac/RansacPlaneExtractor.cpp +++ b/convex_plane_decomposition/src/ransac/RansacPlaneExtractor.cpp @@ -10,7 +10,7 @@ RansacPlaneExtractor::RansacPlaneExtractor(const RansacPlaneExtractorParameters& void RansacPlaneExtractor::setParameters(const RansacPlaneExtractorParameters& parameters) { cgalRansacParameters_.probability = parameters.probability; cgalRansacParameters_.min_points = parameters.min_points; - cgalRansacParameters_.epsilon = parameters.epsilon; + cgalRansacParameters_.epsilon = parameters.epsilon / 3.0; // CGAL ransac puts the inlier tolerance at 3 times epsilon cgalRansacParameters_.cluster_epsilon = parameters.cluster_epsilon; cgalRansacParameters_.normal_threshold = std::cos(parameters.normal_threshold * M_PI / 180.0); } From 8cd5afa0b36ee71bcc41c8f032c6d5e9fb6ea0dd Mon Sep 17 00:00:00 2001 From: rgrandia Date: Thu, 20 Jan 2022 21:39:24 +0100 Subject: [PATCH 154/504] update benchmarking --- .../ConvexPlaneDecompositionRos.h | 9 ++++ .../src/ConvexPlaneDecompositionRos.cpp | 47 ++++++++++++++----- 2 files changed, 44 insertions(+), 12 deletions(-) diff --git a/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/ConvexPlaneDecompositionRos.h b/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/ConvexPlaneDecompositionRos.h index d0578334..5e14999f 100644 --- a/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/ConvexPlaneDecompositionRos.h +++ b/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/ConvexPlaneDecompositionRos.h @@ -10,6 +10,8 @@ #include +#include + #include namespace convex_plane_decomposition { @@ -66,6 +68,13 @@ class ConvexPlaneExtractionROS { std::unique_ptr slidingWindowPlaneExtractor_; std::unique_ptr contourExtraction_; std::unique_ptr postprocessing_; + + // Timing + ocs2::benchmark::RepeatedTimer callbackTimer_; + ocs2::benchmark::RepeatedTimer preprocessTimer_; + ocs2::benchmark::RepeatedTimer slidingWindowTimer_; + ocs2::benchmark::RepeatedTimer planeExtractionTimer_; + ocs2::benchmark::RepeatedTimer postprocessTimer_; }; } // namespace convex_plane_decomposition diff --git a/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp b/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp index 24209a03..119efa70 100644 --- a/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp +++ b/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp @@ -34,7 +34,27 @@ ConvexPlaneExtractionROS::ConvexPlaneExtractionROS(ros::NodeHandle& nodeHandle) } } -ConvexPlaneExtractionROS::~ConvexPlaneExtractionROS() = default; +ConvexPlaneExtractionROS::~ConvexPlaneExtractionROS() { + std::stringstream infoStream; + if (callbackTimer_.getNumTimedIntervals() > 0) { + infoStream << "\n########################################################################\n"; + infoStream << "The benchmarking is computed over " << callbackTimer_.getNumTimedIntervals() << " iterations. \n"; + infoStream << "PlaneExtraction Benchmarking : Average time [ms], Max time [ms]\n"; + auto printLine = [](std::string name, const ocs2::benchmark::RepeatedTimer& timer) { + std::stringstream ss; + ss << std::fixed << std::setprecision(2); + ss << "\t" << name << "\t: " << std::setw(17) << timer.getAverageInMilliseconds() << ", " << std::setw(13) + << timer.getMaxIntervalInMilliseconds() << "\n"; + return ss.str(); + }; + infoStream << printLine("Pre-process ", preprocessTimer_); + infoStream << printLine("Sliding window ", slidingWindowTimer_); + infoStream << printLine("Plane extraction", planeExtractionTimer_); + infoStream << printLine("Post-process ", postprocessTimer_); + infoStream << printLine("Total callback ", callbackTimer_); + } + std::cerr << infoStream.str() << std::endl; +} bool ConvexPlaneExtractionROS::loadParameters(const ros::NodeHandle& nodeHandle) { if (!nodeHandle.getParam("elevation_topic", elevationMapTopic_)) { @@ -81,14 +101,15 @@ bool ConvexPlaneExtractionROS::loadParameters(const ros::NodeHandle& nodeHandle) void ConvexPlaneExtractionROS::callback(const grid_map_msgs::GridMap& message) { std::lock_guard lock(mutex_); + callbackTimer_.startTimer(); // Convert message to map. - ROS_INFO("Reading input map..."); grid_map::GridMap messageMap; std::vector layers{elevationLayer_}; grid_map::GridMapRosConverter::fromMessage(message, messageMap, layers, false, false); if (!containsFiniteValue(messageMap.get(elevationLayer_))) { ROS_WARN("[ConvexPlaneExtractionROS] map does not contain any values"); + callbackTimer_.endTimer(); return; } @@ -101,6 +122,7 @@ void ConvexPlaneExtractionROS::callback(const grid_map_msgs::GridMap& message) { messageMap.getTransformedMap(getTransformToTargetFrame(messageMap.getFrameId(), timeStamp), elevationLayer_, targetFrameId_); } else { ROS_ERROR_STREAM("[ConvexPlaneExtractionROS] " << errorMsg); + callbackTimer_.endTimer(); return; } } @@ -119,27 +141,27 @@ void ConvexPlaneExtractionROS::callback(const grid_map_msgs::GridMap& message) { grid_map::GridMap elevationMap = messageMap.getSubmap(submapPosition, Eigen::Array2d(subMapLength_, subMapWidth_), success); if (!success) { ROS_WARN("[ConvexPlaneExtractionROS] Could not extract submap"); + callbackTimer_.endTimer(); return; } - ROS_INFO("...done."); const grid_map::Matrix elevationRaw = elevationMap.get(elevationLayer_); - auto t0 = std::chrono::high_resolution_clock::now(); + preprocessTimer_.startTimer(); preprocessing_->preprocess(elevationMap, elevationLayer_); - auto t1 = std::chrono::high_resolution_clock::now(); - ROS_INFO_STREAM("Preprocessing took " << 1e-3 * std::chrono::duration_cast(t1 - t0).count() << " [ms]"); + preprocessTimer_.endTimer(); // Run pipeline. + slidingWindowTimer_.startTimer(); slidingWindowPlaneExtractor_->runExtraction(elevationMap, elevationLayer_); - auto t2 = std::chrono::high_resolution_clock::now(); - ROS_INFO_STREAM("Sliding window took " << 1e-3 * std::chrono::duration_cast(t2 - t1).count() << " [ms]"); + slidingWindowTimer_.endTimer(); + planeExtractionTimer_.startTimer(); PlanarTerrain planarTerrain; planarTerrain.planarRegions = contourExtraction_->extractPlanarRegions(slidingWindowPlaneExtractor_->getSegmentedPlanesMap()); - auto t3 = std::chrono::high_resolution_clock::now(); - ROS_INFO_STREAM("Contour extraction took " << 1e-3 * std::chrono::duration_cast(t3 - t2).count() << " [ms]"); + planeExtractionTimer_.endTimer(); // Add grid map to the terrain + postprocessTimer_.startTimer(); planarTerrain.gridMap = std::move(elevationMap); // Add binary map @@ -149,8 +171,7 @@ void ConvexPlaneExtractionROS::callback(const grid_map_msgs::GridMap& message) { cv::cv2eigen(slidingWindowPlaneExtractor_->getBinaryLabeledImage(), traversabilityMask); postprocessing_->postprocess(planarTerrain, elevationLayer_, planeClassificationLayer); - auto t4 = std::chrono::high_resolution_clock::now(); - ROS_INFO_STREAM("Postprocessing took " << 1e-3 * std::chrono::duration_cast(t4 - t3).count() << " [ms]"); + postprocessTimer_.endTimer(); // Publish terrain if (publishToController_) { @@ -174,6 +195,8 @@ void ConvexPlaneExtractionROS::callback(const grid_map_msgs::GridMap& message) { boundaryPublisher_.publish(convertBoundariesToRosPolygons(planarTerrain.planarRegions, planarTerrain.gridMap.getFrameId())); insetPublisher_.publish(convertInsetsToRosPolygons(planarTerrain.planarRegions, planarTerrain.gridMap.getFrameId())); + + callbackTimer_.endTimer(); } Eigen::Isometry3d ConvexPlaneExtractionROS::getTransformToTargetFrame(const std::string& sourceFrame, const ros::Time& time) { From 0998bb7111abe147b3cc9e8961578f5786d08c44 Mon Sep 17 00:00:00 2001 From: rgrandia Date: Wed, 2 Feb 2022 10:59:12 +0100 Subject: [PATCH 155/504] add test for extrapolating the sdf --- .../test/testSignedDistance3d.cpp | 35 +++++++++++++++++++ 1 file changed, 35 insertions(+) diff --git a/signed_distance_field/test/testSignedDistance3d.cpp b/signed_distance_field/test/testSignedDistance3d.cpp index 1f08434e..47631b88 100644 --- a/signed_distance_field/test/testSignedDistance3d.cpp +++ b/signed_distance_field/test/testSignedDistance3d.cpp @@ -150,4 +150,39 @@ TEST(testSignedDistance3d, randomTerrainDerivative) { } } } +} + +TEST(testSignedDistance3d, extrapolation) { + const int n = 20; + const int m = 30; + const float resolution = 0.1; + const float h = 0.5; + grid_map::GridMap map; + map.setGeometry({n * resolution, m * resolution}, resolution); + map.add("elevation"); + map.get("elevation").setConstant(h); // random [-1.0, 1.0] + const grid_map::Matrix mapData = map.get("elevation"); + const float minHeight = h - resolution; + const float maxHeight = h + resolution; + + signed_distance_field::GridmapSignedDistanceField sdf(map, "elevation", minHeight, maxHeight); + + // Check at different heights/ + for (float height = h - 1.0; height < h + 1.0; height += resolution) { + const auto naiveSignedDistance = signed_distance_field::naiveSignedDistanceAtHeight(mapData, height, resolution); + + for (int i = 0; i < mapData.rows(); ++i) { + for (int j = 0; j < mapData.rows(); ++j) { + grid_map::Position position2d; + map.getPosition({i, j}, position2d); + + const auto sdfValueAndDerivative = sdf.valueAndDerivative({position2d.x(), position2d.y(), height}); + const auto sdfCheck = naiveSignedDistance(i, j); + ASSERT_LT(std::abs(sdfValueAndDerivative.first - sdfCheck), 1e-4); + + // Constant terrain, derivative should be up everywhere + ASSERT_LT((sdfValueAndDerivative.second - switched_model::vector3_t::UnitZ()).norm(), 1e-4); + } + } + } } \ No newline at end of file From 44ae468fe00a6078be5d37597afbafe0f86f14d6 Mon Sep 17 00:00:00 2001 From: rgrandia Date: Wed, 2 Feb 2022 10:59:28 +0100 Subject: [PATCH 156/504] fix timestamp conversion --- .../src/ConvexPlaneDecompositionRos.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp b/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp index 119efa70..7249a377 100644 --- a/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp +++ b/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp @@ -224,7 +224,8 @@ Eigen::Isometry3d ConvexPlaneExtractionROS::getTransformToTargetFrame(const std: ros::Time ConvexPlaneExtractionROS::getMessageTime(const grid_map_msgs::GridMap& message) const { try { - return ros::Time(message.info.header.stamp.toNSec()); + ros::Time time; + return time.fromNSec(message.info.header.stamp.toNSec()); } catch (std::runtime_error& ex) { ROS_WARN("[ConvexPlaneExtractionROS::getMessageTime] %s", ex.what()); return ros::Time::now(); From 856461bb1fd5c708cc21d6984ec65e4386f36911 Mon Sep 17 00:00:00 2001 From: rgrandia Date: Wed, 2 Feb 2022 16:32:17 +0100 Subject: [PATCH 157/504] fix inset at border of the map --- .../src/contour_extraction/ContourExtraction.cpp | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/convex_plane_decomposition/src/contour_extraction/ContourExtraction.cpp b/convex_plane_decomposition/src/contour_extraction/ContourExtraction.cpp index b09af9f7..3815bc31 100644 --- a/convex_plane_decomposition/src/contour_extraction/ContourExtraction.cpp +++ b/convex_plane_decomposition/src/contour_extraction/ContourExtraction.cpp @@ -72,6 +72,12 @@ std::vector extractBoundaryAndInset(cv::Mat& binary_image, co // Erode cv::erode(binary_image, binary_image, erosionKernel, cv::Point(-1,-1), 1, cv::BORDER_REPLICATE); + // Erosion of the edge of the map + binary_image.row(0) = 0; + binary_image.row(binary_image.rows - 1) = 0; + binary_image.col(0) = 0; + binary_image.col(binary_image.cols - 1) = 0; + // Get insets std::vector insets = extractPolygonsFromBinaryImage(binary_image); From 94a662b6fea0dc8aec3069a3549689ccc658bacb Mon Sep 17 00:00:00 2001 From: rgrandia Date: Wed, 2 Feb 2022 16:33:09 +0100 Subject: [PATCH 158/504] set max iterations in region growing and print if it is reached. Remove unnecessary memory allocations --- .../src/ConvexRegionGrowing.cpp | 57 ++++++++++++++++--- 1 file changed, 49 insertions(+), 8 deletions(-) diff --git a/convex_plane_decomposition/src/ConvexRegionGrowing.cpp b/convex_plane_decomposition/src/ConvexRegionGrowing.cpp index b5fd52c1..c94282f0 100644 --- a/convex_plane_decomposition/src/ConvexRegionGrowing.cpp +++ b/convex_plane_decomposition/src/ConvexRegionGrowing.cpp @@ -11,6 +11,7 @@ namespace convex_plane_decomposition { CgalPolygon2d createRegularPolygon(const CgalPoint2d& center, double radius, int numberOfVertices) { assert(numberOfVertices > 2); CgalPolygon2d polygon; + polygon.container().reserve(numberOfVertices); double angle = (2. * M_PI) / numberOfVertices; for (int i = 0; i < numberOfVertices; ++i) { double phi = i * angle; @@ -58,13 +59,14 @@ std::array get2ndNeighbours(const CgalPolygon2d& polygon, int i) bool remainsConvexWhenMovingPoint(const CgalPolygon2d& polygon, int i, const CgalPoint2d& point) { auto secondNeighbours = get2ndNeighbours(polygon, i); - CgalPolygon2d subPolygon; - subPolygon.container().reserve(5); - subPolygon.push_back(secondNeighbours[0]); - subPolygon.push_back(secondNeighbours[1]); - subPolygon.push_back(point); - subPolygon.push_back(secondNeighbours[2]); - subPolygon.push_back(secondNeighbours[3]); + using CgalPolygon2dFixedSize = CGAL::Polygon_2>; + + CgalPolygon2dFixedSize subPolygon; + subPolygon.container()[0] = secondNeighbours[0]; + subPolygon.container()[1] = secondNeighbours[1]; + subPolygon.container()[2] = point; + subPolygon.container()[3] = secondNeighbours[2]; + subPolygon.container()[4] = secondNeighbours[3]; return subPolygon.is_convex(); } @@ -99,18 +101,47 @@ bool pointCanBeMoved(const CgalPolygon2d& growthShape, int i, const CgalPoint2d& } } +namespace { +inline std::ostream& operator<<(std::ostream& os, const CgalPolygon2d& p) { + os << "CgalPolygon2d: \n"; + for (auto it = p.vertices_begin(); it != p.vertices_end(); ++it) { + os << "\t(" << it->x() << ", " << it->y() << ")\n"; + } + return os; +} + +inline std::ostream& operator<<(std::ostream& os, const CgalPolygonWithHoles2d& p) { + os << "CgalPolygonWithHoles2d: \n"; + os << "\t" << p.outer_boundary() << "\n"; + os << "\tHoles: \n"; + for (auto it = p.holes_begin(); it != p.holes_end(); ++it) { + os << "\t\t" << *it << "\n"; + } + return os; +} +} // namespace + template CgalPolygon2d growConvexPolygonInsideShape_impl(const T& parentShape, CgalPoint2d center, int numberOfVertices, double growthFactor) { + const auto centerCopy = center; constexpr double initialRadiusFactor = 0.999; + constexpr int maxIter = 1000; double radius = initialRadiusFactor * distance(center, parentShape); + CgalPolygon2d growthShape = createRegularPolygon(center, radius, numberOfVertices); + if (radius == 0.0) { + std::cerr << "[growConvexPolygonInsideShape] Zero initial radius. Provide a point with a non-zero offset to the boundary.\n"; + return growthShape; + } + // Cached values per vertex std::vector blocked(numberOfVertices, false); std::vector freeSpheres(numberOfVertices, CgalCircle2d(center, radius * radius)); int Nblocked = 0; - while (Nblocked < numberOfVertices) { + int iter = 0; + while (Nblocked < numberOfVertices && iter < maxIter) { for (int i = 0; i < numberOfVertices; i++) { if (!blocked[i]) { const auto candidatePoint = getPointOnLine(center, growthShape.vertex(i), growthFactor); @@ -123,7 +154,17 @@ CgalPolygon2d growConvexPolygonInsideShape_impl(const T& parentShape, CgalPoint2 } } } + ++iter; } + + if (iter == maxIter) { + std::cerr << "[growConvexPolygonInsideShape] max iteration in region growing! Debug information: \n"; + std::cerr << "numberOfVertices: " << numberOfVertices << "\n"; + std::cerr << "growthFactor: " << growthFactor << "\n"; + std::cerr << "Center: " << centerCopy.x() << ", " << centerCopy.y() << "\n"; + std::cerr << parentShape << "\n"; + } + return growthShape; } From 936c9b47298dad2e4d835558a4141471f093d739 Mon Sep 17 00:00:00 2001 From: rgrandia Date: Wed, 2 Feb 2022 16:33:20 +0100 Subject: [PATCH 159/504] add region growing test --- convex_plane_decomposition/CMakeLists.txt | 12 ++++ .../test/testRegionGrowing.cpp | 69 +++++++++++++++++++ 2 files changed, 81 insertions(+) create mode 100644 convex_plane_decomposition/test/testRegionGrowing.cpp diff --git a/convex_plane_decomposition/CMakeLists.txt b/convex_plane_decomposition/CMakeLists.txt index fc25bfcf..d7caaca2 100644 --- a/convex_plane_decomposition/CMakeLists.txt +++ b/convex_plane_decomposition/CMakeLists.txt @@ -104,3 +104,15 @@ target_link_libraries(test_${PROJECT_NAME}_upsampling mpfr gtest_main ) + +catkin_add_gtest(test_${PROJECT_NAME}_regionGrowing + test/testRegionGrowing.cpp + ) +target_link_libraries(test_${PROJECT_NAME}_regionGrowing + ${PROJECT_NAME} + ${catkin_LIBRARIES} + ${OpenCV_LIBRARIES} + gmp + mpfr + gtest_main + ) \ No newline at end of file diff --git a/convex_plane_decomposition/test/testRegionGrowing.cpp b/convex_plane_decomposition/test/testRegionGrowing.cpp new file mode 100644 index 00000000..e0932c28 --- /dev/null +++ b/convex_plane_decomposition/test/testRegionGrowing.cpp @@ -0,0 +1,69 @@ +// +// Created by rgrandia on 02.02.22. +// + + +#include + +#include "convex_plane_decomposition/ConvexRegionGrowing.h" + +#include + +using namespace convex_plane_decomposition; + +TEST(TestRegionGrowing, center_on_border) { + // Rare case where the region algorithm go stuck + const int numberOfVertices = 16; // Multiple of 4 is nice for symmetry. + const double growthFactor = 1.05; + CgalPoint2d center(0.0, 1.0); + + CgalPolygonWithHoles2d parentShape; + parentShape.outer_boundary().container() = {{1, -1}, {1, 1}, {-1, 1}, {-1, -1}}; + + const auto convexInnerApprox = growConvexPolygonInsideShape(parentShape, center, numberOfVertices, growthFactor); + ASSERT_TRUE(convexInnerApprox.is_convex()); + for (auto it = convexInnerApprox.vertices_begin(); it!=convexInnerApprox.vertices_end(); ++it) { + ASSERT_TRUE(isInside(*it, parentShape)); + } +} + +TEST(TestRegionGrowing, debug_case) { + // Rare case where the region algorithm go stuck + const int numberOfVertices = 16; // Multiple of 4 is nice for symmetry. + const double growthFactor = 1.05; + CgalPoint2d center(-0.147433, 0.800114); + + CgalPolygonWithHoles2d parentShape; + parentShape.outer_boundary().container() = { + {1.03923, -0.946553}, {1.03923, 0.840114}, {0.7859, 0.840114}, {0.772567, 0.853447}, {0.759233, 0.853447}, + {0.7459, 0.86678}, {0.7459, 0.880114}, {0.732567, 0.893447}, {0.719233, 0.893447}, {0.7059, 0.90678}, + {0.7059, 1.05345}, {0.652567, 1.05345}, {0.652567, 0.90678}, {0.639233, 0.893447}, {0.6259, 0.893447}, + {0.612567, 0.880114}, {0.612567, 0.86678}, {0.599233, 0.853447}, {0.5859, 0.853447}, {0.572567, 0.840114}, + {0.532567, 0.840114}, {0.532567, 0.82678}, {0.519233, 0.813447}, {0.5059, 0.813447}, {0.492567, 0.800114}, + {0.3059, 0.800114}, {0.292567, 0.813447}, {0.279233, 0.813447}, {0.2659, 0.82678}, {0.2659, 0.840114}, + {0.252567, 0.853447}, {0.239233, 0.853447}, {0.2259, 0.86678}, {0.2259, 0.920114}, {0.212567, 0.933447}, + {0.199233, 0.933447}, {0.1859, 0.94678}, {0.1859, 1.05345}, {0.132567, 1.05345}, {0.132567, 0.86678}, + {0.119233, 0.853447}, {0.1059, 0.853447}, {0.0925666, 0.840114}, {0.0925666, 0.82678}, {0.0792332, 0.813447}, + {0.0658999, 0.813447}, {0.0525666, 0.800114}, {-0.1341, 0.800114}, {-0.147433, 0.813447}, {-0.160767, 0.813447}, + {-0.1741, 0.82678}, {-0.1741, 0.840114}, {-0.2141, 0.840114}, {-0.227433, 0.853447}, {-0.240767, 0.853447}, + {-0.2541, 0.86678}, {-0.2541, 0.880114}, {-0.267433, 0.893447}, {-0.280767, 0.893447}, {-0.2941, 0.90678}, + {-0.2941, 1.05345}, {-0.960767, 1.05345}, {-0.960767, -0.946553}}; + + CgalPolygon2d hole; + hole.container() = {{0.5459, -0.266553}, {0.532566, -0.279886}, {0.3059, -0.279886}, {0.292566, -0.266553}, {0.279233, -0.266553}, + {0.2659, -0.25322}, {0.2659, -0.239886}, {0.252566, -0.226553}, {0.239233, -0.226553}, {0.2259, -0.21322}, + {0.2259, 0.320114}, {0.239233, 0.333447}, {0.252566, 0.333447}, {0.2659, 0.34678}, {0.532567, 0.34678}, + {0.5459, 0.333447}, {0.559233, 0.333447}, {0.572567, 0.320114}, {0.572567, 0.30678}, {0.5859, 0.293447}, + {0.599233, 0.293447}, {0.612567, 0.280114}, {0.612566, 0.0667803}, {0.6259, 0.053447}, {0.639233, 0.053447}, + {0.652566, 0.0401136}, {0.652566, -0.17322}, {0.639233, -0.186553}, {0.6259, -0.186553}, {0.612566, -0.199886}, + {0.612566, -0.21322}, {0.599233, -0.226553}, {0.5859, -0.226553}, {0.572566, -0.239886}, {0.572566, -0.25322}, + {0.559233, -0.266553}}; + parentShape.holes().push_back(std::move(hole)); + + const auto convexInnerApprox = growConvexPolygonInsideShape(parentShape, center, numberOfVertices, growthFactor); + + ASSERT_TRUE(convexInnerApprox.is_convex()); + for (auto it = convexInnerApprox.vertices_begin(); it!=convexInnerApprox.vertices_end(); ++it) { + ASSERT_TRUE(isInside(*it, parentShape)); + } +} \ No newline at end of file From 030ee8b73b54e6fbaf8d0459da70f72da706c2ae Mon Sep 17 00:00:00 2001 From: rgrandia Date: Thu, 3 Feb 2022 10:26:07 +0100 Subject: [PATCH 160/504] fix gridmap map projection --- .../src/SegmentedPlanesTerrainModel.cpp | 4 ++-- .../src/SegmentedPlanesTerrainModelRos.cpp | 7 +++++-- 2 files changed, 7 insertions(+), 4 deletions(-) diff --git a/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModel.cpp b/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModel.cpp index bc37607d..393ebe78 100644 --- a/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModel.cpp +++ b/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModel.cpp @@ -60,8 +60,8 @@ ConvexTerrain SegmentedPlanesTerrainModel::getConvexTerrainAtPositionInWorld( void SegmentedPlanesTerrainModel::createSignedDistanceBetween(const Eigen::Vector3d& minCoordinates, const Eigen::Vector3d& maxCoordinates) { // Compute coordinates of submap - const auto minXY = planarTerrain_.gridMap.getClosestPositionInMap({minCoordinates.x(), minCoordinates.y()}); - const auto maxXY = planarTerrain_.gridMap.getClosestPositionInMap({maxCoordinates.x(), maxCoordinates.y()}); + const auto minXY = grid_map::lookup::projectToMapWithMargin(planarTerrain_.gridMap, grid_map::Position(minCoordinates.x(), minCoordinates.y())); + const auto maxXY = grid_map::lookup::projectToMapWithMargin(planarTerrain_.gridMap, grid_map::Position(maxCoordinates.x(), maxCoordinates.y())); const auto centerXY = 0.5 * (minXY + maxXY); const auto lengths = maxXY - minXY; diff --git a/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModelRos.cpp b/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModelRos.cpp index 1fb14c5f..af91f652 100644 --- a/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModelRos.cpp +++ b/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModelRos.cpp @@ -9,6 +9,7 @@ #include #include +#include namespace switched_model { @@ -112,8 +113,10 @@ std::pair SegmentedPlanesTerrainModelRos::getS const auto& elevationData = gridMap.get(elevationLayer); const float minValue = elevationData.minCoeffOfFinites() - heightMargin; const float maxValue = elevationData.maxCoeffOfFinites() + heightMargin; - auto minXY = gridMap.getClosestPositionInMap({std::numeric_limits::lowest(), std::numeric_limits::lowest()}); - auto maxXY = gridMap.getClosestPositionInMap({std::numeric_limits::max(), std::numeric_limits::max()}); + auto minXY = grid_map::lookup::projectToMapWithMargin( + gridMap, grid_map::Position(std::numeric_limits::lowest(), std::numeric_limits::lowest())); + auto maxXY = grid_map::lookup::projectToMapWithMargin( + gridMap, grid_map::Position(std::numeric_limits::max(), std::numeric_limits::max())); minCoordinates = {minXY.x(), minXY.y(), minValue}; maxCoordinates = {maxXY.x(), maxXY.y(), maxValue}; }; From 7e2c4b7d955cff495a396f5ac0c054a73c3de56c Mon Sep 17 00:00:00 2001 From: rgrandia Date: Thu, 3 Feb 2022 10:26:21 +0100 Subject: [PATCH 161/504] increase node frequency --- convex_plane_decomposition_ros/config/node.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/convex_plane_decomposition_ros/config/node.yaml b/convex_plane_decomposition_ros/config/node.yaml index e7901ec4..68790760 100644 --- a/convex_plane_decomposition_ros/config/node.yaml +++ b/convex_plane_decomposition_ros/config/node.yaml @@ -5,4 +5,4 @@ submap: width: 3.0 length: 3.0 publish_to_controller: true -frequency: 10.0 +frequency: 20.0 From ba503060e884c40dd702639c68800d4ae1ae3402 Mon Sep 17 00:00:00 2001 From: rgrandia Date: Tue, 8 Feb 2022 09:03:20 +0100 Subject: [PATCH 162/504] extend polygon visualization with external timestamp and with labels --- .../RosVisualizations.h | 5 +++-- .../src/ConvexPlaneDecompositionRos.cpp | 6 ++++-- .../src/RosVisualizations.cpp | 21 +++++++++++++++---- 3 files changed, 24 insertions(+), 8 deletions(-) diff --git a/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/RosVisualizations.h b/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/RosVisualizations.h index eaac3612..6495015c 100644 --- a/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/RosVisualizations.h +++ b/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/RosVisualizations.h @@ -7,8 +7,9 @@ namespace convex_plane_decomposition { jsk_recognition_msgs::PolygonArray convertBoundariesToRosPolygons(const std::vector& planarRegions, - const std::string& frameId); + const std::string& frameId, grid_map::Time time); -jsk_recognition_msgs::PolygonArray convertInsetsToRosPolygons(const std::vector& planarRegions, const std::string& frameId); +jsk_recognition_msgs::PolygonArray convertInsetsToRosPolygons(const std::vector& planarRegions, const std::string& frameId, + grid_map::Time time); } // namespace convex_plane_decomposition diff --git a/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp b/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp index 7249a377..39776e1b 100644 --- a/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp +++ b/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp @@ -193,8 +193,10 @@ void ConvexPlaneExtractionROS::callback(const grid_map_msgs::GridMap& message) { grid_map::GridMapRosConverter::toMessage(planarTerrain.gridMap, outputMessage); filteredmapPublisher_.publish(outputMessage); - boundaryPublisher_.publish(convertBoundariesToRosPolygons(planarTerrain.planarRegions, planarTerrain.gridMap.getFrameId())); - insetPublisher_.publish(convertInsetsToRosPolygons(planarTerrain.planarRegions, planarTerrain.gridMap.getFrameId())); + boundaryPublisher_.publish(convertBoundariesToRosPolygons(planarTerrain.planarRegions, planarTerrain.gridMap.getFrameId(), + planarTerrain.gridMap.getTimestamp())); + insetPublisher_.publish(convertInsetsToRosPolygons(planarTerrain.planarRegions, planarTerrain.gridMap.getFrameId(), + planarTerrain.gridMap.getTimestamp())); callbackTimer_.endTimer(); } diff --git a/convex_plane_decomposition_ros/src/RosVisualizations.cpp b/convex_plane_decomposition_ros/src/RosVisualizations.cpp index 8622e0cc..234c3e1a 100644 --- a/convex_plane_decomposition_ros/src/RosVisualizations.cpp +++ b/convex_plane_decomposition_ros/src/RosVisualizations.cpp @@ -34,35 +34,48 @@ inline std::vector to3d(const CgalPolygonWithHole } jsk_recognition_msgs::PolygonArray convertBoundariesToRosPolygons(const std::vector& planarRegions, - const std::string& frameId) { + const std::string& frameId, grid_map::Time time) { jsk_recognition_msgs::PolygonArray polygon_buffer; std_msgs::Header header; - header.stamp = ros::Time::now(); + header.stamp.fromNSec(time); header.frame_id = frameId; polygon_buffer.header = header; polygon_buffer.polygons.reserve(planarRegions.size()); // lower bound + polygon_buffer.labels.reserve(planarRegions.size()); + uint32_t label = 0; for (const auto& planarRegion : planarRegions) { auto boundaries = to3d(planarRegion.boundaryWithInset.boundary, planarRegion.planeParameters, header); std::move(boundaries.begin(), boundaries.end(), std::back_inserter(polygon_buffer.polygons)); + for (size_t i = 0; i < boundaries.size(); ++i) { + polygon_buffer.labels.push_back(label); + } + ++label; } return polygon_buffer; } -jsk_recognition_msgs::PolygonArray convertInsetsToRosPolygons(const std::vector& planarRegions, const std::string& frameId) { +jsk_recognition_msgs::PolygonArray convertInsetsToRosPolygons(const std::vector& planarRegions, const std::string& frameId, + grid_map::Time time) { jsk_recognition_msgs::PolygonArray polygon_buffer; std_msgs::Header header; - header.stamp = ros::Time::now(); + header.stamp.fromNSec(time); header.frame_id = frameId; polygon_buffer.header = header; polygon_buffer.polygons.reserve(planarRegions.size()); // lower bound + polygon_buffer.labels.reserve(planarRegions.size()); + uint32_t label = 0; for (const auto& planarRegion : planarRegions) { for (const auto& inset : planarRegion.boundaryWithInset.insets) { auto insets = to3d(inset, planarRegion.planeParameters, header); std::move(insets.begin(), insets.end(), std::back_inserter(polygon_buffer.polygons)); + for (size_t i = 0; i < insets.size(); ++i) { + polygon_buffer.labels.push_back(label); + } } + ++label; } return polygon_buffer; } From da02b110588ffb7ae70bca4a3623daf30da3755b Mon Sep 17 00:00:00 2001 From: rgrandia Date: Tue, 8 Feb 2022 09:04:00 +0100 Subject: [PATCH 163/504] update rviz config --- .../rviz/config_demo.rviz | 37 ++++++++++--------- 1 file changed, 20 insertions(+), 17 deletions(-) diff --git a/convex_plane_decomposition_ros/rviz/config_demo.rviz b/convex_plane_decomposition_ros/rviz/config_demo.rviz index 8ed503d8..c49630ca 100644 --- a/convex_plane_decomposition_ros/rviz/config_demo.rviz +++ b/convex_plane_decomposition_ros/rviz/config_demo.rviz @@ -5,7 +5,6 @@ Panels: Property Tree Widget: Expanded: - /Global Options1 - - /GridMap1 - /FilteredMap1 Splitter Ratio: 0.4083484709262848 Tree Height: 824 @@ -38,13 +37,13 @@ Visualization Manager: - Alpha: 1 Class: jsk_rviz_plugin/PolygonArray Color: 25; 255; 0 - Enabled: false + Enabled: true Name: Boundaries Queue Size: 10 Topic: /convex_plane_decomposition_ros/boundaries Unreliable: false - Value: false - coloring: Auto + Value: true + coloring: Label enable lighting: true normal length: 0.10000000149011612 only border: true @@ -58,7 +57,7 @@ Visualization Manager: Topic: /convex_plane_decomposition_ros/insets Unreliable: false Value: false - coloring: Auto + coloring: Label enable lighting: true normal length: 0.10000000149011612 only border: true @@ -70,6 +69,8 @@ Visualization Manager: Color Layer: elevation Color Transformer: GridMapLayer Enabled: false + Grid Cell Decimation: 1 + Grid Line Thickness: 0.10000000149011612 Height Layer: elevation Height Transformer: GridMapLayer History Length: 1 @@ -91,6 +92,8 @@ Visualization Manager: Color Layer: plane_classification Color Transformer: IntensityLayer Enabled: true + Grid Cell Decimation: 1 + Grid Line Thickness: 0.10000000149011612 Height Layer: elevation_before_postprocess Height Transformer: "" History Length: 1 @@ -156,8 +159,8 @@ Visualization Manager: Value: true Views: Current: - Class: rviz/Orbit - Distance: 12.107149124145508 + Class: rviz/XYOrbit + Distance: 23.61389923095703 Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 @@ -165,25 +168,25 @@ Visualization Manager: Value: false Field of View: 0.7853981852531433 Focal Point: - X: -3.3109402656555176 - Y: -1.6383998394012451 - Z: -3.4406676292419434 + X: 8.348309516906738 + Y: 0.002288922667503357 + Z: 3.0517578125e-05 Focal Shape Fixed Size: true Focal Shape Size: 0.05000000074505806 Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Pitch: 0.5047986507415771 + Pitch: 0.8357961773872375 Target Frame: - Yaw: 1.6149601936340332 + Yaw: 0 Saved: ~ Window Geometry: Displays: - collapsed: false + collapsed: true Height: 1043 - Hide Left Dock: false - Hide Right Dock: true - QMainWindow State: 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+ Hide Left Dock: true + Hide Right Dock: false + QMainWindow State: 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Selection: collapsed: false Time: @@ -191,7 +194,7 @@ Window Geometry: Tool Properties: collapsed: false Views: - collapsed: true + collapsed: false Width: 1848 X: 72 Y: 0 From af7d5242d1c05a1a6100c54df57efa1914f33f6f Mon Sep 17 00:00:00 2001 From: rgrandia Date: Wed, 23 Feb 2022 09:43:18 +0100 Subject: [PATCH 164/504] use latest TF instead of time stamped --- .../src/ConvexPlaneDecompositionRos.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp b/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp index 39776e1b..57eb1eed 100644 --- a/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp +++ b/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp @@ -116,7 +116,7 @@ void ConvexPlaneExtractionROS::callback(const grid_map_msgs::GridMap& message) { // Transform map if necessary if (targetFrameId_ != messageMap.getFrameId()) { std::string errorMsg; - ros::Time timeStamp = getMessageTime(message); + ros::Time timeStamp = ros::Time(0); // Use Time(0) to get the latest transform. if (tfBuffer_.canTransform(targetFrameId_, messageMap.getFrameId(), timeStamp, &errorMsg)) { messageMap = messageMap.getTransformedMap(getTransformToTargetFrame(messageMap.getFrameId(), timeStamp), elevationLayer_, targetFrameId_); From 1da7b870f7e61678f23f789eb258c357bfc917b4 Mon Sep 17 00:00:00 2001 From: Vassilios Tsounis Date: Thu, 3 Mar 2022 15:51:56 +0100 Subject: [PATCH 165/504] Fixes missing CMake module inclusion in pcl_catkin. --- pcl_catkin/CMakeLists.txt | 2 ++ 1 file changed, 2 insertions(+) diff --git a/pcl_catkin/CMakeLists.txt b/pcl_catkin/CMakeLists.txt index 00484962..89658bd2 100644 --- a/pcl_catkin/CMakeLists.txt +++ b/pcl_catkin/CMakeLists.txt @@ -1,6 +1,8 @@ cmake_minimum_required(VERSION 3.10) project(pcl_catkin) +include(GNUInstallDirs) + find_package(catkin REQUIRED) file(MAKE_DIRECTORY ${CATKIN_DEVEL_PREFIX}/lib) From c063e55a2eb4fc25266aaaa04467025e41208c97 Mon Sep 17 00:00:00 2001 From: rgrandia Date: Tue, 15 Mar 2022 09:09:40 +0100 Subject: [PATCH 166/504] store position and normal in sliding window extractor --- .../include/convex_plane_decomposition/PlanarRegion.h | 8 ++++++++ .../convex_plane_decomposition/SegmentedPlanesMap.h | 2 +- .../src/contour_extraction/ContourExtraction.cpp | 3 ++- .../SlidingWindowPlaneExtractor.cpp | 9 +++------ convex_plane_decomposition_ros/test/test.cpp | 3 +-- 5 files changed, 15 insertions(+), 10 deletions(-) diff --git a/convex_plane_decomposition/include/convex_plane_decomposition/PlanarRegion.h b/convex_plane_decomposition/include/convex_plane_decomposition/PlanarRegion.h index d7091e14..3d3bc926 100644 --- a/convex_plane_decomposition/include/convex_plane_decomposition/PlanarRegion.h +++ b/convex_plane_decomposition/include/convex_plane_decomposition/PlanarRegion.h @@ -16,6 +16,14 @@ namespace convex_plane_decomposition { using switched_model::TerrainPlane; +struct NormalAndPosition { + /// 3D position. + Eigen::Vector3d position; + + /// Surface normal. + Eigen::Vector3d normal; +}; + struct BoundaryWithInset { /// Boundary of the planar region. CgalPolygonWithHoles2d boundary; diff --git a/convex_plane_decomposition/include/convex_plane_decomposition/SegmentedPlanesMap.h b/convex_plane_decomposition/include/convex_plane_decomposition/SegmentedPlanesMap.h index 0a48b91f..f5576239 100644 --- a/convex_plane_decomposition/include/convex_plane_decomposition/SegmentedPlanesMap.h +++ b/convex_plane_decomposition/include/convex_plane_decomposition/SegmentedPlanesMap.h @@ -13,7 +13,7 @@ namespace convex_plane_decomposition { struct SegmentedPlanesMap { /// Unordered collection of all labels and corresponding plane parameters - std::vector> labelPlaneParameters; + std::vector> labelPlaneParameters; /// Image with a each pixel being assigned and integer value corresponding to the label. Might contain labels that are not in /// labelPlaneParameters. These labels should be seen as background. diff --git a/convex_plane_decomposition/src/contour_extraction/ContourExtraction.cpp b/convex_plane_decomposition/src/contour_extraction/ContourExtraction.cpp index 3815bc31..190c2a1e 100644 --- a/convex_plane_decomposition/src/contour_extraction/ContourExtraction.cpp +++ b/convex_plane_decomposition/src/contour_extraction/ContourExtraction.cpp @@ -31,7 +31,8 @@ std::vector ContourExtraction::extractPlanarRegions(const Segmente std::vector planarRegions; for (const auto& label_plane : upSampledMap.labelPlaneParameters) { const int label = label_plane.first; - const auto& plane_parameters = label_plane.second; + const auto terrainOrientation = switched_model::orientationWorldToTerrainFromSurfaceNormalInWorld(label_plane.second.normal); + const auto plane_parameters = switched_model::TerrainPlane(label_plane.second.position, terrainOrientation); binaryImage_ = upSampledMap.labeledImage == label; diff --git a/convex_plane_decomposition/src/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.cpp b/convex_plane_decomposition/src/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.cpp index cc5ef599..433e0ac6 100644 --- a/convex_plane_decomposition/src/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.cpp +++ b/convex_plane_decomposition/src/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.cpp @@ -202,8 +202,7 @@ void SlidingWindowPlaneExtractor::computePlaneParametersForLabel(int label, if (parameters_.include_ransac_refinement) { // with RANSAC if (isGloballyPlanar(normalVector, supportVector, pointsWithNormal)) { // Already planar enough if (isWithinInclinationLimit(normalVector)) { - const auto terrainOrientation = switched_model::orientationWorldToTerrainFromSurfaceNormalInWorld(normalVector); - segmentedPlanesMap_.labelPlaneParameters.emplace_back(label, TerrainPlane(supportVector, terrainOrientation)); + segmentedPlanesMap_.labelPlaneParameters.emplace_back(label, NormalAndPosition{supportVector, normalVector}); } else { setToBackground(label); } @@ -214,8 +213,7 @@ void SlidingWindowPlaneExtractor::computePlaneParametersForLabel(int label, } } else { // no RANSAC if (isWithinInclinationLimit(normalVector)) { - const auto terrainOrientation = switched_model::orientationWorldToTerrainFromSurfaceNormalInWorld(normalVector); - segmentedPlanesMap_.labelPlaneParameters.emplace_back(label, TerrainPlane(supportVector, terrainOrientation)); + segmentedPlanesMap_.labelPlaneParameters.emplace_back(label, NormalAndPosition{supportVector, normalVector}); } else { setToBackground(label); } @@ -242,8 +240,7 @@ void SlidingWindowPlaneExtractor::refineLabelWithRansac(int label, std::vectorindices_of_assigned_points()) { diff --git a/convex_plane_decomposition_ros/test/test.cpp b/convex_plane_decomposition_ros/test/test.cpp index 86acc44b..b2d8bb66 100644 --- a/convex_plane_decomposition_ros/test/test.cpp +++ b/convex_plane_decomposition_ros/test/test.cpp @@ -55,7 +55,7 @@ void plotSlidingWindow(const sliding_window_plane_extractor::SlidingWindowPlaneE colors[0] = cv::Vec3b(0, 0, 0); // background in white for (int label = 1; label <= planeExtractor.getSegmentedPlanesMap().highestLabel; ++label) { const auto labelIt = std::find_if(labelsAndPlaneParameters.begin(), labelsAndPlaneParameters.end(), - [=](const std::pair& x) { return x.first == label; }); + [=](const std::pair& x) { return x.first == label; }); if (labelIt != labelsAndPlaneParameters.end()) { colors[label] = randomColor(); } else { @@ -131,7 +131,6 @@ int main(int argc, char** argv) { for (const auto& label_plane : planeExtractor.getSegmentedPlanesMap().labelPlaneParameters) { const int label = label_plane.first; - const auto& plane_parameters = label_plane.second; binary_image = labeled_image == label; From b7eaac3cd68304f955db7508ad0347b61da9e7ba Mon Sep 17 00:00:00 2001 From: rgrandia Date: Tue, 15 Mar 2022 17:02:26 +0100 Subject: [PATCH 167/504] substitute switched_model TerrainPlane with Eigen::Isometry3d --- convex_plane_decomposition/CMakeLists.txt | 22 ++--- .../convex_plane_decomposition/PlanarRegion.h | 27 ++++-- .../contour_extraction/ContourExtraction.h | 2 - convex_plane_decomposition/package.xml | 2 - .../src/PlanarRegion.cpp | 60 +++++++++++++ .../src/Postprocessing.cpp | 2 +- .../contour_extraction/ContourExtraction.cpp | 14 +-- .../test/testPlanarRegion.cpp | 85 +++++++++++++++++++ convex_plane_decomposition_ros/CMakeLists.txt | 1 + .../MessageConversion.h | 4 +- convex_plane_decomposition_ros/package.xml | 1 + .../src/MessageConversion.cpp | 38 ++++----- .../src/RosVisualizations.cpp | 14 +-- .../SegmentedPlaneProjection.h | 13 --- .../src/SegmentedPlaneProjection.cpp | 6 +- .../src/SegmentedPlanesTerrainModel.cpp | 16 ++-- 16 files changed, 219 insertions(+), 88 deletions(-) create mode 100644 convex_plane_decomposition/src/PlanarRegion.cpp create mode 100644 convex_plane_decomposition/test/testPlanarRegion.cpp diff --git a/convex_plane_decomposition/CMakeLists.txt b/convex_plane_decomposition/CMakeLists.txt index d7caaca2..f18606d1 100644 --- a/convex_plane_decomposition/CMakeLists.txt +++ b/convex_plane_decomposition/CMakeLists.txt @@ -5,7 +5,6 @@ project(convex_plane_decomposition) set(CATKIN_PACKAGE_DEPENDENCIES cgal5_catkin grid_map_core - ocs2_switched_model_interface grid_map_filters_rsl ) @@ -58,9 +57,10 @@ add_library(${PROJECT_NAME} src/contour_extraction/Upsampling.cpp src/ransac/RansacPlaneExtractor.cpp src/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.cpp - src/GridMapPreprocessing.cpp src/ConvexRegionGrowing.cpp src/Draw.cpp + src/GridMapPreprocessing.cpp + src/PlanarRegion.cpp src/Postprocessing.cpp ) add_dependencies(${PROJECT_NAME} @@ -93,10 +93,12 @@ install(DIRECTORY include/${PROJECT_NAME}/ ## Testing ## ############# -catkin_add_gtest(test_${PROJECT_NAME}_upsampling +catkin_add_gtest(test_${PROJECT_NAME} + test/testPlanarRegion.cpp + test/testRegionGrowing.cpp test/testUpsampling.cpp ) -target_link_libraries(test_${PROJECT_NAME}_upsampling +target_link_libraries(test_${PROJECT_NAME} ${PROJECT_NAME} ${catkin_LIBRARIES} ${OpenCV_LIBRARIES} @@ -104,15 +106,3 @@ target_link_libraries(test_${PROJECT_NAME}_upsampling mpfr gtest_main ) - -catkin_add_gtest(test_${PROJECT_NAME}_regionGrowing - test/testRegionGrowing.cpp - ) -target_link_libraries(test_${PROJECT_NAME}_regionGrowing - ${PROJECT_NAME} - ${catkin_LIBRARIES} - ${OpenCV_LIBRARIES} - gmp - mpfr - gtest_main - ) \ No newline at end of file diff --git a/convex_plane_decomposition/include/convex_plane_decomposition/PlanarRegion.h b/convex_plane_decomposition/include/convex_plane_decomposition/PlanarRegion.h index 3d3bc926..1d414ff4 100644 --- a/convex_plane_decomposition/include/convex_plane_decomposition/PlanarRegion.h +++ b/convex_plane_decomposition/include/convex_plane_decomposition/PlanarRegion.h @@ -5,17 +5,14 @@ #pragma once #include +#include #include -#include - #include "PolygonTypes.h" namespace convex_plane_decomposition { -using switched_model::TerrainPlane; - struct NormalAndPosition { /// 3D position. Eigen::Vector3d position; @@ -39,8 +36,8 @@ struct PlanarRegion { /// 2D bounding box in terrain frame containing all the boundary points CgalBbox2d bbox2d; - /// 3D parameters of the plane - TerrainPlane planeParameters; + /// 3D Transformation from terrain to world. v_world = T * v_plane. Use .linear() for the rotation and .translation() for the translation + Eigen::Isometry3d transformPlaneToWorld; }; struct PlanarTerrain { @@ -48,4 +45,22 @@ struct PlanarTerrain { grid_map::GridMap gridMap; }; +/** + * Convert a position and normal the a transform from the induced local frame and global frame. + * + * For example, if the normal and position are defined in world. We return a transform T terrain -> world, such that v_world = T * v_plane. + * The normal will be taken as the z-direction of the local frame. The x and y direction are arbitrary. + */ +Eigen::Isometry3d getTransformLocalToGlobal(const NormalAndPosition& normalAndPosition); + +/** + * Project a 2D point in world along gravity to obtain a 2D point in the plane + */ +CgalPoint2d projectToPlaneAlongGravity(const CgalPoint2d& worldFrameXY, const Eigen::Isometry3d& transformPlaneToWorld); + +/** + * Transforms a point on the plane to a 3D position expressed in the world frame + */ +Eigen::Vector3d positionInWorldFrameFromPosition2dInPlane(const CgalPoint2d& planeXY, const Eigen::Isometry3d& transformPlaneToWorld); + } // namespace convex_plane_decomposition diff --git a/convex_plane_decomposition/include/convex_plane_decomposition/contour_extraction/ContourExtraction.h b/convex_plane_decomposition/include/convex_plane_decomposition/contour_extraction/ContourExtraction.h index 568cdada..1c0cbe90 100644 --- a/convex_plane_decomposition/include/convex_plane_decomposition/contour_extraction/ContourExtraction.h +++ b/convex_plane_decomposition/include/convex_plane_decomposition/contour_extraction/ContourExtraction.h @@ -41,8 +41,6 @@ std::vector extractPolygonsFromBinaryImage(const cv::Mat CgalPolygon2d cgalPolygonFromOpenCv(const std::vector& openCvPolygon); -CgalPoint2d worldFrameToTerrainFrame(const CgalPoint2d& worldFrameXY, const TerrainPlane& plane); - CgalPoint2d pixelToWorldFrame(const CgalPoint2d& pixelspaceCgalPoint2d, double resolution, const Eigen::Vector2d& mapOffset); } // namespace contour_extraction diff --git a/convex_plane_decomposition/package.xml b/convex_plane_decomposition/package.xml index 43e12a95..b16a4e18 100644 --- a/convex_plane_decomposition/package.xml +++ b/convex_plane_decomposition/package.xml @@ -11,8 +11,6 @@ catkin cgal5_catkin grid_map_core - ocs2_switched_model_interface grid_map_filters_rsl - diff --git a/convex_plane_decomposition/src/PlanarRegion.cpp b/convex_plane_decomposition/src/PlanarRegion.cpp new file mode 100644 index 00000000..9497c941 --- /dev/null +++ b/convex_plane_decomposition/src/PlanarRegion.cpp @@ -0,0 +1,60 @@ +#include "convex_plane_decomposition/PlanarRegion.h" + +namespace convex_plane_decomposition { + +Eigen::Isometry3d getTransformLocalToGlobal(const NormalAndPosition& normalAndPosition) { + const Eigen::Vector3d zAxisInGlobal = normalAndPosition.normal.normalized(); + const auto& positionInGlobal = normalAndPosition.position; + + // Cross with any vector that is not equal to surfaceNormal + Eigen::Vector3d yAxisInGlobal = zAxisInGlobal.cross(Eigen::Vector3d::UnitX()); + { // Normalize the yAxis. Need to pick a different direction if z happened to intersect with unitX + const auto ySquaredNorm = yAxisInGlobal.squaredNorm(); + const double crossTolerance = 1e-3; + if (ySquaredNorm > crossTolerance) { + yAxisInGlobal /= std::sqrt(ySquaredNorm); + } else { + // normal was almost equal to unitX. Pick the y-axis in a different way (approximately equal to unitY): + yAxisInGlobal = zAxisInGlobal.cross(Eigen::Vector3d::UnitY().cross(zAxisInGlobal)).normalized(); + } + } + + Eigen::Isometry3d transform; + transform.linear().col(0) = yAxisInGlobal.cross(zAxisInGlobal); + transform.linear().col(1) = yAxisInGlobal; + transform.linear().col(2) = zAxisInGlobal; + transform.translation() = positionInGlobal; + + return transform; +} + +CgalPoint2d projectToPlaneAlongGravity(const CgalPoint2d& worldFrameXY, const Eigen::Isometry3d& transformPlaneToWorld) { + // Shorthands + const auto& xAxis = transformPlaneToWorld.linear().col(0); + const auto& yAxis = transformPlaneToWorld.linear().col(1); + const auto& surfaceNormalInWorld = transformPlaneToWorld.linear().col(2); + const auto& planeOriginInWorld = transformPlaneToWorld.translation(); + + // Horizontal difference + const double dx = worldFrameXY.x() - planeOriginInWorld.x(); + const double dy = worldFrameXY.y() - planeOriginInWorld.y(); + + // Vertical difference + // solve surfaceNormalInWorld.dot(projectedPosition - planeOriginInWorld) = 0 + // with projectPosition XY = worldFrameXY; + Eigen::Vector3d planeOriginToProjectedPointInWorld(dx, dy, (-dx * surfaceNormalInWorld.x() - dy * surfaceNormalInWorld.y()) / + surfaceNormalInWorld.z()); + + // Project XY coordinates to the plane frame + return {xAxis.dot(planeOriginToProjectedPointInWorld), yAxis.dot(planeOriginToProjectedPointInWorld)}; +} + +Eigen::Vector3d positionInWorldFrameFromPosition2dInPlane(const CgalPoint2d& planeXY, const Eigen::Isometry3d& transformPlaneToWorld) { + // Compute transform given that z in plane = 0.0 + Eigen::Vector3d pointInWorld = transformPlaneToWorld.translation(); + pointInWorld += planeXY.x() * transformPlaneToWorld.linear().col(0); + pointInWorld += planeXY.y() * transformPlaneToWorld.linear().col(1); + return pointInWorld; +} + +} // namespace convex_plane_decomposition \ No newline at end of file diff --git a/convex_plane_decomposition/src/Postprocessing.cpp b/convex_plane_decomposition/src/Postprocessing.cpp index 4aacec43..4b07aadf 100644 --- a/convex_plane_decomposition/src/Postprocessing.cpp +++ b/convex_plane_decomposition/src/Postprocessing.cpp @@ -65,7 +65,7 @@ void Postprocessing::addHeightOffset(Eigen::MatrixXf& elevationData, const Eigen void Postprocessing::addHeightOffset(std::vector& planarRegions) const { if (parameters_.extracted_planes_height_offset != 0.0) { for (auto& planarRegion : planarRegions) { - planarRegion.planeParameters.positionInWorld.z() += parameters_.extracted_planes_height_offset; + planarRegion.transformPlaneToWorld.translation().z() += parameters_.extracted_planes_height_offset; } } } diff --git a/convex_plane_decomposition/src/contour_extraction/ContourExtraction.cpp b/convex_plane_decomposition/src/contour_extraction/ContourExtraction.cpp index 190c2a1e..2c037d78 100644 --- a/convex_plane_decomposition/src/contour_extraction/ContourExtraction.cpp +++ b/convex_plane_decomposition/src/contour_extraction/ContourExtraction.cpp @@ -31,9 +31,6 @@ std::vector ContourExtraction::extractPlanarRegions(const Segmente std::vector planarRegions; for (const auto& label_plane : upSampledMap.labelPlaneParameters) { const int label = label_plane.first; - const auto terrainOrientation = switched_model::orientationWorldToTerrainFromSurfaceNormalInWorld(label_plane.second.normal); - const auto plane_parameters = switched_model::TerrainPlane(label_plane.second.position, terrainOrientation); - binaryImage_ = upSampledMap.labeledImage == label; // Try with safety margin @@ -48,16 +45,17 @@ std::vector ContourExtraction::extractPlanarRegions(const Segmente boundariesAndInsets = contour_extraction::extractBoundaryAndInset(binaryImage_, insetKernel_); } + const auto plane_parameters = getTransformLocalToGlobal(label_plane.second); for (auto& boundaryAndInset : boundariesAndInsets) { // Transform points from pixel space to local terrain frame transformInPlace(boundaryAndInset, [&](CgalPoint2d& point) { auto pointInWorld = pixelToWorldFrame(point, upSampledMap.resolution, upSampledMap.mapOrigin); - point = worldFrameToTerrainFrame(pointInWorld, plane_parameters); + point = projectToPlaneAlongGravity(pointInWorld, plane_parameters); }); PlanarRegion planarRegion; planarRegion.boundaryWithInset = std::move(boundaryAndInset); - planarRegion.planeParameters = plane_parameters; + planarRegion.transformPlaneToWorld = plane_parameters; planarRegion.bbox2d = planarRegion.boundaryWithInset.boundary.outer_boundary().bbox(); planarRegions.push_back(std::move(planarRegion)); } @@ -138,12 +136,6 @@ CgalPolygon2d cgalPolygonFromOpenCv(const std::vector& openCvPolygon) return polygon; } -CgalPoint2d worldFrameToTerrainFrame(const CgalPoint2d& worldFrameXY, const TerrainPlane& plane) { - const auto projectedPositionInWorld = projectPositionInWorldOntoPlaneAlongGravity({worldFrameXY.x(), worldFrameXY.y(), 0.0}, plane); - const auto positionInTerrainFrame = positionInTerrainFrameFromPositionInWorld(projectedPositionInWorld, plane); - return {positionInTerrainFrame.x(), positionInTerrainFrame.y()}; -} - CgalPoint2d pixelToWorldFrame(const CgalPoint2d& pixelspaceCgalPoint2d, double resolution, const Eigen::Vector2d& mapOffset) { // Notice the transpose of x and y! return {mapOffset.x() - resolution * pixelspaceCgalPoint2d.y(), mapOffset.y() - resolution * pixelspaceCgalPoint2d.x()}; diff --git a/convex_plane_decomposition/test/testPlanarRegion.cpp b/convex_plane_decomposition/test/testPlanarRegion.cpp new file mode 100644 index 00000000..3b33818e --- /dev/null +++ b/convex_plane_decomposition/test/testPlanarRegion.cpp @@ -0,0 +1,85 @@ +// +// Created by rgrandia on 15.03.22. +// + +#include + +#include "convex_plane_decomposition/PlanarRegion.h" + +using namespace convex_plane_decomposition; + +TEST(TestPlanarRegion, getTransformFromNormalAndPosition_identity) { + NormalAndPosition normalAndPosition = {Eigen::Vector3d::Zero(), Eigen::Vector3d::UnitZ()}; + const auto transform = getTransformLocalToGlobal(normalAndPosition); + + // Orientation + ASSERT_TRUE(transform.linear().isApprox(Eigen::Matrix3d::Identity())); + + // Position + ASSERT_TRUE(transform.translation().isApprox(normalAndPosition.position)); +} + +TEST(TestPlanarRegion, getTransformFromNormalAndPosition_random) { + NormalAndPosition normalAndPosition = {Eigen::Vector3d(0.1, 0.2, 0.3), Eigen::Vector3d(0.4, 0.5, 0.6).normalized()}; + const auto transform = getTransformLocalToGlobal(normalAndPosition); + + const Eigen::Vector3d xAxisInWorld = transform.linear().col(0); + const Eigen::Vector3d yAxisInWorld = transform.linear().col(1); + const Eigen::Vector3d zAxisInWorld = transform.linear().col(2); + + // Z direction + ASSERT_TRUE(zAxisInWorld.isApprox(normalAndPosition.normal)); + + // Orthogonal + ASSERT_LT(std::abs(zAxisInWorld.dot(yAxisInWorld)), 1e-12); + ASSERT_LT(std::abs(zAxisInWorld.dot(xAxisInWorld)), 1e-12); + + // Scale + ASSERT_DOUBLE_EQ(xAxisInWorld.norm(), 1.0); + ASSERT_DOUBLE_EQ(yAxisInWorld.norm(), 1.0); + + // Position + ASSERT_TRUE(transform.translation().isApprox(normalAndPosition.position)); +} + +TEST(TestPlanarRegion, getTransformFromNormalAndPosition_unitX) { + NormalAndPosition normalAndPosition = {Eigen::Vector3d(0.1, 0.2, 0.3), Eigen::Vector3d::UnitX()}; + const auto transform = getTransformLocalToGlobal(normalAndPosition); + + const Eigen::Vector3d xAxisInWorld = transform.linear().col(0); + const Eigen::Vector3d yAxisInWorld = transform.linear().col(1); + const Eigen::Vector3d zAxisInWorld = transform.linear().col(2); + + // Z direction + ASSERT_TRUE(zAxisInWorld.isApprox(normalAndPosition.normal)); + + // XY + ASSERT_TRUE(xAxisInWorld.isApprox(-Eigen::Vector3d::UnitZ())); + ASSERT_TRUE(yAxisInWorld.isApprox(Eigen::Vector3d::UnitY())); + + // Position + ASSERT_TRUE(transform.translation().isApprox(normalAndPosition.position)); +} + +TEST(TestPlanarRegion, projectPositionInWorldOntoPlaneAlongGravity) { + const NormalAndPosition normalAndPosition = {Eigen::Vector3d(0.1, 0.2, 0.3), Eigen::Vector3d(0.4, 0.5, 0.6).normalized()}; + const auto transformPlaneToWorld = getTransformLocalToGlobal(normalAndPosition); + + // Origin of plane is projected to 0, 0 + const CgalPoint2d originXY = {normalAndPosition.position.x(), normalAndPosition.position.y()}; + const CgalPoint2d originInPlane = projectToPlaneAlongGravity(originXY, transformPlaneToWorld); + ASSERT_LT(std::abs(originInPlane.x()), 1e-12); + ASSERT_LT(std::abs(originInPlane.y()), 1e-12); + + // Random point projected + const Eigen::Vector2d queryPosition = Eigen::Vector2d::Random(); + const CgalPoint2d projectedPositionInPlane = projectToPlaneAlongGravity({queryPosition.x(), queryPosition.y()}, transformPlaneToWorld); + + // Convert back to world to check + Eigen::Vector3d projectedPositionInPlane3d = {projectedPositionInPlane.x(), projectedPositionInPlane.y(), 0.0}; + Eigen::Vector3d projectedPositionInWorld3d = transformPlaneToWorld * projectedPositionInPlane3d; + + // x, y position remained to same + ASSERT_DOUBLE_EQ(projectedPositionInWorld3d.x(), queryPosition.x()); + ASSERT_DOUBLE_EQ(projectedPositionInWorld3d.y(), queryPosition.y()); +} \ No newline at end of file diff --git a/convex_plane_decomposition_ros/CMakeLists.txt b/convex_plane_decomposition_ros/CMakeLists.txt index a30f0a7d..581221ac 100644 --- a/convex_plane_decomposition_ros/CMakeLists.txt +++ b/convex_plane_decomposition_ros/CMakeLists.txt @@ -4,6 +4,7 @@ project(convex_plane_decomposition_ros) # Catkin dependencies set(CATKIN_PACKAGE_DEPENDENCIES roscpp + ocs2_core grid_map_core grid_map_ros grid_map_cv diff --git a/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/MessageConversion.h b/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/MessageConversion.h index 24d40a11..53006225 100644 --- a/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/MessageConversion.h +++ b/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/MessageConversion.h @@ -27,8 +27,8 @@ convex_plane_decomposition_msgs::PlanarRegion toMessage(const PlanarRegion& plan PlanarTerrain fromMessage(const convex_plane_decomposition_msgs::PlanarTerrain& msg); convex_plane_decomposition_msgs::PlanarTerrain toMessage(const PlanarTerrain& planarTerrain); -TerrainPlane fromMessage(const geometry_msgs::Pose& msg); -geometry_msgs::Pose toMessage(const TerrainPlane& plane); +Eigen::Isometry3d fromMessage(const geometry_msgs::Pose& msg); +geometry_msgs::Pose toMessage(const Eigen::Isometry3d& transform); CgalPoint2d fromMessage(const convex_plane_decomposition_msgs::Point2d& msg); convex_plane_decomposition_msgs::Point2d toMessage(const CgalPoint2d& point2d); diff --git a/convex_plane_decomposition_ros/package.xml b/convex_plane_decomposition_ros/package.xml index 126edcfe..b79fa8c5 100644 --- a/convex_plane_decomposition_ros/package.xml +++ b/convex_plane_decomposition_ros/package.xml @@ -10,6 +10,7 @@ catkin roscpp + ocs2_core grid_map_core grid_map_ros grid_map_cv diff --git a/convex_plane_decomposition_ros/src/MessageConversion.cpp b/convex_plane_decomposition_ros/src/MessageConversion.cpp index 1e44dae2..5194bfe0 100644 --- a/convex_plane_decomposition_ros/src/MessageConversion.cpp +++ b/convex_plane_decomposition_ros/src/MessageConversion.cpp @@ -23,7 +23,7 @@ convex_plane_decomposition_msgs::BoundingBox2d toMessage(const CgalBbox2d& bbox2 PlanarRegion fromMessage(const convex_plane_decomposition_msgs::PlanarRegion& msg) { PlanarRegion planarRegion; - planarRegion.planeParameters = fromMessage(msg.plane_parameters); + planarRegion.transformPlaneToWorld = fromMessage(msg.plane_parameters); planarRegion.boundaryWithInset.boundary = fromMessage(msg.boundary); planarRegion.boundaryWithInset.insets.reserve(msg.insets.size()); for (const auto& inset : msg.insets) { @@ -35,7 +35,7 @@ PlanarRegion fromMessage(const convex_plane_decomposition_msgs::PlanarRegion& ms convex_plane_decomposition_msgs::PlanarRegion toMessage(const PlanarRegion& planarRegion) { convex_plane_decomposition_msgs::PlanarRegion msg; - msg.plane_parameters = toMessage(planarRegion.planeParameters); + msg.plane_parameters = toMessage(planarRegion.transformPlaneToWorld); msg.boundary = toMessage(planarRegion.boundaryWithInset.boundary); msg.insets.reserve(planarRegion.boundaryWithInset.insets.size()); for (const auto& inset : planarRegion.boundaryWithInset.insets) { @@ -65,26 +65,26 @@ convex_plane_decomposition_msgs::PlanarTerrain toMessage(const PlanarTerrain& pl return msg; } -TerrainPlane fromMessage(const geometry_msgs::Pose& msg) { - TerrainPlane plane; - plane.positionInWorld.x() = msg.position.x; - plane.positionInWorld.y() = msg.position.y; - plane.positionInWorld.z() = msg.position.z; - Eigen::Quaterniond terrainOrientation; - terrainOrientation.x() = msg.orientation.x; - terrainOrientation.y() = msg.orientation.y; - terrainOrientation.z() = msg.orientation.z; - terrainOrientation.w() = msg.orientation.w; - plane.orientationWorldToTerrain = terrainOrientation.toRotationMatrix().transpose(); - return plane; +Eigen::Isometry3d fromMessage(const geometry_msgs::Pose& msg) { + Eigen::Isometry3d transform; + transform.translation().x() = msg.position.x; + transform.translation().y() = msg.position.y; + transform.translation().z() = msg.position.z; + Eigen::Quaterniond orientation; + orientation.x() = msg.orientation.x; + orientation.y() = msg.orientation.y; + orientation.z() = msg.orientation.z; + orientation.w() = msg.orientation.w; + transform.linear() = orientation.toRotationMatrix(); + return transform; } -geometry_msgs::Pose toMessage(const TerrainPlane& plane) { +geometry_msgs::Pose toMessage(const Eigen::Isometry3d& transform) { geometry_msgs::Pose pose; - pose.position.x = plane.positionInWorld.x(); - pose.position.y = plane.positionInWorld.y(); - pose.position.z = plane.positionInWorld.z(); - Eigen::Quaterniond terrainOrientation(plane.orientationWorldToTerrain.transpose()); + pose.position.x = transform.translation().x(); + pose.position.y = transform.translation().y(); + pose.position.z = transform.translation().z(); + Eigen::Quaterniond terrainOrientation(transform.linear()); pose.orientation.x = terrainOrientation.x(); pose.orientation.y = terrainOrientation.y(); pose.orientation.z = terrainOrientation.z(); diff --git a/convex_plane_decomposition_ros/src/RosVisualizations.cpp b/convex_plane_decomposition_ros/src/RosVisualizations.cpp index 234c3e1a..c10e9c6e 100644 --- a/convex_plane_decomposition_ros/src/RosVisualizations.cpp +++ b/convex_plane_decomposition_ros/src/RosVisualizations.cpp @@ -5,13 +5,13 @@ namespace convex_plane_decomposition { -inline geometry_msgs::PolygonStamped to3d(const CgalPolygon2d& polygon, const TerrainPlane& planeParameters, +inline geometry_msgs::PolygonStamped to3d(const CgalPolygon2d& polygon, const Eigen::Isometry3d& transformPlaneToWorld, const std_msgs::Header& header) { geometry_msgs::PolygonStamped polygon3d; polygon3d.header = header; for (const auto& point : polygon) { geometry_msgs::Point32 point_ros; - const auto pointInWorld = positionInWorldFrameFromPositionInTerrain({point.x(), point.y(), 0.0}, planeParameters); + const auto pointInWorld = positionInWorldFrameFromPosition2dInPlane(point, transformPlaneToWorld); point_ros.x = pointInWorld.x(); point_ros.y = pointInWorld.y(); point_ros.z = pointInWorld.z(); @@ -20,15 +20,15 @@ inline geometry_msgs::PolygonStamped to3d(const CgalPolygon2d& polygon, const Te return polygon3d; } -inline std::vector to3d(const CgalPolygonWithHoles2d& polygonWithHoles, const TerrainPlane& planeParameters, +inline std::vector to3d(const CgalPolygonWithHoles2d& polygonWithHoles, const Eigen::Isometry3d& transformPlaneToWorld, const std_msgs::Header& header) { std::vector polygons; polygons.reserve(polygonWithHoles.number_of_holes() + 1); - polygons.emplace_back(to3d(polygonWithHoles.outer_boundary(), planeParameters, header)); + polygons.emplace_back(to3d(polygonWithHoles.outer_boundary(), transformPlaneToWorld, header)); for (const auto& hole : polygonWithHoles.holes()) { - polygons.emplace_back(to3d(hole, planeParameters, header)); + polygons.emplace_back(to3d(hole, transformPlaneToWorld, header)); } return polygons; } @@ -45,7 +45,7 @@ jsk_recognition_msgs::PolygonArray convertBoundariesToRosPolygons(const std::vec polygon_buffer.labels.reserve(planarRegions.size()); uint32_t label = 0; for (const auto& planarRegion : planarRegions) { - auto boundaries = to3d(planarRegion.boundaryWithInset.boundary, planarRegion.planeParameters, header); + auto boundaries = to3d(planarRegion.boundaryWithInset.boundary, planarRegion.transformPlaneToWorld, header); std::move(boundaries.begin(), boundaries.end(), std::back_inserter(polygon_buffer.polygons)); for (size_t i = 0; i < boundaries.size(); ++i) { polygon_buffer.labels.push_back(label); @@ -69,7 +69,7 @@ jsk_recognition_msgs::PolygonArray convertInsetsToRosPolygons(const std::vector< uint32_t label = 0; for (const auto& planarRegion : planarRegions) { for (const auto& inset : planarRegion.boundaryWithInset.insets) { - auto insets = to3d(inset, planarRegion.planeParameters, header); + auto insets = to3d(inset, planarRegion.transformPlaneToWorld, header); std::move(insets.begin(), insets.end(), std::back_inserter(polygon_buffer.polygons)); for (size_t i = 0; i < insets.size(); ++i) { polygon_buffer.labels.push_back(label); diff --git a/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlaneProjection.h b/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlaneProjection.h index f8779221..25261dd2 100644 --- a/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlaneProjection.h +++ b/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlaneProjection.h @@ -21,19 +21,6 @@ double intervalSquareDistance(double value, double min, double max); double squaredDistanceToBoundingBox(const convex_plane_decomposition::CgalPoint2d& point, const convex_plane_decomposition::CgalBbox2d& boundingBox); -/** Converts a 3D position in world frame to a 2D position in the terrain frame. */ -inline convex_plane_decomposition::CgalPoint2d position2dInTerrainFrameFromPositionInWorld(const vector3_t& positionWorld, - const TerrainPlane& terrainPlane) { - const auto& positionInTerrainFrame = positionInTerrainFrameFromPositionInWorld(positionWorld, terrainPlane); - return {positionInTerrainFrame.x(), positionInTerrainFrame.y()}; -} - -/** Converts a 2D position in terrain frame to a 3D position in the world frame. */ -inline vector3_t positionInWorldFrameFromPosition2dInTerrain(const convex_plane_decomposition::CgalPoint2d& positionInTerrain, - const TerrainPlane& terrainPlane) { - return positionInWorldFrameFromPositionInTerrain({positionInTerrain.x(), positionInTerrain.y(), 0.0}, terrainPlane); -} - const convex_plane_decomposition::CgalPolygonWithHoles2d* findInsetContainingThePoint( const convex_plane_decomposition::CgalPoint2d& point, const std::vector& insets); diff --git a/segmented_planes_terrain_model/src/SegmentedPlaneProjection.cpp b/segmented_planes_terrain_model/src/SegmentedPlaneProjection.cpp index 11172165..1f00659b 100644 --- a/segmented_planes_terrain_model/src/SegmentedPlaneProjection.cpp +++ b/segmented_planes_terrain_model/src/SegmentedPlaneProjection.cpp @@ -92,7 +92,7 @@ std::vector sortWithBoundingBoxes(const vector3_t& positionIn std::vector regionsAndBboxSquareDistances; regionsAndBboxSquareDistances.reserve(planarRegions.size()); for (const auto& planarRegion : planarRegions) { - const auto& positionInTerrainFrame = positionInTerrainFrameFromPositionInWorld(positionInWorld, planarRegion.planeParameters); + const auto& positionInTerrainFrame = planarRegion.transformPlaneToWorld.inverse() * positionInWorld; const double dzdz = positionInTerrainFrame.z() * positionInTerrainFrame.z(); RegionSortingInfo regionSortingInfo; @@ -129,13 +129,13 @@ std::pair getPlanarRegionAtPositionI // Shorthand const auto* regionPtr = regionInfo.regionPtr; - const auto& planeParameters = regionPtr->planeParameters; // Project onto planar region const auto projectedPointInTerrainFrame = projectToPlanarRegion(regionInfo.positionInTerrainFrame, *regionPtr); // Express projected point in World frame - const auto projectionInWorldFrame = positionInWorldFrameFromPosition2dInTerrain(projectedPointInTerrainFrame, planeParameters); + const auto projectionInWorldFrame = + convex_plane_decomposition::positionInWorldFrameFromPosition2dInPlane(projectedPointInTerrainFrame, regionPtr->transformPlaneToWorld); const scalar_t cost = distanceCost(positionInWorld, projectionInWorldFrame) + penaltyFunction(projectionInWorldFrame); if (cost < minCost) { diff --git a/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModel.cpp b/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModel.cpp index 393ebe78..1227e067 100644 --- a/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModel.cpp +++ b/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModel.cpp @@ -29,8 +29,9 @@ TerrainPlane SegmentedPlanesTerrainModel::getLocalTerrainAtPositionInWorldAlongG getPlanarRegionAtPositionInWorld(positionInWorld, planarTerrain_.planarRegions, std::move(penaltyFunction)); const auto& region = *regionAndSeedPoint.first; const auto& seedpoint = regionAndSeedPoint.second; - const auto& seedpointInWorldFrame = positionInWorldFrameFromPosition2dInTerrain(seedpoint, region.planeParameters); - return TerrainPlane{seedpointInWorldFrame, region.planeParameters.orientationWorldToTerrain}; + const auto& seedpointInWorldFrame = + convex_plane_decomposition::positionInWorldFrameFromPosition2dInPlane(seedpoint, region.transformPlaneToWorld); + return TerrainPlane{seedpointInWorldFrame, region.transformPlaneToWorld.linear().transpose()}; } ConvexTerrain SegmentedPlanesTerrainModel::getConvexTerrainAtPositionInWorld( @@ -39,7 +40,8 @@ ConvexTerrain SegmentedPlanesTerrainModel::getConvexTerrainAtPositionInWorld( getPlanarRegionAtPositionInWorld(positionInWorld, planarTerrain_.planarRegions, std::move(penaltyFunction)); const auto& region = *regionAndSeedPoint.first; const auto& seedpoint = regionAndSeedPoint.second; - const auto& seedpointInWorldFrame = positionInWorldFrameFromPosition2dInTerrain(seedpoint, region.planeParameters); + const auto& seedpointInWorldFrame = + convex_plane_decomposition::positionInWorldFrameFromPosition2dInPlane(seedpoint, region.transformPlaneToWorld); // Convert boundary and seedpoint to terrain frame const int numberOfVertices = 16; // Multiple of 4 is nice for symmetry. @@ -49,7 +51,7 @@ ConvexTerrain SegmentedPlanesTerrainModel::getConvexTerrainAtPositionInWorld( // Return convex region with origin at the seedpoint ConvexTerrain convexTerrain; - convexTerrain.plane = {seedpointInWorldFrame, region.planeParameters.orientationWorldToTerrain}; // Origin is at the seedpoint + convexTerrain.plane = {seedpointInWorldFrame, region.transformPlaneToWorld.linear().transpose()}; // Origin is at the seedpoint convexTerrain.boundary.reserve(convexRegion.size()); for (const auto& point : convexRegion) { convexTerrain.boundary.emplace_back(point.x() - seedpoint.x(), point.y() - seedpoint.y()); // Shift points to new origin @@ -60,8 +62,10 @@ ConvexTerrain SegmentedPlanesTerrainModel::getConvexTerrainAtPositionInWorld( void SegmentedPlanesTerrainModel::createSignedDistanceBetween(const Eigen::Vector3d& minCoordinates, const Eigen::Vector3d& maxCoordinates) { // Compute coordinates of submap - const auto minXY = grid_map::lookup::projectToMapWithMargin(planarTerrain_.gridMap, grid_map::Position(minCoordinates.x(), minCoordinates.y())); - const auto maxXY = grid_map::lookup::projectToMapWithMargin(planarTerrain_.gridMap, grid_map::Position(maxCoordinates.x(), maxCoordinates.y())); + const auto minXY = + grid_map::lookup::projectToMapWithMargin(planarTerrain_.gridMap, grid_map::Position(minCoordinates.x(), minCoordinates.y())); + const auto maxXY = + grid_map::lookup::projectToMapWithMargin(planarTerrain_.gridMap, grid_map::Position(maxCoordinates.x(), maxCoordinates.y())); const auto centerXY = 0.5 * (minXY + maxXY); const auto lengths = maxXY - minXY; From af37ee62268c942d66994b38122f159a256a0138 Mon Sep 17 00:00:00 2001 From: rgrandia Date: Tue, 15 Mar 2022 17:38:50 +0100 Subject: [PATCH 168/504] copy the timer to get rid of ocs2_core dependency --- convex_plane_decomposition_ros/CMakeLists.txt | 1 - .../ConvexPlaneDecompositionRos.h | 14 ++-- .../convex_plane_decomposition_ros/Timer.h | 82 +++++++++++++++++++ convex_plane_decomposition_ros/package.xml | 1 - .../src/ConvexPlaneDecompositionRos.cpp | 4 +- 5 files changed, 91 insertions(+), 11 deletions(-) create mode 100644 convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/Timer.h diff --git a/convex_plane_decomposition_ros/CMakeLists.txt b/convex_plane_decomposition_ros/CMakeLists.txt index 581221ac..a30f0a7d 100644 --- a/convex_plane_decomposition_ros/CMakeLists.txt +++ b/convex_plane_decomposition_ros/CMakeLists.txt @@ -4,7 +4,6 @@ project(convex_plane_decomposition_ros) # Catkin dependencies set(CATKIN_PACKAGE_DEPENDENCIES roscpp - ocs2_core grid_map_core grid_map_ros grid_map_cv diff --git a/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/ConvexPlaneDecompositionRos.h b/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/ConvexPlaneDecompositionRos.h index 5e14999f..15b8d350 100644 --- a/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/ConvexPlaneDecompositionRos.h +++ b/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/ConvexPlaneDecompositionRos.h @@ -10,10 +10,10 @@ #include -#include - #include +#include "Timer.h" + namespace convex_plane_decomposition { // Forward declarations @@ -70,11 +70,11 @@ class ConvexPlaneExtractionROS { std::unique_ptr postprocessing_; // Timing - ocs2::benchmark::RepeatedTimer callbackTimer_; - ocs2::benchmark::RepeatedTimer preprocessTimer_; - ocs2::benchmark::RepeatedTimer slidingWindowTimer_; - ocs2::benchmark::RepeatedTimer planeExtractionTimer_; - ocs2::benchmark::RepeatedTimer postprocessTimer_; + Timer callbackTimer_; + Timer preprocessTimer_; + Timer slidingWindowTimer_; + Timer planeExtractionTimer_; + Timer postprocessTimer_; }; } // namespace convex_plane_decomposition diff --git a/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/Timer.h b/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/Timer.h new file mode 100644 index 00000000..3eaa93e6 --- /dev/null +++ b/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/Timer.h @@ -0,0 +1,82 @@ +// +// Created by rgrandia on 15.03.22. +// + +#pragma once + +namespace convex_plane_decomposition { + +/** + * Timer class that can be repeatedly started and stopped. Statistics are collected for all measured intervals . + * + * Taken and adapted from ocs2_core + */ +class Timer { + public: + Timer() + : numTimedIntervals_(0), + totalTime_(std::chrono::nanoseconds::zero()), + maxIntervalTime_(std::chrono::nanoseconds::zero()), + lastIntervalTime_(std::chrono::nanoseconds::zero()), + startTime_(std::chrono::steady_clock::now()) {} + + /** + * Reset the timer statistics + */ + void reset() { + totalTime_ = std::chrono::nanoseconds::zero(); + maxIntervalTime_ = std::chrono::nanoseconds::zero(); + lastIntervalTime_ = std::chrono::nanoseconds::zero(); + numTimedIntervals_ = 0; + } + + /** + * Start timing an interval + */ + void startTimer() { startTime_ = std::chrono::steady_clock::now(); } + + /** + * Stop timing of an interval + */ + void endTimer() { + auto endTime = std::chrono::steady_clock::now(); + lastIntervalTime_ = std::chrono::duration_cast(endTime - startTime_); + maxIntervalTime_ = std::max(maxIntervalTime_, lastIntervalTime_); + totalTime_ += lastIntervalTime_; + numTimedIntervals_++; + }; + + /** + * @return Number of intervals that were timed + */ + int getNumTimedIntervals() const { return numTimedIntervals_; } + + /** + * @return Total cumulative time of timed intervals + */ + double getTotalInMilliseconds() const { return std::chrono::duration(totalTime_).count(); } + + /** + * @return Maximum duration of a single interval + */ + double getMaxIntervalInMilliseconds() const { return std::chrono::duration(maxIntervalTime_).count(); } + + /** + * @return Duration of the last timed interval + */ + double getLastIntervalInMilliseconds() const { return std::chrono::duration(lastIntervalTime_).count(); } + + /** + * @return Average duration of all timed intervals + */ + double getAverageInMilliseconds() const { return getTotalInMilliseconds() / numTimedIntervals_; } + + private: + int numTimedIntervals_; + std::chrono::nanoseconds totalTime_; + std::chrono::nanoseconds maxIntervalTime_; + std::chrono::nanoseconds lastIntervalTime_; + std::chrono::steady_clock::time_point startTime_; +}; + +} // namespace convex_plane_decomposition \ No newline at end of file diff --git a/convex_plane_decomposition_ros/package.xml b/convex_plane_decomposition_ros/package.xml index b79fa8c5..126edcfe 100644 --- a/convex_plane_decomposition_ros/package.xml +++ b/convex_plane_decomposition_ros/package.xml @@ -10,7 +10,6 @@ catkin roscpp - ocs2_core grid_map_core grid_map_ros grid_map_cv diff --git a/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp b/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp index 57eb1eed..5c50dc50 100644 --- a/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp +++ b/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp @@ -40,7 +40,7 @@ ConvexPlaneExtractionROS::~ConvexPlaneExtractionROS() { infoStream << "\n########################################################################\n"; infoStream << "The benchmarking is computed over " << callbackTimer_.getNumTimedIntervals() << " iterations. \n"; infoStream << "PlaneExtraction Benchmarking : Average time [ms], Max time [ms]\n"; - auto printLine = [](std::string name, const ocs2::benchmark::RepeatedTimer& timer) { + auto printLine = [](std::string name, const Timer& timer) { std::stringstream ss; ss << std::fixed << std::setprecision(2); ss << "\t" << name << "\t: " << std::setw(17) << timer.getAverageInMilliseconds() << ", " << std::setw(13) @@ -207,7 +207,7 @@ Eigen::Isometry3d ConvexPlaneExtractionROS::getTransformToTargetFrame(const std: transformStamped = tfBuffer_.lookupTransform(targetFrameId_, sourceFrame, time); } catch (tf2::TransformException& ex) { ROS_ERROR("[ConvexPlaneExtractionROS] %s", ex.what()); - return Eigen::Isometry3d(); + return Eigen::Isometry3d::Identity(); } Eigen::Isometry3d transformation; From 75384750200abe04a5d20efcf0c7a621f8b48677 Mon Sep 17 00:00:00 2001 From: rgrandia Date: Tue, 15 Mar 2022 18:24:17 +0100 Subject: [PATCH 169/504] fix doc --- .../include/convex_plane_decomposition/PlanarRegion.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/convex_plane_decomposition/include/convex_plane_decomposition/PlanarRegion.h b/convex_plane_decomposition/include/convex_plane_decomposition/PlanarRegion.h index 1d414ff4..5e90ac00 100644 --- a/convex_plane_decomposition/include/convex_plane_decomposition/PlanarRegion.h +++ b/convex_plane_decomposition/include/convex_plane_decomposition/PlanarRegion.h @@ -46,9 +46,9 @@ struct PlanarTerrain { }; /** - * Convert a position and normal the a transform from the induced local frame and global frame. + * Convert a position and normal the a transform from the induced local frame to the global frame. * - * For example, if the normal and position are defined in world. We return a transform T terrain -> world, such that v_world = T * v_plane. + * For example, if the normal and position are defined in world. We return a transform T, such that v_world = T * v_plane. * The normal will be taken as the z-direction of the local frame. The x and y direction are arbitrary. */ Eigen::Isometry3d getTransformLocalToGlobal(const NormalAndPosition& normalAndPosition); From 83ef49ce1eef985fef71eba97b68baa890c63100 Mon Sep 17 00:00:00 2001 From: rgrandia Date: Tue, 15 Mar 2022 18:24:40 +0100 Subject: [PATCH 170/504] compute plane projection in one expression --- convex_plane_decomposition/src/PlanarRegion.cpp | 9 ++++----- 1 file changed, 4 insertions(+), 5 deletions(-) diff --git a/convex_plane_decomposition/src/PlanarRegion.cpp b/convex_plane_decomposition/src/PlanarRegion.cpp index 9497c941..f0aa09f6 100644 --- a/convex_plane_decomposition/src/PlanarRegion.cpp +++ b/convex_plane_decomposition/src/PlanarRegion.cpp @@ -42,8 +42,8 @@ CgalPoint2d projectToPlaneAlongGravity(const CgalPoint2d& worldFrameXY, const Ei // Vertical difference // solve surfaceNormalInWorld.dot(projectedPosition - planeOriginInWorld) = 0 // with projectPosition XY = worldFrameXY; - Eigen::Vector3d planeOriginToProjectedPointInWorld(dx, dy, (-dx * surfaceNormalInWorld.x() - dy * surfaceNormalInWorld.y()) / - surfaceNormalInWorld.z()); + Eigen::Vector3d planeOriginToProjectedPointInWorld( + dx, dy, (-dx * surfaceNormalInWorld.x() - dy * surfaceNormalInWorld.y()) / surfaceNormalInWorld.z()); // Project XY coordinates to the plane frame return {xAxis.dot(planeOriginToProjectedPointInWorld), yAxis.dot(planeOriginToProjectedPointInWorld)}; @@ -51,9 +51,8 @@ CgalPoint2d projectToPlaneAlongGravity(const CgalPoint2d& worldFrameXY, const Ei Eigen::Vector3d positionInWorldFrameFromPosition2dInPlane(const CgalPoint2d& planeXY, const Eigen::Isometry3d& transformPlaneToWorld) { // Compute transform given that z in plane = 0.0 - Eigen::Vector3d pointInWorld = transformPlaneToWorld.translation(); - pointInWorld += planeXY.x() * transformPlaneToWorld.linear().col(0); - pointInWorld += planeXY.y() * transformPlaneToWorld.linear().col(1); + Eigen::Vector3d pointInWorld = transformPlaneToWorld.translation() + planeXY.x() * transformPlaneToWorld.linear().col(0) + + planeXY.y() * transformPlaneToWorld.linear().col(1); return pointInWorld; } From f2018e2988beac72cbb4f26912eda6d43e73ccf3 Mon Sep 17 00:00:00 2001 From: rgrandia Date: Tue, 15 Mar 2022 18:25:03 +0100 Subject: [PATCH 171/504] reserve during msg creation --- convex_plane_decomposition_ros/src/RosVisualizations.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/convex_plane_decomposition_ros/src/RosVisualizations.cpp b/convex_plane_decomposition_ros/src/RosVisualizations.cpp index c10e9c6e..041e209a 100644 --- a/convex_plane_decomposition_ros/src/RosVisualizations.cpp +++ b/convex_plane_decomposition_ros/src/RosVisualizations.cpp @@ -9,6 +9,7 @@ inline geometry_msgs::PolygonStamped to3d(const CgalPolygon2d& polygon, const Ei const std_msgs::Header& header) { geometry_msgs::PolygonStamped polygon3d; polygon3d.header = header; + polygon3d.polygon.points.reserve(polygon.size()); for (const auto& point : polygon) { geometry_msgs::Point32 point_ros; const auto pointInWorld = positionInWorldFrameFromPosition2dInPlane(point, transformPlaneToWorld); From 47f28aa6bb3ce35ec7bc0036e2a628b95f682e12 Mon Sep 17 00:00:00 2001 From: rgrandia Date: Tue, 15 Mar 2022 22:03:54 +0100 Subject: [PATCH 172/504] fix explicit cast to float --- convex_plane_decomposition_ros/src/RosVisualizations.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/convex_plane_decomposition_ros/src/RosVisualizations.cpp b/convex_plane_decomposition_ros/src/RosVisualizations.cpp index 041e209a..83a50e24 100644 --- a/convex_plane_decomposition_ros/src/RosVisualizations.cpp +++ b/convex_plane_decomposition_ros/src/RosVisualizations.cpp @@ -13,9 +13,9 @@ inline geometry_msgs::PolygonStamped to3d(const CgalPolygon2d& polygon, const Ei for (const auto& point : polygon) { geometry_msgs::Point32 point_ros; const auto pointInWorld = positionInWorldFrameFromPosition2dInPlane(point, transformPlaneToWorld); - point_ros.x = pointInWorld.x(); - point_ros.y = pointInWorld.y(); - point_ros.z = pointInWorld.z(); + point_ros.x = static_cast(pointInWorld.x()); + point_ros.y = static_cast(pointInWorld.y()); + point_ros.z = static_cast(pointInWorld.z()); polygon3d.polygon.points.push_back(point_ros); } return polygon3d; From 8b172a2536ccf4ceddc6b9f6817290545b518f8b Mon Sep 17 00:00:00 2001 From: rgrandia Date: Tue, 15 Mar 2022 22:06:00 +0100 Subject: [PATCH 173/504] use cv getTransformedMap, which avoids generating NaN values in the map --- .../src/ConvexPlaneDecompositionRos.cpp | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp b/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp index 5c50dc50..3bc47ee6 100644 --- a/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp +++ b/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp @@ -8,6 +8,7 @@ #include #include +#include #include #include @@ -118,8 +119,8 @@ void ConvexPlaneExtractionROS::callback(const grid_map_msgs::GridMap& message) { std::string errorMsg; ros::Time timeStamp = ros::Time(0); // Use Time(0) to get the latest transform. if (tfBuffer_.canTransform(targetFrameId_, messageMap.getFrameId(), timeStamp, &errorMsg)) { - messageMap = - messageMap.getTransformedMap(getTransformToTargetFrame(messageMap.getFrameId(), timeStamp), elevationLayer_, targetFrameId_); + const auto transform = getTransformToTargetFrame(messageMap.getFrameId(), timeStamp); + messageMap = grid_map::GridMapCvProcessing::getTransformedMap(std::move(messageMap), transform, elevationLayer_, targetFrameId_); } else { ROS_ERROR_STREAM("[ConvexPlaneExtractionROS] " << errorMsg); callbackTimer_.endTimer(); From 107b53b14633529944a68069e68fb7bbf3c2c790 Mon Sep 17 00:00:00 2001 From: rgrandia Date: Wed, 16 Mar 2022 12:36:02 +0100 Subject: [PATCH 174/504] split out the computation pipeline from the ros node. --- convex_plane_decomposition/CMakeLists.txt | 4 + .../GridMapPreprocessing.h | 6 +- .../LoadGridmapFromImage.h | 26 +++++ .../PlaneDecompositionPipeline.h | 79 +++++++++++++++ .../Postprocessing.h | 8 +- .../convex_plane_decomposition}/Timer.h | 0 .../ContourExtractionParameters.h | 2 +- .../ransac/RansacPlaneExtractorParameters.h | 8 +- .../SlidingWindowPlaneExtractor.h | 1 + .../SlidingWindowPlaneExtractorParameters.h | 12 +-- convex_plane_decomposition/package.xml | 1 + .../src/LoadGridmapFromImage.cpp | 36 +++++++ .../src/PlaneDecompositionPipeline.cpp | 45 +++++++++ .../contour_extraction/ContourExtraction.cpp | 2 +- .../SlidingWindowPlaneExtractor.cpp | 5 +- .../test/data/terrain.png | Bin 0 -> 112548 bytes .../test/testPipeline.cpp | 35 +++++++ .../ConvexPlaneDecompositionRos.h | 26 +---- .../src/ConvexPlaneDecompositionRos.cpp | 90 +++++------------- convex_plane_decomposition_ros/test/test.cpp | 29 ++---- 20 files changed, 283 insertions(+), 132 deletions(-) create mode 100644 convex_plane_decomposition/include/convex_plane_decomposition/LoadGridmapFromImage.h create mode 100644 convex_plane_decomposition/include/convex_plane_decomposition/PlaneDecompositionPipeline.h rename {convex_plane_decomposition_ros/include/convex_plane_decomposition_ros => convex_plane_decomposition/include/convex_plane_decomposition}/Timer.h (100%) create mode 100644 convex_plane_decomposition/src/LoadGridmapFromImage.cpp create mode 100644 convex_plane_decomposition/src/PlaneDecompositionPipeline.cpp create mode 100644 convex_plane_decomposition/test/data/terrain.png create mode 100644 convex_plane_decomposition/test/testPipeline.cpp diff --git a/convex_plane_decomposition/CMakeLists.txt b/convex_plane_decomposition/CMakeLists.txt index f18606d1..2dd3403b 100644 --- a/convex_plane_decomposition/CMakeLists.txt +++ b/convex_plane_decomposition/CMakeLists.txt @@ -5,6 +5,7 @@ project(convex_plane_decomposition) set(CATKIN_PACKAGE_DEPENDENCIES cgal5_catkin grid_map_core + grid_map_cv grid_map_filters_rsl ) @@ -60,7 +61,9 @@ add_library(${PROJECT_NAME} src/ConvexRegionGrowing.cpp src/Draw.cpp src/GridMapPreprocessing.cpp + src/LoadGridmapFromImage.cpp src/PlanarRegion.cpp + src/PlaneDecompositionPipeline.cpp src/Postprocessing.cpp ) add_dependencies(${PROJECT_NAME} @@ -94,6 +97,7 @@ install(DIRECTORY include/${PROJECT_NAME}/ ############# catkin_add_gtest(test_${PROJECT_NAME} + test/testPipeline.cpp test/testPlanarRegion.cpp test/testRegionGrowing.cpp test/testUpsampling.cpp diff --git a/convex_plane_decomposition/include/convex_plane_decomposition/GridMapPreprocessing.h b/convex_plane_decomposition/include/convex_plane_decomposition/GridMapPreprocessing.h index abcf9e25..5f04874a 100644 --- a/convex_plane_decomposition/include/convex_plane_decomposition/GridMapPreprocessing.h +++ b/convex_plane_decomposition/include/convex_plane_decomposition/GridMapPreprocessing.h @@ -8,11 +8,11 @@ namespace convex_plane_decomposition { struct PreprocessingParameters { /// Resample to this resolution, set to negative values to skip - double resolution = -1.0; + double resolution = 0.04; /// Kernel size of the median filter, either 3 or 5 - int kernelSize = 5; + int kernelSize = 3; /// Number of times the image is filtered - int numberOfRepeats = 1; + int numberOfRepeats = 2; /// If the kernel size should increase each filter step. bool increasing = false; }; diff --git a/convex_plane_decomposition/include/convex_plane_decomposition/LoadGridmapFromImage.h b/convex_plane_decomposition/include/convex_plane_decomposition/LoadGridmapFromImage.h new file mode 100644 index 00000000..1b8f117a --- /dev/null +++ b/convex_plane_decomposition/include/convex_plane_decomposition/LoadGridmapFromImage.h @@ -0,0 +1,26 @@ +// +// Created by rgrandia on 16.03.22. +// + +#pragma once + +#include + +#include + +namespace convex_plane_decomposition { + +/** + * Load an elevation map from a grey scale image. + * + * @param filePath : absolute path to file + * @param elevationLayer : name of the elevation layer + * @param frameId : frame assigned to loaded map + * @param resolution : map resolution [m/pixel] + * @param scale : distance [m] between lowest and highest point in the map + * @return Gridmap with the loaded image as elevation layer. + */ +grid_map::GridMap loadGridmapFromImage(const std::string& filePath, const std::string& elevationLayer, const std::string& frameId, + double resolution, double scale); + +} // namespace convex_plane_decomposition \ No newline at end of file diff --git a/convex_plane_decomposition/include/convex_plane_decomposition/PlaneDecompositionPipeline.h b/convex_plane_decomposition/include/convex_plane_decomposition/PlaneDecompositionPipeline.h new file mode 100644 index 00000000..459e8f44 --- /dev/null +++ b/convex_plane_decomposition/include/convex_plane_decomposition/PlaneDecompositionPipeline.h @@ -0,0 +1,79 @@ +// +// Created by rgrandia on 16.03.22. +// + +#pragma once + +#include + +#include "convex_plane_decomposition/GridMapPreprocessing.h" +#include "convex_plane_decomposition/PlanarRegion.h" +#include "convex_plane_decomposition/Postprocessing.h" +#include "convex_plane_decomposition/Timer.h" +#include "convex_plane_decomposition/contour_extraction/ContourExtraction.h" +#include "convex_plane_decomposition/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.h" + +namespace convex_plane_decomposition { + +/** + * Encloses the full plane decomposition pipeline: + * + * Input: + * - Elevation map + * Output: + * - Planar terrain (planes + filtered elevation map) + * - Segmented elevation map + */ +class PlaneDecompositionPipeline { + public: + /** Collection of all parameters of steps in the pipeline */ + struct Config { + PreprocessingParameters preprocessingParameters; + sliding_window_plane_extractor::SlidingWindowPlaneExtractorParameters slidingWindowPlaneExtractorParameters; + ransac_plane_extractor::RansacPlaneExtractorParameters ransacPlaneExtractorParameters; + contour_extraction::ContourExtractionParameters contourExtractionParameters; + PostprocessingParameters postprocessingParameters; + }; + + /** + * Constructor + * @param config : configuration containing all parameters of the pipeline + */ + PlaneDecompositionPipeline(const Config& config); + + /** + * Trigger update of the pipeline + * @param gridMap : gridmap to process. Will be modified and added to the resulting planar terrain. + * @param elevationLayer : Name of the elevation layer. + */ + void update(grid_map::GridMap&& gridMap, const std::string& elevationLayer); + + /// Access to the Pipeline result. + PlanarTerrain& getPlanarTerrain() { return planarTerrain_; } + + /// Fills in the resulting segmentation into a gridmap layer data. + void getSegmentation(grid_map::GridMap::Matrix& segmentation) const; + + // Timers + const Timer& getPrepocessTimer() const { return preprocessTimer_; } + const Timer& getSlidingWindowTimer() const { return slidingWindowTimer_; } + const Timer& getContourExtractionTimer() const { return contourExtractionTimer_; } + const Timer& getPostprocessTimer() const { return postprocessTimer_; } + + private: + PlanarTerrain planarTerrain_; + + // Pipeline + GridMapPreprocessing preprocessing_; + sliding_window_plane_extractor::SlidingWindowPlaneExtractor slidingWindowPlaneExtractor_; + contour_extraction::ContourExtraction contourExtraction_; + Postprocessing postprocessing_; + + // Timing + Timer preprocessTimer_; + Timer slidingWindowTimer_; + Timer contourExtractionTimer_; + Timer postprocessTimer_; +}; + +} // namespace convex_plane_decomposition \ No newline at end of file diff --git a/convex_plane_decomposition/include/convex_plane_decomposition/Postprocessing.h b/convex_plane_decomposition/include/convex_plane_decomposition/Postprocessing.h index 5dfb751e..12b85323 100644 --- a/convex_plane_decomposition/include/convex_plane_decomposition/Postprocessing.h +++ b/convex_plane_decomposition/include/convex_plane_decomposition/Postprocessing.h @@ -9,19 +9,19 @@ struct PostprocessingParameters { double extracted_planes_height_offset = 0.0; /// Added offset in z direction added in cells that are not traversable - double nonplanar_height_offset = 0.0; + double nonplanar_height_offset = 0.02; /// Size of the kernel creating the boundary offset. In number of pixels. - int nonplanar_horizontal_offset = 2; + int nonplanar_horizontal_offset = 1; /// Half the width of the dilation used before the smooth layer [m] double smoothing_dilation_size = 0.2; /// Half the width of the box kernel used for the smooth layer [m] - double smoothing_box_kernel_size = 0.3; + double smoothing_box_kernel_size = 0.1; /// Half the width of the Gaussian kernel used for the smooth layer [m] - double smoothing_gauss_kernel_size = 0.1; + double smoothing_gauss_kernel_size = 0.05; }; class Postprocessing { diff --git a/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/Timer.h b/convex_plane_decomposition/include/convex_plane_decomposition/Timer.h similarity index 100% rename from convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/Timer.h rename to convex_plane_decomposition/include/convex_plane_decomposition/Timer.h diff --git a/convex_plane_decomposition/include/convex_plane_decomposition/contour_extraction/ContourExtractionParameters.h b/convex_plane_decomposition/include/convex_plane_decomposition/contour_extraction/ContourExtractionParameters.h index 662f4671..009bc37e 100644 --- a/convex_plane_decomposition/include/convex_plane_decomposition/contour_extraction/ContourExtractionParameters.h +++ b/convex_plane_decomposition/include/convex_plane_decomposition/contour_extraction/ContourExtractionParameters.h @@ -9,7 +9,7 @@ namespace contour_extraction { struct ContourExtractionParameters { /// Size of the kernel creating the boundary offset. In number of (sub) pixels. - int marginSize = 2; + int marginSize = 1; }; } // namespace contour_extraction diff --git a/convex_plane_decomposition/include/convex_plane_decomposition/ransac/RansacPlaneExtractorParameters.h b/convex_plane_decomposition/include/convex_plane_decomposition/ransac/RansacPlaneExtractorParameters.h index bb1f3ba9..ef94c557 100644 --- a/convex_plane_decomposition/include/convex_plane_decomposition/ransac/RansacPlaneExtractorParameters.h +++ b/convex_plane_decomposition/include/convex_plane_decomposition/ransac/RansacPlaneExtractorParameters.h @@ -9,13 +9,13 @@ namespace ransac_plane_extractor { struct RansacPlaneExtractorParameters { /// Set probability to miss the largest primitive at each iteration. double probability = 0.01; - /// Detect shapes with at least 200 points. - double min_points = 200; + /// Detect shapes with at least N points. + double min_points = 4; /// [m] Set maximum Euclidean distance between a point and a shape. - double epsilon = 0.004; + double epsilon = 0.025; /// Set maximum Euclidean distance between points to be clustered. Two points are connected if separated by a distance of at most /// 2*sqrt(2)*cluster_epsilon = 2.828 * cluster_epsilon - double cluster_epsilon = 0.03; + double cluster_epsilon = 0.08; /// [deg] Set maximum normal deviation between cluster surface_normal and point normal. double normal_threshold = 25.0; }; diff --git a/convex_plane_decomposition/include/convex_plane_decomposition/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.h b/convex_plane_decomposition/include/convex_plane_decomposition/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.h index f86fdc79..f60398ad 100644 --- a/convex_plane_decomposition/include/convex_plane_decomposition/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.h +++ b/convex_plane_decomposition/include/convex_plane_decomposition/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.h @@ -56,6 +56,7 @@ class SlidingWindowPlaneExtractor { int mapRows_; std::vector surfaceNormals_; + std::vector pointsWithNormal_; cv::Mat binaryImagePatch_; SegmentedPlanesMap segmentedPlanesMap_; diff --git a/convex_plane_decomposition/include/convex_plane_decomposition/sliding_window_plane_extraction/SlidingWindowPlaneExtractorParameters.h b/convex_plane_decomposition/include/convex_plane_decomposition/sliding_window_plane_extraction/SlidingWindowPlaneExtractorParameters.h index 2309aaec..51009a4f 100644 --- a/convex_plane_decomposition/include/convex_plane_decomposition/sliding_window_plane_extraction/SlidingWindowPlaneExtractorParameters.h +++ b/convex_plane_decomposition/include/convex_plane_decomposition/sliding_window_plane_extraction/SlidingWindowPlaneExtractorParameters.h @@ -16,16 +16,16 @@ struct SlidingWindowPlaneExtractorParameters { int planarity_opening_filter = 0; /// [-] Maximum allowed angle between the surface normal and the world-z direction for a patch (converted to dotproduct bound) - double plane_inclination_threshold = std::cos(70.0 * M_PI / 180.0); + double plane_inclination_threshold = std::cos(30.0 * M_PI / 180.0); /// [-] Maximum allowed angle between the surface normal and the world-z direction for a cell (converted to dotproduct bound) - double local_plane_inclination_threshold = std::cos(70.0 * M_PI / 180.0); + double local_plane_inclination_threshold = std::cos(35.0 * M_PI / 180.0); /// [m] The allowed root-mean-squared deviation from the plane fitted to the patch. Higher -> not planar - double plane_patch_error_threshold = 0.005; + double plane_patch_error_threshold = 0.02; /// [#] Labels with less points assigned to them are discarded - int min_number_points_per_label = 10; + int min_number_points_per_label = 4; /// Label kernel connectivity. 4 or 8 (cross or box) int connectivity = 4; @@ -34,10 +34,10 @@ struct SlidingWindowPlaneExtractorParameters { bool include_ransac_refinement = true; /// [m] Allowed maximum distance from a point to the plane. If any point violates this, RANSAC is triggered - double global_plane_fit_distance_error_threshold = 0.04; + double global_plane_fit_distance_error_threshold = 0.025; /// [deg] Allowed normal vector deviation for a point w.r.t. the plane normal. If any point violates this, RANSAC is triggered - double global_plane_fit_angle_error_threshold_degrees = 5.0; + double global_plane_fit_angle_error_threshold_degrees = 25.0; }; } // namespace sliding_window_plane_extractor diff --git a/convex_plane_decomposition/package.xml b/convex_plane_decomposition/package.xml index b16a4e18..38f1d22b 100644 --- a/convex_plane_decomposition/package.xml +++ b/convex_plane_decomposition/package.xml @@ -11,6 +11,7 @@ catkin cgal5_catkin grid_map_core + grid_map_cv grid_map_filters_rsl diff --git a/convex_plane_decomposition/src/LoadGridmapFromImage.cpp b/convex_plane_decomposition/src/LoadGridmapFromImage.cpp new file mode 100644 index 00000000..2f1fc783 --- /dev/null +++ b/convex_plane_decomposition/src/LoadGridmapFromImage.cpp @@ -0,0 +1,36 @@ +// +// Created by rgrandia on 16.03.22. +// + +#include "convex_plane_decomposition/LoadGridmapFromImage.h" + +#include +#include + +#include + +namespace convex_plane_decomposition { + +grid_map::GridMap loadGridmapFromImage(const std::string& filePath, const std::string& elevationLayer, const std::string& frameId, + double resolution, double scale) { + // Read the file + cv::Mat image; + image = cv::imread(filePath, cv::ImreadModes::IMREAD_GRAYSCALE); + + // Check for invalid input + if (!image.data) { + throw std::runtime_error("Could not open or find the image"); + } + + // Min max values + double minValue, maxValue; + cv::minMaxLoc(image, &minValue, &maxValue); + + grid_map::GridMap mapOut({elevationLayer}); + mapOut.setFrameId(frameId); + grid_map::GridMapCvConverter::initializeFromImage(image, resolution, mapOut, grid_map::Position(0.0, 0.0)); + grid_map::GridMapCvConverter::addLayerFromImage(image, elevationLayer, mapOut, float(0.0), float(scale), 0.5); + return mapOut; +} + +} // namespace convex_plane_decomposition \ No newline at end of file diff --git a/convex_plane_decomposition/src/PlaneDecompositionPipeline.cpp b/convex_plane_decomposition/src/PlaneDecompositionPipeline.cpp new file mode 100644 index 00000000..573fc580 --- /dev/null +++ b/convex_plane_decomposition/src/PlaneDecompositionPipeline.cpp @@ -0,0 +1,45 @@ +#include "convex_plane_decomposition/PlaneDecompositionPipeline.h" + +#include + +namespace convex_plane_decomposition { + +PlaneDecompositionPipeline::PlaneDecompositionPipeline(const Config& config) + : preprocessing_(config.preprocessingParameters), + slidingWindowPlaneExtractor_(config.slidingWindowPlaneExtractorParameters, config.ransacPlaneExtractorParameters), + contourExtraction_(config.contourExtractionParameters), + postprocessing_(config.postprocessingParameters) {} + +void PlaneDecompositionPipeline::update(grid_map::GridMap&& gridMap, const std::string& elevationLayer) { + // Clear / Overwrite old result + planarTerrain_.planarRegions.clear(); + planarTerrain_.gridMap = std::move(gridMap); + + preprocessTimer_.startTimer(); + preprocessing_.preprocess(planarTerrain_.gridMap, elevationLayer); + preprocessTimer_.endTimer(); + + slidingWindowTimer_.startTimer(); + slidingWindowPlaneExtractor_.runExtraction(planarTerrain_.gridMap, elevationLayer); + slidingWindowTimer_.endTimer(); + + contourExtractionTimer_.startTimer(); + planarTerrain_.planarRegions = contourExtraction_.extractPlanarRegions(slidingWindowPlaneExtractor_.getSegmentedPlanesMap()); + contourExtractionTimer_.endTimer(); + + postprocessTimer_.startTimer(); + // Add binary map + const std::string planeClassificationLayer{"plane_classification"}; + planarTerrain_.gridMap.add(planeClassificationLayer); + auto& traversabilityMask = planarTerrain_.gridMap.get(planeClassificationLayer); + cv::cv2eigen(slidingWindowPlaneExtractor_.getBinaryLabeledImage(), traversabilityMask); + + postprocessing_.postprocess(planarTerrain_, elevationLayer, planeClassificationLayer); + postprocessTimer_.endTimer(); +} + +void PlaneDecompositionPipeline::getSegmentation(grid_map::GridMap::Matrix& segmentation) const { + cv::cv2eigen(slidingWindowPlaneExtractor_.getSegmentedPlanesMap().labeledImage, segmentation); +} + +} // namespace convex_plane_decomposition \ No newline at end of file diff --git a/convex_plane_decomposition/src/contour_extraction/ContourExtraction.cpp b/convex_plane_decomposition/src/contour_extraction/ContourExtraction.cpp index 2c037d78..ee5a3fc9 100644 --- a/convex_plane_decomposition/src/contour_extraction/ContourExtraction.cpp +++ b/convex_plane_decomposition/src/contour_extraction/ContourExtraction.cpp @@ -29,6 +29,7 @@ std::vector ContourExtraction::extractPlanarRegions(const Segmente const auto upSampledMap = upSample(segmentedPlanesMap); std::vector planarRegions; + planarRegions.reserve(upSampledMap.highestLabel + 1); // Can be more or less in the end if regions are split or removed. for (const auto& label_plane : upSampledMap.labelPlaneParameters) { const int label = label_plane.first; binaryImage_ = upSampledMap.labeledImage == label; @@ -64,7 +65,6 @@ std::vector ContourExtraction::extractPlanarRegions(const Segmente } std::vector extractBoundaryAndInset(cv::Mat& binary_image, const cv::Mat& erosionKernel) { - // Get boundary std::vector boundaries = extractPolygonsFromBinaryImage(binary_image); diff --git a/convex_plane_decomposition/src/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.cpp b/convex_plane_decomposition/src/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.cpp index 433e0ac6..04c488d6 100644 --- a/convex_plane_decomposition/src/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.cpp +++ b/convex_plane_decomposition/src/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.cpp @@ -154,12 +154,11 @@ void SlidingWindowPlaneExtractor::extractPlaneParametersFromLabeledImage() { segmentedPlanesMap_.highestLabel; // Make local copy. The highestLabel is incremented inside the loop // Reserve a workvector that is reused between processing labels - std::vector pointsWithNormal; - pointsWithNormal.reserve(segmentedPlanesMap_.labeledImage.rows * segmentedPlanesMap_.labeledImage.cols); + pointsWithNormal_.reserve(segmentedPlanesMap_.labeledImage.rows * segmentedPlanesMap_.labeledImage.cols); // Skip label 0. This is the background, i.e. non-planar region. for (int label = 1; label <= numberOfExtractedPlanesWithoutRefinement; ++label) { - computePlaneParametersForLabel(label, pointsWithNormal); + computePlaneParametersForLabel(label, pointsWithNormal_); } } diff --git a/convex_plane_decomposition/test/data/terrain.png b/convex_plane_decomposition/test/data/terrain.png new file mode 100644 index 0000000000000000000000000000000000000000..65cfe247f929043833c3d49de1f345a4a17f7adf GIT binary patch literal 112548 zcmV+5Kp($}P)00Hy}1^@s6%hunD00009a7bBm000XU z000XU0RWnu7ytkO2XskIMF-yo1PCt%+VZMR0000PbVXQnLvL+uWo~o;Lvm$dbY)~9 zcWHEJAV*0}P*;Ht7XSbt07*naRCwCdyvE zMtc|2zW>J6l^G$C-vtTkh{+$2Vr12%pLSJ6DkO@c2;ku0KoOCn7UP>yR+BG{b;SpT6^jotvQ%|Z_k*Ap7&(t zIa~8}=3bvYPqp*Uy7n{gVRW8nj7e)vTI<8RliCQS6j^J@ITw#l?T1o|Znqo#+rRxA zEz3egMAq8)JN`Zq(fj*5S!?NXxscYHoOAKq)>?Wz9`UnfS;$&T_xqieWucdsmv}xN zCyt%Rb-&*a=TS=0x~^ocrDa)2DMj11(c|$TYb|N5>2kS{F(#f*Yfabd^{_AD{qQ;X 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zH`Pu9B;Bt@t#~w*iIrgcg#}elO&=$wy^6__2+3Y@@!Hpr=qjjuvn;eJK$DOqq@qdF z{4!-iTfOU(@b~8PWIp2Fvnv^mFPiL%Qupg>qg>Ga0W0dkmiJ~=^}7x1yX4nZ*ahR- zYnB)Tlf%Zz2i-ELu~oB8(v$_OG%99ksQH|u$C^G#uq!q~m4pG})1Wpb0ln}(p?B51 zPY+|{Y)PsB9Fnz60@yE92y*l#2vp^e$g+8tHa)SW-=~fmz3PVM1Yqn%jw-%K3JvW) zx-E8)f2psUIpMpv^KOTKya~S7o!^Oqx)zg~e-A(iT?8Xu^`MAe(@1q09W^_x^iwRx>Qagy}8Ml$+zL!^L~~xRn7vYm8ENXe(|u zB!a)jMBQB_^Pi^8dmLZ!W7b3&zE(e2r-BxwXNsdLVWPVdgNs^(#tVNM+_~Fdtah`q z2g7{OkAA!fN5#f`Lr>n2US6tb>Fx49a z2X0Xjh`aEvhF3Do*7b+lj;8!6s`MA!CL2b?bT0ZnI|Z7$b^dX8jF@$O9a4%R-oH)S z|2hvNW5-h6j4R%(o%UA{m>G4=;0G2QRDQWFh%hgSmo>gTI9!X_>%bIab%tyBgC|R$ zWh}E>SdRO`8YjHJ)S?I}V8fYLjQR~#isp;1|E#oVzlNT$K1{1#T6b4!Zh@}Z0+E*4)V4JPO7P-t8c%|-` zLt}3Ph*Ip~jco0O4;x%Pi0ffOHt6m9B)<7b|83n0GtwHQ9G*RsvjTthBk6|C{+e{G z`pJ~(w9m~pnm0t{#HnX!wo8o#_Q1hdwYjwDu)9oB#ha`SYgclP;h>gU;Xdyvh;*ta g`e0c+1#i3!b+ + +#include + +#include "convex_plane_decomposition/LoadGridmapFromImage.h" +#include "convex_plane_decomposition/PlaneDecompositionPipeline.h" + +using namespace convex_plane_decomposition; + +TEST(TestPipeline, runOnDemoMap) { + // Config + PlaneDecompositionPipeline::Config config; + const auto resolution = config.preprocessingParameters.resolution; + const std::string elevationLayer{"elevation_test"}; + const std::string frameId{"odom_test"}; + const Eigen::Array2d submapSize(3.0, 3.0); + std::string file = "terrain.png"; + double heightScale = 1.25; + + // Terrain Loading + boost::filesystem::path filePath(__FILE__); + std::string folder = filePath.parent_path().generic_string() + std::string{"/data/"}; + const auto loadedMap = loadGridmapFromImage(folder + file, elevationLayer, frameId, resolution, heightScale); + bool success = false; + auto elevationMap = loadedMap.getSubmap(loadedMap.getPosition(), submapSize, success); + ASSERT_TRUE(success); + + // Run + PlaneDecompositionPipeline pipeline(config); + ASSERT_NO_THROW(pipeline.update(std::move(elevationMap), elevationLayer)); +} diff --git a/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/ConvexPlaneDecompositionRos.h b/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/ConvexPlaneDecompositionRos.h index 15b8d350..a51ae69a 100644 --- a/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/ConvexPlaneDecompositionRos.h +++ b/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/ConvexPlaneDecompositionRos.h @@ -1,7 +1,6 @@ #pragma once #include -#include #include #include @@ -12,19 +11,12 @@ #include -#include "Timer.h" +#include namespace convex_plane_decomposition { -// Forward declarations -class GridMapPreprocessing; -class Postprocessing; -namespace sliding_window_plane_extractor { -class SlidingWindowPlaneExtractor; -} -namespace contour_extraction { -class ContourExtraction; -} +// Forward declaration of the pipeline +class PlaneDecompositionPipeline; class ConvexPlaneExtractionROS { public: @@ -32,9 +24,9 @@ class ConvexPlaneExtractionROS { ~ConvexPlaneExtractionROS(); + private: bool loadParameters(const ros::NodeHandle& nodeHandle); - private: /** * Callback method for the incoming grid map message. * @param message the incoming message. @@ -63,18 +55,10 @@ class ConvexPlaneExtractionROS { tf2_ros::TransformListener tfListener_; // Pipeline - std::mutex mutex_; - std::unique_ptr preprocessing_; - std::unique_ptr slidingWindowPlaneExtractor_; - std::unique_ptr contourExtraction_; - std::unique_ptr postprocessing_; + std::unique_ptr planeDecompositionPipeline_; // Timing Timer callbackTimer_; - Timer preprocessTimer_; - Timer slidingWindowTimer_; - Timer planeExtractionTimer_; - Timer postprocessTimer_; }; } // namespace convex_plane_decomposition diff --git a/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp b/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp index 3bc47ee6..ed569c7c 100644 --- a/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp +++ b/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp @@ -1,20 +1,10 @@ #include "convex_plane_decomposition_ros/ConvexPlaneDecompositionRos.h" -#include - -#include - -#include - #include -#include #include +#include -#include -#include -#include -#include - +#include #include #include "convex_plane_decomposition_ros/MessageConversion.h" @@ -36,8 +26,8 @@ ConvexPlaneExtractionROS::ConvexPlaneExtractionROS(ros::NodeHandle& nodeHandle) } ConvexPlaneExtractionROS::~ConvexPlaneExtractionROS() { - std::stringstream infoStream; - if (callbackTimer_.getNumTimedIntervals() > 0) { + if (callbackTimer_.getNumTimedIntervals() > 0 && planeDecompositionPipeline_ != nullptr) { + std::stringstream infoStream; infoStream << "\n########################################################################\n"; infoStream << "The benchmarking is computed over " << callbackTimer_.getNumTimedIntervals() << " iterations. \n"; infoStream << "PlaneExtraction Benchmarking : Average time [ms], Max time [ms]\n"; @@ -48,13 +38,13 @@ ConvexPlaneExtractionROS::~ConvexPlaneExtractionROS() { << timer.getMaxIntervalInMilliseconds() << "\n"; return ss.str(); }; - infoStream << printLine("Pre-process ", preprocessTimer_); - infoStream << printLine("Sliding window ", slidingWindowTimer_); - infoStream << printLine("Plane extraction", planeExtractionTimer_); - infoStream << printLine("Post-process ", postprocessTimer_); - infoStream << printLine("Total callback ", callbackTimer_); + infoStream << printLine("Pre-process ", planeDecompositionPipeline_->getPrepocessTimer()); + infoStream << printLine("Sliding window ", planeDecompositionPipeline_->getSlidingWindowTimer()); + infoStream << printLine("Contour extraction ", planeDecompositionPipeline_->getContourExtractionTimer()); + infoStream << printLine("Post-process ", planeDecompositionPipeline_->getPostprocessTimer()); + infoStream << printLine("Total callback ", callbackTimer_); + std::cerr << infoStream.str() << std::endl; } - std::cerr << infoStream.str() << std::endl; } bool ConvexPlaneExtractionROS::loadParameters(const ros::NodeHandle& nodeHandle) { @@ -83,25 +73,19 @@ bool ConvexPlaneExtractionROS::loadParameters(const ros::NodeHandle& nodeHandle) return false; } - const auto preprocessingParameters = loadPreprocessingParameters(nodeHandle, "preprocessing/"); - const auto contourExtractionParameters = loadContourExtractionParameters(nodeHandle, "contour_extraction/"); - const auto ransacPlaneExtractorParameters = loadRansacPlaneExtractorParameters(nodeHandle, "ransac_plane_refinement/"); - const auto slidingWindowPlaneExtractorParameters = - loadSlidingWindowPlaneExtractorParameters(nodeHandle, "sliding_window_plane_extractor/"); - const auto postprocessingParameters = loadPostprocessingParameters(nodeHandle, "postprocessing/"); + PlaneDecompositionPipeline::Config config; + config.preprocessingParameters = loadPreprocessingParameters(nodeHandle, "preprocessing/"); + config.contourExtractionParameters = loadContourExtractionParameters(nodeHandle, "contour_extraction/"); + config.ransacPlaneExtractorParameters = loadRansacPlaneExtractorParameters(nodeHandle, "ransac_plane_refinement/"); + config.slidingWindowPlaneExtractorParameters = loadSlidingWindowPlaneExtractorParameters(nodeHandle, "sliding_window_plane_extractor/"); + config.postprocessingParameters = loadPostprocessingParameters(nodeHandle, "postprocessing/"); - std::lock_guard lock(mutex_); - preprocessing_ = std::make_unique(preprocessingParameters); - slidingWindowPlaneExtractor_ = std::make_unique( - slidingWindowPlaneExtractorParameters, ransacPlaneExtractorParameters); - contourExtraction_ = std::make_unique(contourExtractionParameters); - postprocessing_ = std::make_unique(postprocessingParameters); + planeDecompositionPipeline_ = std::make_unique(config); return true; } void ConvexPlaneExtractionROS::callback(const grid_map_msgs::GridMap& message) { - std::lock_guard lock(mutex_); callbackTimer_.startTimer(); // Convert message to map. @@ -117,7 +101,7 @@ void ConvexPlaneExtractionROS::callback(const grid_map_msgs::GridMap& message) { // Transform map if necessary if (targetFrameId_ != messageMap.getFrameId()) { std::string errorMsg; - ros::Time timeStamp = ros::Time(0); // Use Time(0) to get the latest transform. + ros::Time timeStamp = ros::Time(0); // Use Time(0) to get the latest transform. if (tfBuffer_.canTransform(targetFrameId_, messageMap.getFrameId(), timeStamp, &errorMsg)) { const auto transform = getTransformToTargetFrame(messageMap.getFrameId(), timeStamp); messageMap = grid_map::GridMapCvProcessing::getTransformedMap(std::move(messageMap), transform, elevationLayer_, targetFrameId_); @@ -147,32 +131,9 @@ void ConvexPlaneExtractionROS::callback(const grid_map_msgs::GridMap& message) { } const grid_map::Matrix elevationRaw = elevationMap.get(elevationLayer_); - preprocessTimer_.startTimer(); - preprocessing_->preprocess(elevationMap, elevationLayer_); - preprocessTimer_.endTimer(); - // Run pipeline. - slidingWindowTimer_.startTimer(); - slidingWindowPlaneExtractor_->runExtraction(elevationMap, elevationLayer_); - slidingWindowTimer_.endTimer(); - - planeExtractionTimer_.startTimer(); - PlanarTerrain planarTerrain; - planarTerrain.planarRegions = contourExtraction_->extractPlanarRegions(slidingWindowPlaneExtractor_->getSegmentedPlanesMap()); - planeExtractionTimer_.endTimer(); - - // Add grid map to the terrain - postprocessTimer_.startTimer(); - planarTerrain.gridMap = std::move(elevationMap); - - // Add binary map - const std::string planeClassificationLayer{"plane_classification"}; - planarTerrain.gridMap.add(planeClassificationLayer); - auto& traversabilityMask = planarTerrain.gridMap.get(planeClassificationLayer); - cv::cv2eigen(slidingWindowPlaneExtractor_->getBinaryLabeledImage(), traversabilityMask); - - postprocessing_->postprocess(planarTerrain, elevationLayer_, planeClassificationLayer); - postprocessTimer_.endTimer(); + planeDecompositionPipeline_->update(std::move(elevationMap), elevationLayer_); + auto& planarTerrain = planeDecompositionPipeline_->getPlanarTerrain(); // Publish terrain if (publishToController_) { @@ -183,12 +144,9 @@ void ConvexPlaneExtractionROS::callback(const grid_map_msgs::GridMap& message) { // Add raw map planarTerrain.gridMap.add("elevation_raw", elevationRaw); - // Add surface normals - slidingWindowPlaneExtractor_->addSurfaceNormalToMap(planarTerrain.gridMap, "normal"); - - // Add surface normals + // Add segmentation planarTerrain.gridMap.add("segmentation"); - cv::cv2eigen(slidingWindowPlaneExtractor_->getSegmentedPlanesMap().labeledImage, planarTerrain.gridMap.get("segmentation")); + planeDecompositionPipeline_->getSegmentation(planarTerrain.gridMap.get("segmentation")); grid_map_msgs::GridMap outputMessage; grid_map::GridMapRosConverter::toMessage(planarTerrain.gridMap, outputMessage); @@ -196,8 +154,8 @@ void ConvexPlaneExtractionROS::callback(const grid_map_msgs::GridMap& message) { boundaryPublisher_.publish(convertBoundariesToRosPolygons(planarTerrain.planarRegions, planarTerrain.gridMap.getFrameId(), planarTerrain.gridMap.getTimestamp())); - insetPublisher_.publish(convertInsetsToRosPolygons(planarTerrain.planarRegions, planarTerrain.gridMap.getFrameId(), - planarTerrain.gridMap.getTimestamp())); + insetPublisher_.publish( + convertInsetsToRosPolygons(planarTerrain.planarRegions, planarTerrain.gridMap.getFrameId(), planarTerrain.gridMap.getTimestamp())); callbackTimer_.endTimer(); } diff --git a/convex_plane_decomposition_ros/test/test.cpp b/convex_plane_decomposition_ros/test/test.cpp index b2d8bb66..f952b6d3 100644 --- a/convex_plane_decomposition_ros/test/test.cpp +++ b/convex_plane_decomposition_ros/test/test.cpp @@ -9,38 +9,20 @@ #include #include +#include + #include #include #include #include #include +#include #include #include using namespace convex_plane_decomposition; -grid_map::GridMap loadElevationMapFromFile(const std::string& filePath, double resolution, double scale) { - // Read the file - cv::Mat image; - image = cv::imread(filePath, cv::ImreadModes::IMREAD_GRAYSCALE); - - // Check for invalid input - if (!image.data) { - throw std::runtime_error("Could not open or find the image"); - } - - // Min max values - double minValue, maxValue; - cv::minMaxLoc(image, &minValue, &maxValue); - - grid_map::GridMap mapOut({"elevation"}); - mapOut.setFrameId("odom"); - grid_map::GridMapCvConverter::initializeFromImage(image, resolution, mapOut, grid_map::Position(0.0, 0.0)); - grid_map::GridMapCvConverter::addLayerFromImage(image, std::string("elevation"), mapOut, float(0.0), float(scale), 0.5); - return mapOut; -} - void plotSlidingWindow(const sliding_window_plane_extractor::SlidingWindowPlaneExtractor& planeExtractor) { cv::namedWindow("Sliding Window binarymap", cv::WindowFlags::WINDOW_NORMAL); cv::Mat binaryImage = planeExtractor.getBinaryLabeledImage(); @@ -74,7 +56,8 @@ void plotSlidingWindow(const sliding_window_plane_extractor::SlidingWindowPlaneE } int main(int argc, char** argv) { - std::string folder = "/home/rgrandia/git/anymal/convex_terrain_representation/convex_plane_decomposition_ros/data/"; + boost::filesystem::path filePath(__FILE__); + std::string folder = filePath.parent_path().parent_path().generic_string() + std::string{"/data/"}; std::string file = "elevationMap_8_139cm.png"; double heightScale = 1.39; // std::string file = "demo_map.png"; double heightScale = 1.25; @@ -85,7 +68,7 @@ int main(int argc, char** argv) { // std::string file = "straightStairs_1m_1m_60cm.png"; double heightScale = 0.6; double resolution = 0.02; - auto elevationMap = loadElevationMapFromFile(folder + file, resolution, heightScale); + auto elevationMap = loadGridmapFromImage(folder + file, "elevation", "odom", resolution, heightScale); cv::Mat image; grid_map::GridMapCvConverter::toImage(elevationMap, "elevation", CV_8UC1, 0.0, heightScale, image); From ca8f4a98c268a9fc9457024d844e31aeee2ad013 Mon Sep 17 00:00:00 2001 From: rgrandia Date: Thu, 17 Mar 2022 15:21:52 +0100 Subject: [PATCH 175/504] refactor sdf: - Do the switched_model wrapping in the segmented_planes_model - Clean up dependencies - Prepare types and namespaces to fit grid_map - Extend documentation --- .../SegmentedPlanesSignedDistanceField.h | 53 ++++++++ .../SegmentedPlanesTerrainModel.h | 6 +- .../src/DemoNode.cpp | 10 +- .../src/SegmentedPlanesTerrainModel.cpp | 4 +- .../test/signedDistanceTest.cpp | 5 +- signed_distance_field/CMakeLists.txt | 18 ++- .../DistanceDerivatives.h | 43 +++++-- .../signed_distance_field/Gridmap3dLookup.h | 20 +-- .../GridmapSignedDistanceField.h | 115 ++++++++++++++---- .../PixelBorderDistance.h | 4 +- .../signed_distance_field/SignedDistance2d.h | 21 +++- .../include/signed_distance_field/Utils.h | 7 +- signed_distance_field/package.xml | 1 - .../src/GridmapSignedDistanceField.cpp | 108 ++++++++-------- .../src/PixelBorderDistance.cpp | 7 -- .../src/SignedDistance2d.cpp | 51 ++++---- .../test/naiveSignedDistance.h | 19 +-- signed_distance_field/test/test3dLookup.cpp | 21 ++-- .../test/testDerivatives.cpp | 11 +- .../test/testPixelBorderDistance.cpp | 7 +- .../test/testSignedDistance2d.cpp | 69 ++++++----- .../test/testSignedDistance3d.cpp | 63 +++++----- 22 files changed, 411 insertions(+), 252 deletions(-) create mode 100644 segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesSignedDistanceField.h delete mode 100644 signed_distance_field/src/PixelBorderDistance.cpp diff --git a/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesSignedDistanceField.h b/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesSignedDistanceField.h new file mode 100644 index 00000000..46aa3e73 --- /dev/null +++ b/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesSignedDistanceField.h @@ -0,0 +1,53 @@ +// +// Created by rgrandia on 17.03.22. +// + +#pragma once + +#include + +#include + +namespace switched_model { + +/** + * Simple wrapper class to implement the switched_model::SignedDistanceField interface. + * See the forwarded function for documentation. + */ +class SegmentedPlanesSignedDistanceField : public SignedDistanceField { + public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + + SegmentedPlanesSignedDistanceField(const grid_map::GridMap& gridMap, const std::string& elevationLayer, double minHeight, + double maxHeight) + : sdf_(gridMap, elevationLayer, minHeight, maxHeight) {} + + ~SegmentedPlanesSignedDistanceField() override = default; + SegmentedPlanesSignedDistanceField* clone() const override { return new SegmentedPlanesSignedDistanceField(*this); }; + + switched_model::scalar_t value(const switched_model::vector3_t& position) const override { return sdf_.value(position); } + + switched_model::vector3_t derivative(const switched_model::vector3_t& position) const override { return sdf_.derivative(position); } + + std::pair valueAndDerivative( + const switched_model::vector3_t& position) const override { + return sdf_.valueAndDerivative(position); + } + + pcl::PointCloud asPointCloud( + size_t decimation = 1, const std::function& condition = [](float) { return true; }) const { + return sdf_.asPointCloud(decimation, condition); + } + + pcl::PointCloud freeSpacePointCloud(size_t decimation = 1) const { return sdf_.freeSpacePointCloud(decimation); } + + pcl::PointCloud obstaclePointCloud(size_t decimation = 1) const { return sdf_.obstaclePointCloud(decimation); } + + protected: + SegmentedPlanesSignedDistanceField(const SegmentedPlanesSignedDistanceField& other) : sdf_(other.sdf_){}; + + private: + grid_map::GridmapSignedDistanceField sdf_; +}; + +} // namespace switched_model \ No newline at end of file diff --git a/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesTerrainModel.h b/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesTerrainModel.h index f8fdf4b6..1e2240f8 100644 --- a/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesTerrainModel.h +++ b/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesTerrainModel.h @@ -7,7 +7,7 @@ #include #include -#include +#include "segmented_planes_terrain_model/SegmentedPlanesSignedDistanceField.h" namespace switched_model { @@ -24,7 +24,7 @@ class SegmentedPlanesTerrainModel : public switched_model::TerrainModel { void createSignedDistanceBetween(const Eigen::Vector3d& minCoordinates, const Eigen::Vector3d& maxCoordinates); - const signed_distance_field::GridmapSignedDistanceField* getSignedDistanceField() const override { return signedDistanceField_.get(); } + const SegmentedPlanesSignedDistanceField* getSignedDistanceField() const override { return signedDistanceField_.get(); } vector3_t getHighestObstacleAlongLine(const vector3_t& position1InWorld, const vector3_t& position2InWorld) const override; @@ -34,7 +34,7 @@ class SegmentedPlanesTerrainModel : public switched_model::TerrainModel { private: const convex_plane_decomposition::PlanarTerrain planarTerrain_; - std::unique_ptr signedDistanceField_; + std::unique_ptr signedDistanceField_; const grid_map::Matrix* const elevationData_; }; diff --git a/segmented_planes_terrain_model/src/DemoNode.cpp b/segmented_planes_terrain_model/src/DemoNode.cpp index 2e4a0d81..edca9ae6 100644 --- a/segmented_planes_terrain_model/src/DemoNode.cpp +++ b/segmented_planes_terrain_model/src/DemoNode.cpp @@ -12,13 +12,13 @@ #include #include #include -#include #include #include #include #include +#include "segmented_planes_terrain_model/SegmentedPlanesSignedDistanceField.h" #include "segmented_planes_terrain_model/SegmentedPlanesTerrainVisualization.h" const std::string frameId_ = "odom"; @@ -102,14 +102,14 @@ int main(int argc, char** argv) { grid_map::GridMap localMap = messageMap->getSubmap({convexTerrain.plane.positionInWorld.x(), convexTerrain.plane.positionInWorld.y()}, Eigen::Array2d(width, length), success); auto t2 = std::chrono::high_resolution_clock::now(); - signed_distance_field::GridmapSignedDistanceField sdf(localMap, "elevation", - convexTerrain.plane.positionInWorld.z() - heightClearance, - convexTerrain.plane.positionInWorld.z() + heightClearance); + switched_model::SegmentedPlanesSignedDistanceField sdf(localMap, "elevation", + convexTerrain.plane.positionInWorld.z() - heightClearance, + convexTerrain.plane.positionInWorld.z() + heightClearance); auto t3 = std::chrono::high_resolution_clock::now(); std::cout << "Sdf computation took " << 1e-3 * std::chrono::duration_cast(t3 - t2).count() << " [ms]\n"; auto t4 = std::chrono::high_resolution_clock::now(); - auto sdfClone = std::unique_ptr(sdf.clone()); + auto sdfClone = std::unique_ptr(sdf.clone()); auto t5 = std::chrono::high_resolution_clock::now(); std::cout << "Sdf.clone() computation took " << 1e-3 * std::chrono::duration_cast(t5 - t4).count() << " [ms]\n"; diff --git a/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModel.cpp b/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModel.cpp index 1227e067..21e3c396 100644 --- a/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModel.cpp +++ b/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModel.cpp @@ -7,7 +7,7 @@ #include #include -#include + #include #include "segmented_planes_terrain_model/SegmentedPlaneProjection.h" @@ -72,7 +72,7 @@ void SegmentedPlanesTerrainModel::createSignedDistanceBetween(const Eigen::Vecto bool success = true; grid_map::GridMap subMap = planarTerrain_.gridMap.getSubmap(centerXY, lengths, success); if (success) { - signedDistanceField_ = std::make_unique(subMap, elevationLayerName, + signedDistanceField_ = std::make_unique(subMap, elevationLayerName, minCoordinates.z(), maxCoordinates.z()); } else { std::cerr << "[SegmentedPlanesTerrainModel] Failed to get subMap" << std::endl; diff --git a/segmented_planes_terrain_model/test/signedDistanceTest.cpp b/segmented_planes_terrain_model/test/signedDistanceTest.cpp index d0a4b2c8..6db3eaa8 100644 --- a/segmented_planes_terrain_model/test/signedDistanceTest.cpp +++ b/segmented_planes_terrain_model/test/signedDistanceTest.cpp @@ -8,12 +8,13 @@ #include #include -#include #include #include #include #include +#include "segmented_planes_terrain_model/SegmentedPlanesSignedDistanceField.h" + grid_map::GridMap loadElevationMapFromFile(const std::string& filePath, double resolution, double scale) { // Read the file cv::Mat image; @@ -100,7 +101,7 @@ int main(int argc, char** argv) { // for (float h = minHeight; h < maxHeight; h += resolution_) { // data_.emplace_back(signed_distance_field::signedDistanceAtHeight(map, h, resolution)); // } - signed_distance_field::GridmapSignedDistanceField sdf(gridMap, layer, minHeight, maxHeight); + switched_model::SegmentedPlanesSignedDistanceField sdf(gridMap, layer, minHeight, maxHeight); // ========================================================= } diff --git a/signed_distance_field/CMakeLists.txt b/signed_distance_field/CMakeLists.txt index c61862b2..c9490b9d 100644 --- a/signed_distance_field/CMakeLists.txt +++ b/signed_distance_field/CMakeLists.txt @@ -5,7 +5,6 @@ project(signed_distance_field) set(CATKIN_PACKAGE_DEPENDENCIES grid_map_core pcl_ros - ocs2_switched_model_interface ) find_package(catkin REQUIRED COMPONENTS @@ -36,16 +35,15 @@ include_directories( ) add_library(${PROJECT_NAME} - src/PixelBorderDistance.cpp src/GridmapSignedDistanceField.cpp - src/SignedDistance2d.cpp - ) + src/SignedDistance2d.cpp +) add_dependencies(${PROJECT_NAME} ${catkin_EXPORTED_TARGETS} - ) +) target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} - ) +) ############# @@ -56,10 +54,10 @@ install(TARGETS ${PROJECT_NAME} ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} - ) +) install(DIRECTORY include/${PROJECT_NAME}/ DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} - ) +) ############# ## Testing ## @@ -71,9 +69,9 @@ add_executable(${PROJECT_NAME}_test test/testPixelBorderDistance.cpp test/testSignedDistance2d.cpp test/testSignedDistance3d.cpp - ) +) target_link_libraries(${PROJECT_NAME}_test ${catkin_LIBRARIES} ${PROJECT_NAME} gtest_main - ) \ No newline at end of file +) \ No newline at end of file diff --git a/signed_distance_field/include/signed_distance_field/DistanceDerivatives.h b/signed_distance_field/include/signed_distance_field/DistanceDerivatives.h index eb37ac65..384ccb08 100644 --- a/signed_distance_field/include/signed_distance_field/DistanceDerivatives.h +++ b/signed_distance_field/include/signed_distance_field/DistanceDerivatives.h @@ -4,36 +4,55 @@ #pragma once -#include +#include +namespace grid_map { namespace signed_distance_field { -inline void columnwiseCentralDifference(const Eigen::MatrixXf& data, Eigen::MatrixXf& centralDifference, float resolution) { +/** + * Takes the columnwise central difference of a matrix. Uses single sided difference at the boundaries. + * diff = (col(i+1) - col(i-1)) / (2 * resolution) + * + * @param data [in] : data to take the difference of. + * @param centralDifference [out] : matrix to store the result in. + * @param resolution [in] : scaling of the distance between two columns. + */ +inline void columnwiseCentralDifference(const Matrix& data, Matrix& centralDifference, float resolution) { assert(data.cols() >= 2); // Minimum size to take finite differences. const int m = data.cols(); + const float resInv = 1.0F / resolution; + const float doubleResInv = 1.0F / (2.0F * resolution); // First column - centralDifference.col(0) = (data.col(1) - data.col(0)) / resolution; + centralDifference.col(0) = resInv * (data.col(1) - data.col(0)); // All the middle columns - float doubleResolution = 2.0F * resolution; for (int i = 1; i + 1 < m; ++i) { - centralDifference.col(i) = (data.col(i + 1) - data.col(i - 1)) / doubleResolution; + centralDifference.col(i) = doubleResInv * (data.col(i + 1) - data.col(i - 1)); } // Last column - centralDifference.col(m - 1) = (data.col(m - 1) - data.col(m - 2)) / resolution; + centralDifference.col(m - 1) = resInv * (data.col(m - 1) - data.col(m - 2)); } -inline void layerFiniteDifference(const Eigen::MatrixXf& data_k, const Eigen::MatrixXf& data_kp1, Eigen::MatrixXf& result, - float resolution) { - result = (1.0F / resolution) * (data_kp1 - data_k); +/** + * Takes the finite difference between layers + * result = (data_{k+1} - data{k}) / resolution + */ +inline void layerFiniteDifference(const Matrix& data_k, const Matrix& data_kp1, Matrix& result, float resolution) { + const float resInv = 1.0F / resolution; + result = resInv * (data_kp1 - data_k); } -inline void layerCentralDifference(const Eigen::MatrixXf& data_km1, const Eigen::MatrixXf& data_kp1, Eigen::MatrixXf& result, float resolution) { - float doubleResolution = 2.0F * resolution; - result = (1.0F / doubleResolution) * (data_kp1 - data_km1); +/** + * Takes the central difference between layers + * result = (data_{k+1} - data{k-1}) / (2.0 * resolution) + */ +inline void layerCentralDifference(const Matrix& data_km1, const Matrix& data_kp1, Matrix& result, float resolution) { + const float doubleResInv = 1.0F / (2.0F * resolution); + result = doubleResInv * (data_kp1 - data_km1); } } // namespace signed_distance_field +} // namespace grid_map \ No newline at end of file diff --git a/signed_distance_field/include/signed_distance_field/Gridmap3dLookup.h b/signed_distance_field/include/signed_distance_field/Gridmap3dLookup.h index 90ec2d06..f0447efe 100644 --- a/signed_distance_field/include/signed_distance_field/Gridmap3dLookup.h +++ b/signed_distance_field/include/signed_distance_field/Gridmap3dLookup.h @@ -4,11 +4,9 @@ #pragma once -#include -#include - -#include +#include +namespace grid_map { namespace signed_distance_field { /** @@ -28,7 +26,7 @@ struct Gridmap3dLookup { }; size_t_3d gridsize_; - Eigen::Vector3d gridOrigin_; + Position3 gridOrigin_; double resolution_; /** @@ -37,7 +35,7 @@ struct Gridmap3dLookup { * @param gridOrigin : position at x=y=z=0 * @param resolution : (>0.0) size of 1 voxel */ - Gridmap3dLookup(const size_t_3d& gridsize, const Eigen::Vector3d& gridOrigin, double resolution) + Gridmap3dLookup(const size_t_3d& gridsize, const Position3& gridOrigin, double resolution) : gridsize_(gridsize), gridOrigin_(gridOrigin), resolution_(resolution) { assert(resolution_ > 0.0); assert(gridsize_.x > 0); @@ -49,14 +47,15 @@ struct Gridmap3dLookup { Gridmap3dLookup() : Gridmap3dLookup({1, 1, 1}, {0.0, 0.0, 0.0}, 1.0) {} /** Returns the 3d index of the grid node closest to the query position */ - size_t_3d nearestNode(const Eigen::Vector3d& position) const noexcept { - Eigen::Vector3d subpixelVector{(gridOrigin_.x() - position.x()) / resolution_, (gridOrigin_.y() - position.y()) / resolution_, (position.z() - gridOrigin_.z()) / resolution_}; + size_t_3d nearestNode(const Position3& position) const noexcept { + Position3 subpixelVector{(gridOrigin_.x() - position.x()) / resolution_, (gridOrigin_.y() - position.y()) / resolution_, + (position.z() - gridOrigin_.z()) / resolution_}; return {nearestPositiveInteger(subpixelVector.x(), gridsize_.x - 1), nearestPositiveInteger(subpixelVector.y(), gridsize_.y - 1), nearestPositiveInteger(subpixelVector.z(), gridsize_.z - 1)}; } /** Returns the 3d node position from a 3d index */ - Eigen::Vector3d nodePosition(const size_t_3d& index) const noexcept { + Position3 nodePosition(const size_t_3d& index) const noexcept { return {gridOrigin_.x() - index.x * resolution_, gridOrigin_.y() - index.y * resolution_, gridOrigin_.z() + index.z * resolution_}; } @@ -67,7 +66,7 @@ struct Gridmap3dLookup { size_t linearSize() const noexcept { return gridsize_.x * gridsize_.y * gridsize_.z; } /** rounds subindex value and clamps it to [0, max] */ - static size_t nearestPositiveInteger(double val, size_t max) { + static size_t nearestPositiveInteger(double val, size_t max) noexcept { // Comparing bounds as double prevents underflow/overflow if (val > 0.0) { return static_cast(std::min(std::round(val), static_cast(max))); @@ -78,3 +77,4 @@ struct Gridmap3dLookup { }; } // namespace signed_distance_field +} // namespace grid_map \ No newline at end of file diff --git a/signed_distance_field/include/signed_distance_field/GridmapSignedDistanceField.h b/signed_distance_field/include/signed_distance_field/GridmapSignedDistanceField.h index 927fa7a8..455b18d1 100644 --- a/signed_distance_field/include/signed_distance_field/GridmapSignedDistanceField.h +++ b/signed_distance_field/include/signed_distance_field/GridmapSignedDistanceField.h @@ -11,27 +11,56 @@ #include #include -#include +#include #include -#include - #include "Gridmap3dLookup.h" -namespace signed_distance_field { - -class GridmapSignedDistanceField : public switched_model::SignedDistanceField { +namespace grid_map { + +/** + * This class creates a dense 3D signed distance field grid for a given elevation map. + * The 3D grid uses the same resolution as the 2D map. i.e. all voxels are of size (resolution x resolution x resolution). + * The size of the 3D grid is the same as the map in XY direction. The size is Z direction is specified in the constructor. + * + * During the creation of the class all values and derivatives are pre-computed in one go. This makes repeated lookups very cheap. + * Querying a point outside of the constructed grid will result in linear extrapolation. + */ +class GridmapSignedDistanceField { public: EIGEN_MAKE_ALIGNED_OPERATOR_NEW + using Derivative3 = Eigen::Vector3d; - GridmapSignedDistanceField(const grid_map::GridMap& gridMap, const std::string& elevationLayer, double minHeight, double maxHeight); - ~GridmapSignedDistanceField() override = default; - GridmapSignedDistanceField* clone() const override; + /** + * Create a signed distance field and its derivative for an elevation layer in the grid map. + * + * @param gridMap : Input map to create the SDF for. + * @param elevationLayer : Name of the elevation layer. + * @param minHeight : Desired starting height of the 3D SDF grid. + * @param maxHeight : Desired ending height of the 3D SDF grid. (Will be rounded up to match the resolution) + */ + GridmapSignedDistanceField(const GridMap& gridMap, const std::string& elevationLayer, double minHeight, double maxHeight); - switched_model::scalar_t value(const switched_model::vector3_t& position) const override; - switched_model::vector3_t derivative(const switched_model::vector3_t& position) const override; - std::pair valueAndDerivative( - const switched_model::vector3_t& position) const override; + /** + * Get the signed distance value at a 3D position. + * @param position : 3D position in the frame of the gridmap. + * @return signed distance to the elevation surface. + */ + double value(const Position3& position) const noexcept; + + /** + * Get the signed distance derivative at a 3D position. + * @param position : 3D position in the frame of the gridmap. + * @return derivative of the signed distance field. + */ + Derivative3 derivative(const Position3& position) const noexcept; + + /** + * Get both the signed distance value and derivative at a 3D position. + * @param position : 3D position in the frame of the gridmap. + * @return {value, derivative} of the signed distance field. + */ + std::pair valueAndDerivative(const Position3& position) const noexcept; /** * Return the signed distance field as a pointcloud. The signed distance is assigned to the point's intensity. @@ -54,21 +83,61 @@ class GridmapSignedDistanceField : public switched_model::SignedDistanceField { pcl::PointCloud obstaclePointCloud(size_t decimation = 1) const; private: - GridmapSignedDistanceField(const GridmapSignedDistanceField& other); - void computeSignedDistance(const grid_map::Matrix& elevation); - void computeLayerSdfandDeltaX(const grid_map::Matrix& elevation, grid_map::Matrix& currentLayer, grid_map::Matrix& dxTranspose, - grid_map::Matrix& sdfTranspose, grid_map::Matrix& tmp, grid_map::Matrix& tmpTranspose, - const float gridOriginZ, const float resolution, const float minHeight, const float maxHeight) const; - void emplacebackLayerData(const grid_map::Matrix& signedDistance, const grid_map::Matrix& dxTranspose, const grid_map::Matrix& dy, - const grid_map::Matrix& dz); + /** + * Implementation of the signed distance field computation in this class. + * @param elevation + */ + void computeSignedDistance(const Matrix& elevation); + + /** + * Simultaneously compute the signed distance and derivative in x direction at a given height + * @param elevation [in] : elevation data + * @param currentLayer [out] : signed distance values + * @param dxTranspose [out] : derivative in x direction (the matrix is transposed) + * @param sdfTranspose [tmp] : temporary variable to reuse between calls (allocated on first use) + * @param tmp [tmp] : temporary variable (allocated on first use) + * @param tmpTranspose [tmp] : temporary variable (allocated on first use) + * @param height [in] : height the signed distance is create for. + * @param resolution [in] : resolution of the map. + * @param minHeight [in] : smallest height value in the elevation data. + * @param maxHeight [in] : largest height value in the elevation data. + */ + void computeLayerSdfandDeltaX(const Matrix& elevation, Matrix& currentLayer, Matrix& dxTranspose, Matrix& sdfTranspose, Matrix& tmp, + Matrix& tmpTranspose, float height, float resolution, float minHeight, float maxHeight) const; + + /** + * Add the computed signed distance values and derivatives at a particular height to the grid. + * Adds the layer to the back of data_ + * @param signedDistance : signed distance values. + * @param dxTranspose : x components of the derivative (matrix is transposed). + * @param dy : y components of the derivative. + * @param dz : z components of the derivative. + */ + void emplacebackLayerData(const Matrix& signedDistance, const Matrix& dxTranspose, const Matrix& dy, const Matrix& dz); + //! Data structure to store together {signed distance value, derivative}. using node_data_t = std::array; + + /** Helper function to extract the sdf value */ static double distance(const node_data_t& nodeData) noexcept { return nodeData[0]; } + + /** Helper function to extract the sdf value as float */ static float distanceFloat(const node_data_t& nodeData) noexcept { return nodeData[0]; } - static Eigen::Vector3d derivative(const node_data_t& nodeData) noexcept { return {nodeData[1], nodeData[2], nodeData[3]}; } - Gridmap3dLookup gridmap3DLookup_; + /** Helper function to extract the sdf derivative */ + static Derivative3 derivative(const node_data_t& nodeData) noexcept { return {nodeData[1], nodeData[2], nodeData[3]}; } + + //! Object encoding the 3D grid. + signed_distance_field::Gridmap3dLookup gridmap3DLookup_; + + //! Object encoding the signed distance value and derivative in the grid. std::vector data_; + + //! Frame id of the grid map. + std::string frameId_; + + //! Timestamp of the grid map (nanoseconds). + Time timestamp_; }; -} // namespace signed_distance_field +} // namespace grid_map \ No newline at end of file diff --git a/signed_distance_field/include/signed_distance_field/PixelBorderDistance.h b/signed_distance_field/include/signed_distance_field/PixelBorderDistance.h index bee0014e..97006570 100644 --- a/signed_distance_field/include/signed_distance_field/PixelBorderDistance.h +++ b/signed_distance_field/include/signed_distance_field/PixelBorderDistance.h @@ -8,6 +8,7 @@ #include #include +namespace grid_map { namespace signed_distance_field { /** @@ -51,7 +52,7 @@ inline float intersectionPointRightSideOfOrigin(float p, float fp) { } else if (fp < -pSquared) { return (pSquared - p + fp) / (2.0F * p); // sol 5 } else { - const float bound = pSquared - 2.0F * p + 1.0F; // Always positive because (p > 0) + const float bound = pSquared - 2.0F * p + 1.0F; // Always positive because (p > 0) if (fp > bound) { return 0.5F + std::sqrt(fp); // sol 2 } else if (fp < -bound) { @@ -96,3 +97,4 @@ inline float equidistancePoint(float q, float fq, float p, float fp) { } } // namespace signed_distance_field +} // namespace grid_map \ No newline at end of file diff --git a/signed_distance_field/include/signed_distance_field/SignedDistance2d.h b/signed_distance_field/include/signed_distance_field/SignedDistance2d.h index 8f1b8709..ff6b64a6 100644 --- a/signed_distance_field/include/signed_distance_field/SignedDistance2d.h +++ b/signed_distance_field/include/signed_distance_field/SignedDistance2d.h @@ -10,6 +10,7 @@ #include "Utils.h" +namespace grid_map { namespace signed_distance_field { /** @@ -22,8 +23,7 @@ namespace signed_distance_field { * @param maxHeight : the maximum height contained in elevationMap * @return The signed distance field at the query height. */ -grid_map::Matrix signedDistanceAtHeight(const grid_map::Matrix& elevationMap, float height, float resolution, float minHeight, - float maxHeight); +Matrix signedDistanceAtHeight(const Matrix& elevationMap, float height, float resolution, float minHeight, float maxHeight); /** * Same as above, but returns the sdf in transposed form. @@ -38,9 +38,18 @@ grid_map::Matrix signedDistanceAtHeight(const grid_map::Matrix& elevationMap, fl * @param minHeight : the lowest height contained in elevationMap * @param maxHeight : the maximum height contained in elevationMap */ -void signedDistanceAtHeightTranspose(const grid_map::Matrix& elevationMap, grid_map::Matrix& sdfTranspose, grid_map::Matrix& tmp, - grid_map::Matrix& tmpTranspose, float height, float resolution, float minHeight, float maxHeight); +void signedDistanceAtHeightTranspose(const Matrix& elevationMap, Matrix& sdfTranspose, Matrix& tmp, Matrix& tmpTranspose, float height, + float resolution, float minHeight, float maxHeight); -grid_map::Matrix signedDistanceFromOccupancy(const Eigen::Matrix& occupancyGrid, float resolution); +/** + * Gets the 2D signed distance from an occupancy grid. + * Returns +INF if there are no obstacles, and -INF if there are only obstacles + * + * @param occupancyGrid : occupancy grid with true = obstacle, false = free space + * @param resolution : resolution of the grid. + * @return signed distance for each point in the grid to the occupancy border. + */ +Matrix signedDistanceFromOccupancy(const Eigen::Matrix& occupancyGrid, float resolution); -} // namespace signed_distance_field \ No newline at end of file +} // namespace signed_distance_field +} // namespace grid_map \ No newline at end of file diff --git a/signed_distance_field/include/signed_distance_field/Utils.h b/signed_distance_field/include/signed_distance_field/Utils.h index 37c437e4..d6953d8c 100644 --- a/signed_distance_field/include/signed_distance_field/Utils.h +++ b/signed_distance_field/include/signed_distance_field/Utils.h @@ -4,9 +4,10 @@ #pragma once - +namespace grid_map { namespace signed_distance_field { -constexpr float INF = 1e15; // maximum well below numeric_limits::max +constexpr float INF = 1e15; // maximum well below numeric_limits::max -} \ No newline at end of file +} // namespace signed_distance_field +} // namespace grid_map \ No newline at end of file diff --git a/signed_distance_field/package.xml b/signed_distance_field/package.xml index 86d78b3a..a6ba2663 100644 --- a/signed_distance_field/package.xml +++ b/signed_distance_field/package.xml @@ -12,6 +12,5 @@ grid_map_core pcl_ros - ocs2_switched_model_interface diff --git a/signed_distance_field/src/GridmapSignedDistanceField.cpp b/signed_distance_field/src/GridmapSignedDistanceField.cpp index 05666083..4fdc296d 100644 --- a/signed_distance_field/src/GridmapSignedDistanceField.cpp +++ b/signed_distance_field/src/GridmapSignedDistanceField.cpp @@ -7,67 +7,71 @@ #include "signed_distance_field/DistanceDerivatives.h" #include "signed_distance_field/SignedDistance2d.h" -namespace signed_distance_field { - -GridmapSignedDistanceField::GridmapSignedDistanceField(const grid_map::GridMap& gridMap, const std::string& elevationLayer, - double minHeight, double maxHeight) { +namespace grid_map { + +// Import from the signed_distance_field namespace +using signed_distance_field::Gridmap3dLookup; +using signed_distance_field::layerFiniteDifference; +using signed_distance_field::columnwiseCentralDifference; +using signed_distance_field::signedDistanceAtHeightTranspose; +using signed_distance_field::layerCentralDifference; + +GridmapSignedDistanceField::GridmapSignedDistanceField(const GridMap& gridMap, const std::string& elevationLayer, double minHeight, + double maxHeight) + : frameId_(gridMap.getFrameId()), timestamp_(gridMap.getTimestamp()) { assert(maxHeight >= minHeight); - grid_map::Position mapOriginXY; + + // Determine origin of the 3D grid + Position mapOriginXY; gridMap.getPosition(Eigen::Vector2i(0, 0), mapOriginXY); - Eigen::Vector3d gridOrigin(mapOriginXY.x(), mapOriginXY.y(), minHeight); + Position3 gridOrigin(mapOriginXY.x(), mapOriginXY.y(), minHeight); - // Take minimum of two layers to enable finite difference in Z direction + // Round up the Z-discretization. We need a minimum of two layers to enable finite difference in Z direction const auto numZLayers = static_cast(std::max(std::ceil((maxHeight - minHeight) / gridMap.getResolution()), 2.0)); const size_t numXrows = gridMap.getSize().x(); const size_t numYrows = gridMap.getSize().y(); Gridmap3dLookup::size_t_3d gridsize = {numXrows, numYrows, numZLayers}; + // Initialize 3D lookup gridmap3DLookup_ = Gridmap3dLookup(gridsize, gridOrigin, gridMap.getResolution()); + // Allocate the internal data structure data_.reserve(gridmap3DLookup_.linearSize()); + + // Check for NaN const auto& elevationData = gridMap.get(elevationLayer); if (elevationData.hasNaN()) { - std::cerr << "[GridmapSignedDistanceField] elevation data contains NaN" << std::endl; + std::cerr << "[GridmapSignedDistanceField] elevation data contains NaN. The generated SDF will be invalid" << std::endl; } - computeSignedDistance(elevationData); -} -GridmapSignedDistanceField::GridmapSignedDistanceField(const GridmapSignedDistanceField& other) - : switched_model::SignedDistanceField(), gridmap3DLookup_(other.gridmap3DLookup_), data_(other.data_) {} - -GridmapSignedDistanceField* GridmapSignedDistanceField::clone() const { - return new GridmapSignedDistanceField(*this); + // Compute the SDF + computeSignedDistance(elevationData); } -switched_model::scalar_t GridmapSignedDistanceField::value(const switched_model::vector3_t& position) const { +double GridmapSignedDistanceField::value(const Position3& position) const noexcept { const auto nodeIndex = gridmap3DLookup_.nearestNode(position); - const Eigen::Vector3d nodePosition = gridmap3DLookup_.nodePosition(nodeIndex); - const node_data_t nodeData = data_[gridmap3DLookup_.linearIndex(nodeIndex)]; - const Eigen::Vector3d jacobian = derivative(nodeData); + const auto nodePosition = gridmap3DLookup_.nodePosition(nodeIndex); + const auto nodeData = data_[gridmap3DLookup_.linearIndex(nodeIndex)]; + const auto jacobian = derivative(nodeData); return distance(nodeData) + jacobian.dot(position - nodePosition); } -switched_model::vector3_t GridmapSignedDistanceField::derivative(const switched_model::vector3_t& position) const { +GridmapSignedDistanceField::Derivative3 GridmapSignedDistanceField::derivative(const Position3& position) const noexcept { const auto nodeIndex = gridmap3DLookup_.nearestNode(position); - const node_data_t nodeData = data_[gridmap3DLookup_.linearIndex(nodeIndex)]; + const auto nodeData = data_[gridmap3DLookup_.linearIndex(nodeIndex)]; return derivative(nodeData); } -std::pair GridmapSignedDistanceField::valueAndDerivative( - const switched_model::vector3_t& position) const { +std::pair GridmapSignedDistanceField::valueAndDerivative( + const Position3& position) const noexcept { const auto nodeIndex = gridmap3DLookup_.nearestNode(position); - const Eigen::Vector3d nodePosition = gridmap3DLookup_.nodePosition(nodeIndex); - const node_data_t nodeData = data_[gridmap3DLookup_.linearIndex(nodeIndex)]; - const Eigen::Vector3d jacobian = derivative(nodeData); + const auto nodePosition = gridmap3DLookup_.nodePosition(nodeIndex); + const auto nodeData = data_[gridmap3DLookup_.linearIndex(nodeIndex)]; + const auto jacobian = derivative(nodeData); return {distance(nodeData) + jacobian.dot(position - nodePosition), jacobian}; } -void GridmapSignedDistanceField::computeSignedDistance(const grid_map::Matrix& elevation) { - using signed_distance_field::columnwiseCentralDifference; - using signed_distance_field::layerCentralDifference; - using signed_distance_field::layerFiniteDifference; - using signed_distance_field::signedDistanceAtHeightTranspose; - +void GridmapSignedDistanceField::computeSignedDistance(const Matrix& elevation) { const auto gridOriginZ = static_cast(gridmap3DLookup_.gridOrigin_.z()); const auto resolution = static_cast(gridmap3DLookup_.resolution_); const auto minHeight = elevation.minCoeff(); @@ -83,20 +87,20 @@ void GridmapSignedDistanceField::computeSignedDistance(const grid_map::Matrix& e */ // Memory needed to compute the SDF at a layer - grid_map::Matrix tmp; // allocated on first use - grid_map::Matrix tmpTranspose; // allocated on first use - grid_map::Matrix sdfTranspose; // allocated on first use + Matrix tmp; // allocated on first use + Matrix tmpTranspose; // allocated on first use + Matrix sdfTranspose; // allocated on first use // Memory needed to keep a buffer of layers. We need 3 due to the central difference - grid_map::Matrix currentLayer; // allocated on first use - grid_map::Matrix nextLayer; // allocated on first use - grid_map::Matrix previousLayer; // allocated on first use + Matrix currentLayer; // allocated on first use + Matrix nextLayer; // allocated on first use + Matrix previousLayer; // allocated on first use // Memory needed to compute finite differences - grid_map::Matrix dxTranspose = grid_map::Matrix::Zero(elevation.cols(), elevation.rows()); - grid_map::Matrix dxNextTranspose = grid_map::Matrix::Zero(elevation.cols(), elevation.rows()); - grid_map::Matrix dy = grid_map::Matrix::Zero(elevation.rows(), elevation.cols()); - grid_map::Matrix dz = grid_map::Matrix::Zero(elevation.rows(), elevation.cols()); + Matrix dxTranspose = Matrix::Zero(elevation.cols(), elevation.rows()); + Matrix dxNextTranspose = Matrix::Zero(elevation.cols(), elevation.rows()); + Matrix dy = Matrix::Zero(elevation.rows(), elevation.cols()); + Matrix dz = Matrix::Zero(elevation.rows(), elevation.cols()); // Compute SDF of first layer computeLayerSdfandDeltaX(elevation, currentLayer, dxTranspose, sdfTranspose, tmp, tmpTranspose, gridOriginZ, resolution, minHeight, @@ -131,7 +135,7 @@ void GridmapSignedDistanceField::computeSignedDistance(const grid_map::Matrix& e emplacebackLayerData(currentLayer, dxTranspose, dy, dz); } - // Circulate layer buffers on last time + // Circulate layer buffers one last time previousLayer.swap(currentLayer); currentLayer.swap(nextLayer); dxTranspose.swap(dxNextTranspose); @@ -143,18 +147,17 @@ void GridmapSignedDistanceField::computeSignedDistance(const grid_map::Matrix& e // Add the data to the 3D structure emplacebackLayerData(currentLayer, dxTranspose, dy, dz); } -void GridmapSignedDistanceField::computeLayerSdfandDeltaX(const grid_map::Matrix& elevation, grid_map::Matrix& currentLayer, - grid_map::Matrix& dxTranspose, grid_map::Matrix& sdfTranspose, - grid_map::Matrix& tmp, grid_map::Matrix& tmpTranspose, const float gridOriginZ, - const float resolution, const float minHeight, const float maxHeight) const { +void GridmapSignedDistanceField::computeLayerSdfandDeltaX(const Matrix& elevation, Matrix& currentLayer, Matrix& dxTranspose, + Matrix& sdfTranspose, Matrix& tmp, Matrix& tmpTranspose, float height, + float resolution, float minHeight, float maxHeight) const { // Compute SDF + dx of layer: compute sdfTranspose -> take dxTranspose -> transpose to get sdf - signedDistanceAtHeightTranspose(elevation, sdfTranspose, tmp, tmpTranspose, gridOriginZ, resolution, minHeight, maxHeight); + signedDistanceAtHeightTranspose(elevation, sdfTranspose, tmp, tmpTranspose, height, resolution, minHeight, maxHeight); columnwiseCentralDifference(sdfTranspose, dxTranspose, -resolution); // dx / drow = -resolution currentLayer = sdfTranspose.transpose(); } -void GridmapSignedDistanceField::emplacebackLayerData(const grid_map::Matrix& signedDistance, const grid_map::Matrix& dxdxTranspose, - const grid_map::Matrix& dy, const grid_map::Matrix& dz) { +void GridmapSignedDistanceField::emplacebackLayerData(const Matrix& signedDistance, const Matrix& dxdxTranspose, const Matrix& dy, + const Matrix& dz) { for (size_t colY = 0; colY < gridmap3DLookup_.gridsize_.y; ++colY) { for (size_t rowX = 0; rowX < gridmap3DLookup_.gridsize_.x; ++rowX) { data_.emplace_back(node_data_t{signedDistance(rowX, colY), dxdxTranspose(colY, rowX), dy(rowX, colY), dz(rowX, colY)}); @@ -165,6 +168,9 @@ void GridmapSignedDistanceField::emplacebackLayerData(const grid_map::Matrix& si pcl::PointCloud GridmapSignedDistanceField::asPointCloud(size_t decimation, const std::function& condition) const { pcl::PointCloud points; + points.header.stamp = timestamp_; + points.header.frame_id = frameId_; + points.reserve(gridmap3DLookup_.linearSize()); for (size_t layerZ = 0; layerZ < gridmap3DLookup_.gridsize_.z; layerZ += decimation) { for (size_t colY = 0; colY < gridmap3DLookup_.gridsize_.y; colY += decimation) { @@ -195,4 +201,4 @@ pcl::PointCloud GridmapSignedDistanceField::obstaclePointCloud(s return asPointCloud(decimation, [](float signedDistance) { return signedDistance <= 0.0F; }); } -} // namespace signed_distance_field +} // namespace grid_map diff --git a/signed_distance_field/src/PixelBorderDistance.cpp b/signed_distance_field/src/PixelBorderDistance.cpp deleted file mode 100644 index 34047f8e..00000000 --- a/signed_distance_field/src/PixelBorderDistance.cpp +++ /dev/null @@ -1,7 +0,0 @@ -// -// Created by rgrandia on 07.08.20. -// - -#include "signed_distance_field/PixelBorderDistance.h" - -namespace signed_distance_field {} \ No newline at end of file diff --git a/signed_distance_field/src/SignedDistance2d.cpp b/signed_distance_field/src/SignedDistance2d.cpp index e4248770..72532d71 100644 --- a/signed_distance_field/src/SignedDistance2d.cpp +++ b/signed_distance_field/src/SignedDistance2d.cpp @@ -6,6 +6,7 @@ #include "signed_distance_field/PixelBorderDistance.h" +namespace grid_map { namespace signed_distance_field { namespace internal { @@ -64,7 +65,7 @@ std::vector::iterator fillLowerBounds(const Eigen::Ref squareDistance1d, const std::vector& lowerBounds, - std::vector::const_iterator lowerBoundIt, Eigen::Index start) { + std::vector::const_iterator lowerBoundIt, Eigen::Index start) { const auto n = squareDistance1d.size(); // Store active bound by value to remove indirection @@ -153,8 +154,7 @@ inline void squaredDistanceTransform_1d_inplace(Eigen::Ref squa * @param squareDistance1d : input as squared distance, output is the distance after sqrt. * @param lowerBounds : work vector */ -inline void distanceTransform_1d_inplace(Eigen::Ref squareDistance1d, - std::vector& lowerBounds) { +inline void distanceTransform_1d_inplace(Eigen::Ref squareDistance1d, std::vector& lowerBounds) { assert(lowerBounds.size() >= squareDistance1d.size()); auto start = lastZeroFromFront(squareDistance1d); @@ -166,7 +166,7 @@ inline void distanceTransform_1d_inplace(Eigen::Ref squareDista } } -void computePixelDistance2dTranspose(grid_map::Matrix& input, grid_map::Matrix& distanceTranspose) { +void computePixelDistance2dTranspose(Matrix& input, Matrix& distanceTranspose) { const size_t n = input.rows(); const size_t m = input.cols(); @@ -187,8 +187,7 @@ void computePixelDistance2dTranspose(grid_map::Matrix& input, grid_map::Matrix& } // Initialize with square distance in height direction in pixel units if above the surface -void initializeObstacleDistance(const grid_map::Matrix& elevationMap, grid_map::Matrix& result, float height, - float resolution) { +void initializeObstacleDistance(const Matrix& elevationMap, Matrix& result, float height, float resolution) { /* Vectorized implementation of: * if (height > elevation) { * const auto diff = (height - elevation) / resolution; @@ -201,8 +200,7 @@ void initializeObstacleDistance(const grid_map::Matrix& elevationMap, grid_map:: } // Initialize with square distance in height direction in pixel units if below the surface -void initializeObstacleFreeDistance(const grid_map::Matrix& elevationMap, grid_map::Matrix& result, float height, - float resolution) { +void initializeObstacleFreeDistance(const Matrix& elevationMap, Matrix& result, float height, float resolution) { /* Vectorized implementation of: * if (height < elevation) { * const auto diff = (height - elevation) / resolution; @@ -214,26 +212,25 @@ void initializeObstacleFreeDistance(const grid_map::Matrix& elevationMap, grid_m result = ((1.0F / resolution) * (height - elevationMap.array()).cwiseMin(0.0F)).square(); } -void pixelDistanceToFreeSpaceTranspose(const grid_map::Matrix& elevationMap, grid_map::Matrix& sdfObstacleFree, grid_map::Matrix& tmp, float height, - float resolution) { +void pixelDistanceToFreeSpaceTranspose(const Matrix& elevationMap, Matrix& sdfObstacleFree, Matrix& tmp, float height, float resolution) { internal::initializeObstacleFreeDistance(elevationMap, tmp, height, resolution); internal::computePixelDistance2dTranspose(tmp, sdfObstacleFree); } -void pixelDistanceToObstacleTranspose(const grid_map::Matrix& elevationMap, grid_map::Matrix& sdfObstacleTranspose, grid_map::Matrix& tmp, float height, - float resolution) { +void pixelDistanceToObstacleTranspose(const Matrix& elevationMap, Matrix& sdfObstacleTranspose, Matrix& tmp, float height, + float resolution) { internal::initializeObstacleDistance(elevationMap, tmp, height, resolution); internal::computePixelDistance2dTranspose(tmp, sdfObstacleTranspose); } -grid_map::Matrix signedDistanceFromOccupancyTranspose(const Eigen::Matrix& occupancyGrid, float resolution) { +Matrix signedDistanceFromOccupancyTranspose(const Eigen::Matrix& occupancyGrid, float resolution) { // Compute pixel distance to obstacles - grid_map::Matrix sdfObstacle; - grid_map::Matrix init = occupancyGrid.unaryExpr([=](bool val) { return (val) ? 0.0F : INF; }); + Matrix sdfObstacle; + Matrix init = occupancyGrid.unaryExpr([=](bool val) { return (val) ? 0.0F : INF; }); internal::computePixelDistance2dTranspose(init, sdfObstacle); // Compute pixel distance to obstacle free space - grid_map::Matrix sdfObstacleFree; + Matrix sdfObstacleFree; init = occupancyGrid.unaryExpr([=](bool val) { return (val) ? INF : 0.0F; }); internal::computePixelDistance2dTranspose(init, sdfObstacleFree); @@ -242,8 +239,8 @@ grid_map::Matrix signedDistanceFromOccupancyTranspose(const Eigen::Matrix maxHeight; @@ -257,23 +254,22 @@ void signedDistanceAtHeightTranspose(const grid_map::Matrix& elevationMap, grid_ sdfTranspose *= resolution; } else { // This layer contains a mix of obstacles and free space internal::pixelDistanceToObstacleTranspose(elevationMap, sdfTranspose, tmp, height, resolution); - internal::pixelDistanceToFreeSpaceTranspose(elevationMap, tmpTranspose, tmp, height, resolution); + internal::pixelDistanceToFreeSpaceTranspose(elevationMap, tmpTranspose, tmp, height, resolution); sdfTranspose = resolution * (sdfTranspose - tmpTranspose); } } -grid_map::Matrix signedDistanceAtHeight(const grid_map::Matrix& elevationMap, float height, float resolution, float minHeight, - float maxHeight) { - grid_map::Matrix sdfTranspose; - grid_map::Matrix tmp; - grid_map::Matrix tmpTranspose; +Matrix signedDistanceAtHeight(const Matrix& elevationMap, float height, float resolution, float minHeight, float maxHeight) { + Matrix sdfTranspose; + Matrix tmp; + Matrix tmpTranspose; signedDistanceAtHeightTranspose(elevationMap, sdfTranspose, tmp, tmpTranspose, height, resolution, minHeight, maxHeight); return sdfTranspose.transpose(); } -grid_map::Matrix signedDistanceFromOccupancy(const Eigen::Matrix& occupancyGrid, float resolution) { +Matrix signedDistanceFromOccupancy(const Eigen::Matrix& occupancyGrid, float resolution) { auto obstacleCount = occupancyGrid.count(); bool hasObstacles = obstacleCount > 0; if (hasObstacles) { @@ -282,12 +278,13 @@ grid_map::Matrix signedDistanceFromOccupancy(const Eigen::Matrix& return internal::signedDistanceFromOccupancyTranspose(occupancyGrid, resolution).transpose(); } else { // Only obstacles -> distance is minus infinity everywhere - return grid_map::Matrix::Constant(occupancyGrid.rows(), occupancyGrid.cols(), -INF); + return Matrix::Constant(occupancyGrid.rows(), occupancyGrid.cols(), -INF); } } else { // No obstacles -> planar distance is infinite - return grid_map::Matrix::Constant(occupancyGrid.rows(), occupancyGrid.cols(), INF); + return Matrix::Constant(occupancyGrid.rows(), occupancyGrid.cols(), INF); } } } // namespace signed_distance_field +} // namespace grid_map \ No newline at end of file diff --git a/signed_distance_field/test/naiveSignedDistance.h b/signed_distance_field/test/naiveSignedDistance.h index 2ea41685..caf8a6a1 100644 --- a/signed_distance_field/test/naiveSignedDistance.h +++ b/signed_distance_field/test/naiveSignedDistance.h @@ -4,22 +4,23 @@ #pragma once +namespace grid_map { namespace signed_distance_field { -inline Eigen::Matrix occupancyAtHeight(const grid_map::Matrix& elevationMap, float height) { +inline Eigen::Matrix occupancyAtHeight(const Matrix& elevationMap, float height) { Eigen::Matrix occupany = elevationMap.unaryExpr([=](float val) { return val > height; }); return occupany; } -inline bool isEqualSdf(const grid_map::Matrix& sdf0, const grid_map::Matrix& sdf1, float tol) { - grid_map::Matrix error = (sdf0 - sdf1).array().abs(); +inline bool isEqualSdf(const Matrix& sdf0, const Matrix& sdf1, float tol) { + Matrix error = (sdf0 - sdf1).array().abs(); float maxDifference = error.maxCoeff(); return maxDifference < tol; } // N^2 naive implementation, for testing purposes -inline grid_map::Matrix naiveSignedDistanceAtHeight(const grid_map::Matrix& elevationMap, float height, float resolution) { - grid_map::Matrix signedDistance(elevationMap.rows(), elevationMap.cols()); +inline Matrix naiveSignedDistanceAtHeight(const Matrix& elevationMap, float height, float resolution) { + Matrix signedDistance(elevationMap.rows(), elevationMap.cols()); // For each point for (int row = 0; row < elevationMap.rows(); ++row) { @@ -57,8 +58,8 @@ inline grid_map::Matrix naiveSignedDistanceAtHeight(const grid_map::Matrix& elev return signedDistance; } -inline grid_map::Matrix naiveSignedDistanceFromOccupancy(const Eigen::Matrix& occupancyGrid, float resolution) { - grid_map::Matrix signedDistance(occupancyGrid.rows(), occupancyGrid.cols()); +inline Matrix naiveSignedDistanceFromOccupancy(const Eigen::Matrix& occupancyGrid, float resolution) { + Matrix signedDistance(occupancyGrid.rows(), occupancyGrid.cols()); // For each point for (int row = 0; row < occupancyGrid.rows(); ++row) { @@ -95,4 +96,6 @@ inline grid_map::Matrix naiveSignedDistanceFromOccupancy(const Eigen::Matrix Date: Thu, 17 Mar 2022 15:35:16 +0100 Subject: [PATCH 176/504] docs --- .../include/signed_distance_field/Gridmap3dLookup.h | 2 +- .../include/signed_distance_field/GridmapSignedDistanceField.h | 2 +- signed_distance_field/include/signed_distance_field/Utils.h | 3 ++- 3 files changed, 4 insertions(+), 3 deletions(-) diff --git a/signed_distance_field/include/signed_distance_field/Gridmap3dLookup.h b/signed_distance_field/include/signed_distance_field/Gridmap3dLookup.h index f0447efe..b652285c 100644 --- a/signed_distance_field/include/signed_distance_field/Gridmap3dLookup.h +++ b/signed_distance_field/include/signed_distance_field/Gridmap3dLookup.h @@ -12,7 +12,7 @@ namespace signed_distance_field { /** * Stores 3 dimensional grid information and provides methods to convert between position - 3d Index - linear index. * - * As with grid map, the X-Y position is opposite to the row-col-index: (X,Y) is highest at (0,0) and lowest at (n, m). + * As with the 2D GridMap, the X-Y position is opposite to the row-col-index: (X,Y) is highest at (0,0) and lowest at (n, m). * The z-position is increasing with the layer-index. */ struct Gridmap3dLookup { diff --git a/signed_distance_field/include/signed_distance_field/GridmapSignedDistanceField.h b/signed_distance_field/include/signed_distance_field/GridmapSignedDistanceField.h index 455b18d1..fb84f613 100644 --- a/signed_distance_field/include/signed_distance_field/GridmapSignedDistanceField.h +++ b/signed_distance_field/include/signed_distance_field/GridmapSignedDistanceField.h @@ -97,7 +97,7 @@ class GridmapSignedDistanceField { * @param sdfTranspose [tmp] : temporary variable to reuse between calls (allocated on first use) * @param tmp [tmp] : temporary variable (allocated on first use) * @param tmpTranspose [tmp] : temporary variable (allocated on first use) - * @param height [in] : height the signed distance is create for. + * @param height [in] : height the signed distance is created for. * @param resolution [in] : resolution of the map. * @param minHeight [in] : smallest height value in the elevation data. * @param maxHeight [in] : largest height value in the elevation data. diff --git a/signed_distance_field/include/signed_distance_field/Utils.h b/signed_distance_field/include/signed_distance_field/Utils.h index d6953d8c..8e2eb7ed 100644 --- a/signed_distance_field/include/signed_distance_field/Utils.h +++ b/signed_distance_field/include/signed_distance_field/Utils.h @@ -7,7 +7,8 @@ namespace grid_map { namespace signed_distance_field { -constexpr float INF = 1e15; // maximum well below numeric_limits::max +//! Distance value that is considered infinite. Needs to be well below numeric_limits::max to avoid overflow in computation involving ^2 +constexpr float INF = 1e15; } // namespace signed_distance_field } // namespace grid_map \ No newline at end of file From d60cd02bf597faaaa505425e2eb8b5119343eca4 Mon Sep 17 00:00:00 2001 From: rgrandia Date: Thu, 17 Mar 2022 15:54:30 +0100 Subject: [PATCH 177/504] Document the lookup class. Move static cast to constructor --- .../signed_distance_field/Gridmap3dLookup.h | 34 ++++++++++++------- 1 file changed, 22 insertions(+), 12 deletions(-) diff --git a/signed_distance_field/include/signed_distance_field/Gridmap3dLookup.h b/signed_distance_field/include/signed_distance_field/Gridmap3dLookup.h index b652285c..1e0fff1d 100644 --- a/signed_distance_field/include/signed_distance_field/Gridmap3dLookup.h +++ b/signed_distance_field/include/signed_distance_field/Gridmap3dLookup.h @@ -25,8 +25,16 @@ struct Gridmap3dLookup { size_t z; }; + //! 3D size of the grid size_t_3d gridsize_; + + //! Origin position of the grid Position3 gridOrigin_; + + //! Maximum index per dimension stored as double + Position3 gridMaxIndexAsDouble_; + + //! Grid resolution double resolution_; /** @@ -36,7 +44,11 @@ struct Gridmap3dLookup { * @param resolution : (>0.0) size of 1 voxel */ Gridmap3dLookup(const size_t_3d& gridsize, const Position3& gridOrigin, double resolution) - : gridsize_(gridsize), gridOrigin_(gridOrigin), resolution_(resolution) { + : gridsize_(gridsize), + gridOrigin_(gridOrigin), + gridMaxIndexAsDouble_(static_cast(gridsize_.x - 1), static_cast(gridsize_.y - 1), + static_cast(gridsize_.z - 1)), + resolution_(resolution) { assert(resolution_ > 0.0); assert(gridsize_.x > 0); assert(gridsize_.y > 0); @@ -48,10 +60,12 @@ struct Gridmap3dLookup { /** Returns the 3d index of the grid node closest to the query position */ size_t_3d nearestNode(const Position3& position) const noexcept { - Position3 subpixelVector{(gridOrigin_.x() - position.x()) / resolution_, (gridOrigin_.y() - position.y()) / resolution_, - (position.z() - gridOrigin_.z()) / resolution_}; - return {nearestPositiveInteger(subpixelVector.x(), gridsize_.x - 1), nearestPositiveInteger(subpixelVector.y(), gridsize_.y - 1), - nearestPositiveInteger(subpixelVector.z(), gridsize_.z - 1)}; + const double resInv = 1.0 / resolution_; + Position3 subpixelVector{(gridOrigin_.x() - position.x()) * resInv, (gridOrigin_.y() - position.y()) * resInv, + (position.z() - gridOrigin_.z()) * resInv}; + return {nearestPositiveInteger(subpixelVector.x(), gridMaxIndexAsDouble_.x()), + nearestPositiveInteger(subpixelVector.y(), gridMaxIndexAsDouble_.y()), + nearestPositiveInteger(subpixelVector.z(), gridMaxIndexAsDouble_.z())}; } /** Returns the 3d node position from a 3d index */ @@ -66,13 +80,9 @@ struct Gridmap3dLookup { size_t linearSize() const noexcept { return gridsize_.x * gridsize_.y * gridsize_.z; } /** rounds subindex value and clamps it to [0, max] */ - static size_t nearestPositiveInteger(double val, size_t max) noexcept { - // Comparing bounds as double prevents underflow/overflow - if (val > 0.0) { - return static_cast(std::min(std::round(val), static_cast(max))); - } else { - return 0; - } + static size_t nearestPositiveInteger(double val, double max) noexcept { + // Comparing bounds as double prevents underflow/overflow of size_t + return static_cast(std::max(0.0, std::min(std::round(val), max))); } }; From c6f88d8443b46475e1df9ea05c7a06ec97f29fac Mon Sep 17 00:00:00 2001 From: rgrandia Date: Thu, 17 Mar 2022 16:23:53 +0100 Subject: [PATCH 178/504] file headers --- .../DistanceDerivatives.h | 10 +++++-- .../signed_distance_field/Gridmap3dLookup.h | 10 +++++-- .../GridmapSignedDistanceField.h | 10 +++++-- .../PixelBorderDistance.h | 10 +++++-- .../signed_distance_field/SignedDistance2d.h | 10 +++++-- .../include/signed_distance_field/Utils.h | 10 +++++-- .../src/GridmapSignedDistanceField.cpp | 14 +++++---- .../src/SignedDistance2d.cpp | 10 +++++-- .../test/naiveSignedDistance.h | 10 +++++-- signed_distance_field/test/test3dLookup.cpp | 10 +++++-- .../test/testDerivatives.cpp | 17 ++++++----- .../test/testPixelBorderDistance.cpp | 10 +++++-- .../test/testSignedDistance2d.cpp | 29 ++++++++++--------- .../test/testSignedDistance3d.cpp | 16 +++++----- 14 files changed, 113 insertions(+), 63 deletions(-) diff --git a/signed_distance_field/include/signed_distance_field/DistanceDerivatives.h b/signed_distance_field/include/signed_distance_field/DistanceDerivatives.h index 384ccb08..455421b1 100644 --- a/signed_distance_field/include/signed_distance_field/DistanceDerivatives.h +++ b/signed_distance_field/include/signed_distance_field/DistanceDerivatives.h @@ -1,6 +1,10 @@ -// -// Created by rgrandia on 10.08.20. -// +/* + * DistanceDerivatives.h + * + * Created on: Aug 10, 2020 + * Author: Ruben Grandia + * Institute: ETH Zurich + */ #pragma once diff --git a/signed_distance_field/include/signed_distance_field/Gridmap3dLookup.h b/signed_distance_field/include/signed_distance_field/Gridmap3dLookup.h index 1e0fff1d..888a8a07 100644 --- a/signed_distance_field/include/signed_distance_field/Gridmap3dLookup.h +++ b/signed_distance_field/include/signed_distance_field/Gridmap3dLookup.h @@ -1,6 +1,10 @@ -// -// Created by rgrandia on 13.08.20. -// +/* + * Gridmap3dLookup.h + * + * Created on: Aug 13, 2020 + * Author: Ruben Grandia + * Institute: ETH Zurich + */ #pragma once diff --git a/signed_distance_field/include/signed_distance_field/GridmapSignedDistanceField.h b/signed_distance_field/include/signed_distance_field/GridmapSignedDistanceField.h index fb84f613..a970904c 100644 --- a/signed_distance_field/include/signed_distance_field/GridmapSignedDistanceField.h +++ b/signed_distance_field/include/signed_distance_field/GridmapSignedDistanceField.h @@ -1,6 +1,10 @@ -// -// Created by rgrandia on 10.07.20. -// +/* + * GridmapSignedDistanceField.h + * + * Created on: Jul 10, 2020 + * Author: Ruben Grandia + * Institute: ETH Zurich + */ #pragma once diff --git a/signed_distance_field/include/signed_distance_field/PixelBorderDistance.h b/signed_distance_field/include/signed_distance_field/PixelBorderDistance.h index 97006570..a2c9f93d 100644 --- a/signed_distance_field/include/signed_distance_field/PixelBorderDistance.h +++ b/signed_distance_field/include/signed_distance_field/PixelBorderDistance.h @@ -1,6 +1,10 @@ -// -// Created by rgrandia on 07.08.20. -// +/* + * PixelBorderDistance.h + * + * Created on: Aug 7, 2020 + * Author: Ruben Grandia + * Institute: ETH Zurich + */ #pragma once diff --git a/signed_distance_field/include/signed_distance_field/SignedDistance2d.h b/signed_distance_field/include/signed_distance_field/SignedDistance2d.h index ff6b64a6..16bbb916 100644 --- a/signed_distance_field/include/signed_distance_field/SignedDistance2d.h +++ b/signed_distance_field/include/signed_distance_field/SignedDistance2d.h @@ -1,6 +1,10 @@ -// -// Created by rgrandia on 10.07.20. -// +/* + * SignedDistance2d.h + * + * Created on: Jul 10, 2020 + * Author: Ruben Grandia + * Institute: ETH Zurich + */ #pragma once diff --git a/signed_distance_field/include/signed_distance_field/Utils.h b/signed_distance_field/include/signed_distance_field/Utils.h index 8e2eb7ed..bc753907 100644 --- a/signed_distance_field/include/signed_distance_field/Utils.h +++ b/signed_distance_field/include/signed_distance_field/Utils.h @@ -1,6 +1,10 @@ -// -// Created by rgrandia on 10.07.20. -// +/* + * Utils.h + * + * Created on: Jul 10, 2020 + * Author: Ruben Grandia + * Institute: ETH Zurich + */ #pragma once diff --git a/signed_distance_field/src/GridmapSignedDistanceField.cpp b/signed_distance_field/src/GridmapSignedDistanceField.cpp index 4fdc296d..fbefb3a9 100644 --- a/signed_distance_field/src/GridmapSignedDistanceField.cpp +++ b/signed_distance_field/src/GridmapSignedDistanceField.cpp @@ -1,6 +1,10 @@ -// -// Created by rgrandia on 10.07.20. -// +/* + * GridmapSignedDistanceField.cpp + * + * Created on: Jul 10, 2020 + * Author: Ruben Grandia + * Institute: ETH Zurich + */ #include "signed_distance_field/GridmapSignedDistanceField.h" @@ -10,11 +14,11 @@ namespace grid_map { // Import from the signed_distance_field namespace +using signed_distance_field::columnwiseCentralDifference; using signed_distance_field::Gridmap3dLookup; +using signed_distance_field::layerCentralDifference; using signed_distance_field::layerFiniteDifference; -using signed_distance_field::columnwiseCentralDifference; using signed_distance_field::signedDistanceAtHeightTranspose; -using signed_distance_field::layerCentralDifference; GridmapSignedDistanceField::GridmapSignedDistanceField(const GridMap& gridMap, const std::string& elevationLayer, double minHeight, double maxHeight) diff --git a/signed_distance_field/src/SignedDistance2d.cpp b/signed_distance_field/src/SignedDistance2d.cpp index 72532d71..117e8603 100644 --- a/signed_distance_field/src/SignedDistance2d.cpp +++ b/signed_distance_field/src/SignedDistance2d.cpp @@ -1,6 +1,10 @@ -// -// Created by rgrandia on 10.07.20. -// +/* + * SignedDistance2d.cpp + * + * Created on: Jul 10, 2020 + * Author: Ruben Grandia + * Institute: ETH Zurich + */ #include "signed_distance_field/SignedDistance2d.h" diff --git a/signed_distance_field/test/naiveSignedDistance.h b/signed_distance_field/test/naiveSignedDistance.h index caf8a6a1..a7927b7e 100644 --- a/signed_distance_field/test/naiveSignedDistance.h +++ b/signed_distance_field/test/naiveSignedDistance.h @@ -1,6 +1,10 @@ -// -// Created by rgrandia on 10.08.20. -// +/* + * naiveSignedDistance.h + * + * Created on: Aug 10, 2020 + * Author: Ruben Grandia + * Institute: ETH Zurich + */ #pragma once diff --git a/signed_distance_field/test/test3dLookup.cpp b/signed_distance_field/test/test3dLookup.cpp index 9c23328c..35b42f8d 100644 --- a/signed_distance_field/test/test3dLookup.cpp +++ b/signed_distance_field/test/test3dLookup.cpp @@ -1,6 +1,10 @@ -// -// Created by rgrandia on 18.08.20. -// +/* + * test3dLookup.cpp + * + * Created on: Aug 18, 2020 + * Author: Ruben Grandia + * Institute: ETH Zurich + */ #include diff --git a/signed_distance_field/test/testDerivatives.cpp b/signed_distance_field/test/testDerivatives.cpp index 2b224a96..8c1d4ab5 100644 --- a/signed_distance_field/test/testDerivatives.cpp +++ b/signed_distance_field/test/testDerivatives.cpp @@ -1,6 +1,10 @@ -// -// Created by rgrandia on 10.08.20. -// +/* + * testDerivatives.cpp + * + * Created on: Aug 10, 2020 + * Author: Ruben Grandia + * Institute: ETH Zurich + */ #include @@ -11,15 +15,14 @@ using namespace signed_distance_field; TEST(testDerivatives, columnwise) { Matrix data(2, 3); - data << 1.0, 2.0, 4.0, - 2.0, 4.0, 6.0; + data << 1.0, 2.0, 4.0, 2.0, 4.0, 6.0; float resolution = 0.1; float doubleResolution = 2.0F * resolution; Matrix manualDifference(2, 3); - manualDifference << 1.0 /resolution, 3.0 /doubleResolution, 2.0 /resolution, - 2.0 /resolution, 4.0 /doubleResolution, 2.0 /resolution; + manualDifference << 1.0 / resolution, 3.0 / doubleResolution, 2.0 / resolution, 2.0 / resolution, 4.0 / doubleResolution, + 2.0 / resolution; Matrix computedDifference = Matrix::Zero(data.rows(), data.cols()); columnwiseCentralDifference(data, computedDifference, resolution); diff --git a/signed_distance_field/test/testPixelBorderDistance.cpp b/signed_distance_field/test/testPixelBorderDistance.cpp index bb234c30..4456d6fe 100644 --- a/signed_distance_field/test/testPixelBorderDistance.cpp +++ b/signed_distance_field/test/testPixelBorderDistance.cpp @@ -1,6 +1,10 @@ -// -// Created by rgrandia on 07.08.20. -// +/* + * testPixelBorderDistance.cpp + * + * Created on: Aug 7, 2020 + * Author: Ruben Grandia + * Institute: ETH Zurich + */ #include diff --git a/signed_distance_field/test/testSignedDistance2d.cpp b/signed_distance_field/test/testSignedDistance2d.cpp index fc4c2549..e3b920a5 100644 --- a/signed_distance_field/test/testSignedDistance2d.cpp +++ b/signed_distance_field/test/testSignedDistance2d.cpp @@ -1,11 +1,15 @@ -// -// Created by rgrandia on 10.07.20. -// +/* + * testSignedDistance2d.cpp + * + * Created on: Jul 10, 2020 + * Author: Ruben Grandia + * Institute: ETH Zurich + */ #include -#include "signed_distance_field/SignedDistance2d.h" #include "signed_distance_field/PixelBorderDistance.h" +#include "signed_distance_field/SignedDistance2d.h" #include "naiveSignedDistance.h" @@ -53,8 +57,8 @@ TEST(testSignedDistance2d, signedDistance2d_oneObstacle) { const int n = 20; const int m = 30; const float resolution = 0.1; - Matrix map = Matrix::Zero(n, m); - map(n/2, m/2) = 1.0; + Matrix map = Matrix::Zero(n, m); + map(n / 2, m / 2) = 1.0; const auto occupancy = occupancyAtHeight(map, 0.5); const auto naiveSignedDistance = naiveSignedDistanceFromOccupancy(occupancy, resolution); @@ -66,8 +70,8 @@ TEST(testSignedDistance2d, signedDistance2d_oneFreeSpace) { const int n = 20; const int m = 30; const float resolution = 0.1; - Matrix map = Matrix::Ones(n, m); - map(n/2, m/2) = 0.0; + Matrix map = Matrix::Ones(n, m); + map(n / 2, m / 2) = 0.0; const auto occupancy = occupancyAtHeight(map, 0.5); @@ -81,10 +85,7 @@ TEST(testSignedDistance2d, signedDistance2d_debugcase) { const int m = 3; const float resolution = 1.0; Matrix map(n, m); - map << - 1.0, 1.0, 1.0, - 0.0, 1.0, 1.0, - 1.0, 1.0, 0.0; + map << 1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 1.0, 1.0, 0.0; const auto occupancy = occupancyAtHeight(map, 0.5); @@ -97,11 +98,11 @@ TEST(testSignedDistance2d, signedDistance2d_random) { const int n = 20; const int m = 30; const float resolution = 1.0; - Matrix map = Matrix::Random(n, m); // random [-1.0, 1.0] + Matrix map = Matrix::Random(n, m); // random [-1.0, 1.0] // Check at different heights, resulting in different levels of sparsity. float heightStep = 0.1; - for (float height = -1.0 - heightStep; height < 1.0 + heightStep; height+=heightStep) { + for (float height = -1.0 - heightStep; height < 1.0 + heightStep; height += heightStep) { const auto occupancy = occupancyAtHeight(map, height); const auto naiveSignedDistance = naiveSignedDistanceFromOccupancy(occupancy, resolution); diff --git a/signed_distance_field/test/testSignedDistance3d.cpp b/signed_distance_field/test/testSignedDistance3d.cpp index 9d7db762..01f26463 100644 --- a/signed_distance_field/test/testSignedDistance3d.cpp +++ b/signed_distance_field/test/testSignedDistance3d.cpp @@ -1,6 +1,10 @@ -// -// Created by rgrandia on 10.08.20. -// +/* + * testSignedDistance3d.cpp + * + * Created on: Aug 10, 2020 + * Author: Ruben Grandia + * Institute: ETH Zurich + */ #include @@ -24,14 +28,12 @@ TEST(testSignedDistance3d, flatTerrain) { const float testHeightAboveTerrain = 3.0; const auto naiveSignedDistanceAbove = naiveSignedDistanceAtHeight(map, testHeightAboveTerrain, resolution); - const auto signedDistanceAbove = - signedDistanceAtHeight(map, testHeightAboveTerrain, resolution, minHeight, maxHeight); + const auto signedDistanceAbove = signedDistanceAtHeight(map, testHeightAboveTerrain, resolution, minHeight, maxHeight); ASSERT_TRUE(isEqualSdf(signedDistanceAbove, naiveSignedDistanceAbove, 1e-4)); const float testHeightBelowTerrain = -3.0; const auto naiveSignedDistanceBelow = naiveSignedDistanceAtHeight(map, testHeightBelowTerrain, resolution); - const auto signedDistanceBelow = - signedDistanceAtHeight(map, testHeightBelowTerrain, resolution, minHeight, maxHeight); + const auto signedDistanceBelow = signedDistanceAtHeight(map, testHeightBelowTerrain, resolution, minHeight, maxHeight); ASSERT_TRUE(isEqualSdf(signedDistanceBelow, naiveSignedDistanceBelow, 1e-4)); } From a008f5972d2a08a05ea18ec3ac88d83c97cc8d5a Mon Sep 17 00:00:00 2001 From: rgrandia Date: Fri, 18 Mar 2022 10:50:55 +0100 Subject: [PATCH 179/504] some more cleanup --- .../src/GridmapSignedDistanceField.cpp | 4 +++- .../src/SignedDistance2d.cpp | 20 ++++++++----------- 2 files changed, 11 insertions(+), 13 deletions(-) diff --git a/signed_distance_field/src/GridmapSignedDistanceField.cpp b/signed_distance_field/src/GridmapSignedDistanceField.cpp index fbefb3a9..4b3c4e19 100644 --- a/signed_distance_field/src/GridmapSignedDistanceField.cpp +++ b/signed_distance_field/src/GridmapSignedDistanceField.cpp @@ -45,7 +45,8 @@ GridmapSignedDistanceField::GridmapSignedDistanceField(const GridMap& gridMap, c // Check for NaN const auto& elevationData = gridMap.get(elevationLayer); if (elevationData.hasNaN()) { - std::cerr << "[GridmapSignedDistanceField] elevation data contains NaN. The generated SDF will be invalid" << std::endl; + std::cerr << "[GridmapSignedDistanceField] elevation data contains NaN. The generated SDF will be invalid! Apply inpainting first" + << std::endl; } // Compute the SDF @@ -151,6 +152,7 @@ void GridmapSignedDistanceField::computeSignedDistance(const Matrix& elevation) // Add the data to the 3D structure emplacebackLayerData(currentLayer, dxTranspose, dy, dz); } + void GridmapSignedDistanceField::computeLayerSdfandDeltaX(const Matrix& elevation, Matrix& currentLayer, Matrix& dxTranspose, Matrix& sdfTranspose, Matrix& tmp, Matrix& tmpTranspose, float height, float resolution, float minHeight, float maxHeight) const { diff --git a/signed_distance_field/src/SignedDistance2d.cpp b/signed_distance_field/src/SignedDistance2d.cpp index 117e8603..4cafb909 100644 --- a/signed_distance_field/src/SignedDistance2d.cpp +++ b/signed_distance_field/src/SignedDistance2d.cpp @@ -68,8 +68,8 @@ std::vector::iterator fillLowerBounds(const Eigen::Ref squareDistance1d, const std::vector& lowerBounds, - std::vector::const_iterator lowerBoundIt, Eigen::Index start) { +void extractSquareDistances(Eigen::Ref squareDistance1d, std::vector::const_iterator lowerBoundIt, + Eigen::Index start) { const auto n = squareDistance1d.size(); // Store active bound by value to remove indirection @@ -97,8 +97,8 @@ void extractSquareDistances(Eigen::Ref squareDistance1d, const * Same as extractSquareDistances, but takes the sqrt as a final step. * Because several cells will have a value of 0.0 (obstacle / free space label), we can skip the sqrt computation for those. */ -void extractDistances(Eigen::Ref squareDistance1d, const std::vector& lowerBounds, - std::vector::const_iterator lowerBoundIt, Eigen::Index start) { +void extractDistances(Eigen::Ref squareDistance1d, std::vector::const_iterator lowerBoundIt, + Eigen::Index start) { const auto n = squareDistance1d.size(); // Store active bound by value to remove indirection @@ -142,14 +142,12 @@ Eigen::Index lastZeroFromFront(const Eigen::Ref& squareDistance inline void squaredDistanceTransform_1d_inplace(Eigen::Ref squareDistance1d, std::vector& lowerBounds) { - assert(lowerBounds.size() >= squareDistance1d.size()); - auto start = lastZeroFromFront(squareDistance1d); // Only need to process line if there are nonzero elements. Also the first zeros stay untouched. if (start < squareDistance1d.size()) { auto startIt = fillLowerBounds(squareDistance1d, lowerBounds, start); - extractSquareDistances(squareDistance1d, lowerBounds, startIt, start); + extractSquareDistances(squareDistance1d, startIt, start); } } @@ -159,20 +157,18 @@ inline void squaredDistanceTransform_1d_inplace(Eigen::Ref squa * @param lowerBounds : work vector */ inline void distanceTransform_1d_inplace(Eigen::Ref squareDistance1d, std::vector& lowerBounds) { - assert(lowerBounds.size() >= squareDistance1d.size()); - auto start = lastZeroFromFront(squareDistance1d); // Only need to process line if there are nonzero elements. Also the first zeros stay untouched. if (start < squareDistance1d.size()) { auto startIt = fillLowerBounds(squareDistance1d, lowerBounds, start); - extractDistances(squareDistance1d, lowerBounds, startIt, start); + extractDistances(squareDistance1d, startIt, start); } } void computePixelDistance2dTranspose(Matrix& input, Matrix& distanceTranspose) { - const size_t n = input.rows(); - const size_t m = input.cols(); + const auto n = input.rows(); + const auto m = input.cols(); // Allocate a buffer big enough for processing both rowise and columnwise std::vector lowerBounds(std::max(n, m)); From 9cf2275553e8688979882c2206f4c82945348358 Mon Sep 17 00:00:00 2001 From: rgrandia Date: Wed, 23 Mar 2022 09:24:55 +0100 Subject: [PATCH 180/504] reduce median filter repeats to 1 --- convex_plane_decomposition_ros/config/parameters.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/convex_plane_decomposition_ros/config/parameters.yaml b/convex_plane_decomposition_ros/config/parameters.yaml index 0ecc3d1d..412d6018 100644 --- a/convex_plane_decomposition_ros/config/parameters.yaml +++ b/convex_plane_decomposition_ros/config/parameters.yaml @@ -1,7 +1,7 @@ preprocessing: resolution: 0.04 # Resampling resolution, set negative to skip, requires inpainting to be used kernelSize: 3 # Kernel size of the median filter, either 3 or 5 - numberOfRepeats: 2 # Number of times to apply the same filter + numberOfRepeats: 1 # Number of times to apply the same filter increasing: False # Increase the kernel size each iteration. sliding_window_plane_extractor: From 3f975aa9aebd2ee68c5bf9bacdcc8bab0bb53510 Mon Sep 17 00:00:00 2001 From: Takahiro Miki Date: Thu, 24 Mar 2022 18:00:26 +0100 Subject: [PATCH 181/504] Initial commit --- README.md | 2 ++ 1 file changed, 2 insertions(+) create mode 100644 README.md diff --git a/README.md b/README.md new file mode 100644 index 00000000..0c612528 --- /dev/null +++ b/README.md @@ -0,0 +1,2 @@ +# elevation_mapping_cupy +Elevation Mapping on GPU. From c5fc54b58939124c346d3401cef7a570f5aa3577 Mon Sep 17 00:00:00 2001 From: Takahiro Miki Date: Thu, 24 Mar 2022 18:00:42 +0100 Subject: [PATCH 182/504] Update README.md --- README.md | 1 + 1 file changed, 1 insertion(+) diff --git a/README.md b/README.md index 0c612528..9940d900 100644 --- a/README.md +++ b/README.md @@ -1,2 +1,3 @@ # elevation_mapping_cupy Elevation Mapping on GPU. +(Preparing for opensourcing) From f81e7bdb4a0699bc2da0480c530255a844ef280a Mon Sep 17 00:00:00 2001 From: rgrandia Date: Mon, 28 Mar 2022 21:02:47 +0200 Subject: [PATCH 183/504] fix time stamp on pointclouds --- .../SegmentedPlanesTerrainModelRos.h | 1 - .../src/SegmentedPlanesTerrainModelRos.cpp | 3 --- signed_distance_field/src/GridmapSignedDistanceField.cpp | 6 +++++- 3 files changed, 5 insertions(+), 5 deletions(-) diff --git a/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesTerrainModelRos.h b/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesTerrainModelRos.h index f16aa770..1e9bf0e0 100644 --- a/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesTerrainModelRos.h +++ b/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesTerrainModelRos.h @@ -50,7 +50,6 @@ class SegmentedPlanesTerrainModelRos { std::mutex pointCloudMutex_; pcl::PointCloud pointCloud_; - std::string frameId_; ocs2::benchmark::RepeatedTimer callbackTimer_; }; diff --git a/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModelRos.cpp b/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModelRos.cpp index af91f652..e7def050 100644 --- a/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModelRos.cpp +++ b/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModelRos.cpp @@ -58,8 +58,6 @@ void SegmentedPlanesTerrainModelRos::publish() { if (!pointcloud.empty()) { sensor_msgs::PointCloud2 pointCloud2Msg; pcl::toROSMsg(pointcloud, pointCloud2Msg); - - pointCloud2Msg.header = ocs2::getHeaderMsg(frameId_, ros::Time::now()); distanceFieldPublisher_.publish(pointCloud2Msg); } } @@ -83,7 +81,6 @@ void SegmentedPlanesTerrainModelRos::callback(const convex_plane_decomposition_m auto pointCloud = sdfPtr->asPointCloud(1, [](float val) { return -0.05F <= val && val <= 0.0F; }); std::lock_guard lock(pointCloudMutex_); pointCloud_.swap(pointCloud); - frameId_ = terrainPtr->planarTerrain().gridMap.getFrameId(); } { // Move to storage under the lock diff --git a/signed_distance_field/src/GridmapSignedDistanceField.cpp b/signed_distance_field/src/GridmapSignedDistanceField.cpp index 4b3c4e19..cb2b56aa 100644 --- a/signed_distance_field/src/GridmapSignedDistanceField.cpp +++ b/signed_distance_field/src/GridmapSignedDistanceField.cpp @@ -8,6 +8,8 @@ #include "signed_distance_field/GridmapSignedDistanceField.h" +#include + #include "signed_distance_field/DistanceDerivatives.h" #include "signed_distance_field/SignedDistance2d.h" @@ -174,7 +176,9 @@ void GridmapSignedDistanceField::emplacebackLayerData(const Matrix& signedDistan pcl::PointCloud GridmapSignedDistanceField::asPointCloud(size_t decimation, const std::function& condition) const { pcl::PointCloud points; - points.header.stamp = timestamp_; + + // Convert Gridmap time -> ros time -> pcl time + points.header.stamp = pcl_conversions::toPCL(ros::Time().fromNSec(timestamp_)); points.header.frame_id = frameId_; points.reserve(gridmap3DLookup_.linearSize()); From 60c4f3ff3367f457ca5ae67700acc3d73976a339 Mon Sep 17 00:00:00 2001 From: rgrandia Date: Mon, 25 Apr 2022 15:56:35 +0200 Subject: [PATCH 184/504] add vtk as exec dep to resolve downstream build issue --- segmented_planes_terrain_model/package.xml | 1 + 1 file changed, 1 insertion(+) diff --git a/segmented_planes_terrain_model/package.xml b/segmented_planes_terrain_model/package.xml index a876d763..3db47322 100644 --- a/segmented_planes_terrain_model/package.xml +++ b/segmented_planes_terrain_model/package.xml @@ -20,5 +20,6 @@ roscpp visualization_msgs sensor_msgs + libvtk7-dev From bcbfd631b116dc9d45b0e64ad94424fe47023b57 Mon Sep 17 00:00:00 2001 From: Takahiro Date: Thu, 28 Apr 2022 14:48:05 +0200 Subject: [PATCH 185/504] Removed old file --- jenkins-pipeline | 2 -- 1 file changed, 2 deletions(-) delete mode 100644 jenkins-pipeline diff --git a/jenkins-pipeline b/jenkins-pipeline deleted file mode 100644 index 59d9ff9b..00000000 --- a/jenkins-pipeline +++ /dev/null @@ -1,2 +0,0 @@ -library 'continuous_integration_pipeline' -ciPipeline("") From 0b44278d97baf5cd8a4a214d6687427f706874e0 Mon Sep 17 00:00:00 2001 From: Takahiro Date: Thu, 28 Apr 2022 15:39:32 +0200 Subject: [PATCH 186/504] remove comment --- elevation_mapping_cupy/script/plugins/min_filter.py | 2 -- 1 file changed, 2 deletions(-) diff --git a/elevation_mapping_cupy/script/plugins/min_filter.py b/elevation_mapping_cupy/script/plugins/min_filter.py index 460d7832..331b61fc 100644 --- a/elevation_mapping_cupy/script/plugins/min_filter.py +++ b/elevation_mapping_cupy/script/plugins/min_filter.py @@ -63,8 +63,6 @@ def __init__(self, cell_n:int=100, dilation_size:int=5, iteration_n:int=5, **kwa string.Template(''' U h = map[get_map_idx(i, 0)]; U valid = mask[get_map_idx(i, 0)]; - // newmap[get_map_idx(i, 0)] = h; - // newmask[get_map_idx(i, 0)] = valid; if (valid < 0.5) { U min_value = 1000000.0; for (int dy = -${dilation_size}; dy <= ${dilation_size}; dy++) { From e23d38410fe19d246d74793f153dc8fe3c8be2ed Mon Sep 17 00:00:00 2001 From: rgrandia Date: Tue, 3 May 2022 20:11:03 +0200 Subject: [PATCH 187/504] add include guards --- .../include/elevation_mapping_cupy/elevation_mapping_ros.hpp | 3 +++ .../elevation_mapping_cupy/elevation_mapping_wrapper.hpp | 3 +++ 2 files changed, 6 insertions(+) diff --git a/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp b/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp index 4a7cbc97..2de9f917 100644 --- a/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp +++ b/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp @@ -2,6 +2,9 @@ // Copyright (c) 2022, Takahiro Miki. All rights reserved. // Licensed under the MIT license. See LICENSE file in the project root for details. // + +#pragma once + #include // everything needed for embedding #include #include diff --git a/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_wrapper.hpp b/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_wrapper.hpp index 1d7d47b5..afb01452 100644 --- a/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_wrapper.hpp +++ b/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_wrapper.hpp @@ -2,6 +2,9 @@ // Copyright (c) 2022, Takahiro Miki. All rights reserved. // Licensed under the MIT license. See LICENSE file in the project root for details. // + +#pragma once + #include // everything needed for embedding #include #include From 7a74217f837f843b246441bf72818e186a85a568 Mon Sep 17 00:00:00 2001 From: rgrandia Date: Tue, 3 May 2022 20:40:16 +0200 Subject: [PATCH 188/504] organize includes, run clang-format, fix simple clang-tidy complaints --- .../elevation_mapping_ros.hpp | 202 +++++++------ .../elevation_mapping_wrapper.hpp | 83 ++--- .../src/elevation_mapping_node.cpp | 25 +- .../src/elevation_mapping_ros.cpp | 286 +++++++++--------- .../src/elevation_mapping_wrapper.cpp | 121 +++----- 5 files changed, 342 insertions(+), 375 deletions(-) diff --git a/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp b/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp index 2de9f917..e59375e1 100644 --- a/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp +++ b/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp @@ -5,125 +5,131 @@ #pragma once -#include // everything needed for embedding +// STL #include + +// Boost +#include + +// Eigen #include +// Pybind +#include // everything needed for embedding + +// ROS +#include #include #include -#include #include #include +#include #include #include #include -#include + // Grid Map -#include -#include #include -#include -#include +#include +#include + // PCL -#include #include +#include #include -#include + +#include +#include #include "elevation_mapping_cupy/elevation_mapping_wrapper.hpp" namespace py = pybind11; - -namespace elevation_mapping_cupy{ - +namespace elevation_mapping_cupy { class ElevationMappingNode { - public: - ElevationMappingNode(ros::NodeHandle& nh); - ~ElevationMappingNode() = default; - - private: - void readParameters(); - void setupMapPublishers(); - void pointcloudCallback(const sensor_msgs::PointCloud2& cloud); - void publishAsPointCloud(); - bool getSubmap(grid_map_msgs::GetGridMap::Request& request, grid_map_msgs::GetGridMap::Response& response); - bool checkSafety(elevation_map_msgs::CheckSafety::Request& request, - elevation_map_msgs::CheckSafety::Response& response); - bool initializeMap(elevation_map_msgs::Initialize::Request& request, - elevation_map_msgs::Initialize::Response& response); - bool clearMap(std_srvs::Empty::Request& request, std_srvs::Empty::Response& response); - bool clearMapWithInitializer(std_srvs::Empty::Request& request, std_srvs::Empty::Response& response); - bool setPublishPoint(std_srvs::SetBool::Request& request, std_srvs::SetBool::Response& response); - void updatePose(const ros::TimerEvent&); - void updateVariance(const ros::TimerEvent&); - void updateTime(const ros::TimerEvent&); - void updateGridMap(const ros::TimerEvent&); - void publishNormalAsArrow(const grid_map::GridMap& map); - void initializeWithTF(); - void publishMapToOdom(double error); - void publishStatistics(const ros::TimerEvent&); - void publishMapOfIndex(int index); - - visualization_msgs::Marker vectorToArrowMarker(const Eigen::Vector3d& start, const Eigen::Vector3d& end, const int id); - ros::NodeHandle nh_; - std::vector pointcloudSubs_; - std::vector mapPubs_; - ros::Publisher alivePub_; - ros::Publisher pointPub_; - ros::Publisher normalPub_; - ros::Publisher statisticsPub_; - ros::ServiceServer rawSubmapService_; - ros::ServiceServer clearMapService_; - ros::ServiceServer clearMapWithInitializerService_; - ros::ServiceServer initializeMapService_; - ros::ServiceServer setPublishPointService_; - ros::ServiceServer checkSafetyService_; - ros::Timer updateVarianceTimer_; - ros::Timer updateTimeTimer_; - ros::Timer updatePoseTimer_; - ros::Timer updateGridMapTimer_; - ros::Timer publishStatisticsTimer_; - ros::Time lastStatisticsPublishedTime_; - tf::TransformListener transformListener_; - ElevationMappingWrapper map_; - std::string mapFrameId_; - std::string correctedMapFrameId_; - std::string baseFrameId_; - grid_map::GridMap gridMap_; - - // map topics info - std::vector> map_topics_; - std::vector> map_layers_; - std::vector> map_basic_layers_; - std::set map_layers_all_; - std::set map_layers_sync_; - std::vector map_fps_; - std::set map_fps_unique_; - std::vector mapTimers_; - - std::vector initialize_frame_id_; - std::vector initialize_tf_offset_; - std::string initializeMethod_; - - Eigen::Vector3d lowpassPosition_; - Eigen::Vector4d lowpassOrientation_; - - boost::recursive_mutex mapMutex_; - - double positionError_; - double orientationError_; - double positionAlpha_; - double orientationAlpha_; - double recordableFps_; - bool enablePointCloudPublishing_; - bool enableNormalArrowPublishing_; - bool enableDriftCorrectedTFPublishing_; - bool useInitializerAtStart_; - bool isGridmapUpdated_; - double initializeTfGridSize_; - int pointCloudProcessCounter_; + public: + ElevationMappingNode(ros::NodeHandle& nh); + + private: + void readParameters(); + void setupMapPublishers(); + void pointcloudCallback(const sensor_msgs::PointCloud2& cloud); + void publishAsPointCloud(); + bool getSubmap(grid_map_msgs::GetGridMap::Request& request, grid_map_msgs::GetGridMap::Response& response); + bool checkSafety(elevation_map_msgs::CheckSafety::Request& request, elevation_map_msgs::CheckSafety::Response& response); + bool initializeMap(elevation_map_msgs::Initialize::Request& request, elevation_map_msgs::Initialize::Response& response); + bool clearMap(std_srvs::Empty::Request& request, std_srvs::Empty::Response& response); + bool clearMapWithInitializer(std_srvs::Empty::Request& request, std_srvs::Empty::Response& response); + bool setPublishPoint(std_srvs::SetBool::Request& request, std_srvs::SetBool::Response& response); + void updatePose(const ros::TimerEvent&); + void updateVariance(const ros::TimerEvent&); + void updateTime(const ros::TimerEvent&); + void updateGridMap(const ros::TimerEvent&); + void publishNormalAsArrow(const grid_map::GridMap& map); + void initializeWithTF(); + void publishMapToOdom(double error); + void publishStatistics(const ros::TimerEvent&); + void publishMapOfIndex(int index); + + visualization_msgs::Marker vectorToArrowMarker(const Eigen::Vector3d& start, const Eigen::Vector3d& end, const int id); + ros::NodeHandle nh_; + std::vector pointcloudSubs_; + std::vector mapPubs_; + ros::Publisher alivePub_; + ros::Publisher pointPub_; + ros::Publisher normalPub_; + ros::Publisher statisticsPub_; + ros::ServiceServer rawSubmapService_; + ros::ServiceServer clearMapService_; + ros::ServiceServer clearMapWithInitializerService_; + ros::ServiceServer initializeMapService_; + ros::ServiceServer setPublishPointService_; + ros::ServiceServer checkSafetyService_; + ros::Timer updateVarianceTimer_; + ros::Timer updateTimeTimer_; + ros::Timer updatePoseTimer_; + ros::Timer updateGridMapTimer_; + ros::Timer publishStatisticsTimer_; + ros::Time lastStatisticsPublishedTime_; + tf::TransformListener transformListener_; + ElevationMappingWrapper map_; + std::string mapFrameId_; + std::string correctedMapFrameId_; + std::string baseFrameId_; + grid_map::GridMap gridMap_; + + // map topics info + std::vector> map_topics_; + std::vector> map_layers_; + std::vector> map_basic_layers_; + std::set map_layers_all_; + std::set map_layers_sync_; + std::vector map_fps_; + std::set map_fps_unique_; + std::vector mapTimers_; + + std::vector initialize_frame_id_; + std::vector initialize_tf_offset_; + std::string initializeMethod_; + + Eigen::Vector3d lowpassPosition_; + Eigen::Vector4d lowpassOrientation_; + + boost::recursive_mutex mapMutex_; + + double positionError_; + double orientationError_; + double positionAlpha_; + double orientationAlpha_; + double recordableFps_; + bool enablePointCloudPublishing_; + bool enableNormalArrowPublishing_; + bool enableDriftCorrectedTFPublishing_; + bool useInitializerAtStart_; + bool isGridmapUpdated_; + double initializeTfGridSize_; + int pointCloudProcessCounter_; }; -} +} // namespace elevation_mapping_cupy diff --git a/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_wrapper.hpp b/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_wrapper.hpp index afb01452..97bec2a5 100644 --- a/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_wrapper.hpp +++ b/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_wrapper.hpp @@ -5,61 +5,70 @@ #pragma once -#include // everything needed for embedding +// STL #include + +// Eigen #include +// Pybind +#include // everything needed for embedding + +// ROS +#include #include #include -#include #include #include + // Grid Map -#include -#include #include +#include +#include + // PCL -#include #include +#include #include namespace py = pybind11; +namespace elevation_mapping_cupy { -namespace elevation_mapping_cupy{ +class ElevationMappingWrapper { + public: + using RowMatrixXd = Eigen::Matrix; + using RowMatrixXf = Eigen::Matrix; -using RowMatrixXd = Eigen::Matrix; -using RowMatrixXf = Eigen::Matrix; + ElevationMappingWrapper(); -class ElevationMappingWrapper { - public: - ElevationMappingWrapper(); - ~ElevationMappingWrapper()=default; - void initialize(ros::NodeHandle& nh); + void initialize(ros::NodeHandle& nh); + + void input(const pcl::PointCloud::Ptr& pointCloud, const RowMatrixXd& R, const Eigen::VectorXd& t, + const double positionNoise, const double orientationNoise); + void move_to(const Eigen::VectorXd& p); + void clear(); + void update_variance(); + void update_time(); + bool exists_layer(const std::string& layerName); + void get_layer_data(const std::string& layerName, RowMatrixXf& map); + void get_grid_map(grid_map::GridMap& gridMap, const std::vector& layerNames); + void get_polygon_traversability(std::vector& polygon, Eigen::Vector3d& result, + std::vector& untraversable_polygon); + double get_additive_mean_error(); + void initializeWithPoints(std::vector& points, std::string method); + void pointCloudToMatrix(const pcl::PointCloud::Ptr& pointCloud, RowMatrixXd& points); + void addNormalColorLayer(grid_map::GridMap& map); - void input(const pcl::PointCloud::Ptr& pointCloud, const RowMatrixXd& R, const Eigen::VectorXd& t, - const double positionNoise, const double orientationNoise); - void move_to(const Eigen::VectorXd& p); - void clear(); - void update_variance(); - void update_time(); - bool exists_layer(const std::string& layerName); - void get_layer_data(const std::string& layerName, RowMatrixXf& map); - void get_grid_map(grid_map::GridMap& gridMap, const std::vector& layerNames); - void get_polygon_traversability(std::vector& polygon, Eigen::Vector3d& result, std::vector &untraversable_polygon); - double get_additive_mean_error(); - void initializeWithPoints(std::vector &points, std::string method); - void pointCloudToMatrix(const pcl::PointCloud::Ptr& pointCloud, RowMatrixXd& points); - void addNormalColorLayer(grid_map::GridMap& map); - private: - void setParameters(ros::NodeHandle& nh); - py::object map_; - py::object param_; - double resolution_; - double map_length_; - int map_n_; - bool enable_normal_; - bool enable_normal_color_; + private: + void setParameters(ros::NodeHandle& nh); + py::object map_; + py::object param_; + double resolution_; + double map_length_; + int map_n_; + bool enable_normal_; + bool enable_normal_color_; }; -} +} // namespace elevation_mapping_cupy diff --git a/elevation_mapping_cupy/src/elevation_mapping_node.cpp b/elevation_mapping_cupy/src/elevation_mapping_node.cpp index 83369436..47bef360 100644 --- a/elevation_mapping_cupy/src/elevation_mapping_node.cpp +++ b/elevation_mapping_cupy/src/elevation_mapping_node.cpp @@ -2,32 +2,25 @@ // Copyright (c) 2022, Takahiro Miki. All rights reserved. // Licensed under the MIT license. See LICENSE file in the project root for details. // + +// Pybind +#include // everything needed for embedding + +// ROS #include -#include -// Grid Map -#include -#include -// PCL -#include -#include -#include -#include #include "elevation_mapping_cupy/elevation_mapping_ros.hpp" -using namespace elevation_mapping_cupy; - -int main(int argc, char** argv) -{ +int main(int argc, char** argv) { ros::init(argc, argv, "elevation_mapping"); ros::NodeHandle nh("~"); - py::scoped_interpreter guard{}; // start the interpreter and keep it alive - ElevationMappingNode mapNode(nh); + py::scoped_interpreter guard{}; // start the interpreter and keep it alive + elevation_mapping_cupy::ElevationMappingNode mapNode(nh); py::gil_scoped_release release; // Spin - ros::AsyncSpinner spinner(1); // Use n threads + ros::AsyncSpinner spinner(1); // Use n threads spinner.start(); ros::waitForShutdown(); return 0; diff --git a/elevation_mapping_cupy/src/elevation_mapping_ros.cpp b/elevation_mapping_cupy/src/elevation_mapping_ros.cpp index b40263d0..8cedfaf0 100644 --- a/elevation_mapping_cupy/src/elevation_mapping_ros.cpp +++ b/elevation_mapping_cupy/src/elevation_mapping_ros.cpp @@ -2,31 +2,33 @@ // Copyright (c) 2022, Takahiro Miki. All rights reserved. // Licensed under the MIT license. See LICENSE file in the project root for details. // + #include "elevation_mapping_cupy/elevation_mapping_ros.hpp" -#include + +// Pybind #include -#include -#include -#include -#include -#include + +// ROS #include -#include -#include +#include +#include -namespace elevation_mapping_cupy{ +// PCL +#include +#include -ElevationMappingNode::ElevationMappingNode(ros::NodeHandle& nh) : - lowpassPosition_(0, 0, 0), - lowpassOrientation_(0, 0, 0, 1), - positionError_(0), - orientationError_(0), - positionAlpha_(0.1), - orientationAlpha_(0.1), - enablePointCloudPublishing_(false), - isGridmapUpdated_(false) -{ +namespace elevation_mapping_cupy { + +ElevationMappingNode::ElevationMappingNode(ros::NodeHandle& nh) + : lowpassPosition_(0, 0, 0), + lowpassOrientation_(0, 0, 0, 1), + positionError_(0), + orientationError_(0), + positionAlpha_(0.1), + orientationAlpha_(0.1), + enablePointCloudPublishing_(false), + isGridmapUpdated_(false) { nh_ = nh; map_.initialize(nh_); std::string pose_topic, map_frame; @@ -57,14 +59,13 @@ ElevationMappingNode::ElevationMappingNode(ros::NodeHandle& nh) : nh.param("enable_normal_arrow_publishing", enableNormalArrowPublishing_, false); nh.param("enable_drift_corrected_TF_publishing", enableDriftCorrectedTFPublishing_, false); nh.param("use_initializer_at_start", useInitializerAtStart_, false); - for (const auto& pointcloud_topic: pointcloud_topics) { + for (const auto& pointcloud_topic : pointcloud_topics) { ros::Subscriber sub = nh_.subscribe(pointcloud_topic, 1, &ElevationMappingNode::pointcloudCallback, this); pointcloudSubs_.push_back(sub); } // register map publishers - for(auto itr = publishers.begin(); itr != publishers.end(); ++itr) - { + for (auto itr = publishers.begin(); itr != publishers.end(); ++itr) { // parse params std::string topic_name = itr->first; std::vector layers_list; @@ -74,14 +75,19 @@ ElevationMappingNode::ElevationMappingNode(ros::NodeHandle& nh) : double fps = itr->second["fps"]; if (fps > updateGridMapFps) { - ROS_WARN("[ElevationMappingCupy] fps for topic %s is larger than map_acquire_fps (%f > %f). The topic data will be only updated at %f fps.", topic_name.c_str(), fps, updateGridMapFps, updateGridMapFps); + ROS_WARN( + "[ElevationMappingCupy] fps for topic %s is larger than map_acquire_fps (%f > %f). The topic data will be only updated at %f " + "fps.", + topic_name.c_str(), fps, updateGridMapFps, updateGridMapFps); } for (int32_t i = 0; i < layers.size(); ++i) { layers_list.push_back(static_cast(layers[i])); } - for (int32_t i = 0; i < basic_layers.size(); ++i) + + for (int32_t i = 0; i < basic_layers.size(); ++i) { basic_layers_list.push_back(static_cast(basic_layers[i])); + } // make publishers ros::Publisher pub = nh_.advertise(topic_name, 1); @@ -106,46 +112,41 @@ ElevationMappingNode::ElevationMappingNode(ros::NodeHandle& nh) : rawSubmapService_ = nh_.advertiseService("get_raw_submap", &ElevationMappingNode::getSubmap, this); clearMapService_ = nh_.advertiseService("clear_map", &ElevationMappingNode::clearMap, this); initializeMapService_ = nh_.advertiseService("initialize", &ElevationMappingNode::initializeMap, this); - clearMapWithInitializerService_ = nh_.advertiseService("clear_map_with_initializer", &ElevationMappingNode::clearMapWithInitializer, this); + clearMapWithInitializerService_ = + nh_.advertiseService("clear_map_with_initializer", &ElevationMappingNode::clearMapWithInitializer, this); setPublishPointService_ = nh_.advertiseService("set_publish_points", &ElevationMappingNode::setPublishPoint, this); checkSafetyService_ = nh_.advertiseService("check_safety", &ElevationMappingNode::checkSafety, this); if (updateVarianceFps > 0) { double duration = 1.0 / (updateVarianceFps + 0.00001); - updateVarianceTimer_ = nh_.createTimer(ros::Duration(duration), - &ElevationMappingNode::updateVariance, this, false, true); + updateVarianceTimer_ = nh_.createTimer(ros::Duration(duration), &ElevationMappingNode::updateVariance, this, false, true); } if (timeInterval > 0) { double duration = timeInterval; - updateTimeTimer_ = nh_.createTimer(ros::Duration(duration), - &ElevationMappingNode::updateTime, this, false, true); + updateTimeTimer_ = nh_.createTimer(ros::Duration(duration), &ElevationMappingNode::updateTime, this, false, true); } if (updatePoseFps > 0) { double duration = 1.0 / (updatePoseFps + 0.00001); - updatePoseTimer_ = nh_.createTimer(ros::Duration(duration), - &ElevationMappingNode::updatePose, this, false, true); + updatePoseTimer_ = nh_.createTimer(ros::Duration(duration), &ElevationMappingNode::updatePose, this, false, true); } if (updateGridMapFps > 0) { double duration = 1.0 / (updateGridMapFps + 0.00001); - updateGridMapTimer_ = nh_.createTimer(ros::Duration(duration), - &ElevationMappingNode::updateGridMap, this, false, true); + updateGridMapTimer_ = nh_.createTimer(ros::Duration(duration), &ElevationMappingNode::updateGridMap, this, false, true); } if (publishStatisticsFps > 0) { double duration = 1.0 / (publishStatisticsFps + 0.00001); - publishStatisticsTimer_ = nh_.createTimer(ros::Duration(duration), - &ElevationMappingNode::publishStatistics, this, false, true); + publishStatisticsTimer_ = nh_.createTimer(ros::Duration(duration), &ElevationMappingNode::publishStatistics, this, false, true); } lastStatisticsPublishedTime_ = ros::Time::now(); ROS_INFO("[ElevationMappingCupy] finish initialization"); } - // setup map publishers void ElevationMappingNode::setupMapPublishers() { // Find the layers with highest fps. float max_fps = -1; // create timers for each unique map frequencies - for(auto fps : map_fps_unique_) { + for (auto fps : map_fps_unique_) { // which publisher to call in the timer callback std::vector indices; // if this fps is max, update the map layers. @@ -153,37 +154,41 @@ void ElevationMappingNode::setupMapPublishers() { max_fps = fps; map_layers_all_.clear(); } - for(int i=0; i= max_fps) { - for (const auto layer: map_layers_[i]) + for (const auto layer : map_layers_[i]) { map_layers_all_.insert(layer); + } } } } // callback funtion. // It publishes to specific topics. - auto cb = [this, indices](const ros::TimerEvent&) { for(int i:indices) { publishMapOfIndex(i); } }; + auto cb = [this, indices](const ros::TimerEvent&) { + for (int i : indices) { + publishMapOfIndex(i); + } + }; double duration = 1.0 / (fps + 0.00001); mapTimers_.push_back(nh_.createTimer(ros::Duration(duration), cb)); } } - void ElevationMappingNode::publishMapOfIndex(int index) { // publish the map layers of index - if(!isGridmapUpdated_) + if (!isGridmapUpdated_) { return; + } grid_map_msgs::GridMap msg; std::vector layers; - for (const auto& layer: map_layers_[index]) { + for (const auto& layer : map_layers_[index]) { const bool is_layer_in_all = map_layers_all_.find(layer) != map_layers_all_.end(); if (is_layer_in_all && gridMap_.exists(layer)) { layers.push_back(layer); - } - else if (map_.exists_layer(layer)) { + } else if (map_.exists_layer(layer)) { // if there are layers which is not in the syncing layer. boost::recursive_mutex::scoped_lock scopedLockForGridMap(mapMutex_); RowMatrixXf map_data; @@ -192,19 +197,17 @@ void ElevationMappingNode::publishMapOfIndex(int index) { layers.push_back(layer); } } - if (layers.size() == 0) + if (layers.empty()) { return; + } boost::recursive_mutex::scoped_lock scopedLockForGridMap(mapMutex_); grid_map::GridMapRosConverter::toMessage(gridMap_, layers, msg); scopedLockForGridMap.unlock(); msg.basic_layers = map_basic_layers_[index]; mapPubs_[index].publish(msg); - return; } - -void ElevationMappingNode::pointcloudCallback(const sensor_msgs::PointCloud2& cloud) -{ +void ElevationMappingNode::pointcloudCallback(const sensor_msgs::PointCloud2& cloud) { auto start = ros::Time::now(); pcl::PCLPointCloud2 pcl_pc; pcl_conversions::toPCL(cloud, pcl_pc); @@ -219,37 +222,31 @@ void ElevationMappingNode::pointcloudCallback(const sensor_msgs::PointCloud2& cl transformListener_.waitForTransform(mapFrameId_, sensorFrameId, timeStamp, ros::Duration(1.0)); transformListener_.lookupTransform(mapFrameId_, sensorFrameId, timeStamp, transformTf); poseTFToEigen(transformTf, transformationSensorToMap); - } - catch (tf::TransformException &ex) { + } catch (tf::TransformException& ex) { ROS_ERROR("%s", ex.what()); return; } - map_.input(pointCloud, - transformationSensorToMap.rotation(), - transformationSensorToMap.translation(), - positionError_, - orientationError_); - + map_.input(pointCloud, transformationSensorToMap.rotation(), transformationSensorToMap.translation(), positionError_, orientationError_); + if (enableDriftCorrectedTFPublishing_) { publishMapToOdom(map_.get_additive_mean_error()); } - ROS_DEBUG_THROTTLE(1.0, "ElevationMap processed a point cloud (%i points) in %f sec.", static_cast(pointCloud->size()), (ros::Time::now() - start).toSec()); + ROS_DEBUG_THROTTLE(1.0, "ElevationMap processed a point cloud (%i points) in %f sec.", static_cast(pointCloud->size()), + (ros::Time::now() - start).toSec()); ROS_DEBUG_THROTTLE(1.0, "positionError: %f ", positionError_); ROS_DEBUG_THROTTLE(1.0, "orientationError: %f ", orientationError_); // This is used for publishing as statistics. pointCloudProcessCounter_++; } -void ElevationMappingNode::updatePose(const ros::TimerEvent&) -{ +void ElevationMappingNode::updatePose(const ros::TimerEvent&) { tf::StampedTransform transformTf; const auto& timeStamp = ros::Time::now(); try { transformListener_.waitForTransform(mapFrameId_, baseFrameId_, timeStamp, ros::Duration(1.0)); transformListener_.lookupTransform(mapFrameId_, baseFrameId_, timeStamp, transformTf); - } - catch (tf::TransformException &ex) { + } catch (tf::TransformException& ex) { ROS_ERROR("%s", ex.what()); return; } @@ -258,8 +255,8 @@ void ElevationMappingNode::updatePose(const ros::TimerEvent&) Eigen::Vector3d position(transformTf.getOrigin().x(), transformTf.getOrigin().y(), transformTf.getOrigin().z()); map_.move_to(position); Eigen::Vector3d position3(transformTf.getOrigin().x(), transformTf.getOrigin().y(), transformTf.getOrigin().z()); - Eigen::Vector4d orientation(transformTf.getRotation().x(), transformTf.getRotation().y(), - transformTf.getRotation().z(), transformTf.getRotation().w()); + Eigen::Vector4d orientation(transformTf.getRotation().x(), transformTf.getRotation().y(), transformTf.getRotation().z(), + transformTf.getRotation().w()); lowpassPosition_ = positionAlpha_ * position3 + (1 - positionAlpha_) * lowpassPosition_; lowpassOrientation_ = orientationAlpha_ * orientation + (1 - orientationAlpha_) * lowpassOrientation_; positionError_ = (position3 - lowpassPosition_).norm(); @@ -277,8 +274,7 @@ void ElevationMappingNode::publishAsPointCloud() { pointPub_.publish(msg); } -bool ElevationMappingNode::getSubmap(grid_map_msgs::GetGridMap::Request& request, grid_map_msgs::GetGridMap::Response& response) -{ +bool ElevationMappingNode::getSubmap(grid_map_msgs::GetGridMap::Request& request, grid_map_msgs::GetGridMap::Response& response) { std::string requestedFrameId = request.frame_id; Eigen::Isometry3d transformationOdomToMap; grid_map::Position requestedSubmapPosition(request.position_x, request.position_y); @@ -289,8 +285,7 @@ bool ElevationMappingNode::getSubmap(grid_map_msgs::GetGridMap::Request& request transformListener_.waitForTransform(requestedFrameId, mapFrameId_, timeStamp, ros::Duration(1.0)); transformListener_.lookupTransform(requestedFrameId, mapFrameId_, timeStamp, transformTf); tf::poseTFToEigen(transformTf, transformationOdomToMap); - } - catch (tf::TransformException &ex) { + } catch (tf::TransformException& ex) { ROS_ERROR("%s", ex.what()); return false; } @@ -300,7 +295,8 @@ bool ElevationMappingNode::getSubmap(grid_map_msgs::GetGridMap::Request& request requestedSubmapPosition.y() = mapP.y(); } grid_map::Length requestedSubmapLength(request.length_x, request.length_y); - ROS_DEBUG("Elevation submap request: Position x=%f, y=%f, Length x=%f, y=%f.", requestedSubmapPosition.x(), requestedSubmapPosition.y(), requestedSubmapLength(0), requestedSubmapLength(1)); + ROS_DEBUG("Elevation submap request: Position x=%f, y=%f, Length x=%f, y=%f.", requestedSubmapPosition.x(), requestedSubmapPosition.y(), + requestedSubmapLength(0), requestedSubmapLength(1)); bool isSuccess; grid_map::Index index; @@ -316,8 +312,7 @@ bool ElevationMappingNode::getSubmap(grid_map_msgs::GetGridMap::Request& request if (request.layers.empty()) { grid_map::GridMapRosConverter::toMessage(subMap, response.map); - } - else { + } else { std::vector layers; for (const auto& layer : request.layers) { layers.push_back(layer); @@ -327,15 +322,13 @@ bool ElevationMappingNode::getSubmap(grid_map_msgs::GetGridMap::Request& request return isSuccess; } -bool ElevationMappingNode::clearMap(std_srvs::Empty::Request& request, std_srvs::Empty::Response& response) -{ +bool ElevationMappingNode::clearMap(std_srvs::Empty::Request& request, std_srvs::Empty::Response& response) { ROS_INFO("Clearing map."); map_.clear(); return true; } -bool ElevationMappingNode::clearMapWithInitializer(std_srvs::Empty::Request& request, std_srvs::Empty::Response& response) -{ +bool ElevationMappingNode::clearMapWithInitializer(std_srvs::Empty::Request& request, std_srvs::Empty::Response& response) { ROS_INFO("Clearing map with initializer."); map_.clear(); initializeWithTF(); @@ -343,45 +336,43 @@ bool ElevationMappingNode::clearMapWithInitializer(std_srvs::Empty::Request& req } void ElevationMappingNode::initializeWithTF() { - std::vector points; - const auto& timeStamp = ros::Time::now(); - int i = 0; - Eigen::Vector3d p; - for (const auto& frame_id: initialize_frame_id_) { - // Get tf from map frame to tf frame - Eigen::Affine3d transformationBaseToMap; - tf::StampedTransform transformTf; - try { - transformListener_.waitForTransform(mapFrameId_, frame_id, timeStamp, ros::Duration(1.0)); - transformListener_.lookupTransform(mapFrameId_, frame_id, timeStamp, transformTf); - poseTFToEigen(transformTf, transformationBaseToMap); - } - catch (tf::TransformException &ex) { - ROS_ERROR("%s", ex.what()); - return; - } - p = transformationBaseToMap.translation(); - p.z() += initialize_tf_offset_[i]; - points.push_back(p); - i++; - } - if (points.size() > 0 && points.size() < 3) { - points.push_back(p + Eigen::Vector3d(initializeTfGridSize_, initializeTfGridSize_, 0)); - points.push_back(p + Eigen::Vector3d(-initializeTfGridSize_, initializeTfGridSize_, 0)); - points.push_back(p + Eigen::Vector3d(initializeTfGridSize_, -initializeTfGridSize_, 0)); - points.push_back(p + Eigen::Vector3d(-initializeTfGridSize_, -initializeTfGridSize_, 0)); + std::vector points; + const auto& timeStamp = ros::Time::now(); + int i = 0; + Eigen::Vector3d p; + for (const auto& frame_id : initialize_frame_id_) { + // Get tf from map frame to tf frame + Eigen::Affine3d transformationBaseToMap; + tf::StampedTransform transformTf; + try { + transformListener_.waitForTransform(mapFrameId_, frame_id, timeStamp, ros::Duration(1.0)); + transformListener_.lookupTransform(mapFrameId_, frame_id, timeStamp, transformTf); + poseTFToEigen(transformTf, transformationBaseToMap); + } catch (tf::TransformException& ex) { + ROS_ERROR("%s", ex.what()); + return; } - ROS_INFO_STREAM("Initializing map with points using " << initializeMethod_); - map_.initializeWithPoints(points, initializeMethod_); + p = transformationBaseToMap.translation(); + p.z() += initialize_tf_offset_[i]; + points.push_back(p); + i++; + } + if (!points.empty() && points.size() < 3) { + points.emplace_back(p + Eigen::Vector3d(initializeTfGridSize_, initializeTfGridSize_, 0)); + points.emplace_back(p + Eigen::Vector3d(-initializeTfGridSize_, initializeTfGridSize_, 0)); + points.emplace_back(p + Eigen::Vector3d(initializeTfGridSize_, -initializeTfGridSize_, 0)); + points.emplace_back(p + Eigen::Vector3d(-initializeTfGridSize_, -initializeTfGridSize_, 0)); + } + ROS_INFO_STREAM("Initializing map with points using " << initializeMethod_); + map_.initializeWithPoints(points, initializeMethod_); } - bool ElevationMappingNode::checkSafety(elevation_map_msgs::CheckSafety::Request& request, elevation_map_msgs::CheckSafety::Response& response) { - - for (const auto& polygonstamped: request.polygons) { - if (polygonstamped.polygon.points.size() == 0) + for (const auto& polygonstamped : request.polygons) { + if (polygonstamped.polygon.points.empty()) { continue; + } std::vector polygon; std::vector untraversable_polygon; Eigen::Vector3d result; @@ -390,7 +381,6 @@ bool ElevationMappingNode::checkSafety(elevation_map_msgs::CheckSafety::Request& const auto& timeStamp = polygonstamped.header.stamp; double polygon_z = polygonstamped.polygon.points[0].z; - // Get tf from map frame to polygon frame if (mapFrameId_ != polygonFrameId) { Eigen::Affine3d transformationBaseToMap; @@ -399,20 +389,18 @@ bool ElevationMappingNode::checkSafety(elevation_map_msgs::CheckSafety::Request& transformListener_.waitForTransform(mapFrameId_, polygonFrameId, timeStamp, ros::Duration(1.0)); transformListener_.lookupTransform(mapFrameId_, polygonFrameId, timeStamp, transformTf); poseTFToEigen(transformTf, transformationBaseToMap); - } - catch (tf::TransformException &ex) { + } catch (tf::TransformException& ex) { ROS_ERROR("%s", ex.what()); return false; } - for (const auto& p: polygonstamped.polygon.points) { + for (const auto& p : polygonstamped.polygon.points) { const auto& pvector = Eigen::Vector3d(p.x, p.y, p.z); const auto transformed_p = transformationBaseToMap * pvector; - polygon.push_back(Eigen::Vector2d(transformed_p.x(), transformed_p.y())); + polygon.emplace_back(Eigen::Vector2d(transformed_p.x(), transformed_p.y())); } - } - else { - for (const auto& p: polygonstamped.polygon.points) { - polygon.push_back(Eigen::Vector2d(p.x, p.y)); + } else { + for (const auto& p : polygonstamped.polygon.points) { + polygon.emplace_back(Eigen::Vector2d(p.x, p.y)); } } @@ -421,11 +409,11 @@ bool ElevationMappingNode::checkSafety(elevation_map_msgs::CheckSafety::Request& geometry_msgs::PolygonStamped untraversable_polygonstamped; untraversable_polygonstamped.header.stamp = ros::Time::now(); untraversable_polygonstamped.header.frame_id = mapFrameId_; - for (const auto& p: untraversable_polygon) { + for (const auto& p : untraversable_polygon) { geometry_msgs::Point32 point; - point.x = p.x(); - point.y = p.y(); - point.z = polygon_z; + point.x = static_cast(p.x()); + point.y = static_cast(p.y()); + point.z = static_cast(polygon_z); untraversable_polygonstamped.polygon.points.push_back(point); } // traversability_result; @@ -442,7 +430,6 @@ bool ElevationMappingNode::setPublishPoint(std_srvs::SetBool::Request& request, return true; } - void ElevationMappingNode::updateVariance(const ros::TimerEvent&) { map_.update_variance(); } @@ -457,8 +444,9 @@ void ElevationMappingNode::publishStatistics(const ros::TimerEvent&) { lastStatisticsPublishedTime_ = now; elevation_map_msgs::Statistics msg; msg.header.stamp = now; - if (dt > 0.0) - msg.pointcloud_process_fps = (double)pointCloudProcessCounter_ / dt; + if (dt > 0.0) { + msg.pointcloud_process_fps = pointCloudProcessCounter_ / dt; + } pointCloudProcessCounter_ = 0; statisticsPub_.publish(msg); } @@ -482,11 +470,10 @@ void ElevationMappingNode::updateGridMap(const ros::TimerEvent&) { bool ElevationMappingNode::initializeMap(elevation_map_msgs::Initialize::Request& request, elevation_map_msgs::Initialize::Response& response) { - // If initialize method is points if (request.type == request.POINTS) { std::vector points; - for (const auto& point: request.points) { + for (const auto& point : request.points) { const auto& pointFrameId = point.header.frame_id; const auto& timeStamp = point.header.stamp; const auto& pvector = Eigen::Vector3d(point.point.x, point.point.y, point.point.z); @@ -499,20 +486,18 @@ bool ElevationMappingNode::initializeMap(elevation_map_msgs::Initialize::Request transformListener_.waitForTransform(mapFrameId_, pointFrameId, timeStamp, ros::Duration(1.0)); transformListener_.lookupTransform(mapFrameId_, pointFrameId, timeStamp, transformTf); poseTFToEigen(transformTf, transformationBaseToMap); - } - catch (tf::TransformException &ex) { + } catch (tf::TransformException& ex) { ROS_ERROR("%s", ex.what()); return false; } const auto transformed_p = transformationBaseToMap * pvector; points.push_back(transformed_p); - } - else { + } else { points.push_back(pvector); } } std::string method; - switch (request.method){ + switch (request.method) { case request.NEAREST: method = "nearest"; break; @@ -531,34 +516,36 @@ bool ElevationMappingNode::initializeMap(elevation_map_msgs::Initialize::Request } void ElevationMappingNode::publishNormalAsArrow(const grid_map::GridMap& map) { - auto start = ros::Time::now(); + auto startTime = ros::Time::now(); - auto& normalX = map["normal_x"]; - auto& normalY = map["normal_y"]; - auto& normalZ = map["normal_z"]; + const auto& normalX = map["normal_x"]; + const auto& normalY = map["normal_y"]; + const auto& normalZ = map["normal_z"]; double scale = 0.1; - + visualization_msgs::MarkerArray markerArray; // For each cell in map. for (grid_map::GridMapIterator iterator(map); !iterator.isPastEnd(); ++iterator) { - const int i = iterator.getLinearIndex(); if (!map.isValid(*iterator, "elevation")) { - continue;} + continue; + } grid_map::Position3 p; map.getPosition3("elevation", *iterator, p); - Eigen::Vector3d start = (Eigen::Vector3d)p; + Eigen::Vector3d start = p; + const auto i = iterator.getLinearIndex(); Eigen::Vector3d normal(normalX(i), normalY(i), normalZ(i)); Eigen::Vector3d end = start + normal * scale; if (normal.norm() < 0.1) { - continue;} + continue; + } markerArray.markers.push_back(vectorToArrowMarker(start, end, i)); } normalPub_.publish(markerArray); - ROS_INFO_THROTTLE(1.0, "publish as normal in %f sec.", (ros::Time::now() - start).toSec()); - return; + ROS_INFO_THROTTLE(1.0, "publish as normal in %f sec.", (ros::Time::now() - startTime).toSec()); } -visualization_msgs::Marker ElevationMappingNode::vectorToArrowMarker(const Eigen::Vector3d& start, const Eigen::Vector3d& end, const int id) { +visualization_msgs::Marker ElevationMappingNode::vectorToArrowMarker(const Eigen::Vector3d& start, const Eigen::Vector3d& end, + const int id) { visualization_msgs::Marker marker; marker.header.frame_id = mapFrameId_; marker.header.stamp = ros::Time::now(); @@ -580,7 +567,7 @@ visualization_msgs::Marker ElevationMappingNode::vectorToArrowMarker(const Eigen marker.scale.x = 0.01; marker.scale.y = 0.01; marker.scale.z = 0.01; - marker.color.a = 1.0; // Don't forget to set the alpha! + marker.color.a = 1.0; // Don't forget to set the alpha! marker.color.r = 0.0; marker.color.g = 1.0; marker.color.b = 0.0; @@ -588,15 +575,14 @@ visualization_msgs::Marker ElevationMappingNode::vectorToArrowMarker(const Eigen return marker; } -void ElevationMappingNode::publishMapToOdom(double error) -{ +void ElevationMappingNode::publishMapToOdom(double error) { static tf::TransformBroadcaster br; tf::Transform transform; - transform.setOrigin( tf::Vector3(0.0, 0.0, error) ); + transform.setOrigin(tf::Vector3(0.0, 0.0, error)); tf::Quaternion q; q.setRPY(0, 0, 0); transform.setRotation(q); br.sendTransform(tf::StampedTransform(transform, ros::Time::now(), mapFrameId_, correctedMapFrameId_)); } -} +} // namespace elevation_mapping_cupy diff --git a/elevation_mapping_cupy/src/elevation_mapping_wrapper.cpp b/elevation_mapping_cupy/src/elevation_mapping_wrapper.cpp index e7f53e77..40753a2c 100644 --- a/elevation_mapping_cupy/src/elevation_mapping_wrapper.cpp +++ b/elevation_mapping_cupy/src/elevation_mapping_wrapper.cpp @@ -2,22 +2,21 @@ // Copyright (c) 2022, Takahiro Miki. All rights reserved. // Licensed under the MIT license. See LICENSE file in the project root for details. // + #include "elevation_mapping_cupy/elevation_mapping_wrapper.hpp" -#include + +// Pybind #include -#include -#include + +// PCL #include -#include + +// ROS #include -#include -namespace elevation_mapping_cupy{ -using RowMatrixXd = Eigen::Matrix; -using RowMatrixXf = Eigen::Matrix; +namespace elevation_mapping_cupy { -ElevationMappingWrapper::ElevationMappingWrapper() { -} +ElevationMappingWrapper::ElevationMappingWrapper() {} void ElevationMappingWrapper::initialize(ros::NodeHandle& nh) { // Add the elevation_mapping_cupy path to sys.path @@ -37,7 +36,7 @@ void ElevationMappingWrapper::initialize(ros::NodeHandle& nh) { map_ = elevation_mapping.attr("ElevationMap")(param_); } -/* +/** * Load ros parameters into Parameter class. * Search for the same name within the name space. */ @@ -54,23 +53,24 @@ void ElevationMappingWrapper::setParameters(ros::NodeHandle& nh) { std::string name = py::cast(paramNames[i]); if (type == "float") { float param; - if (nh.getParam(name, param)) + if (nh.getParam(name, param)) { param_.attr("set_value")(name, param); - } - else if (type == "str") { + } + } else if (type == "str") { std::string param; - if (nh.getParam(name, param)) + if (nh.getParam(name, param)) { param_.attr("set_value")(name, param); - } - else if (type == "bool") { + } + } else if (type == "bool") { bool param; - if (nh.getParam(name, param)) + if (nh.getParam(name, param)) { param_.attr("set_value")(name, param); - } - else if (type == "int") { + } + } else if (type == "int") { int param; - if (nh.getParam(name, param)) + if (nh.getParam(name, param)) { param_.attr("set_value")(name, param); + } } } @@ -82,24 +82,20 @@ void ElevationMappingWrapper::setParameters(ros::NodeHandle& nh) { nh.param("enable_normal_color", enable_normal_color_, false); } - -void ElevationMappingWrapper::input(const pcl::PointCloud::Ptr& pointCloud, const RowMatrixXd& R, const Eigen::VectorXd& t, const double positionNoise, const double orientationNoise) { +void ElevationMappingWrapper::input(const pcl::PointCloud::Ptr& pointCloud, const RowMatrixXd& R, const Eigen::VectorXd& t, + const double positionNoise, const double orientationNoise) { py::gil_scoped_acquire acquire; RowMatrixXd points; pointCloudToMatrix(pointCloud, points); - map_.attr("input")(Eigen::Ref(points), - Eigen::Ref(R), - Eigen::Ref(t), + map_.attr("input")(Eigen::Ref(points), Eigen::Ref(R), Eigen::Ref(t), positionNoise, orientationNoise); } - void ElevationMappingWrapper::move_to(const Eigen::VectorXd& p) { py::gil_scoped_acquire acquire; map_.attr("move_to")(Eigen::Ref(p)); } - void ElevationMappingWrapper::clear() { py::gil_scoped_acquire acquire; map_.attr("clear")(); @@ -107,8 +103,7 @@ void ElevationMappingWrapper::clear() { double ElevationMappingWrapper::get_additive_mean_error() { py::gil_scoped_acquire acquire; - double additive_error = map_.attr("get_additive_mean_error")().cast(); - return additive_error; + return map_.attr("get_additive_mean_error")().cast(); } bool ElevationMappingWrapper::exists_layer(const std::string& layerName) { @@ -119,17 +114,14 @@ bool ElevationMappingWrapper::exists_layer(const std::string& layerName) { void ElevationMappingWrapper::get_layer_data(const std::string& layerName, RowMatrixXf& map) { py::gil_scoped_acquire acquire; map = RowMatrixXf(map_n_, map_n_); - map_.attr("get_map_with_name_ref")( - layerName, - Eigen::Ref(map)); + map_.attr("get_map_with_name_ref")(layerName, Eigen::Ref(map)); } - void ElevationMappingWrapper::get_grid_map(grid_map::GridMap& gridMap, const std::vector& requestLayerNames) { std::vector basicLayerNames; std::vector layerNames = requestLayerNames; std::vector selection; - for (const auto& layerName: layerNames) { + for (const auto& layerName : layerNames) { if (layerName == "elevation") { basicLayerNames.push_back("elevation"); } @@ -143,21 +135,16 @@ void ElevationMappingWrapper::get_grid_map(grid_map::GridMap& gridMap, const std gridMap.setGeometry(length, resolution_, position); std::vector maps; - for (const auto& layerName: layerNames) { + for (const auto& layerName : layerNames) { RowMatrixXf map(map_n_, map_n_); - map_.attr("get_map_with_name_ref")( - layerName, - Eigen::Ref(map)); + map_.attr("get_map_with_name_ref")(layerName, Eigen::Ref(map)); gridMap.add(layerName, map); } if (enable_normal_color_) { RowMatrixXf normal_x(map_n_, map_n_); RowMatrixXf normal_y(map_n_, map_n_); RowMatrixXf normal_z(map_n_, map_n_); - map_.attr("get_normal_ref")( - Eigen::Ref(normal_x), - Eigen::Ref(normal_y), - Eigen::Ref(normal_z)); + map_.attr("get_normal_ref")(Eigen::Ref(normal_x), Eigen::Ref(normal_y), Eigen::Ref(normal_z)); gridMap.add("normal_x", normal_x); gridMap.add("normal_y", normal_y); gridMap.add("normal_z", normal_z); @@ -168,42 +155,39 @@ void ElevationMappingWrapper::get_grid_map(grid_map::GridMap& gridMap, const std } } - -void ElevationMappingWrapper::get_polygon_traversability(std::vector &polygon, Eigen::Vector3d& result, - std::vector &untraversable_polygon) { - RowMatrixXf polygon_m(polygon.size(), 2); - if (polygon.size() < 3) +void ElevationMappingWrapper::get_polygon_traversability(std::vector& polygon, Eigen::Vector3d& result, + std::vector& untraversable_polygon) { + if (polygon.size() < 3) { return; + } + RowMatrixXf polygon_m(polygon.size(), 2); int i = 0; - for (auto& p: polygon) { + for (auto& p : polygon) { polygon_m(i, 0) = p.x(); polygon_m(i, 1) = p.y(); i++; } py::gil_scoped_acquire acquire; - const int untraversable_polygon_num = map_.attr("get_polygon_traversability")( - Eigen::Ref(polygon_m), - Eigen::Ref(result)).cast(); + const int untraversable_polygon_num = + map_.attr("get_polygon_traversability")(Eigen::Ref(polygon_m), Eigen::Ref(result)).cast(); untraversable_polygon.clear(); if (untraversable_polygon_num > 0) { RowMatrixXf untraversable_polygon_m(untraversable_polygon_num, 2); map_.attr("get_untraversable_polygon")(Eigen::Ref(untraversable_polygon_m)); - for (int i = 0; i < untraversable_polygon_num; i++) { + for (int j = 0; j < untraversable_polygon_num; i++) { Eigen::Vector2d p; - p.x() = untraversable_polygon_m(i, 0); - p.y() = untraversable_polygon_m(i, 1); + p.x() = untraversable_polygon_m(j, 0); + p.y() = untraversable_polygon_m(j, 1); untraversable_polygon.push_back(p); } } - - return; } -void ElevationMappingWrapper::initializeWithPoints(std::vector &points, std::string method) { +void ElevationMappingWrapper::initializeWithPoints(std::vector& points, std::string method) { RowMatrixXd points_m(points.size(), 3); int i = 0; - for (auto& p: points) { + for (auto& p : points) { points_m(i, 0) = p.x(); points_m(i, 1) = p.y(); points_m(i, 2) = p.z(); @@ -211,13 +195,9 @@ void ElevationMappingWrapper::initializeWithPoints(std::vector } py::gil_scoped_acquire acquire; map_.attr("initialize_map")(Eigen::Ref(points_m), method); - return; } - -void ElevationMappingWrapper::pointCloudToMatrix(const pcl::PointCloud::Ptr& pointCloud, - RowMatrixXd& points) -{ +void ElevationMappingWrapper::pointCloudToMatrix(const pcl::PointCloud::Ptr& pointCloud, RowMatrixXd& points) { points = RowMatrixXd(pointCloud->size(), 3); for (unsigned int i = 0; i < pointCloud->size(); ++i) { const auto& point = pointCloud->points[i]; @@ -225,11 +205,9 @@ void ElevationMappingWrapper::pointCloudToMatrix(const pcl::PointCloud(point.y); points(i, 2) = static_cast(point.z); } - return; } -void ElevationMappingWrapper::addNormalColorLayer(grid_map::GridMap& map) -{ +void ElevationMappingWrapper::addNormalColorLayer(grid_map::GridMap& map) { const auto& normalX = map["normal_x"]; const auto& normalY = map["normal_y"]; const auto& normalZ = map["normal_z"]; @@ -243,25 +221,20 @@ void ElevationMappingWrapper::addNormalColorLayer(grid_map::GridMap& map) // For each cell in map. for (size_t i = 0; i < color.size(); ++i) { - const Eigen::Vector3f colorVector((normalX(i) + 1.0) / 2.0, - (normalY(i) + 1.0) / 2.0, - (normalZ(i))); + const Eigen::Vector3f colorVector((normalX(i) + 1.0) / 2.0, (normalY(i) + 1.0) / 2.0, (normalZ(i))); Eigen::Vector3i intColorVector = (colorVector * 255.0).cast(); grid_map::colorVectorToValue(intColorVector, color(i)); } - return; } void ElevationMappingWrapper::update_variance() { py::gil_scoped_acquire acquire; map_.attr("update_variance")(); - return; } void ElevationMappingWrapper::update_time() { py::gil_scoped_acquire acquire; map_.attr("update_time")(); - return; } -} +} // namespace elevation_mapping_cupy From 1ff161a0acff81112ea26d38dc79ed2d989b4bad Mon Sep 17 00:00:00 2001 From: rgrandia Date: Tue, 3 May 2022 20:47:45 +0200 Subject: [PATCH 189/504] fix scoping of type --- elevation_mapping_cupy/src/elevation_mapping_ros.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/elevation_mapping_cupy/src/elevation_mapping_ros.cpp b/elevation_mapping_cupy/src/elevation_mapping_ros.cpp index 8cedfaf0..4c9bad59 100644 --- a/elevation_mapping_cupy/src/elevation_mapping_ros.cpp +++ b/elevation_mapping_cupy/src/elevation_mapping_ros.cpp @@ -191,7 +191,7 @@ void ElevationMappingNode::publishMapOfIndex(int index) { } else if (map_.exists_layer(layer)) { // if there are layers which is not in the syncing layer. boost::recursive_mutex::scoped_lock scopedLockForGridMap(mapMutex_); - RowMatrixXf map_data; + ElevationMappingWrapper::RowMatrixXf map_data; map_.get_layer_data(layer, map_data); gridMap_.add(layer, map_data); layers.push_back(layer); From f515f47e6d2f67444fa3c17f2a87fa74449c8b73 Mon Sep 17 00:00:00 2001 From: rgrandia Date: Tue, 3 May 2022 21:20:37 +0200 Subject: [PATCH 190/504] fix unprotected data sharing. change to simpler lock and mutex. --- .../elevation_mapping_ros.hpp | 12 +++---- .../src/elevation_mapping_ros.cpp | 31 ++++++++++++------- 2 files changed, 25 insertions(+), 18 deletions(-) diff --git a/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp b/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp index e59375e1..2f1fa8f0 100644 --- a/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp +++ b/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp @@ -7,9 +7,7 @@ // STL #include - -// Boost -#include +#include // Eigen #include @@ -55,7 +53,7 @@ class ElevationMappingNode { void readParameters(); void setupMapPublishers(); void pointcloudCallback(const sensor_msgs::PointCloud2& cloud); - void publishAsPointCloud(); + void publishAsPointCloud(const grid_map::GridMap& map); bool getSubmap(grid_map_msgs::GetGridMap::Request& request, grid_map_msgs::GetGridMap::Response& response); bool checkSafety(elevation_map_msgs::CheckSafety::Request& request, elevation_map_msgs::CheckSafety::Response& response); bool initializeMap(elevation_map_msgs::Initialize::Request& request, elevation_map_msgs::Initialize::Response& response); @@ -97,7 +95,6 @@ class ElevationMappingNode { std::string mapFrameId_; std::string correctedMapFrameId_; std::string baseFrameId_; - grid_map::GridMap gridMap_; // map topics info std::vector> map_topics_; @@ -116,7 +113,9 @@ class ElevationMappingNode { Eigen::Vector3d lowpassPosition_; Eigen::Vector4d lowpassOrientation_; - boost::recursive_mutex mapMutex_; + std::mutex mapMutex_; // protects gridMap_ + grid_map::GridMap gridMap_; + std::atomic_bool isGridmapUpdated_; // needs to be atomic (read is protected by mapMutex_) double positionError_; double orientationError_; @@ -127,7 +126,6 @@ class ElevationMappingNode { bool enableNormalArrowPublishing_; bool enableDriftCorrectedTFPublishing_; bool useInitializerAtStart_; - bool isGridmapUpdated_; double initializeTfGridSize_; int pointCloudProcessCounter_; }; diff --git a/elevation_mapping_cupy/src/elevation_mapping_ros.cpp b/elevation_mapping_cupy/src/elevation_mapping_ros.cpp index 4c9bad59..4c324a11 100644 --- a/elevation_mapping_cupy/src/elevation_mapping_ros.cpp +++ b/elevation_mapping_cupy/src/elevation_mapping_ros.cpp @@ -186,23 +186,32 @@ void ElevationMappingNode::publishMapOfIndex(int index) { std::vector layers; for (const auto& layer : map_layers_[index]) { const bool is_layer_in_all = map_layers_all_.find(layer) != map_layers_all_.end(); - if (is_layer_in_all && gridMap_.exists(layer)) { + bool layerExistsInMap{false}; + { + std::lock_guard lock(mapMutex_); + layerExistsInMap = gridMap_.exists(layer); + } + + if (is_layer_in_all && layerExistsInMap) { layers.push_back(layer); } else if (map_.exists_layer(layer)) { // if there are layers which is not in the syncing layer. - boost::recursive_mutex::scoped_lock scopedLockForGridMap(mapMutex_); ElevationMappingWrapper::RowMatrixXf map_data; map_.get_layer_data(layer, map_data); - gridMap_.add(layer, map_data); layers.push_back(layer); + std::lock_guard lock(mapMutex_); + gridMap_.add(layer, map_data); } } if (layers.empty()) { return; } - boost::recursive_mutex::scoped_lock scopedLockForGridMap(mapMutex_); - grid_map::GridMapRosConverter::toMessage(gridMap_, layers, msg); - scopedLockForGridMap.unlock(); + + { + std::lock_guard lock(mapMutex_); + grid_map::GridMapRosConverter::toMessage(gridMap_, layers, msg); + } + msg.basic_layers = map_basic_layers_[index]; mapPubs_[index].publish(msg); } @@ -268,9 +277,9 @@ void ElevationMappingNode::updatePose(const ros::TimerEvent&) { } } -void ElevationMappingNode::publishAsPointCloud() { +void ElevationMappingNode::publishAsPointCloud(const grid_map::GridMap& map) { sensor_msgs::PointCloud2 msg; - grid_map::GridMapRosConverter::toPointCloud(gridMap_, "elevation", msg); + grid_map::GridMapRosConverter::toPointCloud(map, "elevation", msg); pointPub_.publish(msg); } @@ -302,7 +311,7 @@ bool ElevationMappingNode::getSubmap(grid_map_msgs::GetGridMap::Request& request grid_map::Index index; grid_map::GridMap subMap; { - boost::recursive_mutex::scoped_lock scopedLockForGridMap(mapMutex_); + std::lock_guard lock(mapMutex_); subMap = gridMap_.getSubmap(requestedSubmapPosition, requestedSubmapLength, index, isSuccess); } const auto& length = subMap.getLength(); @@ -453,14 +462,14 @@ void ElevationMappingNode::publishStatistics(const ros::TimerEvent&) { void ElevationMappingNode::updateGridMap(const ros::TimerEvent&) { std::vector layers(map_layers_all_.begin(), map_layers_all_.end()); - boost::recursive_mutex::scoped_lock scopedLockForGridMap(mapMutex_); + std::lock_guard lock(mapMutex_); map_.get_grid_map(gridMap_, layers); gridMap_.setTimestamp(ros::Time::now().toNSec()); alivePub_.publish(std_msgs::Empty()); // Mostly debug purpose if (enablePointCloudPublishing_) { - publishAsPointCloud(); + publishAsPointCloud(gridMap_); } if (enableNormalArrowPublishing_) { publishNormalAsArrow(gridMap_); From c455c0cef24b800c49ed068b699a5f8fb3718323 Mon Sep 17 00:00:00 2001 From: rgrandia Date: Tue, 3 May 2022 22:04:09 +0200 Subject: [PATCH 191/504] fix publishMapOfIndex --- .../src/elevation_mapping_ros.cpp | 39 ++++++++----------- 1 file changed, 17 insertions(+), 22 deletions(-) diff --git a/elevation_mapping_cupy/src/elevation_mapping_ros.cpp b/elevation_mapping_cupy/src/elevation_mapping_ros.cpp index 4c324a11..afabb6e1 100644 --- a/elevation_mapping_cupy/src/elevation_mapping_ros.cpp +++ b/elevation_mapping_cupy/src/elevation_mapping_ros.cpp @@ -184,31 +184,26 @@ void ElevationMappingNode::publishMapOfIndex(int index) { } grid_map_msgs::GridMap msg; std::vector layers; - for (const auto& layer : map_layers_[index]) { - const bool is_layer_in_all = map_layers_all_.find(layer) != map_layers_all_.end(); - bool layerExistsInMap{false}; - { - std::lock_guard lock(mapMutex_); - layerExistsInMap = gridMap_.exists(layer); - } - if (is_layer_in_all && layerExistsInMap) { - layers.push_back(layer); - } else if (map_.exists_layer(layer)) { - // if there are layers which is not in the syncing layer. - ElevationMappingWrapper::RowMatrixXf map_data; - map_.get_layer_data(layer, map_data); - layers.push_back(layer); - std::lock_guard lock(mapMutex_); - gridMap_.add(layer, map_data); + { // need continuous lock between adding layers and converting to message. Otherwise updateGridmap can reset the data not in + // map_layers_all_ + std::lock_guard lock(mapMutex_); + for (const auto& layer : map_layers_[index]) { + const bool is_layer_in_all = map_layers_all_.find(layer) != map_layers_all_.end(); + if (is_layer_in_all && gridMap_.exists(layer)) { + layers.push_back(layer); + } else if (map_.exists_layer(layer)) { + // if there are layers which is not in the syncing layer. + ElevationMappingWrapper::RowMatrixXf map_data; + map_.get_layer_data(layer, map_data); + gridMap_.add(layer, map_data); + layers.push_back(layer); + } + } + if (layers.empty()) { + return; } - } - if (layers.empty()) { - return; - } - { - std::lock_guard lock(mapMutex_); grid_map::GridMapRosConverter::toMessage(gridMap_, layers, msg); } From 67d847b59e2479b236100dcaf4ea92a769f010ff Mon Sep 17 00:00:00 2001 From: rgrandia Date: Tue, 3 May 2022 22:36:12 +0200 Subject: [PATCH 192/504] fix typo --- .../include/elevation_mapping_cupy/elevation_mapping_ros.hpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp b/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp index 2f1fa8f0..31e11481 100644 --- a/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp +++ b/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp @@ -115,7 +115,7 @@ class ElevationMappingNode { std::mutex mapMutex_; // protects gridMap_ grid_map::GridMap gridMap_; - std::atomic_bool isGridmapUpdated_; // needs to be atomic (read is protected by mapMutex_) + std::atomic_bool isGridmapUpdated_; // needs to be atomic (read is not protected by mapMutex_) double positionError_; double orientationError_; From 79c775779b84da8b0e5bc6e861ce3322cd35c4bd Mon Sep 17 00:00:00 2001 From: rgrandia Date: Wed, 4 May 2022 12:24:22 +0200 Subject: [PATCH 193/504] protect shared error state. make counter atomic. make configurable bool atomic --- .../elevation_mapping_ros.hpp | 14 ++++--- .../src/elevation_mapping_ros.cpp | 38 +++++++++++++------ 2 files changed, 36 insertions(+), 16 deletions(-) diff --git a/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp b/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp index 31e11481..7a374437 100644 --- a/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp +++ b/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp @@ -53,7 +53,7 @@ class ElevationMappingNode { void readParameters(); void setupMapPublishers(); void pointcloudCallback(const sensor_msgs::PointCloud2& cloud); - void publishAsPointCloud(const grid_map::GridMap& map); + void publishAsPointCloud(const grid_map::GridMap& map) const; bool getSubmap(grid_map_msgs::GetGridMap::Request& request, grid_map_msgs::GetGridMap::Response& response); bool checkSafety(elevation_map_msgs::CheckSafety::Request& request, elevation_map_msgs::CheckSafety::Response& response); bool initializeMap(elevation_map_msgs::Initialize::Request& request, elevation_map_msgs::Initialize::Response& response); @@ -64,16 +64,17 @@ class ElevationMappingNode { void updateVariance(const ros::TimerEvent&); void updateTime(const ros::TimerEvent&); void updateGridMap(const ros::TimerEvent&); - void publishNormalAsArrow(const grid_map::GridMap& map); + void publishNormalAsArrow(const grid_map::GridMap& map) const; void initializeWithTF(); void publishMapToOdom(double error); void publishStatistics(const ros::TimerEvent&); void publishMapOfIndex(int index); - visualization_msgs::Marker vectorToArrowMarker(const Eigen::Vector3d& start, const Eigen::Vector3d& end, const int id); + visualization_msgs::Marker vectorToArrowMarker(const Eigen::Vector3d& start, const Eigen::Vector3d& end, const int id) const; ros::NodeHandle nh_; std::vector pointcloudSubs_; std::vector mapPubs_; + tf::TransformBroadcaster tfBroadcaster_; ros::Publisher alivePub_; ros::Publisher pointPub_; ros::Publisher normalPub_; @@ -117,17 +118,20 @@ class ElevationMappingNode { grid_map::GridMap gridMap_; std::atomic_bool isGridmapUpdated_; // needs to be atomic (read is not protected by mapMutex_) + std::mutex errorMutex_; // protects positionError_, and orientationError_ double positionError_; double orientationError_; + double positionAlpha_; double orientationAlpha_; + double recordableFps_; - bool enablePointCloudPublishing_; + std::atomic_bool enablePointCloudPublishing_; bool enableNormalArrowPublishing_; bool enableDriftCorrectedTFPublishing_; bool useInitializerAtStart_; double initializeTfGridSize_; - int pointCloudProcessCounter_; + std::atomic_int pointCloudProcessCounter_; }; } // namespace elevation_mapping_cupy diff --git a/elevation_mapping_cupy/src/elevation_mapping_ros.cpp b/elevation_mapping_cupy/src/elevation_mapping_ros.cpp index afabb6e1..79941e8f 100644 --- a/elevation_mapping_cupy/src/elevation_mapping_ros.cpp +++ b/elevation_mapping_cupy/src/elevation_mapping_ros.cpp @@ -36,6 +36,7 @@ ElevationMappingNode::ElevationMappingNode(ros::NodeHandle& nh) std::vector pointcloud_topics; std::vector map_topics; double recordableFps, updateVarianceFps, timeInterval, updatePoseFps, updateGridMapFps, publishStatisticsFps; + bool enablePointCloudPublishing(false); nh.param>("pointcloud_topics", pointcloud_topics, {"points"}); nh.getParam("publishers", publishers); @@ -55,10 +56,13 @@ ElevationMappingNode::ElevationMappingNode(ros::NodeHandle& nh) nh.param("initialize_tf_grid_size", initializeTfGridSize_, 0.5); nh.param("map_acquire_fps", updateGridMapFps, 5.0); nh.param("publish_statistics_fps", publishStatisticsFps, 1.0); - nh.param("enable_pointcloud_publishing", enablePointCloudPublishing_, false); + nh.param("enable_pointcloud_publishing", enablePointCloudPublishing, false); nh.param("enable_normal_arrow_publishing", enableNormalArrowPublishing_, false); nh.param("enable_drift_corrected_TF_publishing", enableDriftCorrectedTFPublishing_, false); nh.param("use_initializer_at_start", useInitializerAtStart_, false); + + enablePointCloudPublishing_ = enablePointCloudPublishing; + for (const auto& pointcloud_topic : pointcloud_topics) { ros::Subscriber sub = nh_.subscribe(pointcloud_topic, 1, &ElevationMappingNode::pointcloudCallback, this); pointcloudSubs_.push_back(sub); @@ -230,7 +234,16 @@ void ElevationMappingNode::pointcloudCallback(const sensor_msgs::PointCloud2& cl ROS_ERROR("%s", ex.what()); return; } - map_.input(pointCloud, transformationSensorToMap.rotation(), transformationSensorToMap.translation(), positionError_, orientationError_); + + double positionError{0.0}; + double orientationError{0.0}; + { + std::lock_guard lock(errorMutex_); + positionError = positionError_; + orientationError = orientationError_; + } + + map_.input(pointCloud, transformationSensorToMap.rotation(), transformationSensorToMap.translation(), positionError, orientationError); if (enableDriftCorrectedTFPublishing_) { publishMapToOdom(map_.get_additive_mean_error()); @@ -238,8 +251,8 @@ void ElevationMappingNode::pointcloudCallback(const sensor_msgs::PointCloud2& cl ROS_DEBUG_THROTTLE(1.0, "ElevationMap processed a point cloud (%i points) in %f sec.", static_cast(pointCloud->size()), (ros::Time::now() - start).toSec()); - ROS_DEBUG_THROTTLE(1.0, "positionError: %f ", positionError_); - ROS_DEBUG_THROTTLE(1.0, "orientationError: %f ", orientationError_); + ROS_DEBUG_THROTTLE(1.0, "positionError: %f ", positionError); + ROS_DEBUG_THROTTLE(1.0, "orientationError: %f ", orientationError); // This is used for publishing as statistics. pointCloudProcessCounter_++; } @@ -263,8 +276,12 @@ void ElevationMappingNode::updatePose(const ros::TimerEvent&) { transformTf.getRotation().w()); lowpassPosition_ = positionAlpha_ * position3 + (1 - positionAlpha_) * lowpassPosition_; lowpassOrientation_ = orientationAlpha_ * orientation + (1 - orientationAlpha_) * lowpassOrientation_; - positionError_ = (position3 - lowpassPosition_).norm(); - orientationError_ = (orientation - lowpassOrientation_).norm(); + { + std::lock_guard lock(errorMutex_); + positionError_ = (position3 - lowpassPosition_).norm(); + orientationError_ = (orientation - lowpassOrientation_).norm(); + } + if (useInitializerAtStart_) { ROS_INFO("Clearing map with initializer."); initializeWithTF(); @@ -272,7 +289,7 @@ void ElevationMappingNode::updatePose(const ros::TimerEvent&) { } } -void ElevationMappingNode::publishAsPointCloud(const grid_map::GridMap& map) { +void ElevationMappingNode::publishAsPointCloud(const grid_map::GridMap& map) const { sensor_msgs::PointCloud2 msg; grid_map::GridMapRosConverter::toPointCloud(map, "elevation", msg); pointPub_.publish(msg); @@ -519,7 +536,7 @@ bool ElevationMappingNode::initializeMap(elevation_map_msgs::Initialize::Request return true; } -void ElevationMappingNode::publishNormalAsArrow(const grid_map::GridMap& map) { +void ElevationMappingNode::publishNormalAsArrow(const grid_map::GridMap& map) const { auto startTime = ros::Time::now(); const auto& normalX = map["normal_x"]; @@ -549,7 +566,7 @@ void ElevationMappingNode::publishNormalAsArrow(const grid_map::GridMap& map) { } visualization_msgs::Marker ElevationMappingNode::vectorToArrowMarker(const Eigen::Vector3d& start, const Eigen::Vector3d& end, - const int id) { + const int id) const { visualization_msgs::Marker marker; marker.header.frame_id = mapFrameId_; marker.header.stamp = ros::Time::now(); @@ -580,13 +597,12 @@ visualization_msgs::Marker ElevationMappingNode::vectorToArrowMarker(const Eigen } void ElevationMappingNode::publishMapToOdom(double error) { - static tf::TransformBroadcaster br; tf::Transform transform; transform.setOrigin(tf::Vector3(0.0, 0.0, error)); tf::Quaternion q; q.setRPY(0, 0, 0); transform.setRotation(q); - br.sendTransform(tf::StampedTransform(transform, ros::Time::now(), mapFrameId_, correctedMapFrameId_)); + tfBroadcaster_.sendTransform(tf::StampedTransform(transform, ros::Time::now(), mapFrameId_, correctedMapFrameId_)); } } // namespace elevation_mapping_cupy From 6864bb04ef8b73e13a2d62a4b87d856c4b0ca792 Mon Sep 17 00:00:00 2001 From: rgrandia Date: Wed, 4 May 2022 18:11:26 +0200 Subject: [PATCH 194/504] have tolerance on resolution check --- convex_plane_decomposition/src/GridMapPreprocessing.cpp | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/convex_plane_decomposition/src/GridMapPreprocessing.cpp b/convex_plane_decomposition/src/GridMapPreprocessing.cpp index 1dc8c055..48dd31db 100644 --- a/convex_plane_decomposition/src/GridMapPreprocessing.cpp +++ b/convex_plane_decomposition/src/GridMapPreprocessing.cpp @@ -36,7 +36,9 @@ void GridMapPreprocessing::denoise(grid_map::GridMap& gridMap, const std::string } void GridMapPreprocessing::changeResolution(grid_map::GridMap& gridMap, const std::string& layer) const { - if (parameters_.resolution > 0.0 && gridMap.getResolution() != parameters_.resolution) { + bool hasSameResolution = std::abs(gridMap.getResolution() - parameters_.resolution) < 1e-6; + + if (parameters_.resolution > 0.0 && !hasSameResolution) { // Original map info const auto oldPosition = gridMap.getPosition(); const auto oldSize = gridMap.getSize(); From 94379085346f6c7d74c9f654cb6000573ab8992b Mon Sep 17 00:00:00 2001 From: Takahiro Date: Wed, 4 May 2022 19:52:54 +0200 Subject: [PATCH 195/504] Increase initial variance --- elevation_mapping_cupy/config/parameters.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/elevation_mapping_cupy/config/parameters.yaml b/elevation_mapping_cupy/config/parameters.yaml index 0608b970..fccd4509 100644 --- a/elevation_mapping_cupy/config/parameters.yaml +++ b/elevation_mapping_cupy/config/parameters.yaml @@ -9,7 +9,7 @@ max_drift: 0.1 # drift compensation happens onl drift_compensation_alpha: 0.1 # drift compensation alpha for smoother update of drift compensation time_variance: 0.0001 # add this value when update_variance is called. max_variance: 100.0 # maximum variance for each cell. -initial_variance: 100.0 # initial variance for each cell. +initial_variance: 1000.0 # initial variance for each cell. traversability_inlier: 0.9 # cells with higher traversability are used for drift compensation. dilation_size: 3 # dilation filter size before traversability filter. wall_num_thresh: 20 # if there are more points than this value, only higher points than the current height are used to make the wall more sharp. From 3573e969a14c9e43269a9b9b05d1edbae59aa3a3 Mon Sep 17 00:00:00 2001 From: rgrandia Date: Wed, 4 May 2022 22:33:21 +0200 Subject: [PATCH 196/504] fix cell indexing --- .../script/custom_kernels.py | 30 ++++++++++++++----- 1 file changed, 22 insertions(+), 8 deletions(-) diff --git a/elevation_mapping_cupy/script/custom_kernels.py b/elevation_mapping_cupy/script/custom_kernels.py index 24c646c5..0d165832 100644 --- a/elevation_mapping_cupy/script/custom_kernels.py +++ b/elevation_mapping_cupy/script/custom_kernels.py @@ -16,9 +16,16 @@ def map_utils(resolution, width, height, sensor_noise_factor, min_valid_distance __device__ float16 round(float16 x) { return (int)x + (int)(2 * (x - (int)x)); } - __device__ int get_xy_idx(float16 x, float16 center) { + __device__ int get_x_idx(float16 x, float16 center) { const float resolution = ${resolution}; - int i = round((x - center) / resolution); + const float width = ${width}; + int i = round((x - center) / resolution + (width - 1.0) / 2); + return i; + } + __device__ int get_y_idx(float16 y, float16 center) { + const float resolution = ${resolution}; + const float height = ${height}; + int i = round((y - center) / resolution + (height - 1.0) / 2); return i; } __device__ bool is_inside(int idx) { @@ -33,8 +40,8 @@ def map_utils(resolution, width, height, sensor_noise_factor, min_valid_distance return true; } __device__ int get_idx(float16 x, float16 y, float16 center_x, float16 center_y) { - int idx_x = clamp(get_xy_idx(x, center_x) + ${width} / 2, 0, ${width} - 1); - int idx_y = clamp(get_xy_idx(y, center_y) + ${height} / 2, 0, ${height} - 1); + int idx_x = clamp(get_x_idx(x, center_x), 0, ${width} - 1); + int idx_y = clamp(get_y_idx(y, center_y), 0, ${height} - 1); return ${width} * idx_x + idx_y; } __device__ int get_map_idx(int idx, int layer_n) { @@ -515,14 +522,21 @@ def polygon_mask_kernel(width, height, resolution): __device__ float16 round(float16 x) { return (int)x + (int)(2 * (x - (int)x)); } - __device__ int get_xy_idx(float16 x, float16 center) { + __device__ int get_x_idx(float16 x, float16 center) { + const float resolution = ${resolution}; + const float width = ${width}; + int i = round((x - center) / resolution + width / 2); + return i; + } + __device__ int get_y_idx(float16 y, float16 center) { const float resolution = ${resolution}; - int i = round((x - center) / resolution); + const float height = ${height}; + int i = round((y - center) / resolution + height / 2); return i; } __device__ int get_idx(float16 x, float16 y, float16 center_x, float16 center_y) { - int idx_x = clamp(get_xy_idx(x, center_x) + ${width} / 2, 0, ${width} - 1); - int idx_y = clamp(get_xy_idx(y, center_y) + ${height} / 2, 0, ${height} - 1); + int idx_x = clamp(get_x_idx(x, center_x), 0, ${width} - 1); + int idx_y = clamp(get_y_idx(y, center_y), 0, ${height} - 1); return ${width} * idx_x + idx_y; } From 5c1b4dcccf54fc45b61531b5661aa77f59767681 Mon Sep 17 00:00:00 2001 From: rgrandia Date: Thu, 5 May 2022 10:32:48 +0200 Subject: [PATCH 197/504] move grid_map_filters to subfolder --- .../grid_map_filters_rsl}/CMakeLists.txt | 0 .../include/grid_map_filters_rsl/GridMapDerivative.hpp | 0 .../include/grid_map_filters_rsl/inpainting.hpp | 0 .../grid_map_filters_rsl}/include/grid_map_filters_rsl/lookup.hpp | 0 .../include/grid_map_filters_rsl/processing.hpp | 0 .../include/grid_map_filters_rsl/smoothing.hpp | 0 .../grid_map_filters_rsl}/package.xml | 0 .../grid_map_filters_rsl}/src/GridMapDerivative.cpp | 0 .../grid_map_filters_rsl}/src/inpainting.cpp | 0 .../grid_map_filters_rsl}/src/lookup.cpp | 0 .../grid_map_filters_rsl}/src/processing.cpp | 0 .../grid_map_filters_rsl}/src/smoothing.cpp | 0 .../grid_map_filters_rsl}/test/TestDerivativeFilter.cpp | 0 .../grid_map_filters_rsl}/test/TestFilters.cpp | 0 .../grid_map_filters_rsl}/test/TestLookup.cpp | 0 15 files changed, 0 insertions(+), 0 deletions(-) rename {grid_map_filters_rsl => plane_segmentation/grid_map_filters_rsl}/CMakeLists.txt (100%) rename {grid_map_filters_rsl => plane_segmentation/grid_map_filters_rsl}/include/grid_map_filters_rsl/GridMapDerivative.hpp (100%) rename {grid_map_filters_rsl => plane_segmentation/grid_map_filters_rsl}/include/grid_map_filters_rsl/inpainting.hpp (100%) rename {grid_map_filters_rsl => plane_segmentation/grid_map_filters_rsl}/include/grid_map_filters_rsl/lookup.hpp (100%) rename {grid_map_filters_rsl => plane_segmentation/grid_map_filters_rsl}/include/grid_map_filters_rsl/processing.hpp (100%) rename {grid_map_filters_rsl => plane_segmentation/grid_map_filters_rsl}/include/grid_map_filters_rsl/smoothing.hpp (100%) rename {grid_map_filters_rsl => plane_segmentation/grid_map_filters_rsl}/package.xml (100%) rename {grid_map_filters_rsl => plane_segmentation/grid_map_filters_rsl}/src/GridMapDerivative.cpp (100%) rename {grid_map_filters_rsl => plane_segmentation/grid_map_filters_rsl}/src/inpainting.cpp (100%) rename {grid_map_filters_rsl => plane_segmentation/grid_map_filters_rsl}/src/lookup.cpp (100%) rename {grid_map_filters_rsl => plane_segmentation/grid_map_filters_rsl}/src/processing.cpp (100%) rename {grid_map_filters_rsl => plane_segmentation/grid_map_filters_rsl}/src/smoothing.cpp (100%) rename {grid_map_filters_rsl => plane_segmentation/grid_map_filters_rsl}/test/TestDerivativeFilter.cpp (100%) rename {grid_map_filters_rsl => plane_segmentation/grid_map_filters_rsl}/test/TestFilters.cpp (100%) rename {grid_map_filters_rsl => plane_segmentation/grid_map_filters_rsl}/test/TestLookup.cpp (100%) diff --git a/grid_map_filters_rsl/CMakeLists.txt b/plane_segmentation/grid_map_filters_rsl/CMakeLists.txt similarity index 100% rename from grid_map_filters_rsl/CMakeLists.txt rename to plane_segmentation/grid_map_filters_rsl/CMakeLists.txt diff --git a/grid_map_filters_rsl/include/grid_map_filters_rsl/GridMapDerivative.hpp b/plane_segmentation/grid_map_filters_rsl/include/grid_map_filters_rsl/GridMapDerivative.hpp similarity index 100% rename from grid_map_filters_rsl/include/grid_map_filters_rsl/GridMapDerivative.hpp rename to plane_segmentation/grid_map_filters_rsl/include/grid_map_filters_rsl/GridMapDerivative.hpp diff --git a/grid_map_filters_rsl/include/grid_map_filters_rsl/inpainting.hpp b/plane_segmentation/grid_map_filters_rsl/include/grid_map_filters_rsl/inpainting.hpp similarity index 100% rename from grid_map_filters_rsl/include/grid_map_filters_rsl/inpainting.hpp rename to plane_segmentation/grid_map_filters_rsl/include/grid_map_filters_rsl/inpainting.hpp diff --git a/grid_map_filters_rsl/include/grid_map_filters_rsl/lookup.hpp b/plane_segmentation/grid_map_filters_rsl/include/grid_map_filters_rsl/lookup.hpp similarity index 100% rename from grid_map_filters_rsl/include/grid_map_filters_rsl/lookup.hpp rename to plane_segmentation/grid_map_filters_rsl/include/grid_map_filters_rsl/lookup.hpp diff --git a/grid_map_filters_rsl/include/grid_map_filters_rsl/processing.hpp b/plane_segmentation/grid_map_filters_rsl/include/grid_map_filters_rsl/processing.hpp similarity index 100% rename from grid_map_filters_rsl/include/grid_map_filters_rsl/processing.hpp rename to plane_segmentation/grid_map_filters_rsl/include/grid_map_filters_rsl/processing.hpp diff --git a/grid_map_filters_rsl/include/grid_map_filters_rsl/smoothing.hpp b/plane_segmentation/grid_map_filters_rsl/include/grid_map_filters_rsl/smoothing.hpp similarity index 100% rename from grid_map_filters_rsl/include/grid_map_filters_rsl/smoothing.hpp rename to plane_segmentation/grid_map_filters_rsl/include/grid_map_filters_rsl/smoothing.hpp diff --git a/grid_map_filters_rsl/package.xml b/plane_segmentation/grid_map_filters_rsl/package.xml similarity index 100% rename from grid_map_filters_rsl/package.xml rename to plane_segmentation/grid_map_filters_rsl/package.xml diff --git a/grid_map_filters_rsl/src/GridMapDerivative.cpp b/plane_segmentation/grid_map_filters_rsl/src/GridMapDerivative.cpp similarity index 100% rename from grid_map_filters_rsl/src/GridMapDerivative.cpp rename to plane_segmentation/grid_map_filters_rsl/src/GridMapDerivative.cpp diff --git a/grid_map_filters_rsl/src/inpainting.cpp b/plane_segmentation/grid_map_filters_rsl/src/inpainting.cpp similarity index 100% rename from grid_map_filters_rsl/src/inpainting.cpp rename to plane_segmentation/grid_map_filters_rsl/src/inpainting.cpp diff --git a/grid_map_filters_rsl/src/lookup.cpp b/plane_segmentation/grid_map_filters_rsl/src/lookup.cpp similarity index 100% rename from grid_map_filters_rsl/src/lookup.cpp rename to plane_segmentation/grid_map_filters_rsl/src/lookup.cpp diff --git a/grid_map_filters_rsl/src/processing.cpp b/plane_segmentation/grid_map_filters_rsl/src/processing.cpp similarity index 100% rename from grid_map_filters_rsl/src/processing.cpp rename to plane_segmentation/grid_map_filters_rsl/src/processing.cpp diff --git a/grid_map_filters_rsl/src/smoothing.cpp b/plane_segmentation/grid_map_filters_rsl/src/smoothing.cpp similarity index 100% rename from grid_map_filters_rsl/src/smoothing.cpp rename to plane_segmentation/grid_map_filters_rsl/src/smoothing.cpp diff --git a/grid_map_filters_rsl/test/TestDerivativeFilter.cpp b/plane_segmentation/grid_map_filters_rsl/test/TestDerivativeFilter.cpp similarity index 100% rename from grid_map_filters_rsl/test/TestDerivativeFilter.cpp rename to plane_segmentation/grid_map_filters_rsl/test/TestDerivativeFilter.cpp diff --git a/grid_map_filters_rsl/test/TestFilters.cpp b/plane_segmentation/grid_map_filters_rsl/test/TestFilters.cpp similarity index 100% rename from grid_map_filters_rsl/test/TestFilters.cpp rename to plane_segmentation/grid_map_filters_rsl/test/TestFilters.cpp diff --git a/grid_map_filters_rsl/test/TestLookup.cpp b/plane_segmentation/grid_map_filters_rsl/test/TestLookup.cpp similarity index 100% rename from grid_map_filters_rsl/test/TestLookup.cpp rename to plane_segmentation/grid_map_filters_rsl/test/TestLookup.cpp From 89564cfd9efc0a506e363f891865b434905836ca Mon Sep 17 00:00:00 2001 From: rgrandia Date: Thu, 5 May 2022 12:32:58 +0200 Subject: [PATCH 198/504] provide version without rounding, using the floor feature of integer cast --- elevation_mapping_cupy/script/custom_kernels.py | 11 ++++------- .../src/elevation_mapping_wrapper.cpp | 1 + 2 files changed, 5 insertions(+), 7 deletions(-) diff --git a/elevation_mapping_cupy/script/custom_kernels.py b/elevation_mapping_cupy/script/custom_kernels.py index 0d165832..149996b5 100644 --- a/elevation_mapping_cupy/script/custom_kernels.py +++ b/elevation_mapping_cupy/script/custom_kernels.py @@ -13,19 +13,16 @@ def map_utils(resolution, width, height, sensor_noise_factor, min_valid_distance return max(min(x, max_x), min_x); } - __device__ float16 round(float16 x) { - return (int)x + (int)(2 * (x - (int)x)); - } __device__ int get_x_idx(float16 x, float16 center) { const float resolution = ${resolution}; const float width = ${width}; - int i = round((x - center) / resolution + (width - 1.0) / 2); + int i = (x - center) / resolution + 0.5 * width; return i; } __device__ int get_y_idx(float16 y, float16 center) { const float resolution = ${resolution}; const float height = ${height}; - int i = round((y - center) / resolution + (height - 1.0) / 2); + int i = (y - center) / resolution + 0.5 * height; return i; } __device__ bool is_inside(int idx) { @@ -525,13 +522,13 @@ def polygon_mask_kernel(width, height, resolution): __device__ int get_x_idx(float16 x, float16 center) { const float resolution = ${resolution}; const float width = ${width}; - int i = round((x - center) / resolution + width / 2); + int i = (x - center) / resolution + 0.5 * width; return i; } __device__ int get_y_idx(float16 y, float16 center) { const float resolution = ${resolution}; const float height = ${height}; - int i = round((y - center) / resolution + height / 2); + int i = (y - center) / resolution + 0.5 * height; return i; } __device__ int get_idx(float16 x, float16 y, float16 center_x, float16 center_y) { diff --git a/elevation_mapping_cupy/src/elevation_mapping_wrapper.cpp b/elevation_mapping_cupy/src/elevation_mapping_wrapper.cpp index 40753a2c..40eb2023 100644 --- a/elevation_mapping_cupy/src/elevation_mapping_wrapper.cpp +++ b/elevation_mapping_cupy/src/elevation_mapping_wrapper.cpp @@ -77,6 +77,7 @@ void ElevationMappingWrapper::setParameters(ros::NodeHandle& nh) { resolution_ = py::cast(param_.attr("get_value")("resolution")); map_length_ = py::cast(param_.attr("get_value")("map_length")); map_n_ = static_cast(round(map_length_ / resolution_)); + map_length_ = resolution_ * map_n_; // get true length after rounding nh.param("enable_normal", enable_normal_, false); nh.param("enable_normal_color", enable_normal_color_, false); From 7a46fe2b3bd4762102c976a7261e00c0f4e5847c Mon Sep 17 00:00:00 2001 From: Alexander Reimann Date: Thu, 5 May 2022 15:01:52 +0200 Subject: [PATCH 199/504] Specify using python 3 Fixes not working usage of 2.7 under melodic --- elevation_mapping_cupy/CMakeLists.txt | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/elevation_mapping_cupy/CMakeLists.txt b/elevation_mapping_cupy/CMakeLists.txt index d93e93a7..88a43627 100644 --- a/elevation_mapping_cupy/CMakeLists.txt +++ b/elevation_mapping_cupy/CMakeLists.txt @@ -2,8 +2,8 @@ cmake_minimum_required(VERSION 3.0.2) project(elevation_mapping_cupy) -find_package(PythonInterp REQUIRED) -find_package(PythonLibs REQUIRED) +find_package(PythonInterp 3 REQUIRED) +find_package(PythonLibs 3 REQUIRED) if(PYTHONLIBS_FOUND) message(STATUS "Using Python Libraries at: " ${PYTHON_LIBRARIES}) From ee73d159cf0de301ada61393fe8b497f01d8fffb Mon Sep 17 00:00:00 2001 From: Takahiro Date: Sun, 8 May 2022 18:32:05 +0200 Subject: [PATCH 200/504] Tested in sim. Substitute values instead of creating new variable in the function. --- elevation_mapping_cupy/script/custom_kernels.py | 8 ++------ 1 file changed, 2 insertions(+), 6 deletions(-) diff --git a/elevation_mapping_cupy/script/custom_kernels.py b/elevation_mapping_cupy/script/custom_kernels.py index 149996b5..c94f6f74 100644 --- a/elevation_mapping_cupy/script/custom_kernels.py +++ b/elevation_mapping_cupy/script/custom_kernels.py @@ -14,15 +14,11 @@ def map_utils(resolution, width, height, sensor_noise_factor, min_valid_distance return max(min(x, max_x), min_x); } __device__ int get_x_idx(float16 x, float16 center) { - const float resolution = ${resolution}; - const float width = ${width}; - int i = (x - center) / resolution + 0.5 * width; + int i = (x - center) / ${resolution} + 0.5 * ${width}; return i; } __device__ int get_y_idx(float16 y, float16 center) { - const float resolution = ${resolution}; - const float height = ${height}; - int i = (y - center) / resolution + 0.5 * height; + int i = (y - center) / ${resolution} + 0.5 * ${height}; return i; } __device__ bool is_inside(int idx) { From d64b8478de74c61629def65527d2a0f8ec8d0f3a Mon Sep 17 00:00:00 2001 From: Takahiro Date: Sun, 8 May 2022 18:54:55 +0200 Subject: [PATCH 201/504] Used formatting tool. --- .../script/custom_kernels.py | 256 ++++++++++++------ .../script/elevation_mapping.py | 256 ++++++++++-------- .../script/map_initializer.py | 28 +- elevation_mapping_cupy/script/parameter.py | 119 ++++---- .../script/plugins/inpainting.py | 18 +- .../script/plugins/min_filter.py | 50 ++-- .../script/plugins/plugin_manager.py | 74 ++--- .../script/plugins/smooth_filter.py | 14 +- .../script/traversability_filter.py | 61 ++--- .../script/traversability_polygon.py | 7 +- 10 files changed, 501 insertions(+), 382 deletions(-) diff --git a/elevation_mapping_cupy/script/custom_kernels.py b/elevation_mapping_cupy/script/custom_kernels.py index c94f6f74..382e4174 100644 --- a/elevation_mapping_cupy/script/custom_kernels.py +++ b/elevation_mapping_cupy/script/custom_kernels.py @@ -6,9 +6,19 @@ import string -def map_utils(resolution, width, height, sensor_noise_factor, min_valid_distance, max_height_range, - ramped_height_range_a, ramped_height_range_b, ramped_height_range_c): - util_preamble = string.Template(''' +def map_utils( + resolution, + width, + height, + sensor_noise_factor, + min_valid_distance, + max_height_range, + ramped_height_range_a, + ramped_height_range_b, + ramped_height_range_c, +): + util_preamble = string.Template( + """ __device__ float16 clamp(float16 x, float16 min_x, float16 max_x) { return max(min(x, max_x), min_x); @@ -97,32 +107,57 @@ def map_utils(resolution, width, height, sensor_noise_factor, min_valid_distance return product; } - ''').substitute(resolution=resolution, width=width, height=height, - sensor_noise_factor=sensor_noise_factor, - min_valid_distance=min_valid_distance, - max_height_range=max_height_range, - ramped_height_range_a=ramped_height_range_a, - ramped_height_range_b=ramped_height_range_b, - ramped_height_range_c=ramped_height_range_c, - ) + """ + ).substitute( + resolution=resolution, + width=width, + height=height, + sensor_noise_factor=sensor_noise_factor, + min_valid_distance=min_valid_distance, + max_height_range=max_height_range, + ramped_height_range_a=ramped_height_range_a, + ramped_height_range_b=ramped_height_range_b, + ramped_height_range_c=ramped_height_range_c, + ) return util_preamble -def add_points_kernel(resolution, width, height, sensor_noise_factor, - mahalanobis_thresh, outlier_variance, wall_num_thresh, - max_ray_length, cleanup_step, min_valid_distance, - max_height_range, cleanup_cos_thresh, - ramped_height_range_a, ramped_height_range_b, ramped_height_range_c, - enable_edge_shaped=True, enable_visibility_cleanup=True): +def add_points_kernel( + resolution, + width, + height, + sensor_noise_factor, + mahalanobis_thresh, + outlier_variance, + wall_num_thresh, + max_ray_length, + cleanup_step, + min_valid_distance, + max_height_range, + cleanup_cos_thresh, + ramped_height_range_a, + ramped_height_range_b, + ramped_height_range_c, + enable_edge_shaped=True, + enable_visibility_cleanup=True, +): add_points_kernel = cp.ElementwiseKernel( - in_params='raw U p, raw U center_x, raw U center_y, raw U R, raw U t, raw U norm_map', - out_params='raw U map, raw T newmap', - preamble=map_utils(resolution, width, height, sensor_noise_factor, min_valid_distance, max_height_range, - ramped_height_range_a, ramped_height_range_b, ramped_height_range_c), - operation=\ - string.Template( - ''' + in_params="raw U p, raw U center_x, raw U center_y, raw U R, raw U t, raw U norm_map", + out_params="raw U map, raw T newmap", + preamble=map_utils( + resolution, + width, + height, + sensor_noise_factor, + min_valid_distance, + max_height_range, + ramped_height_range_a, + ramped_height_range_b, + ramped_height_range_c, + ), + operation=string.Template( + """ U rx = p[i * 3]; U ry = p[i * 3 + 1]; U rz = p[i * 3 + 2]; @@ -223,33 +258,54 @@ def add_points_kernel(resolution, width, height, sensor_noise_factor, } } } - ''').substitute(mahalanobis_thresh=mahalanobis_thresh, - outlier_variance=outlier_variance, - wall_num_thresh=wall_num_thresh, - ray_step=resolution / 2**0.5, - max_ray_length=max_ray_length, - cleanup_step=cleanup_step, - cleanup_cos_thresh=cleanup_cos_thresh, - enable_edge_shaped=int(enable_edge_shaped), - enable_visibility_cleanup=int(enable_visibility_cleanup)), - name='add_points_kernel') + """ + ).substitute( + mahalanobis_thresh=mahalanobis_thresh, + outlier_variance=outlier_variance, + wall_num_thresh=wall_num_thresh, + ray_step=resolution / 2**0.5, + max_ray_length=max_ray_length, + cleanup_step=cleanup_step, + cleanup_cos_thresh=cleanup_cos_thresh, + enable_edge_shaped=int(enable_edge_shaped), + enable_visibility_cleanup=int(enable_visibility_cleanup), + ), + name="add_points_kernel", + ) return add_points_kernel -def error_counting_kernel(resolution, width, height, sensor_noise_factor, - mahalanobis_thresh, outlier_variance, - traversability_inlier, min_valid_distance, max_height_range, - ramped_height_range_a, ramped_height_range_b, ramped_height_range_c, - ): +def error_counting_kernel( + resolution, + width, + height, + sensor_noise_factor, + mahalanobis_thresh, + outlier_variance, + traversability_inlier, + min_valid_distance, + max_height_range, + ramped_height_range_a, + ramped_height_range_b, + ramped_height_range_c, +): error_counting_kernel = cp.ElementwiseKernel( - in_params='raw U map, raw U p, raw U center_x, raw U center_y, raw U R, raw U t', - out_params='raw U newmap, raw T error, raw T error_cnt', - preamble=map_utils(resolution, width, height, sensor_noise_factor, min_valid_distance, max_height_range, - ramped_height_range_a, ramped_height_range_b, ramped_height_range_c), - operation=\ - string.Template( - ''' + in_params="raw U map, raw U p, raw U center_x, raw U center_y, raw U R, raw U t", + out_params="raw U newmap, raw T error, raw T error_cnt", + preamble=map_utils( + resolution, + width, + height, + sensor_noise_factor, + min_valid_distance, + max_height_range, + ramped_height_range_a, + ramped_height_range_b, + ramped_height_range_c, + ), + operation=string.Template( + """ U rx = p[i * 3]; U ry = p[i * 3 + 1]; U rz = p[i * 3 + 2]; @@ -277,26 +333,31 @@ def error_counting_kernel(resolution, width, height, sensor_noise_factor, atomicAdd(&newmap[get_map_idx(idx, 3)], 1.0); } atomicAdd(&newmap[get_map_idx(idx, 4)], 1.0); - ''').substitute(mahalanobis_thresh=mahalanobis_thresh, - outlier_variance=outlier_variance, - traversability_inlier=traversability_inlier), - name='error_counting_kernel') + """ + ).substitute( + mahalanobis_thresh=mahalanobis_thresh, + outlier_variance=outlier_variance, + traversability_inlier=traversability_inlier, + ), + name="error_counting_kernel", + ) return error_counting_kernel def average_map_kernel(width, height, max_variance, initial_variance): average_map_kernel = cp.ElementwiseKernel( - in_params='raw U newmap', - out_params='raw U map', - preamble=\ - string.Template(''' + in_params="raw U newmap", + out_params="raw U map", + preamble=string.Template( + """ __device__ int get_map_idx(int idx, int layer_n) { const int layer = ${width} * ${height}; return layer * layer_n + idx; } - ''').substitute(width=width, height=height), - operation=\ - string.Template(''' + """ + ).substitute(width=width, height=height), + operation=string.Template( + """ U h = map[get_map_idx(i, 0)]; U v = map[get_map_idx(i, 1)]; U valid = map[get_map_idx(i, 2)]; @@ -320,18 +381,19 @@ def average_map_kernel(width, height, max_variance, initial_variance): map[get_map_idx(i, 1)] = ${initial_variance}; map[get_map_idx(i, 2)] = 0; } - ''').substitute(max_variance=max_variance, - initial_variance=initial_variance), - name='average_map_kernel') + """ + ).substitute(max_variance=max_variance, initial_variance=initial_variance), + name="average_map_kernel", + ) return average_map_kernel def dilation_filter_kernel(width, height, dilation_size): dilation_filter_kernel = cp.ElementwiseKernel( - in_params='raw U map, raw U mask', - out_params='raw U newmap, raw U newmask', - preamble=\ - string.Template(''' + in_params="raw U map, raw U mask", + out_params="raw U newmap, raw U newmask", + preamble=string.Template( + """ __device__ int get_map_idx(int idx, int layer_n) { const int layer = ${width} * ${height}; return layer * layer_n + idx; @@ -353,9 +415,10 @@ def dilation_filter_kernel(width, height, dilation_size): } return true; } - ''').substitute(width=width, height=height), - operation=\ - string.Template(''' + """ + ).substitute(width=width, height=height), + operation=string.Template( + """ U h = map[get_map_idx(i, 0)]; U valid = mask[get_map_idx(i, 0)]; newmap[get_map_idx(i, 0)] = h; @@ -378,17 +441,19 @@ def dilation_filter_kernel(width, height, dilation_size): newmask[get_map_idx(i, 0)] = 1.0; } } - ''').substitute(dilation_size=dilation_size), - name='dilation_filter_kernel') + """ + ).substitute(dilation_size=dilation_size), + name="dilation_filter_kernel", + ) return dilation_filter_kernel def normal_filter_kernel(width, height, resolution): normal_filter_kernel = cp.ElementwiseKernel( - in_params='raw U map, raw U mask', - out_params='raw U newmap', - preamble=\ - string.Template(''' + in_params="raw U map, raw U mask", + out_params="raw U newmap", + preamble=string.Template( + """ __device__ int get_map_idx(int idx, int layer_n) { const int layer = ${width} * ${height}; return layer * layer_n + idx; @@ -413,9 +478,10 @@ def normal_filter_kernel(width, height, resolution): __device__ float resolution() { return ${resolution}; } - ''').substitute(width=width, height=height, resolution=resolution), - operation=\ - string.Template(''' + """ + ).substitute(width=width, height=height, resolution=resolution), + operation=string.Template( + """ U h = map[get_map_idx(i, 0)]; U valid = mask[get_map_idx(i, 0)]; if (valid > 0.5) { @@ -432,17 +498,19 @@ def normal_filter_kernel(width, height, resolution): newmap[get_map_idx(i, 1)] = ny / norm; newmap[get_map_idx(i, 2)] = nz / norm; } - ''').substitute(), - name='normal_filter_kernel') + """ + ).substitute(), + name="normal_filter_kernel", + ) return normal_filter_kernel def polygon_mask_kernel(width, height, resolution): polygon_mask_kernel = cp.ElementwiseKernel( - in_params='raw U polygon, raw U center_x, raw U center_y, raw int16 polygon_n, raw U polygon_bbox', - out_params='raw U mask', - preamble=\ - string.Template(''' + in_params="raw U polygon, raw U center_x, raw U center_y, raw int16 polygon_n, raw U polygon_bbox", + out_params="raw U mask", + preamble=string.Template( + """ __device__ struct Point { int x; @@ -533,9 +601,10 @@ def polygon_mask_kernel(width, height, resolution): return ${width} * idx_x + idx_y; } - ''').substitute(width=width, height=height, resolution=resolution), - operation=\ - string.Template(''' + """ + ).substitute(width=width, height=height, resolution=resolution), + operation=string.Template( + """ // Point p = {get_idx_x(i, center_x[0]), get_idx_y(i, center_y[0])}; Point p = {get_idx_x(i), get_idx_y(i)}; Point extreme = {100000, p.y}; @@ -577,19 +646,24 @@ def polygon_mask_kernel(width, height, resolution): if (intersect_cnt % 2 == 0) { mask[i] = 0; } else { mask[i] = 1; } } - ''').substitute(a=1), - name='polygon_mask_kernel') + """ + ).substitute(a=1), + name="polygon_mask_kernel", + ) return polygon_mask_kernel -if __name__ == '__main__': +if __name__ == "__main__": for i in range(10): import random + a = cp.zeros((100, 100)) n = random.randint(3, 5) # polygon = cp.array([[-1, -1], [3, 4], [2, 4], [1, 3]], dtype=float) - polygon = cp.array([[(random.random() - 0.5) * 10, (random.random() - 0.5) * 10] for i in range(n)], dtype=float) + polygon = cp.array( + [[(random.random() - 0.5) * 10, (random.random() - 0.5) * 10] for i in range(n)], dtype=float + ) print(polygon) polygon_min = polygon.min(axis=0) polygon_max = polygon.max(axis=0) @@ -599,10 +673,12 @@ def polygon_mask_kernel(width, height, resolution): # polygon_bbox = cp.array([-5, -5, 5, 5], dtype=float) polygon_mask = polygon_mask_kernel(100, 100, 0.1) import time + start = time.time() - polygon_mask(polygon, 0.0, 0.0, polygon_n, polygon_bbox, a, size=(100*100)) + polygon_mask(polygon, 0.0, 0.0, polygon_n, polygon_bbox, a, size=(100 * 100)) print(time.time() - start) import pylab as plt + print(a) plt.imshow(cp.asnumpy(a)) plt.show() diff --git a/elevation_mapping_cupy/script/elevation_mapping.py b/elevation_mapping_cupy/script/elevation_mapping.py index 6e77fa2c..09734ebd 100644 --- a/elevation_mapping_cupy/script/elevation_mapping.py +++ b/elevation_mapping_cupy/script/elevation_mapping.py @@ -18,7 +18,13 @@ from map_initializer import MapInitializer from plugins.plugin_manager import PluginManger -from traversability_polygon import get_masked_traversability, is_traversable, calculate_area, transform_to_map_position, transform_to_map_index +from traversability_polygon import ( + get_masked_traversability, + is_traversable, + calculate_area, + transform_to_map_position, + transform_to_map_index, +) import cupy as cp import cupyx.scipy as csp @@ -31,9 +37,10 @@ class ElevationMap(object): - """ + """ Core elevation mapping class. """ + def __init__(self, param: Parameter): self.param = param @@ -47,7 +54,15 @@ def __init__(self, param: Parameter): # layers: elevation, variance, is_valid, traversability, time, upper_bound, is_upper_bound self.elevation_map = xp.zeros((7, self.cell_n, self.cell_n)) - self.layer_names = ["elevation", "variance", "is_valid", "traversability", "time", "upper_bound", "is_upper_bound"] + self.layer_names = [ + "elevation", + "variance", + "is_valid", + "traversability", + "time", + "upper_bound", + "is_upper_bound", + ] # buffers self.traversability_buffer = xp.full((self.cell_n, self.cell_n), xp.nan) self.normal_map = xp.zeros((3, self.cell_n, self.cell_n)) @@ -68,7 +83,7 @@ def __init__(self, param: Parameter): self.compile_kernels() - weight_file = subprocess.getoutput("echo \"" + param.weight_file + "\"") + weight_file = subprocess.getoutput('echo "' + param.weight_file + '"') param.load_weights(weight_file) if param.use_chainer: @@ -79,11 +94,10 @@ def __init__(self, param: Parameter): # Plugins self.plugin_manager = PluginManger(cell_n=self.cell_n) - plugin_config_file = subprocess.getoutput("echo \"" + param.plugin_config_file + "\"") + plugin_config_file = subprocess.getoutput('echo "' + param.plugin_config_file + '"') self.plugin_manager.load_plugin_settings(plugin_config_file) - self.map_initializer = MapInitializer(self.initial_variance, param.initialized_variance, - xp=cp, method='points') + self.map_initializer = MapInitializer(self.initial_variance, param.initialized_variance, xp=cp, method="points") def clear(self): with self.map_lock: @@ -122,20 +136,15 @@ def shift_map_xy(self, delta_pixel): shift_fn = sp.ndimage.interpolation.shift with self.map_lock: # elevation - self.elevation_map[0] = shift_fn(self.elevation_map[0], shift_value, - cval=0.0) + self.elevation_map[0] = shift_fn(self.elevation_map[0], shift_value, cval=0.0) # variance - self.elevation_map[1] = shift_fn(self.elevation_map[1], shift_value, - cval=self.initial_variance) + self.elevation_map[1] = shift_fn(self.elevation_map[1], shift_value, cval=self.initial_variance) # is valid (1 is valid 0 is not valid) - self.elevation_map[2] = shift_fn(self.elevation_map[2], shift_value, - cval=0) + self.elevation_map[2] = shift_fn(self.elevation_map[2], shift_value, cval=0) # upper bound - self.elevation_map[5] = shift_fn(self.elevation_map[5], shift_value, - cval=0) + self.elevation_map[5] = shift_fn(self.elevation_map[5], shift_value, cval=0) # is upper bound - self.elevation_map[6] = shift_fn(self.elevation_map[6], shift_value, - cval=0) + self.elevation_map[6] = shift_fn(self.elevation_map[6], shift_value, cval=0) def shift_map_z(self, delta_z): with self.map_lock: @@ -152,41 +161,47 @@ def compile_kernels(self): self.min_filtered = cp.zeros((self.cell_n, self.cell_n)) self.min_filtered_mask = cp.zeros((self.cell_n, self.cell_n)) self.mask = cp.zeros((self.cell_n, self.cell_n)) - self.add_points_kernel = add_points_kernel(self.resolution, - self.cell_n, - self.cell_n, - self.param.sensor_noise_factor, - self.param.mahalanobis_thresh, - self.param.outlier_variance, - self.param.wall_num_thresh, - self.param.max_ray_length, - self.param.cleanup_step, - self.param.min_valid_distance, - self.param.max_height_range, - self.param.cleanup_cos_thresh, - self.param.ramped_height_range_a, - self.param.ramped_height_range_b, - self.param.ramped_height_range_c, - self.param.enable_edge_sharpen, - self.param.enable_visibility_cleanup) - self.error_counting_kernel = error_counting_kernel(self.resolution, - self.cell_n, - self.cell_n, - self.param.sensor_noise_factor, - self.param.mahalanobis_thresh, - self.param.drift_compensation_variance_inlier, - self.param.traversability_inlier, - self.param.min_valid_distance, - self.param.max_height_range, - self.param.ramped_height_range_a, - self.param.ramped_height_range_b, - self.param.ramped_height_range_c, - ) - self.average_map_kernel = average_map_kernel(self.cell_n, self.cell_n, - self.param.max_variance, self.initial_variance) + self.add_points_kernel = add_points_kernel( + self.resolution, + self.cell_n, + self.cell_n, + self.param.sensor_noise_factor, + self.param.mahalanobis_thresh, + self.param.outlier_variance, + self.param.wall_num_thresh, + self.param.max_ray_length, + self.param.cleanup_step, + self.param.min_valid_distance, + self.param.max_height_range, + self.param.cleanup_cos_thresh, + self.param.ramped_height_range_a, + self.param.ramped_height_range_b, + self.param.ramped_height_range_c, + self.param.enable_edge_sharpen, + self.param.enable_visibility_cleanup, + ) + self.error_counting_kernel = error_counting_kernel( + self.resolution, + self.cell_n, + self.cell_n, + self.param.sensor_noise_factor, + self.param.mahalanobis_thresh, + self.param.drift_compensation_variance_inlier, + self.param.traversability_inlier, + self.param.min_valid_distance, + self.param.max_height_range, + self.param.ramped_height_range_a, + self.param.ramped_height_range_b, + self.param.ramped_height_range_c, + ) + self.average_map_kernel = average_map_kernel( + self.cell_n, self.cell_n, self.param.max_variance, self.initial_variance + ) self.dilation_filter_kernel = dilation_filter_kernel(self.cell_n, self.cell_n, self.param.dilation_size) - self.dilation_filter_kernel_initializer = dilation_filter_kernel(self.cell_n, self.cell_n, self.param.dilation_size_initialize) + self.dilation_filter_kernel_initializer = dilation_filter_kernel( + self.cell_n, self.cell_n, self.param.dilation_size_initialize + ) self.polygon_mask_kernel = polygon_mask_kernel(self.cell_n, self.cell_n, self.resolution) self.normal_filter_kernel = normal_filter_kernel(self.cell_n, self.cell_n, self.resolution) @@ -199,37 +214,60 @@ def update_map_with_kernel(self, points, R, t, position_noise, orientation_noise error_cnt = cp.array([0], dtype=cp.float32) with self.map_lock: self.shift_translation_to_map_center(t) - self.error_counting_kernel(self.elevation_map, points, - cp.array([0.]), cp.array([0.]), R, t, - self.new_map, error, error_cnt, - size=(points.shape[0])) - if (self.param.enable_drift_compensation - and error_cnt > self.param.min_height_drift_cnt - and (position_noise > self.param.position_noise_thresh - or orientation_noise > self.param.orientation_noise_thresh)): + self.error_counting_kernel( + self.elevation_map, + points, + cp.array([0.0]), + cp.array([0.0]), + R, + t, + self.new_map, + error, + error_cnt, + size=(points.shape[0]), + ) + if ( + self.param.enable_drift_compensation + and error_cnt > self.param.min_height_drift_cnt + and ( + position_noise > self.param.position_noise_thresh + or orientation_noise > self.param.orientation_noise_thresh + ) + ): self.mean_error = error / error_cnt self.additive_mean_error += self.mean_error if np.abs(self.mean_error) < self.param.max_drift: self.elevation_map[0] += self.mean_error * self.param.drift_compensation_alpha - self.add_points_kernel(points, cp.array([0.]), cp.array([0.]), R, t, self.normal_map, - self.elevation_map, self.new_map, - size=(points.shape[0])) - self.average_map_kernel(self.new_map, self.elevation_map, - size=(self.cell_n * self.cell_n)) + self.add_points_kernel( + points, + cp.array([0.0]), + cp.array([0.0]), + R, + t, + self.normal_map, + self.elevation_map, + self.new_map, + size=(points.shape[0]), + ) + self.average_map_kernel(self.new_map, self.elevation_map, size=(self.cell_n * self.cell_n)) if self.param.enable_overlap_clearance: self.clear_overlap_map(t) # dilation before traversability_filter self.traversability_input *= 0.0 - self.dilation_filter_kernel(self.elevation_map[5], - self.elevation_map[2]+self.elevation_map[6], - self.traversability_input, - self.traversability_mask_dummy, - size=(self.cell_n * self.cell_n)) + self.dilation_filter_kernel( + self.elevation_map[5], + self.elevation_map[2] + self.elevation_map[6], + self.traversability_input, + self.traversability_mask_dummy, + size=(self.cell_n * self.cell_n), + ) # calculate traversability traversability = self.traversability_filter(self.traversability_input) - self.elevation_map[3][3:-3, 3:-3] = traversability.reshape((traversability.shape[2], traversability.shape[3])) + self.elevation_map[3][3:-3, 3:-3] = traversability.reshape( + (traversability.shape[2], traversability.shape[3]) + ) # calculate normal vectors self.update_normal(self.traversability_input) @@ -238,7 +276,7 @@ def clear_overlap_map(self, t): # Clear overlapping area around center height_min = t[2] - self.param.overlap_clear_range_z height_max = t[2] + self.param.overlap_clear_range_z - near_map = self.elevation_map[:, self.cell_min:self.cell_max, self.cell_min:self.cell_max] + near_map = self.elevation_map[:, self.cell_min : self.cell_max, self.cell_min : self.cell_max] valid_idx = ~cp.logical_or(near_map[0] < height_min, near_map[0] > height_max) near_map[0] = cp.where(valid_idx, near_map[0], 0.0) near_map[1] = cp.where(valid_idx, near_map[1], self.initial_variance) @@ -246,7 +284,7 @@ def clear_overlap_map(self, t): valid_idx = ~cp.logical_or(near_map[5] < height_min, near_map[5] > height_max) near_map[5] = cp.where(valid_idx, near_map[5], 0.0) near_map[6] = cp.where(valid_idx, near_map[6], 0.0) - self.elevation_map[:, self.cell_min:self.cell_max, self.cell_min:self.cell_max] = near_map + self.elevation_map[:, self.cell_min : self.cell_max, self.cell_min : self.cell_max] = near_map def get_additive_mean_error(self): return self.additive_mean_error @@ -271,13 +309,14 @@ def input(self, raw_points, R, t, position_noise, orientation_noise): def update_normal(self, dilated_map): with self.map_lock: self.normal_map *= 0.0 - self.normal_filter_kernel(dilated_map, self.elevation_map[2], self.normal_map, size=(self.cell_n * self.cell_n)) + self.normal_filter_kernel( + dilated_map, self.elevation_map[2], self.normal_map, size=(self.cell_n * self.cell_n) + ) def process_map_for_publish(self, input_map, fill_nan=False, add_z=False, xp=cp): m = input_map.copy() if fill_nan: - m = xp.where(self.elevation_map[2] > 0.5, - m, xp.nan) + m = xp.where(self.elevation_map[2] > 0.5, m, xp.nan) if add_z: m = m + self.center[2] return m[1:-1, 1:-1] @@ -289,9 +328,10 @@ def get_variance(self): return self.process_map_for_publish(self.elevation_map[1], fill_nan=False, add_z=False) def get_traversability(self): - traversability = cp.where((self.elevation_map[2] + self.elevation_map[6]) > 0.5, - self.elevation_map[3].copy(), cp.nan) - self.traversability_buffer[3:-3, 3: -3] = traversability[3:-3, 3:-3] + traversability = cp.where( + (self.elevation_map[2] + self.elevation_map[6]) > 0.5, self.elevation_map[3].copy(), cp.nan + ) + self.traversability_buffer[3:-3, 3:-3] = traversability[3:-3, 3:-3] traversability = self.traversability_buffer[1:-1, 1:-1] return traversability @@ -300,7 +340,9 @@ def get_time(self): def get_upper_bound(self): if self.param.use_only_above_for_upper_bound: - valid = cp.logical_or(cp.logical_and(self.elevation_map[5] > 0.0, self.elevation_map[6] > 0.5), self.elevation_map[2] > 0.5) + valid = cp.logical_or( + cp.logical_and(self.elevation_map[5] > 0.0, self.elevation_map[6] > 0.5), self.elevation_map[2] > 0.5 + ) else: valid = cp.logical_or(self.elevation_map[2] > 0.5, self.elevation_map[6] > 0.5) upper_bound = cp.where(valid, self.elevation_map[5].copy(), cp.nan) @@ -309,7 +351,9 @@ def get_upper_bound(self): def get_is_upper_bound(self): if self.param.use_only_above_for_upper_bound: - valid = cp.logical_or(cp.logical_and(self.elevation_map[5] > 0.0, self.elevation_map[6] > 0.5), self.elevation_map[2] > 0.5) + valid = cp.logical_or( + cp.logical_and(self.elevation_map[5] > 0.0, self.elevation_map[6] > 0.5), self.elevation_map[2] > 0.5 + ) else: valid = cp.logical_or(self.elevation_map[2] > 0.5, self.elevation_map[6] > 0.5) is_upper_bound = cp.where(valid, self.elevation_map[6].copy(), cp.nan) @@ -409,29 +453,30 @@ def get_polygon_traversability(self, polygon, result): polygon_bbox = cp.concatenate([polygon_min, polygon_max]).flatten() polygon_n = polygon.shape[0] clipped_area = calculate_area(polygon) - self.polygon_mask_kernel(polygon, self.center[0], self.center[1], - polygon_n, polygon_bbox, self.mask, - size=(self.cell_n * self.cell_n)) - masked, masked_isvalid = get_masked_traversability(self.elevation_map, - self.mask) + self.polygon_mask_kernel( + polygon, + self.center[0], + self.center[1], + polygon_n, + polygon_bbox, + self.mask, + size=(self.cell_n * self.cell_n), + ) + masked, masked_isvalid = get_masked_traversability(self.elevation_map, self.mask) if masked_isvalid.sum() > 0: t = masked.sum() / masked_isvalid.sum() else: t = 0.0 - is_safe, un_polygon = is_traversable(masked, - self.param.safe_thresh, - self.param.safe_min_thresh, - self.param.max_unsafe_n) + is_safe, un_polygon = is_traversable( + masked, self.param.safe_thresh, self.param.safe_min_thresh, self.param.max_unsafe_n + ) untraversable_polygon_num = 0 if un_polygon is not None: - un_polygon = transform_to_map_position(un_polygon, - self.center[:2], - self.cell_n, - self.resolution) + un_polygon = transform_to_map_position(un_polygon, self.center[:2], self.cell_n, self.resolution) untraversable_polygon_num = un_polygon.shape[0] if clipped_area < 0.001: is_safe = False - print('requested polygon is outside of the map') + print("requested polygon is outside of the map") result[...] = np.array([is_safe, t, area]) self.untraversable_polygon = un_polygon return untraversable_polygon_num @@ -439,28 +484,27 @@ def get_polygon_traversability(self, polygon, result): def get_untraversable_polygon(self, untraversable_polygon): untraversable_polygon[...] = xp.asnumpy(self.untraversable_polygon) - def initialize_map(self, points, method='cubic'): + def initialize_map(self, points, method="cubic"): self.clear() with self.map_lock: points = cp.asarray(points) - indices = transform_to_map_index(points[:, :2], - self.center[:2], - self.cell_n, - self.resolution) + indices = transform_to_map_index(points[:, :2], self.center[:2], self.cell_n, self.resolution) points[:, :2] = indices.astype(points.dtype) points[:, 2] -= self.center[2] self.map_initializer(self.elevation_map, points, method) if self.param.dilation_size_initialize > 0: for i in range(2): - self.dilation_filter_kernel_initializer(self.elevation_map[0], - self.elevation_map[2], - self.elevation_map[0], - self.elevation_map[2], - size=(self.cell_n * self.cell_n)) + self.dilation_filter_kernel_initializer( + self.elevation_map[0], + self.elevation_map[2], + self.elevation_map[0], + self.elevation_map[2], + size=(self.cell_n * self.cell_n), + ) self.update_upper_bound_with_valid_elevation() -if __name__ == '__main__': +if __name__ == "__main__": # Test script for profiling. # $ python -m cProfile -o profile.stats elevation_mapping.py # $ snakeviz profile.stats @@ -470,9 +514,9 @@ def initialize_map(self, points, method='cubic'): t = xp.random.rand(3) print(R, t) param = Parameter(use_chainer=False) - param.load_weights('../config/weights.dat') + param.load_weights("../config/weights.dat") elevation = ElevationMap(param) - layers = ['elevation', 'variance', 'traversability', 'min_filter', 'smooth', 'inpaint'] + layers = ["elevation", "variance", "traversability", "min_filter", "smooth", "inpaint"] data = np.zeros((elevation.cell_n - 2, elevation.cell_n - 2), dtype=np.float32) for i in range(500): elevation.input(points, R, t, 0, 0) diff --git a/elevation_mapping_cupy/script/map_initializer.py b/elevation_mapping_cupy/script/map_initializer.py index a7f3aa4d..c80dc587 100644 --- a/elevation_mapping_cupy/script/map_initializer.py +++ b/elevation_mapping_cupy/script/map_initializer.py @@ -8,7 +8,7 @@ class MapInitializer(object): - def __init__(self, initial_variance, new_variance, xp=np, method='points'): + def __init__(self, initial_variance, new_variance, xp=np, method="points"): self.methods = ["points"] assert method in self.methods, "method should be chosen from {}".format(self.methods) self.method = method @@ -17,12 +17,12 @@ def __init__(self, initial_variance, new_variance, xp=np, method='points'): self.new_variance = new_variance def __call__(self, *args, **kwargs): - if self.method == 'points': + if self.method == "points": self.points_initializer(*args, **kwargs) else: return - def points_initializer(self, elevation_map, points, method='linear'): + def points_initializer(self, elevation_map, points, method="linear"): """ Initialize the map using interpolation between given poitns Args: @@ -52,20 +52,18 @@ def points_initializer(self, elevation_map, points, method='linear'): interpolated = griddata(points_idx, values, (grid_x, grid_y), method=method) if self.xp == cp: interpolated = cp.asarray(interpolated) - + # Update elevation map. elevation_map[0] = self.xp.nan_to_num(interpolated) - elevation_map[1] = self.xp.where(self.xp.invert(self.xp.isnan(interpolated)), - self.new_variance, - self.initial_variance) - elevation_map[2] = self.xp.where(self.xp.invert(self.xp.isnan(interpolated)), - 1.0, - 0.0) + elevation_map[1] = self.xp.where( + self.xp.invert(self.xp.isnan(interpolated)), self.new_variance, self.initial_variance + ) + elevation_map[2] = self.xp.where(self.xp.invert(self.xp.isnan(interpolated)), 1.0, 0.0) return if __name__ == "__main__": - initializer = MapInitializer(100, 10, method='points', xp=cp) + initializer = MapInitializer(100, 10, method="points", xp=cp) m = np.zeros((4, 10, 10)) m[0, 0:5, 2:5] = 0.3 m[2, 0:5, 2:5] = 1.0 @@ -73,12 +71,10 @@ def points_initializer(self, elevation_map, points, method='linear'): print(m[0]) print(m[1]) print(m[2]) - points = cp.array([[0, 0, 0.2], - [8, 0, 0.2], - [6, 9, 0.2]]) - # [3, 3, 0.2]]) + points = cp.array([[0, 0, 0.2], [8, 0, 0.2], [6, 9, 0.2]]) + # [3, 3, 0.2]]) m = cp.asarray(m) - initializer(m, points, method='cubic') + initializer(m, points, method="cubic") print(m[0]) print(m[1]) print(m[2]) diff --git a/elevation_mapping_cupy/script/parameter.py b/elevation_mapping_cupy/script/parameter.py index 0d7e918f..0e79622a 100644 --- a/elevation_mapping_cupy/script/parameter.py +++ b/elevation_mapping_cupy/script/parameter.py @@ -7,74 +7,75 @@ import numpy as np import os + @dataclass class Parameter: resolution: float = 0.02 - map_length:float = 10.0 - sensor_noise_factor:float = 0.05 - mahalanobis_thresh:float = 2.0 - outlier_variance:float = 0.01 - drift_compensation_variance_inlier:float = 0.1 - time_variance:float = 0.01 - time_interval:float = 0.1 - - max_variance:float = 1.0 - dilation_size:float = 2 - dilation_size_initialize:float = 10 - drift_compensation_alpha:float = 1.0 - - traversability_inlier:float = 0.1 - wall_num_thresh:float = 100 - min_height_drift_cnt:float = 100 - - max_ray_length:float = 2.0 - cleanup_step:float = 0.01 - cleanup_cos_thresh:float = 0.5 - min_valid_distance:float = 0.3 - max_height_range:float = 1.0 - ramped_height_range_a:float = 0.3 - ramped_height_range_b:float = 1.0 - ramped_height_range_c:float = 0.2 - - safe_thresh:float = 0.5 - safe_min_thresh:float = 0.5 - max_unsafe_n:int = 20 - - min_filter_size:int = 5 - min_filter_iteration:int = 3 - - max_drift:float = 0.10 - - overlap_clear_range_xy:float = 4.0 - overlap_clear_range_z:float = 2.0 - - enable_edge_sharpen:bool = True - enable_drift_compensation:bool = True - enable_visibility_cleanup:bool = True - enable_overlap_clearance:bool = True + map_length: float = 10.0 + sensor_noise_factor: float = 0.05 + mahalanobis_thresh: float = 2.0 + outlier_variance: float = 0.01 + drift_compensation_variance_inlier: float = 0.1 + time_variance: float = 0.01 + time_interval: float = 0.1 + + max_variance: float = 1.0 + dilation_size: float = 2 + dilation_size_initialize: float = 10 + drift_compensation_alpha: float = 1.0 + + traversability_inlier: float = 0.1 + wall_num_thresh: float = 100 + min_height_drift_cnt: float = 100 + + max_ray_length: float = 2.0 + cleanup_step: float = 0.01 + cleanup_cos_thresh: float = 0.5 + min_valid_distance: float = 0.3 + max_height_range: float = 1.0 + ramped_height_range_a: float = 0.3 + ramped_height_range_b: float = 1.0 + ramped_height_range_c: float = 0.2 + + safe_thresh: float = 0.5 + safe_min_thresh: float = 0.5 + max_unsafe_n: int = 20 + + min_filter_size: int = 5 + min_filter_iteration: int = 3 + + max_drift: float = 0.10 + + overlap_clear_range_xy: float = 4.0 + overlap_clear_range_z: float = 2.0 + + enable_edge_sharpen: bool = True + enable_drift_compensation: bool = True + enable_visibility_cleanup: bool = True + enable_overlap_clearance: bool = True use_only_above_for_upper_bound: bool = True - use_chainer:bool = True - position_noise_thresh:float = 0.1 - orientation_noise_thresh:float = 0.1 + use_chainer: bool = True + position_noise_thresh: float = 0.1 + orientation_noise_thresh: float = 0.1 plugin_config_file: str = "config/plugin_config.yaml" weight_file: str = "config/weights.dat" - initial_variance:float = 10.0 - initialized_variance:float = 10.0 - w1:np.ndarray = np.zeros((4, 1, 3, 3)) - w2:np.ndarray = np.zeros((4, 1, 3, 3)) - w3:np.ndarray = np.zeros((4, 1, 3, 3)) - w_out:np.ndarray = np.zeros((1, 12, 1, 1)) + initial_variance: float = 10.0 + initialized_variance: float = 10.0 + w1: np.ndarray = np.zeros((4, 1, 3, 3)) + w2: np.ndarray = np.zeros((4, 1, 3, 3)) + w3: np.ndarray = np.zeros((4, 1, 3, 3)) + w_out: np.ndarray = np.zeros((1, 12, 1, 1)) def load_weights(self, filename): - with open(filename,'rb') as file: + with open(filename, "rb") as file: weights = pickle.load(file) - self.w1 = weights['conv1.weight'] - self.w2 = weights['conv2.weight'] - self.w3 = weights['conv3.weight'] - self.w_out = weights['conv_final.weight'] + self.w1 = weights["conv1.weight"] + self.w2 = weights["conv2.weight"] + self.w3 = weights["conv3.weight"] + self.w_out = weights["conv_final.weight"] def get_names(self): return list(self.__annotations__.keys()) @@ -93,8 +94,8 @@ def get_value(self, name): param = Parameter() print(param) print(param.resolution) - param.set_value('resolution', 0.1) + param.set_value("resolution", 0.1) print(param.resolution) - print('names ', param.get_names()) - print('types ', param.get_types()) + print("names ", param.get_names()) + print("types ", param.get_types()) diff --git a/elevation_mapping_cupy/script/plugins/inpainting.py b/elevation_mapping_cupy/script/plugins/inpainting.py index ff8c0cda..8c1ac90a 100644 --- a/elevation_mapping_cupy/script/plugins/inpainting.py +++ b/elevation_mapping_cupy/script/plugins/inpainting.py @@ -13,7 +13,7 @@ class Inpainting(PluginBase): - """ This is a filter to smoothen + """This is a filter to smoothen ... @@ -22,7 +22,8 @@ class Inpainting(PluginBase): cell_n: int width and height of the elevation map. """ - def __init__(self, cell_n:int=100, method:str="telea", **kwargs): + + def __init__(self, cell_n: int = 100, method: str = "telea", **kwargs): super().__init__() if method == "telea": self.method = cv.INPAINT_TELEA @@ -31,14 +32,19 @@ def __init__(self, cell_n:int=100, method:str="telea", **kwargs): else: # default method self.method = cv.INPAINT_TELEA - def __call__(self, elevation_map: cp.ndarray, layer_names: List[str], - plugin_layers: cp.ndarray, plugin_layer_names: List[str])->cp.ndarray: - mask = cp.asnumpy((elevation_map[2] < 0.5).astype('uint8')) + def __call__( + self, + elevation_map: cp.ndarray, + layer_names: List[str], + plugin_layers: cp.ndarray, + plugin_layer_names: List[str], + ) -> cp.ndarray: + mask = cp.asnumpy((elevation_map[2] < 0.5).astype("uint8")) if (mask < 1).any(): h = elevation_map[0] h_max = float(h[mask < 1].max()) h_min = float(h[mask < 1].min()) - h = cp.asnumpy((elevation_map[0] - h_min) * 255 / (h_max - h_min)).astype('uint8') + h = cp.asnumpy((elevation_map[0] - h_min) * 255 / (h_max - h_min)).astype("uint8") dst = np.array(cv.inpaint(h, mask, 1, self.method)) h_inpainted = dst.astype(np.float32) * (h_max - h_min) / 255 + h_min return cp.asarray(h_inpainted).astype(np.float64) diff --git a/elevation_mapping_cupy/script/plugins/min_filter.py b/elevation_mapping_cupy/script/plugins/min_filter.py index 331b61fc..90eeafc1 100644 --- a/elevation_mapping_cupy/script/plugins/min_filter.py +++ b/elevation_mapping_cupy/script/plugins/min_filter.py @@ -10,7 +10,7 @@ class MinFilter(PluginBase): - """ This is a filter to fill in invalid cells with minimum values around. + """This is a filter to fill in invalid cells with minimum values around. ... @@ -25,7 +25,8 @@ class MinFilter(PluginBase): iteration_n: int The number of iteration to repeat the same filter. """ - def __init__(self, cell_n:int=100, dilation_size:int=5, iteration_n:int=5, **kwargs): + + def __init__(self, cell_n: int = 100, dilation_size: int = 5, iteration_n: int = 5, **kwargs): super().__init__() self.iteration_n = iteration_n self.width = cell_n @@ -33,10 +34,10 @@ def __init__(self, cell_n:int=100, dilation_size:int=5, iteration_n:int=5, **kwa self.min_filtered = cp.zeros((self.width, self.height)) self.min_filtered_mask = cp.zeros((self.width, self.height)) self.min_filter_kernel = cp.ElementwiseKernel( - in_params='raw U map, raw U mask', - out_params='raw U newmap, raw U newmask', - preamble=\ - string.Template(''' + in_params="raw U map, raw U mask", + out_params="raw U newmap, raw U newmask", + preamble=string.Template( + """ __device__ int get_map_idx(int idx, int layer_n) { const int layer = ${width} * ${height}; return layer * layer_n + idx; @@ -58,9 +59,10 @@ def __init__(self, cell_n:int=100, dilation_size:int=5, iteration_n:int=5, **kwa } return true; } - ''').substitute(width=self.width, height=self.height), - operation=\ - string.Template(''' + """ + ).substitute(width=self.width, height=self.height), + operation=string.Template( + """ U h = map[get_map_idx(i, 0)]; U valid = mask[get_map_idx(i, 0)]; if (valid < 0.5) { @@ -81,22 +83,30 @@ def __init__(self, cell_n:int=100, dilation_size:int=5, iteration_n:int=5, **kwa newmask[get_map_idx(i, 0)] = 0.6; } } - ''').substitute(dilation_size=dilation_size), - name='min_filter_kernel') + """ + ).substitute(dilation_size=dilation_size), + name="min_filter_kernel", + ) - def __call__(self, elevation_map: cp.ndarray, layer_names: List[str], - plugin_layers: cp.ndarray, plugin_layer_names: List[str])->cp.ndarray: + def __call__( + self, + elevation_map: cp.ndarray, + layer_names: List[str], + plugin_layers: cp.ndarray, + plugin_layer_names: List[str], + ) -> cp.ndarray: self.min_filtered = elevation_map[0].copy() self.min_filtered_mask = elevation_map[2].copy() for i in range(self.iteration_n): - self.min_filter_kernel(elevation_map[0], - elevation_map[2], - self.min_filtered, - self.min_filtered_mask, - size=(self.width * self.height)) + self.min_filter_kernel( + elevation_map[0], + elevation_map[2], + self.min_filtered, + self.min_filtered_mask, + size=(self.width * self.height), + ) # If there's no more mask, break if (self.min_filtered_mask > 0.5).all(): break - min_filtered = cp.where(self.min_filtered_mask > 0.5, - self.min_filtered.copy(), cp.nan) + min_filtered = cp.where(self.min_filtered_mask > 0.5, self.min_filtered.copy(), cp.nan) return min_filtered diff --git a/elevation_mapping_cupy/script/plugins/plugin_manager.py b/elevation_mapping_cupy/script/plugins/plugin_manager.py index 2ba6ce39..bfaf0829 100644 --- a/elevation_mapping_cupy/script/plugins/plugin_manager.py +++ b/elevation_mapping_cupy/script/plugins/plugin_manager.py @@ -15,14 +15,15 @@ class PluginParams: name: str layer_name: str - fill_nan: bool = False # fill nan to invalid region - is_height_layer: bool = False # if this is a height layer + fill_nan: bool = False # fill nan to invalid region + is_height_layer: bool = False # if this is a height layer class PluginBase(ABC): - """ + """ This is a base class of Plugins """ + def __init__(self, *args, **kwargs): """ Parameters @@ -31,10 +32,15 @@ def __init__(self, *args, **kwargs): The parameter of callback """ - def __call__(self, elevation_map: cp.ndarray, layer_names: List[str], - plugin_layers: cp.ndarray, plugin_layer_names: List[str])->cp.ndarray: + def __call__( + self, + elevation_map: cp.ndarray, + layer_names: List[str], + plugin_layers: cp.ndarray, + plugin_layer_names: List[str], + ) -> cp.ndarray: """ - This gets the elevation map data and plugin layers as a cupy array. + This gets the elevation map data and plugin layers as a cupy array. Run your processing here and return the result. layer of elevation_map 0: elevation 1: variance @@ -49,9 +55,10 @@ def __call__(self, elevation_map: cp.ndarray, layer_names: List[str], class PluginManger(object): - """ + """ This manages the plugins. """ + def __init__(self, cell_n: int): self.cell_n = cell_n @@ -60,11 +67,9 @@ def init(self, plugin_params: List[PluginParams], extra_params: List[Dict]): self.plugins = [] for param, extra_param in zip(plugin_params, extra_params): - m = importlib.import_module("." + param.name, package="plugins") # -> 'module' + m = importlib.import_module("." + param.name, package="plugins") # -> 'module' for name, obj in inspect.getmembers(m): - if (inspect.isclass(obj) and - issubclass(obj, PluginBase) and - name != "PluginBase"): + if inspect.isclass(obj) and issubclass(obj, PluginBase) and name != "PluginBase": # Add cell_n to params extra_param["cell_n"] = self.cell_n self.plugins.append(obj(**extra_param)) @@ -75,20 +80,20 @@ def init(self, plugin_params: List[PluginParams], extra_params: List[Dict]): def load_plugin_settings(self, file_path: str): print("Start loading plugins...") - cfg = YAML().load(open(file_path, 'r')) + cfg = YAML().load(open(file_path, "r")) plugin_params = [] extra_params = [] for k, v in cfg.items(): - if v['enable']: + if v["enable"]: plugin_params.append( - PluginParams( - name=k, - layer_name=v['layer_name'], - fill_nan=v['fill_nan'], - is_height_layer=v['is_height_layer'], - ) - ) - extra_params.append(v['extra_params']) + PluginParams( + name=k, + layer_name=v["layer_name"], + fill_nan=v["fill_nan"], + is_height_layer=v["is_height_layer"], + ) + ) + extra_params.append(v["extra_params"]) self.init(plugin_params, extra_params) print("Loaded plugins are ", *self.plugin_names) @@ -104,7 +109,7 @@ def get_plugin_names(self): names.append(obj.name) return names - def get_plugin_index_with_name(self, name: str)->int: + def get_plugin_index_with_name(self, name: str) -> int: try: idx = self.plugin_names.index(name) return idx @@ -112,7 +117,7 @@ def get_plugin_index_with_name(self, name: str)->int: print("Error with plugin {}: {}".format(name, e)) return None - def get_layer_index_with_name(self, name: str)->int: + def get_layer_index_with_name(self, name: str) -> int: try: idx = self.layer_names.index(name) return idx @@ -125,36 +130,33 @@ def update_with_name(self, name: str, elevation_map: cp.ndarray, layer_names: Li if idx is not None: self.layers[idx] = self.plugins[idx](elevation_map, layer_names, self.layers, self.layer_names) - def get_map_with_name(self, name: str)->cp.ndarray: + def get_map_with_name(self, name: str) -> cp.ndarray: idx = self.get_layer_index_with_name(name) if idx is not None: return self.layers[idx] - def get_param_with_name(self, name: str)->PluginParams: + def get_param_with_name(self, name: str) -> PluginParams: idx = self.get_layer_index_with_name(name) if idx is not None: return self.plugin_params[idx] -if __name__ == '__main__': +if __name__ == "__main__": plugins = [ - PluginParams(name="min_filter", layer_name="min_filter"), - PluginParams(name="smooth_filter", layer_name="smooth"), - ] - extra_params = [ - {"dilation_size": 5, "iteration_n": 5}, - {"input_layer_name": "elevation2"} - ] + PluginParams(name="min_filter", layer_name="min_filter"), + PluginParams(name="smooth_filter", layer_name="smooth"), + ] + extra_params = [{"dilation_size": 5, "iteration_n": 5}, {"input_layer_name": "elevation2"}] manager = PluginManger(200) - manager.load_plugin_settings('config/plugin_config.yaml') + manager.load_plugin_settings("config/plugin_config.yaml") print(manager.layer_names) print(manager.plugin_names) elevation_map = cp.zeros((7, 200, 200)).astype(cp.float32) layer_names = ["elevation", "variance", "is_valid", "traversability", "time", "upper_bound", "is_upper_bound"] elevation_map[0] = cp.random.randn(200, 200) elevation_map[2] = cp.abs(cp.random.randn(200, 200)) - print('map', elevation_map[0]) - print('layer map ', manager.layers[0]) + print("map", elevation_map[0]) + print("layer map ", manager.layers[0]) manager.update_with_name("min_filter", elevation_map, layer_names) manager.update_with_name("smooth_filter", elevation_map, layer_names) print(manager.get_map_with_name("smooth")) diff --git a/elevation_mapping_cupy/script/plugins/smooth_filter.py b/elevation_mapping_cupy/script/plugins/smooth_filter.py index 7ce99f90..d9ad76ac 100644 --- a/elevation_mapping_cupy/script/plugins/smooth_filter.py +++ b/elevation_mapping_cupy/script/plugins/smooth_filter.py @@ -10,7 +10,7 @@ class SmoothFilter(PluginBase): - """ This is a filter to smoothen + """This is a filter to smoothen ... @@ -19,12 +19,18 @@ class SmoothFilter(PluginBase): cell_n: int width and height of the elevation map. """ - def __init__(self, cell_n:int=100, input_layer_name:str="elevation", **kwargs): + + def __init__(self, cell_n: int = 100, input_layer_name: str = "elevation", **kwargs): super().__init__() self.input_layer_name = input_layer_name - def __call__(self, elevation_map: cp.ndarray, layer_names: List[str], - plugin_layers: cp.ndarray, plugin_layer_names: List[str])->cp.ndarray: + def __call__( + self, + elevation_map: cp.ndarray, + layer_names: List[str], + plugin_layers: cp.ndarray, + plugin_layer_names: List[str], + ) -> cp.ndarray: if self.input_layer_name in layer_names: idx = layer_names.index(self.input_layer_name) h = elevation_map[idx] diff --git a/elevation_mapping_cupy/script/traversability_filter.py b/elevation_mapping_cupy/script/traversability_filter.py index 2778bbbe..7dfb47c2 100644 --- a/elevation_mapping_cupy/script/traversability_filter.py +++ b/elevation_mapping_cupy/script/traversability_filter.py @@ -10,7 +10,7 @@ def get_filter_torch(*args, **kwargs): import torch.nn as nn class TraversabilityFilter(nn.Module): - def __init__(self, w1, w2, w3, w_out, device='cuda', use_bias=False): + def __init__(self, w1, w2, w3, w_out, device="cuda", use_bias=False): super(TraversabilityFilter, self).__init__() self.conv1 = nn.Conv2d(1, 4, 3, dilation=1, padding=0, bias=use_bias) self.conv2 = nn.Conv2d(1, 4, 3, dilation=2, padding=0, bias=use_bias) @@ -29,15 +29,9 @@ def __call__(self, elevation_cupy): elevation = torch.as_tensor(elevation_cupy, device=self.conv1.weight.device) with torch.no_grad(): - out1 = self.conv1(elevation.view(-1, 1, - elevation.shape[0], - elevation.shape[1])) - out2 = self.conv2(elevation.view(-1, 1, - elevation.shape[0], - elevation.shape[1])) - out3 = self.conv3(elevation.view(-1, 1, - elevation.shape[0], - elevation.shape[1])) + out1 = self.conv1(elevation.view(-1, 1, elevation.shape[0], elevation.shape[1])) + out2 = self.conv2(elevation.view(-1, 1, elevation.shape[0], elevation.shape[1])) + out3 = self.conv3(elevation.view(-1, 1, elevation.shape[0], elevation.shape[1])) out1 = out1[:, :, 2:-2, 2:-2] out2 = out2[:, :, 1:-1, 1:-1] @@ -55,6 +49,7 @@ def __call__(self, elevation_cupy): def get_filter_chainer(*args, **kwargs): import os + os.environ["CHAINER_WARN_VERSION_MISMATCH"] = "0" import chainer import chainer.links as L @@ -63,14 +58,10 @@ def get_filter_chainer(*args, **kwargs): class TraversabilityFilter(chainer.Chain): def __init__(self, w1, w2, w3, w_out, use_cupy=True): super(TraversabilityFilter, self).__init__() - self.conv1 = L.Convolution2D(1, 4, ksize=3, pad=0, dilate=1, - nobias=True, initialW=w1) - self.conv2 = L.Convolution2D(1, 4, ksize=3, pad=0, dilate=2, - nobias=True, initialW=w2) - self.conv3 = L.Convolution2D(1, 4, ksize=3, pad=0, dilate=3, - nobias=True, initialW=w3) - self.conv_out = L.Convolution2D(12, 1, ksize=1, - nobias=True, initialW=w_out) + self.conv1 = L.Convolution2D(1, 4, ksize=3, pad=0, dilate=1, nobias=True, initialW=w1) + self.conv2 = L.Convolution2D(1, 4, ksize=3, pad=0, dilate=2, nobias=True, initialW=w2) + self.conv3 = L.Convolution2D(1, 4, ksize=3, pad=0, dilate=3, nobias=True, initialW=w3) + self.conv_out = L.Convolution2D(12, 1, ksize=1, nobias=True, initialW=w_out) if use_cupy: self.conv1.to_gpu() @@ -81,15 +72,9 @@ def __init__(self, w1, w2, w3, w_out, use_cupy=True): chainer.config.enable_backprop = False def __call__(self, elevation): - out1 = self.conv1(elevation.reshape(-1, 1, - elevation.shape[0], - elevation.shape[1])) - out2 = self.conv2(elevation.reshape(-1, 1, - elevation.shape[0], - elevation.shape[1])) - out3 = self.conv3(elevation.reshape(-1, 1, - elevation.shape[0], - elevation.shape[1])) + out1 = self.conv1(elevation.reshape(-1, 1, elevation.shape[0], elevation.shape[1])) + out2 = self.conv2(elevation.reshape(-1, 1, elevation.shape[0], elevation.shape[1])) + out3 = self.conv3(elevation.reshape(-1, 1, elevation.shape[0], elevation.shape[1])) out1 = out1[:, :, 2:-2, 2:-2] out2 = out2[:, :, 1:-1, 1:-1] @@ -101,21 +86,15 @@ def __call__(self, elevation): return traversability_filter - -if __name__ == '__main__': +if __name__ == "__main__": import cupy as cp from parameter import Parameter + elevation = cp.random.randn(202, 202, dtype=cp.float32) - print('elevation ', elevation.shape) + print("elevation ", elevation.shape) param = Parameter() - fc = get_filter_chainer(param.w1, - param.w2, - param.w3, - param.w_out) - print('chainer ', fc(elevation)) - - ft = get_filter_torch(param.w1, - param.w2, - param.w3, - param.w_out) - print('torch ', ft(elevation)) + fc = get_filter_chainer(param.w1, param.w2, param.w3, param.w_out) + print("chainer ", fc(elevation)) + + ft = get_filter_torch(param.w1, param.w2, param.w3, param.w_out) + print("torch ", ft(elevation)) diff --git a/elevation_mapping_cupy/script/traversability_polygon.py b/elevation_mapping_cupy/script/traversability_polygon.py index f1e6b80a..67a43343 100644 --- a/elevation_mapping_cupy/script/traversability_polygon.py +++ b/elevation_mapping_cupy/script/traversability_polygon.py @@ -39,7 +39,7 @@ def calculate_area(polygon): for i in range(len(polygon)): p1 = polygon[i - 1] p2 = polygon[i] - area += (p1[0] * p2[1] - p1[1] * p2[0]) / 2. + area += (p1[0] * p2[1] - p1[1] * p2[0]) / 2.0 return abs(area) @@ -54,7 +54,7 @@ def calculate_untraversable_polygon(over_thresh): def transform_to_map_position(polygon, center, cell_n, resolution): - polygon = center.reshape(1, 2) + (polygon - cell_n / 2.) * resolution + polygon = center.reshape(1, 2) + (polygon - cell_n / 2.0) * resolution return polygon @@ -63,8 +63,7 @@ def transform_to_map_index(points, center, cell_n, resolution): return indices - -if __name__ == '__main__': +if __name__ == "__main__": polygon = [[0, 0], [2, 0], [0, 2]] print(calculate_area(polygon)) From b38442fff02d1ed89168caa74b73b3c257385fd0 Mon Sep 17 00:00:00 2001 From: Takahiro Date: Wed, 11 May 2022 15:15:25 +0200 Subject: [PATCH 202/504] Using cp.roll instead of ndimage shift. --- .../script/elevation_mapping.py | 48 ++++++++++++------- 1 file changed, 31 insertions(+), 17 deletions(-) diff --git a/elevation_mapping_cupy/script/elevation_mapping.py b/elevation_mapping_cupy/script/elevation_mapping.py index 09734ebd..af53b9b8 100644 --- a/elevation_mapping_cupy/script/elevation_mapping.py +++ b/elevation_mapping_cupy/script/elevation_mapping.py @@ -27,11 +27,8 @@ ) import cupy as cp -import cupyx.scipy as csp -import cupyx.scipy.ndimage xp = cp -sp = csp pool = cp.cuda.MemoryPool(cp.cuda.malloc_managed) cp.cuda.set_allocator(pool.malloc) @@ -131,20 +128,34 @@ def move_to(self, position): self.shift_map_xy(-delta_pixel) self.shift_map_z(-delta[2]) + def pad_value(self, x, shift_value, idx=None, value=0.0): + if idx is None: + if shift_value[0] > 0: + x[:, : shift_value[0], :] = value + elif shift_value[0] < 0: + x[:, shift_value[0] :, :] = value + if shift_value[1] > 0: + x[:, :, : shift_value[1]] = value + elif shift_value[1] < 0: + x[:, :, shift_value[1] :] = value + else: + if shift_value[0] > 0: + x[idx, : shift_value[0], :] = value + elif shift_value[0] < 0: + x[idx, shift_value[0] :, :] = value + if shift_value[1] > 0: + x[idx, :, : shift_value[1]] = value + elif shift_value[1] < 0: + x[idx, :, shift_value[1] :] = value + def shift_map_xy(self, delta_pixel): - shift_value = delta_pixel - shift_fn = sp.ndimage.interpolation.shift + shift_value = delta_pixel.astype(cp.int) + if shift_value.sum() == 0: + return with self.map_lock: - # elevation - self.elevation_map[0] = shift_fn(self.elevation_map[0], shift_value, cval=0.0) - # variance - self.elevation_map[1] = shift_fn(self.elevation_map[1], shift_value, cval=self.initial_variance) - # is valid (1 is valid 0 is not valid) - self.elevation_map[2] = shift_fn(self.elevation_map[2], shift_value, cval=0) - # upper bound - self.elevation_map[5] = shift_fn(self.elevation_map[5], shift_value, cval=0) - # is upper bound - self.elevation_map[6] = shift_fn(self.elevation_map[6], shift_value, cval=0) + self.elevation_map = cp.roll(self.elevation_map, shift_value, axis=(1, 2)) + self.pad_value(self.elevation_map, shift_value, value=0.0) + self.pad_value(self.elevation_map, shift_value, idx=1, value=self.initial_variance) def shift_map_z(self, delta_z): with self.map_lock: @@ -513,14 +524,17 @@ def initialize_map(self, points, method="cubic"): R = xp.random.rand(3, 3) t = xp.random.rand(3) print(R, t) - param = Parameter(use_chainer=False) - param.load_weights("../config/weights.dat") + param = Parameter( + use_chainer=False, weight_file="../config/weights.dat", plugin_config_file="../config/plugin_config.yaml" + ) elevation = ElevationMap(param) layers = ["elevation", "variance", "traversability", "min_filter", "smooth", "inpaint"] data = np.zeros((elevation.cell_n - 2, elevation.cell_n - 2), dtype=np.float32) for i in range(500): elevation.input(points, R, t, 0, 0) elevation.update_normal(elevation.elevation_map[0]) + pos = np.array([i * 0.01, i * 0.02, i * 0.01]) + elevation.move_to(pos) for layer in layers: elevation.get_map_with_name_ref(layer, data) print(i) From aae39803dec0ca5f659ec6e3ca22d7dca953c95d Mon Sep 17 00:00:00 2001 From: Takahiro Date: Wed, 11 May 2022 21:02:24 +0200 Subject: [PATCH 203/504] Fixed bug in checking shift value length --- elevation_mapping_cupy/script/elevation_mapping.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/elevation_mapping_cupy/script/elevation_mapping.py b/elevation_mapping_cupy/script/elevation_mapping.py index af53b9b8..accac0c2 100644 --- a/elevation_mapping_cupy/script/elevation_mapping.py +++ b/elevation_mapping_cupy/script/elevation_mapping.py @@ -150,7 +150,7 @@ def pad_value(self, x, shift_value, idx=None, value=0.0): def shift_map_xy(self, delta_pixel): shift_value = delta_pixel.astype(cp.int) - if shift_value.sum() == 0: + if cp.abs(shift_value).sum() == 0: return with self.map_lock: self.elevation_map = cp.roll(self.elevation_map, shift_value, axis=(1, 2)) From 9a696ae504a9a61dc7695a22b0f692c07689e6c8 Mon Sep 17 00:00:00 2001 From: rgrandia Date: Tue, 7 Jun 2022 15:13:58 +0200 Subject: [PATCH 204/504] prepare move to github --- jenkins-pipeline | 4 - segmented_planes_terrain_model/CMakeLists.txt | 101 ------ .../SegmentedPlaneProjection.h | 42 --- .../SegmentedPlanesSignedDistanceField.h | 53 ---- .../SegmentedPlanesTerrainModel.h | 41 --- .../SegmentedPlanesTerrainModelRos.h | 57 ---- .../SegmentedPlanesTerrainVisualization.h | 18 -- .../launch/demo.launch | 15 - segmented_planes_terrain_model/package.xml | 25 -- .../src/DemoNode.cpp | 129 -------- .../src/SegmentedPlaneProjection.cpp | 150 --------- .../src/SegmentedPlanesTerrainModel.cpp | 129 -------- .../src/SegmentedPlanesTerrainModelRos.cpp | 124 -------- .../SegmentedPlanesTerrainVisualization.cpp | 40 --- .../test/signedDistanceTest.cpp | 110 ------- signed_distance_field/CMakeLists.txt | 77 ----- .../DistanceDerivatives.h | 62 ---- .../signed_distance_field/Gridmap3dLookup.h | 94 ------ .../GridmapSignedDistanceField.h | 147 --------- .../PixelBorderDistance.h | 104 ------- .../signed_distance_field/SignedDistance2d.h | 59 ---- .../include/signed_distance_field/Utils.h | 18 -- signed_distance_field/package.xml | 16 - .../src/GridmapSignedDistanceField.cpp | 214 ------------- .../src/SignedDistance2d.cpp | 290 ------------------ .../test/naiveSignedDistance.h | 105 ------- signed_distance_field/test/test3dLookup.cpp | 59 ---- .../test/testDerivatives.cpp | 31 -- .../test/testPixelBorderDistance.cpp | 52 ---- .../test/testSignedDistance2d.cpp | 112 ------- .../test/testSignedDistance3d.cpp | 193 ------------ 31 files changed, 2671 deletions(-) delete mode 100644 jenkins-pipeline delete mode 100644 segmented_planes_terrain_model/CMakeLists.txt delete mode 100644 segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlaneProjection.h delete mode 100644 segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesSignedDistanceField.h delete mode 100644 segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesTerrainModel.h delete mode 100644 segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesTerrainModelRos.h delete mode 100644 segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesTerrainVisualization.h delete mode 100644 segmented_planes_terrain_model/launch/demo.launch delete mode 100644 segmented_planes_terrain_model/package.xml delete mode 100644 segmented_planes_terrain_model/src/DemoNode.cpp delete mode 100644 segmented_planes_terrain_model/src/SegmentedPlaneProjection.cpp delete mode 100644 segmented_planes_terrain_model/src/SegmentedPlanesTerrainModel.cpp delete mode 100644 segmented_planes_terrain_model/src/SegmentedPlanesTerrainModelRos.cpp delete mode 100644 segmented_planes_terrain_model/src/SegmentedPlanesTerrainVisualization.cpp delete mode 100644 segmented_planes_terrain_model/test/signedDistanceTest.cpp delete mode 100644 signed_distance_field/CMakeLists.txt delete mode 100644 signed_distance_field/include/signed_distance_field/DistanceDerivatives.h delete mode 100644 signed_distance_field/include/signed_distance_field/Gridmap3dLookup.h delete mode 100644 signed_distance_field/include/signed_distance_field/GridmapSignedDistanceField.h delete mode 100644 signed_distance_field/include/signed_distance_field/PixelBorderDistance.h delete mode 100644 signed_distance_field/include/signed_distance_field/SignedDistance2d.h delete mode 100644 signed_distance_field/include/signed_distance_field/Utils.h delete mode 100644 signed_distance_field/package.xml delete mode 100644 signed_distance_field/src/GridmapSignedDistanceField.cpp delete mode 100644 signed_distance_field/src/SignedDistance2d.cpp delete mode 100644 signed_distance_field/test/naiveSignedDistance.h delete mode 100644 signed_distance_field/test/test3dLookup.cpp delete mode 100644 signed_distance_field/test/testDerivatives.cpp delete mode 100644 signed_distance_field/test/testPixelBorderDistance.cpp delete mode 100644 signed_distance_field/test/testSignedDistance2d.cpp delete mode 100644 signed_distance_field/test/testSignedDistance3d.cpp diff --git a/jenkins-pipeline b/jenkins-pipeline deleted file mode 100644 index f0fe0a26..00000000 --- a/jenkins-pipeline +++ /dev/null @@ -1,4 +0,0 @@ -library 'continuous_integration_pipeline' -ciPipeline("--environment anymal \ - --dependencies 'git@bitbucket.org:leggedrobotics/ocs2_anymal.git;feature/perception;git'\ - 'git@bitbucket.org:leggedrobotics/ocs2_dev;feature/perception;git'") diff --git a/segmented_planes_terrain_model/CMakeLists.txt b/segmented_planes_terrain_model/CMakeLists.txt deleted file mode 100644 index 39d96401..00000000 --- a/segmented_planes_terrain_model/CMakeLists.txt +++ /dev/null @@ -1,101 +0,0 @@ -cmake_minimum_required(VERSION 3.10) -project(segmented_planes_terrain_model) - -# Catkin dependencies -set(CATKIN_PACKAGE_DEPENDENCIES - grid_map_filters_rsl - ocs2_switched_model_interface - grid_map_sdf - pcl_ros - convex_plane_decomposition - convex_plane_decomposition_msgs - convex_plane_decomposition_ros - signed_distance_field - roscpp - visualization_msgs - sensor_msgs -) - -find_package(catkin REQUIRED COMPONENTS - ${CATKIN_PACKAGE_DEPENDENCIES} -) - -# Cpp standard version -set(CMAKE_CXX_STANDARD 14) -set(CMAKE_CXX_STANDARD_REQUIRED ON) - -################################### -## catkin specific configuration ## -################################### -catkin_package( - INCLUDE_DIRS include - LIBRARIES ${PROJECT_NAME} - CATKIN_DEPENDS ${CATKIN_PACKAGE_DEPENDENCIES} - DEPENDS -) - -########### -## Build ## -########### - -include_directories( - include - ${catkin_INCLUDE_DIRS} -) - -add_library(${PROJECT_NAME} - src/SegmentedPlaneProjection.cpp - src/SegmentedPlanesTerrainModel.cpp - src/SegmentedPlanesTerrainModelRos.cpp - src/SegmentedPlanesTerrainVisualization.cpp - ) -add_dependencies(${PROJECT_NAME} - ${catkin_EXPORTED_TARGETS} - ) -target_link_libraries(${PROJECT_NAME} - ${catkin_LIBRARIES} - ) -target_compile_options(${PROJECT_NAME} - PUBLIC -DCGAL_HAS_THREADS - ) - -add_executable(${PROJECT_NAME}_demo_node - src/DemoNode.cpp -) -target_link_libraries(${PROJECT_NAME}_demo_node - ${catkin_LIBRARIES} - ${PROJECT_NAME} -) - -############# -## Install ## -############# - -install(TARGETS ${PROJECT_NAME} - ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} - ) -install(DIRECTORY include/${PROJECT_NAME}/ - DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} - ) - -install(TARGETS ${PROJECT_NAME}_demo_node - RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -) - -install(DIRECTORY launch - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} -) - -############# -## Testing ## -############# - -add_executable(${PROJECT_NAME}_signed_distance_test - test/signedDistanceTest.cpp - ) -target_link_libraries(${PROJECT_NAME}_signed_distance_test - ${catkin_LIBRARIES} - ${PROJECT_NAME} - ) \ No newline at end of file diff --git a/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlaneProjection.h b/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlaneProjection.h deleted file mode 100644 index 25261dd2..00000000 --- a/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlaneProjection.h +++ /dev/null @@ -1,42 +0,0 @@ -// -// Created by rgrandia on 12.10.21. -// - -#pragma once - -#include -#include - -#include -#include - -namespace switched_model { - -double distanceCost(const vector3_t& query, const vector3_t& terrainPoint); - -double distanceCostLowerbound(double distanceSquared); - -double intervalSquareDistance(double value, double min, double max); - -double squaredDistanceToBoundingBox(const convex_plane_decomposition::CgalPoint2d& point, - const convex_plane_decomposition::CgalBbox2d& boundingBox); - -const convex_plane_decomposition::CgalPolygonWithHoles2d* findInsetContainingThePoint( - const convex_plane_decomposition::CgalPoint2d& point, const std::vector& insets); - -convex_plane_decomposition::CgalPoint2d projectToPlanarRegion(const convex_plane_decomposition::CgalPoint2d& queryProjectedToPlane, - const convex_plane_decomposition::PlanarRegion& planarRegion); - -struct RegionSortingInfo { - const convex_plane_decomposition::PlanarRegion* regionPtr; - convex_plane_decomposition::CgalPoint2d positionInTerrainFrame; - double boundingBoxSquareDistance; -}; -std::vector sortWithBoundingBoxes(const vector3_t& positionInWorld, - const std::vector& planarRegions); - -std::pair getPlanarRegionAtPositionInWorld( - const vector3_t& positionInWorld, const std::vector& planarRegions, - std::function penaltyFunction); - -} // namespace switched_model \ No newline at end of file diff --git a/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesSignedDistanceField.h b/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesSignedDistanceField.h deleted file mode 100644 index 46aa3e73..00000000 --- a/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesSignedDistanceField.h +++ /dev/null @@ -1,53 +0,0 @@ -// -// Created by rgrandia on 17.03.22. -// - -#pragma once - -#include - -#include - -namespace switched_model { - -/** - * Simple wrapper class to implement the switched_model::SignedDistanceField interface. - * See the forwarded function for documentation. - */ -class SegmentedPlanesSignedDistanceField : public SignedDistanceField { - public: - EIGEN_MAKE_ALIGNED_OPERATOR_NEW - - SegmentedPlanesSignedDistanceField(const grid_map::GridMap& gridMap, const std::string& elevationLayer, double minHeight, - double maxHeight) - : sdf_(gridMap, elevationLayer, minHeight, maxHeight) {} - - ~SegmentedPlanesSignedDistanceField() override = default; - SegmentedPlanesSignedDistanceField* clone() const override { return new SegmentedPlanesSignedDistanceField(*this); }; - - switched_model::scalar_t value(const switched_model::vector3_t& position) const override { return sdf_.value(position); } - - switched_model::vector3_t derivative(const switched_model::vector3_t& position) const override { return sdf_.derivative(position); } - - std::pair valueAndDerivative( - const switched_model::vector3_t& position) const override { - return sdf_.valueAndDerivative(position); - } - - pcl::PointCloud asPointCloud( - size_t decimation = 1, const std::function& condition = [](float) { return true; }) const { - return sdf_.asPointCloud(decimation, condition); - } - - pcl::PointCloud freeSpacePointCloud(size_t decimation = 1) const { return sdf_.freeSpacePointCloud(decimation); } - - pcl::PointCloud obstaclePointCloud(size_t decimation = 1) const { return sdf_.obstaclePointCloud(decimation); } - - protected: - SegmentedPlanesSignedDistanceField(const SegmentedPlanesSignedDistanceField& other) : sdf_(other.sdf_){}; - - private: - grid_map::GridmapSignedDistanceField sdf_; -}; - -} // namespace switched_model \ No newline at end of file diff --git a/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesTerrainModel.h b/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesTerrainModel.h deleted file mode 100644 index 1e2240f8..00000000 --- a/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesTerrainModel.h +++ /dev/null @@ -1,41 +0,0 @@ -// -// Created by rgrandia on 23.06.20. -// - -#pragma once - -#include -#include - -#include "segmented_planes_terrain_model/SegmentedPlanesSignedDistanceField.h" - -namespace switched_model { - -class SegmentedPlanesTerrainModel : public switched_model::TerrainModel { - public: - SegmentedPlanesTerrainModel(convex_plane_decomposition::PlanarTerrain planarTerrain); - - TerrainPlane getLocalTerrainAtPositionInWorldAlongGravity(const vector3_t& positionInWorld, - std::function penaltyFunction) const override; - - using switched_model::TerrainModel::getConvexTerrainAtPositionInWorld; - ConvexTerrain getConvexTerrainAtPositionInWorld(const vector3_t& positionInWorld, - std::function penaltyFunction) const override; - - void createSignedDistanceBetween(const Eigen::Vector3d& minCoordinates, const Eigen::Vector3d& maxCoordinates); - - const SegmentedPlanesSignedDistanceField* getSignedDistanceField() const override { return signedDistanceField_.get(); } - - vector3_t getHighestObstacleAlongLine(const vector3_t& position1InWorld, const vector3_t& position2InWorld) const override; - - std::vector getHeightProfileAlongLine(const vector3_t& position1InWorld, const vector3_t& position2InWorld) const override; - - const convex_plane_decomposition::PlanarTerrain& planarTerrain() const { return planarTerrain_; } - - private: - const convex_plane_decomposition::PlanarTerrain planarTerrain_; - std::unique_ptr signedDistanceField_; - const grid_map::Matrix* const elevationData_; -}; - -} // namespace switched_model diff --git a/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesTerrainModelRos.h b/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesTerrainModelRos.h deleted file mode 100644 index 1e9bf0e0..00000000 --- a/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesTerrainModelRos.h +++ /dev/null @@ -1,57 +0,0 @@ -// -// Created by rgrandia on 24.06.20. -// - -#pragma once - -#include - -#include - -#include -#include - -#include -#include - -#include "SegmentedPlanesTerrainModel.h" - -namespace switched_model { - -class SegmentedPlanesTerrainModelRos { - public: - SegmentedPlanesTerrainModelRos(ros::NodeHandle& nodehandle); - - ~SegmentedPlanesTerrainModelRos(); - - /// Extract the latest terrain model. Resets internal model to a nullptr - std::unique_ptr getTerrainModel(); - - void createSignedDistanceBetween(const Eigen::Vector3d& minCoordinates, const Eigen::Vector3d& maxCoordinates); - - void publish(); - - private: - void callback(const convex_plane_decomposition_msgs::PlanarTerrain::ConstPtr& msg); - - std::pair getSignedDistanceRange(const grid_map::GridMap& gridMap, const std::string& elevationLayer); - - ros::Subscriber terrainSubscriber_; - ros::Publisher distanceFieldPublisher_; - - std::mutex updateMutex_; - std::atomic_bool terrainUpdated_; - std::unique_ptr terrainPtr_; - - std::mutex updateCoordinatesMutex_; - Eigen::Vector3d minCoordinates_; - Eigen::Vector3d maxCoordinates_; - bool externalCoordinatesGiven_; - - std::mutex pointCloudMutex_; - pcl::PointCloud pointCloud_; - - ocs2::benchmark::RepeatedTimer callbackTimer_; -}; - -} // namespace switched_model diff --git a/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesTerrainVisualization.h b/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesTerrainVisualization.h deleted file mode 100644 index 6c8acf6b..00000000 --- a/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesTerrainVisualization.h +++ /dev/null @@ -1,18 +0,0 @@ -// -// Created by rgrandia on 24.06.20. -// - -#pragma once - -#include -#include - -#include -#include - -namespace switched_model { - -visualization_msgs::MarkerArray getConvexTerrainMarkers(const ConvexTerrain& convexTerrain, ocs2::Color color, double linewidth, - double normalLength); - -} // namespace switched_model diff --git a/segmented_planes_terrain_model/launch/demo.launch b/segmented_planes_terrain_model/launch/demo.launch deleted file mode 100644 index ef8c03d9..00000000 --- a/segmented_planes_terrain_model/launch/demo.launch +++ /dev/null @@ -1,15 +0,0 @@ - - - - - - - - - - - - - - \ No newline at end of file diff --git a/segmented_planes_terrain_model/package.xml b/segmented_planes_terrain_model/package.xml deleted file mode 100644 index 3db47322..00000000 --- a/segmented_planes_terrain_model/package.xml +++ /dev/null @@ -1,25 +0,0 @@ - - - segmented_planes_terrain_model - 0.0.0 - The segmented_planes_terrain_model package - - Ruben Grandia - - TODO - - catkin - grid_map_filters_rsl - ocs2_switched_model_interface - grid_map_sdf - pcl_ros - convex_plane_decomposition - convex_plane_decomposition_msgs - convex_plane_decomposition_ros - signed_distance_field - roscpp - visualization_msgs - sensor_msgs - libvtk7-dev - - diff --git a/segmented_planes_terrain_model/src/DemoNode.cpp b/segmented_planes_terrain_model/src/DemoNode.cpp deleted file mode 100644 index edca9ae6..00000000 --- a/segmented_planes_terrain_model/src/DemoNode.cpp +++ /dev/null @@ -1,129 +0,0 @@ -// -// Created by rgrandia on 24.06.20. -// - -#include "segmented_planes_terrain_model/SegmentedPlanesTerrainModelRos.h" - -#include - -#include -#include - -#include -#include -#include -#include -#include -#include - -#include - -#include "segmented_planes_terrain_model/SegmentedPlanesSignedDistanceField.h" -#include "segmented_planes_terrain_model/SegmentedPlanesTerrainVisualization.h" - -const std::string frameId_ = "odom"; -std::unique_ptr messageMap; - -visualization_msgs::MarkerArray toMarker(const switched_model::ConvexTerrain& convexTerrain) { - visualization_msgs::MarkerArray markerArray = switched_model::getConvexTerrainMarkers(convexTerrain, ocs2::Color::orange, 0.005, 0.1); - - // Add headers and Id - const ros::Time timeStamp = ros::Time::now(); - ocs2::assignHeader(markerArray.markers.begin(), markerArray.markers.end(), ocs2::getHeaderMsg(frameId_, timeStamp)); - ocs2::assignIncreasingId(markerArray.markers.begin(), markerArray.markers.end()); - - return markerArray; -} - -visualization_msgs::Marker toMarker(const switched_model::vector3_t& position) { - auto marker = ocs2::getSphereMsg(position, ocs2::Color::green, 0.02); - - const ros::Time timeStamp = ros::Time::now(); - marker.header = ocs2::getHeaderMsg(frameId_, timeStamp); - return marker; -} - -void elevationMappingCallback(const grid_map_msgs::GridMap& message) { - if (!messageMap) { - messageMap = std::make_unique(); - } - grid_map::GridMapRosConverter::fromMessage(message, *messageMap, {"elevation"}, false, false); -} - -float randomFloat(float a, float b) { - float random = ((float)rand()) / (float)RAND_MAX; - float diff = b - a; - float r = random * diff; - return a + r; -} - -int main(int argc, char** argv) { - ros::init(argc, argv, "segmented_planes_demo_node"); - ros::NodeHandle nodeHandle("~"); - - // Subscription to terrain - switched_model::SegmentedPlanesTerrainModelRos segmentedPlanesTerrainModelRos(nodeHandle); - std::unique_ptr terrainModel; - - // Elevation subscription - - // Publishers for visualization - auto positionPublisher_ = nodeHandle.advertise("queryPosition", 1); - auto convexTerrainPublisher_ = nodeHandle.advertise("convex_terrain", 1); - auto regionBoundaryPublisher_ = nodeHandle.advertise("regionBoundary", 1); - auto distanceFieldPublisher = nodeHandle.advertise("signed_distance_field", 1); - auto elevationMapSubscriber = nodeHandle.subscribe("/convex_plane_decomposition_ros/filtered_map", 1, &elevationMappingCallback); - - // Node loop - ros::Rate rate(1. / 5.); - while (ros::ok()) { - if (auto newTerrain = segmentedPlanesTerrainModelRos.getTerrainModel()) { - terrainModel = std::move(newTerrain); - ROS_INFO("Terrain model updated!!"); - } - - if (terrainModel && messageMap) { - switched_model::vector3_t positionInWorld{randomFloat(-2.0, 2.0), randomFloat(-2.0, 2.0), randomFloat(0.0, 1.0)}; - positionPublisher_.publish(toMarker(positionInWorld)); - std::cout << "Query position: " << positionInWorld.transpose() << std::endl; - - auto t0 = std::chrono::high_resolution_clock::now(); - const auto convexTerrain = terrainModel->getConvexTerrainAtPositionInWorld(positionInWorld); - auto t1 = std::chrono::high_resolution_clock::now(); - std::cout << "Query took " << 1e-3 * std::chrono::duration_cast(t1 - t0).count() << " [ms]\n"; - - positionPublisher_.publish(toMarker(positionInWorld)); - convexTerrainPublisher_.publish(toMarker(convexTerrain)); - - double heightClearance = 0.35; - double width = 1.5; - double length = 2.0; - bool success; - grid_map::GridMap localMap = messageMap->getSubmap({convexTerrain.plane.positionInWorld.x(), convexTerrain.plane.positionInWorld.y()}, - Eigen::Array2d(width, length), success); - auto t2 = std::chrono::high_resolution_clock::now(); - switched_model::SegmentedPlanesSignedDistanceField sdf(localMap, "elevation", - convexTerrain.plane.positionInWorld.z() - heightClearance, - convexTerrain.plane.positionInWorld.z() + heightClearance); - auto t3 = std::chrono::high_resolution_clock::now(); - std::cout << "Sdf computation took " << 1e-3 * std::chrono::duration_cast(t3 - t2).count() << " [ms]\n"; - - auto t4 = std::chrono::high_resolution_clock::now(); - auto sdfClone = std::unique_ptr(sdf.clone()); - auto t5 = std::chrono::high_resolution_clock::now(); - std::cout << "Sdf.clone() computation took " << 1e-3 * std::chrono::duration_cast(t5 - t4).count() - << " [ms]\n"; - - sensor_msgs::PointCloud2 pointCloud2Msg; - pcl::toROSMsg(sdf.obstaclePointCloud(4), pointCloud2Msg); - pointCloud2Msg.header = ocs2::getHeaderMsg(frameId_, ros::Time::now()); - - distanceFieldPublisher.publish(pointCloud2Msg); - } - - ros::spinOnce(); - rate.sleep(); - } - - return 0; -} \ No newline at end of file diff --git a/segmented_planes_terrain_model/src/SegmentedPlaneProjection.cpp b/segmented_planes_terrain_model/src/SegmentedPlaneProjection.cpp deleted file mode 100644 index 1f00659b..00000000 --- a/segmented_planes_terrain_model/src/SegmentedPlaneProjection.cpp +++ /dev/null @@ -1,150 +0,0 @@ -// -// Created by rgrandia on 12.10.21. -// - -#include "segmented_planes_terrain_model/SegmentedPlaneProjection.h" - -#include - -namespace switched_model { - -// alias to avoid long namespace -namespace cpd = convex_plane_decomposition; - -double distanceCost(const vector3_t& query, const vector3_t& terrainPoint) { - const double dx = query.x() - terrainPoint.x(); - const double dy = query.y() - terrainPoint.y(); - const double dz = query.z() - terrainPoint.z(); - return dx * dx + dy * dy + dz * dz; -} - -double distanceCostLowerbound(double distanceSquared) { - return distanceSquared; -} - -double intervalSquareDistance(double value, double min, double max) { - // - | 0 | + - // min max - // Returns 0.0 if between min and max. Returns the distance to one boundary otherwise. - if (value < min) { - double diff = min - value; - return diff * diff; - } else if (value < max) { - return 0.0; - } else { - double diff = max - value; - return diff * diff; - } -} - -double squaredDistanceToBoundingBox(const cpd::CgalPoint2d& point, const cpd::CgalBbox2d& boundingBox) { - double dxdx = intervalSquareDistance(point.x(), boundingBox.xmin(), boundingBox.xmax()); - double dydy = intervalSquareDistance(point.y(), boundingBox.ymin(), boundingBox.ymax()); - return dxdx + dydy; -} - -const cpd::CgalPolygonWithHoles2d* findInsetContainingThePoint(const cpd::CgalPoint2d& point, - const std::vector& insets) { - for (const auto& inset : insets) { - if (cpd::isInside(point, inset.outer_boundary())) { - return &inset; - } - } - return nullptr; -} - -cpd::CgalPoint2d projectToPlanarRegion(const cpd::CgalPoint2d& queryProjectedToPlane, const cpd::PlanarRegion& planarRegion) { - // First search if the projected point is inside any of the insets. - const auto* const insetPtrContainingPoint = findInsetContainingThePoint(queryProjectedToPlane, planarRegion.boundaryWithInset.insets); - - // Compute the projection - cpd::CgalPoint2d projectedPoint; - if (insetPtrContainingPoint == nullptr) { - // Not inside any of the insets. Need to look for the closest one. The projection will be to the boundary - double minDistSquared = std::numeric_limits::max(); - for (const auto& inset : planarRegion.boundaryWithInset.insets) { - const auto closestPoint = cpd::projectToClosestPoint(queryProjectedToPlane, inset.outer_boundary()); - double distSquare = cpd::squaredDistance(closestPoint, queryProjectedToPlane); - if (distSquare < minDistSquared) { - projectedPoint = closestPoint; - minDistSquared = distSquare; - } - } - } else { - // Query point is inside and does not need projection... - projectedPoint = queryProjectedToPlane; - - // ... unless it is inside a hole - for (const auto& hole : insetPtrContainingPoint->holes()) { - if (cpd::isInside(queryProjectedToPlane, hole)) { - projectedPoint = cpd::projectToClosestPoint(queryProjectedToPlane, hole); - break; // No need to search other holes. Holes are not overlapping - } - } - } - - return projectedPoint; -} - -std::vector sortWithBoundingBoxes(const vector3_t& positionInWorld, - const std::vector& planarRegions) { - // Compute distance to bounding boxes - std::vector regionsAndBboxSquareDistances; - regionsAndBboxSquareDistances.reserve(planarRegions.size()); - for (const auto& planarRegion : planarRegions) { - const auto& positionInTerrainFrame = planarRegion.transformPlaneToWorld.inverse() * positionInWorld; - const double dzdz = positionInTerrainFrame.z() * positionInTerrainFrame.z(); - - RegionSortingInfo regionSortingInfo; - regionSortingInfo.regionPtr = &planarRegion; - regionSortingInfo.positionInTerrainFrame = {positionInTerrainFrame.x(), positionInTerrainFrame.y()}; - regionSortingInfo.boundingBoxSquareDistance = - squaredDistanceToBoundingBox(regionSortingInfo.positionInTerrainFrame, planarRegion.bbox2d) + dzdz; - - regionsAndBboxSquareDistances.push_back(regionSortingInfo); - } - - // Sort regions close to far - std::sort(regionsAndBboxSquareDistances.begin(), regionsAndBboxSquareDistances.end(), - [](const RegionSortingInfo& lhs, const RegionSortingInfo& rhs) { - return lhs.boundingBoxSquareDistance < rhs.boundingBoxSquareDistance; - }); - - return regionsAndBboxSquareDistances; -} - -std::pair getPlanarRegionAtPositionInWorld( - const vector3_t& positionInWorld, const std::vector& planarRegions, - std::function penaltyFunction) { - const auto sortedRegions = sortWithBoundingBoxes(positionInWorld, planarRegions); - - // Look for closest planar region. - scalar_t minCost = std::numeric_limits::max(); - std::pair closestRegionAndProjection; - for (const auto& regionInfo : sortedRegions) { - // Skip based on lower bound - if (distanceCostLowerbound(regionInfo.boundingBoxSquareDistance) > minCost) { - continue; - } - - // Shorthand - const auto* regionPtr = regionInfo.regionPtr; - - // Project onto planar region - const auto projectedPointInTerrainFrame = projectToPlanarRegion(regionInfo.positionInTerrainFrame, *regionPtr); - - // Express projected point in World frame - const auto projectionInWorldFrame = - convex_plane_decomposition::positionInWorldFrameFromPosition2dInPlane(projectedPointInTerrainFrame, regionPtr->transformPlaneToWorld); - - const scalar_t cost = distanceCost(positionInWorld, projectionInWorldFrame) + penaltyFunction(projectionInWorldFrame); - if (cost < minCost) { - minCost = cost; - closestRegionAndProjection = {regionPtr, projectedPointInTerrainFrame}; - } - } - - return closestRegionAndProjection; -} - -} // namespace switched_model \ No newline at end of file diff --git a/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModel.cpp b/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModel.cpp deleted file mode 100644 index 21e3c396..00000000 --- a/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModel.cpp +++ /dev/null @@ -1,129 +0,0 @@ -// -// Created by rgrandia on 23.06.20. -// - -#include "segmented_planes_terrain_model/SegmentedPlanesTerrainModel.h" - -#include - -#include - -#include - -#include "segmented_planes_terrain_model/SegmentedPlaneProjection.h" - -namespace switched_model { - -namespace { -const std::string elevationLayerName = "elevation"; -} // namespace - -SegmentedPlanesTerrainModel::SegmentedPlanesTerrainModel(convex_plane_decomposition::PlanarTerrain planarTerrain) - : planarTerrain_(std::move(planarTerrain)), - signedDistanceField_(nullptr), - elevationData_(&planarTerrain_.gridMap.get(elevationLayerName)) {} - -TerrainPlane SegmentedPlanesTerrainModel::getLocalTerrainAtPositionInWorldAlongGravity( - const vector3_t& positionInWorld, std::function penaltyFunction) const { - const auto regionAndSeedPoint = - getPlanarRegionAtPositionInWorld(positionInWorld, planarTerrain_.planarRegions, std::move(penaltyFunction)); - const auto& region = *regionAndSeedPoint.first; - const auto& seedpoint = regionAndSeedPoint.second; - const auto& seedpointInWorldFrame = - convex_plane_decomposition::positionInWorldFrameFromPosition2dInPlane(seedpoint, region.transformPlaneToWorld); - return TerrainPlane{seedpointInWorldFrame, region.transformPlaneToWorld.linear().transpose()}; -} - -ConvexTerrain SegmentedPlanesTerrainModel::getConvexTerrainAtPositionInWorld( - const vector3_t& positionInWorld, std::function penaltyFunction) const { - const auto regionAndSeedPoint = - getPlanarRegionAtPositionInWorld(positionInWorld, planarTerrain_.planarRegions, std::move(penaltyFunction)); - const auto& region = *regionAndSeedPoint.first; - const auto& seedpoint = regionAndSeedPoint.second; - const auto& seedpointInWorldFrame = - convex_plane_decomposition::positionInWorldFrameFromPosition2dInPlane(seedpoint, region.transformPlaneToWorld); - - // Convert boundary and seedpoint to terrain frame - const int numberOfVertices = 16; // Multiple of 4 is nice for symmetry. - const double growthFactor = 1.05; - const auto convexRegion = convex_plane_decomposition::growConvexPolygonInsideShape(region.boundaryWithInset.boundary, seedpoint, - numberOfVertices, growthFactor); - - // Return convex region with origin at the seedpoint - ConvexTerrain convexTerrain; - convexTerrain.plane = {seedpointInWorldFrame, region.transformPlaneToWorld.linear().transpose()}; // Origin is at the seedpoint - convexTerrain.boundary.reserve(convexRegion.size()); - for (const auto& point : convexRegion) { - convexTerrain.boundary.emplace_back(point.x() - seedpoint.x(), point.y() - seedpoint.y()); // Shift points to new origin - } - return convexTerrain; -} - -void SegmentedPlanesTerrainModel::createSignedDistanceBetween(const Eigen::Vector3d& minCoordinates, - const Eigen::Vector3d& maxCoordinates) { - // Compute coordinates of submap - const auto minXY = - grid_map::lookup::projectToMapWithMargin(planarTerrain_.gridMap, grid_map::Position(minCoordinates.x(), minCoordinates.y())); - const auto maxXY = - grid_map::lookup::projectToMapWithMargin(planarTerrain_.gridMap, grid_map::Position(maxCoordinates.x(), maxCoordinates.y())); - const auto centerXY = 0.5 * (minXY + maxXY); - const auto lengths = maxXY - minXY; - - bool success = true; - grid_map::GridMap subMap = planarTerrain_.gridMap.getSubmap(centerXY, lengths, success); - if (success) { - signedDistanceField_ = std::make_unique(subMap, elevationLayerName, - minCoordinates.z(), maxCoordinates.z()); - } else { - std::cerr << "[SegmentedPlanesTerrainModel] Failed to get subMap" << std::endl; - } -} - -vector3_t SegmentedPlanesTerrainModel::getHighestObstacleAlongLine(const vector3_t& position1InWorld, - const vector3_t& position2InWorld) const { - const auto result = grid_map::lookup::maxValueBetweenLocations( - {position1InWorld.x(), position1InWorld.y()}, {position2InWorld.x(), position2InWorld.y()}, planarTerrain_.gridMap, *elevationData_); - if (result.isValid) { - return {result.position.x(), result.position.y(), result.value}; - } else { - // return highest query point if the map didn't work. - if (position1InWorld.z() > position2InWorld.z()) { - return position1InWorld; - } else { - return position2InWorld; - } - } -} - -std::vector SegmentedPlanesTerrainModel::getHeightProfileAlongLine(const vector3_t& position1InWorld, - const vector3_t& position2InWorld) const { - const vector2_t diff2d = position2InWorld.head<2>() - position1InWorld.head<2>(); - const scalar_t diffSquareNorm = diff2d.squaredNorm(); - const auto resolution = planarTerrain_.gridMap.getResolution(); - - if (diffSquareNorm > (resolution * resolution)) { // norm(p2-p1)_XY > resolution - const auto pointsOnLine = - grid_map::lookup::valuesBetweenLocations({position1InWorld.x(), position1InWorld.y()}, {position2InWorld.x(), position2InWorld.y()}, - planarTerrain_.gridMap, *elevationData_); - - std::vector heightProfile; - heightProfile.reserve(pointsOnLine.size()); - - for (const auto& point : pointsOnLine) { - const vector2_t pointDiff = point.head<2>() - position1InWorld.head<2>(); - const scalar_t lineProgress = pointDiff.dot(diff2d) / diffSquareNorm; - if (lineProgress >= 0.0 && lineProgress <= 1.0) { - heightProfile.push_back({lineProgress, point.z()}); - } - } - - return heightProfile; - } else { - grid_map::Index index; - planarTerrain_.gridMap.getIndex({position1InWorld.x(), position1InWorld.y()}, index); - scalar_t heightData = (*elevationData_)(index(0), index(1)); - return {{0.0, heightData}, {1.0, heightData}}; - } -} - -} // namespace switched_model diff --git a/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModelRos.cpp b/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModelRos.cpp deleted file mode 100644 index e7def050..00000000 --- a/segmented_planes_terrain_model/src/SegmentedPlanesTerrainModelRos.cpp +++ /dev/null @@ -1,124 +0,0 @@ -// -// Created by rgrandia on 24.06.20. -// - -#include "segmented_planes_terrain_model/SegmentedPlanesTerrainModelRos.h" - -#include -#include - -#include -#include -#include - -namespace switched_model { - -SegmentedPlanesTerrainModelRos::SegmentedPlanesTerrainModelRos(ros::NodeHandle& nodehandle) - : terrainUpdated_(false), - minCoordinates_(Eigen::Vector3d::Zero()), - maxCoordinates_(Eigen::Vector3d::Zero()), - externalCoordinatesGiven_(false) { - terrainSubscriber_ = - nodehandle.subscribe("/convex_plane_decomposition_ros/planar_terrain", 1, &SegmentedPlanesTerrainModelRos::callback, this); - distanceFieldPublisher_ = - nodehandle.advertise("/convex_plane_decomposition_ros/signed_distance_field", 1, true); -} - -SegmentedPlanesTerrainModelRos::~SegmentedPlanesTerrainModelRos() { - if (callbackTimer_.getNumTimedIntervals() > 0) { - std::cout << "[SegmentedPlanesTerrainModelRos] Benchmarking terrain Callback\n" - << "\tStatistics computed over " << callbackTimer_.getNumTimedIntervals() << " iterations. \n" - << "\tAverage time [ms] " << callbackTimer_.getAverageInMilliseconds() << "\n" - << "\tMaximum time [ms] " << callbackTimer_.getMaxIntervalInMilliseconds() << std::endl; - } -} - -std::unique_ptr SegmentedPlanesTerrainModelRos::getTerrainModel() { - std::lock_guard lock(updateMutex_); - return std::move(terrainPtr_); -} - -void SegmentedPlanesTerrainModelRos::createSignedDistanceBetween(const Eigen::Vector3d& minCoordinates, - const Eigen::Vector3d& maxCoordinates) { - std::lock_guard lock(updateCoordinatesMutex_); - minCoordinates_ = minCoordinates; - maxCoordinates_ = maxCoordinates; - externalCoordinatesGiven_ = true; -} - -void SegmentedPlanesTerrainModelRos::publish() { - // Extract point cloud. - pcl::PointCloud pointcloud; - { - std::lock_guard lock(pointCloudMutex_); - pointcloud.swap(pointCloud_); - } - - // Publish. - if (!pointcloud.empty()) { - sensor_msgs::PointCloud2 pointCloud2Msg; - pcl::toROSMsg(pointcloud, pointCloud2Msg); - distanceFieldPublisher_.publish(pointCloud2Msg); - } -} - -void SegmentedPlanesTerrainModelRos::callback(const convex_plane_decomposition_msgs::PlanarTerrain::ConstPtr& msg) { - callbackTimer_.startTimer(); - - // Read terrain - auto terrainPtr = std::make_unique(convex_plane_decomposition::fromMessage(*msg)); - - // Create SDF - const std::string elevationLayer = "elevation"; - if (terrainPtr->planarTerrain().gridMap.exists(elevationLayer)) { - const auto sdfRange = getSignedDistanceRange(terrainPtr->planarTerrain().gridMap, elevationLayer); - terrainPtr->createSignedDistanceBetween(sdfRange.first, sdfRange.second); - } - - // Create pointcloud for visualization - const auto* sdfPtr = terrainPtr->getSignedDistanceField(); - if (sdfPtr != nullptr) { - auto pointCloud = sdfPtr->asPointCloud(1, [](float val) { return -0.05F <= val && val <= 0.0F; }); - std::lock_guard lock(pointCloudMutex_); - pointCloud_.swap(pointCloud); - } - - { // Move to storage under the lock - std::lock_guard lock(updateMutex_); - terrainPtr_.swap(terrainPtr); - } - - callbackTimer_.endTimer(); -} - -std::pair SegmentedPlanesTerrainModelRos::getSignedDistanceRange(const grid_map::GridMap& gridMap, - const std::string& elevationLayer) { - // Extract coordinates for signed distance field - Eigen::Vector3d minCoordinates; - Eigen::Vector3d maxCoordinates; - bool externalRangeGiven; - { - std::lock_guard lock(updateCoordinatesMutex_); - minCoordinates = minCoordinates_; - maxCoordinates = maxCoordinates_; - externalRangeGiven = externalCoordinatesGiven_; - } - - if (!externalRangeGiven) { - // Read min-max from elevation map - const float heightMargin = 0.1; - const auto& elevationData = gridMap.get(elevationLayer); - const float minValue = elevationData.minCoeffOfFinites() - heightMargin; - const float maxValue = elevationData.maxCoeffOfFinites() + heightMargin; - auto minXY = grid_map::lookup::projectToMapWithMargin( - gridMap, grid_map::Position(std::numeric_limits::lowest(), std::numeric_limits::lowest())); - auto maxXY = grid_map::lookup::projectToMapWithMargin( - gridMap, grid_map::Position(std::numeric_limits::max(), std::numeric_limits::max())); - minCoordinates = {minXY.x(), minXY.y(), minValue}; - maxCoordinates = {maxXY.x(), maxXY.y(), maxValue}; - }; - - return {minCoordinates, maxCoordinates}; -} - -} // namespace switched_model diff --git a/segmented_planes_terrain_model/src/SegmentedPlanesTerrainVisualization.cpp b/segmented_planes_terrain_model/src/SegmentedPlanesTerrainVisualization.cpp deleted file mode 100644 index b8a576c3..00000000 --- a/segmented_planes_terrain_model/src/SegmentedPlanesTerrainVisualization.cpp +++ /dev/null @@ -1,40 +0,0 @@ -// -// Created by rgrandia on 24.06.20. -// - -#include "segmented_planes_terrain_model/SegmentedPlanesTerrainVisualization.h" - -#include - -namespace switched_model { - -visualization_msgs::MarkerArray getConvexTerrainMarkers(const ConvexTerrain& convexTerrain, ocs2::Color color, double linewidth, - double normalLength) { - visualization_msgs::MarkerArray markerArray; - markerArray.markers.reserve(2); - - // Mark the surface normal - const vector3_t surfaceNormal = normalLength * surfaceNormalInWorld(convexTerrain.plane); - markerArray.markers.emplace_back(ocs2::getArrowAtPointMsg(surfaceNormal, convexTerrain.plane.positionInWorld, color)); - - // Polygon message - if (!convexTerrain.boundary.empty()) { - std::vector boundary; - boundary.reserve(convexTerrain.boundary.size() + 1); - for (const auto& point : convexTerrain.boundary) { - const auto& pointInWorldFrame = positionInWorldFrameFromPositionInTerrain({point.x(), point.y(), 0.0}, convexTerrain.plane); - boundary.emplace_back(ocs2::getPointMsg(pointInWorldFrame)); - } - // Close the polygon - const auto& pointInWorldFrame = positionInWorldFrameFromPositionInTerrain( - {convexTerrain.boundary.front().x(), convexTerrain.boundary.front().y(), 0.0}, convexTerrain.plane); - boundary.emplace_back(ocs2::getPointMsg(pointInWorldFrame)); - - markerArray.markers.emplace_back(ocs2::getLineMsg(std::move(boundary), color, linewidth)); - } else { - } - - return markerArray; -} - -} // namespace switched_model diff --git a/segmented_planes_terrain_model/test/signedDistanceTest.cpp b/segmented_planes_terrain_model/test/signedDistanceTest.cpp deleted file mode 100644 index 6db3eaa8..00000000 --- a/segmented_planes_terrain_model/test/signedDistanceTest.cpp +++ /dev/null @@ -1,110 +0,0 @@ -// -// Created by rgrandia on 09.07.20. -// - -#include - - -#include -#include - -#include -#include -#include -#include - -#include "segmented_planes_terrain_model/SegmentedPlanesSignedDistanceField.h" - -grid_map::GridMap loadElevationMapFromFile(const std::string& filePath, double resolution, double scale) { - // Read the file - cv::Mat image; - image = cv::imread(filePath, cv::ImreadModes::IMREAD_GRAYSCALE); - - // Check for invalid input - if (!image.data) { - throw std::runtime_error("Could not open or find the image"); - } - - // Min max values - double minValue, maxValue; - cv::minMaxLoc(image, &minValue, &maxValue); - - grid_map::GridMap mapOut({"elevation"}); - mapOut.setFrameId("odom"); - grid_map::GridMapCvConverter::initializeFromImage(image, resolution, mapOut, grid_map::Position(0.0, 0.0)); - grid_map::GridMapCvConverter::addLayerFromImage(image, std::string("elevation"), mapOut, float(0.0), float(scale), 0.5); - return mapOut; -} - -int main(int argc, char** argv) { - std::string folder = "/home/rgrandia/git/anymal/convex_terrain_representation/convex_plane_decomposition_ros/data/"; - // std::string file = "elevationMap_8_139cm.png"; - // double heightScale = 1.39; - std::string file = "demo_map.png"; - double heightScale = 1.25; - // std::string file = "realStairs_125cm.png"; double heightScale = 1.25; - // std::string file = "terrain.png"; double heightScale = 1.25; - // std::string file = "holes.png"; double heightScale = 1.0; - // std::string file = "slope_1m_1m_20cm.png"; double heightScale = 0.2; - // std::string file = "straightStairs_1m_1m_60cm.png"; double heightScale = 0.6; - double resolution = 0.02; - - auto messageMap = loadElevationMapFromFile(folder + file, resolution, heightScale); - - grid_map::SignedDistanceField signedDistanceField; - - double width = 4.0; - bool success; - grid_map::GridMap localMap = messageMap.getSubmap(messageMap.getPosition(), Eigen::Array2d(width, width), success); - - // signedDistanceField.calculateSignedDistanceField(messageMap, "elevation", heightClearance); - const grid_map::GridMap& gridMap = localMap; - const std::string& layer = "elevation"; - const double heightClearance = 0.1; - - // Members - float resolution_; - grid_map::Size size_; - grid_map::Position position_; - std::vector data_; - float zIndexStartHeight_; - float maxDistance_; - const float lowestHeight_ = -1e5; - using grid_map::Matrix; - - // initialization - resolution_ = gridMap.getResolution(); - position_ = gridMap.getPosition(); - size_ = gridMap.getSize(); - Matrix map = gridMap.get(layer); // Copy! - - float minHeight = map.minCoeffOfFinites(); - if (!std::isfinite(minHeight)) minHeight = lowestHeight_; - float maxHeight = map.maxCoeffOfFinites(); - if (!std::isfinite(maxHeight)) maxHeight = lowestHeight_; - - const float valueForEmptyCells = lowestHeight_; // maxHeight, minHeight (TODO Make this an option). - for (size_t i = 0; i < map.size(); ++i) { - if (std::isnan(map(i))) map(i) = valueForEmptyCells; - } - - // Height range of the signed distance field is higher than the max height. - maxHeight += heightClearance; - - auto t2 = std::chrono::high_resolution_clock::now(); - const int N = 50; - for (int rep = 0; rep < N; rep++) { -// // ========================================================= -// data_.clear(); -// -// // Calculate signed distance field from bottom. -// for (float h = minHeight; h < maxHeight; h += resolution_) { -// data_.emplace_back(signed_distance_field::signedDistanceAtHeight(map, h, resolution)); -// } - switched_model::SegmentedPlanesSignedDistanceField sdf(gridMap, layer, minHeight, maxHeight); - - // ========================================================= - } - auto t3 = std::chrono::high_resolution_clock::now(); - std::cout << "Sdf computation took " << 1e-3 * std::chrono::duration_cast(t3 - t2).count() / N << " [ms]\n"; -} \ No newline at end of file diff --git a/signed_distance_field/CMakeLists.txt b/signed_distance_field/CMakeLists.txt deleted file mode 100644 index c9490b9d..00000000 --- a/signed_distance_field/CMakeLists.txt +++ /dev/null @@ -1,77 +0,0 @@ -cmake_minimum_required(VERSION 3.10) -project(signed_distance_field) - -# Catkin dependencies -set(CATKIN_PACKAGE_DEPENDENCIES - grid_map_core - pcl_ros -) - -find_package(catkin REQUIRED COMPONENTS - ${CATKIN_PACKAGE_DEPENDENCIES} -) - -# Cpp standard version -set(CMAKE_CXX_STANDARD 14) -set(CMAKE_CXX_STANDARD_REQUIRED ON) - -################################### -## catkin specific configuration ## -################################### -catkin_package( - INCLUDE_DIRS include - LIBRARIES ${PROJECT_NAME} - CATKIN_DEPENDS ${CATKIN_PACKAGE_DEPENDENCIES} - DEPENDS -) - -########### -## Build ## -########### - -include_directories( - include - ${catkin_INCLUDE_DIRS} -) - -add_library(${PROJECT_NAME} - src/GridmapSignedDistanceField.cpp - src/SignedDistance2d.cpp -) -add_dependencies(${PROJECT_NAME} - ${catkin_EXPORTED_TARGETS} -) -target_link_libraries(${PROJECT_NAME} - ${catkin_LIBRARIES} -) - - -############# -## Install ## -############# - -install(TARGETS ${PROJECT_NAME} - ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -) -install(DIRECTORY include/${PROJECT_NAME}/ - DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} -) - -############# -## Testing ## -############# - -add_executable(${PROJECT_NAME}_test - test/test3dLookup.cpp - test/testDerivatives.cpp - test/testPixelBorderDistance.cpp - test/testSignedDistance2d.cpp - test/testSignedDistance3d.cpp -) -target_link_libraries(${PROJECT_NAME}_test - ${catkin_LIBRARIES} - ${PROJECT_NAME} - gtest_main -) \ No newline at end of file diff --git a/signed_distance_field/include/signed_distance_field/DistanceDerivatives.h b/signed_distance_field/include/signed_distance_field/DistanceDerivatives.h deleted file mode 100644 index 455421b1..00000000 --- a/signed_distance_field/include/signed_distance_field/DistanceDerivatives.h +++ /dev/null @@ -1,62 +0,0 @@ -/* - * DistanceDerivatives.h - * - * Created on: Aug 10, 2020 - * Author: Ruben Grandia - * Institute: ETH Zurich - */ - -#pragma once - -#include - -namespace grid_map { -namespace signed_distance_field { - -/** - * Takes the columnwise central difference of a matrix. Uses single sided difference at the boundaries. - * diff = (col(i+1) - col(i-1)) / (2 * resolution) - * - * @param data [in] : data to take the difference of. - * @param centralDifference [out] : matrix to store the result in. - * @param resolution [in] : scaling of the distance between two columns. - */ -inline void columnwiseCentralDifference(const Matrix& data, Matrix& centralDifference, float resolution) { - assert(data.cols() >= 2); // Minimum size to take finite differences. - - const int m = data.cols(); - const float resInv = 1.0F / resolution; - const float doubleResInv = 1.0F / (2.0F * resolution); - - // First column - centralDifference.col(0) = resInv * (data.col(1) - data.col(0)); - - // All the middle columns - for (int i = 1; i + 1 < m; ++i) { - centralDifference.col(i) = doubleResInv * (data.col(i + 1) - data.col(i - 1)); - } - - // Last column - centralDifference.col(m - 1) = resInv * (data.col(m - 1) - data.col(m - 2)); -} - -/** - * Takes the finite difference between layers - * result = (data_{k+1} - data{k}) / resolution - */ -inline void layerFiniteDifference(const Matrix& data_k, const Matrix& data_kp1, Matrix& result, float resolution) { - const float resInv = 1.0F / resolution; - result = resInv * (data_kp1 - data_k); -} - -/** - * Takes the central difference between layers - * result = (data_{k+1} - data{k-1}) / (2.0 * resolution) - */ -inline void layerCentralDifference(const Matrix& data_km1, const Matrix& data_kp1, Matrix& result, float resolution) { - const float doubleResInv = 1.0F / (2.0F * resolution); - result = doubleResInv * (data_kp1 - data_km1); -} - -} // namespace signed_distance_field -} // namespace grid_map \ No newline at end of file diff --git a/signed_distance_field/include/signed_distance_field/Gridmap3dLookup.h b/signed_distance_field/include/signed_distance_field/Gridmap3dLookup.h deleted file mode 100644 index 888a8a07..00000000 --- a/signed_distance_field/include/signed_distance_field/Gridmap3dLookup.h +++ /dev/null @@ -1,94 +0,0 @@ -/* - * Gridmap3dLookup.h - * - * Created on: Aug 13, 2020 - * Author: Ruben Grandia - * Institute: ETH Zurich - */ - -#pragma once - -#include - -namespace grid_map { -namespace signed_distance_field { - -/** - * Stores 3 dimensional grid information and provides methods to convert between position - 3d Index - linear index. - * - * As with the 2D GridMap, the X-Y position is opposite to the row-col-index: (X,Y) is highest at (0,0) and lowest at (n, m). - * The z-position is increasing with the layer-index. - */ -struct Gridmap3dLookup { - public: - EIGEN_MAKE_ALIGNED_OPERATOR_NEW - /// size_t in 3 dimensions - struct size_t_3d { - size_t x; - size_t y; - size_t z; - }; - - //! 3D size of the grid - size_t_3d gridsize_; - - //! Origin position of the grid - Position3 gridOrigin_; - - //! Maximum index per dimension stored as double - Position3 gridMaxIndexAsDouble_; - - //! Grid resolution - double resolution_; - - /** - * Constructor - * @param gridsize : x, y, z size of the grid - * @param gridOrigin : position at x=y=z=0 - * @param resolution : (>0.0) size of 1 voxel - */ - Gridmap3dLookup(const size_t_3d& gridsize, const Position3& gridOrigin, double resolution) - : gridsize_(gridsize), - gridOrigin_(gridOrigin), - gridMaxIndexAsDouble_(static_cast(gridsize_.x - 1), static_cast(gridsize_.y - 1), - static_cast(gridsize_.z - 1)), - resolution_(resolution) { - assert(resolution_ > 0.0); - assert(gridsize_.x > 0); - assert(gridsize_.y > 0); - assert(gridsize_.z > 0); - }; - - /** Default constructor: creates an empty grid */ - Gridmap3dLookup() : Gridmap3dLookup({1, 1, 1}, {0.0, 0.0, 0.0}, 1.0) {} - - /** Returns the 3d index of the grid node closest to the query position */ - size_t_3d nearestNode(const Position3& position) const noexcept { - const double resInv = 1.0 / resolution_; - Position3 subpixelVector{(gridOrigin_.x() - position.x()) * resInv, (gridOrigin_.y() - position.y()) * resInv, - (position.z() - gridOrigin_.z()) * resInv}; - return {nearestPositiveInteger(subpixelVector.x(), gridMaxIndexAsDouble_.x()), - nearestPositiveInteger(subpixelVector.y(), gridMaxIndexAsDouble_.y()), - nearestPositiveInteger(subpixelVector.z(), gridMaxIndexAsDouble_.z())}; - } - - /** Returns the 3d node position from a 3d index */ - Position3 nodePosition(const size_t_3d& index) const noexcept { - return {gridOrigin_.x() - index.x * resolution_, gridOrigin_.y() - index.y * resolution_, gridOrigin_.z() + index.z * resolution_}; - } - - /** Returns the linear node index from a 3d node index */ - size_t linearIndex(const size_t_3d& index) const noexcept { return (index.z * gridsize_.y + index.y) * gridsize_.x + index.x; } - - /** Linear size */ - size_t linearSize() const noexcept { return gridsize_.x * gridsize_.y * gridsize_.z; } - - /** rounds subindex value and clamps it to [0, max] */ - static size_t nearestPositiveInteger(double val, double max) noexcept { - // Comparing bounds as double prevents underflow/overflow of size_t - return static_cast(std::max(0.0, std::min(std::round(val), max))); - } -}; - -} // namespace signed_distance_field -} // namespace grid_map \ No newline at end of file diff --git a/signed_distance_field/include/signed_distance_field/GridmapSignedDistanceField.h b/signed_distance_field/include/signed_distance_field/GridmapSignedDistanceField.h deleted file mode 100644 index a970904c..00000000 --- a/signed_distance_field/include/signed_distance_field/GridmapSignedDistanceField.h +++ /dev/null @@ -1,147 +0,0 @@ -/* - * GridmapSignedDistanceField.h - * - * Created on: Jul 10, 2020 - * Author: Ruben Grandia - * Institute: ETH Zurich - */ - -#pragma once - -#include - -#include - -#include -#include - -#include -#include - -#include "Gridmap3dLookup.h" - -namespace grid_map { - -/** - * This class creates a dense 3D signed distance field grid for a given elevation map. - * The 3D grid uses the same resolution as the 2D map. i.e. all voxels are of size (resolution x resolution x resolution). - * The size of the 3D grid is the same as the map in XY direction. The size is Z direction is specified in the constructor. - * - * During the creation of the class all values and derivatives are pre-computed in one go. This makes repeated lookups very cheap. - * Querying a point outside of the constructed grid will result in linear extrapolation. - */ -class GridmapSignedDistanceField { - public: - EIGEN_MAKE_ALIGNED_OPERATOR_NEW - using Derivative3 = Eigen::Vector3d; - - /** - * Create a signed distance field and its derivative for an elevation layer in the grid map. - * - * @param gridMap : Input map to create the SDF for. - * @param elevationLayer : Name of the elevation layer. - * @param minHeight : Desired starting height of the 3D SDF grid. - * @param maxHeight : Desired ending height of the 3D SDF grid. (Will be rounded up to match the resolution) - */ - GridmapSignedDistanceField(const GridMap& gridMap, const std::string& elevationLayer, double minHeight, double maxHeight); - - /** - * Get the signed distance value at a 3D position. - * @param position : 3D position in the frame of the gridmap. - * @return signed distance to the elevation surface. - */ - double value(const Position3& position) const noexcept; - - /** - * Get the signed distance derivative at a 3D position. - * @param position : 3D position in the frame of the gridmap. - * @return derivative of the signed distance field. - */ - Derivative3 derivative(const Position3& position) const noexcept; - - /** - * Get both the signed distance value and derivative at a 3D position. - * @param position : 3D position in the frame of the gridmap. - * @return {value, derivative} of the signed distance field. - */ - std::pair valueAndDerivative(const Position3& position) const noexcept; - - /** - * Return the signed distance field as a pointcloud. The signed distance is assigned to the point's intensity. - * @param decimation : specifies how many points are returned. 1: all points, 2: every second point, etc. - * @param condition : specifies the condition on the distance value to add it to the pointcloud (default = any distance is added) - */ - pcl::PointCloud asPointCloud( - size_t decimation = 1, const std::function& condition = [](float) { return true; }) const; - - /** - * Return the signed distance field as a pointcloud where the distance is positive. - * @param decimation : specifies how many points are returned. 1: all points, 2: every second point, etc. - */ - pcl::PointCloud freeSpacePointCloud(size_t decimation = 1) const; - - /** - * Return the signed distance field as a pointcloud where the distance is negative. - * @param decimation : specifies how many points are returned. 1: all points, 2: every second point, etc. - */ - pcl::PointCloud obstaclePointCloud(size_t decimation = 1) const; - - private: - /** - * Implementation of the signed distance field computation in this class. - * @param elevation - */ - void computeSignedDistance(const Matrix& elevation); - - /** - * Simultaneously compute the signed distance and derivative in x direction at a given height - * @param elevation [in] : elevation data - * @param currentLayer [out] : signed distance values - * @param dxTranspose [out] : derivative in x direction (the matrix is transposed) - * @param sdfTranspose [tmp] : temporary variable to reuse between calls (allocated on first use) - * @param tmp [tmp] : temporary variable (allocated on first use) - * @param tmpTranspose [tmp] : temporary variable (allocated on first use) - * @param height [in] : height the signed distance is created for. - * @param resolution [in] : resolution of the map. - * @param minHeight [in] : smallest height value in the elevation data. - * @param maxHeight [in] : largest height value in the elevation data. - */ - void computeLayerSdfandDeltaX(const Matrix& elevation, Matrix& currentLayer, Matrix& dxTranspose, Matrix& sdfTranspose, Matrix& tmp, - Matrix& tmpTranspose, float height, float resolution, float minHeight, float maxHeight) const; - - /** - * Add the computed signed distance values and derivatives at a particular height to the grid. - * Adds the layer to the back of data_ - * @param signedDistance : signed distance values. - * @param dxTranspose : x components of the derivative (matrix is transposed). - * @param dy : y components of the derivative. - * @param dz : z components of the derivative. - */ - void emplacebackLayerData(const Matrix& signedDistance, const Matrix& dxTranspose, const Matrix& dy, const Matrix& dz); - - //! Data structure to store together {signed distance value, derivative}. - using node_data_t = std::array; - - /** Helper function to extract the sdf value */ - static double distance(const node_data_t& nodeData) noexcept { return nodeData[0]; } - - /** Helper function to extract the sdf value as float */ - static float distanceFloat(const node_data_t& nodeData) noexcept { return nodeData[0]; } - - /** Helper function to extract the sdf derivative */ - static Derivative3 derivative(const node_data_t& nodeData) noexcept { return {nodeData[1], nodeData[2], nodeData[3]}; } - - //! Object encoding the 3D grid. - signed_distance_field::Gridmap3dLookup gridmap3DLookup_; - - //! Object encoding the signed distance value and derivative in the grid. - std::vector data_; - - //! Frame id of the grid map. - std::string frameId_; - - //! Timestamp of the grid map (nanoseconds). - Time timestamp_; -}; - -} // namespace grid_map \ No newline at end of file diff --git a/signed_distance_field/include/signed_distance_field/PixelBorderDistance.h b/signed_distance_field/include/signed_distance_field/PixelBorderDistance.h deleted file mode 100644 index a2c9f93d..00000000 --- a/signed_distance_field/include/signed_distance_field/PixelBorderDistance.h +++ /dev/null @@ -1,104 +0,0 @@ -/* - * PixelBorderDistance.h - * - * Created on: Aug 7, 2020 - * Author: Ruben Grandia - * Institute: ETH Zurich - */ - -#pragma once - -#include -#include -#include - -namespace grid_map { -namespace signed_distance_field { - -/** - * Returns distance between the center of a pixel and the border of an other pixel. - * Returns zero if the center is inside the other pixel. - * Pixels are assumed to have size 1.0F - * @param i : location of pixel 1 - * @param j : location of pixel 2 - * @return : absolute distance between center of pixel 1 and the border of pixel 2 - */ -inline float pixelBorderDistance(float i, float j) { - return std::max(std::abs(i - j) - 0.5F, 0.0F); -} - -/** - * Returns square pixelBorderDistance, adding offset f. - */ -inline float squarePixelBorderDistance(float i, float j, float f) { - float d = pixelBorderDistance(i, j); - return d * d + f; -} - -namespace internal { - -/** - * Return equidistancepoint between origin and pixel p (with p > 0) with offset fp - */ -inline float intersectionPointRightSideOfOrigin(float p, float fp) { - /* - * There are 5 different solutions - * In decreasing order: - * sol 1 in [p^2, inf] - * sol 2 in [bound, p^2] - * sol 3 in [-bound, bound] - * sol 4 in [-p^2, -bound] - * sol 5 in [-inf, -p^2] - */ - auto pSquared = p * p; - if (fp > pSquared) { - return (pSquared + p + fp) / (2.0F * p); // sol 1 - } else if (fp < -pSquared) { - return (pSquared - p + fp) / (2.0F * p); // sol 5 - } else { - const float bound = pSquared - 2.0F * p + 1.0F; // Always positive because (p > 0) - if (fp > bound) { - return 0.5F + std::sqrt(fp); // sol 2 - } else if (fp < -bound) { - return p - 0.5F - std::sqrt(-fp); // sol 4 - } else { - return (pSquared - p + fp) / (2.0F * p - 2.0F); // sol 3 - } - } -} - -/** - * Return equidistancepoint between origin and pixel p with offset fp - */ -inline float intersectionOffsetFromOrigin(float p, float fp) { - if (p > 0.0F) { - return intersectionPointRightSideOfOrigin(p, fp); - } else { - // call with negative p and flip the result - return -intersectionPointRightSideOfOrigin(-p, fp); - } -} - -} // namespace internal - -/** - * Return the point s in pixel space that is equally far from p and q (taking into account offsets fp, and fq) - * It is the solution to the following equation: - * squarePixelBorderDistance(s, q, fq) == squarePixelBorderDistance(s, p, fp) - */ -inline float equidistancePoint(float q, float fq, float p, float fp) { - assert(q == p || - std::abs(q - p) >= 1.0F); // Check that q and p are proper pixel locations: either the same pixel or non-overlapping pixels - assert((q == p) ? fp == fq : true); // Check when q and p are equal, the offsets are also equal - - if (fp == fq) { // quite common case when both pixels are of the same class (occupied / free) - return 0.5F * (p + q); - } else { - float df = fp - fq; - float dr = p - q; - return internal::intersectionOffsetFromOrigin(dr, df) + q; - } -} - -} // namespace signed_distance_field -} // namespace grid_map \ No newline at end of file diff --git a/signed_distance_field/include/signed_distance_field/SignedDistance2d.h b/signed_distance_field/include/signed_distance_field/SignedDistance2d.h deleted file mode 100644 index 16bbb916..00000000 --- a/signed_distance_field/include/signed_distance_field/SignedDistance2d.h +++ /dev/null @@ -1,59 +0,0 @@ -/* - * SignedDistance2d.h - * - * Created on: Jul 10, 2020 - * Author: Ruben Grandia - * Institute: ETH Zurich - */ - -#pragma once - -#include - -#include - -#include "Utils.h" - -namespace grid_map { -namespace signed_distance_field { - -/** - * Computes the signed distance field at a specified height for a given elevation map. - * - * @param elevationMap : elevation data. - * @param height : height to generate the signed distance at. - * @param resolution : resolution of the elevation map. (The true distance [m] between cells in world frame) - * @param minHeight : the lowest height contained in elevationMap - * @param maxHeight : the maximum height contained in elevationMap - * @return The signed distance field at the query height. - */ -Matrix signedDistanceAtHeight(const Matrix& elevationMap, float height, float resolution, float minHeight, float maxHeight); - -/** - * Same as above, but returns the sdf in transposed form. - * Also takes temporary variables from outside to prevent memory allocation. - * - * @param elevationMap : elevation data. - * @param sdfTranspose : [output] resulting sdf in transposed form (automatically allocated if of wrong size) - * @param tmp : temporary of size elevationMap (automatically allocated if of wrong size) - * @param tmpTranspose : temporary of size elevationMap transpose (automatically allocated if of wrong size) - * @param height : height to generate the signed distance at. - * @param resolution : resolution of the elevation map. (The true distance [m] between cells in world frame) - * @param minHeight : the lowest height contained in elevationMap - * @param maxHeight : the maximum height contained in elevationMap - */ -void signedDistanceAtHeightTranspose(const Matrix& elevationMap, Matrix& sdfTranspose, Matrix& tmp, Matrix& tmpTranspose, float height, - float resolution, float minHeight, float maxHeight); - -/** - * Gets the 2D signed distance from an occupancy grid. - * Returns +INF if there are no obstacles, and -INF if there are only obstacles - * - * @param occupancyGrid : occupancy grid with true = obstacle, false = free space - * @param resolution : resolution of the grid. - * @return signed distance for each point in the grid to the occupancy border. - */ -Matrix signedDistanceFromOccupancy(const Eigen::Matrix& occupancyGrid, float resolution); - -} // namespace signed_distance_field -} // namespace grid_map \ No newline at end of file diff --git a/signed_distance_field/include/signed_distance_field/Utils.h b/signed_distance_field/include/signed_distance_field/Utils.h deleted file mode 100644 index bc753907..00000000 --- a/signed_distance_field/include/signed_distance_field/Utils.h +++ /dev/null @@ -1,18 +0,0 @@ -/* - * Utils.h - * - * Created on: Jul 10, 2020 - * Author: Ruben Grandia - * Institute: ETH Zurich - */ - -#pragma once - -namespace grid_map { -namespace signed_distance_field { - -//! Distance value that is considered infinite. Needs to be well below numeric_limits::max to avoid overflow in computation involving ^2 -constexpr float INF = 1e15; - -} // namespace signed_distance_field -} // namespace grid_map \ No newline at end of file diff --git a/signed_distance_field/package.xml b/signed_distance_field/package.xml deleted file mode 100644 index a6ba2663..00000000 --- a/signed_distance_field/package.xml +++ /dev/null @@ -1,16 +0,0 @@ - - - signed_distance_field - 0.0.0 - The signed_distance_field package - - Ruben Grandia - - TODO - - catkin - - grid_map_core - pcl_ros - - diff --git a/signed_distance_field/src/GridmapSignedDistanceField.cpp b/signed_distance_field/src/GridmapSignedDistanceField.cpp deleted file mode 100644 index cb2b56aa..00000000 --- a/signed_distance_field/src/GridmapSignedDistanceField.cpp +++ /dev/null @@ -1,214 +0,0 @@ -/* - * GridmapSignedDistanceField.cpp - * - * Created on: Jul 10, 2020 - * Author: Ruben Grandia - * Institute: ETH Zurich - */ - -#include "signed_distance_field/GridmapSignedDistanceField.h" - -#include - -#include "signed_distance_field/DistanceDerivatives.h" -#include "signed_distance_field/SignedDistance2d.h" - -namespace grid_map { - -// Import from the signed_distance_field namespace -using signed_distance_field::columnwiseCentralDifference; -using signed_distance_field::Gridmap3dLookup; -using signed_distance_field::layerCentralDifference; -using signed_distance_field::layerFiniteDifference; -using signed_distance_field::signedDistanceAtHeightTranspose; - -GridmapSignedDistanceField::GridmapSignedDistanceField(const GridMap& gridMap, const std::string& elevationLayer, double minHeight, - double maxHeight) - : frameId_(gridMap.getFrameId()), timestamp_(gridMap.getTimestamp()) { - assert(maxHeight >= minHeight); - - // Determine origin of the 3D grid - Position mapOriginXY; - gridMap.getPosition(Eigen::Vector2i(0, 0), mapOriginXY); - Position3 gridOrigin(mapOriginXY.x(), mapOriginXY.y(), minHeight); - - // Round up the Z-discretization. We need a minimum of two layers to enable finite difference in Z direction - const auto numZLayers = static_cast(std::max(std::ceil((maxHeight - minHeight) / gridMap.getResolution()), 2.0)); - const size_t numXrows = gridMap.getSize().x(); - const size_t numYrows = gridMap.getSize().y(); - Gridmap3dLookup::size_t_3d gridsize = {numXrows, numYrows, numZLayers}; - - // Initialize 3D lookup - gridmap3DLookup_ = Gridmap3dLookup(gridsize, gridOrigin, gridMap.getResolution()); - - // Allocate the internal data structure - data_.reserve(gridmap3DLookup_.linearSize()); - - // Check for NaN - const auto& elevationData = gridMap.get(elevationLayer); - if (elevationData.hasNaN()) { - std::cerr << "[GridmapSignedDistanceField] elevation data contains NaN. The generated SDF will be invalid! Apply inpainting first" - << std::endl; - } - - // Compute the SDF - computeSignedDistance(elevationData); -} - -double GridmapSignedDistanceField::value(const Position3& position) const noexcept { - const auto nodeIndex = gridmap3DLookup_.nearestNode(position); - const auto nodePosition = gridmap3DLookup_.nodePosition(nodeIndex); - const auto nodeData = data_[gridmap3DLookup_.linearIndex(nodeIndex)]; - const auto jacobian = derivative(nodeData); - return distance(nodeData) + jacobian.dot(position - nodePosition); -} - -GridmapSignedDistanceField::Derivative3 GridmapSignedDistanceField::derivative(const Position3& position) const noexcept { - const auto nodeIndex = gridmap3DLookup_.nearestNode(position); - const auto nodeData = data_[gridmap3DLookup_.linearIndex(nodeIndex)]; - return derivative(nodeData); -} - -std::pair GridmapSignedDistanceField::valueAndDerivative( - const Position3& position) const noexcept { - const auto nodeIndex = gridmap3DLookup_.nearestNode(position); - const auto nodePosition = gridmap3DLookup_.nodePosition(nodeIndex); - const auto nodeData = data_[gridmap3DLookup_.linearIndex(nodeIndex)]; - const auto jacobian = derivative(nodeData); - return {distance(nodeData) + jacobian.dot(position - nodePosition), jacobian}; -} - -void GridmapSignedDistanceField::computeSignedDistance(const Matrix& elevation) { - const auto gridOriginZ = static_cast(gridmap3DLookup_.gridOrigin_.z()); - const auto resolution = static_cast(gridmap3DLookup_.resolution_); - const auto minHeight = elevation.minCoeff(); - const auto maxHeight = elevation.maxCoeff(); - - /* - * General strategy to reduce the amount of transposing: - * - SDF at a height is in transposed form after computing it. - * - Take the finite difference in dx, now that this data is continuous in memory. - * - Transpose the SDF - * - Take other finite differences. Now dy is efficient. - * - When writing to the 3D structure, keep in mind that dx is still transposed. - */ - - // Memory needed to compute the SDF at a layer - Matrix tmp; // allocated on first use - Matrix tmpTranspose; // allocated on first use - Matrix sdfTranspose; // allocated on first use - - // Memory needed to keep a buffer of layers. We need 3 due to the central difference - Matrix currentLayer; // allocated on first use - Matrix nextLayer; // allocated on first use - Matrix previousLayer; // allocated on first use - - // Memory needed to compute finite differences - Matrix dxTranspose = Matrix::Zero(elevation.cols(), elevation.rows()); - Matrix dxNextTranspose = Matrix::Zero(elevation.cols(), elevation.rows()); - Matrix dy = Matrix::Zero(elevation.rows(), elevation.cols()); - Matrix dz = Matrix::Zero(elevation.rows(), elevation.cols()); - - // Compute SDF of first layer - computeLayerSdfandDeltaX(elevation, currentLayer, dxTranspose, sdfTranspose, tmp, tmpTranspose, gridOriginZ, resolution, minHeight, - maxHeight); - - // Compute SDF of second layer - computeLayerSdfandDeltaX(elevation, nextLayer, dxNextTranspose, sdfTranspose, tmp, tmpTranspose, gridOriginZ + resolution, resolution, - minHeight, maxHeight); - - // First layer: forward difference in z - layerFiniteDifference(currentLayer, nextLayer, dz, resolution); // dz / layer = +resolution - columnwiseCentralDifference(currentLayer, dy, -resolution); // dy / dcol = -resolution - - emplacebackLayerData(currentLayer, dxTranspose, dy, dz); - - // Middle layers: central difference in z - for (size_t layerZ = 1; layerZ + 1 < gridmap3DLookup_.gridsize_.z; ++layerZ) { - // Circulate layer buffers - previousLayer.swap(currentLayer); - currentLayer.swap(nextLayer); - dxTranspose.swap(dxNextTranspose); - - // Compute SDF of next layer - computeLayerSdfandDeltaX(elevation, nextLayer, dxNextTranspose, sdfTranspose, tmp, tmpTranspose, - gridOriginZ + (layerZ + 1) * resolution, resolution, minHeight, maxHeight); - - // Compute other finite differences - layerCentralDifference(previousLayer, nextLayer, dz, resolution); - columnwiseCentralDifference(currentLayer, dy, -resolution); - - // Add the data to the 3D structure - emplacebackLayerData(currentLayer, dxTranspose, dy, dz); - } - - // Circulate layer buffers one last time - previousLayer.swap(currentLayer); - currentLayer.swap(nextLayer); - dxTranspose.swap(dxNextTranspose); - - // Last layer: backward difference in z - layerFiniteDifference(previousLayer, currentLayer, dz, resolution); - columnwiseCentralDifference(currentLayer, dy, -resolution); - - // Add the data to the 3D structure - emplacebackLayerData(currentLayer, dxTranspose, dy, dz); -} - -void GridmapSignedDistanceField::computeLayerSdfandDeltaX(const Matrix& elevation, Matrix& currentLayer, Matrix& dxTranspose, - Matrix& sdfTranspose, Matrix& tmp, Matrix& tmpTranspose, float height, - float resolution, float minHeight, float maxHeight) const { - // Compute SDF + dx of layer: compute sdfTranspose -> take dxTranspose -> transpose to get sdf - signedDistanceAtHeightTranspose(elevation, sdfTranspose, tmp, tmpTranspose, height, resolution, minHeight, maxHeight); - columnwiseCentralDifference(sdfTranspose, dxTranspose, -resolution); // dx / drow = -resolution - currentLayer = sdfTranspose.transpose(); -} - -void GridmapSignedDistanceField::emplacebackLayerData(const Matrix& signedDistance, const Matrix& dxdxTranspose, const Matrix& dy, - const Matrix& dz) { - for (size_t colY = 0; colY < gridmap3DLookup_.gridsize_.y; ++colY) { - for (size_t rowX = 0; rowX < gridmap3DLookup_.gridsize_.x; ++rowX) { - data_.emplace_back(node_data_t{signedDistance(rowX, colY), dxdxTranspose(colY, rowX), dy(rowX, colY), dz(rowX, colY)}); - } - } -} - -pcl::PointCloud GridmapSignedDistanceField::asPointCloud(size_t decimation, - const std::function& condition) const { - pcl::PointCloud points; - - // Convert Gridmap time -> ros time -> pcl time - points.header.stamp = pcl_conversions::toPCL(ros::Time().fromNSec(timestamp_)); - points.header.frame_id = frameId_; - - points.reserve(gridmap3DLookup_.linearSize()); - for (size_t layerZ = 0; layerZ < gridmap3DLookup_.gridsize_.z; layerZ += decimation) { - for (size_t colY = 0; colY < gridmap3DLookup_.gridsize_.y; colY += decimation) { - for (size_t rowX = 0; rowX < gridmap3DLookup_.gridsize_.x; rowX += decimation) { - const Gridmap3dLookup::size_t_3d index3d = {rowX, colY, layerZ}; - const auto index = gridmap3DLookup_.linearIndex(index3d); - const auto signeddistance = distanceFloat(data_[index]); - if (condition(signeddistance)) { - const auto p = gridmap3DLookup_.nodePosition(index3d); - pcl::PointXYZI point; - point.x = p.x(); - point.y = p.y(); - point.z = p.z(); - point.intensity = signeddistance; - points.push_back(point); - } - } - } - } - return points; -} - -pcl::PointCloud GridmapSignedDistanceField::freeSpacePointCloud(size_t decimation) const { - return asPointCloud(decimation, [](float signedDistance) { return signedDistance >= 0.0F; }); -} - -pcl::PointCloud GridmapSignedDistanceField::obstaclePointCloud(size_t decimation) const { - return asPointCloud(decimation, [](float signedDistance) { return signedDistance <= 0.0F; }); -} - -} // namespace grid_map diff --git a/signed_distance_field/src/SignedDistance2d.cpp b/signed_distance_field/src/SignedDistance2d.cpp deleted file mode 100644 index 4cafb909..00000000 --- a/signed_distance_field/src/SignedDistance2d.cpp +++ /dev/null @@ -1,290 +0,0 @@ -/* - * SignedDistance2d.cpp - * - * Created on: Jul 10, 2020 - * Author: Ruben Grandia - * Institute: ETH Zurich - */ - -#include "signed_distance_field/SignedDistance2d.h" - -#include "signed_distance_field/PixelBorderDistance.h" - -namespace grid_map { -namespace signed_distance_field { - -namespace internal { -struct DistanceLowerBound { - float v; // origin of bounding function - float f; // functional offset at the origin - float z_lhs; // lhs of interval where this bound holds - float z_rhs; // rhs of interval where this lower bound holds -}; - -/** - * 1D Euclidean Distance Transform based on: http://cs.brown.edu/people/pfelzens/dt/ - * Adapted to work on Eigen objects directly - * Optimized computation of s. - * Some optimization to not keep track of bounds that lie fully outside the grid. - */ -std::vector::iterator fillLowerBounds(const Eigen::Ref& squareDistance1d, - std::vector& lowerBounds, Eigen::Index start) { - const auto n = squareDistance1d.size(); - const auto nFloat = static_cast(n); - const auto startFloat = static_cast(start); - - // Initialize - auto rhsBoundIt = lowerBounds.begin(); - *rhsBoundIt = DistanceLowerBound{startFloat, squareDistance1d[start], -INF, INF}; - auto firstBoundIt = lowerBounds.begin(); - - // Compute bounds to the right of minimum - float qFloat = rhsBoundIt->v + 1.0F; - for (Eigen::Index q = start + 1; q < n; ++q) { - // Storing this by value gives better performance (removed indirection?) - const float fq = squareDistance1d[q]; - - float s = equidistancePoint(qFloat, fq, rhsBoundIt->v, rhsBoundIt->f); - if (s < nFloat) { // Can ignore the lower bound derived from this point if it is only active outsize of [start, n] - // Search backwards in bounds until s is within [z_lhs, z_rhs] - while (s < rhsBoundIt->z_lhs) { - --rhsBoundIt; - s = equidistancePoint(qFloat, fq, rhsBoundIt->v, rhsBoundIt->f); - } - if (s > startFloat) { // Intersection is within [start, n]. Adjust current lowerbound and insert the new one after - rhsBoundIt->z_rhs = s; // Update the bound that comes before - ++rhsBoundIt; // insert new bound after. - *rhsBoundIt = DistanceLowerBound{qFloat, fq, s, INF}; // Valid from s till infinity - } else { // Intersection is outside [0, n]. This means that the new bound dominates all previous bounds - *rhsBoundIt = DistanceLowerBound{qFloat, fq, -INF, INF}; - firstBoundIt = rhsBoundIt; // No need to keep other bounds, so update the first bound iterator to this one. - } - } - - // Increment to follow loop counter as float - qFloat += 1.0F; - } - - return firstBoundIt; -} - -void extractSquareDistances(Eigen::Ref squareDistance1d, std::vector::const_iterator lowerBoundIt, - Eigen::Index start) { - const auto n = squareDistance1d.size(); - - // Store active bound by value to remove indirection - auto lastz = lowerBoundIt->z_rhs; - - auto qFloat = static_cast(start); - for (Eigen::Index q = start; q < n; ++q) { - if (squareDistance1d[q] > 0.0F) { // Observe that if squareDistance1d[q] == 0.0, this is already the minimum and it will stay 0.0 - // Find the new active lower bound if q no longer belongs to current interval - if (qFloat > lastz) { - do { - ++lowerBoundIt; - } while (lowerBoundIt->z_rhs < qFloat); - lastz = lowerBoundIt->z_rhs; - } - - squareDistance1d[q] = squarePixelBorderDistance(qFloat, lowerBoundIt->v, lowerBoundIt->f); - } - - qFloat += 1.0F; - } -} - -/** - * Same as extractSquareDistances, but takes the sqrt as a final step. - * Because several cells will have a value of 0.0 (obstacle / free space label), we can skip the sqrt computation for those. - */ -void extractDistances(Eigen::Ref squareDistance1d, std::vector::const_iterator lowerBoundIt, - Eigen::Index start) { - const auto n = squareDistance1d.size(); - - // Store active bound by value to remove indirection - auto lastz = lowerBoundIt->z_rhs; - - auto qFloat = static_cast(start); - for (Eigen::Index q = start; q < n; ++q) { - if (squareDistance1d[q] > 0.0F) { // Observe that if squareDistance1d[q] == 0.0, this is already the minimum and it will stay 0.0 - // Find the new active lower bound if q no longer belongs to current interval - if (qFloat > lastz) { - do { - ++lowerBoundIt; - } while (lowerBoundIt->z_rhs < qFloat); - lastz = lowerBoundIt->z_rhs; - } - - squareDistance1d[q] = std::sqrt(squarePixelBorderDistance(qFloat, lowerBoundIt->v, lowerBoundIt->f)); - } - - qFloat += 1.0F; - } -} - -/** - * Find the location of the last zero value from the front - */ -Eigen::Index lastZeroFromFront(const Eigen::Ref& squareDistance1d) { - const auto n = squareDistance1d.size(); - - for (Eigen::Index q = 0; q < n; ++q) { - if (squareDistance1d[q] > 0.0F) { - if (q > 0) { - return q - 1; - } else { - return 0; - } - } - } - return n; -} - -inline void squaredDistanceTransform_1d_inplace(Eigen::Ref squareDistance1d, - std::vector& lowerBounds) { - auto start = lastZeroFromFront(squareDistance1d); - - // Only need to process line if there are nonzero elements. Also the first zeros stay untouched. - if (start < squareDistance1d.size()) { - auto startIt = fillLowerBounds(squareDistance1d, lowerBounds, start); - extractSquareDistances(squareDistance1d, startIt, start); - } -} - -/** - * Same as above, but takes sqrt as final step (within the same loop) - * @param squareDistance1d : input as squared distance, output is the distance after sqrt. - * @param lowerBounds : work vector - */ -inline void distanceTransform_1d_inplace(Eigen::Ref squareDistance1d, std::vector& lowerBounds) { - auto start = lastZeroFromFront(squareDistance1d); - - // Only need to process line if there are nonzero elements. Also the first zeros stay untouched. - if (start < squareDistance1d.size()) { - auto startIt = fillLowerBounds(squareDistance1d, lowerBounds, start); - extractDistances(squareDistance1d, startIt, start); - } -} - -void computePixelDistance2dTranspose(Matrix& input, Matrix& distanceTranspose) { - const auto n = input.rows(); - const auto m = input.cols(); - - // Allocate a buffer big enough for processing both rowise and columnwise - std::vector lowerBounds(std::max(n, m)); - - // Process columns - for (Eigen::Index i = 0; i < m; ++i) { - squaredDistanceTransform_1d_inplace(input.col(i), lowerBounds); - } - - // Process rows (= columns after transpose). - distanceTranspose = input.transpose(); - for (Eigen::Index i = 0; i < n; ++i) { - // Fuses square distance algorithm and taking sqrt. - distanceTransform_1d_inplace(distanceTranspose.col(i), lowerBounds); - } -} - -// Initialize with square distance in height direction in pixel units if above the surface -void initializeObstacleDistance(const Matrix& elevationMap, Matrix& result, float height, float resolution) { - /* Vectorized implementation of: - * if (height > elevation) { - * const auto diff = (height - elevation) / resolution; - * return diff * diff; - * } else { - * return 0.0F; - * } - */ - result = ((1.0F / resolution) * (height - elevationMap.array()).cwiseMax(0.0F)).square(); -} - -// Initialize with square distance in height direction in pixel units if below the surface -void initializeObstacleFreeDistance(const Matrix& elevationMap, Matrix& result, float height, float resolution) { - /* Vectorized implementation of: - * if (height < elevation) { - * const auto diff = (height - elevation) / resolution; - * return diff * diff; - * } else { - * return 0.0F; - * } - */ - result = ((1.0F / resolution) * (height - elevationMap.array()).cwiseMin(0.0F)).square(); -} - -void pixelDistanceToFreeSpaceTranspose(const Matrix& elevationMap, Matrix& sdfObstacleFree, Matrix& tmp, float height, float resolution) { - internal::initializeObstacleFreeDistance(elevationMap, tmp, height, resolution); - internal::computePixelDistance2dTranspose(tmp, sdfObstacleFree); -} - -void pixelDistanceToObstacleTranspose(const Matrix& elevationMap, Matrix& sdfObstacleTranspose, Matrix& tmp, float height, - float resolution) { - internal::initializeObstacleDistance(elevationMap, tmp, height, resolution); - internal::computePixelDistance2dTranspose(tmp, sdfObstacleTranspose); -} - -Matrix signedDistanceFromOccupancyTranspose(const Eigen::Matrix& occupancyGrid, float resolution) { - // Compute pixel distance to obstacles - Matrix sdfObstacle; - Matrix init = occupancyGrid.unaryExpr([=](bool val) { return (val) ? 0.0F : INF; }); - internal::computePixelDistance2dTranspose(init, sdfObstacle); - - // Compute pixel distance to obstacle free space - Matrix sdfObstacleFree; - init = occupancyGrid.unaryExpr([=](bool val) { return (val) ? INF : 0.0F; }); - internal::computePixelDistance2dTranspose(init, sdfObstacleFree); - - return resolution * (sdfObstacle - sdfObstacleFree); -} - -} // namespace internal - -void signedDistanceAtHeightTranspose(const Matrix& elevationMap, Matrix& sdfTranspose, Matrix& tmp, Matrix& tmpTranspose, float height, - float resolution, float minHeight, float maxHeight) { - const bool allPixelsAreObstacles = height < minHeight; - const bool allPixelsAreFreeSpace = height > maxHeight; - - if (allPixelsAreObstacles) { - internal::pixelDistanceToFreeSpaceTranspose(elevationMap, sdfTranspose, tmp, height, resolution); - - sdfTranspose *= -resolution; - } else if (allPixelsAreFreeSpace) { - internal::pixelDistanceToObstacleTranspose(elevationMap, sdfTranspose, tmp, height, resolution); - - sdfTranspose *= resolution; - } else { // This layer contains a mix of obstacles and free space - internal::pixelDistanceToObstacleTranspose(elevationMap, sdfTranspose, tmp, height, resolution); - internal::pixelDistanceToFreeSpaceTranspose(elevationMap, tmpTranspose, tmp, height, resolution); - - sdfTranspose = resolution * (sdfTranspose - tmpTranspose); - } -} - -Matrix signedDistanceAtHeight(const Matrix& elevationMap, float height, float resolution, float minHeight, float maxHeight) { - Matrix sdfTranspose; - Matrix tmp; - Matrix tmpTranspose; - - signedDistanceAtHeightTranspose(elevationMap, sdfTranspose, tmp, tmpTranspose, height, resolution, minHeight, maxHeight); - return sdfTranspose.transpose(); -} - -Matrix signedDistanceFromOccupancy(const Eigen::Matrix& occupancyGrid, float resolution) { - auto obstacleCount = occupancyGrid.count(); - bool hasObstacles = obstacleCount > 0; - if (hasObstacles) { - bool hasFreeSpace = obstacleCount < occupancyGrid.size(); - if (hasFreeSpace) { - return internal::signedDistanceFromOccupancyTranspose(occupancyGrid, resolution).transpose(); - } else { - // Only obstacles -> distance is minus infinity everywhere - return Matrix::Constant(occupancyGrid.rows(), occupancyGrid.cols(), -INF); - } - } else { - // No obstacles -> planar distance is infinite - return Matrix::Constant(occupancyGrid.rows(), occupancyGrid.cols(), INF); - } -} - -} // namespace signed_distance_field -} // namespace grid_map \ No newline at end of file diff --git a/signed_distance_field/test/naiveSignedDistance.h b/signed_distance_field/test/naiveSignedDistance.h deleted file mode 100644 index a7927b7e..00000000 --- a/signed_distance_field/test/naiveSignedDistance.h +++ /dev/null @@ -1,105 +0,0 @@ -/* - * naiveSignedDistance.h - * - * Created on: Aug 10, 2020 - * Author: Ruben Grandia - * Institute: ETH Zurich - */ - -#pragma once - -namespace grid_map { -namespace signed_distance_field { - -inline Eigen::Matrix occupancyAtHeight(const Matrix& elevationMap, float height) { - Eigen::Matrix occupany = elevationMap.unaryExpr([=](float val) { return val > height; }); - return occupany; -} - -inline bool isEqualSdf(const Matrix& sdf0, const Matrix& sdf1, float tol) { - Matrix error = (sdf0 - sdf1).array().abs(); - float maxDifference = error.maxCoeff(); - return maxDifference < tol; -} - -// N^2 naive implementation, for testing purposes -inline Matrix naiveSignedDistanceAtHeight(const Matrix& elevationMap, float height, float resolution) { - Matrix signedDistance(elevationMap.rows(), elevationMap.cols()); - - // For each point - for (int row = 0; row < elevationMap.rows(); ++row) { - for (int col = 0; col < elevationMap.cols(); ++col) { - if (elevationMap(row, col) >= height) { // point is below surface - signedDistance(row, col) = -INF; - // find closest open space over all other points - for (int i = 0; i < elevationMap.rows(); ++i) { - for (int j = 0; j < elevationMap.cols(); ++j) { - // Compute distance to free cube at location (i, j) - float dx = resolution * pixelBorderDistance(i, row); - float dy = resolution * pixelBorderDistance(j, col); - float dz = std::max(elevationMap(i, j) - height, 0.0F); - float currentSignedDistance = -std::sqrt(dx * dx + dy * dy + dz * dz); - signedDistance(row, col) = std::max(signedDistance(row, col), currentSignedDistance); - } - } - } else { // point is above surface - signedDistance(row, col) = INF; - // find closest object over all other points - for (int i = 0; i < elevationMap.rows(); ++i) { - for (int j = 0; j < elevationMap.cols(); ++j) { - // Compute distance to occupied cube at location (i, j) - float dx = resolution * pixelBorderDistance(i, row); - float dy = resolution * pixelBorderDistance(j, col); - float dz = std::max(height - elevationMap(i, j), 0.0F); - float currentSignedDistance = std::sqrt(dx * dx + dy * dy + dz * dz); - signedDistance(row, col) = std::min(signedDistance(row, col), currentSignedDistance); - } - } - } - } - } - - return signedDistance; -} - -inline Matrix naiveSignedDistanceFromOccupancy(const Eigen::Matrix& occupancyGrid, float resolution) { - Matrix signedDistance(occupancyGrid.rows(), occupancyGrid.cols()); - - // For each point - for (int row = 0; row < occupancyGrid.rows(); ++row) { - for (int col = 0; col < occupancyGrid.cols(); ++col) { - if (occupancyGrid(row, col)) { // This point is an obstable - signedDistance(row, col) = -INF; - // find closest open space over all other points - for (int i = 0; i < occupancyGrid.rows(); ++i) { - for (int j = 0; j < occupancyGrid.cols(); ++j) { - if (!occupancyGrid(i, j)) { - float dx = resolution * pixelBorderDistance(i, row); - float dy = resolution * pixelBorderDistance(j, col); - float currentSignedDistance = -std::sqrt(dx * dx + dy * dy); - signedDistance(row, col) = std::max(signedDistance(row, col), currentSignedDistance); - } - } - } - } else { // This point is in free space - signedDistance(row, col) = INF; - // find closest object over all other points - for (int i = 0; i < occupancyGrid.rows(); ++i) { - for (int j = 0; j < occupancyGrid.cols(); ++j) { - if (occupancyGrid(i, j)) { - float dx = resolution * pixelBorderDistance(i, row); - float dy = resolution * pixelBorderDistance(j, col); - float currentSignedDistance = std::sqrt(dx * dx + dy * dy); - signedDistance(row, col) = std::min(signedDistance(row, col), currentSignedDistance); - } - } - } - } - } - } - - return signedDistance; -} - -} // namespace signed_distance_field -} // namespace grid_map \ No newline at end of file diff --git a/signed_distance_field/test/test3dLookup.cpp b/signed_distance_field/test/test3dLookup.cpp deleted file mode 100644 index 35b42f8d..00000000 --- a/signed_distance_field/test/test3dLookup.cpp +++ /dev/null @@ -1,59 +0,0 @@ -/* - * test3dLookup.cpp - * - * Created on: Aug 18, 2020 - * Author: Ruben Grandia - * Institute: ETH Zurich - */ - -#include - -#include "signed_distance_field/Gridmap3dLookup.h" - -using namespace grid_map; -using namespace signed_distance_field; -using size_t_3d = Gridmap3dLookup::size_t_3d; - -TEST(testGridmap3dLookup, nearestNode) { - const size_t_3d gridsize{8, 9, 10}; - const Position3 gridOrigin{-0.1, -0.2, -0.4}; - const double resolution = 0.1; - - Gridmap3dLookup gridmap3DLookup(gridsize, gridOrigin, resolution); - - // Retreive origin - const size_t_3d originNode = gridmap3DLookup.nearestNode(gridOrigin); - ASSERT_EQ(originNode.x, 0); - ASSERT_EQ(originNode.y, 0); - ASSERT_EQ(originNode.z, 0); - - // test underflow - const size_t_3d originNodeProjected = gridmap3DLookup.nearestNode(gridOrigin + Position3{1e20, 1e20, -1e20}); - ASSERT_EQ(originNodeProjected.x, 0); - ASSERT_EQ(originNodeProjected.y, 0); - ASSERT_EQ(originNodeProjected.z, 0); - - // test overflow - const size_t_3d maxNodeProjected = gridmap3DLookup.nearestNode(gridOrigin + Position3{-1e20, -1e20, +1e20}); - ASSERT_EQ(maxNodeProjected.x, gridsize.x - 1); - ASSERT_EQ(maxNodeProjected.y, gridsize.y - 1); - ASSERT_EQ(maxNodeProjected.z, gridsize.z - 1); - - // Nearest neighbour - const size_t_3d nodeIndex{3, 4, 5}; - const Position3 nodePosition = gridmap3DLookup.nodePosition(nodeIndex); - const size_t_3d closestNodeIndex = gridmap3DLookup.nearestNode(nodePosition + 0.49 * Position3::Constant(resolution)); - ASSERT_EQ(closestNodeIndex.x, nodeIndex.x); - ASSERT_EQ(closestNodeIndex.y, nodeIndex.y); - ASSERT_EQ(closestNodeIndex.z, nodeIndex.z); -} - -TEST(testGridmap3dLookup, linearIndex) { - const size_t_3d gridsize{8, 9, 10}; - const Position3 gridOrigin{-0.1, -0.2, -0.4}; - const double resolution = 0.1; - - Gridmap3dLookup gridmap3DLookup(gridsize, gridOrigin, resolution); - ASSERT_EQ(gridmap3DLookup.linearIndex({0, 0, 0}), 0); - ASSERT_EQ(gridmap3DLookup.linearIndex({gridsize.x - 1, gridsize.y - 1, gridsize.z - 1}), gridmap3DLookup.linearSize() - 1); -} \ No newline at end of file diff --git a/signed_distance_field/test/testDerivatives.cpp b/signed_distance_field/test/testDerivatives.cpp deleted file mode 100644 index 8c1d4ab5..00000000 --- a/signed_distance_field/test/testDerivatives.cpp +++ /dev/null @@ -1,31 +0,0 @@ -/* - * testDerivatives.cpp - * - * Created on: Aug 10, 2020 - * Author: Ruben Grandia - * Institute: ETH Zurich - */ - -#include - -#include "signed_distance_field/DistanceDerivatives.h" - -using namespace grid_map; -using namespace signed_distance_field; - -TEST(testDerivatives, columnwise) { - Matrix data(2, 3); - data << 1.0, 2.0, 4.0, 2.0, 4.0, 6.0; - - float resolution = 0.1; - float doubleResolution = 2.0F * resolution; - - Matrix manualDifference(2, 3); - manualDifference << 1.0 / resolution, 3.0 / doubleResolution, 2.0 / resolution, 2.0 / resolution, 4.0 / doubleResolution, - 2.0 / resolution; - - Matrix computedDifference = Matrix::Zero(data.rows(), data.cols()); - columnwiseCentralDifference(data, computedDifference, resolution); - - ASSERT_TRUE(manualDifference.isApprox(computedDifference)); -} diff --git a/signed_distance_field/test/testPixelBorderDistance.cpp b/signed_distance_field/test/testPixelBorderDistance.cpp deleted file mode 100644 index 4456d6fe..00000000 --- a/signed_distance_field/test/testPixelBorderDistance.cpp +++ /dev/null @@ -1,52 +0,0 @@ -/* - * testPixelBorderDistance.cpp - * - * Created on: Aug 7, 2020 - * Author: Ruben Grandia - * Institute: ETH Zurich - */ - -#include - -#include "signed_distance_field/PixelBorderDistance.h" - -using namespace grid_map; -using namespace signed_distance_field; - -TEST(testPixelBorderDistance, distanceFunction) { - // Basic properties of the distance function - ASSERT_TRUE(pixelBorderDistance(0, 0) == 0.0F); - ASSERT_FLOAT_EQ(pixelBorderDistance(0, 1), 0.5); - ASSERT_FLOAT_EQ(pixelBorderDistance(0, 2), 1.5); - ASSERT_TRUE(pixelBorderDistance(0, 1) == pixelBorderDistance(1, 0)); - ASSERT_TRUE(pixelBorderDistance(-10, 42) == pixelBorderDistance(42, -10)); -} - -TEST(testPixelBorderDistance, equidistantPoint) { - int pixelRange = 10; - float offsetRange = 20.0; - float offsetStep = 0.25; - float tol = 1e-4; - - for (int p = -pixelRange; p < pixelRange; ++p) { - for (float fp = -offsetRange; fp < offsetRange; fp += offsetStep) { - for (int q = -pixelRange; q < pixelRange; ++q) { - for (float fq = -offsetRange; fq < offsetRange; fq += offsetStep) { - // Fix that offset is the same if pixels are the same - if (p == q) { - fp = fq; - } - // Check symmetry of the equidistant point computation - float s0 = equidistancePoint(q, fq, p, fp); - float s1 = equidistancePoint(p, fp, q, fq); - ASSERT_LT(std::abs(s0 - s1), tol); - - // Check that the distance from s0 to p and q is indeed equal - float dp = squarePixelBorderDistance(s0, p, fp); - float dq = squarePixelBorderDistance(s0, q, fq); - ASSERT_LT(std::abs(dp - dq), tol) << "p: " << p << ", q: " << q << ", fp: " << fp << ", fq: " << fq; - } - } - } - } -} diff --git a/signed_distance_field/test/testSignedDistance2d.cpp b/signed_distance_field/test/testSignedDistance2d.cpp deleted file mode 100644 index e3b920a5..00000000 --- a/signed_distance_field/test/testSignedDistance2d.cpp +++ /dev/null @@ -1,112 +0,0 @@ -/* - * testSignedDistance2d.cpp - * - * Created on: Jul 10, 2020 - * Author: Ruben Grandia - * Institute: ETH Zurich - */ - -#include - -#include "signed_distance_field/PixelBorderDistance.h" -#include "signed_distance_field/SignedDistance2d.h" - -#include "naiveSignedDistance.h" - -using namespace grid_map; -using namespace signed_distance_field; - -TEST(testSignedDistance2d, signedDistance2d_noObstacles) { - const int n = 3; - const int m = 4; - const float resolution = 0.1; - const Matrix map = Matrix::Ones(n, m); - - const auto occupancy = occupancyAtHeight(map, 2.0); - const auto signedDistance = signedDistanceFromOccupancy(occupancy, resolution); - - ASSERT_TRUE((signedDistance.array() == INF).all()); -} - -TEST(testSignedDistance2d, signedDistance2d_allObstacles) { - const int n = 3; - const int m = 4; - const float resolution = 0.1; - const Matrix map = Matrix::Ones(n, m); - - const auto occupancy = occupancyAtHeight(map, 0.0); - const auto signedDistance = signedDistanceFromOccupancy(occupancy, resolution); - - ASSERT_TRUE((signedDistance.array() == -INF).all()); -} - -TEST(testSignedDistance2d, signedDistance2d_mixed) { - const int n = 2; - const int m = 3; - const float resolution = 1.0; - Matrix map(n, m); - map << 0.0, 1.0, 1.0, 0.0, 0.0, 1.0; - const auto occupancy = occupancyAtHeight(map, 0.5); - - const auto naiveSignedDistance = naiveSignedDistanceFromOccupancy(occupancy, resolution); - const auto signedDistance = signedDistanceFromOccupancy(occupancy, resolution); - ASSERT_TRUE(isEqualSdf(signedDistance, naiveSignedDistance, 1e-4)); -} - -TEST(testSignedDistance2d, signedDistance2d_oneObstacle) { - const int n = 20; - const int m = 30; - const float resolution = 0.1; - Matrix map = Matrix::Zero(n, m); - map(n / 2, m / 2) = 1.0; - const auto occupancy = occupancyAtHeight(map, 0.5); - - const auto naiveSignedDistance = naiveSignedDistanceFromOccupancy(occupancy, resolution); - const auto signedDistance = signedDistanceFromOccupancy(occupancy, resolution); - ASSERT_TRUE(isEqualSdf(signedDistance, naiveSignedDistance, 1e-4)); -} - -TEST(testSignedDistance2d, signedDistance2d_oneFreeSpace) { - const int n = 20; - const int m = 30; - const float resolution = 0.1; - Matrix map = Matrix::Ones(n, m); - map(n / 2, m / 2) = 0.0; - - const auto occupancy = occupancyAtHeight(map, 0.5); - - const auto naiveSignedDistance = naiveSignedDistanceFromOccupancy(occupancy, resolution); - const auto signedDistance = signedDistanceFromOccupancy(occupancy, resolution); - ASSERT_TRUE(isEqualSdf(signedDistance, naiveSignedDistance, 1e-4)); -} - -TEST(testSignedDistance2d, signedDistance2d_debugcase) { - const int n = 3; - const int m = 3; - const float resolution = 1.0; - Matrix map(n, m); - map << 1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 1.0, 1.0, 0.0; - - const auto occupancy = occupancyAtHeight(map, 0.5); - - const auto naiveSignedDistance = naiveSignedDistanceFromOccupancy(occupancy, resolution); - const auto signedDistance = signedDistanceFromOccupancy(occupancy, resolution); - ASSERT_TRUE(isEqualSdf(signedDistance, naiveSignedDistance, 1e-4)); -} - -TEST(testSignedDistance2d, signedDistance2d_random) { - const int n = 20; - const int m = 30; - const float resolution = 1.0; - Matrix map = Matrix::Random(n, m); // random [-1.0, 1.0] - - // Check at different heights, resulting in different levels of sparsity. - float heightStep = 0.1; - for (float height = -1.0 - heightStep; height < 1.0 + heightStep; height += heightStep) { - const auto occupancy = occupancyAtHeight(map, height); - - const auto naiveSignedDistance = naiveSignedDistanceFromOccupancy(occupancy, resolution); - const auto signedDistance = signedDistanceFromOccupancy(occupancy, resolution); - ASSERT_TRUE(isEqualSdf(signedDistance, naiveSignedDistance, 1e-4)) << "height: " << height; - } -} \ No newline at end of file diff --git a/signed_distance_field/test/testSignedDistance3d.cpp b/signed_distance_field/test/testSignedDistance3d.cpp deleted file mode 100644 index 01f26463..00000000 --- a/signed_distance_field/test/testSignedDistance3d.cpp +++ /dev/null @@ -1,193 +0,0 @@ -/* - * testSignedDistance3d.cpp - * - * Created on: Aug 10, 2020 - * Author: Ruben Grandia - * Institute: ETH Zurich - */ - -#include - -#include "signed_distance_field/GridmapSignedDistanceField.h" -#include "signed_distance_field/PixelBorderDistance.h" -#include "signed_distance_field/SignedDistance2d.h" - -#include "naiveSignedDistance.h" - -using namespace grid_map; -using namespace signed_distance_field; - -TEST(testSignedDistance3d, flatTerrain) { - const int n = 3; - const int m = 4; - const float resolution = 0.1; - const float terrainHeight = 0.5; - const Matrix map = Matrix::Constant(n, m, terrainHeight); - const float minHeight = map.minCoeff(); - const float maxHeight = map.maxCoeff(); - - const float testHeightAboveTerrain = 3.0; - const auto naiveSignedDistanceAbove = naiveSignedDistanceAtHeight(map, testHeightAboveTerrain, resolution); - const auto signedDistanceAbove = signedDistanceAtHeight(map, testHeightAboveTerrain, resolution, minHeight, maxHeight); - ASSERT_TRUE(isEqualSdf(signedDistanceAbove, naiveSignedDistanceAbove, 1e-4)); - - const float testHeightBelowTerrain = -3.0; - const auto naiveSignedDistanceBelow = naiveSignedDistanceAtHeight(map, testHeightBelowTerrain, resolution); - const auto signedDistanceBelow = signedDistanceAtHeight(map, testHeightBelowTerrain, resolution, minHeight, maxHeight); - ASSERT_TRUE(isEqualSdf(signedDistanceBelow, naiveSignedDistanceBelow, 1e-4)); -} - -TEST(testSignedDistance3d, randomTerrain) { - const int n = 20; - const int m = 30; - const float resolution = 0.1; - Matrix map = Matrix::Random(n, m); // random [-1.0, 1.0] - const float minHeight = map.minCoeff(); - const float maxHeight = map.maxCoeff(); - - // Check at different heights, resulting in different levels of sparsity. - float heightStep = 0.1; - for (float height = -1.0 - heightStep; height < 1.0 + heightStep; height += heightStep) { - const auto naiveSignedDistance = naiveSignedDistanceAtHeight(map, height, resolution); - const auto signedDistance = signedDistanceAtHeight(map, height, resolution, minHeight, maxHeight); - - ASSERT_TRUE(isEqualSdf(signedDistance, naiveSignedDistance, 1e-4)) << "height: " << height; - } -} - -TEST(testSignedDistance3d, randomTerrainInterpolation) { - const int n = 20; - const int m = 30; - const float resolution = 0.1; - GridMap map; - map.setGeometry({n * resolution, m * resolution}, resolution); - map.add("elevation"); - map.get("elevation").setRandom(); // random [-1.0, 1.0] - const Matrix mapData = map.get("elevation"); - const float minHeight = mapData.minCoeff(); - const float maxHeight = mapData.maxCoeff(); - - GridmapSignedDistanceField sdf(map, "elevation", minHeight, maxHeight); - - // Check at different heights/ - for (float height = minHeight; height < maxHeight; height += resolution) { - const auto naiveSignedDistance = naiveSignedDistanceAtHeight(mapData, height, resolution); - - for (int i = 0; i < mapData.rows(); ++i) { - for (int j = 0; j < mapData.rows(); ++j) { - Position position2d; - map.getPosition({i, j}, position2d); - - const auto sdfValue = sdf.value({position2d.x(), position2d.y(), height}); - const auto sdfCheck = naiveSignedDistance(i, j); - ASSERT_LT(std::abs(sdfValue - sdfCheck), 1e-4); - } - } - } -} - -TEST(testSignedDistance3d, randomTerrainDerivative) { - const int n = 10; - const int m = 20; - const float resolution = 0.1; - GridMap map; - map.setGeometry({n * resolution, m * resolution}, resolution); - map.add("elevation"); - map.get("elevation").setRandom(); // random [-1.0, 1.0] - const Matrix mapData = map.get("elevation"); - const float minHeight = mapData.minCoeff(); - const float maxHeight = mapData.maxCoeff(); - - GridmapSignedDistanceField sdf(map, "elevation", minHeight, maxHeight); - - // Check at different heights/ - int numLayers = (maxHeight - minHeight) / resolution; - for (int k = 0; k <= numLayers; ++k) { - const float height = minHeight + k * resolution; - const auto naiveSignedDistance = naiveSignedDistanceAtHeight(mapData, height, resolution); - const auto naiveSignedDistanceNext = naiveSignedDistanceAtHeight(mapData, height + resolution, resolution); - const auto naiveSignedDistancePrevious = naiveSignedDistanceAtHeight(mapData, height - resolution, resolution); - - for (int i = 0; i < mapData.rows(); ++i) { - for (int j = 0; j < mapData.rows(); ++j) { - Position position2d; - map.getPosition({i, j}, position2d); - const auto sdfderivative = sdf.valueAndDerivative(Position3{position2d.x(), position2d.y(), height}); - const auto sdfCheck = naiveSignedDistance(i, j); - ASSERT_LT(std::abs(sdfderivative.first - sdfCheck), 1e-4); - - // Check finite difference - float dx = 0.0; - if (i > 0) { - if (i + 1 < mapData.rows()) { - dx = (naiveSignedDistance(i + 1, j) - naiveSignedDistance(i - 1, j)) / (-2.0 * resolution); - } else { - dx = (naiveSignedDistance(i, j) - naiveSignedDistance(i - 1, j)) / (-resolution); - } - } else { - dx = (naiveSignedDistance(i + 1, j) - naiveSignedDistance(i, j)) / (-resolution); - } - ASSERT_LT(std::abs(dx - sdfderivative.second.x()), 1e-4); - - float dy = 0.0; - if (j > 0) { - if (j + 1 < mapData.cols()) { - dy = (naiveSignedDistance(i, j + 1) - naiveSignedDistance(i, j - 1)) / (-2.0 * resolution); - } else { - dy = (naiveSignedDistance(i, j) - naiveSignedDistance(i, j - 1)) / (-resolution); - } - } else { - dy = (naiveSignedDistance(i, j + 1) - naiveSignedDistance(i, j)) / (-resolution); - } - ASSERT_LT(std::abs(dy - sdfderivative.second.y()), 1e-4); - - float dz = 0.0; - if (k > 0) { - if (k < numLayers) { - dz = (naiveSignedDistanceNext(i, j) - naiveSignedDistancePrevious(i, j)) / (2.0 * resolution); - } else { - dz = (naiveSignedDistance(i, j) - naiveSignedDistancePrevious(i, j)) / (resolution); - } - } else { - dz = (naiveSignedDistanceNext(i, j) - naiveSignedDistance(i, j)) / (resolution); - } - ASSERT_LT(std::abs(dz - sdfderivative.second.z()), 1e-4); - } - } - } -} - -TEST(testSignedDistance3d, extrapolation) { - const int n = 20; - const int m = 30; - const float resolution = 0.1; - const float h = 0.5; - GridMap map; - map.setGeometry({n * resolution, m * resolution}, resolution); - map.add("elevation"); - map.get("elevation").setConstant(h); // random [-1.0, 1.0] - const Matrix mapData = map.get("elevation"); - const float minHeight = h - resolution; - const float maxHeight = h + resolution; - - GridmapSignedDistanceField sdf(map, "elevation", minHeight, maxHeight); - - // Check at different heights/ - for (float height = h - 1.0; height < h + 1.0; height += resolution) { - const auto naiveSignedDistance = naiveSignedDistanceAtHeight(mapData, height, resolution); - - for (int i = 0; i < mapData.rows(); ++i) { - for (int j = 0; j < mapData.rows(); ++j) { - Position position2d; - map.getPosition({i, j}, position2d); - - const auto sdfValueAndDerivative = sdf.valueAndDerivative({position2d.x(), position2d.y(), height}); - const auto sdfCheck = naiveSignedDistance(i, j); - ASSERT_LT(std::abs(sdfValueAndDerivative.first - sdfCheck), 1e-4); - - // Constant terrain, derivative should be up everywhere - ASSERT_LT((sdfValueAndDerivative.second - GridmapSignedDistanceField::Derivative3::UnitZ()).norm(), 1e-4); - } - } - } -} \ No newline at end of file From 3efcc7665548a7f093ea07e094ce91dbe23200dd Mon Sep 17 00:00:00 2001 From: rgrandia Date: Tue, 7 Jun 2022 15:17:02 +0200 Subject: [PATCH 205/504] prepare plane_seg --- README.md => plane_segmentation/README.md | 0 .../cgal5_catkin}/.gitignore | 0 .../cgal5_catkin}/CMakeLists.txt | 0 .../cgal5_catkin}/README.md | 0 .../cgal5_catkin}/cmake/cgal-extras.cmake.in | 0 .../cgal5_catkin}/package.xml | 0 .../convex_plane_decomposition}/CMakeLists.txt | 0 .../ConvexRegionGrowing.h | 0 .../include/convex_plane_decomposition/Draw.h | 0 .../convex_plane_decomposition/GeometryUtils.h | 0 .../GridMapPreprocessing.h | 0 .../LoadGridmapFromImage.h | 0 .../convex_plane_decomposition/PlanarRegion.h | 0 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| 0 .../pcl_catkin}/CMakeLists.txt | 0 .../pcl_catkin}/README.md | 0 .../pcl_catkin}/lib/libpcl_visualization.so | Bin .../pcl_catkin}/lib/libpcl_visualization.so.1.10 | Bin .../pcl_catkin}/lib/libpcl_visualization.so.1.10.0 | Bin .../lib/pkgconfig/pcl_visualization-1.10.pc | 0 .../pcl_catkin}/package.xml | 0 97 files changed, 0 insertions(+), 0 deletions(-) rename README.md => plane_segmentation/README.md (100%) rename {cgal5_catkin => plane_segmentation/cgal5_catkin}/.gitignore (100%) rename {cgal5_catkin => plane_segmentation/cgal5_catkin}/CMakeLists.txt (100%) rename {cgal5_catkin => plane_segmentation/cgal5_catkin}/README.md (100%) rename {cgal5_catkin => plane_segmentation/cgal5_catkin}/cmake/cgal-extras.cmake.in (100%) rename {cgal5_catkin => plane_segmentation/cgal5_catkin}/package.xml (100%) rename {convex_plane_decomposition => plane_segmentation/convex_plane_decomposition}/CMakeLists.txt (100%) rename {convex_plane_decomposition => 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a/convex_plane_decomposition/include/convex_plane_decomposition/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.h b/plane_segmentation/convex_plane_decomposition/include/convex_plane_decomposition/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.h similarity index 100% rename from convex_plane_decomposition/include/convex_plane_decomposition/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.h rename to plane_segmentation/convex_plane_decomposition/include/convex_plane_decomposition/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.h diff --git a/convex_plane_decomposition/include/convex_plane_decomposition/sliding_window_plane_extraction/SlidingWindowPlaneExtractorParameters.h b/plane_segmentation/convex_plane_decomposition/include/convex_plane_decomposition/sliding_window_plane_extraction/SlidingWindowPlaneExtractorParameters.h similarity index 100% rename from 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to plane_segmentation/convex_plane_decomposition/src/contour_extraction/ContourExtraction.cpp diff --git a/convex_plane_decomposition/src/contour_extraction/Upsampling.cpp b/plane_segmentation/convex_plane_decomposition/src/contour_extraction/Upsampling.cpp similarity index 100% rename from convex_plane_decomposition/src/contour_extraction/Upsampling.cpp rename to plane_segmentation/convex_plane_decomposition/src/contour_extraction/Upsampling.cpp diff --git a/convex_plane_decomposition/src/ransac/RansacPlaneExtractor.cpp b/plane_segmentation/convex_plane_decomposition/src/ransac/RansacPlaneExtractor.cpp similarity index 100% rename from convex_plane_decomposition/src/ransac/RansacPlaneExtractor.cpp rename to plane_segmentation/convex_plane_decomposition/src/ransac/RansacPlaneExtractor.cpp diff --git a/convex_plane_decomposition/src/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.cpp 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a/convex_plane_decomposition/test/testPlanarRegion.cpp b/plane_segmentation/convex_plane_decomposition/test/testPlanarRegion.cpp similarity index 100% rename from convex_plane_decomposition/test/testPlanarRegion.cpp rename to plane_segmentation/convex_plane_decomposition/test/testPlanarRegion.cpp diff --git a/convex_plane_decomposition/test/testRegionGrowing.cpp b/plane_segmentation/convex_plane_decomposition/test/testRegionGrowing.cpp similarity index 100% rename from convex_plane_decomposition/test/testRegionGrowing.cpp rename to plane_segmentation/convex_plane_decomposition/test/testRegionGrowing.cpp diff --git a/convex_plane_decomposition/test/testUpsampling.cpp b/plane_segmentation/convex_plane_decomposition/test/testUpsampling.cpp similarity index 100% rename from convex_plane_decomposition/test/testUpsampling.cpp rename to plane_segmentation/convex_plane_decomposition/test/testUpsampling.cpp diff --git a/convex_plane_decomposition_msgs/CMakeLists.txt b/plane_segmentation/convex_plane_decomposition_msgs/CMakeLists.txt similarity index 100% rename from convex_plane_decomposition_msgs/CMakeLists.txt rename to plane_segmentation/convex_plane_decomposition_msgs/CMakeLists.txt diff --git a/convex_plane_decomposition_msgs/msg/BoundingBox2d.msg b/plane_segmentation/convex_plane_decomposition_msgs/msg/BoundingBox2d.msg similarity index 100% rename from convex_plane_decomposition_msgs/msg/BoundingBox2d.msg rename to plane_segmentation/convex_plane_decomposition_msgs/msg/BoundingBox2d.msg diff --git a/convex_plane_decomposition_msgs/msg/PlanarRegion.msg b/plane_segmentation/convex_plane_decomposition_msgs/msg/PlanarRegion.msg similarity index 100% rename from convex_plane_decomposition_msgs/msg/PlanarRegion.msg rename to plane_segmentation/convex_plane_decomposition_msgs/msg/PlanarRegion.msg diff --git a/convex_plane_decomposition_msgs/msg/PlanarTerrain.msg b/plane_segmentation/convex_plane_decomposition_msgs/msg/PlanarTerrain.msg similarity index 100% rename from convex_plane_decomposition_msgs/msg/PlanarTerrain.msg rename to plane_segmentation/convex_plane_decomposition_msgs/msg/PlanarTerrain.msg diff --git a/convex_plane_decomposition_msgs/msg/Point2d.msg b/plane_segmentation/convex_plane_decomposition_msgs/msg/Point2d.msg similarity index 100% rename from convex_plane_decomposition_msgs/msg/Point2d.msg rename to plane_segmentation/convex_plane_decomposition_msgs/msg/Point2d.msg diff --git a/convex_plane_decomposition_msgs/msg/Polygon2d.msg b/plane_segmentation/convex_plane_decomposition_msgs/msg/Polygon2d.msg similarity index 100% rename from convex_plane_decomposition_msgs/msg/Polygon2d.msg rename to plane_segmentation/convex_plane_decomposition_msgs/msg/Polygon2d.msg diff --git a/convex_plane_decomposition_msgs/msg/PolygonWithHoles2d.msg b/plane_segmentation/convex_plane_decomposition_msgs/msg/PolygonWithHoles2d.msg similarity index 100% rename from convex_plane_decomposition_msgs/msg/PolygonWithHoles2d.msg rename to plane_segmentation/convex_plane_decomposition_msgs/msg/PolygonWithHoles2d.msg diff --git a/convex_plane_decomposition_msgs/package.xml b/plane_segmentation/convex_plane_decomposition_msgs/package.xml similarity index 100% rename from convex_plane_decomposition_msgs/package.xml rename to plane_segmentation/convex_plane_decomposition_msgs/package.xml diff --git a/convex_plane_decomposition_ros/CMakeLists.txt b/plane_segmentation/convex_plane_decomposition_ros/CMakeLists.txt similarity index 100% rename from convex_plane_decomposition_ros/CMakeLists.txt rename to plane_segmentation/convex_plane_decomposition_ros/CMakeLists.txt diff --git a/convex_plane_decomposition_ros/config/demo_node.yaml b/plane_segmentation/convex_plane_decomposition_ros/config/demo_node.yaml similarity index 100% rename from convex_plane_decomposition_ros/config/demo_node.yaml rename to plane_segmentation/convex_plane_decomposition_ros/config/demo_node.yaml diff --git a/convex_plane_decomposition_ros/config/node.yaml b/plane_segmentation/convex_plane_decomposition_ros/config/node.yaml similarity index 100% rename from convex_plane_decomposition_ros/config/node.yaml rename to plane_segmentation/convex_plane_decomposition_ros/config/node.yaml diff --git a/convex_plane_decomposition_ros/config/parameters.yaml b/plane_segmentation/convex_plane_decomposition_ros/config/parameters.yaml similarity index 100% rename from convex_plane_decomposition_ros/config/parameters.yaml rename to plane_segmentation/convex_plane_decomposition_ros/config/parameters.yaml diff --git a/convex_plane_decomposition_ros/config/standalone_node.yaml b/plane_segmentation/convex_plane_decomposition_ros/config/standalone_node.yaml similarity index 100% rename from convex_plane_decomposition_ros/config/standalone_node.yaml rename to plane_segmentation/convex_plane_decomposition_ros/config/standalone_node.yaml diff --git a/convex_plane_decomposition_ros/data/demo_map.png b/plane_segmentation/convex_plane_decomposition_ros/data/demo_map.png similarity index 100% rename from convex_plane_decomposition_ros/data/demo_map.png rename to plane_segmentation/convex_plane_decomposition_ros/data/demo_map.png diff --git a/convex_plane_decomposition_ros/data/elevationMap_0_107cm.png b/plane_segmentation/convex_plane_decomposition_ros/data/elevationMap_0_107cm.png similarity index 100% rename from convex_plane_decomposition_ros/data/elevationMap_0_107cm.png rename to plane_segmentation/convex_plane_decomposition_ros/data/elevationMap_0_107cm.png diff --git a/convex_plane_decomposition_ros/data/elevationMap_0_148cm.png b/plane_segmentation/convex_plane_decomposition_ros/data/elevationMap_0_148cm.png similarity index 100% rename from convex_plane_decomposition_ros/data/elevationMap_0_148cm.png rename to plane_segmentation/convex_plane_decomposition_ros/data/elevationMap_0_148cm.png diff --git a/convex_plane_decomposition_ros/data/elevationMap_0_44cm.png b/plane_segmentation/convex_plane_decomposition_ros/data/elevationMap_0_44cm.png similarity index 100% rename from convex_plane_decomposition_ros/data/elevationMap_0_44cm.png rename to plane_segmentation/convex_plane_decomposition_ros/data/elevationMap_0_44cm.png diff --git a/convex_plane_decomposition_ros/data/elevationMap_10_277cm.png b/plane_segmentation/convex_plane_decomposition_ros/data/elevationMap_10_277cm.png similarity index 100% rename from convex_plane_decomposition_ros/data/elevationMap_10_277cm.png rename to plane_segmentation/convex_plane_decomposition_ros/data/elevationMap_10_277cm.png diff --git a/convex_plane_decomposition_ros/data/elevationMap_11_278cm.png b/plane_segmentation/convex_plane_decomposition_ros/data/elevationMap_11_278cm.png similarity index 100% rename from convex_plane_decomposition_ros/data/elevationMap_11_278cm.png rename to plane_segmentation/convex_plane_decomposition_ros/data/elevationMap_11_278cm.png diff --git a/convex_plane_decomposition_ros/data/elevationMap_8_139cm.png b/plane_segmentation/convex_plane_decomposition_ros/data/elevationMap_8_139cm.png similarity index 100% rename from convex_plane_decomposition_ros/data/elevationMap_8_139cm.png rename to plane_segmentation/convex_plane_decomposition_ros/data/elevationMap_8_139cm.png diff --git a/convex_plane_decomposition_ros/data/elevationMap_9_308cm.png b/plane_segmentation/convex_plane_decomposition_ros/data/elevationMap_9_308cm.png similarity index 100% rename from convex_plane_decomposition_ros/data/elevationMap_9_308cm.png rename to plane_segmentation/convex_plane_decomposition_ros/data/elevationMap_9_308cm.png diff --git a/convex_plane_decomposition_ros/data/holes.png b/plane_segmentation/convex_plane_decomposition_ros/data/holes.png similarity index 100% rename from convex_plane_decomposition_ros/data/holes.png rename to plane_segmentation/convex_plane_decomposition_ros/data/holes.png diff --git a/convex_plane_decomposition_ros/data/realStairs_125cm.png b/plane_segmentation/convex_plane_decomposition_ros/data/realStairs_125cm.png similarity index 100% rename from convex_plane_decomposition_ros/data/realStairs_125cm.png rename to plane_segmentation/convex_plane_decomposition_ros/data/realStairs_125cm.png diff --git a/convex_plane_decomposition_ros/data/slope_1m_1m_20cm.png b/plane_segmentation/convex_plane_decomposition_ros/data/slope_1m_1m_20cm.png similarity index 100% rename from convex_plane_decomposition_ros/data/slope_1m_1m_20cm.png rename to plane_segmentation/convex_plane_decomposition_ros/data/slope_1m_1m_20cm.png diff --git a/convex_plane_decomposition_ros/data/stepping_stones_65cm.png b/plane_segmentation/convex_plane_decomposition_ros/data/stepping_stones_65cm.png similarity index 100% rename from convex_plane_decomposition_ros/data/stepping_stones_65cm.png rename to plane_segmentation/convex_plane_decomposition_ros/data/stepping_stones_65cm.png diff --git a/convex_plane_decomposition_ros/data/straightStairs_1m_1m_60cm.png b/plane_segmentation/convex_plane_decomposition_ros/data/straightStairs_1m_1m_60cm.png similarity index 100% rename from convex_plane_decomposition_ros/data/straightStairs_1m_1m_60cm.png rename to plane_segmentation/convex_plane_decomposition_ros/data/straightStairs_1m_1m_60cm.png diff --git a/convex_plane_decomposition_ros/data/terrain.png b/plane_segmentation/convex_plane_decomposition_ros/data/terrain.png similarity index 100% rename from convex_plane_decomposition_ros/data/terrain.png rename to plane_segmentation/convex_plane_decomposition_ros/data/terrain.png diff --git a/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/ConvexPlaneDecompositionRos.h b/plane_segmentation/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/ConvexPlaneDecompositionRos.h similarity index 100% rename from convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/ConvexPlaneDecompositionRos.h rename to plane_segmentation/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/ConvexPlaneDecompositionRos.h diff --git a/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/MessageConversion.h b/plane_segmentation/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/MessageConversion.h similarity index 100% rename from convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/MessageConversion.h rename to plane_segmentation/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/MessageConversion.h diff --git a/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/ParameterLoading.h b/plane_segmentation/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/ParameterLoading.h similarity index 100% rename from convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/ParameterLoading.h rename to plane_segmentation/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/ParameterLoading.h diff --git a/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/RosVisualizations.h b/plane_segmentation/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/RosVisualizations.h similarity index 100% rename from convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/RosVisualizations.h rename to plane_segmentation/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/RosVisualizations.h diff --git a/convex_plane_decomposition_ros/launch/convex_plane_decomposition.launch b/plane_segmentation/convex_plane_decomposition_ros/launch/convex_plane_decomposition.launch similarity index 100% rename from convex_plane_decomposition_ros/launch/convex_plane_decomposition.launch rename to plane_segmentation/convex_plane_decomposition_ros/launch/convex_plane_decomposition.launch diff --git a/convex_plane_decomposition_ros/launch/convex_plane_decomposition_save_elevationmap.launch b/plane_segmentation/convex_plane_decomposition_ros/launch/convex_plane_decomposition_save_elevationmap.launch similarity index 100% rename from convex_plane_decomposition_ros/launch/convex_plane_decomposition_save_elevationmap.launch rename to plane_segmentation/convex_plane_decomposition_ros/launch/convex_plane_decomposition_save_elevationmap.launch diff --git a/convex_plane_decomposition_ros/launch/demo.launch b/plane_segmentation/convex_plane_decomposition_ros/launch/demo.launch similarity index 100% rename from convex_plane_decomposition_ros/launch/demo.launch rename to plane_segmentation/convex_plane_decomposition_ros/launch/demo.launch diff --git a/convex_plane_decomposition_ros/launch/rviz.launch b/plane_segmentation/convex_plane_decomposition_ros/launch/rviz.launch similarity index 100% rename from convex_plane_decomposition_ros/launch/rviz.launch rename to plane_segmentation/convex_plane_decomposition_ros/launch/rviz.launch diff --git a/convex_plane_decomposition_ros/launch/standalone.launch b/plane_segmentation/convex_plane_decomposition_ros/launch/standalone.launch similarity index 100% rename from convex_plane_decomposition_ros/launch/standalone.launch rename to plane_segmentation/convex_plane_decomposition_ros/launch/standalone.launch diff --git a/convex_plane_decomposition_ros/package.xml b/plane_segmentation/convex_plane_decomposition_ros/package.xml similarity index 100% rename from convex_plane_decomposition_ros/package.xml rename to plane_segmentation/convex_plane_decomposition_ros/package.xml diff --git a/convex_plane_decomposition_ros/rviz/config.rviz b/plane_segmentation/convex_plane_decomposition_ros/rviz/config.rviz similarity index 100% rename from convex_plane_decomposition_ros/rviz/config.rviz rename to plane_segmentation/convex_plane_decomposition_ros/rviz/config.rviz diff --git a/convex_plane_decomposition_ros/rviz/config_demo.rviz b/plane_segmentation/convex_plane_decomposition_ros/rviz/config_demo.rviz similarity index 100% rename from convex_plane_decomposition_ros/rviz/config_demo.rviz rename to plane_segmentation/convex_plane_decomposition_ros/rviz/config_demo.rviz diff --git a/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionNode.cpp b/plane_segmentation/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionNode.cpp similarity index 100% rename from convex_plane_decomposition_ros/src/ConvexPlaneDecompositionNode.cpp rename to plane_segmentation/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionNode.cpp diff --git a/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp b/plane_segmentation/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp similarity index 100% rename from convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp rename to plane_segmentation/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp diff --git a/convex_plane_decomposition_ros/src/MessageConversion.cpp b/plane_segmentation/convex_plane_decomposition_ros/src/MessageConversion.cpp similarity index 100% rename from convex_plane_decomposition_ros/src/MessageConversion.cpp rename to plane_segmentation/convex_plane_decomposition_ros/src/MessageConversion.cpp diff --git a/convex_plane_decomposition_ros/src/ParameterLoading.cpp b/plane_segmentation/convex_plane_decomposition_ros/src/ParameterLoading.cpp similarity index 100% rename from convex_plane_decomposition_ros/src/ParameterLoading.cpp rename to plane_segmentation/convex_plane_decomposition_ros/src/ParameterLoading.cpp diff --git a/convex_plane_decomposition_ros/src/RosVisualizations.cpp b/plane_segmentation/convex_plane_decomposition_ros/src/RosVisualizations.cpp similarity index 100% rename from convex_plane_decomposition_ros/src/RosVisualizations.cpp rename to plane_segmentation/convex_plane_decomposition_ros/src/RosVisualizations.cpp diff --git a/convex_plane_decomposition_ros/src/SaveElevationMapAsImageNode.cpp b/plane_segmentation/convex_plane_decomposition_ros/src/SaveElevationMapAsImageNode.cpp similarity index 100% rename from convex_plane_decomposition_ros/src/SaveElevationMapAsImageNode.cpp rename to plane_segmentation/convex_plane_decomposition_ros/src/SaveElevationMapAsImageNode.cpp diff --git a/convex_plane_decomposition_ros/src/noiseNode.cpp b/plane_segmentation/convex_plane_decomposition_ros/src/noiseNode.cpp similarity index 100% rename from convex_plane_decomposition_ros/src/noiseNode.cpp rename to plane_segmentation/convex_plane_decomposition_ros/src/noiseNode.cpp diff --git a/convex_plane_decomposition_ros/test/shapeGrowing.cpp b/plane_segmentation/convex_plane_decomposition_ros/test/shapeGrowing.cpp similarity index 100% rename from convex_plane_decomposition_ros/test/shapeGrowing.cpp rename to plane_segmentation/convex_plane_decomposition_ros/test/shapeGrowing.cpp diff --git a/convex_plane_decomposition_ros/test/test.cpp b/plane_segmentation/convex_plane_decomposition_ros/test/test.cpp similarity index 100% rename from convex_plane_decomposition_ros/test/test.cpp rename to plane_segmentation/convex_plane_decomposition_ros/test/test.cpp diff --git a/pcl_catkin/CMakeLists.txt b/plane_segmentation/pcl_catkin/CMakeLists.txt similarity index 100% rename from pcl_catkin/CMakeLists.txt rename to plane_segmentation/pcl_catkin/CMakeLists.txt diff --git a/pcl_catkin/README.md b/plane_segmentation/pcl_catkin/README.md similarity index 100% rename from pcl_catkin/README.md rename to plane_segmentation/pcl_catkin/README.md diff --git a/pcl_catkin/lib/libpcl_visualization.so b/plane_segmentation/pcl_catkin/lib/libpcl_visualization.so similarity index 100% rename from pcl_catkin/lib/libpcl_visualization.so rename to plane_segmentation/pcl_catkin/lib/libpcl_visualization.so diff --git a/pcl_catkin/lib/libpcl_visualization.so.1.10 b/plane_segmentation/pcl_catkin/lib/libpcl_visualization.so.1.10 similarity index 100% rename from pcl_catkin/lib/libpcl_visualization.so.1.10 rename to plane_segmentation/pcl_catkin/lib/libpcl_visualization.so.1.10 diff --git a/pcl_catkin/lib/libpcl_visualization.so.1.10.0 b/plane_segmentation/pcl_catkin/lib/libpcl_visualization.so.1.10.0 similarity index 100% rename from pcl_catkin/lib/libpcl_visualization.so.1.10.0 rename to plane_segmentation/pcl_catkin/lib/libpcl_visualization.so.1.10.0 diff --git a/pcl_catkin/lib/pkgconfig/pcl_visualization-1.10.pc b/plane_segmentation/pcl_catkin/lib/pkgconfig/pcl_visualization-1.10.pc similarity index 100% rename from pcl_catkin/lib/pkgconfig/pcl_visualization-1.10.pc rename to plane_segmentation/pcl_catkin/lib/pkgconfig/pcl_visualization-1.10.pc diff --git a/pcl_catkin/package.xml b/plane_segmentation/pcl_catkin/package.xml similarity index 100% rename from pcl_catkin/package.xml rename to plane_segmentation/pcl_catkin/package.xml From ddc1f8cae360738c12ce8abe5eade63d443e6faa Mon Sep 17 00:00:00 2001 From: rgrandia Date: Tue, 7 Jun 2022 15:44:39 +0200 Subject: [PATCH 206/504] remove unused filters --- .../GridMapDerivative.hpp | 1 + .../grid_map_filters_rsl/inpainting.hpp | 19 +-- .../include/grid_map_filters_rsl/lookup.hpp | 2 +- .../grid_map_filters_rsl/smoothing.hpp | 45 ----- .../src/GridMapDerivative.cpp | 2 + .../grid_map_filters_rsl/src/inpainting.cpp | 158 +----------------- .../grid_map_filters_rsl/src/lookup.cpp | 2 +- .../grid_map_filters_rsl/src/processing.cpp | 1 - .../grid_map_filters_rsl/src/smoothing.cpp | 102 ----------- .../test/TestDerivativeFilter.cpp | 2 +- .../grid_map_filters_rsl/test/TestFilters.cpp | 2 +- .../grid_map_filters_rsl/test/TestLookup.cpp | 2 +- 12 files changed, 10 insertions(+), 328 deletions(-) diff --git a/plane_segmentation/grid_map_filters_rsl/include/grid_map_filters_rsl/GridMapDerivative.hpp b/plane_segmentation/grid_map_filters_rsl/include/grid_map_filters_rsl/GridMapDerivative.hpp index aa814d0f..41dd3ac4 100644 --- a/plane_segmentation/grid_map_filters_rsl/include/grid_map_filters_rsl/GridMapDerivative.hpp +++ b/plane_segmentation/grid_map_filters_rsl/include/grid_map_filters_rsl/GridMapDerivative.hpp @@ -14,6 +14,7 @@ namespace grid_map { namespace derivative { + class GridMapDerivative { private: static constexpr int kernelSize_ = 5; diff --git a/plane_segmentation/grid_map_filters_rsl/include/grid_map_filters_rsl/inpainting.hpp b/plane_segmentation/grid_map_filters_rsl/include/grid_map_filters_rsl/inpainting.hpp index 0573df4b..9f70cfbd 100644 --- a/plane_segmentation/grid_map_filters_rsl/include/grid_map_filters_rsl/inpainting.hpp +++ b/plane_segmentation/grid_map_filters_rsl/include/grid_map_filters_rsl/inpainting.hpp @@ -23,24 +23,6 @@ namespace inpainting { */ void minValues(grid_map::GridMap& map, const std::string& layerIn, const std::string& layerOut); -/** - * @brief Inpaint missing data using bi-linear interpolation. The neighborhood search is only performed along the column and the row of the - * missing element. In-place operation (layerIn = layerOut) is NOT supported. - * @param map grid map - * @param layerIn reference layer (filter is applied wrt this layer) - * @param layerOut output layer (filtered map is written into this layer) - */ -void biLinearInterpolation(grid_map::GridMap& map, const std::string& layerIn, const std::string& layerOut); - -/** - * @brief nonlinear interpolation (open-cv function). In-place operation (layerIn = layerOut) is supported. - * @param map grid map - * @param layerIn reference layer (filter is applied wrt this layer) - * @param layerOut output layer (filtered map is written into this layer) - * @param inpaintRadius vicinity considered by inpaint filter. - */ -void nonlinearInterpolation(grid_map::GridMap& map, const std::string& layerIn, const std::string& layerOut, double inpaintRadius = 0.05); - /** * @brief Up- or down-sample elevation map (open-cv function). In-place operation only. Only the layer with name "layer" is resampled, while * all other layers (if there are any) are left untouched (exception if layer="all", which applies filter to all layers). @@ -49,5 +31,6 @@ void nonlinearInterpolation(grid_map::GridMap& map, const std::string& layerIn, * @param newRes new resolution. */ void resample(grid_map::GridMap& map, const std::string& layer, double newRes); + } // namespace inpainting } // namespace grid_map diff --git a/plane_segmentation/grid_map_filters_rsl/include/grid_map_filters_rsl/lookup.hpp b/plane_segmentation/grid_map_filters_rsl/include/grid_map_filters_rsl/lookup.hpp index 7c91c20a..cd3bae45 100644 --- a/plane_segmentation/grid_map_filters_rsl/include/grid_map_filters_rsl/lookup.hpp +++ b/plane_segmentation/grid_map_filters_rsl/include/grid_map_filters_rsl/lookup.hpp @@ -55,4 +55,4 @@ std::vector valuesBetweenLocations(const grid_map::Position grid_map::Position projectToMapWithMargin(const grid_map::GridMap& gridMap, const grid_map::Position& position, double margin = 1e-6); } // namespace lookup -} // namespace grid_map \ No newline at end of file +} // namespace grid_map diff --git a/plane_segmentation/grid_map_filters_rsl/include/grid_map_filters_rsl/smoothing.hpp b/plane_segmentation/grid_map_filters_rsl/include/grid_map_filters_rsl/smoothing.hpp index 9f0deebd..99ae3e2b 100644 --- a/plane_segmentation/grid_map_filters_rsl/include/grid_map_filters_rsl/smoothing.hpp +++ b/plane_segmentation/grid_map_filters_rsl/include/grid_map_filters_rsl/smoothing.hpp @@ -46,50 +46,5 @@ void boxBlur(grid_map::GridMap& map, const std::string& layerIn, const std::stri */ void gaussianBlur(grid_map::GridMap& map, const std::string& layerIn, const std::string& layerOut, int kernelSize, double sigma); -/** - * @brief Non-Local means denoising filter (open-cv function). In-place operation (layerIn = layerOut) is supported. Attention: slow (~5ms)! - * @param map grid map - * @param layerIn reference layer (filter is applied wrt this layer) - * @param layerOut output layer (filtered map is written into this layer) - * @param kernelSize size of the smoothing window (must be an odd number) - * @param searchWindow search window (must be an odd number and larger than kernelSize) - * @param w filter strength - */ -void nlm(grid_map::GridMap& map, const std::string& layerIn, const std::string& layerOut, int kernelSize = 3, int searchWindow = 7, - float w = 45.F); - -/** - * @brief Performs image denoising using the Block-Matching and 3D-filtering algorithm (open-cv function). In-place operation (layerIn = - * layerOut) is supported. Attention: very slow (~30ms)! - * @param map grid map - * @param layerIn reference layer (filter is applied wrt this layer) - * @param layerOut output layer (filtered map is written into this layer) - * @param kernelSize size of the smoothing window (must be power of 2) - * @param searchWindow search window (must be larger than kernelSize) - * @param w filter strength - */ -void bm3d(grid_map::GridMap& map, const std::string& layerIn, const std::string& layerOut, int kernelSize = 4, int searchWindow = 6, - float w = 25.F); - -/** - * @brief Bilateral filter (open-cv function). In-place operation (layerIn = layerOut) is supported. Attention: slow (~0.3ms)! - * @param map grid map - * @param layerIn reference layer (filter is applied wrt this layer) - * @param layerOut output layer (filtered map is written into this layer) - * @param kernelSize size of the smoothing window (must be an even number) - * @param w filter strength - */ -void bilateralFilter(grid_map::GridMap& map, const std::string& layerIn, const std::string& layerOut, int kernelSize = 0, double w = 0.2); - -/** - * @brief Optimization based (open-cv function). In-place operation (layerIn = layerOut) is supported. Attention: slow (~15ms)! - * @param map grid map - * @param layerIn reference layer (filter is applied wrt this layer) - * @param layerOut output layer (filtered map is written into this layer) - * @param lambda the smaller the value, the smoother the image - * @param n number of optimization iterations - */ -void tvL1(grid_map::GridMap& map, const std::string& layerIn, const std::string& layerOut, double lambda = 1.0, int n = 60); - } // namespace smoothing } // namespace grid_map diff --git a/plane_segmentation/grid_map_filters_rsl/src/GridMapDerivative.cpp b/plane_segmentation/grid_map_filters_rsl/src/GridMapDerivative.cpp index 2fca08e3..3cc8a169 100644 --- a/plane_segmentation/grid_map_filters_rsl/src/GridMapDerivative.cpp +++ b/plane_segmentation/grid_map_filters_rsl/src/GridMapDerivative.cpp @@ -71,5 +71,7 @@ Eigen::Vector2i GridMapDerivative::getKernelCenter(const grid_map::GridMap& grid } return centerId; } + } // namespace derivative } // namespace grid_map + diff --git a/plane_segmentation/grid_map_filters_rsl/src/inpainting.cpp b/plane_segmentation/grid_map_filters_rsl/src/inpainting.cpp index c82e82b9..adf6e998 100644 --- a/plane_segmentation/grid_map_filters_rsl/src/inpainting.cpp +++ b/plane_segmentation/grid_map_filters_rsl/src/inpainting.cpp @@ -10,15 +10,6 @@ #include #include -// open cv. -#include -#include -#include -#include - -// stl. -#include - namespace grid_map { namespace inpainting { @@ -93,154 +84,6 @@ void minValues(grid_map::GridMap& map, const std::string& layerIn, const std::st } } -void biLinearInterpolation(grid_map::GridMap& map, const std::string& layerIn, const std::string& layerOut) { - // Create new layer if missing - if (!map.exists(layerOut)) { - map.add(layerOut, map.get(layerIn)); - } else { - // initialize with a copy - map.get(layerOut) = map.get(layerIn); - } - - // Helper variables. - std::array indices; - std::array values; - Eigen::Matrix4f A; - Eigen::Vector4f b; - A.setOnes(); - Eigen::Vector4f weights; - bool success = true; - constexpr auto infinity = std::numeric_limits::max(); - - // Init. - std::fill(values.begin(), values.end(), NAN); - std::fill(indices.begin(), indices.end(), Eigen::Vector2i(0, 0)); - - // Reference to in and out maps. - const grid_map::Matrix& H_in = map.get(layerIn); - grid_map::Matrix& H_out = map.get(layerOut); - - for (auto colId = 0; colId < H_in.cols(); ++colId) { - for (auto rowId = 0; rowId < H_in.rows(); ++rowId) { - if (std::isnan(H_in(rowId, colId))) { - // Note: if we don't find a valid neighbour, we use the previous index-value pair. - auto minValue = infinity; - const Eigen::Vector2i index0(rowId, colId); - - // Search in negative direction. - for (auto id = rowId - 1; id >= 0; --id) { - auto newValue = H_in(id, colId); - if (!std::isnan(newValue)) { - indices[0] = Eigen::Vector2i(id, colId); - values[0] = newValue; - minValue = std::fmin(minValue, newValue); - break; - } - } - - for (auto id = colId - 1; id >= 0; --id) { - auto newValue = H_in(rowId, id); - if (!std::isnan(newValue)) { - indices[1] = Eigen::Vector2i(rowId, id); - values[1] = newValue; - minValue = std::fmin(minValue, newValue); - break; - } - } - - // Search in positive direction. - for (auto id = rowId + 1; id < H_in.rows(); ++id) { - auto newValue = H_in(id, colId); - if (!std::isnan(newValue)) { - indices[2] = Eigen::Vector2i(id, colId); - values[2] = newValue; - minValue = std::fmin(minValue, newValue); - break; - } - } - - for (auto id = colId + 1; id < H_in.cols(); ++id) { - auto newValue = H_in(rowId, id); - if (!std::isnan(newValue)) { - indices[3] = Eigen::Vector2i(rowId, id); - values[3] = newValue; - minValue = std::fmin(minValue, newValue); - break; - } - } - - // Cannot interpolate if there are not 4 corner points. - if (std::any_of(values.begin(), values.end(), [](float value) { return std::isnan(value); })) { - if (minValue < infinity) { - H_out(rowId, colId) = minValue; - } else { - success = false; - } - continue; - } - - // Interpolation weights (https://en.wikipedia.org/wiki/Bilinear_interpolation). - for (auto id = 0U; id < 4U; ++id) { - A(id, 1U) = static_cast(indices[id].x()); - A(id, 2U) = static_cast(indices[id].y()); - A(id, 3U) = static_cast(indices[id].x() * indices[id].y()); - b(id) = values[id]; - } - weights = A.colPivHouseholderQr().solve(b); - - // Value according to bi-linear interpolation. - H_out(rowId, colId) = weights.dot(Eigen::Vector4f(1.0, static_cast(index0.x()), static_cast(index0.y()), - static_cast(index0.x() * index0.y()))); - } - } - } - - // If failed, try again. - if (!success) { - map.get(layerIn) = map.get(layerOut); - return nonlinearInterpolation(map, layerIn, layerOut); - } -} - -void nonlinearInterpolation(grid_map::GridMap& map, const std::string& layerIn, const std::string& layerOut, double inpaintRadius) { - // Create new layer if missing. - if (!map.exists(layerOut)) { - map.add(layerOut); - } - - // Reference to in map. - const grid_map::Matrix& H_in = map.get(layerIn); - - // Create mask. - Eigen::Matrix mask = H_in.unaryExpr([](float val) { return (std::isnan(val)) ? uchar(1) : uchar(0); }); - cv::Mat maskImage; - cv::eigen2cv(mask, maskImage); - - // Convert grid map to image. - cv::Mat elevationImageIn; - const float minValue = H_in.minCoeffOfFinites(); - const float maxValue = H_in.maxCoeffOfFinites(); - grid_map::GridMapCvConverter::toImage(map, layerIn, CV_8UC1, minValue, maxValue, elevationImageIn); - - // Inpainting. - cv::Mat elevationImageOut; - const double radiusInPixels = inpaintRadius / map.getResolution(); - cv::inpaint(elevationImageIn, maskImage, elevationImageOut, radiusInPixels, cv::INPAINT_NS); - - // Get inpainting as float. - cv::Mat filledImageFloat; - constexpr float maxUCharValue = 255.F; - elevationImageOut.convertTo(filledImageFloat, CV_32F, (maxValue - minValue) / maxUCharValue, minValue); - - // Copy inpainted values back to elevation map. - cv::Mat elevationImageFloat; - cv::eigen2cv(H_in, elevationImageFloat); - filledImageFloat.copyTo(elevationImageFloat, maskImage); - - // Set new output layer. - cv::cv2eigen(elevationImageFloat, map.get(layerOut)); -} - void resample(grid_map::GridMap& map, const std::string& layer, double newRes) { // Original map info const auto oldPos = map.getPosition(); @@ -286,5 +129,6 @@ void resample(grid_map::GridMap& map, const std::string& layer, double newRes) { map.get(layer_name) = std::move(elevationMap); } } + } // namespace inpainting } // namespace grid_map diff --git a/plane_segmentation/grid_map_filters_rsl/src/lookup.cpp b/plane_segmentation/grid_map_filters_rsl/src/lookup.cpp index f6759902..61409e7a 100644 --- a/plane_segmentation/grid_map_filters_rsl/src/lookup.cpp +++ b/plane_segmentation/grid_map_filters_rsl/src/lookup.cpp @@ -103,4 +103,4 @@ grid_map::Position projectToMapWithMargin(const grid_map::GridMap& gridMap, cons } } // namespace lookup -} // namespace grid_map \ No newline at end of file +} // namespace grid_map diff --git a/plane_segmentation/grid_map_filters_rsl/src/processing.cpp b/plane_segmentation/grid_map_filters_rsl/src/processing.cpp index 2535feb5..1249937e 100644 --- a/plane_segmentation/grid_map_filters_rsl/src/processing.cpp +++ b/plane_segmentation/grid_map_filters_rsl/src/processing.cpp @@ -8,7 +8,6 @@ // grid map filters rsl. #include -#include namespace grid_map { namespace processing { diff --git a/plane_segmentation/grid_map_filters_rsl/src/smoothing.cpp b/plane_segmentation/grid_map_filters_rsl/src/smoothing.cpp index 300ad54f..24e89e04 100644 --- a/plane_segmentation/grid_map_filters_rsl/src/smoothing.cpp +++ b/plane_segmentation/grid_map_filters_rsl/src/smoothing.cpp @@ -105,107 +105,5 @@ void gaussianBlur(grid_map::GridMap& map, const std::string& layerIn, const std: cv::cv2eigen(elevationImage, map.get(layerOut)); } -void nlm(grid_map::GridMap& map, const std::string& layerIn, const std::string& layerOut, int kernelSize, int searchWindow, float w) { - // Create new layer if missing. - if (!map.exists(layerOut)) { - map.add(layerOut); - } - - // Get input layer. - const grid_map::Matrix& H_in = map.get(layerIn); - - // Convert grid map to image. - cv::Mat elevationImageIn; - const float minValue = H_in.minCoeffOfFinites(); - const float maxValue = H_in.maxCoeffOfFinites(); - grid_map::GridMapCvConverter::toImage(map, layerIn, CV_8UC1, minValue, maxValue, elevationImageIn); - - // Filter. - cv::Mat elevationImageOut; - cv::fastNlMeansDenoising(elevationImageIn, elevationImageOut, w, kernelSize, searchWindow); - - // Get as float. - cv::Mat elevationImageFloat; - constexpr float maxUCharValue = 255.F; - elevationImageOut.convertTo(elevationImageFloat, CV_32F, (maxValue - minValue) / maxUCharValue, minValue); - - // Set output layer. - cv::cv2eigen(elevationImageFloat, map.get(layerOut)); -} - -void bm3d(grid_map::GridMap& map, const std::string& layerIn, const std::string& layerOut, int kernelSize, int searchWindow, float w) { - // Create new layer if missing. - if (!map.exists(layerOut)) { - map.add(layerOut); - } - - // Get input layer. - const grid_map::Matrix& H_in = map.get(layerIn); - - // Convert grid map to image. - cv::Mat elevationImageIn; - const float minValue = H_in.minCoeffOfFinites(); - const float maxValue = H_in.maxCoeffOfFinites(); - grid_map::GridMapCvConverter::toImage(map, layerIn, CV_8UC1, minValue, maxValue, elevationImageIn); - - // Filter. - cv::Mat elevationImageOut; - cv::xphoto::bm3dDenoising(elevationImageIn, elevationImageOut, w, kernelSize, searchWindow, 2500, 400, 8, 1, 0.0f, cv::NORM_L1, - cv::xphoto::BM3D_STEP1); - - // Get as float. - cv::Mat elevationImageFloat; - constexpr float maxUCharValue = 255.F; - elevationImageOut.convertTo(elevationImageFloat, CV_32F, (maxValue - minValue) / maxUCharValue, minValue); - - // Set output layer. - cv::cv2eigen(elevationImageFloat, map.get(layerOut)); -} - -void bilateralFilter(grid_map::GridMap& map, const std::string& layerIn, const std::string& layerOut, int kernelSize, double w) { - // Create new layer if missing. - if (!map.exists(layerOut)) { - map.add(layerOut); - } - - // Convert to image. - cv::Mat elevationImageIn; - cv::eigen2cv(map.get(layerIn), elevationImageIn); - - // Filter. - cv::Mat elevationImageOut; - cv::bilateralFilter(elevationImageIn, elevationImageOut, kernelSize, w, w); - - // Set output layer. - cv::cv2eigen(elevationImageOut, map.get(layerOut)); -} - -void tvL1(grid_map::GridMap& map, const std::string& layerIn, const std::string& layerOut, double lambda, int n) { - // Create new layer if missing. - if (!map.exists(layerOut)) { - map.add(layerOut); - } - - // Get input layer. - const grid_map::Matrix& H_in = map.get(layerIn); - - // Convert grid map to image. - cv::Mat elevationImageIn; - const float minValue = H_in.minCoeffOfFinites(); - const float maxValue = H_in.maxCoeffOfFinites(); - grid_map::GridMapCvConverter::toImage(map, layerIn, CV_8UC1, minValue, maxValue, elevationImageIn); - - // Filter. - cv::Mat elevationImageOut; - cv::denoise_TVL1({elevationImageIn}, elevationImageOut, lambda, n); - - // Get as float. - cv::Mat elevationImageFloat; - constexpr float maxUCharValue = 255.F; - elevationImageOut.convertTo(elevationImageFloat, CV_32F, (maxValue - minValue) / maxUCharValue, minValue); - - // Set output layer. - cv::cv2eigen(elevationImageFloat, map.get(layerOut)); -} } // namespace smoothing } // namespace grid_map diff --git a/plane_segmentation/grid_map_filters_rsl/test/TestDerivativeFilter.cpp b/plane_segmentation/grid_map_filters_rsl/test/TestDerivativeFilter.cpp index d4026c9c..6f04270a 100644 --- a/plane_segmentation/grid_map_filters_rsl/test/TestDerivativeFilter.cpp +++ b/plane_segmentation/grid_map_filters_rsl/test/TestDerivativeFilter.cpp @@ -36,4 +36,4 @@ TEST(TestGridMapDerivative, initialization) { // NOLINT } EXPECT_TRUE(iterator.isPastEnd()); -} \ No newline at end of file +} diff --git a/plane_segmentation/grid_map_filters_rsl/test/TestFilters.cpp b/plane_segmentation/grid_map_filters_rsl/test/TestFilters.cpp index 6d83fa75..cbe445b8 100644 --- a/plane_segmentation/grid_map_filters_rsl/test/TestFilters.cpp +++ b/plane_segmentation/grid_map_filters_rsl/test/TestFilters.cpp @@ -74,4 +74,4 @@ TEST(TestInpainting, minValuesOnlyNaN) { // NOLINT EXPECT_TRUE(map.get("filled_min_nan").hasNaN()); EXPECT_DOUBLE_EQ(map.get("filled_min_nonan").minCoeff(), 1.0); -} \ No newline at end of file +} diff --git a/plane_segmentation/grid_map_filters_rsl/test/TestLookup.cpp b/plane_segmentation/grid_map_filters_rsl/test/TestLookup.cpp index 0472b732..b85fb6d3 100644 --- a/plane_segmentation/grid_map_filters_rsl/test/TestLookup.cpp +++ b/plane_segmentation/grid_map_filters_rsl/test/TestLookup.cpp @@ -79,4 +79,4 @@ TEST(TestLookup, maxValue_onlyNaN) { // NOLINT const grid_map::Position position2(0.3, 0.4); const auto result = lookup::maxValueBetweenLocations(position1, position2, map, data); ASSERT_FALSE(result.isValid); -} \ No newline at end of file +} From 4852cea658d970d2c643d0ebc6cdb57424548614 Mon Sep 17 00:00:00 2001 From: rgrandia Date: Tue, 7 Jun 2022 16:00:06 +0200 Subject: [PATCH 207/504] add back opencv inpainting --- .../grid_map_filters_rsl/inpainting.hpp | 18 ++ .../src/GridMapDerivative.cpp | 1 - .../grid_map_filters_rsl/src/inpainting.cpp | 158 +++++++++++++++++- 3 files changed, 175 insertions(+), 2 deletions(-) diff --git a/plane_segmentation/grid_map_filters_rsl/include/grid_map_filters_rsl/inpainting.hpp b/plane_segmentation/grid_map_filters_rsl/include/grid_map_filters_rsl/inpainting.hpp index 9f70cfbd..f8f89e5f 100644 --- a/plane_segmentation/grid_map_filters_rsl/include/grid_map_filters_rsl/inpainting.hpp +++ b/plane_segmentation/grid_map_filters_rsl/include/grid_map_filters_rsl/inpainting.hpp @@ -23,6 +23,24 @@ namespace inpainting { */ void minValues(grid_map::GridMap& map, const std::string& layerIn, const std::string& layerOut); +/** + * @brief Inpaint missing data using bi-linear interpolation. The neighborhood search is only performed along the column and the row of the + * missing element. In-place operation (layerIn = layerOut) is NOT supported. + * @param map grid map + * @param layerIn reference layer (filter is applied wrt this layer) + * @param layerOut output layer (filtered map is written into this layer) + */ +void biLinearInterpolation(grid_map::GridMap& map, const std::string& layerIn, const std::string& layerOut); + +/** + * @brief nonlinear interpolation (open-cv function). In-place operation (layerIn = layerOut) is supported. + * @param map grid map + * @param layerIn reference layer (filter is applied wrt this layer) + * @param layerOut output layer (filtered map is written into this layer) + * @param inpaintRadius vicinity considered by inpaint filter. + */ +void nonlinearInterpolation(grid_map::GridMap& map, const std::string& layerIn, const std::string& layerOut, double inpaintRadius); + /** * @brief Up- or down-sample elevation map (open-cv function). In-place operation only. Only the layer with name "layer" is resampled, while * all other layers (if there are any) are left untouched (exception if layer="all", which applies filter to all layers). diff --git a/plane_segmentation/grid_map_filters_rsl/src/GridMapDerivative.cpp b/plane_segmentation/grid_map_filters_rsl/src/GridMapDerivative.cpp index 3cc8a169..1796dfde 100644 --- a/plane_segmentation/grid_map_filters_rsl/src/GridMapDerivative.cpp +++ b/plane_segmentation/grid_map_filters_rsl/src/GridMapDerivative.cpp @@ -74,4 +74,3 @@ Eigen::Vector2i GridMapDerivative::getKernelCenter(const grid_map::GridMap& grid } // namespace derivative } // namespace grid_map - diff --git a/plane_segmentation/grid_map_filters_rsl/src/inpainting.cpp b/plane_segmentation/grid_map_filters_rsl/src/inpainting.cpp index adf6e998..6df2b258 100644 --- a/plane_segmentation/grid_map_filters_rsl/src/inpainting.cpp +++ b/plane_segmentation/grid_map_filters_rsl/src/inpainting.cpp @@ -10,6 +10,15 @@ #include #include +// open cv. +#include +#include +#include +#include + +// stl. +#include + namespace grid_map { namespace inpainting { @@ -84,6 +93,154 @@ void minValues(grid_map::GridMap& map, const std::string& layerIn, const std::st } } +void biLinearInterpolation(grid_map::GridMap& map, const std::string& layerIn, const std::string& layerOut) { + // Create new layer if missing + if (!map.exists(layerOut)) { + map.add(layerOut, map.get(layerIn)); + } else { + // initialize with a copy + map.get(layerOut) = map.get(layerIn); + } + + // Helper variables. + std::array indices; + std::array values; + Eigen::Matrix4f A; + Eigen::Vector4f b; + A.setOnes(); + Eigen::Vector4f weights; + bool success = true; + constexpr auto infinity = std::numeric_limits::max(); + + // Init. + std::fill(values.begin(), values.end(), NAN); + std::fill(indices.begin(), indices.end(), Eigen::Vector2i(0, 0)); + + // Reference to in and out maps. + const grid_map::Matrix& H_in = map.get(layerIn); + grid_map::Matrix& H_out = map.get(layerOut); + + for (auto colId = 0; colId < H_in.cols(); ++colId) { + for (auto rowId = 0; rowId < H_in.rows(); ++rowId) { + if (std::isnan(H_in(rowId, colId))) { + // Note: if we don't find a valid neighbour, we use the previous index-value pair. + auto minValue = infinity; + const Eigen::Vector2i index0(rowId, colId); + + // Search in negative direction. + for (auto id = rowId - 1; id >= 0; --id) { + auto newValue = H_in(id, colId); + if (!std::isnan(newValue)) { + indices[0] = Eigen::Vector2i(id, colId); + values[0] = newValue; + minValue = std::fmin(minValue, newValue); + break; + } + } + + for (auto id = colId - 1; id >= 0; --id) { + auto newValue = H_in(rowId, id); + if (!std::isnan(newValue)) { + indices[1] = Eigen::Vector2i(rowId, id); + values[1] = newValue; + minValue = std::fmin(minValue, newValue); + break; + } + } + + // Search in positive direction. + for (auto id = rowId + 1; id < H_in.rows(); ++id) { + auto newValue = H_in(id, colId); + if (!std::isnan(newValue)) { + indices[2] = Eigen::Vector2i(id, colId); + values[2] = newValue; + minValue = std::fmin(minValue, newValue); + break; + } + } + + for (auto id = colId + 1; id < H_in.cols(); ++id) { + auto newValue = H_in(rowId, id); + if (!std::isnan(newValue)) { + indices[3] = Eigen::Vector2i(rowId, id); + values[3] = newValue; + minValue = std::fmin(minValue, newValue); + break; + } + } + + // Cannot interpolate if there are not 4 corner points. + if (std::any_of(values.begin(), values.end(), [](float value) { return std::isnan(value); })) { + if (minValue < infinity) { + H_out(rowId, colId) = minValue; + } else { + success = false; + } + continue; + } + + // Interpolation weights (https://en.wikipedia.org/wiki/Bilinear_interpolation). + for (auto id = 0U; id < 4U; ++id) { + A(id, 1U) = static_cast(indices[id].x()); + A(id, 2U) = static_cast(indices[id].y()); + A(id, 3U) = static_cast(indices[id].x() * indices[id].y()); + b(id) = values[id]; + } + weights = A.colPivHouseholderQr().solve(b); + + // Value according to bi-linear interpolation. + H_out(rowId, colId) = weights.dot(Eigen::Vector4f(1.0, static_cast(index0.x()), static_cast(index0.y()), + static_cast(index0.x() * index0.y()))); + } + } + } + + // If failed, try again. + if (!success) { + map.get(layerIn) = map.get(layerOut); + return nonlinearInterpolation(map, layerIn, layerOut, 2. * map.getResolution()); + } +} + +void nonlinearInterpolation(grid_map::GridMap& map, const std::string& layerIn, const std::string& layerOut, double inpaintRadius) { + // Create new layer if missing. + if (!map.exists(layerOut)) { + map.add(layerOut); + } + + // Reference to in map. + const grid_map::Matrix& H_in = map.get(layerIn); + + // Create mask. + Eigen::Matrix mask = H_in.unaryExpr([](float val) { return (std::isnan(val)) ? uchar(1) : uchar(0); }); + cv::Mat maskImage; + cv::eigen2cv(mask, maskImage); + + // Convert grid map to image. + cv::Mat elevationImageIn; + const float minValue = H_in.minCoeffOfFinites(); + const float maxValue = H_in.maxCoeffOfFinites(); + grid_map::GridMapCvConverter::toImage(map, layerIn, CV_8UC1, minValue, maxValue, elevationImageIn); + + // Inpainting. + cv::Mat elevationImageOut; + const double radiusInPixels = inpaintRadius / map.getResolution(); + cv::inpaint(elevationImageIn, maskImage, elevationImageOut, radiusInPixels, cv::INPAINT_NS); + + // Get inpainting as float. + cv::Mat filledImageFloat; + constexpr float maxUCharValue = 255.F; + elevationImageOut.convertTo(filledImageFloat, CV_32F, (maxValue - minValue) / maxUCharValue, minValue); + + // Copy inpainted values back to elevation map. + cv::Mat elevationImageFloat; + cv::eigen2cv(H_in, elevationImageFloat); + filledImageFloat.copyTo(elevationImageFloat, maskImage); + + // Set new output layer. + cv::cv2eigen(elevationImageFloat, map.get(layerOut)); +} + void resample(grid_map::GridMap& map, const std::string& layer, double newRes) { // Original map info const auto oldPos = map.getPosition(); @@ -129,6 +286,5 @@ void resample(grid_map::GridMap& map, const std::string& layer, double newRes) { map.get(layer_name) = std::move(elevationMap); } } - } // namespace inpainting } // namespace grid_map From 48d73753cbbdc2022676bd103201e61e825b6372 Mon Sep 17 00:00:00 2001 From: rgrandia Date: Tue, 7 Jun 2022 16:03:51 +0200 Subject: [PATCH 208/504] rename pcl_catkin to pcl_visualization_catkin --- plane_segmentation/README.md | 4 ++-- .../CMakeLists.txt | 2 +- .../README.md | 2 +- .../lib/libpcl_visualization.so | Bin .../lib/libpcl_visualization.so.1.10 | Bin .../lib/libpcl_visualization.so.1.10.0 | Bin .../lib/pkgconfig/pcl_visualization-1.10.pc | 0 .../package.xml | 4 ++-- 8 files changed, 6 insertions(+), 6 deletions(-) rename plane_segmentation/{pcl_catkin => pcl_visualization_catkin}/CMakeLists.txt (95%) rename plane_segmentation/{pcl_catkin => pcl_visualization_catkin}/README.md (82%) rename plane_segmentation/{pcl_catkin => pcl_visualization_catkin}/lib/libpcl_visualization.so (100%) rename plane_segmentation/{pcl_catkin => pcl_visualization_catkin}/lib/libpcl_visualization.so.1.10 (100%) rename plane_segmentation/{pcl_catkin => pcl_visualization_catkin}/lib/libpcl_visualization.so.1.10.0 (100%) rename plane_segmentation/{pcl_catkin => pcl_visualization_catkin}/lib/pkgconfig/pcl_visualization-1.10.pc (100%) rename plane_segmentation/{pcl_catkin => pcl_visualization_catkin}/package.xml (74%) diff --git a/plane_segmentation/README.md b/plane_segmentation/README.md index df2bef02..a0312dff 100644 --- a/plane_segmentation/README.md +++ b/plane_segmentation/README.md @@ -30,11 +30,11 @@ sudo apt-get install libboost-all-dev #### PCL PCL is required, but the ANYbotics distributed version does not contain visualization components. -With the following commands PCL can be build from source directly into your catkin workspace. +With the following commands, the missing components are provided into your catkin workspace. DO NOT do this on the ANYmal onboard PCs, only on OPC and simulation PCs. ```bash sudo apt-get install libvtk7-dev -catkin build pcl_catkin +catkin build pcl_visualization_catkin ``` ### ROS package dependencies diff --git a/plane_segmentation/pcl_catkin/CMakeLists.txt b/plane_segmentation/pcl_visualization_catkin/CMakeLists.txt similarity index 95% rename from plane_segmentation/pcl_catkin/CMakeLists.txt rename to plane_segmentation/pcl_visualization_catkin/CMakeLists.txt index 89658bd2..623099f6 100644 --- a/plane_segmentation/pcl_catkin/CMakeLists.txt +++ b/plane_segmentation/pcl_visualization_catkin/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.10) -project(pcl_catkin) +project(pcl_visualization_catkin) include(GNUInstallDirs) diff --git a/plane_segmentation/pcl_catkin/README.md b/plane_segmentation/pcl_visualization_catkin/README.md similarity index 82% rename from plane_segmentation/pcl_catkin/README.md rename to plane_segmentation/pcl_visualization_catkin/README.md index 36bf8783..9730de36 100644 --- a/plane_segmentation/pcl_catkin/README.md +++ b/plane_segmentation/pcl_visualization_catkin/README.md @@ -1,3 +1,3 @@ -# pcl_catkin +# pcl_visualization_catkin Catkin wrapper of the visualization part of Point Cloud Library (PCL). Just copies the shared library into the catkin workspace. \ No newline at end of file diff --git a/plane_segmentation/pcl_catkin/lib/libpcl_visualization.so b/plane_segmentation/pcl_visualization_catkin/lib/libpcl_visualization.so similarity index 100% rename from plane_segmentation/pcl_catkin/lib/libpcl_visualization.so rename to plane_segmentation/pcl_visualization_catkin/lib/libpcl_visualization.so diff --git a/plane_segmentation/pcl_catkin/lib/libpcl_visualization.so.1.10 b/plane_segmentation/pcl_visualization_catkin/lib/libpcl_visualization.so.1.10 similarity index 100% rename from plane_segmentation/pcl_catkin/lib/libpcl_visualization.so.1.10 rename to plane_segmentation/pcl_visualization_catkin/lib/libpcl_visualization.so.1.10 diff --git a/plane_segmentation/pcl_catkin/lib/libpcl_visualization.so.1.10.0 b/plane_segmentation/pcl_visualization_catkin/lib/libpcl_visualization.so.1.10.0 similarity index 100% rename from plane_segmentation/pcl_catkin/lib/libpcl_visualization.so.1.10.0 rename to plane_segmentation/pcl_visualization_catkin/lib/libpcl_visualization.so.1.10.0 diff --git a/plane_segmentation/pcl_catkin/lib/pkgconfig/pcl_visualization-1.10.pc b/plane_segmentation/pcl_visualization_catkin/lib/pkgconfig/pcl_visualization-1.10.pc similarity index 100% rename from plane_segmentation/pcl_catkin/lib/pkgconfig/pcl_visualization-1.10.pc rename to plane_segmentation/pcl_visualization_catkin/lib/pkgconfig/pcl_visualization-1.10.pc diff --git a/plane_segmentation/pcl_catkin/package.xml b/plane_segmentation/pcl_visualization_catkin/package.xml similarity index 74% rename from plane_segmentation/pcl_catkin/package.xml rename to plane_segmentation/pcl_visualization_catkin/package.xml index afe59140..ebdcc8c3 100644 --- a/plane_segmentation/pcl_catkin/package.xml +++ b/plane_segmentation/pcl_visualization_catkin/package.xml @@ -1,8 +1,8 @@ - pcl_catkin + pcl_visualization_catkin 1.10.0 - Catkin wrapper for PCL. + Catkin wrapper for PCL visualization. Ruben Grandia See package From f956bb68f2b8998f5b8e7aeca30bec10e00604ad Mon Sep 17 00:00:00 2001 From: rgrandia Date: Wed, 8 Jun 2022 09:40:27 +0200 Subject: [PATCH 209/504] add resample size tests --- .../grid_map_filters_rsl/src/inpainting.cpp | 2 +- .../grid_map_filters_rsl/test/TestFilters.cpp | 67 +++++++++++++++++++ 2 files changed, 68 insertions(+), 1 deletion(-) diff --git a/plane_segmentation/grid_map_filters_rsl/src/inpainting.cpp b/plane_segmentation/grid_map_filters_rsl/src/inpainting.cpp index 6df2b258..a3aaa19b 100644 --- a/plane_segmentation/grid_map_filters_rsl/src/inpainting.cpp +++ b/plane_segmentation/grid_map_filters_rsl/src/inpainting.cpp @@ -262,7 +262,7 @@ void resample(grid_map::GridMap& map, const std::string& layer, double newRes) { for (const auto& layer_name : layer_names) { Eigen::MatrixXf elevationMap = std::move(map.get(layer_name)); - // Convert elevation map ro open-cv image. + // Convert elevation map to open-cv image. cv::Mat elevationImage; cv::eigen2cv(elevationMap, elevationImage); diff --git a/plane_segmentation/grid_map_filters_rsl/test/TestFilters.cpp b/plane_segmentation/grid_map_filters_rsl/test/TestFilters.cpp index cbe445b8..c090a1e6 100644 --- a/plane_segmentation/grid_map_filters_rsl/test/TestFilters.cpp +++ b/plane_segmentation/grid_map_filters_rsl/test/TestFilters.cpp @@ -75,3 +75,70 @@ TEST(TestInpainting, minValuesOnlyNaN) { // NOLINT EXPECT_TRUE(map.get("filled_min_nan").hasNaN()); EXPECT_DOUBLE_EQ(map.get("filled_min_nonan").minCoeff(), 1.0); } + +TEST(TestResampling, resampleSameSize) { // NOLINT + const std::string layerName = "layer"; + + GridMap map; + map.setGeometry(Length(3.0, 2.01), 0.33, Position(0.1, 0.2)); + map.add(layerName); + map.get(layerName).setRandom(); + + GridMap resampleMap = map; + + inpainting::resample(resampleMap, layerName, map.getResolution()); + + // Compare geometry + EXPECT_TRUE(resampleMap.getSize().isApprox(map.getSize())); + EXPECT_TRUE(resampleMap.getPosition().isApprox(map.getPosition())); + EXPECT_DOUBLE_EQ(resampleMap.getResolution(), map.getResolution()); + + // Compare content + EXPECT_TRUE(resampleMap.get(layerName).isApprox(map.get(layerName))); +} + +TEST(TestResampling, resampleUpsample) { // NOLINT + const std::string layerName = "layer"; + const double oldRes = 1.0; + const double newRes = 0.5; + + GridMap map; + map.setGeometry(Length(3.0, 2.0), oldRes, Position(0.1, 0.2)); + map.add(layerName); + map.get(layerName).setRandom(); + + GridMap resampleMap = map; + + inpainting::resample(resampleMap, layerName, newRes); + + // Compare geometry + const Eigen::Vector2d oldTrueSize(map.getResolution() * map.getSize().x(), map.getResolution() * map.getSize().y()); + const Eigen::Vector2d newTrueSize(resampleMap.getResolution() * resampleMap.getSize().x(), + resampleMap.getResolution() * resampleMap.getSize().y()); + EXPECT_TRUE(newTrueSize.isApprox(oldTrueSize)); + EXPECT_TRUE(resampleMap.getPosition().isApprox(map.getPosition())); + EXPECT_DOUBLE_EQ(resampleMap.getResolution(), newRes); +} + +TEST(TestResampling, resampleDownsample) { // NOLINT + const std::string layerName = "layer"; + const double oldRes = 0.5; + const double newRes = 1.0; + + GridMap map; + map.setGeometry(Length(3.0, 2.0), oldRes, Position(0.1, 0.2)); + map.add(layerName); + map.get(layerName).setRandom(); + + GridMap resampleMap = map; + + inpainting::resample(resampleMap, layerName, newRes); + + // Compare geometry + const Eigen::Vector2d oldTrueSize(map.getResolution() * map.getSize().x(), map.getResolution() * map.getSize().y()); + const Eigen::Vector2d newTrueSize(resampleMap.getResolution() * resampleMap.getSize().x(), + resampleMap.getResolution() * resampleMap.getSize().y()); + EXPECT_TRUE(newTrueSize.isApprox(oldTrueSize)); + EXPECT_TRUE(resampleMap.getPosition().isApprox(map.getPosition())); + EXPECT_DOUBLE_EQ(resampleMap.getResolution(), newRes); +} \ No newline at end of file From 548eb7cdd32f774b5efd2096fc276c0b776b67a2 Mon Sep 17 00:00:00 2001 From: rgrandia Date: Wed, 8 Jun 2022 09:54:13 +0200 Subject: [PATCH 210/504] improve pcl visualization catkin --- .../pcl_visualization_catkin/CMakeLists.txt | 22 ++++++++++++++----- 1 file changed, 16 insertions(+), 6 deletions(-) diff --git a/plane_segmentation/pcl_visualization_catkin/CMakeLists.txt b/plane_segmentation/pcl_visualization_catkin/CMakeLists.txt index 623099f6..8c3728b0 100644 --- a/plane_segmentation/pcl_visualization_catkin/CMakeLists.txt +++ b/plane_segmentation/pcl_visualization_catkin/CMakeLists.txt @@ -5,13 +5,23 @@ include(GNUInstallDirs) find_package(catkin REQUIRED) -file(MAKE_DIRECTORY ${CATKIN_DEVEL_PREFIX}/lib) -file(COPY ${CMAKE_CURRENT_SOURCE_DIR}/lib/libpcl_visualization.so DESTINATION ${CATKIN_DEVEL_PREFIX}/lib) -file(COPY ${CMAKE_CURRENT_SOURCE_DIR}/lib/libpcl_visualization.so.1.10 DESTINATION ${CATKIN_DEVEL_PREFIX}/lib) -file(COPY ${CMAKE_CURRENT_SOURCE_DIR}/lib/libpcl_visualization.so.1.10.0 DESTINATION ${CATKIN_DEVEL_PREFIX}/lib) +find_package(PCL) +message(STATUS "PCL Version: " ${PCL_VERSION}) +message(STATUS "PCL_COMPONENTS: " ${PCL_COMPONENTS}) -file(MAKE_DIRECTORY ${CATKIN_DEVEL_PREFIX}/lib/pkgconfig) -file(COPY ${CMAKE_CURRENT_SOURCE_DIR}/lib/pkgconfig/pcl_visualization-1.10.pc DESTINATION ${CATKIN_DEVEL_PREFIX}/lib/pkgconfig) +if (${PCL_VISUALIZATION_FOUND}) + message(STATUS "pcl_visualization_catkin doing nothing, pcl_visualization is already found") +else() + message(STATUS "pcl_visualization_catkin is copying pcl_visualization 1.10") + + file(MAKE_DIRECTORY ${CATKIN_DEVEL_PREFIX}/lib) + file(COPY ${CMAKE_CURRENT_SOURCE_DIR}/lib/libpcl_visualization.so DESTINATION ${CATKIN_DEVEL_PREFIX}/lib) + file(COPY ${CMAKE_CURRENT_SOURCE_DIR}/lib/libpcl_visualization.so.1.10 DESTINATION ${CATKIN_DEVEL_PREFIX}/lib) + file(COPY ${CMAKE_CURRENT_SOURCE_DIR}/lib/libpcl_visualization.so.1.10.0 DESTINATION ${CATKIN_DEVEL_PREFIX}/lib) + + file(MAKE_DIRECTORY ${CATKIN_DEVEL_PREFIX}/lib/pkgconfig) + file(COPY ${CMAKE_CURRENT_SOURCE_DIR}/lib/pkgconfig/pcl_visualization-1.10.pc DESTINATION ${CATKIN_DEVEL_PREFIX}/lib/pkgconfig) +endif () catkin_package( INCLUDE_DIRS From a9cac43f2a5c27d27af46a528a914e19fe1a258b Mon Sep 17 00:00:00 2001 From: rgrandia Date: Wed, 8 Jun 2022 09:54:24 +0200 Subject: [PATCH 211/504] clean up demo setup --- .../config/demo_node.yaml | 6 +- .../config/parameters.yaml | 4 +- .../config/standalone_node.yaml | 7 --- .../data/demo_map.png | Bin 74823 -> 0 bytes .../data/elevationMap_0_107cm.png | Bin 1316 -> 0 bytes .../data/elevationMap_0_148cm.png | Bin 797 -> 0 bytes .../data/elevationMap_0_44cm.png | Bin 1175 -> 0 bytes .../data/elevationMap_10_277cm.png | Bin 21378 -> 0 bytes .../data/elevationMap_11_278cm.png | Bin 21764 -> 0 bytes .../data/elevationMap_8_139cm.png | Bin 20686 -> 0 bytes .../data/elevationMap_9_308cm.png | Bin 16873 -> 0 bytes ...Stairs_125cm.png => real_stairs_125cm.png} | Bin .../data/stepping_stones_65cm.png | Bin 2364 -> 0 bytes ...0cm.png => straight_stairs_1m_1m_60cm.png} | Bin .../launch/demo.launch | 12 ++-- .../launch/rviz.launch | 5 -- ...onmap.launch => save_elevation_map.launch} | 2 +- .../launch/standalone.launch | 11 ---- .../package.xml | 4 ++ .../rviz/config_demo.rviz | 59 +++++------------- 20 files changed, 33 insertions(+), 77 deletions(-) delete mode 100644 plane_segmentation/convex_plane_decomposition_ros/config/standalone_node.yaml delete mode 100644 plane_segmentation/convex_plane_decomposition_ros/data/demo_map.png delete mode 100644 plane_segmentation/convex_plane_decomposition_ros/data/elevationMap_0_107cm.png delete mode 100644 plane_segmentation/convex_plane_decomposition_ros/data/elevationMap_0_148cm.png delete mode 100644 plane_segmentation/convex_plane_decomposition_ros/data/elevationMap_0_44cm.png delete mode 100644 plane_segmentation/convex_plane_decomposition_ros/data/elevationMap_10_277cm.png delete mode 100644 plane_segmentation/convex_plane_decomposition_ros/data/elevationMap_11_278cm.png delete mode 100644 plane_segmentation/convex_plane_decomposition_ros/data/elevationMap_8_139cm.png delete mode 100644 plane_segmentation/convex_plane_decomposition_ros/data/elevationMap_9_308cm.png rename plane_segmentation/convex_plane_decomposition_ros/data/{realStairs_125cm.png => real_stairs_125cm.png} (100%) delete mode 100644 plane_segmentation/convex_plane_decomposition_ros/data/stepping_stones_65cm.png rename plane_segmentation/convex_plane_decomposition_ros/data/{straightStairs_1m_1m_60cm.png => straight_stairs_1m_1m_60cm.png} (100%) delete mode 100644 plane_segmentation/convex_plane_decomposition_ros/launch/rviz.launch rename plane_segmentation/convex_plane_decomposition_ros/launch/{convex_plane_decomposition_save_elevationmap.launch => save_elevation_map.launch} (68%) delete mode 100644 plane_segmentation/convex_plane_decomposition_ros/launch/standalone.launch diff --git a/plane_segmentation/convex_plane_decomposition_ros/config/demo_node.yaml b/plane_segmentation/convex_plane_decomposition_ros/config/demo_node.yaml index 214d2a57..6ded383e 100644 --- a/plane_segmentation/convex_plane_decomposition_ros/config/demo_node.yaml +++ b/plane_segmentation/convex_plane_decomposition_ros/config/demo_node.yaml @@ -2,7 +2,7 @@ elevation_topic: '/elevation_mapping/elevation_map_raw' height_layer: 'elevation' target_frame_id: 'odom' submap: - width: 6.0 - length: 6.0 + width: 8.0 + length: 8.0 publish_to_controller: true -frequency: 10.0 +frequency: 1.0 diff --git a/plane_segmentation/convex_plane_decomposition_ros/config/parameters.yaml b/plane_segmentation/convex_plane_decomposition_ros/config/parameters.yaml index 412d6018..af26a631 100644 --- a/plane_segmentation/convex_plane_decomposition_ros/config/parameters.yaml +++ b/plane_segmentation/convex_plane_decomposition_ros/config/parameters.yaml @@ -17,10 +17,10 @@ sliding_window_plane_extractor: global_plane_fit_angle_error_threshold_degrees: 25.0 # [deg] Allowed normal vector deviation for a point w.r.t. the plane normal. If any point violates this, RANSAC is triggered ransac_plane_refinement: - probability: 0.01 # Probability to miss the largest candidate shape. A lower probability provides a higher reliability and determinism at the cost of longer running times + probability: 0.001 # Probability to miss the largest candidate shape. A lower probability provides a higher reliability and determinism at the cost of longer running times min_points: 4 # This minimum number of points per plane. Controls the termination of the algorithm. epsilon: 0.025 # Maximum distance to plane - cluster_epsilon: 0.08 # [m] Set maximum Euclidean distance between points to be clustered. Two points are connected if separated by a distance of at most 2*sqrt(2)*cluster_epsilon = 2.828 * cluster_epsilon. Set this higher than resolution + cluster_epsilon: 0.041 # [m] Set maximum Euclidean distance between points to be clustered. Two points are connected if separated by a distance of at most 2*sqrt(2)*cluster_epsilon = 2.828 * cluster_epsilon. Set this higher than resolution normal_threshold: 25.0 # [deg] Set maximum normal deviation between cluster surface_normal and point normal. contour_extraction: diff --git a/plane_segmentation/convex_plane_decomposition_ros/config/standalone_node.yaml b/plane_segmentation/convex_plane_decomposition_ros/config/standalone_node.yaml deleted file mode 100644 index f6b76949..00000000 --- a/plane_segmentation/convex_plane_decomposition_ros/config/standalone_node.yaml +++ /dev/null @@ -1,7 +0,0 @@ -elevation_topic: '/elevation_mapping/elevation_map_recordable' -height_layer: 'elevation' -submap: - width: 3.0 - length: 3.0 -publish_to_controller: false -frequency: 10.0 diff --git a/plane_segmentation/convex_plane_decomposition_ros/data/demo_map.png b/plane_segmentation/convex_plane_decomposition_ros/data/demo_map.png deleted file mode 100644 index f3911e7b91f2642af22212cd54d5eff712738484..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 74823 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b/plane_segmentation/convex_plane_decomposition_ros/launch/demo.launch index 09f41c17..6ddfbdfb 100644 --- a/plane_segmentation/convex_plane_decomposition_ros/launch/demo.launch +++ b/plane_segmentation/convex_plane_decomposition_ros/launch/demo.launch @@ -19,10 +19,10 @@ - - - - + + + + @@ -31,7 +31,7 @@ - + @@ -39,6 +39,6 @@ - + diff --git a/plane_segmentation/convex_plane_decomposition_ros/launch/rviz.launch b/plane_segmentation/convex_plane_decomposition_ros/launch/rviz.launch deleted file mode 100644 index b3062364..00000000 --- a/plane_segmentation/convex_plane_decomposition_ros/launch/rviz.launch +++ /dev/null @@ -1,5 +0,0 @@ - - - - - diff --git a/plane_segmentation/convex_plane_decomposition_ros/launch/convex_plane_decomposition_save_elevationmap.launch b/plane_segmentation/convex_plane_decomposition_ros/launch/save_elevation_map.launch similarity index 68% rename from plane_segmentation/convex_plane_decomposition_ros/launch/convex_plane_decomposition_save_elevationmap.launch rename to plane_segmentation/convex_plane_decomposition_ros/launch/save_elevation_map.launch index d2b9ec81..702525a3 100644 --- a/plane_segmentation/convex_plane_decomposition_ros/launch/convex_plane_decomposition_save_elevationmap.launch +++ b/plane_segmentation/convex_plane_decomposition_ros/launch/save_elevation_map.launch @@ -1,6 +1,6 @@ - diff --git a/plane_segmentation/convex_plane_decomposition_ros/launch/standalone.launch b/plane_segmentation/convex_plane_decomposition_ros/launch/standalone.launch deleted file mode 100644 index 06cf11f5..00000000 --- a/plane_segmentation/convex_plane_decomposition_ros/launch/standalone.launch +++ /dev/null @@ -1,11 +0,0 @@ - - - - - - - - - - - diff --git a/plane_segmentation/convex_plane_decomposition_ros/package.xml b/plane_segmentation/convex_plane_decomposition_ros/package.xml index 126edcfe..d7cf3e66 100644 --- a/plane_segmentation/convex_plane_decomposition_ros/package.xml +++ b/plane_segmentation/convex_plane_decomposition_ros/package.xml @@ -9,6 +9,7 @@ TODO catkin + roscpp grid_map_core grid_map_ros @@ -20,4 +21,7 @@ convex_plane_decomposition_msgs tf2_ros + grid_map_demos + pcl_visualization_catkin + diff --git a/plane_segmentation/convex_plane_decomposition_ros/rviz/config_demo.rviz b/plane_segmentation/convex_plane_decomposition_ros/rviz/config_demo.rviz index c49630ca..6df62f08 100644 --- a/plane_segmentation/convex_plane_decomposition_ros/rviz/config_demo.rviz +++ b/plane_segmentation/convex_plane_decomposition_ros/rviz/config_demo.rviz @@ -5,9 +5,8 @@ Panels: Property Tree Widget: Expanded: - /Global Options1 - - /FilteredMap1 - Splitter Ratio: 0.4083484709262848 - Tree Height: 824 + Splitter Ratio: 0.6307384967803955 + Tree Height: 1658 - Class: rviz/Selection Name: Selection - Class: rviz/Tool Properties @@ -91,7 +90,7 @@ Visualization Manager: Color: 200; 200; 200 Color Layer: plane_classification Color Transformer: IntensityLayer - Enabled: true + Enabled: false Grid Cell Decimation: 1 Grid Line Thickness: 0.10000000149011612 Height Layer: elevation_before_postprocess @@ -107,31 +106,7 @@ Visualization Manager: Topic: /convex_plane_decomposition_ros/filtered_map Unreliable: false Use Rainbow: false - Value: true - - Class: rviz/MarkerArray - Enabled: true - Marker Topic: /segmented_planes_terrain_model_demo_node/convex_terrain - Name: ConvexRegion - Namespaces: - {} - Queue Size: 100 - Value: true - - Class: rviz/Marker - Enabled: true - Marker Topic: /segmented_planes_terrain_model_demo_node/queryPosition - Name: queryPosition - Namespaces: - {} - Queue Size: 100 - Value: true - - Class: rviz/MarkerArray - Enabled: true - Marker Topic: /segmented_planes_terrain_model_demo_node/regionBoundary - Name: SelectedRegion - Namespaces: - {} - Queue Size: 100 - Value: true + Value: false Enabled: true Global Options: Background Color: 255; 255; 255 @@ -160,7 +135,7 @@ Visualization Manager: Views: Current: Class: rviz/XYOrbit - Distance: 23.61389923095703 + Distance: 12.910699844360352 Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 @@ -168,25 +143,25 @@ Visualization Manager: Value: false Field of View: 0.7853981852531433 Focal Point: - X: 8.348309516906738 - Y: 0.002288922667503357 - Z: 3.0517578125e-05 + X: 0.23195862770080566 + Y: 6.398481369018555 + Z: 3.2901763916015625e-05 Focal Shape Fixed Size: true Focal Shape Size: 0.05000000074505806 Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Pitch: 0.8357961773872375 + Pitch: 0.5807958841323853 Target Frame: - Yaw: 0 + Yaw: 1.4850016832351685 Saved: ~ Window Geometry: Displays: - collapsed: true - Height: 1043 - Hide Left Dock: true + collapsed: false + Height: 2032 + Hide Left Dock: false Hide Right Dock: false - QMainWindow State: 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+ QMainWindow State: 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Selection: collapsed: false Time: @@ -195,6 +170,6 @@ Window Geometry: collapsed: false Views: collapsed: false - Width: 1848 - X: 72 - Y: 0 + Width: 3696 + X: 3984 + Y: 54 From d06b033e570f119aecd3b9238b47e2c0c0090659 Mon Sep 17 00:00:00 2001 From: rgrandia Date: Wed, 8 Jun 2022 10:02:03 +0200 Subject: [PATCH 212/504] fix typo --- .../convex_plane_decomposition/test/testRegionGrowing.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/plane_segmentation/convex_plane_decomposition/test/testRegionGrowing.cpp b/plane_segmentation/convex_plane_decomposition/test/testRegionGrowing.cpp index e0932c28..dca141a4 100644 --- a/plane_segmentation/convex_plane_decomposition/test/testRegionGrowing.cpp +++ b/plane_segmentation/convex_plane_decomposition/test/testRegionGrowing.cpp @@ -28,8 +28,8 @@ TEST(TestRegionGrowing, center_on_border) { } TEST(TestRegionGrowing, debug_case) { - // Rare case where the region algorithm go stuck - const int numberOfVertices = 16; // Multiple of 4 is nice for symmetry. + // Rare case where the region algorithm got stuck + const int numberOfVertices = 16; const double growthFactor = 1.05; CgalPoint2d center(-0.147433, 0.800114); From e99f5f585ee9d1ba7970092b8360d33713f6948c Mon Sep 17 00:00:00 2001 From: rgrandia Date: Wed, 8 Jun 2022 10:44:17 +0200 Subject: [PATCH 213/504] remove unused method --- .../ConvexPlaneDecompositionRos.h | 2 -- .../src/ConvexPlaneDecompositionRos.cpp | 10 ---------- 2 files changed, 12 deletions(-) diff --git a/plane_segmentation/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/ConvexPlaneDecompositionRos.h b/plane_segmentation/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/ConvexPlaneDecompositionRos.h index a51ae69a..d57f8d6d 100644 --- a/plane_segmentation/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/ConvexPlaneDecompositionRos.h +++ b/plane_segmentation/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/ConvexPlaneDecompositionRos.h @@ -35,8 +35,6 @@ class ConvexPlaneExtractionROS { Eigen::Isometry3d getTransformToTargetFrame(const std::string& sourceFrame, const ros::Time& time); - ros::Time getMessageTime(const grid_map_msgs::GridMap& message) const; - // Parameters std::string elevationMapTopic_; std::string elevationLayer_; diff --git a/plane_segmentation/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp b/plane_segmentation/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp index ed569c7c..fddddf4d 100644 --- a/plane_segmentation/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp +++ b/plane_segmentation/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp @@ -183,14 +183,4 @@ Eigen::Isometry3d ConvexPlaneExtractionROS::getTransformToTargetFrame(const std: return transformation; } -ros::Time ConvexPlaneExtractionROS::getMessageTime(const grid_map_msgs::GridMap& message) const { - try { - ros::Time time; - return time.fromNSec(message.info.header.stamp.toNSec()); - } catch (std::runtime_error& ex) { - ROS_WARN("[ConvexPlaneExtractionROS::getMessageTime] %s", ex.what()); - return ros::Time::now(); - } -} - } // namespace convex_plane_decomposition From 7fe66eb3e14d04fffb8e2264909e39ad1966181d Mon Sep 17 00:00:00 2001 From: rgrandia Date: Wed, 8 Jun 2022 10:44:34 +0200 Subject: [PATCH 214/504] remove growing median filter --- .../GridMapPreprocessing.h | 2 - .../src/GridMapPreprocessing.cpp | 47 ++----------------- .../config/parameters.yaml | 1 - .../src/ParameterLoading.cpp | 1 - 4 files changed, 4 insertions(+), 47 deletions(-) diff --git a/plane_segmentation/convex_plane_decomposition/include/convex_plane_decomposition/GridMapPreprocessing.h b/plane_segmentation/convex_plane_decomposition/include/convex_plane_decomposition/GridMapPreprocessing.h index 5f04874a..ebd34b0f 100644 --- a/plane_segmentation/convex_plane_decomposition/include/convex_plane_decomposition/GridMapPreprocessing.h +++ b/plane_segmentation/convex_plane_decomposition/include/convex_plane_decomposition/GridMapPreprocessing.h @@ -13,8 +13,6 @@ struct PreprocessingParameters { int kernelSize = 3; /// Number of times the image is filtered int numberOfRepeats = 2; - /// If the kernel size should increase each filter step. - bool increasing = false; }; class GridMapPreprocessing { diff --git a/plane_segmentation/convex_plane_decomposition/src/GridMapPreprocessing.cpp b/plane_segmentation/convex_plane_decomposition/src/GridMapPreprocessing.cpp index 48dd31db..265918e6 100644 --- a/plane_segmentation/convex_plane_decomposition/src/GridMapPreprocessing.cpp +++ b/plane_segmentation/convex_plane_decomposition/src/GridMapPreprocessing.cpp @@ -5,6 +5,7 @@ #include #include +#include namespace convex_plane_decomposition { @@ -17,55 +18,15 @@ void GridMapPreprocessing::preprocess(grid_map::GridMap& gridMap, const std::str } void GridMapPreprocessing::denoise(grid_map::GridMap& gridMap, const std::string& layer) const { - Eigen::MatrixXf& elevation_map = gridMap.get(layer); - - cv::Mat elevationImage; - cv::eigen2cv(elevation_map, elevationImage); // creates CV_32F image - - int kernelSize = parameters_.kernelSize; - - for (int i = 0; i < parameters_.numberOfRepeats; ++i) { - kernelSize = std::max(3, std::min(kernelSize, 5)); // must be 3 or 5 for current image type, see doc of cv::medianBlur - cv::medianBlur(elevationImage, elevationImage, kernelSize); - if (parameters_.increasing) { // TODO (rgrandia) : remove this option or enable kernels of other size than 3 / 5 - kernelSize += 2; - } - } - - cv::cv2eigen(elevationImage, elevation_map); + int kernelSize = std::max(1, std::min(parameters_.kernelSize, 5)); // must be 1, 3 or 5 for current image type, see doc of cv::medianBlur + grid_map::smoothing::median(gridMap, layer, layer, kernelSize, 0, parameters_.numberOfRepeats); } void GridMapPreprocessing::changeResolution(grid_map::GridMap& gridMap, const std::string& layer) const { bool hasSameResolution = std::abs(gridMap.getResolution() - parameters_.resolution) < 1e-6; if (parameters_.resolution > 0.0 && !hasSameResolution) { - // Original map info - const auto oldPosition = gridMap.getPosition(); - const auto oldSize = gridMap.getSize(); - const auto oldResolution = gridMap.getResolution(); - - Eigen::MatrixXf elevation_map = std::move(gridMap.get(layer)); - - cv::Mat elevationImage; - cv::eigen2cv(elevation_map, elevationImage); - - double scaling = oldResolution / parameters_.resolution; - int width = int(elevationImage.size[1] * scaling); - int height = int(elevationImage.size[0] * scaling); - cv::Size dim{width, height}; - - cv::Mat resizedImage; - cv::resize(elevationImage, resizedImage, dim, 0, 0, cv::INTER_LINEAR); - - cv::cv2eigen(resizedImage, elevation_map); - - // Compute true new resolution. Might be slightly different due to rounding. Take average of both dimensions. - grid_map::Size newSize = {elevation_map.rows(), elevation_map.cols()}; - const double newResolution = 0.5 * ((oldSize[0] * oldResolution) / newSize[0] + (oldSize[1] * oldResolution) / newSize[1]); - grid_map::Position newPosition = oldPosition; - - gridMap.setGeometry({newSize[0] * newResolution, newSize[1] * newResolution}, newResolution, newPosition); - gridMap.get(layer) = std::move(elevation_map); + grid_map::inpainting::resample(gridMap, layer, parameters_.resolution); } } diff --git a/plane_segmentation/convex_plane_decomposition_ros/config/parameters.yaml b/plane_segmentation/convex_plane_decomposition_ros/config/parameters.yaml index af26a631..fa153584 100644 --- a/plane_segmentation/convex_plane_decomposition_ros/config/parameters.yaml +++ b/plane_segmentation/convex_plane_decomposition_ros/config/parameters.yaml @@ -2,7 +2,6 @@ preprocessing: resolution: 0.04 # Resampling resolution, set negative to skip, requires inpainting to be used kernelSize: 3 # Kernel size of the median filter, either 3 or 5 numberOfRepeats: 1 # Number of times to apply the same filter - increasing: False # Increase the kernel size each iteration. sliding_window_plane_extractor: kernel_size: 3 # Size of the sliding window patch used for normal vector calculation and planarity detection. Should be an odd number and at least 3. diff --git a/plane_segmentation/convex_plane_decomposition_ros/src/ParameterLoading.cpp b/plane_segmentation/convex_plane_decomposition_ros/src/ParameterLoading.cpp index 1859b1df..3fac5d4c 100644 --- a/plane_segmentation/convex_plane_decomposition_ros/src/ParameterLoading.cpp +++ b/plane_segmentation/convex_plane_decomposition_ros/src/ParameterLoading.cpp @@ -22,7 +22,6 @@ PreprocessingParameters loadPreprocessingParameters(const ros::NodeHandle& nodeH loadParameter(nodeHandle, prefix, "resolution", preprocessingParameters.resolution); loadParameter(nodeHandle, prefix, "kernelSize", preprocessingParameters.kernelSize); loadParameter(nodeHandle, prefix, "numberOfRepeats", preprocessingParameters.numberOfRepeats); - loadParameter(nodeHandle, prefix, "increasing", preprocessingParameters.increasing); return preprocessingParameters; } From c87bd854ad47be32339ec73b399efce96e00e576 Mon Sep 17 00:00:00 2001 From: rgrandia Date: Wed, 8 Jun 2022 10:45:07 +0200 Subject: [PATCH 215/504] add inner approximation demo to readme --- plane_segmentation/README.md | 25 ++- .../CMakeLists.txt | 14 +- ...{shapeGrowing.cpp => TestShapeGrowing.cpp} | 16 +- .../test/test.cpp | 162 ------------------ 4 files changed, 27 insertions(+), 190 deletions(-) rename plane_segmentation/convex_plane_decomposition_ros/test/{shapeGrowing.cpp => TestShapeGrowing.cpp} (80%) delete mode 100644 plane_segmentation/convex_plane_decomposition_ros/test/test.cpp diff --git a/plane_segmentation/README.md b/plane_segmentation/README.md index a0312dff..1b1c5388 100644 --- a/plane_segmentation/README.md +++ b/plane_segmentation/README.md @@ -1,7 +1,9 @@ -# Convex Terrain Representation # +# Plane Segmentation ## Overview -This is a C++ ROS package for extracting convex polygons from elevation maps created by elevation_mapping. +This is a C++ ROS package for extracting convex polygons from elevation maps. +In a first step, the terrain is segmented into planes, and their non-convex contour is extracted. +In a second step, a local convex approximation can be obtained. ## Installation @@ -30,11 +32,10 @@ sudo apt-get install libboost-all-dev #### PCL PCL is required, but the ANYbotics distributed version does not contain visualization components. -With the following commands, the missing components are provided into your catkin workspace. -DO NOT do this on the ANYmal onboard PCs, only on OPC and simulation PCs. +With pcl_visualization_catkin, the missing components are provided into your catkin workspace (for pcl 1.10). +Additionally vtk7 is required, DO NOT install this on the ANYmal onboard PCs, only on OPC and simulation PCs. ```bash sudo apt-get install libvtk7-dev -catkin build pcl_visualization_catkin ``` ### ROS package dependencies @@ -46,7 +47,7 @@ sudo apt-get install ros-noetic-jsk-visualization ``` #### Grid Map -Grid map is available through ANYmal-research, or you can add it to your workspace. You can clone it using: +Grid map is available through ANYmal-research, apt install, or you can add it to your workspace. You can clone it using: ```bash git clone https://github.com/ANYbotics/grid_map.git ``` @@ -56,11 +57,23 @@ git clone https://github.com/ANYbotics/grid_map.git ```bash catkin build convex_plane_decomposition_ros ``` + +### Run as node +```bash +roslaunch convex_plane_decomposition_ros convex_plane_decomposition.launch +``` + ### Run demo ```bash roslaunch convex_plane_decomposition_ros demo.launch ``` +### Convex approximation demo +A simple 2D demo the convex inner approximation is available: +```bash +rosrun convex_plane_decomposition_ros convex_plane_decomposition_ros_TestShapeGrowing +``` + ### Parameters You can select input map topics, pipeline parameters etc. in the respective yaml file in ```bash diff --git a/plane_segmentation/convex_plane_decomposition_ros/CMakeLists.txt b/plane_segmentation/convex_plane_decomposition_ros/CMakeLists.txt index a30f0a7d..b3c110cb 100644 --- a/plane_segmentation/convex_plane_decomposition_ros/CMakeLists.txt +++ b/plane_segmentation/convex_plane_decomposition_ros/CMakeLists.txt @@ -111,18 +111,10 @@ install(DIRECTORY config data launch rviz ############# ## Testing ## ############# -add_executable(${PROJECT_NAME}_test - test/test.cpp +add_executable(${PROJECT_NAME}_TestShapeGrowing + test/TestShapeGrowing.cpp ) -target_link_libraries(${PROJECT_NAME}_test - ${catkin_LIBRARIES} - ${OpenCV_LIBRARIES} -) - -add_executable(${PROJECT_NAME}_shapegrowing - test/shapeGrowing.cpp -) -target_link_libraries(${PROJECT_NAME}_shapegrowing +target_link_libraries(${PROJECT_NAME}_TestShapeGrowing ${catkin_LIBRARIES} ${OpenCV_LIBRARIES} ) \ No newline at end of file diff --git a/plane_segmentation/convex_plane_decomposition_ros/test/shapeGrowing.cpp b/plane_segmentation/convex_plane_decomposition_ros/test/TestShapeGrowing.cpp similarity index 80% rename from plane_segmentation/convex_plane_decomposition_ros/test/shapeGrowing.cpp rename to plane_segmentation/convex_plane_decomposition_ros/test/TestShapeGrowing.cpp index 400af2e2..0dcc4c92 100644 --- a/plane_segmentation/convex_plane_decomposition_ros/test/shapeGrowing.cpp +++ b/plane_segmentation/convex_plane_decomposition_ros/test/TestShapeGrowing.cpp @@ -6,8 +6,6 @@ #include #include -#include - using namespace convex_plane_decomposition; int main(int argc, char** argv) { @@ -21,30 +19,26 @@ int main(int argc, char** argv) { parentShape.add_hole(createRegularPolygon(CgalPoint2d(200.0, 200.0), 50, 4)); parentShape.add_hole(createRegularPolygon(CgalPoint2d(600.0, 700.0), 100, 100)); - // bounded_side_2 -> is inside - - int numberOfVertices = 16; // Multiple of 4 is nice. + int numberOfVertices = 16; double growthFactor = 1.05; - CgalPoint2d center{700.0, 300.0}; cv::Size imgSize(1000, 1000); - const auto parentColor = randomColor(); const auto fitColor = randomColor(); int N_test = 10; for (int i = 0; i < N_test; i++) { - center = CgalPoint2d(rand()%1000, rand()%1000); + CgalPoint2d center = CgalPoint2d(rand() % imgSize.width, rand() % imgSize.height); cv::Mat polygonImage(imgSize, CV_8UC3, cv::Vec3b(0, 0, 0)); drawContour(polygonImage, parentShape, &parentColor); drawContour(polygonImage, center, 2, &fitColor); - if (isInside(center, parentShape )) { + if (isInside(center, parentShape)) { const auto fittedPolygon2d = growConvexPolygonInsideShape(parentShape, center, numberOfVertices, growthFactor); drawContour(polygonImage, fittedPolygon2d, &fitColor); } - cv::namedWindow("Polygon", cv::WindowFlags::WINDOW_NORMAL); - cv::imshow("Polygon", polygonImage); + cv::namedWindow("TestShapeGrowing", cv::WindowFlags::WINDOW_NORMAL); + cv::imshow("TestShapeGrowing", polygonImage); cv::waitKey(0); // Wait for a keystroke in the window } diff --git a/plane_segmentation/convex_plane_decomposition_ros/test/test.cpp b/plane_segmentation/convex_plane_decomposition_ros/test/test.cpp deleted file mode 100644 index f952b6d3..00000000 --- a/plane_segmentation/convex_plane_decomposition_ros/test/test.cpp +++ /dev/null @@ -1,162 +0,0 @@ -// -// Created by rgrandia on 04.06.20. -// - -#include -#include -#include - -#include -#include - -#include - -#include -#include -#include - -#include -#include -#include -#include -#include - -using namespace convex_plane_decomposition; - -void plotSlidingWindow(const sliding_window_plane_extractor::SlidingWindowPlaneExtractor& planeExtractor) { - cv::namedWindow("Sliding Window binarymap", cv::WindowFlags::WINDOW_NORMAL); - cv::Mat binaryImage = planeExtractor.getBinaryLabeledImage(); - binaryImage.convertTo(binaryImage, CV_8UC1, 255); - cv::imshow("Sliding Window binarymap", binaryImage); - - cv::namedWindow("Sliding Window labels", cv::WindowFlags::WINDOW_NORMAL); - const auto& labelledImage = planeExtractor.getSegmentedPlanesMap().labeledImage; - const auto& labelsAndPlaneParameters = planeExtractor.getSegmentedPlanesMap().labelPlaneParameters; - std::vector colors(planeExtractor.getSegmentedPlanesMap().highestLabel + 1); - - colors[0] = cv::Vec3b(0, 0, 0); // background in white - for (int label = 1; label <= planeExtractor.getSegmentedPlanesMap().highestLabel; ++label) { - const auto labelIt = std::find_if(labelsAndPlaneParameters.begin(), labelsAndPlaneParameters.end(), - [=](const std::pair& x) { return x.first == label; }); - if (labelIt != labelsAndPlaneParameters.end()) { - colors[label] = randomColor(); - } else { - colors[label] = colors[0]; - } - } - cv::Mat colorImg(labelledImage.size(), CV_8UC3); - for (int r = 0; r < colorImg.rows; ++r) { - for (int c = 0; c < colorImg.cols; ++c) { - int label = labelledImage.at(r, c); - auto& pixel = colorImg.at(r, c); - pixel = colors[label]; - } - } - cv::imshow("Sliding Window labels", colorImg); -} - -int main(int argc, char** argv) { - boost::filesystem::path filePath(__FILE__); - std::string folder = filePath.parent_path().parent_path().generic_string() + std::string{"/data/"}; - std::string file = "elevationMap_8_139cm.png"; - double heightScale = 1.39; - // std::string file = "demo_map.png"; double heightScale = 1.25; - // std::string file = "realStairs_125cm.png"; double heightScale = 1.25; - // std::string file = "terrain.png"; double heightScale = 1.25; - // std::string file = "holes.png"; double heightScale = 1.0; - // std::string file = "slope_1m_1m_20cm.png"; double heightScale = 0.2; - // std::string file = "straightStairs_1m_1m_60cm.png"; double heightScale = 0.6; - double resolution = 0.02; - - auto elevationMap = loadGridmapFromImage(folder + file, "elevation", "odom", resolution, heightScale); - - cv::Mat image; - grid_map::GridMapCvConverter::toImage(elevationMap, "elevation", CV_8UC1, 0.0, heightScale, image); - cv::namedWindow("Elevation Map", cv::WindowFlags::WINDOW_NORMAL); - cv::imshow("Elevation Map", image); - - // ================== Filter ======================== // - PreprocessingParameters preprocessingParameters; - preprocessingParameters.kernelSize = 5; - preprocessingParameters.numberOfRepeats = 1; - - GridMapPreprocessing preprocessing(preprocessingParameters); - preprocessing.preprocess(elevationMap, "elevation"); - - grid_map::GridMapCvConverter::toImage(elevationMap, "elevation", CV_8UC1, 0.0, heightScale, image); - cv::namedWindow("Filtered Map", cv::WindowFlags::WINDOW_NORMAL); - cv::imshow("Filtered Map", image); - - // ============== Sliding Window =================== // - sliding_window_plane_extractor::SlidingWindowPlaneExtractorParameters swParams; - swParams.kernel_size = 3; - swParams.plane_inclination_threshold = std::cos(45.0 * M_PI / 180); - swParams.plane_patch_error_threshold = 0.005; - swParams.min_number_points_per_label = 10; - swParams.include_ransac_refinement = true; - swParams.global_plane_fit_distance_error_threshold = 0.04; - swParams.global_plane_fit_angle_error_threshold_degrees = 5.0; - - ransac_plane_extractor::RansacPlaneExtractorParameters ransacParameters; - ransacParameters.probability = 0.01; - ransacParameters.min_points = 25; - ransacParameters.epsilon = 0.02; - ransacParameters.cluster_epsilon = 0.05; - ransacParameters.normal_threshold = 0.98; - - sliding_window_plane_extractor::SlidingWindowPlaneExtractor planeExtractor(swParams, ransacParameters); - planeExtractor.runExtraction(elevationMap, "elevation"); - plotSlidingWindow(planeExtractor); - - // ============== Polygons =================== // - const auto& labeled_image = planeExtractor.getSegmentedPlanesMap().labeledImage; - cv::Mat binary_image(labeled_image.size(), CV_8UC1); - - for (const auto& label_plane : planeExtractor.getSegmentedPlanesMap().labelPlaneParameters) { - const int label = label_plane.first; - - binary_image = labeled_image == label; - - // Plot binary image - cv::Mat binaryImagePlot = binary_image; - binaryImagePlot.convertTo(binaryImagePlot, CV_8UC1, 255); - cv::namedWindow("Polygon binary image label", cv::WindowFlags::WINDOW_NORMAL); - cv::imshow("Polygon binary image label", binaryImagePlot); - - // Extract - int erosion_size = 2; // single sided length of the kernel - int erosion_type = cv::MORPH_CROSS; // cv::MORPH_ELLIPSE, cv::MORPH_RECT - cv::Mat element = cv::getStructuringElement(erosion_type, cv::Size(2 * erosion_size + 1, 2 * erosion_size + 1)); - const auto boundariesAndInsets = contour_extraction::extractBoundaryAndInset(binary_image, element); - - // Plot eroded image - cv::Mat erodedImagePlot = binary_image; - erodedImagePlot.convertTo(erodedImagePlot, CV_8UC1, 255); - cv::namedWindow("Polygon binary eroded label", cv::WindowFlags::WINDOW_NORMAL); - cv::imshow("Polygon binary eroded label", erodedImagePlot); - - // Plot contours - int scale = 5; - cv::Size scaledSize = {scale * binary_image.size().width, scale * binary_image.size().height}; // transposed - cv::Mat realPolygonImage(scaledSize, CV_8UC3, cv::Vec3b(0, 0, 0)); - for (const auto& boundaryAndInset : boundariesAndInsets) { - drawContour(realPolygonImage, scaleShape(boundaryAndInset.boundary, scale)); - for (const auto& inset : boundaryAndInset.insets) { - drawContour(realPolygonImage, scaleShape(inset, scale)); - } - } - - cv::namedWindow("Polygon real", cv::WindowFlags::WINDOW_NORMAL); - cv::imshow("Polygon real", realPolygonImage); - cv::waitKey(0); // Wait for a keystroke in the window - } - - // ============== planar regions extraction ================ - contour_extraction::ContourExtractionParameters polyParams; - polyParams.marginSize = 2; - - contour_extraction::ContourExtraction contourExtraction(polyParams); - contourExtraction.extractPlanarRegions(planeExtractor.getSegmentedPlanesMap()); - - return 0; -} \ No newline at end of file From 5611a75c5cd19b78221dcd13018e6d8754ee6c23 Mon Sep 17 00:00:00 2001 From: rgrandia Date: Wed, 8 Jun 2022 10:46:56 +0200 Subject: [PATCH 216/504] fix spacing --- README.md | 7 ------- 1 file changed, 7 deletions(-) diff --git a/README.md b/README.md index 13f60800..bece82f4 100644 --- a/README.md +++ b/README.md @@ -14,19 +14,12 @@ Code are written in python and uses cupy for GPU calculation. ``` @misc{https://doi.org/10.48550/arxiv.2204.12876, doi = {10.48550/ARXIV.2204.12876}, - url = {https://arxiv.org/abs/2204.12876}, - author = {Miki, Takahiro and Wellhausen, Lorenz and Grandia, Ruben and Jenelten, Fabian and Homberger, Timon and Hutter, Marco}, - keywords = {Robotics (cs.RO), FOS: Computer and information sciences, FOS: Computer and information sciences}, - title = {Elevation Mapping for Locomotion and Navigation using GPU}, - publisher = {arXiv}, - year = {2022}, - copyright = {arXiv.org perpetual, non-exclusive license} } ``` From f641486fb3216c0a70c74ed12999abbb5d8a01ea Mon Sep 17 00:00:00 2001 From: rgrandia Date: Wed, 8 Jun 2022 11:00:40 +0200 Subject: [PATCH 217/504] fix pragma once placement --- .../include/convex_plane_decomposition/GeometryUtils.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/plane_segmentation/convex_plane_decomposition/include/convex_plane_decomposition/GeometryUtils.h b/plane_segmentation/convex_plane_decomposition/include/convex_plane_decomposition/GeometryUtils.h index 1a2f432d..bd7c849d 100644 --- a/plane_segmentation/convex_plane_decomposition/include/convex_plane_decomposition/GeometryUtils.h +++ b/plane_segmentation/convex_plane_decomposition/include/convex_plane_decomposition/GeometryUtils.h @@ -2,11 +2,11 @@ // Created by rgrandia on 09.06.20. // +#pragma once + #include "PlanarRegion.h" #include "PolygonTypes.h" -#pragma once - namespace convex_plane_decomposition { inline bool doEdgesIntersect(const CgalSegment2d& line, const CgalPolygon2d& contour) { From 9b27ad903add1cbee3da74ed439a462a833d8ce5 Mon Sep 17 00:00:00 2001 From: rgrandia Date: Wed, 8 Jun 2022 11:00:51 +0200 Subject: [PATCH 218/504] restore git ignore --- .gitignore | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/.gitignore b/.gitignore index 9f11b755..732c5512 100644 --- a/.gitignore +++ b/.gitignore @@ -1 +1,3 @@ -.idea/ +*.pyc +*.bkp +*.orig From 4ffb2d4791b629bf8a3c22dd99aa963964f3ba28 Mon Sep 17 00:00:00 2001 From: rgrandia Date: Wed, 8 Jun 2022 11:01:02 +0200 Subject: [PATCH 219/504] set license --- plane_segmentation/convex_plane_decomposition/package.xml | 2 +- .../convex_plane_decomposition_msgs/package.xml | 3 ++- .../convex_plane_decomposition_ros/package.xml | 2 +- plane_segmentation/grid_map_filters_rsl/package.xml | 7 ++++--- 4 files changed, 8 insertions(+), 6 deletions(-) diff --git a/plane_segmentation/convex_plane_decomposition/package.xml b/plane_segmentation/convex_plane_decomposition/package.xml index 38f1d22b..b4627803 100644 --- a/plane_segmentation/convex_plane_decomposition/package.xml +++ b/plane_segmentation/convex_plane_decomposition/package.xml @@ -6,7 +6,7 @@ Ruben Grandia - TODO + MIT catkin cgal5_catkin diff --git a/plane_segmentation/convex_plane_decomposition_msgs/package.xml b/plane_segmentation/convex_plane_decomposition_msgs/package.xml index 3e20ee3b..2af22815 100644 --- a/plane_segmentation/convex_plane_decomposition_msgs/package.xml +++ b/plane_segmentation/convex_plane_decomposition_msgs/package.xml @@ -6,9 +6,10 @@ 0.0.0 Convex plane decomposition message definitions. - TODO Ruben Grandia + MIT + catkin message_generation diff --git a/plane_segmentation/convex_plane_decomposition_ros/package.xml b/plane_segmentation/convex_plane_decomposition_ros/package.xml index d7cf3e66..d83524d5 100644 --- a/plane_segmentation/convex_plane_decomposition_ros/package.xml +++ b/plane_segmentation/convex_plane_decomposition_ros/package.xml @@ -6,7 +6,7 @@ Ruben Grandia - TODO + MIT catkin diff --git a/plane_segmentation/grid_map_filters_rsl/package.xml b/plane_segmentation/grid_map_filters_rsl/package.xml index 0c00cdb8..481135ce 100644 --- a/plane_segmentation/grid_map_filters_rsl/package.xml +++ b/plane_segmentation/grid_map_filters_rsl/package.xml @@ -4,10 +4,11 @@ 0.1.0 Extension of grid map filters package with op-cv filters and others Fabian Jenelten - Proprietary - http://bitbucket.org/leggedrobotics/anymal_rsl_locomotion + Fabian Jenelten - + + MIT + catkin cmake_clang_tools grid_map_cv From 7d0e32420a8e8341bb99a540380703c36a632b8a Mon Sep 17 00:00:00 2001 From: rgrandia Date: Wed, 8 Jun 2022 15:14:31 +0200 Subject: [PATCH 220/504] add segmentation demo --- README.md | 51 ++- .../launch/turtlesim_example.launch | 4 +- .../turtlesim_segmentation_example.launch | 13 + .../rviz/turtle_segmentation_example.rviz | 305 ++++++++++++++++++ 4 files changed, 366 insertions(+), 7 deletions(-) create mode 100644 elevation_mapping_cupy/launch/turtlesim_segmentation_example.launch create mode 100644 elevation_mapping_cupy/rviz/turtle_segmentation_example.rviz diff --git a/README.md b/README.md index bece82f4..b26178c8 100644 --- a/README.md +++ b/README.md @@ -1,16 +1,18 @@ # Elevation Mapping cupy ## Overview + This is a ros package of elevation mapping on GPU. Code are written in python and uses cupy for GPU calculation. ![screenshot](doc/main_repo.png) \* plane segmentation is coming soon. - ## Citing + > Takahiro Miki, Lorenz Wellhausen, Ruben Grandia, Fabian Jenelten, Timon Homberger, Marco Hutter > Elevation Mapping for Locomotion and Navigation using GPU [arXiv](https://arxiv.org/abs/2204.12876) + ``` @misc{https://doi.org/10.48550/arxiv.2204.12876, doi = {10.48550/ARXIV.2204.12876}, @@ -26,7 +28,11 @@ Code are written in python and uses cupy for GPU calculation. ## Installation +The following installation instructions are for elevation mapping. For the plane segmentation, please find additional instructions in the +dedicated README. + ### CUDA & cuDNN + The tested versions are CUDA10.2, 11.6 [CUDA](https://docs.nvidia.com/cuda/cuda-installation-guide-linux/index.html#ubuntu-installation) @@ -34,9 +40,9 @@ The tested versions are CUDA10.2, 11.6 Check how to install [here](doc/cuda-installation.md). - ### Python dependencies -You will need + +You will need - [cupy](https://cupy.chainer.org/) - [numpy](https://www.numpy.org/) @@ -53,9 +59,11 @@ Optinally, opencv for inpainting filter. - [opencv-python](https://opencv.org/) Install `numpy`, `scipy`, `shapely`, `opencv-python` with the following command. + ```bash pip3 install -r requirements.txt ``` + #### Cupy cupy can be installed with specific CUDA versions. (On jetson, only "from source" i.e. `pip install cupy` could work) > For CUDA 10.2 @@ -85,8 +93,8 @@ cupy can be installed with specific CUDA versions. (On jetson, only "from source > (Install CuPy from source) > % pip install cupy - #### Traversability filter + You can choose either pytorch, or chainer to run the CNN based traversability filter. Install by following the official documents. @@ -107,23 +115,31 @@ sudo apt install ros-noetic-grid-map-core ros-noetic-grid-map-msgs ``` ## On Jetson + #### CUDA CuDNN + `CUDA` and `cuDNN` can be installed via apt. It comes with nvidia-jetpack. The tested version is jetpack 4.5 with L4T 32.5.0. #### python dependencies + On jetson, you need the version for its CPU arch: + ```bash wget https://nvidia.box.com/shared/static/p57jwntv436lfrd78inwl7iml6p13fzh.whl -O torch-1.8.0-cp36-cp36m-linux_aarch64.whl pip3 install Cython pip3 install numpy==1.19.5 torch-1.8.0-cp36-cp36m-linux_aarch64.whl ``` + Also, you need to install cupy with + ```bash pip3 install cupy ``` + This builds the packages from source so it would take time. #### ROS dependencies + - [pybind11_catkin](https://github.com/ipab-slmc/pybind11_catkin) - [grid_map](https://github.com/ANYbotics/grid_map) @@ -133,6 +149,7 @@ sudo apt install ros-melodic-grid-map-core ros-melodic-grid-map-msgs ``` Also, on jetson you need fortran (should already be installed). + ```bash sudo apt install gfortran ``` @@ -144,13 +161,17 @@ git clone git@github.com:ros/filters.git -b noetic-devel ``` ## Usage + ### Build + ```bash catkin build elevation_mapping_cupy ``` #### Errors -If you get error such as + +If you get error such as + ``` Make Error at /usr/share/cmake-3.16/Modules/FindPackageHandleStandardArgs.cmake:146 (message): Could NOT find PythonInterp: Found unsuitable version "2.7.18", but @@ -158,32 +179,50 @@ Make Error at /usr/share/cmake-3.16/Modules/FindPackageHandleStandardArgs.cmake: ``` Build with option. + ```bash catkin build elevation_mapping_cupy -DPYTHON_EXECUTABLE=$(which python3) ``` ### Run + Basic usage. + ```bash roslaunch elevation_mapping_cupy elevation_mapping_cupy.launch ``` ### Run TurtleBot example + First, install turtlebot simulation. + ```bash sudo apt install ros-noetic-turtlebot3* ``` -Then, you can run the example. + +Then, you can run the examples. For the basic version: + ```bash export TURTLEBOT3_MODEL=waffle roslaunch elevation_mapping_cupy turtlesim_example.launch ``` + +Or, for the version including plane segmentation: + +```bash +catkin build convex_plane_decomposition_ros +export TURTLEBOT3_MODEL=waffle +roslaunch elevation_mapping_cupy turtlesim_segmentation_example.launch +``` + To control the robot with a keyboard, a new terminal window needs to be opened. Then run + ```bash export TURTLEBOT3_MODEL=waffle roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch ``` + Velocity inputs can be sent to the robot by pressing the keys `a`, `w`, `d`, `x`. To stop the robot completely, press `s`. diff --git a/elevation_mapping_cupy/launch/turtlesim_example.launch b/elevation_mapping_cupy/launch/turtlesim_example.launch index 39fb3f97..b63dae53 100644 --- a/elevation_mapping_cupy/launch/turtlesim_example.launch +++ b/elevation_mapping_cupy/launch/turtlesim_example.launch @@ -2,6 +2,8 @@ + + @@ -21,6 +23,6 @@ - + diff --git a/elevation_mapping_cupy/launch/turtlesim_segmentation_example.launch b/elevation_mapping_cupy/launch/turtlesim_segmentation_example.launch new file mode 100644 index 00000000..afb7fb01 --- /dev/null +++ b/elevation_mapping_cupy/launch/turtlesim_segmentation_example.launch @@ -0,0 +1,13 @@ + + + + + + + + + + + + + diff --git a/elevation_mapping_cupy/rviz/turtle_segmentation_example.rviz b/elevation_mapping_cupy/rviz/turtle_segmentation_example.rviz new file mode 100644 index 00000000..b30ae885 --- /dev/null +++ b/elevation_mapping_cupy/rviz/turtle_segmentation_example.rviz @@ -0,0 +1,305 @@ +Panels: + - Class: rviz/Displays + Help Height: 138 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + Splitter Ratio: 0.5768463015556335 + Tree Height: 991 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: "" +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: false + Class: grid_map_rviz_plugin/GridMap + Color: 200; 200; 200 + Color Layer: traversability + Color Transformer: "" + Enabled: true + Grid Cell Decimation: 1 + Grid Line Thickness: 0.10000000149011612 + Height Layer: elevation + Height Transformer: "" + History Length: 1 + Invert Rainbow: false + Max Color: 238; 238; 236 + Max Intensity: 1 + Min Color: 32; 74; 135 + Min Intensity: 0 + Name: ElevationMapRaw + Show Grid Lines: true + Topic: /elevation_mapping/elevation_map_raw + Unreliable: false + Use Rainbow: false + Value: true + - Alpha: 0.10000000149011612 + Autocompute Intensity Bounds: true + Class: grid_map_rviz_plugin/GridMap + Color: 200; 200; 200 + Color Layer: min_filter + Color Transformer: GridMapLayer + Enabled: true + Grid Cell Decimation: 1 + Grid Line Thickness: 0.10000000149011612 + Height Layer: min_filter + Height Transformer: GridMapLayer + History Length: 1 + Invert Rainbow: false + Max Color: 206; 92; 0 + Max Intensity: 10 + Min Color: 255; 255; 255 + Min Intensity: 0 + Name: ElevationMapFilter + Show Grid Lines: true + Topic: /elevation_mapping/elevation_map_filter + Unreliable: false + Use Rainbow: false + Value: true + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base_footprint: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_scan: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera_depth_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_depth_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera_rgb_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_rgb_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + caster_back_left_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + caster_back_right_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + imu_link: + Alpha: 1 + Show Axes: false + Show Trail: false + wheel_left_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wheel_right_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Name: RobotModel + Robot Description: robot_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: RGB8 + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Min Color: 0; 0; 0 + Name: PointCloud2 + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Flat Squares + Topic: /camera/depth/points + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: false + - Alpha: 1 + Class: jsk_rviz_plugin/PolygonArray + Color: 25; 255; 0 + Enabled: true + Name: PlaneBoundaries + Queue Size: 10 + Topic: /convex_plane_decomposition_ros/boundaries + Unreliable: false + Value: true + coloring: Label + enable lighting: true + normal length: 0.10000000149011612 + only border: true + show normal: false + - Alpha: 1 + Autocompute Intensity Bounds: true + Class: grid_map_rviz_plugin/GridMap + Color: 200; 200; 200 + Color Layer: segmentation + Color Transformer: GridMapLayer + Enabled: true + Grid Cell Decimation: 1 + Grid Line Thickness: 0.10000000149011612 + Height Layer: elevation_before_postprocess + Height Transformer: GridMapLayer + History Length: 1 + Invert Rainbow: false + Max Color: 238; 238; 236 + Max Intensity: 10 + Min Color: 32; 74; 135 + Min Intensity: 0 + Name: PlaneSegmentation + Show Grid Lines: true + Topic: /convex_plane_decomposition_ros/filtered_map + Unreliable: false + Use Rainbow: true + Value: true + Enabled: true + Global Options: + Background Color: 255; 255; 255 + Default Light: true + Fixed Frame: odom + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Theta std deviation: 0.2617993950843811 + Topic: /initialpose + X std deviation: 0.5 + Y std deviation: 0.5 + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 7.79520845413208 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Field of View: 0.7853981852531433 + Focal Point: + X: 2.046891927719116 + Y: -0.5291382074356079 + Z: -0.3964909017086029 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.5247964859008789 + Target Frame: base_footprint + Yaw: 3.143371820449829 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1376 + Hide Left Dock: false + Hide Right Dock: true + QMainWindow State: 000000ff00000000fd0000000400000000000001f7000004a6fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000004a6000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000015f0000053bfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000000560000053b000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000009b80000005afc0100000002fb0000000800540069006d00650100000000000009b8000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000007bb000004a600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: true + Width: 2488 + X: 72 + Y: 27 From 6700119272622e0bf71c11b6ac825fb1303812f0 Mon Sep 17 00:00:00 2001 From: rgrandia Date: Wed, 8 Jun 2022 15:26:15 +0200 Subject: [PATCH 221/504] update readme --- README.md | 47 +++++++++---------- .../config/plugin_config.yaml | 2 +- 2 files changed, 24 insertions(+), 25 deletions(-) diff --git a/README.md b/README.md index b26178c8..a5192244 100644 --- a/README.md +++ b/README.md @@ -2,12 +2,10 @@ ## Overview -This is a ros package of elevation mapping on GPU. -Code are written in python and uses cupy for GPU calculation. +This is a ROS package for elevation mapping on GPU. The elevation mapping code is written in python and uses cupy for GPU computation. The +plane segmentation is done independently and runs on CPU. ![screenshot](doc/main_repo.png) -\* plane segmentation is coming soon. - ## Citing > Takahiro Miki, Lorenz Wellhausen, Ruben Grandia, Fabian Jenelten, Timon Homberger, Marco Hutter @@ -65,31 +63,32 @@ pip3 install -r requirements.txt ``` #### Cupy -cupy can be installed with specific CUDA versions. (On jetson, only "from source" i.e. `pip install cupy` could work) + +cupy can be installed with specific CUDA versions. (On jetson, only "from source" i.e. `pip install cupy` could work) > For CUDA 10.2 > pip install cupy-cuda102 -> +> > For CUDA 11.0 > pip install cupy-cuda110 -> +> > For CUDA 11.1 > pip install cupy-cuda111 -> +> > For CUDA 11.2 > pip install cupy-cuda112 -> +> > For CUDA 11.3 > pip install cupy-cuda113 -> +> > For CUDA 11.4 > pip install cupy-cuda114 -> +> > For CUDA 11.5 > pip install cupy-cuda115 -> +> > For CUDA 11.6 > pip install cupy-cuda116 -> +> > (Install CuPy from source) > % pip install cupy @@ -225,23 +224,23 @@ roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch Velocity inputs can be sent to the robot by pressing the keys `a`, `w`, `d`, `x`. To stop the robot completely, press `s`. - ### Subscribed Topics * topics specified in **`pointcloud_topics`** in **`parameters.yaml`** ([sensor_msgs/PointCloud2]) - The distance measurements. + The distance measurements. * **`/tf`** ([tf/tfMessage]) - The transformation tree. - + The transformation tree. ### Published Topics + The topics are published as set in the rosparam. You can specify which layers to publish in which fps. Under `publishers`, you can specify the `topic_name`, `layers` `basic_layers` and `fps`. + ```yaml publishers: your_topic_name: @@ -250,30 +249,29 @@ publishers: fps: 5.0 # Publish rate. Use smaller value than `map_acquire_fps`. ``` - Example setting in `config/parameters.yaml`. * **`elevation_map_raw`** ([grid_map_msg/GridMap]) - The entire elevation map. + The entire elevation map. * **`elevation_map_recordable`** ([grid_map_msg/GridMap]) - The entire elevation map with slower update rate for visualization and logging. + The entire elevation map with slower update rate for visualization and logging. * **`elevation_map_filter`** ([grid_map_msg/GridMap]) - The filtered maps using plugins. - - + The filtered maps using plugins. # Plugins + You can create your own plugin to process the elevation map and publish as a layer in GridMap message. Let's look at the example. First, create your plugin file in `elevation_mapping_cupy/script/plugins/` and save as `example.py`. + ```python import cupy as cp from typing import List @@ -294,9 +292,10 @@ class NameOfYourPlugin(PluginBase): ``` Then, add your plugin setting to `config/plugin_config.yaml` + ```yaml example: # Use the same name as your file name. - enable: True # weather to laod this plugin + enable: True # weather to load this plugin fill_nan: True # Fill nans to invalid cells of elevation layer. is_height_layer: True # If this is a height layer (such as elevation) or not (such as traversability) layer_name: "example_layer" # The layer name. diff --git a/elevation_mapping_cupy/config/plugin_config.yaml b/elevation_mapping_cupy/config/plugin_config.yaml index d854c207..733f8c82 100644 --- a/elevation_mapping_cupy/config/plugin_config.yaml +++ b/elevation_mapping_cupy/config/plugin_config.yaml @@ -2,7 +2,7 @@ # min_filter fills in minimum value around the invalid cell. min_filter: - enable: True # weather to laod this plugin + enable: True # weather to load this plugin fill_nan: False # Fill nans to invalid cells of elevation layer. is_height_layer: True # If this is a height layer (such as elevation) or not (such as traversability) layer_name: "min_filter" # The layer name. From bed78e4a2b7011822e442a93a35fd230d766494f Mon Sep 17 00:00:00 2001 From: rgrandia Date: Wed, 8 Jun 2022 18:53:55 +0200 Subject: [PATCH 222/504] remove pcl_visualization_catkin from exec depend again --- .../package.xml | 1 - .../pcl_visualization_catkin/CMakeLists.txt | 22 +++++-------------- 2 files changed, 6 insertions(+), 17 deletions(-) diff --git a/plane_segmentation/convex_plane_decomposition_ros/package.xml b/plane_segmentation/convex_plane_decomposition_ros/package.xml index d83524d5..d3f2de29 100644 --- a/plane_segmentation/convex_plane_decomposition_ros/package.xml +++ b/plane_segmentation/convex_plane_decomposition_ros/package.xml @@ -22,6 +22,5 @@ tf2_ros grid_map_demos - pcl_visualization_catkin diff --git a/plane_segmentation/pcl_visualization_catkin/CMakeLists.txt b/plane_segmentation/pcl_visualization_catkin/CMakeLists.txt index 8c3728b0..623099f6 100644 --- a/plane_segmentation/pcl_visualization_catkin/CMakeLists.txt +++ b/plane_segmentation/pcl_visualization_catkin/CMakeLists.txt @@ -5,23 +5,13 @@ include(GNUInstallDirs) find_package(catkin REQUIRED) -find_package(PCL) -message(STATUS "PCL Version: " ${PCL_VERSION}) -message(STATUS "PCL_COMPONENTS: " ${PCL_COMPONENTS}) +file(MAKE_DIRECTORY ${CATKIN_DEVEL_PREFIX}/lib) +file(COPY ${CMAKE_CURRENT_SOURCE_DIR}/lib/libpcl_visualization.so DESTINATION ${CATKIN_DEVEL_PREFIX}/lib) +file(COPY ${CMAKE_CURRENT_SOURCE_DIR}/lib/libpcl_visualization.so.1.10 DESTINATION ${CATKIN_DEVEL_PREFIX}/lib) +file(COPY ${CMAKE_CURRENT_SOURCE_DIR}/lib/libpcl_visualization.so.1.10.0 DESTINATION ${CATKIN_DEVEL_PREFIX}/lib) -if (${PCL_VISUALIZATION_FOUND}) - message(STATUS "pcl_visualization_catkin doing nothing, pcl_visualization is already found") -else() - message(STATUS "pcl_visualization_catkin is copying pcl_visualization 1.10") - - file(MAKE_DIRECTORY ${CATKIN_DEVEL_PREFIX}/lib) - file(COPY ${CMAKE_CURRENT_SOURCE_DIR}/lib/libpcl_visualization.so DESTINATION ${CATKIN_DEVEL_PREFIX}/lib) - file(COPY ${CMAKE_CURRENT_SOURCE_DIR}/lib/libpcl_visualization.so.1.10 DESTINATION ${CATKIN_DEVEL_PREFIX}/lib) - file(COPY ${CMAKE_CURRENT_SOURCE_DIR}/lib/libpcl_visualization.so.1.10.0 DESTINATION ${CATKIN_DEVEL_PREFIX}/lib) - - file(MAKE_DIRECTORY ${CATKIN_DEVEL_PREFIX}/lib/pkgconfig) - file(COPY ${CMAKE_CURRENT_SOURCE_DIR}/lib/pkgconfig/pcl_visualization-1.10.pc DESTINATION ${CATKIN_DEVEL_PREFIX}/lib/pkgconfig) -endif () +file(MAKE_DIRECTORY ${CATKIN_DEVEL_PREFIX}/lib/pkgconfig) +file(COPY ${CMAKE_CURRENT_SOURCE_DIR}/lib/pkgconfig/pcl_visualization-1.10.pc DESTINATION ${CATKIN_DEVEL_PREFIX}/lib/pkgconfig) catkin_package( INCLUDE_DIRS From b68f6f1f4ad9561900016e57754d7126f28ccc4e Mon Sep 17 00:00:00 2001 From: rgrandia Date: Wed, 8 Jun 2022 18:54:49 +0200 Subject: [PATCH 223/504] move plane segmentation README to top README --- README.md | 106 +++++++++++++++++++++++++++++------ plane_segmentation/README.md | 47 ---------------- 2 files changed, 88 insertions(+), 65 deletions(-) diff --git a/README.md b/README.md index a5192244..0fceae0a 100644 --- a/README.md +++ b/README.md @@ -26,10 +26,7 @@ plane segmentation is done independently and runs on CPU. ## Installation -The following installation instructions are for elevation mapping. For the plane segmentation, please find additional instructions in the -dedicated README. - -### CUDA & cuDNN +#### CUDA & cuDNN The tested versions are CUDA10.2, 11.6 @@ -38,7 +35,7 @@ The tested versions are CUDA10.2, 11.6 Check how to install [here](doc/cuda-installation.md). -### Python dependencies +#### Python dependencies You will need @@ -52,7 +49,7 @@ For traversability filter, either of - [torch](https://pytorch.org/) - [chainer](https://chainer.org/) -Optinally, opencv for inpainting filter. +Optionally, OpenCV for inpainting filter. - [opencv-python](https://opencv.org/) @@ -103,7 +100,7 @@ Install by following the official documents. Pytorch uses ~2GB more GPU memory than Chainer, but runs a bit faster. Use parameter `use_chainer` to select which backend to use. -### ROS package dependencies +#### ROS package dependencies - [pybind11_catkin](https://github.com/ipab-slmc/pybind11_catkin) - [grid_map](https://github.com/ANYbotics/grid_map) @@ -113,7 +110,7 @@ sudo apt install ros-noetic-pybind11-catkin sudo apt install ros-noetic-grid-map-core ros-noetic-grid-map-msgs ``` -## On Jetson +### On Jetson #### CUDA CuDNN @@ -159,12 +156,57 @@ If the Jetson is set up with Jetpack 4.5 with ROS Melodic the following package git clone git@github.com:ros/filters.git -b noetic-devel ``` +### Plane segmentation dependencies + +#### OpenCV + +```bash +sudo apt install libopencv-dev +``` + +#### Eigen + +```bash +sudo apt install libeigen3-dev +``` + +#### CGAL + +CGAL5 is required. It will be automatically downloaded and installed into the catkin workspace by the cgal5_catkin package. Make sure you +have the third-party libaries installed on you machine: + +```bash +sudo apt install libgmp-dev +sudo apt install libmpfr-dev +sudo apt install libboost-all-dev +``` + +#### PCL (for ANYmal research users) + +PCL is required, but the ANYbotics distributed version does not contain visualization components. With pcl_visualization_catkin, the missing +components are provided into your catkin workspace (for pcl 1.10). Additionally vtk7 is required, DO NOT install this on the ANYmal onboard +PCs, only on OPC and simulation PCs. + +```bash +sudo apt install libvtk7-dev +catkin build pcl_visualization_catkin +``` + +#### JSK-visualization + +For rviz-visualization the jsk-library is used. + +```bash +sudo apt-get install ros-noetic-jsk-visualization +``` + ## Usage ### Build ```bash catkin build elevation_mapping_cupy +catkin build convex_plane_decomposition_ros ``` #### Errors @@ -191,6 +233,12 @@ Basic usage. roslaunch elevation_mapping_cupy elevation_mapping_cupy.launch ``` +For the plane segmentation node + +```bash +roslaunch convex_plane_decomposition_ros convex_plane_decomposition.launch +``` + ### Run TurtleBot example First, install turtlebot simulation. @@ -226,7 +274,7 @@ Velocity inputs can be sent to the robot by pressing the keys `a`, `w`, `d`, `x` ### Subscribed Topics -* topics specified in **`pointcloud_topics`** in **`parameters.yaml`** ([sensor_msgs/PointCloud2]) +* topics specified in **`pointcloud_topics`** in **`elevation_mapping_cupy/config/parameters.yaml`** ([sensor_msgs/PointCloud2]) The distance measurements. @@ -234,9 +282,12 @@ Velocity inputs can be sent to the robot by pressing the keys `a`, `w`, `d`, `x` The transformation tree. +* The plane segmentation node subscribes to an elevation map topic ([grid_map_msg/GridMap]). This can be configured in + **`convex_plane_decomposition_ros/config/parameters.yaml`** + ### Published Topics -The topics are published as set in the rosparam. +For elevation_mapping_cupy, topics are published as set in the rosparam. You can specify which layers to publish in which fps. Under `publishers`, you can specify the `topic_name`, `layers` `basic_layers` and `fps`. @@ -244,8 +295,8 @@ Under `publishers`, you can specify the `topic_name`, `layers` `basic_layers` an ```yaml publishers: your_topic_name: - layers: ['list_of_layer_names', 'layer1', 'layer2'] # Choose from 'elevation', 'variance', 'traversability', 'time' + plugin layers - basic_layers: ['list of basic layers', 'layer1'] # basic_layers for valid cell computation (e.g. Rviz): Choose a subset of `layers`. + layers: [ 'list_of_layer_names', 'layer1', 'layer2' ] # Choose from 'elevation', 'variance', 'traversability', 'time' + plugin layers + basic_layers: [ 'list of basic layers', 'layer1' ] # basic_layers for valid cell computation (e.g. Rviz): Choose a subset of `layers`. fps: 5.0 # Publish rate. Use smaller value than `map_acquire_fps`. ``` @@ -255,7 +306,6 @@ Example setting in `config/parameters.yaml`. The entire elevation map. - * **`elevation_map_recordable`** ([grid_map_msg/GridMap]) The entire elevation map with slower update rate for visualization and logging. @@ -264,6 +314,26 @@ Example setting in `config/parameters.yaml`. The filtered maps using plugins. +The plane segmentation node publishes the following: + +* **`planar_terrain`** ([convex_plane_decomposition_msgs/PlanarTerrain]) + + A custom message that contains the full segmentation as a map together with the boundary information. + +* **`filtered_map`** ([grid_map_msg/GridMap]) + + A grid map message to visualize the segmentation and some intermediate results. This information is also part of **`planar_terrain`**. + +* **`boundaries`** ([jsk_recognition_msgs/PolygonArray]) + + A set of polygons that trace the boundaries of the segmented region. Holes and boundaries of a single region are published as separate + polygons with the same label. + +* **`insets`** ([jsk_recognition_msgs/PolygonArray]) + + A set of polygons that are at a slight inward offset from **`boundaries`**. There might be more insets than boundaries since the inward + shift can cause a single region to break down into multiple when narrow passages exist. + # Plugins You can create your own plugin to process the elevation map and publish as a layer in GridMap message. @@ -303,11 +373,11 @@ example: # Use the same name as your file n add_value: 2.0 # Example param ``` -Finally, add your layer name to publishers in `config/parameters.yaml`. -You can create a new topic or add to existing topics. +Finally, add your layer name to publishers in `config/parameters.yaml`. You can create a new topic or add to existing topics. + ```yaml - plugin_example: # Topic name - layers: ['elevation', 'example_layer'] - basic_layers: ['example_layer'] + plugin_example: # Topic name + layers: [ 'elevation', 'example_layer' ] + basic_layers: [ 'example_layer' ] fps: 1.0 # The plugin is called with this fps. ``` diff --git a/plane_segmentation/README.md b/plane_segmentation/README.md index 1b1c5388..2d7c2f56 100644 --- a/plane_segmentation/README.md +++ b/plane_segmentation/README.md @@ -5,53 +5,6 @@ This is a C++ ROS package for extracting convex polygons from elevation maps. In a first step, the terrain is segmented into planes, and their non-convex contour is extracted. In a second step, a local convex approximation can be obtained. -## Installation - -### Dependencies - -#### OpenCV -Make sure you have openCV installed. -You can execute the following command to install it. -```bash -sudo apt-get install libopencv-dev -``` - -#### Eigen -```bash -sudo apt install libeigen3-dev -``` - -#### CGAL -CGAL5 is required. It will be automatically downloaded and installed into the catkin workspace by the cgal5_catkin package. -Make sure you have the third-party libaries installed on you machine: -```bash -sudo apt-get install libgmp-dev -sudo apt-get install libmpfr-dev -sudo apt-get install libboost-all-dev -``` - -#### PCL -PCL is required, but the ANYbotics distributed version does not contain visualization components. -With pcl_visualization_catkin, the missing components are provided into your catkin workspace (for pcl 1.10). -Additionally vtk7 is required, DO NOT install this on the ANYmal onboard PCs, only on OPC and simulation PCs. -```bash -sudo apt-get install libvtk7-dev -``` - -### ROS package dependencies - -#### JSK-visualization -For rviz-visualization the jsk-library is used. -```bash -sudo apt-get install ros-noetic-jsk-visualization -``` - -#### Grid Map -Grid map is available through ANYmal-research, apt install, or you can add it to your workspace. You can clone it using: -```bash -git clone https://github.com/ANYbotics/grid_map.git -``` - ## Usage ### Build ```bash From 8e68932631feec4d285ac360a988b4821911d2fc Mon Sep 17 00:00:00 2001 From: rgrandia Date: Thu, 9 Jun 2022 11:57:01 +0200 Subject: [PATCH 224/504] move plane projection code to public repo --- .../convex_plane_decomposition/CMakeLists.txt | 2 + .../SegmentedPlaneProjection.h | 77 +++++++++ .../src/SegmentedPlaneProjection.cpp | 150 ++++++++++++++++++ .../test/testConvexApproximation.cpp | 101 ++++++++++++ 4 files changed, 330 insertions(+) create mode 100644 plane_segmentation/convex_plane_decomposition/include/convex_plane_decomposition/SegmentedPlaneProjection.h create mode 100644 plane_segmentation/convex_plane_decomposition/src/SegmentedPlaneProjection.cpp create mode 100644 plane_segmentation/convex_plane_decomposition/test/testConvexApproximation.cpp diff --git a/plane_segmentation/convex_plane_decomposition/CMakeLists.txt b/plane_segmentation/convex_plane_decomposition/CMakeLists.txt index 2dd3403b..52bb1bc7 100644 --- a/plane_segmentation/convex_plane_decomposition/CMakeLists.txt +++ b/plane_segmentation/convex_plane_decomposition/CMakeLists.txt @@ -65,6 +65,7 @@ add_library(${PROJECT_NAME} src/PlanarRegion.cpp src/PlaneDecompositionPipeline.cpp src/Postprocessing.cpp + src/SegmentedPlaneProjection.cpp ) add_dependencies(${PROJECT_NAME} ${catkin_EXPORTED_TARGETS} @@ -97,6 +98,7 @@ install(DIRECTORY include/${PROJECT_NAME}/ ############# catkin_add_gtest(test_${PROJECT_NAME} + test/testConvexApproximation.cpp test/testPipeline.cpp test/testPlanarRegion.cpp test/testRegionGrowing.cpp diff --git a/plane_segmentation/convex_plane_decomposition/include/convex_plane_decomposition/SegmentedPlaneProjection.h b/plane_segmentation/convex_plane_decomposition/include/convex_plane_decomposition/SegmentedPlaneProjection.h new file mode 100644 index 00000000..a48f2236 --- /dev/null +++ b/plane_segmentation/convex_plane_decomposition/include/convex_plane_decomposition/SegmentedPlaneProjection.h @@ -0,0 +1,77 @@ +// +// Created by rgrandia on 12.10.21. +// + +#pragma once + +#include + +#include +#include + +namespace convex_plane_decomposition { + +/** + * Projects a point in the plane to the closest point on the contour of a planar region. We take the inset (slight inward offset from the + * boundary) as the contour to project to. + * @param queryProjectedToPlane : 2D point in the frame of the planar regions + * @param planarRegion : planar region to project to + * @return projected 2D point in the frame of the planar regions + */ +CgalPoint2d projectToPlanarRegion(const CgalPoint2d& queryProjectedToPlane, const PlanarRegion& planarRegion); + +/** + * Sorting information as an intermediate step to find the best plane projection + */ +struct RegionSortingInfo { + const PlanarRegion* regionPtr{nullptr}; + CgalPoint2d positionInTerrainFrame{0.0, 0.0}; + double boundingBoxSquareDistance{0.0}; +}; + +/** + * Compute sorting info and sort according to the bounding box distances. + * + * @param positionInWorld : Query point in world frame + * @param planarRegions : Candidate planar regions + * @return RegionSortingInfo, sorted according to the bounding box distance + */ +std::vector sortWithBoundingBoxes(const Eigen::Vector3d& positionInWorld, + const std::vector& planarRegions); + +struct PlanarTerrainProjection { + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + + /// Selected region + const PlanarRegion* regionPtr{nullptr}; + + /// Projected point in terrain frame of the selected region + CgalPoint2d positionInTerrainFrame{0.0, 0.0}; + + /// Projected point in world frame + Eigen::Vector3d positionInWorld{0.0, 0.0, 0.0}; + + /// Projection cost, see getBestPlanarRegionAtPositionInWorld + double cost{0.0}; +}; + +/** + * This function considers the projection of a 3D query point to a set of candidate regions. + * + * The "best" region is picked according to the following cost: + * cost = |p - p_projected|^2 + penaltyFunction(p_projected), + * where p is the query point, and p_projected is the Euclidean projection to the candidate region, both in world frame. + * + * The bounding box of each region is used to find a lower bound on this cost, it is therefore important the user defined penalty is + * non-negative. + * + * @param positionInWorld : Query point in world frame + * @param planarRegions : Candidate planar regions + * @param penaltyFunction : a non-negative (!) scoring function. + * @return Projection and information + */ +PlanarTerrainProjection getBestPlanarRegionAtPositionInWorld(const Eigen::Vector3d& positionInWorld, + const std::vector& planarRegions, + const std::function& penaltyFunction); + +} // namespace convex_plane_decomposition \ No newline at end of file diff --git a/plane_segmentation/convex_plane_decomposition/src/SegmentedPlaneProjection.cpp b/plane_segmentation/convex_plane_decomposition/src/SegmentedPlaneProjection.cpp new file mode 100644 index 00000000..ca4a4988 --- /dev/null +++ b/plane_segmentation/convex_plane_decomposition/src/SegmentedPlaneProjection.cpp @@ -0,0 +1,150 @@ +// +// Created by rgrandia on 12.10.21. +// + +#include "convex_plane_decomposition/SegmentedPlaneProjection.h" + +#include "convex_plane_decomposition/GeometryUtils.h" + +namespace convex_plane_decomposition { + +namespace { // Helper functions that only make sense in this context + +double distanceCost(const Eigen::Vector3d& query, const Eigen::Vector3d& terrainPoint) { + const double dx = query.x() - terrainPoint.x(); + const double dy = query.y() - terrainPoint.y(); + const double dz = query.z() - terrainPoint.z(); + return dx * dx + dy * dy + dz * dz; +} + +double distanceCostLowerbound(double distanceSquared) { + return distanceSquared; +} + +double intervalSquareDistance(double value, double min, double max) { + // - | 0 | + + // min max + // Returns 0.0 if between min and max. Returns the distance to one boundary otherwise. + if (value < min) { + double diff = min - value; + return diff * diff; + } else if (value < max) { + return 0.0; + } else { + double diff = max - value; + return diff * diff; + } +} + +double squaredDistanceToBoundingBox(const CgalPoint2d& point, const CgalBbox2d& boundingBox) { + const double dxdx = intervalSquareDistance(point.x(), boundingBox.xmin(), boundingBox.xmax()); + const double dydy = intervalSquareDistance(point.y(), boundingBox.ymin(), boundingBox.ymax()); + return dxdx + dydy; +} + +const CgalPolygonWithHoles2d* findInsetContainingThePoint(const CgalPoint2d& point, const std::vector& insets) { + for (const auto& inset : insets) { + if (isInside(point, inset.outer_boundary())) { + return &inset; + } + } + return nullptr; +} + +} // namespace + +CgalPoint2d projectToPlanarRegion(const CgalPoint2d& queryProjectedToPlane, const PlanarRegion& planarRegion) { + // First search if the projected point is inside any of the insets. + // Note: we know that all insets are non-overlapping, and are not nested (no shape is contained in the hole of another shape) + const auto* const insetPtrContainingPoint = findInsetContainingThePoint(queryProjectedToPlane, planarRegion.boundaryWithInset.insets); + + // Compute the projection + CgalPoint2d projectedPoint; + if (insetPtrContainingPoint == nullptr) { + // Not inside any of the insets. Need to look for the closest one. The projection will be to the boundary + double minDistSquared = std::numeric_limits::max(); + for (const auto& inset : planarRegion.boundaryWithInset.insets) { + const auto closestPoint = projectToClosestPoint(queryProjectedToPlane, inset.outer_boundary()); + double distSquare = squaredDistance(closestPoint, queryProjectedToPlane); + if (distSquare < minDistSquared) { + projectedPoint = closestPoint; + minDistSquared = distSquare; + } + } + } else { + // Query point is inside and does not need projection... + projectedPoint = queryProjectedToPlane; + + // ... unless it is inside a hole + for (const auto& hole : insetPtrContainingPoint->holes()) { + if (isInside(queryProjectedToPlane, hole)) { + projectedPoint = projectToClosestPoint(queryProjectedToPlane, hole); + break; // No need to search other holes. Holes are not overlapping + } + } + } + + return projectedPoint; +} + +std::vector sortWithBoundingBoxes(const Eigen::Vector3d& positionInWorld, + const std::vector& planarRegions) { + // Compute distance to bounding boxes + std::vector regionsAndBboxSquareDistances; + regionsAndBboxSquareDistances.reserve(planarRegions.size()); + for (const auto& planarRegion : planarRegions) { + const Eigen::Vector3d positionInTerrainFrame = planarRegion.transformPlaneToWorld.inverse() * positionInWorld; + const double dzdz = positionInTerrainFrame.z() * positionInTerrainFrame.z(); + + RegionSortingInfo regionSortingInfo; + regionSortingInfo.regionPtr = &planarRegion; + regionSortingInfo.positionInTerrainFrame = {positionInTerrainFrame.x(), positionInTerrainFrame.y()}; + regionSortingInfo.boundingBoxSquareDistance = + squaredDistanceToBoundingBox(regionSortingInfo.positionInTerrainFrame, planarRegion.bbox2d) + dzdz; + + regionsAndBboxSquareDistances.push_back(regionSortingInfo); + } + + // Sort regions close to far + std::sort(regionsAndBboxSquareDistances.begin(), regionsAndBboxSquareDistances.end(), + [](const RegionSortingInfo& lhs, const RegionSortingInfo& rhs) { + return lhs.boundingBoxSquareDistance < rhs.boundingBoxSquareDistance; + }); + + return regionsAndBboxSquareDistances; +} + +PlanarTerrainProjection getBestPlanarRegionAtPositionInWorld(const Eigen::Vector3d& positionInWorld, + const std::vector& planarRegions, + const std::function& penaltyFunction) { + const auto sortedRegions = sortWithBoundingBoxes(positionInWorld, planarRegions); + + // Look for closest planar region. + PlanarTerrainProjection projection; + projection.cost = std::numeric_limits::max(); + for (const auto& regionInfo : sortedRegions) { + // Skip based on lower bound + if (distanceCostLowerbound(regionInfo.boundingBoxSquareDistance) > projection.cost) { + continue; + } + + // Project onto planar region + const auto projectedPointInTerrainFrame = projectToPlanarRegion(regionInfo.positionInTerrainFrame, *regionInfo.regionPtr); + + // Express projected point in World frame + const auto projectionInWorldFrame = + positionInWorldFrameFromPosition2dInPlane(projectedPointInTerrainFrame, regionInfo.regionPtr->transformPlaneToWorld); + + const auto cost = distanceCost(positionInWorld, projectionInWorldFrame) + penaltyFunction(projectionInWorldFrame); + if (cost < projection.cost) { + projection.cost = cost; + projection.regionPtr = regionInfo.regionPtr; + projection.positionInTerrainFrame = projectedPointInTerrainFrame; + projection.positionInWorld = projectionInWorldFrame; + } + } + + return projection; +} + +} // namespace convex_plane_decomposition \ No newline at end of file diff --git a/plane_segmentation/convex_plane_decomposition/test/testConvexApproximation.cpp b/plane_segmentation/convex_plane_decomposition/test/testConvexApproximation.cpp new file mode 100644 index 00000000..78e80256 --- /dev/null +++ b/plane_segmentation/convex_plane_decomposition/test/testConvexApproximation.cpp @@ -0,0 +1,101 @@ +// +// Created by rgrandia on 08.06.22. +// + +#include + +#include + +#include + +#include "convex_plane_decomposition/ConvexRegionGrowing.h" +#include "convex_plane_decomposition/GeometryUtils.h" +#include "convex_plane_decomposition/LoadGridmapFromImage.h" +#include "convex_plane_decomposition/PlaneDecompositionPipeline.h" +#include "convex_plane_decomposition/SegmentedPlaneProjection.h" + +using namespace convex_plane_decomposition; + +namespace { + +/** + * Brute force version of getBestPlanarRegionAtPositionInWorld, searches through all candidates without shortcuts + */ +PlanarTerrainProjection getBestPlanarRegionAtPositionInWorldNaive(const Eigen::Vector3d& positionInWorld, + const std::vector& planarRegions, + const std::function& penaltyFunction) { + // Do full project per region first + std::vector individualProjections; + std::for_each(planarRegions.begin(), planarRegions.end(), [&](const PlanarRegion& planarRegion) { + const Eigen::Vector3d positionInTerrainFrame = planarRegion.transformPlaneToWorld.inverse() * positionInWorld; + + PlanarTerrainProjection projection; + projection.regionPtr = &planarRegion; + projection.positionInTerrainFrame = projectToPlanarRegion({positionInTerrainFrame.x(), positionInTerrainFrame.y()}, planarRegion); + projection.positionInWorld = + positionInWorldFrameFromPosition2dInPlane(projection.positionInTerrainFrame, planarRegion.transformPlaneToWorld); + projection.cost = (positionInWorld - projection.positionInWorld).squaredNorm() + penaltyFunction(projection.positionInWorld); + individualProjections.push_back(projection); + }); + + // Find the minimum cost projection + return *std::min_element(individualProjections.begin(), individualProjections.end(), + [](const PlanarTerrainProjection& lhs, const PlanarTerrainProjection& rhs) { return lhs.cost < rhs.cost; }); +} +} // namespace + +TEST(TestConvexApproximation, runOnDemoMap) { + // Config + PlaneDecompositionPipeline::Config config; + const auto resolution = config.preprocessingParameters.resolution; + const std::string elevationLayer{"elevation_test"}; + const std::string frameId{"odom_test"}; + const Eigen::Array2d submapSize(3.0, 3.0); + std::string file = "terrain.png"; + double heightScale = 1.25; + + // Terrain Loading + boost::filesystem::path filePath(__FILE__); + std::string folder = filePath.parent_path().generic_string() + std::string{"/data/"}; + const auto loadedMap = loadGridmapFromImage(folder + file, elevationLayer, frameId, resolution, heightScale); + bool success = false; + auto elevationMap = loadedMap.getSubmap(loadedMap.getPosition(), submapSize, success); + ASSERT_TRUE(success); + + // Run pipeline. + PlaneDecompositionPipeline pipeline(config); + pipeline.update(std::move(elevationMap), elevationLayer); + const auto& planarTerrain = pipeline.getPlanarTerrain(); + + // Query a range of points + for (double x = -submapSize.x() / 2.0; x < submapSize.x() / 2.0; x += submapSize.x() / 4.0) { + for (double y = -submapSize.y() / 2.0; y < submapSize.y() / 2.0; y += submapSize.y() / 4.0) { + for (double z = -heightScale; z < heightScale; z += heightScale / 2.0) { + Eigen::Vector3d query{x, y, z}; + auto penaltyFunction = [](const Eigen::Vector3d& projectedPoint) { return 0.1 * std::abs(projectedPoint.z()); }; + + // Run projection and naive projection + const auto projection = getBestPlanarRegionAtPositionInWorld(query, planarTerrain.planarRegions, penaltyFunction); + const auto projectionCheck = getBestPlanarRegionAtPositionInWorldNaive(query, planarTerrain.planarRegions, penaltyFunction); + + // Check they are the same + ASSERT_EQ(projection.regionPtr, projectionCheck.regionPtr); + ASSERT_DOUBLE_EQ(projection.cost, projectionCheck.cost); + ASSERT_DOUBLE_EQ(projection.positionInTerrainFrame.x(), projectionCheck.positionInTerrainFrame.x()); + ASSERT_DOUBLE_EQ(projection.positionInTerrainFrame.y(), projectionCheck.positionInTerrainFrame.y()); + ASSERT_TRUE(projection.positionInWorld.isApprox(projectionCheck.positionInWorld)); + + // Check convex approximation with a range of settings + for (int numberOfVertices = 3; numberOfVertices < 7; ++numberOfVertices) { + for (double growthFactor = 1.01; growthFactor < 1.3; growthFactor += 0.1) { + const auto convexRegion = convex_plane_decomposition::growConvexPolygonInsideShape( + projection.regionPtr->boundaryWithInset.boundary, projection.positionInTerrainFrame, numberOfVertices, growthFactor); + + ASSERT_TRUE(std::all_of(convexRegion.vertices_begin(), convexRegion.vertices_end(), + [&](const CgalPoint2d& p) { return isInside(p, projection.regionPtr->boundaryWithInset.boundary); })); + } + } + } + } + } +} From 2389578823c7b28c10d34a4d382423cf115c9b28 Mon Sep 17 00:00:00 2001 From: rgrandia Date: Thu, 9 Jun 2022 11:57:21 +0200 Subject: [PATCH 225/504] add plane projection and convex approximation to the demo --- README.md | 4 +- doc/convex_approximation.gif | Bin 0 -> 330753 bytes .../CMakeLists.txt | 9 ++ .../RosVisualizations.h | 8 ++ .../launch/demo.launch | 4 + .../rviz/config_demo.rviz | 49 +++++++-- .../src/ConvexApproximationDemoNode.cpp | 100 ++++++++++++++++++ .../src/RosVisualizations.cpp | 17 ++- 8 files changed, 172 insertions(+), 19 deletions(-) create mode 100644 doc/convex_approximation.gif create mode 100644 plane_segmentation/convex_plane_decomposition_ros/src/ConvexApproximationDemoNode.cpp diff --git a/README.md b/README.md index 0fceae0a..31282775 100644 --- a/README.md +++ b/README.md @@ -3,8 +3,10 @@ ## Overview This is a ROS package for elevation mapping on GPU. The elevation mapping code is written in python and uses cupy for GPU computation. The -plane segmentation is done independently and runs on CPU. +plane segmentation is done independently and runs on CPU. When the plane segmentation is generated, local convex approximations of the +terrain can be efficiently generated. ![screenshot](doc/main_repo.png) +![gif](doc/convex_approximation.gif) ## Citing diff --git a/doc/convex_approximation.gif b/doc/convex_approximation.gif new file mode 100644 index 0000000000000000000000000000000000000000..11b19c24d6088488411de8bcca027592e4bb4766 GIT binary patch literal 330753 zcmWh!by(An6aH*$W2B=SM>mX=)X^y*hyo%Gq|1Q_Lr}LdQX~YWVT6>3!=OYQol?@} z=th(@`F(%?-gEap_s6|=&y}gUiKdnt1yTY&X$Q{E&W?Zn{&D>4=;!Z0zmEQ%{oOtI zIlH{K^Zoeu;m+aj!_kG^zyJQMY#$EH>}>8GZS5V7FYa}G+5EjT*E_j2vGo1VfA)um zA3m@B{r7j}V0mu!J8k{@-0F{xvCX5EmD%0do$a07pF0PiD}S!+w6AQPOg0>Rp8K^t za4Kl1u>4-SvUx4*1bk8U4r9nG#DG(Y~*KQ|T@(L1rV zK0TRH*MGdceXuh7a_r^rgQG9I-`hslrh2;%cXpPy57Rr-x66IKaz57gt&BA{t!y70 zc4RLf9KV}+x4AkSS<&4-y4Jtae>k>yIKOr9HuBf*!RhSU!RSJ6*Yx0a-{|~q^U%iR z_(aE2$9i4;R7~8+?&sOr+5dExmsfs_E;Q8Fug$I<)ioR}jV)JHj{5jdZjBGjZ2#Qe z+3xNME$Nt8{JyYx@Z_R3trq-?#d6rg?T| 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zWkV{C!*=to^=4RsGi6cQ!1n{sdIt$^X7w>^H>fpO4PG?~k$5LPpi?PEGblHL`X<=FU}j>l1^|!`rtkm& literal 0 HcmV?d00001 diff --git a/plane_segmentation/convex_plane_decomposition_ros/CMakeLists.txt b/plane_segmentation/convex_plane_decomposition_ros/CMakeLists.txt index b3c110cb..5ad17f16 100644 --- a/plane_segmentation/convex_plane_decomposition_ros/CMakeLists.txt +++ b/plane_segmentation/convex_plane_decomposition_ros/CMakeLists.txt @@ -87,6 +87,15 @@ target_link_libraries(${PROJECT_NAME}_save_elevationmap ${OpenCV_LIBRARIES} ) +add_executable(${PROJECT_NAME}_approximation_demo_node + src/ConvexApproximationDemoNode.cpp + ) +target_link_libraries(${PROJECT_NAME}_approximation_demo_node + ${catkin_LIBRARIES} + ${OpenCV_LIBRARIES} + ${PROJECT_NAME} + ) + ############# ## Install ## ############# diff --git a/plane_segmentation/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/RosVisualizations.h b/plane_segmentation/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/RosVisualizations.h index 6495015c..aeb50ebf 100644 --- a/plane_segmentation/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/RosVisualizations.h +++ b/plane_segmentation/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/RosVisualizations.h @@ -1,11 +1,19 @@ #pragma once +#include + #include #include namespace convex_plane_decomposition { +geometry_msgs::PolygonStamped to3dRosPolygon(const CgalPolygon2d& polygon, const Eigen::Isometry3d& transformPlaneToWorld, + const std_msgs::Header& header); + +std::vector to3dRosPolygon(const CgalPolygonWithHoles2d& polygonWithHoles, + const Eigen::Isometry3d& transformPlaneToWorld, const std_msgs::Header& header); + jsk_recognition_msgs::PolygonArray convertBoundariesToRosPolygons(const std::vector& planarRegions, const std::string& frameId, grid_map::Time time); diff --git a/plane_segmentation/convex_plane_decomposition_ros/launch/demo.launch b/plane_segmentation/convex_plane_decomposition_ros/launch/demo.launch index 6ddfbdfb..ede2f06f 100644 --- a/plane_segmentation/convex_plane_decomposition_ros/launch/demo.launch +++ b/plane_segmentation/convex_plane_decomposition_ros/launch/demo.launch @@ -38,6 +38,10 @@ + + + diff --git a/plane_segmentation/convex_plane_decomposition_ros/rviz/config_demo.rviz b/plane_segmentation/convex_plane_decomposition_ros/rviz/config_demo.rviz index 6df62f08..13179455 100644 --- a/plane_segmentation/convex_plane_decomposition_ros/rviz/config_demo.rviz +++ b/plane_segmentation/convex_plane_decomposition_ros/rviz/config_demo.rviz @@ -5,7 +5,7 @@ Panels: Property Tree Widget: Expanded: - /Global Options1 - Splitter Ratio: 0.6307384967803955 + Splitter Ratio: 0.45271122455596924 Tree Height: 1658 - Class: rviz/Selection Name: Selection @@ -107,6 +107,37 @@ Visualization Manager: Unreliable: false Use Rainbow: false Value: false + - Alpha: 1 + Class: rviz/PointStamped + Color: 204; 41; 204 + Enabled: true + History Length: 1 + Name: Query + Queue Size: 10 + Radius: 0.10000000149011612 + Topic: /convex_plane_decomposition_ros_approximation_demo_node/queryPosition + Unreliable: false + Value: true + - Alpha: 1 + Class: rviz/PointStamped + Color: 245; 121; 0 + Enabled: true + History Length: 1 + Name: Projection + Queue Size: 10 + Radius: 0.10000000149011612 + Topic: /convex_plane_decomposition_ros_approximation_demo_node/projectedQueryPosition + Unreliable: false + Value: true + - Alpha: 1 + Class: rviz/Polygon + Color: 245; 121; 0 + Enabled: true + Name: ConvexApproximation + Queue Size: 10 + Topic: /convex_plane_decomposition_ros_approximation_demo_node/convex_terrain + Unreliable: false + Value: true Enabled: true Global Options: Background Color: 255; 255; 255 @@ -135,7 +166,7 @@ Visualization Manager: Views: Current: Class: rviz/XYOrbit - Distance: 12.910699844360352 + Distance: 7.742486953735352 Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 @@ -143,17 +174,17 @@ Visualization Manager: Value: false Field of View: 0.7853981852531433 Focal Point: - X: 0.23195862770080566 - Y: 6.398481369018555 - Z: 3.2901763916015625e-05 + X: -3.113455057144165 + Y: 1.4824542999267578 + Z: 3.337860107421875e-05 Focal Shape Fixed Size: true Focal Shape Size: 0.05000000074505806 Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Pitch: 0.5807958841323853 + Pitch: 0.3057960569858551 Target Frame: - Yaw: 1.4850016832351685 + Yaw: 2.410000801086426 Saved: ~ Window Geometry: Displays: @@ -161,7 +192,7 @@ Window Geometry: Height: 2032 Hide Left Dock: false Hide Right Dock: false - QMainWindow State: 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Selection: collapsed: false Time: @@ -171,5 +202,5 @@ Window Geometry: Views: collapsed: false Width: 3696 - X: 3984 + X: 144 Y: 54 diff --git a/plane_segmentation/convex_plane_decomposition_ros/src/ConvexApproximationDemoNode.cpp b/plane_segmentation/convex_plane_decomposition_ros/src/ConvexApproximationDemoNode.cpp new file mode 100644 index 00000000..3447091f --- /dev/null +++ b/plane_segmentation/convex_plane_decomposition_ros/src/ConvexApproximationDemoNode.cpp @@ -0,0 +1,100 @@ +// +// Created by rgrandia on 24.06.20. +// + +#include + +#include + +#include + +#include +#include +#include + +#include + +#include +#include + +const std::string frameId = "odom"; +std::mutex terrainMutex; +std::unique_ptr planarTerrainPtr; + +void callback(const convex_plane_decomposition_msgs::PlanarTerrain::ConstPtr& msg) { + std::unique_ptr newTerrain( + new convex_plane_decomposition::PlanarTerrain(convex_plane_decomposition::fromMessage(*msg))); + + std::lock_guard lock(terrainMutex); + planarTerrainPtr.swap(newTerrain); +} + +geometry_msgs::PointStamped toMarker(const Eigen::Vector3d& position, const std_msgs::Header& header) { + geometry_msgs::PointStamped sphere; + sphere.header = header; + sphere.point.x = position.x(); + sphere.point.y = position.y(); + sphere.point.z = position.z(); + return sphere; +} + +float randomFloat(float a, float b) { + float random = ((float)rand()) / (float)RAND_MAX; + float diff = b - a; + float r = random * diff; + return a + r; +} + +int main(int argc, char** argv) { + ros::init(argc, argv, "convex_approximation_demo_node"); + ros::NodeHandle nodeHandle("~"); + + // Publishers for visualization + auto positionPublisher = nodeHandle.advertise("queryPosition", 1); + auto projectionPublisher = nodeHandle.advertise("projectedQueryPosition", 1); + auto convexTerrainPublisher = nodeHandle.advertise("convex_terrain", 1); + auto terrainSubscriber = nodeHandle.subscribe("/convex_plane_decomposition_ros/planar_terrain", 1, &callback); + + // Node loop + ros::Rate rate(ros::Duration(1.0)); + while (ros::ok()) { + { + std::lock_guard lock(terrainMutex); + if (planarTerrainPtr) { + const auto& map = planarTerrainPtr->gridMap; + + // Find edges. + double maxX = map.getPosition().x() + map.getLength().x() * 0.5; + double minX = map.getPosition().x() - map.getLength().x() * 0.5; + double maxY = map.getPosition().y() + map.getLength().y() * 0.5; + double minY = map.getPosition().y() - map.getLength().y() * 0.5; + + Eigen::Vector3d query{randomFloat(minX, maxX), randomFloat(minY, maxY), randomFloat(0.0, 1.0)}; + auto penaltyFunction = [](const Eigen::Vector3d& projectedPoint) { return 0.0; }; + + const auto projection = getBestPlanarRegionAtPositionInWorld(query, planarTerrainPtr->planarRegions, penaltyFunction); + + int numberOfVertices = 16; + double growthFactor = 1.05; + const auto convexRegion = convex_plane_decomposition::growConvexPolygonInsideShape( + projection.regionPtr->boundaryWithInset.boundary, projection.positionInTerrainFrame, numberOfVertices, growthFactor); + + std_msgs::Header header; + header.stamp.fromNSec(planarTerrainPtr->gridMap.getTimestamp()); + header.frame_id = frameId; + + auto convexRegionMsg = + convex_plane_decomposition::to3dRosPolygon(convexRegion, projection.regionPtr->transformPlaneToWorld, header); + + convexTerrainPublisher.publish(convexRegionMsg); + positionPublisher.publish(toMarker(query, header)); + projectionPublisher.publish(toMarker(projection.positionInWorld, header)); + } + } + + ros::spinOnce(); + rate.sleep(); + } + + return 0; +} \ No newline at end of file diff --git a/plane_segmentation/convex_plane_decomposition_ros/src/RosVisualizations.cpp b/plane_segmentation/convex_plane_decomposition_ros/src/RosVisualizations.cpp index 83a50e24..754720c8 100644 --- a/plane_segmentation/convex_plane_decomposition_ros/src/RosVisualizations.cpp +++ b/plane_segmentation/convex_plane_decomposition_ros/src/RosVisualizations.cpp @@ -1,12 +1,11 @@ #include "convex_plane_decomposition_ros/RosVisualizations.h" #include -#include namespace convex_plane_decomposition { -inline geometry_msgs::PolygonStamped to3d(const CgalPolygon2d& polygon, const Eigen::Isometry3d& transformPlaneToWorld, - const std_msgs::Header& header) { +geometry_msgs::PolygonStamped to3dRosPolygon(const CgalPolygon2d& polygon, const Eigen::Isometry3d& transformPlaneToWorld, + const std_msgs::Header& header) { geometry_msgs::PolygonStamped polygon3d; polygon3d.header = header; polygon3d.polygon.points.reserve(polygon.size()); @@ -21,15 +20,15 @@ inline geometry_msgs::PolygonStamped to3d(const CgalPolygon2d& polygon, const Ei return polygon3d; } -inline std::vector to3d(const CgalPolygonWithHoles2d& polygonWithHoles, const Eigen::Isometry3d& transformPlaneToWorld, - const std_msgs::Header& header) { +std::vector to3dRosPolygon(const CgalPolygonWithHoles2d& polygonWithHoles, + const Eigen::Isometry3d& transformPlaneToWorld, const std_msgs::Header& header) { std::vector polygons; polygons.reserve(polygonWithHoles.number_of_holes() + 1); - polygons.emplace_back(to3d(polygonWithHoles.outer_boundary(), transformPlaneToWorld, header)); + polygons.emplace_back(to3dRosPolygon(polygonWithHoles.outer_boundary(), transformPlaneToWorld, header)); for (const auto& hole : polygonWithHoles.holes()) { - polygons.emplace_back(to3d(hole, transformPlaneToWorld, header)); + polygons.emplace_back(to3dRosPolygon(hole, transformPlaneToWorld, header)); } return polygons; } @@ -46,7 +45,7 @@ jsk_recognition_msgs::PolygonArray convertBoundariesToRosPolygons(const std::vec polygon_buffer.labels.reserve(planarRegions.size()); uint32_t label = 0; for (const auto& planarRegion : planarRegions) { - auto boundaries = to3d(planarRegion.boundaryWithInset.boundary, planarRegion.transformPlaneToWorld, header); + auto boundaries = to3dRosPolygon(planarRegion.boundaryWithInset.boundary, planarRegion.transformPlaneToWorld, header); std::move(boundaries.begin(), boundaries.end(), std::back_inserter(polygon_buffer.polygons)); for (size_t i = 0; i < boundaries.size(); ++i) { polygon_buffer.labels.push_back(label); @@ -70,7 +69,7 @@ jsk_recognition_msgs::PolygonArray convertInsetsToRosPolygons(const std::vector< uint32_t label = 0; for (const auto& planarRegion : planarRegions) { for (const auto& inset : planarRegion.boundaryWithInset.insets) { - auto insets = to3d(inset, planarRegion.transformPlaneToWorld, header); + auto insets = to3dRosPolygon(inset, planarRegion.transformPlaneToWorld, header); std::move(insets.begin(), insets.end(), std::back_inserter(polygon_buffer.polygons)); for (size_t i = 0; i < insets.size(); ++i) { polygon_buffer.labels.push_back(label); From 71ef07be2e233cd61649be2ef6f677ab7272ec74 Mon Sep 17 00:00:00 2001 From: Alexander Reimann Date: Fri, 10 Jun 2022 08:48:57 +0200 Subject: [PATCH 226/504] Install launch and config folders --- elevation_mapping_cupy/CMakeLists.txt | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/elevation_mapping_cupy/CMakeLists.txt b/elevation_mapping_cupy/CMakeLists.txt index 88a43627..14093f82 100644 --- a/elevation_mapping_cupy/CMakeLists.txt +++ b/elevation_mapping_cupy/CMakeLists.txt @@ -68,3 +68,7 @@ install( ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) + +install( + DIRECTORY launch config + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) From 6227921dbf76ca01ebf792cc7e289890fc0a2738 Mon Sep 17 00:00:00 2001 From: Alexander Reimann Date: Fri, 10 Jun 2022 08:50:34 +0200 Subject: [PATCH 227/504] Make elevation_mapping_cupy python module and add python setup --- elevation_mapping_cupy/CMakeLists.txt | 2 ++ .../__init__.py | 0 .../custom_kernels.py | 0 .../elevation_mapping.py | 24 +++++++++---------- .../map_initializer.py | 0 .../{ => elevation_mapping_cupy}/parameter.py | 0 .../plugins/__init__.py | 0 .../plugins/inpainting.py | 0 .../plugins/min_filter.py | 0 .../plugins/plugin_manager.py | 2 +- .../plugins/smooth_filter.py | 0 .../traversability_filter.py | 0 .../traversability_polygon.py | 0 elevation_mapping_cupy/setup.py | 11 +++++++++ .../src/elevation_mapping_wrapper.cpp | 4 ++-- 15 files changed, 28 insertions(+), 15 deletions(-) rename elevation_mapping_cupy/script/{plugins => elevation_mapping_cupy}/__init__.py (100%) rename elevation_mapping_cupy/script/{ => elevation_mapping_cupy}/custom_kernels.py (100%) rename elevation_mapping_cupy/script/{ => elevation_mapping_cupy}/elevation_mapping.py (97%) rename elevation_mapping_cupy/script/{ => elevation_mapping_cupy}/map_initializer.py (100%) rename elevation_mapping_cupy/script/{ => elevation_mapping_cupy}/parameter.py (100%) create mode 100644 elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/__init__.py rename elevation_mapping_cupy/script/{ => elevation_mapping_cupy}/plugins/inpainting.py (100%) rename elevation_mapping_cupy/script/{ => elevation_mapping_cupy}/plugins/min_filter.py (100%) rename elevation_mapping_cupy/script/{ => elevation_mapping_cupy}/plugins/plugin_manager.py (99%) rename elevation_mapping_cupy/script/{ => elevation_mapping_cupy}/plugins/smooth_filter.py (100%) rename elevation_mapping_cupy/script/{ => elevation_mapping_cupy}/traversability_filter.py (100%) rename elevation_mapping_cupy/script/{ => elevation_mapping_cupy}/traversability_polygon.py (100%) create mode 100644 elevation_mapping_cupy/setup.py diff --git a/elevation_mapping_cupy/CMakeLists.txt b/elevation_mapping_cupy/CMakeLists.txt index 14093f82..4aa69cb0 100644 --- a/elevation_mapping_cupy/CMakeLists.txt +++ b/elevation_mapping_cupy/CMakeLists.txt @@ -63,6 +63,8 @@ target_link_libraries(elevation_mapping_ros ${PYTHON_LIBRARIES} ${catkin_LIBRARI add_executable(elevation_mapping_node src/elevation_mapping_node.cpp) target_link_libraries(elevation_mapping_node elevation_mapping_ros) +catkin_python_setup() + install( TARGETS elevation_mapping_ros elevation_mapping_node ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} diff --git a/elevation_mapping_cupy/script/plugins/__init__.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/__init__.py similarity index 100% rename from elevation_mapping_cupy/script/plugins/__init__.py rename to elevation_mapping_cupy/script/elevation_mapping_cupy/__init__.py diff --git a/elevation_mapping_cupy/script/custom_kernels.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/custom_kernels.py similarity index 100% rename from elevation_mapping_cupy/script/custom_kernels.py rename to elevation_mapping_cupy/script/elevation_mapping_cupy/custom_kernels.py diff --git a/elevation_mapping_cupy/script/elevation_mapping.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py similarity index 97% rename from elevation_mapping_cupy/script/elevation_mapping.py rename to elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py index accac0c2..c300b0ca 100644 --- a/elevation_mapping_cupy/script/elevation_mapping.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py @@ -7,18 +7,18 @@ import threading import subprocess -from traversability_filter import get_filter_chainer, get_filter_torch -from parameter import Parameter -from custom_kernels import add_points_kernel -from custom_kernels import error_counting_kernel -from custom_kernels import average_map_kernel -from custom_kernels import dilation_filter_kernel -from custom_kernels import normal_filter_kernel -from custom_kernels import polygon_mask_kernel -from map_initializer import MapInitializer -from plugins.plugin_manager import PluginManger - -from traversability_polygon import ( +from .traversability_filter import get_filter_chainer, get_filter_torch +from .parameter import Parameter +from .custom_kernels import add_points_kernel +from .custom_kernels import error_counting_kernel +from .custom_kernels import average_map_kernel +from .custom_kernels import dilation_filter_kernel +from .custom_kernels import normal_filter_kernel +from .custom_kernels import polygon_mask_kernel +from .map_initializer import MapInitializer +from .plugins.plugin_manager import PluginManger + +from .traversability_polygon import ( get_masked_traversability, is_traversable, calculate_area, diff --git a/elevation_mapping_cupy/script/map_initializer.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/map_initializer.py similarity index 100% rename from elevation_mapping_cupy/script/map_initializer.py rename to elevation_mapping_cupy/script/elevation_mapping_cupy/map_initializer.py diff --git a/elevation_mapping_cupy/script/parameter.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py similarity index 100% rename from elevation_mapping_cupy/script/parameter.py rename to elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/__init__.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/__init__.py new file mode 100644 index 00000000..e69de29b diff --git a/elevation_mapping_cupy/script/plugins/inpainting.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/inpainting.py similarity index 100% rename from elevation_mapping_cupy/script/plugins/inpainting.py rename to elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/inpainting.py diff --git a/elevation_mapping_cupy/script/plugins/min_filter.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/min_filter.py similarity index 100% rename from elevation_mapping_cupy/script/plugins/min_filter.py rename to elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/min_filter.py diff --git a/elevation_mapping_cupy/script/plugins/plugin_manager.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/plugin_manager.py similarity index 99% rename from elevation_mapping_cupy/script/plugins/plugin_manager.py rename to elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/plugin_manager.py index bfaf0829..7a3d1a6c 100644 --- a/elevation_mapping_cupy/script/plugins/plugin_manager.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/plugin_manager.py @@ -67,7 +67,7 @@ def init(self, plugin_params: List[PluginParams], extra_params: List[Dict]): self.plugins = [] for param, extra_param in zip(plugin_params, extra_params): - m = importlib.import_module("." + param.name, package="plugins") # -> 'module' + m = importlib.import_module("." + param.name, package="elevation_mapping_cupy.plugins") # -> 'module' for name, obj in inspect.getmembers(m): if inspect.isclass(obj) and issubclass(obj, PluginBase) and name != "PluginBase": # Add cell_n to params diff --git a/elevation_mapping_cupy/script/plugins/smooth_filter.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/smooth_filter.py similarity index 100% rename from elevation_mapping_cupy/script/plugins/smooth_filter.py rename to elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/smooth_filter.py diff --git a/elevation_mapping_cupy/script/traversability_filter.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/traversability_filter.py similarity index 100% rename from elevation_mapping_cupy/script/traversability_filter.py rename to elevation_mapping_cupy/script/elevation_mapping_cupy/traversability_filter.py diff --git a/elevation_mapping_cupy/script/traversability_polygon.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/traversability_polygon.py similarity index 100% rename from elevation_mapping_cupy/script/traversability_polygon.py rename to elevation_mapping_cupy/script/elevation_mapping_cupy/traversability_polygon.py diff --git a/elevation_mapping_cupy/setup.py b/elevation_mapping_cupy/setup.py new file mode 100644 index 00000000..51954f5b --- /dev/null +++ b/elevation_mapping_cupy/setup.py @@ -0,0 +1,11 @@ +from distutils.core import setup +from catkin_pkg.python_setup import generate_distutils_setup + +setup_args = generate_distutils_setup( + packages=[ + 'elevation_mapping_cupy', + 'elevation_mapping_cupy.plugins', + ], + package_dir={'': 'script'}) + +setup(**setup_args) diff --git a/elevation_mapping_cupy/src/elevation_mapping_wrapper.cpp b/elevation_mapping_cupy/src/elevation_mapping_wrapper.cpp index 40eb2023..d9662833 100644 --- a/elevation_mapping_cupy/src/elevation_mapping_wrapper.cpp +++ b/elevation_mapping_cupy/src/elevation_mapping_wrapper.cpp @@ -29,8 +29,8 @@ void ElevationMappingWrapper::initialize(ros::NodeHandle& nh) { module_path = module_path + "/script"; path.attr("insert")(0, module_path); - auto elevation_mapping = py::module::import("elevation_mapping"); - auto parameter = py::module::import("parameter"); + auto elevation_mapping = py::module::import("elevation_mapping_cupy.elevation_mapping"); + auto parameter = py::module::import("elevation_mapping_cupy.parameter"); param_ = parameter.attr("Parameter")(); setParameters(nh); map_ = elevation_mapping.attr("ElevationMap")(param_); From 2afd4069e87679761e29905dd73e3fc7c8d46f90 Mon Sep 17 00:00:00 2001 From: Takahiro Date: Thu, 16 Jun 2022 12:53:29 +0200 Subject: [PATCH 228/504] Updated turtlebot3 installation to minimum requirement. --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index 31282775..177307c7 100644 --- a/README.md +++ b/README.md @@ -246,7 +246,7 @@ roslaunch convex_plane_decomposition_ros convex_plane_decomposition.launch First, install turtlebot simulation. ```bash -sudo apt install ros-noetic-turtlebot3* +sudo apt install ros-noetic-turtlebot3-gazebo ros-noetic-turtlebot3-teleop ``` Then, you can run the examples. For the basic version: From 1510ca183436742547b227c75a8b6f9ab1e8f606 Mon Sep 17 00:00:00 2001 From: Yecheng Shao Date: Thu, 23 Jun 2022 15:15:00 +0800 Subject: [PATCH 229/504] add key "type" for filters --- elevation_mapping_cupy/config/plugin_config.yaml | 9 +++++++++ .../elevation_mapping_cupy/plugins/plugin_manager.py | 2 +- 2 files changed, 10 insertions(+), 1 deletion(-) diff --git a/elevation_mapping_cupy/config/plugin_config.yaml b/elevation_mapping_cupy/config/plugin_config.yaml index 733f8c82..1431b300 100644 --- a/elevation_mapping_cupy/config/plugin_config.yaml +++ b/elevation_mapping_cupy/config/plugin_config.yaml @@ -25,3 +25,12 @@ inpainting: layer_name: "inpaint" extra_params: method: "telea" # telea or ns +# Apply smoothing for inpainted layer +smooth_filter_1: + type: "smooth_filter" + enable: True + fill_nan: False + is_height_layer: True + layer_name: "smooth_1" + extra_params: + input_layer_name: "inpaint" \ No newline at end of file diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/plugin_manager.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/plugin_manager.py index 7a3d1a6c..3bbf3fed 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/plugin_manager.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/plugin_manager.py @@ -87,7 +87,7 @@ def load_plugin_settings(self, file_path: str): if v["enable"]: plugin_params.append( PluginParams( - name=k, + name=k if not "type" in v else v["type"], layer_name=v["layer_name"], fill_nan=v["fill_nan"], is_height_layer=v["is_height_layer"], From a7fbc6b32b10a3e3cf16f32557bf3ceaae4cfddb Mon Sep 17 00:00:00 2001 From: Yecheng Shao Date: Thu, 23 Jun 2022 15:17:18 +0800 Subject: [PATCH 230/504] add end line --- elevation_mapping_cupy/config/plugin_config.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/elevation_mapping_cupy/config/plugin_config.yaml b/elevation_mapping_cupy/config/plugin_config.yaml index 1431b300..1e37308c 100644 --- a/elevation_mapping_cupy/config/plugin_config.yaml +++ b/elevation_mapping_cupy/config/plugin_config.yaml @@ -33,4 +33,4 @@ smooth_filter_1: is_height_layer: True layer_name: "smooth_1" extra_params: - input_layer_name: "inpaint" \ No newline at end of file + input_layer_name: "inpaint" From b39fd9003843db162499e3a3848fef52dc16ef1f Mon Sep 17 00:00:00 2001 From: rgrandia Date: Mon, 4 Jul 2022 19:14:47 +0200 Subject: [PATCH 231/504] replace rviz visualization through jsk polygon array to normal visualization markers. This removes the dependency on JSK and the need for pcl_visualization_catkin --- README.md | 25 +- .../rviz/turtle_segmentation_example.rviz | 16 +- .../CMakeLists.txt | 2 +- .../RosVisualizations.h | 16 +- .../package.xml | 2 +- .../rviz/config.rviz | 281 ------------------ .../rviz/config_demo.rviz | 32 +- .../src/ConvexPlaneDecompositionRos.cpp | 13 +- .../src/RosVisualizations.cpp | 128 ++++++-- .../pcl_visualization_catkin/CMakeLists.txt | 23 -- .../pcl_visualization_catkin/README.md | 3 - .../lib/libpcl_visualization.so | Bin 1747408 -> 0 bytes .../lib/libpcl_visualization.so.1.10 | Bin 1747408 -> 0 bytes .../lib/libpcl_visualization.so.1.10.0 | Bin 1747408 -> 0 bytes .../lib/pkgconfig/pcl_visualization-1.10.pc | 13 - .../pcl_visualization_catkin/package.xml | 13 - 16 files changed, 137 insertions(+), 430 deletions(-) delete mode 100644 plane_segmentation/convex_plane_decomposition_ros/rviz/config.rviz delete mode 100644 plane_segmentation/pcl_visualization_catkin/CMakeLists.txt delete mode 100644 plane_segmentation/pcl_visualization_catkin/README.md delete mode 100644 plane_segmentation/pcl_visualization_catkin/lib/libpcl_visualization.so delete mode 100644 plane_segmentation/pcl_visualization_catkin/lib/libpcl_visualization.so.1.10 delete mode 100644 plane_segmentation/pcl_visualization_catkin/lib/libpcl_visualization.so.1.10.0 delete mode 100644 plane_segmentation/pcl_visualization_catkin/lib/pkgconfig/pcl_visualization-1.10.pc delete mode 100644 plane_segmentation/pcl_visualization_catkin/package.xml diff --git a/README.md b/README.md index 177307c7..0f1c94c5 100644 --- a/README.md +++ b/README.md @@ -183,25 +183,6 @@ sudo apt install libmpfr-dev sudo apt install libboost-all-dev ``` -#### PCL (for ANYmal research users) - -PCL is required, but the ANYbotics distributed version does not contain visualization components. With pcl_visualization_catkin, the missing -components are provided into your catkin workspace (for pcl 1.10). Additionally vtk7 is required, DO NOT install this on the ANYmal onboard -PCs, only on OPC and simulation PCs. - -```bash -sudo apt install libvtk7-dev -catkin build pcl_visualization_catkin -``` - -#### JSK-visualization - -For rviz-visualization the jsk-library is used. - -```bash -sudo apt-get install ros-noetic-jsk-visualization -``` - ## Usage ### Build @@ -326,12 +307,12 @@ The plane segmentation node publishes the following: A grid map message to visualize the segmentation and some intermediate results. This information is also part of **`planar_terrain`**. -* **`boundaries`** ([jsk_recognition_msgs/PolygonArray]) +* **`boundaries`** ([visualization_msgs/MarkerArray]) A set of polygons that trace the boundaries of the segmented region. Holes and boundaries of a single region are published as separate - polygons with the same label. + markers with the same color. -* **`insets`** ([jsk_recognition_msgs/PolygonArray]) +* **`insets`** ([visualization_msgs/PolygonArray]) A set of polygons that are at a slight inward offset from **`boundaries`**. There might be more insets than boundaries since the inward shift can cause a single region to break down into multiple when narrow passages exist. diff --git a/elevation_mapping_cupy/rviz/turtle_segmentation_example.rviz b/elevation_mapping_cupy/rviz/turtle_segmentation_example.rviz index b30ae885..04ff4401 100644 --- a/elevation_mapping_cupy/rviz/turtle_segmentation_example.rviz +++ b/elevation_mapping_cupy/rviz/turtle_segmentation_example.rviz @@ -200,20 +200,14 @@ Visualization Manager: Use Fixed Frame: true Use rainbow: true Value: false - - Alpha: 1 - Class: jsk_rviz_plugin/PolygonArray - Color: 25; 255; 0 + - Class: rviz/MarkerArray Enabled: true + Marker Topic: /convex_plane_decomposition_ros/boundaries Name: PlaneBoundaries - Queue Size: 10 - Topic: /convex_plane_decomposition_ros/boundaries - Unreliable: false + Namespaces: + "": true + Queue Size: 100 Value: true - coloring: Label - enable lighting: true - normal length: 0.10000000149011612 - only border: true - show normal: false - Alpha: 1 Autocompute Intensity Bounds: true Class: grid_map_rviz_plugin/GridMap diff --git a/plane_segmentation/convex_plane_decomposition_ros/CMakeLists.txt b/plane_segmentation/convex_plane_decomposition_ros/CMakeLists.txt index 5ad17f16..d5f762ef 100644 --- a/plane_segmentation/convex_plane_decomposition_ros/CMakeLists.txt +++ b/plane_segmentation/convex_plane_decomposition_ros/CMakeLists.txt @@ -9,10 +9,10 @@ set(CATKIN_PACKAGE_DEPENDENCIES grid_map_cv grid_map_msgs geometry_msgs - jsk_recognition_msgs convex_plane_decomposition convex_plane_decomposition_msgs tf2_ros + visualization_msgs ) find_package(catkin REQUIRED COMPONENTS diff --git a/plane_segmentation/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/RosVisualizations.h b/plane_segmentation/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/RosVisualizations.h index aeb50ebf..e3596562 100644 --- a/plane_segmentation/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/RosVisualizations.h +++ b/plane_segmentation/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/RosVisualizations.h @@ -1,23 +1,23 @@ #pragma once #include - -#include +#include +#include #include namespace convex_plane_decomposition { geometry_msgs::PolygonStamped to3dRosPolygon(const CgalPolygon2d& polygon, const Eigen::Isometry3d& transformPlaneToWorld, - const std_msgs::Header& header); + const std_msgs::Header& header); std::vector to3dRosPolygon(const CgalPolygonWithHoles2d& polygonWithHoles, - const Eigen::Isometry3d& transformPlaneToWorld, const std_msgs::Header& header); + const Eigen::Isometry3d& transformPlaneToWorld, const std_msgs::Header& header); -jsk_recognition_msgs::PolygonArray convertBoundariesToRosPolygons(const std::vector& planarRegions, - const std::string& frameId, grid_map::Time time); +visualization_msgs::MarkerArray convertBoundariesToRosMarkers(const std::vector& planarRegions, const std::string& frameId, + grid_map::Time time, double lineWidth); -jsk_recognition_msgs::PolygonArray convertInsetsToRosPolygons(const std::vector& planarRegions, const std::string& frameId, - grid_map::Time time); +visualization_msgs::MarkerArray convertInsetsToRosMarkers(const std::vector& planarRegions, const std::string& frameId, + grid_map::Time time, double lineWidth); } // namespace convex_plane_decomposition diff --git a/plane_segmentation/convex_plane_decomposition_ros/package.xml b/plane_segmentation/convex_plane_decomposition_ros/package.xml index d3f2de29..fac0c52b 100644 --- a/plane_segmentation/convex_plane_decomposition_ros/package.xml +++ b/plane_segmentation/convex_plane_decomposition_ros/package.xml @@ -16,10 +16,10 @@ grid_map_cv grid_map_msgs geometry_msgs - jsk_recognition_msgs convex_plane_decomposition convex_plane_decomposition_msgs tf2_ros + visualization_msgs grid_map_demos diff --git a/plane_segmentation/convex_plane_decomposition_ros/rviz/config.rviz b/plane_segmentation/convex_plane_decomposition_ros/rviz/config.rviz deleted file mode 100644 index febf095e..00000000 --- a/plane_segmentation/convex_plane_decomposition_ros/rviz/config.rviz +++ /dev/null @@ -1,281 +0,0 @@ -Panels: - - Class: rviz/Displays - Help Height: 0 - Name: Displays - Property Tree Widget: - Expanded: - - /Global Options1 - - /PolygonArray1 - - /PolygonArray2 - - /GridMap1 - Splitter Ratio: 0.6114649772644043 - Tree Height: 375 - - Class: rviz/Selection - Name: Selection - - Class: rviz/Tool Properties - Expanded: - - /2D Pose Estimate1 - - /2D Nav Goal1 - - /Publish Point1 - Name: Tool Properties - Splitter Ratio: 0.5886790156364441 - - Class: rviz/Views - Expanded: - - /Current View1 - Name: Views - Splitter Ratio: 0.5 - - Class: rviz/Time - Experimental: false - Name: Time - SyncMode: 0 - SyncSource: "" -Preferences: - PromptSaveOnExit: true -Toolbars: - toolButtonStyle: 2 -Visualization Manager: - Class: "" - Displays: - - Class: rviz/Axes - Enabled: false - Length: 0.20000000298023224 - Name: Axes - Radius: 0.009999999776482582 - Reference Frame: - Value: false - - Alpha: 1 - Autocompute Intensity Bounds: true - Class: grid_map_rviz_plugin/GridMap - Color: 200; 200; 200 - Color Layer: elevation - Color Transformer: GridMapLayer - Enabled: false - Height Layer: elevation - Height Transformer: GridMapLayer - History Length: 1 - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 10 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: Elevation - Show Grid Lines: true - Topic: /grid_map_filter_demo/filtered_map - Unreliable: false - Use Rainbow: true - Value: false - - Alpha: 1 - Autocompute Intensity Bounds: true - Class: grid_map_rviz_plugin/GridMap - Color: 200; 200; 200 - Color Layer: normal_color - Color Transformer: ColorLayer - Enabled: false - Height Layer: elevation - Height Transformer: GridMapLayer - History Length: 1 - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 10 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: Normal mapping - Show Grid Lines: false - Topic: /grid_map_filter_demo/filtered_map - Unreliable: false - Use Rainbow: false - Value: false - - Alpha: 1 - Autocompute Intensity Bounds: true - Class: grid_map_rviz_plugin/GridMap - Color: 200; 200; 200 - Color Layer: edges - Color Transformer: IntensityLayer - Enabled: false - Height Layer: elevation - Height Transformer: GridMapLayer - History Length: 1 - Invert Rainbow: false - Max Color: 255; 0; 0 - Max Intensity: 10 - Min Color: 255; 255; 255 - Min Intensity: 0 - Name: Edges - Show Grid Lines: false - Topic: /grid_map_filter_demo/filtered_map - Unreliable: false - Use Rainbow: false - Value: false - - Alpha: 1 - Autocompute Intensity Bounds: false - Class: grid_map_rviz_plugin/GridMap - Color: 200; 200; 200 - Color Layer: roughness - Color Transformer: IntensityLayer - Enabled: false - Height Layer: elevation - Height Transformer: GridMapLayer - History Length: 1 - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 0.07999999821186066 - Min Color: 0; 0; 0 - Min Intensity: -0.019999999552965164 - Name: Roughness - Show Grid Lines: false - Topic: /grid_map_filter_demo/filtered_map - Unreliable: false - Use Rainbow: true - Value: false - - Alpha: 1 - Autocompute Intensity Bounds: false - Class: grid_map_rviz_plugin/GridMap - Color: 200; 200; 200 - Color Layer: traversability - Color Transformer: GridMapLayer - Enabled: false - Height Layer: elevation - Height Transformer: GridMapLayer - History Length: 1 - Invert Rainbow: true - Max Color: 255; 255; 255 - Max Intensity: 1.2000000476837158 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: Traversability - Show Grid Lines: false - Topic: /grid_map_filter_demo/filtered_map - Unreliable: false - Use Rainbow: true - Value: false - - Class: rviz/Marker - Enabled: false - Marker Topic: /grid_map_visualization/surface_normals - Name: Surface Normals - Namespaces: - {} - Queue Size: 100 - Value: false - - Alpha: 1 - Class: rviz/Map - Color Scheme: map - Draw Behind: false - Enabled: false - Name: Elevation - Topic: /grid_map_visualization/elevation_grid - Unreliable: false - Use Timestamp: false - Value: false - - Alpha: 1 - Class: jsk_rviz_plugin/PolygonArray - Color: 25; 255; 0 - Enabled: true - Name: PolygonArray - Topic: /convex_plane_decomposition_ros/convex_polygons - Unreliable: false - Value: true - coloring: Auto - enable lighting: true - normal length: 0.10000000149011612 - only border: false - show normal: true - - Alpha: 1 - Class: jsk_rviz_plugin/PolygonArray - Color: 25; 255; 0 - Enabled: true - Name: PolygonArray - Topic: /convex_plane_decomposition_ros/outer_contours - Unreliable: false - Value: true - coloring: Auto - enable lighting: true - normal length: 0.10000000149011612 - only border: true - show normal: true - - Alpha: 0.10000000149011612 - Autocompute Intensity Bounds: true - Class: grid_map_rviz_plugin/GridMap - Color: 200; 200; 200 - Color Layer: elevation - Color Transformer: GridMapLayer - Enabled: true - Height Layer: elevation - Height Transformer: GridMapLayer - History Length: 1 - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 10 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: GridMap - Show Grid Lines: true - Topic: /convex_plane_decomposition_ros/convex_plane_decomposition - Unreliable: false - Use Rainbow: true - Value: true - Enabled: true - Global Options: - Background Color: 255; 255; 255 - Default Light: true - Fixed Frame: odom - Frame Rate: 30 - Name: root - Tools: - - Class: rviz/Interact - Hide Inactive Objects: true - - Class: rviz/MoveCamera - - Class: rviz/Select - - Class: rviz/FocusCamera - - Class: rviz/Measure - - Class: rviz/SetInitialPose - Theta std deviation: 0.2617993950843811 - Topic: /initialpose - X std deviation: 0.5 - Y std deviation: 0.5 - - Class: rviz/SetGoal - Topic: /move_base_simple/goal - - Class: rviz/PublishPoint - Single click: true - Topic: /clicked_point - Value: true - Views: - Current: - Class: rviz/Orbit - Distance: 6.349719524383545 - Enable Stereo Rendering: - Stereo Eye Separation: 0.05999999865889549 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Focal Point: - X: -1 - Y: -1 - Z: 2 - Focal Shape Fixed Size: true - Focal Shape Size: 0.05000000074505806 - Invert Z Axis: false - Name: Current View - Near Clip Distance: 0.009999999776482582 - Pitch: 0.6597966551780701 - Target Frame: - Value: Orbit (rviz) - Yaw: 0 - Saved: ~ -Window Geometry: - Displays: - collapsed: false - Height: 594 - Hide Left Dock: false - Hide Right Dock: true - QMainWindow State: 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- Selection: - collapsed: false - Time: - collapsed: false - Tool Properties: - collapsed: false - Views: - collapsed: true - Width: 1004 - X: 67 - Y: 27 diff --git a/plane_segmentation/convex_plane_decomposition_ros/rviz/config_demo.rviz b/plane_segmentation/convex_plane_decomposition_ros/rviz/config_demo.rviz index 13179455..93666180 100644 --- a/plane_segmentation/convex_plane_decomposition_ros/rviz/config_demo.rviz +++ b/plane_segmentation/convex_plane_decomposition_ros/rviz/config_demo.rviz @@ -33,34 +33,22 @@ Toolbars: Visualization Manager: Class: "" Displays: - - Alpha: 1 - Class: jsk_rviz_plugin/PolygonArray - Color: 25; 255; 0 + - Class: rviz/MarkerArray Enabled: true + Marker Topic: /convex_plane_decomposition_ros/boundaries Name: Boundaries - Queue Size: 10 - Topic: /convex_plane_decomposition_ros/boundaries - Unreliable: false + Namespaces: + "": true + Queue Size: 100 Value: true - coloring: Label - enable lighting: true - normal length: 0.10000000149011612 - only border: true - show normal: false - - Alpha: 1 - Class: jsk_rviz_plugin/PolygonArray - Color: 25; 255; 0 + - Class: rviz/MarkerArray Enabled: false + Marker Topic: /convex_plane_decomposition_ros/insets Name: Insets - Queue Size: 10 - Topic: /convex_plane_decomposition_ros/insets - Unreliable: false + Namespaces: + {} + Queue Size: 100 Value: false - coloring: Label - enable lighting: true - normal length: 0.10000000149011612 - only border: true - show normal: false - Alpha: 0.10000000149011612 Autocompute Intensity Bounds: true Class: grid_map_rviz_plugin/GridMap diff --git a/plane_segmentation/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp b/plane_segmentation/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp index fddddf4d..04c6f2e1 100644 --- a/plane_segmentation/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp +++ b/plane_segmentation/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp @@ -19,8 +19,8 @@ ConvexPlaneExtractionROS::ConvexPlaneExtractionROS(ros::NodeHandle& nodeHandle) if (parametersLoaded) { elevationMapSubscriber_ = nodeHandle.subscribe(elevationMapTopic_, 1, &ConvexPlaneExtractionROS::callback, this); filteredmapPublisher_ = nodeHandle.advertise("filtered_map", 1); - boundaryPublisher_ = nodeHandle.advertise("boundaries", 1); - insetPublisher_ = nodeHandle.advertise("insets", 1); + boundaryPublisher_ = nodeHandle.advertise("boundaries", 1); + insetPublisher_ = nodeHandle.advertise("insets", 1); regionPublisher_ = nodeHandle.advertise("planar_terrain", 1); } } @@ -152,10 +152,11 @@ void ConvexPlaneExtractionROS::callback(const grid_map_msgs::GridMap& message) { grid_map::GridMapRosConverter::toMessage(planarTerrain.gridMap, outputMessage); filteredmapPublisher_.publish(outputMessage); - boundaryPublisher_.publish(convertBoundariesToRosPolygons(planarTerrain.planarRegions, planarTerrain.gridMap.getFrameId(), - planarTerrain.gridMap.getTimestamp())); - insetPublisher_.publish( - convertInsetsToRosPolygons(planarTerrain.planarRegions, planarTerrain.gridMap.getFrameId(), planarTerrain.gridMap.getTimestamp())); + const double lineWidth = 0.005; // [m] RViz marker size + boundaryPublisher_.publish(convertBoundariesToRosMarkers(planarTerrain.planarRegions, planarTerrain.gridMap.getFrameId(), + planarTerrain.gridMap.getTimestamp(), lineWidth)); + insetPublisher_.publish(convertInsetsToRosMarkers(planarTerrain.planarRegions, planarTerrain.gridMap.getFrameId(), + planarTerrain.gridMap.getTimestamp(), lineWidth)); callbackTimer_.endTimer(); } diff --git a/plane_segmentation/convex_plane_decomposition_ros/src/RosVisualizations.cpp b/plane_segmentation/convex_plane_decomposition_ros/src/RosVisualizations.cpp index 754720c8..8cd1b72e 100644 --- a/plane_segmentation/convex_plane_decomposition_ros/src/RosVisualizations.cpp +++ b/plane_segmentation/convex_plane_decomposition_ros/src/RosVisualizations.cpp @@ -33,49 +33,125 @@ std::vector to3dRosPolygon(const CgalPolygonWithH return polygons; } -jsk_recognition_msgs::PolygonArray convertBoundariesToRosPolygons(const std::vector& planarRegions, - const std::string& frameId, grid_map::Time time) { - jsk_recognition_msgs::PolygonArray polygon_buffer; +namespace { // Helper functions for convertBoundariesToRosMarkers and convertInsetsToRosMarkers +std_msgs::ColorRGBA getColor(int id, float alpha = 1.0) { + constexpr int numColors = 7; + using RGB = std::array; + // clang-format off + static const std::array, numColors> colorMap{ + RGB{0.0000F, 0.4470F, 0.7410F}, + RGB{0.8500F, 0.3250F, 0.0980F}, + RGB{0.9290F, 0.6940F, 0.1250F}, + RGB{0.4940F, 0.1840F, 0.5560F}, + RGB{0.4660F, 0.6740F, 0.1880F}, + RGB{0.6350F, 0.0780F, 0.1840F}, + RGB{0.2500F, 0.2500F, 0.2500F} + }; + // clang-format on + + std_msgs::ColorRGBA colorMsg; + const auto& rgb = colorMap[id % numColors]; + colorMsg.r = rgb[0]; + colorMsg.g = rgb[1]; + colorMsg.b = rgb[2]; + colorMsg.a = alpha; + return colorMsg; +} + +visualization_msgs::Marker to3dRosMarker(const CgalPolygon2d& polygon, const Eigen::Isometry3d& transformPlaneToWorld, + const std_msgs::Header& header, const std_msgs::ColorRGBA& color, int id, double lineWidth) { + visualization_msgs::Marker line; + line.id = id; + line.header = header; + line.type = visualization_msgs::Marker::LINE_STRIP; + line.scale.x = lineWidth; + line.color = color; + if (!polygon.is_empty()) { + line.points.reserve(polygon.size() + 1); + for (const auto& point : polygon) { + const auto pointInWorld = positionInWorldFrameFromPosition2dInPlane(point, transformPlaneToWorld); + geometry_msgs::Point point_ros; + point_ros.x = pointInWorld.x(); + point_ros.y = pointInWorld.y(); + point_ros.z = pointInWorld.z(); + line.points.push_back(point_ros); + } + // repeat the first point to close to polygon + const auto pointInWorld = positionInWorldFrameFromPosition2dInPlane(polygon.vertex(0), transformPlaneToWorld); + geometry_msgs::Point point_ros; + point_ros.x = pointInWorld.x(); + point_ros.y = pointInWorld.y(); + point_ros.z = pointInWorld.z(); + line.points.push_back(point_ros); + } + line.pose.orientation.w = 1.0; + line.pose.orientation.x = 0.0; + line.pose.orientation.y = 0.0; + line.pose.orientation.z = 0.0; + return line; +} + +visualization_msgs::MarkerArray to3dRosMarker(const CgalPolygonWithHoles2d& polygonWithHoles, + const Eigen::Isometry3d& transformPlaneToWorld, const std_msgs::Header& header, + const std_msgs::ColorRGBA& color, int id, double lineWidth) { + visualization_msgs::MarkerArray polygons; + + polygons.markers.reserve(polygonWithHoles.number_of_holes() + 1); + polygons.markers.emplace_back(to3dRosMarker(polygonWithHoles.outer_boundary(), transformPlaneToWorld, header, color, id, lineWidth)); + ++id; + + for (const auto& hole : polygonWithHoles.holes()) { + polygons.markers.emplace_back(to3dRosMarker(hole, transformPlaneToWorld, header, color, id, lineWidth)); + ++id; + } + return polygons; +} +} // namespace + +visualization_msgs::MarkerArray convertBoundariesToRosMarkers(const std::vector& planarRegions, const std::string& frameId, + grid_map::Time time, double lineWidth) { std_msgs::Header header; header.stamp.fromNSec(time); header.frame_id = frameId; - polygon_buffer.header = header; - polygon_buffer.polygons.reserve(planarRegions.size()); // lower bound - polygon_buffer.labels.reserve(planarRegions.size()); - uint32_t label = 0; + visualization_msgs::Marker deleteMarker; + deleteMarker.action = visualization_msgs::Marker::DELETEALL; + + visualization_msgs::MarkerArray polygon_buffer; + polygon_buffer.markers.reserve(planarRegions.size() + 1); // lower bound + polygon_buffer.markers.push_back(deleteMarker); + int colorIdx = 0; for (const auto& planarRegion : planarRegions) { - auto boundaries = to3dRosPolygon(planarRegion.boundaryWithInset.boundary, planarRegion.transformPlaneToWorld, header); - std::move(boundaries.begin(), boundaries.end(), std::back_inserter(polygon_buffer.polygons)); - for (size_t i = 0; i < boundaries.size(); ++i) { - polygon_buffer.labels.push_back(label); - } - ++label; + const auto color = getColor(colorIdx++); + int label = polygon_buffer.markers.size(); + auto boundaries = + to3dRosMarker(planarRegion.boundaryWithInset.boundary, planarRegion.transformPlaneToWorld, header, color, label, lineWidth); + std::move(boundaries.markers.begin(), boundaries.markers.end(), std::back_inserter(polygon_buffer.markers)); } return polygon_buffer; } -jsk_recognition_msgs::PolygonArray convertInsetsToRosPolygons(const std::vector& planarRegions, const std::string& frameId, - grid_map::Time time) { - jsk_recognition_msgs::PolygonArray polygon_buffer; +visualization_msgs::MarkerArray convertInsetsToRosMarkers(const std::vector& planarRegions, const std::string& frameId, + grid_map::Time time, double lineWidth) { std_msgs::Header header; header.stamp.fromNSec(time); header.frame_id = frameId; - polygon_buffer.header = header; - polygon_buffer.polygons.reserve(planarRegions.size()); // lower bound - polygon_buffer.labels.reserve(planarRegions.size()); - uint32_t label = 0; + visualization_msgs::Marker deleteMarker; + deleteMarker.action = visualization_msgs::Marker::DELETEALL; + + visualization_msgs::MarkerArray polygon_buffer; + polygon_buffer.markers.reserve(planarRegions.size() + 1); // lower bound + polygon_buffer.markers.push_back(deleteMarker); + int colorIdx = 0; for (const auto& planarRegion : planarRegions) { + const auto color = getColor(colorIdx++); for (const auto& inset : planarRegion.boundaryWithInset.insets) { - auto insets = to3dRosPolygon(inset, planarRegion.transformPlaneToWorld, header); - std::move(insets.begin(), insets.end(), std::back_inserter(polygon_buffer.polygons)); - for (size_t i = 0; i < insets.size(); ++i) { - polygon_buffer.labels.push_back(label); - } + int label = polygon_buffer.markers.size(); + auto insets = to3dRosMarker(inset, planarRegion.transformPlaneToWorld, header, color, label, lineWidth); + std::move(insets.markers.begin(), insets.markers.end(), std::back_inserter(polygon_buffer.markers)); } - ++label; } return polygon_buffer; } diff --git a/plane_segmentation/pcl_visualization_catkin/CMakeLists.txt b/plane_segmentation/pcl_visualization_catkin/CMakeLists.txt deleted file mode 100644 index 623099f6..00000000 --- a/plane_segmentation/pcl_visualization_catkin/CMakeLists.txt +++ /dev/null @@ -1,23 +0,0 @@ -cmake_minimum_required(VERSION 3.10) -project(pcl_visualization_catkin) - -include(GNUInstallDirs) - -find_package(catkin REQUIRED) - -file(MAKE_DIRECTORY ${CATKIN_DEVEL_PREFIX}/lib) -file(COPY ${CMAKE_CURRENT_SOURCE_DIR}/lib/libpcl_visualization.so DESTINATION ${CATKIN_DEVEL_PREFIX}/lib) -file(COPY ${CMAKE_CURRENT_SOURCE_DIR}/lib/libpcl_visualization.so.1.10 DESTINATION ${CATKIN_DEVEL_PREFIX}/lib) -file(COPY ${CMAKE_CURRENT_SOURCE_DIR}/lib/libpcl_visualization.so.1.10.0 DESTINATION ${CATKIN_DEVEL_PREFIX}/lib) - -file(MAKE_DIRECTORY ${CATKIN_DEVEL_PREFIX}/lib/pkgconfig) -file(COPY ${CMAKE_CURRENT_SOURCE_DIR}/lib/pkgconfig/pcl_visualization-1.10.pc DESTINATION ${CATKIN_DEVEL_PREFIX}/lib/pkgconfig) - -catkin_package( - INCLUDE_DIRS -) - -install(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/lib - DESTINATION ${CMAKE_INSTALL_LIBDIR} -) - diff --git a/plane_segmentation/pcl_visualization_catkin/README.md b/plane_segmentation/pcl_visualization_catkin/README.md deleted file mode 100644 index 9730de36..00000000 --- a/plane_segmentation/pcl_visualization_catkin/README.md +++ /dev/null @@ -1,3 +0,0 @@ -# pcl_visualization_catkin -Catkin wrapper of the visualization part of Point Cloud Library (PCL). -Just copies the shared library into the catkin workspace. \ No newline at end of file diff --git a/plane_segmentation/pcl_visualization_catkin/lib/libpcl_visualization.so b/plane_segmentation/pcl_visualization_catkin/lib/libpcl_visualization.so deleted file mode 100644 index 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library pcl_visualization -prefix=/usr -exec_prefix=${prefix} -libdir=${prefix}/lib/x86_64-linux-gnu -#includedir=${prefix}/include/pcl-1.10/pcl -includedir=${prefix}/include/pcl-1.10 -Name: pcl_visualization -Description: Point cloud visualization library -Version: 1.10.0 -Requires: libopenni libopenni2 pcl_common-1.10 pcl_io-1.10 pcl_kdtree-1.10 pcl_geometry-1.10 pcl_search-1.10 pcl_octree-1.10 -Libs: -L${libdir} -lpcl_visualization -Cflags: -I${includedir} - diff --git a/plane_segmentation/pcl_visualization_catkin/package.xml b/plane_segmentation/pcl_visualization_catkin/package.xml deleted file mode 100644 index ebdcc8c3..00000000 --- a/plane_segmentation/pcl_visualization_catkin/package.xml +++ /dev/null @@ -1,13 +0,0 @@ - - - pcl_visualization_catkin - 1.10.0 - Catkin wrapper for PCL visualization. - Ruben Grandia - - See package - - catkin - libvtk7-dev - - From 68a519b9386d1b3d25bbce945bd425224af3251d Mon Sep 17 00:00:00 2001 From: Alexander Reimann Date: Tue, 12 Jul 2022 18:12:50 +0200 Subject: [PATCH 232/504] Add fix for ModuleNotFoundError in README --- README.md | 15 +++++++++++++++ 1 file changed, 15 insertions(+) diff --git a/README.md b/README.md index 0f1c94c5..7f3f9628 100644 --- a/README.md +++ b/README.md @@ -222,6 +222,21 @@ For the plane segmentation node roslaunch convex_plane_decomposition_ros convex_plane_decomposition.launch ``` +#### Errors +If you build with the install flag under ros melodic, you might get issues with the modules not found: + +```bash +terminate called after throwing an instance of 'pybind11::error_already_set' + what(): ModuleNotFoundError: No module named 'elevation_mapping_cupy' +``` +This is because python3 modules are installed into a different location. + +This can be fixed by including also the python3 modules location in the `PYTHONPATH` by adding following line into the launch file: + +```xml + +``` + ### Run TurtleBot example First, install turtlebot simulation. From 4b9c3718b089b77477e8dfcb5b7158dde746ef05 Mon Sep 17 00:00:00 2001 From: Takahiro Miki Date: Sat, 23 Jul 2022 16:09:31 +0200 Subject: [PATCH 233/504] Update README.md --- README.md | 14 ++++++++++++-- 1 file changed, 12 insertions(+), 2 deletions(-) diff --git a/README.md b/README.md index 7f3f9628..589badb9 100644 --- a/README.md +++ b/README.md @@ -362,20 +362,30 @@ class NameOfYourPlugin(PluginBase): Then, add your plugin setting to `config/plugin_config.yaml` ```yaml -example: # Use the same name as your file name. +example: # Name of your filter + type: "example" # Specify the name of your plugin (the name of your file name). enable: True # weather to load this plugin fill_nan: True # Fill nans to invalid cells of elevation layer. is_height_layer: True # If this is a height layer (such as elevation) or not (such as traversability) layer_name: "example_layer" # The layer name. extra_params: # This params are passed to the plugin class on initialization. add_value: 2.0 # Example param + +example_large: # You can apply same filter with different name. + type: "example" # Specify the name of your plugin (the name of your file name). + enable: True # weather to load this plugin + fill_nan: True # Fill nans to invalid cells of elevation layer. + is_height_layer: True # If this is a height layer (such as elevation) or not (such as traversability) + layer_name: "example_layer_large" # The layer name. + extra_params: # This params are passed to the plugin class on initialization. + add_value: 100.0 # Example param with larger value. ``` Finally, add your layer name to publishers in `config/parameters.yaml`. You can create a new topic or add to existing topics. ```yaml plugin_example: # Topic name - layers: [ 'elevation', 'example_layer' ] + layers: [ 'elevation', 'example_layer', 'example_layer_large' ] basic_layers: [ 'example_layer' ] fps: 1.0 # The plugin is called with this fps. ``` From c91e01ebf97f9fb1d8dc82518080c5d49402478f Mon Sep 17 00:00:00 2001 From: Takahiro Miki Date: Sat, 23 Jul 2022 16:09:56 +0200 Subject: [PATCH 234/504] Update README.md --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index 589badb9..a4a72310 100644 --- a/README.md +++ b/README.md @@ -376,7 +376,7 @@ example_large: # You can apply same filter with d enable: True # weather to load this plugin fill_nan: True # Fill nans to invalid cells of elevation layer. is_height_layer: True # If this is a height layer (such as elevation) or not (such as traversability) - layer_name: "example_layer_large" # The layer name. + layer_name: "example_layer_large" # The layer name. extra_params: # This params are passed to the plugin class on initialization. add_value: 100.0 # Example param with larger value. ``` From 42fb80ccd7f398257557cd3c33a45d721c4acc0b Mon Sep 17 00:00:00 2001 From: rgrandia Date: Thu, 28 Jul 2022 17:46:51 +0200 Subject: [PATCH 235/504] merge 3 loops around edges into 1 --- .../ConvexRegionGrowing.h | 4 - .../src/ConvexRegionGrowing.cpp | 115 +++++++++++++----- 2 files changed, 82 insertions(+), 37 deletions(-) diff --git a/plane_segmentation/convex_plane_decomposition/include/convex_plane_decomposition/ConvexRegionGrowing.h b/plane_segmentation/convex_plane_decomposition/include/convex_plane_decomposition/ConvexRegionGrowing.h index 498ce95b..a760ecd7 100644 --- a/plane_segmentation/convex_plane_decomposition/include/convex_plane_decomposition/ConvexRegionGrowing.h +++ b/plane_segmentation/convex_plane_decomposition/include/convex_plane_decomposition/ConvexRegionGrowing.h @@ -15,10 +15,6 @@ CgalPolygon2d growConvexPolygonInsideShape(const CgalPolygon2d& parentShape, Cga CgalPolygon2d growConvexPolygonInsideShape(const CgalPolygonWithHoles2d& parentShape, CgalPoint2d center, int numberOfVertices, double growthFactor); -template -bool pointCanBeMoved(const CgalPolygon2d& growthShape, int i, const CgalPoint2d& candidatePoint, CgalCircle2d& freeSphere, - const T& parentShape); - void updateMean(CgalPoint2d& mean, const CgalPoint2d& oldValue, const CgalPoint2d& updatedValue, int N); } // namespace convex_plane_decomposition diff --git a/plane_segmentation/convex_plane_decomposition/src/ConvexRegionGrowing.cpp b/plane_segmentation/convex_plane_decomposition/src/ConvexRegionGrowing.cpp index c94282f0..052a0c97 100644 --- a/plane_segmentation/convex_plane_decomposition/src/ConvexRegionGrowing.cpp +++ b/plane_segmentation/convex_plane_decomposition/src/ConvexRegionGrowing.cpp @@ -8,20 +8,7 @@ namespace convex_plane_decomposition { -CgalPolygon2d createRegularPolygon(const CgalPoint2d& center, double radius, int numberOfVertices) { - assert(numberOfVertices > 2); - CgalPolygon2d polygon; - polygon.container().reserve(numberOfVertices); - double angle = (2. * M_PI) / numberOfVertices; - for (int i = 0; i < numberOfVertices; ++i) { - double phi = i * angle; - double px = radius * std::cos(phi) + center.x(); - double py = radius * std::sin(phi) + center.y(); - // Counter clockwise - polygon.push_back({px, py}); - } - return polygon; -} +namespace { int getCounterClockWiseNeighbour(int i, int lastVertex) { return (i > 0) ? i - 1 : lastVertex; @@ -31,12 +18,6 @@ int getClockWiseNeighbour(int i, int lastVertex) { return (i < lastVertex) ? i + 1 : 0; } -void updateMean(CgalPoint2d& mean, const CgalPoint2d& oldValue, const CgalPoint2d& updatedValue, int N) { - // old_mean = 1/N * ( others + old_value); -> others = N*old_mean - old_value - // new_mean = 1/N * ( others + new_value); -> new_mean = old_mean - 1/N * oldValue + 1/N * updatedValue - mean += 1.0 / N * (updatedValue - oldValue); -} - std::array getNeighbours(const CgalPolygon2d& polygon, int i) { assert(i < polygon.size()); assert(polygon.size() > 1); @@ -75,6 +56,55 @@ bool pointAndNeighboursAreWithinFreeSphere(const std::array& nei return isInside(neighbours[0], circle) && isInside(point, circle) && isInside(neighbours[1], circle); } +/** + * Returns {true, 0.0} if either one of the point -> neighbour segments intersects the parent shape + * Returns {false, minSquareDistance} if none of the segments intersects. minSquareDistance is the minimum square distance between the + * point and the parent shape + */ +template +std::pair doEdgesIntersectAndSquareDistance(const std::array& neighbours, const CgalPoint2d& point, + const T& parentShape); + +template <> +std::pair doEdgesIntersectAndSquareDistance(const std::array& neighbours, const CgalPoint2d& point, + const CgalPolygon2d& parentShape) { + CgalSegment2d segment0{neighbours[0], point}; + CgalSegment2d segment1{neighbours[1], point}; + + double minDistSquared = std::numeric_limits::max(); + for (auto edgeIt = parentShape.edges_begin(); edgeIt != parentShape.edges_end(); ++edgeIt) { + const auto edge = *edgeIt; + if (CGAL::do_intersect(segment0, edge) || CGAL::do_intersect(segment1, edge)) { + return {true, 0.0}; + } else { + minDistSquared = std::min(minDistSquared, CGAL::squared_distance(point, edge)); + } + } + + return {false, minDistSquared}; +} + +template <> +std::pair doEdgesIntersectAndSquareDistance(const std::array& neighbours, const CgalPoint2d& point, + const CgalPolygonWithHoles2d& parentShape) { + const auto intersectAndDistance = doEdgesIntersectAndSquareDistance(neighbours, point, parentShape.outer_boundary()); + if (intersectAndDistance.first) { + return {true, 0.0}; + } + + double minDistSquared = intersectAndDistance.second; + for (const auto& hole : parentShape.holes()) { + const auto holeIntersectAndDistance = doEdgesIntersectAndSquareDistance(neighbours, point, hole); + if (holeIntersectAndDistance.first) { + return {true, 0.0}; + } else { + minDistSquared = std::min(minDistSquared, holeIntersectAndDistance.second); + } + } + + return {false, minDistSquared}; +} + template bool pointCanBeMoved(const CgalPolygon2d& growthShape, int i, const CgalPoint2d& candidatePoint, CgalCircle2d& freeSphere, const T& parentShape) { @@ -83,17 +113,15 @@ bool pointCanBeMoved(const CgalPolygon2d& growthShape, int i, const CgalPoint2d& if (pointAndNeighboursAreWithinFreeSphere(neighbours, candidatePoint, freeSphere)) { return true; } else { - // Update free sphere around new point - freeSphere = CgalCircle2d(candidatePoint, squaredDistance(candidatePoint, parentShape)); - CgalSegment2d segment0{neighbours[0], candidatePoint}; - CgalSegment2d segment1{neighbours[1], candidatePoint}; - - bool segment0IsFree = isInside(neighbours[0], freeSphere) || !doEdgesIntersect(segment0, parentShape); - if (segment0IsFree) { - bool segment1IsFree = isInside(neighbours[1], freeSphere) || !doEdgesIntersect(segment1, parentShape); - return segment1IsFree; - } else { + // Look for intersections and minimum distances simultaneously + const auto intersectAndDistance = doEdgesIntersectAndSquareDistance(neighbours, candidatePoint, parentShape); + + if (intersectAndDistance.first) { return false; + } else { + // Update free sphere around new point + freeSphere = CgalCircle2d(candidatePoint, intersectAndDistance.second); + return true; } } } else { @@ -101,7 +129,6 @@ bool pointCanBeMoved(const CgalPolygon2d& growthShape, int i, const CgalPoint2d& } } -namespace { inline std::ostream& operator<<(std::ostream& os, const CgalPolygon2d& p) { os << "CgalPolygon2d: \n"; for (auto it = p.vertices_begin(); it != p.vertices_end(); ++it) { @@ -119,7 +146,6 @@ inline std::ostream& operator<<(std::ostream& os, const CgalPolygonWithHoles2d& } return os; } -} // namespace template CgalPolygon2d growConvexPolygonInsideShape_impl(const T& parentShape, CgalPoint2d center, int numberOfVertices, double growthFactor) { @@ -164,10 +190,26 @@ CgalPolygon2d growConvexPolygonInsideShape_impl(const T& parentShape, CgalPoint2 std::cerr << "Center: " << centerCopy.x() << ", " << centerCopy.y() << "\n"; std::cerr << parentShape << "\n"; } - return growthShape; } +} // namespace + +CgalPolygon2d createRegularPolygon(const CgalPoint2d& center, double radius, int numberOfVertices) { + assert(numberOfVertices > 2); + CgalPolygon2d polygon; + polygon.container().reserve(numberOfVertices); + double angle = (2. * M_PI) / numberOfVertices; + for (int i = 0; i < numberOfVertices; ++i) { + double phi = i * angle; + double px = radius * std::cos(phi) + center.x(); + double py = radius * std::sin(phi) + center.y(); + // Counter clockwise + polygon.push_back({px, py}); + } + return polygon; +} + CgalPolygon2d growConvexPolygonInsideShape(const CgalPolygon2d& parentShape, CgalPoint2d center, int numberOfVertices, double growthFactor) { return growConvexPolygonInsideShape_impl(parentShape, center, numberOfVertices, growthFactor); @@ -177,4 +219,11 @@ CgalPolygon2d growConvexPolygonInsideShape(const CgalPolygonWithHoles2d& parentS double growthFactor) { return growConvexPolygonInsideShape_impl(parentShape, center, numberOfVertices, growthFactor); } + +void updateMean(CgalPoint2d& mean, const CgalPoint2d& oldValue, const CgalPoint2d& updatedValue, int N) { + // old_mean = 1/N * ( others + old_value); -> others = N*old_mean - old_value + // new_mean = 1/N * ( others + new_value); -> new_mean = old_mean - 1/N * oldValue + 1/N * updatedValue + mean += 1.0 / N * (updatedValue - oldValue); +} + } // namespace convex_plane_decomposition From 4d8a346fe77ee1271dea5f3bf25bd867097aeb8f Mon Sep 17 00:00:00 2001 From: Simone Arreghini <45604569+arsimone@users.noreply.github.com> Date: Tue, 6 Sep 2022 17:22:05 +0200 Subject: [PATCH 236/504] Removed typo include Removed include of grid_map_msgs from in PlaneDecompositionPipeline.h, likely a typo --- .../convex_plane_decomposition/PlaneDecompositionPipeline.h | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/plane_segmentation/convex_plane_decomposition/include/convex_plane_decomposition/PlaneDecompositionPipeline.h b/plane_segmentation/convex_plane_decomposition/include/convex_plane_decomposition/PlaneDecompositionPipeline.h index 459e8f44..78fc52e0 100644 --- a/plane_segmentation/convex_plane_decomposition/include/convex_plane_decomposition/PlaneDecompositionPipeline.h +++ b/plane_segmentation/convex_plane_decomposition/include/convex_plane_decomposition/PlaneDecompositionPipeline.h @@ -4,8 +4,6 @@ #pragma once -#include - #include "convex_plane_decomposition/GridMapPreprocessing.h" #include "convex_plane_decomposition/PlanarRegion.h" #include "convex_plane_decomposition/Postprocessing.h" @@ -76,4 +74,4 @@ class PlaneDecompositionPipeline { Timer postprocessTimer_; }; -} // namespace convex_plane_decomposition \ No newline at end of file +} // namespace convex_plane_decomposition From 16a2a41e046ee6830a1bc17cd8350c55d3014db3 Mon Sep 17 00:00:00 2001 From: Gian Erni Date: Tue, 18 Oct 2022 19:53:35 +0200 Subject: [PATCH 237/504] implemented cpp part for universal semantic mapping. I did not format the code yet as it would be hard to recognize the canges --- .gitignore | 1 + elevation_mapping_cupy/config/parameters.yaml | 16 +- .../config/sensor_parameter.yaml | 9 + .../elevation_mapping_ros.hpp | 1 + .../elevation_mapping_wrapper.hpp | 10 +- .../semantic_elevation_lonomy_single.launch | 23 + .../rviz/lonomy_single.rviz | 475 ++++++++++++++++++ .../elevation_mapping.py | 15 +- .../elevation_mapping_cupy/parameter.py | 6 +- .../plugins/plugin_manager.py | 4 +- .../src/elevation_mapping_ros.cpp | 64 ++- .../src/elevation_mapping_wrapper.cpp | 32 +- 12 files changed, 597 insertions(+), 59 deletions(-) create mode 100644 elevation_mapping_cupy/config/sensor_parameter.yaml create mode 100644 elevation_mapping_cupy/launch/semantic_elevation_lonomy_single.launch create mode 100644 elevation_mapping_cupy/rviz/lonomy_single.rviz diff --git a/.gitignore b/.gitignore index 732c5512..0f73a391 100644 --- a/.gitignore +++ b/.gitignore @@ -1,3 +1,4 @@ *.pyc *.bkp *.orig +.idea \ No newline at end of file diff --git a/elevation_mapping_cupy/config/parameters.yaml b/elevation_mapping_cupy/config/parameters.yaml index fccd4509..c25e0ec2 100644 --- a/elevation_mapping_cupy/config/parameters.yaml +++ b/elevation_mapping_cupy/config/parameters.yaml @@ -40,9 +40,9 @@ max_unsafe_n: 10 # if the number of cells under s overlap_clear_range_xy: 4.0 # xy range [m] for clearing overlapped area. this defines the valid area for overlap clearance. (used for multi floor setting) overlap_clear_range_z: 2.0 # z range [m] for clearing overlapped area. cells outside this range will be cleared. (used for multi floor setting) -map_frame: 'odom' # The map frame where the odometry source uses. -base_frame: 'base' # The robot's base frame. This frame will be a center of the map. -corrected_map_frame: 'corrected_odom' +map_frame: 'enu' # The map frame where the odometry source uses. +base_frame: 'base_footprint' # The robot's base frame. This frame will be a center of the map. +corrected_map_frame: 'enu' #### Feature toggles ######## enable_edge_sharpen: true @@ -64,13 +64,7 @@ use_only_above_for_upper_bound: false plugin_config_file: '$(rospack find elevation_mapping_cupy)/config/plugin_config.yaml' #### Subscribers ######## -pointcloud_topics: ['/depth_camera_front/depth/color/points', - '/depth_camera_rear/depth/color/points', - '/depth_camera_left/depth/color/points', - '/depth_camera_right/depth/color/points', - '/robot_self_filter/bpearl_front/point_cloud', - '/robot_self_filter/bpearl_rear/point_cloud' - ] + #### Publishers ######## # topic_name: @@ -93,7 +87,7 @@ publishers: #### Initializer ######## initialize_method: 'linear' # Choose one from 'nearest', 'linear', 'cubic' -initialize_frame_id: ['RF_FOOT', 'LF_FOOT', 'RH_FOOT', 'LH_FOOT'] # One tf (like ['footprint'] ) initializes a square around it. +initialize_frame_id: ['base_footprint'] # One tf (like ['footprint'] ) initializes a square around it. initialize_tf_offset: [0.0, 0.0, 0.0, 0.0] # z direction. Should be same number as initialize_frame_id. dilation_size_initialize: 5 # dilation size after the init. initialize_tf_grid_size: 0.4 # This is not used if number of tf is more than 3. diff --git a/elevation_mapping_cupy/config/sensor_parameter.yaml b/elevation_mapping_cupy/config/sensor_parameter.yaml new file mode 100644 index 00000000..b39e5743 --- /dev/null +++ b/elevation_mapping_cupy/config/sensor_parameter.yaml @@ -0,0 +1,9 @@ +subscribers: +# sensor_name: +# channels: ['feat_0','feat_1'] +# fusion: ['average','average'] +# topic_name: '/elevation_mapping/pointcloud_semantic' + front_cam: + channels: ['feat_0','feat_1'] + fusion: ['average','average'] + topic_name: '/elvation_mapping/pointcloud_semantic' diff --git a/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp b/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp index 7a374437..faa82719 100644 --- a/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp +++ b/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp @@ -48,6 +48,7 @@ namespace elevation_mapping_cupy { class ElevationMappingNode { public: ElevationMappingNode(ros::NodeHandle& nh); + using RowMatrixXd = Eigen::Matrix; private: void readParameters(); diff --git a/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_wrapper.hpp b/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_wrapper.hpp index 97bec2a5..e03e705c 100644 --- a/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_wrapper.hpp +++ b/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_wrapper.hpp @@ -13,6 +13,7 @@ // Pybind #include // everything needed for embedding +#include // ROS #include @@ -42,11 +43,11 @@ class ElevationMappingWrapper { ElevationMappingWrapper(); - void initialize(ros::NodeHandle& nh); + void initialize(ros::NodeHandle& nh, std::vector additional_layers, std::vector fusion_algorithms); - void input(const pcl::PointCloud::Ptr& pointCloud, const RowMatrixXd& R, const Eigen::VectorXd& t, + void input(const RowMatrixXd& points, const std::vector& channels, const RowMatrixXd& R, const Eigen::VectorXd& t, const double positionNoise, const double orientationNoise); - void move_to(const Eigen::VectorXd& p); + void move_to(const Eigen::VectorXd& p, const RowMatrixXd& R); void clear(); void update_variance(); void update_time(); @@ -57,11 +58,10 @@ class ElevationMappingWrapper { std::vector& untraversable_polygon); double get_additive_mean_error(); void initializeWithPoints(std::vector& points, std::string method); - void pointCloudToMatrix(const pcl::PointCloud::Ptr& pointCloud, RowMatrixXd& points); void addNormalColorLayer(grid_map::GridMap& map); private: - void setParameters(ros::NodeHandle& nh); + void setParameters(ros::NodeHandle& nh, std::vector additional_layers, std::vector fusion_algorithms); py::object map_; py::object param_; double resolution_; diff --git a/elevation_mapping_cupy/launch/semantic_elevation_lonomy_single.launch b/elevation_mapping_cupy/launch/semantic_elevation_lonomy_single.launch new file mode 100644 index 00000000..77b4918f --- /dev/null +++ b/elevation_mapping_cupy/launch/semantic_elevation_lonomy_single.launch @@ -0,0 +1,23 @@ + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/elevation_mapping_cupy/rviz/lonomy_single.rviz b/elevation_mapping_cupy/rviz/lonomy_single.rviz new file mode 100644 index 00000000..8f890eb7 --- /dev/null +++ b/elevation_mapping_cupy/rviz/lonomy_single.rviz @@ -0,0 +1,475 @@ +Panels: + - Class: rviz/Displays + Help Height: 138 + Name: Displays + Property Tree Widget: + Expanded: + - /ElevationMapFilter1 + - /Image1 + Splitter Ratio: 0.5768463015556335 + Tree Height: 410 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Name: Time + SyncMode: 0 + SyncSource: Image +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Class: grid_map_rviz_plugin/GridMap + Color: 200; 200; 200 + Color Layer: smooth + Color Transformer: IntensityLayer + Enabled: true + Height Layer: min_filter + Height Transformer: GridMapLayer + History Length: 1 + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 10 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: ElevationMapFilter + Show Grid Lines: true + Topic: /elevation_mapping/elevation_map_filter + Unreliable: false + Use Rainbow: false + Value: true + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + GPS_back: + Alpha: 1 + Show Axes: false + Show Trail: false + GPS_front: + Alpha: 1 + Show Axes: false + Show Trail: false + Link Tree Style: Links in Alphabetic Order + alphasense: + Alpha: 1 + Show Axes: false + Show Trail: false + base_footprint: + Alpha: 1 + Show Axes: false + Show Trail: false + base_inertial: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + estimator_imu: + Alpha: 1 + Show Axes: false + Show Trail: false + left_back_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + left_back_wheel_sup: + Alpha: 1 + Show Axes: false + Show Trail: false + left_front_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + left_front_wheel_sup: + Alpha: 1 + Show Axes: false + Show Trail: false + rear_axle_center: + Alpha: 1 + Show Axes: false + Show Trail: false + right_back_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + right_back_wheel_sup: + Alpha: 1 + Show Axes: false + Show Trail: false + right_front_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + right_front_wheel_sup: + Alpha: 1 + Show Axes: false + Show Trail: false + zed2i_baro_link: + Alpha: 1 + Show Axes: false + Show Trail: false + zed2i_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + zed2i_camera_center: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + zed2i_left_camera_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + zed2i_left_camera_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + zed2i_mag_link: + Alpha: 1 + Show Axes: false + Show Trail: false + zed2i_right_camera_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + zed2i_right_camera_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + zed2i_temp_left_link: + Alpha: 1 + Show Axes: false + Show Trail: false + zed2i_temp_right_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Name: RobotModel + Robot Description: robot_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: RGB8 + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Min Color: 0; 0; 0 + Name: PointCloud2 + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Flat Squares + Topic: /elvation_mapping/pointcloud_semantic_left + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: false + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: RGB8 + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Min Color: 0; 0; 0 + Name: PointCloud2 + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Flat Squares + Topic: /elvation_mapping/pointcloud_semantic_right + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: false + - Class: rviz/TF + Enabled: true + Frame Timeout: 15 + Frames: + All Enabled: true + GPS_back: + Value: true + GPS_front: + Value: true + alphasense: + Value: true + base_footprint: + Value: true + base_inertial: + Value: true + base_link: + Value: true + enu: + Value: true + estimator_imu: + Value: true + left_back_wheel: + Value: true + left_back_wheel_sup: + Value: true + left_front_wheel: + Value: true + left_front_wheel_sup: + Value: true + rear_axle_center: + Value: true + right_back_wheel: + Value: true + right_back_wheel_sup: + Value: true + right_front_wheel: + Value: true + right_front_wheel_sup: + Value: true + zed2i_baro_link: + Value: true + zed2i_base_link: + Value: true + zed2i_camera_center: + Value: true + zed2i_left_camera_frame: + Value: true + zed2i_left_camera_optical_frame: + Value: true + zed2i_mag_link: + Value: true + zed2i_right_camera_frame: + Value: true + zed2i_right_camera_optical_frame: + Value: true + zed2i_temp_left_link: + Value: true + zed2i_temp_right_link: + Value: true + Marker Alpha: 1 + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + enu: + base_link: + base_footprint: + {} + base_inertial: + {} + estimator_imu: + GPS_back: + {} + GPS_front: + {} + alphasense: + {} + left_back_wheel_sup: + left_back_wheel: + {} + left_front_wheel_sup: + left_front_wheel: + {} + rear_axle_center: + {} + right_back_wheel_sup: + right_back_wheel: + {} + right_front_wheel_sup: + right_front_wheel: + {} + zed2i_base_link: + zed2i_camera_center: + zed2i_baro_link: + {} + zed2i_left_camera_frame: + zed2i_left_camera_optical_frame: + {} + zed2i_temp_left_link: + {} + zed2i_mag_link: + {} + zed2i_right_camera_frame: + zed2i_right_camera_optical_frame: + {} + zed2i_temp_right_link: + {} + Update Interval: 0 + Value: true + - Class: rviz/Image + Enabled: true + Image Topic: /zed2i/zed_node/left/image_rect_color + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: true + - Class: rviz/Image + Enabled: false + Image Topic: /zed2i_right/zed_right_node/left_raw/image_raw_color + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: false + - Class: rviz/Marker + Enabled: true + Marker Topic: /visualization_marker_l + Name: Marker + Namespaces: + {} + Queue Size: 100 + Value: true + - Class: rviz/Marker + Enabled: true + Marker Topic: /visualization_marker_r + Name: Marker + Namespaces: + {} + Queue Size: 100 + Value: true + Enabled: true + Global Options: + Background Color: 255; 255; 255 + Default Light: true + Fixed Frame: enu + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Theta std deviation: 0.2617993950843811 + Topic: /initialpose + X std deviation: 0.5 + Y std deviation: 0.5 + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 8.01580810546875 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Field of View: 0.7853981852531433 + Focal Point: + X: 0.7929360866546631 + Y: 0.3796532452106476 + Z: -0.4990573823451996 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.34979793429374695 + Target Frame: base_footprint + Yaw: 5.212028980255127 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1016 + Hide Left Dock: false + Hide Right Dock: true + Image: + collapsed: false + QMainWindow State: 000000ff00000000fd0000000400000000000001f50000039efc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000261000000c900fffffffb0000000a0049006d00610067006501000002a4000001370000001600fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000015f0000053bfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000000560000053b000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073800000131fc0100000003fb0000000a0049006d0061006700650000000394000003a40000005e00fffffffb0000000800540069006d00650000000000000007380000041800fffffffb0000000800540069006d006501000000000000045000000000000000000000053d0000039e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: true + Width: 1848 + X: 1992 + Y: 27 diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py index c300b0ca..4a50e069 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py @@ -16,7 +16,7 @@ from .custom_kernels import normal_filter_kernel from .custom_kernels import polygon_mask_kernel from .map_initializer import MapInitializer -from .plugins.plugin_manager import PluginManger +from .plugins.plugin_manager import PluginManager from .traversability_polygon import ( get_masked_traversability, @@ -48,7 +48,7 @@ def __init__(self, param: Parameter): self.cell_n = int(round(self.map_length / self.resolution)) + 2 self.map_lock = threading.Lock() - + self.additional_layers = dict(zip(self.param.additional_layers, self.param.fusion_algorithms)) # layers: elevation, variance, is_valid, traversability, time, upper_bound, is_upper_bound self.elevation_map = xp.zeros((7, self.cell_n, self.cell_n)) self.layer_names = [ @@ -90,7 +90,7 @@ def __init__(self, param: Parameter): self.untraversable_polygon = xp.zeros((1, 2)) # Plugins - self.plugin_manager = PluginManger(cell_n=self.cell_n) + self.plugin_manager = PluginManager(cell_n=self.cell_n) plugin_config_file = subprocess.getoutput('echo "' + param.plugin_config_file + '"') self.plugin_manager.load_plugin_settings(plugin_config_file) @@ -117,8 +117,9 @@ def move(self, delta_position): self.shift_map_xy(delta_pixel) self.shift_map_z(-delta_position[2]) - def move_to(self, position): + def move_to(self, position, R): # Shift map to the center of robot. + self.base_rotation = xp.asarray(R) position = xp.asarray(position) delta = position - self.center delta_pixel = xp.around(delta[:2] / self.resolution) @@ -311,11 +312,11 @@ def update_upper_bound_with_valid_elevation(self): self.elevation_map[5] = cp.where(mask, self.elevation_map[0], self.elevation_map[5]) self.elevation_map[6] = cp.where(mask, 0.0, self.elevation_map[6]) - def input(self, raw_points, R, t, position_noise, orientation_noise): + def input(self, raw_points,channels, R, t, position_noise, orientation_noise): # Update elevation map using point cloud input. raw_points = cp.asarray(raw_points) raw_points = raw_points[~cp.isnan(raw_points).any(axis=1)] - self.update_map_with_kernel(raw_points, cp.asarray(R), cp.asarray(t), position_noise, orientation_noise) + self.update_map_with_kernel(raw_points[:,:3], cp.asarray(R), cp.asarray(t), position_noise, orientation_noise) def update_normal(self, dilated_map): with self.map_lock: @@ -424,7 +425,7 @@ def get_map_with_name_ref(self, name, data): xp = self.xp_of_array(m) m = self.process_map_for_publish(m, fill_nan=p.fill_nan, add_z=p.is_height_layer, xp=xp) else: - # print("Layer {} is not in the map".format(name)) + print("Layer {} is not in the map".format(name)) return m = xp.flip(m, 0) m = xp.flip(m, 1) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py index 0e79622a..a00c3ddf 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py @@ -5,12 +5,14 @@ from dataclasses import dataclass import pickle import numpy as np -import os +from simple_parsing.helpers import Serializable @dataclass -class Parameter: +class Parameter(Serializable): resolution: float = 0.02 + additional_layers: list = ['feat_0'].copy + fusion_algorithms: list = ['average'].copy map_length: float = 10.0 sensor_noise_factor: float = 0.05 diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/plugin_manager.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/plugin_manager.py index 3bbf3fed..719d45c9 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/plugin_manager.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/plugin_manager.py @@ -54,7 +54,7 @@ def __call__( pass -class PluginManger(object): +class PluginManager(object): """ This manages the plugins. """ @@ -147,7 +147,7 @@ def get_param_with_name(self, name: str) -> PluginParams: PluginParams(name="smooth_filter", layer_name="smooth"), ] extra_params = [{"dilation_size": 5, "iteration_n": 5}, {"input_layer_name": "elevation2"}] - manager = PluginManger(200) + manager = PluginManager(200) manager.load_plugin_settings("config/plugin_config.yaml") print(manager.layer_names) print(manager.plugin_names) diff --git a/elevation_mapping_cupy/src/elevation_mapping_ros.cpp b/elevation_mapping_cupy/src/elevation_mapping_ros.cpp index 79941e8f..236c04ea 100644 --- a/elevation_mapping_cupy/src/elevation_mapping_ros.cpp +++ b/elevation_mapping_cupy/src/elevation_mapping_ros.cpp @@ -30,15 +30,15 @@ ElevationMappingNode::ElevationMappingNode(ros::NodeHandle& nh) enablePointCloudPublishing_(false), isGridmapUpdated_(false) { nh_ = nh; - map_.initialize(nh_); + std::string pose_topic, map_frame; XmlRpc::XmlRpcValue publishers; - std::vector pointcloud_topics; + XmlRpc::XmlRpcValue subscribers; std::vector map_topics; double recordableFps, updateVarianceFps, timeInterval, updatePoseFps, updateGridMapFps, publishStatisticsFps; bool enablePointCloudPublishing(false); - nh.param>("pointcloud_topics", pointcloud_topics, {"points"}); + nh.getParam("subscribers", subscribers); nh.getParam("publishers", publishers); nh.param>("initialize_frame_id", initialize_frame_id_, {"base"}); nh.param>("initialize_tf_offset", initialize_tf_offset_, {0.0}); @@ -63,11 +63,29 @@ ElevationMappingNode::ElevationMappingNode(ros::NodeHandle& nh) enablePointCloudPublishing_ = enablePointCloudPublishing; - for (const auto& pointcloud_topic : pointcloud_topics) { + std::vector additional_layers; + std::vector fusion_algorithms; + for (auto & subscriber : subscribers) { + auto channels = subscriber.second["channels"]; + auto fusion = subscriber.second["fusion"]; + for (int32_t i = 0; i < channels.size(); ++i) { + auto name = static_cast(channels[i]); + if (!std::count(additional_layers.begin(), additional_layers.end(), name)){ + additional_layers.push_back(name); + fusion_algorithms.push_back(static_cast(fusion[i])); + } + } + + std::string pointcloud_topic = subscriber.second["topic_name"]; ros::Subscriber sub = nh_.subscribe(pointcloud_topic, 1, &ElevationMappingNode::pointcloudCallback, this); pointcloudSubs_.push_back(sub); } + for (int i = 0; i < additional_layers.size(); ++i){ + ROS_INFO_STREAM("Additional layers " << additional_layers.at(i)<<" fusion algorithm "<::Ptr pointCloud(new pcl::PointCloud); - pcl::fromPCLPointCloud2(pcl_pc, *pointCloud); +// transform pointcloud into matrix + auto* pcl_pc = new pcl::PCLPointCloud2; + pcl::PCLPointCloud2ConstPtr cloudPtr(pcl_pc); + pcl_conversions::toPCL(cloud, *pcl_pc); + + uint array_dim = pcl_pc->point_step/4;// we assume that they are all float32 or at least 32bits + RowMatrixXd points = RowMatrixXd(pcl_pc->width,array_dim); + + for (unsigned int i = 0; i < pcl_pc->width; ++i) { + for(unsigned int j = 0; jpoint_step + pcl_pc->fields[j].offset; + memcpy(&temp, &pcl_pc->data[point_idx], sizeof(float)); + points(i, j) = static_cast(temp); + } + } +// get channels + auto fields = cloud.fields; + std::vector channels; + for(auto & field: fields){ + channels.push_back(field.name); +// TODO: check that datatype is always 7? + } +// get pose of sensor in map frame tf::StampedTransform transformTf; std::string sensorFrameId = cloud.header.frame_id; auto timeStamp = cloud.header.stamp; @@ -242,14 +279,13 @@ void ElevationMappingNode::pointcloudCallback(const sensor_msgs::PointCloud2& cl positionError = positionError_; orientationError = orientationError_; } - - map_.input(pointCloud, transformationSensorToMap.rotation(), transformationSensorToMap.translation(), positionError, orientationError); + map_.input(points, channels, transformationSensorToMap.rotation(), transformationSensorToMap.translation(), positionError, orientationError); if (enableDriftCorrectedTFPublishing_) { publishMapToOdom(map_.get_additive_mean_error()); } - ROS_DEBUG_THROTTLE(1.0, "ElevationMap processed a point cloud (%i points) in %f sec.", static_cast(pointCloud->size()), + ROS_DEBUG_THROTTLE(1.0, "ElevationMap processed a point cloud (%i points) in %f sec.", static_cast(points.size()), (ros::Time::now() - start).toSec()); ROS_DEBUG_THROTTLE(1.0, "positionError: %f ", positionError); ROS_DEBUG_THROTTLE(1.0, "orientationError: %f ", orientationError); @@ -260,9 +296,11 @@ void ElevationMappingNode::pointcloudCallback(const sensor_msgs::PointCloud2& cl void ElevationMappingNode::updatePose(const ros::TimerEvent&) { tf::StampedTransform transformTf; const auto& timeStamp = ros::Time::now(); + Eigen::Affine3d transformationBaseToMap; try { transformListener_.waitForTransform(mapFrameId_, baseFrameId_, timeStamp, ros::Duration(1.0)); transformListener_.lookupTransform(mapFrameId_, baseFrameId_, timeStamp, transformTf); + poseTFToEigen(transformTf, transformationBaseToMap); } catch (tf::TransformException& ex) { ROS_ERROR("%s", ex.what()); return; @@ -270,7 +308,7 @@ void ElevationMappingNode::updatePose(const ros::TimerEvent&) { // This is to check if the robot is moving. If the robot is not moving, drift compensation is disabled to avoid creating artifacts. Eigen::Vector3d position(transformTf.getOrigin().x(), transformTf.getOrigin().y(), transformTf.getOrigin().z()); - map_.move_to(position); + map_.move_to(position,transformationBaseToMap.rotation().transpose()); Eigen::Vector3d position3(transformTf.getOrigin().x(), transformTf.getOrigin().y(), transformTf.getOrigin().z()); Eigen::Vector4d orientation(transformTf.getRotation().x(), transformTf.getRotation().y(), transformTf.getRotation().z(), transformTf.getRotation().w()); diff --git a/elevation_mapping_cupy/src/elevation_mapping_wrapper.cpp b/elevation_mapping_cupy/src/elevation_mapping_wrapper.cpp index d9662833..3da1d4d2 100644 --- a/elevation_mapping_cupy/src/elevation_mapping_wrapper.cpp +++ b/elevation_mapping_cupy/src/elevation_mapping_wrapper.cpp @@ -14,11 +14,13 @@ // ROS #include +#include + namespace elevation_mapping_cupy { ElevationMappingWrapper::ElevationMappingWrapper() {} -void ElevationMappingWrapper::initialize(ros::NodeHandle& nh) { +void ElevationMappingWrapper::initialize(ros::NodeHandle& nh, std::vector additional_layers, std::vector fusion_algorithms) { // Add the elevation_mapping_cupy path to sys.path auto threading = py::module::import("threading"); py::gil_scoped_acquire acquire; @@ -32,7 +34,7 @@ void ElevationMappingWrapper::initialize(ros::NodeHandle& nh) { auto elevation_mapping = py::module::import("elevation_mapping_cupy.elevation_mapping"); auto parameter = py::module::import("elevation_mapping_cupy.parameter"); param_ = parameter.attr("Parameter")(); - setParameters(nh); + setParameters(nh, std::move(additional_layers),std::move(fusion_algorithms)); map_ = elevation_mapping.attr("ElevationMap")(param_); } @@ -40,7 +42,7 @@ void ElevationMappingWrapper::initialize(ros::NodeHandle& nh) { * Load ros parameters into Parameter class. * Search for the same name within the name space. */ -void ElevationMappingWrapper::setParameters(ros::NodeHandle& nh) { +void ElevationMappingWrapper::setParameters(ros::NodeHandle& nh, std::vector additional_layers, std::vector fusion_algorithms) { // Get all parameters names and types. py::list paramNames = param_.attr("get_names")(); py::list paramTypes = param_.attr("get_types")(); @@ -74,6 +76,9 @@ void ElevationMappingWrapper::setParameters(ros::NodeHandle& nh) { } } + param_.attr("set_value")("additional_layers",additional_layers); + param_.attr("set_value")("fusion_algorithms",fusion_algorithms); + resolution_ = py::cast(param_.attr("get_value")("resolution")); map_length_ = py::cast(param_.attr("get_value")("map_length")); map_n_ = static_cast(round(map_length_ / resolution_)); @@ -83,18 +88,16 @@ void ElevationMappingWrapper::setParameters(ros::NodeHandle& nh) { nh.param("enable_normal_color", enable_normal_color_, false); } -void ElevationMappingWrapper::input(const pcl::PointCloud::Ptr& pointCloud, const RowMatrixXd& R, const Eigen::VectorXd& t, +void ElevationMappingWrapper::input(const RowMatrixXd& points, const std::vector& channels, const RowMatrixXd& R, const Eigen::VectorXd& t, const double positionNoise, const double orientationNoise) { py::gil_scoped_acquire acquire; - RowMatrixXd points; - pointCloudToMatrix(pointCloud, points); - map_.attr("input")(Eigen::Ref(points), Eigen::Ref(R), Eigen::Ref(t), + map_.attr("input")(Eigen::Ref(points),channels, Eigen::Ref(R), Eigen::Ref(t), positionNoise, orientationNoise); } -void ElevationMappingWrapper::move_to(const Eigen::VectorXd& p) { +void ElevationMappingWrapper::move_to(const Eigen::VectorXd& p, const RowMatrixXd& R) { py::gil_scoped_acquire acquire; - map_.attr("move_to")(Eigen::Ref(p)); + map_.attr("move_to")(Eigen::Ref(p), Eigen::Ref(R)); } void ElevationMappingWrapper::clear() { @@ -176,7 +179,7 @@ void ElevationMappingWrapper::get_polygon_traversability(std::vector 0) { RowMatrixXf untraversable_polygon_m(untraversable_polygon_num, 2); map_.attr("get_untraversable_polygon")(Eigen::Ref(untraversable_polygon_m)); - for (int j = 0; j < untraversable_polygon_num; i++) { + for (int j = 0; j < untraversable_polygon_num; j++) { Eigen::Vector2d p; p.x() = untraversable_polygon_m(j, 0); p.y() = untraversable_polygon_m(j, 1); @@ -198,15 +201,6 @@ void ElevationMappingWrapper::initializeWithPoints(std::vector& map_.attr("initialize_map")(Eigen::Ref(points_m), method); } -void ElevationMappingWrapper::pointCloudToMatrix(const pcl::PointCloud::Ptr& pointCloud, RowMatrixXd& points) { - points = RowMatrixXd(pointCloud->size(), 3); - for (unsigned int i = 0; i < pointCloud->size(); ++i) { - const auto& point = pointCloud->points[i]; - points(i, 0) = static_cast(point.x); - points(i, 1) = static_cast(point.y); - points(i, 2) = static_cast(point.z); - } -} void ElevationMappingWrapper::addNormalColorLayer(grid_map::GridMap& map) { const auto& normalX = map["normal_x"]; From f5730200a77115e674da3f8e9db2eaf3fa4f3850 Mon Sep 17 00:00:00 2001 From: Gian Erni Date: Wed, 26 Oct 2022 14:03:00 +0200 Subject: [PATCH 238/504] working elevation map in the new workframe with a new kernels, the old workflow embedded in the elevation map is still inside but commented and I started to document the functions and I integrated the first tests --- elevation_mapping_cupy/config/parameters.yaml | 2 +- .../config/sensor_parameter.yaml | 5 +- .../rviz/lonomy_single.rviz | 27 +- .../elevation_mapping_cupy/custom_kernels.py | 266 +++++++++++++++++- .../elevation_mapping.py | 217 +++++++++++++- .../elevation_mapping_cupy/parameter.py | 1 + .../elevation_mapping_cupy/semantic_map.py | 172 +++++++++++ .../elevation_mapping_cupy/tests/__init__.py | 0 .../tests/test_elevation_mapping.py | 85 ++++++ .../tests/test_semantic_map.py | 45 +++ 10 files changed, 787 insertions(+), 33 deletions(-) create mode 100644 elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py create mode 100644 elevation_mapping_cupy/script/elevation_mapping_cupy/tests/__init__.py create mode 100644 elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_elevation_mapping.py create mode 100644 elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_semantic_map.py diff --git a/elevation_mapping_cupy/config/parameters.yaml b/elevation_mapping_cupy/config/parameters.yaml index c25e0ec2..24e29141 100644 --- a/elevation_mapping_cupy/config/parameters.yaml +++ b/elevation_mapping_cupy/config/parameters.yaml @@ -81,7 +81,7 @@ publishers: basic_layers: ['elevation', 'traversability'] fps: 2.0 elevation_map_filter: - layers: ['min_filter', 'smooth', 'inpaint', 'upper_bound'] + layers: ['min_filter', 'smooth', 'inpaint', 'upper_bound','rgb'] basic_layers: ['min_filter'] fps: 3.0 diff --git a/elevation_mapping_cupy/config/sensor_parameter.yaml b/elevation_mapping_cupy/config/sensor_parameter.yaml index b39e5743..c982e052 100644 --- a/elevation_mapping_cupy/config/sensor_parameter.yaml +++ b/elevation_mapping_cupy/config/sensor_parameter.yaml @@ -4,6 +4,7 @@ subscribers: # fusion: ['average','average'] # topic_name: '/elevation_mapping/pointcloud_semantic' front_cam: - channels: ['feat_0','feat_1'] - fusion: ['average','average'] + channels: ['rgb','feat_0','feat_1'] + fusion: ['color','average','average'] topic_name: '/elvation_mapping/pointcloud_semantic' + diff --git a/elevation_mapping_cupy/rviz/lonomy_single.rviz b/elevation_mapping_cupy/rviz/lonomy_single.rviz index 8f890eb7..da12d689 100644 --- a/elevation_mapping_cupy/rviz/lonomy_single.rviz +++ b/elevation_mapping_cupy/rviz/lonomy_single.rviz @@ -4,10 +4,9 @@ Panels: Name: Displays Property Tree Widget: Expanded: - - /ElevationMapFilter1 - /Image1 Splitter Ratio: 0.5768463015556335 - Tree Height: 410 + Tree Height: 428 - Class: rviz/Selection Name: Selection - Class: rviz/Tool Properties @@ -55,10 +54,10 @@ Visualization Manager: Autocompute Intensity Bounds: true Class: grid_map_rviz_plugin/GridMap Color: 200; 200; 200 - Color Layer: smooth - Color Transformer: IntensityLayer + Color Layer: rgb + Color Transformer: ColorLayer Enabled: true - Height Layer: min_filter + Height Layer: smooth Height Transformer: GridMapLayer History Length: 1 Invert Rainbow: false @@ -221,7 +220,7 @@ Visualization Manager: Size (Pixels): 3 Size (m): 0.009999999776482582 Style: Flat Squares - Topic: /elvation_mapping/pointcloud_semantic_left + Topic: /elvation_mapping/pointcloud_semantic Unreliable: false Use Fixed Frame: true Use rainbow: true @@ -433,7 +432,7 @@ Visualization Manager: Views: Current: Class: rviz/Orbit - Distance: 8.01580810546875 + Distance: 7.847433090209961 Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 @@ -449,19 +448,19 @@ Visualization Manager: Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Pitch: 0.34979793429374695 + Pitch: 0.12979847192764282 Target Frame: base_footprint - Yaw: 5.212028980255127 + Yaw: 0.9738447666168213 Saved: ~ Window Geometry: Displays: collapsed: false - Height: 1016 + Height: 1043 Hide Left Dock: false Hide Right Dock: true Image: collapsed: false - QMainWindow State: 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Selection: collapsed: false Time: @@ -470,6 +469,6 @@ Window Geometry: collapsed: false Views: collapsed: true - Width: 1848 - X: 1992 - Y: 27 + Width: 1920 + X: 0 + Y: 0 diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/custom_kernels.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/custom_kernels.py index 382e4174..57e592ef 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/custom_kernels.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/custom_kernels.py @@ -143,8 +143,8 @@ def add_points_kernel( ): add_points_kernel = cp.ElementwiseKernel( - in_params="raw U p, raw U center_x, raw U center_y, raw U R, raw U t, raw U norm_map", - out_params="raw U map, raw T newmap", + in_params="raw U center_x, raw U center_y, raw U R, raw U t, raw U norm_map", + out_params="raw U p, raw U map, raw T newmap", preamble=map_utils( resolution, width, @@ -165,8 +165,8 @@ def add_points_kernel( U y = transform_p(rx, ry, rz, R[3], R[4], R[5], t[1]); U z = transform_p(rx, ry, rz, R[6], R[7], R[8], t[2]); U v = z_noise(rz); + int idx = get_idx(x, y, center_x[0], center_y[0]); if (is_valid(x, y, z, t[0], t[1], t[2])) { - int idx = get_idx(x, y, center_x[0], center_y[0]); if (is_inside(idx)) { U map_h = map[get_map_idx(idx, 0)]; U map_v = map[get_map_idx(idx, 1)]; @@ -258,6 +258,9 @@ def add_points_kernel( } } } + p[i * 3]= idx; + p[i * 3 + 1] = is_valid(x, y, z, t[0], t[1], t[2]); + p[i * 3 + 2] = is_inside(idx); """ ).substitute( mahalanobis_thresh=mahalanobis_thresh, @@ -653,6 +656,263 @@ def polygon_mask_kernel(width, height, resolution): return polygon_mask_kernel +def sum_kernel( + resolution, + width, + height, + + ): + # input the list of layers, amount of channels can slo be input through kernel + sum_kernel = cp.ElementwiseKernel( + in_params="raw U p, raw U center_x, raw U center_y, raw U R, raw U t, raw W pcl_chan, raw W map_lay, raw W pcl_channels", + out_params="raw U map, raw T newmap", + preamble=string.Template( + """ + __device__ int get_map_idx(int idx, int layer_n) { + const int layer = ${width} * ${height}; + return layer * layer_n + idx; + } + """ + ).substitute(resolution=resolution,width=width, height=height), + operation=string.Template( + """ + U idx = p[i * pcl_channels[0]]; + U valid = p[i * pcl_channels[0] + 1]; + U inside = p[i * pcl_channels[0] + 2]; + //U x = transform_p(rx, ry, rz, R[0], R[1], R[2], t[0]); + //U y = transform_p(rx, ry, rz, R[3], R[4], R[5], t[1]); + //U z = transform_p(rx, ry, rz, R[6], R[7], R[8], t[2]); + // U v = z_noise(rz); + //if (valid) { + // int idx = get_idx(x, y, center_x[0], center_y[0]); + U map_h = map[get_map_idx(idx, 0)]; + if (inside) { + for ( int it=0;it 0) { + //U sem_cnt = newmap[get_map_idx(i, 7)]; + //for ( int it=0;it<${amount_features};it++){ + // U orig_f=map[get_map_idx(i, 7+${rgb}+it)]; + // U new_f=newmap[get_map_idx(i, 7+${rgb}+it)]; + // if (orig_f==0){ + // map[get_map_idx(i, 7+${rgb}+it)]=new_f/sem_cnt; + // } + // else{ + // map[get_map_idx(i, 7+${rgb}+it)]=orig_f*0.5+new_f/sem_cnt*0.5; + // } + //} + // int stored_it = 0; + // U highest_probability = 0; + // for ( int it=0;it<${amount_class_prob};it++){ + // U orig_p=map[get_map_idx(i, 7+${rgb}+${amount_features}+it)]; + // U new_p=newmap[get_map_idx(i, 7+${rgb}+${amount_features}+it)]; + // U probability =0; + // if (orig_p==0){ + // probability = new_p/sem_cnt; + // map[get_map_idx(i, 7+${rgb}+${amount_features}+it)]=probability; + // } + // else{ + // probability = orig_p*0.5+new_p/sem_cnt*0.5; + // map[get_map_idx(i, 7+${rgb}+${amount_features}+it)]=probability; + // } + // if(probability>= highest_probability){ + // stored_it = it; + // highest_probability = probability; + // } + // } + // if (${sem_class}){ + // // check max classs prob + // map[get_map_idx(i, 7+${rgb}+${amount_features}+${amount_class_prob})] = stored_it; + // } + } + + """ + ).substitute( + max_variance=max_variance, + initial_variance=initial_variance, + pcl_channels=pcl_channels, + amount_features=amount_features, + amount_class_prob=amount_class_prob, + sem_class=int(sem_class), + rgb=int(rgb), + ), + name="average_map_kernel", + ) + return average_kernel + + +def add_color_kernel( + width, + height, +): + add_color_kernel = cp.ElementwiseKernel( + in_params="raw T p, raw U center_x, raw U center_y, raw U R, raw U t, raw W pcl_chan, raw W map_lay, raw W pcl_channels", + out_params="raw U map, raw V color_map", + preamble=string.Template( + """ + __device__ int get_map_idx(int idx, int layer_n) { + const int layer = ${width} * ${height}; + return layer * layer_n + idx; + } + __device__ unsigned int get_color(unsigned int color){ + unsigned int red = 0xFF0000; + unsigned int green = 0xFF00; + unsigned int blue = 0xFF; + unsigned int reds = (color & red) >> 16; + unsigned int greens = (color & green) >> 8; + unsigned int blues = ( color & blue); + unsigned int rgbValue = (reds<<16 ) + (greens << 8) + blues; + // TODO: at the moment it seems to be working, but if we want + //to average over all points we need to use the color layer + //color_out[get_map_idx(idx, 1)] = color; + //[get_map_idx(idx, 2)] = color; + return rgbValue; + } + __device__ unsigned int get_r(unsigned int color){ + unsigned int red = 0xFF0000; + unsigned int reds = (color & red) >> 16; + return reds; + } + __device__ unsigned int get_g(unsigned int color){ + unsigned int green = 0xFF00; + unsigned int greens = (color & green) >> 8; + return greens; + } + __device__ unsigned int get_b(unsigned int color){ + unsigned int blue = 0xFF; + unsigned int blues = ( color & blue); + return blues; + } + """ + ).substitute(width=width, height=height), + operation=string.Template( + """ + U idx = p[i * pcl_channels[0]]; + U valid = p[i * pcl_channels[0] + 1]; + U inside = p[i * pcl_channels[0] + 2]; + if (true){ + for ( int it=0;it> 16; + return reds; + } + __device__ unsigned int get_g(unsigned int color){ + unsigned int green = 0xFF00; + unsigned int greens = (color & green) >> 8; + return greens; + } + __device__ unsigned int get_b(unsigned int color){ + unsigned int blue = 0xFF; + unsigned int blues = ( color & blue); + return blues; + } + """ + ).substitute(width=width, height=height), + operation=string.Template( + """ + unsigned int cnt = color_map[get_map_idx(i, pcl_channels[1]*3)]; + if (cnt>0){ + for ( int it=0;it=0){ + // unsigned int prev_r = get_r(prev_color); + // unsigned int prev_g = get_g(prev_color); + // unsigned int prev_b = get_b(prev_color); + // unsigned int r = prev_r/2 + color_map[get_map_idx(i, it*3)]/(2*cnt); + // unsigned int g = prev_g/2 + color_map[get_map_idx(i, it*3+1)]/(2*cnt); + // unsigned int b = prev_b/2 + color_map[get_map_idx(i, it*3+2)]/(2*cnt); + //} + //unsigned int rgb = (r<<16) + (g << 8) + b; + // map[get_map_idx(i, map_lay[it])] = __uint_as_float(rgb); + } + } + """ + ).substitute( + ), + name="color_average_kernel", + ) + return color_average_kernel + if __name__ == "__main__": for i in range(10): import random diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py index 4a50e069..d03d3995 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py @@ -3,13 +3,16 @@ # Licensed under the MIT license. See LICENSE file in the project root for details. # import os +from typing import List, Any, Tuple, Union + import numpy as np import threading import subprocess from .traversability_filter import get_filter_chainer, get_filter_torch from .parameter import Parameter -from .custom_kernels import add_points_kernel +from .custom_kernels import add_points_kernel, add_color_kernel, color_average_kernel +from .custom_kernels import sum_kernel from .custom_kernels import error_counting_kernel from .custom_kernels import average_map_kernel from .custom_kernels import dilation_filter_kernel @@ -17,6 +20,7 @@ from .custom_kernels import polygon_mask_kernel from .map_initializer import MapInitializer from .plugins.plugin_manager import PluginManager +from .semantic_map import SemanticMap from .traversability_polygon import ( get_masked_traversability, @@ -33,22 +37,31 @@ cp.cuda.set_allocator(pool.malloc) -class ElevationMap(object): +class ElevationMap: """ Core elevation mapping class. """ def __init__(self, param: Parameter): + """ + + Args: + param (elevation_mapping_cupy.parameter.Parameter): + """ self.param = param self.resolution = param.resolution self.center = xp.array([0, 0, 0], dtype=float) self.map_length = param.map_length # +2 is a border for outside map + # TODO self.cell_n = int(round(self.map_length / self.resolution)) + 2 + self.param.cell_n = self.cell_n self.map_lock = threading.Lock() self.additional_layers = dict(zip(self.param.additional_layers, self.param.fusion_algorithms)) + # self.amount_additional_layers = len(self.param.additional_layers) + self.semantic_map = SemanticMap(self.param, self.additional_layers) # layers: elevation, variance, is_valid, traversability, time, upper_bound, is_upper_bound self.elevation_map = xp.zeros((7, self.cell_n, self.cell_n)) self.layer_names = [ @@ -60,6 +73,13 @@ def __init__(self, param: Parameter): "upper_bound", "is_upper_bound", ] + # self.layer_names.extend(list(self.additional_layers.keys())) + + # self.unique_fusion = [] + # for x in list(self.additional_layers.values()): + # if x not in self.unique_fusion: + # self.unique_fusion.append(x) + # print("Fusion algorithms running: ",self.unique_fusion) # buffers self.traversability_buffer = xp.full((self.cell_n, self.cell_n), xp.nan) self.normal_map = xp.zeros((3, self.cell_n, self.cell_n)) @@ -79,6 +99,8 @@ def __init__(self, param: Parameter): self.additive_mean_error = 0.0 self.compile_kernels() + # self.compile_additional_kernels() + self.semantic_map.compile_kernels() weight_file = subprocess.getoutput('echo "' + param.weight_file + '"') param.load_weights(weight_file) @@ -95,12 +117,79 @@ def __init__(self, param: Parameter): self.plugin_manager.load_plugin_settings(plugin_config_file) self.map_initializer = MapInitializer(self.initial_variance, param.initialized_variance, xp=cp, method="points") + # self.color_map = None + # + # def compile_additional_kernels(self) -> None: + # """ + # Returns: + # None: + # + # """ + # if ("average" in self.unique_fusion): + # print("Initialize fusion kernel") + # self.sum_kernel = sum_kernel( + # self.resolution, + # self.cell_n, + # self.cell_n, + # self.param.sensor_noise_factor, + # self.param.min_valid_distance, + # self.param.max_height_range, + # self.param.ramped_height_range_a, + # self.param.ramped_height_range_b, + # self.param.ramped_height_range_c, + # + # ) + # + # if ("color" in self.unique_fusion): + # print("Initialize color kernel") + # self.add_color_kernel = add_color_kernel( + # self.cell_n, + # self.cell_n, + # ) + # self.color_average_kernel = color_average_kernel(self.cell_n,self.cell_n) + + # def get_fusion_of_pcl(self, channels: List[str]) -> List[str]: + # """Get all fusion algorithms that need to be applied to a specific pointcloud + # + # Args: + # channels (List[str]): + # """ + # fusion_list = [] + # for channel in channels: + # x = self.additional_layers[channel] + # if x not in fusion_list: + # fusion_list.append(x) + # return fusion_list + # + # def get_indices_fusion(self, pcl_channels: List[str], fusion_alg: str): + # """Computes the indices that are used for the additional kernel update of the pcl and the elmap. + # + # Args: + # pcl_channels (List[str]): + # fusion_alg (str): + # + # Returns: + # Union[Tuple[List[int], List[int]], Tuple[cupy._core.core.ndarray, cupy._core.core.ndarray]]: + # + # + # """ + # # this contains exactly the fusion alg type for each channel of the pcl + # pcl_val_list = [self.additional_layers[x] for x in pcl_channels] + # # this contains the indeces of the pointcloud where we have to perform a certain fusion + # pcl_indices = cp.array([idp+3 for idp, x in enumerate(pcl_val_list) if x == fusion_alg],dtype=np.int32) + # # create a list of indeces of the layers that will be updated by the pointcloud with specific fusion alg + # layer_indices = cp.array([], dtype=np.int32) + # for it, (key, val) in enumerate(self.additional_layers.items()): + # if key in pcl_channels and val == fusion_alg: + # layer_indices = cp.append(layer_indices,7+it ).astype(np.int32) + # return pcl_indices, layer_indices def clear(self): with self.map_lock: self.elevation_map *= 0.0 # Initial variance self.elevation_map[1] += self.initial_variance + self.semantic_map.map *= 0.0 self.mean_error = 0.0 self.additive_mean_error = 0.0 @@ -130,6 +219,14 @@ def move_to(self, position, R): self.shift_map_z(-delta[2]) def pad_value(self, x, shift_value, idx=None, value=0.0): + """Create a padding of the map along x,y axis according to amount that has shifted. + + Args: + x (cupy._core.core.ndarray): + shift_value (cupy._core.core.ndarray): + idx (Union[None, int, None, None]): + value (float): + """ if idx is None: if shift_value[0] > 0: x[:, : shift_value[0], :] = value @@ -158,6 +255,9 @@ def shift_map_xy(self, delta_pixel): self.pad_value(self.elevation_map, shift_value, value=0.0) self.pad_value(self.elevation_map, shift_value, idx=1, value=self.initial_variance) + self.semantic_map.map = cp.roll(self.semantic_map.map, shift_value, axis=(1, 2)) + self.pad_value(self.semantic_map.map, shift_value, value=0.0) + def shift_map_z(self, delta_z): with self.map_lock: # elevation @@ -167,7 +267,7 @@ def shift_map_z(self, delta_z): def compile_kernels(self): # Compile custom cuda kernels. - self.new_map = cp.zeros((7, self.cell_n, self.cell_n)) + self.new_map = cp.zeros((self.elevation_map.shape[0], self.cell_n, self.cell_n)) self.traversability_input = cp.zeros((self.cell_n, self.cell_n)) self.traversability_mask_dummy = cp.zeros((self.cell_n, self.cell_n)) self.min_filtered = cp.zeros((self.cell_n, self.cell_n)) @@ -220,10 +320,12 @@ def compile_kernels(self): def shift_translation_to_map_center(self, t): t -= self.center - def update_map_with_kernel(self, points, R, t, position_noise, orientation_noise): + def update_map_with_kernel(self, points_all, channels, R, t, position_noise, orientation_noise): self.new_map *= 0.0 error = cp.array([0.0], dtype=cp.float32) error_cnt = cp.array([0], dtype=cp.float32) + points = points_all[:,:3] + # additional_fusion = self.get_fusion_of_pcl(channels) with self.map_lock: self.shift_translation_to_map_center(t) self.error_counting_kernel( @@ -251,21 +353,23 @@ def update_map_with_kernel(self, points, R, t, position_noise, orientation_noise if np.abs(self.mean_error) < self.param.max_drift: self.elevation_map[0] += self.mean_error * self.param.drift_compensation_alpha self.add_points_kernel( - points, cp.array([0.0]), cp.array([0.0]), R, t, self.normal_map, + points, self.elevation_map, self.new_map, size=(points.shape[0]), ) self.average_map_kernel(self.new_map, self.elevation_map, size=(self.cell_n * self.cell_n)) + # self.update_additional_layers(additional_fusion, points_all, channels, R, t) + self.semantic_map.update_layers(points_all, channels, R, t) + if self.param.enable_overlap_clearance: self.clear_overlap_map(t) - # dilation before traversability_filter self.traversability_input *= 0.0 self.dilation_filter_kernel( @@ -284,6 +388,50 @@ def update_map_with_kernel(self, points, R, t, position_noise, orientation_noise # calculate normal vectors self.update_normal(self.traversability_input) + # def update_additional_layers(self, additional_fusion, points_all,channels,R,t): + # if "average" in additional_fusion: + # pcl_ids, layer_ids = self.get_indices_fusion(channels, "average") + # self.sum_kernel( + # points_all, + # cp.array([0.0]), + # cp.array([0.0]), + # R, + # t, + # self.normal_map, + # pcl_ids, + # layer_ids, + # cp.array([points_all.shape[1],pcl_ids.shape[0]],dtype=np.int32), + # self.elevation_map, + # self.new_map, + # size=(points_all.shape[0]), + # ) + # if "color" in additional_fusion: + # pcl_ids, layer_ids = self.get_indices_fusion(channels, "color") + # if self.color_map is None: + # self.color_map = cp.zeros((1+3*layer_ids.shape[0], self.cell_n, self.cell_n), dtype=np.uint32) + # points_all = cp.asarray(cp.float32(points_all.get())) + # self.add_color_kernel( + # points_all, + # cp.array([0.0]), + # cp.array([0.0]), + # R, + # t, + # self.normal_map, + # pcl_ids, + # layer_ids, + # cp.array([points_all.shape[1],pcl_ids.shape[0]],dtype=np.int32), + # self.elevation_map, + # self.color_map, + # size=(points_all.shape[0]), + # ) + # self.color_average_kernel(self.color_map, + # pcl_ids, + # layer_ids, + # cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=np.int32), + # self.elevation_map, + # size=(self.cell_n * self.cell_n), + # ) + def clear_overlap_map(self, t): # Clear overlapping area around center height_min = t[2] - self.param.overlap_clear_range_z @@ -312,11 +460,28 @@ def update_upper_bound_with_valid_elevation(self): self.elevation_map[5] = cp.where(mask, self.elevation_map[0], self.elevation_map[5]) self.elevation_map[6] = cp.where(mask, 0.0, self.elevation_map[6]) - def input(self, raw_points,channels, R, t, position_noise, orientation_noise): + def input(self, raw_points: cp._core.core.ndarray, channels: List[str], R: cp._core.core.ndarray, + t: cp._core.core.ndarray, + position_noise: int, + orientation_noise: int) -> None: + """Input the pointcloud and fuse the new measurements to update the elevation map. + + Args: + raw_points (cupy._core.core.ndarray): + channels (List[str]): + R (cupy._core.core.ndarray): + t (cupy._core.core.ndarray): + position_noise (int): + orientation_noise (int): + + Returns: + None: + """ # Update elevation map using point cloud input. raw_points = cp.asarray(raw_points) + additional_channels = channels[3:] raw_points = raw_points[~cp.isnan(raw_points).any(axis=1)] - self.update_map_with_kernel(raw_points[:,:3], cp.asarray(R), cp.asarray(t), position_noise, orientation_noise) + self.update_map_with_kernel(raw_points, additional_channels, cp.asarray(R), cp.asarray(t), position_noise, orientation_noise) def update_normal(self, dilated_map): with self.map_lock: @@ -390,11 +555,24 @@ def copy_to_cpu(self, array, data, stream=None): def exists_layer(self, name): if name in self.layer_names: return True + elif name in self.additional_layers: + return True elif name in self.plugin_manager.layer_names: return True else: return False + # def get_rgb(self): + # c = self.process_map_for_publish(self.elevation_map[7], fill_nan=False, add_z=False) + # c = xp.uint32(c.get()) + # c.dtype = np.float32 + # return c + # + # def get_semantic(self,name): + # idx = self.layer_names.index(name) + # c = self.process_map_for_publish(self.elevation_map[idx], fill_nan=False, add_z=False) + # return c + def get_map_with_name_ref(self, name, data): use_stream = True xp = cp @@ -418,6 +596,14 @@ def get_map_with_name_ref(self, name, data): m = self.normal_map.copy()[1, 1:-1, 1:-1] elif name == "normal_z": m = self.normal_map.copy()[2, 1:-1, 1:-1] + # elif name in self.additional_layers.keys(): + # if self.additional_layers[name] == "color": + # m = self.get_rgb() + # else: + # m = self.get_semantic() + + elif name in self.additional_layers.keys(): + m = self.semantic_map.get_map_with_name(name) elif name in self.plugin_manager.layer_names: self.plugin_manager.update_with_name(name, self.elevation_map, self.layer_names) m = self.plugin_manager.get_map_with_name(name) @@ -521,21 +707,26 @@ def initialize_map(self, points, method="cubic"): # $ python -m cProfile -o profile.stats elevation_mapping.py # $ snakeviz profile.stats xp.random.seed(123) - points = xp.random.rand(100000, 3) R = xp.random.rand(3, 3) t = xp.random.rand(3) print(R, t) param = Parameter( use_chainer=False, weight_file="../config/weights.dat", plugin_config_file="../config/plugin_config.yaml" ) + param.additional_layers =['feat_0','feat_1', 'rgb'] + param.fusion_algorithms = ['average','average','color'] elevation = ElevationMap(param) - layers = ["elevation", "variance", "traversability", "min_filter", "smooth", "inpaint"] + layers = ["elevation", "variance", "traversability", "min_filter", "smooth", "inpaint","rgb"] + points = xp.random.rand(100000, len(layers)) + + channels = ['x','y','z']+ param.additional_layers + print(channels) data = np.zeros((elevation.cell_n - 2, elevation.cell_n - 2), dtype=np.float32) - for i in range(500): - elevation.input(points, R, t, 0, 0) + for i in range(20): + elevation.input(points,channels, R, t, 0, 0) elevation.update_normal(elevation.elevation_map[0]) pos = np.array([i * 0.01, i * 0.02, i * 0.01]) - elevation.move_to(pos) + elevation.move_to(pos,R) for layer in layers: elevation.get_map_with_name_ref(layer, data) print(i) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py index a00c3ddf..5a07f695 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py @@ -13,6 +13,7 @@ class Parameter(Serializable): resolution: float = 0.02 additional_layers: list = ['feat_0'].copy fusion_algorithms: list = ['average'].copy + cell_n: int = None map_length: float = 10.0 sensor_noise_factor: float = 0.05 diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py new file mode 100644 index 00000000..916cf665 --- /dev/null +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py @@ -0,0 +1,172 @@ +from .parameter import Parameter +import cupy as cp +import numpy as np +from typing import List +from .custom_kernels import sum_kernel, add_color_kernel, color_average_kernel + +xp = cp + + +class SemanticMap: + def __init__(self, param: Parameter, layer_specs: dict): + """ + + Args: + param (elevation_mapping_cupy.parameter.Parameter): + layer_specs (Dict[str, str]): + """ + self.param = param + self.layer_specs = layer_specs + self.amount_additional_layers = len(self.param.additional_layers) + self.map = xp.zeros( + (self.amount_additional_layers, self.param.cell_n, self.param.cell_n) + ) + self.get_unique_fusion() + self.new_map = xp.zeros( + (self.amount_additional_layers, self.param.cell_n, self.param.cell_n) + ) + self.color_map = None + + def get_unique_fusion(self): + self.unique_fusion = [] + for x in list(self.layer_specs.values()): + if x not in self.unique_fusion: + self.unique_fusion.append(x) + print("Fusion algorithms running: ", self.unique_fusion) + + def compile_kernels(self) -> None: + """ + Returns: + None: + + """ + if "average" in self.unique_fusion: + print("Initialize fusion kernel") + self.sum_kernel = sum_kernel( + self.param.resolution, + self.param.cell_n, + self.param.cell_n, + ) + + if "color" in self.unique_fusion: + print("Initialize color kernel") + self.add_color_kernel = add_color_kernel( + self.param.cell_n, + self.param.cell_n, + ) + self.color_average_kernel = color_average_kernel( + self.param.cell_n, self.param.cell_n + ) + + def get_fusion_of_pcl(self, channels: List[str]) -> List[str]: + """Get all fusion algorithms that need to be applied to a specific pointcloud + + Args: + channels (List[str]): + """ + fusion_list = [] + for channel in channels: + x = self.layer_specs[channel] + if x not in fusion_list: + fusion_list.append(x) + return fusion_list + + def get_indices_fusion(self, pcl_channels: List[str], fusion_alg: str): + """Computes the indices that are used for the additional kernel update of the pcl and the elmap. + + Args: + pcl_channels (List[str]): + fusion_alg (str): + + Returns: + Union[Tuple[List[int], List[int]], Tuple[cupy._core.core.ndarray, cupy._core.core.ndarray]]: + + + """ + # this contains exactly the fusion alg type for each channel of the pcl + pcl_val_list = [self.layer_specs[x] for x in pcl_channels] + # this contains the indeces of the pointcloud where we have to perform a certain fusion + pcl_indices = cp.array( + [idp + 3 for idp, x in enumerate(pcl_val_list) if x == fusion_alg], + dtype=np.int32, + ) + # create a list of indeces of the layers that will be updated by the pointcloud with specific fusion alg + layer_indices = cp.array([], dtype=np.int32) + for it, (key, val) in enumerate(self.layer_specs.items()): + if key in pcl_channels and val == fusion_alg: + layer_indices = cp.append(layer_indices, it).astype(np.int32) + return pcl_indices, layer_indices + + def update_layers(self, points_all, channels, R, t): + additional_fusion = self.get_fusion_of_pcl(channels) + + self.new_map *= 0.0 + + if "average" in additional_fusion: + pcl_ids, layer_ids = self.get_indices_fusion(channels, "average") + self.sum_kernel( + points_all, + cp.array([0.0]), + cp.array([0.0]), + R, + t, + pcl_ids, + layer_ids, + cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=np.int32), + self.map, + self.new_map, + size=(points_all.shape[0]), + ) + if "color" in additional_fusion: + pcl_ids, layer_ids = self.get_indices_fusion(channels, "color") + if self.color_map is None: + self.color_map = cp.zeros( + (1 + 3 * layer_ids.shape[0], self.param.cell_n, self.param.cell_n), + dtype=np.uint32, + ) + points_all = cp.asarray(cp.float32(points_all.get())) + self.add_color_kernel( + points_all, + cp.array([0.0]), + cp.array([0.0]), + R, + t, + pcl_ids, + layer_ids, + cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=np.int32), + self.map, + self.color_map, + size=(points_all.shape[0]), + ) + self.color_average_kernel( + self.color_map, + pcl_ids, + layer_ids, + cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=np.int32), + self.map, + size=(self.param.cell_n * self.param.cell_n), + ) + + def get_map_with_name(self, name): + if self.layer_specs[name] == "color": + m = self.get_rgb(name) + return m + else: + m = self.get_semantic(name) + return m + + def get_rgb(self, name): + idx = self.param.additional_layers.index(name) + c = self.process_map_for_publish(self.map[idx]) + c = xp.uint32(c.get()) + c.dtype = np.float32 + return c + + def get_semantic(self, name): + idx = self.param.additional_layers.index(name) + c = self.process_map_for_publish(self.map[idx]) + return c + + def process_map_for_publish(self, input_map): + m = input_map.copy() + return m[1:-1, 1:-1] diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/__init__.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/__init__.py new file mode 100644 index 00000000..e69de29b diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_elevation_mapping.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_elevation_mapping.py new file mode 100644 index 00000000..ee73e103 --- /dev/null +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_elevation_mapping.py @@ -0,0 +1,85 @@ +import pytest +from elevation_mapping_cupy import parameter, elevation_mapping +import cupy as cp +import numpy as np + + +@pytest.fixture() +def elmap_ex(add_lay, fusion_alg): + additional_layer = add_lay + fusion_algorithms = fusion_alg + p = parameter.Parameter( + use_chainer=False, + weight_file="../../../config/weights.dat", + plugin_config_file="../../../config/plugin_config.yaml", + ) + p.additional_layers = additional_layer + p.fusion_algorithms = fusion_algorithms + e = elevation_mapping.ElevationMap(p) + return e + + +@pytest.mark.parametrize( + "add_lay,fusion_alg", + [ + (["feat_0", "feat_1", "rgb"], ["average", "average", "color"]), + (["feat_0", "feat_1"], ["average", "average"]), + ], +) +class TestElevationMap: + def test_elmap_init(self, elmap_ex): + assert len(elmap_ex.layer_names) == elmap_ex.elevation_map.shape[0] + assert elmap_ex.color_map is None + + def test_elmap_input(self, elmap_ex): + channels = ["x", "y", "z"] + elmap_ex.param.additional_layers + points = cp.random.rand(100000, len(channels)) + R = cp.random.rand(3, 3) + t = cp.random.rand(3) + elmap_ex.input(points, channels, R, t, 0, 0) + + def test_elmap_update_normal(self, elmap_ex): + elmap_ex.update_normal(elmap_ex.elevation_map[0]) + + def test_elmap_move_to(self, elmap_ex): + for i in range(20): + pos = np.array([i * 0.01, i * 0.02, i * 0.01]) + R = cp.random.rand(3, 3) + elmap_ex.move_to(pos, R) + + def test_get_map(self, elmap_ex): + layers = [ + "elevation", + "variance", + "traversability", + "min_filter", + "smooth", + "inpaint", + "rgb", + ] + data = np.zeros((elmap_ex.cell_n - 2, elmap_ex.cell_n - 2), dtype=cp.float32) + for layer in layers: + elmap_ex.get_map_with_name_ref(layer, data) + +# @pytest.mark.parametrize( +# "add_lay, fusion_alg,channels", +# [(["feat_0", "feat_1"], ["average", "average"],["feat_0"]), +# (["feat_0", "feat_1"], ["average", "average"],[]), +# (["feat_0", "feat_1", "rgb"], ["average", "average", "color"],["rgb", "feat_0"]), +# ], +# ) +# def test_fusion_of_pcl(elmap_ex, channels): +# fusion = elmap_ex.get_fusion_of_pcl(channels=channels) +# assert len(fusion) <= len(channels) +# assert len(fusion)>0 or len(channels)==0 +# assert all(isinstance(item, str) for item in fusion) +# +# +# @pytest.mark.parametrize( +# "add_lay, fusion_alg", +# [(["feat_0", "feat_1", "rgb"], ["average", "average", "color"]), +# ], +# ) +# @pytest.mark.parametrize("channels", [["rgb"], ["rgb", "feat_0"], []]) +# def test_indices_fusion(elmap_ex, channels,fusion_alg): +# pcl_indices, layer_indices = elmap_ex.get_indices_fusion(pcl_channels=channels,fusion_alg=fusion_alg[0]) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_semantic_map.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_semantic_map.py new file mode 100644 index 00000000..a083a477 --- /dev/null +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_semantic_map.py @@ -0,0 +1,45 @@ +import pytest +from elevation_mapping_cupy import semantic_map, parameter +import cupy as cp +import numpy as np + + +@pytest.fixture() +def semmap_ex(add_lay, fusion_alg): + additional_layer = add_lay + fusion_algorithms = fusion_alg + p = parameter.Parameter( + use_chainer=False, + weight_file="../../../config/weights.dat", + plugin_config_file="../../../config/plugin_config.yaml", + ) + p.additional_layers = additional_layer + p.fusion_algorithms = fusion_algorithms + additional_layers = dict(zip(p.additional_layers, p.fusion_algorithms)) + p.cell_n = int(round(p.map_length / p.resolution)) + 2 + + e = semantic_map.SemanticMap(p,additional_layers) + return e + +@pytest.mark.parametrize( + "add_lay, fusion_alg,channels", + [(["feat_0", "feat_1"], ["average", "average"],["feat_0"]), + (["feat_0", "feat_1"], ["average", "average"],[]), + (["feat_0", "feat_1", "rgb"], ["average", "average", "color"],["rgb", "feat_0"]), + ], +) +def test_fusion_of_pcl(semmap_ex, channels): + fusion = semmap_ex.get_fusion_of_pcl(channels=channels) + assert len(fusion) <= len(channels) + assert len(fusion)>0 or len(channels)==0 + assert all(isinstance(item, str) for item in fusion) + + +@pytest.mark.parametrize( + "add_lay, fusion_alg", + [(["feat_0", "feat_1", "rgb"], ["average", "average", "color"]), + ], +) +@pytest.mark.parametrize("channels", [["rgb"], ["rgb", "feat_0"], []]) +def test_indices_fusion(semmap_ex, channels,fusion_alg): + pcl_indices, layer_indices = semmap_ex.get_indices_fusion(pcl_channels=channels,fusion_alg=fusion_alg[0]) From c70cbed8371a14367c5bbdf7b0b742cf112a80da Mon Sep 17 00:00:00 2001 From: Gian Erni Date: Thu, 27 Oct 2022 11:55:40 +0200 Subject: [PATCH 239/504] fixed polygon checker, added comments to all the functions that are being tested and added tests --- .../config/sensor_parameter.yaml | 4 +- .../elevation_mapping_cupy/custom_kernels.py | 193 +++++------- .../elevation_mapping.py | 276 ++++++++---------- .../elevation_mapping_cupy/map_initializer.py | 12 +- .../elevation_mapping_cupy/parameter.py | 3 + .../plugins/plugin_manager.py | 18 +- .../elevation_mapping_cupy/semantic_map.py | 71 ++++- .../tests/test_elevation_mapping.py | 60 ++-- .../src/elevation_mapping_wrapper.cpp | 2 + 9 files changed, 328 insertions(+), 311 deletions(-) diff --git a/elevation_mapping_cupy/config/sensor_parameter.yaml b/elevation_mapping_cupy/config/sensor_parameter.yaml index c982e052..8c8c596b 100644 --- a/elevation_mapping_cupy/config/sensor_parameter.yaml +++ b/elevation_mapping_cupy/config/sensor_parameter.yaml @@ -4,7 +4,7 @@ subscribers: # fusion: ['average','average'] # topic_name: '/elevation_mapping/pointcloud_semantic' front_cam: - channels: ['rgb','feat_0','feat_1'] - fusion: ['color','average','average'] + channels: ['rgb','feat_0','feat_1','c_prob_0'] + fusion: ['color','average','average','class_average'] topic_name: '/elvation_mapping/pointcloud_semantic' diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/custom_kernels.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/custom_kernels.py index 57e592ef..f96b45f2 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/custom_kernels.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/custom_kernels.py @@ -655,16 +655,16 @@ def polygon_mask_kernel(width, height, resolution): ) return polygon_mask_kernel +##################### additional kernels ################################# def sum_kernel( resolution, width, height, - ): # input the list of layers, amount of channels can slo be input through kernel sum_kernel = cp.ElementwiseKernel( - in_params="raw U p, raw U center_x, raw U center_y, raw U R, raw U t, raw W pcl_chan, raw W map_lay, raw W pcl_channels", + in_params="raw U p, raw U R, raw U t, raw W pcl_chan, raw W map_lay, raw W pcl_channels", out_params="raw U map, raw T newmap", preamble=string.Template( """ @@ -679,24 +679,16 @@ def sum_kernel( U idx = p[i * pcl_channels[0]]; U valid = p[i * pcl_channels[0] + 1]; U inside = p[i * pcl_channels[0] + 2]; - //U x = transform_p(rx, ry, rz, R[0], R[1], R[2], t[0]); - //U y = transform_p(rx, ry, rz, R[3], R[4], R[5], t[1]); - //U z = transform_p(rx, ry, rz, R[6], R[7], R[8], t[2]); - // U v = z_noise(rz); - //if (valid) { - // int idx = get_idx(x, y, center_x[0], center_y[0]); - U map_h = map[get_map_idx(idx, 0)]; + if (valid) { if (inside) { for ( int it=0;it 0) { - //U sem_cnt = newmap[get_map_idx(i, 7)]; - //for ( int it=0;it<${amount_features};it++){ - // U orig_f=map[get_map_idx(i, 7+${rgb}+it)]; - // U new_f=newmap[get_map_idx(i, 7+${rgb}+it)]; - // if (orig_f==0){ - // map[get_map_idx(i, 7+${rgb}+it)]=new_f/sem_cnt; - // } - // else{ - // map[get_map_idx(i, 7+${rgb}+it)]=orig_f*0.5+new_f/sem_cnt*0.5; - // } - //} - // int stored_it = 0; - // U highest_probability = 0; - // for ( int it=0;it<${amount_class_prob};it++){ - // U orig_p=map[get_map_idx(i, 7+${rgb}+${amount_features}+it)]; - // U new_p=newmap[get_map_idx(i, 7+${rgb}+${amount_features}+it)]; - // U probability =0; - // if (orig_p==0){ - // probability = new_p/sem_cnt; - // map[get_map_idx(i, 7+${rgb}+${amount_features}+it)]=probability; - // } - // else{ - // probability = orig_p*0.5+new_p/sem_cnt*0.5; - // map[get_map_idx(i, 7+${rgb}+${amount_features}+it)]=probability; - // } - // if(probability>= highest_probability){ - // stored_it = it; - // highest_probability = probability; - // } - // } - // if (${sem_class}){ - // // check max classs prob - // map[get_map_idx(i, 7+${rgb}+${amount_features}+${amount_class_prob})] = stored_it; - // } + U cnt = new_elmap[get_map_idx(i, 2)]; + if (cnt>0){ + for ( int it=0;it0){ + for ( int it=0;it> 16; - unsigned int greens = (color & green) >> 8; - unsigned int blues = ( color & blue); - unsigned int rgbValue = (reds<<16 ) + (greens << 8) + blues; - // TODO: at the moment it seems to be working, but if we want - //to average over all points we need to use the color layer - //color_out[get_map_idx(idx, 1)] = color; - //[get_map_idx(idx, 2)] = color; - return rgbValue; - } __device__ unsigned int get_r(unsigned int color){ - unsigned int red = 0xFF0000; - unsigned int reds = (color & red) >> 16; - return reds; + unsigned int red = 0xFF0000; + unsigned int reds = (color & red) >> 16; + return reds; } __device__ unsigned int get_g(unsigned int color){ - unsigned int green = 0xFF00; - unsigned int greens = (color & green) >> 8; - return greens; + unsigned int green = 0xFF00; + unsigned int greens = (color & green) >> 8; + return greens; } __device__ unsigned int get_b(unsigned int color){ - unsigned int blue = 0xFF; - unsigned int blues = ( color & blue); - return blues; + unsigned int blue = 0xFF; + unsigned int blues = ( color & blue); + return blues; } """ ).substitute(width=width, height=height), @@ -834,17 +799,13 @@ def add_color_kernel( U idx = p[i * pcl_channels[0]]; U valid = p[i * pcl_channels[0] + 1]; U inside = p[i * pcl_channels[0] + 2]; - if (true){ + if (valid && inside){ for ( int it=0;it> 16; - return reds; + unsigned int red = 0xFF0000; + unsigned int reds = (color & red) >> 16; + return reds; } __device__ unsigned int get_g(unsigned int color){ - unsigned int green = 0xFF00; - unsigned int greens = (color & green) >> 8; - return greens; + unsigned int green = 0xFF00; + unsigned int greens = (color & green) >> 8; + return greens; } __device__ unsigned int get_b(unsigned int color){ - unsigned int blue = 0xFF; - unsigned int blues = ( color & blue); - return blues; + unsigned int blue = 0xFF; + unsigned int blues = (color & blue); + return blues; } """ ).substitute(width=width, height=height), @@ -902,8 +863,8 @@ def color_average_kernel( // unsigned int g = prev_g/2 + color_map[get_map_idx(i, it*3+1)]/(2*cnt); // unsigned int b = prev_b/2 + color_map[get_map_idx(i, it*3+2)]/(2*cnt); //} - //unsigned int rgb = (r<<16) + (g << 8) + b; - // map[get_map_idx(i, map_lay[it])] = __uint_as_float(rgb); + unsigned int rgb = (r<<16) + (g << 8) + b; + map[get_map_idx(i, map_lay[it])] = rgb; } } """ @@ -913,6 +874,8 @@ def color_average_kernel( ) return color_average_kernel +# TODO: in future add more kernels e.g. bayesian kernel + if __name__ == "__main__": for i in range(10): import random diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py index d03d3995..bc107d4c 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py @@ -53,16 +53,11 @@ def __init__(self, param: Parameter): self.resolution = param.resolution self.center = xp.array([0, 0, 0], dtype=float) self.map_length = param.map_length - # +2 is a border for outside map - # TODO - self.cell_n = int(round(self.map_length / self.resolution)) + 2 - self.param.cell_n = self.cell_n + self.cell_n = param.cell_n self.map_lock = threading.Lock() self.additional_layers = dict(zip(self.param.additional_layers, self.param.fusion_algorithms)) - # self.amount_additional_layers = len(self.param.additional_layers) self.semantic_map = SemanticMap(self.param, self.additional_layers) - # layers: elevation, variance, is_valid, traversability, time, upper_bound, is_upper_bound self.elevation_map = xp.zeros((7, self.cell_n, self.cell_n)) self.layer_names = [ "elevation", @@ -73,13 +68,7 @@ def __init__(self, param: Parameter): "upper_bound", "is_upper_bound", ] - # self.layer_names.extend(list(self.additional_layers.keys())) - # self.unique_fusion = [] - # for x in list(self.additional_layers.values()): - # if x not in self.unique_fusion: - # self.unique_fusion.append(x) - # print("Fusion algorithms running: ",self.unique_fusion) # buffers self.traversability_buffer = xp.full((self.cell_n, self.cell_n), xp.nan) self.normal_map = xp.zeros((3, self.cell_n, self.cell_n)) @@ -99,7 +88,6 @@ def __init__(self, param: Parameter): self.additive_mean_error = 0.0 self.compile_kernels() - # self.compile_additional_kernels() self.semantic_map.compile_kernels() weight_file = subprocess.getoutput('echo "' + param.weight_file + '"') @@ -117,74 +105,11 @@ def __init__(self, param: Parameter): self.plugin_manager.load_plugin_settings(plugin_config_file) self.map_initializer = MapInitializer(self.initial_variance, param.initialized_variance, xp=cp, method="points") - # self.color_map = None - # - # def compile_additional_kernels(self) -> None: - # """ - # Returns: - # None: - # - # """ - # if ("average" in self.unique_fusion): - # print("Initialize fusion kernel") - # self.sum_kernel = sum_kernel( - # self.resolution, - # self.cell_n, - # self.cell_n, - # self.param.sensor_noise_factor, - # self.param.min_valid_distance, - # self.param.max_height_range, - # self.param.ramped_height_range_a, - # self.param.ramped_height_range_b, - # self.param.ramped_height_range_c, - # - # ) - # - # if ("color" in self.unique_fusion): - # print("Initialize color kernel") - # self.add_color_kernel = add_color_kernel( - # self.cell_n, - # self.cell_n, - # ) - # self.color_average_kernel = color_average_kernel(self.cell_n,self.cell_n) - - # def get_fusion_of_pcl(self, channels: List[str]) -> List[str]: - # """Get all fusion algorithms that need to be applied to a specific pointcloud - # - # Args: - # channels (List[str]): - # """ - # fusion_list = [] - # for channel in channels: - # x = self.additional_layers[channel] - # if x not in fusion_list: - # fusion_list.append(x) - # return fusion_list - # - # def get_indices_fusion(self, pcl_channels: List[str], fusion_alg: str): - # """Computes the indices that are used for the additional kernel update of the pcl and the elmap. - # - # Args: - # pcl_channels (List[str]): - # fusion_alg (str): - # - # Returns: - # Union[Tuple[List[int], List[int]], Tuple[cupy._core.core.ndarray, cupy._core.core.ndarray]]: - # - # - # """ - # # this contains exactly the fusion alg type for each channel of the pcl - # pcl_val_list = [self.additional_layers[x] for x in pcl_channels] - # # this contains the indeces of the pointcloud where we have to perform a certain fusion - # pcl_indices = cp.array([idp+3 for idp, x in enumerate(pcl_val_list) if x == fusion_alg],dtype=np.int32) - # # create a list of indeces of the layers that will be updated by the pointcloud with specific fusion alg - # layer_indices = cp.array([], dtype=np.int32) - # for it, (key, val) in enumerate(self.additional_layers.items()): - # if key in pcl_channels and val == fusion_alg: - # layer_indices = cp.append(layer_indices,7+it ).astype(np.int32) - # return pcl_indices, layer_indices def clear(self): + """Reset all the layers of the elevation & the semantic map. + + """ with self.map_lock: self.elevation_map *= 0.0 # Initial variance @@ -194,9 +119,20 @@ def clear(self): self.additive_mean_error = 0.0 def get_position(self, position): + """Return the position of the map center. + + Args: + position (numpy.ndarray): + + """ position[0][:] = xp.asnumpy(self.center) def move(self, delta_position): + """Shift the map along all three axes according to the input. + + Args: + delta_position (numpy.ndarray): + """ # Shift map using delta position. delta_position = xp.asarray(delta_position) delta_pixel = xp.round(delta_position[:2] / self.resolution) @@ -207,6 +143,12 @@ def move(self, delta_position): self.shift_map_z(-delta_position[2]) def move_to(self, position, R): + """ Shift the map to an absolute position and update the rotation of the robot. + + Args: + position (numpy.ndarray): + R (cupy._core.core.ndarray): + """ # Shift map to the center of robot. self.base_rotation = xp.asarray(R) position = xp.asarray(position) @@ -219,7 +161,7 @@ def move_to(self, position, R): self.shift_map_z(-delta[2]) def pad_value(self, x, shift_value, idx=None, value=0.0): - """Create a padding of the map along x,y axis according to amount that has shifted. + """Create a padding of the map along x,y-axis according to amount that has shifted. Args: x (cupy._core.core.ndarray): @@ -247,6 +189,12 @@ def pad_value(self, x, shift_value, idx=None, value=0.0): x[idx, :, shift_value[1] :] = value def shift_map_xy(self, delta_pixel): + """Shift the map along the horizontal axes according to the input. + + Args: + delta_pixel (cupy._core.core.ndarray): + + """ shift_value = delta_pixel.astype(cp.int) if cp.abs(shift_value).sum() == 0: return @@ -259,6 +207,11 @@ def shift_map_xy(self, delta_pixel): self.pad_value(self.semantic_map.map, shift_value, value=0.0) def shift_map_z(self, delta_z): + """Shift the relevant layers along the vertical axis. + + Args: + delta_z (cupy._core.core.ndarray): + """ with self.map_lock: # elevation self.elevation_map[0] += delta_z @@ -266,6 +219,9 @@ def shift_map_z(self, delta_z): self.elevation_map[5] += delta_z def compile_kernels(self): + """Compile all kernels belonging to the elevation map. + + """ # Compile custom cuda kernels. self.new_map = cp.zeros((self.elevation_map.shape[0], self.cell_n, self.cell_n)) self.traversability_input = cp.zeros((self.cell_n, self.cell_n)) @@ -318,9 +274,24 @@ def compile_kernels(self): self.normal_filter_kernel = normal_filter_kernel(self.cell_n, self.cell_n, self.resolution) def shift_translation_to_map_center(self, t): + """ Deduct the map center to get the translation of a point w.r.t. the map center. + + Args: + t (cupy._core.core.ndarray): Absolute point position + """ t -= self.center def update_map_with_kernel(self, points_all, channels, R, t, position_noise, orientation_noise): + """Update map with new measurement. + + Args: + points_all (cupy._core.core.ndarray): + channels (List[str]): + R (cupy._core.core.ndarray): + t (cupy._core.core.ndarray): + position_noise (int): + orientation_noise (int): + """ self.new_map *= 0.0 error = cp.array([0.0], dtype=cp.float32) error_cnt = cp.array([0], dtype=cp.float32) @@ -366,7 +337,7 @@ def update_map_with_kernel(self, points_all, channels, R, t, position_noise, ori self.average_map_kernel(self.new_map, self.elevation_map, size=(self.cell_n * self.cell_n)) # self.update_additional_layers(additional_fusion, points_all, channels, R, t) - self.semantic_map.update_layers(points_all, channels, R, t) + self.semantic_map.update_layers(points_all, channels, R, t,self.new_map) if self.param.enable_overlap_clearance: self.clear_overlap_map(t) @@ -388,50 +359,6 @@ def update_map_with_kernel(self, points_all, channels, R, t, position_noise, ori # calculate normal vectors self.update_normal(self.traversability_input) - # def update_additional_layers(self, additional_fusion, points_all,channels,R,t): - # if "average" in additional_fusion: - # pcl_ids, layer_ids = self.get_indices_fusion(channels, "average") - # self.sum_kernel( - # points_all, - # cp.array([0.0]), - # cp.array([0.0]), - # R, - # t, - # self.normal_map, - # pcl_ids, - # layer_ids, - # cp.array([points_all.shape[1],pcl_ids.shape[0]],dtype=np.int32), - # self.elevation_map, - # self.new_map, - # size=(points_all.shape[0]), - # ) - # if "color" in additional_fusion: - # pcl_ids, layer_ids = self.get_indices_fusion(channels, "color") - # if self.color_map is None: - # self.color_map = cp.zeros((1+3*layer_ids.shape[0], self.cell_n, self.cell_n), dtype=np.uint32) - # points_all = cp.asarray(cp.float32(points_all.get())) - # self.add_color_kernel( - # points_all, - # cp.array([0.0]), - # cp.array([0.0]), - # R, - # t, - # self.normal_map, - # pcl_ids, - # layer_ids, - # cp.array([points_all.shape[1],pcl_ids.shape[0]],dtype=np.int32), - # self.elevation_map, - # self.color_map, - # size=(points_all.shape[0]), - # ) - # self.color_average_kernel(self.color_map, - # pcl_ids, - # layer_ids, - # cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=np.int32), - # self.elevation_map, - # size=(self.cell_n * self.cell_n), - # ) - def clear_overlap_map(self, t): # Clear overlapping area around center height_min = t[2] - self.param.overlap_clear_range_z @@ -484,6 +411,11 @@ def input(self, raw_points: cp._core.core.ndarray, channels: List[str], R: cp._c self.update_map_with_kernel(raw_points, additional_channels, cp.asarray(R), cp.asarray(t), position_noise, orientation_noise) def update_normal(self, dilated_map): + """ Clear the normal map and then apply the normal kernel with dilated map as input. + + Args: + dilated_map (cupy._core.core.ndarray): + """ with self.map_lock: self.normal_map *= 0.0 self.normal_filter_kernel( @@ -491,6 +423,17 @@ def update_normal(self, dilated_map): ) def process_map_for_publish(self, input_map, fill_nan=False, add_z=False, xp=cp): + """ Process the input_map according to the fill_nan and add_z flags. + + Args: + input_map (cupy._core.core.ndarray): + fill_nan (bool): + add_z (bool): + xp (module): + + Returns: + cupy._core.core.ndarray: + """ m = input_map.copy() if fill_nan: m = xp.where(self.elevation_map[2] > 0.5, m, xp.nan) @@ -538,12 +481,27 @@ def get_is_upper_bound(self): return is_upper_bound def xp_of_array(self, array): + """Indicate which library is used for xp. + + Args: + array (cupy._core.core.ndarray): + + Returns: + module: + """ if type(array) == cp.ndarray: return cp elif type(array) == np.ndarray: return np def copy_to_cpu(self, array, data, stream=None): + """ Transforms the data to float32 and if on gpu loads it to cpu. + + Args: + array (cupy._core.core.ndarray): + data (numpy.ndarray): + stream (Union[None, cupy.cuda.stream.Stream, None, None, None, None, None, None, None]): + """ if type(array) == np.ndarray: data[...] = array.astype(np.float32) elif type(array) == cp.ndarray: @@ -553,6 +511,14 @@ def copy_to_cpu(self, array, data, stream=None): data[...] = cp.asnumpy(array.astype(np.float32)) def exists_layer(self, name): + """ Check if the layer exists in elevation map or in the semantic map. + + Args: + name (str): + + Returns: + bool: + """ if name in self.layer_names: return True elif name in self.additional_layers: @@ -562,18 +528,14 @@ def exists_layer(self, name): else: return False - # def get_rgb(self): - # c = self.process_map_for_publish(self.elevation_map[7], fill_nan=False, add_z=False) - # c = xp.uint32(c.get()) - # c.dtype = np.float32 - # return c - # - # def get_semantic(self,name): - # idx = self.layer_names.index(name) - # c = self.process_map_for_publish(self.elevation_map[idx], fill_nan=False, add_z=False) - # return c - def get_map_with_name_ref(self, name, data): + """Load a layer according to the name input to the data input. + + Args: + name (str): Name of the layer. + data (numpy.ndarray): Data structure that contains layer. + + """ use_stream = True xp = cp with self.map_lock: @@ -596,12 +558,6 @@ def get_map_with_name_ref(self, name, data): m = self.normal_map.copy()[1, 1:-1, 1:-1] elif name == "normal_z": m = self.normal_map.copy()[2, 1:-1, 1:-1] - # elif name in self.additional_layers.keys(): - # if self.additional_layers[name] == "color": - # m = self.get_rgb() - # else: - # m = self.get_semantic() - elif name in self.additional_layers.keys(): m = self.semantic_map.get_map_with_name(name) elif name in self.plugin_manager.layer_names: @@ -640,8 +596,18 @@ def get_normal_ref(self, normal_x_data, normal_y_data, normal_z_data): normal_z_data[...] = xp.asnumpy(maps[2], stream=self.stream) def get_polygon_traversability(self, polygon, result): + """ Check if input polygons are traversable. + + Args: + polygon (cupy._core.core.ndarray): + result (numpy.ndarray): + + Returns: + Union[None, int]: + """ polygon = xp.asarray(polygon) area = calculate_area(polygon) + polygon = polygon.astype(np.float64) pmin = self.center[:2] - self.map_length / 2 + self.resolution pmax = self.center[:2] + self.map_length / 2 - self.resolution polygon[:, 0] = polygon[:, 0].clip(pmin[0], pmax[0]) @@ -649,7 +615,7 @@ def get_polygon_traversability(self, polygon, result): polygon_min = polygon.min(axis=0) polygon_max = polygon.max(axis=0) polygon_bbox = cp.concatenate([polygon_min, polygon_max]).flatten() - polygon_n = polygon.shape[0] + polygon_n = xp.array(polygon.shape[0], dtype=np.int16) clipped_area = calculate_area(polygon) self.polygon_mask_kernel( polygon, @@ -664,7 +630,7 @@ def get_polygon_traversability(self, polygon, result): if masked_isvalid.sum() > 0: t = masked.sum() / masked_isvalid.sum() else: - t = 0.0 + t = cp.asarray(0.0) is_safe, un_polygon = is_traversable( masked, self.param.safe_thresh, self.param.safe_min_thresh, self.param.max_unsafe_n ) @@ -675,14 +641,25 @@ def get_polygon_traversability(self, polygon, result): if clipped_area < 0.001: is_safe = False print("requested polygon is outside of the map") - result[...] = np.array([is_safe, t, area]) + result[...] = np.array([is_safe, t.get(), area.get()]) self.untraversable_polygon = un_polygon return untraversable_polygon_num def get_untraversable_polygon(self, untraversable_polygon): + """ Copy the untraversable polygons to input untraversable_polygons. + + Args: + untraversable_polygon (numpy.ndarray): + """ untraversable_polygon[...] = xp.asnumpy(self.untraversable_polygon) def initialize_map(self, points, method="cubic"): + """Initializes the map according to some points and using an approximation according to method. + + Args: + points (numpy.ndarray): + method (str): Interpolation method ['linear', 'cubic', 'nearest'] + """ self.clear() with self.map_lock: points = cp.asarray(points) @@ -713,8 +690,9 @@ def initialize_map(self, points, method="cubic"): param = Parameter( use_chainer=False, weight_file="../config/weights.dat", plugin_config_file="../config/plugin_config.yaml" ) - param.additional_layers =['feat_0','feat_1', 'rgb'] - param.fusion_algorithms = ['average','average','color'] + param.additional_layers =['feat_0','feat_1', 'rgb','people'] + param.fusion_algorithms = ['average','average','color','class_average'] + param.update() elevation = ElevationMap(param) layers = ["elevation", "variance", "traversability", "min_filter", "smooth", "inpaint","rgb"] points = xp.random.rand(100000, len(layers)) @@ -730,3 +708,7 @@ def initialize_map(self, points, method="cubic"): for layer in layers: elevation.get_map_with_name_ref(layer, data) print(i) + polygon = cp.array([[0, 0], [2, 0], [0, 2]], dtype=np.float64) + result = np.array([0, 0, 0]) + elevation.get_polygon_traversability(polygon, result) + print(result) \ No newline at end of file diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/map_initializer.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/map_initializer.py index c80dc587..8d4ee945 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/map_initializer.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/map_initializer.py @@ -23,14 +23,14 @@ def __call__(self, *args, **kwargs): return def points_initializer(self, elevation_map, points, method="linear"): - """ - Initialize the map using interpolation between given poitns + """ Initialize the map using interpolation between given points + Args: - elevation_map: elevation_map data. - points: points used to interpolate. - method: method for interpolation. (nearest, linear, cubic) - """ + elevation_map (cupy._core.core.ndarray): elevation_map data. + points (cupy._core.core.ndarray): points used to interpolate. + method (str): method for interpolation. (nearest, linear, cubic) + """ # points from existing map. points_idx = self.xp.where(elevation_map[2] > 0.5) values = elevation_map[0, points_idx[0], points_idx[1]] diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py index 5a07f695..5b58620d 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py @@ -92,6 +92,9 @@ def set_value(self, name, value): def get_value(self, name): return getattr(self, name) + def update(self): + # +2 is a border for outside map + self.cell_n = int(round(self.map_length / self.resolution)) + 2 if __name__ == "__main__": param = Parameter() diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/plugin_manager.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/plugin_manager.py index 719d45c9..064d267d 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/plugin_manager.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/plugin_manager.py @@ -26,9 +26,9 @@ class PluginBase(ABC): def __init__(self, *args, **kwargs): """ - Parameters - ---------- - plugin_params : PluginParams + + Args: + plugin_params : PluginParams The parameter of callback """ @@ -39,8 +39,15 @@ def __call__( plugin_layers: cp.ndarray, plugin_layer_names: List[str], ) -> cp.ndarray: - """ - This gets the elevation map data and plugin layers as a cupy array. + """This gets the elevation map data and plugin layers as a cupy array. + + + Args: + elevation_map (): + layer_names (): + plugin_layers (): + plugin_layer_names (): + Run your processing here and return the result. layer of elevation_map 0: elevation 1: variance @@ -50,6 +57,7 @@ def __call__( 5: upper_bound 6: is_upper_bound You can also access to the other plugins' layer with plugin_layers and plugin_layer_names + """ pass diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py index 916cf665..9715d2d8 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py @@ -2,7 +2,13 @@ import cupy as cp import numpy as np from typing import List -from .custom_kernels import sum_kernel, add_color_kernel, color_average_kernel +from .custom_kernels import ( + sum_kernel, + add_color_kernel, + color_average_kernel, + average_kernel, + class_average_kernel, +) xp = cp @@ -40,6 +46,11 @@ def compile_kernels(self) -> None: None: """ + # TODO: maybe this could be improved by creating functions for each single + # create a base class containing compile kernel as well as update and this then can be created for various + # then for each method this two functions canbe overloaded. and called through a list of all the algporithms + # that need to be called + # but I am not sure as we would need to pass a lot of arguments... check plugin if "average" in self.unique_fusion: print("Initialize fusion kernel") self.sum_kernel = sum_kernel( @@ -47,6 +58,10 @@ def compile_kernels(self) -> None: self.param.cell_n, self.param.cell_n, ) + self.average_kernel = average_kernel( + self.param.cell_n, + self.param.cell_n, + ) if "color" in self.unique_fusion: print("Initialize color kernel") @@ -57,6 +72,17 @@ def compile_kernels(self) -> None: self.color_average_kernel = color_average_kernel( self.param.cell_n, self.param.cell_n ) + if "class_average" in self.unique_fusion: + print("Initialize fusion kernel") + self.sum_kernel = sum_kernel( + self.param.resolution, + self.param.cell_n, + self.param.cell_n, + ) + self.class_average_kernel = class_average_kernel( + self.param.cell_n, + self.param.cell_n, + ) def get_fusion_of_pcl(self, channels: List[str]) -> List[str]: """Get all fusion algorithms that need to be applied to a specific pointcloud @@ -97,17 +123,13 @@ def get_indices_fusion(self, pcl_channels: List[str], fusion_alg: str): layer_indices = cp.append(layer_indices, it).astype(np.int32) return pcl_indices, layer_indices - def update_layers(self, points_all, channels, R, t): + def update_layers(self, points_all, channels, R, t, elevation_map): additional_fusion = self.get_fusion_of_pcl(channels) - self.new_map *= 0.0 - if "average" in additional_fusion: pcl_ids, layer_ids = self.get_indices_fusion(channels, "average") self.sum_kernel( points_all, - cp.array([0.0]), - cp.array([0.0]), R, t, pcl_ids, @@ -117,6 +139,38 @@ def update_layers(self, points_all, channels, R, t): self.new_map, size=(points_all.shape[0]), ) + self.average_kernel( + self.new_map, + pcl_ids, + layer_ids, + cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=np.int32), + elevation_map, + self.map, + size=(self.param.cell_n * self.param.cell_n), + ) + if "class_average" in additional_fusion: + pcl_ids, layer_ids = self.get_indices_fusion(channels, "class_average") + self.sum_kernel( + points_all, + R, + t, + pcl_ids, + layer_ids, + cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=np.int32), + self.map, + self.new_map, + size=(points_all.shape[0]), + ) + self.class_average_kernel( + self.new_map, + pcl_ids, + layer_ids, + cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=np.int32), + elevation_map, + self.map, + size=(self.param.cell_n * self.param.cell_n), + ) + if "color" in additional_fusion: pcl_ids, layer_ids = self.get_indices_fusion(channels, "color") if self.color_map is None: @@ -124,17 +178,16 @@ def update_layers(self, points_all, channels, R, t): (1 + 3 * layer_ids.shape[0], self.param.cell_n, self.param.cell_n), dtype=np.uint32, ) + self.color_map *= 0 + # TODO this is not a good solution points_all = cp.asarray(cp.float32(points_all.get())) self.add_color_kernel( points_all, - cp.array([0.0]), - cp.array([0.0]), R, t, pcl_ids, layer_ids, cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=np.int32), - self.map, self.color_map, size=(points_all.shape[0]), ) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_elevation_mapping.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_elevation_mapping.py index ee73e103..cafbe906 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_elevation_mapping.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_elevation_mapping.py @@ -15,6 +15,7 @@ def elmap_ex(add_lay, fusion_alg): ) p.additional_layers = additional_layer p.fusion_algorithms = fusion_algorithms + p.update() e = elevation_mapping.ElevationMap(p) return e @@ -27,21 +28,21 @@ def elmap_ex(add_lay, fusion_alg): ], ) class TestElevationMap: - def test_elmap_init(self, elmap_ex): + def test_init(self, elmap_ex): assert len(elmap_ex.layer_names) == elmap_ex.elevation_map.shape[0] - assert elmap_ex.color_map is None + # assert elmap_ex.color_map is None - def test_elmap_input(self, elmap_ex): + def test_input(self, elmap_ex): channels = ["x", "y", "z"] + elmap_ex.param.additional_layers points = cp.random.rand(100000, len(channels)) R = cp.random.rand(3, 3) t = cp.random.rand(3) elmap_ex.input(points, channels, R, t, 0, 0) - def test_elmap_update_normal(self, elmap_ex): + def test_update_normal(self, elmap_ex): elmap_ex.update_normal(elmap_ex.elevation_map[0]) - def test_elmap_move_to(self, elmap_ex): + def test_move_to(self, elmap_ex): for i in range(20): pos = np.array([i * 0.01, i * 0.02, i * 0.01]) R = cp.random.rand(3, 3) @@ -61,25 +62,30 @@ def test_get_map(self, elmap_ex): for layer in layers: elmap_ex.get_map_with_name_ref(layer, data) -# @pytest.mark.parametrize( -# "add_lay, fusion_alg,channels", -# [(["feat_0", "feat_1"], ["average", "average"],["feat_0"]), -# (["feat_0", "feat_1"], ["average", "average"],[]), -# (["feat_0", "feat_1", "rgb"], ["average", "average", "color"],["rgb", "feat_0"]), -# ], -# ) -# def test_fusion_of_pcl(elmap_ex, channels): -# fusion = elmap_ex.get_fusion_of_pcl(channels=channels) -# assert len(fusion) <= len(channels) -# assert len(fusion)>0 or len(channels)==0 -# assert all(isinstance(item, str) for item in fusion) -# -# -# @pytest.mark.parametrize( -# "add_lay, fusion_alg", -# [(["feat_0", "feat_1", "rgb"], ["average", "average", "color"]), -# ], -# ) -# @pytest.mark.parametrize("channels", [["rgb"], ["rgb", "feat_0"], []]) -# def test_indices_fusion(elmap_ex, channels,fusion_alg): -# pcl_indices, layer_indices = elmap_ex.get_indices_fusion(pcl_channels=channels,fusion_alg=fusion_alg[0]) + def test_get_position(self,elmap_ex): + pos = np.random.rand(1,3) + elmap_ex.get_position(pos) + + def test_clear(self,elmap_ex): + elmap_ex.clear() + + def test_move(self,elmap_ex): + delta_position = np.random.rand(3) + elmap_ex.move(delta_position) + + def test_exists_layer(self,elmap_ex, add_lay): + for layer in add_lay: + assert elmap_ex.exists_layer(layer) + + def test_polygon_traversability(self,elmap_ex): + polygon = cp.array([[0, 0], [2, 0], [0, 2]], dtype=np.float64) + result = np.array([0, 0, 0]) + number_polygons = elmap_ex.get_polygon_traversability(polygon, result) + untraversable_polygon = np.zeros((number_polygons, 2)) + elmap_ex.get_untraversable_polygon(untraversable_polygon) + + def test_initialize_map(self, elmap_ex): + methods = ['linear', 'cubic', 'nearest'] + for method in methods: + points = np.array([[-4.0, 0.0, 0.0],[-4.0, 8.0, 1.0],[4.0, 8.0, 0.0],[4.0, 0.0, 0.0]]) + elmap_ex.initialize_map(points,method) diff --git a/elevation_mapping_cupy/src/elevation_mapping_wrapper.cpp b/elevation_mapping_cupy/src/elevation_mapping_wrapper.cpp index 3da1d4d2..a518117b 100644 --- a/elevation_mapping_cupy/src/elevation_mapping_wrapper.cpp +++ b/elevation_mapping_cupy/src/elevation_mapping_wrapper.cpp @@ -84,6 +84,8 @@ void ElevationMappingWrapper::setParameters(ros::NodeHandle& nh, std::vector(round(map_length_ / resolution_)); map_length_ = resolution_ * map_n_; // get true length after rounding + param_.attr("update")(); + nh.param("enable_normal", enable_normal_, false); nh.param("enable_normal_color", enable_normal_color_, false); } From 99ac97080d175c83c698dcb823b66face166dbeb Mon Sep 17 00:00:00 2001 From: Gian Erni Date: Thu, 27 Oct 2022 13:02:25 +0200 Subject: [PATCH 240/504] added actions for python testing --- .github/workflows/python-tests.yml | 33 ++++++++++++++++++++++++++++++ README.md | 1 + requirements.txt | 1 + 3 files changed, 35 insertions(+) create mode 100644 .github/workflows/python-tests.yml diff --git a/.github/workflows/python-tests.yml b/.github/workflows/python-tests.yml new file mode 100644 index 00000000..2159664e --- /dev/null +++ b/.github/workflows/python-tests.yml @@ -0,0 +1,33 @@ +# This workflow will install Python dependencies, run tests and lint with a single version of Python + +name: Python testing + +on: + push: + branches: [ "feature/2_semantic_python" ] +# pull_request: +# branches: [ "main" ] + +permissions: + contents: read + +jobs: + build: + + runs-on: ubuntu-latest + + steps: + - uses: actions/checkout@v3 + - name: Set up Python 3.8 + uses: actions/setup-python@v3 + with: + python-version: "3.8" + - name: Install dependencies + run: | + python -m pip install --upgrade pip + pip install pytest cupy + if [ -f requirements.txt ]; then pip install -r requirements.txt; fi + - name: Test with pytest + run: | + cd elevation_mapping_cupy/script/elevation_mapping_cupy/tests/ + pytest \ No newline at end of file diff --git a/README.md b/README.md index a4a72310..85ed128a 100644 --- a/README.md +++ b/README.md @@ -1,5 +1,6 @@ # Elevation Mapping cupy +![python tests](https://github.com/leggedrobotics/elevation_mapping_semantic_cupy/actions/workflows/python-tests.yml/badge.svg) ## Overview This is a ROS package for elevation mapping on GPU. The elevation mapping code is written in python and uses cupy for GPU computation. The diff --git a/requirements.txt b/requirements.txt index fec90ede..c68be6a1 100644 --- a/requirements.txt +++ b/requirements.txt @@ -4,6 +4,7 @@ scipy dataclasses ruamel.yaml opencv-python +simple_parsing ###### Requirements with Version Specifiers ######` shapely==1.7.1 From 70ad8c60582a8567fa7f14cae32d369ef820ecd1 Mon Sep 17 00:00:00 2001 From: Gian Erni Date: Wed, 2 Nov 2022 16:47:56 +0100 Subject: [PATCH 241/504] adding the pointcloud package, with class probability as well as dino feature extractor, additionally I added the first tests --- elevation_mapping_cupy/config/parameters.yaml | 2 +- .../config/sensor_parameter.yaml | 24 +- .../semantic_elevation_lonomy_single.launch | 8 +- .../rviz/lonomy_single.rviz | 13 +- .../elevation_mapping_cupy/custom_kernels.py | 8 +- .../semantic_pointcloud/CMakeLists.txt | 33 ++ .../config/sensor_parameter.yaml | 31 ++ .../launch/semantic_pointcloud.launch | 7 + .../semantic_pointcloud/package.xml | 28 ++ .../semantic_pointcloud/DINO/__init__.py | 0 .../semantic_pointcloud/DINO/modules.py | 112 +++++ .../script/semantic_pointcloud/DINO/utils.py | 46 ++ .../DINO/vision_transformer.py | 418 ++++++++++++++++++ .../script/semantic_pointcloud/__init__.py | 0 .../semantic_pointcloud/pointcloud_node.py | 184 ++++++++ .../pointcloud_parameters.py | 37 ++ .../semantic_pointcloud/tests/__init__.py | 0 .../tests/test_pointcloud.py | 18 + .../semantic_pointcloud/tests/test_utils.py | 41 ++ .../script/semantic_pointcloud/utils.py | 177 ++++++++ .../semantic_pointcloud/setup.py | 11 + 21 files changed, 1181 insertions(+), 17 deletions(-) create mode 100644 sensor_processing/semantic_pointcloud/CMakeLists.txt create mode 100644 sensor_processing/semantic_pointcloud/config/sensor_parameter.yaml create mode 100644 sensor_processing/semantic_pointcloud/launch/semantic_pointcloud.launch create mode 100644 sensor_processing/semantic_pointcloud/package.xml create mode 100644 sensor_processing/semantic_pointcloud/script/semantic_pointcloud/DINO/__init__.py create mode 100644 sensor_processing/semantic_pointcloud/script/semantic_pointcloud/DINO/modules.py create mode 100644 sensor_processing/semantic_pointcloud/script/semantic_pointcloud/DINO/utils.py create mode 100644 sensor_processing/semantic_pointcloud/script/semantic_pointcloud/DINO/vision_transformer.py create mode 100644 sensor_processing/semantic_pointcloud/script/semantic_pointcloud/__init__.py create mode 100755 sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_node.py create mode 100644 sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_parameters.py create mode 100644 sensor_processing/semantic_pointcloud/script/semantic_pointcloud/tests/__init__.py create mode 100644 sensor_processing/semantic_pointcloud/script/semantic_pointcloud/tests/test_pointcloud.py create mode 100644 sensor_processing/semantic_pointcloud/script/semantic_pointcloud/tests/test_utils.py create mode 100644 sensor_processing/semantic_pointcloud/script/semantic_pointcloud/utils.py create mode 100644 sensor_processing/semantic_pointcloud/setup.py diff --git a/elevation_mapping_cupy/config/parameters.yaml b/elevation_mapping_cupy/config/parameters.yaml index 24e29141..dc59828d 100644 --- a/elevation_mapping_cupy/config/parameters.yaml +++ b/elevation_mapping_cupy/config/parameters.yaml @@ -81,7 +81,7 @@ publishers: basic_layers: ['elevation', 'traversability'] fps: 2.0 elevation_map_filter: - layers: ['min_filter', 'smooth', 'inpaint', 'upper_bound','rgb'] + layers: ['min_filter', 'smooth', 'inpaint', 'upper_bound','rgb','person'] basic_layers: ['min_filter'] fps: 3.0 diff --git a/elevation_mapping_cupy/config/sensor_parameter.yaml b/elevation_mapping_cupy/config/sensor_parameter.yaml index 8c8c596b..1a9e6642 100644 --- a/elevation_mapping_cupy/config/sensor_parameter.yaml +++ b/elevation_mapping_cupy/config/sensor_parameter.yaml @@ -4,7 +4,29 @@ subscribers: # fusion: ['average','average'] # topic_name: '/elevation_mapping/pointcloud_semantic' front_cam: - channels: ['rgb','feat_0','feat_1','c_prob_0'] + channels: ['rgb','feat_0','feat_1','person','grass'] fusion: ['color','average','average','class_average'] topic_name: '/elvation_mapping/pointcloud_semantic' + semantic_segmentation: True + segmentation_model: 'detectron_coco_panoptic_fpn_R_101_3x' + feature_config: + name: 'DINO' + interpolation: 'bilinear' + model: "vit_small" + patch_size: 16 + dim: 5 + dropout: False + dino_feat_type: "feat" + input_size: [80, 160] + projection_type: "nonlinear" + + cam_info_topic: "/zed2i/zed_node/depth/camera_info" + image_topic: "/zed2i/zed_node/left/image_rect_color" + depth_topic: "/zed2i/zed_node/depth/depth_registered" + cam_frame: "zed2i_right_camera_optical_frame" + confidence_topic: "/zed2i/zed_node/confidence/confidence_map" + confidence_threshold: 10 + + + diff --git a/elevation_mapping_cupy/launch/semantic_elevation_lonomy_single.launch b/elevation_mapping_cupy/launch/semantic_elevation_lonomy_single.launch index 77b4918f..0e644e44 100644 --- a/elevation_mapping_cupy/launch/semantic_elevation_lonomy_single.launch +++ b/elevation_mapping_cupy/launch/semantic_elevation_lonomy_single.launch @@ -5,11 +5,9 @@ - - - - - + + + diff --git a/elevation_mapping_cupy/rviz/lonomy_single.rviz b/elevation_mapping_cupy/rviz/lonomy_single.rviz index da12d689..d35d1a1b 100644 --- a/elevation_mapping_cupy/rviz/lonomy_single.rviz +++ b/elevation_mapping_cupy/rviz/lonomy_single.rviz @@ -4,6 +4,7 @@ Panels: Name: Displays Property Tree Widget: Expanded: + - /ElevationMapFilter1 - /Image1 Splitter Ratio: 0.5768463015556335 Tree Height: 428 @@ -54,16 +55,16 @@ Visualization Manager: Autocompute Intensity Bounds: true Class: grid_map_rviz_plugin/GridMap Color: 200; 200; 200 - Color Layer: rgb - Color Transformer: ColorLayer + Color Layer: person + Color Transformer: IntensityLayer Enabled: true Height Layer: smooth Height Transformer: GridMapLayer History Length: 1 Invert Rainbow: false - Max Color: 255; 255; 255 + Max Color: 204; 0; 0 Max Intensity: 10 - Min Color: 0; 0; 0 + Min Color: 52; 101; 164 Min Intensity: 0 Name: ElevationMapFilter Show Grid Lines: true @@ -448,9 +449,9 @@ Visualization Manager: Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Pitch: 0.12979847192764282 + Pitch: 0.5547983050346375 Target Frame: base_footprint - Yaw: 0.9738447666168213 + Yaw: 1.4138503074645996 Saved: ~ Window Geometry: Displays: diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/custom_kernels.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/custom_kernels.py index f96b45f2..8884660f 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/custom_kernels.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/custom_kernels.py @@ -682,7 +682,7 @@ def sum_kernel( if (valid) { if (inside) { for ( int it=0;it0){ for ( int it=0;it + + + + + \ No newline at end of file diff --git a/sensor_processing/semantic_pointcloud/package.xml b/sensor_processing/semantic_pointcloud/package.xml new file mode 100644 index 00000000..00cb393f --- /dev/null +++ b/sensor_processing/semantic_pointcloud/package.xml @@ -0,0 +1,28 @@ + + + semantic_pointcloud + 0.0.0 + The semantic_pointcloud package + Gian Erni + + + + MIT + + + https://github.com/leggedrobotics/elevation_mapping_semantic_cupy + + + Gian Erni + + catkin + rospy + roslib + tf + tf_conversions + sensor_msgs + std_msgs + geometry_msgs + + + diff --git a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/DINO/__init__.py b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/DINO/__init__.py new file mode 100644 index 00000000..e69de29b diff --git a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/DINO/modules.py b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/DINO/modules.py new file mode 100644 index 00000000..f2a9f996 --- /dev/null +++ b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/DINO/modules.py @@ -0,0 +1,112 @@ +import semantic_pointcloud.DINO.vision_transformer as vits +# import vision_transformer as vits +import torch.nn as nn +import torch.nn.functional as F +import torch + + +class DinoFeaturizer(nn.Module): + + def __init__(self, weights, cfg): + super().__init__() + self.cfg = cfg + self.dim = cfg.dim + + self.feat_type = self.cfg.dino_feat_type + arch = self.cfg.model + self.model = vits.__dict__[arch]( + patch_size=self.cfg.patch_size, + num_classes=0) + for p in self.model.parameters(): + p.requires_grad = False + self.model.eval().cuda() + self.dropout = torch.nn.Dropout2d(p=.1) + + if arch == "vit_small" and self.cfg.patch_size == 16: + url = "dino_deitsmall16_pretrain/dino_deitsmall16_pretrain.pth" + elif arch == "vit_small" and self.cfg.patch_size == 8: + url = "dino_deitsmall8_300ep_pretrain/dino_deitsmall8_300ep_pretrain.pth" + elif arch == "vit_base" and self.cfg.patch_size == 16: + url = "dino_vitbase16_pretrain/dino_vitbase16_pretrain.pth" + elif arch == "vit_base" and self.cfg.patch_size == 8: + url = "dino_vitbase8_pretrain/dino_vitbase8_pretrain.pth" + else: + raise ValueError("Unknown arch and patch size") + + + # if cfg.pretrained_weights is not None: + # state_dict = torch.load(cfg.pretrained_weights, map_location="cpu") + # state_dict = state_dict["teacher"] + # # remove `module.` prefix + # state_dict = {k.replace("module.", ""): v for k, v in state_dict.items()} + # # remove `backbone.` prefix induced by multicrop wrapper + # state_dict = {k.replace("backbone.", ""): v for k, v in state_dict.items()} + # + # # state_dict = {k.replace("projection_head", "mlp"): v for k, v in state_dict.items()} + # # state_dict = {k.replace("prototypes", "last_layer"): v for k, v in state_dict.items()} + # + # msg = self.model.load_state_dict(state_dict, strict=False) + # print('Pretrained weights found at {} and loaded with msg: {}'.format(cfg.pretrained_weights, msg)) + # else: + # print("Since no pretrained weights have been provided, we load the reference pretrained DINO weights.") + state_dict = torch.hub.load_state_dict_from_url(url="https://dl.fbaipublicfiles.com/dino/" + url) + + self.model.load_state_dict(state_dict, strict=True) + + if arch == "vit_small": + self.n_feats = 384 + else: + self.n_feats = 768 + self.cluster1 = self.make_clusterer(self.n_feats) + self.proj_type = cfg.projection_type + if self.proj_type == "nonlinear": + self.cluster2 = self.make_nonlinear_clusterer(self.n_feats) + + def make_clusterer(self, in_channels): + return torch.nn.Sequential( + torch.nn.Conv2d(in_channels, self.dim, (1, 1))) # , + + def make_nonlinear_clusterer(self, in_channels): + return torch.nn.Sequential( + torch.nn.Conv2d(in_channels, in_channels, (1, 1)), + torch.nn.ReLU(), + torch.nn.Conv2d(in_channels, self.dim, (1, 1))) + + def forward(self, img, n=1, return_class_feat=False): + self.model.eval() + with torch.no_grad(): + assert (img.shape[2] % self.cfg.patch_size == 0) + assert (img.shape[3] % self.cfg.patch_size == 0) + + # get selected layer activations + feat, attn, qkv = self.model.get_intermediate_feat(img, n=n) + feat, attn, qkv = feat[0], attn[0], qkv[0] + + feat_h = img.shape[2] // self.cfg.patch_size + feat_w = img.shape[3] // self.cfg.patch_size + + if self.feat_type == "feat": + image_feat = feat[:, 1:, :].reshape(feat.shape[0], feat_h, feat_w, -1).permute(0, 3, 1, 2) + elif self.feat_type == "KK": + image_k = qkv[1, :, :, 1:, :].reshape(feat.shape[0], 6, feat_h, feat_w, -1) + B, H, I, J, D = image_k.shape + image_feat = image_k.permute(0, 1, 4, 2, 3).reshape(B, H * D, I, J) + else: + raise ValueError("Unknown feat type:{}".format(self.feat_type)) + + if return_class_feat: + return feat[:, :1, :].reshape(feat.shape[0], 1, 1, -1).permute(0, 3, 1, 2) + + if self.proj_type is not None: + code = self.cluster1(self.dropout(image_feat)) + if self.proj_type == "nonlinear": + code += self.cluster2(self.dropout(image_feat)) + else: + code = image_feat + + if self.cfg.dropout: + return self.dropout(image_feat), code + else: + return image_feat, code + + diff --git a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/DINO/utils.py b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/DINO/utils.py new file mode 100644 index 00000000..1bc84057 --- /dev/null +++ b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/DINO/utils.py @@ -0,0 +1,46 @@ +import torch +import warnings +import math + + +def _no_grad_trunc_normal_(tensor, mean, std, a, b): + # Cut & paste from PyTorch official master until it's in a few official releases - RW + # Method based on https://people.sc.fsu.edu/~jburkardt/presentations/truncated_normal.pdf + def norm_cdf(x): + # Computes standard normal cumulative distribution function + return (1.0 + math.erf(x / math.sqrt(2.0))) / 2.0 + + if (mean < a - 2 * std) or (mean > b + 2 * std): + warnings.warn( + "mean is more than 2 std from [a, b] in nn.init.trunc_normal_. " + "The distribution of values may be incorrect.", + stacklevel=2, + ) + + with torch.no_grad(): + # Values are generated by using a truncated uniform distribution and + # then using the inverse CDF for the normal distribution. + # Get upper and lower cdf values + l = norm_cdf((a - mean) / std) + u = norm_cdf((b - mean) / std) + + # Uniformly fill tensor with values from [l, u], then translate to + # [2l-1, 2u-1]. + tensor.uniform_(2 * l - 1, 2 * u - 1) + + # Use inverse cdf transform for normal distribution to get truncated + # standard normal + tensor.erfinv_() + + # Transform to proper mean, std + tensor.mul_(std * math.sqrt(2.0)) + tensor.add_(mean) + + # Clamp to ensure it's in the proper range + tensor.clamp_(min=a, max=b) + return tensor + + +def trunc_normal_(tensor, mean=0.0, std=1.0, a=-2.0, b=2.0): + # type: (Tensor, float, float, float, float) -> Tensor + return _no_grad_trunc_normal_(tensor, mean, std, a, b) diff --git a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/DINO/vision_transformer.py b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/DINO/vision_transformer.py new file mode 100644 index 00000000..26ad82af --- /dev/null +++ b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/DINO/vision_transformer.py @@ -0,0 +1,418 @@ +""" +Mostly copy-paste from timm library. +https://github.com/rwightman/pytorch-image-models/blob/master/timm/models/vision_transformer.py +""" +import math +from functools import partial + +import torch +import torch.nn as nn +from semantic_pointcloud.DINO.utils import trunc_normal_ + + +def drop_path(x, drop_prob: float = 0.0, training: bool = False): + if drop_prob == 0.0 or not training: + return x + keep_prob = 1 - drop_prob + shape = (x.shape[0],) + (1,) * ( + x.ndim - 1 + ) # work with diff dim tensors, not just 2D ConvNets + random_tensor = keep_prob + torch.rand(shape, dtype=x.dtype, device=x.device) + random_tensor.floor_() # binarize + output = x.div(keep_prob) * random_tensor + return output + + +class DropPath(nn.Module): + """Drop paths (Stochastic Depth) per sample (when applied in main path of residual blocks).""" + + def __init__(self, drop_prob=None): + super(DropPath, self).__init__() + self.drop_prob = drop_prob + + def forward(self, x): + return drop_path(x, self.drop_prob, self.training) + + +class Mlp(nn.Module): + def __init__( + self, + in_features, + hidden_features=None, + out_features=None, + act_layer=nn.GELU, + drop=0.0, + ): + super().__init__() + out_features = out_features or in_features + hidden_features = hidden_features or in_features + self.fc1 = nn.Linear(in_features, hidden_features) + self.act = act_layer() + self.fc2 = nn.Linear(hidden_features, out_features) + self.drop = nn.Dropout(drop) + + def forward(self, x): + x = self.fc1(x) + x = self.act(x) + x = self.drop(x) + x = self.fc2(x) + x = self.drop(x) + return x + + +class Attention(nn.Module): + def __init__( + self, + dim, + num_heads=8, + qkv_bias=False, + qk_scale=None, + attn_drop=0.0, + proj_drop=0.0, + ): + super().__init__() + self.num_heads = num_heads + head_dim = dim // num_heads + self.scale = qk_scale or head_dim**-0.5 + + self.qkv = nn.Linear(dim, dim * 3, bias=qkv_bias) + self.attn_drop = nn.Dropout(attn_drop) + self.proj = nn.Linear(dim, dim) + self.proj_drop = nn.Dropout(proj_drop) + + def forward(self, x, return_qkv=False): + B, N, C = x.shape + qkv = ( + self.qkv(x) + .reshape(B, N, 3, self.num_heads, C // self.num_heads) + .permute(2, 0, 3, 1, 4) + ) + q, k, v = qkv[0], qkv[1], qkv[2] + + attn = (q @ k.transpose(-2, -1)) * self.scale + attn = attn.softmax(dim=-1) + attn = self.attn_drop(attn) + + x = (attn @ v).transpose(1, 2).reshape(B, N, C) + x = self.proj(x) + x = self.proj_drop(x) + return x, attn, qkv + + +class Block(nn.Module): + def __init__( + self, + dim, + num_heads, + mlp_ratio=4.0, + qkv_bias=False, + qk_scale=None, + drop=0.0, + attn_drop=0.0, + drop_path=0.0, + act_layer=nn.GELU, + norm_layer=nn.LayerNorm, + ): + super().__init__() + self.norm1 = norm_layer(dim) + self.attn = Attention( + dim, + num_heads=num_heads, + qkv_bias=qkv_bias, + qk_scale=qk_scale, + attn_drop=attn_drop, + proj_drop=drop, + ) + self.drop_path = DropPath(drop_path) if drop_path > 0.0 else nn.Identity() + self.norm2 = norm_layer(dim) + mlp_hidden_dim = int(dim * mlp_ratio) + self.mlp = Mlp( + in_features=dim, + hidden_features=mlp_hidden_dim, + act_layer=act_layer, + drop=drop, + ) + + def forward(self, x, return_attention=False, return_qkv=False): + y, attn, qkv = self.attn(self.norm1(x)) + if return_attention: + return attn + x = x + self.drop_path(y) + x = x + self.drop_path(self.mlp(self.norm2(x))) + if return_qkv: + return x, attn, qkv + return x + + +class PatchEmbed(nn.Module): + """Image to Patch Embedding""" + + def __init__(self, img_size=224, patch_size=16, in_chans=3, embed_dim=768): + super().__init__() + num_patches = (img_size // patch_size) * (img_size // patch_size) + self.img_size = img_size + self.patch_size = patch_size + self.num_patches = num_patches + + self.proj = nn.Conv2d( + in_chans, embed_dim, kernel_size=patch_size, stride=patch_size + ) + + def forward(self, x): + B, C, H, W = x.shape + x = self.proj(x).flatten(2).transpose(1, 2) + return x + + +class VisionTransformer(nn.Module): + """Vision Transformer""" + + def __init__( + self, + img_size=[224], + patch_size=16, + in_chans=3, + num_classes=0, + embed_dim=768, + depth=12, + num_heads=12, + mlp_ratio=4.0, + qkv_bias=False, + qk_scale=None, + drop_rate=0.0, + attn_drop_rate=0.0, + drop_path_rate=0.0, + norm_layer=nn.LayerNorm, + **kwargs + ): + super().__init__() + + self.num_features = self.embed_dim = embed_dim + + self.patch_embed = PatchEmbed( + img_size=img_size[0], + patch_size=patch_size, + in_chans=in_chans, + embed_dim=embed_dim, + ) + num_patches = self.patch_embed.num_patches + + self.cls_token = nn.Parameter(torch.zeros(1, 1, embed_dim)) + self.pos_embed = nn.Parameter(torch.zeros(1, num_patches + 1, embed_dim)) + self.pos_drop = nn.Dropout(p=drop_rate) + + dpr = [ + x.item() for x in torch.linspace(0, drop_path_rate, depth) + ] # stochastic depth decay rule + self.blocks = nn.ModuleList( + [ + Block( + dim=embed_dim, + num_heads=num_heads, + mlp_ratio=mlp_ratio, + qkv_bias=qkv_bias, + qk_scale=qk_scale, + drop=drop_rate, + attn_drop=attn_drop_rate, + drop_path=dpr[i], + norm_layer=norm_layer, + ) + for i in range(depth) + ] + ) + self.norm = norm_layer(embed_dim) + + # Classifier head + self.head = ( + nn.Linear(embed_dim, num_classes) if num_classes > 0 else nn.Identity() + ) + + trunc_normal_(self.pos_embed, std=0.02) + trunc_normal_(self.cls_token, std=0.02) + self.apply(self._init_weights) + + def _init_weights(self, m): + if isinstance(m, nn.Linear): + trunc_normal_(m.weight, std=0.02) + if isinstance(m, nn.Linear) and m.bias is not None: + nn.init.constant_(m.bias, 0) + elif isinstance(m, nn.LayerNorm): + nn.init.constant_(m.bias, 0) + nn.init.constant_(m.weight, 1.0) + + def interpolate_pos_encoding(self, x, w, h): + npatch = x.shape[1] - 1 + N = self.pos_embed.shape[1] - 1 + if npatch == N and w == h: + return self.pos_embed + class_pos_embed = self.pos_embed[:, 0] + patch_pos_embed = self.pos_embed[:, 1:] + dim = x.shape[-1] + w0 = w // self.patch_embed.patch_size + h0 = h // self.patch_embed.patch_size + # we add a small number to avoid floating point error in the interpolation + # see discussion at https://github.com/facebookresearch/dino/issues/8 + w0, h0 = w0 + 0.1, h0 + 0.1 + patch_pos_embed = nn.functional.interpolate( + patch_pos_embed.reshape( + 1, int(math.sqrt(N)), int(math.sqrt(N)), dim + ).permute(0, 3, 1, 2), + scale_factor=(w0 / math.sqrt(N), h0 / math.sqrt(N)), + mode="bicubic", + ) + assert ( + int(w0) == patch_pos_embed.shape[-2] + and int(h0) == patch_pos_embed.shape[-1] + ) + patch_pos_embed = patch_pos_embed.permute(0, 2, 3, 1).view(1, -1, dim) + return torch.cat((class_pos_embed.unsqueeze(0), patch_pos_embed), dim=1) + + def prepare_tokens(self, x): + B, nc, w, h = x.shape + x = self.patch_embed(x) # patch linear embedding + + # add the [CLS] token to the embed patch tokens + cls_tokens = self.cls_token.expand(B, -1, -1) + x = torch.cat((cls_tokens, x), dim=1) + + # add positional encoding to each token + x = x + self.interpolate_pos_encoding(x, w, h) + + return self.pos_drop(x) + + def forward(self, x): + x = self.prepare_tokens(x) + for blk in self.blocks: + x = blk(x) + x = self.norm(x) + return x[:, 0] + + def forward_feats(self, x): + x = self.prepare_tokens(x) + for blk in self.blocks: + x = blk(x) + x = self.norm(x) + return x + + def get_intermediate_feat(self, x, n=1): + x = self.prepare_tokens(x) + # we return the output tokens from the `n` last blocks + feat = [] + attns = [] + qkvs = [] + for i, blk in enumerate(self.blocks): + x, attn, qkv = blk(x, return_qkv=True) + if len(self.blocks) - i <= n: + feat.append(self.norm(x)) + qkvs.append(qkv) + attns.append(attn) + return feat, attns, qkvs + + def get_last_selfattention(self, x): + x = self.prepare_tokens(x) + for i, blk in enumerate(self.blocks): + if i < len(self.blocks) - 1: + x = blk(x) + else: + # return attention of the last block + return blk(x, return_attention=True) + + def get_intermediate_layers(self, x, n=1): + x = self.prepare_tokens(x) + # we return the output tokens from the `n` last blocks + output = [] + for i, blk in enumerate(self.blocks): + x = blk(x) + if len(self.blocks) - i <= n: + output.append(self.norm(x)) + return output + + +def vit_tiny(patch_size=16, **kwargs): + model = VisionTransformer( + patch_size=patch_size, + embed_dim=192, + depth=12, + num_heads=3, + mlp_ratio=4, + qkv_bias=True, + norm_layer=partial(nn.LayerNorm, eps=1e-6), + **kwargs + ) + return model + + +def vit_small(patch_size=16, **kwargs): + model = VisionTransformer( + patch_size=patch_size, + embed_dim=384, + depth=12, + num_heads=6, + mlp_ratio=4, + qkv_bias=True, + norm_layer=partial(nn.LayerNorm, eps=1e-6), + **kwargs + ) + return model + + +def vit_base(patch_size=16, **kwargs): + model = VisionTransformer( + patch_size=patch_size, + embed_dim=768, + depth=12, + num_heads=12, + mlp_ratio=4, + qkv_bias=True, + norm_layer=partial(nn.LayerNorm, eps=1e-6), + **kwargs + ) + return model + + +class DINOHead(nn.Module): + def __init__( + self, + in_dim, + out_dim, + use_bn=False, + norm_last_layer=True, + nlayers=3, + hidden_dim=2048, + bottleneck_dim=256, + ): + super().__init__() + nlayers = max(nlayers, 1) + if nlayers == 1: + self.mlp = nn.Linear(in_dim, bottleneck_dim) + else: + layers = [nn.Linear(in_dim, hidden_dim)] + if use_bn: + layers.append(nn.BatchNorm1d(hidden_dim)) + layers.append(nn.GELU()) + for _ in range(nlayers - 2): + layers.append(nn.Linear(hidden_dim, hidden_dim)) + if use_bn: + layers.append(nn.BatchNorm1d(hidden_dim)) + layers.append(nn.GELU()) + layers.append(nn.Linear(hidden_dim, bottleneck_dim)) + self.mlp = nn.Sequential(*layers) + self.apply(self._init_weights) + self.last_layer = nn.utils.weight_norm( + nn.Linear(bottleneck_dim, out_dim, bias=False) + ) + self.last_layer.weight_g.data.fill_(1) + if norm_last_layer: + self.last_layer.weight_g.requires_grad = False + + def _init_weights(self, m): + if isinstance(m, nn.Linear): + trunc_normal_(m.weight, std=0.02) + if isinstance(m, nn.Linear) and m.bias is not None: + nn.init.constant_(m.bias, 0) + + def forward(self, x): + x = self.mlp(x) + x = nn.functional.normalize(x, dim=-1, p=2) + x = self.last_layer(x) + return x diff --git a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/__init__.py b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/__init__.py new file mode 100644 index 00000000..e69de29b diff --git a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_node.py b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_node.py new file mode 100755 index 00000000..c22d8b41 --- /dev/null +++ b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_node.py @@ -0,0 +1,184 @@ +import rospy +import sys + +import numpy as np +import cupy as cp +import ros_numpy + +import message_filters +from sensor_msgs.msg import Image, CameraInfo +from sensor_msgs.msg import PointCloud2 +from cv_bridge import CvBridge + +from semantic_pointcloud.pointcloud_parameters import PointcloudParameter +from semantic_pointcloud.utils import resolve_model + + +class PointcloudNode: + def __init__(self, sensor_name): + # TODO: if this is going to be loaded from another package we might need to change namespace + config = rospy.get_param("/semantic_pointcloud/subscribers") + print(config) + print(len(config)) + self.param: PointcloudParameter = PointcloudParameter.from_dict( + config[sensor_name] + ) + self.param.sensor_name = sensor_name + print(self.param.dumps_yaml()) + # setup custom dtype + self.create_custom_dtype() + # setup semantics + self.feature_extractor = None + self.semantic_model = None + self.initialize_semantics() + + # setup pointcloud creation + self.cv_bridge = CvBridge() + self.P = None + + rospy.Subscriber(self.param.cam_info_topic, CameraInfo, self.cam_info_callback) + rgb_sub = message_filters.Subscriber(self.param.image_topic, Image) + depth_sub = message_filters.Subscriber(self.param.depth_topic, Image) + confidence_sub = message_filters.Subscriber(self.param.confidence_topic, Image) + ts = message_filters.ApproximateTimeSynchronizer( + [ + rgb_sub, + depth_sub, + confidence_sub, + ], + queue_size=10, + slop=0.5, + ) + ts.registerCallback(self.image_callback) + + self.pcl_pub = rospy.Publisher(self.param.topic_name, PointCloud2, queue_size=2) + + def initialize_semantics(self): + if self.param.semantic_segmentation: + self.semantic_model = resolve_model(self.param.segmentation_model) + class_to_idx = { + cls: idx + for (idx, cls) in enumerate(self.semantic_model["model"].get_classes()) + } + print( + "Semantic Segmentation possible channels: ", + self.semantic_model["model"].get_classes(), + ) + indices = [] + channels = [] + for chan in self.param.channels: + if chan in [cls for cls in list(class_to_idx.keys())]: + indices.append(class_to_idx[chan]) + channels.append(chan) + self.segmentation_channels = dict(zip(channels, indices)) + if self.param.feature_extractor: + self.feature_channels = [] + for i, fusion in enumerate(self.param.fusion): + if fusion == "average": + self.feature_channels.append(self.param.channels[i]) + assert len(self.feature_channels) > 0 + self.feature_extractor = resolve_model( + self.param.feature_config.name, self.param.feature_config + ) + + def create_custom_dtype(self): + self.dtype = [ + ("x", np.float32), + ("y", np.float32), + ("z", np.float32), + ] + for chan in self.param.channels: + self.dtype.append((chan, np.float32)) + print(self.dtype) + + def cam_info_callback(self, msg): + a = cp.asarray(msg.P) + self.P = cp.resize(a, (3, 4)) + self.height = msg.height + self.width = msg.width + + def image_callback(self, rgb_msg, depth_msg, confidence_msg): + if self.P is None: + print("No cam info topic has been published yet!") + return + image = cp.asarray( + self.cv_bridge.imgmsg_to_cv2(rgb_msg, desired_encoding="rgb8") + ) + depth = cp.asarray( + self.cv_bridge.imgmsg_to_cv2(depth_msg, desired_encoding="passthrough") + ) + confidence = cp.asarray( + self.cv_bridge.imgmsg_to_cv2(confidence_msg, desired_encoding="passthrough") + ) + + pcl = self.create_pcl_from_image(image, depth, confidence) + + self.publish_pointcloud(pcl, depth_msg.header) + + def create_pcl_from_image(self, image, depth, confidence): + u, v = self.get_coordinates(depth, confidence) + + # create pointcloud + world_x = (u.astype(np.float32) - self.P[0, 2]) * depth[v, u] / self.P[0, 0] + world_y = (v.astype(np.float32) - self.P[1, 2]) * depth[v, u] / self.P[1, 1] + world_z = depth[v, u] + points = np.zeros(world_x.shape, dtype=self.dtype) + points["x"] = cp.asnumpy(world_x) + points["y"] = cp.asnumpy(world_y) + points["z"] = cp.asnumpy(world_z) + self.process_image(image, u, v, points) + return points + + def get_coordinates(self, depth, confidence): + pos = cp.where(depth > 0, 1, 0) + low = cp.where(depth < 8, 1, 0) + conf = cp.where(confidence >= self.param.confidence_threshold, 1, 0) + fin = cp.isfinite(depth) + temp = cp.maximum(cp.rint(fin + pos + conf + low - 2.6), 0) + mask = cp.nonzero(temp) + u = mask[1] + v = mask[0] + return u, v + + def publish_pointcloud(self, pcl, header): + pc2 = ros_numpy.msgify(PointCloud2, pcl) + pc2.header = header + pc2.header.frame_id = self.param.cam_frame + self.pcl_pub.publish(pc2) + + def process_image(self, image, u, v, points): + if "color" in self.param.fusion: + valid_rgb = image[v, u].get() + r = np.asarray(valid_rgb[:, 0], dtype=np.uint32) + g = np.asarray(valid_rgb[:, 1], dtype=np.uint32) + b = np.asarray(valid_rgb[:, 2], dtype=np.uint32) + rgb_arr = np.array((r << 16) | (g << 8) | (b << 0), dtype=np.uint32) + rgb_arr.dtype = np.float32 + position = self.param.fusion.index("color") + points[self.param.channels[position]] = rgb_arr + + if self.segmentation_channels is not None: + self.perform_segmentation(image, points, u, v) + if self.feature_channels is not None: + # TODO is no return needed? + self.extract_features(image, points, u, v) + + def perform_segmentation(self, image, points, u, v): + prediction = self.semantic_model["model"](image) + mask = prediction[list(self.segmentation_channels.values())] + values = mask[:, v.get(), u.get()].cpu().detach().numpy() + for it, channel in enumerate(self.segmentation_channels.keys()): + points[channel] = values[it] + + def extract_features(self, image, points, u, v): + prediction = self.feature_extractor["model"](image) + values = prediction[:, v.get(), u.get()].cpu().detach().numpy() + for it, channel in enumerate(self.feature_channels): + points[channel] = values[it] + + +if __name__ == "__main__": + sensor_name = sys.argv[1] + rospy.init_node("semantic_pointcloud_node", anonymous=True, log_level=rospy.INFO) + node = PointcloudNode(sensor_name) + rospy.spin() diff --git a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_parameters.py b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_parameters.py new file mode 100644 index 00000000..3474f8d4 --- /dev/null +++ b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_parameters.py @@ -0,0 +1,37 @@ +from dataclasses import dataclass, field +from simple_parsing.helpers import Serializable +from typing import Tuple, List + + +@dataclass +class FeatureExtractorParameter(Serializable): + name: str = "DINO" + interpolation: str = "bilinear" + model: str = "vit_small" + patch_size: int = 16 + dim: int = 5 + dropout: bool = False + dino_feat_type: str = "feat" + projection_type: str = "nonlinear" + input_size: List[int] = field(default_factory=[80, 160].copy) + + +@dataclass +class PointcloudParameter(Serializable): + sensor_name: str = "camera" + topic_name: str = "/elvation_mapping/pointcloud_semantic" + channels: list = ["rgb", "feat_0", "feat_1", "c_prob_0"].copy + fusion: list = ["color", "average", "average", "class_average"].copy + + semantic_segmentation: bool = True + segmentation_model: str = "detectron_coco_panoptic_fpn_R_101_3x" + + cam_info_topic: str = "/zed2i/zed_node/depth/camera_info" + image_topic: str = "/zed2i/zed_node/left/image_rect_color" + depth_topic: str = "/zed2i/zed_node/depth/depth_registered" + cam_frame: str = "zed2i_right_camera_optical_frame" + confidence_topic: str = "/zed2i/zed_node/confidence/confidence_map" + confidence_threshold: int = 10 + + feature_extractor: bool = True + feature_config: FeatureExtractorParameter = FeatureExtractorParameter diff --git a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/tests/__init__.py b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/tests/__init__.py new file mode 100644 index 00000000..e69de29b diff --git a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/tests/test_pointcloud.py b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/tests/test_pointcloud.py new file mode 100644 index 00000000..ee5dcf4e --- /dev/null +++ b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/tests/test_pointcloud.py @@ -0,0 +1,18 @@ +import pytest +from ..pointcloud_node import PointcloudNode + + +@pytest.fixture() +def pointcloud_ex(cam_name): + node = PointcloudNode(cam_name) + return node + + +@pytest.mark.parametrize( + "cam_name", + [ + "front_cam", + ], +) +def test_initialize_semantics(pointcloud_ex): + pointcloud_ex.initialize_semantics() diff --git a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/tests/test_utils.py b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/tests/test_utils.py new file mode 100644 index 00000000..86ad0899 --- /dev/null +++ b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/tests/test_utils.py @@ -0,0 +1,41 @@ +import pytest +from semantic_pointcloud.utils import resolve_model +import cupy as cp +import torch +from semantic_pointcloud.pointcloud_parameters import FeatureExtractorParameter + + +@pytest.mark.parametrize( + "model_name", + [ + "fcn_resnet50", + "lraspp_mobilenet_v3_large", + "detectron_coco_panoptic_fpn_R_101_3x", + ], +) +def test_semantic_segmentation(model_name): + m = resolve_model(model_name) + im_sz = [360, 640] + image = cp.random.random((im_sz[0], im_sz[1], 3)) + classes = m["model"].get_classes() + assert type(classes) is list + prediction = m["model"](image) + assert prediction.shape == torch.Size([len(classes), im_sz[0], im_sz[1]]) + assert (prediction <= 1).all() + assert (0 <= prediction).all() + + +@pytest.mark.parametrize( + "model_name", + [ + "DINO", + ], +) +def test_feature_extractor(model_name): + param = FeatureExtractorParameter() + m = resolve_model(model_name, param) + im_sz = [320, 640] + image = cp.random.random((im_sz[0], im_sz[1], 3)) + prediction = m["model"](image.get()) + assert prediction.shape == torch.Size([param.dim, im_sz[0], im_sz[1]]) + assert prediction.shape[-2:] == torch.Size([im_sz[0], im_sz[1]]) diff --git a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/utils.py b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/utils.py new file mode 100644 index 00000000..9fe62de8 --- /dev/null +++ b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/utils.py @@ -0,0 +1,177 @@ +from torchvision.models.segmentation import fcn_resnet50, FCN_ResNet50_Weights +from torchvision.models.segmentation import ( + lraspp_mobilenet_v3_large, + LRASPP_MobileNet_V3_Large_Weights, +) +import torch +import torchvision.transforms.functional as TF +from torchvision.transforms import Resize +import torch.nn.functional as NF +import numpy as np + +# Setup detectron2 logger +# import detectron2 +from detectron2.utils.logger import setup_logger + +setup_logger() + + +# import some common detectron2 utilities +from detectron2 import model_zoo +from detectron2.engine import DefaultPredictor +from detectron2.config import get_cfg +from detectron2.data import MetadataCatalog + +from semantic_pointcloud.DINO.modules import DinoFeaturizer + +# from .DINO.modules import DinoFeaturizer +from semantic_pointcloud.pointcloud_parameters import ( + PointcloudParameter, + FeatureExtractorParameter, +) + +# from .pointcloud_parameters import PointcloudParameter, FeatureExtractorParameter + + +def resolve_model(name, config: FeatureExtractorParameter = None): + """Get the model class based on the name of the pretrained model. + + Args: + name (str): Name of pretrained model + [fcn_resnet50,lraspp_mobilenet_v3_large,detectron_coco_panoptic_fpn_R_101_3x] + + Returns: + Dict[str, str]: + """ + if name == "fcn_resnet50": + weights = FCN_ResNet50_Weights.DEFAULT + net = fcn_resnet50 + model = PytorchModel(net, weights) + return { + "name": "fcn_resnet50", + "model": model, + } + elif name == "lraspp_mobilenet_v3_large": + weights = LRASPP_MobileNet_V3_Large_Weights.DEFAULT + net = lraspp_mobilenet_v3_large + model = PytorchModel(net, weights) + return { + "name": "lraspp_mobilenet_v3_large", + "model": model, + } + elif name == "detectron_coco_panoptic_fpn_R_101_3x": + net = "" + # "Cityscapes/mask_rcnn_R_50_FPN.yaml" + # "Misc/semantic_R_50_FPN_1x.yaml" + # "Cityscapes-SemanticSegmentation/deeplab_v3_plus_R_103_os16_mg124_poly_90k_bs16.yaml" + # "COCO-PanopticSegmentation/panoptic_fpn_R_101_3x.yaml" + weights = "COCO-PanopticSegmentation/panoptic_fpn_R_101_3x.yaml" + model = DetectronModel(net, weights) + return { + "name": "detectron_coco_panoptic_fpn_R_101_3x", + "model": model, + } + elif name == "DINO": + weights = config.model + str(config.patch_size) + model = STEGOModel(weights, config) + return { + "name": config.model + str(config.patch_size), + "model": model, + } + else: + raise NotImplementedError + + +class PytorchModel: + def __init__(self, net, weights): + self.model = net(weights) + self.weights = weights + self.model.eval() + device = torch.device("cuda:0" if torch.cuda.is_available() else "cpu") + self.model.to(device=device) + + def __call__(self, image, *args, **kwargs): + """Feewforward image through model. + + Args: + image (cupy._core.core.ndarray): + *args (): + **kwargs (): + + Returns: + torch.Tensor: + """ + batch = torch.as_tensor(image, device="cuda").permute(2, 0, 1).unsqueeze(0) + batch = TF.convert_image_dtype(batch, torch.float32) + prediction = self.model(batch)["out"] + normalized_masks = torch.squeeze(prediction.softmax(dim=1), dim=0) + return normalized_masks + + def get_classes(self): + """Get list of strings containing all the classes. + + Returns: + List[str]: List of classes + """ + return self.weights.meta["categories"] + + +class DetectronModel: + def __init__(self, net, weights): + self.cfg = get_cfg() + # add project-specific config (e.g., TensorMask) here if you're not running a model in detectron2's core library + self.cfg.merge_from_file(model_zoo.get_config_file(weights)) + self.cfg.MODEL.ROI_HEADS.SCORE_THRESH_TEST = 0.5 # set threshold for this model + # Find a model from detectron2's model zoo. You can use the https://dl.fbaipublicfiles... url as well + self.cfg.MODEL.WEIGHTS = model_zoo.get_checkpoint_url(weights) + self.predictor = DefaultPredictor(self.cfg) + + def __call__(self, image, *args, **kwargs): + # TODO: there are some instruction on how to change input type + prediction = self.predictor(image.get()) + # panoptic_seg, segments_info = self.predictor(image.get())["panoptic_seg"] + normalized_masks = prediction["sem_seg"].softmax(dim=1) + return normalized_masks + + def get_classes(self): + meta = MetadataCatalog.get(self.cfg.DATASETS.TRAIN[0]) + return meta.get("stuff_classes") + + +class STEGOModel: + def __init__(self, weights, cfg): + self.cfg: FeatureExtractorParameter = cfg + self.model = DinoFeaturizer(weights, cfg=self.cfg) + self.device = torch.device("cuda:0" if torch.cuda.is_available() else "cpu") + self.model.to(self.device) + self.model.eval() + self.shrink = Resize(size=(self.cfg.input_size[0], self.cfg.input_size[1])) + + def to_tensor(self, data): + data = data.astype(np.float32) + if len(data.shape) == 3: # transpose image-like data + data = data.transpose(2, 0, 1) + elif len(data.shape) == 2: + data = data.reshape((1,) + data.shape) + if len(data.shape) == 3 and data.shape[0] == 3: # normalization of rgb images + data = data / 255.0 + tens = torch.as_tensor(data, device="cuda") + return tens + + def __call__(self, image, *args, **kwargs): + # image = torch.as_tensor(image, device="cuda").permute(2, 0, 1).unsqueeze(0) + image = self.to_tensor(image).unsqueeze(0) + reset_size = Resize(image.shape[-2:]) + image = self.shrink(image) + image = TF.normalize( + image, mean=(0.485, 0.456, 0.406), std=(0.229, 0.224, 0.225) + ) + + feat1, code1 = self.model(image) + feat2, code2 = self.model(image.flip(dims=[3])) + code = (code1 + code2.flip(dims=[3])) / 2 + code = NF.interpolate( + code, image.shape[-2:], mode=self.cfg.interpolation, align_corners=False + ).detach() + code = torch.squeeze(reset_size(code), dim=0) + return code diff --git a/sensor_processing/semantic_pointcloud/setup.py b/sensor_processing/semantic_pointcloud/setup.py new file mode 100644 index 00000000..94ad1600 --- /dev/null +++ b/sensor_processing/semantic_pointcloud/setup.py @@ -0,0 +1,11 @@ +from distutils.core import setup +from catkin_pkg.python_setup import generate_distutils_setup + +setup_args = generate_distutils_setup( + packages=[ + 'semantic_pointcloud', + ], + package_dir={'': 'script'}, +) + +setup(**setup_args) From b93c0563909fc754e79152ef212a885dc06fa0ad Mon Sep 17 00:00:00 2001 From: Gian Erni Date: Thu, 3 Nov 2022 12:15:06 +0100 Subject: [PATCH 242/504] first --- .../config/plugin_config.yaml | 2 +- .../config/sensor_parameter.yaml | 7 +- .../plugins/inpainting.py | 1 + .../plugins/min_filter.py | 1 + .../plugins/plugin_manager.py | 64 ++++++++++++++++--- .../plugins/semantic_map.py | 53 +++++++++++++++ .../plugins/smooth_filter.py | 1 + 7 files changed, 117 insertions(+), 12 deletions(-) create mode 100644 elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_map.py diff --git a/elevation_mapping_cupy/config/plugin_config.yaml b/elevation_mapping_cupy/config/plugin_config.yaml index 1e37308c..42dbc318 100644 --- a/elevation_mapping_cupy/config/plugin_config.yaml +++ b/elevation_mapping_cupy/config/plugin_config.yaml @@ -26,7 +26,7 @@ inpainting: extra_params: method: "telea" # telea or ns # Apply smoothing for inpainted layer -smooth_filter_1: +smooth_filter_1: type: "smooth_filter" enable: True fill_nan: False diff --git a/elevation_mapping_cupy/config/sensor_parameter.yaml b/elevation_mapping_cupy/config/sensor_parameter.yaml index 1a9e6642..f3a36d9e 100644 --- a/elevation_mapping_cupy/config/sensor_parameter.yaml +++ b/elevation_mapping_cupy/config/sensor_parameter.yaml @@ -4,10 +4,10 @@ subscribers: # fusion: ['average','average'] # topic_name: '/elevation_mapping/pointcloud_semantic' front_cam: - channels: ['rgb','feat_0','feat_1','person','grass'] - fusion: ['color','average','average','class_average'] + channels: [] + fusion: [] topic_name: '/elvation_mapping/pointcloud_semantic' - semantic_segmentation: True + semantic_segmentation: False segmentation_model: 'detectron_coco_panoptic_fpn_R_101_3x' feature_config: name: 'DINO' @@ -26,6 +26,7 @@ subscribers: cam_frame: "zed2i_right_camera_optical_frame" confidence_topic: "/zed2i/zed_node/confidence/confidence_map" confidence_threshold: 10 + feature_extractor: False diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/inpainting.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/inpainting.py index 8c1ac90a..76dc2387 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/inpainting.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/inpainting.py @@ -38,6 +38,7 @@ def __call__( layer_names: List[str], plugin_layers: cp.ndarray, plugin_layer_names: List[str], + **kwargs, ) -> cp.ndarray: mask = cp.asnumpy((elevation_map[2] < 0.5).astype("uint8")) if (mask < 1).any(): diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/min_filter.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/min_filter.py index 90eeafc1..e85dd8fc 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/min_filter.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/min_filter.py @@ -94,6 +94,7 @@ def __call__( layer_names: List[str], plugin_layers: cp.ndarray, plugin_layer_names: List[str], + **kwargs, ) -> cp.ndarray: self.min_filtered = elevation_map[0].copy() self.min_filtered_mask = elevation_map[2].copy() diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/plugin_manager.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/plugin_manager.py index 064d267d..145d1169 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/plugin_manager.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/plugin_manager.py @@ -9,6 +9,7 @@ import inspect from dataclasses import dataclass from ruamel.yaml import YAML +from inspect import signature @dataclass @@ -38,6 +39,7 @@ def __call__( layer_names: List[str], plugin_layers: cp.ndarray, plugin_layer_names: List[str], + **kwargs, ) -> cp.ndarray: """This gets the elevation map data and plugin layers as a cupy array. @@ -75,9 +77,15 @@ def init(self, plugin_params: List[PluginParams], extra_params: List[Dict]): self.plugins = [] for param, extra_param in zip(plugin_params, extra_params): - m = importlib.import_module("." + param.name, package="elevation_mapping_cupy.plugins") # -> 'module' + m = importlib.import_module( + "." + param.name, package="elevation_mapping_cupy.plugins" + ) # -> 'module' for name, obj in inspect.getmembers(m): - if inspect.isclass(obj) and issubclass(obj, PluginBase) and name != "PluginBase": + if ( + inspect.isclass(obj) + # and issubclass(obj, PluginBase) + and name != "PluginBase" + ): # Add cell_n to params extra_param["cell_n"] = self.cell_n self.plugins.append(obj(**extra_param)) @@ -102,6 +110,7 @@ def load_plugin_settings(self, file_path: str): ) ) extra_params.append(v["extra_params"]) + print(plugin_params) self.init(plugin_params, extra_params) print("Loaded plugins are ", *self.plugin_names) @@ -133,10 +142,38 @@ def get_layer_index_with_name(self, name: str) -> int: print("Error with layer {}: {}".format(name, e)) return None - def update_with_name(self, name: str, elevation_map: cp.ndarray, layer_names: List[str]): + def update_with_name( + self, + name: str, + elevation_map: cp.ndarray, + layer_names: List[str], + semantic_map=None, + transform=None, + ): idx = self.get_layer_index_with_name(name) if idx is not None: - self.layers[idx] = self.plugins[idx](elevation_map, layer_names, self.layers, self.layer_names) + n_param = len(signature(self.plugins[idx]).parameters) + if n_param == 5: + self.layers[idx] = self.plugins[idx]( + elevation_map, layer_names, self.layers, self.layer_names + ) + elif n_param == 6: + self.layers[idx] = self.plugins[idx]( + elevation_map, + layer_names, + self.layers, + self.layer_names, + semantic_map, + ) + else: + self.layers[idx] = self.plugins[idx]( + elevation_map, + layer_names, + self.layers, + self.layer_names, + semantic_map, + transform, + ) def get_map_with_name(self, name: str) -> cp.ndarray: idx = self.get_layer_index_with_name(name) @@ -154,17 +191,28 @@ def get_param_with_name(self, name: str) -> PluginParams: PluginParams(name="min_filter", layer_name="min_filter"), PluginParams(name="smooth_filter", layer_name="smooth"), ] - extra_params = [{"dilation_size": 5, "iteration_n": 5}, {"input_layer_name": "elevation2"}] + extra_params = [ + {"dilation_size": 5, "iteration_n": 5}, + {"input_layer_name": "elevation2"}, + ] manager = PluginManager(200) - manager.load_plugin_settings("config/plugin_config.yaml") + manager.load_plugin_settings("../config/plugin_config.yaml") print(manager.layer_names) print(manager.plugin_names) elevation_map = cp.zeros((7, 200, 200)).astype(cp.float32) - layer_names = ["elevation", "variance", "is_valid", "traversability", "time", "upper_bound", "is_upper_bound"] + layer_names = [ + "elevation", + "variance", + "is_valid", + "traversability", + "time", + "upper_bound", + "is_upper_bound", + ] elevation_map[0] = cp.random.randn(200, 200) elevation_map[2] = cp.abs(cp.random.randn(200, 200)) print("map", elevation_map[0]) print("layer map ", manager.layers[0]) manager.update_with_name("min_filter", elevation_map, layer_names) - manager.update_with_name("smooth_filter", elevation_map, layer_names) + manager.update_with_name("smooth", elevation_map, layer_names) print(manager.get_map_with_name("smooth")) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_map.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_map.py new file mode 100644 index 00000000..9579f8b6 --- /dev/null +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_map.py @@ -0,0 +1,53 @@ +# +# Copyright (c) 2022, Takahiro Miki. All rights reserved. +# Licensed under the MIT license. See LICENSE file in the project root for details. +# +import cupy as cp +from typing import List +import cupyx.scipy.ndimage as ndimage + +from .plugin_manager import PluginBase +from elevation_mapping_cupy.semantic_map import SemanticMap + +class SemanticFilter(PluginBase): + """This is a filter to create colors + + ... + + Attributes + ---------- + cell_n: int + width and height of the elevation map. + """ + + def __init__(self, cell_n: int = 100, input_layer_name: str = "elevation", **kwargs): + super().__init__() + self.input_layer_name = input_layer_name + self.indices = [] + + def __call__( + self, + elevation_map: cp.ndarray, + layer_names: List[str], + plugin_layers: cp.ndarray, + plugin_layer_names: List[str], + semantic_map: SemanticMap, + **kwargs, + ) -> cp.ndarray: + # get indices of all layers that + semantic_map.param.additional_layers + # check which has the highest value + # create color coding + ################## + if self.input_layer_name in layer_names: + idx = layer_names.index(self.input_layer_name) + h = elevation_map[idx] + elif self.input_layer_name in plugin_layer_names: + idx = plugin_layer_names.index(self.input_layer_name) + h = plugin_layers[idx] + else: + print("layer name {} was not found. Using elevation layer.".format(self.input_layer_name)) + h = elevation_map[0] + hs1 = ndimage.uniform_filter(h, size=3) + hs1 = ndimage.uniform_filter(hs1, size=3) + return hs1 diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/smooth_filter.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/smooth_filter.py index d9ad76ac..5ac2f5c4 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/smooth_filter.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/smooth_filter.py @@ -30,6 +30,7 @@ def __call__( layer_names: List[str], plugin_layers: cp.ndarray, plugin_layer_names: List[str], + **kwargs, ) -> cp.ndarray: if self.input_layer_name in layer_names: idx = layer_names.index(self.input_layer_name) From 08160028ef28efd1d951d495bd2a8196833b15aa Mon Sep 17 00:00:00 2001 From: Gian Erni Date: Thu, 3 Nov 2022 13:22:48 +0100 Subject: [PATCH 243/504] fixed two problems in pointcloud --- elevation_mapping_cupy/config/sensor_parameter.yaml | 5 +++-- .../script/semantic_pointcloud/pointcloud_node.py | 2 ++ 2 files changed, 5 insertions(+), 2 deletions(-) diff --git a/elevation_mapping_cupy/config/sensor_parameter.yaml b/elevation_mapping_cupy/config/sensor_parameter.yaml index 1a9e6642..a093c1f4 100644 --- a/elevation_mapping_cupy/config/sensor_parameter.yaml +++ b/elevation_mapping_cupy/config/sensor_parameter.yaml @@ -4,8 +4,8 @@ subscribers: # fusion: ['average','average'] # topic_name: '/elevation_mapping/pointcloud_semantic' front_cam: - channels: ['rgb','feat_0','feat_1','person','grass'] - fusion: ['color','average','average','class_average'] + channels: [] + fusion: [] topic_name: '/elvation_mapping/pointcloud_semantic' semantic_segmentation: True segmentation_model: 'detectron_coco_panoptic_fpn_R_101_3x' @@ -26,6 +26,7 @@ subscribers: cam_frame: "zed2i_right_camera_optical_frame" confidence_topic: "/zed2i/zed_node/confidence/confidence_map" confidence_threshold: 10 + feature_extractor: False diff --git a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_node.py b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_node.py index c22d8b41..e548deba 100755 --- a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_node.py +++ b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_node.py @@ -30,6 +30,8 @@ def __init__(self, sensor_name): # setup semantics self.feature_extractor = None self.semantic_model = None + self.segmentation_channels = None + self.feature_channels = None self.initialize_semantics() # setup pointcloud creation From ce611e5c8f1c43916884d626334207c441995326 Mon Sep 17 00:00:00 2001 From: Gian Erni Date: Fri, 4 Nov 2022 14:53:49 +0100 Subject: [PATCH 244/504] changed to float32, added the color plugin for the classes and added first plugin tests --- elevation_mapping_cupy/config/parameters.yaml | 2 +- .../config/plugin_config.yaml | 13 +++- .../config/sensor_parameter.yaml | 4 +- .../rviz/lonomy_single.rviz | 8 +-- .../elevation_mapping_cupy/custom_kernels.py | 7 +- .../elevation_mapping.py | 45 ++++++------ .../elevation_mapping_cupy/parameter.py | 1 + .../plugins/plugin_manager.py | 10 +-- .../plugins/semantic_filter.py | 71 +++++++++++++++++++ .../plugins/semantic_map.py | 53 -------------- .../elevation_mapping_cupy/semantic_map.py | 14 ++-- .../tests/test_elevation_mapping.py | 26 +++---- .../tests/test_plugins.py | 61 ++++++++++++++++ .../config/sensor_parameter.yaml | 2 +- 14 files changed, 207 insertions(+), 110 deletions(-) create mode 100644 elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_filter.py delete mode 100644 elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_map.py create mode 100644 elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_plugins.py diff --git a/elevation_mapping_cupy/config/parameters.yaml b/elevation_mapping_cupy/config/parameters.yaml index dc59828d..945b1486 100644 --- a/elevation_mapping_cupy/config/parameters.yaml +++ b/elevation_mapping_cupy/config/parameters.yaml @@ -81,7 +81,7 @@ publishers: basic_layers: ['elevation', 'traversability'] fps: 2.0 elevation_map_filter: - layers: ['min_filter', 'smooth', 'inpaint', 'upper_bound','rgb','person'] + layers: ['min_filter', 'smooth', 'inpaint', 'upper_bound','rgb','sem_fil'] basic_layers: ['min_filter'] fps: 3.0 diff --git a/elevation_mapping_cupy/config/plugin_config.yaml b/elevation_mapping_cupy/config/plugin_config.yaml index 42dbc318..06d56bc4 100644 --- a/elevation_mapping_cupy/config/plugin_config.yaml +++ b/elevation_mapping_cupy/config/plugin_config.yaml @@ -18,7 +18,7 @@ smooth_filter: extra_params: input_layer_name: "min_filter" # Apply inpainting using opencv -inpainting: +inpainting: enable: True fill_nan: False is_height_layer: True @@ -34,3 +34,14 @@ smooth_filter_1: layer_name: "smooth_1" extra_params: input_layer_name: "inpaint" + +semantic_filter: + type: "semantic_filter" + enable: False + fill_nan: False + is_height_layer: False + layer_name: "sem_fil" + extra_params: +# TODO make a better link between classes and color + classes: ['grass','tree','fence','person'] + colors: [[0,255,0],[120,120,0],[170,0,20],[0,0,255],[255,0,0]] \ No newline at end of file diff --git a/elevation_mapping_cupy/config/sensor_parameter.yaml b/elevation_mapping_cupy/config/sensor_parameter.yaml index f3a36d9e..f2074eb7 100644 --- a/elevation_mapping_cupy/config/sensor_parameter.yaml +++ b/elevation_mapping_cupy/config/sensor_parameter.yaml @@ -4,8 +4,8 @@ subscribers: # fusion: ['average','average'] # topic_name: '/elevation_mapping/pointcloud_semantic' front_cam: - channels: [] - fusion: [] + channels: ['rgb','feat_0','feat_1','grass','tree','fence','person'] + fusion: ['color','average','average','class_average','class_average','class_average','class_average'] topic_name: '/elvation_mapping/pointcloud_semantic' semantic_segmentation: False segmentation_model: 'detectron_coco_panoptic_fpn_R_101_3x' diff --git a/elevation_mapping_cupy/rviz/lonomy_single.rviz b/elevation_mapping_cupy/rviz/lonomy_single.rviz index d35d1a1b..3474e971 100644 --- a/elevation_mapping_cupy/rviz/lonomy_single.rviz +++ b/elevation_mapping_cupy/rviz/lonomy_single.rviz @@ -55,8 +55,8 @@ Visualization Manager: Autocompute Intensity Bounds: true Class: grid_map_rviz_plugin/GridMap Color: 200; 200; 200 - Color Layer: person - Color Transformer: IntensityLayer + Color Layer: rgb + Color Transformer: ColorLayer Enabled: true Height Layer: smooth Height Transformer: GridMapLayer @@ -449,9 +449,9 @@ Visualization Manager: Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Pitch: 0.5547983050346375 + Pitch: 0.6447982788085938 Target Frame: base_footprint - Yaw: 1.4138503074645996 + Yaw: 1.8688498735427856 Saved: ~ Window Geometry: Displays: diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/custom_kernels.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/custom_kernels.py index 8884660f..d8c53eac 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/custom_kernels.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/custom_kernels.py @@ -665,7 +665,7 @@ def sum_kernel( # input the list of layers, amount of channels can slo be input through kernel sum_kernel = cp.ElementwiseKernel( in_params="raw U p, raw U R, raw U t, raw W pcl_chan, raw W map_lay, raw W pcl_channels", - out_params="raw U map, raw T newmap", + out_params="raw U map, raw U newmap", preamble=string.Template( """ __device__ int get_map_idx(int idx, int layer_n) { @@ -681,7 +681,7 @@ def sum_kernel( U inside = p[i * pcl_channels[0] + 2]; if (valid) { if (inside) { - for ( int it=0;it 0: t = masked.sum() / masked_isvalid.sum() else: - t = cp.asarray(0.0) + t = cp.asarray(0.0,dtype=self.data_type) is_safe, un_polygon = is_traversable( masked, self.param.safe_thresh, self.param.safe_min_thresh, self.param.max_unsafe_n ) @@ -662,7 +661,7 @@ def initialize_map(self, points, method="cubic"): """ self.clear() with self.map_lock: - points = cp.asarray(points) + points = cp.asarray(points,dtype=self.data_type) indices = transform_to_map_index(points[:, :2], self.center[:2], self.cell_n, self.resolution) points[:, :2] = indices.astype(points.dtype) points[:, 2] -= self.center[2] @@ -708,7 +707,7 @@ def initialize_map(self, points, method="cubic"): for layer in layers: elevation.get_map_with_name_ref(layer, data) print(i) - polygon = cp.array([[0, 0], [2, 0], [0, 2]], dtype=np.float64) + polygon = cp.array([[0, 0], [2, 0], [0, 2]], dtype=param.data_type) result = np.array([0, 0, 0]) elevation.get_polygon_traversability(polygon, result) print(result) \ No newline at end of file diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py index 5b58620d..486e6caa 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py @@ -14,6 +14,7 @@ class Parameter(Serializable): additional_layers: list = ['feat_0'].copy fusion_algorithms: list = ['average'].copy cell_n: int = None + data_type: str = np.float32 map_length: float = 10.0 sensor_noise_factor: float = 0.05 diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/plugin_manager.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/plugin_manager.py index 145d1169..26a076d9 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/plugin_manager.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/plugin_manager.py @@ -89,8 +89,9 @@ def init(self, plugin_params: List[PluginParams], extra_params: List[Dict]): # Add cell_n to params extra_param["cell_n"] = self.cell_n self.plugins.append(obj(**extra_param)) - - self.layers = cp.zeros((len(self.plugins), self.cell_n, self.cell_n)) + self.layers = cp.zeros( + (len(self.plugins), self.cell_n, self.cell_n), dtype=cp.float32 + ) self.layer_names = self.get_layer_names() self.plugin_names = self.get_plugin_names() @@ -212,7 +213,8 @@ def get_param_with_name(self, name: str) -> PluginParams: elevation_map[0] = cp.random.randn(200, 200) elevation_map[2] = cp.abs(cp.random.randn(200, 200)) print("map", elevation_map[0]) - print("layer map ", manager.layers[0]) + print("layer map ", manager.layers) manager.update_with_name("min_filter", elevation_map, layer_names) - manager.update_with_name("smooth", elevation_map, layer_names) + manager.update_with_name("smooth_filter", elevation_map, layer_names) + # manager.update_with_name("sem_fil", elevation_map, layer_names, semantic_map=semantic_map) print(manager.get_map_with_name("smooth")) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_filter.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_filter.py new file mode 100644 index 00000000..1fb86733 --- /dev/null +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_filter.py @@ -0,0 +1,71 @@ +# +# Copyright (c) 2022, Takahiro Miki. All rights reserved. +# Licensed under the MIT license. See LICENSE file in the project root for details. +# +import cupy as cp +import numpy as np +from typing import List + +from elevation_mapping_cupy.plugins.plugin_manager import PluginBase + + +class SemanticFilter(PluginBase): + """This is a filter to create colors + + ... + + Attributes + ---------- + cell_n: int + width and height of the elevation map. + """ + + def __init__( + self, + cell_n: int = 100, + classes: list = ["person", "grass"], + colors: list = [ + [0, 255, 0], + [0, 255, 255], + [0, 0, 255], + [255, 255, 0], + [255, 0, 0], + ], + **kwargs, + ): + super().__init__() + self.indices = [] + self.classes = classes + color_classes = np.array(colors) + self.color_encoding = self.transform_color(color_classes) + + def transform_color(self, color_classes): + r = np.asarray(color_classes[:, 0], dtype=np.uint32) + g = np.asarray(color_classes[:, 1], dtype=np.uint32) + b = np.asarray(color_classes[:, 2], dtype=np.uint32) + rgb_arr = np.array((r << 16) | (g << 8) | (b << 0), dtype=np.uint32) + rgb_arr.dtype = np.float32 + return cp.asarray(rgb_arr) + + def __call__( + self, + elevation_map: cp.ndarray, + layer_names: List[str], + plugin_layers: cp.ndarray, + plugin_layer_names: List[str], + semantic_map, + **kwargs, + ) -> cp.ndarray: + # get indices of all layers that + layer_indices = cp.array([], dtype=cp.int32) + for it, fusion_alg in enumerate(semantic_map.param.fusion_algorithms): + if fusion_alg == "class_average" and ( + semantic_map.param.additional_layers[it] in self.classes + ): + layer_indices = cp.append(layer_indices, it).astype(cp.int32) + + # check which has the highest value + class_map = cp.argmax(semantic_map.map[layer_indices], axis=0) + # create color coding + enc = self.color_encoding[class_map] + return enc diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_map.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_map.py deleted file mode 100644 index 9579f8b6..00000000 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_map.py +++ /dev/null @@ -1,53 +0,0 @@ -# -# Copyright (c) 2022, Takahiro Miki. All rights reserved. -# Licensed under the MIT license. See LICENSE file in the project root for details. -# -import cupy as cp -from typing import List -import cupyx.scipy.ndimage as ndimage - -from .plugin_manager import PluginBase -from elevation_mapping_cupy.semantic_map import SemanticMap - -class SemanticFilter(PluginBase): - """This is a filter to create colors - - ... - - Attributes - ---------- - cell_n: int - width and height of the elevation map. - """ - - def __init__(self, cell_n: int = 100, input_layer_name: str = "elevation", **kwargs): - super().__init__() - self.input_layer_name = input_layer_name - self.indices = [] - - def __call__( - self, - elevation_map: cp.ndarray, - layer_names: List[str], - plugin_layers: cp.ndarray, - plugin_layer_names: List[str], - semantic_map: SemanticMap, - **kwargs, - ) -> cp.ndarray: - # get indices of all layers that - semantic_map.param.additional_layers - # check which has the highest value - # create color coding - ################## - if self.input_layer_name in layer_names: - idx = layer_names.index(self.input_layer_name) - h = elevation_map[idx] - elif self.input_layer_name in plugin_layer_names: - idx = plugin_layer_names.index(self.input_layer_name) - h = plugin_layers[idx] - else: - print("layer name {} was not found. Using elevation layer.".format(self.input_layer_name)) - h = elevation_map[0] - hs1 = ndimage.uniform_filter(h, size=3) - hs1 = ndimage.uniform_filter(hs1, size=3) - return hs1 diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py index 9715d2d8..748fb7ba 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py @@ -25,11 +25,13 @@ def __init__(self, param: Parameter, layer_specs: dict): self.layer_specs = layer_specs self.amount_additional_layers = len(self.param.additional_layers) self.map = xp.zeros( - (self.amount_additional_layers, self.param.cell_n, self.param.cell_n) + (self.amount_additional_layers, self.param.cell_n, self.param.cell_n), + dtype=param.data_type, ) self.get_unique_fusion() self.new_map = xp.zeros( - (self.amount_additional_layers, self.param.cell_n, self.param.cell_n) + (self.amount_additional_layers, self.param.cell_n, self.param.cell_n), + param.data_type, ) self.color_map = None @@ -179,8 +181,7 @@ def update_layers(self, points_all, channels, R, t, elevation_map): dtype=np.uint32, ) self.color_map *= 0 - # TODO this is not a good solution - points_all = cp.asarray(cp.float32(points_all.get())) + points_all = points_all.astype(cp.float32) self.add_color_kernel( points_all, R, @@ -211,8 +212,9 @@ def get_map_with_name(self, name): def get_rgb(self, name): idx = self.param.additional_layers.index(name) c = self.process_map_for_publish(self.map[idx]) - c = xp.uint32(c.get()) - c.dtype = np.float32 + c = c.astype(np.float32) + # c = xp.uint32(c.get()) + # c.dtype = np.float32 return c def get_semantic(self, name): diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_elevation_mapping.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_elevation_mapping.py index cafbe906..09db6d0d 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_elevation_mapping.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_elevation_mapping.py @@ -34,9 +34,9 @@ def test_init(self, elmap_ex): def test_input(self, elmap_ex): channels = ["x", "y", "z"] + elmap_ex.param.additional_layers - points = cp.random.rand(100000, len(channels)) - R = cp.random.rand(3, 3) - t = cp.random.rand(3) + points = cp.random.rand(100000, len(channels), dtype=elmap_ex.param.data_type) + R = cp.random.rand(3, 3, dtype=elmap_ex.param.data_type) + t = cp.random.rand(3, dtype=elmap_ex.param.data_type) elmap_ex.input(points, channels, R, t, 0, 0) def test_update_normal(self, elmap_ex): @@ -62,22 +62,22 @@ def test_get_map(self, elmap_ex): for layer in layers: elmap_ex.get_map_with_name_ref(layer, data) - def test_get_position(self,elmap_ex): - pos = np.random.rand(1,3) + def test_get_position(self, elmap_ex): + pos = np.random.rand(1, 3) elmap_ex.get_position(pos) - def test_clear(self,elmap_ex): + def test_clear(self, elmap_ex): elmap_ex.clear() - def test_move(self,elmap_ex): + def test_move(self, elmap_ex): delta_position = np.random.rand(3) elmap_ex.move(delta_position) - def test_exists_layer(self,elmap_ex, add_lay): + def test_exists_layer(self, elmap_ex, add_lay): for layer in add_lay: assert elmap_ex.exists_layer(layer) - def test_polygon_traversability(self,elmap_ex): + def test_polygon_traversability(self, elmap_ex): polygon = cp.array([[0, 0], [2, 0], [0, 2]], dtype=np.float64) result = np.array([0, 0, 0]) number_polygons = elmap_ex.get_polygon_traversability(polygon, result) @@ -85,7 +85,9 @@ def test_polygon_traversability(self,elmap_ex): elmap_ex.get_untraversable_polygon(untraversable_polygon) def test_initialize_map(self, elmap_ex): - methods = ['linear', 'cubic', 'nearest'] + methods = ["linear", "cubic", "nearest"] for method in methods: - points = np.array([[-4.0, 0.0, 0.0],[-4.0, 8.0, 1.0],[4.0, 8.0, 0.0],[4.0, 0.0, 0.0]]) - elmap_ex.initialize_map(points,method) + points = np.array( + [[-4.0, 0.0, 0.0], [-4.0, 8.0, 1.0], [4.0, 8.0, 0.0], [4.0, 0.0, 0.0]] + ) + elmap_ex.initialize_map(points, method) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_plugins.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_plugins.py new file mode 100644 index 00000000..cbd8c091 --- /dev/null +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_plugins.py @@ -0,0 +1,61 @@ +import pytest +from elevation_mapping_cupy import semantic_map, parameter +import cupy as cp +import numpy as np +from elevation_mapping_cupy.plugins.plugin_manager import PluginManager, PluginParams + +plugin_path = "../../../config/plugin_config.yaml" + + +@pytest.fixture() +def semmap_ex(add_lay, fusion_alg): + additional_layer = add_lay + fusion_algorithms = fusion_alg + p = parameter.Parameter( + use_chainer=False, + weight_file="../../../config/weights.dat", + plugin_config_file=plugin_path, + ) + p.additional_layers = additional_layer + p.fusion_algorithms = fusion_algorithms + additional_layers = dict(zip(p.additional_layers, p.fusion_algorithms)) + p.cell_n = int(round(p.map_length / p.resolution)) + 2 + + e = semantic_map.SemanticMap(p, additional_layers) + return e + + +@pytest.mark.parametrize( + "add_lay, fusion_alg,channels", + [ + (["feat_0", "feat_1"], ["average", "average"], ["feat_0"]), + (["feat_0", "feat_1"], ["average", "average"], []), + ( + ["feat_0", "feat_1", "rgb"], + ["average", "average", "color"], + ["rgb", "feat_0"], + ), + ], +) +def test_plugin_manager(semmap_ex, channels): + manager = PluginManager(200) + manager.load_plugin_settings(plugin_path) + elevation_map = cp.zeros((7, 200, 200)).astype(cp.float32) + layer_names = [ + "elevation", + "variance", + "is_valid", + "traversability", + "time", + "upper_bound", + "is_upper_bound", + ] + elevation_map[0] = cp.random.randn(200, 200) + elevation_map[2] = cp.abs(cp.random.randn(200, 200)) + elevation_map[0] + manager.layers[0] + manager.update_with_name("min_filter", elevation_map, layer_names) + manager.update_with_name("smooth_filter", elevation_map, layer_names) + manager.update_with_name("semantic_filter", elevation_map, layer_names) + + manager.get_map_with_name("smooth") diff --git a/sensor_processing/semantic_pointcloud/config/sensor_parameter.yaml b/sensor_processing/semantic_pointcloud/config/sensor_parameter.yaml index e0291601..0c50c619 100644 --- a/sensor_processing/semantic_pointcloud/config/sensor_parameter.yaml +++ b/sensor_processing/semantic_pointcloud/config/sensor_parameter.yaml @@ -5,7 +5,7 @@ subscribers: # topic_name: '/elevation_mapping/pointcloud_semantic' front_cam: channels: ['rgb','feat_0','feat_1','person','grass'] - fusion: ['color','average','average','class_average'] + fusion: ['color','average','average','class_average','class_average'] topic_name: '/elvation_mapping/pointcloud_semantic' semantic_segmentation: True segmentation_model: 'detectron_coco_panoptic_fpn_R_101_3x' From 13da5d8f6dfaaee8d29a8d815d72f5a6611e0ce5 Mon Sep 17 00:00:00 2001 From: Gian Erni Date: Fri, 4 Nov 2022 15:10:59 +0100 Subject: [PATCH 245/504] added self hosted pipeline --- .github/workflows/python-tests.yml | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/.github/workflows/python-tests.yml b/.github/workflows/python-tests.yml index 2159664e..9457ef2c 100644 --- a/.github/workflows/python-tests.yml +++ b/.github/workflows/python-tests.yml @@ -4,7 +4,7 @@ name: Python testing on: push: - branches: [ "feature/2_semantic_python" ] + branches: [ "feature/2_semantic_python", "feature/**"] # pull_request: # branches: [ "main" ] @@ -14,7 +14,8 @@ permissions: jobs: build: - runs-on: ubuntu-latest +# runs-on: ubuntu-latest + runs-on: [self-hosted, linux, x64] steps: - uses: actions/checkout@v3 From 9ba5d526386798f9fa114941604fa7fe3a591aea Mon Sep 17 00:00:00 2001 From: Gian Erni Date: Fri, 4 Nov 2022 15:11:19 +0100 Subject: [PATCH 246/504] added self hosted pipeline --- .github/workflows/python-tests.yml | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/.github/workflows/python-tests.yml b/.github/workflows/python-tests.yml index 9457ef2c..70ef3eb9 100644 --- a/.github/workflows/python-tests.yml +++ b/.github/workflows/python-tests.yml @@ -28,7 +28,11 @@ jobs: python -m pip install --upgrade pip pip install pytest cupy if [ -f requirements.txt ]; then pip install -r requirements.txt; fi - - name: Test with pytest + - name: Test elevation mapping with pytest run: | cd elevation_mapping_cupy/script/elevation_mapping_cupy/tests/ + pytest + - name: Test semantic_pointcloud with pytest + run: | + cd sensor_processing/semantic_pointcloud/script/semantic_pointcloud/tests pytest \ No newline at end of file From 6be9eb5e952fd9a24a0e5c7decbe8dd0318c4fca Mon Sep 17 00:00:00 2001 From: Gian Erni Date: Fri, 4 Nov 2022 15:15:51 +0100 Subject: [PATCH 247/504] changed the runner labels --- .github/workflows/python-tests.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/python-tests.yml b/.github/workflows/python-tests.yml index 70ef3eb9..89fdcb30 100644 --- a/.github/workflows/python-tests.yml +++ b/.github/workflows/python-tests.yml @@ -15,7 +15,7 @@ jobs: build: # runs-on: ubuntu-latest - runs-on: [self-hosted, linux, x64] + runs-on: [self-hosted, Linux, X64] steps: - uses: actions/checkout@v3 From 8474abe9e57278f8a3a6be719cbc4742873ab08c Mon Sep 17 00:00:00 2001 From: Jonas Frey Date: Sun, 6 Nov 2022 21:10:05 -0800 Subject: [PATCH 248/504] added matias changes --- .gitignore | 4 +++- elevation_mapping_cupy/config/parameters.yaml | 6 +++--- .../config/sensor_parameter.yaml | 20 +++++++++++++++++++ .../launch/elevation_mapping_cupy.launch | 1 + 4 files changed, 27 insertions(+), 4 deletions(-) diff --git a/.gitignore b/.gitignore index 0f73a391..ed51360f 100644 --- a/.gitignore +++ b/.gitignore @@ -1,4 +1,6 @@ *.pyc *.bkp *.orig -.idea \ No newline at end of file +.idea* +.vscode* +*.egg-info \ No newline at end of file diff --git a/elevation_mapping_cupy/config/parameters.yaml b/elevation_mapping_cupy/config/parameters.yaml index c25e0ec2..91cd65bc 100644 --- a/elevation_mapping_cupy/config/parameters.yaml +++ b/elevation_mapping_cupy/config/parameters.yaml @@ -40,9 +40,9 @@ max_unsafe_n: 10 # if the number of cells under s overlap_clear_range_xy: 4.0 # xy range [m] for clearing overlapped area. this defines the valid area for overlap clearance. (used for multi floor setting) overlap_clear_range_z: 2.0 # z range [m] for clearing overlapped area. cells outside this range will be cleared. (used for multi floor setting) -map_frame: 'enu' # The map frame where the odometry source uses. -base_frame: 'base_footprint' # The robot's base frame. This frame will be a center of the map. -corrected_map_frame: 'enu' +map_frame: 'odom' # The map frame where the odometry source uses. +base_frame: 'base' # The robot's base frame. This frame will be a center of the map. +corrected_map_frame: 'odom_corrected' #### Feature toggles ######## enable_edge_sharpen: true diff --git a/elevation_mapping_cupy/config/sensor_parameter.yaml b/elevation_mapping_cupy/config/sensor_parameter.yaml index b39e5743..d6da2276 100644 --- a/elevation_mapping_cupy/config/sensor_parameter.yaml +++ b/elevation_mapping_cupy/config/sensor_parameter.yaml @@ -7,3 +7,23 @@ subscribers: channels: ['feat_0','feat_1'] fusion: ['average','average'] topic_name: '/elvation_mapping/pointcloud_semantic' + + front_depth: + channels: [] + fusion: ['average'] + topic_name: /depth_camera_front/point_cloud_self_filtered + + rear_depth: + channels: [] + fusion: ['average'] + topic_name: /depth_camera_rear/point_cloud_self_filtered + + left_depth: + channels: [] + fusion: ['average'] + topic_name: /depth_camera_left/point_cloud_self_filtered + + right_depth: + channels: [] + fusion: ['average'] + topic_name: /depth_camera_right/point_cloud_self_filtered \ No newline at end of file diff --git a/elevation_mapping_cupy/launch/elevation_mapping_cupy.launch b/elevation_mapping_cupy/launch/elevation_mapping_cupy.launch index 023962f8..ca49e6e3 100644 --- a/elevation_mapping_cupy/launch/elevation_mapping_cupy.launch +++ b/elevation_mapping_cupy/launch/elevation_mapping_cupy.launch @@ -2,5 +2,6 @@ + From 26b7f78f16d9a030e1eb8f55eb4e2fcc364efe08 Mon Sep 17 00:00:00 2001 From: Gian Erni Date: Mon, 7 Nov 2022 15:38:59 +0100 Subject: [PATCH 249/504] added two plugins: semantic_filter and robot_centric_elevation, I changed a bit the plugin manager to accept different arguments. The datatype has been changed to float32, removed lonomy related files, added a few tests --- elevation_mapping_cupy/config/parameters.yaml | 10 +- .../config/plugin_config.yaml | 12 +- .../config/sensor_parameter.yaml | 21 +- .../semantic_elevation_lonomy_single.launch | 21 - .../launch/turtlesim_pointcloud.launch | 19 + .../turtlesim_semantic_elevation.launch | 19 + .../rviz/lonomy_single.rviz | 475 ------------------ .../rviz/turtle_semantic_example.rviz | 264 ++++++++++ .../elevation_mapping.py | 9 +- .../plugins/inpainting.py | 2 +- .../plugins/min_filter.py | 2 +- .../plugins/plugin_manager.py | 6 +- .../plugins/robot_centric_elevation.py | 96 ++++ .../plugins/semantic_filter.py | 2 +- .../plugins/smooth_filter.py | 2 +- .../elevation_mapping_cupy/semantic_map.py | 1 - .../tests/test_elevation_mapping.py | 6 + .../tests/test_parameter.py | 18 + .../tests/test_plugins.py | 8 +- .../semantic_pointcloud/pointcloud_node.py | 55 +- .../pointcloud_parameters.py | 1 + 21 files changed, 506 insertions(+), 543 deletions(-) delete mode 100644 elevation_mapping_cupy/launch/semantic_elevation_lonomy_single.launch create mode 100644 elevation_mapping_cupy/launch/turtlesim_pointcloud.launch create mode 100644 elevation_mapping_cupy/launch/turtlesim_semantic_elevation.launch delete mode 100644 elevation_mapping_cupy/rviz/lonomy_single.rviz create mode 100644 elevation_mapping_cupy/rviz/turtle_semantic_example.rviz create mode 100644 elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/robot_centric_elevation.py create mode 100644 elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_parameter.py diff --git a/elevation_mapping_cupy/config/parameters.yaml b/elevation_mapping_cupy/config/parameters.yaml index 945b1486..9d49f189 100644 --- a/elevation_mapping_cupy/config/parameters.yaml +++ b/elevation_mapping_cupy/config/parameters.yaml @@ -40,9 +40,9 @@ max_unsafe_n: 10 # if the number of cells under s overlap_clear_range_xy: 4.0 # xy range [m] for clearing overlapped area. this defines the valid area for overlap clearance. (used for multi floor setting) overlap_clear_range_z: 2.0 # z range [m] for clearing overlapped area. cells outside this range will be cleared. (used for multi floor setting) -map_frame: 'enu' # The map frame where the odometry source uses. +map_frame: 'odom' # The map frame where the odometry source uses. base_frame: 'base_footprint' # The robot's base frame. This frame will be a center of the map. -corrected_map_frame: 'enu' +corrected_map_frame: 'corrected_odom' #### Feature toggles ######## enable_edge_sharpen: true @@ -81,14 +81,14 @@ publishers: basic_layers: ['elevation', 'traversability'] fps: 2.0 elevation_map_filter: - layers: ['min_filter', 'smooth', 'inpaint', 'upper_bound','rgb','sem_fil'] + layers: ['min_filter', 'smooth', 'inpaint', 'upper_bound','rgb'] basic_layers: ['min_filter'] fps: 3.0 #### Initializer ######## initialize_method: 'linear' # Choose one from 'nearest', 'linear', 'cubic' -initialize_frame_id: ['base_footprint'] # One tf (like ['footprint'] ) initializes a square around it. -initialize_tf_offset: [0.0, 0.0, 0.0, 0.0] # z direction. Should be same number as initialize_frame_id. +initialize_frame_id: ['base_footprint'] # One tf (like ['footprint'] # One tf (like ['footprint'] ) initializes a square around it. +initialize_tf_offset: [0.0] # z direction. Should be same number as initialize_frame_id. dilation_size_initialize: 5 # dilation size after the init. initialize_tf_grid_size: 0.4 # This is not used if number of tf is more than 3. use_initializer_at_start: true # Use initializer when the node starts. diff --git a/elevation_mapping_cupy/config/plugin_config.yaml b/elevation_mapping_cupy/config/plugin_config.yaml index 06d56bc4..33ed355c 100644 --- a/elevation_mapping_cupy/config/plugin_config.yaml +++ b/elevation_mapping_cupy/config/plugin_config.yaml @@ -34,7 +34,17 @@ smooth_filter_1: layer_name: "smooth_1" extra_params: input_layer_name: "inpaint" - +robot_centric_elevation: # Use the same name as your file name. +# type: "robot_centric_elevation" + enable: False # weather to load this plugin + fill_nan: False # Fill nans to invalid cells of elevation layer. + is_height_layer: True # If this is a height layer (such as elevation) or not (such as traversability) + layer_name: "robot_centric_elevation" # The layer name. + extra_params: # This params are passed to the plugin class on initialization. +# add_value: 2.0 # Example param + resolution: 0.04 + threshold: 1.1 + use_threshold: True semantic_filter: type: "semantic_filter" enable: False diff --git a/elevation_mapping_cupy/config/sensor_parameter.yaml b/elevation_mapping_cupy/config/sensor_parameter.yaml index f2074eb7..defea85f 100644 --- a/elevation_mapping_cupy/config/sensor_parameter.yaml +++ b/elevation_mapping_cupy/config/sensor_parameter.yaml @@ -1,8 +1,10 @@ subscribers: -# sensor_name: -# channels: ['feat_0','feat_1'] -# fusion: ['average','average'] -# topic_name: '/elevation_mapping/pointcloud_semantic' +# sensor_name: #if you have multiple sensors assign different names +# channels: ['features','person'] # names of the channels, for sem seg it should be the same name as the + # pretrained network uses +# fusion: ['average','class_average'] # the fusion algorithm type used. + # Pick between: ['color', 'average','class_average'] +# topic_name: '/elevation_mapping/pointcloud_semantic' # of the published pointcloud subscribed by the el_map front_cam: channels: ['rgb','feat_0','feat_1','grass','tree','fence','person'] fusion: ['color','average','average','class_average','class_average','class_average','class_average'] @@ -20,11 +22,12 @@ subscribers: input_size: [80, 160] projection_type: "nonlinear" - cam_info_topic: "/zed2i/zed_node/depth/camera_info" - image_topic: "/zed2i/zed_node/left/image_rect_color" - depth_topic: "/zed2i/zed_node/depth/depth_registered" - cam_frame: "zed2i_right_camera_optical_frame" - confidence_topic: "/zed2i/zed_node/confidence/confidence_map" + cam_info_topic: "/camera/depth/camera_info" + image_topic: "/camera/rgb/image_raw" + depth_topic: "/camera/depth/image_raw" + cam_frame: camera_rgb_optical_frame + confidence: False + confidence_topic: "/camera/depth/image_raw" confidence_threshold: 10 feature_extractor: False diff --git a/elevation_mapping_cupy/launch/semantic_elevation_lonomy_single.launch b/elevation_mapping_cupy/launch/semantic_elevation_lonomy_single.launch deleted file mode 100644 index 0e644e44..00000000 --- a/elevation_mapping_cupy/launch/semantic_elevation_lonomy_single.launch +++ /dev/null @@ -1,21 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - \ No newline at end of file diff --git a/elevation_mapping_cupy/launch/turtlesim_pointcloud.launch b/elevation_mapping_cupy/launch/turtlesim_pointcloud.launch new file mode 100644 index 00000000..e7b73dde --- /dev/null +++ b/elevation_mapping_cupy/launch/turtlesim_pointcloud.launch @@ -0,0 +1,19 @@ + + + + + + + + + + + + + + + + + + + diff --git a/elevation_mapping_cupy/launch/turtlesim_semantic_elevation.launch b/elevation_mapping_cupy/launch/turtlesim_semantic_elevation.launch new file mode 100644 index 00000000..98940264 --- /dev/null +++ b/elevation_mapping_cupy/launch/turtlesim_semantic_elevation.launch @@ -0,0 +1,19 @@ + + + + + + + + + + + + + + + + + + + diff --git a/elevation_mapping_cupy/rviz/lonomy_single.rviz b/elevation_mapping_cupy/rviz/lonomy_single.rviz deleted file mode 100644 index 3474e971..00000000 --- a/elevation_mapping_cupy/rviz/lonomy_single.rviz +++ /dev/null @@ -1,475 +0,0 @@ -Panels: - - Class: rviz/Displays - Help Height: 138 - Name: Displays - Property Tree Widget: - Expanded: - - /ElevationMapFilter1 - - /Image1 - Splitter Ratio: 0.5768463015556335 - Tree Height: 428 - - Class: rviz/Selection - Name: Selection - - Class: rviz/Tool Properties - Expanded: - - /2D Pose Estimate1 - - /2D Nav Goal1 - - /Publish Point1 - Name: Tool Properties - Splitter Ratio: 0.5886790156364441 - - Class: rviz/Views - Expanded: - - /Current View1 - Name: Views - Splitter Ratio: 0.5 - - Class: rviz/Time - Name: Time - SyncMode: 0 - SyncSource: Image -Preferences: - PromptSaveOnExit: true -Toolbars: - toolButtonStyle: 2 -Visualization Manager: - Class: "" - Displays: - - Alpha: 0.5 - Cell Size: 1 - Class: rviz/Grid - Color: 160; 160; 164 - Enabled: true - Line Style: - Line Width: 0.029999999329447746 - Value: Lines - Name: Grid - Normal Cell Count: 0 - Offset: - X: 0 - Y: 0 - Z: 0 - Plane: XY - Plane Cell Count: 10 - Reference Frame: - Value: true - - Alpha: 1 - Autocompute Intensity Bounds: true - Class: grid_map_rviz_plugin/GridMap - Color: 200; 200; 200 - Color Layer: rgb - Color Transformer: ColorLayer - Enabled: true - Height Layer: smooth - Height Transformer: GridMapLayer - History Length: 1 - Invert Rainbow: false - Max Color: 204; 0; 0 - Max Intensity: 10 - Min Color: 52; 101; 164 - Min Intensity: 0 - Name: ElevationMapFilter - Show Grid Lines: true - Topic: /elevation_mapping/elevation_map_filter - Unreliable: false - Use Rainbow: false - Value: true - - Alpha: 1 - Class: rviz/RobotModel - Collision Enabled: false - Enabled: true - Links: - All Links Enabled: true - Expand Joint Details: false - Expand Link Details: false - Expand Tree: false - GPS_back: - Alpha: 1 - Show Axes: false - Show Trail: false - GPS_front: - Alpha: 1 - Show Axes: false - Show Trail: false - Link Tree Style: Links in Alphabetic Order - alphasense: - Alpha: 1 - Show Axes: false - Show Trail: false - base_footprint: - Alpha: 1 - Show Axes: false - Show Trail: false - base_inertial: - Alpha: 1 - Show Axes: false - Show Trail: false - base_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - estimator_imu: - Alpha: 1 - Show Axes: false - Show Trail: false - left_back_wheel: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - left_back_wheel_sup: - Alpha: 1 - Show Axes: false - Show Trail: false - left_front_wheel: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - left_front_wheel_sup: - Alpha: 1 - Show Axes: false - Show Trail: false - rear_axle_center: - Alpha: 1 - Show Axes: false - Show Trail: false - right_back_wheel: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - right_back_wheel_sup: - Alpha: 1 - Show Axes: false - Show Trail: false - right_front_wheel: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - right_front_wheel_sup: - Alpha: 1 - Show Axes: false - Show Trail: false - zed2i_baro_link: - Alpha: 1 - Show Axes: false - Show Trail: false - zed2i_base_link: - Alpha: 1 - Show Axes: false - Show Trail: false - zed2i_camera_center: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - zed2i_left_camera_frame: - Alpha: 1 - Show Axes: false - Show Trail: false - zed2i_left_camera_optical_frame: - Alpha: 1 - Show Axes: false - Show Trail: false - zed2i_mag_link: - Alpha: 1 - Show Axes: false - Show Trail: false - zed2i_right_camera_frame: - Alpha: 1 - Show Axes: false - Show Trail: false - zed2i_right_camera_optical_frame: - Alpha: 1 - Show Axes: false - Show Trail: false - zed2i_temp_left_link: - Alpha: 1 - Show Axes: false - Show Trail: false - zed2i_temp_right_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Name: RobotModel - Robot Description: robot_description - TF Prefix: "" - Update Interval: 0 - Value: true - Visual Enabled: true - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 10 - Min Value: -10 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz/PointCloud2 - Color: 255; 255; 255 - Color Transformer: RGB8 - Decay Time: 0 - Enabled: false - Invert Rainbow: false - Max Color: 255; 255; 255 - Min Color: 0; 0; 0 - Name: PointCloud2 - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.009999999776482582 - Style: Flat Squares - Topic: /elvation_mapping/pointcloud_semantic - Unreliable: false - Use Fixed Frame: true - Use rainbow: true - Value: false - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 10 - Min Value: -10 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz/PointCloud2 - Color: 255; 255; 255 - Color Transformer: RGB8 - Decay Time: 0 - Enabled: false - Invert Rainbow: false - Max Color: 255; 255; 255 - Min Color: 0; 0; 0 - Name: PointCloud2 - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.009999999776482582 - Style: Flat Squares - Topic: /elvation_mapping/pointcloud_semantic_right - Unreliable: false - Use Fixed Frame: true - Use rainbow: true - Value: false - - Class: rviz/TF - Enabled: true - Frame Timeout: 15 - Frames: - All Enabled: true - GPS_back: - Value: true - GPS_front: - Value: true - alphasense: - Value: true - base_footprint: - Value: true - base_inertial: - Value: true - base_link: - Value: true - enu: - Value: true - estimator_imu: - Value: true - left_back_wheel: - Value: true - left_back_wheel_sup: - Value: true - left_front_wheel: - Value: true - left_front_wheel_sup: - Value: true - rear_axle_center: - Value: true - right_back_wheel: - Value: true - right_back_wheel_sup: - Value: true - right_front_wheel: - Value: true - right_front_wheel_sup: - Value: true - zed2i_baro_link: - Value: true - zed2i_base_link: - Value: true - zed2i_camera_center: - Value: true - zed2i_left_camera_frame: - Value: true - zed2i_left_camera_optical_frame: - Value: true - zed2i_mag_link: - Value: true - zed2i_right_camera_frame: - Value: true - zed2i_right_camera_optical_frame: - Value: true - zed2i_temp_left_link: - Value: true - zed2i_temp_right_link: - Value: true - Marker Alpha: 1 - Marker Scale: 1 - Name: TF - Show Arrows: true - Show Axes: true - Show Names: true - Tree: - enu: - base_link: - base_footprint: - {} - base_inertial: - {} - estimator_imu: - GPS_back: - {} - GPS_front: - {} - alphasense: - {} - left_back_wheel_sup: - left_back_wheel: - {} - left_front_wheel_sup: - left_front_wheel: - {} - rear_axle_center: - {} - right_back_wheel_sup: - right_back_wheel: - {} - right_front_wheel_sup: - right_front_wheel: - {} - zed2i_base_link: - zed2i_camera_center: - zed2i_baro_link: - {} - zed2i_left_camera_frame: - zed2i_left_camera_optical_frame: - {} - zed2i_temp_left_link: - {} - zed2i_mag_link: - {} - zed2i_right_camera_frame: - zed2i_right_camera_optical_frame: - {} - zed2i_temp_right_link: - {} - Update Interval: 0 - Value: true - - Class: rviz/Image - Enabled: true - Image Topic: /zed2i/zed_node/left/image_rect_color - Max Value: 1 - Median window: 5 - Min Value: 0 - Name: Image - Normalize Range: true - Queue Size: 2 - Transport Hint: raw - Unreliable: false - Value: true - - Class: rviz/Image - Enabled: false - Image Topic: /zed2i_right/zed_right_node/left_raw/image_raw_color - Max Value: 1 - Median window: 5 - Min Value: 0 - Name: Image - Normalize Range: true - Queue Size: 2 - Transport Hint: raw - Unreliable: false - Value: false - - Class: rviz/Marker - Enabled: true - Marker Topic: /visualization_marker_l - Name: Marker - Namespaces: - {} - Queue Size: 100 - Value: true - - Class: rviz/Marker - Enabled: true - Marker Topic: /visualization_marker_r - Name: Marker - Namespaces: - {} - Queue Size: 100 - Value: true - Enabled: true - Global Options: - Background Color: 255; 255; 255 - Default Light: true - Fixed Frame: enu - Frame Rate: 30 - Name: root - Tools: - - Class: rviz/Interact - Hide Inactive Objects: true - - Class: rviz/MoveCamera - - Class: rviz/Select - - Class: rviz/FocusCamera - - Class: rviz/Measure - - Class: rviz/SetInitialPose - Theta std deviation: 0.2617993950843811 - Topic: /initialpose - X std deviation: 0.5 - Y std deviation: 0.5 - - Class: rviz/SetGoal - Topic: /move_base_simple/goal - - Class: rviz/PublishPoint - Single click: true - Topic: /clicked_point - Value: true - Views: - Current: - Class: rviz/Orbit - Distance: 7.847433090209961 - Enable Stereo Rendering: - Stereo Eye Separation: 0.05999999865889549 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Field of View: 0.7853981852531433 - Focal Point: - X: 0.7929360866546631 - Y: 0.3796532452106476 - Z: -0.4990573823451996 - Focal Shape Fixed Size: true - Focal Shape Size: 0.05000000074505806 - Invert Z Axis: false - Name: Current View - Near Clip Distance: 0.009999999776482582 - Pitch: 0.6447982788085938 - Target Frame: base_footprint - Yaw: 1.8688498735427856 - Saved: ~ -Window Geometry: - Displays: - collapsed: false - Height: 1043 - Hide Left Dock: false - Hide Right Dock: true - Image: - collapsed: false - QMainWindow State: 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- Selection: - collapsed: false - Time: - collapsed: false - Tool Properties: - collapsed: false - Views: - collapsed: true - Width: 1920 - X: 0 - Y: 0 diff --git a/elevation_mapping_cupy/rviz/turtle_semantic_example.rviz b/elevation_mapping_cupy/rviz/turtle_semantic_example.rviz new file mode 100644 index 00000000..91da7819 --- /dev/null +++ b/elevation_mapping_cupy/rviz/turtle_semantic_example.rviz @@ -0,0 +1,264 @@ +Panels: + - Class: rviz/Displays + Help Height: 138 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /ElevationMapFilter1 + Splitter Ratio: 0.5768463015556335 + Tree Height: 631 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Name: Time + SyncMode: 0 + SyncSource: "" +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: false + Class: grid_map_rviz_plugin/GridMap + Color: 200; 200; 200 + Color Layer: traversability + Color Transformer: "" + Enabled: false + Height Layer: elevation + Height Transformer: "" + History Length: 1 + Invert Rainbow: false + Max Color: 238; 238; 236 + Max Intensity: 1 + Min Color: 32; 74; 135 + Min Intensity: 0 + Name: ElevationMapRaw + Show Grid Lines: true + Topic: /elevation_mapping/elevation_map_raw + Unreliable: false + Use Rainbow: false + Value: false + - Alpha: 1 + Autocompute Intensity Bounds: true + Class: grid_map_rviz_plugin/GridMap + Color: 200; 200; 200 + Color Layer: rgb + Color Transformer: ColorLayer + Enabled: true + Height Layer: min_filter + Height Transformer: GridMapLayer + History Length: 1 + Invert Rainbow: false + Max Color: 206; 92; 0 + Max Intensity: 10 + Min Color: 255; 255; 255 + Min Intensity: 0 + Name: ElevationMapFilter + Show Grid Lines: true + Topic: /elevation_mapping/elevation_map_filter + Unreliable: false + Use Rainbow: false + Value: true + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base_footprint: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_scan: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera_depth_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_depth_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera_rgb_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_rgb_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + caster_back_left_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + caster_back_right_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + imu_link: + Alpha: 1 + Show Axes: false + Show Trail: false + wheel_left_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wheel_right_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Name: RobotModel + Robot Description: robot_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: RGB8 + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Min Color: 0; 0; 0 + Name: PointCloud2 + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Flat Squares + Topic: /camera/depth/points + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: false + Enabled: true + Global Options: + Background Color: 255; 255; 255 + Default Light: true + Fixed Frame: odom + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Theta std deviation: 0.2617993950843811 + Topic: /initialpose + X std deviation: 0.5 + Y std deviation: 0.5 + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 3.499889373779297 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Field of View: 0.7853981852531433 + Focal Point: + X: 2.046891927719116 + Y: -0.5291382074356079 + Z: -0.3964909017086029 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.4947965741157532 + Target Frame: base_footprint + Yaw: 2.893369436264038 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1016 + Hide Left Dock: false + Hide Right Dock: true + QMainWindow State: 000000ff00000000fd0000000400000000000001f70000033efc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000033e000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000015f0000053bfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000000560000053b000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000005afc0100000002fb0000000800540069006d0065010000000000000738000003bc00fffffffb0000000800540069006d006501000000000000045000000000000000000000053b0000033e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: true + Width: 1848 + X: 1992 + Y: 27 diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py index 69e5b1f1..a3310ba4 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py @@ -51,6 +51,7 @@ def __init__(self, param: Parameter): self.data_type = self.param.data_type self.resolution = param.resolution self.center = xp.array([0, 0, 0], dtype=self.data_type) + self.base_rotation = xp.eye(3, dtype=self.data_type) self.map_length = param.map_length self.cell_n = param.cell_n @@ -70,7 +71,7 @@ def __init__(self, param: Parameter): # buffers self.traversability_buffer = xp.full((self.cell_n, self.cell_n), xp.nan) - self.normal_map = xp.zeros((3, self.cell_n, self.cell_n),dtype=self.data_type) + self.normal_map = xp.zeros((3, self.cell_n, self.cell_n), dtype=self.data_type) # Initial variance self.initial_variance = param.initial_variance self.elevation_map[1] += self.initial_variance @@ -149,7 +150,7 @@ def move_to(self, position, R): R (cupy._core.core.ndarray): """ # Shift map to the center of robot. - self.base_rotation = xp.asarray(R) + self.base_rotation = xp.asarray(R,dtype=self.data_type) position = xp.asarray(position) delta = position - self.center delta_pixel = xp.around(delta[:2] / self.resolution) @@ -560,7 +561,7 @@ def get_map_with_name_ref(self, name, data): elif name in self.additional_layers.keys(): m = self.semantic_map.get_map_with_name(name) elif name in self.plugin_manager.layer_names: - self.plugin_manager.update_with_name(name, self.elevation_map, self.layer_names, self.semantic_map) + self.plugin_manager.update_with_name(name, self.elevation_map, self.layer_names, self.semantic_map, self.base_rotation) m = self.plugin_manager.get_map_with_name(name) p = self.plugin_manager.get_param_with_name(name) xp = self.xp_of_array(m) @@ -710,4 +711,4 @@ def initialize_map(self, points, method="cubic"): polygon = cp.array([[0, 0], [2, 0], [0, 2]], dtype=param.data_type) result = np.array([0, 0, 0]) elevation.get_polygon_traversability(polygon, result) - print(result) \ No newline at end of file + print(result) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/inpainting.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/inpainting.py index 76dc2387..247041b6 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/inpainting.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/inpainting.py @@ -38,7 +38,7 @@ def __call__( layer_names: List[str], plugin_layers: cp.ndarray, plugin_layer_names: List[str], - **kwargs, + *args, ) -> cp.ndarray: mask = cp.asnumpy((elevation_map[2] < 0.5).astype("uint8")) if (mask < 1).any(): diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/min_filter.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/min_filter.py index e85dd8fc..f50147f6 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/min_filter.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/min_filter.py @@ -94,7 +94,7 @@ def __call__( layer_names: List[str], plugin_layers: cp.ndarray, plugin_layer_names: List[str], - **kwargs, + *args, ) -> cp.ndarray: self.min_filtered = elevation_map[0].copy() self.min_filtered_mask = elevation_map[2].copy() diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/plugin_manager.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/plugin_manager.py index 26a076d9..b29375cd 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/plugin_manager.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/plugin_manager.py @@ -39,6 +39,7 @@ def __call__( layer_names: List[str], plugin_layers: cp.ndarray, plugin_layer_names: List[str], + *args, **kwargs, ) -> cp.ndarray: """This gets the elevation map data and plugin layers as a cupy array. @@ -111,7 +112,6 @@ def load_plugin_settings(self, file_path: str): ) ) extra_params.append(v["extra_params"]) - print(plugin_params) self.init(plugin_params, extra_params) print("Loaded plugins are ", *self.plugin_names) @@ -149,7 +149,7 @@ def update_with_name( elevation_map: cp.ndarray, layer_names: List[str], semantic_map=None, - transform=None, + rotation=None, ): idx = self.get_layer_index_with_name(name) if idx is not None: @@ -173,7 +173,7 @@ def update_with_name( self.layers, self.layer_names, semantic_map, - transform, + rotation, ) def get_map_with_name(self, name: str) -> cp.ndarray: diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/robot_centric_elevation.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/robot_centric_elevation.py new file mode 100644 index 00000000..41d963ce --- /dev/null +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/robot_centric_elevation.py @@ -0,0 +1,96 @@ +import cupy as cp +import string +from typing import List +from .plugin_manager import PluginBase + + +class RobotCentricElevation(PluginBase): + def __init__( + self, cell_n: int = 100, resolution: float = 0.05, threshold: float = 0.4, use_threshold: bool = 0, **kwargs + ): + super().__init__() + self.width = cell_n + self.height = cell_n + self.min_filtered = cp.zeros((self.width, self.height),dtype=cp.float32) + + self.base_elevation_kernel = cp.ElementwiseKernel( + in_params="raw U map, raw U mask, raw U R", + out_params="raw U newmap", + preamble=string.Template( + """ + __device__ int get_map_idx(int idx, int layer_n) { + const int layer = ${width} * ${height}; + return layer * layer_n + idx; + } + + __device__ bool is_inside(int idx) { + int idx_x = idx / ${width}; + int idx_y = idx % ${width}; + if (idx_x <= 0 || idx_x >= ${width} - 1) { + return false; + } + if (idx_y <= 0 || idx_y >= ${height} - 1) { + return false; + } + return true; + } + __device__ float get_map_x(int idx){ + float idx_x = idx / ${width}* ${resolution}; + return idx_x; + } + __device__ float get_map_y(int idx){ + float idx_y = idx % ${width}* ${resolution}; + return idx_y; + } + __device__ float transform_p(float x, float y, float z, + float r0, float r1, float r2) { + return r0 * x + r1 * y + r2 * z ; + } + """ + ).substitute(width=self.width, height=self.height, resolution=resolution), + operation=string.Template( + """ + U rz = map[get_map_idx(i, 0)]; + U valid = mask[get_map_idx(i, 0)]; + if (valid > 0.5) { + U rx = get_map_x(get_map_idx(i, 0)); + U ry = get_map_y(get_map_idx(i, 0)); + U x_b = transform_p(rx, ry, rz, R[0], R[1], R[2]); + U y_b = transform_p(rx, ry, rz, R[3], R[4], R[5]); + U z_b = transform_p(rx, ry, rz, R[6], R[7], R[8]); + if (${use_threshold} && z_b>= ${threshold} ) { + newmap[get_map_idx(i, 0)] = 1.0; + } + else if (${use_threshold} && z_b< ${threshold} ){ + newmap[get_map_idx(i, 0)] = 0.0; + } + else{ + newmap[get_map_idx(i, 0)] = z_b; + } + } + """ + ).substitute(threshold=threshold, use_threshold=int(use_threshold)), + name="base_elevation_kernel", + ) + + def __call__( + self, + elevation_map: cp.ndarray, + layer_names: List[str], + plugin_layers: cp.ndarray, + plugin_layer_names: List[str], + semantic_map, + rotation, + *args, + ) -> cp.ndarray: + # Process maps here + # check that transform is a ndarray + self.min_filtered = elevation_map[0].copy() + self.base_elevation_kernel( + elevation_map[0], + elevation_map[2], + rotation, + self.min_filtered, + size=(self.width * self.height), + ) + return self.min_filtered diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_filter.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_filter.py index 1fb86733..d91b15fb 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_filter.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_filter.py @@ -54,7 +54,7 @@ def __call__( plugin_layers: cp.ndarray, plugin_layer_names: List[str], semantic_map, - **kwargs, + *args, ) -> cp.ndarray: # get indices of all layers that layer_indices = cp.array([], dtype=cp.int32) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/smooth_filter.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/smooth_filter.py index 5ac2f5c4..65334452 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/smooth_filter.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/smooth_filter.py @@ -30,7 +30,7 @@ def __call__( layer_names: List[str], plugin_layers: cp.ndarray, plugin_layer_names: List[str], - **kwargs, + *args, ) -> cp.ndarray: if self.input_layer_name in layer_names: idx = layer_names.index(self.input_layer_name) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py index 748fb7ba..e8c3a4af 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py @@ -40,7 +40,6 @@ def get_unique_fusion(self): for x in list(self.layer_specs.values()): if x not in self.unique_fusion: self.unique_fusion.append(x) - print("Fusion algorithms running: ", self.unique_fusion) def compile_kernels(self) -> None: """ diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_elevation_mapping.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_elevation_mapping.py index 09db6d0d..95a8b1a4 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_elevation_mapping.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_elevation_mapping.py @@ -91,3 +91,9 @@ def test_initialize_map(self, elmap_ex): [[-4.0, 0.0, 0.0], [-4.0, 8.0, 1.0], [4.0, 8.0, 0.0], [4.0, 0.0, 0.0]] ) elmap_ex.initialize_map(points, method) + + def test_plugins(self, elmap_ex): + layers = elmap_ex.plugin_manager.layer_names + data= np.zeros((500,500),dtype=np.float32) + for layer in layers: + elmap_ex.get_map_with_name_ref(layer, data) \ No newline at end of file diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_parameter.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_parameter.py new file mode 100644 index 00000000..9a12dee4 --- /dev/null +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_parameter.py @@ -0,0 +1,18 @@ +import pytest +from elevation_mapping_cupy.parameter import Parameter + + +def test_parameter(): + param = Parameter( + use_chainer=False, + weight_file="../../../config/weights.dat", + plugin_config_file="../../../config/plugin_config.yaml", + ) + res = param.resolution + param.set_value("resolution", 0.1) + param.get_types() + param.get_names() + param.update() + assert param.resolution == param.get_value("resolution") + param.load_weights(param.weight_file) + diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_plugins.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_plugins.py index cbd8c091..20381810 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_plugins.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_plugins.py @@ -41,6 +41,7 @@ def test_plugin_manager(semmap_ex, channels): manager = PluginManager(200) manager.load_plugin_settings(plugin_path) elevation_map = cp.zeros((7, 200, 200)).astype(cp.float32) + rotation = cp.eye(3,dtype=cp.float32) layer_names = [ "elevation", "variance", @@ -56,6 +57,9 @@ def test_plugin_manager(semmap_ex, channels): manager.layers[0] manager.update_with_name("min_filter", elevation_map, layer_names) manager.update_with_name("smooth_filter", elevation_map, layer_names) - manager.update_with_name("semantic_filter", elevation_map, layer_names) - + manager.update_with_name("semantic_filter", elevation_map, layer_names,semmap_ex,rotation) manager.get_map_with_name("smooth") + for lay in manager.get_layer_names(): + manager.update_with_name(lay,elevation_map,layer_names,semmap_ex,rotation) + manager.get_map_with_name(lay) + diff --git a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_node.py b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_node.py index e548deba..93567951 100755 --- a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_node.py +++ b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_node.py @@ -18,13 +18,14 @@ class PointcloudNode: def __init__(self, sensor_name): # TODO: if this is going to be loaded from another package we might need to change namespace config = rospy.get_param("/semantic_pointcloud/subscribers") - print(config) - print(len(config)) self.param: PointcloudParameter = PointcloudParameter.from_dict( config[sensor_name] ) self.param.sensor_name = sensor_name + print("--------------Pointcloud Parameters-------------------") print(self.param.dumps_yaml()) + print("--------------End of Parameters-----------------------") + # setup custom dtype self.create_custom_dtype() # setup semantics @@ -41,16 +42,28 @@ def __init__(self, sensor_name): rospy.Subscriber(self.param.cam_info_topic, CameraInfo, self.cam_info_callback) rgb_sub = message_filters.Subscriber(self.param.image_topic, Image) depth_sub = message_filters.Subscriber(self.param.depth_topic, Image) - confidence_sub = message_filters.Subscriber(self.param.confidence_topic, Image) - ts = message_filters.ApproximateTimeSynchronizer( - [ - rgb_sub, - depth_sub, - confidence_sub, - ], - queue_size=10, - slop=0.5, - ) + if self.param.confidence: + confidence_sub = message_filters.Subscriber( + self.param.confidence_topic, Image + ) + ts = message_filters.ApproximateTimeSynchronizer( + [ + rgb_sub, + depth_sub, + confidence_sub, + ], + queue_size=10, + slop=0.5, + ) + else: + ts = message_filters.ApproximateTimeSynchronizer( + [ + rgb_sub, + depth_sub, + ], + queue_size=10, + slop=0.5, + ) ts.registerCallback(self.image_callback) self.pcl_pub = rospy.Publisher(self.param.topic_name, PointCloud2, queue_size=2) @@ -99,9 +112,9 @@ def cam_info_callback(self, msg): self.height = msg.height self.width = msg.width - def image_callback(self, rgb_msg, depth_msg, confidence_msg): + def image_callback(self, rgb_msg, depth_msg, confidence_msg=None): + confidence = None if self.P is None: - print("No cam info topic has been published yet!") return image = cp.asarray( self.cv_bridge.imgmsg_to_cv2(rgb_msg, desired_encoding="rgb8") @@ -109,9 +122,12 @@ def image_callback(self, rgb_msg, depth_msg, confidence_msg): depth = cp.asarray( self.cv_bridge.imgmsg_to_cv2(depth_msg, desired_encoding="passthrough") ) - confidence = cp.asarray( - self.cv_bridge.imgmsg_to_cv2(confidence_msg, desired_encoding="passthrough") - ) + if confidence_msg is not None: + confidence = cp.asarray( + self.cv_bridge.imgmsg_to_cv2( + confidence_msg, desired_encoding="passthrough" + ) + ) pcl = self.create_pcl_from_image(image, depth, confidence) @@ -134,7 +150,10 @@ def create_pcl_from_image(self, image, depth, confidence): def get_coordinates(self, depth, confidence): pos = cp.where(depth > 0, 1, 0) low = cp.where(depth < 8, 1, 0) - conf = cp.where(confidence >= self.param.confidence_threshold, 1, 0) + if confidence is not None: + conf = cp.where(confidence >= self.param.confidence_threshold, 1, 0) + else: + conf = cp.ones(pos.shape) fin = cp.isfinite(depth) temp = cp.maximum(cp.rint(fin + pos + conf + low - 2.6), 0) mask = cp.nonzero(temp) diff --git a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_parameters.py b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_parameters.py index 3474f8d4..e5426b2f 100644 --- a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_parameters.py +++ b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_parameters.py @@ -30,6 +30,7 @@ class PointcloudParameter(Serializable): image_topic: str = "/zed2i/zed_node/left/image_rect_color" depth_topic: str = "/zed2i/zed_node/depth/depth_registered" cam_frame: str = "zed2i_right_camera_optical_frame" + confidence: bool = True confidence_topic: str = "/zed2i/zed_node/confidence/confidence_map" confidence_threshold: int = 10 From 3c40c17395f60492f7bb4322140d96d1a8169337 Mon Sep 17 00:00:00 2001 From: Jonas Frey Date: Mon, 7 Nov 2022 08:55:09 -0800 Subject: [PATCH 250/504] added python wrapper --- .gitignore | 4 +- .../script/elevation_mapping_cupy/__init__.py | 2 + .../elevation_mapping.py | 27 ++-- .../elevation_mapping_ros.py | 140 ++++++++++++++++++ .../elevation_mapping_cupy/parameter.py | 6 +- 5 files changed, 161 insertions(+), 18 deletions(-) create mode 100644 elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping_ros.py diff --git a/.gitignore b/.gitignore index 0f73a391..ed51360f 100644 --- a/.gitignore +++ b/.gitignore @@ -1,4 +1,6 @@ *.pyc *.bkp *.orig -.idea \ No newline at end of file +.idea* +.vscode* +*.egg-info \ No newline at end of file diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/__init__.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/__init__.py index e69de29b..6e2735cd 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/__init__.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/__init__.py @@ -0,0 +1,2 @@ +from .parameter import Parameter +from .elevation_mapping import ElevationMap \ No newline at end of file diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py index bc107d4c..3eed7fb5 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py @@ -9,20 +9,19 @@ import threading import subprocess -from .traversability_filter import get_filter_chainer, get_filter_torch -from .parameter import Parameter -from .custom_kernels import add_points_kernel, add_color_kernel, color_average_kernel -from .custom_kernels import sum_kernel -from .custom_kernels import error_counting_kernel -from .custom_kernels import average_map_kernel -from .custom_kernels import dilation_filter_kernel -from .custom_kernels import normal_filter_kernel -from .custom_kernels import polygon_mask_kernel -from .map_initializer import MapInitializer -from .plugins.plugin_manager import PluginManager -from .semantic_map import SemanticMap - -from .traversability_polygon import ( +from elevation_mapping_cupy.traversability_filter import get_filter_chainer, get_filter_torch +from elevation_mapping_cupy.parameter import Parameter +from elevation_mapping_cupy.custom_kernels import add_points_kernel, add_color_kernel, color_average_kernel +from elevation_mapping_cupy.custom_kernels import sum_kernel +from elevation_mapping_cupy.custom_kernels import error_counting_kernel +from elevation_mapping_cupy.custom_kernels import average_map_kernel +from elevation_mapping_cupy.custom_kernels import dilation_filter_kernel +from elevation_mapping_cupy.custom_kernels import normal_filter_kernel +from elevation_mapping_cupy.custom_kernels import polygon_mask_kernel +from elevation_mapping_cupy.map_initializer import MapInitializer +from elevation_mapping_cupy.plugins.plugin_manager import PluginManager +from elevation_mapping_cupy.semantic_map import SemanticMap +from elevation_mapping_cupy.traversability_polygon import ( get_masked_traversability, is_traversable, calculate_area, diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping_ros.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping_ros.py new file mode 100644 index 00000000..aacc1114 --- /dev/null +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping_ros.py @@ -0,0 +1,140 @@ +from elevation_mapping_cupy import ElevationMap +from elevation_mapping_cupy import Parameter + +# General +import os +import numpy as np + +# ROS +import rospy +import ros_numpy +from tf.transformations import quaternion_matrix +from sensor_msgs.msg import PointCloud2 +import tf2_ros +import rospkg + +class ElevationMapWrapper(): + def __init__(self): + rospack = rospkg.RosPack() + self.root = rospack.get_path("elevation_mapping_cupy") + self.initalize_elevation_mapping() + + # ROS + self.initalize_ros() + self.register_subscribers() + self.register_publishers() + self.register_timers() + + def initalize_elevation_mapping(self): + weight_file = os.path.join(self.root, "config/weights.dat") + plugin_config_file = os.path.join(self.root, "config/plugin_config.yaml") + param = Parameter( use_chainer=False, weight_file=weight_file, plugin_config_file=plugin_config_file ) + self._pointcloud_process_counter = 0 + self._map = ElevationMap(param) + self._map_data = np.zeros((self._map.cell_n - 2, self._map.cell_n - 2), dtype=np.float32) + + def initalize_ros(self): + rospy.init_node("elevation_mapping", anonymous=False) + self._tf_buffer = tf2_ros.Buffer() + self._listener = tf2_ros.TransformListener(self._tf_buffer) + self.get_ros_params() + + def register_subscribers(self): + pointcloud_subs = {} + for config in self.subscribers.values(): + self.subscribers + rospy.Subscriber(config["topic_name"], PointCloud2, self.pointcloud_callback, (config["channels"], config["fusion"])) + + def register_publishers(self): + # TODO publishers + print(self.publishers) + + def register_timers(self): + self.timer_variance = rospy.Timer(rospy.Duration(1/self.update_variance_fps), self.update_variance) + self.timer_pose = rospy.Timer(rospy.Duration(1/self.update_pose_fps), self.update_pose) + self.timer_time = rospy.Timer(rospy.Duration(self.time_interval), self.update_time) + + def pointcloud_callback(self, data, config): + # convert pcd into numpy array + points = ros_numpy.numpify(data) + out = np.copy( np.frombuffer(points.tobytes(), np.dtype(np.float32) )) + out = out.reshape(out.shape[0],-1)[:,:3] + points = points.astype(np.float32) + + # get pose of pointcloud + t = rospy.Time(secs=data.header.stamp.secs, nsecs=data.header.stamp.nsecs) + try: + transform = self._tf_buffer.lookup_transform(self.map_frame, data.header.frame_id, t, rospy.Duration(1.0)) + except (tf2_ros.LookupException, tf2_ros.ConnectivityException, tf2_ros.ExtrapolationException) as e: + print(e) + return + + t = transform.transform.translation + t = np.array( [t.x, t.y, t.z] ) + q = transform.transform.rotation + R = quaternion_matrix([q.w, q.x, q.y, q.z]) + + # process pointcloud + self._map.input(points, 0, R, t, 0, 0) + self._map.update_normal(self._map.elevation_map[0]) + self._pointcloud_process_counter += 1 + + def update_pose(self, t): + # get pose of base + t = rospy.Time.now() + try: + transform = self._tf_buffer.lookup_transform(self.map_frame, self.base_frame, t, rospy.Duration(1.0)) + except (tf2_ros.LookupException, tf2_ros.ConnectivityException, tf2_ros.ExtrapolationException) as e: + print(e) + return + t = transform.transform.translation + trans = np.array( [t.x, t.y, t.z] ) + q = transform.transform.rotation + rot = quaternion_matrix([q.w, q.x, q.y, q.z]) + self._map.move_to(trans, rot) + + def update_variance(self, t): + self._map.update_variance() + + def update_time(self, t): + self._map.update_time() + + def get_ros_params(self): + # TODO fix this here when later launching with launch-file + # This is currently {p} elevation_mapping") + para = os.path.join(self.root, "config/parameters.yaml") + sens = os.path.join(self.root, "config/sensor_parameter.yaml") + os.system(f"rosparam load {para} elevation_mapping") + os.system(f"rosparam load {sens} elevation_mapping") + + self.subscribers = rospy.get_param("~subscribers") + self.publishers = rospy.get_param("~publishers") + self.initialize_frame_id = rospy.get_param("~initialize_frame_id", "base") + self.initialize_tf_offset = rospy.get_param("~initialize_tf_offset", 0.0) + self.pose_topic = rospy.get_param("~pose_topic", "pose") + self.map_frame = rospy.get_param("~map_frame", "map") + self.base_frame = rospy.get_param("~base_frame", "base") + self.corrected_map_frame = rospy.get_param("~corrected_map_frame", "corrected_map") + self.initialize_method = rospy.get_param("~initialize_method", "cubic") + self.position_lowpass_alpha = rospy.get_param("~position_lowpass_alpha", 0.2) + self.orientation_lowpass_alpha = rospy.get_param("~orientation_lowpass_alpha", 0.2) + self.recordable_fps = rospy.get_param("~recordable_fps", 3.0) + self.update_variance_fps = rospy.get_param("~update_variance_fps", 1.0) + self.time_interval = rospy.get_param("~time_interval", 0.1) + self.update_pose_fps = rospy.get_param("~update_pose_fps", 10.0) + self.initialize_tf_grid_size = rospy.get_param("~initialize_tf_grid_size", 0.5) + self.map_acquire_fps = rospy.get_param("~map_acquire_fps", 5.0) + self.publish_statistics_fps = rospy.get_param("~publish_statistics_fps", 1.0) + self.enable_pointcloud_publishing = rospy.get_param("~enable_pointcloud_publishing", False) + self.enable_normal_arrow_publishing = rospy.get_param("~enable_normal_arrow_publishing", False) + self.enable_drift_corrected_TF_publishing = rospy.get_param("~enable_drift_corrected_TF_publishing", False) + self.use_initializer_at_start = rospy.get_param("~use_initializer_at_start", False) + +if __name__ == '__main__': + emw = ElevationMapWrapper() + + while not rospy.is_shutdown(): + try: + rospy.spin() + except rospy.ROSInterruptException: + print("Error") \ No newline at end of file diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py index 5b58620d..0e29dc9d 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py @@ -6,13 +6,13 @@ import pickle import numpy as np from simple_parsing.helpers import Serializable - +from dataclasses import field @dataclass class Parameter(Serializable): resolution: float = 0.02 - additional_layers: list = ['feat_0'].copy - fusion_algorithms: list = ['average'].copy + additional_layers: list = field(default_factory=lambda: ["feat_0"]) + fusion_algorithms: list = field(default_factory=lambda: ["average"]) cell_n: int = None map_length: float = 10.0 From f3d4f0c87768b80b945f64aba6649ee5959f282e Mon Sep 17 00:00:00 2001 From: Jonas Frey Date: Mon, 7 Nov 2022 08:55:18 -0800 Subject: [PATCH 251/504] added anymal sensors --- .../config/sensor_parameter.yaml | 30 +++++++++++++++++++ 1 file changed, 30 insertions(+) diff --git a/elevation_mapping_cupy/config/sensor_parameter.yaml b/elevation_mapping_cupy/config/sensor_parameter.yaml index 8c8c596b..d88e0358 100644 --- a/elevation_mapping_cupy/config/sensor_parameter.yaml +++ b/elevation_mapping_cupy/config/sensor_parameter.yaml @@ -3,8 +3,38 @@ subscribers: # channels: ['feat_0','feat_1'] # fusion: ['average','average'] # topic_name: '/elevation_mapping/pointcloud_semantic' + front_cam: channels: ['rgb','feat_0','feat_1','c_prob_0'] fusion: ['color','average','average','class_average'] topic_name: '/elvation_mapping/pointcloud_semantic' + front_bpearl: + channels: [] + fusion: ['average'] + topic_name: /robot_self_filter/bpearl_front/point_cloud + + rear_bpearl: + channels: [] + fusion: ['average'] + topic_name: /robot_self_filter/bpearl_rear/point_cloud + + front_depth: + channels: [] + fusion: ['average'] + topic_name: /depth_camera_front/point_cloud_self_filtered + + rear_depth: + channels: [] + fusion: ['average'] + topic_name: /depth_camera_rear/point_cloud_self_filtered + + left_depth: + channels: [] + fusion: ['average'] + topic_name: /depth_camera_left/point_cloud_self_filtered + + right_depth: + channels: [] + fusion: ['average'] + topic_name: /depth_camera_right/point_cloud_self_filtered \ No newline at end of file From da9ca6ee358725cf0893884e6a0bfe055772d7c6 Mon Sep 17 00:00:00 2001 From: Jonas Frey Date: Mon, 7 Nov 2022 14:08:16 -0800 Subject: [PATCH 252/504] updated python wrapper --- elevation_mapping_cupy/config/parameters.yaml | 22 ++--- .../elevation_mapping_ros.py | 85 +++++++++++++++---- 2 files changed, 80 insertions(+), 27 deletions(-) diff --git a/elevation_mapping_cupy/config/parameters.yaml b/elevation_mapping_cupy/config/parameters.yaml index 24e29141..27b5f497 100644 --- a/elevation_mapping_cupy/config/parameters.yaml +++ b/elevation_mapping_cupy/config/parameters.yaml @@ -40,9 +40,9 @@ max_unsafe_n: 10 # if the number of cells under s overlap_clear_range_xy: 4.0 # xy range [m] for clearing overlapped area. this defines the valid area for overlap clearance. (used for multi floor setting) overlap_clear_range_z: 2.0 # z range [m] for clearing overlapped area. cells outside this range will be cleared. (used for multi floor setting) -map_frame: 'enu' # The map frame where the odometry source uses. -base_frame: 'base_footprint' # The robot's base frame. This frame will be a center of the map. -corrected_map_frame: 'enu' +map_frame: 'odom' # The map frame where the odometry source uses. +base_frame: 'base' # The robot's base frame. This frame will be a center of the map. +corrected_map_frame: 'odom_corrected' #### Feature toggles ######## enable_edge_sharpen: true @@ -76,14 +76,14 @@ publishers: layers: ['elevation', 'traversability', 'variance'] basic_layers: ['elevation', 'traversability'] fps: 5.0 - elevation_map_recordable: - layers: ['elevation', 'traversability'] - basic_layers: ['elevation', 'traversability'] - fps: 2.0 - elevation_map_filter: - layers: ['min_filter', 'smooth', 'inpaint', 'upper_bound','rgb'] - basic_layers: ['min_filter'] - fps: 3.0 + # elevation_map_recordable: + # layers: ['elevation', 'traversability'] + # basic_layers: ['elevation', 'traversability'] + # fps: 2.0 + # elevation_map_filter: + # layers: ['min_filter', 'smooth', 'inpaint', 'upper_bound','rgb'] + # basic_layers: ['min_filter'] + # fps: 3.0 #### Initializer ######## initialize_method: 'linear' # Choose one from 'nearest', 'linear', 'cubic' diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping_ros.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping_ros.py index aacc1114..26383a66 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping_ros.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping_ros.py @@ -9,16 +9,21 @@ import rospy import ros_numpy from tf.transformations import quaternion_matrix -from sensor_msgs.msg import PointCloud2 import tf2_ros import rospkg +from sensor_msgs.msg import PointCloud2 +from grid_map_msgs.msg import GridMap +from std_msgs.msg import Float32MultiArray +from std_msgs.msg import MultiArrayLayout as MAL +from std_msgs.msg import MultiArrayDimension as MAD + class ElevationMapWrapper(): def __init__(self): rospack = rospkg.RosPack() self.root = rospack.get_path("elevation_mapping_cupy") self.initalize_elevation_mapping() - + self.node_name = "elevation_mapping" # ROS self.initalize_ros() self.register_subscribers() @@ -29,12 +34,15 @@ def initalize_elevation_mapping(self): weight_file = os.path.join(self.root, "config/weights.dat") plugin_config_file = os.path.join(self.root, "config/plugin_config.yaml") param = Parameter( use_chainer=False, weight_file=weight_file, plugin_config_file=plugin_config_file ) + param.update() self._pointcloud_process_counter = 0 self._map = ElevationMap(param) self._map_data = np.zeros((self._map.cell_n - 2, self._map.cell_n - 2), dtype=np.float32) + self._map_q = None + self._map_t = None def initalize_ros(self): - rospy.init_node("elevation_mapping", anonymous=False) + rospy.init_node(self.node_name, anonymous=False) self._tf_buffer = tf2_ros.Buffer() self._listener = tf2_ros.TransformListener(self._tf_buffer) self.get_ros_params() @@ -47,24 +55,66 @@ def register_subscribers(self): def register_publishers(self): # TODO publishers - print(self.publishers) + self._publishers = {} + self._publishers_timers = [] + for k, v in self.publishers.items(): + print(f"Register Publisher: {k}") + self._publishers[k] = rospy.Publisher(f"/{self.node_name}/{k}", GridMap, queue_size=10) + self._publishers_timers.append( rospy.Timer(rospy.Duration(1/v["fps"]), lambda x: self.publish_map(x, k))) + + def publish_map(self, t, k): + print(k) + if self._map_q is None: + return + gm = GridMap() + gm.info.header.frame_id = self.map_frame + gm.info.header.stamp = rospy.Time.now() + gm.info.header.seq = 0 + gm.info.resolution = self._map.resolution + gm.info.length_x = self._map.map_length + gm.info.length_y = self._map.map_length + gm.info.pose.position.x = self._map_t.x + gm.info.pose.position.y = self._map_t.y + gm.info.pose.position.z = self._map_t.z + gm.info.pose.orientation.w = 1 # self._map_q.w + gm.info.pose.orientation.x = 0 # self._map_q.x + gm.info.pose.orientation.y = 0 # self._map_q.y + gm.info.pose.orientation.z = 0 # self._map_q.z + gm.layers = self.publishers[k]["layers"] + gm.basic_layers = self.publishers[k]["basic_layers"] + + # arr.layout.dim = [int(gm.info.length_x/gm.info.resolution), int(gm.info.length_y/gm.info.resolution)] + + for i, layer in enumerate(gm.layers): + self._map.get_map_with_name_ref(layer, self._map_data) + self._map_data = np.nan_to_num(self._map_data, False, 0) + data = self._map_data.copy() + arr = Float32MultiArray() + arr.layout = MAL() + N = self._map_data.shape[0] + arr.layout.dim.append( MAD(label="column_index",size=N,stride=int(N*N))) + arr.layout.dim.append( MAD(label="row_index",size=N,stride=N)) + arr.data = tuple(np.ascontiguousarray(data).reshape(-1)) + gm.data.append( arr ) + + self._publishers[k].publish( gm ) + def register_timers(self): self.timer_variance = rospy.Timer(rospy.Duration(1/self.update_variance_fps), self.update_variance) self.timer_pose = rospy.Timer(rospy.Duration(1/self.update_pose_fps), self.update_pose) self.timer_time = rospy.Timer(rospy.Duration(self.time_interval), self.update_time) - def pointcloud_callback(self, data, config): + def pointcloud_callback(self, msg, config): # convert pcd into numpy array - points = ros_numpy.numpify(data) - out = np.copy( np.frombuffer(points.tobytes(), np.dtype(np.float32) )) - out = out.reshape(out.shape[0],-1)[:,:3] - points = points.astype(np.float32) + channels = config[0] + fusion = config[1] + points = ros_numpy.point_cloud2.pointcloud2_to_xyz_array(msg) # get pose of pointcloud - t = rospy.Time(secs=data.header.stamp.secs, nsecs=data.header.stamp.nsecs) + t = rospy.Time(secs=msg.header.stamp.secs, nsecs=msg.header.stamp.nsecs) try: - transform = self._tf_buffer.lookup_transform(self.map_frame, data.header.frame_id, t, rospy.Duration(1.0)) + transform = self._tf_buffer.lookup_transform(self.map_frame, msg.header.frame_id, t, rospy.Duration(1.0)) except (tf2_ros.LookupException, tf2_ros.ConnectivityException, tf2_ros.ExtrapolationException) as e: print(e) return @@ -72,12 +122,12 @@ def pointcloud_callback(self, data, config): t = transform.transform.translation t = np.array( [t.x, t.y, t.z] ) q = transform.transform.rotation - R = quaternion_matrix([q.w, q.x, q.y, q.z]) + R = quaternion_matrix([q.w, q.x, q.y, q.z])[:3,:3] # process pointcloud - self._map.input(points, 0, R, t, 0, 0) - self._map.update_normal(self._map.elevation_map[0]) + self._map.input(points, ['x','y','z']+channels, R, t, 0, 0) self._pointcloud_process_counter += 1 + print(self._pointcloud_process_counter) def update_pose(self, t): # get pose of base @@ -90,9 +140,12 @@ def update_pose(self, t): t = transform.transform.translation trans = np.array( [t.x, t.y, t.z] ) q = transform.transform.rotation - rot = quaternion_matrix([q.w, q.x, q.y, q.z]) + rot = quaternion_matrix([q.w, q.x, q.y, q.z])[:3,:3] self._map.move_to(trans, rot) + self._map_t = t + self._map_q = q + def update_variance(self, t): self._map.update_variance() @@ -104,9 +157,9 @@ def get_ros_params(self): # This is currently {p} elevation_mapping") para = os.path.join(self.root, "config/parameters.yaml") sens = os.path.join(self.root, "config/sensor_parameter.yaml") + os.system(f"rosparam delete /{self.node_name}") os.system(f"rosparam load {para} elevation_mapping") os.system(f"rosparam load {sens} elevation_mapping") - self.subscribers = rospy.get_param("~subscribers") self.publishers = rospy.get_param("~publishers") self.initialize_frame_id = rospy.get_param("~initialize_frame_id", "base") From ad3956c9a381395722837a6fd925f45754dff5b6 Mon Sep 17 00:00:00 2001 From: Matias Mattamala Date: Tue, 8 Nov 2022 17:39:46 +0000 Subject: [PATCH 253/504] Change how pybind is included in cpp files --- .../include/elevation_mapping_cupy/elevation_mapping_ros.hpp | 2 +- .../elevation_mapping_cupy/elevation_mapping_wrapper.hpp | 2 +- elevation_mapping_cupy/src/elevation_mapping_node.cpp | 2 +- elevation_mapping_cupy/src/elevation_mapping_ros.cpp | 2 +- elevation_mapping_cupy/src/elevation_mapping_wrapper.cpp | 2 +- 5 files changed, 5 insertions(+), 5 deletions(-) diff --git a/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp b/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp index 7a374437..2107df57 100644 --- a/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp +++ b/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp @@ -13,7 +13,7 @@ #include // Pybind -#include // everything needed for embedding +#include // everything needed for embedding // ROS #include diff --git a/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_wrapper.hpp b/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_wrapper.hpp index 97bec2a5..0fa68cfd 100644 --- a/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_wrapper.hpp +++ b/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_wrapper.hpp @@ -12,7 +12,7 @@ #include // Pybind -#include // everything needed for embedding +#include // everything needed for embedding // ROS #include diff --git a/elevation_mapping_cupy/src/elevation_mapping_node.cpp b/elevation_mapping_cupy/src/elevation_mapping_node.cpp index 47bef360..3d7a778f 100644 --- a/elevation_mapping_cupy/src/elevation_mapping_node.cpp +++ b/elevation_mapping_cupy/src/elevation_mapping_node.cpp @@ -4,7 +4,7 @@ // // Pybind -#include // everything needed for embedding +#include // everything needed for embedding // ROS #include diff --git a/elevation_mapping_cupy/src/elevation_mapping_ros.cpp b/elevation_mapping_cupy/src/elevation_mapping_ros.cpp index 79941e8f..ebc3f35e 100644 --- a/elevation_mapping_cupy/src/elevation_mapping_ros.cpp +++ b/elevation_mapping_cupy/src/elevation_mapping_ros.cpp @@ -6,7 +6,7 @@ #include "elevation_mapping_cupy/elevation_mapping_ros.hpp" // Pybind -#include +#include // ROS #include diff --git a/elevation_mapping_cupy/src/elevation_mapping_wrapper.cpp b/elevation_mapping_cupy/src/elevation_mapping_wrapper.cpp index d9662833..e943f1b3 100644 --- a/elevation_mapping_cupy/src/elevation_mapping_wrapper.cpp +++ b/elevation_mapping_cupy/src/elevation_mapping_wrapper.cpp @@ -6,7 +6,7 @@ #include "elevation_mapping_cupy/elevation_mapping_wrapper.hpp" // Pybind -#include +#include // PCL #include From 71d915dd009a69f70e330318b4d5d022a793de9b Mon Sep 17 00:00:00 2001 From: Gian Erni Date: Wed, 9 Nov 2022 11:49:35 +0100 Subject: [PATCH 254/504] added universal checker --- .../config/plugin_config.yaml | 14 +++- .../elevation_mapping.py | 25 +++++-- .../elevation_mapping_cupy/parameter.py | 5 +- .../plugins/semantic_traversability.py | 71 +++++++++++++++++++ .../tests/plugin_config.yaml | 66 +++++++++++++++++ .../tests/test_elevation_mapping.py | 4 +- .../tests/test_plugins.py | 25 +++---- .../traversability_polygon.py | 4 +- 8 files changed, 190 insertions(+), 24 deletions(-) create mode 100644 elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_traversability.py create mode 100644 elevation_mapping_cupy/script/elevation_mapping_cupy/tests/plugin_config.yaml diff --git a/elevation_mapping_cupy/config/plugin_config.yaml b/elevation_mapping_cupy/config/plugin_config.yaml index 33ed355c..bcc0cb24 100644 --- a/elevation_mapping_cupy/config/plugin_config.yaml +++ b/elevation_mapping_cupy/config/plugin_config.yaml @@ -52,6 +52,16 @@ semantic_filter: is_height_layer: False layer_name: "sem_fil" extra_params: -# TODO make a better link between classes and color classes: ['grass','tree','fence','person'] - colors: [[0,255,0],[120,120,0],[170,0,20],[0,0,255],[255,0,0]] \ No newline at end of file + colors: [[0,255,0],[120,120,0],[170,0,20],[0,0,255],[255,0,0]] + +semantic_traversability: + type: "semantic_traversability" + enable: False + fill_nan: False + is_height_layer: False + layer_name: "sem_traversability" + extra_params: + layers: ['traversability','robot_centric_elevation'] + thresholds: [0.7,0.5] + type: ['traversability', 'elevation'] diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py index a3310ba4..632a3c28 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py @@ -595,6 +595,22 @@ def get_normal_ref(self, normal_x_data, normal_y_data, normal_z_data): normal_y_data[...] = xp.asnumpy(maps[1], stream=self.stream) normal_z_data[...] = xp.asnumpy(maps[2], stream=self.stream) + def get_layer(self,name): + if name in self.layer_names: + idx = self.layer_names.index(name) + map = self.elevation_map[idx] + elif name in self.semantic_map.param.additional_layers: + idx = self.semantic_map.param.additional_layers.index(name) + map= self.semantic_map.map[idx] + elif name in self.plugin_manager.layer_names: + self.plugin_manager.update_with_name(name, self.elevation_map, self.layer_names, self.semantic_map, + self.base_rotation) + map = self.plugin_manager.get_map_with_name(name) + else: + print("Layer {} is not in the map, returning traversabiltiy!".format(name)) + return + return map + def get_polygon_traversability(self, polygon, result): """ Check if input polygons are traversable. @@ -626,11 +642,12 @@ def get_polygon_traversability(self, polygon, result): self.mask, size=(self.cell_n * self.cell_n), ) - masked, masked_isvalid = get_masked_traversability(self.elevation_map, self.mask) + map = self.get_layer(self.param.checker_layer) + masked, masked_isvalid = get_masked_traversability(self.elevation_map, self.mask, map) if masked_isvalid.sum() > 0: t = masked.sum() / masked_isvalid.sum() else: - t = cp.asarray(0.0,dtype=self.data_type) + t = cp.asarray(0.0, dtype=self.data_type) is_safe, un_polygon = is_traversable( masked, self.param.safe_thresh, self.param.safe_min_thresh, self.param.max_unsafe_n ) @@ -697,14 +714,14 @@ def initialize_map(self, points, method="cubic"): layers = ["elevation", "variance", "traversability", "min_filter", "smooth", "inpaint","rgb"] points = xp.random.rand(100000, len(layers)) - channels = ['x','y','z']+ param.additional_layers + channels = ['x', 'y', 'z'] + param.additional_layers print(channels) data = np.zeros((elevation.cell_n - 2, elevation.cell_n - 2), dtype=np.float32) for i in range(20): elevation.input(points,channels, R, t, 0, 0) elevation.update_normal(elevation.elevation_map[0]) pos = np.array([i * 0.01, i * 0.02, i * 0.01]) - elevation.move_to(pos,R) + elevation.move_to(pos, R) for layer in layers: elevation.get_map_with_name_ref(layer, data) print(i) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py index 486e6caa..296adc23 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py @@ -10,13 +10,13 @@ @dataclass class Parameter(Serializable): - resolution: float = 0.02 + resolution: float = 0.04 additional_layers: list = ['feat_0'].copy fusion_algorithms: list = ['average'].copy cell_n: int = None data_type: str = np.float32 - map_length: float = 10.0 + map_length: float = 8.0 sensor_noise_factor: float = 0.05 mahalanobis_thresh: float = 2.0 outlier_variance: float = 0.01 @@ -45,6 +45,7 @@ class Parameter(Serializable): safe_thresh: float = 0.5 safe_min_thresh: float = 0.5 max_unsafe_n: int = 20 + checker_layer: str = 'traversability' min_filter_size: int = 5 min_filter_iteration: int = 3 diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_traversability.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_traversability.py new file mode 100644 index 00000000..a9619a4b --- /dev/null +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_traversability.py @@ -0,0 +1,71 @@ +# +# Copyright (c) 2022, Takahiro Miki. All rights reserved. +# Licensed under the MIT license. See LICENSE file in the project root for details. +# +import cupy as cp +import numpy as np +from typing import List + +from elevation_mapping_cupy.plugins.plugin_manager import PluginBase + + +class SemanticTraversability(PluginBase): + """This is a filter to create colors + + ... + + Attributes + ---------- + cell_n: int + width and height of the elevation map. + """ + + def __init__( + self, + cell_n: int = 100, + layers: list = ["traversability"], + thresholds: list = [0.5], + type: list = ["traversability"], + **kwargs, + ): + super().__init__() + self.layers = layers + self.thresholds = cp.asarray(thresholds) + self.type = type + + def __call__( + self, + elevation_map: cp.ndarray, + layer_names: List[str], + plugin_layers: cp.ndarray, + plugin_layer_names: List[str], + semantic_map, + *args, + ) -> cp.ndarray: + # get indices of all layers that + map = cp.zeros(elevation_map[2].shape, np.float32) + tempo = cp.zeros(elevation_map[2].shape, np.float32) + for it, name in enumerate(self.layers): + if name in layer_names: + idx = layer_names.index(name) + tempo = elevation_map[idx] + elif name in semantic_map.param.additional_layers: + idx = semantic_map.param.additional_layers.index(name) + tempo = semantic_map.map[idx] + elif name in plugin_layer_names: + idx = plugin_layer_names.index(name) + tempo = plugin_layers[idx] + else: + print( + "Layer {} is not in the map, returning traversabiltiy!".format(name) + ) + return + if self.type[it] == "traversability": + tempo = cp.where(tempo <= self.thresholds[it], 1, 0) + map += tempo + else: + tempo = cp.where(tempo >= self.thresholds[it], 1, 0) + map += tempo + map = cp.where(map <= 0.9, 0.1,1) + + return map diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/plugin_config.yaml b/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/plugin_config.yaml new file mode 100644 index 00000000..6d057ec5 --- /dev/null +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/plugin_config.yaml @@ -0,0 +1,66 @@ +# Settings of the plugins. (The plugins should be stored in script/plugins) + +# min_filter fills in minimum value around the invalid cell. +min_filter: + enable: True # weather to load this plugin + fill_nan: False # Fill nans to invalid cells of elevation layer. + is_height_layer: True # If this is a height layer (such as elevation) or not (such as traversability) + layer_name: "min_filter" # The layer name. + extra_params: # This params are passed to the plugin class on initialization. + dilation_size: 1 # The patch size to apply + iteration_n: 30 # The number of iterations +# Apply smoothing. +smooth_filter: + enable: True + fill_nan: False + is_height_layer: True + layer_name: "smooth" + extra_params: + input_layer_name: "min_filter" +# Apply inpainting using opencv +inpainting: + enable: True + fill_nan: False + is_height_layer: True + layer_name: "inpaint" + extra_params: + method: "telea" # telea or ns +# Apply smoothing for inpainted layer +smooth_filter_1: + type: "smooth_filter" + enable: True + fill_nan: False + is_height_layer: True + layer_name: "smooth_1" + extra_params: + input_layer_name: "inpaint" +robot_centric_elevation: # Use the same name as your file name. +# type: "robot_centric_elevation" + enable: True # weather to load this plugin + fill_nan: False # Fill nans to invalid cells of elevation layer. + is_height_layer: True # If this is a height layer (such as elevation) or not (such as traversability) + layer_name: "robot_centric_elevation" # The layer name. + extra_params: # This params are passed to the plugin class on initialization. +# add_value: 2.0 # Example param + resolution: 0.04 + threshold: 1.1 + use_threshold: True +semantic_filter: + type: "semantic_filter" + enable: True + fill_nan: False + is_height_layer: False + layer_name: "sem_fil" + extra_params: + classes: ['grass','tree','fence','person'] + colors: [[0,255,0],[120,120,0],[170,0,20],[0,0,255],[255,0,0]] +semantic_traversability: + type: "semantic_traversability" + enable: True + fill_nan: False + is_height_layer: False + layer_name: "sem_traversability" + extra_params: + layers: ['traversability','robot_centric_elevation'] + thresholds: [0.7,0.5] + type: ['traversability', 'elevation'] diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_elevation_mapping.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_elevation_mapping.py index 95a8b1a4..b9ce3b41 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_elevation_mapping.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_elevation_mapping.py @@ -94,6 +94,6 @@ def test_initialize_map(self, elmap_ex): def test_plugins(self, elmap_ex): layers = elmap_ex.plugin_manager.layer_names - data= np.zeros((500,500),dtype=np.float32) + data = np.zeros((200, 200), dtype=np.float32) for layer in layers: - elmap_ex.get_map_with_name_ref(layer, data) \ No newline at end of file + elmap_ex.get_map_with_name_ref(layer, data) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_plugins.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_plugins.py index 20381810..180aa9d5 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_plugins.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_plugins.py @@ -4,7 +4,7 @@ import numpy as np from elevation_mapping_cupy.plugins.plugin_manager import PluginManager, PluginParams -plugin_path = "../../../config/plugin_config.yaml" +plugin_path = "plugin_config.yaml" @pytest.fixture() @@ -28,19 +28,19 @@ def semmap_ex(add_lay, fusion_alg): @pytest.mark.parametrize( "add_lay, fusion_alg,channels", [ - (["feat_0", "feat_1"], ["average", "average"], ["feat_0"]), - (["feat_0", "feat_1"], ["average", "average"], []), - ( - ["feat_0", "feat_1", "rgb"], - ["average", "average", "color"], - ["rgb", "feat_0"], - ), + (['grass','tree','fence','person'], ["class_average", "class_average", "class_average", "class_average"], ["grass"]), + (['grass','tree'], ["class_average", "class_average"], ['grass']), + # ( + # ["feat_0", "feat_1", "rgb"], + # ["average", "average", "color"], + # ["rgb", "feat_0"], + # ), ], ) def test_plugin_manager(semmap_ex, channels): - manager = PluginManager(200) + manager = PluginManager(202) manager.load_plugin_settings(plugin_path) - elevation_map = cp.zeros((7, 200, 200)).astype(cp.float32) + elevation_map = cp.zeros((7, 202, 202)).astype(cp.float32) rotation = cp.eye(3,dtype=cp.float32) layer_names = [ "elevation", @@ -51,13 +51,14 @@ def test_plugin_manager(semmap_ex, channels): "upper_bound", "is_upper_bound", ] - elevation_map[0] = cp.random.randn(200, 200) - elevation_map[2] = cp.abs(cp.random.randn(200, 200)) + elevation_map[0] = cp.random.randn(202, 202) + elevation_map[2] = cp.abs(cp.random.randn(202, 202)) elevation_map[0] manager.layers[0] manager.update_with_name("min_filter", elevation_map, layer_names) manager.update_with_name("smooth_filter", elevation_map, layer_names) manager.update_with_name("semantic_filter", elevation_map, layer_names,semmap_ex,rotation) + manager.update_with_name("semantic_traversability", elevation_map, layer_names,semmap_ex) manager.get_map_with_name("smooth") for lay in manager.get_layer_names(): manager.update_with_name(lay,elevation_map,layer_names,semmap_ex,rotation) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/traversability_polygon.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/traversability_polygon.py index 67a43343..4d267535 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/traversability_polygon.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/traversability_polygon.py @@ -7,8 +7,8 @@ from shapely.geometry import Polygon, MultiPoint -def get_masked_traversability(map_array, mask): - traversability = map_array[3][1:-1, 1:-1] +def get_masked_traversability(map_array, mask, traversability): + traversability = traversability[1:-1, 1:-1] is_valid = map_array[2][1:-1, 1:-1] mask = mask[1:-1, 1:-1] From 8635861510f83e220dc9b34693152bda544f16a9 Mon Sep 17 00:00:00 2001 From: Gian Erni Date: Thu, 10 Nov 2022 10:39:34 +0100 Subject: [PATCH 255/504] working python wrapper but wrong orientation of the elevation map --- .../elevation_mapping_ros.py | 49 +++++++++++++------ 1 file changed, 33 insertions(+), 16 deletions(-) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping_ros.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping_ros.py index 26383a66..ee493574 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping_ros.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping_ros.py @@ -22,21 +22,21 @@ class ElevationMapWrapper(): def __init__(self): rospack = rospkg.RosPack() self.root = rospack.get_path("elevation_mapping_cupy") - self.initalize_elevation_mapping() + weight_file = os.path.join(self.root, "config/weights.dat") + plugin_config_file = os.path.join(self.root, "config/plugin_config.yaml") + self.param = Parameter( use_chainer=False, weight_file=weight_file, plugin_config_file=plugin_config_file ) self.node_name = "elevation_mapping" # ROS self.initalize_ros() self.register_subscribers() + self.initalize_elevation_mapping() self.register_publishers() self.register_timers() def initalize_elevation_mapping(self): - weight_file = os.path.join(self.root, "config/weights.dat") - plugin_config_file = os.path.join(self.root, "config/plugin_config.yaml") - param = Parameter( use_chainer=False, weight_file=weight_file, plugin_config_file=plugin_config_file ) - param.update() + self.param.update() self._pointcloud_process_counter = 0 - self._map = ElevationMap(param) + self._map = ElevationMap(self.param) self._map_data = np.zeros((self._map.cell_n - 2, self._map.cell_n - 2), dtype=np.float32) self._map_q = None self._map_t = None @@ -49,10 +49,24 @@ def initalize_ros(self): def register_subscribers(self): pointcloud_subs = {} - for config in self.subscribers.values(): - self.subscribers - rospy.Subscriber(config["topic_name"], PointCloud2, self.pointcloud_callback, (config["channels"], config["fusion"])) - + additional = [] + fusion = [] + for key, config in self.subscribers.items(): + pointcloud_subs[key] = rospy.Subscriber(config["topic_name"], PointCloud2, self.pointcloud_callback, (config["channels"], config["fusion"])) + for chan,fus in zip(config["channels"],config["fusion"]): + if chan not in additional: + additional.append(chan) + fusion.append(fus) + self.param.additional_layers = additional + self.param.fusion_algorithms = fusion + self.dtype = [ + ("x", np.float32), + ("y", np.float32), + ("z", np.float32), + ] + for chan in config["channels"]: + self.dtype.append((chan, np.float32)) + def register_publishers(self): # TODO publishers self._publishers = {} @@ -88,7 +102,7 @@ def publish_map(self, t, k): for i, layer in enumerate(gm.layers): self._map.get_map_with_name_ref(layer, self._map_data) - self._map_data = np.nan_to_num(self._map_data, False, 0) + # self._map_data = np.nan_to_num(self._map_data, False, 0) data = self._map_data.copy() arr = Float32MultiArray() arr.layout = MAL() @@ -107,10 +121,13 @@ def register_timers(self): def pointcloud_callback(self, msg, config): # convert pcd into numpy array - channels = config[0] + channels = ['x','y','z']+config[0] fusion = config[1] - points = ros_numpy.point_cloud2.pointcloud2_to_xyz_array(msg) - + points = ros_numpy.numpify(msg) + pts = np.empty((points.shape[0],0)) + for ch in channels: + pts = np.append(pts,np.expand_dims(points[ch],1),axis=1) + # get pose of pointcloud t = rospy.Time(secs=msg.header.stamp.secs, nsecs=msg.header.stamp.nsecs) try: @@ -123,9 +140,9 @@ def pointcloud_callback(self, msg, config): t = np.array( [t.x, t.y, t.z] ) q = transform.transform.rotation R = quaternion_matrix([q.w, q.x, q.y, q.z])[:3,:3] - + # process pointcloud - self._map.input(points, ['x','y','z']+channels, R, t, 0, 0) + self._map.input(pts, channels, R, t, 0, 0) self._pointcloud_process_counter += 1 print(self._pointcloud_process_counter) From affd8aeb82044e4b1fca84800f3c68586e976658 Mon Sep 17 00:00:00 2001 From: Gian Erni Date: Mon, 14 Nov 2022 15:21:22 +0100 Subject: [PATCH 256/504] first documentation --- .gitignore | 5 +- docs/Makefile | 20 +++++++ docs/make.bat | 35 +++++++++++++ {doc => docs/media}/convex_approximation.gif | Bin {doc => docs/media}/cuda-installation.md | 0 {doc => docs/media}/main_repo.png | Bin {doc => docs/media}/processing_time.png | Bin {doc => docs/media}/real.png | Bin {doc => docs/media}/sim.png | Bin docs/source/conf.py | 52 +++++++++++++++++++ docs/source/getting_started/index.rst | 8 +++ docs/source/index.rst | 23 ++++++++ docs/source/python/custom_kernels.rst | 9 ++++ docs/source/python/elevation_mapping.rst | 19 +++++++ docs/source/python/index.rst | 8 +++ docs/source/python/semantic_pointcloud.rst | 8 +++ requirements.txt | 2 +- 17 files changed, 187 insertions(+), 2 deletions(-) create mode 100644 docs/Makefile create mode 100644 docs/make.bat rename {doc => docs/media}/convex_approximation.gif (100%) rename {doc => docs/media}/cuda-installation.md (100%) rename {doc => docs/media}/main_repo.png (100%) rename {doc => docs/media}/processing_time.png (100%) rename {doc => docs/media}/real.png (100%) rename {doc => docs/media}/sim.png (100%) create mode 100644 docs/source/conf.py create mode 100644 docs/source/getting_started/index.rst create mode 100644 docs/source/index.rst create mode 100644 docs/source/python/custom_kernels.rst create mode 100644 docs/source/python/elevation_mapping.rst create mode 100644 docs/source/python/index.rst create mode 100644 docs/source/python/semantic_pointcloud.rst diff --git a/.gitignore b/.gitignore index 0f73a391..e9ff620b 100644 --- a/.gitignore +++ b/.gitignore @@ -1,4 +1,7 @@ *.pyc *.bkp *.orig -.idea \ No newline at end of file +.idea +.pytest_cache +.run/ +docs/build diff --git a/docs/Makefile b/docs/Makefile new file mode 100644 index 00000000..d0c3cbf1 --- /dev/null +++ b/docs/Makefile @@ -0,0 +1,20 @@ +# Minimal makefile for Sphinx documentation +# + +# You can set these variables from the command line, and also +# from the environment for the first two. +SPHINXOPTS ?= +SPHINXBUILD ?= sphinx-build +SOURCEDIR = source +BUILDDIR = build + +# Put it first so that "make" without argument is like "make help". +help: + @$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O) + +.PHONY: help Makefile + +# Catch-all target: route all unknown targets to Sphinx using the new +# "make mode" option. $(O) is meant as a shortcut for $(SPHINXOPTS). +%: Makefile + @$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O) diff --git a/docs/make.bat b/docs/make.bat new file mode 100644 index 00000000..747ffb7b --- /dev/null +++ b/docs/make.bat @@ -0,0 +1,35 @@ +@ECHO OFF + +pushd %~dp0 + +REM Command file for Sphinx documentation + +if "%SPHINXBUILD%" == "" ( + set SPHINXBUILD=sphinx-build +) +set SOURCEDIR=source +set BUILDDIR=build + +%SPHINXBUILD% >NUL 2>NUL +if errorlevel 9009 ( + echo. + echo.The 'sphinx-build' command was not found. Make sure you have Sphinx + echo.installed, then set the SPHINXBUILD environment variable to point + echo.to the full path of the 'sphinx-build' executable. Alternatively you + echo.may add the Sphinx directory to PATH. + echo. + echo.If you don't have Sphinx installed, grab it from + echo.https://www.sphinx-doc.org/ + exit /b 1 +) + +if "%1" == "" goto help + +%SPHINXBUILD% -M %1 %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% %O% +goto end + +:help +%SPHINXBUILD% -M help %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% %O% + +:end +popd diff --git a/doc/convex_approximation.gif b/docs/media/convex_approximation.gif similarity index 100% rename from doc/convex_approximation.gif rename to docs/media/convex_approximation.gif diff --git a/doc/cuda-installation.md b/docs/media/cuda-installation.md similarity index 100% rename from doc/cuda-installation.md rename to docs/media/cuda-installation.md diff --git a/doc/main_repo.png b/docs/media/main_repo.png similarity index 100% rename from doc/main_repo.png rename to docs/media/main_repo.png diff --git a/doc/processing_time.png b/docs/media/processing_time.png similarity index 100% rename from doc/processing_time.png rename to docs/media/processing_time.png diff --git a/doc/real.png b/docs/media/real.png similarity index 100% rename from doc/real.png rename to docs/media/real.png diff --git a/doc/sim.png b/docs/media/sim.png similarity index 100% rename from doc/sim.png rename to docs/media/sim.png diff --git a/docs/source/conf.py b/docs/source/conf.py new file mode 100644 index 00000000..a1f29f10 --- /dev/null +++ b/docs/source/conf.py @@ -0,0 +1,52 @@ +# Configuration file for the Sphinx documentation builder. +# +# For the full list of built-in configuration values, see the documentation: +# https://www.sphinx-doc.org/en/master/usage/configuration.html + +# -- Project information ----------------------------------------------------- +# https://www.sphinx-doc.org/en/master/usage/configuration.html#project-information + +import os, sys +sys.path.insert(0, os.path.abspath('../../elevation_mapping_cupy')) +sys.path.insert(0, os.path.abspath('../../sensor_processing/semantic_pointcloud')) + +on_rtd = os.environ.get('READTHEDOCS', None) == 'True' + +if not on_rtd: # only import and set the theme if we're building docs locally + import sphinx_rtd_theme + html_theme = 'sphinx_rtd_theme' + html_theme_path = [sphinx_rtd_theme.get_html_theme_path()] + + +project = 'elevation_mapping_cupy' +copyright = '2022, Takahiro Miki, Gian Erni' +author = 'Takahiro Miki, Gian Erni' + +# -- General configuration --------------------------------------------------- +# https://www.sphinx-doc.org/en/master/usage/configuration.html#general-configuration + +extensions = ['sphinx.ext.autodoc', 'sphinx.ext.coverage', 'sphinx.ext.napoleon'] + +templates_path = ['_templates'] +exclude_patterns = ['_build', 'Thumbs.db', '.DS_Store'] + +html_theme_options = { + 'analytics_anonymize_ip': False, + 'logo_only': False, + 'display_version': False, + 'prev_next_buttons_location': 'bottom', + 'style_external_links': False, + 'vcs_pageview_mode': '', + 'style_nav_header_background': '#A00000', + # Toc options + 'collapse_navigation': True, + 'sticky_navigation': True, + 'navigation_depth': 4, + 'includehidden': True, + 'titles_only': False +} + +# -- Options for HTML output ------------------------------------------------- +# https://www.sphinx-doc.org/en/master/usage/configuration.html#options-for-html-output + +html_static_path = ['_static'] diff --git a/docs/source/getting_started/index.rst b/docs/source/getting_started/index.rst new file mode 100644 index 00000000..2a97ef91 --- /dev/null +++ b/docs/source/getting_started/index.rst @@ -0,0 +1,8 @@ + +Getting Started +================================================== + +.. toctree:: + + + diff --git a/docs/source/index.rst b/docs/source/index.rst new file mode 100644 index 00000000..03bb6329 --- /dev/null +++ b/docs/source/index.rst @@ -0,0 +1,23 @@ +################################################## +Welcome to elevation_mapping_cupy's documentation! +################################################## + + +.. toctree:: + :maxdepth: 2 + :caption: Pages: + + + getting_started/index + python/index + +Getting Started +--------------- + +For getting started checkout :doc:`getting_started/index`.. + + +Old Documentation +----------------- + + diff --git a/docs/source/python/custom_kernels.rst b/docs/source/python/custom_kernels.rst new file mode 100644 index 00000000..c8dcd43c --- /dev/null +++ b/docs/source/python/custom_kernels.rst @@ -0,0 +1,9 @@ +.. _custom_kernels: + +Custom kernels +================================================== + +.. automodule:: elevation_mapping_cupy.custom_kernels + :members: + + diff --git a/docs/source/python/elevation_mapping.rst b/docs/source/python/elevation_mapping.rst new file mode 100644 index 00000000..b3403049 --- /dev/null +++ b/docs/source/python/elevation_mapping.rst @@ -0,0 +1,19 @@ +.. _elevation_mapping: + +Elevation mapping cupy +================================================== + +.. automodule:: elevation_mapping_cupy.elevation_mapping + :members: + +.. automodule:: elevation_mapping_cupy.semantic_map + :members: + +.. automodule:: elevation_mapping_cupy.parameter + :members: + +.. automodule:: elevation_mapping_cupy.plugins.plugin_manager + :members: + + + diff --git a/docs/source/python/index.rst b/docs/source/python/index.rst new file mode 100644 index 00000000..4764424c --- /dev/null +++ b/docs/source/python/index.rst @@ -0,0 +1,8 @@ +Python software +================================================== + +.. toctree:: + elevation_mapping + semantic_pointcloud + custom_kernels + diff --git a/docs/source/python/semantic_pointcloud.rst b/docs/source/python/semantic_pointcloud.rst new file mode 100644 index 00000000..9a49c37a --- /dev/null +++ b/docs/source/python/semantic_pointcloud.rst @@ -0,0 +1,8 @@ +.. _semantic_pointcloud: + +Semantic Pointcloud +=================== + + +.. automodule:: semantic_pointcloud.pointcloud_node + :members: diff --git a/requirements.txt b/requirements.txt index c68be6a1..6ac4a197 100644 --- a/requirements.txt +++ b/requirements.txt @@ -4,7 +4,7 @@ scipy dataclasses ruamel.yaml opencv-python -simple_parsing +simple-parsing ###### Requirements with Version Specifiers ######` shapely==1.7.1 From 1aae1a301efe131e84e196a2fffbb2a9c6ec6eb8 Mon Sep 17 00:00:00 2001 From: Gian Erni Date: Mon, 14 Nov 2022 19:20:30 +0100 Subject: [PATCH 257/504] deploy pages and first installation instructions --- .github/workflows/documentation.yml | 22 +++ .gitignore | 1 + docs/source/documentation.rst | 51 ++++++ docs/source/getting_started/index.rst | 5 +- docs/source/getting_started/installation.rst | 171 +++++++++++++++++++ docs/source/getting_started/tutorial.rst | 4 + docs/source/index.rst | 41 +++-- docs/source/usage/parameters.rst | 4 + docs/source/usage/plane_segmentation.rst | 7 + docs/source/usage/plugins.rst | 5 + docs/source/usage/semantics.rst | 4 + 11 files changed, 301 insertions(+), 14 deletions(-) create mode 100644 .github/workflows/documentation.yml create mode 100644 docs/source/documentation.rst create mode 100644 docs/source/getting_started/installation.rst create mode 100644 docs/source/getting_started/tutorial.rst create mode 100644 docs/source/usage/parameters.rst create mode 100644 docs/source/usage/plane_segmentation.rst create mode 100644 docs/source/usage/plugins.rst create mode 100644 docs/source/usage/semantics.rst diff --git a/.github/workflows/documentation.yml b/.github/workflows/documentation.yml new file mode 100644 index 00000000..a64a015f --- /dev/null +++ b/.github/workflows/documentation.yml @@ -0,0 +1,22 @@ +name: Docs +on: [push, pull_request, workflow_dispatch] +jobs: + docs: + runs-on: ubuntu-latest + steps: + - uses: actions/checkout@v2 + - uses: actions/setup-python@v2 + - name: Install dependencies + run: | + pip install sphinx sphinx_rtd_theme + - name: Sphinx build + run: | + sphinx-build docs/source docs/_build + - name: Deploy + uses: peaceiris/actions-gh-pages@v3 + if: ${{ github.event_name == 'push' }} + with: + publish_branch: gh-pages + github_token: ${{ secrets.GITHUB_TOKEN }} + publish_dir: docs/_build/ + force_orphan: true \ No newline at end of file diff --git a/.gitignore b/.gitignore index e9ff620b..321ecd4c 100644 --- a/.gitignore +++ b/.gitignore @@ -5,3 +5,4 @@ .pytest_cache .run/ docs/build +_build diff --git a/docs/source/documentation.rst b/docs/source/documentation.rst new file mode 100644 index 00000000..046cae8d --- /dev/null +++ b/docs/source/documentation.rst @@ -0,0 +1,51 @@ +################################################## +Elevation Mapping cupy documentation +################################################## +Weclome to Elevation Mapping documentation + +.. image:: https://github.com/leggedrobotics/elevation_mapping_semantic_cupy/actions/workflows/python-tests.yml/badge.svg + :target: https://github.com/leggedrobotics/elevation_mapping_semantic_cupy/actions/workflows/python-tests.yml/badge.svg + :alt: python tests + + +Index +--------------- + +| :doc:`getting_started/index` - What is elevation mapping cupy +| :doc:`getting_started/installation` - How to install the elevation map +| :doc:`getting_started/tutorial` - How to launch the first elevation map + + + + +This is a ROS package for elevation mapping on GPU. The elevation mapping code is written in python and uses cupy for GPU computation. The +plane segmentation is done independently and runs on CPU. When the plane segmentation is generated, local convex approximations of the +terrain can be efficiently generated. + +.. image:: ../media/main_repo.png + :alt: Elevation map examples + + +Citing +--------------- +.. hint:: + + Takahiro Miki, Lorenz Wellhausen, Ruben Grandia, Fabian Jenelten, Timon Homberger, Marco Hutter + + Elevation Mapping for Locomotion and Navigation using GPU `Link `_ + + + +.. code-block:: none + + @misc{https://doi.org/10.48550/arxiv.2204.12876, + doi = {10.48550/ARXIV.2204.12876}, + url = {https://arxiv.org/abs/2204.12876}, + author = {Miki, Takahiro and Wellhausen, Lorenz and Grandia, Ruben and Jenelten, Fabian and Homberger, Timon and Hutter, Marco}, + keywords = {Robotics (cs.RO), FOS: Computer and information sciences, FOS: Computer and information sciences}, + title = {Elevation Mapping for Locomotion and Navigation using GPU}, + publisher = {arXiv}, + year = {2022}, + copyright = {arXiv.org perpetual, non-exclusive license} + } + diff --git a/docs/source/getting_started/index.rst b/docs/source/getting_started/index.rst index 2a97ef91..a7aeaab2 100644 --- a/docs/source/getting_started/index.rst +++ b/docs/source/getting_started/index.rst @@ -1,8 +1,9 @@ +.. _introduction: -Getting Started +Introduction ================================================== -.. toctree:: + diff --git a/docs/source/getting_started/installation.rst b/docs/source/getting_started/installation.rst new file mode 100644 index 00000000..8bce5994 --- /dev/null +++ b/docs/source/getting_started/installation.rst @@ -0,0 +1,171 @@ +.. _installation: + +Installation +================================================== + +CUDA & cuDNN +----------------------- + +The tested versions are CUDA10.2, 11.6 + +`CUDA `_ +`cuDNN `_ + + +Check how to install :ref:`here`. + +Python dependencies +------------------------------- + +You will need + +* `cupy `_ +* `numpy `_ +* `scipy `_ +* `shapely==1.7.1 `_ + +For traversability filter, either of + +* `torch `_ +* `chainer `_ + +Optionally, OpenCV for inpainting filter. + +* `opencv-python `_ + +Install `numpy`, `scipy`, `shapely`, `opencv-python` with the following command. + +```bash +pip3 install -r requirements.txt +``` + +Cupy +------------------------------- + + +cupy can be installed with specific CUDA versions. (On jetson, only "from source" i.e. `pip install cupy` could work) +> For CUDA 10.2 +> pip install cupy-cuda102 +> +> For CUDA 11.0 +> pip install cupy-cuda110 +> +> For CUDA 11.1 +> pip install cupy-cuda111 +> +> For CUDA 11.2 +> pip install cupy-cuda112 +> +> For CUDA 11.3 +> pip install cupy-cuda113 +> +> For CUDA 11.4 +> pip install cupy-cuda114 +> +> For CUDA 11.5 +> pip install cupy-cuda115 +> +> For CUDA 11.6 +> pip install cupy-cuda116 +> +> (Install CuPy from source) +> % pip install cupy + +Traversability filter +------------------------------- + +You can choose either pytorch, or chainer to run the CNN based traversability filter. +Install by following the official documents. + +* `torch `_ +* `chainer `_ + +Pytorch uses ~2GB more GPU memory than Chainer, but runs a bit faster. +Use parameter `use_chainer` to select which backend to use. + +ROS package dependencies +------------------------------- + +* `pybind11_catkin `_ +* `grid_map `_ + +```bash +sudo apt install ros-noetic-pybind11-catkin +sudo apt install ros-noetic-grid-map-core ros-noetic-grid-map-msgs +``` + +On Jetson +================================================== + +CUDA CuDNN +------------------------------- + +`CUDA` and `cuDNN` can be installed via apt. It comes with nvidia-jetpack. The tested version is jetpack 4.5 with L4T 32.5.0. + +python dependencies +------------------------------- + +On jetson, you need the version for its CPU arch: + +```bash +wget https://nvidia.box.com/shared/static/p57jwntv436lfrd78inwl7iml6p13fzh.whl -O torch-1.8.0-cp36-cp36m-linux_aarch64.whl +pip3 install Cython +pip3 install numpy==1.19.5 torch-1.8.0-cp36-cp36m-linux_aarch64.whl +``` + +Also, you need to install cupy with + +```bash +pip3 install cupy +``` + +This builds the packages from source so it would take time. + +ROS dependencies +------------------------------- + +* `pybind11_catkin `_ +* `grid_map `_ + +```bash +sudo apt install ros-melodic-pybind11-catkin +sudo apt install ros-melodic-grid-map-core ros-melodic-grid-map-msgs +``` + +Also, on jetson you need fortran (should already be installed). + +```bash +sudo apt install gfortran +``` + +If the Jetson is set up with Jetpack 4.5 with ROS Melodic the following package is additionally required: + +```bash +git clone git@github.com:ros/filters.git -b noetic-devel +``` + +### Plane segmentation dependencies + +#### OpenCV + +```bash +sudo apt install libopencv-dev +``` + +#### Eigen + +```bash +sudo apt install libeigen3-dev +``` + +#### CGAL + +CGAL5 is required. It will be automatically downloaded and installed into the catkin workspace by the cgal5_catkin package. Make sure you +have the third-party libaries installed on you machine: + +```bash +sudo apt install libgmp-dev +sudo apt install libmpfr-dev +sudo apt install libboost-all-dev +``` + diff --git a/docs/source/getting_started/tutorial.rst b/docs/source/getting_started/tutorial.rst new file mode 100644 index 00000000..fdd9b2ff --- /dev/null +++ b/docs/source/getting_started/tutorial.rst @@ -0,0 +1,4 @@ +.. _tutorial: + +Tutorial +================================================== diff --git a/docs/source/index.rst b/docs/source/index.rst index 03bb6329..a029dc2a 100644 --- a/docs/source/index.rst +++ b/docs/source/index.rst @@ -1,23 +1,40 @@ -################################################## -Welcome to elevation_mapping_cupy's documentation! -################################################## +.. include:: documentation.rst .. toctree:: - :maxdepth: 2 - :caption: Pages: + :maxdepth: 1 + :caption: Overview - getting_started/index - python/index +.. toctree:: + :hidden: + :maxdepth: 2 + :caption: Getting Started + + Introduction + Installation + Tutorial + +.. toctree:: + :hidden: + :maxdepth: 2 + :caption: Usage + + Plugins + Parameters + Plane Segmentation + Semantics + + +.. toctree:: + :hidden: + :maxdepth: 2 + :caption: Library + + Python -Getting Started ---------------- -For getting started checkout :doc:`getting_started/index`.. -Old Documentation ------------------ diff --git a/docs/source/usage/parameters.rst b/docs/source/usage/parameters.rst new file mode 100644 index 00000000..edff99a3 --- /dev/null +++ b/docs/source/usage/parameters.rst @@ -0,0 +1,4 @@ +.. _parameters: +Parameters +================================================== + diff --git a/docs/source/usage/plane_segmentation.rst b/docs/source/usage/plane_segmentation.rst new file mode 100644 index 00000000..883b95b1 --- /dev/null +++ b/docs/source/usage/plane_segmentation.rst @@ -0,0 +1,7 @@ +.. _plane_segmentation: + +Plane Segmentation +================================================== + +.. image:: ../media/convex_approximation.gif + :alt: Convex approximation diff --git a/docs/source/usage/plugins.rst b/docs/source/usage/plugins.rst new file mode 100644 index 00000000..8f0e517c --- /dev/null +++ b/docs/source/usage/plugins.rst @@ -0,0 +1,5 @@ +.. _plugins: + +Plugins +================================================== + diff --git a/docs/source/usage/semantics.rst b/docs/source/usage/semantics.rst new file mode 100644 index 00000000..02d30c4e --- /dev/null +++ b/docs/source/usage/semantics.rst @@ -0,0 +1,4 @@ +.. _semantics: + +Semantics +================================================== \ No newline at end of file From ff1423f038cc5036f5da29439d7b6e9560f2cc83 Mon Sep 17 00:00:00 2001 From: Gian Erni Date: Mon, 14 Nov 2022 19:25:42 +0100 Subject: [PATCH 258/504] cleaned reade to check deployment --- README.md | 156 ------------------------------------------------------ 1 file changed, 156 deletions(-) diff --git a/README.md b/README.md index 85ed128a..03a7ed52 100644 --- a/README.md +++ b/README.md @@ -27,162 +27,6 @@ terrain can be efficiently generated. } ``` -## Installation - -#### CUDA & cuDNN - -The tested versions are CUDA10.2, 11.6 - -[CUDA](https://docs.nvidia.com/cuda/cuda-installation-guide-linux/index.html#ubuntu-installation) -[cuDNN](https://docs.nvidia.com/deeplearning/sdk/cudnn-install/index.html#install-linux). - -Check how to install [here](doc/cuda-installation.md). - -#### Python dependencies - -You will need - -- [cupy](https://cupy.chainer.org/) -- [numpy](https://www.numpy.org/) -- [scipy](https://www.scipy.org/) -- [shapely==1.7.1](https://github.com/Toblerity/Shapely) - -For traversability filter, either of - -- [torch](https://pytorch.org/) -- [chainer](https://chainer.org/) - -Optionally, OpenCV for inpainting filter. - -- [opencv-python](https://opencv.org/) - -Install `numpy`, `scipy`, `shapely`, `opencv-python` with the following command. - -```bash -pip3 install -r requirements.txt -``` - -#### Cupy - -cupy can be installed with specific CUDA versions. (On jetson, only "from source" i.e. `pip install cupy` could work) -> For CUDA 10.2 -> pip install cupy-cuda102 -> -> For CUDA 11.0 -> pip install cupy-cuda110 -> -> For CUDA 11.1 -> pip install cupy-cuda111 -> -> For CUDA 11.2 -> pip install cupy-cuda112 -> -> For CUDA 11.3 -> pip install cupy-cuda113 -> -> For CUDA 11.4 -> pip install cupy-cuda114 -> -> For CUDA 11.5 -> pip install cupy-cuda115 -> -> For CUDA 11.6 -> pip install cupy-cuda116 -> -> (Install CuPy from source) -> % pip install cupy - -#### Traversability filter - -You can choose either pytorch, or chainer to run the CNN based traversability filter. -Install by following the official documents. - -- [torch](https://pytorch.org/) -- [chainer](https://chainer.org/) - -Pytorch uses ~2GB more GPU memory than Chainer, but runs a bit faster. -Use parameter `use_chainer` to select which backend to use. - -#### ROS package dependencies - -- [pybind11_catkin](https://github.com/ipab-slmc/pybind11_catkin) -- [grid_map](https://github.com/ANYbotics/grid_map) - -```bash -sudo apt install ros-noetic-pybind11-catkin -sudo apt install ros-noetic-grid-map-core ros-noetic-grid-map-msgs -``` - -### On Jetson - -#### CUDA CuDNN - -`CUDA` and `cuDNN` can be installed via apt. It comes with nvidia-jetpack. The tested version is jetpack 4.5 with L4T 32.5.0. - -#### python dependencies - -On jetson, you need the version for its CPU arch: - -```bash -wget https://nvidia.box.com/shared/static/p57jwntv436lfrd78inwl7iml6p13fzh.whl -O torch-1.8.0-cp36-cp36m-linux_aarch64.whl -pip3 install Cython -pip3 install numpy==1.19.5 torch-1.8.0-cp36-cp36m-linux_aarch64.whl -``` - -Also, you need to install cupy with - -```bash -pip3 install cupy -``` - -This builds the packages from source so it would take time. - -#### ROS dependencies - -- [pybind11_catkin](https://github.com/ipab-slmc/pybind11_catkin) -- [grid_map](https://github.com/ANYbotics/grid_map) - -```bash -sudo apt install ros-melodic-pybind11-catkin -sudo apt install ros-melodic-grid-map-core ros-melodic-grid-map-msgs -``` - -Also, on jetson you need fortran (should already be installed). - -```bash -sudo apt install gfortran -``` - -If the Jetson is set up with Jetpack 4.5 with ROS Melodic the following package is additionally required: - -```bash -git clone git@github.com:ros/filters.git -b noetic-devel -``` - -### Plane segmentation dependencies - -#### OpenCV - -```bash -sudo apt install libopencv-dev -``` - -#### Eigen - -```bash -sudo apt install libeigen3-dev -``` - -#### CGAL - -CGAL5 is required. It will be automatically downloaded and installed into the catkin workspace by the cgal5_catkin package. Make sure you -have the third-party libaries installed on you machine: - -```bash -sudo apt install libgmp-dev -sudo apt install libmpfr-dev -sudo apt install libboost-all-dev -``` ## Usage From 812fda7a75f300681b6a685282244d32d83f8069 Mon Sep 17 00:00:00 2001 From: Gian Erni Date: Mon, 14 Nov 2022 21:30:25 +0100 Subject: [PATCH 259/504] added copy --- .github/workflows/documentation.yml | 2 +- docs/source/conf.py | 2 +- docs/source/getting_started/installation.rst | 23 ++++++++++++-------- 3 files changed, 16 insertions(+), 11 deletions(-) diff --git a/.github/workflows/documentation.yml b/.github/workflows/documentation.yml index a64a015f..95fa80a3 100644 --- a/.github/workflows/documentation.yml +++ b/.github/workflows/documentation.yml @@ -8,7 +8,7 @@ jobs: - uses: actions/setup-python@v2 - name: Install dependencies run: | - pip install sphinx sphinx_rtd_theme + pip install sphinx sphinx_rtd_theme sphinx-copybutton - name: Sphinx build run: | sphinx-build docs/source docs/_build diff --git a/docs/source/conf.py b/docs/source/conf.py index a1f29f10..9eb4db46 100644 --- a/docs/source/conf.py +++ b/docs/source/conf.py @@ -25,7 +25,7 @@ # -- General configuration --------------------------------------------------- # https://www.sphinx-doc.org/en/master/usage/configuration.html#general-configuration -extensions = ['sphinx.ext.autodoc', 'sphinx.ext.coverage', 'sphinx.ext.napoleon'] +extensions = ['sphinx.ext.autodoc', 'sphinx.ext.coverage', 'sphinx.ext.napoleon','sphinx_copybutton'] templates_path = ['_templates'] exclude_patterns = ['_build', 'Thumbs.db', '.DS_Store'] diff --git a/docs/source/getting_started/installation.rst b/docs/source/getting_started/installation.rst index 8bce5994..02baeb14 100644 --- a/docs/source/getting_started/installation.rst +++ b/docs/source/getting_started/installation.rst @@ -107,11 +107,12 @@ python dependencies On jetson, you need the version for its CPU arch: -```bash -wget https://nvidia.box.com/shared/static/p57jwntv436lfrd78inwl7iml6p13fzh.whl -O torch-1.8.0-cp36-cp36m-linux_aarch64.whl -pip3 install Cython -pip3 install numpy==1.19.5 torch-1.8.0-cp36-cp36m-linux_aarch64.whl -``` +.. code-block:: bash + + wget https://nvidia.box.com/shared/static/p57jwntv436lfrd78inwl7iml6p13fzh.whl -O torch-1.8.0-cp36-cp36m-linux_aarch64.whl + pip3 install Cython + pip3 install numpy==1.19.5 torch-1.8.0-cp36-cp36m-linux_aarch64.whl + Also, you need to install cupy with @@ -144,21 +145,25 @@ If the Jetson is set up with Jetpack 4.5 with ROS Melodic the following package git clone git@github.com:ros/filters.git -b noetic-devel ``` -### Plane segmentation dependencies +Plane segmentation dependencies +===================================== -#### OpenCV +OpenCV +------------------------------- ```bash sudo apt install libopencv-dev ``` -#### Eigen +Eigen +------------------------------- ```bash sudo apt install libeigen3-dev ``` -#### CGAL +CGAL +------------------------------- CGAL5 is required. It will be automatically downloaded and installed into the catkin workspace by the cgal5_catkin package. Make sure you have the third-party libaries installed on you machine: From bcd2cbbe14dbcfdd7def8a85953d87464cbdea14 Mon Sep 17 00:00:00 2001 From: Gian Erni Date: Tue, 15 Nov 2022 16:38:10 +0100 Subject: [PATCH 260/504] added bayesian class kernel and also semantic segmentation image publisher --- .gitignore | 6 +- .../elevation_mapping_cupy/custom_kernels.py | 45 +++++++++++- .../plugins/semantic_filter.py | 37 ++++++---- .../elevation_mapping_cupy/semantic_map.py | 31 ++++++++- .../tests/test_elevation_mapping.py | 2 + .../tests/test_semantic_map.py | 5 +- requirements.txt | 1 + .../semantic_pointcloud/pointcloud_node.py | 68 ++++++++++++++++++- .../pointcloud_parameters.py | 2 + 9 files changed, 177 insertions(+), 20 deletions(-) diff --git a/.gitignore b/.gitignore index 0f73a391..1fbf49f8 100644 --- a/.gitignore +++ b/.gitignore @@ -1,4 +1,8 @@ *.pyc *.bkp *.orig -.idea \ No newline at end of file +.idea +.pytest_cache +.run/ +docs/build +_build \ No newline at end of file diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/custom_kernels.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/custom_kernels.py index d8c53eac..4caa3cbe 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/custom_kernels.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/custom_kernels.py @@ -694,6 +694,50 @@ def sum_kernel( ) return sum_kernel +def alpha_kernel( + resolution, + width, + height, + ): + # input the list of layers, amount of channels can slo be input through kernel + alpha_kernel = cp.ElementwiseKernel( + in_params="raw U p, raw W pcl_chan, raw W map_lay, raw W pcl_channels", + out_params="raw U newmap", + preamble=string.Template( + """ + __device__ int get_map_idx(int idx, int layer_n) { + const int layer = ${width} * ${height}; + return layer * layer_n + idx; + } + """ + ).substitute(resolution=resolution,width=width, height=height), + operation=string.Template( + """ + U idx = p[i * pcl_channels[0]]; + U valid = p[i * pcl_channels[0] + 1]; + U inside = p[i * pcl_channels[0] + 2]; + if (valid) { + if (inside) { + U theta_max = 0; + W arg_max = 0; + for ( W it=0;it=theta_max){ + arg_max = map_lay[it]; + theta_max = theta; + } + } + atomicAdd(&newmap[get_map_idx(idx, arg_max)], 1.0); + } + } + """ + ).substitute( + ), + name="alpha_kernel", + ) + return alpha_kernel + + def average_kernel( width, @@ -875,7 +919,6 @@ def color_average_kernel( ) return color_average_kernel -# TODO: in future add more kernels e.g. bayesian kernel if __name__ == "__main__": for i in range(10): diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_filter.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_filter.py index d91b15fb..2f82ad68 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_filter.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_filter.py @@ -24,22 +24,35 @@ def __init__( self, cell_n: int = 100, classes: list = ["person", "grass"], - colors: list = [ - [0, 255, 0], - [0, 255, 255], - [0, 0, 255], - [255, 255, 0], - [255, 0, 0], - ], **kwargs, ): super().__init__() self.indices = [] self.classes = classes - color_classes = np.array(colors) - self.color_encoding = self.transform_color(color_classes) + self.color_encoding = self.transform_color() - def transform_color(self, color_classes): + def color_map(self, N=256, normalized=False): + def bitget(byteval, idx): + return (byteval & (1 << idx)) != 0 + + dtype = "float32" if normalized else "uint8" + cmap = np.zeros((N+1, 3), dtype=dtype) + for i in range(N+1): + r = g = b = 0 + c = i + for j in range(8): + r = r | (bitget(c, 0) << 7 - j) + g = g | (bitget(c, 1) << 7 - j) + b = b | (bitget(c, 2) << 7 - j) + c = c >> 3 + + cmap[i] = np.array([r, g, b]) + + cmap = cmap / 255 if normalized else cmap + return cmap[1:] + + def transform_color(self): + color_classes = self.color_map(len(self.classes)) r = np.asarray(color_classes[:, 0], dtype=np.uint32) g = np.asarray(color_classes[:, 1], dtype=np.uint32) b = np.asarray(color_classes[:, 2], dtype=np.uint32) @@ -59,9 +72,7 @@ def __call__( # get indices of all layers that layer_indices = cp.array([], dtype=cp.int32) for it, fusion_alg in enumerate(semantic_map.param.fusion_algorithms): - if fusion_alg == "class_average" and ( - semantic_map.param.additional_layers[it] in self.classes - ): + if (fusion_alg in ["class_bayesian","class_average"]): layer_indices = cp.append(layer_indices, it).astype(cp.int32) # check which has the highest value diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py index e8c3a4af..7ab2b289 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py @@ -8,6 +8,7 @@ color_average_kernel, average_kernel, class_average_kernel, + alpha_kernel, ) xp = cp @@ -74,7 +75,7 @@ def compile_kernels(self) -> None: self.param.cell_n, self.param.cell_n ) if "class_average" in self.unique_fusion: - print("Initialize fusion kernel") + print("Initialize class average kernel") self.sum_kernel = sum_kernel( self.param.resolution, self.param.cell_n, @@ -84,6 +85,13 @@ def compile_kernels(self) -> None: self.param.cell_n, self.param.cell_n, ) + if "class_bayesian" in self.unique_fusion: + print("Initialize class bayesian kernel") + self.alpha_kernel = alpha_kernel( + self.param.resolution, + self.param.cell_n, + self.param.cell_n, + ) def get_fusion_of_pcl(self, channels: List[str]) -> List[str]: """Get all fusion algorithms that need to be applied to a specific pointcloud @@ -99,7 +107,7 @@ def get_fusion_of_pcl(self, channels: List[str]) -> List[str]: return fusion_list def get_indices_fusion(self, pcl_channels: List[str], fusion_alg: str): - """Computes the indices that are used for the additional kernel update of the pcl and the elmap. + """Computes the indices that are used for the additional kernel update of the popintcloud and the semantic map. Args: pcl_channels (List[str]): @@ -172,6 +180,25 @@ def update_layers(self, points_all, channels, R, t, elevation_map): size=(self.param.cell_n * self.param.cell_n), ) + if "class_bayesian" in additional_fusion: + pcl_ids, layer_ids = self.get_indices_fusion(channels, "class_bayesian") + # alpha sum get points as input and calculate for each point to what cell it belongs and then + # adds to the right channel a one + self.alpha_kernel( + points_all, + pcl_ids, + layer_ids, + cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=np.int32), + self.new_map, + size=(points_all.shape[0]), + ) + # calculate new thetas + sum_alpha = cp.sum(self.new_map[layer_ids], axis=0) + self.map[layer_ids] = self.new_map[layer_ids] / cp.expand_dims( + sum_alpha, axis=0 + ) + # assert cp.unique(cp.sum(self.map[layer_ids], axis=0)) equal to zero or to nan + if "color" in additional_fusion: pcl_ids, layer_ids = self.get_indices_fusion(channels, "color") if self.color_map is None: diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_elevation_mapping.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_elevation_mapping.py index b9ce3b41..e7e36c19 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_elevation_mapping.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_elevation_mapping.py @@ -25,6 +25,8 @@ def elmap_ex(add_lay, fusion_alg): [ (["feat_0", "feat_1", "rgb"], ["average", "average", "color"]), (["feat_0", "feat_1"], ["average", "average"]), + (["feat_0", "feat_1"], ["class_average", "class_average"]), + (["feat_0", "feat_1"], ["class_bayesian", "class_bayesian"]), ], ) class TestElevationMap: diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_semantic_map.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_semantic_map.py index a083a477..86eba134 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_semantic_map.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_semantic_map.py @@ -26,6 +26,9 @@ def semmap_ex(add_lay, fusion_alg): [(["feat_0", "feat_1"], ["average", "average"],["feat_0"]), (["feat_0", "feat_1"], ["average", "average"],[]), (["feat_0", "feat_1", "rgb"], ["average", "average", "color"],["rgb", "feat_0"]), + (["feat_0", "feat_1", "rgb"], ["class_average", "average", "color"], ["rgb", "feat_0"]), + (["feat_0", "feat_1", "rgb"], ["class_bayesian", "average", "color"], ["rgb", "feat_0"]), + (["feat_0", "feat_1", "rgb"], ["class_bayesian", "average", "color"], ["rgb", "feat_0", "feat_1"]), ], ) def test_fusion_of_pcl(semmap_ex, channels): @@ -42,4 +45,4 @@ def test_fusion_of_pcl(semmap_ex, channels): ) @pytest.mark.parametrize("channels", [["rgb"], ["rgb", "feat_0"], []]) def test_indices_fusion(semmap_ex, channels,fusion_alg): - pcl_indices, layer_indices = semmap_ex.get_indices_fusion(pcl_channels=channels,fusion_alg=fusion_alg[0]) + pcl_indices, layer_indices = semmap_ex.get_indices_fusion(pcl_channels=channels, fusion_alg=fusion_alg[0]) diff --git a/requirements.txt b/requirements.txt index c68be6a1..f6e3233d 100644 --- a/requirements.txt +++ b/requirements.txt @@ -5,6 +5,7 @@ dataclasses ruamel.yaml opencv-python simple_parsing +scikit-image ###### Requirements with Version Specifiers ######` shapely==1.7.1 diff --git a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_node.py b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_node.py index 93567951..f42983d3 100755 --- a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_node.py +++ b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_node.py @@ -4,10 +4,12 @@ import numpy as np import cupy as cp import ros_numpy +import matplotlib.pyplot as plt +from skimage.io import imshow import message_filters from sensor_msgs.msg import Image, CameraInfo -from sensor_msgs.msg import PointCloud2 +from sensor_msgs.msg import PointCloud2, Image from cv_bridge import CvBridge from semantic_pointcloud.pointcloud_parameters import PointcloudParameter @@ -67,6 +69,52 @@ def __init__(self, sensor_name): ts.registerCallback(self.image_callback) self.pcl_pub = rospy.Publisher(self.param.topic_name, PointCloud2, queue_size=2) + if self.param.publish_segmentation_image: + self.seg_pub = rospy.Publisher( + self.param.segmentation_image_topic, Image, queue_size=2 + ) + self.semseg_color_map = self.color_map( + len(list(self.segmentation_channels.keys())) + ) + self.color_map_viz() + + def color_map(self, N=256, normalized=False): + def bitget(byteval, idx): + return (byteval & (1 << idx)) != 0 + + dtype = "float32" if normalized else "uint8" + cmap = np.zeros((N + 1, 3), dtype=dtype) + for i in range(N + 1): + r = g = b = 0 + c = i + for j in range(8): + r = r | (bitget(c, 0) << 7 - j) + g = g | (bitget(c, 1) << 7 - j) + b = b | (bitget(c, 2) << 7 - j) + c = c >> 3 + + cmap[i] = np.array([r, g, b]) + + cmap = cmap / 255 if normalized else cmap + return cmap[1:] + + def color_map_viz(self): + # labels = self.semantic_model["model"].get_classes() + labels = list(self.segmentation_channels.keys()) + nclasses = len(labels) + row_size = 50 + col_size = 500 + cmap = self.semseg_color_map + array = np.empty( + (row_size * (nclasses), col_size, cmap.shape[1]), dtype=cmap.dtype + ) + for i in range(nclasses): + array[i * row_size : i * row_size + row_size, :] = cmap[i] + imshow(array) + plt.yticks([row_size * i + row_size / 2 for i in range(nclasses)], labels) + plt.xticks([]) + plt.show() + # plt.savefig("./labels.png") def initialize_semantics(self): if self.param.semantic_segmentation: @@ -81,10 +129,12 @@ def initialize_semantics(self): ) indices = [] channels = [] - for chan in self.param.channels: + for it, chan in enumerate(self.param.channels): if chan in [cls for cls in list(class_to_idx.keys())]: indices.append(class_to_idx[chan]) channels.append(chan) + elif self.param.fusion[it] in ["class_average", "class_bayesian"]: + print(chan, " is not in the semantic segmentation model.") self.segmentation_channels = dict(zip(channels, indices)) if self.param.feature_extractor: self.feature_channels = [] @@ -111,6 +161,7 @@ def cam_info_callback(self, msg): self.P = cp.resize(a, (3, 4)) self.height = msg.height self.width = msg.width + self.header = msg.header def image_callback(self, rgb_msg, depth_msg, confidence_msg=None): confidence = None @@ -190,6 +241,8 @@ def perform_segmentation(self, image, points, u, v): values = mask[:, v.get(), u.get()].cpu().detach().numpy() for it, channel in enumerate(self.segmentation_channels.keys()): points[channel] = values[it] + if self.param.publish_segmentation_image: + self.publish_segmentation_image(mask) def extract_features(self, image, points, u, v): prediction = self.feature_extractor["model"](image) @@ -197,6 +250,17 @@ def extract_features(self, image, points, u, v): for it, channel in enumerate(self.feature_channels): points[channel] = values[it] + def publish_segmentation_image(self, probabilities): + probabilities = cp.asarray(probabilities) + colors = cp.asarray(self.semseg_color_map) + assert colors.ndim == 2 and colors.shape[1] == 3 + img = cp.argmax(probabilities, axis=0) + img = colors[img].astype(cp.uint8) # N x H x W x 3 + img = img.get() + seg_msg = self.cv_bridge.cv2_to_imgmsg(img, encoding="rgb8") + seg_msg.header.frame_id = self.header.frame_id + self.seg_pub.publish(seg_msg) + if __name__ == "__main__": sensor_name = sys.argv[1] diff --git a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_parameters.py b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_parameters.py index e5426b2f..2083abf4 100644 --- a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_parameters.py +++ b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_parameters.py @@ -25,6 +25,8 @@ class PointcloudParameter(Serializable): semantic_segmentation: bool = True segmentation_model: str = "detectron_coco_panoptic_fpn_R_101_3x" + publish_segmentation_image: bool = True + segmentation_image_topic: str = "/semantic_pointcloud/sem_seg" cam_info_topic: str = "/zed2i/zed_node/depth/camera_info" image_topic: str = "/zed2i/zed_node/left/image_rect_color" From d36581aebdf2b6599861be368785f7576376d1a2 Mon Sep 17 00:00:00 2001 From: Gian Erni Date: Wed, 16 Nov 2022 16:56:53 +0100 Subject: [PATCH 261/504] added bayesian inference fusion process --- .../elevation_mapping_cupy/custom_kernels.py | 75 +++++++++++++++++++ .../elevation_mapping_cupy/semantic_map.py | 46 +++++++++++- .../tests/test_elevation_mapping.py | 1 + 3 files changed, 121 insertions(+), 1 deletion(-) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/custom_kernels.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/custom_kernels.py index 4caa3cbe..66406271 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/custom_kernels.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/custom_kernels.py @@ -694,6 +694,43 @@ def sum_kernel( ) return sum_kernel +def sum_compact_kernel( + resolution, + width, + height, + ): + # input the list of layers, amount of channels can slo be input through kernel + sum_compact_kernel = cp.ElementwiseKernel( + in_params="raw U p, raw U R, raw U t, raw W pcl_chan, raw W map_lay, raw W pcl_channels", + out_params=" raw U newmap", + preamble=string.Template( + """ + __device__ int get_map_idx(int idx, int layer_n) { + const int layer = ${width} * ${height}; + return layer * layer_n + idx; + } + """ + ).substitute(resolution=resolution,width=width, height=height), + operation=string.Template( + """ + U idx = p[i * pcl_channels[0]]; + U valid = p[i * pcl_channels[0] + 1]; + U inside = p[i * pcl_channels[0] + 2]; + if (valid) { + if (inside) { + for ( W it=0;it0){ + for ( int it=0;it None: self.param.cell_n, self.param.cell_n, ) - + if "bayesian_inference" in self.unique_fusion: + print("Initialize bayesian inference kernel") + self.sum_mean = xp.ones( + ( + self.param.fusion_algorithms.count("bayesian_inference"), + self.param.cell_n, + self.param.cell_n, + ), + self.param.data_type, + ) + # todo initialize the variance with a value different than 0 + self.sum_compact_kernel = sum_compact_kernel( + self.param.resolution, + self.param.cell_n, + self.param.cell_n, + ) + self.bayesian_inference_kernel = bayesian_inference_kernel( + self.param.cell_n, + self.param.cell_n, + ) if "color" in self.unique_fusion: print("Initialize color kernel") self.add_color_kernel = add_color_kernel( @@ -157,6 +178,29 @@ def update_layers(self, points_all, channels, R, t, elevation_map): self.map, size=(self.param.cell_n * self.param.cell_n), ) + if "bayesian_inference" in additional_fusion: + pcl_ids, layer_ids = self.get_indices_fusion(channels, "bayesian_inference") + self.sum_mean *= 0 + self.sum_compact_kernel( + points_all, + R, + t, + pcl_ids, + layer_ids, + cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=np.int32), + self.sum_mean, + size=(points_all.shape[0]), + ) + self.bayesian_inference_kernel( + pcl_ids, + layer_ids, + cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=np.int32), + elevation_map, + self.new_map, + self.sum_mean, + self.map, + size=(self.param.cell_n * self.param.cell_n), + ) if "class_average" in additional_fusion: pcl_ids, layer_ids = self.get_indices_fusion(channels, "class_average") self.sum_kernel( diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_elevation_mapping.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_elevation_mapping.py index e7e36c19..71559122 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_elevation_mapping.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_elevation_mapping.py @@ -27,6 +27,7 @@ def elmap_ex(add_lay, fusion_alg): (["feat_0", "feat_1"], ["average", "average"]), (["feat_0", "feat_1"], ["class_average", "class_average"]), (["feat_0", "feat_1"], ["class_bayesian", "class_bayesian"]), + (["feat_0", "feat_1"], ["bayesian_inference", "bayesian_inference"]), ], ) class TestElevationMap: From 96bf424b27c4581d1fb959951a45f4a965ff67d2 Mon Sep 17 00:00:00 2001 From: Gian Erni Date: Wed, 16 Nov 2022 17:42:14 +0100 Subject: [PATCH 262/504] change from few to all classes on image pub --- .../semantic_pointcloud/pointcloud_node.py | 19 +++++++++++-------- .../pointcloud_parameters.py | 1 + 2 files changed, 12 insertions(+), 8 deletions(-) diff --git a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_node.py b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_node.py index f42983d3..932e34d7 100755 --- a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_node.py +++ b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_node.py @@ -73,9 +73,11 @@ def __init__(self, sensor_name): self.seg_pub = rospy.Publisher( self.param.segmentation_image_topic, Image, queue_size=2 ) - self.semseg_color_map = self.color_map( - len(list(self.segmentation_channels.keys())) - ) + if self.param.pub_all: + self.labels = self.semantic_model["model"].get_classes() + else: + self.labels = list(self.segmentation_channels.keys()) + self.semseg_color_map = self.color_map(len(self.labels)) self.color_map_viz() def color_map(self, N=256, normalized=False): @@ -99,9 +101,7 @@ def bitget(byteval, idx): return cmap[1:] def color_map_viz(self): - # labels = self.semantic_model["model"].get_classes() - labels = list(self.segmentation_channels.keys()) - nclasses = len(labels) + nclasses = len(self.labels) row_size = 50 col_size = 500 cmap = self.semseg_color_map @@ -111,7 +111,7 @@ def color_map_viz(self): for i in range(nclasses): array[i * row_size : i * row_size + row_size, :] = cmap[i] imshow(array) - plt.yticks([row_size * i + row_size / 2 for i in range(nclasses)], labels) + plt.yticks([row_size * i + row_size / 2 for i in range(nclasses)], self.labels) plt.xticks([]) plt.show() # plt.savefig("./labels.png") @@ -242,7 +242,10 @@ def perform_segmentation(self, image, points, u, v): for it, channel in enumerate(self.segmentation_channels.keys()): points[channel] = values[it] if self.param.publish_segmentation_image: - self.publish_segmentation_image(mask) + if self.param.pub_all: + self.publish_segmentation_image(prediction) + else: + self.publish_segmentation_image(mask) def extract_features(self, image, points, u, v): prediction = self.feature_extractor["model"](image) diff --git a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_parameters.py b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_parameters.py index 2083abf4..abdf0491 100644 --- a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_parameters.py +++ b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_parameters.py @@ -27,6 +27,7 @@ class PointcloudParameter(Serializable): segmentation_model: str = "detectron_coco_panoptic_fpn_R_101_3x" publish_segmentation_image: bool = True segmentation_image_topic: str = "/semantic_pointcloud/sem_seg" + pub_all: bool = False cam_info_topic: str = "/zed2i/zed_node/depth/camera_info" image_topic: str = "/zed2i/zed_node/left/image_rect_color" From c53f09030c0a0273c09dc9995c61385473b61e4a Mon Sep 17 00:00:00 2001 From: Gian Erni Date: Wed, 16 Nov 2022 19:16:36 +0100 Subject: [PATCH 263/504] added everything that was already present --- README.md | 207 ------------------ docs/media/cuda-installation.md | 21 -- .../getting_started/cuda_installation.rst | 30 +++ docs/source/getting_started/index.rst | 62 +++++- docs/source/getting_started/installation.rst | 180 +++++++++------ docs/source/getting_started/tutorial.rst | 108 ++++++++- docs/source/python/custom_kernels.rst | 2 +- docs/source/python/elevation_mapping.rst | 2 +- docs/source/python/index.rst | 2 +- docs/source/python/semantic_pointcloud.rst | 2 +- docs/source/usage/parameters.rst | 3 +- docs/source/usage/plane_segmentation.rst | 2 +- docs/source/usage/plugins.rst | 63 +++++- docs/source/usage/semantics.rst | 2 +- 14 files changed, 375 insertions(+), 311 deletions(-) delete mode 100644 docs/media/cuda-installation.md create mode 100644 docs/source/getting_started/cuda_installation.rst diff --git a/README.md b/README.md index 03a7ed52..9dba2ed3 100644 --- a/README.md +++ b/README.md @@ -27,210 +27,3 @@ terrain can be efficiently generated. } ``` - -## Usage - -### Build - -```bash -catkin build elevation_mapping_cupy -catkin build convex_plane_decomposition_ros -``` - -#### Errors - -If you get error such as - -``` -Make Error at /usr/share/cmake-3.16/Modules/FindPackageHandleStandardArgs.cmake:146 (message): - Could NOT find PythonInterp: Found unsuitable version "2.7.18", but - required is at least "3" (found /usr/bin/python) -``` - -Build with option. - -```bash -catkin build elevation_mapping_cupy -DPYTHON_EXECUTABLE=$(which python3) -``` - -### Run - -Basic usage. - -```bash -roslaunch elevation_mapping_cupy elevation_mapping_cupy.launch -``` - -For the plane segmentation node - -```bash -roslaunch convex_plane_decomposition_ros convex_plane_decomposition.launch -``` - -#### Errors -If you build with the install flag under ros melodic, you might get issues with the modules not found: - -```bash -terminate called after throwing an instance of 'pybind11::error_already_set' - what(): ModuleNotFoundError: No module named 'elevation_mapping_cupy' -``` -This is because python3 modules are installed into a different location. - -This can be fixed by including also the python3 modules location in the `PYTHONPATH` by adding following line into the launch file: - -```xml - -``` - -### Run TurtleBot example - -First, install turtlebot simulation. - -```bash -sudo apt install ros-noetic-turtlebot3-gazebo ros-noetic-turtlebot3-teleop -``` - -Then, you can run the examples. For the basic version: - -```bash -export TURTLEBOT3_MODEL=waffle -roslaunch elevation_mapping_cupy turtlesim_example.launch -``` - -Or, for the version including plane segmentation: - -```bash -catkin build convex_plane_decomposition_ros -export TURTLEBOT3_MODEL=waffle -roslaunch elevation_mapping_cupy turtlesim_segmentation_example.launch -``` - -To control the robot with a keyboard, a new terminal window needs to be opened. -Then run - -```bash -export TURTLEBOT3_MODEL=waffle -roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch -``` - -Velocity inputs can be sent to the robot by pressing the keys `a`, `w`, `d`, `x`. To stop the robot completely, press `s`. - -### Subscribed Topics - -* topics specified in **`pointcloud_topics`** in **`elevation_mapping_cupy/config/parameters.yaml`** ([sensor_msgs/PointCloud2]) - - The distance measurements. - -* **`/tf`** ([tf/tfMessage]) - - The transformation tree. - -* The plane segmentation node subscribes to an elevation map topic ([grid_map_msg/GridMap]). This can be configured in - **`convex_plane_decomposition_ros/config/parameters.yaml`** - -### Published Topics - -For elevation_mapping_cupy, topics are published as set in the rosparam. -You can specify which layers to publish in which fps. - -Under `publishers`, you can specify the `topic_name`, `layers` `basic_layers` and `fps`. - -```yaml -publishers: - your_topic_name: - layers: [ 'list_of_layer_names', 'layer1', 'layer2' ] # Choose from 'elevation', 'variance', 'traversability', 'time' + plugin layers - basic_layers: [ 'list of basic layers', 'layer1' ] # basic_layers for valid cell computation (e.g. Rviz): Choose a subset of `layers`. - fps: 5.0 # Publish rate. Use smaller value than `map_acquire_fps`. -``` - -Example setting in `config/parameters.yaml`. - -* **`elevation_map_raw`** ([grid_map_msg/GridMap]) - - The entire elevation map. - -* **`elevation_map_recordable`** ([grid_map_msg/GridMap]) - - The entire elevation map with slower update rate for visualization and logging. - -* **`elevation_map_filter`** ([grid_map_msg/GridMap]) - - The filtered maps using plugins. - -The plane segmentation node publishes the following: - -* **`planar_terrain`** ([convex_plane_decomposition_msgs/PlanarTerrain]) - - A custom message that contains the full segmentation as a map together with the boundary information. - -* **`filtered_map`** ([grid_map_msg/GridMap]) - - A grid map message to visualize the segmentation and some intermediate results. This information is also part of **`planar_terrain`**. - -* **`boundaries`** ([visualization_msgs/MarkerArray]) - - A set of polygons that trace the boundaries of the segmented region. Holes and boundaries of a single region are published as separate - markers with the same color. - -* **`insets`** ([visualization_msgs/PolygonArray]) - - A set of polygons that are at a slight inward offset from **`boundaries`**. There might be more insets than boundaries since the inward - shift can cause a single region to break down into multiple when narrow passages exist. - -# Plugins - -You can create your own plugin to process the elevation map and publish as a layer in GridMap message. - -Let's look at the example. - -First, create your plugin file in `elevation_mapping_cupy/script/plugins/` and save as `example.py`. - -```python -import cupy as cp -from typing import List -from .plugin_manager import PluginBase - - -class NameOfYourPlugin(PluginBase): - def __init__(self, add_value:float=1.0, **kwargs): - super().__init__() - self.add_value = float(add_value) - - def __call__(self, elevation_map: cp.ndarray, layer_names: List[str], - plugin_layers: cp.ndarray, plugin_layer_names: List[str])->cp.ndarray: - # Process maps here - # You can also use the other plugin's data through plugin_layers. - new_elevation = elevation_map[0] + self.add_value - return new_elevation -``` - -Then, add your plugin setting to `config/plugin_config.yaml` - -```yaml -example: # Name of your filter - type: "example" # Specify the name of your plugin (the name of your file name). - enable: True # weather to load this plugin - fill_nan: True # Fill nans to invalid cells of elevation layer. - is_height_layer: True # If this is a height layer (such as elevation) or not (such as traversability) - layer_name: "example_layer" # The layer name. - extra_params: # This params are passed to the plugin class on initialization. - add_value: 2.0 # Example param - -example_large: # You can apply same filter with different name. - type: "example" # Specify the name of your plugin (the name of your file name). - enable: True # weather to load this plugin - fill_nan: True # Fill nans to invalid cells of elevation layer. - is_height_layer: True # If this is a height layer (such as elevation) or not (such as traversability) - layer_name: "example_layer_large" # The layer name. - extra_params: # This params are passed to the plugin class on initialization. - add_value: 100.0 # Example param with larger value. -``` - -Finally, add your layer name to publishers in `config/parameters.yaml`. You can create a new topic or add to existing topics. - -```yaml - plugin_example: # Topic name - layers: [ 'elevation', 'example_layer', 'example_layer_large' ] - basic_layers: [ 'example_layer' ] - fps: 1.0 # The plugin is called with this fps. -``` diff --git a/docs/media/cuda-installation.md b/docs/media/cuda-installation.md deleted file mode 100644 index 17fe2481..00000000 --- a/docs/media/cuda-installation.md +++ /dev/null @@ -1,21 +0,0 @@ -#### CUDA -You can download CUDA10.2 from [here](https://developer.download.nvidia.com/compute/cuda/repos/ubuntu1804/x86_64/cuda-ubuntu1804.pin). -You can follow the instruction. -```bash -wget https://developer.download.nvidia.com/compute/cuda/repos/ubuntu1804/x86_64/cuda-ubuntu1804.pin -sudo mv cuda-ubuntu1804.pin /etc/apt/preferences.d/cuda-repository-pin-600 -sudo apt-key adv --fetch-keys https://developer.download.nvidia.com/compute/cuda/repos/ubuntu1804/x86_64/7fa2af80.pub -sudo add-apt-repository "deb https://developer.download.nvidia.com/compute/cuda/repos/ubuntu1804/x86_64/ /" -sudo apt-get update -sudo apt-get -y install cuda -``` - -#### cuDNN -You can download specific version from [here](https://developer.download.nvidia.com/compute/machine-learning/repos/ubuntu1804/x86_64/). -For example, the tested version is with `libcudnn8_8.0.0.180-1+cuda10.2_amd64.deb`. - -Then install them using the command below. -```bash -sudo dpkg -i libcudnn8_8.0.0.180-1+cuda10.2_amd64.deb -sudo dpkg -i libcudnn8-dev_8.0.0.180-1+cuda10.2_amd64.deb -``` diff --git a/docs/source/getting_started/cuda_installation.rst b/docs/source/getting_started/cuda_installation.rst new file mode 100644 index 00000000..cc656f63 --- /dev/null +++ b/docs/source/getting_started/cuda_installation.rst @@ -0,0 +1,30 @@ +.. _cuda_installation: + +TODO add this to the +CUDA +****************************************************************** + +You can download CUDA10.2 from [here](https://developer.download.nvidia.com/compute/cuda/repos/ubuntu1804/x86_64/cuda-ubuntu1804.pin). +You can follow the instruction. +.. code-block:: bash + + wget https://developer.download.nvidia.com/compute/cuda/repos/ubuntu1804/x86_64/cuda-ubuntu1804.pin + sudo mv cuda-ubuntu1804.pin /etc/apt/preferences.d/cuda-repository-pin-600 + sudo apt-key adv --fetch-keys https://developer.download.nvidia.com/compute/cuda/repos/ubuntu1804/x86_64/7fa2af80.pub + sudo add-apt-repository "deb https://developer.download.nvidia.com/compute/cuda/repos/ubuntu1804/x86_64/ /" + sudo apt-get update + sudo apt-get -y install cuda + + +cuDNN +****************************************************************** + +You can download specific version from [here](https://developer.download.nvidia.com/compute/machine-learning/repos/ubuntu1804/x86_64/). +For example, the tested version is with `libcudnn8_8.0.0.180-1+cuda10.2_amd64.deb`. + +Then install them using the command below. +.. code-block:: bash + + sudo dpkg -i libcudnn8_8.0.0.180-1+cuda10.2_amd64.deb + sudo dpkg -i libcudnn8-dev_8.0.0.180-1+cuda10.2_amd64.deb + diff --git a/docs/source/getting_started/index.rst b/docs/source/getting_started/index.rst index a7aeaab2..7b0ec137 100644 --- a/docs/source/getting_started/index.rst +++ b/docs/source/getting_started/index.rst @@ -1,9 +1,69 @@ .. _introduction: Introduction -================================================== +****************************************************************** +Subscribed Topics +------------------------------------------------------------------- +* topics specified in **`pointcloud_topics`** in **`elevation_mapping_cupy/config/parameters.yaml`** ([sensor_msgs/PointCloud2]) + The distance measurements. +* **`/tf`** ([tf/tfMessage]) + + The transformation tree. + +* The plane segmentation node subscribes to an elevation map topic ([grid_map_msg/GridMap]). This can be configured in + **`convex_plane_decomposition_ros/config/parameters.yaml`** + +Published Topics +------------------------------------------------------------------- +For elevation_mapping_cupy, topics are published as set in the rosparam. +You can specify which layers to publish in which fps. + +Under `publishers`, you can specify the `topic_name`, `layers` `basic_layers` and `fps`. + +.. code-block:: yaml + + publishers: + your_topic_name: + layers: [ 'list_of_layer_names', 'layer1', 'layer2' ] # Choose from 'elevation', 'variance', 'traversability', 'time' + plugin layers + basic_layers: [ 'list of basic layers', 'layer1' ] # basic_layers for valid cell computation (e.g. Rviz): Choose a subset of `layers`. + fps: 5.0 # Publish rate. Use smaller value than `map_acquire_fps`. + + +Example setting in `config/parameters.yaml`. + +* **`elevation_map_raw`** ([grid_map_msg/GridMap]) + + The entire elevation map. + +* **`elevation_map_recordable`** ([grid_map_msg/GridMap]) + + The entire elevation map with slower update rate for visualization and logging. + +* **`elevation_map_filter`** ([grid_map_msg/GridMap]) + + The filtered maps using plugins. + +The plane segmentation node publishes the following: + +* **`planar_terrain`** ([convex_plane_decomposition_msgs/PlanarTerrain]) + + A custom message that contains the full segmentation as a map together with the boundary information. + +* **`filtered_map`** ([grid_map_msg/GridMap]) + + A grid map message to visualize the segmentation and some intermediate results. This information is also part of **`planar_terrain`**. + +* **`boundaries`** ([visualization_msgs/MarkerArray]) + + A set of polygons that trace the boundaries of the segmented region. Holes and boundaries of a single region are published as separate + markers with the same color. + +* **`insets`** ([visualization_msgs/PolygonArray]) + + A set of polygons that are at a slight inward offset from **`boundaries`**. There might be more insets than boundaries since the inward + shift can cause a single region to break down into multiple when narrow passages exist. diff --git a/docs/source/getting_started/installation.rst b/docs/source/getting_started/installation.rst index 02baeb14..f4bbcfeb 100644 --- a/docs/source/getting_started/installation.rst +++ b/docs/source/getting_started/installation.rst @@ -1,10 +1,10 @@ .. _installation: Installation -================================================== +****************************************************************** CUDA & cuDNN ------------------------ +================================================================== The tested versions are CUDA10.2, 11.6 @@ -12,10 +12,10 @@ The tested versions are CUDA10.2, 11.6 `cuDNN `_ -Check how to install :ref:`here`. +Check how to install :ref:`here`. Python dependencies -------------------------------- +------------------------------------------------------------------- You will need @@ -35,44 +35,72 @@ Optionally, OpenCV for inpainting filter. Install `numpy`, `scipy`, `shapely`, `opencv-python` with the following command. -```bash -pip3 install -r requirements.txt -``` +.. code-block:: bash + + pip3 install -r requirements.txt + Cupy -------------------------------- +------------------------------------------------------------------- cupy can be installed with specific CUDA versions. (On jetson, only "from source" i.e. `pip install cupy` could work) -> For CUDA 10.2 -> pip install cupy-cuda102 -> -> For CUDA 11.0 -> pip install cupy-cuda110 -> -> For CUDA 11.1 -> pip install cupy-cuda111 -> -> For CUDA 11.2 -> pip install cupy-cuda112 -> -> For CUDA 11.3 -> pip install cupy-cuda113 -> -> For CUDA 11.4 -> pip install cupy-cuda114 -> -> For CUDA 11.5 -> pip install cupy-cuda115 -> -> For CUDA 11.6 -> pip install cupy-cuda116 -> -> (Install CuPy from source) -> % pip install cupy +For CUDA 10.2 + +.. code-block:: bash + + pip install cupy-cuda102 + +For CUDA 11.0 + +.. code-block:: bash + + pip install cupy-cuda110 + +For CUDA 11.1 + +.. code-block:: bash + + pip install cupy-cuda111 + +For CUDA 11.2 + +.. code-block:: bash + + pip install cupy-cuda112 + +For CUDA 11.3 + +.. code-block:: bash + + pip install cupy-cuda113 + +For CUDA 11.4 + +.. code-block:: bash + + pip install cupy-cuda114 + +For CUDA 11.5 + +.. code-block:: bash + + pip install cupy-cuda115 + +For CUDA 11.6 + +.. code-block:: bash + + pip install cupy-cuda116 + +(Install CuPy from source) + +.. code-block:: bash + + pip install cupy Traversability filter -------------------------------- +------------------------------------------------------------------- You can choose either pytorch, or chainer to run the CNN based traversability filter. Install by following the official documents. @@ -84,26 +112,27 @@ Pytorch uses ~2GB more GPU memory than Chainer, but runs a bit faster. Use parameter `use_chainer` to select which backend to use. ROS package dependencies -------------------------------- +------------------------------------------------------------------- * `pybind11_catkin `_ * `grid_map `_ -```bash -sudo apt install ros-noetic-pybind11-catkin -sudo apt install ros-noetic-grid-map-core ros-noetic-grid-map-msgs -``` +.. code-block:: bash + + sudo apt install ros-noetic-pybind11-catkin + sudo apt install ros-noetic-grid-map-core ros-noetic-grid-map-msgs + On Jetson -================================================== +================================================================== CUDA CuDNN -------------------------------- +------------------------------------------------------------------- `CUDA` and `cuDNN` can be installed via apt. It comes with nvidia-jetpack. The tested version is jetpack 4.5 with L4T 32.5.0. -python dependencies -------------------------------- +Python dependencies +------------------------------------------------------------------- On jetson, you need the version for its CPU arch: @@ -116,61 +145,66 @@ On jetson, you need the version for its CPU arch: Also, you need to install cupy with -```bash -pip3 install cupy -``` +.. code-block:: bash + + pip3 install cupy + This builds the packages from source so it would take time. ROS dependencies -------------------------------- +----------------------- * `pybind11_catkin `_ * `grid_map `_ -```bash -sudo apt install ros-melodic-pybind11-catkin -sudo apt install ros-melodic-grid-map-core ros-melodic-grid-map-msgs -``` +.. code-block:: bash + + sudo apt install ros-melodic-pybind11-catkin + sudo apt install ros-melodic-grid-map-core ros-melodic-grid-map-msgs + Also, on jetson you need fortran (should already be installed). -```bash -sudo apt install gfortran -``` +.. code-block:: bash + + sudo apt install gfortran + If the Jetson is set up with Jetpack 4.5 with ROS Melodic the following package is additionally required: -```bash -git clone git@github.com:ros/filters.git -b noetic-devel -``` +.. code-block:: bash + + git clone git@github.com:ros/filters.git -b noetic-devel + Plane segmentation dependencies -===================================== +================================================================== OpenCV -------------------------------- +------------------------------------------------------------------- -```bash -sudo apt install libopencv-dev -``` +.. code-block:: bash + + sudo apt install libopencv-dev Eigen -------------------------------- +------------------------------------------------------------------- + +.. code-block:: bash -```bash -sudo apt install libeigen3-dev -``` + sudo apt install libeigen3-dev CGAL -------------------------------- +------------------------------------------------------------------- CGAL5 is required. It will be automatically downloaded and installed into the catkin workspace by the cgal5_catkin package. Make sure you have the third-party libaries installed on you machine: -```bash -sudo apt install libgmp-dev -sudo apt install libmpfr-dev -sudo apt install libboost-all-dev -``` +.. code-block:: bash + + sudo apt install libgmp-dev + sudo apt install libmpfr-dev + sudo apt install libboost-all-dev + diff --git a/docs/source/getting_started/tutorial.rst b/docs/source/getting_started/tutorial.rst index fdd9b2ff..e5ea68f7 100644 --- a/docs/source/getting_started/tutorial.rst +++ b/docs/source/getting_started/tutorial.rst @@ -1,4 +1,110 @@ .. _tutorial: Tutorial -================================================== +****************************************************************** + + + +Build +================================================================== + +.. code-block:: bash + + catkin build elevation_mapping_cupy + catkin build convex_plane_decomposition_ros + + +Errors +""""""""""""" + +If you get error such as + +.. code-block:: none + + Make Error at /usr/share/cmake-3.16/Modules/FindPackageHandleStandardArgs.cmake:146 (message): + Could NOT find PythonInterp: Found unsuitable version "2.7.18", but + required is at least "3" (found /usr/bin/python) + + +Build with option. + +.. code-block:: bash + + catkin build elevation_mapping_cupy -DPYTHON_EXECUTABLE=$(which python3) + + +Run +================================================================== + +Basic usage. + +.. code-block:: bash + + roslaunch elevation_mapping_cupy elevation_mapping_cupy.launch + + +For the plane segmentation node + +.. code-block:: bash + + roslaunch convex_plane_decomposition_ros convex_plane_decomposition.launch + + +Errors +""""""""""""" + +If you build with the install flag under ros melodic, you might get issues with the modules not found: + +.. code-block:: bash + + terminate called after throwing an instance of 'pybind11::error_already_set' + what(): ModuleNotFoundError: No module named 'elevation_mapping_cupy' + +This is because python3 modules are installed into a different location. + +This can be fixed by including also the python3 modules location in the `PYTHONPATH` by adding following line into the launch file: + +.. code-block:: xml + + + + +Run TurtleBot example +================================================================== + +First, install turtlebot simulation. + +.. code-block:: bash + + sudo apt install ros-noetic-turtlebot3-gazebo ros-noetic-turtlebot3-teleop + + +Then, you can run the examples. For the basic version: + +.. code-block:: bash + + export TURTLEBOT3_MODEL=waffle + roslaunch elevation_mapping_cupy turtlesim_example.launch + + +Or, for the version including plane segmentation: + +.. code-block:: bash + + catkin build convex_plane_decomposition_ros + export TURTLEBOT3_MODEL=waffle + roslaunch elevation_mapping_cupy turtlesim_segmentation_example.launch + + +To control the robot with a keyboard, a new terminal window needs to be opened. +Then run + +.. code-block:: bash + + export TURTLEBOT3_MODEL=waffle + roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch + + +Velocity inputs can be sent to the robot by pressing the keys `a`, `w`, `d`, `x`. To stop the robot completely, press `s`. + + diff --git a/docs/source/python/custom_kernels.rst b/docs/source/python/custom_kernels.rst index c8dcd43c..d0367329 100644 --- a/docs/source/python/custom_kernels.rst +++ b/docs/source/python/custom_kernels.rst @@ -1,7 +1,7 @@ .. _custom_kernels: Custom kernels -================================================== +****************************************************************** .. automodule:: elevation_mapping_cupy.custom_kernels :members: diff --git a/docs/source/python/elevation_mapping.rst b/docs/source/python/elevation_mapping.rst index b3403049..0283d01c 100644 --- a/docs/source/python/elevation_mapping.rst +++ b/docs/source/python/elevation_mapping.rst @@ -1,7 +1,7 @@ .. _elevation_mapping: Elevation mapping cupy -================================================== +****************************************************************** .. automodule:: elevation_mapping_cupy.elevation_mapping :members: diff --git a/docs/source/python/index.rst b/docs/source/python/index.rst index 4764424c..f20f2e59 100644 --- a/docs/source/python/index.rst +++ b/docs/source/python/index.rst @@ -1,5 +1,5 @@ Python software -================================================== +****************************************************************** .. toctree:: elevation_mapping diff --git a/docs/source/python/semantic_pointcloud.rst b/docs/source/python/semantic_pointcloud.rst index 9a49c37a..03de3521 100644 --- a/docs/source/python/semantic_pointcloud.rst +++ b/docs/source/python/semantic_pointcloud.rst @@ -1,7 +1,7 @@ .. _semantic_pointcloud: Semantic Pointcloud -=================== +****************************************************************** .. automodule:: semantic_pointcloud.pointcloud_node diff --git a/docs/source/usage/parameters.rst b/docs/source/usage/parameters.rst index edff99a3..f1ce26ca 100644 --- a/docs/source/usage/parameters.rst +++ b/docs/source/usage/parameters.rst @@ -1,4 +1,5 @@ .. _parameters: + Parameters -================================================== +****************************************************************** diff --git a/docs/source/usage/plane_segmentation.rst b/docs/source/usage/plane_segmentation.rst index 883b95b1..35c2efd7 100644 --- a/docs/source/usage/plane_segmentation.rst +++ b/docs/source/usage/plane_segmentation.rst @@ -1,7 +1,7 @@ .. _plane_segmentation: Plane Segmentation -================================================== +****************************************************************** .. image:: ../media/convex_approximation.gif :alt: Convex approximation diff --git a/docs/source/usage/plugins.rst b/docs/source/usage/plugins.rst index 8f0e517c..dd684b6b 100644 --- a/docs/source/usage/plugins.rst +++ b/docs/source/usage/plugins.rst @@ -1,5 +1,66 @@ .. _plugins: Plugins -================================================== +****************************************************************** + + +You can create your own plugin to process the elevation map and publish as a layer in GridMap message. + +Let's look at the example. + +First, create your plugin file in `elevation_mapping_cupy/script/plugins/` and save as `example.py`. + +.. code-block:: python + + import cupy as cp + from typing import List + from .plugin_manager import PluginBase + + + class NameOfYourPlugin(PluginBase): + def __init__(self, add_value:float=1.0, **kwargs): + super().__init__() + self.add_value = float(add_value) + + def __call__(self, elevation_map: cp.ndarray, layer_names: List[str], + plugin_layers: cp.ndarray, plugin_layer_names: List[str])->cp.ndarray: + # Process maps here + # You can also use the other plugin's data through plugin_layers. + new_elevation = elevation_map[0] + self.add_value + return new_elevation + +Then, add your plugin setting to `config/plugin_config.yaml` + +.. code-block:: yaml + + example: # Name of your filter + type: "example" # Specify the name of your plugin (the name of your file name). + enable: True # weather to load this plugin + fill_nan: True # Fill nans to invalid cells of elevation layer. + is_height_layer: True # If this is a height layer (such as elevation) or not (such as traversability) + layer_name: "example_layer" # The layer name. + extra_params: # This params are passed to the plugin class on initialization. + add_value: 2.0 # Example param + + example_large: # You can apply same filter with different name. + type: "example" # Specify the name of your plugin (the name of your file name). + enable: True # weather to load this plugin + fill_nan: True # Fill nans to invalid cells of elevation layer. + is_height_layer: True # If this is a height layer (such as elevation) or not (such as traversability) + layer_name: "example_layer_large" # The layer name. + extra_params: # This params are passed to the plugin class on initialization. + add_value: 100.0 # Example param with larger value. + + +Finally, add your layer name to publishers in `config/parameters.yaml`. You can create a new topic or add to existing topics. + +.. code-block:: yaml + + plugin_example: # Topic name + layers: [ 'elevation', 'example_layer', 'example_layer_large' ] + basic_layers: [ 'example_layer' ] + fps: 1.0 # The plugin is called with this fps. + + + diff --git a/docs/source/usage/semantics.rst b/docs/source/usage/semantics.rst index 02d30c4e..7429a111 100644 --- a/docs/source/usage/semantics.rst +++ b/docs/source/usage/semantics.rst @@ -1,4 +1,4 @@ .. _semantics: Semantics -================================================== \ No newline at end of file +****************************************************************** \ No newline at end of file From 0dc5a5a00a22acec35741703e613a89828515d74 Mon Sep 17 00:00:00 2001 From: Gian Erni Date: Thu, 17 Nov 2022 16:57:44 +0100 Subject: [PATCH 264/504] updated documentation --- docs/source/conf.py | 61 +++++++++------ docs/source/documentation.rst | 3 + .../getting_started/cuda_installation.rst | 21 +++-- docs/source/getting_started/index.rst | 2 + docs/source/getting_started/installation.rst | 13 +++- docs/source/index.rst | 2 +- docs/source/usage/parameters.rst | 35 +++++++++ docs/source/usage/plugins.rst | 44 +++++++++++ docs/source/usage/semantics.rst | 77 ++++++++++++++++++- .../plugins/inpainting.py | 33 +++++--- .../plugins/min_filter.py | 35 +++++---- .../plugins/robot_centric_elevation.py | 23 ++++++ .../plugins/semantic_filter.py | 36 +++++---- .../plugins/semantic_traversability.py | 31 +++++--- .../plugins/smooth_filter.py | 28 ++++--- 15 files changed, 356 insertions(+), 88 deletions(-) diff --git a/docs/source/conf.py b/docs/source/conf.py index 9eb4db46..37693134 100644 --- a/docs/source/conf.py +++ b/docs/source/conf.py @@ -7,46 +7,61 @@ # https://www.sphinx-doc.org/en/master/usage/configuration.html#project-information import os, sys -sys.path.insert(0, os.path.abspath('../../elevation_mapping_cupy')) -sys.path.insert(0, os.path.abspath('../../sensor_processing/semantic_pointcloud')) -on_rtd = os.environ.get('READTHEDOCS', None) == 'True' +sys.path.insert(0, os.path.abspath("../../elevation_mapping_cupy")) +sys.path.insert(0, os.path.abspath("../../sensor_processing/semantic_pointcloud")) + +on_rtd = os.environ.get("READTHEDOCS", None) == "True" if not on_rtd: # only import and set the theme if we're building docs locally import sphinx_rtd_theme - html_theme = 'sphinx_rtd_theme' + + html_theme = "sphinx_rtd_theme" html_theme_path = [sphinx_rtd_theme.get_html_theme_path()] -project = 'elevation_mapping_cupy' -copyright = '2022, Takahiro Miki, Gian Erni' -author = 'Takahiro Miki, Gian Erni' +project = "elevation_mapping_cupy" +copyright = "2022, Takahiro Miki, Gian Erni" +author = "Takahiro Miki, Gian Erni" # -- General configuration --------------------------------------------------- # https://www.sphinx-doc.org/en/master/usage/configuration.html#general-configuration -extensions = ['sphinx.ext.autodoc', 'sphinx.ext.coverage', 'sphinx.ext.napoleon','sphinx_copybutton'] +extensions = [ + "sphinx.ext.autodoc", + "sphinx.ext.coverage", + "sphinx.ext.napoleon", + "sphinx_copybutton", +] -templates_path = ['_templates'] -exclude_patterns = ['_build', 'Thumbs.db', '.DS_Store'] +templates_path = ["_templates"] +exclude_patterns = ["_build", "Thumbs.db", ".DS_Store"] html_theme_options = { - 'analytics_anonymize_ip': False, - 'logo_only': False, - 'display_version': False, - 'prev_next_buttons_location': 'bottom', - 'style_external_links': False, - 'vcs_pageview_mode': '', - 'style_nav_header_background': '#A00000', + "analytics_anonymize_ip": False, + "logo_only": False, + "display_version": False, + "prev_next_buttons_location": "bottom", + "style_external_links": False, + "vcs_pageview_mode": "", + "style_nav_header_background": "#A00000", # Toc options - 'collapse_navigation': True, - 'sticky_navigation': True, - 'navigation_depth': 4, - 'includehidden': True, - 'titles_only': False + "collapse_navigation": True, + "sticky_navigation": True, + "navigation_depth": 4, + "includehidden": True, + "titles_only": False, } # -- Options for HTML output ------------------------------------------------- # https://www.sphinx-doc.org/en/master/usage/configuration.html#options-for-html-output -html_static_path = ['_static'] +html_static_path = ["_static"] + +autodoc_default_options = { + "members": True, + "member-order": "bysource", + "special-members": "__init__", + "undoc-members": True, + "exclude-members": "__weakref__", +} diff --git a/docs/source/documentation.rst b/docs/source/documentation.rst index 046cae8d..e38e938b 100644 --- a/docs/source/documentation.rst +++ b/docs/source/documentation.rst @@ -7,6 +7,9 @@ Weclome to Elevation Mapping documentation :target: https://github.com/leggedrobotics/elevation_mapping_semantic_cupy/actions/workflows/python-tests.yml/badge.svg :alt: python tests +.. image:: https://github.com/leggedrobotics/elevation_mapping_semantic_cupy/actions/workflows/documentation.yml/badge.svg + :target: https://github.com/leggedrobotics/elevation_mapping_semantic_cupy/actions/workflows/documentation.yml/badge.svg + :alt: documentation Index --------------- diff --git a/docs/source/getting_started/cuda_installation.rst b/docs/source/getting_started/cuda_installation.rst index cc656f63..a4a6c1f6 100644 --- a/docs/source/getting_started/cuda_installation.rst +++ b/docs/source/getting_started/cuda_installation.rst @@ -1,30 +1,41 @@ + +Cuda installation +================================================================== .. _cuda_installation: -TODO add this to the + CUDA -****************************************************************** +------------------------------------------------------------------- -You can download CUDA10.2 from [here](https://developer.download.nvidia.com/compute/cuda/repos/ubuntu1804/x86_64/cuda-ubuntu1804.pin). +You can download CUDA10.2 from `here `_. You can follow the instruction. + .. code-block:: bash wget https://developer.download.nvidia.com/compute/cuda/repos/ubuntu1804/x86_64/cuda-ubuntu1804.pin + sudo mv cuda-ubuntu1804.pin /etc/apt/preferences.d/cuda-repository-pin-600 + sudo apt-key adv --fetch-keys https://developer.download.nvidia.com/compute/cuda/repos/ubuntu1804/x86_64/7fa2af80.pub + sudo add-apt-repository "deb https://developer.download.nvidia.com/compute/cuda/repos/ubuntu1804/x86_64/ /" + sudo apt-get update + sudo apt-get -y install cuda cuDNN -****************************************************************** +------------------------------------------------------------------- -You can download specific version from [here](https://developer.download.nvidia.com/compute/machine-learning/repos/ubuntu1804/x86_64/). +You can download specific version from `here `_. For example, the tested version is with `libcudnn8_8.0.0.180-1+cuda10.2_amd64.deb`. Then install them using the command below. + .. code-block:: bash sudo dpkg -i libcudnn8_8.0.0.180-1+cuda10.2_amd64.deb + sudo dpkg -i libcudnn8-dev_8.0.0.180-1+cuda10.2_amd64.deb diff --git a/docs/source/getting_started/index.rst b/docs/source/getting_started/index.rst index 7b0ec137..94693b43 100644 --- a/docs/source/getting_started/index.rst +++ b/docs/source/getting_started/index.rst @@ -1,5 +1,7 @@ .. _introduction: + + Introduction ****************************************************************** diff --git a/docs/source/getting_started/installation.rst b/docs/source/getting_started/installation.rst index f4bbcfeb..255fff74 100644 --- a/docs/source/getting_started/installation.rst +++ b/docs/source/getting_started/installation.rst @@ -1,5 +1,14 @@ .. _installation: + +.. toctree:: + :hidden: + :maxdepth: 2 + + Cuda installation + + + Installation ****************************************************************** @@ -12,7 +21,9 @@ The tested versions are CUDA10.2, 11.6 `cuDNN `_ -Check how to install :ref:`here`. +Check how to install :ref:`here`. + + Python dependencies ------------------------------------------------------------------- diff --git a/docs/source/index.rst b/docs/source/index.rst index a029dc2a..fa842a9a 100644 --- a/docs/source/index.rst +++ b/docs/source/index.rst @@ -8,7 +8,7 @@ .. toctree:: :hidden: - :maxdepth: 2 + :maxdepth: 3 :caption: Getting Started Introduction diff --git a/docs/source/usage/parameters.rst b/docs/source/usage/parameters.rst index f1ce26ca..57836bb7 100644 --- a/docs/source/usage/parameters.rst +++ b/docs/source/usage/parameters.rst @@ -3,3 +3,38 @@ Parameters ****************************************************************** +There are three parameter files: + +1. `Parameters`_ + +2. `Plugin configurations`_ + +3. `Sensor parameter`_ + + + +Parameters +================================================ + +.. include:: ../../../elevation_mapping_cupy/config/parameters.yaml + :code: yaml + +Plugin configurations +================================================ + +More informations on the plugins can be found in :ref:`plugins`. + +.. include:: ../../../elevation_mapping_cupy/config/plugin_config.yaml + :code: yaml + + + +Sensor parameter +================================================ + +More informations on the sensor configurations can be found in :ref:`semantics`. + +.. include:: ../../../elevation_mapping_cupy/config/sensor_parameter.yaml + :code: yaml + + diff --git a/docs/source/usage/plugins.rst b/docs/source/usage/plugins.rst index dd684b6b..410ad623 100644 --- a/docs/source/usage/plugins.rst +++ b/docs/source/usage/plugins.rst @@ -3,7 +3,51 @@ Plugins ****************************************************************** +This page is structured in two parts: +* `Existing plugins`_ + +* `Create a plugin`_ + +Existing plugins +================================================================== + +1. Min filter +------------------------------------------------------------------- +.. automodule:: elevation_mapping_cupy.plugins.min_filter + :members: + +2. Inpainting +------------------------------------------------------------------- + +.. automodule:: elevation_mapping_cupy.plugins.inpainting + :members: + +3. Smooth Filter +------------------------------------------------------------------- +.. automodule:: elevation_mapping_cupy.plugins.smooth_filter + :members: + +4. Robot centric elevation +------------------------------------------------------------------- +.. automodule:: elevation_mapping_cupy.plugins.robot_centric_elevation + :members: + +5. Semantic Filter +------------------------------------------------------------------- +.. automodule:: elevation_mapping_cupy.plugins.semantic_filter + :members: + +6. Semantic traversability +------------------------------------------------------------------- +.. automodule:: elevation_mapping_cupy.plugins.semantic_traversability + :members: + + + + +Create a plugin +================================================================== You can create your own plugin to process the elevation map and publish as a layer in GridMap message. Let's look at the example. diff --git a/docs/source/usage/semantics.rst b/docs/source/usage/semantics.rst index 7429a111..24616a10 100644 --- a/docs/source/usage/semantics.rst +++ b/docs/source/usage/semantics.rst @@ -1,4 +1,79 @@ .. _semantics: Semantics -****************************************************************** \ No newline at end of file +****************************************************************** + +The elevation map is also able to include semantic information. +The workflow consists in two elements: + +* semantic extension of the elevation map +* semantic pointcloud + +semantic extension of the elevation map +========================================== + +The semantics of the elevation map can be configured in the sensor parameter file. +The sensor parameter file contains all the topics the map subscribes to. + +The channels and fusion lists are the parameters that define the semantics of the elevation map. +The channel is a list that contains the name of the semantic layers as well as the name of the channel +of the data that the elevation map node subscribes to. +The fusion list indicates the fusion algorithm type which is applied to the data to fuse the +sensor data into the map. + +There are different fusion algorithms types: + +* average +"""""""""""""""""""""""""" + + Takes the average of all the points that fall within the same cell and average them + and then takes a weighted average of the existing value. + + use case: semantic features + +* bayesian_inference: +"""""""""""""""""""""""""" + + Employs a gaussian bayesian inference at each iteration. Where we use the psoterior + of the previous iteration as the prior to the new iteration. + + use case: semantic features + + +* class_average +"""""""""""""""""""""""""" + + Takes the average of all the points that fall within the same cell and average them + and then takes a weighted average of the existing value. If the previous value is zero + it weights the previous value with a zero weight. + + use case: class probabilities + +* class_bayesian +"""""""""""""""""""""""""" + + Employs a bayesian inference of a categorical distribution with a dirichlet prior. + The alpha hyperparameters of the dirichlet prior are updated at every iteration, + such that the posterior of iteration t-1 is the prior of t. + + use case: class probabilities + + +* color +"""""""""""""""""""""""""" + + The color is subscribed as a uint32. The color of the cell is the result of the average of + all the points within that cell. + + use case: rgb color information + +Semantic pointcloud +======================================= + +Sensors do not always directly provide all semantic information. +The semantic pointcloud is a ROS node that subscribes to stereo cameras and generates a +multichannel pointcloud containing semantic information additionally to the goemteric position of +the points. +The pointcloud is also configured from the sensor_parameter file. + + diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/inpainting.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/inpainting.py index 247041b6..97d8d09a 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/inpainting.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/inpainting.py @@ -13,17 +13,14 @@ class Inpainting(PluginBase): - """This is a filter to smoothen - - ... - - Attributes - ---------- - cell_n: int - width and height of the elevation map. - """ - def __init__(self, cell_n: int = 100, method: str = "telea", **kwargs): + """ + + Args: + cell_n (int): + method (str): + **kwargs (): + """ super().__init__() if method == "telea": self.method = cv.INPAINT_TELEA @@ -40,12 +37,26 @@ def __call__( plugin_layer_names: List[str], *args, ) -> cp.ndarray: + """ + + Args: + elevation_map (cupy._core.core.ndarray): + layer_names (List[str]): + plugin_layers (cupy._core.core.ndarray): + plugin_layer_names (List[str]): + *args (): + + Returns: + cupy._core.core.ndarray: + """ mask = cp.asnumpy((elevation_map[2] < 0.5).astype("uint8")) if (mask < 1).any(): h = elevation_map[0] h_max = float(h[mask < 1].max()) h_min = float(h[mask < 1].min()) - h = cp.asnumpy((elevation_map[0] - h_min) * 255 / (h_max - h_min)).astype("uint8") + h = cp.asnumpy((elevation_map[0] - h_min) * 255 / (h_max - h_min)).astype( + "uint8" + ) dst = np.array(cv.inpaint(h, mask, 1, self.method)) h_inpainted = dst.astype(np.float32) * (h_max - h_min) / 255 + h_min return cp.asarray(h_inpainted).astype(np.float64) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/min_filter.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/min_filter.py index f50147f6..b3eba4ff 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/min_filter.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/min_filter.py @@ -10,23 +10,16 @@ class MinFilter(PluginBase): - """This is a filter to fill in invalid cells with minimum values around. - - ... - - Attributes - ---------- - width: int - width of the elevation map. - height: int - height of the elevation map. - dilation_size: int - The size of the patch to search for minimum value for each iteration. - iteration_n: int - The number of iteration to repeat the same filter. - """ def __init__(self, cell_n: int = 100, dilation_size: int = 5, iteration_n: int = 5, **kwargs): + """ This is a filter to fill in invalid cells with minimum values around. + + Args: + cell_n (int): width of the elevation map. + dilation_size (int): The size of the patch to search for minimum value for each iteration. + iteration_n (int): The number of iteration to repeat the same filter. + **kwargs (): + """ super().__init__() self.iteration_n = iteration_n self.width = cell_n @@ -96,6 +89,18 @@ def __call__( plugin_layer_names: List[str], *args, ) -> cp.ndarray: + """ + + Args: + elevation_map (cupy._core.core.ndarray): + layer_names (List[str]): + plugin_layers (cupy._core.core.ndarray): + plugin_layer_names (List[str]): + *args (): + + Returns: + cupy._core.core.ndarray: + """ self.min_filtered = elevation_map[0].copy() self.min_filtered_mask = elevation_map[2].copy() for i in range(self.iteration_n): diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/robot_centric_elevation.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/robot_centric_elevation.py index 41d963ce..2b0de613 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/robot_centric_elevation.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/robot_centric_elevation.py @@ -8,6 +8,15 @@ class RobotCentricElevation(PluginBase): def __init__( self, cell_n: int = 100, resolution: float = 0.05, threshold: float = 0.4, use_threshold: bool = 0, **kwargs ): + """ Generates an elevation map with respect to the robot frame. + + Args: + cell_n (int): + resolution (ruamel.yaml.scalarfloat.ScalarFloat): + threshold (ruamel.yaml.scalarfloat.ScalarFloat): + use_threshold (bool): + **kwargs (): + """ super().__init__() self.width = cell_n self.height = cell_n @@ -83,6 +92,20 @@ def __call__( rotation, *args, ) -> cp.ndarray: + """ + + Args: + elevation_map (cupy._core.core.ndarray): + layer_names (List[str]): + plugin_layers (cupy._core.core.ndarray): + plugin_layer_names (List[str]): + semantic_map (elevation_mapping_cupy.semantic_map.SemanticMap): + rotation (cupy._core.core.ndarray): + *args (): + + Returns: + cupy._core.core.ndarray: + """ # Process maps here # check that transform is a ndarray self.min_filtered = elevation_map[0].copy() diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_filter.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_filter.py index 2f82ad68..784d977e 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_filter.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_filter.py @@ -10,22 +10,19 @@ class SemanticFilter(PluginBase): - """This is a filter to create colors - - ... - - Attributes - ---------- - cell_n: int - width and height of the elevation map. - """ - def __init__( self, cell_n: int = 100, classes: list = ["person", "grass"], **kwargs, ): + """This is a filter to create a one hot encoded map of the class probabilities. + + Args: + cell_n (int): width and height of the elevation map. + classes (ruamel.yaml.comments.CommentedSeq): + **kwargs (): + """ super().__init__() self.indices = [] self.classes = classes @@ -36,8 +33,8 @@ def bitget(byteval, idx): return (byteval & (1 << idx)) != 0 dtype = "float32" if normalized else "uint8" - cmap = np.zeros((N+1, 3), dtype=dtype) - for i in range(N+1): + cmap = np.zeros((N + 1, 3), dtype=dtype) + for i in range(N + 1): r = g = b = 0 c = i for j in range(8): @@ -69,10 +66,23 @@ def __call__( semantic_map, *args, ) -> cp.ndarray: + """ + + Args: + elevation_map (cupy._core.core.ndarray): + layer_names (List[str]): + plugin_layers (cupy._core.core.ndarray): + plugin_layer_names (List[str]): + semantic_map (elevation_mapping_cupy.semantic_map.SemanticMap): + *args (): + + Returns: + cupy._core.core.ndarray: + """ # get indices of all layers that layer_indices = cp.array([], dtype=cp.int32) for it, fusion_alg in enumerate(semantic_map.param.fusion_algorithms): - if (fusion_alg in ["class_bayesian","class_average"]): + if fusion_alg in ["class_bayesian", "class_average"]: layer_indices = cp.append(layer_indices, it).astype(cp.int32) # check which has the highest value diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_traversability.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_traversability.py index a9619a4b..4fb842d2 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_traversability.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_traversability.py @@ -10,15 +10,6 @@ class SemanticTraversability(PluginBase): - """This is a filter to create colors - - ... - - Attributes - ---------- - cell_n: int - width and height of the elevation map. - """ def __init__( self, @@ -28,6 +19,15 @@ def __init__( type: list = ["traversability"], **kwargs, ): + """ Extracts traversability and elevations from layers and generates an updated traversability that can be used by checker. + + Args: + cell_n (int): + layers (ruamel.yaml.comments.CommentedSeq): + thresholds (ruamel.yaml.comments.CommentedSeq): + type (ruamel.yaml.comments.CommentedSeq): + **kwargs (): + """ super().__init__() self.layers = layers self.thresholds = cp.asarray(thresholds) @@ -42,6 +42,19 @@ def __call__( semantic_map, *args, ) -> cp.ndarray: + """ + + Args: + elevation_map (cupy._core.core.ndarray): + layer_names (List[str]): + plugin_layers (cupy._core.core.ndarray): + plugin_layer_names (List[str]): + semantic_map (elevation_mapping_cupy.semantic_map.SemanticMap): + *args (): + + Returns: + cupy._core.core.ndarray: + """ # get indices of all layers that map = cp.zeros(elevation_map[2].shape, np.float32) tempo = cp.zeros(elevation_map[2].shape, np.float32) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/smooth_filter.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/smooth_filter.py index 65334452..fb03ad28 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/smooth_filter.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/smooth_filter.py @@ -10,17 +10,15 @@ class SmoothFilter(PluginBase): - """This is a filter to smoothen - - ... - - Attributes - ---------- - cell_n: int - width and height of the elevation map. - """ def __init__(self, cell_n: int = 100, input_layer_name: str = "elevation", **kwargs): + """ This filters smoothees elevation map. + + Args: + cell_n (int): + input_layer_name (str): + **kwargs (): + """ super().__init__() self.input_layer_name = input_layer_name @@ -32,6 +30,18 @@ def __call__( plugin_layer_names: List[str], *args, ) -> cp.ndarray: + """ + + Args: + elevation_map (cupy._core.core.ndarray): + layer_names (List[str]): + plugin_layers (cupy._core.core.ndarray): + plugin_layer_names (List[str]): + *args (): + + Returns: + cupy._core.core.ndarray: + """ if self.input_layer_name in layer_names: idx = layer_names.index(self.input_layer_name) h = elevation_map[idx] From ba347793a366a1e6dbd56f76707f3f94c1b8c581 Mon Sep 17 00:00:00 2001 From: Takahiro Miki Date: Fri, 18 Nov 2022 15:52:02 +0100 Subject: [PATCH 265/504] Update citation info. --- README.md | 6 ++---- 1 file changed, 2 insertions(+), 4 deletions(-) diff --git a/README.md b/README.md index a4a72310..6e921cfb 100644 --- a/README.md +++ b/README.md @@ -14,15 +14,13 @@ terrain can be efficiently generated. > Elevation Mapping for Locomotion and Navigation using GPU [arXiv](https://arxiv.org/abs/2204.12876) ``` -@misc{https://doi.org/10.48550/arxiv.2204.12876, +@misc{mikielevation2022, doi = {10.48550/ARXIV.2204.12876}, - url = {https://arxiv.org/abs/2204.12876}, author = {Miki, Takahiro and Wellhausen, Lorenz and Grandia, Ruben and Jenelten, Fabian and Homberger, Timon and Hutter, Marco}, keywords = {Robotics (cs.RO), FOS: Computer and information sciences, FOS: Computer and information sciences}, title = {Elevation Mapping for Locomotion and Navigation using GPU}, - publisher = {arXiv}, + publisher = {International Conference on Intelligent Robots and Systems (IROS)}, year = {2022}, - copyright = {arXiv.org perpetual, non-exclusive license} } ``` From 60baf5bdae35e60d6c389a3fdb90f822a6057e63 Mon Sep 17 00:00:00 2001 From: Jonas Frey Date: Sun, 20 Nov 2022 09:51:45 -0800 Subject: [PATCH 266/504] fixed oubslishing only rgb --- .../script/semantic_pointcloud/pointcloud_node.py | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) diff --git a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_node.py b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_node.py index f42983d3..29476d09 100755 --- a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_node.py +++ b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_node.py @@ -73,10 +73,11 @@ def __init__(self, sensor_name): self.seg_pub = rospy.Publisher( self.param.segmentation_image_topic, Image, queue_size=2 ) - self.semseg_color_map = self.color_map( - len(list(self.segmentation_channels.keys())) - ) - self.color_map_viz() + if self.segmentation_channels is not None: + self.semseg_color_map = self.color_map( + len(list(self.segmentation_channels.keys())) + ) + self.color_map_viz() def color_map(self, N=256, normalized=False): def bitget(byteval, idx): From 9083c2b168a770a518255eee6940d759ecf8bec5 Mon Sep 17 00:00:00 2001 From: Jonas Frey Date: Sun, 20 Nov 2022 09:52:03 -0800 Subject: [PATCH 267/504] fixed quaternion convention and gridmap transpose --- .../elevation_mapping_ros.py | 136 +++++++++++------- 1 file changed, 86 insertions(+), 50 deletions(-) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping_ros.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping_ros.py index ee493574..39220152 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping_ros.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping_ros.py @@ -2,7 +2,7 @@ from elevation_mapping_cupy import Parameter # General -import os +import os import numpy as np # ROS @@ -18,13 +18,27 @@ from std_msgs.msg import MultiArrayLayout as MAL from std_msgs.msg import MultiArrayDimension as MAD -class ElevationMapWrapper(): +import numpy as np + +PDC_DATATYPE = { + "1": np.int8, + "2": np.uint8, + "3": np.int16, + "4": np.uint16, + "5": np.int32, + "6": np.uint32, + "7": np.float32, + "8": np.float64, +} + + +class ElevationMapWrapper: def __init__(self): rospack = rospkg.RosPack() self.root = rospack.get_path("elevation_mapping_cupy") weight_file = os.path.join(self.root, "config/weights.dat") plugin_config_file = os.path.join(self.root, "config/plugin_config.yaml") - self.param = Parameter( use_chainer=False, weight_file=weight_file, plugin_config_file=plugin_config_file ) + self.param = Parameter(use_chainer=False, weight_file=weight_file, plugin_config_file=plugin_config_file) self.node_name = "elevation_mapping" # ROS self.initalize_ros() @@ -33,6 +47,8 @@ def __init__(self): self.register_publishers() self.register_timers() + self._last_t = None + def initalize_elevation_mapping(self): self.param.update() self._pointcloud_process_counter = 0 @@ -40,20 +56,22 @@ def initalize_elevation_mapping(self): self._map_data = np.zeros((self._map.cell_n - 2, self._map.cell_n - 2), dtype=np.float32) self._map_q = None self._map_t = None - + def initalize_ros(self): rospy.init_node(self.node_name, anonymous=False) self._tf_buffer = tf2_ros.Buffer() self._listener = tf2_ros.TransformListener(self._tf_buffer) self.get_ros_params() - + def register_subscribers(self): pointcloud_subs = {} additional = [] fusion = [] for key, config in self.subscribers.items(): - pointcloud_subs[key] = rospy.Subscriber(config["topic_name"], PointCloud2, self.pointcloud_callback, (config["channels"], config["fusion"])) - for chan,fus in zip(config["channels"],config["fusion"]): + pointcloud_subs[key] = rospy.Subscriber( + config["topic_name"], PointCloud2, self.pointcloud_callback, (config["channels"], config["fusion"]) + ) + for chan, fus in zip(config["channels"], config["fusion"]): if chan not in additional: additional.append(chan) fusion.append(fus) @@ -74,13 +92,13 @@ def register_publishers(self): for k, v in self.publishers.items(): print(f"Register Publisher: {k}") self._publishers[k] = rospy.Publisher(f"/{self.node_name}/{k}", GridMap, queue_size=10) - self._publishers_timers.append( rospy.Timer(rospy.Duration(1/v["fps"]), lambda x: self.publish_map(x, k))) - + self._publishers_timers.append(rospy.Timer(rospy.Duration(1 / v["fps"]), lambda x: self.publish_map(x, k))) + def publish_map(self, t, k): - print(k) + print("Publish map") if self._map_q is None: return - + gm = GridMap() gm.info.header.frame_id = self.map_frame gm.info.header.stamp = rospy.Time.now() @@ -90,11 +108,11 @@ def publish_map(self, t, k): gm.info.length_y = self._map.map_length gm.info.pose.position.x = self._map_t.x gm.info.pose.position.y = self._map_t.y - gm.info.pose.position.z = self._map_t.z - gm.info.pose.orientation.w = 1 # self._map_q.w - gm.info.pose.orientation.x = 0 # self._map_q.x - gm.info.pose.orientation.y = 0 # self._map_q.y - gm.info.pose.orientation.z = 0 # self._map_q.z + gm.info.pose.position.z = 0.0 + gm.info.pose.orientation.w = 1.0 # self._map_q.w + gm.info.pose.orientation.x = 0.0 # self._map_q.x + gm.info.pose.orientation.y = 0.0 # self._map_q.y + gm.info.pose.orientation.z = 0.0 # self._map_q.z gm.layers = self.publishers[k]["layers"] gm.basic_layers = self.publishers[k]["basic_layers"] @@ -103,72 +121,89 @@ def publish_map(self, t, k): for i, layer in enumerate(gm.layers): self._map.get_map_with_name_ref(layer, self._map_data) # self._map_data = np.nan_to_num(self._map_data, False, 0) - data = self._map_data.copy() + data = self._map_data.copy() arr = Float32MultiArray() arr.layout = MAL() N = self._map_data.shape[0] - arr.layout.dim.append( MAD(label="column_index",size=N,stride=int(N*N))) - arr.layout.dim.append( MAD(label="row_index",size=N,stride=N)) - arr.data = tuple(np.ascontiguousarray(data).reshape(-1)) - gm.data.append( arr ) - - self._publishers[k].publish( gm ) - + arr.layout.dim.append(MAD(label="column_index", size=N, stride=int(N * N))) + arr.layout.dim.append(MAD(label="row_index", size=N, stride=N)) + arr.data = tuple(np.ascontiguousarray(data.T).reshape(-1)) + gm.data.append(arr) + gm.outer_start_index = 0 + gm.inner_start_index = 0 + + self._publishers[k].publish(gm) + def register_timers(self): - self.timer_variance = rospy.Timer(rospy.Duration(1/self.update_variance_fps), self.update_variance) - self.timer_pose = rospy.Timer(rospy.Duration(1/self.update_pose_fps), self.update_pose) + self.timer_variance = rospy.Timer(rospy.Duration(1 / self.update_variance_fps), self.update_variance) + self.timer_pose = rospy.Timer(rospy.Duration(1 / self.update_pose_fps), self.update_pose) self.timer_time = rospy.Timer(rospy.Duration(self.time_interval), self.update_time) - + def pointcloud_callback(self, msg, config): # convert pcd into numpy array - channels = ['x','y','z']+config[0] + # output = {} + # total_bytes = msg.fields[-1].offset + PDC_DATATYPE[str(msg.fields[-1].datatype)](1).nbytes + # res = np.frombuffer(msg.data, np.dtype(np.uint8)).reshape((-1, msg.point_step)) + # for field in msg.fields: + # assert field.count == 1, "If this is not case, maybe does not work" + # PDC_DATATYPE[str(field.datatype)] + # dtype = PDC_DATATYPE[str(field.datatype)] + # nbytes = dtype(1).nbytes + # data = res[:, field.offset : field.offset + nbytes] + # output[field.name] = np.frombuffer(data.copy(), np.dtype(dtype)).reshape((-1)) + channels = ["x", "y", "z"] + config[0] fusion = config[1] points = ros_numpy.numpify(msg) - pts = np.empty((points.shape[0],0)) + pts = np.empty((points.shape[0], 0)) for ch in channels: - pts = np.append(pts,np.expand_dims(points[ch],1),axis=1) + pts = np.append(pts, np.expand_dims(points[ch], 1), axis=1) # get pose of pointcloud - t = rospy.Time(secs=msg.header.stamp.secs, nsecs=msg.header.stamp.nsecs) + ti = rospy.Time(secs=msg.header.stamp.secs, nsecs=msg.header.stamp.nsecs) + self._last_t = ti try: - transform = self._tf_buffer.lookup_transform(self.map_frame, msg.header.frame_id, t, rospy.Duration(1.0)) + transform = self._tf_buffer.lookup_transform(self.map_frame, msg.header.frame_id, ti, rospy.Duration(1.0)) except (tf2_ros.LookupException, tf2_ros.ConnectivityException, tf2_ros.ExtrapolationException) as e: - print(e) + print("pointcloud_callback error:", e) return t = transform.transform.translation - t = np.array( [t.x, t.y, t.z] ) + t = np.array([t.x, t.y, t.z]) q = transform.transform.rotation - R = quaternion_matrix([q.w, q.x, q.y, q.z])[:3,:3] + R = quaternion_matrix([q.x, q.y, q.z, q.w])[:3, :3] # process pointcloud self._map.input(pts, channels, R, t, 0, 0) self._pointcloud_process_counter += 1 print(self._pointcloud_process_counter) - + def update_pose(self, t): # get pose of base - t = rospy.Time.now() + # t = rospy.Time.now() + if self._last_t is None: + return try: - transform = self._tf_buffer.lookup_transform(self.map_frame, self.base_frame, t, rospy.Duration(1.0)) + transform = self._tf_buffer.lookup_transform( + self.map_frame, self.base_frame, self._last_t, rospy.Duration(1.0) + ) except (tf2_ros.LookupException, tf2_ros.ConnectivityException, tf2_ros.ExtrapolationException) as e: - print(e) - return + print("update_pose error: ", e) + return t = transform.transform.translation - trans = np.array( [t.x, t.y, t.z] ) + trans = np.array([t.x, t.y, t.z]) q = transform.transform.rotation - rot = quaternion_matrix([q.w, q.x, q.y, q.z])[:3,:3] + rot = quaternion_matrix([q.x, q.y, q.z, q.w])[:3, :3] self._map.move_to(trans, rot) - + self._map_t = t self._map_q = q - + def update_variance(self, t): self._map.update_variance() - + def update_time(self, t): self._map.update_time() - + def get_ros_params(self): # TODO fix this here when later launching with launch-file # This is currently {p} elevation_mapping") @@ -199,12 +234,13 @@ def get_ros_params(self): self.enable_normal_arrow_publishing = rospy.get_param("~enable_normal_arrow_publishing", False) self.enable_drift_corrected_TF_publishing = rospy.get_param("~enable_drift_corrected_TF_publishing", False) self.use_initializer_at_start = rospy.get_param("~use_initializer_at_start", False) - -if __name__ == '__main__': + + +if __name__ == "__main__": emw = ElevationMapWrapper() - + while not rospy.is_shutdown(): try: rospy.spin() except rospy.ROSInterruptException: - print("Error") \ No newline at end of file + print("Error") From b03142e81ce51e51bfd66d6f3a1910bf6aa09fe7 Mon Sep 17 00:00:00 2001 From: Jonas Frey Date: Sun, 20 Nov 2022 09:52:28 -0800 Subject: [PATCH 268/504] updated configuration for lonomy stack --- elevation_mapping_cupy/config/parameters.yaml | 6 +-- .../config/sensor_parameter.yaml | 54 +++++++++---------- .../config/sensor_parameter.yaml | 9 ++-- 3 files changed, 35 insertions(+), 34 deletions(-) diff --git a/elevation_mapping_cupy/config/parameters.yaml b/elevation_mapping_cupy/config/parameters.yaml index b8826d53..9e7ccd0d 100644 --- a/elevation_mapping_cupy/config/parameters.yaml +++ b/elevation_mapping_cupy/config/parameters.yaml @@ -40,9 +40,9 @@ max_unsafe_n: 10 # if the number of cells under s overlap_clear_range_xy: 4.0 # xy range [m] for clearing overlapped area. this defines the valid area for overlap clearance. (used for multi floor setting) overlap_clear_range_z: 2.0 # z range [m] for clearing overlapped area. cells outside this range will be cleared. (used for multi floor setting) -map_frame: 'odom' # The map frame where the odometry source uses. -base_frame: 'base' # The robot's base frame. This frame will be a center of the map. -corrected_map_frame: 'odom_corrected' +map_frame: 'enu' # The map frame where the odometry source uses. +base_frame: 'base_footprint' # The robot's base frame. This frame will be a center of the map. +corrected_map_frame: 'enu' #### Feature toggles ######## enable_edge_sharpen: true diff --git a/elevation_mapping_cupy/config/sensor_parameter.yaml b/elevation_mapping_cupy/config/sensor_parameter.yaml index 6a5e85d7..30460667 100644 --- a/elevation_mapping_cupy/config/sensor_parameter.yaml +++ b/elevation_mapping_cupy/config/sensor_parameter.yaml @@ -1,34 +1,34 @@ subscribers: - sensor_name: - channels: ['feat_0','feat_1'] - fusion: ['average','average'] - topic_name: '/elevation_mapping/pointcloud_semantic' - front_cam: - channels: ['rgb','feat_0','feat_1','grass','tree','fence','person'] - fusion: ['color','average','average','class_average','class_average','class_average','class_average'] + channels: ['rgb'] + fusion: ['color'] topic_name: '/elvation_mapping/pointcloud_semantic' - semantic_segmentation: False - segmentation_model: 'detectron_coco_panoptic_fpn_R_101_3x' - feature_config: - name: 'DINO' - interpolation: 'bilinear' - model: "vit_small" - patch_size: 16 - dim: 5 - dropout: False - dino_feat_type: "feat" - input_size: [80, 160] - projection_type: "nonlinear" + + # front_cam: + # channels: ['rgb','feat_0','feat_1','grass','tree','fence','person'] + # fusion: ['color','average','average','class_average','class_average','class_average','class_average'] + # topic_name: '/elvation_mapping/pointcloud_semantic' + # semantic_segmentation: False + # segmentation_model: 'detectron_coco_panoptic_fpn_R_101_3x' + # feature_config: + # name: 'DINO' + # interpolation: 'bilinear' + # model: "vit_small" + # patch_size: 16 + # dim: 5 + # dropout: False + # dino_feat_type: "feat" + # input_size: [80, 160] + # projection_type: "nonlinear" - cam_info_topic: "/camera/depth/camera_info" - image_topic: "/camera/rgb/image_raw" - depth_topic: "/camera/depth/image_raw" - cam_frame: camera_rgb_optical_frame - confidence: False - confidence_topic: "/camera/depth/image_raw" - confidence_threshold: 10 - feature_extractor: False + # cam_info_topic: "/camera/depth/camera_info" + # image_topic: "/camera/rgb/image_raw" + # depth_topic: "/camera/depth/image_raw" + # cam_frame: camera_rgb_optical_frame + # confidence: False + # confidence_topic: "/camera/depth/image_raw" + # confidence_threshold: 10 + # feature_extractor: False front_bpearl: channels: [] diff --git a/sensor_processing/semantic_pointcloud/config/sensor_parameter.yaml b/sensor_processing/semantic_pointcloud/config/sensor_parameter.yaml index 0c50c619..de553513 100644 --- a/sensor_processing/semantic_pointcloud/config/sensor_parameter.yaml +++ b/sensor_processing/semantic_pointcloud/config/sensor_parameter.yaml @@ -4,11 +4,13 @@ subscribers: # fusion: ['average','average'] # topic_name: '/elevation_mapping/pointcloud_semantic' front_cam: - channels: ['rgb','feat_0','feat_1','person','grass'] - fusion: ['color','average','average','class_average','class_average'] + channels: ['rgb'] #'feat_0','feat_1','person','grass'] + fusion: ['color'] #'average','average','class_average','class_average'] topic_name: '/elvation_mapping/pointcloud_semantic' - semantic_segmentation: True + semantic_segmentation: False segmentation_model: 'detectron_coco_panoptic_fpn_R_101_3x' + publish_segmentation_image: True + feature_extractor: False feature_config: name: 'DINO' interpolation: 'bilinear' @@ -28,4 +30,3 @@ subscribers: confidence_threshold: 10 - From 5c6c20a8bd94f61292efae029323380ce9960a82 Mon Sep 17 00:00:00 2001 From: Jonas Frey Date: Sun, 20 Nov 2022 15:26:09 -0800 Subject: [PATCH 269/504] fixing multi-publisher, adding semantic image --- elevation_mapping_cupy/config/parameters.yaml | 7 +- .../config/sensor_parameter.yaml | 35 +++++- .../elevation_mapping.py | 31 +++++- .../elevation_mapping_ros.py | 100 ++++++++++++++---- 4 files changed, 146 insertions(+), 27 deletions(-) diff --git a/elevation_mapping_cupy/config/parameters.yaml b/elevation_mapping_cupy/config/parameters.yaml index 9e7ccd0d..91a45819 100644 --- a/elevation_mapping_cupy/config/parameters.yaml +++ b/elevation_mapping_cupy/config/parameters.yaml @@ -75,7 +75,12 @@ publishers: elevation_map_raw: layers: ['elevation', 'traversability', 'variance'] basic_layers: ['elevation', 'traversability'] - fps: 5.0 + fps: 2.0 + + semantic_map_raw: + layers: ['elevation', 'traversability', 'variance', 'single_channel_semantic'] + basic_layers: ['elevation', 'traversability'] + fps: 2.0 # elevation_map_recordable: # layers: ['elevation', 'traversability'] # basic_layers: ['elevation', 'traversability'] diff --git a/elevation_mapping_cupy/config/sensor_parameter.yaml b/elevation_mapping_cupy/config/sensor_parameter.yaml index 30460667..48850236 100644 --- a/elevation_mapping_cupy/config/sensor_parameter.yaml +++ b/elevation_mapping_cupy/config/sensor_parameter.yaml @@ -1,8 +1,27 @@ subscribers: + # Single-channel or multi-channel input (Depth or RGB) + # Case 1: 1 channel image - into single semantic layer + # Case 2: 3 channel image - into 3 individual semantic layer + # Case 3: 3 channel image - into RGB color layer + + # Fusion: + # exponential averaging + # using neigborhodd to reduce artifacts + + # Collision checking during raycasting from map to camera + + debug_image: + fusion: ['image_exponential'] + topic_name_camera: /debug_image + topic_name_camera_info: /zed2i/zed_node/right/camera_info + channels: ["single_channel_semantic"] + type: image + front_cam: channels: ['rgb'] fusion: ['color'] topic_name: '/elvation_mapping/pointcloud_semantic' + type: pointcloud # front_cam: # channels: ['rgb','feat_0','feat_1','grass','tree','fence','person'] @@ -34,28 +53,34 @@ subscribers: channels: [] fusion: ['average'] topic_name: /robot_self_filter/bpearl_front/point_cloud + type: pointcloud rear_bpearl: channels: [] fusion: ['average'] topic_name: /robot_self_filter/bpearl_rear/point_cloud - + type: pointcloud + front_depth: channels: [] fusion: ['average'] topic_name: /depth_camera_front/point_cloud_self_filtered - + type: pointcloud + rear_depth: channels: [] fusion: ['average'] topic_name: /depth_camera_rear/point_cloud_self_filtered - + type: pointcloud + left_depth: channels: [] fusion: ['average'] topic_name: /depth_camera_left/point_cloud_self_filtered - + type: pointcloud + right_depth: channels: [] fusion: ['average'] - topic_name: /depth_camera_right/point_cloud_self_filtered \ No newline at end of file + topic_name: /depth_camera_right/point_cloud_self_filtered + type: pointcloud \ No newline at end of file diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py index e9a39a93..663d4a73 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py @@ -358,6 +358,19 @@ def update_map_with_kernel(self, points_all, channels, R, t, position_noise, ori # calculate normal vectors self.update_normal(self.traversability_input) + + def update_map_with_semantic_kernel(self, semantic_image, K, channels, R, t): + """Update map with new measurement from semantic image. + + Args: + semantic_image (cupy._core.core.ndarray): + K (cupy._core.core.ndarray): + channels (List[str]): + R (cupy._core.core.ndarray): + t (cupy._core.core.ndarray): + """ + print("not implemented") + def clear_overlap_map(self, t): # Clear overlapping area around center height_min = t[2] - self.param.overlap_clear_range_z @@ -385,7 +398,7 @@ def update_upper_bound_with_valid_elevation(self): mask = self.elevation_map[2] > 0.5 self.elevation_map[5] = cp.where(mask, self.elevation_map[0], self.elevation_map[5]) self.elevation_map[6] = cp.where(mask, 0.0, self.elevation_map[6]) - + def input(self, raw_points: cp._core.core.ndarray, channels: List[str], R: cp._core.core.ndarray, t: cp._core.core.ndarray, position_noise: int, @@ -409,6 +422,22 @@ def input(self, raw_points: cp._core.core.ndarray, channels: List[str], R: cp._c raw_points = raw_points[~cp.isnan(raw_points).any(axis=1)] self.update_map_with_kernel(raw_points, additional_channels, cp.asarray(R,dtype=self.data_type), cp.asarray(t,dtype=self.data_type), position_noise, orientation_noise) + def input_semantic_image(self, + semantic_image: cp._core.core.ndarray, + K: cp._core.core.ndarray, + channels: List[str], + R: cp._core.core.ndarray, + t: cp._core.core.ndarray + ): + + semantic_image = cp.asarray(semantic_image, dtype=self.data_type) + K = cp.asarray(K, dtype=self.data_type) + R = cp.asarray(R,dtype=self.data_type) + t = cp.asarray(t,dtype=self.data_type) + + self.update_map_with_semantic_kernel(semantic_image, K, channels, R, t) + + def update_normal(self, dilated_map): """ Clear the normal map and then apply the normal kernel with dilated map as input. diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping_ros.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping_ros.py index 39220152..df8f48b8 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping_ros.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping_ros.py @@ -11,14 +11,17 @@ from tf.transformations import quaternion_matrix import tf2_ros import rospkg +import message_filters +from cv_bridge import CvBridge -from sensor_msgs.msg import PointCloud2 +from sensor_msgs.msg import PointCloud2, Image, CameraInfo from grid_map_msgs.msg import GridMap from std_msgs.msg import Float32MultiArray from std_msgs.msg import MultiArrayLayout as MAL from std_msgs.msg import MultiArrayDimension as MAD import numpy as np +from functools import partial PDC_DATATYPE = { "1": np.int8, @@ -42,16 +45,24 @@ def __init__(self): self.node_name = "elevation_mapping" # ROS self.initalize_ros() - self.register_subscribers() + self.overwrite_elevation_mapping_params() + self.setup_cv_bride() self.initalize_elevation_mapping() + self.register_subscribers() self.register_publishers() self.register_timers() self._last_t = None + def setup_cv_bride(self): + if self.semantic_image_data: + self.cv_bridge = CvBridge() + def initalize_elevation_mapping(self): self.param.update() + # TODO add statistics across processed topics self._pointcloud_process_counter = 0 + self._image_process_counter = 0 self._map = ElevationMap(self.param) self._map_data = np.zeros((self._map.cell_n - 2, self._map.cell_n - 2), dtype=np.float32) self._map_q = None @@ -63,18 +74,29 @@ def initalize_ros(self): self._listener = tf2_ros.TransformListener(self._tf_buffer) self.get_ros_params() - def register_subscribers(self): - pointcloud_subs = {} + def overwrite_elevation_mapping_params(self): additional = [] fusion = [] + self.semantic_image_data = False for key, config in self.subscribers.items(): - pointcloud_subs[key] = rospy.Subscriber( - config["topic_name"], PointCloud2, self.pointcloud_callback, (config["channels"], config["fusion"]) - ) - for chan, fus in zip(config["channels"], config["fusion"]): - if chan not in additional: - additional.append(chan) - fusion.append(fus) + if config["type"] == "image": + self.semantic_image_data = True + for chan, fus in zip(config["channels"], config["fusion"]): + if chan not in additional: + additional.append(chan) + if fus not in fusion: + fusion.append(fus) + + elif config["type"] == "pointcloud": + for chan, fus in zip(config["channels"], config["fusion"]): + if chan not in additional: + additional.append(chan) + if fus not in fusion: + fusion.append(fus) + else: + typ = config["type"] + raise ValueError(f"{typ} unknown, only pointcloud and image defined.") + self.param.additional_layers = additional self.param.fusion_algorithms = fusion self.dtype = [ @@ -84,21 +106,36 @@ def register_subscribers(self): ] for chan in config["channels"]: self.dtype.append((chan, np.float32)) + + + def register_subscribers(self): + pointcloud_subs = {} + image_subs = {} + for key, config in self.subscribers.items(): + if config["type"] == "image": + camera_sub = message_filters.Subscriber(config["topic_name_camera"], Image) + camera_info_sub = message_filters.Subscriber(config["topic_name_camera_info"], CameraInfo) + image_subs[key] = message_filters.ApproximateTimeSynchronizer( + [ camera_sub, camera_info_sub], queue_size=10,slop=0.5 + ) + image_subs[key].registerCallback(self.image_callback, (config["channels"], config["fusion"])) + + elif config["type"] == "pointcloud": + pointcloud_subs[key] = rospy.Subscriber( + config["topic_name"], PointCloud2, self.pointcloud_callback, (config["channels"], config["fusion"]) + ) def register_publishers(self): - # TODO publishers self._publishers = {} self._publishers_timers = [] for k, v in self.publishers.items(): - print(f"Register Publisher: {k}") self._publishers[k] = rospy.Publisher(f"/{self.node_name}/{k}", GridMap, queue_size=10) - self._publishers_timers.append(rospy.Timer(rospy.Duration(1 / v["fps"]), lambda x: self.publish_map(x, k))) + # partial(.) allows to pass a default argument to a callback + self._publishers_timers.append(rospy.Timer(rospy.Duration(1 / v["fps"]), partial(self.publish_map, k))) - def publish_map(self, t, k): - print("Publish map") + def publish_map(self, k, t): if self._map_q is None: return - gm = GridMap() gm.info.header.frame_id = self.map_frame gm.info.header.stamp = rospy.Time.now() @@ -115,9 +152,6 @@ def publish_map(self, t, k): gm.info.pose.orientation.z = 0.0 # self._map_q.z gm.layers = self.publishers[k]["layers"] gm.basic_layers = self.publishers[k]["basic_layers"] - - # arr.layout.dim = [int(gm.info.length_x/gm.info.resolution), int(gm.info.length_y/gm.info.resolution)] - for i, layer in enumerate(gm.layers): self._map.get_map_with_name_ref(layer, self._map_data) # self._map_data = np.nan_to_num(self._map_data, False, 0) @@ -139,7 +173,33 @@ def register_timers(self): self.timer_pose = rospy.Timer(rospy.Duration(1 / self.update_pose_fps), self.update_pose) self.timer_time = rospy.Timer(rospy.Duration(self.time_interval), self.update_time) + def image_callback(self, camera_msg, camera_info_msg, config): + fusion = config[1] + # get pose of image + ti = rospy.Time(secs=camera_msg.header.stamp.secs, nsecs=camera_msg.header.stamp.nsecs) + self._last_t = ti + try: + transform = self._tf_buffer.lookup_transform(self.map_frame, camera_msg.header.frame_id, ti, rospy.Duration(1.0)) + except (tf2_ros.LookupException, tf2_ros.ConnectivityException, tf2_ros.ExtrapolationException) as e: + print("pointcloud_callback error:", e) + return + + t = transform.transform.translation + t = np.array([t.x, t.y, t.z]) + q = transform.transform.rotation + R = quaternion_matrix([q.x, q.y, q.z, q.w])[:3, :3] + + + semantic_img = self.cv_bridge.imgmsg_to_cv2(camera_msg, desired_encoding="passthrough") + + assert np.all( np.array(camera_info_msg.D) == 0.0), "Undistortion not implemented" + K = np.array( camera_info_msg.K , dtype=np.float32).reshape(3,3) + # process pointcloud + self._map.input_semantic_image(semantic_img, K, config[0], R, t) + self._image_process_counter += 1 + def pointcloud_callback(self, msg, config): + print("receive pointcloud") # convert pcd into numpy array # output = {} # total_bytes = msg.fields[-1].offset + PDC_DATATYPE[str(msg.fields[-1].datatype)](1).nbytes From 3e4ec6880c0aa423c63bc24f1c46a311d2b80e1b Mon Sep 17 00:00:00 2001 From: Jonas Frey Date: Sun, 20 Nov 2022 15:26:18 -0800 Subject: [PATCH 270/504] added small debug node --- .../debug_publisher/image_debug_node.py | 39 +++++++++++++++++++ 1 file changed, 39 insertions(+) create mode 100644 sensor_processing/debug_publisher/image_debug_node.py diff --git a/sensor_processing/debug_publisher/image_debug_node.py b/sensor_processing/debug_publisher/image_debug_node.py new file mode 100644 index 00000000..982ba83a --- /dev/null +++ b/sensor_processing/debug_publisher/image_debug_node.py @@ -0,0 +1,39 @@ +import rospy +import sys + +import numpy as np +import ros_numpy +import matplotlib.pyplot as plt +from skimage.io import imshow + +import message_filters +from sensor_msgs.msg import Image, CameraInfo +from sensor_msgs.msg import PointCloud2, Image +from cv_bridge import CvBridge + + +class ImageDebugNode: + def __init__(self): + # setup pointcloud creation + self.cv_bridge = CvBridge() + # rospy.Subscriber("", CameraInfo, self.cam_info_callback) + rospy.Subscriber("/zed2i/zed_node/right/image_rect_color", Image, self.image_callback) + self.debug_pub = rospy.Publisher("/debug_image" , Image, queue_size=2) + + + def image_callback(self, rgb_msg): + img = self.cv_bridge.imgmsg_to_cv2(rgb_msg, desired_encoding="rgb8") + out = np.zeros((img.shape[0],img.shape[1]), dtype=np.uint16) + out[:int(img.shape[0]/2)] = 1 + seg_msg = self.cv_bridge.cv2_to_imgmsg(out, encoding="mono16") + seg_msg.header = rgb_msg.header + self.debug_pub.publish(seg_msg) + # seg_msg.header.frame_id = self.header.frame_id + # self.seg_pub.publish(seg_msg) + + +if __name__ == "__main__": + rospy.init_node("image_debug_node", anonymous=True, log_level=rospy.INFO) + print("Start Debug Image Node") + node = ImageDebugNode() + rospy.spin() From d85277fa6a7525d9ffffc8ff2c4286d290cfc27a Mon Sep 17 00:00:00 2001 From: Jonas Frey Date: Sun, 20 Nov 2022 21:54:05 -0800 Subject: [PATCH 271/504] learning cupy, implemnting collision checking --- .../custom_semantic_image_kernerls.py | 162 ++++++++++++++++++ .../elevation_mapping.py | 25 ++- .../elevation_mapping_ros.py | 5 +- 3 files changed, 186 insertions(+), 6 deletions(-) create mode 100644 elevation_mapping_cupy/script/elevation_mapping_cupy/custom_semantic_image_kernerls.py diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/custom_semantic_image_kernerls.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/custom_semantic_image_kernerls.py new file mode 100644 index 00000000..e7ec2afd --- /dev/null +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/custom_semantic_image_kernerls.py @@ -0,0 +1,162 @@ +import cupy as cp +import string + + +def image_to_map_corrospondence_kernel( + resolution, + width, + height +): + image_to_map_corrospondence_kernel = cp.ElementwiseKernel( + in_params="raw U center_x, raw U center_y, raw U R, raw U t, raw U norm_map", + out_params="raw U p, raw U map, raw T newmap", + preamble=string.Template( + """ + __device__ int get_map_idx(int idx, int layer_n) { + const int layer = ${width} * ${height}; + return layer * layer_n + idx; + } + """ + ).substitute(width=width, height=height), + operation=string.Template( + """ + """ + ).substitute( + ), + name="image_to_map_corrospondence_kernel", + ) + return image_to_map_corrospondence_kernel + + +def test_kernel( + resolution, + width, + height, + tolerance_z_collision +): + test_kernel = cp.ElementwiseKernel( + in_params="raw U map, raw U x1, raw U y1, raw U z1", + out_params="raw U newmap, raw U debug1, raw U debug2", + preamble=string.Template( + """ + __device__ int get_map_idx(int idx, int layer_n) { + const int layer = ${width} * ${height}; + return layer * layer_n + idx; + } + __device__ int get_x_idx(float16 x, float16 center) { + int i = (x - center) / ${resolution} + 0.5 * ${width}; + return i; + } + __device__ int get_y_idx(float16 y, float16 center) { + int i = (y - center) / ${resolution} + 0.5 * ${height}; + return i; + } + """ + ).substitute(width=width, height=height, resolution=resolution), + operation=string.Template( + """ + // for each cell use Bersenham to calculate projection + unsigned int y0 = i % ${width}; + unsigned int x0 = i / ${width}; + + unsigned int y0_c = y0; + unsigned int x0_c = x0; + + + float z0 = map[get_map_idx(i, 0)]; + float t1 = x1-x0_c; + float t2 = y1 - y0_c; + float total_dis = sqrt( t1*t1 + t2*t2); + debug2[get_map_idx(i, 0)] = total_dis; + + if (total_dis == 0){ + return; + } + float delta_z = z1-z0; + + + // following plotLine implementation wikipedia https://en.wikipedia.org/wiki/Bresenham%27s_line_algorithm + + unsigned int dx = abs(x1-x0); + unsigned int sx = x0 < x1 ? 1 : -1; + unsigned int dy = -abs(y1 - y0); + unsigned int sy = y0 < y1 ? 1 : -1; + unsigned int error = dx + dy; + + unsigned int k = 0; + while (1){ + // TODO do here the calculation + k++; + debug1[get_map_idx(i, 0)] = k; + + unsigned int idx = y0 + (x0 * ${width}); + + float t1 = x0 - x0_c; + float t2 = y0 - y0_c; + + float dis = sqrt( t1*t1 + t2*t2); + float rayheight = z0 + dis/total_dis * (delta_z); + + if ( map[ get_map_idx(idx, 0)] > rayheight-${tolerance_z_collision}){ + newmap[get_map_idx(i, 0)] = 0; + } + + if (x0 == x1 && y0 == y1){ + return; + } + unsigned int e2 = 2 * error; + if (e2 >= dy){ + if(x0 == x1){ + return; + } + error = error + dy; + x0 = x0 + sx; + } + if (e2 <= dx){ + if (y0 == y1){ + return; + } + error = error + dx; + y0 = y0 + sy; + } + } + """ + ).substitute( + height=height, width=width, resolution=resolution, tolerance_z_collision=tolerance_z_collision + ), + name="test_kernel", + ) + return test_kernel + + + + +if __name__ == "__main__": + import numpy as np + kernel = test_kernel( + resolution = 0.1, + width = 100, + height = 100, + tolerance_z_collision = 0.0 + ) + arr1 = cp.asarray( np.ones( (100,100), dtype=np.float32), dtype=np.float32) + arr1[:2,:2] = 10 + + + arr_out = cp.asarray( np.ones( (100,100), dtype=np.float32), dtype=np.float32) + + debug1 = cp.asarray( np.ones( (100,100), dtype=np.float32), dtype=np.float32) + debug2 = cp.asarray( np.ones( (100,100), dtype=np.float32), dtype=np.float32) + camera_x_idx = cp.uint32( 0 ) + camera_y_idx = cp.uint32( 10 ) + camera_z_meter = cp.float32( 2.0 ) + kernel(arr1, camera_x_idx, camera_y_idx, camera_z_meter, arr_out, debug1, debug2, size=int(arr1.shape[0] * arr1.shape[1]) ) + + print(arr1) + print(arr_out) + + print("K") + print(debug1) + + print("distance") + print(debug2) \ No newline at end of file diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py index 663d4a73..cb32eb27 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py @@ -18,6 +18,9 @@ from elevation_mapping_cupy.custom_kernels import dilation_filter_kernel from elevation_mapping_cupy.custom_kernels import normal_filter_kernel from elevation_mapping_cupy.custom_kernels import polygon_mask_kernel +from elevation_mapping_cupy.custom_semantic_image_kernels import image_to_map_corrospondence_kernel + + from elevation_mapping_cupy.map_initializer import MapInitializer from elevation_mapping_cupy.plugins.plugin_manager import PluginManager from elevation_mapping_cupy.semantic_map import SemanticMap @@ -272,6 +275,16 @@ def compile_kernels(self): self.polygon_mask_kernel = polygon_mask_kernel(self.cell_n, self.cell_n, self.resolution) self.normal_filter_kernel = normal_filter_kernel(self.cell_n, self.cell_n, self.resolution) + def compile_semantic_image_kernels(self): + self.corrospondence_map = cp.zeros((self.elevation_map.shape[0], self.cell_n, self.cell_n),dtype=self.data_type) + + self.image_to_map_corrospondence_kernel = image_to_map_corrospondence_kernel( + self.resolution, + self.cell_n, + self.cell_n + ) + + def shift_translation_to_map_center(self, t): """ Deduct the map center to get the translation of a point w.r.t. the map center. @@ -359,7 +372,7 @@ def update_map_with_kernel(self, points_all, channels, R, t, position_noise, ori self.update_normal(self.traversability_input) - def update_map_with_semantic_kernel(self, semantic_image, K, channels, R, t): + def update_map_with_semantic_image_kernel(self, semantic_image, K, channels, R, t): """Update map with new measurement from semantic image. Args: @@ -369,7 +382,13 @@ def update_map_with_semantic_kernel(self, semantic_image, K, channels, R, t): R (cupy._core.core.ndarray): t (cupy._core.core.ndarray): """ - print("not implemented") + self.corrospondence_map *= 0 + # TODO Speedup 1. Compute frustrum mask + + # TODO Minimal 2. Compute corrospondences based on visibilitz check (map to image) + self.image_to_map_corrospondence_kernel(H,W,K,R,t, self.corrospondence_map) + # TODO Minimal 3. Update the semantic layer based on calculated image to map corrospondences + def clear_overlap_map(self, t): # Clear overlapping area around center @@ -435,7 +454,7 @@ def input_semantic_image(self, R = cp.asarray(R,dtype=self.data_type) t = cp.asarray(t,dtype=self.data_type) - self.update_map_with_semantic_kernel(semantic_image, K, channels, R, t) + self.update_map_with_semantic_image_kernel(semantic_image, K, channels, R, t) def update_normal(self, dilated_map): diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping_ros.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping_ros.py index df8f48b8..d3bd5511 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping_ros.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping_ros.py @@ -96,7 +96,7 @@ def overwrite_elevation_mapping_params(self): else: typ = config["type"] raise ValueError(f"{typ} unknown, only pointcloud and image defined.") - + self.param.additional_layers = additional self.param.fusion_algorithms = fusion self.dtype = [ @@ -199,7 +199,6 @@ def image_callback(self, camera_msg, camera_info_msg, config): self._image_process_counter += 1 def pointcloud_callback(self, msg, config): - print("receive pointcloud") # convert pcd into numpy array # output = {} # total_bytes = msg.fields[-1].offset + PDC_DATATYPE[str(msg.fields[-1].datatype)](1).nbytes @@ -235,7 +234,7 @@ def pointcloud_callback(self, msg, config): # process pointcloud self._map.input(pts, channels, R, t, 0, 0) self._pointcloud_process_counter += 1 - print(self._pointcloud_process_counter) + print("Pointclouds processed: ", self._pointcloud_process_counter) def update_pose(self, t): # get pose of base From 77fbd74406f9d906916cf0bc74d72ad02c90b4a7 Mon Sep 17 00:00:00 2001 From: Jonas Frey Date: Mon, 21 Nov 2022 22:49:57 -0800 Subject: [PATCH 272/504] semantic image working version --- .../custom_semantic_image_kernerls.py | 211 +++++++++--------- .../elevation_mapping.py | 89 +++++--- .../elevation_mapping_ros.py | 4 +- .../elevation_mapping_cupy/semantic_map.py | 3 + 4 files changed, 171 insertions(+), 136 deletions(-) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/custom_semantic_image_kernerls.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/custom_semantic_image_kernerls.py index e7ec2afd..1acd778c 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/custom_semantic_image_kernerls.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/custom_semantic_image_kernerls.py @@ -1,162 +1,159 @@ import cupy as cp import string - def image_to_map_corrospondence_kernel( - resolution, - width, - height -): - image_to_map_corrospondence_kernel = cp.ElementwiseKernel( - in_params="raw U center_x, raw U center_y, raw U R, raw U t, raw U norm_map", - out_params="raw U p, raw U map, raw T newmap", - preamble=string.Template( - """ - __device__ int get_map_idx(int idx, int layer_n) { - const int layer = ${width} * ${height}; - return layer * layer_n + idx; - } - """ - ).substitute(width=width, height=height), - operation=string.Template( - """ - """ - ).substitute( - ), - name="image_to_map_corrospondence_kernel", - ) - return image_to_map_corrospondence_kernel - - -def test_kernel( resolution, width, height, tolerance_z_collision ): - test_kernel = cp.ElementwiseKernel( - in_params="raw U map, raw U x1, raw U y1, raw U z1", - out_params="raw U newmap, raw U debug1, raw U debug2", + image_to_map_corrospondence_kernel = cp.ElementwiseKernel( + in_params="raw U map, raw U x1, raw U y1, raw U z1, raw U P, raw U image_height, raw U image_width, raw U center", + out_params="raw U uv_corrospondence, raw B vaild_corrospondence", preamble=string.Template( """ __device__ int get_map_idx(int idx, int layer_n) { const int layer = ${width} * ${height}; return layer * layer_n + idx; } - __device__ int get_x_idx(float16 x, float16 center) { - int i = (x - center) / ${resolution} + 0.5 * ${width}; - return i; + __device__ bool is_inside_map(int x, int y) { + return (x >= 0 && y >= 0 && x<${width} && x<${height}); } - __device__ int get_y_idx(float16 y, float16 center) { - int i = (y - center) / ${resolution} + 0.5 * ${height}; - return i; + __device__ float get_l2_distance(int x0, int y0, int x1, int y1) { + float dx = x0-x1; + float dy = y0-y1; + return sqrt( dx*dx + dy*dy); } """ ).substitute(width=width, height=height, resolution=resolution), operation=string.Template( """ - // for each cell use Bersenham to calculate projection - unsigned int y0 = i % ${width}; - unsigned int x0 = i / ${width}; + int cell_idx = get_map_idx(i, 0); - unsigned int y0_c = y0; - unsigned int x0_c = x0; + // return if gridcell has no valid height + if (map[get_map_idx(i, 2)] != 1){ + return; + } + // get current cell position + int y0 = i % ${width}; + int x0 = i / ${width}; - float z0 = map[get_map_idx(i, 0)]; - float t1 = x1-x0_c; - float t2 = y1 - y0_c; - float total_dis = sqrt( t1*t1 + t2*t2); - debug2[get_map_idx(i, 0)] = total_dis; + // gridcell 3D point in worldframe TODO reverse x and y + float p1 = (x0-(${width}/2)) * ${resolution} + center[0]; + float p2 = (y0-(${height}/2)) * ${resolution} + center[1]; + float p3 = map[cell_idx] + center[2]; - if (total_dis == 0){ + // reproject 3D point into image plane + float u = p1 * P[0] + p2 * P[1] + p3 * P[2] + P[3]; + float v = p1 * P[4] + p2 * P[5] + p3 * P[6] + P[7]; + float d = p1 * P[8] + p2 * P[9] + p3 * P[10] + P[11]; + + // filter point behind image plane + if (d <= 0) { return; } - float delta_z = z1-z0; + u = u/d; + v = v/d; + // filter point nexto image plane + if ((u < 0) || (v < 0) || (u >= image_width) || (v >= image_height)){ + return; + } - // following plotLine implementation wikipedia https://en.wikipedia.org/wiki/Bresenham%27s_line_algorithm + int y0_c = y0; + int x0_c = x0; + float total_dis = get_l2_distance(x0_c, y0_c, x1,y1); + float z0 = map[cell_idx]; + float delta_z = z1-z0; - unsigned int dx = abs(x1-x0); - unsigned int sx = x0 < x1 ? 1 : -1; - unsigned int dy = -abs(y1 - y0); - unsigned int sy = y0 < y1 ? 1 : -1; - unsigned int error = dx + dy; - unsigned int k = 0; - while (1){ - // TODO do here the calculation - k++; - debug1[get_map_idx(i, 0)] = k; - - unsigned int idx = y0 + (x0 * ${width}); - - float t1 = x0 - x0_c; - float t2 = y0 - y0_c; + // bresenham algorithm to iterate over cells in line between camera center and current gridmap cell + // https://en.wikipedia.org/wiki/Bresenham%27s_line_algorithm + int dx = abs(x1-x0); + int sx = x0 < x1 ? 1 : -1; + int dy = -abs(y1 - y0); + int sy = y0 < y1 ? 1 : -1; + int error = dx + dy; - float dis = sqrt( t1*t1 + t2*t2); - float rayheight = z0 + dis/total_dis * (delta_z); - - if ( map[ get_map_idx(idx, 0)] > rayheight-${tolerance_z_collision}){ - newmap[get_map_idx(i, 0)] = 0; + // iterate over all cells along line + while (1){ + // assumption we do not need to check the height for camera center cell + if (x0 == x1 && y0 == y1){ + break; } - if (x0 == x1 && y0 == y1){ - return; + // check if height is invalid + if (is_inside_map(x0,y0)){ + int idx = y0 + (x0 * ${width}); + if (map[get_map_idx(idx, 2)]){ + float dis = get_l2_distance(x0_c, y0_c, x0, y0); + float rayheight = z0 + ( dis / total_dis * delta_z); + if ( map[idx] - ${tolerance_z_collision} > rayheight){ + break; + } + } } - unsigned int e2 = 2 * error; + + + // computation of next gridcell index in line + int e2 = 2 * error; if (e2 >= dy){ if(x0 == x1){ - return; + break; } error = error + dy; x0 = x0 + sx; } if (e2 <= dx){ if (y0 == y1){ - return; + break; } error = error + dx; - y0 = y0 + sy; + y0 = y0 + sy; } } + + // mark the corrospondence + uv_corrospondence[get_map_idx(i, 0)] = u; + uv_corrospondence[get_map_idx(i, 1)] = v; + vaild_corrospondence[get_map_idx(i, 0)] = 1; """ ).substitute( height=height, width=width, resolution=resolution, tolerance_z_collision=tolerance_z_collision ), - name="test_kernel", + name="image_to_map_corrospondence_kernel", ) - return test_kernel - - + return image_to_map_corrospondence_kernel -if __name__ == "__main__": - import numpy as np - kernel = test_kernel( - resolution = 0.1, - width = 100, - height = 100, - tolerance_z_collision = 0.0 +def average_corrospondences_to_map_kernel( + resolution, + width, + height +): + average_corrospondences_to_map_kernel = cp.ElementwiseKernel( + in_params="raw U sem_map, raw U semantic_image, raw U uv_corrospondence, raw B vaild_corrospondence, raw U image_height, raw U image_width", + out_params="raw U new_sem_map", + preamble=string.Template( + """ + __device__ int get_map_idx(int idx, int layer_n) { + const int layer = ${width} * ${height}; + return layer * layer_n + idx; + } + """ + ).substitute(width=width, height=height), + operation=string.Template( + """ + int cell_idx = get_map_idx(i, 0); + int cell_idx_2 = get_map_idx(i, 1); + if (vaild_corrospondence[cell_idx]){ + int idx = int(uv_corrospondence[cell_idx]) + int(uv_corrospondence[cell_idx_2]) * image_width; + new_sem_map[cell_idx] = semantic_image[idx]; + } + """ + ).substitute( + ), + name="average_corrospondences_to_map_kernel", ) - arr1 = cp.asarray( np.ones( (100,100), dtype=np.float32), dtype=np.float32) - arr1[:2,:2] = 10 - - - arr_out = cp.asarray( np.ones( (100,100), dtype=np.float32), dtype=np.float32) - - debug1 = cp.asarray( np.ones( (100,100), dtype=np.float32), dtype=np.float32) - debug2 = cp.asarray( np.ones( (100,100), dtype=np.float32), dtype=np.float32) - camera_x_idx = cp.uint32( 0 ) - camera_y_idx = cp.uint32( 10 ) - camera_z_meter = cp.float32( 2.0 ) - kernel(arr1, camera_x_idx, camera_y_idx, camera_z_meter, arr_out, debug1, debug2, size=int(arr1.shape[0] * arr1.shape[1]) ) - - print(arr1) - print(arr_out) - - print("K") - print(debug1) - - print("distance") - print(debug2) \ No newline at end of file + return average_corrospondences_to_map_kernel diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py index cb32eb27..fb77c4a8 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py @@ -18,7 +18,9 @@ from elevation_mapping_cupy.custom_kernels import dilation_filter_kernel from elevation_mapping_cupy.custom_kernels import normal_filter_kernel from elevation_mapping_cupy.custom_kernels import polygon_mask_kernel -from elevation_mapping_cupy.custom_semantic_image_kernels import image_to_map_corrospondence_kernel + +from elevation_mapping_cupy.custom_semantic_image_kernerls import image_to_map_corrospondence_kernel +from elevation_mapping_cupy.custom_semantic_image_kernerls import average_corrospondences_to_map_kernel from elevation_mapping_cupy.map_initializer import MapInitializer @@ -90,6 +92,7 @@ def __init__(self, param: Parameter): self.additive_mean_error = 0.0 self.compile_kernels() + self.compile_semantic_image_kernels() self.semantic_map.compile_kernels() weight_file = subprocess.getoutput('echo "' + param.weight_file + '"') @@ -276,12 +279,21 @@ def compile_kernels(self): self.normal_filter_kernel = normal_filter_kernel(self.cell_n, self.cell_n, self.resolution) def compile_semantic_image_kernels(self): - self.corrospondence_map = cp.zeros((self.elevation_map.shape[0], self.cell_n, self.cell_n),dtype=self.data_type) - + self.new_sem_map = cp.asarray( np.zeros( ( self.cell_n, self.cell_n), dtype=np.float32), dtype=np.float32) + self.vaild_corrospondence = cp.asarray( np.zeros( ( self.cell_n, self.cell_n), dtype=np.bool), dtype=np.bool) + self.uv_corrospondence = cp.asarray( np.zeros( ( 2, self.cell_n, self.cell_n), dtype=np.float32), dtype=np.float32) + self.image_to_map_corrospondence_kernel = image_to_map_corrospondence_kernel( - self.resolution, - self.cell_n, - self.cell_n + resolution = self.resolution, + width = self.cell_n, + height = self.cell_n, + tolerance_z_collision = 0.1 + ) + + self.average_corrospondences_to_map_kernel = average_corrospondences_to_map_kernel( + resolution = self.resolution, + width = self.cell_n, + height = self.cell_n ) @@ -372,23 +384,50 @@ def update_map_with_kernel(self, points_all, channels, R, t, position_noise, ori self.update_normal(self.traversability_input) - def update_map_with_semantic_image_kernel(self, semantic_image, K, channels, R, t): + def update_map_with_semantic_image_kernel(self, semantic_image, K, channels, R, t, image_height, image_width): """Update map with new measurement from semantic image. - - Args: - semantic_image (cupy._core.core.ndarray): - K (cupy._core.core.ndarray): - channels (List[str]): - R (cupy._core.core.ndarray): - t (cupy._core.core.ndarray): """ - self.corrospondence_map *= 0 - # TODO Speedup 1. Compute frustrum mask + P = cp.asarray( K @ np.concatenate([R, t[:, None]], 1), dtype=np.float32) + + t_cam_map = -R.T@t + t_cam_map -= self.center.get() + + x1 = cp.uint32((self.cell_n/2) + ((t_cam_map[0])/self.resolution)) + y1 = cp.uint32((self.cell_n/2) + ((t_cam_map[1])/self.resolution)) + z1 = cp.float32(t_cam_map[2]) + + semantic_image = cp.asarray( semantic_image, dtype=np.float32) - # TODO Minimal 2. Compute corrospondences based on visibilitz check (map to image) - self.image_to_map_corrospondence_kernel(H,W,K,R,t, self.corrospondence_map) - # TODO Minimal 3. Update the semantic layer based on calculated image to map corrospondences + self.new_sem_map *= 0 + self.uv_corrospondence *= 0 + self.vaild_corrospondence[:,:] = False + with self.map_lock: + sem_map_idx = self.semantic_map.get_index(channels[0]) + self.image_to_map_corrospondence_kernel( + self.elevation_map, + x1,y1,z1, + P.reshape(-1), + cp.float32(image_height), + cp.float32(image_width), + self.center, + self.uv_corrospondence, + self.vaild_corrospondence, + size=int(self.elevation_map.shape[1] * self.elevation_map.shape[2]) + ) + + self.average_corrospondences_to_map_kernel( + self.semantic_map.map[sem_map_idx], + semantic_image, + self.uv_corrospondence, + self.vaild_corrospondence, + cp.float32(image_height), + cp.float32(image_width), + self.new_sem_map, + size=int(self.elevation_map.shape[1] * self.elevation_map.shape[2]) + ) + + self.semantic_map.map[sem_map_idx] = self.new_sem_map def clear_overlap_map(self, t): # Clear overlapping area around center @@ -446,15 +485,11 @@ def input_semantic_image(self, K: cp._core.core.ndarray, channels: List[str], R: cp._core.core.ndarray, - t: cp._core.core.ndarray + t: cp._core.core.ndarray, + image_height : int, + image_width : int ): - - semantic_image = cp.asarray(semantic_image, dtype=self.data_type) - K = cp.asarray(K, dtype=self.data_type) - R = cp.asarray(R,dtype=self.data_type) - t = cp.asarray(t,dtype=self.data_type) - - self.update_map_with_semantic_image_kernel(semantic_image, K, channels, R, t) + self.update_map_with_semantic_image_kernel(semantic_image, K, channels, R, t, image_height, image_width) def update_normal(self, dilated_map): diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping_ros.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping_ros.py index d3bd5511..aab73635 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping_ros.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping_ros.py @@ -179,7 +179,7 @@ def image_callback(self, camera_msg, camera_info_msg, config): ti = rospy.Time(secs=camera_msg.header.stamp.secs, nsecs=camera_msg.header.stamp.nsecs) self._last_t = ti try: - transform = self._tf_buffer.lookup_transform(self.map_frame, camera_msg.header.frame_id, ti, rospy.Duration(1.0)) + transform = self._tf_buffer.lookup_transform(camera_msg.header.frame_id, self.map_frame, ti, rospy.Duration(1.0)) except (tf2_ros.LookupException, tf2_ros.ConnectivityException, tf2_ros.ExtrapolationException) as e: print("pointcloud_callback error:", e) return @@ -195,7 +195,7 @@ def image_callback(self, camera_msg, camera_info_msg, config): assert np.all( np.array(camera_info_msg.D) == 0.0), "Undistortion not implemented" K = np.array( camera_info_msg.K , dtype=np.float32).reshape(3,3) # process pointcloud - self._map.input_semantic_image(semantic_img, K, config[0], R, t) + self._map.input_semantic_image(semantic_img, K, config[0], R, t, camera_info_msg.height, camera_info_msg.width) self._image_process_counter += 1 def pointcloud_callback(self, msg, config): diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py index 7ab2b289..017ef9b0 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py @@ -251,3 +251,6 @@ def get_semantic(self, name): def process_map_for_publish(self, input_map): m = input_map.copy() return m[1:-1, 1:-1] + + def get_index(self, name): + return self.param.additional_layers.index(name) From 36ee89c77b27ec7c3d08c0623c0270884d63d332 Mon Sep 17 00:00:00 2001 From: Jonas Frey Date: Mon, 21 Nov 2022 23:02:27 -0800 Subject: [PATCH 273/504] black formatting --- .../custom_semantic_image_kernerls.py | 21 +- .../elevation_mapping.py | 226 +++++++++--------- .../elevation_mapping_ros.py | 28 +-- .../elevation_mapping_cupy/semantic_map.py | 10 +- 4 files changed, 138 insertions(+), 147 deletions(-) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/custom_semantic_image_kernerls.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/custom_semantic_image_kernerls.py index 1acd778c..88b5ddf2 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/custom_semantic_image_kernerls.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/custom_semantic_image_kernerls.py @@ -1,12 +1,8 @@ import cupy as cp import string -def image_to_map_corrospondence_kernel( - resolution, - width, - height, - tolerance_z_collision -): + +def image_to_map_corrospondence_kernel(resolution, width, height, tolerance_z_collision): image_to_map_corrospondence_kernel = cp.ElementwiseKernel( in_params="raw U map, raw U x1, raw U y1, raw U z1, raw U P, raw U image_height, raw U image_width, raw U center", out_params="raw U uv_corrospondence, raw B vaild_corrospondence", @@ -119,19 +115,13 @@ def image_to_map_corrospondence_kernel( uv_corrospondence[get_map_idx(i, 1)] = v; vaild_corrospondence[get_map_idx(i, 0)] = 1; """ - ).substitute( - height=height, width=width, resolution=resolution, tolerance_z_collision=tolerance_z_collision - ), + ).substitute(height=height, width=width, resolution=resolution, tolerance_z_collision=tolerance_z_collision), name="image_to_map_corrospondence_kernel", ) return image_to_map_corrospondence_kernel -def average_corrospondences_to_map_kernel( - resolution, - width, - height -): +def average_corrospondences_to_map_kernel(resolution, width, height): average_corrospondences_to_map_kernel = cp.ElementwiseKernel( in_params="raw U sem_map, raw U semantic_image, raw U uv_corrospondence, raw B vaild_corrospondence, raw U image_height, raw U image_width", out_params="raw U new_sem_map", @@ -152,8 +142,7 @@ def average_corrospondences_to_map_kernel( new_sem_map[cell_idx] = semantic_image[idx]; } """ - ).substitute( - ), + ).substitute(), name="average_corrospondences_to_map_kernel", ) return average_corrospondences_to_map_kernel diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py index fb77c4a8..d6e8a38d 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py @@ -40,6 +40,7 @@ pool = cp.cuda.MemoryPool(cp.cuda.malloc_managed) cp.cuda.set_allocator(pool.malloc) + class ElevationMap: """ Core elevation mapping class. @@ -62,7 +63,7 @@ def __init__(self, param: Parameter): self.map_lock = threading.Lock() self.additional_layers = dict(zip(self.param.additional_layers, self.param.fusion_algorithms)) self.semantic_map = SemanticMap(self.param, self.additional_layers) - self.elevation_map = xp.zeros((7, self.cell_n, self.cell_n),dtype=self.data_type) + self.elevation_map = xp.zeros((7, self.cell_n, self.cell_n), dtype=self.data_type) self.layer_names = [ "elevation", "variance", @@ -112,9 +113,7 @@ def __init__(self, param: Parameter): self.map_initializer = MapInitializer(self.initial_variance, param.initialized_variance, xp=cp, method="points") def clear(self): - """Reset all the layers of the elevation & the semantic map. - - """ + """Reset all the layers of the elevation & the semantic map.""" with self.map_lock: self.elevation_map *= 0.0 # Initial variance @@ -148,14 +147,14 @@ def move(self, delta_position): self.shift_map_z(-delta_position[2]) def move_to(self, position, R): - """ Shift the map to an absolute position and update the rotation of the robot. + """Shift the map to an absolute position and update the rotation of the robot. Args: position (numpy.ndarray): R (cupy._core.core.ndarray): """ # Shift map to the center of robot. - self.base_rotation = xp.asarray(R,dtype=self.data_type) + self.base_rotation = xp.asarray(R, dtype=self.data_type) position = xp.asarray(position) delta = position - self.center delta_pixel = xp.around(delta[:2] / self.resolution) @@ -224,16 +223,14 @@ def shift_map_z(self, delta_z): self.elevation_map[5] += delta_z def compile_kernels(self): - """Compile all kernels belonging to the elevation map. - - """ + """Compile all kernels belonging to the elevation map.""" # Compile custom cuda kernels. - self.new_map = cp.zeros((self.elevation_map.shape[0], self.cell_n, self.cell_n),dtype=self.data_type) - self.traversability_input = cp.zeros((self.cell_n, self.cell_n),dtype=self.data_type) - self.traversability_mask_dummy = cp.zeros((self.cell_n, self.cell_n),dtype=self.data_type) - self.min_filtered = cp.zeros((self.cell_n, self.cell_n),dtype=self.data_type) - self.min_filtered_mask = cp.zeros((self.cell_n, self.cell_n),dtype=self.data_type) - self.mask = cp.zeros((self.cell_n, self.cell_n),dtype=self.data_type) + self.new_map = cp.zeros((self.elevation_map.shape[0], self.cell_n, self.cell_n), dtype=self.data_type) + self.traversability_input = cp.zeros((self.cell_n, self.cell_n), dtype=self.data_type) + self.traversability_mask_dummy = cp.zeros((self.cell_n, self.cell_n), dtype=self.data_type) + self.min_filtered = cp.zeros((self.cell_n, self.cell_n), dtype=self.data_type) + self.min_filtered_mask = cp.zeros((self.cell_n, self.cell_n), dtype=self.data_type) + self.mask = cp.zeros((self.cell_n, self.cell_n), dtype=self.data_type) self.add_points_kernel = add_points_kernel( self.resolution, self.cell_n, @@ -279,26 +276,20 @@ def compile_kernels(self): self.normal_filter_kernel = normal_filter_kernel(self.cell_n, self.cell_n, self.resolution) def compile_semantic_image_kernels(self): - self.new_sem_map = cp.asarray( np.zeros( ( self.cell_n, self.cell_n), dtype=np.float32), dtype=np.float32) - self.vaild_corrospondence = cp.asarray( np.zeros( ( self.cell_n, self.cell_n), dtype=np.bool), dtype=np.bool) - self.uv_corrospondence = cp.asarray( np.zeros( ( 2, self.cell_n, self.cell_n), dtype=np.float32), dtype=np.float32) - + self.new_sem_map = cp.asarray(np.zeros((self.cell_n, self.cell_n), dtype=np.float32), dtype=np.float32) + self.vaild_corrospondence = cp.asarray(np.zeros((self.cell_n, self.cell_n), dtype=np.bool), dtype=np.bool) + self.uv_corrospondence = cp.asarray(np.zeros((2, self.cell_n, self.cell_n), dtype=np.float32), dtype=np.float32) + self.image_to_map_corrospondence_kernel = image_to_map_corrospondence_kernel( - resolution = self.resolution, - width = self.cell_n, - height = self.cell_n, - tolerance_z_collision = 0.1 + resolution=self.resolution, width=self.cell_n, height=self.cell_n, tolerance_z_collision=0.1 ) - + self.average_corrospondences_to_map_kernel = average_corrospondences_to_map_kernel( - resolution = self.resolution, - width = self.cell_n, - height = self.cell_n + resolution=self.resolution, width=self.cell_n, height=self.cell_n ) - def shift_translation_to_map_center(self, t): - """ Deduct the map center to get the translation of a point w.r.t. the map center. + """Deduct the map center to get the translation of a point w.r.t. the map center. Args: t (cupy._core.core.ndarray): Absolute point position @@ -306,28 +297,28 @@ def shift_translation_to_map_center(self, t): t -= self.center def update_map_with_kernel(self, points_all, channels, R, t, position_noise, orientation_noise): - """Update map with new measurement. + """Update map with new measurement. Args: - points_all (cupy._core.core.ndarray): - channels (List[str]): - R (cupy._core.core.ndarray): - t (cupy._core.core.ndarray): - position_noise (int): - orientation_noise (int): + points_all (cupy._core.core.ndarray): + channels (List[str]): + R (cupy._core.core.ndarray): + t (cupy._core.core.ndarray): + position_noise (int): + orientation_noise (int): """ self.new_map *= 0.0 error = cp.array([0.0], dtype=cp.float32) error_cnt = cp.array([0], dtype=cp.float32) - points = points_all[:,:3] + points = points_all[:, :3] # additional_fusion = self.get_fusion_of_pcl(channels) with self.map_lock: self.shift_translation_to_map_center(t) self.error_counting_kernel( self.elevation_map, points, - cp.array([0.0],dtype=self.data_type), - cp.array([0.0],dtype=self.data_type), + cp.array([0.0], dtype=self.data_type), + cp.array([0.0], dtype=self.data_type), R, t, self.new_map, @@ -348,8 +339,8 @@ def update_map_with_kernel(self, points_all, channels, R, t, position_noise, ori if np.abs(self.mean_error) < self.param.max_drift: self.elevation_map[0] += self.mean_error * self.param.drift_compensation_alpha self.add_points_kernel( - cp.array([0.0],dtype=self.data_type), - cp.array([0.0],dtype=self.data_type), + cp.array([0.0], dtype=self.data_type), + cp.array([0.0], dtype=self.data_type), R, t, self.normal_map, @@ -383,52 +374,52 @@ def update_map_with_kernel(self, points_all, channels, R, t, position_noise, ori # calculate normal vectors self.update_normal(self.traversability_input) - def update_map_with_semantic_image_kernel(self, semantic_image, K, channels, R, t, image_height, image_width): - """Update map with new measurement from semantic image. - """ - P = cp.asarray( K @ np.concatenate([R, t[:, None]], 1), dtype=np.float32) - - t_cam_map = -R.T@t + """Update map with new measurement from semantic image.""" + P = cp.asarray(K @ np.concatenate([R, t[:, None]], 1), dtype=np.float32) + + t_cam_map = -R.T @ t t_cam_map -= self.center.get() - - x1 = cp.uint32((self.cell_n/2) + ((t_cam_map[0])/self.resolution)) - y1 = cp.uint32((self.cell_n/2) + ((t_cam_map[1])/self.resolution)) + + x1 = cp.uint32((self.cell_n / 2) + ((t_cam_map[0]) / self.resolution)) + y1 = cp.uint32((self.cell_n / 2) + ((t_cam_map[1]) / self.resolution)) z1 = cp.float32(t_cam_map[2]) - - semantic_image = cp.asarray( semantic_image, dtype=np.float32) - + + semantic_image = cp.asarray(semantic_image, dtype=np.float32) + self.new_sem_map *= 0 self.uv_corrospondence *= 0 - self.vaild_corrospondence[:,:] = False - + self.vaild_corrospondence[:, :] = False + with self.map_lock: sem_map_idx = self.semantic_map.get_index(channels[0]) self.image_to_map_corrospondence_kernel( - self.elevation_map, - x1,y1,z1, - P.reshape(-1), - cp.float32(image_height), - cp.float32(image_width), + self.elevation_map, + x1, + y1, + z1, + P.reshape(-1), + cp.float32(image_height), + cp.float32(image_width), self.center, self.uv_corrospondence, self.vaild_corrospondence, - size=int(self.elevation_map.shape[1] * self.elevation_map.shape[2]) + size=int(self.elevation_map.shape[1] * self.elevation_map.shape[2]), ) - + self.average_corrospondences_to_map_kernel( self.semantic_map.map[sem_map_idx], semantic_image, self.uv_corrospondence, self.vaild_corrospondence, - cp.float32(image_height), + cp.float32(image_height), cp.float32(image_width), self.new_sem_map, - size=int(self.elevation_map.shape[1] * self.elevation_map.shape[2]) + size=int(self.elevation_map.shape[1] * self.elevation_map.shape[2]), ) - + self.semantic_map.map[sem_map_idx] = self.new_sem_map - + def clear_overlap_map(self, t): # Clear overlapping area around center height_min = t[2] - self.param.overlap_clear_range_z @@ -456,47 +447,59 @@ def update_upper_bound_with_valid_elevation(self): mask = self.elevation_map[2] > 0.5 self.elevation_map[5] = cp.where(mask, self.elevation_map[0], self.elevation_map[5]) self.elevation_map[6] = cp.where(mask, 0.0, self.elevation_map[6]) - - def input(self, raw_points: cp._core.core.ndarray, channels: List[str], R: cp._core.core.ndarray, - t: cp._core.core.ndarray, - position_noise: int, - orientation_noise: int) -> None: + + def input( + self, + raw_points: cp._core.core.ndarray, + channels: List[str], + R: cp._core.core.ndarray, + t: cp._core.core.ndarray, + position_noise: int, + orientation_noise: int, + ) -> None: """Input the pointcloud and fuse the new measurements to update the elevation map. Args: - raw_points (cupy._core.core.ndarray): - channels (List[str]): + raw_points (cupy._core.core.ndarray): + channels (List[str]): R (cupy._core.core.ndarray): - t (cupy._core.core.ndarray): - position_noise (int): - orientation_noise (int): + t (cupy._core.core.ndarray): + position_noise (int): + orientation_noise (int): Returns: - None: + None: """ # Update elevation map using point cloud input. raw_points = cp.asarray(raw_points, dtype=self.data_type) additional_channels = channels[3:] raw_points = raw_points[~cp.isnan(raw_points).any(axis=1)] - self.update_map_with_kernel(raw_points, additional_channels, cp.asarray(R,dtype=self.data_type), cp.asarray(t,dtype=self.data_type), position_noise, orientation_noise) + self.update_map_with_kernel( + raw_points, + additional_channels, + cp.asarray(R, dtype=self.data_type), + cp.asarray(t, dtype=self.data_type), + position_noise, + orientation_noise, + ) - def input_semantic_image(self, - semantic_image: cp._core.core.ndarray, - K: cp._core.core.ndarray, - channels: List[str], + def input_semantic_image( + self, + semantic_image: cp._core.core.ndarray, + K: cp._core.core.ndarray, + channels: List[str], R: cp._core.core.ndarray, t: cp._core.core.ndarray, - image_height : int, - image_width : int - ): + image_height: int, + image_width: int, + ): self.update_map_with_semantic_image_kernel(semantic_image, K, channels, R, t, image_height, image_width) - - + def update_normal(self, dilated_map): - """ Clear the normal map and then apply the normal kernel with dilated map as input. + """Clear the normal map and then apply the normal kernel with dilated map as input. Args: - dilated_map (cupy._core.core.ndarray): + dilated_map (cupy._core.core.ndarray): """ with self.map_lock: self.normal_map *= 0.0 @@ -505,16 +508,16 @@ def update_normal(self, dilated_map): ) def process_map_for_publish(self, input_map, fill_nan=False, add_z=False, xp=cp): - """ Process the input_map according to the fill_nan and add_z flags. + """Process the input_map according to the fill_nan and add_z flags. Args: - input_map (cupy._core.core.ndarray): - fill_nan (bool): - add_z (bool): - xp (module): + input_map (cupy._core.core.ndarray): + fill_nan (bool): + add_z (bool): + xp (module): Returns: - cupy._core.core.ndarray: + cupy._core.core.ndarray: """ m = input_map.copy() if fill_nan: @@ -577,7 +580,7 @@ def xp_of_array(self, array): return np def copy_to_cpu(self, array, data, stream=None): - """ Transforms the data to float32 and if on gpu loads it to cpu. + """Transforms the data to float32 and if on gpu loads it to cpu. Args: array (cupy._core.core.ndarray): @@ -593,7 +596,7 @@ def copy_to_cpu(self, array, data, stream=None): data[...] = cp.asnumpy(array.astype(np.float32)) def exists_layer(self, name): - """ Check if the layer exists in elevation map or in the semantic map. + """Check if the layer exists in elevation map or in the semantic map. Args: name (str): @@ -643,7 +646,9 @@ def get_map_with_name_ref(self, name, data): elif name in self.additional_layers.keys(): m = self.semantic_map.get_map_with_name(name) elif name in self.plugin_manager.layer_names: - self.plugin_manager.update_with_name(name, self.elevation_map, self.layer_names, self.semantic_map, self.base_rotation) + self.plugin_manager.update_with_name( + name, self.elevation_map, self.layer_names, self.semantic_map, self.base_rotation + ) m = self.plugin_manager.get_map_with_name(name) p = self.plugin_manager.get_param_with_name(name) xp = self.xp_of_array(m) @@ -677,16 +682,17 @@ def get_normal_ref(self, normal_x_data, normal_y_data, normal_z_data): normal_y_data[...] = xp.asnumpy(maps[1], stream=self.stream) normal_z_data[...] = xp.asnumpy(maps[2], stream=self.stream) - def get_layer(self,name): + def get_layer(self, name): if name in self.layer_names: idx = self.layer_names.index(name) map = self.elevation_map[idx] elif name in self.semantic_map.param.additional_layers: idx = self.semantic_map.param.additional_layers.index(name) - map= self.semantic_map.map[idx] + map = self.semantic_map.map[idx] elif name in self.plugin_manager.layer_names: - self.plugin_manager.update_with_name(name, self.elevation_map, self.layer_names, self.semantic_map, - self.base_rotation) + self.plugin_manager.update_with_name( + name, self.elevation_map, self.layer_names, self.semantic_map, self.base_rotation + ) map = self.plugin_manager.get_map_with_name(name) else: print("Layer {} is not in the map, returning traversabiltiy!".format(name)) @@ -694,7 +700,7 @@ def get_layer(self,name): return map def get_polygon_traversability(self, polygon, result): - """ Check if input polygons are traversable. + """Check if input polygons are traversable. Args: polygon (cupy._core.core.ndarray): @@ -745,7 +751,7 @@ def get_polygon_traversability(self, polygon, result): return untraversable_polygon_num def get_untraversable_polygon(self, untraversable_polygon): - """ Copy the untraversable polygons to input untraversable_polygons. + """Copy the untraversable polygons to input untraversable_polygons. Args: untraversable_polygon (numpy.ndarray): @@ -761,7 +767,7 @@ def initialize_map(self, points, method="cubic"): """ self.clear() with self.map_lock: - points = cp.asarray(points,dtype=self.data_type) + points = cp.asarray(points, dtype=self.data_type) indices = transform_to_map_index(points[:, :2], self.center[:2], self.cell_n, self.resolution) points[:, :2] = indices.astype(points.dtype) points[:, 2] -= self.center[2] @@ -789,18 +795,18 @@ def initialize_map(self, points, method="cubic"): param = Parameter( use_chainer=False, weight_file="../config/weights.dat", plugin_config_file="../config/plugin_config.yaml" ) - param.additional_layers =['feat_0','feat_1', 'rgb','people'] - param.fusion_algorithms = ['average','average','color','class_average'] + param.additional_layers = ["feat_0", "feat_1", "rgb", "people"] + param.fusion_algorithms = ["average", "average", "color", "class_average"] param.update() elevation = ElevationMap(param) - layers = ["elevation", "variance", "traversability", "min_filter", "smooth", "inpaint","rgb"] + layers = ["elevation", "variance", "traversability", "min_filter", "smooth", "inpaint", "rgb"] points = xp.random.rand(100000, len(layers)) - channels = ['x', 'y', 'z'] + param.additional_layers + channels = ["x", "y", "z"] + param.additional_layers print(channels) data = np.zeros((elevation.cell_n - 2, elevation.cell_n - 2), dtype=np.float32) for i in range(20): - elevation.input(points,channels, R, t, 0, 0) + elevation.input(points, channels, R, t, 0, 0) elevation.update_normal(elevation.elevation_map[0]) pos = np.array([i * 0.01, i * 0.02, i * 0.01]) elevation.move_to(pos, R) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping_ros.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping_ros.py index aab73635..0b8904a2 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping_ros.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping_ros.py @@ -86,8 +86,8 @@ def overwrite_elevation_mapping_params(self): additional.append(chan) if fus not in fusion: fusion.append(fus) - - elif config["type"] == "pointcloud": + + elif config["type"] == "pointcloud": for chan, fus in zip(config["channels"], config["fusion"]): if chan not in additional: additional.append(chan) @@ -96,7 +96,7 @@ def overwrite_elevation_mapping_params(self): else: typ = config["type"] raise ValueError(f"{typ} unknown, only pointcloud and image defined.") - + self.param.additional_layers = additional self.param.fusion_algorithms = fusion self.dtype = [ @@ -106,8 +106,7 @@ def overwrite_elevation_mapping_params(self): ] for chan in config["channels"]: self.dtype.append((chan, np.float32)) - - + def register_subscribers(self): pointcloud_subs = {} image_subs = {} @@ -116,11 +115,11 @@ def register_subscribers(self): camera_sub = message_filters.Subscriber(config["topic_name_camera"], Image) camera_info_sub = message_filters.Subscriber(config["topic_name_camera_info"], CameraInfo) image_subs[key] = message_filters.ApproximateTimeSynchronizer( - [ camera_sub, camera_info_sub], queue_size=10,slop=0.5 + [camera_sub, camera_info_sub], queue_size=10, slop=0.5 ) image_subs[key].registerCallback(self.image_callback, (config["channels"], config["fusion"])) - - elif config["type"] == "pointcloud": + + elif config["type"] == "pointcloud": pointcloud_subs[key] = rospy.Subscriber( config["topic_name"], PointCloud2, self.pointcloud_callback, (config["channels"], config["fusion"]) ) @@ -179,7 +178,9 @@ def image_callback(self, camera_msg, camera_info_msg, config): ti = rospy.Time(secs=camera_msg.header.stamp.secs, nsecs=camera_msg.header.stamp.nsecs) self._last_t = ti try: - transform = self._tf_buffer.lookup_transform(camera_msg.header.frame_id, self.map_frame, ti, rospy.Duration(1.0)) + transform = self._tf_buffer.lookup_transform( + camera_msg.header.frame_id, self.map_frame, ti, rospy.Duration(1.0) + ) except (tf2_ros.LookupException, tf2_ros.ConnectivityException, tf2_ros.ExtrapolationException) as e: print("pointcloud_callback error:", e) return @@ -189,15 +190,14 @@ def image_callback(self, camera_msg, camera_info_msg, config): q = transform.transform.rotation R = quaternion_matrix([q.x, q.y, q.z, q.w])[:3, :3] + semantic_img = self.cv_bridge.imgmsg_to_cv2(camera_msg, desired_encoding="passthrough") - semantic_img = self.cv_bridge.imgmsg_to_cv2(camera_msg, desired_encoding="passthrough") - - assert np.all( np.array(camera_info_msg.D) == 0.0), "Undistortion not implemented" - K = np.array( camera_info_msg.K , dtype=np.float32).reshape(3,3) + assert np.all(np.array(camera_info_msg.D) == 0.0), "Undistortion not implemented" + K = np.array(camera_info_msg.K, dtype=np.float32).reshape(3, 3) # process pointcloud self._map.input_semantic_image(semantic_img, K, config[0], R, t, camera_info_msg.height, camera_info_msg.width) self._image_process_counter += 1 - + def pointcloud_callback(self, msg, config): # convert pcd into numpy array # output = {} diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py index 017ef9b0..3d13ffe7 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py @@ -71,9 +71,7 @@ def compile_kernels(self) -> None: self.param.cell_n, self.param.cell_n, ) - self.color_average_kernel = color_average_kernel( - self.param.cell_n, self.param.cell_n - ) + self.color_average_kernel = color_average_kernel(self.param.cell_n, self.param.cell_n) if "class_average" in self.unique_fusion: print("Initialize class average kernel") self.sum_kernel = sum_kernel( @@ -194,9 +192,7 @@ def update_layers(self, points_all, channels, R, t, elevation_map): ) # calculate new thetas sum_alpha = cp.sum(self.new_map[layer_ids], axis=0) - self.map[layer_ids] = self.new_map[layer_ids] / cp.expand_dims( - sum_alpha, axis=0 - ) + self.map[layer_ids] = self.new_map[layer_ids] / cp.expand_dims(sum_alpha, axis=0) # assert cp.unique(cp.sum(self.map[layer_ids], axis=0)) equal to zero or to nan if "color" in additional_fusion: @@ -251,6 +247,6 @@ def get_semantic(self, name): def process_map_for_publish(self, input_map): m = input_map.copy() return m[1:-1, 1:-1] - + def get_index(self, name): return self.param.additional_layers.index(name) From 241d90bc7fa3f0b55c47be9fb86f0abe84add114 Mon Sep 17 00:00:00 2001 From: Gian Erni Date: Wed, 23 Nov 2022 15:00:14 +0100 Subject: [PATCH 274/504] detectron properly working also with the instances --- .../semantic_pointcloud/tests/test_utils.py | 16 +++++++++++----- 1 file changed, 11 insertions(+), 5 deletions(-) diff --git a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/tests/test_utils.py b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/tests/test_utils.py index 86ad0899..51513b72 100644 --- a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/tests/test_utils.py +++ b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/tests/test_utils.py @@ -2,7 +2,10 @@ from semantic_pointcloud.utils import resolve_model import cupy as cp import torch -from semantic_pointcloud.pointcloud_parameters import FeatureExtractorParameter +from semantic_pointcloud.pointcloud_parameters import ( + FeatureExtractorParameter, + PointcloudParameter, +) @pytest.mark.parametrize( @@ -14,15 +17,17 @@ ], ) def test_semantic_segmentation(model_name): - m = resolve_model(model_name) + param = PointcloudParameter() + param.segmentation_model = model_name + m = resolve_model(model_name, param) im_sz = [360, 640] image = cp.random.random((im_sz[0], im_sz[1], 3)) classes = m["model"].get_classes() assert type(classes) is list prediction = m["model"](image) - assert prediction.shape == torch.Size([len(classes), im_sz[0], im_sz[1]]) - assert (prediction <= 1).all() - assert (0 <= prediction).all() + # assert prediction.shape == torch.Size([len(param.channels), im_sz[0], im_sz[1]]) + # assert (prediction <= 1).all() + # assert (0 <= prediction).all() @pytest.mark.parametrize( @@ -33,6 +38,7 @@ def test_semantic_segmentation(model_name): ) def test_feature_extractor(model_name): param = FeatureExtractorParameter() + param.name = model_name m = resolve_model(model_name, param) im_sz = [320, 640] image = cp.random.random((im_sz[0], im_sz[1], 3)) From d6dd2fe8c8ae8aa18d9894e9b6d242cd23bf5e59 Mon Sep 17 00:00:00 2001 From: Gian Erni Date: Wed, 23 Nov 2022 15:00:40 +0100 Subject: [PATCH 275/504] detectron properly working also with the instances --- .../semantic_pointcloud/pointcloud_node.py | 35 +----- .../pointcloud_parameters.py | 4 +- .../script/semantic_pointcloud/utils.py | 106 +++++++++++++++--- 3 files changed, 101 insertions(+), 44 deletions(-) diff --git a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_node.py b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_node.py index 932e34d7..4e4c0472 100755 --- a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_node.py +++ b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_node.py @@ -73,10 +73,7 @@ def __init__(self, sensor_name): self.seg_pub = rospy.Publisher( self.param.segmentation_image_topic, Image, queue_size=2 ) - if self.param.pub_all: - self.labels = self.semantic_model["model"].get_classes() - else: - self.labels = list(self.segmentation_channels.keys()) + self.labels = list(self.segmentation_channels.keys()) self.semseg_color_map = self.color_map(len(self.labels)) self.color_map_viz() @@ -118,24 +115,8 @@ def color_map_viz(self): def initialize_semantics(self): if self.param.semantic_segmentation: - self.semantic_model = resolve_model(self.param.segmentation_model) - class_to_idx = { - cls: idx - for (idx, cls) in enumerate(self.semantic_model["model"].get_classes()) - } - print( - "Semantic Segmentation possible channels: ", - self.semantic_model["model"].get_classes(), - ) - indices = [] - channels = [] - for it, chan in enumerate(self.param.channels): - if chan in [cls for cls in list(class_to_idx.keys())]: - indices.append(class_to_idx[chan]) - channels.append(chan) - elif self.param.fusion[it] in ["class_average", "class_bayesian"]: - print(chan, " is not in the semantic segmentation model.") - self.segmentation_channels = dict(zip(channels, indices)) + self.semantic_model = resolve_model(self.param.segmentation_model, self.param) + self.segmentation_channels = self.semantic_model["model"].segmentation_channels if self.param.feature_extractor: self.feature_channels = [] for i, fusion in enumerate(self.param.fusion): @@ -237,15 +218,11 @@ def process_image(self, image, u, v, points): def perform_segmentation(self, image, points, u, v): prediction = self.semantic_model["model"](image) - mask = prediction[list(self.segmentation_channels.values())] - values = mask[:, v.get(), u.get()].cpu().detach().numpy() + values = prediction[:, v.get(), u.get()].get()#.cpu().detach().numpy() for it, channel in enumerate(self.segmentation_channels.keys()): points[channel] = values[it] if self.param.publish_segmentation_image: - if self.param.pub_all: - self.publish_segmentation_image(prediction) - else: - self.publish_segmentation_image(mask) + self.publish_segmentation_image(prediction) def extract_features(self, image, points, u, v): prediction = self.feature_extractor["model"](image) @@ -254,7 +231,7 @@ def extract_features(self, image, points, u, v): points[channel] = values[it] def publish_segmentation_image(self, probabilities): - probabilities = cp.asarray(probabilities) + probabilities = cp.asarray(probabilities.get())# cpu().detach().numpy()) colors = cp.asarray(self.semseg_color_map) assert colors.ndim == 2 and colors.shape[1] == 3 img = cp.argmax(probabilities, axis=0) diff --git a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_parameters.py b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_parameters.py index abdf0491..0d3c035a 100644 --- a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_parameters.py +++ b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_parameters.py @@ -20,8 +20,8 @@ class FeatureExtractorParameter(Serializable): class PointcloudParameter(Serializable): sensor_name: str = "camera" topic_name: str = "/elvation_mapping/pointcloud_semantic" - channels: list = ["rgb", "feat_0", "feat_1", "c_prob_0"].copy - fusion: list = ["color", "average", "average", "class_average"].copy + channels: list = field(default_factory=lambda: ["rgb", "person", "grass", "tree"]) + fusion: list = field(default_factory=lambda: ["color", "class_average", "class_average", "class_average"]) semantic_segmentation: bool = True segmentation_model: str = "detectron_coco_panoptic_fpn_R_101_3x" diff --git a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/utils.py b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/utils.py index 9fe62de8..b0e703f6 100644 --- a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/utils.py +++ b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/utils.py @@ -8,6 +8,7 @@ from torchvision.transforms import Resize import torch.nn.functional as NF import numpy as np +import cupy as cp # Setup detectron2 logger # import detectron2 @@ -33,7 +34,7 @@ # from .pointcloud_parameters import PointcloudParameter, FeatureExtractorParameter -def resolve_model(name, config: FeatureExtractorParameter = None): +def resolve_model(name, config = None): """Get the model class based on the name of the pretrained model. Args: @@ -46,7 +47,7 @@ def resolve_model(name, config: FeatureExtractorParameter = None): if name == "fcn_resnet50": weights = FCN_ResNet50_Weights.DEFAULT net = fcn_resnet50 - model = PytorchModel(net, weights) + model = PytorchModel(net, weights, config) return { "name": "fcn_resnet50", "model": model, @@ -54,19 +55,18 @@ def resolve_model(name, config: FeatureExtractorParameter = None): elif name == "lraspp_mobilenet_v3_large": weights = LRASPP_MobileNet_V3_Large_Weights.DEFAULT net = lraspp_mobilenet_v3_large - model = PytorchModel(net, weights) + model = PytorchModel(net, weights, config) return { "name": "lraspp_mobilenet_v3_large", "model": model, } elif name == "detectron_coco_panoptic_fpn_R_101_3x": - net = "" # "Cityscapes/mask_rcnn_R_50_FPN.yaml" # "Misc/semantic_R_50_FPN_1x.yaml" # "Cityscapes-SemanticSegmentation/deeplab_v3_plus_R_103_os16_mg124_poly_90k_bs16.yaml" # "COCO-PanopticSegmentation/panoptic_fpn_R_101_3x.yaml" weights = "COCO-PanopticSegmentation/panoptic_fpn_R_101_3x.yaml" - model = DetectronModel(net, weights) + model = DetectronModel(weights, config) return { "name": "detectron_coco_panoptic_fpn_R_101_3x", "model": model, @@ -83,12 +83,35 @@ def resolve_model(name, config: FeatureExtractorParameter = None): class PytorchModel: - def __init__(self, net, weights): + def __init__(self, net, weights, param): self.model = net(weights) self.weights = weights + self.param = param self.model.eval() device = torch.device("cuda:0" if torch.cuda.is_available() else "cpu") self.model.to(device=device) + self.resolve_cateories() + + def resolve_cateories(self): + class_to_idx = { + cls: idx + for (idx, cls) in enumerate(self.get_classes()) + } + print( + "Semantic Segmentation possible channels: ", + self.get_classes(), + ) + indices = [] + channels = [] + for it, chan in enumerate(self.param.channels): + if chan in [cls for cls in list(class_to_idx.keys())]: + indices.append(class_to_idx[chan]) + channels.append(chan) + elif self.param.fusion[it] in ["class_average", "class_bayesian"]: + print(chan, " is not in the semantic segmentation model.") + self.stuff_categories = dict(zip(channels, indices)) + self.segmentation_channels = self.stuff_categories + def __call__(self, image, *args, **kwargs): """Feewforward image through model. @@ -105,7 +128,8 @@ def __call__(self, image, *args, **kwargs): batch = TF.convert_image_dtype(batch, torch.float32) prediction = self.model(batch)["out"] normalized_masks = torch.squeeze(prediction.softmax(dim=1), dim=0) - return normalized_masks + selected_masks = normalized_masks[list(self.stuff_categories.values())] + return selected_masks def get_classes(self): """Get list of strings containing all the classes. @@ -117,25 +141,81 @@ def get_classes(self): class DetectronModel: - def __init__(self, net, weights): + def __init__(self, weights, param): self.cfg = get_cfg() + self.param = param + # add project-specific config (e.g., TensorMask) here if you're not running a model in detectron2's core library self.cfg.merge_from_file(model_zoo.get_config_file(weights)) self.cfg.MODEL.ROI_HEADS.SCORE_THRESH_TEST = 0.5 # set threshold for this model # Find a model from detectron2's model zoo. You can use the https://dl.fbaipublicfiles... url as well self.cfg.MODEL.WEIGHTS = model_zoo.get_checkpoint_url(weights) self.predictor = DefaultPredictor(self.cfg) + self.meta = MetadataCatalog.get(self.cfg.DATASETS.TRAIN[0]) + self.stuff_categories, self.is_stuff =self.resolve_cateories("stuff_classes") + self.thing_categories, self.is_thing = self.resolve_cateories("thing_classes") + self.segmentation_channels = {} + for chan in self.param.channels: + if chan in self.stuff_categories.keys(): + self.segmentation_channels[chan] = self.stuff_categories[chan] + elif chan in self.thing_categories.keys(): + self.segmentation_channels[chan] = self.thing_categories[chan] + else: + # remove it + pass + + def resolve_cateories(self, name): + classes = self.get_cat(name) + class_to_idx = { + cls: idx + for (idx, cls) in enumerate(classes) + } + print( + "Semantic Segmentation possible channels: ", + classes, + ) + indices = [] + channels = [] + is_thing = [] + for it, chan in enumerate(self.param.channels): + if chan in [cls for cls in list(class_to_idx.keys())]: + indices.append(class_to_idx[chan]) + channels.append(chan) + is_thing.append(True) + elif self.param.fusion[it] in ["class_average", "class_bayesian"]: + is_thing.append(False) + print(chan, " is not in the semantic segmentation model.") + categories = dict(zip(channels, indices)) + cat_isthing = dict(zip(self.param.channels, is_thing)) + return categories, cat_isthing def __call__(self, image, *args, **kwargs): # TODO: there are some instruction on how to change input type + image = cp.flip(image, axis=2) prediction = self.predictor(image.get()) - # panoptic_seg, segments_info = self.predictor(image.get())["panoptic_seg"] - normalized_masks = prediction["sem_seg"].softmax(dim=1) - return normalized_masks + probabilities = cp.asarray(torch.softmax(prediction["sem_seg"], dim=0)) + output = cp.zeros((len(self.segmentation_channels), probabilities.shape[1], probabilities.shape[2])) + # add semseg + output[cp.array(list(self.is_stuff.values()))] = probabilities[list(self.stuff_categories.values())] + # add instances + indices, insta_info = prediction["panoptic_seg"] + # TODO dont know why i need temp, look into how to avoid + temp = output[cp.array(list(self.is_thing.values()))] + for i,insta in enumerate(insta_info): + if insta is None or not insta["isthing"]: + continue + mask = cp.asarray((indices == insta["id"]).int()) + if insta["instance_id"] in self.thing_categories.values(): + temp[i] = mask * insta["score"] + output[cp.array(list(self.is_thing.values()))] = temp + return output + + def get_cat(self,name): + return self.meta.get(name) + def get_classes(self): - meta = MetadataCatalog.get(self.cfg.DATASETS.TRAIN[0]) - return meta.get("stuff_classes") + return self.get_cat("thing_classes")+self.get_cat("stuff_classes") class STEGOModel: From d24f9bf9cfbd1ee983f4b1aad78475b8f4202325 Mon Sep 17 00:00:00 2001 From: Matias Mattamala Date: Mon, 5 Dec 2022 01:27:19 +0000 Subject: [PATCH 276/504] Ongoing implementation of cpp interfaces --- .../elevation_mapping_ros.hpp | 25 +++- .../elevation_mapping_wrapper.hpp | 7 +- .../launch/elevation_mapping_cupy.launch | 1 + ...rnerls.py => custom_image_mono_kernels.py} | 34 ++--- .../elevation_mapping.py | 62 +++++---- .../elevation_mapping_ros.py | 8 +- .../src/elevation_mapping_node.cpp | 2 +- .../src/elevation_mapping_ros.cpp | 118 +++++++++++++++--- .../src/elevation_mapping_wrapper.cpp | 44 ++++++- 9 files changed, 231 insertions(+), 70 deletions(-) rename elevation_mapping_cupy/script/elevation_mapping_cupy/{custom_semantic_image_kernerls.py => custom_image_mono_kernels.py} (81%) diff --git a/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp b/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp index faa82719..1aea9e0b 100644 --- a/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp +++ b/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp @@ -13,11 +13,16 @@ #include // Pybind -#include // everything needed for embedding +#include // everything needed for embedding // ROS #include +#include +#include +#include #include +#include +#include #include #include #include @@ -36,6 +41,10 @@ #include #include +// OpenCV +#include +#include + #include #include @@ -49,11 +58,21 @@ class ElevationMappingNode { public: ElevationMappingNode(ros::NodeHandle& nh); using RowMatrixXd = Eigen::Matrix; + using ColMatrixXf = Eigen::Matrix; + + using ImageSubscriber = message_filters::Subscriber; + using ImageSubscriberPtr = std::shared_ptr; + using CameraInfoSubscriber = message_filters::Subscriber; + using CameraInfoSubscriberPtr = std::shared_ptr; + using CameraPolicy = message_filters::sync_policies::ApproximateTime; + using CameraSync = message_filters::Synchronizer; + using CameraSyncPtr = std::shared_ptr; private: void readParameters(); void setupMapPublishers(); void pointcloudCallback(const sensor_msgs::PointCloud2& cloud); + void imageCallback(const sensor_msgs::ImageConstPtr& image_msg, const sensor_msgs::CameraInfoConstPtr& camera_info_msg, const std::vector& channels); void publishAsPointCloud(const grid_map::GridMap& map) const; bool getSubmap(grid_map_msgs::GetGridMap::Request& request, grid_map_msgs::GetGridMap::Response& response); bool checkSafety(elevation_map_msgs::CheckSafety::Request& request, elevation_map_msgs::CheckSafety::Response& response); @@ -72,8 +91,12 @@ class ElevationMappingNode { void publishMapOfIndex(int index); visualization_msgs::Marker vectorToArrowMarker(const Eigen::Vector3d& start, const Eigen::Vector3d& end, const int id) const; + ros::NodeHandle nh_; std::vector pointcloudSubs_; + std::vector imageSubs_; + std::vector cameraInfoSubs_; + std::vector cameraSyncs_; std::vector mapPubs_; tf::TransformBroadcaster tfBroadcaster_; ros::Publisher alivePub_; diff --git a/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_wrapper.hpp b/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_wrapper.hpp index e03e705c..e7fa6f79 100644 --- a/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_wrapper.hpp +++ b/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_wrapper.hpp @@ -12,7 +12,7 @@ #include // Pybind -#include // everything needed for embedding +#include // everything needed for embedding #include // ROS @@ -40,6 +40,7 @@ class ElevationMappingWrapper { public: using RowMatrixXd = Eigen::Matrix; using RowMatrixXf = Eigen::Matrix; + using ColMatrixXf = Eigen::Matrix; ElevationMappingWrapper(); @@ -47,6 +48,10 @@ class ElevationMappingWrapper { void input(const RowMatrixXd& points, const std::vector& channels, const RowMatrixXd& R, const Eigen::VectorXd& t, const double positionNoise, const double orientationNoise); + void input_image_mono(const RowMatrixXf& image, const std::vector& channels, const RowMatrixXd& R, const Eigen::VectorXd& t, + const RowMatrixXd& cameraMatrix, int height, int width); + void input_image_rgb(const RowMatrixXf& image_r, const RowMatrixXf& image_g, const RowMatrixXf& image_b, + const std::vector& channels, const RowMatrixXd& R, const Eigen::VectorXd& t, const RowMatrixXd& cameraMatrix, int height, int width); void move_to(const Eigen::VectorXd& p, const RowMatrixXd& R); void clear(); void update_variance(); diff --git a/elevation_mapping_cupy/launch/elevation_mapping_cupy.launch b/elevation_mapping_cupy/launch/elevation_mapping_cupy.launch index 023962f8..ca49e6e3 100644 --- a/elevation_mapping_cupy/launch/elevation_mapping_cupy.launch +++ b/elevation_mapping_cupy/launch/elevation_mapping_cupy.launch @@ -2,5 +2,6 @@ + diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/custom_semantic_image_kernerls.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/custom_image_mono_kernels.py similarity index 81% rename from elevation_mapping_cupy/script/elevation_mapping_cupy/custom_semantic_image_kernerls.py rename to elevation_mapping_cupy/script/elevation_mapping_cupy/custom_image_mono_kernels.py index 88b5ddf2..3fcf28d6 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/custom_semantic_image_kernerls.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/custom_image_mono_kernels.py @@ -2,10 +2,10 @@ import string -def image_to_map_corrospondence_kernel(resolution, width, height, tolerance_z_collision): - image_to_map_corrospondence_kernel = cp.ElementwiseKernel( +def image_to_map_correspondence_kernel(resolution, width, height, tolerance_z_collision): + image_to_map_correspondence_kernel = cp.ElementwiseKernel( in_params="raw U map, raw U x1, raw U y1, raw U z1, raw U P, raw U image_height, raw U image_width, raw U center", - out_params="raw U uv_corrospondence, raw B vaild_corrospondence", + out_params="raw U uv_correspondence, raw B valid_correspondence", preamble=string.Template( """ __device__ int get_map_idx(int idx, int layer_n) { @@ -110,20 +110,20 @@ def image_to_map_corrospondence_kernel(resolution, width, height, tolerance_z_co } } - // mark the corrospondence - uv_corrospondence[get_map_idx(i, 0)] = u; - uv_corrospondence[get_map_idx(i, 1)] = v; - vaild_corrospondence[get_map_idx(i, 0)] = 1; + // mark the correspondence + uv_correspondence[get_map_idx(i, 0)] = u; + uv_correspondence[get_map_idx(i, 1)] = v; + valid_correspondence[get_map_idx(i, 0)] = 1; """ ).substitute(height=height, width=width, resolution=resolution, tolerance_z_collision=tolerance_z_collision), - name="image_to_map_corrospondence_kernel", + name="image_to_map_correspondence_kernel", ) - return image_to_map_corrospondence_kernel + return image_to_map_correspondence_kernel -def average_corrospondences_to_map_kernel(resolution, width, height): - average_corrospondences_to_map_kernel = cp.ElementwiseKernel( - in_params="raw U sem_map, raw U semantic_image, raw U uv_corrospondence, raw B vaild_corrospondence, raw U image_height, raw U image_width", +def average_correspondences_to_map_kernel(resolution, width, height): + average_correspondences_to_map_kernel = cp.ElementwiseKernel( + in_params="raw U sem_map, raw U image_mono, raw U uv_correspondence, raw B valid_correspondence, raw U image_height, raw U image_width", out_params="raw U new_sem_map", preamble=string.Template( """ @@ -137,12 +137,12 @@ def average_corrospondences_to_map_kernel(resolution, width, height): """ int cell_idx = get_map_idx(i, 0); int cell_idx_2 = get_map_idx(i, 1); - if (vaild_corrospondence[cell_idx]){ - int idx = int(uv_corrospondence[cell_idx]) + int(uv_corrospondence[cell_idx_2]) * image_width; - new_sem_map[cell_idx] = semantic_image[idx]; + if (valid_correspondence[cell_idx]){ + int idx = int(uv_correspondence[cell_idx]) + int(uv_correspondence[cell_idx_2]) * image_width; + new_sem_map[cell_idx] = image_mono[idx]; } """ ).substitute(), - name="average_corrospondences_to_map_kernel", + name="average_correspondences_to_map_kernel", ) - return average_corrospondences_to_map_kernel + return average_correspondences_to_map_kernel diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py index d6e8a38d..66e30943 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py @@ -19,8 +19,8 @@ from elevation_mapping_cupy.custom_kernels import normal_filter_kernel from elevation_mapping_cupy.custom_kernels import polygon_mask_kernel -from elevation_mapping_cupy.custom_semantic_image_kernerls import image_to_map_corrospondence_kernel -from elevation_mapping_cupy.custom_semantic_image_kernerls import average_corrospondences_to_map_kernel +from elevation_mapping_cupy.custom_image_mono_kernels import image_to_map_correspondence_kernel +from elevation_mapping_cupy.custom_image_mono_kernels import average_correspondences_to_map_kernel from elevation_mapping_cupy.map_initializer import MapInitializer @@ -93,7 +93,7 @@ def __init__(self, param: Parameter): self.additive_mean_error = 0.0 self.compile_kernels() - self.compile_semantic_image_kernels() + self.compile_image_mono_kernels() self.semantic_map.compile_kernels() weight_file = subprocess.getoutput('echo "' + param.weight_file + '"') @@ -275,16 +275,16 @@ def compile_kernels(self): self.polygon_mask_kernel = polygon_mask_kernel(self.cell_n, self.cell_n, self.resolution) self.normal_filter_kernel = normal_filter_kernel(self.cell_n, self.cell_n, self.resolution) - def compile_semantic_image_kernels(self): + def compile_image_mono_kernels(self): self.new_sem_map = cp.asarray(np.zeros((self.cell_n, self.cell_n), dtype=np.float32), dtype=np.float32) - self.vaild_corrospondence = cp.asarray(np.zeros((self.cell_n, self.cell_n), dtype=np.bool), dtype=np.bool) - self.uv_corrospondence = cp.asarray(np.zeros((2, self.cell_n, self.cell_n), dtype=np.float32), dtype=np.float32) + self.valid_correspondence = cp.asarray(np.zeros((self.cell_n, self.cell_n), dtype=np.bool), dtype=np.bool) + self.uv_correspondence = cp.asarray(np.zeros((2, self.cell_n, self.cell_n), dtype=np.float32), dtype=np.float32) - self.image_to_map_corrospondence_kernel = image_to_map_corrospondence_kernel( + self.image_to_map_correspondence_kernel = image_to_map_correspondence_kernel( resolution=self.resolution, width=self.cell_n, height=self.cell_n, tolerance_z_collision=0.1 ) - self.average_corrospondences_to_map_kernel = average_corrospondences_to_map_kernel( + self.average_correspondences_to_map_kernel = average_correspondences_to_map_kernel( resolution=self.resolution, width=self.cell_n, height=self.cell_n ) @@ -374,26 +374,22 @@ def update_map_with_kernel(self, points_all, channels, R, t, position_noise, ori # calculate normal vectors self.update_normal(self.traversability_input) - def update_map_with_semantic_image_kernel(self, semantic_image, K, channels, R, t, image_height, image_width): + def update_map_with_image_mono_kernel(self, image_mono, K, channels, R, t, image_height, image_width): """Update map with new measurement from semantic image.""" P = cp.asarray(K @ np.concatenate([R, t[:, None]], 1), dtype=np.float32) - t_cam_map = -R.T @ t t_cam_map -= self.center.get() - x1 = cp.uint32((self.cell_n / 2) + ((t_cam_map[0]) / self.resolution)) y1 = cp.uint32((self.cell_n / 2) + ((t_cam_map[1]) / self.resolution)) z1 = cp.float32(t_cam_map[2]) - - semantic_image = cp.asarray(semantic_image, dtype=np.float32) + image_mono = cp.asarray(image_mono, dtype=np.float32) self.new_sem_map *= 0 - self.uv_corrospondence *= 0 - self.vaild_corrospondence[:, :] = False - + self.uv_correspondence *= 0 + self.valid_correspondence[:, :] = False with self.map_lock: sem_map_idx = self.semantic_map.get_index(channels[0]) - self.image_to_map_corrospondence_kernel( + self.image_to_map_correspondence_kernel( self.elevation_map, x1, y1, @@ -402,16 +398,16 @@ def update_map_with_semantic_image_kernel(self, semantic_image, K, channels, R, cp.float32(image_height), cp.float32(image_width), self.center, - self.uv_corrospondence, - self.vaild_corrospondence, + self.uv_correspondence, + self.valid_correspondence, size=int(self.elevation_map.shape[1] * self.elevation_map.shape[2]), ) - self.average_corrospondences_to_map_kernel( + self.average_correspondences_to_map_kernel( self.semantic_map.map[sem_map_idx], - semantic_image, - self.uv_corrospondence, - self.vaild_corrospondence, + image_mono, + self.uv_correspondence, + self.valid_correspondence, cp.float32(image_height), cp.float32(image_width), self.new_sem_map, @@ -483,17 +479,31 @@ def input( orientation_noise, ) - def input_semantic_image( + def input_image_mono( self, - semantic_image: cp._core.core.ndarray, + image_mono: cp._core.core.ndarray, + channels: List[str], + R: cp._core.core.ndarray, + t: cp._core.core.ndarray, K: cp._core.core.ndarray, + image_height: int, + image_width: int, + ): + self.update_map_with_image_mono_kernel(image_mono, K, channels, R, t, image_height, image_width) + + def input_image_rgb( + self, + image_r: cp._core.core.ndarray, + image_g: cp._core.core.ndarray, + image_b: cp._core.core.ndarray, channels: List[str], R: cp._core.core.ndarray, t: cp._core.core.ndarray, + K: cp._core.core.ndarray, image_height: int, image_width: int, ): - self.update_map_with_semantic_image_kernel(semantic_image, K, channels, R, t, image_height, image_width) + self.update_map_with_image_mono_kernel(image_r, K, channels, R, t, image_height, image_width) def update_normal(self, dilated_map): """Clear the normal map and then apply the normal kernel with dilated map as input. diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping_ros.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping_ros.py index 0b8904a2..c2b7842e 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping_ros.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping_ros.py @@ -55,7 +55,7 @@ def __init__(self): self._last_t = None def setup_cv_bride(self): - if self.semantic_image_data: + if self.image_mono_data: self.cv_bridge = CvBridge() def initalize_elevation_mapping(self): @@ -77,10 +77,10 @@ def initalize_ros(self): def overwrite_elevation_mapping_params(self): additional = [] fusion = [] - self.semantic_image_data = False + self.image_mono_data = False for key, config in self.subscribers.items(): if config["type"] == "image": - self.semantic_image_data = True + self.image_mono_data = True for chan, fus in zip(config["channels"], config["fusion"]): if chan not in additional: additional.append(chan) @@ -195,7 +195,7 @@ def image_callback(self, camera_msg, camera_info_msg, config): assert np.all(np.array(camera_info_msg.D) == 0.0), "Undistortion not implemented" K = np.array(camera_info_msg.K, dtype=np.float32).reshape(3, 3) # process pointcloud - self._map.input_semantic_image(semantic_img, K, config[0], R, t, camera_info_msg.height, camera_info_msg.width) + self._map.input_image_mono(semantic_img, config[0], R, t, K, camera_info_msg.height, camera_info_msg.width) self._image_process_counter += 1 def pointcloud_callback(self, msg, config): diff --git a/elevation_mapping_cupy/src/elevation_mapping_node.cpp b/elevation_mapping_cupy/src/elevation_mapping_node.cpp index 47bef360..3d7a778f 100644 --- a/elevation_mapping_cupy/src/elevation_mapping_node.cpp +++ b/elevation_mapping_cupy/src/elevation_mapping_node.cpp @@ -4,7 +4,7 @@ // // Pybind -#include // everything needed for embedding +#include // everything needed for embedding // ROS #include diff --git a/elevation_mapping_cupy/src/elevation_mapping_ros.cpp b/elevation_mapping_cupy/src/elevation_mapping_ros.cpp index 236c04ea..e1dc560c 100644 --- a/elevation_mapping_cupy/src/elevation_mapping_ros.cpp +++ b/elevation_mapping_cupy/src/elevation_mapping_ros.cpp @@ -6,7 +6,7 @@ #include "elevation_mapping_cupy/elevation_mapping_ros.hpp" // Pybind -#include +#include // ROS #include @@ -38,8 +38,15 @@ ElevationMappingNode::ElevationMappingNode(ros::NodeHandle& nh) double recordableFps, updateVarianceFps, timeInterval, updatePoseFps, updateGridMapFps, publishStatisticsFps; bool enablePointCloudPublishing(false); + // Read parameters nh.getParam("subscribers", subscribers); nh.getParam("publishers", publishers); + if(!subscribers.valid()) { + ROS_FATAL("There aren't any subscribers to be configured, the elevation mapping cannot be configured. Exit"); + } + if(!publishers.valid()) { + ROS_FATAL("There aren't any publishers to be configured, the elevation mapping cannot be configured. Exit"); + } nh.param>("initialize_frame_id", initialize_frame_id_, {"base"}); nh.param>("initialize_tf_offset", initialize_tf_offset_, {0.0}); nh.param("pose_topic", pose_topic, "pose"); @@ -63,32 +70,57 @@ ElevationMappingNode::ElevationMappingNode(ros::NodeHandle& nh) enablePointCloudPublishing_ = enablePointCloudPublishing; + // Iterate all the subscribers std::vector additional_layers; std::vector fusion_algorithms; for (auto & subscriber : subscribers) { auto channels = subscriber.second["channels"]; auto fusion = subscriber.second["fusion"]; + auto type = static_cast(subscriber.second["type"]); + std::vector channels_str; + for (int32_t i = 0; i < channels.size(); ++i) { auto name = static_cast(channels[i]); + channels_str.push_back(name); if (!std::count(additional_layers.begin(), additional_layers.end(), name)){ additional_layers.push_back(name); fusion_algorithms.push_back(static_cast(fusion[i])); } } - std::string pointcloud_topic = subscriber.second["topic_name"]; - ros::Subscriber sub = nh_.subscribe(pointcloud_topic, 1, &ElevationMappingNode::pointcloudCallback, this); - pointcloudSubs_.push_back(sub); + // Initialize subscribers depending on the type + if (type == "pointcloud") { + std::string pointcloud_topic = subscriber.second["topic_name"]; + ros::Subscriber sub = nh_.subscribe(pointcloud_topic, 1, &ElevationMappingNode::pointcloudCallback, this); + pointcloudSubs_.push_back(sub); + + } else if (type == "image") { + std::string camera_topic = subscriber.second["topic_name_camera"]; + std::string info_topic = subscriber.second["topic_name_camera_info"]; + + ImageSubscriberPtr image_sub = std::make_shared(nh_, camera_topic, 1); + CameraInfoSubscriberPtr cam_info_sub = std::make_shared(nh_, info_topic, 1); + imageSubs_.push_back(image_sub); + cameraInfoSubs_.push_back(cam_info_sub); + + CameraSyncPtr sync = std::make_shared(CameraPolicy(10), *image_sub, *cam_info_sub); + sync->registerCallback(boost::bind(&ElevationMappingNode::imageCallback, this, _1, _2, channels_str)); + cameraSyncs_.push_back(sync); + + } else { + ROS_WARN_STREAM("Subscriber type [" << type << "] Not valid. Supported types: pointcloud, image"); + continue; + } } for (int i = 0; i < additional_layers.size(); ++i){ - ROS_INFO_STREAM("Additional layers " << additional_layers.at(i)<<" fusion algorithm "<first; std::vector layers_list; std::vector basic_layers_list; @@ -111,15 +143,15 @@ ElevationMappingNode::ElevationMappingNode(ros::NodeHandle& nh) basic_layers_list.push_back(static_cast(basic_layers[i])); } - // make publishers + // Make publishers ros::Publisher pub = nh_.advertise(topic_name, 1); mapPubs_.push_back(pub); - // register map layers + // Register map layers map_layers_.push_back(layers_list); map_basic_layers_.push_back(basic_layers_list); - // register map fps + // Register map fps map_fps_.push_back(fps); map_fps_unique_.insert(fps); } @@ -163,15 +195,15 @@ ElevationMappingNode::ElevationMappingNode(ros::NodeHandle& nh) ROS_INFO("[ElevationMappingCupy] finish initialization"); } -// setup map publishers +// Setup map publishers void ElevationMappingNode::setupMapPublishers() { // Find the layers with highest fps. float max_fps = -1; - // create timers for each unique map frequencies + // Create timers for each unique map frequencies for (auto fps : map_fps_unique_) { - // which publisher to call in the timer callback + // Which publisher to call in the timer callback std::vector indices; - // if this fps is max, update the map layers. + // If this fps is max, update the map layers. if (fps >= max_fps) { max_fps = fps; map_layers_all_.clear(); @@ -179,7 +211,7 @@ void ElevationMappingNode::setupMapPublishers() { for (int i = 0; i < map_fps_.size(); i++) { if (map_fps_[i] == fps) { indices.push_back(i); - // if this fps is max, add layers + // If this fps is max, add layers if (fps >= max_fps) { for (const auto layer : map_layers_[i]) { map_layers_all_.insert(layer); @@ -187,7 +219,7 @@ void ElevationMappingNode::setupMapPublishers() { } } } - // callback funtion. + // Callback funtion. // It publishes to specific topics. auto cb = [this, indices](const ros::TimerEvent&) { for (int i : indices) { @@ -293,6 +325,58 @@ void ElevationMappingNode::pointcloudCallback(const sensor_msgs::PointCloud2& cl pointCloudProcessCounter_++; } +void ElevationMappingNode::imageCallback(const sensor_msgs::ImageConstPtr& image_msg, const sensor_msgs::CameraInfoConstPtr& camera_info_msg, const std::vector& channels) { + auto start = ros::Time::now(); + + // Get image + cv::Mat image = cv_bridge::toCvShare(image_msg, image_msg->encoding)->image; + + // Extract camera matrix + Eigen::Map> cameraMatrix(&camera_info_msg->K[0]); + + // Get pose of sensor in map frame + tf::StampedTransform transformTf; + std::string sensorFrameId = image_msg->header.frame_id; + auto timeStamp = image_msg->header.stamp; + Eigen::Affine3d transformationSensorToMap; + try { + transformListener_.waitForTransform(mapFrameId_, sensorFrameId, timeStamp, ros::Duration(1.0)); + transformListener_.lookupTransform(mapFrameId_, sensorFrameId, timeStamp, transformTf); + poseTFToEigen(transformTf, transformationSensorToMap); + } catch (tf::TransformException& ex) { + ROS_ERROR("%s", ex.what()); + return; + } + + + // Transform to Eigen matrix and input to pipeline + if (image.channels() == 1) { + ColMatrixXf eigen_image; + cv::cv2eigen(image, eigen_image); + // std::vector channels{"mono"}; + + map_.input_image_mono(eigen_image, channels, transformationSensorToMap.rotation(), transformationSensorToMap.translation(), cameraMatrix, image.rows, image.cols); + + } else if (image.channels() == 3) { + cv::Mat bgr[3]; + cv::split(image, bgr); + ColMatrixXf eigen_image_b; + cv::cv2eigen(bgr[0], eigen_image_b); + ColMatrixXf eigen_image_g; + cv::cv2eigen(bgr[1], eigen_image_g); + ColMatrixXf eigen_image_r; + cv::cv2eigen(bgr[2], eigen_image_r); + // std::vector channels{"r", "g", "b"}; + + map_.input_image_rgb(eigen_image_r, eigen_image_g, eigen_image_b, channels, + transformationSensorToMap.rotation(), transformationSensorToMap.translation(), cameraMatrix, image.rows, image.cols); + } else { + ROS_WARN_STREAM("Invalid number of channels [" << image.channels() << "]. Only allowed 1 (mono) or 3 (rgb)"); + } + + ROS_DEBUG_THROTTLE(1.0, "ElevationMap processed an image in %f sec.", (ros::Time::now() - start).toSec()); +} + void ElevationMappingNode::updatePose(const ros::TimerEvent&) { tf::StampedTransform transformTf; const auto& timeStamp = ros::Time::now(); diff --git a/elevation_mapping_cupy/src/elevation_mapping_wrapper.cpp b/elevation_mapping_cupy/src/elevation_mapping_wrapper.cpp index a518117b..5774729c 100644 --- a/elevation_mapping_cupy/src/elevation_mapping_wrapper.cpp +++ b/elevation_mapping_cupy/src/elevation_mapping_wrapper.cpp @@ -6,7 +6,7 @@ #include "elevation_mapping_cupy/elevation_mapping_wrapper.hpp" // Pybind -#include +#include // PCL #include @@ -34,7 +34,7 @@ void ElevationMappingWrapper::initialize(ros::NodeHandle& nh, std::vector& channels, const RowMatrixXd& R, const Eigen::VectorXd& t, const double positionNoise, const double orientationNoise) { py::gil_scoped_acquire acquire; - map_.attr("input")(Eigen::Ref(points),channels, Eigen::Ref(R), Eigen::Ref(t), + map_.attr("input")(Eigen::Ref(points), channels, Eigen::Ref(R), Eigen::Ref(t), positionNoise, orientationNoise); } +void ElevationMappingWrapper::input_image_mono(const RowMatrixXf& image, + const std::vector& channels, + const RowMatrixXd& R, + const Eigen::VectorXd& t, + const RowMatrixXd& cameraMatrix, + int height, + int width) { + py::gil_scoped_acquire acquire; + map_.attr("input_image_mono")(Eigen::Ref(image), + channels, + Eigen::Ref(R), + Eigen::Ref(t), + Eigen::Ref(cameraMatrix), + height, + width); +} + +void ElevationMappingWrapper::input_image_rgb(const RowMatrixXf& image_r, + const RowMatrixXf& image_g, + const RowMatrixXf& image_b, + const std::vector& channels, + const RowMatrixXd& R, + const Eigen::VectorXd& t, + const RowMatrixXd& cameraMatrix, + int height, + int width) { + py::gil_scoped_acquire acquire; + map_.attr("input_image_rgb")(Eigen::Ref(image_r), + Eigen::Ref(image_g), + Eigen::Ref(image_b), + channels, + Eigen::Ref(R), + Eigen::Ref(t), + Eigen::Ref(cameraMatrix), + height, + width); +} + void ElevationMappingWrapper::move_to(const Eigen::VectorXd& p, const RowMatrixXd& R) { py::gil_scoped_acquire acquire; map_.attr("move_to")(Eigen::Ref(p), Eigen::Ref(R)); From 11b0f5a5f08b0e4295eff2f0a11a011be628d56c Mon Sep 17 00:00:00 2001 From: Matias Mattamala Date: Mon, 5 Dec 2022 17:44:41 +0000 Subject: [PATCH 277/504] Simplify input image interface --- .../elevation_mapping_wrapper.hpp | 4 +- ...ono_kernels.py => custom_image_kernels.py} | 0 .../elevation_mapping.py | 46 ++++++++----------- .../src/elevation_mapping_ros.cpp | 18 ++++---- .../src/elevation_mapping_wrapper.cpp | 37 ++++----------- 5 files changed, 39 insertions(+), 66 deletions(-) rename elevation_mapping_cupy/script/elevation_mapping_cupy/{custom_image_mono_kernels.py => custom_image_kernels.py} (100%) diff --git a/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_wrapper.hpp b/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_wrapper.hpp index e7fa6f79..4c4e93f7 100644 --- a/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_wrapper.hpp +++ b/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_wrapper.hpp @@ -48,10 +48,8 @@ class ElevationMappingWrapper { void input(const RowMatrixXd& points, const std::vector& channels, const RowMatrixXd& R, const Eigen::VectorXd& t, const double positionNoise, const double orientationNoise); - void input_image_mono(const RowMatrixXf& image, const std::vector& channels, const RowMatrixXd& R, const Eigen::VectorXd& t, + void input_image(const std::vector& image, const std::vector& channels, const RowMatrixXd& R, const Eigen::VectorXd& t, const RowMatrixXd& cameraMatrix, int height, int width); - void input_image_rgb(const RowMatrixXf& image_r, const RowMatrixXf& image_g, const RowMatrixXf& image_b, - const std::vector& channels, const RowMatrixXd& R, const Eigen::VectorXd& t, const RowMatrixXd& cameraMatrix, int height, int width); void move_to(const Eigen::VectorXd& p, const RowMatrixXd& R); void clear(); void update_variance(); diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/custom_image_mono_kernels.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/custom_image_kernels.py similarity index 100% rename from elevation_mapping_cupy/script/elevation_mapping_cupy/custom_image_mono_kernels.py rename to elevation_mapping_cupy/script/elevation_mapping_cupy/custom_image_kernels.py diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py index 66e30943..62480005 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py @@ -19,8 +19,8 @@ from elevation_mapping_cupy.custom_kernels import normal_filter_kernel from elevation_mapping_cupy.custom_kernels import polygon_mask_kernel -from elevation_mapping_cupy.custom_image_mono_kernels import image_to_map_correspondence_kernel -from elevation_mapping_cupy.custom_image_mono_kernels import average_correspondences_to_map_kernel +from elevation_mapping_cupy.custom_image_kernels import image_to_map_correspondence_kernel +from elevation_mapping_cupy.custom_image_kernels import average_correspondences_to_map_kernel from elevation_mapping_cupy.map_initializer import MapInitializer @@ -93,7 +93,7 @@ def __init__(self, param: Parameter): self.additive_mean_error = 0.0 self.compile_kernels() - self.compile_image_mono_kernels() + self.compile_image_kernels() self.semantic_map.compile_kernels() weight_file = subprocess.getoutput('echo "' + param.weight_file + '"') @@ -275,7 +275,7 @@ def compile_kernels(self): self.polygon_mask_kernel = polygon_mask_kernel(self.cell_n, self.cell_n, self.resolution) self.normal_filter_kernel = normal_filter_kernel(self.cell_n, self.cell_n, self.resolution) - def compile_image_mono_kernels(self): + def compile_image_kernels(self): self.new_sem_map = cp.asarray(np.zeros((self.cell_n, self.cell_n), dtype=np.float32), dtype=np.float32) self.valid_correspondence = cp.asarray(np.zeros((self.cell_n, self.cell_n), dtype=np.bool), dtype=np.bool) self.uv_correspondence = cp.asarray(np.zeros((2, self.cell_n, self.cell_n), dtype=np.float32), dtype=np.float32) @@ -374,15 +374,16 @@ def update_map_with_kernel(self, points_all, channels, R, t, position_noise, ori # calculate normal vectors self.update_normal(self.traversability_input) - def update_map_with_image_mono_kernel(self, image_mono, K, channels, R, t, image_height, image_width): + def update_map_with_image_kernel(self, image, K, channels, R, t, image_height, image_width): """Update map with new measurement from semantic image.""" P = cp.asarray(K @ np.concatenate([R, t[:, None]], 1), dtype=np.float32) - t_cam_map = -R.T @ t - t_cam_map -= self.center.get() + t_cam_map = -R.T @ t - self.center + t_cam_map = t_cam_map.get() x1 = cp.uint32((self.cell_n / 2) + ((t_cam_map[0]) / self.resolution)) y1 = cp.uint32((self.cell_n / 2) + ((t_cam_map[1]) / self.resolution)) z1 = cp.float32(t_cam_map[2]) - image_mono = cp.asarray(image_mono, dtype=np.float32) + + image = cp.asarray(image, dtype=np.float32) self.new_sem_map *= 0 self.uv_correspondence *= 0 @@ -405,7 +406,7 @@ def update_map_with_image_mono_kernel(self, image_mono, K, channels, R, t, image self.average_correspondences_to_map_kernel( self.semantic_map.map[sem_map_idx], - image_mono, + image, self.uv_correspondence, self.valid_correspondence, cp.float32(image_height), @@ -479,23 +480,9 @@ def input( orientation_noise, ) - def input_image_mono( - self, - image_mono: cp._core.core.ndarray, - channels: List[str], - R: cp._core.core.ndarray, - t: cp._core.core.ndarray, - K: cp._core.core.ndarray, - image_height: int, - image_width: int, - ): - self.update_map_with_image_mono_kernel(image_mono, K, channels, R, t, image_height, image_width) - - def input_image_rgb( + def input_image( self, - image_r: cp._core.core.ndarray, - image_g: cp._core.core.ndarray, - image_b: cp._core.core.ndarray, + image: cp._core.core.ndarray, channels: List[str], R: cp._core.core.ndarray, t: cp._core.core.ndarray, @@ -503,7 +490,14 @@ def input_image_rgb( image_height: int, image_width: int, ): - self.update_map_with_image_mono_kernel(image_r, K, channels, R, t, image_height, image_width) + image = np.stack(image, axis=0) + self.update_map_with_image_kernel(cp.asarray(image, dtype=self.data_type), + cp.asarray(K, dtype=self.data_type), + channels, + cp.asarray(R, dtype=self.data_type), + cp.asarray(t, dtype=self.data_type), + image_height, + image_width) def update_normal(self, dilated_map): """Clear the normal map and then apply the normal kernel with dilated map as input. diff --git a/elevation_mapping_cupy/src/elevation_mapping_ros.cpp b/elevation_mapping_cupy/src/elevation_mapping_ros.cpp index e1dc560c..297be4f7 100644 --- a/elevation_mapping_cupy/src/elevation_mapping_ros.cpp +++ b/elevation_mapping_cupy/src/elevation_mapping_ros.cpp @@ -348,14 +348,12 @@ void ElevationMappingNode::imageCallback(const sensor_msgs::ImageConstPtr& image return; } - - // Transform to Eigen matrix and input to pipeline + // Transform to vector of Eigen matrices + std::vector multichannel_image; if (image.channels() == 1) { ColMatrixXf eigen_image; cv::cv2eigen(image, eigen_image); - // std::vector channels{"mono"}; - - map_.input_image_mono(eigen_image, channels, transformationSensorToMap.rotation(), transformationSensorToMap.translation(), cameraMatrix, image.rows, image.cols); + multichannel_image.push_back(eigen_image); } else if (image.channels() == 3) { cv::Mat bgr[3]; @@ -366,14 +364,18 @@ void ElevationMappingNode::imageCallback(const sensor_msgs::ImageConstPtr& image cv::cv2eigen(bgr[1], eigen_image_g); ColMatrixXf eigen_image_r; cv::cv2eigen(bgr[2], eigen_image_r); - // std::vector channels{"r", "g", "b"}; - map_.input_image_rgb(eigen_image_r, eigen_image_g, eigen_image_b, channels, - transformationSensorToMap.rotation(), transformationSensorToMap.translation(), cameraMatrix, image.rows, image.cols); + multichannel_image.push_back(eigen_image_r); + multichannel_image.push_back(eigen_image_g); + multichannel_image.push_back(eigen_image_b); + } else { ROS_WARN_STREAM("Invalid number of channels [" << image.channels() << "]. Only allowed 1 (mono) or 3 (rgb)"); } + // Pass image to pipeline + map_.input_image(multichannel_image, channels, transformationSensorToMap.rotation(), transformationSensorToMap.translation(), cameraMatrix, image.rows, image.cols); + ROS_DEBUG_THROTTLE(1.0, "ElevationMap processed an image in %f sec.", (ros::Time::now() - start).toSec()); } diff --git a/elevation_mapping_cupy/src/elevation_mapping_wrapper.cpp b/elevation_mapping_cupy/src/elevation_mapping_wrapper.cpp index 5774729c..2b11d52c 100644 --- a/elevation_mapping_cupy/src/elevation_mapping_wrapper.cpp +++ b/elevation_mapping_cupy/src/elevation_mapping_wrapper.cpp @@ -97,7 +97,7 @@ void ElevationMappingWrapper::input(const RowMatrixXd& points, const std::vector positionNoise, orientationNoise); } -void ElevationMappingWrapper::input_image_mono(const RowMatrixXf& image, +void ElevationMappingWrapper::input_image(const std::vector& multichannel_image, const std::vector& channels, const RowMatrixXd& R, const Eigen::VectorXd& t, @@ -105,34 +105,13 @@ void ElevationMappingWrapper::input_image_mono(const RowMatrixXf& image, int height, int width) { py::gil_scoped_acquire acquire; - map_.attr("input_image_mono")(Eigen::Ref(image), - channels, - Eigen::Ref(R), - Eigen::Ref(t), - Eigen::Ref(cameraMatrix), - height, - width); -} - -void ElevationMappingWrapper::input_image_rgb(const RowMatrixXf& image_r, - const RowMatrixXf& image_g, - const RowMatrixXf& image_b, - const std::vector& channels, - const RowMatrixXd& R, - const Eigen::VectorXd& t, - const RowMatrixXd& cameraMatrix, - int height, - int width) { - py::gil_scoped_acquire acquire; - map_.attr("input_image_rgb")(Eigen::Ref(image_r), - Eigen::Ref(image_g), - Eigen::Ref(image_b), - channels, - Eigen::Ref(R), - Eigen::Ref(t), - Eigen::Ref(cameraMatrix), - height, - width); + map_.attr("input_image")(multichannel_image, + channels, + Eigen::Ref(R), + Eigen::Ref(t), + Eigen::Ref(cameraMatrix), + height, + width); } void ElevationMappingWrapper::move_to(const Eigen::VectorXd& p, const RowMatrixXd& R) { From db613a4fab317dadf7be7af8b6c9acef5aa0788c Mon Sep 17 00:00:00 2001 From: Gian Erni Date: Tue, 6 Dec 2022 10:28:41 +0100 Subject: [PATCH 278/504] max working but only with one max for the moment --- .../elevation_mapping_cupy/custom_kernels.py | 43 ++++++++- .../plugins/semantic_filter.py | 25 +++-- .../elevation_mapping_cupy/semantic_map.py | 83 ++++++++++++++++- .../tests/test_elevation_mapping.py | 24 ++++- .../tests/test_plugins.py | 2 + .../tests/test_semantic_map.py | 1 + .../semantic_pointcloud/pointcloud_node.py | 51 ++++++++-- .../pointcloud_parameters.py | 4 +- .../tests/test_pointcloud.py | 16 ++++ .../script/semantic_pointcloud/utils.py | 92 ++++++++++++++----- 10 files changed, 296 insertions(+), 45 deletions(-) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/custom_kernels.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/custom_kernels.py index 66406271..c4a64718 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/custom_kernels.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/custom_kernels.py @@ -731,6 +731,47 @@ def sum_compact_kernel( ) return sum_compact_kernel + +def sum_max_kernel( + resolution, + width, + height, + ): + # input the list of layers, amount of channels can slo be input through kernel + sum_max_kernel = cp.ElementwiseKernel( + in_params="raw U p, raw U max_pt, raw T max_id, raw W pcl_chan, raw W map_lay, raw W pcl_channels", + out_params=" raw U newmap", + preamble=string.Template( + """ + __device__ int get_map_idx(int idx, int layer_n) { + const int layer = ${width} * ${height}; + return layer * layer_n + idx; + } + """ + ).substitute(resolution=resolution,width=width, height=height), + operation=string.Template( + """ + U idx = p[i * pcl_channels[0]]; + U valid = p[i * pcl_channels[0] + 1]; + U inside = p[i * pcl_channels[0] + 2]; + if (valid) { + if (inside) { + // for every max value + for ( W it=0;it cp.ndarray: # get indices of all layers that layer_indices = cp.array([], dtype=cp.int32) + max_idcs = cp.array([], dtype=cp.int32) for it, fusion_alg in enumerate(semantic_map.param.fusion_algorithms): - if (fusion_alg in ["class_bayesian","class_average"]): + if fusion_alg in ["class_bayesian", "class_average"]: layer_indices = cp.append(layer_indices, it).astype(cp.int32) + if fusion_alg in ["class_max"]: + max_idcs = cp.append(max_idcs, it).astype(cp.int32) # check which has the highest value - class_map = cp.argmax(semantic_map.map[layer_indices], axis=0) + # todo we are using the new_map because of the bayesian + class_map = cp.amax(semantic_map.new_map[layer_indices], axis=0) + class_map_id = cp.argmax(semantic_map.map[layer_indices], axis=0) + + if "class_max" in semantic_map.param.fusion_algorithms: + # todo here is only cosideredx the case where we only have one max + max_map = cp.amax(semantic_map.new_map[max_idcs], axis=0) + max_map_id = semantic_map.unique_id[semantic_map.id_max[max_idcs]] + map = cp.where(max_map > class_map, max_map_id, class_map_id) + else: + map = class_map # create color coding - enc = self.color_encoding[class_map] + enc = self.color_encoding[map] return enc diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py index 104a4f25..3919b5a8 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py @@ -11,6 +11,7 @@ alpha_kernel, bayesian_inference_kernel, sum_compact_kernel, + sum_max_kernel, ) xp = cp @@ -113,6 +114,19 @@ def compile_kernels(self) -> None: self.param.cell_n, self.param.cell_n, ) + if "class_max" in self.unique_fusion: + print("Initialize class max kernel") + self.sum_max_kernel = sum_max_kernel( + self.param.resolution, + self.param.cell_n, + self.param.cell_n, + ) + layer_cnt = self.param.fusion_algorithms.count("class_max") + self.id_max = cp.zeros( + (layer_cnt, self.param.cell_n, self.param.cell_n), + dtype=np.uint32, + ) + self.unique_id = cp.array([0]) def get_fusion_of_pcl(self, channels: List[str]) -> List[str]: """Get all fusion algorithms that need to be applied to a specific pointcloud @@ -128,11 +142,11 @@ def get_fusion_of_pcl(self, channels: List[str]) -> List[str]: return fusion_list def get_indices_fusion(self, pcl_channels: List[str], fusion_alg: str): - """Computes the indices that are used for the additional kernel update of the popintcloud and the semantic map. + """Computes the indices of the channels of the pointcloud and the layers of the semantic map of type fusion_alg. Args: - pcl_channels (List[str]): - fusion_alg (str): + pcl_channels (List[str]): list of all channel names + fusion_alg (str): fusion algorithm type we want to use for channel selection Returns: Union[Tuple[List[int], List[int]], Tuple[cupy._core.core.ndarray, cupy._core.core.ndarray]]: @@ -238,10 +252,64 @@ def update_layers(self, points_all, channels, R, t, elevation_map): ) # calculate new thetas sum_alpha = cp.sum(self.new_map[layer_ids], axis=0) + sum_alpha[sum_alpha == 0] = 1 self.map[layer_ids] = self.new_map[layer_ids] / cp.expand_dims( sum_alpha, axis=0 ) # assert cp.unique(cp.sum(self.map[layer_ids], axis=0)) equal to zero or to nan + if "class_max" in additional_fusion: + # get indices that are of type class_max in pointclopud and in layers + pcl_ids, layer_ids = self.get_indices_fusion(channels, "class_max") + # decode float32 into to float16 + max_pt, pt_id = self.decode_max(points_all[:, pcl_ids]) + # find unique ids in new measurement and in map + unique_idm = cp.unique(pt_id) + unique_ida = cp.unique(self.unique_id[self.id_max]) + # get all unique ids, where index is the position in the prob_Sum and the value + # the value in the NN class + self.unique_id = cp.unique(cp.concatenate((unique_idm, unique_ida))) + # contains the sum of the new measurement probabilities + self.prob_sum = cp.zeros( + (len(self.unique_id), self.param.cell_n, self.param.cell_n), + dtype=np.float32, + ) + # transform the index matrix of the classes to the index matrix of the prob_sum + pt_id_zero = pt_id.copy() + for it, val in enumerate(self.unique_id): + pt_id_zero[pt_id_zero == val] = it + + # sum all measurements probabilities + self.sum_max_kernel( + points_all, + max_pt, + pt_id_zero, + pcl_ids, + layer_ids, + cp.array( + [points_all.shape[1], pcl_ids.shape[0], pt_id.shape[1]], + dtype=np.int32, + ), + self.prob_sum, + size=(points_all.shape[0]), + ) + # add the previous alpha + for i, lay in enumerate(layer_ids): + # todo add residual of prev alpha to the prob_sum + c = cp.mgrid[0: self.new_map.shape[1], 0: self.new_map.shape[2]] + self.prob_sum[self.id_max[i], c[0], c[1]] = self.new_map[lay] + + # find the alpha we want to keep + for i, lay in enumerate(layer_ids): + self.new_map[lay] = cp.amax(self.prob_sum, axis=0) + self.id_max[i] = cp.argmax(self.prob_sum, axis=0) + self.prob_sum[cp.argmax(self.prob_sum, axis=0)] = 0 + # + # update map calculate new thetas + sum_alpha = cp.sum(self.new_map[layer_ids], axis=0) + sum_alpha[sum_alpha==0]=1 + self.map[layer_ids] = self.new_map[layer_ids] / cp.expand_dims( + sum_alpha, axis=0 + ) if "color" in additional_fusion: pcl_ids, layer_ids = self.get_indices_fusion(channels, "color") @@ -271,6 +339,15 @@ def update_layers(self, points_all, channels, R, t, elevation_map): size=(self.param.cell_n * self.param.cell_n), ) + def decode_max(self, mer): + mer = mer.astype(cp.float32) + mer = mer.view(dtype=cp.uint32) + ma = cp.bitwise_and(mer, 0xFFFF, dtype=np.uint16) + ma = ma.view(np.float16) + ma = ma.astype(np.float32) + ind = cp.right_shift(mer, 16) + return ma, ind + def get_map_with_name(self, name): if self.layer_specs[name] == "color": m = self.get_rgb(name) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_elevation_mapping.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_elevation_mapping.py index 71559122..45d22609 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_elevation_mapping.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_elevation_mapping.py @@ -4,6 +4,20 @@ import numpy as np +def encode_max(maxim, index): + maxim, index = cp.asarray(maxim, dtype=cp.float32), cp.asarray( + index, dtype=cp.uint32 + ) + # fuse them + maxim = maxim.astype(cp.float16) + maxim = maxim.view(cp.uint16) + maxim = maxim.astype(cp.uint32) + index = index.astype(cp.uint32) + mer = cp.array(cp.left_shift(index, 16) | maxim, dtype=cp.uint32) + mer = mer.view(cp.float32) + return mer + + @pytest.fixture() def elmap_ex(add_lay, fusion_alg): additional_layer = add_lay @@ -27,6 +41,7 @@ def elmap_ex(add_lay, fusion_alg): (["feat_0", "feat_1"], ["average", "average"]), (["feat_0", "feat_1"], ["class_average", "class_average"]), (["feat_0", "feat_1"], ["class_bayesian", "class_bayesian"]), + (["feat_0", "feat_1"], ["class_bayesian", "class_max"]), (["feat_0", "feat_1"], ["bayesian_inference", "bayesian_inference"]), ], ) @@ -37,7 +52,14 @@ def test_init(self, elmap_ex): def test_input(self, elmap_ex): channels = ["x", "y", "z"] + elmap_ex.param.additional_layers - points = cp.random.rand(100000, len(channels), dtype=elmap_ex.param.data_type) + if "class_max" in elmap_ex.param.fusion_algorithms: + val = cp.random.rand(100000, len(channels), dtype=cp.float32).astype(cp.float16) + ind = cp.random.randint(0, 2, (100000, len(channels)), dtype=cp.uint32).astype(cp.float32) + points = encode_max(val, ind) + else: + points = cp.random.rand( + 100000, len(channels), dtype=elmap_ex.param.data_type + ) R = cp.random.rand(3, 3, dtype=elmap_ex.param.data_type) t = cp.random.rand(3, dtype=elmap_ex.param.data_type) elmap_ex.input(points, channels, R, t, 0, 0) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_plugins.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_plugins.py index 180aa9d5..4e02734e 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_plugins.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_plugins.py @@ -22,6 +22,7 @@ def semmap_ex(add_lay, fusion_alg): p.cell_n = int(round(p.map_length / p.resolution)) + 2 e = semantic_map.SemanticMap(p, additional_layers) + e.compile_kernels() return e @@ -30,6 +31,7 @@ def semmap_ex(add_lay, fusion_alg): [ (['grass','tree','fence','person'], ["class_average", "class_average", "class_average", "class_average"], ["grass"]), (['grass','tree'], ["class_average", "class_average"], ['grass']), + (['grass','tree'], ["class_average", "class_max"], ['tree']), # ( # ["feat_0", "feat_1", "rgb"], # ["average", "average", "color"], diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_semantic_map.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_semantic_map.py index 86eba134..ae94e068 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_semantic_map.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_semantic_map.py @@ -29,6 +29,7 @@ def semmap_ex(add_lay, fusion_alg): (["feat_0", "feat_1", "rgb"], ["class_average", "average", "color"], ["rgb", "feat_0"]), (["feat_0", "feat_1", "rgb"], ["class_bayesian", "average", "color"], ["rgb", "feat_0"]), (["feat_0", "feat_1", "rgb"], ["class_bayesian", "average", "color"], ["rgb", "feat_0", "feat_1"]), + (["feat_0", "feat_1", "rgb"], ["class_bayesian", "class_max", "color"], ["rgb", "feat_0", "feat_1"]), ], ) def test_fusion_of_pcl(semmap_ex, channels): diff --git a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_node.py b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_node.py index 4e4c0472..12c15042 100755 --- a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_node.py +++ b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_node.py @@ -13,7 +13,7 @@ from cv_bridge import CvBridge from semantic_pointcloud.pointcloud_parameters import PointcloudParameter -from semantic_pointcloud.utils import resolve_model +from semantic_pointcloud.utils import resolve_model, decode_max class PointcloudNode: @@ -73,7 +73,10 @@ def __init__(self, sensor_name): self.seg_pub = rospy.Publisher( self.param.segmentation_image_topic, Image, queue_size=2 ) - self.labels = list(self.segmentation_channels.keys()) + if "class_max" in self.param.fusion: + self.labels = self.semantic_model["model"].get_classes() + else: + self.labels = list(self.segmentation_channels.keys()) self.semseg_color_map = self.color_map(len(self.labels)) self.color_map_viz() @@ -115,8 +118,16 @@ def color_map_viz(self): def initialize_semantics(self): if self.param.semantic_segmentation: - self.semantic_model = resolve_model(self.param.segmentation_model, self.param) - self.segmentation_channels = self.semantic_model["model"].segmentation_channels + self.semantic_model = resolve_model( + self.param.segmentation_model, self.param + ) + # todo (done) rewrite the segmenation channel such that keys are channels of seg and values are the fusion + self.segmentation_channels = {} + for i, (chan, fus) in enumerate( + zip(self.param.channels, self.param.fusion) + ): + if fus in ["class_bayesian", "class_average", "class_max"]: + self.segmentation_channels[chan] = fus if self.param.feature_extractor: self.feature_channels = [] for i, fusion in enumerate(self.param.fusion): @@ -133,7 +144,7 @@ def create_custom_dtype(self): ("y", np.float32), ("z", np.float32), ] - for chan in self.param.channels: + for chan, fus in zip(self.param.channels, self.param.fusion): self.dtype.append((chan, np.float32)) print(self.dtype) @@ -218,7 +229,7 @@ def process_image(self, image, u, v, points): def perform_segmentation(self, image, points, u, v): prediction = self.semantic_model["model"](image) - values = prediction[:, v.get(), u.get()].get()#.cpu().detach().numpy() + values = prediction[:, v.get(), u.get()].get() for it, channel in enumerate(self.segmentation_channels.keys()): points[channel] = values[it] if self.param.publish_segmentation_image: @@ -231,10 +242,34 @@ def extract_features(self, image, points, u, v): points[channel] = values[it] def publish_segmentation_image(self, probabilities): - probabilities = cp.asarray(probabilities.get())# cpu().detach().numpy()) colors = cp.asarray(self.semseg_color_map) assert colors.ndim == 2 and colors.shape[1] == 3 - img = cp.argmax(probabilities, axis=0) + # img = 0 + prob = cp.zeros((len(self.labels),) + probabilities.shape[1:]) + if "class_max" in self.param.fusion: + # decode, create an array with all possible classes and insert probabilities + it = 0 + for iit, (chan, fuse) in enumerate( + zip(self.param.channels, self.param.fusion) + ): + if fuse == "class_max": + temp = probabilities[it] + temp_p, temp_i = decode_max(temp) + temp_i.choose(prob) + c = cp.mgrid[0 : temp_i.shape[0], 0 : temp_i.shape[1]] + prob[temp_i, c[0], c[1]] = temp_p + it += 1 + elif fuse in ["class_bayesian", "class_average"]: + # assign fixed probability to correct index + if chan in self.semantic_model["model"].segmentation_channels: + prob[ + self.semantic_model["model"].segmentation_channels[chan] + ] = probabilities[it] + it += 1 + img = cp.argmax(prob, axis=0) + + else: + img = cp.argmax(probabilities, axis=0) img = colors[img].astype(cp.uint8) # N x H x W x 3 img = img.get() seg_msg = self.cv_bridge.cv2_to_imgmsg(img, encoding="rgb8") diff --git a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_parameters.py b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_parameters.py index 0d3c035a..b08e4d1d 100644 --- a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_parameters.py +++ b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_parameters.py @@ -20,8 +20,8 @@ class FeatureExtractorParameter(Serializable): class PointcloudParameter(Serializable): sensor_name: str = "camera" topic_name: str = "/elvation_mapping/pointcloud_semantic" - channels: list = field(default_factory=lambda: ["rgb", "person", "grass", "tree"]) - fusion: list = field(default_factory=lambda: ["color", "class_average", "class_average", "class_average"]) + channels: list = field(default_factory=lambda: ["rgb", "person", "grass", "tree","max"]) + fusion: list = field(default_factory=lambda: ["color", "class_average", "class_average", "class_average","class_max"]) semantic_segmentation: bool = True segmentation_model: str = "detectron_coco_panoptic_fpn_R_101_3x" diff --git a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/tests/test_pointcloud.py b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/tests/test_pointcloud.py index ee5dcf4e..8ed1bfd4 100644 --- a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/tests/test_pointcloud.py +++ b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/tests/test_pointcloud.py @@ -1,5 +1,6 @@ import pytest from ..pointcloud_node import PointcloudNode +import cupy as cp @pytest.fixture() @@ -16,3 +17,18 @@ def pointcloud_ex(cam_name): ) def test_initialize_semantics(pointcloud_ex): pointcloud_ex.initialize_semantics() + + +@pytest.mark.parametrize( + "cam_name", + [ + "front_cam", + ], +) +def test_pub_seg(pointcloud_ex): + # TODO we have to encode the max class other wise it is going to make problem + amount = len( + pointcloud_ex.segmentation_channels.keys() + ) + pointcloud_ex.param.fusion.count("max_class")+1 + prob = cp.random.rand(amount, 360, 640) + pointcloud_ex.publish_segmentation_image(prob) diff --git a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/utils.py b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/utils.py index b0e703f6..740bbaea 100644 --- a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/utils.py +++ b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/utils.py @@ -32,9 +32,31 @@ ) # from .pointcloud_parameters import PointcloudParameter, FeatureExtractorParameter - - -def resolve_model(name, config = None): +def encode_max(maxim, index): + maxim, index = cp.asarray(maxim, dtype=cp.float32), cp.asarray( + index, dtype=cp.uint32 + ) + # fuse them + maxim = maxim.astype(cp.float16) + maxim = maxim.view(cp.uint16) + maxim = maxim.astype(cp.uint32) + index = index.astype(cp.uint32) + mer = cp.array(cp.left_shift(index, 16) | maxim, dtype=cp.uint32) + mer = mer.view(cp.float32) + return mer + + +def decode_max(mer): + mer = mer.astype(cp.float32) + mer = mer.view(dtype=cp.uint32) + ma = cp.bitwise_and(mer, 0xFFFF, dtype=np.uint16) + ma = ma.view(np.float16) + ma = ma.astype(np.float32) + ind = cp.right_shift(mer, 16) + return ma, ind + + +def resolve_model(name, config=None): """Get the model class based on the name of the pretrained model. Args: @@ -93,10 +115,7 @@ def __init__(self, net, weights, param): self.resolve_cateories() def resolve_cateories(self): - class_to_idx = { - cls: idx - for (idx, cls) in enumerate(self.get_classes()) - } + class_to_idx = {cls: idx for (idx, cls) in enumerate(self.get_classes())} print( "Semantic Segmentation possible channels: ", self.get_classes(), @@ -109,10 +128,16 @@ def resolve_cateories(self): channels.append(chan) elif self.param.fusion[it] in ["class_average", "class_bayesian"]: print(chan, " is not in the semantic segmentation model.") + # for argamax + for it, chan in enumerate(self.param.channels): + if chan in [cls for cls in list(class_to_idx.keys())]: + indices.append(class_to_idx[chan]) + channels.append(chan) + elif self.param.fusion[it] in ["class_max"]: + print(chan, " is not in the semantic segmentation model.") self.stuff_categories = dict(zip(channels, indices)) self.segmentation_channels = self.stuff_categories - def __call__(self, image, *args, **kwargs): """Feewforward image through model. @@ -126,10 +151,25 @@ def __call__(self, image, *args, **kwargs): """ batch = torch.as_tensor(image, device="cuda").permute(2, 0, 1).unsqueeze(0) batch = TF.convert_image_dtype(batch, torch.float32) - prediction = self.model(batch)["out"] - normalized_masks = torch.squeeze(prediction.softmax(dim=1), dim=0) - selected_masks = normalized_masks[list(self.stuff_categories.values())] - return selected_masks + with torch.no_grad(): + prediction = self.model(batch)["out"] + normalized_masks = torch.squeeze(prediction.softmax(dim=1), dim=0) + # get masks of fix classes + selected_masks = cp.asarray( + normalized_masks[list(self.stuff_categories.values())] + ) + + # get values of max, first remove the ones we already have + normalized_masks[list(self.stuff_categories.values())] = 0 + for i in range(self.param.fusion.count("class_max")): + maxim, index = torch.max(normalized_masks, dim=0) + mer = encode_max(maxim, index) + selected_masks = cp.concatenate( + (selected_masks, cp.expand_dims(mer, axis=0)), axis=0 + ) + # TODO set to zero the max + # normalized_masks[index] = 0 + return cp.asarray(selected_masks) def get_classes(self): """Get list of strings containing all the classes. @@ -152,7 +192,7 @@ def __init__(self, weights, param): self.cfg.MODEL.WEIGHTS = model_zoo.get_checkpoint_url(weights) self.predictor = DefaultPredictor(self.cfg) self.meta = MetadataCatalog.get(self.cfg.DATASETS.TRAIN[0]) - self.stuff_categories, self.is_stuff =self.resolve_cateories("stuff_classes") + self.stuff_categories, self.is_stuff = self.resolve_cateories("stuff_classes") self.thing_categories, self.is_thing = self.resolve_cateories("thing_classes") self.segmentation_channels = {} for chan in self.param.channels: @@ -166,10 +206,7 @@ def __init__(self, weights, param): def resolve_cateories(self, name): classes = self.get_cat(name) - class_to_idx = { - cls: idx - for (idx, cls) in enumerate(classes) - } + class_to_idx = {cls: idx for (idx, cls) in enumerate(classes)} print( "Semantic Segmentation possible channels: ", classes, @@ -194,14 +231,22 @@ def __call__(self, image, *args, **kwargs): image = cp.flip(image, axis=2) prediction = self.predictor(image.get()) probabilities = cp.asarray(torch.softmax(prediction["sem_seg"], dim=0)) - output = cp.zeros((len(self.segmentation_channels), probabilities.shape[1], probabilities.shape[2])) + output = cp.zeros( + ( + len(self.segmentation_channels), + probabilities.shape[1], + probabilities.shape[2], + ) + ) # add semseg - output[cp.array(list(self.is_stuff.values()))] = probabilities[list(self.stuff_categories.values())] + output[cp.array(list(self.is_stuff.values()))] = probabilities[ + list(self.stuff_categories.values()) + ] # add instances indices, insta_info = prediction["panoptic_seg"] # TODO dont know why i need temp, look into how to avoid temp = output[cp.array(list(self.is_thing.values()))] - for i,insta in enumerate(insta_info): + for i, insta in enumerate(insta_info): if insta is None or not insta["isthing"]: continue mask = cp.asarray((indices == insta["id"]).int()) @@ -210,12 +255,11 @@ def __call__(self, image, *args, **kwargs): output[cp.array(list(self.is_thing.values()))] = temp return output - - def get_cat(self,name): + def get_cat(self, name): return self.meta.get(name) - + def get_classes(self): - return self.get_cat("thing_classes")+self.get_cat("stuff_classes") + return self.get_cat("thing_classes") + self.get_cat("stuff_classes") class STEGOModel: From d0e5f5e5ac82bbc1509de0aa6f848eb452cdb33e Mon Sep 17 00:00:00 2001 From: Gian Erni Date: Tue, 6 Dec 2022 14:26:46 +0100 Subject: [PATCH 279/504] working semantic filter, the pointcloud is fully working but the elevation map has still some work to do for the fusion and the filter onlyworks for one max class, all test should work --- .../elevation_mapping_cupy/custom_kernels.py | 5 +- .../elevation_mapping_cupy/parameter.py | 1 + .../plugins/semantic_filter.py | 4 +- .../elevation_mapping_cupy/semantic_map.py | 14 +++-- .../tests/test_semantic_map.py | 52 ++++++++++++++----- .../semantic_pointcloud/pointcloud_node.py | 28 ++++++---- .../pointcloud_parameters.py | 22 ++++++-- .../tests/test_pointcloud.py | 13 +++-- .../script/semantic_pointcloud/utils.py | 12 +++-- 9 files changed, 106 insertions(+), 45 deletions(-) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/custom_kernels.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/custom_kernels.py index c4a64718..4bed4902 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/custom_kernels.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/custom_kernels.py @@ -889,6 +889,7 @@ def bayesian_inference_kernel( def class_average_kernel( width, height, + alpha, ): class_average_kernel = cp.ElementwiseKernel( in_params="raw V newmap, raw W pcl_chan, raw W map_lay, raw W pcl_channels, raw U new_elmap", @@ -912,13 +913,13 @@ def class_average_kernel( map[get_map_idx(i, map_lay[it])] = val; } else{ - U val = prev_val /2 + newmap[get_map_idx(i, map_lay[it])]/(2*cnt); + U val = ${alpha} *prev_val + ${alpha} * newmap[get_map_idx(i, map_lay[it])]/(cnt); map[get_map_idx(i, map_lay[it])] = val; } } } """ - ).substitute( + ).substitute(alpha=alpha, ), name="class_average_kernel", ) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py index 296adc23..960eeea6 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py @@ -15,6 +15,7 @@ class Parameter(Serializable): fusion_algorithms: list = ['average'].copy cell_n: int = None data_type: str = np.float32 + average_weight: float = 0.5 map_length: float = 8.0 sensor_noise_factor: float = 0.05 diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_filter.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_filter.py index f80e1cd6..5ce3c7d9 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_filter.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_filter.py @@ -84,12 +84,12 @@ def __call__( class_map_id = cp.argmax(semantic_map.map[layer_indices], axis=0) if "class_max" in semantic_map.param.fusion_algorithms: - # todo here is only cosideredx the case where we only have one max + # todo here is only cosidered the case where we only have one max max_map = cp.amax(semantic_map.new_map[max_idcs], axis=0) max_map_id = semantic_map.unique_id[semantic_map.id_max[max_idcs]] map = cp.where(max_map > class_map, max_map_id, class_map_id) else: - map = class_map + map = class_map_id # create color coding enc = self.color_encoding[map] return enc diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py index 3919b5a8..0c45a09b 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py @@ -106,6 +106,7 @@ def compile_kernels(self) -> None: self.class_average_kernel = class_average_kernel( self.param.cell_n, self.param.cell_n, + self.param.average_weight, ) if "class_bayesian" in self.unique_fusion: print("Initialize class bayesian kernel") @@ -252,6 +253,7 @@ def update_layers(self, points_all, channels, R, t, elevation_map): ) # calculate new thetas sum_alpha = cp.sum(self.new_map[layer_ids], axis=0) + # do not divide by zero sum_alpha[sum_alpha == 0] = 1 self.map[layer_ids] = self.new_map[layer_ids] / cp.expand_dims( sum_alpha, axis=0 @@ -265,8 +267,7 @@ def update_layers(self, points_all, channels, R, t, elevation_map): # find unique ids in new measurement and in map unique_idm = cp.unique(pt_id) unique_ida = cp.unique(self.unique_id[self.id_max]) - # get all unique ids, where index is the position in the prob_Sum and the value - # the value in the NN class + # get all unique ids, where index is the position in the prob_sum and the value in the NN class self.unique_id = cp.unique(cp.concatenate((unique_idm, unique_ida))) # contains the sum of the new measurement probabilities self.prob_sum = cp.zeros( @@ -294,9 +295,11 @@ def update_layers(self, points_all, channels, R, t, elevation_map): ) # add the previous alpha for i, lay in enumerate(layer_ids): - # todo add residual of prev alpha to the prob_sum - c = cp.mgrid[0: self.new_map.shape[1], 0: self.new_map.shape[2]] + c = cp.mgrid[0 : self.new_map.shape[1], 0 : self.new_map.shape[2]] self.prob_sum[self.id_max[i], c[0], c[1]] = self.new_map[lay] + # todo add residual of prev alpha to the prob_sum + # res = 1- self.new_map[lay] + # res /= (len(self.unique_id)-1) # find the alpha we want to keep for i, lay in enumerate(layer_ids): @@ -306,7 +309,8 @@ def update_layers(self, points_all, channels, R, t, elevation_map): # # update map calculate new thetas sum_alpha = cp.sum(self.new_map[layer_ids], axis=0) - sum_alpha[sum_alpha==0]=1 + # do not divide by zero + sum_alpha[sum_alpha == 0] = 1 self.map[layer_ids] = self.new_map[layer_ids] / cp.expand_dims( sum_alpha, axis=0 ) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_semantic_map.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_semantic_map.py index ae94e068..18926337 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_semantic_map.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_semantic_map.py @@ -18,32 +18,56 @@ def semmap_ex(add_lay, fusion_alg): additional_layers = dict(zip(p.additional_layers, p.fusion_algorithms)) p.cell_n = int(round(p.map_length / p.resolution)) + 2 - e = semantic_map.SemanticMap(p,additional_layers) + e = semantic_map.SemanticMap(p, additional_layers) return e @pytest.mark.parametrize( "add_lay, fusion_alg,channels", - [(["feat_0", "feat_1"], ["average", "average"],["feat_0"]), - (["feat_0", "feat_1"], ["average", "average"],[]), - (["feat_0", "feat_1", "rgb"], ["average", "average", "color"],["rgb", "feat_0"]), - (["feat_0", "feat_1", "rgb"], ["class_average", "average", "color"], ["rgb", "feat_0"]), - (["feat_0", "feat_1", "rgb"], ["class_bayesian", "average", "color"], ["rgb", "feat_0"]), - (["feat_0", "feat_1", "rgb"], ["class_bayesian", "average", "color"], ["rgb", "feat_0", "feat_1"]), - (["feat_0", "feat_1", "rgb"], ["class_bayesian", "class_max", "color"], ["rgb", "feat_0", "feat_1"]), - ], + [ + (["feat_0", "feat_1"], ["average", "average"], ["feat_0"]), + (["feat_0", "feat_1"], ["average", "average"], []), + ( + ["feat_0", "feat_1", "rgb"], + ["average", "average", "color"], + ["rgb", "feat_0"], + ), + ( + ["feat_0", "feat_1", "rgb"], + ["class_average", "average", "color"], + ["rgb", "feat_0"], + ), + ( + ["feat_0", "feat_1", "rgb"], + ["class_bayesian", "average", "color"], + ["rgb", "feat_0"], + ), + ( + ["feat_0", "feat_1", "rgb"], + ["class_bayesian", "average", "color"], + ["rgb", "feat_0", "feat_1"], + ), + ( + ["feat_0", "feat_1", "rgb"], + ["class_bayesian", "class_max", "color"], + ["rgb", "feat_0", "feat_1"], + ), + ], ) def test_fusion_of_pcl(semmap_ex, channels): fusion = semmap_ex.get_fusion_of_pcl(channels=channels) assert len(fusion) <= len(channels) - assert len(fusion)>0 or len(channels)==0 + assert len(fusion) > 0 or len(channels) == 0 assert all(isinstance(item, str) for item in fusion) @pytest.mark.parametrize( "add_lay, fusion_alg", - [(["feat_0", "feat_1", "rgb"], ["average", "average", "color"]), - ], + [ + (["feat_0", "feat_1", "rgb"], ["average", "average", "color"]), + ], ) @pytest.mark.parametrize("channels", [["rgb"], ["rgb", "feat_0"], []]) -def test_indices_fusion(semmap_ex, channels,fusion_alg): - pcl_indices, layer_indices = semmap_ex.get_indices_fusion(pcl_channels=channels, fusion_alg=fusion_alg[0]) +def test_indices_fusion(semmap_ex, channels, fusion_alg): + pcl_indices, layer_indices = semmap_ex.get_indices_fusion( + pcl_channels=channels, fusion_alg=fusion_alg[0] + ) diff --git a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_node.py b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_node.py index 12c15042..1a96ec3e 100755 --- a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_node.py +++ b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_node.py @@ -19,10 +19,16 @@ class PointcloudNode: def __init__(self, sensor_name): # TODO: if this is going to be loaded from another package we might need to change namespace - config = rospy.get_param("/semantic_pointcloud/subscribers") - self.param: PointcloudParameter = PointcloudParameter.from_dict( - config[sensor_name] - ) + self.param: PointcloudParameter = PointcloudParameter() + # try catch for pytests + try: + config = rospy.get_param("/semantic_pointcloud/subscribers") + self.param: PointcloudParameter = PointcloudParameter.from_dict( + config[sensor_name] + ) + except: + print("NO ROS ENV found.") + self.param.sensor_name = sensor_name print("--------------Pointcloud Parameters-------------------") print(self.param.dumps_yaml()) @@ -40,6 +46,7 @@ def __init__(self, sensor_name): # setup pointcloud creation self.cv_bridge = CvBridge() self.P = None + self.header = None rospy.Subscriber(self.param.cam_info_topic, CameraInfo, self.cam_info_callback) rgb_sub = message_filters.Subscriber(self.param.image_topic, Image) @@ -78,7 +85,8 @@ def __init__(self, sensor_name): else: self.labels = list(self.segmentation_channels.keys()) self.semseg_color_map = self.color_map(len(self.labels)) - self.color_map_viz() + if self.param.show_label_legend: + self.color_map_viz() def color_map(self, N=256, normalized=False): def bitget(byteval, idx): @@ -114,14 +122,12 @@ def color_map_viz(self): plt.yticks([row_size * i + row_size / 2 for i in range(nclasses)], self.labels) plt.xticks([]) plt.show() - # plt.savefig("./labels.png") def initialize_semantics(self): if self.param.semantic_segmentation: self.semantic_model = resolve_model( self.param.segmentation_model, self.param ) - # todo (done) rewrite the segmenation channel such that keys are channels of seg and values are the fusion self.segmentation_channels = {} for i, (chan, fus) in enumerate( zip(self.param.channels, self.param.fusion) @@ -224,7 +230,6 @@ def process_image(self, image, u, v, points): if self.segmentation_channels is not None: self.perform_segmentation(image, points, u, v) if self.feature_channels is not None: - # TODO is no return needed? self.extract_features(image, points, u, v) def perform_segmentation(self, image, points, u, v): @@ -244,7 +249,8 @@ def extract_features(self, image, points, u, v): def publish_segmentation_image(self, probabilities): colors = cp.asarray(self.semseg_color_map) assert colors.ndim == 2 and colors.shape[1] == 3 - # img = 0 + if self.P is None: + return prob = cp.zeros((len(self.labels),) + probabilities.shape[1:]) if "class_max" in self.param.fusion: # decode, create an array with all possible classes and insert probabilities @@ -252,11 +258,11 @@ def publish_segmentation_image(self, probabilities): for iit, (chan, fuse) in enumerate( zip(self.param.channels, self.param.fusion) ): - if fuse == "class_max": + if fuse in ["class_max"]: temp = probabilities[it] temp_p, temp_i = decode_max(temp) temp_i.choose(prob) - c = cp.mgrid[0 : temp_i.shape[0], 0 : temp_i.shape[1]] + c = cp.mgrid[0: temp_i.shape[0], 0: temp_i.shape[1]] prob[temp_i, c[0], c[1]] = temp_p it += 1 elif fuse in ["class_bayesian", "class_average"]: diff --git a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_parameters.py b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_parameters.py index b08e4d1d..c957e736 100644 --- a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_parameters.py +++ b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_parameters.py @@ -13,21 +13,35 @@ class FeatureExtractorParameter(Serializable): dropout: bool = False dino_feat_type: str = "feat" projection_type: str = "nonlinear" - input_size: List[int] = field(default_factory=[80, 160].copy) + # input_size: list = field(default_factory=[80, 160].copy) + input_size: list = field( + default_factory=lambda: [80, 160] + ) @dataclass class PointcloudParameter(Serializable): sensor_name: str = "camera" topic_name: str = "/elvation_mapping/pointcloud_semantic" - channels: list = field(default_factory=lambda: ["rgb", "person", "grass", "tree","max"]) - fusion: list = field(default_factory=lambda: ["color", "class_average", "class_average", "class_average","class_max"]) + channels: list = field( + default_factory=lambda: ["rgb", "person", "grass", "tree", "max"] + ) + fusion: list = field( + default_factory=lambda: [ + "color", + "class_average", + "class_average", + "class_average", + "class_max", + ] + ) semantic_segmentation: bool = True segmentation_model: str = "detectron_coco_panoptic_fpn_R_101_3x" publish_segmentation_image: bool = True segmentation_image_topic: str = "/semantic_pointcloud/sem_seg" pub_all: bool = False + show_label_legend: bool = False cam_info_topic: str = "/zed2i/zed_node/depth/camera_info" image_topic: str = "/zed2i/zed_node/left/image_rect_color" @@ -37,5 +51,5 @@ class PointcloudParameter(Serializable): confidence_topic: str = "/zed2i/zed_node/confidence/confidence_map" confidence_threshold: int = 10 - feature_extractor: bool = True + feature_extractor: bool = False feature_config: FeatureExtractorParameter = FeatureExtractorParameter diff --git a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/tests/test_pointcloud.py b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/tests/test_pointcloud.py index 8ed1bfd4..8273467f 100644 --- a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/tests/test_pointcloud.py +++ b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/tests/test_pointcloud.py @@ -1,8 +1,10 @@ import pytest from ..pointcloud_node import PointcloudNode import cupy as cp +from ..utils import encode_max - +"""This test file only works if ros is installed +""" @pytest.fixture() def pointcloud_ex(cam_name): node = PointcloudNode(cam_name) @@ -29,6 +31,11 @@ def test_pub_seg(pointcloud_ex): # TODO we have to encode the max class other wise it is going to make problem amount = len( pointcloud_ex.segmentation_channels.keys() - ) + pointcloud_ex.param.fusion.count("max_class")+1 - prob = cp.random.rand(amount, 360, 640) + ) + pointcloud_ex.param.fusion.count("max_class") + if "class_max" in pointcloud_ex.param.fusion: + val = cp.random.rand(amount, 360, 640, dtype=cp.float32).astype(cp.float16) + ind = cp.random.randint(0, 2, (amount, 360, 640), dtype=cp.uint32).astype(cp.float32) + prob = encode_max(val, ind) + else: + prob = cp.random.rand(amount, 360, 640) pointcloud_ex.publish_segmentation_image(prob) diff --git a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/utils.py b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/utils.py index 740bbaea..e44f908d 100644 --- a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/utils.py +++ b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/utils.py @@ -128,13 +128,16 @@ def resolve_cateories(self): channels.append(chan) elif self.param.fusion[it] in ["class_average", "class_bayesian"]: print(chan, " is not in the semantic segmentation model.") - # for argamax for it, chan in enumerate(self.param.channels): if chan in [cls for cls in list(class_to_idx.keys())]: indices.append(class_to_idx[chan]) channels.append(chan) elif self.param.fusion[it] in ["class_max"]: + pass + print(chan, " is not in the semantic segmentation model but is a max channel.") + else: print(chan, " is not in the semantic segmentation model.") + self.stuff_categories = dict(zip(channels, indices)) self.segmentation_channels = self.stuff_categories @@ -158,7 +161,6 @@ def __call__(self, image, *args, **kwargs): selected_masks = cp.asarray( normalized_masks[list(self.stuff_categories.values())] ) - # get values of max, first remove the ones we already have normalized_masks[list(self.stuff_categories.values())] = 0 for i in range(self.param.fusion.count("class_max")): @@ -167,8 +169,10 @@ def __call__(self, image, *args, **kwargs): selected_masks = cp.concatenate( (selected_masks, cp.expand_dims(mer, axis=0)), axis=0 ) - # TODO set to zero the max - # normalized_masks[index] = 0 + x = torch.arange(0, index.shape[0]) + y = torch.arange(0, index.shape[1]) + c = torch.meshgrid(x, y) + normalized_masks[index, c[0], c[1]] = 0 return cp.asarray(selected_masks) def get_classes(self): From 2d320e395ddc75dd685eed15e5e35fd748f5d199 Mon Sep 17 00:00:00 2001 From: Gian <43470810+gerni17@users.noreply.github.com> Date: Tue, 6 Dec 2022 14:45:13 +0100 Subject: [PATCH 280/504] Update python-tests.yml --- .github/workflows/python-tests.yml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/.github/workflows/python-tests.yml b/.github/workflows/python-tests.yml index 89fdcb30..451775e3 100644 --- a/.github/workflows/python-tests.yml +++ b/.github/workflows/python-tests.yml @@ -26,7 +26,7 @@ jobs: - name: Install dependencies run: | python -m pip install --upgrade pip - pip install pytest cupy + pip install pytest cupy-cuda114 if [ -f requirements.txt ]; then pip install -r requirements.txt; fi - name: Test elevation mapping with pytest run: | @@ -35,4 +35,4 @@ jobs: - name: Test semantic_pointcloud with pytest run: | cd sensor_processing/semantic_pointcloud/script/semantic_pointcloud/tests - pytest \ No newline at end of file + pytest From b4f935f41b6a4420b36321b5af581ecf2fde6776 Mon Sep 17 00:00:00 2001 From: Gian Erni Date: Tue, 6 Dec 2022 14:52:33 +0100 Subject: [PATCH 281/504] addded torch installation to action container --- .github/workflows/python-tests.yml | 1 + 1 file changed, 1 insertion(+) diff --git a/.github/workflows/python-tests.yml b/.github/workflows/python-tests.yml index 451775e3..514ccf73 100644 --- a/.github/workflows/python-tests.yml +++ b/.github/workflows/python-tests.yml @@ -27,6 +27,7 @@ jobs: run: | python -m pip install --upgrade pip pip install pytest cupy-cuda114 + pip install torch torchvision torchaudio --extra-index-url https://download.pytorch.org/whl/cu116 if [ -f requirements.txt ]; then pip install -r requirements.txt; fi - name: Test elevation mapping with pytest run: | From 5b3b6402c2f0472aaf3152d8037b4cec66180187 Mon Sep 17 00:00:00 2001 From: Gian Date: Tue, 6 Dec 2022 17:06:14 +0100 Subject: [PATCH 282/504] added a few dependecies --- requirements.txt | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/requirements.txt b/requirements.txt index f6e3233d..39e669bf 100644 --- a/requirements.txt +++ b/requirements.txt @@ -1,11 +1,12 @@ ###### Requirements without Version Specifiers ######` numpy -scipy +scipy==1.7 dataclasses ruamel.yaml opencv-python simple_parsing scikit-image +matplotlib ###### Requirements with Version Specifiers ######` shapely==1.7.1 From ed1ccb0bf3c828e92e2fb7e04ad16373acfc7264 Mon Sep 17 00:00:00 2001 From: Gian <43470810+gerni17@users.noreply.github.com> Date: Tue, 6 Dec 2022 17:10:15 +0100 Subject: [PATCH 283/504] Update python-tests.yml --- .github/workflows/python-tests.yml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/.github/workflows/python-tests.yml b/.github/workflows/python-tests.yml index 514ccf73..e99dfb8e 100644 --- a/.github/workflows/python-tests.yml +++ b/.github/workflows/python-tests.yml @@ -26,8 +26,8 @@ jobs: - name: Install dependencies run: | python -m pip install --upgrade pip - pip install pytest cupy-cuda114 - pip install torch torchvision torchaudio --extra-index-url https://download.pytorch.org/whl/cu116 + pip install pytest cupy-cuda11x + pip install torch torchvision torchaudio if [ -f requirements.txt ]; then pip install -r requirements.txt; fi - name: Test elevation mapping with pytest run: | From d8845a665ccf21e3b413a42fcca1acd86d08c72e Mon Sep 17 00:00:00 2001 From: Gian <43470810+gerni17@users.noreply.github.com> Date: Tue, 6 Dec 2022 17:13:26 +0100 Subject: [PATCH 284/504] Update python-tests.yml --- .github/workflows/python-tests.yml | 1 + 1 file changed, 1 insertion(+) diff --git a/.github/workflows/python-tests.yml b/.github/workflows/python-tests.yml index e99dfb8e..e61da073 100644 --- a/.github/workflows/python-tests.yml +++ b/.github/workflows/python-tests.yml @@ -27,6 +27,7 @@ jobs: run: | python -m pip install --upgrade pip pip install pytest cupy-cuda11x + python -m pip install 'git+https://github.com/facebookresearch/detectron2.git' pip install torch torchvision torchaudio if [ -f requirements.txt ]; then pip install -r requirements.txt; fi - name: Test elevation mapping with pytest From 9d512902f75f7e8029efd016c3ff94926ed3ef55 Mon Sep 17 00:00:00 2001 From: Gian <43470810+gerni17@users.noreply.github.com> Date: Tue, 6 Dec 2022 17:16:53 +0100 Subject: [PATCH 285/504] Update python-tests.yml --- .github/workflows/python-tests.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/python-tests.yml b/.github/workflows/python-tests.yml index e61da073..de9a6a47 100644 --- a/.github/workflows/python-tests.yml +++ b/.github/workflows/python-tests.yml @@ -37,4 +37,4 @@ jobs: - name: Test semantic_pointcloud with pytest run: | cd sensor_processing/semantic_pointcloud/script/semantic_pointcloud/tests - pytest + pytest test_utils.py From 09f3e5d6282af51d606b9377f3184b24c888ef3e Mon Sep 17 00:00:00 2001 From: Jonas Frey Date: Tue, 6 Dec 2022 17:05:33 -0800 Subject: [PATCH 286/504] code formatting blacked 120 --- .../config/sensor_parameter.yaml | 39 +++- .../script/elevation_mapping_cupy/__init__.py | 2 +- .../elevation_mapping.py | 169 +++++++++--------- .../elevation_mapping_ros.py | 79 ++------ .../kernels/__init__.py | 2 + .../{ => kernels}/custom_image_kernels.py | 32 +++- .../{ => kernels}/custom_kernels.py | 62 ++++--- .../elevation_mapping_cupy/map_initializer.py | 2 +- .../elevation_mapping_cupy/parameter.py | 8 +- .../plugins/inpainting.py | 4 +- .../plugins/min_filter.py | 3 +- .../plugins/plugin_manager.py | 12 +- .../plugins/robot_centric_elevation.py | 4 +- .../plugins/semantic_traversability.py | 9 +- .../plugins/smooth_filter.py | 3 +- .../elevation_mapping_cupy/semantic_map.py | 149 ++++++++++----- .../tests/test_elevation_mapping.py | 4 +- .../tests/test_parameter.py | 1 - .../tests/test_plugins.py | 17 +- .../tests/test_semantic_map.py | 27 +-- elevation_mapping_cupy/setup.py | 7 +- .../debug_publisher/image_debug_node.py | 2 +- 22 files changed, 347 insertions(+), 290 deletions(-) create mode 100644 elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/__init__.py rename elevation_mapping_cupy/script/elevation_mapping_cupy/{ => kernels}/custom_image_kernels.py (79%) rename elevation_mapping_cupy/script/elevation_mapping_cupy/{ => kernels}/custom_kernels.py (98%) diff --git a/elevation_mapping_cupy/config/sensor_parameter.yaml b/elevation_mapping_cupy/config/sensor_parameter.yaml index 48850236..2be606d2 100644 --- a/elevation_mapping_cupy/config/sensor_parameter.yaml +++ b/elevation_mapping_cupy/config/sensor_parameter.yaml @@ -10,18 +10,39 @@ subscribers: # Collision checking during raycasting from map to camera - debug_image: + debug_rgb: + fusion: ['image_color'] + topic_name_camera: /zed2i/zed_node/right/image + topic_name_camera_info: /zed2i/zed_node/right/camera_info + channels: ["nice_rgb_channel"] + data_type: image + + debug_rgb_3_seperate: + fusion: ['image_exponential','image_exponential','image_exponential'] + topic_name_camera: /zed2i/zed_node/right/image + topic_name_camera_info: /zed2i/zed_node/right/camera_info + channels: ["r_channel", "g_channel", "b_channel"] + data_type: image + + debug_rgb_2_seperate: + fusion: ['image_exponential', 'image_exponential'] + topic_name_camera: /zed2i/zed_node/right/image + topic_name_camera_info: /zed2i/zed_node/right/camera_info + channels: ["r_channel", "g_channel"] + data_type: image + + debug_mono_exponential: fusion: ['image_exponential'] topic_name_camera: /debug_image topic_name_camera_info: /zed2i/zed_node/right/camera_info channels: ["single_channel_semantic"] - type: image + data_type: image front_cam: channels: ['rgb'] fusion: ['color'] topic_name: '/elvation_mapping/pointcloud_semantic' - type: pointcloud + data_type: pointcloud # front_cam: # channels: ['rgb','feat_0','feat_1','grass','tree','fence','person'] @@ -53,34 +74,34 @@ subscribers: channels: [] fusion: ['average'] topic_name: /robot_self_filter/bpearl_front/point_cloud - type: pointcloud + data_type: pointcloud rear_bpearl: channels: [] fusion: ['average'] topic_name: /robot_self_filter/bpearl_rear/point_cloud - type: pointcloud + data_type: pointcloud front_depth: channels: [] fusion: ['average'] topic_name: /depth_camera_front/point_cloud_self_filtered - type: pointcloud + data_type: pointcloud rear_depth: channels: [] fusion: ['average'] topic_name: /depth_camera_rear/point_cloud_self_filtered - type: pointcloud + data_type: pointcloud left_depth: channels: [] fusion: ['average'] topic_name: /depth_camera_left/point_cloud_self_filtered - type: pointcloud + data_type: pointcloud right_depth: channels: [] fusion: ['average'] topic_name: /depth_camera_right/point_cloud_self_filtered - type: pointcloud \ No newline at end of file + data_type: pointcloud \ No newline at end of file diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/__init__.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/__init__.py index 6e2735cd..a16e894d 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/__init__.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/__init__.py @@ -1,2 +1,2 @@ from .parameter import Parameter -from .elevation_mapping import ElevationMap \ No newline at end of file +from .elevation_mapping import ElevationMap diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py index 62480005..017e2640 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py @@ -11,16 +11,15 @@ from elevation_mapping_cupy.traversability_filter import get_filter_chainer, get_filter_torch from elevation_mapping_cupy.parameter import Parameter -from elevation_mapping_cupy.custom_kernels import add_points_kernel, add_color_kernel, color_average_kernel -from elevation_mapping_cupy.custom_kernels import sum_kernel -from elevation_mapping_cupy.custom_kernels import error_counting_kernel -from elevation_mapping_cupy.custom_kernels import average_map_kernel -from elevation_mapping_cupy.custom_kernels import dilation_filter_kernel -from elevation_mapping_cupy.custom_kernels import normal_filter_kernel -from elevation_mapping_cupy.custom_kernels import polygon_mask_kernel -from elevation_mapping_cupy.custom_image_kernels import image_to_map_correspondence_kernel -from elevation_mapping_cupy.custom_image_kernels import average_correspondences_to_map_kernel +from elevation_mapping_cupy.kernels import add_points_kernel, add_color_kernel, color_average_kernel +from elevation_mapping_cupy.kernels import sum_kernel +from elevation_mapping_cupy.kernels import error_counting_kernel +from elevation_mapping_cupy.kernels import average_map_kernel +from elevation_mapping_cupy.kernels import dilation_filter_kernel +from elevation_mapping_cupy.kernels import normal_filter_kernel +from elevation_mapping_cupy.kernels import polygon_mask_kernel +from elevation_mapping_cupy.kernels import image_to_map_correspondence_kernel from elevation_mapping_cupy.map_initializer import MapInitializer @@ -61,8 +60,7 @@ def __init__(self, param: Parameter): self.cell_n = param.cell_n self.map_lock = threading.Lock() - self.additional_layers = dict(zip(self.param.additional_layers, self.param.fusion_algorithms)) - self.semantic_map = SemanticMap(self.param, self.additional_layers) + self.semantic_map = SemanticMap(self.param) self.elevation_map = xp.zeros((7, self.cell_n, self.cell_n), dtype=self.data_type) self.layer_names = [ "elevation", @@ -93,7 +91,9 @@ def __init__(self, param: Parameter): self.additive_mean_error = 0.0 self.compile_kernels() + self.compile_image_kernels() + self.semantic_map.compile_kernels() weight_file = subprocess.getoutput('echo "' + param.weight_file + '"') @@ -118,7 +118,8 @@ def clear(self): self.elevation_map *= 0.0 # Initial variance self.elevation_map[1] += self.initial_variance - self.semantic_map.map *= 0.0 + self.semantic_map.clear() + self.mean_error = 0.0 self.additive_mean_error = 0.0 @@ -207,8 +208,9 @@ def shift_map_xy(self, delta_pixel): self.pad_value(self.elevation_map, shift_value, value=0.0) self.pad_value(self.elevation_map, shift_value, idx=1, value=self.initial_variance) - self.semantic_map.map = cp.roll(self.semantic_map.map, shift_value, axis=(1, 2)) - self.pad_value(self.semantic_map.map, shift_value, value=0.0) + # TODO: This in general is not best practice. This should be layered + self.semantic_map.semantic_map = cp.roll(self.semantic_map.semantic_map, shift_value, axis=(1, 2)) + self.pad_value(self.semantic_map.semantic_map, shift_value, value=0.0) def shift_map_z(self, delta_z): """Shift the relevant layers along the vertical axis. @@ -276,17 +278,19 @@ def compile_kernels(self): self.normal_filter_kernel = normal_filter_kernel(self.cell_n, self.cell_n, self.resolution) def compile_image_kernels(self): - self.new_sem_map = cp.asarray(np.zeros((self.cell_n, self.cell_n), dtype=np.float32), dtype=np.float32) - self.valid_correspondence = cp.asarray(np.zeros((self.cell_n, self.cell_n), dtype=np.bool), dtype=np.bool) - self.uv_correspondence = cp.asarray(np.zeros((2, self.cell_n, self.cell_n), dtype=np.float32), dtype=np.float32) - - self.image_to_map_correspondence_kernel = image_to_map_correspondence_kernel( - resolution=self.resolution, width=self.cell_n, height=self.cell_n, tolerance_z_collision=0.1 - ) - - self.average_correspondences_to_map_kernel = average_correspondences_to_map_kernel( - resolution=self.resolution, width=self.cell_n, height=self.cell_n - ) + for config in self.param.subscriber_cfg.values(): + if config["data_type"] == "image": + self.valid_correspondence = cp.asarray( + np.zeros((self.cell_n, self.cell_n), dtype=np.bool), dtype=np.bool + ) + self.uv_correspondence = cp.asarray( + np.zeros((2, self.cell_n, self.cell_n), dtype=np.float32), dtype=np.float32 + ) + # TODO tolerance_z_collision add parameter + self.image_to_map_correspondence_kernel = image_to_map_correspondence_kernel( + resolution=self.resolution, width=self.cell_n, height=self.cell_n, tolerance_z_collision=0.1 + ) + break def shift_translation_to_map_center(self, t): """Deduct the map center to get the translation of a point w.r.t. the map center. @@ -352,7 +356,7 @@ def update_map_with_kernel(self, points_all, channels, R, t, position_noise, ori self.average_map_kernel(self.new_map, self.elevation_map, size=(self.cell_n * self.cell_n)) # self.update_additional_layers(additional_fusion, points_all, channels, R, t) - self.semantic_map.update_layers(points_all, channels, R, t, self.new_map) + self.semantic_map.update_layers_pointcloud(points_all, channels, R, t, self.new_map) if self.param.enable_overlap_clearance: self.clear_overlap_map(t) @@ -374,49 +378,6 @@ def update_map_with_kernel(self, points_all, channels, R, t, position_noise, ori # calculate normal vectors self.update_normal(self.traversability_input) - def update_map_with_image_kernel(self, image, K, channels, R, t, image_height, image_width): - """Update map with new measurement from semantic image.""" - P = cp.asarray(K @ np.concatenate([R, t[:, None]], 1), dtype=np.float32) - t_cam_map = -R.T @ t - self.center - t_cam_map = t_cam_map.get() - x1 = cp.uint32((self.cell_n / 2) + ((t_cam_map[0]) / self.resolution)) - y1 = cp.uint32((self.cell_n / 2) + ((t_cam_map[1]) / self.resolution)) - z1 = cp.float32(t_cam_map[2]) - - image = cp.asarray(image, dtype=np.float32) - - self.new_sem_map *= 0 - self.uv_correspondence *= 0 - self.valid_correspondence[:, :] = False - with self.map_lock: - sem_map_idx = self.semantic_map.get_index(channels[0]) - self.image_to_map_correspondence_kernel( - self.elevation_map, - x1, - y1, - z1, - P.reshape(-1), - cp.float32(image_height), - cp.float32(image_width), - self.center, - self.uv_correspondence, - self.valid_correspondence, - size=int(self.elevation_map.shape[1] * self.elevation_map.shape[2]), - ) - - self.average_correspondences_to_map_kernel( - self.semantic_map.map[sem_map_idx], - image, - self.uv_correspondence, - self.valid_correspondence, - cp.float32(image_height), - cp.float32(image_width), - self.new_sem_map, - size=int(self.elevation_map.shape[1] * self.elevation_map.shape[2]), - ) - - self.semantic_map.map[sem_map_idx] = self.new_sem_map - def clear_overlap_map(self, t): # Clear overlapping area around center height_min = t[2] - self.param.overlap_clear_range_z @@ -453,7 +414,7 @@ def input( t: cp._core.core.ndarray, position_noise: int, orientation_noise: int, - ) -> None: + ): """Input the pointcloud and fuse the new measurements to update the elevation map. Args: @@ -482,8 +443,8 @@ def input( def input_image( self, + sub_key: str, image: cp._core.core.ndarray, - channels: List[str], R: cp._core.core.ndarray, t: cp._core.core.ndarray, K: cp._core.core.ndarray, @@ -491,13 +452,45 @@ def input_image( image_width: int, ): image = np.stack(image, axis=0) - self.update_map_with_image_kernel(cp.asarray(image, dtype=self.data_type), - cp.asarray(K, dtype=self.data_type), - channels, - cp.asarray(R, dtype=self.data_type), - cp.asarray(t, dtype=self.data_type), - image_height, - image_width) + if len(image.shape) == 2: + image = image[None] + + # Convert to cupy + image = cp.asarray(image, dtype=self.data_type) + K = cp.asarray(K, dtype=self.data_type) + R = cp.asarray(R, dtype=self.data_type) + t = cp.asarray(t, dtype=self.data_type) + image_height = cp.float32(image_height) + image_width = cp.float32(image_width) + + # Calculate transformation matrix + P = cp.asarray(K @ cp.concatenate([R, t[:, None]], 1), dtype=np.float32) + t_cam_map = -R.T @ t - self.center + t_cam_map = t_cam_map.get() + x1 = cp.uint32((self.cell_n / 2) + ((t_cam_map[0]) / self.resolution)) + y1 = cp.uint32((self.cell_n / 2) + ((t_cam_map[1]) / self.resolution)) + z1 = cp.float32(t_cam_map[2]) + + self.uv_correspondence *= 0 + self.valid_correspondence[:, :] = False + + with self.map_lock: + self.image_to_map_correspondence_kernel( + self.elevation_map, + x1, + y1, + z1, + P.reshape(-1), + image_height, + image_width, + self.center, + self.uv_correspondence, + self.valid_correspondence, + size=int(self.cell_n * self.cell_n), + ) + self.semantic_map.update_layers_image( + sub_key, image, self.uv_correspondence, self.valid_correspondence, image_height, image_width + ) def update_normal(self, dilated_map): """Clear the normal map and then apply the normal kernel with dilated map as input. @@ -610,7 +603,7 @@ def exists_layer(self, name): """ if name in self.layer_names: return True - elif name in self.additional_layers: + elif name in self.semantic_map.layer_names: return True elif name in self.plugin_manager.layer_names: return True @@ -647,7 +640,7 @@ def get_map_with_name_ref(self, name, data): m = self.normal_map.copy()[1, 1:-1, 1:-1] elif name == "normal_z": m = self.normal_map.copy()[2, 1:-1, 1:-1] - elif name in self.additional_layers.keys(): + elif name in self.semantic_map.layer_names: m = self.semantic_map.get_map_with_name(name) elif name in self.plugin_manager.layer_names: self.plugin_manager.update_with_name( @@ -689,19 +682,19 @@ def get_normal_ref(self, normal_x_data, normal_y_data, normal_z_data): def get_layer(self, name): if name in self.layer_names: idx = self.layer_names.index(name) - map = self.elevation_map[idx] - elif name in self.semantic_map.param.additional_layers: - idx = self.semantic_map.param.additional_layers.index(name) - map = self.semantic_map.map[idx] + return_map = self.elevation_map[idx] + elif name in self.semantic_map.layer_names: + idx = self.semantic_map.layer_names.index(name) + return_map = self.semantic_map.semantic_map[idx] elif name in self.plugin_manager.layer_names: self.plugin_manager.update_with_name( name, self.elevation_map, self.layer_names, self.semantic_map, self.base_rotation ) - map = self.plugin_manager.get_map_with_name(name) + return_map = self.plugin_manager.get_map_with_name(name) else: print("Layer {} is not in the map, returning traversabiltiy!".format(name)) return - return map + return return_map def get_polygon_traversability(self, polygon, result): """Check if input polygons are traversable. @@ -734,8 +727,8 @@ def get_polygon_traversability(self, polygon, result): self.mask, size=(self.cell_n * self.cell_n), ) - map = self.get_layer(self.param.checker_layer) - masked, masked_isvalid = get_masked_traversability(self.elevation_map, self.mask, map) + tmp_map = self.get_layer(self.param.checker_layer) + masked, masked_isvalid = get_masked_traversability(self.elevation_map, self.mask, tmp_map) if masked_isvalid.sum() > 0: t = masked.sum() / masked_isvalid.sum() else: diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping_ros.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping_ros.py index c2b7842e..71d322d6 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping_ros.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping_ros.py @@ -42,11 +42,13 @@ def __init__(self): weight_file = os.path.join(self.root, "config/weights.dat") plugin_config_file = os.path.join(self.root, "config/plugin_config.yaml") self.param = Parameter(use_chainer=False, weight_file=weight_file, plugin_config_file=plugin_config_file) + self.node_name = "elevation_mapping" + # ROS self.initalize_ros() - self.overwrite_elevation_mapping_params() - self.setup_cv_bride() + self.param.subscriber_cfg = self.subscribers + self.initalize_elevation_mapping() self.register_subscribers() self.register_publishers() @@ -54,10 +56,6 @@ def __init__(self): self._last_t = None - def setup_cv_bride(self): - if self.image_mono_data: - self.cv_bridge = CvBridge() - def initalize_elevation_mapping(self): self.param.update() # TODO add statistics across processed topics @@ -74,54 +72,27 @@ def initalize_ros(self): self._listener = tf2_ros.TransformListener(self._tf_buffer) self.get_ros_params() - def overwrite_elevation_mapping_params(self): - additional = [] - fusion = [] - self.image_mono_data = False - for key, config in self.subscribers.items(): - if config["type"] == "image": - self.image_mono_data = True - for chan, fus in zip(config["channels"], config["fusion"]): - if chan not in additional: - additional.append(chan) - if fus not in fusion: - fusion.append(fus) - - elif config["type"] == "pointcloud": - for chan, fus in zip(config["channels"], config["fusion"]): - if chan not in additional: - additional.append(chan) - if fus not in fusion: - fusion.append(fus) - else: - typ = config["type"] - raise ValueError(f"{typ} unknown, only pointcloud and image defined.") - - self.param.additional_layers = additional - self.param.fusion_algorithms = fusion - self.dtype = [ - ("x", np.float32), - ("y", np.float32), - ("z", np.float32), - ] - for chan in config["channels"]: - self.dtype.append((chan, np.float32)) - def register_subscribers(self): + # check if CV bridge is needed + for config in self.param.subscriber_cfg.values(): + if config["data_type"] == "image": + self.cv_bridge = CvBridge() + break + pointcloud_subs = {} image_subs = {} for key, config in self.subscribers.items(): - if config["type"] == "image": + if config["data_type"] == "image": camera_sub = message_filters.Subscriber(config["topic_name_camera"], Image) camera_info_sub = message_filters.Subscriber(config["topic_name_camera_info"], CameraInfo) image_subs[key] = message_filters.ApproximateTimeSynchronizer( [camera_sub, camera_info_sub], queue_size=10, slop=0.5 ) - image_subs[key].registerCallback(self.image_callback, (config["channels"], config["fusion"])) + image_subs[key].registerCallback(self.image_callback, key) - elif config["type"] == "pointcloud": + elif config["data_type"] == "pointcloud": pointcloud_subs[key] = rospy.Subscriber( - config["topic_name"], PointCloud2, self.pointcloud_callback, (config["channels"], config["fusion"]) + config["topic_name"], PointCloud2, self.pointcloud_callback, key ) def register_publishers(self): @@ -172,8 +143,7 @@ def register_timers(self): self.timer_pose = rospy.Timer(rospy.Duration(1 / self.update_pose_fps), self.update_pose) self.timer_time = rospy.Timer(rospy.Duration(self.time_interval), self.update_time) - def image_callback(self, camera_msg, camera_info_msg, config): - fusion = config[1] + def image_callback(self, camera_msg, camera_info_msg, sub_key): # get pose of image ti = rospy.Time(secs=camera_msg.header.stamp.secs, nsecs=camera_msg.header.stamp.nsecs) self._last_t = ti @@ -195,23 +165,12 @@ def image_callback(self, camera_msg, camera_info_msg, config): assert np.all(np.array(camera_info_msg.D) == 0.0), "Undistortion not implemented" K = np.array(camera_info_msg.K, dtype=np.float32).reshape(3, 3) # process pointcloud - self._map.input_image_mono(semantic_img, config[0], R, t, K, camera_info_msg.height, camera_info_msg.width) + self._map.input_image(sub_key, semantic_img, R, t, K, camera_info_msg.height, camera_info_msg.width) self._image_process_counter += 1 - def pointcloud_callback(self, msg, config): - # convert pcd into numpy array - # output = {} - # total_bytes = msg.fields[-1].offset + PDC_DATATYPE[str(msg.fields[-1].datatype)](1).nbytes - # res = np.frombuffer(msg.data, np.dtype(np.uint8)).reshape((-1, msg.point_step)) - # for field in msg.fields: - # assert field.count == 1, "If this is not case, maybe does not work" - # PDC_DATATYPE[str(field.datatype)] - # dtype = PDC_DATATYPE[str(field.datatype)] - # nbytes = dtype(1).nbytes - # data = res[:, field.offset : field.offset + nbytes] - # output[field.name] = np.frombuffer(data.copy(), np.dtype(dtype)).reshape((-1)) - channels = ["x", "y", "z"] + config[0] - fusion = config[1] + def pointcloud_callback(self, msg, sub_key): + channels = ["x", "y", "z"] + self.param.subscriber_cfg[sub_key]["channels"] + points = ros_numpy.numpify(msg) pts = np.empty((points.shape[0], 0)) for ch in channels: diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/__init__.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/__init__.py new file mode 100644 index 00000000..5a58d6db --- /dev/null +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/__init__.py @@ -0,0 +1,2 @@ +from .custom_image_kernels import * +from .custom_kernels import * diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/custom_image_kernels.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/custom_image_kernels.py similarity index 79% rename from elevation_mapping_cupy/script/elevation_mapping_cupy/custom_image_kernels.py rename to elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/custom_image_kernels.py index 3fcf28d6..75ff85c2 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/custom_image_kernels.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/custom_image_kernels.py @@ -123,7 +123,7 @@ def image_to_map_correspondence_kernel(resolution, width, height, tolerance_z_co def average_correspondences_to_map_kernel(resolution, width, height): average_correspondences_to_map_kernel = cp.ElementwiseKernel( - in_params="raw U sem_map, raw U image_mono, raw U uv_correspondence, raw B valid_correspondence, raw U image_height, raw U image_width", + in_params="raw U sem_map, raw U map_idx, raw U image_mono, raw U uv_correspondence, raw B valid_correspondence, raw U image_height, raw U image_width", out_params="raw U new_sem_map", preamble=string.Template( """ @@ -136,13 +136,41 @@ def average_correspondences_to_map_kernel(resolution, width, height): operation=string.Template( """ int cell_idx = get_map_idx(i, 0); + int target_idx = get_map_idx(i, map_idx); int cell_idx_2 = get_map_idx(i, 1); if (valid_correspondence[cell_idx]){ int idx = int(uv_correspondence[cell_idx]) + int(uv_correspondence[cell_idx_2]) * image_width; - new_sem_map[cell_idx] = image_mono[idx]; + new_sem_map[target_idx] = image_mono[idx]; } """ ).substitute(), name="average_correspondences_to_map_kernel", ) return average_correspondences_to_map_kernel + + +def color_correspondences_to_map_kernel(resolution, width, height): + color_correspondences_to_map_kernel = cp.ElementwiseKernel( + in_params="raw U sem_map, raw W map_idx, raw U image_rgb, raw U uv_correspondence, raw B valid_correspondence, raw U image_height, raw U image_width", + out_params="raw U new_sem_map", + preamble=string.Template( + """ + __device__ int get_map_idx(int idx, int layer_n) { + const int layer = ${width} * ${height}; + return layer * layer_n + idx; + } + """ + ).substitute(width=width, height=height), + operation=string.Template( + """ + int cell_idx = get_map_idx(i, 0); + int cell_idx_2 = get_map_idx(i, 1); + if (valid_correspondence[cell_idx]){ + int idx = int(uv_correspondence[cell_idx]) + int(uv_correspondence[cell_idx_2]) * image_width; + new_sem_map[cell_idx] = image_rgb[idx]; + } + """ + ).substitute(), + name="color_correspondences_to_map_kernel", + ) + return color_correspondences_to_map_kernel diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/custom_kernels.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/custom_kernels.py similarity index 98% rename from elevation_mapping_cupy/script/elevation_mapping_cupy/custom_kernels.py rename to elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/custom_kernels.py index 4caa3cbe..a6076ac5 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/custom_kernels.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/custom_kernels.py @@ -655,13 +655,15 @@ def polygon_mask_kernel(width, height, resolution): ) return polygon_mask_kernel + ##################### additional kernels ################################# + def sum_kernel( - resolution, - width, - height, - ): + resolution, + width, + height, +): # input the list of layers, amount of channels can slo be input through kernel sum_kernel = cp.ElementwiseKernel( in_params="raw U p, raw U R, raw U t, raw W pcl_chan, raw W map_lay, raw W pcl_channels", @@ -673,7 +675,7 @@ def sum_kernel( return layer * layer_n + idx; } """ - ).substitute(resolution=resolution,width=width, height=height), + ).substitute(resolution=resolution, width=width, height=height), operation=string.Template( """ U idx = p[i * pcl_channels[0]]; @@ -688,17 +690,17 @@ def sum_kernel( } } """ - ).substitute( - ), + ).substitute(), name="sum_kernel", ) return sum_kernel + def alpha_kernel( - resolution, - width, - height, - ): + resolution, + width, + height, +): # input the list of layers, amount of channels can slo be input through kernel alpha_kernel = cp.ElementwiseKernel( in_params="raw U p, raw W pcl_chan, raw W map_lay, raw W pcl_channels", @@ -710,7 +712,7 @@ def alpha_kernel( return layer * layer_n + idx; } """ - ).substitute(resolution=resolution,width=width, height=height), + ).substitute(resolution=resolution, width=width, height=height), operation=string.Template( """ U idx = p[i * pcl_channels[0]]; @@ -731,17 +733,15 @@ def alpha_kernel( } } """ - ).substitute( - ), + ).substitute(), name="alpha_kernel", ) return alpha_kernel - def average_kernel( - width, - height, + width, + height, ): average_kernel = cp.ElementwiseKernel( in_params="raw V newmap, raw W pcl_chan, raw W map_lay, raw W pcl_channels, raw U new_elmap", @@ -764,15 +764,15 @@ def average_kernel( } } """ - ).substitute( - ), + ).substitute(), name="average_map_kernel", ) return average_kernel + def class_average_kernel( - width, - height, + width, + height, ): class_average_kernel = cp.ElementwiseKernel( in_params="raw V newmap, raw W pcl_chan, raw W map_lay, raw W pcl_channels, raw U new_elmap", @@ -802,15 +802,15 @@ def class_average_kernel( } } """ - ).substitute( - ), + ).substitute(), name="class_average_kernel", ) return class_average_kernel + def add_color_kernel( - width, - height, + width, + height, ): add_color_kernel = cp.ElementwiseKernel( in_params="raw T p, raw U R, raw U t, raw W pcl_chan, raw W map_lay, raw W pcl_channels", @@ -853,16 +853,15 @@ def add_color_kernel( } } """ - ).substitute( - width=width - ), + ).substitute(width=width), name="add_color_kernel", ) return add_color_kernel + def color_average_kernel( - width, - height, + width, + height, ): color_average_kernel = cp.ElementwiseKernel( in_params="raw V color_map, raw W pcl_chan, raw W map_lay, raw W pcl_channels", @@ -913,8 +912,7 @@ def color_average_kernel( } } """ - ).substitute( - ), + ).substitute(), name="color_average_kernel", ) return color_average_kernel diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/map_initializer.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/map_initializer.py index 8d4ee945..0139ea76 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/map_initializer.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/map_initializer.py @@ -23,7 +23,7 @@ def __call__(self, *args, **kwargs): return def points_initializer(self, elevation_map, points, method="linear"): - """ Initialize the map using interpolation between given points + """Initialize the map using interpolation between given points Args: elevation_map (cupy._core.core.ndarray): elevation_map data. diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py index 2a92168f..40fc9fd8 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py @@ -8,11 +8,12 @@ from simple_parsing.helpers import Serializable from dataclasses import field + @dataclass class Parameter(Serializable): + subscriber_cfg: dict = field(default_factory=lambda: {}) + resolution: float = 0.04 - additional_layers: list = field(default_factory=lambda: ["feat_0"]) - fusion_algorithms: list = field(default_factory=lambda: ["average"]) cell_n: int = None data_type: str = np.float32 @@ -45,7 +46,7 @@ class Parameter(Serializable): safe_thresh: float = 0.5 safe_min_thresh: float = 0.5 max_unsafe_n: int = 20 - checker_layer: str = 'traversability' + checker_layer: str = "traversability" min_filter_size: int = 5 min_filter_iteration: int = 3 @@ -98,6 +99,7 @@ def update(self): # +2 is a border for outside map self.cell_n = int(round(self.map_length / self.resolution)) + 2 + if __name__ == "__main__": param = Parameter() print(param) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/inpainting.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/inpainting.py index 97d8d09a..8da8c29c 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/inpainting.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/inpainting.py @@ -54,9 +54,7 @@ def __call__( h = elevation_map[0] h_max = float(h[mask < 1].max()) h_min = float(h[mask < 1].min()) - h = cp.asnumpy((elevation_map[0] - h_min) * 255 / (h_max - h_min)).astype( - "uint8" - ) + h = cp.asnumpy((elevation_map[0] - h_min) * 255 / (h_max - h_min)).astype("uint8") dst = np.array(cv.inpaint(h, mask, 1, self.method)) h_inpainted = dst.astype(np.float32) * (h_max - h_min) / 255 + h_min return cp.asarray(h_inpainted).astype(np.float64) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/min_filter.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/min_filter.py index b3eba4ff..6c479b03 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/min_filter.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/min_filter.py @@ -10,9 +10,8 @@ class MinFilter(PluginBase): - def __init__(self, cell_n: int = 100, dilation_size: int = 5, iteration_n: int = 5, **kwargs): - """ This is a filter to fill in invalid cells with minimum values around. + """This is a filter to fill in invalid cells with minimum values around. Args: cell_n (int): width of the elevation map. diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/plugin_manager.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/plugin_manager.py index b29375cd..faa74ebb 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/plugin_manager.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/plugin_manager.py @@ -78,9 +78,7 @@ def init(self, plugin_params: List[PluginParams], extra_params: List[Dict]): self.plugins = [] for param, extra_param in zip(plugin_params, extra_params): - m = importlib.import_module( - "." + param.name, package="elevation_mapping_cupy.plugins" - ) # -> 'module' + m = importlib.import_module("." + param.name, package="elevation_mapping_cupy.plugins") # -> 'module' for name, obj in inspect.getmembers(m): if ( inspect.isclass(obj) @@ -90,9 +88,7 @@ def init(self, plugin_params: List[PluginParams], extra_params: List[Dict]): # Add cell_n to params extra_param["cell_n"] = self.cell_n self.plugins.append(obj(**extra_param)) - self.layers = cp.zeros( - (len(self.plugins), self.cell_n, self.cell_n), dtype=cp.float32 - ) + self.layers = cp.zeros((len(self.plugins), self.cell_n, self.cell_n), dtype=cp.float32) self.layer_names = self.get_layer_names() self.plugin_names = self.get_plugin_names() @@ -155,9 +151,7 @@ def update_with_name( if idx is not None: n_param = len(signature(self.plugins[idx]).parameters) if n_param == 5: - self.layers[idx] = self.plugins[idx]( - elevation_map, layer_names, self.layers, self.layer_names - ) + self.layers[idx] = self.plugins[idx](elevation_map, layer_names, self.layers, self.layer_names) elif n_param == 6: self.layers[idx] = self.plugins[idx]( elevation_map, diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/robot_centric_elevation.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/robot_centric_elevation.py index 2b0de613..aea7df13 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/robot_centric_elevation.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/robot_centric_elevation.py @@ -8,7 +8,7 @@ class RobotCentricElevation(PluginBase): def __init__( self, cell_n: int = 100, resolution: float = 0.05, threshold: float = 0.4, use_threshold: bool = 0, **kwargs ): - """ Generates an elevation map with respect to the robot frame. + """Generates an elevation map with respect to the robot frame. Args: cell_n (int): @@ -20,7 +20,7 @@ def __init__( super().__init__() self.width = cell_n self.height = cell_n - self.min_filtered = cp.zeros((self.width, self.height),dtype=cp.float32) + self.min_filtered = cp.zeros((self.width, self.height), dtype=cp.float32) self.base_elevation_kernel = cp.ElementwiseKernel( in_params="raw U map, raw U mask, raw U R", diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_traversability.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_traversability.py index 4fb842d2..17a15277 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_traversability.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_traversability.py @@ -10,7 +10,6 @@ class SemanticTraversability(PluginBase): - def __init__( self, cell_n: int = 100, @@ -19,7 +18,7 @@ def __init__( type: list = ["traversability"], **kwargs, ): - """ Extracts traversability and elevations from layers and generates an updated traversability that can be used by checker. + """Extracts traversability and elevations from layers and generates an updated traversability that can be used by checker. Args: cell_n (int): @@ -69,9 +68,7 @@ def __call__( idx = plugin_layer_names.index(name) tempo = plugin_layers[idx] else: - print( - "Layer {} is not in the map, returning traversabiltiy!".format(name) - ) + print("Layer {} is not in the map, returning traversabiltiy!".format(name)) return if self.type[it] == "traversability": tempo = cp.where(tempo <= self.thresholds[it], 1, 0) @@ -79,6 +76,6 @@ def __call__( else: tempo = cp.where(tempo >= self.thresholds[it], 1, 0) map += tempo - map = cp.where(map <= 0.9, 0.1,1) + map = cp.where(map <= 0.9, 0.1, 1) return map diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/smooth_filter.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/smooth_filter.py index fb03ad28..79d0be80 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/smooth_filter.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/smooth_filter.py @@ -10,9 +10,8 @@ class SmoothFilter(PluginBase): - def __init__(self, cell_n: int = 100, input_layer_name: str = "elevation", **kwargs): - """ This filters smoothees elevation map. + """This filters smoothees elevation map. Args: cell_n (int): diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py index 3d13ffe7..a4e51dd2 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py @@ -1,52 +1,58 @@ -from .parameter import Parameter +from elevation_mapping_cupy.parameter import Parameter import cupy as cp import numpy as np from typing import List -from .custom_kernels import ( - sum_kernel, - add_color_kernel, - color_average_kernel, - average_kernel, - class_average_kernel, - alpha_kernel, -) +from elevation_mapping_cupy.kernels import sum_kernel, add_color_kernel, color_average_kernel +from elevation_mapping_cupy.kernels import average_kernel, class_average_kernel, alpha_kernel +from elevation_mapping_cupy.kernels import average_correspondences_to_map_kernel, color_correspondences_to_map_kernel xp = cp class SemanticMap: - def __init__(self, param: Parameter, layer_specs: dict): + def __init__(self, param: Parameter): """ Args: param (elevation_mapping_cupy.parameter.Parameter): - layer_specs (Dict[str, str]): """ + self.param = param - self.layer_specs = layer_specs - self.amount_additional_layers = len(self.param.additional_layers) - self.map = xp.zeros( - (self.amount_additional_layers, self.param.cell_n, self.param.cell_n), + + # TODO: maps channel to fusion strategy (maybe rename) + self.layer_specs = {} + self.layer_names = [] + self.unique_fusion = [] + + for k, config in self.param.subscriber_cfg.items(): + for f, c in zip(config["fusion"], config["channels"]): + if c not in self.layer_names: + self.layer_names.append(c) + self.layer_specs[c] = f + else: + assert self.layer_specs[c] == f, "Error: Single layer has multiple fusion algorithms!" + + if f not in self.unique_fusion: + self.unique_fusion.append(f) + + self.amount_layer_names = len(self.layer_names) + + self.semantic_map = xp.zeros( + (self.amount_layer_names, self.param.cell_n, self.param.cell_n), dtype=param.data_type, ) - self.get_unique_fusion() self.new_map = xp.zeros( - (self.amount_additional_layers, self.param.cell_n, self.param.cell_n), + (self.amount_layer_names, self.param.cell_n, self.param.cell_n), param.data_type, ) - self.color_map = None - def get_unique_fusion(self): - self.unique_fusion = [] - for x in list(self.layer_specs.values()): - if x not in self.unique_fusion: - self.unique_fusion.append(x) + def clear(self): + self.semantic_map *= 0.0 def compile_kernels(self) -> None: """ Returns: None: - """ # TODO: maybe this could be improved by creating functions for each single # create a base class containing compile kernel as well as update and this then can be created for various @@ -67,6 +73,7 @@ def compile_kernels(self) -> None: if "color" in self.unique_fusion: print("Initialize color kernel") + self.add_color_kernel = add_color_kernel( self.param.cell_n, self.param.cell_n, @@ -91,6 +98,16 @@ def compile_kernels(self) -> None: self.param.cell_n, ) + if "image_exponential" in self.unique_fusion: + self.average_correspondences_to_map_kernel = average_correspondences_to_map_kernel( + resolution=self.param.resolution, width=self.param.cell_n, height=self.param.cell_n + ) + + if "image_color" in self.unique_fusion: + self.color_correspondences_to_map_kernel = color_correspondences_to_map_kernel( + resolution=self.param.resolution, width=self.param.cell_n, height=self.param.cell_n + ) + def get_fusion_of_pcl(self, channels: List[str]) -> List[str]: """Get all fusion algorithms that need to be applied to a specific pointcloud @@ -130,7 +147,7 @@ def get_indices_fusion(self, pcl_channels: List[str], fusion_alg: str): layer_indices = cp.append(layer_indices, it).astype(np.int32) return pcl_indices, layer_indices - def update_layers(self, points_all, channels, R, t, elevation_map): + def update_layers_pointcloud(self, points_all, channels, R, t, elevation_map): additional_fusion = self.get_fusion_of_pcl(channels) self.new_map *= 0.0 if "average" in additional_fusion: @@ -142,7 +159,7 @@ def update_layers(self, points_all, channels, R, t, elevation_map): pcl_ids, layer_ids, cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=np.int32), - self.map, + self.semantic_map, self.new_map, size=(points_all.shape[0]), ) @@ -152,7 +169,7 @@ def update_layers(self, points_all, channels, R, t, elevation_map): layer_ids, cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=np.int32), elevation_map, - self.map, + self.semantic_map, size=(self.param.cell_n * self.param.cell_n), ) if "class_average" in additional_fusion: @@ -164,7 +181,7 @@ def update_layers(self, points_all, channels, R, t, elevation_map): pcl_ids, layer_ids, cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=np.int32), - self.map, + self.semantic_map, self.new_map, size=(points_all.shape[0]), ) @@ -174,7 +191,7 @@ def update_layers(self, points_all, channels, R, t, elevation_map): layer_ids, cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=np.int32), elevation_map, - self.map, + self.semantic_map, size=(self.param.cell_n * self.param.cell_n), ) @@ -192,17 +209,16 @@ def update_layers(self, points_all, channels, R, t, elevation_map): ) # calculate new thetas sum_alpha = cp.sum(self.new_map[layer_ids], axis=0) - self.map[layer_ids] = self.new_map[layer_ids] / cp.expand_dims(sum_alpha, axis=0) - # assert cp.unique(cp.sum(self.map[layer_ids], axis=0)) equal to zero or to nan + self.semantic_map[layer_ids] = self.new_map[layer_ids] / cp.expand_dims(sum_alpha, axis=0) + # assert cp.unique(cp.sum(self.semantic_map[layer_ids], axis=0)) equal to zero or to nan if "color" in additional_fusion: pcl_ids, layer_ids = self.get_indices_fusion(channels, "color") - if self.color_map is None: - self.color_map = cp.zeros( - (1 + 3 * layer_ids.shape[0], self.param.cell_n, self.param.cell_n), - dtype=np.uint32, - ) - self.color_map *= 0 + self.color_map = cp.zeros( + (1 + 3 * layer_ids.shape[0], self.param.cell_n, self.param.cell_n), + dtype=np.uint32, + ) + points_all = points_all.astype(cp.float32) self.add_color_kernel( points_all, @@ -219,10 +235,57 @@ def update_layers(self, points_all, channels, R, t, elevation_map): pcl_ids, layer_ids, cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=np.int32), - self.map, + self.semantic_map, size=(self.param.cell_n * self.param.cell_n), ) + def update_layers_image( + self, + sub_key: str, + image: cp._core.core.ndarray, + uv_correspondence: cp._core.core.ndarray, + valid_correspondence: cp._core.core.ndarray, + image_height: cp._core.core.ndarray, + image_width: cp._core.core.ndarray, + ): + + self.new_map *= 0 + config = self.param.subscriber_cfg[sub_key] + + for j, (fusion, channel) in enumerate(zip(config["fusion"], config["channels"])): + sem_map_idx = self.get_index(channel) + + if fusion == "image_exponential": + self.average_correspondences_to_map_kernel( + self.semantic_map, + cp.uint64(sem_map_idx), + image[j], + uv_correspondence, + valid_correspondence, + image_height, + image_width, + self.new_map, + size=int(self.param.cell_n * self.param.cell_n), + ) + self.semantic_map[sem_map_idx] = self.new_map[sem_map_idx] + + elif fusion == "image_color": + self.color_correspondences_to_map_kernel( + self.semantic_map, + cp.uint64(sem_map_idx), + image, + uv_correspondence, + valid_correspondence, + image_height, + image_width, + self.new_map, + size=int(self.param.cell_n * self.param.cell_n), + ) + self.semantic_map[sem_map_idx] = self.new_map[sem_map_idx] + + else: + raise ValueError("Fusion for image is unkown.") + def get_map_with_name(self, name): if self.layer_specs[name] == "color": m = self.get_rgb(name) @@ -232,16 +295,16 @@ def get_map_with_name(self, name): return m def get_rgb(self, name): - idx = self.param.additional_layers.index(name) - c = self.process_map_for_publish(self.map[idx]) + idx = self.layer_names.index(name) + c = self.process_map_for_publish(self.semantic_map[idx]) c = c.astype(np.float32) # c = xp.uint32(c.get()) # c.dtype = np.float32 return c def get_semantic(self, name): - idx = self.param.additional_layers.index(name) - c = self.process_map_for_publish(self.map[idx]) + idx = self.layer_names.index(name) + c = self.process_map_for_publish(self.semantic_map[idx]) return c def process_map_for_publish(self, input_map): @@ -249,4 +312,4 @@ def process_map_for_publish(self, input_map): return m[1:-1, 1:-1] def get_index(self, name): - return self.param.additional_layers.index(name) + return self.layer_names.index(name) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_elevation_mapping.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_elevation_mapping.py index e7e36c19..0ed14ee7 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_elevation_mapping.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_elevation_mapping.py @@ -89,9 +89,7 @@ def test_polygon_traversability(self, elmap_ex): def test_initialize_map(self, elmap_ex): methods = ["linear", "cubic", "nearest"] for method in methods: - points = np.array( - [[-4.0, 0.0, 0.0], [-4.0, 8.0, 1.0], [4.0, 8.0, 0.0], [4.0, 0.0, 0.0]] - ) + points = np.array([[-4.0, 0.0, 0.0], [-4.0, 8.0, 1.0], [4.0, 8.0, 0.0], [4.0, 0.0, 0.0]]) elmap_ex.initialize_map(points, method) def test_plugins(self, elmap_ex): diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_parameter.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_parameter.py index 9a12dee4..4c497349 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_parameter.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_parameter.py @@ -15,4 +15,3 @@ def test_parameter(): param.update() assert param.resolution == param.get_value("resolution") param.load_weights(param.weight_file) - diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_plugins.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_plugins.py index 180aa9d5..9d6c41cf 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_plugins.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_plugins.py @@ -28,8 +28,12 @@ def semmap_ex(add_lay, fusion_alg): @pytest.mark.parametrize( "add_lay, fusion_alg,channels", [ - (['grass','tree','fence','person'], ["class_average", "class_average", "class_average", "class_average"], ["grass"]), - (['grass','tree'], ["class_average", "class_average"], ['grass']), + ( + ["grass", "tree", "fence", "person"], + ["class_average", "class_average", "class_average", "class_average"], + ["grass"], + ), + (["grass", "tree"], ["class_average", "class_average"], ["grass"]), # ( # ["feat_0", "feat_1", "rgb"], # ["average", "average", "color"], @@ -41,7 +45,7 @@ def test_plugin_manager(semmap_ex, channels): manager = PluginManager(202) manager.load_plugin_settings(plugin_path) elevation_map = cp.zeros((7, 202, 202)).astype(cp.float32) - rotation = cp.eye(3,dtype=cp.float32) + rotation = cp.eye(3, dtype=cp.float32) layer_names = [ "elevation", "variance", @@ -57,10 +61,9 @@ def test_plugin_manager(semmap_ex, channels): manager.layers[0] manager.update_with_name("min_filter", elevation_map, layer_names) manager.update_with_name("smooth_filter", elevation_map, layer_names) - manager.update_with_name("semantic_filter", elevation_map, layer_names,semmap_ex,rotation) - manager.update_with_name("semantic_traversability", elevation_map, layer_names,semmap_ex) + manager.update_with_name("semantic_filter", elevation_map, layer_names, semmap_ex, rotation) + manager.update_with_name("semantic_traversability", elevation_map, layer_names, semmap_ex) manager.get_map_with_name("smooth") for lay in manager.get_layer_names(): - manager.update_with_name(lay,elevation_map,layer_names,semmap_ex,rotation) + manager.update_with_name(lay, elevation_map, layer_names, semmap_ex, rotation) manager.get_map_with_name(lay) - diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_semantic_map.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_semantic_map.py index 86eba134..161bb203 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_semantic_map.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_semantic_map.py @@ -18,31 +18,34 @@ def semmap_ex(add_lay, fusion_alg): additional_layers = dict(zip(p.additional_layers, p.fusion_algorithms)) p.cell_n = int(round(p.map_length / p.resolution)) + 2 - e = semantic_map.SemanticMap(p,additional_layers) + e = semantic_map.SemanticMap(p, additional_layers) return e + @pytest.mark.parametrize( "add_lay, fusion_alg,channels", - [(["feat_0", "feat_1"], ["average", "average"],["feat_0"]), - (["feat_0", "feat_1"], ["average", "average"],[]), - (["feat_0", "feat_1", "rgb"], ["average", "average", "color"],["rgb", "feat_0"]), - (["feat_0", "feat_1", "rgb"], ["class_average", "average", "color"], ["rgb", "feat_0"]), - (["feat_0", "feat_1", "rgb"], ["class_bayesian", "average", "color"], ["rgb", "feat_0"]), - (["feat_0", "feat_1", "rgb"], ["class_bayesian", "average", "color"], ["rgb", "feat_0", "feat_1"]), - ], + [ + (["feat_0", "feat_1"], ["average", "average"], ["feat_0"]), + (["feat_0", "feat_1"], ["average", "average"], []), + (["feat_0", "feat_1", "rgb"], ["average", "average", "color"], ["rgb", "feat_0"]), + (["feat_0", "feat_1", "rgb"], ["class_average", "average", "color"], ["rgb", "feat_0"]), + (["feat_0", "feat_1", "rgb"], ["class_bayesian", "average", "color"], ["rgb", "feat_0"]), + (["feat_0", "feat_1", "rgb"], ["class_bayesian", "average", "color"], ["rgb", "feat_0", "feat_1"]), + ], ) def test_fusion_of_pcl(semmap_ex, channels): fusion = semmap_ex.get_fusion_of_pcl(channels=channels) assert len(fusion) <= len(channels) - assert len(fusion)>0 or len(channels)==0 + assert len(fusion) > 0 or len(channels) == 0 assert all(isinstance(item, str) for item in fusion) @pytest.mark.parametrize( "add_lay, fusion_alg", - [(["feat_0", "feat_1", "rgb"], ["average", "average", "color"]), - ], + [ + (["feat_0", "feat_1", "rgb"], ["average", "average", "color"]), + ], ) @pytest.mark.parametrize("channels", [["rgb"], ["rgb", "feat_0"], []]) -def test_indices_fusion(semmap_ex, channels,fusion_alg): +def test_indices_fusion(semmap_ex, channels, fusion_alg): pcl_indices, layer_indices = semmap_ex.get_indices_fusion(pcl_channels=channels, fusion_alg=fusion_alg[0]) diff --git a/elevation_mapping_cupy/setup.py b/elevation_mapping_cupy/setup.py index 51954f5b..f225f03a 100644 --- a/elevation_mapping_cupy/setup.py +++ b/elevation_mapping_cupy/setup.py @@ -3,9 +3,10 @@ setup_args = generate_distutils_setup( packages=[ - 'elevation_mapping_cupy', - 'elevation_mapping_cupy.plugins', + "elevation_mapping_cupy", + "elevation_mapping_cupy.plugins", ], - package_dir={'': 'script'}) + package_dir={"": "script"}, +) setup(**setup_args) diff --git a/sensor_processing/debug_publisher/image_debug_node.py b/sensor_processing/debug_publisher/image_debug_node.py index 982ba83a..91743acb 100644 --- a/sensor_processing/debug_publisher/image_debug_node.py +++ b/sensor_processing/debug_publisher/image_debug_node.py @@ -24,7 +24,7 @@ def __init__(self): def image_callback(self, rgb_msg): img = self.cv_bridge.imgmsg_to_cv2(rgb_msg, desired_encoding="rgb8") out = np.zeros((img.shape[0],img.shape[1]), dtype=np.uint16) - out[:int(img.shape[0]/2)] = 1 + out[:, :int(img.shape[1]/2)] = 1 seg_msg = self.cv_bridge.cv2_to_imgmsg(out, encoding="mono16") seg_msg.header = rgb_msg.header self.debug_pub.publish(seg_msg) From 612c352da8f6eb3de973cf145441fd0b40f9da04 Mon Sep 17 00:00:00 2001 From: Jonas Frey Date: Tue, 6 Dec 2022 17:59:39 -0800 Subject: [PATCH 287/504] updated cfg to default rgb version --- elevation_mapping_cupy/config/parameters.yaml | 2 +- .../config/sensor_parameter.yaml | 51 ++++++++----------- .../elevation_mapping_ros.py | 1 + .../kernels/custom_image_kernels.py | 28 +++++++--- 4 files changed, 43 insertions(+), 39 deletions(-) diff --git a/elevation_mapping_cupy/config/parameters.yaml b/elevation_mapping_cupy/config/parameters.yaml index 91a45819..57b6ea1d 100644 --- a/elevation_mapping_cupy/config/parameters.yaml +++ b/elevation_mapping_cupy/config/parameters.yaml @@ -78,7 +78,7 @@ publishers: fps: 2.0 semantic_map_raw: - layers: ['elevation', 'traversability', 'variance', 'single_channel_semantic'] + layers: ['elevation', 'traversability', 'variance', 'rgb_image'] basic_layers: ['elevation', 'traversability'] fps: 2.0 # elevation_map_recordable: diff --git a/elevation_mapping_cupy/config/sensor_parameter.yaml b/elevation_mapping_cupy/config/sensor_parameter.yaml index 2be606d2..abc12c58 100644 --- a/elevation_mapping_cupy/config/sensor_parameter.yaml +++ b/elevation_mapping_cupy/config/sensor_parameter.yaml @@ -1,42 +1,31 @@ subscribers: - # Single-channel or multi-channel input (Depth or RGB) - # Case 1: 1 channel image - into single semantic layer - # Case 2: 3 channel image - into 3 individual semantic layer - # Case 3: 3 channel image - into RGB color layer - - # Fusion: - # exponential averaging - # using neigborhodd to reduce artifacts - - # Collision checking during raycasting from map to camera - debug_rgb: fusion: ['image_color'] - topic_name_camera: /zed2i/zed_node/right/image + topic_name_camera: /zed2i/zed_node/left/image_rect_color topic_name_camera_info: /zed2i/zed_node/right/camera_info - channels: ["nice_rgb_channel"] + channels: ["rgb_image"] data_type: image - debug_rgb_3_seperate: - fusion: ['image_exponential','image_exponential','image_exponential'] - topic_name_camera: /zed2i/zed_node/right/image - topic_name_camera_info: /zed2i/zed_node/right/camera_info - channels: ["r_channel", "g_channel", "b_channel"] - data_type: image + # debug_rgb_3_seperate: + # fusion: ['image_exponential','image_exponential','image_exponential'] + # topic_name_camera: /zed2i/zed_node/right/image + # topic_name_camera_info: /zed2i/zed_node/right/camera_info + # channels: ["r_channel", "g_channel", "b_channel"] + # data_type: image - debug_rgb_2_seperate: - fusion: ['image_exponential', 'image_exponential'] - topic_name_camera: /zed2i/zed_node/right/image - topic_name_camera_info: /zed2i/zed_node/right/camera_info - channels: ["r_channel", "g_channel"] - data_type: image + # debug_rgb_2_seperate: + # fusion: ['image_exponential', 'image_exponential'] + # topic_name_camera: /zed2i/zed_node/left/image_rect_color + # topic_name_camera_info: /zed2i/zed_node/right/camera_info + # channels: ["r_channel", "g_channel"] + # data_type: image - debug_mono_exponential: - fusion: ['image_exponential'] - topic_name_camera: /debug_image - topic_name_camera_info: /zed2i/zed_node/right/camera_info - channels: ["single_channel_semantic"] - data_type: image + # debug_mono_exponential: + # fusion: ['image_exponential'] + # topic_name_camera: /debug_image + # topic_name_camera_info: /zed2i/zed_node/right/camera_info + # channels: ["single_channel_semantic"] + # data_type: image front_cam: channels: ['rgb'] diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping_ros.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping_ros.py index 71d322d6..b9e2a6e1 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping_ros.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping_ros.py @@ -161,6 +161,7 @@ def image_callback(self, camera_msg, camera_info_msg, sub_key): R = quaternion_matrix([q.x, q.y, q.z, q.w])[:3, :3] semantic_img = self.cv_bridge.imgmsg_to_cv2(camera_msg, desired_encoding="passthrough") + semantic_img = [semantic_img[:, :, k] for k in range(3)] assert np.all(np.array(camera_info_msg.D) == 0.0), "Undistortion not implemented" K = np.array(camera_info_msg.K, dtype=np.float32).reshape(3, 3) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/custom_image_kernels.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/custom_image_kernels.py index 75ff85c2..47770488 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/custom_image_kernels.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/custom_image_kernels.py @@ -136,12 +136,14 @@ def average_correspondences_to_map_kernel(resolution, width, height): operation=string.Template( """ int cell_idx = get_map_idx(i, 0); - int target_idx = get_map_idx(i, map_idx); - int cell_idx_2 = get_map_idx(i, 1); if (valid_correspondence[cell_idx]){ + int cell_idx_2 = get_map_idx(i, 1); int idx = int(uv_correspondence[cell_idx]) + int(uv_correspondence[cell_idx_2]) * image_width; - new_sem_map[target_idx] = image_mono[idx]; + new_sem_map[get_map_idx(i, map_idx)] = image_mono[idx]; + }else{ + new_sem_map[get_map_idx(i, map_idx)] = sem_map[get_map_idx(i, map_idx)]; } + """ ).substitute(), name="average_correspondences_to_map_kernel", @@ -151,7 +153,7 @@ def average_correspondences_to_map_kernel(resolution, width, height): def color_correspondences_to_map_kernel(resolution, width, height): color_correspondences_to_map_kernel = cp.ElementwiseKernel( - in_params="raw U sem_map, raw W map_idx, raw U image_rgb, raw U uv_correspondence, raw B valid_correspondence, raw U image_height, raw U image_width", + in_params="raw U sem_map, raw U map_idx, raw U image_rgb, raw U uv_correspondence, raw B valid_correspondence, raw U image_height, raw U image_width", out_params="raw U new_sem_map", preamble=string.Template( """ @@ -164,10 +166,22 @@ def color_correspondences_to_map_kernel(resolution, width, height): operation=string.Template( """ int cell_idx = get_map_idx(i, 0); - int cell_idx_2 = get_map_idx(i, 1); if (valid_correspondence[cell_idx]){ - int idx = int(uv_correspondence[cell_idx]) + int(uv_correspondence[cell_idx_2]) * image_width; - new_sem_map[cell_idx] = image_rgb[idx]; + int cell_idx_2 = get_map_idx(i, 1); + + int idx_red = int(uv_correspondence[cell_idx]) + int(uv_correspondence[cell_idx_2]) * image_width; + int idx_green = image_width * image_height + idx_red; + int idx_blue = image_width * image_height * 2 + idx_red; + + unsigned int r = image_rgb[idx_red]; + unsigned int g = image_rgb[idx_green]; + unsigned int b = image_rgb[idx_blue]; + + unsigned int rgb = (r<<16) + (g << 8) + b; + float rgb_ = __uint_as_float(rgb); + new_sem_map[get_map_idx(i, map_idx)] = rgb_; + }else{ + new_sem_map[get_map_idx(i, map_idx)] = sem_map[get_map_idx(i, map_idx)]; } """ ).substitute(), From e05a5d113c330c7a3b17acc86c2f07bbd4a0243f Mon Sep 17 00:00:00 2001 From: Gian Erni Date: Wed, 7 Dec 2022 15:24:55 +0100 Subject: [PATCH 288/504] removed parameter logic from cpp --- elevation_mapping_cupy/config/parameters.yaml | 3 --- elevation_mapping_cupy/config/sensor_parameter.yaml | 1 + .../script/elevation_mapping_cupy/parameter.py | 11 ++++++++++- .../src/elevation_mapping_wrapper.cpp | 9 ++++----- 4 files changed, 15 insertions(+), 9 deletions(-) diff --git a/elevation_mapping_cupy/config/parameters.yaml b/elevation_mapping_cupy/config/parameters.yaml index 9d49f189..dc6e8752 100644 --- a/elevation_mapping_cupy/config/parameters.yaml +++ b/elevation_mapping_cupy/config/parameters.yaml @@ -63,9 +63,6 @@ use_only_above_for_upper_bound: false #### Plugins ######## plugin_config_file: '$(rospack find elevation_mapping_cupy)/config/plugin_config.yaml' -#### Subscribers ######## - - #### Publishers ######## # topic_name: # layers: # Choose from 'elevation', 'variance', 'traversability', 'time', 'normal_x', 'normal_y', 'normal_z', 'color', plugin_layer_names diff --git a/elevation_mapping_cupy/config/sensor_parameter.yaml b/elevation_mapping_cupy/config/sensor_parameter.yaml index defea85f..1c3ef4e0 100644 --- a/elevation_mapping_cupy/config/sensor_parameter.yaml +++ b/elevation_mapping_cupy/config/sensor_parameter.yaml @@ -1,3 +1,4 @@ +#### Subscribers ######## subscribers: # sensor_name: #if you have multiple sensors assign different names # channels: ['features','person'] # names of the channels, for sem seg it should be the same name as the diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py index 960eeea6..e90e6db3 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py @@ -13,7 +13,6 @@ class Parameter(Serializable): resolution: float = 0.04 additional_layers: list = ['feat_0'].copy fusion_algorithms: list = ['average'].copy - cell_n: int = None data_type: str = np.float32 average_weight: float = 0.5 @@ -75,6 +74,12 @@ class Parameter(Serializable): w3: np.ndarray = np.zeros((4, 1, 3, 3)) w_out: np.ndarray = np.zeros((1, 12, 1, 1)) + # # not configurable params + true_map_length: float = None + cell_n: int = None + true_cell_n: int = None + + def load_weights(self, filename): with open(filename, "rb") as file: weights = pickle.load(file) @@ -98,6 +103,10 @@ def get_value(self, name): def update(self): # +2 is a border for outside map self.cell_n = int(round(self.map_length / self.resolution)) + 2 + self.true_cell_n = round(self.map_length / self.resolution) + self.true_map_length = self.true_cell_n * self.resolution + + if __name__ == "__main__": param = Parameter() diff --git a/elevation_mapping_cupy/src/elevation_mapping_wrapper.cpp b/elevation_mapping_cupy/src/elevation_mapping_wrapper.cpp index a518117b..9d8fe968 100644 --- a/elevation_mapping_cupy/src/elevation_mapping_wrapper.cpp +++ b/elevation_mapping_cupy/src/elevation_mapping_wrapper.cpp @@ -79,12 +79,11 @@ void ElevationMappingWrapper::setParameters(ros::NodeHandle& nh, std::vector(param_.attr("get_value")("resolution")); - map_length_ = py::cast(param_.attr("get_value")("map_length")); - map_n_ = static_cast(round(map_length_ / resolution_)); - map_length_ = resolution_ * map_n_; // get true length after rounding - param_.attr("update")(); + resolution_ = py::cast(param_.attr("get_value")("resolution")); + map_length_ = py::cast(param_.attr("get_value")("true_map_length")); + map_n_ = py::cast(param_.attr("get_value")("true_cell_n")); + ROS_WARN_STREAM(resolution_<("enable_normal", enable_normal_, false); nh.param("enable_normal_color", enable_normal_color_, false); From 06b5fafe4da9b9114834850a6caa4b24788da143 Mon Sep 17 00:00:00 2001 From: Gian Erni Date: Wed, 7 Dec 2022 17:47:06 +0100 Subject: [PATCH 289/504] added the dictionary for the subscribers, not perfect way to handle it --- .../script/elevation_mapping_cupy/parameter.py | 6 +++++- elevation_mapping_cupy/src/elevation_mapping_ros.cpp | 1 + elevation_mapping_cupy/src/elevation_mapping_wrapper.cpp | 5 ++++- 3 files changed, 10 insertions(+), 2 deletions(-) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py index e90e6db3..9166ed12 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py @@ -6,7 +6,8 @@ import pickle import numpy as np from simple_parsing.helpers import Serializable - +import xml.etree.ElementTree as ET +import xmltodict @dataclass class Parameter(Serializable): @@ -78,6 +79,8 @@ class Parameter(Serializable): true_map_length: float = None cell_n: int = None true_cell_n: int = None + subscribers: ET = None + subscribers_dict: dict = None def load_weights(self, filename): @@ -105,6 +108,7 @@ def update(self): self.cell_n = int(round(self.map_length / self.resolution)) + 2 self.true_cell_n = round(self.map_length / self.resolution) self.true_map_length = self.true_cell_n * self.resolution + self.subscribers_dict = xmltodict.parse(self.subscribers) diff --git a/elevation_mapping_cupy/src/elevation_mapping_ros.cpp b/elevation_mapping_cupy/src/elevation_mapping_ros.cpp index 236c04ea..42aa080b 100644 --- a/elevation_mapping_cupy/src/elevation_mapping_ros.cpp +++ b/elevation_mapping_cupy/src/elevation_mapping_ros.cpp @@ -63,6 +63,7 @@ ElevationMappingNode::ElevationMappingNode(ros::NodeHandle& nh) enablePointCloudPublishing_ = enablePointCloudPublishing; +// TODO in the longterm remove this and add it directly in the elevation map config std::vector additional_layers; std::vector fusion_algorithms; for (auto & subscriber : subscribers) { diff --git a/elevation_mapping_cupy/src/elevation_mapping_wrapper.cpp b/elevation_mapping_cupy/src/elevation_mapping_wrapper.cpp index 9d8fe968..5f236f0b 100644 --- a/elevation_mapping_cupy/src/elevation_mapping_wrapper.cpp +++ b/elevation_mapping_cupy/src/elevation_mapping_wrapper.cpp @@ -76,6 +76,10 @@ void ElevationMappingWrapper::setParameters(ros::NodeHandle& nh, std::vector(param_.attr("get_value")("resolution")); map_length_ = py::cast(param_.attr("get_value")("true_map_length")); map_n_ = py::cast(param_.attr("get_value")("true_cell_n")); - ROS_WARN_STREAM(resolution_<("enable_normal", enable_normal_, false); nh.param("enable_normal_color", enable_normal_color_, false); From 46e1009d8a3711fde9dc633b463111980bab612a Mon Sep 17 00:00:00 2001 From: Gian <43470810+gerni17@users.noreply.github.com> Date: Wed, 7 Dec 2022 18:51:20 +0100 Subject: [PATCH 290/504] Update requirements.txt --- requirements.txt | 1 + 1 file changed, 1 insertion(+) diff --git a/requirements.txt b/requirements.txt index 39e669bf..db7bcbbd 100644 --- a/requirements.txt +++ b/requirements.txt @@ -7,6 +7,7 @@ opencv-python simple_parsing scikit-image matplotlib +xmltodict ###### Requirements with Version Specifiers ######` shapely==1.7.1 From 70baae786ac7fa6869b84d1b56bfee4ead95a9d7 Mon Sep 17 00:00:00 2001 From: Gian Erni Date: Thu, 8 Dec 2022 13:51:48 +0100 Subject: [PATCH 291/504] added parsing of xmlrpg in cpp and removed from python --- .../elevation_mapping_cupy/parameter.py | 7 +-- .../src/elevation_mapping_wrapper.cpp | 43 ++++++++++++++++++- 2 files changed, 43 insertions(+), 7 deletions(-) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py index 3778543f..78d9a42a 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py @@ -6,8 +6,6 @@ import pickle import numpy as np from simple_parsing.helpers import Serializable -import xml.etree.ElementTree as ET -import xmltodict from dataclasses import field @dataclass @@ -80,8 +78,7 @@ class Parameter(Serializable): true_map_length: float = None cell_n: int = None true_cell_n: int = None - subscribers: ET = None - subscribers_dict: dict = None + subscribers: dict = None def load_weights(self, filename): @@ -109,8 +106,6 @@ def update(self): self.cell_n = int(round(self.map_length / self.resolution)) + 2 self.true_cell_n = round(self.map_length / self.resolution) self.true_map_length = self.true_cell_n * self.resolution - self.subscribers_dict = xmltodict.parse(self.subscribers) - if __name__ == "__main__": diff --git a/elevation_mapping_cupy/src/elevation_mapping_wrapper.cpp b/elevation_mapping_cupy/src/elevation_mapping_wrapper.cpp index 5f236f0b..a1619e06 100644 --- a/elevation_mapping_cupy/src/elevation_mapping_wrapper.cpp +++ b/elevation_mapping_cupy/src/elevation_mapping_wrapper.cpp @@ -78,7 +78,48 @@ void ElevationMappingWrapper::setParameters(ros::NodeHandle& nh, std::vector arr; + switch (val.getType()) { + case XmlRpc::XmlRpcValue::TypeString: + sub_dict[name][key] = static_cast(val); + break; + case XmlRpc::XmlRpcValue::TypeInt: + sub_dict[name][key] = static_cast(val); + break; + case XmlRpc::XmlRpcValue::TypeDouble: + sub_dict[name][key] = static_cast(val); + break; + case XmlRpc::XmlRpcValue::TypeBoolean: + sub_dict[name][key] = static_cast(val); + break; + case XmlRpc::XmlRpcValue::TypeArray: + for (int32_t i = 0; i < val.size(); ++i) { + auto elem = static_cast(val[i]); + arr.push_back(elem); + } + sub_dict[name][key] = arr; + arr.clear(); + break; + case XmlRpc::XmlRpcValue::TypeStruct: + break; + default: + sub_dict[name][key] = py::cast(val); + break; + } + } + } + param_.attr("subscribers") = sub_dict; param_.attr("set_value")("additional_layers",additional_layers); param_.attr("set_value")("fusion_algorithms",fusion_algorithms); From 20d6383c9160d35b9de22122fe04ebec28b8a14c Mon Sep 17 00:00:00 2001 From: Gian Erni Date: Thu, 8 Dec 2022 14:51:14 +0100 Subject: [PATCH 292/504] removed parameter dependency --- .../elevation_mapping_wrapper.hpp | 4 ++-- .../elevation_mapping.py | 17 ++++++++++++++++- .../src/elevation_mapping_ros.cpp | 18 +----------------- .../src/elevation_mapping_wrapper.cpp | 9 +++------ 4 files changed, 22 insertions(+), 26 deletions(-) diff --git a/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_wrapper.hpp b/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_wrapper.hpp index e03e705c..ef0681c4 100644 --- a/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_wrapper.hpp +++ b/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_wrapper.hpp @@ -43,7 +43,7 @@ class ElevationMappingWrapper { ElevationMappingWrapper(); - void initialize(ros::NodeHandle& nh, std::vector additional_layers, std::vector fusion_algorithms); + void initialize(ros::NodeHandle& nh); void input(const RowMatrixXd& points, const std::vector& channels, const RowMatrixXd& R, const Eigen::VectorXd& t, const double positionNoise, const double orientationNoise); @@ -61,7 +61,7 @@ class ElevationMappingWrapper { void addNormalColorLayer(grid_map::GridMap& map); private: - void setParameters(ros::NodeHandle& nh, std::vector additional_layers, std::vector fusion_algorithms); + void setParameters(ros::NodeHandle& nh); py::object map_; py::object param_; double resolution_; diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py index e9a39a93..5ca8f6de 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py @@ -55,7 +55,22 @@ def __init__(self, param: Parameter): self.cell_n = param.cell_n self.map_lock = threading.Lock() - self.additional_layers = dict(zip(self.param.additional_layers, self.param.fusion_algorithms)) + # # get unique channels + semantic_layers = [] + fusion_algorithms = [] + for subscriber,sub_val in self.param.subscribers.items(): + + channels = sub_val["channels"] + fusion = sub_val["fusion"] + for i in range(len(channels)): + name = channels[i] + if name not in semantic_layers: + semantic_layers.append(name) + fusion_algorithms.append(fusion[i]) + self.param.additional_layers = semantic_layers + self.param.fusion_algorithms = fusion_algorithms + self.additional_layers = dict(zip(semantic_layers, fusion_algorithms)) + self.semantic_map = SemanticMap(self.param, self.additional_layers) self.elevation_map = xp.zeros((7, self.cell_n, self.cell_n),dtype=self.data_type) self.layer_names = [ diff --git a/elevation_mapping_cupy/src/elevation_mapping_ros.cpp b/elevation_mapping_cupy/src/elevation_mapping_ros.cpp index 42aa080b..44259ff1 100644 --- a/elevation_mapping_cupy/src/elevation_mapping_ros.cpp +++ b/elevation_mapping_cupy/src/elevation_mapping_ros.cpp @@ -63,29 +63,13 @@ ElevationMappingNode::ElevationMappingNode(ros::NodeHandle& nh) enablePointCloudPublishing_ = enablePointCloudPublishing; -// TODO in the longterm remove this and add it directly in the elevation map config - std::vector additional_layers; - std::vector fusion_algorithms; for (auto & subscriber : subscribers) { - auto channels = subscriber.second["channels"]; - auto fusion = subscriber.second["fusion"]; - for (int32_t i = 0; i < channels.size(); ++i) { - auto name = static_cast(channels[i]); - if (!std::count(additional_layers.begin(), additional_layers.end(), name)){ - additional_layers.push_back(name); - fusion_algorithms.push_back(static_cast(fusion[i])); - } - } - std::string pointcloud_topic = subscriber.second["topic_name"]; ros::Subscriber sub = nh_.subscribe(pointcloud_topic, 1, &ElevationMappingNode::pointcloudCallback, this); pointcloudSubs_.push_back(sub); } - for (int i = 0; i < additional_layers.size(); ++i){ - ROS_INFO_STREAM("Additional layers " << additional_layers.at(i)<<" fusion algorithm "< additional_layers, std::vector fusion_algorithms) { +void ElevationMappingWrapper::initialize(ros::NodeHandle& nh) { // Add the elevation_mapping_cupy path to sys.path auto threading = py::module::import("threading"); py::gil_scoped_acquire acquire; @@ -34,7 +34,7 @@ void ElevationMappingWrapper::initialize(ros::NodeHandle& nh, std::vector additional_layers, std::vector fusion_algorithms) { +void ElevationMappingWrapper::setParameters(ros::NodeHandle& nh) { // Get all parameters names and types. py::list paramNames = param_.attr("get_names")(); py::list paramTypes = param_.attr("get_types")(); @@ -121,9 +121,6 @@ void ElevationMappingWrapper::setParameters(ros::NodeHandle& nh, std::vector(param_.attr("get_value")("resolution")); map_length_ = py::cast(param_.attr("get_value")("true_map_length")); From 77fff393165005c08c6218c38249ea9992732a8c Mon Sep 17 00:00:00 2001 From: Gian Erni Date: Thu, 8 Dec 2022 15:36:56 +0100 Subject: [PATCH 293/504] fixed tests --- .../elevation_mapping.py | 16 ++--------- .../elevation_mapping_cupy/parameter.py | 27 +++++++++++++++++-- .../tests/test_elevation_mapping.py | 4 +-- 3 files changed, 29 insertions(+), 18 deletions(-) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py index 5ca8f6de..72e820e3 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py @@ -56,20 +56,8 @@ def __init__(self, param: Parameter): self.map_lock = threading.Lock() # # get unique channels - semantic_layers = [] - fusion_algorithms = [] - for subscriber,sub_val in self.param.subscribers.items(): - - channels = sub_val["channels"] - fusion = sub_val["fusion"] - for i in range(len(channels)): - name = channels[i] - if name not in semantic_layers: - semantic_layers.append(name) - fusion_algorithms.append(fusion[i]) - self.param.additional_layers = semantic_layers - self.param.fusion_algorithms = fusion_algorithms - self.additional_layers = dict(zip(semantic_layers, fusion_algorithms)) + + self.additional_layers = dict(zip(self.param.additional_layers, self.param.fusion_algorithms)) self.semantic_map = SemanticMap(self.param, self.additional_layers) self.elevation_map = xp.zeros((7, self.cell_n, self.cell_n),dtype=self.data_type) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py index 78d9a42a..41c2592e 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py @@ -8,9 +8,22 @@ from simple_parsing.helpers import Serializable from dataclasses import field +# todo add this for the future +@dataclass +class Subscriber(Serializable): + sensor_name: str = "front_cam" + channels: list = field(default_factory=lambda: ["feat_0"]) + fusion: list = field(default_factory=lambda: ["average"]) + topic_name: str = '/elevation_mapping/pointcloud_semantic' + +@dataclass +class Subscribers(Serializable): + front_cam: Subscriber = Subscriber + @dataclass class Parameter(Serializable): resolution: float = 0.04 + subscribers: dict = field(default_factory=lambda: {'front_cam': {'cam_frame': 'zed2i_right_camera_optical_frame', 'cam_info_topic': '/zed2i/zed_node/depth/camera_info', 'channels': ['rgb', 'person'], 'confidence': True, 'confidence_threshold': 10, 'confidence_topic': '/zed2i/zed_node/confidence/confidence_map', 'depth_topic': '/zed2i/zed_node/depth/depth_registered', 'feature_extractor': False, 'fusion': ['color', 'class_average'], 'image_topic': '/zed2i/zed_node/left/image_rect_color', 'segmentation_model': 'lraspp_mobilenet_v3_large', 'semantic_segmentation': True, 'show_label_legend': True, 'topic_name': '/elvation_mapping/pointcloud_semantic'}}) additional_layers: list = field(default_factory=lambda: ["feat_0"]) fusion_algorithms: list = field(default_factory=lambda: ["average"]) data_type: str = np.float32 @@ -78,8 +91,6 @@ class Parameter(Serializable): true_map_length: float = None cell_n: int = None true_cell_n: int = None - subscribers: dict = None - def load_weights(self, filename): with open(filename, "rb") as file: @@ -106,6 +117,18 @@ def update(self): self.cell_n = int(round(self.map_length / self.resolution)) + 2 self.true_cell_n = round(self.map_length / self.resolution) self.true_map_length = self.true_cell_n * self.resolution + semantic_layers = [] + fusion_algorithms = [] + for subscriber,sub_val in self.subscribers.items(): + channels = sub_val["channels"] + fusion = sub_val["fusion"] + for i in range(len(channels)): + name = channels[i] + if name not in semantic_layers: + semantic_layers.append(name) + fusion_algorithms.append(fusion[i]) + self.additional_layers = semantic_layers + self.fusion_algorithms = fusion_algorithms if __name__ == "__main__": diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_elevation_mapping.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_elevation_mapping.py index 45d22609..cbe869b2 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_elevation_mapping.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_elevation_mapping.py @@ -27,8 +27,8 @@ def elmap_ex(add_lay, fusion_alg): weight_file="../../../config/weights.dat", plugin_config_file="../../../config/plugin_config.yaml", ) - p.additional_layers = additional_layer - p.fusion_algorithms = fusion_algorithms + p.subscribers["front_cam"]["channels"] = additional_layer + p.subscribers["front_cam"]["fusion"] = fusion_algorithms p.update() e = elevation_mapping.ElevationMap(p) return e From 50bfd19b160b24950b51a11613d59e4de330919c Mon Sep 17 00:00:00 2001 From: Gian Erni Date: Fri, 9 Dec 2022 15:22:13 +0100 Subject: [PATCH 294/504] workin cpp wrapper with jonas stuff and gians latest stuff --- .../config/sensor_parameter.yaml | 5 ++ .../elevation_mapping_ros.hpp | 2 +- .../elevation_mapping_wrapper.hpp | 2 +- .../elevation_mapping_cupy/parameter.py | 6 +- .../src/elevation_mapping_ros.cpp | 37 ++++---- .../src/elevation_mapping_wrapper.cpp | 89 +++++++++---------- .../semantic_pointcloud/pointcloud_node.py | 23 ++--- 7 files changed, 84 insertions(+), 80 deletions(-) diff --git a/elevation_mapping_cupy/config/sensor_parameter.yaml b/elevation_mapping_cupy/config/sensor_parameter.yaml index 61078e2d..beefa91c 100644 --- a/elevation_mapping_cupy/config/sensor_parameter.yaml +++ b/elevation_mapping_cupy/config/sensor_parameter.yaml @@ -6,6 +6,11 @@ subscribers: topic_name_camera_info: /zed2i/zed_node/right/camera_info channels: ["rgb_image"] data_type: image + fusion_types: + array_fusion: [] + channels: [] + + # debug_rgb_3_seperate: # fusion: ['image_exponential','image_exponential','image_exponential'] diff --git a/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp b/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp index 1aea9e0b..db262e41 100644 --- a/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp +++ b/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp @@ -72,7 +72,7 @@ class ElevationMappingNode { void readParameters(); void setupMapPublishers(); void pointcloudCallback(const sensor_msgs::PointCloud2& cloud); - void imageCallback(const sensor_msgs::ImageConstPtr& image_msg, const sensor_msgs::CameraInfoConstPtr& camera_info_msg, const std::vector& channels); + void imageCallback(const sensor_msgs::ImageConstPtr& image_msg, const sensor_msgs::CameraInfoConstPtr& camera_info_msg, const std::string& key); void publishAsPointCloud(const grid_map::GridMap& map) const; bool getSubmap(grid_map_msgs::GetGridMap::Request& request, grid_map_msgs::GetGridMap::Response& response); bool checkSafety(elevation_map_msgs::CheckSafety::Request& request, elevation_map_msgs::CheckSafety::Response& response); diff --git a/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_wrapper.hpp b/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_wrapper.hpp index e5b3ba34..5a8e1cf1 100644 --- a/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_wrapper.hpp +++ b/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_wrapper.hpp @@ -48,7 +48,7 @@ class ElevationMappingWrapper { void input(const RowMatrixXd& points, const std::vector& channels, const RowMatrixXd& R, const Eigen::VectorXd& t, const double positionNoise, const double orientationNoise); - void input_image(const std::vector& image, const std::vector& channels, const RowMatrixXd& R, const Eigen::VectorXd& t, + void input_image(const std::string& key, const std::vector& image, const RowMatrixXd& R, const Eigen::VectorXd& t, const RowMatrixXd& cameraMatrix, int height, int width); void move_to(const Eigen::VectorXd& p, const RowMatrixXd& R); void clear(); diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py index f9155144..ab9af4d1 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py @@ -23,10 +23,8 @@ class Subscribers(Serializable): @dataclass class Parameter(Serializable): # todo: fix subscriber - subscriber_cfg: dict = field(default_factory=lambda: {}) - resolution: float = 0.04 - subscribers: dict = field(default_factory=lambda: {'front_cam': {'cam_frame': 'zed2i_right_camera_optical_frame', 'cam_info_topic': '/zed2i/zed_node/depth/camera_info', 'channels': ['rgb', 'person'], 'confidence': True, 'confidence_threshold': 10, 'confidence_topic': '/zed2i/zed_node/confidence/confidence_map', 'depth_topic': '/zed2i/zed_node/depth/depth_registered', 'feature_extractor': False, 'fusion': ['color', 'class_average'], 'image_topic': '/zed2i/zed_node/left/image_rect_color', 'segmentation_model': 'lraspp_mobilenet_v3_large', 'semantic_segmentation': True, 'show_label_legend': True, 'topic_name': '/elvation_mapping/pointcloud_semantic'}}) + subscriber_cfg: dict = field(default_factory=lambda: {'front_cam': {'cam_frame': 'zed2i_right_camera_optical_frame', 'cam_info_topic': '/zed2i/zed_node/depth/camera_info', 'channels': ['rgb', 'person'], 'confidence': True, 'confidence_threshold': 10, 'confidence_topic': '/zed2i/zed_node/confidence/confidence_map', 'depth_topic': '/zed2i/zed_node/depth/depth_registered', 'feature_extractor': False, 'fusion': ['color', 'class_average'], 'image_topic': '/zed2i/zed_node/left/image_rect_color', 'segmentation_model': 'lraspp_mobilenet_v3_large', 'semantic_segmentation': True, 'show_label_legend': True, 'topic_name': '/elvation_mapping/pointcloud_semantic'}}) additional_layers: list = field(default_factory=lambda: ["feat_0"]) fusion_algorithms: list = field(default_factory=lambda: ["average"]) data_type: str = np.float32 @@ -122,7 +120,7 @@ def update(self): self.true_map_length = self.true_cell_n * self.resolution semantic_layers = [] fusion_algorithms = [] - for subscriber,sub_val in self.subscribers.items(): + for subscriber,sub_val in self.subscriber_cfg.items(): channels = sub_val["channels"] fusion = sub_val["fusion"] for i in range(len(channels)): diff --git a/elevation_mapping_cupy/src/elevation_mapping_ros.cpp b/elevation_mapping_cupy/src/elevation_mapping_ros.cpp index e4165f27..de9314a9 100644 --- a/elevation_mapping_cupy/src/elevation_mapping_ros.cpp +++ b/elevation_mapping_cupy/src/elevation_mapping_ros.cpp @@ -73,19 +73,9 @@ ElevationMappingNode::ElevationMappingNode(ros::NodeHandle& nh) // Iterate all the subscribers // here we have to remove all the stuff for (auto & subscriber : subscribers) { - auto channels = subscriber.second["channels"]; - auto fusion = subscriber.second["fusion"]; + std::string key = subscriber.first; auto type = static_cast(subscriber.second["data_type"]); - std::vector channels_str; - - for (int32_t i = 0; i < channels.size(); ++i) { - auto name = static_cast(channels[i]); - channels_str.push_back(name); - if (!std::count(additional_layers.begin(), additional_layers.end(), name)){ - additional_layers.push_back(name); - fusion_algorithms.push_back(static_cast(fusion[i])); - } - } + // Initialize subscribers depending on the type if (type == "pointcloud") { @@ -103,7 +93,7 @@ ElevationMappingNode::ElevationMappingNode(ros::NodeHandle& nh) cameraInfoSubs_.push_back(cam_info_sub); CameraSyncPtr sync = std::make_shared(CameraPolicy(10), *image_sub, *cam_info_sub); - sync->registerCallback(boost::bind(&ElevationMappingNode::imageCallback, this, _1, _2, channels_str)); + sync->registerCallback(boost::bind(&ElevationMappingNode::imageCallback, this, _1, _2, key)); cameraSyncs_.push_back(sync); } else { @@ -112,9 +102,6 @@ ElevationMappingNode::ElevationMappingNode(ros::NodeHandle& nh) } } - for (int i = 0; i < additional_layers.size(); ++i){ - ROS_INFO_STREAM("Additional layers " << additional_layers.at(i) << " fusion algorithm "<& channels) { +void ElevationMappingNode::imageCallback(const sensor_msgs::ImageConstPtr& image_msg, const sensor_msgs::CameraInfoConstPtr& camera_info_msg, const std::string& key) { auto start = ros::Time::now(); // Get image @@ -368,12 +355,26 @@ void ElevationMappingNode::imageCallback(const sensor_msgs::ImageConstPtr& image multichannel_image.push_back(eigen_image_g); multichannel_image.push_back(eigen_image_b); + } else if (image.channels() == 4) { + cv::Mat bgr[4]; + cv::split(image, bgr); + ColMatrixXf eigen_image_b; + cv::cv2eigen(bgr[0], eigen_image_b); + ColMatrixXf eigen_image_g; + cv::cv2eigen(bgr[1], eigen_image_g); + ColMatrixXf eigen_image_r; + cv::cv2eigen(bgr[2], eigen_image_r); + + multichannel_image.push_back(eigen_image_r); + multichannel_image.push_back(eigen_image_g); + multichannel_image.push_back(eigen_image_b); + } else { ROS_WARN_STREAM("Invalid number of channels [" << image.channels() << "]. Only allowed 1 (mono) or 3 (rgb)"); } // Pass image to pipeline - map_.input_image(multichannel_image, channels, transformationSensorToMap.rotation(), transformationSensorToMap.translation(), cameraMatrix, image.rows, image.cols); + map_.input_image(key, multichannel_image, transformationSensorToMap.rotation(), transformationSensorToMap.translation(), cameraMatrix, image.rows, image.cols); ROS_DEBUG_THROTTLE(1.0, "ElevationMap processed an image in %f sec.", (ros::Time::now() - start).toSec()); } diff --git a/elevation_mapping_cupy/src/elevation_mapping_wrapper.cpp b/elevation_mapping_cupy/src/elevation_mapping_wrapper.cpp index 478c4709..1e5541ed 100644 --- a/elevation_mapping_cupy/src/elevation_mapping_wrapper.cpp +++ b/elevation_mapping_cupy/src/elevation_mapping_wrapper.cpp @@ -79,47 +79,47 @@ void ElevationMappingWrapper::setParameters(ros::NodeHandle& nh) { XmlRpc::XmlRpcValue subscribers; nh.getParam("subscribers", subscribers); - py::dict sub_dict; - for (auto & subscriber : subscribers) { - const char *const name = subscriber.first.c_str(); - const auto & subscriber_params = subscriber.second; - if (!sub_dict.contains(name)) { - sub_dict[name] = py::dict(); - } - for(auto iterat : subscriber_params){ - const char *const key = iterat.first.c_str(); - const auto val = iterat.second; - std::vector arr; - switch (val.getType()) { - case XmlRpc::XmlRpcValue::TypeString: - sub_dict[name][key] = static_cast(val); - break; - case XmlRpc::XmlRpcValue::TypeInt: - sub_dict[name][key] = static_cast(val); - break; - case XmlRpc::XmlRpcValue::TypeDouble: - sub_dict[name][key] = static_cast(val); - break; - case XmlRpc::XmlRpcValue::TypeBoolean: - sub_dict[name][key] = static_cast(val); - break; - case XmlRpc::XmlRpcValue::TypeArray: - for (int32_t i = 0; i < val.size(); ++i) { - auto elem = static_cast(val[i]); - arr.push_back(elem); - } - sub_dict[name][key] = arr; - arr.clear(); - break; - case XmlRpc::XmlRpcValue::TypeStruct: - break; - default: - sub_dict[name][key] = py::cast(val); - break; - } - } + py::dict sub_dict; + for (auto & subscriber : subscribers) { + const char *const name = subscriber.first.c_str(); + const auto & subscriber_params = subscriber.second; + if (!sub_dict.contains(name)) { + sub_dict[name] = py::dict(); + } + for(auto iterat : subscriber_params){ + const char *const key = iterat.first.c_str(); + const auto val = iterat.second; + std::vector arr; + switch (val.getType()) { + case XmlRpc::XmlRpcValue::TypeString: + sub_dict[name][key] = static_cast(val); + break; + case XmlRpc::XmlRpcValue::TypeInt: + sub_dict[name][key] = static_cast(val); + break; + case XmlRpc::XmlRpcValue::TypeDouble: + sub_dict[name][key] = static_cast(val); + break; + case XmlRpc::XmlRpcValue::TypeBoolean: + sub_dict[name][key] = static_cast(val); + break; + case XmlRpc::XmlRpcValue::TypeArray: + for (int32_t i = 0; i < val.size(); ++i) { + auto elem = static_cast(val[i]); + arr.push_back(elem); + } + sub_dict[name][key] = arr; + arr.clear(); + break; + case XmlRpc::XmlRpcValue::TypeStruct: + break; + default: + sub_dict[name][key] = py::cast(val); + break; } - param_.attr("subscribers") = sub_dict; + } + } + param_.attr("subscriber_cfg") = sub_dict; param_.attr("update")(); resolution_ = py::cast(param_.attr("get_value")("resolution")); @@ -137,17 +137,16 @@ void ElevationMappingWrapper::input(const RowMatrixXd& points, const std::vector positionNoise, orientationNoise); } -void ElevationMappingWrapper::input_image(const std::vector& multichannel_image, - const std::vector& channels, +void ElevationMappingWrapper::input_image(const std::string& key, const std::vector& multichannel_image, const RowMatrixXd& R, const Eigen::VectorXd& t, const RowMatrixXd& cameraMatrix, int height, int width) { py::gil_scoped_acquire acquire; - map_.attr("input_image")(multichannel_image, - channels, - Eigen::Ref(R), + map_.attr("input_image")(key, + multichannel_image, + Eigen::Ref(R), Eigen::Ref(t), Eigen::Ref(cameraMatrix), height, diff --git a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_node.py b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_node.py index 1a96ec3e..51341abd 100755 --- a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_node.py +++ b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_node.py @@ -76,17 +76,18 @@ def __init__(self, sensor_name): ts.registerCallback(self.image_callback) self.pcl_pub = rospy.Publisher(self.param.topic_name, PointCloud2, queue_size=2) - if self.param.publish_segmentation_image: - self.seg_pub = rospy.Publisher( - self.param.segmentation_image_topic, Image, queue_size=2 - ) - if "class_max" in self.param.fusion: - self.labels = self.semantic_model["model"].get_classes() - else: - self.labels = list(self.segmentation_channels.keys()) - self.semseg_color_map = self.color_map(len(self.labels)) - if self.param.show_label_legend: - self.color_map_viz() + if self.param.semantic_segmentation: + if self.param.publish_segmentation_image: + self.seg_pub = rospy.Publisher( + self.param.segmentation_image_topic, Image, queue_size=2 + ) + if "class_max" in self.param.fusion: + self.labels = self.semantic_model["model"].get_classes() + else: + self.labels = list(self.segmentation_channels.keys()) + self.semseg_color_map = self.color_map(len(self.labels)) + if self.param.show_label_legend: + self.color_map_viz() def color_map(self, N=256, normalized=False): def bitget(byteval, idx): From 9a493860b31fe344d44469b906335cf8ee7c1be8 Mon Sep 17 00:00:00 2001 From: Gian Erni Date: Fri, 9 Dec 2022 17:14:16 +0100 Subject: [PATCH 295/504] passing all tests and also working with lonomy configurations --- .../elevation_mapping_cupy/parameter.py | 31 +++++++++-- .../plugins/semantic_filter.py | 2 +- .../plugins/semantic_traversability.py | 6 ++- .../elevation_mapping_cupy/semantic_map.py | 53 ++++++++++++++----- .../tests/test_elevation_mapping.py | 4 +- .../tests/test_plugins.py | 30 ++++++----- .../tests/test_semantic_map.py | 19 +++---- requirements.txt | 1 - .../tests/test_pointcloud.py | 27 ++++++---- 9 files changed, 115 insertions(+), 58 deletions(-) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py index ab9af4d1..6a307208 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py @@ -14,18 +14,40 @@ class Subscriber(Serializable): sensor_name: str = "front_cam" channels: list = field(default_factory=lambda: ["feat_0"]) fusion: list = field(default_factory=lambda: ["average"]) - topic_name: str = '/elevation_mapping/pointcloud_semantic' + topic_name: str = "/elevation_mapping/pointcloud_semantic" + @dataclass class Subscribers(Serializable): front_cam: Subscriber = Subscriber + @dataclass class Parameter(Serializable): # todo: fix subscriber resolution: float = 0.04 - subscriber_cfg: dict = field(default_factory=lambda: {'front_cam': {'cam_frame': 'zed2i_right_camera_optical_frame', 'cam_info_topic': '/zed2i/zed_node/depth/camera_info', 'channels': ['rgb', 'person'], 'confidence': True, 'confidence_threshold': 10, 'confidence_topic': '/zed2i/zed_node/confidence/confidence_map', 'depth_topic': '/zed2i/zed_node/depth/depth_registered', 'feature_extractor': False, 'fusion': ['color', 'class_average'], 'image_topic': '/zed2i/zed_node/left/image_rect_color', 'segmentation_model': 'lraspp_mobilenet_v3_large', 'semantic_segmentation': True, 'show_label_legend': True, 'topic_name': '/elvation_mapping/pointcloud_semantic'}}) - additional_layers: list = field(default_factory=lambda: ["feat_0"]) + subscriber_cfg: dict = field( + default_factory=lambda: { + "front_cam": { + "cam_frame": "zed2i_right_camera_optical_frame", + "cam_info_topic": "/zed2i/zed_node/depth/camera_info", + "channels": ["rgb", "person"], + "confidence": True, + "confidence_threshold": 10, + "confidence_topic": "/zed2i/zed_node/confidence/confidence_map", + "depth_topic": "/zed2i/zed_node/depth/depth_registered", + "feature_extractor": False, + "fusion": ["color", "class_average"], + "image_topic": "/zed2i/zed_node/left/image_rect_color", + "segmentation_model": "lraspp_mobilenet_v3_large", + "semantic_segmentation": True, + "show_label_legend": True, + "topic_name": "/elvation_mapping/pointcloud_semantic", + "data_type": "pointcloud", + } + } + ) + additional_layers: list = field(default_factory=lambda: ["feat_0"]) fusion_algorithms: list = field(default_factory=lambda: ["average"]) data_type: str = np.float32 average_weight: float = 0.5 @@ -120,7 +142,7 @@ def update(self): self.true_map_length = self.true_cell_n * self.resolution semantic_layers = [] fusion_algorithms = [] - for subscriber,sub_val in self.subscriber_cfg.items(): + for subscriber, sub_val in self.subscriber_cfg.items(): channels = sub_val["channels"] fusion = sub_val["fusion"] for i in range(len(channels)): @@ -132,7 +154,6 @@ def update(self): self.fusion_algorithms = fusion_algorithms - if __name__ == "__main__": param = Parameter() print(param) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_filter.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_filter.py index 97c46ab1..cc797410 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_filter.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_filter.py @@ -91,7 +91,7 @@ def __call__( # check which has the highest value # todo we are using the new_map because of the bayesian class_map = cp.amax(semantic_map.new_map[layer_indices], axis=0) - class_map_id = cp.argmax(semantic_map.map[layer_indices], axis=0) + class_map_id = cp.argmax(semantic_map.semantic_map[layer_indices], axis=0) if "class_max" in semantic_map.param.fusion_algorithms: # todo here is only cosidered the case where we only have one max diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_traversability.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_traversability.py index 17a15277..f54c714c 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_traversability.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_traversability.py @@ -63,12 +63,14 @@ def __call__( tempo = elevation_map[idx] elif name in semantic_map.param.additional_layers: idx = semantic_map.param.additional_layers.index(name) - tempo = semantic_map.map[idx] + tempo = semantic_map.semantic_map[idx] elif name in plugin_layer_names: idx = plugin_layer_names.index(name) tempo = plugin_layers[idx] else: - print("Layer {} is not in the map, returning traversabiltiy!".format(name)) + print( + "Layer {} is not in the map, returning traversabiltiy!".format(name) + ) return if self.type[it] == "traversability": tempo = cp.where(tempo <= self.thresholds[it], 1, 0) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py index df6a000c..e7792405 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py @@ -2,10 +2,22 @@ import cupy as cp import numpy as np from typing import List -from elevation_mapping_cupy.kernels import sum_kernel, add_color_kernel, color_average_kernel,bayesian_inference_kernel +from elevation_mapping_cupy.kernels import ( + sum_kernel, + add_color_kernel, + color_average_kernel, + bayesian_inference_kernel, +) from elevation_mapping_cupy.kernels import sum_compact_kernel, sum_max_kernel -from elevation_mapping_cupy.kernels import average_kernel, class_average_kernel, alpha_kernel -from elevation_mapping_cupy.kernels import average_correspondences_to_map_kernel, color_correspondences_to_map_kernel +from elevation_mapping_cupy.kernels import ( + average_kernel, + class_average_kernel, + alpha_kernel, +) +from elevation_mapping_cupy.kernels import ( + average_correspondences_to_map_kernel, + color_correspondences_to_map_kernel, +) xp = cp @@ -32,7 +44,9 @@ def __init__(self, param: Parameter): self.layer_names.append(c) self.layer_specs[c] = f else: - assert self.layer_specs[c] == f, "Error: Single layer has multiple fusion algorithms!" + assert ( + self.layer_specs[c] == f + ), "Error: Single layer has multiple fusion algorithms!" if f not in self.unique_fusion: self.unique_fusion.append(f) @@ -99,7 +113,9 @@ def compile_kernels(self) -> None: self.param.cell_n, self.param.cell_n, ) - self.color_average_kernel = color_average_kernel(self.param.cell_n, self.param.cell_n) + self.color_average_kernel = color_average_kernel( + self.param.cell_n, self.param.cell_n + ) if "class_average" in self.unique_fusion: print("Initialize class average kernel") self.sum_kernel = sum_kernel( @@ -134,13 +150,21 @@ def compile_kernels(self) -> None: self.unique_id = cp.array([0]) if "image_exponential" in self.unique_fusion: - self.average_correspondences_to_map_kernel = average_correspondences_to_map_kernel( - resolution=self.param.resolution, width=self.param.cell_n, height=self.param.cell_n + self.average_correspondences_to_map_kernel = ( + average_correspondences_to_map_kernel( + resolution=self.param.resolution, + width=self.param.cell_n, + height=self.param.cell_n, + ) ) if "image_color" in self.unique_fusion: - self.color_correspondences_to_map_kernel = color_correspondences_to_map_kernel( - resolution=self.param.resolution, width=self.param.cell_n, height=self.param.cell_n + self.color_correspondences_to_map_kernel = ( + color_correspondences_to_map_kernel( + resolution=self.param.resolution, + width=self.param.cell_n, + height=self.param.cell_n, + ) ) def get_fusion_of_pcl(self, channels: List[str]) -> List[str]: @@ -227,7 +251,7 @@ def update_layers_pointcloud(self, points_all, channels, R, t, elevation_map): elevation_map, self.new_map, self.sum_mean, - self.map, + self.semantic_map, size=(self.param.cell_n * self.param.cell_n), ) if "class_average" in additional_fusion: @@ -269,7 +293,9 @@ def update_layers_pointcloud(self, points_all, channels, R, t, elevation_map): sum_alpha = cp.sum(self.new_map[layer_ids], axis=0) # do not divide by zero sum_alpha[sum_alpha == 0] = 1 - self.semantic_map[layer_ids] = self.new_map[layer_ids] / cp.expand_dims(sum_alpha, axis=0) + self.semantic_map[layer_ids] = self.new_map[layer_ids] / cp.expand_dims( + sum_alpha, axis=0 + ) # assert cp.unique(cp.sum(self.map[layer_ids], axis=0)) equal to zero or to nan if "class_max" in additional_fusion: @@ -368,7 +394,9 @@ def update_layers_image( self.new_map *= 0 config = self.param.subscriber_cfg[sub_key] - for j, (fusion, channel) in enumerate(zip(config["fusion"], config["channels"])): + for j, (fusion, channel) in enumerate( + zip(config["fusion"], config["channels"]) + ): sem_map_idx = self.get_index(channel) if fusion == "image_exponential": @@ -401,6 +429,7 @@ def update_layers_image( else: raise ValueError("Fusion for image is unkown.") + def decode_max(self, mer): mer = mer.astype(cp.float32) mer = mer.view(dtype=cp.uint32) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_elevation_mapping.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_elevation_mapping.py index 1ad01c22..550713b7 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_elevation_mapping.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_elevation_mapping.py @@ -27,8 +27,8 @@ def elmap_ex(add_lay, fusion_alg): weight_file="../../../config/weights.dat", plugin_config_file="../../../config/plugin_config.yaml", ) - p.subscribers["front_cam"]["channels"] = additional_layer - p.subscribers["front_cam"]["fusion"] = fusion_algorithms + p.subscriber_cfg["front_cam"]["channels"] = additional_layer + p.subscriber_cfg["front_cam"]["fusion"] = fusion_algorithms p.update() e = elevation_mapping.ElevationMap(p) return e diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_plugins.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_plugins.py index 3a7f6611..0a040ea1 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_plugins.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_plugins.py @@ -9,19 +9,15 @@ @pytest.fixture() def semmap_ex(add_lay, fusion_alg): - additional_layer = add_lay - fusion_algorithms = fusion_alg p = parameter.Parameter( use_chainer=False, weight_file="../../../config/weights.dat", plugin_config_file=plugin_path, ) - p.additional_layers = additional_layer - p.fusion_algorithms = fusion_algorithms - additional_layers = dict(zip(p.additional_layers, p.fusion_algorithms)) - p.cell_n = int(round(p.map_length / p.resolution)) + 2 - - e = semantic_map.SemanticMap(p, additional_layers) + p.additional_layers = add_lay + p.fusion_algorithms = fusion_alg + p.update() + e = semantic_map.SemanticMap(p) e.compile_kernels() return e @@ -29,9 +25,13 @@ def semmap_ex(add_lay, fusion_alg): @pytest.mark.parametrize( "add_lay, fusion_alg,channels", [ - (['grass','tree','fence','person'], ["class_average", "class_average", "class_average", "class_average"], ["grass"]), - (['grass','tree'], ["class_average", "class_average"], ['grass']), - (['grass','tree'], ["class_average", "class_max"], ['tree']), + ( + ["grass", "tree", "fence", "person"], + ["class_average", "class_average", "class_average", "class_average"], + ["grass"], + ), + (["grass", "tree"], ["class_average", "class_average"], ["grass"]), + (["grass", "tree"], ["class_average", "class_max"], ["tree"]), # ( # ["feat_0", "feat_1", "rgb"], # ["average", "average", "color"], @@ -59,8 +59,12 @@ def test_plugin_manager(semmap_ex, channels): manager.layers[0] manager.update_with_name("min_filter", elevation_map, layer_names) manager.update_with_name("smooth_filter", elevation_map, layer_names) - manager.update_with_name("semantic_filter", elevation_map, layer_names, semmap_ex, rotation) - manager.update_with_name("semantic_traversability", elevation_map, layer_names, semmap_ex) + manager.update_with_name( + "semantic_filter", elevation_map, layer_names, semmap_ex, rotation + ) + manager.update_with_name( + "semantic_traversability", elevation_map, layer_names, semmap_ex + ) manager.get_map_with_name("smooth") for lay in manager.get_layer_names(): manager.update_with_name(lay, elevation_map, layer_names, semmap_ex, rotation) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_semantic_map.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_semantic_map.py index c8376d73..a63723fa 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_semantic_map.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_semantic_map.py @@ -5,25 +5,22 @@ @pytest.fixture() -def semmap_ex(add_lay, fusion_alg): - additional_layer = add_lay - fusion_algorithms = fusion_alg +def semmap_ex(sem_lay, fusion_alg): p = parameter.Parameter( use_chainer=False, weight_file="../../../config/weights.dat", plugin_config_file="../../../config/plugin_config.yaml", ) - p.additional_layers = additional_layer - p.fusion_algorithms = fusion_algorithms - additional_layers = dict(zip(p.additional_layers, p.fusion_algorithms)) - p.cell_n = int(round(p.map_length / p.resolution)) + 2 - - e = semantic_map.SemanticMap(p, additional_layers) + for subs, value in p.subscriber_cfg.items(): + value["channels"] = sem_lay + value["fusion"] = fusion_alg + p.update() + e = semantic_map.SemanticMap(p) return e @pytest.mark.parametrize( - "add_lay, fusion_alg,channels", + "sem_lay, fusion_alg,channels", [ (["feat_0", "feat_1"], ["average", "average"], ["feat_0"]), (["feat_0", "feat_1"], ["average", "average"], []), @@ -62,7 +59,7 @@ def test_fusion_of_pcl(semmap_ex, channels): @pytest.mark.parametrize( - "add_lay, fusion_alg", + "sem_lay, fusion_alg", [ (["feat_0", "feat_1", "rgb"], ["average", "average", "color"]), ], diff --git a/requirements.txt b/requirements.txt index db7bcbbd..39e669bf 100644 --- a/requirements.txt +++ b/requirements.txt @@ -7,7 +7,6 @@ opencv-python simple_parsing scikit-image matplotlib -xmltodict ###### Requirements with Version Specifiers ######` shapely==1.7.1 diff --git a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/tests/test_pointcloud.py b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/tests/test_pointcloud.py index 8273467f..01ec9bad 100644 --- a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/tests/test_pointcloud.py +++ b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/tests/test_pointcloud.py @@ -5,9 +5,12 @@ """This test file only works if ros is installed """ + + @pytest.fixture() def pointcloud_ex(cam_name): node = PointcloudNode(cam_name) + node.initialize_semantics() return node @@ -24,18 +27,20 @@ def test_initialize_semantics(pointcloud_ex): @pytest.mark.parametrize( "cam_name", [ - "front_cam", + ("front_cam"), ], ) def test_pub_seg(pointcloud_ex): # TODO we have to encode the max class other wise it is going to make problem - amount = len( - pointcloud_ex.segmentation_channels.keys() - ) + pointcloud_ex.param.fusion.count("max_class") - if "class_max" in pointcloud_ex.param.fusion: - val = cp.random.rand(amount, 360, 640, dtype=cp.float32).astype(cp.float16) - ind = cp.random.randint(0, 2, (amount, 360, 640), dtype=cp.uint32).astype(cp.float32) - prob = encode_max(val, ind) - else: - prob = cp.random.rand(amount, 360, 640) - pointcloud_ex.publish_segmentation_image(prob) + if pointcloud_ex.param.semantic_segmentation: + seg_chan = len(pointcloud_ex.segmentation_channels.keys()) + amount = seg_chan + pointcloud_ex.param.fusion.count("max_class") + if "class_max" in pointcloud_ex.param.fusion: + val = cp.random.rand(amount, 360, 640, dtype=cp.float32).astype(cp.float16) + ind = cp.random.randint(0, 2, (amount, 360, 640), dtype=cp.uint32).astype( + cp.float32 + ) + prob = encode_max(val, ind) + else: + prob = cp.random.rand(amount, 360, 640) + pointcloud_ex.publish_segmentation_image(prob) From 0381e6aab1d584b5bb37ad13f866ae4e9dcaee3b Mon Sep 17 00:00:00 2001 From: Gian Erni Date: Fri, 9 Dec 2022 17:15:32 +0100 Subject: [PATCH 296/504] add dev branches to workflow --- .github/workflows/python-tests.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/python-tests.yml b/.github/workflows/python-tests.yml index de9a6a47..23f732bf 100644 --- a/.github/workflows/python-tests.yml +++ b/.github/workflows/python-tests.yml @@ -4,7 +4,7 @@ name: Python testing on: push: - branches: [ "feature/2_semantic_python", "feature/**"] + branches: [ "feature/2_semantic_python", "feature/**","dev/**"] # pull_request: # branches: [ "main" ] From 506ab3a181954df2aeed95ce27d002e3bce7cbdd Mon Sep 17 00:00:00 2001 From: Gian Erni Date: Fri, 9 Dec 2022 17:42:13 +0100 Subject: [PATCH 297/504] split kernel files, and moved all semantic logic to semantic map class --- .../elevation_mapping.py | 202 +++++++--- .../kernels/__init__.py | 1 + .../kernels/custom_kernels.py | 378 ------------------ .../kernels/custom_semantic_kernels.py | 376 +++++++++++++++++ .../elevation_mapping_cupy/semantic_map.py | 46 ++- 5 files changed, 570 insertions(+), 433 deletions(-) create mode 100644 elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/custom_semantic_kernels.py diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py index 017e2640..5a68edb1 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py @@ -9,10 +9,17 @@ import threading import subprocess -from elevation_mapping_cupy.traversability_filter import get_filter_chainer, get_filter_torch +from elevation_mapping_cupy.traversability_filter import ( + get_filter_chainer, + get_filter_torch, +) from elevation_mapping_cupy.parameter import Parameter -from elevation_mapping_cupy.kernels import add_points_kernel, add_color_kernel, color_average_kernel +from elevation_mapping_cupy.kernels import ( + add_points_kernel, + add_color_kernel, + color_average_kernel, +) from elevation_mapping_cupy.kernels import sum_kernel from elevation_mapping_cupy.kernels import error_counting_kernel from elevation_mapping_cupy.kernels import average_map_kernel @@ -61,7 +68,9 @@ def __init__(self, param: Parameter): self.map_lock = threading.Lock() self.semantic_map = SemanticMap(self.param) - self.elevation_map = xp.zeros((7, self.cell_n, self.cell_n), dtype=self.data_type) + self.elevation_map = xp.zeros( + (7, self.cell_n, self.cell_n), dtype=self.data_type + ) self.layer_names = [ "elevation", "variance", @@ -100,17 +109,25 @@ def __init__(self, param: Parameter): param.load_weights(weight_file) if param.use_chainer: - self.traversability_filter = get_filter_chainer(param.w1, param.w2, param.w3, param.w_out) + self.traversability_filter = get_filter_chainer( + param.w1, param.w2, param.w3, param.w_out + ) else: - self.traversability_filter = get_filter_torch(param.w1, param.w2, param.w3, param.w_out) + self.traversability_filter = get_filter_torch( + param.w1, param.w2, param.w3, param.w_out + ) self.untraversable_polygon = xp.zeros((1, 2)) # Plugins self.plugin_manager = PluginManager(cell_n=self.cell_n) - plugin_config_file = subprocess.getoutput('echo "' + param.plugin_config_file + '"') + plugin_config_file = subprocess.getoutput( + 'echo "' + param.plugin_config_file + '"' + ) self.plugin_manager.load_plugin_settings(plugin_config_file) - self.map_initializer = MapInitializer(self.initial_variance, param.initialized_variance, xp=cp, method="points") + self.map_initializer = MapInitializer( + self.initial_variance, param.initialized_variance, xp=cp, method="points" + ) def clear(self): """Reset all the layers of the elevation & the semantic map.""" @@ -206,11 +223,10 @@ def shift_map_xy(self, delta_pixel): with self.map_lock: self.elevation_map = cp.roll(self.elevation_map, shift_value, axis=(1, 2)) self.pad_value(self.elevation_map, shift_value, value=0.0) - self.pad_value(self.elevation_map, shift_value, idx=1, value=self.initial_variance) - - # TODO: This in general is not best practice. This should be layered - self.semantic_map.semantic_map = cp.roll(self.semantic_map.semantic_map, shift_value, axis=(1, 2)) - self.pad_value(self.semantic_map.semantic_map, shift_value, value=0.0) + self.pad_value( + self.elevation_map, shift_value, idx=1, value=self.initial_variance + ) + self.semantic_map.shift_map_xy(shift_value) def shift_map_z(self, delta_z): """Shift the relevant layers along the vertical axis. @@ -227,11 +243,20 @@ def shift_map_z(self, delta_z): def compile_kernels(self): """Compile all kernels belonging to the elevation map.""" # Compile custom cuda kernels. - self.new_map = cp.zeros((self.elevation_map.shape[0], self.cell_n, self.cell_n), dtype=self.data_type) - self.traversability_input = cp.zeros((self.cell_n, self.cell_n), dtype=self.data_type) - self.traversability_mask_dummy = cp.zeros((self.cell_n, self.cell_n), dtype=self.data_type) + self.new_map = cp.zeros( + (self.elevation_map.shape[0], self.cell_n, self.cell_n), + dtype=self.data_type, + ) + self.traversability_input = cp.zeros( + (self.cell_n, self.cell_n), dtype=self.data_type + ) + self.traversability_mask_dummy = cp.zeros( + (self.cell_n, self.cell_n), dtype=self.data_type + ) self.min_filtered = cp.zeros((self.cell_n, self.cell_n), dtype=self.data_type) - self.min_filtered_mask = cp.zeros((self.cell_n, self.cell_n), dtype=self.data_type) + self.min_filtered_mask = cp.zeros( + (self.cell_n, self.cell_n), dtype=self.data_type + ) self.mask = cp.zeros((self.cell_n, self.cell_n), dtype=self.data_type) self.add_points_kernel = add_points_kernel( self.resolution, @@ -270,12 +295,18 @@ def compile_kernels(self): self.cell_n, self.cell_n, self.param.max_variance, self.initial_variance ) - self.dilation_filter_kernel = dilation_filter_kernel(self.cell_n, self.cell_n, self.param.dilation_size) + self.dilation_filter_kernel = dilation_filter_kernel( + self.cell_n, self.cell_n, self.param.dilation_size + ) self.dilation_filter_kernel_initializer = dilation_filter_kernel( self.cell_n, self.cell_n, self.param.dilation_size_initialize ) - self.polygon_mask_kernel = polygon_mask_kernel(self.cell_n, self.cell_n, self.resolution) - self.normal_filter_kernel = normal_filter_kernel(self.cell_n, self.cell_n, self.resolution) + self.polygon_mask_kernel = polygon_mask_kernel( + self.cell_n, self.cell_n, self.resolution + ) + self.normal_filter_kernel = normal_filter_kernel( + self.cell_n, self.cell_n, self.resolution + ) def compile_image_kernels(self): for config in self.param.subscriber_cfg.values(): @@ -284,11 +315,17 @@ def compile_image_kernels(self): np.zeros((self.cell_n, self.cell_n), dtype=np.bool), dtype=np.bool ) self.uv_correspondence = cp.asarray( - np.zeros((2, self.cell_n, self.cell_n), dtype=np.float32), dtype=np.float32 + np.zeros((2, self.cell_n, self.cell_n), dtype=np.float32), + dtype=np.float32, ) # TODO tolerance_z_collision add parameter - self.image_to_map_correspondence_kernel = image_to_map_correspondence_kernel( - resolution=self.resolution, width=self.cell_n, height=self.cell_n, tolerance_z_collision=0.1 + self.image_to_map_correspondence_kernel = ( + image_to_map_correspondence_kernel( + resolution=self.resolution, + width=self.cell_n, + height=self.cell_n, + tolerance_z_collision=0.1, + ) ) break @@ -300,7 +337,9 @@ def shift_translation_to_map_center(self, t): """ t -= self.center - def update_map_with_kernel(self, points_all, channels, R, t, position_noise, orientation_noise): + def update_map_with_kernel( + self, points_all, channels, R, t, position_noise, orientation_noise + ): """Update map with new measurement. Args: @@ -341,7 +380,9 @@ def update_map_with_kernel(self, points_all, channels, R, t, position_noise, ori self.mean_error = error / error_cnt self.additive_mean_error += self.mean_error if np.abs(self.mean_error) < self.param.max_drift: - self.elevation_map[0] += self.mean_error * self.param.drift_compensation_alpha + self.elevation_map[0] += ( + self.mean_error * self.param.drift_compensation_alpha + ) self.add_points_kernel( cp.array([0.0], dtype=self.data_type), cp.array([0.0], dtype=self.data_type), @@ -353,10 +394,14 @@ def update_map_with_kernel(self, points_all, channels, R, t, position_noise, ori self.new_map, size=(points.shape[0]), ) - self.average_map_kernel(self.new_map, self.elevation_map, size=(self.cell_n * self.cell_n)) + self.average_map_kernel( + self.new_map, self.elevation_map, size=(self.cell_n * self.cell_n) + ) # self.update_additional_layers(additional_fusion, points_all, channels, R, t) - self.semantic_map.update_layers_pointcloud(points_all, channels, R, t, self.new_map) + self.semantic_map.update_layers_pointcloud( + points_all, channels, R, t, self.new_map + ) if self.param.enable_overlap_clearance: self.clear_overlap_map(t) @@ -382,7 +427,9 @@ def clear_overlap_map(self, t): # Clear overlapping area around center height_min = t[2] - self.param.overlap_clear_range_z height_max = t[2] + self.param.overlap_clear_range_z - near_map = self.elevation_map[:, self.cell_min : self.cell_max, self.cell_min : self.cell_max] + near_map = self.elevation_map[ + :, self.cell_min : self.cell_max, self.cell_min : self.cell_max + ] valid_idx = ~cp.logical_or(near_map[0] < height_min, near_map[0] > height_max) near_map[0] = cp.where(valid_idx, near_map[0], 0.0) near_map[1] = cp.where(valid_idx, near_map[1], self.initial_variance) @@ -390,7 +437,9 @@ def clear_overlap_map(self, t): valid_idx = ~cp.logical_or(near_map[5] < height_min, near_map[5] > height_max) near_map[5] = cp.where(valid_idx, near_map[5], 0.0) near_map[6] = cp.where(valid_idx, near_map[6], 0.0) - self.elevation_map[:, self.cell_min : self.cell_max, self.cell_min : self.cell_max] = near_map + self.elevation_map[ + :, self.cell_min : self.cell_max, self.cell_min : self.cell_max + ] = near_map def get_additive_mean_error(self): return self.additive_mean_error @@ -403,7 +452,9 @@ def update_time(self): def update_upper_bound_with_valid_elevation(self): mask = self.elevation_map[2] > 0.5 - self.elevation_map[5] = cp.where(mask, self.elevation_map[0], self.elevation_map[5]) + self.elevation_map[5] = cp.where( + mask, self.elevation_map[0], self.elevation_map[5] + ) self.elevation_map[6] = cp.where(mask, 0.0, self.elevation_map[6]) def input( @@ -489,7 +540,12 @@ def input_image( size=int(self.cell_n * self.cell_n), ) self.semantic_map.update_layers_image( - sub_key, image, self.uv_correspondence, self.valid_correspondence, image_height, image_width + sub_key, + image, + self.uv_correspondence, + self.valid_correspondence, + image_height, + image_width, ) def update_normal(self, dilated_map): @@ -501,7 +557,10 @@ def update_normal(self, dilated_map): with self.map_lock: self.normal_map *= 0.0 self.normal_filter_kernel( - dilated_map, self.elevation_map[2], self.normal_map, size=(self.cell_n * self.cell_n) + dilated_map, + self.elevation_map[2], + self.normal_map, + size=(self.cell_n * self.cell_n), ) def process_map_for_publish(self, input_map, fill_nan=False, add_z=False, xp=cp): @@ -524,29 +583,42 @@ def process_map_for_publish(self, input_map, fill_nan=False, add_z=False, xp=cp) return m[1:-1, 1:-1] def get_elevation(self): - return self.process_map_for_publish(self.elevation_map[0], fill_nan=True, add_z=True) + return self.process_map_for_publish( + self.elevation_map[0], fill_nan=True, add_z=True + ) def get_variance(self): - return self.process_map_for_publish(self.elevation_map[1], fill_nan=False, add_z=False) + return self.process_map_for_publish( + self.elevation_map[1], fill_nan=False, add_z=False + ) def get_traversability(self): traversability = cp.where( - (self.elevation_map[2] + self.elevation_map[6]) > 0.5, self.elevation_map[3].copy(), cp.nan + (self.elevation_map[2] + self.elevation_map[6]) > 0.5, + self.elevation_map[3].copy(), + cp.nan, ) self.traversability_buffer[3:-3, 3:-3] = traversability[3:-3, 3:-3] traversability = self.traversability_buffer[1:-1, 1:-1] return traversability def get_time(self): - return self.process_map_for_publish(self.elevation_map[4], fill_nan=False, add_z=False) + return self.process_map_for_publish( + self.elevation_map[4], fill_nan=False, add_z=False + ) def get_upper_bound(self): if self.param.use_only_above_for_upper_bound: valid = cp.logical_or( - cp.logical_and(self.elevation_map[5] > 0.0, self.elevation_map[6] > 0.5), self.elevation_map[2] > 0.5 + cp.logical_and( + self.elevation_map[5] > 0.0, self.elevation_map[6] > 0.5 + ), + self.elevation_map[2] > 0.5, ) else: - valid = cp.logical_or(self.elevation_map[2] > 0.5, self.elevation_map[6] > 0.5) + valid = cp.logical_or( + self.elevation_map[2] > 0.5, self.elevation_map[6] > 0.5 + ) upper_bound = cp.where(valid, self.elevation_map[5].copy(), cp.nan) upper_bound = upper_bound[1:-1, 1:-1] + self.center[2] return upper_bound @@ -554,10 +626,15 @@ def get_upper_bound(self): def get_is_upper_bound(self): if self.param.use_only_above_for_upper_bound: valid = cp.logical_or( - cp.logical_and(self.elevation_map[5] > 0.0, self.elevation_map[6] > 0.5), self.elevation_map[2] > 0.5 + cp.logical_and( + self.elevation_map[5] > 0.0, self.elevation_map[6] > 0.5 + ), + self.elevation_map[2] > 0.5, ) else: - valid = cp.logical_or(self.elevation_map[2] > 0.5, self.elevation_map[6] > 0.5) + valid = cp.logical_or( + self.elevation_map[2] > 0.5, self.elevation_map[6] > 0.5 + ) is_upper_bound = cp.where(valid, self.elevation_map[6].copy(), cp.nan) is_upper_bound = is_upper_bound[1:-1, 1:-1] return is_upper_bound @@ -644,12 +721,18 @@ def get_map_with_name_ref(self, name, data): m = self.semantic_map.get_map_with_name(name) elif name in self.plugin_manager.layer_names: self.plugin_manager.update_with_name( - name, self.elevation_map, self.layer_names, self.semantic_map, self.base_rotation + name, + self.elevation_map, + self.layer_names, + self.semantic_map, + self.base_rotation, ) m = self.plugin_manager.get_map_with_name(name) p = self.plugin_manager.get_param_with_name(name) xp = self.xp_of_array(m) - m = self.process_map_for_publish(m, fill_nan=p.fill_nan, add_z=p.is_height_layer, xp=xp) + m = self.process_map_for_publish( + m, fill_nan=p.fill_nan, add_z=p.is_height_layer, xp=xp + ) else: print("Layer {} is not in the map".format(name)) return @@ -688,7 +771,11 @@ def get_layer(self, name): return_map = self.semantic_map.semantic_map[idx] elif name in self.plugin_manager.layer_names: self.plugin_manager.update_with_name( - name, self.elevation_map, self.layer_names, self.semantic_map, self.base_rotation + name, + self.elevation_map, + self.layer_names, + self.semantic_map, + self.base_rotation, ) return_map = self.plugin_manager.get_map_with_name(name) else: @@ -728,17 +815,24 @@ def get_polygon_traversability(self, polygon, result): size=(self.cell_n * self.cell_n), ) tmp_map = self.get_layer(self.param.checker_layer) - masked, masked_isvalid = get_masked_traversability(self.elevation_map, self.mask, tmp_map) + masked, masked_isvalid = get_masked_traversability( + self.elevation_map, self.mask, tmp_map + ) if masked_isvalid.sum() > 0: t = masked.sum() / masked_isvalid.sum() else: t = cp.asarray(0.0, dtype=self.data_type) is_safe, un_polygon = is_traversable( - masked, self.param.safe_thresh, self.param.safe_min_thresh, self.param.max_unsafe_n + masked, + self.param.safe_thresh, + self.param.safe_min_thresh, + self.param.max_unsafe_n, ) untraversable_polygon_num = 0 if un_polygon is not None: - un_polygon = transform_to_map_position(un_polygon, self.center[:2], self.cell_n, self.resolution) + un_polygon = transform_to_map_position( + un_polygon, self.center[:2], self.cell_n, self.resolution + ) untraversable_polygon_num = un_polygon.shape[0] if clipped_area < 0.001: is_safe = False @@ -765,7 +859,9 @@ def initialize_map(self, points, method="cubic"): self.clear() with self.map_lock: points = cp.asarray(points, dtype=self.data_type) - indices = transform_to_map_index(points[:, :2], self.center[:2], self.cell_n, self.resolution) + indices = transform_to_map_index( + points[:, :2], self.center[:2], self.cell_n, self.resolution + ) points[:, :2] = indices.astype(points.dtype) points[:, 2] -= self.center[2] self.map_initializer(self.elevation_map, points, method) @@ -790,13 +886,23 @@ def initialize_map(self, points, method="cubic"): t = xp.random.rand(3) print(R, t) param = Parameter( - use_chainer=False, weight_file="../config/weights.dat", plugin_config_file="../config/plugin_config.yaml" + use_chainer=False, + weight_file="../config/weights.dat", + plugin_config_file="../config/plugin_config.yaml", ) param.additional_layers = ["feat_0", "feat_1", "rgb", "people"] param.fusion_algorithms = ["average", "average", "color", "class_average"] param.update() elevation = ElevationMap(param) - layers = ["elevation", "variance", "traversability", "min_filter", "smooth", "inpaint", "rgb"] + layers = [ + "elevation", + "variance", + "traversability", + "min_filter", + "smooth", + "inpaint", + "rgb", + ] points = xp.random.rand(100000, len(layers)) channels = ["x", "y", "z"] + param.additional_layers diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/__init__.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/__init__.py index 5a58d6db..06eecc38 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/__init__.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/__init__.py @@ -1,2 +1,3 @@ from .custom_image_kernels import * from .custom_kernels import * +from .custom_semantic_kernels import * diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/custom_kernels.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/custom_kernels.py index 3f89a06c..10e65eb0 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/custom_kernels.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/custom_kernels.py @@ -656,384 +656,6 @@ def polygon_mask_kernel(width, height, resolution): return polygon_mask_kernel -##################### additional kernels ################################# - - -def sum_kernel( - resolution, - width, - height, -): - # input the list of layers, amount of channels can slo be input through kernel - sum_kernel = cp.ElementwiseKernel( - in_params="raw U p, raw U R, raw U t, raw W pcl_chan, raw W map_lay, raw W pcl_channels", - out_params="raw U map, raw U newmap", - preamble=string.Template( - """ - __device__ int get_map_idx(int idx, int layer_n) { - const int layer = ${width} * ${height}; - return layer * layer_n + idx; - } - """ - ).substitute(resolution=resolution, width=width, height=height), - operation=string.Template( - """ - U idx = p[i * pcl_channels[0]]; - U valid = p[i * pcl_channels[0] + 1]; - U inside = p[i * pcl_channels[0] + 2]; - if (valid) { - if (inside) { - for ( W it=0;it=theta_max){ - arg_max = map_lay[it]; - theta_max = theta; - } - } - atomicAdd(&newmap[get_map_idx(idx, arg_max)], theta_max); - } - } - """ - ).substitute(), - name="alpha_kernel", - ) - return alpha_kernel - - -def average_kernel( - width, - height, -): - average_kernel = cp.ElementwiseKernel( - in_params="raw V newmap, raw W pcl_chan, raw W map_lay, raw W pcl_channels, raw U new_elmap", - out_params="raw U map", - preamble=string.Template( - """ - __device__ int get_map_idx(int idx, int layer_n) { - const int layer = ${width} * ${height}; - return layer * layer_n + idx; - } - """ - ).substitute(width=width, height=height), - operation=string.Template( - """ - U cnt = new_elmap[get_map_idx(i, 2)]; - if (cnt>0){ - for ( int it=0;it0){ - for ( int it=0;it0){ - for ( int it=0;it> 16; - return reds; - } - __device__ unsigned int get_g(unsigned int color){ - unsigned int green = 0xFF00; - unsigned int greens = (color & green) >> 8; - return greens; - } - __device__ unsigned int get_b(unsigned int color){ - unsigned int blue = 0xFF; - unsigned int blues = ( color & blue); - return blues; - } - """ - ).substitute(width=width, height=height), - operation=string.Template( - """ - U idx = p[i * pcl_channels[0]]; - U valid = p[i * pcl_channels[0] + 1]; - U inside = p[i * pcl_channels[0] + 2]; - if (valid && inside){ - for ( int it=0;it> 16; - return reds; - } - __device__ unsigned int get_g(unsigned int color){ - unsigned int green = 0xFF00; - unsigned int greens = (color & green) >> 8; - return greens; - } - __device__ unsigned int get_b(unsigned int color){ - unsigned int blue = 0xFF; - unsigned int blues = (color & blue); - return blues; - } - """ - ).substitute(width=width, height=height), - operation=string.Template( - """ - unsigned int cnt = color_map[get_map_idx(i, pcl_channels[1]*3)]; - if (cnt>0){ - for ( int it=0;it=0){ - // unsigned int prev_r = get_r(prev_color); - // unsigned int prev_g = get_g(prev_color); - // unsigned int prev_b = get_b(prev_color); - // unsigned int r = prev_r/2 + color_map[get_map_idx(i, it*3)]/(2*cnt); - // unsigned int g = prev_g/2 + color_map[get_map_idx(i, it*3+1)]/(2*cnt); - // unsigned int b = prev_b/2 + color_map[get_map_idx(i, it*3+2)]/(2*cnt); - //} - unsigned int rgb = (r<<16) + (g << 8) + b; - float rgb_ = __uint_as_float(rgb); - map[get_map_idx(i, map_lay[it])] = rgb_; - } - } - """ - ).substitute(), - name="color_average_kernel", - ) - return color_average_kernel - - if __name__ == "__main__": for i in range(10): import random diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/custom_semantic_kernels.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/custom_semantic_kernels.py new file mode 100644 index 00000000..e562c263 --- /dev/null +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/custom_semantic_kernels.py @@ -0,0 +1,376 @@ +import cupy as cp +import string + +def sum_kernel( + resolution, + width, + height, +): + # input the list of layers, amount of channels can slo be input through kernel + sum_kernel = cp.ElementwiseKernel( + in_params="raw U p, raw U R, raw U t, raw W pcl_chan, raw W map_lay, raw W pcl_channels", + out_params="raw U map, raw U newmap", + preamble=string.Template( + """ + __device__ int get_map_idx(int idx, int layer_n) { + const int layer = ${width} * ${height}; + return layer * layer_n + idx; + } + """ + ).substitute(resolution=resolution, width=width, height=height), + operation=string.Template( + """ + U idx = p[i * pcl_channels[0]]; + U valid = p[i * pcl_channels[0] + 1]; + U inside = p[i * pcl_channels[0] + 2]; + if (valid) { + if (inside) { + for ( W it=0;it=theta_max){ + arg_max = map_lay[it]; + theta_max = theta; + } + } + atomicAdd(&newmap[get_map_idx(idx, arg_max)], theta_max); + } + } + """ + ).substitute(), + name="alpha_kernel", + ) + return alpha_kernel + + +def average_kernel( + width, + height, +): + average_kernel = cp.ElementwiseKernel( + in_params="raw V newmap, raw W pcl_chan, raw W map_lay, raw W pcl_channels, raw U new_elmap", + out_params="raw U map", + preamble=string.Template( + """ + __device__ int get_map_idx(int idx, int layer_n) { + const int layer = ${width} * ${height}; + return layer * layer_n + idx; + } + """ + ).substitute(width=width, height=height), + operation=string.Template( + """ + U cnt = new_elmap[get_map_idx(i, 2)]; + if (cnt>0){ + for ( int it=0;it0){ + for ( int it=0;it0){ + for ( int it=0;it> 16; + return reds; + } + __device__ unsigned int get_g(unsigned int color){ + unsigned int green = 0xFF00; + unsigned int greens = (color & green) >> 8; + return greens; + } + __device__ unsigned int get_b(unsigned int color){ + unsigned int blue = 0xFF; + unsigned int blues = ( color & blue); + return blues; + } + """ + ).substitute(width=width, height=height), + operation=string.Template( + """ + U idx = p[i * pcl_channels[0]]; + U valid = p[i * pcl_channels[0] + 1]; + U inside = p[i * pcl_channels[0] + 2]; + if (valid && inside){ + for ( int it=0;it> 16; + return reds; + } + __device__ unsigned int get_g(unsigned int color){ + unsigned int green = 0xFF00; + unsigned int greens = (color & green) >> 8; + return greens; + } + __device__ unsigned int get_b(unsigned int color){ + unsigned int blue = 0xFF; + unsigned int blues = (color & blue); + return blues; + } + """ + ).substitute(width=width, height=height), + operation=string.Template( + """ + unsigned int cnt = color_map[get_map_idx(i, pcl_channels[1]*3)]; + if (cnt>0){ + for ( int it=0;it=0){ + // unsigned int prev_r = get_r(prev_color); + // unsigned int prev_g = get_g(prev_color); + // unsigned int prev_b = get_b(prev_color); + // unsigned int r = prev_r/2 + color_map[get_map_idx(i, it*3)]/(2*cnt); + // unsigned int g = prev_g/2 + color_map[get_map_idx(i, it*3+1)]/(2*cnt); + // unsigned int b = prev_b/2 + color_map[get_map_idx(i, it*3+2)]/(2*cnt); + //} + unsigned int rgb = (r<<16) + (g << 8) + b; + float rgb_ = __uint_as_float(rgb); + map[get_map_idx(i, map_lay[it])] = rgb_; + } + } + """ + ).substitute(), + name="color_average_kernel", + ) + return color_average_kernel diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py index e7792405..9ff5f5b9 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py @@ -2,17 +2,17 @@ import cupy as cp import numpy as np from typing import List -from elevation_mapping_cupy.kernels import ( - sum_kernel, - add_color_kernel, - color_average_kernel, - bayesian_inference_kernel, -) -from elevation_mapping_cupy.kernels import sum_compact_kernel, sum_max_kernel + from elevation_mapping_cupy.kernels import ( average_kernel, class_average_kernel, alpha_kernel, + bayesian_inference_kernel, + add_color_kernel, + color_average_kernel, + sum_compact_kernel, + sum_max_kernel, + sum_kernel, ) from elevation_mapping_cupy.kernels import ( average_correspondences_to_map_kernel, @@ -167,6 +167,38 @@ def compile_kernels(self) -> None: ) ) + def pad_value(self, x, shift_value, idx=None, value=0.0): + """Create a padding of the map along x,y-axis according to amount that has shifted. + + Args: + x (cupy._core.core.ndarray): + shift_value (cupy._core.core.ndarray): + idx (Union[None, int, None, None]): + value (float): + """ + if idx is None: + if shift_value[0] > 0: + x[:, : shift_value[0], :] = value + elif shift_value[0] < 0: + x[:, shift_value[0] :, :] = value + if shift_value[1] > 0: + x[:, :, : shift_value[1]] = value + elif shift_value[1] < 0: + x[:, :, shift_value[1] :] = value + else: + if shift_value[0] > 0: + x[idx, : shift_value[0], :] = value + elif shift_value[0] < 0: + x[idx, shift_value[0] :, :] = value + if shift_value[1] > 0: + x[idx, :, : shift_value[1]] = value + elif shift_value[1] < 0: + x[idx, :, shift_value[1] :] = value + + def shift_map_xy(self, shift_value): + self.semantic_map = cp.roll(self.semantic_map, shift_value, axis=(1, 2)) + self.pad_value(self.semantic_map, shift_value, value=0.0) + def get_fusion_of_pcl(self, channels: List[str]) -> List[str]: """Get all fusion algorithms that need to be applied to a specific pointcloud From 6c85ac1e4fd25899639bf6f3429f5b3b080d5420 Mon Sep 17 00:00:00 2001 From: Gian Erni Date: Fri, 9 Dec 2022 19:07:18 +0100 Subject: [PATCH 298/504] removed one todo --- .../script/elevation_mapping_cupy/parameter.py | 13 ++++++++++++- .../src/elevation_mapping_ros.cpp | 2 +- 2 files changed, 13 insertions(+), 2 deletions(-) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py index 6a307208..9edbf012 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py @@ -11,10 +11,21 @@ # todo add this for the future @dataclass class Subscriber(Serializable): - sensor_name: str = "front_cam" channels: list = field(default_factory=lambda: ["feat_0"]) fusion: list = field(default_factory=lambda: ["average"]) topic_name: str = "/elevation_mapping/pointcloud_semantic" + cam_frame: str = "zed2i_right_camera_optical_frame" + cam_info_topic: str = "/zed2i/zed_node/depth/camera_info" + confidence: bool = True + confidence_threshold: int = 10 + confidence_topic: str = "/zed2i/zed_node/confidence/confidence_map" + depth_topic: str = "/zed2i/zed_node/depth/depth_registered" + feature_extractor: bool = False + image_topic: str = "/zed2i/zed_node/left/image_rect_color" + segmentation_model: str = "lraspp_mobilenet_v3_large" + semantic_segmentation: bool = True + show_label_legend: bool = True + data_type: str = "pointcloud" @dataclass diff --git a/elevation_mapping_cupy/src/elevation_mapping_ros.cpp b/elevation_mapping_cupy/src/elevation_mapping_ros.cpp index de9314a9..9aba3faa 100644 --- a/elevation_mapping_cupy/src/elevation_mapping_ros.cpp +++ b/elevation_mapping_cupy/src/elevation_mapping_ros.cpp @@ -274,7 +274,7 @@ void ElevationMappingNode::pointcloudCallback(const sensor_msgs::PointCloud2& cl std::vector channels; for(auto & field: fields){ channels.push_back(field.name); -// TODO: check that datatype is always 7? + ROS_ASSERT(field.datatype == 7); } // get pose of sensor in map frame tf::StampedTransform transformTf; From 08e814b8626cbe49f98ba74c10e6882ab58a90c8 Mon Sep 17 00:00:00 2001 From: Matias Mattamala Date: Sun, 11 Dec 2022 14:56:21 +0000 Subject: [PATCH 299/504] Minor TF listener fix --- .../elevation_mapping_cupy/elevation_mapping_ros.py | 2 +- elevation_mapping_cupy/src/elevation_mapping_ros.cpp | 8 +++++--- 2 files changed, 6 insertions(+), 4 deletions(-) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping_ros.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping_ros.py index b9e2a6e1..8a61123e 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping_ros.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping_ros.py @@ -152,7 +152,7 @@ def image_callback(self, camera_msg, camera_info_msg, sub_key): camera_msg.header.frame_id, self.map_frame, ti, rospy.Duration(1.0) ) except (tf2_ros.LookupException, tf2_ros.ConnectivityException, tf2_ros.ExtrapolationException) as e: - print("pointcloud_callback error:", e) + print("image_callback error:", e) return t = transform.transform.translation diff --git a/elevation_mapping_cupy/src/elevation_mapping_ros.cpp b/elevation_mapping_cupy/src/elevation_mapping_ros.cpp index 9aba3faa..f70fb80e 100644 --- a/elevation_mapping_cupy/src/elevation_mapping_ros.cpp +++ b/elevation_mapping_cupy/src/elevation_mapping_ros.cpp @@ -97,7 +97,7 @@ ElevationMappingNode::ElevationMappingNode(ros::NodeHandle& nh) cameraSyncs_.push_back(sync); } else { - ROS_WARN_STREAM("Subscriber type [" << type << "] Not valid. Supported types: pointcloud, image"); + ROS_WARN_STREAM("Subscriber data_type [" << type << "] Not valid. Supported types: pointcloud, image"); continue; } } @@ -326,8 +326,10 @@ void ElevationMappingNode::imageCallback(const sensor_msgs::ImageConstPtr& image auto timeStamp = image_msg->header.stamp; Eigen::Affine3d transformationSensorToMap; try { - transformListener_.waitForTransform(mapFrameId_, sensorFrameId, timeStamp, ros::Duration(1.0)); - transformListener_.lookupTransform(mapFrameId_, sensorFrameId, timeStamp, transformTf); + // transformListener_.waitForTransform(mapFrameId_, sensorFrameId, timeStamp, ros::Duration(1.0)); + // transformListener_.lookupTransform(mapFrameId_, sensorFrameId, timeStamp, transformTf); + transformListener_.waitForTransform(sensorFrameId, mapFrameId_, timeStamp, ros::Duration(1.0)); + transformListener_.lookupTransform(sensorFrameId, mapFrameId_, timeStamp, transformTf); poseTFToEigen(transformTf, transformationSensorToMap); } catch (tf::TransformException& ex) { ROS_ERROR("%s", ex.what()); From 2a4f9e1432584cf441a48bb3df8f700b1903f980 Mon Sep 17 00:00:00 2001 From: Matias Mattamala Date: Sun, 11 Dec 2022 15:39:33 +0000 Subject: [PATCH 300/504] Fix names in tf listener, fix multichannel conversion --- .../src/elevation_mapping_ros.cpp | 58 ++++++------------- 1 file changed, 17 insertions(+), 41 deletions(-) diff --git a/elevation_mapping_cupy/src/elevation_mapping_ros.cpp b/elevation_mapping_cupy/src/elevation_mapping_ros.cpp index f70fb80e..d5a72247 100644 --- a/elevation_mapping_cupy/src/elevation_mapping_ros.cpp +++ b/elevation_mapping_cupy/src/elevation_mapping_ros.cpp @@ -317,6 +317,13 @@ void ElevationMappingNode::imageCallback(const sensor_msgs::ImageConstPtr& image // Get image cv::Mat image = cv_bridge::toCvShare(image_msg, image_msg->encoding)->image; + // Change encoding to RGB/RGBA + if (image_msg->encoding == "bgr8") { + cv::cvtColor(image, image, CV_BGR2RGB); + } else if (image_msg->encoding == "bgra8") { + cv::cvtColor(image, image, CV_BGRA2RGBA); + } + // Extract camera matrix Eigen::Map> cameraMatrix(&camera_info_msg->K[0]); @@ -324,59 +331,28 @@ void ElevationMappingNode::imageCallback(const sensor_msgs::ImageConstPtr& image tf::StampedTransform transformTf; std::string sensorFrameId = image_msg->header.frame_id; auto timeStamp = image_msg->header.stamp; - Eigen::Affine3d transformationSensorToMap; + Eigen::Affine3d transformationMapToSensor; try { - // transformListener_.waitForTransform(mapFrameId_, sensorFrameId, timeStamp, ros::Duration(1.0)); - // transformListener_.lookupTransform(mapFrameId_, sensorFrameId, timeStamp, transformTf); transformListener_.waitForTransform(sensorFrameId, mapFrameId_, timeStamp, ros::Duration(1.0)); transformListener_.lookupTransform(sensorFrameId, mapFrameId_, timeStamp, transformTf); - poseTFToEigen(transformTf, transformationSensorToMap); + poseTFToEigen(transformTf, transformationMapToSensor); } catch (tf::TransformException& ex) { ROS_ERROR("%s", ex.what()); return; } - // Transform to vector of Eigen matrices + // Transform image to vector of Eigen matrices for easy pybind conversion + std::vector image_split; std::vector multichannel_image; - if (image.channels() == 1) { - ColMatrixXf eigen_image; - cv::cv2eigen(image, eigen_image); - multichannel_image.push_back(eigen_image); - - } else if (image.channels() == 3) { - cv::Mat bgr[3]; - cv::split(image, bgr); - ColMatrixXf eigen_image_b; - cv::cv2eigen(bgr[0], eigen_image_b); - ColMatrixXf eigen_image_g; - cv::cv2eigen(bgr[1], eigen_image_g); - ColMatrixXf eigen_image_r; - cv::cv2eigen(bgr[2], eigen_image_r); - - multichannel_image.push_back(eigen_image_r); - multichannel_image.push_back(eigen_image_g); - multichannel_image.push_back(eigen_image_b); - - } else if (image.channels() == 4) { - cv::Mat bgr[4]; - cv::split(image, bgr); - ColMatrixXf eigen_image_b; - cv::cv2eigen(bgr[0], eigen_image_b); - ColMatrixXf eigen_image_g; - cv::cv2eigen(bgr[1], eigen_image_g); - ColMatrixXf eigen_image_r; - cv::cv2eigen(bgr[2], eigen_image_r); - - multichannel_image.push_back(eigen_image_r); - multichannel_image.push_back(eigen_image_g); - multichannel_image.push_back(eigen_image_b); - - } else { - ROS_WARN_STREAM("Invalid number of channels [" << image.channels() << "]. Only allowed 1 (mono) or 3 (rgb)"); + cv::split(image, image_split); + for (auto img : image_split) { + ColMatrixXf eigen_img; + cv::cv2eigen(img, eigen_img); + multichannel_image.push_back(eigen_img); } // Pass image to pipeline - map_.input_image(key, multichannel_image, transformationSensorToMap.rotation(), transformationSensorToMap.translation(), cameraMatrix, image.rows, image.cols); + map_.input_image(key, multichannel_image, transformationMapToSensor.rotation(), transformationMapToSensor.translation(), cameraMatrix, image.rows, image.cols); ROS_DEBUG_THROTTLE(1.0, "ElevationMap processed an image in %f sec.", (ros::Time::now() - start).toSec()); } From ba783fce7aa9a23c4d3db8b56bca85ba33b270b5 Mon Sep 17 00:00:00 2001 From: Gian Date: Mon, 12 Dec 2022 15:52:17 +0100 Subject: [PATCH 301/504] added parameter file to make experiments repeatable --- README.md | 29 + .../config/anymal_parameters.yaml | 96 +++ .../config/anymal_sensor_parameter.yaml | 137 +++++ .../config/lonomy_parameters.yaml | 94 +++ .../config/lonomy_plugin_config.yaml | 61 ++ .../config/lonomy_sensor_parameter.yaml | 28 + .../anymal_semantic_elevation_single.launch | 21 + .../launch/lonomy_pointcloud.launch | 16 + .../lonomy_semantic_elevation_single.launch | 21 + elevation_mapping_cupy/rviz/anymal.rviz | 570 ++++++++++++++++++ .../rviz/lonomy_single.rviz | 494 +++++++++++++++ 11 files changed, 1567 insertions(+) create mode 100644 elevation_mapping_cupy/config/anymal_parameters.yaml create mode 100644 elevation_mapping_cupy/config/anymal_sensor_parameter.yaml create mode 100644 elevation_mapping_cupy/config/lonomy_parameters.yaml create mode 100644 elevation_mapping_cupy/config/lonomy_plugin_config.yaml create mode 100644 elevation_mapping_cupy/config/lonomy_sensor_parameter.yaml create mode 100644 elevation_mapping_cupy/launch/anymal_semantic_elevation_single.launch create mode 100644 elevation_mapping_cupy/launch/lonomy_pointcloud.launch create mode 100644 elevation_mapping_cupy/launch/lonomy_semantic_elevation_single.launch create mode 100644 elevation_mapping_cupy/rviz/anymal.rviz create mode 100644 elevation_mapping_cupy/rviz/lonomy_single.rviz diff --git a/README.md b/README.md index 9dba2ed3..ecb9b977 100644 --- a/README.md +++ b/README.md @@ -27,3 +27,32 @@ terrain can be efficiently generated. } ``` + +## Quick instructions to run: + +For the lonomy bag: + +CPP wrapper: +```zsh + roslaunch elevation_mapping_cupy lonomy_semantic_elevation_single.launch use_sim_true:=true + rosbag play --clock ~/bags/good_working_wine_field_zed_topcom_rtk_person_9_2022-07-15-14-37-05.bag +``` + +Python wrapper: +````zsh + python -m elevation_mapping_cupy.elevation_mapping_ros + roslaunch elevation_mapping_cupy lonomy_pointcloud.launch use_sim_time:=true + rosbag play --clock ~/bags/good_working_wine_field_zed_topcom_rtk_person_9_2022-07-15-14-37-05.bag +```` + + + +For the anymal bag: + + +```zsh + roslaunch elevation_mapping_cupy anymal_semantic_elevation_single.launch use_sim_time:=true + rosbag play --clock ~/bags/anymal_coyote_2022-12-11-20-01-46.bag +``` + + diff --git a/elevation_mapping_cupy/config/anymal_parameters.yaml b/elevation_mapping_cupy/config/anymal_parameters.yaml new file mode 100644 index 00000000..4941a011 --- /dev/null +++ b/elevation_mapping_cupy/config/anymal_parameters.yaml @@ -0,0 +1,96 @@ +#### Basic parameters ######## +resolution: 0.04 # resolution in m. +map_length: 8 # map's size in m. +sensor_noise_factor: 0.05 # point's noise is sensor_noise_factor*z^2 (z is distance from sensor). +mahalanobis_thresh: 2.0 # points outside this distance is outlier. +outlier_variance: 0.01 # if point is outlier, add this value to the cell. +drift_compensation_variance_inler: 0.05 # cells under this value is used for drift compensation. +max_drift: 0.1 # drift compensation happens only the drift is smaller than this value (for safety) +drift_compensation_alpha: 0.1 # drift compensation alpha for smoother update of drift compensation +time_variance: 0.0001 # add this value when update_variance is called. +max_variance: 100.0 # maximum variance for each cell. +initial_variance: 1000.0 # initial variance for each cell. +traversability_inlier: 0.9 # cells with higher traversability are used for drift compensation. +dilation_size: 3 # dilation filter size before traversability filter. +wall_num_thresh: 20 # if there are more points than this value, only higher points than the current height are used to make the wall more sharp. +min_height_drift_cnt: 100 # drift compensation only happens if the valid cells are more than this number. +position_noise_thresh: 0.01 # if the position change is bigger than this value, the drift compensation happens. +orientation_noise_thresh: 0.01 # if the orientation change is bigger than this value, the drift compensation happens. +position_lowpass_alpha: 0.2 # lowpass filter alpha used for detecting movements. +orientation_lowpass_alpha: 0.2 # lowpass filter alpha used for detecting movements. +min_valid_distance: 0.5 # points with shorter distance will be filtered out. +max_height_range: 1.0 # points higher than this value from sensor will be filtered out to disable ceiling. +ramped_height_range_a: 0.3 # if z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject. +ramped_height_range_b: 1.0 # if z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject. +ramped_height_range_c: 0.2 # if z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject. +update_variance_fps: 5.0 # fps for updating variance. +update_pose_fps: 10.0 # fps for updating pose and shift the center of map. +time_interval: 0.1 # Time layer is updated with this interval. +map_acquire_fps: 5.0 # Raw map is fetched from GPU memory in this fps. +publish_statistics_fps: 1.0 # Publish statistics topic in this fps. + +max_ray_length: 10.0 # maximum length for ray tracing. +cleanup_step: 0.1 # subtitute this value from validity layer at visibiltiy cleanup. +cleanup_cos_thresh: 0.1 # subtitute this value from validity layer at visibiltiy cleanup. + +safe_thresh: 0.7 # if traversability is smaller, it is counted as unsafe cell. +safe_min_thresh: 0.4 # polygon is unsafe if there exists lower traversability than this. +max_unsafe_n: 10 # if the number of cells under safe_thresh exceeds this value, polygon is unsafe. + +overlap_clear_range_xy: 4.0 # xy range [m] for clearing overlapped area. this defines the valid area for overlap clearance. (used for multi floor setting) +overlap_clear_range_z: 2.0 # z range [m] for clearing overlapped area. cells outside this range will be cleared. (used for multi floor setting) + +map_frame: 'odom' # The map frame where the odometry source uses. +base_frame: 'base' # The robot's base frame. This frame will be a center of the map. +corrected_map_frame: 'odom_corrected' + +#### Feature toggles ######## +enable_edge_sharpen: true +enable_visibility_cleanup: true +enable_drift_compensation: true +enable_overlap_clearance: true +enable_pointcloud_publishing: false +enable_drift_corrected_TF_publishing: false +enable_normal_color: false # If true, the map contains 'color' layer corresponding to normal. Add 'color' layer to the publishers setting if you want to visualize. + +#### Traversability filter ######## +use_chainer: false # Use chainer as a backend of traversability filter or pytorch. If false, it uses pytorch. pytorch requires ~2GB more GPU memory compared to chainer but runs faster. +weight_file: '$(rospack find elevation_mapping_cupy)/config/weights.dat' # Weight file for traversability filter + +#### Upper bound ######## +use_only_above_for_upper_bound: false + +#### Plugins ######## +plugin_config_file: '$(rospack find elevation_mapping_cupy)/config/plugin_config.yaml' + +#### Publishers ######## +# topic_name: +# layers: # Choose from 'elevation', 'variance', 'traversability', 'time', 'normal_x', 'normal_y', 'normal_z', 'color', plugin_layer_names +# basic_layers: # basic_layers for valid cell computation (e.g. Rviz): Choose a subset of `layers`. +# fps: # Publish rate. Use smaller value than `map_acquire_fps`. +publishers: + elevation_map_raw: + layers: ['elevation', 'traversability', 'variance'] + basic_layers: ['elevation', 'traversability'] + fps: 2.0 + + semantic_map_raw: + layers: ['elevation', 'traversability', 'variance', 'rgb_image'] + basic_layers: ['elevation', 'traversability'] + fps: 2.0 + # elevation_map_recordable: + # layers: ['elevation', 'traversability'] + # basic_layers: ['elevation', 'traversability'] + # fps: 2.0 + # elevation_map_filter: + # layers: ['min_filter', 'smooth', 'inpaint', 'upper_bound','rgb'] + # basic_layers: ['min_filter'] + # fps: 3.0 + +#### Initializer ######## +initialize_method: 'linear' # Choose one from 'nearest', 'linear', 'cubic' +initialize_frame_id: ['base_footprint'] # One tf (like ['footprint'] # One tf (like ['footprint'] ) initializes a square around it. +initialize_tf_offset: [0.0] # z direction. Should be same number as initialize_frame_id. +dilation_size_initialize: 5 # dilation size after the init. +initialize_tf_grid_size: 0.4 # This is not used if number of tf is more than 3. +use_initializer_at_start: true # Use initializer when the node starts. diff --git a/elevation_mapping_cupy/config/anymal_sensor_parameter.yaml b/elevation_mapping_cupy/config/anymal_sensor_parameter.yaml new file mode 100644 index 00000000..edae6030 --- /dev/null +++ b/elevation_mapping_cupy/config/anymal_sensor_parameter.yaml @@ -0,0 +1,137 @@ +#### Subscribers ######## +subscribers: + # debug_rgb: + # fusion: ['image_color'] + # topic_name_camera: /zed2i/zed_node/left/image_rect_color + # topic_name_camera_info: /zed2i/zed_node/right/camera_info + # channels: ["rgb_image"] + # data_type: image + # fusion_types: + # array_fusion: [] + # channels: [] + + # debug_rgb_3_seperate: + # fusion: ['image_exponential','image_exponential','image_exponential'] + # topic_name_camera: /zed2i/zed_node/right/image + # topic_name_camera_info: /zed2i/zed_node/right/camera_info + # channels: ["r_channel", "g_channel", "b_channel"] + # data_type: image + + # debug_rgb_2_seperate: + # fusion: ['image_exponential', 'image_exponential'] + # topic_name_camera: /zed2i/zed_node/left/image_rect_color + # topic_name_camera_info: /zed2i/zed_node/right/camera_info + # channels: ["r_channel", "g_channel"] + # data_type: image + + # debug_mono_exponential: + # fusion: ['image_exponential'] + # topic_name_camera: /debug_image + # topic_name_camera_info: /zed2i/zed_node/right/camera_info + # channels: ["single_channel_semantic"] + # data_type: image + +# front_cam: +# channels: ['rgb'] +# fusion: ['color'] +# topic_name: '/elevation_mapping/pointcloud_semantic' +# data_type: pointcloud + + alphasense_front_rgb: + fusion: ['image_color'] + topic_name_camera: /alphasense_driver_ros/cam4/debayered + topic_name_camera_info: /alphasense_driver_ros/cam4/camera_info + channels: ["rgb_image"] + data_type: image + fusion_types: + array_fusion: [] + channels: [] + + alphasense_left_rgb: + fusion: ['image_color'] + topic_name_camera: /alphasense_driver_ros/cam3/debayered + topic_name_camera_info: /alphasense_driver_ros/cam3/camera_info + channels: ["rgb_image"] + data_type: image + fusion_types: + array_fusion: [] + channels: [] + + alphasense_right_rgb: + fusion: ['image_color'] + topic_name_camera: /alphasense_driver_ros/cam5/debayered + topic_name_camera_info: /alphasense_driver_ros/cam5/camera_info + channels: ["rgb_image"] + data_type: image + fusion_types: + array_fusion: [] + channels: [] + + wvn_prediction: + fusion: ['image_exponential'] + topic_name_camera: '/wild_visual_navigation_node/current_prediction' + topic_name_camera_info: '/wild_visual_navigation_node/camera_info' + channels: ["visual_traversability"] + data_type: image + + # front_cam: + # channels: ['rgb','feat_0','feat_1','grass','tree','fence','person'] + # fusion: ['color','average','average','class_average','class_average','class_average','class_average'] + # topic_name: '/elvation_mapping/pointcloud_semantic' + # semantic_segmentation: False + # segmentation_model: 'detectron_coco_panoptic_fpn_R_101_3x' + # feature_config: + # name: 'DINO' + # interpolation: 'bilinear' + # model: "vit_small" + # patch_size: 16 + # dim: 5 + # dropout: False + # dino_feat_type: "feat" + # input_size: [80, 160] + # projection_type: "nonlinear" + + # cam_info_topic: "/camera/depth/camera_info" + # image_topic: "/camera/rgb/image_raw" + # depth_topic: "/camera/depth/image_raw" + # cam_frame: camera_rgb_optical_frame + # confidence: False + # confidence_topic: "/camera/depth/image_raw" + # confidence_threshold: 10 + # feature_extractor: False + + # front_bpearl: + # channels: [] + # fusion: ['average'] + # topic_name: /robot_self_filter/bpearl_front/point_cloud + # type: pointcloud + + # rear_bpearl: + # channels: [] + # fusion: ['average'] + # topic_name: /robot_self_filter/bpearl_rear/point_cloud + # type: pointcloud + + front_depth: + channels: [] + fusion: ['average'] + topic_name: /depth_camera_front/point_cloud_self_filtered + data_type: pointcloud + + rear_depth: + channels: [] + fusion: ['average'] + topic_name: /depth_camera_rear/point_cloud_self_filtered + data_type: pointcloud + + left_depth: + channels: [] + fusion: ['average'] + topic_name: /depth_camera_left/point_cloud_self_filtered + data_type: pointcloud + + right_depth: + channels: [] + fusion: ['average'] + topic_name: /depth_camera_right/point_cloud_self_filtered + data_type: pointcloud \ No newline at end of file diff --git a/elevation_mapping_cupy/config/lonomy_parameters.yaml b/elevation_mapping_cupy/config/lonomy_parameters.yaml new file mode 100644 index 00000000..a7cbeaee --- /dev/null +++ b/elevation_mapping_cupy/config/lonomy_parameters.yaml @@ -0,0 +1,94 @@ +#### Basic parameters ######## +resolution: 0.04 # resolution in m. +map_length: 8.0 # map's size in m. +sensor_noise_factor: 0.05 # point's noise is sensor_noise_factor*z^2 (z is distance from sensor). +mahalanobis_thresh: 2.0 # points outside this distance is outlier. +outlier_variance: 0.01 # if point is outlier, add this value to the cell. +drift_compensation_variance_inler: 0.05 # cells under this value is used for drift compensation. +max_drift: 0.1 # drift compensation happens only the drift is smaller than this value (for safety) +drift_compensation_alpha: 0.1 # drift compensation alpha for smoother update of drift compensation +time_variance: 0.0001 # add this value when update_variance is called. +max_variance: 100.0 # maximum variance for each cell. +initial_variance: 1000.0 # initial variance for each cell. +traversability_inlier: 0.9 # cells with higher traversability are used for drift compensation. +dilation_size: 3 # dilation filter size before traversability filter. +wall_num_thresh: 20 # if there are more points than this value, only higher points than the current height are used to make the wall more sharp. +min_height_drift_cnt: 100 # drift compensation only happens if the valid cells are more than this number. +position_noise_thresh: 0.01 # if the position change is bigger than this value, the drift compensation happens. +orientation_noise_thresh: 0.01 # if the orientation change is bigger than this value, the drift compensation happens. +position_lowpass_alpha: 0.2 # lowpass filter alpha used for detecting movements. +orientation_lowpass_alpha: 0.2 # lowpass filter alpha used for detecting movements. +min_valid_distance: 0.5 # points with shorter distance will be filtered out. +max_height_range: 1.0 # points higher than this value from sensor will be filtered out to disable ceiling. +ramped_height_range_a: 0.3 # if z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject. +ramped_height_range_b: 1.0 # if z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject. +ramped_height_range_c: 0.2 # if z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject. +update_variance_fps: 5.0 # fps for updating variance. +update_pose_fps: 10.0 # fps for updating pose and shift the center of map. +time_interval: 0.1 # Time layer is updated with this interval. +map_acquire_fps: 5.0 # Raw map is fetched from GPU memory in this fps. +publish_statistics_fps: 1.0 # Publish statistics topic in this fps. + +max_ray_length: 10.0 # maximum length for ray tracing. +cleanup_step: 0.1 # subtitute this value from validity layer at visibiltiy cleanup. +cleanup_cos_thresh: 0.1 # subtitute this value from validity layer at visibiltiy cleanup. + +safe_thresh: 0.7 # if traversability is smaller, it is counted as unsafe cell. +safe_min_thresh: 0.4 # polygon is unsafe if there exists lower traversability than this. +max_unsafe_n: 10 # if the number of cells under safe_thresh exceeds this value, polygon is unsafe. + +overlap_clear_range_xy: 4.0 # xy range [m] for clearing overlapped area. this defines the valid area for overlap clearance. (used for multi floor setting) +overlap_clear_range_z: 2.0 # z range [m] for clearing overlapped area. cells outside this range will be cleared. (used for multi floor setting) + +map_frame: 'enu' # The map frame where the odometry source uses. +base_frame: 'base_footprint' # The robot's base frame. This frame will be a center of the map. +corrected_map_frame: 'enu' + +#### Feature toggles ######## +enable_edge_sharpen: true +enable_visibility_cleanup: true +enable_drift_compensation: true +enable_overlap_clearance: true +enable_pointcloud_publishing: false +enable_drift_corrected_TF_publishing: false +enable_normal_color: false # If true, the map contains 'color' layer corresponding to normal. Add 'color' layer to the publishers setting if you want to visualize. + +#### Traversability filter ######## +use_chainer: false # Use chainer as a backend of traversability filter or pytorch. If false, it uses pytorch. pytorch requires ~2GB more GPU memory compared to chainer but runs faster. +weight_file: '$(rospack find elevation_mapping_cupy)/config/weights.dat' # Weight file for traversability filter + +#### Upper bound ######## +use_only_above_for_upper_bound: false + +#### Plugins ######## +plugin_config_file: '$(rospack find lonomy_configuration)/elevation_map/config/plugin_config.yaml' + +#### Subscribers ######## + + +#### Publishers ######## +# topic_name: +# layers: # Choose from 'elevation', 'variance', 'traversability', 'time', 'normal_x', 'normal_y', 'normal_z', 'color', plugin_layer_names +# basic_layers: # basic_layers for valid cell computation (e.g. Rviz): Choose a subset of `layers`. +# fps: # Publish rate. Use smaller value than `map_acquire_fps`. +publishers: + elevation_map_raw: + layers: ['elevation', 'traversability', 'variance','sem_fil'] + basic_layers: ['elevation', 'traversability'] + fps: 5.0 + elevation_map_recordable: + layers: ['elevation', 'traversability'] + basic_layers: ['elevation', 'traversability'] + fps: 2.0 + elevation_map_filter: + layers: ['min_filter', 'smooth', 'inpaint', 'upper_bound','rgb','robot_centric_elevation','sem_fil','sem_traversability'] + basic_layers: ['min_filter'] + fps: 3.0 + +#### Initializer ######## +initialize_method: 'linear' # Choose one from 'nearest', 'linear', 'cubic' +initialize_frame_id: ['base_footprint'] # One tf (like ['footprint'] ) initializes a square around it. +initialize_tf_offset: [0.0, 0.0, 0.0, 0.0] # z direction. Should be same number as initialize_frame_id. +dilation_size_initialize: 5 # dilation size after the init. +initialize_tf_grid_size: 2 # This is not used if number of tf is more than 3. +use_initializer_at_start: true # Use initializer when the node starts. diff --git a/elevation_mapping_cupy/config/lonomy_plugin_config.yaml b/elevation_mapping_cupy/config/lonomy_plugin_config.yaml new file mode 100644 index 00000000..37553806 --- /dev/null +++ b/elevation_mapping_cupy/config/lonomy_plugin_config.yaml @@ -0,0 +1,61 @@ +# Settings of the plugins. (The plugins should be stored in script/plugins) + +# min_filter fills in minimum value around the invalid cell. +min_filter: + enable: True # weather to load this plugin + fill_nan: False # Fill nans to invalid cells of elevation layer. + is_height_layer: True # If this is a height layer (such as elevation) or not (such as traversability) + layer_name: "min_filter" # The layer name. + extra_params: # This params are passed to the plugin class on initialization. + dilation_size: 1 # The patch size to apply + iteration_n: 30 # The number of iterations +# Apply smoothing. +smooth_filter: + enable: True + fill_nan: False + is_height_layer: True + layer_name: "smooth" + extra_params: + input_layer_name: "min_filter" +# Apply inpainting using opencv +inpainting: + enable: True + fill_nan: False + is_height_layer: True + layer_name: "inpaint" + extra_params: + method: "telea" # telea or ns +# Apply smoothing for inpainted layer + +robot_centric_elevation: # Use the same name as your file name. +# type: "robot_centric_elevation" + enable: True # weather to load this plugin + fill_nan: False # Fill nans to invalid cells of elevation layer. + is_height_layer: True # If this is a height layer (such as elevation) or not (such as traversability) + layer_name: "robot_centric_elevation" # The layer name. + extra_params: # This params are passed to the plugin class on initialization. +# add_value: 2.0 # Example param + resolution: 0.04 + threshold: 1.1 + use_threshold: True + +semantic_filter: + type: "semantic_filter" + enable: True + fill_nan: False + is_height_layer: False + layer_name: "sem_fil" + extra_params: + classes: ['grass','tree','fence','dirt'] + +semantic_traversability: + type: "semantic_traversability" + enable: True + fill_nan: False + is_height_layer: False + layer_name: "sem_traversability" + extra_params: + layers: ['traversability','robot_centric_elevation'] + thresholds: [0.3,0.5] + type: ['traversability', 'elevation'] + diff --git a/elevation_mapping_cupy/config/lonomy_sensor_parameter.yaml b/elevation_mapping_cupy/config/lonomy_sensor_parameter.yaml new file mode 100644 index 00000000..30b3caf4 --- /dev/null +++ b/elevation_mapping_cupy/config/lonomy_sensor_parameter.yaml @@ -0,0 +1,28 @@ +subscribers: + front_cam: + channels: [ 'rgb','feat_0','feat_1','__background__','car',"max" ] + fusion: [ 'color','bayesian_inference','bayesian_inference','class_average','class_average',"class_max" ] + topic_name: '/elvation_mapping/pointcloud_semantic' + semantic_segmentation: True + segmentation_model: 'lraspp_mobilenet_v3_large' # detectron_coco_panoptic_fpn_R_101_3x, lraspp_mobilenet_v3_large + show_label_legend: True + data_type: pointcloud + feature_config: + name: 'DINO' + interpolation: 'bilinear' + model: "vit_small" + patch_size: 16 + dim: 5 + dropout: False + dino_feat_type: "feat" + input_size: [80, 160] + projection_type: "nonlinear" + + cam_info_topic: "/zed2i/zed_node/depth/camera_info" + image_topic: "/zed2i/zed_node/left/image_rect_color" + depth_topic: "/zed2i/zed_node/depth/depth_registered" + cam_frame: "zed2i_right_camera_optical_frame" + confidence: True + confidence_topic: "/zed2i/zed_node/confidence/confidence_map" + confidence_threshold: 10 + feature_extractor: False diff --git a/elevation_mapping_cupy/launch/anymal_semantic_elevation_single.launch b/elevation_mapping_cupy/launch/anymal_semantic_elevation_single.launch new file mode 100644 index 00000000..2e1d7575 --- /dev/null +++ b/elevation_mapping_cupy/launch/anymal_semantic_elevation_single.launch @@ -0,0 +1,21 @@ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/elevation_mapping_cupy/launch/lonomy_pointcloud.launch b/elevation_mapping_cupy/launch/lonomy_pointcloud.launch new file mode 100644 index 00000000..a93792b0 --- /dev/null +++ b/elevation_mapping_cupy/launch/lonomy_pointcloud.launch @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/elevation_mapping_cupy/launch/lonomy_semantic_elevation_single.launch b/elevation_mapping_cupy/launch/lonomy_semantic_elevation_single.launch new file mode 100644 index 00000000..a093c904 --- /dev/null +++ b/elevation_mapping_cupy/launch/lonomy_semantic_elevation_single.launch @@ -0,0 +1,21 @@ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/elevation_mapping_cupy/rviz/anymal.rviz b/elevation_mapping_cupy/rviz/anymal.rviz new file mode 100644 index 00000000..e8023f37 --- /dev/null +++ b/elevation_mapping_cupy/rviz/anymal.rviz @@ -0,0 +1,570 @@ +Panels: + - Class: rviz/Displays + Help Height: 138 + Name: Displays + Property Tree Widget: + Expanded: ~ + Splitter Ratio: 0.5768463015556335 + Tree Height: 469 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Name: Time + SyncMode: 0 + SyncSource: "" +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Class: grid_map_rviz_plugin/GridMap + Color: 200; 200; 200 + Color Layer: rgb_image + Color Transformer: ColorLayer + Enabled: true + Height Layer: elevation + Height Transformer: Layer + History Length: 1 + Invert Rainbow: false + Max Color: 204; 0; 0 + Max Intensity: 10 + Min Color: 52; 101; 164 + Min Intensity: 0 + Name: ElevationMapFilter + Show Grid Lines: true + Topic: /elevation_mapping/semantic_map_raw + Unreliable: false + Use Rainbow: false + Value: true + - Class: rviz/TF + Enabled: true + Frame Timeout: 15 + Frames: + All Enabled: true + LF_FOOT: + Value: true + LF_HAA: + Value: true + LF_HFE: + Value: true + LF_HIP: + Value: true + LF_KFE: + Value: true + LF_SHANK: + Value: true + LF_THIGH: + Value: true + LF_hip_fixed: + Value: true + LF_shank_fixed: + Value: true + LF_thigh_fixed: + Value: true + LH_FOOT: + Value: true + LH_HAA: + Value: true + LH_HFE: + Value: true + LH_HIP: + Value: true + LH_KFE: + Value: true + LH_SHANK: + Value: true + LH_THIGH: + Value: true + LH_hip_fixed: + Value: true + LH_shank_fixed: + Value: true + LH_thigh_fixed: + Value: true + RF_FOOT: + Value: true + RF_HAA: + Value: true + RF_HFE: + Value: true + RF_HIP: + Value: true + RF_KFE: + Value: true + RF_SHANK: + Value: true + RF_THIGH: + Value: true + RF_hip_fixed: + Value: true + RF_shank_fixed: + Value: true + RF_thigh_fixed: + Value: true + RH_FOOT: + Value: true + RH_HAA: + Value: true + RH_HFE: + Value: true + RH_HIP: + Value: true + RH_KFE: + Value: true + RH_SHANK: + Value: true + RH_THIGH: + Value: true + RH_hip_fixed: + Value: true + RH_shank_fixed: + Value: true + RH_thigh_fixed: + Value: true + alphasense_mesh: + Value: true + base: + Value: true + base_inertia: + Value: true + base_inverted: + Value: true + battery: + Value: true + body_top: + Value: true + bottom_shell: + Value: true + cam0_sensor_frame: + Value: true + cam1_sensor_frame: + Value: true + cam2_sensor_frame: + Value: true + cam3_sensor_frame: + Value: true + cam3_sensor_frame_helper: + Value: true + cam4_sensor_frame: + Value: true + cam4_sensor_frame_helper: + Value: true + cam5_sensor_frame: + Value: true + cam5_sensor_frame_helper: + Value: true + cam6_sensor_frame: + Value: true + cam6_sensor_frame_helper: + Value: true + camera_init: + Value: true + camera_init_CORRECTED: + Value: true + depth_camera_front_camera: + Value: true + depth_camera_front_camera_parent: + Value: true + depth_camera_front_depth_frame: + Value: true + depth_camera_front_depth_optical_frame: + Value: true + depth_camera_front_infra1_frame: + Value: true + depth_camera_front_infra1_optical_frame: + Value: true + depth_camera_front_infra2_frame: + Value: true + depth_camera_front_infra2_optical_frame: + Value: true + depth_camera_left_camera: + Value: true + depth_camera_left_camera_parent: + Value: true + depth_camera_left_depth_frame: + Value: true + depth_camera_left_depth_optical_frame: + Value: true + depth_camera_left_infra1_frame: + Value: true + depth_camera_left_infra1_optical_frame: + Value: true + depth_camera_left_infra2_frame: + Value: true + depth_camera_left_infra2_optical_frame: + Value: true + depth_camera_rear_camera: + Value: true + depth_camera_rear_camera_parent: + Value: true + depth_camera_rear_depth_frame: + Value: true + depth_camera_rear_depth_optical_frame: + Value: true + depth_camera_rear_infra1_frame: + Value: true + depth_camera_rear_infra1_optical_frame: + Value: true + depth_camera_rear_infra2_frame: + Value: true + depth_camera_rear_infra2_optical_frame: + Value: true + depth_camera_right_camera: + Value: true + depth_camera_right_camera_parent: + Value: true + depth_camera_right_depth_frame: + Value: true + depth_camera_right_depth_optical_frame: + Value: true + depth_camera_right_infra1_frame: + Value: true + depth_camera_right_infra1_optical_frame: + Value: true + depth_camera_right_infra2_frame: + Value: true + depth_camera_right_infra2_optical_frame: + Value: true + docking_hatch_cover: + Value: true + face_front: + Value: true + face_rear: + Value: true + feetcenter: + Value: true + footprint: + Value: true + front_handle: + Value: true + handle: + Value: true + hatch: + Value: true + imu_link: + Value: true + imu_sensor_frame: + Value: true + interface_hatch: + Value: true + lidar: + Value: true + map: + Value: true + mira_spectrometer: + Value: true + msf_body_imu_map: + Value: true + odom: + Value: true + perception_head_cage: + Value: true + remote: + Value: true + top_shell: + Value: true + wide_angle_camera_front_camera: + Value: true + wide_angle_camera_front_camera_parent: + Value: true + wide_angle_camera_rear_camera: + Value: true + wide_angle_camera_rear_camera_parent: + Value: true + Marker Alpha: 1 + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + odom: + base: + LF_HAA: + LF_HIP: + LF_hip_fixed: + LF_HFE: + LF_THIGH: + LF_thigh_fixed: + LF_KFE: + LF_SHANK: + LF_shank_fixed: + LF_FOOT: + {} + LH_HAA: + LH_HIP: + LH_hip_fixed: + LH_HFE: + LH_THIGH: + LH_thigh_fixed: + LH_KFE: + LH_SHANK: + LH_shank_fixed: + LH_FOOT: + {} + RF_HAA: + RF_HIP: + RF_hip_fixed: + RF_HFE: + RF_THIGH: + RF_thigh_fixed: + RF_KFE: + RF_SHANK: + RF_shank_fixed: + RF_FOOT: + {} + RH_HAA: + RH_HIP: + RH_hip_fixed: + RH_HFE: + RH_THIGH: + RH_thigh_fixed: + RH_KFE: + RH_SHANK: + RH_shank_fixed: + RH_FOOT: + {} + alphasense_mesh: + {} + base_inertia: + {} + base_inverted: + {} + battery: + {} + body_top: + {} + bottom_shell: + {} + depth_camera_left_camera: + depth_camera_left_camera_parent: + depth_camera_left_depth_frame: + depth_camera_left_depth_optical_frame: + {} + depth_camera_left_infra1_frame: + depth_camera_left_infra1_optical_frame: + {} + depth_camera_left_infra2_frame: + depth_camera_left_infra2_optical_frame: + {} + depth_camera_right_camera: + depth_camera_right_camera_parent: + depth_camera_right_depth_frame: + depth_camera_right_depth_optical_frame: + {} + depth_camera_right_infra1_frame: + depth_camera_right_infra1_optical_frame: + {} + depth_camera_right_infra2_frame: + depth_camera_right_infra2_optical_frame: + {} + docking_hatch_cover: + {} + face_front: + depth_camera_front_camera: + depth_camera_front_camera_parent: + depth_camera_front_depth_frame: + depth_camera_front_depth_optical_frame: + {} + depth_camera_front_infra1_frame: + depth_camera_front_infra1_optical_frame: + {} + depth_camera_front_infra2_frame: + depth_camera_front_infra2_optical_frame: + {} + wide_angle_camera_front_camera: + wide_angle_camera_front_camera_parent: + {} + face_rear: + depth_camera_rear_camera: + depth_camera_rear_camera_parent: + depth_camera_rear_depth_frame: + depth_camera_rear_depth_optical_frame: + {} + depth_camera_rear_infra1_frame: + depth_camera_rear_infra1_optical_frame: + {} + depth_camera_rear_infra2_frame: + depth_camera_rear_infra2_optical_frame: + {} + wide_angle_camera_rear_camera: + wide_angle_camera_rear_camera_parent: + {} + front_handle: + {} + handle: + {} + imu_link: + {} + interface_hatch: + hatch: + {} + mira_spectrometer: + {} + perception_head_cage: + lidar: + imu_sensor_frame: + cam0_sensor_frame: + {} + cam1_sensor_frame: + {} + cam2_sensor_frame: + {} + cam3_sensor_frame_helper: + cam3_sensor_frame: + {} + cam4_sensor_frame_helper: + cam4_sensor_frame: + {} + cam5_sensor_frame_helper: + cam5_sensor_frame: + {} + cam6_sensor_frame_helper: + cam6_sensor_frame: + {} + remote: + {} + top_shell: + {} + feetcenter: + {} + footprint: + {} + map: + camera_init_CORRECTED: + camera_init: + {} + msf_body_imu_map: + {} + Update Interval: 0 + Value: true + - Class: rviz/Image + Enabled: true + Image Topic: /alphasense_driver_ros/cam4/debayered + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: true + - Class: rviz/Marker + Enabled: true + Marker Topic: /visualization_marker_l + Name: Marker + Namespaces: + {} + Queue Size: 100 + Value: true + - Class: rviz/Marker + Enabled: true + Marker Topic: /visualization_marker_r + Name: Marker + Namespaces: + {} + Queue Size: 100 + Value: true + Enabled: true + Global Options: + Background Color: 255; 255; 255 + Default Light: true + Fixed Frame: map + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Theta std deviation: 0.2617993950843811 + Topic: /initialpose + X std deviation: 0.5 + Y std deviation: 0.5 + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 18.912090301513672 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Field of View: 0.7853981852531433 + Focal Point: + X: 0.7929360866546631 + Y: 0.3796532452106476 + Z: -0.4990573823451996 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.23979759216308594 + Target Frame: base_footprint + Yaw: 5.103874206542969 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1016 + Hide Left Dock: false + Hide Right Dock: true + Image: + collapsed: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: true + Width: 1848 + X: 72 + Y: 27 diff --git a/elevation_mapping_cupy/rviz/lonomy_single.rviz b/elevation_mapping_cupy/rviz/lonomy_single.rviz new file mode 100644 index 00000000..05d3d87d --- /dev/null +++ b/elevation_mapping_cupy/rviz/lonomy_single.rviz @@ -0,0 +1,494 @@ +Panels: + - Class: rviz/Displays + Help Height: 138 + Name: Displays + Property Tree Widget: + Expanded: ~ + Splitter Ratio: 0.5768463015556335 + Tree Height: 260 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Name: Time + SyncMode: 0 + SyncSource: Image +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Class: grid_map_rviz_plugin/GridMap + Color: 200; 200; 200 + Color Layer: sem_fil + Color Transformer: ColorLayer + Enabled: true + Height Layer: elevation + Height Transformer: GridMapLayer + History Length: 1 + Invert Rainbow: false + Max Color: 204; 0; 0 + Max Intensity: 10 + Min Color: 52; 101; 164 + Min Intensity: 0 + Name: ElevationMapFilter + Show Grid Lines: true + Topic: /elevation_mapping/elevation_map_raw + Unreliable: false + Use Rainbow: false + Value: true + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + GPS_back: + Alpha: 1 + Show Axes: false + Show Trail: false + GPS_front: + Alpha: 1 + Show Axes: false + Show Trail: false + Link Tree Style: Links in Alphabetic Order + alphasense: + Alpha: 1 + Show Axes: false + Show Trail: false + base_footprint: + Alpha: 1 + Show Axes: false + Show Trail: false + base_inertial: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + estimator_imu: + Alpha: 1 + Show Axes: false + Show Trail: false + left_back_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + left_back_wheel_sup: + Alpha: 1 + Show Axes: false + Show Trail: false + left_front_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + left_front_wheel_sup: + Alpha: 1 + Show Axes: false + Show Trail: false + rear_axle_center: + Alpha: 1 + Show Axes: false + Show Trail: false + right_back_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + right_back_wheel_sup: + Alpha: 1 + Show Axes: false + Show Trail: false + right_front_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + right_front_wheel_sup: + Alpha: 1 + Show Axes: false + Show Trail: false + zed2i_baro_link: + Alpha: 1 + Show Axes: false + Show Trail: false + zed2i_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + zed2i_camera_center: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + zed2i_left_camera_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + zed2i_left_camera_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + zed2i_mag_link: + Alpha: 1 + Show Axes: false + Show Trail: false + zed2i_right_camera_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + zed2i_right_camera_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + zed2i_temp_left_link: + Alpha: 1 + Show Axes: false + Show Trail: false + zed2i_temp_right_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Name: RobotModel + Robot Description: robot_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: RGB8 + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Min Color: 0; 0; 0 + Name: PointCloud2 + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Flat Squares + Topic: /elvation_mapping/pointcloud_semantic + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: false + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: RGB8 + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Min Color: 0; 0; 0 + Name: PointCloud2 + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Flat Squares + Topic: /elvation_mapping/pointcloud_semantic_right + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: false + - Class: rviz/TF + Enabled: true + Frame Timeout: 15 + Frames: + All Enabled: true + GPS_back: + Value: true + GPS_front: + Value: true + alphasense: + Value: true + base_footprint: + Value: true + base_inertial: + Value: true + base_link: + Value: true + enu: + Value: true + estimator_imu: + Value: true + left_back_wheel: + Value: true + left_back_wheel_sup: + Value: true + left_front_wheel: + Value: true + left_front_wheel_sup: + Value: true + rear_axle_center: + Value: true + right_back_wheel: + Value: true + right_back_wheel_sup: + Value: true + right_front_wheel: + Value: true + right_front_wheel_sup: + Value: true + zed2i_baro_link: + Value: true + zed2i_base_link: + Value: true + zed2i_camera_center: + Value: true + zed2i_left_camera_frame: + Value: true + zed2i_left_camera_optical_frame: + Value: true + zed2i_mag_link: + Value: true + zed2i_right_camera_frame: + Value: true + zed2i_right_camera_optical_frame: + Value: true + zed2i_temp_left_link: + Value: true + zed2i_temp_right_link: + Value: true + Marker Alpha: 1 + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + enu: + base_link: + base_footprint: + {} + base_inertial: + {} + estimator_imu: + GPS_back: + {} + GPS_front: + {} + alphasense: + {} + left_back_wheel_sup: + left_back_wheel: + {} + left_front_wheel_sup: + left_front_wheel: + {} + rear_axle_center: + {} + right_back_wheel_sup: + right_back_wheel: + {} + right_front_wheel_sup: + right_front_wheel: + {} + zed2i_base_link: + zed2i_camera_center: + zed2i_baro_link: + {} + zed2i_left_camera_frame: + zed2i_left_camera_optical_frame: + {} + zed2i_temp_left_link: + {} + zed2i_mag_link: + {} + zed2i_right_camera_frame: + zed2i_right_camera_optical_frame: + {} + zed2i_temp_right_link: + {} + Update Interval: 0 + Value: true + - Class: rviz/Image + Enabled: true + Image Topic: /zed2i/zed_node/left/image_rect_color + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: true + - Class: rviz/Image + Enabled: true + Image Topic: /semantic_pointcloud/sem_seg + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: true + - Class: rviz/Marker + Enabled: true + Marker Topic: /visualization_marker_l + Name: Marker + Namespaces: + {} + Queue Size: 100 + Value: true + - Class: rviz/Marker + Enabled: true + Marker Topic: /visualization_marker_r + Name: Marker + Namespaces: + {} + Queue Size: 100 + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Class: grid_map_rviz_plugin/GridMap + Color: 200; 200; 200 + Color Layer: traversability + Color Transformer: GridMapLayer + Enabled: false + Height Layer: elevation + Height Transformer: GridMapLayer + History Length: 1 + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 10 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: GridMap + Show Grid Lines: true + Topic: /elevation_mapping/elevation_map_raw + Unreliable: false + Use Rainbow: true + Value: false + Enabled: true + Global Options: + Background Color: 255; 255; 255 + Default Light: true + Fixed Frame: enu + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Theta std deviation: 0.2617993950843811 + Topic: /initialpose + X std deviation: 0.5 + Y std deviation: 0.5 + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 7.332578659057617 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Field of View: 0.7853981852531433 + Focal Point: + X: 0.7929360866546631 + Y: 0.3796532452106476 + Z: -0.4990573823451996 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.43979740142822266 + Target Frame: base_footprint + Yaw: 2.8488521575927734 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1043 + Hide Left Dock: false + Hide Right Dock: true + Image: + collapsed: false + QMainWindow State: 000000ff00000000fd0000000400000000000001f5000003b9fc020000000cfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000001cb000000c900fffffffb0000000a0049006d006100670065010000020e000001040000001600fffffffb0000000a0049006d0061006700650100000318000000de0000001600fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d0061006700650000000325000000d10000000000000000fb0000000a0049006d006100670065010000032a000000cc0000000000000000000000010000015f0000053bfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000000560000053b000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000078000000131fc0100000002fb0000000800540069006d00650000000000000007380000041800fffffffb0000000800540069006d0065010000000000000450000000000000000000000585000003b900000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: true + Width: 1920 + X: 0 + Y: 0 From 8d0e2397adb1652f5e8f660cc3fc423fd9f5a150 Mon Sep 17 00:00:00 2001 From: Gian Date: Mon, 12 Dec 2022 16:30:09 +0100 Subject: [PATCH 302/504] removed artifacts Jonas mentioned and added image layers to lonomy --- .../config/anymal_sensor_parameter.yaml | 14 ++++-------- .../config/lonomy_parameters.yaml | 2 +- .../config/lonomy_sensor_parameter.yaml | 14 ++++++++++++ .../config/sensor_parameter.yaml | 5 ----- .../rviz/lonomy_single.rviz | 22 +++++++++---------- 5 files changed, 30 insertions(+), 27 deletions(-) diff --git a/elevation_mapping_cupy/config/anymal_sensor_parameter.yaml b/elevation_mapping_cupy/config/anymal_sensor_parameter.yaml index edae6030..d80d9611 100644 --- a/elevation_mapping_cupy/config/anymal_sensor_parameter.yaml +++ b/elevation_mapping_cupy/config/anymal_sensor_parameter.yaml @@ -41,11 +41,9 @@ subscribers: fusion: ['image_color'] topic_name_camera: /alphasense_driver_ros/cam4/debayered topic_name_camera_info: /alphasense_driver_ros/cam4/camera_info - channels: ["rgb_image"] + channels: ["rgb_image"] data_type: image - fusion_types: - array_fusion: [] - channels: [] + alphasense_left_rgb: fusion: ['image_color'] @@ -53,9 +51,7 @@ subscribers: topic_name_camera_info: /alphasense_driver_ros/cam3/camera_info channels: ["rgb_image"] data_type: image - fusion_types: - array_fusion: [] - channels: [] + alphasense_right_rgb: fusion: ['image_color'] @@ -63,9 +59,7 @@ subscribers: topic_name_camera_info: /alphasense_driver_ros/cam5/camera_info channels: ["rgb_image"] data_type: image - fusion_types: - array_fusion: [] - channels: [] + wvn_prediction: fusion: ['image_exponential'] diff --git a/elevation_mapping_cupy/config/lonomy_parameters.yaml b/elevation_mapping_cupy/config/lonomy_parameters.yaml index a7cbeaee..55ce14cd 100644 --- a/elevation_mapping_cupy/config/lonomy_parameters.yaml +++ b/elevation_mapping_cupy/config/lonomy_parameters.yaml @@ -81,7 +81,7 @@ publishers: basic_layers: ['elevation', 'traversability'] fps: 2.0 elevation_map_filter: - layers: ['min_filter', 'smooth', 'inpaint', 'upper_bound','rgb','robot_centric_elevation','sem_fil','sem_traversability'] + layers: ['min_filter', 'smooth', 'inpaint', 'upper_bound','rgb','robot_centric_elevation','sem_fil','sem_traversability','rgb_image','gray_image'] basic_layers: ['min_filter'] fps: 3.0 diff --git a/elevation_mapping_cupy/config/lonomy_sensor_parameter.yaml b/elevation_mapping_cupy/config/lonomy_sensor_parameter.yaml index 30b3caf4..74db3453 100644 --- a/elevation_mapping_cupy/config/lonomy_sensor_parameter.yaml +++ b/elevation_mapping_cupy/config/lonomy_sensor_parameter.yaml @@ -26,3 +26,17 @@ subscribers: confidence_topic: "/zed2i/zed_node/confidence/confidence_map" confidence_threshold: 10 feature_extractor: False + + rgb_cam: + fusion: [ 'image_color' ] + topic_name_camera: "/zed2i/zed_node/left/image_rect_color" + topic_name_camera_info: "/zed2i/zed_node/depth/camera_info" + channels: [ "rgb_image" ] + data_type: image + + grey_cam: + fusion: [ 'image_exponential' ] + topic_name_camera: "/zed2i/zed_node/left/image_rect_gray" + topic_name_camera_info: "/zed2i/zed_node/depth/camera_info" + channels: [ "gray_image" ] + data_type: image \ No newline at end of file diff --git a/elevation_mapping_cupy/config/sensor_parameter.yaml b/elevation_mapping_cupy/config/sensor_parameter.yaml index beefa91c..61078e2d 100644 --- a/elevation_mapping_cupy/config/sensor_parameter.yaml +++ b/elevation_mapping_cupy/config/sensor_parameter.yaml @@ -6,11 +6,6 @@ subscribers: topic_name_camera_info: /zed2i/zed_node/right/camera_info channels: ["rgb_image"] data_type: image - fusion_types: - array_fusion: [] - channels: [] - - # debug_rgb_3_seperate: # fusion: ['image_exponential','image_exponential','image_exponential'] diff --git a/elevation_mapping_cupy/rviz/lonomy_single.rviz b/elevation_mapping_cupy/rviz/lonomy_single.rviz index 05d3d87d..a3ec715d 100644 --- a/elevation_mapping_cupy/rviz/lonomy_single.rviz +++ b/elevation_mapping_cupy/rviz/lonomy_single.rviz @@ -3,9 +3,10 @@ Panels: Help Height: 138 Name: Displays Property Tree Widget: - Expanded: ~ + Expanded: + - /ElevationMapFilter1 Splitter Ratio: 0.5768463015556335 - Tree Height: 260 + Tree Height: 247 - Class: rviz/Selection Name: Selection - Class: rviz/Tool Properties @@ -53,10 +54,10 @@ Visualization Manager: Autocompute Intensity Bounds: true Class: grid_map_rviz_plugin/GridMap Color: 200; 200; 200 - Color Layer: sem_fil + Color Layer: rgb Color Transformer: ColorLayer Enabled: true - Height Layer: elevation + Height Layer: min_filter Height Transformer: GridMapLayer History Length: 1 Invert Rainbow: false @@ -66,7 +67,7 @@ Visualization Manager: Min Intensity: 0 Name: ElevationMapFilter Show Grid Lines: true - Topic: /elevation_mapping/elevation_map_raw + Topic: /elevation_mapping/elevation_map_filter Unreliable: false Use Rainbow: false Value: true @@ -161,7 +162,6 @@ Visualization Manager: Alpha: 1 Show Axes: false Show Trail: false - Value: true zed2i_left_camera_frame: Alpha: 1 Show Axes: false @@ -475,12 +475,12 @@ Visualization Manager: Window Geometry: Displays: collapsed: false - Height: 1043 + Height: 1016 Hide Left Dock: false Hide Right Dock: true Image: collapsed: false - QMainWindow State: 000000ff00000000fd0000000400000000000001f5000003b9fc020000000cfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000001cb000000c900fffffffb0000000a0049006d006100670065010000020e000001040000001600fffffffb0000000a0049006d0061006700650100000318000000de0000001600fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d0061006700650000000325000000d10000000000000000fb0000000a0049006d006100670065010000032a000000cc0000000000000000000000010000015f0000053bfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000000560000053b000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000078000000131fc0100000002fb0000000800540069006d00650000000000000007380000041800fffffffb0000000800540069006d0065010000000000000450000000000000000000000585000003b900000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + QMainWindow State: 000000ff00000000fd0000000400000000000001f50000039efc020000000cfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000001be000000c900fffffffb0000000a0049006d0061006700650100000201000000fc0000001600fffffffb0000000a0049006d0061006700650100000303000000d80000001600fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d0061006700650000000325000000d10000000000000000fb0000000a0049006d006100670065010000032a000000cc0000000000000000000000010000015f0000053bfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000000560000053b000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000078000000131fc0100000002fb0000000800540069006d00650000000000000007380000041800fffffffb0000000800540069006d006501000000000000045000000000000000000000053d0000039e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Selection: collapsed: false Time: @@ -489,6 +489,6 @@ Window Geometry: collapsed: false Views: collapsed: true - Width: 1920 - X: 0 - Y: 0 + Width: 1848 + X: 72 + Y: 27 From 5564671c9f634518176066706ea2fea89fc101e9 Mon Sep 17 00:00:00 2001 From: Jonas Frey Date: Mon, 12 Dec 2022 12:39:44 -0800 Subject: [PATCH 303/504] fixed bugs in configuration --- .../config/anymal_sensor_parameter.yaml | 20 +++++++++---------- .../config/lonomy_parameters.yaml | 2 +- .../elevation_mapping_ros.py | 6 +++--- 3 files changed, 14 insertions(+), 14 deletions(-) diff --git a/elevation_mapping_cupy/config/anymal_sensor_parameter.yaml b/elevation_mapping_cupy/config/anymal_sensor_parameter.yaml index d80d9611..f4a318ec 100644 --- a/elevation_mapping_cupy/config/anymal_sensor_parameter.yaml +++ b/elevation_mapping_cupy/config/anymal_sensor_parameter.yaml @@ -94,17 +94,17 @@ subscribers: # confidence_threshold: 10 # feature_extractor: False - # front_bpearl: - # channels: [] - # fusion: ['average'] - # topic_name: /robot_self_filter/bpearl_front/point_cloud - # type: pointcloud + front_bpearl: + channels: [] + fusion: ['average'] + topic_name: /robot_self_filter/bpearl_front/point_cloud + data_type: pointcloud - # rear_bpearl: - # channels: [] - # fusion: ['average'] - # topic_name: /robot_self_filter/bpearl_rear/point_cloud - # type: pointcloud + rear_bpearl: + channels: [] + fusion: ['average'] + topic_name: /robot_self_filter/bpearl_rear/point_cloud + data_type: pointcloud front_depth: channels: [] diff --git a/elevation_mapping_cupy/config/lonomy_parameters.yaml b/elevation_mapping_cupy/config/lonomy_parameters.yaml index 55ce14cd..cdc1ec2f 100644 --- a/elevation_mapping_cupy/config/lonomy_parameters.yaml +++ b/elevation_mapping_cupy/config/lonomy_parameters.yaml @@ -61,7 +61,7 @@ weight_file: '$(rospack find elevation_mapping_cupy)/config/weights.dat' use_only_above_for_upper_bound: false #### Plugins ######## -plugin_config_file: '$(rospack find lonomy_configuration)/elevation_map/config/plugin_config.yaml' +plugin_config_file: '$(rospack find elevation_mapping_cupy)/config/lonomy_plugin_config.yaml' #### Subscribers ######## diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping_ros.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping_ros.py index 8a61123e..c1f95192 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping_ros.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping_ros.py @@ -175,7 +175,7 @@ def pointcloud_callback(self, msg, sub_key): points = ros_numpy.numpify(msg) pts = np.empty((points.shape[0], 0)) for ch in channels: - pts = np.append(pts, np.expand_dims(points[ch], 1), axis=1) + pts = np.append(pts, points[ch], axis=1) # get pose of pointcloud ti = rospy.Time(secs=msg.header.stamp.secs, nsecs=msg.header.stamp.nsecs) @@ -226,8 +226,8 @@ def update_time(self, t): def get_ros_params(self): # TODO fix this here when later launching with launch-file # This is currently {p} elevation_mapping") - para = os.path.join(self.root, "config/parameters.yaml") - sens = os.path.join(self.root, "config/sensor_parameter.yaml") + para = os.path.join(self.root, "config/anymal_parameters.yaml") + sens = os.path.join(self.root, "config/anymal_sensor_parameter.yaml") os.system(f"rosparam delete /{self.node_name}") os.system(f"rosparam load {para} elevation_mapping") os.system(f"rosparam load {sens} elevation_mapping") From 8ffde09605804385f4b0f11c0df0f78f92814175 Mon Sep 17 00:00:00 2001 From: Jonas Frey Date: Mon, 12 Dec 2022 13:16:44 -0800 Subject: [PATCH 304/504] updated the wrapper --- .../elevation_mapping_ros.py | 22 ++++++++++++++----- 1 file changed, 17 insertions(+), 5 deletions(-) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping_ros.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping_ros.py index c1f95192..ee4f0e41 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping_ros.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping_ros.py @@ -161,8 +161,13 @@ def image_callback(self, camera_msg, camera_info_msg, sub_key): R = quaternion_matrix([q.x, q.y, q.z, q.w])[:3, :3] semantic_img = self.cv_bridge.imgmsg_to_cv2(camera_msg, desired_encoding="passthrough") - semantic_img = [semantic_img[:, :, k] for k in range(3)] - + + if len(semantic_img.shape) != 2: + semantic_img = [semantic_img[:, :, k] for k in range(3)] + + else: + semantic_img = [semantic_img] + assert np.all(np.array(camera_info_msg.D) == 0.0), "Undistortion not implemented" K = np.array(camera_info_msg.K, dtype=np.float32).reshape(3, 3) # process pointcloud @@ -175,7 +180,10 @@ def pointcloud_callback(self, msg, sub_key): points = ros_numpy.numpify(msg) pts = np.empty((points.shape[0], 0)) for ch in channels: - pts = np.append(pts, points[ch], axis=1) + p = points[ch] + if len(p.shape) == 1: + p = p[:,None] + pts = np.append(pts, p, axis=1) # get pose of pointcloud ti = rospy.Time(secs=msg.header.stamp.secs, nsecs=msg.header.stamp.nsecs) @@ -226,11 +234,15 @@ def update_time(self, t): def get_ros_params(self): # TODO fix this here when later launching with launch-file # This is currently {p} elevation_mapping") - para = os.path.join(self.root, "config/anymal_parameters.yaml") - sens = os.path.join(self.root, "config/anymal_sensor_parameter.yaml") + typ = "lonomy" + para = os.path.join(self.root, f"config/{typ}_parameters.yaml") + sens = os.path.join(self.root, f"config/{typ}_sensor_parameter.yaml") + plugin = os.path.join(self.root, f"config/{typ}_plugin_config.yaml") + os.system(f"rosparam delete /{self.node_name}") os.system(f"rosparam load {para} elevation_mapping") os.system(f"rosparam load {sens} elevation_mapping") + os.system(f"rosparam load {plugin} elevation_mapping") self.subscribers = rospy.get_param("~subscribers") self.publishers = rospy.get_param("~publishers") self.initialize_frame_id = rospy.get_param("~initialize_frame_id", "base") From ab68c3cb1bff7be8090d1c635512980fc2ee4981 Mon Sep 17 00:00:00 2001 From: Jonas Frey Date: Mon, 12 Dec 2022 14:31:47 -0800 Subject: [PATCH 305/504] bug fix with black formatting --- .../config/anymal_parameters.yaml | 2 +- .../config/anymal_plugin_config.yaml | 61 ++++++++ .../config/anymal_sensor_parameter.yaml | 102 +++++++------- .../config/lonomy_parameters.yaml | 6 +- .../config/lonomy_sensor_parameter.yaml | 6 +- .../anymal_semantic_elevation_single.launch | 2 +- .../launch/lonomy_pointcloud.launch | 4 +- .../elevation_mapping.py | 132 +++++------------- .../elevation_mapping_ros.py | 49 ++++--- .../kernels/custom_semantic_kernels.py | 46 +++--- .../plugins/semantic_traversability.py | 4 +- .../elevation_mapping_cupy/semantic_map.py | 40 ++---- .../tests/test_elevation_mapping.py | 8 +- .../tests/test_plugins.py | 8 +- 14 files changed, 226 insertions(+), 244 deletions(-) create mode 100644 elevation_mapping_cupy/config/anymal_plugin_config.yaml diff --git a/elevation_mapping_cupy/config/anymal_parameters.yaml b/elevation_mapping_cupy/config/anymal_parameters.yaml index 4941a011..b92bb6da 100644 --- a/elevation_mapping_cupy/config/anymal_parameters.yaml +++ b/elevation_mapping_cupy/config/anymal_parameters.yaml @@ -61,7 +61,7 @@ weight_file: '$(rospack find elevation_mapping_cupy)/config/weights.dat' use_only_above_for_upper_bound: false #### Plugins ######## -plugin_config_file: '$(rospack find elevation_mapping_cupy)/config/plugin_config.yaml' +plugin_config_file: '$(rospack find elevation_mapping_cupy)/config/anymal_plugin_config.yaml' #### Publishers ######## # topic_name: diff --git a/elevation_mapping_cupy/config/anymal_plugin_config.yaml b/elevation_mapping_cupy/config/anymal_plugin_config.yaml new file mode 100644 index 00000000..07f34e6a --- /dev/null +++ b/elevation_mapping_cupy/config/anymal_plugin_config.yaml @@ -0,0 +1,61 @@ +# Settings of the plugins. (The plugins should be stored in script/plugins) + +# min_filter fills in minimum value around the invalid cell. +min_filter: + enable: False # weather to load this plugin + fill_nan: False # Fill nans to invalid cells of elevation layer. + is_height_layer: True # If this is a height layer (such as elevation) or not (such as traversability) + layer_name: "min_filter" # The layer name. + extra_params: # This params are passed to the plugin class on initialization. + dilation_size: 1 # The patch size to apply + iteration_n: 30 # The number of iterations +# Apply smoothing. +smooth_filter: + enable: False + fill_nan: False + is_height_layer: True + layer_name: "smooth" + extra_params: + input_layer_name: "min_filter" +# Apply inpainting using opencv +inpainting: + enable: False + fill_nan: False + is_height_layer: True + layer_name: "inpaint" + extra_params: + method: "telea" # telea or ns +# Apply smoothing for inpainted layer + +robot_centric_elevation: # Use the same name as your file name. +# type: "robot_centric_elevation" + enable: False # weather to load this plugin + fill_nan: False # Fill nans to invalid cells of elevation layer. + is_height_layer: True # If this is a height layer (such as elevation) or not (such as traversability) + layer_name: "robot_centric_elevation" # The layer name. + extra_params: # This params are passed to the plugin class on initialization. +# add_value: 2.0 # Example param + resolution: 0.04 + threshold: 1.1 + use_threshold: True + +semantic_filter: + type: "semantic_filter" + enable: False + fill_nan: False + is_height_layer: False + layer_name: "sem_fil" + extra_params: + classes: ['grass','tree','fence','dirt'] + +semantic_traversability: + type: "semantic_traversability" + enable: False + fill_nan: False + is_height_layer: False + layer_name: "sem_traversability" + extra_params: + layers: ['traversability','robot_centric_elevation'] + thresholds: [0.3,0.5] + type: ['traversability', 'elevation'] + diff --git a/elevation_mapping_cupy/config/anymal_sensor_parameter.yaml b/elevation_mapping_cupy/config/anymal_sensor_parameter.yaml index f4a318ec..4363a22e 100644 --- a/elevation_mapping_cupy/config/anymal_sensor_parameter.yaml +++ b/elevation_mapping_cupy/config/anymal_sensor_parameter.yaml @@ -37,36 +37,36 @@ subscribers: # topic_name: '/elevation_mapping/pointcloud_semantic' # data_type: pointcloud - alphasense_front_rgb: - fusion: ['image_color'] - topic_name_camera: /alphasense_driver_ros/cam4/debayered - topic_name_camera_info: /alphasense_driver_ros/cam4/camera_info - channels: ["rgb_image"] - data_type: image + # alphasense_front_rgb: + # fusion: ['image_color'] + # topic_name_camera: /alphasense_driver_ros/cam4/debayered + # topic_name_camera_info: /alphasense_driver_ros/cam4/camera_info + # channels: ["rgb_image"] + # data_type: image - alphasense_left_rgb: - fusion: ['image_color'] - topic_name_camera: /alphasense_driver_ros/cam3/debayered - topic_name_camera_info: /alphasense_driver_ros/cam3/camera_info - channels: ["rgb_image"] - data_type: image + # alphasense_left_rgb: + # fusion: ['image_color'] + # topic_name_camera: /alphasense_driver_ros/cam3/debayered + # topic_name_camera_info: /alphasense_driver_ros/cam3/camera_info + # channels: ["rgb_image"] + # data_type: image - alphasense_right_rgb: - fusion: ['image_color'] - topic_name_camera: /alphasense_driver_ros/cam5/debayered - topic_name_camera_info: /alphasense_driver_ros/cam5/camera_info - channels: ["rgb_image"] - data_type: image + # alphasense_right_rgb: + # fusion: ['image_color'] + # topic_name_camera: /alphasense_driver_ros/cam5/debayered + # topic_name_camera_info: /alphasense_driver_ros/cam5/camera_info + # channels: ["rgb_image"] + # data_type: image - wvn_prediction: - fusion: ['image_exponential'] - topic_name_camera: '/wild_visual_navigation_node/current_prediction' - topic_name_camera_info: '/wild_visual_navigation_node/camera_info' - channels: ["visual_traversability"] - data_type: image + # wvn_prediction: + # fusion: ['image_exponential'] + # topic_name_camera: '/wild_visual_navigation_node/current_prediction' + # topic_name_camera_info: '/wild_visual_navigation_node/camera_info' + # channels: ["visual_traversability"] + # data_type: image # front_cam: # channels: ['rgb','feat_0','feat_1','grass','tree','fence','person'] @@ -96,36 +96,36 @@ subscribers: front_bpearl: channels: [] - fusion: ['average'] - topic_name: /robot_self_filter/bpearl_front/point_cloud + fusion: [] + topic_name: /point_cloud_filter_rsl/filter_and_merger_rsl data_type: pointcloud - rear_bpearl: - channels: [] - fusion: ['average'] - topic_name: /robot_self_filter/bpearl_rear/point_cloud - data_type: pointcloud + # rear_bpearl: + # channels: [] + # fusion: [] + # topic_name: /robot_self_filter/bpearl_rear/point_cloud + # data_type: pointcloud - front_depth: - channels: [] - fusion: ['average'] - topic_name: /depth_camera_front/point_cloud_self_filtered - data_type: pointcloud + # front_depth: + # channels: [] + # fusion: [] + # topic_name: /depth_camera_front/point_cloud_self_filtered + # data_type: pointcloud - rear_depth: - channels: [] - fusion: ['average'] - topic_name: /depth_camera_rear/point_cloud_self_filtered - data_type: pointcloud + # rear_depth: + # channels: [] + # fusion: [] + # topic_name: /depth_camera_rear/point_cloud_self_filtered + # data_type: pointcloud - left_depth: - channels: [] - fusion: ['average'] - topic_name: /depth_camera_left/point_cloud_self_filtered - data_type: pointcloud + # left_depth: + # channels: [] + # fusion: [] + # topic_name: /depth_camera_left/point_cloud_self_filtered + # data_type: pointcloud - right_depth: - channels: [] - fusion: ['average'] - topic_name: /depth_camera_right/point_cloud_self_filtered - data_type: pointcloud \ No newline at end of file + # right_depth: + # channels: [] + # fusion: [] + # topic_name: /depth_camera_right/point_cloud_self_filtered + # data_type: pointcloud \ No newline at end of file diff --git a/elevation_mapping_cupy/config/lonomy_parameters.yaml b/elevation_mapping_cupy/config/lonomy_parameters.yaml index cdc1ec2f..ea94002f 100644 --- a/elevation_mapping_cupy/config/lonomy_parameters.yaml +++ b/elevation_mapping_cupy/config/lonomy_parameters.yaml @@ -73,7 +73,7 @@ plugin_config_file: '$(rospack find elevation_mapping_cupy)/config/lonomy_plugin # fps: # Publish rate. Use smaller value than `map_acquire_fps`. publishers: elevation_map_raw: - layers: ['elevation', 'traversability', 'variance','sem_fil'] + layers: ['elevation', 'traversability', 'variance'] basic_layers: ['elevation', 'traversability'] fps: 5.0 elevation_map_recordable: @@ -81,8 +81,8 @@ publishers: basic_layers: ['elevation', 'traversability'] fps: 2.0 elevation_map_filter: - layers: ['min_filter', 'smooth', 'inpaint', 'upper_bound','rgb','robot_centric_elevation','sem_fil','sem_traversability','rgb_image','gray_image'] - basic_layers: ['min_filter'] + layers: [elevation, 'min_filter', 'smooth', 'inpaint', 'upper_bound','rgb_image', 'gray_image'] + basic_layers: [elevation, 'min_filter'] fps: 3.0 #### Initializer ######## diff --git a/elevation_mapping_cupy/config/lonomy_sensor_parameter.yaml b/elevation_mapping_cupy/config/lonomy_sensor_parameter.yaml index 74db3453..58581b42 100644 --- a/elevation_mapping_cupy/config/lonomy_sensor_parameter.yaml +++ b/elevation_mapping_cupy/config/lonomy_sensor_parameter.yaml @@ -1,9 +1,9 @@ subscribers: front_cam: - channels: [ 'rgb','feat_0','feat_1','__background__','car',"max" ] - fusion: [ 'color','bayesian_inference','bayesian_inference','class_average','class_average',"class_max" ] + channels: [ 'rgb','feat_0','feat_1'] + fusion: [ 'color','bayesian_inference','bayesian_inference'] topic_name: '/elvation_mapping/pointcloud_semantic' - semantic_segmentation: True + semantic_segmentation: False segmentation_model: 'lraspp_mobilenet_v3_large' # detectron_coco_panoptic_fpn_R_101_3x, lraspp_mobilenet_v3_large show_label_legend: True data_type: pointcloud diff --git a/elevation_mapping_cupy/launch/anymal_semantic_elevation_single.launch b/elevation_mapping_cupy/launch/anymal_semantic_elevation_single.launch index 2e1d7575..7c3fcc1b 100644 --- a/elevation_mapping_cupy/launch/anymal_semantic_elevation_single.launch +++ b/elevation_mapping_cupy/launch/anymal_semantic_elevation_single.launch @@ -16,6 +16,6 @@ - + \ No newline at end of file diff --git a/elevation_mapping_cupy/launch/lonomy_pointcloud.launch b/elevation_mapping_cupy/launch/lonomy_pointcloud.launch index a93792b0..8e9568c8 100644 --- a/elevation_mapping_cupy/launch/lonomy_pointcloud.launch +++ b/elevation_mapping_cupy/launch/lonomy_pointcloud.launch @@ -9,8 +9,6 @@ - - - + \ No newline at end of file diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py index 5a68edb1..23922213 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py @@ -68,9 +68,7 @@ def __init__(self, param: Parameter): self.map_lock = threading.Lock() self.semantic_map = SemanticMap(self.param) - self.elevation_map = xp.zeros( - (7, self.cell_n, self.cell_n), dtype=self.data_type - ) + self.elevation_map = xp.zeros((7, self.cell_n, self.cell_n), dtype=self.data_type) self.layer_names = [ "elevation", "variance", @@ -109,25 +107,17 @@ def __init__(self, param: Parameter): param.load_weights(weight_file) if param.use_chainer: - self.traversability_filter = get_filter_chainer( - param.w1, param.w2, param.w3, param.w_out - ) + self.traversability_filter = get_filter_chainer(param.w1, param.w2, param.w3, param.w_out) else: - self.traversability_filter = get_filter_torch( - param.w1, param.w2, param.w3, param.w_out - ) + self.traversability_filter = get_filter_torch(param.w1, param.w2, param.w3, param.w_out) self.untraversable_polygon = xp.zeros((1, 2)) # Plugins self.plugin_manager = PluginManager(cell_n=self.cell_n) - plugin_config_file = subprocess.getoutput( - 'echo "' + param.plugin_config_file + '"' - ) + plugin_config_file = subprocess.getoutput('echo "' + param.plugin_config_file + '"') self.plugin_manager.load_plugin_settings(plugin_config_file) - self.map_initializer = MapInitializer( - self.initial_variance, param.initialized_variance, xp=cp, method="points" - ) + self.map_initializer = MapInitializer(self.initial_variance, param.initialized_variance, xp=cp, method="points") def clear(self): """Reset all the layers of the elevation & the semantic map.""" @@ -223,9 +213,7 @@ def shift_map_xy(self, delta_pixel): with self.map_lock: self.elevation_map = cp.roll(self.elevation_map, shift_value, axis=(1, 2)) self.pad_value(self.elevation_map, shift_value, value=0.0) - self.pad_value( - self.elevation_map, shift_value, idx=1, value=self.initial_variance - ) + self.pad_value(self.elevation_map, shift_value, idx=1, value=self.initial_variance) self.semantic_map.shift_map_xy(shift_value) def shift_map_z(self, delta_z): @@ -247,16 +235,10 @@ def compile_kernels(self): (self.elevation_map.shape[0], self.cell_n, self.cell_n), dtype=self.data_type, ) - self.traversability_input = cp.zeros( - (self.cell_n, self.cell_n), dtype=self.data_type - ) - self.traversability_mask_dummy = cp.zeros( - (self.cell_n, self.cell_n), dtype=self.data_type - ) + self.traversability_input = cp.zeros((self.cell_n, self.cell_n), dtype=self.data_type) + self.traversability_mask_dummy = cp.zeros((self.cell_n, self.cell_n), dtype=self.data_type) self.min_filtered = cp.zeros((self.cell_n, self.cell_n), dtype=self.data_type) - self.min_filtered_mask = cp.zeros( - (self.cell_n, self.cell_n), dtype=self.data_type - ) + self.min_filtered_mask = cp.zeros((self.cell_n, self.cell_n), dtype=self.data_type) self.mask = cp.zeros((self.cell_n, self.cell_n), dtype=self.data_type) self.add_points_kernel = add_points_kernel( self.resolution, @@ -295,18 +277,12 @@ def compile_kernels(self): self.cell_n, self.cell_n, self.param.max_variance, self.initial_variance ) - self.dilation_filter_kernel = dilation_filter_kernel( - self.cell_n, self.cell_n, self.param.dilation_size - ) + self.dilation_filter_kernel = dilation_filter_kernel(self.cell_n, self.cell_n, self.param.dilation_size) self.dilation_filter_kernel_initializer = dilation_filter_kernel( self.cell_n, self.cell_n, self.param.dilation_size_initialize ) - self.polygon_mask_kernel = polygon_mask_kernel( - self.cell_n, self.cell_n, self.resolution - ) - self.normal_filter_kernel = normal_filter_kernel( - self.cell_n, self.cell_n, self.resolution - ) + self.polygon_mask_kernel = polygon_mask_kernel(self.cell_n, self.cell_n, self.resolution) + self.normal_filter_kernel = normal_filter_kernel(self.cell_n, self.cell_n, self.resolution) def compile_image_kernels(self): for config in self.param.subscriber_cfg.values(): @@ -319,13 +295,11 @@ def compile_image_kernels(self): dtype=np.float32, ) # TODO tolerance_z_collision add parameter - self.image_to_map_correspondence_kernel = ( - image_to_map_correspondence_kernel( - resolution=self.resolution, - width=self.cell_n, - height=self.cell_n, - tolerance_z_collision=0.1, - ) + self.image_to_map_correspondence_kernel = image_to_map_correspondence_kernel( + resolution=self.resolution, + width=self.cell_n, + height=self.cell_n, + tolerance_z_collision=0.1, ) break @@ -337,9 +311,7 @@ def shift_translation_to_map_center(self, t): """ t -= self.center - def update_map_with_kernel( - self, points_all, channels, R, t, position_noise, orientation_noise - ): + def update_map_with_kernel(self, points_all, channels, R, t, position_noise, orientation_noise): """Update map with new measurement. Args: @@ -380,9 +352,7 @@ def update_map_with_kernel( self.mean_error = error / error_cnt self.additive_mean_error += self.mean_error if np.abs(self.mean_error) < self.param.max_drift: - self.elevation_map[0] += ( - self.mean_error * self.param.drift_compensation_alpha - ) + self.elevation_map[0] += self.mean_error * self.param.drift_compensation_alpha self.add_points_kernel( cp.array([0.0], dtype=self.data_type), cp.array([0.0], dtype=self.data_type), @@ -394,14 +364,10 @@ def update_map_with_kernel( self.new_map, size=(points.shape[0]), ) - self.average_map_kernel( - self.new_map, self.elevation_map, size=(self.cell_n * self.cell_n) - ) + self.average_map_kernel(self.new_map, self.elevation_map, size=(self.cell_n * self.cell_n)) # self.update_additional_layers(additional_fusion, points_all, channels, R, t) - self.semantic_map.update_layers_pointcloud( - points_all, channels, R, t, self.new_map - ) + self.semantic_map.update_layers_pointcloud(points_all, channels, R, t, self.new_map) if self.param.enable_overlap_clearance: self.clear_overlap_map(t) @@ -427,9 +393,7 @@ def clear_overlap_map(self, t): # Clear overlapping area around center height_min = t[2] - self.param.overlap_clear_range_z height_max = t[2] + self.param.overlap_clear_range_z - near_map = self.elevation_map[ - :, self.cell_min : self.cell_max, self.cell_min : self.cell_max - ] + near_map = self.elevation_map[:, self.cell_min : self.cell_max, self.cell_min : self.cell_max] valid_idx = ~cp.logical_or(near_map[0] < height_min, near_map[0] > height_max) near_map[0] = cp.where(valid_idx, near_map[0], 0.0) near_map[1] = cp.where(valid_idx, near_map[1], self.initial_variance) @@ -437,9 +401,7 @@ def clear_overlap_map(self, t): valid_idx = ~cp.logical_or(near_map[5] < height_min, near_map[5] > height_max) near_map[5] = cp.where(valid_idx, near_map[5], 0.0) near_map[6] = cp.where(valid_idx, near_map[6], 0.0) - self.elevation_map[ - :, self.cell_min : self.cell_max, self.cell_min : self.cell_max - ] = near_map + self.elevation_map[:, self.cell_min : self.cell_max, self.cell_min : self.cell_max] = near_map def get_additive_mean_error(self): return self.additive_mean_error @@ -452,9 +414,7 @@ def update_time(self): def update_upper_bound_with_valid_elevation(self): mask = self.elevation_map[2] > 0.5 - self.elevation_map[5] = cp.where( - mask, self.elevation_map[0], self.elevation_map[5] - ) + self.elevation_map[5] = cp.where(mask, self.elevation_map[0], self.elevation_map[5]) self.elevation_map[6] = cp.where(mask, 0.0, self.elevation_map[6]) def input( @@ -583,14 +543,10 @@ def process_map_for_publish(self, input_map, fill_nan=False, add_z=False, xp=cp) return m[1:-1, 1:-1] def get_elevation(self): - return self.process_map_for_publish( - self.elevation_map[0], fill_nan=True, add_z=True - ) + return self.process_map_for_publish(self.elevation_map[0], fill_nan=True, add_z=True) def get_variance(self): - return self.process_map_for_publish( - self.elevation_map[1], fill_nan=False, add_z=False - ) + return self.process_map_for_publish(self.elevation_map[1], fill_nan=False, add_z=False) def get_traversability(self): traversability = cp.where( @@ -603,22 +559,16 @@ def get_traversability(self): return traversability def get_time(self): - return self.process_map_for_publish( - self.elevation_map[4], fill_nan=False, add_z=False - ) + return self.process_map_for_publish(self.elevation_map[4], fill_nan=False, add_z=False) def get_upper_bound(self): if self.param.use_only_above_for_upper_bound: valid = cp.logical_or( - cp.logical_and( - self.elevation_map[5] > 0.0, self.elevation_map[6] > 0.5 - ), + cp.logical_and(self.elevation_map[5] > 0.0, self.elevation_map[6] > 0.5), self.elevation_map[2] > 0.5, ) else: - valid = cp.logical_or( - self.elevation_map[2] > 0.5, self.elevation_map[6] > 0.5 - ) + valid = cp.logical_or(self.elevation_map[2] > 0.5, self.elevation_map[6] > 0.5) upper_bound = cp.where(valid, self.elevation_map[5].copy(), cp.nan) upper_bound = upper_bound[1:-1, 1:-1] + self.center[2] return upper_bound @@ -626,15 +576,11 @@ def get_upper_bound(self): def get_is_upper_bound(self): if self.param.use_only_above_for_upper_bound: valid = cp.logical_or( - cp.logical_and( - self.elevation_map[5] > 0.0, self.elevation_map[6] > 0.5 - ), + cp.logical_and(self.elevation_map[5] > 0.0, self.elevation_map[6] > 0.5), self.elevation_map[2] > 0.5, ) else: - valid = cp.logical_or( - self.elevation_map[2] > 0.5, self.elevation_map[6] > 0.5 - ) + valid = cp.logical_or(self.elevation_map[2] > 0.5, self.elevation_map[6] > 0.5) is_upper_bound = cp.where(valid, self.elevation_map[6].copy(), cp.nan) is_upper_bound = is_upper_bound[1:-1, 1:-1] return is_upper_bound @@ -730,9 +676,7 @@ def get_map_with_name_ref(self, name, data): m = self.plugin_manager.get_map_with_name(name) p = self.plugin_manager.get_param_with_name(name) xp = self.xp_of_array(m) - m = self.process_map_for_publish( - m, fill_nan=p.fill_nan, add_z=p.is_height_layer, xp=xp - ) + m = self.process_map_for_publish(m, fill_nan=p.fill_nan, add_z=p.is_height_layer, xp=xp) else: print("Layer {} is not in the map".format(name)) return @@ -815,9 +759,7 @@ def get_polygon_traversability(self, polygon, result): size=(self.cell_n * self.cell_n), ) tmp_map = self.get_layer(self.param.checker_layer) - masked, masked_isvalid = get_masked_traversability( - self.elevation_map, self.mask, tmp_map - ) + masked, masked_isvalid = get_masked_traversability(self.elevation_map, self.mask, tmp_map) if masked_isvalid.sum() > 0: t = masked.sum() / masked_isvalid.sum() else: @@ -830,9 +772,7 @@ def get_polygon_traversability(self, polygon, result): ) untraversable_polygon_num = 0 if un_polygon is not None: - un_polygon = transform_to_map_position( - un_polygon, self.center[:2], self.cell_n, self.resolution - ) + un_polygon = transform_to_map_position(un_polygon, self.center[:2], self.cell_n, self.resolution) untraversable_polygon_num = un_polygon.shape[0] if clipped_area < 0.001: is_safe = False @@ -859,9 +799,7 @@ def initialize_map(self, points, method="cubic"): self.clear() with self.map_lock: points = cp.asarray(points, dtype=self.data_type) - indices = transform_to_map_index( - points[:, :2], self.center[:2], self.cell_n, self.resolution - ) + indices = transform_to_map_index(points[:, :2], self.center[:2], self.cell_n, self.resolution) points[:, :2] = indices.astype(points.dtype) points[:, 2] -= self.center[2] self.map_initializer(self.elevation_map, points, method) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping_ros.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping_ros.py index ee4f0e41..aab2d115 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping_ros.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping_ros.py @@ -104,6 +104,7 @@ def register_publishers(self): self._publishers_timers.append(rospy.Timer(rospy.Duration(1 / v["fps"]), partial(self.publish_map, k))) def publish_map(self, k, t): + print("publish_map") if self._map_q is None: return gm = GridMap() @@ -120,19 +121,24 @@ def publish_map(self, k, t): gm.info.pose.orientation.x = 0.0 # self._map_q.x gm.info.pose.orientation.y = 0.0 # self._map_q.y gm.info.pose.orientation.z = 0.0 # self._map_q.z - gm.layers = self.publishers[k]["layers"] + gm.layers = [] gm.basic_layers = self.publishers[k]["basic_layers"] - for i, layer in enumerate(gm.layers): - self._map.get_map_with_name_ref(layer, self._map_data) - # self._map_data = np.nan_to_num(self._map_data, False, 0) - data = self._map_data.copy() - arr = Float32MultiArray() - arr.layout = MAL() - N = self._map_data.shape[0] - arr.layout.dim.append(MAD(label="column_index", size=N, stride=int(N * N))) - arr.layout.dim.append(MAD(label="row_index", size=N, stride=N)) - arr.data = tuple(np.ascontiguousarray(data.T).reshape(-1)) - gm.data.append(arr) + for i, layer in enumerate(self.publishers[k]["layers"]): + gm.layers.append(layer) + try: + self._map.get_map_with_name_ref(layer, self._map_data) + data = self._map_data.copy() + arr = Float32MultiArray() + arr.layout = MAL() + N = self._map_data.shape[0] + arr.layout.dim.append(MAD(label="column_index", size=N, stride=int(N * N))) + arr.layout.dim.append(MAD(label="row_index", size=N, stride=N)) + arr.data = tuple(np.ascontiguousarray(data.T).reshape(-1)) + gm.data.append(arr) + except: + if layer in gm.basic_layers: + print("Error: Missed Layer in basic layers") + gm.outer_start_index = 0 gm.inner_start_index = 0 @@ -152,7 +158,7 @@ def image_callback(self, camera_msg, camera_info_msg, sub_key): camera_msg.header.frame_id, self.map_frame, ti, rospy.Duration(1.0) ) except (tf2_ros.LookupException, tf2_ros.ConnectivityException, tf2_ros.ExtrapolationException) as e: - print("image_callback error:", e) + print("Error: image_callback:", e) return t = transform.transform.translation @@ -161,13 +167,13 @@ def image_callback(self, camera_msg, camera_info_msg, sub_key): R = quaternion_matrix([q.x, q.y, q.z, q.w])[:3, :3] semantic_img = self.cv_bridge.imgmsg_to_cv2(camera_msg, desired_encoding="passthrough") - + if len(semantic_img.shape) != 2: semantic_img = [semantic_img[:, :, k] for k in range(3)] - + else: semantic_img = [semantic_img] - + assert np.all(np.array(camera_info_msg.D) == 0.0), "Undistortion not implemented" K = np.array(camera_info_msg.K, dtype=np.float32).reshape(3, 3) # process pointcloud @@ -182,7 +188,7 @@ def pointcloud_callback(self, msg, sub_key): for ch in channels: p = points[ch] if len(p.shape) == 1: - p = p[:,None] + p = p[:, None] pts = np.append(pts, p, axis=1) # get pose of pointcloud @@ -191,7 +197,7 @@ def pointcloud_callback(self, msg, sub_key): try: transform = self._tf_buffer.lookup_transform(self.map_frame, msg.header.frame_id, ti, rospy.Duration(1.0)) except (tf2_ros.LookupException, tf2_ros.ConnectivityException, tf2_ros.ExtrapolationException) as e: - print("pointcloud_callback error:", e) + print("Error: pointcloud_callback: ", e) return t = transform.transform.translation @@ -214,7 +220,7 @@ def update_pose(self, t): self.map_frame, self.base_frame, self._last_t, rospy.Duration(1.0) ) except (tf2_ros.LookupException, tf2_ros.ConnectivityException, tf2_ros.ExtrapolationException) as e: - print("update_pose error: ", e) + print("Error: update_pose error: ", e) return t = transform.transform.translation trans = np.array([t.x, t.y, t.z]) @@ -234,15 +240,16 @@ def update_time(self, t): def get_ros_params(self): # TODO fix this here when later launching with launch-file # This is currently {p} elevation_mapping") - typ = "lonomy" + typ = "anymal" para = os.path.join(self.root, f"config/{typ}_parameters.yaml") sens = os.path.join(self.root, f"config/{typ}_sensor_parameter.yaml") plugin = os.path.join(self.root, f"config/{typ}_plugin_config.yaml") - + os.system(f"rosparam delete /{self.node_name}") os.system(f"rosparam load {para} elevation_mapping") os.system(f"rosparam load {sens} elevation_mapping") os.system(f"rosparam load {plugin} elevation_mapping") + self.subscribers = rospy.get_param("~subscribers") self.publishers = rospy.get_param("~publishers") self.initialize_frame_id = rospy.get_param("~initialize_frame_id", "base") diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/custom_semantic_kernels.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/custom_semantic_kernels.py index e562c263..8aae5d02 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/custom_semantic_kernels.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/custom_semantic_kernels.py @@ -1,6 +1,7 @@ import cupy as cp import string + def sum_kernel( resolution, width, @@ -37,11 +38,12 @@ def sum_kernel( ) return sum_kernel + def sum_compact_kernel( - resolution, - width, - height, - ): + resolution, + width, + height, +): # input the list of layers, amount of channels can slo be input through kernel sum_compact_kernel = cp.ElementwiseKernel( in_params="raw U p, raw U R, raw U t, raw W pcl_chan, raw W map_lay, raw W pcl_channels", @@ -53,7 +55,7 @@ def sum_compact_kernel( return layer * layer_n + idx; } """ - ).substitute(resolution=resolution,width=width, height=height), + ).substitute(resolution=resolution, width=width, height=height), operation=string.Template( """ U idx = p[i * pcl_channels[0]]; @@ -68,18 +70,17 @@ def sum_compact_kernel( } } """ - ).substitute( - ), + ).substitute(), name="sum_compact_kernel", ) return sum_compact_kernel def sum_max_kernel( - resolution, - width, - height, - ): + resolution, + width, + height, +): # input the list of layers, amount of channels can slo be input through kernel sum_max_kernel = cp.ElementwiseKernel( in_params="raw U p, raw U max_pt, raw T max_id, raw W pcl_chan, raw W map_lay, raw W pcl_channels", @@ -91,7 +92,7 @@ def sum_max_kernel( return layer * layer_n + idx; } """ - ).substitute(resolution=resolution,width=width, height=height), + ).substitute(resolution=resolution, width=width, height=height), operation=string.Template( """ U idx = p[i * pcl_channels[0]]; @@ -109,12 +110,12 @@ def sum_max_kernel( } } """ - ).substitute( - ), + ).substitute(), name="sum_max_kernel", ) return sum_max_kernel + def alpha_kernel( resolution, width, @@ -190,8 +191,8 @@ def average_kernel( def bayesian_inference_kernel( - width, - height, + width, + height, ): bayesian_inference_kernel = cp.ElementwiseKernel( in_params=" raw W pcl_chan, raw W map_lay, raw W pcl_channels, raw U new_elmap", @@ -220,16 +221,16 @@ def bayesian_inference_kernel( } } """ - ).substitute( - ), + ).substitute(), name="bayesian_inference_kernel", ) return bayesian_inference_kernel + def class_average_kernel( - width, - height, - alpha, + width, + height, + alpha, ): class_average_kernel = cp.ElementwiseKernel( in_params="raw V newmap, raw W pcl_chan, raw W map_lay, raw W pcl_channels, raw U new_elmap", @@ -259,7 +260,8 @@ def class_average_kernel( } } """ - ).substitute(alpha=alpha, + ).substitute( + alpha=alpha, ), name="class_average_kernel", ) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_traversability.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_traversability.py index f54c714c..2d0b9832 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_traversability.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_traversability.py @@ -68,9 +68,7 @@ def __call__( idx = plugin_layer_names.index(name) tempo = plugin_layers[idx] else: - print( - "Layer {} is not in the map, returning traversabiltiy!".format(name) - ) + print("Layer {} is not in the map, returning traversabiltiy!".format(name)) return if self.type[it] == "traversability": tempo = cp.where(tempo <= self.thresholds[it], 1, 0) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py index 9ff5f5b9..7f52541f 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py @@ -44,9 +44,7 @@ def __init__(self, param: Parameter): self.layer_names.append(c) self.layer_specs[c] = f else: - assert ( - self.layer_specs[c] == f - ), "Error: Single layer has multiple fusion algorithms!" + assert self.layer_specs[c] == f, "Error: Single layer has multiple fusion algorithms!" if f not in self.unique_fusion: self.unique_fusion.append(f) @@ -113,9 +111,7 @@ def compile_kernels(self) -> None: self.param.cell_n, self.param.cell_n, ) - self.color_average_kernel = color_average_kernel( - self.param.cell_n, self.param.cell_n - ) + self.color_average_kernel = color_average_kernel(self.param.cell_n, self.param.cell_n) if "class_average" in self.unique_fusion: print("Initialize class average kernel") self.sum_kernel = sum_kernel( @@ -150,21 +146,17 @@ def compile_kernels(self) -> None: self.unique_id = cp.array([0]) if "image_exponential" in self.unique_fusion: - self.average_correspondences_to_map_kernel = ( - average_correspondences_to_map_kernel( - resolution=self.param.resolution, - width=self.param.cell_n, - height=self.param.cell_n, - ) + self.average_correspondences_to_map_kernel = average_correspondences_to_map_kernel( + resolution=self.param.resolution, + width=self.param.cell_n, + height=self.param.cell_n, ) if "image_color" in self.unique_fusion: - self.color_correspondences_to_map_kernel = ( - color_correspondences_to_map_kernel( - resolution=self.param.resolution, - width=self.param.cell_n, - height=self.param.cell_n, - ) + self.color_correspondences_to_map_kernel = color_correspondences_to_map_kernel( + resolution=self.param.resolution, + width=self.param.cell_n, + height=self.param.cell_n, ) def pad_value(self, x, shift_value, idx=None, value=0.0): @@ -325,9 +317,7 @@ def update_layers_pointcloud(self, points_all, channels, R, t, elevation_map): sum_alpha = cp.sum(self.new_map[layer_ids], axis=0) # do not divide by zero sum_alpha[sum_alpha == 0] = 1 - self.semantic_map[layer_ids] = self.new_map[layer_ids] / cp.expand_dims( - sum_alpha, axis=0 - ) + self.semantic_map[layer_ids] = self.new_map[layer_ids] / cp.expand_dims(sum_alpha, axis=0) # assert cp.unique(cp.sum(self.map[layer_ids], axis=0)) equal to zero or to nan if "class_max" in additional_fusion: @@ -382,9 +372,7 @@ def update_layers_pointcloud(self, points_all, channels, R, t, elevation_map): sum_alpha = cp.sum(self.new_map[layer_ids], axis=0) # do not divide by zero sum_alpha[sum_alpha == 0] = 1 - self.semantic_map[layer_ids] = self.new_map[layer_ids] / cp.expand_dims( - sum_alpha, axis=0 - ) + self.semantic_map[layer_ids] = self.new_map[layer_ids] / cp.expand_dims(sum_alpha, axis=0) if "color" in additional_fusion: pcl_ids, layer_ids = self.get_indices_fusion(channels, "color") @@ -426,9 +414,7 @@ def update_layers_image( self.new_map *= 0 config = self.param.subscriber_cfg[sub_key] - for j, (fusion, channel) in enumerate( - zip(config["fusion"], config["channels"]) - ): + for j, (fusion, channel) in enumerate(zip(config["fusion"], config["channels"])): sem_map_idx = self.get_index(channel) if fusion == "image_exponential": diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_elevation_mapping.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_elevation_mapping.py index 550713b7..7a74b8ab 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_elevation_mapping.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_elevation_mapping.py @@ -5,9 +5,7 @@ def encode_max(maxim, index): - maxim, index = cp.asarray(maxim, dtype=cp.float32), cp.asarray( - index, dtype=cp.uint32 - ) + maxim, index = cp.asarray(maxim, dtype=cp.float32), cp.asarray(index, dtype=cp.uint32) # fuse them maxim = maxim.astype(cp.float16) maxim = maxim.view(cp.uint16) @@ -57,9 +55,7 @@ def test_input(self, elmap_ex): ind = cp.random.randint(0, 2, (100000, len(channels)), dtype=cp.uint32).astype(cp.float32) points = encode_max(val, ind) else: - points = cp.random.rand( - 100000, len(channels), dtype=elmap_ex.param.data_type - ) + points = cp.random.rand(100000, len(channels), dtype=elmap_ex.param.data_type) R = cp.random.rand(3, 3, dtype=elmap_ex.param.data_type) t = cp.random.rand(3, dtype=elmap_ex.param.data_type) elmap_ex.input(points, channels, R, t, 0, 0) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_plugins.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_plugins.py index 0a040ea1..5aac5542 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_plugins.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_plugins.py @@ -59,12 +59,8 @@ def test_plugin_manager(semmap_ex, channels): manager.layers[0] manager.update_with_name("min_filter", elevation_map, layer_names) manager.update_with_name("smooth_filter", elevation_map, layer_names) - manager.update_with_name( - "semantic_filter", elevation_map, layer_names, semmap_ex, rotation - ) - manager.update_with_name( - "semantic_traversability", elevation_map, layer_names, semmap_ex - ) + manager.update_with_name("semantic_filter", elevation_map, layer_names, semmap_ex, rotation) + manager.update_with_name("semantic_traversability", elevation_map, layer_names, semmap_ex) manager.get_map_with_name("smooth") for lay in manager.get_layer_names(): manager.update_with_name(lay, elevation_map, layer_names, semmap_ex, rotation) From 81a9aa148e5d52305e016bda97018dd70522e2f5 Mon Sep 17 00:00:00 2001 From: Gian Date: Tue, 13 Dec 2022 10:21:27 +0100 Subject: [PATCH 306/504] cleaning pointcloud removing python warnings --- .../semantic_pointcloud/pointcloud_node.py | 68 ++++++++++++------- .../tests/test_pointcloud.py | 4 +- .../script/semantic_pointcloud/utils.py | 16 ++--- 3 files changed, 54 insertions(+), 34 deletions(-) diff --git a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_node.py b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_node.py index 51341abd..00a90bdc 100755 --- a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_node.py +++ b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_node.py @@ -18,6 +18,11 @@ class PointcloudNode: def __init__(self, sensor_name): + """ Get parameter from server, initialize variables and semantics, register publishers and subscribers. + + Args: + sensor_name (str): Name of the sensor in the ros param server. + """ # TODO: if this is going to be loaded from another package we might need to change namespace self.param: PointcloudParameter = PointcloudParameter() # try catch for pytests @@ -47,7 +52,42 @@ def __init__(self, sensor_name): self.cv_bridge = CvBridge() self.P = None self.header = None + self.register_sub_pub() + + def initialize_semantics(self): + """Resolve the feature and segmentation mode and create segmentation_channel and feature_channels. + + - segmentation_channels: is a dictionary that contains the segmentation channel names as key and the fusion algorithm as value. + - feature_channels: is a dictionary that contains the features channel names as key and the fusion algorithm as value. + """ + if self.param.semantic_segmentation: + self.semantic_model = resolve_model( + self.param.segmentation_model, self.param + ) + self.segmentation_channels = {} + for i, (chan, fusion) in enumerate( + zip(self.param.channels, self.param.fusion) + ): + if fusion in ["class_bayesian", "class_average", "class_max"]: + self.segmentation_channels[chan] = fusion + assert len(self.segmentation_channels.keys()) > 0 + if self.param.feature_extractor: + self.feature_extractor = resolve_model( + self.param.feature_config.name, self.param.feature_config + ) + self.feature_channels = {} + for i, (chan, fusion) in enumerate( + zip(self.param.channels, self.param.fusion) + ): + if fusion in ["average"]: + self.feature_channels[chan] = fusion + assert len(self.feature_channels.keys()) > 0 + + def register_sub_pub(self): + """Register publishers and subscribers. + """ + # subscribers rospy.Subscriber(self.param.cam_info_topic, CameraInfo, self.cam_info_callback) rgb_sub = message_filters.Subscriber(self.param.image_topic, Image) depth_sub = message_filters.Subscriber(self.param.depth_topic, Image) @@ -76,6 +116,7 @@ def __init__(self, sensor_name): ts.registerCallback(self.image_callback) self.pcl_pub = rospy.Publisher(self.param.topic_name, PointCloud2, queue_size=2) + # publishers if self.param.semantic_segmentation: if self.param.publish_segmentation_image: self.seg_pub = rospy.Publisher( @@ -118,33 +159,12 @@ def color_map_viz(self): (row_size * (nclasses), col_size, cmap.shape[1]), dtype=cmap.dtype ) for i in range(nclasses): - array[i * row_size : i * row_size + row_size, :] = cmap[i] + array[i * row_size: i * row_size + row_size, :] = cmap[i] imshow(array) plt.yticks([row_size * i + row_size / 2 for i in range(nclasses)], self.labels) plt.xticks([]) plt.show() - def initialize_semantics(self): - if self.param.semantic_segmentation: - self.semantic_model = resolve_model( - self.param.segmentation_model, self.param - ) - self.segmentation_channels = {} - for i, (chan, fus) in enumerate( - zip(self.param.channels, self.param.fusion) - ): - if fus in ["class_bayesian", "class_average", "class_max"]: - self.segmentation_channels[chan] = fus - if self.param.feature_extractor: - self.feature_channels = [] - for i, fusion in enumerate(self.param.fusion): - if fusion == "average": - self.feature_channels.append(self.param.channels[i]) - assert len(self.feature_channels) > 0 - self.feature_extractor = resolve_model( - self.param.feature_config.name, self.param.feature_config - ) - def create_custom_dtype(self): self.dtype = [ ("x", np.float32), @@ -244,7 +264,7 @@ def perform_segmentation(self, image, points, u, v): def extract_features(self, image, points, u, v): prediction = self.feature_extractor["model"](image) values = prediction[:, v.get(), u.get()].cpu().detach().numpy() - for it, channel in enumerate(self.feature_channels): + for it, channel in enumerate(self.feature_channels.keys()): points[channel] = values[it] def publish_segmentation_image(self, probabilities): @@ -257,7 +277,7 @@ def publish_segmentation_image(self, probabilities): # decode, create an array with all possible classes and insert probabilities it = 0 for iit, (chan, fuse) in enumerate( - zip(self.param.channels, self.param.fusion) + zip(self.param.channels, self.param.fusion) ): if fuse in ["class_max"]: temp = probabilities[it] diff --git a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/tests/test_pointcloud.py b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/tests/test_pointcloud.py index 01ec9bad..59996cf5 100644 --- a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/tests/test_pointcloud.py +++ b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/tests/test_pointcloud.py @@ -20,8 +20,10 @@ def pointcloud_ex(cam_name): "front_cam", ], ) -def test_initialize_semantics(pointcloud_ex): +def test_initialize(pointcloud_ex): + # todo here we can add more test pointcloud_ex.initialize_semantics() + pointcloud_ex.register_sub_pub() @pytest.mark.parametrize( diff --git a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/utils.py b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/utils.py index e44f908d..a3c321f6 100644 --- a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/utils.py +++ b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/utils.py @@ -17,7 +17,6 @@ setup_logger() -# import some common detectron2 utilities from detectron2 import model_zoo from detectron2.engine import DefaultPredictor from detectron2.config import get_cfg @@ -31,7 +30,6 @@ FeatureExtractorParameter, ) -# from .pointcloud_parameters import PointcloudParameter, FeatureExtractorParameter def encode_max(maxim, index): maxim, index = cp.asarray(maxim, dtype=cp.float32), cp.asarray( index, dtype=cp.uint32 @@ -106,15 +104,15 @@ def resolve_model(name, config=None): class PytorchModel: def __init__(self, net, weights, param): - self.model = net(weights) + self.model = net(weights=weights) self.weights = weights self.param = param self.model.eval() device = torch.device("cuda:0" if torch.cuda.is_available() else "cpu") self.model.to(device=device) - self.resolve_cateories() + self.resolve_categories() - def resolve_cateories(self): + def resolve_categories(self): class_to_idx = {cls: idx for (idx, cls) in enumerate(self.get_classes())} print( "Semantic Segmentation possible channels: ", @@ -171,7 +169,7 @@ def __call__(self, image, *args, **kwargs): ) x = torch.arange(0, index.shape[0]) y = torch.arange(0, index.shape[1]) - c = torch.meshgrid(x, y) + c = torch.meshgrid(x, y, indexing='ij') normalized_masks[index, c[0], c[1]] = 0 return cp.asarray(selected_masks) @@ -196,8 +194,8 @@ def __init__(self, weights, param): self.cfg.MODEL.WEIGHTS = model_zoo.get_checkpoint_url(weights) self.predictor = DefaultPredictor(self.cfg) self.meta = MetadataCatalog.get(self.cfg.DATASETS.TRAIN[0]) - self.stuff_categories, self.is_stuff = self.resolve_cateories("stuff_classes") - self.thing_categories, self.is_thing = self.resolve_cateories("thing_classes") + self.stuff_categories, self.is_stuff = self.resolve_categories("stuff_classes") + self.thing_categories, self.is_thing = self.resolve_categories("thing_classes") self.segmentation_channels = {} for chan in self.param.channels: if chan in self.stuff_categories.keys(): @@ -208,7 +206,7 @@ def __init__(self, weights, param): # remove it pass - def resolve_cateories(self, name): + def resolve_categories(self, name): classes = self.get_cat(name) class_to_idx = {cls: idx for (idx, cls) in enumerate(classes)} print( From f5d3a148100806170c4de0b7cb538ad479dbe41f Mon Sep 17 00:00:00 2001 From: Gian Date: Tue, 13 Dec 2022 16:36:15 +0100 Subject: [PATCH 307/504] fixed the cpp wrapper such that it is able to accept also pointclouds that contain different fields e.g. rings. Added also configuration for anymal bag and anymal sim --- .../config/anymal_plugin_config.yaml | 6 +- .../config/anymal_sensor_parameter.yaml | 98 ++++++------- .../config/sim_parameters.yaml | 96 +++++++++++++ .../config/sim_sensor_parameter.yaml | 131 ++++++++++++++++++ .../elevation_mapping_ros.hpp | 4 +- .../anymal_semantic_elevation_single.launch | 2 +- .../sim_semantic_elevation_single.launch | 21 +++ .../src/elevation_mapping_ros.cpp | 50 +++++-- 8 files changed, 339 insertions(+), 69 deletions(-) create mode 100644 elevation_mapping_cupy/config/sim_parameters.yaml create mode 100644 elevation_mapping_cupy/config/sim_sensor_parameter.yaml create mode 100644 elevation_mapping_cupy/launch/sim_semantic_elevation_single.launch diff --git a/elevation_mapping_cupy/config/anymal_plugin_config.yaml b/elevation_mapping_cupy/config/anymal_plugin_config.yaml index 07f34e6a..e18df155 100644 --- a/elevation_mapping_cupy/config/anymal_plugin_config.yaml +++ b/elevation_mapping_cupy/config/anymal_plugin_config.yaml @@ -2,7 +2,7 @@ # min_filter fills in minimum value around the invalid cell. min_filter: - enable: False # weather to load this plugin + enable: True # weather to load this plugin fill_nan: False # Fill nans to invalid cells of elevation layer. is_height_layer: True # If this is a height layer (such as elevation) or not (such as traversability) layer_name: "min_filter" # The layer name. @@ -11,7 +11,7 @@ min_filter: iteration_n: 30 # The number of iterations # Apply smoothing. smooth_filter: - enable: False + enable: True fill_nan: False is_height_layer: True layer_name: "smooth" @@ -19,7 +19,7 @@ smooth_filter: input_layer_name: "min_filter" # Apply inpainting using opencv inpainting: - enable: False + enable: True fill_nan: False is_height_layer: True layer_name: "inpaint" diff --git a/elevation_mapping_cupy/config/anymal_sensor_parameter.yaml b/elevation_mapping_cupy/config/anymal_sensor_parameter.yaml index 4363a22e..0ad1fa10 100644 --- a/elevation_mapping_cupy/config/anymal_sensor_parameter.yaml +++ b/elevation_mapping_cupy/config/anymal_sensor_parameter.yaml @@ -37,36 +37,36 @@ subscribers: # topic_name: '/elevation_mapping/pointcloud_semantic' # data_type: pointcloud - # alphasense_front_rgb: - # fusion: ['image_color'] - # topic_name_camera: /alphasense_driver_ros/cam4/debayered - # topic_name_camera_info: /alphasense_driver_ros/cam4/camera_info - # channels: ["rgb_image"] - # data_type: image + alphasense_front_rgb: + fusion: ['image_color'] + topic_name_camera: /alphasense_driver_ros/cam4/debayered + topic_name_camera_info: /alphasense_driver_ros/cam4/camera_info + channels: ["rgb_image"] + data_type: image - # alphasense_left_rgb: - # fusion: ['image_color'] - # topic_name_camera: /alphasense_driver_ros/cam3/debayered - # topic_name_camera_info: /alphasense_driver_ros/cam3/camera_info - # channels: ["rgb_image"] - # data_type: image + alphasense_left_rgb: + fusion: ['image_color'] + topic_name_camera: /alphasense_driver_ros/cam3/debayered + topic_name_camera_info: /alphasense_driver_ros/cam3/camera_info + channels: ["rgb_image"] + data_type: image - # alphasense_right_rgb: - # fusion: ['image_color'] - # topic_name_camera: /alphasense_driver_ros/cam5/debayered - # topic_name_camera_info: /alphasense_driver_ros/cam5/camera_info - # channels: ["rgb_image"] - # data_type: image + alphasense_right_rgb: + fusion: ['image_color'] + topic_name_camera: /alphasense_driver_ros/cam5/debayered + topic_name_camera_info: /alphasense_driver_ros/cam5/camera_info + channels: ["rgb_image"] + data_type: image - # wvn_prediction: - # fusion: ['image_exponential'] - # topic_name_camera: '/wild_visual_navigation_node/current_prediction' - # topic_name_camera_info: '/wild_visual_navigation_node/camera_info' - # channels: ["visual_traversability"] - # data_type: image + wvn_prediction: + fusion: ['image_exponential'] + topic_name_camera: '/wild_visual_navigation_node/current_prediction' + topic_name_camera_info: '/wild_visual_navigation_node/camera_info' + channels: ["visual_traversability"] + data_type: image # front_cam: # channels: ['rgb','feat_0','feat_1','grass','tree','fence','person'] @@ -94,11 +94,11 @@ subscribers: # confidence_threshold: 10 # feature_extractor: False - front_bpearl: - channels: [] - fusion: [] - topic_name: /point_cloud_filter_rsl/filter_and_merger_rsl - data_type: pointcloud +# front_bpearl: +# channels: [] +# fusion: [] +# topic_name: /point_cloud_filter_rsl/filter_and_merger_rsl +# data_type: pointcloud # rear_bpearl: # channels: [] @@ -106,26 +106,26 @@ subscribers: # topic_name: /robot_self_filter/bpearl_rear/point_cloud # data_type: pointcloud - # front_depth: - # channels: [] - # fusion: [] - # topic_name: /depth_camera_front/point_cloud_self_filtered - # data_type: pointcloud + front_depth: + channels: [] + fusion: [] + topic_name: /depth_camera_front/point_cloud_self_filtered + data_type: pointcloud - # rear_depth: - # channels: [] - # fusion: [] - # topic_name: /depth_camera_rear/point_cloud_self_filtered - # data_type: pointcloud + rear_depth: + channels: [] + fusion: [] + topic_name: /depth_camera_rear/point_cloud_self_filtered + data_type: pointcloud - # left_depth: - # channels: [] - # fusion: [] - # topic_name: /depth_camera_left/point_cloud_self_filtered - # data_type: pointcloud + left_depth: + channels: [] + fusion: [] + topic_name: /depth_camera_left/point_cloud_self_filtered + data_type: pointcloud - # right_depth: - # channels: [] - # fusion: [] - # topic_name: /depth_camera_right/point_cloud_self_filtered - # data_type: pointcloud \ No newline at end of file + right_depth: + channels: [] + fusion: [] + topic_name: /depth_camera_right/point_cloud_self_filtered + data_type: pointcloud \ No newline at end of file diff --git a/elevation_mapping_cupy/config/sim_parameters.yaml b/elevation_mapping_cupy/config/sim_parameters.yaml new file mode 100644 index 00000000..b92bb6da --- /dev/null +++ b/elevation_mapping_cupy/config/sim_parameters.yaml @@ -0,0 +1,96 @@ +#### Basic parameters ######## +resolution: 0.04 # resolution in m. +map_length: 8 # map's size in m. +sensor_noise_factor: 0.05 # point's noise is sensor_noise_factor*z^2 (z is distance from sensor). +mahalanobis_thresh: 2.0 # points outside this distance is outlier. +outlier_variance: 0.01 # if point is outlier, add this value to the cell. +drift_compensation_variance_inler: 0.05 # cells under this value is used for drift compensation. +max_drift: 0.1 # drift compensation happens only the drift is smaller than this value (for safety) +drift_compensation_alpha: 0.1 # drift compensation alpha for smoother update of drift compensation +time_variance: 0.0001 # add this value when update_variance is called. +max_variance: 100.0 # maximum variance for each cell. +initial_variance: 1000.0 # initial variance for each cell. +traversability_inlier: 0.9 # cells with higher traversability are used for drift compensation. +dilation_size: 3 # dilation filter size before traversability filter. +wall_num_thresh: 20 # if there are more points than this value, only higher points than the current height are used to make the wall more sharp. +min_height_drift_cnt: 100 # drift compensation only happens if the valid cells are more than this number. +position_noise_thresh: 0.01 # if the position change is bigger than this value, the drift compensation happens. +orientation_noise_thresh: 0.01 # if the orientation change is bigger than this value, the drift compensation happens. +position_lowpass_alpha: 0.2 # lowpass filter alpha used for detecting movements. +orientation_lowpass_alpha: 0.2 # lowpass filter alpha used for detecting movements. +min_valid_distance: 0.5 # points with shorter distance will be filtered out. +max_height_range: 1.0 # points higher than this value from sensor will be filtered out to disable ceiling. +ramped_height_range_a: 0.3 # if z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject. +ramped_height_range_b: 1.0 # if z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject. +ramped_height_range_c: 0.2 # if z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject. +update_variance_fps: 5.0 # fps for updating variance. +update_pose_fps: 10.0 # fps for updating pose and shift the center of map. +time_interval: 0.1 # Time layer is updated with this interval. +map_acquire_fps: 5.0 # Raw map is fetched from GPU memory in this fps. +publish_statistics_fps: 1.0 # Publish statistics topic in this fps. + +max_ray_length: 10.0 # maximum length for ray tracing. +cleanup_step: 0.1 # subtitute this value from validity layer at visibiltiy cleanup. +cleanup_cos_thresh: 0.1 # subtitute this value from validity layer at visibiltiy cleanup. + +safe_thresh: 0.7 # if traversability is smaller, it is counted as unsafe cell. +safe_min_thresh: 0.4 # polygon is unsafe if there exists lower traversability than this. +max_unsafe_n: 10 # if the number of cells under safe_thresh exceeds this value, polygon is unsafe. + +overlap_clear_range_xy: 4.0 # xy range [m] for clearing overlapped area. this defines the valid area for overlap clearance. (used for multi floor setting) +overlap_clear_range_z: 2.0 # z range [m] for clearing overlapped area. cells outside this range will be cleared. (used for multi floor setting) + +map_frame: 'odom' # The map frame where the odometry source uses. +base_frame: 'base' # The robot's base frame. This frame will be a center of the map. +corrected_map_frame: 'odom_corrected' + +#### Feature toggles ######## +enable_edge_sharpen: true +enable_visibility_cleanup: true +enable_drift_compensation: true +enable_overlap_clearance: true +enable_pointcloud_publishing: false +enable_drift_corrected_TF_publishing: false +enable_normal_color: false # If true, the map contains 'color' layer corresponding to normal. Add 'color' layer to the publishers setting if you want to visualize. + +#### Traversability filter ######## +use_chainer: false # Use chainer as a backend of traversability filter or pytorch. If false, it uses pytorch. pytorch requires ~2GB more GPU memory compared to chainer but runs faster. +weight_file: '$(rospack find elevation_mapping_cupy)/config/weights.dat' # Weight file for traversability filter + +#### Upper bound ######## +use_only_above_for_upper_bound: false + +#### Plugins ######## +plugin_config_file: '$(rospack find elevation_mapping_cupy)/config/anymal_plugin_config.yaml' + +#### Publishers ######## +# topic_name: +# layers: # Choose from 'elevation', 'variance', 'traversability', 'time', 'normal_x', 'normal_y', 'normal_z', 'color', plugin_layer_names +# basic_layers: # basic_layers for valid cell computation (e.g. Rviz): Choose a subset of `layers`. +# fps: # Publish rate. Use smaller value than `map_acquire_fps`. +publishers: + elevation_map_raw: + layers: ['elevation', 'traversability', 'variance'] + basic_layers: ['elevation', 'traversability'] + fps: 2.0 + + semantic_map_raw: + layers: ['elevation', 'traversability', 'variance', 'rgb_image'] + basic_layers: ['elevation', 'traversability'] + fps: 2.0 + # elevation_map_recordable: + # layers: ['elevation', 'traversability'] + # basic_layers: ['elevation', 'traversability'] + # fps: 2.0 + # elevation_map_filter: + # layers: ['min_filter', 'smooth', 'inpaint', 'upper_bound','rgb'] + # basic_layers: ['min_filter'] + # fps: 3.0 + +#### Initializer ######## +initialize_method: 'linear' # Choose one from 'nearest', 'linear', 'cubic' +initialize_frame_id: ['base_footprint'] # One tf (like ['footprint'] # One tf (like ['footprint'] ) initializes a square around it. +initialize_tf_offset: [0.0] # z direction. Should be same number as initialize_frame_id. +dilation_size_initialize: 5 # dilation size after the init. +initialize_tf_grid_size: 0.4 # This is not used if number of tf is more than 3. +use_initializer_at_start: true # Use initializer when the node starts. diff --git a/elevation_mapping_cupy/config/sim_sensor_parameter.yaml b/elevation_mapping_cupy/config/sim_sensor_parameter.yaml new file mode 100644 index 00000000..4363a22e --- /dev/null +++ b/elevation_mapping_cupy/config/sim_sensor_parameter.yaml @@ -0,0 +1,131 @@ +#### Subscribers ######## +subscribers: + # debug_rgb: + # fusion: ['image_color'] + # topic_name_camera: /zed2i/zed_node/left/image_rect_color + # topic_name_camera_info: /zed2i/zed_node/right/camera_info + # channels: ["rgb_image"] + # data_type: image + # fusion_types: + # array_fusion: [] + # channels: [] + + # debug_rgb_3_seperate: + # fusion: ['image_exponential','image_exponential','image_exponential'] + # topic_name_camera: /zed2i/zed_node/right/image + # topic_name_camera_info: /zed2i/zed_node/right/camera_info + # channels: ["r_channel", "g_channel", "b_channel"] + # data_type: image + + # debug_rgb_2_seperate: + # fusion: ['image_exponential', 'image_exponential'] + # topic_name_camera: /zed2i/zed_node/left/image_rect_color + # topic_name_camera_info: /zed2i/zed_node/right/camera_info + # channels: ["r_channel", "g_channel"] + # data_type: image + + # debug_mono_exponential: + # fusion: ['image_exponential'] + # topic_name_camera: /debug_image + # topic_name_camera_info: /zed2i/zed_node/right/camera_info + # channels: ["single_channel_semantic"] + # data_type: image + +# front_cam: +# channels: ['rgb'] +# fusion: ['color'] +# topic_name: '/elevation_mapping/pointcloud_semantic' +# data_type: pointcloud + + # alphasense_front_rgb: + # fusion: ['image_color'] + # topic_name_camera: /alphasense_driver_ros/cam4/debayered + # topic_name_camera_info: /alphasense_driver_ros/cam4/camera_info + # channels: ["rgb_image"] + # data_type: image + + + # alphasense_left_rgb: + # fusion: ['image_color'] + # topic_name_camera: /alphasense_driver_ros/cam3/debayered + # topic_name_camera_info: /alphasense_driver_ros/cam3/camera_info + # channels: ["rgb_image"] + # data_type: image + + + # alphasense_right_rgb: + # fusion: ['image_color'] + # topic_name_camera: /alphasense_driver_ros/cam5/debayered + # topic_name_camera_info: /alphasense_driver_ros/cam5/camera_info + # channels: ["rgb_image"] + # data_type: image + + + # wvn_prediction: + # fusion: ['image_exponential'] + # topic_name_camera: '/wild_visual_navigation_node/current_prediction' + # topic_name_camera_info: '/wild_visual_navigation_node/camera_info' + # channels: ["visual_traversability"] + # data_type: image + + # front_cam: + # channels: ['rgb','feat_0','feat_1','grass','tree','fence','person'] + # fusion: ['color','average','average','class_average','class_average','class_average','class_average'] + # topic_name: '/elvation_mapping/pointcloud_semantic' + # semantic_segmentation: False + # segmentation_model: 'detectron_coco_panoptic_fpn_R_101_3x' + # feature_config: + # name: 'DINO' + # interpolation: 'bilinear' + # model: "vit_small" + # patch_size: 16 + # dim: 5 + # dropout: False + # dino_feat_type: "feat" + # input_size: [80, 160] + # projection_type: "nonlinear" + + # cam_info_topic: "/camera/depth/camera_info" + # image_topic: "/camera/rgb/image_raw" + # depth_topic: "/camera/depth/image_raw" + # cam_frame: camera_rgb_optical_frame + # confidence: False + # confidence_topic: "/camera/depth/image_raw" + # confidence_threshold: 10 + # feature_extractor: False + + front_bpearl: + channels: [] + fusion: [] + topic_name: /point_cloud_filter_rsl/filter_and_merger_rsl + data_type: pointcloud + + # rear_bpearl: + # channels: [] + # fusion: [] + # topic_name: /robot_self_filter/bpearl_rear/point_cloud + # data_type: pointcloud + + # front_depth: + # channels: [] + # fusion: [] + # topic_name: /depth_camera_front/point_cloud_self_filtered + # data_type: pointcloud + + # rear_depth: + # channels: [] + # fusion: [] + # topic_name: /depth_camera_rear/point_cloud_self_filtered + # data_type: pointcloud + + # left_depth: + # channels: [] + # fusion: [] + # topic_name: /depth_camera_left/point_cloud_self_filtered + # data_type: pointcloud + + # right_depth: + # channels: [] + # fusion: [] + # topic_name: /depth_camera_right/point_cloud_self_filtered + # data_type: pointcloud \ No newline at end of file diff --git a/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp b/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp index db262e41..0d70a531 100644 --- a/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp +++ b/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp @@ -71,7 +71,7 @@ class ElevationMappingNode { private: void readParameters(); void setupMapPublishers(); - void pointcloudCallback(const sensor_msgs::PointCloud2& cloud); + void pointcloudCallback(const sensor_msgs::PointCloud2& cloud, const std::string& key); void imageCallback(const sensor_msgs::ImageConstPtr& image_msg, const sensor_msgs::CameraInfoConstPtr& camera_info_msg, const std::string& key); void publishAsPointCloud(const grid_map::GridMap& map) const; bool getSubmap(grid_map_msgs::GetGridMap::Request& request, grid_map_msgs::GetGridMap::Response& response); @@ -130,6 +130,8 @@ class ElevationMappingNode { std::vector map_fps_; std::set map_fps_unique_; std::vector mapTimers_; + std::map> channels_; + std::vector initialize_frame_id_; std::vector initialize_tf_offset_; diff --git a/elevation_mapping_cupy/launch/anymal_semantic_elevation_single.launch b/elevation_mapping_cupy/launch/anymal_semantic_elevation_single.launch index 7c3fcc1b..b4c0fcbf 100644 --- a/elevation_mapping_cupy/launch/anymal_semantic_elevation_single.launch +++ b/elevation_mapping_cupy/launch/anymal_semantic_elevation_single.launch @@ -16,6 +16,6 @@ - + \ No newline at end of file diff --git a/elevation_mapping_cupy/launch/sim_semantic_elevation_single.launch b/elevation_mapping_cupy/launch/sim_semantic_elevation_single.launch new file mode 100644 index 00000000..81ae677d --- /dev/null +++ b/elevation_mapping_cupy/launch/sim_semantic_elevation_single.launch @@ -0,0 +1,21 @@ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/elevation_mapping_cupy/src/elevation_mapping_ros.cpp b/elevation_mapping_cupy/src/elevation_mapping_ros.cpp index d5a72247..fe637354 100644 --- a/elevation_mapping_cupy/src/elevation_mapping_ros.cpp +++ b/elevation_mapping_cupy/src/elevation_mapping_ros.cpp @@ -80,8 +80,17 @@ ElevationMappingNode::ElevationMappingNode(ros::NodeHandle& nh) // Initialize subscribers depending on the type if (type == "pointcloud") { std::string pointcloud_topic = subscriber.second["topic_name"]; - ros::Subscriber sub = nh_.subscribe(pointcloud_topic, 1, &ElevationMappingNode::pointcloudCallback, this); + boost::function f = boost::bind(&ElevationMappingNode::pointcloudCallback,this, _1, key); + ros::Subscriber sub = nh_.subscribe(pointcloud_topic, 1,f); pointcloudSubs_.push_back(sub); + const auto & channels = subscriber.second["channels"]; + channels_[key].push_back("x"); + channels_[key].push_back("y"); + channels_[key].push_back("z"); + for (int32_t i = 0; i < channels.size(); ++i) { + auto elem = static_cast(channels[i]); + channels_[key].push_back(elem); + } } else if (type == "image") { std::string camera_topic = subscriber.second["topic_name_camera"]; @@ -251,31 +260,42 @@ void ElevationMappingNode::publishMapOfIndex(int index) { mapPubs_[index].publish(msg); } -void ElevationMappingNode::pointcloudCallback(const sensor_msgs::PointCloud2& cloud) { +void ElevationMappingNode::pointcloudCallback(const sensor_msgs::PointCloud2& cloud, const std::string& key) { auto start = ros::Time::now(); // transform pointcloud into matrix auto* pcl_pc = new pcl::PCLPointCloud2; pcl::PCLPointCloud2ConstPtr cloudPtr(pcl_pc); pcl_conversions::toPCL(cloud, *pcl_pc); - uint array_dim = pcl_pc->point_step/4;// we assume that they are all float32 or at least 32bits + // get channels + auto fields = cloud.fields; + std::vector channels; + std::vector add_element; + + for(int it =0;itwidth,array_dim); for (unsigned int i = 0; i < pcl_pc->width; ++i) { - for(unsigned int j = 0; jpoint_step + pcl_pc->fields[j].offset; - memcpy(&temp, &pcl_pc->data[point_idx], sizeof(float)); - points(i, j) = static_cast(temp); + int jit = 0; + for(unsigned int j = 0; jpoint_step + pcl_pc->fields[j].offset; + memcpy(&temp, &pcl_pc->data[point_idx], sizeof(float)); + points(i, jit) = static_cast(temp); + jit++; + } } } -// get channels - auto fields = cloud.fields; - std::vector channels; - for(auto & field: fields){ - channels.push_back(field.name); - ROS_ASSERT(field.datatype == 7); - } // get pose of sensor in map frame tf::StampedTransform transformTf; std::string sensorFrameId = cloud.header.frame_id; From fdf265cfc596a7b94935d239b36892c8c8997c75 Mon Sep 17 00:00:00 2001 From: Gian Date: Tue, 13 Dec 2022 17:05:53 +0100 Subject: [PATCH 308/504] make python wrapper config --- .../config/sim_plugin_config.yaml | 61 +++++++++++++++++++ .../elevation_mapping_ros.py | 2 +- 2 files changed, 62 insertions(+), 1 deletion(-) create mode 100644 elevation_mapping_cupy/config/sim_plugin_config.yaml diff --git a/elevation_mapping_cupy/config/sim_plugin_config.yaml b/elevation_mapping_cupy/config/sim_plugin_config.yaml new file mode 100644 index 00000000..e18df155 --- /dev/null +++ b/elevation_mapping_cupy/config/sim_plugin_config.yaml @@ -0,0 +1,61 @@ +# Settings of the plugins. (The plugins should be stored in script/plugins) + +# min_filter fills in minimum value around the invalid cell. +min_filter: + enable: True # weather to load this plugin + fill_nan: False # Fill nans to invalid cells of elevation layer. + is_height_layer: True # If this is a height layer (such as elevation) or not (such as traversability) + layer_name: "min_filter" # The layer name. + extra_params: # This params are passed to the plugin class on initialization. + dilation_size: 1 # The patch size to apply + iteration_n: 30 # The number of iterations +# Apply smoothing. +smooth_filter: + enable: True + fill_nan: False + is_height_layer: True + layer_name: "smooth" + extra_params: + input_layer_name: "min_filter" +# Apply inpainting using opencv +inpainting: + enable: True + fill_nan: False + is_height_layer: True + layer_name: "inpaint" + extra_params: + method: "telea" # telea or ns +# Apply smoothing for inpainted layer + +robot_centric_elevation: # Use the same name as your file name. +# type: "robot_centric_elevation" + enable: False # weather to load this plugin + fill_nan: False # Fill nans to invalid cells of elevation layer. + is_height_layer: True # If this is a height layer (such as elevation) or not (such as traversability) + layer_name: "robot_centric_elevation" # The layer name. + extra_params: # This params are passed to the plugin class on initialization. +# add_value: 2.0 # Example param + resolution: 0.04 + threshold: 1.1 + use_threshold: True + +semantic_filter: + type: "semantic_filter" + enable: False + fill_nan: False + is_height_layer: False + layer_name: "sem_fil" + extra_params: + classes: ['grass','tree','fence','dirt'] + +semantic_traversability: + type: "semantic_traversability" + enable: False + fill_nan: False + is_height_layer: False + layer_name: "sem_traversability" + extra_params: + layers: ['traversability','robot_centric_elevation'] + thresholds: [0.3,0.5] + type: ['traversability', 'elevation'] + diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping_ros.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping_ros.py index aab2d115..8cd63b52 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping_ros.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping_ros.py @@ -240,7 +240,7 @@ def update_time(self, t): def get_ros_params(self): # TODO fix this here when later launching with launch-file # This is currently {p} elevation_mapping") - typ = "anymal" + typ = "sim" para = os.path.join(self.root, f"config/{typ}_parameters.yaml") sens = os.path.join(self.root, f"config/{typ}_sensor_parameter.yaml") plugin = os.path.join(self.root, f"config/{typ}_plugin_config.yaml") From a63ff0452de5748a6e8aae3bf6010147ea22a246 Mon Sep 17 00:00:00 2001 From: Gian Date: Wed, 14 Dec 2022 13:39:42 +0100 Subject: [PATCH 309/504] reviewed pointcloud and added few tests --- .../semantic_pointcloud/pointcloud_node.py | 102 ++++++++++++++---- .../pointcloud_parameters.py | 8 +- .../tests/test_pointcloud.py | 90 ++++++++++++---- .../semantic_pointcloud/tests/test_utils.py | 10 +- .../script/semantic_pointcloud/utils.py | 29 +++-- 5 files changed, 177 insertions(+), 62 deletions(-) diff --git a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_node.py b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_node.py index 00a90bdc..4e5cb0a3 100755 --- a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_node.py +++ b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_node.py @@ -18,20 +18,20 @@ class PointcloudNode: def __init__(self, sensor_name): - """ Get parameter from server, initialize variables and semantics, register publishers and subscribers. + """Get parameter from server, initialize variables and semantics, register publishers and subscribers. Args: sensor_name (str): Name of the sensor in the ros param server. """ # TODO: if this is going to be loaded from another package we might need to change namespace self.param: PointcloudParameter = PointcloudParameter() - # try catch for pytests - try: + if rospy.has_param("/semantic_pointcloud/subscribers"): config = rospy.get_param("/semantic_pointcloud/subscribers") self.param: PointcloudParameter = PointcloudParameter.from_dict( config[sensor_name] ) - except: + else: + self.param.feature_config.input_size = [80, 160] print("NO ROS ENV found.") self.param.sensor_name = sensor_name @@ -53,6 +53,7 @@ def __init__(self, sensor_name): self.P = None self.header = None self.register_sub_pub() + self.prediction_img = None def initialize_semantics(self): """Resolve the feature and segmentation mode and create segmentation_channel and feature_channels. @@ -66,7 +67,7 @@ def initialize_semantics(self): ) self.segmentation_channels = {} for i, (chan, fusion) in enumerate( - zip(self.param.channels, self.param.fusion) + zip(self.param.channels, self.param.fusion) ): if fusion in ["class_bayesian", "class_average", "class_max"]: self.segmentation_channels[chan] = fusion @@ -77,16 +78,14 @@ def initialize_semantics(self): ) self.feature_channels = {} for i, (chan, fusion) in enumerate( - zip(self.param.channels, self.param.fusion) + zip(self.param.channels, self.param.fusion) ): if fusion in ["average"]: self.feature_channels[chan] = fusion assert len(self.feature_channels.keys()) > 0 def register_sub_pub(self): - """Register publishers and subscribers. - - """ + """Register publishers and subscribers.""" # subscribers rospy.Subscriber(self.param.cam_info_topic, CameraInfo, self.cam_info_callback) rgb_sub = message_filters.Subscriber(self.param.image_topic, Image) @@ -131,6 +130,13 @@ def register_sub_pub(self): self.color_map_viz() def color_map(self, N=256, normalized=False): + """Create a color map for the class labels. + + Args: + N (int): + normalized (bool): + """ + def bitget(byteval, idx): return (byteval & (1 << idx)) != 0 @@ -151,6 +157,7 @@ def bitget(byteval, idx): return cmap[1:] def color_map_viz(self): + """Display the color map of the classes.""" nclasses = len(self.labels) row_size = 50 col_size = 500 @@ -159,13 +166,17 @@ def color_map_viz(self): (row_size * (nclasses), col_size, cmap.shape[1]), dtype=cmap.dtype ) for i in range(nclasses): - array[i * row_size: i * row_size + row_size, :] = cmap[i] + array[i * row_size : i * row_size + row_size, :] = cmap[i] imshow(array) plt.yticks([row_size * i + row_size / 2 for i in range(nclasses)], self.labels) plt.xticks([]) plt.show() def create_custom_dtype(self): + """Generate a new dtype according to the channels in the params. + + Some channels might remain empty. + """ self.dtype = [ ("x", np.float32), ("y", np.float32), @@ -176,6 +187,11 @@ def create_custom_dtype(self): print(self.dtype) def cam_info_callback(self, msg): + """Subscribe to the camera infos to get projection matrix and header. + + Args: + msg: + """ a = cp.asarray(msg.P) self.P = cp.resize(a, (3, 4)) self.height = msg.height @@ -200,10 +216,21 @@ def image_callback(self, rgb_msg, depth_msg, confidence_msg=None): ) pcl = self.create_pcl_from_image(image, depth, confidence) - + if self.param.publish_segmentation_image: + self.publish_segmentation_image(self.prediction_img) self.publish_pointcloud(pcl, depth_msg.header) def create_pcl_from_image(self, image, depth, confidence): + """Generate the pointcloud from the depth map and process the image. + + Args: + image: + depth: + confidence: + + Returns: + + """ u, v = self.get_coordinates(depth, confidence) # create pointcloud @@ -218,6 +245,15 @@ def create_pcl_from_image(self, image, depth, confidence): return points def get_coordinates(self, depth, confidence): + """Define which pixels are valid to generate the pointcloud. + + Args: + depth: + confidence: + + Returns: + + """ pos = cp.where(depth > 0, 1, 0) low = cp.where(depth < 8, 1, 0) if confidence is not None: @@ -231,13 +267,15 @@ def get_coordinates(self, depth, confidence): v = mask[0] return u, v - def publish_pointcloud(self, pcl, header): - pc2 = ros_numpy.msgify(PointCloud2, pcl) - pc2.header = header - pc2.header.frame_id = self.param.cam_frame - self.pcl_pub.publish(pc2) - def process_image(self, image, u, v, points): + """Depending on setting generate color, semantic segmentation or feature channels. + + Args: + image: + u: + v: + points: + """ if "color" in self.param.fusion: valid_rgb = image[v, u].get() r = np.asarray(valid_rgb[:, 0], dtype=np.uint32) @@ -254,14 +292,30 @@ def process_image(self, image, u, v, points): self.extract_features(image, points, u, v) def perform_segmentation(self, image, points, u, v): + """Feedforward image through semseg NN and then append pixels to pcl and save image for publication. + + Args: + image: + points: + u: + v: + """ prediction = self.semantic_model["model"](image) values = prediction[:, v.get(), u.get()].get() - for it, channel in enumerate(self.segmentation_channels.keys()): + for it, channel in enumerate(self.semantic_model["model"].actual_channels): points[channel] = values[it] if self.param.publish_segmentation_image: - self.publish_segmentation_image(prediction) + self.prediction_img = prediction def extract_features(self, image, points, u, v): + """Feedforward image through feature extraction NN and then append pixels to pcl. + + Args: + image: + points: + u: + v: + """ prediction = self.feature_extractor["model"](image) values = prediction[:, v.get(), u.get()].cpu().detach().numpy() for it, channel in enumerate(self.feature_channels.keys()): @@ -277,13 +331,13 @@ def publish_segmentation_image(self, probabilities): # decode, create an array with all possible classes and insert probabilities it = 0 for iit, (chan, fuse) in enumerate( - zip(self.param.channels, self.param.fusion) + zip(self.param.channels, self.param.fusion) ): if fuse in ["class_max"]: temp = probabilities[it] temp_p, temp_i = decode_max(temp) temp_i.choose(prob) - c = cp.mgrid[0: temp_i.shape[0], 0: temp_i.shape[1]] + c = cp.mgrid[0 : temp_i.shape[0], 0 : temp_i.shape[1]] prob[temp_i, c[0], c[1]] = temp_p it += 1 elif fuse in ["class_bayesian", "class_average"]: @@ -303,6 +357,12 @@ def publish_segmentation_image(self, probabilities): seg_msg.header.frame_id = self.header.frame_id self.seg_pub.publish(seg_msg) + def publish_pointcloud(self, pcl, header): + pc2 = ros_numpy.msgify(PointCloud2, pcl) + pc2.header = header + pc2.header.frame_id = self.param.cam_frame + self.pcl_pub.publish(pc2) + if __name__ == "__main__": sensor_name = sys.argv[1] diff --git a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_parameters.py b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_parameters.py index c957e736..bb58b1ae 100644 --- a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_parameters.py +++ b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_parameters.py @@ -13,10 +13,7 @@ class FeatureExtractorParameter(Serializable): dropout: bool = False dino_feat_type: str = "feat" projection_type: str = "nonlinear" - # input_size: list = field(default_factory=[80, 160].copy) - input_size: list = field( - default_factory=lambda: [80, 160] - ) + input_size: list = field(default_factory=lambda: [80, 160]) @dataclass @@ -37,7 +34,7 @@ class PointcloudParameter(Serializable): ) semantic_segmentation: bool = True - segmentation_model: str = "detectron_coco_panoptic_fpn_R_101_3x" + segmentation_model: str = "lraspp_mobilenet_v3_large" publish_segmentation_image: bool = True segmentation_image_topic: str = "/semantic_pointcloud/sem_seg" pub_all: bool = False @@ -53,3 +50,4 @@ class PointcloudParameter(Serializable): feature_extractor: bool = False feature_config: FeatureExtractorParameter = FeatureExtractorParameter + feature_config.input_size: list = field(default_factory=lambda: [80, 160]) diff --git a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/tests/test_pointcloud.py b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/tests/test_pointcloud.py index 59996cf5..6c4cd94a 100644 --- a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/tests/test_pointcloud.py +++ b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/tests/test_pointcloud.py @@ -3,46 +3,94 @@ import cupy as cp from ..utils import encode_max -"""This test file only works if ros is installed +"""This test file only works if ros is installed and the ros master is running. """ @pytest.fixture() -def pointcloud_ex(cam_name): +def pointcloud_ex(cam_name, channels, fusion, semseg, segpub, showlbl): node = PointcloudNode(cam_name) - node.initialize_semantics() + node.param.channels = channels + node.param.fusion = fusion + node.param.semantic_segmentation = semseg + node.param.show_label_legend = showlbl + node.param.publish_segmentation_image = segpub + node.__init__(cam_name) return node @pytest.mark.parametrize( - "cam_name", + "cam_name,channels, fusion,semseg", [ - "front_cam", + ("front_cam", ["feat_0", "feat_1"], ["average", "average"], False), + ("front_cam", ["feat_0", "feat_1"], ["class_max", "average"], True), + ("front_cam", ["feat_0", "feat_1"], ["class_bayesian", "average"], True), ], ) +@pytest.mark.parametrize( + "segpub", + [True, False], +) +@pytest.mark.parametrize( + "showlbl", + [True, False], +) def test_initialize(pointcloud_ex): # todo here we can add more test + # params: semseg, channels, class max, publish seg, showlabellegend pointcloud_ex.initialize_semantics() pointcloud_ex.register_sub_pub() +# if semseg then segpub and showlbl might be displayed @pytest.mark.parametrize( - "cam_name", + "cam_name,channels, fusion,semseg,segpub,showlbl", [ - ("front_cam"), + ( + "front_cam", + ["feat_0", "feat_1"], + ["average", "average"], + False, + False, + False, + ), + ("front_cam", ["feat_0", "feat_1"], ["class_max", "average"], True, True, True), + ( + "front_cam", + ["feat_0", "feat_1"], + ["class_max", "average"], + True, + False, + False, + ), + ( + "front_cam", + ["feat_0", "feat_1"], + ["class_bayesian", "average"], + True, + True, + True, + ), + ( + "front_cam", + ["feat_0", "feat_1"], + ["class_bayesian", "average"], + True, + False, + False, + ), ], ) -def test_pub_seg(pointcloud_ex): - # TODO we have to encode the max class other wise it is going to make problem - if pointcloud_ex.param.semantic_segmentation: - seg_chan = len(pointcloud_ex.segmentation_channels.keys()) - amount = seg_chan + pointcloud_ex.param.fusion.count("max_class") - if "class_max" in pointcloud_ex.param.fusion: - val = cp.random.rand(amount, 360, 640, dtype=cp.float32).astype(cp.float16) - ind = cp.random.randint(0, 2, (amount, 360, 640), dtype=cp.uint32).astype( - cp.float32 - ) - prob = encode_max(val, ind) - else: - prob = cp.random.rand(amount, 360, 640) - pointcloud_ex.publish_segmentation_image(prob) +def test_pcl_creation(pointcloud_ex, channels, fusion, semseg, segpub, showlbl): + amount = 3 + if "class_max" in pointcloud_ex.param.fusion: + val = cp.random.rand(360, 640, amount, dtype=cp.float32).astype(cp.float16) + ind = cp.random.randint(0, 2, (360, 640, amount), dtype=cp.uint32).astype( + cp.float32 + ) + img = encode_max(val, ind) + else: + img = (cp.random.rand(360, 640, amount) * 255).astype(cp.int) + pointcloud_ex.P = cp.random.rand(3, 4) + depth = cp.random.rand(360, 640) * 8 + pointcloud_ex.create_pcl_from_image(img, depth, None) diff --git a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/tests/test_utils.py b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/tests/test_utils.py index 51513b72..eb4d0de8 100644 --- a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/tests/test_utils.py +++ b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/tests/test_utils.py @@ -9,14 +9,14 @@ @pytest.mark.parametrize( - "model_name", + "model_name,channels, fusion", [ - "fcn_resnet50", - "lraspp_mobilenet_v3_large", - "detectron_coco_panoptic_fpn_R_101_3x", + ("fcn_resnet50",[],[]), + ("lraspp_mobilenet_v3_large",[],[]), + ("detectron_coco_panoptic_fpn_R_101_3x",[],[]), ], ) -def test_semantic_segmentation(model_name): +def test_semantic_segmentation(model_name,channels, fusion): param = PointcloudParameter() param.segmentation_model = model_name m = resolve_model(model_name, param) diff --git a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/utils.py b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/utils.py index a3c321f6..86609c79 100644 --- a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/utils.py +++ b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/utils.py @@ -103,6 +103,11 @@ def resolve_model(name, config=None): class PytorchModel: + """ + + segemntation_cahnnels contains only classes + actual_channels: array of all channels of output + """ def __init__(self, net, weights, param): self.model = net(weights=weights) self.weights = weights @@ -113,6 +118,10 @@ def __init__(self, net, weights, param): self.resolve_categories() def resolve_categories(self): + """ Create a segmentation_channels containing the actual values that are processed. + + """ + # get all classes class_to_idx = {cls: idx for (idx, cls) in enumerate(self.get_classes())} print( "Semantic Segmentation possible channels: ", @@ -120,27 +129,26 @@ def resolve_categories(self): ) indices = [] channels = [] + self.actual_channels= [] + # check correspondence of semseg and paramter classes, class_max for it, chan in enumerate(self.param.channels): if chan in [cls for cls in list(class_to_idx.keys())]: indices.append(class_to_idx[chan]) channels.append(chan) + self.actual_channels.append(chan) elif self.param.fusion[it] in ["class_average", "class_bayesian"]: print(chan, " is not in the semantic segmentation model.") for it, chan in enumerate(self.param.channels): - if chan in [cls for cls in list(class_to_idx.keys())]: - indices.append(class_to_idx[chan]) - channels.append(chan) - elif self.param.fusion[it] in ["class_max"]: - pass + if self.param.fusion[it] in ["class_max"]: + self.actual_channels.append(chan) print(chan, " is not in the semantic segmentation model but is a max channel.") else: - print(chan, " is not in the semantic segmentation model.") - + pass self.stuff_categories = dict(zip(channels, indices)) - self.segmentation_channels = self.stuff_categories + self.segmentation_channels = dict(zip(channels, indices)) def __call__(self, image, *args, **kwargs): - """Feewforward image through model. + """Feewforward image through model and then create channels Args: image (cupy._core.core.ndarray): @@ -171,6 +179,7 @@ def __call__(self, image, *args, **kwargs): y = torch.arange(0, index.shape[1]) c = torch.meshgrid(x, y, indexing='ij') normalized_masks[index, c[0], c[1]] = 0 + assert len(self.actual_channels) == selected_masks.shape[0] return cp.asarray(selected_masks) def get_classes(self): @@ -205,7 +214,7 @@ def __init__(self, weights, param): else: # remove it pass - + self.actual_channels = self.segmentation_channels.keys() def resolve_categories(self, name): classes = self.get_cat(name) class_to_idx = {cls: idx for (idx, cls) in enumerate(classes)} From 5800415bc691677b18cb5471dc89d60808cf1462 Mon Sep 17 00:00:00 2001 From: Gian Date: Wed, 14 Dec 2022 13:48:32 +0100 Subject: [PATCH 310/504] minor restructuring of pcl --- .../script/semantic_pointcloud/networks.py | 288 ++++++++++++++++++ .../semantic_pointcloud/pointcloud_node.py | 3 +- .../pointcloud_parameters.py | 1 - .../semantic_pointcloud/tests/test_utils.py | 2 +- .../script/semantic_pointcloud/utils.py | 281 ----------------- 5 files changed, 291 insertions(+), 284 deletions(-) create mode 100644 sensor_processing/semantic_pointcloud/script/semantic_pointcloud/networks.py diff --git a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/networks.py b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/networks.py new file mode 100644 index 00000000..91e33fa6 --- /dev/null +++ b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/networks.py @@ -0,0 +1,288 @@ +from torchvision.models.segmentation import fcn_resnet50, FCN_ResNet50_Weights +from torchvision.models.segmentation import ( + lraspp_mobilenet_v3_large, + LRASPP_MobileNet_V3_Large_Weights, +) +import torch +import torchvision.transforms.functional as TF +from torchvision.transforms import Resize +import torch.nn.functional as NF +import numpy as np +import cupy as cp + +from detectron2.utils.logger import setup_logger + +setup_logger() + +from detectron2 import model_zoo +from detectron2.engine import DefaultPredictor +from detectron2.config import get_cfg +from detectron2.data import MetadataCatalog + +from semantic_pointcloud.DINO.modules import DinoFeaturizer + +from semantic_pointcloud.pointcloud_parameters import ( + PointcloudParameter, + FeatureExtractorParameter, +) +from semantic_pointcloud.utils import encode_max + +def resolve_model(name, config=None): + """Get the model class based on the name of the pretrained model. + + Args: + name (str): Name of pretrained model + [fcn_resnet50,lraspp_mobilenet_v3_large,detectron_coco_panoptic_fpn_R_101_3x] + + Returns: + Dict[str, str]: + """ + if name == "fcn_resnet50": + weights = FCN_ResNet50_Weights.DEFAULT + net = fcn_resnet50 + model = PytorchModel(net, weights, config) + return { + "name": "fcn_resnet50", + "model": model, + } + elif name == "lraspp_mobilenet_v3_large": + weights = LRASPP_MobileNet_V3_Large_Weights.DEFAULT + net = lraspp_mobilenet_v3_large + model = PytorchModel(net, weights, config) + return { + "name": "lraspp_mobilenet_v3_large", + "model": model, + } + elif name == "detectron_coco_panoptic_fpn_R_101_3x": + # "Cityscapes/mask_rcnn_R_50_FPN.yaml" + # "Misc/semantic_R_50_FPN_1x.yaml" + # "Cityscapes-SemanticSegmentation/deeplab_v3_plus_R_103_os16_mg124_poly_90k_bs16.yaml" + # "COCO-PanopticSegmentation/panoptic_fpn_R_101_3x.yaml" + weights = "COCO-PanopticSegmentation/panoptic_fpn_R_101_3x.yaml" + model = DetectronModel(weights, config) + return { + "name": "detectron_coco_panoptic_fpn_R_101_3x", + "model": model, + } + elif name == "DINO": + weights = config.model + str(config.patch_size) + model = STEGOModel(weights, config) + return { + "name": config.model + str(config.patch_size), + "model": model, + } + else: + raise NotImplementedError + + +class PytorchModel: + """ + + segemntation_cahnnels contains only classes + actual_channels: array of all channels of output + """ + + def __init__(self, net, weights, param): + self.model = net(weights=weights) + self.weights = weights + self.param = param + self.model.eval() + device = torch.device("cuda:0" if torch.cuda.is_available() else "cpu") + self.model.to(device=device) + self.resolve_categories() + + def resolve_categories(self): + """Create a segmentation_channels containing the actual values that are processed.""" + # get all classes + class_to_idx = {cls: idx for (idx, cls) in enumerate(self.get_classes())} + print( + "Semantic Segmentation possible channels: ", + self.get_classes(), + ) + indices = [] + channels = [] + self.actual_channels = [] + # check correspondence of semseg and paramter classes, class_max + for it, chan in enumerate(self.param.channels): + if chan in [cls for cls in list(class_to_idx.keys())]: + indices.append(class_to_idx[chan]) + channels.append(chan) + self.actual_channels.append(chan) + elif self.param.fusion[it] in ["class_average", "class_bayesian"]: + print(chan, " is not in the semantic segmentation model.") + for it, chan in enumerate(self.param.channels): + if self.param.fusion[it] in ["class_max"]: + self.actual_channels.append(chan) + print( + chan, + " is not in the semantic segmentation model but is a max channel.", + ) + else: + pass + self.stuff_categories = dict(zip(channels, indices)) + self.segmentation_channels = dict(zip(channels, indices)) + + def __call__(self, image, *args, **kwargs): + """Feewforward image through model and then create channels + + Args: + image (cupy._core.core.ndarray): + *args (): + **kwargs (): + + Returns: + torch.Tensor: + """ + batch = torch.as_tensor(image, device="cuda").permute(2, 0, 1).unsqueeze(0) + batch = TF.convert_image_dtype(batch, torch.float32) + with torch.no_grad(): + prediction = self.model(batch)["out"] + normalized_masks = torch.squeeze(prediction.softmax(dim=1), dim=0) + # get masks of fix classes + selected_masks = cp.asarray( + normalized_masks[list(self.stuff_categories.values())] + ) + # get values of max, first remove the ones we already have + normalized_masks[list(self.stuff_categories.values())] = 0 + for i in range(self.param.fusion.count("class_max")): + maxim, index = torch.max(normalized_masks, dim=0) + mer = encode_max(maxim, index) + selected_masks = cp.concatenate( + (selected_masks, cp.expand_dims(mer, axis=0)), axis=0 + ) + x = torch.arange(0, index.shape[0]) + y = torch.arange(0, index.shape[1]) + c = torch.meshgrid(x, y, indexing="ij") + normalized_masks[index, c[0], c[1]] = 0 + assert len(self.actual_channels) == selected_masks.shape[0] + return cp.asarray(selected_masks) + + def get_classes(self): + """Get list of strings containing all the classes. + + Returns: + List[str]: List of classes + """ + return self.weights.meta["categories"] + + +class DetectronModel: + def __init__(self, weights, param): + self.cfg = get_cfg() + self.param = param + + # add project-specific config (e.g., TensorMask) here if you're not running a model in detectron2's core library + self.cfg.merge_from_file(model_zoo.get_config_file(weights)) + self.cfg.MODEL.ROI_HEADS.SCORE_THRESH_TEST = 0.5 # set threshold for this model + # Find a model from detectron2's model zoo. You can use the https://dl.fbaipublicfiles... url as well + self.cfg.MODEL.WEIGHTS = model_zoo.get_checkpoint_url(weights) + self.predictor = DefaultPredictor(self.cfg) + self.meta = MetadataCatalog.get(self.cfg.DATASETS.TRAIN[0]) + self.stuff_categories, self.is_stuff = self.resolve_categories("stuff_classes") + self.thing_categories, self.is_thing = self.resolve_categories("thing_classes") + self.segmentation_channels = {} + for chan in self.param.channels: + if chan in self.stuff_categories.keys(): + self.segmentation_channels[chan] = self.stuff_categories[chan] + elif chan in self.thing_categories.keys(): + self.segmentation_channels[chan] = self.thing_categories[chan] + else: + # remove it + pass + self.actual_channels = self.segmentation_channels.keys() + + def resolve_categories(self, name): + classes = self.get_cat(name) + class_to_idx = {cls: idx for (idx, cls) in enumerate(classes)} + print( + "Semantic Segmentation possible channels: ", + classes, + ) + indices = [] + channels = [] + is_thing = [] + for it, chan in enumerate(self.param.channels): + if chan in [cls for cls in list(class_to_idx.keys())]: + indices.append(class_to_idx[chan]) + channels.append(chan) + is_thing.append(True) + elif self.param.fusion[it] in ["class_average", "class_bayesian"]: + is_thing.append(False) + print(chan, " is not in the semantic segmentation model.") + categories = dict(zip(channels, indices)) + cat_isthing = dict(zip(self.param.channels, is_thing)) + return categories, cat_isthing + + def __call__(self, image, *args, **kwargs): + # TODO: there are some instruction on how to change input type + image = cp.flip(image, axis=2) + prediction = self.predictor(image.get()) + probabilities = cp.asarray(torch.softmax(prediction["sem_seg"], dim=0)) + output = cp.zeros( + ( + len(self.segmentation_channels), + probabilities.shape[1], + probabilities.shape[2], + ) + ) + # add semseg + output[cp.array(list(self.is_stuff.values()))] = probabilities[ + list(self.stuff_categories.values()) + ] + # add instances + indices, insta_info = prediction["panoptic_seg"] + # TODO dont know why i need temp, look into how to avoid + temp = output[cp.array(list(self.is_thing.values()))] + for i, insta in enumerate(insta_info): + if insta is None or not insta["isthing"]: + continue + mask = cp.asarray((indices == insta["id"]).int()) + if insta["instance_id"] in self.thing_categories.values(): + temp[i] = mask * insta["score"] + output[cp.array(list(self.is_thing.values()))] = temp + return output + + def get_cat(self, name): + return self.meta.get(name) + + def get_classes(self): + return self.get_cat("thing_classes") + self.get_cat("stuff_classes") + + +class STEGOModel: + def __init__(self, weights, cfg): + self.cfg: FeatureExtractorParameter = cfg + self.model = DinoFeaturizer(weights, cfg=self.cfg) + self.device = torch.device("cuda:0" if torch.cuda.is_available() else "cpu") + self.model.to(self.device) + self.model.eval() + self.shrink = Resize(size=(self.cfg.input_size[0], self.cfg.input_size[1])) + + def to_tensor(self, data): + data = data.astype(np.float32) + if len(data.shape) == 3: # transpose image-like data + data = data.transpose(2, 0, 1) + elif len(data.shape) == 2: + data = data.reshape((1,) + data.shape) + if len(data.shape) == 3 and data.shape[0] == 3: # normalization of rgb images + data = data / 255.0 + tens = torch.as_tensor(data, device="cuda") + return tens + + def __call__(self, image, *args, **kwargs): + # image = torch.as_tensor(image, device="cuda").permute(2, 0, 1).unsqueeze(0) + image = self.to_tensor(image).unsqueeze(0) + reset_size = Resize(image.shape[-2:]) + image = self.shrink(image) + image = TF.normalize( + image, mean=(0.485, 0.456, 0.406), std=(0.229, 0.224, 0.225) + ) + + feat1, code1 = self.model(image) + feat2, code2 = self.model(image.flip(dims=[3])) + code = (code1 + code2.flip(dims=[3])) / 2 + code = NF.interpolate( + code, image.shape[-2:], mode=self.cfg.interpolation, align_corners=False + ).detach() + code = torch.squeeze(reset_size(code), dim=0) + return code diff --git a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_node.py b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_node.py index 4e5cb0a3..b956b5f9 100755 --- a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_node.py +++ b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_node.py @@ -13,7 +13,8 @@ from cv_bridge import CvBridge from semantic_pointcloud.pointcloud_parameters import PointcloudParameter -from semantic_pointcloud.utils import resolve_model, decode_max +from semantic_pointcloud.networks import resolve_model +from semantic_pointcloud.utils import decode_max class PointcloudNode: diff --git a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_parameters.py b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_parameters.py index bb58b1ae..b47159e4 100644 --- a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_parameters.py +++ b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_parameters.py @@ -1,6 +1,5 @@ from dataclasses import dataclass, field from simple_parsing.helpers import Serializable -from typing import Tuple, List @dataclass diff --git a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/tests/test_utils.py b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/tests/test_utils.py index eb4d0de8..9ccba424 100644 --- a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/tests/test_utils.py +++ b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/tests/test_utils.py @@ -1,5 +1,5 @@ import pytest -from semantic_pointcloud.utils import resolve_model +from semantic_pointcloud.networks import resolve_model import cupy as cp import torch from semantic_pointcloud.pointcloud_parameters import ( diff --git a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/utils.py b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/utils.py index 86609c79..69be02ab 100644 --- a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/utils.py +++ b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/utils.py @@ -1,35 +1,11 @@ -from torchvision.models.segmentation import fcn_resnet50, FCN_ResNet50_Weights -from torchvision.models.segmentation import ( - lraspp_mobilenet_v3_large, - LRASPP_MobileNet_V3_Large_Weights, -) -import torch -import torchvision.transforms.functional as TF -from torchvision.transforms import Resize -import torch.nn.functional as NF import numpy as np import cupy as cp -# Setup detectron2 logger -# import detectron2 from detectron2.utils.logger import setup_logger setup_logger() -from detectron2 import model_zoo -from detectron2.engine import DefaultPredictor -from detectron2.config import get_cfg -from detectron2.data import MetadataCatalog - -from semantic_pointcloud.DINO.modules import DinoFeaturizer - -# from .DINO.modules import DinoFeaturizer -from semantic_pointcloud.pointcloud_parameters import ( - PointcloudParameter, - FeatureExtractorParameter, -) - def encode_max(maxim, index): maxim, index = cp.asarray(maxim, dtype=cp.float32), cp.asarray( index, dtype=cp.uint32 @@ -53,260 +29,3 @@ def decode_max(mer): ind = cp.right_shift(mer, 16) return ma, ind - -def resolve_model(name, config=None): - """Get the model class based on the name of the pretrained model. - - Args: - name (str): Name of pretrained model - [fcn_resnet50,lraspp_mobilenet_v3_large,detectron_coco_panoptic_fpn_R_101_3x] - - Returns: - Dict[str, str]: - """ - if name == "fcn_resnet50": - weights = FCN_ResNet50_Weights.DEFAULT - net = fcn_resnet50 - model = PytorchModel(net, weights, config) - return { - "name": "fcn_resnet50", - "model": model, - } - elif name == "lraspp_mobilenet_v3_large": - weights = LRASPP_MobileNet_V3_Large_Weights.DEFAULT - net = lraspp_mobilenet_v3_large - model = PytorchModel(net, weights, config) - return { - "name": "lraspp_mobilenet_v3_large", - "model": model, - } - elif name == "detectron_coco_panoptic_fpn_R_101_3x": - # "Cityscapes/mask_rcnn_R_50_FPN.yaml" - # "Misc/semantic_R_50_FPN_1x.yaml" - # "Cityscapes-SemanticSegmentation/deeplab_v3_plus_R_103_os16_mg124_poly_90k_bs16.yaml" - # "COCO-PanopticSegmentation/panoptic_fpn_R_101_3x.yaml" - weights = "COCO-PanopticSegmentation/panoptic_fpn_R_101_3x.yaml" - model = DetectronModel(weights, config) - return { - "name": "detectron_coco_panoptic_fpn_R_101_3x", - "model": model, - } - elif name == "DINO": - weights = config.model + str(config.patch_size) - model = STEGOModel(weights, config) - return { - "name": config.model + str(config.patch_size), - "model": model, - } - else: - raise NotImplementedError - - -class PytorchModel: - """ - - segemntation_cahnnels contains only classes - actual_channels: array of all channels of output - """ - def __init__(self, net, weights, param): - self.model = net(weights=weights) - self.weights = weights - self.param = param - self.model.eval() - device = torch.device("cuda:0" if torch.cuda.is_available() else "cpu") - self.model.to(device=device) - self.resolve_categories() - - def resolve_categories(self): - """ Create a segmentation_channels containing the actual values that are processed. - - """ - # get all classes - class_to_idx = {cls: idx for (idx, cls) in enumerate(self.get_classes())} - print( - "Semantic Segmentation possible channels: ", - self.get_classes(), - ) - indices = [] - channels = [] - self.actual_channels= [] - # check correspondence of semseg and paramter classes, class_max - for it, chan in enumerate(self.param.channels): - if chan in [cls for cls in list(class_to_idx.keys())]: - indices.append(class_to_idx[chan]) - channels.append(chan) - self.actual_channels.append(chan) - elif self.param.fusion[it] in ["class_average", "class_bayesian"]: - print(chan, " is not in the semantic segmentation model.") - for it, chan in enumerate(self.param.channels): - if self.param.fusion[it] in ["class_max"]: - self.actual_channels.append(chan) - print(chan, " is not in the semantic segmentation model but is a max channel.") - else: - pass - self.stuff_categories = dict(zip(channels, indices)) - self.segmentation_channels = dict(zip(channels, indices)) - - def __call__(self, image, *args, **kwargs): - """Feewforward image through model and then create channels - - Args: - image (cupy._core.core.ndarray): - *args (): - **kwargs (): - - Returns: - torch.Tensor: - """ - batch = torch.as_tensor(image, device="cuda").permute(2, 0, 1).unsqueeze(0) - batch = TF.convert_image_dtype(batch, torch.float32) - with torch.no_grad(): - prediction = self.model(batch)["out"] - normalized_masks = torch.squeeze(prediction.softmax(dim=1), dim=0) - # get masks of fix classes - selected_masks = cp.asarray( - normalized_masks[list(self.stuff_categories.values())] - ) - # get values of max, first remove the ones we already have - normalized_masks[list(self.stuff_categories.values())] = 0 - for i in range(self.param.fusion.count("class_max")): - maxim, index = torch.max(normalized_masks, dim=0) - mer = encode_max(maxim, index) - selected_masks = cp.concatenate( - (selected_masks, cp.expand_dims(mer, axis=0)), axis=0 - ) - x = torch.arange(0, index.shape[0]) - y = torch.arange(0, index.shape[1]) - c = torch.meshgrid(x, y, indexing='ij') - normalized_masks[index, c[0], c[1]] = 0 - assert len(self.actual_channels) == selected_masks.shape[0] - return cp.asarray(selected_masks) - - def get_classes(self): - """Get list of strings containing all the classes. - - Returns: - List[str]: List of classes - """ - return self.weights.meta["categories"] - - -class DetectronModel: - def __init__(self, weights, param): - self.cfg = get_cfg() - self.param = param - - # add project-specific config (e.g., TensorMask) here if you're not running a model in detectron2's core library - self.cfg.merge_from_file(model_zoo.get_config_file(weights)) - self.cfg.MODEL.ROI_HEADS.SCORE_THRESH_TEST = 0.5 # set threshold for this model - # Find a model from detectron2's model zoo. You can use the https://dl.fbaipublicfiles... url as well - self.cfg.MODEL.WEIGHTS = model_zoo.get_checkpoint_url(weights) - self.predictor = DefaultPredictor(self.cfg) - self.meta = MetadataCatalog.get(self.cfg.DATASETS.TRAIN[0]) - self.stuff_categories, self.is_stuff = self.resolve_categories("stuff_classes") - self.thing_categories, self.is_thing = self.resolve_categories("thing_classes") - self.segmentation_channels = {} - for chan in self.param.channels: - if chan in self.stuff_categories.keys(): - self.segmentation_channels[chan] = self.stuff_categories[chan] - elif chan in self.thing_categories.keys(): - self.segmentation_channels[chan] = self.thing_categories[chan] - else: - # remove it - pass - self.actual_channels = self.segmentation_channels.keys() - def resolve_categories(self, name): - classes = self.get_cat(name) - class_to_idx = {cls: idx for (idx, cls) in enumerate(classes)} - print( - "Semantic Segmentation possible channels: ", - classes, - ) - indices = [] - channels = [] - is_thing = [] - for it, chan in enumerate(self.param.channels): - if chan in [cls for cls in list(class_to_idx.keys())]: - indices.append(class_to_idx[chan]) - channels.append(chan) - is_thing.append(True) - elif self.param.fusion[it] in ["class_average", "class_bayesian"]: - is_thing.append(False) - print(chan, " is not in the semantic segmentation model.") - categories = dict(zip(channels, indices)) - cat_isthing = dict(zip(self.param.channels, is_thing)) - return categories, cat_isthing - - def __call__(self, image, *args, **kwargs): - # TODO: there are some instruction on how to change input type - image = cp.flip(image, axis=2) - prediction = self.predictor(image.get()) - probabilities = cp.asarray(torch.softmax(prediction["sem_seg"], dim=0)) - output = cp.zeros( - ( - len(self.segmentation_channels), - probabilities.shape[1], - probabilities.shape[2], - ) - ) - # add semseg - output[cp.array(list(self.is_stuff.values()))] = probabilities[ - list(self.stuff_categories.values()) - ] - # add instances - indices, insta_info = prediction["panoptic_seg"] - # TODO dont know why i need temp, look into how to avoid - temp = output[cp.array(list(self.is_thing.values()))] - for i, insta in enumerate(insta_info): - if insta is None or not insta["isthing"]: - continue - mask = cp.asarray((indices == insta["id"]).int()) - if insta["instance_id"] in self.thing_categories.values(): - temp[i] = mask * insta["score"] - output[cp.array(list(self.is_thing.values()))] = temp - return output - - def get_cat(self, name): - return self.meta.get(name) - - def get_classes(self): - return self.get_cat("thing_classes") + self.get_cat("stuff_classes") - - -class STEGOModel: - def __init__(self, weights, cfg): - self.cfg: FeatureExtractorParameter = cfg - self.model = DinoFeaturizer(weights, cfg=self.cfg) - self.device = torch.device("cuda:0" if torch.cuda.is_available() else "cpu") - self.model.to(self.device) - self.model.eval() - self.shrink = Resize(size=(self.cfg.input_size[0], self.cfg.input_size[1])) - - def to_tensor(self, data): - data = data.astype(np.float32) - if len(data.shape) == 3: # transpose image-like data - data = data.transpose(2, 0, 1) - elif len(data.shape) == 2: - data = data.reshape((1,) + data.shape) - if len(data.shape) == 3 and data.shape[0] == 3: # normalization of rgb images - data = data / 255.0 - tens = torch.as_tensor(data, device="cuda") - return tens - - def __call__(self, image, *args, **kwargs): - # image = torch.as_tensor(image, device="cuda").permute(2, 0, 1).unsqueeze(0) - image = self.to_tensor(image).unsqueeze(0) - reset_size = Resize(image.shape[-2:]) - image = self.shrink(image) - image = TF.normalize( - image, mean=(0.485, 0.456, 0.406), std=(0.229, 0.224, 0.225) - ) - - feat1, code1 = self.model(image) - feat2, code2 = self.model(image.flip(dims=[3])) - code = (code1 + code2.flip(dims=[3])) / 2 - code = NF.interpolate( - code, image.shape[-2:], mode=self.cfg.interpolation, align_corners=False - ).detach() - code = torch.squeeze(reset_size(code), dim=0) - return code From a34f5770b8b0b00809bb90f8a055525382864e7b Mon Sep 17 00:00:00 2001 From: Gian Date: Wed, 14 Dec 2022 13:48:38 +0100 Subject: [PATCH 311/504] minor restructuring of pcl --- .../semantic_pointcloud/script/semantic_pointcloud/networks.py | 1 + 1 file changed, 1 insertion(+) diff --git a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/networks.py b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/networks.py index 91e33fa6..e9212b7c 100644 --- a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/networks.py +++ b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/networks.py @@ -27,6 +27,7 @@ ) from semantic_pointcloud.utils import encode_max + def resolve_model(name, config=None): """Get the model class based on the name of the pretrained model. From 26c67e13cd3b816d2b036d9d29345c0f882be1ad Mon Sep 17 00:00:00 2001 From: Gian Date: Wed, 14 Dec 2022 13:59:09 +0100 Subject: [PATCH 312/504] reformatting with line length 120 --- .../semantic_pointcloud/DINO/modules.py | 22 +++----- .../DINO/vision_transformer.py | 35 +++--------- .../script/semantic_pointcloud/networks.py | 20 ++----- .../semantic_pointcloud/pointcloud_node.py | 54 +++++-------------- .../pointcloud_parameters.py | 4 +- .../tests/test_pointcloud.py | 4 +- .../semantic_pointcloud/tests/test_utils.py | 8 +-- .../script/semantic_pointcloud/utils.py | 5 +- 8 files changed, 40 insertions(+), 112 deletions(-) diff --git a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/DINO/modules.py b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/DINO/modules.py index f2a9f996..70603751 100644 --- a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/DINO/modules.py +++ b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/DINO/modules.py @@ -1,12 +1,9 @@ import semantic_pointcloud.DINO.vision_transformer as vits -# import vision_transformer as vits import torch.nn as nn -import torch.nn.functional as F import torch class DinoFeaturizer(nn.Module): - def __init__(self, weights, cfg): super().__init__() self.cfg = cfg @@ -14,13 +11,11 @@ def __init__(self, weights, cfg): self.feat_type = self.cfg.dino_feat_type arch = self.cfg.model - self.model = vits.__dict__[arch]( - patch_size=self.cfg.patch_size, - num_classes=0) + self.model = vits.__dict__[arch](patch_size=self.cfg.patch_size, num_classes=0) for p in self.model.parameters(): p.requires_grad = False self.model.eval().cuda() - self.dropout = torch.nn.Dropout2d(p=.1) + self.dropout = torch.nn.Dropout2d(p=0.1) if arch == "vit_small" and self.cfg.patch_size == 16: url = "dino_deitsmall16_pretrain/dino_deitsmall16_pretrain.pth" @@ -33,7 +28,6 @@ def __init__(self, weights, cfg): else: raise ValueError("Unknown arch and patch size") - # if cfg.pretrained_weights is not None: # state_dict = torch.load(cfg.pretrained_weights, map_location="cpu") # state_dict = state_dict["teacher"] @@ -63,20 +57,20 @@ def __init__(self, weights, cfg): self.cluster2 = self.make_nonlinear_clusterer(self.n_feats) def make_clusterer(self, in_channels): - return torch.nn.Sequential( - torch.nn.Conv2d(in_channels, self.dim, (1, 1))) # , + return torch.nn.Sequential(torch.nn.Conv2d(in_channels, self.dim, (1, 1))) # , def make_nonlinear_clusterer(self, in_channels): return torch.nn.Sequential( torch.nn.Conv2d(in_channels, in_channels, (1, 1)), torch.nn.ReLU(), - torch.nn.Conv2d(in_channels, self.dim, (1, 1))) + torch.nn.Conv2d(in_channels, self.dim, (1, 1)), + ) def forward(self, img, n=1, return_class_feat=False): self.model.eval() with torch.no_grad(): - assert (img.shape[2] % self.cfg.patch_size == 0) - assert (img.shape[3] % self.cfg.patch_size == 0) + assert img.shape[2] % self.cfg.patch_size == 0 + assert img.shape[3] % self.cfg.patch_size == 0 # get selected layer activations feat, attn, qkv = self.model.get_intermediate_feat(img, n=n) @@ -108,5 +102,3 @@ def forward(self, img, n=1, return_class_feat=False): return self.dropout(image_feat), code else: return image_feat, code - - diff --git a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/DINO/vision_transformer.py b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/DINO/vision_transformer.py index 26ad82af..399b7c1d 100644 --- a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/DINO/vision_transformer.py +++ b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/DINO/vision_transformer.py @@ -14,9 +14,7 @@ def drop_path(x, drop_prob: float = 0.0, training: bool = False): if drop_prob == 0.0 or not training: return x keep_prob = 1 - drop_prob - shape = (x.shape[0],) + (1,) * ( - x.ndim - 1 - ) # work with diff dim tensors, not just 2D ConvNets + shape = (x.shape[0],) + (1,) * (x.ndim - 1) # work with diff dim tensors, not just 2D ConvNets random_tensor = keep_prob + torch.rand(shape, dtype=x.dtype, device=x.device) random_tensor.floor_() # binarize output = x.div(keep_prob) * random_tensor @@ -82,11 +80,7 @@ def __init__( def forward(self, x, return_qkv=False): B, N, C = x.shape - qkv = ( - self.qkv(x) - .reshape(B, N, 3, self.num_heads, C // self.num_heads) - .permute(2, 0, 3, 1, 4) - ) + qkv = self.qkv(x).reshape(B, N, 3, self.num_heads, C // self.num_heads).permute(2, 0, 3, 1, 4) q, k, v = qkv[0], qkv[1], qkv[2] attn = (q @ k.transpose(-2, -1)) * self.scale @@ -154,9 +148,7 @@ def __init__(self, img_size=224, patch_size=16, in_chans=3, embed_dim=768): self.patch_size = patch_size self.num_patches = num_patches - self.proj = nn.Conv2d( - in_chans, embed_dim, kernel_size=patch_size, stride=patch_size - ) + self.proj = nn.Conv2d(in_chans, embed_dim, kernel_size=patch_size, stride=patch_size) def forward(self, x): B, C, H, W = x.shape @@ -201,9 +193,7 @@ def __init__( self.pos_embed = nn.Parameter(torch.zeros(1, num_patches + 1, embed_dim)) self.pos_drop = nn.Dropout(p=drop_rate) - dpr = [ - x.item() for x in torch.linspace(0, drop_path_rate, depth) - ] # stochastic depth decay rule + dpr = [x.item() for x in torch.linspace(0, drop_path_rate, depth)] # stochastic depth decay rule self.blocks = nn.ModuleList( [ Block( @@ -223,9 +213,7 @@ def __init__( self.norm = norm_layer(embed_dim) # Classifier head - self.head = ( - nn.Linear(embed_dim, num_classes) if num_classes > 0 else nn.Identity() - ) + self.head = nn.Linear(embed_dim, num_classes) if num_classes > 0 else nn.Identity() trunc_normal_(self.pos_embed, std=0.02) trunc_normal_(self.cls_token, std=0.02) @@ -254,16 +242,11 @@ def interpolate_pos_encoding(self, x, w, h): # see discussion at https://github.com/facebookresearch/dino/issues/8 w0, h0 = w0 + 0.1, h0 + 0.1 patch_pos_embed = nn.functional.interpolate( - patch_pos_embed.reshape( - 1, int(math.sqrt(N)), int(math.sqrt(N)), dim - ).permute(0, 3, 1, 2), + patch_pos_embed.reshape(1, int(math.sqrt(N)), int(math.sqrt(N)), dim).permute(0, 3, 1, 2), scale_factor=(w0 / math.sqrt(N), h0 / math.sqrt(N)), mode="bicubic", ) - assert ( - int(w0) == patch_pos_embed.shape[-2] - and int(h0) == patch_pos_embed.shape[-1] - ) + assert int(w0) == patch_pos_embed.shape[-2] and int(h0) == patch_pos_embed.shape[-1] patch_pos_embed = patch_pos_embed.permute(0, 2, 3, 1).view(1, -1, dim) return torch.cat((class_pos_embed.unsqueeze(0), patch_pos_embed), dim=1) @@ -398,9 +381,7 @@ def __init__( layers.append(nn.Linear(hidden_dim, bottleneck_dim)) self.mlp = nn.Sequential(*layers) self.apply(self._init_weights) - self.last_layer = nn.utils.weight_norm( - nn.Linear(bottleneck_dim, out_dim, bias=False) - ) + self.last_layer = nn.utils.weight_norm(nn.Linear(bottleneck_dim, out_dim, bias=False)) self.last_layer.weight_g.data.fill_(1) if norm_last_layer: self.last_layer.weight_g.requires_grad = False diff --git a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/networks.py b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/networks.py index e9212b7c..06c48503 100644 --- a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/networks.py +++ b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/networks.py @@ -140,17 +140,13 @@ def __call__(self, image, *args, **kwargs): prediction = self.model(batch)["out"] normalized_masks = torch.squeeze(prediction.softmax(dim=1), dim=0) # get masks of fix classes - selected_masks = cp.asarray( - normalized_masks[list(self.stuff_categories.values())] - ) + selected_masks = cp.asarray(normalized_masks[list(self.stuff_categories.values())]) # get values of max, first remove the ones we already have normalized_masks[list(self.stuff_categories.values())] = 0 for i in range(self.param.fusion.count("class_max")): maxim, index = torch.max(normalized_masks, dim=0) mer = encode_max(maxim, index) - selected_masks = cp.concatenate( - (selected_masks, cp.expand_dims(mer, axis=0)), axis=0 - ) + selected_masks = cp.concatenate((selected_masks, cp.expand_dims(mer, axis=0)), axis=0) x = torch.arange(0, index.shape[0]) y = torch.arange(0, index.shape[1]) c = torch.meshgrid(x, y, indexing="ij") @@ -227,9 +223,7 @@ def __call__(self, image, *args, **kwargs): ) ) # add semseg - output[cp.array(list(self.is_stuff.values()))] = probabilities[ - list(self.stuff_categories.values()) - ] + output[cp.array(list(self.is_stuff.values()))] = probabilities[list(self.stuff_categories.values())] # add instances indices, insta_info = prediction["panoptic_seg"] # TODO dont know why i need temp, look into how to avoid @@ -275,15 +269,11 @@ def __call__(self, image, *args, **kwargs): image = self.to_tensor(image).unsqueeze(0) reset_size = Resize(image.shape[-2:]) image = self.shrink(image) - image = TF.normalize( - image, mean=(0.485, 0.456, 0.406), std=(0.229, 0.224, 0.225) - ) + image = TF.normalize(image, mean=(0.485, 0.456, 0.406), std=(0.229, 0.224, 0.225)) feat1, code1 = self.model(image) feat2, code2 = self.model(image.flip(dims=[3])) code = (code1 + code2.flip(dims=[3])) / 2 - code = NF.interpolate( - code, image.shape[-2:], mode=self.cfg.interpolation, align_corners=False - ).detach() + code = NF.interpolate(code, image.shape[-2:], mode=self.cfg.interpolation, align_corners=False).detach() code = torch.squeeze(reset_size(code), dim=0) return code diff --git a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_node.py b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_node.py index b956b5f9..61c803a0 100755 --- a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_node.py +++ b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_node.py @@ -28,9 +28,7 @@ def __init__(self, sensor_name): self.param: PointcloudParameter = PointcloudParameter() if rospy.has_param("/semantic_pointcloud/subscribers"): config = rospy.get_param("/semantic_pointcloud/subscribers") - self.param: PointcloudParameter = PointcloudParameter.from_dict( - config[sensor_name] - ) + self.param: PointcloudParameter = PointcloudParameter.from_dict(config[sensor_name]) else: self.param.feature_config.input_size = [80, 160] print("NO ROS ENV found.") @@ -63,24 +61,16 @@ def initialize_semantics(self): - feature_channels: is a dictionary that contains the features channel names as key and the fusion algorithm as value. """ if self.param.semantic_segmentation: - self.semantic_model = resolve_model( - self.param.segmentation_model, self.param - ) + self.semantic_model = resolve_model(self.param.segmentation_model, self.param) self.segmentation_channels = {} - for i, (chan, fusion) in enumerate( - zip(self.param.channels, self.param.fusion) - ): + for i, (chan, fusion) in enumerate(zip(self.param.channels, self.param.fusion)): if fusion in ["class_bayesian", "class_average", "class_max"]: self.segmentation_channels[chan] = fusion assert len(self.segmentation_channels.keys()) > 0 if self.param.feature_extractor: - self.feature_extractor = resolve_model( - self.param.feature_config.name, self.param.feature_config - ) + self.feature_extractor = resolve_model(self.param.feature_config.name, self.param.feature_config) self.feature_channels = {} - for i, (chan, fusion) in enumerate( - zip(self.param.channels, self.param.fusion) - ): + for i, (chan, fusion) in enumerate(zip(self.param.channels, self.param.fusion)): if fusion in ["average"]: self.feature_channels[chan] = fusion assert len(self.feature_channels.keys()) > 0 @@ -92,9 +82,7 @@ def register_sub_pub(self): rgb_sub = message_filters.Subscriber(self.param.image_topic, Image) depth_sub = message_filters.Subscriber(self.param.depth_topic, Image) if self.param.confidence: - confidence_sub = message_filters.Subscriber( - self.param.confidence_topic, Image - ) + confidence_sub = message_filters.Subscriber(self.param.confidence_topic, Image) ts = message_filters.ApproximateTimeSynchronizer( [ rgb_sub, @@ -119,9 +107,7 @@ def register_sub_pub(self): # publishers if self.param.semantic_segmentation: if self.param.publish_segmentation_image: - self.seg_pub = rospy.Publisher( - self.param.segmentation_image_topic, Image, queue_size=2 - ) + self.seg_pub = rospy.Publisher(self.param.segmentation_image_topic, Image, queue_size=2) if "class_max" in self.param.fusion: self.labels = self.semantic_model["model"].get_classes() else: @@ -163,9 +149,7 @@ def color_map_viz(self): row_size = 50 col_size = 500 cmap = self.semseg_color_map - array = np.empty( - (row_size * (nclasses), col_size, cmap.shape[1]), dtype=cmap.dtype - ) + array = np.empty((row_size * (nclasses), col_size, cmap.shape[1]), dtype=cmap.dtype) for i in range(nclasses): array[i * row_size : i * row_size + row_size, :] = cmap[i] imshow(array) @@ -203,18 +187,10 @@ def image_callback(self, rgb_msg, depth_msg, confidence_msg=None): confidence = None if self.P is None: return - image = cp.asarray( - self.cv_bridge.imgmsg_to_cv2(rgb_msg, desired_encoding="rgb8") - ) - depth = cp.asarray( - self.cv_bridge.imgmsg_to_cv2(depth_msg, desired_encoding="passthrough") - ) + image = cp.asarray(self.cv_bridge.imgmsg_to_cv2(rgb_msg, desired_encoding="rgb8")) + depth = cp.asarray(self.cv_bridge.imgmsg_to_cv2(depth_msg, desired_encoding="passthrough")) if confidence_msg is not None: - confidence = cp.asarray( - self.cv_bridge.imgmsg_to_cv2( - confidence_msg, desired_encoding="passthrough" - ) - ) + confidence = cp.asarray(self.cv_bridge.imgmsg_to_cv2(confidence_msg, desired_encoding="passthrough")) pcl = self.create_pcl_from_image(image, depth, confidence) if self.param.publish_segmentation_image: @@ -331,9 +307,7 @@ def publish_segmentation_image(self, probabilities): if "class_max" in self.param.fusion: # decode, create an array with all possible classes and insert probabilities it = 0 - for iit, (chan, fuse) in enumerate( - zip(self.param.channels, self.param.fusion) - ): + for iit, (chan, fuse) in enumerate(zip(self.param.channels, self.param.fusion)): if fuse in ["class_max"]: temp = probabilities[it] temp_p, temp_i = decode_max(temp) @@ -344,9 +318,7 @@ def publish_segmentation_image(self, probabilities): elif fuse in ["class_bayesian", "class_average"]: # assign fixed probability to correct index if chan in self.semantic_model["model"].segmentation_channels: - prob[ - self.semantic_model["model"].segmentation_channels[chan] - ] = probabilities[it] + prob[self.semantic_model["model"].segmentation_channels[chan]] = probabilities[it] it += 1 img = cp.argmax(prob, axis=0) diff --git a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_parameters.py b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_parameters.py index b47159e4..c503ca4e 100644 --- a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_parameters.py +++ b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_parameters.py @@ -19,9 +19,7 @@ class FeatureExtractorParameter(Serializable): class PointcloudParameter(Serializable): sensor_name: str = "camera" topic_name: str = "/elvation_mapping/pointcloud_semantic" - channels: list = field( - default_factory=lambda: ["rgb", "person", "grass", "tree", "max"] - ) + channels: list = field(default_factory=lambda: ["rgb", "person", "grass", "tree", "max"]) fusion: list = field( default_factory=lambda: [ "color", diff --git a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/tests/test_pointcloud.py b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/tests/test_pointcloud.py index 6c4cd94a..419ee55a 100644 --- a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/tests/test_pointcloud.py +++ b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/tests/test_pointcloud.py @@ -85,9 +85,7 @@ def test_pcl_creation(pointcloud_ex, channels, fusion, semseg, segpub, showlbl): amount = 3 if "class_max" in pointcloud_ex.param.fusion: val = cp.random.rand(360, 640, amount, dtype=cp.float32).astype(cp.float16) - ind = cp.random.randint(0, 2, (360, 640, amount), dtype=cp.uint32).astype( - cp.float32 - ) + ind = cp.random.randint(0, 2, (360, 640, amount), dtype=cp.uint32).astype(cp.float32) img = encode_max(val, ind) else: img = (cp.random.rand(360, 640, amount) * 255).astype(cp.int) diff --git a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/tests/test_utils.py b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/tests/test_utils.py index 9ccba424..0bebfcc6 100644 --- a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/tests/test_utils.py +++ b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/tests/test_utils.py @@ -11,12 +11,12 @@ @pytest.mark.parametrize( "model_name,channels, fusion", [ - ("fcn_resnet50",[],[]), - ("lraspp_mobilenet_v3_large",[],[]), - ("detectron_coco_panoptic_fpn_R_101_3x",[],[]), + ("fcn_resnet50", [], []), + ("lraspp_mobilenet_v3_large", [], []), + ("detectron_coco_panoptic_fpn_R_101_3x", [], []), ], ) -def test_semantic_segmentation(model_name,channels, fusion): +def test_semantic_segmentation(model_name, channels, fusion): param = PointcloudParameter() param.segmentation_model = model_name m = resolve_model(model_name, param) diff --git a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/utils.py b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/utils.py index 69be02ab..9959213f 100644 --- a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/utils.py +++ b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/utils.py @@ -7,9 +7,7 @@ def encode_max(maxim, index): - maxim, index = cp.asarray(maxim, dtype=cp.float32), cp.asarray( - index, dtype=cp.uint32 - ) + maxim, index = cp.asarray(maxim, dtype=cp.float32), cp.asarray(index, dtype=cp.uint32) # fuse them maxim = maxim.astype(cp.float16) maxim = maxim.view(cp.uint16) @@ -28,4 +26,3 @@ def decode_max(mer): ma = ma.astype(np.float32) ind = cp.right_shift(mer, 16) return ma, ind - From a1a743eb79b9038e87ba3ec564fda547234f3ef5 Mon Sep 17 00:00:00 2001 From: Gian Date: Wed, 14 Dec 2022 16:25:37 +0100 Subject: [PATCH 313/504] fixed sem filter for max only and adapted tests --- .../plugins/semantic_filter.py | 14 +++++++++----- .../tests/test_plugins.py | 19 ++++++------------- .../tests/test_semantic_map.py | 5 +++++ 3 files changed, 20 insertions(+), 18 deletions(-) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_filter.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_filter.py index cc797410..07fcab07 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_filter.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_filter.py @@ -79,22 +79,26 @@ def __call__( Returns: cupy._core.core.ndarray: """ - # get indices of all layers that + # get indices of all layers that contain semantic class information layer_indices = cp.array([], dtype=cp.int32) max_idcs = cp.array([], dtype=cp.int32) for it, fusion_alg in enumerate(semantic_map.param.fusion_algorithms): if fusion_alg in ["class_bayesian", "class_average"]: layer_indices = cp.append(layer_indices, it).astype(cp.int32) - if fusion_alg in ["class_max"]: + # we care only for the first max in the display + if fusion_alg in ["class_max"] and len(max_idcs)<1: max_idcs = cp.append(max_idcs, it).astype(cp.int32) # check which has the highest value # todo we are using the new_map because of the bayesian - class_map = cp.amax(semantic_map.new_map[layer_indices], axis=0) - class_map_id = cp.argmax(semantic_map.semantic_map[layer_indices], axis=0) + if len(layer_indices)>0: + class_map = cp.amax(semantic_map.new_map[layer_indices], axis=0) + class_map_id = cp.argmax(semantic_map.semantic_map[layer_indices], axis=0) + else: + class_map = cp.zeros_like(semantic_map.new_map[0]) + class_map_id = cp.zeros_like(semantic_map.new_map[0],dtype=cp.int32) if "class_max" in semantic_map.param.fusion_algorithms: - # todo here is only cosidered the case where we only have one max max_map = cp.amax(semantic_map.new_map[max_idcs], axis=0) max_map_id = semantic_map.unique_id[semantic_map.id_max[max_idcs]] map = cp.where(max_map > class_map, max_map_id, class_map_id) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_plugins.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_plugins.py index 0a040ea1..7c594ea9 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_plugins.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_plugins.py @@ -14,8 +14,8 @@ def semmap_ex(add_lay, fusion_alg): weight_file="../../../config/weights.dat", plugin_config_file=plugin_path, ) - p.additional_layers = add_lay - p.fusion_algorithms = fusion_alg + p.subscriber_cfg["front_cam"]["channels"] = add_lay + p.subscriber_cfg["front_cam"]["fusion"] = fusion_alg p.update() e = semantic_map.SemanticMap(p) e.compile_kernels() @@ -32,11 +32,8 @@ def semmap_ex(add_lay, fusion_alg): ), (["grass", "tree"], ["class_average", "class_average"], ["grass"]), (["grass", "tree"], ["class_average", "class_max"], ["tree"]), - # ( - # ["feat_0", "feat_1", "rgb"], - # ["average", "average", "color"], - # ["rgb", "feat_0"], - # ), + (["max1","max2"], ["class_max", "class_max"], ["max1","max2"]), + ], ) def test_plugin_manager(semmap_ex, channels): @@ -59,12 +56,8 @@ def test_plugin_manager(semmap_ex, channels): manager.layers[0] manager.update_with_name("min_filter", elevation_map, layer_names) manager.update_with_name("smooth_filter", elevation_map, layer_names) - manager.update_with_name( - "semantic_filter", elevation_map, layer_names, semmap_ex, rotation - ) - manager.update_with_name( - "semantic_traversability", elevation_map, layer_names, semmap_ex - ) + manager.update_with_name("semantic_filter", elevation_map, layer_names, semmap_ex, rotation) + manager.update_with_name("semantic_traversability", elevation_map, layer_names, semmap_ex) manager.get_map_with_name("smooth") for lay in manager.get_layer_names(): manager.update_with_name(lay, elevation_map, layer_names, semmap_ex, rotation) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_semantic_map.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_semantic_map.py index a63723fa..f38bc73e 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_semantic_map.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_semantic_map.py @@ -49,6 +49,11 @@ def semmap_ex(sem_lay, fusion_alg): ["class_bayesian", "class_max", "color"], ["rgb", "feat_0", "feat_1"], ), + ( + ["max1", "max2", "rgb"], + ["class_max", "class_max", "color"], + ["rgb", "max1", "max2"], + ), ], ) def test_fusion_of_pcl(semmap_ex, channels): From d08f37f917f3a7efbcbf831b7676fed671655657 Mon Sep 17 00:00:00 2001 From: Gian Date: Mon, 19 Dec 2022 18:07:15 +0100 Subject: [PATCH 314/504] working but the bayesian max approach is not using prior --- .../elevation_mapping.py | 6 +- .../kernels/custom_semantic_kernels.py | 3 +- .../plugins/semantic_filter.py | 10 +-- .../elevation_mapping_cupy/semantic_map.py | 72 ++++++++++--------- 4 files changed, 49 insertions(+), 42 deletions(-) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py index 5a68edb1..8f44ae9c 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py @@ -890,8 +890,8 @@ def initialize_map(self, points, method="cubic"): weight_file="../config/weights.dat", plugin_config_file="../config/plugin_config.yaml", ) - param.additional_layers = ["feat_0", "feat_1", "rgb", "people"] - param.fusion_algorithms = ["average", "average", "color", "class_average"] + param.additional_layers = ["rgb", "grass", "tree", "people"] + param.fusion_algorithms = ["color", "class_bayesian", "class_bayesian", "class_bayesian"] param.update() elevation = ElevationMap(param) layers = [ @@ -908,7 +908,7 @@ def initialize_map(self, points, method="cubic"): channels = ["x", "y", "z"] + param.additional_layers print(channels) data = np.zeros((elevation.cell_n - 2, elevation.cell_n - 2), dtype=np.float32) - for i in range(20): + for i in range(50): elevation.input(points, channels, R, t, 0, 0) elevation.update_normal(elevation.elevation_map[0]) pos = np.array([i * 0.01, i * 0.02, i * 0.01]) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/custom_semantic_kernels.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/custom_semantic_kernels.py index e562c263..f6e8d3ad 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/custom_semantic_kernels.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/custom_semantic_kernels.py @@ -99,9 +99,8 @@ def sum_max_kernel( U inside = p[i * pcl_channels[0] + 2]; if (valid) { if (inside) { - // for every max value + // for every max value for ( W it=0;it0: - class_map = cp.amax(semantic_map.new_map[layer_indices], axis=0) + class_map = cp.amax(semantic_map.semantic_map[layer_indices], axis=0) class_map_id = cp.argmax(semantic_map.semantic_map[layer_indices], axis=0) else: - class_map = cp.zeros_like(semantic_map.new_map[0]) - class_map_id = cp.zeros_like(semantic_map.new_map[0],dtype=cp.int32) + class_map = cp.zeros_like(semantic_map.semantic_map[0]) + class_map_id = cp.zeros_like(semantic_map.semantic_map[0],dtype=cp.int32) if "class_max" in semantic_map.param.fusion_algorithms: - max_map = cp.amax(semantic_map.new_map[max_idcs], axis=0) - max_map_id = semantic_map.unique_id[semantic_map.id_max[max_idcs]] + max_map = cp.amax(semantic_map.semantic_map[max_idcs], axis=0) + max_map_id = semantic_map.elements_to_shift["id_max"][max_idcs] map = cp.where(max_map > class_map, max_map_id, class_map_id) else: map = class_map_id diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py index 9ff5f5b9..703da98b 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py @@ -19,7 +19,6 @@ color_correspondences_to_map_kernel, ) - xp = cp @@ -37,6 +36,7 @@ def __init__(self, param: Parameter): self.layer_specs = {} self.layer_names = [] self.unique_fusion = [] + self.elements_to_shift = {} for k, config in self.param.subscriber_cfg.items(): for f, c in zip(config["fusion"], config["channels"]): @@ -44,9 +44,7 @@ def __init__(self, param: Parameter): self.layer_names.append(c) self.layer_specs[c] = f else: - assert ( - self.layer_specs[c] == f - ), "Error: Single layer has multiple fusion algorithms!" + assert self.layer_specs[c] == f, "Error: Single layer has multiple fusion algorithms!" if f not in self.unique_fusion: self.unique_fusion.append(f) @@ -61,6 +59,9 @@ def __init__(self, param: Parameter): (self.amount_layer_names, self.param.cell_n, self.param.cell_n), param.data_type, ) + # which layers should be deleted at each measurement, per default everyone, if a layer should be kept then + # set it at compile kernels + self.delete_new_layers = cp.ones(self.new_map.shape[0], cp.bool8) def clear(self): self.semantic_map *= 0.0 @@ -113,9 +114,7 @@ def compile_kernels(self) -> None: self.param.cell_n, self.param.cell_n, ) - self.color_average_kernel = color_average_kernel( - self.param.cell_n, self.param.cell_n - ) + self.color_average_kernel = color_average_kernel(self.param.cell_n, self.param.cell_n) if "class_average" in self.unique_fusion: print("Initialize class average kernel") self.sum_kernel = sum_kernel( @@ -130,6 +129,8 @@ def compile_kernels(self) -> None: ) if "class_bayesian" in self.unique_fusion: print("Initialize class bayesian kernel") + pcl_ids = self.get_layer_indices("class_bayesian") + self.delete_new_layers[pcl_ids] = 0 self.alpha_kernel = alpha_kernel( self.param.resolution, self.param.cell_n, @@ -137,34 +138,33 @@ def compile_kernels(self) -> None: ) if "class_max" in self.unique_fusion: print("Initialize class max kernel") + pcl_ids = self.get_layer_indices("class_max") + self.delete_new_layers[pcl_ids] = 0 self.sum_max_kernel = sum_max_kernel( self.param.resolution, self.param.cell_n, self.param.cell_n, ) layer_cnt = self.param.fusion_algorithms.count("class_max") - self.id_max = cp.zeros( + id_max = cp.zeros( (layer_cnt, self.param.cell_n, self.param.cell_n), dtype=np.uint32, ) + self.elements_to_shift["id_max"] = id_max self.unique_id = cp.array([0]) if "image_exponential" in self.unique_fusion: - self.average_correspondences_to_map_kernel = ( - average_correspondences_to_map_kernel( - resolution=self.param.resolution, - width=self.param.cell_n, - height=self.param.cell_n, - ) + self.average_correspondences_to_map_kernel = average_correspondences_to_map_kernel( + resolution=self.param.resolution, + width=self.param.cell_n, + height=self.param.cell_n, ) if "image_color" in self.unique_fusion: - self.color_correspondences_to_map_kernel = ( - color_correspondences_to_map_kernel( - resolution=self.param.resolution, - width=self.param.cell_n, - height=self.param.cell_n, - ) + self.color_correspondences_to_map_kernel = color_correspondences_to_map_kernel( + resolution=self.param.resolution, + width=self.param.cell_n, + height=self.param.cell_n, ) def pad_value(self, x, shift_value, idx=None, value=0.0): @@ -198,6 +198,11 @@ def pad_value(self, x, shift_value, idx=None, value=0.0): def shift_map_xy(self, shift_value): self.semantic_map = cp.roll(self.semantic_map, shift_value, axis=(1, 2)) self.pad_value(self.semantic_map, shift_value, value=0.0) + self.new_map = cp.roll(self.new_map, shift_value, axis=(1, 2)) + self.pad_value(self.new_map, shift_value, value=0.0) + for el in self.elements_to_shift.values(): + el = cp.roll(el, shift_value, axis=(1, 2)) + self.pad_value(el, shift_value, value=0.0) def get_fusion_of_pcl(self, channels: List[str]) -> List[str]: """Get all fusion algorithms that need to be applied to a specific pointcloud @@ -212,6 +217,13 @@ def get_fusion_of_pcl(self, channels: List[str]) -> List[str]: fusion_list.append(x) return fusion_list + def get_layer_indices(self, fusion_alg): + layer_indices = cp.array([], dtype=np.int32) + for it, (key, val) in enumerate(self.layer_specs.items()): + if key in val == fusion_alg: + layer_indices = cp.append(layer_indices, it).astype(np.int32) + return layer_indices + def get_indices_fusion(self, pcl_channels: List[str], fusion_alg: str): """Computes the indices of the channels of the pointcloud and the layers of the semantic map of type fusion_alg. @@ -240,7 +252,7 @@ def get_indices_fusion(self, pcl_channels: List[str], fusion_alg: str): def update_layers_pointcloud(self, points_all, channels, R, t, elevation_map): additional_fusion = self.get_fusion_of_pcl(channels) - self.new_map *= 0.0 + self.new_map[self.delete_new_layers] = 0.0 if "average" in additional_fusion: pcl_ids, layer_ids = self.get_indices_fusion(channels, "average") self.sum_kernel( @@ -325,19 +337,18 @@ def update_layers_pointcloud(self, points_all, channels, R, t, elevation_map): sum_alpha = cp.sum(self.new_map[layer_ids], axis=0) # do not divide by zero sum_alpha[sum_alpha == 0] = 1 - self.semantic_map[layer_ids] = self.new_map[layer_ids] / cp.expand_dims( - sum_alpha, axis=0 - ) + self.semantic_map[layer_ids] = self.new_map[layer_ids] / cp.expand_dims(sum_alpha, axis=0) # assert cp.unique(cp.sum(self.map[layer_ids], axis=0)) equal to zero or to nan + if "class_max" in additional_fusion: # get indices that are of type class_max in pointclopud and in layers pcl_ids, layer_ids = self.get_indices_fusion(channels, "class_max") # decode float32 into to float16 max_pt, pt_id = self.decode_max(points_all[:, pcl_ids]) - # find unique ids in new measurement and in map + # find unique ids in new measurement and in existing map unique_idm = cp.unique(pt_id) - unique_ida = cp.unique(self.unique_id[self.id_max]) + unique_ida = cp.unique(self.unique_id[self.elements_to_shift["id_max"]]) # get all unique ids, where index is the position in the prob_sum and the value in the NN class self.unique_id = cp.unique(cp.concatenate((unique_idm, unique_ida))) # contains the sum of the new measurement probabilities @@ -367,7 +378,7 @@ def update_layers_pointcloud(self, points_all, channels, R, t, elevation_map): # add the previous alpha for i, lay in enumerate(layer_ids): c = cp.mgrid[0 : self.new_map.shape[1], 0 : self.new_map.shape[2]] - self.prob_sum[self.id_max[i], c[0], c[1]] = self.new_map[lay] + # self.prob_sum[self.elements_to_shift["id_max"][i], c[0], c[1]] += self.new_map[lay] # todo add residual of prev alpha to the prob_sum # res = 1- self.new_map[lay] # res /= (len(self.unique_id)-1) @@ -375,9 +386,8 @@ def update_layers_pointcloud(self, points_all, channels, R, t, elevation_map): # find the alpha we want to keep for i, lay in enumerate(layer_ids): self.new_map[lay] = cp.amax(self.prob_sum, axis=0) - self.id_max[i] = cp.argmax(self.prob_sum, axis=0) + self.elements_to_shift["id_max"][lay] = self.unique_id[cp.argmax(self.prob_sum, axis=0)] self.prob_sum[cp.argmax(self.prob_sum, axis=0)] = 0 - # # update map calculate new thetas sum_alpha = cp.sum(self.new_map[layer_ids], axis=0) # do not divide by zero @@ -426,9 +436,7 @@ def update_layers_image( self.new_map *= 0 config = self.param.subscriber_cfg[sub_key] - for j, (fusion, channel) in enumerate( - zip(config["fusion"], config["channels"]) - ): + for j, (fusion, channel) in enumerate(zip(config["fusion"], config["channels"])): sem_map_idx = self.get_index(channel) if fusion == "image_exponential": From d790fc19ce088df40128f83e88efa4d53f8500cc Mon Sep 17 00:00:00 2001 From: Gian Date: Mon, 19 Dec 2022 19:19:09 +0100 Subject: [PATCH 315/504] black formatting --- .../script/elevation_mapping_cupy/custom_kernels.py | 2 -- .../script/elevation_mapping_cupy/elevation_mapping.py | 4 ++-- .../script/elevation_mapping_cupy/parameter.py | 4 ++-- .../script/elevation_mapping_cupy/plugins/inpainting.py | 1 - 4 files changed, 4 insertions(+), 7 deletions(-) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/custom_kernels.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/custom_kernels.py index 382e4174..8323fa67 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/custom_kernels.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/custom_kernels.py @@ -141,7 +141,6 @@ def add_points_kernel( enable_edge_shaped=True, enable_visibility_cleanup=True, ): - add_points_kernel = cp.ElementwiseKernel( in_params="raw U p, raw U center_x, raw U center_y, raw U R, raw U t, raw U norm_map", out_params="raw U map, raw T newmap", @@ -289,7 +288,6 @@ def error_counting_kernel( ramped_height_range_b, ramped_height_range_c, ): - error_counting_kernel = cp.ElementwiseKernel( in_params="raw U map, raw U p, raw U center_x, raw U center_y, raw U R, raw U t", out_params="raw U newmap, raw T error, raw T error_cnt", diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py index 4a50e069..ea2c47cf 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py @@ -312,11 +312,11 @@ def update_upper_bound_with_valid_elevation(self): self.elevation_map[5] = cp.where(mask, self.elevation_map[0], self.elevation_map[5]) self.elevation_map[6] = cp.where(mask, 0.0, self.elevation_map[6]) - def input(self, raw_points,channels, R, t, position_noise, orientation_noise): + def input(self, raw_points, channels, R, t, position_noise, orientation_noise): # Update elevation map using point cloud input. raw_points = cp.asarray(raw_points) raw_points = raw_points[~cp.isnan(raw_points).any(axis=1)] - self.update_map_with_kernel(raw_points[:,:3], cp.asarray(R), cp.asarray(t), position_noise, orientation_noise) + self.update_map_with_kernel(raw_points[:, :3], cp.asarray(R), cp.asarray(t), position_noise, orientation_noise) def update_normal(self, dilated_map): with self.map_lock: diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py index a00c3ddf..62b4ffeb 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py @@ -11,8 +11,8 @@ @dataclass class Parameter(Serializable): resolution: float = 0.02 - additional_layers: list = ['feat_0'].copy - fusion_algorithms: list = ['average'].copy + additional_layers: list = ["feat_0"].copy + fusion_algorithms: list = ["average"].copy map_length: float = 10.0 sensor_noise_factor: float = 0.05 diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/inpainting.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/inpainting.py index 8c1ac90a..f15b8b02 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/inpainting.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/inpainting.py @@ -8,7 +8,6 @@ import numpy as np import cv2 as cv - from .plugin_manager import PluginBase From 12b30159ec811224ab8e88d0ff185a3fc7a1c890 Mon Sep 17 00:00:00 2001 From: Matias Mattamala Date: Thu, 22 Dec 2022 17:02:50 +0100 Subject: [PATCH 316/504] Add subscriber hints --- .../config/anymal_parameters.yaml | 6 +-- .../config/anymal_sensor_parameter.yaml | 46 +++++++++---------- .../elevation_mapping_ros.hpp | 1 + .../anymal_semantic_elevation_single.launch | 13 ++---- .../src/elevation_mapping_ros.cpp | 19 +++++++- 5 files changed, 50 insertions(+), 35 deletions(-) diff --git a/elevation_mapping_cupy/config/anymal_parameters.yaml b/elevation_mapping_cupy/config/anymal_parameters.yaml index 4941a011..324c2208 100644 --- a/elevation_mapping_cupy/config/anymal_parameters.yaml +++ b/elevation_mapping_cupy/config/anymal_parameters.yaml @@ -75,7 +75,7 @@ publishers: fps: 2.0 semantic_map_raw: - layers: ['elevation', 'traversability', 'variance', 'rgb_image'] + layers: ['elevation', 'traversability', 'variance', 'rgb_image', 'visual_traversability'] basic_layers: ['elevation', 'traversability'] fps: 2.0 # elevation_map_recordable: @@ -89,8 +89,8 @@ publishers: #### Initializer ######## initialize_method: 'linear' # Choose one from 'nearest', 'linear', 'cubic' -initialize_frame_id: ['base_footprint'] # One tf (like ['footprint'] # One tf (like ['footprint'] ) initializes a square around it. -initialize_tf_offset: [0.0] # z direction. Should be same number as initialize_frame_id. +initialize_frame_id: ['RF_FOOT', 'LF_FOOT', 'RH_FOOT', 'LH_FOOT'] # One tf (like ['footprint'] ) initializes a square around it. +initialize_tf_offset: [0.0, 0.0, 0.0, 0.0] # z direction. Should be same number as initialize_frame_id. dilation_size_initialize: 5 # dilation size after the init. initialize_tf_grid_size: 0.4 # This is not used if number of tf is more than 3. use_initializer_at_start: true # Use initializer when the node starts. diff --git a/elevation_mapping_cupy/config/anymal_sensor_parameter.yaml b/elevation_mapping_cupy/config/anymal_sensor_parameter.yaml index d80d9611..4804a9e2 100644 --- a/elevation_mapping_cupy/config/anymal_sensor_parameter.yaml +++ b/elevation_mapping_cupy/config/anymal_sensor_parameter.yaml @@ -37,33 +37,33 @@ subscribers: # topic_name: '/elevation_mapping/pointcloud_semantic' # data_type: pointcloud - alphasense_front_rgb: - fusion: ['image_color'] - topic_name_camera: /alphasense_driver_ros/cam4/debayered - topic_name_camera_info: /alphasense_driver_ros/cam4/camera_info - channels: ["rgb_image"] - data_type: image + # alphasense_front_rgb: + # fusion: ['image_color'] + # topic_name_camera: /alphasense_driver_ros/cam4/debayered/compressed + # topic_name_camera_info: /alphasense_driver_ros/cam4/camera_info + # channels: ["rgb_image"] + # data_type: image - alphasense_left_rgb: - fusion: ['image_color'] - topic_name_camera: /alphasense_driver_ros/cam3/debayered - topic_name_camera_info: /alphasense_driver_ros/cam3/camera_info - channels: ["rgb_image"] - data_type: image + # alphasense_left_rgb: + # fusion: ['image_color'] + # topic_name_camera: /alphasense_driver_ros/cam3/debayered/compressed + # topic_name_camera_info: /alphasense_driver_ros/cam3/camera_info + # channels: ["rgb_image"] + # data_type: image - alphasense_right_rgb: - fusion: ['image_color'] - topic_name_camera: /alphasense_driver_ros/cam5/debayered - topic_name_camera_info: /alphasense_driver_ros/cam5/camera_info - channels: ["rgb_image"] - data_type: image + # alphasense_right_rgb: + # fusion: ['image_color'] + # topic_name_camera: /alphasense_driver_ros/cam5/debayered/compressed + # topic_name_camera_info: /alphasense_driver_ros/cam5/camera_info + # channels: ["rgb_image"] + # data_type: image wvn_prediction: fusion: ['image_exponential'] - topic_name_camera: '/wild_visual_navigation_node/current_prediction' + topic_name_camera: '/wild_visual_navigation_node/traversability_raw' topic_name_camera_info: '/wild_visual_navigation_node/camera_info' channels: ["visual_traversability"] data_type: image @@ -108,24 +108,24 @@ subscribers: front_depth: channels: [] - fusion: ['average'] + fusion: [] topic_name: /depth_camera_front/point_cloud_self_filtered data_type: pointcloud rear_depth: channels: [] - fusion: ['average'] + fusion: [] topic_name: /depth_camera_rear/point_cloud_self_filtered data_type: pointcloud left_depth: channels: [] - fusion: ['average'] + fusion: [] topic_name: /depth_camera_left/point_cloud_self_filtered data_type: pointcloud right_depth: channels: [] - fusion: ['average'] + fusion: [] topic_name: /depth_camera_right/point_cloud_self_filtered data_type: pointcloud \ No newline at end of file diff --git a/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp b/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp index db262e41..fa519920 100644 --- a/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp +++ b/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp @@ -17,6 +17,7 @@ // ROS #include +#include #include #include #include diff --git a/elevation_mapping_cupy/launch/anymal_semantic_elevation_single.launch b/elevation_mapping_cupy/launch/anymal_semantic_elevation_single.launch index 2e1d7575..e2600f50 100644 --- a/elevation_mapping_cupy/launch/anymal_semantic_elevation_single.launch +++ b/elevation_mapping_cupy/launch/anymal_semantic_elevation_single.launch @@ -1,13 +1,9 @@ - + + - - - - - @@ -15,7 +11,8 @@ - - + + + \ No newline at end of file diff --git a/elevation_mapping_cupy/src/elevation_mapping_ros.cpp b/elevation_mapping_cupy/src/elevation_mapping_ros.cpp index d5a72247..13e4d571 100644 --- a/elevation_mapping_cupy/src/elevation_mapping_ros.cpp +++ b/elevation_mapping_cupy/src/elevation_mapping_ros.cpp @@ -87,7 +87,24 @@ ElevationMappingNode::ElevationMappingNode(ros::NodeHandle& nh) std::string camera_topic = subscriber.second["topic_name_camera"]; std::string info_topic = subscriber.second["topic_name_camera_info"]; - ImageSubscriberPtr image_sub = std::make_shared(nh_, camera_topic, 1); + std::cout << "pre camera_topic: " << camera_topic << std::endl; + + // Handle compressed images + std::string image_transport_hint = "compressed"; + std::size_t ind = camera_topic.find(image_transport_hint); + if (ind != std::string::npos) { + image_transport_hint = camera_topic.substr(ind, camera_topic.length()); + camera_topic.erase(ind-1, camera_topic.length()); + } else { + image_transport_hint = "raw"; + } + + std::cout << "post camera_topic: " << camera_topic << std::endl; + std::cout << "image_transport_hint: " << image_transport_hint << std::endl; + + // Setup subscriber + const auto hint = image_transport::TransportHints(image_transport_hint, ros::TransportHints(), ros::NodeHandle(camera_topic)); + ImageSubscriberPtr image_sub = std::make_shared(nh_, camera_topic, 1, hint.getRosHints()); CameraInfoSubscriberPtr cam_info_sub = std::make_shared(nh_, info_topic, 1); imageSubs_.push_back(image_sub); cameraInfoSubs_.push_back(cam_info_sub); From a4b486bee2c74236f8c7061873ee5bfe63bc22e5 Mon Sep 17 00:00:00 2001 From: Matias Mattamala Date: Thu, 22 Dec 2022 20:25:01 +0100 Subject: [PATCH 317/504] Enable subscription of compressed images --- elevation_mapping_cupy/CMakeLists.txt | 2 + .../config/anymal_sensor_parameter.yaml | 62 ++++++++++--------- .../elevation_mapping_ros.hpp | 4 +- elevation_mapping_cupy/package.xml | 1 + .../src/elevation_mapping_ros.cpp | 30 ++++----- 5 files changed, 55 insertions(+), 44 deletions(-) diff --git a/elevation_mapping_cupy/CMakeLists.txt b/elevation_mapping_cupy/CMakeLists.txt index 4aa69cb0..2b4cc858 100644 --- a/elevation_mapping_cupy/CMakeLists.txt +++ b/elevation_mapping_cupy/CMakeLists.txt @@ -25,6 +25,7 @@ find_package(catkin REQUIRED elevation_map_msgs grid_map_msgs grid_map_ros + image_transport pcl_ros pybind11_catkin ) @@ -43,6 +44,7 @@ catkin_package( geometry_msgs elevation_map_msgs grid_map_ros + image_transport pcl_ros pybind11_catkin ) diff --git a/elevation_mapping_cupy/config/anymal_sensor_parameter.yaml b/elevation_mapping_cupy/config/anymal_sensor_parameter.yaml index 4804a9e2..8d7ac369 100644 --- a/elevation_mapping_cupy/config/anymal_sensor_parameter.yaml +++ b/elevation_mapping_cupy/config/anymal_sensor_parameter.yaml @@ -31,34 +31,34 @@ subscribers: # channels: ["single_channel_semantic"] # data_type: image -# front_cam: -# channels: ['rgb'] -# fusion: ['color'] -# topic_name: '/elevation_mapping/pointcloud_semantic' -# data_type: pointcloud + # front_cam: + # channels: ['rgb'] + # fusion: ['color'] + # topic_name: '/elevation_mapping/pointcloud_semantic' + # data_type: pointcloud - # alphasense_front_rgb: - # fusion: ['image_color'] - # topic_name_camera: /alphasense_driver_ros/cam4/debayered/compressed - # topic_name_camera_info: /alphasense_driver_ros/cam4/camera_info - # channels: ["rgb_image"] - # data_type: image + alphasense_front_rgb: + fusion: ['image_color'] + topic_name_camera: /alphasense_driver_ros/cam4/debayered/compressed + topic_name_camera_info: /alphasense_driver_ros/cam4/camera_info + channels: ["rgb_image"] + data_type: image - # alphasense_left_rgb: - # fusion: ['image_color'] - # topic_name_camera: /alphasense_driver_ros/cam3/debayered/compressed - # topic_name_camera_info: /alphasense_driver_ros/cam3/camera_info - # channels: ["rgb_image"] - # data_type: image + alphasense_left_rgb: + fusion: ['image_color'] + topic_name_camera: /alphasense_driver_ros/cam3/debayered/compressed + topic_name_camera_info: /alphasense_driver_ros/cam3/camera_info + channels: ["rgb_image"] + data_type: image - # alphasense_right_rgb: - # fusion: ['image_color'] - # topic_name_camera: /alphasense_driver_ros/cam5/debayered/compressed - # topic_name_camera_info: /alphasense_driver_ros/cam5/camera_info - # channels: ["rgb_image"] - # data_type: image + alphasense_right_rgb: + fusion: ['image_color'] + topic_name_camera: /alphasense_driver_ros/cam5/debayered/compressed + topic_name_camera_info: /alphasense_driver_ros/cam5/camera_info + channels: ["rgb_image"] + data_type: image wvn_prediction: @@ -108,24 +108,30 @@ subscribers: front_depth: channels: [] - fusion: [] + fusion: ['average'] topic_name: /depth_camera_front/point_cloud_self_filtered data_type: pointcloud rear_depth: channels: [] - fusion: [] + fusion: ['average'] topic_name: /depth_camera_rear/point_cloud_self_filtered data_type: pointcloud left_depth: channels: [] - fusion: [] + fusion: ['average'] topic_name: /depth_camera_left/point_cloud_self_filtered data_type: pointcloud right_depth: channels: [] - fusion: [] + fusion: ['average'] topic_name: /depth_camera_right/point_cloud_self_filtered - data_type: pointcloud \ No newline at end of file + data_type: pointcloud + + velodyne: + channels: [] + fusion: ['average'] + topic_name: /point_cloud_filter/lidar/point_cloud_filtered + data_type: pointcloud diff --git a/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp b/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp index fa519920..4a6b09ba 100644 --- a/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp +++ b/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp @@ -18,6 +18,7 @@ // ROS #include #include +#include #include #include #include @@ -61,7 +62,7 @@ class ElevationMappingNode { using RowMatrixXd = Eigen::Matrix; using ColMatrixXf = Eigen::Matrix; - using ImageSubscriber = message_filters::Subscriber; + using ImageSubscriber = image_transport::SubscriberFilter; using ImageSubscriberPtr = std::shared_ptr; using CameraInfoSubscriber = message_filters::Subscriber; using CameraInfoSubscriberPtr = std::shared_ptr; @@ -94,6 +95,7 @@ class ElevationMappingNode { visualization_msgs::Marker vectorToArrowMarker(const Eigen::Vector3d& start, const Eigen::Vector3d& end, const int id) const; ros::NodeHandle nh_; + image_transport::ImageTransport it_; std::vector pointcloudSubs_; std::vector imageSubs_; std::vector cameraInfoSubs_; diff --git a/elevation_mapping_cupy/package.xml b/elevation_mapping_cupy/package.xml index 7af4624c..614d711a 100644 --- a/elevation_mapping_cupy/package.xml +++ b/elevation_mapping_cupy/package.xml @@ -19,6 +19,7 @@ grid_map_msgs elevation_map_msgs grid_map_ros + image_transport pcl_ros pybind11_catkin diff --git a/elevation_mapping_cupy/src/elevation_mapping_ros.cpp b/elevation_mapping_cupy/src/elevation_mapping_ros.cpp index 13e4d571..7e9c807b 100644 --- a/elevation_mapping_cupy/src/elevation_mapping_ros.cpp +++ b/elevation_mapping_cupy/src/elevation_mapping_ros.cpp @@ -21,7 +21,8 @@ namespace elevation_mapping_cupy { ElevationMappingNode::ElevationMappingNode(ros::NodeHandle& nh) - : lowpassPosition_(0, 0, 0), + : it_(nh), + lowpassPosition_(0, 0, 0), lowpassOrientation_(0, 0, 0, 1), positionError_(0), orientationError_(0), @@ -87,26 +88,25 @@ ElevationMappingNode::ElevationMappingNode(ros::NodeHandle& nh) std::string camera_topic = subscriber.second["topic_name_camera"]; std::string info_topic = subscriber.second["topic_name_camera_info"]; - std::cout << "pre camera_topic: " << camera_topic << std::endl; - - // Handle compressed images - std::string image_transport_hint = "compressed"; - std::size_t ind = camera_topic.find(image_transport_hint); + // Handle compressed images with transport hints + // We obtain the hint from the last part of the topic name + std::string transport_hint = "compressed"; + std::size_t ind = camera_topic.find(transport_hint); // Find if compressed is in the topic name if (ind != std::string::npos) { - image_transport_hint = camera_topic.substr(ind, camera_topic.length()); - camera_topic.erase(ind-1, camera_topic.length()); + transport_hint = camera_topic.substr(ind, camera_topic.length()); // Get the hint as the last part + camera_topic.erase(ind - 1, camera_topic.length()); // We remove the hint from the topic } else { - image_transport_hint = "raw"; + transport_hint = "raw"; // In the default case we assume raw topic } - std::cout << "post camera_topic: " << camera_topic << std::endl; - std::cout << "image_transport_hint: " << image_transport_hint << std::endl; - // Setup subscriber - const auto hint = image_transport::TransportHints(image_transport_hint, ros::TransportHints(), ros::NodeHandle(camera_topic)); - ImageSubscriberPtr image_sub = std::make_shared(nh_, camera_topic, 1, hint.getRosHints()); - CameraInfoSubscriberPtr cam_info_sub = std::make_shared(nh_, info_topic, 1); + const auto hint = image_transport::TransportHints(transport_hint, ros::TransportHints(), ros::NodeHandle(camera_topic)); + ImageSubscriberPtr image_sub = std::make_shared(); + image_sub->subscribe(it_, camera_topic, 1, hint); imageSubs_.push_back(image_sub); + + CameraInfoSubscriberPtr cam_info_sub = std::make_shared(); + cam_info_sub->subscribe(nh_, info_topic, 1); cameraInfoSubs_.push_back(cam_info_sub); CameraSyncPtr sync = std::make_shared(CameraPolicy(10), *image_sub, *cam_info_sub); From 84c708440e2dd1243b71e20a54631eac8d540a7a Mon Sep 17 00:00:00 2001 From: Gian Date: Fri, 23 Dec 2022 18:12:45 +0100 Subject: [PATCH 318/504] config fix --- elevation_mapping_cupy/config/anymal_sensor_parameter.yaml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/elevation_mapping_cupy/config/anymal_sensor_parameter.yaml b/elevation_mapping_cupy/config/anymal_sensor_parameter.yaml index 688c623a..76ee262f 100644 --- a/elevation_mapping_cupy/config/anymal_sensor_parameter.yaml +++ b/elevation_mapping_cupy/config/anymal_sensor_parameter.yaml @@ -39,7 +39,7 @@ subscribers: alphasense_front_rgb: fusion: ['image_color'] - topic_name_camera: /alphasense_driver_ros/cam4/debayered/compressed + topic_name_camera: /alphasense_driver_ros/cam4/debayered topic_name_camera_info: /alphasense_driver_ros/cam4/camera_info channels: ["rgb_image"] data_type: image @@ -47,7 +47,7 @@ subscribers: alphasense_left_rgb: fusion: ['image_color'] - topic_name_camera: /alphasense_driver_ros/cam3/debayered/compressed + topic_name_camera: /alphasense_driver_ros/cam3/debayered topic_name_camera_info: /alphasense_driver_ros/cam3/camera_info channels: ["rgb_image"] data_type: image @@ -55,7 +55,7 @@ subscribers: alphasense_right_rgb: fusion: ['image_color'] - topic_name_camera: /alphasense_driver_ros/cam5/debayered/compressed + topic_name_camera: /alphasense_driver_ros/cam5/debayered topic_name_camera_info: /alphasense_driver_ros/cam5/camera_info channels: ["rgb_image"] data_type: image From 57d1d52f63b1c32b3829cbb8dedd562492af6f25 Mon Sep 17 00:00:00 2001 From: Jonas Frey Date: Wed, 4 Jan 2023 12:21:59 +0100 Subject: [PATCH 319/504] applied black formatting --- .../elevation_mapping_cupy/plugins/semantic_filter.py | 6 +++--- .../elevation_mapping_cupy/tests/test_plugins.py | 3 +-- sensor_processing/debug_publisher/image_debug_node.py | 11 +++++------ sensor_processing/semantic_pointcloud/setup.py | 4 ++-- 4 files changed, 11 insertions(+), 13 deletions(-) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_filter.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_filter.py index 9a61432d..045f536a 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_filter.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_filter.py @@ -86,17 +86,17 @@ def __call__( if fusion_alg in ["class_bayesian", "class_average"]: layer_indices = cp.append(layer_indices, it).astype(cp.int32) # we care only for the first max in the display - if fusion_alg in ["class_max"] and len(max_idcs)<1: + if fusion_alg in ["class_max"] and len(max_idcs) < 1: max_idcs = cp.append(max_idcs, it).astype(cp.int32) # check which has the highest value # todo we are using the new_map because of the bayesian - if len(layer_indices)>0: + if len(layer_indices) > 0: class_map = cp.amax(semantic_map.semantic_map[layer_indices], axis=0) class_map_id = cp.argmax(semantic_map.semantic_map[layer_indices], axis=0) else: class_map = cp.zeros_like(semantic_map.semantic_map[0]) - class_map_id = cp.zeros_like(semantic_map.semantic_map[0],dtype=cp.int32) + class_map_id = cp.zeros_like(semantic_map.semantic_map[0], dtype=cp.int32) if "class_max" in semantic_map.param.fusion_algorithms: max_map = cp.amax(semantic_map.semantic_map[max_idcs], axis=0) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_plugins.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_plugins.py index 7c594ea9..25c0619c 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_plugins.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_plugins.py @@ -32,8 +32,7 @@ def semmap_ex(add_lay, fusion_alg): ), (["grass", "tree"], ["class_average", "class_average"], ["grass"]), (["grass", "tree"], ["class_average", "class_max"], ["tree"]), - (["max1","max2"], ["class_max", "class_max"], ["max1","max2"]), - + (["max1", "max2"], ["class_max", "class_max"], ["max1", "max2"]), ], ) def test_plugin_manager(semmap_ex, channels): diff --git a/sensor_processing/debug_publisher/image_debug_node.py b/sensor_processing/debug_publisher/image_debug_node.py index 91743acb..6d625a68 100644 --- a/sensor_processing/debug_publisher/image_debug_node.py +++ b/sensor_processing/debug_publisher/image_debug_node.py @@ -18,13 +18,12 @@ def __init__(self): self.cv_bridge = CvBridge() # rospy.Subscriber("", CameraInfo, self.cam_info_callback) rospy.Subscriber("/zed2i/zed_node/right/image_rect_color", Image, self.image_callback) - self.debug_pub = rospy.Publisher("/debug_image" , Image, queue_size=2) - - + self.debug_pub = rospy.Publisher("/debug_image", Image, queue_size=2) + def image_callback(self, rgb_msg): - img = self.cv_bridge.imgmsg_to_cv2(rgb_msg, desired_encoding="rgb8") - out = np.zeros((img.shape[0],img.shape[1]), dtype=np.uint16) - out[:, :int(img.shape[1]/2)] = 1 + img = self.cv_bridge.imgmsg_to_cv2(rgb_msg, desired_encoding="rgb8") + out = np.zeros((img.shape[0], img.shape[1]), dtype=np.uint16) + out[:, : int(img.shape[1] / 2)] = 1 seg_msg = self.cv_bridge.cv2_to_imgmsg(out, encoding="mono16") seg_msg.header = rgb_msg.header self.debug_pub.publish(seg_msg) diff --git a/sensor_processing/semantic_pointcloud/setup.py b/sensor_processing/semantic_pointcloud/setup.py index 94ad1600..1af8da13 100644 --- a/sensor_processing/semantic_pointcloud/setup.py +++ b/sensor_processing/semantic_pointcloud/setup.py @@ -3,9 +3,9 @@ setup_args = generate_distutils_setup( packages=[ - 'semantic_pointcloud', + "semantic_pointcloud", ], - package_dir={'': 'script'}, + package_dir={"": "script"}, ) setup(**setup_args) From c00d4182c67e1ff1dde79ea2958f74c0bc700a14 Mon Sep 17 00:00:00 2001 From: Jonas Frey Date: Wed, 4 Jan 2023 12:45:22 +0100 Subject: [PATCH 320/504] black formatting main branch --- .../script/elevation_mapping_cupy/elevation_mapping.py | 4 ++-- .../script/elevation_mapping_cupy/parameter.py | 4 ++-- elevation_mapping_cupy/setup.py | 7 ++++--- 3 files changed, 8 insertions(+), 7 deletions(-) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py index 4a50e069..ea2c47cf 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py @@ -312,11 +312,11 @@ def update_upper_bound_with_valid_elevation(self): self.elevation_map[5] = cp.where(mask, self.elevation_map[0], self.elevation_map[5]) self.elevation_map[6] = cp.where(mask, 0.0, self.elevation_map[6]) - def input(self, raw_points,channels, R, t, position_noise, orientation_noise): + def input(self, raw_points, channels, R, t, position_noise, orientation_noise): # Update elevation map using point cloud input. raw_points = cp.asarray(raw_points) raw_points = raw_points[~cp.isnan(raw_points).any(axis=1)] - self.update_map_with_kernel(raw_points[:,:3], cp.asarray(R), cp.asarray(t), position_noise, orientation_noise) + self.update_map_with_kernel(raw_points[:, :3], cp.asarray(R), cp.asarray(t), position_noise, orientation_noise) def update_normal(self, dilated_map): with self.map_lock: diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py index a00c3ddf..62b4ffeb 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py @@ -11,8 +11,8 @@ @dataclass class Parameter(Serializable): resolution: float = 0.02 - additional_layers: list = ['feat_0'].copy - fusion_algorithms: list = ['average'].copy + additional_layers: list = ["feat_0"].copy + fusion_algorithms: list = ["average"].copy map_length: float = 10.0 sensor_noise_factor: float = 0.05 diff --git a/elevation_mapping_cupy/setup.py b/elevation_mapping_cupy/setup.py index 51954f5b..f225f03a 100644 --- a/elevation_mapping_cupy/setup.py +++ b/elevation_mapping_cupy/setup.py @@ -3,9 +3,10 @@ setup_args = generate_distutils_setup( packages=[ - 'elevation_mapping_cupy', - 'elevation_mapping_cupy.plugins', + "elevation_mapping_cupy", + "elevation_mapping_cupy.plugins", ], - package_dir={'': 'script'}) + package_dir={"": "script"}, +) setup(**setup_args) From 2f6f2103109c0d8717c0b660bdceacec0a4600b0 Mon Sep 17 00:00:00 2001 From: Jonas Frey Date: Wed, 4 Jan 2023 14:22:17 +0100 Subject: [PATCH 321/504] Added some comments --- .../elevation_mapping.py | 36 ++++++++++++++----- 1 file changed, 27 insertions(+), 9 deletions(-) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py index b27c8e70..38ca9836 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py @@ -48,9 +48,7 @@ class ElevationMap: - """ - Core elevation mapping class. - """ + """Core elevation mapping class.""" def __init__(self, param: Parameter): """ @@ -230,7 +228,7 @@ def shift_map_z(self, delta_z): def compile_kernels(self): """Compile all kernels belonging to the elevation map.""" - # Compile custom cuda kernels. + self.new_map = cp.zeros( (self.elevation_map.shape[0], self.cell_n, self.cell_n), dtype=self.data_type, @@ -285,6 +283,8 @@ def compile_kernels(self): self.normal_filter_kernel = normal_filter_kernel(self.cell_n, self.cell_n, self.resolution) def compile_image_kernels(self): + """Compile kernels related to processing image messages.""" + for config in self.param.subscriber_cfg.values(): if config["data_type"] == "image": self.valid_correspondence = cp.asarray( @@ -390,7 +390,12 @@ def update_map_with_kernel(self, points_all, channels, R, t, position_noise, ori self.update_normal(self.traversability_input) def clear_overlap_map(self, t): - # Clear overlapping area around center + """Clear overlapping areas around the map center. + + Args: + t (cupy._core.core.ndarray): Absolute point position + """ + height_min = t[2] - self.param.overlap_clear_range_z height_max = t[2] + self.param.overlap_clear_range_z near_map = self.elevation_map[:, self.cell_min : self.cell_max, self.cell_min : self.cell_max] @@ -439,7 +444,6 @@ def input( Returns: None: """ - # Update elevation map using point cloud input. raw_points = cp.asarray(raw_points, dtype=self.data_type) additional_channels = channels[3:] raw_points = raw_points[~cp.isnan(raw_points).any(axis=1)] @@ -455,13 +459,27 @@ def input( def input_image( self, sub_key: str, - image: cp._core.core.ndarray, + image: List[cp._core.core.ndarray], R: cp._core.core.ndarray, t: cp._core.core.ndarray, K: cp._core.core.ndarray, image_height: int, image_width: int, ): + """Input image and fuse the new measurements to update the elevation map. + + Args: + sub_key (str): Key used to identify the subscriber configuration + image (List[cupy._core.core.ndarray]): List of array containing the individual image input channels + R (cupy._core.core.ndarray): Camera optical center rotation + t (cupy._core.core.ndarray): Camera optical center translation + K (cupy._core.core.ndarray): Camera intrinsics + image_height (int): Image height + image_width (int): Image width + + Returns: + None: + """ image = np.stack(image, axis=0) if len(image.shape) == 2: image = image[None] @@ -619,10 +637,10 @@ def exists_layer(self, name): """Check if the layer exists in elevation map or in the semantic map. Args: - name (str): + name (str): Layer name Returns: - bool: + bool: Indicates if layer exists. """ if name in self.layer_names: return True From fb01fdad73d33eb332c1fd382c6168a45a1a087c Mon Sep 17 00:00:00 2001 From: Gian Date: Tue, 10 Jan 2023 18:57:48 +0100 Subject: [PATCH 322/504] added ordered pointclouds and xyz pointclouds in pcl publisher --- elevation_mapping_cupy/src/elevation_mapping_ros.cpp | 4 ++-- .../script/semantic_pointcloud/pointcloud_node.py | 12 +++++++----- 2 files changed, 9 insertions(+), 7 deletions(-) diff --git a/elevation_mapping_cupy/src/elevation_mapping_ros.cpp b/elevation_mapping_cupy/src/elevation_mapping_ros.cpp index 3a06fae9..b8760628 100644 --- a/elevation_mapping_cupy/src/elevation_mapping_ros.cpp +++ b/elevation_mapping_cupy/src/elevation_mapping_ros.cpp @@ -299,9 +299,9 @@ void ElevationMappingNode::pointcloudCallback(const sensor_msgs::PointCloud2& cl } uint array_dim = channels.size(); - RowMatrixXd points = RowMatrixXd(pcl_pc->width,array_dim); + RowMatrixXd points = RowMatrixXd(pcl_pc->width*pcl_pc->height,array_dim); - for (unsigned int i = 0; i < pcl_pc->width; ++i) { + for (unsigned int i = 0; i < pcl_pc->width*pcl_pc->height; ++i) { int jit = 0; for(unsigned int j = 0; j Date: Mon, 16 Jan 2023 14:40:09 +0100 Subject: [PATCH 323/504] fixed a few pointcloud features and added a network and added anymal urdf --- .../config/anymal_sensor_parameter.yaml | 22 +++++++++---------- .../anymal_semantic_elevation_single.launch | 7 ++++++ .../script/semantic_pointcloud/networks.py | 9 ++++++++ .../semantic_pointcloud/pointcloud_node.py | 14 +++++++----- .../pointcloud_parameters.py | 6 ++--- 5 files changed, 38 insertions(+), 20 deletions(-) diff --git a/elevation_mapping_cupy/config/anymal_sensor_parameter.yaml b/elevation_mapping_cupy/config/anymal_sensor_parameter.yaml index 76ee262f..27bd064a 100644 --- a/elevation_mapping_cupy/config/anymal_sensor_parameter.yaml +++ b/elevation_mapping_cupy/config/anymal_sensor_parameter.yaml @@ -94,17 +94,17 @@ subscribers: # confidence_threshold: 10 # feature_extractor: False - # front_bpearl: - # channels: [] - # fusion: [] - # topic_name: /point_cloud_filter_rsl/filter_and_merger_rsl - # data_type: pointcloud - - # rear_bpearl: - # channels: [] - # fusion: [] - # topic_name: /robot_self_filter/bpearl_rear/point_cloud - # data_type: pointcloud + front_bpearl: + channels: [] + fusion: [] + topic_name: /robot_self_filter/bpearl_front/point_cloud + data_type: pointcloud + + rear_bpearl: + channels: [] + fusion: [] + topic_name: /robot_self_filter/bpearl_rear/point_cloud + data_type: pointcloud front_depth: channels: [] diff --git a/elevation_mapping_cupy/launch/anymal_semantic_elevation_single.launch b/elevation_mapping_cupy/launch/anymal_semantic_elevation_single.launch index e2600f50..725c96bd 100644 --- a/elevation_mapping_cupy/launch/anymal_semantic_elevation_single.launch +++ b/elevation_mapping_cupy/launch/anymal_semantic_elevation_single.launch @@ -1,7 +1,14 @@ + + + + + + + diff --git a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/networks.py b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/networks.py index 06c48503..ebd9dcc8 100644 --- a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/networks.py +++ b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/networks.py @@ -3,6 +3,7 @@ lraspp_mobilenet_v3_large, LRASPP_MobileNet_V3_Large_Weights, ) +from torchvision.models.segmentation import (deeplabv3_mobilenet_v3_large, DeepLabV3_MobileNet_V3_Large_Weights ) import torch import torchvision.transforms.functional as TF from torchvision.transforms import Resize @@ -54,6 +55,14 @@ def resolve_model(name, config=None): "name": "lraspp_mobilenet_v3_large", "model": model, } + elif name == "deeplabv3_mobilenet_v3_large": + weights = DeepLabV3_MobileNet_V3_Large_Weights.COCO_WITH_VOC_LABELS_V1 + net = deeplabv3_mobilenet_v3_large + model = PytorchModel(net, weights, config) + return { + "name": "deeplabv3_mobilenet_v3_large", + "model": model, + } elif name == "detectron_coco_panoptic_fpn_R_101_3x": # "Cityscapes/mask_rcnn_R_50_FPN.yaml" # "Misc/semantic_R_50_FPN_1x.yaml" diff --git a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_node.py b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_node.py index 15872de9..42ad5085 100755 --- a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_node.py +++ b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_node.py @@ -26,11 +26,11 @@ def __init__(self, sensor_name): """ # TODO: if this is going to be loaded from another package we might need to change namespace self.param: PointcloudParameter = PointcloudParameter() + self.param.feature_config.input_size = [80, 160] if rospy.has_param("/semantic_pointcloud/subscribers"): config = rospy.get_param("/semantic_pointcloud/subscribers") self.param: PointcloudParameter = PointcloudParameter.from_dict(config[sensor_name]) else: - self.param.feature_config.input_size = [80, 160] print("NO ROS ENV found.") self.param.sensor_name = sensor_name @@ -85,8 +85,8 @@ def register_sub_pub(self): confidence_sub = message_filters.Subscriber(self.param.confidence_topic, Image) ts = message_filters.ApproximateTimeSynchronizer( [ - rgb_sub, depth_sub, + rgb_sub, confidence_sub, ], queue_size=10, @@ -95,8 +95,8 @@ def register_sub_pub(self): else: ts = message_filters.ApproximateTimeSynchronizer( [ - rgb_sub, depth_sub, + rgb_sub, ], queue_size=10, slop=0.5, @@ -184,11 +184,13 @@ def cam_info_callback(self, msg): self.width = msg.width self.header = msg.header - def image_callback(self, rgb_msg, depth_msg, confidence_msg=None): + def image_callback(self, depth_msg, rgb_msg=None,confidence_msg=None): confidence = None + image = None if self.P is None: return - image = cp.asarray(self.cv_bridge.imgmsg_to_cv2(rgb_msg, desired_encoding="rgb8")) + if rgb_msg is not None: + image = cp.asarray(self.cv_bridge.imgmsg_to_cv2(rgb_msg, desired_encoding="rgb8")) depth = cp.asarray(self.cv_bridge.imgmsg_to_cv2(depth_msg, desired_encoding="passthrough")) if confidence_msg is not None: confidence = cp.asarray(self.cv_bridge.imgmsg_to_cv2(confidence_msg, desired_encoding="passthrough")) @@ -335,7 +337,7 @@ def publish_segmentation_image(self, probabilities): def publish_pointcloud(self, pcl, header): pc2 = ros_numpy.msgify(PointCloud2, pcl) pc2.header = header - pc2.header.frame_id = self.param.cam_frame + # pc2.header.frame_id = self.param.cam_frame self.pcl_pub.publish(pc2) diff --git a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_parameters.py b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_parameters.py index c503ca4e..d7448181 100644 --- a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_parameters.py +++ b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_parameters.py @@ -30,9 +30,9 @@ class PointcloudParameter(Serializable): ] ) - semantic_segmentation: bool = True + semantic_segmentation: bool = False segmentation_model: str = "lraspp_mobilenet_v3_large" - publish_segmentation_image: bool = True + publish_segmentation_image: bool = False segmentation_image_topic: str = "/semantic_pointcloud/sem_seg" pub_all: bool = False show_label_legend: bool = False @@ -41,7 +41,7 @@ class PointcloudParameter(Serializable): image_topic: str = "/zed2i/zed_node/left/image_rect_color" depth_topic: str = "/zed2i/zed_node/depth/depth_registered" cam_frame: str = "zed2i_right_camera_optical_frame" - confidence: bool = True + confidence: bool = False confidence_topic: str = "/zed2i/zed_node/confidence/confidence_map" confidence_threshold: int = 10 From 3800fa398943fe64634aa7d004966420f2c126a3 Mon Sep 17 00:00:00 2001 From: Gian Date: Thu, 19 Jan 2023 15:48:53 +0100 Subject: [PATCH 324/504] typos, dead code and todo cleanup --- .../elevation_mapping.py | 10 +++---- .../elevation_mapping_cupy/parameter.py | 3 ++- .../plugins/semantic_filter.py | 1 - .../elevation_mapping_cupy/semantic_map.py | 26 ++++++------------- 4 files changed, 14 insertions(+), 26 deletions(-) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py index 38ca9836..d449af62 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py @@ -28,7 +28,6 @@ from elevation_mapping_cupy.kernels import polygon_mask_kernel from elevation_mapping_cupy.kernels import image_to_map_correspondence_kernel - from elevation_mapping_cupy.map_initializer import MapInitializer from elevation_mapping_cupy.plugins.plugin_manager import PluginManager from elevation_mapping_cupy.semantic_map import SemanticMap @@ -366,7 +365,6 @@ def update_map_with_kernel(self, points_all, channels, R, t, position_noise, ori ) self.average_map_kernel(self.new_map, self.elevation_map, size=(self.cell_n * self.cell_n)) - # self.update_additional_layers(additional_fusion, points_all, channels, R, t) self.semantic_map.update_layers_pointcloud(points_all, channels, R, t, self.new_map) if self.param.enable_overlap_clearance: @@ -428,8 +426,8 @@ def input( channels: List[str], R: cp._core.core.ndarray, t: cp._core.core.ndarray, - position_noise: int, - orientation_noise: int, + position_noise: float, + orientation_noise: float, ): """Input the pointcloud and fuse the new measurements to update the elevation map. @@ -438,8 +436,8 @@ def input( channels (List[str]): R (cupy._core.core.ndarray): t (cupy._core.core.ndarray): - position_noise (int): - orientation_noise (int): + position_noise (float): + orientation_noise (float): Returns: None: diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py index 9edbf012..6ef6daf6 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py @@ -8,7 +8,8 @@ from simple_parsing.helpers import Serializable from dataclasses import field -# todo add this for the future + +# todo add these dataclasses @dataclass class Subscriber(Serializable): channels: list = field(default_factory=lambda: ["feat_0"]) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_filter.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_filter.py index 045f536a..5ea2cc07 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_filter.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_filter.py @@ -90,7 +90,6 @@ def __call__( max_idcs = cp.append(max_idcs, it).astype(cp.int32) # check which has the highest value - # todo we are using the new_map because of the bayesian if len(layer_indices) > 0: class_map = cp.amax(semantic_map.semantic_map[layer_indices], axis=0) class_map_id = cp.argmax(semantic_map.semantic_map[layer_indices], axis=0) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py index 3a00f5a6..1eea84b8 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py @@ -32,7 +32,6 @@ def __init__(self, param: Parameter): self.param = param - # TODO: maps channel to fusion strategy (maybe rename) self.layer_specs = {} self.layer_names = [] self.unique_fusion = [] @@ -45,7 +44,6 @@ def __init__(self, param: Parameter): self.layer_specs[c] = f else: assert self.layer_specs[c] == f, "Error: Single layer has multiple fusion algorithms!" - if f not in self.unique_fusion: self.unique_fusion.append(f) @@ -59,8 +57,8 @@ def __init__(self, param: Parameter): (self.amount_layer_names, self.param.cell_n, self.param.cell_n), param.data_type, ) - # which layers should be deleted at each measurement, per default everyone, if a layer should be kept then - # set it at compile kernels + # which layers should be reset to zero at each update, per default everyone, + # if a layer should not be reset, it is defined in compile_kernels function self.delete_new_layers = cp.ones(self.new_map.shape[0], cp.bool8) def clear(self): @@ -71,11 +69,7 @@ def compile_kernels(self) -> None: Returns: None: """ - # TODO: maybe this could be improved by creating functions for each single - # create a base class containing compile kernel as well as update and this then can be created for various - # then for each method this two functions canbe overloaded. and called through a list of all the algporithms - # that need to be called - # but I am not sure as we would need to pass a lot of arguments... check plugin + # TODO: maybe this could be improved by creating functions for each single fusion algorithm if "average" in self.unique_fusion: print("Initialize fusion kernel") self.sum_kernel = sum_kernel( @@ -97,7 +91,7 @@ def compile_kernels(self) -> None: ), self.param.data_type, ) - # todo initialize the variance with a value different than 0 + # TODO initialize the variance with a value different than 0 self.sum_compact_kernel = sum_compact_kernel( self.param.resolution, self.param.cell_n, @@ -238,12 +232,12 @@ def get_indices_fusion(self, pcl_channels: List[str], fusion_alg: str): """ # this contains exactly the fusion alg type for each channel of the pcl pcl_val_list = [self.layer_specs[x] for x in pcl_channels] - # this contains the indeces of the pointcloud where we have to perform a certain fusion + # this contains the indices of the point cloud where we have to perform a certain fusion pcl_indices = cp.array( [idp + 3 for idp, x in enumerate(pcl_val_list) if x == fusion_alg], dtype=np.int32, ) - # create a list of indeces of the layers that will be updated by the pointcloud with specific fusion alg + # create a list of indices of the layers that will be updated by the point cloud with specific fusion alg layer_indices = cp.array([], dtype=np.int32) for it, (key, val) in enumerate(self.layer_specs.items()): if key in pcl_channels and val == fusion_alg: @@ -339,8 +333,6 @@ def update_layers_pointcloud(self, points_all, channels, R, t, elevation_map): sum_alpha[sum_alpha == 0] = 1 self.semantic_map[layer_ids] = self.new_map[layer_ids] / cp.expand_dims(sum_alpha, axis=0) - # assert cp.unique(cp.sum(self.map[layer_ids], axis=0)) equal to zero or to nan - if "class_max" in additional_fusion: # get indices that are of type class_max in pointclopud and in layers pcl_ids, layer_ids = self.get_indices_fusion(channels, "class_max") @@ -379,7 +371,7 @@ def update_layers_pointcloud(self, points_all, channels, R, t, elevation_map): for i, lay in enumerate(layer_ids): c = cp.mgrid[0 : self.new_map.shape[1], 0 : self.new_map.shape[2]] # self.prob_sum[self.elements_to_shift["id_max"][i], c[0], c[1]] += self.new_map[lay] - # todo add residual of prev alpha to the prob_sum + # TODO add residual of prev alpha to the prob_sum # res = 1- self.new_map[lay] # res /= (len(self.unique_id)-1) @@ -466,7 +458,7 @@ def update_layers_image( self.semantic_map[sem_map_idx] = self.new_map[sem_map_idx] else: - raise ValueError("Fusion for image is unkown.") + raise ValueError("Fusion for image is unknown.") def decode_max(self, mer): mer = mer.astype(cp.float32) @@ -489,8 +481,6 @@ def get_rgb(self, name): idx = self.layer_names.index(name) c = self.process_map_for_publish(self.semantic_map[idx]) c = c.astype(np.float32) - # c = xp.uint32(c.get()) - # c.dtype = np.float32 return c def get_semantic(self, name): From e2e2f8e36404e07397e2daf51810492267688875 Mon Sep 17 00:00:00 2001 From: Jonas Frey Date: Mon, 23 Jan 2023 19:08:26 +0100 Subject: [PATCH 325/504] added exponential averaging --- .../script/elevation_mapping_cupy/semantic_map.py | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py index 1eea84b8..f5c2ca4f 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py @@ -16,6 +16,7 @@ ) from elevation_mapping_cupy.kernels import ( average_correspondences_to_map_kernel, + exponential_correspondences_to_map_kernel, color_correspondences_to_map_kernel, ) @@ -148,10 +149,11 @@ def compile_kernels(self) -> None: self.unique_id = cp.array([0]) if "image_exponential" in self.unique_fusion: - self.average_correspondences_to_map_kernel = average_correspondences_to_map_kernel( + self.exponential_correspondences_to_map_kernel = exponential_correspondences_to_map_kernel( resolution=self.param.resolution, width=self.param.cell_n, height=self.param.cell_n, + alpha=0.7 ) if "image_color" in self.unique_fusion: @@ -430,7 +432,7 @@ def update_layers_image( sem_map_idx = self.get_index(channel) if fusion == "image_exponential": - self.average_correspondences_to_map_kernel( + self.exponential_correspondences_to_map_kernel( self.semantic_map, cp.uint64(sem_map_idx), image[j], From bdceaba50a41d65b77a56559ad9aef7ab1ed5f32 Mon Sep 17 00:00:00 2001 From: Jonas Frey Date: Mon, 23 Jan 2023 19:08:47 +0100 Subject: [PATCH 326/504] added kernel --- .../kernels/custom_image_kernels.py | 29 +++++++++++++++++++ 1 file changed, 29 insertions(+) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/custom_image_kernels.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/custom_image_kernels.py index 47770488..07a275e1 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/custom_image_kernels.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/custom_image_kernels.py @@ -151,6 +151,35 @@ def average_correspondences_to_map_kernel(resolution, width, height): return average_correspondences_to_map_kernel +def exponential_correspondences_to_map_kernel(resolution, width, height, alpha): + exponential_correspondences_to_map_kernel = cp.ElementwiseKernel( + in_params="raw U sem_map, raw U map_idx, raw U image_mono, raw U uv_correspondence, raw B valid_correspondence, raw U image_height, raw U image_width", + out_params="raw U new_sem_map", + preamble=string.Template( + """ + __device__ int get_map_idx(int idx, int layer_n) { + const int layer = ${width} * ${height}; + return layer * layer_n + idx; + } + """ + ).substitute(width=width, height=height), + operation=string.Template( + """ + int cell_idx = get_map_idx(i, 0); + if (valid_correspondence[cell_idx]){ + int cell_idx_2 = get_map_idx(i, 1); + int idx = int(uv_correspondence[cell_idx]) + int(uv_correspondence[cell_idx_2]) * image_width; + new_sem_map[get_map_idx(i, map_idx)] = new_sem_map[get_map_idx(i, map_idx)] * (1-${alpha}) + ${alpha} * image_mono[idx]; + }else{ + new_sem_map[get_map_idx(i, map_idx)] = sem_map[get_map_idx(i, map_idx)]; + } + + """ + ).substitute(alpha=alpha), + name="exponential_correspondences_to_map_kernel", + ) + return exponential_correspondences_to_map_kernel + def color_correspondences_to_map_kernel(resolution, width, height): color_correspondences_to_map_kernel = cp.ElementwiseKernel( in_params="raw U sem_map, raw U map_idx, raw U image_rgb, raw U uv_correspondence, raw B valid_correspondence, raw U image_height, raw U image_width", From 92427d1d10d9ac3a19071e40950241c2db85af9b Mon Sep 17 00:00:00 2001 From: Jonas Frey Date: Mon, 23 Jan 2023 21:28:18 +0100 Subject: [PATCH 327/504] fixed bug in exponential averaging --- .../elevation_mapping_cupy/kernels/custom_image_kernels.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/custom_image_kernels.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/custom_image_kernels.py index 07a275e1..526de667 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/custom_image_kernels.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/custom_image_kernels.py @@ -169,7 +169,7 @@ def exponential_correspondences_to_map_kernel(resolution, width, height, alpha): if (valid_correspondence[cell_idx]){ int cell_idx_2 = get_map_idx(i, 1); int idx = int(uv_correspondence[cell_idx]) + int(uv_correspondence[cell_idx_2]) * image_width; - new_sem_map[get_map_idx(i, map_idx)] = new_sem_map[get_map_idx(i, map_idx)] * (1-${alpha}) + ${alpha} * image_mono[idx]; + new_sem_map[get_map_idx(i, map_idx)] = sem_map[get_map_idx(i, map_idx)] * (1-${alpha}) + ${alpha} * image_mono[idx]; }else{ new_sem_map[get_map_idx(i, map_idx)] = sem_map[get_map_idx(i, map_idx)]; } From fef135107996c5b40e603c493f7f58ebca04d4ef Mon Sep 17 00:00:00 2001 From: Gian Date: Tue, 24 Jan 2023 09:12:08 +0100 Subject: [PATCH 328/504] little detail --- .../script/elevation_mapping_cupy/plugins/plugin_manager.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/plugin_manager.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/plugin_manager.py index faa74ebb..d780a59f 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/plugin_manager.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/plugin_manager.py @@ -82,7 +82,7 @@ def init(self, plugin_params: List[PluginParams], extra_params: List[Dict]): for name, obj in inspect.getmembers(m): if ( inspect.isclass(obj) - # and issubclass(obj, PluginBase) + and issubclass(obj, PluginBase) and name != "PluginBase" ): # Add cell_n to params From 939f9ecaa06aea74f0d0a42f2f4cf510d61d08e6 Mon Sep 17 00:00:00 2001 From: Gian Date: Sun, 29 Jan 2023 14:54:40 +0100 Subject: [PATCH 329/504] added tests and removed for loops in kernels --- .../elevation_mapping.py | 2 +- .../kernels/custom_semantic_kernels.py | 140 +++---- .../kernels/playground.py | 360 ++++++++++++++++++ .../elevation_mapping_cupy/semantic_map.py | 38 +- 4 files changed, 455 insertions(+), 85 deletions(-) create mode 100644 elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/playground.py diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py index 690b41a0..f48e39ef 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py @@ -429,7 +429,7 @@ def input( position_noise: float, orientation_noise: float, ): - """Input the pointcloud and fuse the new measurements to update the elevation map. + """Input the point cloud and fuse the new measurements to update the elevation map. Args: raw_points (cupy._core.core.ndarray): diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/custom_semantic_kernels.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/custom_semantic_kernels.py index cbcba587..91f91e6c 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/custom_semantic_kernels.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/custom_semantic_kernels.py @@ -7,6 +7,16 @@ def sum_kernel( width, height, ): + """Sums the semantic values of the classes for the exponentiala verage or for the average. + + Args: + resolution: + width: + height: + + Returns: + + """ # input the list of layers, amount of channels can slo be input through kernel sum_kernel = cp.ElementwiseKernel( in_params="raw U p, raw U R, raw U t, raw W pcl_chan, raw W map_lay, raw W pcl_channels", @@ -21,15 +31,15 @@ def sum_kernel( ).substitute(resolution=resolution, width=width, height=height), operation=string.Template( """ - U idx = p[i * pcl_channels[0]]; - U valid = p[i * pcl_channels[0] + 1]; - U inside = p[i * pcl_channels[0] + 2]; + U id = floorf(i/pcl_channels[1]); + int layer = i % pcl_channels[1]; + U idx = p[id * pcl_channels[0]]; + U valid = p[id * pcl_channels[0] + 1]; + U inside = p[id * pcl_channels[0] + 2]; if (valid) { if (inside) { - for ( W it=0;it=theta_max){ - arg_max = map_lay[it]; + arg_max = map_lay[layer]; theta_max = theta; } - } atomicAdd(&newmap[get_map_idx(idx, arg_max)], theta_max); } } @@ -175,12 +185,12 @@ def average_kernel( ).substitute(width=width, height=height), operation=string.Template( """ - U cnt = new_elmap[get_map_idx(i, 2)]; + U id = floorf(i/pcl_channels[1]); + int layer = i % pcl_channels[1]; + U cnt = new_elmap[get_map_idx(id, 2)]; if (cnt>0){ - for ( int it=0;it0){ - for ( int it=0;it0){ - for ( int it=0;it0){ - for ( int it=0;it=0){ // unsigned int prev_r = get_r(prev_color); // unsigned int prev_g = get_g(prev_color); // unsigned int prev_b = get_b(prev_color); - // unsigned int r = prev_r/2 + color_map[get_map_idx(i, it*3)]/(2*cnt); - // unsigned int g = prev_g/2 + color_map[get_map_idx(i, it*3+1)]/(2*cnt); - // unsigned int b = prev_b/2 + color_map[get_map_idx(i, it*3+2)]/(2*cnt); + // unsigned int r = prev_r/2 + color_map[get_map_idx(i, layer*3)]/(2*cnt); + // unsigned int g = prev_g/2 + color_map[get_map_idx(i, layer*3+1)]/(2*cnt); + // unsigned int b = prev_b/2 + color_map[get_map_idx(i, layer*3+2)]/(2*cnt); //} unsigned int rgb = (r<<16) + (g << 8) + b; float rgb_ = __uint_as_float(rgb); - map[get_map_idx(i, map_lay[it])] = rgb_; - } + map[get_map_idx(id, map_lay[layer])] = rgb_; } """ ).substitute(), diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/playground.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/playground.py new file mode 100644 index 00000000..6ee8c623 --- /dev/null +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/playground.py @@ -0,0 +1,360 @@ +import cupy as cp + +from elevation_mapping_cupy.parameter import Parameter + +from elevation_mapping_cupy.kernels import ( + add_points_kernel, + +) +from elevation_mapping_cupy.kernels import ( + average_kernel, + class_average_kernel, + alpha_kernel, + bayesian_inference_kernel, + add_color_kernel, + color_average_kernel, + sum_compact_kernel, + sum_max_kernel, + sum_kernel, +) + +def add_points_to_map(points_all): + """Add points to map. + TODO fine tune the parameters to make it work""" + param = Parameter() + param.ramped_height_range_a = 10 + param.ramped_height_range_b = 0.001 + param.ramped_height_range_c = 10 + param.min_valid_distance = 0.001 + param.max_height_range = 10.0 + add_points_kernel_ = add_points_kernel( + 0.2, + 4, + 4, + param.sensor_noise_factor, + param.mahalanobis_thresh, + param.outlier_variance, + param.wall_num_thresh, + param.max_ray_length, + param.cleanup_step, + param.min_valid_distance, + param.max_height_range, + param.cleanup_cos_thresh, + param.ramped_height_range_a, + param.ramped_height_range_b, + param.ramped_height_range_c, + param.enable_edge_sharpen, + param.enable_visibility_cleanup, + ) + # create points + points_all = cp.array([[0.1, 0.1, 0.1, 0.1], [0.1, 0.1, 0.1, 0.1], [0.1, 0.1, 0.1, 0.1]], dtype=cp.float32) + points = points_all[:, :3] + elevation_map = cp.zeros((3, 3, 3), dtype=cp.float32) + normal_map = cp.zeros((3, 3, 3), dtype=cp.float32) + new_map = cp.zeros((3, 3, 3), dtype=cp.float32) + R = cp.eye(3, dtype=cp.float32) + t = cp.array([0, 0, 0], dtype=cp.float32) + + add_points_kernel_( + cp.array([0.0], dtype=cp.float32), + cp.array([0.0], dtype=cp.float32), + R, + t, + normal_map, + points, + elevation_map, + new_map, + size=(points.shape[0]), + ) + print("idx, valid, inside, values") + points_all[:, 0] = 1 + points_all[:, 1:3] = 1.0 + print("points all after", points_all) + + +def sum_kernel_fct(): + # create points + points_all = cp.array([[0.1, 0.1, 0.1, 0.3], [0.1, 0.1, 0.1, 0.1], [0.1, 0.1, 0.1, 0.1]], dtype=cp.float32) + points = points_all[:, :3] + # arguments for kernel + semantic_map = cp.zeros((1, 3, 3), dtype=cp.float32) + new_map = cp.zeros((1, 3, 3), dtype=cp.float32) + pcl_ids, layer_ids = cp.array([3], dtype=cp.int32), cp.array([0], dtype=cp.int32) + R = cp.eye(3, dtype=cp.float32) + t = cp.array([0, 0, 0], dtype=cp.float32) + # compile kernel + sum_kernel_ = sum_kernel( + 0.9, + 4, + 4, + ) + # simulating adding the points + print("idx, valid, inside, values") + points_all[:, 0] = 1 + points_all[:, 1:3] = 1.0 + print("points all after ", points_all) + # run the kernel + sum_kernel_( + points_all, + R, + t, + pcl_ids, + layer_ids, + cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=cp.int32), + semantic_map, + new_map, + size=(points_all.shape[0]*pcl_ids.shape[0]), + ) + print("semantic_map", semantic_map) + print("new_map", new_map) + + +def average_kernel_fct(): + points_all = cp.array([[0.1, 0.1, 0.1, 0.3], [0.1, 0.1, 0.1, 0.1], [0.1, 0.1, 0.1, 0.1]], dtype=cp.float32) + elevation_map = cp.zeros((3, 4, 4), dtype=cp.float32) + elevation_map[2] = 12 + semantic_map = cp.zeros((1,4, 4), dtype=cp.float32) + new_map = cp.ones((1, 4, 4), dtype=cp.float32) + pcl_ids, layer_ids = cp.array([3], dtype=cp.int32), cp.array([0], dtype=cp.int32) + R = cp.eye(3, dtype=cp.float32) + t = cp.array([0, 0, 0], dtype=cp.float32) + # compile kernel + average_kernel_ = average_kernel( + 4, + 4, + ) + cell_n = 4 + print("new_map", new_map) + print("semantic_map", semantic_map) + print("elevation_map", elevation_map) + + average_kernel_( + new_map, + pcl_ids, + layer_ids, + cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=cp.int32), + elevation_map, + semantic_map, + size=(cell_n * cell_n*pcl_ids.shape[0]), + ) + print("semantic_map", semantic_map) + +def color_kernel(): + # params + cell_n = 4 + pcl_ids, layer_ids = cp.array([3], dtype=cp.int32), cp.array([0], dtype=cp.int32) + R = cp.eye(3, dtype=cp.float32) + t = cp.array([0, 0, 0], dtype=cp.float32) + points_all = cp.array([[0.1, 0.1, 0.1, 0.3], [0.1, 0.1, 0.1, 0.1], [0.1, 0.1, 0.1, 0.1]], dtype=cp.float32) + semantic_map = cp.zeros((1,4, 4), dtype=cp.float32) + + # compile kernel + add_color_kernel_ = add_color_kernel( + cell_n, + cell_n, + ) + color_average_kernel_ = color_average_kernel(cell_n, cell_n) + + # updatelayer + color_map = cp.zeros( + (1 + 3 * layer_ids.shape[0], cell_n, cell_n), + dtype=cp.uint32, + ) + + points_all = points_all.astype(cp.float32) + add_color_kernel_( + points_all, + R, + t, + pcl_ids, + layer_ids, + cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=cp.int32), + color_map, + size=(points_all.shape[0]*pcl_ids.shape[0]), + ) + color_average_kernel_( + color_map, + pcl_ids, + layer_ids, + cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=cp.int32), + semantic_map, + size=(cell_n * cell_n*pcl_ids.shape[0]), + ) + print(color_map) + +def bayesian_inference_kernel_fct(): + # params + cell_n = 4 + resolution = 0.9 + elevation_map = cp.zeros((3, 4, 4), dtype=cp.float32) + elevation_map[2] = 12 + semantic_map = cp.zeros((1,4, 4), dtype=cp.float32) + new_map = cp.ones((1, 4, 4), dtype=cp.float32) + pcl_ids, layer_ids = cp.array([3], dtype=cp.int32), cp.array([0], dtype=cp.int32) + R = cp.eye(3, dtype=cp.float32) + t = cp.array([0, 0, 0], dtype=cp.float32) + points_all = cp.array([[0.1, 0.1, 0.1, 0.3], [0.1, 0.1, 0.1, 0.1], [0.1, 0.1, 0.1, 0.1]], dtype=cp.float32) + semantic_map = cp.zeros((1,4, 4), dtype=cp.float32) + + # compile kernel + sum_mean = cp.ones( + ( + pcl_ids.shape[0], + cell_n, + cell_n, + ), + cp.float32, + ) + # TODO initialize the variance with a value different than 0 + sum_compact_kernel_ = sum_compact_kernel( + resolution, + cell_n, + cell_n, + ) + bayesian_inference_kernel_ = bayesian_inference_kernel( + cell_n, + cell_n, + ) + + # updatelayer + sum_mean *= 0 + sum_compact_kernel_( + points_all, + R, + t, + pcl_ids, + layer_ids, + cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=cp.int32), + sum_mean, + size=(points_all.shape[0]*pcl_ids.shape[0]), + ) + bayesian_inference_kernel_( + pcl_ids, + layer_ids, + cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=cp.int32), + elevation_map, + new_map, + sum_mean, + semantic_map, + size=(cell_n * cell_n*pcl_ids.shape[0]), + ) + print("semantic_map", semantic_map) + + +def class_average_kernel_fct(): + # params + cell_n = 4 + resolution = 0.9 + average_weight = 0.5 + map_shape = (4, 4, 4) + elevation_map = cp.zeros((3,4,4), dtype=cp.float32) + elevation_map[2] = 3 + semantic_map = cp.zeros(map_shape, dtype=cp.float32) + new_map = cp.zeros(map_shape, dtype=cp.float32) + pcl_ids, layer_ids = cp.array([3,4], dtype=cp.int32), cp.array([1,2], dtype=cp.int32) + R = cp.eye(3, dtype=cp.float32) + t = cp.array([0, 0, 0], dtype=cp.float32) + points_all = cp.array([[0.1, 0.1, 0.1, 0.3,0.3], [0.1, 0.1, 0.1, 0.1,0.2], [0.1, 0.1, 0.1, 0.1,0.2]], dtype=cp.float32) + # compile kernel + sum_kernel_ = sum_kernel( + 0.9, + 4, + 4, + ) + class_average_kernel_ = class_average_kernel( + cell_n, + cell_n, + average_weight, + ) + print("x,y,z,class") + print("points all after ", points_all) + + # simulating adding the points + print("idx, valid, inside, values") + points_all[:, 0] = 1 + points_all[:, 1:3] = 1.0 + print("points all after ", points_all) + # run the kernel + sum_kernel_( + points_all, + R, + t, + pcl_ids, + layer_ids, + cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=cp.int32), + semantic_map, + new_map, + size=(points_all.shape[0]*pcl_ids.shape[0]), + ) + print("new_map bef", new_map) + print("pcl_ids.shape[0]", pcl_ids.shape[0]) + class_average_kernel_( + new_map, + pcl_ids, + layer_ids, + cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=cp.int32), + elevation_map, + semantic_map, + size=(cell_n * cell_n*pcl_ids.shape[0]), + ) + print("semantic_map", semantic_map) + print("new_map", new_map) + +def class_bayesian_inference_fct(): + # params + cell_n = 4 + resolution = 0.9 + average_weight = 0.5 + elevation_map = cp.zeros((3, 4, 4), dtype=cp.float32) + elevation_map[2] = 3 + semantic_map = cp.zeros((1,4, 4), dtype=cp.float32) + new_map = cp.zeros((1, 4, 4), dtype=cp.float32) + pcl_ids, layer_ids = cp.array([3], dtype=cp.int32), cp.array([0], dtype=cp.int32) + R = cp.eye(3, dtype=cp.float32) + t = cp.array([0, 0, 0], dtype=cp.float32) + points_all = cp.array([[0.1, 0.1, 0.1, 0.3], [0.1, 0.1, 0.1, 0.1], [0.1, 0.1, 0.1, 0.1]], dtype=cp.float32) + semantic_map = cp.zeros((1,4, 4), dtype=cp.float32) + # compile kernel + alpha_kernel_ = alpha_kernel( + resolution, + cell_n, + cell_n, + ) + # simulating adding the points + print("idx, valid, inside, values") + points_all[:, 0] = 1 + points_all[:, 1:3] = 1.0 + print("points all after ", points_all) + # run the kernel + alpha_kernel_( + points_all, + pcl_ids, + layer_ids, + cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=cp.int32), + new_map, + size=(points_all.shape[0]*pcl_ids.shape[0]), + ) + # calculate new thetas + sum_alpha = cp.sum(new_map[layer_ids], axis=0) + # do not divide by zero + sum_alpha[sum_alpha == 0] = 1 + semantic_map[layer_ids] = new_map[layer_ids] / cp.expand_dims(sum_alpha, axis=0) + print("semantic_map", semantic_map) + print("new_map", new_map) + + + + +if __name__ == "__main__": + # average + sum_kernel_fct() + average_kernel_fct() + # color kernel + color_kernel() + # bayesian inference + bayesian_inference_kernel_fct() + # class average + class_average_kernel_fct() + # class bayesian inference + class_bayesian_inference_fct() + diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py index 1eea84b8..6e0b5dc7 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py @@ -142,7 +142,7 @@ def compile_kernels(self) -> None: layer_cnt = self.param.fusion_algorithms.count("class_max") id_max = cp.zeros( (layer_cnt, self.param.cell_n, self.param.cell_n), - dtype=np.uint32, + dtype=cp.uint32, ) self.elements_to_shift["id_max"] = id_max self.unique_id = cp.array([0]) @@ -212,10 +212,10 @@ def get_fusion_of_pcl(self, channels: List[str]) -> List[str]: return fusion_list def get_layer_indices(self, fusion_alg): - layer_indices = cp.array([], dtype=np.int32) + layer_indices = cp.array([], dtype=cp.int32) for it, (key, val) in enumerate(self.layer_specs.items()): if key in val == fusion_alg: - layer_indices = cp.append(layer_indices, it).astype(np.int32) + layer_indices = cp.append(layer_indices, it).astype(cp.int32) return layer_indices def get_indices_fusion(self, pcl_channels: List[str], fusion_alg: str): @@ -235,13 +235,13 @@ def get_indices_fusion(self, pcl_channels: List[str], fusion_alg: str): # this contains the indices of the point cloud where we have to perform a certain fusion pcl_indices = cp.array( [idp + 3 for idp, x in enumerate(pcl_val_list) if x == fusion_alg], - dtype=np.int32, + dtype=cp.int32, ) # create a list of indices of the layers that will be updated by the point cloud with specific fusion alg - layer_indices = cp.array([], dtype=np.int32) + layer_indices = cp.array([], dtype=cp.int32) for it, (key, val) in enumerate(self.layer_specs.items()): if key in pcl_channels and val == fusion_alg: - layer_indices = cp.append(layer_indices, it).astype(np.int32) + layer_indices = cp.append(layer_indices, it).astype(cp.int32) return pcl_indices, layer_indices def update_layers_pointcloud(self, points_all, channels, R, t, elevation_map): @@ -255,7 +255,7 @@ def update_layers_pointcloud(self, points_all, channels, R, t, elevation_map): t, pcl_ids, layer_ids, - cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=np.int32), + cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=cp.int32), self.semantic_map, self.new_map, size=(points_all.shape[0]), @@ -264,7 +264,7 @@ def update_layers_pointcloud(self, points_all, channels, R, t, elevation_map): self.new_map, pcl_ids, layer_ids, - cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=np.int32), + cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=cp.int32), elevation_map, self.semantic_map, size=(self.param.cell_n * self.param.cell_n), @@ -278,14 +278,14 @@ def update_layers_pointcloud(self, points_all, channels, R, t, elevation_map): t, pcl_ids, layer_ids, - cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=np.int32), + cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=cp.int32), self.sum_mean, size=(points_all.shape[0]), ) self.bayesian_inference_kernel( pcl_ids, layer_ids, - cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=np.int32), + cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=cp.int32), elevation_map, self.new_map, self.sum_mean, @@ -300,19 +300,19 @@ def update_layers_pointcloud(self, points_all, channels, R, t, elevation_map): t, pcl_ids, layer_ids, - cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=np.int32), + cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=cp.int32), self.semantic_map, self.new_map, - size=(points_all.shape[0]), + size=(points_all.shape[0]*pcl_ids.shape[0]), ) self.class_average_kernel( self.new_map, pcl_ids, layer_ids, - cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=np.int32), + cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=cp.int32), elevation_map, self.semantic_map, - size=(self.param.cell_n * self.param.cell_n), + size=(self.param.cell_n * self.param.cell_n*pcl_ids.shape[0]), ) if "class_bayesian" in additional_fusion: @@ -323,7 +323,7 @@ def update_layers_pointcloud(self, points_all, channels, R, t, elevation_map): points_all, pcl_ids, layer_ids, - cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=np.int32), + cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=cp.int32), self.new_map, size=(points_all.shape[0]), ) @@ -362,7 +362,7 @@ def update_layers_pointcloud(self, points_all, channels, R, t, elevation_map): layer_ids, cp.array( [points_all.shape[1], pcl_ids.shape[0], pt_id.shape[1]], - dtype=np.int32, + dtype=cp.int32, ), self.prob_sum, size=(points_all.shape[0]), @@ -390,7 +390,7 @@ def update_layers_pointcloud(self, points_all, channels, R, t, elevation_map): pcl_ids, layer_ids = self.get_indices_fusion(channels, "color") self.color_map = cp.zeros( (1 + 3 * layer_ids.shape[0], self.param.cell_n, self.param.cell_n), - dtype=np.uint32, + dtype=cp.uint32, ) points_all = points_all.astype(cp.float32) @@ -400,7 +400,7 @@ def update_layers_pointcloud(self, points_all, channels, R, t, elevation_map): t, pcl_ids, layer_ids, - cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=np.int32), + cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=cp.int32), self.color_map, size=(points_all.shape[0]), ) @@ -408,7 +408,7 @@ def update_layers_pointcloud(self, points_all, channels, R, t, elevation_map): self.color_map, pcl_ids, layer_ids, - cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=np.int32), + cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=cp.int32), self.semantic_map, size=(self.param.cell_n * self.param.cell_n), ) From f974688cc75d63637fb859479fc977b211c98a31 Mon Sep 17 00:00:00 2001 From: Gian Date: Mon, 30 Jan 2023 14:34:24 +0100 Subject: [PATCH 330/504] added kernel tests --- .../kernels/custom_semantic_kernels.py | 2 +- .../test_semantic_kernels.py} | 280 +++++++++--------- 2 files changed, 135 insertions(+), 147 deletions(-) rename elevation_mapping_cupy/script/elevation_mapping_cupy/{kernels/playground.py => tests/test_semantic_kernels.py} (57%) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/custom_semantic_kernels.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/custom_semantic_kernels.py index 91f91e6c..38910c53 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/custom_semantic_kernels.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/custom_semantic_kernels.py @@ -264,7 +264,7 @@ def class_average_kernel( map[get_map_idx(id, map_lay[layer])] = val; } else{ - U val = ${alpha} *prev_val + ${alpha} * newmap[get_map_idx(id, map_lay[layer])]/(cnt); + U val = ${alpha} *prev_val + (1-${alpha}) * newmap[get_map_idx(id, map_lay[layer])]/(cnt); map[get_map_idx(id, map_lay[layer])] = val; } } diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/playground.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_semantic_kernels.py similarity index 57% rename from elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/playground.py rename to elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_semantic_kernels.py index 6ee8c623..2e01a901 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/playground.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_semantic_kernels.py @@ -1,10 +1,11 @@ +import pytest +from elevation_mapping_cupy import parameter, elevation_mapping import cupy as cp from elevation_mapping_cupy.parameter import Parameter from elevation_mapping_cupy.kernels import ( add_points_kernel, - ) from elevation_mapping_cupy.kernels import ( average_kernel, @@ -18,68 +19,75 @@ sum_kernel, ) -def add_points_to_map(points_all): - """Add points to map. - TODO fine tune the parameters to make it work""" - param = Parameter() - param.ramped_height_range_a = 10 - param.ramped_height_range_b = 0.001 - param.ramped_height_range_c = 10 - param.min_valid_distance = 0.001 - param.max_height_range = 10.0 - add_points_kernel_ = add_points_kernel( - 0.2, - 4, - 4, - param.sensor_noise_factor, - param.mahalanobis_thresh, - param.outlier_variance, - param.wall_num_thresh, - param.max_ray_length, - param.cleanup_step, - param.min_valid_distance, - param.max_height_range, - param.cleanup_cos_thresh, - param.ramped_height_range_a, - param.ramped_height_range_b, - param.ramped_height_range_c, - param.enable_edge_sharpen, - param.enable_visibility_cleanup, - ) - # create points - points_all = cp.array([[0.1, 0.1, 0.1, 0.1], [0.1, 0.1, 0.1, 0.1], [0.1, 0.1, 0.1, 0.1]], dtype=cp.float32) - points = points_all[:, :3] - elevation_map = cp.zeros((3, 3, 3), dtype=cp.float32) - normal_map = cp.zeros((3, 3, 3), dtype=cp.float32) - new_map = cp.zeros((3, 3, 3), dtype=cp.float32) + +# to check output run: pytest -rP test_semantic_kernels.py + + +# only kernel where we test only one layer +def test_color_kernel(): + # params + cell_n = 4 + pcl_ids, layer_ids = cp.array([3], dtype=cp.int32), cp.array([0], dtype=cp.int32) R = cp.eye(3, dtype=cp.float32) t = cp.array([0, 0, 0], dtype=cp.float32) + points_all = cp.array([[0.1, 0.1, 0.1, 0.3], [0.1, 0.1, 0.1, 0.1], [0.1, 0.1, 0.1, 0.1]], dtype=cp.float32) + semantic_map = cp.zeros((1, 4, 4), dtype=cp.float32) - add_points_kernel_( - cp.array([0.0], dtype=cp.float32), - cp.array([0.0], dtype=cp.float32), + # compile kernel + add_color_kernel_ = add_color_kernel( + cell_n, + cell_n, + ) + color_average_kernel_ = color_average_kernel(cell_n, cell_n) + + # updatelayer + color_map = cp.zeros( + (1 + 3 * layer_ids.shape[0], cell_n, cell_n), + dtype=cp.uint32, + ) + + points_all = points_all.astype(cp.float32) + add_color_kernel_( + points_all, R, t, - normal_map, - points, - elevation_map, - new_map, - size=(points.shape[0]), + pcl_ids, + layer_ids, + cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=cp.int32), + color_map, + size=(points_all.shape[0] * pcl_ids.shape[0]), ) - print("idx, valid, inside, values") - points_all[:, 0] = 1 - points_all[:, 1:3] = 1.0 - print("points all after", points_all) + color_average_kernel_( + color_map, + pcl_ids, + layer_ids, + cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=cp.int32), + semantic_map, + size=(cell_n * cell_n * pcl_ids.shape[0]), + ) + print(color_map) -def sum_kernel_fct(): +@pytest.mark.parametrize( + "map_shape, points_all,pcl_ids, layer_ids", + [ + ( + (3, 4, 4), + cp.array( + [[0.1, 0.1, 0.1, 0.3, 0.3], [0.1, 0.1, 0.1, 0.1, 0.2], [0.1, 0.1, 0.1, 0.1, 0.2]], dtype=cp.float32 + ), + cp.array([3], dtype=cp.int32), + cp.array([0], dtype=cp.int32), + ), + ], +) +def test_sum_kernel(map_shape, points_all, pcl_ids, layer_ids): # create points - points_all = cp.array([[0.1, 0.1, 0.1, 0.3], [0.1, 0.1, 0.1, 0.1], [0.1, 0.1, 0.1, 0.1]], dtype=cp.float32) + resolution = 0.9 points = points_all[:, :3] # arguments for kernel - semantic_map = cp.zeros((1, 3, 3), dtype=cp.float32) - new_map = cp.zeros((1, 3, 3), dtype=cp.float32) - pcl_ids, layer_ids = cp.array([3], dtype=cp.int32), cp.array([0], dtype=cp.int32) + semantic_map = cp.zeros(map_shape, dtype=cp.float32) + new_map = cp.zeros(map_shape, dtype=cp.float32) R = cp.eye(3, dtype=cp.float32) t = cp.array([0, 0, 0], dtype=cp.float32) # compile kernel @@ -103,19 +111,30 @@ def sum_kernel_fct(): cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=cp.int32), semantic_map, new_map, - size=(points_all.shape[0]*pcl_ids.shape[0]), + size=(points_all.shape[0] * pcl_ids.shape[0]), ) print("semantic_map", semantic_map) print("new_map", new_map) -def average_kernel_fct(): - points_all = cp.array([[0.1, 0.1, 0.1, 0.3], [0.1, 0.1, 0.1, 0.1], [0.1, 0.1, 0.1, 0.1]], dtype=cp.float32) +@pytest.mark.parametrize( + "map_shape, points_all,pcl_ids, layer_ids", + [ + ( + (3, 4, 4), + cp.array( + [[0.1, 0.1, 0.1, 0.3, 0.3], [0.1, 0.1, 0.1, 0.1, 0.2], [0.1, 0.1, 0.1, 0.1, 0.2]], dtype=cp.float32 + ), + cp.array([3], dtype=cp.int32), + cp.array([0], dtype=cp.int32), + ), + ], +) +def test_average_kernel(map_shape, points_all, pcl_ids, layer_ids): elevation_map = cp.zeros((3, 4, 4), dtype=cp.float32) - elevation_map[2] = 12 - semantic_map = cp.zeros((1,4, 4), dtype=cp.float32) - new_map = cp.ones((1, 4, 4), dtype=cp.float32) - pcl_ids, layer_ids = cp.array([3], dtype=cp.int32), cp.array([0], dtype=cp.int32) + elevation_map[2] = points_all.shape[0] + semantic_map = cp.zeros(map_shape, dtype=cp.float32) + new_map = cp.ones(map_shape, dtype=cp.float32) R = cp.eye(3, dtype=cp.float32) t = cp.array([0, 0, 0], dtype=cp.float32) # compile kernel @@ -135,66 +154,34 @@ def average_kernel_fct(): cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=cp.int32), elevation_map, semantic_map, - size=(cell_n * cell_n*pcl_ids.shape[0]), + size=(cell_n * cell_n * pcl_ids.shape[0]), ) print("semantic_map", semantic_map) -def color_kernel(): - # params - cell_n = 4 - pcl_ids, layer_ids = cp.array([3], dtype=cp.int32), cp.array([0], dtype=cp.int32) - R = cp.eye(3, dtype=cp.float32) - t = cp.array([0, 0, 0], dtype=cp.float32) - points_all = cp.array([[0.1, 0.1, 0.1, 0.3], [0.1, 0.1, 0.1, 0.1], [0.1, 0.1, 0.1, 0.1]], dtype=cp.float32) - semantic_map = cp.zeros((1,4, 4), dtype=cp.float32) - - # compile kernel - add_color_kernel_ = add_color_kernel( - cell_n, - cell_n, - ) - color_average_kernel_ = color_average_kernel(cell_n, cell_n) - - # updatelayer - color_map = cp.zeros( - (1 + 3 * layer_ids.shape[0], cell_n, cell_n), - dtype=cp.uint32, - ) - - points_all = points_all.astype(cp.float32) - add_color_kernel_( - points_all, - R, - t, - pcl_ids, - layer_ids, - cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=cp.int32), - color_map, - size=(points_all.shape[0]*pcl_ids.shape[0]), - ) - color_average_kernel_( - color_map, - pcl_ids, - layer_ids, - cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=cp.int32), - semantic_map, - size=(cell_n * cell_n*pcl_ids.shape[0]), - ) - print(color_map) -def bayesian_inference_kernel_fct(): +@pytest.mark.parametrize( + "map_shape, points_all,pcl_ids, layer_ids", + [ + ( + (3, 4, 4), + cp.array( + [[0.1, 0.1, 0.1, 0.3, 0.3], [0.1, 0.1, 0.1, 0.1, 0.2], [0.1, 0.1, 0.1, 0.1, 0.2]], dtype=cp.float32 + ), + cp.array([3], dtype=cp.int32), + cp.array([0], dtype=cp.int32), + ), + ], +) +def test_bayesian_inference_kernel(map_shape, points_all, pcl_ids, layer_ids): # params cell_n = 4 resolution = 0.9 elevation_map = cp.zeros((3, 4, 4), dtype=cp.float32) - elevation_map[2] = 12 - semantic_map = cp.zeros((1,4, 4), dtype=cp.float32) - new_map = cp.ones((1, 4, 4), dtype=cp.float32) - pcl_ids, layer_ids = cp.array([3], dtype=cp.int32), cp.array([0], dtype=cp.int32) + elevation_map[2] = points_all.shape[0] + semantic_map = cp.zeros(map_shape, dtype=cp.float32) + new_map = cp.ones(map_shape, dtype=cp.float32) R = cp.eye(3, dtype=cp.float32) t = cp.array([0, 0, 0], dtype=cp.float32) - points_all = cp.array([[0.1, 0.1, 0.1, 0.3], [0.1, 0.1, 0.1, 0.1], [0.1, 0.1, 0.1, 0.1]], dtype=cp.float32) - semantic_map = cp.zeros((1,4, 4), dtype=cp.float32) # compile kernel sum_mean = cp.ones( @@ -205,7 +192,6 @@ def bayesian_inference_kernel_fct(): ), cp.float32, ) - # TODO initialize the variance with a value different than 0 sum_compact_kernel_ = sum_compact_kernel( resolution, cell_n, @@ -215,7 +201,6 @@ def bayesian_inference_kernel_fct(): cell_n, cell_n, ) - # updatelayer sum_mean *= 0 sum_compact_kernel_( @@ -226,7 +211,7 @@ def bayesian_inference_kernel_fct(): layer_ids, cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=cp.int32), sum_mean, - size=(points_all.shape[0]*pcl_ids.shape[0]), + size=(points_all.shape[0] * pcl_ids.shape[0]), ) bayesian_inference_kernel_( pcl_ids, @@ -236,25 +221,35 @@ def bayesian_inference_kernel_fct(): new_map, sum_mean, semantic_map, - size=(cell_n * cell_n*pcl_ids.shape[0]), + size=(cell_n * cell_n * pcl_ids.shape[0]), ) print("semantic_map", semantic_map) -def class_average_kernel_fct(): +@pytest.mark.parametrize( + "map_shape, points_all,pcl_ids, layer_ids", + [ + ( + (4, 4, 4), + cp.array( + [[0.1, 0.1, 0.1, 0.3, 0.3], [0.1, 0.1, 0.1, 0.1, 0.2], [0.1, 0.1, 0.1, 0.1, 0.2]], dtype=cp.float32 + ), + cp.array([3, 4], dtype=cp.int32), + cp.array([1, 2], dtype=cp.int32), + ), + ], +) +def test_class_average_kernel(map_shape, points_all, pcl_ids, layer_ids): # params cell_n = 4 resolution = 0.9 average_weight = 0.5 - map_shape = (4, 4, 4) - elevation_map = cp.zeros((3,4,4), dtype=cp.float32) + elevation_map = cp.zeros((3, 4, 4), dtype=cp.float32) elevation_map[2] = 3 semantic_map = cp.zeros(map_shape, dtype=cp.float32) new_map = cp.zeros(map_shape, dtype=cp.float32) - pcl_ids, layer_ids = cp.array([3,4], dtype=cp.int32), cp.array([1,2], dtype=cp.int32) R = cp.eye(3, dtype=cp.float32) t = cp.array([0, 0, 0], dtype=cp.float32) - points_all = cp.array([[0.1, 0.1, 0.1, 0.3,0.3], [0.1, 0.1, 0.1, 0.1,0.2], [0.1, 0.1, 0.1, 0.1,0.2]], dtype=cp.float32) # compile kernel sum_kernel_ = sum_kernel( 0.9, @@ -284,7 +279,7 @@ def class_average_kernel_fct(): cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=cp.int32), semantic_map, new_map, - size=(points_all.shape[0]*pcl_ids.shape[0]), + size=(points_all.shape[0] * pcl_ids.shape[0]), ) print("new_map bef", new_map) print("pcl_ids.shape[0]", pcl_ids.shape[0]) @@ -295,25 +290,35 @@ def class_average_kernel_fct(): cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=cp.int32), elevation_map, semantic_map, - size=(cell_n * cell_n*pcl_ids.shape[0]), + size=(cell_n * cell_n * pcl_ids.shape[0]), ) print("semantic_map", semantic_map) print("new_map", new_map) -def class_bayesian_inference_fct(): + +@pytest.mark.parametrize( + "map_shape, points_all,pcl_ids, layer_ids", + [ + ( + (4, 4, 4), + cp.array( + [[0.1, 0.1, 0.1, 0.3, 0.3], [0.1, 0.1, 0.1, 0.1, 0.2], [0.1, 0.1, 0.1, 0.1, 0.2]], dtype=cp.float32 + ), + cp.array([3, 4], dtype=cp.int32), + cp.array([1, 2], dtype=cp.int32), + ), + ], +) +def test_class_bayesian_inference_fct(map_shape, points_all, pcl_ids, layer_ids): # params cell_n = 4 resolution = 0.9 - average_weight = 0.5 elevation_map = cp.zeros((3, 4, 4), dtype=cp.float32) - elevation_map[2] = 3 - semantic_map = cp.zeros((1,4, 4), dtype=cp.float32) - new_map = cp.zeros((1, 4, 4), dtype=cp.float32) - pcl_ids, layer_ids = cp.array([3], dtype=cp.int32), cp.array([0], dtype=cp.int32) + elevation_map[2] = points_all.shape[0] + semantic_map = cp.zeros(map_shape, dtype=cp.float32) + new_map = cp.zeros(map_shape, dtype=cp.float32) R = cp.eye(3, dtype=cp.float32) t = cp.array([0, 0, 0], dtype=cp.float32) - points_all = cp.array([[0.1, 0.1, 0.1, 0.3], [0.1, 0.1, 0.1, 0.1], [0.1, 0.1, 0.1, 0.1]], dtype=cp.float32) - semantic_map = cp.zeros((1,4, 4), dtype=cp.float32) # compile kernel alpha_kernel_ = alpha_kernel( resolution, @@ -332,7 +337,7 @@ def class_bayesian_inference_fct(): layer_ids, cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=cp.int32), new_map, - size=(points_all.shape[0]*pcl_ids.shape[0]), + size=(points_all.shape[0] * pcl_ids.shape[0]), ) # calculate new thetas sum_alpha = cp.sum(new_map[layer_ids], axis=0) @@ -341,20 +346,3 @@ def class_bayesian_inference_fct(): semantic_map[layer_ids] = new_map[layer_ids] / cp.expand_dims(sum_alpha, axis=0) print("semantic_map", semantic_map) print("new_map", new_map) - - - - -if __name__ == "__main__": - # average - sum_kernel_fct() - average_kernel_fct() - # color kernel - color_kernel() - # bayesian inference - bayesian_inference_kernel_fct() - # class average - class_average_kernel_fct() - # class bayesian inference - class_bayesian_inference_fct() - From 94cdbbd22ada2fc07743878451594ae1805e3a83 Mon Sep 17 00:00:00 2001 From: Gian Date: Tue, 31 Jan 2023 14:41:59 +0100 Subject: [PATCH 331/504] added docstring and moved parameters to issues --- .../elevation_mapping.py | 65 +++++++++++++- .../elevation_mapping_cupy/parameter.py | 26 ------ .../elevation_mapping_cupy/semantic_map.py | 85 ++++++++++++++++++- 3 files changed, 148 insertions(+), 28 deletions(-) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py index f48e39ef..3d4d12d1 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py @@ -407,15 +407,26 @@ def clear_overlap_map(self, t): self.elevation_map[:, self.cell_min : self.cell_max, self.cell_min : self.cell_max] = near_map def get_additive_mean_error(self): + """Returns the additive mean error. + + Returns: + + """ return self.additive_mean_error def update_variance(self): + """Adds the time variacne to the valid cells. + """ self.elevation_map[1] += self.param.time_variance * self.elevation_map[2] def update_time(self): + """adds the time interval to the time layer. + """ self.elevation_map[4] += self.param.time_interval def update_upper_bound_with_valid_elevation(self): + """Filters all invalid cell's upper_bound and is_upper_bound layers. + """ mask = self.elevation_map[2] > 0.5 self.elevation_map[5] = cp.where(mask, self.elevation_map[0], self.elevation_map[5]) self.elevation_map[6] = cp.where(mask, 0.0, self.elevation_map[6]) @@ -559,12 +570,28 @@ def process_map_for_publish(self, input_map, fill_nan=False, add_z=False, xp=cp) return m[1:-1, 1:-1] def get_elevation(self): + """Get the elevation layer. + + Returns: + elevation layer + + """ return self.process_map_for_publish(self.elevation_map[0], fill_nan=True, add_z=True) def get_variance(self): + """Get the variance layer. + + Returns: + variance layer + """ return self.process_map_for_publish(self.elevation_map[1], fill_nan=False, add_z=False) def get_traversability(self): + """Get the traversability layer. + + Returns: + traversability layer + """ traversability = cp.where( (self.elevation_map[2] + self.elevation_map[6]) > 0.5, self.elevation_map[3].copy(), @@ -575,9 +602,19 @@ def get_traversability(self): return traversability def get_time(self): + """Get the time layer. + + Returns: + time layer + """ return self.process_map_for_publish(self.elevation_map[4], fill_nan=False, add_z=False) def get_upper_bound(self): + """Get the upper bound layer. + + Returns: + upper_bound: upper bound layer + """ if self.param.use_only_above_for_upper_bound: valid = cp.logical_or( cp.logical_and(self.elevation_map[5] > 0.0, self.elevation_map[6] > 0.5), @@ -590,6 +627,11 @@ def get_upper_bound(self): return upper_bound def get_is_upper_bound(self): + """Get the is upper bound layer. + + Returns: + is_upper_bound: layer + """ if self.param.use_only_above_for_upper_bound: valid = cp.logical_or( cp.logical_and(self.elevation_map[5] > 0.0, self.elevation_map[6] > 0.5), @@ -608,7 +650,7 @@ def xp_of_array(self, array): array (cupy._core.core.ndarray): Returns: - module: + module: either np or cp """ if type(array) == cp.ndarray: return cp @@ -705,6 +747,11 @@ def get_map_with_name_ref(self, name, data): self.copy_to_cpu(m, data, stream=stream) def get_normal_maps(self): + """Get the normal maps. + + Returns: + maps: the three normal values for each cell + """ normal = self.normal_map.copy() normal_x = normal[0, 1:-1, 1:-1] normal_y = normal[1, 1:-1, 1:-1] @@ -716,6 +763,13 @@ def get_normal_maps(self): return maps def get_normal_ref(self, normal_x_data, normal_y_data, normal_z_data): + """Get the normal maps as reference. + + Args: + normal_x_data: + normal_y_data: + normal_z_data: + """ maps = self.get_normal_maps() self.stream = cp.cuda.Stream(non_blocking=True) normal_x_data[...] = xp.asnumpy(maps[0], stream=self.stream) @@ -723,6 +777,15 @@ def get_normal_ref(self, normal_x_data, normal_y_data, normal_z_data): normal_z_data[...] = xp.asnumpy(maps[2], stream=self.stream) def get_layer(self, name): + """Return the layer with the name input. + + Args: + name: The layers name. + + Returns: + return_map: The rqeuested layer. + + """ if name in self.layer_names: idx = self.layer_names.index(name) return_map = self.elevation_map[idx] diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py index 6ef6daf6..165395ff 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py @@ -9,34 +9,8 @@ from dataclasses import field -# todo add these dataclasses -@dataclass -class Subscriber(Serializable): - channels: list = field(default_factory=lambda: ["feat_0"]) - fusion: list = field(default_factory=lambda: ["average"]) - topic_name: str = "/elevation_mapping/pointcloud_semantic" - cam_frame: str = "zed2i_right_camera_optical_frame" - cam_info_topic: str = "/zed2i/zed_node/depth/camera_info" - confidence: bool = True - confidence_threshold: int = 10 - confidence_topic: str = "/zed2i/zed_node/confidence/confidence_map" - depth_topic: str = "/zed2i/zed_node/depth/depth_registered" - feature_extractor: bool = False - image_topic: str = "/zed2i/zed_node/left/image_rect_color" - segmentation_model: str = "lraspp_mobilenet_v3_large" - semantic_segmentation: bool = True - show_label_legend: bool = True - data_type: str = "pointcloud" - - -@dataclass -class Subscribers(Serializable): - front_cam: Subscriber = Subscriber - - @dataclass class Parameter(Serializable): - # todo: fix subscriber resolution: float = 0.04 subscriber_cfg: dict = field( default_factory=lambda: { diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py index d5dec269..133c209b 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py @@ -63,6 +63,9 @@ def __init__(self, param: Parameter): self.delete_new_layers = cp.ones(self.new_map.shape[0], cp.bool8) def clear(self): + """Clear the semantic map. + + """ self.semantic_map *= 0.0 def compile_kernels(self) -> None: @@ -192,6 +195,11 @@ def pad_value(self, x, shift_value, idx=None, value=0.0): x[idx, :, shift_value[1] :] = value def shift_map_xy(self, shift_value): + """Shift the map along x,y-axis according to shift values. + + Args: + shift_value: + """ self.semantic_map = cp.roll(self.semantic_map, shift_value, axis=(1, 2)) self.pad_value(self.semantic_map, shift_value, value=0.0) self.new_map = cp.roll(self.new_map, shift_value, axis=(1, 2)) @@ -201,7 +209,7 @@ def shift_map_xy(self, shift_value): self.pad_value(el, shift_value, value=0.0) def get_fusion_of_pcl(self, channels: List[str]) -> List[str]: - """Get all fusion algorithms that need to be applied to a specific pointcloud + """Get all fusion algorithms that need to be applied to a specific pointcloud. Args: channels (List[str]): @@ -214,6 +222,14 @@ def get_fusion_of_pcl(self, channels: List[str]) -> List[str]: return fusion_list def get_layer_indices(self, fusion_alg): + """Get the indices of the layers that are used for a specific fusion algorithm. + + Args: + fusion_alg(str): fusion algorithm name + + Returns: + cp.array: indices of the layers + """ layer_indices = cp.array([], dtype=cp.int32) for it, (key, val) in enumerate(self.layer_specs.items()): if key in val == fusion_alg: @@ -247,6 +263,15 @@ def get_indices_fusion(self, pcl_channels: List[str], fusion_alg: str): return pcl_indices, layer_indices def update_layers_pointcloud(self, points_all, channels, R, t, elevation_map): + """Update the semantic map with the pointcloud. + + Args: + points_all: semantic point cloud + channels: list of channel names + R: rotation matrix + t: translation vector + elevation_map: elevation map object + """ additional_fusion = self.get_fusion_of_pcl(channels) self.new_map[self.delete_new_layers] = 0.0 if "average" in additional_fusion: @@ -424,7 +449,16 @@ def update_layers_image( image_height: cp._core.core.ndarray, image_width: cp._core.core.ndarray, ): + """Update the semantic map with the new image. + Args: + sub_key: + image: + uv_correspondence: + valid_correspondence: + image_height: + image_width: + """ self.new_map *= 0 config = self.param.subscriber_cfg[sub_key] @@ -463,6 +497,15 @@ def update_layers_image( raise ValueError("Fusion for image is unknown.") def decode_max(self, mer): + """Decode the float32 value into two 16 bit value containing the class probability and the class id. + + Args: + mer: + + Returns: + cp.array: probability + cp.array: class id + """ mer = mer.astype(cp.float32) mer = mer.view(dtype=cp.uint32) ma = cp.bitwise_and(mer, 0xFFFF, dtype=np.uint16) @@ -472,6 +515,14 @@ def decode_max(self, mer): return ma, ind def get_map_with_name(self, name): + """Return the map with the given name. + + Args: + name: layer name + + Returns: + cp.array: map + """ if self.layer_specs[name] == "color": m = self.get_rgb(name) return m @@ -480,19 +531,51 @@ def get_map_with_name(self, name): return m def get_rgb(self, name): + """Return the rgb map with the given name. + + Args: + name: + + Returns: + cp.array: rgb map + """ idx = self.layer_names.index(name) c = self.process_map_for_publish(self.semantic_map[idx]) c = c.astype(np.float32) return c def get_semantic(self, name): + """Return the semantic map layer with the given name. + + Args: + name(str): layer name + + Returns: + cp.array: semantic map layer + """ idx = self.layer_names.index(name) c = self.process_map_for_publish(self.semantic_map[idx]) return c def process_map_for_publish(self, input_map): + """Remove padding. + + Args: + input_map(cp.array): map layer + + Returns: + cp.array: map layer without padding + """ m = input_map.copy() return m[1:-1, 1:-1] def get_index(self, name): + """Return the index of the layer with the given name. + + Args: + name(str): + + Returns: + int: index + """ return self.layer_names.index(name) From 2b2a4d55aa299671ebb65b39c3f4d96098c7726c Mon Sep 17 00:00:00 2001 From: Gian Date: Tue, 31 Jan 2023 16:43:41 +0100 Subject: [PATCH 332/504] added heap config --- .../config/heap_parameters.yaml | 94 +++ .../config/heap_plugin_config.yaml | 61 ++ .../config/heap_sensor_parameter.yaml | 31 + .../launch/heap_launch.launch | 18 + elevation_mapping_cupy/rviz/heap.rviz | 600 ++++++++++++++++++ 5 files changed, 804 insertions(+) create mode 100644 elevation_mapping_cupy/config/heap_parameters.yaml create mode 100644 elevation_mapping_cupy/config/heap_plugin_config.yaml create mode 100644 elevation_mapping_cupy/config/heap_sensor_parameter.yaml create mode 100644 elevation_mapping_cupy/launch/heap_launch.launch create mode 100644 elevation_mapping_cupy/rviz/heap.rviz diff --git a/elevation_mapping_cupy/config/heap_parameters.yaml b/elevation_mapping_cupy/config/heap_parameters.yaml new file mode 100644 index 00000000..064e1bb4 --- /dev/null +++ b/elevation_mapping_cupy/config/heap_parameters.yaml @@ -0,0 +1,94 @@ +#### Basic parameters ######## +resolution: 0.04 # resolution in m. +map_length: 20.0 # map's size in m. +sensor_noise_factor: 0.05 # point's noise is sensor_noise_factor*z^2 (z is distance from sensor). +mahalanobis_thresh: 2.0 # points outside this distance is outlier. +outlier_variance: 0.01 # if point is outlier, add this value to the cell. +drift_compensation_variance_inler: 0.05 # cells under this value is used for drift compensation. +max_drift: 0.1 # drift compensation happens only the drift is smaller than this value (for safety) +drift_compensation_alpha: 0.1 # drift compensation alpha for smoother update of drift compensation +time_variance: 0.0001 # add this value when update_variance is called. +max_variance: 100.0 # maximum variance for each cell. +initial_variance: 1000.0 # initial variance for each cell. +traversability_inlier: 0.9 # cells with higher traversability are used for drift compensation. +dilation_size: 3 # dilation filter size before traversability filter. +wall_num_thresh: 20 # if there are more points than this value, only higher points than the current height are used to make the wall more sharp. +min_height_drift_cnt: 100 # drift compensation only happens if the valid cells are more than this number. +position_noise_thresh: 0.01 # if the position change is bigger than this value, the drift compensation happens. +orientation_noise_thresh: 0.01 # if the orientation change is bigger than this value, the drift compensation happens. +position_lowpass_alpha: 0.2 # lowpass filter alpha used for detecting movements. +orientation_lowpass_alpha: 0.2 # lowpass filter alpha used for detecting movements. +min_valid_distance: 0.5 # points with shorter distance will be filtered out. +max_height_range: 1.0 # points higher than this value from sensor will be filtered out to disable ceiling. +ramped_height_range_a: 0.3 # if z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject. +ramped_height_range_b: 1.0 # if z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject. +ramped_height_range_c: 0.2 # if z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject. +update_variance_fps: 5.0 # fps for updating variance. +update_pose_fps: 10.0 # fps for updating pose and shift the center of map. +time_interval: 0.1 # Time layer is updated with this interval. +map_acquire_fps: 5.0 # Raw map is fetched from GPU memory in this fps. +publish_statistics_fps: 1.0 # Publish statistics topic in this fps. + +max_ray_length: 10.0 # maximum length for ray tracing. +cleanup_step: 0.1 # subtitute this value from validity layer at visibiltiy cleanup. +cleanup_cos_thresh: 0.1 # subtitute this value from validity layer at visibiltiy cleanup. + +safe_thresh: 0.7 # if traversability is smaller, it is counted as unsafe cell. +safe_min_thresh: 0.4 # polygon is unsafe if there exists lower traversability than this. +max_unsafe_n: 10 # if the number of cells under safe_thresh exceeds this value, polygon is unsafe. + +overlap_clear_range_xy: 4.0 # xy range [m] for clearing overlapped area. this defines the valid area for overlap clearance. (used for multi floor setting) +overlap_clear_range_z: 2.0 # z range [m] for clearing overlapped area. cells outside this range will be cleared. (used for multi floor setting) + +map_frame: 'map' # The map frame where the odometry source uses. +base_frame: 'BASE' # The robot's base frame. This frame will be a center of the map. +corrected_map_frame: 'map' + +#### Feature toggles ######## +enable_edge_sharpen: true +enable_visibility_cleanup: true +enable_drift_compensation: true +enable_overlap_clearance: false +enable_pointcloud_publishing: false +enable_drift_corrected_TF_publishing: false +enable_normal_color: false # If true, the map contains 'color' layer corresponding to normal. Add 'color' layer to the publishers setting if you want to visualize. + +#### Traversability filter ######## +use_chainer: false # Use chainer as a backend of traversability filter or pytorch. If false, it uses pytorch. pytorch requires ~2GB more GPU memory compared to chainer but runs faster. +weight_file: '$(rospack find elevation_mapping_cupy)/config/weights.dat' # Weight file for traversability filter + +#### Upper bound ######## +use_only_above_for_upper_bound: false + +#### Plugins ######## +plugin_config_file: '$(rospack find elevation_mapping_cupy)/config/heap_plugin_config.yaml' + +#### Subscribers ######## + + +#### Publishers ######## +# topic_name: +# layers: # Choose from 'elevation', 'variance', 'traversability', 'time', 'normal_x', 'normal_y', 'normal_z', 'color', plugin_layer_names +# basic_layers: # basic_layers for valid cell computation (e.g. Rviz): Choose a subset of `layers`. +# fps: # Publish rate. Use smaller value than `map_acquire_fps`. +publishers: + elevation_map_raw: + layers: ['elevation', 'traversability', 'variance'] + basic_layers: ['elevation', 'traversability'] + fps: 5.0 +# elevation_map_recordable: +# layers: ['elevation', 'traversability'] +# basic_layers: ['elevation', 'traversability'] +# fps: 2.0 + elevation_map_filter: + layers: ['min_filter', 'smooth', 'inpaint', 'elevation','rgb_image','sem_fil'] + basic_layers: ['min_filter'] + fps: 3.0 + +#### Initializer ######## +initialize_method: 'linear' # Choose one from 'nearest', 'linear', 'cubic' +initialize_frame_id: ['RH_WHEEL_CONTACT','RF_WHEEL_CONTACT','LH_WHEEL_CONTACT','LF_WHEEL_CONTACT'] # One tf (like ['footprint'] ) initializes a square around it. +initialize_tf_offset: [0.0, 0.0, 0.0, 0.0] # z direction. Should be same number as initialize_frame_id. +dilation_size_initialize: 5 # dilation size after the init. +initialize_tf_grid_size: 2 # This is not used if number of tf is more than 3. +use_initializer_at_start: true # Use initializer when the node starts. diff --git a/elevation_mapping_cupy/config/heap_plugin_config.yaml b/elevation_mapping_cupy/config/heap_plugin_config.yaml new file mode 100644 index 00000000..e18df155 --- /dev/null +++ b/elevation_mapping_cupy/config/heap_plugin_config.yaml @@ -0,0 +1,61 @@ +# Settings of the plugins. (The plugins should be stored in script/plugins) + +# min_filter fills in minimum value around the invalid cell. +min_filter: + enable: True # weather to load this plugin + fill_nan: False # Fill nans to invalid cells of elevation layer. + is_height_layer: True # If this is a height layer (such as elevation) or not (such as traversability) + layer_name: "min_filter" # The layer name. + extra_params: # This params are passed to the plugin class on initialization. + dilation_size: 1 # The patch size to apply + iteration_n: 30 # The number of iterations +# Apply smoothing. +smooth_filter: + enable: True + fill_nan: False + is_height_layer: True + layer_name: "smooth" + extra_params: + input_layer_name: "min_filter" +# Apply inpainting using opencv +inpainting: + enable: True + fill_nan: False + is_height_layer: True + layer_name: "inpaint" + extra_params: + method: "telea" # telea or ns +# Apply smoothing for inpainted layer + +robot_centric_elevation: # Use the same name as your file name. +# type: "robot_centric_elevation" + enable: False # weather to load this plugin + fill_nan: False # Fill nans to invalid cells of elevation layer. + is_height_layer: True # If this is a height layer (such as elevation) or not (such as traversability) + layer_name: "robot_centric_elevation" # The layer name. + extra_params: # This params are passed to the plugin class on initialization. +# add_value: 2.0 # Example param + resolution: 0.04 + threshold: 1.1 + use_threshold: True + +semantic_filter: + type: "semantic_filter" + enable: False + fill_nan: False + is_height_layer: False + layer_name: "sem_fil" + extra_params: + classes: ['grass','tree','fence','dirt'] + +semantic_traversability: + type: "semantic_traversability" + enable: False + fill_nan: False + is_height_layer: False + layer_name: "sem_traversability" + extra_params: + layers: ['traversability','robot_centric_elevation'] + thresholds: [0.3,0.5] + type: ['traversability', 'elevation'] + diff --git a/elevation_mapping_cupy/config/heap_sensor_parameter.yaml b/elevation_mapping_cupy/config/heap_sensor_parameter.yaml new file mode 100644 index 00000000..a0478682 --- /dev/null +++ b/elevation_mapping_cupy/config/heap_sensor_parameter.yaml @@ -0,0 +1,31 @@ +subscribers: + + front_cam: + channels: [] + fusion: [] + topic_name: '/ouster_points_self_filtered' + data_type: pointcloud + +# camera_right_rgb: +# fusion: ['image_color'] +# topic_name_camera: /camUSBRightView/Downsampled +# topic_name_camera_info: /camera_info +# channels: ["rgb_image"] +# data_type: image + + camera_main_rgb: + fusion: ['image_color'] + topic_name_camera: /camMainView/Downsampled + topic_name_camera_info: /camera_info + channels: ["rgb_image"] + data_type: image + + +# camera_cnn: +# topic_name_camera: /src/image +# topic_name_camera_info: /camera_info +# channels: ["mono"] +# fusion: [ 'image_exponential' ] +# data_type: image + + diff --git a/elevation_mapping_cupy/launch/heap_launch.launch b/elevation_mapping_cupy/launch/heap_launch.launch new file mode 100644 index 00000000..c700bbda --- /dev/null +++ b/elevation_mapping_cupy/launch/heap_launch.launch @@ -0,0 +1,18 @@ + + + + + + + + + + + + + + + + + + diff --git a/elevation_mapping_cupy/rviz/heap.rviz b/elevation_mapping_cupy/rviz/heap.rviz new file mode 100644 index 00000000..268b264f --- /dev/null +++ b/elevation_mapping_cupy/rviz/heap.rviz @@ -0,0 +1,600 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: ~ + Splitter Ratio: 0.5 + Tree Height: 288 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + - /Interact1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.4944238066673279 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: Image +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: false + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: false + - Class: rviz/Image + Enabled: true + Image Topic: /camUSBRightView/Downsampled + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: true + - Class: rviz/TF + Enabled: true + Frame Timeout: 15 + Frames: + All Enabled: true + BASE: + Value: true + BASE_inertia: + Value: true + BOOM: + Value: true + CABIN: + Value: true + DIPPER: + Value: true + ENDEFFECTOR: + Value: true + ENDEFFECTOR_CONTACT: + Value: true + GNSS_L: + Value: true + GNSS_R: + Value: true + IMU_base_link: + Value: true + IMU_link: + Value: true + LF_BEAM: + Value: true + LF_BEARING: + Value: true + LF_KNUCKLE: + Value: true + LF_PARALLEL: + Value: true + LF_SWIVEL: + Value: true + LF_WHEEL: + Value: true + LF_WHEEL_CONTACT: + Value: true + LH_BEAM: + Value: true + LH_KNUCKLE: + Value: true + LH_OUTRIGGER: + Value: true + LH_ROTATOR: + Value: true + LH_WHEEL: + Value: true + LH_WHEEL_CONTACT: + Value: true + RF_BEAM: + Value: true + RF_BEARING: + Value: true + RF_KNUCKLE: + Value: true + RF_PARALLEL: + Value: true + RF_SWIVEL: + Value: true + RF_WHEEL: + Value: true + RF_WHEEL_CONTACT: + Value: true + RH_BEAM: + Value: true + RH_KNUCKLE: + Value: true + RH_OUTRIGGER: + Value: true + RH_ROTATOR: + Value: true + RH_WHEEL: + Value: true + RH_WHEEL_CONTACT: + Value: true + ROTO: + Value: true + ROTO_BASE: + Value: true + SHOVEL: + Value: true + TELE: + Value: true + camMainView: + Value: true + compslam_lio/aft_mapped: + Value: true + compslam_lio/aft_mapped_to_init_CORRECTED: + Value: true + compslam_lio/camera: + Value: true + compslam_lio/camera_CORRECTED: + Value: true + compslam_lio/camera_init: + Value: true + compslam_lio/camera_init_CORRECTED: + Value: true + compslam_lio/camera_init_GRAVITY_ALIGNED: + Value: true + compslam_lio/laser_odom: + Value: true + compslam_lio/laser_odom_CORRECTED: + Value: true + imu_box_base_link: + Value: true + imu_box_link: + Value: true + livox_frame: + Value: true + map: + Value: true + odom: + Value: true + os_imu: + Value: true + os_lidar: + Value: true + os_sensor: + Value: true + roof_top_box: + Value: true + Marker Alpha: 1 + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + map: + compslam_lio/camera_init_CORRECTED: + compslam_lio/aft_mapped_to_init_CORRECTED: + {} + compslam_lio/camera_CORRECTED: + {} + compslam_lio/camera_init: + compslam_lio/aft_mapped: + {} + compslam_lio/camera: + {} + compslam_lio/laser_odom: + {} + compslam_lio/camera_init_GRAVITY_ALIGNED: + {} + compslam_lio/laser_odom_CORRECTED: + {} + odom: + BASE: + BASE_inertia: + {} + CABIN: + BOOM: + DIPPER: + TELE: + ROTO_BASE: + ROTO: + ENDEFFECTOR: + SHOVEL: + ENDEFFECTOR_CONTACT: + {} + GNSS_L: + {} + GNSS_R: + {} + camMainView: + livox_frame: + {} + os_sensor: + os_imu: + {} + os_lidar: + {} + roof_top_box: + imu_box_base_link: + imu_box_link: + {} + IMU_base_link: + IMU_link: + {} + LF_SWIVEL: + LF_BEAM: + LF_BEARING: + LF_KNUCKLE: + LF_WHEEL: + LF_WHEEL_CONTACT: + {} + LF_PARALLEL: + {} + LH_ROTATOR: + LH_BEAM: + LH_KNUCKLE: + LH_OUTRIGGER: + {} + LH_WHEEL: + LH_WHEEL_CONTACT: + {} + RF_SWIVEL: + RF_BEAM: + RF_BEARING: + RF_KNUCKLE: + RF_WHEEL: + RF_WHEEL_CONTACT: + {} + RF_PARALLEL: + {} + RH_ROTATOR: + RH_BEAM: + RH_KNUCKLE: + RH_OUTRIGGER: + {} + RH_WHEEL: + RH_WHEEL_CONTACT: + {} + Update Interval: 0 + Value: true + - Class: rviz/Image + Enabled: true + Image Topic: /camMainView/Downsampled + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Class: grid_map_rviz_plugin/GridMap + Color: 200; 200; 200 + Color Layer: rgb_image + Color Transformer: ColorLayer + ColorMap: default + Enabled: true + Grid Cell Decimation: 1 + Grid Line Thickness: 0.10000000149011612 + Height Layer: smooth + Height Transformer: GridMapLayer + History Length: 1 + Invert ColorMap: false + Max Color: 255; 255; 255 + Max Intensity: 10 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: GridMap + Show Grid Lines: true + Topic: /elevation_mapping/elevation_map_filter + Unreliable: false + Use ColorMap: true + Value: true + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + All Links Enabled: true + BASE: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + BASE_inertia: + Alpha: 1 + Show Axes: false + Show Trail: false + BOOM: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + CABIN: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + DIPPER: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + ENDEFFECTOR: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + ENDEFFECTOR_CONTACT: + Alpha: 1 + Show Axes: false + Show Trail: false + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + GNSS_L: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + GNSS_R: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + IMU_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + IMU_link: + Alpha: 1 + Show Axes: false + Show Trail: false + LF_BEAM: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + LF_BEARING: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + LF_KNUCKLE: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + LF_PARALLEL: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + LF_SWIVEL: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + LF_WHEEL: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + LF_WHEEL_CONTACT: + Alpha: 1 + Show Axes: false + Show Trail: false + LH_BEAM: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + LH_KNUCKLE: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + LH_OUTRIGGER: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + LH_ROTATOR: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + LH_WHEEL: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + LH_WHEEL_CONTACT: + Alpha: 1 + Show Axes: false + Show Trail: false + Link Tree Style: Links in Alphabetic Order + RF_BEAM: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + RF_BEARING: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + RF_KNUCKLE: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + RF_PARALLEL: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + RF_SWIVEL: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + RF_WHEEL: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + RF_WHEEL_CONTACT: + Alpha: 1 + Show Axes: false + Show Trail: false + RH_BEAM: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + RH_KNUCKLE: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + RH_OUTRIGGER: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + RH_ROTATOR: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + RH_WHEEL: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + RH_WHEEL_CONTACT: + Alpha: 1 + Show Axes: false + Show Trail: false + ROTO: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + ROTO_BASE: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + SHOVEL: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + TELE: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Name: RobotModel + Robot Description: mm_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + Enabled: true + Global Options: + Background Color: 255; 255; 255 + Default Light: true + Fixed Frame: map + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Select + - Class: rviz/SetInitialPose + Theta std deviation: 0.2617993950843811 + Topic: /initialpose + X std deviation: 0.5 + Y std deviation: 0.5 + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + - Class: rviz/MoveCamera + - Class: rviz/FocusCamera + - Class: rviz/Interact + Hide Inactive Objects: true + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 27.363513946533203 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Field of View: 1 + Focal Point: + X: 4.949670314788818 + Y: 8.161603927612305 + Z: -4.364292144775391 + Focal Shape Fixed Size: false + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.7703982591629028 + Target Frame: + Yaw: 2.9804012775421143 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1016 + Hide Left Dock: false + Hide Right Dock: false + Image: + collapsed: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1848 + X: 72 + Y: 27 From 563ba2f4d205f0fca53ae7e9bee6f6d2c9d6d03b Mon Sep 17 00:00:00 2001 From: Gian Date: Wed, 1 Feb 2023 11:04:15 +0100 Subject: [PATCH 333/504] added sem seg --- .../plugins/semantic_filter.py | 2 +- .../semantic_segmentation_node.py | 197 ++++++++++++++++++ .../semantic_segmentation_parameters.py | 33 +++ 3 files changed, 231 insertions(+), 1 deletion(-) create mode 100755 sensor_processing/semantic_pointcloud/script/semantic_pointcloud/semantic_segmentation_node.py create mode 100644 sensor_processing/semantic_pointcloud/script/semantic_pointcloud/semantic_segmentation_parameters.py diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_filter.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_filter.py index 5ea2cc07..0eccf639 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_filter.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_filter.py @@ -83,7 +83,7 @@ def __call__( layer_indices = cp.array([], dtype=cp.int32) max_idcs = cp.array([], dtype=cp.int32) for it, fusion_alg in enumerate(semantic_map.param.fusion_algorithms): - if fusion_alg in ["class_bayesian", "class_average"]: + if fusion_alg in ["class_bayesian", "class_average", "image_exponential"]: layer_indices = cp.append(layer_indices, it).astype(cp.int32) # we care only for the first max in the display if fusion_alg in ["class_max"] and len(max_idcs) < 1: diff --git a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/semantic_segmentation_node.py b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/semantic_segmentation_node.py new file mode 100755 index 00000000..028eb05d --- /dev/null +++ b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/semantic_segmentation_node.py @@ -0,0 +1,197 @@ +#!/usr/bin/env python + +import rospy +import sys + +import numpy as np +import cupy as cp +import ros_numpy +import matplotlib.pyplot as plt +from skimage.io import imshow + +import message_filters +from sensor_msgs.msg import Image, CameraInfo +from sensor_msgs.msg import PointCloud2, Image +from cv_bridge import CvBridge + +from semantic_pointcloud.semantic_segmentation_parameters import SemanticSegmentationParameter +from semantic_pointcloud.networks import resolve_model +from semantic_pointcloud.utils import decode_max + + +class SemanticSegmentationNode: + def __init__(self, sensor_name): + """Get parameter from server, initialize variables and semantics, register publishers and subscribers. + + Args: + sensor_name (str): Name of the sensor in the ros param server. + """ + # TODO: if this is going to be loaded from another package we might need to change namespace + self.param: SemanticSegmentationParameter = SemanticSegmentationParameter() + self.param.feature_config.input_size = [80, 160] + namesp = rospy.get_name() + if rospy.has_param(namesp + "/subscribers"): + config = rospy.get_param(namesp + "/subscribers") + self.param: SemanticSegmentationParameter = SemanticSegmentationParameter.from_dict(config[sensor_name]) + else: + print("NO ROS ENV found.") + + print("--------------Pointcloud Parameters-------------------") + print(self.param.dumps_yaml()) + print("--------------End of Parameters-----------------------") + self.semseg_color_map = None + # setup custom dtype + # setup semantics + self.feature_extractor = None + self.semantic_model = None + self.initialize_semantics() + + # setup pointcloud creation + self.cv_bridge = CvBridge() + self.P = None + self.header = None + self.register_sub_pub() + self.prediction_img = None + + def initialize_semantics(self): + if self.param.semantic_segmentation: + self.semantic_model = resolve_model(self.param.segmentation_model, self.param) + + if self.param.feature_extractor: + self.feature_extractor = resolve_model(self.param.feature_config.name, self.param.feature_config) + + def register_sub_pub(self): + """Register publishers and subscribers.""" + # subscribers + rospy.Subscriber(self.param.image_topic, Image, self.image_callback) + + # publishers + if self.param.semantic_segmentation: + self.seg_pub = rospy.Publisher(self.param.sem_seg_topic, Image, queue_size=2) + self.seg_im_pub = rospy.Publisher(self.param.sem_seg_image_topic, Image, queue_size=2) + self.semseg_color_map = self.color_map(len(self.param.channels)) + if self.param.show_label_legend: + self.color_map_viz() + if self.param.feature_extractor: + self.feature_pub = rospy.Publisher(self.param.feature_topic, Image, queue_size=2) + + def color_map(self, N=256, normalized=False): + """Create a color map for the class labels. + + Args: + N (int): + normalized (bool): + """ + + def bitget(byteval, idx): + return (byteval & (1 << idx)) != 0 + + dtype = "float32" if normalized else "uint8" + cmap = np.zeros((N + 1, 3), dtype=dtype) + for i in range(N + 1): + r = g = b = 0 + c = i + for j in range(8): + r = r | (bitget(c, 0) << 7 - j) + g = g | (bitget(c, 1) << 7 - j) + b = b | (bitget(c, 2) << 7 - j) + c = c >> 3 + + cmap[i] = np.array([r, g, b]) + + cmap = cmap / 255 if normalized else cmap + return cmap[1:] + + def color_map_viz(self): + """Display the color map of the classes.""" + nclasses = len(self.param.channels) + row_size = 50 + col_size = 500 + if self.param.semantic_segmentation: + cmap = self.semseg_color_map + array = np.empty((row_size * (nclasses), col_size, cmap.shape[1]), dtype=cmap.dtype) + for i in range(nclasses): + array[i * row_size : i * row_size + row_size, :] = cmap[i] + imshow(array) + plt.yticks([row_size * i + row_size / 2 for i in range(nclasses)], self.param.channels) + plt.xticks([]) + plt.show() + + def image_callback(self, rgb_msg): + image = cp.asarray(self.cv_bridge.imgmsg_to_cv2(rgb_msg, desired_encoding="rgb8")) + self.header = rgb_msg.header + self.process_image(image) + + if self.param.semantic_segmentation: + self.publish_segmentation() + self.publish_segmentation_image() + # if self.param.feature_extractor: + # self.publish_feature_image() + + def process_image(self, image): + """Depending on setting generate color, semantic segmentation or feature channels. + + Args: + image: + u: + v: + points: + """ + + if self.param.semantic_segmentation: + self.sem_seg = self.semantic_model["model"](image) + + # if self.feature_channels is not None: + # prediction = self.feature_extractor["model"](image) + + def publish_segmentation(self): + probabilities = self.sem_seg + img = probabilities.get() + img = np.transpose(img, (1, 2, 0)).astype(np.float32) + seg_msg = self.cv_bridge.cv2_to_imgmsg(img, encoding="passthrough") + seg_msg.header.frame_id = self.header.frame_id + seg_msg.header.stamp = self.header.stamp + self.seg_pub.publish(seg_msg) + + def publish_segmentation_image(self): + colors = None + probabilities = self.sem_seg + if self.param.semantic_segmentation: + colors = cp.asarray(self.semseg_color_map) + assert colors.ndim == 2 and colors.shape[1] == 3 + + # prob = cp.zeros((len(self.param.channels),) + probabilities.shape[1:]) + # if "class_max" in self.param.fusion: + # # decode, create an array with all possible classes and insert probabilities + # it = 0 + # for iit, (chan, fuse) in enumerate(zip(self.param.channels, self.param.fusion)): + # if fuse in ["class_max"]: + # temp = probabilities[it] + # temp_p, temp_i = decode_max(temp) + # temp_i.choose(prob) + # c = cp.mgrid[0 : temp_i.shape[0], 0 : temp_i.shape[1]] + # prob[temp_i, c[0], c[1]] = temp_p + # it += 1 + # elif fuse in ["class_bayesian", "class_average"]: + # # assign fixed probability to correct index + # if chan in self.semantic_model["model"].segmentation_channels: + # prob[self.semantic_model["model"].segmentation_channels[chan]] = probabilities[it] + # it += 1 + # img = cp.argmax(prob, axis=0) + # + # else: + img = cp.argmax(probabilities, axis=0) + img = colors[img].astype(cp.uint8) # N x H x W x 3 + img = img.get() + seg_msg = self.cv_bridge.cv2_to_imgmsg(img, encoding="rgb8") + seg_msg.header.frame_id = self.header.frame_id + seg_msg.header.stamp = self.header.stamp + self.seg_im_pub.publish(seg_msg) + + +if __name__ == "__main__": + arg = sys.argv[1] + sensor_name = arg + rospy.init_node("semantic_segmentation_node", anonymous=True, log_level=rospy.INFO) + node = SemanticSegmentationNode(sensor_name) + rospy.spin() diff --git a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/semantic_segmentation_parameters.py b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/semantic_segmentation_parameters.py new file mode 100644 index 00000000..fc8aeccd --- /dev/null +++ b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/semantic_segmentation_parameters.py @@ -0,0 +1,33 @@ +from dataclasses import dataclass, field +from simple_parsing.helpers import Serializable + + +@dataclass +class FeatureExtractorParameter(Serializable): + name: str = "DINO" + interpolation: str = "bilinear" + model: str = "vit_small" + patch_size: int = 16 + dim: int = 5 + dropout: bool = False + dino_feat_type: str = "feat" + projection_type: str = "nonlinear" + input_size: list = field(default_factory=lambda: [80, 160]) + + +@dataclass +class SemanticSegmentationParameter(Serializable): + image_topic: str = "/alphasense_driver_ros/cam4/debayered" + + semantic_segmentation: bool = True + sem_seg_topic: str = "/elevation_mapping/semantic_seg" + sem_seg_image_topic: str = "/elevation_mapping/semantic_seg_im" + segmentation_model: str = "detectron_coco_panoptic_fpn_R_101_3x" + show_label_legend: bool = False + channels: list = field(default_factory=lambda: ["grass", "road", "tree", "sky"]) + fusion: list = field(default_factory=lambda: ["class_average", "class_average", "class_average", "class_average"]) + + feature_extractor: bool = False + feature_config: FeatureExtractorParameter = FeatureExtractorParameter + # feature_config.input_size: list = field(default_factory=lambda: [80, 160]) + feature_topic: str = "/elevation_mapping/semantic_seg_feat" From be154147ffaa4a96a7b0c9557698e14b0032b93a Mon Sep 17 00:00:00 2001 From: Gian Date: Fri, 3 Feb 2023 18:05:30 +0100 Subject: [PATCH 334/504] not working pca has some weird stuff --- .../plugins/features_pca.py | 78 +++++++++++++++++++ .../elevation_mapping_cupy/semantic_map.py | 4 +- .../semantic_pointcloud/pointcloud_node.py | 33 +++++++- .../pointcloud_parameters.py | 1 + 4 files changed, 112 insertions(+), 4 deletions(-) create mode 100644 elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/features_pca.py diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/features_pca.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/features_pca.py new file mode 100644 index 00000000..69b246b5 --- /dev/null +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/features_pca.py @@ -0,0 +1,78 @@ +# +# Copyright (c) 2022, Takahiro Miki. All rights reserved. +# Licensed under the MIT license. See LICENSE file in the project root for details. +# +import cupy as cp +import numpy as np +from typing import List + +from elevation_mapping_cupy.plugins.plugin_manager import PluginBase +from sklearn.decomposition import PCA + + +class FeaturesPca(PluginBase): + def __init__( + self, + cell_n: int = 100, + **kwargs, + ): + """This is a filter to create a pca layer of the semantic features in the map. + + Args: + cell_n (int): width and height of the elevation map. + classes (ruamel.yaml.comments.CommentedSeq): + **kwargs (): + """ + super().__init__() + self.indices = [] + + def __call__( + self, + elevation_map: cp.ndarray, + layer_names: List[str], + plugin_layers: cp.ndarray, + plugin_layer_names: List[str], + semantic_map, + *args, + ) -> cp.ndarray: + """ + + Args: + elevation_map (cupy._core.core.ndarray): + layer_names (List[str]): + plugin_layers (cupy._core.core.ndarray): + plugin_layer_names (List[str]): + semantic_map (elevation_mapping_cupy.semantic_map.SemanticMap): + *args (): + + Returns: + cupy._core.core.ndarray: + """ + # get indices of all layers that contain semantic features information + layer_indices = cp.array([], dtype=cp.int32) + for it, fusion_alg in enumerate(semantic_map.param.fusion_algorithms): + if fusion_alg in ["average", "bayesian_inference"]: + layer_indices = cp.append(layer_indices, it).astype(cp.int32) + + n_c = semantic_map.semantic_map[layer_indices].shape[1] + comp_img = np.zeros((n_c, n_c, 3), dtype=np.float32) + # check which has the highest value + if len(layer_indices) > 0: + data = cp.reshape(semantic_map.semantic_map[layer_indices], (len(layer_indices), -1)).T.get() + n_components = 3 + pca = PCA(n_components=n_components).fit(data) + pca_descriptors = pca.transform(data) + img_pca = pca_descriptors.reshape(n_c, n_c, n_components) + comp = img_pca # [:, :, -3:] + var = comp.std(axis=(0, 1)) + comp_min = comp.min(axis=(0, 1)) + comp_max = comp.max(axis=(0, 1)) + if (comp_max - comp_min).any() != 0: + comp_img = np.divide((comp - comp_min), (comp_max - comp_min)) + map = (comp_img * 255).astype(np.uint8) + r = np.asarray(map[:, :, 0], dtype=np.uint32) + g = np.asarray(map[:, :, 1], dtype=np.uint32) + b = np.asarray(map[:, :, 2], dtype=np.uint32) + rgb_arr = np.array((r << 16) | (g << 8) | (b << 0), dtype=np.uint32) + rgb_arr.dtype = np.float32 + return cp.asarray(rgb_arr) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py index 133c209b..1f858509 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py @@ -285,7 +285,7 @@ def update_layers_pointcloud(self, points_all, channels, R, t, elevation_map): cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=cp.int32), self.semantic_map, self.new_map, - size=(points_all.shape[0]), + size=(points_all.shape[0]*pcl_ids.shape[0]), ) self.average_kernel( self.new_map, @@ -294,7 +294,7 @@ def update_layers_pointcloud(self, points_all, channels, R, t, elevation_map): cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=cp.int32), elevation_map, self.semantic_map, - size=(self.param.cell_n * self.param.cell_n), + size=(self.param.cell_n * self.param.cell_n*pcl_ids.shape[0]), ) if "bayesian_inference" in additional_fusion: pcl_ids, layer_ids = self.get_indices_fusion(channels, "bayesian_inference") diff --git a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_node.py b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_node.py index 42ad5085..8b2e0c10 100755 --- a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_node.py +++ b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_node.py @@ -15,6 +15,7 @@ from semantic_pointcloud.pointcloud_parameters import PointcloudParameter from semantic_pointcloud.networks import resolve_model from semantic_pointcloud.utils import decode_max +from sklearn.decomposition import PCA class PointcloudNode: @@ -53,6 +54,8 @@ def __init__(self, sensor_name): self.header = None self.register_sub_pub() self.prediction_img = None + self.feat_img = None + def initialize_semantics(self): """Resolve the feature and segmentation mode and create segmentation_channel and feature_channels. @@ -115,6 +118,10 @@ def register_sub_pub(self): self.semseg_color_map = self.color_map(len(self.labels)) if self.param.show_label_legend: self.color_map_viz() + if self.param.feature_extractor: + # todo + if True: + self.feat_pub = rospy.Publisher(self.param.feature_config.feature_image_topic, Image, queue_size=2) def color_map(self, N=256, normalized=False): """Create a color map for the class labels. @@ -196,9 +203,13 @@ def image_callback(self, depth_msg, rgb_msg=None,confidence_msg=None): confidence = cp.asarray(self.cv_bridge.imgmsg_to_cv2(confidence_msg, desired_encoding="passthrough")) pcl = self.create_pcl_from_image(image, depth, confidence) + self.publish_pointcloud(pcl, depth_msg.header) + if self.param.publish_segmentation_image: self.publish_segmentation_image(self.prediction_img) - self.publish_pointcloud(pcl, depth_msg.header) + # todo + if False and self.param.feature_extractor: + self.publish_feature_image(self.feat_img) def create_pcl_from_image(self, image, depth, confidence): """Generate the pointcloud from the depth map and process the image. @@ -300,7 +311,9 @@ def extract_features(self, image, points, u, v): values = prediction[:, v.get(), u.get()].cpu().detach().numpy() for it, channel in enumerate(self.feature_channels.keys()): points[channel] = values[it] - + # todo + if False and self.param.feature_extractor: + self.feat_img = prediction def publish_segmentation_image(self, probabilities): if self.param.semantic_segmentation: colors = cp.asarray(self.semseg_color_map) @@ -334,6 +347,22 @@ def publish_segmentation_image(self, probabilities): seg_msg.header.frame_id = self.header.frame_id self.seg_pub.publish(seg_msg) + def publish_feature_image(self, features): + data = np.reshape(features.cpu().detach().numpy(), (features.shape[0], -1)).T + n_components = 3 + pca = PCA(n_components=n_components).fit(data) + pca_descriptors = pca.transform(data) + img_pca = pca_descriptors.reshape(features.shape[1], features.shape[2], n_components) + comp = img_pca #[:, :, -3:] + comp_min = comp.min(axis=(0, 1)) + comp_max = comp.max(axis=(0, 1)) + comp_img = (comp - comp_min) / (comp_max - comp_min) + comp_img = (comp_img * 255).astype(np.uint8) + feat_msg = self.cv_bridge.cv2_to_imgmsg(comp_img, encoding="passthrough") + feat_msg.header.frame_id = self.header.frame_id + self.feat_pub.publish(feat_msg) + + def publish_pointcloud(self, pcl, header): pc2 = ros_numpy.msgify(PointCloud2, pcl) pc2.header = header diff --git a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_parameters.py b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_parameters.py index d7448181..9a329e19 100644 --- a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_parameters.py +++ b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_parameters.py @@ -13,6 +13,7 @@ class FeatureExtractorParameter(Serializable): dino_feat_type: str = "feat" projection_type: str = "nonlinear" input_size: list = field(default_factory=lambda: [80, 160]) + feature_image_topic: str = "/semantic_pointcloud/feature_image" @dataclass From 7475e94352b353ecc22379d15dd18eded4f91f67 Mon Sep 17 00:00:00 2001 From: Gian Date: Mon, 6 Feb 2023 15:01:35 +0100 Subject: [PATCH 335/504] visualization --- .../elevation_mapping_cupy/plugins/features_pca.py | 1 + .../script/elevation_mapping_cupy/semantic_map.py | 1 + .../tests/test_semantic_kernels.py | 12 ++++++------ 3 files changed, 8 insertions(+), 6 deletions(-) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/features_pca.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/features_pca.py index 69b246b5..1c65e264 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/features_pca.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/features_pca.py @@ -59,6 +59,7 @@ def __call__( # check which has the highest value if len(layer_indices) > 0: data = cp.reshape(semantic_map.semantic_map[layer_indices], (len(layer_indices), -1)).T.get() + data = np.clip(data, -1, 1) n_components = 3 pca = PCA(n_components=n_components).fit(data) pca_descriptors = pca.transform(data) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py index 1f858509..288bcc27 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py @@ -296,6 +296,7 @@ def update_layers_pointcloud(self, points_all, channels, R, t, elevation_map): self.semantic_map, size=(self.param.cell_n * self.param.cell_n*pcl_ids.shape[0]), ) + np.save("features.npy",self.semantic_map[layer_ids]) if "bayesian_inference" in additional_fusion: pcl_ids, layer_ids = self.get_indices_fusion(channels, "bayesian_inference") self.sum_mean *= 0 diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_semantic_kernels.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_semantic_kernels.py index 2e01a901..ed7eb85c 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_semantic_kernels.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_semantic_kernels.py @@ -72,12 +72,12 @@ def test_color_kernel(): "map_shape, points_all,pcl_ids, layer_ids", [ ( - (3, 4, 4), + (4, 4, 4), cp.array( [[0.1, 0.1, 0.1, 0.3, 0.3], [0.1, 0.1, 0.1, 0.1, 0.2], [0.1, 0.1, 0.1, 0.1, 0.2]], dtype=cp.float32 ), - cp.array([3], dtype=cp.int32), - cp.array([0], dtype=cp.int32), + cp.array([3, 4], dtype=cp.int32), + cp.array([1, 2], dtype=cp.int32), ), ], ) @@ -121,12 +121,12 @@ def test_sum_kernel(map_shape, points_all, pcl_ids, layer_ids): "map_shape, points_all,pcl_ids, layer_ids", [ ( - (3, 4, 4), + (4, 4, 4), cp.array( [[0.1, 0.1, 0.1, 0.3, 0.3], [0.1, 0.1, 0.1, 0.1, 0.2], [0.1, 0.1, 0.1, 0.1, 0.2]], dtype=cp.float32 ), - cp.array([3], dtype=cp.int32), - cp.array([0], dtype=cp.int32), + cp.array([3, 4], dtype=cp.int32), + cp.array([1, 2], dtype=cp.int32), ), ], ) From 4b1a5c42f6dccca12006b5523ed647607b76289e Mon Sep 17 00:00:00 2001 From: Gian Date: Fri, 10 Feb 2023 09:35:58 +0100 Subject: [PATCH 336/504] added pca from moncular cameras --- .../plugins/features_pca.py | 2 +- .../script/semantic_pointcloud/networks.py | 3 +- .../semantic_segmentation_node.py | 53 ++++++++++++++++--- .../semantic_segmentation_parameters.py | 4 +- 4 files changed, 51 insertions(+), 11 deletions(-) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/features_pca.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/features_pca.py index 1c65e264..f6e6506d 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/features_pca.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/features_pca.py @@ -51,7 +51,7 @@ def __call__( # get indices of all layers that contain semantic features information layer_indices = cp.array([], dtype=cp.int32) for it, fusion_alg in enumerate(semantic_map.param.fusion_algorithms): - if fusion_alg in ["average", "bayesian_inference"]: + if fusion_alg in ["average", "bayesian_inference","image_exponential"]: layer_indices = cp.append(layer_indices, it).astype(cp.int32) n_c = semantic_map.semantic_map[layer_indices].shape[1] diff --git a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/networks.py b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/networks.py index ebd9dcc8..6ddcdb80 100644 --- a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/networks.py +++ b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/networks.py @@ -284,5 +284,6 @@ def __call__(self, image, *args, **kwargs): feat2, code2 = self.model(image.flip(dims=[3])) code = (code1 + code2.flip(dims=[3])) / 2 code = NF.interpolate(code, image.shape[-2:], mode=self.cfg.interpolation, align_corners=False).detach() - code = torch.squeeze(reset_size(code), dim=0) + code = reset_size(code) + code = torch.squeeze(code , dim=0) return code diff --git a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/semantic_segmentation_node.py b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/semantic_segmentation_node.py index 028eb05d..c373f84f 100755 --- a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/semantic_segmentation_node.py +++ b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/semantic_segmentation_node.py @@ -11,12 +11,12 @@ import message_filters from sensor_msgs.msg import Image, CameraInfo -from sensor_msgs.msg import PointCloud2, Image +from sensor_msgs.msg import PointCloud2, Image, CompressedImage from cv_bridge import CvBridge from semantic_pointcloud.semantic_segmentation_parameters import SemanticSegmentationParameter from semantic_pointcloud.networks import resolve_model -from semantic_pointcloud.utils import decode_max +from sklearn.decomposition import PCA class SemanticSegmentationNode: @@ -63,7 +63,14 @@ def initialize_semantics(self): def register_sub_pub(self): """Register publishers and subscribers.""" # subscribers - rospy.Subscriber(self.param.image_topic, Image, self.image_callback) + if "compressed" in self.param.image_topic: + self.compressed = True + self.subscriber = rospy.Subscriber(self.param.image_topic, + CompressedImage, self.image_callback, queue_size=2) + print("Subscribing to compressed image topic: {}".format(self.param.image_topic)) + else: + self.compressed = False + rospy.Subscriber(self.param.image_topic, Image, self.image_callback) # publishers if self.param.semantic_segmentation: @@ -74,6 +81,8 @@ def register_sub_pub(self): self.color_map_viz() if self.param.feature_extractor: self.feature_pub = rospy.Publisher(self.param.feature_topic, Image, queue_size=2) + self.feat_im_pub = rospy.Publisher(self.param.feat_image_topic, Image, queue_size=2) + def color_map(self, N=256, normalized=False): """Create a color map for the class labels. @@ -118,15 +127,19 @@ def color_map_viz(self): plt.show() def image_callback(self, rgb_msg): - image = cp.asarray(self.cv_bridge.imgmsg_to_cv2(rgb_msg, desired_encoding="rgb8")) + if self.compressed: + image = cp.asarray(self.cv_bridge.compressed_imgmsg_to_cv2(rgb_msg)) + else: + image = cp.asarray(self.cv_bridge.imgmsg_to_cv2(rgb_msg, desired_encoding="rgb8")) self.header = rgb_msg.header self.process_image(image) if self.param.semantic_segmentation: self.publish_segmentation() self.publish_segmentation_image() - # if self.param.feature_extractor: - # self.publish_feature_image() + if self.param.feature_extractor: + self.publish_feature() + self.publish_feature_image(self.features) def process_image(self, image): """Depending on setting generate color, semantic segmentation or feature channels. @@ -141,8 +154,8 @@ def process_image(self, image): if self.param.semantic_segmentation: self.sem_seg = self.semantic_model["model"](image) - # if self.feature_channels is not None: - # prediction = self.feature_extractor["model"](image) + if self.param.feature_extractor: + self.features = self.feature_extractor["model"](image) def publish_segmentation(self): probabilities = self.sem_seg @@ -153,6 +166,16 @@ def publish_segmentation(self): seg_msg.header.stamp = self.header.stamp self.seg_pub.publish(seg_msg) + def publish_feature(self): + features = self.features + img = features.cpu().detach().numpy() + img = np.transpose(img, (1, 2, 0)).astype(np.float32) + feature_msg = self.cv_bridge.cv2_to_imgmsg(img, encoding="passthrough") + feature_msg.header.frame_id = self.header.frame_id + feature_msg.header.stamp = self.header.stamp + self.feature_pub.publish(feature_msg) + + def publish_segmentation_image(self): colors = None probabilities = self.sem_seg @@ -188,6 +211,20 @@ def publish_segmentation_image(self): seg_msg.header.stamp = self.header.stamp self.seg_im_pub.publish(seg_msg) + def publish_feature_image(self, features): + data = np.reshape(features.cpu().detach().numpy(), (features.shape[0], -1)).T + n_components = 3 + pca = PCA(n_components=n_components).fit(data) + pca_descriptors = pca.transform(data) + img_pca = pca_descriptors.reshape(features.shape[1], features.shape[2], n_components) + comp = img_pca #[:, :, -3:] + comp_min = comp.min(axis=(0, 1)) + comp_max = comp.max(axis=(0, 1)) + comp_img = (comp - comp_min) / (comp_max - comp_min) + comp_img = (comp_img * 255).astype(np.uint8) + feat_msg = self.cv_bridge.cv2_to_imgmsg(comp_img, encoding="passthrough") + feat_msg.header.frame_id = self.header.frame_id + self.feat_im_pub.publish(feat_msg) if __name__ == "__main__": arg = sys.argv[1] diff --git a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/semantic_segmentation_parameters.py b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/semantic_segmentation_parameters.py index fc8aeccd..4075eb99 100644 --- a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/semantic_segmentation_parameters.py +++ b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/semantic_segmentation_parameters.py @@ -8,7 +8,7 @@ class FeatureExtractorParameter(Serializable): interpolation: str = "bilinear" model: str = "vit_small" patch_size: int = 16 - dim: int = 5 + dim: int = 10 dropout: bool = False dino_feat_type: str = "feat" projection_type: str = "nonlinear" @@ -31,3 +31,5 @@ class SemanticSegmentationParameter(Serializable): feature_config: FeatureExtractorParameter = FeatureExtractorParameter # feature_config.input_size: list = field(default_factory=lambda: [80, 160]) feature_topic: str = "/elevation_mapping/semantic_seg_feat" + feat_image_topic: str = "/elevation_mapping/semantic_seg_feat_im" + From 43c35279e8c0b9920c640a15c6d4f795b747e214 Mon Sep 17 00:00:00 2001 From: Gian Date: Fri, 10 Feb 2023 10:01:03 +0100 Subject: [PATCH 337/504] reformatted code --- .github/workflows/documentation.yml | 2 +- .github/workflows/python-tests.yml | 46 +++---- README.md | 13 +- docs/source/conf.py | 1 - .../getting_started/cuda_installation.rst | 1 - docs/source/index.rst | 1 - elevation_map_msgs/package.xml | 28 ++--- .../config/anymal_parameters.yaml | 12 +- .../config/anymal_plugin_config.yaml | 22 ++-- .../config/anymal_sensor_parameter.yaml | 96 +++++++-------- .../config/heap_parameters.yaml | 20 ++-- .../config/heap_plugin_config.yaml | 22 ++-- .../config/heap_sensor_parameter.yaml | 20 ++-- .../config/lonomy_parameters.yaml | 16 +-- .../config/lonomy_plugin_config.yaml | 22 ++-- .../config/lonomy_sensor_parameter.yaml | 8 +- elevation_mapping_cupy/config/parameters.yaml | 12 +- .../config/plugin_config.yaml | 24 ++-- .../config/sensor_parameter.yaml | 4 +- .../config/sim_parameters.yaml | 12 +- .../config/sim_plugin_config.yaml | 22 ++-- .../config/sim_sensor_parameter.yaml | 20 ++-- .../elevation_mapping_ros.hpp | 12 +- .../elevation_mapping_wrapper.hpp | 2 +- .../anymal_semantic_elevation_single.launch | 23 ++-- .../launch/elevation_mapping_cupy.launch | 10 +- .../launch/heap_launch.launch | 19 ++- .../launch/lonomy_pointcloud.launch | 15 +-- .../lonomy_semantic_elevation_single.launch | 25 ++-- .../sim_semantic_elevation_single.launch | 26 ++-- .../launch/turtlesim_example.launch | 36 +++--- .../launch/turtlesim_pointcloud.launch | 23 ++-- .../turtlesim_segmentation_example.launch | 12 +- .../turtlesim_semantic_elevation.launch | 17 ++- elevation_mapping_cupy/package.xml | 38 +++--- elevation_mapping_cupy/rviz/anymal.rviz | 90 +++++++------- elevation_mapping_cupy/rviz/heap.rviz | 48 ++++---- .../rviz/lonomy_single.rviz | 36 +++--- .../elevation_mapping.py | 9 +- .../kernels/custom_image_kernels.py | 1 + .../plugins/plugin_manager.py | 6 +- .../elevation_mapping_cupy/semantic_map.py | 13 +- .../tests/plugin_config.yaml | 24 ++-- .../src/elevation_mapping_ros.cpp | 70 +++++------ .../src/elevation_mapping_wrapper.cpp | 42 +++---- plane_segmentation/README.md | 10 ++ plane_segmentation/cgal5_catkin/README.md | 1 + plane_segmentation/cgal5_catkin/package.xml | 16 +-- .../convex_plane_decomposition/CMakeLists.txt | 56 ++++----- .../convex_plane_decomposition/package.xml | 20 ++-- .../CMakeLists.txt | 112 +++++++++--------- .../launch/convex_plane_decomposition.launch | 17 +-- .../launch/demo.launch | 92 +++++++------- .../launch/save_elevation_map.launch | 12 +- .../rviz/config_demo.rviz | 2 +- .../grid_map_filters_rsl/package.xml | 24 ++-- .../config/sensor_parameter.yaml | 16 +-- .../launch/semantic_pointcloud.launch | 6 +- .../semantic_pointcloud/package.xml | 31 +++-- .../script/semantic_pointcloud/networks.py | 2 +- .../semantic_pointcloud/pointcloud_node.py | 2 +- 61 files changed, 718 insertions(+), 722 deletions(-) diff --git a/.github/workflows/documentation.yml b/.github/workflows/documentation.yml index 95fa80a3..9da81809 100644 --- a/.github/workflows/documentation.yml +++ b/.github/workflows/documentation.yml @@ -1,5 +1,5 @@ name: Docs -on: [push, pull_request, workflow_dispatch] +on: [ push, pull_request, workflow_dispatch ] jobs: docs: runs-on: ubuntu-latest diff --git a/.github/workflows/python-tests.yml b/.github/workflows/python-tests.yml index 23f732bf..00e81d4a 100644 --- a/.github/workflows/python-tests.yml +++ b/.github/workflows/python-tests.yml @@ -4,7 +4,7 @@ name: Python testing on: push: - branches: [ "feature/2_semantic_python", "feature/**","dev/**"] + branches: [ "feature/2_semantic_python", "feature/**","dev/**" ] # pull_request: # branches: [ "main" ] @@ -14,27 +14,27 @@ permissions: jobs: build: -# runs-on: ubuntu-latest - runs-on: [self-hosted, Linux, X64] + # runs-on: ubuntu-latest + runs-on: [ self-hosted, Linux, X64 ] steps: - - uses: actions/checkout@v3 - - name: Set up Python 3.8 - uses: actions/setup-python@v3 - with: - python-version: "3.8" - - name: Install dependencies - run: | - python -m pip install --upgrade pip - pip install pytest cupy-cuda11x - python -m pip install 'git+https://github.com/facebookresearch/detectron2.git' - pip install torch torchvision torchaudio - if [ -f requirements.txt ]; then pip install -r requirements.txt; fi - - name: Test elevation mapping with pytest - run: | - cd elevation_mapping_cupy/script/elevation_mapping_cupy/tests/ - pytest - - name: Test semantic_pointcloud with pytest - run: | - cd sensor_processing/semantic_pointcloud/script/semantic_pointcloud/tests - pytest test_utils.py + - uses: actions/checkout@v3 + - name: Set up Python 3.8 + uses: actions/setup-python@v3 + with: + python-version: "3.8" + - name: Install dependencies + run: | + python -m pip install --upgrade pip + pip install pytest cupy-cuda11x + python -m pip install 'git+https://github.com/facebookresearch/detectron2.git' + pip install torch torchvision torchaudio + if [ -f requirements.txt ]; then pip install -r requirements.txt; fi + - name: Test elevation mapping with pytest + run: | + cd elevation_mapping_cupy/script/elevation_mapping_cupy/tests/ + pytest + - name: Test semantic_pointcloud with pytest + run: | + cd sensor_processing/semantic_pointcloud/script/semantic_pointcloud/tests + pytest test_utils.py diff --git a/README.md b/README.md index ecb9b977..0811bdf5 100644 --- a/README.md +++ b/README.md @@ -1,10 +1,13 @@ # Elevation Mapping cupy ![python tests](https://github.com/leggedrobotics/elevation_mapping_semantic_cupy/actions/workflows/python-tests.yml/badge.svg) + ## Overview -This is a ROS package for elevation mapping on GPU. The elevation mapping code is written in python and uses cupy for GPU computation. The -plane segmentation is done independently and runs on CPU. When the plane segmentation is generated, local convex approximations of the +This is a ROS package for elevation mapping on GPU. The elevation mapping code is written in python and uses cupy for +GPU computation. The +plane segmentation is done independently and runs on CPU. When the plane segmentation is generated, local convex +approximations of the terrain can be efficiently generated. ![screenshot](doc/main_repo.png) ![gif](doc/convex_approximation.gif) @@ -27,29 +30,27 @@ terrain can be efficiently generated. } ``` - ## Quick instructions to run: For the lonomy bag: CPP wrapper: + ```zsh roslaunch elevation_mapping_cupy lonomy_semantic_elevation_single.launch use_sim_true:=true rosbag play --clock ~/bags/good_working_wine_field_zed_topcom_rtk_person_9_2022-07-15-14-37-05.bag ``` Python wrapper: + ````zsh python -m elevation_mapping_cupy.elevation_mapping_ros roslaunch elevation_mapping_cupy lonomy_pointcloud.launch use_sim_time:=true rosbag play --clock ~/bags/good_working_wine_field_zed_topcom_rtk_person_9_2022-07-15-14-37-05.bag ```` - - For the anymal bag: - ```zsh roslaunch elevation_mapping_cupy anymal_semantic_elevation_single.launch use_sim_time:=true rosbag play --clock ~/bags/anymal_coyote_2022-12-11-20-01-46.bag diff --git a/docs/source/conf.py b/docs/source/conf.py index 37693134..d761f2ff 100644 --- a/docs/source/conf.py +++ b/docs/source/conf.py @@ -19,7 +19,6 @@ html_theme = "sphinx_rtd_theme" html_theme_path = [sphinx_rtd_theme.get_html_theme_path()] - project = "elevation_mapping_cupy" copyright = "2022, Takahiro Miki, Gian Erni" author = "Takahiro Miki, Gian Erni" diff --git a/docs/source/getting_started/cuda_installation.rst b/docs/source/getting_started/cuda_installation.rst index a4a6c1f6..0c4ede99 100644 --- a/docs/source/getting_started/cuda_installation.rst +++ b/docs/source/getting_started/cuda_installation.rst @@ -1,4 +1,3 @@ - Cuda installation ================================================================== .. _cuda_installation: diff --git a/docs/source/index.rst b/docs/source/index.rst index fa842a9a..bef11bf9 100644 --- a/docs/source/index.rst +++ b/docs/source/index.rst @@ -1,4 +1,3 @@ - .. include:: documentation.rst .. toctree:: diff --git a/elevation_map_msgs/package.xml b/elevation_map_msgs/package.xml index 0dc57b6c..5fa7a60a 100644 --- a/elevation_map_msgs/package.xml +++ b/elevation_map_msgs/package.xml @@ -1,19 +1,19 @@ - elevation_map_msgs - 0.0.0 - ROS Message definitions for elevation mapping. - Takahiro Miki - Takahiro Miki - MIT + elevation_map_msgs + 0.0.0 + ROS Message definitions for elevation mapping. + Takahiro Miki + Takahiro Miki + MIT - catkin - - geometry_msgs - message_generation - - geometry_msgs + catkin - - + geometry_msgs + message_generation + + geometry_msgs + + + diff --git a/elevation_mapping_cupy/config/anymal_parameters.yaml b/elevation_mapping_cupy/config/anymal_parameters.yaml index 078214ce..ae2a86e4 100644 --- a/elevation_mapping_cupy/config/anymal_parameters.yaml +++ b/elevation_mapping_cupy/config/anymal_parameters.yaml @@ -70,13 +70,13 @@ plugin_config_file: '$(rospack find elevation_mapping_cupy)/config/anymal_plugin # fps: # Publish rate. Use smaller value than `map_acquire_fps`. publishers: elevation_map_raw: - layers: ['elevation', 'traversability', 'variance'] - basic_layers: ['elevation', 'traversability'] + layers: [ 'elevation', 'traversability', 'variance' ] + basic_layers: [ 'elevation', 'traversability' ] fps: 2.0 semantic_map_raw: - layers: ['elevation', 'traversability', 'variance', 'rgb_image', 'visual_traversability'] - basic_layers: ['elevation', 'traversability'] + layers: [ 'elevation', 'traversability', 'variance', 'rgb_image', 'visual_traversability' ] + basic_layers: [ 'elevation', 'traversability' ] fps: 2.0 # elevation_map_recordable: # layers: ['elevation', 'traversability'] @@ -89,8 +89,8 @@ publishers: #### Initializer ######## initialize_method: 'linear' # Choose one from 'nearest', 'linear', 'cubic' -initialize_frame_id: ['RF_FOOT', 'LF_FOOT', 'RH_FOOT', 'LH_FOOT'] # One tf (like ['footprint'] ) initializes a square around it. -initialize_tf_offset: [0.0, 0.0, 0.0, 0.0] # z direction. Should be same number as initialize_frame_id. +initialize_frame_id: [ 'RF_FOOT', 'LF_FOOT', 'RH_FOOT', 'LH_FOOT' ] # One tf (like ['footprint'] ) initializes a square around it. +initialize_tf_offset: [ 0.0, 0.0, 0.0, 0.0 ] # z direction. Should be same number as initialize_frame_id. dilation_size_initialize: 5 # dilation size after the init. initialize_tf_grid_size: 0.4 # This is not used if number of tf is more than 3. use_initializer_at_start: true # Use initializer when the node starts. diff --git a/elevation_mapping_cupy/config/anymal_plugin_config.yaml b/elevation_mapping_cupy/config/anymal_plugin_config.yaml index e18df155..9630f496 100644 --- a/elevation_mapping_cupy/config/anymal_plugin_config.yaml +++ b/elevation_mapping_cupy/config/anymal_plugin_config.yaml @@ -1,16 +1,16 @@ # Settings of the plugins. (The plugins should be stored in script/plugins) # min_filter fills in minimum value around the invalid cell. -min_filter: +min_filter: enable: True # weather to load this plugin fill_nan: False # Fill nans to invalid cells of elevation layer. is_height_layer: True # If this is a height layer (such as elevation) or not (such as traversability) layer_name: "min_filter" # The layer name. - extra_params: # This params are passed to the plugin class on initialization. + extra_params: # This params are passed to the plugin class on initialization. dilation_size: 1 # The patch size to apply iteration_n: 30 # The number of iterations # Apply smoothing. -smooth_filter: +smooth_filter: enable: True fill_nan: False is_height_layer: True @@ -27,14 +27,14 @@ inpainting: method: "telea" # telea or ns # Apply smoothing for inpainted layer -robot_centric_elevation: # Use the same name as your file name. -# type: "robot_centric_elevation" +robot_centric_elevation: # Use the same name as your file name. + # type: "robot_centric_elevation" enable: False # weather to load this plugin fill_nan: False # Fill nans to invalid cells of elevation layer. is_height_layer: True # If this is a height layer (such as elevation) or not (such as traversability) layer_name: "robot_centric_elevation" # The layer name. - extra_params: # This params are passed to the plugin class on initialization. -# add_value: 2.0 # Example param + extra_params: # This params are passed to the plugin class on initialization. + # add_value: 2.0 # Example param resolution: 0.04 threshold: 1.1 use_threshold: True @@ -46,7 +46,7 @@ semantic_filter: is_height_layer: False layer_name: "sem_fil" extra_params: - classes: ['grass','tree','fence','dirt'] + classes: [ 'grass','tree','fence','dirt' ] semantic_traversability: type: "semantic_traversability" @@ -55,7 +55,7 @@ semantic_traversability: is_height_layer: False layer_name: "sem_traversability" extra_params: - layers: ['traversability','robot_centric_elevation'] - thresholds: [0.3,0.5] - type: ['traversability', 'elevation'] + layers: [ 'traversability','robot_centric_elevation' ] + thresholds: [ 0.3,0.5 ] + type: [ 'traversability', 'elevation' ] diff --git a/elevation_mapping_cupy/config/anymal_sensor_parameter.yaml b/elevation_mapping_cupy/config/anymal_sensor_parameter.yaml index 27bd064a..4d5b6708 100644 --- a/elevation_mapping_cupy/config/anymal_sensor_parameter.yaml +++ b/elevation_mapping_cupy/config/anymal_sensor_parameter.yaml @@ -30,7 +30,7 @@ subscribers: # topic_name_camera_info: /zed2i/zed_node/right/camera_info # channels: ["single_channel_semantic"] # data_type: image - + # front_cam: # channels: ['rgb'] # fusion: ['color'] @@ -38,100 +38,100 @@ subscribers: # data_type: pointcloud alphasense_front_rgb: - fusion: ['image_color'] + fusion: [ 'image_color' ] topic_name_camera: /alphasense_driver_ros/cam4/debayered topic_name_camera_info: /alphasense_driver_ros/cam4/camera_info - channels: ["rgb_image"] + channels: [ "rgb_image" ] data_type: image alphasense_left_rgb: - fusion: ['image_color'] + fusion: [ 'image_color' ] topic_name_camera: /alphasense_driver_ros/cam3/debayered topic_name_camera_info: /alphasense_driver_ros/cam3/camera_info - channels: ["rgb_image"] + channels: [ "rgb_image" ] data_type: image alphasense_right_rgb: - fusion: ['image_color'] + fusion: [ 'image_color' ] topic_name_camera: /alphasense_driver_ros/cam5/debayered topic_name_camera_info: /alphasense_driver_ros/cam5/camera_info - channels: ["rgb_image"] + channels: [ "rgb_image" ] data_type: image wvn_prediction: - fusion: ['image_exponential'] + fusion: [ 'image_exponential' ] topic_name_camera: '/wild_visual_navigation_node/traversability_raw' topic_name_camera_info: '/wild_visual_navigation_node/camera_info' - channels: ["visual_traversability"] + channels: [ "visual_traversability" ] data_type: image - # front_cam: - # channels: ['rgb','feat_0','feat_1','grass','tree','fence','person'] - # fusion: ['color','average','average','class_average','class_average','class_average','class_average'] - # topic_name: '/elvation_mapping/pointcloud_semantic' - # semantic_segmentation: False - # segmentation_model: 'detectron_coco_panoptic_fpn_R_101_3x' - # feature_config: - # name: 'DINO' - # interpolation: 'bilinear' - # model: "vit_small" - # patch_size: 16 - # dim: 5 - # dropout: False - # dino_feat_type: "feat" - # input_size: [80, 160] - # projection_type: "nonlinear" + # front_cam: + # channels: ['rgb','feat_0','feat_1','grass','tree','fence','person'] + # fusion: ['color','average','average','class_average','class_average','class_average','class_average'] + # topic_name: '/elvation_mapping/pointcloud_semantic' + # semantic_segmentation: False + # segmentation_model: 'detectron_coco_panoptic_fpn_R_101_3x' + # feature_config: + # name: 'DINO' + # interpolation: 'bilinear' + # model: "vit_small" + # patch_size: 16 + # dim: 5 + # dropout: False + # dino_feat_type: "feat" + # input_size: [80, 160] + # projection_type: "nonlinear" + + # cam_info_topic: "/camera/depth/camera_info" + # image_topic: "/camera/rgb/image_raw" + # depth_topic: "/camera/depth/image_raw" + # cam_frame: camera_rgb_optical_frame + # confidence: False + # confidence_topic: "/camera/depth/image_raw" + # confidence_threshold: 10 + # feature_extractor: False - # cam_info_topic: "/camera/depth/camera_info" - # image_topic: "/camera/rgb/image_raw" - # depth_topic: "/camera/depth/image_raw" - # cam_frame: camera_rgb_optical_frame - # confidence: False - # confidence_topic: "/camera/depth/image_raw" - # confidence_threshold: 10 - # feature_extractor: False - front_bpearl: - channels: [] - fusion: [] + channels: [ ] + fusion: [ ] topic_name: /robot_self_filter/bpearl_front/point_cloud data_type: pointcloud rear_bpearl: - channels: [] - fusion: [] + channels: [ ] + fusion: [ ] topic_name: /robot_self_filter/bpearl_rear/point_cloud data_type: pointcloud front_depth: - channels: [] - fusion: [] + channels: [ ] + fusion: [ ] topic_name: /depth_camera_front/point_cloud_self_filtered data_type: pointcloud rear_depth: - channels: [] - fusion: [] + channels: [ ] + fusion: [ ] topic_name: /depth_camera_rear/point_cloud_self_filtered data_type: pointcloud left_depth: - channels: [] - fusion: [] + channels: [ ] + fusion: [ ] topic_name: /depth_camera_left/point_cloud_self_filtered data_type: pointcloud right_depth: - channels: [] - fusion: [] + channels: [ ] + fusion: [ ] topic_name: /depth_camera_right/point_cloud_self_filtered data_type: pointcloud velodyne: - channels: [] - fusion: [] + channels: [ ] + fusion: [ ] topic_name: /point_cloud_filter/lidar/point_cloud_filtered data_type: pointcloud diff --git a/elevation_mapping_cupy/config/heap_parameters.yaml b/elevation_mapping_cupy/config/heap_parameters.yaml index 064e1bb4..55de512d 100644 --- a/elevation_mapping_cupy/config/heap_parameters.yaml +++ b/elevation_mapping_cupy/config/heap_parameters.yaml @@ -73,22 +73,22 @@ plugin_config_file: '$(rospack find elevation_mapping_cupy)/config/heap_plugin_c # fps: # Publish rate. Use smaller value than `map_acquire_fps`. publishers: elevation_map_raw: - layers: ['elevation', 'traversability', 'variance'] - basic_layers: ['elevation', 'traversability'] + layers: [ 'elevation', 'traversability', 'variance' ] + basic_layers: [ 'elevation', 'traversability' ] fps: 5.0 -# elevation_map_recordable: -# layers: ['elevation', 'traversability'] -# basic_layers: ['elevation', 'traversability'] -# fps: 2.0 + # elevation_map_recordable: + # layers: ['elevation', 'traversability'] + # basic_layers: ['elevation', 'traversability'] + # fps: 2.0 elevation_map_filter: - layers: ['min_filter', 'smooth', 'inpaint', 'elevation','rgb_image','sem_fil'] - basic_layers: ['min_filter'] + layers: [ 'min_filter', 'smooth', 'inpaint', 'elevation','rgb_image','sem_fil' ] + basic_layers: [ 'min_filter' ] fps: 3.0 #### Initializer ######## initialize_method: 'linear' # Choose one from 'nearest', 'linear', 'cubic' -initialize_frame_id: ['RH_WHEEL_CONTACT','RF_WHEEL_CONTACT','LH_WHEEL_CONTACT','LF_WHEEL_CONTACT'] # One tf (like ['footprint'] ) initializes a square around it. -initialize_tf_offset: [0.0, 0.0, 0.0, 0.0] # z direction. Should be same number as initialize_frame_id. +initialize_frame_id: [ 'RH_WHEEL_CONTACT','RF_WHEEL_CONTACT','LH_WHEEL_CONTACT','LF_WHEEL_CONTACT' ] # One tf (like ['footprint'] ) initializes a square around it. +initialize_tf_offset: [ 0.0, 0.0, 0.0, 0.0 ] # z direction. Should be same number as initialize_frame_id. dilation_size_initialize: 5 # dilation size after the init. initialize_tf_grid_size: 2 # This is not used if number of tf is more than 3. use_initializer_at_start: true # Use initializer when the node starts. diff --git a/elevation_mapping_cupy/config/heap_plugin_config.yaml b/elevation_mapping_cupy/config/heap_plugin_config.yaml index e18df155..9630f496 100644 --- a/elevation_mapping_cupy/config/heap_plugin_config.yaml +++ b/elevation_mapping_cupy/config/heap_plugin_config.yaml @@ -1,16 +1,16 @@ # Settings of the plugins. (The plugins should be stored in script/plugins) # min_filter fills in minimum value around the invalid cell. -min_filter: +min_filter: enable: True # weather to load this plugin fill_nan: False # Fill nans to invalid cells of elevation layer. is_height_layer: True # If this is a height layer (such as elevation) or not (such as traversability) layer_name: "min_filter" # The layer name. - extra_params: # This params are passed to the plugin class on initialization. + extra_params: # This params are passed to the plugin class on initialization. dilation_size: 1 # The patch size to apply iteration_n: 30 # The number of iterations # Apply smoothing. -smooth_filter: +smooth_filter: enable: True fill_nan: False is_height_layer: True @@ -27,14 +27,14 @@ inpainting: method: "telea" # telea or ns # Apply smoothing for inpainted layer -robot_centric_elevation: # Use the same name as your file name. -# type: "robot_centric_elevation" +robot_centric_elevation: # Use the same name as your file name. + # type: "robot_centric_elevation" enable: False # weather to load this plugin fill_nan: False # Fill nans to invalid cells of elevation layer. is_height_layer: True # If this is a height layer (such as elevation) or not (such as traversability) layer_name: "robot_centric_elevation" # The layer name. - extra_params: # This params are passed to the plugin class on initialization. -# add_value: 2.0 # Example param + extra_params: # This params are passed to the plugin class on initialization. + # add_value: 2.0 # Example param resolution: 0.04 threshold: 1.1 use_threshold: True @@ -46,7 +46,7 @@ semantic_filter: is_height_layer: False layer_name: "sem_fil" extra_params: - classes: ['grass','tree','fence','dirt'] + classes: [ 'grass','tree','fence','dirt' ] semantic_traversability: type: "semantic_traversability" @@ -55,7 +55,7 @@ semantic_traversability: is_height_layer: False layer_name: "sem_traversability" extra_params: - layers: ['traversability','robot_centric_elevation'] - thresholds: [0.3,0.5] - type: ['traversability', 'elevation'] + layers: [ 'traversability','robot_centric_elevation' ] + thresholds: [ 0.3,0.5 ] + type: [ 'traversability', 'elevation' ] diff --git a/elevation_mapping_cupy/config/heap_sensor_parameter.yaml b/elevation_mapping_cupy/config/heap_sensor_parameter.yaml index a0478682..9fd09452 100644 --- a/elevation_mapping_cupy/config/heap_sensor_parameter.yaml +++ b/elevation_mapping_cupy/config/heap_sensor_parameter.yaml @@ -1,23 +1,23 @@ subscribers: front_cam: - channels: [] - fusion: [] + channels: [ ] + fusion: [ ] topic_name: '/ouster_points_self_filtered' data_type: pointcloud -# camera_right_rgb: -# fusion: ['image_color'] -# topic_name_camera: /camUSBRightView/Downsampled -# topic_name_camera_info: /camera_info -# channels: ["rgb_image"] -# data_type: image + # camera_right_rgb: + # fusion: ['image_color'] + # topic_name_camera: /camUSBRightView/Downsampled + # topic_name_camera_info: /camera_info + # channels: ["rgb_image"] + # data_type: image camera_main_rgb: - fusion: ['image_color'] + fusion: [ 'image_color' ] topic_name_camera: /camMainView/Downsampled topic_name_camera_info: /camera_info - channels: ["rgb_image"] + channels: [ "rgb_image" ] data_type: image diff --git a/elevation_mapping_cupy/config/lonomy_parameters.yaml b/elevation_mapping_cupy/config/lonomy_parameters.yaml index ea94002f..e1d71f9b 100644 --- a/elevation_mapping_cupy/config/lonomy_parameters.yaml +++ b/elevation_mapping_cupy/config/lonomy_parameters.yaml @@ -73,22 +73,22 @@ plugin_config_file: '$(rospack find elevation_mapping_cupy)/config/lonomy_plugin # fps: # Publish rate. Use smaller value than `map_acquire_fps`. publishers: elevation_map_raw: - layers: ['elevation', 'traversability', 'variance'] - basic_layers: ['elevation', 'traversability'] + layers: [ 'elevation', 'traversability', 'variance' ] + basic_layers: [ 'elevation', 'traversability' ] fps: 5.0 elevation_map_recordable: - layers: ['elevation', 'traversability'] - basic_layers: ['elevation', 'traversability'] + layers: [ 'elevation', 'traversability' ] + basic_layers: [ 'elevation', 'traversability' ] fps: 2.0 elevation_map_filter: - layers: [elevation, 'min_filter', 'smooth', 'inpaint', 'upper_bound','rgb_image', 'gray_image'] - basic_layers: [elevation, 'min_filter'] + layers: [ elevation, 'min_filter', 'smooth', 'inpaint', 'upper_bound','rgb_image', 'gray_image' ] + basic_layers: [ elevation, 'min_filter' ] fps: 3.0 #### Initializer ######## initialize_method: 'linear' # Choose one from 'nearest', 'linear', 'cubic' -initialize_frame_id: ['base_footprint'] # One tf (like ['footprint'] ) initializes a square around it. -initialize_tf_offset: [0.0, 0.0, 0.0, 0.0] # z direction. Should be same number as initialize_frame_id. +initialize_frame_id: [ 'base_footprint' ] # One tf (like ['footprint'] ) initializes a square around it. +initialize_tf_offset: [ 0.0, 0.0, 0.0, 0.0 ] # z direction. Should be same number as initialize_frame_id. dilation_size_initialize: 5 # dilation size after the init. initialize_tf_grid_size: 2 # This is not used if number of tf is more than 3. use_initializer_at_start: true # Use initializer when the node starts. diff --git a/elevation_mapping_cupy/config/lonomy_plugin_config.yaml b/elevation_mapping_cupy/config/lonomy_plugin_config.yaml index 37553806..7bcc17f0 100644 --- a/elevation_mapping_cupy/config/lonomy_plugin_config.yaml +++ b/elevation_mapping_cupy/config/lonomy_plugin_config.yaml @@ -1,16 +1,16 @@ # Settings of the plugins. (The plugins should be stored in script/plugins) # min_filter fills in minimum value around the invalid cell. -min_filter: +min_filter: enable: True # weather to load this plugin fill_nan: False # Fill nans to invalid cells of elevation layer. is_height_layer: True # If this is a height layer (such as elevation) or not (such as traversability) layer_name: "min_filter" # The layer name. - extra_params: # This params are passed to the plugin class on initialization. + extra_params: # This params are passed to the plugin class on initialization. dilation_size: 1 # The patch size to apply iteration_n: 30 # The number of iterations # Apply smoothing. -smooth_filter: +smooth_filter: enable: True fill_nan: False is_height_layer: True @@ -27,14 +27,14 @@ inpainting: method: "telea" # telea or ns # Apply smoothing for inpainted layer -robot_centric_elevation: # Use the same name as your file name. -# type: "robot_centric_elevation" +robot_centric_elevation: # Use the same name as your file name. + # type: "robot_centric_elevation" enable: True # weather to load this plugin fill_nan: False # Fill nans to invalid cells of elevation layer. is_height_layer: True # If this is a height layer (such as elevation) or not (such as traversability) layer_name: "robot_centric_elevation" # The layer name. - extra_params: # This params are passed to the plugin class on initialization. -# add_value: 2.0 # Example param + extra_params: # This params are passed to the plugin class on initialization. + # add_value: 2.0 # Example param resolution: 0.04 threshold: 1.1 use_threshold: True @@ -46,7 +46,7 @@ semantic_filter: is_height_layer: False layer_name: "sem_fil" extra_params: - classes: ['grass','tree','fence','dirt'] + classes: [ 'grass','tree','fence','dirt' ] semantic_traversability: type: "semantic_traversability" @@ -55,7 +55,7 @@ semantic_traversability: is_height_layer: False layer_name: "sem_traversability" extra_params: - layers: ['traversability','robot_centric_elevation'] - thresholds: [0.3,0.5] - type: ['traversability', 'elevation'] + layers: [ 'traversability','robot_centric_elevation' ] + thresholds: [ 0.3,0.5 ] + type: [ 'traversability', 'elevation' ] diff --git a/elevation_mapping_cupy/config/lonomy_sensor_parameter.yaml b/elevation_mapping_cupy/config/lonomy_sensor_parameter.yaml index 58581b42..34e7e0c9 100644 --- a/elevation_mapping_cupy/config/lonomy_sensor_parameter.yaml +++ b/elevation_mapping_cupy/config/lonomy_sensor_parameter.yaml @@ -1,7 +1,7 @@ subscribers: front_cam: - channels: [ 'rgb','feat_0','feat_1'] - fusion: [ 'color','bayesian_inference','bayesian_inference'] + channels: [ 'rgb','feat_0','feat_1' ] + fusion: [ 'color','bayesian_inference','bayesian_inference' ] topic_name: '/elvation_mapping/pointcloud_semantic' semantic_segmentation: False segmentation_model: 'lraspp_mobilenet_v3_large' # detectron_coco_panoptic_fpn_R_101_3x, lraspp_mobilenet_v3_large @@ -11,11 +11,11 @@ subscribers: name: 'DINO' interpolation: 'bilinear' model: "vit_small" - patch_size: 16 + patch_size: 16 dim: 5 dropout: False dino_feat_type: "feat" - input_size: [80, 160] + input_size: [ 80, 160 ] projection_type: "nonlinear" cam_info_topic: "/zed2i/zed_node/depth/camera_info" diff --git a/elevation_mapping_cupy/config/parameters.yaml b/elevation_mapping_cupy/config/parameters.yaml index 4941a011..614e530f 100644 --- a/elevation_mapping_cupy/config/parameters.yaml +++ b/elevation_mapping_cupy/config/parameters.yaml @@ -70,13 +70,13 @@ plugin_config_file: '$(rospack find elevation_mapping_cupy)/config/plugin_config # fps: # Publish rate. Use smaller value than `map_acquire_fps`. publishers: elevation_map_raw: - layers: ['elevation', 'traversability', 'variance'] - basic_layers: ['elevation', 'traversability'] + layers: [ 'elevation', 'traversability', 'variance' ] + basic_layers: [ 'elevation', 'traversability' ] fps: 2.0 semantic_map_raw: - layers: ['elevation', 'traversability', 'variance', 'rgb_image'] - basic_layers: ['elevation', 'traversability'] + layers: [ 'elevation', 'traversability', 'variance', 'rgb_image' ] + basic_layers: [ 'elevation', 'traversability' ] fps: 2.0 # elevation_map_recordable: # layers: ['elevation', 'traversability'] @@ -89,8 +89,8 @@ publishers: #### Initializer ######## initialize_method: 'linear' # Choose one from 'nearest', 'linear', 'cubic' -initialize_frame_id: ['base_footprint'] # One tf (like ['footprint'] # One tf (like ['footprint'] ) initializes a square around it. -initialize_tf_offset: [0.0] # z direction. Should be same number as initialize_frame_id. +initialize_frame_id: [ 'base_footprint' ] # One tf (like ['footprint'] # One tf (like ['footprint'] ) initializes a square around it. +initialize_tf_offset: [ 0.0 ] # z direction. Should be same number as initialize_frame_id. dilation_size_initialize: 5 # dilation size after the init. initialize_tf_grid_size: 0.4 # This is not used if number of tf is more than 3. use_initializer_at_start: true # Use initializer when the node starts. diff --git a/elevation_mapping_cupy/config/plugin_config.yaml b/elevation_mapping_cupy/config/plugin_config.yaml index bcc0cb24..fde55c58 100644 --- a/elevation_mapping_cupy/config/plugin_config.yaml +++ b/elevation_mapping_cupy/config/plugin_config.yaml @@ -1,16 +1,16 @@ # Settings of the plugins. (The plugins should be stored in script/plugins) # min_filter fills in minimum value around the invalid cell. -min_filter: +min_filter: enable: True # weather to load this plugin fill_nan: False # Fill nans to invalid cells of elevation layer. is_height_layer: True # If this is a height layer (such as elevation) or not (such as traversability) layer_name: "min_filter" # The layer name. - extra_params: # This params are passed to the plugin class on initialization. + extra_params: # This params are passed to the plugin class on initialization. dilation_size: 1 # The patch size to apply iteration_n: 30 # The number of iterations # Apply smoothing. -smooth_filter: +smooth_filter: enable: True fill_nan: False is_height_layer: True @@ -34,14 +34,14 @@ smooth_filter_1: layer_name: "smooth_1" extra_params: input_layer_name: "inpaint" -robot_centric_elevation: # Use the same name as your file name. -# type: "robot_centric_elevation" +robot_centric_elevation: # Use the same name as your file name. + # type: "robot_centric_elevation" enable: False # weather to load this plugin fill_nan: False # Fill nans to invalid cells of elevation layer. is_height_layer: True # If this is a height layer (such as elevation) or not (such as traversability) layer_name: "robot_centric_elevation" # The layer name. - extra_params: # This params are passed to the plugin class on initialization. -# add_value: 2.0 # Example param + extra_params: # This params are passed to the plugin class on initialization. + # add_value: 2.0 # Example param resolution: 0.04 threshold: 1.1 use_threshold: True @@ -52,8 +52,8 @@ semantic_filter: is_height_layer: False layer_name: "sem_fil" extra_params: - classes: ['grass','tree','fence','person'] - colors: [[0,255,0],[120,120,0],[170,0,20],[0,0,255],[255,0,0]] + classes: [ 'grass','tree','fence','person' ] + colors: [ [ 0,255,0 ],[ 120,120,0 ],[ 170,0,20 ],[ 0,0,255 ],[ 255,0,0 ] ] semantic_traversability: type: "semantic_traversability" @@ -62,6 +62,6 @@ semantic_traversability: is_height_layer: False layer_name: "sem_traversability" extra_params: - layers: ['traversability','robot_centric_elevation'] - thresholds: [0.7,0.5] - type: ['traversability', 'elevation'] + layers: [ 'traversability','robot_centric_elevation' ] + thresholds: [ 0.7,0.5 ] + type: [ 'traversability', 'elevation' ] diff --git a/elevation_mapping_cupy/config/sensor_parameter.yaml b/elevation_mapping_cupy/config/sensor_parameter.yaml index a31f2759..e263a810 100644 --- a/elevation_mapping_cupy/config/sensor_parameter.yaml +++ b/elevation_mapping_cupy/config/sensor_parameter.yaml @@ -1,8 +1,8 @@ #### Subscribers ######## subscribers: front_cam: - channels: [ 'rgb'] - fusion: [ 'color'] + channels: [ 'rgb' ] + fusion: [ 'color' ] topic_name: '/elvation_mapping/pointcloud_semantic' semantic_segmentation: False segmentation_model: 'lraspp_mobilenet_v3_large' diff --git a/elevation_mapping_cupy/config/sim_parameters.yaml b/elevation_mapping_cupy/config/sim_parameters.yaml index b92bb6da..0a51fc78 100644 --- a/elevation_mapping_cupy/config/sim_parameters.yaml +++ b/elevation_mapping_cupy/config/sim_parameters.yaml @@ -70,13 +70,13 @@ plugin_config_file: '$(rospack find elevation_mapping_cupy)/config/anymal_plugin # fps: # Publish rate. Use smaller value than `map_acquire_fps`. publishers: elevation_map_raw: - layers: ['elevation', 'traversability', 'variance'] - basic_layers: ['elevation', 'traversability'] + layers: [ 'elevation', 'traversability', 'variance' ] + basic_layers: [ 'elevation', 'traversability' ] fps: 2.0 semantic_map_raw: - layers: ['elevation', 'traversability', 'variance', 'rgb_image'] - basic_layers: ['elevation', 'traversability'] + layers: [ 'elevation', 'traversability', 'variance', 'rgb_image' ] + basic_layers: [ 'elevation', 'traversability' ] fps: 2.0 # elevation_map_recordable: # layers: ['elevation', 'traversability'] @@ -89,8 +89,8 @@ publishers: #### Initializer ######## initialize_method: 'linear' # Choose one from 'nearest', 'linear', 'cubic' -initialize_frame_id: ['base_footprint'] # One tf (like ['footprint'] # One tf (like ['footprint'] ) initializes a square around it. -initialize_tf_offset: [0.0] # z direction. Should be same number as initialize_frame_id. +initialize_frame_id: [ 'base_footprint' ] # One tf (like ['footprint'] # One tf (like ['footprint'] ) initializes a square around it. +initialize_tf_offset: [ 0.0 ] # z direction. Should be same number as initialize_frame_id. dilation_size_initialize: 5 # dilation size after the init. initialize_tf_grid_size: 0.4 # This is not used if number of tf is more than 3. use_initializer_at_start: true # Use initializer when the node starts. diff --git a/elevation_mapping_cupy/config/sim_plugin_config.yaml b/elevation_mapping_cupy/config/sim_plugin_config.yaml index e18df155..9630f496 100644 --- a/elevation_mapping_cupy/config/sim_plugin_config.yaml +++ b/elevation_mapping_cupy/config/sim_plugin_config.yaml @@ -1,16 +1,16 @@ # Settings of the plugins. (The plugins should be stored in script/plugins) # min_filter fills in minimum value around the invalid cell. -min_filter: +min_filter: enable: True # weather to load this plugin fill_nan: False # Fill nans to invalid cells of elevation layer. is_height_layer: True # If this is a height layer (such as elevation) or not (such as traversability) layer_name: "min_filter" # The layer name. - extra_params: # This params are passed to the plugin class on initialization. + extra_params: # This params are passed to the plugin class on initialization. dilation_size: 1 # The patch size to apply iteration_n: 30 # The number of iterations # Apply smoothing. -smooth_filter: +smooth_filter: enable: True fill_nan: False is_height_layer: True @@ -27,14 +27,14 @@ inpainting: method: "telea" # telea or ns # Apply smoothing for inpainted layer -robot_centric_elevation: # Use the same name as your file name. -# type: "robot_centric_elevation" +robot_centric_elevation: # Use the same name as your file name. + # type: "robot_centric_elevation" enable: False # weather to load this plugin fill_nan: False # Fill nans to invalid cells of elevation layer. is_height_layer: True # If this is a height layer (such as elevation) or not (such as traversability) layer_name: "robot_centric_elevation" # The layer name. - extra_params: # This params are passed to the plugin class on initialization. -# add_value: 2.0 # Example param + extra_params: # This params are passed to the plugin class on initialization. + # add_value: 2.0 # Example param resolution: 0.04 threshold: 1.1 use_threshold: True @@ -46,7 +46,7 @@ semantic_filter: is_height_layer: False layer_name: "sem_fil" extra_params: - classes: ['grass','tree','fence','dirt'] + classes: [ 'grass','tree','fence','dirt' ] semantic_traversability: type: "semantic_traversability" @@ -55,7 +55,7 @@ semantic_traversability: is_height_layer: False layer_name: "sem_traversability" extra_params: - layers: ['traversability','robot_centric_elevation'] - thresholds: [0.3,0.5] - type: ['traversability', 'elevation'] + layers: [ 'traversability','robot_centric_elevation' ] + thresholds: [ 0.3,0.5 ] + type: [ 'traversability', 'elevation' ] diff --git a/elevation_mapping_cupy/config/sim_sensor_parameter.yaml b/elevation_mapping_cupy/config/sim_sensor_parameter.yaml index 4363a22e..f954e0b1 100644 --- a/elevation_mapping_cupy/config/sim_sensor_parameter.yaml +++ b/elevation_mapping_cupy/config/sim_sensor_parameter.yaml @@ -30,12 +30,12 @@ subscribers: # topic_name_camera_info: /zed2i/zed_node/right/camera_info # channels: ["single_channel_semantic"] # data_type: image - -# front_cam: -# channels: ['rgb'] -# fusion: ['color'] -# topic_name: '/elevation_mapping/pointcloud_semantic' -# data_type: pointcloud + + # front_cam: + # channels: ['rgb'] + # fusion: ['color'] + # topic_name: '/elevation_mapping/pointcloud_semantic' + # data_type: pointcloud # alphasense_front_rgb: # fusion: ['image_color'] @@ -67,7 +67,7 @@ subscribers: # topic_name_camera_info: '/wild_visual_navigation_node/camera_info' # channels: ["visual_traversability"] # data_type: image - + # front_cam: # channels: ['rgb','feat_0','feat_1','grass','tree','fence','person'] # fusion: ['color','average','average','class_average','class_average','class_average','class_average'] @@ -93,10 +93,10 @@ subscribers: # confidence_topic: "/camera/depth/image_raw" # confidence_threshold: 10 # feature_extractor: False - + front_bpearl: - channels: [] - fusion: [] + channels: [ ] + fusion: [ ] topic_name: /point_cloud_filter_rsl/filter_and_merger_rsl data_type: pointcloud diff --git a/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp b/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp index 5371ce88..5811b05b 100644 --- a/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp +++ b/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp @@ -20,8 +20,8 @@ #include #include #include -#include #include +#include #include #include #include @@ -61,7 +61,7 @@ class ElevationMappingNode { ElevationMappingNode(ros::NodeHandle& nh); using RowMatrixXd = Eigen::Matrix; using ColMatrixXf = Eigen::Matrix; - + using ImageSubscriber = image_transport::SubscriberFilter; using ImageSubscriberPtr = std::shared_ptr; using CameraInfoSubscriber = message_filters::Subscriber; @@ -74,7 +74,8 @@ class ElevationMappingNode { void readParameters(); void setupMapPublishers(); void pointcloudCallback(const sensor_msgs::PointCloud2& cloud, const std::string& key); - void imageCallback(const sensor_msgs::ImageConstPtr& image_msg, const sensor_msgs::CameraInfoConstPtr& camera_info_msg, const std::string& key); + void imageCallback(const sensor_msgs::ImageConstPtr& image_msg, const sensor_msgs::CameraInfoConstPtr& camera_info_msg, + const std::string& key); void publishAsPointCloud(const grid_map::GridMap& map) const; bool getSubmap(grid_map_msgs::GetGridMap::Request& request, grid_map_msgs::GetGridMap::Response& response); bool checkSafety(elevation_map_msgs::CheckSafety::Request& request, elevation_map_msgs::CheckSafety::Response& response); @@ -133,8 +134,7 @@ class ElevationMappingNode { std::vector map_fps_; std::set map_fps_unique_; std::vector mapTimers_; - std::map> channels_; - + std::map> channels_; std::vector initialize_frame_id_; std::vector initialize_tf_offset_; @@ -147,7 +147,7 @@ class ElevationMappingNode { grid_map::GridMap gridMap_; std::atomic_bool isGridmapUpdated_; // needs to be atomic (read is not protected by mapMutex_) - std::mutex errorMutex_; // protects positionError_, and orientationError_ + std::mutex errorMutex_; // protects positionError_, and orientationError_ double positionError_; double orientationError_; diff --git a/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_wrapper.hpp b/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_wrapper.hpp index 5a8e1cf1..ff92db66 100644 --- a/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_wrapper.hpp +++ b/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_wrapper.hpp @@ -49,7 +49,7 @@ class ElevationMappingWrapper { void input(const RowMatrixXd& points, const std::vector& channels, const RowMatrixXd& R, const Eigen::VectorXd& t, const double positionNoise, const double orientationNoise); void input_image(const std::string& key, const std::vector& image, const RowMatrixXd& R, const Eigen::VectorXd& t, - const RowMatrixXd& cameraMatrix, int height, int width); + const RowMatrixXd& cameraMatrix, int height, int width); void move_to(const Eigen::VectorXd& p, const RowMatrixXd& R); void clear(); void update_variance(); diff --git a/elevation_mapping_cupy/launch/anymal_semantic_elevation_single.launch b/elevation_mapping_cupy/launch/anymal_semantic_elevation_single.launch index 725c96bd..983bc978 100644 --- a/elevation_mapping_cupy/launch/anymal_semantic_elevation_single.launch +++ b/elevation_mapping_cupy/launch/anymal_semantic_elevation_single.launch @@ -1,25 +1,26 @@ - + - + - + - + - - - - + + + + - + - + - \ No newline at end of file + \ No newline at end of file diff --git a/elevation_mapping_cupy/launch/elevation_mapping_cupy.launch b/elevation_mapping_cupy/launch/elevation_mapping_cupy.launch index ca49e6e3..386dfdff 100644 --- a/elevation_mapping_cupy/launch/elevation_mapping_cupy.launch +++ b/elevation_mapping_cupy/launch/elevation_mapping_cupy.launch @@ -1,7 +1,7 @@ - - - - - + + + + + diff --git a/elevation_mapping_cupy/launch/heap_launch.launch b/elevation_mapping_cupy/launch/heap_launch.launch index c700bbda..2218c409 100644 --- a/elevation_mapping_cupy/launch/heap_launch.launch +++ b/elevation_mapping_cupy/launch/heap_launch.launch @@ -1,18 +1,17 @@ - - - - - + + + + - - - - + + + + - + diff --git a/elevation_mapping_cupy/launch/lonomy_pointcloud.launch b/elevation_mapping_cupy/launch/lonomy_pointcloud.launch index 8e9568c8..d9ad8ecd 100644 --- a/elevation_mapping_cupy/launch/lonomy_pointcloud.launch +++ b/elevation_mapping_cupy/launch/lonomy_pointcloud.launch @@ -1,14 +1,15 @@ - - + + - - + + - - + + - \ No newline at end of file + \ No newline at end of file diff --git a/elevation_mapping_cupy/launch/lonomy_semantic_elevation_single.launch b/elevation_mapping_cupy/launch/lonomy_semantic_elevation_single.launch index a093c904..eac2fc20 100644 --- a/elevation_mapping_cupy/launch/lonomy_semantic_elevation_single.launch +++ b/elevation_mapping_cupy/launch/lonomy_semantic_elevation_single.launch @@ -1,21 +1,22 @@ - - + + - - + + - - + + - - - - + + + + - + - \ No newline at end of file + \ No newline at end of file diff --git a/elevation_mapping_cupy/launch/sim_semantic_elevation_single.launch b/elevation_mapping_cupy/launch/sim_semantic_elevation_single.launch index 81ae677d..cc16152c 100644 --- a/elevation_mapping_cupy/launch/sim_semantic_elevation_single.launch +++ b/elevation_mapping_cupy/launch/sim_semantic_elevation_single.launch @@ -1,21 +1,21 @@ - - + + - - + + - - - + + + - - - - + + + + - + - \ No newline at end of file + \ No newline at end of file diff --git a/elevation_mapping_cupy/launch/turtlesim_example.launch b/elevation_mapping_cupy/launch/turtlesim_example.launch index b63dae53..f36001bd 100644 --- a/elevation_mapping_cupy/launch/turtlesim_example.launch +++ b/elevation_mapping_cupy/launch/turtlesim_example.launch @@ -2,27 +2,27 @@ - + - - + + - - + + - - - - - map_frame: odom - base_frame: base_footprint - pointcloud_topics: ["/camera/depth/points"] - initialize_frame_id: ['base_footprint'] - initialize_tf_offset: [0.0] - - + + + + + map_frame: odom + base_frame: base_footprint + pointcloud_topics: ["/camera/depth/points"] + initialize_frame_id: ['base_footprint'] + initialize_tf_offset: [0.0] + + - - + + diff --git a/elevation_mapping_cupy/launch/turtlesim_pointcloud.launch b/elevation_mapping_cupy/launch/turtlesim_pointcloud.launch index e7b73dde..8a1e7893 100644 --- a/elevation_mapping_cupy/launch/turtlesim_pointcloud.launch +++ b/elevation_mapping_cupy/launch/turtlesim_pointcloud.launch @@ -1,19 +1,20 @@ - - - + + + - - + + - - + + - - - + + + - + diff --git a/elevation_mapping_cupy/launch/turtlesim_segmentation_example.launch b/elevation_mapping_cupy/launch/turtlesim_segmentation_example.launch index afb7fb01..0cbd561b 100644 --- a/elevation_mapping_cupy/launch/turtlesim_segmentation_example.launch +++ b/elevation_mapping_cupy/launch/turtlesim_segmentation_example.launch @@ -2,12 +2,12 @@ - - - - + + + + - - + + diff --git a/elevation_mapping_cupy/launch/turtlesim_semantic_elevation.launch b/elevation_mapping_cupy/launch/turtlesim_semantic_elevation.launch index 98940264..651edf2c 100644 --- a/elevation_mapping_cupy/launch/turtlesim_semantic_elevation.launch +++ b/elevation_mapping_cupy/launch/turtlesim_semantic_elevation.launch @@ -1,18 +1,17 @@ - - - + + + - - + - - - - + + + + diff --git a/elevation_mapping_cupy/package.xml b/elevation_mapping_cupy/package.xml index 614d711a..6a5985f8 100644 --- a/elevation_mapping_cupy/package.xml +++ b/elevation_mapping_cupy/package.xml @@ -1,26 +1,26 @@ - elevation_mapping_cupy - 1.0.0 - The elevation mapping by cupy + elevation_mapping_cupy + 1.0.0 + The elevation mapping by cupy - Takahiro Miki + Takahiro Miki - MIT + MIT - catkin - roscpp - rospy - tf - tf_conversions - sensor_msgs - std_msgs - geometry_msgs - grid_map_msgs - elevation_map_msgs - grid_map_ros - image_transport - pcl_ros - pybind11_catkin + catkin + roscpp + rospy + tf + tf_conversions + sensor_msgs + std_msgs + geometry_msgs + grid_map_msgs + elevation_map_msgs + grid_map_ros + image_transport + pcl_ros + pybind11_catkin diff --git a/elevation_mapping_cupy/rviz/anymal.rviz b/elevation_mapping_cupy/rviz/anymal.rviz index e8023f37..88da0693 100644 --- a/elevation_mapping_cupy/rviz/anymal.rviz +++ b/elevation_mapping_cupy/rviz/anymal.rviz @@ -324,7 +324,7 @@ Visualization Manager: LF_SHANK: LF_shank_fixed: LF_FOOT: - {} + { } LH_HAA: LH_HIP: LH_hip_fixed: @@ -335,7 +335,7 @@ Visualization Manager: LH_SHANK: LH_shank_fixed: LH_FOOT: - {} + { } RF_HAA: RF_HIP: RF_hip_fixed: @@ -346,7 +346,7 @@ Visualization Manager: RF_SHANK: RF_shank_fixed: RF_FOOT: - {} + { } RH_HAA: RH_HIP: RH_hip_fixed: @@ -357,119 +357,119 @@ Visualization Manager: RH_SHANK: RH_shank_fixed: RH_FOOT: - {} + { } alphasense_mesh: - {} + { } base_inertia: - {} + { } base_inverted: - {} + { } battery: - {} + { } body_top: - {} + { } bottom_shell: - {} + { } depth_camera_left_camera: depth_camera_left_camera_parent: depth_camera_left_depth_frame: depth_camera_left_depth_optical_frame: - {} + { } depth_camera_left_infra1_frame: depth_camera_left_infra1_optical_frame: - {} + { } depth_camera_left_infra2_frame: depth_camera_left_infra2_optical_frame: - {} + { } depth_camera_right_camera: depth_camera_right_camera_parent: depth_camera_right_depth_frame: depth_camera_right_depth_optical_frame: - {} + { } depth_camera_right_infra1_frame: depth_camera_right_infra1_optical_frame: - {} + { } depth_camera_right_infra2_frame: depth_camera_right_infra2_optical_frame: - {} + { } docking_hatch_cover: - {} + { } face_front: depth_camera_front_camera: depth_camera_front_camera_parent: depth_camera_front_depth_frame: depth_camera_front_depth_optical_frame: - {} + { } depth_camera_front_infra1_frame: depth_camera_front_infra1_optical_frame: - {} + { } depth_camera_front_infra2_frame: depth_camera_front_infra2_optical_frame: - {} + { } wide_angle_camera_front_camera: wide_angle_camera_front_camera_parent: - {} + { } face_rear: depth_camera_rear_camera: depth_camera_rear_camera_parent: depth_camera_rear_depth_frame: depth_camera_rear_depth_optical_frame: - {} + { } depth_camera_rear_infra1_frame: depth_camera_rear_infra1_optical_frame: - {} + { } depth_camera_rear_infra2_frame: depth_camera_rear_infra2_optical_frame: - {} + { } wide_angle_camera_rear_camera: wide_angle_camera_rear_camera_parent: - {} + { } front_handle: - {} + { } handle: - {} + { } imu_link: - {} + { } interface_hatch: hatch: - {} + { } mira_spectrometer: - {} + { } perception_head_cage: lidar: imu_sensor_frame: cam0_sensor_frame: - {} + { } cam1_sensor_frame: - {} + { } cam2_sensor_frame: - {} + { } cam3_sensor_frame_helper: cam3_sensor_frame: - {} + { } cam4_sensor_frame_helper: cam4_sensor_frame: - {} + { } cam5_sensor_frame_helper: cam5_sensor_frame: - {} + { } cam6_sensor_frame_helper: cam6_sensor_frame: - {} + { } remote: - {} + { } top_shell: - {} + { } feetcenter: - {} + { } footprint: - {} + { } map: camera_init_CORRECTED: camera_init: - {} + { } msf_body_imu_map: - {} + { } Update Interval: 0 Value: true - Class: rviz/Image @@ -489,7 +489,7 @@ Visualization Manager: Marker Topic: /visualization_marker_l Name: Marker Namespaces: - {} + { } Queue Size: 100 Value: true - Class: rviz/Marker @@ -497,7 +497,7 @@ Visualization Manager: Marker Topic: /visualization_marker_r Name: Marker Namespaces: - {} + { } Queue Size: 100 Value: true Enabled: true diff --git a/elevation_mapping_cupy/rviz/heap.rviz b/elevation_mapping_cupy/rviz/heap.rviz index 268b264f..a2e695df 100644 --- a/elevation_mapping_cupy/rviz/heap.rviz +++ b/elevation_mapping_cupy/rviz/heap.rviz @@ -198,24 +198,24 @@ Visualization Manager: map: compslam_lio/camera_init_CORRECTED: compslam_lio/aft_mapped_to_init_CORRECTED: - {} + { } compslam_lio/camera_CORRECTED: - {} + { } compslam_lio/camera_init: compslam_lio/aft_mapped: - {} + { } compslam_lio/camera: - {} + { } compslam_lio/laser_odom: - {} + { } compslam_lio/camera_init_GRAVITY_ALIGNED: - {} + { } compslam_lio/laser_odom_CORRECTED: - {} + { } odom: BASE: BASE_inertia: - {} + { } CABIN: BOOM: DIPPER: @@ -225,60 +225,60 @@ Visualization Manager: ENDEFFECTOR: SHOVEL: ENDEFFECTOR_CONTACT: - {} + { } GNSS_L: - {} + { } GNSS_R: - {} + { } camMainView: livox_frame: - {} + { } os_sensor: os_imu: - {} + { } os_lidar: - {} + { } roof_top_box: imu_box_base_link: imu_box_link: - {} + { } IMU_base_link: IMU_link: - {} + { } LF_SWIVEL: LF_BEAM: LF_BEARING: LF_KNUCKLE: LF_WHEEL: LF_WHEEL_CONTACT: - {} + { } LF_PARALLEL: - {} + { } LH_ROTATOR: LH_BEAM: LH_KNUCKLE: LH_OUTRIGGER: - {} + { } LH_WHEEL: LH_WHEEL_CONTACT: - {} + { } RF_SWIVEL: RF_BEAM: RF_BEARING: RF_KNUCKLE: RF_WHEEL: RF_WHEEL_CONTACT: - {} + { } RF_PARALLEL: - {} + { } RH_ROTATOR: RH_BEAM: RH_KNUCKLE: RH_OUTRIGGER: - {} + { } RH_WHEEL: RH_WHEEL_CONTACT: - {} + { } Update Interval: 0 Value: true - Class: rviz/Image diff --git a/elevation_mapping_cupy/rviz/lonomy_single.rviz b/elevation_mapping_cupy/rviz/lonomy_single.rviz index a3ec715d..5907e933 100644 --- a/elevation_mapping_cupy/rviz/lonomy_single.rviz +++ b/elevation_mapping_cupy/rviz/lonomy_single.rviz @@ -321,46 +321,46 @@ Visualization Manager: enu: base_link: base_footprint: - {} + { } base_inertial: - {} + { } estimator_imu: GPS_back: - {} + { } GPS_front: - {} + { } alphasense: - {} + { } left_back_wheel_sup: left_back_wheel: - {} + { } left_front_wheel_sup: left_front_wheel: - {} + { } rear_axle_center: - {} + { } right_back_wheel_sup: right_back_wheel: - {} + { } right_front_wheel_sup: right_front_wheel: - {} + { } zed2i_base_link: zed2i_camera_center: zed2i_baro_link: - {} + { } zed2i_left_camera_frame: zed2i_left_camera_optical_frame: - {} + { } zed2i_temp_left_link: - {} + { } zed2i_mag_link: - {} + { } zed2i_right_camera_frame: zed2i_right_camera_optical_frame: - {} + { } zed2i_temp_right_link: - {} + { } Update Interval: 0 Value: true - Class: rviz/Image @@ -392,7 +392,7 @@ Visualization Manager: Marker Topic: /visualization_marker_l Name: Marker Namespaces: - {} + { } Queue Size: 100 Value: true - Class: rviz/Marker @@ -400,7 +400,7 @@ Visualization Manager: Marker Topic: /visualization_marker_r Name: Marker Namespaces: - {} + { } Queue Size: 100 Value: true - Alpha: 1 diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py index 3d4d12d1..b1115eef 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py @@ -415,18 +415,15 @@ def get_additive_mean_error(self): return self.additive_mean_error def update_variance(self): - """Adds the time variacne to the valid cells. - """ + """Adds the time variacne to the valid cells.""" self.elevation_map[1] += self.param.time_variance * self.elevation_map[2] def update_time(self): - """adds the time interval to the time layer. - """ + """adds the time interval to the time layer.""" self.elevation_map[4] += self.param.time_interval def update_upper_bound_with_valid_elevation(self): - """Filters all invalid cell's upper_bound and is_upper_bound layers. - """ + """Filters all invalid cell's upper_bound and is_upper_bound layers.""" mask = self.elevation_map[2] > 0.5 self.elevation_map[5] = cp.where(mask, self.elevation_map[0], self.elevation_map[5]) self.elevation_map[6] = cp.where(mask, 0.0, self.elevation_map[6]) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/custom_image_kernels.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/custom_image_kernels.py index 526de667..62f32c70 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/custom_image_kernels.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/custom_image_kernels.py @@ -180,6 +180,7 @@ def exponential_correspondences_to_map_kernel(resolution, width, height, alpha): ) return exponential_correspondences_to_map_kernel + def color_correspondences_to_map_kernel(resolution, width, height): color_correspondences_to_map_kernel = cp.ElementwiseKernel( in_params="raw U sem_map, raw U map_idx, raw U image_rgb, raw U uv_correspondence, raw B valid_correspondence, raw U image_height, raw U image_width", diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/plugin_manager.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/plugin_manager.py index d780a59f..ce8c990d 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/plugin_manager.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/plugin_manager.py @@ -80,11 +80,7 @@ def init(self, plugin_params: List[PluginParams], extra_params: List[Dict]): for param, extra_param in zip(plugin_params, extra_params): m = importlib.import_module("." + param.name, package="elevation_mapping_cupy.plugins") # -> 'module' for name, obj in inspect.getmembers(m): - if ( - inspect.isclass(obj) - and issubclass(obj, PluginBase) - and name != "PluginBase" - ): + if inspect.isclass(obj) and issubclass(obj, PluginBase) and name != "PluginBase": # Add cell_n to params extra_param["cell_n"] = self.cell_n self.plugins.append(obj(**extra_param)) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py index 133c209b..ca9baa4f 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py @@ -63,9 +63,7 @@ def __init__(self, param: Parameter): self.delete_new_layers = cp.ones(self.new_map.shape[0], cp.bool8) def clear(self): - """Clear the semantic map. - - """ + """Clear the semantic map.""" self.semantic_map *= 0.0 def compile_kernels(self) -> None: @@ -153,10 +151,7 @@ def compile_kernels(self) -> None: if "image_exponential" in self.unique_fusion: self.exponential_correspondences_to_map_kernel = exponential_correspondences_to_map_kernel( - resolution=self.param.resolution, - width=self.param.cell_n, - height=self.param.cell_n, - alpha=0.7 + resolution=self.param.resolution, width=self.param.cell_n, height=self.param.cell_n, alpha=0.7 ) if "image_color" in self.unique_fusion: @@ -330,7 +325,7 @@ def update_layers_pointcloud(self, points_all, channels, R, t, elevation_map): cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=cp.int32), self.semantic_map, self.new_map, - size=(points_all.shape[0]*pcl_ids.shape[0]), + size=(points_all.shape[0] * pcl_ids.shape[0]), ) self.class_average_kernel( self.new_map, @@ -339,7 +334,7 @@ def update_layers_pointcloud(self, points_all, channels, R, t, elevation_map): cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=cp.int32), elevation_map, self.semantic_map, - size=(self.param.cell_n * self.param.cell_n*pcl_ids.shape[0]), + size=(self.param.cell_n * self.param.cell_n * pcl_ids.shape[0]), ) if "class_bayesian" in additional_fusion: diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/plugin_config.yaml b/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/plugin_config.yaml index 6d057ec5..0e8f67c9 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/plugin_config.yaml +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/plugin_config.yaml @@ -1,16 +1,16 @@ # Settings of the plugins. (The plugins should be stored in script/plugins) # min_filter fills in minimum value around the invalid cell. -min_filter: +min_filter: enable: True # weather to load this plugin fill_nan: False # Fill nans to invalid cells of elevation layer. is_height_layer: True # If this is a height layer (such as elevation) or not (such as traversability) layer_name: "min_filter" # The layer name. - extra_params: # This params are passed to the plugin class on initialization. + extra_params: # This params are passed to the plugin class on initialization. dilation_size: 1 # The patch size to apply iteration_n: 30 # The number of iterations # Apply smoothing. -smooth_filter: +smooth_filter: enable: True fill_nan: False is_height_layer: True @@ -34,14 +34,14 @@ smooth_filter_1: layer_name: "smooth_1" extra_params: input_layer_name: "inpaint" -robot_centric_elevation: # Use the same name as your file name. -# type: "robot_centric_elevation" +robot_centric_elevation: # Use the same name as your file name. + # type: "robot_centric_elevation" enable: True # weather to load this plugin fill_nan: False # Fill nans to invalid cells of elevation layer. is_height_layer: True # If this is a height layer (such as elevation) or not (such as traversability) layer_name: "robot_centric_elevation" # The layer name. - extra_params: # This params are passed to the plugin class on initialization. -# add_value: 2.0 # Example param + extra_params: # This params are passed to the plugin class on initialization. + # add_value: 2.0 # Example param resolution: 0.04 threshold: 1.1 use_threshold: True @@ -52,8 +52,8 @@ semantic_filter: is_height_layer: False layer_name: "sem_fil" extra_params: - classes: ['grass','tree','fence','person'] - colors: [[0,255,0],[120,120,0],[170,0,20],[0,0,255],[255,0,0]] + classes: [ 'grass','tree','fence','person' ] + colors: [ [ 0,255,0 ],[ 120,120,0 ],[ 170,0,20 ],[ 0,0,255 ],[ 255,0,0 ] ] semantic_traversability: type: "semantic_traversability" enable: True @@ -61,6 +61,6 @@ semantic_traversability: is_height_layer: False layer_name: "sem_traversability" extra_params: - layers: ['traversability','robot_centric_elevation'] - thresholds: [0.7,0.5] - type: ['traversability', 'elevation'] + layers: [ 'traversability','robot_centric_elevation' ] + thresholds: [ 0.7,0.5 ] + type: [ 'traversability', 'elevation' ] diff --git a/elevation_mapping_cupy/src/elevation_mapping_ros.cpp b/elevation_mapping_cupy/src/elevation_mapping_ros.cpp index b8760628..1b6c6dfa 100644 --- a/elevation_mapping_cupy/src/elevation_mapping_ros.cpp +++ b/elevation_mapping_cupy/src/elevation_mapping_ros.cpp @@ -42,10 +42,10 @@ ElevationMappingNode::ElevationMappingNode(ros::NodeHandle& nh) // Read parameters nh.getParam("subscribers", subscribers); nh.getParam("publishers", publishers); - if(!subscribers.valid()) { + if (!subscribers.valid()) { ROS_FATAL("There aren't any subscribers to be configured, the elevation mapping cannot be configured. Exit"); } - if(!publishers.valid()) { + if (!publishers.valid()) { ROS_FATAL("There aren't any publishers to be configured, the elevation mapping cannot be configured. Exit"); } nh.param>("initialize_frame_id", initialize_frame_id_, {"base"}); @@ -73,25 +73,24 @@ ElevationMappingNode::ElevationMappingNode(ros::NodeHandle& nh) // Iterate all the subscribers // here we have to remove all the stuff - for (auto & subscriber : subscribers) { + for (auto& subscriber : subscribers) { std::string key = subscriber.first; auto type = static_cast(subscriber.second["data_type"]); - // Initialize subscribers depending on the type if (type == "pointcloud") { std::string pointcloud_topic = subscriber.second["topic_name"]; - boost::function f = boost::bind(&ElevationMappingNode::pointcloudCallback,this, _1, key); - ros::Subscriber sub = nh_.subscribe(pointcloud_topic, 1,f); + boost::function f = boost::bind(&ElevationMappingNode::pointcloudCallback, this, _1, key); + ros::Subscriber sub = nh_.subscribe(pointcloud_topic, 1, f); pointcloudSubs_.push_back(sub); - const auto & channels = subscriber.second["channels"]; + const auto& channels = subscriber.second["channels"]; channels_[key].push_back("x"); channels_[key].push_back("y"); channels_[key].push_back("z"); for (int32_t i = 0; i < channels.size(); ++i) { auto elem = static_cast(channels[i]); channels_[key].push_back(elem); - } + } } else if (type == "image") { std::string camera_topic = subscriber.second["topic_name_camera"]; @@ -100,12 +99,12 @@ ElevationMappingNode::ElevationMappingNode(ros::NodeHandle& nh) // Handle compressed images with transport hints // We obtain the hint from the last part of the topic name std::string transport_hint = "compressed"; - std::size_t ind = camera_topic.find(transport_hint); // Find if compressed is in the topic name + std::size_t ind = camera_topic.find(transport_hint); // Find if compressed is in the topic name if (ind != std::string::npos) { - transport_hint = camera_topic.substr(ind, camera_topic.length()); // Get the hint as the last part - camera_topic.erase(ind - 1, camera_topic.length()); // We remove the hint from the topic + transport_hint = camera_topic.substr(ind, camera_topic.length()); // Get the hint as the last part + camera_topic.erase(ind - 1, camera_topic.length()); // We remove the hint from the topic } else { - transport_hint = "raw"; // In the default case we assume raw topic + transport_hint = "raw"; // In the default case we assume raw topic } // Setup subscriber @@ -279,7 +278,7 @@ void ElevationMappingNode::publishMapOfIndex(int index) { void ElevationMappingNode::pointcloudCallback(const sensor_msgs::PointCloud2& cloud, const std::string& key) { auto start = ros::Time::now(); -// transform pointcloud into matrix + // transform pointcloud into matrix auto* pcl_pc = new pcl::PCLPointCloud2; pcl::PCLPointCloud2ConstPtr cloudPtr(pcl_pc); pcl_conversions::toPCL(cloud, *pcl_pc); @@ -289,31 +288,31 @@ void ElevationMappingNode::pointcloudCallback(const sensor_msgs::PointCloud2& cl std::vector channels; std::vector add_element; - for(int it =0;itwidth*pcl_pc->height,array_dim); + RowMatrixXd points = RowMatrixXd(pcl_pc->width * pcl_pc->height, array_dim); - for (unsigned int i = 0; i < pcl_pc->width*pcl_pc->height; ++i) { + for (unsigned int i = 0; i < pcl_pc->width * pcl_pc->height; ++i) { int jit = 0; - for(unsigned int j = 0; jpoint_step + pcl_pc->fields[j].offset; - memcpy(&temp, &pcl_pc->data[point_idx], sizeof(float)); - points(i, jit) = static_cast(temp); - jit++; - } + for (unsigned int j = 0; j < add_element.size(); ++j) { + if (add_element[j]) { + float temp; + uint point_idx = i * pcl_pc->point_step + pcl_pc->fields[j].offset; + memcpy(&temp, &pcl_pc->data[point_idx], sizeof(float)); + points(i, jit) = static_cast(temp); + jit++; + } } } -// get pose of sensor in map frame + // get pose of sensor in map frame tf::StampedTransform transformTf; std::string sensorFrameId = cloud.header.frame_id; auto timeStamp = cloud.header.stamp; @@ -334,7 +333,8 @@ void ElevationMappingNode::pointcloudCallback(const sensor_msgs::PointCloud2& cl positionError = positionError_; orientationError = orientationError_; } - map_.input(points, channels, transformationSensorToMap.rotation(), transformationSensorToMap.translation(), positionError, orientationError); + map_.input(points, channels, transformationSensorToMap.rotation(), transformationSensorToMap.translation(), positionError, + orientationError); if (enableDriftCorrectedTFPublishing_) { publishMapToOdom(map_.get_additive_mean_error()); @@ -348,7 +348,8 @@ void ElevationMappingNode::pointcloudCallback(const sensor_msgs::PointCloud2& cl pointCloudProcessCounter_++; } -void ElevationMappingNode::imageCallback(const sensor_msgs::ImageConstPtr& image_msg, const sensor_msgs::CameraInfoConstPtr& camera_info_msg, const std::string& key) { +void ElevationMappingNode::imageCallback(const sensor_msgs::ImageConstPtr& image_msg, + const sensor_msgs::CameraInfoConstPtr& camera_info_msg, const std::string& key) { auto start = ros::Time::now(); // Get image @@ -362,7 +363,7 @@ void ElevationMappingNode::imageCallback(const sensor_msgs::ImageConstPtr& image } // Extract camera matrix - Eigen::Map> cameraMatrix(&camera_info_msg->K[0]); + Eigen::Map> cameraMatrix(&camera_info_msg->K[0]); // Get pose of sensor in map frame tf::StampedTransform transformTf; @@ -389,7 +390,8 @@ void ElevationMappingNode::imageCallback(const sensor_msgs::ImageConstPtr& image } // Pass image to pipeline - map_.input_image(key, multichannel_image, transformationMapToSensor.rotation(), transformationMapToSensor.translation(), cameraMatrix, image.rows, image.cols); + map_.input_image(key, multichannel_image, transformationMapToSensor.rotation(), transformationMapToSensor.translation(), cameraMatrix, + image.rows, image.cols); ROS_DEBUG_THROTTLE(1.0, "ElevationMap processed an image in %f sec.", (ros::Time::now() - start).toSec()); } @@ -409,7 +411,7 @@ void ElevationMappingNode::updatePose(const ros::TimerEvent&) { // This is to check if the robot is moving. If the robot is not moving, drift compensation is disabled to avoid creating artifacts. Eigen::Vector3d position(transformTf.getOrigin().x(), transformTf.getOrigin().y(), transformTf.getOrigin().z()); - map_.move_to(position,transformationBaseToMap.rotation().transpose()); + map_.move_to(position, transformationBaseToMap.rotation().transpose()); Eigen::Vector3d position3(transformTf.getOrigin().x(), transformTf.getOrigin().y(), transformTf.getOrigin().z()); Eigen::Vector4d orientation(transformTf.getRotation().x(), transformTf.getRotation().y(), transformTf.getRotation().z(), transformTf.getRotation().w()); diff --git a/elevation_mapping_cupy/src/elevation_mapping_wrapper.cpp b/elevation_mapping_cupy/src/elevation_mapping_wrapper.cpp index 1e5541ed..74027bb9 100644 --- a/elevation_mapping_cupy/src/elevation_mapping_wrapper.cpp +++ b/elevation_mapping_cupy/src/elevation_mapping_wrapper.cpp @@ -80,14 +80,14 @@ void ElevationMappingWrapper::setParameters(ros::NodeHandle& nh) { nh.getParam("subscribers", subscribers); py::dict sub_dict; - for (auto & subscriber : subscribers) { - const char *const name = subscriber.first.c_str(); - const auto & subscriber_params = subscriber.second; + for (auto& subscriber : subscribers) { + const char* const name = subscriber.first.c_str(); + const auto& subscriber_params = subscriber.second; if (!sub_dict.contains(name)) { sub_dict[name] = py::dict(); } - for(auto iterat : subscriber_params){ - const char *const key = iterat.first.c_str(); + for (auto iterat : subscriber_params) { + const char* const key = iterat.first.c_str(); const auto val = iterat.second; std::vector arr; switch (val.getType()) { @@ -107,7 +107,7 @@ void ElevationMappingWrapper::setParameters(ros::NodeHandle& nh) { for (int32_t i = 0; i < val.size(); ++i) { auto elem = static_cast(val[i]); arr.push_back(elem); - } + } sub_dict[name][key] = arr; arr.clear(); break; @@ -130,32 +130,23 @@ void ElevationMappingWrapper::setParameters(ros::NodeHandle& nh) { nh.param("enable_normal_color", enable_normal_color_, false); } -void ElevationMappingWrapper::input(const RowMatrixXd& points, const std::vector& channels, const RowMatrixXd& R, const Eigen::VectorXd& t, - const double positionNoise, const double orientationNoise) { +void ElevationMappingWrapper::input(const RowMatrixXd& points, const std::vector& channels, const RowMatrixXd& R, + const Eigen::VectorXd& t, const double positionNoise, const double orientationNoise) { py::gil_scoped_acquire acquire; - map_.attr("input")(Eigen::Ref(points), channels, Eigen::Ref(R), Eigen::Ref(t), - positionNoise, orientationNoise); + map_.attr("input")(Eigen::Ref(points), channels, Eigen::Ref(R), + Eigen::Ref(t), positionNoise, orientationNoise); } -void ElevationMappingWrapper::input_image(const std::string& key, const std::vector& multichannel_image, - const RowMatrixXd& R, - const Eigen::VectorXd& t, - const RowMatrixXd& cameraMatrix, - int height, - int width) { +void ElevationMappingWrapper::input_image(const std::string& key, const std::vector& multichannel_image, const RowMatrixXd& R, + const Eigen::VectorXd& t, const RowMatrixXd& cameraMatrix, int height, int width) { py::gil_scoped_acquire acquire; - map_.attr("input_image")(key, - multichannel_image, - Eigen::Ref(R), - Eigen::Ref(t), - Eigen::Ref(cameraMatrix), - height, - width); + map_.attr("input_image")(key, multichannel_image, Eigen::Ref(R), Eigen::Ref(t), + Eigen::Ref(cameraMatrix), height, width); } -void ElevationMappingWrapper::move_to(const Eigen::VectorXd& p, const RowMatrixXd& R) { +void ElevationMappingWrapper::move_to(const Eigen::VectorXd& p, const RowMatrixXd& R) { py::gil_scoped_acquire acquire; - map_.attr("move_to")(Eigen::Ref(p), Eigen::Ref(R)); + map_.attr("move_to")(Eigen::Ref(p), Eigen::Ref(R)); } void ElevationMappingWrapper::clear() { @@ -259,7 +250,6 @@ void ElevationMappingWrapper::initializeWithPoints(std::vector& map_.attr("initialize_map")(Eigen::Ref(points_m), method); } - void ElevationMappingWrapper::addNormalColorLayer(grid_map::GridMap& map) { const auto& normalX = map["normal_x"]; const auto& normalY = map["normal_y"]; diff --git a/plane_segmentation/README.md b/plane_segmentation/README.md index 2d7c2f56..d9c17ae7 100644 --- a/plane_segmentation/README.md +++ b/plane_segmentation/README.md @@ -1,35 +1,45 @@ # Plane Segmentation ## Overview + This is a C++ ROS package for extracting convex polygons from elevation maps. In a first step, the terrain is segmented into planes, and their non-convex contour is extracted. In a second step, a local convex approximation can be obtained. ## Usage + ### Build + ```bash catkin build convex_plane_decomposition_ros ``` ### Run as node + ```bash roslaunch convex_plane_decomposition_ros convex_plane_decomposition.launch ``` ### Run demo + ```bash roslaunch convex_plane_decomposition_ros demo.launch ``` ### Convex approximation demo + A simple 2D demo the convex inner approximation is available: + ```bash rosrun convex_plane_decomposition_ros convex_plane_decomposition_ros_TestShapeGrowing ``` ### Parameters + You can select input map topics, pipeline parameters etc. in the respective yaml file in + ```bash convex_plane_decomposition_ros/config/ ``` + Some other parameters are set through the launch files. diff --git a/plane_segmentation/cgal5_catkin/README.md b/plane_segmentation/cgal5_catkin/README.md index 6079c91e..af601fd7 100644 --- a/plane_segmentation/cgal5_catkin/README.md +++ b/plane_segmentation/cgal5_catkin/README.md @@ -1,2 +1,3 @@ # cgal5_catkin + Catkin wrapper of the Computational Geometry Algorithms Library (CGAL) diff --git a/plane_segmentation/cgal5_catkin/package.xml b/plane_segmentation/cgal5_catkin/package.xml index 4cbb5614..9c3cf37a 100644 --- a/plane_segmentation/cgal5_catkin/package.xml +++ b/plane_segmentation/cgal5_catkin/package.xml @@ -1,13 +1,13 @@ - cgal5_catkin - 5.0.2 - Catkin wrapper for CGAL 5. - Ruben Grandia + cgal5_catkin + 5.0.2 + Catkin wrapper for CGAL 5. + Ruben Grandia - See package + See package - catkin - libgmp-dev - libmpfr-dev + catkin + libgmp-dev + libmpfr-dev diff --git a/plane_segmentation/convex_plane_decomposition/CMakeLists.txt b/plane_segmentation/convex_plane_decomposition/CMakeLists.txt index 52bb1bc7..2deb335a 100644 --- a/plane_segmentation/convex_plane_decomposition/CMakeLists.txt +++ b/plane_segmentation/convex_plane_decomposition/CMakeLists.txt @@ -3,10 +3,10 @@ project(convex_plane_decomposition) # Catkin dependencies set(CATKIN_PACKAGE_DEPENDENCIES - cgal5_catkin - grid_map_core - grid_map_cv - grid_map_filters_rsl + cgal5_catkin + grid_map_core + grid_map_cv + grid_map_filters_rsl ) find_package(catkin REQUIRED COMPONENTS @@ -33,14 +33,14 @@ set(CMAKE_CXX_STANDARD_REQUIRED ON) ################################### catkin_package( INCLUDE_DIRS - include - ${EIGEN3_INCLUDE_DIRS} + include + ${EIGEN3_INCLUDE_DIRS} LIBRARIES - ${PROJECT_NAME} + ${PROJECT_NAME} CATKIN_DEPENDS - ${CATKIN_PACKAGE_DEPENDENCIES} - DEPENDS - OpenCV GMP MPFR Boost + ${CATKIN_PACKAGE_DEPENDENCIES} + DEPENDS + OpenCV GMP MPFR Boost ) ########### @@ -68,16 +68,16 @@ add_library(${PROJECT_NAME} src/SegmentedPlaneProjection.cpp ) add_dependencies(${PROJECT_NAME} - ${catkin_EXPORTED_TARGETS} + ${catkin_EXPORTED_TARGETS} ) target_link_libraries(${PROJECT_NAME} - ${catkin_LIBRARIES} - ${OpenCV_LIBRARIES} - gmp - mpfr + ${catkin_LIBRARIES} + ${OpenCV_LIBRARIES} + gmp + mpfr ) target_compile_options(${PROJECT_NAME} - PUBLIC -DCGAL_HAS_THREADS + PUBLIC -DCGAL_HAS_THREADS ) ############# @@ -90,7 +90,7 @@ install(TARGETS ${PROJECT_NAME} RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} ) install(DIRECTORY include/${PROJECT_NAME}/ - DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} ) ############# @@ -98,17 +98,17 @@ install(DIRECTORY include/${PROJECT_NAME}/ ############# catkin_add_gtest(test_${PROJECT_NAME} - test/testConvexApproximation.cpp - test/testPipeline.cpp - test/testPlanarRegion.cpp - test/testRegionGrowing.cpp - test/testUpsampling.cpp + test/testConvexApproximation.cpp + test/testPipeline.cpp + test/testPlanarRegion.cpp + test/testRegionGrowing.cpp + test/testUpsampling.cpp ) target_link_libraries(test_${PROJECT_NAME} - ${PROJECT_NAME} - ${catkin_LIBRARIES} - ${OpenCV_LIBRARIES} - gmp - mpfr - gtest_main + ${PROJECT_NAME} + ${catkin_LIBRARIES} + ${OpenCV_LIBRARIES} + gmp + mpfr + gtest_main ) diff --git a/plane_segmentation/convex_plane_decomposition/package.xml b/plane_segmentation/convex_plane_decomposition/package.xml index b4627803..5ccbe03f 100644 --- a/plane_segmentation/convex_plane_decomposition/package.xml +++ b/plane_segmentation/convex_plane_decomposition/package.xml @@ -1,17 +1,17 @@ - convex_plane_decomposition - 0.0.0 - The convex_plane_decomposition package + convex_plane_decomposition + 0.0.0 + The convex_plane_decomposition package - Ruben Grandia + Ruben Grandia - MIT + MIT - catkin - cgal5_catkin - grid_map_core - grid_map_cv - grid_map_filters_rsl + catkin + cgal5_catkin + grid_map_core + grid_map_cv + grid_map_filters_rsl diff --git a/plane_segmentation/convex_plane_decomposition_ros/CMakeLists.txt b/plane_segmentation/convex_plane_decomposition_ros/CMakeLists.txt index d5f762ef..f94b85c6 100644 --- a/plane_segmentation/convex_plane_decomposition_ros/CMakeLists.txt +++ b/plane_segmentation/convex_plane_decomposition_ros/CMakeLists.txt @@ -3,20 +3,20 @@ project(convex_plane_decomposition_ros) # Catkin dependencies set(CATKIN_PACKAGE_DEPENDENCIES - roscpp - grid_map_core - grid_map_ros - grid_map_cv - grid_map_msgs - geometry_msgs - convex_plane_decomposition - convex_plane_decomposition_msgs - tf2_ros - visualization_msgs + roscpp + grid_map_core + grid_map_ros + grid_map_cv + grid_map_msgs + geometry_msgs + convex_plane_decomposition + convex_plane_decomposition_msgs + tf2_ros + visualization_msgs ) find_package(catkin REQUIRED COMPONENTS - ${CATKIN_PACKAGE_DEPENDENCIES} + ${CATKIN_PACKAGE_DEPENDENCIES} ) # OpenCv @@ -33,10 +33,10 @@ set(CMAKE_CXX_STANDARD_REQUIRED ON) ## catkin specific configuration ## ################################### catkin_package( - INCLUDE_DIRS include ${EIGEN3_INCLUDE_DIRS} - LIBRARIES ${PROJECT_NAME} - CATKIN_DEPENDS ${CATKIN_PACKAGE_DEPENDENCIES} - DEPENDS OpenCV + INCLUDE_DIRS include ${EIGEN3_INCLUDE_DIRS} + LIBRARIES ${PROJECT_NAME} + CATKIN_DEPENDS ${CATKIN_PACKAGE_DEPENDENCIES} + DEPENDS OpenCV ) ########### @@ -44,86 +44,86 @@ catkin_package( ########### include_directories( - include - ${EIGEN3_INCLUDE_DIRS} - ${catkin_INCLUDE_DIRS} + include + ${EIGEN3_INCLUDE_DIRS} + ${catkin_INCLUDE_DIRS} ) add_library(${PROJECT_NAME} - src/ConvexPlaneDecompositionRos.cpp - src/MessageConversion.cpp - src/ParameterLoading.cpp - src/RosVisualizations.cpp - ) + src/ConvexPlaneDecompositionRos.cpp + src/MessageConversion.cpp + src/ParameterLoading.cpp + src/RosVisualizations.cpp + ) add_dependencies(${PROJECT_NAME} - ${catkin_EXPORTED_TARGETS} - ) + ${catkin_EXPORTED_TARGETS} + ) target_link_libraries(${PROJECT_NAME} - ${catkin_LIBRARIES} - ${OpenCV_LIBRARIES} - ) + ${catkin_LIBRARIES} + ${OpenCV_LIBRARIES} + ) add_executable(${PROJECT_NAME}_node - src/ConvexPlaneDecompositionNode.cpp + src/ConvexPlaneDecompositionNode.cpp ) target_link_libraries(${PROJECT_NAME}_node - ${catkin_LIBRARIES} - ${OpenCV_LIBRARIES} - ${PROJECT_NAME} + ${catkin_LIBRARIES} + ${OpenCV_LIBRARIES} + ${PROJECT_NAME} ) add_executable(${PROJECT_NAME}_add_noise - src/noiseNode.cpp + src/noiseNode.cpp ) target_link_libraries(${PROJECT_NAME}_add_noise - ${catkin_LIBRARIES} + ${catkin_LIBRARIES} ) add_executable(${PROJECT_NAME}_save_elevationmap - src/SaveElevationMapAsImageNode.cpp - ) + src/SaveElevationMapAsImageNode.cpp + ) target_link_libraries(${PROJECT_NAME}_save_elevationmap - ${catkin_LIBRARIES} - ${OpenCV_LIBRARIES} - ) + ${catkin_LIBRARIES} + ${OpenCV_LIBRARIES} + ) add_executable(${PROJECT_NAME}_approximation_demo_node - src/ConvexApproximationDemoNode.cpp - ) + src/ConvexApproximationDemoNode.cpp + ) target_link_libraries(${PROJECT_NAME}_approximation_demo_node - ${catkin_LIBRARIES} - ${OpenCV_LIBRARIES} - ${PROJECT_NAME} - ) + ${catkin_LIBRARIES} + ${OpenCV_LIBRARIES} + ${PROJECT_NAME} + ) ############# ## Install ## ############# install(TARGETS ${PROJECT_NAME} - ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} - ) + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} + ) install(DIRECTORY include/${PROJECT_NAME}/ - DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} - ) + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} + ) install(TARGETS ${PROJECT_NAME}_node - RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} ) install(DIRECTORY config data launch rviz - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} ) ############# ## Testing ## ############# add_executable(${PROJECT_NAME}_TestShapeGrowing - test/TestShapeGrowing.cpp + test/TestShapeGrowing.cpp ) target_link_libraries(${PROJECT_NAME}_TestShapeGrowing - ${catkin_LIBRARIES} - ${OpenCV_LIBRARIES} + ${catkin_LIBRARIES} + ${OpenCV_LIBRARIES} ) \ No newline at end of file diff --git a/plane_segmentation/convex_plane_decomposition_ros/launch/convex_plane_decomposition.launch b/plane_segmentation/convex_plane_decomposition_ros/launch/convex_plane_decomposition.launch index d72f65e1..6f7053b6 100644 --- a/plane_segmentation/convex_plane_decomposition_ros/launch/convex_plane_decomposition.launch +++ b/plane_segmentation/convex_plane_decomposition_ros/launch/convex_plane_decomposition.launch @@ -1,13 +1,14 @@ - - + + - - - - - + + + + + diff --git a/plane_segmentation/convex_plane_decomposition_ros/launch/demo.launch b/plane_segmentation/convex_plane_decomposition_ros/launch/demo.launch index ede2f06f..d592db55 100644 --- a/plane_segmentation/convex_plane_decomposition_ros/launch/demo.launch +++ b/plane_segmentation/convex_plane_decomposition_ros/launch/demo.launch @@ -1,48 +1,52 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/plane_segmentation/convex_plane_decomposition_ros/launch/save_elevation_map.launch b/plane_segmentation/convex_plane_decomposition_ros/launch/save_elevation_map.launch index 702525a3..4197e474 100644 --- a/plane_segmentation/convex_plane_decomposition_ros/launch/save_elevation_map.launch +++ b/plane_segmentation/convex_plane_decomposition_ros/launch/save_elevation_map.launch @@ -1,11 +1,11 @@ - - - - - + + + + + diff --git a/plane_segmentation/convex_plane_decomposition_ros/rviz/config_demo.rviz b/plane_segmentation/convex_plane_decomposition_ros/rviz/config_demo.rviz index 93666180..0d306212 100644 --- a/plane_segmentation/convex_plane_decomposition_ros/rviz/config_demo.rviz +++ b/plane_segmentation/convex_plane_decomposition_ros/rviz/config_demo.rviz @@ -46,7 +46,7 @@ Visualization Manager: Marker Topic: /convex_plane_decomposition_ros/insets Name: Insets Namespaces: - {} + { } Queue Size: 100 Value: false - Alpha: 0.10000000149011612 diff --git a/plane_segmentation/grid_map_filters_rsl/package.xml b/plane_segmentation/grid_map_filters_rsl/package.xml index 481135ce..3df62480 100644 --- a/plane_segmentation/grid_map_filters_rsl/package.xml +++ b/plane_segmentation/grid_map_filters_rsl/package.xml @@ -1,19 +1,19 @@ - grid_map_filters_rsl - 0.1.0 - Extension of grid map filters package with op-cv filters and others - Fabian Jenelten + grid_map_filters_rsl + 0.1.0 + Extension of grid map filters package with op-cv filters and others + Fabian Jenelten - Fabian Jenelten + Fabian Jenelten - MIT + MIT - catkin - cmake_clang_tools - grid_map_cv - grid_map_core + catkin + cmake_clang_tools + grid_map_cv + grid_map_core - gtest - cmake_code_coverage + gtest + cmake_code_coverage diff --git a/sensor_processing/semantic_pointcloud/config/sensor_parameter.yaml b/sensor_processing/semantic_pointcloud/config/sensor_parameter.yaml index de553513..e448f9ab 100644 --- a/sensor_processing/semantic_pointcloud/config/sensor_parameter.yaml +++ b/sensor_processing/semantic_pointcloud/config/sensor_parameter.yaml @@ -1,11 +1,11 @@ subscribers: -# sensor_name: -# channels: ['feat_0','feat_1'] -# fusion: ['average','average'] -# topic_name: '/elevation_mapping/pointcloud_semantic' + # sensor_name: + # channels: ['feat_0','feat_1'] + # fusion: ['average','average'] + # topic_name: '/elevation_mapping/pointcloud_semantic' front_cam: - channels: ['rgb'] #'feat_0','feat_1','person','grass'] - fusion: ['color'] #'average','average','class_average','class_average'] + channels: [ 'rgb' ] #'feat_0','feat_1','person','grass'] + fusion: [ 'color' ] #'average','average','class_average','class_average'] topic_name: '/elvation_mapping/pointcloud_semantic' semantic_segmentation: False segmentation_model: 'detectron_coco_panoptic_fpn_R_101_3x' @@ -15,11 +15,11 @@ subscribers: name: 'DINO' interpolation: 'bilinear' model: "vit_small" - patch_size: 16 + patch_size: 16 dim: 5 dropout: False dino_feat_type: "feat" - input_size: [80, 160] + input_size: [ 80, 160 ] projection_type: "nonlinear" cam_info_topic: "/zed2i/zed_node/depth/camera_info" diff --git a/sensor_processing/semantic_pointcloud/launch/semantic_pointcloud.launch b/sensor_processing/semantic_pointcloud/launch/semantic_pointcloud.launch index ec49e082..e1aa1b85 100644 --- a/sensor_processing/semantic_pointcloud/launch/semantic_pointcloud.launch +++ b/sensor_processing/semantic_pointcloud/launch/semantic_pointcloud.launch @@ -1,7 +1,7 @@ - - - + + \ No newline at end of file diff --git a/sensor_processing/semantic_pointcloud/package.xml b/sensor_processing/semantic_pointcloud/package.xml index 00cb393f..ce51aa4a 100644 --- a/sensor_processing/semantic_pointcloud/package.xml +++ b/sensor_processing/semantic_pointcloud/package.xml @@ -1,28 +1,27 @@ - semantic_pointcloud - 0.0.0 - The semantic_pointcloud package - Gian Erni + semantic_pointcloud + 0.0.0 + The semantic_pointcloud package + Gian Erni + MIT - MIT + https://github.com/leggedrobotics/elevation_mapping_semantic_cupy - https://github.com/leggedrobotics/elevation_mapping_semantic_cupy + Gian Erni - Gian Erni - - catkin - rospy - roslib - tf - tf_conversions - sensor_msgs - std_msgs - geometry_msgs + catkin + rospy + roslib + tf + tf_conversions + sensor_msgs + std_msgs + geometry_msgs diff --git a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/networks.py b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/networks.py index ebd9dcc8..e047d3df 100644 --- a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/networks.py +++ b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/networks.py @@ -3,7 +3,7 @@ lraspp_mobilenet_v3_large, LRASPP_MobileNet_V3_Large_Weights, ) -from torchvision.models.segmentation import (deeplabv3_mobilenet_v3_large, DeepLabV3_MobileNet_V3_Large_Weights ) +from torchvision.models.segmentation import deeplabv3_mobilenet_v3_large, DeepLabV3_MobileNet_V3_Large_Weights import torch import torchvision.transforms.functional as TF from torchvision.transforms import Resize diff --git a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_node.py b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_node.py index 42ad5085..8e0bcc5f 100755 --- a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_node.py +++ b/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_node.py @@ -184,7 +184,7 @@ def cam_info_callback(self, msg): self.width = msg.width self.header = msg.header - def image_callback(self, depth_msg, rgb_msg=None,confidence_msg=None): + def image_callback(self, depth_msg, rgb_msg=None, confidence_msg=None): confidence = None image = None if self.P is None: From 0cdc97f462d8357ddb222949c2d8bed388e24320 Mon Sep 17 00:00:00 2001 From: Gian Date: Fri, 10 Feb 2023 14:38:37 +0100 Subject: [PATCH 338/504] added resize but there is still some error in resize --- .github/workflows/python-tests.yml | 4 +- docs/source/conf.py | 2 +- docs/source/python/index.rst | 2 +- ...tic_pointcloud.rst => semantic_sensor.rst} | 4 +- .../launch/lonomy_pointcloud.launch | 2 +- .../lonomy_semantic_elevation_single.launch | 2 +- .../sim_semantic_elevation_single.launch | 2 +- .../launch/turtlesim_pointcloud.launch | 2 +- .../rviz/lonomy_single.rviz | 2 +- .../plugins/features_pca.py | 2 +- .../launch/semantic_pointcloud.launch | 7 --- .../CMakeLists.txt | 4 +- .../config/sensor_parameter.yaml | 0 .../launch/semantic_pointcloud.launch | 7 +++ .../package.xml | 4 +- .../script/semantic_sensor}/DINO/__init__.py | 0 .../script/semantic_sensor}/DINO/modules.py | 2 +- .../script/semantic_sensor}/DINO/utils.py | 0 .../DINO/vision_transformer.py | 2 +- .../script/semantic_sensor}/__init__.py | 0 .../script/semantic_sensor/image_node.py} | 59 +++++++++++++++---- .../semantic_sensor/image_parameters.py} | 5 +- .../script/semantic_sensor}/networks.py | 10 ++-- .../semantic_sensor}/pointcloud_node.py | 10 ++-- .../semantic_sensor}/pointcloud_parameters.py | 5 +- .../script/semantic_sensor}/tests/__init__.py | 0 .../semantic_sensor}/tests/test_pointcloud.py | 0 .../semantic_sensor}/tests/test_utils.py | 4 +- .../script/semantic_sensor}/utils.py | 0 .../setup.py | 2 +- 30 files changed, 92 insertions(+), 53 deletions(-) rename docs/source/python/{semantic_pointcloud.rst => semantic_sensor.rst} (57%) delete mode 100644 sensor_processing/semantic_pointcloud/launch/semantic_pointcloud.launch rename sensor_processing/{semantic_pointcloud => semantic_sensor}/CMakeLists.txt (81%) rename sensor_processing/{semantic_pointcloud => semantic_sensor}/config/sensor_parameter.yaml (100%) create mode 100644 sensor_processing/semantic_sensor/launch/semantic_pointcloud.launch rename sensor_processing/{semantic_pointcloud => semantic_sensor}/package.xml (85%) rename sensor_processing/{semantic_pointcloud/script/semantic_pointcloud => semantic_sensor/script/semantic_sensor}/DINO/__init__.py (100%) rename sensor_processing/{semantic_pointcloud/script/semantic_pointcloud => semantic_sensor/script/semantic_sensor}/DINO/modules.py (98%) rename sensor_processing/{semantic_pointcloud/script/semantic_pointcloud => semantic_sensor/script/semantic_sensor}/DINO/utils.py (100%) rename sensor_processing/{semantic_pointcloud/script/semantic_pointcloud => semantic_sensor/script/semantic_sensor}/DINO/vision_transformer.py (99%) rename sensor_processing/{semantic_pointcloud/script/semantic_pointcloud => semantic_sensor/script/semantic_sensor}/__init__.py (100%) rename sensor_processing/{semantic_pointcloud/script/semantic_pointcloud/semantic_segmentation_node.py => semantic_sensor/script/semantic_sensor/image_node.py} (81%) rename sensor_processing/{semantic_pointcloud/script/semantic_pointcloud/semantic_segmentation_parameters.py => semantic_sensor/script/semantic_sensor/image_parameters.py} (90%) rename sensor_processing/{semantic_pointcloud/script/semantic_pointcloud => semantic_sensor/script/semantic_sensor}/networks.py (97%) rename sensor_processing/{semantic_pointcloud/script/semantic_pointcloud => semantic_sensor/script/semantic_sensor}/pointcloud_node.py (97%) rename sensor_processing/{semantic_pointcloud/script/semantic_pointcloud => semantic_sensor/script/semantic_sensor}/pointcloud_parameters.py (91%) rename sensor_processing/{semantic_pointcloud/script/semantic_pointcloud => semantic_sensor/script/semantic_sensor}/tests/__init__.py (100%) rename sensor_processing/{semantic_pointcloud/script/semantic_pointcloud => semantic_sensor/script/semantic_sensor}/tests/test_pointcloud.py (100%) rename sensor_processing/{semantic_pointcloud/script/semantic_pointcloud => semantic_sensor/script/semantic_sensor}/tests/test_utils.py (92%) rename sensor_processing/{semantic_pointcloud/script/semantic_pointcloud => semantic_sensor/script/semantic_sensor}/utils.py (100%) rename sensor_processing/{semantic_pointcloud => semantic_sensor}/setup.py (87%) diff --git a/.github/workflows/python-tests.yml b/.github/workflows/python-tests.yml index 00e81d4a..0f341544 100644 --- a/.github/workflows/python-tests.yml +++ b/.github/workflows/python-tests.yml @@ -34,7 +34,7 @@ jobs: run: | cd elevation_mapping_cupy/script/elevation_mapping_cupy/tests/ pytest - - name: Test semantic_pointcloud with pytest + - name: Test semantic_sensor with pytest run: | - cd sensor_processing/semantic_pointcloud/script/semantic_pointcloud/tests + cd sensor_processing/semantic_sensor/script/semantic_sensor/tests pytest test_utils.py diff --git a/docs/source/conf.py b/docs/source/conf.py index d761f2ff..c2b0da13 100644 --- a/docs/source/conf.py +++ b/docs/source/conf.py @@ -9,7 +9,7 @@ import os, sys sys.path.insert(0, os.path.abspath("../../elevation_mapping_cupy")) -sys.path.insert(0, os.path.abspath("../../sensor_processing/semantic_pointcloud")) +sys.path.insert(0, os.path.abspath("../../sensor_processing/semantic_sensor")) on_rtd = os.environ.get("READTHEDOCS", None) == "True" diff --git a/docs/source/python/index.rst b/docs/source/python/index.rst index f20f2e59..bf697bf9 100644 --- a/docs/source/python/index.rst +++ b/docs/source/python/index.rst @@ -3,6 +3,6 @@ Python software .. toctree:: elevation_mapping - semantic_pointcloud + semantic_sensor custom_kernels diff --git a/docs/source/python/semantic_pointcloud.rst b/docs/source/python/semantic_sensor.rst similarity index 57% rename from docs/source/python/semantic_pointcloud.rst rename to docs/source/python/semantic_sensor.rst index 03de3521..f3f8aa5e 100644 --- a/docs/source/python/semantic_pointcloud.rst +++ b/docs/source/python/semantic_sensor.rst @@ -1,8 +1,8 @@ -.. _semantic_pointcloud: +.. _semantic_sensor: Semantic Pointcloud ****************************************************************** -.. automodule:: semantic_pointcloud.pointcloud_node +.. automodule:: semantic_sensor.pointcloud_node :members: diff --git a/elevation_mapping_cupy/launch/lonomy_pointcloud.launch b/elevation_mapping_cupy/launch/lonomy_pointcloud.launch index d9ad8ecd..fe16229d 100644 --- a/elevation_mapping_cupy/launch/lonomy_pointcloud.launch +++ b/elevation_mapping_cupy/launch/lonomy_pointcloud.launch @@ -5,7 +5,7 @@ - diff --git a/elevation_mapping_cupy/launch/lonomy_semantic_elevation_single.launch b/elevation_mapping_cupy/launch/lonomy_semantic_elevation_single.launch index eac2fc20..dbd98f95 100644 --- a/elevation_mapping_cupy/launch/lonomy_semantic_elevation_single.launch +++ b/elevation_mapping_cupy/launch/lonomy_semantic_elevation_single.launch @@ -5,7 +5,7 @@ - diff --git a/elevation_mapping_cupy/launch/sim_semantic_elevation_single.launch b/elevation_mapping_cupy/launch/sim_semantic_elevation_single.launch index cc16152c..632b4bfd 100644 --- a/elevation_mapping_cupy/launch/sim_semantic_elevation_single.launch +++ b/elevation_mapping_cupy/launch/sim_semantic_elevation_single.launch @@ -5,7 +5,7 @@ - + diff --git a/elevation_mapping_cupy/launch/turtlesim_pointcloud.launch b/elevation_mapping_cupy/launch/turtlesim_pointcloud.launch index 8a1e7893..225b5b79 100644 --- a/elevation_mapping_cupy/launch/turtlesim_pointcloud.launch +++ b/elevation_mapping_cupy/launch/turtlesim_pointcloud.launch @@ -10,7 +10,7 @@ - diff --git a/elevation_mapping_cupy/rviz/lonomy_single.rviz b/elevation_mapping_cupy/rviz/lonomy_single.rviz index 5907e933..2544ffe9 100644 --- a/elevation_mapping_cupy/rviz/lonomy_single.rviz +++ b/elevation_mapping_cupy/rviz/lonomy_single.rviz @@ -377,7 +377,7 @@ Visualization Manager: Value: true - Class: rviz/Image Enabled: true - Image Topic: /semantic_pointcloud/sem_seg + Image Topic: /semantic_sensor/sem_seg Max Value: 1 Median window: 5 Min Value: 0 diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/features_pca.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/features_pca.py index f6e6506d..b0228870 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/features_pca.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/features_pca.py @@ -59,7 +59,7 @@ def __call__( # check which has the highest value if len(layer_indices) > 0: data = cp.reshape(semantic_map.semantic_map[layer_indices], (len(layer_indices), -1)).T.get() - data = np.clip(data, -1, 1) + # data = np.clip(data, -1, 1) n_components = 3 pca = PCA(n_components=n_components).fit(data) pca_descriptors = pca.transform(data) diff --git a/sensor_processing/semantic_pointcloud/launch/semantic_pointcloud.launch b/sensor_processing/semantic_pointcloud/launch/semantic_pointcloud.launch deleted file mode 100644 index e1aa1b85..00000000 --- a/sensor_processing/semantic_pointcloud/launch/semantic_pointcloud.launch +++ /dev/null @@ -1,7 +0,0 @@ - - - - - - \ No newline at end of file diff --git a/sensor_processing/semantic_pointcloud/CMakeLists.txt b/sensor_processing/semantic_sensor/CMakeLists.txt similarity index 81% rename from sensor_processing/semantic_pointcloud/CMakeLists.txt rename to sensor_processing/semantic_sensor/CMakeLists.txt index de10670f..bdc8a1b7 100644 --- a/sensor_processing/semantic_pointcloud/CMakeLists.txt +++ b/sensor_processing/semantic_sensor/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.0.2) -project(semantic_pointcloud) +project(semantic_sensor) find_package(PythonInterp 3 REQUIRED) find_package(PythonLibs 3 REQUIRED) @@ -28,6 +28,6 @@ catkin_python_setup() -catkin_install_python(PROGRAMS script/semantic_pointcloud/pointcloud_node.py +catkin_install_python(PROGRAMS script/semantic_sensor/pointcloud_node.py script/semantic_sensor/image_node.py DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) diff --git a/sensor_processing/semantic_pointcloud/config/sensor_parameter.yaml b/sensor_processing/semantic_sensor/config/sensor_parameter.yaml similarity index 100% rename from sensor_processing/semantic_pointcloud/config/sensor_parameter.yaml rename to sensor_processing/semantic_sensor/config/sensor_parameter.yaml diff --git a/sensor_processing/semantic_sensor/launch/semantic_pointcloud.launch b/sensor_processing/semantic_sensor/launch/semantic_pointcloud.launch new file mode 100644 index 00000000..550638ff --- /dev/null +++ b/sensor_processing/semantic_sensor/launch/semantic_pointcloud.launch @@ -0,0 +1,7 @@ + + + + + + \ No newline at end of file diff --git a/sensor_processing/semantic_pointcloud/package.xml b/sensor_processing/semantic_sensor/package.xml similarity index 85% rename from sensor_processing/semantic_pointcloud/package.xml rename to sensor_processing/semantic_sensor/package.xml index ce51aa4a..635775eb 100644 --- a/sensor_processing/semantic_pointcloud/package.xml +++ b/sensor_processing/semantic_sensor/package.xml @@ -1,8 +1,8 @@ - semantic_pointcloud + semantic_sensor 0.0.0 - The semantic_pointcloud package + The semantic_sensor package Gian Erni diff --git a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/DINO/__init__.py b/sensor_processing/semantic_sensor/script/semantic_sensor/DINO/__init__.py similarity index 100% rename from sensor_processing/semantic_pointcloud/script/semantic_pointcloud/DINO/__init__.py rename to sensor_processing/semantic_sensor/script/semantic_sensor/DINO/__init__.py diff --git a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/DINO/modules.py b/sensor_processing/semantic_sensor/script/semantic_sensor/DINO/modules.py similarity index 98% rename from sensor_processing/semantic_pointcloud/script/semantic_pointcloud/DINO/modules.py rename to sensor_processing/semantic_sensor/script/semantic_sensor/DINO/modules.py index 70603751..0f6edb44 100644 --- a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/DINO/modules.py +++ b/sensor_processing/semantic_sensor/script/semantic_sensor/DINO/modules.py @@ -1,4 +1,4 @@ -import semantic_pointcloud.DINO.vision_transformer as vits +import semantic_sensor.DINO.vision_transformer as vits import torch.nn as nn import torch diff --git a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/DINO/utils.py b/sensor_processing/semantic_sensor/script/semantic_sensor/DINO/utils.py similarity index 100% rename from sensor_processing/semantic_pointcloud/script/semantic_pointcloud/DINO/utils.py rename to sensor_processing/semantic_sensor/script/semantic_sensor/DINO/utils.py diff --git a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/DINO/vision_transformer.py b/sensor_processing/semantic_sensor/script/semantic_sensor/DINO/vision_transformer.py similarity index 99% rename from sensor_processing/semantic_pointcloud/script/semantic_pointcloud/DINO/vision_transformer.py rename to sensor_processing/semantic_sensor/script/semantic_sensor/DINO/vision_transformer.py index 399b7c1d..7604c1cd 100644 --- a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/DINO/vision_transformer.py +++ b/sensor_processing/semantic_sensor/script/semantic_sensor/DINO/vision_transformer.py @@ -7,7 +7,7 @@ import torch import torch.nn as nn -from semantic_pointcloud.DINO.utils import trunc_normal_ +from semantic_sensor.DINO.utils import trunc_normal_ def drop_path(x, drop_prob: float = 0.0, training: bool = False): diff --git a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/__init__.py b/sensor_processing/semantic_sensor/script/semantic_sensor/__init__.py similarity index 100% rename from sensor_processing/semantic_pointcloud/script/semantic_pointcloud/__init__.py rename to sensor_processing/semantic_sensor/script/semantic_sensor/__init__.py diff --git a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/semantic_segmentation_node.py b/sensor_processing/semantic_sensor/script/semantic_sensor/image_node.py similarity index 81% rename from sensor_processing/semantic_pointcloud/script/semantic_pointcloud/semantic_segmentation_node.py rename to sensor_processing/semantic_sensor/script/semantic_sensor/image_node.py index c373f84f..20716a6f 100755 --- a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/semantic_segmentation_node.py +++ b/sensor_processing/semantic_sensor/script/semantic_sensor/image_node.py @@ -5,6 +5,7 @@ import numpy as np import cupy as cp +import cv2 import ros_numpy import matplotlib.pyplot as plt from skimage.io import imshow @@ -14,8 +15,8 @@ from sensor_msgs.msg import PointCloud2, Image, CompressedImage from cv_bridge import CvBridge -from semantic_pointcloud.semantic_segmentation_parameters import SemanticSegmentationParameter -from semantic_pointcloud.networks import resolve_model +from semantic_sensor.image_parameters import ImageParameter +from semantic_sensor.networks import resolve_model from sklearn.decomposition import PCA @@ -27,12 +28,12 @@ def __init__(self, sensor_name): sensor_name (str): Name of the sensor in the ros param server. """ # TODO: if this is going to be loaded from another package we might need to change namespace - self.param: SemanticSegmentationParameter = SemanticSegmentationParameter() + self.param: ImageParameter = ImageParameter() self.param.feature_config.input_size = [80, 160] namesp = rospy.get_name() if rospy.has_param(namesp + "/subscribers"): config = rospy.get_param(namesp + "/subscribers") - self.param: SemanticSegmentationParameter = SemanticSegmentationParameter.from_dict(config[sensor_name]) + self.param: ImageParameter = ImageParameter.from_dict(config[sensor_name]) else: print("NO ROS ENV found.") @@ -63,11 +64,15 @@ def initialize_semantics(self): def register_sub_pub(self): """Register publishers and subscribers.""" # subscribers + if self.param.image_info_topic is not None and self.param.resize is not None: + rospy.Subscriber(self.param.image_info_topic, CameraInfo, self.image_info_callback) + self.feat_im_info_pub = rospy.Publisher(self.param.image_info_topic + "_resized", CameraInfo, queue_size=2) + if "compressed" in self.param.image_topic: self.compressed = True - self.subscriber = rospy.Subscriber(self.param.image_topic, - CompressedImage, self.image_callback, queue_size=2) - print("Subscribing to compressed image topic: {}".format(self.param.image_topic)) + self.subscriber = rospy.Subscriber( + self.param.image_topic, CompressedImage, self.image_callback, queue_size=2 + ) else: self.compressed = False rospy.Subscriber(self.param.image_topic, Image, self.image_callback) @@ -83,7 +88,6 @@ def register_sub_pub(self): self.feature_pub = rospy.Publisher(self.param.feature_topic, Image, queue_size=2) self.feat_im_pub = rospy.Publisher(self.param.feat_image_topic, Image, queue_size=2) - def color_map(self, N=256, normalized=False): """Create a color map for the class labels. @@ -126,11 +130,30 @@ def color_map_viz(self): plt.xticks([]) plt.show() + def image_info_callback(self, msg): + """Callback for camera info. + + Args: + msg (CameraInfo): + """ + self.P = np.array(msg.P).reshape(3, 4) + self.height = int(self.param.resize * msg.height) + self.width = int(self.param.resize * msg.width) + self.info = msg + def image_callback(self, rgb_msg): + if self.P is None: + return if self.compressed: - image = cp.asarray(self.cv_bridge.compressed_imgmsg_to_cv2(rgb_msg)) + image = self.cv_bridge.compressed_imgmsg_to_cv2(rgb_msg) + if self.param.resize is not None: + image = cv2.resize(image, dsize=(self.width, self.height)) + image = cp.asarray(image) else: - image = cp.asarray(self.cv_bridge.imgmsg_to_cv2(rgb_msg, desired_encoding="rgb8")) + image = self.cv_bridge.imgmsg_to_cv2(rgb_msg, desired_encoding="rgb8") + if self.param.resize is not None: + image = cv2.resize(image, dsize=(self.width, self.height)) + image = cp.asarray(image) self.header = rgb_msg.header self.process_image(image) @@ -140,6 +163,17 @@ def image_callback(self, rgb_msg): if self.param.feature_extractor: self.publish_feature() self.publish_feature_image(self.features) + if self.param.resize is not None: + self.pub_info() + + def pub_info(self): + info_msg = self.info + info_msg.height = self.height + info_msg.width = self.width + self.P[:2, :] *= self.param.resize + info_msg.K = self.P[:3, :3].flatten().tolist() + info_msg.P = self.P.flatten().tolist() + self.feat_im_info_pub.publish(info_msg) def process_image(self, image): """Depending on setting generate color, semantic segmentation or feature channels. @@ -150,7 +184,6 @@ def process_image(self, image): v: points: """ - if self.param.semantic_segmentation: self.sem_seg = self.semantic_model["model"](image) @@ -175,7 +208,6 @@ def publish_feature(self): feature_msg.header.stamp = self.header.stamp self.feature_pub.publish(feature_msg) - def publish_segmentation_image(self): colors = None probabilities = self.sem_seg @@ -217,7 +249,7 @@ def publish_feature_image(self, features): pca = PCA(n_components=n_components).fit(data) pca_descriptors = pca.transform(data) img_pca = pca_descriptors.reshape(features.shape[1], features.shape[2], n_components) - comp = img_pca #[:, :, -3:] + comp = img_pca # [:, :, -3:] comp_min = comp.min(axis=(0, 1)) comp_max = comp.max(axis=(0, 1)) comp_img = (comp - comp_min) / (comp_max - comp_min) @@ -226,6 +258,7 @@ def publish_feature_image(self, features): feat_msg.header.frame_id = self.header.frame_id self.feat_im_pub.publish(feat_msg) + if __name__ == "__main__": arg = sys.argv[1] sensor_name = arg diff --git a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/semantic_segmentation_parameters.py b/sensor_processing/semantic_sensor/script/semantic_sensor/image_parameters.py similarity index 90% rename from sensor_processing/semantic_pointcloud/script/semantic_pointcloud/semantic_segmentation_parameters.py rename to sensor_processing/semantic_sensor/script/semantic_sensor/image_parameters.py index 4075eb99..0df6fe57 100644 --- a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/semantic_segmentation_parameters.py +++ b/sensor_processing/semantic_sensor/script/semantic_sensor/image_parameters.py @@ -13,10 +13,11 @@ class FeatureExtractorParameter(Serializable): dino_feat_type: str = "feat" projection_type: str = "nonlinear" input_size: list = field(default_factory=lambda: [80, 160]) + pcl: bool = False @dataclass -class SemanticSegmentationParameter(Serializable): +class ImageParameter(Serializable): image_topic: str = "/alphasense_driver_ros/cam4/debayered" semantic_segmentation: bool = True @@ -32,4 +33,6 @@ class SemanticSegmentationParameter(Serializable): # feature_config.input_size: list = field(default_factory=lambda: [80, 160]) feature_topic: str = "/elevation_mapping/semantic_seg_feat" feat_image_topic: str = "/elevation_mapping/semantic_seg_feat_im" + resize: float = None + image_info_topic: str = "/elevation_mapping/image_info" diff --git a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/networks.py b/sensor_processing/semantic_sensor/script/semantic_sensor/networks.py similarity index 97% rename from sensor_processing/semantic_pointcloud/script/semantic_pointcloud/networks.py rename to sensor_processing/semantic_sensor/script/semantic_sensor/networks.py index e04ea9c1..f3fc0b50 100644 --- a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/networks.py +++ b/sensor_processing/semantic_sensor/script/semantic_sensor/networks.py @@ -20,13 +20,13 @@ from detectron2.config import get_cfg from detectron2.data import MetadataCatalog -from semantic_pointcloud.DINO.modules import DinoFeaturizer +from semantic_sensor.DINO.modules import DinoFeaturizer -from semantic_pointcloud.pointcloud_parameters import ( +from semantic_sensor.pointcloud_parameters import ( PointcloudParameter, FeatureExtractorParameter, ) -from semantic_pointcloud.utils import encode_max +from semantic_sensor.utils import encode_max def resolve_model(name, config=None): @@ -276,6 +276,7 @@ def to_tensor(self, data): def __call__(self, image, *args, **kwargs): # image = torch.as_tensor(image, device="cuda").permute(2, 0, 1).unsqueeze(0) image = self.to_tensor(image).unsqueeze(0) + # if self.cfg.pcl: reset_size = Resize(image.shape[-2:]) image = self.shrink(image) image = TF.normalize(image, mean=(0.485, 0.456, 0.406), std=(0.229, 0.224, 0.225)) @@ -284,6 +285,7 @@ def __call__(self, image, *args, **kwargs): feat2, code2 = self.model(image.flip(dims=[3])) code = (code1 + code2.flip(dims=[3])) / 2 code = NF.interpolate(code, image.shape[-2:], mode=self.cfg.interpolation, align_corners=False).detach() + # if self.cfg.pcl: code = reset_size(code) - code = torch.squeeze(code , dim=0) + code = torch.squeeze(code, dim=0) return code diff --git a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_node.py b/sensor_processing/semantic_sensor/script/semantic_sensor/pointcloud_node.py similarity index 97% rename from sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_node.py rename to sensor_processing/semantic_sensor/script/semantic_sensor/pointcloud_node.py index 596d4671..7d991a2d 100755 --- a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_node.py +++ b/sensor_processing/semantic_sensor/script/semantic_sensor/pointcloud_node.py @@ -12,9 +12,9 @@ from sensor_msgs.msg import PointCloud2, Image from cv_bridge import CvBridge -from semantic_pointcloud.pointcloud_parameters import PointcloudParameter -from semantic_pointcloud.networks import resolve_model -from semantic_pointcloud.utils import decode_max +from semantic_sensor.pointcloud_parameters import PointcloudParameter +from semantic_sensor.networks import resolve_model +from semantic_sensor.utils import decode_max from sklearn.decomposition import PCA @@ -28,8 +28,8 @@ def __init__(self, sensor_name): # TODO: if this is going to be loaded from another package we might need to change namespace self.param: PointcloudParameter = PointcloudParameter() self.param.feature_config.input_size = [80, 160] - if rospy.has_param("/semantic_pointcloud/subscribers"): - config = rospy.get_param("/semantic_pointcloud/subscribers") + if rospy.has_param("/semantic_sensor/subscribers"): + config = rospy.get_param("/semantic_sensor/subscribers") self.param: PointcloudParameter = PointcloudParameter.from_dict(config[sensor_name]) else: print("NO ROS ENV found.") diff --git a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_parameters.py b/sensor_processing/semantic_sensor/script/semantic_sensor/pointcloud_parameters.py similarity index 91% rename from sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_parameters.py rename to sensor_processing/semantic_sensor/script/semantic_sensor/pointcloud_parameters.py index 9a329e19..08ac4541 100644 --- a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/pointcloud_parameters.py +++ b/sensor_processing/semantic_sensor/script/semantic_sensor/pointcloud_parameters.py @@ -13,7 +13,8 @@ class FeatureExtractorParameter(Serializable): dino_feat_type: str = "feat" projection_type: str = "nonlinear" input_size: list = field(default_factory=lambda: [80, 160]) - feature_image_topic: str = "/semantic_pointcloud/feature_image" + feature_image_topic: str = "/semantic_sensor/feature_image" + pcl: bool = True @dataclass @@ -34,7 +35,7 @@ class PointcloudParameter(Serializable): semantic_segmentation: bool = False segmentation_model: str = "lraspp_mobilenet_v3_large" publish_segmentation_image: bool = False - segmentation_image_topic: str = "/semantic_pointcloud/sem_seg" + segmentation_image_topic: str = "/semantic_sensor/sem_seg" pub_all: bool = False show_label_legend: bool = False diff --git a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/tests/__init__.py b/sensor_processing/semantic_sensor/script/semantic_sensor/tests/__init__.py similarity index 100% rename from sensor_processing/semantic_pointcloud/script/semantic_pointcloud/tests/__init__.py rename to sensor_processing/semantic_sensor/script/semantic_sensor/tests/__init__.py diff --git a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/tests/test_pointcloud.py b/sensor_processing/semantic_sensor/script/semantic_sensor/tests/test_pointcloud.py similarity index 100% rename from sensor_processing/semantic_pointcloud/script/semantic_pointcloud/tests/test_pointcloud.py rename to sensor_processing/semantic_sensor/script/semantic_sensor/tests/test_pointcloud.py diff --git a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/tests/test_utils.py b/sensor_processing/semantic_sensor/script/semantic_sensor/tests/test_utils.py similarity index 92% rename from sensor_processing/semantic_pointcloud/script/semantic_pointcloud/tests/test_utils.py rename to sensor_processing/semantic_sensor/script/semantic_sensor/tests/test_utils.py index 0bebfcc6..fdcc4c91 100644 --- a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/tests/test_utils.py +++ b/sensor_processing/semantic_sensor/script/semantic_sensor/tests/test_utils.py @@ -1,8 +1,8 @@ import pytest -from semantic_pointcloud.networks import resolve_model +from semantic_sensor.networks import resolve_model import cupy as cp import torch -from semantic_pointcloud.pointcloud_parameters import ( +from semantic_sensor.pointcloud_parameters import ( FeatureExtractorParameter, PointcloudParameter, ) diff --git a/sensor_processing/semantic_pointcloud/script/semantic_pointcloud/utils.py b/sensor_processing/semantic_sensor/script/semantic_sensor/utils.py similarity index 100% rename from sensor_processing/semantic_pointcloud/script/semantic_pointcloud/utils.py rename to sensor_processing/semantic_sensor/script/semantic_sensor/utils.py diff --git a/sensor_processing/semantic_pointcloud/setup.py b/sensor_processing/semantic_sensor/setup.py similarity index 87% rename from sensor_processing/semantic_pointcloud/setup.py rename to sensor_processing/semantic_sensor/setup.py index 1af8da13..e9e4d498 100644 --- a/sensor_processing/semantic_pointcloud/setup.py +++ b/sensor_processing/semantic_sensor/setup.py @@ -3,7 +3,7 @@ setup_args = generate_distutils_setup( packages=[ - "semantic_pointcloud", + "semantic_sensor", ], package_dir={"": "script"}, ) From 9bb1bd5d4a9148245c08bfad506965b4b98c6c27 Mon Sep 17 00:00:00 2001 From: Gian Date: Mon, 13 Feb 2023 20:42:22 +0100 Subject: [PATCH 339/504] fixing the projection --- .../script/semantic_sensor/DINO/modules.py | 52 +++- .../DINO/vision_transformer.py | 19 +- .../script/semantic_sensor/feature.ipynb | 263 ++++++++++++++++++ .../script/semantic_sensor/image_node.py | 14 +- .../script/semantic_sensor/networks.py | 14 +- .../semantic_sensor/pointcloud_parameters.py | 2 +- .../script/semantic_sensor/profile.stats | Bin 0 -> 2189606 bytes 7 files changed, 336 insertions(+), 28 deletions(-) create mode 100644 sensor_processing/semantic_sensor/script/semantic_sensor/feature.ipynb create mode 100644 sensor_processing/semantic_sensor/script/semantic_sensor/profile.stats diff --git a/sensor_processing/semantic_sensor/script/semantic_sensor/DINO/modules.py b/sensor_processing/semantic_sensor/script/semantic_sensor/DINO/modules.py index 0f6edb44..24e4bff9 100644 --- a/sensor_processing/semantic_sensor/script/semantic_sensor/DINO/modules.py +++ b/sensor_processing/semantic_sensor/script/semantic_sensor/DINO/modules.py @@ -28,21 +28,6 @@ def __init__(self, weights, cfg): else: raise ValueError("Unknown arch and patch size") - # if cfg.pretrained_weights is not None: - # state_dict = torch.load(cfg.pretrained_weights, map_location="cpu") - # state_dict = state_dict["teacher"] - # # remove `module.` prefix - # state_dict = {k.replace("module.", ""): v for k, v in state_dict.items()} - # # remove `backbone.` prefix induced by multicrop wrapper - # state_dict = {k.replace("backbone.", ""): v for k, v in state_dict.items()} - # - # # state_dict = {k.replace("projection_head", "mlp"): v for k, v in state_dict.items()} - # # state_dict = {k.replace("prototypes", "last_layer"): v for k, v in state_dict.items()} - # - # msg = self.model.load_state_dict(state_dict, strict=False) - # print('Pretrained weights found at {} and loaded with msg: {}'.format(cfg.pretrained_weights, msg)) - # else: - # print("Since no pretrained weights have been provided, we load the reference pretrained DINO weights.") state_dict = torch.hub.load_state_dict_from_url(url="https://dl.fbaipublicfiles.com/dino/" + url) self.model.load_state_dict(state_dict, strict=True) @@ -57,9 +42,29 @@ def __init__(self, weights, cfg): self.cluster2 = self.make_nonlinear_clusterer(self.n_feats) def make_clusterer(self, in_channels): + """ + Function to make the clusterer model which consists of a single Conv2d layer. + The input channels are taken as the argument, and the output channels are equal to the `dim` of the model. + + Parameters: + in_channels (int): The number of input channels. + + Returns: + nn.Sequential: A sequential model consisting of a single Conv2d layer.""" + return torch.nn.Sequential(torch.nn.Conv2d(in_channels, self.dim, (1, 1))) # , def make_nonlinear_clusterer(self, in_channels): + """ + Function to make the nonlinear clusterer model which consists of a series of Conv2d and ReLU layers. + The input channels are taken as the argument, and the output channels are equal to the `dim` of the model. + + Parameters: + in_channels (int): The number of input channels. + + Returns: + nn.Sequential: A sequential model consisting of a Conv2d layer, a ReLU layer, and another Conv2d layer. + """ return torch.nn.Sequential( torch.nn.Conv2d(in_channels, in_channels, (1, 1)), torch.nn.ReLU(), @@ -67,6 +72,22 @@ def make_nonlinear_clusterer(self, in_channels): ) def forward(self, img, n=1, return_class_feat=False): + """ + Forward pass of the model. + The input image is passed through the `model` to get the intermediate features. + The intermediate features are then processed to get the final image feature and code. + If `return_class_feat` is set to True, the class features are returned instead. + + Parameters: + img (torch.Tensor): The input image tensor. + n (int, optional): The number of intermediate features to get. Default value is 1. 1 means only the features of the last block. + return_class_feat (bool, optional): Whether to return the class features. Default value is False. + + Returns: + tuple: If `cfg.dropout` is True, a tuple containing the final image feature and code is returned. + Otherwise, only the final image feature is returned. + If `return_class_feat` is True, the class features are returned instead. + """ self.model.eval() with torch.no_grad(): assert img.shape[2] % self.cfg.patch_size == 0 @@ -80,6 +101,7 @@ def forward(self, img, n=1, return_class_feat=False): feat_w = img.shape[3] // self.cfg.patch_size if self.feat_type == "feat": + # deflatten image_feat = feat[:, 1:, :].reshape(feat.shape[0], feat_h, feat_w, -1).permute(0, 3, 1, 2) elif self.feat_type == "KK": image_k = qkv[1, :, :, 1:, :].reshape(feat.shape[0], 6, feat_h, feat_w, -1) diff --git a/sensor_processing/semantic_sensor/script/semantic_sensor/DINO/vision_transformer.py b/sensor_processing/semantic_sensor/script/semantic_sensor/DINO/vision_transformer.py index 7604c1cd..711c5b4e 100644 --- a/sensor_processing/semantic_sensor/script/semantic_sensor/DINO/vision_transformer.py +++ b/sensor_processing/semantic_sensor/script/semantic_sensor/DINO/vision_transformer.py @@ -69,28 +69,45 @@ def __init__( proj_drop=0.0, ): super().__init__() + # number of attention heads self.num_heads = num_heads + # dimension of each head head_dim = dim // num_heads + # scale factor for the attention scores self.scale = qk_scale or head_dim**-0.5 + # linear layer to project the input to 3 times the dimension self.qkv = nn.Linear(dim, dim * 3, bias=qkv_bias) + # dropout layer to drop out activations in the attention mechanism self.attn_drop = nn.Dropout(attn_drop) + # linear layer to project the output back to the original dimension self.proj = nn.Linear(dim, dim) + # dropout layer to drop out activations in the projection layer self.proj_drop = nn.Dropout(proj_drop) def forward(self, x, return_qkv=False): + # get the batch size, sequence length, and input dimension B, N, C = x.shape + # project the input to 3 times the dimension, multiplication with W matrix qkv = self.qkv(x).reshape(B, N, 3, self.num_heads, C // self.num_heads).permute(2, 0, 3, 1, 4) + # separate the input into queries: info about word in relation to others, keys: how one word influences others, and values: how word sees itself q, k, v = qkv[0], qkv[1], qkv[2] + # compute the attention scores attn = (q @ k.transpose(-2, -1)) * self.scale attn = attn.softmax(dim=-1) + # drop out activations in the attention mechanism attn = self.attn_drop(attn) + # compute the weighted sum of values x = (attn @ v).transpose(1, 2).reshape(B, N, C) + # project the output back to the original dimension x = self.proj(x) + # drop out activations in the projection layer x = self.proj_drop(x) - return x, attn, qkv + + # return the attention mechanism and the projected input + return x, attn, qkv if return_qkv else x class Block(nn.Module): diff --git a/sensor_processing/semantic_sensor/script/semantic_sensor/feature.ipynb b/sensor_processing/semantic_sensor/script/semantic_sensor/feature.ipynb new file mode 100644 index 00000000..5290835d --- /dev/null +++ b/sensor_processing/semantic_sensor/script/semantic_sensor/feature.ipynb @@ -0,0 +1,263 @@ +{ + "cells": [ + { + "cell_type": "code", + "execution_count": 38, + "metadata": { + "collapsed": true + }, + "outputs": [], + "source": [ + "import torch\n", + "from semantic_sensor.networks import resolve_model\n", + "import os,yaml\n", + "from semantic_sensor.image_parameters import ImageParameter\n", + "from PIL import Image\n", + "import numpy as np\n", + "import cupy as cp\n", + "from sklearn.decomposition import PCA\n", + "import matplotlib.pyplot as plt\n", + "import cv2" + ] + }, + { + "cell_type": "code", + "execution_count": 2, + "metadata": { + "collapsed": false + }, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "channels:\n", + "- feat_0\n", + "- feat_1\n", + "- feat_2\n", + "- feat_3\n", + "- feat_4\n", + "- feat_5\n", + "- feat_6\n", + "- feat_7\n", + "- feat_8\n", + "- feat_9\n", + "feat_image_topic: /elevation_mapping/feat_im_f\n", + "feature_config:\n", + " dim: 10\n", + " dino_feat_type: feat\n", + " dropout: false\n", + " input_size:\n", + " - 160\n", + " - 320\n", + " interpolation: bilinear\n", + " model: vit_small\n", + " name: DINO\n", + " patch_size: 16\n", + " pcl: false\n", + " projection_type: nonlinear\n", + "feature_extractor: true\n", + "feature_topic: /elevation_mapping/feat_f\n", + "fusion:\n", + "- average\n", + "- average\n", + "- average\n", + "- average\n", + "- average\n", + "- average\n", + "- average\n", + "- average\n", + "- average\n", + "- average\n", + "image_info_topic: /alphasense_driver_ros/cam4/camera_info\n", + "image_topic: /alphasense_driver_ros/cam4/debayered/compressed\n", + "resize: 0.1\n", + "segmentation_model: detectron_coco_panoptic_fpn_R_101_3x\n", + "sem_seg_image_topic: /elevation_mapping/semantic_seg_im\n", + "sem_seg_topic: /elevation_mapping/semantic_seg\n", + "semantic_segmentation: false\n", + "show_label_legend: false\n", + "\n" + ] + } + ], + "source": [ + "param = ImageParameter()\n", + "with open(\"/home/melon/workspaces/gian_ws/src/lonomy_configuration/elevation_map/config/oxford_semantics.yaml\") as file:\n", + " data = yaml.safe_load(file)[\"subscribers\"]\n", + "param = ImageParameter.from_dict(data[\"feat_pred_front\"])\n", + "param.feature_config.input_size = [160, 320]\n", + "param.resize = 0.1\n", + "print(param.dumps_yaml())\n" + ] + }, + { + "cell_type": "code", + "execution_count": 3, + "metadata": { + "collapsed": false + }, + "outputs": [], + "source": [ + "feature_extractor = resolve_model(param.feature_config.name, param.feature_config)\n" + ] + }, + { + "cell_type": "markdown", + "metadata": { + "collapsed": false + }, + "source": [] + }, + { + "cell_type": "code", + "execution_count": 4, + "metadata": { + "collapsed": false + }, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "(551, 976, 3)\n", + "(55, 97, 3)\n" + ] + }, + { + "data": { + "image/png": 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k2Rt5Tti9hetRH8w7IDxdPN6S+0eRVlvDzwIALa28+660mOcth537ztBh3MecHVy3Tif3k0HTraQd3867pwCgp43vbQrhPtpQz/VoNvNuPmsI94mGRm7/vqkcZ78n9wRpix76OWkAUH6Cd99oPfyMe3bvIq2nh/vOkEF8nIHby8/nAe+yS03jXW2nK3j+BYCAAN5909HIfS8plcfbjo29dyH29LiRu3MD7HY7zGbF/PUt5JsPQRAEQRB8iiw+BEEQBEHwKbL4EARBEATBp8jiQxAEQRAEn3LRxqs7qhuhN5wtXkg8G3J63Gwk7OxUGJOa2KAJADo/NlDu/ZxNnpdlDCPtg7dXkjblhhmkFRQUkBafwAafmooW0vS6/qQBwOlKfp6DBWwmuuYBNqHufY/NriEWNv3VF3A2d1cXG28n/YhjposrOZoZANpK+PX1TftJMxjZ7GTtxwa6kyc4XnvRzeNIe23V56SNmT1XWcb4CH7ubj33iVYvR7tvXccx9cOnPELami9W832Hsam1YBPX4+xbOAodAJx2rtu1u7itx1zGpkFV9LkhgI1tgRob2xpqa0nTmxSmbz2/FgDaOjiSPDqax8fpMo573r6TTbpDB04gLSmF+87yN17m+yb3IW3RPWx0BoBBo+K4jEV8XMNTv+N5YlB2KmlHC/m1IweyCb3LzsZdYw2bVePTuHwA0NjI/Ts1iuPsg0ewSbO8mM2X/Yeygf3wbjawbvuS4/9dDj5SAgDmzJlM2oGD3NYBIfzcRaVsqJ0wmWPPu1vZCOoK4LrRm9j8uv8gH2UBAGMGcT8rqePjGpyawpCbyWVc9zGP3+g+fI/+GWwEPXToCL82jNsKAAKCykkbdXkaaUcO82dwZ1fvz1uJVxcEQRAE4aJFFh+CIAiCIPgUWXwIgiAIguBTZPEhCIIgCIJPuWgNp/oQIwzGswmnDaVsEGpvZ7OaXZHW6XSyMRUAGmvZYJScwql5/dLZxGiJOkZabQObi6xRbPwy9+P0OXsjGxi7KttIAwCTkQ155gg2MR3axCav9CFsTjIGGUhzRrHh0AA2XjY1cR326Nj8CACnG7ltRg67grTcPWtJq9/BCbe33cmm0XVfrCPN1cPPsn3FemUZ04ey+bKumPvZzm/YFJsynA2C3S6un3XflJN2QxKbwTJnZpD29af8fACQOYXNyVPncjpns7uSNHsjp562dXF/NIdy3egM/PuLo4ON3KZzJLPqDWzoc/vxWA+08n0SB/E48ITwvb9ck0taXBq31Q035JB2uIDHEABEx7FxN96fTXpjhlxLmq2OzbPJI9n02d3NbbCtiI2EjhYevyeKvyENAI7msgH+uoWcFLx1M5sqY+LZhLrj672kVRXbSDMY2XBsMPF1ALDyzxtYDOSE25R0K78ndKRFpbJJM20wGzw72xTzrZ8iMbeTU5ABIP84z1H+xmTSLruC+1mwgcf/Nh0npg4dyaZojyIdNaiHx1VjM5txAaC2npcBDS08b5UdZrOz3tB7btXpvntgunzzIQiCIAiCT5HFhyAIgiAIPkUWH4IgCIIg+BRZfAiCIAiC4FN0mqZ9d4eID3A4HLBYLLj76VtgDDhrMirYW07X6l1slGlp5aRQU7ja7DbnFk5DLCjkdL6AGj5evLCC0yfDDWyAK69n487QeXx0c1g4Hz/c4VCXOzGllMsYxs3YUMlG245KNpw2Vx0nzRrNBkZ3AJuYwvz5OG//bjYwAkD+IU6LTOg3grTqek49HTGRk1Q7jnIq5MDx/Uh74YV3SZs0jU12ABBl4T7lqmQjcfqQBaT1xPAx3TVFbGwMsrDpU3MfJu10GZsa04axWRkASurYSJjal83OZaX8LAZ/NvN1dLD5bvIUHi81VZwyq/Nnc+G304q/TXkZlyc4hF8fbmHTYFAgj8vmBi53u51NqJWnOCU4PIbNhT0dbLIDgG6vjbSYGB4z4eH82vRkHv+eWm7rhp49pKWm8ngxBPKcVXOK3w8A1m9RpHMa+RlNikRaSwQbWw/v5vafe+skvkcQG0FXvblRWcYrbptG2qb32fg79jKee7w93IaFiiTk8ZcPJM3Vzv2kYDensPbJ5HEOAOWF/JmQksKmcZOVDfAH17IZtKWOP8v6jQsizdnlJi0inOumoV6d9G0J5zrLGMjm6W2rFePon8a/19OD8lN5sNvtMJv5M+3byDcfgiAIgiD4FFl8CIIgCILgU2TxIQiCIAiCT5HFhyAIgiAIPuWiTTgtP34chm+lp9lq2GijedlcljY5mrTECLXx5dRuNvldnsNppsZRbL7qW87GzdDY60nbX/Jn0prtnITXrjha3ONWm92uuY6PX2/z8tHmiSn8+jd+xuYrk5ufpaWeUxhbHZykN3lGNmklNeokPX0oJ1dGJ3aTlqIwO2XEpJLWoec+UXiQzXd/ev550tYf2aEs42XjZ5BWVs4JmRve59f/6HFuf3MIG073FLChtj6XTWixo9hIljoggTQA8IviVNmmRk69dSnSEOHPxuTEFO4TrXYbaZofm1VDzRbSqirZHAwACUlsoG1qriPNrbEprs3JYyYslsd6XS0boD2KFN4OG/8u5j2HHz82ms28DfV8bWpfLk9lDRv/RvXLIq3iFE/PO/ccIO26q7lPGFLVU/vQLK7v5BB+/dY9PI4Kj5aRNv9WNm6u+4L79ySFYXzIMJ47AKC7i9vGmsjlri3j+d/rYTNoZCTPE0WFnFIaFsomXXszX+dxspkTACpOc4Jz1Sn+jDH5sXG/q4PHpZ+RtfKjPKcHhXLytK2a68EQqP6uwWjkejylMKb7GZJICw/tXbceTw/KlXdh5JsPQRAEQRB8iiw+BEEQBEHwKbL4EARBEATBp8jiQxAEQRAEn3LehtPt27fjueeeQ15eHmpra/HZZ59h3rx5Z/6/pml46qmn8NZbb8Fms2HChAl4/fXXkZ6efl73Kd/ZBn+/sya8R57hdMVX/nsbaaGRitS7ME7mAwDNy4mkZTU20uor2dimufm6CUPZIGjbz6Yhfz9O+yvOKyctIISNUgDw20dOkDZmDt9745+PkjYghduhpYsNsBkjOIUxKYNNds21bCS8485bSQOA5gpO7Bs8YDRp993/O9J0ikDSU438fBOnTyWtqY0NbJvezlOW0VnLbX3t1deQFrmQUxzDg/g+xR020hoK2QzmMnN6oKuH+8mOPEVCJQBrGBsyExUmvcgwK2lexTHkYYp0wqKiY6TFRysMow1s8NQ0dVqvy8XHxjvaOBU4PJynqsBQfmZnB9fjFXNmkrb2K65HbweXsc2hOGYdQHgMp6tWlNtIu3ra/aR9/dVnpK1a9RfSJswaSppRx2bFb7byEfQD+2eSBgApfdkAbXCyaTghkY37C+/gVN+Vn/GzJCdy0uvG9WxgDY9RxL8CMNdy3Xa3sZlzTBob07dv3UeaMSmYtOA4NkXX1XG/W/TAz0jbtv+PpAHA4Alct/6KT1hbOfczg5fn+tnXsRH4xHFuqz3rj5DW5uB5LCGCU4IBIFbRJ9oU46jDwQb2Lndvs7rHw+b1c3He33x0dHRg2LBhePXVV5X//7//+7/x0ksv4Y033kBubi6Cg4Mxa9YsOJ0Kl70gCIIgCJcc5/3Nx+zZszF79mzl/9M0DS+88AJ++ctfYu7cuQCAv/zlL4iJicHq1atx4403/nulFQRBEATh/zzfq+ejrKwMdXV1yMnJOaNZLBaMHTsWe/bwIUkA4HK54HA4ev0IgiAIgvDD5XtdfNTV/T0cKCam90mAMTExZ/7fP7Ns2TJYLJYzP0lJHGQiCIIgCMIPhwuecLp06VIsWbLkzL8dDgeSkpLwi2fuQ1DQ2eS2D/Z+Ta9NGMzGpm4bGy9LW2qU946KZMOTG2zoqW5ns1NPD5uGil9n05ifjtd3TiOnenpdnHDpdPGzAEBkApfx4Bp+z/YWNhLqBnKTF+8rIW3wNcNJa7W1kjZ8AJviBkfxMdIA8Jcd75BWWM2GVWsYG1uDUtiEFg5O9mvv4qRXXTibIhubbMoyev24zo+2cCps2S42SgZVsdmqw82L6YO7jpN2+8+u5rIEsoHV0cWmLwCwWNggejyfDaJDhnB7+ZnYkF1dW0lafJwiSdOP+7dBz33MT2EOBQCXi71gsdFsGg8wchkbajiF0dnB46CthZN12zp5THd1cllUBlYAKDlSymU08XM313MqaGE+9ydrID/fE3f8F2k//s3PSRs8eAxpDTauGwCob+VfAoekjSJt064tpMWksmFx9NBU0roVY+jwse2kBXfy+AUAWzv3ZT8P95/tRwpIa3WyQXjwQDZzdnoVv3e7Wdub+xFpicmc/gsAxaWchmrSczp2SAKbhk9s5yRUj7sfv18Y99uAMO7zPU5+lq42dV+Glz9Pmsp4Lgsw87PoA3unwvb0qD+zVHyv33zExv59kq+v7+12r6+vP/P//hmTyQSz2dzrRxAEQRCEHy7f6+IjLS0NsbGx2LRp0xnN4XAgNzcX2dnqHH9BEARBEC4tzvvPLu3t7SguLj7z77KyMuTn5yM8PBzJycl4+OGH8bvf/Q7p6elIS0vDk08+ifj4+F5ZIIIgCIIgXLqc9+LjwIEDmDZt2pl//8OvsWjRIrz77rt49NFH0dHRgXvuuQc2mw0TJ07EunXrEBDAfy8SBEEQBOHS47wXH1OnToV2jmOmAUCn0+E3v/kNfvOb3/xbBRMEQRAE4YfJBd/tci72lh2EMeCsC9dk4Thcr453nEzsP5G0nbXrlfdoauBdMEnBiaSZQtnl/Ys7ppMWGTqItD+8wy7moopPSTOEcFMMGduXNACwhvC3SP4u3g1ScogjxOMTk0lb+dEjpG3Y/jFpQ4ePJK2gppw0XSFHHAOAPoTNxOWtvDtFH8i7kL5cfoi0tCHsgA+d2Ie03J0cPz1gGO8QAICwCN4htD+PY/xnTb+btFVffEhaWzc78tMncnT1kdKDpI0Zw2WM78ftBwCVxeWkLbr+x6SdbCgkreAY99GQIN6JYG/jDJ7uLt6R4w/+5aTnHLHL5lDuE22dish1xU6rmCg2sZ9uryAtPIrHRmk170KpKOAdPiHBPO8AwImTp/naSH6WL4/yrpHoLD66YGg/LmPSYN711a3jnRtrt35C2sJrricNAMJCI0mrttlIc9p4HBQd5/my33AraZ1dvLvol7/gOaaqnusbAJpb+RiGylIu43VXTSVt+Ru8O0UfwLtL1r7Hc1RUdCpptRW8uyywQm2VNMfyrpFDmzlWPnPYYNJMVn7t5p08Lh1OHkfx/Xl3WJ/Lecehx6H+uD9ylHffdbv46BGTH7dr/369d/N1d7uwj7u8EjlYThAEQRAEnyKLD0EQBEEQfIosPgRBEARB8Cmy+BAEQRAEwadctIbTboMHMJw11xgDOX48KZmjq1964U+kRQ4IVt7DP4DXXivXr+T7JLGR7JeH2KQTlJ5G2vQpfJKv3jqOtHEzFJG7W7eSBgBHD3PEbruD77108b2kuRTR7lsOrSWt//AhpH21ax1pkQY25AX3Y0MdAKQZ2CjrqeDnLmotJq3NxsavvtmTSGs4zXHt4/txpPjyTRw9DgAj0q4jLavbRlplDZsva49yTP2YW9k07NXYFOsfyEPRYGRzYXsDm74AoKq+ibQvt35Bmp8fm0FrFDHlY0Zy5Hb+oQOkDRnM/aSkiNsvOEQdr97lYsNqgImfu9utMKG28jOHKO5TVVtO2oTxPAaTo9nMa7Goy52nMHNbrWwQ7Whn42ZXC5e7TzobTldv5kjyWTmzSAuL4vmpvYtjxgHAaOIxmB3PRvn39d+QNjybDb4hfXn8tzdxmybHsimytrVBWca7r7qZtLLDfyVtT94O0tra+bnzD/J9nl35BGmvv8LHYzhPc/uZddxWAHBqB8erJ8WlkBYbxv3sVB7PHY5+/PmUOYHn1kM7j3Jhyvn9nN18fAAAFB8qJ238tMWktTWxAba1pXfdut0XKF5dEARBEAThf0MWH4IgCIIg+BRZfAiCIAiC4FNk8SEIgiAIgk/Raf9TVvoFwOFwwGKxIHPeaPgbzprwVCa0tCQ2QOWu4yRMfYDaVxsRzWbHX9x0E2lT5nJaXG4ep1nuOsnJnA0NbJQMDmPDUlAwG2ozwjkJEwBW/PVz0kxONt9OnJVJ2ob1m0h7+bXXSfto4xukTc+eSdqna7gsAaGc1gcAMUlsyDNobOh74TdfkqY52cT2zCu3ktbW1Unams++Js3ZFaMsY+0JTl2MSWBT3XW3305aUAg/99f7PiCtuo7NYNZIrht9IJvdwi3cxwDA4Md93N9gIO3zT7huJ07mJFWXwggaG8uph+2d7aRZgq2kORVJqADg7GZdZ+Dn9tNx3XY5+N6dbjbV9evDBt+Txzl5dkA6m/mamxpJA4CoeDZQ7t3FJmZbE5exfx8elwUn2TSYkc7lTo5kA/P1s6aSVt7Mpl8AMAdyPe7dWUra88+8TdrPfruAtMhMToRev5WNsgMS2RDf0sJzIwAEtPF427Sak2u7O9i4O1OR7OnwsDm8R8+vHTeJTciNLZyinZdbThoAVBey2T3AoOi3ij4fEMhjVQth8+ZlCy4nLcLMfbGmipNV+yjGAQD0tPFnz4o3ckmLj1aYp7t692+3242NX62H3W6H2cxG6G8j33wIgiAIguBTZPEhCIIgCIJPkcWHIAiCIAg+RRYfgiAIgiD4lIs24dSvUQc//VmDS7eLTUN+AXzU/dTL+pNW26VeY40cGk/a51X7SXNuZCPZ2LGTSfv9O2zSDI5kk17N55wUuexlTtzr7FQn0mX252dsc7BhKdzKRiSTP9dFdwcnAB5UHOfc1qYwSum5C0UF8X0BoPDgEb53KCcAtjVxguv1P59NWslpNqGlprCx7cqrryBt+Zs7lWW0RLAZuKCWzVsHitnE2uBiA11MJD/f8V1s0r0nJ5u0Tz5gc+iMnBzSAEAXwL5xgz8byeZddxVp5WVcj4MGs3GvqIjrIS5G0dZeNukFhQTydQACNU7cPHyc04PHj+X6CUnius09zOO3oaGWtKQUfm2zo5W0sASeYwDgyGE2DdvsNtKyRnK6buFxfm1kuJW0k4rruvvzOF+1ls3vWeOGkQYAOw/wuC4p4PTYbzZ9QlqPldND/7pmNWkD+/MY9AcbL80eTvoEgK9XniDNozASe3vYkDnzat4wUFa1jbSjRziN9L3XOBF4zjVXk5Y0QG1WNwXy3Fpy4DRpgQFssnc089wR1MltfXQ1z6ENjhbSvDpOst4VtJc0AAgx8JzntPNmDC2aze6Vtb0N+p4eD11zLuSbD0EQBEEQfIosPgRBEARB8Cmy+BAEQRAEwafI4kMQBEEQBJ9y0Sacjrh8VK+E04GpqXRtZSGn+IUnsoEtXmEsBYCS7XWKazlVdOJgNqcd2VdOWua4gaTpDJGk1VeVkdbjZqNOj1udcFpTxIZMj8Zm0PJKLqPKpHXVj8eT1qUwz0WY2XBkDOEymgOCSQOATh2bqg4dZXPZlg+5fh57mo1fHQpj6sRsTin8/Zuc4NrVru4TzXXcJ66+fS5pDR42X+oMbNxrV6Qw2pu9pJ0oYCPZ8KGcPKr5ccogACQkswn5lOI94ce/b6TEc11Un64mLTCITWgRkWxWc3VyyuzpKk7RBIDoeE7mTU7hFM8tW/iI96yhY0krKGRDpd6fjXsxSfzMBg+bp5u71AmndeWsW01sJPS6+d4jxk4hLf8gJ0rWlrNRttvVRVr0QE6S7GxRJ8paFN3HVsHpuncsYJN2t385abu3s3HTHsQGyKQ+qaQt//VaZRkjo/hap5PH0bSbOZG2f8Yg0lxdPC4DNR4HTa3cpo4uNtm2d7CZEwCGDOB7D4phzVHJhuyX332X328yJ5Ie2MJJuCY/7mNef55jevzVZtBOB5vB4yO4T8RG8fhvdfU2nLrdPdj46XZJOBUEQRAE4eJDFh+CIAiCIPgUWXwIgiAIguBTZPEhCIIgCIJPuWgTTk1mHfTfOlq7traervnZbx8l7XQRp5Fu27lPeQ+9jr22S279MWkbt71K2tFDnFw3c/5I0uo72PhztJ7NdwNS2TwVYVYbN8NjWP/to5yu+vCzr5D29rInSfvmC05cnTUvi7QOhVk1yGUjLVphQgSAg8fZpDk7k02Vm9/jNoxOHEHaEW0DaSs++Zi0w/vZwGrwVx/n7WQ/Hw5V7CItNo7Ntzu3cJJich82bjka+SZZI7j9G6s5cVNv4NRSADh1ag1ptWVsGrUEsAF6wAI2eCaoDN6lbPD2eNjY2OZgI3BwiNp8VqJITc0aPpq0u+fdT9r+Mk5stIZx30tOSiAtKIjNodt38DyRlKROs8wazsmuA9K43AePcBnfeOkl0sKD2bidkspm3FY7J31WHua+nJrO/Q4A0gayvq+Uj4I3p3N7VdVySumiB28jbcde7otdnWyyjLBw+jMAGPz5Y+nqxTxPGM1BpPVobHaur+fnSx/ECbDdLZz0PDSRDaPD+qjTY20tbFhtbGTTcFxyImk/ufc60mqdPP576tk0Wmfn8RYRZSWtW5ESCwBNivnIr8dG2sF8/szTm3ubXSXhVBAEQRCEixZZfAiCIAiC4FNk8SEIgiAIgk+RxYcgCIIgCD7lojWc9ktJg9F01uDkLmFTzd8+/IC0hABOYfvlzQ8o77H24/Wk1ZbXkNZQZSXt6hlsRIsK5qOkG+vZhOQN4mpvsvF1tjZ+ZgBo62ZT1fx72Oxmr2Zjq9bDBtjWcjaSOr2c4tcvms1qFXmFpOn1aiOZx8NG2Z8/9VvSHv/V06T9ftly0mbO4ZTKbblFpHmDOAEwZ9EoZRlXPs/HavdJ5UTK0jI2sfbvzwm3Q7KySNu1lY2pI0ZMJW19LffPjAGDSQOAwV4+ur0zi41k27ZsJ62ljRMpw61sgPQ38thy97DhtG9fxZHqfpyiCAA11WzyO5zHBuiOLjYsmoP4PSsrK0lL75tFWkkFm2cjQ7mfHDnK5mcASIiNJa2qmo2f1Yr5JDqBDbCBJv490AWu2+YGnhNMJh5vRh0nPQPAxlV7+N7GdNLyj+0nbcJg7mPf7FhN2sRZnEacu2MLaf7cnQAAs2+7mbSmJr5Px3Ge3yra2eB56y13k1ZXy681K+aJ3OI80qLC2WwMAEF+PK9HhltJ83TaSFvzHhvlx98wiTRbK5s+n3niN6R1unns/+2zVaQBQGkh14XVwo1jsfJ4iwrt3ffc7h4U4LjyPv+MfPMhCIIgCIJPkcWHIAiCIAg+RRYfgiAIgiD4FFl8CIIgCILgUy5aw6lO84dOO5vmmDmezU59kvmo+4YWTkLdf4jNUwCg78cJpzsUZreAPpwKuW3DbtKOd3GSXmQIvzbGzudaxw9mE9rpqnLSACAzitM+P9r9LmlPLF1I2ucrOBUwJrIfaUYbJ2l2GtnsljWZzZiffPUpaQDQ3MLHYg+eqEiFPMpJk51NnM733hufkxYYycmVeoVR6usP2XgHANYUNlq2OOpICzGzOa2ymq9DN5fbbLaQ9tHfVpK26M47SDu4P5/vASAwkJ97UDonlwabue/5+7M5MTqc+21NBZs5W5rYrNqoZ+OlpqmnmtRE7vcNNTyGB2Rx0mRLM5tVLVYud3V1OWkRoVye+Ixs0qLL2MAIAPsO8JwSn8aG6oBgHm/BYVzfs6deS9qfn3uLtO4ONqF6XKyVnnCQBgAGI9+7o4P77V8+OkJa+y1sYmzztpO2a99G0kIVJvTAQB4HADBQkc560sDmcn+NTchzstnsOjSBk2J3fP01aVGJvIkgM43nxoMlh0kDgJEDs0jT2rjOdF7+nX/KnHGk9Y1m43bCNTw//eGl/0dacgo/y7Kf/Y40ALjpnttJG9CX66y9lT8vK/8pRbmnh685F/LNhyAIgiAIPkUWH4IgCIIg+BRZfAiCIAiC4FNk8SEIgiAIgk85r8XHsmXLMHr0aISGhiI6Ohrz5s1DYWHvhEun04nFixcjIiICISEhmD9/Purr2UAmCIIgCMKliU7TtO9sT7388stx4403YvTo0ejp6cEvfvELHDt2DCdOnEBw8N+d3vfddx/WrFmDd999FxaLBffffz/8/Pywa9eu73QPh8MBi8WChx+7DaZvxav/aN71dO2aNZtIa27jOOPGwgrlvVrATvaZN1xHmr/ZSFruhjWkBQazQzhCsbOhxMH37Wxn5/YYRZwxAJgV0cmFLeWk9XRzuY3tQ0i7+/IJpL25/1XSQqN5h0dYJLuv+8erI8CLmziSvKSU44JTEnmXxr5VvKvicP6XpE2ax7Hpo6eMJ83PwDsEAODwyVzS6us4+j5U0a7NVbz7wunH0fU5M3lnwxpF9HFEHDv8x48bQxoAdLbwMK6q5JjjEWN5p5S7kyP3NSfviimqLiAtyMh9ormF28pstZIGAG437wby8/OQFpeYSFq9Imo8Lpr7Y211K2mBFn7mMAvvELC3ctsDQH0t7xBpb+c+Nf2Ky0jbv/8gaR0OxWtHzSbtvTc4hruqsYS0OVMuJw0AQiM5Gnzzl2tJ6wrpIC0hhV+b0iectMYGrrP9yznO/q47fqws46AJw/k+Fi5PnzTeFbNBEYe+eR0fKXDz9Rzh/u4Hb5IWH5tMWl29egeUu42PvYixcp15LDxm7pzL5Tl5kI+uaLTzHJOSwmVsaeax0VzLu9AAYM1O3rk5bBjPwSdz+d41Lb13eHo8HhzNOwK73Q6z2ay83z84r62269at6/Xvd999F9HR0cjLy8PkyZNht9vx9ttvY8WKFZg+fToAYPny5Rg4cCD27t2LceN4O5EgCIIgCJcW/5bnw27/++oqPPzvq9+8vDy43W7k5OScuSYjIwPJycnYs0edq+ByueBwOHr9CIIgCILww+VfXnx4vV48/PDDmDBhAoYM+ftX+XV1dTAajbD+01esMTExqKtTBDDh7z4Si8Vy5icpif90IQiCIAjCD4d/efGxePFiHDt2DCtXcjLj+bB06VLY7fYzP6ojsQVBEARB+OHwL8Wr33///fjqq6+wfft2JH7LCBYbG4vu7m7YbLZe337U19cjNjZW+V4mkwkmk4n0g7tOQ68/Wzyb39t0TfMxNu5kjg0jLSyKjWQAkJzBhqXCAo7OdbnZfHf7PQ+S9rdv2IR65DQbrYwmheHotntI+3D130gDgHRF9G1SLD9jRTXHvdcposJV30pNjp9GWqeBo4KPHtpJWtApNsQCwLqNXD/DJ7HZdfNBNo21N/I6OXqgoq37sRH0eNEx0g4e4HIDgNHEsfJZGWz81QL4OrPCfFdRx+1vjWBz6MLZc7mMp0+R1lCjNo21KI4VyBjK5uJD+fmkBQZzLHiwP/dRk541gz+PjXCFqbGhUV1uq4Xjxzs62KRbXlpNWk8PG1PjE9mkG2juJi0qisf+qRNsqA0J4PIBQHsHx4rrFDH17a1slAwLsZJWcYTv7R7FJtQAnipx2ZTJpO3du5cvBBAezWMGfmy+jQvjeoSL67uxiU2WVw3nIxeOf8h9edP2zcoydkewYXmvnft3ZgZHn3/0KR+5MCSLx29uIcfjX3vNDaQdP3GUtJ5uHucAEJbIxk+bzUZacyVvinC2s93gROUJ0uZecRVpNRU8zwcovlb4+BM+OgQA3OC57Iv32RQdF8d9x2DoPSf46b779xnn9c2Hpmm4//778dlnn2Hz5s1IS+udPT9y5EgYDAZs2nR2F0phYSEqKiqQnc3nJgiCIAiCcOlxXt98LF68GCtWrMDnn3+O0NDQM78xWywWBAYGwmKx4M4778SSJUsQHh4Os9mMBx54ANnZ2bLTRRAEQRAEAOe5+Hj99dcBAFOnTu2lL1++HLfddhsA4Pnnn4efnx/mz58Pl8uFWbNm4bXXXvteCisIgiAIwv99zmvx8V3yyAICAvDqq6/i1Vc5pEoQBEEQBOFfMpz6gg5vO/Tes8WLDeNkx/ZQToDbtfYkaT975jHlPeoa2WhZpEjcDE9ns+z+o2ygGt+XDX75pkDSTp8uJ01rZVNceIA6IS4qjMtz5BAbZTs62CCamsimuOg0Lvfhte+RNmsBm52Kj3N9903lNEoAuH4umyrXHmJjU3EeJ3NGRrPJ66qrOT3ywGE2VU2ZNZW0wzvVZrfZ115NWvkpTjT0dLIpEjo2CIZZ2aS1/itO5o2wJpAWH8cGtsQE1gDg8G5O8bQ1cSKhvx+by1LiOBVUr+N03DZFBk+Pl02I+h5O69U0NjUCQE01jzePxtPS4MGcmttq4/LUV3Fb+fvzsxzM5T42aiTfo0VhGASAwdaBpPkZ2ZxaUszjI8zC9X31dZxIuns7J3Muupf759NLXiat7/j+pAFAQiiPI4Oe56jAYH4WVRptY4mNtI8c+0ibezsneG74aJuyjDMmcyJxYlAIaUf2czJnTyj3vUlXzSLt6w8+IE1Xx6mgo4cOI+2g4xBpABA5JIM0+wG+NjqKzbzvfrSCtLHDOI147dpPSLt1ASfFvvz75aT5GSJJAwB7NSdPd7fzZ8fpLjZZpwzoPR/1+HP9nws5WE4QBEEQBJ8iiw9BEARBEHyKLD4EQRAEQfApsvgQBEEQBMGn6LTvsoXFhzgcDlgsFix+/F6YvhXnFxfAR/w2tynSI5PYrNbQrT6szl/hgWtp5XS9PgPY5BcYFMGvddlIKy/lZL5hMWzmGtqXUwGtgWyUA4AAhSFvZxEndg7swymlZcUVpG14bwNpc67k1wZncLxiaiibp15/40+kAcDBZjZARiuMpA11nGbZJ7sPaT0KY+P2VTtI+/HTPyEtMJTNcwBgUpgGc/dy4urAAWwG27iJjyYfOYwNa8VFbJQeM4FNdvDjdh41bBRfB2DTFjaxtnWyiTkugk1nQew3hK2VDazNNjbkxcZwsm5TC7dzmIXHCwB0uriMPS5um+5uTtJssrEBbvBgNoLm7uG0zwF9UknbuYPNz1Omq+u7oZbN6kaDlbQxinDFino22c697EbSalo4CXPbN2zS3LZRkUYZrkgyBaDr4T7lH8Qm5I5WNhx2Oljz6ngM6jz8kRIdwXNo0QGevwFgxoPDSRs+fCRpYwPZuLv3MM+DHTpO5m2qZ2Oyt4c/EA4e5o0Fdz18O2kA0FzD7XX0ACekWiKtXMZ2G2k2O4+DGROm8j0K8knb/Al/jgVb1UnfYcFsGu928hhevORO0nbu6z3nuVzdeOW/P4TdbofZrN4w8Q/kmw9BEARBEHyKLD4EQRAEQfApsvgQBEEQBMGnyOJDEARBEASfctEaTu+//zGYTGcNjgVHj9C17c420hY+OJW009WVynsNSmET64ECNoOFhXMqaFMLHxF+07xrSDuSz8ciF54sJW1KDhsOm05xWQDA6WZjVHoyGz9behRHcnex4ez5VzaS1tPGzzd4FCf4+SewmevwAX5mAGhRHKtujraQ1tzKZr4p88eSVnaSjakxQ/iodG8714POj4+CB4AJ49ns1tjCx6Ln7dpFWqiezbMuN5v0br+DDbCn6zhx81Qh95Njx1kDgJGjOZ2zWWGebm2xkZaWzEY0p8KsagriceD18vRRX8vGO5cibRcAdAY2pWkeru+oJC5jWyuPf2MA9++gADZfOj020gb14/69YzO3MwAkxXOKb6jCSFhbz310xAhOaw4J5DKeKi4hzenmvtzQ0kSaq12RwAugvlh1LbeNXxeP6zY7t4s1npNH4eSxZVf0xb7pbMYGgD07vyHt63V/U1y3hW/tsJE2azjPrUERoaR1KObLvdU83r76nM3dADB+QiZppyt4LEQH85w3fBQb2B0KE+qerWye3vEV9xM/PzZ4h0eqDadX/JjLPVNh8K2287xcvLV3srbT6cKvnn5NDKeCIAiCIFx8yOJDEARBEASfIosPQRAEQRB8iiw+BEEQBEHwKRet4TRr2AT4+581j3k8nMLmr0iAHJljJc0azkfQA0B4EhsEL1MkSLoUVfTeKj5yfvhANit2KsyODTY2XhqDOT3UG6A2RfZJHEBa7qlc0qKMbKqalszmoqd+/RFppmA2ks3MuYK0H9+1gLR59y0kDQDqbI2khYfyfTKncxm3fMzGv6CYYNIaKtlc7PXnNvjxkruVZWxsYVNVahKbC48XsqnW4M8mvbhwNn5t2srPEhHOhuGYJE5bhabQANjtbL6MjGATY1sbmwbnXXsVaV99ykd3g4MwoYHHxoiINNK2n+JjuwFgwGB+7p27+Ej2G268jrQdu/lIdXszp7BOnTqHtF172NSY3i+VtJJTaoOvppiPjP48H1mj+flCQji5OCGZE0AP5vFx7Olp6aR98BaP34VLbiUNAFpr2fh5cBvfx9XF6ZohITyPni7nlFJ9pyJFNZif2RRiVZaxsaKKtIETeQxePoznidAMrp+aEjZz/2jSXNLya8r5/RSJsHkV6mRWv3aery2pnCh8rOQwaVHRnNaavyeftKHDBpH22Ut7SDMZraR5FWMVAIL7cgL4zKzRpF0xdTJpLfW95/SOzi5ce+MjYjgVBEEQBOHiQxYfgiAIgiD4FFl8CIIgCILgU2TxIQiCIAiCT7loDaejR0+HXn/W7NOtOD49YTibuSIS2MAYqleb9FITOLExIYpT4DYf5mPaNSMbkUy1nBQ4IpvTDP262KyWGJ1AWm61Oim0uZ4Nq+HhbL5MH8qmocN5fCT3vt1sOLpu+nTSXvnjn0mra2RzWMYCNhwCwILrOQE22swps/tKOLmwu41Noy1NfKS6MZRNX1XlbHacMX2asozFRZwAuekvG0ibvnAKaUMGsRG4sqictPffWkna1bex6fOuH/2YtNf/+gJpAHC6vJW0cDMbTkMCeCz0HaQw6VVzaqJdkR4ZG88mxEAPm6cb2rmtAKDdxX2vb3IKaUePs8kvNIj7fFMd10Nyfx5bPS4uz9FcTo9c8szTpAFA3vYDpLmcPP4HpKeS1ulkM2dRGdd3XT2bgyMjokh76LYlpL350e9JA4DhIyaQ9rc3V5BmMvA86mjkOotN5PkyLZ3704aVa0gLNHH7AYDOxOm60Qls3AyOYgf02OxU0qL82MzZ1cRt9dlXPO888ZsnSVv+MdcXAMT1TSKtroYTTodEKoyY7kCSvvj0IGnVp7hPONq4Xfr057koKMLG9wUwKKcfaRE6HsO1FZzW6/mntO1ulxt/feMrMZwKgiAIgnDxIYsPQRAEQRB8iiw+BEEQBEHwKbL4EARBEATBp7Br8iKhuaUBfv5nDUWWEDbkFO/i5LrGEDYmzV7IxxUDQIA/G2KOlLPxa6zCpHW6io+7rwMneHrdbC4dP24Sae+8+yJpqQMGkgYADXo2ZMHExr8DBzlJs76wk7Tq+grS3vjoU75vB6d/Dh/DptaRk9Xl/v3Sl0l75JnFpG3+mo1fE6ZzGxaWsCE3XWH6jIpjw2FRET8zAOgVRqsAf9Y62jhRtLhEkfbo5rYaNzubNJOezc+Hio5yWQLZcAgAVgv7xr0KY+PM+Wxs3b+X03F1il9L3Iq+3N7O/ckUwePKVqWu74Gpg0krrVSYXZs4mXP2TTmkdXRxu8REcjrm55+y6XfEOO7LK15/nzQAGD+dx/CB/ZwU6mfi1FujjvuE5mWjdMZAhYG5upY0j5HbubiExyoAGEN5zFgjuX+nDx1KWmk+pwdXlfI8eDSP5+Vg8PwdEq42JNrs3NZ9hnHb2OycPtvYqBi/ffgeI8bznP7+JjbFtjTXkzZoEJvkAcDuZPN0UjSbviPD2FCtVxhO2+qOkGbQK9Jjddx3KqpPkvbIT9Spt+UFnChc6XSTNqQ/94mO5t7GXaeTNwacC/nmQxAEQRAEnyKLD0EQBEEQfIosPgRBEARB8Cmy+BAEQRAEwafI4kMQBEEQBJ9y0e528Tea4P+t3S6X3TeMrknMMpK2dy276lttHM0OAMXFh0m7Ze5s0pqcNtLCLBbSTigiqYOC2cX85YZVpN00/ybSjhxtIA0A3KWFpDXW8XPbQtixXFjIEbn+Hq6f5HTeIXLTkyO5jFvYcR4Vr3axD5zKu2Aiw3j3RnLqINJO7ORyuzr4+WrKOO593g3Xk7ZnB0fmA0BJQT5p4cM4BtocFkpabALH/Z8+xfXTcJJ3ZFx9ZSZph05w/+zkdGUAQJCZy2OJ5J1fE5M5Fn7jenb5x8Xxa/sncHy0O4TrpuAE79LpcvOODAAorjtFWoCBp6XZV8wk7aiirQLNHB/f1cq/Y8Wn8Q4YV6eijD28gw0A8vfvJ83eyscepPTh+HGbXRE1r+ddGt0u3hUzIIF3wLz4B94pl5nFxzoAgNPOuzdS0vqTVlrO7ZI1Jou0nh4vadPnXs7XdXKc+e4veDceAHi7eD7av2YzaZ0dXI9F4TzeLrtiCGnfnOYxOGUg19mnX35B2tx5V5MGAHo7D86SEt4hlDGO57cf38Ux/qGhvIOxp5t3l4VH8WdRl4Gva2rlnUkAkD2Ud25NnzCLtJoG/ozZmtu7XXRd3B/OhXzzIQiCIAiCT5HFhyAIgiAIPkUWH4IgCIIg+BRZfAiCIAiC4FN0mqZxLvMFxOFwwGKxoG/mePj7nzWejZhppWvzNnKcdVw4mxqDE9SG0+Fj2ezY3MmmMbN/OGktNjtpFYpY6KgQjtd12TgONzGWTZopCgMjAHiC2Zz2+go2Ro3I5Eji/L1sYowI5ufT+5OEnhA2jXnNbA5My1DHD4eFsCmy1c4mKHcbG+0yczgOeePn33B5nFxGex2/36wFU5VljIoMIS0uIY60o0e43MEBbC4+dpTjrO+4+07S9m3dTlpVI5vVLIq2AoB2hTmxTyLHOEPHJu0jh9j4FxXOz9LhYjNZkMVKmjWSjalBJjYHA8CJkwWkma0RpOmN3M/8wFNXZwdHXHd18b1DQ3i8dTi472hdHCkPACZFv+/x8rVR8TzH1FRwu7a1sdn1p4seI+2bvXz0wNZtbMa89qp5pAHA12vZXDwphw2Hr7z6J9IGJXMUPvz499eiI0WkhZu5HqIi2FAJAM0traSl9eO+XFLAEeK6IG7DlIx+fG8rmzR1en6W8SPGk1Z8gM3GADBrDJu50c7GVkMQzzF3LXmGNHMwz6MdHRw9P+FKjj0fP57L0tLOn08AkBHCnzMpKcmklTUoNiv80+dER0cXrrvmftjtdpjN6o0H/0C++RAEQRAEwafI4kMQBEEQBJ8iiw9BEARBEHzKeS0+Xn/9dWRmZsJsNsNsNiM7Oxtr16498/+dTicWL16MiIgIhISEYP78+aiv51AbQRAEQRAuXc4r4TQxMRHPPvss0tPToWka3nvvPcydOxeHDh3C4MGD8cgjj2DNmjVYtWoVLBYL7r//flx77bXYtUudZPc/0dPZAe+33CyNh9gAkxIxlrRuNxt8HrrhduU9PMFNpOUdOUTa4AGc7NnYxIbDeVffQdqJ/atJ6xOVSlpwECch7qvKJw0AdE422i28bQFpX3+wjbSRl7NxM/+LvaT5a9w19G3sQo2N5oTLxES1KXLbjoOkPf7YT0h78w9vkjYolRNuK/uxsS1AYfpsb+eUykO78pRl9GdPLNL6cRrmqROcpDptwkR+bUoaaR4Xpw+GhLEBLrCdzc+dPfxaADAFsgn5eDEnjQb4cRvefyu3wZf72AAb5seG0+JyNv1FKdJ/23rUU02qon7y9nE/iUtmU1yXIuEyLJLHUdFBHtN//A33sWUv/pK0zlaeTwAgNJL7vUdhOK2u5DJa2YOO5ko2yq7a8CFp91/7KGmb1q4nra2K3w8AwuLY5JkR0Ye0gemcwunuYVNzVAIn4U4IGUFa/n42O7bb1WXs6WLT6PED+aRFx0STtujnPyVtzdcfkXaymJNQ+/Rjg2ffWDbKBg7kxFQA8FPsa9hXx/fZcYznHq+Xx6/Hw0Zp/0AeR7l760jrn8pppFtWs0EfAIons5HYdYg/ExZdeS1pn3z5fu/XudTGchXntfi46qqrev37mWeeweuvv469e/ciMTERb7/9NlasWIHp06cDAJYvX46BAwdi7969GDdu3PncShAEQRCEHyj/sufD4/Fg5cqV6OjoQHZ2NvLy8uB2u5GTk3PmmoyMDCQnJ2PPnj3nfB+XywWHw9HrRxAEQRCEHy7nvfg4evQoQkJCYDKZcO+99+Kzzz7DoEGDUFdXB6PRCKvV2uv6mJgY1NXx10L/YNmyZbBYLGd+kpI4I0AQBEEQhB8O5734GDBgAPLz85Gbm4v77rsPixYtwokTHKT0XVm6dCnsdvuZn8pKDuARBEEQBOGHw7+dcJqTk4O+ffvihhtuwIwZM9Da2trr24+UlBQ8/PDDeOSRR77T+/0j4fTK626EwXA2jTEyPJWuHZDEqXe7d2wgrd3JaaQAsGAJG2327GUD3S2zbyAtbz8vuI4155N245RrSHMoTIMlTWwQqvWqy338y+OktXewYUmVFBgSzEeOh8SyA67/aDaSJSlMsXU9NaR5NEU8KoC4WDYXFpZxfZcd4uO8h41ic3FIrIE0fY+LtKYmNpyOG8/prwBQUMgGMbsiVbDkGBtO09P4+cYMZ/NdVAJf98ff/IG0gWP4+HTNqzZ0tbdxnxo6iJMP9QY2jTbb+E+ddsXR62lpnB5ceIrb6ovXvibtsltnkAYAkVFW0opOlJMWEc2ppxlZPH5bGrmt4xL4HqePsJn3SAEbdB2t6j8Dv/P6O6Q99gybHUMVSZoGI//OF6xnp/OP7+b3O1nOxs16hanxaF4+aQAQGMzjelgW95O//fV90uyK+WTW9XNJi4vmZ3n3Tx+Tljk8S1nG/hlsWP/sZU521TR2eIYmcT/pauDxG57Gc150BL+2qbmWtMunzSQNACw2/ijNyGTj7m/+6xXS6ivYZBsRlkBaTS1vdAjry/cYPION931CuO0B4KRiDMcN5TmqpbSMtNFjes/LXZ1OLLnpSd8knHq9XrhcLowcORIGgwGbNm068/8KCwtRUVGB7Ozsf/c2giAIgiD8QDiv3S5Lly7F7NmzkZycjLa2NqxYsQJbt27F+vXrYbFYcOedd2LJkiUIDw+H2WzGAw88gOzsbNnpIgiCIAjCGc5r8dHQ0IBbb70VtbW1sFgsyMzMxPr16zFz5t+/hnr++efh5+eH+fPnw+VyYdasWXjttdf+IwUXBEEQBOH/Jue1+Hj77bf/x/8fEBCAV199Fa+++uq/VShBEARBEH64nNfiw5fkXJeJwKCAM//2evjY531/e5k0P5eNtJnTpirv4WnixL57b7iXtEce+Blpl82YRlpqIB9XXn2KDULtbk49XL+bU+8MAWwiBYBoKycSNtUd4+viraRNWsj+m4pKNhJ1K8xcx5uOkPbNq5xee/1STlsFgO52fu6KI7wNOy6R0yzhx0bS0cP5z3m/ufdXpI2bx6bPzV/yswDAuEmcpLr3EJvO2lr5WfpdwYbMimY2bq5ft5O07Bw2wAYGsHG3sooNvgCg8Cti916+j7utgzT/IL7PuGw2+Aab2ODrVLzfFXfNJs1gUJuQu91soE3ow8bmoBBFamonm0Grq7mtPNx1sGNNLmnpmWzIi4/nFE0AePcLPnI+LNxKWlc331yn42nXCR5vn2/8jLQJozlFd/uuYtL8Ter6rqpgY3txQSFp0YlxpFn+KUYBAMpPsWF8RN8rSUuJ4Lo1RygaBsDh/ZxIqwObOQ167o9tpWwkHjCSDZlpIzkxu7WFjanlJeWkbd6+gzQAGJ2RQVqsg8szbhjPRx8e5ZTamk7+7IgZqqhHC2tpiQGk1TrYjA0AU66eTNrJ49ynMgZz0nd1We/dqS6nuk1VyMFygiAIgiD4FFl8CIIgCILgU2TxIQiCIAiCT5HFhyAIgiAIPuXfTjj9vvlHwunGLz5E8LfSOD/Zx0db207ysd8zp1xGWmwCJ6ECwP59X5BmjmQDnDmIj88O6s+Grmd+x6mAOj2n5ul1nDJpCudEOlubOs3SrUhdvOcJNnl2evm6IwXlpK3/hM1OM+ZNJa3LbiMtPJzNr+kD1Sa9xupq0ob3zyRtR57qyGnupiXH2SirSsLMHM5HYLfY1OcN7dzCSYq333s7aWajlbSiEjbzdXVyv7VEcv3s2cJHWA8cwOcctSgMngDQ0eUkzdvOqYkjxihMY4WccOhn5v74yHX/Rdorq39NWlJaImkbtm4jDQBMXjaSdnRxv/WCzeFOF/eJH82+irSjNWxCvWYmX/f5ttWkhbjVpu9OLxuOy8o4adQayf0xwMRmQH0AJw+PHzWLtJV//StpkQkhpGkexfnuAPz8eC4zBrFx88BeNuQOTexPmr2b7+MfyO/XWsdmxz6D1PNyfi4bYMMUacbV+zlx1c+fr3MpxoZOz30nJIpTT13dPH4HDeF6AICuOk6kHpiSStqEoWNI++PrK0lrbub3u/fX95C24q1PSHviN3eQ1uJiQy0A7Nm5mbQUKyecjr+CU4ptrb3no872Ttw07Ue+STgVBEEQBEE4H2TxIQiCIAiCT5HFhyAIgiAIPkUWH4IgCIIg+JSLNuH08V89C73/WVNnVBIbG6+48nrSskaNJy0yik1tAKDwkQImNkatXv0X1l7aQ1pUIpt0woPZuNdtYBNbl53NgSkpUYoCAgWtTaS1d/I6cl/eYdKOHODkupTEdNJ0GhtqswZxMt/eA/tJqygtIA0AAkP5PZPTOM1SM7CJrb2JTWM2ZwNprhN8j+Cgcn5tl9p8ZTJwuqqLb43P1q8hLSKCjaSNDWxsPfYmG7wyLutLWtoATkwNqlQnnCaFsrnrcCW39ZbVbCTUB3WSFpZsJe2PHzxGWkwK9/n9uXw0fWYWJ7gCwOHd+aS1lLLR7qrbp5O2ZT2/9nhDJWn90zm1VpUeunUNt8ubr7xDGgC8+NLTpMXGx5JWVcft3z+D00MLT3FbuRWG4RgTG1N1Rp7IEpLVc8fBPZyEHGDiuSMumlMzr3twKmmvP8cm+5YjXG63H895p6tPKMvYo3FKpjGIE0knLmSz+sE1POfpdDwnuN08qJ1tXG6/ADawnjzCbQUAMQojeUUDz9V73ubPE1cnG2A9Gm84KC33kNZt5Hnw93/4f6S99sRzpAFA8gQ22ra62Gi7ZSNvTPDodL3+7eqShFNBEARBEC5SZPEhCIIgCIJPkcWHIAiCIAg+RRYfgiAIgiD4lIvWcDooMwlG41mzT+JYNgIGJPARxsA+Uo4dUTlLgYSYBNJu//nDpLW3sgm1R8fGr+YWTma0t3ESok6x5ps2cSpphZ2c4AkAcelsbErty2mBBSVsGrvrJ/1Ie+nJj0kbPIGPod53mA1ihfv42Oc+g9gcDAB5q/n47SSFkTgpmc1llT1sJNT3cFLk9AWc4FlcrkjwVCSmAkB1UQlpK/76EWnjxvN9+qWxafSUntt6wN0DSIsN5XoweLiMZXVcDwCwP5eP7o6JDyettIjNctOvmkBaUCynZlaVc4Lr9AmcFFrTZCNt1iA+Ch4Aaku4PIkDeayfPM7PHRTIRsIB/VJJqyznxMyQUO47Ny2cQ9odd/yINADo04fby21io2zfPtyXAwN42tVrOtJCFMmjIYPYrFpUwQmu5hAraQAQGcEG+KY2NglGxLGR+Jd3vEzas3/6b9J2795J2p/f4jHUN3ywsozV+9iwfuo0t2GlWTEvK55F87BJU1OMS6OO6xtuvs6qSEIFgLrqetY8rBm9bL61tXBy8ZAsnoOP5HLdKAJzMXfiTNLe+oDTcQHguiuuJG3Np+tIu2LhNaSdOLG717+9PZxEfC7kmw9BEARBEHyKLD4EQRAEQfApsvgQBEEQBMGnyOJDEARBEASfIosPQRAEQRB8ik7TNLXt/wLhcDhgsVjwxte/R+C3osmzonhny2ebikibez274j2tandybDjv/Phmex5pO3ZypPXJAnZfmwJ5B0xnJ7uY9QZ2VTc1cQzvvPtzSAOA0xV879B4jsg+eZSjnY3dHAHdUt5Kmktj13J8H94dFJ3MO2/CI9mRDwAJ8bw74ZNVa0kbM2Eoad1OrrP8tez8zprBbdreznVjc3C7AICtiXcsTRt3OWmB0byLCV6WosK4LgpO8Y6a6ETemVRdyU750IBQvgmAg9s3kpY0jHdAJSdwZHtZYTlpR/M4Ir3/CN6lM3gIx6YXnDhCmjmY2x4AomIVUeMnuF3TB/Hui8P7eBz0GcJHBRxYw7svXvlvjpr+fCPv+iqt5P4AAJUN3DaWQN4hNOeKWaSV1/GusZMHj5PmdfP7hcTweHMpNhhMnsE7JQBgfy7PbwHBVtIO7eAY9o5GHjOJiYmkDRzDu76+/pyPIxg+Vl3G+DgeC+vf412MOYvmkpa/+wBptmYut+bgIxxCwvlzoq2Zj2EIVETcA4Cm4/fstHP/MWhG0pxtHPcen8hjw5rIO9MG9OW+2GXj9ztex+MFABbNWUhaegbv5iop49c//+Krvf7t6fHgyL5S2O12mM185MO3kW8+BEEQBEHwKbL4EARBEATBp8jiQxAEQRAEnyKLD0EQBEEQfMpFG6/e1FKJAOfZGNoV29bTNWNnsinm1w+xuey+BzOV99i/fxdpYSlsWBw3mz25hce46lydXaS5u92kmVMtpM29gc1TbZ0NpAGAvZXv42dik1ZTfilpg6dytG9KfzYNttr43kmJigjwYI717ulhAysAZAxi853ebwNpXS0cNR0ENi/1HcaGLHcXu++OH2Dz3MQZU5VlbA1ig5nZywaxwmKu2/AINgN+/pf3SRs+ZQhpudu4HufmTCatuIyj4gEgKXMUaSlpXGf1DWyUNQay0W7sZVNJqzjNUfq2Thtpycncv02BrAHAyUI239bXcRkHDY0irf9gHoO7N28lLXv2WL6vq5q0ghqO/793/sOkAUC5naPmv1nFkdRhVh5v2/exKX7cBC5jq2ocWHic//7x/0daXQX3eQCYnjOdRSs7pdd9yEc7zLvlFtKcHdxWgUFs8Hz13V+TtntXvrKMf3nyE9K8/vx7crniKISGQm7XYDP3Pbfi9+5gReS6y4+1jjaO0QcAl4uj3QMDeO5ob2kjLcrKRyEk9+X4+aihPFbrq/mIgtqiKtJC4tVjcNUnn5J21RUcz375pElcnocf7fXvjs4uXLfvQeV9/hn55kMQBEEQBJ8iiw9BEARBEHyKLD4EQRAEQfApsvgQBEEQBMGnXLQJp9OuGgK94Wwq4jULrqJrt+3ktD6bgw1Qw7LZpAUABXmcXDp1+nDS4lNiSCstZSPRR29/QVqPgZPmJs1jA+z6ldtJm3ffbNIAYNtnnOJnieF15KQ5w0gLCmVD7bvP/pW0+x/9KWnxSWx2euWN10lL76s2Nh1UJFJagrltbrvzBtJ+t2QZaQkD+pM2YQKbtLq8nDwYZlGn7+3N5XaoOGIjbfRsTtwNMXEipSpd8for5pH20rsvkTZ5Frf/qTxO/wSAVoXZrUphEDWHs7Ft0BBOLm1ptJHm8paTNnjwSNIaGzlRVq/jhFoA8LazIXvXBh7XqemcrnvqKCcc51ybTVpPJxs304dz0mtVHZt5jXpO8ASArm42ZKZauT+eLmdTpEvH9WM0cGpm2Smen5647VHSNjdzfdWcZsMhABzLZXNidRGn2V558zzSIiO4LvQu7t8f/YUNjB5F+m+GIoEXAGpP8Rxur+c683h4zutSmP5TBlpJC+xhc/ixIzw/6RS/nscnxLMIoL6W20unePDudv5MMFt4zkwdyiby2Cy+r9fL/bvdwenWifH8zAAwdzBvdmht5bkjLiaVNIt/73Hd1t6BEdPmSsKpIAiCIAgXH7L4EARBEATBp8jiQxAEQRAEnyKLD0EQBEEQfMpFm3B66y03Iygo4My/33l3JV3jZ2bjzoD+fJzz1k/YCAQAXc1sTlpTyUayTicfgV3dyUYyq0FxvHwMJxz26NgcOGP+ZaTt28zGUgBYcDdfu3s3l7GtldeWpw7tIa3L7SEtv5Sv++DP+aTl3DietPIytdnNrDB5BhsDSfvdQ38gbUT2NNIsyWxiLG0sJ62znds5NVVtvrJag0mLmMpJqq2n2QB3uEKRPhrIZVwRxKmuCxddR9rxQn4/fyu3FQD0C0kiLTiATYyJyfwsO/+2ibTfP/Ez0u577jekOW1s+gwJ5bqdN4NNbQDw/od8tL1X47p19vBz3/rzBaR1NHH65O7DR0jTTNwujQ2cMps5musLAFrreQw3efj1YdGppHV5+Qj0VOtQ0hxNm0l746u3SHN2+JMWlcwmeQAIC+E5wW1hA2WA3kpaVys/X3AA1+Oca68lrameU12zxrM5HADe3P0BaZfdwOnI+3YeIq1kPycP+ynMzo1ttaTpdGxM/+9P/0TatnXbSAOAb/7En1FGE29MCDTzuNQZuIzjxvM8//4qHoPjJvIGhnlTeYPGyk/ZCAwAm2w8H2UkswldF8Lj8q8f9E6jdSkSvc+FfPMhCIIgCIJPkcWHIAiCIAg+RRYfgiAIgiD4FFl8CIIgCILgU/4tw+mzzz6LpUuX4qGHHsILL7wAAHA6nfjpT3+KlStXwuVyYdasWXjttdcQE6M2QJ2L7Ye2wvgtM9PMK6fQNV/s3E/a/n0O0urqWAOAsGA2+cQPYTNQHXuTEN7OaZ/6WD7O3RLLiZKlJXzsc1IaG5OGTBjBNwawde0+0kZO4cTNg7l8XWpGLGkzrpxI2qEtbHZtK+R6/OYzTgRtq1cfOR2iMJyGZXK/uO+Jn3B5jnCK46Z3dpHWP4eNly0tjaTZqtR9YtIsTuwM0NjQ12/BINKOHeIj2XO/YXNaczm3f8yP2HC4YyebGkNDQkkDgGO5fIR6vwwu486tu0kbfTkflf3VqVzSejp4vGQO4eTR3Ws5HfGzlj+TBgA/uXcxaUsfe5a0YCvf2x/cLtVVbHa+8UdsVjxVwIO6ponTOgekcbsAQMGx46SNGsP1/fTiJ0kbM4PfU5/F49+uSA8t3scm5KxsTsKsPaY22Qcp5ryQGB6Xfl1s5v/LHzkJ+fLbZpDWUsfm4EUP3ULafTfcrSzjvY/xkeynCzmF9d5bbybtt8X/j7TaKh7/4YPZ6B7gCCCttJTHVU2DOmXYZOLNBR43m1i9ejZlJg7hedlh4vl7+tVDSAvy48+i9//Mpl1TGH+2AUDGGP6cqTjBaa+jhrKxNSgtude//Zw8Z52Lf/mbj/379+PNN99EZmbvAj3yyCP48ssvsWrVKmzbtg01NTW4VuF+FgRBEATh0uRfWny0t7dj4cKFeOuttxAWdnbVZbfb8fbbb+OPf/wjpk+fjpEjR2L58uXYvXs39u7dq3wvl8sFh8PR60cQBEEQhB8u/9LiY/HixZgzZw5ycnJ66Xl5eXC73b30jIwMJCcnY88ezo0AgGXLlsFisZz5SUrir80FQRAEQfjhcN6Lj5UrV+LgwYNYtoxPGa2rq4PRaITVau2lx8TEoK6OT9kDgKVLl8Jut5/5qazkMBpBEARBEH44nJfhtLKyEg899BA2bNiAgAA25/wrmEwmpVGnoycE3e6z5qgNe9hc2qdvGmnFXYqjhFP6KO9tDOOjm/euO0yax81HFicO4nv79fDxyVo3m1BjYjkBsqaqgrQgo/po+sPr2Xxl0GukdTh5bRkWygbPvbn8fnoPP/Pld+WQVt/K5tKhc9T13dDKRitPO6fmPbno16Qtem4caXf8kcvz4Qv8573RU9hEWlWkXuT6KdJnLVFRpNWUsaGvspiTK9PHKsyA5Zyiu+YzNng5O7jvbN/CJjQAGD5uNGnVTWy+jDCwOa2qtZy0iQM4uXbsbL7Hnh08Lt3+bOabNHMmaQCwdc/XpC26aw5pa1dvJM1j4743K4fNpcdPceqlp8dGWmEuG4HrF3BbAcCEycNJO1nMbTP5umzSGuuaSGtzcXrogL5sYG2r5T9LJ/bhhNLY6VbSAGDfejZu//iBH5F24CDPg9Pv4Dbs248NkE4nm9V3bV9P2hXXT1WW8flHnydt+CROQzXdyMbWa3/K5uk17/G37lonf+boTTw/BSn6cl2h+hdpjadMeMHzsiXSyvcJYtNvUT6boksP5JN23X2cHtweyKnObW71RoCDR3aSVlnCzxgRxvPgqi1f9vq3R5FEfC7O65uPvLw8NDQ0YMSIEdDr9dDr9di2bRteeukl6PV6xMTEoLu7Gzabrdfr6uvrERvLbl5BEARBEC49zuubjxkzZuDo0d6/Jd9+++3IyMjAY489hqSkJBgMBmzatAnz588HABQWFqKiogLZ2fwbgCAIgiAIlx7ntfgIDQ3FkCG9v2YLDg5GRETEGf3OO+/EkiVLEB4eDrPZjAceeADZ2dkYN46/NhcEQRAE4dLjez/V9vnnn4efnx/mz5/fK2RMEARBEAQBAHSaprEj5gLicDhgsViQPXsk9Iaza6MRWWzwOnCcj/N2uzhRrqudkxABwOvkBMGFT15J2nuP81HEqlprdbFhbfg1bEw1Gtisa1SYbmOT2BwIADFxvGbcu5oNi40lnFLo9uPXmiPY7GSvaSHt2hvZ4PnJqnWkLbh3GmkAsGMDJ4CWVLKx7ek//pRfXMdJsS6zjbQ+PWwu/a/3fkuaKZSNZAAwciK//sQBNtAVH2DT4BWL2Oy2bzUnYT74xO2kFZSxKbLRwQaxxnPsGgsO4T41Ki6FtHc+/oa09JFsEPYo0jUDFSbz/Vu5/Xo8baTNGsvjCgBajVyPY0ZyWu+BY9y/T+fxfa67k/tee7uNtEBTCGknT3Iya8JATnAFgPhoNm5v28LGvemXsXE3b98O0tra2Pw+NINfu2kbHyOfOZaN7uUn2awMADkzuR1OHTtBWn1RK2ndJrYIWkJ53rJEslH+k3d4nmiuYYM2ANzzywWkbfiCTaPdFWxuvOUX/NoVf11D2gBFMu/pYjb9Tp3EqZ75ebw5AACOfsPGfc3DHxRBMdz34OVnCVB8Juh13Aam4GDSmusVdXuOT/ouJ5tTZ0yeTNrQgYmkfbl5Q69/97h7sOWLfbDb7TCb+XPl28jZLoIgCIIg+BRZfAiCIAiC4FNk8SEIgiAIgk+RxYcgCIIgCD7le9/t8n2RNCoVxoCzCaduhXnF1sxmNT89HxkNr0IDEBaTSlp7RwNpOZfxsdE792wlbfS0CaR5/NkMVGtjE6LRw6bY5KBzGGURSVr6iCy+0FLMmpProrKAkzBvfnQ2acGKo6AXPzePtF1b2FgKAA1tbOibNpeNTV9+woa8iAAraSdruNxJiWzIS8voT1rTaU4PBICALk7xG5zFR6CfPraBtJQwNnimPsgmrZUfbyIteSCbOcvL2PRrCWITGgBUlfPzrP0Tp0pGxUSQFmjnaSA6iZ8l7xQfLz5oUj/Smmu53NMnZ5EGAL984QXSwsK5PANGsHF72Ciui137OXH15is4MfX3z/EOvJGXcxZRQ6U6FTJCx+3V080G2JdfeJ20K6+dSlp6v7GkfbOOU13jkjis0eDPfSzYdYo0ADh0iM3T5QrjfpeNk3779+Uk1WZbOWnr3mftspuvIG3apCnKMq5f/Tlp9iY25GYqUmb//PsVpCUNVARcGowk1Rzh1OOWDO53nTXn6BOxbLQdN4sN7GtWbSEtph8bmEfM4rFVU8GGcz8nb0xorGskzahXf9wPHsSG8+KKEtIi+ihSzf1C/+nfvOHjXMg3H4IgCIIg+BRZfAiCIAiC4FNk8SEIgiAIgk+RxYcgCIIgCD5FFh+CIAiCIPiUi3a3S1F+Ffy/Fa/uaWL37aT5vAvlyHaOe7bVsfseAPyj+D13buaY61sW3Utad2INaSUl7DD36w4izePhOGR3N68Dja4k0gCgppRjgJsaykkbNoF3NmgG3inTo4ik37Z9N5fHwztl+o2JI63voGjSAGDyFI5N33eQd2TEJbOrPl3hOs/y8u6iL97/hLQRWex2b/TolGWsbuYdQlq3g7QpN/BuoAAru847XRxTHZnA8cpJcfzMRafYfW8wcpsCwOixWaSl9k0lrVDRR0MGcRtW1fFRAf3TBpBmc9lIayxip/0z7/yZNADIWcA7Fo7u511MX6/mnTZ+ik1s46dnkfbCGx/yawN4J9mhbRyPnb9DvXNr5JR01sZztPv2NfmkHdh7hLTbFvKur5EZfBjniRP8fqNG826FAo3nJwDQbMmkDRvNu2WKS7nfZoziuPc+cTyfGP04wr/0ENdtRhrXIQCEgsdHWBdrU6/g596+inehpY/jKPVQM8/LY67kXW2Fpbwz0a7x0QMAoFl5N+CuvXtJi8tUzG/DuR735e4ibVQW95Mdf8klTfWtgtGk2K0C4FQRH10wZfwg0qaNnkXapo29x6XHLbtdBEEQBEG4SJHFhyAIgiAIPkUWH4IgCIIg+BRZfAiCIAiC4FMuWsNpcmgEDMazjrKOFHaXFezIJy0ukY07KYMV8boAenRs3BwyYjBpLz7zR9IWLV5A2ukSNnm1tthI0/w9pIVY2QDXAXUEeL9MfsZxkQNJ27CWTV55a7fzvd1svjImaaTpA7tJmxjDBrakJDYwAkBp6QnSwswcZ24JYEPWBy9y5PLix+8iLXUIt19JbQVpYyZwnDUAnCplM2DWKDZfrXqPjbJJd/Bzb/hqK2kGrm74m9jUGh/DBlZPt9oo29DIRulOF8dAR1l4HOWt4z4RGc/PkjCU456nRLBpsHAD13dq/1TSAKC908lltHLUdL2On8WtY3NbcDhX7rSBo0jbtWknaaNGjiBt7rVsLAaAtBQ2aR4/xcc9BIVwG1Yet5EWHMrHR/iH8Bisqed4bVcXv58hSH2kxOavt5E2+zo2/XY5OCq+qooN+rk7NpOWNZRj05uS2Tx/tJjNnAAQ6OXo8xAz1+NLD3xKmsmfTZX9+rFZff2HbIr90a13kLbmNBvQM4b2JQ0ANnzIxs+oBJ7fDNHc5+12nuuDA7hPfL2c69sMfmaPwvfZbuc2BYDERP58zD/OY7j0xedIczo6/+m+/Nl2LuSbD0EQBEEQfIosPgRBEARB8Cmy+BAEQRAEwafI4kMQBEEQBJ9y0RpOs0YPQUCg6cy/HY2cUrr6MKc1DprJprGeDjaWAkBtC5vYmtvYaJNzM5sTW+s7STMZ2DR6+4PXkPbyL/9G2vSr+R57d3E6HgDovXyf93+ax9fFBJJ2849vJe3FB/9AWkIIm1oTUzhRcOWLm/i1cRbSAKCkmg1rc+ZyKmSLh5M9vRY237395vukjRyfQdqBXWwErq/lBEcAmDGHDYZVNWzmnDSX0xBPV7LBd9wUTmHd9TWbVUfMv5q0LRu2kOZvZLMaABTnFpEWMyictM52fv2zjz5F2quff0BafQvX4/qqMtIqG9k8F16hTmZtb+a0yNSY/qSNnM2Gw/Y2Hr89ivDJkE7uO6mpbJQOVTiBTx5p4DcEYLCzsU7nMZHWfxibZ4dlDSPtdDnPZQOShpC2N+Jr0jIzOQm1vonrBgCO+7NhNS2ezaA9PcGkXTn+ZtJufeEG0vqmsfl95042Sna225RlvPOu+0g7sY9TOM2x3Ccev/Vh0t789BXSQqLZzFnbyubSsdlsVg6JVCeFRqdMIq3Hycbk0DBOuP7qq69IGzCI5zK7hQ3nnfVsVg8I4L7Y3e0iDQAqT3OacbAllLSYOE6Zratu7/VvTZHefS7kmw9BEARBEHyKLD4EQRAEQfApsvgQBEEQBMGnyOJDEARBEASfotM0jd1YFxCHwwGLxYJNe7ciJOSsweWhp/k49tGzOc3Sq7GpZs/ufcp7TZiSSVq3l42kez7jJL7ifDamTr1pImn56w/ydYvY1GixsJmnZAeb0ACg7jAbaG2KNMs3V/2JtKd+8RvSEkfwkdPXz7+MtNefeJ00l8I8NXSy2ly48U1+nrue5qRYewfH81UWsdlx7yd7SMtZyOa77KyZXBgdtzMAVHawIbMwL5+02no2xRaVsKE2wmMlbfp1XJ76Jja1moPZuBtm5fRXAOg28DD209gU6arjfrJzF9fj7AXzSSs+fZrLE8HGxAiFIa+qltM/AaDqMI+j6AQ2Eloj+LlnTZ5D2scff0Ta0T2cWjvzRh77HS422RUcYCM3AEzMYSPxvHGLSFt0149Iu3XJtaS5Ovk49rYONhJ2Koz3re1sih09lssHAE3HOOXSGcbma72ekzk7nTwup6XPIG3ZW0+QZjKyST57EiehAkBdBZuYq043khYaxabRqUOnk/bn9/5CWkIKj62G0zwn9BnM12VO500NAODXztr6FZx6Om3RaNLKStns2trEY7pkE48Xdxt/5nkVH+sBVjahAkBQCG9MMAbyGE4baCXt6O7yXv/2eDw4ebAAdrsdZjO3z7eRbz4EQRAEQfApsvgQBEEQBMGnyOJDEARBEASfIosPQRAEQRB8ykWbcPqrPz4FveFs8aLiFOeQK0iI40TB63/ExjQAaG9l42Z0LKfK7XKwUfKau8aTZgzlY6yHzuI0w4QUNs8VHWfDYXg8m74AYPSVnAradJrNjm/85b9IGzeb773xazZFLdt7mLR7nniQtOqqk6QdOXqINACYddtVpNU3sjFq30Y2CD9915P82mNsYjyVx+mapcVvkmaxsqkRAHqcPCQc5WxEU6WHlu5jE6o7go1bAQY+wtruYGOjpuM+7+zhhEoAsFrYGDcxgo2tX3tXkDZVYZ78+v21pA2bwQZvs5WTcKuO8XipaFAbTj1+fHx6i52dewe+3MWvbeR2qSzmtMbpN/J4CQnkdh6exs+3aAKnVgLAH1exsTViEo9XWzGbOa1mNpd/vHoNaWnp/Ui7fBo/y7YDW0lzqf3UiO7Lya7fbGKD54ihfF3RcZ4nqlLZVGjQ2FwaGMaG2pbqemUZ77r7LtLWrN5O2npFUnBxGKcMGwJ5jmmq5ijcyEieE8qK2MzbL0vdlydP440EAYHRpB2v4nJ3KVJ4mwrZMB4dE0daRTubUIPNPO+MGsUmawDI23eCNLudnzE6metnSFbvZG53dzdOHixQ3uefkW8+BEEQBEHwKbL4EARBEATBp8jiQxAEQRAEnyKLD0EQBEEQfMpFazh9cOlcBIWeTV7be5STQo3lnOx2uJKNm06P+njp9AF8dHfdaU64NPdjU5wpgrWoUDYXlecfI23PR3tJM1r4/RCq0ACUn2Zz4pCxbPzr28NJfHojlzFMYZTsqmIDVMExNnN1ddtIS0xOIw0AzOAkvQ/fYqPdz564k7SHlz5C2t2/uo60T977hrQps7ge0q1DlWVc9uJrpGVljiQtNJKTXa/72Y2k1eSVk/bFJ2z6nHIVH5/u7mTTWIiJjXt/h/ttgX4raccO89Hk99z2c9IOHeXExdAQNsBt+JDbb9xlY0nrq2eDLgC49JyaeWIf97N3Vr5B2oebV5F25Tg2jJeWVJHm9nB6qLm7nLSCQzbSAGD0yEGkbSnaSpoWxeNIr5h2Bw3nlOFvlm8kLT6Zf1/0eDm58tARTnUFgLwtbC6ceAWnAte1s+GwrZVNmkUl3FYL7rySNFslG8HHT5unLKNT440A3WBTZQg4XTc9JZ20PWt5Do4fyPNll57TXz0d/BkTFs+GYQCoaOD7HC7OJ23iTB7ruRsV5ls/NpfbWjjh1tujIy0xjTcW7M/lTQQAAAMbhJPS2OxsUBjga6t7t0uPm8fzuZBvPgRBEARB8Cmy+BAEQRAEwafI4kMQBEEQBJ8iiw9BEARBEHyKTtMUZ++eg1//+td4+umne2kDBgzAyZN/T7l0Op346U9/ipUrV8LlcmHWrFl47bXXEBPDqaPnwuFwwGKxYPickfD/lhHm+oem0rXf/IVNqC3dbNwxh1mV9+psYfOes4kNRmkDOdnttod+TNqhg5wAeOQUG/y0LjYIZaUPJO14UTlpADBqGpuqWu1s0uqw8fPp9Wwaam7iFL8rr+V0zG0b2LAUY2RTrNPQRRoAZI5gE1TBHk6kPFzE5rTGMr6u3xCuh5h0Xk93uznucdcaTuEEgPFzckgLKGJjmz2KUyH79uE23LVpG2nxEX34xhZO9dR5OLW0s1MdXen1Y6NXYwUfQ24yd5OWOYQNcA02HgfGEDbZWkOtpLW0sjG17Hg5aQBQmcf1OHg0JzG2G/i5o+M5XdMSEkpa7rZ80lKH9iWtu5kNfp5z+OfS+nEaangIp08ePLqZtAGDuN+OH8zvt3kXzyfDhmWR9uHq1aQNzmRDLADMv5JN2qs+4SPntR42sRaXFpG2YNFtpG3dzH0+JZE/AwKDbMoyZvRjM/j+dWyyL6zgeaLyOCc9dzTzHOXRuGE1jfv3mLmjSOs7jMclAJSd4r68bwMbtyfkjCHtmxVbSZt4GSemutprSItJ5T7fWMnjvKZMbVZvbeD5XxfIJlTNy3NCZ0tvk67X40HpsVOw2+0wm3l8fpvz/uZj8ODBqK2tPfOzc+fOM//vkUcewZdffolVq1Zh27ZtqKmpwbXXXnu+txAEQRAE4QfMeW+11ev1iI1VnE1ht+Ptt9/GihUrMH36dADA8uXLMXDgQOzduxfjxvF2LgBwuVxwuc6uqBwO3gInCIIgCMIPh/P+5qOoqAjx8fHo06cPFi5ciIqKv+/zzcvLg9vtRk7O2a+tMzIykJycjD179pzz/ZYtWwaLxXLmJykp6V94DEEQBEEQ/q9wXouPsWPH4t1338W6devw+uuvo6ysDJMmTUJbWxvq6upgNBphtVp7vSYmJgZ1deqTOAFg6dKlsNvtZ34qKznwShAEQRCEHw7n9WeX2bPPGmAyMzMxduxYpKSk4KOPPkJgIKdXfhdMJhNMJjY3+Zk1+BvPemF3rWXD0alcNnNOu5+PBy88yOl4ABDkx0bCbh2bJUvKeUFUdIrNfFHsp8TMBE5crCzlPy397ZVPScu+Vn2c9yfLOcUzXWHmdCvO1S48yIalnzy+lLQDBzkh8XQxm7mOlHM9TFswkTQAWPsFt5c+mOvbGsMGseI8NtRGpbExUW+wktbHnELapia14bSnjk1VrRobKE1GTjls6+L67jdkNGndLjZ+dXZzumJUBI+pYcPUyay713xFWngSl9Fk5D6/dxenVLYpjrUffzmbGI8d5eOzk/oNIC0sQD0/JF83le/t4ETiJDO/Z131Sda6FP0kitMsLQHcx6pb2Aj+05+wsRwAthWz+drJIbOYnn0FaTUuNko++cxy0sKsbCS0RCiSjBXfFqeEcmIqALz6i6dZTIggqbycDd79B3D7f/PpF6TFhHIZD67LJ+204h4AcOWtikTpREWaqYWTlP3MfF31Pu4TDaWcemuJYoNkajS3wVcfbCINANwu3rtxzTWcetzVzgbPxb+6gbTTlTxXV1byHNPYwmO1q4vboN1hIw0A/BSrAHsLb9wwBvCFgUG9P7s9PTxXnot/a6ut1WpF//79UVxcjNjYWHR3d8Nms/W6pr6+XukREQRBEATh0uTfWny0t7ejpKQEcXFxGDlyJAwGAzZtOrsqLCwsREVFBbKzs//tggqCIAiC8MPgvP7s8rOf/QxXXXUVUlJSUFNTg6eeegr+/v646aabYLFYcOedd2LJkiUIDw+H2WzGAw88gOzs7HPudBEEQRAE4dLjvBYfVVVVuOmmm9Dc3IyoqChMnDgRe/fuRVRUFADg+eefh5+fH+bPn98rZEwQBEEQBOEfnNfiY+XKlf/j/w8ICMCrr76KV1999d8qlCAIgiAIP1zOO2TMV3S4bPD3no14tVfxjpjR83hXxfH17KB2d6kzkp1G3mEwcCJHZO/evI+06L5cdV6NI5vdbnY2b/5qJ2n3/epO0hps6i3KKRkcfb73g92kZd/I7vT4ZDb/vvfei6QNHz2WtLCAcNJuf+wO0o4W8U4AADi2bytpU+bNIK2hlp3WCx/mpFydM5m0wpNct55kjgpOGcFOeQDwiwkgLXkw11lFUT5pgxJ4d1JeJx8BEG7m3QVmsEu/ro6jmQMMXD4AaDdxf2yp4p1EnTXcp9KyeGdEREo036Od6zHUzH3CEhLF941jRz4AwMhl1CuGqxu8lcTbxruGCnM54nrMVbzj6Ms3N5I2+46rSOs0qetbkc6NQSkcm79q9YekGRQ7m0I7uG7v/R2P89Urt5LWN43nnXEDeVwBwNuvrSBtwUyO++5w8K6KHiPv5qg/yvNbnyuGkRbr5h1MrQ2tyjJ6FbvGmuuaSEvsx7vYjC7uT21NvCNPb1CMl3reFfPVCs6oCknkXWQAkHNNP9IC/Lh+NqzhvndV0tWklebzPNip8W68qmYeB9dcw32irUl9NEN5KY+ZhH58VICm2M1TV9Z7PvF6fLTbRRAEQRAE4XyRxYcgCIIgCD5FFh+CIAiCIPgUWXwIgiAIguBTLlrDqQGh8MdZE5bTqDCX7ee4bn8YSAuLUhuEbC1s/OrR8+tveew6fq2do29X/X49aR1tbPKJHxBDmjHIRtrev+WSBgBdjWw66jOETYxOO9cZPGzcvWXhfNJe+PE7pF3908tJW7/7a9JS09WJtjo9r3W7wUa7YLOFNHs7m8aaqtmE1mNgs2NtE8fZ9+nLbQAApSc4dr3YwfHjsy+fRtrGXWwki4zl8mxZsY20ugaO3I4K4zZ1D1UbukYOGk/a1h2bSQsysoGytpRNcYFhQaRVFnF9txTzGNrZeYC0Jx5lQzUAfP7xVtIsaVYuj2JcOp0chz7yspGkRURyf5p8NZvV1678jLQet9qkFxDA5ruBo9jgndCPjbv2Yi73xAVZpK18bh1pLz71W9IefXkZaV9ofFwDAPxo3jzS6ip5bAVZOFa8u8VGWmQam5XdLjYHBwfzR43RwjHqABCsaK+RUzgratkT/NwzZrDR9hDKSQuP43vYFPH6Op2XtCuvnE0aAHyzYztpCWlstG1p4vesKmDzbWMTG2Avu4qPD/n0TztIe+95Pm7BYFR/3Hvc7J42KY5LaaniOSo0pHcb+ixeXRAEQRAE4XyRxYcgCIIgCD5FFh+CIAiCIPgUWXwIgiAIguBTdJqmsXPqAuJwOGCxWPDYqp/AFHTWHBmXnErXfvP5WtK6FQaxU9vZKAMAD/wXm+BcPS2kvbuMjaTxmemkWRS+1th4Nja5tQ7SBqVzIl1lBZuVAMDQxU1WVHmCtKh4NruFKIxkfQf2Jy3In42Jqz9jc2nG0EzSbHa1SW9wCt+nsILbZs2fVpHm7mTzbGbOcNL6juF7fPjmB6RNmzlKWcZdn7DJ95ZHbyGtq5VNrIP6cXkKStjAOmXslaSt2fUJaXUV3Bc72ziNEAAiothA2+pgI1l8Ml9XcrKStJoCLvfEBVP5tQcqSDuZzwm3T/1uKWkAcOxEOWn6kG7SPn/jG9Lm3s6JpG0Kk3WQlcdLbQ0b/IaO4VTHoclsLAaAr7d+TFpTPfeJWUOHkravooA0s6L9BiRxebxW7hNNFWxMjI6KJw0ARo7iE8bvuOxnpD3y7IN8H2c5acnxbDj1tLGJvK2cE267zcoiIvc4J0rPmDKFtAYb13fu+i2kDR4yhLSaUzyO9m0/TdrbH/6OtBf/wKm1AJCQyXVReOg4aWPHcAJsRRWPoz2bOF3VaOD5W6/YZNG3Dyc4VzTxOAeA2x+5l7SjO9k8e2hLEWkxqZG9/u3uduOrd76G3W6H2XyOBv7/kW8+BEEQBEHwKbL4EARBEATBp8jiQxAEQRAEn3LRhYz9w4Li6uz9d9+udg6ucTv5b9ruHtbOFXzS1cHv2d3DAV4eN7++x8V/W3YrarO7i/9+7db4tc4Ovu8/18E/8Dr5b9huFz93dxffx2Xg91TVrc5fcQ9Ffbs6udyqZwaArg4+cdLVxa/39nAIj9fDmlvRBqryqN7P7VQEsJ3jPqr3dCme8bs+X2c7e36U/UTxfD3d6hOaVc/To+wTfB/Ve6rq7Du/VlGHXZ3cxwCg28nv6fVXaIr37HYq+p6ij+oVHqnv2nc629X+JVW5Ve/ZpWj/bkVbqepWVWea4bvNE12K+QRQn1armh9VfdmpqG/V3OFRnNCrehbVfAmo+7Jqrnaq3lPR51VjtVvRVqp6UIVEurvVc4dqrKvGh+o6VZ/wKMagR8dl1Cm+Q1CVsUfxOQao21rVv3sUn63/fJ9//Pu7WEkvOsNpVVUVkpKSLnQxBEEQBEH4F6isrERiYuL/eM1Ft/jwer2oqalBaGgo2trakJSUhMrKyv/VOSv4DofDIe1yESLtcvEibXNxIu3y/aJpGtra2hAfHw8/v//Z1XHR/dnFz8/vzIpJp/t71r7ZbJaOcREi7XJxIu1y8SJtc3Ei7fL9YbFwvIQKMZwKgiAIguBTZPEhCIIgCIJPuagXHyaTCU899RRMJj4GXrhwSLtcnEi7XLxI21ycSLtcOC46w6kgCIIgCD9sLupvPgRBEARB+OEhiw9BEARBEHyKLD4EQRAEQfApsvgQBEEQBMGnyOJDEARBEASfctEuPl599VWkpqYiICAAY8eOxb59+y50kS4pli1bhtGjRyM0NBTR0dGYN28eCgsLe13jdDqxePFiREREICQkBPPnz0d9ff0FKvGlybPPPgudToeHH374jCbtcuGorq7GzTffjIiICAQGBmLo0KE4cODAmf+vaRp+9atfIS4uDoGBgcjJyUFRUdEFLPEPH4/HgyeffBJpaWkIDAxE37598dvf/rbX4WfSLhcA7SJk5cqVmtFo1N555x3t+PHj2t13361ZrVatvr7+QhftkmHWrFna8uXLtWPHjmn5+fnaFVdcoSUnJ2vt7e1nrrn33nu1pKQkbdOmTdqBAwe0cePGaePHj7+Apb602Ldvn5aamqplZmZqDz300Bld2uXC0NLSoqWkpGi33Xablpubq5WWlmrr16/XiouLz1zz7LPPahaLRVu9erV2+PBh7eqrr9bS0tK0rq6uC1jyHzbPPPOMFhERoX311VdaWVmZtmrVKi0kJER78cUXz1wj7eJ7LsrFx5gxY7TFixef+bfH49Hi4+O1ZcuWXcBSXdo0NDRoALRt27ZpmqZpNptNMxgM2qpVq85cU1BQoAHQ9uzZc6GKecnQ1tampaenaxs2bNCmTJlyZvEh7XLheOyxx7SJEyee8/97vV4tNjZWe+65585oNptNM5lM2gcffOCLIl6SzJkzR7vjjjt6addee622cOFCTdOkXS4UF92fXbq7u5GXl4ecnJwzmp+fH3JycrBnz54LWLJLG7vdDgAIDw8HAOTl5cHtdvdqp4yMDCQnJ0s7+YDFixdjzpw5veofkHa5kHzxxRcYNWoUFixYgOjoaAwfPhxvvfXWmf9fVlaGurq6Xm1jsVgwduxYaZv/IOPHj8emTZtw6tQpAMDhw4exc+dOzJ49G4C0y4XiojvVtqmpCR6PBzExMb30mJgYnDx58gKV6tLG6/Xi4YcfxoQJEzBkyBAAQF1dHYxGI6xWa69rY2JiUFdXdwFKeemwcuVKHDx4EPv376f/J+1y4SgtLcXrr7+OJUuW4Be/+AX279+PBx98EEajEYsWLTpT/6q5TdrmP8fjjz8Oh8OBjIwM+Pv7w+Px4JlnnsHChQsBQNrlAnHRLT6Ei4/Fixfj2LFj2Llz54UuyiVPZWUlHnroIWzYsAEBAQEXujjCt/B6vRg1ahT+67/+CwAwfPhwHDt2DG+88QYWLVp0gUt36fLRRx/h/fffx4oVKzB48GDk5+fj4YcfRnx8vLTLBeSi+7NLZGQk/P39yZ1fX1+P2NjYC1SqS5f7778fX331FbZs2YLExMQzemxsLLq7u2Gz2XpdL+30nyUvLw8NDQ0YMWIE9Ho99Ho9tm3bhpdeegl6vR4xMTHSLheIuLg4DBo0qJc2cOBAVFRUAMCZ+pe5zbf8/Oc/x+OPP44bb7wRQ4cOxS233IJHHnkEy5YtAyDtcqG46BYfRqMRI0eOxKZNm85oXq8XmzZtQnZ29gUs2aWFpmm4//778dlnn2Hz5s1IS0vr9f9HjhwJg8HQq50KCwtRUVEh7fQfZMaMGTh69Cjy8/PP/IwaNQoLFy4889/SLheGCRMm0Hb0U6dOISUlBQCQlpaG2NjYXm3jcDiQm5srbfMfpLOzE35+vT/q/P394fV6AUi7XDAutONVxcqVKzWTyaS9++672okTJ7R77rlHs1qtWl1d3YUu2iXDfffdp1ksFm3r1q1abW3tmZ/Ozs4z19x7771acnKytnnzZu3AgQNadna2lp2dfQFLfWny7d0umibtcqHYt2+fptfrtWeeeUYrKirS3n//fS0oKEj729/+duaaZ599VrNardrnn3+uHTlyRJs7d65s6fwPs2jRIi0hIeHMVttPP/1Ui4yM1B599NEz10i7+J6LcvGhaZr28ssva8nJyZrRaNTGjBmj7d2790IX6ZICgPJn+fLlZ67p6urSfvKTn2hhYWFaUFCQds0112i1tbUXrtCXKP+8+JB2uXB8+eWX2pAhQzSTyaRlZGRof/rTn3r9f6/Xqz355JNaTEyMZjKZtBkzZmiFhYUXqLSXBg6HQ3vooYe05ORkLSAgQOvTp4/2xBNPaC6X68w10i6+R6dp34p5EwRBEARB+A9z0Xk+BEEQBEH4YSOLD0EQBEEQfIosPgRBEARB8Cmy+BAEQRAEwafI4kMQBEEQBJ8iiw9BEARBEHyKLD4EQRAEQfApsvgQBEEQBMGnyOJDEARBEASfIosPQRAEQRB8iiw+BEEQBEHwKf8fD8Xj1GZXeYQAAAAASUVORK5CYII=", + "text/plain": [ + "

" + ] + }, + "metadata": {}, + "output_type": "display_data" + } + ], + "source": [ + "im_p = \"/home/melon/Pictures/Screenshot from 2023-02-06 15-07-57.png\"\n", + "im_p = \"/home/melon/Pictures/Screenshot from 2023-01-18 10-36-14.png\"\n", + "image = Image.open(im_p)\n", + "if image.mode != 'RGB':\n", + " image = image.convert('RGB')\n", + "\n", + "\n", + "image_array = np.array(image)\n", + "print(image_array.shape)\n", + "\n", + "height = int(param.resize * image_array.shape[0])\n", + "width = int(param.resize * image_array.shape[1])\n", + "if param.resize is not None:\n", + " image_array = cv2.resize(image_array, dsize=(width, height))\n", + "print(image_array.shape)\n", + "plt.imshow(image_array)\n", + "image_array = cp.asarray(image_array)\n", + "\n" + ] + }, + { + "cell_type": "code", + "execution_count": 39, + "metadata": { + "collapsed": false + }, + "outputs": [], + "source": [ + "features = feature_extractor[\"model\"](image_array)" + ] + }, + { + "cell_type": "code", + "execution_count": 40, + "metadata": { + "collapsed": false + }, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "(5335, 10)\n", + "(55, 97, 3)\n" + ] + }, + { + "data": { + "text/plain": "" + }, + "execution_count": 40, + "metadata": {}, + "output_type": "execute_result" + }, + { + "data": { + "text/plain": "
", + "image/png": 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\n" + }, + "metadata": {}, + "output_type": "display_data" + } + ], + "source": [ + "data = np.reshape(features.cpu().detach().numpy(), (features.shape[0], -1)).T\n", + "print(data.shape)\n", + "n_components = 3\n", + "pca = PCA(n_components=n_components).fit(data)\n", + "pca_descriptors = pca.transform(data)\n", + "img_pca = pca_descriptors.reshape(features.shape[1], features.shape[2], n_components)\n", + "print(img_pca.shape)\n", + "comp = img_pca # [:, :, -3:]\n", + "comp_min = comp.min(axis=(0, 1))\n", + "comp_max = comp.max(axis=(0, 1))\n", + "comp_img = (comp - comp_min) / (comp_max - comp_min)\n", + "comp_img = (comp_img * 255).astype(np.uint8)\n", + "plt.imshow(comp_img,interpolation='nearest')" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": { + "collapsed": false + }, + "outputs": [], + "source": [] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": { + "collapsed": false + }, + "outputs": [], + "source": [] + } + ], + "metadata": { + "kernelspec": { + "display_name": "torch_38", + "language": "python", + "name": "python3" + }, + "language_info": { + "codemirror_mode": { + "name": "ipython", + "version": 3 + }, + "file_extension": ".py", + "mimetype": "text/x-python", + "name": "python", + "nbconvert_exporter": "python", + "pygments_lexer": "ipython3", + "version": "3.8.15" + }, + "vscode": { + "interpreter": { + "hash": "a37eea1dce3a8c689ddbeeaef84a6dd0c46135a0b5c7a3537ea3e1718bef5fe2" + } + } + }, + "nbformat": 4, + "nbformat_minor": 0 +} diff --git a/sensor_processing/semantic_sensor/script/semantic_sensor/image_node.py b/sensor_processing/semantic_sensor/script/semantic_sensor/image_node.py index 20716a6f..23dd65c6 100755 --- a/sensor_processing/semantic_sensor/script/semantic_sensor/image_node.py +++ b/sensor_processing/semantic_sensor/script/semantic_sensor/image_node.py @@ -140,6 +140,12 @@ def image_info_callback(self, msg): self.height = int(self.param.resize * msg.height) self.width = int(self.param.resize * msg.width) self.info = msg + self.info.height = self.height + self.info.width = self.width + self.P = np.array(msg.P).reshape(3, 4) + self.P[:2,:3] = self.P[:2,:3]*self.param.resize + self.info.K = self.P[:3,:3].flatten().tolist() + self.info.P = self.P.flatten().tolist() def image_callback(self, rgb_msg): if self.P is None: @@ -167,13 +173,7 @@ def image_callback(self, rgb_msg): self.pub_info() def pub_info(self): - info_msg = self.info - info_msg.height = self.height - info_msg.width = self.width - self.P[:2, :] *= self.param.resize - info_msg.K = self.P[:3, :3].flatten().tolist() - info_msg.P = self.P.flatten().tolist() - self.feat_im_info_pub.publish(info_msg) + self.feat_im_info_pub.publish(self.info) def process_image(self, image): """Depending on setting generate color, semantic segmentation or feature channels. diff --git a/sensor_processing/semantic_sensor/script/semantic_sensor/networks.py b/sensor_processing/semantic_sensor/script/semantic_sensor/networks.py index f3fc0b50..ef47e2f8 100644 --- a/sensor_processing/semantic_sensor/script/semantic_sensor/networks.py +++ b/sensor_processing/semantic_sensor/script/semantic_sensor/networks.py @@ -277,15 +277,21 @@ def __call__(self, image, *args, **kwargs): # image = torch.as_tensor(image, device="cuda").permute(2, 0, 1).unsqueeze(0) image = self.to_tensor(image).unsqueeze(0) # if self.cfg.pcl: - reset_size = Resize(image.shape[-2:]) + reset_size = Resize(image.shape[-2:],interpolation=TF.InterpolationMode.NEAREST) + im_size = image.shape[-2:] image = self.shrink(image) image = TF.normalize(image, mean=(0.485, 0.456, 0.406), std=(0.229, 0.224, 0.225)) feat1, code1 = self.model(image) feat2, code2 = self.model(image.flip(dims=[3])) - code = (code1 + code2.flip(dims=[3])) / 2 - code = NF.interpolate(code, image.shape[-2:], mode=self.cfg.interpolation, align_corners=False).detach() + + # code = (code1 + code2.flip(dims=[3])) / 2 + # code = NF.interpolate(code, image.shape[-2:], mode=self.cfg.interpolation, align_corners=False).detach() + code = (feat1[:,:10] + feat2[:,:10].flip(dims=[3])) / 2 + # code = NF.interpolate(code, image.shape[-2:], mode=self.cfg.interpolation, align_corners=False).detach() + + # if self.cfg.pcl: - code = reset_size(code) + code = NF.interpolate(code, im_size, mode=self.cfg.interpolation, align_corners=False).detach() code = torch.squeeze(code, dim=0) return code diff --git a/sensor_processing/semantic_sensor/script/semantic_sensor/pointcloud_parameters.py b/sensor_processing/semantic_sensor/script/semantic_sensor/pointcloud_parameters.py index 08ac4541..43ddd9df 100644 --- a/sensor_processing/semantic_sensor/script/semantic_sensor/pointcloud_parameters.py +++ b/sensor_processing/semantic_sensor/script/semantic_sensor/pointcloud_parameters.py @@ -5,7 +5,7 @@ @dataclass class FeatureExtractorParameter(Serializable): name: str = "DINO" - interpolation: str = "bilinear" + interpolation: 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zJ`j+xUh{KZyMntoVxkuzv22XUE>pvDm?QM^XgiX7-xgO+je-f5BaYuT?Nj(u@3n4l zl)(}H$f(+P@&}>SC!#G5RYOo5M03PeZJ*Aq3~Gm>-u|dJ0`m3ldvj{*;TVD=otRi0 zzHo%@WlmSUz@8^9f)Bpy(!ZP6UIgzwwRhB>=Zz5 zzVykjJquus#1Rwi#yq83XMxM}hO(t_frlfs!`IGJ>^tse*xOe==xz?9eeC^x&geHTv@PL_3G^M8QenQ2+e@SJxt)Pz)S%o|LWC$%&lY?}snW!~3i(2#p=2XjBebQv{@E)RcgbsW1>n lXdEMnKyM=;>?uQtJ&rh53ibqB9$aG%)J;r{$O{`b?0-T$ZJ+=E literal 0 HcmV?d00001 From d352eafea9415f03f09a0bfbdb22b4f86f1769df Mon Sep 17 00:00:00 2001 From: Gian Date: Thu, 23 Feb 2023 15:15:29 +0100 Subject: [PATCH 340/504] some fixes of the pcl and image node --- .../elevation_mapping_cupy/plugins/semantic_filter.py | 3 +++ .../script/semantic_sensor/image_node.py | 8 +++++--- .../script/semantic_sensor/pointcloud_node.py | 11 +++++++---- .../script/semantic_sensor/pointcloud_parameters.py | 1 + 4 files changed, 16 insertions(+), 7 deletions(-) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_filter.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_filter.py index 0eccf639..223ba210 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_filter.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_filter.py @@ -46,6 +46,9 @@ def bitget(byteval, idx): cmap[i] = np.array([r, g, b]) cmap = cmap / 255 if normalized else cmap + cmap[1] = np.array([81, 113, 162]) + cmap[2] = np.array([81, 113, 162]) + cmap[3] = np.array([188, 63, 59]) return cmap[1:] def transform_color(self): diff --git a/sensor_processing/semantic_sensor/script/semantic_sensor/image_node.py b/sensor_processing/semantic_sensor/script/semantic_sensor/image_node.py index 23dd65c6..6ee22a94 100755 --- a/sensor_processing/semantic_sensor/script/semantic_sensor/image_node.py +++ b/sensor_processing/semantic_sensor/script/semantic_sensor/image_node.py @@ -111,7 +111,9 @@ def bitget(byteval, idx): c = c >> 3 cmap[i] = np.array([r, g, b]) - + cmap[1] = np.array([81, 113, 162]) + cmap[2] = np.array([81, 113, 162]) + cmap[3] = np.array([188, 63, 59]) cmap = cmap / 255 if normalized else cmap return cmap[1:] @@ -143,8 +145,8 @@ def image_info_callback(self, msg): self.info.height = self.height self.info.width = self.width self.P = np.array(msg.P).reshape(3, 4) - self.P[:2,:3] = self.P[:2,:3]*self.param.resize - self.info.K = self.P[:3,:3].flatten().tolist() + self.P[:2, :3] = self.P[:2, :3] * self.param.resize + self.info.K = self.P[:3, :3].flatten().tolist() self.info.P = self.P.flatten().tolist() def image_callback(self, rgb_msg): diff --git a/sensor_processing/semantic_sensor/script/semantic_sensor/pointcloud_node.py b/sensor_processing/semantic_sensor/script/semantic_sensor/pointcloud_node.py index 7d991a2d..9bc4232f 100755 --- a/sensor_processing/semantic_sensor/script/semantic_sensor/pointcloud_node.py +++ b/sensor_processing/semantic_sensor/script/semantic_sensor/pointcloud_node.py @@ -28,8 +28,9 @@ def __init__(self, sensor_name): # TODO: if this is going to be loaded from another package we might need to change namespace self.param: PointcloudParameter = PointcloudParameter() self.param.feature_config.input_size = [80, 160] - if rospy.has_param("/semantic_sensor/subscribers"): - config = rospy.get_param("/semantic_sensor/subscribers") + namesp = rospy.get_name() + if rospy.has_param(namesp + "/subscribers"): + config = rospy.get_param(namesp + "/subscribers") self.param: PointcloudParameter = PointcloudParameter.from_dict(config[sensor_name]) else: print("NO ROS ENV found.") @@ -146,7 +147,9 @@ def bitget(byteval, idx): c = c >> 3 cmap[i] = np.array([r, g, b]) - + cmap[1] = np.array([188,63,59]) + cmap[2] = np.array([81,113,162]) + cmap[3] = np.array([136,49,132]) cmap = cmap / 255 if normalized else cmap return cmap[1:] @@ -208,7 +211,7 @@ def image_callback(self, depth_msg, rgb_msg=None, confidence_msg=None): if self.param.publish_segmentation_image: self.publish_segmentation_image(self.prediction_img) # todo - if False and self.param.feature_extractor: + if self.param.publish_feature_image and self.param.feature_extractor: self.publish_feature_image(self.feat_img) def create_pcl_from_image(self, image, depth, confidence): diff --git a/sensor_processing/semantic_sensor/script/semantic_sensor/pointcloud_parameters.py b/sensor_processing/semantic_sensor/script/semantic_sensor/pointcloud_parameters.py index 43ddd9df..e38a05d5 100644 --- a/sensor_processing/semantic_sensor/script/semantic_sensor/pointcloud_parameters.py +++ b/sensor_processing/semantic_sensor/script/semantic_sensor/pointcloud_parameters.py @@ -48,5 +48,6 @@ class PointcloudParameter(Serializable): confidence_threshold: int = 10 feature_extractor: bool = False + publish_feature_image: bool = False feature_config: FeatureExtractorParameter = FeatureExtractorParameter feature_config.input_size: list = field(default_factory=lambda: [80, 160]) From 8b760068a795d89376a44885607663b97e983c3e Mon Sep 17 00:00:00 2001 From: Lorenz Wellhausen Date: Tue, 2 May 2023 14:01:41 +0200 Subject: [PATCH 341/504] Fix extra params loading with disabled plugins --- .../script/elevation_mapping_cupy/plugins/plugin_manager.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/plugin_manager.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/plugin_manager.py index 3bbf3fed..30bb7581 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/plugin_manager.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/plugin_manager.py @@ -93,7 +93,7 @@ def load_plugin_settings(self, file_path: str): is_height_layer=v["is_height_layer"], ) ) - extra_params.append(v["extra_params"]) + extra_params.append(v["extra_params"]) self.init(plugin_params, extra_params) print("Loaded plugins are ", *self.plugin_names) From e2ebfc24900de12e31b1ae425dd547add7a8b2de Mon Sep 17 00:00:00 2001 From: Gian Date: Tue, 23 May 2023 12:26:50 +0200 Subject: [PATCH 342/504] fix tests and make it ready for integration into development branch --- .../elevation_mapping_cupy/semantic_map.py | 1 - .../script/semantic_sensor/feature.ipynb | 263 ------------------ .../script/semantic_sensor/networks.py | 9 +- .../semantic_sensor/pointcloud_parameters.py | 2 +- .../script/semantic_sensor/profile.stats | Bin 2189606 -> 0 bytes 5 files changed, 5 insertions(+), 270 deletions(-) delete mode 100644 sensor_processing/semantic_sensor/script/semantic_sensor/feature.ipynb delete mode 100644 sensor_processing/semantic_sensor/script/semantic_sensor/profile.stats diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py index d655bf92..b1a554d3 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py @@ -291,7 +291,6 @@ def update_layers_pointcloud(self, points_all, channels, R, t, elevation_map): self.semantic_map, size=(self.param.cell_n * self.param.cell_n*pcl_ids.shape[0]), ) - np.save("features.npy",self.semantic_map[layer_ids]) if "bayesian_inference" in additional_fusion: pcl_ids, layer_ids = self.get_indices_fusion(channels, "bayesian_inference") self.sum_mean *= 0 diff --git a/sensor_processing/semantic_sensor/script/semantic_sensor/feature.ipynb b/sensor_processing/semantic_sensor/script/semantic_sensor/feature.ipynb deleted file mode 100644 index 5290835d..00000000 --- a/sensor_processing/semantic_sensor/script/semantic_sensor/feature.ipynb +++ /dev/null @@ -1,263 +0,0 @@ -{ - "cells": [ - { - "cell_type": "code", - "execution_count": 38, - "metadata": { - "collapsed": true - }, - "outputs": [], - "source": [ - "import torch\n", - "from semantic_sensor.networks import resolve_model\n", - "import os,yaml\n", - "from semantic_sensor.image_parameters import ImageParameter\n", - "from PIL import Image\n", - "import numpy as np\n", - "import cupy as cp\n", - "from sklearn.decomposition import PCA\n", - "import matplotlib.pyplot as plt\n", - "import cv2" - ] - }, - { - "cell_type": "code", - "execution_count": 2, - "metadata": { - "collapsed": false - }, - "outputs": [ - { - "name": "stdout", - "output_type": "stream", - "text": [ - "channels:\n", - "- feat_0\n", - "- feat_1\n", - "- feat_2\n", - "- feat_3\n", - "- feat_4\n", - "- feat_5\n", - "- feat_6\n", - "- feat_7\n", - "- feat_8\n", - "- feat_9\n", - "feat_image_topic: /elevation_mapping/feat_im_f\n", - "feature_config:\n", - " dim: 10\n", - " dino_feat_type: feat\n", - " dropout: false\n", - " input_size:\n", - " - 160\n", - " - 320\n", - " interpolation: bilinear\n", - " model: vit_small\n", - " name: DINO\n", - " patch_size: 16\n", - " pcl: false\n", - " projection_type: nonlinear\n", - "feature_extractor: true\n", - "feature_topic: /elevation_mapping/feat_f\n", - "fusion:\n", - "- average\n", - "- average\n", - "- average\n", - "- average\n", - "- average\n", - "- average\n", - "- average\n", - "- average\n", - "- average\n", - "- average\n", - "image_info_topic: /alphasense_driver_ros/cam4/camera_info\n", - "image_topic: /alphasense_driver_ros/cam4/debayered/compressed\n", - "resize: 0.1\n", - "segmentation_model: detectron_coco_panoptic_fpn_R_101_3x\n", - "sem_seg_image_topic: /elevation_mapping/semantic_seg_im\n", - "sem_seg_topic: /elevation_mapping/semantic_seg\n", - "semantic_segmentation: false\n", - "show_label_legend: false\n", - "\n" - ] - } - ], - "source": [ - "param = ImageParameter()\n", - "with open(\"/home/melon/workspaces/gian_ws/src/lonomy_configuration/elevation_map/config/oxford_semantics.yaml\") as file:\n", - " data = yaml.safe_load(file)[\"subscribers\"]\n", - "param = ImageParameter.from_dict(data[\"feat_pred_front\"])\n", - "param.feature_config.input_size = [160, 320]\n", - "param.resize = 0.1\n", - "print(param.dumps_yaml())\n" - ] - }, - { - "cell_type": "code", - "execution_count": 3, - "metadata": { - "collapsed": false - }, - "outputs": [], - "source": [ - "feature_extractor = resolve_model(param.feature_config.name, param.feature_config)\n" - ] - }, - { - "cell_type": "markdown", - "metadata": { - "collapsed": false - }, - "source": [] - }, - { - "cell_type": "code", - "execution_count": 4, - "metadata": { - "collapsed": false - }, - "outputs": [ - { - "name": "stdout", - "output_type": "stream", - "text": [ - "(551, 976, 3)\n", - "(55, 97, 3)\n" - ] - }, - { - "data": { - "image/png": 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", - "text/plain": [ - "

" - ] - }, - "metadata": {}, - "output_type": "display_data" - } - ], - "source": [ - "im_p = \"/home/melon/Pictures/Screenshot from 2023-02-06 15-07-57.png\"\n", - "im_p = \"/home/melon/Pictures/Screenshot from 2023-01-18 10-36-14.png\"\n", - "image = Image.open(im_p)\n", - "if image.mode != 'RGB':\n", - " image = image.convert('RGB')\n", - "\n", - "\n", - "image_array = np.array(image)\n", - "print(image_array.shape)\n", - "\n", - "height = int(param.resize * image_array.shape[0])\n", - "width = int(param.resize * image_array.shape[1])\n", - "if param.resize is not None:\n", - " image_array = cv2.resize(image_array, dsize=(width, height))\n", - "print(image_array.shape)\n", - "plt.imshow(image_array)\n", - "image_array = cp.asarray(image_array)\n", - "\n" - ] - }, - { - "cell_type": "code", - "execution_count": 39, - "metadata": { - "collapsed": false - }, - "outputs": [], - "source": [ - "features = feature_extractor[\"model\"](image_array)" - ] - }, - { - "cell_type": "code", - "execution_count": 40, - "metadata": { - "collapsed": false - }, - "outputs": [ - { - "name": "stdout", - "output_type": "stream", - "text": [ - "(5335, 10)\n", - "(55, 97, 3)\n" - ] - }, - { - "data": { - "text/plain": "" - }, - "execution_count": 40, - "metadata": {}, - "output_type": "execute_result" - }, - { - "data": { - "text/plain": "
", - "image/png": 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\n" - }, - "metadata": {}, - "output_type": "display_data" - } - ], - "source": [ - "data = np.reshape(features.cpu().detach().numpy(), (features.shape[0], -1)).T\n", - "print(data.shape)\n", - "n_components = 3\n", - "pca = PCA(n_components=n_components).fit(data)\n", - "pca_descriptors = pca.transform(data)\n", - "img_pca = pca_descriptors.reshape(features.shape[1], features.shape[2], n_components)\n", - "print(img_pca.shape)\n", - "comp = img_pca # [:, :, -3:]\n", - "comp_min = comp.min(axis=(0, 1))\n", - "comp_max = comp.max(axis=(0, 1))\n", - "comp_img = (comp - comp_min) / (comp_max - comp_min)\n", - "comp_img = (comp_img * 255).astype(np.uint8)\n", - "plt.imshow(comp_img,interpolation='nearest')" - ] - }, - { - "cell_type": "code", - "execution_count": null, - "metadata": { - "collapsed": false - }, - "outputs": [], - "source": [] - }, - { - "cell_type": "code", - "execution_count": null, - "metadata": { - "collapsed": false - }, - "outputs": [], - "source": [] - } - ], - "metadata": { - "kernelspec": { - "display_name": "torch_38", - "language": "python", - "name": "python3" - }, - "language_info": { - "codemirror_mode": { - "name": "ipython", - "version": 3 - }, - "file_extension": ".py", - "mimetype": "text/x-python", - "name": "python", - "nbconvert_exporter": "python", - "pygments_lexer": "ipython3", - "version": "3.8.15" - }, - "vscode": { - "interpreter": { - "hash": "a37eea1dce3a8c689ddbeeaef84a6dd0c46135a0b5c7a3537ea3e1718bef5fe2" - } - } - }, - "nbformat": 4, - "nbformat_minor": 0 -} diff --git a/sensor_processing/semantic_sensor/script/semantic_sensor/networks.py b/sensor_processing/semantic_sensor/script/semantic_sensor/networks.py index ef47e2f8..39847e68 100644 --- a/sensor_processing/semantic_sensor/script/semantic_sensor/networks.py +++ b/sensor_processing/semantic_sensor/script/semantic_sensor/networks.py @@ -277,7 +277,7 @@ def __call__(self, image, *args, **kwargs): # image = torch.as_tensor(image, device="cuda").permute(2, 0, 1).unsqueeze(0) image = self.to_tensor(image).unsqueeze(0) # if self.cfg.pcl: - reset_size = Resize(image.shape[-2:],interpolation=TF.InterpolationMode.NEAREST) + reset_size = Resize(image.shape[-2:], interpolation=TF.InterpolationMode.NEAREST) im_size = image.shape[-2:] image = self.shrink(image) image = TF.normalize(image, mean=(0.485, 0.456, 0.406), std=(0.229, 0.224, 0.225)) @@ -285,11 +285,10 @@ def __call__(self, image, *args, **kwargs): feat1, code1 = self.model(image) feat2, code2 = self.model(image.flip(dims=[3])) - # code = (code1 + code2.flip(dims=[3])) / 2 + code = (code1 + code2.flip(dims=[3])) / 2 # code = NF.interpolate(code, image.shape[-2:], mode=self.cfg.interpolation, align_corners=False).detach() - code = (feat1[:,:10] + feat2[:,:10].flip(dims=[3])) / 2 - # code = NF.interpolate(code, image.shape[-2:], mode=self.cfg.interpolation, align_corners=False).detach() - + # if we just use first ten + # code = (feat1[:,:10] + feat2[:,:10].flip(dims=[3])) / 2 # if self.cfg.pcl: code = NF.interpolate(code, im_size, mode=self.cfg.interpolation, align_corners=False).detach() diff --git a/sensor_processing/semantic_sensor/script/semantic_sensor/pointcloud_parameters.py b/sensor_processing/semantic_sensor/script/semantic_sensor/pointcloud_parameters.py index e38a05d5..dfb81228 100644 --- a/sensor_processing/semantic_sensor/script/semantic_sensor/pointcloud_parameters.py +++ b/sensor_processing/semantic_sensor/script/semantic_sensor/pointcloud_parameters.py @@ -5,7 +5,7 @@ @dataclass class FeatureExtractorParameter(Serializable): name: str = "DINO" - interpolation: str = "nearest-exact" + interpolation: str = "bilinear" model: str = "vit_small" patch_size: int = 16 dim: int = 5 diff --git a/sensor_processing/semantic_sensor/script/semantic_sensor/profile.stats b/sensor_processing/semantic_sensor/script/semantic_sensor/profile.stats deleted file mode 100644 index aff9bc099e2ddc6db9ba102855c3eb7c32b3caba..0000000000000000000000000000000000000000 GIT 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zJ`j+xUh{KZyMntoVxkuzv22XUE>pvDm?QM^XgiX7-xgO+je-f5BaYuT?Nj(u@3n4l zl)(}H$f(+P@&}>SC!#G5RYOo5M03PeZJ*Aq3~Gm>-u|dJ0`m3ldvj{*;TVD=otRi0 zzHo%@WlmSUz@8^9f)Bpy(!ZP6UIgzwwRhB>=Zz5 zzVykjJquus#1Rwi#yq83XMxM}hO(t_frlfs!`IGJ>^tse*xOe==xz?9eeC^x&geHTv@PL_3G^M8QenQ2+e@SJxt)Pz)S%o|LWC$%&lY?}snW!~3i(2#p=2XjBebQv{@E)RcgbsW1>n lXdEMnKyM=;>?uQtJ&rh53ibqB9$aG%)J;r{$O{`b?0-T$ZJ+=E From 7166197a23332d8fa6321b37132c049f04dc3281 Mon Sep 17 00:00:00 2001 From: Gian Date: Mon, 5 Jun 2023 14:21:55 +0200 Subject: [PATCH 343/504] created plugin system for inputs and renamed pointcloud input --- .../elevation_mapping.py | 6 +- .../elevation_mapping_cupy/fusion/__init__.py | 0 .../elevation_mapping_cupy/fusion/average.py | 123 ++++ .../fusion/bayesian_inference.py | 137 ++++ .../fusion/class_average.py | 139 ++++ .../fusion/class_bayesian.py | 83 +++ .../fusion/class_max.py | 135 ++++ .../elevation_mapping_cupy/fusion/color.py | 166 +++++ .../fusion/fusion_manager.py | 106 +++ .../fusion/image_exponential.py | 75 +++ .../elevation_mapping_cupy/fusion/template.py | 22 + .../elevation_mapping_cupy/semantic_map.py | 636 ++++++++++-------- .../tests/test_elevation_mapping.py | 2 +- .../tests/test_plugins.py | 2 +- .../src/elevation_mapping_wrapper.cpp | 2 +- 15 files changed, 1349 insertions(+), 285 deletions(-) create mode 100644 elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/__init__.py create mode 100644 elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/average.py create mode 100644 elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/bayesian_inference.py create mode 100644 elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/class_average.py create mode 100644 elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/class_bayesian.py create mode 100644 elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/class_max.py create mode 100644 elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/color.py create mode 100644 elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/fusion_manager.py create mode 100644 elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/image_exponential.py create mode 100644 elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/template.py diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py index b1115eef..d6a7c87f 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py @@ -98,7 +98,7 @@ def __init__(self, param: Parameter): self.compile_image_kernels() - self.semantic_map.compile_kernels() + self.semantic_map.initialize_fusion() weight_file = subprocess.getoutput('echo "' + param.weight_file + '"') param.load_weights(weight_file) @@ -428,7 +428,7 @@ def update_upper_bound_with_valid_elevation(self): self.elevation_map[5] = cp.where(mask, self.elevation_map[0], self.elevation_map[5]) self.elevation_map[6] = cp.where(mask, 0.0, self.elevation_map[6]) - def input( + def input_pointcloud( self, raw_points: cp._core.core.ndarray, channels: List[str], @@ -923,7 +923,7 @@ def initialize_map(self, points, method="cubic"): print(channels) data = np.zeros((elevation.cell_n - 2, elevation.cell_n - 2), dtype=np.float32) for i in range(50): - elevation.input(points, channels, R, t, 0, 0) + elevation.input_pointcloud(points, channels, R, t, 0, 0) elevation.update_normal(elevation.elevation_map[0]) pos = np.array([i * 0.01, i * 0.02, i * 0.01]) elevation.move_to(pos, R) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/__init__.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/__init__.py new file mode 100644 index 00000000..e69de29b diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/average.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/average.py new file mode 100644 index 00000000..140ef8b9 --- /dev/null +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/average.py @@ -0,0 +1,123 @@ +import cupy as cp +import numpy as np +import string + +from .fusion_manager import FusionBase + + +def sum_kernel( + resolution, + width, + height, +): + """Sums the semantic values of the classes for the exponentiala verage or for the average. + + Args: + resolution: + width: + height: + + Returns: + + """ + # input the list of layers, amount of channels can slo be input through kernel + sum_kernel = cp.ElementwiseKernel( + in_params="raw U p, raw U R, raw U t, raw W pcl_chan, raw W map_lay, raw W pcl_channels", + out_params="raw U map, raw U newmap", + preamble=string.Template( + """ + __device__ int get_map_idx(int idx, int layer_n) { + const int layer = ${width} * ${height}; + return layer * layer_n + idx; + } + """ + ).substitute(resolution=resolution, width=width, height=height), + operation=string.Template( + """ + U id = floorf(i/pcl_channels[1]); + int layer = i % pcl_channels[1]; + U idx = p[id * pcl_channels[0]]; + U valid = p[id * pcl_channels[0] + 1]; + U inside = p[id * pcl_channels[0] + 2]; + if (valid) { + if (inside) { + U feat = p[id * pcl_channels[0] + pcl_chan[layer]]; + atomicAdd(&newmap[get_map_idx(idx, map_lay[layer])], feat); + } + } + """ + ).substitute(), + name="sum_kernel", + ) + return sum_kernel + + +def average_kernel( + width, + height, +): + average_kernel = cp.ElementwiseKernel( + in_params="raw V newmap, raw W pcl_chan, raw W map_lay, raw W pcl_channels, raw U new_elmap", + out_params="raw U map", + preamble=string.Template( + """ + __device__ int get_map_idx(int idx, int layer_n) { + const int layer = ${width} * ${height}; + return layer * layer_n + idx; + } + """ + ).substitute(width=width, height=height), + operation=string.Template( + """ + U id = floorf(i/pcl_channels[1]); + int layer = i % pcl_channels[1]; + U cnt = new_elmap[get_map_idx(id, 2)]; + if (cnt>0){ + U feat = newmap[get_map_idx(id, map_lay[layer])]/(1*cnt); + map[get_map_idx(id, map_lay[layer])] = feat; + } + """ + ).substitute(), + name="average_map_kernel", + ) + return average_kernel + + +class Average(FusionBase): + def __init__(self, params, *args, **kwargs): + # super().__init__(fusion_params, *args, **kwargs) + print("Initialize fusion kernel") + self.name = "average" + self.cell_n = params.cell_n + self.resolution = params.resolution + self.sum_kernel = sum_kernel( + self.resolution, + self.cell_n, + self.cell_n, + ) + self.average_kernel = average_kernel( + self.cell_n, + self.cell_n, + ) + + def __call__(self, points_all, R, t, pcl_ids, layer_ids, elevation_map,semantic_map, new_map,*args): + self.sum_kernel( + points_all, + R, + t, + pcl_ids, + layer_ids, + cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=cp.int32), + semantic_map, + new_map, + size=(points_all.shape[0] * pcl_ids.shape[0]), + ) + self.average_kernel( + new_map, + pcl_ids, + layer_ids, + cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=cp.int32), + elevation_map, + semantic_map, + size=(self.cell_n * self.cell_n * pcl_ids.shape[0]), + ) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/bayesian_inference.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/bayesian_inference.py new file mode 100644 index 00000000..ac066554 --- /dev/null +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/bayesian_inference.py @@ -0,0 +1,137 @@ +import cupy as cp +import numpy as np +import string + +from .fusion_manager import FusionBase + + +def sum_compact_kernel( + resolution, + width, + height, +): + # input the list of layers, amount of channels can slo be input through kernel + sum_compact_kernel = cp.ElementwiseKernel( + in_params="raw U p, raw U R, raw U t, raw W pcl_chan, raw W map_lay, raw W pcl_channels", + out_params=" raw U newmap", + preamble=string.Template( + """ + __device__ int get_map_idx(int idx, int layer_n) { + const int layer = ${width} * ${height}; + return layer * layer_n + idx; + } + """ + ).substitute(resolution=resolution, width=width, height=height), + operation=string.Template( + """ + U id = floorf(i/pcl_channels[1]); + int layer = i % pcl_channels[1]; + U idx = p[id * pcl_channels[0]]; + U valid = p[id * pcl_channels[0] + 1]; + U inside = p[id * pcl_channels[0] + 2]; + if (valid) { + if (inside) { + U feat = p[id * pcl_channels[0] + pcl_chan[layer]]; + atomicAdd(&newmap[get_map_idx(idx, layer)], feat); + } + } + """ + ).substitute(), + name="sum_compact_kernel", + ) + return sum_compact_kernel + + + +def bayesian_inference_kernel( + width, + height, +): + bayesian_inference_kernel = cp.ElementwiseKernel( + in_params=" raw W pcl_chan, raw W map_lay, raw W pcl_channels, raw U new_elmap", + out_params="raw U newmap, raw U sum_mean, raw U map", + preamble=string.Template( + """ + __device__ int get_map_idx(int idx, int layer_n) { + const int layer = ${width} * ${height}; + return layer * layer_n + idx; + } + """ + ).substitute(width=width, height=height), + operation=string.Template( + """ + U id = floorf(i/pcl_channels[1]); + int layer = i % pcl_channels[1]; + U cnt = new_elmap[get_map_idx(id, 2)]; + if (cnt>0){ + U feat_ml = sum_mean[get_map_idx(id, layer)]/cnt; + U feat_old = map[get_map_idx(id, map_lay[layer])]; + U sigma_old = newmap[get_map_idx(id, map_lay[layer])]; + U sigma = 1.0; + U feat_new = sigma*feat_old /(cnt*sigma_old + sigma) +cnt*sigma_old *feat_ml /(cnt*sigma_old+sigma); + U sigma_new = sigma*sigma_old /(cnt*sigma_old +sigma); + map[get_map_idx(id, map_lay[layer])] = feat_new; + newmap[get_map_idx(id, map_lay[layer])] = sigma_new; + } + """ + ).substitute(), + name="bayesian_inference_kernel", + ) + return bayesian_inference_kernel + + + +class BayesianInference(FusionBase): + def __init__(self, params, *args, **kwargs): + # super().__init__(fusion_params, *args, **kwargs) + print("Initialize bayesian inference kernel") + self.name = "bayesian_inference" + + self.cell_n = params.cell_n + self.resolution = params.resolution + self.fusion_algorithms = params.fusion_algorithms + self.data_type = params.data_type + + self.sum_mean = cp.ones( + ( + self.fusion_algorithms.count("bayesian_inference"), + self.cell_n, + self.cell_n, + ), + self.data_type, + ) + # TODO initialize the variance with a value different than 0 + self.sum_compact_kernel = sum_compact_kernel( + self.resolution, + self.cell_n, + self.cell_n, + ) + self.bayesian_inference_kernel = bayesian_inference_kernel( + self.cell_n, + self.cell_n, + ) + + def __call__(self, points_all, R, t, pcl_ids, layer_ids, elevation_map,semantic_map, new_map,*args): + self.sum_mean *= 0 + self.sum_compact_kernel( + points_all, + R, + t, + pcl_ids, + layer_ids, + cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=cp.int32), + self.sum_mean, + size=(points_all.shape[0]), + ) + self.bayesian_inference_kernel( + pcl_ids, + layer_ids, + cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=cp.int32), + elevation_map, + new_map, + self.sum_mean, + semantic_map, + size=(self.cell_n * self.cell_n), + ) + + diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/class_average.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/class_average.py new file mode 100644 index 00000000..8705234f --- /dev/null +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/class_average.py @@ -0,0 +1,139 @@ +import cupy as cp +import numpy as np +import string + +from .fusion_manager import FusionBase + + +def sum_kernel( + resolution, + width, + height, +): + """Sums the semantic values of the classes for the exponentiala verage or for the average. + + Args: + resolution: + width: + height: + + Returns: + + """ + # input the list of layers, amount of channels can slo be input through kernel + sum_kernel = cp.ElementwiseKernel( + in_params="raw U p, raw U R, raw U t, raw W pcl_chan, raw W map_lay, raw W pcl_channels", + out_params="raw U map, raw U newmap", + preamble=string.Template( + """ + __device__ int get_map_idx(int idx, int layer_n) { + const int layer = ${width} * ${height}; + return layer * layer_n + idx; + } + """ + ).substitute(resolution=resolution, width=width, height=height), + operation=string.Template( + """ + U id = floorf(i/pcl_channels[1]); + int layer = i % pcl_channels[1]; + U idx = p[id * pcl_channels[0]]; + U valid = p[id * pcl_channels[0] + 1]; + U inside = p[id * pcl_channels[0] + 2]; + if (valid) { + if (inside) { + U feat = p[id * pcl_channels[0] + pcl_chan[layer]]; + atomicAdd(&newmap[get_map_idx(idx, map_lay[layer])], feat); + } + } + """ + ).substitute(), + name="sum_kernel", + ) + return sum_kernel + + +def class_average_kernel( + width, + height, + alpha, +): + class_average_kernel = cp.ElementwiseKernel( + in_params="raw V newmap, raw W pcl_chan, raw W map_lay, raw W pcl_channels, raw U new_elmap", + out_params="raw U map", + preamble=string.Template( + """ + __device__ int get_map_idx(int idx, int layer_n) { + const int layer = ${width} * ${height}; + return layer * layer_n + idx; + } + """ + ).substitute(width=width, height=height), + operation=string.Template( + """ + U id = floorf(i/pcl_channels[1]); + int layer = i % pcl_channels[1]; + U cnt = new_elmap[get_map_idx(id, 2)]; + if (cnt>0){ + U prev_val = map[get_map_idx(id, map_lay[layer])]; + if (prev_val==0){ + U val = newmap[get_map_idx(id, map_lay[layer])]/(1*cnt); + map[get_map_idx(id, map_lay[layer])] = val; + } + else{ + U val = ${alpha} *prev_val + (1-${alpha}) * newmap[get_map_idx(id, map_lay[layer])]/(cnt); + map[get_map_idx(id, map_lay[layer])] = val; + } + } + """ + ).substitute( + alpha=alpha, + ), + name="class_average_kernel", + ) + return class_average_kernel + + + +class ClassAverage(FusionBase): + def __init__(self, params, *args, **kwargs): + # super().__init__(fusion_params, *args, **kwargs) + print("Initialize fusion kernel") + self.name = "class_average" + self.cell_n = params.cell_n + self.resolution = params.resolution + self.average_weight = params.average_weight + + self.sum_kernel = sum_kernel( + self.resolution, + self.cell_n, + self.cell_n, + ) + self.class_average_kernel = class_average_kernel( + self.cell_n, + self.cell_n, + self.average_weight, + ) + + def __call__(self, points_all, R, t, pcl_ids, layer_ids, elevation_map,semantic_map, new_map,*args): + self.sum_kernel( + points_all, + R, + t, + pcl_ids, + layer_ids, + cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=cp.int32), + semantic_map, + new_map, + size=(points_all.shape[0] * pcl_ids.shape[0]), + ) + self.class_average_kernel( + new_map, + pcl_ids, + layer_ids, + cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=cp.int32), + elevation_map, + semantic_map, + size=(self.cell_n * self.cell_n * pcl_ids.shape[0]), + ) + + diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/class_bayesian.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/class_bayesian.py new file mode 100644 index 00000000..f3074783 --- /dev/null +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/class_bayesian.py @@ -0,0 +1,83 @@ +import cupy as cp +import numpy as np +import string + +from .fusion_manager import FusionBase + + + +def alpha_kernel( + resolution, + width, + height, +): + # input the list of layers, amount of channels can slo be input through kernel + alpha_kernel = cp.ElementwiseKernel( + in_params="raw U p, raw W pcl_chan, raw W map_lay, raw W pcl_channels", + out_params="raw U newmap", + preamble=string.Template( + """ + __device__ int get_map_idx(int idx, int layer_n) { + const int layer = ${width} * ${height}; + return layer * layer_n + idx; + } + """ + ).substitute(resolution=resolution, width=width, height=height), + operation=string.Template( + """ + U id = floorf(i/pcl_channels[1]); + int layer = i % pcl_channels[1]; + U idx = p[id * pcl_channels[0]]; + U valid = p[id * pcl_channels[0] + 1]; + U inside = p[id * pcl_channels[0] + 2]; + if (valid) { + if (inside) { + U theta_max = 0; + W arg_max = 0; + U theta = p[id * pcl_channels[0] + pcl_chan[layer]]; + if (theta >=theta_max){ + arg_max = map_lay[layer]; + theta_max = theta; + } + atomicAdd(&newmap[get_map_idx(idx, arg_max)], theta_max); + } + } + """ + ).substitute(), + name="alpha_kernel", + ) + return alpha_kernel + + + +class ClassBayesian(FusionBase): + def __init__(self, params, *args, **kwargs): + # super().__init__(fusion_params, *args, **kwargs) + print("Initialize fusion kernel") + self.name = "class_bayesian" + self.cell_n = params.cell_n + self.resolution = params.resolution + self.alpha_kernel = alpha_kernel( + self.resolution, + self.cell_n, + self.cell_n, + ) + + + + def __call__(self, points_all, R, t, pcl_ids, layer_ids, elevation_map,semantic_map, new_map,*args): + self.alpha_kernel( + points_all, + pcl_ids, + layer_ids, + cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=cp.int32), + new_map, + size=(points_all.shape[0]), + ) + # calculate new thetas + sum_alpha = cp.sum(new_map[layer_ids], axis=0) + # do not divide by zero + sum_alpha[sum_alpha == 0] = 1 + semantic_map[layer_ids] = new_map[layer_ids] / cp.expand_dims(sum_alpha, axis=0) + + diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/class_max.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/class_max.py new file mode 100644 index 00000000..d7230518 --- /dev/null +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/class_max.py @@ -0,0 +1,135 @@ +import cupy as cp +import numpy as np +import string + +from .fusion_manager import FusionBase + + + + +def sum_max_kernel( + resolution, + width, + height, +): + # input the list of layers, amount of channels can slo be input through kernel + sum_max_kernel = cp.ElementwiseKernel( + in_params="raw U p, raw U max_pt, raw T max_id, raw W pcl_chan, raw W map_lay, raw W pcl_channels", + out_params=" raw U newmap", + preamble=string.Template( + """ + __device__ int get_map_idx(int idx, int layer_n) { + const int layer = ${width} * ${height}; + return layer * layer_n + idx; + } + """ + ).substitute(resolution=resolution, width=width, height=height), + operation=string.Template( + """ + U idx = p[i * pcl_channels[0]]; + U valid = p[i * pcl_channels[0] + 1]; + U inside = p[i * pcl_channels[0] + 2]; + if (valid) { + if (inside) { + // for every max value + for ( W it=0;it> 16; + return reds; + } + __device__ unsigned int get_g(unsigned int color){ + unsigned int green = 0xFF00; + unsigned int greens = (color & green) >> 8; + return greens; + } + __device__ unsigned int get_b(unsigned int color){ + unsigned int blue = 0xFF; + unsigned int blues = ( color & blue); + return blues; + } + """ + ).substitute(width=width, height=height), + operation=string.Template( + """ + U id = floorf(i/pcl_channels[1]); + int layer = i % pcl_channels[1]; + U idx = p[id * pcl_channels[0]]; + U valid = p[id * pcl_channels[0] + 1]; + U inside = p[id * pcl_channels[0] + 2]; + if (valid && inside){ + unsigned int color = __float_as_uint(p[id * pcl_channels[0] + pcl_chan[layer]]); + atomicAdd(&color_map[get_map_idx(idx, layer*3)], get_r(color)); + atomicAdd(&color_map[get_map_idx(idx, layer*3+1)], get_g(color)); + atomicAdd(&color_map[get_map_idx(idx, layer*3 + 2)], get_b(color)); + atomicAdd(&color_map[get_map_idx(idx, pcl_channels[1]*3)], 1); + } + """ + ).substitute(width=width), + name="add_color_kernel", + ) + return add_color_kernel + + + +def color_average_kernel( + width, + height, +): + color_average_kernel = cp.ElementwiseKernel( + in_params="raw V color_map, raw W pcl_chan, raw W map_lay, raw W pcl_channels", + out_params="raw U map", + preamble=string.Template( + """ + __device__ int get_map_idx(int idx, int layer_n) { + const int layer = ${width} * ${height}; + return layer * layer_n + idx; + } + __device__ unsigned int get_r(unsigned int color){ + unsigned int red = 0xFF0000; + unsigned int reds = (color & red) >> 16; + return reds; + } + __device__ unsigned int get_g(unsigned int color){ + unsigned int green = 0xFF00; + unsigned int greens = (color & green) >> 8; + return greens; + } + __device__ unsigned int get_b(unsigned int color){ + unsigned int blue = 0xFF; + unsigned int blues = (color & blue); + return blues; + } + """ + ).substitute(width=width, height=height), + operation=string.Template( + """ + U id = floorf(i/pcl_channels[1]); + int layer = i % pcl_channels[1]; + unsigned int cnt = color_map[get_map_idx(id, pcl_channels[1]*3)]; + if (cnt>0){ + // U prev_color = map[get_map_idx(id, map_lay[layer])]; + unsigned int r = color_map[get_map_idx(id, layer*3)]/(1*cnt); + unsigned int g = color_map[get_map_idx(id, layer*3+1)]/(1*cnt); + unsigned int b = color_map[get_map_idx(id, layer*3+2)]/(1*cnt); + //if (prev_color>=0){ + // unsigned int prev_r = get_r(prev_color); + // unsigned int prev_g = get_g(prev_color); + // unsigned int prev_b = get_b(prev_color); + // unsigned int r = prev_r/2 + color_map[get_map_idx(i, layer*3)]/(2*cnt); + // unsigned int g = prev_g/2 + color_map[get_map_idx(i, layer*3+1)]/(2*cnt); + // unsigned int b = prev_b/2 + color_map[get_map_idx(i, layer*3+2)]/(2*cnt); + //} + unsigned int rgb = (r<<16) + (g << 8) + b; + float rgb_ = __uint_as_float(rgb); + map[get_map_idx(id, map_lay[layer])] = rgb_; + } + """ + ).substitute(), + name="color_average_kernel", + ) + return color_average_kernel + + + +class Color(FusionBase): + def __init__(self, params, *args, **kwargs): + # super().__init__(fusion_params, *args, **kwargs) + print("Initialize fusion kernel") + self.name = "color" + self.cell_n = params.cell_n + self.resolution = params.resolution + + self.add_color_kernel = add_color_kernel( + params.cell_n, + params.cell_n, + ) + self.color_average_kernel = color_average_kernel(self.cell_n, self.cell_n) + + def __call__(self, points_all, R, t, pcl_ids, layer_ids, elevation_map,semantic_map, new_map,*args): + self.color_map = cp.zeros( + (1 + 3 * layer_ids.shape[0], self.cell_n, self.cell_n), + dtype=cp.uint32, + ) + + points_all = points_all.astype(cp.float32) + self.add_color_kernel( + points_all, + R, + t, + pcl_ids, + layer_ids, + cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=cp.int32), + self.color_map, + size=(points_all.shape[0]), + ) + self.color_average_kernel( + self.color_map, + pcl_ids, + layer_ids, + cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=cp.int32), + semantic_map, + size=(self.cell_n * self.cell_n), + ) + + + + + + + + + diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/fusion_manager.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/fusion_manager.py new file mode 100644 index 00000000..1378ec6d --- /dev/null +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/fusion_manager.py @@ -0,0 +1,106 @@ +from abc import ABC, abstractmethod +import cupy as cp +from typing import List, Dict, Any +from dataclasses import dataclass +import importlib +import inspect + + +# @dataclass +# class FusionParams: +# name: str + + +class FusionBase(ABC): + """ + This is a base class of Fusion + """ + + @abstractmethod + def __init__(self, *args, **kwargs): + """ + + Args: + fusion_params : FusionParams + The parameter of callback + """ + self.name = None + + @abstractmethod + def __call__(self, points_all, R, t, pcl_ids, layer_ids, elevation_map, semantic_map, new_map): + pass + + +class FusionManager(object): + def __init__(self, params): + self.fusion_plugins: Dict[str, FusionBase] = {} + self.params = params + self.plugins = [] + + def register_plugin(self, plugin): + """ + Register a new fusion plugin + """ + try: + m = importlib.import_module("." + plugin, package="elevation_mapping_cupy.fusion") # -> 'module' + except: + raise ValueError("Plugin {} does not exist.".format(plugin)) + for name, obj in inspect.getmembers(m): + + if inspect.isclass(obj) and issubclass(obj, FusionBase) and name != "FusionBase": + self.plugins.append(obj(self.params)) + + def get_plugin_idx(self, name: str): + """ + Get a registered fusion plugin + """ + for idx, plugin in enumerate(self.plugins): + if plugin.name == name: + return idx + + + def execute_plugin( + self, name: str, points_all, R, t, pcl_ids, layer_ids, elevation_map, semantic_map, new_map, elements_to_shift + ): + """ + Execute a registered fusion plugin + """ + idx = self.get_plugin_idx(name) + if idx is not None: + self.plugins[idx]( + points_all, R, t, pcl_ids, layer_ids, elevation_map, semantic_map, new_map, elements_to_shift + ) + else: + raise ValueError("Plugin {} is not registered".format(name)) + + def execute_image_plugin( + self, + name: str, + sem_map_idx, + image, + j, + uv_correspondence, + valid_correspondence, + image_height, + image_width, + semantic_map, + new_map, + ): + """ + Execute a registered fusion plugin + """ + idx = self.get_plugin_idx(name) + if idx is not None: + self.plugins[idx]( + sem_map_idx, + image, + j, + uv_correspondence, + valid_correspondence, + image_height, + image_width, + semantic_map, + new_map, + ) + else: + raise ValueError("Plugin {} is not registered".format(name)) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/image_exponential.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/image_exponential.py new file mode 100644 index 00000000..19061ce1 --- /dev/null +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/image_exponential.py @@ -0,0 +1,75 @@ +import cupy as cp +import numpy as np +import string + +from .fusion_manager import FusionBase + + +def exponential_correspondences_to_map_kernel(resolution, width, height, alpha): + exponential_correspondences_to_map_kernel = cp.ElementwiseKernel( + in_params="raw U sem_map, raw U map_idx, raw U image_mono, raw U uv_correspondence, raw B valid_correspondence, raw U image_height, raw U image_width", + out_params="raw U new_sem_map", + preamble=string.Template( + """ + __device__ int get_map_idx(int idx, int layer_n) { + const int layer = ${width} * ${height}; + return layer * layer_n + idx; + } + """ + ).substitute(width=width, height=height), + operation=string.Template( + """ + int cell_idx = get_map_idx(i, 0); + if (valid_correspondence[cell_idx]){ + int cell_idx_2 = get_map_idx(i, 1); + int idx = int(uv_correspondence[cell_idx]) + int(uv_correspondence[cell_idx_2]) * image_width; + new_sem_map[get_map_idx(i, map_idx)] = sem_map[get_map_idx(i, map_idx)] * (1-${alpha}) + ${alpha} * image_mono[idx]; + }else{ + new_sem_map[get_map_idx(i, map_idx)] = sem_map[get_map_idx(i, map_idx)]; + } + + """ + ).substitute(alpha=alpha), + name="exponential_correspondences_to_map_kernel", + ) + return exponential_correspondences_to_map_kernel + + +class ImageExponential(FusionBase): + def __init__(self, params, *args, **kwargs): + # super().__init__(fusion_params, *args, **kwargs) + print("Initialize fusion kernel") + self.name = "image_exponential" + self.cell_n = params.cell_n + self.resolution = params.resolution + + self.exponential_correspondences_to_map_kernel = exponential_correspondences_to_map_kernel( + resolution=self.resolution, + width=self.cell_n, + height=self.cell_n, + alpha=0.7, + ) + + def __call__(self, sem_map_idx,image, j,uv_correspondence, valid_correspondence, image_height, image_width , semantic_map, new_map): + self.exponential_correspondences_to_map_kernel( + semantic_map, + sem_map_idx, + image[j], + uv_correspondence, + valid_correspondence, + image_height, + image_width, + new_map, + size=int(self.cell_n * self.cell_n), + ) + semantic_map[sem_map_idx] = new_map[sem_map_idx] + + + + + + + + + + diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/template.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/template.py new file mode 100644 index 00000000..8cfcec82 --- /dev/null +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/template.py @@ -0,0 +1,22 @@ +import cupy as cp +import numpy as np +import string + +from .fusion_manager import FusionBase + + + + + +class Color(FusionBase): + def __init__(self, params, *args, **kwargs): + # super().__init__(fusion_params, *args, **kwargs) + print("Initialize fusion kernel") + self.cell_n = params.cell_n + self.resolution = params.resolution + + + def __call__(self, points_all, R, t, pcl_ids, layer_ids, elevation_map,semantic_map, new_map,*args): + pass + + diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py index b1a554d3..7dc59f84 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py @@ -20,6 +20,7 @@ color_correspondences_to_map_kernel, ) +from elevation_mapping_cupy.fusion.fusion_manager import FusionManager xp = cp @@ -61,105 +62,128 @@ def __init__(self, param: Parameter): # which layers should be reset to zero at each update, per default everyone, # if a layer should not be reset, it is defined in compile_kernels function self.delete_new_layers = cp.ones(self.new_map.shape[0], cp.bool8) + self.fusion_manager = FusionManager(self.param) def clear(self): """Clear the semantic map.""" self.semantic_map *= 0.0 - def compile_kernels(self) -> None: - """ - Returns: - None: - """ - # TODO: maybe this could be improved by creating functions for each single fusion algorithm - if "average" in self.unique_fusion: - print("Initialize fusion kernel") - self.sum_kernel = sum_kernel( - self.param.resolution, - self.param.cell_n, - self.param.cell_n, - ) - self.average_kernel = average_kernel( - self.param.cell_n, - self.param.cell_n, - ) - if "bayesian_inference" in self.unique_fusion: - print("Initialize bayesian inference kernel") - self.sum_mean = xp.ones( - ( - self.param.fusion_algorithms.count("bayesian_inference"), - self.param.cell_n, - self.param.cell_n, - ), - self.param.data_type, - ) - # TODO initialize the variance with a value different than 0 - self.sum_compact_kernel = sum_compact_kernel( - self.param.resolution, - self.param.cell_n, - self.param.cell_n, - ) - self.bayesian_inference_kernel = bayesian_inference_kernel( - self.param.cell_n, - self.param.cell_n, - ) - if "color" in self.unique_fusion: - print("Initialize color kernel") - - self.add_color_kernel = add_color_kernel( - self.param.cell_n, - self.param.cell_n, - ) - self.color_average_kernel = color_average_kernel(self.param.cell_n, self.param.cell_n) - if "class_average" in self.unique_fusion: - print("Initialize class average kernel") - self.sum_kernel = sum_kernel( - self.param.resolution, - self.param.cell_n, - self.param.cell_n, - ) - self.class_average_kernel = class_average_kernel( - self.param.cell_n, - self.param.cell_n, - self.param.average_weight, - ) - if "class_bayesian" in self.unique_fusion: - print("Initialize class bayesian kernel") - pcl_ids = self.get_layer_indices("class_bayesian") - self.delete_new_layers[pcl_ids] = 0 - self.alpha_kernel = alpha_kernel( - self.param.resolution, - self.param.cell_n, - self.param.cell_n, - ) - if "class_max" in self.unique_fusion: - print("Initialize class max kernel") - pcl_ids = self.get_layer_indices("class_max") - self.delete_new_layers[pcl_ids] = 0 - self.sum_max_kernel = sum_max_kernel( - self.param.resolution, - self.param.cell_n, - self.param.cell_n, - ) - layer_cnt = self.param.fusion_algorithms.count("class_max") - id_max = cp.zeros( - (layer_cnt, self.param.cell_n, self.param.cell_n), - dtype=cp.uint32, - ) - self.elements_to_shift["id_max"] = id_max - self.unique_id = cp.array([0]) - - if "image_exponential" in self.unique_fusion: - self.exponential_correspondences_to_map_kernel = exponential_correspondences_to_map_kernel( - resolution=self.param.resolution, width=self.param.cell_n, height=self.param.cell_n, alpha=0.7 - ) - - if "image_color" in self.unique_fusion: - self.color_correspondences_to_map_kernel = color_correspondences_to_map_kernel( - resolution=self.param.resolution, - width=self.param.cell_n, - height=self.param.cell_n, - ) + def initialize_fusion(self): + """Initialize the fusion algorithms.""" + + for fusion in self.unique_fusion: + if "class_bayesian" == fusion: + pcl_ids = self.get_layer_indices("class_bayesian") + self.delete_new_layers[pcl_ids] = 0 + if "class_max" == fusion: + pcl_ids = self.get_layer_indices("class_max") + self.delete_new_layers[pcl_ids] = 0 + layer_cnt = self.param.fusion_algorithms.count("class_max") + id_max = cp.zeros( + (layer_cnt, self.param.cell_n, self.param.cell_n), + dtype=cp.uint32, + ) + self.elements_to_shift["id_max"] = id_max + self.fusion_manager.register_plugin(fusion) + + # def compile_kernels(self) -> None: + # """ + # Returns: + # None: + # """ + # # TODO: maybe this could be improved by creating functions for each single fusion algorithm + # + # if "average" in self.unique_fusion: + # print("Initialize fusion kernel") + # self.sum_kernel = sum_kernel( + # self.param.resolution, + # self.param.cell_n, + # self.param.cell_n, + # ) + # self.average_kernel = average_kernel( + # self.param.cell_n, + # self.param.cell_n, + # ) + # if "bayesian_inference" in self.unique_fusion: + # print("Initialize bayesian inference kernel") + # self.sum_mean = xp.ones( + # ( + # self.param.fusion_algorithms.count("bayesian_inference"), + # self.param.cell_n, + # self.param.cell_n, + # ), + # self.param.data_type, + # ) + # # TODO initialize the variance with a value different than 0 + # self.sum_compact_kernel = sum_compact_kernel( + # self.param.resolution, + # self.param.cell_n, + # self.param.cell_n, + # ) + # self.bayesian_inference_kernel = bayesian_inference_kernel( + # self.param.cell_n, + # self.param.cell_n, + # ) + # if "color" in self.unique_fusion: + # print("Initialize color kernel") + # + # self.add_color_kernel = add_color_kernel( + # self.param.cell_n, + # self.param.cell_n, + # ) + # self.color_average_kernel = color_average_kernel(self.param.cell_n, self.param.cell_n) + # if "class_average" in self.unique_fusion: + # print("Initialize class average kernel") + # self.sum_kernel = sum_kernel( + # self.param.resolution, + # self.param.cell_n, + # self.param.cell_n, + # ) + # self.class_average_kernel = class_average_kernel( + # self.param.cell_n, + # self.param.cell_n, + # self.param.average_weight, + # ) + # if "class_bayesian" in self.unique_fusion: + # print("Initialize class bayesian kernel") + # pcl_ids = self.get_layer_indices("class_bayesian") + # self.delete_new_layers[pcl_ids] = 0 + # self.alpha_kernel = alpha_kernel( + # self.param.resolution, + # self.param.cell_n, + # self.param.cell_n, + # ) + # if "class_max" in self.unique_fusion: + # print("Initialize class max kernel") + # pcl_ids = self.get_layer_indices("class_max") + # self.delete_new_layers[pcl_ids] = 0 + # self.sum_max_kernel = sum_max_kernel( + # self.param.resolution, + # self.param.cell_n, + # self.param.cell_n, + # ) + # layer_cnt = self.param.fusion_algorithms.count("class_max") + # id_max = cp.zeros( + # (layer_cnt, self.param.cell_n, self.param.cell_n), + # dtype=cp.uint32, + # ) + # self.elements_to_shift["id_max"] = id_max + # self.unique_id = cp.array([0]) + # + # if "image_exponential" in self.unique_fusion: + # self.exponential_correspondences_to_map_kernel = exponential_correspondences_to_map_kernel( + # resolution=self.param.resolution, + # width=self.param.cell_n, + # height=self.param.cell_n, + # alpha=0.7, + # ) + # + # if "image_color" in self.unique_fusion: + # self.color_correspondences_to_map_kernel = color_correspondences_to_map_kernel( + # resolution=self.param.resolution, + # width=self.param.cell_n, + # height=self.param.cell_n, + # ) def pad_value(self, x, shift_value, idx=None, value=0.0): """Create a padding of the map along x,y-axis according to amount that has shifted. @@ -269,171 +293,201 @@ def update_layers_pointcloud(self, points_all, channels, R, t, elevation_map): """ additional_fusion = self.get_fusion_of_pcl(channels) self.new_map[self.delete_new_layers] = 0.0 - if "average" in additional_fusion: - pcl_ids, layer_ids = self.get_indices_fusion(channels, "average") - self.sum_kernel( + for fusion in list(set(additional_fusion)): + print(f"fusion: {fusion}") + # which layers need to be updated with this fusion algorithm + pcl_ids, layer_ids = self.get_indices_fusion(channels, fusion) + # update the layers with the fusion algorithm + self.fusion_manager.execute_plugin( + fusion, points_all, R, t, pcl_ids, layer_ids, - cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=cp.int32), - self.semantic_map, - self.new_map, - size=(points_all.shape[0]*pcl_ids.shape[0]), - ) - self.average_kernel( - self.new_map, - pcl_ids, - layer_ids, - cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=cp.int32), elevation_map, self.semantic_map, - size=(self.param.cell_n * self.param.cell_n*pcl_ids.shape[0]), - ) - if "bayesian_inference" in additional_fusion: - pcl_ids, layer_ids = self.get_indices_fusion(channels, "bayesian_inference") - self.sum_mean *= 0 - self.sum_compact_kernel( - points_all, - R, - t, - pcl_ids, - layer_ids, - cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=cp.int32), - self.sum_mean, - size=(points_all.shape[0]), - ) - self.bayesian_inference_kernel( - pcl_ids, - layer_ids, - cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=cp.int32), - elevation_map, self.new_map, - self.sum_mean, - self.semantic_map, - size=(self.param.cell_n * self.param.cell_n), - ) - if "class_average" in additional_fusion: - pcl_ids, layer_ids = self.get_indices_fusion(channels, "class_average") - self.sum_kernel( - points_all, - R, - t, - pcl_ids, - layer_ids, - cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=cp.int32), - self.semantic_map, - self.new_map, - size=(points_all.shape[0] * pcl_ids.shape[0]), - ) - self.class_average_kernel( - self.new_map, - pcl_ids, - layer_ids, - cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=cp.int32), - elevation_map, - self.semantic_map, - size=(self.param.cell_n * self.param.cell_n * pcl_ids.shape[0]), - ) - - if "class_bayesian" in additional_fusion: - pcl_ids, layer_ids = self.get_indices_fusion(channels, "class_bayesian") - # alpha sum get points as input and calculate for each point to what cell it belongs and then - # adds to the right channel a one - self.alpha_kernel( - points_all, - pcl_ids, - layer_ids, - cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=cp.int32), - self.new_map, - size=(points_all.shape[0]), - ) - # calculate new thetas - sum_alpha = cp.sum(self.new_map[layer_ids], axis=0) - # do not divide by zero - sum_alpha[sum_alpha == 0] = 1 - self.semantic_map[layer_ids] = self.new_map[layer_ids] / cp.expand_dims(sum_alpha, axis=0) - - if "class_max" in additional_fusion: - # get indices that are of type class_max in pointclopud and in layers - pcl_ids, layer_ids = self.get_indices_fusion(channels, "class_max") - # decode float32 into to float16 - max_pt, pt_id = self.decode_max(points_all[:, pcl_ids]) - # find unique ids in new measurement and in existing map - unique_idm = cp.unique(pt_id) - unique_ida = cp.unique(self.unique_id[self.elements_to_shift["id_max"]]) - # get all unique ids, where index is the position in the prob_sum and the value in the NN class - self.unique_id = cp.unique(cp.concatenate((unique_idm, unique_ida))) - # contains the sum of the new measurement probabilities - self.prob_sum = cp.zeros( - (len(self.unique_id), self.param.cell_n, self.param.cell_n), - dtype=np.float32, - ) - # transform the index matrix of the classes to the index matrix of the prob_sum - pt_id_zero = pt_id.copy() - for it, val in enumerate(self.unique_id): - pt_id_zero[pt_id_zero == val] = it - - # sum all measurements probabilities - self.sum_max_kernel( - points_all, - max_pt, - pt_id_zero, - pcl_ids, - layer_ids, - cp.array( - [points_all.shape[1], pcl_ids.shape[0], pt_id.shape[1]], - dtype=cp.int32, - ), - self.prob_sum, - size=(points_all.shape[0]), - ) - # add the previous alpha - for i, lay in enumerate(layer_ids): - c = cp.mgrid[0 : self.new_map.shape[1], 0 : self.new_map.shape[2]] - # self.prob_sum[self.elements_to_shift["id_max"][i], c[0], c[1]] += self.new_map[lay] - # TODO add residual of prev alpha to the prob_sum - # res = 1- self.new_map[lay] - # res /= (len(self.unique_id)-1) - - # find the alpha we want to keep - for i, lay in enumerate(layer_ids): - self.new_map[lay] = cp.amax(self.prob_sum, axis=0) - self.elements_to_shift["id_max"][lay] = self.unique_id[cp.argmax(self.prob_sum, axis=0)] - self.prob_sum[cp.argmax(self.prob_sum, axis=0)] = 0 - # update map calculate new thetas - sum_alpha = cp.sum(self.new_map[layer_ids], axis=0) - # do not divide by zero - sum_alpha[sum_alpha == 0] = 1 - self.semantic_map[layer_ids] = self.new_map[layer_ids] / cp.expand_dims(sum_alpha, axis=0) - - if "color" in additional_fusion: - pcl_ids, layer_ids = self.get_indices_fusion(channels, "color") - self.color_map = cp.zeros( - (1 + 3 * layer_ids.shape[0], self.param.cell_n, self.param.cell_n), - dtype=cp.uint32, + self.elements_to_shift, ) - points_all = points_all.astype(cp.float32) - self.add_color_kernel( - points_all, - R, - t, - pcl_ids, - layer_ids, - cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=cp.int32), - self.color_map, - size=(points_all.shape[0]), - ) - self.color_average_kernel( - self.color_map, - pcl_ids, - layer_ids, - cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=cp.int32), - self.semantic_map, - size=(self.param.cell_n * self.param.cell_n), - ) + # def update_layers_pointcloud_o(self, points_all, channels, R, t, elevation_map): + # """Update the semantic map with the pointcloud. + # + # Args: + # points_all: semantic point cloud + # channels: list of channel names + # R: rotation matrix + # t: translation vector + # elevation_map: elevation map object + # """ + # additional_fusion = self.get_fusion_of_pcl(channels) + # self.new_map[self.delete_new_layers] = 0.0 + # if "average" in additional_fusion: + # pcl_ids, layer_ids = self.get_indices_fusion(channels, "average") + # self.sum_kernel( + # points_all, + # R, + # t, + # pcl_ids, + # layer_ids, + # cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=cp.int32), + # self.semantic_map, + # self.new_map, + # size=(points_all.shape[0] * pcl_ids.shape[0]), + # ) + # self.average_kernel( + # self.new_map, + # pcl_ids, + # layer_ids, + # cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=cp.int32), + # elevation_map, + # self.semantic_map, + # size=(self.param.cell_n * self.param.cell_n * pcl_ids.shape[0]), + # ) + # if "bayesian_inference" in additional_fusion: + # pcl_ids, layer_ids = self.get_indices_fusion(channels, "bayesian_inference") + # self.sum_mean *= 0 + # self.sum_compact_kernel( + # points_all, + # R, + # t, + # pcl_ids, + # layer_ids, + # cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=cp.int32), + # self.sum_mean, + # size=(points_all.shape[0]), + # ) + # self.bayesian_inference_kernel( + # pcl_ids, + # layer_ids, + # cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=cp.int32), + # elevation_map, + # self.new_map, + # self.sum_mean, + # self.semantic_map, + # size=(self.param.cell_n * self.param.cell_n), + # ) + # if "class_average" in additional_fusion: + # pcl_ids, layer_ids = self.get_indices_fusion(channels, "class_average") + # self.sum_kernel( + # points_all, + # R, + # t, + # pcl_ids, + # layer_ids, + # cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=cp.int32), + # self.semantic_map, + # self.new_map, + # size=(points_all.shape[0] * pcl_ids.shape[0]), + # ) + # self.class_average_kernel( + # self.new_map, + # pcl_ids, + # layer_ids, + # cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=cp.int32), + # elevation_map, + # self.semantic_map, + # size=(self.param.cell_n * self.param.cell_n * pcl_ids.shape[0]), + # ) + # + # if "class_bayesian" in additional_fusion: + # pcl_ids, layer_ids = self.get_indices_fusion(channels, "class_bayesian") + # # alpha sum get points as input and calculate for each point to what cell it belongs and then + # # adds to the right channel a one + # self.alpha_kernel( + # points_all, + # pcl_ids, + # layer_ids, + # cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=cp.int32), + # self.new_map, + # size=(points_all.shape[0]), + # ) + # # calculate new thetas + # sum_alpha = cp.sum(self.new_map[layer_ids], axis=0) + # # do not divide by zero + # sum_alpha[sum_alpha == 0] = 1 + # self.semantic_map[layer_ids] = self.new_map[layer_ids] / cp.expand_dims(sum_alpha, axis=0) + # + # if "class_max" in additional_fusion: + # # get indices that are of type class_max in pointclopud and in layers + # pcl_ids, layer_ids = self.get_indices_fusion(channels, "class_max") + # # decode float32 into to float16 + # max_pt, pt_id = self.decode_max(points_all[:, pcl_ids]) + # # find unique ids in new measurement and in existing map + # unique_idm = cp.unique(pt_id) + # unique_ida = cp.unique(self.unique_id[self.elements_to_shift["id_max"]]) + # # get all unique ids, where index is the position in the prob_sum and the value in the NN class + # self.unique_id = cp.unique(cp.concatenate((unique_idm, unique_ida))) + # # contains the sum of the new measurement probabilities + # self.prob_sum = cp.zeros( + # (len(self.unique_id), self.param.cell_n, self.param.cell_n), + # dtype=np.float32, + # ) + # # transform the index matrix of the classes to the index matrix of the prob_sum + # pt_id_zero = pt_id.copy() + # for it, val in enumerate(self.unique_id): + # pt_id_zero[pt_id_zero == val] = it + # + # # sum all measurements probabilities + # self.sum_max_kernel( + # points_all, + # max_pt, + # pt_id_zero, + # pcl_ids, + # layer_ids, + # cp.array( + # [points_all.shape[1], pcl_ids.shape[0], pt_id.shape[1]], + # dtype=cp.int32, + # ), + # self.prob_sum, + # size=(points_all.shape[0]), + # ) + # # add the previous alpha + # for i, lay in enumerate(layer_ids): + # c = cp.mgrid[0 : self.new_map.shape[1], 0 : self.new_map.shape[2]] + # # self.prob_sum[self.elements_to_shift["id_max"][i], c[0], c[1]] += self.new_map[lay] + # # TODO add residual of prev alpha to the prob_sum + # # res = 1- self.new_map[lay] + # # res /= (len(self.unique_id)-1) + # + # # find the alpha we want to keep + # for i, lay in enumerate(layer_ids): + # self.new_map[lay] = cp.amax(self.prob_sum, axis=0) + # self.elements_to_shift["id_max"][lay] = self.unique_id[cp.argmax(self.prob_sum, axis=0)] + # self.prob_sum[cp.argmax(self.prob_sum, axis=0)] = 0 + # # update map calculate new thetas + # sum_alpha = cp.sum(self.new_map[layer_ids], axis=0) + # # do not divide by zero + # sum_alpha[sum_alpha == 0] = 1 + # self.semantic_map[layer_ids] = self.new_map[layer_ids] / cp.expand_dims(sum_alpha, axis=0) + # + # if "color" in additional_fusion: + # pcl_ids, layer_ids = self.get_indices_fusion(channels, "color") + # self.color_map = cp.zeros( + # (1 + 3 * layer_ids.shape[0], self.param.cell_n, self.param.cell_n), + # dtype=cp.uint32, + # ) + # + # points_all = points_all.astype(cp.float32) + # self.add_color_kernel( + # points_all, + # R, + # t, + # pcl_ids, + # layer_ids, + # cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=cp.int32), + # self.color_map, + # size=(points_all.shape[0]), + # ) + # self.color_average_kernel( + # self.color_map, + # pcl_ids, + # layer_ids, + # cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=cp.int32), + # self.semantic_map, + # size=(self.param.cell_n * self.param.cell_n), + # ) def update_layers_image( self, @@ -454,42 +508,66 @@ def update_layers_image( image_height: image_width: """ - self.new_map *= 0 + + # additional_fusion = self.get_fusion_of_pcl(channels) + self.new_map[self.delete_new_layers] = 0.0 config = self.param.subscriber_cfg[sub_key] for j, (fusion, channel) in enumerate(zip(config["fusion"], config["channels"])): sem_map_idx = self.get_index(channel) - if fusion == "image_exponential": - self.exponential_correspondences_to_map_kernel( - self.semantic_map, - cp.uint64(sem_map_idx), - image[j], - uv_correspondence, - valid_correspondence, - image_height, - image_width, - self.new_map, - size=int(self.param.cell_n * self.param.cell_n), - ) - self.semantic_map[sem_map_idx] = self.new_map[sem_map_idx] - - elif fusion == "image_color": - self.color_correspondences_to_map_kernel( - self.semantic_map, - cp.uint64(sem_map_idx), - image, - uv_correspondence, - valid_correspondence, - image_height, - image_width, - self.new_map, - size=int(self.param.cell_n * self.param.cell_n), - ) - self.semantic_map[sem_map_idx] = self.new_map[sem_map_idx] - else: - raise ValueError("Fusion for image is unknown.") + # which layers need to be updated with this fusion algorithm + # pcl_ids, layer_ids = self.get_indices_fusion(channels, fusion) + # update the layers with the fusion algorithm + self.fusion_manager.execute_image_plugin( + fusion, + cp.uint64(sem_map_idx), + image, + j, + uv_correspondence, + valid_correspondence, + image_height, + image_width, + self.semantic_map, + self.new_map, + ) + # self.new_map *= 0 + # config = self.param.subscriber_cfg[sub_key] + # + # for j, (fusion, channel) in enumerate(zip(config["fusion"], config["channels"])): + # sem_map_idx = self.get_index(channel) + # + # if fusion == "image_exponential": + # self.exponential_correspondences_to_map_kernel( + # self.semantic_map, + # cp.uint64(sem_map_idx), + # image[j], + # uv_correspondence, + # valid_correspondence, + # image_height, + # image_width, + # self.new_map, + # size=int(self.param.cell_n * self.param.cell_n), + # ) + # self.semantic_map[sem_map_idx] = self.new_map[sem_map_idx] + # + # elif fusion == "image_color": + # self.color_correspondences_to_map_kernel( + # self.semantic_map, + # cp.uint64(sem_map_idx), + # image, + # uv_correspondence, + # valid_correspondence, + # image_height, + # image_width, + # self.new_map, + # size=int(self.param.cell_n * self.param.cell_n), + # ) + # self.semantic_map[sem_map_idx] = self.new_map[sem_map_idx] + # + # else: + # raise ValueError("Fusion for image is unknown.") def decode_max(self, mer): """Decode the float32 value into two 16 bit value containing the class probability and the class id. diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_elevation_mapping.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_elevation_mapping.py index 7a74b8ab..7bdbb20b 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_elevation_mapping.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_elevation_mapping.py @@ -58,7 +58,7 @@ def test_input(self, elmap_ex): points = cp.random.rand(100000, len(channels), dtype=elmap_ex.param.data_type) R = cp.random.rand(3, 3, dtype=elmap_ex.param.data_type) t = cp.random.rand(3, dtype=elmap_ex.param.data_type) - elmap_ex.input(points, channels, R, t, 0, 0) + elmap_ex.input_pointcloud(points, channels, R, t, 0, 0) def test_update_normal(self, elmap_ex): elmap_ex.update_normal(elmap_ex.elevation_map[0]) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_plugins.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_plugins.py index 25c0619c..9e608cfe 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_plugins.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_plugins.py @@ -18,7 +18,7 @@ def semmap_ex(add_lay, fusion_alg): p.subscriber_cfg["front_cam"]["fusion"] = fusion_alg p.update() e = semantic_map.SemanticMap(p) - e.compile_kernels() + e.initialize_fusion() return e diff --git a/elevation_mapping_cupy/src/elevation_mapping_wrapper.cpp b/elevation_mapping_cupy/src/elevation_mapping_wrapper.cpp index 74027bb9..51cf073e 100644 --- a/elevation_mapping_cupy/src/elevation_mapping_wrapper.cpp +++ b/elevation_mapping_cupy/src/elevation_mapping_wrapper.cpp @@ -133,7 +133,7 @@ void ElevationMappingWrapper::setParameters(ros::NodeHandle& nh) { void ElevationMappingWrapper::input(const RowMatrixXd& points, const std::vector& channels, const RowMatrixXd& R, const Eigen::VectorXd& t, const double positionNoise, const double orientationNoise) { py::gil_scoped_acquire acquire; - map_.attr("input")(Eigen::Ref(points), channels, Eigen::Ref(R), + map_.attr("input_pointcloud")(Eigen::Ref(points), channels, Eigen::Ref(R), Eigen::Ref(t), positionNoise, orientationNoise); } From 26dc1db3bd7a60ce4148d3b0d6895c8a7a42dd87 Mon Sep 17 00:00:00 2001 From: Gian Date: Mon, 5 Jun 2023 14:24:29 +0200 Subject: [PATCH 344/504] removed commented code that was replaced by plugin --- .../elevation_mapping_cupy/semantic_map.py | 332 +----------------- 1 file changed, 1 insertion(+), 331 deletions(-) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py index 7dc59f84..9e4b553f 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py @@ -3,24 +3,8 @@ import numpy as np from typing import List -from elevation_mapping_cupy.kernels import ( - average_kernel, - class_average_kernel, - alpha_kernel, - bayesian_inference_kernel, - add_color_kernel, - color_average_kernel, - sum_compact_kernel, - sum_max_kernel, - sum_kernel, -) -from elevation_mapping_cupy.kernels import ( - average_correspondences_to_map_kernel, - exponential_correspondences_to_map_kernel, - color_correspondences_to_map_kernel, -) - from elevation_mapping_cupy.fusion.fusion_manager import FusionManager + xp = cp @@ -86,105 +70,6 @@ def initialize_fusion(self): self.elements_to_shift["id_max"] = id_max self.fusion_manager.register_plugin(fusion) - # def compile_kernels(self) -> None: - # """ - # Returns: - # None: - # """ - # # TODO: maybe this could be improved by creating functions for each single fusion algorithm - # - # if "average" in self.unique_fusion: - # print("Initialize fusion kernel") - # self.sum_kernel = sum_kernel( - # self.param.resolution, - # self.param.cell_n, - # self.param.cell_n, - # ) - # self.average_kernel = average_kernel( - # self.param.cell_n, - # self.param.cell_n, - # ) - # if "bayesian_inference" in self.unique_fusion: - # print("Initialize bayesian inference kernel") - # self.sum_mean = xp.ones( - # ( - # self.param.fusion_algorithms.count("bayesian_inference"), - # self.param.cell_n, - # self.param.cell_n, - # ), - # self.param.data_type, - # ) - # # TODO initialize the variance with a value different than 0 - # self.sum_compact_kernel = sum_compact_kernel( - # self.param.resolution, - # self.param.cell_n, - # self.param.cell_n, - # ) - # self.bayesian_inference_kernel = bayesian_inference_kernel( - # self.param.cell_n, - # self.param.cell_n, - # ) - # if "color" in self.unique_fusion: - # print("Initialize color kernel") - # - # self.add_color_kernel = add_color_kernel( - # self.param.cell_n, - # self.param.cell_n, - # ) - # self.color_average_kernel = color_average_kernel(self.param.cell_n, self.param.cell_n) - # if "class_average" in self.unique_fusion: - # print("Initialize class average kernel") - # self.sum_kernel = sum_kernel( - # self.param.resolution, - # self.param.cell_n, - # self.param.cell_n, - # ) - # self.class_average_kernel = class_average_kernel( - # self.param.cell_n, - # self.param.cell_n, - # self.param.average_weight, - # ) - # if "class_bayesian" in self.unique_fusion: - # print("Initialize class bayesian kernel") - # pcl_ids = self.get_layer_indices("class_bayesian") - # self.delete_new_layers[pcl_ids] = 0 - # self.alpha_kernel = alpha_kernel( - # self.param.resolution, - # self.param.cell_n, - # self.param.cell_n, - # ) - # if "class_max" in self.unique_fusion: - # print("Initialize class max kernel") - # pcl_ids = self.get_layer_indices("class_max") - # self.delete_new_layers[pcl_ids] = 0 - # self.sum_max_kernel = sum_max_kernel( - # self.param.resolution, - # self.param.cell_n, - # self.param.cell_n, - # ) - # layer_cnt = self.param.fusion_algorithms.count("class_max") - # id_max = cp.zeros( - # (layer_cnt, self.param.cell_n, self.param.cell_n), - # dtype=cp.uint32, - # ) - # self.elements_to_shift["id_max"] = id_max - # self.unique_id = cp.array([0]) - # - # if "image_exponential" in self.unique_fusion: - # self.exponential_correspondences_to_map_kernel = exponential_correspondences_to_map_kernel( - # resolution=self.param.resolution, - # width=self.param.cell_n, - # height=self.param.cell_n, - # alpha=0.7, - # ) - # - # if "image_color" in self.unique_fusion: - # self.color_correspondences_to_map_kernel = color_correspondences_to_map_kernel( - # resolution=self.param.resolution, - # width=self.param.cell_n, - # height=self.param.cell_n, - # ) - def pad_value(self, x, shift_value, idx=None, value=0.0): """Create a padding of the map along x,y-axis according to amount that has shifted. @@ -311,184 +196,6 @@ def update_layers_pointcloud(self, points_all, channels, R, t, elevation_map): self.elements_to_shift, ) - # def update_layers_pointcloud_o(self, points_all, channels, R, t, elevation_map): - # """Update the semantic map with the pointcloud. - # - # Args: - # points_all: semantic point cloud - # channels: list of channel names - # R: rotation matrix - # t: translation vector - # elevation_map: elevation map object - # """ - # additional_fusion = self.get_fusion_of_pcl(channels) - # self.new_map[self.delete_new_layers] = 0.0 - # if "average" in additional_fusion: - # pcl_ids, layer_ids = self.get_indices_fusion(channels, "average") - # self.sum_kernel( - # points_all, - # R, - # t, - # pcl_ids, - # layer_ids, - # cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=cp.int32), - # self.semantic_map, - # self.new_map, - # size=(points_all.shape[0] * pcl_ids.shape[0]), - # ) - # self.average_kernel( - # self.new_map, - # pcl_ids, - # layer_ids, - # cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=cp.int32), - # elevation_map, - # self.semantic_map, - # size=(self.param.cell_n * self.param.cell_n * pcl_ids.shape[0]), - # ) - # if "bayesian_inference" in additional_fusion: - # pcl_ids, layer_ids = self.get_indices_fusion(channels, "bayesian_inference") - # self.sum_mean *= 0 - # self.sum_compact_kernel( - # points_all, - # R, - # t, - # pcl_ids, - # layer_ids, - # cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=cp.int32), - # self.sum_mean, - # size=(points_all.shape[0]), - # ) - # self.bayesian_inference_kernel( - # pcl_ids, - # layer_ids, - # cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=cp.int32), - # elevation_map, - # self.new_map, - # self.sum_mean, - # self.semantic_map, - # size=(self.param.cell_n * self.param.cell_n), - # ) - # if "class_average" in additional_fusion: - # pcl_ids, layer_ids = self.get_indices_fusion(channels, "class_average") - # self.sum_kernel( - # points_all, - # R, - # t, - # pcl_ids, - # layer_ids, - # cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=cp.int32), - # self.semantic_map, - # self.new_map, - # size=(points_all.shape[0] * pcl_ids.shape[0]), - # ) - # self.class_average_kernel( - # self.new_map, - # pcl_ids, - # layer_ids, - # cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=cp.int32), - # elevation_map, - # self.semantic_map, - # size=(self.param.cell_n * self.param.cell_n * pcl_ids.shape[0]), - # ) - # - # if "class_bayesian" in additional_fusion: - # pcl_ids, layer_ids = self.get_indices_fusion(channels, "class_bayesian") - # # alpha sum get points as input and calculate for each point to what cell it belongs and then - # # adds to the right channel a one - # self.alpha_kernel( - # points_all, - # pcl_ids, - # layer_ids, - # cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=cp.int32), - # self.new_map, - # size=(points_all.shape[0]), - # ) - # # calculate new thetas - # sum_alpha = cp.sum(self.new_map[layer_ids], axis=0) - # # do not divide by zero - # sum_alpha[sum_alpha == 0] = 1 - # self.semantic_map[layer_ids] = self.new_map[layer_ids] / cp.expand_dims(sum_alpha, axis=0) - # - # if "class_max" in additional_fusion: - # # get indices that are of type class_max in pointclopud and in layers - # pcl_ids, layer_ids = self.get_indices_fusion(channels, "class_max") - # # decode float32 into to float16 - # max_pt, pt_id = self.decode_max(points_all[:, pcl_ids]) - # # find unique ids in new measurement and in existing map - # unique_idm = cp.unique(pt_id) - # unique_ida = cp.unique(self.unique_id[self.elements_to_shift["id_max"]]) - # # get all unique ids, where index is the position in the prob_sum and the value in the NN class - # self.unique_id = cp.unique(cp.concatenate((unique_idm, unique_ida))) - # # contains the sum of the new measurement probabilities - # self.prob_sum = cp.zeros( - # (len(self.unique_id), self.param.cell_n, self.param.cell_n), - # dtype=np.float32, - # ) - # # transform the index matrix of the classes to the index matrix of the prob_sum - # pt_id_zero = pt_id.copy() - # for it, val in enumerate(self.unique_id): - # pt_id_zero[pt_id_zero == val] = it - # - # # sum all measurements probabilities - # self.sum_max_kernel( - # points_all, - # max_pt, - # pt_id_zero, - # pcl_ids, - # layer_ids, - # cp.array( - # [points_all.shape[1], pcl_ids.shape[0], pt_id.shape[1]], - # dtype=cp.int32, - # ), - # self.prob_sum, - # size=(points_all.shape[0]), - # ) - # # add the previous alpha - # for i, lay in enumerate(layer_ids): - # c = cp.mgrid[0 : self.new_map.shape[1], 0 : self.new_map.shape[2]] - # # self.prob_sum[self.elements_to_shift["id_max"][i], c[0], c[1]] += self.new_map[lay] - # # TODO add residual of prev alpha to the prob_sum - # # res = 1- self.new_map[lay] - # # res /= (len(self.unique_id)-1) - # - # # find the alpha we want to keep - # for i, lay in enumerate(layer_ids): - # self.new_map[lay] = cp.amax(self.prob_sum, axis=0) - # self.elements_to_shift["id_max"][lay] = self.unique_id[cp.argmax(self.prob_sum, axis=0)] - # self.prob_sum[cp.argmax(self.prob_sum, axis=0)] = 0 - # # update map calculate new thetas - # sum_alpha = cp.sum(self.new_map[layer_ids], axis=0) - # # do not divide by zero - # sum_alpha[sum_alpha == 0] = 1 - # self.semantic_map[layer_ids] = self.new_map[layer_ids] / cp.expand_dims(sum_alpha, axis=0) - # - # if "color" in additional_fusion: - # pcl_ids, layer_ids = self.get_indices_fusion(channels, "color") - # self.color_map = cp.zeros( - # (1 + 3 * layer_ids.shape[0], self.param.cell_n, self.param.cell_n), - # dtype=cp.uint32, - # ) - # - # points_all = points_all.astype(cp.float32) - # self.add_color_kernel( - # points_all, - # R, - # t, - # pcl_ids, - # layer_ids, - # cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=cp.int32), - # self.color_map, - # size=(points_all.shape[0]), - # ) - # self.color_average_kernel( - # self.color_map, - # pcl_ids, - # layer_ids, - # cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=cp.int32), - # self.semantic_map, - # size=(self.param.cell_n * self.param.cell_n), - # ) - def update_layers_image( self, sub_key: str, @@ -516,7 +223,6 @@ def update_layers_image( for j, (fusion, channel) in enumerate(zip(config["fusion"], config["channels"])): sem_map_idx = self.get_index(channel) - # which layers need to be updated with this fusion algorithm # pcl_ids, layer_ids = self.get_indices_fusion(channels, fusion) # update the layers with the fusion algorithm @@ -532,42 +238,6 @@ def update_layers_image( self.semantic_map, self.new_map, ) - # self.new_map *= 0 - # config = self.param.subscriber_cfg[sub_key] - # - # for j, (fusion, channel) in enumerate(zip(config["fusion"], config["channels"])): - # sem_map_idx = self.get_index(channel) - # - # if fusion == "image_exponential": - # self.exponential_correspondences_to_map_kernel( - # self.semantic_map, - # cp.uint64(sem_map_idx), - # image[j], - # uv_correspondence, - # valid_correspondence, - # image_height, - # image_width, - # self.new_map, - # size=int(self.param.cell_n * self.param.cell_n), - # ) - # self.semantic_map[sem_map_idx] = self.new_map[sem_map_idx] - # - # elif fusion == "image_color": - # self.color_correspondences_to_map_kernel( - # self.semantic_map, - # cp.uint64(sem_map_idx), - # image, - # uv_correspondence, - # valid_correspondence, - # image_height, - # image_width, - # self.new_map, - # size=int(self.param.cell_n * self.param.cell_n), - # ) - # self.semantic_map[sem_map_idx] = self.new_map[sem_map_idx] - # - # else: - # raise ValueError("Fusion for image is unknown.") def decode_max(self, mer): """Decode the float32 value into two 16 bit value containing the class probability and the class id. From 4ccd82412a7c76dea27f4d68bd756159963ad341 Mon Sep 17 00:00:00 2001 From: Gian Date: Mon, 5 Jun 2023 14:41:34 +0200 Subject: [PATCH 345/504] documentation --- docs/source/documentation.rst | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/docs/source/documentation.rst b/docs/source/documentation.rst index e38e938b..211f6594 100644 --- a/docs/source/documentation.rst +++ b/docs/source/documentation.rst @@ -1,7 +1,7 @@ ################################################## -Elevation Mapping cupy documentation +Multi-modal elevation mapping's documentation ################################################## -Weclome to Elevation Mapping documentation +Weclome to elevation mapping documentation .. image:: https://github.com/leggedrobotics/elevation_mapping_semantic_cupy/actions/workflows/python-tests.yml/badge.svg :target: https://github.com/leggedrobotics/elevation_mapping_semantic_cupy/actions/workflows/python-tests.yml/badge.svg From 0244e88e299f92fff5ec08c551f13a9b4065fab9 Mon Sep 17 00:00:00 2001 From: Gian Date: Mon, 5 Jun 2023 14:46:34 +0200 Subject: [PATCH 346/504] documentation --- docs/source/documentation.rst | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs/source/documentation.rst b/docs/source/documentation.rst index 211f6594..a825a87c 100644 --- a/docs/source/documentation.rst +++ b/docs/source/documentation.rst @@ -1,7 +1,7 @@ ################################################## Multi-modal elevation mapping's documentation ################################################## -Weclome to elevation mapping documentation +Welcome to elevation mapping documentation .. image:: https://github.com/leggedrobotics/elevation_mapping_semantic_cupy/actions/workflows/python-tests.yml/badge.svg :target: https://github.com/leggedrobotics/elevation_mapping_semantic_cupy/actions/workflows/python-tests.yml/badge.svg From cc07209b8f11d4fe4a464de14bfb9162b8f11f3b Mon Sep 17 00:00:00 2001 From: Gian Date: Mon, 5 Jun 2023 15:26:27 +0200 Subject: [PATCH 347/504] updated a bit the documentation --- docs/source/index.rst | 2 +- docs/source/python/custom_kernels.rst | 9 ------ docs/source/python/elevation_mapping.rst | 14 +++++++-- docs/source/python/index.rst | 2 +- docs/source/python/semantic_sensor.rst | 39 ++++++++++++++++++++++++ 5 files changed, 53 insertions(+), 13 deletions(-) delete mode 100644 docs/source/python/custom_kernels.rst diff --git a/docs/source/index.rst b/docs/source/index.rst index bef11bf9..808139c6 100644 --- a/docs/source/index.rst +++ b/docs/source/index.rst @@ -27,7 +27,7 @@ .. toctree:: :hidden: - :maxdepth: 2 + :maxdepth: 3 :caption: Library Python diff --git a/docs/source/python/custom_kernels.rst b/docs/source/python/custom_kernels.rst deleted file mode 100644 index d0367329..00000000 --- a/docs/source/python/custom_kernels.rst +++ /dev/null @@ -1,9 +0,0 @@ -.. _custom_kernels: - -Custom kernels -****************************************************************** - -.. automodule:: elevation_mapping_cupy.custom_kernels - :members: - - diff --git a/docs/source/python/elevation_mapping.rst b/docs/source/python/elevation_mapping.rst index 0283d01c..03bb1e28 100644 --- a/docs/source/python/elevation_mapping.rst +++ b/docs/source/python/elevation_mapping.rst @@ -5,15 +5,25 @@ Elevation mapping cupy .. automodule:: elevation_mapping_cupy.elevation_mapping :members: + :undoc-members: + :show-inheritance: .. automodule:: elevation_mapping_cupy.semantic_map :members: + :undoc-members: + :show-inheritance: .. automodule:: elevation_mapping_cupy.parameter :members: + :undoc-members: + :show-inheritance: .. automodule:: elevation_mapping_cupy.plugins.plugin_manager :members: + :undoc-members: + :show-inheritance: - - +.. automodule:: elevation_mapping_cupy.fusion + :members: + :undoc-members: + :show-inheritance: diff --git a/docs/source/python/index.rst b/docs/source/python/index.rst index bf697bf9..d2eb5593 100644 --- a/docs/source/python/index.rst +++ b/docs/source/python/index.rst @@ -4,5 +4,5 @@ Python software .. toctree:: elevation_mapping semantic_sensor - custom_kernels + diff --git a/docs/source/python/semantic_sensor.rst b/docs/source/python/semantic_sensor.rst index f3f8aa5e..37904e19 100644 --- a/docs/source/python/semantic_sensor.rst +++ b/docs/source/python/semantic_sensor.rst @@ -6,3 +6,42 @@ Semantic Pointcloud .. automodule:: semantic_sensor.pointcloud_node :members: + :undoc-members: + :show-inheritance: + + +.. automodule:: semantic_sensor.pointcloud_parameters + :members: + :undoc-members: + :show-inheritance: + +.. automodule:: semantic_sensor.image_node + :members: + :undoc-members: + :show-inheritance: + + +.. automodule:: semantic_sensor.image_parameters + :members: + :undoc-members: + :show-inheritance: + +.. automodule:: semantic_sensor.networks + :members: + :undoc-members: + :show-inheritance: + + +.. automodule:: semantic_sensor.utils + :members: + :undoc-members: + :show-inheritance: + + + + + + + + + From 2ce9a62b257c95d9970d80ac357e86ef180eac86 Mon Sep 17 00:00:00 2001 From: Gian Date: Tue, 6 Jun 2023 10:50:44 +0200 Subject: [PATCH 348/504] removed differentation of img and pcl in config --- .../fusion/fusion_manager.py | 10 +++++---- .../{average.py => pointcloud_average.py} | 2 +- ...ce.py => pointcloud_bayesian_inference.py} | 2 +- ...average.py => pointcloud_class_average.py} | 2 +- ...yesian.py => pointcloud_class_bayesian.py} | 2 +- .../{class_max.py => pointcloud_class_max.py} | 2 +- .../fusion/{color.py => pointcloud_color.py} | 2 +- .../elevation_mapping_cupy/fusion/template.py | 22 ------------------- .../elevation_mapping_cupy/semantic_map.py | 9 ++++---- 9 files changed, 17 insertions(+), 36 deletions(-) rename elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/{average.py => pointcloud_average.py} (98%) rename elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/{bayesian_inference.py => pointcloud_bayesian_inference.py} (98%) rename elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/{class_average.py => pointcloud_class_average.py} (98%) rename elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/{class_bayesian.py => pointcloud_class_bayesian.py} (98%) rename elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/{class_max.py => pointcloud_class_max.py} (99%) rename elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/{color.py => pointcloud_color.py} (99%) delete mode 100644 elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/template.py diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/fusion_manager.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/fusion_manager.py index 1378ec6d..7910096d 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/fusion_manager.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/fusion_manager.py @@ -50,14 +50,16 @@ def register_plugin(self, plugin): if inspect.isclass(obj) and issubclass(obj, FusionBase) and name != "FusionBase": self.plugins.append(obj(self.params)) - def get_plugin_idx(self, name: str): + def get_plugin_idx(self, name: str, data_type: str): """ Get a registered fusion plugin """ + name = data_type + "_" + name for idx, plugin in enumerate(self.plugins): if plugin.name == name: return idx - + print("Plugin {} is not in the list: {}".format(name, self.plugins)) + return None def execute_plugin( self, name: str, points_all, R, t, pcl_ids, layer_ids, elevation_map, semantic_map, new_map, elements_to_shift @@ -65,7 +67,7 @@ def execute_plugin( """ Execute a registered fusion plugin """ - idx = self.get_plugin_idx(name) + idx = self.get_plugin_idx(name, "pointcloud") if idx is not None: self.plugins[idx]( points_all, R, t, pcl_ids, layer_ids, elevation_map, semantic_map, new_map, elements_to_shift @@ -89,7 +91,7 @@ def execute_image_plugin( """ Execute a registered fusion plugin """ - idx = self.get_plugin_idx(name) + idx = self.get_plugin_idx(name, "image") if idx is not None: self.plugins[idx]( sem_map_idx, diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/average.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_average.py similarity index 98% rename from elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/average.py rename to elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_average.py index 140ef8b9..3d2e25e4 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/average.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_average.py @@ -87,7 +87,7 @@ class Average(FusionBase): def __init__(self, params, *args, **kwargs): # super().__init__(fusion_params, *args, **kwargs) print("Initialize fusion kernel") - self.name = "average" + self.name = "pointcloud_average" self.cell_n = params.cell_n self.resolution = params.resolution self.sum_kernel = sum_kernel( diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/bayesian_inference.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_bayesian_inference.py similarity index 98% rename from elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/bayesian_inference.py rename to elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_bayesian_inference.py index ac066554..6cecd03b 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/bayesian_inference.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_bayesian_inference.py @@ -85,7 +85,7 @@ class BayesianInference(FusionBase): def __init__(self, params, *args, **kwargs): # super().__init__(fusion_params, *args, **kwargs) print("Initialize bayesian inference kernel") - self.name = "bayesian_inference" + self.name = "pointcloud_bayesian_inference" self.cell_n = params.cell_n self.resolution = params.resolution diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/class_average.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_class_average.py similarity index 98% rename from elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/class_average.py rename to elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_class_average.py index 8705234f..ba45d034 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/class_average.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_class_average.py @@ -98,7 +98,7 @@ class ClassAverage(FusionBase): def __init__(self, params, *args, **kwargs): # super().__init__(fusion_params, *args, **kwargs) print("Initialize fusion kernel") - self.name = "class_average" + self.name = "pointcloud_class_average" self.cell_n = params.cell_n self.resolution = params.resolution self.average_weight = params.average_weight diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/class_bayesian.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_class_bayesian.py similarity index 98% rename from elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/class_bayesian.py rename to elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_class_bayesian.py index f3074783..5ae9d2b4 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/class_bayesian.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_class_bayesian.py @@ -54,7 +54,7 @@ class ClassBayesian(FusionBase): def __init__(self, params, *args, **kwargs): # super().__init__(fusion_params, *args, **kwargs) print("Initialize fusion kernel") - self.name = "class_bayesian" + self.name = "pointcloud_class_bayesian" self.cell_n = params.cell_n self.resolution = params.resolution self.alpha_kernel = alpha_kernel( diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/class_max.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_class_max.py similarity index 99% rename from elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/class_max.py rename to elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_class_max.py index d7230518..65a4df03 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/class_max.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_class_max.py @@ -50,7 +50,7 @@ class ClassMax(FusionBase): def __init__(self, params, *args, **kwargs): # super().__init__(fusion_params, *args, **kwargs) print("Initialize fusion kernel") - self.name = "class_max" + self.name = "pointcloud_class_max" self.cell_n = params.cell_n self.resolution = params.resolution self.fusion_algorithms = params.fusion_algorithms diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/color.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_color.py similarity index 99% rename from elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/color.py rename to elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_color.py index e622900b..a6c0cb1f 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/color.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_color.py @@ -120,7 +120,7 @@ class Color(FusionBase): def __init__(self, params, *args, **kwargs): # super().__init__(fusion_params, *args, **kwargs) print("Initialize fusion kernel") - self.name = "color" + self.name = "pointcloud_color" self.cell_n = params.cell_n self.resolution = params.resolution diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/template.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/template.py deleted file mode 100644 index 8cfcec82..00000000 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/template.py +++ /dev/null @@ -1,22 +0,0 @@ -import cupy as cp -import numpy as np -import string - -from .fusion_manager import FusionBase - - - - - -class Color(FusionBase): - def __init__(self, params, *args, **kwargs): - # super().__init__(fusion_params, *args, **kwargs) - print("Initialize fusion kernel") - self.cell_n = params.cell_n - self.resolution = params.resolution - - - def __call__(self, points_all, R, t, pcl_ids, layer_ids, elevation_map,semantic_map, new_map,*args): - pass - - diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py index 9e4b553f..50ff5839 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py @@ -21,6 +21,7 @@ def __init__(self, param: Parameter): self.layer_specs = {} self.layer_names = [] self.unique_fusion = [] + self.unique_data = [] self.elements_to_shift = {} for k, config in self.param.subscriber_cfg.items(): @@ -31,7 +32,8 @@ def __init__(self, param: Parameter): else: assert self.layer_specs[c] == f, "Error: Single layer has multiple fusion algorithms!" if f not in self.unique_fusion: - self.unique_fusion.append(f) + dt = config["data_type"] + self.unique_fusion.append(dt+"_"+f) self.amount_layer_names = len(self.layer_names) @@ -54,12 +56,11 @@ def clear(self): def initialize_fusion(self): """Initialize the fusion algorithms.""" - for fusion in self.unique_fusion: - if "class_bayesian" == fusion: + if "pointcloud_class_bayesian" == fusion: pcl_ids = self.get_layer_indices("class_bayesian") self.delete_new_layers[pcl_ids] = 0 - if "class_max" == fusion: + if "pointcloud_class_max" == fusion: pcl_ids = self.get_layer_indices("class_max") self.delete_new_layers[pcl_ids] = 0 layer_cnt = self.param.fusion_algorithms.count("class_max") From fceaad177b0fa779b969543ea787d30db2a236ac Mon Sep 17 00:00:00 2001 From: Gian Date: Tue, 6 Jun 2023 13:50:12 +0200 Subject: [PATCH 349/504] changed a few things on the plugins --- .../elevation_mapping.py | 4 +- .../plugins/features_pca.py | 9 ++-- .../plugins/plugin_manager.py | 43 +++++++++++++------ .../plugins/robot_centric_elevation.py | 1 + .../plugins/semantic_filter.py | 27 ++++++------ .../plugins/semantic_traversability.py | 10 +++-- .../elevation_mapping_cupy/semantic_map.py | 1 - .../tests/test_plugins.py | 2 +- 8 files changed, 60 insertions(+), 37 deletions(-) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py index d6a7c87f..16504f53 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py @@ -725,8 +725,10 @@ def get_map_with_name_ref(self, name, data): name, self.elevation_map, self.layer_names, - self.semantic_map, + self.semantic_map.semantic_map, + self.semantic_map.param, self.base_rotation, + self.semantic_map.elements_to_shift, ) m = self.plugin_manager.get_map_with_name(name) p = self.plugin_manager.get_param_with_name(name) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/features_pca.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/features_pca.py index b0228870..b62ead31 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/features_pca.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/features_pca.py @@ -33,6 +33,7 @@ def __call__( plugin_layers: cp.ndarray, plugin_layer_names: List[str], semantic_map, + semantic_params, *args, ) -> cp.ndarray: """ @@ -50,15 +51,15 @@ def __call__( """ # get indices of all layers that contain semantic features information layer_indices = cp.array([], dtype=cp.int32) - for it, fusion_alg in enumerate(semantic_map.param.fusion_algorithms): - if fusion_alg in ["average", "bayesian_inference","image_exponential"]: + for it, fusion_alg in enumerate(semantic_params.fusion_algorithms): + if fusion_alg in ["average", "bayesian_inference", "image_exponential"]: layer_indices = cp.append(layer_indices, it).astype(cp.int32) - n_c = semantic_map.semantic_map[layer_indices].shape[1] + n_c = semantic_map[layer_indices].shape[1] comp_img = np.zeros((n_c, n_c, 3), dtype=np.float32) # check which has the highest value if len(layer_indices) > 0: - data = cp.reshape(semantic_map.semantic_map[layer_indices], (len(layer_indices), -1)).T.get() + data = cp.reshape(semantic_map[layer_indices], (len(layer_indices), -1)).T.get() # data = np.clip(data, -1, 1) n_components = 3 pca = PCA(n_components=n_components).fit(data) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/plugin_manager.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/plugin_manager.py index ce8c990d..c04497e5 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/plugin_manager.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/plugin_manager.py @@ -34,13 +34,13 @@ def __init__(self, *args, **kwargs): """ def __call__( - self, - elevation_map: cp.ndarray, - layer_names: List[str], - plugin_layers: cp.ndarray, - plugin_layer_names: List[str], - *args, - **kwargs, + self, + elevation_map: cp.ndarray, + layer_names: List[str], + plugin_layers: cp.ndarray, + plugin_layer_names: List[str], + *args, + **kwargs, ) -> cp.ndarray: """This gets the elevation map data and plugin layers as a cupy array. @@ -136,25 +136,38 @@ def get_layer_index_with_name(self, name: str) -> int: return None def update_with_name( - self, - name: str, - elevation_map: cp.ndarray, - layer_names: List[str], - semantic_map=None, - rotation=None, + self, + name: str, + elevation_map: cp.ndarray, + layer_names: List[str], + semantic_map=None, + semantic_params=None, + rotation=None, + elements_to_shift={}, ): idx = self.get_layer_index_with_name(name) if idx is not None: n_param = len(signature(self.plugins[idx]).parameters) if n_param == 5: self.layers[idx] = self.plugins[idx](elevation_map, layer_names, self.layers, self.layer_names) - elif n_param == 6: + elif n_param == 7: self.layers[idx] = self.plugins[idx]( elevation_map, layer_names, self.layers, self.layer_names, semantic_map, + semantic_params, + ) + elif n_param == 8: + self.layers[idx] = self.plugins[idx]( + elevation_map, + layer_names, + self.layers, + self.layer_names, + semantic_map, + semantic_params, + rotation, ) else: self.layers[idx] = self.plugins[idx]( @@ -163,7 +176,9 @@ def update_with_name( self.layers, self.layer_names, semantic_map, + semantic_params, rotation, + elements_to_shift, ) def get_map_with_name(self, name: str) -> cp.ndarray: diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/robot_centric_elevation.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/robot_centric_elevation.py index aea7df13..47ac799a 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/robot_centric_elevation.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/robot_centric_elevation.py @@ -89,6 +89,7 @@ def __call__( plugin_layers: cp.ndarray, plugin_layer_names: List[str], semantic_map, + semantic_params, rotation, *args, ) -> cp.ndarray: diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_filter.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_filter.py index 223ba210..f7176169 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_filter.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_filter.py @@ -66,8 +66,12 @@ def __call__( layer_names: List[str], plugin_layers: cp.ndarray, plugin_layer_names: List[str], - semantic_map, - *args, + semantic_map: cp.ndarray, + semantic_params, + rotation, + elements_to_shift, + *args, + ) -> cp.ndarray: """ @@ -85,8 +89,8 @@ def __call__( # get indices of all layers that contain semantic class information layer_indices = cp.array([], dtype=cp.int32) max_idcs = cp.array([], dtype=cp.int32) - for it, fusion_alg in enumerate(semantic_map.param.fusion_algorithms): - if fusion_alg in ["class_bayesian", "class_average", "image_exponential"]: + for it, fusion_alg in enumerate(semantic_params.fusion_algorithms): + if fusion_alg in ["class_bayesian", "class_average", "exponential"]: layer_indices = cp.append(layer_indices, it).astype(cp.int32) # we care only for the first max in the display if fusion_alg in ["class_max"] and len(max_idcs) < 1: @@ -94,15 +98,14 @@ def __call__( # check which has the highest value if len(layer_indices) > 0: - class_map = cp.amax(semantic_map.semantic_map[layer_indices], axis=0) - class_map_id = cp.argmax(semantic_map.semantic_map[layer_indices], axis=0) + class_map = cp.amax(semantic_map[layer_indices], axis=0) + class_map_id = cp.argmax(semantic_map[layer_indices], axis=0) else: - class_map = cp.zeros_like(semantic_map.semantic_map[0]) - class_map_id = cp.zeros_like(semantic_map.semantic_map[0], dtype=cp.int32) - - if "class_max" in semantic_map.param.fusion_algorithms: - max_map = cp.amax(semantic_map.semantic_map[max_idcs], axis=0) - max_map_id = semantic_map.elements_to_shift["id_max"][max_idcs] + class_map = cp.zeros_like(semantic_map[0]) + class_map_id = cp.zeros_like(semantic_map[0], dtype=cp.int32) + if "class_max" in semantic_params.fusion_algorithms: + max_map = cp.amax(semantic_map[max_idcs], axis=0) + max_map_id = elements_to_shift["id_max"][max_idcs] map = cp.where(max_map > class_map, max_map_id, class_map_id) else: map = class_map_id diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_traversability.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_traversability.py index 2d0b9832..7abbf714 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_traversability.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_traversability.py @@ -39,7 +39,9 @@ def __call__( plugin_layers: cp.ndarray, plugin_layer_names: List[str], semantic_map, - *args, + semantic_params, + *args, + ) -> cp.ndarray: """ @@ -61,9 +63,9 @@ def __call__( if name in layer_names: idx = layer_names.index(name) tempo = elevation_map[idx] - elif name in semantic_map.param.additional_layers: - idx = semantic_map.param.additional_layers.index(name) - tempo = semantic_map.semantic_map[idx] + elif name in semantic_params.additional_layers: + idx = semantic_params.additional_layers.index(name) + tempo = semantic_map[idx] elif name in plugin_layer_names: idx = plugin_layer_names.index(name) tempo = plugin_layers[idx] diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py index 50ff5839..4aca6e62 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py @@ -180,7 +180,6 @@ def update_layers_pointcloud(self, points_all, channels, R, t, elevation_map): additional_fusion = self.get_fusion_of_pcl(channels) self.new_map[self.delete_new_layers] = 0.0 for fusion in list(set(additional_fusion)): - print(f"fusion: {fusion}") # which layers need to be updated with this fusion algorithm pcl_ids, layer_ids = self.get_indices_fusion(channels, fusion) # update the layers with the fusion algorithm diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_plugins.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_plugins.py index 9e608cfe..6aab26ed 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_plugins.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_plugins.py @@ -59,5 +59,5 @@ def test_plugin_manager(semmap_ex, channels): manager.update_with_name("semantic_traversability", elevation_map, layer_names, semmap_ex) manager.get_map_with_name("smooth") for lay in manager.get_layer_names(): - manager.update_with_name(lay, elevation_map, layer_names, semmap_ex, rotation) + manager.update_with_name(lay, elevation_map, layer_names, semmap_ex.semantic_map,semmap_ex.param, rotation, semmap_ex.elements_to_shift) manager.get_map_with_name(lay) From 35bbc550718ee941d299e766b4596255a26ffcd9 Mon Sep 17 00:00:00 2001 From: Gian Date: Wed, 7 Jun 2023 10:27:58 +0200 Subject: [PATCH 350/504] added the config and launch files I am actually using --- .../config/anymal_parameters.yaml | 26 ++- .../config/anymal_plugin_config.yaml | 24 +-- .../config/anymal_semantics.yaml | 111 ++++++++++ .../config/anymal_sensor_parameter.yaml | 194 +++++++++--------- elevation_mapping_cupy/config/parameters.yaml | 46 ++--- .../config/plugin_config.yaml | 40 ++-- .../config/sensor_parameter.yaml | 27 ++- .../launch/semantic_elevation_anymal.launch | 26 +++ .../semantic_elevation_lonomy_single.launch | 20 ++ 9 files changed, 340 insertions(+), 174 deletions(-) create mode 100644 elevation_mapping_cupy/config/anymal_semantics.yaml create mode 100644 elevation_mapping_cupy/launch/semantic_elevation_anymal.launch create mode 100644 elevation_mapping_cupy/launch/semantic_elevation_lonomy_single.launch diff --git a/elevation_mapping_cupy/config/anymal_parameters.yaml b/elevation_mapping_cupy/config/anymal_parameters.yaml index ae2a86e4..ff53845a 100644 --- a/elevation_mapping_cupy/config/anymal_parameters.yaml +++ b/elevation_mapping_cupy/config/anymal_parameters.yaml @@ -50,7 +50,7 @@ enable_visibility_cleanup: true enable_drift_compensation: true enable_overlap_clearance: true enable_pointcloud_publishing: false -enable_drift_corrected_TF_publishing: false +enable_drift_corrected_TF_publishing: true enable_normal_color: false # If true, the map contains 'color' layer corresponding to normal. Add 'color' layer to the publishers setting if you want to visualize. #### Traversability filter ######## @@ -61,7 +61,7 @@ weight_file: '$(rospack find elevation_mapping_cupy)/config/weights.dat' use_only_above_for_upper_bound: false #### Plugins ######## -plugin_config_file: '$(rospack find elevation_mapping_cupy)/config/anymal_plugin_config.yaml' +plugin_config_file: '$(rospack find lonomy_configuration)/elevation_map/config/anymal_plugin_config.yaml' #### Publishers ######## # topic_name: @@ -70,22 +70,20 @@ plugin_config_file: '$(rospack find elevation_mapping_cupy)/config/anymal_plugin # fps: # Publish rate. Use smaller value than `map_acquire_fps`. publishers: elevation_map_raw: - layers: [ 'elevation', 'traversability', 'variance' ] + layers: [ 'elevation', 'traversability', 'smooth','sem_fil' ] basic_layers: [ 'elevation', 'traversability' ] fps: 2.0 - semantic_map_raw: - layers: [ 'elevation', 'traversability', 'variance', 'rgb_image', 'visual_traversability' ] - basic_layers: [ 'elevation', 'traversability' ] + + elevation_map_recordable: + layers: ['elevation', 'traversability'] + basic_layers: ['elevation', 'traversability'] fps: 2.0 - # elevation_map_recordable: - # layers: ['elevation', 'traversability'] - # basic_layers: ['elevation', 'traversability'] - # fps: 2.0 - # elevation_map_filter: - # layers: ['min_filter', 'smooth', 'inpaint', 'upper_bound','rgb'] - # basic_layers: ['min_filter'] - # fps: 3.0 + elevation_map_filter: + layers: [ 'min_filter', 'smooth', 'inpaint', 'upper_bound','sem_fil' ] + basic_layers: [ 'min_filter' ] + fps: 2.0 + #### Initializer ######## initialize_method: 'linear' # Choose one from 'nearest', 'linear', 'cubic' diff --git a/elevation_mapping_cupy/config/anymal_plugin_config.yaml b/elevation_mapping_cupy/config/anymal_plugin_config.yaml index 9630f496..e68b8fdf 100644 --- a/elevation_mapping_cupy/config/anymal_plugin_config.yaml +++ b/elevation_mapping_cupy/config/anymal_plugin_config.yaml @@ -1,16 +1,16 @@ # Settings of the plugins. (The plugins should be stored in script/plugins) # min_filter fills in minimum value around the invalid cell. -min_filter: +min_filter: enable: True # weather to load this plugin fill_nan: False # Fill nans to invalid cells of elevation layer. is_height_layer: True # If this is a height layer (such as elevation) or not (such as traversability) layer_name: "min_filter" # The layer name. - extra_params: # This params are passed to the plugin class on initialization. + extra_params: # This params are passed to the plugin class on initialization. dilation_size: 1 # The patch size to apply iteration_n: 30 # The number of iterations # Apply smoothing. -smooth_filter: +smooth_filter: enable: True fill_nan: False is_height_layer: True @@ -27,26 +27,26 @@ inpainting: method: "telea" # telea or ns # Apply smoothing for inpainted layer -robot_centric_elevation: # Use the same name as your file name. - # type: "robot_centric_elevation" +robot_centric_elevation: # Use the same name as your file name. +# type: "robot_centric_elevation" enable: False # weather to load this plugin fill_nan: False # Fill nans to invalid cells of elevation layer. is_height_layer: True # If this is a height layer (such as elevation) or not (such as traversability) layer_name: "robot_centric_elevation" # The layer name. - extra_params: # This params are passed to the plugin class on initialization. - # add_value: 2.0 # Example param + extra_params: # This params are passed to the plugin class on initialization. +# add_value: 2.0 # Example param resolution: 0.04 threshold: 1.1 use_threshold: True semantic_filter: type: "semantic_filter" - enable: False + enable: True fill_nan: False is_height_layer: False layer_name: "sem_fil" extra_params: - classes: [ 'grass','tree','fence','dirt' ] + classes: ['grass','tree','fence','dirt'] semantic_traversability: type: "semantic_traversability" @@ -55,7 +55,7 @@ semantic_traversability: is_height_layer: False layer_name: "sem_traversability" extra_params: - layers: [ 'traversability','robot_centric_elevation' ] - thresholds: [ 0.3,0.5 ] - type: [ 'traversability', 'elevation' ] + layers: ['traversability','robot_centric_elevation'] + thresholds: [0.3,0.5] + type: ['traversability', 'elevation'] diff --git a/elevation_mapping_cupy/config/anymal_semantics.yaml b/elevation_mapping_cupy/config/anymal_semantics.yaml new file mode 100644 index 00000000..9e798b7a --- /dev/null +++ b/elevation_mapping_cupy/config/anymal_semantics.yaml @@ -0,0 +1,111 @@ +#### Subscribers ######## +subscribers: + sem_front: + fusion: [ "class_average","class_average","class_average","class_average","class_average","class_average" ] + image_topic: "/alphasense_driver_ros/cam4/debayered" + semantic_segmentation: True + sem_seg_topic: "/elevation_mapping/semantic_seg_f" + sem_seg_image_topic: "/elevation_mapping/semantic_seg_im_f" + segmentation_model: "detectron_coco_panoptic_fpn_R_101_3x" + show_label_legend: False + channels: [ 'grass','dirt','tree','sky','road','sand' ] + image_info_topic: "/alphasense_driver_ros/cam4/camera_info" + resize: 0.25 + + sem_right: + fusion: [ "class_average","class_average","class_average","class_average" ,"class_average","class_average" ] + image_topic: "/alphasense_driver_ros/cam5/debayered" + semantic_segmentation: True + sem_seg_topic: "/elevation_mapping/semantic_seg_r" + sem_seg_image_topic: "/elevation_mapping/semantic_seg_im_r" + segmentation_model: "detectron_coco_panoptic_fpn_R_101_3x" + show_label_legend: False + channels: [ 'grass','dirt','tree','sky','road','sand' ] + image_info_topic: "/alphasense_driver_ros/cam5/camera_info" + resize: 0.5 + + sem_left: + fusion: [ "class_average","class_average","class_average","class_average","class_average","class_average" ] + image_topic: "/alphasense_driver_ros/cam3/debayered" + semantic_segmentation: True + sem_seg_topic: "/elevation_mapping/semantic_seg_l" + sem_seg_image_topic: "/elevation_mapping/semantic_seg_im_l" + segmentation_model: "detectron_coco_panoptic_fpn_R_101_3x" + show_label_legend: False + channels: [ 'grass','dirt','tree','sky','road','sand' ] + image_info_topic: "/alphasense_driver_ros/cam3/camera_info" + resize: 0.5 + +# sem_depth_front: +# fusion: [ "class_average","class_average","class_average","class_average","class_average","class_average" ] +# image_topic: "/depth_camera_front/color/image_raw" +# semantic_segmentation: True +# sem_seg_topic: "/elevation_mapping/depth_semantic_seg_f" +# sem_seg_image_topic: "/elevation_mapping/depth_semantic_seg_im_f" +# segmentation_model: "detectron_coco_panoptic_fpn_R_101_3x" +# show_label_legend: False +# channels: [ 'grass','dirt','tree','sky','road','sand' ] +# image_info_topic: "/depth_camera_front/color/camera_info" +# resize: 0.5 +# +# sem_depth_left: +# fusion: [ "class_average","class_average","class_average","class_average","class_average","class_average" ] +# image_topic: "/depth_camera_left/color/image_raw/compressed" +# semantic_segmentation: True +# sem_seg_topic: "/elevation_mapping/depth_semantic_seg_r" +# sem_seg_image_topic: "/elevation_mapping/depth_semantic_seg_im_r" +# segmentation_model: "detectron_coco_panoptic_fpn_R_101_3x" +# show_label_legend: False +# channels: [ 'grass','dirt','tree','sky','road','sand' ] +# image_info_topic: "/depth_camera_left/color/camera_info" +# resize: 0.5 +# +# sem_depth_right: +# fusion: [ "class_average","class_average","class_average","class_average","class_average","class_average" ] +# image_topic: "/depth_camera_right/color/image_raw/compressed" +# semantic_segmentation: True +# sem_seg_topic: "/elevation_mapping/depth_semantic_seg_r" +# sem_seg_image_topic: "/elevation_mapping/depth_semantic_seg_im_r" +# segmentation_model: "detectron_coco_panoptic_fpn_R_101_3x" +# show_label_legend: False +# channels: [ 'grass','dirt','tree','sky','road','sand' ] +# image_info_topic: "/depth_camera_right/color/camera_info" +# resize: 0.5 + +# sem_wide_front: +# fusion: [ "class_average","class_average","class_average","class_average","class_average","class_average" ] +# image_topic: "/depth_camera_right/color/image_raw/compressed" +# semantic_segmentation: True +# sem_seg_topic: "/elevation_mapping/semantic_wide_seg_f" +# sem_seg_image_topic: "/elevation_mapping/depth_semantic_seg_im_r" +# segmentation_model: "detectron_coco_panoptic_fpn_R_101_3x" +# show_label_legend: False +# channels: [ 'grass','dirt','tree','sky','road','sand' ] +# image_info_topic: "/depth_camera_right/color/camera_info" +# resize: 0.5 +# +# sem_wide_back: +# fusion: [ "class_average","class_average","class_average","class_average","class_average","class_average" ] +# image_topic: "/depth_camera_right/color/image_raw/compressed" +# semantic_segmentation: True +# sem_seg_topic: "/elevation_mapping/semantic_wide_seg_b" +# sem_seg_image_topic: "/elevation_mapping/depth_semantic_seg_im_r" +# segmentation_model: "detectron_coco_panoptic_fpn_R_101_3x" +# show_label_legend: False +# channels: [ 'grass','dirt','tree','sky','road','sand' ] +# image_info_topic: "/depth_camera_right/color/camera_info" +# resize: 0.5 + +# sem_back: +# fusion: [ "class_average","class_average","class_average","class_average","class_average","class_average" ] +# image_topic: "/alphasense_driver_ros/cam6/debayered/compressed" +# semantic_segmentation: True +# sem_seg_topic: "/elevation_mapping/semantic_seg_b" +# sem_seg_image_topic: "/elevation_mapping/semantic_seg_im_b" +# segmentation_model: "detectron_coco_panoptic_fpn_R_101_3x" +# show_label_legend: False +# channels: ["grass","road",'tree','sky','sand','dirt'] +# image_info_topic: "/alphasense_driver_ros/cam6/camera_info" +# resize: 1.0 + + diff --git a/elevation_mapping_cupy/config/anymal_sensor_parameter.yaml b/elevation_mapping_cupy/config/anymal_sensor_parameter.yaml index 4d5b6708..d756cf9e 100644 --- a/elevation_mapping_cupy/config/anymal_sensor_parameter.yaml +++ b/elevation_mapping_cupy/config/anymal_sensor_parameter.yaml @@ -1,122 +1,114 @@ #### Subscribers ######## subscribers: - # debug_rgb: - # fusion: ['image_color'] - # topic_name_camera: /zed2i/zed_node/left/image_rect_color - # topic_name_camera_info: /zed2i/zed_node/right/camera_info - # channels: ["rgb_image"] - # data_type: image - # fusion_types: - # array_fusion: [] - # channels: [] + # alphasense_front_rgb: + # fusion: ['image_color'] + # topic_name_camera: /alphasense_driver_ros/cam4/debayered/compressed + # topic_name_camera_info: /alphasense_driver_ros/cam4/camera_info + # channels: ["rgb_image"] + # data_type: image + # + # alphasense_left_rgb: + # fusion: ['image_color'] + # topic_name_camera: /alphasense_driver_ros/cam3/debayered/compressed + # topic_name_camera_info: /alphasense_driver_ros/cam3/camera_info + # channels: ["rgb_image"] + # data_type: image + # + # alphasense_right_rgb: + # fusion: ['image_color'] + # topic_name_camera: /alphasense_driver_ros/cam5/debayered/compressed + # topic_name_camera_info: /alphasense_driver_ros/cam5/camera_info + # channels: ["rgb_image"] + # data_type: image - # debug_rgb_3_seperate: - # fusion: ['image_exponential','image_exponential','image_exponential'] - # topic_name_camera: /zed2i/zed_node/right/image - # topic_name_camera_info: /zed2i/zed_node/right/camera_info - # channels: ["r_channel", "g_channel", "b_channel"] - # data_type: image - - # debug_rgb_2_seperate: - # fusion: ['image_exponential', 'image_exponential'] - # topic_name_camera: /zed2i/zed_node/left/image_rect_color - # topic_name_camera_info: /zed2i/zed_node/right/camera_info - # channels: ["r_channel", "g_channel"] - # data_type: image + # color_depth_front: + # fusion: ['exponential','exponential','exponential','exponential','exponential','exponential'] + # topic_name_camera: /elevation_mapping/depth_semantic_seg_f + # topic_name_camera_info: /depth_camera_front/color/camera_info_resized + # channels: [ 'dirt', 'grass','tree','sky','road','sand' ] + # data_type: image + # + # color_depth_left: + # fusion: ['exponential','exponential','exponential','exponential','exponential','exponential'] + # topic_name_camera: /elevation_mapping/depth_semantic_seg_l + # topic_name_camera_info: /depth_camera_left/color/camera_info_resized + # channels: [ 'dirt', 'grass','tree','sky','road','sand' ] + # data_type: image + # + # color_depth_right: + # fusion: ['exponential','exponential','exponential','exponential','exponential','exponential'] + # topic_name_camera: /elevation_mapping/depth_semantic_seg_r + # topic_name_camera_info: /depth_camera_right/color/camera_info_resized + # channels: [ 'dirt', 'grass','tree','sky','road','sand' ] + # data_type: image - # debug_mono_exponential: - # fusion: ['image_exponential'] - # topic_name_camera: /debug_image - # topic_name_camera_info: /zed2i/zed_node/right/camera_info - # channels: ["single_channel_semantic"] - # data_type: image + wide_sem_front: + fusion: [ 'exponential','exponential','exponential','exponential','exponential','exponential' ] + topic_name_camera: /elevation_mapping/semantic_wide_seg_f + topic_name_camera_info: /alphasense_driver_ros/cam4/camera_info_resized + channels: [ 'grass','dirt','tree','sky','road','sand' ] + data_type: image - # front_cam: - # channels: ['rgb'] - # fusion: ['color'] - # topic_name: '/elevation_mapping/pointcloud_semantic' - # data_type: pointcloud - - alphasense_front_rgb: - fusion: [ 'image_color' ] - topic_name_camera: /alphasense_driver_ros/cam4/debayered - topic_name_camera_info: /alphasense_driver_ros/cam4/camera_info - channels: [ "rgb_image" ] + wide_sem_back: + fusion: [ 'exponential','exponential','exponential','exponential','exponential','exponential' ] + topic_name_camera: /elevation_mapping/semantic_wide_seg_b + topic_name_camera_info: /alphasense_driver_ros/cam4/camera_info_resized + channels: [ 'grass','dirt','tree','sky','road','sand' ] data_type: image - - alphasense_left_rgb: - fusion: [ 'image_color' ] - topic_name_camera: /alphasense_driver_ros/cam3/debayered - topic_name_camera_info: /alphasense_driver_ros/cam3/camera_info - channels: [ "rgb_image" ] + sem_pred_front: + fusion: [ 'exponential','exponential','exponential','exponential','exponential','exponential' ] + topic_name_camera: /elevation_mapping/semantic_seg_f + topic_name_camera_info: /alphasense_driver_ros/cam4/camera_info_resized + channels: [ 'grass','dirt','tree','sky','road','sand' ] data_type: image + sem_pred_right: + fusion: [ 'exponential','exponential','exponential','exponential','exponential','exponential' ] + topic_name_camera: /elevation_mapping/semantic_seg_r + topic_name_camera_info: /alphasense_driver_ros/cam3/camera_info_resized + channels: [ 'grass','dirt','tree','sky','road','sand' ] + data_type: image - alphasense_right_rgb: - fusion: [ 'image_color' ] - topic_name_camera: /alphasense_driver_ros/cam5/debayered - topic_name_camera_info: /alphasense_driver_ros/cam5/camera_info - channels: [ "rgb_image" ] + sem_pred_left: + fusion: [ 'exponential','exponential','exponential','exponential','exponential','exponential' ] + topic_name_camera: /elevation_mapping/semantic_seg_l + topic_name_camera_info: /alphasense_driver_ros/cam5/camera_info_resized + channels: [ 'grass','dirt','tree','sky','road','sand' ] data_type: image - wvn_prediction: - fusion: [ 'image_exponential' ] - topic_name_camera: '/wild_visual_navigation_node/traversability_raw' - topic_name_camera_info: '/wild_visual_navigation_node/camera_info' - channels: [ "visual_traversability" ] - data_type: image - - # front_cam: - # channels: ['rgb','feat_0','feat_1','grass','tree','fence','person'] - # fusion: ['color','average','average','class_average','class_average','class_average','class_average'] - # topic_name: '/elvation_mapping/pointcloud_semantic' - # semantic_segmentation: False - # segmentation_model: 'detectron_coco_panoptic_fpn_R_101_3x' - # feature_config: - # name: 'DINO' - # interpolation: 'bilinear' - # model: "vit_small" - # patch_size: 16 - # dim: 5 - # dropout: False - # dino_feat_type: "feat" - # input_size: [80, 160] - # projection_type: "nonlinear" - # cam_info_topic: "/camera/depth/camera_info" - # image_topic: "/camera/rgb/image_raw" - # depth_topic: "/camera/depth/image_raw" - # cam_frame: camera_rgb_optical_frame - # confidence: False - # confidence_topic: "/camera/depth/image_raw" - # confidence_threshold: 10 - # feature_extractor: False + # sem_pred_left: + # fusion: ['exponential','exponential','exponential','exponential','exponential','exponential'] + # topic_name_camera: /elevation_mapping/semantic_seg_b + # topic_name_camera_info: /alphasense_driver_ros/cam6/camera_info + # channels: ["grass","road",'tree','sky','sand','dirt'] + # data_type: image front_bpearl: - channels: [ ] - fusion: [ ] + channels: [] + fusion: [] topic_name: /robot_self_filter/bpearl_front/point_cloud data_type: pointcloud rear_bpearl: - channels: [ ] - fusion: [ ] + channels: [] + fusion: [] topic_name: /robot_self_filter/bpearl_rear/point_cloud data_type: pointcloud - + # front_depth: channels: [ ] fusion: [ ] topic_name: /depth_camera_front/point_cloud_self_filtered data_type: pointcloud - - rear_depth: - channels: [ ] - fusion: [ ] - topic_name: /depth_camera_rear/point_cloud_self_filtered - data_type: pointcloud + # + # rear_depth: + # channels: [] + # fusion: [] + # topic_name: /depth_camera_rear/point_cloud_self_filtered + # data_type: pointcloud left_depth: channels: [ ] @@ -129,9 +121,15 @@ subscribers: fusion: [ ] topic_name: /depth_camera_right/point_cloud_self_filtered data_type: pointcloud - - velodyne: - channels: [ ] - fusion: [ ] - topic_name: /point_cloud_filter/lidar/point_cloud_filtered - data_type: pointcloud + +# velodyne: +# channels: [] +# fusion: [] +# topic_name: /point_cloud_filter/lidar/point_cloud_filtered +# data_type: pointcloud + +# vel_nofil: +# channels: [ ] +# fusion: [ ] +# topic_name: /lidar/point_cloud +# data_type: pointcloud diff --git a/elevation_mapping_cupy/config/parameters.yaml b/elevation_mapping_cupy/config/parameters.yaml index 614e530f..8a6fee36 100644 --- a/elevation_mapping_cupy/config/parameters.yaml +++ b/elevation_mapping_cupy/config/parameters.yaml @@ -1,6 +1,6 @@ #### Basic parameters ######## resolution: 0.04 # resolution in m. -map_length: 8 # map's size in m. +map_length: 8.0 # map's size in m. sensor_noise_factor: 0.05 # point's noise is sensor_noise_factor*z^2 (z is distance from sensor). mahalanobis_thresh: 2.0 # points outside this distance is outlier. outlier_variance: 0.01 # if point is outlier, add this value to the cell. @@ -40,9 +40,9 @@ max_unsafe_n: 10 # if the number of cells under s overlap_clear_range_xy: 4.0 # xy range [m] for clearing overlapped area. this defines the valid area for overlap clearance. (used for multi floor setting) overlap_clear_range_z: 2.0 # z range [m] for clearing overlapped area. cells outside this range will be cleared. (used for multi floor setting) -map_frame: 'odom' # The map frame where the odometry source uses. -base_frame: 'base' # The robot's base frame. This frame will be a center of the map. -corrected_map_frame: 'odom_corrected' +map_frame: 'enu' # The map frame where the odometry source uses. +base_frame: 'base_footprint' # The robot's base frame. This frame will be a center of the map. +corrected_map_frame: 'enu' #### Feature toggles ######## enable_edge_sharpen: true @@ -61,7 +61,10 @@ weight_file: '$(rospack find elevation_mapping_cupy)/config/weights.dat' use_only_above_for_upper_bound: false #### Plugins ######## -plugin_config_file: '$(rospack find elevation_mapping_cupy)/config/plugin_config.yaml' +plugin_config_file: '$(rospack find lonomy_configuration)/elevation_map/config/plugin_config.yaml' + +#### Subscribers ######## + #### Publishers ######## # topic_name: @@ -70,27 +73,22 @@ plugin_config_file: '$(rospack find elevation_mapping_cupy)/config/plugin_config # fps: # Publish rate. Use smaller value than `map_acquire_fps`. publishers: elevation_map_raw: - layers: [ 'elevation', 'traversability', 'variance' ] - basic_layers: [ 'elevation', 'traversability' ] - fps: 2.0 - - semantic_map_raw: - layers: [ 'elevation', 'traversability', 'variance', 'rgb_image' ] - basic_layers: [ 'elevation', 'traversability' ] - fps: 2.0 - # elevation_map_recordable: - # layers: ['elevation', 'traversability'] - # basic_layers: ['elevation', 'traversability'] - # fps: 2.0 - # elevation_map_filter: - # layers: ['min_filter', 'smooth', 'inpaint', 'upper_bound','rgb'] - # basic_layers: ['min_filter'] - # fps: 3.0 + layers: ['elevation', 'traversability', 'variance','rgb','sem_fil'] + basic_layers: ['elevation', 'traversability'] + fps: 5.0 +# elevation_map_recordable: +# layers: ['elevation', 'traversability'] +# basic_layers: ['elevation', 'traversability'] +# fps: 2.0 +# elevation_map_filter: +# layers: ['min_filter', 'smooth', 'inpaint', 'elevation','rgb','robot_centric_elevation','sem_fil','sem_traversability'] +# basic_layers: ['min_filter'] +# fps: 3.0 #### Initializer ######## initialize_method: 'linear' # Choose one from 'nearest', 'linear', 'cubic' -initialize_frame_id: [ 'base_footprint' ] # One tf (like ['footprint'] # One tf (like ['footprint'] ) initializes a square around it. -initialize_tf_offset: [ 0.0 ] # z direction. Should be same number as initialize_frame_id. +initialize_frame_id: ['base_footprint'] # One tf (like ['footprint'] ) initializes a square around it. +initialize_tf_offset: [0.0, 0.0, 0.0, 0.0] # z direction. Should be same number as initialize_frame_id. dilation_size_initialize: 5 # dilation size after the init. -initialize_tf_grid_size: 0.4 # This is not used if number of tf is more than 3. +initialize_tf_grid_size: 2 # This is not used if number of tf is more than 3. use_initializer_at_start: true # Use initializer when the node starts. diff --git a/elevation_mapping_cupy/config/plugin_config.yaml b/elevation_mapping_cupy/config/plugin_config.yaml index fde55c58..881d9fdf 100644 --- a/elevation_mapping_cupy/config/plugin_config.yaml +++ b/elevation_mapping_cupy/config/plugin_config.yaml @@ -1,12 +1,12 @@ # Settings of the plugins. (The plugins should be stored in script/plugins) # min_filter fills in minimum value around the invalid cell. -min_filter: +min_filter: enable: True # weather to load this plugin fill_nan: False # Fill nans to invalid cells of elevation layer. is_height_layer: True # If this is a height layer (such as elevation) or not (such as traversability) layer_name: "min_filter" # The layer name. - extra_params: # This params are passed to the plugin class on initialization. + extra_params: # This params are passed to the plugin class on initialization. dilation_size: 1 # The patch size to apply iteration_n: 30 # The number of iterations # Apply smoothing. @@ -26,34 +26,25 @@ inpainting: extra_params: method: "telea" # telea or ns # Apply smoothing for inpainted layer -smooth_filter_1: - type: "smooth_filter" - enable: True - fill_nan: False - is_height_layer: True - layer_name: "smooth_1" - extra_params: - input_layer_name: "inpaint" -robot_centric_elevation: # Use the same name as your file name. - # type: "robot_centric_elevation" + +robot_centric_elevation: # Use the same name as your file name. enable: False # weather to load this plugin fill_nan: False # Fill nans to invalid cells of elevation layer. is_height_layer: True # If this is a height layer (such as elevation) or not (such as traversability) layer_name: "robot_centric_elevation" # The layer name. - extra_params: # This params are passed to the plugin class on initialization. - # add_value: 2.0 # Example param + extra_params: # This params are passed to the plugin class on initialization. resolution: 0.04 threshold: 1.1 use_threshold: True + semantic_filter: type: "semantic_filter" - enable: False + enable: True fill_nan: False is_height_layer: False layer_name: "sem_fil" extra_params: - classes: [ 'grass','tree','fence','person' ] - colors: [ [ 0,255,0 ],[ 120,120,0 ],[ 170,0,20 ],[ 0,0,255 ],[ 255,0,0 ] ] + classes: ['grass','tree','fence','dirt'] semantic_traversability: type: "semantic_traversability" @@ -62,6 +53,15 @@ semantic_traversability: is_height_layer: False layer_name: "sem_traversability" extra_params: - layers: [ 'traversability','robot_centric_elevation' ] - thresholds: [ 0.7,0.5 ] - type: [ 'traversability', 'elevation' ] + layers: ['traversability','robot_centric_elevation'] + thresholds: [0.3,0.5] + type: ['traversability', 'elevation'] + +features_pca: + type: "features_pca" + enable: False + fill_nan: False + is_height_layer: False + layer_name: "pca" + extra_params: + classes: ['grass','tree','fence','dirt'] diff --git a/elevation_mapping_cupy/config/sensor_parameter.yaml b/elevation_mapping_cupy/config/sensor_parameter.yaml index e263a810..469cf6d4 100644 --- a/elevation_mapping_cupy/config/sensor_parameter.yaml +++ b/elevation_mapping_cupy/config/sensor_parameter.yaml @@ -1,13 +1,28 @@ -#### Subscribers ######## subscribers: +# sensor_name: +# channels: ['feat_0','feat_1'] +# fusion: ['average','average'] +# topic_name: '/elevation_mapping/pointcloud_semantic' front_cam: - channels: [ 'rgb' ] - fusion: [ 'color' ] + channels: ['rgb', 'grass','tree',"person" ] + fusion: [ 'color','class_average','class_average','class_average' ] topic_name: '/elvation_mapping/pointcloud_semantic' - semantic_segmentation: False - segmentation_model: 'lraspp_mobilenet_v3_large' + semantic_segmentation: True + publish_segmentation_image: True + segmentation_model: 'detectron_coco_panoptic_fpn_R_101_3x' # detectron_coco_panoptic_fpn_R_101_3x, lraspp_mobilenet_v3_large show_label_legend: False data_type: pointcloud + feature_config: + name: 'DINO' + interpolation: 'bilinear' + model: "vit_small" + patch_size: 16 + dim: 5 + dropout: False + dino_feat_type: "feat" + input_size: [80, 160] + projection_type: "nonlinear" + cam_info_topic: "/zed2i/zed_node/depth/camera_info" image_topic: "/zed2i/zed_node/left/image_rect_color" depth_topic: "/zed2i/zed_node/depth/depth_registered" @@ -15,4 +30,4 @@ subscribers: confidence: True confidence_topic: "/zed2i/zed_node/confidence/confidence_map" confidence_threshold: 10 - feature_extractor: False \ No newline at end of file + feature_extractor: False diff --git a/elevation_mapping_cupy/launch/semantic_elevation_anymal.launch b/elevation_mapping_cupy/launch/semantic_elevation_anymal.launch new file mode 100644 index 00000000..8d2f44d6 --- /dev/null +++ b/elevation_mapping_cupy/launch/semantic_elevation_anymal.launch @@ -0,0 +1,26 @@ + + + + + + + + + + + + + + + + + + + + + + + diff --git a/elevation_mapping_cupy/launch/semantic_elevation_lonomy_single.launch b/elevation_mapping_cupy/launch/semantic_elevation_lonomy_single.launch new file mode 100644 index 00000000..8c389af5 --- /dev/null +++ b/elevation_mapping_cupy/launch/semantic_elevation_lonomy_single.launch @@ -0,0 +1,20 @@ + + + + + + + + + + + + + + + + + + + + From cc025549371cd703bcb29e2587997d01709a801d Mon Sep 17 00:00:00 2001 From: Takahiro Miki Date: Tue, 27 Jun 2023 21:41:57 +0200 Subject: [PATCH 351/504] Update README.md --- README.md | 2 ++ 1 file changed, 2 insertions(+) diff --git a/README.md b/README.md index 6e921cfb..65eee4be 100644 --- a/README.md +++ b/README.md @@ -8,6 +8,8 @@ terrain can be efficiently generated. ![screenshot](doc/main_repo.png) ![gif](doc/convex_approximation.gif) +Large update is coming soon. Stay tuned. + ## Citing > Takahiro Miki, Lorenz Wellhausen, Ruben Grandia, Fabian Jenelten, Timon Homberger, Marco Hutter From a5adb28f08e0eff97f9f82a62d49c743712706cb Mon Sep 17 00:00:00 2001 From: Gian Date: Wed, 28 Jun 2023 20:16:03 +0200 Subject: [PATCH 352/504] created a few launch files --- README.md | 2 +- docs/media/turtlebot.png | Bin 0 -> 407607 bytes docs/source/getting_started/tutorial.rst | 30 + .../config/anymal_parameters.yaml | 94 --- .../config/anymal_plugin_config.yaml | 61 -- .../config/anymal_semantics.yaml | 111 ---- .../config/anymal_sensor_parameter.yaml | 135 ---- .../config/heap_parameters.yaml | 94 --- .../config/heap_plugin_config.yaml | 61 -- .../config/heap_sensor_parameter.yaml | 31 - .../config/image_semantics.yaml | 19 + .../config/lonomy_plugin_config.yaml | 61 -- .../config/lonomy_sensor_parameter.yaml | 42 -- elevation_mapping_cupy/config/parameters.yaml | 20 +- .../config/plugin_config.yaml | 9 +- .../semantic_image_sensor_parameter.yaml | 25 + ...rameters.yaml => semantic_parameters.yaml} | 26 +- .../config/semantic_sensor_parameter.yaml | 19 + .../config/sensor_parameter.yaml | 32 +- .../config/sim_parameters.yaml | 96 --- .../config/sim_plugin_config.yaml | 61 -- .../config/sim_sensor_parameter.yaml | 131 ---- .../anymal_semantic_elevation_single.launch | 26 - .../launch/heap_launch.launch | 17 - .../launch/lonomy_pointcloud.launch | 15 - .../lonomy_semantic_elevation_single.launch | 22 - .../launch/semantic_elevation_anymal.launch | 26 - .../semantic_elevation_lonomy_single.launch | 20 - .../sim_semantic_elevation_single.launch | 21 - .../launch/turtlesim_example.launch | 27 +- ...ointcloud.launch => turtlesim_init.launch} | 8 +- .../turtlesim_semantic_elevation.launch | 18 - .../launch/turtlesim_semantic_example.launch | 18 + .../turtlesim_semantic_image_example.launch | 19 + elevation_mapping_cupy/rviz/anymal.rviz | 570 ----------------- elevation_mapping_cupy/rviz/heap.rviz | 600 ------------------ .../rviz/lonomy_single.rviz | 494 -------------- .../rviz/turtle_example.rviz | 46 +- .../rviz/turtle_segmentation_example.rviz | 37 +- .../rviz/turtle_semantic_example.rviz | 54 +- .../fusion/image_color.py | 84 +++ .../elevation_mapping_cupy/parameter.py | 2 +- 42 files changed, 311 insertions(+), 2973 deletions(-) create mode 100644 docs/media/turtlebot.png delete mode 100644 elevation_mapping_cupy/config/anymal_parameters.yaml delete mode 100644 elevation_mapping_cupy/config/anymal_plugin_config.yaml delete mode 100644 elevation_mapping_cupy/config/anymal_semantics.yaml delete mode 100644 elevation_mapping_cupy/config/anymal_sensor_parameter.yaml delete mode 100644 elevation_mapping_cupy/config/heap_parameters.yaml delete mode 100644 elevation_mapping_cupy/config/heap_plugin_config.yaml delete mode 100644 elevation_mapping_cupy/config/heap_sensor_parameter.yaml create mode 100644 elevation_mapping_cupy/config/image_semantics.yaml delete mode 100644 elevation_mapping_cupy/config/lonomy_plugin_config.yaml delete mode 100644 elevation_mapping_cupy/config/lonomy_sensor_parameter.yaml create mode 100644 elevation_mapping_cupy/config/semantic_image_sensor_parameter.yaml rename elevation_mapping_cupy/config/{lonomy_parameters.yaml => semantic_parameters.yaml} (88%) create mode 100644 elevation_mapping_cupy/config/semantic_sensor_parameter.yaml delete mode 100644 elevation_mapping_cupy/config/sim_parameters.yaml delete mode 100644 elevation_mapping_cupy/config/sim_plugin_config.yaml delete mode 100644 elevation_mapping_cupy/config/sim_sensor_parameter.yaml delete mode 100644 elevation_mapping_cupy/launch/anymal_semantic_elevation_single.launch delete mode 100644 elevation_mapping_cupy/launch/heap_launch.launch delete mode 100644 elevation_mapping_cupy/launch/lonomy_pointcloud.launch delete mode 100644 elevation_mapping_cupy/launch/lonomy_semantic_elevation_single.launch delete mode 100644 elevation_mapping_cupy/launch/semantic_elevation_anymal.launch delete mode 100644 elevation_mapping_cupy/launch/semantic_elevation_lonomy_single.launch delete mode 100644 elevation_mapping_cupy/launch/sim_semantic_elevation_single.launch rename elevation_mapping_cupy/launch/{turtlesim_pointcloud.launch => turtlesim_init.launch} (59%) delete mode 100644 elevation_mapping_cupy/launch/turtlesim_semantic_elevation.launch create mode 100644 elevation_mapping_cupy/launch/turtlesim_semantic_example.launch create mode 100644 elevation_mapping_cupy/launch/turtlesim_semantic_image_example.launch delete mode 100644 elevation_mapping_cupy/rviz/anymal.rviz delete mode 100644 elevation_mapping_cupy/rviz/heap.rviz delete mode 100644 elevation_mapping_cupy/rviz/lonomy_single.rviz create mode 100644 elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/image_color.py diff --git a/README.md b/README.md index 0811bdf5..3b86f5dd 100644 --- a/README.md +++ b/README.md @@ -45,7 +45,7 @@ Python wrapper: ````zsh python -m elevation_mapping_cupy.elevation_mapping_ros - roslaunch elevation_mapping_cupy lonomy_pointcloud.launch use_sim_time:=true + roslaunch elevation_mapping_cupy pointcloud.launch use_sim_time:=true rosbag play --clock ~/bags/good_working_wine_field_zed_topcom_rtk_person_9_2022-07-15-14-37-05.bag ```` diff --git a/docs/media/turtlebot.png b/docs/media/turtlebot.png new file mode 100644 index 0000000000000000000000000000000000000000..e2b550aa70c5371a40cfe7e7db06787bd0cf55ac GIT binary patch literal 407607 zcmeFYhc{eN+czvoln4?;q9+6qEg^arz4z!u@7?HvAW8_L_fC`vq8o%Ddaq;j-uvjj zExDiPy}$MS1>ah4)=I|6%sKn)v-frV+6hsVmw13pf{lWL@<2-RoiYjvCIJcxst@Kp z@S9E3DH`yCWiP4ego1+Gdi(cIhh2d&_~lb)vG>j@cBak{Lq`)72n51xVQb}NWN2@~ zZ0Bf}yu(L=f*1-QmFa#7L@W4~h1RaeMU2%JBFH z-cb1~x!qz{NS^0+&${}$H=EpSyOCSpccv02*GtcrRW*Yu7VdSWJigJ0C>c?Dhb2pSU{P>^r@LFKr21WpcBI){hiB*feqU z^*Ho-T@W(uk!O~<%1U8j_d|SBhudB5^FVAhNlC{m%cC#*|7}_-Ea%(3{qZ$ntAtZD z7|I!9UTSyZW4dMMj=(i0D)XH~MvL98#KAhT5ZAZ{NW%(py 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+ roslaunch elevation_mapping_cupy image.launch + Errors """"""""""""" @@ -87,8 +94,30 @@ Then, you can run the examples. For the basic version: roslaunch elevation_mapping_cupy turtlesim_example.launch +For fusing semantics into the map such as rgb from a multi modal pointcloud: + +.. image:: ../../media/turtlebot.png + :alt: Elevation map examples + +.. code-block:: bash + + export TURTLEBOT3_MODEL=waffle + roslaunch elevation_mapping_cupy turtlesim_semantic_example.launch + +For fusing semantics into the map such as rgb from an image: + +.. code-block:: bash + + export TURTLEBOT3_MODEL=waffle + roslaunch elevation_mapping_cupy turtlesim_semantic_image_example.launch + + + + Or, for the version including plane segmentation: + + .. code-block:: bash catkin build convex_plane_decomposition_ros @@ -96,6 +125,7 @@ Or, for the version including plane segmentation: roslaunch elevation_mapping_cupy turtlesim_segmentation_example.launch + To control the robot with a keyboard, a new terminal window needs to be opened. Then run diff --git a/elevation_mapping_cupy/config/anymal_parameters.yaml b/elevation_mapping_cupy/config/anymal_parameters.yaml deleted file mode 100644 index ff53845a..00000000 --- a/elevation_mapping_cupy/config/anymal_parameters.yaml +++ /dev/null @@ -1,94 +0,0 @@ -#### Basic parameters ######## -resolution: 0.04 # resolution in m. -map_length: 8 # map's size in m. -sensor_noise_factor: 0.05 # point's noise is sensor_noise_factor*z^2 (z is distance from sensor). -mahalanobis_thresh: 2.0 # points outside this distance is outlier. -outlier_variance: 0.01 # if point is outlier, add this value to the cell. -drift_compensation_variance_inler: 0.05 # cells under this value is used for drift compensation. -max_drift: 0.1 # drift compensation happens only the drift is smaller than this value (for safety) -drift_compensation_alpha: 0.1 # drift compensation alpha for smoother update of drift compensation -time_variance: 0.0001 # add this value when update_variance is called. -max_variance: 100.0 # maximum variance for each cell. -initial_variance: 1000.0 # initial variance for each cell. -traversability_inlier: 0.9 # cells with higher traversability are used for drift compensation. -dilation_size: 3 # dilation filter size before traversability filter. -wall_num_thresh: 20 # if there are more points than this value, only higher points than the current height are used to make the wall more sharp. -min_height_drift_cnt: 100 # drift compensation only happens if the valid cells are more than this number. -position_noise_thresh: 0.01 # if the position change is bigger than this value, the drift compensation happens. -orientation_noise_thresh: 0.01 # if the orientation change is bigger than this value, the drift compensation happens. -position_lowpass_alpha: 0.2 # lowpass filter alpha used for detecting movements. -orientation_lowpass_alpha: 0.2 # lowpass filter alpha used for detecting movements. -min_valid_distance: 0.5 # points with shorter distance will be filtered out. -max_height_range: 1.0 # points higher than this value from sensor will be filtered out to disable ceiling. -ramped_height_range_a: 0.3 # if z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject. -ramped_height_range_b: 1.0 # if z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject. -ramped_height_range_c: 0.2 # if z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject. -update_variance_fps: 5.0 # fps for updating variance. -update_pose_fps: 10.0 # fps for updating pose and shift the center of map. -time_interval: 0.1 # Time layer is updated with this interval. -map_acquire_fps: 5.0 # Raw map is fetched from GPU memory in this fps. -publish_statistics_fps: 1.0 # Publish statistics topic in this fps. - -max_ray_length: 10.0 # maximum length for ray tracing. -cleanup_step: 0.1 # subtitute this value from validity layer at visibiltiy cleanup. -cleanup_cos_thresh: 0.1 # subtitute this value from validity layer at visibiltiy cleanup. - -safe_thresh: 0.7 # if traversability is smaller, it is counted as unsafe cell. -safe_min_thresh: 0.4 # polygon is unsafe if there exists lower traversability than this. -max_unsafe_n: 10 # if the number of cells under safe_thresh exceeds this value, polygon is unsafe. - -overlap_clear_range_xy: 4.0 # xy range [m] for clearing overlapped area. this defines the valid area for overlap clearance. (used for multi floor setting) -overlap_clear_range_z: 2.0 # z range [m] for clearing overlapped area. cells outside this range will be cleared. (used for multi floor setting) - -map_frame: 'odom' # The map frame where the odometry source uses. -base_frame: 'base' # The robot's base frame. This frame will be a center of the map. -corrected_map_frame: 'odom_corrected' - -#### Feature toggles ######## -enable_edge_sharpen: true -enable_visibility_cleanup: true -enable_drift_compensation: true -enable_overlap_clearance: true -enable_pointcloud_publishing: false -enable_drift_corrected_TF_publishing: true -enable_normal_color: false # If true, the map contains 'color' layer corresponding to normal. Add 'color' layer to the publishers setting if you want to visualize. - -#### Traversability filter ######## -use_chainer: false # Use chainer as a backend of traversability filter or pytorch. If false, it uses pytorch. pytorch requires ~2GB more GPU memory compared to chainer but runs faster. -weight_file: '$(rospack find elevation_mapping_cupy)/config/weights.dat' # Weight file for traversability filter - -#### Upper bound ######## -use_only_above_for_upper_bound: false - -#### Plugins ######## -plugin_config_file: '$(rospack find lonomy_configuration)/elevation_map/config/anymal_plugin_config.yaml' - -#### Publishers ######## -# topic_name: -# layers: # Choose from 'elevation', 'variance', 'traversability', 'time', 'normal_x', 'normal_y', 'normal_z', 'color', plugin_layer_names -# basic_layers: # basic_layers for valid cell computation (e.g. Rviz): Choose a subset of `layers`. -# fps: # Publish rate. Use smaller value than `map_acquire_fps`. -publishers: - elevation_map_raw: - layers: [ 'elevation', 'traversability', 'smooth','sem_fil' ] - basic_layers: [ 'elevation', 'traversability' ] - fps: 2.0 - - - elevation_map_recordable: - layers: ['elevation', 'traversability'] - basic_layers: ['elevation', 'traversability'] - fps: 2.0 - elevation_map_filter: - layers: [ 'min_filter', 'smooth', 'inpaint', 'upper_bound','sem_fil' ] - basic_layers: [ 'min_filter' ] - fps: 2.0 - - -#### Initializer ######## -initialize_method: 'linear' # Choose one from 'nearest', 'linear', 'cubic' -initialize_frame_id: [ 'RF_FOOT', 'LF_FOOT', 'RH_FOOT', 'LH_FOOT' ] # One tf (like ['footprint'] ) initializes a square around it. -initialize_tf_offset: [ 0.0, 0.0, 0.0, 0.0 ] # z direction. Should be same number as initialize_frame_id. -dilation_size_initialize: 5 # dilation size after the init. -initialize_tf_grid_size: 0.4 # This is not used if number of tf is more than 3. -use_initializer_at_start: true # Use initializer when the node starts. diff --git a/elevation_mapping_cupy/config/anymal_plugin_config.yaml b/elevation_mapping_cupy/config/anymal_plugin_config.yaml deleted file mode 100644 index e68b8fdf..00000000 --- a/elevation_mapping_cupy/config/anymal_plugin_config.yaml +++ /dev/null @@ -1,61 +0,0 @@ -# Settings of the plugins. (The plugins should be stored in script/plugins) - -# min_filter fills in minimum value around the invalid cell. -min_filter: - enable: True # weather to load this plugin - fill_nan: False # Fill nans to invalid cells of elevation layer. - is_height_layer: True # If this is a height layer (such as elevation) or not (such as traversability) - layer_name: "min_filter" # The layer name. - extra_params: # This params are passed to the plugin class on initialization. - dilation_size: 1 # The patch size to apply - iteration_n: 30 # The number of iterations -# Apply smoothing. -smooth_filter: - enable: True - fill_nan: False - is_height_layer: True - layer_name: "smooth" - extra_params: - input_layer_name: "min_filter" -# Apply inpainting using opencv -inpainting: - enable: True - fill_nan: False - is_height_layer: True - layer_name: "inpaint" - extra_params: - method: "telea" # telea or ns -# Apply smoothing for inpainted layer - -robot_centric_elevation: # Use the same name as your file name. -# type: "robot_centric_elevation" - enable: False # weather to load this plugin - fill_nan: False # Fill nans to invalid cells of elevation layer. - is_height_layer: True # If this is a height layer (such as elevation) or not (such as traversability) - layer_name: "robot_centric_elevation" # The layer name. - extra_params: # This params are passed to the plugin class on initialization. -# add_value: 2.0 # Example param - resolution: 0.04 - threshold: 1.1 - use_threshold: True - -semantic_filter: - type: "semantic_filter" - enable: True - fill_nan: False - is_height_layer: False - layer_name: "sem_fil" - extra_params: - classes: ['grass','tree','fence','dirt'] - -semantic_traversability: - type: "semantic_traversability" - enable: False - fill_nan: False - is_height_layer: False - layer_name: "sem_traversability" - extra_params: - layers: ['traversability','robot_centric_elevation'] - thresholds: [0.3,0.5] - type: ['traversability', 'elevation'] - diff --git a/elevation_mapping_cupy/config/anymal_semantics.yaml b/elevation_mapping_cupy/config/anymal_semantics.yaml deleted file mode 100644 index 9e798b7a..00000000 --- a/elevation_mapping_cupy/config/anymal_semantics.yaml +++ /dev/null @@ -1,111 +0,0 @@ -#### Subscribers ######## -subscribers: - sem_front: - fusion: [ "class_average","class_average","class_average","class_average","class_average","class_average" ] - image_topic: "/alphasense_driver_ros/cam4/debayered" - semantic_segmentation: True - sem_seg_topic: "/elevation_mapping/semantic_seg_f" - sem_seg_image_topic: "/elevation_mapping/semantic_seg_im_f" - segmentation_model: "detectron_coco_panoptic_fpn_R_101_3x" - show_label_legend: False - channels: [ 'grass','dirt','tree','sky','road','sand' ] - image_info_topic: "/alphasense_driver_ros/cam4/camera_info" - resize: 0.25 - - sem_right: - fusion: [ "class_average","class_average","class_average","class_average" ,"class_average","class_average" ] - image_topic: "/alphasense_driver_ros/cam5/debayered" - semantic_segmentation: True - sem_seg_topic: "/elevation_mapping/semantic_seg_r" - sem_seg_image_topic: "/elevation_mapping/semantic_seg_im_r" - segmentation_model: "detectron_coco_panoptic_fpn_R_101_3x" - show_label_legend: False - channels: [ 'grass','dirt','tree','sky','road','sand' ] - image_info_topic: "/alphasense_driver_ros/cam5/camera_info" - resize: 0.5 - - sem_left: - fusion: [ "class_average","class_average","class_average","class_average","class_average","class_average" ] - image_topic: "/alphasense_driver_ros/cam3/debayered" - semantic_segmentation: True - sem_seg_topic: "/elevation_mapping/semantic_seg_l" - sem_seg_image_topic: "/elevation_mapping/semantic_seg_im_l" - segmentation_model: "detectron_coco_panoptic_fpn_R_101_3x" - show_label_legend: False - channels: [ 'grass','dirt','tree','sky','road','sand' ] - image_info_topic: "/alphasense_driver_ros/cam3/camera_info" - resize: 0.5 - -# sem_depth_front: -# fusion: [ "class_average","class_average","class_average","class_average","class_average","class_average" ] -# image_topic: "/depth_camera_front/color/image_raw" -# semantic_segmentation: True -# sem_seg_topic: "/elevation_mapping/depth_semantic_seg_f" -# sem_seg_image_topic: "/elevation_mapping/depth_semantic_seg_im_f" -# segmentation_model: "detectron_coco_panoptic_fpn_R_101_3x" -# show_label_legend: False -# channels: [ 'grass','dirt','tree','sky','road','sand' ] -# image_info_topic: "/depth_camera_front/color/camera_info" -# resize: 0.5 -# -# sem_depth_left: -# fusion: [ "class_average","class_average","class_average","class_average","class_average","class_average" ] -# image_topic: "/depth_camera_left/color/image_raw/compressed" -# semantic_segmentation: True -# sem_seg_topic: "/elevation_mapping/depth_semantic_seg_r" -# sem_seg_image_topic: "/elevation_mapping/depth_semantic_seg_im_r" -# segmentation_model: "detectron_coco_panoptic_fpn_R_101_3x" -# show_label_legend: False -# channels: [ 'grass','dirt','tree','sky','road','sand' ] -# image_info_topic: "/depth_camera_left/color/camera_info" -# resize: 0.5 -# -# sem_depth_right: -# fusion: [ "class_average","class_average","class_average","class_average","class_average","class_average" ] -# image_topic: "/depth_camera_right/color/image_raw/compressed" -# semantic_segmentation: True -# sem_seg_topic: "/elevation_mapping/depth_semantic_seg_r" -# sem_seg_image_topic: "/elevation_mapping/depth_semantic_seg_im_r" -# segmentation_model: "detectron_coco_panoptic_fpn_R_101_3x" -# show_label_legend: False -# channels: [ 'grass','dirt','tree','sky','road','sand' ] -# image_info_topic: "/depth_camera_right/color/camera_info" -# resize: 0.5 - -# sem_wide_front: -# fusion: [ "class_average","class_average","class_average","class_average","class_average","class_average" ] -# image_topic: "/depth_camera_right/color/image_raw/compressed" -# semantic_segmentation: True -# sem_seg_topic: "/elevation_mapping/semantic_wide_seg_f" -# sem_seg_image_topic: "/elevation_mapping/depth_semantic_seg_im_r" -# segmentation_model: "detectron_coco_panoptic_fpn_R_101_3x" -# show_label_legend: False -# channels: [ 'grass','dirt','tree','sky','road','sand' ] -# image_info_topic: "/depth_camera_right/color/camera_info" -# resize: 0.5 -# -# sem_wide_back: -# fusion: [ "class_average","class_average","class_average","class_average","class_average","class_average" ] -# image_topic: "/depth_camera_right/color/image_raw/compressed" -# semantic_segmentation: True -# sem_seg_topic: "/elevation_mapping/semantic_wide_seg_b" -# sem_seg_image_topic: "/elevation_mapping/depth_semantic_seg_im_r" -# segmentation_model: "detectron_coco_panoptic_fpn_R_101_3x" -# show_label_legend: False -# channels: [ 'grass','dirt','tree','sky','road','sand' ] -# image_info_topic: "/depth_camera_right/color/camera_info" -# resize: 0.5 - -# sem_back: -# fusion: [ "class_average","class_average","class_average","class_average","class_average","class_average" ] -# image_topic: "/alphasense_driver_ros/cam6/debayered/compressed" -# semantic_segmentation: True -# sem_seg_topic: "/elevation_mapping/semantic_seg_b" -# sem_seg_image_topic: "/elevation_mapping/semantic_seg_im_b" -# segmentation_model: "detectron_coco_panoptic_fpn_R_101_3x" -# show_label_legend: False -# channels: ["grass","road",'tree','sky','sand','dirt'] -# image_info_topic: "/alphasense_driver_ros/cam6/camera_info" -# resize: 1.0 - - diff --git a/elevation_mapping_cupy/config/anymal_sensor_parameter.yaml b/elevation_mapping_cupy/config/anymal_sensor_parameter.yaml deleted file mode 100644 index d756cf9e..00000000 --- a/elevation_mapping_cupy/config/anymal_sensor_parameter.yaml +++ /dev/null @@ -1,135 +0,0 @@ -#### Subscribers ######## -subscribers: - # alphasense_front_rgb: - # fusion: ['image_color'] - # topic_name_camera: /alphasense_driver_ros/cam4/debayered/compressed - # topic_name_camera_info: /alphasense_driver_ros/cam4/camera_info - # channels: ["rgb_image"] - # data_type: image - # - # alphasense_left_rgb: - # fusion: ['image_color'] - # topic_name_camera: /alphasense_driver_ros/cam3/debayered/compressed - # topic_name_camera_info: /alphasense_driver_ros/cam3/camera_info - # channels: ["rgb_image"] - # data_type: image - # - # alphasense_right_rgb: - # fusion: ['image_color'] - # topic_name_camera: /alphasense_driver_ros/cam5/debayered/compressed - # topic_name_camera_info: /alphasense_driver_ros/cam5/camera_info - # channels: ["rgb_image"] - # data_type: image - - # color_depth_front: - # fusion: ['exponential','exponential','exponential','exponential','exponential','exponential'] - # topic_name_camera: /elevation_mapping/depth_semantic_seg_f - # topic_name_camera_info: /depth_camera_front/color/camera_info_resized - # channels: [ 'dirt', 'grass','tree','sky','road','sand' ] - # data_type: image - # - # color_depth_left: - # fusion: ['exponential','exponential','exponential','exponential','exponential','exponential'] - # topic_name_camera: /elevation_mapping/depth_semantic_seg_l - # topic_name_camera_info: /depth_camera_left/color/camera_info_resized - # channels: [ 'dirt', 'grass','tree','sky','road','sand' ] - # data_type: image - # - # color_depth_right: - # fusion: ['exponential','exponential','exponential','exponential','exponential','exponential'] - # topic_name_camera: /elevation_mapping/depth_semantic_seg_r - # topic_name_camera_info: /depth_camera_right/color/camera_info_resized - # channels: [ 'dirt', 'grass','tree','sky','road','sand' ] - # data_type: image - - wide_sem_front: - fusion: [ 'exponential','exponential','exponential','exponential','exponential','exponential' ] - topic_name_camera: /elevation_mapping/semantic_wide_seg_f - topic_name_camera_info: /alphasense_driver_ros/cam4/camera_info_resized - channels: [ 'grass','dirt','tree','sky','road','sand' ] - data_type: image - - wide_sem_back: - fusion: [ 'exponential','exponential','exponential','exponential','exponential','exponential' ] - topic_name_camera: /elevation_mapping/semantic_wide_seg_b - topic_name_camera_info: /alphasense_driver_ros/cam4/camera_info_resized - channels: [ 'grass','dirt','tree','sky','road','sand' ] - data_type: image - - sem_pred_front: - fusion: [ 'exponential','exponential','exponential','exponential','exponential','exponential' ] - topic_name_camera: /elevation_mapping/semantic_seg_f - topic_name_camera_info: /alphasense_driver_ros/cam4/camera_info_resized - channels: [ 'grass','dirt','tree','sky','road','sand' ] - data_type: image - - sem_pred_right: - fusion: [ 'exponential','exponential','exponential','exponential','exponential','exponential' ] - topic_name_camera: /elevation_mapping/semantic_seg_r - topic_name_camera_info: /alphasense_driver_ros/cam3/camera_info_resized - channels: [ 'grass','dirt','tree','sky','road','sand' ] - data_type: image - - sem_pred_left: - fusion: [ 'exponential','exponential','exponential','exponential','exponential','exponential' ] - topic_name_camera: /elevation_mapping/semantic_seg_l - topic_name_camera_info: /alphasense_driver_ros/cam5/camera_info_resized - channels: [ 'grass','dirt','tree','sky','road','sand' ] - data_type: image - - - - # sem_pred_left: - # fusion: ['exponential','exponential','exponential','exponential','exponential','exponential'] - # topic_name_camera: /elevation_mapping/semantic_seg_b - # topic_name_camera_info: /alphasense_driver_ros/cam6/camera_info - # channels: ["grass","road",'tree','sky','sand','dirt'] - # data_type: image - - front_bpearl: - channels: [] - fusion: [] - topic_name: /robot_self_filter/bpearl_front/point_cloud - data_type: pointcloud - - rear_bpearl: - channels: [] - fusion: [] - topic_name: /robot_self_filter/bpearl_rear/point_cloud - data_type: pointcloud - # - front_depth: - channels: [ ] - fusion: [ ] - topic_name: /depth_camera_front/point_cloud_self_filtered - data_type: pointcloud - # - # rear_depth: - # channels: [] - # fusion: [] - # topic_name: /depth_camera_rear/point_cloud_self_filtered - # data_type: pointcloud - - left_depth: - channels: [ ] - fusion: [ ] - topic_name: /depth_camera_left/point_cloud_self_filtered - data_type: pointcloud - - right_depth: - channels: [ ] - fusion: [ ] - topic_name: /depth_camera_right/point_cloud_self_filtered - data_type: pointcloud - -# velodyne: -# channels: [] -# fusion: [] -# topic_name: /point_cloud_filter/lidar/point_cloud_filtered -# data_type: pointcloud - -# vel_nofil: -# channels: [ ] -# fusion: [ ] -# topic_name: /lidar/point_cloud -# data_type: pointcloud diff --git a/elevation_mapping_cupy/config/heap_parameters.yaml b/elevation_mapping_cupy/config/heap_parameters.yaml deleted file mode 100644 index 55de512d..00000000 --- a/elevation_mapping_cupy/config/heap_parameters.yaml +++ /dev/null @@ -1,94 +0,0 @@ -#### Basic parameters ######## -resolution: 0.04 # resolution in m. -map_length: 20.0 # map's size in m. -sensor_noise_factor: 0.05 # point's noise is sensor_noise_factor*z^2 (z is distance from sensor). -mahalanobis_thresh: 2.0 # points outside this distance is outlier. -outlier_variance: 0.01 # if point is outlier, add this value to the cell. -drift_compensation_variance_inler: 0.05 # cells under this value is used for drift compensation. -max_drift: 0.1 # drift compensation happens only the drift is smaller than this value (for safety) -drift_compensation_alpha: 0.1 # drift compensation alpha for smoother update of drift compensation -time_variance: 0.0001 # add this value when update_variance is called. -max_variance: 100.0 # maximum variance for each cell. -initial_variance: 1000.0 # initial variance for each cell. -traversability_inlier: 0.9 # cells with higher traversability are used for drift compensation. -dilation_size: 3 # dilation filter size before traversability filter. -wall_num_thresh: 20 # if there are more points than this value, only higher points than the current height are used to make the wall more sharp. -min_height_drift_cnt: 100 # drift compensation only happens if the valid cells are more than this number. -position_noise_thresh: 0.01 # if the position change is bigger than this value, the drift compensation happens. -orientation_noise_thresh: 0.01 # if the orientation change is bigger than this value, the drift compensation happens. -position_lowpass_alpha: 0.2 # lowpass filter alpha used for detecting movements. -orientation_lowpass_alpha: 0.2 # lowpass filter alpha used for detecting movements. -min_valid_distance: 0.5 # points with shorter distance will be filtered out. -max_height_range: 1.0 # points higher than this value from sensor will be filtered out to disable ceiling. -ramped_height_range_a: 0.3 # if z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject. -ramped_height_range_b: 1.0 # if z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject. -ramped_height_range_c: 0.2 # if z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject. -update_variance_fps: 5.0 # fps for updating variance. -update_pose_fps: 10.0 # fps for updating pose and shift the center of map. -time_interval: 0.1 # Time layer is updated with this interval. -map_acquire_fps: 5.0 # Raw map is fetched from GPU memory in this fps. -publish_statistics_fps: 1.0 # Publish statistics topic in this fps. - -max_ray_length: 10.0 # maximum length for ray tracing. -cleanup_step: 0.1 # subtitute this value from validity layer at visibiltiy cleanup. -cleanup_cos_thresh: 0.1 # subtitute this value from validity layer at visibiltiy cleanup. - -safe_thresh: 0.7 # if traversability is smaller, it is counted as unsafe cell. -safe_min_thresh: 0.4 # polygon is unsafe if there exists lower traversability than this. -max_unsafe_n: 10 # if the number of cells under safe_thresh exceeds this value, polygon is unsafe. - -overlap_clear_range_xy: 4.0 # xy range [m] for clearing overlapped area. this defines the valid area for overlap clearance. (used for multi floor setting) -overlap_clear_range_z: 2.0 # z range [m] for clearing overlapped area. cells outside this range will be cleared. (used for multi floor setting) - -map_frame: 'map' # The map frame where the odometry source uses. -base_frame: 'BASE' # The robot's base frame. This frame will be a center of the map. -corrected_map_frame: 'map' - -#### Feature toggles ######## -enable_edge_sharpen: true -enable_visibility_cleanup: true -enable_drift_compensation: true -enable_overlap_clearance: false -enable_pointcloud_publishing: false -enable_drift_corrected_TF_publishing: false -enable_normal_color: false # If true, the map contains 'color' layer corresponding to normal. Add 'color' layer to the publishers setting if you want to visualize. - -#### Traversability filter ######## -use_chainer: false # Use chainer as a backend of traversability filter or pytorch. If false, it uses pytorch. pytorch requires ~2GB more GPU memory compared to chainer but runs faster. -weight_file: '$(rospack find elevation_mapping_cupy)/config/weights.dat' # Weight file for traversability filter - -#### Upper bound ######## -use_only_above_for_upper_bound: false - -#### Plugins ######## -plugin_config_file: '$(rospack find elevation_mapping_cupy)/config/heap_plugin_config.yaml' - -#### Subscribers ######## - - -#### Publishers ######## -# topic_name: -# layers: # Choose from 'elevation', 'variance', 'traversability', 'time', 'normal_x', 'normal_y', 'normal_z', 'color', plugin_layer_names -# basic_layers: # basic_layers for valid cell computation (e.g. Rviz): Choose a subset of `layers`. -# fps: # Publish rate. Use smaller value than `map_acquire_fps`. -publishers: - elevation_map_raw: - layers: [ 'elevation', 'traversability', 'variance' ] - basic_layers: [ 'elevation', 'traversability' ] - fps: 5.0 - # elevation_map_recordable: - # layers: ['elevation', 'traversability'] - # basic_layers: ['elevation', 'traversability'] - # fps: 2.0 - elevation_map_filter: - layers: [ 'min_filter', 'smooth', 'inpaint', 'elevation','rgb_image','sem_fil' ] - basic_layers: [ 'min_filter' ] - fps: 3.0 - -#### Initializer ######## -initialize_method: 'linear' # Choose one from 'nearest', 'linear', 'cubic' -initialize_frame_id: [ 'RH_WHEEL_CONTACT','RF_WHEEL_CONTACT','LH_WHEEL_CONTACT','LF_WHEEL_CONTACT' ] # One tf (like ['footprint'] ) initializes a square around it. -initialize_tf_offset: [ 0.0, 0.0, 0.0, 0.0 ] # z direction. Should be same number as initialize_frame_id. -dilation_size_initialize: 5 # dilation size after the init. -initialize_tf_grid_size: 2 # This is not used if number of tf is more than 3. -use_initializer_at_start: true # Use initializer when the node starts. diff --git a/elevation_mapping_cupy/config/heap_plugin_config.yaml b/elevation_mapping_cupy/config/heap_plugin_config.yaml deleted file mode 100644 index 9630f496..00000000 --- a/elevation_mapping_cupy/config/heap_plugin_config.yaml +++ /dev/null @@ -1,61 +0,0 @@ -# Settings of the plugins. (The plugins should be stored in script/plugins) - -# min_filter fills in minimum value around the invalid cell. -min_filter: - enable: True # weather to load this plugin - fill_nan: False # Fill nans to invalid cells of elevation layer. - is_height_layer: True # If this is a height layer (such as elevation) or not (such as traversability) - layer_name: "min_filter" # The layer name. - extra_params: # This params are passed to the plugin class on initialization. - dilation_size: 1 # The patch size to apply - iteration_n: 30 # The number of iterations -# Apply smoothing. -smooth_filter: - enable: True - fill_nan: False - is_height_layer: True - layer_name: "smooth" - extra_params: - input_layer_name: "min_filter" -# Apply inpainting using opencv -inpainting: - enable: True - fill_nan: False - is_height_layer: True - layer_name: "inpaint" - extra_params: - method: "telea" # telea or ns -# Apply smoothing for inpainted layer - -robot_centric_elevation: # Use the same name as your file name. - # type: "robot_centric_elevation" - enable: False # weather to load this plugin - fill_nan: False # Fill nans to invalid cells of elevation layer. - is_height_layer: True # If this is a height layer (such as elevation) or not (such as traversability) - layer_name: "robot_centric_elevation" # The layer name. - extra_params: # This params are passed to the plugin class on initialization. - # add_value: 2.0 # Example param - resolution: 0.04 - threshold: 1.1 - use_threshold: True - -semantic_filter: - type: "semantic_filter" - enable: False - fill_nan: False - is_height_layer: False - layer_name: "sem_fil" - extra_params: - classes: [ 'grass','tree','fence','dirt' ] - -semantic_traversability: - type: "semantic_traversability" - enable: False - fill_nan: False - is_height_layer: False - layer_name: "sem_traversability" - extra_params: - layers: [ 'traversability','robot_centric_elevation' ] - thresholds: [ 0.3,0.5 ] - type: [ 'traversability', 'elevation' ] - diff --git a/elevation_mapping_cupy/config/heap_sensor_parameter.yaml b/elevation_mapping_cupy/config/heap_sensor_parameter.yaml deleted file mode 100644 index 9fd09452..00000000 --- a/elevation_mapping_cupy/config/heap_sensor_parameter.yaml +++ /dev/null @@ -1,31 +0,0 @@ -subscribers: - - front_cam: - channels: [ ] - fusion: [ ] - topic_name: '/ouster_points_self_filtered' - data_type: pointcloud - - # camera_right_rgb: - # fusion: ['image_color'] - # topic_name_camera: /camUSBRightView/Downsampled - # topic_name_camera_info: /camera_info - # channels: ["rgb_image"] - # data_type: image - - camera_main_rgb: - fusion: [ 'image_color' ] - topic_name_camera: /camMainView/Downsampled - topic_name_camera_info: /camera_info - channels: [ "rgb_image" ] - data_type: image - - -# camera_cnn: -# topic_name_camera: /src/image -# topic_name_camera_info: /camera_info -# channels: ["mono"] -# fusion: [ 'image_exponential' ] -# data_type: image - - diff --git a/elevation_mapping_cupy/config/image_semantics.yaml b/elevation_mapping_cupy/config/image_semantics.yaml new file mode 100644 index 00000000..6354cc3a --- /dev/null +++ b/elevation_mapping_cupy/config/image_semantics.yaml @@ -0,0 +1,19 @@ +#### Subscribers ######## +subscribers: + front_cam: + channels: ['rgb'] + fusion: [ 'color' ] + semantic_segmentation: False + publish_segmentation_image: True + segmentation_model: 'lraspp_mobilenet_v3_large' # detectron_coco_panoptic_fpn_R_101_3x, lraspp_mobilenet_v3_large + show_label_legend: False + data_type: image + image_info_topic: "/wide_angle_camera_front/camera_info" + resize: 0.5 + + cam_info_topic: "/camera/depth/camera_info" + image_topic: "/camera/rgb/image_raw" + depth_topic: "/camera/depth/image_raw" + cam_frame: "camera_rgb_optical_frame" + sem_seg_topic: "/elevation_mapping/semantic_wide_seg_f" + sem_seg_image_topic: "/elevation_mapping/semantic_wide_seg_im_f" \ No newline at end of file diff --git a/elevation_mapping_cupy/config/lonomy_plugin_config.yaml b/elevation_mapping_cupy/config/lonomy_plugin_config.yaml deleted file mode 100644 index 7bcc17f0..00000000 --- a/elevation_mapping_cupy/config/lonomy_plugin_config.yaml +++ /dev/null @@ -1,61 +0,0 @@ -# Settings of the plugins. (The plugins should be stored in script/plugins) - -# min_filter fills in minimum value around the invalid cell. -min_filter: - enable: True # weather to load this plugin - fill_nan: False # Fill nans to invalid cells of elevation layer. - is_height_layer: True # If this is a height layer (such as elevation) or not (such as traversability) - layer_name: "min_filter" # The layer name. - extra_params: # This params are passed to the plugin class on initialization. - dilation_size: 1 # The patch size to apply - iteration_n: 30 # The number of iterations -# Apply smoothing. -smooth_filter: - enable: True - fill_nan: False - is_height_layer: True - layer_name: "smooth" - extra_params: - input_layer_name: "min_filter" -# Apply inpainting using opencv -inpainting: - enable: True - fill_nan: False - is_height_layer: True - layer_name: "inpaint" - extra_params: - method: "telea" # telea or ns -# Apply smoothing for inpainted layer - -robot_centric_elevation: # Use the same name as your file name. - # type: "robot_centric_elevation" - enable: True # weather to load this plugin - fill_nan: False # Fill nans to invalid cells of elevation layer. - is_height_layer: True # If this is a height layer (such as elevation) or not (such as traversability) - layer_name: "robot_centric_elevation" # The layer name. - extra_params: # This params are passed to the plugin class on initialization. - # add_value: 2.0 # Example param - resolution: 0.04 - threshold: 1.1 - use_threshold: True - -semantic_filter: - type: "semantic_filter" - enable: True - fill_nan: False - is_height_layer: False - layer_name: "sem_fil" - extra_params: - classes: [ 'grass','tree','fence','dirt' ] - -semantic_traversability: - type: "semantic_traversability" - enable: True - fill_nan: False - is_height_layer: False - layer_name: "sem_traversability" - extra_params: - layers: [ 'traversability','robot_centric_elevation' ] - thresholds: [ 0.3,0.5 ] - type: [ 'traversability', 'elevation' ] - diff --git a/elevation_mapping_cupy/config/lonomy_sensor_parameter.yaml b/elevation_mapping_cupy/config/lonomy_sensor_parameter.yaml deleted file mode 100644 index 34e7e0c9..00000000 --- a/elevation_mapping_cupy/config/lonomy_sensor_parameter.yaml +++ /dev/null @@ -1,42 +0,0 @@ -subscribers: - front_cam: - channels: [ 'rgb','feat_0','feat_1' ] - fusion: [ 'color','bayesian_inference','bayesian_inference' ] - topic_name: '/elvation_mapping/pointcloud_semantic' - semantic_segmentation: False - segmentation_model: 'lraspp_mobilenet_v3_large' # detectron_coco_panoptic_fpn_R_101_3x, lraspp_mobilenet_v3_large - show_label_legend: True - data_type: pointcloud - feature_config: - name: 'DINO' - interpolation: 'bilinear' - model: "vit_small" - patch_size: 16 - dim: 5 - dropout: False - dino_feat_type: "feat" - input_size: [ 80, 160 ] - projection_type: "nonlinear" - - cam_info_topic: "/zed2i/zed_node/depth/camera_info" - image_topic: "/zed2i/zed_node/left/image_rect_color" - depth_topic: "/zed2i/zed_node/depth/depth_registered" - cam_frame: "zed2i_right_camera_optical_frame" - confidence: True - confidence_topic: "/zed2i/zed_node/confidence/confidence_map" - confidence_threshold: 10 - feature_extractor: False - - rgb_cam: - fusion: [ 'image_color' ] - topic_name_camera: "/zed2i/zed_node/left/image_rect_color" - topic_name_camera_info: "/zed2i/zed_node/depth/camera_info" - channels: [ "rgb_image" ] - data_type: image - - grey_cam: - fusion: [ 'image_exponential' ] - topic_name_camera: "/zed2i/zed_node/left/image_rect_gray" - topic_name_camera_info: "/zed2i/zed_node/depth/camera_info" - channels: [ "gray_image" ] - data_type: image \ No newline at end of file diff --git a/elevation_mapping_cupy/config/parameters.yaml b/elevation_mapping_cupy/config/parameters.yaml index 8a6fee36..8354b36f 100644 --- a/elevation_mapping_cupy/config/parameters.yaml +++ b/elevation_mapping_cupy/config/parameters.yaml @@ -40,9 +40,9 @@ max_unsafe_n: 10 # if the number of cells under s overlap_clear_range_xy: 4.0 # xy range [m] for clearing overlapped area. this defines the valid area for overlap clearance. (used for multi floor setting) overlap_clear_range_z: 2.0 # z range [m] for clearing overlapped area. cells outside this range will be cleared. (used for multi floor setting) -map_frame: 'enu' # The map frame where the odometry source uses. +map_frame: 'odom' # The map frame where the odometry source uses. base_frame: 'base_footprint' # The robot's base frame. This frame will be a center of the map. -corrected_map_frame: 'enu' +corrected_map_frame: 'odom' #### Feature toggles ######## enable_edge_sharpen: true @@ -61,7 +61,7 @@ weight_file: '$(rospack find elevation_mapping_cupy)/config/weights.dat' use_only_above_for_upper_bound: false #### Plugins ######## -plugin_config_file: '$(rospack find lonomy_configuration)/elevation_map/config/plugin_config.yaml' +plugin_config_file: '$(rospack find elevation_mapping_cupy)/config/plugin_config.yaml' #### Subscribers ######## @@ -73,22 +73,22 @@ plugin_config_file: '$(rospack find lonomy_configuration)/elevation_map/config/p # fps: # Publish rate. Use smaller value than `map_acquire_fps`. publishers: elevation_map_raw: - layers: ['elevation', 'traversability', 'variance','rgb','sem_fil'] - basic_layers: ['elevation', 'traversability'] + layers: ['elevation', 'traversability', 'variance','rgb'] + basic_layers: ['elevation'] fps: 5.0 # elevation_map_recordable: # layers: ['elevation', 'traversability'] # basic_layers: ['elevation', 'traversability'] # fps: 2.0 -# elevation_map_filter: -# layers: ['min_filter', 'smooth', 'inpaint', 'elevation','rgb','robot_centric_elevation','sem_fil','sem_traversability'] -# basic_layers: ['min_filter'] -# fps: 3.0 + elevation_map_filter: + layers: ['min_filter', 'smooth', 'inpaint', 'elevation'] + basic_layers: ['min_filter'] + fps: 3.0 #### Initializer ######## initialize_method: 'linear' # Choose one from 'nearest', 'linear', 'cubic' initialize_frame_id: ['base_footprint'] # One tf (like ['footprint'] ) initializes a square around it. initialize_tf_offset: [0.0, 0.0, 0.0, 0.0] # z direction. Should be same number as initialize_frame_id. -dilation_size_initialize: 5 # dilation size after the init. +dilation_size_initialize: 2 # dilation size after the init. initialize_tf_grid_size: 2 # This is not used if number of tf is more than 3. use_initializer_at_start: true # Use initializer when the node starts. diff --git a/elevation_mapping_cupy/config/plugin_config.yaml b/elevation_mapping_cupy/config/plugin_config.yaml index 881d9fdf..a4aa684a 100644 --- a/elevation_mapping_cupy/config/plugin_config.yaml +++ b/elevation_mapping_cupy/config/plugin_config.yaml @@ -57,11 +57,4 @@ semantic_traversability: thresholds: [0.3,0.5] type: ['traversability', 'elevation'] -features_pca: - type: "features_pca" - enable: False - fill_nan: False - is_height_layer: False - layer_name: "pca" - extra_params: - classes: ['grass','tree','fence','dirt'] + diff --git a/elevation_mapping_cupy/config/semantic_image_sensor_parameter.yaml b/elevation_mapping_cupy/config/semantic_image_sensor_parameter.yaml new file mode 100644 index 00000000..75c690f4 --- /dev/null +++ b/elevation_mapping_cupy/config/semantic_image_sensor_parameter.yaml @@ -0,0 +1,25 @@ +subscribers: +# sensor_name: +# channels: ['feat_0','feat_1'] +# fusion: ['average','average'] +# topic_name: '/elevation_mapping/pointcloud_semantic' + front_cam: + channels: ['rgb', 'grass','tree',"person" ] + fusion: [ 'color','exponential','exponential','exponential' ] + topic_name: '/elevation_mapping/pointcloud_semantic' + semantic_segmentation: True + publish_segmentation_image: True + segmentation_model: 'lraspp_mobilenet_v3_large' + show_label_legend: False + data_type: image + + cam_info_topic: "/camera/depth/camera_info" + image_topic: "/camera/rgb/image_raw" + depth_topic: "/camera/depth/image_raw" + cam_frame: "camera_rgb_optical_frame" + + pointcloud: + channels: [] + fusion: [] + topic_name: '/elevation_mapping/pointcloud_semantic' + data_type: pointcloud \ No newline at end of file diff --git a/elevation_mapping_cupy/config/lonomy_parameters.yaml b/elevation_mapping_cupy/config/semantic_parameters.yaml similarity index 88% rename from elevation_mapping_cupy/config/lonomy_parameters.yaml rename to elevation_mapping_cupy/config/semantic_parameters.yaml index e1d71f9b..c471af5d 100644 --- a/elevation_mapping_cupy/config/lonomy_parameters.yaml +++ b/elevation_mapping_cupy/config/semantic_parameters.yaml @@ -40,9 +40,9 @@ max_unsafe_n: 10 # if the number of cells under s overlap_clear_range_xy: 4.0 # xy range [m] for clearing overlapped area. this defines the valid area for overlap clearance. (used for multi floor setting) overlap_clear_range_z: 2.0 # z range [m] for clearing overlapped area. cells outside this range will be cleared. (used for multi floor setting) -map_frame: 'enu' # The map frame where the odometry source uses. +map_frame: 'odom' # The map frame where the odometry source uses. base_frame: 'base_footprint' # The robot's base frame. This frame will be a center of the map. -corrected_map_frame: 'enu' +corrected_map_frame: 'odom' #### Feature toggles ######## enable_edge_sharpen: true @@ -61,7 +61,7 @@ weight_file: '$(rospack find elevation_mapping_cupy)/config/weights.dat' use_only_above_for_upper_bound: false #### Plugins ######## -plugin_config_file: '$(rospack find elevation_mapping_cupy)/config/lonomy_plugin_config.yaml' +plugin_config_file: '$(rospack find elevation_mapping_cupy)/config/plugin_config.yaml' #### Subscribers ######## @@ -73,22 +73,22 @@ plugin_config_file: '$(rospack find elevation_mapping_cupy)/config/lonomy_plugin # fps: # Publish rate. Use smaller value than `map_acquire_fps`. publishers: elevation_map_raw: - layers: [ 'elevation', 'traversability', 'variance' ] - basic_layers: [ 'elevation', 'traversability' ] + layers: ['elevation', 'traversability', 'variance','rgb','sem_fil'] + basic_layers: ['elevation'] fps: 5.0 - elevation_map_recordable: - layers: [ 'elevation', 'traversability' ] - basic_layers: [ 'elevation', 'traversability' ] - fps: 2.0 +# elevation_map_recordable: +# layers: ['elevation', 'traversability'] +# basic_layers: ['elevation', 'traversability'] +# fps: 2.0 elevation_map_filter: - layers: [ elevation, 'min_filter', 'smooth', 'inpaint', 'upper_bound','rgb_image', 'gray_image' ] - basic_layers: [ elevation, 'min_filter' ] + layers: ['min_filter', 'smooth', 'inpaint', 'elevation','rgb','robot_centric_elevation','sem_fil','sem_traversability'] + basic_layers: ['min_filter'] fps: 3.0 #### Initializer ######## initialize_method: 'linear' # Choose one from 'nearest', 'linear', 'cubic' -initialize_frame_id: [ 'base_footprint' ] # One tf (like ['footprint'] ) initializes a square around it. -initialize_tf_offset: [ 0.0, 0.0, 0.0, 0.0 ] # z direction. Should be same number as initialize_frame_id. +initialize_frame_id: ['base_footprint'] # One tf (like ['footprint'] ) initializes a square around it. +initialize_tf_offset: [0.0, 0.0, 0.0, 0.0] # z direction. Should be same number as initialize_frame_id. dilation_size_initialize: 5 # dilation size after the init. initialize_tf_grid_size: 2 # This is not used if number of tf is more than 3. use_initializer_at_start: true # Use initializer when the node starts. diff --git a/elevation_mapping_cupy/config/semantic_sensor_parameter.yaml b/elevation_mapping_cupy/config/semantic_sensor_parameter.yaml new file mode 100644 index 00000000..11a8de8e --- /dev/null +++ b/elevation_mapping_cupy/config/semantic_sensor_parameter.yaml @@ -0,0 +1,19 @@ +subscribers: +# sensor_name: +# channels: ['feat_0','feat_1'] +# fusion: ['average','average'] +# topic_name: '/elevation_mapping/pointcloud_semantic' + front_cam: + channels: ['rgb', 'grass','tree',"person" ] + fusion: [ 'color','class_average','class_average','class_average' ] + topic_name: '/elevation_mapping/pointcloud_semantic' + semantic_segmentation: True + publish_segmentation_image: True + segmentation_model: 'lraspp_mobilenet_v3_large' # detectron_coco_panoptic_fpn_R_101_3x, lraspp_mobilenet_v3_large + show_label_legend: False + data_type: pointcloud + + cam_info_topic: "/camera/depth/camera_info" + image_topic: "/camera/rgb/image_raw" + depth_topic: "/camera/depth/image_raw" + cam_frame: "camera_rgb_optical_frame" diff --git a/elevation_mapping_cupy/config/sensor_parameter.yaml b/elevation_mapping_cupy/config/sensor_parameter.yaml index 469cf6d4..3aa14712 100644 --- a/elevation_mapping_cupy/config/sensor_parameter.yaml +++ b/elevation_mapping_cupy/config/sensor_parameter.yaml @@ -4,30 +4,12 @@ subscribers: # fusion: ['average','average'] # topic_name: '/elevation_mapping/pointcloud_semantic' front_cam: - channels: ['rgb', 'grass','tree',"person" ] - fusion: [ 'color','class_average','class_average','class_average' ] - topic_name: '/elvation_mapping/pointcloud_semantic' - semantic_segmentation: True - publish_segmentation_image: True - segmentation_model: 'detectron_coco_panoptic_fpn_R_101_3x' # detectron_coco_panoptic_fpn_R_101_3x, lraspp_mobilenet_v3_large - show_label_legend: False + channels: ['rgb' ] + fusion: [ 'color'] + topic_name: '/elevation_mapping/pointcloud_semantic' data_type: pointcloud - feature_config: - name: 'DINO' - interpolation: 'bilinear' - model: "vit_small" - patch_size: 16 - dim: 5 - dropout: False - dino_feat_type: "feat" - input_size: [80, 160] - projection_type: "nonlinear" - cam_info_topic: "/zed2i/zed_node/depth/camera_info" - image_topic: "/zed2i/zed_node/left/image_rect_color" - depth_topic: "/zed2i/zed_node/depth/depth_registered" - cam_frame: "zed2i_right_camera_optical_frame" - confidence: True - confidence_topic: "/zed2i/zed_node/confidence/confidence_map" - confidence_threshold: 10 - feature_extractor: False + cam_info_topic: "/camera/depth/camera_info" + image_topic: "/camera/rgb/image_raw" + depth_topic: "/camera/depth/image_raw" + cam_frame: "camera_rgb_optical_frame" diff --git a/elevation_mapping_cupy/config/sim_parameters.yaml b/elevation_mapping_cupy/config/sim_parameters.yaml deleted file mode 100644 index 0a51fc78..00000000 --- a/elevation_mapping_cupy/config/sim_parameters.yaml +++ /dev/null @@ -1,96 +0,0 @@ -#### Basic parameters ######## -resolution: 0.04 # resolution in m. -map_length: 8 # map's size in m. -sensor_noise_factor: 0.05 # point's noise is sensor_noise_factor*z^2 (z is distance from sensor). -mahalanobis_thresh: 2.0 # points outside this distance is outlier. -outlier_variance: 0.01 # if point is outlier, add this value to the cell. -drift_compensation_variance_inler: 0.05 # cells under this value is used for drift compensation. -max_drift: 0.1 # drift compensation happens only the drift is smaller than this value (for safety) -drift_compensation_alpha: 0.1 # drift compensation alpha for smoother update of drift compensation -time_variance: 0.0001 # add this value when update_variance is called. -max_variance: 100.0 # maximum variance for each cell. -initial_variance: 1000.0 # initial variance for each cell. -traversability_inlier: 0.9 # cells with higher traversability are used for drift compensation. -dilation_size: 3 # dilation filter size before traversability filter. -wall_num_thresh: 20 # if there are more points than this value, only higher points than the current height are used to make the wall more sharp. -min_height_drift_cnt: 100 # drift compensation only happens if the valid cells are more than this number. -position_noise_thresh: 0.01 # if the position change is bigger than this value, the drift compensation happens. -orientation_noise_thresh: 0.01 # if the orientation change is bigger than this value, the drift compensation happens. -position_lowpass_alpha: 0.2 # lowpass filter alpha used for detecting movements. -orientation_lowpass_alpha: 0.2 # lowpass filter alpha used for detecting movements. -min_valid_distance: 0.5 # points with shorter distance will be filtered out. -max_height_range: 1.0 # points higher than this value from sensor will be filtered out to disable ceiling. -ramped_height_range_a: 0.3 # if z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject. -ramped_height_range_b: 1.0 # if z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject. -ramped_height_range_c: 0.2 # if z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject. -update_variance_fps: 5.0 # fps for updating variance. -update_pose_fps: 10.0 # fps for updating pose and shift the center of map. -time_interval: 0.1 # Time layer is updated with this interval. -map_acquire_fps: 5.0 # Raw map is fetched from GPU memory in this fps. -publish_statistics_fps: 1.0 # Publish statistics topic in this fps. - -max_ray_length: 10.0 # maximum length for ray tracing. -cleanup_step: 0.1 # subtitute this value from validity layer at visibiltiy cleanup. -cleanup_cos_thresh: 0.1 # subtitute this value from validity layer at visibiltiy cleanup. - -safe_thresh: 0.7 # if traversability is smaller, it is counted as unsafe cell. -safe_min_thresh: 0.4 # polygon is unsafe if there exists lower traversability than this. -max_unsafe_n: 10 # if the number of cells under safe_thresh exceeds this value, polygon is unsafe. - -overlap_clear_range_xy: 4.0 # xy range [m] for clearing overlapped area. this defines the valid area for overlap clearance. (used for multi floor setting) -overlap_clear_range_z: 2.0 # z range [m] for clearing overlapped area. cells outside this range will be cleared. (used for multi floor setting) - -map_frame: 'odom' # The map frame where the odometry source uses. -base_frame: 'base' # The robot's base frame. This frame will be a center of the map. -corrected_map_frame: 'odom_corrected' - -#### Feature toggles ######## -enable_edge_sharpen: true -enable_visibility_cleanup: true -enable_drift_compensation: true -enable_overlap_clearance: true -enable_pointcloud_publishing: false -enable_drift_corrected_TF_publishing: false -enable_normal_color: false # If true, the map contains 'color' layer corresponding to normal. Add 'color' layer to the publishers setting if you want to visualize. - -#### Traversability filter ######## -use_chainer: false # Use chainer as a backend of traversability filter or pytorch. If false, it uses pytorch. pytorch requires ~2GB more GPU memory compared to chainer but runs faster. -weight_file: '$(rospack find elevation_mapping_cupy)/config/weights.dat' # Weight file for traversability filter - -#### Upper bound ######## -use_only_above_for_upper_bound: false - -#### Plugins ######## -plugin_config_file: '$(rospack find elevation_mapping_cupy)/config/anymal_plugin_config.yaml' - -#### Publishers ######## -# topic_name: -# layers: # Choose from 'elevation', 'variance', 'traversability', 'time', 'normal_x', 'normal_y', 'normal_z', 'color', plugin_layer_names -# basic_layers: # basic_layers for valid cell computation (e.g. Rviz): Choose a subset of `layers`. -# fps: # Publish rate. Use smaller value than `map_acquire_fps`. -publishers: - elevation_map_raw: - layers: [ 'elevation', 'traversability', 'variance' ] - basic_layers: [ 'elevation', 'traversability' ] - fps: 2.0 - - semantic_map_raw: - layers: [ 'elevation', 'traversability', 'variance', 'rgb_image' ] - basic_layers: [ 'elevation', 'traversability' ] - fps: 2.0 - # elevation_map_recordable: - # layers: ['elevation', 'traversability'] - # basic_layers: ['elevation', 'traversability'] - # fps: 2.0 - # elevation_map_filter: - # layers: ['min_filter', 'smooth', 'inpaint', 'upper_bound','rgb'] - # basic_layers: ['min_filter'] - # fps: 3.0 - -#### Initializer ######## -initialize_method: 'linear' # Choose one from 'nearest', 'linear', 'cubic' -initialize_frame_id: [ 'base_footprint' ] # One tf (like ['footprint'] # One tf (like ['footprint'] ) initializes a square around it. -initialize_tf_offset: [ 0.0 ] # z direction. Should be same number as initialize_frame_id. -dilation_size_initialize: 5 # dilation size after the init. -initialize_tf_grid_size: 0.4 # This is not used if number of tf is more than 3. -use_initializer_at_start: true # Use initializer when the node starts. diff --git a/elevation_mapping_cupy/config/sim_plugin_config.yaml b/elevation_mapping_cupy/config/sim_plugin_config.yaml deleted file mode 100644 index 9630f496..00000000 --- a/elevation_mapping_cupy/config/sim_plugin_config.yaml +++ /dev/null @@ -1,61 +0,0 @@ -# Settings of the plugins. (The plugins should be stored in script/plugins) - -# min_filter fills in minimum value around the invalid cell. -min_filter: - enable: True # weather to load this plugin - fill_nan: False # Fill nans to invalid cells of elevation layer. - is_height_layer: True # If this is a height layer (such as elevation) or not (such as traversability) - layer_name: "min_filter" # The layer name. - extra_params: # This params are passed to the plugin class on initialization. - dilation_size: 1 # The patch size to apply - iteration_n: 30 # The number of iterations -# Apply smoothing. -smooth_filter: - enable: True - fill_nan: False - is_height_layer: True - layer_name: "smooth" - extra_params: - input_layer_name: "min_filter" -# Apply inpainting using opencv -inpainting: - enable: True - fill_nan: False - is_height_layer: True - layer_name: "inpaint" - extra_params: - method: "telea" # telea or ns -# Apply smoothing for inpainted layer - -robot_centric_elevation: # Use the same name as your file name. - # type: "robot_centric_elevation" - enable: False # weather to load this plugin - fill_nan: False # Fill nans to invalid cells of elevation layer. - is_height_layer: True # If this is a height layer (such as elevation) or not (such as traversability) - layer_name: "robot_centric_elevation" # The layer name. - extra_params: # This params are passed to the plugin class on initialization. - # add_value: 2.0 # Example param - resolution: 0.04 - threshold: 1.1 - use_threshold: True - -semantic_filter: - type: "semantic_filter" - enable: False - fill_nan: False - is_height_layer: False - layer_name: "sem_fil" - extra_params: - classes: [ 'grass','tree','fence','dirt' ] - -semantic_traversability: - type: "semantic_traversability" - enable: False - fill_nan: False - is_height_layer: False - layer_name: "sem_traversability" - extra_params: - layers: [ 'traversability','robot_centric_elevation' ] - thresholds: [ 0.3,0.5 ] - type: [ 'traversability', 'elevation' ] - diff --git a/elevation_mapping_cupy/config/sim_sensor_parameter.yaml b/elevation_mapping_cupy/config/sim_sensor_parameter.yaml deleted file mode 100644 index f954e0b1..00000000 --- a/elevation_mapping_cupy/config/sim_sensor_parameter.yaml +++ /dev/null @@ -1,131 +0,0 @@ -#### Subscribers ######## -subscribers: - # debug_rgb: - # fusion: ['image_color'] - # topic_name_camera: /zed2i/zed_node/left/image_rect_color - # topic_name_camera_info: /zed2i/zed_node/right/camera_info - # channels: ["rgb_image"] - # data_type: image - # fusion_types: - # array_fusion: [] - # channels: [] - - # debug_rgb_3_seperate: - # fusion: ['image_exponential','image_exponential','image_exponential'] - # topic_name_camera: /zed2i/zed_node/right/image - # topic_name_camera_info: /zed2i/zed_node/right/camera_info - # channels: ["r_channel", "g_channel", "b_channel"] - # data_type: image - - # debug_rgb_2_seperate: - # fusion: ['image_exponential', 'image_exponential'] - # topic_name_camera: /zed2i/zed_node/left/image_rect_color - # topic_name_camera_info: /zed2i/zed_node/right/camera_info - # channels: ["r_channel", "g_channel"] - # data_type: image - - # debug_mono_exponential: - # fusion: ['image_exponential'] - # topic_name_camera: /debug_image - # topic_name_camera_info: /zed2i/zed_node/right/camera_info - # channels: ["single_channel_semantic"] - # data_type: image - - # front_cam: - # channels: ['rgb'] - # fusion: ['color'] - # topic_name: '/elevation_mapping/pointcloud_semantic' - # data_type: pointcloud - - # alphasense_front_rgb: - # fusion: ['image_color'] - # topic_name_camera: /alphasense_driver_ros/cam4/debayered - # topic_name_camera_info: /alphasense_driver_ros/cam4/camera_info - # channels: ["rgb_image"] - # data_type: image - - - # alphasense_left_rgb: - # fusion: ['image_color'] - # topic_name_camera: /alphasense_driver_ros/cam3/debayered - # topic_name_camera_info: /alphasense_driver_ros/cam3/camera_info - # channels: ["rgb_image"] - # data_type: image - - - # alphasense_right_rgb: - # fusion: ['image_color'] - # topic_name_camera: /alphasense_driver_ros/cam5/debayered - # topic_name_camera_info: /alphasense_driver_ros/cam5/camera_info - # channels: ["rgb_image"] - # data_type: image - - - # wvn_prediction: - # fusion: ['image_exponential'] - # topic_name_camera: '/wild_visual_navigation_node/current_prediction' - # topic_name_camera_info: '/wild_visual_navigation_node/camera_info' - # channels: ["visual_traversability"] - # data_type: image - - # front_cam: - # channels: ['rgb','feat_0','feat_1','grass','tree','fence','person'] - # fusion: ['color','average','average','class_average','class_average','class_average','class_average'] - # topic_name: '/elvation_mapping/pointcloud_semantic' - # semantic_segmentation: False - # segmentation_model: 'detectron_coco_panoptic_fpn_R_101_3x' - # feature_config: - # name: 'DINO' - # interpolation: 'bilinear' - # model: "vit_small" - # patch_size: 16 - # dim: 5 - # dropout: False - # dino_feat_type: "feat" - # input_size: [80, 160] - # projection_type: "nonlinear" - - # cam_info_topic: "/camera/depth/camera_info" - # image_topic: "/camera/rgb/image_raw" - # depth_topic: "/camera/depth/image_raw" - # cam_frame: camera_rgb_optical_frame - # confidence: False - # confidence_topic: "/camera/depth/image_raw" - # confidence_threshold: 10 - # feature_extractor: False - - front_bpearl: - channels: [ ] - fusion: [ ] - topic_name: /point_cloud_filter_rsl/filter_and_merger_rsl - data_type: pointcloud - - # rear_bpearl: - # channels: [] - # fusion: [] - # topic_name: /robot_self_filter/bpearl_rear/point_cloud - # data_type: pointcloud - - # front_depth: - # channels: [] - # fusion: [] - # topic_name: /depth_camera_front/point_cloud_self_filtered - # data_type: pointcloud - - # rear_depth: - # channels: [] - # fusion: [] - # topic_name: /depth_camera_rear/point_cloud_self_filtered - # data_type: pointcloud - - # left_depth: - # channels: [] - # fusion: [] - # topic_name: /depth_camera_left/point_cloud_self_filtered - # data_type: pointcloud - - # right_depth: - # channels: [] - # fusion: [] - # topic_name: /depth_camera_right/point_cloud_self_filtered - # data_type: pointcloud \ No newline at end of file diff --git a/elevation_mapping_cupy/launch/anymal_semantic_elevation_single.launch b/elevation_mapping_cupy/launch/anymal_semantic_elevation_single.launch deleted file mode 100644 index 983bc978..00000000 --- a/elevation_mapping_cupy/launch/anymal_semantic_elevation_single.launch +++ /dev/null @@ -1,26 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - \ No newline at end of file diff --git a/elevation_mapping_cupy/launch/heap_launch.launch b/elevation_mapping_cupy/launch/heap_launch.launch deleted file mode 100644 index 2218c409..00000000 --- a/elevation_mapping_cupy/launch/heap_launch.launch +++ /dev/null @@ -1,17 +0,0 @@ - - - - - - - - - - - - - - - - - diff --git a/elevation_mapping_cupy/launch/lonomy_pointcloud.launch b/elevation_mapping_cupy/launch/lonomy_pointcloud.launch deleted file mode 100644 index fe16229d..00000000 --- a/elevation_mapping_cupy/launch/lonomy_pointcloud.launch +++ /dev/null @@ -1,15 +0,0 @@ - - - - - - - - - - - - - - \ No newline at end of file diff --git a/elevation_mapping_cupy/launch/lonomy_semantic_elevation_single.launch b/elevation_mapping_cupy/launch/lonomy_semantic_elevation_single.launch deleted file mode 100644 index dbd98f95..00000000 --- a/elevation_mapping_cupy/launch/lonomy_semantic_elevation_single.launch +++ /dev/null @@ -1,22 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - \ No newline at end of file diff --git a/elevation_mapping_cupy/launch/semantic_elevation_anymal.launch b/elevation_mapping_cupy/launch/semantic_elevation_anymal.launch deleted file mode 100644 index 8d2f44d6..00000000 --- a/elevation_mapping_cupy/launch/semantic_elevation_anymal.launch +++ /dev/null @@ -1,26 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - diff --git a/elevation_mapping_cupy/launch/semantic_elevation_lonomy_single.launch b/elevation_mapping_cupy/launch/semantic_elevation_lonomy_single.launch deleted file mode 100644 index 8c389af5..00000000 --- a/elevation_mapping_cupy/launch/semantic_elevation_lonomy_single.launch +++ /dev/null @@ -1,20 +0,0 @@ - - - - - - - - - - - - - - - - - - - - diff --git a/elevation_mapping_cupy/launch/sim_semantic_elevation_single.launch b/elevation_mapping_cupy/launch/sim_semantic_elevation_single.launch deleted file mode 100644 index 632b4bfd..00000000 --- a/elevation_mapping_cupy/launch/sim_semantic_elevation_single.launch +++ /dev/null @@ -1,21 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - \ No newline at end of file diff --git a/elevation_mapping_cupy/launch/turtlesim_example.launch b/elevation_mapping_cupy/launch/turtlesim_example.launch index f36001bd..d672f6de 100644 --- a/elevation_mapping_cupy/launch/turtlesim_example.launch +++ b/elevation_mapping_cupy/launch/turtlesim_example.launch @@ -2,27 +2,18 @@ - - - - + + + + + + + - - - - - map_frame: odom - base_frame: base_footprint - pointcloud_topics: ["/camera/depth/points"] - initialize_frame_id: ['base_footprint'] - initialize_tf_offset: [0.0] - + - - - - diff --git a/elevation_mapping_cupy/launch/turtlesim_pointcloud.launch b/elevation_mapping_cupy/launch/turtlesim_init.launch similarity index 59% rename from elevation_mapping_cupy/launch/turtlesim_pointcloud.launch rename to elevation_mapping_cupy/launch/turtlesim_init.launch index 225b5b79..7a118a00 100644 --- a/elevation_mapping_cupy/launch/turtlesim_pointcloud.launch +++ b/elevation_mapping_cupy/launch/turtlesim_init.launch @@ -5,16 +5,12 @@ - + - - - - + diff --git a/elevation_mapping_cupy/launch/turtlesim_semantic_elevation.launch b/elevation_mapping_cupy/launch/turtlesim_semantic_elevation.launch deleted file mode 100644 index 651edf2c..00000000 --- a/elevation_mapping_cupy/launch/turtlesim_semantic_elevation.launch +++ /dev/null @@ -1,18 +0,0 @@ - - - - - - - - - - - - - - - - - - diff --git a/elevation_mapping_cupy/launch/turtlesim_semantic_example.launch b/elevation_mapping_cupy/launch/turtlesim_semantic_example.launch new file mode 100644 index 00000000..176ec061 --- /dev/null +++ b/elevation_mapping_cupy/launch/turtlesim_semantic_example.launch @@ -0,0 +1,18 @@ + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/elevation_mapping_cupy/launch/turtlesim_semantic_image_example.launch b/elevation_mapping_cupy/launch/turtlesim_semantic_image_example.launch new file mode 100644 index 00000000..4e60fee8 --- /dev/null +++ b/elevation_mapping_cupy/launch/turtlesim_semantic_image_example.launch @@ -0,0 +1,19 @@ + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/elevation_mapping_cupy/rviz/anymal.rviz b/elevation_mapping_cupy/rviz/anymal.rviz deleted file mode 100644 index 88da0693..00000000 --- a/elevation_mapping_cupy/rviz/anymal.rviz +++ /dev/null @@ -1,570 +0,0 @@ -Panels: - - Class: rviz/Displays - Help Height: 138 - Name: Displays - Property Tree Widget: - Expanded: ~ - Splitter Ratio: 0.5768463015556335 - Tree Height: 469 - - Class: rviz/Selection - Name: Selection - - Class: rviz/Tool Properties - Expanded: - - /2D Pose Estimate1 - - /2D Nav Goal1 - - /Publish Point1 - Name: Tool Properties - Splitter Ratio: 0.5886790156364441 - - Class: rviz/Views - Expanded: - - /Current View1 - Name: Views - Splitter Ratio: 0.5 - - Class: rviz/Time - Name: Time - SyncMode: 0 - SyncSource: "" -Preferences: - PromptSaveOnExit: true -Toolbars: - toolButtonStyle: 2 -Visualization Manager: - Class: "" - Displays: - - Alpha: 0.5 - Cell Size: 1 - Class: rviz/Grid - Color: 160; 160; 164 - Enabled: true - Line Style: - Line Width: 0.029999999329447746 - Value: Lines - Name: Grid - Normal Cell Count: 0 - Offset: - X: 0 - Y: 0 - Z: 0 - Plane: XY - Plane Cell Count: 10 - Reference Frame: - Value: true - - Alpha: 1 - Autocompute Intensity Bounds: true - Class: grid_map_rviz_plugin/GridMap - Color: 200; 200; 200 - Color Layer: rgb_image - Color Transformer: ColorLayer - Enabled: true - Height Layer: elevation - Height Transformer: Layer - History Length: 1 - Invert Rainbow: false - Max Color: 204; 0; 0 - Max Intensity: 10 - Min Color: 52; 101; 164 - Min Intensity: 0 - Name: ElevationMapFilter - Show Grid Lines: true - Topic: /elevation_mapping/semantic_map_raw - Unreliable: false - Use Rainbow: false - Value: true - - Class: rviz/TF - Enabled: true - Frame Timeout: 15 - Frames: - All Enabled: true - LF_FOOT: - Value: true - LF_HAA: - Value: true - LF_HFE: - Value: true - LF_HIP: - Value: true - LF_KFE: - Value: true - LF_SHANK: - Value: true - LF_THIGH: - Value: true - LF_hip_fixed: - Value: true - LF_shank_fixed: - Value: true - LF_thigh_fixed: - Value: true - LH_FOOT: - Value: true - LH_HAA: - Value: true - LH_HFE: - Value: true - LH_HIP: - Value: true - LH_KFE: - Value: true - LH_SHANK: - Value: true - LH_THIGH: - Value: true - LH_hip_fixed: - Value: true - LH_shank_fixed: - Value: true - LH_thigh_fixed: - Value: true - RF_FOOT: - Value: true - RF_HAA: - Value: true - RF_HFE: - Value: true - RF_HIP: - Value: true - RF_KFE: - Value: true - RF_SHANK: - Value: true - RF_THIGH: - Value: true - RF_hip_fixed: - Value: true - RF_shank_fixed: - Value: true - RF_thigh_fixed: - Value: true - RH_FOOT: - Value: true - RH_HAA: - Value: true - RH_HFE: - Value: true - RH_HIP: - Value: true - RH_KFE: - Value: true - RH_SHANK: - Value: true - RH_THIGH: - Value: true - RH_hip_fixed: - Value: true - RH_shank_fixed: - Value: true - RH_thigh_fixed: - Value: true - alphasense_mesh: - Value: true - base: - Value: true - base_inertia: - Value: true - base_inverted: - Value: true - battery: - Value: true - body_top: - Value: true - bottom_shell: - Value: true - cam0_sensor_frame: - Value: true - cam1_sensor_frame: - Value: true - cam2_sensor_frame: - Value: true - cam3_sensor_frame: - Value: true - cam3_sensor_frame_helper: - Value: true - cam4_sensor_frame: - Value: true - cam4_sensor_frame_helper: - Value: true - cam5_sensor_frame: - Value: true - cam5_sensor_frame_helper: - Value: true - cam6_sensor_frame: - Value: true - cam6_sensor_frame_helper: - Value: true - camera_init: - Value: true - camera_init_CORRECTED: - Value: true - depth_camera_front_camera: - Value: true - depth_camera_front_camera_parent: - Value: true - depth_camera_front_depth_frame: - Value: true - depth_camera_front_depth_optical_frame: - Value: true - depth_camera_front_infra1_frame: - Value: true - depth_camera_front_infra1_optical_frame: - Value: true - depth_camera_front_infra2_frame: - Value: true - depth_camera_front_infra2_optical_frame: - Value: true - depth_camera_left_camera: - Value: true - depth_camera_left_camera_parent: - Value: true - depth_camera_left_depth_frame: - Value: true - depth_camera_left_depth_optical_frame: - Value: true - depth_camera_left_infra1_frame: - Value: true - depth_camera_left_infra1_optical_frame: - Value: true - depth_camera_left_infra2_frame: - Value: true - depth_camera_left_infra2_optical_frame: - Value: true - depth_camera_rear_camera: - Value: true - depth_camera_rear_camera_parent: - Value: true - depth_camera_rear_depth_frame: - Value: true - depth_camera_rear_depth_optical_frame: - Value: true - depth_camera_rear_infra1_frame: - Value: true - depth_camera_rear_infra1_optical_frame: - Value: true - depth_camera_rear_infra2_frame: - Value: true - depth_camera_rear_infra2_optical_frame: - Value: true - depth_camera_right_camera: - Value: true - depth_camera_right_camera_parent: - Value: true - depth_camera_right_depth_frame: - Value: true - depth_camera_right_depth_optical_frame: - Value: true - depth_camera_right_infra1_frame: - Value: true - depth_camera_right_infra1_optical_frame: - Value: true - depth_camera_right_infra2_frame: - Value: true - depth_camera_right_infra2_optical_frame: - Value: true - docking_hatch_cover: - Value: true - face_front: - Value: true - face_rear: - Value: true - feetcenter: - Value: true - footprint: - Value: true - front_handle: - Value: true - handle: - Value: true - hatch: - Value: true - imu_link: - Value: true - imu_sensor_frame: - Value: true - interface_hatch: - Value: true - lidar: - Value: true - map: - Value: true - mira_spectrometer: - Value: true - msf_body_imu_map: - Value: true - odom: - Value: true - perception_head_cage: - Value: true - remote: - Value: true - top_shell: - Value: true - wide_angle_camera_front_camera: - Value: true - wide_angle_camera_front_camera_parent: - Value: true - wide_angle_camera_rear_camera: - Value: true - wide_angle_camera_rear_camera_parent: - Value: true - Marker Alpha: 1 - Marker Scale: 1 - Name: TF - Show Arrows: true - Show Axes: true - Show Names: true - Tree: - odom: - base: - LF_HAA: - LF_HIP: - LF_hip_fixed: - LF_HFE: - LF_THIGH: - LF_thigh_fixed: - LF_KFE: - LF_SHANK: - LF_shank_fixed: - LF_FOOT: - { } - LH_HAA: - LH_HIP: - LH_hip_fixed: - LH_HFE: - LH_THIGH: - LH_thigh_fixed: - LH_KFE: - LH_SHANK: - LH_shank_fixed: - LH_FOOT: - { } - RF_HAA: - RF_HIP: - RF_hip_fixed: - RF_HFE: - RF_THIGH: - RF_thigh_fixed: - RF_KFE: - RF_SHANK: - RF_shank_fixed: - RF_FOOT: - { } - RH_HAA: - RH_HIP: - RH_hip_fixed: - RH_HFE: - RH_THIGH: - RH_thigh_fixed: - RH_KFE: - RH_SHANK: - RH_shank_fixed: - RH_FOOT: - { } - alphasense_mesh: - { } - base_inertia: - { } - base_inverted: - { } - battery: - { } - body_top: - { } - bottom_shell: - { } - depth_camera_left_camera: - depth_camera_left_camera_parent: - depth_camera_left_depth_frame: - depth_camera_left_depth_optical_frame: - { } - depth_camera_left_infra1_frame: - depth_camera_left_infra1_optical_frame: - { } - depth_camera_left_infra2_frame: - depth_camera_left_infra2_optical_frame: - { } - depth_camera_right_camera: - depth_camera_right_camera_parent: - depth_camera_right_depth_frame: - depth_camera_right_depth_optical_frame: - { } - depth_camera_right_infra1_frame: - depth_camera_right_infra1_optical_frame: - { } - depth_camera_right_infra2_frame: - depth_camera_right_infra2_optical_frame: - { } - docking_hatch_cover: - { } - face_front: - depth_camera_front_camera: - depth_camera_front_camera_parent: - depth_camera_front_depth_frame: - depth_camera_front_depth_optical_frame: - { } - depth_camera_front_infra1_frame: - depth_camera_front_infra1_optical_frame: - { } - depth_camera_front_infra2_frame: - depth_camera_front_infra2_optical_frame: - { } - wide_angle_camera_front_camera: - wide_angle_camera_front_camera_parent: - { } - face_rear: - depth_camera_rear_camera: - depth_camera_rear_camera_parent: - depth_camera_rear_depth_frame: - depth_camera_rear_depth_optical_frame: - { } - depth_camera_rear_infra1_frame: - depth_camera_rear_infra1_optical_frame: - { } - depth_camera_rear_infra2_frame: - depth_camera_rear_infra2_optical_frame: - { } - wide_angle_camera_rear_camera: - wide_angle_camera_rear_camera_parent: - { } - front_handle: - { } - handle: - { } - imu_link: - { } - interface_hatch: - hatch: - { } - mira_spectrometer: - { } - perception_head_cage: - lidar: - imu_sensor_frame: - cam0_sensor_frame: - { } - cam1_sensor_frame: - { } - cam2_sensor_frame: - { } - cam3_sensor_frame_helper: - cam3_sensor_frame: - { } - cam4_sensor_frame_helper: - cam4_sensor_frame: - { } - cam5_sensor_frame_helper: - cam5_sensor_frame: - { } - cam6_sensor_frame_helper: - cam6_sensor_frame: - { } - remote: - { } - top_shell: - { } - feetcenter: - { } - footprint: - { } - map: - camera_init_CORRECTED: - camera_init: - { } - msf_body_imu_map: - { } - Update Interval: 0 - Value: true - - Class: rviz/Image - Enabled: true - Image Topic: /alphasense_driver_ros/cam4/debayered - Max Value: 1 - Median window: 5 - Min Value: 0 - Name: Image - Normalize Range: true - Queue Size: 2 - Transport Hint: raw - Unreliable: false - Value: true - - Class: rviz/Marker - Enabled: true - Marker Topic: /visualization_marker_l - Name: Marker - Namespaces: - { } - Queue Size: 100 - Value: true - - Class: rviz/Marker - Enabled: true - Marker Topic: /visualization_marker_r - Name: Marker - Namespaces: - { } - Queue Size: 100 - Value: true - Enabled: true - Global Options: - Background Color: 255; 255; 255 - Default Light: true - Fixed Frame: map - Frame Rate: 30 - Name: root - Tools: - - Class: rviz/Interact - Hide Inactive Objects: true - - Class: rviz/MoveCamera - - Class: rviz/Select - - Class: rviz/FocusCamera - - Class: rviz/Measure - - Class: rviz/SetInitialPose - Theta std deviation: 0.2617993950843811 - Topic: /initialpose - X std deviation: 0.5 - Y std deviation: 0.5 - - Class: rviz/SetGoal - Topic: /move_base_simple/goal - - Class: rviz/PublishPoint - Single click: true - Topic: /clicked_point - Value: true - Views: - Current: - Class: rviz/Orbit - Distance: 18.912090301513672 - Enable Stereo Rendering: - Stereo Eye Separation: 0.05999999865889549 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Field of View: 0.7853981852531433 - Focal Point: - X: 0.7929360866546631 - Y: 0.3796532452106476 - Z: -0.4990573823451996 - Focal Shape Fixed Size: true - Focal Shape Size: 0.05000000074505806 - Invert Z Axis: false - Name: Current View - Near Clip Distance: 0.009999999776482582 - Pitch: 0.23979759216308594 - Target Frame: base_footprint - Yaw: 5.103874206542969 - Saved: ~ -Window Geometry: - Displays: - collapsed: false - Height: 1016 - Hide Left Dock: false - Hide Right Dock: true - Image: - collapsed: false - QMainWindow State: 000000ff00000000fd0000000400000000000001f50000039efc020000000cfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000029c000000c900fffffffb0000000a0049006d00610067006501000002df000000fc0000001600fffffffb0000000a0049006d00610067006501000002af0000012c0000000000000000fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d0061006700650000000325000000d10000000000000000fb0000000a0049006d006100670065010000032a000000cc0000000000000000000000010000015f0000053bfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000000560000053b000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000078000000131fc0100000002fb0000000800540069006d00650000000000000007380000041800fffffffb0000000800540069006d006501000000000000045000000000000000000000053d0000039e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 - Selection: - collapsed: false - Time: - collapsed: false - Tool Properties: - collapsed: false - Views: - collapsed: true - Width: 1848 - X: 72 - Y: 27 diff --git a/elevation_mapping_cupy/rviz/heap.rviz b/elevation_mapping_cupy/rviz/heap.rviz deleted file mode 100644 index a2e695df..00000000 --- a/elevation_mapping_cupy/rviz/heap.rviz +++ /dev/null @@ -1,600 +0,0 @@ -Panels: - - Class: rviz/Displays - Help Height: 78 - Name: Displays - Property Tree Widget: - Expanded: ~ - Splitter Ratio: 0.5 - Tree Height: 288 - - Class: rviz/Selection - Name: Selection - - Class: rviz/Tool Properties - Expanded: - - /2D Pose Estimate1 - - /2D Nav Goal1 - - /Publish Point1 - - /Interact1 - Name: Tool Properties - Splitter Ratio: 0.5886790156364441 - - Class: rviz/Views - Expanded: - - /Current View1 - Name: Views - Splitter Ratio: 0.4944238066673279 - - Class: rviz/Time - Experimental: false - Name: Time - SyncMode: 0 - SyncSource: Image -Preferences: - PromptSaveOnExit: true -Toolbars: - toolButtonStyle: 2 -Visualization Manager: - Class: "" - Displays: - - Alpha: 0.5 - Cell Size: 1 - Class: rviz/Grid - Color: 160; 160; 164 - Enabled: false - Line Style: - Line Width: 0.029999999329447746 - Value: Lines - Name: Grid - Normal Cell Count: 0 - Offset: - X: 0 - Y: 0 - Z: 0 - Plane: XY - Plane Cell Count: 10 - Reference Frame: - Value: false - - Class: rviz/Image - Enabled: true - Image Topic: /camUSBRightView/Downsampled - Max Value: 1 - Median window: 5 - Min Value: 0 - Name: Image - Normalize Range: true - Queue Size: 2 - Transport Hint: raw - Unreliable: false - Value: true - - Class: rviz/TF - Enabled: true - Frame Timeout: 15 - Frames: - All Enabled: true - BASE: - Value: true - BASE_inertia: - Value: true - BOOM: - Value: true - CABIN: - Value: true - DIPPER: - Value: true - ENDEFFECTOR: - Value: true - ENDEFFECTOR_CONTACT: - Value: true - GNSS_L: - Value: true - GNSS_R: - Value: true - IMU_base_link: - Value: true - IMU_link: - Value: true - LF_BEAM: - Value: true - LF_BEARING: - Value: true - LF_KNUCKLE: - Value: true - LF_PARALLEL: - Value: true - LF_SWIVEL: - Value: true - LF_WHEEL: - Value: true - LF_WHEEL_CONTACT: - Value: true - LH_BEAM: - Value: true - LH_KNUCKLE: - Value: true - LH_OUTRIGGER: - Value: true - LH_ROTATOR: - Value: true - LH_WHEEL: - Value: true - LH_WHEEL_CONTACT: - Value: true - RF_BEAM: - Value: true - RF_BEARING: - Value: true - RF_KNUCKLE: - Value: true - RF_PARALLEL: - Value: true - RF_SWIVEL: - Value: true - RF_WHEEL: - Value: true - RF_WHEEL_CONTACT: - Value: true - RH_BEAM: - Value: true - RH_KNUCKLE: - Value: true - RH_OUTRIGGER: - Value: true - RH_ROTATOR: - Value: true - RH_WHEEL: - Value: true - RH_WHEEL_CONTACT: - Value: true - ROTO: - Value: true - ROTO_BASE: - Value: true - SHOVEL: - Value: true - TELE: - Value: true - camMainView: - Value: true - compslam_lio/aft_mapped: - Value: true - compslam_lio/aft_mapped_to_init_CORRECTED: - Value: true - compslam_lio/camera: - Value: true - compslam_lio/camera_CORRECTED: - Value: true - compslam_lio/camera_init: - Value: true - compslam_lio/camera_init_CORRECTED: - Value: true - compslam_lio/camera_init_GRAVITY_ALIGNED: - Value: true - compslam_lio/laser_odom: - Value: true - compslam_lio/laser_odom_CORRECTED: - Value: true - imu_box_base_link: - Value: true - imu_box_link: - Value: true - livox_frame: - Value: true - map: - Value: true - odom: - Value: true - os_imu: - Value: true - os_lidar: - Value: true - os_sensor: - Value: true - roof_top_box: - Value: true - Marker Alpha: 1 - Marker Scale: 1 - Name: TF - Show Arrows: true - Show Axes: true - Show Names: true - Tree: - map: - compslam_lio/camera_init_CORRECTED: - compslam_lio/aft_mapped_to_init_CORRECTED: - { } - compslam_lio/camera_CORRECTED: - { } - compslam_lio/camera_init: - compslam_lio/aft_mapped: - { } - compslam_lio/camera: - { } - compslam_lio/laser_odom: - { } - compslam_lio/camera_init_GRAVITY_ALIGNED: - { } - compslam_lio/laser_odom_CORRECTED: - { } - odom: - BASE: - BASE_inertia: - { } - CABIN: - BOOM: - DIPPER: - TELE: - ROTO_BASE: - ROTO: - ENDEFFECTOR: - SHOVEL: - ENDEFFECTOR_CONTACT: - { } - GNSS_L: - { } - GNSS_R: - { } - camMainView: - livox_frame: - { } - os_sensor: - os_imu: - { } - os_lidar: - { } - roof_top_box: - imu_box_base_link: - imu_box_link: - { } - IMU_base_link: - IMU_link: - { } - LF_SWIVEL: - LF_BEAM: - LF_BEARING: - LF_KNUCKLE: - LF_WHEEL: - LF_WHEEL_CONTACT: - { } - LF_PARALLEL: - { } - LH_ROTATOR: - LH_BEAM: - LH_KNUCKLE: - LH_OUTRIGGER: - { } - LH_WHEEL: - LH_WHEEL_CONTACT: - { } - RF_SWIVEL: - RF_BEAM: - RF_BEARING: - RF_KNUCKLE: - RF_WHEEL: - RF_WHEEL_CONTACT: - { } - RF_PARALLEL: - { } - RH_ROTATOR: - RH_BEAM: - RH_KNUCKLE: - RH_OUTRIGGER: - { } - RH_WHEEL: - RH_WHEEL_CONTACT: - { } - Update Interval: 0 - Value: true - - Class: rviz/Image - Enabled: true - Image Topic: /camMainView/Downsampled - Max Value: 1 - Median window: 5 - Min Value: 0 - Name: Image - Normalize Range: true - Queue Size: 2 - Transport Hint: raw - Unreliable: false - Value: true - - Alpha: 1 - Autocompute Intensity Bounds: true - Class: grid_map_rviz_plugin/GridMap - Color: 200; 200; 200 - Color Layer: rgb_image - Color Transformer: ColorLayer - ColorMap: default - Enabled: true - Grid Cell Decimation: 1 - Grid Line Thickness: 0.10000000149011612 - Height Layer: smooth - Height Transformer: GridMapLayer - History Length: 1 - Invert ColorMap: false - Max Color: 255; 255; 255 - Max Intensity: 10 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: GridMap - Show Grid Lines: true - Topic: /elevation_mapping/elevation_map_filter - Unreliable: false - Use ColorMap: true - Value: true - - Alpha: 1 - Class: rviz/RobotModel - Collision Enabled: false - Enabled: true - Links: - All Links Enabled: true - BASE: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - BASE_inertia: - Alpha: 1 - Show Axes: false - Show Trail: false - BOOM: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - CABIN: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - DIPPER: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - ENDEFFECTOR: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - ENDEFFECTOR_CONTACT: - Alpha: 1 - Show Axes: false - Show Trail: false - Expand Joint Details: false - Expand Link Details: false - Expand Tree: false - GNSS_L: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - GNSS_R: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - IMU_base_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - IMU_link: - Alpha: 1 - Show Axes: false - Show Trail: false - LF_BEAM: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - LF_BEARING: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - LF_KNUCKLE: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - LF_PARALLEL: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - LF_SWIVEL: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - LF_WHEEL: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - LF_WHEEL_CONTACT: - Alpha: 1 - Show Axes: false - Show Trail: false - LH_BEAM: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - LH_KNUCKLE: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - LH_OUTRIGGER: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - LH_ROTATOR: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - LH_WHEEL: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - LH_WHEEL_CONTACT: - Alpha: 1 - Show Axes: false - Show Trail: false - Link Tree Style: Links in Alphabetic Order - RF_BEAM: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - RF_BEARING: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - RF_KNUCKLE: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - RF_PARALLEL: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - RF_SWIVEL: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - RF_WHEEL: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - RF_WHEEL_CONTACT: - Alpha: 1 - Show Axes: false - Show Trail: false - RH_BEAM: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - RH_KNUCKLE: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - RH_OUTRIGGER: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - RH_ROTATOR: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - RH_WHEEL: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - RH_WHEEL_CONTACT: - Alpha: 1 - Show Axes: false - Show Trail: false - ROTO: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - ROTO_BASE: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - SHOVEL: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - TELE: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - Name: RobotModel - Robot Description: mm_description - TF Prefix: "" - Update Interval: 0 - Value: true - Visual Enabled: true - Enabled: true - Global Options: - Background Color: 255; 255; 255 - Default Light: true - Fixed Frame: map - Frame Rate: 30 - Name: root - Tools: - - Class: rviz/Select - - Class: rviz/SetInitialPose - Theta std deviation: 0.2617993950843811 - Topic: /initialpose - X std deviation: 0.5 - Y std deviation: 0.5 - - Class: rviz/SetGoal - Topic: /move_base_simple/goal - - Class: rviz/PublishPoint - Single click: true - Topic: /clicked_point - - Class: rviz/MoveCamera - - Class: rviz/FocusCamera - - Class: rviz/Interact - Hide Inactive Objects: true - Value: true - Views: - Current: - Class: rviz/Orbit - Distance: 27.363513946533203 - Enable Stereo Rendering: - Stereo Eye Separation: 0.05999999865889549 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Field of View: 1 - Focal Point: - X: 4.949670314788818 - Y: 8.161603927612305 - Z: -4.364292144775391 - Focal Shape Fixed Size: false - Focal Shape Size: 0.05000000074505806 - Invert Z Axis: false - Name: Current View - Near Clip Distance: 0.009999999776482582 - Pitch: 0.7703982591629028 - Target Frame: - Yaw: 2.9804012775421143 - Saved: ~ -Window Geometry: - Displays: - collapsed: false - Height: 1016 - Hide Left Dock: false - Hide Right Dock: false - Image: - collapsed: false - QMainWindow State: 000000ff00000000fd0000000400000000000001560000035afc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000001ab000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006501000001ee0000012f0000001600fffffffb0000000a0049006d0061006700650100000323000000740000001600ffffff000000010000010f0000035afc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d0000035a000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000003efc0100000002fb0000000800540069006d0065010000000000000738000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000004c70000035a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 - Selection: - collapsed: false - Time: - collapsed: false - Tool Properties: - collapsed: false - Views: - collapsed: false - Width: 1848 - X: 72 - Y: 27 diff --git a/elevation_mapping_cupy/rviz/lonomy_single.rviz b/elevation_mapping_cupy/rviz/lonomy_single.rviz deleted file mode 100644 index 2544ffe9..00000000 --- a/elevation_mapping_cupy/rviz/lonomy_single.rviz +++ /dev/null @@ -1,494 +0,0 @@ -Panels: - - Class: rviz/Displays - Help Height: 138 - Name: Displays - Property Tree Widget: - Expanded: - - /ElevationMapFilter1 - Splitter Ratio: 0.5768463015556335 - Tree Height: 247 - - Class: rviz/Selection - Name: Selection - - Class: rviz/Tool Properties - Expanded: - - /2D Pose Estimate1 - - /2D Nav Goal1 - - /Publish Point1 - Name: Tool Properties - Splitter Ratio: 0.5886790156364441 - - Class: rviz/Views - Expanded: - - /Current View1 - Name: Views - Splitter Ratio: 0.5 - - Class: rviz/Time - Name: Time - SyncMode: 0 - SyncSource: Image -Preferences: - PromptSaveOnExit: true -Toolbars: - toolButtonStyle: 2 -Visualization Manager: - Class: "" - Displays: - - Alpha: 0.5 - Cell Size: 1 - Class: rviz/Grid - Color: 160; 160; 164 - Enabled: true - Line Style: - Line Width: 0.029999999329447746 - Value: Lines - Name: Grid - Normal Cell Count: 0 - Offset: - X: 0 - Y: 0 - Z: 0 - Plane: XY - Plane Cell Count: 10 - Reference Frame: - Value: true - - Alpha: 1 - Autocompute Intensity Bounds: true - Class: grid_map_rviz_plugin/GridMap - Color: 200; 200; 200 - Color Layer: rgb - Color Transformer: ColorLayer - Enabled: true - Height Layer: min_filter - Height Transformer: GridMapLayer - History Length: 1 - Invert Rainbow: false - Max Color: 204; 0; 0 - Max Intensity: 10 - Min Color: 52; 101; 164 - Min Intensity: 0 - Name: ElevationMapFilter - Show Grid Lines: true - Topic: /elevation_mapping/elevation_map_filter - Unreliable: false - Use Rainbow: false - Value: true - - Alpha: 1 - Class: rviz/RobotModel - Collision Enabled: false - Enabled: true - Links: - All Links Enabled: true - Expand Joint Details: false - Expand Link Details: false - Expand Tree: false - GPS_back: - Alpha: 1 - Show Axes: false - Show Trail: false - GPS_front: - Alpha: 1 - Show Axes: false - Show Trail: false - Link Tree Style: Links in Alphabetic Order - alphasense: - Alpha: 1 - Show Axes: false - Show Trail: false - base_footprint: - Alpha: 1 - Show Axes: false - Show Trail: false - base_inertial: - Alpha: 1 - Show Axes: false - Show Trail: false - base_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - estimator_imu: - Alpha: 1 - Show Axes: false - Show Trail: false - left_back_wheel: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - left_back_wheel_sup: - Alpha: 1 - Show Axes: false - Show Trail: false - left_front_wheel: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - left_front_wheel_sup: - Alpha: 1 - Show Axes: false - Show Trail: false - rear_axle_center: - Alpha: 1 - Show Axes: false - Show Trail: false - right_back_wheel: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - right_back_wheel_sup: - Alpha: 1 - Show Axes: false - Show Trail: false - right_front_wheel: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - right_front_wheel_sup: - Alpha: 1 - Show Axes: false - Show Trail: false - zed2i_baro_link: - Alpha: 1 - Show Axes: false - Show Trail: false - zed2i_base_link: - Alpha: 1 - Show Axes: false - Show Trail: false - zed2i_camera_center: - Alpha: 1 - Show Axes: false - Show Trail: false - zed2i_left_camera_frame: - Alpha: 1 - Show Axes: false - Show Trail: false - zed2i_left_camera_optical_frame: - Alpha: 1 - Show Axes: false - Show Trail: false - zed2i_mag_link: - Alpha: 1 - Show Axes: false - Show Trail: false - zed2i_right_camera_frame: - Alpha: 1 - Show Axes: false - Show Trail: false - zed2i_right_camera_optical_frame: - Alpha: 1 - Show Axes: false - Show Trail: false - zed2i_temp_left_link: - Alpha: 1 - Show Axes: false - Show Trail: false - zed2i_temp_right_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Name: RobotModel - Robot Description: robot_description - TF Prefix: "" - Update Interval: 0 - Value: true - Visual Enabled: true - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 10 - Min Value: -10 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz/PointCloud2 - Color: 255; 255; 255 - Color Transformer: RGB8 - Decay Time: 0 - Enabled: false - Invert Rainbow: false - Max Color: 255; 255; 255 - Min Color: 0; 0; 0 - Name: PointCloud2 - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.009999999776482582 - Style: Flat Squares - Topic: /elvation_mapping/pointcloud_semantic - Unreliable: false - Use Fixed Frame: true - Use rainbow: true - Value: false - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 10 - Min Value: -10 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz/PointCloud2 - Color: 255; 255; 255 - Color Transformer: RGB8 - Decay Time: 0 - Enabled: false - Invert Rainbow: false - Max Color: 255; 255; 255 - Min Color: 0; 0; 0 - Name: PointCloud2 - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.009999999776482582 - Style: Flat Squares - Topic: /elvation_mapping/pointcloud_semantic_right - Unreliable: false - Use Fixed Frame: true - Use rainbow: true - Value: false - - Class: rviz/TF - Enabled: true - Frame Timeout: 15 - Frames: - All Enabled: true - GPS_back: - Value: true - GPS_front: - Value: true - alphasense: - Value: true - base_footprint: - Value: true - base_inertial: - Value: true - base_link: - Value: true - enu: - Value: true - estimator_imu: - Value: true - left_back_wheel: - Value: true - left_back_wheel_sup: - Value: true - left_front_wheel: - Value: true - left_front_wheel_sup: - Value: true - rear_axle_center: - Value: true - right_back_wheel: - Value: true - right_back_wheel_sup: - Value: true - right_front_wheel: - Value: true - right_front_wheel_sup: - Value: true - zed2i_baro_link: - Value: true - zed2i_base_link: - Value: true - zed2i_camera_center: - Value: true - zed2i_left_camera_frame: - Value: true - zed2i_left_camera_optical_frame: - Value: true - zed2i_mag_link: - Value: true - zed2i_right_camera_frame: - Value: true - zed2i_right_camera_optical_frame: - Value: true - zed2i_temp_left_link: - Value: true - zed2i_temp_right_link: - Value: true - Marker Alpha: 1 - Marker Scale: 1 - Name: TF - Show Arrows: true - Show Axes: true - Show Names: true - Tree: - enu: - base_link: - base_footprint: - { } - base_inertial: - { } - estimator_imu: - GPS_back: - { } - GPS_front: - { } - alphasense: - { } - left_back_wheel_sup: - left_back_wheel: - { } - left_front_wheel_sup: - left_front_wheel: - { } - rear_axle_center: - { } - right_back_wheel_sup: - right_back_wheel: - { } - right_front_wheel_sup: - right_front_wheel: - { } - zed2i_base_link: - zed2i_camera_center: - zed2i_baro_link: - { } - zed2i_left_camera_frame: - zed2i_left_camera_optical_frame: - { } - zed2i_temp_left_link: - { } - zed2i_mag_link: - { } - zed2i_right_camera_frame: - zed2i_right_camera_optical_frame: - { } - zed2i_temp_right_link: - { } - Update Interval: 0 - Value: true - - Class: rviz/Image - Enabled: true - Image Topic: /zed2i/zed_node/left/image_rect_color - Max Value: 1 - Median window: 5 - Min Value: 0 - Name: Image - Normalize Range: true - Queue Size: 2 - Transport Hint: raw - Unreliable: false - Value: true - - Class: rviz/Image - Enabled: true - Image Topic: /semantic_sensor/sem_seg - Max Value: 1 - Median window: 5 - Min Value: 0 - Name: Image - Normalize Range: true - Queue Size: 2 - Transport Hint: raw - Unreliable: false - Value: true - - Class: rviz/Marker - Enabled: true - Marker Topic: /visualization_marker_l - Name: Marker - Namespaces: - { } - Queue Size: 100 - Value: true - - Class: rviz/Marker - Enabled: true - Marker Topic: /visualization_marker_r - Name: Marker - Namespaces: - { } - Queue Size: 100 - Value: true - - Alpha: 1 - Autocompute Intensity Bounds: true - Class: grid_map_rviz_plugin/GridMap - Color: 200; 200; 200 - Color Layer: traversability - Color Transformer: GridMapLayer - Enabled: false - Height Layer: elevation - Height Transformer: GridMapLayer - History Length: 1 - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 10 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: GridMap - Show Grid Lines: true - Topic: /elevation_mapping/elevation_map_raw - Unreliable: false - Use Rainbow: true - Value: false - Enabled: true - Global Options: - Background Color: 255; 255; 255 - Default Light: true - Fixed Frame: enu - Frame Rate: 30 - Name: root - Tools: - - Class: rviz/Interact - Hide Inactive Objects: true - - Class: rviz/MoveCamera - - Class: rviz/Select - - Class: rviz/FocusCamera - - Class: rviz/Measure - - Class: rviz/SetInitialPose - Theta std deviation: 0.2617993950843811 - Topic: /initialpose - X std deviation: 0.5 - Y std deviation: 0.5 - - Class: rviz/SetGoal - Topic: /move_base_simple/goal - - Class: rviz/PublishPoint - Single click: true - Topic: /clicked_point - Value: true - Views: - Current: - Class: rviz/Orbit - Distance: 7.332578659057617 - Enable Stereo Rendering: - Stereo Eye Separation: 0.05999999865889549 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Field of View: 0.7853981852531433 - Focal Point: - X: 0.7929360866546631 - Y: 0.3796532452106476 - Z: -0.4990573823451996 - Focal Shape Fixed Size: true - Focal Shape Size: 0.05000000074505806 - Invert Z Axis: false - Name: Current View - Near Clip Distance: 0.009999999776482582 - Pitch: 0.43979740142822266 - Target Frame: base_footprint - Yaw: 2.8488521575927734 - Saved: ~ -Window Geometry: - Displays: - collapsed: false - Height: 1016 - Hide Left Dock: false - Hide Right Dock: true - Image: - collapsed: false - QMainWindow State: 000000ff00000000fd0000000400000000000001f50000039efc020000000cfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000001be000000c900fffffffb0000000a0049006d0061006700650100000201000000fc0000001600fffffffb0000000a0049006d0061006700650100000303000000d80000001600fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d0061006700650000000325000000d10000000000000000fb0000000a0049006d006100670065010000032a000000cc0000000000000000000000010000015f0000053bfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000000560000053b000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000078000000131fc0100000002fb0000000800540069006d00650000000000000007380000041800fffffffb0000000800540069006d006501000000000000045000000000000000000000053d0000039e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 - Selection: - collapsed: false - Time: - collapsed: false - Tool Properties: - collapsed: false - Views: - collapsed: true - Width: 1848 - X: 72 - Y: 27 diff --git a/elevation_mapping_cupy/rviz/turtle_example.rviz b/elevation_mapping_cupy/rviz/turtle_example.rviz index 27c1aa4b..b5b19b90 100644 --- a/elevation_mapping_cupy/rviz/turtle_example.rviz +++ b/elevation_mapping_cupy/rviz/turtle_example.rviz @@ -6,7 +6,7 @@ Panels: Expanded: - /Global Options1 Splitter Ratio: 0.5768463015556335 - Tree Height: 1115 + Tree Height: 658 - Class: rviz/Selection Name: Selection - Class: rviz/Tool Properties @@ -25,7 +25,7 @@ Panels: Experimental: false Name: Time SyncMode: 0 - SyncSource: PointCloud2 + SyncSource: "" Preferences: PromptSaveOnExit: true Toolbars: @@ -55,13 +55,16 @@ Visualization Manager: Autocompute Intensity Bounds: false Class: grid_map_rviz_plugin/GridMap Color: 200; 200; 200 - Color Layer: traversability - Color Transformer: "" + Color Layer: rgb + Color Transformer: ColorLayer + ColorMap: default Enabled: true + Grid Cell Decimation: 1 + Grid Line Thickness: 0.10000000149011612 Height Layer: elevation Height Transformer: "" History Length: 1 - Invert Rainbow: false + Invert ColorMap: false Max Color: 238; 238; 236 Max Intensity: 1 Min Color: 32; 74; 135 @@ -70,28 +73,7 @@ Visualization Manager: Show Grid Lines: true Topic: /elevation_mapping/elevation_map_raw Unreliable: false - Use Rainbow: false - Value: true - - Alpha: 0.10000000149011612 - Autocompute Intensity Bounds: true - Class: grid_map_rviz_plugin/GridMap - Color: 200; 200; 200 - Color Layer: min_filter - Color Transformer: GridMapLayer - Enabled: true - Height Layer: min_filter - Height Transformer: GridMapLayer - History Length: 1 - Invert Rainbow: false - Max Color: 206; 92; 0 - Max Intensity: 10 - Min Color: 255; 255; 255 - Min Intensity: 0 - Name: ElevationMapFilter - Show Grid Lines: true - Topic: /elevation_mapping/elevation_map_filter - Unreliable: false - Use Rainbow: false + Use ColorMap: true Value: true - Alpha: 1 Class: rviz/RobotModel @@ -247,10 +229,10 @@ Visualization Manager: Window Geometry: Displays: collapsed: false - Height: 1562 + Height: 1043 Hide Left Dock: false Hide Right Dock: true - QMainWindow State: 000000ff00000000fd0000000400000000000001f70000053bfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000008600fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000560000053b0000012600fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000015f0000053bfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000000560000053b000000ec00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e1000001970000000300000b0a0000005afc0100000002fb0000000800540069006d0065010000000000000b0a0000042b00fffffffb0000000800540069006d006501000000000000045000000000000000000000090a0000053b00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + QMainWindow State: 000000ff00000000fd0000000400000000000001f700000359fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000359000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000015f0000053bfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000000560000053b000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000005afc0100000002fb0000000800540069006d0065010000000000000780000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000005830000035900000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Selection: collapsed: false Time: @@ -259,6 +241,6 @@ Window Geometry: collapsed: false Views: collapsed: true - Width: 2826 - X: 776 - Y: 185 + Width: 1920 + X: 1920 + Y: 0 diff --git a/elevation_mapping_cupy/rviz/turtle_segmentation_example.rviz b/elevation_mapping_cupy/rviz/turtle_segmentation_example.rviz index 04ff4401..df44f1b6 100644 --- a/elevation_mapping_cupy/rviz/turtle_segmentation_example.rviz +++ b/elevation_mapping_cupy/rviz/turtle_segmentation_example.rviz @@ -5,8 +5,10 @@ Panels: Property Tree Widget: Expanded: - /Global Options1 + - /ElevationMapRaw1 + - /ElevationMapFilter1 Splitter Ratio: 0.5768463015556335 - Tree Height: 991 + Tree Height: 631 - Class: rviz/Selection Name: Selection - Class: rviz/Tool Properties @@ -55,15 +57,16 @@ Visualization Manager: Autocompute Intensity Bounds: false Class: grid_map_rviz_plugin/GridMap Color: 200; 200; 200 - Color Layer: traversability - Color Transformer: "" + Color Layer: rgb + Color Transformer: ColorLayer + ColorMap: default Enabled: true Grid Cell Decimation: 1 Grid Line Thickness: 0.10000000149011612 Height Layer: elevation Height Transformer: "" History Length: 1 - Invert Rainbow: false + Invert ColorMap: false Max Color: 238; 238; 236 Max Intensity: 1 Min Color: 32; 74; 135 @@ -72,7 +75,7 @@ Visualization Manager: Show Grid Lines: true Topic: /elevation_mapping/elevation_map_raw Unreliable: false - Use Rainbow: false + Use ColorMap: true Value: true - Alpha: 0.10000000149011612 Autocompute Intensity Bounds: true @@ -80,13 +83,14 @@ Visualization Manager: Color: 200; 200; 200 Color Layer: min_filter Color Transformer: GridMapLayer + ColorMap: default Enabled: true Grid Cell Decimation: 1 Grid Line Thickness: 0.10000000149011612 Height Layer: min_filter Height Transformer: GridMapLayer History Length: 1 - Invert Rainbow: false + Invert ColorMap: false Max Color: 206; 92; 0 Max Intensity: 10 Min Color: 255; 255; 255 @@ -95,7 +99,7 @@ Visualization Manager: Show Grid Lines: true Topic: /elevation_mapping/elevation_map_filter Unreliable: false - Use Rainbow: false + Use ColorMap: true Value: true - Alpha: 1 Class: rviz/RobotModel @@ -205,7 +209,7 @@ Visualization Manager: Marker Topic: /convex_plane_decomposition_ros/boundaries Name: PlaneBoundaries Namespaces: - "": true + {} Queue Size: 100 Value: true - Alpha: 1 @@ -214,13 +218,14 @@ Visualization Manager: Color: 200; 200; 200 Color Layer: segmentation Color Transformer: GridMapLayer + ColorMap: default Enabled: true Grid Cell Decimation: 1 Grid Line Thickness: 0.10000000149011612 Height Layer: elevation_before_postprocess Height Transformer: GridMapLayer History Length: 1 - Invert Rainbow: false + Invert ColorMap: false Max Color: 238; 238; 236 Max Intensity: 10 Min Color: 32; 74; 135 @@ -229,7 +234,7 @@ Visualization Manager: Show Grid Lines: true Topic: /convex_plane_decomposition_ros/filtered_map Unreliable: false - Use Rainbow: true + Use ColorMap: true Value: true Enabled: true Global Options: @@ -259,7 +264,7 @@ Visualization Manager: Views: Current: Class: rviz/Orbit - Distance: 7.79520845413208 + Distance: 6.288029193878174 Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 @@ -275,17 +280,17 @@ Visualization Manager: Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Pitch: 0.5247964859008789 + Pitch: 0.5447964668273926 Target Frame: base_footprint - Yaw: 3.143371820449829 + Yaw: 3.108370780944824 Saved: ~ Window Geometry: Displays: collapsed: false - Height: 1376 + Height: 1016 Hide Left Dock: false Hide Right Dock: true - QMainWindow State: 000000ff00000000fd0000000400000000000001f7000004a6fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000004a6000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000015f0000053bfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000000560000053b000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000009b80000005afc0100000002fb0000000800540069006d00650100000000000009b8000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000007bb000004a600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + QMainWindow State: 000000ff00000000fd0000000400000000000001f70000033efc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000033e000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000015f0000053bfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000000560000053b000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000005afc0100000002fb0000000800540069006d0065010000000000000738000002eb00fffffffb0000000800540069006d006501000000000000045000000000000000000000053b0000033e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Selection: collapsed: false Time: @@ -294,6 +299,6 @@ Window Geometry: collapsed: false Views: collapsed: true - Width: 2488 + Width: 1848 X: 72 Y: 27 diff --git a/elevation_mapping_cupy/rviz/turtle_semantic_example.rviz b/elevation_mapping_cupy/rviz/turtle_semantic_example.rviz index 91da7819..b5b19b90 100644 --- a/elevation_mapping_cupy/rviz/turtle_semantic_example.rviz +++ b/elevation_mapping_cupy/rviz/turtle_semantic_example.rviz @@ -5,9 +5,8 @@ Panels: Property Tree Widget: Expanded: - /Global Options1 - - /ElevationMapFilter1 Splitter Ratio: 0.5768463015556335 - Tree Height: 631 + Tree Height: 658 - Class: rviz/Selection Name: Selection - Class: rviz/Tool Properties @@ -23,6 +22,7 @@ Panels: Name: Views Splitter Ratio: 0.5 - Class: rviz/Time + Experimental: false Name: Time SyncMode: 0 SyncSource: "" @@ -55,13 +55,16 @@ Visualization Manager: Autocompute Intensity Bounds: false Class: grid_map_rviz_plugin/GridMap Color: 200; 200; 200 - Color Layer: traversability - Color Transformer: "" - Enabled: false + Color Layer: rgb + Color Transformer: ColorLayer + ColorMap: default + Enabled: true + Grid Cell Decimation: 1 + Grid Line Thickness: 0.10000000149011612 Height Layer: elevation Height Transformer: "" History Length: 1 - Invert Rainbow: false + Invert ColorMap: false Max Color: 238; 238; 236 Max Intensity: 1 Min Color: 32; 74; 135 @@ -70,28 +73,7 @@ Visualization Manager: Show Grid Lines: true Topic: /elevation_mapping/elevation_map_raw Unreliable: false - Use Rainbow: false - Value: false - - Alpha: 1 - Autocompute Intensity Bounds: true - Class: grid_map_rviz_plugin/GridMap - Color: 200; 200; 200 - Color Layer: rgb - Color Transformer: ColorLayer - Enabled: true - Height Layer: min_filter - Height Transformer: GridMapLayer - History Length: 1 - Invert Rainbow: false - Max Color: 206; 92; 0 - Max Intensity: 10 - Min Color: 255; 255; 255 - Min Intensity: 0 - Name: ElevationMapFilter - Show Grid Lines: true - Topic: /elevation_mapping/elevation_map_filter - Unreliable: false - Use Rainbow: false + Use ColorMap: true Value: true - Alpha: 1 Class: rviz/RobotModel @@ -224,7 +206,7 @@ Visualization Manager: Views: Current: Class: rviz/Orbit - Distance: 3.499889373779297 + Distance: 9.118926048278809 Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 @@ -240,17 +222,17 @@ Visualization Manager: Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Pitch: 0.4947965741157532 + Pitch: 0.5947964191436768 Target Frame: base_footprint - Yaw: 2.893369436264038 + Yaw: 3.0983715057373047 Saved: ~ Window Geometry: Displays: collapsed: false - Height: 1016 + Height: 1043 Hide Left Dock: false Hide Right Dock: true - QMainWindow State: 000000ff00000000fd0000000400000000000001f70000033efc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000033e000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000015f0000053bfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000000560000053b000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000005afc0100000002fb0000000800540069006d0065010000000000000738000003bc00fffffffb0000000800540069006d006501000000000000045000000000000000000000053b0000033e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + QMainWindow State: 000000ff00000000fd0000000400000000000001f700000359fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000359000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000015f0000053bfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000000560000053b000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000005afc0100000002fb0000000800540069006d0065010000000000000780000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000005830000035900000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Selection: collapsed: false Time: @@ -259,6 +241,6 @@ Window Geometry: collapsed: false Views: collapsed: true - Width: 1848 - X: 1992 - Y: 27 + Width: 1920 + X: 1920 + Y: 0 diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/image_color.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/image_color.py new file mode 100644 index 00000000..68e2313c --- /dev/null +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/image_color.py @@ -0,0 +1,84 @@ +import cupy as cp +import numpy as np +import string + +from .fusion_manager import FusionBase + + + +def color_correspondences_to_map_kernel(resolution, width, height): + color_correspondences_to_map_kernel = cp.ElementwiseKernel( + in_params="raw U sem_map, raw U map_idx, raw U image_rgb, raw U uv_correspondence, raw B valid_correspondence, raw U image_height, raw U image_width", + out_params="raw U new_sem_map", + preamble=string.Template( + """ + __device__ int get_map_idx(int idx, int layer_n) { + const int layer = ${width} * ${height}; + return layer * layer_n + idx; + } + """ + ).substitute(width=width, height=height), + operation=string.Template( + """ + int cell_idx = get_map_idx(i, 0); + if (valid_correspondence[cell_idx]){ + int cell_idx_2 = get_map_idx(i, 1); + + int idx_red = int(uv_correspondence[cell_idx]) + int(uv_correspondence[cell_idx_2]) * image_width; + int idx_green = image_width * image_height + idx_red; + int idx_blue = image_width * image_height * 2 + idx_red; + + unsigned int r = image_rgb[idx_red]; + unsigned int g = image_rgb[idx_green]; + unsigned int b = image_rgb[idx_blue]; + + unsigned int rgb = (r<<16) + (g << 8) + b; + float rgb_ = __uint_as_float(rgb); + new_sem_map[get_map_idx(i, map_idx)] = rgb_; + }else{ + new_sem_map[get_map_idx(i, map_idx)] = sem_map[get_map_idx(i, map_idx)]; + } + """ + ).substitute(), + name="color_correspondences_to_map_kernel", + ) + return color_correspondences_to_map_kernel + +class ImageColor(FusionBase): + def __init__(self, params, *args, **kwargs): + # super().__init__(fusion_params, *args, **kwargs) + print("Initialize fusion kernel") + self.name = "image_color" + self.cell_n = params.cell_n + self.resolution = params.resolution + + self.color_correspondences_to_map_kernel = color_correspondences_to_map_kernel( + resolution=self.resolution, + width=self.cell_n, + height=self.cell_n, + ) + + + def __call__(self, sem_map_idx,image, j,uv_correspondence, valid_correspondence, image_height, image_width , semantic_map, new_map): + self.color_correspondences_to_map_kernel( + semantic_map, + cp.uint64(sem_map_idx), + image, + uv_correspondence, + valid_correspondence, + image_height, + image_width, + new_map, + size=int(self.cell_n * self.cell_n), + ) + semantic_map[sem_map_idx] = new_map[sem_map_idx] + + + + + + + + + + diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py index 165395ff..2d23a6d2 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py @@ -28,7 +28,7 @@ class Parameter(Serializable): "segmentation_model": "lraspp_mobilenet_v3_large", "semantic_segmentation": True, "show_label_legend": True, - "topic_name": "/elvation_mapping/pointcloud_semantic", + "topic_name": "/elevation_mapping/pointcloud_semantic", "data_type": "pointcloud", } } From d9c42519bd0fa77b6937ef253da736816dc7c065 Mon Sep 17 00:00:00 2001 From: Gian Date: Fri, 14 Jul 2023 14:37:03 +0200 Subject: [PATCH 353/504] adapted to new cupy version --- elevation_mapping_cupy/launch/turtlesim_init.launch | 2 +- .../script/elevation_mapping_cupy/elevation_mapping.py | 2 +- .../script/elevation_mapping_cupy/traversability_polygon.py | 2 +- .../script/semantic_sensor/tests/test_pointcloud.py | 2 +- 4 files changed, 4 insertions(+), 4 deletions(-) diff --git a/elevation_mapping_cupy/launch/turtlesim_init.launch b/elevation_mapping_cupy/launch/turtlesim_init.launch index 7a118a00..fc166d22 100644 --- a/elevation_mapping_cupy/launch/turtlesim_init.launch +++ b/elevation_mapping_cupy/launch/turtlesim_init.launch @@ -11,6 +11,6 @@ - + diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py index 16504f53..bde7ce93 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py @@ -204,7 +204,7 @@ def shift_map_xy(self, delta_pixel): delta_pixel (cupy._core.core.ndarray): """ - shift_value = delta_pixel.astype(cp.int) + shift_value = delta_pixel.astype(cp.int32) if cp.abs(shift_value).sum() == 0: return with self.map_lock: diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/traversability_polygon.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/traversability_polygon.py index 4d267535..f39c99cc 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/traversability_polygon.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/traversability_polygon.py @@ -59,7 +59,7 @@ def transform_to_map_position(polygon, center, cell_n, resolution): def transform_to_map_index(points, center, cell_n, resolution): - indices = ((points - center.reshape(1, 2)) / resolution + cell_n / 2).astype(cp.int) + indices = ((points - center.reshape(1, 2)) / resolution + cell_n / 2).astype(cp.int32) return indices diff --git a/sensor_processing/semantic_sensor/script/semantic_sensor/tests/test_pointcloud.py b/sensor_processing/semantic_sensor/script/semantic_sensor/tests/test_pointcloud.py index 419ee55a..544c2eeb 100644 --- a/sensor_processing/semantic_sensor/script/semantic_sensor/tests/test_pointcloud.py +++ b/sensor_processing/semantic_sensor/script/semantic_sensor/tests/test_pointcloud.py @@ -88,7 +88,7 @@ def test_pcl_creation(pointcloud_ex, channels, fusion, semseg, segpub, showlbl): ind = cp.random.randint(0, 2, (360, 640, amount), dtype=cp.uint32).astype(cp.float32) img = encode_max(val, ind) else: - img = (cp.random.rand(360, 640, amount) * 255).astype(cp.int) + img = (cp.random.rand(360, 640, amount) * 255).astype(cp.int32) pointcloud_ex.P = cp.random.rand(3, 4) depth = cp.random.rand(360, 640) * 8 pointcloud_ex.create_pcl_from_image(img, depth, None) From fc12c43c9be411b250520c856e8420dcbfad0a1c Mon Sep 17 00:00:00 2001 From: Gian Date: Fri, 21 Jul 2023 16:47:59 +0200 Subject: [PATCH 354/504] everything running --- .../config/image_semantics.yaml | 21 +++++++---------- .../semantic_image_sensor_parameter.yaml | 23 +++++++++---------- .../config/semantic_parameters.yaml | 2 +- .../launch/turtlesim_semantic_example.launch | 2 +- .../turtlesim_semantic_image_example.launch | 2 +- 5 files changed, 22 insertions(+), 28 deletions(-) diff --git a/elevation_mapping_cupy/config/image_semantics.yaml b/elevation_mapping_cupy/config/image_semantics.yaml index 6354cc3a..76b4295a 100644 --- a/elevation_mapping_cupy/config/image_semantics.yaml +++ b/elevation_mapping_cupy/config/image_semantics.yaml @@ -1,19 +1,14 @@ #### Subscribers ######## subscribers: front_cam: - channels: ['rgb'] - fusion: [ 'color' ] - semantic_segmentation: False - publish_segmentation_image: True - segmentation_model: 'lraspp_mobilenet_v3_large' # detectron_coco_panoptic_fpn_R_101_3x, lraspp_mobilenet_v3_large + channels: ['grass','tree',"person" ] + fusion: ['class_average','class_average','class_average' ] + semantic_segmentation: True + segmentation_model: 'detectron_coco_panoptic_fpn_R_101_3x' # detectron_coco_panoptic_fpn_R_101_3x, lraspp_mobilenet_v3_large show_label_legend: False - data_type: image - image_info_topic: "/wide_angle_camera_front/camera_info" + image_topic: "/camera/rgb/image_raw" + image_info_topic: "/camera/depth/camera_info" resize: 0.5 - cam_info_topic: "/camera/depth/camera_info" - image_topic: "/camera/rgb/image_raw" - depth_topic: "/camera/depth/image_raw" - cam_frame: "camera_rgb_optical_frame" - sem_seg_topic: "/elevation_mapping/semantic_wide_seg_f" - sem_seg_image_topic: "/elevation_mapping/semantic_wide_seg_im_f" \ No newline at end of file + sem_seg_topic: "/elevation_mapping/semantic_front" + sem_seg_image_topic: "/elevation_mapping/semantic_image_front" \ No newline at end of file diff --git a/elevation_mapping_cupy/config/semantic_image_sensor_parameter.yaml b/elevation_mapping_cupy/config/semantic_image_sensor_parameter.yaml index 75c690f4..5965c88a 100644 --- a/elevation_mapping_cupy/config/semantic_image_sensor_parameter.yaml +++ b/elevation_mapping_cupy/config/semantic_image_sensor_parameter.yaml @@ -4,22 +4,21 @@ subscribers: # fusion: ['average','average'] # topic_name: '/elevation_mapping/pointcloud_semantic' front_cam: - channels: ['rgb', 'grass','tree',"person" ] - fusion: [ 'color','exponential','exponential','exponential' ] - topic_name: '/elevation_mapping/pointcloud_semantic' - semantic_segmentation: True - publish_segmentation_image: True - segmentation_model: 'lraspp_mobilenet_v3_large' - show_label_legend: False + channels: [ 'grass','tree',"person" ] + fusion: [ 'exponential','exponential','exponential' ] + topic_name_camera: '/elevation_mapping/semantic_front' + topic_name_camera_info: '/camera/depth/camera_info' data_type: image - cam_info_topic: "/camera/depth/camera_info" - image_topic: "/camera/rgb/image_raw" - depth_topic: "/camera/depth/image_raw" - cam_frame: "camera_rgb_optical_frame" + color_cam: # for color camera + channels: ['rgb'] + fusion: ['color'] + topic_name_camera: '/camera/rgb/image_raw' + topic_name_camera_info: '/camera/depth/camera_info' + data_type: image pointcloud: channels: [] fusion: [] - topic_name: '/elevation_mapping/pointcloud_semantic' + topic_name: '/camera/depth/points' data_type: pointcloud \ No newline at end of file diff --git a/elevation_mapping_cupy/config/semantic_parameters.yaml b/elevation_mapping_cupy/config/semantic_parameters.yaml index c471af5d..b4eae18c 100644 --- a/elevation_mapping_cupy/config/semantic_parameters.yaml +++ b/elevation_mapping_cupy/config/semantic_parameters.yaml @@ -81,7 +81,7 @@ publishers: # basic_layers: ['elevation', 'traversability'] # fps: 2.0 elevation_map_filter: - layers: ['min_filter', 'smooth', 'inpaint', 'elevation','rgb','robot_centric_elevation','sem_fil','sem_traversability'] + layers: ['min_filter', 'smooth', 'inpaint', 'elevation','rgb','sem_fil'] basic_layers: ['min_filter'] fps: 3.0 diff --git a/elevation_mapping_cupy/launch/turtlesim_semantic_example.launch b/elevation_mapping_cupy/launch/turtlesim_semantic_example.launch index 176ec061..6fc21735 100644 --- a/elevation_mapping_cupy/launch/turtlesim_semantic_example.launch +++ b/elevation_mapping_cupy/launch/turtlesim_semantic_example.launch @@ -6,7 +6,7 @@ - diff --git a/elevation_mapping_cupy/launch/turtlesim_semantic_image_example.launch b/elevation_mapping_cupy/launch/turtlesim_semantic_image_example.launch index 4e60fee8..936696a2 100644 --- a/elevation_mapping_cupy/launch/turtlesim_semantic_image_example.launch +++ b/elevation_mapping_cupy/launch/turtlesim_semantic_image_example.launch @@ -13,7 +13,7 @@ - + \ No newline at end of file From ed97e20ab903fc229367bfc01cfb481d10e4e3db Mon Sep 17 00:00:00 2001 From: CihatAltiparmak Date: Mon, 24 Jul 2023 22:28:03 +0300 Subject: [PATCH 355/504] Fixed cupy.int as cupy.int32 --- .../script/elevation_mapping_cupy/elevation_mapping.py | 2 +- .../script/elevation_mapping_cupy/traversability_polygon.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py index c300b0ca..d006ce20 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py @@ -149,7 +149,7 @@ def pad_value(self, x, shift_value, idx=None, value=0.0): x[idx, :, shift_value[1] :] = value def shift_map_xy(self, delta_pixel): - shift_value = delta_pixel.astype(cp.int) + shift_value = delta_pixel.astype(cp.int32) if cp.abs(shift_value).sum() == 0: return with self.map_lock: diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/traversability_polygon.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/traversability_polygon.py index 67a43343..e40462b7 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/traversability_polygon.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/traversability_polygon.py @@ -59,7 +59,7 @@ def transform_to_map_position(polygon, center, cell_n, resolution): def transform_to_map_index(points, center, cell_n, resolution): - indices = ((points - center.reshape(1, 2)) / resolution + cell_n / 2).astype(cp.int) + indices = ((points - center.reshape(1, 2)) / resolution + cell_n / 2).astype(cp.int32) return indices From cca0028fe84cf7374775eb05bbafe4f8cfe82411 Mon Sep 17 00:00:00 2001 From: Gian Date: Tue, 1 Aug 2023 10:36:08 +0200 Subject: [PATCH 356/504] added last example --- docs/source/getting_started/tutorial.rst | 5 + .../config/features_parameters.yaml | 94 +++++++ .../config/features_plugin_config.yaml | 70 +++++ .../config/features_semantics.yaml | 32 +++ .../config/features_sensor_parameter.yaml | 13 + ...l => image_semantic_sensor_parameter.yaml} | 0 .../turtlesim_features_image_example.launch | 18 ++ .../turtlesim_semantic_image_example.launch | 2 +- .../rviz/turtle_features_example.rviz | 247 ++++++++++++++++++ .../plugins/features_pca.py | 3 +- 10 files changed, 481 insertions(+), 3 deletions(-) create mode 100644 elevation_mapping_cupy/config/features_parameters.yaml create mode 100644 elevation_mapping_cupy/config/features_plugin_config.yaml create mode 100644 elevation_mapping_cupy/config/features_semantics.yaml create mode 100644 elevation_mapping_cupy/config/features_sensor_parameter.yaml rename elevation_mapping_cupy/config/{semantic_image_sensor_parameter.yaml => image_semantic_sensor_parameter.yaml} (100%) create mode 100644 elevation_mapping_cupy/launch/turtlesim_features_image_example.launch create mode 100644 elevation_mapping_cupy/rviz/turtle_features_example.rviz diff --git a/docs/source/getting_started/tutorial.rst b/docs/source/getting_started/tutorial.rst index 12e6cb91..abefdf8d 100644 --- a/docs/source/getting_started/tutorial.rst +++ b/docs/source/getting_started/tutorial.rst @@ -111,7 +111,12 @@ For fusing semantics into the map such as rgb from an image: export TURTLEBOT3_MODEL=waffle roslaunch elevation_mapping_cupy turtlesim_semantic_image_example.launch +For fusing features extracted with a feature extractor from an image: +.. code-block:: bash + + export TURTLEBOT3_MODEL=waffle + roslaunch elevation_mapping_cupy turtlesim_features_image_example.launch Or, for the version including plane segmentation: diff --git a/elevation_mapping_cupy/config/features_parameters.yaml b/elevation_mapping_cupy/config/features_parameters.yaml new file mode 100644 index 00000000..e1c4c881 --- /dev/null +++ b/elevation_mapping_cupy/config/features_parameters.yaml @@ -0,0 +1,94 @@ +#### Basic parameters ######## +resolution: 0.04 # resolution in m. +map_length: 8.0 # map's size in m. +sensor_noise_factor: 0.05 # point's noise is sensor_noise_factor*z^2 (z is distance from sensor). +mahalanobis_thresh: 2.0 # points outside this distance is outlier. +outlier_variance: 0.01 # if point is outlier, add this value to the cell. +drift_compensation_variance_inler: 0.05 # cells under this value is used for drift compensation. +max_drift: 0.1 # drift compensation happens only the drift is smaller than this value (for safety) +drift_compensation_alpha: 0.1 # drift compensation alpha for smoother update of drift compensation +time_variance: 0.0001 # add this value when update_variance is called. +max_variance: 100.0 # maximum variance for each cell. +initial_variance: 1000.0 # initial variance for each cell. +traversability_inlier: 0.9 # cells with higher traversability are used for drift compensation. +dilation_size: 3 # dilation filter size before traversability filter. +wall_num_thresh: 20 # if there are more points than this value, only higher points than the current height are used to make the wall more sharp. +min_height_drift_cnt: 100 # drift compensation only happens if the valid cells are more than this number. +position_noise_thresh: 0.01 # if the position change is bigger than this value, the drift compensation happens. +orientation_noise_thresh: 0.01 # if the orientation change is bigger than this value, the drift compensation happens. +position_lowpass_alpha: 0.2 # lowpass filter alpha used for detecting movements. +orientation_lowpass_alpha: 0.2 # lowpass filter alpha used for detecting movements. +min_valid_distance: 0.5 # points with shorter distance will be filtered out. +max_height_range: 1.0 # points higher than this value from sensor will be filtered out to disable ceiling. +ramped_height_range_a: 0.3 # if z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject. +ramped_height_range_b: 1.0 # if z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject. +ramped_height_range_c: 0.2 # if z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject. +update_variance_fps: 5.0 # fps for updating variance. +update_pose_fps: 10.0 # fps for updating pose and shift the center of map. +time_interval: 0.1 # Time layer is updated with this interval. +map_acquire_fps: 5.0 # Raw map is fetched from GPU memory in this fps. +publish_statistics_fps: 1.0 # Publish statistics topic in this fps. + +max_ray_length: 10.0 # maximum length for ray tracing. +cleanup_step: 0.1 # subtitute this value from validity layer at visibiltiy cleanup. +cleanup_cos_thresh: 0.1 # subtitute this value from validity layer at visibiltiy cleanup. + +safe_thresh: 0.7 # if traversability is smaller, it is counted as unsafe cell. +safe_min_thresh: 0.4 # polygon is unsafe if there exists lower traversability than this. +max_unsafe_n: 10 # if the number of cells under safe_thresh exceeds this value, polygon is unsafe. + +overlap_clear_range_xy: 4.0 # xy range [m] for clearing overlapped area. this defines the valid area for overlap clearance. (used for multi floor setting) +overlap_clear_range_z: 2.0 # z range [m] for clearing overlapped area. cells outside this range will be cleared. (used for multi floor setting) + +map_frame: 'odom' # The map frame where the odometry source uses. +base_frame: 'base_footprint' # The robot's base frame. This frame will be a center of the map. +corrected_map_frame: 'odom' + +#### Feature toggles ######## +enable_edge_sharpen: true +enable_visibility_cleanup: true +enable_drift_compensation: true +enable_overlap_clearance: true +enable_pointcloud_publishing: false +enable_drift_corrected_TF_publishing: false +enable_normal_color: false # If true, the map contains 'color' layer corresponding to normal. Add 'color' layer to the publishers setting if you want to visualize. + +#### Traversability filter ######## +use_chainer: false # Use chainer as a backend of traversability filter or pytorch. If false, it uses pytorch. pytorch requires ~2GB more GPU memory compared to chainer but runs faster. +weight_file: '$(rospack find elevation_mapping_cupy)/config/weights.dat' # Weight file for traversability filter + +#### Upper bound ######## +use_only_above_for_upper_bound: false + +#### Plugins ######## +plugin_config_file: '$(rospack find elevation_mapping_cupy)/config/features_plugin_config.yaml' + +#### Subscribers ######## + + +#### Publishers ######## +# topic_name: +# layers: # Choose from 'elevation', 'variance', 'traversability', 'time', 'normal_x', 'normal_y', 'normal_z', 'color', plugin_layer_names +# basic_layers: # basic_layers for valid cell computation (e.g. Rviz): Choose a subset of `layers`. +# fps: # Publish rate. Use smaller value than `map_acquire_fps`. +publishers: + elevation_map_raw: + layers: ['elevation', 'traversability', 'variance','pca'] + basic_layers: ['elevation'] + fps: 5.0 +# elevation_map_recordable: +# layers: ['elevation', 'traversability'] +# basic_layers: ['elevation', 'traversability'] +# fps: 2.0 + elevation_map_filter: + layers: ['min_filter', 'smooth', 'inpaint', 'elevation','pca'] + basic_layers: ['min_filter'] + fps: 3.0 + +#### Initializer ######## +initialize_method: 'linear' # Choose one from 'nearest', 'linear', 'cubic' +initialize_frame_id: ['base_footprint'] # One tf (like ['footprint'] ) initializes a square around it. +initialize_tf_offset: [0.0, 0.0, 0.0, 0.0] # z direction. Should be same number as initialize_frame_id. +dilation_size_initialize: 5 # dilation size after the init. +initialize_tf_grid_size: 2 # This is not used if number of tf is more than 3. +use_initializer_at_start: true # Use initializer when the node starts. diff --git a/elevation_mapping_cupy/config/features_plugin_config.yaml b/elevation_mapping_cupy/config/features_plugin_config.yaml new file mode 100644 index 00000000..6bf79c0a --- /dev/null +++ b/elevation_mapping_cupy/config/features_plugin_config.yaml @@ -0,0 +1,70 @@ +# Settings of the plugins. (The plugins should be stored in script/plugins) + +# min_filter fills in minimum value around the invalid cell. +min_filter: + enable: True # weather to load this plugin + fill_nan: False # Fill nans to invalid cells of elevation layer. + is_height_layer: True # If this is a height layer (such as elevation) or not (such as traversability) + layer_name: "min_filter" # The layer name. + extra_params: # This params are passed to the plugin class on initialization. + dilation_size: 1 # The patch size to apply + iteration_n: 30 # The number of iterations +# Apply smoothing. +smooth_filter: + enable: True + fill_nan: False + is_height_layer: True + layer_name: "smooth" + extra_params: + input_layer_name: "min_filter" +# Apply inpainting using opencv +inpainting: + enable: True + fill_nan: False + is_height_layer: True + layer_name: "inpaint" + extra_params: + method: "telea" # telea or ns +# Apply smoothing for inpainted layer + +robot_centric_elevation: # Use the same name as your file name. +# type: "robot_centric_elevation" + enable: False # weather to load this plugin + fill_nan: False # Fill nans to invalid cells of elevation layer. + is_height_layer: True # If this is a height layer (such as elevation) or not (such as traversability) + layer_name: "robot_centric_elevation" # The layer name. + extra_params: # This params are passed to the plugin class on initialization. +# add_value: 2.0 # Example param + resolution: 0.04 + threshold: 1.1 + use_threshold: True + +semantic_filter: + type: "semantic_filter" + enable: False + fill_nan: False + is_height_layer: False + layer_name: "sem_fil" + extra_params: + classes: ['grass','tree','fence','dirt'] + +semantic_traversability: + type: "semantic_traversability" + enable: False + fill_nan: False + is_height_layer: False + layer_name: "sem_traversability" + extra_params: + layers: ['traversability','robot_centric_elevation'] + thresholds: [0.3,0.5] + type: ['traversability', 'elevation'] + +features_pca: + type: "features_pca" + enable: True + fill_nan: False + is_height_layer: False + layer_name: "pca" + extra_params: + classes: [] + diff --git a/elevation_mapping_cupy/config/features_semantics.yaml b/elevation_mapping_cupy/config/features_semantics.yaml new file mode 100644 index 00000000..4cd5365f --- /dev/null +++ b/elevation_mapping_cupy/config/features_semantics.yaml @@ -0,0 +1,32 @@ +#### Subscribers ######## +subscribers: + + feat_front: + fusion: ['average','average','average','average','average','average','average','average','average','average'] + image_topic: "/camera/rgb/image_raw" + image_info_topic: "/camera/depth/camera_info" + semantic_segmentation: False + feature_extractor: True + feature_topic: "/elevation_mapping/feat_f" + feat_image_topic: "/elevation_mapping/feat_im_f" + show_label_legend: True + channels: [ 'feat_0','feat_1','feat_2','feat_3','feat_4','feat_5','feat_6','feat_7','feat_8','feat_9' ] + resize: 0.5 + input_size: [160,320] + +# sem_wide_back: +# fusion: ['average','average','average','average','average','average','average','average','average','average'] +# image_topic: "/wide_angle_camera_rear/image_color_rect/compressed" +# semantic_segmentation: False +# feature_extractor: True +# feature_topic: "/elevation_mapping/feat_b" +# feat_image_topic: "/elevation_mapping/feat_im_b" +# show_label_legend: False +# channels: [ 'feat_0','feat_1','feat_2','feat_3','feat_4','feat_5','feat_6','feat_7','feat_8','feat_9' ] +# image_info_topic: "/wide_angle_camera_rear/camera_info" +# resize: 0.5 +# input_size: [160,320] + + + + diff --git a/elevation_mapping_cupy/config/features_sensor_parameter.yaml b/elevation_mapping_cupy/config/features_sensor_parameter.yaml new file mode 100644 index 00000000..d09cc6b6 --- /dev/null +++ b/elevation_mapping_cupy/config/features_sensor_parameter.yaml @@ -0,0 +1,13 @@ +subscribers: + feat_front: + fusion: [ 'exponential','exponential','exponential','exponential','exponential','exponential','exponential','exponential','exponential','exponential' ] + topic_name_camera: /elevation_mapping/feat_f + topic_name_camera_info: "/camera/depth/camera_info" + channels: [ 'feat_0','feat_1','feat_2','feat_3','feat_4','feat_5','feat_6','feat_7','feat_8','feat_9' ] + data_type: image + pointcloud: + channels: [ ] + fusion: [ ] + topic_name: '/camera/depth/points' + data_type: pointcloud + diff --git a/elevation_mapping_cupy/config/semantic_image_sensor_parameter.yaml b/elevation_mapping_cupy/config/image_semantic_sensor_parameter.yaml similarity index 100% rename from elevation_mapping_cupy/config/semantic_image_sensor_parameter.yaml rename to elevation_mapping_cupy/config/image_semantic_sensor_parameter.yaml diff --git a/elevation_mapping_cupy/launch/turtlesim_features_image_example.launch b/elevation_mapping_cupy/launch/turtlesim_features_image_example.launch new file mode 100644 index 00000000..d4b7af3c --- /dev/null +++ b/elevation_mapping_cupy/launch/turtlesim_features_image_example.launch @@ -0,0 +1,18 @@ + + + + + + + + + + + + + + + + + diff --git a/elevation_mapping_cupy/launch/turtlesim_semantic_image_example.launch b/elevation_mapping_cupy/launch/turtlesim_semantic_image_example.launch index 936696a2..17eb97c3 100644 --- a/elevation_mapping_cupy/launch/turtlesim_semantic_image_example.launch +++ b/elevation_mapping_cupy/launch/turtlesim_semantic_image_example.launch @@ -14,6 +14,6 @@ - + \ No newline at end of file diff --git a/elevation_mapping_cupy/rviz/turtle_features_example.rviz b/elevation_mapping_cupy/rviz/turtle_features_example.rviz new file mode 100644 index 00000000..95e38105 --- /dev/null +++ b/elevation_mapping_cupy/rviz/turtle_features_example.rviz @@ -0,0 +1,247 @@ +Panels: + - Class: rviz/Displays + Help Height: 138 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /ElevationMapRaw1 + Splitter Ratio: 0.5768463015556335 + Tree Height: 631 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: "" +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: false + Class: grid_map_rviz_plugin/GridMap + Color: 200; 200; 200 + Color Layer: pca + Color Transformer: ColorLayer + ColorMap: default + Enabled: true + Grid Cell Decimation: 1 + Grid Line Thickness: 0.10000000149011612 + Height Layer: elevation + Height Transformer: "" + History Length: 1 + Invert ColorMap: false + Max Color: 238; 238; 236 + Max Intensity: 1 + Min Color: 32; 74; 135 + Min Intensity: 0 + Name: ElevationMapRaw + Show Grid Lines: true + Topic: /elevation_mapping/elevation_map_raw + Unreliable: false + Use ColorMap: true + Value: true + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base_footprint: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_scan: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera_depth_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_depth_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera_rgb_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_rgb_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + caster_back_left_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + caster_back_right_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + imu_link: + Alpha: 1 + Show Axes: false + Show Trail: false + wheel_left_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wheel_right_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Name: RobotModel + Robot Description: robot_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: RGB8 + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Min Color: 0; 0; 0 + Name: PointCloud2 + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Flat Squares + Topic: /camera/depth/points + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: false + Enabled: true + Global Options: + Background Color: 255; 255; 255 + Default Light: true + Fixed Frame: odom + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Theta std deviation: 0.2617993950843811 + Topic: /initialpose + X std deviation: 0.5 + Y std deviation: 0.5 + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 9.118926048278809 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Field of View: 0.7853981852531433 + Focal Point: + X: 2.046891927719116 + Y: -0.5291382074356079 + Z: -0.3964909017086029 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.4647965431213379 + Target Frame: base_footprint + Yaw: 2.9933695793151855 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1016 + Hide Left Dock: false + Hide Right Dock: true + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: true + Width: 1848 + X: 72 + Y: 27 diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/features_pca.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/features_pca.py index b62ead31..5422a39c 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/features_pca.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/features_pca.py @@ -13,7 +13,6 @@ class FeaturesPca(PluginBase): def __init__( self, - cell_n: int = 100, **kwargs, ): """This is a filter to create a pca layer of the semantic features in the map. @@ -52,7 +51,7 @@ def __call__( # get indices of all layers that contain semantic features information layer_indices = cp.array([], dtype=cp.int32) for it, fusion_alg in enumerate(semantic_params.fusion_algorithms): - if fusion_alg in ["average", "bayesian_inference", "image_exponential"]: + if fusion_alg in ["average", "bayesian_inference", "exponential"]: layer_indices = cp.append(layer_indices, it).astype(cp.int32) n_c = semantic_map[layer_indices].shape[1] From 0bf3fa021f37aafc3869ccc0ecf6267b1febb38e Mon Sep 17 00:00:00 2001 From: Gian Date: Tue, 1 Aug 2023 10:43:05 +0200 Subject: [PATCH 357/504] formatted code --- .../fusion/image_color.py | 26 ++++++++-------- .../fusion/image_exponential.py | 23 +++++++------- .../fusion/pointcloud_average.py | 2 +- .../fusion/pointcloud_bayesian_inference.py | 8 ++--- .../fusion/pointcloud_class_average.py | 7 ++--- .../fusion/pointcloud_class_bayesian.py | 8 +---- .../fusion/pointcloud_class_max.py | 8 ++--- .../fusion/pointcloud_color.py | 14 ++------- .../plugins/plugin_manager.py | 30 +++++++++---------- .../plugins/semantic_filter.py | 5 ++-- .../plugins/semantic_traversability.py | 3 +- .../elevation_mapping_cupy/semantic_map.py | 2 +- .../tests/test_plugins.py | 10 ++++++- .../semantic_sensor/image_parameters.py | 1 - .../script/semantic_sensor/pointcloud_node.py | 11 ++++--- 15 files changed, 68 insertions(+), 90 deletions(-) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/image_color.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/image_color.py index 68e2313c..317530d5 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/image_color.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/image_color.py @@ -5,7 +5,6 @@ from .fusion_manager import FusionBase - def color_correspondences_to_map_kernel(resolution, width, height): color_correspondences_to_map_kernel = cp.ElementwiseKernel( in_params="raw U sem_map, raw U map_idx, raw U image_rgb, raw U uv_correspondence, raw B valid_correspondence, raw U image_height, raw U image_width", @@ -44,6 +43,7 @@ def color_correspondences_to_map_kernel(resolution, width, height): ) return color_correspondences_to_map_kernel + class ImageColor(FusionBase): def __init__(self, params, *args, **kwargs): # super().__init__(fusion_params, *args, **kwargs) @@ -58,8 +58,18 @@ def __init__(self, params, *args, **kwargs): height=self.cell_n, ) - - def __call__(self, sem_map_idx,image, j,uv_correspondence, valid_correspondence, image_height, image_width , semantic_map, new_map): + def __call__( + self, + sem_map_idx, + image, + j, + uv_correspondence, + valid_correspondence, + image_height, + image_width, + semantic_map, + new_map, + ): self.color_correspondences_to_map_kernel( semantic_map, cp.uint64(sem_map_idx), @@ -72,13 +82,3 @@ def __call__(self, sem_map_idx,image, j,uv_correspondence, valid_correspondence, size=int(self.cell_n * self.cell_n), ) semantic_map[sem_map_idx] = new_map[sem_map_idx] - - - - - - - - - - diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/image_exponential.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/image_exponential.py index 19061ce1..d9ad1ce7 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/image_exponential.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/image_exponential.py @@ -50,7 +50,18 @@ def __init__(self, params, *args, **kwargs): alpha=0.7, ) - def __call__(self, sem_map_idx,image, j,uv_correspondence, valid_correspondence, image_height, image_width , semantic_map, new_map): + def __call__( + self, + sem_map_idx, + image, + j, + uv_correspondence, + valid_correspondence, + image_height, + image_width, + semantic_map, + new_map, + ): self.exponential_correspondences_to_map_kernel( semantic_map, sem_map_idx, @@ -63,13 +74,3 @@ def __call__(self, sem_map_idx,image, j,uv_correspondence, valid_correspondence, size=int(self.cell_n * self.cell_n), ) semantic_map[sem_map_idx] = new_map[sem_map_idx] - - - - - - - - - - diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_average.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_average.py index 3d2e25e4..cda9af96 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_average.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_average.py @@ -100,7 +100,7 @@ def __init__(self, params, *args, **kwargs): self.cell_n, ) - def __call__(self, points_all, R, t, pcl_ids, layer_ids, elevation_map,semantic_map, new_map,*args): + def __call__(self, points_all, R, t, pcl_ids, layer_ids, elevation_map, semantic_map, new_map, *args): self.sum_kernel( points_all, R, diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_bayesian_inference.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_bayesian_inference.py index 6cecd03b..f9f07b4a 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_bayesian_inference.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_bayesian_inference.py @@ -42,7 +42,6 @@ def sum_compact_kernel( return sum_compact_kernel - def bayesian_inference_kernel( width, height, @@ -80,7 +79,6 @@ def bayesian_inference_kernel( return bayesian_inference_kernel - class BayesianInference(FusionBase): def __init__(self, params, *args, **kwargs): # super().__init__(fusion_params, *args, **kwargs) @@ -109,9 +107,9 @@ def __init__(self, params, *args, **kwargs): self.bayesian_inference_kernel = bayesian_inference_kernel( self.cell_n, self.cell_n, - ) + ) - def __call__(self, points_all, R, t, pcl_ids, layer_ids, elevation_map,semantic_map, new_map,*args): + def __call__(self, points_all, R, t, pcl_ids, layer_ids, elevation_map, semantic_map, new_map, *args): self.sum_mean *= 0 self.sum_compact_kernel( points_all, @@ -133,5 +131,3 @@ def __call__(self, points_all, R, t, pcl_ids, layer_ids, elevation_map,semantic_ semantic_map, size=(self.cell_n * self.cell_n), ) - - diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_class_average.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_class_average.py index ba45d034..a28c98db 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_class_average.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_class_average.py @@ -93,7 +93,6 @@ def class_average_kernel( return class_average_kernel - class ClassAverage(FusionBase): def __init__(self, params, *args, **kwargs): # super().__init__(fusion_params, *args, **kwargs) @@ -112,9 +111,9 @@ def __init__(self, params, *args, **kwargs): self.cell_n, self.cell_n, self.average_weight, - ) + ) - def __call__(self, points_all, R, t, pcl_ids, layer_ids, elevation_map,semantic_map, new_map,*args): + def __call__(self, points_all, R, t, pcl_ids, layer_ids, elevation_map, semantic_map, new_map, *args): self.sum_kernel( points_all, R, @@ -135,5 +134,3 @@ def __call__(self, points_all, R, t, pcl_ids, layer_ids, elevation_map,semantic_ semantic_map, size=(self.cell_n * self.cell_n * pcl_ids.shape[0]), ) - - diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_class_bayesian.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_class_bayesian.py index 5ae9d2b4..eeae2324 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_class_bayesian.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_class_bayesian.py @@ -5,7 +5,6 @@ from .fusion_manager import FusionBase - def alpha_kernel( resolution, width, @@ -49,7 +48,6 @@ def alpha_kernel( return alpha_kernel - class ClassBayesian(FusionBase): def __init__(self, params, *args, **kwargs): # super().__init__(fusion_params, *args, **kwargs) @@ -63,9 +61,7 @@ def __init__(self, params, *args, **kwargs): self.cell_n, ) - - - def __call__(self, points_all, R, t, pcl_ids, layer_ids, elevation_map,semantic_map, new_map,*args): + def __call__(self, points_all, R, t, pcl_ids, layer_ids, elevation_map, semantic_map, new_map, *args): self.alpha_kernel( points_all, pcl_ids, @@ -79,5 +75,3 @@ def __call__(self, points_all, R, t, pcl_ids, layer_ids, elevation_map,semantic_ # do not divide by zero sum_alpha[sum_alpha == 0] = 1 semantic_map[layer_ids] = new_map[layer_ids] / cp.expand_dims(sum_alpha, axis=0) - - diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_class_max.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_class_max.py index 65a4df03..ea8d0c5c 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_class_max.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_class_max.py @@ -5,8 +5,6 @@ from .fusion_manager import FusionBase - - def sum_max_kernel( resolution, width, @@ -82,7 +80,7 @@ def decode_max(self, mer): ind = cp.right_shift(mer, 16) return ma, ind - def __call__(self, points_all, R, t, pcl_ids, layer_ids, elevation_map,semantic_map, new_map,elements_to_shift): + def __call__(self, points_all, R, t, pcl_ids, layer_ids, elevation_map, semantic_map, new_map, elements_to_shift): max_pt, pt_id = self.decode_max(points_all[:, pcl_ids]) # find unique ids in new measurement and in existing map unique_idm = cp.unique(pt_id) @@ -115,7 +113,7 @@ def __call__(self, points_all, R, t, pcl_ids, layer_ids, elevation_map,semantic_ ) # add the previous alpha for i, lay in enumerate(layer_ids): - c = cp.mgrid[0: new_map.shape[1], 0: new_map.shape[2]] + c = cp.mgrid[0 : new_map.shape[1], 0 : new_map.shape[2]] # self.prob_sum[self.elements_to_shift["id_max"][i], c[0], c[1]] += self.new_map[lay] # TODO add residual of prev alpha to the prob_sum # res = 1- self.new_map[lay] @@ -131,5 +129,3 @@ def __call__(self, points_all, R, t, pcl_ids, layer_ids, elevation_map,semantic_ # do not divide by zero sum_alpha[sum_alpha == 0] = 1 semantic_map[layer_ids] = new_map[layer_ids] / cp.expand_dims(sum_alpha, axis=0) - - diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_color.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_color.py index a6c0cb1f..1c24fedb 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_color.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_color.py @@ -4,6 +4,7 @@ from .fusion_manager import FusionBase + def add_color_kernel( width, height, @@ -55,7 +56,6 @@ def add_color_kernel( return add_color_kernel - def color_average_kernel( width, height, @@ -115,7 +115,6 @@ def color_average_kernel( return color_average_kernel - class Color(FusionBase): def __init__(self, params, *args, **kwargs): # super().__init__(fusion_params, *args, **kwargs) @@ -130,7 +129,7 @@ def __init__(self, params, *args, **kwargs): ) self.color_average_kernel = color_average_kernel(self.cell_n, self.cell_n) - def __call__(self, points_all, R, t, pcl_ids, layer_ids, elevation_map,semantic_map, new_map,*args): + def __call__(self, points_all, R, t, pcl_ids, layer_ids, elevation_map, semantic_map, new_map, *args): self.color_map = cp.zeros( (1 + 3 * layer_ids.shape[0], self.cell_n, self.cell_n), dtype=cp.uint32, @@ -155,12 +154,3 @@ def __call__(self, points_all, R, t, pcl_ids, layer_ids, elevation_map,semantic_ semantic_map, size=(self.cell_n * self.cell_n), ) - - - - - - - - - diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/plugin_manager.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/plugin_manager.py index c04497e5..fd1185e1 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/plugin_manager.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/plugin_manager.py @@ -34,13 +34,13 @@ def __init__(self, *args, **kwargs): """ def __call__( - self, - elevation_map: cp.ndarray, - layer_names: List[str], - plugin_layers: cp.ndarray, - plugin_layer_names: List[str], - *args, - **kwargs, + self, + elevation_map: cp.ndarray, + layer_names: List[str], + plugin_layers: cp.ndarray, + plugin_layer_names: List[str], + *args, + **kwargs, ) -> cp.ndarray: """This gets the elevation map data and plugin layers as a cupy array. @@ -136,14 +136,14 @@ def get_layer_index_with_name(self, name: str) -> int: return None def update_with_name( - self, - name: str, - elevation_map: cp.ndarray, - layer_names: List[str], - semantic_map=None, - semantic_params=None, - rotation=None, - elements_to_shift={}, + self, + name: str, + elevation_map: cp.ndarray, + layer_names: List[str], + semantic_map=None, + semantic_params=None, + rotation=None, + elements_to_shift={}, ): idx = self.get_layer_index_with_name(name) if idx is not None: diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_filter.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_filter.py index f7176169..eeb2a0ea 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_filter.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_filter.py @@ -69,9 +69,8 @@ def __call__( semantic_map: cp.ndarray, semantic_params, rotation, - elements_to_shift, - *args, - + elements_to_shift, + *args, ) -> cp.ndarray: """ diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_traversability.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_traversability.py index 7abbf714..01d3e882 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_traversability.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_traversability.py @@ -40,8 +40,7 @@ def __call__( plugin_layer_names: List[str], semantic_map, semantic_params, - *args, - + *args, ) -> cp.ndarray: """ diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py index 4aca6e62..d090416c 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py @@ -33,7 +33,7 @@ def __init__(self, param: Parameter): assert self.layer_specs[c] == f, "Error: Single layer has multiple fusion algorithms!" if f not in self.unique_fusion: dt = config["data_type"] - self.unique_fusion.append(dt+"_"+f) + self.unique_fusion.append(dt + "_" + f) self.amount_layer_names = len(self.layer_names) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_plugins.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_plugins.py index 6aab26ed..7c1dc945 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_plugins.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_plugins.py @@ -59,5 +59,13 @@ def test_plugin_manager(semmap_ex, channels): manager.update_with_name("semantic_traversability", elevation_map, layer_names, semmap_ex) manager.get_map_with_name("smooth") for lay in manager.get_layer_names(): - manager.update_with_name(lay, elevation_map, layer_names, semmap_ex.semantic_map,semmap_ex.param, rotation, semmap_ex.elements_to_shift) + manager.update_with_name( + lay, + elevation_map, + layer_names, + semmap_ex.semantic_map, + semmap_ex.param, + rotation, + semmap_ex.elements_to_shift, + ) manager.get_map_with_name(lay) diff --git a/sensor_processing/semantic_sensor/script/semantic_sensor/image_parameters.py b/sensor_processing/semantic_sensor/script/semantic_sensor/image_parameters.py index 0df6fe57..01f68cfa 100644 --- a/sensor_processing/semantic_sensor/script/semantic_sensor/image_parameters.py +++ b/sensor_processing/semantic_sensor/script/semantic_sensor/image_parameters.py @@ -35,4 +35,3 @@ class ImageParameter(Serializable): feat_image_topic: str = "/elevation_mapping/semantic_seg_feat_im" resize: float = None image_info_topic: str = "/elevation_mapping/image_info" - diff --git a/sensor_processing/semantic_sensor/script/semantic_sensor/pointcloud_node.py b/sensor_processing/semantic_sensor/script/semantic_sensor/pointcloud_node.py index 9bc4232f..cad57758 100755 --- a/sensor_processing/semantic_sensor/script/semantic_sensor/pointcloud_node.py +++ b/sensor_processing/semantic_sensor/script/semantic_sensor/pointcloud_node.py @@ -57,7 +57,6 @@ def __init__(self, sensor_name): self.prediction_img = None self.feat_img = None - def initialize_semantics(self): """Resolve the feature and segmentation mode and create segmentation_channel and feature_channels. @@ -147,9 +146,9 @@ def bitget(byteval, idx): c = c >> 3 cmap[i] = np.array([r, g, b]) - cmap[1] = np.array([188,63,59]) - cmap[2] = np.array([81,113,162]) - cmap[3] = np.array([136,49,132]) + cmap[1] = np.array([188, 63, 59]) + cmap[2] = np.array([81, 113, 162]) + cmap[3] = np.array([136, 49, 132]) cmap = cmap / 255 if normalized else cmap return cmap[1:] @@ -317,6 +316,7 @@ def extract_features(self, image, points, u, v): # todo if False and self.param.feature_extractor: self.feat_img = prediction + def publish_segmentation_image(self, probabilities): if self.param.semantic_segmentation: colors = cp.asarray(self.semseg_color_map) @@ -356,7 +356,7 @@ def publish_feature_image(self, features): pca = PCA(n_components=n_components).fit(data) pca_descriptors = pca.transform(data) img_pca = pca_descriptors.reshape(features.shape[1], features.shape[2], n_components) - comp = img_pca #[:, :, -3:] + comp = img_pca # [:, :, -3:] comp_min = comp.min(axis=(0, 1)) comp_max = comp.max(axis=(0, 1)) comp_img = (comp - comp_min) / (comp_max - comp_min) @@ -365,7 +365,6 @@ def publish_feature_image(self, features): feat_msg.header.frame_id = self.header.frame_id self.feat_pub.publish(feat_msg) - def publish_pointcloud(self, pcl, header): pc2 = ros_numpy.msgify(PointCloud2, pcl) pc2.header = header From 38a3aa56048964954022e409f42256fc9b048ab0 Mon Sep 17 00:00:00 2001 From: Jonas Frey Date: Fri, 4 Aug 2023 09:58:31 +0200 Subject: [PATCH 358/504] fixed simple parsing dependency --- requirements.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/requirements.txt b/requirements.txt index 39e669bf..e9d43858 100644 --- a/requirements.txt +++ b/requirements.txt @@ -4,7 +4,7 @@ scipy==1.7 dataclasses ruamel.yaml opencv-python -simple_parsing +simple-parsing scikit-image matplotlib From edaab5cccfb08e51ff7bbfdf0a9c2921e4295525 Mon Sep 17 00:00:00 2001 From: Jonas Frey Date: Fri, 4 Aug 2023 10:22:17 +0200 Subject: [PATCH 359/504] added configuration for anymal --- .../config/anymal_parameters.yaml | 89 +++++++++++++++++++ .../config/anymal_plugin_config.yaml | 28 ++++++ .../config/anymal_sensor_parameter.yaml | 43 +++++++++ elevation_mapping_cupy/launch/anymal.launch | 7 ++ 4 files changed, 167 insertions(+) create mode 100644 elevation_mapping_cupy/config/anymal_parameters.yaml create mode 100644 elevation_mapping_cupy/config/anymal_plugin_config.yaml create mode 100644 elevation_mapping_cupy/config/anymal_sensor_parameter.yaml create mode 100644 elevation_mapping_cupy/launch/anymal.launch diff --git a/elevation_mapping_cupy/config/anymal_parameters.yaml b/elevation_mapping_cupy/config/anymal_parameters.yaml new file mode 100644 index 00000000..c1aa165b --- /dev/null +++ b/elevation_mapping_cupy/config/anymal_parameters.yaml @@ -0,0 +1,89 @@ +#### Basic parameters ######## +resolution: 0.04 # resolution in m. +map_length: 8 # map's size in m. +sensor_noise_factor: 0.05 # point's noise is sensor_noise_factor*z^2 (z is distance from sensor). +mahalanobis_thresh: 2.0 # points outside this distance is outlier. +outlier_variance: 0.01 # if point is outlier, add this value to the cell. +drift_compensation_variance_inler: 0.05 # cells under this value is used for drift compensation. +max_drift: 0.1 # drift compensation happens only the drift is smaller than this value (for safety) +drift_compensation_alpha: 0.1 # drift compensation alpha for smoother update of drift compensation +time_variance: 0.0001 # add this value when update_variance is called. +max_variance: 100.0 # maximum variance for each cell. +initial_variance: 1000.0 # initial variance for each cell. +traversability_inlier: 0.9 # cells with higher traversability are used for drift compensation. +dilation_size: 3 # dilation filter size before traversability filter. +wall_num_thresh: 20 # if there are more points than this value, only higher points than the current height are used to make the wall more sharp. +min_height_drift_cnt: 100 # drift compensation only happens if the valid cells are more than this number. +position_noise_thresh: 0.01 # if the position change is bigger than this value, the drift compensation happens. +orientation_noise_thresh: 0.01 # if the orientation change is bigger than this value, the drift compensation happens. +position_lowpass_alpha: 0.2 # lowpass filter alpha used for detecting movements. +orientation_lowpass_alpha: 0.2 # lowpass filter alpha used for detecting movements. +min_valid_distance: 0.5 # points with shorter distance will be filtered out. +max_height_range: 1.0 # points higher than this value from sensor will be filtered out to disable ceiling. +ramped_height_range_a: 0.3 # if z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject. +ramped_height_range_b: 1.0 # if z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject. +ramped_height_range_c: 0.2 # if z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject. +update_variance_fps: 5.0 # fps for updating variance. +update_pose_fps: 10.0 # fps for updating pose and shift the center of map. +time_interval: 0.1 # Time layer is updated with this interval. +map_acquire_fps: 5.0 # Raw map is fetched from GPU memory in this fps. +publish_statistics_fps: 1.0 # Publish statistics topic in this fps. + +max_ray_length: 10.0 # maximum length for ray tracing. +cleanup_step: 0.1 # subtitute this value from validity layer at visibiltiy cleanup. +cleanup_cos_thresh: 0.1 # subtitute this value from validity layer at visibiltiy cleanup. + +safe_thresh: 0.7 # if traversability is smaller, it is counted as unsafe cell. +safe_min_thresh: 0.4 # polygon is unsafe if there exists lower traversability than this. +max_unsafe_n: 10 # if the number of cells under safe_thresh exceeds this value, polygon is unsafe. + +overlap_clear_range_xy: 4.0 # xy range [m] for clearing overlapped area. this defines the valid area for overlap clearance. (used for multi floor setting) +overlap_clear_range_z: 2.0 # z range [m] for clearing overlapped area. cells outside this range will be cleared. (used for multi floor setting) + +map_frame: 'odom' # The map frame where the odometry source uses. +base_frame: 'base' # The robot's base frame. This frame will be a center of the map. +corrected_map_frame: 'odom_corrected' + +#### Feature toggles ######## +enable_edge_sharpen: true +enable_visibility_cleanup: true +enable_drift_compensation: true +enable_overlap_clearance: true +enable_pointcloud_publishing: false +enable_drift_corrected_TF_publishing: false +enable_normal_color: false # If true, the map contains 'color' layer corresponding to normal. Add 'color' layer to the publishers setting if you want to visualize. + +#### Traversability filter ######## +use_chainer: false # Use chainer as a backend of traversability filter or pytorch. If false, it uses pytorch. pytorch requires ~2GB more GPU memory compared to chainer but runs faster. +weight_file: '$(rospack find elevation_mapping_cupy)/config/weights.dat' # Weight file for traversability filter + +#### Upper bound ######## +use_only_above_for_upper_bound: false + +#### Plugins ######## +plugin_config_file: '$(rospack find elevation_mapping_cupy)/config/anymal_plugin_config.yaml' + +#### Publishers ######## +# topic_name: +# layers: # Choose from 'elevation', 'variance', 'traversability', 'time', 'normal_x', 'normal_y', 'normal_z', 'color', plugin_layer_names +# basic_layers: # basic_layers for valid cell computation (e.g. Rviz): Choose a subset of `layers`. +# fps: # Publish rate. Use smaller value than `map_acquire_fps`. + +publishers: + elevation_map_raw: + layers: ['elevation', 'traversability', 'variance'] + basic_layers: ['elevation', 'traversability'] + fps: 5.0 + + semantic_map_raw: + layers: ['elevation', 'traversability'] + basic_layers: ['elevation', 'traversability'] + fps: 5.0 + +#### Initializer ######## +initialize_method: 'linear' # Choose one from 'nearest', 'linear', 'cubic' +initialize_frame_id: ['RF_FOOT', 'LF_FOOT', 'RH_FOOT', 'LH_FOOT'] # One tf (like ['footprint'] ) initializes a square around it. +initialize_tf_offset: [0.0, 0.0, 0.0, 0.0] # z direction. Should be same number as initialize_frame_id. +dilation_size_initialize: 5 # dilation size after the init. +initialize_tf_grid_size: 0.4 # This is not used if number of tf is more than 3. +use_initializer_at_start: true # Use initializer when the node starts. \ No newline at end of file diff --git a/elevation_mapping_cupy/config/anymal_plugin_config.yaml b/elevation_mapping_cupy/config/anymal_plugin_config.yaml new file mode 100644 index 00000000..d5da9e67 --- /dev/null +++ b/elevation_mapping_cupy/config/anymal_plugin_config.yaml @@ -0,0 +1,28 @@ +# Settings of the plugins. (The plugins should be stored in script/plugins) +# min_filter fills in minimum value around the invalid cell. +min_filter: + enable: True # weather to load this plugin + fill_nan: False # Fill nans to invalid cells of elevation layer. + is_height_layer: True # If this is a height layer (such as elevation) or not (such as traversability) + layer_name: "min_filter" # The layer name. + extra_params: # This params are passed to the plugin class on initialization. + dilation_size: 1 # The patch size to apply + iteration_n: 30 # The number of iterations + +# Apply smoothing. +smooth_filter: + enable: True + fill_nan: False + is_height_layer: True + layer_name: "smooth" + extra_params: + input_layer_name: "min_filter" + +# Apply inpainting using opencv +inpainting: + enable: True + fill_nan: False + is_height_layer: True + layer_name: "inpaint" + extra_params: + method: "telea" # telea or ns diff --git a/elevation_mapping_cupy/config/anymal_sensor_parameter.yaml b/elevation_mapping_cupy/config/anymal_sensor_parameter.yaml new file mode 100644 index 00000000..ecb96c73 --- /dev/null +++ b/elevation_mapping_cupy/config/anymal_sensor_parameter.yaml @@ -0,0 +1,43 @@ +#### Subscribers ######## +subscribers: + front_depth: + channels: [] + fusion: [] + topic_name: /depth_camera_front/point_cloud_self_filtered + data_type: pointcloud + + rear_depth: + channels: [] + fusion: [] + topic_name: /depth_camera_rear/point_cloud_self_filtered + data_type: pointcloud + + left_depth: + channels: [] + fusion: [] + topic_name: /depth_camera_left/point_cloud_self_filtered + data_type: pointcloud + + right_depth: + channels: [] + fusion: [] + topic_name: /depth_camera_right/point_cloud_self_filtered + data_type: pointcloud + + velodyne: + channels: [] + fusion: [] + topic_name: /point_cloud_filter/lidar/point_cloud_filtered + data_type: pointcloud + + front_bpearl: + channels: [] + fusion: [] + topic_name: /robot_self_filter/bpearl_front/point_cloud + data_type: pointcloud + + rear_bpearl: + channels: [] + fusion: [] + topic_name: /robot_self_filter/bpearl_rear/point_cloud + data_type: pointcloud \ No newline at end of file diff --git a/elevation_mapping_cupy/launch/anymal.launch b/elevation_mapping_cupy/launch/anymal.launch new file mode 100644 index 00000000..cc598ea2 --- /dev/null +++ b/elevation_mapping_cupy/launch/anymal.launch @@ -0,0 +1,7 @@ + + + + + + + From 1ae86f2fba8e411df8b50e13782899435337e6c7 Mon Sep 17 00:00:00 2001 From: Takahiro Date: Sun, 20 Aug 2023 23:10:41 +0200 Subject: [PATCH 360/504] Updated documents for plugins. --- .../plugins/features_pca.py | 14 +++++----- .../plugins/inpainting.py | 19 ++++++++------ .../plugins/min_filter.py | 16 ++++++------ .../plugins/robot_centric_elevation.py | 18 ++++++------- .../plugins/semantic_filter.py | 14 +++++----- .../plugins/semantic_traversability.py | 22 +++++++++------- .../plugins/smooth_filter.py | 26 +++++++++++++------ 7 files changed, 72 insertions(+), 57 deletions(-) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/features_pca.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/features_pca.py index 5422a39c..ad1236bf 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/features_pca.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/features_pca.py @@ -11,17 +11,17 @@ class FeaturesPca(PluginBase): + """This is a filter to create a pca layer of the semantic features in the map. + + Args: + cell_n (int): width and height of the elevation map. + classes (ruamel.yaml.comments.CommentedSeq): + **kwargs (): + """ def __init__( self, **kwargs, ): - """This is a filter to create a pca layer of the semantic features in the map. - - Args: - cell_n (int): width and height of the elevation map. - classes (ruamel.yaml.comments.CommentedSeq): - **kwargs (): - """ super().__init__() self.indices = [] diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/inpainting.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/inpainting.py index 4b6dc2f5..622c0150 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/inpainting.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/inpainting.py @@ -12,14 +12,15 @@ class Inpainting(PluginBase): - def __init__(self, cell_n: int = 100, method: str = "telea", **kwargs): - """ + """ + This class is used for inpainting, a process of reconstructing lost or deteriorated parts of images and videos. - Args: - cell_n (int): - method (str): - **kwargs (): - """ + Args: + cell_n (int): The number of cells. Default is 100. + method (str): The inpainting method. Options are 'telea' or 'ns' (Navier-Stokes). Default is 'telea'. + **kwargs (): Additional keyword arguments. + """ + def __init__(self, cell_n: int = 100, method: str = "telea", **kwargs): super().__init__() if method == "telea": self.method = cv.INPAINT_TELEA @@ -53,7 +54,9 @@ def __call__( h = elevation_map[0] h_max = float(h[mask < 1].max()) h_min = float(h[mask < 1].min()) - h = cp.asnumpy((elevation_map[0] - h_min) * 255 / (h_max - h_min)).astype("uint8") + h = cp.asnumpy((elevation_map[0] - h_min) * 255 / (h_max - h_min)).astype( + "uint8" + ) dst = np.array(cv.inpaint(h, mask, 1, self.method)) h_inpainted = dst.astype(np.float32) * (h_max - h_min) / 255 + h_min return cp.asarray(h_inpainted).astype(np.float64) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/min_filter.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/min_filter.py index 6c479b03..c685eed6 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/min_filter.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/min_filter.py @@ -10,15 +10,15 @@ class MinFilter(PluginBase): - def __init__(self, cell_n: int = 100, dilation_size: int = 5, iteration_n: int = 5, **kwargs): - """This is a filter to fill in invalid cells with minimum values around. + """This is a filter to fill in invalid cells with minimum values around. - Args: - cell_n (int): width of the elevation map. - dilation_size (int): The size of the patch to search for minimum value for each iteration. - iteration_n (int): The number of iteration to repeat the same filter. - **kwargs (): - """ + Args: + cell_n (int): width of the elevation map. + dilation_size (int): The size of the patch to search for minimum value for each iteration. + iteration_n (int): The number of iteration to repeat the same filter. + **kwargs (): + """ + def __init__(self, cell_n: int = 100, dilation_size: int = 5, iteration_n: int = 5, **kwargs): super().__init__() self.iteration_n = iteration_n self.width = cell_n diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/robot_centric_elevation.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/robot_centric_elevation.py index 47ac799a..e9b43266 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/robot_centric_elevation.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/robot_centric_elevation.py @@ -5,18 +5,18 @@ class RobotCentricElevation(PluginBase): + """Generates an elevation map with respect to the robot frame. + + Args: + cell_n (int): + resolution (ruamel.yaml.scalarfloat.ScalarFloat): + threshold (ruamel.yaml.scalarfloat.ScalarFloat): + use_threshold (bool): + **kwargs (): + """ def __init__( self, cell_n: int = 100, resolution: float = 0.05, threshold: float = 0.4, use_threshold: bool = 0, **kwargs ): - """Generates an elevation map with respect to the robot frame. - - Args: - cell_n (int): - resolution (ruamel.yaml.scalarfloat.ScalarFloat): - threshold (ruamel.yaml.scalarfloat.ScalarFloat): - use_threshold (bool): - **kwargs (): - """ super().__init__() self.width = cell_n self.height = cell_n diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_filter.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_filter.py index eeb2a0ea..3331afe7 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_filter.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_filter.py @@ -10,19 +10,19 @@ class SemanticFilter(PluginBase): + """This is a filter to create a one hot encoded map of the class probabilities. + + Args: + cell_n (int): width and height of the elevation map. + classes (list): List of classes for semantic filtering. Default is ["person", "grass"]. + **kwargs: Additional keyword arguments. + """ def __init__( self, cell_n: int = 100, classes: list = ["person", "grass"], **kwargs, ): - """This is a filter to create a one hot encoded map of the class probabilities. - - Args: - cell_n (int): width and height of the elevation map. - classes (ruamel.yaml.comments.CommentedSeq): - **kwargs (): - """ super().__init__() self.indices = [] self.classes = classes diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_traversability.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_traversability.py index 01d3e882..0c9af601 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_traversability.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_traversability.py @@ -10,6 +10,15 @@ class SemanticTraversability(PluginBase): + """Extracts traversability and elevations from layers and generates an updated traversability that can be used by checker. + + Args: + cell_n (int): The width and height of the elevation map. + layers (list): List of layers for semantic traversability. Default is ["traversability"]. + thresholds (list): List of thresholds for each layer. Default is [0.5]. + type (list): List of types for each layer. Default is ["traversability"]. + **kwargs: Additional keyword arguments. + """ def __init__( self, cell_n: int = 100, @@ -18,15 +27,6 @@ def __init__( type: list = ["traversability"], **kwargs, ): - """Extracts traversability and elevations from layers and generates an updated traversability that can be used by checker. - - Args: - cell_n (int): - layers (ruamel.yaml.comments.CommentedSeq): - thresholds (ruamel.yaml.comments.CommentedSeq): - type (ruamel.yaml.comments.CommentedSeq): - **kwargs (): - """ super().__init__() self.layers = layers self.thresholds = cp.asarray(thresholds) @@ -69,7 +69,9 @@ def __call__( idx = plugin_layer_names.index(name) tempo = plugin_layers[idx] else: - print("Layer {} is not in the map, returning traversabiltiy!".format(name)) + print( + "Layer {} is not in the map, returning traversabiltiy!".format(name) + ) return if self.type[it] == "traversability": tempo = cp.where(tempo <= self.thresholds[it], 1, 0) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/smooth_filter.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/smooth_filter.py index 79d0be80..f728d557 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/smooth_filter.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/smooth_filter.py @@ -10,14 +10,20 @@ class SmoothFilter(PluginBase): - def __init__(self, cell_n: int = 100, input_layer_name: str = "elevation", **kwargs): - """This filters smoothees elevation map. + """ + SmoothFilter is a class that applies a smoothing filter + to the elevation map. The filter is applied to the layer specified by the input_layer_name parameter. + If the specified layer is not found, the filter is applied to the elevation layer. - Args: - cell_n (int): - input_layer_name (str): - **kwargs (): - """ + Args: + cell_n (int): The width and height of the elevation map. Default is 100. + input_layer_name (str): The name of the layer to which the filter should be applied. Default is "elevation". + **kwargs: Additional keyword arguments. + """ + + def __init__( + self, cell_n: int = 100, input_layer_name: str = "elevation", **kwargs + ): super().__init__() self.input_layer_name = input_layer_name @@ -48,7 +54,11 @@ def __call__( idx = plugin_layer_names.index(self.input_layer_name) h = plugin_layers[idx] else: - print("layer name {} was not found. Using elevation layer.".format(self.input_layer_name)) + print( + "layer name {} was not found. Using elevation layer.".format( + self.input_layer_name + ) + ) h = elevation_map[0] hs1 = ndimage.uniform_filter(h, size=3) hs1 = ndimage.uniform_filter(hs1, size=3) From 6f3a0028ed2455157f13b40b5827ecb58b8e3576 Mon Sep 17 00:00:00 2001 From: Takahiro Date: Sun, 20 Aug 2023 23:10:58 +0200 Subject: [PATCH 361/504] Added missing cupy dependency. --- requirements.txt | 1 + 1 file changed, 1 insertion(+) diff --git a/requirements.txt b/requirements.txt index e9d43858..1b84c227 100644 --- a/requirements.txt +++ b/requirements.txt @@ -7,6 +7,7 @@ opencv-python simple-parsing scikit-image matplotlib +cupy ###### Requirements with Version Specifiers ######` shapely==1.7.1 From 71ddbd3c1b546559e580d644cfd3897b0c1f0218 Mon Sep 17 00:00:00 2001 From: Takahiro Date: Sun, 20 Aug 2023 23:11:44 +0200 Subject: [PATCH 362/504] Added missing requirements for semantic_sensor --- sensor_processing/semantic_sensor/setup.py | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/sensor_processing/semantic_sensor/setup.py b/sensor_processing/semantic_sensor/setup.py index e9e4d498..e042fa90 100644 --- a/sensor_processing/semantic_sensor/setup.py +++ b/sensor_processing/semantic_sensor/setup.py @@ -5,6 +5,10 @@ packages=[ "semantic_sensor", ], + install_requires=[ + "torch", + "torchvision", + ], package_dir={"": "script"}, ) From 9a13ec5c2c1d5a6fe99e1e59400636d7138f23fa Mon Sep 17 00:00:00 2001 From: Takahiro Date: Thu, 24 Aug 2023 05:34:52 +0200 Subject: [PATCH 363/504] Fixed np.float issue. --- .../semantic_sensor/script/semantic_sensor/pointcloud_node.py | 1 + 1 file changed, 1 insertion(+) diff --git a/sensor_processing/semantic_sensor/script/semantic_sensor/pointcloud_node.py b/sensor_processing/semantic_sensor/script/semantic_sensor/pointcloud_node.py index cad57758..597cc080 100755 --- a/sensor_processing/semantic_sensor/script/semantic_sensor/pointcloud_node.py +++ b/sensor_processing/semantic_sensor/script/semantic_sensor/pointcloud_node.py @@ -3,6 +3,7 @@ import numpy as np import cupy as cp +np.float = np.float64 # temp fix for following import suggested at https://github.com/eric-wieser/ros_numpy/issues/37 import ros_numpy import matplotlib.pyplot as plt from skimage.io import imshow From 1fd53bb7c946b97be639d514fa37f9801d0757dd Mon Sep 17 00:00:00 2001 From: Takahiro Date: Thu, 24 Aug 2023 06:24:55 +0200 Subject: [PATCH 364/504] Added some installation docs. --- docs/source/getting_started/installation.rst | 17 +++++++++++++++++ 1 file changed, 17 insertions(+) diff --git a/docs/source/getting_started/installation.rst b/docs/source/getting_started/installation.rst index 255fff74..9d65d6b7 100644 --- a/docs/source/getting_started/installation.rst +++ b/docs/source/getting_started/installation.rst @@ -219,3 +219,20 @@ have the third-party libaries installed on you machine: sudo apt install libboost-all-dev +Semantic Sensors +================================================================== +Elevation mapping node can receive multi-modal point cloud and image topics. +In this example, we use semantic segmentation models to process color images and publish those topics. + +Python dependencies +------------------------------------------------------------------- + +.. code-block:: bash + + pip3 install torchvision scikit-learn + +Detectron + +.. code-block:: bash + + python3 -m pip install 'git+https://github.com/facebookresearch/detectron2.git' \ No newline at end of file From b7a8f308878e226cec8b9faf88a47e8ca1d443c9 Mon Sep 17 00:00:00 2001 From: Takahiro Date: Thu, 24 Aug 2023 06:25:32 +0200 Subject: [PATCH 365/504] Cleaning up config files. (wip) --- .../{parameters.yaml => core/core_param.yaml} | 30 +----- .../config/core/example_setup.yaml | 35 +++++++ .../config/core/plugin_config.yaml | 28 ++++++ .../config/{ => core}/weights.dat | Bin .../image_semantic_sensor_parameter.yaml | 24 ----- .../config/semantic_parameters.yaml | 94 ------------------ .../config/sensor_parameter.yaml | 15 --- .../anymal}/anymal_parameters.yaml | 0 .../anymal}/anymal_plugin_config.yaml | 0 .../anymal}/anymal_sensor_parameter.yaml | 0 .../features}/features_parameters.yaml | 0 .../features}/features_plugin_config.yaml | 0 .../features}/features_semantics.yaml | 0 .../features}/features_sensor_parameter.yaml | 0 .../features}/image_semantics.yaml | 0 .../turtle_bot}/plugin_config.yaml | 0 .../turtle_bot_image_semantics.yaml | 57 +++++++++++ .../turtle_bot/turtle_bot_semantics.yaml} | 20 +++- .../setups/turtle_bot/turtle_bot_simple.yaml | 20 ++++ .../launch/turtlesim_example.launch | 9 +- .../launch/turtlesim_semantic_example.launch | 6 +- .../turtlesim_semantic_image_example.launch | 9 +- ...rtlesim_semantic_pointcloud_example.launch | 19 ++++ .../elevation_mapping.py | 2 +- .../script/semantic_sensor/image_node.py | 3 + 25 files changed, 194 insertions(+), 177 deletions(-) rename elevation_mapping_cupy/config/{parameters.yaml => core/core_param.yaml} (85%) create mode 100644 elevation_mapping_cupy/config/core/example_setup.yaml create mode 100644 elevation_mapping_cupy/config/core/plugin_config.yaml rename elevation_mapping_cupy/config/{ => core}/weights.dat (100%) delete mode 100644 elevation_mapping_cupy/config/image_semantic_sensor_parameter.yaml delete mode 100644 elevation_mapping_cupy/config/semantic_parameters.yaml delete mode 100644 elevation_mapping_cupy/config/sensor_parameter.yaml rename elevation_mapping_cupy/config/{ => setups/anymal}/anymal_parameters.yaml (100%) rename elevation_mapping_cupy/config/{ => setups/anymal}/anymal_plugin_config.yaml (100%) rename elevation_mapping_cupy/config/{ => setups/anymal}/anymal_sensor_parameter.yaml (100%) rename elevation_mapping_cupy/config/{ => setups/features}/features_parameters.yaml (100%) rename elevation_mapping_cupy/config/{ => setups/features}/features_plugin_config.yaml (100%) rename elevation_mapping_cupy/config/{ => setups/features}/features_semantics.yaml (100%) rename elevation_mapping_cupy/config/{ => setups/features}/features_sensor_parameter.yaml (100%) rename elevation_mapping_cupy/config/{ => setups/features}/image_semantics.yaml (100%) rename elevation_mapping_cupy/config/{ => setups/turtle_bot}/plugin_config.yaml (100%) create mode 100644 elevation_mapping_cupy/config/setups/turtle_bot/turtle_bot_image_semantics.yaml rename elevation_mapping_cupy/config/{semantic_sensor_parameter.yaml => setups/turtle_bot/turtle_bot_semantics.yaml} (56%) create mode 100644 elevation_mapping_cupy/config/setups/turtle_bot/turtle_bot_simple.yaml create mode 100644 elevation_mapping_cupy/launch/turtlesim_semantic_pointcloud_example.launch diff --git a/elevation_mapping_cupy/config/parameters.yaml b/elevation_mapping_cupy/config/core/core_param.yaml similarity index 85% rename from elevation_mapping_cupy/config/parameters.yaml rename to elevation_mapping_cupy/config/core/core_param.yaml index 8354b36f..6bbede56 100644 --- a/elevation_mapping_cupy/config/parameters.yaml +++ b/elevation_mapping_cupy/config/core/core_param.yaml @@ -55,36 +55,11 @@ enable_normal_color: false # If true, the map contains 'col #### Traversability filter ######## use_chainer: false # Use chainer as a backend of traversability filter or pytorch. If false, it uses pytorch. pytorch requires ~2GB more GPU memory compared to chainer but runs faster. -weight_file: '$(rospack find elevation_mapping_cupy)/config/weights.dat' # Weight file for traversability filter +weight_file: '$(rospack find elevation_mapping_cupy)/config/core/weights.dat' # Weight file for traversability filter #### Upper bound ######## use_only_above_for_upper_bound: false -#### Plugins ######## -plugin_config_file: '$(rospack find elevation_mapping_cupy)/config/plugin_config.yaml' - -#### Subscribers ######## - - -#### Publishers ######## -# topic_name: -# layers: # Choose from 'elevation', 'variance', 'traversability', 'time', 'normal_x', 'normal_y', 'normal_z', 'color', plugin_layer_names -# basic_layers: # basic_layers for valid cell computation (e.g. Rviz): Choose a subset of `layers`. -# fps: # Publish rate. Use smaller value than `map_acquire_fps`. -publishers: - elevation_map_raw: - layers: ['elevation', 'traversability', 'variance','rgb'] - basic_layers: ['elevation'] - fps: 5.0 -# elevation_map_recordable: -# layers: ['elevation', 'traversability'] -# basic_layers: ['elevation', 'traversability'] -# fps: 2.0 - elevation_map_filter: - layers: ['min_filter', 'smooth', 'inpaint', 'elevation'] - basic_layers: ['min_filter'] - fps: 3.0 - #### Initializer ######## initialize_method: 'linear' # Choose one from 'nearest', 'linear', 'cubic' initialize_frame_id: ['base_footprint'] # One tf (like ['footprint'] ) initializes a square around it. @@ -92,3 +67,6 @@ initialize_tf_offset: [0.0, 0.0, 0.0, 0.0] # z directio dilation_size_initialize: 2 # dilation size after the init. initialize_tf_grid_size: 2 # This is not used if number of tf is more than 3. use_initializer_at_start: true # Use initializer when the node starts. + +#### Default Plugins ######## +plugin_config_file: '$(rospack find elevation_mapping_cupy)/config/core/plugin_config.yaml' \ No newline at end of file diff --git a/elevation_mapping_cupy/config/core/example_setup.yaml b/elevation_mapping_cupy/config/core/example_setup.yaml new file mode 100644 index 00000000..d31eb1e4 --- /dev/null +++ b/elevation_mapping_cupy/config/core/example_setup.yaml @@ -0,0 +1,35 @@ +#### Plugins ######## +plugin_config_file: '$(rospack find elevation_mapping_cupy)/config/core/plugin_config.yaml' + +#### Subscribers ######## +# sensor_name: +# channels: ['feat_0','feat_1'] +# fusion: ['average','average'] +# topic_name: '/elevation_mapping/pointcloud_semantic' + +subscribers: + front_cam: + channels: ['rgb' ] + fusion: [ 'color'] + topic_name: '/camera/depth/points' + data_type: pointcloud + +#### Publishers ######## +# topic_name: +# layers: # Choose from 'elevation', 'variance', 'traversability', 'time', 'normal_x', 'normal_y', 'normal_z', 'color', plugin_layer_names +# basic_layers: # basic_layers for valid cell computation (e.g. Rviz): Choose a subset of `layers`. +# fps: # Publish rate. Use smaller value than `map_acquire_fps`. + +publishers: + elevation_map_raw: + layers: ['elevation', 'traversability', 'variance','rgb'] + basic_layers: ['elevation'] + fps: 5.0 + elevation_map_recordable: + layers: ['elevation', 'traversability'] + basic_layers: ['elevation', 'traversability'] + fps: 2.0 + elevation_map_filter: + layers: ['min_filter', 'smooth', 'inpaint', 'elevation'] + basic_layers: ['min_filter'] + fps: 3.0 \ No newline at end of file diff --git a/elevation_mapping_cupy/config/core/plugin_config.yaml b/elevation_mapping_cupy/config/core/plugin_config.yaml new file mode 100644 index 00000000..7eb62c4c --- /dev/null +++ b/elevation_mapping_cupy/config/core/plugin_config.yaml @@ -0,0 +1,28 @@ +# Settings of the plugins. (The plugins should be stored in script/plugins) + +# min_filter fills in minimum value around the invalid cell. +min_filter: + enable: True # weather to load this plugin + fill_nan: False # Fill nans to invalid cells of elevation layer. + is_height_layer: True # If this is a height layer (such as elevation) or not (such as traversability) + layer_name: "min_filter" # The layer name. + extra_params: # This params are passed to the plugin class on initialization. + dilation_size: 1 # The patch size to apply + iteration_n: 30 # The number of iterations +# Apply smoothing. +smooth_filter: + enable: True + fill_nan: False + is_height_layer: True + layer_name: "smooth" + extra_params: + input_layer_name: "min_filter" +# Apply inpainting using opencv +inpainting: + enable: True + fill_nan: False + is_height_layer: True + layer_name: "inpaint" + extra_params: + method: "telea" # telea or ns +# Apply smoothing for inpainted layer \ No newline at end of file diff --git a/elevation_mapping_cupy/config/weights.dat b/elevation_mapping_cupy/config/core/weights.dat similarity index 100% rename from elevation_mapping_cupy/config/weights.dat rename to elevation_mapping_cupy/config/core/weights.dat diff --git a/elevation_mapping_cupy/config/image_semantic_sensor_parameter.yaml b/elevation_mapping_cupy/config/image_semantic_sensor_parameter.yaml deleted file mode 100644 index 5965c88a..00000000 --- a/elevation_mapping_cupy/config/image_semantic_sensor_parameter.yaml +++ /dev/null @@ -1,24 +0,0 @@ -subscribers: -# sensor_name: -# channels: ['feat_0','feat_1'] -# fusion: ['average','average'] -# topic_name: '/elevation_mapping/pointcloud_semantic' - front_cam: - channels: [ 'grass','tree',"person" ] - fusion: [ 'exponential','exponential','exponential' ] - topic_name_camera: '/elevation_mapping/semantic_front' - topic_name_camera_info: '/camera/depth/camera_info' - data_type: image - - color_cam: # for color camera - channels: ['rgb'] - fusion: ['color'] - topic_name_camera: '/camera/rgb/image_raw' - topic_name_camera_info: '/camera/depth/camera_info' - data_type: image - - pointcloud: - channels: [] - fusion: [] - topic_name: '/camera/depth/points' - data_type: pointcloud \ No newline at end of file diff --git a/elevation_mapping_cupy/config/semantic_parameters.yaml b/elevation_mapping_cupy/config/semantic_parameters.yaml deleted file mode 100644 index b4eae18c..00000000 --- a/elevation_mapping_cupy/config/semantic_parameters.yaml +++ /dev/null @@ -1,94 +0,0 @@ -#### Basic parameters ######## -resolution: 0.04 # resolution in m. -map_length: 8.0 # map's size in m. -sensor_noise_factor: 0.05 # point's noise is sensor_noise_factor*z^2 (z is distance from sensor). -mahalanobis_thresh: 2.0 # points outside this distance is outlier. -outlier_variance: 0.01 # if point is outlier, add this value to the cell. -drift_compensation_variance_inler: 0.05 # cells under this value is used for drift compensation. -max_drift: 0.1 # drift compensation happens only the drift is smaller than this value (for safety) -drift_compensation_alpha: 0.1 # drift compensation alpha for smoother update of drift compensation -time_variance: 0.0001 # add this value when update_variance is called. -max_variance: 100.0 # maximum variance for each cell. -initial_variance: 1000.0 # initial variance for each cell. -traversability_inlier: 0.9 # cells with higher traversability are used for drift compensation. -dilation_size: 3 # dilation filter size before traversability filter. -wall_num_thresh: 20 # if there are more points than this value, only higher points than the current height are used to make the wall more sharp. -min_height_drift_cnt: 100 # drift compensation only happens if the valid cells are more than this number. -position_noise_thresh: 0.01 # if the position change is bigger than this value, the drift compensation happens. -orientation_noise_thresh: 0.01 # if the orientation change is bigger than this value, the drift compensation happens. -position_lowpass_alpha: 0.2 # lowpass filter alpha used for detecting movements. -orientation_lowpass_alpha: 0.2 # lowpass filter alpha used for detecting movements. -min_valid_distance: 0.5 # points with shorter distance will be filtered out. -max_height_range: 1.0 # points higher than this value from sensor will be filtered out to disable ceiling. -ramped_height_range_a: 0.3 # if z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject. -ramped_height_range_b: 1.0 # if z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject. -ramped_height_range_c: 0.2 # if z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject. -update_variance_fps: 5.0 # fps for updating variance. -update_pose_fps: 10.0 # fps for updating pose and shift the center of map. -time_interval: 0.1 # Time layer is updated with this interval. -map_acquire_fps: 5.0 # Raw map is fetched from GPU memory in this fps. -publish_statistics_fps: 1.0 # Publish statistics topic in this fps. - -max_ray_length: 10.0 # maximum length for ray tracing. -cleanup_step: 0.1 # subtitute this value from validity layer at visibiltiy cleanup. -cleanup_cos_thresh: 0.1 # subtitute this value from validity layer at visibiltiy cleanup. - -safe_thresh: 0.7 # if traversability is smaller, it is counted as unsafe cell. -safe_min_thresh: 0.4 # polygon is unsafe if there exists lower traversability than this. -max_unsafe_n: 10 # if the number of cells under safe_thresh exceeds this value, polygon is unsafe. - -overlap_clear_range_xy: 4.0 # xy range [m] for clearing overlapped area. this defines the valid area for overlap clearance. (used for multi floor setting) -overlap_clear_range_z: 2.0 # z range [m] for clearing overlapped area. cells outside this range will be cleared. (used for multi floor setting) - -map_frame: 'odom' # The map frame where the odometry source uses. -base_frame: 'base_footprint' # The robot's base frame. This frame will be a center of the map. -corrected_map_frame: 'odom' - -#### Feature toggles ######## -enable_edge_sharpen: true -enable_visibility_cleanup: true -enable_drift_compensation: true -enable_overlap_clearance: true -enable_pointcloud_publishing: false -enable_drift_corrected_TF_publishing: false -enable_normal_color: false # If true, the map contains 'color' layer corresponding to normal. Add 'color' layer to the publishers setting if you want to visualize. - -#### Traversability filter ######## -use_chainer: false # Use chainer as a backend of traversability filter or pytorch. If false, it uses pytorch. pytorch requires ~2GB more GPU memory compared to chainer but runs faster. -weight_file: '$(rospack find elevation_mapping_cupy)/config/weights.dat' # Weight file for traversability filter - -#### Upper bound ######## -use_only_above_for_upper_bound: false - -#### Plugins ######## -plugin_config_file: '$(rospack find elevation_mapping_cupy)/config/plugin_config.yaml' - -#### Subscribers ######## - - -#### Publishers ######## -# topic_name: -# layers: # Choose from 'elevation', 'variance', 'traversability', 'time', 'normal_x', 'normal_y', 'normal_z', 'color', plugin_layer_names -# basic_layers: # basic_layers for valid cell computation (e.g. Rviz): Choose a subset of `layers`. -# fps: # Publish rate. Use smaller value than `map_acquire_fps`. -publishers: - elevation_map_raw: - layers: ['elevation', 'traversability', 'variance','rgb','sem_fil'] - basic_layers: ['elevation'] - fps: 5.0 -# elevation_map_recordable: -# layers: ['elevation', 'traversability'] -# basic_layers: ['elevation', 'traversability'] -# fps: 2.0 - elevation_map_filter: - layers: ['min_filter', 'smooth', 'inpaint', 'elevation','rgb','sem_fil'] - basic_layers: ['min_filter'] - fps: 3.0 - -#### Initializer ######## -initialize_method: 'linear' # Choose one from 'nearest', 'linear', 'cubic' -initialize_frame_id: ['base_footprint'] # One tf (like ['footprint'] ) initializes a square around it. -initialize_tf_offset: [0.0, 0.0, 0.0, 0.0] # z direction. Should be same number as initialize_frame_id. -dilation_size_initialize: 5 # dilation size after the init. -initialize_tf_grid_size: 2 # This is not used if number of tf is more than 3. -use_initializer_at_start: true # Use initializer when the node starts. diff --git a/elevation_mapping_cupy/config/sensor_parameter.yaml b/elevation_mapping_cupy/config/sensor_parameter.yaml deleted file mode 100644 index 3aa14712..00000000 --- a/elevation_mapping_cupy/config/sensor_parameter.yaml +++ /dev/null @@ -1,15 +0,0 @@ -subscribers: -# sensor_name: -# channels: ['feat_0','feat_1'] -# fusion: ['average','average'] -# topic_name: '/elevation_mapping/pointcloud_semantic' - front_cam: - channels: ['rgb' ] - fusion: [ 'color'] - topic_name: '/elevation_mapping/pointcloud_semantic' - data_type: pointcloud - - cam_info_topic: "/camera/depth/camera_info" - image_topic: "/camera/rgb/image_raw" - depth_topic: "/camera/depth/image_raw" - cam_frame: "camera_rgb_optical_frame" diff --git a/elevation_mapping_cupy/config/anymal_parameters.yaml b/elevation_mapping_cupy/config/setups/anymal/anymal_parameters.yaml similarity index 100% rename from elevation_mapping_cupy/config/anymal_parameters.yaml rename to elevation_mapping_cupy/config/setups/anymal/anymal_parameters.yaml diff --git a/elevation_mapping_cupy/config/anymal_plugin_config.yaml b/elevation_mapping_cupy/config/setups/anymal/anymal_plugin_config.yaml similarity index 100% rename from elevation_mapping_cupy/config/anymal_plugin_config.yaml rename to elevation_mapping_cupy/config/setups/anymal/anymal_plugin_config.yaml diff --git a/elevation_mapping_cupy/config/anymal_sensor_parameter.yaml b/elevation_mapping_cupy/config/setups/anymal/anymal_sensor_parameter.yaml similarity index 100% rename from elevation_mapping_cupy/config/anymal_sensor_parameter.yaml rename to elevation_mapping_cupy/config/setups/anymal/anymal_sensor_parameter.yaml diff --git a/elevation_mapping_cupy/config/features_parameters.yaml b/elevation_mapping_cupy/config/setups/features/features_parameters.yaml similarity index 100% rename from elevation_mapping_cupy/config/features_parameters.yaml rename to elevation_mapping_cupy/config/setups/features/features_parameters.yaml diff --git a/elevation_mapping_cupy/config/features_plugin_config.yaml b/elevation_mapping_cupy/config/setups/features/features_plugin_config.yaml similarity index 100% rename from elevation_mapping_cupy/config/features_plugin_config.yaml rename to elevation_mapping_cupy/config/setups/features/features_plugin_config.yaml diff --git a/elevation_mapping_cupy/config/features_semantics.yaml b/elevation_mapping_cupy/config/setups/features/features_semantics.yaml similarity index 100% rename from elevation_mapping_cupy/config/features_semantics.yaml rename to elevation_mapping_cupy/config/setups/features/features_semantics.yaml diff --git a/elevation_mapping_cupy/config/features_sensor_parameter.yaml b/elevation_mapping_cupy/config/setups/features/features_sensor_parameter.yaml similarity index 100% rename from elevation_mapping_cupy/config/features_sensor_parameter.yaml rename to elevation_mapping_cupy/config/setups/features/features_sensor_parameter.yaml diff --git a/elevation_mapping_cupy/config/image_semantics.yaml b/elevation_mapping_cupy/config/setups/features/image_semantics.yaml similarity index 100% rename from elevation_mapping_cupy/config/image_semantics.yaml rename to elevation_mapping_cupy/config/setups/features/image_semantics.yaml diff --git a/elevation_mapping_cupy/config/plugin_config.yaml b/elevation_mapping_cupy/config/setups/turtle_bot/plugin_config.yaml similarity index 100% rename from elevation_mapping_cupy/config/plugin_config.yaml rename to elevation_mapping_cupy/config/setups/turtle_bot/plugin_config.yaml diff --git a/elevation_mapping_cupy/config/setups/turtle_bot/turtle_bot_image_semantics.yaml b/elevation_mapping_cupy/config/setups/turtle_bot/turtle_bot_image_semantics.yaml new file mode 100644 index 00000000..d4451a5d --- /dev/null +++ b/elevation_mapping_cupy/config/setups/turtle_bot/turtle_bot_image_semantics.yaml @@ -0,0 +1,57 @@ +#### Plugins ######## +plugin_config_file: '$(rospack find elevation_mapping_cupy)/config/setups/turtle_bot/plugin_config.yaml' + +#### Subscribers ######## +subscribers: +# sensor_name: +# channels: ['feat_0','feat_1'] +# fusion: ['average','average'] +# topic_name: '/elevation_mapping/pointcloud_semantic' + front_cam_2: + channels: [ 'grass','tree',"person" ] + fusion: [ 'exponential','exponential','exponential' ] + topic_name_camera: '/elevation_mapping/semantic_front' + topic_name_camera_info: '/camera/depth/camera_info' + data_type: image + + color_cam: # for color camera + channels: ['rgb'] + fusion: ['color'] + topic_name_camera: '/camera/rgb/image_raw' + topic_name_camera_info: '/camera/depth/camera_info' + data_type: image + + pointcloud: + channels: [] + fusion: [] + topic_name: '/camera/depth/points' + data_type: pointcloud + + front_cam: + channels: ['grass','tree',"person"] + fusion: ['exponential','exponential','exponential'] + topic_name_camera: '/elevation_mapping/semantic_front' + topic_name_camera_info: '/camera/depth/camera_info' + data_type: image + + semantic_segmentation: True + # segmentation_model: 'detectron_coco_panoptic_fpn_R_101_3x' # detectron_coco_panoptic_fpn_R_101_3x, lraspp_mobilenet_v3_large + segmentation_model: 'lraspp_mobilenet_v3_large' # detectron_coco_panoptic_fpn_R_101_3x, lraspp_mobilenet_v3_large + show_label_legend: False + image_topic: "/camera/rgb/image_raw" + image_info_topic: "/camera/depth/camera_info" + resize: 0.5 + + sem_seg_topic: "/elevation_mapping/semantic_front" + sem_seg_image_topic: "/elevation_mapping/semantic_image_front" + +#### Publishers ######## +publishers: + elevation_map_raw: + layers: ['elevation', 'traversability', 'variance','rgb','sem_fil'] + basic_layers: ['elevation'] + fps: 5.0 + elevation_map_filter: + layers: ['min_filter', 'smooth', 'inpaint', 'elevation','rgb','sem_fil'] + basic_layers: ['min_filter'] + fps: 3.0 \ No newline at end of file diff --git a/elevation_mapping_cupy/config/semantic_sensor_parameter.yaml b/elevation_mapping_cupy/config/setups/turtle_bot/turtle_bot_semantics.yaml similarity index 56% rename from elevation_mapping_cupy/config/semantic_sensor_parameter.yaml rename to elevation_mapping_cupy/config/setups/turtle_bot/turtle_bot_semantics.yaml index 11a8de8e..4cffcde2 100644 --- a/elevation_mapping_cupy/config/semantic_sensor_parameter.yaml +++ b/elevation_mapping_cupy/config/setups/turtle_bot/turtle_bot_semantics.yaml @@ -1,8 +1,8 @@ +#### Plugins ######## +plugin_config_file: '$(rospack find elevation_mapping_cupy)/config/setups/turtle_bot/plugin_config.yaml' + +#### Subscribers ######## subscribers: -# sensor_name: -# channels: ['feat_0','feat_1'] -# fusion: ['average','average'] -# topic_name: '/elevation_mapping/pointcloud_semantic' front_cam: channels: ['rgb', 'grass','tree',"person" ] fusion: [ 'color','class_average','class_average','class_average' ] @@ -17,3 +17,15 @@ subscribers: image_topic: "/camera/rgb/image_raw" depth_topic: "/camera/depth/image_raw" cam_frame: "camera_rgb_optical_frame" + + +#### Publishers ######## +publishers: + elevation_map_raw: + layers: ['elevation', 'traversability', 'variance','rgb','sem_fil'] + basic_layers: ['elevation'] + fps: 5.0 + elevation_map_filter: + layers: ['min_filter', 'smooth', 'inpaint', 'elevation','rgb','sem_fil'] + basic_layers: ['min_filter'] + fps: 3.0 \ No newline at end of file diff --git a/elevation_mapping_cupy/config/setups/turtle_bot/turtle_bot_simple.yaml b/elevation_mapping_cupy/config/setups/turtle_bot/turtle_bot_simple.yaml new file mode 100644 index 00000000..cfa3b3cb --- /dev/null +++ b/elevation_mapping_cupy/config/setups/turtle_bot/turtle_bot_simple.yaml @@ -0,0 +1,20 @@ +subscribers: +# sensor_name: +# channels: ['feat_0','feat_1'] +# fusion: ['average','average'] +# topic_name: '/elevation_mapping/pointcloud_semantic' + front_cam: + channels: ['rgb' ] + fusion: [ 'color'] + topic_name: '/camera/depth/points' + data_type: pointcloud + +publishers: + elevation_map_raw: + layers: ['elevation', 'traversability', 'variance','rgb'] + basic_layers: ['elevation'] + fps: 5.0 + elevation_map_filter: + layers: ['min_filter', 'smooth', 'inpaint', 'elevation'] + basic_layers: ['min_filter'] + fps: 3.0 \ No newline at end of file diff --git a/elevation_mapping_cupy/launch/turtlesim_example.launch b/elevation_mapping_cupy/launch/turtlesim_example.launch index d672f6de..068a2962 100644 --- a/elevation_mapping_cupy/launch/turtlesim_example.launch +++ b/elevation_mapping_cupy/launch/turtlesim_example.launch @@ -6,14 +6,9 @@ - - - - - - + + diff --git a/elevation_mapping_cupy/launch/turtlesim_semantic_example.launch b/elevation_mapping_cupy/launch/turtlesim_semantic_example.launch index 6fc21735..d071ddbb 100644 --- a/elevation_mapping_cupy/launch/turtlesim_semantic_example.launch +++ b/elevation_mapping_cupy/launch/turtlesim_semantic_example.launch @@ -8,11 +8,11 @@ - + - - + + \ No newline at end of file diff --git a/elevation_mapping_cupy/launch/turtlesim_semantic_image_example.launch b/elevation_mapping_cupy/launch/turtlesim_semantic_image_example.launch index 17eb97c3..1f680224 100644 --- a/elevation_mapping_cupy/launch/turtlesim_semantic_image_example.launch +++ b/elevation_mapping_cupy/launch/turtlesim_semantic_image_example.launch @@ -9,11 +9,14 @@ - + + - - + + + + \ No newline at end of file diff --git a/elevation_mapping_cupy/launch/turtlesim_semantic_pointcloud_example.launch b/elevation_mapping_cupy/launch/turtlesim_semantic_pointcloud_example.launch new file mode 100644 index 00000000..d672f6de --- /dev/null +++ b/elevation_mapping_cupy/launch/turtlesim_semantic_pointcloud_example.launch @@ -0,0 +1,19 @@ + + + + + + + + + + + + + + + + + + diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py index bde7ce93..c76bff7b 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py @@ -287,7 +287,7 @@ def compile_image_kernels(self): for config in self.param.subscriber_cfg.values(): if config["data_type"] == "image": self.valid_correspondence = cp.asarray( - np.zeros((self.cell_n, self.cell_n), dtype=np.bool), dtype=np.bool + np.zeros((self.cell_n, self.cell_n), dtype=np.bool_), dtype=np.bool_ ) self.uv_correspondence = cp.asarray( np.zeros((2, self.cell_n, self.cell_n), dtype=np.float32), diff --git a/sensor_processing/semantic_sensor/script/semantic_sensor/image_node.py b/sensor_processing/semantic_sensor/script/semantic_sensor/image_node.py index 6ee22a94..8c0934e1 100755 --- a/sensor_processing/semantic_sensor/script/semantic_sensor/image_node.py +++ b/sensor_processing/semantic_sensor/script/semantic_sensor/image_node.py @@ -6,6 +6,9 @@ import numpy as np import cupy as cp import cv2 + +np.float = np.float64 # temp fix for following import suggested at https://github.com/eric-wieser/ros_numpy/issues/37 +np.bool = np.bool_ import ros_numpy import matplotlib.pyplot as plt from skimage.io import imshow From e6de165303586de2ff2c459ae51148bfe56fb9c1 Mon Sep 17 00:00:00 2001 From: Lucas Walter Date: Fri, 25 Aug 2023 16:00:25 -0700 Subject: [PATCH 366/504] make parameter.py dataclass work with python 3.11 --- .../script/elevation_mapping_cupy/parameter.py | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py index 0e79622a..fe062a6f 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py @@ -2,7 +2,7 @@ # Copyright (c) 2022, Takahiro Miki. All rights reserved. # Licensed under the MIT license. See LICENSE file in the project root for details. # -from dataclasses import dataclass +from dataclasses import dataclass, field import pickle import numpy as np import os @@ -64,10 +64,10 @@ class Parameter: initial_variance: float = 10.0 initialized_variance: float = 10.0 - w1: np.ndarray = np.zeros((4, 1, 3, 3)) - w2: np.ndarray = np.zeros((4, 1, 3, 3)) - w3: np.ndarray = np.zeros((4, 1, 3, 3)) - w_out: np.ndarray = np.zeros((1, 12, 1, 1)) + w1: np.ndarray = field(default_factory=lambda: np.zeros((4, 1, 3, 3))) + w2: np.ndarray = field(default_factory=lambda: np.zeros((4, 1, 3, 3))) + w3: np.ndarray = field(default_factory=lambda: np.zeros((4, 1, 3, 3))) + w_out: np.ndarray = field(default_factory=lambda: np.zeros((1, 12, 1, 1))) def load_weights(self, filename): with open(filename, "rb") as file: From 7ae6c0b07e2c152d8ea4b44a273bc7178bbe3ab3 Mon Sep 17 00:00:00 2001 From: Takahiro Miki Date: Tue, 3 Oct 2023 03:43:04 +0200 Subject: [PATCH 367/504] Update README.md --- README.md | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/README.md b/README.md index 65eee4be..44f83509 100644 --- a/README.md +++ b/README.md @@ -8,7 +8,10 @@ terrain can be efficiently generated. ![screenshot](doc/main_repo.png) ![gif](doc/convex_approximation.gif) -Large update is coming soon. Stay tuned. +## MEM: Multi-Modal Elevation Mapping +We are preparing for merging the extended map with multi-modal layers such as semantics. +If you want to use the feature now, please checkout 'refactor/semantic_layers' branch. +Also check this [paper](https://arxiv.org/abs/2309.16818) about the new extention. ## Citing From cd0024349843bb141c2fa4e2d49ec731ee6f64af Mon Sep 17 00:00:00 2001 From: Takahiro Miki Date: Tue, 3 Oct 2023 03:45:05 +0200 Subject: [PATCH 368/504] Add files via upload Added an overview image --- doc/overview.png | Bin 0 -> 1371047 bytes 1 file changed, 0 insertions(+), 0 deletions(-) create mode 100644 doc/overview.png diff --git a/doc/overview.png b/doc/overview.png new file mode 100644 index 0000000000000000000000000000000000000000..94d9d0b596f5c9a18a592726a872666f5f5256cf GIT binary patch literal 1371047 zcmd>mg;$kr^d%N3=_RB?LZrJ>X;3<(rMtNxtso^O-6h@94bt7+otKbq?mYPYX04g| z7v^24tP5{H=bU}^-p4?BSqU^`0%QaP1T-m0QAGpJgdMzFKi{% z!G~Jn4}TtEM~S=xAL2WTeR5Q?F?Mv;vo}I;c6Meov$k+B(6cpSw6QlyJm4olKp;bq z5`CxqWp;1D`3v^MHPT<_sw|s`kJLDr8qXPgbsj&J7k*Y8z`l|H{0HvKGv~%1pHID` zQD{H6_@QyURm{R7JN^0e`6ETCucvi1^)sv|HwLX`mQGw&W6L)#U%tGlXDeshO5))w zKcqqJvU>_H>i^u{JpcLseq>BmhW>y43If7sbaL4L{RzV6|8Kt(n#&+$X>bwp-j6EO zh{rF$0FPY%C(^@H8E#=|w<8h}ZMS_)9-~(w-6F%o^xBAEr_~olwB0UAm~5FlbdB4u z#pl0A=(xEh>bF8_bqV)rg{MZTpMkt4xcAjBM`T zo4Qt`diQmx&g%^sLmNx((?{Si%T0CZCfxc`{V#A0n?#95*GOn+Xr!|ujMVv`{X5Ga zA0LbgtZ>CVB0+a<%*+;Q3E%hWsn!Sx1G)BrZ|Ug^Lj)_%%nOEmIDZQF*|nz`@ILG| zzjbk3=!bPrx37!wh4rt;*u%LH5WWUnUdnv=!X42n{Qmvp_d5um-?{6abLQG;QkC7S z49Tg-tbDkbho}ebdF*$btG*{ppB4|kMSR#Z^n*&?=%l&1Of*L=hepxlHZKvR&GvDT ztzPF7F6rB=ldY?x8hPb^r&+$AY*6TB(c(W`?}=1ZRYiM~CQSA+P!zT8`P0YWguf~x z{rzg79%G~)y2eg`)>no$S&i)b>r5Q2)Yi~LWEk;v>Df&#itqcJ#lZtTlHw=x#PvM0 zuG8s64@Vc?s*j#3o2V}6D~`t2dHc3bUf!i(w40bSTycQ0zI5-M2?OGGcMl~nG_ z;d(8`u;5_PcMsu>@byN-)z#I-g$Hs}?!#3h*ky-djC($oBNx=6uQU|)K7DxhVbh?0 z1wKfZ5BT*ALENlTqf(WZ~Pas zBt(IMfka)U^cI_eJKuhkB*t@mAP=9OnVFfL{n3Fphlh|LQlvUHKCY~$R-jC)1pDNK z?9?YZ$#r%c^~tZ+`O-P;`B2l)MdTS&r0L;S|9Au&)HW#9(j+oP>o9SADLD7sYq0hd zvB=V32x%FnN~ zn&o&)60cMO*0`yubJEhtqW&jId4P4!!NDP3|NCUjcpr8cXJ=_%G5COjmrO#WV2vzx?%Z$Ue)# zFu?2V>5-z1PDoWnMM&G=4vp;F02|^v+agsy)8VvN2Mt%@XLxV2x!=Z~zTYmsTkvaO zo1bh$cX@~o1dKB86BiS;6vY^tGn)p!!wOiopI3GFlNS#^MELWhW4vMQVqhJ1M*7;y z%F2i}UXt?t!4u)c5mWZ8tSkfX9xqb5TE#*)v2NR;9L9Yu69^%pg^i7Fv&^HuG6)3HZS?PSUpIN250WG)^GVZ6 zOG{s%qaQSE84X*55Ui=GnVv}(d4o_9w!6C<5rKKvGo^{AWn*l3*GH0CR=59jd@J75 zBLx<;_wS^`Beaz{i`*&Bv}%V`2fqEXSXx4E=Y=DT&-C>4y0!j0TTH={S2D(oC#yQypC_naQ^+?AH|4>hzbp>yD2{HL}Q;E zNhBmBTwL6BCIrWq9UUEDfijdBClaZ{^I_D5l7AEyR6TIfwgs9oj-Nd2|L3i0k-$-J zskeiRv-KaTw+wEAo+=W8#u<80aJB!=U`mD9*w}*^`KX%8r*?vvm^e8(IlKsAI6W%% zVS_b~29wq&a57w1H#SWKNaCtuBrQJCgZ|ssfoooWb8vS2p35 zx|$gse!c}K6-o@6JAQM?zxTl|Y{^7&e*ZSS=+i~-);mJp&Gbo(g1PBwR3h$|@z4KV z$Z-DdP|+ZB@Cc-X7u)A=b9s5WGOd{PW8p5!Xz4Q_7*Q7oN6q5*?rSw|p%D&V%()={ zd*@7HdSQ}(yR&z<481;$e!h^3+UC*WJ~4t`=IIsC-`~Hy{Q18yLl7o>j`FavZ8t22 z`@pt_Qm07U7e^j8$klTM;&^4+2^)lVJ1s>;#WgOQ_oiBO#@n*~XH6(b)6i0h-G8rx zUGdL)af(R&_(COC4w|B4ZkvpxBy-#Z6Ft3UXE1&@_rI(8TBY24;>y-ZXZ-}1QS0UN zgU-0Uy*=jV{0NT7tnvMWgR&Pn;u&V{gxQ_qlg-a>*9Z4@DPc4yNsGig|Dew>WqQeX zl%nrYFXmH~FOEn&zb`Mp-047wy7ct_dvRaS_5X@?+G!!})fO*tYm$f8)YXx%A*7Yt zLZLW89cLEhh#Z_{gFBV{1i$%{Agq#(4_Ef}P3eW*wqV9oGM}Zm(&B6Jo`NOKMo*0Y z0v^Fs=FH!>MCh9u->6OM0CR9+qGsfKB?N^10?&@=SG%Anl|p?Oa1{^l!z zyTurV5%F3=#B`i*QAiQeA_=gF>F6V|`XG=OJbnfNYXO(Ic;w`MPf;Ndw=IT8cI_{_ zUP?Unqj)4^4k?IvzAE?yd*{XQ7qBv~!z@wTC@Co&e@bxP)xU}VkPW+jfiSEtNr{Pz z8@sxye=iqfM5uDZu}O0jlqOfhSGm4@X29>~_|E>n7b-VecR9XPeA1`!=wkFNYadD( z%c!kbFyWkvmO!Y=HNlbY0-@(gyjVrsAydd6@>g`Jul-g6uznY+l9BV)tSBhIKoF;*q{MSKsJhwH zzCQA_u&|JmlQUG3I9Ur5>g?!%jEu<%30O`u`|Qm%xUfOc2-vr0Oj5-(CYs-ASD1pw zP`+Wd$z`o0)j@w{Zoj7nN~45b@#t_hRa=4&sfH2Ii-t%*19`6IT^Dc)W-Zg{^6&N!fUvl zKSKi6a*#Iy0xYH8e^?k#Pdb24;?G_U>hOfVUd8+N)gZ8wVFprpIv7N`9H8Z3;RW|V zWJO8K5Kzg=$$>d%fGkmT7f3CeG~MLE2MHAY#bGfSAo@$(`f@~q6x1om$Zx$i60h4M zr2J{E8rzjHp?k7l3K`<~qLVg@4L!{rW%T5*vr_uLoUoDZ>r#WR%Qq-;0%yudVTDUg z9*IH_-}m3T>+o6Q>6w`1)W)(iGoK0 z!k9%v1yC`Fs?(FBg4ug!OiavExFKHWZKTNDb|%}2-lgeRSv#xMW6=flzhs0byVl}u z$e)T2rnD_yK!*v!4_7-_M6+}va*g-^2G>{r762_1s-wkJe}R$q`}gm1lc8PzNG7eC z;n0Q2zP>)F?g2VFI%Z&IrO?RI5

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zw(gH{U6a`TQ5WXk%^7Vq)W^@XZym0v%~kX9PmGo*P9ewY&hIZSH8I^TTQZm9R7p71X7@%nT4M&XHwlDg7p@Wuxe5RZUn7pc&LOb zl&!iad)_91<`V7)2i_VMJ1&=(T|y+K@%+wz{v*u7}`W z#7n{qFlP|$82cLdYKbOQdTu6b6jifL`?%V7@j-!6?(P-_Z79l?V6kih{gtN`WjlsE8H>q8jtGSddic zx_=2e0WxjI-teGmozp@h-*rk-!V5S(ZNyq8kTAo)?*KWyBQWdWr?$O`vm5=A+Qu_F z)j;I!${6WFxcq|?*F+G3$eY}8_a&4y0tC54(gO z<_h6|(~pN%j`K}9zyHgkT2VzntuM9!@!im@a>JwzS=S=FFA^p0 z5u915_+OqegQ-6vi4;(Tth>0#r8^ZGf$Rgy#MP$%|d?_!_@7-6N08E VI#U3oCj0pT Date: Tue, 3 Oct 2023 03:46:14 +0200 Subject: [PATCH 369/504] Update README.md --- README.md | 1 + 1 file changed, 1 insertion(+) diff --git a/README.md b/README.md index 44f83509..205b95f5 100644 --- a/README.md +++ b/README.md @@ -12,6 +12,7 @@ terrain can be efficiently generated. We are preparing for merging the extended map with multi-modal layers such as semantics. If you want to use the feature now, please checkout 'refactor/semantic_layers' branch. Also check this [paper](https://arxiv.org/abs/2309.16818) about the new extention. +![screenshot](doc/overview.png) ## Citing From ae83cc32a1364eb77109da1660180e7f324fc7ef Mon Sep 17 00:00:00 2001 From: Takahiro Miki Date: Tue, 3 Oct 2023 03:48:10 +0200 Subject: [PATCH 370/504] Update README.md --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index 205b95f5..d2139c83 100644 --- a/README.md +++ b/README.md @@ -10,7 +10,7 @@ terrain can be efficiently generated. ## MEM: Multi-Modal Elevation Mapping We are preparing for merging the extended map with multi-modal layers such as semantics. -If you want to use the feature now, please checkout 'refactor/semantic_layers' branch. +If you want to use the feature now, please checkout `refactor/semantic_layers` branch. Also check this [paper](https://arxiv.org/abs/2309.16818) about the new extention. ![screenshot](doc/overview.png) From 2e36f825be69741b2ab34cd55a2e9e626e67059b Mon Sep 17 00:00:00 2001 From: Takahiro Date: Thu, 23 Nov 2023 18:43:50 +0100 Subject: [PATCH 371/504] Added Dockerfile.x86 for building a Docker image with CUDA and PyTorch support. Added build.sh script for building the Docker image. Added run.sh script for launching a container from the Docker image. Modified turtlesim_example.launch to accept an argument for the RViz configuration file. Modified turtlesim_init.launch to include the turtlebot3_gazebo launch file and spawn the turtlebot3 model. Modified requirements.txt to comment out the cupy package. --- docker/Dockerfile.x86 | 46 +++++++++++++++++ docker/build.sh | 3 ++ docker/run.sh | 49 +++++++++++++++++++ .../launch/turtlesim_example.launch | 3 +- .../launch/turtlesim_init.launch | 21 ++++++-- requirements.txt | 2 +- 6 files changed, 118 insertions(+), 6 deletions(-) create mode 100644 docker/Dockerfile.x86 create mode 100755 docker/build.sh create mode 100755 docker/run.sh diff --git a/docker/Dockerfile.x86 b/docker/Dockerfile.x86 new file mode 100644 index 00000000..05cad5c7 --- /dev/null +++ b/docker/Dockerfile.x86 @@ -0,0 +1,46 @@ +FROM nvidia/cuda:11.6.2-cudnn8-devel-ubuntu20.04 + +# Set noninteractive mode for apt-get +ENV DEBIAN_FRONTEND=noninteractive + +# Preconfigure tzdata +RUN echo "Etc/UTC" > /etc/timezone && \ + ln -fs /usr/share/zoneinfo/Etc/UTC /etc/localtime && \ + apt-get update && apt-get install -y tzdata && \ + dpkg-reconfigure --frontend noninteractive tzdata + +# Install Python +RUN apt-get update && apt-get install -y \ + python3.8 \ + python3-pip \ + git + +# Install PyTorch +RUN pip3 install torch torchvision torchaudio --index-url https://download.pytorch.org/whl/cu118 +COPY requirements.txt /tmp/requirements.txt +RUN pip3 install -r /tmp/requirements.txt + +# Install other Python packages +RUN pip3 install cupy-cuda11x scikit-learn +RUN pip3 install 'git+https://github.com/facebookresearch/detectron2.git' + +# Install ROS +RUN apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 +RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu focal main" > /etc/apt/sources.list.d/ros-latest.list' + +RUN apt-get update && apt-get install -y --no-install-recommends \ + ros-noetic-desktop-full + +# Install ROS packages +RUN apt install -y ros-noetic-pybind11-catkin \ + ros-noetic-grid-map-core ros-noetic-grid-map-msgs ros-noetic-grid-map-ros ros-noetic-grid-map-rviz-plugin \ + libopencv-dev \ + libeigen3-dev \ + libgmp-dev \ + libmpfr-dev \ + libboost-all-dev \ + ros-noetic-turtlebot3-gazebo ros-noetic-turtlebot3-teleop \ + ros-noetic-ros-numpy + +RUN pip3 install catkin-tools +ENV TURTLEBOT3_MODEL=waffle \ No newline at end of file diff --git a/docker/build.sh b/docker/build.sh new file mode 100755 index 00000000..0cd07383 --- /dev/null +++ b/docker/build.sh @@ -0,0 +1,3 @@ +#! /bin/bash +home=`realpath "$(dirname "$0")"/../` +cd $home && sudo docker build -t elevation_mapping_cupy -f docker/Dockerfile.x86 --no-cache . \ No newline at end of file diff --git a/docker/run.sh b/docker/run.sh new file mode 100755 index 00000000..32587aa0 --- /dev/null +++ b/docker/run.sh @@ -0,0 +1,49 @@ +#!/bin/bash +IMAGE_NAME="elevation_mapping_cupy:latest" + +# Define environment variables for enabling graphical output for the container. +XSOCK=/tmp/.X11-unix +XAUTH=/tmp/.docker.xauth +if [ ! -f $XAUTH ] +then + touch $XAUTH + xauth_list=$(xauth nlist :0 | sed -e 's/^..../ffff/') + xauth nlist $DISPLAY | sed -e 's/^..../ffff/' | xauth -f $XAUTH nmerge - + chmod a+r $XAUTH +fi + +#== +# Launch container +#== + +# Create symlinks to user configs within the build context. +mkdir -p .etc && cd .etc +ln -sf /etc/passwd . +ln -sf /etc/shadow . +ln -sf /etc/group . +cd .. + +# Launch a container from the prebuilt image. +echo "---------------------" +RUN_COMMAND="docker run \ + --volume=$XSOCK:$XSOCK:rw \ + --volume=$XAUTH:$XAUTH:rw \ + --env="QT_X11_NO_MITSHM=1" \ + --env="XAUTHORITY=$XAUTH" \ + --env="DISPLAY=$DISPLAY" \ + --ulimit rtprio=99 \ + --cap-add=sys_nice \ + --privileged \ + --net=host \ + -eHOST_USERNAME=$(whoami) \ + -v$HOME:$HOME \ + -v$(pwd)/.etc/shadow:/etc/shadow \ + -v$(pwd)/.etc/passwd:/etc/passwd \ + -v$(pwd)/.etc/group:/etc/group \ + -v/media:/media \ + --gpus all \ + -it $IMAGE_NAME" +echo -e "[run.sh]: \e[1;32mThe final run command is\n\e[0;35m$RUN_COMMAND\e[0m." +$RUN_COMMAND +echo -e "[run.sh]: \e[1;32mDocker terminal closed.\e[0m" +# --entrypoint=$ENTRYPOINT \ \ No newline at end of file diff --git a/elevation_mapping_cupy/launch/turtlesim_example.launch b/elevation_mapping_cupy/launch/turtlesim_example.launch index 068a2962..5fd6e529 100644 --- a/elevation_mapping_cupy/launch/turtlesim_example.launch +++ b/elevation_mapping_cupy/launch/turtlesim_example.launch @@ -1,10 +1,11 @@ + - + diff --git a/elevation_mapping_cupy/launch/turtlesim_init.launch b/elevation_mapping_cupy/launch/turtlesim_init.launch index fc166d22..86e2909b 100644 --- a/elevation_mapping_cupy/launch/turtlesim_init.launch +++ b/elevation_mapping_cupy/launch/turtlesim_init.launch @@ -1,16 +1,29 @@ + + + + + + + + + + + + + + + - - + - - + diff --git a/requirements.txt b/requirements.txt index 1b84c227..45fb53ea 100644 --- a/requirements.txt +++ b/requirements.txt @@ -7,7 +7,7 @@ opencv-python simple-parsing scikit-image matplotlib -cupy +# cupy ###### Requirements with Version Specifiers ######` shapely==1.7.1 From eda65e9c1954ad0dcdf937b0096e3b6d9fbf9c29 Mon Sep 17 00:00:00 2001 From: Takahiro Date: Fri, 24 Nov 2023 02:01:28 +0100 Subject: [PATCH 372/504] Work in progress for inputting the channel and fusion from the topic. Improved error handling. Added feature for adding layer online instead of initializing from config. --- .../turtle_bot/turtle_bot_semantics.yaml | 11 +- .../elevation_mapping_ros.hpp | 5 +- .../elevation_mapping_wrapper.hpp | 4 +- .../elevation_mapping.py | 11 +- .../fusion/fusion_manager.py | 12 +- .../elevation_mapping_cupy/parameter.py | 40 ++++-- .../elevation_mapping_cupy/semantic_map.py | 123 +++++++++++++++--- .../src/elevation_mapping_ros.cpp | 22 +++- .../src/elevation_mapping_wrapper.cpp | 31 ++++- 9 files changed, 202 insertions(+), 57 deletions(-) diff --git a/elevation_mapping_cupy/config/setups/turtle_bot/turtle_bot_semantics.yaml b/elevation_mapping_cupy/config/setups/turtle_bot/turtle_bot_semantics.yaml index 4cffcde2..566fc4d3 100644 --- a/elevation_mapping_cupy/config/setups/turtle_bot/turtle_bot_semantics.yaml +++ b/elevation_mapping_cupy/config/setups/turtle_bot/turtle_bot_semantics.yaml @@ -1,10 +1,17 @@ #### Plugins ######## plugin_config_file: '$(rospack find elevation_mapping_cupy)/config/setups/turtle_bot/plugin_config.yaml' +pointcloud_channel_fusion: + rgb: 'pointcloud_color' + default: 'pointcloud_average' + sheep: 'pointcloud_average' + sofa: 'pointcloud_class_average' + person: 'pointcloud_class_average' + #### Subscribers ######## subscribers: front_cam: - channels: ['rgb', 'grass','tree',"person" ] + channels: ['rgb', 'sheep','sofa',"person" ] fusion: [ 'color','class_average','class_average','class_average' ] topic_name: '/elevation_mapping/pointcloud_semantic' semantic_segmentation: True @@ -22,7 +29,7 @@ subscribers: #### Publishers ######## publishers: elevation_map_raw: - layers: ['elevation', 'traversability', 'variance','rgb','sem_fil'] + layers: ['elevation', 'traversability', 'variance','rgb','sem_fil', 'person', 'sheep', 'sofa'] basic_layers: ['elevation'] fps: 5.0 elevation_map_filter: diff --git a/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp b/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp index 5811b05b..4345f04e 100644 --- a/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp +++ b/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp @@ -74,8 +74,9 @@ class ElevationMappingNode { void readParameters(); void setupMapPublishers(); void pointcloudCallback(const sensor_msgs::PointCloud2& cloud, const std::string& key); - void imageCallback(const sensor_msgs::ImageConstPtr& image_msg, const sensor_msgs::CameraInfoConstPtr& camera_info_msg, - const std::string& key); + void inputImage(const sensor_msgs::ImageConstPtr& image_msg, const sensor_msgs::CameraInfoConstPtr& camera_info_msg, + const std::vector& channels, const std::vector& fusion_methods); + void imageCallback(const sensor_msgs::ImageConstPtr& image_msg, const sensor_msgs::CameraInfoConstPtr& camera_info_msg); void publishAsPointCloud(const grid_map::GridMap& map) const; bool getSubmap(grid_map_msgs::GetGridMap::Request& request, grid_map_msgs::GetGridMap::Response& response); bool checkSafety(elevation_map_msgs::CheckSafety::Request& request, elevation_map_msgs::CheckSafety::Response& response); diff --git a/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_wrapper.hpp b/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_wrapper.hpp index ff92db66..b6d633da 100644 --- a/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_wrapper.hpp +++ b/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_wrapper.hpp @@ -48,8 +48,8 @@ class ElevationMappingWrapper { void input(const RowMatrixXd& points, const std::vector& channels, const RowMatrixXd& R, const Eigen::VectorXd& t, const double positionNoise, const double orientationNoise); - void input_image(const std::string& key, const std::vector& image, const RowMatrixXd& R, const Eigen::VectorXd& t, - const RowMatrixXd& cameraMatrix, int height, int width); + void input_image(const std::vector& multichannel_image, const std::vector& channels, const std::vector& fusion_methods, const RowMatrixXd& R, + const Eigen::VectorXd& t, const RowMatrixXd& cameraMatrix, int height, int width); void move_to(const Eigen::VectorXd& p, const RowMatrixXd& R); void clear(); void update_variance(); diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py index c76bff7b..0f926c9a 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py @@ -452,6 +452,7 @@ def input_pointcloud( """ raw_points = cp.asarray(raw_points, dtype=self.data_type) additional_channels = channels[3:] + print("additional_channels", additional_channels) raw_points = raw_points[~cp.isnan(raw_points).any(axis=1)] self.update_map_with_kernel( raw_points, @@ -464,8 +465,9 @@ def input_pointcloud( def input_image( self, - sub_key: str, image: List[cp._core.core.ndarray], + channels: List[str], + fusion_methods: List[str], R: cp._core.core.ndarray, t: cp._core.core.ndarray, K: cp._core.core.ndarray, @@ -509,6 +511,9 @@ def input_image( self.uv_correspondence *= 0 self.valid_correspondence[:, :] = False + print("channels", channels) + print("fusion_methods", fusion_methods) + with self.map_lock: self.image_to_map_correspondence_kernel( self.elevation_map, @@ -524,8 +529,10 @@ def input_image( size=int(self.cell_n * self.cell_n), ) self.semantic_map.update_layers_image( - sub_key, + # sub_key, image, + channels, + fusion_methods, self.uv_correspondence, self.valid_correspondence, image_height, diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/fusion_manager.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/fusion_manager.py index 7910096d..0596af35 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/fusion_manager.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/fusion_manager.py @@ -54,11 +54,11 @@ def get_plugin_idx(self, name: str, data_type: str): """ Get a registered fusion plugin """ - name = data_type + "_" + name + # name = data_type + "_" + name for idx, plugin in enumerate(self.plugins): if plugin.name == name: return idx - print("Plugin {} is not in the list: {}".format(name, self.plugins)) + print("[WARNING] Plugin {} is not in the list: {}".format(name, self.plugins)) return None def execute_plugin( @@ -72,8 +72,8 @@ def execute_plugin( self.plugins[idx]( points_all, R, t, pcl_ids, layer_ids, elevation_map, semantic_map, new_map, elements_to_shift ) - else: - raise ValueError("Plugin {} is not registered".format(name)) + # else: + # raise ValueError("Plugin {} is not registered".format(name)) def execute_image_plugin( self, @@ -104,5 +104,5 @@ def execute_image_plugin( semantic_map, new_map, ) - else: - raise ValueError("Plugin {} is not registered".format(name)) + # else: + # raise ValueError("Plugin {} is not registered".format(name)) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py index 2d23a6d2..40ac3dd9 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py @@ -7,6 +7,7 @@ import numpy as np from simple_parsing.helpers import Serializable from dataclasses import field +from typing import Tuple @dataclass @@ -33,8 +34,19 @@ class Parameter(Serializable): } } ) - additional_layers: list = field(default_factory=lambda: ["feat_0"]) - fusion_algorithms: list = field(default_factory=lambda: ["average"]) + # additional_layers: list = field(default_factory=lambda: ["feat_0"]) + # fusion_algorithms: list = field(default_factory=lambda: ["average"]) + additional_layers: list = field(default_factory=lambda: ["color"]) + fusion_algorithms: list = field(default_factory=lambda: [ + "image_color", + "image_exponential", + "pointcloud_average", + "pointcloud_bayesian_inference", + "pointcloud_class_average", + "pointcloud_class_bayesian", + "pointcloud_class_max", + "pointcloud_color"]) + pointcloud_channel_fusion: dict = field(default_factory=lambda: {"rgb": "pointcloud_color", "default": "pointcloud_class_average"}) data_type: str = np.float32 average_weight: float = 0.5 @@ -126,18 +138,18 @@ def update(self): self.cell_n = int(round(self.map_length / self.resolution)) + 2 self.true_cell_n = round(self.map_length / self.resolution) self.true_map_length = self.true_cell_n * self.resolution - semantic_layers = [] - fusion_algorithms = [] - for subscriber, sub_val in self.subscriber_cfg.items(): - channels = sub_val["channels"] - fusion = sub_val["fusion"] - for i in range(len(channels)): - name = channels[i] - if name not in semantic_layers: - semantic_layers.append(name) - fusion_algorithms.append(fusion[i]) - self.additional_layers = semantic_layers - self.fusion_algorithms = fusion_algorithms + # semantic_layers = [] + # fusion_algorithms = [] + # for subscriber, sub_val in self.subscriber_cfg.items(): + # channels = sub_val["channels"] + # fusion = sub_val["fusion"] + # for i in range(len(channels)): + # name = channels[i] + # if name not in semantic_layers: + # semantic_layers.append(name) + # fusion_algorithms.append(fusion[i]) + # self.additional_layers = semantic_layers + # self.fusion_algorithms = fusion_algorithms if __name__ == "__main__": diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py index d090416c..131ab0b9 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py @@ -24,16 +24,31 @@ def __init__(self, param: Parameter): self.unique_data = [] self.elements_to_shift = {} - for k, config in self.param.subscriber_cfg.items(): - for f, c in zip(config["fusion"], config["channels"]): - if c not in self.layer_names: - self.layer_names.append(c) - self.layer_specs[c] = f - else: - assert self.layer_specs[c] == f, "Error: Single layer has multiple fusion algorithms!" - if f not in self.unique_fusion: - dt = config["data_type"] - self.unique_fusion.append(dt + "_" + f) + # for k, config in self.param.subscriber_cfg.items(): + # for f, c in zip(config["fusion"], config["channels"]): + # if c not in self.layer_names: + # self.layer_names.append(c) + # self.layer_specs[c] = f + # else: + # assert self.layer_specs[c] == f, "Error: Single layer has multiple fusion algorithms!" + # if f not in self.unique_fusion: + # dt = config["data_type"] + # self.unique_fusion.append(dt + "_" + f) + for channel, fusion in self.param.pointcloud_channel_fusion.items(): + if channel not in self.layer_names: + if channel != "default": + self.layer_names.append(channel) + self.layer_specs[channel] = fusion + else: + assert self.layer_specs[channel] == fusion, "Error: Single layer has multiple fusion algorithms!" + # for f, c in zip(config["fusion"], config["channels"]): + # else: + # assert self.layer_specs[c] == f, "Error: Single layer has multiple fusion algorithms!" + # if f not in self.unique_fusion: + # dt = config["data_type"] + # self.unique_fusion.append(dt + "_" + f) + self.layer_names += self.param.additional_layers + self.unique_fusion = self.param.fusion_algorithms self.amount_layer_names = len(self.layer_names) @@ -71,6 +86,43 @@ def initialize_fusion(self): self.elements_to_shift["id_max"] = id_max self.fusion_manager.register_plugin(fusion) + def update_fusion_setting(self): + for fusion in self.unique_fusion: + if "pointcloud_class_bayesian" == fusion: + pcl_ids = self.get_layer_indices("class_bayesian") + self.delete_new_layers[pcl_ids] = 0 + if "pointcloud_class_max" == fusion: + pcl_ids = self.get_layer_indices("class_max") + self.delete_new_layers[pcl_ids] = 0 + layer_cnt = self.param.fusion_algorithms.count("class_max") + id_max = cp.zeros( + (layer_cnt, self.param.cell_n, self.param.cell_n), + dtype=cp.uint32, + ) + self.elements_to_shift["id_max"] = id_max + + def add_layer(self, name): + """ + Add a new layer to the semantic map. + + Args: + name (str): The name of the new layer. + """ + if name not in self.layer_names: + self.layer_names.append(name) + self.semantic_map = cp.append( + self.semantic_map, + cp.zeros((1, self.param.cell_n, self.param.cell_n), dtype=self.param.data_type), + axis=0, + ) + self.new_map = cp.append( + self.new_map, + cp.zeros((1, self.param.cell_n, self.param.cell_n), dtype=self.param.data_type), + axis=0, + ) + self.delete_new_layers = cp.append(self.delete_new_layers, cp.array([1], dtype=cp.bool8)) + + def pad_value(self, x, shift_value, idx=None, value=0.0): """Create a padding of the map along x,y-axis according to amount that has shifted. @@ -120,11 +172,22 @@ def get_fusion_of_pcl(self, channels: List[str]) -> List[str]: channels (List[str]): """ fusion_list = [] + process_channels = [] for channel in channels: + if channel not in self.layer_specs: + if "default" in self.param.pointcloud_channel_fusion: + default_fusion = self.param.pointcloud_channel_fusion["default"] + print(f"[WARNING] Layer {channel} not found in layer_specs. Using {default_fusion} algorithm as default.") + self.layer_specs[channel] = default_fusion + self.update_fusion_setting() + else: + print(f"[WARNING] Layer {channel} not found in layer_specs. Skipping.") + continue x = self.layer_specs[channel] if x not in fusion_list: fusion_list.append(x) - return fusion_list + process_channels.append(channel) + return process_channels, fusion_list def get_layer_indices(self, fusion_alg): """Get the indices of the layers that are used for a specific fusion algorithm. @@ -177,11 +240,15 @@ def update_layers_pointcloud(self, points_all, channels, R, t, elevation_map): t: translation vector elevation_map: elevation map object """ - additional_fusion = self.get_fusion_of_pcl(channels) + process_channels, additional_fusion = self.get_fusion_of_pcl(channels) + for channel in process_channels: + if channel not in self.layer_names: + print(f"Layer {channel} not found, adding it to the semantic map") + self.add_layer(channel) self.new_map[self.delete_new_layers] = 0.0 for fusion in list(set(additional_fusion)): # which layers need to be updated with this fusion algorithm - pcl_ids, layer_ids = self.get_indices_fusion(channels, fusion) + pcl_ids, layer_ids = self.get_indices_fusion(process_channels, fusion) # update the layers with the fusion algorithm self.fusion_manager.execute_plugin( fusion, @@ -198,8 +265,10 @@ def update_layers_pointcloud(self, points_all, channels, R, t, elevation_map): def update_layers_image( self, - sub_key: str, + # sub_key: str, image: cp._core.core.ndarray, + channels: List[str], + fusion_methods: List[str], uv_correspondence: cp._core.core.ndarray, valid_correspondence: cp._core.core.ndarray, image_height: cp._core.core.ndarray, @@ -216,13 +285,26 @@ def update_layers_image( image_width: """ + # print("sub_key", sub_key) + # print("delete_new_layers", self.delete_new_layers) + # additional_fusion = self.get_fusion_of_pcl(channels) self.new_map[self.delete_new_layers] = 0.0 - config = self.param.subscriber_cfg[sub_key] + # config = self.param.subscriber_cfg[sub_key] - for j, (fusion, channel) in enumerate(zip(config["fusion"], config["channels"])): + # print("config", config) + + # for j, (fusion, channel) in enumerate(zip(config["fusion"], config["channels"])): + for j, (fusion, channel) in enumerate(zip(fusion_methods, channels)): + if channel not in self.layer_names: + print(f"Layer {channel} not found, adding it to the semantic map") + self.add_layer(channel) sem_map_idx = self.get_index(channel) + if sem_map_idx == -1: + print(f"Layer {channel} not found!") + return + # which layers need to be updated with this fusion algorithm # pcl_ids, layer_ids = self.get_indices_fusion(channels, fusion) # update the layers with the fusion algorithm @@ -266,7 +348,9 @@ def get_map_with_name(self, name): Returns: cp.array: map """ - if self.layer_specs[name] == "color": + print("[get_map_with_name] name", name, self.layer_specs) + if name in self.layer_specs and (self.layer_specs[name] == "image_color" or self.layer_specs[name] == "pointcloud_color"): + print("this is a color map") m = self.get_rgb(name) return m else: @@ -321,4 +405,7 @@ def get_index(self, name): Returns: int: index """ - return self.layer_names.index(name) + if name not in self.layer_names: + return -1 + else: + return self.layer_names.index(name) diff --git a/elevation_mapping_cupy/src/elevation_mapping_ros.cpp b/elevation_mapping_cupy/src/elevation_mapping_ros.cpp index 1b6c6dfa..5f926373 100644 --- a/elevation_mapping_cupy/src/elevation_mapping_ros.cpp +++ b/elevation_mapping_cupy/src/elevation_mapping_ros.cpp @@ -118,7 +118,7 @@ ElevationMappingNode::ElevationMappingNode(ros::NodeHandle& nh) cameraInfoSubs_.push_back(cam_info_sub); CameraSyncPtr sync = std::make_shared(CameraPolicy(10), *image_sub, *cam_info_sub); - sync->registerCallback(boost::bind(&ElevationMappingNode::imageCallback, this, _1, _2, key)); + sync->registerCallback(boost::bind(&ElevationMappingNode::imageCallback, this, _1, _2)); cameraSyncs_.push_back(sync); } else { @@ -348,10 +348,10 @@ void ElevationMappingNode::pointcloudCallback(const sensor_msgs::PointCloud2& cl pointCloudProcessCounter_++; } -void ElevationMappingNode::imageCallback(const sensor_msgs::ImageConstPtr& image_msg, - const sensor_msgs::CameraInfoConstPtr& camera_info_msg, const std::string& key) { - auto start = ros::Time::now(); - +void ElevationMappingNode::inputImage(const sensor_msgs::ImageConstPtr& image_msg, + const sensor_msgs::CameraInfoConstPtr& camera_info_msg, + const std::vector& channels, + const std::vector& fusion_methods) { // Get image cv::Mat image = cv_bridge::toCvShare(image_msg, image_msg->encoding)->image; @@ -390,9 +390,19 @@ void ElevationMappingNode::imageCallback(const sensor_msgs::ImageConstPtr& image } // Pass image to pipeline - map_.input_image(key, multichannel_image, transformationMapToSensor.rotation(), transformationMapToSensor.translation(), cameraMatrix, + map_.input_image(multichannel_image, channels, fusion_methods, transformationMapToSensor.rotation(), transformationMapToSensor.translation(), cameraMatrix, image.rows, image.cols); +} +void ElevationMappingNode::imageCallback(const sensor_msgs::ImageConstPtr& image_msg, + const sensor_msgs::CameraInfoConstPtr& camera_info_msg) { + auto start = ros::Time::now(); + // Default channels and fusion methods for image is rgb and image_color + std::vector channels; + std::vector fusion_methods; + channels.push_back("rgb"); + fusion_methods.push_back("image_color"); + inputImage(image_msg, camera_info_msg, channels, fusion_methods); ROS_DEBUG_THROTTLE(1.0, "ElevationMap processed an image in %f sec.", (ros::Time::now() - start).toSec()); } diff --git a/elevation_mapping_cupy/src/elevation_mapping_wrapper.cpp b/elevation_mapping_cupy/src/elevation_mapping_wrapper.cpp index 51cf073e..2fd31770 100644 --- a/elevation_mapping_cupy/src/elevation_mapping_wrapper.cpp +++ b/elevation_mapping_cupy/src/elevation_mapping_wrapper.cpp @@ -121,6 +121,24 @@ void ElevationMappingWrapper::setParameters(ros::NodeHandle& nh) { } param_.attr("subscriber_cfg") = sub_dict; + if (!nh.hasParam("pointcloud_channel_fusion")) { + ROS_WARN("No pointcloud_channel_fusion parameter found. Using default values."); + } + else { + XmlRpc::XmlRpcValue pointcloud_channel_fusion; + nh.getParam("pointcloud_channel_fusion", pointcloud_channel_fusion); + + py::dict pointcloud_channel_fusion_dict; + for (auto& channel_fusion : pointcloud_channel_fusion) { + const char* const name = channel_fusion.first.c_str(); + std::string fusion = static_cast(channel_fusion.second); + if (!pointcloud_channel_fusion_dict.contains(name)) { + pointcloud_channel_fusion_dict[name] = fusion; + } + } + param_.attr("pointcloud_channel_fusion") = pointcloud_channel_fusion_dict; + } + param_.attr("update")(); resolution_ = py::cast(param_.attr("get_value")("resolution")); map_length_ = py::cast(param_.attr("get_value")("true_map_length")); @@ -137,10 +155,10 @@ void ElevationMappingWrapper::input(const RowMatrixXd& points, const std::vector Eigen::Ref(t), positionNoise, orientationNoise); } -void ElevationMappingWrapper::input_image(const std::string& key, const std::vector& multichannel_image, const RowMatrixXd& R, +void ElevationMappingWrapper::input_image(const std::vector& multichannel_image, const std::vector& channels, const std::vector& fusion_methods, const RowMatrixXd& R, const Eigen::VectorXd& t, const RowMatrixXd& cameraMatrix, int height, int width) { py::gil_scoped_acquire acquire; - map_.attr("input_image")(key, multichannel_image, Eigen::Ref(R), Eigen::Ref(t), + map_.attr("input_image")(multichannel_image, channels, fusion_methods, Eigen::Ref(R), Eigen::Ref(t), Eigen::Ref(cameraMatrix), height, width); } @@ -189,9 +207,12 @@ void ElevationMappingWrapper::get_grid_map(grid_map::GridMap& gridMap, const std std::vector maps; for (const auto& layerName : layerNames) { - RowMatrixXf map(map_n_, map_n_); - map_.attr("get_map_with_name_ref")(layerName, Eigen::Ref(map)); - gridMap.add(layerName, map); + bool exists = map_.attr("exists_layer")(layerName).cast(); + if (exists) { + RowMatrixXf map(map_n_, map_n_); + map_.attr("get_map_with_name_ref")(layerName, Eigen::Ref(map)); + gridMap.add(layerName, map); + } } if (enable_normal_color_) { RowMatrixXf normal_x(map_n_, map_n_); From 26331d66b115aa147dfd2f6aa2d4baf38eb21aa0 Mon Sep 17 00:00:00 2001 From: Takahiro Date: Fri, 24 Nov 2023 02:35:54 +0100 Subject: [PATCH 373/504] Removed some printing. --- .../script/elevation_mapping_cupy/fusion/image_color.py | 2 +- .../script/elevation_mapping_cupy/fusion/image_exponential.py | 2 +- .../script/elevation_mapping_cupy/fusion/pointcloud_average.py | 2 +- .../fusion/pointcloud_bayesian_inference.py | 2 +- .../elevation_mapping_cupy/fusion/pointcloud_class_average.py | 2 +- .../elevation_mapping_cupy/fusion/pointcloud_class_bayesian.py | 2 +- .../elevation_mapping_cupy/fusion/pointcloud_class_max.py | 2 +- .../script/elevation_mapping_cupy/fusion/pointcloud_color.py | 2 +- 8 files changed, 8 insertions(+), 8 deletions(-) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/image_color.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/image_color.py index 317530d5..8eea8eb2 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/image_color.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/image_color.py @@ -47,7 +47,7 @@ def color_correspondences_to_map_kernel(resolution, width, height): class ImageColor(FusionBase): def __init__(self, params, *args, **kwargs): # super().__init__(fusion_params, *args, **kwargs) - print("Initialize fusion kernel") + # print("Initialize fusion kernel") self.name = "image_color" self.cell_n = params.cell_n self.resolution = params.resolution diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/image_exponential.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/image_exponential.py index d9ad1ce7..480b943d 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/image_exponential.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/image_exponential.py @@ -38,7 +38,7 @@ def exponential_correspondences_to_map_kernel(resolution, width, height, alpha): class ImageExponential(FusionBase): def __init__(self, params, *args, **kwargs): # super().__init__(fusion_params, *args, **kwargs) - print("Initialize fusion kernel") + # print("Initialize fusion kernel") self.name = "image_exponential" self.cell_n = params.cell_n self.resolution = params.resolution diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_average.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_average.py index cda9af96..a823b258 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_average.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_average.py @@ -86,7 +86,7 @@ def average_kernel( class Average(FusionBase): def __init__(self, params, *args, **kwargs): # super().__init__(fusion_params, *args, **kwargs) - print("Initialize fusion kernel") + # print("Initialize fusion kernel") self.name = "pointcloud_average" self.cell_n = params.cell_n self.resolution = params.resolution diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_bayesian_inference.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_bayesian_inference.py index f9f07b4a..c8da65d9 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_bayesian_inference.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_bayesian_inference.py @@ -82,7 +82,7 @@ def bayesian_inference_kernel( class BayesianInference(FusionBase): def __init__(self, params, *args, **kwargs): # super().__init__(fusion_params, *args, **kwargs) - print("Initialize bayesian inference kernel") + # print("Initialize bayesian inference kernel") self.name = "pointcloud_bayesian_inference" self.cell_n = params.cell_n diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_class_average.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_class_average.py index a28c98db..b8ad5cb8 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_class_average.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_class_average.py @@ -96,7 +96,7 @@ def class_average_kernel( class ClassAverage(FusionBase): def __init__(self, params, *args, **kwargs): # super().__init__(fusion_params, *args, **kwargs) - print("Initialize fusion kernel") + # print("Initialize fusion kernel") self.name = "pointcloud_class_average" self.cell_n = params.cell_n self.resolution = params.resolution diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_class_bayesian.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_class_bayesian.py index eeae2324..6e507194 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_class_bayesian.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_class_bayesian.py @@ -51,7 +51,7 @@ def alpha_kernel( class ClassBayesian(FusionBase): def __init__(self, params, *args, **kwargs): # super().__init__(fusion_params, *args, **kwargs) - print("Initialize fusion kernel") + # print("Initialize fusion kernel") self.name = "pointcloud_class_bayesian" self.cell_n = params.cell_n self.resolution = params.resolution diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_class_max.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_class_max.py index ea8d0c5c..630c2ae6 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_class_max.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_class_max.py @@ -47,7 +47,7 @@ def sum_max_kernel( class ClassMax(FusionBase): def __init__(self, params, *args, **kwargs): # super().__init__(fusion_params, *args, **kwargs) - print("Initialize fusion kernel") + # print("Initialize fusion kernel") self.name = "pointcloud_class_max" self.cell_n = params.cell_n self.resolution = params.resolution diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_color.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_color.py index 1c24fedb..9b7c1b34 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_color.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_color.py @@ -118,7 +118,7 @@ def color_average_kernel( class Color(FusionBase): def __init__(self, params, *args, **kwargs): # super().__init__(fusion_params, *args, **kwargs) - print("Initialize fusion kernel") + # print("Initialize fusion kernel") self.name = "pointcloud_color" self.cell_n = params.cell_n self.resolution = params.resolution From 7e875aaa30995cc9e08f29708842e2b3c755b93f Mon Sep 17 00:00:00 2001 From: Takahiro Date: Fri, 24 Nov 2023 02:36:05 +0100 Subject: [PATCH 374/504] Removed some printing --- .../script/elevation_mapping_cupy/elevation_mapping.py | 1 - 1 file changed, 1 deletion(-) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py index 0f926c9a..4f49f86b 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py @@ -452,7 +452,6 @@ def input_pointcloud( """ raw_points = cp.asarray(raw_points, dtype=self.data_type) additional_channels = channels[3:] - print("additional_channels", additional_channels) raw_points = raw_points[~cp.isnan(raw_points).any(axis=1)] self.update_map_with_kernel( raw_points, From e8eeddf319ef9e0e9065e9fefc1b425d6e0ccebc Mon Sep 17 00:00:00 2001 From: Takahiro Date: Fri, 24 Nov 2023 02:36:19 +0100 Subject: [PATCH 375/504] Fixed a bug in the layer index handling. --- .../elevation_mapping_cupy/semantic_map.py | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py index 131ab0b9..e33585f1 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py @@ -175,11 +175,13 @@ def get_fusion_of_pcl(self, channels: List[str]) -> List[str]: process_channels = [] for channel in channels: if channel not in self.layer_specs: + # If the channel is not in the layer_specs, we use the default fusion algorithm if "default" in self.param.pointcloud_channel_fusion: default_fusion = self.param.pointcloud_channel_fusion["default"] print(f"[WARNING] Layer {channel} not found in layer_specs. Using {default_fusion} algorithm as default.") self.layer_specs[channel] = default_fusion self.update_fusion_setting() + # If there's no default fusion algorithm, we skip this channel else: print(f"[WARNING] Layer {channel} not found in layer_specs. Skipping.") continue @@ -227,7 +229,8 @@ def get_indices_fusion(self, pcl_channels: List[str], fusion_alg: str): layer_indices = cp.array([], dtype=cp.int32) for it, (key, val) in enumerate(self.layer_specs.items()): if key in pcl_channels and val == fusion_alg: - layer_indices = cp.append(layer_indices, it).astype(cp.int32) + layer_idx = self.layer_names.index(key) + layer_indices = cp.append(layer_indices, layer_idx).astype(cp.int32) return pcl_indices, layer_indices def update_layers_pointcloud(self, points_all, channels, R, t, elevation_map): @@ -241,10 +244,13 @@ def update_layers_pointcloud(self, points_all, channels, R, t, elevation_map): elevation_map: elevation map object """ process_channels, additional_fusion = self.get_fusion_of_pcl(channels) + # If channels has a new layer that is not in the semantic map, add it for channel in process_channels: if channel not in self.layer_names: print(f"Layer {channel} not found, adding it to the semantic map") self.add_layer(channel) + + # Resetting new_map for the layers that are to be deleted self.new_map[self.delete_new_layers] = 0.0 for fusion in list(set(additional_fusion)): # which layers need to be updated with this fusion algorithm @@ -285,15 +291,10 @@ def update_layers_image( image_width: """ - # print("sub_key", sub_key) - # print("delete_new_layers", self.delete_new_layers) - # additional_fusion = self.get_fusion_of_pcl(channels) self.new_map[self.delete_new_layers] = 0.0 # config = self.param.subscriber_cfg[sub_key] - # print("config", config) - # for j, (fusion, channel) in enumerate(zip(config["fusion"], config["channels"])): for j, (fusion, channel) in enumerate(zip(fusion_methods, channels)): if channel not in self.layer_names: @@ -348,9 +349,8 @@ def get_map_with_name(self, name): Returns: cp.array: map """ - print("[get_map_with_name] name", name, self.layer_specs) + # If the layer is a color layer, return the rgb map if name in self.layer_specs and (self.layer_specs[name] == "image_color" or self.layer_specs[name] == "pointcloud_color"): - print("this is a color map") m = self.get_rgb(name) return m else: From 2a5bd37617b56d08b1e8b8429601633c34bdf310 Mon Sep 17 00:00:00 2001 From: Takahiro Date: Wed, 29 Nov 2023 15:46:00 +0100 Subject: [PATCH 376/504] Added FusionInfo.msg --- elevation_map_msgs/CMakeLists.txt | 1 + elevation_map_msgs/msg/FusionInfo.msg | 3 +++ 2 files changed, 4 insertions(+) create mode 100644 elevation_map_msgs/msg/FusionInfo.msg diff --git a/elevation_map_msgs/CMakeLists.txt b/elevation_map_msgs/CMakeLists.txt index 1dd3bcaa..653174ef 100644 --- a/elevation_map_msgs/CMakeLists.txt +++ b/elevation_map_msgs/CMakeLists.txt @@ -11,6 +11,7 @@ find_package(catkin REQUIRED COMPONENTS add_message_files( FILES Statistics.msg + FusionInfo.msg ) ## Generate services in the 'srv' folder diff --git a/elevation_map_msgs/msg/FusionInfo.msg b/elevation_map_msgs/msg/FusionInfo.msg new file mode 100644 index 00000000..4cfd1718 --- /dev/null +++ b/elevation_map_msgs/msg/FusionInfo.msg @@ -0,0 +1,3 @@ +Header header +string[] channels # channel names for each layer +string[] fusion_methods # fusion methods to use for each channel \ No newline at end of file From 4dbbcb20528211a416178845dbf6c962a2ab8475 Mon Sep 17 00:00:00 2001 From: Takahiro Date: Wed, 29 Nov 2023 20:07:32 +0100 Subject: [PATCH 377/504] Work in progress for adding FusionInfo pub and sub. --- .../setups/anymal/anymal_parameters.yaml | 22 ++--- .../anymal/anymal_sensor_parameter.yaml | 49 ++++++++-- .../turtle_bot/turtle_bot_semantics.yaml | 56 ++++++++---- .../elevation_mapping_ros.hpp | 11 +++ elevation_mapping_cupy/launch/anymal.launch | 4 +- .../launch/turtlesim_init.launch | 5 +- .../turtlesim_semantic_image_example.launch | 8 +- .../rviz/turtle_example.rviz | 48 +++++++--- .../elevation_mapping.py | 11 ++- .../fusion/fusion_manager.py | 2 +- .../kernels/custom_image_kernels.py | 49 +++++++--- .../src/elevation_mapping_ros.cpp | 43 +++++++-- .../config/sensor_parameter.yaml | 91 +++++++++++++------ .../launch/semantic_image.launch | 7 ++ .../script/semantic_sensor/image_node.py | 32 +++++-- .../semantic_sensor/image_parameters.py | 16 ++-- .../script/semantic_sensor/networks.py | 46 +++++----- 17 files changed, 353 insertions(+), 147 deletions(-) create mode 100644 sensor_processing/semantic_sensor/launch/semantic_image.launch diff --git a/elevation_mapping_cupy/config/setups/anymal/anymal_parameters.yaml b/elevation_mapping_cupy/config/setups/anymal/anymal_parameters.yaml index c1aa165b..5d1ad988 100644 --- a/elevation_mapping_cupy/config/setups/anymal/anymal_parameters.yaml +++ b/elevation_mapping_cupy/config/setups/anymal/anymal_parameters.yaml @@ -55,13 +55,13 @@ enable_normal_color: false # If true, the map contains 'col #### Traversability filter ######## use_chainer: false # Use chainer as a backend of traversability filter or pytorch. If false, it uses pytorch. pytorch requires ~2GB more GPU memory compared to chainer but runs faster. -weight_file: '$(rospack find elevation_mapping_cupy)/config/weights.dat' # Weight file for traversability filter +weight_file: '$(rospack find elevation_mapping_cupy)/config/core/weights.dat' # Weight file for traversability filter #### Upper bound ######## use_only_above_for_upper_bound: false #### Plugins ######## -plugin_config_file: '$(rospack find elevation_mapping_cupy)/config/anymal_plugin_config.yaml' +# plugin_config_file: '$(rospack find elevation_mapping_cupy)/config/anymal_plugin_config.yaml' #### Publishers ######## # topic_name: @@ -69,16 +69,16 @@ plugin_config_file: '$(rospack find elevation_mapping_cupy)/config/anymal_plugin # basic_layers: # basic_layers for valid cell computation (e.g. Rviz): Choose a subset of `layers`. # fps: # Publish rate. Use smaller value than `map_acquire_fps`. -publishers: - elevation_map_raw: - layers: ['elevation', 'traversability', 'variance'] - basic_layers: ['elevation', 'traversability'] - fps: 5.0 +# publishers: +# elevation_map_raw: +# layers: ['elevation', 'traversability', 'variance'] +# basic_layers: ['elevation', 'traversability'] +# fps: 5.0 - semantic_map_raw: - layers: ['elevation', 'traversability'] - basic_layers: ['elevation', 'traversability'] - fps: 5.0 +# semantic_map_raw: +# layers: ['elevation', 'traversability'] +# basic_layers: ['elevation', 'traversability'] +# fps: 5.0 #### Initializer ######## initialize_method: 'linear' # Choose one from 'nearest', 'linear', 'cubic' diff --git a/elevation_mapping_cupy/config/setups/anymal/anymal_sensor_parameter.yaml b/elevation_mapping_cupy/config/setups/anymal/anymal_sensor_parameter.yaml index ecb96c73..90cc74fb 100644 --- a/elevation_mapping_cupy/config/setups/anymal/anymal_sensor_parameter.yaml +++ b/elevation_mapping_cupy/config/setups/anymal/anymal_sensor_parameter.yaml @@ -1,15 +1,46 @@ +plugin_config_file: '$(rospack find elevation_mapping_cupy)/config/setups/anymal/anymal_plugin_config.yaml' + +#### Publishers ######## +# topic_name: +# layers: # Choose from 'elevation', 'variance', 'traversability', 'time', 'normal_x', 'normal_y', 'normal_z', 'color', plugin_layer_names +# basic_layers: # basic_layers for valid cell computation (e.g. Rviz): Choose a subset of `layers`. +# fps: # Publish rate. Use smaller value than `map_acquire_fps`. + +publishers: + elevation_map_raw: + layers: ['elevation', 'traversability', 'variance'] + basic_layers: ['elevation', 'traversability'] + fps: 5.0 + + semantic_map_raw: + layers: ['elevation', 'traversability'] + basic_layers: ['elevation', 'traversability'] + fps: 5.0 + #### Subscribers ######## subscribers: - front_depth: + front_upper_depth: + channels: [] + fusion: [] + topic_name: /depth_camera_front_upper/point_cloud_self_filtered + data_type: pointcloud + + front_lower_depth: channels: [] fusion: [] - topic_name: /depth_camera_front/point_cloud_self_filtered + topic_name: /depth_camera_front_lower/point_cloud_self_filtered data_type: pointcloud - rear_depth: + rear_upper_depth: channels: [] fusion: [] - topic_name: /depth_camera_rear/point_cloud_self_filtered + topic_name: /depth_camera_rear_upper/point_cloud_self_filtered + data_type: pointcloud + + rear_lower_depth: + channels: [] + fusion: [] + topic_name: /depth_camera_rear_lower/point_cloud_self_filtered data_type: pointcloud left_depth: @@ -24,11 +55,11 @@ subscribers: topic_name: /depth_camera_right/point_cloud_self_filtered data_type: pointcloud - velodyne: - channels: [] - fusion: [] - topic_name: /point_cloud_filter/lidar/point_cloud_filtered - data_type: pointcloud + # velodyne: + # channels: [] + # fusion: [] + # topic_name: /point_cloud_filter/lidar/point_cloud_filtered + # data_type: pointcloud front_bpearl: channels: [] diff --git a/elevation_mapping_cupy/config/setups/turtle_bot/turtle_bot_semantics.yaml b/elevation_mapping_cupy/config/setups/turtle_bot/turtle_bot_semantics.yaml index 566fc4d3..9c4019bb 100644 --- a/elevation_mapping_cupy/config/setups/turtle_bot/turtle_bot_semantics.yaml +++ b/elevation_mapping_cupy/config/setups/turtle_bot/turtle_bot_semantics.yaml @@ -2,34 +2,52 @@ plugin_config_file: '$(rospack find elevation_mapping_cupy)/config/setups/turtle_bot/plugin_config.yaml' pointcloud_channel_fusion: - rgb: 'pointcloud_color' - default: 'pointcloud_average' - sheep: 'pointcloud_average' - sofa: 'pointcloud_class_average' - person: 'pointcloud_class_average' + rgb: 'color' + default: 'average' + sheep: 'average' + sofa: 'class_average' + person: 'class_average' #### Subscribers ######## subscribers: - front_cam: - channels: ['rgb', 'sheep','sofa',"person" ] - fusion: [ 'color','class_average','class_average','class_average' ] - topic_name: '/elevation_mapping/pointcloud_semantic' - semantic_segmentation: True - publish_segmentation_image: True - segmentation_model: 'lraspp_mobilenet_v3_large' # detectron_coco_panoptic_fpn_R_101_3x, lraspp_mobilenet_v3_large - show_label_legend: False - data_type: pointcloud + color_cam: # for color camera + # channels: ['rgb'] + # fusion: ['color'] + topic_name: '/camera/rgb/image_raw' + camera_info_topic_name: '/camera/depth/camera_info' + data_type: image + # front_cam: + # channels: ['rgb', 'sheep','sofa',"person" ] + # fusion: [ 'color','class_average','class_average','class_average' ] + # topic_name: '/elevation_mapping/pointcloud_semantic' + # semantic_segmentation: True + # publish_segmentation_image: True + # segmentation_model: 'lraspp_mobilenet_v3_large' # detectron_coco_panoptic_fpn_R_101_3x, lraspp_mobilenet_v3_large + # show_label_legend: False - cam_info_topic: "/camera/depth/camera_info" - image_topic: "/camera/rgb/image_raw" - depth_topic: "/camera/depth/image_raw" - cam_frame: "camera_rgb_optical_frame" + # cam_info_topic: "/camera/rgb/camera_info" + # image_topic: "/camera/rgb/image_raw" + # cam_frame: "camera_rgb_optical_frame" + # data_type: image + # depth_topic: "/camera/depth/image_raw" + semantic_cam: # for color camera + # channels: ['rgb'] + # fusion: ['color'] + topic_name: '/front_cam/semantic_image' + camera_info_topic_name: '/front_cam/camera/depth/camera_info_resized' + fusion_info_topic_name: '/front_cam/fusion_info' + data_type: image + front_cam_pointcloud: + channels: [] + fusion: [] + topic_name: '/camera/depth/points' + data_type: pointcloud #### Publishers ######## publishers: elevation_map_raw: - layers: ['elevation', 'traversability', 'variance','rgb','sem_fil', 'person', 'sheep', 'sofa'] + layers: ['elevation', 'traversability', 'variance','rgb','sem_fil', 'person', 'chair', 'sofa'] basic_layers: ['elevation'] fps: 5.0 elevation_map_filter: diff --git a/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp b/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp index 4345f04e..ab873aa1 100644 --- a/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp +++ b/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp @@ -49,6 +49,7 @@ #include #include +#include #include "elevation_mapping_cupy/elevation_mapping_wrapper.hpp" @@ -70,6 +71,12 @@ class ElevationMappingNode { using CameraSync = message_filters::Synchronizer; using CameraSyncPtr = std::shared_ptr; + using FusionInfoSubscriber = message_filters::Subscriber; + using FusionInfoSubscriberPtr = std::shared_ptr; + using CameraFusionPolicy = message_filters::sync_policies::ApproximateTime; + using CameraFusionSync = message_filters::Synchronizer; + using CameraFusionSyncPtr = std::shared_ptr; + private: void readParameters(); void setupMapPublishers(); @@ -77,6 +84,8 @@ class ElevationMappingNode { void inputImage(const sensor_msgs::ImageConstPtr& image_msg, const sensor_msgs::CameraInfoConstPtr& camera_info_msg, const std::vector& channels, const std::vector& fusion_methods); void imageCallback(const sensor_msgs::ImageConstPtr& image_msg, const sensor_msgs::CameraInfoConstPtr& camera_info_msg); + void imageFusionCallback(const sensor_msgs::ImageConstPtr& image_msg, const sensor_msgs::CameraInfoConstPtr& camera_info_msg, const elevation_map_msgs::FusionInfoConstPtr& fusion_info_msg); + // void multiLayerImageCallback(const elevation_map_msgs::MultiLayerImageConstPtr& image_msg, const sensor_msgs::CameraInfoConstPtr& camera_info_msg); void publishAsPointCloud(const grid_map::GridMap& map) const; bool getSubmap(grid_map_msgs::GetGridMap::Request& request, grid_map_msgs::GetGridMap::Response& response); bool checkSafety(elevation_map_msgs::CheckSafety::Request& request, elevation_map_msgs::CheckSafety::Response& response); @@ -101,7 +110,9 @@ class ElevationMappingNode { std::vector pointcloudSubs_; std::vector imageSubs_; std::vector cameraInfoSubs_; + std::vector fusionInfoSubs_; std::vector cameraSyncs_; + std::vector cameraFusionSyncs_; std::vector mapPubs_; tf::TransformBroadcaster tfBroadcaster_; ros::Publisher alivePub_; diff --git a/elevation_mapping_cupy/launch/anymal.launch b/elevation_mapping_cupy/launch/anymal.launch index cc598ea2..67c2f147 100644 --- a/elevation_mapping_cupy/launch/anymal.launch +++ b/elevation_mapping_cupy/launch/anymal.launch @@ -1,7 +1,7 @@ - - + + diff --git a/elevation_mapping_cupy/launch/turtlesim_init.launch b/elevation_mapping_cupy/launch/turtlesim_init.launch index 86e2909b..0679d174 100644 --- a/elevation_mapping_cupy/launch/turtlesim_init.launch +++ b/elevation_mapping_cupy/launch/turtlesim_init.launch @@ -3,13 +3,14 @@ - + - + + diff --git a/elevation_mapping_cupy/launch/turtlesim_semantic_image_example.launch b/elevation_mapping_cupy/launch/turtlesim_semantic_image_example.launch index 1f680224..30741b50 100644 --- a/elevation_mapping_cupy/launch/turtlesim_semantic_image_example.launch +++ b/elevation_mapping_cupy/launch/turtlesim_semantic_image_example.launch @@ -7,16 +7,16 @@ - - - + + - + \ No newline at end of file diff --git a/elevation_mapping_cupy/rviz/turtle_example.rviz b/elevation_mapping_cupy/rviz/turtle_example.rviz index b5b19b90..fe4c79bb 100644 --- a/elevation_mapping_cupy/rviz/turtle_example.rviz +++ b/elevation_mapping_cupy/rviz/turtle_example.rviz @@ -6,7 +6,7 @@ Panels: Expanded: - /Global Options1 Splitter Ratio: 0.5768463015556335 - Tree Height: 658 + Tree Height: 229 - Class: rviz/Selection Name: Selection - Class: rviz/Tool Properties @@ -22,10 +22,9 @@ Panels: Name: Views Splitter Ratio: 0.5 - Class: rviz/Time - Experimental: false Name: Time SyncMode: 0 - SyncSource: "" + SyncSource: Image Preferences: PromptSaveOnExit: true Toolbars: @@ -57,14 +56,11 @@ Visualization Manager: Color: 200; 200; 200 Color Layer: rgb Color Transformer: ColorLayer - ColorMap: default Enabled: true - Grid Cell Decimation: 1 - Grid Line Thickness: 0.10000000149011612 Height Layer: elevation Height Transformer: "" History Length: 1 - Invert ColorMap: false + Invert Rainbow: false Max Color: 238; 238; 236 Max Intensity: 1 Min Color: 32; 74; 135 @@ -73,7 +69,7 @@ Visualization Manager: Show Grid Lines: true Topic: /elevation_mapping/elevation_map_raw Unreliable: false - Use ColorMap: true + Use Rainbow: true Value: true - Alpha: 1 Class: rviz/RobotModel @@ -178,6 +174,30 @@ Visualization Manager: Use Fixed Frame: true Use rainbow: true Value: false + - Class: rviz/Image + Enabled: true + Image Topic: /camera/rgb/image_raw + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: true + - Class: rviz/Image + Enabled: true + Image Topic: /front_cam/elevation_mapping/semantic_image_front + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: true Enabled: true Global Options: Background Color: 255; 255; 255 @@ -222,9 +242,9 @@ Visualization Manager: Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Pitch: 0.5947964191436768 + Pitch: 0.5147963762283325 Target Frame: base_footprint - Yaw: 3.0983715057373047 + Yaw: 3.1033706665039062 Saved: ~ Window Geometry: Displays: @@ -232,7 +252,9 @@ Window Geometry: Height: 1043 Hide Left Dock: false Hide Right Dock: true - QMainWindow State: 000000ff00000000fd0000000400000000000001f700000359fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000359000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000015f0000053bfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000000560000053b000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000005afc0100000002fb0000000800540069006d0065010000000000000780000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000005830000035900000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Image: + collapsed: false + QMainWindow State: 000000ff00000000fd0000000400000000000001f70000035dfc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000001aa000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006501000001eb000000d30000001600fffffffb0000000a0049006d00610067006501000002c4000000d40000001600ffffff000000010000015f0000053bfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000000560000053b000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000005afc0100000002fb0000000800540069006d00650100000000000007800000030700fffffffb0000000800540069006d00650100000000000004500000000000000000000005830000035d00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Selection: collapsed: false Time: @@ -242,5 +264,5 @@ Window Geometry: Views: collapsed: true Width: 1920 - X: 1920 - Y: 0 + X: 2280 + Y: 105 diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py index 4f49f86b..22fde76a 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py @@ -293,12 +293,15 @@ def compile_image_kernels(self): np.zeros((2, self.cell_n, self.cell_n), dtype=np.float32), dtype=np.float32, ) + # self.distance_correspondence = cp.asarray( + # np.zeros((self.cell_n, self.cell_n), dtype=np.float32), dtype=np.float32 + # ) # TODO tolerance_z_collision add parameter self.image_to_map_correspondence_kernel = image_to_map_correspondence_kernel( resolution=self.resolution, width=self.cell_n, height=self.cell_n, - tolerance_z_collision=0.1, + tolerance_z_collision=0.10, ) break @@ -487,6 +490,9 @@ def input_image( Returns: None: """ + print("input_image") + print("channels", channels) + print("fusion_methods", fusion_methods) image = np.stack(image, axis=0) if len(image.shape) == 2: image = image[None] @@ -509,6 +515,7 @@ def input_image( self.uv_correspondence *= 0 self.valid_correspondence[:, :] = False + # self.distance_correspondence *= 0.0 print("channels", channels) print("fusion_methods", fusion_methods) @@ -525,8 +532,10 @@ def input_image( self.center, self.uv_correspondence, self.valid_correspondence, + # self.distance_correspondence, size=int(self.cell_n * self.cell_n), ) + # print("distance_correspondence", self.distance_correspondence) self.semantic_map.update_layers_image( # sub_key, image, diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/fusion_manager.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/fusion_manager.py index 0596af35..152e37bd 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/fusion_manager.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/fusion_manager.py @@ -54,7 +54,7 @@ def get_plugin_idx(self, name: str, data_type: str): """ Get a registered fusion plugin """ - # name = data_type + "_" + name + name = data_type + "_" + name for idx, plugin in enumerate(self.plugins): if plugin.name == name: return idx diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/custom_image_kernels.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/custom_image_kernels.py index 62f32c70..18873aa7 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/custom_image_kernels.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/custom_image_kernels.py @@ -3,7 +3,12 @@ def image_to_map_correspondence_kernel(resolution, width, height, tolerance_z_collision): - image_to_map_correspondence_kernel = cp.ElementwiseKernel( + """ + This function calculates the correspondence between the image and the map. + It takes in the resolution, width, height, and tolerance_z_collision as parameters. + The function returns a kernel that can be used to perform the correspondence calculation. + """ + _image_to_map_correspondence_kernel = cp.ElementwiseKernel( in_params="raw U map, raw U x1, raw U y1, raw U z1, raw U P, raw U image_height, raw U image_width, raw U center", out_params="raw U uv_correspondence, raw B valid_correspondence", preamble=string.Template( @@ -52,7 +57,7 @@ def image_to_map_correspondence_kernel(resolution, width, height, tolerance_z_co u = u/d; v = v/d; - // filter point nexto image plane + // filter point next to image plane if ((u < 0) || (v < 0) || (u >= image_width) || (v >= image_height)){ return; } @@ -71,6 +76,8 @@ def image_to_map_correspondence_kernel(resolution, width, height, tolerance_z_co int dy = -abs(y1 - y0); int sy = y0 < y1 ? 1 : -1; int error = dx + dy; + + bool is_valid = true; // iterate over all cells along line while (1){ @@ -86,6 +93,7 @@ def image_to_map_correspondence_kernel(resolution, width, height, tolerance_z_co float dis = get_l2_distance(x0_c, y0_c, x0, y0); float rayheight = z0 + ( dis / total_dis * delta_z); if ( map[idx] - ${tolerance_z_collision} > rayheight){ + is_valid = false; break; } } @@ -113,16 +121,21 @@ def image_to_map_correspondence_kernel(resolution, width, height, tolerance_z_co // mark the correspondence uv_correspondence[get_map_idx(i, 0)] = u; uv_correspondence[get_map_idx(i, 1)] = v; - valid_correspondence[get_map_idx(i, 0)] = 1; + valid_correspondence[get_map_idx(i, 0)] = is_valid; """ ).substitute(height=height, width=width, resolution=resolution, tolerance_z_collision=tolerance_z_collision), name="image_to_map_correspondence_kernel", ) - return image_to_map_correspondence_kernel + return _image_to_map_correspondence_kernel -def average_correspondences_to_map_kernel(resolution, width, height): - average_correspondences_to_map_kernel = cp.ElementwiseKernel( +def average_correspondences_to_map_kernel(width, height): + """ + This function calculates the average correspondences to the map. + It takes in the width and height as parameters. + The function returns a kernel that can be used to perform the correspondence calculation. + """ + _average_correspondences_to_map_kernel = cp.ElementwiseKernel( in_params="raw U sem_map, raw U map_idx, raw U image_mono, raw U uv_correspondence, raw B valid_correspondence, raw U image_height, raw U image_width", out_params="raw U new_sem_map", preamble=string.Template( @@ -148,11 +161,16 @@ def average_correspondences_to_map_kernel(resolution, width, height): ).substitute(), name="average_correspondences_to_map_kernel", ) - return average_correspondences_to_map_kernel + return _average_correspondences_to_map_kernel -def exponential_correspondences_to_map_kernel(resolution, width, height, alpha): - exponential_correspondences_to_map_kernel = cp.ElementwiseKernel( +def exponential_correspondences_to_map_kernel(width, height, alpha): + """ + This function calculates the exponential correspondences to the map. + It takes in the width, height, and alpha as parameters. + The function returns a kernel that can be used to perform the correspondence calculation. + """ + _exponential_correspondences_to_map_kernel = cp.ElementwiseKernel( in_params="raw U sem_map, raw U map_idx, raw U image_mono, raw U uv_correspondence, raw B valid_correspondence, raw U image_height, raw U image_width", out_params="raw U new_sem_map", preamble=string.Template( @@ -178,11 +196,16 @@ def exponential_correspondences_to_map_kernel(resolution, width, height, alpha): ).substitute(alpha=alpha), name="exponential_correspondences_to_map_kernel", ) - return exponential_correspondences_to_map_kernel + return _exponential_correspondences_to_map_kernel -def color_correspondences_to_map_kernel(resolution, width, height): - color_correspondences_to_map_kernel = cp.ElementwiseKernel( +def color_correspondences_to_map_kernel(width, height): + """ + This function calculates the color correspondences to the map. + It takes in the width and height as parameters. + The function returns a kernel that can be used to perform the correspondence calculation. + """ + _color_correspondences_to_map_kernel = cp.ElementwiseKernel( in_params="raw U sem_map, raw U map_idx, raw U image_rgb, raw U uv_correspondence, raw B valid_correspondence, raw U image_height, raw U image_width", out_params="raw U new_sem_map", preamble=string.Template( @@ -217,4 +240,4 @@ def color_correspondences_to_map_kernel(resolution, width, height): ).substitute(), name="color_correspondences_to_map_kernel", ) - return color_correspondences_to_map_kernel + return _color_correspondences_to_map_kernel diff --git a/elevation_mapping_cupy/src/elevation_mapping_ros.cpp b/elevation_mapping_cupy/src/elevation_mapping_ros.cpp index 5f926373..849f0022 100644 --- a/elevation_mapping_cupy/src/elevation_mapping_ros.cpp +++ b/elevation_mapping_cupy/src/elevation_mapping_ros.cpp @@ -93,8 +93,8 @@ ElevationMappingNode::ElevationMappingNode(ros::NodeHandle& nh) } } else if (type == "image") { - std::string camera_topic = subscriber.second["topic_name_camera"]; - std::string info_topic = subscriber.second["topic_name_camera_info"]; + std::string camera_topic = subscriber.second["topic_name"]; + std::string info_topic = subscriber.second["camera_info_topic_name"]; // Handle compressed images with transport hints // We obtain the hint from the last part of the topic name @@ -117,9 +117,23 @@ ElevationMappingNode::ElevationMappingNode(ros::NodeHandle& nh) cam_info_sub->subscribe(nh_, info_topic, 1); cameraInfoSubs_.push_back(cam_info_sub); - CameraSyncPtr sync = std::make_shared(CameraPolicy(10), *image_sub, *cam_info_sub); - sync->registerCallback(boost::bind(&ElevationMappingNode::imageCallback, this, _1, _2)); - cameraSyncs_.push_back(sync); + std::string fusion_info_topic; + if (subscriber.second.hasMember("fusion_info_topic_name")) { + std::string fusion_info_topic = subscriber.second["fusion_info_topic_name"]; + FusionInfoSubscriberPtr fusion_info_sub = std::make_shared(); + fusion_info_sub->subscribe(nh_, fusion_info_topic, 1); + fusionInfoSubs_.push_back(fusion_info_sub); + CameraFusionSyncPtr sync = std::make_shared(CameraFusionPolicy(10), *image_sub, *cam_info_sub, *fusion_info_sub); + sync->registerCallback(boost::bind(&ElevationMappingNode::imageFusionCallback, this, _1, _2, _3)); + cameraFusionSyncs_.push_back(sync); + } + else { + ROS_INFO_STREAM("Fusion info topic not found"); + CameraSyncPtr sync = std::make_shared(CameraPolicy(10), *image_sub, *cam_info_sub); + sync->registerCallback(boost::bind(&ElevationMappingNode::imageCallback, this, _1, _2)); + cameraSyncs_.push_back(sync); + } + } else { ROS_WARN_STREAM("Subscriber data_type [" << type << "] Not valid. Supported types: pointcloud, image"); @@ -401,7 +415,24 @@ void ElevationMappingNode::imageCallback(const sensor_msgs::ImageConstPtr& image std::vector channels; std::vector fusion_methods; channels.push_back("rgb"); - fusion_methods.push_back("image_color"); + fusion_methods.push_back("color"); + inputImage(image_msg, camera_info_msg, channels, fusion_methods); + ROS_DEBUG_THROTTLE(1.0, "ElevationMap processed an image in %f sec.", (ros::Time::now() - start).toSec()); +} + +void ElevationMappingNode::imageFusionCallback(const sensor_msgs::ImageConstPtr& image_msg, + const sensor_msgs::CameraInfoConstPtr& camera_info_msg, + const elevation_map_msgs::FusionInfoConstPtr& fusion_info_msg) { + auto start = ros::Time::now(); + // Default channels and fusion methods for image is rgb and image_color + std::vector channels; + std::vector fusion_methods; + channels = fusion_info_msg->channels; + fusion_methods = fusion_info_msg->fusion_methods; + ROS_INFO_STREAM("Channels: " << boost::algorithm::join(channels, ", ")); + ROS_INFO_STREAM("Fusion methods: " << boost::algorithm::join(fusion_methods, ", ")); + // channels.push_back("rgb"); + // fusion_methods.push_back("color"); inputImage(image_msg, camera_info_msg, channels, fusion_methods); ROS_DEBUG_THROTTLE(1.0, "ElevationMap processed an image in %f sec.", (ros::Time::now() - start).toSec()); } diff --git a/sensor_processing/semantic_sensor/config/sensor_parameter.yaml b/sensor_processing/semantic_sensor/config/sensor_parameter.yaml index e448f9ab..ec21d93c 100644 --- a/sensor_processing/semantic_sensor/config/sensor_parameter.yaml +++ b/sensor_processing/semantic_sensor/config/sensor_parameter.yaml @@ -1,32 +1,65 @@ -subscribers: - # sensor_name: - # channels: ['feat_0','feat_1'] - # fusion: ['average','average'] - # topic_name: '/elevation_mapping/pointcloud_semantic' - front_cam: - channels: [ 'rgb' ] #'feat_0','feat_1','person','grass'] - fusion: [ 'color' ] #'average','average','class_average','class_average'] - topic_name: '/elvation_mapping/pointcloud_semantic' - semantic_segmentation: False - segmentation_model: 'detectron_coco_panoptic_fpn_R_101_3x' - publish_segmentation_image: True - feature_extractor: False - feature_config: - name: 'DINO' - interpolation: 'bilinear' - model: "vit_small" - patch_size: 16 - dim: 5 - dropout: False - dino_feat_type: "feat" - input_size: [ 80, 160 ] - projection_type: "nonlinear" +# subscribers: +# # sensor_name: +# # channels: ['feat_0','feat_1'] +# # fusion: ['average','average'] +# # topic_name: '/elevation_mapping/pointcloud_semantic' +# front_cam: +# channels: [ 'rgb' ] #'feat_0','feat_1','person','grass'] +# fusion: [ 'color' ] #'average','average','class_average','class_average'] +# topic_name: '/elvation_mapping/pointcloud_semantic' +# semantic_segmentation: False +# segmentation_model: 'detectron_coco_panoptic_fpn_R_101_3x' +# publish_segmentation_image: True +# feature_extractor: False +# feature_config: +# name: 'DINO' +# interpolation: 'bilinear' +# model: "vit_small" +# patch_size: 16 +# dim: 5 +# dropout: False +# dino_feat_type: "feat" +# input_size: [ 80, 160 ] +# projection_type: "nonlinear" - cam_info_topic: "/zed2i/zed_node/depth/camera_info" - image_topic: "/zed2i/zed_node/left/image_rect_color" - depth_topic: "/zed2i/zed_node/depth/depth_registered" - cam_frame: "zed2i_right_camera_optical_frame" - confidence_topic: "/zed2i/zed_node/confidence/confidence_map" - confidence_threshold: 10 +# cam_info_topic: "/zed2i/zed_node/depth/camera_info" +# image_topic: "/zed2i/zed_node/left/image_rect_color" +# depth_topic: "/zed2i/zed_node/depth/depth_registered" +# cam_frame: "zed2i_right_camera_optical_frame" +# confidence_topic: "/zed2i/zed_node/confidence/confidence_map" +# confidence_threshold: 10 +front_cam_pointcloud: + channels: ['rgb', 'chair','sofa',"person" ] + fusion: ['color','class_average','class_average','class_average'] + topic_name: 'front_camera/semantic_pointcloud' + semantic_segmentation: True + publish_segmentation_image: True + segmentation_model: 'lraspp_mobilenet_v3_large' # detectron_coco_panoptic_fpn_R_101_3x, lraspp_mobilenet_v3_large + show_label_legend: False + data_type: pointcloud + cam_info_topic: "/camera/depth/camera_info" + image_topic: "/camera/rgb/image_raw" + depth_topic: "/camera/depth/image_raw" + cam_frame: "camera_rgb_optical_frame" + +front_cam_image: + channels: ['chair','sofa',"person"] + fusion_methods: ['exponential','exponential','exponential'] + publish_topic: 'semantic_image' + publish_image_topic: "semantic_image_debug" + publish_camera_info_topic: 'semantic_image_info' + publish_fusion_info_topic: 'semantic_image_fusion_info' + data_type: image + + semantic_segmentation: True + # segmentation_model: 'detectron_coco_panoptic_fpn_R_101_3x' # detectron_coco_panoptic_fpn_R_101_3x, lraspp_mobilenet_v3_large + segmentation_model: 'lraspp_mobilenet_v3_large' # detectron_coco_panoptic_fpn_R_101_3x, lraspp_mobilenet_v3_large + show_label_legend: False + image_topic: "/camera/rgb/image_raw" + image_info_topic: "/camera/depth/camera_info" + resize: 0.5 + + # sem_seg_topic: "semantic_front" + # sem_seg_image_topic: "semantic_image_front" diff --git a/sensor_processing/semantic_sensor/launch/semantic_image.launch b/sensor_processing/semantic_sensor/launch/semantic_image.launch new file mode 100644 index 00000000..8b6c01a1 --- /dev/null +++ b/sensor_processing/semantic_sensor/launch/semantic_image.launch @@ -0,0 +1,7 @@ + + + + + + \ No newline at end of file diff --git a/sensor_processing/semantic_sensor/script/semantic_sensor/image_node.py b/sensor_processing/semantic_sensor/script/semantic_sensor/image_node.py index 8c0934e1..8a89c81e 100755 --- a/sensor_processing/semantic_sensor/script/semantic_sensor/image_node.py +++ b/sensor_processing/semantic_sensor/script/semantic_sensor/image_node.py @@ -22,6 +22,8 @@ from semantic_sensor.networks import resolve_model from sklearn.decomposition import PCA +from elevation_map_msgs.msg import FusionInfo + class SemanticSegmentationNode: def __init__(self, sensor_name): @@ -33,9 +35,9 @@ def __init__(self, sensor_name): # TODO: if this is going to be loaded from another package we might need to change namespace self.param: ImageParameter = ImageParameter() self.param.feature_config.input_size = [80, 160] - namesp = rospy.get_name() - if rospy.has_param(namesp + "/subscribers"): - config = rospy.get_param(namesp + "/subscribers") + namespace = rospy.get_name() + if rospy.has_param(namespace): + config = rospy.get_param(namespace) self.param: ImageParameter = ImageParameter.from_dict(config[sensor_name]) else: print("NO ROS ENV found.") @@ -66,10 +68,12 @@ def initialize_semantics(self): def register_sub_pub(self): """Register publishers and subscribers.""" + + node_name = rospy.get_name() # subscribers if self.param.image_info_topic is not None and self.param.resize is not None: rospy.Subscriber(self.param.image_info_topic, CameraInfo, self.image_info_callback) - self.feat_im_info_pub = rospy.Publisher(self.param.image_info_topic + "_resized", CameraInfo, queue_size=2) + self.feat_im_info_pub = rospy.Publisher(node_name + "/" + self.param.image_info_topic + "_resized", CameraInfo, queue_size=2) if "compressed" in self.param.image_topic: self.compressed = True @@ -82,14 +86,16 @@ def register_sub_pub(self): # publishers if self.param.semantic_segmentation: - self.seg_pub = rospy.Publisher(self.param.sem_seg_topic, Image, queue_size=2) - self.seg_im_pub = rospy.Publisher(self.param.sem_seg_image_topic, Image, queue_size=2) + self.seg_pub = rospy.Publisher(node_name + "/" + self.param.publish_topic, Image, queue_size=2) + self.seg_im_pub = rospy.Publisher(node_name + "/" + self.param.publish_image_topic, Image, queue_size=2) self.semseg_color_map = self.color_map(len(self.param.channels)) if self.param.show_label_legend: self.color_map_viz() if self.param.feature_extractor: - self.feature_pub = rospy.Publisher(self.param.feature_topic, Image, queue_size=2) - self.feat_im_pub = rospy.Publisher(self.param.feat_image_topic, Image, queue_size=2) + self.feature_pub = rospy.Publisher(node_name + "/" + self.param.feature_topic, Image, queue_size=2) + self.feat_im_pub = rospy.Publisher(node_name + "/" + self.param.feat_image_topic, Image, queue_size=2) + + self.fusion_info_pub = rospy.Publisher(node_name + "/" + self.param.fusion_info_topic, FusionInfo, queue_size=2) def color_map(self, N=256, normalized=False): """Create a color map for the class labels. @@ -171,15 +177,25 @@ def image_callback(self, rgb_msg): if self.param.semantic_segmentation: self.publish_segmentation() self.publish_segmentation_image() + self.publish_fusion_info() if self.param.feature_extractor: self.publish_feature() self.publish_feature_image(self.features) + self.publish_fusion_info() if self.param.resize is not None: self.pub_info() def pub_info(self): self.feat_im_info_pub.publish(self.info) + def publish_fusion_info(self): + """Publish fusion info.""" + info = FusionInfo() + info.header = self.header + info.channels = self.param.channels + info.fusion_methods = self.param.fusion_methods + self.fusion_info_pub.publish(info) + def process_image(self, image): """Depending on setting generate color, semantic segmentation or feature channels. diff --git a/sensor_processing/semantic_sensor/script/semantic_sensor/image_parameters.py b/sensor_processing/semantic_sensor/script/semantic_sensor/image_parameters.py index 01f68cfa..014bd9b9 100644 --- a/sensor_processing/semantic_sensor/script/semantic_sensor/image_parameters.py +++ b/sensor_processing/semantic_sensor/script/semantic_sensor/image_parameters.py @@ -21,17 +21,21 @@ class ImageParameter(Serializable): image_topic: str = "/alphasense_driver_ros/cam4/debayered" semantic_segmentation: bool = True - sem_seg_topic: str = "/elevation_mapping/semantic_seg" - sem_seg_image_topic: str = "/elevation_mapping/semantic_seg_im" + # sem_seg_topic: str = "semantic_seg" + # sem_seg_image_topic: str = "semantic_seg_im" + publish_topic: str = "semantic_seg" + publish_image_topic: str = "semantic_seg_img" + # publish_camera_info_topic: str = "semantic_seg/camera_info" segmentation_model: str = "detectron_coco_panoptic_fpn_R_101_3x" show_label_legend: bool = False channels: list = field(default_factory=lambda: ["grass", "road", "tree", "sky"]) - fusion: list = field(default_factory=lambda: ["class_average", "class_average", "class_average", "class_average"]) + fusion_methods: list = field(default_factory=lambda: ["class_average", "class_average", "class_average", "class_average"]) feature_extractor: bool = False feature_config: FeatureExtractorParameter = FeatureExtractorParameter # feature_config.input_size: list = field(default_factory=lambda: [80, 160]) - feature_topic: str = "/elevation_mapping/semantic_seg_feat" - feat_image_topic: str = "/elevation_mapping/semantic_seg_feat_im" + feature_topic: str = "semantic_seg_feat" + feat_image_topic: str = "semantic_seg_feat_im" + fusion_info_topic: str = "fusion_info" resize: float = None - image_info_topic: str = "/elevation_mapping/image_info" + image_info_topic: str = "image_info" \ No newline at end of file diff --git a/sensor_processing/semantic_sensor/script/semantic_sensor/networks.py b/sensor_processing/semantic_sensor/script/semantic_sensor/networks.py index 39847e68..df7c578c 100644 --- a/sensor_processing/semantic_sensor/script/semantic_sensor/networks.py +++ b/sensor_processing/semantic_sensor/script/semantic_sensor/networks.py @@ -118,10 +118,10 @@ def resolve_categories(self): indices.append(class_to_idx[chan]) channels.append(chan) self.actual_channels.append(chan) - elif self.param.fusion[it] in ["class_average", "class_bayesian"]: + elif self.param.fusion_methods[it] in ["class_average", "class_bayesian"]: print(chan, " is not in the semantic segmentation model.") for it, chan in enumerate(self.param.channels): - if self.param.fusion[it] in ["class_max"]: + if self.param.fusion_methods[it] in ["class_max"]: self.actual_channels.append(chan) print( chan, @@ -133,7 +133,7 @@ def resolve_categories(self): self.segmentation_channels = dict(zip(channels, indices)) def __call__(self, image, *args, **kwargs): - """Feewforward image through model and then create channels + """Feedforward image through model and then create channels Args: image (cupy._core.core.ndarray): @@ -152,7 +152,7 @@ def __call__(self, image, *args, **kwargs): selected_masks = cp.asarray(normalized_masks[list(self.stuff_categories.values())]) # get values of max, first remove the ones we already have normalized_masks[list(self.stuff_categories.values())] = 0 - for i in range(self.param.fusion.count("class_max")): + for i in range(self.param.fusion_methods.count("class_max")): maxim, index = torch.max(normalized_masks, dim=0) mer = encode_max(maxim, index) selected_masks = cp.concatenate((selected_masks, cp.expand_dims(mer, axis=0)), axis=0) @@ -183,7 +183,7 @@ def __init__(self, weights, param): # Find a model from detectron2's model zoo. You can use the https://dl.fbaipublicfiles... url as well self.cfg.MODEL.WEIGHTS = model_zoo.get_checkpoint_url(weights) self.predictor = DefaultPredictor(self.cfg) - self.meta = MetadataCatalog.get(self.cfg.DATASETS.TRAIN[0]) + self.metadata = MetadataCatalog.get(self.cfg.DATASETS.TRAIN[0]) self.stuff_categories, self.is_stuff = self.resolve_categories("stuff_classes") self.thing_categories, self.is_thing = self.resolve_categories("thing_classes") self.segmentation_channels = {} @@ -198,7 +198,7 @@ def __init__(self, weights, param): self.actual_channels = self.segmentation_channels.keys() def resolve_categories(self, name): - classes = self.get_cat(name) + classes = self.get_category(name) class_to_idx = {cls: idx for (idx, cls) in enumerate(classes)} print( "Semantic Segmentation possible channels: ", @@ -207,17 +207,17 @@ def resolve_categories(self, name): indices = [] channels = [] is_thing = [] - for it, chan in enumerate(self.param.channels): - if chan in [cls for cls in list(class_to_idx.keys())]: - indices.append(class_to_idx[chan]) - channels.append(chan) + for it, channel in enumerate(self.param.channels): + if channel in [cls for cls in list(class_to_idx.keys())]: + indices.append(class_to_idx[channel]) + channels.append(channel) is_thing.append(True) - elif self.param.fusion[it] in ["class_average", "class_bayesian"]: + elif self.param.fusion_methods[it] in ["class_average", "class_bayesian"]: is_thing.append(False) - print(chan, " is not in the semantic segmentation model.") + print(channel, " is not in the semantic segmentation model.") categories = dict(zip(channels, indices)) - cat_isthing = dict(zip(self.param.channels, is_thing)) - return categories, cat_isthing + category_isthing = dict(zip(self.param.channels, is_thing)) + return categories, category_isthing def __call__(self, image, *args, **kwargs): # TODO: there are some instruction on how to change input type @@ -234,23 +234,23 @@ def __call__(self, image, *args, **kwargs): # add semseg output[cp.array(list(self.is_stuff.values()))] = probabilities[list(self.stuff_categories.values())] # add instances - indices, insta_info = prediction["panoptic_seg"] + indices, instance_info = prediction["panoptic_seg"] # TODO dont know why i need temp, look into how to avoid temp = output[cp.array(list(self.is_thing.values()))] - for i, insta in enumerate(insta_info): - if insta is None or not insta["isthing"]: + for i, instance in enumerate(instance_info): + if instance is None or not instance["isthing"]: continue - mask = cp.asarray((indices == insta["id"]).int()) - if insta["instance_id"] in self.thing_categories.values(): - temp[i] = mask * insta["score"] + mask = cp.asarray((indices == instance["id"]).int()) + if instance["instance_id"] in self.thing_categories.values(): + temp[i] = mask * instance["score"] output[cp.array(list(self.is_thing.values()))] = temp return output - def get_cat(self, name): - return self.meta.get(name) + def get_category(self, name): + return self.metadata.get(name) def get_classes(self): - return self.get_cat("thing_classes") + self.get_cat("stuff_classes") + return self.get_category("thing_classes") + self.get_category("stuff_classes") class STEGOModel: From 79a123c78b4268e071c18abedf8c60b18047ccca Mon Sep 17 00:00:00 2001 From: Takahiro Date: Mon, 4 Dec 2023 14:05:13 +0100 Subject: [PATCH 378/504] Cleaned up and using channel_info for image topic. --- elevation_map_msgs/CMakeLists.txt | 2 +- elevation_map_msgs/msg/ChannelInfo.msg | 2 + elevation_map_msgs/msg/FusionInfo.msg | 3 - elevation_mapping_cupy/compile_commands.json | 1 + .../anymal/anymal_sensor_parameter.yaml | 40 ++--- .../turtle_bot/turtle_bot_semantics.yaml | 47 +++--- .../setups/turtle_bot/turtle_bot_simple.yaml | 15 +- .../elevation_mapping_ros.hpp | 36 +++-- .../elevation_mapping_wrapper.hpp | 2 +- .../elevation_mapping.py | 12 +- .../elevation_mapping_cupy/parameter.py | 29 +--- .../plugins/plugin_manager.py | 2 +- .../elevation_mapping_cupy/semantic_map.py | 102 ++++++------- .../src/elevation_mapping_ros.cpp | 137 ++++++++++-------- .../src/elevation_mapping_wrapper.cpp | 34 ++++- 15 files changed, 236 insertions(+), 228 deletions(-) create mode 100644 elevation_map_msgs/msg/ChannelInfo.msg delete mode 100644 elevation_map_msgs/msg/FusionInfo.msg create mode 120000 elevation_mapping_cupy/compile_commands.json diff --git a/elevation_map_msgs/CMakeLists.txt b/elevation_map_msgs/CMakeLists.txt index 653174ef..2d73f5e5 100644 --- a/elevation_map_msgs/CMakeLists.txt +++ b/elevation_map_msgs/CMakeLists.txt @@ -11,7 +11,7 @@ find_package(catkin REQUIRED COMPONENTS add_message_files( FILES Statistics.msg - FusionInfo.msg + ChannelInfo.msg ) ## Generate services in the 'srv' folder diff --git a/elevation_map_msgs/msg/ChannelInfo.msg b/elevation_map_msgs/msg/ChannelInfo.msg new file mode 100644 index 00000000..bccf1447 --- /dev/null +++ b/elevation_map_msgs/msg/ChannelInfo.msg @@ -0,0 +1,2 @@ +Header header +string[] channels # channel names for each layer \ No newline at end of file diff --git a/elevation_map_msgs/msg/FusionInfo.msg b/elevation_map_msgs/msg/FusionInfo.msg deleted file mode 100644 index 4cfd1718..00000000 --- a/elevation_map_msgs/msg/FusionInfo.msg +++ /dev/null @@ -1,3 +0,0 @@ -Header header -string[] channels # channel names for each layer -string[] fusion_methods # fusion methods to use for each channel \ No newline at end of file diff --git a/elevation_mapping_cupy/compile_commands.json b/elevation_mapping_cupy/compile_commands.json new file mode 120000 index 00000000..2fdee343 --- /dev/null +++ b/elevation_mapping_cupy/compile_commands.json @@ -0,0 +1 @@ +/home/takahiro/catkin_ws/build/elevation_mapping_cupy/compile_commands.json \ No newline at end of file diff --git a/elevation_mapping_cupy/config/setups/anymal/anymal_sensor_parameter.yaml b/elevation_mapping_cupy/config/setups/anymal/anymal_sensor_parameter.yaml index 90cc74fb..4ad52176 100644 --- a/elevation_mapping_cupy/config/setups/anymal/anymal_sensor_parameter.yaml +++ b/elevation_mapping_cupy/config/setups/anymal/anymal_sensor_parameter.yaml @@ -1,5 +1,15 @@ plugin_config_file: '$(rospack find elevation_mapping_cupy)/config/setups/anymal/anymal_plugin_config.yaml' +pointcloud_channel_fusions: + rgb: 'color' + default: 'average' + +image_channel_fusions: + rgb: 'color' + default: 'exponential' + feat_.*: 'exponential' + sem_.*: 'exponential' + #### Publishers ######## # topic_name: # layers: # Choose from 'elevation', 'variance', 'traversability', 'time', 'normal_x', 'normal_y', 'normal_z', 'color', plugin_layer_names @@ -8,7 +18,7 @@ plugin_config_file: '$(rospack find elevation_mapping_cupy)/config/setups/anymal publishers: elevation_map_raw: - layers: ['elevation', 'traversability', 'variance'] + layers: ['elevation', 'traversability', 'variance', 'rgb'] basic_layers: ['elevation', 'traversability'] fps: 5.0 @@ -20,55 +30,47 @@ publishers: #### Subscribers ######## subscribers: front_upper_depth: - channels: [] - fusion: [] topic_name: /depth_camera_front_upper/point_cloud_self_filtered data_type: pointcloud front_lower_depth: - channels: [] - fusion: [] topic_name: /depth_camera_front_lower/point_cloud_self_filtered data_type: pointcloud rear_upper_depth: - channels: [] - fusion: [] topic_name: /depth_camera_rear_upper/point_cloud_self_filtered data_type: pointcloud rear_lower_depth: - channels: [] - fusion: [] topic_name: /depth_camera_rear_lower/point_cloud_self_filtered data_type: pointcloud left_depth: - channels: [] - fusion: [] topic_name: /depth_camera_left/point_cloud_self_filtered data_type: pointcloud right_depth: - channels: [] - fusion: [] topic_name: /depth_camera_right/point_cloud_self_filtered data_type: pointcloud + front_wide_angle: + topic_name: /wide_angle_camera_front/image_raw + camera_info_topic_name: /wide_angle_camera_front/camera_info + data_type: image + + rear_wide_angle: + topic_name: /wide_angle_camera_rear/image_raw + camera_info_topic_name: /wide_angle_camera_rear/camera_info + data_type: image + # velodyne: - # channels: [] - # fusion: [] # topic_name: /point_cloud_filter/lidar/point_cloud_filtered # data_type: pointcloud front_bpearl: - channels: [] - fusion: [] topic_name: /robot_self_filter/bpearl_front/point_cloud data_type: pointcloud rear_bpearl: - channels: [] - fusion: [] topic_name: /robot_self_filter/bpearl_rear/point_cloud data_type: pointcloud \ No newline at end of file diff --git a/elevation_mapping_cupy/config/setups/turtle_bot/turtle_bot_semantics.yaml b/elevation_mapping_cupy/config/setups/turtle_bot/turtle_bot_semantics.yaml index 9c4019bb..63d3b2b9 100644 --- a/elevation_mapping_cupy/config/setups/turtle_bot/turtle_bot_semantics.yaml +++ b/elevation_mapping_cupy/config/setups/turtle_bot/turtle_bot_semantics.yaml @@ -1,47 +1,40 @@ #### Plugins ######## plugin_config_file: '$(rospack find elevation_mapping_cupy)/config/setups/turtle_bot/plugin_config.yaml' -pointcloud_channel_fusion: +pointcloud_channel_fusions: + none: 'none' + # rgb: 'color' + # default: 'average' + +image_channel_fusions: rgb: 'color' - default: 'average' - sheep: 'average' - sofa: 'class_average' - person: 'class_average' + default: 'exponential' + feat_.*: 'exponential' #### Subscribers ######## subscribers: color_cam: # for color camera - # channels: ['rgb'] - # fusion: ['color'] topic_name: '/camera/rgb/image_raw' camera_info_topic_name: '/camera/depth/camera_info' data_type: image - # front_cam: - # channels: ['rgb', 'sheep','sofa',"person" ] - # fusion: [ 'color','class_average','class_average','class_average' ] - # topic_name: '/elevation_mapping/pointcloud_semantic' - # semantic_segmentation: True - # publish_segmentation_image: True - # segmentation_model: 'lraspp_mobilenet_v3_large' # detectron_coco_panoptic_fpn_R_101_3x, lraspp_mobilenet_v3_large - # show_label_legend: False - - # cam_info_topic: "/camera/rgb/camera_info" - # image_topic: "/camera/rgb/image_raw" - # cam_frame: "camera_rgb_optical_frame" - # data_type: image - # depth_topic: "/camera/depth/image_raw" - semantic_cam: # for color camera - # channels: ['rgb'] - # fusion: ['color'] + semantic_cam: # for semantic images topic_name: '/front_cam/semantic_image' camera_info_topic_name: '/front_cam/camera/depth/camera_info_resized' - fusion_info_topic_name: '/front_cam/fusion_info' + channel_info_topic_name: '/front_cam/channel_info' data_type: image + # fixed_semantic_cam: # for semantic images + # topic_name: '/front_cam/semantic_image' + # camera_info_topic_name: '/front_cam/camera/depth/camera_info_resized' + # channels: ["test", "test2", "test3"] + # data_type: image front_cam_pointcloud: - channels: [] - fusion: [] topic_name: '/camera/depth/points' data_type: pointcloud + feat_front: + topic_name: /elevation_mapping/feat_f + camera_info_topic_name: "/camera/depth/camera_info" + channels: [ 'feat_0','feat_1','feat_2','feat_3','feat_4','feat_5','feat_6','feat_7','feat_8','feat_9' ] + data_type: image #### Publishers ######## diff --git a/elevation_mapping_cupy/config/setups/turtle_bot/turtle_bot_simple.yaml b/elevation_mapping_cupy/config/setups/turtle_bot/turtle_bot_simple.yaml index cfa3b3cb..a76fcc61 100644 --- a/elevation_mapping_cupy/config/setups/turtle_bot/turtle_bot_simple.yaml +++ b/elevation_mapping_cupy/config/setups/turtle_bot/turtle_bot_simple.yaml @@ -1,11 +1,14 @@ +pointcloud_channel_fusions: + rgb: 'color' + default: 'average' + +image_channel_fusions: + rgb: 'color' + default: 'exponential' + feat_.*: 'exponential' + subscribers: -# sensor_name: -# channels: ['feat_0','feat_1'] -# fusion: ['average','average'] -# topic_name: '/elevation_mapping/pointcloud_semantic' front_cam: - channels: ['rgb' ] - fusion: [ 'color'] topic_name: '/camera/depth/points' data_type: pointcloud diff --git a/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp b/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp index ab873aa1..0149ffad 100644 --- a/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp +++ b/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp @@ -49,7 +49,7 @@ #include #include -#include +#include #include "elevation_mapping_cupy/elevation_mapping_wrapper.hpp" @@ -65,26 +65,37 @@ class ElevationMappingNode { using ImageSubscriber = image_transport::SubscriberFilter; using ImageSubscriberPtr = std::shared_ptr; + + // Subscriber and Synchronizer for CameraInfo messages using CameraInfoSubscriber = message_filters::Subscriber; using CameraInfoSubscriberPtr = std::shared_ptr; using CameraPolicy = message_filters::sync_policies::ApproximateTime; using CameraSync = message_filters::Synchronizer; using CameraSyncPtr = std::shared_ptr; - using FusionInfoSubscriber = message_filters::Subscriber; - using FusionInfoSubscriberPtr = std::shared_ptr; - using CameraFusionPolicy = message_filters::sync_policies::ApproximateTime; - using CameraFusionSync = message_filters::Synchronizer; - using CameraFusionSyncPtr = std::shared_ptr; + // Subscriber and Synchronizer for ChannelInfo messages + using ChannelInfoSubscriber = message_filters::Subscriber; + using ChannelInfoSubscriberPtr = std::shared_ptr; + using CameraChannelPolicy = message_filters::sync_policies::ApproximateTime; + using CameraChannelSync = message_filters::Synchronizer; + using CameraChannelSyncPtr = std::shared_ptr; + + // Subscriber and Synchronizer for Pointcloud messages + using PointCloudSubscriber = message_filters::Subscriber; + using PointCloudSubscriberPtr = std::shared_ptr; + using PointCloudPolicy = message_filters::sync_policies::ApproximateTime; + using PointCloudSync = message_filters::Synchronizer; + using PointCloudSyncPtr = std::shared_ptr; private: void readParameters(); void setupMapPublishers(); void pointcloudCallback(const sensor_msgs::PointCloud2& cloud, const std::string& key); - void inputImage(const sensor_msgs::ImageConstPtr& image_msg, const sensor_msgs::CameraInfoConstPtr& camera_info_msg, - const std::vector& channels, const std::vector& fusion_methods); - void imageCallback(const sensor_msgs::ImageConstPtr& image_msg, const sensor_msgs::CameraInfoConstPtr& camera_info_msg); - void imageFusionCallback(const sensor_msgs::ImageConstPtr& image_msg, const sensor_msgs::CameraInfoConstPtr& camera_info_msg, const elevation_map_msgs::FusionInfoConstPtr& fusion_info_msg); + void inputPointCloud(const sensor_msgs::PointCloud2& cloud, const std::vector& channels); + void inputImage(const sensor_msgs::ImageConstPtr& image_msg, const sensor_msgs::CameraInfoConstPtr& camera_info_msg, const std::vector& channels); + void imageCallback(const sensor_msgs::ImageConstPtr& image_msg, const sensor_msgs::CameraInfoConstPtr& camera_info_msg, const std::string& key); + void imageChannelCallback(const sensor_msgs::ImageConstPtr& image_msg, const sensor_msgs::CameraInfoConstPtr& camera_info_msg, const elevation_map_msgs::ChannelInfoConstPtr& channel_info_msg); + void pointCloudChannelCallback(const sensor_msgs::PointCloud2& cloud, const elevation_map_msgs::ChannelInfoConstPtr& channel_info_msg); // void multiLayerImageCallback(const elevation_map_msgs::MultiLayerImageConstPtr& image_msg, const sensor_msgs::CameraInfoConstPtr& camera_info_msg); void publishAsPointCloud(const grid_map::GridMap& map) const; bool getSubmap(grid_map_msgs::GetGridMap::Request& request, grid_map_msgs::GetGridMap::Response& response); @@ -110,9 +121,10 @@ class ElevationMappingNode { std::vector pointcloudSubs_; std::vector imageSubs_; std::vector cameraInfoSubs_; - std::vector fusionInfoSubs_; + std::vector channelInfoSubs_; std::vector cameraSyncs_; - std::vector cameraFusionSyncs_; + std::vector cameraChannelSyncs_; + std::vector pointCloudSyncs_; std::vector mapPubs_; tf::TransformBroadcaster tfBroadcaster_; ros::Publisher alivePub_; diff --git a/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_wrapper.hpp b/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_wrapper.hpp index b6d633da..116403e6 100644 --- a/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_wrapper.hpp +++ b/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_wrapper.hpp @@ -48,7 +48,7 @@ class ElevationMappingWrapper { void input(const RowMatrixXd& points, const std::vector& channels, const RowMatrixXd& R, const Eigen::VectorXd& t, const double positionNoise, const double orientationNoise); - void input_image(const std::vector& multichannel_image, const std::vector& channels, const std::vector& fusion_methods, const RowMatrixXd& R, + void input_image(const std::vector& multichannel_image, const std::vector& channels, const RowMatrixXd& R, const Eigen::VectorXd& t, const RowMatrixXd& cameraMatrix, int height, int width); void move_to(const Eigen::VectorXd& p, const RowMatrixXd& R); void clear(); diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py index 22fde76a..e7011529 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py @@ -469,7 +469,7 @@ def input_image( self, image: List[cp._core.core.ndarray], channels: List[str], - fusion_methods: List[str], + # fusion_methods: List[str], R: cp._core.core.ndarray, t: cp._core.core.ndarray, K: cp._core.core.ndarray, @@ -490,9 +490,6 @@ def input_image( Returns: None: """ - print("input_image") - print("channels", channels) - print("fusion_methods", fusion_methods) image = np.stack(image, axis=0) if len(image.shape) == 2: image = image[None] @@ -517,9 +514,6 @@ def input_image( self.valid_correspondence[:, :] = False # self.distance_correspondence *= 0.0 - print("channels", channels) - print("fusion_methods", fusion_methods) - with self.map_lock: self.image_to_map_correspondence_kernel( self.elevation_map, @@ -532,15 +526,11 @@ def input_image( self.center, self.uv_correspondence, self.valid_correspondence, - # self.distance_correspondence, size=int(self.cell_n * self.cell_n), ) - # print("distance_correspondence", self.distance_correspondence) self.semantic_map.update_layers_image( - # sub_key, image, channels, - fusion_methods, self.uv_correspondence, self.valid_correspondence, image_height, diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py index 40ac3dd9..88b111ed 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py @@ -16,26 +16,12 @@ class Parameter(Serializable): subscriber_cfg: dict = field( default_factory=lambda: { "front_cam": { - "cam_frame": "zed2i_right_camera_optical_frame", - "cam_info_topic": "/zed2i/zed_node/depth/camera_info", "channels": ["rgb", "person"], - "confidence": True, - "confidence_threshold": 10, - "confidence_topic": "/zed2i/zed_node/confidence/confidence_map", - "depth_topic": "/zed2i/zed_node/depth/depth_registered", - "feature_extractor": False, - "fusion": ["color", "class_average"], - "image_topic": "/zed2i/zed_node/left/image_rect_color", - "segmentation_model": "lraspp_mobilenet_v3_large", - "semantic_segmentation": True, - "show_label_legend": True, "topic_name": "/elevation_mapping/pointcloud_semantic", "data_type": "pointcloud", } } ) - # additional_layers: list = field(default_factory=lambda: ["feat_0"]) - # fusion_algorithms: list = field(default_factory=lambda: ["average"]) additional_layers: list = field(default_factory=lambda: ["color"]) fusion_algorithms: list = field(default_factory=lambda: [ "image_color", @@ -46,7 +32,8 @@ class Parameter(Serializable): "pointcloud_class_bayesian", "pointcloud_class_max", "pointcloud_color"]) - pointcloud_channel_fusion: dict = field(default_factory=lambda: {"rgb": "pointcloud_color", "default": "pointcloud_class_average"}) + pointcloud_channel_fusions: dict = field(default_factory=lambda: {"rgb": "color", "default": "class_average"}) + image_channel_fusions: dict = field(default_factory=lambda: {"rgb": "color", "default": "exponential"}) data_type: str = np.float32 average_weight: float = 0.5 @@ -138,18 +125,6 @@ def update(self): self.cell_n = int(round(self.map_length / self.resolution)) + 2 self.true_cell_n = round(self.map_length / self.resolution) self.true_map_length = self.true_cell_n * self.resolution - # semantic_layers = [] - # fusion_algorithms = [] - # for subscriber, sub_val in self.subscriber_cfg.items(): - # channels = sub_val["channels"] - # fusion = sub_val["fusion"] - # for i in range(len(channels)): - # name = channels[i] - # if name not in semantic_layers: - # semantic_layers.append(name) - # fusion_algorithms.append(fusion[i]) - # self.additional_layers = semantic_layers - # self.fusion_algorithms = fusion_algorithms if __name__ == "__main__": diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/plugin_manager.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/plugin_manager.py index fd1185e1..b5c2d313 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/plugin_manager.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/plugin_manager.py @@ -146,7 +146,7 @@ def update_with_name( elements_to_shift={}, ): idx = self.get_layer_index_with_name(name) - if idx is not None: + if idx is not None and idx < len(self.plugins): n_param = len(signature(self.plugins[idx]).parameters) if n_param == 5: self.layers[idx] = self.plugins[idx](elevation_map, layer_names, self.layers, self.layer_names) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py index e33585f1..6b7291ca 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py @@ -1,7 +1,9 @@ from elevation_mapping_cupy.parameter import Parameter import cupy as cp import numpy as np -from typing import List +from typing import List, Dict +import re + from elevation_mapping_cupy.fusion.fusion_manager import FusionManager @@ -18,36 +20,13 @@ def __init__(self, param: Parameter): self.param = param - self.layer_specs = {} + self.layer_specs_points = {} + self.layer_specs_image = {} self.layer_names = [] self.unique_fusion = [] self.unique_data = [] self.elements_to_shift = {} - # for k, config in self.param.subscriber_cfg.items(): - # for f, c in zip(config["fusion"], config["channels"]): - # if c not in self.layer_names: - # self.layer_names.append(c) - # self.layer_specs[c] = f - # else: - # assert self.layer_specs[c] == f, "Error: Single layer has multiple fusion algorithms!" - # if f not in self.unique_fusion: - # dt = config["data_type"] - # self.unique_fusion.append(dt + "_" + f) - for channel, fusion in self.param.pointcloud_channel_fusion.items(): - if channel not in self.layer_names: - if channel != "default": - self.layer_names.append(channel) - self.layer_specs[channel] = fusion - else: - assert self.layer_specs[channel] == fusion, "Error: Single layer has multiple fusion algorithms!" - # for f, c in zip(config["fusion"], config["channels"]): - # else: - # assert self.layer_specs[c] == f, "Error: Single layer has multiple fusion algorithms!" - # if f not in self.unique_fusion: - # dt = config["data_type"] - # self.unique_fusion.append(dt + "_" + f) - self.layer_names += self.param.additional_layers self.unique_fusion = self.param.fusion_algorithms self.amount_layer_names = len(self.layer_names) @@ -73,10 +52,10 @@ def initialize_fusion(self): """Initialize the fusion algorithms.""" for fusion in self.unique_fusion: if "pointcloud_class_bayesian" == fusion: - pcl_ids = self.get_layer_indices("class_bayesian") + pcl_ids = self.get_layer_indices("class_bayesian", self.layer_specs_points) self.delete_new_layers[pcl_ids] = 0 if "pointcloud_class_max" == fusion: - pcl_ids = self.get_layer_indices("class_max") + pcl_ids = self.get_layer_indices("class_max", self.layer_specs_points) self.delete_new_layers[pcl_ids] = 0 layer_cnt = self.param.fusion_algorithms.count("class_max") id_max = cp.zeros( @@ -87,12 +66,15 @@ def initialize_fusion(self): self.fusion_manager.register_plugin(fusion) def update_fusion_setting(self): + """ + Update the fusion settings. + """ for fusion in self.unique_fusion: if "pointcloud_class_bayesian" == fusion: - pcl_ids = self.get_layer_indices("class_bayesian") + pcl_ids = self.get_layer_indices("class_bayesian", self.layer_specs_points) self.delete_new_layers[pcl_ids] = 0 if "pointcloud_class_max" == fusion: - pcl_ids = self.get_layer_indices("class_max") + pcl_ids = self.get_layer_indices("class_max", self.layer_specs_points) self.delete_new_layers[pcl_ids] = 0 layer_cnt = self.param.fusion_algorithms.count("class_max") id_max = cp.zeros( @@ -165,7 +147,7 @@ def shift_map_xy(self, shift_value): el = cp.roll(el, shift_value, axis=(1, 2)) self.pad_value(el, shift_value, value=0.0) - def get_fusion_of_pcl(self, channels: List[str]) -> List[str]: + def get_fusion(self, channels: List[str], channel_fusions: Dict[str, str], layer_specs: Dict[str, str]) -> List[str]: """Get all fusion algorithms that need to be applied to a specific pointcloud. Args: @@ -174,24 +156,38 @@ def get_fusion_of_pcl(self, channels: List[str]) -> List[str]: fusion_list = [] process_channels = [] for channel in channels: - if channel not in self.layer_specs: + if channel not in layer_specs: # If the channel is not in the layer_specs, we use the default fusion algorithm - if "default" in self.param.pointcloud_channel_fusion: - default_fusion = self.param.pointcloud_channel_fusion["default"] - print(f"[WARNING] Layer {channel} not found in layer_specs. Using {default_fusion} algorithm as default.") - self.layer_specs[channel] = default_fusion - self.update_fusion_setting() - # If there's no default fusion algorithm, we skip this channel + matched_fusion = self.get_matching_fusion(channel, channel_fusions) + if matched_fusion is None: + if "default" in channel_fusions: + default_fusion = channel_fusions["default"] + print(f"[WARNING] Layer {channel} not found in layer_specs. Using {default_fusion} algorithm as default.") + layer_specs[channel] = default_fusion + self.update_fusion_setting() + # If there's no default fusion algorithm, we skip this channel + else: + print(f"[WARNING] Layer {channel} not found in layer_specs ({layer_specs}) and no default fusion is configured. Skipping.") + continue else: - print(f"[WARNING] Layer {channel} not found in layer_specs. Skipping.") - continue - x = self.layer_specs[channel] + layer_specs[channel] = matched_fusion + self.update_fusion_setting() + x = layer_specs[channel] if x not in fusion_list: fusion_list.append(x) process_channels.append(channel) return process_channels, fusion_list - def get_layer_indices(self, fusion_alg): + + def get_matching_fusion(self, channel: str, fusion_algs: Dict[str, str]): + """ Use regular expression to check if the fusion algorithm matches the channel name.""" + for fusion_alg, alg_value in fusion_algs.items(): + if re.match(f"^{fusion_alg}$", channel): + return alg_value + return None + + + def get_layer_indices(self, fusion_alg, layer_specs): """Get the indices of the layers that are used for a specific fusion algorithm. Args: @@ -201,12 +197,12 @@ def get_layer_indices(self, fusion_alg): cp.array: indices of the layers """ layer_indices = cp.array([], dtype=cp.int32) - for it, (key, val) in enumerate(self.layer_specs.items()): + for it, (key, val) in enumerate(layer_specs.items()): if key in val == fusion_alg: layer_indices = cp.append(layer_indices, it).astype(cp.int32) return layer_indices - def get_indices_fusion(self, pcl_channels: List[str], fusion_alg: str): + def get_indices_fusion(self, pcl_channels: List[str], fusion_alg: str, layer_specs: Dict[str, str]): """Computes the indices of the channels of the pointcloud and the layers of the semantic map of type fusion_alg. Args: @@ -219,7 +215,7 @@ def get_indices_fusion(self, pcl_channels: List[str], fusion_alg: str): """ # this contains exactly the fusion alg type for each channel of the pcl - pcl_val_list = [self.layer_specs[x] for x in pcl_channels] + pcl_val_list = [layer_specs[x] for x in pcl_channels] # this contains the indices of the point cloud where we have to perform a certain fusion pcl_indices = cp.array( [idp + 3 for idp, x in enumerate(pcl_val_list) if x == fusion_alg], @@ -227,7 +223,7 @@ def get_indices_fusion(self, pcl_channels: List[str], fusion_alg: str): ) # create a list of indices of the layers that will be updated by the point cloud with specific fusion alg layer_indices = cp.array([], dtype=cp.int32) - for it, (key, val) in enumerate(self.layer_specs.items()): + for it, (key, val) in enumerate(layer_specs.items()): if key in pcl_channels and val == fusion_alg: layer_idx = self.layer_names.index(key) layer_indices = cp.append(layer_indices, layer_idx).astype(cp.int32) @@ -243,7 +239,7 @@ def update_layers_pointcloud(self, points_all, channels, R, t, elevation_map): t: translation vector elevation_map: elevation map object """ - process_channels, additional_fusion = self.get_fusion_of_pcl(channels) + process_channels, additional_fusion = self.get_fusion(channels, self.param.pointcloud_channel_fusions, self.layer_specs_points) # If channels has a new layer that is not in the semantic map, add it for channel in process_channels: if channel not in self.layer_names: @@ -254,7 +250,7 @@ def update_layers_pointcloud(self, points_all, channels, R, t, elevation_map): self.new_map[self.delete_new_layers] = 0.0 for fusion in list(set(additional_fusion)): # which layers need to be updated with this fusion algorithm - pcl_ids, layer_ids = self.get_indices_fusion(process_channels, fusion) + pcl_ids, layer_ids = self.get_indices_fusion(process_channels, fusion, self.layer_specs_points) # update the layers with the fusion algorithm self.fusion_manager.execute_plugin( fusion, @@ -274,7 +270,7 @@ def update_layers_image( # sub_key: str, image: cp._core.core.ndarray, channels: List[str], - fusion_methods: List[str], + # fusion_methods: List[str], uv_correspondence: cp._core.core.ndarray, valid_correspondence: cp._core.core.ndarray, image_height: cp._core.core.ndarray, @@ -292,11 +288,12 @@ def update_layers_image( """ # additional_fusion = self.get_fusion_of_pcl(channels) + process_channels, fusion_methods = self.get_fusion(channels, self.param.image_channel_fusions, self.layer_specs_image) self.new_map[self.delete_new_layers] = 0.0 # config = self.param.subscriber_cfg[sub_key] # for j, (fusion, channel) in enumerate(zip(config["fusion"], config["channels"])): - for j, (fusion, channel) in enumerate(zip(fusion_methods, channels)): + for j, (fusion, channel) in enumerate(zip(fusion_methods, process_channels)): if channel not in self.layer_names: print(f"Layer {channel} not found, adding it to the semantic map") self.add_layer(channel) @@ -350,7 +347,10 @@ def get_map_with_name(self, name): cp.array: map """ # If the layer is a color layer, return the rgb map - if name in self.layer_specs and (self.layer_specs[name] == "image_color" or self.layer_specs[name] == "pointcloud_color"): + if name in self.layer_specs_points and self.layer_specs_points[name] == "color": + m = self.get_rgb(name) + return m + elif name in self.layer_specs_image and self.layer_specs_image[name] == "color": m = self.get_rgb(name) return m else: diff --git a/elevation_mapping_cupy/src/elevation_mapping_ros.cpp b/elevation_mapping_cupy/src/elevation_mapping_ros.cpp index 849f0022..21412e95 100644 --- a/elevation_mapping_cupy/src/elevation_mapping_ros.cpp +++ b/elevation_mapping_cupy/src/elevation_mapping_ros.cpp @@ -80,19 +80,14 @@ ElevationMappingNode::ElevationMappingNode(ros::NodeHandle& nh) // Initialize subscribers depending on the type if (type == "pointcloud") { std::string pointcloud_topic = subscriber.second["topic_name"]; - boost::function f = boost::bind(&ElevationMappingNode::pointcloudCallback, this, _1, key); - ros::Subscriber sub = nh_.subscribe(pointcloud_topic, 1, f); - pointcloudSubs_.push_back(sub); - const auto& channels = subscriber.second["channels"]; channels_[key].push_back("x"); channels_[key].push_back("y"); channels_[key].push_back("z"); - for (int32_t i = 0; i < channels.size(); ++i) { - auto elem = static_cast(channels[i]); - channels_[key].push_back(elem); - } - - } else if (type == "image") { + boost::function f = boost::bind(&ElevationMappingNode::pointcloudCallback, this, _1, key); + ros::Subscriber sub = nh_.subscribe(pointcloud_topic, 1, f); + pointcloudSubs_.push_back(sub); + } + else if (type == "image") { std::string camera_topic = subscriber.second["topic_name"]; std::string info_topic = subscriber.second["camera_info_topic_name"]; @@ -117,20 +112,32 @@ ElevationMappingNode::ElevationMappingNode(ros::NodeHandle& nh) cam_info_sub->subscribe(nh_, info_topic, 1); cameraInfoSubs_.push_back(cam_info_sub); - std::string fusion_info_topic; - if (subscriber.second.hasMember("fusion_info_topic_name")) { - std::string fusion_info_topic = subscriber.second["fusion_info_topic_name"]; - FusionInfoSubscriberPtr fusion_info_sub = std::make_shared(); - fusion_info_sub->subscribe(nh_, fusion_info_topic, 1); - fusionInfoSubs_.push_back(fusion_info_sub); - CameraFusionSyncPtr sync = std::make_shared(CameraFusionPolicy(10), *image_sub, *cam_info_sub, *fusion_info_sub); - sync->registerCallback(boost::bind(&ElevationMappingNode::imageFusionCallback, this, _1, _2, _3)); - cameraFusionSyncs_.push_back(sync); + std::string channel_info_topic; + // If there is channel info topic setting, we use it. + if (subscriber.second.hasMember("channel_info_topic_name")) { + std::string channel_info_topic = subscriber.second["channel_info_topic_name"]; + ChannelInfoSubscriberPtr channel_info_sub = std::make_shared(); + channel_info_sub->subscribe(nh_, channel_info_topic, 1); + channelInfoSubs_.push_back(channel_info_sub); + CameraChannelSyncPtr sync = std::make_shared(CameraChannelPolicy(10), *image_sub, *cam_info_sub, *channel_info_sub); + sync->registerCallback(boost::bind(&ElevationMappingNode::imageChannelCallback, this, _1, _2, _3)); + cameraChannelSyncs_.push_back(sync); } else { - ROS_INFO_STREAM("Fusion info topic not found"); + // If there is channels setting, we use it. Otherwise, we use rgb as default. + if (subscriber.second.hasMember("channels")) { + const auto& channels = subscriber.second["channels"]; + for (int32_t i = 0; i < channels.size(); ++i) { + auto elem = static_cast(channels[i]); + channels_[key].push_back(elem); + } + } + else { + channels_[key].push_back("rgb"); + } + ROS_INFO_STREAM("Channel info topic not found for " << camera_topic << ". Using channels: " << boost::algorithm::join(channels_[key], ", ")); CameraSyncPtr sync = std::make_shared(CameraPolicy(10), *image_sub, *cam_info_sub); - sync->registerCallback(boost::bind(&ElevationMappingNode::imageCallback, this, _1, _2)); + sync->registerCallback(boost::bind(&ElevationMappingNode::imageCallback, this, _1, _2, key)); cameraSyncs_.push_back(sync); } @@ -291,39 +298,40 @@ void ElevationMappingNode::publishMapOfIndex(int index) { } void ElevationMappingNode::pointcloudCallback(const sensor_msgs::PointCloud2& cloud, const std::string& key) { - auto start = ros::Time::now(); - // transform pointcloud into matrix - auto* pcl_pc = new pcl::PCLPointCloud2; - pcl::PCLPointCloud2ConstPtr cloudPtr(pcl_pc); - pcl_conversions::toPCL(cloud, *pcl_pc); // get channels auto fields = cloud.fields; std::vector channels; - std::vector add_element; for (int it = 0; it < fields.size(); it++) { auto& field = fields[it]; - if ((std::find(channels_[key].begin(), channels_[key].end(), field.name) != channels_[key].end()) && (field.datatype == 7)) { - add_element.push_back(true); - channels.push_back(field.name); - } else - add_element.push_back(false); + channels.push_back(field.name); } + inputPointCloud(cloud, channels); + + // This is used for publishing as statistics. + pointCloudProcessCounter_++; +} + +void ElevationMappingNode::inputPointCloud(const sensor_msgs::PointCloud2& cloud, + const std::vector& channels) { + auto start = ros::Time::now(); + auto* pcl_pc = new pcl::PCLPointCloud2; + pcl::PCLPointCloud2ConstPtr cloudPtr(pcl_pc); + pcl_conversions::toPCL(cloud, *pcl_pc); + + // get channels + auto fields = cloud.fields; uint array_dim = channels.size(); RowMatrixXd points = RowMatrixXd(pcl_pc->width * pcl_pc->height, array_dim); for (unsigned int i = 0; i < pcl_pc->width * pcl_pc->height; ++i) { - int jit = 0; - for (unsigned int j = 0; j < add_element.size(); ++j) { - if (add_element[j]) { - float temp; - uint point_idx = i * pcl_pc->point_step + pcl_pc->fields[j].offset; - memcpy(&temp, &pcl_pc->data[point_idx], sizeof(float)); - points(i, jit) = static_cast(temp); - jit++; - } + for (unsigned int j = 0; j < channels.size(); ++j) { + float temp; + uint point_idx = i * pcl_pc->point_step + pcl_pc->fields[j].offset; + memcpy(&temp, &pcl_pc->data[point_idx], sizeof(float)); + points(i, j) = static_cast(temp); } } // get pose of sensor in map frame @@ -358,14 +366,12 @@ void ElevationMappingNode::pointcloudCallback(const sensor_msgs::PointCloud2& cl (ros::Time::now() - start).toSec()); ROS_DEBUG_THROTTLE(1.0, "positionError: %f ", positionError); ROS_DEBUG_THROTTLE(1.0, "orientationError: %f ", orientationError); - // This is used for publishing as statistics. - pointCloudProcessCounter_++; + } void ElevationMappingNode::inputImage(const sensor_msgs::ImageConstPtr& image_msg, const sensor_msgs::CameraInfoConstPtr& camera_info_msg, - const std::vector& channels, - const std::vector& fusion_methods) { + const std::vector& channels) { // Get image cv::Mat image = cv_bridge::toCvShare(image_msg, image_msg->encoding)->image; @@ -403,37 +409,42 @@ void ElevationMappingNode::inputImage(const sensor_msgs::ImageConstPtr& image_ms multichannel_image.push_back(eigen_img); } + // Check if the size of multichannel_image and channels and channel_methods matches. "rgb" counts for 3 layers. + int total_channels = 0; + for (const auto& channel : channels) { + if (channel == "rgb") { + total_channels += 3; + } else { + total_channels += 1; + } + } + if (total_channels != multichannel_image.size()) { + ROS_ERROR("Mismatch in the size of multichannel_image (%d), channels (%d). Please check the input.", multichannel_image.size(), channels.size()); + ROS_ERROR_STREAM("Current Channels: " << boost::algorithm::join(channels, ", ")); + return; + } + // Pass image to pipeline - map_.input_image(multichannel_image, channels, fusion_methods, transformationMapToSensor.rotation(), transformationMapToSensor.translation(), cameraMatrix, + map_.input_image(multichannel_image, channels, transformationMapToSensor.rotation(), transformationMapToSensor.translation(), cameraMatrix, image.rows, image.cols); } void ElevationMappingNode::imageCallback(const sensor_msgs::ImageConstPtr& image_msg, - const sensor_msgs::CameraInfoConstPtr& camera_info_msg) { + const sensor_msgs::CameraInfoConstPtr& camera_info_msg, + const std::string& key) { auto start = ros::Time::now(); - // Default channels and fusion methods for image is rgb and image_color - std::vector channels; - std::vector fusion_methods; - channels.push_back("rgb"); - fusion_methods.push_back("color"); - inputImage(image_msg, camera_info_msg, channels, fusion_methods); + inputImage(image_msg, camera_info_msg, channels_[key]); ROS_DEBUG_THROTTLE(1.0, "ElevationMap processed an image in %f sec.", (ros::Time::now() - start).toSec()); } -void ElevationMappingNode::imageFusionCallback(const sensor_msgs::ImageConstPtr& image_msg, +void ElevationMappingNode::imageChannelCallback(const sensor_msgs::ImageConstPtr& image_msg, const sensor_msgs::CameraInfoConstPtr& camera_info_msg, - const elevation_map_msgs::FusionInfoConstPtr& fusion_info_msg) { + const elevation_map_msgs::ChannelInfoConstPtr& channel_info_msg) { auto start = ros::Time::now(); // Default channels and fusion methods for image is rgb and image_color std::vector channels; - std::vector fusion_methods; - channels = fusion_info_msg->channels; - fusion_methods = fusion_info_msg->fusion_methods; - ROS_INFO_STREAM("Channels: " << boost::algorithm::join(channels, ", ")); - ROS_INFO_STREAM("Fusion methods: " << boost::algorithm::join(fusion_methods, ", ")); - // channels.push_back("rgb"); - // fusion_methods.push_back("color"); - inputImage(image_msg, camera_info_msg, channels, fusion_methods); + channels = channel_info_msg->channels; + inputImage(image_msg, camera_info_msg, channels); ROS_DEBUG_THROTTLE(1.0, "ElevationMap processed an image in %f sec.", (ros::Time::now() - start).toSec()); } diff --git a/elevation_mapping_cupy/src/elevation_mapping_wrapper.cpp b/elevation_mapping_cupy/src/elevation_mapping_wrapper.cpp index 2fd31770..f66f9a79 100644 --- a/elevation_mapping_cupy/src/elevation_mapping_wrapper.cpp +++ b/elevation_mapping_cupy/src/elevation_mapping_wrapper.cpp @@ -121,12 +121,13 @@ void ElevationMappingWrapper::setParameters(ros::NodeHandle& nh) { } param_.attr("subscriber_cfg") = sub_dict; - if (!nh.hasParam("pointcloud_channel_fusion")) { - ROS_WARN("No pointcloud_channel_fusion parameter found. Using default values."); + // point cloud channel fusion + if (!nh.hasParam("pointcloud_channel_fusions")) { + ROS_WARN("No pointcloud_channel_fusions parameter found. Using default values."); } else { XmlRpc::XmlRpcValue pointcloud_channel_fusion; - nh.getParam("pointcloud_channel_fusion", pointcloud_channel_fusion); + nh.getParam("pointcloud_channel_fusions", pointcloud_channel_fusion); py::dict pointcloud_channel_fusion_dict; for (auto& channel_fusion : pointcloud_channel_fusion) { @@ -136,7 +137,28 @@ void ElevationMappingWrapper::setParameters(ros::NodeHandle& nh) { pointcloud_channel_fusion_dict[name] = fusion; } } - param_.attr("pointcloud_channel_fusion") = pointcloud_channel_fusion_dict; + ROS_INFO_STREAM("pointcloud_channel_fusion_dict: " << pointcloud_channel_fusion_dict); + param_.attr("pointcloud_channel_fusions") = pointcloud_channel_fusion_dict; + } + + // image channel fusion + if (!nh.hasParam("image_channel_fusions")) { + ROS_WARN("No image_channel_fusions parameter found. Using default values."); + } + else { + XmlRpc::XmlRpcValue image_channel_fusion; + nh.getParam("image_channel_fusions", image_channel_fusion); + + py::dict image_channel_fusion_dict; + for (auto& channel_fusion : image_channel_fusion) { + const char* const name = channel_fusion.first.c_str(); + std::string fusion = static_cast(channel_fusion.second); + if (!image_channel_fusion_dict.contains(name)) { + image_channel_fusion_dict[name] = fusion; + } + } + ROS_INFO_STREAM("image_channel_fusion_dict: " << image_channel_fusion_dict); + param_.attr("image_channel_fusions") = image_channel_fusion_dict; } param_.attr("update")(); @@ -155,10 +177,10 @@ void ElevationMappingWrapper::input(const RowMatrixXd& points, const std::vector Eigen::Ref(t), positionNoise, orientationNoise); } -void ElevationMappingWrapper::input_image(const std::vector& multichannel_image, const std::vector& channels, const std::vector& fusion_methods, const RowMatrixXd& R, +void ElevationMappingWrapper::input_image(const std::vector& multichannel_image, const std::vector& channels, const RowMatrixXd& R, const Eigen::VectorXd& t, const RowMatrixXd& cameraMatrix, int height, int width) { py::gil_scoped_acquire acquire; - map_.attr("input_image")(multichannel_image, channels, fusion_methods, Eigen::Ref(R), Eigen::Ref(t), + map_.attr("input_image")(multichannel_image, channels, Eigen::Ref(R), Eigen::Ref(t), Eigen::Ref(cameraMatrix), height, width); } From ed0f049f1509db13960eb8a584500f6b71907f66 Mon Sep 17 00:00:00 2001 From: Takahiro Date: Mon, 4 Dec 2023 14:15:48 +0100 Subject: [PATCH 379/504] Updated some example config. --- .../config/core/example_setup.yaml | 35 +++++++++++++++---- .../config/sensor_parameter.yaml | 6 +--- 2 files changed, 30 insertions(+), 11 deletions(-) diff --git a/elevation_mapping_cupy/config/core/example_setup.yaml b/elevation_mapping_cupy/config/core/example_setup.yaml index d31eb1e4..eb4aa3dd 100644 --- a/elevation_mapping_cupy/config/core/example_setup.yaml +++ b/elevation_mapping_cupy/config/core/example_setup.yaml @@ -1,18 +1,41 @@ #### Plugins ######## plugin_config_file: '$(rospack find elevation_mapping_cupy)/config/core/plugin_config.yaml' +#### Channel Fusions ######## +pointcloud_channel_fusions: + rgb: 'color' # 'color' fusion is used for the 'rgb' channel + default: 'average' # 'average' fusion is used for channels not listed here + +image_channel_fusions: + rgb: 'color' # 'color' fusion is used for the 'rgb' channel + default: 'exponential' # 'exponential' fusion is used for channels not listed here + feat_.*: 'exponential' # 'exponential' fusion is also used for any channel starting with 'feat_' Regular expressions can be used for channel names + #### Subscribers ######## -# sensor_name: -# channels: ['feat_0','feat_1'] -# fusion: ['average','average'] -# topic_name: '/elevation_mapping/pointcloud_semantic' +# pointcloud_sensor_name: +# topic_name: '/sensor/pointcloud_semantic' +# data_type: pointcloud # pointcloud or image +# +# image_sensor_name: +# topic_name: '/camera/image_semantic' +# data_type: image # pointcloud or image +# camera_info_topic_name: '/camera/depth/camera_info' +# channel_info_topic_name: '/camera/channel_info' + subscribers: front_cam: - channels: ['rgb' ] - fusion: [ 'color'] topic_name: '/camera/depth/points' data_type: pointcloud + color_cam: # for color camera + topic_name: '/camera/rgb/image_raw' + camera_info_topic_name: '/camera/depth/camera_info' + data_type: image + semantic_cam: # for semantic images + topic_name: '/front_cam/semantic_image' + camera_info_topic_name: '/front_cam/camera/depth/camera_info_resized' + channel_info_topic_name: '/front_cam/channel_info' + data_type: image #### Publishers ######## # topic_name: diff --git a/sensor_processing/semantic_sensor/config/sensor_parameter.yaml b/sensor_processing/semantic_sensor/config/sensor_parameter.yaml index ec21d93c..4f3f9ebf 100644 --- a/sensor_processing/semantic_sensor/config/sensor_parameter.yaml +++ b/sensor_processing/semantic_sensor/config/sensor_parameter.yaml @@ -58,8 +58,4 @@ front_cam_image: show_label_legend: False image_topic: "/camera/rgb/image_raw" image_info_topic: "/camera/depth/camera_info" - resize: 0.5 - - # sem_seg_topic: "semantic_front" - # sem_seg_image_topic: "semantic_image_front" - + resize: 0.5 \ No newline at end of file From 0207803a4be53d962335f2709d11658565b63359 Mon Sep 17 00:00:00 2001 From: Takahiro Date: Mon, 4 Dec 2023 18:52:55 +0100 Subject: [PATCH 380/504] Fixed bug in plugin manager. Fixed and cleaned up pca and semantic plugins. Cleaned up configs and launch files. --- .../setups/turtle_bot/plugin_config.yaml | 15 ++-- .../turtle_bot_image_semantics.yaml | 57 --------------- ...s.yaml => turtle_bot_semantics_image.yaml} | 15 ++-- .../turtle_bot_semantics_pointcloud.yaml | 28 ++++++++ .../launch/elevation_mapping_cupy.launch | 6 +- .../turtlesim_features_image_example.launch | 18 ----- ...tlesim_plane_decomposition_example.launch} | 0 .../launch/turtlesim_semantic_example.launch | 18 ----- .../turtlesim_semantic_image_example.launch | 5 +- ...rtlesim_semantic_pointcloud_example.launch | 11 +-- ...launch => turtlesim_simple_example.launch} | 0 .../rviz/turtle_example.rviz | 44 ++++++++---- .../elevation_mapping.py | 2 +- .../plugins/features_pca.py | 63 ++++++++++------ .../plugins/plugin_manager.py | 2 +- .../plugins/robot_centric_elevation.py | 4 +- .../plugins/semantic_filter.py | 72 ++++++++++++------- .../plugins/semantic_traversability.py | 10 +-- .../elevation_mapping_cupy/semantic_map.py | 9 +-- .../src/elevation_mapping_ros.cpp | 4 +- .../config/sensor_parameter.yaml | 12 ++-- .../script/semantic_sensor/image_node.py | 24 +++---- .../semantic_sensor/image_parameters.py | 11 +-- .../script/semantic_sensor/networks.py | 43 +++++------ 24 files changed, 233 insertions(+), 240 deletions(-) delete mode 100644 elevation_mapping_cupy/config/setups/turtle_bot/turtle_bot_image_semantics.yaml rename elevation_mapping_cupy/config/setups/turtle_bot/{turtle_bot_semantics.yaml => turtle_bot_semantics_image.yaml} (66%) create mode 100644 elevation_mapping_cupy/config/setups/turtle_bot/turtle_bot_semantics_pointcloud.yaml delete mode 100644 elevation_mapping_cupy/launch/turtlesim_features_image_example.launch rename elevation_mapping_cupy/launch/{turtlesim_segmentation_example.launch => turtlesim_plane_decomposition_example.launch} (100%) delete mode 100644 elevation_mapping_cupy/launch/turtlesim_semantic_example.launch rename elevation_mapping_cupy/launch/{turtlesim_example.launch => turtlesim_simple_example.launch} (100%) diff --git a/elevation_mapping_cupy/config/setups/turtle_bot/plugin_config.yaml b/elevation_mapping_cupy/config/setups/turtle_bot/plugin_config.yaml index a4aa684a..fd745524 100644 --- a/elevation_mapping_cupy/config/setups/turtle_bot/plugin_config.yaml +++ b/elevation_mapping_cupy/config/setups/turtle_bot/plugin_config.yaml @@ -42,19 +42,26 @@ semantic_filter: enable: True fill_nan: False is_height_layer: False - layer_name: "sem_fil" + layer_name: "max_categories" extra_params: - classes: ['grass','tree','fence','dirt'] + classes: ['^sem_.*$'] semantic_traversability: type: "semantic_traversability" enable: False fill_nan: False is_height_layer: False - layer_name: "sem_traversability" + layer_name: "semantic_traversability" extra_params: layers: ['traversability','robot_centric_elevation'] thresholds: [0.3,0.5] type: ['traversability', 'elevation'] - +features_pca: + type: "features_pca" + enable: True + fill_nan: False + is_height_layer: False + layer_name: "pca" + extra_params: + process_layer_names: ["^feat_.*$"] \ No newline at end of file diff --git a/elevation_mapping_cupy/config/setups/turtle_bot/turtle_bot_image_semantics.yaml b/elevation_mapping_cupy/config/setups/turtle_bot/turtle_bot_image_semantics.yaml deleted file mode 100644 index d4451a5d..00000000 --- a/elevation_mapping_cupy/config/setups/turtle_bot/turtle_bot_image_semantics.yaml +++ /dev/null @@ -1,57 +0,0 @@ -#### Plugins ######## -plugin_config_file: '$(rospack find elevation_mapping_cupy)/config/setups/turtle_bot/plugin_config.yaml' - -#### Subscribers ######## -subscribers: -# sensor_name: -# channels: ['feat_0','feat_1'] -# fusion: ['average','average'] -# topic_name: '/elevation_mapping/pointcloud_semantic' - front_cam_2: - channels: [ 'grass','tree',"person" ] - fusion: [ 'exponential','exponential','exponential' ] - topic_name_camera: '/elevation_mapping/semantic_front' - topic_name_camera_info: '/camera/depth/camera_info' - data_type: image - - color_cam: # for color camera - channels: ['rgb'] - fusion: ['color'] - topic_name_camera: '/camera/rgb/image_raw' - topic_name_camera_info: '/camera/depth/camera_info' - data_type: image - - pointcloud: - channels: [] - fusion: [] - topic_name: '/camera/depth/points' - data_type: pointcloud - - front_cam: - channels: ['grass','tree',"person"] - fusion: ['exponential','exponential','exponential'] - topic_name_camera: '/elevation_mapping/semantic_front' - topic_name_camera_info: '/camera/depth/camera_info' - data_type: image - - semantic_segmentation: True - # segmentation_model: 'detectron_coco_panoptic_fpn_R_101_3x' # detectron_coco_panoptic_fpn_R_101_3x, lraspp_mobilenet_v3_large - segmentation_model: 'lraspp_mobilenet_v3_large' # detectron_coco_panoptic_fpn_R_101_3x, lraspp_mobilenet_v3_large - show_label_legend: False - image_topic: "/camera/rgb/image_raw" - image_info_topic: "/camera/depth/camera_info" - resize: 0.5 - - sem_seg_topic: "/elevation_mapping/semantic_front" - sem_seg_image_topic: "/elevation_mapping/semantic_image_front" - -#### Publishers ######## -publishers: - elevation_map_raw: - layers: ['elevation', 'traversability', 'variance','rgb','sem_fil'] - basic_layers: ['elevation'] - fps: 5.0 - elevation_map_filter: - layers: ['min_filter', 'smooth', 'inpaint', 'elevation','rgb','sem_fil'] - basic_layers: ['min_filter'] - fps: 3.0 \ No newline at end of file diff --git a/elevation_mapping_cupy/config/setups/turtle_bot/turtle_bot_semantics.yaml b/elevation_mapping_cupy/config/setups/turtle_bot/turtle_bot_semantics_image.yaml similarity index 66% rename from elevation_mapping_cupy/config/setups/turtle_bot/turtle_bot_semantics.yaml rename to elevation_mapping_cupy/config/setups/turtle_bot/turtle_bot_semantics_image.yaml index 63d3b2b9..0fd7d215 100644 --- a/elevation_mapping_cupy/config/setups/turtle_bot/turtle_bot_semantics.yaml +++ b/elevation_mapping_cupy/config/setups/turtle_bot/turtle_bot_semantics_image.yaml @@ -22,28 +22,23 @@ subscribers: camera_info_topic_name: '/front_cam/camera/depth/camera_info_resized' channel_info_topic_name: '/front_cam/channel_info' data_type: image - # fixed_semantic_cam: # for semantic images - # topic_name: '/front_cam/semantic_image' - # camera_info_topic_name: '/front_cam/camera/depth/camera_info_resized' - # channels: ["test", "test2", "test3"] - # data_type: image front_cam_pointcloud: topic_name: '/camera/depth/points' data_type: pointcloud feat_front: - topic_name: /elevation_mapping/feat_f - camera_info_topic_name: "/camera/depth/camera_info" - channels: [ 'feat_0','feat_1','feat_2','feat_3','feat_4','feat_5','feat_6','feat_7','feat_8','feat_9' ] + topic_name: '/front_cam/semantic_seg_feat' + camera_info_topic_name: '/front_cam/camera/depth/camera_info_resized' + channel_info_topic_name: '/front_cam/feat_channel_info' data_type: image #### Publishers ######## publishers: elevation_map_raw: - layers: ['elevation', 'traversability', 'variance','rgb','sem_fil', 'person', 'chair', 'sofa'] + layers: ['elevation', 'traversability', 'variance','rgb','max_categories', 'pca'] basic_layers: ['elevation'] fps: 5.0 elevation_map_filter: - layers: ['min_filter', 'smooth', 'inpaint', 'elevation','rgb','sem_fil'] + layers: ['min_filter', 'smooth', 'inpaint', 'elevation','rgb','max_categories'] basic_layers: ['min_filter'] fps: 3.0 \ No newline at end of file diff --git a/elevation_mapping_cupy/config/setups/turtle_bot/turtle_bot_semantics_pointcloud.yaml b/elevation_mapping_cupy/config/setups/turtle_bot/turtle_bot_semantics_pointcloud.yaml new file mode 100644 index 00000000..19db1159 --- /dev/null +++ b/elevation_mapping_cupy/config/setups/turtle_bot/turtle_bot_semantics_pointcloud.yaml @@ -0,0 +1,28 @@ +#### Plugins ######## +plugin_config_file: '$(rospack find elevation_mapping_cupy)/config/setups/turtle_bot/plugin_config.yaml' + +pointcloud_channel_fusions: + rgb: 'color' + default: 'average' + +image_channel_fusions: + rgb: 'color' + default: 'exponential' + +#### Subscribers ######## +subscribers: + front_cam_pointcloud: + topic_name: '/camera/depth/points' + data_type: pointcloud + + +#### Publishers ######## +publishers: + elevation_map_raw: + layers: ['elevation', 'traversability', 'variance','rgb','max_categories'] + basic_layers: ['elevation'] + fps: 5.0 + elevation_map_filter: + layers: ['min_filter', 'smooth', 'inpaint', 'elevation','rgb','max_categories'] + basic_layers: ['min_filter'] + fps: 3.0 \ No newline at end of file diff --git a/elevation_mapping_cupy/launch/elevation_mapping_cupy.launch b/elevation_mapping_cupy/launch/elevation_mapping_cupy.launch index 386dfdff..b0fb53c9 100644 --- a/elevation_mapping_cupy/launch/elevation_mapping_cupy.launch +++ b/elevation_mapping_cupy/launch/elevation_mapping_cupy.launch @@ -1,7 +1,7 @@ - - + + - + \ No newline at end of file diff --git a/elevation_mapping_cupy/launch/turtlesim_features_image_example.launch b/elevation_mapping_cupy/launch/turtlesim_features_image_example.launch deleted file mode 100644 index d4b7af3c..00000000 --- a/elevation_mapping_cupy/launch/turtlesim_features_image_example.launch +++ /dev/null @@ -1,18 +0,0 @@ - - - - - - - - - - - - - - - - - diff --git a/elevation_mapping_cupy/launch/turtlesim_segmentation_example.launch b/elevation_mapping_cupy/launch/turtlesim_plane_decomposition_example.launch similarity index 100% rename from elevation_mapping_cupy/launch/turtlesim_segmentation_example.launch rename to elevation_mapping_cupy/launch/turtlesim_plane_decomposition_example.launch diff --git a/elevation_mapping_cupy/launch/turtlesim_semantic_example.launch b/elevation_mapping_cupy/launch/turtlesim_semantic_example.launch deleted file mode 100644 index d071ddbb..00000000 --- a/elevation_mapping_cupy/launch/turtlesim_semantic_example.launch +++ /dev/null @@ -1,18 +0,0 @@ - - - - - - - - - - - - - - - - - \ No newline at end of file diff --git a/elevation_mapping_cupy/launch/turtlesim_semantic_image_example.launch b/elevation_mapping_cupy/launch/turtlesim_semantic_image_example.launch index 30741b50..05064d0a 100644 --- a/elevation_mapping_cupy/launch/turtlesim_semantic_image_example.launch +++ b/elevation_mapping_cupy/launch/turtlesim_semantic_image_example.launch @@ -10,13 +10,10 @@ - - - - + \ No newline at end of file diff --git a/elevation_mapping_cupy/launch/turtlesim_semantic_pointcloud_example.launch b/elevation_mapping_cupy/launch/turtlesim_semantic_pointcloud_example.launch index d672f6de..65142465 100644 --- a/elevation_mapping_cupy/launch/turtlesim_semantic_pointcloud_example.launch +++ b/elevation_mapping_cupy/launch/turtlesim_semantic_pointcloud_example.launch @@ -6,14 +6,17 @@ - - + --> + + + - - + + diff --git a/elevation_mapping_cupy/launch/turtlesim_example.launch b/elevation_mapping_cupy/launch/turtlesim_simple_example.launch similarity index 100% rename from elevation_mapping_cupy/launch/turtlesim_example.launch rename to elevation_mapping_cupy/launch/turtlesim_simple_example.launch diff --git a/elevation_mapping_cupy/rviz/turtle_example.rviz b/elevation_mapping_cupy/rviz/turtle_example.rviz index fe4c79bb..0cd124c8 100644 --- a/elevation_mapping_cupy/rviz/turtle_example.rviz +++ b/elevation_mapping_cupy/rviz/turtle_example.rviz @@ -1,12 +1,14 @@ Panels: - Class: rviz/Displays - Help Height: 138 + Help Height: 70 Name: Displays Property Tree Widget: Expanded: - /Global Options1 + - /ElevationMapRaw1 + - /Feature1 Splitter Ratio: 0.5768463015556335 - Tree Height: 229 + Tree Height: 234 - Class: rviz/Selection Name: Selection - Class: rviz/Tool Properties @@ -24,7 +26,7 @@ Panels: - Class: rviz/Time Name: Time SyncMode: 0 - SyncSource: Image + SyncSource: Color Preferences: PromptSaveOnExit: true Toolbars: @@ -69,7 +71,7 @@ Visualization Manager: Show Grid Lines: true Topic: /elevation_mapping/elevation_map_raw Unreliable: false - Use Rainbow: true + Use Rainbow: false Value: true - Alpha: 1 Class: rviz/RobotModel @@ -180,7 +182,7 @@ Visualization Manager: Max Value: 1 Median window: 5 Min Value: 0 - Name: Image + Name: Color Normalize Range: true Queue Size: 2 Transport Hint: raw @@ -188,11 +190,23 @@ Visualization Manager: Value: true - Class: rviz/Image Enabled: true - Image Topic: /front_cam/elevation_mapping/semantic_image_front + Image Topic: /front_cam/semantic_image_debug Max Value: 1 Median window: 5 Min Value: 0 - Name: Image + Name: Segmentation + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: true + - Class: rviz/Image + Enabled: true + Image Topic: /front_cam/semantic_seg_feat_im + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Feature Normalize Range: true Queue Size: 2 Transport Hint: raw @@ -242,19 +256,23 @@ Visualization Manager: Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Pitch: 0.5147963762283325 + Pitch: 0.4647962152957916 Target Frame: base_footprint - Yaw: 3.1033706665039062 + Yaw: 3.113370418548584 Saved: ~ Window Geometry: + Color: + collapsed: false Displays: collapsed: false - Height: 1043 + Feature: + collapsed: false + Height: 1306 Hide Left Dock: false Hide Right Dock: true - Image: + QMainWindow State: 000000ff00000000fd0000000400000000000001f700000464fc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b0000016b000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0043006f006c006f007201000001ac000000fd0000001600fffffffb00000018005300650067006d0065006e0074006100740069006f006e01000002af000000e40000001600fffffffb0000000e00460065006100740075007200650100000399000001060000001600ffffff000000010000015f0000053bfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000000560000053b000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000005afc0100000002fb0000000800540069006d00650100000000000007800000030700fffffffb0000000800540069006d00650100000000000004500000000000000000000005830000046400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Segmentation: collapsed: false - QMainWindow State: 000000ff00000000fd0000000400000000000001f70000035dfc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000001aa000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006501000001eb000000d30000001600fffffffb0000000a0049006d00610067006501000002c4000000d40000001600ffffff000000010000015f0000053bfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000000560000053b000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000005afc0100000002fb0000000800540069006d00650100000000000007800000030700fffffffb0000000800540069006d00650100000000000004500000000000000000000005830000035d00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Selection: collapsed: false Time: @@ -265,4 +283,4 @@ Window Geometry: collapsed: true Width: 1920 X: 2280 - Y: 105 + Y: 68 diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py index e7011529..42c81c04 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py @@ -731,7 +731,7 @@ def get_map_with_name_ref(self, name, data): self.elevation_map, self.layer_names, self.semantic_map.semantic_map, - self.semantic_map.param, + self.semantic_map.layer_names, self.base_rotation, self.semantic_map.elements_to_shift, ) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/features_pca.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/features_pca.py index ad1236bf..8ea2d54a 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/features_pca.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/features_pca.py @@ -5,6 +5,7 @@ import cupy as cp import numpy as np from typing import List +import re from elevation_mapping_cupy.plugins.plugin_manager import PluginBase from sklearn.decomposition import PCA @@ -20,10 +21,26 @@ class FeaturesPca(PluginBase): """ def __init__( self, + cell_n: int = 100, + process_layer_names: List[str]=[], **kwargs, ): super().__init__() - self.indices = [] + self.process_layer_names = process_layer_names + + def get_layer_indices(self, layer_names: List[str]) -> List[int]: + """ Get the indices of the layers that are to be processed using regular expressions. + Args: + layer_names (List[str]): List of layer names. + Returns: + List[int]: List of layer indices. + """ + indices = [] + for i, layer_name in enumerate(layer_names): + if any(re.match(pattern, layer_name) for pattern in self.process_layer_names): + indices.append(i) + return indices + def __call__( self, @@ -31,8 +48,8 @@ def __call__( layer_names: List[str], plugin_layers: cp.ndarray, plugin_layer_names: List[str], - semantic_map, - semantic_params, + semantic_map: cp.ndarray, + semantic_layer_names: List[str], *args, ) -> cp.ndarray: """ @@ -49,31 +66,33 @@ def __call__( cupy._core.core.ndarray: """ # get indices of all layers that contain semantic features information - layer_indices = cp.array([], dtype=cp.int32) - for it, fusion_alg in enumerate(semantic_params.fusion_algorithms): - if fusion_alg in ["average", "bayesian_inference", "exponential"]: - layer_indices = cp.append(layer_indices, it).astype(cp.int32) - - n_c = semantic_map[layer_indices].shape[1] - comp_img = np.zeros((n_c, n_c, 3), dtype=np.float32) - # check which has the highest value - if len(layer_indices) > 0: - data = cp.reshape(semantic_map[layer_indices], (len(layer_indices), -1)).T.get() - # data = np.clip(data, -1, 1) + data = [] + for m, layer_names in zip([elevation_map, plugin_layers, semantic_map], + [layer_names, plugin_layer_names, semantic_layer_names]): + layer_indices = self.get_layer_indices(layer_names) + if len(layer_indices) > 0: + n_c = m[layer_indices].shape[1] + data_i = cp.reshape(m[layer_indices], (len(layer_indices), -1)).T.get() + data_i = np.clip(data_i, -1, 1) + data.append(data_i) + if len(data) > 0: + data = np.concatenate(data, axis=1) + # check which has the highest value n_components = 3 pca = PCA(n_components=n_components).fit(data) pca_descriptors = pca.transform(data) img_pca = pca_descriptors.reshape(n_c, n_c, n_components) comp = img_pca # [:, :, -3:] - var = comp.std(axis=(0, 1)) comp_min = comp.min(axis=(0, 1)) comp_max = comp.max(axis=(0, 1)) if (comp_max - comp_min).any() != 0: comp_img = np.divide((comp - comp_min), (comp_max - comp_min)) - map = (comp_img * 255).astype(np.uint8) - r = np.asarray(map[:, :, 0], dtype=np.uint32) - g = np.asarray(map[:, :, 1], dtype=np.uint32) - b = np.asarray(map[:, :, 2], dtype=np.uint32) - rgb_arr = np.array((r << 16) | (g << 8) | (b << 0), dtype=np.uint32) - rgb_arr.dtype = np.float32 - return cp.asarray(rgb_arr) + pca_map = (comp_img * 255).astype(np.uint8) + r = np.asarray(pca_map[:, :, 0], dtype=np.uint32) + g = np.asarray(pca_map[:, :, 1], dtype=np.uint32) + b = np.asarray(pca_map[:, :, 2], dtype=np.uint32) + rgb_arr = np.array((r << 16) | (g << 8) | (b << 0), dtype=np.uint32) + rgb_arr.dtype = np.float32 + return cp.asarray(rgb_arr) + else: + return cp.zeros_like(elevation_map[0]) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/plugin_manager.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/plugin_manager.py index b5c2d313..01e3aea8 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/plugin_manager.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/plugin_manager.py @@ -103,7 +103,7 @@ def load_plugin_settings(self, file_path: str): is_height_layer=v["is_height_layer"], ) ) - extra_params.append(v["extra_params"]) + extra_params.append(v["extra_params"]) self.init(plugin_params, extra_params) print("Loaded plugins are ", *self.plugin_names) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/robot_centric_elevation.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/robot_centric_elevation.py index e9b43266..334085f0 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/robot_centric_elevation.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/robot_centric_elevation.py @@ -88,8 +88,8 @@ def __call__( layer_names: List[str], plugin_layers: cp.ndarray, plugin_layer_names: List[str], - semantic_map, - semantic_params, + semantic_map: cp.ndarray, + semantic_layer_names: List[str], rotation, *args, ) -> cp.ndarray: diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_filter.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_filter.py index 3331afe7..7085f558 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_filter.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_filter.py @@ -5,6 +5,7 @@ import cupy as cp import numpy as np from typing import List +import re from elevation_mapping_cupy.plugins.plugin_manager import PluginBase @@ -28,7 +29,17 @@ def __init__( self.classes = classes self.color_encoding = self.transform_color() - def color_map(self, N=256, normalized=False): + def color_map(self, N:int =256, normalized: bool=False): + """ + Creates a color map with N different colors. + + Args: + N (int, optional): The number of colors in the map. Defaults to 256. + normalized (bool, optional): If True, the colors are normalized to the range [0,1]. Defaults to False. + + Returns: + np.ndarray: The color map. + """ def bitget(byteval, idx): return (byteval & (1 << idx)) != 0 @@ -52,6 +63,12 @@ def bitget(byteval, idx): return cmap[1:] def transform_color(self): + """ + Transforms the color map into a format that can be used for semantic filtering. + + Returns: + cp.ndarray: The transformed color map. + """ color_classes = self.color_map(255) r = np.asarray(color_classes[:, 0], dtype=np.uint32) g = np.asarray(color_classes[:, 1], dtype=np.uint32) @@ -60,6 +77,19 @@ def transform_color(self): rgb_arr.dtype = np.float32 return cp.asarray(rgb_arr) + def get_layer_indices(self, layer_names: List[str]) -> List[int]: + """ Get the indices of the layers that are to be processed using regular expressions. + Args: + layer_names (List[str]): List of layer names. + Returns: + List[int]: List of layer indices. + """ + indices = [] + for i, layer_name in enumerate(layer_names): + if any(re.match(pattern, layer_name) for pattern in self.classes): + indices.append(i) + return indices + def __call__( self, elevation_map: cp.ndarray, @@ -67,7 +97,7 @@ def __call__( plugin_layers: cp.ndarray, plugin_layer_names: List[str], semantic_map: cp.ndarray, - semantic_params, + semantic_layer_names: List[str], rotation, elements_to_shift, *args, @@ -86,28 +116,18 @@ def __call__( cupy._core.core.ndarray: """ # get indices of all layers that contain semantic class information - layer_indices = cp.array([], dtype=cp.int32) - max_idcs = cp.array([], dtype=cp.int32) - for it, fusion_alg in enumerate(semantic_params.fusion_algorithms): - if fusion_alg in ["class_bayesian", "class_average", "exponential"]: - layer_indices = cp.append(layer_indices, it).astype(cp.int32) - # we care only for the first max in the display - if fusion_alg in ["class_max"] and len(max_idcs) < 1: - max_idcs = cp.append(max_idcs, it).astype(cp.int32) - - # check which has the highest value - if len(layer_indices) > 0: - class_map = cp.amax(semantic_map[layer_indices], axis=0) - class_map_id = cp.argmax(semantic_map[layer_indices], axis=0) - else: - class_map = cp.zeros_like(semantic_map[0]) - class_map_id = cp.zeros_like(semantic_map[0], dtype=cp.int32) - if "class_max" in semantic_params.fusion_algorithms: - max_map = cp.amax(semantic_map[max_idcs], axis=0) - max_map_id = elements_to_shift["id_max"][max_idcs] - map = cp.where(max_map > class_map, max_map_id, class_map_id) + data = [] + for m, layer_names in zip([elevation_map, plugin_layers, semantic_map], + [layer_names, plugin_layer_names, semantic_layer_names]): + layer_indices = self.get_layer_indices(layer_names) + if len(layer_indices) > 0: + data.append(m[layer_indices]) + if len(data) > 0: + data = cp.concatenate(data, axis=0) + class_map = cp.amax(data, axis=0) + class_map_id = cp.argmax(data, axis=0) else: - map = class_map_id - # create color coding - enc = self.color_encoding[map] - return enc + class_map = cp.zeros_like(elevation_map[0]) + class_map_id = cp.zeros_like(elevation_map[0], dtype=cp.int32) + enc = self.color_encoding[class_map_id] + return enc \ No newline at end of file diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_traversability.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_traversability.py index 0c9af601..842d3b16 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_traversability.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_traversability.py @@ -38,8 +38,8 @@ def __call__( layer_names: List[str], plugin_layers: cp.ndarray, plugin_layer_names: List[str], - semantic_map, - semantic_params, + semantic_map: cp.ndarray, + semantic_layer_names: List[str], *args, ) -> cp.ndarray: """ @@ -62,9 +62,9 @@ def __call__( if name in layer_names: idx = layer_names.index(name) tempo = elevation_map[idx] - elif name in semantic_params.additional_layers: - idx = semantic_params.additional_layers.index(name) - tempo = semantic_map[idx] + # elif name in semantic_params.additional_layers: + # idx = semantic_params.additional_layers.index(name) + # tempo = semantic_map[idx] elif name in plugin_layer_names: idx = plugin_layer_names.index(name) tempo = plugin_layers[idx] diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py index 6b7291ca..1d2eb838 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py @@ -173,8 +173,7 @@ def get_fusion(self, channels: List[str], channel_fusions: Dict[str, str], layer layer_specs[channel] = matched_fusion self.update_fusion_setting() x = layer_specs[channel] - if x not in fusion_list: - fusion_list.append(x) + fusion_list.append(x) process_channels.append(channel) return process_channels, fusion_list @@ -287,12 +286,8 @@ def update_layers_image( image_width: """ - # additional_fusion = self.get_fusion_of_pcl(channels) process_channels, fusion_methods = self.get_fusion(channels, self.param.image_channel_fusions, self.layer_specs_image) self.new_map[self.delete_new_layers] = 0.0 - # config = self.param.subscriber_cfg[sub_key] - - # for j, (fusion, channel) in enumerate(zip(config["fusion"], config["channels"])): for j, (fusion, channel) in enumerate(zip(fusion_methods, process_channels)): if channel not in self.layer_names: print(f"Layer {channel} not found, adding it to the semantic map") @@ -303,8 +298,6 @@ def update_layers_image( print(f"Layer {channel} not found!") return - # which layers need to be updated with this fusion algorithm - # pcl_ids, layer_ids = self.get_indices_fusion(channels, fusion) # update the layers with the fusion algorithm self.fusion_manager.execute_image_plugin( fusion, diff --git a/elevation_mapping_cupy/src/elevation_mapping_ros.cpp b/elevation_mapping_cupy/src/elevation_mapping_ros.cpp index 21412e95..4a72e8c6 100644 --- a/elevation_mapping_cupy/src/elevation_mapping_ros.cpp +++ b/elevation_mapping_cupy/src/elevation_mapping_ros.cpp @@ -86,6 +86,7 @@ ElevationMappingNode::ElevationMappingNode(ros::NodeHandle& nh) boost::function f = boost::bind(&ElevationMappingNode::pointcloudCallback, this, _1, key); ros::Subscriber sub = nh_.subscribe(pointcloud_topic, 1, f); pointcloudSubs_.push_back(sub); + ROS_INFO_STREAM("Subscribed to PointCloud2 topic: " << pointcloud_topic); } else if (type == "image") { std::string camera_topic = subscriber.second["topic_name"]; @@ -122,6 +123,7 @@ ElevationMappingNode::ElevationMappingNode(ros::NodeHandle& nh) CameraChannelSyncPtr sync = std::make_shared(CameraChannelPolicy(10), *image_sub, *cam_info_sub, *channel_info_sub); sync->registerCallback(boost::bind(&ElevationMappingNode::imageChannelCallback, this, _1, _2, _3)); cameraChannelSyncs_.push_back(sync); + ROS_INFO_STREAM("Subscribed to Image topic: " << camera_topic << ", Camera info topic: " << info_topic << ", Channel info topic: " << channel_info_topic); } else { // If there is channels setting, we use it. Otherwise, we use rgb as default. @@ -135,7 +137,7 @@ ElevationMappingNode::ElevationMappingNode(ros::NodeHandle& nh) else { channels_[key].push_back("rgb"); } - ROS_INFO_STREAM("Channel info topic not found for " << camera_topic << ". Using channels: " << boost::algorithm::join(channels_[key], ", ")); + ROS_INFO_STREAM("Subscribed to Image topic: " << camera_topic << ", Camera info topic: " << info_topic << ". Channel info topic: " << (channel_info_topic.empty() ? ("Not found. Using channels: " + boost::algorithm::join(channels_[key], ", ")) : channel_info_topic)); CameraSyncPtr sync = std::make_shared(CameraPolicy(10), *image_sub, *cam_info_sub); sync->registerCallback(boost::bind(&ElevationMappingNode::imageCallback, this, _1, _2, key)); cameraSyncs_.push_back(sync); diff --git a/sensor_processing/semantic_sensor/config/sensor_parameter.yaml b/sensor_processing/semantic_sensor/config/sensor_parameter.yaml index 4f3f9ebf..c497564c 100644 --- a/sensor_processing/semantic_sensor/config/sensor_parameter.yaml +++ b/sensor_processing/semantic_sensor/config/sensor_parameter.yaml @@ -38,9 +38,9 @@ front_cam_pointcloud: show_label_legend: False data_type: pointcloud - cam_info_topic: "/camera/depth/camera_info" - image_topic: "/camera/rgb/image_raw" - depth_topic: "/camera/depth/image_raw" + cam_info_topic: "camera/depth/camera_info" + image_topic: "camera/rgb/image_raw" + depth_topic: "camera/depth/image_raw" cam_frame: "camera_rgb_optical_frame" front_cam_image: @@ -53,9 +53,9 @@ front_cam_image: data_type: image semantic_segmentation: True - # segmentation_model: 'detectron_coco_panoptic_fpn_R_101_3x' # detectron_coco_panoptic_fpn_R_101_3x, lraspp_mobilenet_v3_large + feature_extractor: True segmentation_model: 'lraspp_mobilenet_v3_large' # detectron_coco_panoptic_fpn_R_101_3x, lraspp_mobilenet_v3_large show_label_legend: False - image_topic: "/camera/rgb/image_raw" - image_info_topic: "/camera/depth/camera_info" + image_topic: "camera/rgb/image_raw" + camera_info_topic: "camera/depth/camera_info" resize: 0.5 \ No newline at end of file diff --git a/sensor_processing/semantic_sensor/script/semantic_sensor/image_node.py b/sensor_processing/semantic_sensor/script/semantic_sensor/image_node.py index 8a89c81e..d59840ba 100755 --- a/sensor_processing/semantic_sensor/script/semantic_sensor/image_node.py +++ b/sensor_processing/semantic_sensor/script/semantic_sensor/image_node.py @@ -22,7 +22,7 @@ from semantic_sensor.networks import resolve_model from sklearn.decomposition import PCA -from elevation_map_msgs.msg import FusionInfo +from elevation_map_msgs.msg import ChannelInfo class SemanticSegmentationNode: @@ -71,9 +71,9 @@ def register_sub_pub(self): node_name = rospy.get_name() # subscribers - if self.param.image_info_topic is not None and self.param.resize is not None: - rospy.Subscriber(self.param.image_info_topic, CameraInfo, self.image_info_callback) - self.feat_im_info_pub = rospy.Publisher(node_name + "/" + self.param.image_info_topic + "_resized", CameraInfo, queue_size=2) + if self.param.camera_info_topic is not None and self.param.resize is not None: + rospy.Subscriber(self.param.camera_info_topic, CameraInfo, self.image_info_callback) + self.feat_im_info_pub = rospy.Publisher(node_name + "/" + self.param.camera_info_topic + "_resized", CameraInfo, queue_size=2) if "compressed" in self.param.image_topic: self.compressed = True @@ -94,8 +94,9 @@ def register_sub_pub(self): if self.param.feature_extractor: self.feature_pub = rospy.Publisher(node_name + "/" + self.param.feature_topic, Image, queue_size=2) self.feat_im_pub = rospy.Publisher(node_name + "/" + self.param.feat_image_topic, Image, queue_size=2) + self.feat_channel_info_pub = rospy.Publisher(node_name + "/" + self.param.feat_channel_info_topic, ChannelInfo, queue_size=2) - self.fusion_info_pub = rospy.Publisher(node_name + "/" + self.param.fusion_info_topic, FusionInfo, queue_size=2) + self.channel_info_pub = rospy.Publisher(node_name + "/" + self.param.channel_info_topic, ChannelInfo, queue_size=2) def color_map(self, N=256, normalized=False): """Create a color map for the class labels. @@ -177,24 +178,23 @@ def image_callback(self, rgb_msg): if self.param.semantic_segmentation: self.publish_segmentation() self.publish_segmentation_image() - self.publish_fusion_info() + self.publish_channel_info([f"sem_{c}" for c in self.param.channels], self.channel_info_pub) if self.param.feature_extractor: self.publish_feature() self.publish_feature_image(self.features) - self.publish_fusion_info() + self.publish_channel_info([f"feat_{i}" for i in range(self.features.shape[0])], self.feat_channel_info_pub) if self.param.resize is not None: self.pub_info() def pub_info(self): self.feat_im_info_pub.publish(self.info) - def publish_fusion_info(self): + def publish_channel_info(self, channels, pub): """Publish fusion info.""" - info = FusionInfo() + info = ChannelInfo() info.header = self.header - info.channels = self.param.channels - info.fusion_methods = self.param.fusion_methods - self.fusion_info_pub.publish(info) + info.channels = channels + pub.publish(info) def process_image(self, image): """Depending on setting generate color, semantic segmentation or feature channels. diff --git a/sensor_processing/semantic_sensor/script/semantic_sensor/image_parameters.py b/sensor_processing/semantic_sensor/script/semantic_sensor/image_parameters.py index 014bd9b9..aacb152c 100644 --- a/sensor_processing/semantic_sensor/script/semantic_sensor/image_parameters.py +++ b/sensor_processing/semantic_sensor/script/semantic_sensor/image_parameters.py @@ -23,19 +23,20 @@ class ImageParameter(Serializable): semantic_segmentation: bool = True # sem_seg_topic: str = "semantic_seg" # sem_seg_image_topic: str = "semantic_seg_im" - publish_topic: str = "semantic_seg" - publish_image_topic: str = "semantic_seg_img" # publish_camera_info_topic: str = "semantic_seg/camera_info" segmentation_model: str = "detectron_coco_panoptic_fpn_R_101_3x" show_label_legend: bool = False channels: list = field(default_factory=lambda: ["grass", "road", "tree", "sky"]) - fusion_methods: list = field(default_factory=lambda: ["class_average", "class_average", "class_average", "class_average"]) + + publish_topic: str = "semantic_seg" + publish_image_topic: str = "semantic_seg_img" + channel_info_topic: str = "channel_info" feature_extractor: bool = False feature_config: FeatureExtractorParameter = FeatureExtractorParameter # feature_config.input_size: list = field(default_factory=lambda: [80, 160]) feature_topic: str = "semantic_seg_feat" feat_image_topic: str = "semantic_seg_feat_im" - fusion_info_topic: str = "fusion_info" + feat_channel_info_topic: str = "feat_channel_info" resize: float = None - image_info_topic: str = "image_info" \ No newline at end of file + camera_info_topic: str = "camera_info" \ No newline at end of file diff --git a/sensor_processing/semantic_sensor/script/semantic_sensor/networks.py b/sensor_processing/semantic_sensor/script/semantic_sensor/networks.py index df7c578c..0c666a3e 100644 --- a/sensor_processing/semantic_sensor/script/semantic_sensor/networks.py +++ b/sensor_processing/semantic_sensor/script/semantic_sensor/networks.py @@ -118,17 +118,20 @@ def resolve_categories(self): indices.append(class_to_idx[chan]) channels.append(chan) self.actual_channels.append(chan) - elif self.param.fusion_methods[it] in ["class_average", "class_bayesian"]: - print(chan, " is not in the semantic segmentation model.") - for it, chan in enumerate(self.param.channels): - if self.param.fusion_methods[it] in ["class_max"]: - self.actual_channels.append(chan) - print( - chan, - " is not in the semantic segmentation model but is a max channel.", - ) else: - pass + self.actual_channels.append(chan) + # elif self.param.fusion_methods[it] in ["class_average", "class_bayesian"]: + # print(chan, " is not in the semantic segmentation model.") + # for it, chan in enumerate(self.param.channels): + # self.actual_channels.append(chan) + # if self.param.fusion_methods[it] in ["class_max"]: + # self.actual_channels.append(chan) + # print( + # chan, + # " is not in the semantic segmentation model but is a max channel.", + # ) + # else: + # pass self.stuff_categories = dict(zip(channels, indices)) self.segmentation_channels = dict(zip(channels, indices)) @@ -152,14 +155,14 @@ def __call__(self, image, *args, **kwargs): selected_masks = cp.asarray(normalized_masks[list(self.stuff_categories.values())]) # get values of max, first remove the ones we already have normalized_masks[list(self.stuff_categories.values())] = 0 - for i in range(self.param.fusion_methods.count("class_max")): - maxim, index = torch.max(normalized_masks, dim=0) - mer = encode_max(maxim, index) - selected_masks = cp.concatenate((selected_masks, cp.expand_dims(mer, axis=0)), axis=0) - x = torch.arange(0, index.shape[0]) - y = torch.arange(0, index.shape[1]) - c = torch.meshgrid(x, y, indexing="ij") - normalized_masks[index, c[0], c[1]] = 0 + # for i in range(self.param.fusion_methods.count("class_max")): + # maxim, index = torch.max(normalized_masks, dim=0) + # mer = encode_max(maxim, index) + # selected_masks = cp.concatenate((selected_masks, cp.expand_dims(mer, axis=0)), axis=0) + # x = torch.arange(0, index.shape[0]) + # y = torch.arange(0, index.shape[1]) + # c = torch.meshgrid(x, y, indexing="ij") + # normalized_masks[index, c[0], c[1]] = 0 assert len(self.actual_channels) == selected_masks.shape[0] return cp.asarray(selected_masks) @@ -260,7 +263,7 @@ def __init__(self, weights, cfg): self.device = torch.device("cuda:0" if torch.cuda.is_available() else "cpu") self.model.to(self.device) self.model.eval() - self.shrink = Resize(size=(self.cfg.input_size[0], self.cfg.input_size[1])) + self.shrink = Resize(size=(self.cfg.input_size[0], self.cfg.input_size[1]), antialias=True) def to_tensor(self, data): data = data.astype(np.float32) @@ -277,7 +280,7 @@ def __call__(self, image, *args, **kwargs): # image = torch.as_tensor(image, device="cuda").permute(2, 0, 1).unsqueeze(0) image = self.to_tensor(image).unsqueeze(0) # if self.cfg.pcl: - reset_size = Resize(image.shape[-2:], interpolation=TF.InterpolationMode.NEAREST) + reset_size = Resize(image.shape[-2:], interpolation=TF.InterpolationMode.NEAREST, antialias=True) im_size = image.shape[-2:] image = self.shrink(image) image = TF.normalize(image, mean=(0.485, 0.456, 0.406), std=(0.229, 0.224, 0.225)) From 702188cb9feb8fd25f80a5b8f3d1bad1f337fc25 Mon Sep 17 00:00:00 2001 From: Takahiro Date: Mon, 4 Dec 2023 23:56:53 +0100 Subject: [PATCH 381/504] Modified the anymal example. --- .../setups/anymal/anymal_sensor_parameter.yaml | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/elevation_mapping_cupy/config/setups/anymal/anymal_sensor_parameter.yaml b/elevation_mapping_cupy/config/setups/anymal/anymal_sensor_parameter.yaml index 4ad52176..a130607f 100644 --- a/elevation_mapping_cupy/config/setups/anymal/anymal_sensor_parameter.yaml +++ b/elevation_mapping_cupy/config/setups/anymal/anymal_sensor_parameter.yaml @@ -22,9 +22,9 @@ publishers: basic_layers: ['elevation', 'traversability'] fps: 5.0 - semantic_map_raw: - layers: ['elevation', 'traversability'] - basic_layers: ['elevation', 'traversability'] + filtered_elevation_map: + layers: ['inpaint', 'smooth', 'min_filter'] + basic_layers: ['inpaint'] fps: 5.0 #### Subscribers ######## @@ -54,18 +54,18 @@ subscribers: data_type: pointcloud front_wide_angle: - topic_name: /wide_angle_camera_front/image_raw + topic_name: /wide_angle_camera_front/image_color_rect/compressed camera_info_topic_name: /wide_angle_camera_front/camera_info data_type: image rear_wide_angle: - topic_name: /wide_angle_camera_rear/image_raw + topic_name: /wide_angle_camera_rear/image_color_rect/compressed camera_info_topic_name: /wide_angle_camera_rear/camera_info data_type: image - # velodyne: - # topic_name: /point_cloud_filter/lidar/point_cloud_filtered - # data_type: pointcloud + velodyne: + topic_name: /point_cloud_filter/lidar/point_cloud_filtered + data_type: pointcloud front_bpearl: topic_name: /robot_self_filter/bpearl_front/point_cloud From befa1d70eda530afe49450d9c8e52fa6cc8a2d0d Mon Sep 17 00:00:00 2001 From: Takahiro Date: Tue, 5 Dec 2023 23:49:46 +0100 Subject: [PATCH 382/504] Updating documents. --- docs/media/main_mem.png | Bin 0 -> 382124 bytes docs/media/overview.png | 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zQr4-ND&D&IkD;LAGRz4~@(h zY?6gwvH){?^PJF0b@g8!@RwEo-S;4!Yb4xTtm_Iq9d0D|E44P&y{dIhUg6O z387o`oWJ>wSAo9OXYLPnzxlNE^2E9%=j%1i`_ + Takahiro Miki, Lorenz Wellhausen, Ruben Grandia, Fabian Jenelten, Timon Homberger, Marco Hutter - Elevation Mapping for Locomotion and Navigation using GPU `Link `_ +.. code-block:: + @misc{mikielevation2022, + doi = {10.48550/ARXIV.2204.12876}, + author = {Miki, Takahiro and Wellhausen, Lorenz and Grandia, Ruben and Jenelten, Fabian and Homberger, Timon and Hutter, Marco}, + keywords = {Robotics (cs.RO), FOS: Computer and information sciences, FOS: Computer and information sciences}, + title = {Elevation Mapping for Locomotion and Navigation using GPU}, + publisher = {International Conference on Intelligent Robots and Systems (IROS)}, + year = {2022}, + } +Multi-modal elevation mapping if you use color or semantic layers -.. code-block:: none +.. hint:: - @misc{https://doi.org/10.48550/arxiv.2204.12876, - doi = {10.48550/ARXIV.2204.12876}, - url = {https://arxiv.org/abs/2204.12876}, - author = {Miki, Takahiro and Wellhausen, Lorenz and Grandia, Ruben and Jenelten, Fabian and Homberger, Timon and Hutter, Marco}, - keywords = {Robotics (cs.RO), FOS: Computer and information sciences, FOS: Computer and information sciences}, - title = {Elevation Mapping for Locomotion and Navigation using GPU}, - publisher = {arXiv}, - year = {2022}, - copyright = {arXiv.org perpetual, non-exclusive license} - } + MEM: Multi-Modal Elevation Mapping for Robotics and Learning `Link `_ + + Gian Erni, Jonas Frey, Takahiro Miki, Matias Mattamala, Marco Hutter +.. code-block:: + + @misc{Erni2023-bs, + title = "{MEM}: {Multi-Modal} Elevation Mapping for Robotics and Learning", + author = "Erni, Gian and Frey, Jonas and Miki, Takahiro and Mattamala, Matias and Hutter, Marco", + publisher = {International Conference on Intelligent Robots and Systems (IROS)}, + year = {2023}, + } diff --git a/docs/source/getting_started/index.rst b/docs/source/getting_started/index.rst deleted file mode 100644 index 94693b43..00000000 --- a/docs/source/getting_started/index.rst +++ /dev/null @@ -1,71 +0,0 @@ -.. _introduction: - - - -Introduction -****************************************************************** - - - -Subscribed Topics -------------------------------------------------------------------- -* topics specified in **`pointcloud_topics`** in **`elevation_mapping_cupy/config/parameters.yaml`** ([sensor_msgs/PointCloud2]) - - The distance measurements. - -* **`/tf`** ([tf/tfMessage]) - - The transformation tree. - -* The plane segmentation node subscribes to an elevation map topic ([grid_map_msg/GridMap]). This can be configured in - **`convex_plane_decomposition_ros/config/parameters.yaml`** - -Published Topics -------------------------------------------------------------------- -For elevation_mapping_cupy, topics are published as set in the rosparam. -You can specify which layers to publish in which fps. - -Under `publishers`, you can specify the `topic_name`, `layers` `basic_layers` and `fps`. - -.. code-block:: yaml - - publishers: - your_topic_name: - layers: [ 'list_of_layer_names', 'layer1', 'layer2' ] # Choose from 'elevation', 'variance', 'traversability', 'time' + plugin layers - basic_layers: [ 'list of basic layers', 'layer1' ] # basic_layers for valid cell computation (e.g. Rviz): Choose a subset of `layers`. - fps: 5.0 # Publish rate. Use smaller value than `map_acquire_fps`. - - -Example setting in `config/parameters.yaml`. - -* **`elevation_map_raw`** ([grid_map_msg/GridMap]) - - The entire elevation map. - -* **`elevation_map_recordable`** ([grid_map_msg/GridMap]) - - The entire elevation map with slower update rate for visualization and logging. - -* **`elevation_map_filter`** ([grid_map_msg/GridMap]) - - The filtered maps using plugins. - -The plane segmentation node publishes the following: - -* **`planar_terrain`** ([convex_plane_decomposition_msgs/PlanarTerrain]) - - A custom message that contains the full segmentation as a map together with the boundary information. - -* **`filtered_map`** ([grid_map_msg/GridMap]) - - A grid map message to visualize the segmentation and some intermediate results. This information is also part of **`planar_terrain`**. - -* **`boundaries`** ([visualization_msgs/MarkerArray]) - - A set of polygons that trace the boundaries of the segmented region. Holes and boundaries of a single region are published as separate - markers with the same color. - -* **`insets`** ([visualization_msgs/PolygonArray]) - - A set of polygons that are at a slight inward offset from **`boundaries`**. There might be more insets than boundaries since the inward - shift can cause a single region to break down into multiple when narrow passages exist. diff --git a/docs/source/getting_started/installation.rst b/docs/source/getting_started/installation.rst index 9d65d6b7..95a99a2d 100644 --- a/docs/source/getting_started/installation.rst +++ b/docs/source/getting_started/installation.rst @@ -1,32 +1,55 @@ .. _installation: -.. toctree:: - :hidden: - :maxdepth: 2 +Installation +****************************************************************** - Cuda installation +This section provides instructions for installing the necessary dependencies for the project. The installation process includes setting up CUDA & cuDNN, installing Python dependencies, and configuring Cupy. +Follow the instructions carefully to avoid any installation issues. +Dockers +================================================================== +We provide a docker setup for the project. +To build the docker image, run the following command: -Installation -****************************************************************** -CUDA & cuDNN +.. code-block:: bash + + cd /docker + ./build.sh + + +To run the docker image, run the following command: + + +.. code-block:: bash + + cd /docker + ./run.sh + +This will start the docker container and mount the home directory of the host machine to the docker container. +After you clone the project repository into your catkin_ws, you can build the packages inside the docker container. +To build the packages inside the docker container, follow the instructions in the `Build section <#build>`_ of this document. + + +On Desktop or Laptop with NVIDIA GPU ================================================================== +CUDA & cuDNN +------------------------------------------------------------------ + +If you do not have CUDA and cuDNN installed, please install them first. The tested versions are CUDA10.2, 11.6 `CUDA `_ `cuDNN `_ -Check how to install :ref:`here`. - - +You can check how to install :ref:`here`. Python dependencies -------------------------------------------------------------------- +------------------------------------------------------------------ You will need @@ -235,4 +258,18 @@ Detectron .. code-block:: bash - python3 -m pip install 'git+https://github.com/facebookresearch/detectron2.git' \ No newline at end of file + python3 -m pip install 'git+https://github.com/facebookresearch/detectron2.git' + + +Build +================================================================== +After installing all the dependencies, you can build the packages. +Clone the project repository into your catkin_ws/src directory. +Then, build the packages with catkin. + +.. code-block:: bash + + cd + catkin build elevation_mapping_cupy # The core package + catkin build convex_plane_decomposition_ros # If you want to use plane segmentation + catkin build semantic_sensor # If you want to use semantic sensors \ No newline at end of file diff --git a/docs/source/getting_started/introduction.rst b/docs/source/getting_started/introduction.rst new file mode 100644 index 00000000..90689dfe --- /dev/null +++ b/docs/source/getting_started/introduction.rst @@ -0,0 +1,132 @@ +.. _introduction: + + + +Introduction +****************************************************************** +The Elevaton Mapping CuPy software package represents an advancement in robotic navigation and locomotion. +Integrating with the Robot Operating System (ROS) and utilizing GPU acceleration, this framework enhances point cloud registration and ray casting, +crucial for efficient and accurate robotic movement, particularly in legged robots. + +Used for Various Real-World Applications +------------------------------------------------------------------- +This software package has been rigorously tested in challenging environments, including the DARPA Subterranean Challenge, +demonstrating its effectiveness in complex, real-world scenarios. +It supports a wide range of applications, from underground exploration to advanced research in legged locomotion and autonomous navigation. + +* **DARPA Subterranean Challenge**: This package was used by Team CERBERUS in the DARPA Subterranean Challenge. + + `Team Cerberus `_ + + `CERBERUS in the DARPA Subterranean Challenge (Science Robotics) `_ + +* **ESA / ESRIC Space Resources Challenge**: This package was used for the Space Resources Challenge. + + `Scientific exploration of challenging planetary analog environments with a team of legged robots (Science Robotics) `_ + + + + +Key Features +------------------------------------------------------------------- +* **Height Drift Compensation**: Tackles state estimation drifts that can create mapping artifacts, ensuring more accurate terrain representation. + +* **Visibility Cleanup and Artifact Removal**: Raycasting methods and an exclusion zone feature are designed to remove virtual artifacts and correctly interpret overhanging obstacles, preventing misidentification as walls. + +* **Learning-based Traversability Filter**: Assesses terrain traversability using local geometry, improving path planning and navigation. + +* **Versatile Locomotion Tools**: Incorporates smoothing filters and plane segmentation, optimizing movement across various terrains. + +* **Multi-Modal Elevation Map (MEM) Framework**: Allows seamless integration of diverse data like geometry, semantics, and RGB information, enhancing multi-modal robotic perception. + +* **GPU-Enhanced Efficiency**: Facilitates rapid processing of large data structures, crucial for real-time applications. + +Overview +------------------------------------------------------------------- + +.. image:: ../../media/overview.png + :alt: Overview of multi-modal elevation map structure + +Overview of our multi-modal elevation map structure. The framework takes multi-modal images (purple) and multi-modal (blue) point clouds as +input. This data is input into the elevation map by first associating the data to the cells and then fused with different fusion algorithms into the various +layers of the map. Finally the map can be post-processed with various custom plugins to generate new layers (e.g. traversability) or process layer for +external components (e.g. line detection). + +Subscribed Topics +------------------------------------------------------------------- +The subscribed topics are specified under **subscribers** parameter. + +Example setup is in **elevation_mapping_cupy/config/core/example_setup.yaml**. + +* **/** ([sensor_msgs/PointCloud2]) + + The point cloud topic. It can have additional channels for RGB, intensity, etc. + +* **/** ([sensor_msgs/Image]) + + The image topic. It can have additional channels for RGB, semantic probabilities, image features etc. + +* **/** ([sensor_msgs/CameraInfo]) + + The camera info topic. It is used to project the point cloud into the image plane. + +* **/** ([elevation_map_msgs/ChannelInfo]) + + If this topic is configured, the node will subscribe to it and use the information to associate the image channels to the elevation map layers. + +* **/tf** ([tf/tfMessage]) + + The transformation tree. + +* The plane segmentation node subscribes to an elevation map topic ([grid_map_msg/GridMap]). This can be configured in + **convex_plane_decomposition_ros/config/core/parameters.yaml** + +Published Topics +------------------------------------------------------------------- +For elevation_mapping_cupy, topics are published as set in the rosparam. +You can specify which layers to publish in which fps. + +Under publishers, you can specify the topic_name, layers basic_layers and fps. + +.. code-block:: yaml + + publishers: + your_topic_name: + layers: [ 'list_of_layer_names', 'layer1', 'layer2' ] # Choose from 'elevation', 'variance', 'traversability', 'time' + plugin layers + basic_layers: [ 'list of basic layers', 'layer1' ] # basic_layers for valid cell computation (e.g. Rviz): Choose a subset of `layers`. + fps: 5.0 # Publish rate. Use smaller value than `map_acquire_fps`. + + +Example setting in `config/parameters.yaml`. + +* **elevation_map_raw** ([grid_map_msg/GridMap]) + + The entire elevation map. + +* **elevation_map_recordable** ([grid_map_msg/GridMap]) + + The entire elevation map with slower update rate for visualization and logging. + +* **elevation_map_filter** ([grid_map_msg/GridMap]) + + The filtered maps using plugins. + +The plane segmentation node publishes the following: + +* **planar_terrain** ([convex_plane_decomposition_msgs/PlanarTerrain]) + + A custom message that contains the full segmentation as a map together with the boundary information. + +* **filtered_map** ([grid_map_msg/GridMap]) + + A grid map message to visualize the segmentation and some intermediate results. This information is also part of **planar_terrain**. + +* **boundaries** ([visualization_msgs/MarkerArray]) + + A set of polygons that trace the boundaries of the segmented region. Holes and boundaries of a single region are published as separate + markers with the same color. + +* **insets** ([visualization_msgs/PolygonArray]) + + A set of polygons that are at a slight inward offset from **boundaries**. There might be more insets than boundaries since the inward + shift can cause a single region to break down into multiple when narrow passages exist. diff --git a/docs/source/getting_started/tutorial.rst b/docs/source/getting_started/tutorial.rst index abefdf8d..12f9eda3 100644 --- a/docs/source/getting_started/tutorial.rst +++ b/docs/source/getting_started/tutorial.rst @@ -2,35 +2,10 @@ Tutorial ****************************************************************** +This tutorial will guide you through the basic usage of the elevation mapping cupy. +You will learn how to run the plane segmentation node, the sensor node, and the TurtleBot example. - - -Build -================================================================== - -.. code-block:: bash - - catkin build elevation_mapping_cupy - catkin build convex_plane_decomposition_ros - - -Errors -""""""""""""" - -If you get error such as - -.. code-block:: none - - Make Error at /usr/share/cmake-3.16/Modules/FindPackageHandleStandardArgs.cmake:146 (message): - Could NOT find PythonInterp: Found unsuitable version "2.7.18", but - required is at least "3" (found /usr/bin/python) - - -Build with option. - -.. code-block:: bash - - catkin build elevation_mapping_cupy -DPYTHON_EXECUTABLE=$(which python3) +If you want to use your own custom plugins, please refer to the :ref:`plugins`. Run @@ -53,27 +28,8 @@ For the sensor node .. code-block:: bash - roslaunch elevation_mapping_cupy pointlcoud.launch - roslaunch elevation_mapping_cupy image.launch - - -Errors -""""""""""""" - -If you build with the install flag under ros melodic, you might get issues with the modules not found: - -.. code-block:: bash - - terminate called after throwing an instance of 'pybind11::error_already_set' - what(): ModuleNotFoundError: No module named 'elevation_mapping_cupy' - -This is because python3 modules are installed into a different location. - -This can be fixed by including also the python3 modules location in the `PYTHONPATH` by adding following line into the launch file: - -.. code-block:: xml - - + roslaunch semantic_sensor semantic_pointcloud.launch + roslaunch semantic_sensor semantic_image.launch Run TurtleBot example @@ -91,7 +47,7 @@ Then, you can run the examples. For the basic version: .. code-block:: bash export TURTLEBOT3_MODEL=waffle - roslaunch elevation_mapping_cupy turtlesim_example.launch + roslaunch elevation_mapping_cupy turtlesim_simple_example.launch For fusing semantics into the map such as rgb from a multi modal pointcloud: @@ -102,33 +58,22 @@ For fusing semantics into the map such as rgb from a multi modal pointcloud: .. code-block:: bash export TURTLEBOT3_MODEL=waffle - roslaunch elevation_mapping_cupy turtlesim_semantic_example.launch + roslaunch elevation_mapping_cupy turtlesim_semantic_pointcloud_example.launch -For fusing semantics into the map such as rgb from an image: +For fusing semantics into the map such as rgb semantics or features from an image: .. code-block:: bash export TURTLEBOT3_MODEL=waffle roslaunch elevation_mapping_cupy turtlesim_semantic_image_example.launch -For fusing features extracted with a feature extractor from an image: - -.. code-block:: bash - - export TURTLEBOT3_MODEL=waffle - roslaunch elevation_mapping_cupy turtlesim_features_image_example.launch - - Or, for the version including plane segmentation: - - .. code-block:: bash catkin build convex_plane_decomposition_ros export TURTLEBOT3_MODEL=waffle - roslaunch elevation_mapping_cupy turtlesim_segmentation_example.launch - + roslaunch elevation_mapping_cupy turtlesim_plane_decomposition_example.launch To control the robot with a keyboard, a new terminal window needs to be opened. @@ -143,3 +88,40 @@ Then run Velocity inputs can be sent to the robot by pressing the keys `a`, `w`, `d`, `x`. To stop the robot completely, press `s`. + + +Errors +================================================================== + +If you build with the install flag under ros melodic, you might get issues with the modules not found: + +.. code-block:: bash + + terminate called after throwing an instance of 'pybind11::error_already_set' + what(): ModuleNotFoundError: No module named 'elevation_mapping_cupy' + +This is because python3 modules are installed into a different location. + +This can be fixed by including also the python3 modules location in the `PYTHONPATH` by adding following line into the launch file: + +.. code-block:: xml + + + +If you get error such as + +.. code-block:: none + + Make Error at /usr/share/cmake-3.16/Modules/FindPackageHandleStandardArgs.cmake:146 (message): + Could NOT find PythonInterp: Found unsuitable version "2.7.18", but + required is at least "3" (found /usr/bin/python) + + +Build with option. + +.. code-block:: bash + + catkin build elevation_mapping_cupy -DPYTHON_EXECUTABLE=$(which python3) + + + diff --git a/docs/source/index.rst b/docs/source/index.rst index 808139c6..d6566c77 100644 --- a/docs/source/index.rst +++ b/docs/source/index.rst @@ -10,7 +10,7 @@ :maxdepth: 3 :caption: Getting Started - Introduction + Introduction Installation Tutorial diff --git a/docs/source/usage/parameters.rst b/docs/source/usage/parameters.rst index 57836bb7..0594a0f4 100644 --- a/docs/source/usage/parameters.rst +++ b/docs/source/usage/parameters.rst @@ -5,18 +5,20 @@ Parameters There are three parameter files: -1. `Parameters`_ +#. `Robot Setup Configurations`_ -2. `Plugin configurations`_ +#. `Plugin configurations`_ -3. `Sensor parameter`_ +#. `Core Parameters`_ +#. `Sensor parameter`_ -Parameters +Robot Setup Configurations ================================================ +Such as Publishers and subscribers -.. include:: ../../../elevation_mapping_cupy/config/parameters.yaml +.. include:: ../../../elevation_mapping_cupy/config/core/example_setup.yaml :code: yaml Plugin configurations @@ -24,17 +26,21 @@ Plugin configurations More informations on the plugins can be found in :ref:`plugins`. -.. include:: ../../../elevation_mapping_cupy/config/plugin_config.yaml +.. include:: ../../../elevation_mapping_cupy/config/core/plugin_config.yaml :code: yaml +Core Parameters +============================================================== +.. include:: ../../../elevation_mapping_cupy/config/core/core_param.yaml + :code: yaml Sensor parameter ================================================ More informations on the sensor configurations can be found in :ref:`semantics`. -.. include:: ../../../elevation_mapping_cupy/config/sensor_parameter.yaml +.. include:: ../../../sensor_processing/semantic_sensor/config/sensor_parameter.yaml :code: yaml diff --git a/docs/source/usage/plugins.rst b/docs/source/usage/plugins.rst index 410ad623..4a3f6d9b 100644 --- a/docs/source/usage/plugins.rst +++ b/docs/source/usage/plugins.rst @@ -3,47 +3,13 @@ Plugins ****************************************************************** -This page is structured in two parts: +You can add your own plugin to process the elevation map and publish as a layer in GridMap message. -* `Existing plugins`_ +This page is structured in two parts: * `Create a plugin`_ -Existing plugins -================================================================== - -1. Min filter -------------------------------------------------------------------- -.. automodule:: elevation_mapping_cupy.plugins.min_filter - :members: - -2. Inpainting -------------------------------------------------------------------- - -.. automodule:: elevation_mapping_cupy.plugins.inpainting - :members: - -3. Smooth Filter -------------------------------------------------------------------- -.. automodule:: elevation_mapping_cupy.plugins.smooth_filter - :members: - -4. Robot centric elevation -------------------------------------------------------------------- -.. automodule:: elevation_mapping_cupy.plugins.robot_centric_elevation - :members: - -5. Semantic Filter -------------------------------------------------------------------- -.. automodule:: elevation_mapping_cupy.plugins.semantic_filter - :members: - -6. Semantic traversability -------------------------------------------------------------------- -.. automodule:: elevation_mapping_cupy.plugins.semantic_traversability - :members: - - +* `Existing plugins`_ Create a plugin @@ -66,8 +32,15 @@ First, create your plugin file in `elevation_mapping_cupy/script/plugins/` and s super().__init__() self.add_value = float(add_value) - def __call__(self, elevation_map: cp.ndarray, layer_names: List[str], - plugin_layers: cp.ndarray, plugin_layer_names: List[str])->cp.ndarray: + def __call__(self, + elevation_map: cp.ndarray, + layer_names: List[str], + plugin_layers: cp.ndarray, + plugin_layer_names: List[str], + semantic_layers: cp.ndarray, + semantic_layer_names: List[str], + *args + )->cp.ndarray: # Process maps here # You can also use the other plugin's data through plugin_layers. new_elevation = elevation_map[0] + self.add_value @@ -96,7 +69,7 @@ Then, add your plugin setting to `config/plugin_config.yaml` add_value: 100.0 # Example param with larger value. -Finally, add your layer name to publishers in `config/parameters.yaml`. You can create a new topic or add to existing topics. +Finally, add your layer name to publishers in your config. You can create a new topic or add to existing topics. .. code-block:: yaml @@ -108,3 +81,47 @@ Finally, add your layer name to publishers in `config/parameters.yaml`. You can + +Existing plugins +================================================================== + +This section lists the plugins that are already installed and available for use. + + + + +1. Min filter +------------------------------------------------------------------- +.. automodule:: elevation_mapping_cupy.plugins.min_filter + :members: + +2. Inpainting +------------------------------------------------------------------- + +.. automodule:: elevation_mapping_cupy.plugins.inpainting + :members: + +3. Smooth Filter +------------------------------------------------------------------- +.. automodule:: elevation_mapping_cupy.plugins.smooth_filter + :members: + +4. Robot centric elevation +------------------------------------------------------------------- +.. automodule:: elevation_mapping_cupy.plugins.robot_centric_elevation + :members: + +5. Semantic Filter +------------------------------------------------------------------- +.. automodule:: elevation_mapping_cupy.plugins.semantic_filter + :members: + +6. Semantic traversability +------------------------------------------------------------------- +.. automodule:: elevation_mapping_cupy.plugins.semantic_traversability + :members: + +7. Features PCA +------------------------------------------------------------------- +.. automodule:: elevation_mapping_cupy.plugins.features_pca + :members: \ No newline at end of file diff --git a/sensor_processing/semantic_sensor/config/sensor_parameter.yaml b/sensor_processing/semantic_sensor/config/sensor_parameter.yaml index c497564c..81fde9b1 100644 --- a/sensor_processing/semantic_sensor/config/sensor_parameter.yaml +++ b/sensor_processing/semantic_sensor/config/sensor_parameter.yaml @@ -1,33 +1,3 @@ -# subscribers: -# # sensor_name: -# # channels: ['feat_0','feat_1'] -# # fusion: ['average','average'] -# # topic_name: '/elevation_mapping/pointcloud_semantic' -# front_cam: -# channels: [ 'rgb' ] #'feat_0','feat_1','person','grass'] -# fusion: [ 'color' ] #'average','average','class_average','class_average'] -# topic_name: '/elvation_mapping/pointcloud_semantic' -# semantic_segmentation: False -# segmentation_model: 'detectron_coco_panoptic_fpn_R_101_3x' -# publish_segmentation_image: True -# feature_extractor: False -# feature_config: -# name: 'DINO' -# interpolation: 'bilinear' -# model: "vit_small" -# patch_size: 16 -# dim: 5 -# dropout: False -# dino_feat_type: "feat" -# input_size: [ 80, 160 ] -# projection_type: "nonlinear" - -# cam_info_topic: "/zed2i/zed_node/depth/camera_info" -# image_topic: "/zed2i/zed_node/left/image_rect_color" -# depth_topic: "/zed2i/zed_node/depth/depth_registered" -# cam_frame: "zed2i_right_camera_optical_frame" -# confidence_topic: "/zed2i/zed_node/confidence/confidence_map" -# confidence_threshold: 10 front_cam_pointcloud: channels: ['rgb', 'chair','sofa',"person" ] fusion: ['color','class_average','class_average','class_average'] From c11991839121a92c67f13d91d512d53bb41298da Mon Sep 17 00:00:00 2001 From: Takahiro Date: Wed, 6 Dec 2023 11:17:01 +0100 Subject: [PATCH 383/504] Modified the readme. --- README.md | 144 ++++++++++++++++++++++++++++++++++++++++++------------ 1 file changed, 113 insertions(+), 31 deletions(-) diff --git a/README.md b/README.md index 3b86f5dd..07a4c7b5 100644 --- a/README.md +++ b/README.md @@ -2,58 +2,140 @@ ![python tests](https://github.com/leggedrobotics/elevation_mapping_semantic_cupy/actions/workflows/python-tests.yml/badge.svg) +[Documentation](https://leggedrobotics.github.io/elevation_mapping_cupy/) + + +## Overview + +The Elevaton Mapping CuPy software package represents an advancement in robotic navigation and locomotion. +Integrating with the Robot Operating System (ROS) and utilizing GPU acceleration, this framework enhances point cloud registration and ray casting, +crucial for efficient and accurate robotic movement, particularly in legged robots. +![screenshot](doc/media/main_repo.png) +![screenshot](doc/media/main_mem.png) +![gif](doc/media/convex_approximation.gif) + +## Key Features + +- **Height Drift Compensation**: Tackles state estimation drifts that can create mapping artifacts, ensuring more accurate terrain representation. + +- **Visibility Cleanup and Artifact Removal**: Raycasting methods and an exclusion zone feature are designed to remove virtual artifacts and correctly interpret overhanging obstacles, preventing misidentification as walls. + +- **Learning-based Traversability Filter**: Assesses terrain traversability using local geometry, improving path planning and navigation. + +- **Versatile Locomotion Tools**: Incorporates smoothing filters and plane segmentation, optimizing movement across various terrains. + +- **Multi-Modal Elevation Map (MEM) Framework**: Allows seamless integration of diverse data like geometry, semantics, and RGB information, enhancing multi-modal robotic perception. + +- **GPU-Enhanced Efficiency**: Facilitates rapid processing of large data structures, crucial for real-time applications. + ## Overview -This is a ROS package for elevation mapping on GPU. The elevation mapping code is written in python and uses cupy for -GPU computation. The -plane segmentation is done independently and runs on CPU. When the plane segmentation is generated, local convex -approximations of the -terrain can be efficiently generated. -![screenshot](doc/main_repo.png) -![gif](doc/convex_approximation.gif) +![Overview of multi-modal elevation map structure](doc/media/overview.png) + +Overview of our multi-modal elevation map structure. The framework takes multi-modal images (purple) and multi-modal (blue) point clouds as +input. This data is input into the elevation map by first associating the data to the cells and then fused with different fusion algorithms into the various +layers of the map. Finally the map can be post-processed with various custom plugins to generate new layers (e.g. traversability) or process layer for +external components (e.g. line detection). ## Citing +If you use the Elevation Mapping CuPy, please cite the following paper: +Elevation Mapping for Locomotion and Navigation using GPU + +[Elevation Mapping for Locomotion and Navigation using GPU](https://arxiv.org/abs/2204.12876) -> Takahiro Miki, Lorenz Wellhausen, Ruben Grandia, Fabian Jenelten, Timon Homberger, Marco Hutter -> Elevation Mapping for Locomotion and Navigation using GPU [arXiv](https://arxiv.org/abs/2204.12876) +Takahiro Miki, Lorenz Wellhausen, Ruben Grandia, Fabian Jenelten, Timon Homberger, Marco Hutter +```bibtex +@misc{mikielevation2022, + doi = {10.48550/ARXIV.2204.12876}, + author = {Miki, Takahiro and Wellhausen, Lorenz and Grandia, Ruben and Jenelten, Fabian and Homberger, Timon and Hutter, Marco}, + keywords = {Robotics (cs.RO), FOS: Computer and information sciences, FOS: Computer and information sciences}, + title = {Elevation Mapping for Locomotion and Navigation using GPU}, + publisher = {International Conference on Intelligent Robots and Systems (IROS)}, + year = {2022}, +} ``` -@misc{https://doi.org/10.48550/arxiv.2204.12876, - doi = {10.48550/ARXIV.2204.12876}, - url = {https://arxiv.org/abs/2204.12876}, - author = {Miki, Takahiro and Wellhausen, Lorenz and Grandia, Ruben and Jenelten, Fabian and Homberger, Timon and Hutter, Marco}, - keywords = {Robotics (cs.RO), FOS: Computer and information sciences, FOS: Computer and information sciences}, - title = {Elevation Mapping for Locomotion and Navigation using GPU}, - publisher = {arXiv}, - year = {2022}, - copyright = {arXiv.org perpetual, non-exclusive license} + +If you use the Multi-modal Elevation Mapping for color or semantic layers, please cite the following paper: + +[MEM: Multi-Modal Elevation Mapping for Robotics and Learning](https://arxiv.org/abs/2309.16818v1) + +Gian Erni, Jonas Frey, Takahiro Miki, Matias Mattamala, Marco Hutter + +```bibtex +@misc{Erni2023-bs, + title = "{MEM}: {Multi-Modal} Elevation Mapping for Robotics and Learning", + author = "Erni, Gian and Frey, Jonas and Miki, Takahiro and Mattamala, Matias and Hutter, Marco", + publisher = {International Conference on Intelligent Robots and Systems (IROS)}, + year = {2023}, } ``` ## Quick instructions to run: -For the lonomy bag: +### Installation -CPP wrapper: +First, clone to your catkin_ws ```zsh - roslaunch elevation_mapping_cupy lonomy_semantic_elevation_single.launch use_sim_true:=true - rosbag play --clock ~/bags/good_working_wine_field_zed_topcom_rtk_person_9_2022-07-15-14-37-05.bag +mkdir -p catkin_ws/src +cd catkin_ws/src +git clone https://github.com/leggedrobotics/elevation_mapping_cupy.git ``` -Python wrapper: +Then install dependencies. +You can also use docker which already install all dependencies. -````zsh - python -m elevation_mapping_cupy.elevation_mapping_ros - roslaunch elevation_mapping_cupy pointcloud.launch use_sim_time:=true - rosbag play --clock ~/bags/good_working_wine_field_zed_topcom_rtk_person_9_2022-07-15-14-37-05.bag -```` +```zsh +cd docker +./build.sh +./run.sh +``` -For the anymal bag: +### Build package +Inside docker container. ```zsh - roslaunch elevation_mapping_cupy anymal_semantic_elevation_single.launch use_sim_time:=true - rosbag play --clock ~/bags/anymal_coyote_2022-12-11-20-01-46.bag +cd $HOME/catkin_ws +catkin build elevation_mapping_cupy +``` + +### Run turtlebot example. +![Elevation map examples](doc/media/turtlebot.png) + +```bash +export TURTLEBOT3_MODEL=waffle +roslaunch elevation_mapping_cupy turtlesim_simple_example.launch +``` + +For fusing semantics into the map such as rgb from a multi modal pointcloud: + +```bash +export TURTLEBOT3_MODEL=waffle +roslaunch elevation_mapping_cupy turtlesim_semantic_pointcloud_example.launch ``` +For fusing semantics into the map such as rgb semantics or features from an image: + +```bash +export TURTLEBOT3_MODEL=waffle +roslaunch elevation_mapping_cupy turtlesim_semantic_image_example.launch +``` + +For plane segmentation: + +```bash +catkin build convex_plane_decomposition_ros +export TURTLEBOT3_MODEL=waffle +roslaunch elevation_mapping_cupy turtlesim_plane_decomposition_example.launch +``` + +To control the robot with a keyboard, a new terminal window needs to be opened. +Then run + +```bash +export TURTLEBOT3_MODEL=waffle +roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch +``` +Velocity inputs can be sent to the robot by pressing the keys `a`, `w`, `d`, `x`. To stop the robot completely, press `s`. From 9742a25b94c30a954c3cd0bcd0dbc17f32a340af Mon Sep 17 00:00:00 2001 From: Takahiro Date: Wed, 6 Dec 2023 12:19:08 +0100 Subject: [PATCH 384/504] Applied black formatting. --- .../elevation_mapping.py | 50 ++++----------- .../fusion/image_color.py | 4 +- .../fusion/image_exponential.py | 5 +- .../fusion/pointcloud_average.py | 18 ++---- .../fusion/pointcloud_bayesian_inference.py | 25 ++------ .../fusion/pointcloud_class_average.py | 24 ++----- .../fusion/pointcloud_class_bayesian.py | 10 +-- .../fusion/pointcloud_class_max.py | 20 ++---- .../fusion/pointcloud_color.py | 16 ++--- .../kernels/custom_kernels.py | 2 +- .../kernels/custom_semantic_kernels.py | 36 +++-------- .../elevation_mapping_cupy/parameter.py | 21 ++++--- .../plugins/features_pca.py | 12 ++-- .../plugins/inpainting.py | 5 +- .../plugins/min_filter.py | 1 + .../plugins/plugin_manager.py | 15 +---- .../plugins/robot_centric_elevation.py | 7 +-- .../plugins/semantic_filter.py | 16 ++--- .../plugins/semantic_traversability.py | 5 +- .../plugins/smooth_filter.py | 10 +-- .../elevation_mapping_cupy/semantic_map.py | 52 +++++++-------- .../tests/test_plugins.py | 4 +- .../tests/test_semantic_kernels.py | 63 ++++--------------- .../tests/test_semantic_map.py | 41 +++--------- elevation_mapping_cupy/setup.py | 6 +- .../DINO/vision_transformer.py | 45 +++---------- .../script/semantic_sensor/image_node.py | 12 +++- .../semantic_sensor/image_parameters.py | 2 +- .../script/semantic_sensor/networks.py | 30 ++++----- .../script/semantic_sensor/pointcloud_node.py | 18 +----- .../semantic_sensor/pointcloud_parameters.py | 8 +-- .../semantic_sensor/tests/test_pointcloud.py | 42 ++----------- .../semantic_sensor/tests/test_utils.py | 5 +- sensor_processing/semantic_sensor/setup.py | 9 +-- 34 files changed, 166 insertions(+), 473 deletions(-) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py index 42c81c04..0ff32d9a 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py @@ -228,10 +228,7 @@ def shift_map_z(self, delta_z): def compile_kernels(self): """Compile all kernels belonging to the elevation map.""" - self.new_map = cp.zeros( - (self.elevation_map.shape[0], self.cell_n, self.cell_n), - dtype=self.data_type, - ) + self.new_map = cp.zeros((self.elevation_map.shape[0], self.cell_n, self.cell_n), dtype=self.data_type,) self.traversability_input = cp.zeros((self.cell_n, self.cell_n), dtype=self.data_type) self.traversability_mask_dummy = cp.zeros((self.cell_n, self.cell_n), dtype=self.data_type) self.min_filtered = cp.zeros((self.cell_n, self.cell_n), dtype=self.data_type) @@ -290,18 +287,14 @@ def compile_image_kernels(self): np.zeros((self.cell_n, self.cell_n), dtype=np.bool_), dtype=np.bool_ ) self.uv_correspondence = cp.asarray( - np.zeros((2, self.cell_n, self.cell_n), dtype=np.float32), - dtype=np.float32, + np.zeros((2, self.cell_n, self.cell_n), dtype=np.float32), dtype=np.float32, ) # self.distance_correspondence = cp.asarray( # np.zeros((self.cell_n, self.cell_n), dtype=np.float32), dtype=np.float32 # ) # TODO tolerance_z_collision add parameter self.image_to_map_correspondence_kernel = image_to_map_correspondence_kernel( - resolution=self.resolution, - width=self.cell_n, - height=self.cell_n, - tolerance_z_collision=0.10, + resolution=self.resolution, width=self.cell_n, height=self.cell_n, tolerance_z_collision=0.10, ) break @@ -529,12 +522,7 @@ def input_image( size=int(self.cell_n * self.cell_n), ) self.semantic_map.update_layers_image( - image, - channels, - self.uv_correspondence, - self.valid_correspondence, - image_height, - image_width, + image, channels, self.uv_correspondence, self.valid_correspondence, image_height, image_width, ) def update_normal(self, dilated_map): @@ -546,10 +534,7 @@ def update_normal(self, dilated_map): with self.map_lock: self.normal_map *= 0.0 self.normal_filter_kernel( - dilated_map, - self.elevation_map[2], - self.normal_map, - size=(self.cell_n * self.cell_n), + dilated_map, self.elevation_map[2], self.normal_map, size=(self.cell_n * self.cell_n), ) def process_map_for_publish(self, input_map, fill_nan=False, add_z=False, xp=cp): @@ -595,9 +580,7 @@ def get_traversability(self): traversability layer """ traversability = cp.where( - (self.elevation_map[2] + self.elevation_map[6]) > 0.5, - self.elevation_map[3].copy(), - cp.nan, + (self.elevation_map[2] + self.elevation_map[6]) > 0.5, self.elevation_map[3].copy(), cp.nan, ) self.traversability_buffer[3:-3, 3:-3] = traversability[3:-3, 3:-3] traversability = self.traversability_buffer[1:-1, 1:-1] @@ -619,8 +602,7 @@ def get_upper_bound(self): """ if self.param.use_only_above_for_upper_bound: valid = cp.logical_or( - cp.logical_and(self.elevation_map[5] > 0.0, self.elevation_map[6] > 0.5), - self.elevation_map[2] > 0.5, + cp.logical_and(self.elevation_map[5] > 0.0, self.elevation_map[6] > 0.5), self.elevation_map[2] > 0.5, ) else: valid = cp.logical_or(self.elevation_map[2] > 0.5, self.elevation_map[6] > 0.5) @@ -636,8 +618,7 @@ def get_is_upper_bound(self): """ if self.param.use_only_above_for_upper_bound: valid = cp.logical_or( - cp.logical_and(self.elevation_map[5] > 0.0, self.elevation_map[6] > 0.5), - self.elevation_map[2] > 0.5, + cp.logical_and(self.elevation_map[5] > 0.0, self.elevation_map[6] > 0.5), self.elevation_map[2] > 0.5, ) else: valid = cp.logical_or(self.elevation_map[2] > 0.5, self.elevation_map[6] > 0.5) @@ -798,11 +779,7 @@ def get_layer(self, name): return_map = self.semantic_map.semantic_map[idx] elif name in self.plugin_manager.layer_names: self.plugin_manager.update_with_name( - name, - self.elevation_map, - self.layer_names, - self.semantic_map, - self.base_rotation, + name, self.elevation_map, self.layer_names, self.semantic_map, self.base_rotation, ) return_map = self.plugin_manager.get_map_with_name(name) else: @@ -848,10 +825,7 @@ def get_polygon_traversability(self, polygon, result): else: t = cp.asarray(0.0, dtype=self.data_type) is_safe, un_polygon = is_traversable( - masked, - self.param.safe_thresh, - self.param.safe_min_thresh, - self.param.max_unsafe_n, + masked, self.param.safe_thresh, self.param.safe_min_thresh, self.param.max_unsafe_n, ) untraversable_polygon_num = 0 if un_polygon is not None: @@ -907,9 +881,7 @@ def initialize_map(self, points, method="cubic"): t = xp.random.rand(3) print(R, t) param = Parameter( - use_chainer=False, - weight_file="../config/weights.dat", - plugin_config_file="../config/plugin_config.yaml", + use_chainer=False, weight_file="../config/weights.dat", plugin_config_file="../config/plugin_config.yaml", ) param.additional_layers = ["rgb", "grass", "tree", "people"] param.fusion_algorithms = ["color", "class_bayesian", "class_bayesian", "class_bayesian"] diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/image_color.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/image_color.py index 8eea8eb2..e4026a13 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/image_color.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/image_color.py @@ -53,9 +53,7 @@ def __init__(self, params, *args, **kwargs): self.resolution = params.resolution self.color_correspondences_to_map_kernel = color_correspondences_to_map_kernel( - resolution=self.resolution, - width=self.cell_n, - height=self.cell_n, + resolution=self.resolution, width=self.cell_n, height=self.cell_n, ) def __call__( diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/image_exponential.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/image_exponential.py index 480b943d..48fa11f8 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/image_exponential.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/image_exponential.py @@ -44,10 +44,7 @@ def __init__(self, params, *args, **kwargs): self.resolution = params.resolution self.exponential_correspondences_to_map_kernel = exponential_correspondences_to_map_kernel( - resolution=self.resolution, - width=self.cell_n, - height=self.cell_n, - alpha=0.7, + resolution=self.resolution, width=self.cell_n, height=self.cell_n, alpha=0.7, ) def __call__( diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_average.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_average.py index a823b258..c4165a54 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_average.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_average.py @@ -6,9 +6,7 @@ def sum_kernel( - resolution, - width, - height, + resolution, width, height, ): """Sums the semantic values of the classes for the exponentiala verage or for the average. @@ -53,8 +51,7 @@ def sum_kernel( def average_kernel( - width, - height, + width, height, ): average_kernel = cp.ElementwiseKernel( in_params="raw V newmap, raw W pcl_chan, raw W map_lay, raw W pcl_channels, raw U new_elmap", @@ -90,15 +87,8 @@ def __init__(self, params, *args, **kwargs): self.name = "pointcloud_average" self.cell_n = params.cell_n self.resolution = params.resolution - self.sum_kernel = sum_kernel( - self.resolution, - self.cell_n, - self.cell_n, - ) - self.average_kernel = average_kernel( - self.cell_n, - self.cell_n, - ) + self.sum_kernel = sum_kernel(self.resolution, self.cell_n, self.cell_n,) + self.average_kernel = average_kernel(self.cell_n, self.cell_n,) def __call__(self, points_all, R, t, pcl_ids, layer_ids, elevation_map, semantic_map, new_map, *args): self.sum_kernel( diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_bayesian_inference.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_bayesian_inference.py index c8da65d9..96f1d1e2 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_bayesian_inference.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_bayesian_inference.py @@ -6,9 +6,7 @@ def sum_compact_kernel( - resolution, - width, - height, + resolution, width, height, ): # input the list of layers, amount of channels can slo be input through kernel sum_compact_kernel = cp.ElementwiseKernel( @@ -43,8 +41,7 @@ def sum_compact_kernel( def bayesian_inference_kernel( - width, - height, + width, height, ): bayesian_inference_kernel = cp.ElementwiseKernel( in_params=" raw W pcl_chan, raw W map_lay, raw W pcl_channels, raw U new_elmap", @@ -91,23 +88,11 @@ def __init__(self, params, *args, **kwargs): self.data_type = params.data_type self.sum_mean = cp.ones( - ( - self.fusion_algorithms.count("bayesian_inference"), - self.cell_n, - self.cell_n, - ), - self.data_type, + (self.fusion_algorithms.count("bayesian_inference"), self.cell_n, self.cell_n,), self.data_type, ) # TODO initialize the variance with a value different than 0 - self.sum_compact_kernel = sum_compact_kernel( - self.resolution, - self.cell_n, - self.cell_n, - ) - self.bayesian_inference_kernel = bayesian_inference_kernel( - self.cell_n, - self.cell_n, - ) + self.sum_compact_kernel = sum_compact_kernel(self.resolution, self.cell_n, self.cell_n,) + self.bayesian_inference_kernel = bayesian_inference_kernel(self.cell_n, self.cell_n,) def __call__(self, points_all, R, t, pcl_ids, layer_ids, elevation_map, semantic_map, new_map, *args): self.sum_mean *= 0 diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_class_average.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_class_average.py index b8ad5cb8..8fa94c13 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_class_average.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_class_average.py @@ -6,9 +6,7 @@ def sum_kernel( - resolution, - width, - height, + resolution, width, height, ): """Sums the semantic values of the classes for the exponentiala verage or for the average. @@ -53,9 +51,7 @@ def sum_kernel( def class_average_kernel( - width, - height, - alpha, + width, height, alpha, ): class_average_kernel = cp.ElementwiseKernel( in_params="raw V newmap, raw W pcl_chan, raw W map_lay, raw W pcl_channels, raw U new_elmap", @@ -85,9 +81,7 @@ def class_average_kernel( } } """ - ).substitute( - alpha=alpha, - ), + ).substitute(alpha=alpha,), name="class_average_kernel", ) return class_average_kernel @@ -102,16 +96,8 @@ def __init__(self, params, *args, **kwargs): self.resolution = params.resolution self.average_weight = params.average_weight - self.sum_kernel = sum_kernel( - self.resolution, - self.cell_n, - self.cell_n, - ) - self.class_average_kernel = class_average_kernel( - self.cell_n, - self.cell_n, - self.average_weight, - ) + self.sum_kernel = sum_kernel(self.resolution, self.cell_n, self.cell_n,) + self.class_average_kernel = class_average_kernel(self.cell_n, self.cell_n, self.average_weight,) def __call__(self, points_all, R, t, pcl_ids, layer_ids, elevation_map, semantic_map, new_map, *args): self.sum_kernel( diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_class_bayesian.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_class_bayesian.py index 6e507194..22869d22 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_class_bayesian.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_class_bayesian.py @@ -6,9 +6,7 @@ def alpha_kernel( - resolution, - width, - height, + resolution, width, height, ): # input the list of layers, amount of channels can slo be input through kernel alpha_kernel = cp.ElementwiseKernel( @@ -55,11 +53,7 @@ def __init__(self, params, *args, **kwargs): self.name = "pointcloud_class_bayesian" self.cell_n = params.cell_n self.resolution = params.resolution - self.alpha_kernel = alpha_kernel( - self.resolution, - self.cell_n, - self.cell_n, - ) + self.alpha_kernel = alpha_kernel(self.resolution, self.cell_n, self.cell_n,) def __call__(self, points_all, R, t, pcl_ids, layer_ids, elevation_map, semantic_map, new_map, *args): self.alpha_kernel( diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_class_max.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_class_max.py index 630c2ae6..728e42fb 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_class_max.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_class_max.py @@ -6,9 +6,7 @@ def sum_max_kernel( - resolution, - width, - height, + resolution, width, height, ): # input the list of layers, amount of channels can slo be input through kernel sum_max_kernel = cp.ElementwiseKernel( @@ -53,11 +51,7 @@ def __init__(self, params, *args, **kwargs): self.resolution = params.resolution self.fusion_algorithms = params.fusion_algorithms - self.sum_max_kernel = sum_max_kernel( - self.resolution, - self.cell_n, - self.cell_n, - ) + self.sum_max_kernel = sum_max_kernel(self.resolution, self.cell_n, self.cell_n,) layer_cnt = self.fusion_algorithms.count("class_max") self.unique_id = cp.array([0]) @@ -88,10 +82,7 @@ def __call__(self, points_all, R, t, pcl_ids, layer_ids, elevation_map, semantic # get all unique ids, where index is the position in the prob_sum and the value in the NN class self.unique_id = cp.unique(cp.concatenate((unique_idm, unique_ida))) # contains the sum of the new measurement probabilities - self.prob_sum = cp.zeros( - (len(self.unique_id), self.cell_n, self.cell_n), - dtype=np.float32, - ) + self.prob_sum = cp.zeros((len(self.unique_id), self.cell_n, self.cell_n), dtype=np.float32,) # transform the index matrix of the classes to the index matrix of the prob_sum pt_id_zero = pt_id.copy() for it, val in enumerate(self.unique_id): @@ -104,10 +95,7 @@ def __call__(self, points_all, R, t, pcl_ids, layer_ids, elevation_map, semantic pt_id_zero, pcl_ids, layer_ids, - cp.array( - [points_all.shape[1], pcl_ids.shape[0], pt_id.shape[1]], - dtype=cp.int32, - ), + cp.array([points_all.shape[1], pcl_ids.shape[0], pt_id.shape[1]], dtype=cp.int32,), self.prob_sum, size=(points_all.shape[0]), ) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_color.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_color.py index 9b7c1b34..801abd95 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_color.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_color.py @@ -6,8 +6,7 @@ def add_color_kernel( - width, - height, + width, height, ): add_color_kernel = cp.ElementwiseKernel( in_params="raw T p, raw U R, raw U t, raw W pcl_chan, raw W map_lay, raw W pcl_channels", @@ -57,8 +56,7 @@ def add_color_kernel( def color_average_kernel( - width, - height, + width, height, ): color_average_kernel = cp.ElementwiseKernel( in_params="raw V color_map, raw W pcl_chan, raw W map_lay, raw W pcl_channels", @@ -123,17 +121,11 @@ def __init__(self, params, *args, **kwargs): self.cell_n = params.cell_n self.resolution = params.resolution - self.add_color_kernel = add_color_kernel( - params.cell_n, - params.cell_n, - ) + self.add_color_kernel = add_color_kernel(params.cell_n, params.cell_n,) self.color_average_kernel = color_average_kernel(self.cell_n, self.cell_n) def __call__(self, points_all, R, t, pcl_ids, layer_ids, elevation_map, semantic_map, new_map, *args): - self.color_map = cp.zeros( - (1 + 3 * layer_ids.shape[0], self.cell_n, self.cell_n), - dtype=cp.uint32, - ) + self.color_map = cp.zeros((1 + 3 * layer_ids.shape[0], self.cell_n, self.cell_n), dtype=cp.uint32,) points_all = points_all.astype(cp.float32) self.add_color_kernel( diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/custom_kernels.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/custom_kernels.py index af874e6a..d7025270 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/custom_kernels.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/custom_kernels.py @@ -265,7 +265,7 @@ def add_points_kernel( mahalanobis_thresh=mahalanobis_thresh, outlier_variance=outlier_variance, wall_num_thresh=wall_num_thresh, - ray_step=resolution / 2**0.5, + ray_step=resolution / 2 ** 0.5, max_ray_length=max_ray_length, cleanup_step=cleanup_step, cleanup_cos_thresh=cleanup_cos_thresh, diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/custom_semantic_kernels.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/custom_semantic_kernels.py index 38910c53..43980321 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/custom_semantic_kernels.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/custom_semantic_kernels.py @@ -3,9 +3,7 @@ def sum_kernel( - resolution, - width, - height, + resolution, width, height, ): """Sums the semantic values of the classes for the exponentiala verage or for the average. @@ -50,9 +48,7 @@ def sum_kernel( def sum_compact_kernel( - resolution, - width, - height, + resolution, width, height, ): # input the list of layers, amount of channels can slo be input through kernel sum_compact_kernel = cp.ElementwiseKernel( @@ -87,9 +83,7 @@ def sum_compact_kernel( def sum_max_kernel( - resolution, - width, - height, + resolution, width, height, ): # input the list of layers, amount of channels can slo be input through kernel sum_max_kernel = cp.ElementwiseKernel( @@ -126,9 +120,7 @@ def sum_max_kernel( def alpha_kernel( - resolution, - width, - height, + resolution, width, height, ): # input the list of layers, amount of channels can slo be input through kernel alpha_kernel = cp.ElementwiseKernel( @@ -169,8 +161,7 @@ def alpha_kernel( def average_kernel( - width, - height, + width, height, ): average_kernel = cp.ElementwiseKernel( in_params="raw V newmap, raw W pcl_chan, raw W map_lay, raw W pcl_channels, raw U new_elmap", @@ -200,8 +191,7 @@ def average_kernel( def bayesian_inference_kernel( - width, - height, + width, height, ): bayesian_inference_kernel = cp.ElementwiseKernel( in_params=" raw W pcl_chan, raw W map_lay, raw W pcl_channels, raw U new_elmap", @@ -237,9 +227,7 @@ def bayesian_inference_kernel( def class_average_kernel( - width, - height, - alpha, + width, height, alpha, ): class_average_kernel = cp.ElementwiseKernel( in_params="raw V newmap, raw W pcl_chan, raw W map_lay, raw W pcl_channels, raw U new_elmap", @@ -269,17 +257,14 @@ def class_average_kernel( } } """ - ).substitute( - alpha=alpha, - ), + ).substitute(alpha=alpha,), name="class_average_kernel", ) return class_average_kernel def add_color_kernel( - width, - height, + width, height, ): add_color_kernel = cp.ElementwiseKernel( in_params="raw T p, raw U R, raw U t, raw W pcl_chan, raw W map_lay, raw W pcl_channels", @@ -329,8 +314,7 @@ def add_color_kernel( def color_average_kernel( - width, - height, + width, height, ): color_average_kernel = cp.ElementwiseKernel( in_params="raw V color_map, raw W pcl_chan, raw W map_lay, raw W pcl_channels", diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py index 88b111ed..e92d0d99 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py @@ -23,15 +23,18 @@ class Parameter(Serializable): } ) additional_layers: list = field(default_factory=lambda: ["color"]) - fusion_algorithms: list = field(default_factory=lambda: [ - "image_color", - "image_exponential", - "pointcloud_average", - "pointcloud_bayesian_inference", - "pointcloud_class_average", - "pointcloud_class_bayesian", - "pointcloud_class_max", - "pointcloud_color"]) + fusion_algorithms: list = field( + default_factory=lambda: [ + "image_color", + "image_exponential", + "pointcloud_average", + "pointcloud_bayesian_inference", + "pointcloud_class_average", + "pointcloud_class_bayesian", + "pointcloud_class_max", + "pointcloud_color", + ] + ) pointcloud_channel_fusions: dict = field(default_factory=lambda: {"rgb": "color", "default": "class_average"}) image_channel_fusions: dict = field(default_factory=lambda: {"rgb": "color", "default": "exponential"}) data_type: str = np.float32 diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/features_pca.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/features_pca.py index 8ea2d54a..94f88823 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/features_pca.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/features_pca.py @@ -19,11 +19,9 @@ class FeaturesPca(PluginBase): classes (ruamel.yaml.comments.CommentedSeq): **kwargs (): """ + def __init__( - self, - cell_n: int = 100, - process_layer_names: List[str]=[], - **kwargs, + self, cell_n: int = 100, process_layer_names: List[str] = [], **kwargs, ): super().__init__() self.process_layer_names = process_layer_names @@ -40,7 +38,6 @@ def get_layer_indices(self, layer_names: List[str]) -> List[int]: if any(re.match(pattern, layer_name) for pattern in self.process_layer_names): indices.append(i) return indices - def __call__( self, @@ -67,8 +64,9 @@ def __call__( """ # get indices of all layers that contain semantic features information data = [] - for m, layer_names in zip([elevation_map, plugin_layers, semantic_map], - [layer_names, plugin_layer_names, semantic_layer_names]): + for m, layer_names in zip( + [elevation_map, plugin_layers, semantic_map], [layer_names, plugin_layer_names, semantic_layer_names] + ): layer_indices = self.get_layer_indices(layer_names) if len(layer_indices) > 0: n_c = m[layer_indices].shape[1] diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/inpainting.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/inpainting.py index 622c0150..3e926b00 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/inpainting.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/inpainting.py @@ -20,6 +20,7 @@ class Inpainting(PluginBase): method (str): The inpainting method. Options are 'telea' or 'ns' (Navier-Stokes). Default is 'telea'. **kwargs (): Additional keyword arguments. """ + def __init__(self, cell_n: int = 100, method: str = "telea", **kwargs): super().__init__() if method == "telea": @@ -54,9 +55,7 @@ def __call__( h = elevation_map[0] h_max = float(h[mask < 1].max()) h_min = float(h[mask < 1].min()) - h = cp.asnumpy((elevation_map[0] - h_min) * 255 / (h_max - h_min)).astype( - "uint8" - ) + h = cp.asnumpy((elevation_map[0] - h_min) * 255 / (h_max - h_min)).astype("uint8") dst = np.array(cv.inpaint(h, mask, 1, self.method)) h_inpainted = dst.astype(np.float32) * (h_max - h_min) / 255 + h_min return cp.asarray(h_inpainted).astype(np.float64) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/min_filter.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/min_filter.py index c685eed6..ebf4300a 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/min_filter.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/min_filter.py @@ -18,6 +18,7 @@ class MinFilter(PluginBase): iteration_n (int): The number of iteration to repeat the same filter. **kwargs (): """ + def __init__(self, cell_n: int = 100, dilation_size: int = 5, iteration_n: int = 5, **kwargs): super().__init__() self.iteration_n = iteration_n diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/plugin_manager.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/plugin_manager.py index 01e3aea8..8ff9fda1 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/plugin_manager.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/plugin_manager.py @@ -152,22 +152,11 @@ def update_with_name( self.layers[idx] = self.plugins[idx](elevation_map, layer_names, self.layers, self.layer_names) elif n_param == 7: self.layers[idx] = self.plugins[idx]( - elevation_map, - layer_names, - self.layers, - self.layer_names, - semantic_map, - semantic_params, + elevation_map, layer_names, self.layers, self.layer_names, semantic_map, semantic_params, ) elif n_param == 8: self.layers[idx] = self.plugins[idx]( - elevation_map, - layer_names, - self.layers, - self.layer_names, - semantic_map, - semantic_params, - rotation, + elevation_map, layer_names, self.layers, self.layer_names, semantic_map, semantic_params, rotation, ) else: self.layers[idx] = self.plugins[idx]( diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/robot_centric_elevation.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/robot_centric_elevation.py index 334085f0..ebb3c6e7 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/robot_centric_elevation.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/robot_centric_elevation.py @@ -14,6 +14,7 @@ class RobotCentricElevation(PluginBase): use_threshold (bool): **kwargs (): """ + def __init__( self, cell_n: int = 100, resolution: float = 0.05, threshold: float = 0.4, use_threshold: bool = 0, **kwargs ): @@ -111,10 +112,6 @@ def __call__( # check that transform is a ndarray self.min_filtered = elevation_map[0].copy() self.base_elevation_kernel( - elevation_map[0], - elevation_map[2], - rotation, - self.min_filtered, - size=(self.width * self.height), + elevation_map[0], elevation_map[2], rotation, self.min_filtered, size=(self.width * self.height), ) return self.min_filtered diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_filter.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_filter.py index 7085f558..0ec56010 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_filter.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_filter.py @@ -18,18 +18,16 @@ class SemanticFilter(PluginBase): classes (list): List of classes for semantic filtering. Default is ["person", "grass"]. **kwargs: Additional keyword arguments. """ + def __init__( - self, - cell_n: int = 100, - classes: list = ["person", "grass"], - **kwargs, + self, cell_n: int = 100, classes: list = ["person", "grass"], **kwargs, ): super().__init__() self.indices = [] self.classes = classes self.color_encoding = self.transform_color() - def color_map(self, N:int =256, normalized: bool=False): + def color_map(self, N: int = 256, normalized: bool = False): """ Creates a color map with N different colors. @@ -40,6 +38,7 @@ def color_map(self, N:int =256, normalized: bool=False): Returns: np.ndarray: The color map. """ + def bitget(byteval, idx): return (byteval & (1 << idx)) != 0 @@ -117,8 +116,9 @@ def __call__( """ # get indices of all layers that contain semantic class information data = [] - for m, layer_names in zip([elevation_map, plugin_layers, semantic_map], - [layer_names, plugin_layer_names, semantic_layer_names]): + for m, layer_names in zip( + [elevation_map, plugin_layers, semantic_map], [layer_names, plugin_layer_names, semantic_layer_names] + ): layer_indices = self.get_layer_indices(layer_names) if len(layer_indices) > 0: data.append(m[layer_indices]) @@ -130,4 +130,4 @@ def __call__( class_map = cp.zeros_like(elevation_map[0]) class_map_id = cp.zeros_like(elevation_map[0], dtype=cp.int32) enc = self.color_encoding[class_map_id] - return enc \ No newline at end of file + return enc diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_traversability.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_traversability.py index 842d3b16..5f6ef1d5 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_traversability.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_traversability.py @@ -19,6 +19,7 @@ class SemanticTraversability(PluginBase): type (list): List of types for each layer. Default is ["traversability"]. **kwargs: Additional keyword arguments. """ + def __init__( self, cell_n: int = 100, @@ -69,9 +70,7 @@ def __call__( idx = plugin_layer_names.index(name) tempo = plugin_layers[idx] else: - print( - "Layer {} is not in the map, returning traversabiltiy!".format(name) - ) + print("Layer {} is not in the map, returning traversabiltiy!".format(name)) return if self.type[it] == "traversability": tempo = cp.where(tempo <= self.thresholds[it], 1, 0) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/smooth_filter.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/smooth_filter.py index f728d557..ae48b688 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/smooth_filter.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/smooth_filter.py @@ -21,9 +21,7 @@ class SmoothFilter(PluginBase): **kwargs: Additional keyword arguments. """ - def __init__( - self, cell_n: int = 100, input_layer_name: str = "elevation", **kwargs - ): + def __init__(self, cell_n: int = 100, input_layer_name: str = "elevation", **kwargs): super().__init__() self.input_layer_name = input_layer_name @@ -54,11 +52,7 @@ def __call__( idx = plugin_layer_names.index(self.input_layer_name) h = plugin_layers[idx] else: - print( - "layer name {} was not found. Using elevation layer.".format( - self.input_layer_name - ) - ) + print("layer name {} was not found. Using elevation layer.".format(self.input_layer_name)) h = elevation_map[0] hs1 = ndimage.uniform_filter(h, size=3) hs1 = ndimage.uniform_filter(hs1, size=3) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py index 1d2eb838..09d1595d 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py @@ -32,13 +32,9 @@ def __init__(self, param: Parameter): self.amount_layer_names = len(self.layer_names) self.semantic_map = xp.zeros( - (self.amount_layer_names, self.param.cell_n, self.param.cell_n), - dtype=param.data_type, - ) - self.new_map = xp.zeros( - (self.amount_layer_names, self.param.cell_n, self.param.cell_n), - param.data_type, + (self.amount_layer_names, self.param.cell_n, self.param.cell_n), dtype=param.data_type, ) + self.new_map = xp.zeros((self.amount_layer_names, self.param.cell_n, self.param.cell_n), param.data_type,) # which layers should be reset to zero at each update, per default everyone, # if a layer should not be reset, it is defined in compile_kernels function self.delete_new_layers = cp.ones(self.new_map.shape[0], cp.bool8) @@ -58,10 +54,7 @@ def initialize_fusion(self): pcl_ids = self.get_layer_indices("class_max", self.layer_specs_points) self.delete_new_layers[pcl_ids] = 0 layer_cnt = self.param.fusion_algorithms.count("class_max") - id_max = cp.zeros( - (layer_cnt, self.param.cell_n, self.param.cell_n), - dtype=cp.uint32, - ) + id_max = cp.zeros((layer_cnt, self.param.cell_n, self.param.cell_n), dtype=cp.uint32,) self.elements_to_shift["id_max"] = id_max self.fusion_manager.register_plugin(fusion) @@ -77,10 +70,7 @@ def update_fusion_setting(self): pcl_ids = self.get_layer_indices("class_max", self.layer_specs_points) self.delete_new_layers[pcl_ids] = 0 layer_cnt = self.param.fusion_algorithms.count("class_max") - id_max = cp.zeros( - (layer_cnt, self.param.cell_n, self.param.cell_n), - dtype=cp.uint32, - ) + id_max = cp.zeros((layer_cnt, self.param.cell_n, self.param.cell_n), dtype=cp.uint32,) self.elements_to_shift["id_max"] = id_max def add_layer(self, name): @@ -98,13 +88,10 @@ def add_layer(self, name): axis=0, ) self.new_map = cp.append( - self.new_map, - cp.zeros((1, self.param.cell_n, self.param.cell_n), dtype=self.param.data_type), - axis=0, + self.new_map, cp.zeros((1, self.param.cell_n, self.param.cell_n), dtype=self.param.data_type), axis=0, ) self.delete_new_layers = cp.append(self.delete_new_layers, cp.array([1], dtype=cp.bool8)) - def pad_value(self, x, shift_value, idx=None, value=0.0): """Create a padding of the map along x,y-axis according to amount that has shifted. @@ -147,7 +134,9 @@ def shift_map_xy(self, shift_value): el = cp.roll(el, shift_value, axis=(1, 2)) self.pad_value(el, shift_value, value=0.0) - def get_fusion(self, channels: List[str], channel_fusions: Dict[str, str], layer_specs: Dict[str, str]) -> List[str]: + def get_fusion( + self, channels: List[str], channel_fusions: Dict[str, str], layer_specs: Dict[str, str] + ) -> List[str]: """Get all fusion algorithms that need to be applied to a specific pointcloud. Args: @@ -156,18 +145,22 @@ def get_fusion(self, channels: List[str], channel_fusions: Dict[str, str], layer fusion_list = [] process_channels = [] for channel in channels: - if channel not in layer_specs: + if channel not in layer_specs: # If the channel is not in the layer_specs, we use the default fusion algorithm matched_fusion = self.get_matching_fusion(channel, channel_fusions) if matched_fusion is None: if "default" in channel_fusions: default_fusion = channel_fusions["default"] - print(f"[WARNING] Layer {channel} not found in layer_specs. Using {default_fusion} algorithm as default.") + print( + f"[WARNING] Layer {channel} not found in layer_specs. Using {default_fusion} algorithm as default." + ) layer_specs[channel] = default_fusion self.update_fusion_setting() # If there's no default fusion algorithm, we skip this channel else: - print(f"[WARNING] Layer {channel} not found in layer_specs ({layer_specs}) and no default fusion is configured. Skipping.") + print( + f"[WARNING] Layer {channel} not found in layer_specs ({layer_specs}) and no default fusion is configured. Skipping." + ) continue else: layer_specs[channel] = matched_fusion @@ -177,7 +170,6 @@ def get_fusion(self, channels: List[str], channel_fusions: Dict[str, str], layer process_channels.append(channel) return process_channels, fusion_list - def get_matching_fusion(self, channel: str, fusion_algs: Dict[str, str]): """ Use regular expression to check if the fusion algorithm matches the channel name.""" for fusion_alg, alg_value in fusion_algs.items(): @@ -185,7 +177,6 @@ def get_matching_fusion(self, channel: str, fusion_algs: Dict[str, str]): return alg_value return None - def get_layer_indices(self, fusion_alg, layer_specs): """Get the indices of the layers that are used for a specific fusion algorithm. @@ -216,10 +207,7 @@ def get_indices_fusion(self, pcl_channels: List[str], fusion_alg: str, layer_spe # this contains exactly the fusion alg type for each channel of the pcl pcl_val_list = [layer_specs[x] for x in pcl_channels] # this contains the indices of the point cloud where we have to perform a certain fusion - pcl_indices = cp.array( - [idp + 3 for idp, x in enumerate(pcl_val_list) if x == fusion_alg], - dtype=cp.int32, - ) + pcl_indices = cp.array([idp + 3 for idp, x in enumerate(pcl_val_list) if x == fusion_alg], dtype=cp.int32,) # create a list of indices of the layers that will be updated by the point cloud with specific fusion alg layer_indices = cp.array([], dtype=cp.int32) for it, (key, val) in enumerate(layer_specs.items()): @@ -238,7 +226,9 @@ def update_layers_pointcloud(self, points_all, channels, R, t, elevation_map): t: translation vector elevation_map: elevation map object """ - process_channels, additional_fusion = self.get_fusion(channels, self.param.pointcloud_channel_fusions, self.layer_specs_points) + process_channels, additional_fusion = self.get_fusion( + channels, self.param.pointcloud_channel_fusions, self.layer_specs_points + ) # If channels has a new layer that is not in the semantic map, add it for channel in process_channels: if channel not in self.layer_names: @@ -286,7 +276,9 @@ def update_layers_image( image_width: """ - process_channels, fusion_methods = self.get_fusion(channels, self.param.image_channel_fusions, self.layer_specs_image) + process_channels, fusion_methods = self.get_fusion( + channels, self.param.image_channel_fusions, self.layer_specs_image + ) self.new_map[self.delete_new_layers] = 0.0 for j, (fusion, channel) in enumerate(zip(fusion_methods, process_channels)): if channel not in self.layer_names: diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_plugins.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_plugins.py index 7c1dc945..f3e8cc1c 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_plugins.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_plugins.py @@ -10,9 +10,7 @@ @pytest.fixture() def semmap_ex(add_lay, fusion_alg): p = parameter.Parameter( - use_chainer=False, - weight_file="../../../config/weights.dat", - plugin_config_file=plugin_path, + use_chainer=False, weight_file="../../../config/weights.dat", plugin_config_file=plugin_path, ) p.subscriber_cfg["front_cam"]["channels"] = add_lay p.subscriber_cfg["front_cam"]["fusion"] = fusion_alg diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_semantic_kernels.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_semantic_kernels.py index ed7eb85c..590946eb 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_semantic_kernels.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_semantic_kernels.py @@ -4,9 +4,7 @@ from elevation_mapping_cupy.parameter import Parameter -from elevation_mapping_cupy.kernels import ( - add_points_kernel, -) +from elevation_mapping_cupy.kernels import add_points_kernel from elevation_mapping_cupy.kernels import ( average_kernel, class_average_kernel, @@ -34,17 +32,11 @@ def test_color_kernel(): semantic_map = cp.zeros((1, 4, 4), dtype=cp.float32) # compile kernel - add_color_kernel_ = add_color_kernel( - cell_n, - cell_n, - ) + add_color_kernel_ = add_color_kernel(cell_n, cell_n,) color_average_kernel_ = color_average_kernel(cell_n, cell_n) # updatelayer - color_map = cp.zeros( - (1 + 3 * layer_ids.shape[0], cell_n, cell_n), - dtype=cp.uint32, - ) + color_map = cp.zeros((1 + 3 * layer_ids.shape[0], cell_n, cell_n), dtype=cp.uint32,) points_all = points_all.astype(cp.float32) add_color_kernel_( @@ -91,11 +83,7 @@ def test_sum_kernel(map_shape, points_all, pcl_ids, layer_ids): R = cp.eye(3, dtype=cp.float32) t = cp.array([0, 0, 0], dtype=cp.float32) # compile kernel - sum_kernel_ = sum_kernel( - 0.9, - 4, - 4, - ) + sum_kernel_ = sum_kernel(0.9, 4, 4,) # simulating adding the points print("idx, valid, inside, values") points_all[:, 0] = 1 @@ -138,10 +126,7 @@ def test_average_kernel(map_shape, points_all, pcl_ids, layer_ids): R = cp.eye(3, dtype=cp.float32) t = cp.array([0, 0, 0], dtype=cp.float32) # compile kernel - average_kernel_ = average_kernel( - 4, - 4, - ) + average_kernel_ = average_kernel(4, 4,) cell_n = 4 print("new_map", new_map) print("semantic_map", semantic_map) @@ -184,23 +169,9 @@ def test_bayesian_inference_kernel(map_shape, points_all, pcl_ids, layer_ids): t = cp.array([0, 0, 0], dtype=cp.float32) # compile kernel - sum_mean = cp.ones( - ( - pcl_ids.shape[0], - cell_n, - cell_n, - ), - cp.float32, - ) - sum_compact_kernel_ = sum_compact_kernel( - resolution, - cell_n, - cell_n, - ) - bayesian_inference_kernel_ = bayesian_inference_kernel( - cell_n, - cell_n, - ) + sum_mean = cp.ones((pcl_ids.shape[0], cell_n, cell_n,), cp.float32,) + sum_compact_kernel_ = sum_compact_kernel(resolution, cell_n, cell_n,) + bayesian_inference_kernel_ = bayesian_inference_kernel(cell_n, cell_n,) # updatelayer sum_mean *= 0 sum_compact_kernel_( @@ -251,16 +222,8 @@ def test_class_average_kernel(map_shape, points_all, pcl_ids, layer_ids): R = cp.eye(3, dtype=cp.float32) t = cp.array([0, 0, 0], dtype=cp.float32) # compile kernel - sum_kernel_ = sum_kernel( - 0.9, - 4, - 4, - ) - class_average_kernel_ = class_average_kernel( - cell_n, - cell_n, - average_weight, - ) + sum_kernel_ = sum_kernel(0.9, 4, 4,) + class_average_kernel_ = class_average_kernel(cell_n, cell_n, average_weight,) print("x,y,z,class") print("points all after ", points_all) @@ -320,11 +283,7 @@ def test_class_bayesian_inference_fct(map_shape, points_all, pcl_ids, layer_ids) R = cp.eye(3, dtype=cp.float32) t = cp.array([0, 0, 0], dtype=cp.float32) # compile kernel - alpha_kernel_ = alpha_kernel( - resolution, - cell_n, - cell_n, - ) + alpha_kernel_ = alpha_kernel(resolution, cell_n, cell_n,) # simulating adding the points print("idx, valid, inside, values") points_all[:, 0] = 1 diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_semantic_map.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_semantic_map.py index f38bc73e..95966bc4 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_semantic_map.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_semantic_map.py @@ -24,36 +24,12 @@ def semmap_ex(sem_lay, fusion_alg): [ (["feat_0", "feat_1"], ["average", "average"], ["feat_0"]), (["feat_0", "feat_1"], ["average", "average"], []), - ( - ["feat_0", "feat_1", "rgb"], - ["average", "average", "color"], - ["rgb", "feat_0"], - ), - ( - ["feat_0", "feat_1", "rgb"], - ["class_average", "average", "color"], - ["rgb", "feat_0"], - ), - ( - ["feat_0", "feat_1", "rgb"], - ["class_bayesian", "average", "color"], - ["rgb", "feat_0"], - ), - ( - ["feat_0", "feat_1", "rgb"], - ["class_bayesian", "average", "color"], - ["rgb", "feat_0", "feat_1"], - ), - ( - ["feat_0", "feat_1", "rgb"], - ["class_bayesian", "class_max", "color"], - ["rgb", "feat_0", "feat_1"], - ), - ( - ["max1", "max2", "rgb"], - ["class_max", "class_max", "color"], - ["rgb", "max1", "max2"], - ), + (["feat_0", "feat_1", "rgb"], ["average", "average", "color"], ["rgb", "feat_0"],), + (["feat_0", "feat_1", "rgb"], ["class_average", "average", "color"], ["rgb", "feat_0"],), + (["feat_0", "feat_1", "rgb"], ["class_bayesian", "average", "color"], ["rgb", "feat_0"],), + (["feat_0", "feat_1", "rgb"], ["class_bayesian", "average", "color"], ["rgb", "feat_0", "feat_1"],), + (["feat_0", "feat_1", "rgb"], ["class_bayesian", "class_max", "color"], ["rgb", "feat_0", "feat_1"],), + (["max1", "max2", "rgb"], ["class_max", "class_max", "color"], ["rgb", "max1", "max2"],), ], ) def test_fusion_of_pcl(semmap_ex, channels): @@ -64,10 +40,7 @@ def test_fusion_of_pcl(semmap_ex, channels): @pytest.mark.parametrize( - "sem_lay, fusion_alg", - [ - (["feat_0", "feat_1", "rgb"], ["average", "average", "color"]), - ], + "sem_lay, fusion_alg", [(["feat_0", "feat_1", "rgb"], ["average", "average", "color"]),], ) @pytest.mark.parametrize("channels", [["rgb"], ["rgb", "feat_0"], []]) def test_indices_fusion(semmap_ex, channels, fusion_alg): diff --git a/elevation_mapping_cupy/setup.py b/elevation_mapping_cupy/setup.py index f225f03a..8d5a2492 100644 --- a/elevation_mapping_cupy/setup.py +++ b/elevation_mapping_cupy/setup.py @@ -2,11 +2,7 @@ from catkin_pkg.python_setup import generate_distutils_setup setup_args = generate_distutils_setup( - packages=[ - "elevation_mapping_cupy", - "elevation_mapping_cupy.plugins", - ], - package_dir={"": "script"}, + packages=["elevation_mapping_cupy", "elevation_mapping_cupy.plugins",], package_dir={"": "script"}, ) setup(**setup_args) diff --git a/sensor_processing/semantic_sensor/script/semantic_sensor/DINO/vision_transformer.py b/sensor_processing/semantic_sensor/script/semantic_sensor/DINO/vision_transformer.py index 711c5b4e..53abd17a 100644 --- a/sensor_processing/semantic_sensor/script/semantic_sensor/DINO/vision_transformer.py +++ b/sensor_processing/semantic_sensor/script/semantic_sensor/DINO/vision_transformer.py @@ -34,12 +34,7 @@ def forward(self, x): class Mlp(nn.Module): def __init__( - self, - in_features, - hidden_features=None, - out_features=None, - act_layer=nn.GELU, - drop=0.0, + self, in_features, hidden_features=None, out_features=None, act_layer=nn.GELU, drop=0.0, ): super().__init__() out_features = out_features or in_features @@ -60,13 +55,7 @@ def forward(self, x): class Attention(nn.Module): def __init__( - self, - dim, - num_heads=8, - qkv_bias=False, - qk_scale=None, - attn_drop=0.0, - proj_drop=0.0, + self, dim, num_heads=8, qkv_bias=False, qk_scale=None, attn_drop=0.0, proj_drop=0.0, ): super().__init__() # number of attention heads @@ -74,7 +63,7 @@ def __init__( # dimension of each head head_dim = dim // num_heads # scale factor for the attention scores - self.scale = qk_scale or head_dim**-0.5 + self.scale = qk_scale or head_dim ** -0.5 # linear layer to project the input to 3 times the dimension self.qkv = nn.Linear(dim, dim * 3, bias=qkv_bias) @@ -127,22 +116,12 @@ def __init__( super().__init__() self.norm1 = norm_layer(dim) self.attn = Attention( - dim, - num_heads=num_heads, - qkv_bias=qkv_bias, - qk_scale=qk_scale, - attn_drop=attn_drop, - proj_drop=drop, + dim, num_heads=num_heads, qkv_bias=qkv_bias, qk_scale=qk_scale, attn_drop=attn_drop, proj_drop=drop, ) self.drop_path = DropPath(drop_path) if drop_path > 0.0 else nn.Identity() self.norm2 = norm_layer(dim) mlp_hidden_dim = int(dim * mlp_ratio) - self.mlp = Mlp( - in_features=dim, - hidden_features=mlp_hidden_dim, - act_layer=act_layer, - drop=drop, - ) + self.mlp = Mlp(in_features=dim, hidden_features=mlp_hidden_dim, act_layer=act_layer, drop=drop,) def forward(self, x, return_attention=False, return_qkv=False): y, attn, qkv = self.attn(self.norm1(x)) @@ -199,10 +178,7 @@ def __init__( self.num_features = self.embed_dim = embed_dim self.patch_embed = PatchEmbed( - img_size=img_size[0], - patch_size=patch_size, - in_chans=in_chans, - embed_dim=embed_dim, + img_size=img_size[0], patch_size=patch_size, in_chans=in_chans, embed_dim=embed_dim, ) num_patches = self.patch_embed.num_patches @@ -372,14 +348,7 @@ def vit_base(patch_size=16, **kwargs): class DINOHead(nn.Module): def __init__( - self, - in_dim, - out_dim, - use_bn=False, - norm_last_layer=True, - nlayers=3, - hidden_dim=2048, - bottleneck_dim=256, + self, in_dim, out_dim, use_bn=False, norm_last_layer=True, nlayers=3, hidden_dim=2048, bottleneck_dim=256, ): super().__init__() nlayers = max(nlayers, 1) diff --git a/sensor_processing/semantic_sensor/script/semantic_sensor/image_node.py b/sensor_processing/semantic_sensor/script/semantic_sensor/image_node.py index d59840ba..e64991f1 100755 --- a/sensor_processing/semantic_sensor/script/semantic_sensor/image_node.py +++ b/sensor_processing/semantic_sensor/script/semantic_sensor/image_node.py @@ -73,7 +73,9 @@ def register_sub_pub(self): # subscribers if self.param.camera_info_topic is not None and self.param.resize is not None: rospy.Subscriber(self.param.camera_info_topic, CameraInfo, self.image_info_callback) - self.feat_im_info_pub = rospy.Publisher(node_name + "/" + self.param.camera_info_topic + "_resized", CameraInfo, queue_size=2) + self.feat_im_info_pub = rospy.Publisher( + node_name + "/" + self.param.camera_info_topic + "_resized", CameraInfo, queue_size=2 + ) if "compressed" in self.param.image_topic: self.compressed = True @@ -94,9 +96,13 @@ def register_sub_pub(self): if self.param.feature_extractor: self.feature_pub = rospy.Publisher(node_name + "/" + self.param.feature_topic, Image, queue_size=2) self.feat_im_pub = rospy.Publisher(node_name + "/" + self.param.feat_image_topic, Image, queue_size=2) - self.feat_channel_info_pub = rospy.Publisher(node_name + "/" + self.param.feat_channel_info_topic, ChannelInfo, queue_size=2) + self.feat_channel_info_pub = rospy.Publisher( + node_name + "/" + self.param.feat_channel_info_topic, ChannelInfo, queue_size=2 + ) - self.channel_info_pub = rospy.Publisher(node_name + "/" + self.param.channel_info_topic, ChannelInfo, queue_size=2) + self.channel_info_pub = rospy.Publisher( + node_name + "/" + self.param.channel_info_topic, ChannelInfo, queue_size=2 + ) def color_map(self, N=256, normalized=False): """Create a color map for the class labels. diff --git a/sensor_processing/semantic_sensor/script/semantic_sensor/image_parameters.py b/sensor_processing/semantic_sensor/script/semantic_sensor/image_parameters.py index aacb152c..6ad67027 100644 --- a/sensor_processing/semantic_sensor/script/semantic_sensor/image_parameters.py +++ b/sensor_processing/semantic_sensor/script/semantic_sensor/image_parameters.py @@ -39,4 +39,4 @@ class ImageParameter(Serializable): feat_image_topic: str = "semantic_seg_feat_im" feat_channel_info_topic: str = "feat_channel_info" resize: float = None - camera_info_topic: str = "camera_info" \ No newline at end of file + camera_info_topic: str = "camera_info" diff --git a/sensor_processing/semantic_sensor/script/semantic_sensor/networks.py b/sensor_processing/semantic_sensor/script/semantic_sensor/networks.py index 0c666a3e..e64b4497 100644 --- a/sensor_processing/semantic_sensor/script/semantic_sensor/networks.py +++ b/sensor_processing/semantic_sensor/script/semantic_sensor/networks.py @@ -106,8 +106,7 @@ def resolve_categories(self): # get all classes class_to_idx = {cls: idx for (idx, cls) in enumerate(self.get_classes())} print( - "Semantic Segmentation possible channels: ", - self.get_classes(), + "Semantic Segmentation possible channels: ", self.get_classes(), ) indices = [] channels = [] @@ -124,14 +123,14 @@ def resolve_categories(self): # print(chan, " is not in the semantic segmentation model.") # for it, chan in enumerate(self.param.channels): # self.actual_channels.append(chan) - # if self.param.fusion_methods[it] in ["class_max"]: - # self.actual_channels.append(chan) - # print( - # chan, - # " is not in the semantic segmentation model but is a max channel.", - # ) - # else: - # pass + # if self.param.fusion_methods[it] in ["class_max"]: + # self.actual_channels.append(chan) + # print( + # chan, + # " is not in the semantic segmentation model but is a max channel.", + # ) + # else: + # pass self.stuff_categories = dict(zip(channels, indices)) self.segmentation_channels = dict(zip(channels, indices)) @@ -204,8 +203,7 @@ def resolve_categories(self, name): classes = self.get_category(name) class_to_idx = {cls: idx for (idx, cls) in enumerate(classes)} print( - "Semantic Segmentation possible channels: ", - classes, + "Semantic Segmentation possible channels: ", classes, ) indices = [] channels = [] @@ -227,13 +225,7 @@ def __call__(self, image, *args, **kwargs): image = cp.flip(image, axis=2) prediction = self.predictor(image.get()) probabilities = cp.asarray(torch.softmax(prediction["sem_seg"], dim=0)) - output = cp.zeros( - ( - len(self.segmentation_channels), - probabilities.shape[1], - probabilities.shape[2], - ) - ) + output = cp.zeros((len(self.segmentation_channels), probabilities.shape[1], probabilities.shape[2],)) # add semseg output[cp.array(list(self.is_stuff.values()))] = probabilities[list(self.stuff_categories.values())] # add instances diff --git a/sensor_processing/semantic_sensor/script/semantic_sensor/pointcloud_node.py b/sensor_processing/semantic_sensor/script/semantic_sensor/pointcloud_node.py index 597cc080..a713f312 100755 --- a/sensor_processing/semantic_sensor/script/semantic_sensor/pointcloud_node.py +++ b/sensor_processing/semantic_sensor/script/semantic_sensor/pointcloud_node.py @@ -3,6 +3,7 @@ import numpy as np import cupy as cp + np.float = np.float64 # temp fix for following import suggested at https://github.com/eric-wieser/ros_numpy/issues/37 import ros_numpy import matplotlib.pyplot as plt @@ -88,23 +89,10 @@ def register_sub_pub(self): if self.param.confidence: confidence_sub = message_filters.Subscriber(self.param.confidence_topic, Image) ts = message_filters.ApproximateTimeSynchronizer( - [ - depth_sub, - rgb_sub, - confidence_sub, - ], - queue_size=10, - slop=0.5, + [depth_sub, rgb_sub, confidence_sub,], queue_size=10, slop=0.5, ) else: - ts = message_filters.ApproximateTimeSynchronizer( - [ - depth_sub, - rgb_sub, - ], - queue_size=10, - slop=0.5, - ) + ts = message_filters.ApproximateTimeSynchronizer([depth_sub, rgb_sub,], queue_size=10, slop=0.5,) ts.registerCallback(self.image_callback) self.pcl_pub = rospy.Publisher(self.param.topic_name, PointCloud2, queue_size=2) diff --git a/sensor_processing/semantic_sensor/script/semantic_sensor/pointcloud_parameters.py b/sensor_processing/semantic_sensor/script/semantic_sensor/pointcloud_parameters.py index dfb81228..a4837c67 100644 --- a/sensor_processing/semantic_sensor/script/semantic_sensor/pointcloud_parameters.py +++ b/sensor_processing/semantic_sensor/script/semantic_sensor/pointcloud_parameters.py @@ -23,13 +23,7 @@ class PointcloudParameter(Serializable): topic_name: str = "/elvation_mapping/pointcloud_semantic" channels: list = field(default_factory=lambda: ["rgb", "person", "grass", "tree", "max"]) fusion: list = field( - default_factory=lambda: [ - "color", - "class_average", - "class_average", - "class_average", - "class_max", - ] + default_factory=lambda: ["color", "class_average", "class_average", "class_average", "class_max",] ) semantic_segmentation: bool = False diff --git a/sensor_processing/semantic_sensor/script/semantic_sensor/tests/test_pointcloud.py b/sensor_processing/semantic_sensor/script/semantic_sensor/tests/test_pointcloud.py index 544c2eeb..724b6b51 100644 --- a/sensor_processing/semantic_sensor/script/semantic_sensor/tests/test_pointcloud.py +++ b/sensor_processing/semantic_sensor/script/semantic_sensor/tests/test_pointcloud.py @@ -28,12 +28,10 @@ def pointcloud_ex(cam_name, channels, fusion, semseg, segpub, showlbl): ], ) @pytest.mark.parametrize( - "segpub", - [True, False], + "segpub", [True, False], ) @pytest.mark.parametrize( - "showlbl", - [True, False], + "showlbl", [True, False], ) def test_initialize(pointcloud_ex): # todo here we can add more test @@ -46,39 +44,11 @@ def test_initialize(pointcloud_ex): @pytest.mark.parametrize( "cam_name,channels, fusion,semseg,segpub,showlbl", [ - ( - "front_cam", - ["feat_0", "feat_1"], - ["average", "average"], - False, - False, - False, - ), + ("front_cam", ["feat_0", "feat_1"], ["average", "average"], False, False, False,), ("front_cam", ["feat_0", "feat_1"], ["class_max", "average"], True, True, True), - ( - "front_cam", - ["feat_0", "feat_1"], - ["class_max", "average"], - True, - False, - False, - ), - ( - "front_cam", - ["feat_0", "feat_1"], - ["class_bayesian", "average"], - True, - True, - True, - ), - ( - "front_cam", - ["feat_0", "feat_1"], - ["class_bayesian", "average"], - True, - False, - False, - ), + ("front_cam", ["feat_0", "feat_1"], ["class_max", "average"], True, False, False,), + ("front_cam", ["feat_0", "feat_1"], ["class_bayesian", "average"], True, True, True,), + ("front_cam", ["feat_0", "feat_1"], ["class_bayesian", "average"], True, False, False,), ], ) def test_pcl_creation(pointcloud_ex, channels, fusion, semseg, segpub, showlbl): diff --git a/sensor_processing/semantic_sensor/script/semantic_sensor/tests/test_utils.py b/sensor_processing/semantic_sensor/script/semantic_sensor/tests/test_utils.py index fdcc4c91..e50ca9e5 100644 --- a/sensor_processing/semantic_sensor/script/semantic_sensor/tests/test_utils.py +++ b/sensor_processing/semantic_sensor/script/semantic_sensor/tests/test_utils.py @@ -31,10 +31,7 @@ def test_semantic_segmentation(model_name, channels, fusion): @pytest.mark.parametrize( - "model_name", - [ - "DINO", - ], + "model_name", ["DINO",], ) def test_feature_extractor(model_name): param = FeatureExtractorParameter() diff --git a/sensor_processing/semantic_sensor/setup.py b/sensor_processing/semantic_sensor/setup.py index e042fa90..fef26672 100644 --- a/sensor_processing/semantic_sensor/setup.py +++ b/sensor_processing/semantic_sensor/setup.py @@ -2,14 +2,7 @@ from catkin_pkg.python_setup import generate_distutils_setup setup_args = generate_distutils_setup( - packages=[ - "semantic_sensor", - ], - install_requires=[ - "torch", - "torchvision", - ], - package_dir={"": "script"}, + packages=["semantic_sensor",], install_requires=["torch", "torchvision",], package_dir={"": "script"}, ) setup(**setup_args) From 10ec9da44e84f4107711d58c626e86c7acb1063d Mon Sep 17 00:00:00 2001 From: Takahiro Date: Wed, 6 Dec 2023 12:39:31 +0100 Subject: [PATCH 385/504] Some minor cleanup --- .../config/core/core_param.yaml | 2 +- .../setups/features/features_parameters.yaml | 94 ------------------- .../features/features_plugin_config.yaml | 70 -------------- .../setups/features/features_semantics.yaml | 32 ------- .../features/features_sensor_parameter.yaml | 13 --- .../setups/features/image_semantics.yaml | 14 --- .../launch/turtlesim_init.launch | 8 +- .../elevation_mapping_ros.py | 4 +- 8 files changed, 7 insertions(+), 230 deletions(-) delete mode 100644 elevation_mapping_cupy/config/setups/features/features_parameters.yaml delete mode 100644 elevation_mapping_cupy/config/setups/features/features_plugin_config.yaml delete mode 100644 elevation_mapping_cupy/config/setups/features/features_semantics.yaml delete mode 100644 elevation_mapping_cupy/config/setups/features/features_sensor_parameter.yaml delete mode 100644 elevation_mapping_cupy/config/setups/features/image_semantics.yaml diff --git a/elevation_mapping_cupy/config/core/core_param.yaml b/elevation_mapping_cupy/config/core/core_param.yaml index 6bbede56..17baea09 100644 --- a/elevation_mapping_cupy/config/core/core_param.yaml +++ b/elevation_mapping_cupy/config/core/core_param.yaml @@ -65,7 +65,7 @@ initialize_method: 'linear' # Choose one initialize_frame_id: ['base_footprint'] # One tf (like ['footprint'] ) initializes a square around it. initialize_tf_offset: [0.0, 0.0, 0.0, 0.0] # z direction. Should be same number as initialize_frame_id. dilation_size_initialize: 2 # dilation size after the init. -initialize_tf_grid_size: 2 # This is not used if number of tf is more than 3. +initialize_tf_grid_size: 0.5 # This is not used if number of tf is more than 3. use_initializer_at_start: true # Use initializer when the node starts. #### Default Plugins ######## diff --git a/elevation_mapping_cupy/config/setups/features/features_parameters.yaml b/elevation_mapping_cupy/config/setups/features/features_parameters.yaml deleted file mode 100644 index e1c4c881..00000000 --- a/elevation_mapping_cupy/config/setups/features/features_parameters.yaml +++ /dev/null @@ -1,94 +0,0 @@ -#### Basic parameters ######## -resolution: 0.04 # resolution in m. -map_length: 8.0 # map's size in m. -sensor_noise_factor: 0.05 # point's noise is sensor_noise_factor*z^2 (z is distance from sensor). -mahalanobis_thresh: 2.0 # points outside this distance is outlier. -outlier_variance: 0.01 # if point is outlier, add this value to the cell. -drift_compensation_variance_inler: 0.05 # cells under this value is used for drift compensation. -max_drift: 0.1 # drift compensation happens only the drift is smaller than this value (for safety) -drift_compensation_alpha: 0.1 # drift compensation alpha for smoother update of drift compensation -time_variance: 0.0001 # add this value when update_variance is called. -max_variance: 100.0 # maximum variance for each cell. -initial_variance: 1000.0 # initial variance for each cell. -traversability_inlier: 0.9 # cells with higher traversability are used for drift compensation. -dilation_size: 3 # dilation filter size before traversability filter. -wall_num_thresh: 20 # if there are more points than this value, only higher points than the current height are used to make the wall more sharp. -min_height_drift_cnt: 100 # drift compensation only happens if the valid cells are more than this number. -position_noise_thresh: 0.01 # if the position change is bigger than this value, the drift compensation happens. -orientation_noise_thresh: 0.01 # if the orientation change is bigger than this value, the drift compensation happens. -position_lowpass_alpha: 0.2 # lowpass filter alpha used for detecting movements. -orientation_lowpass_alpha: 0.2 # lowpass filter alpha used for detecting movements. -min_valid_distance: 0.5 # points with shorter distance will be filtered out. -max_height_range: 1.0 # points higher than this value from sensor will be filtered out to disable ceiling. -ramped_height_range_a: 0.3 # if z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject. -ramped_height_range_b: 1.0 # if z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject. -ramped_height_range_c: 0.2 # if z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject. -update_variance_fps: 5.0 # fps for updating variance. -update_pose_fps: 10.0 # fps for updating pose and shift the center of map. -time_interval: 0.1 # Time layer is updated with this interval. -map_acquire_fps: 5.0 # Raw map is fetched from GPU memory in this fps. -publish_statistics_fps: 1.0 # Publish statistics topic in this fps. - -max_ray_length: 10.0 # maximum length for ray tracing. -cleanup_step: 0.1 # subtitute this value from validity layer at visibiltiy cleanup. -cleanup_cos_thresh: 0.1 # subtitute this value from validity layer at visibiltiy cleanup. - -safe_thresh: 0.7 # if traversability is smaller, it is counted as unsafe cell. -safe_min_thresh: 0.4 # polygon is unsafe if there exists lower traversability than this. -max_unsafe_n: 10 # if the number of cells under safe_thresh exceeds this value, polygon is unsafe. - -overlap_clear_range_xy: 4.0 # xy range [m] for clearing overlapped area. this defines the valid area for overlap clearance. (used for multi floor setting) -overlap_clear_range_z: 2.0 # z range [m] for clearing overlapped area. cells outside this range will be cleared. (used for multi floor setting) - -map_frame: 'odom' # The map frame where the odometry source uses. -base_frame: 'base_footprint' # The robot's base frame. This frame will be a center of the map. -corrected_map_frame: 'odom' - -#### Feature toggles ######## -enable_edge_sharpen: true -enable_visibility_cleanup: true -enable_drift_compensation: true -enable_overlap_clearance: true -enable_pointcloud_publishing: false -enable_drift_corrected_TF_publishing: false -enable_normal_color: false # If true, the map contains 'color' layer corresponding to normal. Add 'color' layer to the publishers setting if you want to visualize. - -#### Traversability filter ######## -use_chainer: false # Use chainer as a backend of traversability filter or pytorch. If false, it uses pytorch. pytorch requires ~2GB more GPU memory compared to chainer but runs faster. -weight_file: '$(rospack find elevation_mapping_cupy)/config/weights.dat' # Weight file for traversability filter - -#### Upper bound ######## -use_only_above_for_upper_bound: false - -#### Plugins ######## -plugin_config_file: '$(rospack find elevation_mapping_cupy)/config/features_plugin_config.yaml' - -#### Subscribers ######## - - -#### Publishers ######## -# topic_name: -# layers: # Choose from 'elevation', 'variance', 'traversability', 'time', 'normal_x', 'normal_y', 'normal_z', 'color', plugin_layer_names -# basic_layers: # basic_layers for valid cell computation (e.g. Rviz): Choose a subset of `layers`. -# fps: # Publish rate. Use smaller value than `map_acquire_fps`. -publishers: - elevation_map_raw: - layers: ['elevation', 'traversability', 'variance','pca'] - basic_layers: ['elevation'] - fps: 5.0 -# elevation_map_recordable: -# layers: ['elevation', 'traversability'] -# basic_layers: ['elevation', 'traversability'] -# fps: 2.0 - elevation_map_filter: - layers: ['min_filter', 'smooth', 'inpaint', 'elevation','pca'] - basic_layers: ['min_filter'] - fps: 3.0 - -#### Initializer ######## -initialize_method: 'linear' # Choose one from 'nearest', 'linear', 'cubic' -initialize_frame_id: ['base_footprint'] # One tf (like ['footprint'] ) initializes a square around it. -initialize_tf_offset: [0.0, 0.0, 0.0, 0.0] # z direction. Should be same number as initialize_frame_id. -dilation_size_initialize: 5 # dilation size after the init. -initialize_tf_grid_size: 2 # This is not used if number of tf is more than 3. -use_initializer_at_start: true # Use initializer when the node starts. diff --git a/elevation_mapping_cupy/config/setups/features/features_plugin_config.yaml b/elevation_mapping_cupy/config/setups/features/features_plugin_config.yaml deleted file mode 100644 index 6bf79c0a..00000000 --- a/elevation_mapping_cupy/config/setups/features/features_plugin_config.yaml +++ /dev/null @@ -1,70 +0,0 @@ -# Settings of the plugins. (The plugins should be stored in script/plugins) - -# min_filter fills in minimum value around the invalid cell. -min_filter: - enable: True # weather to load this plugin - fill_nan: False # Fill nans to invalid cells of elevation layer. - is_height_layer: True # If this is a height layer (such as elevation) or not (such as traversability) - layer_name: "min_filter" # The layer name. - extra_params: # This params are passed to the plugin class on initialization. - dilation_size: 1 # The patch size to apply - iteration_n: 30 # The number of iterations -# Apply smoothing. -smooth_filter: - enable: True - fill_nan: False - is_height_layer: True - layer_name: "smooth" - extra_params: - input_layer_name: "min_filter" -# Apply inpainting using opencv -inpainting: - enable: True - fill_nan: False - is_height_layer: True - layer_name: "inpaint" - extra_params: - method: "telea" # telea or ns -# Apply smoothing for inpainted layer - -robot_centric_elevation: # Use the same name as your file name. -# type: "robot_centric_elevation" - enable: False # weather to load this plugin - fill_nan: False # Fill nans to invalid cells of elevation layer. - is_height_layer: True # If this is a height layer (such as elevation) or not (such as traversability) - layer_name: "robot_centric_elevation" # The layer name. - extra_params: # This params are passed to the plugin class on initialization. -# add_value: 2.0 # Example param - resolution: 0.04 - threshold: 1.1 - use_threshold: True - -semantic_filter: - type: "semantic_filter" - enable: False - fill_nan: False - is_height_layer: False - layer_name: "sem_fil" - extra_params: - classes: ['grass','tree','fence','dirt'] - -semantic_traversability: - type: "semantic_traversability" - enable: False - fill_nan: False - is_height_layer: False - layer_name: "sem_traversability" - extra_params: - layers: ['traversability','robot_centric_elevation'] - thresholds: [0.3,0.5] - type: ['traversability', 'elevation'] - -features_pca: - type: "features_pca" - enable: True - fill_nan: False - is_height_layer: False - layer_name: "pca" - extra_params: - classes: [] - diff --git a/elevation_mapping_cupy/config/setups/features/features_semantics.yaml b/elevation_mapping_cupy/config/setups/features/features_semantics.yaml deleted file mode 100644 index 4cd5365f..00000000 --- a/elevation_mapping_cupy/config/setups/features/features_semantics.yaml +++ /dev/null @@ -1,32 +0,0 @@ -#### Subscribers ######## -subscribers: - - feat_front: - fusion: ['average','average','average','average','average','average','average','average','average','average'] - image_topic: "/camera/rgb/image_raw" - image_info_topic: "/camera/depth/camera_info" - semantic_segmentation: False - feature_extractor: True - feature_topic: "/elevation_mapping/feat_f" - feat_image_topic: "/elevation_mapping/feat_im_f" - show_label_legend: True - channels: [ 'feat_0','feat_1','feat_2','feat_3','feat_4','feat_5','feat_6','feat_7','feat_8','feat_9' ] - resize: 0.5 - input_size: [160,320] - -# sem_wide_back: -# fusion: ['average','average','average','average','average','average','average','average','average','average'] -# image_topic: "/wide_angle_camera_rear/image_color_rect/compressed" -# semantic_segmentation: False -# feature_extractor: True -# feature_topic: "/elevation_mapping/feat_b" -# feat_image_topic: "/elevation_mapping/feat_im_b" -# show_label_legend: False -# channels: [ 'feat_0','feat_1','feat_2','feat_3','feat_4','feat_5','feat_6','feat_7','feat_8','feat_9' ] -# image_info_topic: "/wide_angle_camera_rear/camera_info" -# resize: 0.5 -# input_size: [160,320] - - - - diff --git a/elevation_mapping_cupy/config/setups/features/features_sensor_parameter.yaml b/elevation_mapping_cupy/config/setups/features/features_sensor_parameter.yaml deleted file mode 100644 index d09cc6b6..00000000 --- a/elevation_mapping_cupy/config/setups/features/features_sensor_parameter.yaml +++ /dev/null @@ -1,13 +0,0 @@ -subscribers: - feat_front: - fusion: [ 'exponential','exponential','exponential','exponential','exponential','exponential','exponential','exponential','exponential','exponential' ] - topic_name_camera: /elevation_mapping/feat_f - topic_name_camera_info: "/camera/depth/camera_info" - channels: [ 'feat_0','feat_1','feat_2','feat_3','feat_4','feat_5','feat_6','feat_7','feat_8','feat_9' ] - data_type: image - pointcloud: - channels: [ ] - fusion: [ ] - topic_name: '/camera/depth/points' - data_type: pointcloud - diff --git a/elevation_mapping_cupy/config/setups/features/image_semantics.yaml b/elevation_mapping_cupy/config/setups/features/image_semantics.yaml deleted file mode 100644 index 76b4295a..00000000 --- a/elevation_mapping_cupy/config/setups/features/image_semantics.yaml +++ /dev/null @@ -1,14 +0,0 @@ -#### Subscribers ######## -subscribers: - front_cam: - channels: ['grass','tree',"person" ] - fusion: ['class_average','class_average','class_average' ] - semantic_segmentation: True - segmentation_model: 'detectron_coco_panoptic_fpn_R_101_3x' # detectron_coco_panoptic_fpn_R_101_3x, lraspp_mobilenet_v3_large - show_label_legend: False - image_topic: "/camera/rgb/image_raw" - image_info_topic: "/camera/depth/camera_info" - resize: 0.5 - - sem_seg_topic: "/elevation_mapping/semantic_front" - sem_seg_image_topic: "/elevation_mapping/semantic_image_front" \ No newline at end of file diff --git a/elevation_mapping_cupy/launch/turtlesim_init.launch b/elevation_mapping_cupy/launch/turtlesim_init.launch index 0679d174..7bd323a9 100644 --- a/elevation_mapping_cupy/launch/turtlesim_init.launch +++ b/elevation_mapping_cupy/launch/turtlesim_init.launch @@ -2,15 +2,15 @@ - - + + - - + + diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping_ros.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping_ros.py index 8cd63b52..3756ebd7 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping_ros.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping_ros.py @@ -39,8 +39,8 @@ class ElevationMapWrapper: def __init__(self): rospack = rospkg.RosPack() self.root = rospack.get_path("elevation_mapping_cupy") - weight_file = os.path.join(self.root, "config/weights.dat") - plugin_config_file = os.path.join(self.root, "config/plugin_config.yaml") + weight_file = os.path.join(self.root, "config/core/weights.dat") + plugin_config_file = os.path.join(self.root, "config/core/plugin_config.yaml") self.param = Parameter(use_chainer=False, weight_file=weight_file, plugin_config_file=plugin_config_file) self.node_name = "elevation_mapping" From d6fcd9d871a1684b36c5c74754f436093c2521a9 Mon Sep 17 00:00:00 2001 From: Takahiro Date: Wed, 6 Dec 2023 12:45:42 +0100 Subject: [PATCH 386/504] Cleaning up. --- elevation_mapping_cupy/package.xml | 4 ++-- .../script/elevation_mapping_cupy/fusion/fusion_manager.py | 4 ++++ .../script/elevation_mapping_cupy/fusion/image_color.py | 4 ++++ .../script/elevation_mapping_cupy/fusion/image_exponential.py | 4 ++++ .../fusion/pointcloud_bayesian_inference.py | 4 ++++ .../elevation_mapping_cupy/fusion/pointcloud_class_average.py | 4 ++++ .../fusion/pointcloud_class_bayesian.py | 4 ++++ .../elevation_mapping_cupy/fusion/pointcloud_class_max.py | 4 ++++ .../script/elevation_mapping_cupy/fusion/pointcloud_color.py | 4 ++++ .../elevation_mapping_cupy/kernels/custom_image_kernels.py | 4 ++++ .../elevation_mapping_cupy/kernels/custom_semantic_kernels.py | 4 ++++ .../elevation_mapping_cupy/plugins/robot_centric_elevation.py | 4 ++++ .../script/elevation_mapping_cupy/semantic_map.py | 4 ++++ 13 files changed, 50 insertions(+), 2 deletions(-) diff --git a/elevation_mapping_cupy/package.xml b/elevation_mapping_cupy/package.xml index 6a5985f8..9befc801 100644 --- a/elevation_mapping_cupy/package.xml +++ b/elevation_mapping_cupy/package.xml @@ -1,8 +1,8 @@ elevation_mapping_cupy - 1.0.0 - The elevation mapping by cupy + 2.0.0 + The elevation mapping on GPU Takahiro Miki diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/fusion_manager.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/fusion_manager.py index 152e37bd..aca34a6d 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/fusion_manager.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/fusion_manager.py @@ -1,3 +1,7 @@ +# +# Copyright (c) 2023, Takahiro Miki. All rights reserved. +# Licensed under the MIT license. See LICENSE file in the project root for details. +# from abc import ABC, abstractmethod import cupy as cp from typing import List, Dict, Any diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/image_color.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/image_color.py index e4026a13..c882c1b0 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/image_color.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/image_color.py @@ -1,3 +1,7 @@ +# +# Copyright (c) 2023, Takahiro Miki. All rights reserved. +# Licensed under the MIT license. See LICENSE file in the project root for details. +# import cupy as cp import numpy as np import string diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/image_exponential.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/image_exponential.py index 48fa11f8..26aa2f89 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/image_exponential.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/image_exponential.py @@ -1,3 +1,7 @@ +# +# Copyright (c) 2023, Takahiro Miki. All rights reserved. +# Licensed under the MIT license. See LICENSE file in the project root for details. +# import cupy as cp import numpy as np import string diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_bayesian_inference.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_bayesian_inference.py index 96f1d1e2..95dc8aea 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_bayesian_inference.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_bayesian_inference.py @@ -1,3 +1,7 @@ +# +# Copyright (c) 2023, Takahiro Miki. All rights reserved. +# Licensed under the MIT license. See LICENSE file in the project root for details. +# import cupy as cp import numpy as np import string diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_class_average.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_class_average.py index 8fa94c13..80c96dc4 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_class_average.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_class_average.py @@ -1,3 +1,7 @@ +# +# Copyright (c) 2023, Takahiro Miki. All rights reserved. +# Licensed under the MIT license. See LICENSE file in the project root for details. +# import cupy as cp import numpy as np import string diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_class_bayesian.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_class_bayesian.py index 22869d22..5fec3a7d 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_class_bayesian.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_class_bayesian.py @@ -1,3 +1,7 @@ +# +# Copyright (c) 2023, Takahiro Miki. All rights reserved. +# Licensed under the MIT license. See LICENSE file in the project root for details. +# import cupy as cp import numpy as np import string diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_class_max.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_class_max.py index 728e42fb..e506571d 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_class_max.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_class_max.py @@ -1,3 +1,7 @@ +# +# Copyright (c) 2023, Takahiro Miki. All rights reserved. +# Licensed under the MIT license. See LICENSE file in the project root for details. +# import cupy as cp import numpy as np import string diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_color.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_color.py index 801abd95..a749b842 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_color.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_color.py @@ -1,3 +1,7 @@ +# +# Copyright (c) 2023, Takahiro Miki. All rights reserved. +# Licensed under the MIT license. See LICENSE file in the project root for details. +# import cupy as cp import numpy as np import string diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/custom_image_kernels.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/custom_image_kernels.py index 18873aa7..ce03ee8f 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/custom_image_kernels.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/custom_image_kernels.py @@ -1,3 +1,7 @@ +# +# Copyright (c) 2023, Takahiro Miki. All rights reserved. +# Licensed under the MIT license. See LICENSE file in the project root for details. +# import cupy as cp import string diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/custom_semantic_kernels.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/custom_semantic_kernels.py index 43980321..26db74c0 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/custom_semantic_kernels.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/custom_semantic_kernels.py @@ -1,3 +1,7 @@ +# +# Copyright (c) 2023, Takahiro Miki. All rights reserved. +# Licensed under the MIT license. See LICENSE file in the project root for details. +# import cupy as cp import string diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/robot_centric_elevation.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/robot_centric_elevation.py index ebb3c6e7..80ac73a3 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/robot_centric_elevation.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/robot_centric_elevation.py @@ -1,3 +1,7 @@ +# +# Copyright (c) 2022, Takahiro Miki. All rights reserved. +# Licensed under the MIT license. See LICENSE file in the project root for details. +# import cupy as cp import string from typing import List diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py index 09d1595d..a06b7361 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py @@ -1,3 +1,7 @@ +# +# Copyright (c) 2022, Takahiro Miki. All rights reserved. +# Licensed under the MIT license. See LICENSE file in the project root for details. +# from elevation_mapping_cupy.parameter import Parameter import cupy as cp import numpy as np From fe909d10ea2134a3288d4a1090dceaba14f496c3 Mon Sep 17 00:00:00 2001 From: Takahiro Date: Wed, 6 Dec 2023 12:52:15 +0100 Subject: [PATCH 387/504] Updated README. --- README.md | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/README.md b/README.md index a5072f25..8eae8a86 100644 --- a/README.md +++ b/README.md @@ -10,9 +10,9 @@ The Elevaton Mapping CuPy software package represents an advancement in robotic navigation and locomotion. Integrating with the Robot Operating System (ROS) and utilizing GPU acceleration, this framework enhances point cloud registration and ray casting, crucial for efficient and accurate robotic movement, particularly in legged robots. -![screenshot](doc/media/main_repo.png) -![screenshot](doc/media/main_mem.png) -![gif](doc/media/convex_approximation.gif) +![screenshot](docs/media/main_repo.png) +![screenshot](docs/media/main_mem.png) +![gif](docs/media/convex_approximation.gif) ## Key Features @@ -30,7 +30,7 @@ crucial for efficient and accurate robotic movement, particularly in legged robo ## Overview -![Overview of multi-modal elevation map structure](doc/media/overview.png) +![Overview of multi-modal elevation map structure](docs/media/overview.png) Overview of our multi-modal elevation map structure. The framework takes multi-modal images (purple) and multi-modal (blue) point clouds as input. This data is input into the elevation map by first associating the data to the cells and then fused with different fusion algorithms into the various @@ -101,7 +101,7 @@ catkin build elevation_mapping_cupy ``` ### Run turtlebot example. -![Elevation map examples](doc/media/turtlebot.png) +![Elevation map examples](docs/media/turtlebot.png) ```bash export TURTLEBOT3_MODEL=waffle From 0d8f618af4fe29e2bb9b734fdeee4ec192efb4c2 Mon Sep 17 00:00:00 2001 From: Takahiro Date: Wed, 6 Dec 2023 15:54:28 +0100 Subject: [PATCH 388/504] Update readme. --- README.md | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/README.md b/README.md index 8eae8a86..9a729ce9 100644 --- a/README.md +++ b/README.md @@ -92,12 +92,16 @@ cd docker ./run.sh ``` +For more information, check [Document](https://leggedrobotics.github.io/elevation_mapping_cupy/getting_started/installation.html) + ### Build package Inside docker container. ```zsh cd $HOME/catkin_ws catkin build elevation_mapping_cupy +catkin build convex_plane_decomposition_ros # If you want to use plane segmentation +catkin build semantic_sensor # If you want to use semantic sensors ``` ### Run turtlebot example. From 96655ed545fe6551ae6e0cab2c86ea1cb0fc18bf Mon Sep 17 00:00:00 2001 From: Takahiro Date: Wed, 6 Dec 2023 16:39:31 +0100 Subject: [PATCH 389/504] Added installing the module. --- .github/workflows/documentation.yml | 1 + 1 file changed, 1 insertion(+) diff --git a/.github/workflows/documentation.yml b/.github/workflows/documentation.yml index 9da81809..d6344387 100644 --- a/.github/workflows/documentation.yml +++ b/.github/workflows/documentation.yml @@ -9,6 +9,7 @@ jobs: - name: Install dependencies run: | pip install sphinx sphinx_rtd_theme sphinx-copybutton + pip install elevation_mapping_cupy/. - name: Sphinx build run: | sphinx-build docs/source docs/_build From 592d0915298b03d4045d05579fc856469e50cb43 Mon Sep 17 00:00:00 2001 From: Takahiro Date: Wed, 6 Dec 2023 21:01:52 +0100 Subject: [PATCH 390/504] Added catkin-tools in requirements. --- requirements.txt | 1 + 1 file changed, 1 insertion(+) diff --git a/requirements.txt b/requirements.txt index 45fb53ea..47cf9c5f 100644 --- a/requirements.txt +++ b/requirements.txt @@ -7,6 +7,7 @@ opencv-python simple-parsing scikit-image matplotlib +catkin-tools # cupy ###### Requirements with Version Specifiers ######` From 37e92b6edd4593db8c0a4ad65e466ea7d10851d3 Mon Sep 17 00:00:00 2001 From: Takahiro Date: Wed, 6 Dec 2023 21:03:34 +0100 Subject: [PATCH 391/504] Modified workflow for doc --- .github/workflows/documentation.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/documentation.yml b/.github/workflows/documentation.yml index d6344387..fa070155 100644 --- a/.github/workflows/documentation.yml +++ b/.github/workflows/documentation.yml @@ -9,7 +9,7 @@ jobs: - name: Install dependencies run: | pip install sphinx sphinx_rtd_theme sphinx-copybutton - pip install elevation_mapping_cupy/. + pip install -r elevation_mapping_cupy/requirements.txt - name: Sphinx build run: | sphinx-build docs/source docs/_build From 20d106a14e1d39bb693118f748cc474394a88407 Mon Sep 17 00:00:00 2001 From: Takahiro Date: Wed, 6 Dec 2023 21:12:35 +0100 Subject: [PATCH 392/504] Modified workflow for doc --- .github/workflows/documentation.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/documentation.yml b/.github/workflows/documentation.yml index fa070155..12d4de2f 100644 --- a/.github/workflows/documentation.yml +++ b/.github/workflows/documentation.yml @@ -9,7 +9,7 @@ jobs: - name: Install dependencies run: | pip install sphinx sphinx_rtd_theme sphinx-copybutton - pip install -r elevation_mapping_cupy/requirements.txt + pip install -r requirements.txt - name: Sphinx build run: | sphinx-build docs/source docs/_build From 479d825abdeed5c9b2569669d0815bcbc5aa7e52 Mon Sep 17 00:00:00 2001 From: Takahiro Date: Wed, 6 Dec 2023 21:16:16 +0100 Subject: [PATCH 393/504] Modified workflow for doc --- requirements.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/requirements.txt b/requirements.txt index 47cf9c5f..134ec9be 100644 --- a/requirements.txt +++ b/requirements.txt @@ -1,6 +1,6 @@ ###### Requirements without Version Specifiers ######` numpy -scipy==1.7 +scipy==1.9 dataclasses ruamel.yaml opencv-python From 4108f64e480efc5b94d0ce4fbbfd3a32dea5646d Mon Sep 17 00:00:00 2001 From: Takahiro Date: Wed, 6 Dec 2023 21:21:07 +0100 Subject: [PATCH 394/504] Modified requirements for doc --- requirements.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/requirements.txt b/requirements.txt index 134ec9be..b04f3ec1 100644 --- a/requirements.txt +++ b/requirements.txt @@ -1,6 +1,6 @@ ###### Requirements without Version Specifiers ######` numpy -scipy==1.9 +scipy==1.9.2 dataclasses ruamel.yaml opencv-python From ed94ac7762f23b00a43c508b5071090729f9615a Mon Sep 17 00:00:00 2001 From: Takahiro Date: Wed, 6 Dec 2023 21:25:24 +0100 Subject: [PATCH 395/504] Added requirements for docs --- .github/workflows/documentation.yml | 2 +- docs/requirements.txt | 14 ++++++++++++++ 2 files changed, 15 insertions(+), 1 deletion(-) create mode 100644 docs/requirements.txt diff --git a/.github/workflows/documentation.yml b/.github/workflows/documentation.yml index 12d4de2f..2e91434d 100644 --- a/.github/workflows/documentation.yml +++ b/.github/workflows/documentation.yml @@ -9,7 +9,7 @@ jobs: - name: Install dependencies run: | pip install sphinx sphinx_rtd_theme sphinx-copybutton - pip install -r requirements.txt + pip install -r docs/requirements.txt - name: Sphinx build run: | sphinx-build docs/source docs/_build diff --git a/docs/requirements.txt b/docs/requirements.txt new file mode 100644 index 00000000..4e69f120 --- /dev/null +++ b/docs/requirements.txt @@ -0,0 +1,14 @@ +###### Requirements without Version Specifiers ######` +numpy +scipy +dataclasses +ruamel.yaml +opencv-python +simple-parsing +scikit-image +matplotlib +catkin-tools +# cupy + +###### Requirements with Version Specifiers ######` +shapely==1.7.1 From aec50afc63ee8eade10d5c83ad7f6e6dde9138b7 Mon Sep 17 00:00:00 2001 From: Takahiro Date: Wed, 6 Dec 2023 21:31:03 +0100 Subject: [PATCH 396/504] Modified requirements for docs --- docs/requirements.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs/requirements.txt b/docs/requirements.txt index 4e69f120..ea77e852 100644 --- a/docs/requirements.txt +++ b/docs/requirements.txt @@ -11,4 +11,4 @@ catkin-tools # cupy ###### Requirements with Version Specifiers ######` -shapely==1.7.1 +# shapely==1.7.1 From 0eed131f676f223a15dcbb5ea3473e558d25c17a Mon Sep 17 00:00:00 2001 From: Takahiro Date: Wed, 6 Dec 2023 21:34:20 +0100 Subject: [PATCH 397/504] Modified requirements for docs --- .github/workflows/documentation.yml | 1 + 1 file changed, 1 insertion(+) diff --git a/.github/workflows/documentation.yml b/.github/workflows/documentation.yml index 2e91434d..2ee743fd 100644 --- a/.github/workflows/documentation.yml +++ b/.github/workflows/documentation.yml @@ -10,6 +10,7 @@ jobs: run: | pip install sphinx sphinx_rtd_theme sphinx-copybutton pip install -r docs/requirements.txt + pip install elevation_mapping_cupy/. - name: Sphinx build run: | sphinx-build docs/source docs/_build From 02b760aa8ab94cc5abd1692a017eb131f500d482 Mon Sep 17 00:00:00 2001 From: Takahiro Date: Wed, 6 Dec 2023 21:36:50 +0100 Subject: [PATCH 398/504] Modified requirements for docs --- docs/requirements.txt | 1 + 1 file changed, 1 insertion(+) diff --git a/docs/requirements.txt b/docs/requirements.txt index ea77e852..5498636f 100644 --- a/docs/requirements.txt +++ b/docs/requirements.txt @@ -8,6 +8,7 @@ simple-parsing scikit-image matplotlib catkin-tools +catkin_pkg # cupy ###### Requirements with Version Specifiers ######` From 0277c9510b22e39c29bfa86403546ec39d911753 Mon Sep 17 00:00:00 2001 From: Takahiro Date: Wed, 6 Dec 2023 22:06:51 +0100 Subject: [PATCH 399/504] Added some mock import --- .github/workflows/documentation.yml | 1 - docs/source/conf.py | 22 ++++++++++++++++++++-- 2 files changed, 20 insertions(+), 3 deletions(-) diff --git a/.github/workflows/documentation.yml b/.github/workflows/documentation.yml index 2ee743fd..2e91434d 100644 --- a/.github/workflows/documentation.yml +++ b/.github/workflows/documentation.yml @@ -10,7 +10,6 @@ jobs: run: | pip install sphinx sphinx_rtd_theme sphinx-copybutton pip install -r docs/requirements.txt - pip install elevation_mapping_cupy/. - name: Sphinx build run: | sphinx-build docs/source docs/_build diff --git a/docs/source/conf.py b/docs/source/conf.py index c2b0da13..96a46b57 100644 --- a/docs/source/conf.py +++ b/docs/source/conf.py @@ -8,8 +8,26 @@ import os, sys -sys.path.insert(0, os.path.abspath("../../elevation_mapping_cupy")) -sys.path.insert(0, os.path.abspath("../../sensor_processing/semantic_sensor")) +sys.path.append(os.path.join(os.path.dirname(__file__), '../../elevation_mapping_cupy/script')) +sys.path.append(os.path.join(os.path.dirname(__file__), '../../sensor_processing/semantic_sensor/script')) + +autodoc_mock_imports = [ + "cupy" + "numpy", + "scipy", + "dataclasses", + "ruamel.yaml", + "opencv-python", + "simple-parsing", + "scikit-image", + "matplotlib", + "catkin-tools", + "catkin_pkg", + "detectron", + "torch", + "shapely", + "simple_parsing", + ] on_rtd = os.environ.get("READTHEDOCS", None) == "True" From 4ca9ba8d95b71b7945085636b38a87d1ff5a7489 Mon Sep 17 00:00:00 2001 From: Takahiro Date: Wed, 6 Dec 2023 22:13:07 +0100 Subject: [PATCH 400/504] Added some mock import --- docs/source/conf.py | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/docs/source/conf.py b/docs/source/conf.py index 96a46b57..d9e6ffad 100644 --- a/docs/source/conf.py +++ b/docs/source/conf.py @@ -12,7 +12,9 @@ sys.path.append(os.path.join(os.path.dirname(__file__), '../../sensor_processing/semantic_sensor/script')) autodoc_mock_imports = [ - "cupy" + "cupy", + "rospy", + "torchvision", "numpy", "scipy", "dataclasses", @@ -61,7 +63,7 @@ "prev_next_buttons_location": "bottom", "style_external_links": False, "vcs_pageview_mode": "", - "style_nav_header_background": "#A00000", + # "style_nav_header_background": "#A00000", # Toc options "collapse_navigation": True, "sticky_navigation": True, From 5f850198cfb9fe0fc48ed076543f13f43e5e03a2 Mon Sep 17 00:00:00 2001 From: Takahiro Date: Wed, 6 Dec 2023 22:15:18 +0100 Subject: [PATCH 401/504] Added some mock import --- docs/source/conf.py | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/docs/source/conf.py b/docs/source/conf.py index d9e6ffad..2d0c9090 100644 --- a/docs/source/conf.py +++ b/docs/source/conf.py @@ -13,10 +13,13 @@ autodoc_mock_imports = [ "cupy", + "cupyx", "rospy", + "ros_numpy" "torchvision", "numpy", "scipy", + "sklearn", "dataclasses", "ruamel.yaml", "opencv-python", @@ -25,7 +28,7 @@ "matplotlib", "catkin-tools", "catkin_pkg", - "detectron", + "detectron2", "torch", "shapely", "simple_parsing", From f60fdddbeeebadbadc0118b313e66107d3862777 Mon Sep 17 00:00:00 2001 From: Takahiro Date: Wed, 6 Dec 2023 22:22:26 +0100 Subject: [PATCH 402/504] Added some comments to parameters.py --- .../elevation_mapping_cupy/parameter.py | 178 +++++++++++------- 1 file changed, 109 insertions(+), 69 deletions(-) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py index 569bca66..b451149e 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py @@ -12,7 +12,10 @@ @dataclass class Parameter(Serializable): - resolution: float = 0.04 + """ + This class holds the parameters for the elevation mapping algorithm. + """ + resolution: float = 0.04 # resolution in m. subscriber_cfg: dict = field( default_factory=lambda: { "front_cam": { @@ -21,8 +24,8 @@ class Parameter(Serializable): "data_type": "pointcloud", } } - ) - additional_layers: list = field(default_factory=lambda: ["color"]) + ) # configuration for the subscriber + additional_layers: list = field(default_factory=lambda: ["color"]) # additional layers for the map fusion_algorithms: list = field( default_factory=lambda: [ "image_color", @@ -34,76 +37,82 @@ class Parameter(Serializable): "pointcloud_class_max", "pointcloud_color", ] - ) - pointcloud_channel_fusions: dict = field(default_factory=lambda: {"rgb": "color", "default": "class_average"}) - image_channel_fusions: dict = field(default_factory=lambda: {"rgb": "color", "default": "exponential"}) - data_type: str = np.float32 - average_weight: float = 0.5 - - map_length: float = 8.0 - sensor_noise_factor: float = 0.05 - mahalanobis_thresh: float = 2.0 - outlier_variance: float = 0.01 - drift_compensation_variance_inlier: float = 0.1 - time_variance: float = 0.01 - time_interval: float = 0.1 - - max_variance: float = 1.0 - dilation_size: float = 2 - dilation_size_initialize: float = 10 - drift_compensation_alpha: float = 1.0 - - traversability_inlier: float = 0.1 - wall_num_thresh: float = 100 - min_height_drift_cnt: float = 100 - - max_ray_length: float = 2.0 - cleanup_step: float = 0.01 - cleanup_cos_thresh: float = 0.5 - min_valid_distance: float = 0.3 - max_height_range: float = 1.0 - ramped_height_range_a: float = 0.3 - ramped_height_range_b: float = 1.0 - ramped_height_range_c: float = 0.2 - - safe_thresh: float = 0.5 - safe_min_thresh: float = 0.5 - max_unsafe_n: int = 20 - checker_layer: str = "traversability" - - min_filter_size: int = 5 - min_filter_iteration: int = 3 - - max_drift: float = 0.10 - - overlap_clear_range_xy: float = 4.0 - overlap_clear_range_z: float = 2.0 - - enable_edge_sharpen: bool = True - enable_drift_compensation: bool = True - enable_visibility_cleanup: bool = True - enable_overlap_clearance: bool = True - use_only_above_for_upper_bound: bool = True - use_chainer: bool = True - position_noise_thresh: float = 0.1 - orientation_noise_thresh: float = 0.1 - - plugin_config_file: str = "config/plugin_config.yaml" - weight_file: str = "config/weights.dat" - - initial_variance: float = 10.0 - initialized_variance: float = 10.0 - w1: np.ndarray = field(default_factory=lambda: np.zeros((4, 1, 3, 3))) - w2: np.ndarray = field(default_factory=lambda: np.zeros((4, 1, 3, 3))) - w3: np.ndarray = field(default_factory=lambda: np.zeros((4, 1, 3, 3))) - w_out: np.ndarray = field(default_factory=lambda: np.zeros((1, 12, 1, 1))) + ) # list of fusion algorithms + pointcloud_channel_fusions: dict = field(default_factory=lambda: {"rgb": "color", "default": "class_average"}) # fusion for pointcloud channels + image_channel_fusions: dict = field(default_factory=lambda: {"rgb": "color", "default": "exponential"}) # fusion for image channels + data_type: str = np.float32 # data type for the map + average_weight: float = 0.5 # weight for the average fusion + + map_length: float = 8.0 # map's size in m. + sensor_noise_factor: float = 0.05 # point's noise is sensor_noise_factor*z^2 (z is distance from sensor). + mahalanobis_thresh: float = 2.0 # points outside this distance is outlier. + outlier_variance: float = 0.01 # if point is outlier, add this value to the cell. + drift_compensation_variance_inlier: float = 0.1 # cells under this value is used for drift compensation. + time_variance: float = 0.01 # add this value when update_variance is called. + time_interval: float = 0.1 # Time layer is updated with this interval. + + max_variance: float = 1.0 # maximum variance for each cell. + dilation_size: float = 2 # dilation filter size before traversability filter. + dilation_size_initialize: float = 10 # dilation size after the init. + drift_compensation_alpha: float = 1.0 # drift compensation alpha for smoother update of drift compensation. + + traversability_inlier: float = 0.1 # cells with higher traversability are used for drift compensation. + wall_num_thresh: float = 100 # if there are more points than this value, only higher points than the current height are used to make the wall more sharp. + min_height_drift_cnt: float = 100 # drift compensation only happens if the valid cells are more than this number. + + max_ray_length: float = 2.0 # maximum length for ray tracing. + cleanup_step: float = 0.01 # substitute this value from validity layer at visibility cleanup. + cleanup_cos_thresh: float = 0.5 # substitute this value from validity layer at visibility cleanup. + min_valid_distance: float = 0.3 # points with shorter distance will be filtered out. + max_height_range: float = 1.0 # points higher than this value from sensor will be filtered out to disable ceiling. + ramped_height_range_a: float = 0.3 # if z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject. + ramped_height_range_b: float = 1.0 # if z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject. + ramped_height_range_c: float = 0.2 # if z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject. + + safe_thresh: float = 0.5 # if traversability is smaller, it is counted as unsafe cell. + safe_min_thresh: float = 0.5 # polygon is unsafe if there exists lower traversability than this. + max_unsafe_n: int = 20 # if the number of cells under safe_thresh exceeds this value, polygon is unsafe. + checker_layer: str = "traversability" # layer used for checking safety + + min_filter_size: int = 5 # minimum size for the filter + min_filter_iteration: int = 3 # minimum number of iterations for the filter + + max_drift: float = 0.10 # maximum drift for the compensation + + overlap_clear_range_xy: float = 4.0 # xy range [m] for clearing overlapped area. this defines the valid area for overlap clearance. (used for multi floor setting) + overlap_clear_range_z: float = 2.0 # z range [m] for clearing overlapped area. cells outside this range will be cleared. (used for multi floor setting) + + enable_edge_sharpen: bool = True # enable edge sharpening + enable_drift_compensation: bool = True # enable drift compensation + enable_visibility_cleanup: bool = True # enable visibility cleanup + enable_overlap_clearance: bool = True # enable overlap clearance + use_only_above_for_upper_bound: bool = True # use only above for upper bound + use_chainer: bool = True # use chainer as a backend of traversability filter or pytorch. If false, it uses pytorch. pytorch requires ~2GB more GPU memory compared to chainer but runs faster. + position_noise_thresh: float = 0.1 # if the position change is bigger than this value, the drift compensation happens. + orientation_noise_thresh: float = 0.1 # if the orientation change is bigger than this value, the drift compensation happens. + + plugin_config_file: str = "config/plugin_config.yaml" # configuration file for the plugin + weight_file: str = "config/weights.dat" # weight file for traversability filter + + initial_variance: float = 10.0 # initial variance for each cell. + initialized_variance: float = 10.0 # initialized variance for each cell. + w1: np.ndarray = field(default_factory=lambda: np.zeros((4, 1, 3, 3))) # weights for the first layer + w2: np.ndarray = field(default_factory=lambda: np.zeros((4, 1, 3, 3))) # weights for the second layer + w3: np.ndarray = field(default_factory=lambda: np.zeros((4, 1, 3, 3))) # weights for the third layer + w_out: np.ndarray = field(default_factory=lambda: np.zeros((1, 12, 1, 1))) # weights for the output layer # # not configurable params - true_map_length: float = None - cell_n: int = None - true_cell_n: int = None + true_map_length: float = None # true length of the map + cell_n: int = None # number of cells in the map + true_cell_n: int = None # true number of cells in the map def load_weights(self, filename): + """ + Load weights from a file into the model's parameters. + + Args: + filename (str): The path to the file containing the weights. + """ with open(filename, "rb") as file: weights = pickle.load(file) self.w1 = weights["conv1.weight"] @@ -112,18 +121,49 @@ def load_weights(self, filename): self.w_out = weights["conv_final.weight"] def get_names(self): + """ + Get the names of the parameters. + + Returns: + list: A list of parameter names. + """ return list(self.__annotations__.keys()) def get_types(self): + """ + Get the types of the parameters. + + Returns: + list: A list of parameter types. + """ return [v.__name__ for v in self.__annotations__.values()] def set_value(self, name, value): + """ + Set the value of a parameter. + + Args: + name (str): The name of the parameter. + value (any): The new value for the parameter. + """ setattr(self, name, value) def get_value(self, name): + """ + Get the value of a parameter. + + Args: + name (str): The name of the parameter. + + Returns: + any: The value of the parameter. + """ return getattr(self, name) def update(self): + """ + Update the parameters related to the map size and resolution. + """ # +2 is a border for outside map self.cell_n = int(round(self.map_length / self.resolution)) + 2 self.true_cell_n = round(self.map_length / self.resolution) From bf20e73c8bbe5b57957fe52da204a84fe776c410 Mon Sep 17 00:00:00 2001 From: Takahiro Date: Wed, 6 Dec 2023 22:31:27 +0100 Subject: [PATCH 403/504] Added some comments to parameters.py --- .../script/elevation_mapping_cupy/parameter.py | 3 --- 1 file changed, 3 deletions(-) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py index b451149e..c4cb97b4 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py @@ -12,9 +12,6 @@ @dataclass class Parameter(Serializable): - """ - This class holds the parameters for the elevation mapping algorithm. - """ resolution: float = 0.04 # resolution in m. subscriber_cfg: dict = field( default_factory=lambda: { From f20080e1785e40f72753a89c19203aea1990ab0c Mon Sep 17 00:00:00 2001 From: Takahiro Date: Wed, 6 Dec 2023 22:37:52 +0100 Subject: [PATCH 404/504] Added some comments to parameters.py --- .../elevation_mapping_cupy/parameter.py | 63 +++++++++++++++++++ 1 file changed, 63 insertions(+) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py index c4cb97b4..e106cabc 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py @@ -12,6 +12,69 @@ @dataclass class Parameter(Serializable): + """ + This class holds the parameters for the elevation mapping algorithm. + + Attributes: + resolution (float): resolution in m. + subscriber_cfg (dict): configuration for the subscriber. + additional_layers (list): additional layers for the map. + fusion_algorithms (list): list of fusion algorithms. + pointcloud_channel_fusions (dict): fusion for pointcloud channels. + image_channel_fusions (dict): fusion for image channels. + data_type (str): data type for the map. + average_weight (float): weight for the average fusion. + map_length (float): map's size in m. + sensor_noise_factor (float): point's noise is sensor_noise_factor*z^2 (z is distance from sensor). + mahalanobis_thresh (float): points outside this distance is outlier. + outlier_variance (float): if point is outlier, add this value to the cell. + drift_compensation_variance_inlier (float): cells under this value is used for drift compensation. + time_variance (float): add this value when update_variance is called. + time_interval (float): Time layer is updated with this interval. + max_variance (float): maximum variance for each cell. + dilation_size (float): dilation filter size before traversability filter. + dilation_size_initialize (float): dilation size after the init. + drift_compensation_alpha (float): drift compensation alpha for smoother update of drift compensation. + traversability_inlier (float): cells with higher traversability are used for drift compensation. + wall_num_thresh (float): if there are more points than this value, only higher points than the current height are used to make the wall more sharp. + min_height_drift_cnt (float): drift compensation only happens if the valid cells are more than this number. + max_ray_length (float): maximum length for ray tracing. + cleanup_step (float): substitute this value from validity layer at visibility cleanup. + cleanup_cos_thresh (float): substitute this value from validity layer at visibility cleanup. + min_valid_distance (float): points with shorter distance will be filtered out. + max_height_range: float = 1.0 # points higher than this value from sensor will be filtered out to disable ceiling. + ramped_height_range_a: float = 0.3 # if z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject. + ramped_height_range_b: float = 1.0 # if z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject. + ramped_height_range_c: float = 0.2 # if z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject. + safe_thresh: float = 0.5 # if traversability is smaller, it is counted as unsafe cell. + safe_min_thresh: float = 0.5 # polygon is unsafe if there exists lower traversability than this. + max_unsafe_n: int = 20 # if the number of cells under safe_thresh exceeds this value, polygon is unsafe. + checker_layer: str = "traversability" # layer used for checking safety + min_filter_size: int = 5 # minimum size for the filter + min_filter_iteration: int = 3 # minimum number of iterations for the filter + max_drift: float = 0.10 # maximum drift for the compensation + overlap_clear_range_xy: float = 4.0 # xy range [m] for clearing overlapped area. this defines the valid area for overlap clearance. (used for multi floor setting) + overlap_clear_range_z: float = 2.0 # z range [m] for clearing overlapped area. cells outside this range will be cleared. (used for multi floor setting) + enable_edge_sharpen: bool = True # enable edge sharpening + enable_drift_compensation: bool = True # enable drift compensation + enable_visibility_cleanup: bool = True # enable visibility cleanup + enable_overlap_clearance: bool = True # enable overlap clearance + use_only_above_for_upper_bound: bool = True # use only above for upper bound + use_chainer: bool = True # use chainer as a backend of traversability filter or pytorch. If false, it uses pytorch. pytorch requires ~2GB more GPU memory compared to chainer but runs faster. + position_noise_thresh: float = 0.1 # if the position change is bigger than this value, the drift compensation happens. + orientation_noise_thresh: float = 0.1 # if the orientation change is bigger than this value, the drift compensation happens. + plugin_config_file: str = "config/plugin_config.yaml" # configuration file for the plugin + weight_file: str = "config/weights.dat" # weight file for traversability filter + initial_variance: float = 10.0 # initial variance for each cell. + initialized_variance: float = 10.0 # initialized variance for each cell. + w1: np.ndarray = field(default_factory=lambda: np.zeros((4, 1, 3, 3))) # weights for the first layer + w2: np.ndarray = field(default_factory=lambda: np.zeros((4, 1, 3, 3))) # weights for the second layer + w3: np.ndarray = field(default_factory=lambda: np.zeros((4, 1, 3, 3))) # weights for the third layer + w_out: np.ndarray = field(default_factory=lambda: np.zeros((1, 12, 1, 1))) # weights for the output layer + true_map_length: float = None # true length of the map + cell_n: int = None # number of cells in the map + true_cell_n: int = None # true number of cells in the map + """ resolution: float = 0.04 # resolution in m. subscriber_cfg: dict = field( default_factory=lambda: { From 55a1396ed6919575115934dac039693b219ab15c Mon Sep 17 00:00:00 2001 From: Takahiro Date: Wed, 6 Dec 2023 23:07:31 +0100 Subject: [PATCH 405/504] Updated some docstring for parameters. --- .../elevation_mapping_cupy/parameter.py | 175 ++++++++++++------ 1 file changed, 117 insertions(+), 58 deletions(-) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py index e106cabc..5fc3c110 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py @@ -16,64 +16,123 @@ class Parameter(Serializable): This class holds the parameters for the elevation mapping algorithm. Attributes: - resolution (float): resolution in m. - subscriber_cfg (dict): configuration for the subscriber. - additional_layers (list): additional layers for the map. - fusion_algorithms (list): list of fusion algorithms. - pointcloud_channel_fusions (dict): fusion for pointcloud channels. - image_channel_fusions (dict): fusion for image channels. - data_type (str): data type for the map. - average_weight (float): weight for the average fusion. - map_length (float): map's size in m. - sensor_noise_factor (float): point's noise is sensor_noise_factor*z^2 (z is distance from sensor). - mahalanobis_thresh (float): points outside this distance is outlier. - outlier_variance (float): if point is outlier, add this value to the cell. - drift_compensation_variance_inlier (float): cells under this value is used for drift compensation. - time_variance (float): add this value when update_variance is called. - time_interval (float): Time layer is updated with this interval. - max_variance (float): maximum variance for each cell. - dilation_size (float): dilation filter size before traversability filter. - dilation_size_initialize (float): dilation size after the init. - drift_compensation_alpha (float): drift compensation alpha for smoother update of drift compensation. - traversability_inlier (float): cells with higher traversability are used for drift compensation. - wall_num_thresh (float): if there are more points than this value, only higher points than the current height are used to make the wall more sharp. - min_height_drift_cnt (float): drift compensation only happens if the valid cells are more than this number. - max_ray_length (float): maximum length for ray tracing. - cleanup_step (float): substitute this value from validity layer at visibility cleanup. - cleanup_cos_thresh (float): substitute this value from validity layer at visibility cleanup. - min_valid_distance (float): points with shorter distance will be filtered out. - max_height_range: float = 1.0 # points higher than this value from sensor will be filtered out to disable ceiling. - ramped_height_range_a: float = 0.3 # if z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject. - ramped_height_range_b: float = 1.0 # if z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject. - ramped_height_range_c: float = 0.2 # if z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject. - safe_thresh: float = 0.5 # if traversability is smaller, it is counted as unsafe cell. - safe_min_thresh: float = 0.5 # polygon is unsafe if there exists lower traversability than this. - max_unsafe_n: int = 20 # if the number of cells under safe_thresh exceeds this value, polygon is unsafe. - checker_layer: str = "traversability" # layer used for checking safety - min_filter_size: int = 5 # minimum size for the filter - min_filter_iteration: int = 3 # minimum number of iterations for the filter - max_drift: float = 0.10 # maximum drift for the compensation - overlap_clear_range_xy: float = 4.0 # xy range [m] for clearing overlapped area. this defines the valid area for overlap clearance. (used for multi floor setting) - overlap_clear_range_z: float = 2.0 # z range [m] for clearing overlapped area. cells outside this range will be cleared. (used for multi floor setting) - enable_edge_sharpen: bool = True # enable edge sharpening - enable_drift_compensation: bool = True # enable drift compensation - enable_visibility_cleanup: bool = True # enable visibility cleanup - enable_overlap_clearance: bool = True # enable overlap clearance - use_only_above_for_upper_bound: bool = True # use only above for upper bound - use_chainer: bool = True # use chainer as a backend of traversability filter or pytorch. If false, it uses pytorch. pytorch requires ~2GB more GPU memory compared to chainer but runs faster. - position_noise_thresh: float = 0.1 # if the position change is bigger than this value, the drift compensation happens. - orientation_noise_thresh: float = 0.1 # if the orientation change is bigger than this value, the drift compensation happens. - plugin_config_file: str = "config/plugin_config.yaml" # configuration file for the plugin - weight_file: str = "config/weights.dat" # weight file for traversability filter - initial_variance: float = 10.0 # initial variance for each cell. - initialized_variance: float = 10.0 # initialized variance for each cell. - w1: np.ndarray = field(default_factory=lambda: np.zeros((4, 1, 3, 3))) # weights for the first layer - w2: np.ndarray = field(default_factory=lambda: np.zeros((4, 1, 3, 3))) # weights for the second layer - w3: np.ndarray = field(default_factory=lambda: np.zeros((4, 1, 3, 3))) # weights for the third layer - w_out: np.ndarray = field(default_factory=lambda: np.zeros((1, 12, 1, 1))) # weights for the output layer - true_map_length: float = None # true length of the map - cell_n: int = None # number of cells in the map - true_cell_n: int = None # true number of cells in the map + resolution: The resolution in meters. + (Default: ``0.04``) + subscriber_cfg: The configuration for the subscriber. + (Default: ``{ "front_cam": { "channels": ["rgb", "person"], "topic_name": "/elevation_mapping/pointcloud_semantic", "data_type": "pointcloud", } }``) + additional_layers: The additional layers for the map. + (Default: ``["color"]``) + fusion_algorithms: The list of fusion algorithms. + (Default: ``[ "image_color", "image_exponential", "pointcloud_average", "pointcloud_bayesian_inference", "pointcloud_class_average", "pointcloud_class_bayesian", "pointcloud_class_max", "pointcloud_color", ]``) + pointcloud_channel_fusions: The fusion for pointcloud channels. + (Default: ``{"rgb": "color", "default": "class_average"}``) + image_channel_fusions: The fusion for image channels. + (Default: ``{"rgb": "color", "default": "exponential"}``) + data_type: The data type for the map. + (Default: ``np.float32``) + average_weight: The weight for the average fusion. + (Default: ``0.5``) + map_length: The map's size in meters. + (Default: ``8.0``) + sensor_noise_factor: The point's noise is sensor_noise_factor*z^2 (z is distance from sensor). + (Default: ``0.05``) + mahalanobis_thresh: Points outside this distance is outlier. + (Default: ``2.0``) + outlier_variance: If point is outlier, add this value to the cell. + (Default: ``0.01``) + drift_compensation_variance_inlier: Cells under this value is used for drift compensation. + (Default: ``0.1``) + time_variance: Add this value when update_variance is called. + (Default: ``0.01``) + time_interval: Time layer is updated with this interval. + (Default: ``0.1``) + max_variance: The maximum variance for each cell. + (Default: ``1.0``) + dilation_size: The dilation filter size before traversability filter. + (Default: ``2``) + dilation_size_initialize: The dilation size after the init. + (Default: ``10``) + drift_compensation_alpha: The drift compensation alpha for smoother update of drift compensation. + (Default: ``1.0``) + traversability_inlier: Cells with higher traversability are used for drift compensation. + (Default: ``0.1``) + wall_num_thresh: If there are more points than this value, only higher points than the current height are used to make the wall more sharp. + (Default: ``100``) + min_height_drift_cnt: Drift compensation only happens if the valid cells are more than this number. + (Default: ``100``) + max_ray_length: The maximum length for ray tracing. + (Default: ``2.0``) + cleanup_step: Substitute this value from validity layer at visibility cleanup. + (Default: ``0.01``) + cleanup_cos_thresh: Substitute this value from validity layer at visibility cleanup. + (Default: ``0.5``) + min_valid_distance: Points with shorter distance will be filtered out. + (Default: ``0.3``) + max_height_range: Points higher than this value from sensor will be filtered out to disable ceiling. + (Default: ``1.0``) + ramped_height_range_a: If z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject. + (Default: ``0.3``) + ramped_height_range_b: If z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject. + (Default: ``1.0``) + ramped_height_range_c: If z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject. + (Default: ``0.2``) + safe_thresh: If traversability is smaller, it is counted as unsafe cell. + (Default: ``0.5``) + safe_min_thresh: Polygon is unsafe if there exists lower traversability than this. + (Default: ``0.5``) + max_unsafe_n: If the number of cells under safe_thresh exceeds this value, polygon is unsafe. + (Default: ``20``) + checker_layer: Layer used for checking safety. + (Default: ``"traversability"``) + min_filter_size: The minimum size for the filter. + (Default: ``5``) + min_filter_iteration: The minimum number of iterations for the filter. + (Default: ``3``) + max_drift: The maximum drift for the compensation. + (Default: ``0.10``) + overlap_clear_range_xy: XY range [m] for clearing overlapped area. This defines the valid area for overlap clearance. (used for multi floor setting) + (Default: ``4.0``) + overlap_clear_range_z: Z range [m] for clearing overlapped area. Cells outside this range will be cleared. (used for multi floor setting) + (Default: ``2.0``) + enable_edge_sharpen: Enable edge sharpening. + (Default: ``True``) + enable_drift_compensation: Enable drift compensation. + (Default: ``True``) + enable_visibility_cleanup: Enable visibility cleanup. + (Default: ``True``) + enable_overlap_clearance: Enable overlap clearance. + (Default: ``True``) + use_only_above_for_upper_bound: Use only above for upper bound. + (Default: ``True``) + use_chainer: Use chainer as a backend of traversability filter or pytorch. If false, it uses pytorch. Pytorch requires ~2GB more GPU memory compared to chainer but runs faster. + (Default: ``True``) + position_noise_thresh: If the position change is bigger than this value, the drift compensation happens. + (Default: ``0.1``) + orientation_noise_thresh: If the orientation change is bigger than this value, the drift compensation happens. + (Default: ``0.1``) + plugin_config_file: Configuration file for the plugin. + (Default: ``"config/plugin_config.yaml"``) + weight_file: Weight file for traversability filter. + (Default: ``"config/weights.dat"``) + initial_variance: Initial variance for each cell. + (Default: ``10.0``) + initialized_variance: Initialized variance for each cell. + (Default: ``10.0``) + w1: Weights for the first layer. + (Default: ``np.zeros((4, 1, 3, 3))``) + w2: Weights for the second layer. + (Default: ``np.zeros((4, 1, 3, 3))``) + w3: Weights for the third layer. + (Default: ``np.zeros((4, 1, 3, 3))``) + w_out: Weights for the output layer. + (Default: ``np.zeros((1, 12, 1, 1))``) + true_map_length: True length of the map. + (Default: ``None``) + cell_n: Number of cells in the map. + (Default: ``None``) + true_cell_n: True number of cells in the map. + (Default: ``None``) + """ resolution: float = 0.04 # resolution in m. subscriber_cfg: dict = field( From 5319782fb12b7e39724b8c9889fa402a55668abf Mon Sep 17 00:00:00 2001 From: Takahiro Date: Thu, 7 Dec 2023 17:31:34 +0100 Subject: [PATCH 406/504] Renamed dockerfile. --- docker/{Dockerfile.x86 => Dockerfile.x64} | 0 docker/build.sh | 2 +- 2 files changed, 1 insertion(+), 1 deletion(-) rename docker/{Dockerfile.x86 => Dockerfile.x64} (100%) diff --git a/docker/Dockerfile.x86 b/docker/Dockerfile.x64 similarity index 100% rename from docker/Dockerfile.x86 rename to docker/Dockerfile.x64 diff --git a/docker/build.sh b/docker/build.sh index 0cd07383..1d92a220 100755 --- a/docker/build.sh +++ b/docker/build.sh @@ -1,3 +1,3 @@ #! /bin/bash home=`realpath "$(dirname "$0")"/../` -cd $home && sudo docker build -t elevation_mapping_cupy -f docker/Dockerfile.x86 --no-cache . \ No newline at end of file +cd $home && sudo docker build -t elevation_mapping_cupy -f docker/Dockerfile.x64 --no-cache . \ No newline at end of file From 66d029ae784614717abfa2dd702648a8dbc8a696 Mon Sep 17 00:00:00 2001 From: Takahiro Date: Thu, 7 Dec 2023 17:58:13 +0100 Subject: [PATCH 407/504] Updated run script to use docker image from the registry. --- README.md | 2 +- docker/run.sh | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/README.md b/README.md index 9a729ce9..8f67ba5f 100644 --- a/README.md +++ b/README.md @@ -85,10 +85,10 @@ git clone https://github.com/leggedrobotics/elevation_mapping_cupy.git Then install dependencies. You can also use docker which already install all dependencies. +When you run the script it should pull the image. ```zsh cd docker -./build.sh ./run.sh ``` diff --git a/docker/run.sh b/docker/run.sh index 32587aa0..125928fd 100755 --- a/docker/run.sh +++ b/docker/run.sh @@ -1,5 +1,5 @@ #!/bin/bash -IMAGE_NAME="elevation_mapping_cupy:latest" +IMAGE_NAME="mktk1117/elevation_mapping_cupy:latest" # Define environment variables for enabling graphical output for the container. XSOCK=/tmp/.X11-unix From 689b86f7f55f77c275d26b846b086e7c5893e28e Mon Sep 17 00:00:00 2001 From: Takahiro Date: Thu, 7 Dec 2023 17:59:57 +0100 Subject: [PATCH 408/504] Updated readme --- README.md | 3 +++ 1 file changed, 3 insertions(+) diff --git a/README.md b/README.md index 8f67ba5f..e7321e72 100644 --- a/README.md +++ b/README.md @@ -87,11 +87,14 @@ Then install dependencies. You can also use docker which already install all dependencies. When you run the script it should pull the image. + ```zsh cd docker ./run.sh ``` +You can also build locally by running `build.sh`. + For more information, check [Document](https://leggedrobotics.github.io/elevation_mapping_cupy/getting_started/installation.html) ### Build package From 46c9b4423752bf7f32602ee8d5bad976e9dc3806 Mon Sep 17 00:00:00 2001 From: Takahiro Date: Thu, 7 Dec 2023 21:08:49 +0100 Subject: [PATCH 409/504] Added OpenCV in CMakeLists.txt --- elevation_mapping_cupy/CMakeLists.txt | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/elevation_mapping_cupy/CMakeLists.txt b/elevation_mapping_cupy/CMakeLists.txt index 2b4cc858..bc4cf6a0 100644 --- a/elevation_mapping_cupy/CMakeLists.txt +++ b/elevation_mapping_cupy/CMakeLists.txt @@ -4,6 +4,7 @@ project(elevation_mapping_cupy) find_package(PythonInterp 3 REQUIRED) find_package(PythonLibs 3 REQUIRED) +find_package(OpenCV REQUIRED) if(PYTHONLIBS_FOUND) message(STATUS "Using Python Libraries at: " ${PYTHON_LIBRARIES}) @@ -54,13 +55,14 @@ include_directories( ${PYTHON_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIRS} + ${OpenCV_INCLUDE_DIRS} ) add_library(elevation_mapping_ros src/elevation_mapping_wrapper.cpp src/elevation_mapping_ros.cpp) -target_link_libraries(elevation_mapping_ros ${PYTHON_LIBRARIES} ${catkin_LIBRARIES}) +target_link_libraries(elevation_mapping_ros ${PYTHON_LIBRARIES} ${catkin_LIBRARIES} ${OpenCV_LIBRARIES}) add_executable(elevation_mapping_node src/elevation_mapping_node.cpp) target_link_libraries(elevation_mapping_node elevation_mapping_ros) From 8093dfb6090f449bafc878198fafb025870532b6 Mon Sep 17 00:00:00 2001 From: Takahiro Date: Thu, 7 Dec 2023 22:15:20 +0100 Subject: [PATCH 410/504] Updated requirements for jetson --- requirements.txt | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/requirements.txt b/requirements.txt index b04f3ec1..76a0b9d2 100644 --- a/requirements.txt +++ b/requirements.txt @@ -1,11 +1,10 @@ ###### Requirements without Version Specifiers ######` numpy -scipy==1.9.2 -dataclasses +scipy==1.7 ruamel.yaml opencv-python simple-parsing -scikit-image +scikit-image==0.19 matplotlib catkin-tools # cupy From 8fce9e4c3ff91423b685dcfa4654e6b1154561c4 Mon Sep 17 00:00:00 2001 From: Takahiro Date: Wed, 20 Dec 2023 17:15:32 +0100 Subject: [PATCH 411/504] Added max layer filter. --- .../plugins/max_layer_filter.py | 122 ++++++++++++++++++ 1 file changed, 122 insertions(+) create mode 100644 elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/max_layer_filter.py diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/max_layer_filter.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/max_layer_filter.py new file mode 100644 index 00000000..63c6a496 --- /dev/null +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/max_layer_filter.py @@ -0,0 +1,122 @@ +# +# Copyright (c) 2022, Takahiro Miki. All rights reserved. +# Licensed under the MIT license. See LICENSE file in the project root for details. +# +import cupy as cp +import numpy as np +from typing import List + +from elevation_mapping_cupy.plugins.plugin_manager import PluginBase + + +class MaxLayerFilter(PluginBase): + """Applies a maximum filter to the input layers and updates the traversability map. + This can be used to enhance navigation by identifying traversable areas. + + Args: + cell_n (int): The width and height of the elevation map. + layers (list): List of layers for semantic traversability. Default is ["traversability"]. + thresholds (list): List of thresholds for each layer. Default is [0.5]. + type (list): List of types for each layer. Default is ["traversability"]. + **kwargs: Additional keyword arguments. + """ + + def __init__( + self, + cell_n: int = 100, + layers: list = ["traversability"], + reverse: list = [True], + min_or_max: str = "max", + thresholds: list = [False], + default_value: float = 0.0, + **kwargs, + ): + super().__init__() + self.layers = layers + self.reverse = reverse + self.min_or_max = min_or_max + self.thresholds = thresholds + self.default_value = default_value + + def get_layer_data( + self, + elevation_map, + layer_names, + plugin_layers, + plugin_layer_names, + semantic_map, + semantic_layer_names, + name, + ): + if name in layer_names: + idx = layer_names.index(name) + layer = elevation_map[idx].copy() + elif name in plugin_layer_names: + idx = plugin_layer_names.index(name) + layer = plugin_layers[idx].copy() + elif name in semantic_layer_names: + idx = semantic_layer_names.index(name) + layer = semantic_map[idx].copy() + else: + print(f"Could not find layer {name}!") + layer = None + return layer + + def __call__( + self, + elevation_map: cp.ndarray, + layer_names: List[str], + plugin_layers: cp.ndarray, + plugin_layer_names: List[str], + semantic_map: cp.ndarray, + semantic_layer_names: List[str], + *args, + ) -> cp.ndarray: + """ + + Args: + elevation_map (cupy._core.core.ndarray): + layer_names (List[str]): + plugin_layers (cupy._core.core.ndarray): + plugin_layer_names (List[str]): + semantic_map (elevation_mapping_cupy.semantic_map.SemanticMap): + *args (): + + Returns: + cupy._core.core.ndarray: + """ + layers = [] + for it, name in enumerate(self.layers): + layer = self.get_layer_data( + elevation_map, layer_names, plugin_layers, plugin_layer_names, semantic_map, semantic_layer_names, name + ) + if layer is None: + continue + if isinstance(self.default_value, float): + layer = cp.where(layer == 0.0, float(self.default_value), layer) + elif isinstance(self.default_value, str): + default_layer = self.get_layer_data( + elevation_map, + layer_names, + plugin_layers, + plugin_layer_names, + semantic_map, + semantic_layer_names, + self.default_value, + ) + layer = cp.where(layer == 0, default_layer, layer) + if self.reverse[it]: + layer = 1.0 - layer + if isinstance(self.thresholds[it], float): + layer = cp.where(layer > float(self.thresholds[it]), 1, 0) + layers.append(layer) + if len(layers) == 0: + print("No layers are found, returning traversability!") + idx = layer_names.index("traversability") + return elevation_map[idx] + result = cp.stack(layers, axis=0) + if self.min_or_max == "min": + result = cp.min(result, axis=0) + else: + result = cp.max(result, axis=0) + return result From a3f892f69b1675dce1596710e7a3d7fd087160dd Mon Sep 17 00:00:00 2001 From: Takahiro Date: Wed, 3 Jan 2024 17:35:11 +0100 Subject: [PATCH 412/504] Fixed a indentation bug in example_setup.yaml --- elevation_mapping_cupy/config/core/example_setup.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/elevation_mapping_cupy/config/core/example_setup.yaml b/elevation_mapping_cupy/config/core/example_setup.yaml index eb4aa3dd..a3f7a2f2 100644 --- a/elevation_mapping_cupy/config/core/example_setup.yaml +++ b/elevation_mapping_cupy/config/core/example_setup.yaml @@ -48,7 +48,7 @@ publishers: layers: ['elevation', 'traversability', 'variance','rgb'] basic_layers: ['elevation'] fps: 5.0 - elevation_map_recordable: + elevation_map_recordable: layers: ['elevation', 'traversability'] basic_layers: ['elevation', 'traversability'] fps: 2.0 From e6989e0986369443bc831967e81947788f293494 Mon Sep 17 00:00:00 2001 From: RobinSchmid7 Date: Mon, 8 Jan 2024 15:46:02 +0100 Subject: [PATCH 413/504] Added anomaly configs --- elevation_mapping_cupy/config/core/core_param.yaml | 4 ++-- .../config/setups/anymal/anymal_sensor_parameter.yaml | 10 ++++++++-- 2 files changed, 10 insertions(+), 4 deletions(-) diff --git a/elevation_mapping_cupy/config/core/core_param.yaml b/elevation_mapping_cupy/config/core/core_param.yaml index 17baea09..f3cfa386 100644 --- a/elevation_mapping_cupy/config/core/core_param.yaml +++ b/elevation_mapping_cupy/config/core/core_param.yaml @@ -41,7 +41,7 @@ overlap_clear_range_xy: 4.0 # xy range [m] for clearing over overlap_clear_range_z: 2.0 # z range [m] for clearing overlapped area. cells outside this range will be cleared. (used for multi floor setting) map_frame: 'odom' # The map frame where the odometry source uses. -base_frame: 'base_footprint' # The robot's base frame. This frame will be a center of the map. +base_frame: 'footprint' # The robot's base frame. This frame will be a center of the map. corrected_map_frame: 'odom' #### Feature toggles ######## @@ -62,7 +62,7 @@ use_only_above_for_upper_bound: false #### Initializer ######## initialize_method: 'linear' # Choose one from 'nearest', 'linear', 'cubic' -initialize_frame_id: ['base_footprint'] # One tf (like ['footprint'] ) initializes a square around it. +initialize_frame_id: ['footprint'] # One tf (like ['footprint'] ) initializes a square around it. initialize_tf_offset: [0.0, 0.0, 0.0, 0.0] # z direction. Should be same number as initialize_frame_id. dilation_size_initialize: 2 # dilation size after the init. initialize_tf_grid_size: 0.5 # This is not used if number of tf is more than 3. diff --git a/elevation_mapping_cupy/config/setups/anymal/anymal_sensor_parameter.yaml b/elevation_mapping_cupy/config/setups/anymal/anymal_sensor_parameter.yaml index a130607f..26e3f7c3 100644 --- a/elevation_mapping_cupy/config/setups/anymal/anymal_sensor_parameter.yaml +++ b/elevation_mapping_cupy/config/setups/anymal/anymal_sensor_parameter.yaml @@ -18,7 +18,7 @@ image_channel_fusions: publishers: elevation_map_raw: - layers: ['elevation', 'traversability', 'variance', 'rgb'] + layers: ['elevation', 'traversability', 'variance', 'rgb', 'anomaly'] basic_layers: ['elevation', 'traversability'] fps: 5.0 @@ -73,4 +73,10 @@ subscribers: rear_bpearl: topic_name: /robot_self_filter/bpearl_rear/point_cloud - data_type: pointcloud \ No newline at end of file + data_type: pointcloud + + anomaly: + topic_name: "/wild_visual_navigation_node/front/traversability" + camera_info_topic_name: "/wild_visual_navigation_node/front/camera_info" + channel_info_topic_name: "/wild_visual_navigation_node/front/channel_info" + data_type: image \ No newline at end of file From 23a1f8eef05aa7c0798437a2ff3e5112ed504a94 Mon Sep 17 00:00:00 2001 From: RobinSchmid7 Date: Mon, 8 Jan 2024 18:24:11 +0100 Subject: [PATCH 414/504] reverted base footprint layer --- elevation_mapping_cupy/config/core/core_param.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/elevation_mapping_cupy/config/core/core_param.yaml b/elevation_mapping_cupy/config/core/core_param.yaml index f3cfa386..17baea09 100644 --- a/elevation_mapping_cupy/config/core/core_param.yaml +++ b/elevation_mapping_cupy/config/core/core_param.yaml @@ -41,7 +41,7 @@ overlap_clear_range_xy: 4.0 # xy range [m] for clearing over overlap_clear_range_z: 2.0 # z range [m] for clearing overlapped area. cells outside this range will be cleared. (used for multi floor setting) map_frame: 'odom' # The map frame where the odometry source uses. -base_frame: 'footprint' # The robot's base frame. This frame will be a center of the map. +base_frame: 'base_footprint' # The robot's base frame. This frame will be a center of the map. corrected_map_frame: 'odom' #### Feature toggles ######## @@ -62,7 +62,7 @@ use_only_above_for_upper_bound: false #### Initializer ######## initialize_method: 'linear' # Choose one from 'nearest', 'linear', 'cubic' -initialize_frame_id: ['footprint'] # One tf (like ['footprint'] ) initializes a square around it. +initialize_frame_id: ['base_footprint'] # One tf (like ['footprint'] ) initializes a square around it. initialize_tf_offset: [0.0, 0.0, 0.0, 0.0] # z direction. Should be same number as initialize_frame_id. dilation_size_initialize: 2 # dilation size after the init. initialize_tf_grid_size: 0.5 # This is not used if number of tf is more than 3. From 084405f31b5448c78e61e53c928856c6aef823a5 Mon Sep 17 00:00:00 2001 From: RobinSchmid7 Date: Wed, 17 Jan 2024 15:49:12 +0100 Subject: [PATCH 415/504] Adding max filter and square filter --- .../plugins/max_layer_filter.py | 4 + .../plugins/sqrt_filter.py | 122 ++++++++++++++++++ 2 files changed, 126 insertions(+) create mode 100644 elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/sqrt_filter.py diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/max_layer_filter.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/max_layer_filter.py index 63c6a496..f6b2fc46 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/max_layer_filter.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/max_layer_filter.py @@ -29,6 +29,7 @@ def __init__( min_or_max: str = "max", thresholds: list = [False], default_value: float = 0.0, + apply_sqrt: bool = True, **kwargs, ): super().__init__() @@ -37,6 +38,7 @@ def __init__( self.min_or_max = min_or_max self.thresholds = thresholds self.default_value = default_value + self.apply_sqrt = apply_sqrt def get_layer_data( self, @@ -119,4 +121,6 @@ def __call__( result = cp.min(result, axis=0) else: result = cp.max(result, axis=0) + if self.apply_sqrt: + result = cp.square(result) return result diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/sqrt_filter.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/sqrt_filter.py new file mode 100644 index 00000000..63c6a496 --- /dev/null +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/sqrt_filter.py @@ -0,0 +1,122 @@ +# +# Copyright (c) 2022, Takahiro Miki. All rights reserved. +# Licensed under the MIT license. See LICENSE file in the project root for details. +# +import cupy as cp +import numpy as np +from typing import List + +from elevation_mapping_cupy.plugins.plugin_manager import PluginBase + + +class MaxLayerFilter(PluginBase): + """Applies a maximum filter to the input layers and updates the traversability map. + This can be used to enhance navigation by identifying traversable areas. + + Args: + cell_n (int): The width and height of the elevation map. + layers (list): List of layers for semantic traversability. Default is ["traversability"]. + thresholds (list): List of thresholds for each layer. Default is [0.5]. + type (list): List of types for each layer. Default is ["traversability"]. + **kwargs: Additional keyword arguments. + """ + + def __init__( + self, + cell_n: int = 100, + layers: list = ["traversability"], + reverse: list = [True], + min_or_max: str = "max", + thresholds: list = [False], + default_value: float = 0.0, + **kwargs, + ): + super().__init__() + self.layers = layers + self.reverse = reverse + self.min_or_max = min_or_max + self.thresholds = thresholds + self.default_value = default_value + + def get_layer_data( + self, + elevation_map, + layer_names, + plugin_layers, + plugin_layer_names, + semantic_map, + semantic_layer_names, + name, + ): + if name in layer_names: + idx = layer_names.index(name) + layer = elevation_map[idx].copy() + elif name in plugin_layer_names: + idx = plugin_layer_names.index(name) + layer = plugin_layers[idx].copy() + elif name in semantic_layer_names: + idx = semantic_layer_names.index(name) + layer = semantic_map[idx].copy() + else: + print(f"Could not find layer {name}!") + layer = None + return layer + + def __call__( + self, + elevation_map: cp.ndarray, + layer_names: List[str], + plugin_layers: cp.ndarray, + plugin_layer_names: List[str], + semantic_map: cp.ndarray, + semantic_layer_names: List[str], + *args, + ) -> cp.ndarray: + """ + + Args: + elevation_map (cupy._core.core.ndarray): + layer_names (List[str]): + plugin_layers (cupy._core.core.ndarray): + plugin_layer_names (List[str]): + semantic_map (elevation_mapping_cupy.semantic_map.SemanticMap): + *args (): + + Returns: + cupy._core.core.ndarray: + """ + layers = [] + for it, name in enumerate(self.layers): + layer = self.get_layer_data( + elevation_map, layer_names, plugin_layers, plugin_layer_names, semantic_map, semantic_layer_names, name + ) + if layer is None: + continue + if isinstance(self.default_value, float): + layer = cp.where(layer == 0.0, float(self.default_value), layer) + elif isinstance(self.default_value, str): + default_layer = self.get_layer_data( + elevation_map, + layer_names, + plugin_layers, + plugin_layer_names, + semantic_map, + semantic_layer_names, + self.default_value, + ) + layer = cp.where(layer == 0, default_layer, layer) + if self.reverse[it]: + layer = 1.0 - layer + if isinstance(self.thresholds[it], float): + layer = cp.where(layer > float(self.thresholds[it]), 1, 0) + layers.append(layer) + if len(layers) == 0: + print("No layers are found, returning traversability!") + idx = layer_names.index("traversability") + return elevation_map[idx] + result = cp.stack(layers, axis=0) + if self.min_or_max == "min": + result = cp.min(result, axis=0) + else: + result = cp.max(result, axis=0) + return result From 99bf682f666413be708e66e6c2ee9c0d33cb8388 Mon Sep 17 00:00:00 2001 From: Sergei Sergienko Date: Thu, 1 Feb 2024 11:09:32 +0300 Subject: [PATCH 416/504] fix: Updated included launch name in plane decomposition launch --- README.md | 13 +++++++------ .../turtlesim_plane_decomposition_example.launch | 2 +- 2 files changed, 8 insertions(+), 7 deletions(-) diff --git a/README.md b/README.md index e7321e72..975fba85 100644 --- a/README.md +++ b/README.md @@ -4,10 +4,9 @@ [Documentation](https://leggedrobotics.github.io/elevation_mapping_cupy/) - ## Overview -The Elevaton Mapping CuPy software package represents an advancement in robotic navigation and locomotion. +The Elevaton Mapping CuPy software package represents an advancement in robotic navigation and locomotion. Integrating with the Robot Operating System (ROS) and utilizing GPU acceleration, this framework enhances point cloud registration and ray casting, crucial for efficient and accurate robotic movement, particularly in legged robots. ![screenshot](docs/media/main_repo.png) @@ -38,6 +37,7 @@ layers of the map. Finally the map can be post-processed with various custom plu external components (e.g. line detection). ## Citing + If you use the Elevation Mapping CuPy, please cite the following paper: Elevation Mapping for Locomotion and Navigation using GPU @@ -71,7 +71,7 @@ Gian Erni, Jonas Frey, Takahiro Miki, Matias Mattamala, Marco Hutter } ``` -## Quick instructions to run: +## Quick instructions to run ### Installation @@ -87,19 +87,19 @@ Then install dependencies. You can also use docker which already install all dependencies. When you run the script it should pull the image. - ```zsh cd docker ./run.sh ``` -You can also build locally by running `build.sh`. +You can also build locally by running `build.sh`, but in this case change `IMAGE_NAME` in `run.sh` to `elevation_mapping_cupy:latest`. For more information, check [Document](https://leggedrobotics.github.io/elevation_mapping_cupy/getting_started/installation.html) ### Build package Inside docker container. + ```zsh cd $HOME/catkin_ws catkin build elevation_mapping_cupy @@ -107,7 +107,8 @@ catkin build convex_plane_decomposition_ros # If you want to use plane segmenta catkin build semantic_sensor # If you want to use semantic sensors ``` -### Run turtlebot example. +### Run turtlebot example + ![Elevation map examples](docs/media/turtlebot.png) ```bash diff --git a/elevation_mapping_cupy/launch/turtlesim_plane_decomposition_example.launch b/elevation_mapping_cupy/launch/turtlesim_plane_decomposition_example.launch index 0cbd561b..09bfb7c9 100644 --- a/elevation_mapping_cupy/launch/turtlesim_plane_decomposition_example.launch +++ b/elevation_mapping_cupy/launch/turtlesim_plane_decomposition_example.launch @@ -3,7 +3,7 @@ - + From 6cf88aca82c6551e2083c81d7b41a997d501790f Mon Sep 17 00:00:00 2001 From: RobinSchmid7 Date: Mon, 12 Feb 2024 13:40:58 +0100 Subject: [PATCH 417/504] changes on jetson --- .../setups/anymal/anymal_sensor_parameter.yaml | 15 +++++++++++++-- 1 file changed, 13 insertions(+), 2 deletions(-) diff --git a/elevation_mapping_cupy/config/setups/anymal/anymal_sensor_parameter.yaml b/elevation_mapping_cupy/config/setups/anymal/anymal_sensor_parameter.yaml index 26e3f7c3..a14b08d0 100644 --- a/elevation_mapping_cupy/config/setups/anymal/anymal_sensor_parameter.yaml +++ b/elevation_mapping_cupy/config/setups/anymal/anymal_sensor_parameter.yaml @@ -18,10 +18,15 @@ image_channel_fusions: publishers: elevation_map_raw: - layers: ['elevation', 'traversability', 'variance', 'rgb', 'anomaly'] + layers: ['elevation', 'traversability', 'variance', 'rgb', 'anomaly', 'friction', 'stiffness', 'risk'] basic_layers: ['elevation', 'traversability'] fps: 5.0 + elevation_map_recordable: + layers: ['elevation', 'traversability', 'variance', 'rgb', 'anomaly', 'friction', 'stiffness', 'risk'] + basic_layers: ['elevation', 'traversability'] + fps: 2.0 + filtered_elevation_map: layers: ['inpaint', 'smooth', 'min_filter'] basic_layers: ['inpaint'] @@ -75,8 +80,14 @@ subscribers: topic_name: /robot_self_filter/bpearl_rear/point_cloud data_type: pointcloud + traversability: + topic_name: "/hdr_camera/semantic_image" + camera_info_topic_name: "/hdr_camera/semantic_camera_info" + channel_info_topic_name: "/hdr_camera/image_channel_info" + data_type: image + anomaly: topic_name: "/wild_visual_navigation_node/front/traversability" camera_info_topic_name: "/wild_visual_navigation_node/front/camera_info" channel_info_topic_name: "/wild_visual_navigation_node/front/channel_info" - data_type: image \ No newline at end of file + data_type: image From cfb3fc76bd52546acb9ac5e74b001b379a8571df Mon Sep 17 00:00:00 2001 From: Takahiro Date: Sat, 24 Feb 2024 19:36:21 +0100 Subject: [PATCH 418/504] Moved get_layer_data to plugin manager base. Created erosion filter. --- .../config/core/plugin_config.yaml | 12 +- .../anymal/anymal_sensor_parameter.yaml | 2 +- .../elevation_mapping_cupy/plugins/erosion.py | 89 +++++++++++++ .../plugins/max_layer_filter.py | 55 ++++---- .../plugins/plugin_manager.py | 60 ++++++++- .../plugins/sqrt_filter.py | 122 ------------------ 6 files changed, 184 insertions(+), 156 deletions(-) create mode 100644 elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/erosion.py delete mode 100644 elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/sqrt_filter.py diff --git a/elevation_mapping_cupy/config/core/plugin_config.yaml b/elevation_mapping_cupy/config/core/plugin_config.yaml index 7eb62c4c..efb29b27 100644 --- a/elevation_mapping_cupy/config/core/plugin_config.yaml +++ b/elevation_mapping_cupy/config/core/plugin_config.yaml @@ -25,4 +25,14 @@ inpainting: layer_name: "inpaint" extra_params: method: "telea" # telea or ns -# Apply smoothing for inpainted layer \ No newline at end of file +# Apply smoothing for inpainted layer +erosion: + enable: True + fill_nan: False + is_height_layer: False + layer_name: "erosion" + extra_params: + input_layer_name: "traversability" + dilation_size: 3 + iteration_n: 20 + reverse: True \ No newline at end of file diff --git a/elevation_mapping_cupy/config/setups/anymal/anymal_sensor_parameter.yaml b/elevation_mapping_cupy/config/setups/anymal/anymal_sensor_parameter.yaml index a130607f..7f5bec6b 100644 --- a/elevation_mapping_cupy/config/setups/anymal/anymal_sensor_parameter.yaml +++ b/elevation_mapping_cupy/config/setups/anymal/anymal_sensor_parameter.yaml @@ -23,7 +23,7 @@ publishers: fps: 5.0 filtered_elevation_map: - layers: ['inpaint', 'smooth', 'min_filter'] + layers: ['inpaint', 'smooth', 'min_filter', 'erosion'] basic_layers: ['inpaint'] fps: 5.0 diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/erosion.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/erosion.py new file mode 100644 index 00000000..b78497b4 --- /dev/null +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/erosion.py @@ -0,0 +1,89 @@ +# +# Copyright (c) 2024, Takahiro Miki. All rights reserved. +# Licensed under the MIT license. See LICENSE file in the project root for details. +# +import cv2 as cv +import cupy as cp +import numpy as np + +from typing import List + +from .plugin_manager import PluginBase + + +class Erosion(PluginBase): + """ + This class is used for applying erosion to an elevation map or specific layers within it. + Erosion is a morphological operation that is used to remove small-scale details from a binary image. + + Args: + kernel_size (int): Size of the erosion kernel. Default is 3, which means a 3x3 square kernel. + iterations (int): Number of times erosion is applied. Default is 1. + **kwargs (): Additional keyword arguments. + """ + + def __init__( + self, + input_layer_name="traversability", + kernel_size: int = 3, + iterations: int = 1, + reverse: bool = False, + **kwargs, + ): + super().__init__() + self.input_layer_name = input_layer_name + self.kernel_size = kernel_size + self.iterations = iterations + self.reverse = reverse + + def __call__( + self, + elevation_map: cp.ndarray, + layer_names: List[str], + plugin_layers: cp.ndarray, + plugin_layer_names: List[str], + semantic_map: cp.ndarray, + semantic_layer_names: List[str], + *args, + ) -> cp.ndarray: + """ + Applies erosion to the given elevation map. + + Args: + elevation_map (cupy._core.core.ndarray): The elevation map to be eroded. + layer_names (List[str]): Names of the layers in the elevation map. + plugin_layers (cupy._core.core.ndarray): Layers provided by other plugins. + plugin_layer_names (List[str]): Names of the layers provided by other plugins. + *args (): Additional arguments. + + Returns: + cupy._core.core.ndarray: The eroded elevation map. + """ + # Convert the elevation map to a format suitable for erosion (if necessary) + layer_data = self.get_layer_data( + elevation_map, + layer_names, + plugin_layers, + plugin_layer_names, + semantic_map, + semantic_layer_names, + self.input_layer_name, + ) + layer_np = cp.asnumpy(layer_data) + + # Define the erosion kernel + kernel = np.ones((self.kernel_size, self.kernel_size), np.uint8) + + if self.reverse: + layer_np = 1 - layer_np + # Apply erosion + layer_min = float(layer_np.min()) + layer_max = float(layer_np.max()) + layer_np_normalized = ((layer_np - layer_min) * 255 / (layer_max - layer_min)).astype("uint8") + eroded_map_np = cv.erode(layer_np_normalized, kernel, iterations=self.iterations) + eroded_map_np = eroded_map_np.astype(np.float32) * (layer_max - layer_min) / 255 + layer_min + if self.reverse: + eroded_map_np = 1 - eroded_map_np + + # Convert back to cupy array and return + return cp.asarray(eroded_map_np) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/max_layer_filter.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/max_layer_filter.py index f6b2fc46..3b3dc3c6 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/max_layer_filter.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/max_layer_filter.py @@ -15,9 +15,10 @@ class MaxLayerFilter(PluginBase): Args: cell_n (int): The width and height of the elevation map. + reverse (list): A list of boolean values indicating whether to reverse the filter operation for each layer. Default is [True]. + min_or_max (str): A string indicating whether to apply a minimum or maximum filter. Accepts "min" or "max". Default is "max". layers (list): List of layers for semantic traversability. Default is ["traversability"]. - thresholds (list): List of thresholds for each layer. Default is [0.5]. - type (list): List of types for each layer. Default is ["traversability"]. + thresholds (list): List of thresholds for each layer. If the value is bigger than a threshold, assign 1.0 otherwise 0.0. If it is False, it does not apply. Default is [False]. **kwargs: Additional keyword arguments. """ @@ -29,7 +30,6 @@ def __init__( min_or_max: str = "max", thresholds: list = [False], default_value: float = 0.0, - apply_sqrt: bool = True, **kwargs, ): super().__init__() @@ -38,31 +38,30 @@ def __init__( self.min_or_max = min_or_max self.thresholds = thresholds self.default_value = default_value - self.apply_sqrt = apply_sqrt - def get_layer_data( - self, - elevation_map, - layer_names, - plugin_layers, - plugin_layer_names, - semantic_map, - semantic_layer_names, - name, - ): - if name in layer_names: - idx = layer_names.index(name) - layer = elevation_map[idx].copy() - elif name in plugin_layer_names: - idx = plugin_layer_names.index(name) - layer = plugin_layers[idx].copy() - elif name in semantic_layer_names: - idx = semantic_layer_names.index(name) - layer = semantic_map[idx].copy() - else: - print(f"Could not find layer {name}!") - layer = None - return layer + # def get_layer_data( + # self, + # elevation_map, + # layer_names, + # plugin_layers, + # plugin_layer_names, + # semantic_map, + # semantic_layer_names, + # name, + # ): + # if name in layer_names: + # idx = layer_names.index(name) + # layer = elevation_map[idx].copy() + # elif name in plugin_layer_names: + # idx = plugin_layer_names.index(name) + # layer = plugin_layers[idx].copy() + # elif name in semantic_layer_names: + # idx = semantic_layer_names.index(name) + # layer = semantic_map[idx].copy() + # else: + # print(f"Could not find layer {name}!") + # layer = None + # return layer def __call__( self, @@ -121,6 +120,4 @@ def __call__( result = cp.min(result, axis=0) else: result = cp.max(result, axis=0) - if self.apply_sqrt: - result = cp.square(result) return result diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/plugin_manager.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/plugin_manager.py index 8ff9fda1..26f81d21 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/plugin_manager.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/plugin_manager.py @@ -4,7 +4,7 @@ # from abc import ABC import cupy as cp -from typing import List, Dict +from typing import List, Dict, Optional import importlib import inspect from dataclasses import dataclass @@ -39,6 +39,8 @@ def __call__( layer_names: List[str], plugin_layers: cp.ndarray, plugin_layer_names: List[str], + semantic_map: cp.ndarray, + semantic_layer_names: List[str], *args, **kwargs, ) -> cp.ndarray: @@ -50,6 +52,8 @@ def __call__( layer_names (): plugin_layers (): plugin_layer_names (): + semantic_map (): + semantic_layer_names (): Run your processing here and return the result. layer of elevation_map 0: elevation @@ -64,6 +68,45 @@ def __call__( """ pass + def get_layer_data( + self, + elevation_map: cp.ndarray, + layer_names: List[str], + plugin_layers: cp.ndarray, + plugin_layer_names: List[str], + semantic_map: cp.ndarray, + semantic_layer_names: List[str], + name: str, + ) -> Optional[cp.ndarray]: + """ + Retrieve a copy of the layer data from the elevation, plugin, or semantic maps based on the layer name. + + Args: + elevation_map (cp.ndarray): The elevation map containing various layers. + layer_names (List[str]): A list of names for each layer in the elevation map. + plugin_layers (cp.ndarray): The plugin layers containing additional data. + plugin_layer_names (List[str]): A list of names for each layer in the plugin layers. + semantic_map (cp.ndarray): The semantic map containing various layers. + semantic_layer_names (List[str]): A list of names for each layer in the semantic map. + name (str): The name of the layer to retrieve. + + Returns: + Optional[cp.ndarray]: A copy of the requested layer as a cupy ndarray if found, otherwise None. + """ + if name in layer_names: + idx = layer_names.index(name) + layer = elevation_map[idx].copy() + elif name in plugin_layer_names: + idx = plugin_layer_names.index(name) + layer = plugin_layers[idx].copy() + elif name in semantic_layer_names: + idx = semantic_layer_names.index(name) + layer = semantic_map[idx].copy() + else: + print(f"Could not find layer {name}!") + layer = None + return layer + class PluginManager(object): """ @@ -152,11 +195,22 @@ def update_with_name( self.layers[idx] = self.plugins[idx](elevation_map, layer_names, self.layers, self.layer_names) elif n_param == 7: self.layers[idx] = self.plugins[idx]( - elevation_map, layer_names, self.layers, self.layer_names, semantic_map, semantic_params, + elevation_map, + layer_names, + self.layers, + self.layer_names, + semantic_map, + semantic_params, ) elif n_param == 8: self.layers[idx] = self.plugins[idx]( - elevation_map, layer_names, self.layers, self.layer_names, semantic_map, semantic_params, rotation, + elevation_map, + layer_names, + self.layers, + self.layer_names, + semantic_map, + semantic_params, + rotation, ) else: self.layers[idx] = self.plugins[idx]( diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/sqrt_filter.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/sqrt_filter.py deleted file mode 100644 index 63c6a496..00000000 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/sqrt_filter.py +++ /dev/null @@ -1,122 +0,0 @@ -# -# Copyright (c) 2022, Takahiro Miki. All rights reserved. -# Licensed under the MIT license. See LICENSE file in the project root for details. -# -import cupy as cp -import numpy as np -from typing import List - -from elevation_mapping_cupy.plugins.plugin_manager import PluginBase - - -class MaxLayerFilter(PluginBase): - """Applies a maximum filter to the input layers and updates the traversability map. - This can be used to enhance navigation by identifying traversable areas. - - Args: - cell_n (int): The width and height of the elevation map. - layers (list): List of layers for semantic traversability. Default is ["traversability"]. - thresholds (list): List of thresholds for each layer. Default is [0.5]. - type (list): List of types for each layer. Default is ["traversability"]. - **kwargs: Additional keyword arguments. - """ - - def __init__( - self, - cell_n: int = 100, - layers: list = ["traversability"], - reverse: list = [True], - min_or_max: str = "max", - thresholds: list = [False], - default_value: float = 0.0, - **kwargs, - ): - super().__init__() - self.layers = layers - self.reverse = reverse - self.min_or_max = min_or_max - self.thresholds = thresholds - self.default_value = default_value - - def get_layer_data( - self, - elevation_map, - layer_names, - plugin_layers, - plugin_layer_names, - semantic_map, - semantic_layer_names, - name, - ): - if name in layer_names: - idx = layer_names.index(name) - layer = elevation_map[idx].copy() - elif name in plugin_layer_names: - idx = plugin_layer_names.index(name) - layer = plugin_layers[idx].copy() - elif name in semantic_layer_names: - idx = semantic_layer_names.index(name) - layer = semantic_map[idx].copy() - else: - print(f"Could not find layer {name}!") - layer = None - return layer - - def __call__( - self, - elevation_map: cp.ndarray, - layer_names: List[str], - plugin_layers: cp.ndarray, - plugin_layer_names: List[str], - semantic_map: cp.ndarray, - semantic_layer_names: List[str], - *args, - ) -> cp.ndarray: - """ - - Args: - elevation_map (cupy._core.core.ndarray): - layer_names (List[str]): - plugin_layers (cupy._core.core.ndarray): - plugin_layer_names (List[str]): - semantic_map (elevation_mapping_cupy.semantic_map.SemanticMap): - *args (): - - Returns: - cupy._core.core.ndarray: - """ - layers = [] - for it, name in enumerate(self.layers): - layer = self.get_layer_data( - elevation_map, layer_names, plugin_layers, plugin_layer_names, semantic_map, semantic_layer_names, name - ) - if layer is None: - continue - if isinstance(self.default_value, float): - layer = cp.where(layer == 0.0, float(self.default_value), layer) - elif isinstance(self.default_value, str): - default_layer = self.get_layer_data( - elevation_map, - layer_names, - plugin_layers, - plugin_layer_names, - semantic_map, - semantic_layer_names, - self.default_value, - ) - layer = cp.where(layer == 0, default_layer, layer) - if self.reverse[it]: - layer = 1.0 - layer - if isinstance(self.thresholds[it], float): - layer = cp.where(layer > float(self.thresholds[it]), 1, 0) - layers.append(layer) - if len(layers) == 0: - print("No layers are found, returning traversability!") - idx = layer_names.index("traversability") - return elevation_map[idx] - result = cp.stack(layers, axis=0) - if self.min_or_max == "min": - result = cp.min(result, axis=0) - else: - result = cp.max(result, axis=0) - return result From 1b304358d163977dee33fd13dfe1295d60ec8c5b Mon Sep 17 00:00:00 2001 From: Takahiro Date: Sat, 24 Feb 2024 19:42:38 +0100 Subject: [PATCH 419/504] Removed commented out code. --- .../plugins/max_layer_filter.py | 24 ------------------- 1 file changed, 24 deletions(-) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/max_layer_filter.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/max_layer_filter.py index 3b3dc3c6..1c4e7853 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/max_layer_filter.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/max_layer_filter.py @@ -39,30 +39,6 @@ def __init__( self.thresholds = thresholds self.default_value = default_value - # def get_layer_data( - # self, - # elevation_map, - # layer_names, - # plugin_layers, - # plugin_layer_names, - # semantic_map, - # semantic_layer_names, - # name, - # ): - # if name in layer_names: - # idx = layer_names.index(name) - # layer = elevation_map[idx].copy() - # elif name in plugin_layer_names: - # idx = plugin_layer_names.index(name) - # layer = plugin_layers[idx].copy() - # elif name in semantic_layer_names: - # idx = semantic_layer_names.index(name) - # layer = semantic_map[idx].copy() - # else: - # print(f"Could not find layer {name}!") - # layer = None - # return layer - def __call__( self, elevation_map: cp.ndarray, From 6b25b7ede8106c5d4981d7b69a5284fc758a44df Mon Sep 17 00:00:00 2001 From: Takahiro Miki Date: Wed, 28 Feb 2024 17:47:36 +0100 Subject: [PATCH 420/504] Updated bibtex. --- README.md | 26 ++++++++++++++------------ 1 file changed, 14 insertions(+), 12 deletions(-) diff --git a/README.md b/README.md index 975fba85..057424df 100644 --- a/README.md +++ b/README.md @@ -46,13 +46,13 @@ Elevation Mapping for Locomotion and Navigation using GPU Takahiro Miki, Lorenz Wellhausen, Ruben Grandia, Fabian Jenelten, Timon Homberger, Marco Hutter ```bibtex -@misc{mikielevation2022, - doi = {10.48550/ARXIV.2204.12876}, - author = {Miki, Takahiro and Wellhausen, Lorenz and Grandia, Ruben and Jenelten, Fabian and Homberger, Timon and Hutter, Marco}, - keywords = {Robotics (cs.RO), FOS: Computer and information sciences, FOS: Computer and information sciences}, - title = {Elevation Mapping for Locomotion and Navigation using GPU}, - publisher = {International Conference on Intelligent Robots and Systems (IROS)}, - year = {2022}, +@inproceedings{miki2022elevation, + title={Elevation mapping for locomotion and navigation using gpu}, + author={Miki, Takahiro and Wellhausen, Lorenz and Grandia, Ruben and Jenelten, Fabian and Homberger, Timon and Hutter, Marco}, + booktitle={2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, + pages={2273--2280}, + year={2022}, + organization={IEEE} } ``` @@ -63,11 +63,13 @@ If you use the Multi-modal Elevation Mapping for color or semantic layers, pleas Gian Erni, Jonas Frey, Takahiro Miki, Matias Mattamala, Marco Hutter ```bibtex -@misc{Erni2023-bs, - title = "{MEM}: {Multi-Modal} Elevation Mapping for Robotics and Learning", - author = "Erni, Gian and Frey, Jonas and Miki, Takahiro and Mattamala, Matias and Hutter, Marco", - publisher = {International Conference on Intelligent Robots and Systems (IROS)}, - year = {2023}, +@inproceedings{erni2023mem, + title={MEM: Multi-Modal Elevation Mapping for Robotics and Learning}, + author={Erni, Gian and Frey, Jonas and Miki, Takahiro and Mattamala, Matias and Hutter, Marco}, + booktitle={2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, + pages={11011--11018}, + year={2023}, + organization={IEEE} } ``` From f8f8fe30ea39b4f4f78d49a5e1d11f87ac47f553 Mon Sep 17 00:00:00 2001 From: RobinSchmid7 Date: Thu, 14 Mar 2024 16:20:02 +0100 Subject: [PATCH 421/504] Font cleanup --- .../config/setups/anymal/anymal_parameters.yaml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/elevation_mapping_cupy/config/setups/anymal/anymal_parameters.yaml b/elevation_mapping_cupy/config/setups/anymal/anymal_parameters.yaml index 5d1ad988..4a2ed7f4 100644 --- a/elevation_mapping_cupy/config/setups/anymal/anymal_parameters.yaml +++ b/elevation_mapping_cupy/config/setups/anymal/anymal_parameters.yaml @@ -1,6 +1,6 @@ #### Basic parameters ######## -resolution: 0.04 # resolution in m. -map_length: 8 # map's size in m. +resolution: 0.04 # resolution in m. +map_length: 8 # map's size in m. sensor_noise_factor: 0.05 # point's noise is sensor_noise_factor*z^2 (z is distance from sensor). mahalanobis_thresh: 2.0 # points outside this distance is outlier. outlier_variance: 0.01 # if point is outlier, add this value to the cell. @@ -9,7 +9,7 @@ max_drift: 0.1 # drift compensation happens onl drift_compensation_alpha: 0.1 # drift compensation alpha for smoother update of drift compensation time_variance: 0.0001 # add this value when update_variance is called. max_variance: 100.0 # maximum variance for each cell. -initial_variance: 1000.0 # initial variance for each cell. +initial_variance: 1000.0 # initial variance for each cell. traversability_inlier: 0.9 # cells with higher traversability are used for drift compensation. dilation_size: 3 # dilation filter size before traversability filter. wall_num_thresh: 20 # if there are more points than this value, only higher points than the current height are used to make the wall more sharp. From 0ecb24a1862996dab64e23738ddea64b9515fec9 Mon Sep 17 00:00:00 2001 From: RobinSchmid7 Date: Mon, 18 Mar 2024 10:51:32 +0100 Subject: [PATCH 422/504] Adding the upper bound layer to the default elevation map layers --- .../config/setups/anymal/anymal_sensor_parameter.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/elevation_mapping_cupy/config/setups/anymal/anymal_sensor_parameter.yaml b/elevation_mapping_cupy/config/setups/anymal/anymal_sensor_parameter.yaml index a14b08d0..a5a96577 100644 --- a/elevation_mapping_cupy/config/setups/anymal/anymal_sensor_parameter.yaml +++ b/elevation_mapping_cupy/config/setups/anymal/anymal_sensor_parameter.yaml @@ -18,7 +18,7 @@ image_channel_fusions: publishers: elevation_map_raw: - layers: ['elevation', 'traversability', 'variance', 'rgb', 'anomaly', 'friction', 'stiffness', 'risk'] + layers: ['elevation', 'traversability', 'variance', 'rgb', 'anomaly', 'friction', 'stiffness', 'risk', 'upper_bound'] basic_layers: ['elevation', 'traversability'] fps: 5.0 @@ -28,7 +28,7 @@ publishers: fps: 2.0 filtered_elevation_map: - layers: ['inpaint', 'smooth', 'min_filter'] + layers: ['inpaint', 'smooth', 'min_filter', 'upper_bound'] basic_layers: ['inpaint'] fps: 5.0 From d33feca2ad24429d1baa9a0790b5b55c071705e1 Mon Sep 17 00:00:00 2001 From: Takahiro Date: Mon, 25 Mar 2024 21:48:44 +0100 Subject: [PATCH 423/504] Added a param called alwaysClearWithInitializer. --- .../include/elevation_mapping_cupy/elevation_mapping_ros.hpp | 1 + elevation_mapping_cupy/src/elevation_mapping_ros.cpp | 4 ++++ 2 files changed, 5 insertions(+) diff --git a/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp b/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp index 0149ffad..0fb75b6a 100644 --- a/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp +++ b/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp @@ -184,6 +184,7 @@ class ElevationMappingNode { bool enableDriftCorrectedTFPublishing_; bool useInitializerAtStart_; double initializeTfGridSize_; + bool alwaysClearWithInitializer_; std::atomic_int pointCloudProcessCounter_; }; diff --git a/elevation_mapping_cupy/src/elevation_mapping_ros.cpp b/elevation_mapping_cupy/src/elevation_mapping_ros.cpp index 4a72e8c6..715afeb9 100644 --- a/elevation_mapping_cupy/src/elevation_mapping_ros.cpp +++ b/elevation_mapping_cupy/src/elevation_mapping_ros.cpp @@ -68,6 +68,7 @@ ElevationMappingNode::ElevationMappingNode(ros::NodeHandle& nh) nh.param("enable_normal_arrow_publishing", enableNormalArrowPublishing_, false); nh.param("enable_drift_corrected_TF_publishing", enableDriftCorrectedTFPublishing_, false); nh.param("use_initializer_at_start", useInitializerAtStart_, false); + nh.param("always_clear_with_initializer", alwaysClearWithInitializer_, false); enablePointCloudPublishing_ = enablePointCloudPublishing; @@ -541,6 +542,9 @@ bool ElevationMappingNode::getSubmap(grid_map_msgs::GetGridMap::Request& request bool ElevationMappingNode::clearMap(std_srvs::Empty::Request& request, std_srvs::Empty::Response& response) { ROS_INFO("Clearing map."); map_.clear(); + if (alwaysClearWithInitializer_) { + initializeWithTF(); + } return true; } From ee9a15521bb8d270cb1c2e43c7e89ba71e0e5f3c Mon Sep 17 00:00:00 2001 From: Takahiro Date: Mon, 1 Apr 2024 22:41:03 +0200 Subject: [PATCH 424/504] Fixed issue with erosion filter. --- .gitignore | 3 ++- elevation_mapping_cupy/compile_commands.json | 1 - .../elevation_mapping_cupy/plugins/erosion.py | 24 +++++++++++++++++++ 3 files changed, 26 insertions(+), 2 deletions(-) delete mode 120000 elevation_mapping_cupy/compile_commands.json diff --git a/.gitignore b/.gitignore index 69ac53f4..41fde99f 100644 --- a/.gitignore +++ b/.gitignore @@ -8,4 +8,5 @@ docs/build _build .idea* .vscode* -*.egg-info \ No newline at end of file +*.egg-info +elevation_mapping_cupy/compile_commands.json diff --git a/elevation_mapping_cupy/compile_commands.json b/elevation_mapping_cupy/compile_commands.json deleted file mode 120000 index 2fdee343..00000000 --- a/elevation_mapping_cupy/compile_commands.json +++ /dev/null @@ -1 +0,0 @@ -/home/takahiro/catkin_ws/build/elevation_mapping_cupy/compile_commands.json \ No newline at end of file diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/erosion.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/erosion.py index b78497b4..7b0211df 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/erosion.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/erosion.py @@ -28,6 +28,7 @@ def __init__( kernel_size: int = 3, iterations: int = 1, reverse: bool = False, + default_layer_name: str = "traversability", **kwargs, ): super().__init__() @@ -35,6 +36,7 @@ def __init__( self.kernel_size = kernel_size self.iterations = iterations self.reverse = reverse + self.default_layer_name = default_layer_name def __call__( self, @@ -69,6 +71,28 @@ def __call__( semantic_layer_names, self.input_layer_name, ) + if layer_data is None: + print(f"No layers are found, using {self.default_layer_name}!") + layer_data = self.get_layer_data( + elevation_map, + layer_names, + plugin_layers, + plugin_layer_names, + semantic_map, + semantic_layer_names, + self.default_layer_name, + ) + if layer_data is None: + print(f"No layers are found, using traversability!") + layer_data = self.get_layer_data( + elevation_map, + layer_names, + plugin_layers, + plugin_layer_names, + semantic_map, + semantic_layer_names, + "traversability", + ) layer_np = cp.asnumpy(layer_data) # Define the erosion kernel From 91d2a3de18b7c13b53c9581f4f9982948dd95bef Mon Sep 17 00:00:00 2001 From: yyagin Date: Fri, 5 Apr 2024 14:50:17 +0000 Subject: [PATCH 425/504] Networkx installation error fix https://github.com/leggedrobotics/elevation_mapping_cupy/issues/87 Newest version of Networkx only available for Python >3.9. --- docker/Dockerfile.x64 | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docker/Dockerfile.x64 b/docker/Dockerfile.x64 index 05cad5c7..7864e918 100644 --- a/docker/Dockerfile.x64 +++ b/docker/Dockerfile.x64 @@ -16,7 +16,7 @@ RUN apt-get update && apt-get install -y \ git # Install PyTorch -RUN pip3 install torch torchvision torchaudio --index-url https://download.pytorch.org/whl/cu118 +RUN pip3 install networkx==3.0 torch torchvision torchaudio --index-url https://download.pytorch.org/whl/cu118 COPY requirements.txt /tmp/requirements.txt RUN pip3 install -r /tmp/requirements.txt From a23191f36e08df2852de41b5e5f2a8d21bd2dfcf Mon Sep 17 00:00:00 2001 From: Jonas Frey Date: Thu, 18 Apr 2024 12:37:39 +0200 Subject: [PATCH 426/504] fix bug --- .../elevation_mapping_cupy/kernels/custom_image_kernels.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/custom_image_kernels.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/custom_image_kernels.py index ce03ee8f..a29668a2 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/custom_image_kernels.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/custom_image_kernels.py @@ -22,7 +22,7 @@ def image_to_map_correspondence_kernel(resolution, width, height, tolerance_z_co return layer * layer_n + idx; } __device__ bool is_inside_map(int x, int y) { - return (x >= 0 && y >= 0 && x<${width} && x<${height}); + return (x >= 0 && y >= 0 && x<${width} && y<${height}); } __device__ float get_l2_distance(int x0, int y0, int x1, int y1) { float dx = x0-x1; From 8de87cebafc10bff7b96fe879c6902b3ccec91a2 Mon Sep 17 00:00:00 2001 From: yyagin Date: Wed, 24 Apr 2024 12:21:32 +0300 Subject: [PATCH 427/504] Add networkx dependency --- requirements.txt | 1 + 1 file changed, 1 insertion(+) diff --git a/requirements.txt b/requirements.txt index 76a0b9d2..fa3f3767 100644 --- a/requirements.txt +++ b/requirements.txt @@ -7,6 +7,7 @@ simple-parsing scikit-image==0.19 matplotlib catkin-tools +networkx==3.0 # cupy ###### Requirements with Version Specifiers ######` From dd3d9a2f1086f67d79a6a4fe16829a48049d1a61 Mon Sep 17 00:00:00 2001 From: yyagin Date: Wed, 24 Apr 2024 12:22:05 +0300 Subject: [PATCH 428/504] Install requirements before PyTorch --- docker/Dockerfile.x64 | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docker/Dockerfile.x64 b/docker/Dockerfile.x64 index 7864e918..26bb85f4 100644 --- a/docker/Dockerfile.x64 +++ b/docker/Dockerfile.x64 @@ -16,9 +16,9 @@ RUN apt-get update && apt-get install -y \ git # Install PyTorch -RUN pip3 install networkx==3.0 torch torchvision torchaudio --index-url https://download.pytorch.org/whl/cu118 COPY requirements.txt /tmp/requirements.txt RUN pip3 install -r /tmp/requirements.txt +RUN pip3 install torch torchvision torchaudio --index-url https://download.pytorch.org/whl/cu118 # Install other Python packages RUN pip3 install cupy-cuda11x scikit-learn From 0126df19f0d3a57f940eb08e4481d9feed52ef51 Mon Sep 17 00:00:00 2001 From: Takahiro Date: Sat, 27 Apr 2024 23:45:13 +0200 Subject: [PATCH 429/504] Added scales param to max_layer_filter. --- .../script/elevation_mapping_cupy/plugins/max_layer_filter.py | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/max_layer_filter.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/max_layer_filter.py index 1c4e7853..34783ebd 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/max_layer_filter.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/max_layer_filter.py @@ -29,6 +29,7 @@ def __init__( reverse: list = [True], min_or_max: str = "max", thresholds: list = [False], + scales: list = [1.0], default_value: float = 0.0, **kwargs, ): @@ -37,6 +38,7 @@ def __init__( self.reverse = reverse self.min_or_max = min_or_max self.thresholds = thresholds + self.scales = scales self.default_value = default_value def __call__( @@ -84,6 +86,8 @@ def __call__( layer = cp.where(layer == 0, default_layer, layer) if self.reverse[it]: layer = 1.0 - layer + if len(self.scales) > it and isinstance(self.scales[it], float): + layer = layer * float(self.scales[it]) if isinstance(self.thresholds[it], float): layer = cp.where(layer > float(self.thresholds[it]), 1, 0) layers.append(layer) From c4af484ff6368e496c144224aa18fac43fc45e5f Mon Sep 17 00:00:00 2001 From: RobinSchmid7 Date: Sun, 9 Jun 2024 22:18:06 +0200 Subject: [PATCH 430/504] Start adding distortion, not tested yet --- .../elevation_mapping_wrapper.hpp | 2 +- .../elevation_mapping_cupy/elevation_mapping.py | 3 +++ .../elevation_mapping_ros.py | 2 +- .../kernels/custom_image_kernels.py | 17 ++++++++++++++++- .../src/elevation_mapping_ros.cpp | 7 +++++-- .../src/elevation_mapping_wrapper.cpp | 4 ++-- 6 files changed, 28 insertions(+), 7 deletions(-) diff --git a/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_wrapper.hpp b/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_wrapper.hpp index 116403e6..fb74574f 100644 --- a/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_wrapper.hpp +++ b/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_wrapper.hpp @@ -49,7 +49,7 @@ class ElevationMappingWrapper { void input(const RowMatrixXd& points, const std::vector& channels, const RowMatrixXd& R, const Eigen::VectorXd& t, const double positionNoise, const double orientationNoise); void input_image(const std::vector& multichannel_image, const std::vector& channels, const RowMatrixXd& R, - const Eigen::VectorXd& t, const RowMatrixXd& cameraMatrix, int height, int width); + const Eigen::VectorXd& t, const RowMatrixXd& cameraMatrix, const RowMatrixXd& D, int height, int width); void move_to(const Eigen::VectorXd& p, const RowMatrixXd& R); void clear(); void update_variance(); diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py index 0ff32d9a..11136fe9 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py @@ -466,6 +466,7 @@ def input_image( R: cp._core.core.ndarray, t: cp._core.core.ndarray, K: cp._core.core.ndarray, + D: cp._core.core.ndarray, image_height: int, image_width: int, ): @@ -492,6 +493,7 @@ def input_image( K = cp.asarray(K, dtype=self.data_type) R = cp.asarray(R, dtype=self.data_type) t = cp.asarray(t, dtype=self.data_type) + D = cp.asarray(D, dtype=self.data_type) image_height = cp.float32(image_height) image_width = cp.float32(image_width) @@ -514,6 +516,7 @@ def input_image( y1, z1, P.reshape(-1), + D.reshape(-1), image_height, image_width, self.center, diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping_ros.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping_ros.py index 3756ebd7..6e69861c 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping_ros.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping_ros.py @@ -177,7 +177,7 @@ def image_callback(self, camera_msg, camera_info_msg, sub_key): assert np.all(np.array(camera_info_msg.D) == 0.0), "Undistortion not implemented" K = np.array(camera_info_msg.K, dtype=np.float32).reshape(3, 3) # process pointcloud - self._map.input_image(sub_key, semantic_img, R, t, K, camera_info_msg.height, camera_info_msg.width) + self._map.input_image(sub_key, semantic_img, R, t, K, D, camera_info_msg.height, camera_info_msg.width) self._image_process_counter += 1 def pointcloud_callback(self, msg, sub_key): diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/custom_image_kernels.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/custom_image_kernels.py index a29668a2..4af01577 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/custom_image_kernels.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/custom_image_kernels.py @@ -13,7 +13,7 @@ def image_to_map_correspondence_kernel(resolution, width, height, tolerance_z_co The function returns a kernel that can be used to perform the correspondence calculation. """ _image_to_map_correspondence_kernel = cp.ElementwiseKernel( - in_params="raw U map, raw U x1, raw U y1, raw U z1, raw U P, raw U image_height, raw U image_width, raw U center", + in_params="raw U map, raw U x1, raw U y1, raw U z1, raw U P, raw U D, raw U image_height, raw U image_width, raw U center", out_params="raw U uv_correspondence, raw B valid_correspondence", preamble=string.Template( """ @@ -65,6 +65,21 @@ def image_to_map_correspondence_kernel(resolution, width, height, tolerance_z_co if ((u < 0) || (v < 0) || (u >= image_width) || (v >= image_height)){ return; } + + // Apply undistortion using distortion matrix D + float k1 = D[0]; + float k2 = D[1]; + float p1 = D[2]; + float p2 = D[3]; + float k3 = D[4]; + float x = (u - image_width / 2.0) / (image_width / 2.0); + float y = (v - image_height / 2.0) / (image_height / 2.0); + float r2 = x * x + y * y; + float radial_distortion = 1 + k1 * r2 + k2 * r2 * r2 + k3 * r2 * r2 * r2; + float x_corrected = x * radial_distortion + 2 * p1 * x * y + p2 * (r2 + 2 * x * x); + float y_corrected = y * radial_distortion + 2 * p2 * x * y + p1 * (r2 + 2 * y * y); + u = (x_corrected * (image_width / 2.0)) + (image_width / 2.0); + v = (y_corrected * (image_height / 2.0)) + (image_height / 2.0); int y0_c = y0; int x0_c = x0; diff --git a/elevation_mapping_cupy/src/elevation_mapping_ros.cpp b/elevation_mapping_cupy/src/elevation_mapping_ros.cpp index 4a72e8c6..50c2dd96 100644 --- a/elevation_mapping_cupy/src/elevation_mapping_ros.cpp +++ b/elevation_mapping_cupy/src/elevation_mapping_ros.cpp @@ -387,6 +387,9 @@ void ElevationMappingNode::inputImage(const sensor_msgs::ImageConstPtr& image_ms // Extract camera matrix Eigen::Map> cameraMatrix(&camera_info_msg->K[0]); + // Extract distortion coefficients + Eigen::Map distortionCoeffs(camera_info_msg->D.data(), camera_info_msg->D.size()); + // Get pose of sensor in map frame tf::StampedTransform transformTf; std::string sensorFrameId = image_msg->header.frame_id; @@ -427,8 +430,8 @@ void ElevationMappingNode::inputImage(const sensor_msgs::ImageConstPtr& image_ms } // Pass image to pipeline - map_.input_image(multichannel_image, channels, transformationMapToSensor.rotation(), transformationMapToSensor.translation(), cameraMatrix, - image.rows, image.cols); + map_.input_image(multichannel_image, channels, transformationMapToSensor.rotation(), transformationMapToSensor.translation(), cameraMatrix, + distortionCoeffs, image.rows, image.cols); } void ElevationMappingNode::imageCallback(const sensor_msgs::ImageConstPtr& image_msg, diff --git a/elevation_mapping_cupy/src/elevation_mapping_wrapper.cpp b/elevation_mapping_cupy/src/elevation_mapping_wrapper.cpp index f66f9a79..b23207d6 100644 --- a/elevation_mapping_cupy/src/elevation_mapping_wrapper.cpp +++ b/elevation_mapping_cupy/src/elevation_mapping_wrapper.cpp @@ -178,10 +178,10 @@ void ElevationMappingWrapper::input(const RowMatrixXd& points, const std::vector } void ElevationMappingWrapper::input_image(const std::vector& multichannel_image, const std::vector& channels, const RowMatrixXd& R, - const Eigen::VectorXd& t, const RowMatrixXd& cameraMatrix, int height, int width) { + const Eigen::VectorXd& t, const RowMatrixXd& cameraMatrix, const RowMatrixXd& D, int height, int width) { py::gil_scoped_acquire acquire; map_.attr("input_image")(multichannel_image, channels, Eigen::Ref(R), Eigen::Ref(t), - Eigen::Ref(cameraMatrix), height, width); + Eigen::Ref(cameraMatrix), Eigen::Ref(D), height, width); } void ElevationMappingWrapper::move_to(const Eigen::VectorXd& p, const RowMatrixXd& R) { From bf8fc22d98df52f4d19a34785d4810895db049cb Mon Sep 17 00:00:00 2001 From: RobinSchmid7 Date: Mon, 10 Jun 2024 21:32:15 +0200 Subject: [PATCH 431/504] Only apply kernel if not all zeros --- .../kernels/custom_image_kernels.py | 35 +++++++++++-------- 1 file changed, 20 insertions(+), 15 deletions(-) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/custom_image_kernels.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/custom_image_kernels.py index 4af01577..abce0226 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/custom_image_kernels.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/custom_image_kernels.py @@ -64,22 +64,27 @@ def image_to_map_correspondence_kernel(resolution, width, height, tolerance_z_co // filter point next to image plane if ((u < 0) || (v < 0) || (u >= image_width) || (v >= image_height)){ return; - } + } + + // Check if D is all zeros + bool is_D_zero = (D[0] == 0 && D[1] == 0 && D[2] == 0 && D[3] == 0 && D[4] == 0); - // Apply undistortion using distortion matrix D - float k1 = D[0]; - float k2 = D[1]; - float p1 = D[2]; - float p2 = D[3]; - float k3 = D[4]; - float x = (u - image_width / 2.0) / (image_width / 2.0); - float y = (v - image_height / 2.0) / (image_height / 2.0); - float r2 = x * x + y * y; - float radial_distortion = 1 + k1 * r2 + k2 * r2 * r2 + k3 * r2 * r2 * r2; - float x_corrected = x * radial_distortion + 2 * p1 * x * y + p2 * (r2 + 2 * x * x); - float y_corrected = y * radial_distortion + 2 * p2 * x * y + p1 * (r2 + 2 * y * y); - u = (x_corrected * (image_width / 2.0)) + (image_width / 2.0); - v = (y_corrected * (image_height / 2.0)) + (image_height / 2.0); + // Apply undistortion using distortion matrix D if not all zeros + if (!is_D_zero) { + float k1 = D[0]; + float k2 = D[1]; + float p1 = D[2]; + float p2 = D[3]; + float k3 = D[4]; + float x = (u - image_width / 2.0) / (image_width / 2.0); + float y = (v - image_height / 2.0) / (image_height / 2.0); + float r2 = x * x + y * y; + float radial_distortion = 1 + k1 * r2 + k2 * r2 * r2 + k3 * r2 * r2 * r2; + float x_corrected = x * radial_distortion + 2 * p1 * x * y + p2 * (r2 + 2 * x * x); + float y_corrected = y * radial_distortion + 2 * p2 * x * y + p1 * (r2 + 2 * y * y); + u = (x_corrected * (image_width / 2.0)) + (image_width / 2.0); + v = (y_corrected * (image_height / 2.0)) + (image_height / 2.0); + } int y0_c = y0; int x0_c = x0; From 99dd4065e7aa826c52536cc9330c28acab863870 Mon Sep 17 00:00:00 2001 From: RobinSchmid7 Date: Mon, 10 Jun 2024 21:58:21 +0200 Subject: [PATCH 432/504] Load D and check if D is not empty --- .../elevation_mapping_cupy/elevation_mapping_ros.py | 5 ++++- elevation_mapping_cupy/src/elevation_mapping_ros.cpp | 10 ++++++++-- 2 files changed, 12 insertions(+), 3 deletions(-) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping_ros.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping_ros.py index 6e69861c..c28823e9 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping_ros.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping_ros.py @@ -174,8 +174,11 @@ def image_callback(self, camera_msg, camera_info_msg, sub_key): else: semantic_img = [semantic_img] - assert np.all(np.array(camera_info_msg.D) == 0.0), "Undistortion not implemented" K = np.array(camera_info_msg.K, dtype=np.float32).reshape(3, 3) + + assert np.all(np.array(camera_info_msg.D) == 0.0), "Undistortion not implemented" + D = np.array(camera_info_msg.D, dtype=np.float32).reshape(5, 1) + # process pointcloud self._map.input_image(sub_key, semantic_img, R, t, K, D, camera_info_msg.height, camera_info_msg.width) self._image_process_counter += 1 diff --git a/elevation_mapping_cupy/src/elevation_mapping_ros.cpp b/elevation_mapping_cupy/src/elevation_mapping_ros.cpp index 50c2dd96..c10e5185 100644 --- a/elevation_mapping_cupy/src/elevation_mapping_ros.cpp +++ b/elevation_mapping_cupy/src/elevation_mapping_ros.cpp @@ -388,8 +388,14 @@ void ElevationMappingNode::inputImage(const sensor_msgs::ImageConstPtr& image_ms Eigen::Map> cameraMatrix(&camera_info_msg->K[0]); // Extract distortion coefficients - Eigen::Map distortionCoeffs(camera_info_msg->D.data(), camera_info_msg->D.size()); - + Eigen::VectorXd distortionCoeffs; + if (!camera_info_msg->D.empty()) { + distortionCoeffs = Eigen::Map(camera_info_msg->D.data(), camera_info_msg->D.size()); + } else { + ROS_ERROR("Distortion coefficients are empty."); + return; + } + // Get pose of sensor in map frame tf::StampedTransform transformTf; std::string sensorFrameId = image_msg->header.frame_id; From e0f7c735107f79dd661eae5698aa9e164ebd9a8c Mon Sep 17 00:00:00 2001 From: Takahiro Date: Tue, 11 Jun 2024 23:01:42 +0200 Subject: [PATCH 433/504] Fixed bugs for distortion model. --- .../elevation_mapping_wrapper.hpp | 2 +- .../elevation_mapping.py | 60 +++++++++++++++---- .../kernels/custom_image_kernels.py | 28 +++++---- .../src/elevation_mapping_ros.cpp | 5 +- .../src/elevation_mapping_wrapper.cpp | 4 +- 5 files changed, 70 insertions(+), 29 deletions(-) diff --git a/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_wrapper.hpp b/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_wrapper.hpp index fb74574f..2b026c17 100644 --- a/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_wrapper.hpp +++ b/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_wrapper.hpp @@ -49,7 +49,7 @@ class ElevationMappingWrapper { void input(const RowMatrixXd& points, const std::vector& channels, const RowMatrixXd& R, const Eigen::VectorXd& t, const double positionNoise, const double orientationNoise); void input_image(const std::vector& multichannel_image, const std::vector& channels, const RowMatrixXd& R, - const Eigen::VectorXd& t, const RowMatrixXd& cameraMatrix, const RowMatrixXd& D, int height, int width); + const Eigen::VectorXd& t, const RowMatrixXd& cameraMatrix, const Eigen::VectorXd& D, int height, int width); void move_to(const Eigen::VectorXd& p, const RowMatrixXd& R); void clear(); void update_variance(); diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py index 11136fe9..bba41ec6 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py @@ -228,7 +228,10 @@ def shift_map_z(self, delta_z): def compile_kernels(self): """Compile all kernels belonging to the elevation map.""" - self.new_map = cp.zeros((self.elevation_map.shape[0], self.cell_n, self.cell_n), dtype=self.data_type,) + self.new_map = cp.zeros( + (self.elevation_map.shape[0], self.cell_n, self.cell_n), + dtype=self.data_type, + ) self.traversability_input = cp.zeros((self.cell_n, self.cell_n), dtype=self.data_type) self.traversability_mask_dummy = cp.zeros((self.cell_n, self.cell_n), dtype=self.data_type) self.min_filtered = cp.zeros((self.cell_n, self.cell_n), dtype=self.data_type) @@ -287,14 +290,18 @@ def compile_image_kernels(self): np.zeros((self.cell_n, self.cell_n), dtype=np.bool_), dtype=np.bool_ ) self.uv_correspondence = cp.asarray( - np.zeros((2, self.cell_n, self.cell_n), dtype=np.float32), dtype=np.float32, + np.zeros((2, self.cell_n, self.cell_n), dtype=np.float32), + dtype=np.float32, ) # self.distance_correspondence = cp.asarray( # np.zeros((self.cell_n, self.cell_n), dtype=np.float32), dtype=np.float32 # ) # TODO tolerance_z_collision add parameter self.image_to_map_correspondence_kernel = image_to_map_correspondence_kernel( - resolution=self.resolution, width=self.cell_n, height=self.cell_n, tolerance_z_collision=0.10, + resolution=self.resolution, + width=self.cell_n, + height=self.cell_n, + tolerance_z_collision=0.10, ) break @@ -484,6 +491,7 @@ def input_image( Returns: None: """ + image = np.stack(image, axis=0) if len(image.shape) == 2: image = image[None] @@ -497,6 +505,13 @@ def input_image( image_height = cp.float32(image_height) image_width = cp.float32(image_width) + if len(D) < 4: + D = cp.zeros(5, dtype=self.data_type) + elif len(D) == 4: + D = cp.concatenate([D, cp.zeros(1, dtype=self.data_type)]) + else: + D = D[:5] + # Calculate transformation matrix P = cp.asarray(K @ cp.concatenate([R, t[:, None]], 1), dtype=np.float32) t_cam_map = -R.T @ t - self.center @@ -507,7 +522,6 @@ def input_image( self.uv_correspondence *= 0 self.valid_correspondence[:, :] = False - # self.distance_correspondence *= 0.0 with self.map_lock: self.image_to_map_correspondence_kernel( @@ -516,6 +530,7 @@ def input_image( y1, z1, P.reshape(-1), + K.reshape(-1), D.reshape(-1), image_height, image_width, @@ -525,7 +540,12 @@ def input_image( size=int(self.cell_n * self.cell_n), ) self.semantic_map.update_layers_image( - image, channels, self.uv_correspondence, self.valid_correspondence, image_height, image_width, + image, + channels, + self.uv_correspondence, + self.valid_correspondence, + image_height, + image_width, ) def update_normal(self, dilated_map): @@ -537,7 +557,10 @@ def update_normal(self, dilated_map): with self.map_lock: self.normal_map *= 0.0 self.normal_filter_kernel( - dilated_map, self.elevation_map[2], self.normal_map, size=(self.cell_n * self.cell_n), + dilated_map, + self.elevation_map[2], + self.normal_map, + size=(self.cell_n * self.cell_n), ) def process_map_for_publish(self, input_map, fill_nan=False, add_z=False, xp=cp): @@ -583,7 +606,9 @@ def get_traversability(self): traversability layer """ traversability = cp.where( - (self.elevation_map[2] + self.elevation_map[6]) > 0.5, self.elevation_map[3].copy(), cp.nan, + (self.elevation_map[2] + self.elevation_map[6]) > 0.5, + self.elevation_map[3].copy(), + cp.nan, ) self.traversability_buffer[3:-3, 3:-3] = traversability[3:-3, 3:-3] traversability = self.traversability_buffer[1:-1, 1:-1] @@ -605,7 +630,8 @@ def get_upper_bound(self): """ if self.param.use_only_above_for_upper_bound: valid = cp.logical_or( - cp.logical_and(self.elevation_map[5] > 0.0, self.elevation_map[6] > 0.5), self.elevation_map[2] > 0.5, + cp.logical_and(self.elevation_map[5] > 0.0, self.elevation_map[6] > 0.5), + self.elevation_map[2] > 0.5, ) else: valid = cp.logical_or(self.elevation_map[2] > 0.5, self.elevation_map[6] > 0.5) @@ -621,7 +647,8 @@ def get_is_upper_bound(self): """ if self.param.use_only_above_for_upper_bound: valid = cp.logical_or( - cp.logical_and(self.elevation_map[5] > 0.0, self.elevation_map[6] > 0.5), self.elevation_map[2] > 0.5, + cp.logical_and(self.elevation_map[5] > 0.0, self.elevation_map[6] > 0.5), + self.elevation_map[2] > 0.5, ) else: valid = cp.logical_or(self.elevation_map[2] > 0.5, self.elevation_map[6] > 0.5) @@ -782,7 +809,11 @@ def get_layer(self, name): return_map = self.semantic_map.semantic_map[idx] elif name in self.plugin_manager.layer_names: self.plugin_manager.update_with_name( - name, self.elevation_map, self.layer_names, self.semantic_map, self.base_rotation, + name, + self.elevation_map, + self.layer_names, + self.semantic_map, + self.base_rotation, ) return_map = self.plugin_manager.get_map_with_name(name) else: @@ -828,7 +859,10 @@ def get_polygon_traversability(self, polygon, result): else: t = cp.asarray(0.0, dtype=self.data_type) is_safe, un_polygon = is_traversable( - masked, self.param.safe_thresh, self.param.safe_min_thresh, self.param.max_unsafe_n, + masked, + self.param.safe_thresh, + self.param.safe_min_thresh, + self.param.max_unsafe_n, ) untraversable_polygon_num = 0 if un_polygon is not None: @@ -884,7 +918,9 @@ def initialize_map(self, points, method="cubic"): t = xp.random.rand(3) print(R, t) param = Parameter( - use_chainer=False, weight_file="../config/weights.dat", plugin_config_file="../config/plugin_config.yaml", + use_chainer=False, + weight_file="../config/weights.dat", + plugin_config_file="../config/plugin_config.yaml", ) param.additional_layers = ["rgb", "grass", "tree", "people"] param.fusion_algorithms = ["color", "class_bayesian", "class_bayesian", "class_bayesian"] diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/custom_image_kernels.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/custom_image_kernels.py index abce0226..a020ba2e 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/custom_image_kernels.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/custom_image_kernels.py @@ -13,7 +13,7 @@ def image_to_map_correspondence_kernel(resolution, width, height, tolerance_z_co The function returns a kernel that can be used to perform the correspondence calculation. """ _image_to_map_correspondence_kernel = cp.ElementwiseKernel( - in_params="raw U map, raw U x1, raw U y1, raw U z1, raw U P, raw U D, raw U image_height, raw U image_width, raw U center", + in_params="raw U map, raw U x1, raw U y1, raw U z1, raw U P, raw U K, raw U D, raw U image_height, raw U image_width, raw U center", out_params="raw U uv_correspondence, raw B valid_correspondence", preamble=string.Template( """ @@ -60,11 +60,6 @@ def image_to_map_correspondence_kernel(resolution, width, height, tolerance_z_co } u = u/d; v = v/d; - - // filter point next to image plane - if ((u < 0) || (v < 0) || (u >= image_width) || (v >= image_height)){ - return; - } // Check if D is all zeros bool is_D_zero = (D[0] == 0 && D[1] == 0 && D[2] == 0 && D[3] == 0 && D[4] == 0); @@ -76,14 +71,23 @@ def image_to_map_correspondence_kernel(resolution, width, height, tolerance_z_co float p1 = D[2]; float p2 = D[3]; float k3 = D[4]; - float x = (u - image_width / 2.0) / (image_width / 2.0); - float y = (v - image_height / 2.0) / (image_height / 2.0); + float fx = K[0]; + float fy = K[4]; + float cx = K[2]; + float cy = K[5]; + float x = (u - cx) / fx; + float y = (v - cy) / fy; float r2 = x * x + y * y; float radial_distortion = 1 + k1 * r2 + k2 * r2 * r2 + k3 * r2 * r2 * r2; - float x_corrected = x * radial_distortion + 2 * p1 * x * y + p2 * (r2 + 2 * x * x); - float y_corrected = y * radial_distortion + 2 * p2 * x * y + p1 * (r2 + 2 * y * y); - u = (x_corrected * (image_width / 2.0)) + (image_width / 2.0); - v = (y_corrected * (image_height / 2.0)) + (image_height / 2.0); + float u_corrected = x * radial_distortion + 2 * p1 * x * y + p2 * (r2 + 2 * x * x); + float v_corrected = y * radial_distortion + 2 * p2 * x * y + p1 * (r2 + 2 * y * y); + u = fx * u_corrected + cx; + v = fy * v_corrected + cy; + } + + // filter point next to image plane + if ((u < 0) || (v < 0) || (u >= image_width) || (v >= image_height)){ + return; } int y0_c = y0; diff --git a/elevation_mapping_cupy/src/elevation_mapping_ros.cpp b/elevation_mapping_cupy/src/elevation_mapping_ros.cpp index c10e5185..290246cc 100644 --- a/elevation_mapping_cupy/src/elevation_mapping_ros.cpp +++ b/elevation_mapping_cupy/src/elevation_mapping_ros.cpp @@ -392,8 +392,9 @@ void ElevationMappingNode::inputImage(const sensor_msgs::ImageConstPtr& image_ms if (!camera_info_msg->D.empty()) { distortionCoeffs = Eigen::Map(camera_info_msg->D.data(), camera_info_msg->D.size()); } else { - ROS_ERROR("Distortion coefficients are empty."); - return; + ROS_WARN("Distortion coefficients are empty."); + distortionCoeffs = Eigen::VectorXd::Zero(5); + // return; } // Get pose of sensor in map frame diff --git a/elevation_mapping_cupy/src/elevation_mapping_wrapper.cpp b/elevation_mapping_cupy/src/elevation_mapping_wrapper.cpp index b23207d6..07f904c8 100644 --- a/elevation_mapping_cupy/src/elevation_mapping_wrapper.cpp +++ b/elevation_mapping_cupy/src/elevation_mapping_wrapper.cpp @@ -178,10 +178,10 @@ void ElevationMappingWrapper::input(const RowMatrixXd& points, const std::vector } void ElevationMappingWrapper::input_image(const std::vector& multichannel_image, const std::vector& channels, const RowMatrixXd& R, - const Eigen::VectorXd& t, const RowMatrixXd& cameraMatrix, const RowMatrixXd& D, int height, int width) { + const Eigen::VectorXd& t, const RowMatrixXd& cameraMatrix, const Eigen::VectorXd& D, int height, int width) { py::gil_scoped_acquire acquire; map_.attr("input_image")(multichannel_image, channels, Eigen::Ref(R), Eigen::Ref(t), - Eigen::Ref(cameraMatrix), Eigen::Ref(D), height, width); + Eigen::Ref(cameraMatrix), Eigen::Ref(D), height, width); } void ElevationMappingWrapper::move_to(const Eigen::VectorXd& p, const RowMatrixXd& R) { From eb1c76c03dfa2733441fc5445f141e03a8baac6b Mon Sep 17 00:00:00 2001 From: Takahiro Date: Mon, 24 Jun 2024 11:19:15 +0200 Subject: [PATCH 434/504] Passing distortion model information --- .../elevation_mapping_wrapper.hpp | 2 +- .../elevation_mapping_cupy/elevation_mapping.py | 13 +++++++++++++ .../src/elevation_mapping_ros.cpp | 5 ++++- .../src/elevation_mapping_wrapper.cpp | 4 ++-- 4 files changed, 20 insertions(+), 4 deletions(-) diff --git a/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_wrapper.hpp b/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_wrapper.hpp index 2b026c17..712ed10a 100644 --- a/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_wrapper.hpp +++ b/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_wrapper.hpp @@ -49,7 +49,7 @@ class ElevationMappingWrapper { void input(const RowMatrixXd& points, const std::vector& channels, const RowMatrixXd& R, const Eigen::VectorXd& t, const double positionNoise, const double orientationNoise); void input_image(const std::vector& multichannel_image, const std::vector& channels, const RowMatrixXd& R, - const Eigen::VectorXd& t, const RowMatrixXd& cameraMatrix, const Eigen::VectorXd& D, int height, int width); + const Eigen::VectorXd& t, const RowMatrixXd& cameraMatrix, const Eigen::VectorXd& D, const std::string distortion_model, int height, int width); void move_to(const Eigen::VectorXd& p, const RowMatrixXd& R); void clear(); void update_variance(); diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py index bba41ec6..43cbe884 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py @@ -474,6 +474,7 @@ def input_image( t: cp._core.core.ndarray, K: cp._core.core.ndarray, D: cp._core.core.ndarray, + distortion_model: str, image_height: int, image_width: int, ): @@ -512,6 +513,18 @@ def input_image( else: D = D[:5] + if distortion_model == "radtan": + pass + elif distortion_model == "equidistant": + # Not implemented yet. + D *= 0 + elif distortion_model == "plumb_bob": + # Not implemented yet. + D *= 0 + else: + # Not implemented yet. + D *= 0 + # Calculate transformation matrix P = cp.asarray(K @ cp.concatenate([R, t[:, None]], 1), dtype=np.float32) t_cam_map = -R.T @ t - self.center diff --git a/elevation_mapping_cupy/src/elevation_mapping_ros.cpp b/elevation_mapping_cupy/src/elevation_mapping_ros.cpp index 072a117c..2fbc3128 100644 --- a/elevation_mapping_cupy/src/elevation_mapping_ros.cpp +++ b/elevation_mapping_cupy/src/elevation_mapping_ros.cpp @@ -397,6 +397,9 @@ void ElevationMappingNode::inputImage(const sensor_msgs::ImageConstPtr& image_ms distortionCoeffs = Eigen::VectorXd::Zero(5); // return; } + + // distortion model + std::string distortion_model = camera_info_msg->distortion_model; // Get pose of sensor in map frame tf::StampedTransform transformTf; @@ -439,7 +442,7 @@ void ElevationMappingNode::inputImage(const sensor_msgs::ImageConstPtr& image_ms // Pass image to pipeline map_.input_image(multichannel_image, channels, transformationMapToSensor.rotation(), transformationMapToSensor.translation(), cameraMatrix, - distortionCoeffs, image.rows, image.cols); + distortionCoeffs, distortion_model, image.rows, image.cols); } void ElevationMappingNode::imageCallback(const sensor_msgs::ImageConstPtr& image_msg, diff --git a/elevation_mapping_cupy/src/elevation_mapping_wrapper.cpp b/elevation_mapping_cupy/src/elevation_mapping_wrapper.cpp index 07f904c8..3980a8be 100644 --- a/elevation_mapping_cupy/src/elevation_mapping_wrapper.cpp +++ b/elevation_mapping_cupy/src/elevation_mapping_wrapper.cpp @@ -178,10 +178,10 @@ void ElevationMappingWrapper::input(const RowMatrixXd& points, const std::vector } void ElevationMappingWrapper::input_image(const std::vector& multichannel_image, const std::vector& channels, const RowMatrixXd& R, - const Eigen::VectorXd& t, const RowMatrixXd& cameraMatrix, const Eigen::VectorXd& D, int height, int width) { + const Eigen::VectorXd& t, const RowMatrixXd& cameraMatrix, const Eigen::VectorXd& D, const std::string distortion_model, int height, int width) { py::gil_scoped_acquire acquire; map_.attr("input_image")(multichannel_image, channels, Eigen::Ref(R), Eigen::Ref(t), - Eigen::Ref(cameraMatrix), Eigen::Ref(D), height, width); + Eigen::Ref(cameraMatrix), Eigen::Ref(D), distortion_model, height, width); } void ElevationMappingWrapper::move_to(const Eigen::VectorXd& p, const RowMatrixXd& R) { From 154e3ec0bf0b4bca2eb3319729535435a11bef02 Mon Sep 17 00:00:00 2001 From: Takahiro Miki Date: Tue, 23 Jul 2024 14:16:07 +0200 Subject: [PATCH 435/504] Update installation.rst --- docs/source/getting_started/installation.rst | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/docs/source/getting_started/installation.rst b/docs/source/getting_started/installation.rst index 95a99a2d..0db64ce6 100644 --- a/docs/source/getting_started/installation.rst +++ b/docs/source/getting_started/installation.rst @@ -154,7 +154,7 @@ ROS package dependencies .. code-block:: bash sudo apt install ros-noetic-pybind11-catkin - sudo apt install ros-noetic-grid-map-core ros-noetic-grid-map-msgs + sudo apt install ros-noetic-grid-map-core ros-noetic-grid-map-msgs ros-noetic-grid-map-ros On Jetson @@ -195,7 +195,7 @@ ROS dependencies .. code-block:: bash sudo apt install ros-melodic-pybind11-catkin - sudo apt install ros-melodic-grid-map-core ros-melodic-grid-map-msgs + sudo apt install ros-melodic-grid-map-core ros-melodic-grid-map-msgs ros-melodic-grid-map-ros Also, on jetson you need fortran (should already be installed). @@ -272,4 +272,4 @@ Then, build the packages with catkin. cd catkin build elevation_mapping_cupy # The core package catkin build convex_plane_decomposition_ros # If you want to use plane segmentation - catkin build semantic_sensor # If you want to use semantic sensors \ No newline at end of file + catkin build semantic_sensor # If you want to use semantic sensors From d4b1273bf98eee21e2fbd462a9686bbc9ca23d8c Mon Sep 17 00:00:00 2001 From: Takahiro Miki Date: Tue, 23 Jul 2024 14:18:51 +0200 Subject: [PATCH 436/504] Update installation.rst --- docs/source/getting_started/installation.rst | 2 ++ 1 file changed, 2 insertions(+) diff --git a/docs/source/getting_started/installation.rst b/docs/source/getting_started/installation.rst index 0db64ce6..f8bcb13b 100644 --- a/docs/source/getting_started/installation.rst +++ b/docs/source/getting_started/installation.rst @@ -170,6 +170,8 @@ Python dependencies On jetson, you need the version for its CPU arch: +Please check `official document `_ for latest information for pytorch. + .. code-block:: bash wget https://nvidia.box.com/shared/static/p57jwntv436lfrd78inwl7iml6p13fzh.whl -O torch-1.8.0-cp36-cp36m-linux_aarch64.whl From c33437c2edf16c5df5b295a518f015d8a99719c5 Mon Sep 17 00:00:00 2001 From: jurichterrsl <153094227+jurichterrsl@users.noreply.github.com> Date: Mon, 5 Aug 2024 10:18:40 +0200 Subject: [PATCH 437/504] Fixed installation docs Dodo --- docs/source/getting_started/installation.rst | 22 +++++++++++++++++++- 1 file changed, 21 insertions(+), 1 deletion(-) diff --git a/docs/source/getting_started/installation.rst b/docs/source/getting_started/installation.rst index f8bcb13b..a32cdce2 100644 --- a/docs/source/getting_started/installation.rst +++ b/docs/source/getting_started/installation.rst @@ -172,6 +172,17 @@ On jetson, you need the version for its CPU arch: Please check `official document `_ for latest information for pytorch. +Current for Jetson Orin on Ubuntu 20.04: + +.. code-block:: bash + + export TORCH_INSTALL=https://developer.download.nvidia.cn/compute/redist/jp/v511/pytorch/torch-2.0.0+nv23.05-cp38-cp38-linux_aarch64.whl + pip install Cython + python -m pip install numpy==’1.24.1’ + python -m pip install --no-cache $TORCH_INSTALL + +Current for Jetson Xavier on Ubuntu 18.04: + .. code-block:: bash wget https://nvidia.box.com/shared/static/p57jwntv436lfrd78inwl7iml6p13fzh.whl -O torch-1.8.0-cp36-cp36m-linux_aarch64.whl @@ -254,7 +265,16 @@ Python dependencies .. code-block:: bash - pip3 install torchvision scikit-learn + pip3 install scikit-learn + +Torchvision (for Jetson Orin on Ubuntu 20.04) + +.. code-block:: bash + + git clone --branch release/0.15 https://github.com/pytorch/vision torchvision + cd torchvision/ + export BUILD_VERSION=0.15.1 + python3 setup.py install --user Detectron From 968458abd7fb214634279c3874b654c952201915 Mon Sep 17 00:00:00 2001 From: Takahiro Date: Sun, 11 Aug 2024 11:40:16 +0200 Subject: [PATCH 438/504] Use default value in max_layer_filter if the layer does not exist. --- .../elevation_mapping_cupy/plugins/max_layer_filter.py | 9 +++++++-- 1 file changed, 7 insertions(+), 2 deletions(-) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/max_layer_filter.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/max_layer_filter.py index 34783ebd..33bc069a 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/max_layer_filter.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/max_layer_filter.py @@ -93,8 +93,13 @@ def __call__( layers.append(layer) if len(layers) == 0: print("No layers are found, returning traversability!") - idx = layer_names.index("traversability") - return elevation_map[idx] + if isinstance(self.default_value, float): + layer = cp.ones_like(elevation_map[0]) + layer *= float(self.default_value) + return layer + else: + idx = layer_names.index("traversability") + return elevation_map[idx] result = cp.stack(layers, axis=0) if self.min_or_max == "min": result = cp.min(result, axis=0) From 494ab5fac1dd03a9fa698d984549960ac689e6be Mon Sep 17 00:00:00 2001 From: Takahiro Date: Mon, 2 Sep 2024 18:16:01 +0200 Subject: [PATCH 439/504] Only checking isnan for xyz layers. --- .../script/elevation_mapping_cupy/elevation_mapping.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py index 43cbe884..b78aeb45 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py @@ -455,7 +455,7 @@ def input_pointcloud( """ raw_points = cp.asarray(raw_points, dtype=self.data_type) additional_channels = channels[3:] - raw_points = raw_points[~cp.isnan(raw_points).any(axis=1)] + raw_points = raw_points[~cp.isnan(raw_points[:, :3]).any(axis=1)] self.update_map_with_kernel( raw_points, additional_channels, From 1f61e1102ec7e31b8d9068e8d2c4ad1bf0d9b987 Mon Sep 17 00:00:00 2001 From: Idate96 Date: Thu, 26 Sep 2024 13:50:57 +0200 Subject: [PATCH 440/504] ros2 --- .../cgal5_catkin/CMakeLists.txt | 17 +++++++------ plane_segmentation/cgal5_catkin/package.xml | 24 ++++++++++++------- 2 files changed, 23 insertions(+), 18 deletions(-) diff --git a/plane_segmentation/cgal5_catkin/CMakeLists.txt b/plane_segmentation/cgal5_catkin/CMakeLists.txt index 75aa205a..306a7905 100644 --- a/plane_segmentation/cgal5_catkin/CMakeLists.txt +++ b/plane_segmentation/cgal5_catkin/CMakeLists.txt @@ -1,31 +1,30 @@ cmake_minimum_required(VERSION 3.14) project(cgal5_catkin) -find_package(catkin REQUIRED) +# Use ament for ROS2 +find_package(ament_cmake REQUIRED) include(ExternalProject) set(VERSION 5.3) -file(MAKE_DIRECTORY ${CATKIN_DEVEL_PREFIX}/include) +file(MAKE_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/include) set(CGAL_VERSION 5.3) ExternalProject_Add(cgal URL https://github.com/CGAL/cgal/archive/refs/tags/v${CGAL_VERSION}.tar.gz UPDATE_COMMAND "" CMAKE_ARGS - -DCMAKE_INSTALL_PREFIX=${CATKIN_DEVEL_PREFIX} + -DCMAKE_INSTALL_PREFIX=${CMAKE_CURRENT_BINARY_DIR} -DCMAKE_BUILD_TYPE:STRING=Release BUILD_COMMAND $(MAKE) INSTALL_COMMAND $(MAKE) install ) -catkin_package( - INCLUDE_DIRS ${CATKIN_DEVEL_PREFIX}/include - CFG_EXTRAS cgal-extras.cmake -) +ament_export_include_directories(${CMAKE_CURRENT_BINARY_DIR}/include) -install(DIRECTORY ${CATKIN_DEVEL_PREFIX}/include/CGAL/ - DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION}/CGAL/ +install(DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/include/CGAL/ + DESTINATION include/CGAL/ ) +ament_package() diff --git a/plane_segmentation/cgal5_catkin/package.xml b/plane_segmentation/cgal5_catkin/package.xml index 9c3cf37a..1fb19b57 100644 --- a/plane_segmentation/cgal5_catkin/package.xml +++ b/plane_segmentation/cgal5_catkin/package.xml @@ -1,13 +1,19 @@ - cgal5_catkin - 5.0.2 - Catkin wrapper for CGAL 5. - Ruben Grandia + cgal5_catkin + 0.0.1 + ROS2 package integrating CGAL + Lorenzo Terenzi + BSD-3-Clause - See package + + ament_cmake - catkin - libgmp-dev - libmpfr-dev - + + Boost + + + + ament_cmake + + \ No newline at end of file From 889a6013f75d39267bd3fdba838c556929f9b601 Mon Sep 17 00:00:00 2001 From: Idate96 Date: Thu, 26 Sep 2024 14:30:36 +0200 Subject: [PATCH 441/504] ros2 --- .../CMakeLists.txt | 48 ++++++++----------- .../msg/PlanarTerrain.msg | 2 +- .../package.xml | 44 +++++++++-------- 3 files changed, 43 insertions(+), 51 deletions(-) diff --git a/plane_segmentation/convex_plane_decomposition_msgs/CMakeLists.txt b/plane_segmentation/convex_plane_decomposition_msgs/CMakeLists.txt index 12f1b2b4..5c25b7a6 100644 --- a/plane_segmentation/convex_plane_decomposition_msgs/CMakeLists.txt +++ b/plane_segmentation/convex_plane_decomposition_msgs/CMakeLists.txt @@ -1,35 +1,25 @@ -cmake_minimum_required(VERSION 3.10) +cmake_minimum_required(VERSION 3.5) project(convex_plane_decomposition_msgs) -set(CATKIN_PACKAGE_DEPENDENCIES - std_msgs - geometry_msgs - grid_map_msgs -) - -find_package(catkin REQUIRED - COMPONENTS - ${CATKIN_PACKAGE_DEPENDENCIES} - message_generation -) - -add_message_files( - FILES - BoundingBox2d.msg - PlanarRegion.msg - PlanarTerrain.msg - Point2d.msg - Polygon2d.msg - PolygonWithHoles2d.msg -) +# Find ament and necessary packages +find_package(ament_cmake REQUIRED) +find_package(rosidl_default_generators REQUIRED) +find_package(std_msgs REQUIRED) +find_package(geometry_msgs REQUIRED) +find_package(grid_map_msgs REQUIRED) -generate_messages( - DEPENDENCIES - ${CATKIN_PACKAGE_DEPENDENCIES} +# Add message files for ROS2 +rosidl_generate_interfaces(${PROJECT_NAME} + "msg/BoundingBox2d.msg" + "msg/PlanarRegion.msg" + "msg/PlanarTerrain.msg" + "msg/Point2d.msg" + "msg/Polygon2d.msg" + "msg/PolygonWithHoles2d.msg" + DEPENDENCIES std_msgs geometry_msgs grid_map_msgs ) -catkin_package( - CATKIN_DEPENDS - ${CATKIN_PACKAGE_DEPENDENCIES} - message_runtime +# Replace catkin_package with ament_package +ament_package( + # ... existing export settings if any ... ) diff --git a/plane_segmentation/convex_plane_decomposition_msgs/msg/PlanarTerrain.msg b/plane_segmentation/convex_plane_decomposition_msgs/msg/PlanarTerrain.msg index c50376ee..3b8f895e 100644 --- a/plane_segmentation/convex_plane_decomposition_msgs/msg/PlanarTerrain.msg +++ b/plane_segmentation/convex_plane_decomposition_msgs/msg/PlanarTerrain.msg @@ -1,2 +1,2 @@ -PlanarRegion[] planarRegions +PlanarRegion[] planar_regions grid_map_msgs/GridMap gridmap \ No newline at end of file diff --git a/plane_segmentation/convex_plane_decomposition_msgs/package.xml b/plane_segmentation/convex_plane_decomposition_msgs/package.xml index 2af22815..c6672ab9 100644 --- a/plane_segmentation/convex_plane_decomposition_msgs/package.xml +++ b/plane_segmentation/convex_plane_decomposition_msgs/package.xml @@ -1,23 +1,25 @@ - - - convex_plane_decomposition_msgs - 0.0.0 - Convex plane decomposition message definitions. - - Ruben Grandia - - MIT - - catkin - - message_generation - - std_msgs - geometry_msgs - grid_map_msgs - - message_runtime - - + + convex_plane_decomposition_msgs + 0.0.1 + + Messages for Convex Plane Decomposition. + + Lorenzo Terenzi + Apache-2.0 + + ament_cmake + rosidl_default_generators + rosidl_runtime_cpp + std_msgs + geometry_msgs + grid_map_msgs + + + rosidl_interface_packages + + + ament_cmake + + \ No newline at end of file From 396abc9123e2e8410f0bca923bc777765ae96599 Mon Sep 17 00:00:00 2001 From: Idate96 Date: Thu, 26 Sep 2024 14:52:13 +0200 Subject: [PATCH 442/504] ros2 elevation_mapping_mgsgs --- elevation_map_msgs/CMakeLists.txt | 41 +++++++++++--------------- elevation_map_msgs/msg/ChannelInfo.msg | 2 +- elevation_map_msgs/msg/Statistics.msg | 4 +-- elevation_map_msgs/package.xml | 15 ++++++---- 4 files changed, 31 insertions(+), 31 deletions(-) diff --git a/elevation_map_msgs/CMakeLists.txt b/elevation_map_msgs/CMakeLists.txt index 2d73f5e5..7a4c23da 100644 --- a/elevation_map_msgs/CMakeLists.txt +++ b/elevation_map_msgs/CMakeLists.txt @@ -1,32 +1,27 @@ -cmake_minimum_required(VERSION 3.0.2) +cmake_minimum_required(VERSION 3.5) project(elevation_map_msgs) -find_package(catkin REQUIRED) +find_package(ament_cmake REQUIRED) +find_package(geometry_msgs REQUIRED) +find_package(rosidl_default_generators REQUIRED) +find_package(std_msgs REQUIRED) # Added dependency -find_package(catkin REQUIRED COMPONENTS - geometry_msgs - message_generation +set(msg_files + "msg/Statistics.msg" + "msg/ChannelInfo.msg" ) -add_message_files( - FILES - Statistics.msg - ChannelInfo.msg +set(srv_files + "srv/CheckSafety.srv" + "srv/Initialize.srv" ) -## Generate services in the 'srv' folder -add_service_files( - FILES - CheckSafety.srv - Initialize.srv +rosidl_generate_interfaces(${PROJECT_NAME} + ${msg_files} + ${srv_files} + DEPENDENCIES geometry_msgs + DEPENDENCIES std_msgs # Added dependency ) - -## Generate added messages and services with any dependencies listed here -generate_messages( - DEPENDENCIES - geometry_msgs -) - -catkin_package( -) +ament_export_dependencies(rosidl_default_runtime) +ament_package() diff --git a/elevation_map_msgs/msg/ChannelInfo.msg b/elevation_map_msgs/msg/ChannelInfo.msg index bccf1447..2e6327ec 100644 --- a/elevation_map_msgs/msg/ChannelInfo.msg +++ b/elevation_map_msgs/msg/ChannelInfo.msg @@ -1,2 +1,2 @@ -Header header +std_msgs/Header header string[] channels # channel names for each layer \ No newline at end of file diff --git a/elevation_map_msgs/msg/Statistics.msg b/elevation_map_msgs/msg/Statistics.msg index 294ccb9d..85daaa50 100644 --- a/elevation_map_msgs/msg/Statistics.msg +++ b/elevation_map_msgs/msg/Statistics.msg @@ -1,2 +1,2 @@ - Header header - float64 pointcloud_process_fps +std_msgs/Header header +float64 pointcloud_process_fps diff --git a/elevation_map_msgs/package.xml b/elevation_map_msgs/package.xml index 5fa7a60a..d30443e7 100644 --- a/elevation_map_msgs/package.xml +++ b/elevation_map_msgs/package.xml @@ -1,18 +1,23 @@ - + elevation_map_msgs 0.0.0 - ROS Message definitions for elevation mapping. + ROS 2 Message definitions for elevation mapping. Takahiro Miki Takahiro Miki MIT - catkin + ament_cmake geometry_msgs - message_generation + rosidl_default_generators + std_msgs - geometry_msgs + geometry_msgs + rosidl_default_runtime + std_msgs + + rosidl_interface_packages From 420a601f0e84233e8b7b30fba15af1b476064d03 Mon Sep 17 00:00:00 2001 From: Idate96 Date: Thu, 26 Sep 2024 18:26:57 +0200 Subject: [PATCH 443/504] ros2 gridmap filters --- .../grid_map_filters_rsl/CMakeLists.txt | 151 ++++++------------ .../grid_map_filters_rsl/package.xml | 47 ++++-- 2 files changed, 86 insertions(+), 112 deletions(-) diff --git a/plane_segmentation/grid_map_filters_rsl/CMakeLists.txt b/plane_segmentation/grid_map_filters_rsl/CMakeLists.txt index 444929cb..515f0536 100644 --- a/plane_segmentation/grid_map_filters_rsl/CMakeLists.txt +++ b/plane_segmentation/grid_map_filters_rsl/CMakeLists.txt @@ -1,40 +1,43 @@ -# Project configuration -cmake_minimum_required (VERSION 3.5.1) +cmake_minimum_required(VERSION 3.5) project(grid_map_filters_rsl) -set(CMAKE_CXX_STANDARD 14) -add_compile_options(-Wall -Wextra -Wpedantic) -set(CMAKE_EXPORT_COMPILE_COMMANDS ON) +# Default to C++14 +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 14) +endif() -set(CATKIN_PACKAGE_DEPENDENCIES - grid_map_cv - grid_map_core -) +# Enable warnings +add_compile_options(-Wall -Wextra -Wpedantic) -find_package(catkin REQUIRED - COMPONENTS - ${CATKIN_PACKAGE_DEPENDENCIES} -) +# Export compile commands +set(CMAKE_EXPORT_COMPILE_COMMANDS ON) +# Find dependencies +find_package(ament_cmake REQUIRED) +find_package(grid_map_cv REQUIRED) +find_package(grid_map_core REQUIRED) find_package(Eigen3 REQUIRED) +find_package(ament_cmake_gtest REQUIRED) +find_package(sensor_msgs REQUIRED) # Added dependency +find_package(rosidl_runtime_cpp REQUIRED) # Added dependency -################################### -## catkin specific configuration ## -################################### -catkin_package( - INCLUDE_DIRS - include - ${EIGEN3_INCLUDE_DIR} - LIBRARIES - ${PROJECT_NAME} - CATKIN_DEPENDS - ${CATKIN_PACKAGE_DEPENDENCIES} +# Debugging output +message(STATUS "grid_map_cv_FOUND: ${grid_map_cv_FOUND}") +message(STATUS "grid_map_cv_INCLUDE_DIRS: ${grid_map_cv_INCLUDE_DIRS}") +message(STATUS "grid_map_cv_LIBRARIES: ${grid_map_cv_LIBRARIES}") + +# Include directories +include_directories( + include + ${grid_map_cv_INCLUDE_DIRS} + ${grid_map_core_INCLUDE_DIRS} + ${EIGEN3_INCLUDE_DIRS} + ${sensor_msgs_INCLUDE_DIRS} # Ensure sensor_msgs include dirs are added + ${rosidl_runtime_cpp_INCLUDE_DIRS} # Ensure rosidl_runtime_cpp include dirs are added ) -########### -## Build ## -########### -add_library(${PROJECT_NAME} +# Add library +add_library(${PROJECT_NAME} SHARED src/GridMapDerivative.cpp src/inpainting.cpp src/lookup.cpp @@ -42,85 +45,37 @@ add_library(${PROJECT_NAME} src/processing.cpp ) -target_include_directories(${PROJECT_NAME} PRIVATE - include +target_include_directories(${PROJECT_NAME} PUBLIC + $ + $ ) -target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC - ${catkin_INCLUDE_DIRS} - ${EIGEN3_INCLUDE_DIR} +# Replace target_link_libraries with ament_target_dependencies +ament_target_dependencies(${PROJECT_NAME} + grid_map_cv + grid_map_core + sensor_msgs + rosidl_runtime_cpp ) - -target_link_libraries(${PROJECT_NAME} - ${catkin_LIBRARIES} +# Install library +install(TARGETS ${PROJECT_NAME} + EXPORT export_${PROJECT_NAME} + ARCHIVE DESTINATION lib + LIBRARY DESTINATION lib + RUNTIME DESTINATION bin ) -########## -## Test ## -########## - -## GTest. -if(CATKIN_ENABLE_TESTING) - ## Find catkin dependencies, including test dependencies. - find_package(catkin REQUIRED - COMPONENTS - ${CATKIN_PACKAGE_DEPENDENCIES} - ) - - catkin_add_gtest(test_${PROJECT_NAME} - test/TestDerivativeFilter.cpp - test/TestFilters.cpp - test/TestLookup.cpp - ) -endif() - -## Link GTest. -if(TARGET test_${PROJECT_NAME}) - target_link_libraries(test_${PROJECT_NAME} - ${PROJECT_NAME} - ${catkin_LIBRARIES} - gtest_main - ) - - target_include_directories(test_${PROJECT_NAME} PRIVATE - include - ) - - target_include_directories(test_${PROJECT_NAME} SYSTEM PUBLIC - ${catkin_INCLUDE_DIRS} - ) - - # Generate test coverage report - find_package(cmake_code_coverage QUIET) - if(cmake_code_coverage_FOUND) - add_gtest_coverage( - TEST_BUILD_TARGETS test_${PROJECT_NAME} - ) - endif(cmake_code_coverage_FOUND) -endif() - -############# -## Install ## -############# -install( - TARGETS - ${PROJECT_NAME} - ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# Install headers +install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION include/${PROJECT_NAME}/ ) -install( - DIRECTORY - include/${PROJECT_NAME}/ - DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} -) -########### -## Clang ## -########### +# Clang tools (optional) find_package(cmake_clang_tools QUIET) if(cmake_clang_tools_FOUND) add_default_clang_tooling() -endif(cmake_clang_tools_FOUND) \ No newline at end of file +endif() + +ament_package() \ No newline at end of file diff --git a/plane_segmentation/grid_map_filters_rsl/package.xml b/plane_segmentation/grid_map_filters_rsl/package.xml index 3df62480..fbea7dc0 100644 --- a/plane_segmentation/grid_map_filters_rsl/package.xml +++ b/plane_segmentation/grid_map_filters_rsl/package.xml @@ -1,19 +1,38 @@ - - grid_map_filters_rsl - 0.1.0 - Extension of grid map filters package with op-cv filters and others - Fabian Jenelten + + grid_map_filters_rsl + 0.1.0 + Extension of grid map filters package with OpenCV filters and others - Fabian Jenelten + Fabian Jenelten + Fabian Jenelten - MIT + MIT - catkin - cmake_clang_tools - grid_map_cv - grid_map_core + + ament_cmake - gtest - cmake_code_coverage - + + ament_cmake + cmake_clang_tools + grid_map_cv + grid_map_core + Eigen3 + + + rosidl_runtime_cpp + + + grid_map_cv + grid_map_core + sensor_msgs + + + ament_cmake_gtest + ament_cmake_pytest + + + + ament_cmake + + \ No newline at end of file From 6d2c1b40253ba50f7d42da1e06b25b18f1ce3bf5 Mon Sep 17 00:00:00 2001 From: Idate96 Date: Mon, 30 Sep 2024 10:32:47 +0200 Subject: [PATCH 444/504] semantic sensor ros2 --- .../semantic_sensor/CMakeLists.txt | 51 +++++++++---------- .../launch/semantic_image.launch.py | 14 +++++ .../launch/semantic_pointcloud.launch.py | 14 +++++ sensor_processing/semantic_sensor/package.xml | 18 +++---- 4 files changed, 57 insertions(+), 40 deletions(-) create mode 100644 sensor_processing/semantic_sensor/launch/semantic_image.launch.py create mode 100644 sensor_processing/semantic_sensor/launch/semantic_pointcloud.launch.py diff --git a/sensor_processing/semantic_sensor/CMakeLists.txt b/sensor_processing/semantic_sensor/CMakeLists.txt index bdc8a1b7..04fe1c0f 100644 --- a/sensor_processing/semantic_sensor/CMakeLists.txt +++ b/sensor_processing/semantic_sensor/CMakeLists.txt @@ -1,33 +1,28 @@ -cmake_minimum_required(VERSION 3.0.2) +cmake_minimum_required(VERSION 3.8) project(semantic_sensor) -find_package(PythonInterp 3 REQUIRED) -find_package(PythonLibs 3 REQUIRED) - -if(PYTHONLIBS_FOUND) - message(STATUS "Using Python Libraries at: " ${PYTHON_LIBRARIES}) - message(STATUS "Using Python include directories at: " ${PYTHON_INCLUDE_DIRS}) -else() - message(WARNING "Could not find Python Libraries") -endif() - - -find_package(catkin REQUIRED COMPONENTS - message_generation - rospy - tf - tf_conversions - sensor_msgs - std_msgs - geometry_msgs +# Find dependencies +find_package(ament_cmake REQUIRED) +find_package(rclpy REQUIRED) +find_package(tf2_ros REQUIRED) +find_package(sensor_msgs REQUIRED) +find_package(std_msgs REQUIRED) +find_package(geometry_msgs REQUIRED) + +# Install Python modules +ament_python_install_package(${PROJECT_NAME} PACKAGE_DIR script/semantic_sensor) + +# Install Python executables +install(PROGRAMS + script/semantic_sensor/pointcloud_node.py + script/semantic_sensor/image_node.py + DESTINATION lib/${PROJECT_NAME} ) -catkin_package() - -catkin_python_setup() - - - -catkin_install_python(PROGRAMS script/semantic_sensor/pointcloud_node.py script/semantic_sensor/image_node.py - DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) +# Install launch files +install(DIRECTORY + launch + DESTINATION share/${PROJECT_NAME} +) +ament_package() \ No newline at end of file diff --git a/sensor_processing/semantic_sensor/launch/semantic_image.launch.py b/sensor_processing/semantic_sensor/launch/semantic_image.launch.py new file mode 100644 index 00000000..50d551f2 --- /dev/null +++ b/sensor_processing/semantic_sensor/launch/semantic_image.launch.py @@ -0,0 +1,14 @@ +from launch import LaunchDescription +from launch_ros.actions import Node + +def generate_launch_description(): + return LaunchDescription([ + Node( + package='semantic_sensor', + executable='image_node.py', + name='semantic_image', + arguments=['front_cam_image'], + output='screen', + parameters=[{'ros__parameters': 'config/sensor_parameter.yaml'}] + ) + ]) \ No newline at end of file diff --git a/sensor_processing/semantic_sensor/launch/semantic_pointcloud.launch.py b/sensor_processing/semantic_sensor/launch/semantic_pointcloud.launch.py new file mode 100644 index 00000000..91fbb8c9 --- /dev/null +++ b/sensor_processing/semantic_sensor/launch/semantic_pointcloud.launch.py @@ -0,0 +1,14 @@ +from launch import LaunchDescription +from launch_ros.actions import Node + +def generate_launch_description(): + return LaunchDescription([ + Node( + package='semantic_sensor', + executable='pointcloud_node.py', + name='semantic_pointcloud', + arguments=['front_cam'], + output='screen', + parameters=[{'ros__parameters': 'config/sensor_parameter.yaml'}] + ) + ]) \ No newline at end of file diff --git a/sensor_processing/semantic_sensor/package.xml b/sensor_processing/semantic_sensor/package.xml index 635775eb..5637b4d4 100644 --- a/sensor_processing/semantic_sensor/package.xml +++ b/sensor_processing/semantic_sensor/package.xml @@ -1,27 +1,21 @@ - + semantic_sensor 0.0.0 The semantic_sensor package Gian Erni - MIT + https://github.com/leggedrobotics/elevation_mapping_semantic_cupy - https://github.com/leggedrobotics/elevation_mapping_semantic_cupy - - - Gian Erni - - catkin - rospy - roslib - tf - tf_conversions + ament_cmake + rclpy + tf2_ros sensor_msgs std_msgs geometry_msgs + python3 From f4ac1bd7c27b5648beecf4836712cb660eef7858 Mon Sep 17 00:00:00 2001 From: Idate96 Date: Tue, 1 Oct 2024 15:15:42 +0200 Subject: [PATCH 445/504] restructuring --- elevation_map_msgs/CMakeLists.txt | 3 +- elevation_map_msgs/package.xml | 1 + elevation_mapping_cupy/CMakeLists.txt | 96 +++----------- .../elevation_mapping_cupy/__init__.py | 0 .../elevation_mapping.py | 1 + .../elevation_mapping_ros.py | 121 +++++++++--------- .../elevation_mapping_cupy/fusion/__init__.py | 0 .../fusion/fusion_manager.py | 0 .../fusion/image_color.py | 0 .../fusion/image_exponential.py | 0 .../fusion/pointcloud_average.py | 0 .../fusion/pointcloud_bayesian_inference.py | 0 .../fusion/pointcloud_class_average.py | 0 .../fusion/pointcloud_class_bayesian.py | 0 .../fusion/pointcloud_class_max.py | 0 .../fusion/pointcloud_color.py | 0 .../kernels/__init__.py | 0 .../kernels/custom_image_kernels.py | 0 .../kernels/custom_kernels.py | 0 .../kernels/custom_semantic_kernels.py | 0 .../elevation_mapping_cupy/map_initializer.py | 0 .../elevation_mapping_cupy/parameter.py | 0 .../plugins/__init__.py | 0 .../elevation_mapping_cupy/plugins/erosion.py | 0 .../plugins/features_pca.py | 0 .../plugins/inpainting.py | 0 .../plugins/max_layer_filter.py | 0 .../plugins/min_filter.py | 0 .../plugins/plugin_manager.py | 0 .../plugins/robot_centric_elevation.py | 0 .../plugins/semantic_filter.py | 0 .../plugins/semantic_traversability.py | 0 .../plugins/smooth_filter.py | 0 .../elevation_mapping_cupy/semantic_map.py | 0 .../elevation_mapping_cupy/tests/__init__.py | 0 .../tests/plugin_config.yaml | 0 .../tests/test_elevation_mapping.py | 0 .../tests/test_parameter.py | 0 .../tests/test_plugins.py | 0 .../tests/test_semantic_kernels.py | 0 .../tests/test_semantic_map.py | 0 .../traversability_filter.py | 0 .../traversability_polygon.py | 0 .../launch/elevation_mapping_launch.py | 16 +++ elevation_mapping_cupy/package.xml | 22 ++-- elevation_mapping_cupy/setup.py | 33 ++++- 46 files changed, 139 insertions(+), 154 deletions(-) rename elevation_mapping_cupy/{script => }/elevation_mapping_cupy/__init__.py (100%) rename elevation_mapping_cupy/{script => }/elevation_mapping_cupy/elevation_mapping.py (99%) rename elevation_mapping_cupy/{script => }/elevation_mapping_cupy/elevation_mapping_ros.py (69%) rename elevation_mapping_cupy/{script => }/elevation_mapping_cupy/fusion/__init__.py (100%) rename elevation_mapping_cupy/{script => }/elevation_mapping_cupy/fusion/fusion_manager.py (100%) rename elevation_mapping_cupy/{script => }/elevation_mapping_cupy/fusion/image_color.py (100%) rename elevation_mapping_cupy/{script => }/elevation_mapping_cupy/fusion/image_exponential.py (100%) rename elevation_mapping_cupy/{script => }/elevation_mapping_cupy/fusion/pointcloud_average.py (100%) rename elevation_mapping_cupy/{script => }/elevation_mapping_cupy/fusion/pointcloud_bayesian_inference.py (100%) rename elevation_mapping_cupy/{script => }/elevation_mapping_cupy/fusion/pointcloud_class_average.py (100%) rename elevation_mapping_cupy/{script => }/elevation_mapping_cupy/fusion/pointcloud_class_bayesian.py (100%) rename elevation_mapping_cupy/{script => }/elevation_mapping_cupy/fusion/pointcloud_class_max.py (100%) rename elevation_mapping_cupy/{script => }/elevation_mapping_cupy/fusion/pointcloud_color.py (100%) rename elevation_mapping_cupy/{script => }/elevation_mapping_cupy/kernels/__init__.py (100%) rename elevation_mapping_cupy/{script => }/elevation_mapping_cupy/kernels/custom_image_kernels.py (100%) rename elevation_mapping_cupy/{script => }/elevation_mapping_cupy/kernels/custom_kernels.py (100%) rename elevation_mapping_cupy/{script => }/elevation_mapping_cupy/kernels/custom_semantic_kernels.py (100%) rename elevation_mapping_cupy/{script => }/elevation_mapping_cupy/map_initializer.py (100%) rename elevation_mapping_cupy/{script => }/elevation_mapping_cupy/parameter.py (100%) rename elevation_mapping_cupy/{script => }/elevation_mapping_cupy/plugins/__init__.py (100%) rename elevation_mapping_cupy/{script => }/elevation_mapping_cupy/plugins/erosion.py (100%) rename elevation_mapping_cupy/{script => }/elevation_mapping_cupy/plugins/features_pca.py (100%) rename elevation_mapping_cupy/{script => }/elevation_mapping_cupy/plugins/inpainting.py (100%) rename elevation_mapping_cupy/{script => }/elevation_mapping_cupy/plugins/max_layer_filter.py (100%) rename elevation_mapping_cupy/{script => }/elevation_mapping_cupy/plugins/min_filter.py (100%) rename elevation_mapping_cupy/{script => }/elevation_mapping_cupy/plugins/plugin_manager.py (100%) rename elevation_mapping_cupy/{script => }/elevation_mapping_cupy/plugins/robot_centric_elevation.py (100%) rename elevation_mapping_cupy/{script => }/elevation_mapping_cupy/plugins/semantic_filter.py (100%) rename elevation_mapping_cupy/{script => }/elevation_mapping_cupy/plugins/semantic_traversability.py (100%) rename elevation_mapping_cupy/{script => }/elevation_mapping_cupy/plugins/smooth_filter.py (100%) rename elevation_mapping_cupy/{script => }/elevation_mapping_cupy/semantic_map.py (100%) rename elevation_mapping_cupy/{script => }/elevation_mapping_cupy/tests/__init__.py (100%) rename elevation_mapping_cupy/{script => }/elevation_mapping_cupy/tests/plugin_config.yaml (100%) rename elevation_mapping_cupy/{script => }/elevation_mapping_cupy/tests/test_elevation_mapping.py (100%) rename elevation_mapping_cupy/{script => }/elevation_mapping_cupy/tests/test_parameter.py (100%) rename elevation_mapping_cupy/{script => }/elevation_mapping_cupy/tests/test_plugins.py (100%) rename elevation_mapping_cupy/{script => }/elevation_mapping_cupy/tests/test_semantic_kernels.py (100%) rename elevation_mapping_cupy/{script => }/elevation_mapping_cupy/tests/test_semantic_map.py (100%) rename elevation_mapping_cupy/{script => }/elevation_mapping_cupy/traversability_filter.py (100%) rename elevation_mapping_cupy/{script => }/elevation_mapping_cupy/traversability_polygon.py (100%) create mode 100755 elevation_mapping_cupy/launch/elevation_mapping_launch.py diff --git a/elevation_map_msgs/CMakeLists.txt b/elevation_map_msgs/CMakeLists.txt index 7a4c23da..2ee13395 100644 --- a/elevation_map_msgs/CMakeLists.txt +++ b/elevation_map_msgs/CMakeLists.txt @@ -19,8 +19,7 @@ set(srv_files rosidl_generate_interfaces(${PROJECT_NAME} ${msg_files} ${srv_files} - DEPENDENCIES geometry_msgs - DEPENDENCIES std_msgs # Added dependency + DEPENDENCIES geometry_msgs std_msgs # Combined dependencies ) ament_export_dependencies(rosidl_default_runtime) diff --git a/elevation_map_msgs/package.xml b/elevation_map_msgs/package.xml index d30443e7..eec97b14 100644 --- a/elevation_map_msgs/package.xml +++ b/elevation_map_msgs/package.xml @@ -20,5 +20,6 @@ rosidl_interface_packages + ament_cmake diff --git a/elevation_mapping_cupy/CMakeLists.txt b/elevation_mapping_cupy/CMakeLists.txt index bc4cf6a0..68a1c1af 100644 --- a/elevation_mapping_cupy/CMakeLists.txt +++ b/elevation_mapping_cupy/CMakeLists.txt @@ -1,80 +1,24 @@ -# %Tag(FULLTEXT)% -cmake_minimum_required(VERSION 3.0.2) +cmake_minimum_required(VERSION 3.5) project(elevation_mapping_cupy) -find_package(PythonInterp 3 REQUIRED) -find_package(PythonLibs 3 REQUIRED) -find_package(OpenCV REQUIRED) - -if(PYTHONLIBS_FOUND) - message(STATUS "Using Python Libraries at: " ${PYTHON_LIBRARIES}) - message(STATUS "Using Python include directories at: " ${PYTHON_INCLUDE_DIRS}) -else() - message(WARNING "Could not find Python Libraries") -endif() - -find_package(Eigen3 REQUIRED) - -find_package(catkin REQUIRED - roscpp - rospy - tf - tf_conversions - sensor_msgs - std_msgs - geometry_msgs - elevation_map_msgs - grid_map_msgs - grid_map_ros - image_transport - pcl_ros - pybind11_catkin -) - -catkin_package( - INCLUDE_DIRS - include - ${EIGEN3_INCLUDE_DIRS} - CATKIN_DEPENDS - roscpp - rospy - tf - tf_conversions - sensor_msgs - std_msgs - geometry_msgs - elevation_map_msgs - grid_map_ros - image_transport - pcl_ros - pybind11_catkin -) - -include_directories( - include - ${PYTHON_INCLUDE_DIRS} - ${catkin_INCLUDE_DIRS} - ${EIGEN3_INCLUDE_DIRS} - ${OpenCV_INCLUDE_DIRS} +find_package(ament_cmake_python REQUIRED) +find_package(rclpy REQUIRED) +find_package(std_msgs REQUIRED) +find_package(sensor_msgs REQUIRED) +find_package(geometry_msgs REQUIRED) +find_package(elevation_map_msgs REQUIRED) +find_package(grid_map_msgs REQUIRED) +find_package(grid_map_ros REQUIRED) +find_package(image_transport REQUIRED) +find_package(pcl_ros REQUIRED) +find_package(pybind11 REQUIRED) + +# Install Python modules +ament_python_install_package(${PROJECT_NAME}) + +# Install launch and config directories +install(DIRECTORY launch config + DESTINATION share/${PROJECT_NAME}/ ) -add_library(elevation_mapping_ros - src/elevation_mapping_wrapper.cpp - src/elevation_mapping_ros.cpp) - -target_link_libraries(elevation_mapping_ros ${PYTHON_LIBRARIES} ${catkin_LIBRARIES} ${OpenCV_LIBRARIES}) - -add_executable(elevation_mapping_node src/elevation_mapping_node.cpp) -target_link_libraries(elevation_mapping_node elevation_mapping_ros) - -catkin_python_setup() - -install( - TARGETS elevation_mapping_ros elevation_mapping_node - ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) - -install( - DIRECTORY launch config - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) +ament_package() diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/__init__.py b/elevation_mapping_cupy/elevation_mapping_cupy/__init__.py similarity index 100% rename from elevation_mapping_cupy/script/elevation_mapping_cupy/__init__.py rename to elevation_mapping_cupy/elevation_mapping_cupy/__init__.py diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py b/elevation_mapping_cupy/elevation_mapping_cupy/elevation_mapping.py similarity index 99% rename from elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py rename to elevation_mapping_cupy/elevation_mapping_cupy/elevation_mapping.py index b78aeb45..c189fd68 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py +++ b/elevation_mapping_cupy/elevation_mapping_cupy/elevation_mapping.py @@ -20,6 +20,7 @@ add_color_kernel, color_average_kernel, ) + from elevation_mapping_cupy.kernels import sum_kernel from elevation_mapping_cupy.kernels import error_counting_kernel from elevation_mapping_cupy.kernels import average_map_kernel diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping_ros.py b/elevation_mapping_cupy/elevation_mapping_cupy/elevation_mapping_ros.py similarity index 69% rename from elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping_ros.py rename to elevation_mapping_cupy/elevation_mapping_cupy/elevation_mapping_ros.py index c28823e9..34d2b8a3 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping_ros.py +++ b/elevation_mapping_cupy/elevation_mapping_cupy/elevation_mapping_ros.py @@ -6,7 +6,8 @@ import numpy as np # ROS -import rospy +import rclpy +from rclpy.node import Node import ros_numpy from tf.transformations import quaternion_matrix import tf2_ros @@ -35,8 +36,9 @@ } -class ElevationMapWrapper: +class ElevationMappingNode(Node): def __init__(self): + super().__init__('elevation_mapping_node') rospack = rospkg.RosPack() self.root = rospack.get_path("elevation_mapping_cupy") weight_file = os.path.join(self.root, "config/core/weights.dat") @@ -67,7 +69,6 @@ def initalize_elevation_mapping(self): self._map_t = None def initalize_ros(self): - rospy.init_node(self.node_name, anonymous=False) self._tf_buffer = tf2_ros.Buffer() self._listener = tf2_ros.TransformListener(self._tf_buffer) self.get_ros_params() @@ -91,25 +92,25 @@ def register_subscribers(self): image_subs[key].registerCallback(self.image_callback, key) elif config["data_type"] == "pointcloud": - pointcloud_subs[key] = rospy.Subscriber( - config["topic_name"], PointCloud2, self.pointcloud_callback, key + pointcloud_subs[key] = self.create_subscription( + PointCloud2, config["topic_name"], self.pointcloud_callback, key ) def register_publishers(self): self._publishers = {} self._publishers_timers = [] for k, v in self.publishers.items(): - self._publishers[k] = rospy.Publisher(f"/{self.node_name}/{k}", GridMap, queue_size=10) + self._publishers[k] = self.create_publisher(GridMap, f"/{self.node_name}/{k}", 10) # partial(.) allows to pass a default argument to a callback - self._publishers_timers.append(rospy.Timer(rospy.Duration(1 / v["fps"]), partial(self.publish_map, k))) + self._publishers_timers.append(self.create_timer(1 / v["fps"], partial(self.publish_map, k))) - def publish_map(self, k, t): + def publish_map(self, k): print("publish_map") if self._map_q is None: return gm = GridMap() gm.info.header.frame_id = self.map_frame - gm.info.header.stamp = rospy.Time.now() + gm.info.header.stamp = self.get_clock().now().to_msg() gm.info.header.seq = 0 gm.info.resolution = self._map.resolution gm.info.length_x = self._map.map_length @@ -145,13 +146,13 @@ def publish_map(self, k, t): self._publishers[k].publish(gm) def register_timers(self): - self.timer_variance = rospy.Timer(rospy.Duration(1 / self.update_variance_fps), self.update_variance) - self.timer_pose = rospy.Timer(rospy.Duration(1 / self.update_pose_fps), self.update_pose) - self.timer_time = rospy.Timer(rospy.Duration(self.time_interval), self.update_time) + self.timer_variance = self.create_timer(1 / self.update_variance_fps, self.update_variance) + self.timer_pose = self.create_timer(1 / self.update_pose_fps, self.update_pose) + self.timer_time = self.create_timer(self.time_interval, self.update_time) def image_callback(self, camera_msg, camera_info_msg, sub_key): # get pose of image - ti = rospy.Time(secs=camera_msg.header.stamp.secs, nsecs=camera_msg.header.stamp.nsecs) + ti = camera_msg.header.stamp self._last_t = ti try: transform = self._tf_buffer.lookup_transform( @@ -195,7 +196,7 @@ def pointcloud_callback(self, msg, sub_key): pts = np.append(pts, p, axis=1) # get pose of pointcloud - ti = rospy.Time(secs=msg.header.stamp.secs, nsecs=msg.header.stamp.nsecs) + ti = msg.header.stamp self._last_t = ti try: transform = self._tf_buffer.lookup_transform(self.map_frame, msg.header.frame_id, ti, rospy.Duration(1.0)) @@ -213,7 +214,7 @@ def pointcloud_callback(self, msg, sub_key): self._pointcloud_process_counter += 1 print("Pointclouds processed: ", self._pointcloud_process_counter) - def update_pose(self, t): + def update_pose(self): # get pose of base # t = rospy.Time.now() if self._last_t is None: @@ -234,54 +235,52 @@ def update_pose(self, t): self._map_t = t self._map_q = q - def update_variance(self, t): + def update_variance(self): self._map.update_variance() - def update_time(self, t): + def update_time(self): self._map.update_time() + def get_ros_params(self): - # TODO fix this here when later launching with launch-file - # This is currently {p} elevation_mapping") - typ = "sim" - para = os.path.join(self.root, f"config/{typ}_parameters.yaml") - sens = os.path.join(self.root, f"config/{typ}_sensor_parameter.yaml") - plugin = os.path.join(self.root, f"config/{typ}_plugin_config.yaml") - - os.system(f"rosparam delete /{self.node_name}") - os.system(f"rosparam load {para} elevation_mapping") - os.system(f"rosparam load {sens} elevation_mapping") - os.system(f"rosparam load {plugin} elevation_mapping") - - self.subscribers = rospy.get_param("~subscribers") - self.publishers = rospy.get_param("~publishers") - self.initialize_frame_id = rospy.get_param("~initialize_frame_id", "base") - self.initialize_tf_offset = rospy.get_param("~initialize_tf_offset", 0.0) - self.pose_topic = rospy.get_param("~pose_topic", "pose") - self.map_frame = rospy.get_param("~map_frame", "map") - self.base_frame = rospy.get_param("~base_frame", "base") - self.corrected_map_frame = rospy.get_param("~corrected_map_frame", "corrected_map") - self.initialize_method = rospy.get_param("~initialize_method", "cubic") - self.position_lowpass_alpha = rospy.get_param("~position_lowpass_alpha", 0.2) - self.orientation_lowpass_alpha = rospy.get_param("~orientation_lowpass_alpha", 0.2) - self.recordable_fps = rospy.get_param("~recordable_fps", 3.0) - self.update_variance_fps = rospy.get_param("~update_variance_fps", 1.0) - self.time_interval = rospy.get_param("~time_interval", 0.1) - self.update_pose_fps = rospy.get_param("~update_pose_fps", 10.0) - self.initialize_tf_grid_size = rospy.get_param("~initialize_tf_grid_size", 0.5) - self.map_acquire_fps = rospy.get_param("~map_acquire_fps", 5.0) - self.publish_statistics_fps = rospy.get_param("~publish_statistics_fps", 1.0) - self.enable_pointcloud_publishing = rospy.get_param("~enable_pointcloud_publishing", False) - self.enable_normal_arrow_publishing = rospy.get_param("~enable_normal_arrow_publishing", False) - self.enable_drift_corrected_TF_publishing = rospy.get_param("~enable_drift_corrected_TF_publishing", False) - self.use_initializer_at_start = rospy.get_param("~use_initializer_at_start", False) - - -if __name__ == "__main__": - emw = ElevationMapWrapper() - - while not rospy.is_shutdown(): - try: - rospy.spin() - except rospy.ROSInterruptException: - print("Error") + self.declare_parameter('use_chainer', False) + self.declare_parameter('weight_file', '$(rospack find elevation_mapping_cupy)/config/core/weights.dat') + self.declare_parameter('plugin_config_file', '$(rospack find elevation_mapping_cupy)/config/core/plugin_config.yaml') + + self.subscribers = self.get_parameter("subscribers").value + self.publishers = self.get_parameter("publishers").value + self.initialize_frame_id = self.get_parameter("initialize_frame_id").value + self.initialize_tf_offset = self.get_parameter("initialize_tf_offset").value + self.pose_topic = self.get_parameter("pose_topic").value + self.map_frame = self.get_parameter("map_frame").value + self.base_frame = self.get_parameter("base_frame").value + self.corrected_map_frame = self.get_parameter("corrected_map_frame").value + self.initialize_method = self.get_parameter("initialize_method").value + self.position_lowpass_alpha = self.get_parameter("position_lowpass_alpha").value + self.orientation_lowpass_alpha = self.get_parameter("orientation_lowpass_alpha").value + self.recordable_fps = self.get_parameter("recordable_fps").value + self.update_variance_fps = self.get_parameter("update_variance_fps").value + self.time_interval = self.get_parameter("time_interval").value + self.update_pose_fps = self.get_parameter("update_pose_fps").value + self.initialize_tf_grid_size = self.get_parameter("initialize_tf_grid_size").value + self.map_acquire_fps = self.get_parameter("map_acquire_fps").value + self.publish_statistics_fps = self.get_parameter("publish_statistics_fps").value + self.enable_pointcloud_publishing = self.get_parameter("enable_pointcloud_publishing").value + self.enable_normal_arrow_publishing = self.get_parameter("enable_normal_arrow_publishing").value + self.enable_drift_corrected_TF_publishing = self.get_parameter("enable_drift_corrected_TF_publishing").value + self.use_initializer_at_start = self.get_parameter("use_initializer_at_start").value + + +def main(args=None): + rclpy.init(args=args) + node = ElevationMappingNode() + try: + rclpy.spin(node) + except KeyboardInterrupt: + pass + finally: + node.destroy_node() + rclpy.shutdown() + +if __name__ == '__main__': + main() \ No newline at end of file diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/__init__.py b/elevation_mapping_cupy/elevation_mapping_cupy/fusion/__init__.py similarity index 100% rename from elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/__init__.py rename to elevation_mapping_cupy/elevation_mapping_cupy/fusion/__init__.py diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/fusion_manager.py b/elevation_mapping_cupy/elevation_mapping_cupy/fusion/fusion_manager.py similarity index 100% rename from elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/fusion_manager.py rename to elevation_mapping_cupy/elevation_mapping_cupy/fusion/fusion_manager.py diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/image_color.py b/elevation_mapping_cupy/elevation_mapping_cupy/fusion/image_color.py similarity index 100% rename from elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/image_color.py rename to elevation_mapping_cupy/elevation_mapping_cupy/fusion/image_color.py diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/image_exponential.py b/elevation_mapping_cupy/elevation_mapping_cupy/fusion/image_exponential.py similarity index 100% rename from elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/image_exponential.py rename to elevation_mapping_cupy/elevation_mapping_cupy/fusion/image_exponential.py diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_average.py b/elevation_mapping_cupy/elevation_mapping_cupy/fusion/pointcloud_average.py similarity index 100% rename from elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_average.py rename to elevation_mapping_cupy/elevation_mapping_cupy/fusion/pointcloud_average.py diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_bayesian_inference.py b/elevation_mapping_cupy/elevation_mapping_cupy/fusion/pointcloud_bayesian_inference.py similarity index 100% rename from elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_bayesian_inference.py rename to elevation_mapping_cupy/elevation_mapping_cupy/fusion/pointcloud_bayesian_inference.py diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_class_average.py b/elevation_mapping_cupy/elevation_mapping_cupy/fusion/pointcloud_class_average.py similarity index 100% rename from elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_class_average.py rename to elevation_mapping_cupy/elevation_mapping_cupy/fusion/pointcloud_class_average.py diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_class_bayesian.py b/elevation_mapping_cupy/elevation_mapping_cupy/fusion/pointcloud_class_bayesian.py similarity index 100% rename from elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_class_bayesian.py rename to elevation_mapping_cupy/elevation_mapping_cupy/fusion/pointcloud_class_bayesian.py diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_class_max.py b/elevation_mapping_cupy/elevation_mapping_cupy/fusion/pointcloud_class_max.py similarity index 100% rename from elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_class_max.py rename to elevation_mapping_cupy/elevation_mapping_cupy/fusion/pointcloud_class_max.py diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_color.py b/elevation_mapping_cupy/elevation_mapping_cupy/fusion/pointcloud_color.py similarity index 100% rename from elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/pointcloud_color.py rename to elevation_mapping_cupy/elevation_mapping_cupy/fusion/pointcloud_color.py diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/__init__.py b/elevation_mapping_cupy/elevation_mapping_cupy/kernels/__init__.py similarity index 100% rename from elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/__init__.py rename to elevation_mapping_cupy/elevation_mapping_cupy/kernels/__init__.py diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/custom_image_kernels.py b/elevation_mapping_cupy/elevation_mapping_cupy/kernels/custom_image_kernels.py similarity index 100% rename from elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/custom_image_kernels.py rename to elevation_mapping_cupy/elevation_mapping_cupy/kernels/custom_image_kernels.py diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/custom_kernels.py b/elevation_mapping_cupy/elevation_mapping_cupy/kernels/custom_kernels.py similarity index 100% rename from elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/custom_kernels.py rename to elevation_mapping_cupy/elevation_mapping_cupy/kernels/custom_kernels.py diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/custom_semantic_kernels.py b/elevation_mapping_cupy/elevation_mapping_cupy/kernels/custom_semantic_kernels.py similarity index 100% rename from elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/custom_semantic_kernels.py rename to elevation_mapping_cupy/elevation_mapping_cupy/kernels/custom_semantic_kernels.py diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/map_initializer.py b/elevation_mapping_cupy/elevation_mapping_cupy/map_initializer.py similarity index 100% rename from elevation_mapping_cupy/script/elevation_mapping_cupy/map_initializer.py rename to elevation_mapping_cupy/elevation_mapping_cupy/map_initializer.py diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py b/elevation_mapping_cupy/elevation_mapping_cupy/parameter.py similarity index 100% rename from elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py rename to elevation_mapping_cupy/elevation_mapping_cupy/parameter.py diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/__init__.py b/elevation_mapping_cupy/elevation_mapping_cupy/plugins/__init__.py similarity index 100% rename from elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/__init__.py rename to elevation_mapping_cupy/elevation_mapping_cupy/plugins/__init__.py diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/erosion.py b/elevation_mapping_cupy/elevation_mapping_cupy/plugins/erosion.py similarity index 100% rename from elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/erosion.py rename to elevation_mapping_cupy/elevation_mapping_cupy/plugins/erosion.py diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/features_pca.py b/elevation_mapping_cupy/elevation_mapping_cupy/plugins/features_pca.py similarity index 100% rename from elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/features_pca.py rename to elevation_mapping_cupy/elevation_mapping_cupy/plugins/features_pca.py diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/inpainting.py b/elevation_mapping_cupy/elevation_mapping_cupy/plugins/inpainting.py similarity index 100% rename from elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/inpainting.py rename to elevation_mapping_cupy/elevation_mapping_cupy/plugins/inpainting.py diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/max_layer_filter.py b/elevation_mapping_cupy/elevation_mapping_cupy/plugins/max_layer_filter.py similarity index 100% rename from elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/max_layer_filter.py rename to elevation_mapping_cupy/elevation_mapping_cupy/plugins/max_layer_filter.py diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/min_filter.py b/elevation_mapping_cupy/elevation_mapping_cupy/plugins/min_filter.py similarity index 100% rename from elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/min_filter.py rename to elevation_mapping_cupy/elevation_mapping_cupy/plugins/min_filter.py diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/plugin_manager.py b/elevation_mapping_cupy/elevation_mapping_cupy/plugins/plugin_manager.py similarity index 100% rename from elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/plugin_manager.py rename to elevation_mapping_cupy/elevation_mapping_cupy/plugins/plugin_manager.py diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/robot_centric_elevation.py b/elevation_mapping_cupy/elevation_mapping_cupy/plugins/robot_centric_elevation.py similarity index 100% rename from elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/robot_centric_elevation.py rename to elevation_mapping_cupy/elevation_mapping_cupy/plugins/robot_centric_elevation.py diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_filter.py b/elevation_mapping_cupy/elevation_mapping_cupy/plugins/semantic_filter.py similarity index 100% rename from elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_filter.py rename to elevation_mapping_cupy/elevation_mapping_cupy/plugins/semantic_filter.py diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_traversability.py b/elevation_mapping_cupy/elevation_mapping_cupy/plugins/semantic_traversability.py similarity index 100% rename from elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/semantic_traversability.py rename to elevation_mapping_cupy/elevation_mapping_cupy/plugins/semantic_traversability.py diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/smooth_filter.py b/elevation_mapping_cupy/elevation_mapping_cupy/plugins/smooth_filter.py similarity index 100% rename from elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/smooth_filter.py rename to elevation_mapping_cupy/elevation_mapping_cupy/plugins/smooth_filter.py diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py b/elevation_mapping_cupy/elevation_mapping_cupy/semantic_map.py similarity index 100% rename from elevation_mapping_cupy/script/elevation_mapping_cupy/semantic_map.py rename to elevation_mapping_cupy/elevation_mapping_cupy/semantic_map.py diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/__init__.py b/elevation_mapping_cupy/elevation_mapping_cupy/tests/__init__.py similarity index 100% rename from elevation_mapping_cupy/script/elevation_mapping_cupy/tests/__init__.py rename to elevation_mapping_cupy/elevation_mapping_cupy/tests/__init__.py diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/plugin_config.yaml b/elevation_mapping_cupy/elevation_mapping_cupy/tests/plugin_config.yaml similarity index 100% rename from elevation_mapping_cupy/script/elevation_mapping_cupy/tests/plugin_config.yaml rename to elevation_mapping_cupy/elevation_mapping_cupy/tests/plugin_config.yaml diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_elevation_mapping.py b/elevation_mapping_cupy/elevation_mapping_cupy/tests/test_elevation_mapping.py similarity index 100% rename from elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_elevation_mapping.py rename to elevation_mapping_cupy/elevation_mapping_cupy/tests/test_elevation_mapping.py diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_parameter.py b/elevation_mapping_cupy/elevation_mapping_cupy/tests/test_parameter.py similarity index 100% rename from elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_parameter.py rename to elevation_mapping_cupy/elevation_mapping_cupy/tests/test_parameter.py diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_plugins.py b/elevation_mapping_cupy/elevation_mapping_cupy/tests/test_plugins.py similarity index 100% rename from elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_plugins.py rename to elevation_mapping_cupy/elevation_mapping_cupy/tests/test_plugins.py diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_semantic_kernels.py b/elevation_mapping_cupy/elevation_mapping_cupy/tests/test_semantic_kernels.py similarity index 100% rename from elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_semantic_kernels.py rename to elevation_mapping_cupy/elevation_mapping_cupy/tests/test_semantic_kernels.py diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_semantic_map.py b/elevation_mapping_cupy/elevation_mapping_cupy/tests/test_semantic_map.py similarity index 100% rename from elevation_mapping_cupy/script/elevation_mapping_cupy/tests/test_semantic_map.py rename to elevation_mapping_cupy/elevation_mapping_cupy/tests/test_semantic_map.py diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/traversability_filter.py b/elevation_mapping_cupy/elevation_mapping_cupy/traversability_filter.py similarity index 100% rename from elevation_mapping_cupy/script/elevation_mapping_cupy/traversability_filter.py rename to elevation_mapping_cupy/elevation_mapping_cupy/traversability_filter.py diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/traversability_polygon.py b/elevation_mapping_cupy/elevation_mapping_cupy/traversability_polygon.py similarity index 100% rename from elevation_mapping_cupy/script/elevation_mapping_cupy/traversability_polygon.py rename to elevation_mapping_cupy/elevation_mapping_cupy/traversability_polygon.py diff --git a/elevation_mapping_cupy/launch/elevation_mapping_launch.py b/elevation_mapping_cupy/launch/elevation_mapping_launch.py new file mode 100755 index 00000000..36e3df9d --- /dev/null +++ b/elevation_mapping_cupy/launch/elevation_mapping_launch.py @@ -0,0 +1,16 @@ +from launch import LaunchDescription +from launch_ros.actions import Node +from launch_ros.parameter_descriptions import ParameterFile + +def generate_launch_description(): + return LaunchDescription([ + Node( + package='elevation_mapping_cupy', + executable='elevation_mapping_node', + name='elevation_mapping_node', + output='screen', + parameters=[ + ParameterFile('config/core/core_param.yaml', allow_substs=True) + ] + ) + ]) \ No newline at end of file diff --git a/elevation_mapping_cupy/package.xml b/elevation_mapping_cupy/package.xml index 9befc801..74c11f5f 100644 --- a/elevation_mapping_cupy/package.xml +++ b/elevation_mapping_cupy/package.xml @@ -1,5 +1,5 @@ - + elevation_mapping_cupy 2.0.0 The elevation mapping on GPU @@ -8,19 +8,23 @@ MIT - catkin - roscpp - rospy - tf - tf_conversions - sensor_msgs + + ament_cmake + ament_cmake_python + + + rclpy std_msgs + sensor_msgs geometry_msgs - grid_map_msgs elevation_map_msgs + grid_map_msgs grid_map_ros image_transport pcl_ros - pybind11_catkin + pybind11 + + ament_python + diff --git a/elevation_mapping_cupy/setup.py b/elevation_mapping_cupy/setup.py index 8d5a2492..9225d74c 100644 --- a/elevation_mapping_cupy/setup.py +++ b/elevation_mapping_cupy/setup.py @@ -1,8 +1,29 @@ -from distutils.core import setup -from catkin_pkg.python_setup import generate_distutils_setup +from setuptools import setup, find_packages +import os -setup_args = generate_distutils_setup( - packages=["elevation_mapping_cupy", "elevation_mapping_cupy.plugins",], package_dir={"": "script"}, -) +package_name = 'elevation_mapping_cupy' -setup(**setup_args) +setup( + name=package_name, + version='2.0.0', + packages=find_packages(include=[package_name, f'{package_name}.*']), + install_requires=['setuptools'], + zip_safe=True, + author='Your Name', + author_email='your.email@example.com', + maintainer='Your Name', + maintainer_email='your.email@example.com', + description='Elevation mapping on GPU', + license='MIT', + tests_require=['pytest'], + entry_points={ + 'console_scripts': [ + 'elevation_mapping_node = elevation_mapping_cupy.elevation_mapping_ros:main', + ], + }, + # Remove data_files for package.xml + data_files=[ + # Add the launch file + (os.path.join('share', package_name, 'launch'), ['launch/elevation_mapping_launch.py']), + ], +) From 66ad5c3e36f2f04767c93abad4741c9f81d1d9ce Mon Sep 17 00:00:00 2001 From: amilearning Date: Fri, 1 Nov 2024 13:08:22 +0000 Subject: [PATCH 446/504] wrapper ros2 done --- elevation_map_msgs/CMakeLists.txt | 65 +- elevation_map_msgs/msg/ChannelInfo.msg | 2 +- elevation_map_msgs/msg/Statistics.msg | 4 +- elevation_map_msgs/package.xml | 21 +- elevation_mapping_cupy/CMakeLists.txt | 112 +- .../elevation_mapping_ros.hpp | 313 ++-- .../elevation_mapping_wrapper.hpp | 21 +- elevation_mapping_cupy/package.xml | 22 +- .../src/elevation_mapping_node.cpp | 20 +- .../src/elevation_mapping_ros.cpp | 1638 ++++++++--------- .../src/elevation_mapping_wrapper.cpp | 209 ++- 11 files changed, 1249 insertions(+), 1178 deletions(-) diff --git a/elevation_map_msgs/CMakeLists.txt b/elevation_map_msgs/CMakeLists.txt index 2d73f5e5..0ea3f7cb 100644 --- a/elevation_map_msgs/CMakeLists.txt +++ b/elevation_map_msgs/CMakeLists.txt @@ -1,32 +1,55 @@ -cmake_minimum_required(VERSION 3.0.2) +cmake_minimum_required(VERSION 3.5) project(elevation_map_msgs) -find_package(catkin REQUIRED) +find_package(ament_cmake REQUIRED) +find_package(geometry_msgs REQUIRED) +find_package(rosidl_default_generators REQUIRED) +find_package(std_msgs REQUIRED) # Added std_msgs -find_package(catkin REQUIRED COMPONENTS - geometry_msgs - message_generation +set(msg_files + "msg/Statistics.msg" + "msg/ChannelInfo.msg" ) -add_message_files( - FILES - Statistics.msg - ChannelInfo.msg +set(srv_files + "srv/CheckSafety.srv" + "srv/Initialize.srv" ) -## Generate services in the 'srv' folder -add_service_files( - FILES - CheckSafety.srv - Initialize.srv +rosidl_generate_interfaces(${PROJECT_NAME} + ${msg_files} + ${srv_files} + DEPENDENCIES geometry_msgs std_msgs # Added std_msgs ) +ament_export_dependencies(rosidl_default_runtime) -## Generate added messages and services with any dependencies listed here -generate_messages( - DEPENDENCIES - geometry_msgs -) +ament_package() + +# cmake_minimum_required(VERSION 3.8) +# project(elevation_map_msgs) + +# if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") +# add_compile_options(-Wall -Wextra -Wpedantic) +# endif() + +# # find dependencies +# find_package(ament_cmake REQUIRED) +# find_package(rosidl_default_generators REQUIRED) +# find_package(builtin_interfaces REQUIRED) +# find_package(std_msgs REQUIRED) +# find_package(geometry_msgs REQUIRED) +# find_package(action_msgs REQUIRED) + +# rosidl_generate_interfaces(${PROJECT_NAME} +# "msg/Statistics.msg" +# "msg/ChannelInfo.msg" +# "srv/CheckSafety.srv" +# "srv/Initialize.srv" +# DEPENDENCIES builtin_interfaces geometry_msgs std_msgs action_msgs +# ) + +# ament_export_dependencies(rosidl_default_runtime) + +# ament_package() -catkin_package( -) diff --git a/elevation_map_msgs/msg/ChannelInfo.msg b/elevation_map_msgs/msg/ChannelInfo.msg index bccf1447..2e6327ec 100644 --- a/elevation_map_msgs/msg/ChannelInfo.msg +++ b/elevation_map_msgs/msg/ChannelInfo.msg @@ -1,2 +1,2 @@ -Header header +std_msgs/Header header string[] channels # channel names for each layer \ No newline at end of file diff --git a/elevation_map_msgs/msg/Statistics.msg b/elevation_map_msgs/msg/Statistics.msg index 294ccb9d..85daaa50 100644 --- a/elevation_map_msgs/msg/Statistics.msg +++ b/elevation_map_msgs/msg/Statistics.msg @@ -1,2 +1,2 @@ - Header header - float64 pointcloud_process_fps +std_msgs/Header header +float64 pointcloud_process_fps diff --git a/elevation_map_msgs/package.xml b/elevation_map_msgs/package.xml index 5fa7a60a..22f222c1 100644 --- a/elevation_map_msgs/package.xml +++ b/elevation_map_msgs/package.xml @@ -1,5 +1,5 @@ - + elevation_map_msgs 0.0.0 ROS Message definitions for elevation mapping. @@ -7,13 +7,24 @@ Takahiro Miki MIT - catkin - + + ament_cmake + geometry_msgs - message_generation + rosidl_default_generators + std_msgs + rosidl_interface_packages + + geometry_msgs + rosidl_default_runtime + std_msgs - geometry_msgs + + ament_lint_auto + ament_lint_common + ament_cmake + rosidl_interface_packages diff --git a/elevation_mapping_cupy/CMakeLists.txt b/elevation_mapping_cupy/CMakeLists.txt index bc4cf6a0..81baa06d 100644 --- a/elevation_mapping_cupy/CMakeLists.txt +++ b/elevation_mapping_cupy/CMakeLists.txt @@ -1,80 +1,100 @@ -# %Tag(FULLTEXT)% -cmake_minimum_required(VERSION 3.0.2) +cmake_minimum_required(VERSION 3.8) project(elevation_mapping_cupy) +# Enable C++11 (or higher if needed for ROS 2 and pybind11) +set(CMAKE_CXX_STANDARD 11) +set(CMAKE_CXX_STANDARD_REQUIRED ON) + +# Compiler options +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() +# Additional dependencies +find_package(Python COMPONENTS Interpreter Development) find_package(PythonInterp 3 REQUIRED) -find_package(PythonLibs 3 REQUIRED) +find_package(pybind11 CONFIG REQUIRED) +find_package(Eigen3 REQUIRED) find_package(OpenCV REQUIRED) -if(PYTHONLIBS_FOUND) - message(STATUS "Using Python Libraries at: " ${PYTHON_LIBRARIES}) - message(STATUS "Using Python include directories at: " ${PYTHON_INCLUDE_DIRS}) -else() - message(WARNING "Could not find Python Libraries") -endif() +# Find pybind11 -find_package(Eigen3 REQUIRED) +message([MAIN] "Found pybind11 v${pybind11_VERSION}: ${pybind11_INCLUDE_DIRS}") +message([MAIN] "pybind11_INCLUDE_DIRS = ${pybind11_INCLUDE_DIRS}") +message([MAIN] "pybind11_LIBRARIES = ${pybind11_LIBRARIES}") -find_package(catkin REQUIRED - roscpp - rospy - tf - tf_conversions - sensor_msgs +# Find ROS 2 dependencies +find_package(message_filters REQUIRED) +find_package(ament_cmake REQUIRED) +find_package(rclcpp REQUIRED) +find_package(rclpy REQUIRED) +find_package(builtin_interfaces REQUIRED) +find_package(std_msgs REQUIRED) +find_package(std_srvs REQUIRED) +find_package(sensor_msgs REQUIRED) +find_package(grid_map_msgs REQUIRED) +find_package(geometry_msgs REQUIRED) +find_package(elevation_map_msgs REQUIRED) +find_package(grid_map_ros REQUIRED) +find_package(image_transport REQUIRED) +find_package(pcl_ros REQUIRED) + + +# List dependencies for ament_target_dependencies +set(dependencies + rclcpp + rclpy std_msgs + std_srvs + builtin_interfaces geometry_msgs + sensor_msgs elevation_map_msgs grid_map_msgs grid_map_ros image_transport pcl_ros - pybind11_catkin -) - -catkin_package( - INCLUDE_DIRS - include - ${EIGEN3_INCLUDE_DIRS} - CATKIN_DEPENDS - roscpp - rospy - tf - tf_conversions - sensor_msgs - std_msgs - geometry_msgs - elevation_map_msgs - grid_map_ros - image_transport - pcl_ros - pybind11_catkin + message_filters ) +# Include directories include_directories( include ${PYTHON_INCLUDE_DIRS} - ${catkin_INCLUDE_DIRS} - ${EIGEN3_INCLUDE_DIRS} + ${Eigen3_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS} + ${pybind11_INCLUDE_DIRS} ) +# Declare C++ library add_library(elevation_mapping_ros src/elevation_mapping_wrapper.cpp - src/elevation_mapping_ros.cpp) + src/elevation_mapping_ros.cpp +) -target_link_libraries(elevation_mapping_ros ${PYTHON_LIBRARIES} ${catkin_LIBRARIES} ${OpenCV_LIBRARIES}) +# Link the library with necessary dependencies +target_link_libraries(elevation_mapping_ros ${PYTHON_LIBRARIES} ${OpenCV_LIBRARIES}) +ament_target_dependencies(elevation_mapping_ros ${dependencies}) +# Declare C++ executable add_executable(elevation_mapping_node src/elevation_mapping_node.cpp) -target_link_libraries(elevation_mapping_node elevation_mapping_ros) -catkin_python_setup() +# Link the executable with the library and dependencies +target_link_libraries(elevation_mapping_node elevation_mapping_ros ${OpenCV_LIBRARIES}) +ament_target_dependencies(elevation_mapping_node ${dependencies}) +# Install targets install( TARGETS elevation_mapping_ros elevation_mapping_node - ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) + ARCHIVE DESTINATION lib + LIBRARY DESTINATION lib + RUNTIME DESTINATION bin +) +# Install launch and config directories install( DIRECTORY launch config - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) + DESTINATION share/${PROJECT_NAME} +) + +# Ament package declaration +ament_package() diff --git a/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp b/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp index 0fb75b6a..f631fbba 100644 --- a/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp +++ b/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp @@ -16,26 +16,29 @@ #include // everything needed for embedding // ROS -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include +#include +#include +#include +#include "message_filters/subscriber.h" +#include "message_filters/sync_policies/approximate_time.h" +#include "message_filters/synchronizer.h" +#include +#include +#include +#include +#include "std_srvs/srv/empty.h" +#include + +#include +#include +#include + +#include +#include // Grid Map -#include -#include +#include +#include #include // PCL @@ -47,145 +50,145 @@ #include #include -#include -#include -#include +#include +#include +#include #include "elevation_mapping_cupy/elevation_mapping_wrapper.hpp" namespace py = pybind11; -namespace elevation_mapping_cupy { - -class ElevationMappingNode { - public: - ElevationMappingNode(ros::NodeHandle& nh); - using RowMatrixXd = Eigen::Matrix; - using ColMatrixXf = Eigen::Matrix; - - using ImageSubscriber = image_transport::SubscriberFilter; - using ImageSubscriberPtr = std::shared_ptr; - - // Subscriber and Synchronizer for CameraInfo messages - using CameraInfoSubscriber = message_filters::Subscriber; - using CameraInfoSubscriberPtr = std::shared_ptr; - using CameraPolicy = message_filters::sync_policies::ApproximateTime; - using CameraSync = message_filters::Synchronizer; - using CameraSyncPtr = std::shared_ptr; - - // Subscriber and Synchronizer for ChannelInfo messages - using ChannelInfoSubscriber = message_filters::Subscriber; - using ChannelInfoSubscriberPtr = std::shared_ptr; - using CameraChannelPolicy = message_filters::sync_policies::ApproximateTime; - using CameraChannelSync = message_filters::Synchronizer; - using CameraChannelSyncPtr = std::shared_ptr; - - // Subscriber and Synchronizer for Pointcloud messages - using PointCloudSubscriber = message_filters::Subscriber; - using PointCloudSubscriberPtr = std::shared_ptr; - using PointCloudPolicy = message_filters::sync_policies::ApproximateTime; - using PointCloudSync = message_filters::Synchronizer; - using PointCloudSyncPtr = std::shared_ptr; - - private: - void readParameters(); - void setupMapPublishers(); - void pointcloudCallback(const sensor_msgs::PointCloud2& cloud, const std::string& key); - void inputPointCloud(const sensor_msgs::PointCloud2& cloud, const std::vector& channels); - void inputImage(const sensor_msgs::ImageConstPtr& image_msg, const sensor_msgs::CameraInfoConstPtr& camera_info_msg, const std::vector& channels); - void imageCallback(const sensor_msgs::ImageConstPtr& image_msg, const sensor_msgs::CameraInfoConstPtr& camera_info_msg, const std::string& key); - void imageChannelCallback(const sensor_msgs::ImageConstPtr& image_msg, const sensor_msgs::CameraInfoConstPtr& camera_info_msg, const elevation_map_msgs::ChannelInfoConstPtr& channel_info_msg); - void pointCloudChannelCallback(const sensor_msgs::PointCloud2& cloud, const elevation_map_msgs::ChannelInfoConstPtr& channel_info_msg); - // void multiLayerImageCallback(const elevation_map_msgs::MultiLayerImageConstPtr& image_msg, const sensor_msgs::CameraInfoConstPtr& camera_info_msg); - void publishAsPointCloud(const grid_map::GridMap& map) const; - bool getSubmap(grid_map_msgs::GetGridMap::Request& request, grid_map_msgs::GetGridMap::Response& response); - bool checkSafety(elevation_map_msgs::CheckSafety::Request& request, elevation_map_msgs::CheckSafety::Response& response); - bool initializeMap(elevation_map_msgs::Initialize::Request& request, elevation_map_msgs::Initialize::Response& response); - bool clearMap(std_srvs::Empty::Request& request, std_srvs::Empty::Response& response); - bool clearMapWithInitializer(std_srvs::Empty::Request& request, std_srvs::Empty::Response& response); - bool setPublishPoint(std_srvs::SetBool::Request& request, std_srvs::SetBool::Response& response); - void updatePose(const ros::TimerEvent&); - void updateVariance(const ros::TimerEvent&); - void updateTime(const ros::TimerEvent&); - void updateGridMap(const ros::TimerEvent&); - void publishNormalAsArrow(const grid_map::GridMap& map) const; - void initializeWithTF(); - void publishMapToOdom(double error); - void publishStatistics(const ros::TimerEvent&); - void publishMapOfIndex(int index); - - visualization_msgs::Marker vectorToArrowMarker(const Eigen::Vector3d& start, const Eigen::Vector3d& end, const int id) const; - - ros::NodeHandle nh_; - image_transport::ImageTransport it_; - std::vector pointcloudSubs_; - std::vector imageSubs_; - std::vector cameraInfoSubs_; - std::vector channelInfoSubs_; - std::vector cameraSyncs_; - std::vector cameraChannelSyncs_; - std::vector pointCloudSyncs_; - std::vector mapPubs_; - tf::TransformBroadcaster tfBroadcaster_; - ros::Publisher alivePub_; - ros::Publisher pointPub_; - ros::Publisher normalPub_; - ros::Publisher statisticsPub_; - ros::ServiceServer rawSubmapService_; - ros::ServiceServer clearMapService_; - ros::ServiceServer clearMapWithInitializerService_; - ros::ServiceServer initializeMapService_; - ros::ServiceServer setPublishPointService_; - ros::ServiceServer checkSafetyService_; - ros::Timer updateVarianceTimer_; - ros::Timer updateTimeTimer_; - ros::Timer updatePoseTimer_; - ros::Timer updateGridMapTimer_; - ros::Timer publishStatisticsTimer_; - ros::Time lastStatisticsPublishedTime_; - tf::TransformListener transformListener_; - ElevationMappingWrapper map_; - std::string mapFrameId_; - std::string correctedMapFrameId_; - std::string baseFrameId_; - - // map topics info - std::vector> map_topics_; - std::vector> map_layers_; - std::vector> map_basic_layers_; - std::set map_layers_all_; - std::set map_layers_sync_; - std::vector map_fps_; - std::set map_fps_unique_; - std::vector mapTimers_; - std::map> channels_; - - std::vector initialize_frame_id_; - std::vector initialize_tf_offset_; - std::string initializeMethod_; - - Eigen::Vector3d lowpassPosition_; - Eigen::Vector4d lowpassOrientation_; - - std::mutex mapMutex_; // protects gridMap_ - grid_map::GridMap gridMap_; - std::atomic_bool isGridmapUpdated_; // needs to be atomic (read is not protected by mapMutex_) - - std::mutex errorMutex_; // protects positionError_, and orientationError_ - double positionError_; - double orientationError_; - - double positionAlpha_; - double orientationAlpha_; - - double recordableFps_; - std::atomic_bool enablePointCloudPublishing_; - bool enableNormalArrowPublishing_; - bool enableDriftCorrectedTFPublishing_; - bool useInitializerAtStart_; - double initializeTfGridSize_; - bool alwaysClearWithInitializer_; - std::atomic_int pointCloudProcessCounter_; -}; - -} // namespace elevation_mapping_cupy +// namespace elevation_mapping_cupy { + +// class ElevationMappingNode { +// public: +// ElevationMappingNode(ros::NodeHandle& nh); +// using RowMatrixXd = Eigen::Matrix; +// using ColMatrixXf = Eigen::Matrix; + +// using ImageSubscriber = image_transport::SubscriberFilter; +// using ImageSubscriberPtr = std::shared_ptr; + +// // Subscriber and Synchronizer for CameraInfo messages +// using CameraInfoSubscriber = message_filters::Subscriber; +// using CameraInfoSubscriberPtr = std::shared_ptr; +// using CameraPolicy = message_filters::sync_policies::ApproximateTime; +// using CameraSync = message_filters::Synchronizer; +// using CameraSyncPtr = std::shared_ptr; + +// // Subscriber and Synchronizer for ChannelInfo messages +// using ChannelInfoSubscriber = message_filters::Subscriber; +// using ChannelInfoSubscriberPtr = std::shared_ptr; +// using CameraChannelPolicy = message_filters::sync_policies::ApproximateTime; +// using CameraChannelSync = message_filters::Synchronizer; +// using CameraChannelSyncPtr = std::shared_ptr; + +// // Subscriber and Synchronizer for Pointcloud messages +// using PointCloudSubscriber = message_filters::Subscriber; +// using PointCloudSubscriberPtr = std::shared_ptr; +// using PointCloudPolicy = message_filters::sync_policies::ApproximateTime; +// using PointCloudSync = message_filters::Synchronizer; +// using PointCloudSyncPtr = std::shared_ptr; + +// private: +// void readParameters(); +// void setupMapPublishers(); +// void pointcloudCallback(const sensor_msgs::PointCloud2& cloud, const std::string& key); +// void inputPointCloud(const sensor_msgs::PointCloud2& cloud, const std::vector& channels); +// void inputImage(const sensor_msgs::ImageConstPtr& image_msg, const sensor_msgs::CameraInfoConstPtr& camera_info_msg, const std::vector& channels); +// void imageCallback(const sensor_msgs::ImageConstPtr& image_msg, const sensor_msgs::CameraInfoConstPtr& camera_info_msg, const std::string& key); +// void imageChannelCallback(const sensor_msgs::ImageConstPtr& image_msg, const sensor_msgs::CameraInfoConstPtr& camera_info_msg, const elevation_map_msgs::ChannelInfoConstPtr& channel_info_msg); +// void pointCloudChannelCallback(const sensor_msgs::PointCloud2& cloud, const elevation_map_msgs::ChannelInfoConstPtr& channel_info_msg); +// // void multiLayerImageCallback(const elevation_map_msgs::MultiLayerImageConstPtr& image_msg, const sensor_msgs::CameraInfoConstPtr& camera_info_msg); +// void publishAsPointCloud(const grid_map::GridMap& map) const; +// bool getSubmap(grid_map_msgs::GetGridMap::Request& request, grid_map_msgs::GetGridMap::Response& response); +// bool checkSafety(elevation_map_msgs::CheckSafety::Request& request, elevation_map_msgs::CheckSafety::Response& response); +// bool initializeMap(elevation_map_msgs::Initialize::Request& request, elevation_map_msgs::Initialize::Response& response); +// bool clearMap(std_srvs::Empty::Request& request, std_srvs::Empty::Response& response); +// bool clearMapWithInitializer(std_srvs::Empty::Request& request, std_srvs::Empty::Response& response); +// bool setPublishPoint(std_srvs::SetBool::Request& request, std_srvs::SetBool::Response& response); +// void updatePose(const ros::TimerEvent&); +// void updateVariance(const ros::TimerEvent&); +// void updateTime(const ros::TimerEvent&); +// void updateGridMap(const ros::TimerEvent&); +// void publishNormalAsArrow(const grid_map::GridMap& map) const; +// void initializeWithTF(); +// void publishMapToOdom(double error); +// void publishStatistics(const ros::TimerEvent&); +// void publishMapOfIndex(int index); + +// visualization_msgs::Marker vectorToArrowMarker(const Eigen::Vector3d& start, const Eigen::Vector3d& end, const int id) const; + +// ros::NodeHandle nh_; +// image_transport::ImageTransport it_; +// std::vector pointcloudSubs_; +// std::vector imageSubs_; +// std::vector cameraInfoSubs_; +// std::vector channelInfoSubs_; +// std::vector cameraSyncs_; +// std::vector cameraChannelSyncs_; +// std::vector pointCloudSyncs_; +// std::vector mapPubs_; +// tf::TransformBroadcaster tfBroadcaster_; +// ros::Publisher alivePub_; +// ros::Publisher pointPub_; +// ros::Publisher normalPub_; +// ros::Publisher statisticsPub_; +// ros::ServiceServer rawSubmapService_; +// ros::ServiceServer clearMapService_; +// ros::ServiceServer clearMapWithInitializerService_; +// ros::ServiceServer initializeMapService_; +// ros::ServiceServer setPublishPointService_; +// ros::ServiceServer checkSafetyService_; +// ros::Timer updateVarianceTimer_; +// ros::Timer updateTimeTimer_; +// ros::Timer updatePoseTimer_; +// ros::Timer updateGridMapTimer_; +// ros::Timer publishStatisticsTimer_; +// ros::Time lastStatisticsPublishedTime_; +// tf::TransformListener transformListener_; +// ElevationMappingWrapper map_; +// std::string mapFrameId_; +// std::string correctedMapFrameId_; +// std::string baseFrameId_; + +// // map topics info +// std::vector> map_topics_; +// std::vector> map_layers_; +// std::vector> map_basic_layers_; +// std::set map_layers_all_; +// std::set map_layers_sync_; +// std::vector map_fps_; +// std::set map_fps_unique_; +// std::vector mapTimers_; +// std::map> channels_; + +// std::vector initialize_frame_id_; +// std::vector initialize_tf_offset_; +// std::string initializeMethod_; + +// Eigen::Vector3d lowpassPosition_; +// Eigen::Vector4d lowpassOrientation_; + +// std::mutex mapMutex_; // protects gridMap_ +// grid_map::GridMap gridMap_; +// std::atomic_bool isGridmapUpdated_; // needs to be atomic (read is not protected by mapMutex_) + +// std::mutex errorMutex_; // protects positionError_, and orientationError_ +// double positionError_; +// double orientationError_; + +// double positionAlpha_; +// double orientationAlpha_; + +// double recordableFps_; +// std::atomic_bool enablePointCloudPublishing_; +// bool enableNormalArrowPublishing_; +// bool enableDriftCorrectedTFPublishing_; +// bool useInitializerAtStart_; +// double initializeTfGridSize_; +// bool alwaysClearWithInitializer_; +// std::atomic_int pointCloudProcessCounter_; +// }; + +// } // namespace elevation_mapping_cupy diff --git a/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_wrapper.hpp b/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_wrapper.hpp index 712ed10a..92370e3c 100644 --- a/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_wrapper.hpp +++ b/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_wrapper.hpp @@ -15,16 +15,17 @@ #include // everything needed for embedding #include -// ROS -#include -#include -#include -#include -#include +// ROS2 +#include +#include +#include +#include +#include +#include // Grid Map -#include -#include +#include +#include #include // PCL @@ -44,7 +45,7 @@ class ElevationMappingWrapper { ElevationMappingWrapper(); - void initialize(ros::NodeHandle& nh); + void initialize(rclcpp::Node::SharedPtr node); void input(const RowMatrixXd& points, const std::vector& channels, const RowMatrixXd& R, const Eigen::VectorXd& t, const double positionNoise, const double orientationNoise); @@ -64,7 +65,7 @@ class ElevationMappingWrapper { void addNormalColorLayer(grid_map::GridMap& map); private: - void setParameters(ros::NodeHandle& nh); + void setParameters(rclcpp::Node::SharedPtr node); py::object map_; py::object param_; double resolution_; diff --git a/elevation_mapping_cupy/package.xml b/elevation_mapping_cupy/package.xml index 9befc801..9cb9c1bb 100644 --- a/elevation_mapping_cupy/package.xml +++ b/elevation_mapping_cupy/package.xml @@ -1,5 +1,5 @@ - + elevation_mapping_cupy 2.0.0 The elevation mapping on GPU @@ -8,19 +8,23 @@ MIT - catkin - roscpp - rospy - tf - tf_conversions - sensor_msgs + ament_cmake + rclcpp std_msgs + std_srvs + sensor_msgs geometry_msgs + message_filters grid_map_msgs elevation_map_msgs grid_map_ros image_transport pcl_ros - pybind11_catkin + pybind11 + ament_lint_auto + ament_lint_common - + + ament_cmake + + \ No newline at end of file diff --git a/elevation_mapping_cupy/src/elevation_mapping_node.cpp b/elevation_mapping_cupy/src/elevation_mapping_node.cpp index 3d7a778f..05fac5d6 100644 --- a/elevation_mapping_cupy/src/elevation_mapping_node.cpp +++ b/elevation_mapping_cupy/src/elevation_mapping_node.cpp @@ -6,22 +6,22 @@ // Pybind #include // everything needed for embedding -// ROS -#include - +// ROS2 +#include #include "elevation_mapping_cupy/elevation_mapping_ros.hpp" int main(int argc, char** argv) { - ros::init(argc, argv, "elevation_mapping"); - ros::NodeHandle nh("~"); + rclcpp::init(argc, argv); + auto node = std::make_shared("elevation_mapping"); py::scoped_interpreter guard{}; // start the interpreter and keep it alive - elevation_mapping_cupy::ElevationMappingNode mapNode(nh); + // elevation_mapping_cupy::ElevationMappingNode mapNode(node); py::gil_scoped_release release; // Spin - ros::AsyncSpinner spinner(1); // Use n threads - spinner.start(); - ros::waitForShutdown(); + rclcpp::executors::SingleThreadedExecutor executor; + executor.add_node(node); + executor.spin(); + rclcpp::shutdown(); return 0; -} +} \ No newline at end of file diff --git a/elevation_mapping_cupy/src/elevation_mapping_ros.cpp b/elevation_mapping_cupy/src/elevation_mapping_ros.cpp index 2fbc3128..374bf709 100644 --- a/elevation_mapping_cupy/src/elevation_mapping_ros.cpp +++ b/elevation_mapping_cupy/src/elevation_mapping_ros.cpp @@ -1,820 +1,820 @@ -// -// Copyright (c) 2022, Takahiro Miki. All rights reserved. -// Licensed under the MIT license. See LICENSE file in the project root for details. -// - -#include "elevation_mapping_cupy/elevation_mapping_ros.hpp" - -// Pybind -#include - -// ROS -#include -#include -#include - -// PCL -#include - -#include - -namespace elevation_mapping_cupy { - -ElevationMappingNode::ElevationMappingNode(ros::NodeHandle& nh) - : it_(nh), - lowpassPosition_(0, 0, 0), - lowpassOrientation_(0, 0, 0, 1), - positionError_(0), - orientationError_(0), - positionAlpha_(0.1), - orientationAlpha_(0.1), - enablePointCloudPublishing_(false), - isGridmapUpdated_(false) { - nh_ = nh; - - std::string pose_topic, map_frame; - XmlRpc::XmlRpcValue publishers; - XmlRpc::XmlRpcValue subscribers; - std::vector map_topics; - double recordableFps, updateVarianceFps, timeInterval, updatePoseFps, updateGridMapFps, publishStatisticsFps; - bool enablePointCloudPublishing(false); - - // Read parameters - nh.getParam("subscribers", subscribers); - nh.getParam("publishers", publishers); - if (!subscribers.valid()) { - ROS_FATAL("There aren't any subscribers to be configured, the elevation mapping cannot be configured. Exit"); - } - if (!publishers.valid()) { - ROS_FATAL("There aren't any publishers to be configured, the elevation mapping cannot be configured. Exit"); - } - nh.param>("initialize_frame_id", initialize_frame_id_, {"base"}); - nh.param>("initialize_tf_offset", initialize_tf_offset_, {0.0}); - nh.param("pose_topic", pose_topic, "pose"); - nh.param("map_frame", mapFrameId_, "map"); - nh.param("base_frame", baseFrameId_, "base"); - nh.param("corrected_map_frame", correctedMapFrameId_, "corrected_map"); - nh.param("initialize_method", initializeMethod_, "cubic"); - nh.param("position_lowpass_alpha", positionAlpha_, 0.2); - nh.param("orientation_lowpass_alpha", orientationAlpha_, 0.2); - nh.param("recordable_fps", recordableFps, 3.0); - nh.param("update_variance_fps", updateVarianceFps, 1.0); - nh.param("time_interval", timeInterval, 0.1); - nh.param("update_pose_fps", updatePoseFps, 10.0); - nh.param("initialize_tf_grid_size", initializeTfGridSize_, 0.5); - nh.param("map_acquire_fps", updateGridMapFps, 5.0); - nh.param("publish_statistics_fps", publishStatisticsFps, 1.0); - nh.param("enable_pointcloud_publishing", enablePointCloudPublishing, false); - nh.param("enable_normal_arrow_publishing", enableNormalArrowPublishing_, false); - nh.param("enable_drift_corrected_TF_publishing", enableDriftCorrectedTFPublishing_, false); - nh.param("use_initializer_at_start", useInitializerAtStart_, false); - nh.param("always_clear_with_initializer", alwaysClearWithInitializer_, false); - - enablePointCloudPublishing_ = enablePointCloudPublishing; - - // Iterate all the subscribers - // here we have to remove all the stuff - for (auto& subscriber : subscribers) { - std::string key = subscriber.first; - auto type = static_cast(subscriber.second["data_type"]); - - // Initialize subscribers depending on the type - if (type == "pointcloud") { - std::string pointcloud_topic = subscriber.second["topic_name"]; - channels_[key].push_back("x"); - channels_[key].push_back("y"); - channels_[key].push_back("z"); - boost::function f = boost::bind(&ElevationMappingNode::pointcloudCallback, this, _1, key); - ros::Subscriber sub = nh_.subscribe(pointcloud_topic, 1, f); - pointcloudSubs_.push_back(sub); - ROS_INFO_STREAM("Subscribed to PointCloud2 topic: " << pointcloud_topic); - } - else if (type == "image") { - std::string camera_topic = subscriber.second["topic_name"]; - std::string info_topic = subscriber.second["camera_info_topic_name"]; - - // Handle compressed images with transport hints - // We obtain the hint from the last part of the topic name - std::string transport_hint = "compressed"; - std::size_t ind = camera_topic.find(transport_hint); // Find if compressed is in the topic name - if (ind != std::string::npos) { - transport_hint = camera_topic.substr(ind, camera_topic.length()); // Get the hint as the last part - camera_topic.erase(ind - 1, camera_topic.length()); // We remove the hint from the topic - } else { - transport_hint = "raw"; // In the default case we assume raw topic - } - - // Setup subscriber - const auto hint = image_transport::TransportHints(transport_hint, ros::TransportHints(), ros::NodeHandle(camera_topic)); - ImageSubscriberPtr image_sub = std::make_shared(); - image_sub->subscribe(it_, camera_topic, 1, hint); - imageSubs_.push_back(image_sub); - - CameraInfoSubscriberPtr cam_info_sub = std::make_shared(); - cam_info_sub->subscribe(nh_, info_topic, 1); - cameraInfoSubs_.push_back(cam_info_sub); - - std::string channel_info_topic; - // If there is channel info topic setting, we use it. - if (subscriber.second.hasMember("channel_info_topic_name")) { - std::string channel_info_topic = subscriber.second["channel_info_topic_name"]; - ChannelInfoSubscriberPtr channel_info_sub = std::make_shared(); - channel_info_sub->subscribe(nh_, channel_info_topic, 1); - channelInfoSubs_.push_back(channel_info_sub); - CameraChannelSyncPtr sync = std::make_shared(CameraChannelPolicy(10), *image_sub, *cam_info_sub, *channel_info_sub); - sync->registerCallback(boost::bind(&ElevationMappingNode::imageChannelCallback, this, _1, _2, _3)); - cameraChannelSyncs_.push_back(sync); - ROS_INFO_STREAM("Subscribed to Image topic: " << camera_topic << ", Camera info topic: " << info_topic << ", Channel info topic: " << channel_info_topic); - } - else { - // If there is channels setting, we use it. Otherwise, we use rgb as default. - if (subscriber.second.hasMember("channels")) { - const auto& channels = subscriber.second["channels"]; - for (int32_t i = 0; i < channels.size(); ++i) { - auto elem = static_cast(channels[i]); - channels_[key].push_back(elem); - } - } - else { - channels_[key].push_back("rgb"); - } - ROS_INFO_STREAM("Subscribed to Image topic: " << camera_topic << ", Camera info topic: " << info_topic << ". Channel info topic: " << (channel_info_topic.empty() ? ("Not found. Using channels: " + boost::algorithm::join(channels_[key], ", ")) : channel_info_topic)); - CameraSyncPtr sync = std::make_shared(CameraPolicy(10), *image_sub, *cam_info_sub); - sync->registerCallback(boost::bind(&ElevationMappingNode::imageCallback, this, _1, _2, key)); - cameraSyncs_.push_back(sync); - } - - - } else { - ROS_WARN_STREAM("Subscriber data_type [" << type << "] Not valid. Supported types: pointcloud, image"); - continue; - } - } - - map_.initialize(nh_); - - // Register map publishers - for (auto itr = publishers.begin(); itr != publishers.end(); ++itr) { - // Parse params - std::string topic_name = itr->first; - std::vector layers_list; - std::vector basic_layers_list; - auto layers = itr->second["layers"]; - auto basic_layers = itr->second["basic_layers"]; - double fps = itr->second["fps"]; - - if (fps > updateGridMapFps) { - ROS_WARN( - "[ElevationMappingCupy] fps for topic %s is larger than map_acquire_fps (%f > %f). The topic data will be only updated at %f " - "fps.", - topic_name.c_str(), fps, updateGridMapFps, updateGridMapFps); - } - - for (int32_t i = 0; i < layers.size(); ++i) { - layers_list.push_back(static_cast(layers[i])); - } - - for (int32_t i = 0; i < basic_layers.size(); ++i) { - basic_layers_list.push_back(static_cast(basic_layers[i])); - } - - // Make publishers - ros::Publisher pub = nh_.advertise(topic_name, 1); - mapPubs_.push_back(pub); - - // Register map layers - map_layers_.push_back(layers_list); - map_basic_layers_.push_back(basic_layers_list); - - // Register map fps - map_fps_.push_back(fps); - map_fps_unique_.insert(fps); - } - setupMapPublishers(); - - pointPub_ = nh_.advertise("elevation_map_points", 1); - alivePub_ = nh_.advertise("alive", 1); - normalPub_ = nh_.advertise("normal", 1); - statisticsPub_ = nh_.advertise("statistics", 1); - - gridMap_.setFrameId(mapFrameId_); - rawSubmapService_ = nh_.advertiseService("get_raw_submap", &ElevationMappingNode::getSubmap, this); - clearMapService_ = nh_.advertiseService("clear_map", &ElevationMappingNode::clearMap, this); - initializeMapService_ = nh_.advertiseService("initialize", &ElevationMappingNode::initializeMap, this); - clearMapWithInitializerService_ = - nh_.advertiseService("clear_map_with_initializer", &ElevationMappingNode::clearMapWithInitializer, this); - setPublishPointService_ = nh_.advertiseService("set_publish_points", &ElevationMappingNode::setPublishPoint, this); - checkSafetyService_ = nh_.advertiseService("check_safety", &ElevationMappingNode::checkSafety, this); - - if (updateVarianceFps > 0) { - double duration = 1.0 / (updateVarianceFps + 0.00001); - updateVarianceTimer_ = nh_.createTimer(ros::Duration(duration), &ElevationMappingNode::updateVariance, this, false, true); - } - if (timeInterval > 0) { - double duration = timeInterval; - updateTimeTimer_ = nh_.createTimer(ros::Duration(duration), &ElevationMappingNode::updateTime, this, false, true); - } - if (updatePoseFps > 0) { - double duration = 1.0 / (updatePoseFps + 0.00001); - updatePoseTimer_ = nh_.createTimer(ros::Duration(duration), &ElevationMappingNode::updatePose, this, false, true); - } - if (updateGridMapFps > 0) { - double duration = 1.0 / (updateGridMapFps + 0.00001); - updateGridMapTimer_ = nh_.createTimer(ros::Duration(duration), &ElevationMappingNode::updateGridMap, this, false, true); - } - if (publishStatisticsFps > 0) { - double duration = 1.0 / (publishStatisticsFps + 0.00001); - publishStatisticsTimer_ = nh_.createTimer(ros::Duration(duration), &ElevationMappingNode::publishStatistics, this, false, true); - } - lastStatisticsPublishedTime_ = ros::Time::now(); - ROS_INFO("[ElevationMappingCupy] finish initialization"); -} - -// Setup map publishers -void ElevationMappingNode::setupMapPublishers() { - // Find the layers with highest fps. - float max_fps = -1; - // Create timers for each unique map frequencies - for (auto fps : map_fps_unique_) { - // Which publisher to call in the timer callback - std::vector indices; - // If this fps is max, update the map layers. - if (fps >= max_fps) { - max_fps = fps; - map_layers_all_.clear(); - } - for (int i = 0; i < map_fps_.size(); i++) { - if (map_fps_[i] == fps) { - indices.push_back(i); - // If this fps is max, add layers - if (fps >= max_fps) { - for (const auto layer : map_layers_[i]) { - map_layers_all_.insert(layer); - } - } - } - } - // Callback funtion. - // It publishes to specific topics. - auto cb = [this, indices](const ros::TimerEvent&) { - for (int i : indices) { - publishMapOfIndex(i); - } - }; - double duration = 1.0 / (fps + 0.00001); - mapTimers_.push_back(nh_.createTimer(ros::Duration(duration), cb)); - } -} - -void ElevationMappingNode::publishMapOfIndex(int index) { - // publish the map layers of index - if (!isGridmapUpdated_) { - return; - } - grid_map_msgs::GridMap msg; - std::vector layers; - - { // need continuous lock between adding layers and converting to message. Otherwise updateGridmap can reset the data not in - // map_layers_all_ - std::lock_guard lock(mapMutex_); - for (const auto& layer : map_layers_[index]) { - const bool is_layer_in_all = map_layers_all_.find(layer) != map_layers_all_.end(); - if (is_layer_in_all && gridMap_.exists(layer)) { - layers.push_back(layer); - } else if (map_.exists_layer(layer)) { - // if there are layers which is not in the syncing layer. - ElevationMappingWrapper::RowMatrixXf map_data; - map_.get_layer_data(layer, map_data); - gridMap_.add(layer, map_data); - layers.push_back(layer); - } - } - if (layers.empty()) { - return; - } - - grid_map::GridMapRosConverter::toMessage(gridMap_, layers, msg); - } - - msg.basic_layers = map_basic_layers_[index]; - mapPubs_[index].publish(msg); -} - -void ElevationMappingNode::pointcloudCallback(const sensor_msgs::PointCloud2& cloud, const std::string& key) { - - // get channels - auto fields = cloud.fields; - std::vector channels; - - for (int it = 0; it < fields.size(); it++) { - auto& field = fields[it]; - channels.push_back(field.name); - } - inputPointCloud(cloud, channels); - - // This is used for publishing as statistics. - pointCloudProcessCounter_++; -} - -void ElevationMappingNode::inputPointCloud(const sensor_msgs::PointCloud2& cloud, - const std::vector& channels) { - auto start = ros::Time::now(); - auto* pcl_pc = new pcl::PCLPointCloud2; - pcl::PCLPointCloud2ConstPtr cloudPtr(pcl_pc); - pcl_conversions::toPCL(cloud, *pcl_pc); - - // get channels - auto fields = cloud.fields; - uint array_dim = channels.size(); - - RowMatrixXd points = RowMatrixXd(pcl_pc->width * pcl_pc->height, array_dim); - - for (unsigned int i = 0; i < pcl_pc->width * pcl_pc->height; ++i) { - for (unsigned int j = 0; j < channels.size(); ++j) { - float temp; - uint point_idx = i * pcl_pc->point_step + pcl_pc->fields[j].offset; - memcpy(&temp, &pcl_pc->data[point_idx], sizeof(float)); - points(i, j) = static_cast(temp); - } - } - // get pose of sensor in map frame - tf::StampedTransform transformTf; - std::string sensorFrameId = cloud.header.frame_id; - auto timeStamp = cloud.header.stamp; - Eigen::Affine3d transformationSensorToMap; - try { - transformListener_.waitForTransform(mapFrameId_, sensorFrameId, timeStamp, ros::Duration(1.0)); - transformListener_.lookupTransform(mapFrameId_, sensorFrameId, timeStamp, transformTf); - poseTFToEigen(transformTf, transformationSensorToMap); - } catch (tf::TransformException& ex) { - ROS_ERROR("%s", ex.what()); - return; - } - - double positionError{0.0}; - double orientationError{0.0}; - { - std::lock_guard lock(errorMutex_); - positionError = positionError_; - orientationError = orientationError_; - } - map_.input(points, channels, transformationSensorToMap.rotation(), transformationSensorToMap.translation(), positionError, - orientationError); - - if (enableDriftCorrectedTFPublishing_) { - publishMapToOdom(map_.get_additive_mean_error()); - } - - ROS_DEBUG_THROTTLE(1.0, "ElevationMap processed a point cloud (%i points) in %f sec.", static_cast(points.size()), - (ros::Time::now() - start).toSec()); - ROS_DEBUG_THROTTLE(1.0, "positionError: %f ", positionError); - ROS_DEBUG_THROTTLE(1.0, "orientationError: %f ", orientationError); - -} - -void ElevationMappingNode::inputImage(const sensor_msgs::ImageConstPtr& image_msg, - const sensor_msgs::CameraInfoConstPtr& camera_info_msg, - const std::vector& channels) { - // Get image - cv::Mat image = cv_bridge::toCvShare(image_msg, image_msg->encoding)->image; - - // Change encoding to RGB/RGBA - if (image_msg->encoding == "bgr8") { - cv::cvtColor(image, image, CV_BGR2RGB); - } else if (image_msg->encoding == "bgra8") { - cv::cvtColor(image, image, CV_BGRA2RGBA); - } - - // Extract camera matrix - Eigen::Map> cameraMatrix(&camera_info_msg->K[0]); - - // Extract distortion coefficients - Eigen::VectorXd distortionCoeffs; - if (!camera_info_msg->D.empty()) { - distortionCoeffs = Eigen::Map(camera_info_msg->D.data(), camera_info_msg->D.size()); - } else { - ROS_WARN("Distortion coefficients are empty."); - distortionCoeffs = Eigen::VectorXd::Zero(5); - // return; - } - - // distortion model - std::string distortion_model = camera_info_msg->distortion_model; +// // +// // Copyright (c) 2022, Takahiro Miki. All rights reserved. +// // Licensed under the MIT license. See LICENSE file in the project root for details. +// // + +// #include "elevation_mapping_cupy/elevation_mapping_ros.hpp" + +// // Pybind +// #include + +// // ROS +// #include +// #include +// #include + +// // PCL +// #include + +// #include + +// namespace elevation_mapping_cupy { + +// ElevationMappingNode::ElevationMappingNode(ros::NodeHandle& nh) +// : it_(nh), +// lowpassPosition_(0, 0, 0), +// lowpassOrientation_(0, 0, 0, 1), +// positionError_(0), +// orientationError_(0), +// positionAlpha_(0.1), +// orientationAlpha_(0.1), +// enablePointCloudPublishing_(false), +// isGridmapUpdated_(false) { +// nh_ = nh; + +// std::string pose_topic, map_frame; +// XmlRpc::XmlRpcValue publishers; +// XmlRpc::XmlRpcValue subscribers; +// std::vector map_topics; +// double recordableFps, updateVarianceFps, timeInterval, updatePoseFps, updateGridMapFps, publishStatisticsFps; +// bool enablePointCloudPublishing(false); + +// // Read parameters +// nh.getParam("subscribers", subscribers); +// nh.getParam("publishers", publishers); +// if (!subscribers.valid()) { +// ROS_FATAL("There aren't any subscribers to be configured, the elevation mapping cannot be configured. Exit"); +// } +// if (!publishers.valid()) { +// ROS_FATAL("There aren't any publishers to be configured, the elevation mapping cannot be configured. Exit"); +// } +// nh.param>("initialize_frame_id", initialize_frame_id_, {"base"}); +// nh.param>("initialize_tf_offset", initialize_tf_offset_, {0.0}); +// nh.param("pose_topic", pose_topic, "pose"); +// nh.param("map_frame", mapFrameId_, "map"); +// nh.param("base_frame", baseFrameId_, "base"); +// nh.param("corrected_map_frame", correctedMapFrameId_, "corrected_map"); +// nh.param("initialize_method", initializeMethod_, "cubic"); +// nh.param("position_lowpass_alpha", positionAlpha_, 0.2); +// nh.param("orientation_lowpass_alpha", orientationAlpha_, 0.2); +// nh.param("recordable_fps", recordableFps, 3.0); +// nh.param("update_variance_fps", updateVarianceFps, 1.0); +// nh.param("time_interval", timeInterval, 0.1); +// nh.param("update_pose_fps", updatePoseFps, 10.0); +// nh.param("initialize_tf_grid_size", initializeTfGridSize_, 0.5); +// nh.param("map_acquire_fps", updateGridMapFps, 5.0); +// nh.param("publish_statistics_fps", publishStatisticsFps, 1.0); +// nh.param("enable_pointcloud_publishing", enablePointCloudPublishing, false); +// nh.param("enable_normal_arrow_publishing", enableNormalArrowPublishing_, false); +// nh.param("enable_drift_corrected_TF_publishing", enableDriftCorrectedTFPublishing_, false); +// nh.param("use_initializer_at_start", useInitializerAtStart_, false); +// nh.param("always_clear_with_initializer", alwaysClearWithInitializer_, false); + +// enablePointCloudPublishing_ = enablePointCloudPublishing; + +// // Iterate all the subscribers +// // here we have to remove all the stuff +// for (auto& subscriber : subscribers) { +// std::string key = subscriber.first; +// auto type = static_cast(subscriber.second["data_type"]); + +// // Initialize subscribers depending on the type +// if (type == "pointcloud") { +// std::string pointcloud_topic = subscriber.second["topic_name"]; +// channels_[key].push_back("x"); +// channels_[key].push_back("y"); +// channels_[key].push_back("z"); +// boost::function f = boost::bind(&ElevationMappingNode::pointcloudCallback, this, _1, key); +// ros::Subscriber sub = nh_.subscribe(pointcloud_topic, 1, f); +// pointcloudSubs_.push_back(sub); +// ROS_INFO_STREAM("Subscribed to PointCloud2 topic: " << pointcloud_topic); +// } +// else if (type == "image") { +// std::string camera_topic = subscriber.second["topic_name"]; +// std::string info_topic = subscriber.second["camera_info_topic_name"]; + +// // Handle compressed images with transport hints +// // We obtain the hint from the last part of the topic name +// std::string transport_hint = "compressed"; +// std::size_t ind = camera_topic.find(transport_hint); // Find if compressed is in the topic name +// if (ind != std::string::npos) { +// transport_hint = camera_topic.substr(ind, camera_topic.length()); // Get the hint as the last part +// camera_topic.erase(ind - 1, camera_topic.length()); // We remove the hint from the topic +// } else { +// transport_hint = "raw"; // In the default case we assume raw topic +// } + +// // Setup subscriber +// const auto hint = image_transport::TransportHints(transport_hint, ros::TransportHints(), ros::NodeHandle(camera_topic)); +// ImageSubscriberPtr image_sub = std::make_shared(); +// image_sub->subscribe(it_, camera_topic, 1, hint); +// imageSubs_.push_back(image_sub); + +// CameraInfoSubscriberPtr cam_info_sub = std::make_shared(); +// cam_info_sub->subscribe(nh_, info_topic, 1); +// cameraInfoSubs_.push_back(cam_info_sub); + +// std::string channel_info_topic; +// // If there is channel info topic setting, we use it. +// if (subscriber.second.hasMember("channel_info_topic_name")) { +// std::string channel_info_topic = subscriber.second["channel_info_topic_name"]; +// ChannelInfoSubscriberPtr channel_info_sub = std::make_shared(); +// channel_info_sub->subscribe(nh_, channel_info_topic, 1); +// channelInfoSubs_.push_back(channel_info_sub); +// CameraChannelSyncPtr sync = std::make_shared(CameraChannelPolicy(10), *image_sub, *cam_info_sub, *channel_info_sub); +// sync->registerCallback(boost::bind(&ElevationMappingNode::imageChannelCallback, this, _1, _2, _3)); +// cameraChannelSyncs_.push_back(sync); +// ROS_INFO_STREAM("Subscribed to Image topic: " << camera_topic << ", Camera info topic: " << info_topic << ", Channel info topic: " << channel_info_topic); +// } +// else { +// // If there is channels setting, we use it. Otherwise, we use rgb as default. +// if (subscriber.second.hasMember("channels")) { +// const auto& channels = subscriber.second["channels"]; +// for (int32_t i = 0; i < channels.size(); ++i) { +// auto elem = static_cast(channels[i]); +// channels_[key].push_back(elem); +// } +// } +// else { +// channels_[key].push_back("rgb"); +// } +// ROS_INFO_STREAM("Subscribed to Image topic: " << camera_topic << ", Camera info topic: " << info_topic << ". Channel info topic: " << (channel_info_topic.empty() ? ("Not found. Using channels: " + boost::algorithm::join(channels_[key], ", ")) : channel_info_topic)); +// CameraSyncPtr sync = std::make_shared(CameraPolicy(10), *image_sub, *cam_info_sub); +// sync->registerCallback(boost::bind(&ElevationMappingNode::imageCallback, this, _1, _2, key)); +// cameraSyncs_.push_back(sync); +// } + + +// } else { +// ROS_WARN_STREAM("Subscriber data_type [" << type << "] Not valid. Supported types: pointcloud, image"); +// continue; +// } +// } + +// map_.initialize(nh_); + +// // Register map publishers +// for (auto itr = publishers.begin(); itr != publishers.end(); ++itr) { +// // Parse params +// std::string topic_name = itr->first; +// std::vector layers_list; +// std::vector basic_layers_list; +// auto layers = itr->second["layers"]; +// auto basic_layers = itr->second["basic_layers"]; +// double fps = itr->second["fps"]; + +// if (fps > updateGridMapFps) { +// ROS_WARN( +// "[ElevationMappingCupy] fps for topic %s is larger than map_acquire_fps (%f > %f). The topic data will be only updated at %f " +// "fps.", +// topic_name.c_str(), fps, updateGridMapFps, updateGridMapFps); +// } + +// for (int32_t i = 0; i < layers.size(); ++i) { +// layers_list.push_back(static_cast(layers[i])); +// } + +// for (int32_t i = 0; i < basic_layers.size(); ++i) { +// basic_layers_list.push_back(static_cast(basic_layers[i])); +// } + +// // Make publishers +// ros::Publisher pub = nh_.advertise(topic_name, 1); +// mapPubs_.push_back(pub); + +// // Register map layers +// map_layers_.push_back(layers_list); +// map_basic_layers_.push_back(basic_layers_list); + +// // Register map fps +// map_fps_.push_back(fps); +// map_fps_unique_.insert(fps); +// } +// setupMapPublishers(); + +// pointPub_ = nh_.advertise("elevation_map_points", 1); +// alivePub_ = nh_.advertise("alive", 1); +// normalPub_ = nh_.advertise("normal", 1); +// statisticsPub_ = nh_.advertise("statistics", 1); + +// gridMap_.setFrameId(mapFrameId_); +// rawSubmapService_ = nh_.advertiseService("get_raw_submap", &ElevationMappingNode::getSubmap, this); +// clearMapService_ = nh_.advertiseService("clear_map", &ElevationMappingNode::clearMap, this); +// initializeMapService_ = nh_.advertiseService("initialize", &ElevationMappingNode::initializeMap, this); +// clearMapWithInitializerService_ = +// nh_.advertiseService("clear_map_with_initializer", &ElevationMappingNode::clearMapWithInitializer, this); +// setPublishPointService_ = nh_.advertiseService("set_publish_points", &ElevationMappingNode::setPublishPoint, this); +// checkSafetyService_ = nh_.advertiseService("check_safety", &ElevationMappingNode::checkSafety, this); + +// if (updateVarianceFps > 0) { +// double duration = 1.0 / (updateVarianceFps + 0.00001); +// updateVarianceTimer_ = nh_.createTimer(ros::Duration(duration), &ElevationMappingNode::updateVariance, this, false, true); +// } +// if (timeInterval > 0) { +// double duration = timeInterval; +// updateTimeTimer_ = nh_.createTimer(ros::Duration(duration), &ElevationMappingNode::updateTime, this, false, true); +// } +// if (updatePoseFps > 0) { +// double duration = 1.0 / (updatePoseFps + 0.00001); +// updatePoseTimer_ = nh_.createTimer(ros::Duration(duration), &ElevationMappingNode::updatePose, this, false, true); +// } +// if (updateGridMapFps > 0) { +// double duration = 1.0 / (updateGridMapFps + 0.00001); +// updateGridMapTimer_ = nh_.createTimer(ros::Duration(duration), &ElevationMappingNode::updateGridMap, this, false, true); +// } +// if (publishStatisticsFps > 0) { +// double duration = 1.0 / (publishStatisticsFps + 0.00001); +// publishStatisticsTimer_ = nh_.createTimer(ros::Duration(duration), &ElevationMappingNode::publishStatistics, this, false, true); +// } +// lastStatisticsPublishedTime_ = ros::Time::now(); +// ROS_INFO("[ElevationMappingCupy] finish initialization"); +// } + +// // Setup map publishers +// void ElevationMappingNode::setupMapPublishers() { +// // Find the layers with highest fps. +// float max_fps = -1; +// // Create timers for each unique map frequencies +// for (auto fps : map_fps_unique_) { +// // Which publisher to call in the timer callback +// std::vector indices; +// // If this fps is max, update the map layers. +// if (fps >= max_fps) { +// max_fps = fps; +// map_layers_all_.clear(); +// } +// for (int i = 0; i < map_fps_.size(); i++) { +// if (map_fps_[i] == fps) { +// indices.push_back(i); +// // If this fps is max, add layers +// if (fps >= max_fps) { +// for (const auto layer : map_layers_[i]) { +// map_layers_all_.insert(layer); +// } +// } +// } +// } +// // Callback funtion. +// // It publishes to specific topics. +// auto cb = [this, indices](const ros::TimerEvent&) { +// for (int i : indices) { +// publishMapOfIndex(i); +// } +// }; +// double duration = 1.0 / (fps + 0.00001); +// mapTimers_.push_back(nh_.createTimer(ros::Duration(duration), cb)); +// } +// } + +// void ElevationMappingNode::publishMapOfIndex(int index) { +// // publish the map layers of index +// if (!isGridmapUpdated_) { +// return; +// } +// grid_map_msgs::GridMap msg; +// std::vector layers; + +// { // need continuous lock between adding layers and converting to message. Otherwise updateGridmap can reset the data not in +// // map_layers_all_ +// std::lock_guard lock(mapMutex_); +// for (const auto& layer : map_layers_[index]) { +// const bool is_layer_in_all = map_layers_all_.find(layer) != map_layers_all_.end(); +// if (is_layer_in_all && gridMap_.exists(layer)) { +// layers.push_back(layer); +// } else if (map_.exists_layer(layer)) { +// // if there are layers which is not in the syncing layer. +// ElevationMappingWrapper::RowMatrixXf map_data; +// map_.get_layer_data(layer, map_data); +// gridMap_.add(layer, map_data); +// layers.push_back(layer); +// } +// } +// if (layers.empty()) { +// return; +// } + +// grid_map::GridMapRosConverter::toMessage(gridMap_, layers, msg); +// } + +// msg.basic_layers = map_basic_layers_[index]; +// mapPubs_[index].publish(msg); +// } + +// void ElevationMappingNode::pointcloudCallback(const sensor_msgs::PointCloud2& cloud, const std::string& key) { + +// // get channels +// auto fields = cloud.fields; +// std::vector channels; + +// for (int it = 0; it < fields.size(); it++) { +// auto& field = fields[it]; +// channels.push_back(field.name); +// } +// inputPointCloud(cloud, channels); + +// // This is used for publishing as statistics. +// pointCloudProcessCounter_++; +// } + +// void ElevationMappingNode::inputPointCloud(const sensor_msgs::PointCloud2& cloud, +// const std::vector& channels) { +// auto start = ros::Time::now(); +// auto* pcl_pc = new pcl::PCLPointCloud2; +// pcl::PCLPointCloud2ConstPtr cloudPtr(pcl_pc); +// pcl_conversions::toPCL(cloud, *pcl_pc); + +// // get channels +// auto fields = cloud.fields; +// uint array_dim = channels.size(); + +// RowMatrixXd points = RowMatrixXd(pcl_pc->width * pcl_pc->height, array_dim); + +// for (unsigned int i = 0; i < pcl_pc->width * pcl_pc->height; ++i) { +// for (unsigned int j = 0; j < channels.size(); ++j) { +// float temp; +// uint point_idx = i * pcl_pc->point_step + pcl_pc->fields[j].offset; +// memcpy(&temp, &pcl_pc->data[point_idx], sizeof(float)); +// points(i, j) = static_cast(temp); +// } +// } +// // get pose of sensor in map frame +// tf::StampedTransform transformTf; +// std::string sensorFrameId = cloud.header.frame_id; +// auto timeStamp = cloud.header.stamp; +// Eigen::Affine3d transformationSensorToMap; +// try { +// transformListener_.waitForTransform(mapFrameId_, sensorFrameId, timeStamp, ros::Duration(1.0)); +// transformListener_.lookupTransform(mapFrameId_, sensorFrameId, timeStamp, transformTf); +// poseTFToEigen(transformTf, transformationSensorToMap); +// } catch (tf::TransformException& ex) { +// ROS_ERROR("%s", ex.what()); +// return; +// } + +// double positionError{0.0}; +// double orientationError{0.0}; +// { +// std::lock_guard lock(errorMutex_); +// positionError = positionError_; +// orientationError = orientationError_; +// } +// map_.input(points, channels, transformationSensorToMap.rotation(), transformationSensorToMap.translation(), positionError, +// orientationError); + +// if (enableDriftCorrectedTFPublishing_) { +// publishMapToOdom(map_.get_additive_mean_error()); +// } + +// ROS_DEBUG_THROTTLE(1.0, "ElevationMap processed a point cloud (%i points) in %f sec.", static_cast(points.size()), +// (ros::Time::now() - start).toSec()); +// ROS_DEBUG_THROTTLE(1.0, "positionError: %f ", positionError); +// ROS_DEBUG_THROTTLE(1.0, "orientationError: %f ", orientationError); + +// } + +// void ElevationMappingNode::inputImage(const sensor_msgs::ImageConstPtr& image_msg, +// const sensor_msgs::CameraInfoConstPtr& camera_info_msg, +// const std::vector& channels) { +// // Get image +// cv::Mat image = cv_bridge::toCvShare(image_msg, image_msg->encoding)->image; + +// // Change encoding to RGB/RGBA +// if (image_msg->encoding == "bgr8") { +// cv::cvtColor(image, image, CV_BGR2RGB); +// } else if (image_msg->encoding == "bgra8") { +// cv::cvtColor(image, image, CV_BGRA2RGBA); +// } + +// // Extract camera matrix +// Eigen::Map> cameraMatrix(&camera_info_msg->K[0]); + +// // Extract distortion coefficients +// Eigen::VectorXd distortionCoeffs; +// if (!camera_info_msg->D.empty()) { +// distortionCoeffs = Eigen::Map(camera_info_msg->D.data(), camera_info_msg->D.size()); +// } else { +// ROS_WARN("Distortion coefficients are empty."); +// distortionCoeffs = Eigen::VectorXd::Zero(5); +// // return; +// } + +// // distortion model +// std::string distortion_model = camera_info_msg->distortion_model; - // Get pose of sensor in map frame - tf::StampedTransform transformTf; - std::string sensorFrameId = image_msg->header.frame_id; - auto timeStamp = image_msg->header.stamp; - Eigen::Affine3d transformationMapToSensor; - try { - transformListener_.waitForTransform(sensorFrameId, mapFrameId_, timeStamp, ros::Duration(1.0)); - transformListener_.lookupTransform(sensorFrameId, mapFrameId_, timeStamp, transformTf); - poseTFToEigen(transformTf, transformationMapToSensor); - } catch (tf::TransformException& ex) { - ROS_ERROR("%s", ex.what()); - return; - } - - // Transform image to vector of Eigen matrices for easy pybind conversion - std::vector image_split; - std::vector multichannel_image; - cv::split(image, image_split); - for (auto img : image_split) { - ColMatrixXf eigen_img; - cv::cv2eigen(img, eigen_img); - multichannel_image.push_back(eigen_img); - } - - // Check if the size of multichannel_image and channels and channel_methods matches. "rgb" counts for 3 layers. - int total_channels = 0; - for (const auto& channel : channels) { - if (channel == "rgb") { - total_channels += 3; - } else { - total_channels += 1; - } - } - if (total_channels != multichannel_image.size()) { - ROS_ERROR("Mismatch in the size of multichannel_image (%d), channels (%d). Please check the input.", multichannel_image.size(), channels.size()); - ROS_ERROR_STREAM("Current Channels: " << boost::algorithm::join(channels, ", ")); - return; - } - - // Pass image to pipeline - map_.input_image(multichannel_image, channels, transformationMapToSensor.rotation(), transformationMapToSensor.translation(), cameraMatrix, - distortionCoeffs, distortion_model, image.rows, image.cols); -} - -void ElevationMappingNode::imageCallback(const sensor_msgs::ImageConstPtr& image_msg, - const sensor_msgs::CameraInfoConstPtr& camera_info_msg, - const std::string& key) { - auto start = ros::Time::now(); - inputImage(image_msg, camera_info_msg, channels_[key]); - ROS_DEBUG_THROTTLE(1.0, "ElevationMap processed an image in %f sec.", (ros::Time::now() - start).toSec()); -} - -void ElevationMappingNode::imageChannelCallback(const sensor_msgs::ImageConstPtr& image_msg, - const sensor_msgs::CameraInfoConstPtr& camera_info_msg, - const elevation_map_msgs::ChannelInfoConstPtr& channel_info_msg) { - auto start = ros::Time::now(); - // Default channels and fusion methods for image is rgb and image_color - std::vector channels; - channels = channel_info_msg->channels; - inputImage(image_msg, camera_info_msg, channels); - ROS_DEBUG_THROTTLE(1.0, "ElevationMap processed an image in %f sec.", (ros::Time::now() - start).toSec()); -} - -void ElevationMappingNode::updatePose(const ros::TimerEvent&) { - tf::StampedTransform transformTf; - const auto& timeStamp = ros::Time::now(); - Eigen::Affine3d transformationBaseToMap; - try { - transformListener_.waitForTransform(mapFrameId_, baseFrameId_, timeStamp, ros::Duration(1.0)); - transformListener_.lookupTransform(mapFrameId_, baseFrameId_, timeStamp, transformTf); - poseTFToEigen(transformTf, transformationBaseToMap); - } catch (tf::TransformException& ex) { - ROS_ERROR("%s", ex.what()); - return; - } - - // This is to check if the robot is moving. If the robot is not moving, drift compensation is disabled to avoid creating artifacts. - Eigen::Vector3d position(transformTf.getOrigin().x(), transformTf.getOrigin().y(), transformTf.getOrigin().z()); - map_.move_to(position, transformationBaseToMap.rotation().transpose()); - Eigen::Vector3d position3(transformTf.getOrigin().x(), transformTf.getOrigin().y(), transformTf.getOrigin().z()); - Eigen::Vector4d orientation(transformTf.getRotation().x(), transformTf.getRotation().y(), transformTf.getRotation().z(), - transformTf.getRotation().w()); - lowpassPosition_ = positionAlpha_ * position3 + (1 - positionAlpha_) * lowpassPosition_; - lowpassOrientation_ = orientationAlpha_ * orientation + (1 - orientationAlpha_) * lowpassOrientation_; - { - std::lock_guard lock(errorMutex_); - positionError_ = (position3 - lowpassPosition_).norm(); - orientationError_ = (orientation - lowpassOrientation_).norm(); - } - - if (useInitializerAtStart_) { - ROS_INFO("Clearing map with initializer."); - initializeWithTF(); - useInitializerAtStart_ = false; - } -} - -void ElevationMappingNode::publishAsPointCloud(const grid_map::GridMap& map) const { - sensor_msgs::PointCloud2 msg; - grid_map::GridMapRosConverter::toPointCloud(map, "elevation", msg); - pointPub_.publish(msg); -} - -bool ElevationMappingNode::getSubmap(grid_map_msgs::GetGridMap::Request& request, grid_map_msgs::GetGridMap::Response& response) { - std::string requestedFrameId = request.frame_id; - Eigen::Isometry3d transformationOdomToMap; - grid_map::Position requestedSubmapPosition(request.position_x, request.position_y); - if (requestedFrameId != mapFrameId_) { - tf::StampedTransform transformTf; - const auto& timeStamp = ros::Time::now(); - try { - transformListener_.waitForTransform(requestedFrameId, mapFrameId_, timeStamp, ros::Duration(1.0)); - transformListener_.lookupTransform(requestedFrameId, mapFrameId_, timeStamp, transformTf); - tf::poseTFToEigen(transformTf, transformationOdomToMap); - } catch (tf::TransformException& ex) { - ROS_ERROR("%s", ex.what()); - return false; - } - Eigen::Vector3d p(request.position_x, request.position_y, 0); - Eigen::Vector3d mapP = transformationOdomToMap.inverse() * p; - requestedSubmapPosition.x() = mapP.x(); - requestedSubmapPosition.y() = mapP.y(); - } - grid_map::Length requestedSubmapLength(request.length_x, request.length_y); - ROS_DEBUG("Elevation submap request: Position x=%f, y=%f, Length x=%f, y=%f.", requestedSubmapPosition.x(), requestedSubmapPosition.y(), - requestedSubmapLength(0), requestedSubmapLength(1)); - - bool isSuccess; - grid_map::Index index; - grid_map::GridMap subMap; - { - std::lock_guard lock(mapMutex_); - subMap = gridMap_.getSubmap(requestedSubmapPosition, requestedSubmapLength, index, isSuccess); - } - const auto& length = subMap.getLength(); - if (requestedFrameId != mapFrameId_) { - subMap = subMap.getTransformedMap(transformationOdomToMap, "elevation", requestedFrameId); - } - - if (request.layers.empty()) { - grid_map::GridMapRosConverter::toMessage(subMap, response.map); - } else { - std::vector layers; - for (const auto& layer : request.layers) { - layers.push_back(layer); - } - grid_map::GridMapRosConverter::toMessage(subMap, layers, response.map); - } - return isSuccess; -} - -bool ElevationMappingNode::clearMap(std_srvs::Empty::Request& request, std_srvs::Empty::Response& response) { - ROS_INFO("Clearing map."); - map_.clear(); - if (alwaysClearWithInitializer_) { - initializeWithTF(); - } - return true; -} - -bool ElevationMappingNode::clearMapWithInitializer(std_srvs::Empty::Request& request, std_srvs::Empty::Response& response) { - ROS_INFO("Clearing map with initializer."); - map_.clear(); - initializeWithTF(); - return true; -} - -void ElevationMappingNode::initializeWithTF() { - std::vector points; - const auto& timeStamp = ros::Time::now(); - int i = 0; - Eigen::Vector3d p; - for (const auto& frame_id : initialize_frame_id_) { - // Get tf from map frame to tf frame - Eigen::Affine3d transformationBaseToMap; - tf::StampedTransform transformTf; - try { - transformListener_.waitForTransform(mapFrameId_, frame_id, timeStamp, ros::Duration(1.0)); - transformListener_.lookupTransform(mapFrameId_, frame_id, timeStamp, transformTf); - poseTFToEigen(transformTf, transformationBaseToMap); - } catch (tf::TransformException& ex) { - ROS_ERROR("%s", ex.what()); - return; - } - p = transformationBaseToMap.translation(); - p.z() += initialize_tf_offset_[i]; - points.push_back(p); - i++; - } - if (!points.empty() && points.size() < 3) { - points.emplace_back(p + Eigen::Vector3d(initializeTfGridSize_, initializeTfGridSize_, 0)); - points.emplace_back(p + Eigen::Vector3d(-initializeTfGridSize_, initializeTfGridSize_, 0)); - points.emplace_back(p + Eigen::Vector3d(initializeTfGridSize_, -initializeTfGridSize_, 0)); - points.emplace_back(p + Eigen::Vector3d(-initializeTfGridSize_, -initializeTfGridSize_, 0)); - } - ROS_INFO_STREAM("Initializing map with points using " << initializeMethod_); - map_.initializeWithPoints(points, initializeMethod_); -} - -bool ElevationMappingNode::checkSafety(elevation_map_msgs::CheckSafety::Request& request, - elevation_map_msgs::CheckSafety::Response& response) { - for (const auto& polygonstamped : request.polygons) { - if (polygonstamped.polygon.points.empty()) { - continue; - } - std::vector polygon; - std::vector untraversable_polygon; - Eigen::Vector3d result; - result.setZero(); - const auto& polygonFrameId = polygonstamped.header.frame_id; - const auto& timeStamp = polygonstamped.header.stamp; - double polygon_z = polygonstamped.polygon.points[0].z; - - // Get tf from map frame to polygon frame - if (mapFrameId_ != polygonFrameId) { - Eigen::Affine3d transformationBaseToMap; - tf::StampedTransform transformTf; - try { - transformListener_.waitForTransform(mapFrameId_, polygonFrameId, timeStamp, ros::Duration(1.0)); - transformListener_.lookupTransform(mapFrameId_, polygonFrameId, timeStamp, transformTf); - poseTFToEigen(transformTf, transformationBaseToMap); - } catch (tf::TransformException& ex) { - ROS_ERROR("%s", ex.what()); - return false; - } - for (const auto& p : polygonstamped.polygon.points) { - const auto& pvector = Eigen::Vector3d(p.x, p.y, p.z); - const auto transformed_p = transformationBaseToMap * pvector; - polygon.emplace_back(Eigen::Vector2d(transformed_p.x(), transformed_p.y())); - } - } else { - for (const auto& p : polygonstamped.polygon.points) { - polygon.emplace_back(Eigen::Vector2d(p.x, p.y)); - } - } - - map_.get_polygon_traversability(polygon, result, untraversable_polygon); - - geometry_msgs::PolygonStamped untraversable_polygonstamped; - untraversable_polygonstamped.header.stamp = ros::Time::now(); - untraversable_polygonstamped.header.frame_id = mapFrameId_; - for (const auto& p : untraversable_polygon) { - geometry_msgs::Point32 point; - point.x = static_cast(p.x()); - point.y = static_cast(p.y()); - point.z = static_cast(polygon_z); - untraversable_polygonstamped.polygon.points.push_back(point); - } - // traversability_result; - response.is_safe.push_back(bool(result[0] > 0.5)); - response.traversability.push_back(result[1]); - response.untraversable_polygons.push_back(untraversable_polygonstamped); - } - return true; -} - -bool ElevationMappingNode::setPublishPoint(std_srvs::SetBool::Request& request, std_srvs::SetBool::Response& response) { - enablePointCloudPublishing_ = request.data; - response.success = true; - return true; -} - -void ElevationMappingNode::updateVariance(const ros::TimerEvent&) { - map_.update_variance(); -} - -void ElevationMappingNode::updateTime(const ros::TimerEvent&) { - map_.update_time(); -} - -void ElevationMappingNode::publishStatistics(const ros::TimerEvent&) { - ros::Time now = ros::Time::now(); - double dt = (now - lastStatisticsPublishedTime_).toSec(); - lastStatisticsPublishedTime_ = now; - elevation_map_msgs::Statistics msg; - msg.header.stamp = now; - if (dt > 0.0) { - msg.pointcloud_process_fps = pointCloudProcessCounter_ / dt; - } - pointCloudProcessCounter_ = 0; - statisticsPub_.publish(msg); -} - -void ElevationMappingNode::updateGridMap(const ros::TimerEvent&) { - std::vector layers(map_layers_all_.begin(), map_layers_all_.end()); - std::lock_guard lock(mapMutex_); - map_.get_grid_map(gridMap_, layers); - gridMap_.setTimestamp(ros::Time::now().toNSec()); - alivePub_.publish(std_msgs::Empty()); - - // Mostly debug purpose - if (enablePointCloudPublishing_) { - publishAsPointCloud(gridMap_); - } - if (enableNormalArrowPublishing_) { - publishNormalAsArrow(gridMap_); - } - isGridmapUpdated_ = true; -} - -bool ElevationMappingNode::initializeMap(elevation_map_msgs::Initialize::Request& request, - elevation_map_msgs::Initialize::Response& response) { - // If initialize method is points - if (request.type == request.POINTS) { - std::vector points; - for (const auto& point : request.points) { - const auto& pointFrameId = point.header.frame_id; - const auto& timeStamp = point.header.stamp; - const auto& pvector = Eigen::Vector3d(point.point.x, point.point.y, point.point.z); - - // Get tf from map frame to points' frame - if (mapFrameId_ != pointFrameId) { - Eigen::Affine3d transformationBaseToMap; - tf::StampedTransform transformTf; - try { - transformListener_.waitForTransform(mapFrameId_, pointFrameId, timeStamp, ros::Duration(1.0)); - transformListener_.lookupTransform(mapFrameId_, pointFrameId, timeStamp, transformTf); - poseTFToEigen(transformTf, transformationBaseToMap); - } catch (tf::TransformException& ex) { - ROS_ERROR("%s", ex.what()); - return false; - } - const auto transformed_p = transformationBaseToMap * pvector; - points.push_back(transformed_p); - } else { - points.push_back(pvector); - } - } - std::string method; - switch (request.method) { - case request.NEAREST: - method = "nearest"; - break; - case request.LINEAR: - method = "linear"; - break; - case request.CUBIC: - method = "cubic"; - break; - } - ROS_INFO_STREAM("Initializing map with points using " << method); - map_.initializeWithPoints(points, method); - } - response.success = true; - return true; -} - -void ElevationMappingNode::publishNormalAsArrow(const grid_map::GridMap& map) const { - auto startTime = ros::Time::now(); - - const auto& normalX = map["normal_x"]; - const auto& normalY = map["normal_y"]; - const auto& normalZ = map["normal_z"]; - double scale = 0.1; - - visualization_msgs::MarkerArray markerArray; - // For each cell in map. - for (grid_map::GridMapIterator iterator(map); !iterator.isPastEnd(); ++iterator) { - if (!map.isValid(*iterator, "elevation")) { - continue; - } - grid_map::Position3 p; - map.getPosition3("elevation", *iterator, p); - Eigen::Vector3d start = p; - const auto i = iterator.getLinearIndex(); - Eigen::Vector3d normal(normalX(i), normalY(i), normalZ(i)); - Eigen::Vector3d end = start + normal * scale; - if (normal.norm() < 0.1) { - continue; - } - markerArray.markers.push_back(vectorToArrowMarker(start, end, i)); - } - normalPub_.publish(markerArray); - ROS_INFO_THROTTLE(1.0, "publish as normal in %f sec.", (ros::Time::now() - startTime).toSec()); -} - -visualization_msgs::Marker ElevationMappingNode::vectorToArrowMarker(const Eigen::Vector3d& start, const Eigen::Vector3d& end, - const int id) const { - visualization_msgs::Marker marker; - marker.header.frame_id = mapFrameId_; - marker.header.stamp = ros::Time::now(); - marker.ns = "normal"; - marker.id = id; - marker.type = visualization_msgs::Marker::ARROW; - marker.action = visualization_msgs::Marker::ADD; - marker.points.resize(2); - marker.points[0].x = start.x(); - marker.points[0].y = start.y(); - marker.points[0].z = start.z(); - marker.points[1].x = end.x(); - marker.points[1].y = end.y(); - marker.points[1].z = end.z(); - marker.pose.orientation.x = 0.0; - marker.pose.orientation.y = 0.0; - marker.pose.orientation.z = 0.0; - marker.pose.orientation.w = 1.0; - marker.scale.x = 0.01; - marker.scale.y = 0.01; - marker.scale.z = 0.01; - marker.color.a = 1.0; // Don't forget to set the alpha! - marker.color.r = 0.0; - marker.color.g = 1.0; - marker.color.b = 0.0; - - return marker; -} - -void ElevationMappingNode::publishMapToOdom(double error) { - tf::Transform transform; - transform.setOrigin(tf::Vector3(0.0, 0.0, error)); - tf::Quaternion q; - q.setRPY(0, 0, 0); - transform.setRotation(q); - tfBroadcaster_.sendTransform(tf::StampedTransform(transform, ros::Time::now(), mapFrameId_, correctedMapFrameId_)); -} - -} // namespace elevation_mapping_cupy +// // Get pose of sensor in map frame +// tf::StampedTransform transformTf; +// std::string sensorFrameId = image_msg->header.frame_id; +// auto timeStamp = image_msg->header.stamp; +// Eigen::Affine3d transformationMapToSensor; +// try { +// transformListener_.waitForTransform(sensorFrameId, mapFrameId_, timeStamp, ros::Duration(1.0)); +// transformListener_.lookupTransform(sensorFrameId, mapFrameId_, timeStamp, transformTf); +// poseTFToEigen(transformTf, transformationMapToSensor); +// } catch (tf::TransformException& ex) { +// ROS_ERROR("%s", ex.what()); +// return; +// } + +// // Transform image to vector of Eigen matrices for easy pybind conversion +// std::vector image_split; +// std::vector multichannel_image; +// cv::split(image, image_split); +// for (auto img : image_split) { +// ColMatrixXf eigen_img; +// cv::cv2eigen(img, eigen_img); +// multichannel_image.push_back(eigen_img); +// } + +// // Check if the size of multichannel_image and channels and channel_methods matches. "rgb" counts for 3 layers. +// int total_channels = 0; +// for (const auto& channel : channels) { +// if (channel == "rgb") { +// total_channels += 3; +// } else { +// total_channels += 1; +// } +// } +// if (total_channels != multichannel_image.size()) { +// ROS_ERROR("Mismatch in the size of multichannel_image (%d), channels (%d). Please check the input.", multichannel_image.size(), channels.size()); +// ROS_ERROR_STREAM("Current Channels: " << boost::algorithm::join(channels, ", ")); +// return; +// } + +// // Pass image to pipeline +// map_.input_image(multichannel_image, channels, transformationMapToSensor.rotation(), transformationMapToSensor.translation(), cameraMatrix, +// distortionCoeffs, distortion_model, image.rows, image.cols); +// } + +// void ElevationMappingNode::imageCallback(const sensor_msgs::ImageConstPtr& image_msg, +// const sensor_msgs::CameraInfoConstPtr& camera_info_msg, +// const std::string& key) { +// auto start = ros::Time::now(); +// inputImage(image_msg, camera_info_msg, channels_[key]); +// ROS_DEBUG_THROTTLE(1.0, "ElevationMap processed an image in %f sec.", (ros::Time::now() - start).toSec()); +// } + +// void ElevationMappingNode::imageChannelCallback(const sensor_msgs::ImageConstPtr& image_msg, +// const sensor_msgs::CameraInfoConstPtr& camera_info_msg, +// const elevation_map_msgs::ChannelInfoConstPtr& channel_info_msg) { +// auto start = ros::Time::now(); +// // Default channels and fusion methods for image is rgb and image_color +// std::vector channels; +// channels = channel_info_msg->channels; +// inputImage(image_msg, camera_info_msg, channels); +// ROS_DEBUG_THROTTLE(1.0, "ElevationMap processed an image in %f sec.", (ros::Time::now() - start).toSec()); +// } + +// void ElevationMappingNode::updatePose(const ros::TimerEvent&) { +// tf::StampedTransform transformTf; +// const auto& timeStamp = ros::Time::now(); +// Eigen::Affine3d transformationBaseToMap; +// try { +// transformListener_.waitForTransform(mapFrameId_, baseFrameId_, timeStamp, ros::Duration(1.0)); +// transformListener_.lookupTransform(mapFrameId_, baseFrameId_, timeStamp, transformTf); +// poseTFToEigen(transformTf, transformationBaseToMap); +// } catch (tf::TransformException& ex) { +// ROS_ERROR("%s", ex.what()); +// return; +// } + +// // This is to check if the robot is moving. If the robot is not moving, drift compensation is disabled to avoid creating artifacts. +// Eigen::Vector3d position(transformTf.getOrigin().x(), transformTf.getOrigin().y(), transformTf.getOrigin().z()); +// map_.move_to(position, transformationBaseToMap.rotation().transpose()); +// Eigen::Vector3d position3(transformTf.getOrigin().x(), transformTf.getOrigin().y(), transformTf.getOrigin().z()); +// Eigen::Vector4d orientation(transformTf.getRotation().x(), transformTf.getRotation().y(), transformTf.getRotation().z(), +// transformTf.getRotation().w()); +// lowpassPosition_ = positionAlpha_ * position3 + (1 - positionAlpha_) * lowpassPosition_; +// lowpassOrientation_ = orientationAlpha_ * orientation + (1 - orientationAlpha_) * lowpassOrientation_; +// { +// std::lock_guard lock(errorMutex_); +// positionError_ = (position3 - lowpassPosition_).norm(); +// orientationError_ = (orientation - lowpassOrientation_).norm(); +// } + +// if (useInitializerAtStart_) { +// ROS_INFO("Clearing map with initializer."); +// initializeWithTF(); +// useInitializerAtStart_ = false; +// } +// } + +// void ElevationMappingNode::publishAsPointCloud(const grid_map::GridMap& map) const { +// sensor_msgs::PointCloud2 msg; +// grid_map::GridMapRosConverter::toPointCloud(map, "elevation", msg); +// pointPub_.publish(msg); +// } + +// bool ElevationMappingNode::getSubmap(grid_map_msgs::GetGridMap::Request& request, grid_map_msgs::GetGridMap::Response& response) { +// std::string requestedFrameId = request.frame_id; +// Eigen::Isometry3d transformationOdomToMap; +// grid_map::Position requestedSubmapPosition(request.position_x, request.position_y); +// if (requestedFrameId != mapFrameId_) { +// tf::StampedTransform transformTf; +// const auto& timeStamp = ros::Time::now(); +// try { +// transformListener_.waitForTransform(requestedFrameId, mapFrameId_, timeStamp, ros::Duration(1.0)); +// transformListener_.lookupTransform(requestedFrameId, mapFrameId_, timeStamp, transformTf); +// tf::poseTFToEigen(transformTf, transformationOdomToMap); +// } catch (tf::TransformException& ex) { +// ROS_ERROR("%s", ex.what()); +// return false; +// } +// Eigen::Vector3d p(request.position_x, request.position_y, 0); +// Eigen::Vector3d mapP = transformationOdomToMap.inverse() * p; +// requestedSubmapPosition.x() = mapP.x(); +// requestedSubmapPosition.y() = mapP.y(); +// } +// grid_map::Length requestedSubmapLength(request.length_x, request.length_y); +// ROS_DEBUG("Elevation submap request: Position x=%f, y=%f, Length x=%f, y=%f.", requestedSubmapPosition.x(), requestedSubmapPosition.y(), +// requestedSubmapLength(0), requestedSubmapLength(1)); + +// bool isSuccess; +// grid_map::Index index; +// grid_map::GridMap subMap; +// { +// std::lock_guard lock(mapMutex_); +// subMap = gridMap_.getSubmap(requestedSubmapPosition, requestedSubmapLength, index, isSuccess); +// } +// const auto& length = subMap.getLength(); +// if (requestedFrameId != mapFrameId_) { +// subMap = subMap.getTransformedMap(transformationOdomToMap, "elevation", requestedFrameId); +// } + +// if (request.layers.empty()) { +// grid_map::GridMapRosConverter::toMessage(subMap, response.map); +// } else { +// std::vector layers; +// for (const auto& layer : request.layers) { +// layers.push_back(layer); +// } +// grid_map::GridMapRosConverter::toMessage(subMap, layers, response.map); +// } +// return isSuccess; +// } + +// bool ElevationMappingNode::clearMap(std_srvs::Empty::Request& request, std_srvs::Empty::Response& response) { +// ROS_INFO("Clearing map."); +// map_.clear(); +// if (alwaysClearWithInitializer_) { +// initializeWithTF(); +// } +// return true; +// } + +// bool ElevationMappingNode::clearMapWithInitializer(std_srvs::Empty::Request& request, std_srvs::Empty::Response& response) { +// ROS_INFO("Clearing map with initializer."); +// map_.clear(); +// initializeWithTF(); +// return true; +// } + +// void ElevationMappingNode::initializeWithTF() { +// std::vector points; +// const auto& timeStamp = ros::Time::now(); +// int i = 0; +// Eigen::Vector3d p; +// for (const auto& frame_id : initialize_frame_id_) { +// // Get tf from map frame to tf frame +// Eigen::Affine3d transformationBaseToMap; +// tf::StampedTransform transformTf; +// try { +// transformListener_.waitForTransform(mapFrameId_, frame_id, timeStamp, ros::Duration(1.0)); +// transformListener_.lookupTransform(mapFrameId_, frame_id, timeStamp, transformTf); +// poseTFToEigen(transformTf, transformationBaseToMap); +// } catch (tf::TransformException& ex) { +// ROS_ERROR("%s", ex.what()); +// return; +// } +// p = transformationBaseToMap.translation(); +// p.z() += initialize_tf_offset_[i]; +// points.push_back(p); +// i++; +// } +// if (!points.empty() && points.size() < 3) { +// points.emplace_back(p + Eigen::Vector3d(initializeTfGridSize_, initializeTfGridSize_, 0)); +// points.emplace_back(p + Eigen::Vector3d(-initializeTfGridSize_, initializeTfGridSize_, 0)); +// points.emplace_back(p + Eigen::Vector3d(initializeTfGridSize_, -initializeTfGridSize_, 0)); +// points.emplace_back(p + Eigen::Vector3d(-initializeTfGridSize_, -initializeTfGridSize_, 0)); +// } +// ROS_INFO_STREAM("Initializing map with points using " << initializeMethod_); +// map_.initializeWithPoints(points, initializeMethod_); +// } + +// bool ElevationMappingNode::checkSafety(elevation_map_msgs::CheckSafety::Request& request, +// elevation_map_msgs::CheckSafety::Response& response) { +// for (const auto& polygonstamped : request.polygons) { +// if (polygonstamped.polygon.points.empty()) { +// continue; +// } +// std::vector polygon; +// std::vector untraversable_polygon; +// Eigen::Vector3d result; +// result.setZero(); +// const auto& polygonFrameId = polygonstamped.header.frame_id; +// const auto& timeStamp = polygonstamped.header.stamp; +// double polygon_z = polygonstamped.polygon.points[0].z; + +// // Get tf from map frame to polygon frame +// if (mapFrameId_ != polygonFrameId) { +// Eigen::Affine3d transformationBaseToMap; +// tf::StampedTransform transformTf; +// try { +// transformListener_.waitForTransform(mapFrameId_, polygonFrameId, timeStamp, ros::Duration(1.0)); +// transformListener_.lookupTransform(mapFrameId_, polygonFrameId, timeStamp, transformTf); +// poseTFToEigen(transformTf, transformationBaseToMap); +// } catch (tf::TransformException& ex) { +// ROS_ERROR("%s", ex.what()); +// return false; +// } +// for (const auto& p : polygonstamped.polygon.points) { +// const auto& pvector = Eigen::Vector3d(p.x, p.y, p.z); +// const auto transformed_p = transformationBaseToMap * pvector; +// polygon.emplace_back(Eigen::Vector2d(transformed_p.x(), transformed_p.y())); +// } +// } else { +// for (const auto& p : polygonstamped.polygon.points) { +// polygon.emplace_back(Eigen::Vector2d(p.x, p.y)); +// } +// } + +// map_.get_polygon_traversability(polygon, result, untraversable_polygon); + +// geometry_msgs::PolygonStamped untraversable_polygonstamped; +// untraversable_polygonstamped.header.stamp = ros::Time::now(); +// untraversable_polygonstamped.header.frame_id = mapFrameId_; +// for (const auto& p : untraversable_polygon) { +// geometry_msgs::Point32 point; +// point.x = static_cast(p.x()); +// point.y = static_cast(p.y()); +// point.z = static_cast(polygon_z); +// untraversable_polygonstamped.polygon.points.push_back(point); +// } +// // traversability_result; +// response.is_safe.push_back(bool(result[0] > 0.5)); +// response.traversability.push_back(result[1]); +// response.untraversable_polygons.push_back(untraversable_polygonstamped); +// } +// return true; +// } + +// bool ElevationMappingNode::setPublishPoint(std_srvs::SetBool::Request& request, std_srvs::SetBool::Response& response) { +// enablePointCloudPublishing_ = request.data; +// response.success = true; +// return true; +// } + +// void ElevationMappingNode::updateVariance(const ros::TimerEvent&) { +// map_.update_variance(); +// } + +// void ElevationMappingNode::updateTime(const ros::TimerEvent&) { +// map_.update_time(); +// } + +// void ElevationMappingNode::publishStatistics(const ros::TimerEvent&) { +// ros::Time now = ros::Time::now(); +// double dt = (now - lastStatisticsPublishedTime_).toSec(); +// lastStatisticsPublishedTime_ = now; +// elevation_map_msgs::Statistics msg; +// msg.header.stamp = now; +// if (dt > 0.0) { +// msg.pointcloud_process_fps = pointCloudProcessCounter_ / dt; +// } +// pointCloudProcessCounter_ = 0; +// statisticsPub_.publish(msg); +// } + +// void ElevationMappingNode::updateGridMap(const ros::TimerEvent&) { +// std::vector layers(map_layers_all_.begin(), map_layers_all_.end()); +// std::lock_guard lock(mapMutex_); +// map_.get_grid_map(gridMap_, layers); +// gridMap_.setTimestamp(ros::Time::now().toNSec()); +// alivePub_.publish(std_msgs::Empty()); + +// // Mostly debug purpose +// if (enablePointCloudPublishing_) { +// publishAsPointCloud(gridMap_); +// } +// if (enableNormalArrowPublishing_) { +// publishNormalAsArrow(gridMap_); +// } +// isGridmapUpdated_ = true; +// } + +// bool ElevationMappingNode::initializeMap(elevation_map_msgs::Initialize::Request& request, +// elevation_map_msgs::Initialize::Response& response) { +// // If initialize method is points +// if (request.type == request.POINTS) { +// std::vector points; +// for (const auto& point : request.points) { +// const auto& pointFrameId = point.header.frame_id; +// const auto& timeStamp = point.header.stamp; +// const auto& pvector = Eigen::Vector3d(point.point.x, point.point.y, point.point.z); + +// // Get tf from map frame to points' frame +// if (mapFrameId_ != pointFrameId) { +// Eigen::Affine3d transformationBaseToMap; +// tf::StampedTransform transformTf; +// try { +// transformListener_.waitForTransform(mapFrameId_, pointFrameId, timeStamp, ros::Duration(1.0)); +// transformListener_.lookupTransform(mapFrameId_, pointFrameId, timeStamp, transformTf); +// poseTFToEigen(transformTf, transformationBaseToMap); +// } catch (tf::TransformException& ex) { +// ROS_ERROR("%s", ex.what()); +// return false; +// } +// const auto transformed_p = transformationBaseToMap * pvector; +// points.push_back(transformed_p); +// } else { +// points.push_back(pvector); +// } +// } +// std::string method; +// switch (request.method) { +// case request.NEAREST: +// method = "nearest"; +// break; +// case request.LINEAR: +// method = "linear"; +// break; +// case request.CUBIC: +// method = "cubic"; +// break; +// } +// ROS_INFO_STREAM("Initializing map with points using " << method); +// map_.initializeWithPoints(points, method); +// } +// response.success = true; +// return true; +// } + +// void ElevationMappingNode::publishNormalAsArrow(const grid_map::GridMap& map) const { +// auto startTime = ros::Time::now(); + +// const auto& normalX = map["normal_x"]; +// const auto& normalY = map["normal_y"]; +// const auto& normalZ = map["normal_z"]; +// double scale = 0.1; + +// visualization_msgs::MarkerArray markerArray; +// // For each cell in map. +// for (grid_map::GridMapIterator iterator(map); !iterator.isPastEnd(); ++iterator) { +// if (!map.isValid(*iterator, "elevation")) { +// continue; +// } +// grid_map::Position3 p; +// map.getPosition3("elevation", *iterator, p); +// Eigen::Vector3d start = p; +// const auto i = iterator.getLinearIndex(); +// Eigen::Vector3d normal(normalX(i), normalY(i), normalZ(i)); +// Eigen::Vector3d end = start + normal * scale; +// if (normal.norm() < 0.1) { +// continue; +// } +// markerArray.markers.push_back(vectorToArrowMarker(start, end, i)); +// } +// normalPub_.publish(markerArray); +// ROS_INFO_THROTTLE(1.0, "publish as normal in %f sec.", (ros::Time::now() - startTime).toSec()); +// } + +// visualization_msgs::Marker ElevationMappingNode::vectorToArrowMarker(const Eigen::Vector3d& start, const Eigen::Vector3d& end, +// const int id) const { +// visualization_msgs::Marker marker; +// marker.header.frame_id = mapFrameId_; +// marker.header.stamp = ros::Time::now(); +// marker.ns = "normal"; +// marker.id = id; +// marker.type = visualization_msgs::Marker::ARROW; +// marker.action = visualization_msgs::Marker::ADD; +// marker.points.resize(2); +// marker.points[0].x = start.x(); +// marker.points[0].y = start.y(); +// marker.points[0].z = start.z(); +// marker.points[1].x = end.x(); +// marker.points[1].y = end.y(); +// marker.points[1].z = end.z(); +// marker.pose.orientation.x = 0.0; +// marker.pose.orientation.y = 0.0; +// marker.pose.orientation.z = 0.0; +// marker.pose.orientation.w = 1.0; +// marker.scale.x = 0.01; +// marker.scale.y = 0.01; +// marker.scale.z = 0.01; +// marker.color.a = 1.0; // Don't forget to set the alpha! +// marker.color.r = 0.0; +// marker.color.g = 1.0; +// marker.color.b = 0.0; + +// return marker; +// } + +// void ElevationMappingNode::publishMapToOdom(double error) { +// tf::Transform transform; +// transform.setOrigin(tf::Vector3(0.0, 0.0, error)); +// tf::Quaternion q; +// q.setRPY(0, 0, 0); +// transform.setRotation(q); +// tfBroadcaster_.sendTransform(tf::StampedTransform(transform, ros::Time::now(), mapFrameId_, correctedMapFrameId_)); +// } + +// } // namespace elevation_mapping_cupy diff --git a/elevation_mapping_cupy/src/elevation_mapping_wrapper.cpp b/elevation_mapping_cupy/src/elevation_mapping_wrapper.cpp index 3980a8be..16c57332 100644 --- a/elevation_mapping_cupy/src/elevation_mapping_wrapper.cpp +++ b/elevation_mapping_cupy/src/elevation_mapping_wrapper.cpp @@ -12,162 +12,171 @@ #include // ROS -#include +#include +#include #include + namespace elevation_mapping_cupy { ElevationMappingWrapper::ElevationMappingWrapper() {} -void ElevationMappingWrapper::initialize(ros::NodeHandle& nh) { +void ElevationMappingWrapper::initialize(rclcpp::Node::SharedPtr node) { // Add the elevation_mapping_cupy path to sys.path auto threading = py::module::import("threading"); py::gil_scoped_acquire acquire; auto sys = py::module::import("sys"); auto path = sys.attr("path"); - std::string module_path = ros::package::getPath("elevation_mapping_cupy"); + std::string module_path = ament_index_cpp::get_package_share_directory("elevation_mapping_cupy"); module_path = module_path + "/script"; path.attr("insert")(0, module_path); auto elevation_mapping = py::module::import("elevation_mapping_cupy.elevation_mapping"); auto parameter = py::module::import("elevation_mapping_cupy.parameter"); param_ = parameter.attr("Parameter")(); - setParameters(nh); + setParameters(node); map_ = elevation_mapping.attr("ElevationMap")(param_); } -/** - * Load ros parameters into Parameter class. - * Search for the same name within the name space. - */ -void ElevationMappingWrapper::setParameters(ros::NodeHandle& nh) { +// /** +// * Load ros parameters into Parameter class. +// * Search for the same name within the name space. +// */ +void ElevationMappingWrapper::setParameters(rclcpp::Node::SharedPtr node) { // Get all parameters names and types. py::list paramNames = param_.attr("get_names")(); py::list paramTypes = param_.attr("get_types")(); py::gil_scoped_acquire acquire; - // Try to find the parameter in the ros parameter server. + // Try to find the parameter in the ROS parameter server. // If there was a parameter, set it to the Parameter variable. - for (int i = 0; i < paramNames.size(); i++) { + for (size_t i = 0; i < paramNames.size(); i++) { std::string type = py::cast(paramTypes[i]); std::string name = py::cast(paramNames[i]); if (type == "float") { float param; - if (nh.getParam(name, param)) { + if (node->get_parameter(name, param)) { param_.attr("set_value")(name, param); } } else if (type == "str") { std::string param; - if (nh.getParam(name, param)) { + if (node->get_parameter(name, param)) { param_.attr("set_value")(name, param); } } else if (type == "bool") { bool param; - if (nh.getParam(name, param)) { + if (node->get_parameter(name, param)) { param_.attr("set_value")(name, param); } } else if (type == "int") { int param; - if (nh.getParam(name, param)) { + if (node->get_parameter(name, param)) { param_.attr("set_value")(name, param); } } } - XmlRpc::XmlRpcValue subscribers; - nh.getParam("subscribers", subscribers); - - py::dict sub_dict; - for (auto& subscriber : subscribers) { - const char* const name = subscriber.first.c_str(); - const auto& subscriber_params = subscriber.second; - if (!sub_dict.contains(name)) { - sub_dict[name] = py::dict(); - } - for (auto iterat : subscriber_params) { - const char* const key = iterat.first.c_str(); - const auto val = iterat.second; - std::vector arr; - switch (val.getType()) { - case XmlRpc::XmlRpcValue::TypeString: - sub_dict[name][key] = static_cast(val); - break; - case XmlRpc::XmlRpcValue::TypeInt: - sub_dict[name][key] = static_cast(val); - break; - case XmlRpc::XmlRpcValue::TypeDouble: - sub_dict[name][key] = static_cast(val); - break; - case XmlRpc::XmlRpcValue::TypeBoolean: - sub_dict[name][key] = static_cast(val); - break; - case XmlRpc::XmlRpcValue::TypeArray: - for (int32_t i = 0; i < val.size(); ++i) { - auto elem = static_cast(val[i]); - arr.push_back(elem); + + rclcpp::Parameter subscribers; + node->get_parameter("subscribers", subscribers); + + py::dict sub_dict; + auto subscribers_array = subscribers.as_string_array(); + for (const auto& subscriber : subscribers_array) { + const char* const name = subscriber.c_str(); + if (!sub_dict.contains(name)) { + sub_dict[name] = py::dict(); + } + std::map subscriber_params; + node->get_parameters(name, subscriber_params); + for (const auto& param_pair : subscriber_params) { + const char* const param_name = param_pair.first.c_str(); + const auto& param_value = param_pair.second; + std::vector arr; + switch (param_value.get_type()) { + case rclcpp::ParameterType::PARAMETER_STRING: + sub_dict[name][param_name] = param_value.as_string(); + break; + case rclcpp::ParameterType::PARAMETER_INTEGER: + sub_dict[name][param_name] = param_value.as_int(); + break; + case rclcpp::ParameterType::PARAMETER_DOUBLE: + sub_dict[name][param_name] = param_value.as_double(); + break; + case rclcpp::ParameterType::PARAMETER_BOOL: + sub_dict[name][param_name] = param_value.as_bool(); + break; + case rclcpp::ParameterType::PARAMETER_STRING_ARRAY: + for (const auto& elem : param_value.as_string_array()) { + arr.push_back(elem); + } + sub_dict[name][param_name] = arr; + arr.clear(); + break; + default: + sub_dict[name][param_name] = py::cast(param_value); + break; } - sub_dict[name][key] = arr; - arr.clear(); - break; - case XmlRpc::XmlRpcValue::TypeStruct: - break; - default: - sub_dict[name][key] = py::cast(val); - break; + } } - } - } - param_.attr("subscriber_cfg") = sub_dict; - - // point cloud channel fusion - if (!nh.hasParam("pointcloud_channel_fusions")) { - ROS_WARN("No pointcloud_channel_fusions parameter found. Using default values."); - } - else { - XmlRpc::XmlRpcValue pointcloud_channel_fusion; - nh.getParam("pointcloud_channel_fusions", pointcloud_channel_fusion); - - py::dict pointcloud_channel_fusion_dict; - for (auto& channel_fusion : pointcloud_channel_fusion) { - const char* const name = channel_fusion.first.c_str(); - std::string fusion = static_cast(channel_fusion.second); - if (!pointcloud_channel_fusion_dict.contains(name)) { - pointcloud_channel_fusion_dict[name] = fusion; + param_.attr("subscriber_cfg") = sub_dict; + + + // point cloud channel fusion + if (!node->has_parameter("pointcloud_channel_fusions")) { + RCLCPP_WARN(node->get_logger(), "No pointcloud_channel_fusions parameter found. Using default values."); + } else { + rclcpp::Parameter pointcloud_channel_fusion; + node->get_parameter("pointcloud_channel_fusions", pointcloud_channel_fusion); + + py::dict pointcloud_channel_fusion_dict; + auto pointcloud_channel_fusion_map = pointcloud_channel_fusion.as_string_array(); + for (const auto& channel_fusion : pointcloud_channel_fusion_map) { + const char* const fusion_name = channel_fusion.c_str(); + std::string fusion; + node->get_parameter(fusion_name, fusion); + if (!pointcloud_channel_fusion_dict.contains(fusion_name)) { + pointcloud_channel_fusion_dict[fusion_name] = fusion; + } + } + RCLCPP_INFO_STREAM(node->get_logger(), "pointcloud_channel_fusion_dict: " << pointcloud_channel_fusion_dict); + param_.attr("pointcloud_channel_fusions") = pointcloud_channel_fusion_dict; } - } - ROS_INFO_STREAM("pointcloud_channel_fusion_dict: " << pointcloud_channel_fusion_dict); - param_.attr("pointcloud_channel_fusions") = pointcloud_channel_fusion_dict; - } - // image channel fusion - if (!nh.hasParam("image_channel_fusions")) { - ROS_WARN("No image_channel_fusions parameter found. Using default values."); - } - else { - XmlRpc::XmlRpcValue image_channel_fusion; - nh.getParam("image_channel_fusions", image_channel_fusion); - - py::dict image_channel_fusion_dict; - for (auto& channel_fusion : image_channel_fusion) { - const char* const name = channel_fusion.first.c_str(); - std::string fusion = static_cast(channel_fusion.second); - if (!image_channel_fusion_dict.contains(name)) { - image_channel_fusion_dict[name] = fusion; + + // image channel fusion + if (!node->has_parameter("image_channel_fusions")) { + RCLCPP_WARN(node->get_logger(), "No image_channel_fusions parameter found. Using default values."); + } else { + rclcpp::Parameter image_channel_fusion; + node->get_parameter("image_channel_fusions", image_channel_fusion); + + py::dict image_channel_fusion_dict; + auto image_channel_fusion_map = image_channel_fusion.as_string_array(); + for (const auto& channel_fusion : image_channel_fusion_map) { + const char* const channel_fusion_name = channel_fusion.c_str(); + std::string fusion; + node->get_parameter(channel_fusion_name, fusion); + if (!image_channel_fusion_dict.contains(channel_fusion_name)) { + image_channel_fusion_dict[channel_fusion_name] = fusion; + } + } + RCLCPP_INFO_STREAM(node->get_logger(), "image_channel_fusion_dict: " << image_channel_fusion_dict); + param_.attr("image_channel_fusions") = image_channel_fusion_dict; } - } - ROS_INFO_STREAM("image_channel_fusion_dict: " << image_channel_fusion_dict); - param_.attr("image_channel_fusions") = image_channel_fusion_dict; - } - param_.attr("update")(); - resolution_ = py::cast(param_.attr("get_value")("resolution")); - map_length_ = py::cast(param_.attr("get_value")("true_map_length")); - map_n_ = py::cast(param_.attr("get_value")("true_cell_n")); + param_.attr("update")(); + resolution_ = py::cast(param_.attr("get_value")("resolution")); + map_length_ = py::cast(param_.attr("get_value")("true_map_length")); + map_n_ = py::cast(param_.attr("get_value")("true_cell_n")); + + node->declare_parameter("enable_normal", false); + node->declare_parameter("enable_normal_color", false); + enable_normal_ = node->get_parameter("enable_normal").as_bool(); + enable_normal_color_ = node->get_parameter("enable_normal_color").as_bool(); - nh.param("enable_normal", enable_normal_, false); - nh.param("enable_normal_color", enable_normal_color_, false); } void ElevationMappingWrapper::input(const RowMatrixXd& points, const std::vector& channels, const RowMatrixXd& R, From 1dd0e86f248cb2ca03fac4be072fe10158585ab6 Mon Sep 17 00:00:00 2001 From: amilearning Date: Tue, 5 Nov 2024 00:30:09 +0100 Subject: [PATCH 447/504] ros2 --- elevation_mapping_cupy/CMakeLists.txt | 53 +- .../lib/elevation_mapping_cupy/__init__.py | 4 + .../elevation_mapping.py | 969 +++++++++++++ .../elevation_mapping_ros.py | 322 ++++ .../elevation_mapping_cupy/fusion/__init__.py | 0 .../fusion/fusion_manager.py | 112 ++ .../fusion/image_color.py | 86 ++ .../fusion/image_exponential.py | 77 + .../fusion/pointcloud_average.py | 113 ++ .../fusion/pointcloud_bayesian_inference.py | 122 ++ .../fusion/pointcloud_class_average.py | 126 ++ .../fusion/pointcloud_class_bayesian.py | 75 + .../fusion/pointcloud_class_max.py | 123 ++ .../fusion/pointcloud_color.py | 152 ++ .../kernels/__init__.py | 3 + .../kernels/custom_image_kernels.py | 271 ++++ .../kernels/custom_kernels.py | 685 +++++++++ .../kernels/custom_semantic_kernels.py | 375 +++++ .../lib/elevation_mapping_cupy/kernels/kk.py | 1290 +++++++++++++++++ .../elevation_mapping_cupy/map_initializer.py | 80 + .../lib/elevation_mapping_cupy/parameter.py | 300 ++++ .../plugins/__init__.py | 0 .../elevation_mapping_cupy/plugins/erosion.py | 113 ++ .../plugins/features_pca.py | 96 ++ .../plugins/inpainting.py | 63 + .../plugins/max_layer_filter.py | 108 ++ .../plugins/min_filter.py | 118 ++ .../plugins/plugin_manager.py | 268 ++++ .../plugins/robot_centric_elevation.py | 121 ++ .../plugins/semantic_filter.py | 133 ++ .../plugins/semantic_traversability.py | 83 ++ .../plugins/smooth_filter.py | 59 + .../elevation_mapping_cupy/semantic_map.py | 400 +++++ .../elevation_mapping_cupy/tests/__init__.py | 0 .../tests/test_elevation_mapping.py | 118 ++ .../tests/test_parameter.py | 17 + .../tests/test_plugins.py | 69 + .../tests/test_semantic_kernels.py | 307 ++++ .../tests/test_semantic_map.py | 47 + .../traversability_filter.py | 100 ++ .../traversability_polygon.py | 77 + .../config/core/core_param.yaml | 248 +++- .../config/core/example_setup.yaml | 159 +- .../elevation_mapping_ros.hpp | 242 ++-- .../elevation_mapping_wrapper.hpp | 12 +- .../launch/elevation_mapping_cupy.launch | 7 - .../launch/elevation_mapping_cupy.launch.py | 28 + elevation_mapping_cupy/package.xml | 2 + .../script/elevation_mapping_cupy/__init__.py | 6 +- .../elevation_mapping.py | 8 +- .../elevation_mapping_ros.py | 607 ++++---- .../elevation_mapping_cupy/kernels/kk.py | 1290 +++++++++++++++++ .../elevation_mapping_cupy/parameter.py | 16 +- .../traversability_polygon.py | 2 +- elevation_mapping_cupy/setup.py | 35 +- .../src/elevation_mapping_node.cpp | 15 +- .../src/elevation_mapping_ros.cpp | 519 ++++--- .../src/elevation_mapping_wrapper.cpp | 273 ++-- 58 files changed, 10154 insertions(+), 950 deletions(-) create mode 100644 elevation_mapping_cupy/build/lib/elevation_mapping_cupy/__init__.py create mode 100644 elevation_mapping_cupy/build/lib/elevation_mapping_cupy/elevation_mapping.py create mode 100644 elevation_mapping_cupy/build/lib/elevation_mapping_cupy/elevation_mapping_ros.py create mode 100644 elevation_mapping_cupy/build/lib/elevation_mapping_cupy/fusion/__init__.py create mode 100644 elevation_mapping_cupy/build/lib/elevation_mapping_cupy/fusion/fusion_manager.py create mode 100644 elevation_mapping_cupy/build/lib/elevation_mapping_cupy/fusion/image_color.py create mode 100644 elevation_mapping_cupy/build/lib/elevation_mapping_cupy/fusion/image_exponential.py create mode 100644 elevation_mapping_cupy/build/lib/elevation_mapping_cupy/fusion/pointcloud_average.py create mode 100644 elevation_mapping_cupy/build/lib/elevation_mapping_cupy/fusion/pointcloud_bayesian_inference.py create mode 100644 elevation_mapping_cupy/build/lib/elevation_mapping_cupy/fusion/pointcloud_class_average.py create mode 100644 elevation_mapping_cupy/build/lib/elevation_mapping_cupy/fusion/pointcloud_class_bayesian.py create mode 100644 elevation_mapping_cupy/build/lib/elevation_mapping_cupy/fusion/pointcloud_class_max.py create mode 100644 elevation_mapping_cupy/build/lib/elevation_mapping_cupy/fusion/pointcloud_color.py create mode 100644 elevation_mapping_cupy/build/lib/elevation_mapping_cupy/kernels/__init__.py create mode 100644 elevation_mapping_cupy/build/lib/elevation_mapping_cupy/kernels/custom_image_kernels.py create mode 100644 elevation_mapping_cupy/build/lib/elevation_mapping_cupy/kernels/custom_kernels.py create mode 100644 elevation_mapping_cupy/build/lib/elevation_mapping_cupy/kernels/custom_semantic_kernels.py create mode 100644 elevation_mapping_cupy/build/lib/elevation_mapping_cupy/kernels/kk.py create mode 100644 elevation_mapping_cupy/build/lib/elevation_mapping_cupy/map_initializer.py create mode 100644 elevation_mapping_cupy/build/lib/elevation_mapping_cupy/parameter.py create mode 100644 elevation_mapping_cupy/build/lib/elevation_mapping_cupy/plugins/__init__.py create mode 100644 elevation_mapping_cupy/build/lib/elevation_mapping_cupy/plugins/erosion.py create mode 100644 elevation_mapping_cupy/build/lib/elevation_mapping_cupy/plugins/features_pca.py create mode 100644 elevation_mapping_cupy/build/lib/elevation_mapping_cupy/plugins/inpainting.py create mode 100644 elevation_mapping_cupy/build/lib/elevation_mapping_cupy/plugins/max_layer_filter.py create mode 100644 elevation_mapping_cupy/build/lib/elevation_mapping_cupy/plugins/min_filter.py create mode 100644 elevation_mapping_cupy/build/lib/elevation_mapping_cupy/plugins/plugin_manager.py create mode 100644 elevation_mapping_cupy/build/lib/elevation_mapping_cupy/plugins/robot_centric_elevation.py create mode 100644 elevation_mapping_cupy/build/lib/elevation_mapping_cupy/plugins/semantic_filter.py create mode 100644 elevation_mapping_cupy/build/lib/elevation_mapping_cupy/plugins/semantic_traversability.py create mode 100644 elevation_mapping_cupy/build/lib/elevation_mapping_cupy/plugins/smooth_filter.py create mode 100644 elevation_mapping_cupy/build/lib/elevation_mapping_cupy/semantic_map.py create mode 100644 elevation_mapping_cupy/build/lib/elevation_mapping_cupy/tests/__init__.py create mode 100644 elevation_mapping_cupy/build/lib/elevation_mapping_cupy/tests/test_elevation_mapping.py create mode 100644 elevation_mapping_cupy/build/lib/elevation_mapping_cupy/tests/test_parameter.py create mode 100644 elevation_mapping_cupy/build/lib/elevation_mapping_cupy/tests/test_plugins.py create mode 100644 elevation_mapping_cupy/build/lib/elevation_mapping_cupy/tests/test_semantic_kernels.py create mode 100644 elevation_mapping_cupy/build/lib/elevation_mapping_cupy/tests/test_semantic_map.py create mode 100644 elevation_mapping_cupy/build/lib/elevation_mapping_cupy/traversability_filter.py create mode 100644 elevation_mapping_cupy/build/lib/elevation_mapping_cupy/traversability_polygon.py delete mode 100644 elevation_mapping_cupy/launch/elevation_mapping_cupy.launch create mode 100644 elevation_mapping_cupy/launch/elevation_mapping_cupy.launch.py create mode 100644 elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/kk.py diff --git a/elevation_mapping_cupy/CMakeLists.txt b/elevation_mapping_cupy/CMakeLists.txt index 81baa06d..fa8e2d25 100644 --- a/elevation_mapping_cupy/CMakeLists.txt +++ b/elevation_mapping_cupy/CMakeLists.txt @@ -1,16 +1,16 @@ cmake_minimum_required(VERSION 3.8) project(elevation_mapping_cupy) -# Enable C++11 (or higher if needed for ROS 2 and pybind11) -set(CMAKE_CXX_STANDARD 11) -set(CMAKE_CXX_STANDARD_REQUIRED ON) +# # Enable C++11 (or higher if needed for ROS 2 and pybind11) +# set(CMAKE_CXX_STANDARD 11) +# set(CMAKE_CXX_STANDARD_REQUIRED ON) # Compiler options if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") add_compile_options(-Wall -Wextra -Wpedantic) endif() # Additional dependencies -find_package(Python COMPONENTS Interpreter Development) +# find_package(Python COMPONENTS Interpreter Development) find_package(PythonInterp 3 REQUIRED) find_package(pybind11 CONFIG REQUIRED) find_package(Eigen3 REQUIRED) @@ -37,7 +37,9 @@ find_package(elevation_map_msgs REQUIRED) find_package(grid_map_ros REQUIRED) find_package(image_transport REQUIRED) find_package(pcl_ros REQUIRED) - +find_package(tf2_eigen REQUIRED) +find_package(ament_cmake_python REQUIRED) +find_package(python_cmake_module REQUIRED) # List dependencies for ament_target_dependencies set(dependencies @@ -54,6 +56,7 @@ set(dependencies image_transport pcl_ros message_filters + tf2_eigen ) # Include directories @@ -72,29 +75,63 @@ add_library(elevation_mapping_ros ) # Link the library with necessary dependencies -target_link_libraries(elevation_mapping_ros ${PYTHON_LIBRARIES} ${OpenCV_LIBRARIES}) +target_link_libraries(elevation_mapping_ros ${PYTHON_LIBRARIES} ${OpenCV_LIBRARIES} pybind11::embed) ament_target_dependencies(elevation_mapping_ros ${dependencies}) # Declare C++ executable add_executable(elevation_mapping_node src/elevation_mapping_node.cpp) # Link the executable with the library and dependencies -target_link_libraries(elevation_mapping_node elevation_mapping_ros ${OpenCV_LIBRARIES}) +target_link_libraries(elevation_mapping_node elevation_mapping_ros ${OpenCV_LIBRARIES} pybind11::embed) ament_target_dependencies(elevation_mapping_node ${dependencies}) + + # Install targets install( - TARGETS elevation_mapping_ros elevation_mapping_node + TARGETS elevation_mapping_node + DESTINATION lib/${PROJECT_NAME} ARCHIVE DESTINATION lib LIBRARY DESTINATION lib RUNTIME DESTINATION bin ) + +install(TARGETS + elevation_mapping_node + DESTINATION lib/${PROJECT_NAME} +) + + +install( + TARGETS elevation_mapping_ros + DESTINATION lib/${PROJECT_NAME} + ARCHIVE DESTINATION lib + LIBRARY DESTINATION lib + RUNTIME DESTINATION bin +) + + +ament_python_install_package(${PROJECT_NAME} PACKAGE_DIR script/${PROJECT_NAME}) + +install(PROGRAMS + DESTINATION lib/${PROJECT_NAME} +) + # Install launch and config directories install( DIRECTORY launch config DESTINATION share/${PROJECT_NAME} ) + + +_ament_cmake_python_register_environment_hook() + + +# ament_python_install_package(script/${PROJECT_NAME}) +# ament_python_install_package(script/${PROJECT_NAME}) + + # Ament package declaration ament_package() diff --git a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/__init__.py b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/__init__.py new file mode 100644 index 00000000..88d6a666 --- /dev/null +++ b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/__init__.py @@ -0,0 +1,4 @@ +# from .parameter import Parameter +# from .elevation_mapping import ElevationMap +# from .kernels import custom_image_kernels, custom_kernels, custom_semantic_kernels + diff --git a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/elevation_mapping.py b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/elevation_mapping.py new file mode 100644 index 00000000..4d704739 --- /dev/null +++ b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/elevation_mapping.py @@ -0,0 +1,969 @@ +# +# Copyright (c) 2022, Takahiro Miki. All rights reserved. +# Licensed under the MIT license. See LICENSE file in the project root for details. +# +import os +from typing import List, Any, Tuple, Union + +import numpy as np +import threading +import subprocess + +from elevation_mapping_cupy.traversability_filter import ( + get_filter_chainer, + get_filter_torch, +) +from elevation_mapping_cupy.parameter import Parameter + + +from elevation_mapping_cupy.kernels import ( + add_points_kernel, + add_color_kernel, + color_average_kernel, +) +from elevation_mapping_cupy.kernels import sum_kernel +from elevation_mapping_cupy.kernels import error_counting_kernel +from elevation_mapping_cupy.kernels import average_map_kernel +from elevation_mapping_cupy.kernels import dilation_filter_kernel +from elevation_mapping_cupy.kernels import normal_filter_kernel +from elevation_mapping_cupy.kernels import polygon_mask_kernel +from elevation_mapping_cupy.kernels import image_to_map_correspondence_kernel + +from elevation_mapping_cupy.map_initializer import MapInitializer +from elevation_mapping_cupy.plugins.plugin_manager import PluginManager +from elevation_mapping_cupy.semantic_map import SemanticMap +from elevation_mapping_cupy.traversability_polygon import ( + get_masked_traversability, + is_traversable, + calculate_area, + transform_to_map_position, + transform_to_map_index, +) + +import cupy as cp + +xp = cp +pool = cp.cuda.MemoryPool(cp.cuda.malloc_managed) +cp.cuda.set_allocator(pool.malloc) + + +class ElevationMap: + """Core elevation mapping class.""" + + def __init__(self, param: Parameter): + """ + + Args: + param (elevation_mapping_cupy.parameter.Parameter): + """ + self.param = param + self.data_type = self.param.data_type + self.resolution = param.resolution + self.center = xp.array([0, 0, 0], dtype=self.data_type) + self.base_rotation = xp.eye(3, dtype=self.data_type) + self.map_length = param.map_length + self.cell_n = param.cell_n + + self.map_lock = threading.Lock() + self.semantic_map = SemanticMap(self.param) + self.elevation_map = xp.zeros((7, self.cell_n, self.cell_n), dtype=self.data_type) + self.layer_names = [ + "elevation", + "variance", + "is_valid", + "traversability", + "time", + "upper_bound", + "is_upper_bound", + ] + + # buffers + self.traversability_buffer = xp.full((self.cell_n, self.cell_n), xp.nan) + self.normal_map = xp.zeros((3, self.cell_n, self.cell_n), dtype=self.data_type) + # Initial variance + self.initial_variance = param.initial_variance + self.elevation_map[1] += self.initial_variance + self.elevation_map[3] += 1.0 + + # overlap clearance + cell_range = int(self.param.overlap_clear_range_xy / self.resolution) + cell_range = np.clip(cell_range, 0, self.cell_n) + self.cell_min = self.cell_n // 2 - cell_range // 2 + self.cell_max = self.cell_n // 2 + cell_range // 2 + + # Initial mean_error + self.mean_error = 0.0 + self.additive_mean_error = 0.0 + + self.compile_kernels() + + self.compile_image_kernels() + + self.semantic_map.initialize_fusion() + + weight_file = subprocess.getoutput('echo "' + param.weight_file + '"') + param.load_weights(weight_file) + + if param.use_chainer: + self.traversability_filter = get_filter_chainer(param.w1, param.w2, param.w3, param.w_out) + else: + self.traversability_filter = get_filter_torch(param.w1, param.w2, param.w3, param.w_out) + self.untraversable_polygon = xp.zeros((1, 2)) + + # Plugins + self.plugin_manager = PluginManager(cell_n=self.cell_n) + plugin_config_file = subprocess.getoutput('echo "' + param.plugin_config_file + '"') + self.plugin_manager.load_plugin_settings(plugin_config_file) + + self.map_initializer = MapInitializer(self.initial_variance, param.initialized_variance, xp=cp, method="points") + + def clear(self): + """Reset all the layers of the elevation & the semantic map.""" + with self.map_lock: + self.elevation_map *= 0.0 + # Initial variance + self.elevation_map[1] += self.initial_variance + self.semantic_map.clear() + + self.mean_error = 0.0 + self.additive_mean_error = 0.0 + + def get_position(self, position): + """Return the position of the map center. + + Args: + position (numpy.ndarray): + + """ + position[0][:] = xp.asnumpy(self.center) + + def move(self, delta_position): + """Shift the map along all three axes according to the input. + + Args: + delta_position (numpy.ndarray): + """ + # Shift map using delta position. + delta_position = xp.asarray(delta_position) + delta_pixel = xp.round(delta_position[:2] / self.resolution) + delta_position_xy = delta_pixel * self.resolution + self.center[:2] += xp.asarray(delta_position_xy) + self.center[2] += xp.asarray(delta_position[2]) + self.shift_map_xy(delta_pixel) + self.shift_map_z(-delta_position[2]) + + def move_to(self, position, R): + """Shift the map to an absolute position and update the rotation of the robot. + + Args: + position (numpy.ndarray): + R (cupy._core.core.ndarray): + """ + # Shift map to the center of robot. + self.base_rotation = xp.asarray(R, dtype=self.data_type) + position = xp.asarray(position) + delta = position - self.center + delta_pixel = xp.around(delta[:2] / self.resolution) + delta_xy = delta_pixel * self.resolution + self.center[:2] += delta_xy + self.center[2] += delta[2] + self.shift_map_xy(-delta_pixel) + self.shift_map_z(-delta[2]) + + def pad_value(self, x, shift_value, idx=None, value=0.0): + """Create a padding of the map along x,y-axis according to amount that has shifted. + + Args: + x (cupy._core.core.ndarray): + shift_value (cupy._core.core.ndarray): + idx (Union[None, int, None, None]): + value (float): + """ + if idx is None: + if shift_value[0] > 0: + x[:, : shift_value[0], :] = value + elif shift_value[0] < 0: + x[:, shift_value[0] :, :] = value + if shift_value[1] > 0: + x[:, :, : shift_value[1]] = value + elif shift_value[1] < 0: + x[:, :, shift_value[1] :] = value + else: + if shift_value[0] > 0: + x[idx, : shift_value[0], :] = value + elif shift_value[0] < 0: + x[idx, shift_value[0] :, :] = value + if shift_value[1] > 0: + x[idx, :, : shift_value[1]] = value + elif shift_value[1] < 0: + x[idx, :, shift_value[1] :] = value + + def shift_map_xy(self, delta_pixel): + """Shift the map along the horizontal axes according to the input. + + Args: + delta_pixel (cupy._core.core.ndarray): + + """ + shift_value = delta_pixel.astype(cp.int32) + if cp.abs(shift_value).sum() == 0: + return + with self.map_lock: + self.elevation_map = cp.roll(self.elevation_map, shift_value, axis=(1, 2)) + self.pad_value(self.elevation_map, shift_value, value=0.0) + self.pad_value(self.elevation_map, shift_value, idx=1, value=self.initial_variance) + self.semantic_map.shift_map_xy(shift_value) + + def shift_map_z(self, delta_z): + """Shift the relevant layers along the vertical axis. + + Args: + delta_z (cupy._core.core.ndarray): + """ + with self.map_lock: + # elevation + self.elevation_map[0] += delta_z + # upper bound + self.elevation_map[5] += delta_z + + def compile_kernels(self): + """Compile all kernels belonging to the elevation map.""" + + self.new_map = cp.zeros( + (self.elevation_map.shape[0], self.cell_n, self.cell_n), + dtype=self.data_type, + ) + self.traversability_input = cp.zeros((self.cell_n, self.cell_n), dtype=self.data_type) + self.traversability_mask_dummy = cp.zeros((self.cell_n, self.cell_n), dtype=self.data_type) + self.min_filtered = cp.zeros((self.cell_n, self.cell_n), dtype=self.data_type) + self.min_filtered_mask = cp.zeros((self.cell_n, self.cell_n), dtype=self.data_type) + self.mask = cp.zeros((self.cell_n, self.cell_n), dtype=self.data_type) + self.add_points_kernel = add_points_kernel( + self.resolution, + self.cell_n, + self.cell_n, + self.param.sensor_noise_factor, + self.param.mahalanobis_thresh, + self.param.outlier_variance, + self.param.wall_num_thresh, + self.param.max_ray_length, + self.param.cleanup_step, + self.param.min_valid_distance, + self.param.max_height_range, + self.param.cleanup_cos_thresh, + self.param.ramped_height_range_a, + self.param.ramped_height_range_b, + self.param.ramped_height_range_c, + self.param.enable_edge_sharpen, + self.param.enable_visibility_cleanup, + ) + self.error_counting_kernel = error_counting_kernel( + self.resolution, + self.cell_n, + self.cell_n, + self.param.sensor_noise_factor, + self.param.mahalanobis_thresh, + self.param.drift_compensation_variance_inlier, + self.param.traversability_inlier, + self.param.min_valid_distance, + self.param.max_height_range, + self.param.ramped_height_range_a, + self.param.ramped_height_range_b, + self.param.ramped_height_range_c, + ) + self.average_map_kernel = average_map_kernel( + self.cell_n, self.cell_n, self.param.max_variance, self.initial_variance + ) + + self.dilation_filter_kernel = dilation_filter_kernel(self.cell_n, self.cell_n, self.param.dilation_size) + self.dilation_filter_kernel_initializer = dilation_filter_kernel( + self.cell_n, self.cell_n, self.param.dilation_size_initialize + ) + self.polygon_mask_kernel = polygon_mask_kernel(self.cell_n, self.cell_n, self.resolution) + self.normal_filter_kernel = normal_filter_kernel(self.cell_n, self.cell_n, self.resolution) + + def compile_image_kernels(self): + """Compile kernels related to processing image messages.""" + + for config in self.param.subscriber_cfg.values(): + if config["data_type"] == "image": + self.valid_correspondence = cp.asarray( + np.zeros((self.cell_n, self.cell_n), dtype=np.bool_), dtype=np.bool_ + ) + self.uv_correspondence = cp.asarray( + np.zeros((2, self.cell_n, self.cell_n), dtype=np.float32), + dtype=np.float32, + ) + # self.distance_correspondence = cp.asarray( + # np.zeros((self.cell_n, self.cell_n), dtype=np.float32), dtype=np.float32 + # ) + # TODO tolerance_z_collision add parameter + self.image_to_map_correspondence_kernel = image_to_map_correspondence_kernel( + resolution=self.resolution, + width=self.cell_n, + height=self.cell_n, + tolerance_z_collision=0.10, + ) + break + + def shift_translation_to_map_center(self, t): + """Deduct the map center to get the translation of a point w.r.t. the map center. + + Args: + t (cupy._core.core.ndarray): Absolute point position + """ + t -= self.center + + def update_map_with_kernel(self, points_all, channels, R, t, position_noise, orientation_noise): + """Update map with new measurement. + + Args: + points_all (cupy._core.core.ndarray): + channels (List[str]): + R (cupy._core.core.ndarray): + t (cupy._core.core.ndarray): + position_noise (float): + orientation_noise (float): + """ + self.new_map *= 0.0 + error = cp.array([0.0], dtype=cp.float32) + error_cnt = cp.array([0], dtype=cp.float32) + points = points_all[:, :3] + # additional_fusion = self.get_fusion_of_pcl(channels) + with self.map_lock: + self.shift_translation_to_map_center(t) + self.error_counting_kernel( + self.elevation_map, + points, + cp.array([0.0], dtype=self.data_type), + cp.array([0.0], dtype=self.data_type), + R, + t, + self.new_map, + error, + error_cnt, + size=(points.shape[0]), + ) + if ( + self.param.enable_drift_compensation + and error_cnt > self.param.min_height_drift_cnt + and ( + position_noise > self.param.position_noise_thresh + or orientation_noise > self.param.orientation_noise_thresh + ) + ): + self.mean_error = error / error_cnt + self.additive_mean_error += self.mean_error + if np.abs(self.mean_error) < self.param.max_drift: + self.elevation_map[0] += self.mean_error * self.param.drift_compensation_alpha + self.add_points_kernel( + cp.array([0.0], dtype=self.data_type), + cp.array([0.0], dtype=self.data_type), + R, + t, + self.normal_map, + points, + self.elevation_map, + self.new_map, + size=(points.shape[0]), + ) + self.average_map_kernel(self.new_map, self.elevation_map, size=(self.cell_n * self.cell_n)) + + self.semantic_map.update_layers_pointcloud(points_all, channels, R, t, self.new_map) + + if self.param.enable_overlap_clearance: + self.clear_overlap_map(t) + # dilation before traversability_filter + self.traversability_input *= 0.0 + self.dilation_filter_kernel( + self.elevation_map[5], + self.elevation_map[2] + self.elevation_map[6], + self.traversability_input, + self.traversability_mask_dummy, + size=(self.cell_n * self.cell_n), + ) + # calculate traversability + traversability = self.traversability_filter(self.traversability_input) + self.elevation_map[3][3:-3, 3:-3] = traversability.reshape( + (traversability.shape[2], traversability.shape[3]) + ) + + # calculate normal vectors + self.update_normal(self.traversability_input) + + def clear_overlap_map(self, t): + """Clear overlapping areas around the map center. + + Args: + t (cupy._core.core.ndarray): Absolute point position + """ + + height_min = t[2] - self.param.overlap_clear_range_z + height_max = t[2] + self.param.overlap_clear_range_z + near_map = self.elevation_map[:, self.cell_min : self.cell_max, self.cell_min : self.cell_max] + valid_idx = ~cp.logical_or(near_map[0] < height_min, near_map[0] > height_max) + near_map[0] = cp.where(valid_idx, near_map[0], 0.0) + near_map[1] = cp.where(valid_idx, near_map[1], self.initial_variance) + near_map[2] = cp.where(valid_idx, near_map[2], 0.0) + valid_idx = ~cp.logical_or(near_map[5] < height_min, near_map[5] > height_max) + near_map[5] = cp.where(valid_idx, near_map[5], 0.0) + near_map[6] = cp.where(valid_idx, near_map[6], 0.0) + self.elevation_map[:, self.cell_min : self.cell_max, self.cell_min : self.cell_max] = near_map + + def get_additive_mean_error(self): + """Returns the additive mean error. + + Returns: + + """ + return self.additive_mean_error + + def update_variance(self): + """Adds the time variacne to the valid cells.""" + self.elevation_map[1] += self.param.time_variance * self.elevation_map[2] + + def update_time(self): + """adds the time interval to the time layer.""" + self.elevation_map[4] += self.param.time_interval + + def update_upper_bound_with_valid_elevation(self): + """Filters all invalid cell's upper_bound and is_upper_bound layers.""" + mask = self.elevation_map[2] > 0.5 + self.elevation_map[5] = cp.where(mask, self.elevation_map[0], self.elevation_map[5]) + self.elevation_map[6] = cp.where(mask, 0.0, self.elevation_map[6]) + + def input_pointcloud( + self, + raw_points: cp._core.core.ndarray, + channels: List[str], + R: cp._core.core.ndarray, + t: cp._core.core.ndarray, + position_noise: float, + orientation_noise: float, + ): + """Input the point cloud and fuse the new measurements to update the elevation map. + + Args: + raw_points (cupy._core.core.ndarray): + channels (List[str]): + R (cupy._core.core.ndarray): + t (cupy._core.core.ndarray): + position_noise (float): + orientation_noise (float): + + Returns: + None: + """ + raw_points = cp.asarray(raw_points, dtype=self.data_type) + additional_channels = channels[3:] + raw_points = raw_points[~cp.isnan(raw_points[:, :3]).any(axis=1)] + self.update_map_with_kernel( + raw_points, + additional_channels, + cp.asarray(R, dtype=self.data_type), + cp.asarray(t, dtype=self.data_type), + position_noise, + orientation_noise, + ) + + def input_image( + self, + image: List[cp._core.core.ndarray], + channels: List[str], + # fusion_methods: List[str], + R: cp._core.core.ndarray, + t: cp._core.core.ndarray, + K: cp._core.core.ndarray, + D: cp._core.core.ndarray, + distortion_model: str, + image_height: int, + image_width: int, + ): + """Input image and fuse the new measurements to update the elevation map. + + Args: + sub_key (str): Key used to identify the subscriber configuration + image (List[cupy._core.core.ndarray]): List of array containing the individual image input channels + R (cupy._core.core.ndarray): Camera optical center rotation + t (cupy._core.core.ndarray): Camera optical center translation + K (cupy._core.core.ndarray): Camera intrinsics + image_height (int): Image height + image_width (int): Image width + + Returns: + None: + """ + + image = np.stack(image, axis=0) + if len(image.shape) == 2: + image = image[None] + + # Convert to cupy + image = cp.asarray(image, dtype=self.data_type) + K = cp.asarray(K, dtype=self.data_type) + R = cp.asarray(R, dtype=self.data_type) + t = cp.asarray(t, dtype=self.data_type) + D = cp.asarray(D, dtype=self.data_type) + image_height = cp.float32(image_height) + image_width = cp.float32(image_width) + + if len(D) < 4: + D = cp.zeros(5, dtype=self.data_type) + elif len(D) == 4: + D = cp.concatenate([D, cp.zeros(1, dtype=self.data_type)]) + else: + D = D[:5] + + if distortion_model == "radtan": + pass + elif distortion_model == "equidistant": + # Not implemented yet. + D *= 0 + elif distortion_model == "plumb_bob": + # Not implemented yet. + D *= 0 + else: + # Not implemented yet. + D *= 0 + + # Calculate transformation matrix + P = cp.asarray(K @ cp.concatenate([R, t[:, None]], 1), dtype=np.float32) + t_cam_map = -R.T @ t - self.center + t_cam_map = t_cam_map.get() + x1 = cp.uint32((self.cell_n / 2) + ((t_cam_map[0]) / self.resolution)) + y1 = cp.uint32((self.cell_n / 2) + ((t_cam_map[1]) / self.resolution)) + z1 = cp.float32(t_cam_map[2]) + + self.uv_correspondence *= 0 + self.valid_correspondence[:, :] = False + + with self.map_lock: + self.image_to_map_correspondence_kernel( + self.elevation_map, + x1, + y1, + z1, + P.reshape(-1), + K.reshape(-1), + D.reshape(-1), + image_height, + image_width, + self.center, + self.uv_correspondence, + self.valid_correspondence, + size=int(self.cell_n * self.cell_n), + ) + self.semantic_map.update_layers_image( + image, + channels, + self.uv_correspondence, + self.valid_correspondence, + image_height, + image_width, + ) + + def update_normal(self, dilated_map): + """Clear the normal map and then apply the normal kernel with dilated map as input. + + Args: + dilated_map (cupy._core.core.ndarray): + """ + with self.map_lock: + self.normal_map *= 0.0 + self.normal_filter_kernel( + dilated_map, + self.elevation_map[2], + self.normal_map, + size=(self.cell_n * self.cell_n), + ) + + def process_map_for_publish(self, input_map, fill_nan=False, add_z=False, xp=cp): + """Process the input_map according to the fill_nan and add_z flags. + + Args: + input_map (cupy._core.core.ndarray): + fill_nan (bool): + add_z (bool): + xp (module): + + Returns: + cupy._core.core.ndarray: + """ + m = input_map.copy() + if fill_nan: + m = xp.where(self.elevation_map[2] > 0.5, m, xp.nan) + if add_z: + m = m + self.center[2] + return m[1:-1, 1:-1] + + def get_elevation(self): + """Get the elevation layer. + + Returns: + elevation layer + + """ + return self.process_map_for_publish(self.elevation_map[0], fill_nan=True, add_z=True) + + def get_variance(self): + """Get the variance layer. + + Returns: + variance layer + """ + return self.process_map_for_publish(self.elevation_map[1], fill_nan=False, add_z=False) + + def get_traversability(self): + """Get the traversability layer. + + Returns: + traversability layer + """ + traversability = cp.where( + (self.elevation_map[2] + self.elevation_map[6]) > 0.5, + self.elevation_map[3].copy(), + cp.nan, + ) + self.traversability_buffer[3:-3, 3:-3] = traversability[3:-3, 3:-3] + traversability = self.traversability_buffer[1:-1, 1:-1] + return traversability + + def get_time(self): + """Get the time layer. + + Returns: + time layer + """ + return self.process_map_for_publish(self.elevation_map[4], fill_nan=False, add_z=False) + + def get_upper_bound(self): + """Get the upper bound layer. + + Returns: + upper_bound: upper bound layer + """ + if self.param.use_only_above_for_upper_bound: + valid = cp.logical_or( + cp.logical_and(self.elevation_map[5] > 0.0, self.elevation_map[6] > 0.5), + self.elevation_map[2] > 0.5, + ) + else: + valid = cp.logical_or(self.elevation_map[2] > 0.5, self.elevation_map[6] > 0.5) + upper_bound = cp.where(valid, self.elevation_map[5].copy(), cp.nan) + upper_bound = upper_bound[1:-1, 1:-1] + self.center[2] + return upper_bound + + def get_is_upper_bound(self): + """Get the is upper bound layer. + + Returns: + is_upper_bound: layer + """ + if self.param.use_only_above_for_upper_bound: + valid = cp.logical_or( + cp.logical_and(self.elevation_map[5] > 0.0, self.elevation_map[6] > 0.5), + self.elevation_map[2] > 0.5, + ) + else: + valid = cp.logical_or(self.elevation_map[2] > 0.5, self.elevation_map[6] > 0.5) + is_upper_bound = cp.where(valid, self.elevation_map[6].copy(), cp.nan) + is_upper_bound = is_upper_bound[1:-1, 1:-1] + return is_upper_bound + + def xp_of_array(self, array): + """Indicate which library is used for xp. + + Args: + array (cupy._core.core.ndarray): + + Returns: + module: either np or cp + """ + if type(array) == cp.ndarray: + return cp + elif type(array) == np.ndarray: + return np + + def copy_to_cpu(self, array, data, stream=None): + """Transforms the data to float32 and if on gpu loads it to cpu. + + Args: + array (cupy._core.core.ndarray): + data (numpy.ndarray): + stream (Union[None, cupy.cuda.stream.Stream, None, None, None, None, None, None, None]): + """ + if type(array) == np.ndarray: + data[...] = array.astype(np.float32) + elif type(array) == cp.ndarray: + if stream is not None: + data[...] = cp.asnumpy(array.astype(np.float32), stream=stream) + else: + data[...] = cp.asnumpy(array.astype(np.float32)) + + def exists_layer(self, name): + """Check if the layer exists in elevation map or in the semantic map. + + Args: + name (str): Layer name + + Returns: + bool: Indicates if layer exists. + """ + if name in self.layer_names: + return True + elif name in self.semantic_map.layer_names: + return True + elif name in self.plugin_manager.layer_names: + return True + else: + return False + + def get_map_with_name_ref(self, name, data): + """Load a layer according to the name input to the data input. + + Args: + name (str): Name of the layer. + data (numpy.ndarray): Data structure that contains layer. + + """ + use_stream = True + xp = cp + with self.map_lock: + if name == "elevation": + m = self.get_elevation() + use_stream = False + elif name == "variance": + m = self.get_variance() + elif name == "traversability": + m = self.get_traversability() + elif name == "time": + m = self.get_time() + elif name == "upper_bound": + m = self.get_upper_bound() + elif name == "is_upper_bound": + m = self.get_is_upper_bound() + elif name == "normal_x": + m = self.normal_map.copy()[0, 1:-1, 1:-1] + elif name == "normal_y": + m = self.normal_map.copy()[1, 1:-1, 1:-1] + elif name == "normal_z": + m = self.normal_map.copy()[2, 1:-1, 1:-1] + elif name in self.semantic_map.layer_names: + m = self.semantic_map.get_map_with_name(name) + elif name in self.plugin_manager.layer_names: + self.plugin_manager.update_with_name( + name, + self.elevation_map, + self.layer_names, + self.semantic_map.semantic_map, + self.semantic_map.layer_names, + self.base_rotation, + self.semantic_map.elements_to_shift, + ) + m = self.plugin_manager.get_map_with_name(name) + p = self.plugin_manager.get_param_with_name(name) + xp = self.xp_of_array(m) + m = self.process_map_for_publish(m, fill_nan=p.fill_nan, add_z=p.is_height_layer, xp=xp) + else: + print("Layer {} is not in the map".format(name)) + return + m = xp.flip(m, 0) + m = xp.flip(m, 1) + if use_stream: + stream = cp.cuda.Stream(non_blocking=False) + else: + stream = None + self.copy_to_cpu(m, data, stream=stream) + + def get_normal_maps(self): + """Get the normal maps. + + Returns: + maps: the three normal values for each cell + """ + normal = self.normal_map.copy() + normal_x = normal[0, 1:-1, 1:-1] + normal_y = normal[1, 1:-1, 1:-1] + normal_z = normal[2, 1:-1, 1:-1] + maps = xp.stack([normal_x, normal_y, normal_z], axis=0) + maps = xp.flip(maps, 1) + maps = xp.flip(maps, 2) + maps = xp.asnumpy(maps) + return maps + + def get_normal_ref(self, normal_x_data, normal_y_data, normal_z_data): + """Get the normal maps as reference. + + Args: + normal_x_data: + normal_y_data: + normal_z_data: + """ + maps = self.get_normal_maps() + self.stream = cp.cuda.Stream(non_blocking=True) + normal_x_data[...] = xp.asnumpy(maps[0], stream=self.stream) + normal_y_data[...] = xp.asnumpy(maps[1], stream=self.stream) + normal_z_data[...] = xp.asnumpy(maps[2], stream=self.stream) + + def get_layer(self, name): + """Return the layer with the name input. + + Args: + name: The layers name. + + Returns: + return_map: The rqeuested layer. + + """ + if name in self.layer_names: + idx = self.layer_names.index(name) + return_map = self.elevation_map[idx] + elif name in self.semantic_map.layer_names: + idx = self.semantic_map.layer_names.index(name) + return_map = self.semantic_map.semantic_map[idx] + elif name in self.plugin_manager.layer_names: + self.plugin_manager.update_with_name( + name, + self.elevation_map, + self.layer_names, + self.semantic_map, + self.base_rotation, + ) + return_map = self.plugin_manager.get_map_with_name(name) + else: + print("Layer {} is not in the map, returning traversabiltiy!".format(name)) + return + return return_map + + def get_polygon_traversability(self, polygon, result): + """Check if input polygons are traversable. + + Args: + polygon (cupy._core.core.ndarray): + result (numpy.ndarray): + + Returns: + Union[None, int]: + """ + polygon = xp.asarray(polygon) + area = calculate_area(polygon) + polygon = polygon.astype(self.data_type) + pmin = self.center[:2] - self.map_length / 2 + self.resolution + pmax = self.center[:2] + self.map_length / 2 - self.resolution + polygon[:, 0] = polygon[:, 0].clip(pmin[0], pmax[0]) + polygon[:, 1] = polygon[:, 1].clip(pmin[1], pmax[1]) + polygon_min = polygon.min(axis=0) + polygon_max = polygon.max(axis=0) + polygon_bbox = cp.concatenate([polygon_min, polygon_max]).flatten() + polygon_n = xp.array(polygon.shape[0], dtype=np.int16) + clipped_area = calculate_area(polygon) + self.polygon_mask_kernel( + polygon, + self.center[0], + self.center[1], + polygon_n, + polygon_bbox, + self.mask, + size=(self.cell_n * self.cell_n), + ) + tmp_map = self.get_layer(self.param.checker_layer) + masked, masked_isvalid = get_masked_traversability(self.elevation_map, self.mask, tmp_map) + if masked_isvalid.sum() > 0: + t = masked.sum() / masked_isvalid.sum() + else: + t = cp.asarray(0.0, dtype=self.data_type) + is_safe, un_polygon = is_traversable( + masked, + self.param.safe_thresh, + self.param.safe_min_thresh, + self.param.max_unsafe_n, + ) + untraversable_polygon_num = 0 + if un_polygon is not None: + un_polygon = transform_to_map_position(un_polygon, self.center[:2], self.cell_n, self.resolution) + untraversable_polygon_num = un_polygon.shape[0] + if clipped_area < 0.001: + is_safe = False + print("requested polygon is outside of the map") + result[...] = np.array([is_safe, t.get(), area.get()]) + self.untraversable_polygon = un_polygon + return untraversable_polygon_num + + def get_untraversable_polygon(self, untraversable_polygon): + """Copy the untraversable polygons to input untraversable_polygons. + + Args: + untraversable_polygon (numpy.ndarray): + """ + untraversable_polygon[...] = xp.asnumpy(self.untraversable_polygon) + + def initialize_map(self, points, method="cubic"): + """Initializes the map according to some points and using an approximation according to method. + + Args: + points (numpy.ndarray): + method (str): Interpolation method ['linear', 'cubic', 'nearest'] + """ + self.clear() + with self.map_lock: + points = cp.asarray(points, dtype=self.data_type) + indices = transform_to_map_index(points[:, :2], self.center[:2], self.cell_n, self.resolution) + points[:, :2] = indices.astype(points.dtype) + points[:, 2] -= self.center[2] + self.map_initializer(self.elevation_map, points, method) + if self.param.dilation_size_initialize > 0: + for i in range(2): + self.dilation_filter_kernel_initializer( + self.elevation_map[0], + self.elevation_map[2], + self.elevation_map[0], + self.elevation_map[2], + size=(self.cell_n * self.cell_n), + ) + self.update_upper_bound_with_valid_elevation() + + +if __name__ == "__main__": + # Test script for profiling. + # $ python -m cProfile -o profile.stats elevation_mapping.py + # $ snakeviz profile.stats + xp.random.seed(123) + R = xp.random.rand(3, 3) + t = xp.random.rand(3) + print(R, t) + param = Parameter( + use_chainer=False, + weight_file="/home/hojin/new_elev/src/elevation_mapping_cupy/elevation_mapping_cupy/config/core/weights.dat", + plugin_config_file="/home/hojin/new_elev/src/elevation_mapping_cupy/elevation_mapping_cupy/config/core/plugin_config.yaml", + ) + param.additional_layers = ["rgb", "grass", "tree", "people"] + # param.fusion_algorithms = ["color", "class_bayesian", "class_bayesian", "class_bayesian"] + param.fusion_algorithms = ["image_color", "pointcloud_color", "pointcloud_class_average"] + param.update() + elevation = ElevationMap(param) + layers = [ + "elevation", + "variance", + "traversability", + "min_filter", + "smooth", + "inpaint", + "rgb", + ] + points = xp.random.rand(100000, len(layers)) + + channels = ["x", "y", "z"] + param.additional_layers + print(channels) + data = np.zeros((elevation.cell_n - 2, elevation.cell_n - 2), dtype=np.float32) + for i in range(50): + elevation.input_pointcloud(points, channels, R, t, 0, 0) + elevation.update_normal(elevation.elevation_map[0]) + pos = np.array([i * 0.01, i * 0.02, i * 0.01]) + elevation.move_to(pos, R) + for layer in layers: + elevation.get_map_with_name_ref(layer, data) + print(i) + polygon = cp.array([[0, 0], [2, 0], [0, 2]], dtype=param.data_type) + result = np.array([0, 0, 0]) + elevation.get_polygon_traversability(polygon, result) + print(result) diff --git a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/elevation_mapping_ros.py b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/elevation_mapping_ros.py new file mode 100644 index 00000000..94cc1e5c --- /dev/null +++ b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/elevation_mapping_ros.py @@ -0,0 +1,322 @@ +# # General +# import os +# import numpy as np +# import yaml + +# from elevation_mapping_cupy import ElevationMap, Parameter + + + +# # ROS2 +# import rclpy +# from rclpy.node import Node +# from tf_transformations import quaternion_matrix +# import tf2_ros +# from ament_index_python.packages import get_package_share_directory +# from cv_bridge import CvBridge + +# from sensor_msgs.msg import PointCloud2, Image, CameraInfo +# from grid_map_msgs.msg import GridMap +# from std_msgs.msg import Float32MultiArray, MultiArrayLayout as MAL, MultiArrayDimension as MAD + +# from functools import partial +# import message_filters + + +# PDC_DATATYPE = { +# "1": np.int8, +# "2": np.uint8, +# "3": np.int16, +# "4": np.uint16, +# "5": np.int32, +# "6": np.uint32, +# "7": np.float32, +# "8": np.float64, +# } + + +# class ElevationMapWrapper(Node): +# def __init__(self): +# super().__init__('elevation_mapping') +# self.node_name = "elevation_mapping" +# self.root = get_package_share_directory("elevation_mapping_cupy") +# weight_file = os.path.join(self.root, "config/core/weights.dat") +# plugin_config_file = os.path.join(self.root, "config/core/plugin_config.yaml") +# self.param = Parameter(use_chainer=False, weight_file=weight_file, plugin_config_file=plugin_config_file) + +# # ROS2 +# self.initialize_ros() +# self.param.subscriber_cfg = self.subscribers + +# self.initialize_elevation_mapping() +# # self.register_subscribers() +# # self.register_publishers() +# # self.register_timers() + +# self._last_t = None + + + + +# # # ROS +# # self.initalize_ros() +# # self.param.subscriber_cfg = self.subscribers + + +# def initialize_ros(self): +# self._tf_buffer = tf2_ros.Buffer() +# self._listener = tf2_ros.TransformListener(self._tf_buffer, self) +# self.get_ros_params() + + +# def initialize_elevation_mapping(self): +# self.param.update() +# # TODO add statistics across processed topics +# self._pointcloud_process_counter = 0 +# self._image_process_counter = 0 +# self._map = ElevationMap(self.param) +# self._map_data = np.zeros((self._map.cell_n - 2, self._map.cell_n - 2), dtype=np.float32) +# self._map_q = None +# self._map_t = None + + + + +# # def register_subscribers(self): +# # # check if CV bridge is needed +# # for config in self.param.subscriber_cfg.values(): +# # if config["data_type"] == "image": +# # self.cv_bridge = CvBridge() +# # break + +# # pointcloud_subs = {} +# # image_subs = {} +# # for key, config in self.subscribers.items(): +# # if config["data_type"] == "image": +# # camera_sub = message_filters.Subscriber(config["topic_name_camera"], Image) +# # camera_info_sub = message_filters.Subscriber(config["topic_name_camera_info"], CameraInfo) +# # image_subs[key] = message_filters.ApproximateTimeSynchronizer( +# # [camera_sub, camera_info_sub], queue_size=10, slop=0.5 +# # ) +# # image_subs[key].registerCallback(self.image_callback, key) + +# # elif config["data_type"] == "pointcloud": +# # pointcloud_subs[key] = rospy.Subscriber( +# # config["topic_name"], PointCloud2, self.pointcloud_callback, key +# # ) + +# # def register_publishers(self): +# # self._publishers = {} +# # self._publishers_timers = [] +# # for k, v in self.publishers.items(): +# # self._publishers[k] = rospy.Publisher(f"/{self.node_name}/{k}", GridMap, queue_size=10) +# # # partial(.) allows to pass a default argument to a callback +# # self._publishers_timers.append(rospy.Timer(rospy.Duration(1 / v["fps"]), partial(self.publish_map, k))) + +# # def publish_map(self, k, t): +# # print("publish_map") +# # if self._map_q is None: +# # return +# # gm = GridMap() +# # gm.info.header.frame_id = self.map_frame +# # gm.info.header.stamp = rospy.Time.now() +# # gm.info.header.seq = 0 +# # gm.info.resolution = self._map.resolution +# # gm.info.length_x = self._map.map_length +# # gm.info.length_y = self._map.map_length +# # gm.info.pose.position.x = self._map_t.x +# # gm.info.pose.position.y = self._map_t.y +# # gm.info.pose.position.z = 0.0 +# # gm.info.pose.orientation.w = 1.0 # self._map_q.w +# # gm.info.pose.orientation.x = 0.0 # self._map_q.x +# # gm.info.pose.orientation.y = 0.0 # self._map_q.y +# # gm.info.pose.orientation.z = 0.0 # self._map_q.z +# # gm.layers = [] +# # gm.basic_layers = self.publishers[k]["basic_layers"] +# # for i, layer in enumerate(self.publishers[k]["layers"]): +# # gm.layers.append(layer) +# # try: +# # self._map.get_map_with_name_ref(layer, self._map_data) +# # data = self._map_data.copy() +# # arr = Float32MultiArray() +# # arr.layout = MAL() +# # N = self._map_data.shape[0] +# # arr.layout.dim.append(MAD(label="column_index", size=N, stride=int(N * N))) +# # arr.layout.dim.append(MAD(label="row_index", size=N, stride=N)) +# # arr.data = tuple(np.ascontiguousarray(data.T).reshape(-1)) +# # gm.data.append(arr) +# # except: +# # if layer in gm.basic_layers: +# # print("Error: Missed Layer in basic layers") + +# # gm.outer_start_index = 0 +# # gm.inner_start_index = 0 + +# # self._publishers[k].publish(gm) + +# # def register_timers(self): +# # self.timer_variance = rospy.Timer(rospy.Duration(1 / self.update_variance_fps), self.update_variance) +# # self.timer_pose = rospy.Timer(rospy.Duration(1 / self.update_pose_fps), self.update_pose) +# # self.timer_time = rospy.Timer(rospy.Duration(self.time_interval), self.update_time) + +# # def image_callback(self, camera_msg, camera_info_msg, sub_key): +# # # get pose of image +# # ti = rospy.Time(secs=camera_msg.header.stamp.secs, nsecs=camera_msg.header.stamp.nsecs) +# # self._last_t = ti +# # try: +# # transform = self._tf_buffer.lookup_transform( +# # camera_msg.header.frame_id, self.map_frame, ti, rospy.Duration(1.0) +# # ) +# # except (tf2_ros.LookupException, tf2_ros.ConnectivityException, tf2_ros.ExtrapolationException) as e: +# # print("Error: image_callback:", e) +# # return + +# # t = transform.transform.translation +# # t = np.array([t.x, t.y, t.z]) +# # q = transform.transform.rotation +# # R = quaternion_matrix([q.x, q.y, q.z, q.w])[:3, :3] + +# # semantic_img = self.cv_bridge.imgmsg_to_cv2(camera_msg, desired_encoding="passthrough") + +# # if len(semantic_img.shape) != 2: +# # semantic_img = [semantic_img[:, :, k] for k in range(3)] + +# # else: +# # semantic_img = [semantic_img] + +# # K = np.array(camera_info_msg.K, dtype=np.float32).reshape(3, 3) + +# # assert np.all(np.array(camera_info_msg.D) == 0.0), "Undistortion not implemented" +# # D = np.array(camera_info_msg.D, dtype=np.float32).reshape(5, 1) + +# # # process pointcloud +# # self._map.input_image(sub_key, semantic_img, R, t, K, D, camera_info_msg.height, camera_info_msg.width) +# # self._image_process_counter += 1 + +# # def pointcloud_callback(self, msg, sub_key): +# # channels = ["x", "y", "z"] + self.param.subscriber_cfg[sub_key]["channels"] + +# # points = ros_numpy.numpify(msg) +# # pts = np.empty((points.shape[0], 0)) +# # for ch in channels: +# # p = points[ch] +# # if len(p.shape) == 1: +# # p = p[:, None] +# # pts = np.append(pts, p, axis=1) + +# # # get pose of pointcloud +# # ti = rospy.Time(secs=msg.header.stamp.secs, nsecs=msg.header.stamp.nsecs) +# # self._last_t = ti +# # try: +# # transform = self._tf_buffer.lookup_transform(self.map_frame, msg.header.frame_id, ti, rospy.Duration(1.0)) +# # except (tf2_ros.LookupException, tf2_ros.ConnectivityException, tf2_ros.ExtrapolationException) as e: +# # print("Error: pointcloud_callback: ", e) +# # return + +# # t = transform.transform.translation +# # t = np.array([t.x, t.y, t.z]) +# # q = transform.transform.rotation +# # R = quaternion_matrix([q.x, q.y, q.z, q.w])[:3, :3] + +# # # process pointcloud +# # self._map.input(pts, channels, R, t, 0, 0) +# # self._pointcloud_process_counter += 1 +# # print("Pointclouds processed: ", self._pointcloud_process_counter) + +# # def update_pose(self, t): +# # # get pose of base +# # # t = rospy.Time.now() +# # if self._last_t is None: +# # return +# # try: +# # transform = self._tf_buffer.lookup_transform( +# # self.map_frame, self.base_frame, self._last_t, rospy.Duration(1.0) +# # ) +# # except (tf2_ros.LookupException, tf2_ros.ConnectivityException, tf2_ros.ExtrapolationException) as e: +# # print("Error: update_pose error: ", e) +# # return +# # t = transform.transform.translation +# # trans = np.array([t.x, t.y, t.z]) +# # q = transform.transform.rotation +# # rot = quaternion_matrix([q.x, q.y, q.z, q.w])[:3, :3] +# # self._map.move_to(trans, rot) + +# # self._map_t = t +# # self._map_q = q + +# # def update_variance(self, t): +# # self._map.update_variance() + +# # def update_time(self, t): +# # self._map.update_time() + + + +# def declare_parameters_from_yaml(self, yaml_file): +# def declare_nested_parameters(parent_name, param_dict): +# for sub_name, sub_value in param_dict.items(): +# full_param_name = f"{parent_name}.{sub_name}" + +# if isinstance(sub_value, dict): +# declare_nested_parameters(full_param_name, sub_value) +# else: +# if "elevation_mapping.ros__parameters" in full_param_name: +# full_param_name = full_param_name.replace("elevation_mapping.ros__parameters.", "") +# self.declare_parameter(full_param_name, sub_value) + +# with open(yaml_file, 'r') as file: +# params = yaml.safe_load(file) + +# # Set parameters in the node +# for param_name, param_value in params.items(): +# if isinstance(param_value, dict): +# # For nested dictionaries, set each nested parameter individually +# declare_nested_parameters(param_name, param_value) +# else: +# # For top-level parameters +# if "elevation_mapping.ros__parameters" in param_name: +# param_name = param_name.replace("elevation_mapping.ros__parameters.", "") +# self.declare_parameter(param_name, param_value) + + + + +# def get_ros_params(self): +# # TODO fix this here when later launching with launch-file +# # This is currently {p} elevation_mapping") +# param_file = os.path.join(self.root, f"config/core/core_param.yaml") +# self.declare_parameters_from_yaml(param_file) + +# # os.system(f"rosparam delete /{self.node_name}") +# # os.system(f"rosparam load {para} elevation_mapping") +# # self.subscribers = self.get_parameter("subscribers").get_parameter_value().string_value +# # self.publishers = self.get_parameter("publishers").get_parameter_value().string_value +# self.initialize_frame_id = self.get_parameter("initialize_frame_id").get_parameter_value().string_array_value +# self.initialize_tf_offset = self.get_parameter("initialize_tf_offset").get_parameter_value().double_value +# self.pose_topic = self.get_parameter("pose_topic").get_parameter_value().string_value +# self.map_frame = self.get_parameter("map_frame").get_parameter_value().string_value +# self.base_frame = self.get_parameter("base_frame").get_parameter_value().string_value +# self.corrected_map_frame = self.get_parameter("corrected_map_frame").get_parameter_value().string_value +# self.initialize_method = self.get_parameter("initialize_method").get_parameter_value().string_value +# self.position_lowpass_alpha = self.get_parameter("position_lowpass_alpha").get_parameter_value().double_value +# self.orientation_lowpass_alpha = self.get_parameter("orientation_lowpass_alpha").get_parameter_value().double_value +# self.update_variance_fps = self.get_parameter("update_variance_fps").get_parameter_value().double_value +# self.time_interval = self.get_parameter("time_interval").get_parameter_value().double_value +# self.update_pose_fps = self.get_parameter("update_pose_fps").get_parameter_value().double_value +# self.initialize_tf_grid_size = self.get_parameter("initialize_tf_grid_size").get_parameter_value().double_value +# self.map_acquire_fps = self.get_parameter("map_acquire_fps").get_parameter_value().double_value +# self.publish_statistics_fps = self.get_parameter("publish_statistics_fps").get_parameter_value().double_value +# self.enable_pointcloud_publishing = self.get_parameter("enable_pointcloud_publishing").get_parameter_value().bool_value +# self.enable_normal_arrow_publishing = self.get_parameter("enable_normal_arrow_publishing").get_parameter_value().bool_value +# self.enable_drift_corrected_TF_publishing = self.get_parameter("enable_drift_corrected_TF_publishing").get_parameter_value().bool_value +# self.use_initializer_at_start = self.get_parameter("use_initializer_at_start").get_parameter_value().bool_value + + +# def main(args=None): +# rclpy.init(args=args) +# node = ElevationMapWrapper() +# rclpy.spin(node) +# rclpy.shutdown() + +# if __name__ == '__main__': +# main() \ No newline at end of file diff --git a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/fusion/__init__.py b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/fusion/__init__.py new file mode 100644 index 00000000..e69de29b diff --git a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/fusion/fusion_manager.py b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/fusion/fusion_manager.py new file mode 100644 index 00000000..aca34a6d --- /dev/null +++ b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/fusion/fusion_manager.py @@ -0,0 +1,112 @@ +# +# Copyright (c) 2023, Takahiro Miki. All rights reserved. +# Licensed under the MIT license. See LICENSE file in the project root for details. +# +from abc import ABC, abstractmethod +import cupy as cp +from typing import List, Dict, Any +from dataclasses import dataclass +import importlib +import inspect + + +# @dataclass +# class FusionParams: +# name: str + + +class FusionBase(ABC): + """ + This is a base class of Fusion + """ + + @abstractmethod + def __init__(self, *args, **kwargs): + """ + + Args: + fusion_params : FusionParams + The parameter of callback + """ + self.name = None + + @abstractmethod + def __call__(self, points_all, R, t, pcl_ids, layer_ids, elevation_map, semantic_map, new_map): + pass + + +class FusionManager(object): + def __init__(self, params): + self.fusion_plugins: Dict[str, FusionBase] = {} + self.params = params + self.plugins = [] + + def register_plugin(self, plugin): + """ + Register a new fusion plugin + """ + try: + m = importlib.import_module("." + plugin, package="elevation_mapping_cupy.fusion") # -> 'module' + except: + raise ValueError("Plugin {} does not exist.".format(plugin)) + for name, obj in inspect.getmembers(m): + + if inspect.isclass(obj) and issubclass(obj, FusionBase) and name != "FusionBase": + self.plugins.append(obj(self.params)) + + def get_plugin_idx(self, name: str, data_type: str): + """ + Get a registered fusion plugin + """ + name = data_type + "_" + name + for idx, plugin in enumerate(self.plugins): + if plugin.name == name: + return idx + print("[WARNING] Plugin {} is not in the list: {}".format(name, self.plugins)) + return None + + def execute_plugin( + self, name: str, points_all, R, t, pcl_ids, layer_ids, elevation_map, semantic_map, new_map, elements_to_shift + ): + """ + Execute a registered fusion plugin + """ + idx = self.get_plugin_idx(name, "pointcloud") + if idx is not None: + self.plugins[idx]( + points_all, R, t, pcl_ids, layer_ids, elevation_map, semantic_map, new_map, elements_to_shift + ) + # else: + # raise ValueError("Plugin {} is not registered".format(name)) + + def execute_image_plugin( + self, + name: str, + sem_map_idx, + image, + j, + uv_correspondence, + valid_correspondence, + image_height, + image_width, + semantic_map, + new_map, + ): + """ + Execute a registered fusion plugin + """ + idx = self.get_plugin_idx(name, "image") + if idx is not None: + self.plugins[idx]( + sem_map_idx, + image, + j, + uv_correspondence, + valid_correspondence, + image_height, + image_width, + semantic_map, + new_map, + ) + # else: + # raise ValueError("Plugin {} is not registered".format(name)) diff --git a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/fusion/image_color.py b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/fusion/image_color.py new file mode 100644 index 00000000..c882c1b0 --- /dev/null +++ b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/fusion/image_color.py @@ -0,0 +1,86 @@ +# +# Copyright (c) 2023, Takahiro Miki. All rights reserved. +# Licensed under the MIT license. See LICENSE file in the project root for details. +# +import cupy as cp +import numpy as np +import string + +from .fusion_manager import FusionBase + + +def color_correspondences_to_map_kernel(resolution, width, height): + color_correspondences_to_map_kernel = cp.ElementwiseKernel( + in_params="raw U sem_map, raw U map_idx, raw U image_rgb, raw U uv_correspondence, raw B valid_correspondence, raw U image_height, raw U image_width", + out_params="raw U new_sem_map", + preamble=string.Template( + """ + __device__ int get_map_idx(int idx, int layer_n) { + const int layer = ${width} * ${height}; + return layer * layer_n + idx; + } + """ + ).substitute(width=width, height=height), + operation=string.Template( + """ + int cell_idx = get_map_idx(i, 0); + if (valid_correspondence[cell_idx]){ + int cell_idx_2 = get_map_idx(i, 1); + + int idx_red = int(uv_correspondence[cell_idx]) + int(uv_correspondence[cell_idx_2]) * image_width; + int idx_green = image_width * image_height + idx_red; + int idx_blue = image_width * image_height * 2 + idx_red; + + unsigned int r = image_rgb[idx_red]; + unsigned int g = image_rgb[idx_green]; + unsigned int b = image_rgb[idx_blue]; + + unsigned int rgb = (r<<16) + (g << 8) + b; + float rgb_ = __uint_as_float(rgb); + new_sem_map[get_map_idx(i, map_idx)] = rgb_; + }else{ + new_sem_map[get_map_idx(i, map_idx)] = sem_map[get_map_idx(i, map_idx)]; + } + """ + ).substitute(), + name="color_correspondences_to_map_kernel", + ) + return color_correspondences_to_map_kernel + + +class ImageColor(FusionBase): + def __init__(self, params, *args, **kwargs): + # super().__init__(fusion_params, *args, **kwargs) + # print("Initialize fusion kernel") + self.name = "image_color" + self.cell_n = params.cell_n + self.resolution = params.resolution + + self.color_correspondences_to_map_kernel = color_correspondences_to_map_kernel( + resolution=self.resolution, width=self.cell_n, height=self.cell_n, + ) + + def __call__( + self, + sem_map_idx, + image, + j, + uv_correspondence, + valid_correspondence, + image_height, + image_width, + semantic_map, + new_map, + ): + self.color_correspondences_to_map_kernel( + semantic_map, + cp.uint64(sem_map_idx), + image, + uv_correspondence, + valid_correspondence, + image_height, + image_width, + new_map, + size=int(self.cell_n * self.cell_n), + ) + semantic_map[sem_map_idx] = new_map[sem_map_idx] diff --git a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/fusion/image_exponential.py b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/fusion/image_exponential.py new file mode 100644 index 00000000..26aa2f89 --- /dev/null +++ b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/fusion/image_exponential.py @@ -0,0 +1,77 @@ +# +# Copyright (c) 2023, Takahiro Miki. All rights reserved. +# Licensed under the MIT license. See LICENSE file in the project root for details. +# +import cupy as cp +import numpy as np +import string + +from .fusion_manager import FusionBase + + +def exponential_correspondences_to_map_kernel(resolution, width, height, alpha): + exponential_correspondences_to_map_kernel = cp.ElementwiseKernel( + in_params="raw U sem_map, raw U map_idx, raw U image_mono, raw U uv_correspondence, raw B valid_correspondence, raw U image_height, raw U image_width", + out_params="raw U new_sem_map", + preamble=string.Template( + """ + __device__ int get_map_idx(int idx, int layer_n) { + const int layer = ${width} * ${height}; + return layer * layer_n + idx; + } + """ + ).substitute(width=width, height=height), + operation=string.Template( + """ + int cell_idx = get_map_idx(i, 0); + if (valid_correspondence[cell_idx]){ + int cell_idx_2 = get_map_idx(i, 1); + int idx = int(uv_correspondence[cell_idx]) + int(uv_correspondence[cell_idx_2]) * image_width; + new_sem_map[get_map_idx(i, map_idx)] = sem_map[get_map_idx(i, map_idx)] * (1-${alpha}) + ${alpha} * image_mono[idx]; + }else{ + new_sem_map[get_map_idx(i, map_idx)] = sem_map[get_map_idx(i, map_idx)]; + } + + """ + ).substitute(alpha=alpha), + name="exponential_correspondences_to_map_kernel", + ) + return exponential_correspondences_to_map_kernel + + +class ImageExponential(FusionBase): + def __init__(self, params, *args, **kwargs): + # super().__init__(fusion_params, *args, **kwargs) + # print("Initialize fusion kernel") + self.name = "image_exponential" + self.cell_n = params.cell_n + self.resolution = params.resolution + + self.exponential_correspondences_to_map_kernel = exponential_correspondences_to_map_kernel( + resolution=self.resolution, width=self.cell_n, height=self.cell_n, alpha=0.7, + ) + + def __call__( + self, + sem_map_idx, + image, + j, + uv_correspondence, + valid_correspondence, + image_height, + image_width, + semantic_map, + new_map, + ): + self.exponential_correspondences_to_map_kernel( + semantic_map, + sem_map_idx, + image[j], + uv_correspondence, + valid_correspondence, + image_height, + image_width, + new_map, + size=int(self.cell_n * self.cell_n), + ) + semantic_map[sem_map_idx] = new_map[sem_map_idx] diff --git a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/fusion/pointcloud_average.py b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/fusion/pointcloud_average.py new file mode 100644 index 00000000..c4165a54 --- /dev/null +++ b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/fusion/pointcloud_average.py @@ -0,0 +1,113 @@ +import cupy as cp +import numpy as np +import string + +from .fusion_manager import FusionBase + + +def sum_kernel( + resolution, width, height, +): + """Sums the semantic values of the classes for the exponentiala verage or for the average. + + Args: + resolution: + width: + height: + + Returns: + + """ + # input the list of layers, amount of channels can slo be input through kernel + sum_kernel = cp.ElementwiseKernel( + in_params="raw U p, raw U R, raw U t, raw W pcl_chan, raw W map_lay, raw W pcl_channels", + out_params="raw U map, raw U newmap", + preamble=string.Template( + """ + __device__ int get_map_idx(int idx, int layer_n) { + const int layer = ${width} * ${height}; + return layer * layer_n + idx; + } + """ + ).substitute(resolution=resolution, width=width, height=height), + operation=string.Template( + """ + U id = floorf(i/pcl_channels[1]); + int layer = i % pcl_channels[1]; + U idx = p[id * pcl_channels[0]]; + U valid = p[id * pcl_channels[0] + 1]; + U inside = p[id * pcl_channels[0] + 2]; + if (valid) { + if (inside) { + U feat = p[id * pcl_channels[0] + pcl_chan[layer]]; + atomicAdd(&newmap[get_map_idx(idx, map_lay[layer])], feat); + } + } + """ + ).substitute(), + name="sum_kernel", + ) + return sum_kernel + + +def average_kernel( + width, height, +): + average_kernel = cp.ElementwiseKernel( + in_params="raw V newmap, raw W pcl_chan, raw W map_lay, raw W pcl_channels, raw U new_elmap", + out_params="raw U map", + preamble=string.Template( + """ + __device__ int get_map_idx(int idx, int layer_n) { + const int layer = ${width} * ${height}; + return layer * layer_n + idx; + } + """ + ).substitute(width=width, height=height), + operation=string.Template( + """ + U id = floorf(i/pcl_channels[1]); + int layer = i % pcl_channels[1]; + U cnt = new_elmap[get_map_idx(id, 2)]; + if (cnt>0){ + U feat = newmap[get_map_idx(id, map_lay[layer])]/(1*cnt); + map[get_map_idx(id, map_lay[layer])] = feat; + } + """ + ).substitute(), + name="average_map_kernel", + ) + return average_kernel + + +class Average(FusionBase): + def __init__(self, params, *args, **kwargs): + # super().__init__(fusion_params, *args, **kwargs) + # print("Initialize fusion kernel") + self.name = "pointcloud_average" + self.cell_n = params.cell_n + self.resolution = params.resolution + self.sum_kernel = sum_kernel(self.resolution, self.cell_n, self.cell_n,) + self.average_kernel = average_kernel(self.cell_n, self.cell_n,) + + def __call__(self, points_all, R, t, pcl_ids, layer_ids, elevation_map, semantic_map, new_map, *args): + self.sum_kernel( + points_all, + R, + t, + pcl_ids, + layer_ids, + cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=cp.int32), + semantic_map, + new_map, + size=(points_all.shape[0] * pcl_ids.shape[0]), + ) + self.average_kernel( + new_map, + pcl_ids, + layer_ids, + cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=cp.int32), + elevation_map, + semantic_map, + size=(self.cell_n * self.cell_n * pcl_ids.shape[0]), + ) diff --git a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/fusion/pointcloud_bayesian_inference.py b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/fusion/pointcloud_bayesian_inference.py new file mode 100644 index 00000000..95dc8aea --- /dev/null +++ b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/fusion/pointcloud_bayesian_inference.py @@ -0,0 +1,122 @@ +# +# Copyright (c) 2023, Takahiro Miki. All rights reserved. +# Licensed under the MIT license. See LICENSE file in the project root for details. +# +import cupy as cp +import numpy as np +import string + +from .fusion_manager import FusionBase + + +def sum_compact_kernel( + resolution, width, height, +): + # input the list of layers, amount of channels can slo be input through kernel + sum_compact_kernel = cp.ElementwiseKernel( + in_params="raw U p, raw U R, raw U t, raw W pcl_chan, raw W map_lay, raw W pcl_channels", + out_params=" raw U newmap", + preamble=string.Template( + """ + __device__ int get_map_idx(int idx, int layer_n) { + const int layer = ${width} * ${height}; + return layer * layer_n + idx; + } + """ + ).substitute(resolution=resolution, width=width, height=height), + operation=string.Template( + """ + U id = floorf(i/pcl_channels[1]); + int layer = i % pcl_channels[1]; + U idx = p[id * pcl_channels[0]]; + U valid = p[id * pcl_channels[0] + 1]; + U inside = p[id * pcl_channels[0] + 2]; + if (valid) { + if (inside) { + U feat = p[id * pcl_channels[0] + pcl_chan[layer]]; + atomicAdd(&newmap[get_map_idx(idx, layer)], feat); + } + } + """ + ).substitute(), + name="sum_compact_kernel", + ) + return sum_compact_kernel + + +def bayesian_inference_kernel( + width, height, +): + bayesian_inference_kernel = cp.ElementwiseKernel( + in_params=" raw W pcl_chan, raw W map_lay, raw W pcl_channels, raw U new_elmap", + out_params="raw U newmap, raw U sum_mean, raw U map", + preamble=string.Template( + """ + __device__ int get_map_idx(int idx, int layer_n) { + const int layer = ${width} * ${height}; + return layer * layer_n + idx; + } + """ + ).substitute(width=width, height=height), + operation=string.Template( + """ + U id = floorf(i/pcl_channels[1]); + int layer = i % pcl_channels[1]; + U cnt = new_elmap[get_map_idx(id, 2)]; + if (cnt>0){ + U feat_ml = sum_mean[get_map_idx(id, layer)]/cnt; + U feat_old = map[get_map_idx(id, map_lay[layer])]; + U sigma_old = newmap[get_map_idx(id, map_lay[layer])]; + U sigma = 1.0; + U feat_new = sigma*feat_old /(cnt*sigma_old + sigma) +cnt*sigma_old *feat_ml /(cnt*sigma_old+sigma); + U sigma_new = sigma*sigma_old /(cnt*sigma_old +sigma); + map[get_map_idx(id, map_lay[layer])] = feat_new; + newmap[get_map_idx(id, map_lay[layer])] = sigma_new; + } + """ + ).substitute(), + name="bayesian_inference_kernel", + ) + return bayesian_inference_kernel + + +class BayesianInference(FusionBase): + def __init__(self, params, *args, **kwargs): + # super().__init__(fusion_params, *args, **kwargs) + # print("Initialize bayesian inference kernel") + self.name = "pointcloud_bayesian_inference" + + self.cell_n = params.cell_n + self.resolution = params.resolution + self.fusion_algorithms = params.fusion_algorithms + self.data_type = params.data_type + + self.sum_mean = cp.ones( + (self.fusion_algorithms.count("bayesian_inference"), self.cell_n, self.cell_n,), self.data_type, + ) + # TODO initialize the variance with a value different than 0 + self.sum_compact_kernel = sum_compact_kernel(self.resolution, self.cell_n, self.cell_n,) + self.bayesian_inference_kernel = bayesian_inference_kernel(self.cell_n, self.cell_n,) + + def __call__(self, points_all, R, t, pcl_ids, layer_ids, elevation_map, semantic_map, new_map, *args): + self.sum_mean *= 0 + self.sum_compact_kernel( + points_all, + R, + t, + pcl_ids, + layer_ids, + cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=cp.int32), + self.sum_mean, + size=(points_all.shape[0]), + ) + self.bayesian_inference_kernel( + pcl_ids, + layer_ids, + cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=cp.int32), + elevation_map, + new_map, + self.sum_mean, + semantic_map, + size=(self.cell_n * self.cell_n), + ) diff --git a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/fusion/pointcloud_class_average.py b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/fusion/pointcloud_class_average.py new file mode 100644 index 00000000..80c96dc4 --- /dev/null +++ b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/fusion/pointcloud_class_average.py @@ -0,0 +1,126 @@ +# +# Copyright (c) 2023, Takahiro Miki. All rights reserved. +# Licensed under the MIT license. See LICENSE file in the project root for details. +# +import cupy as cp +import numpy as np +import string + +from .fusion_manager import FusionBase + + +def sum_kernel( + resolution, width, height, +): + """Sums the semantic values of the classes for the exponentiala verage or for the average. + + Args: + resolution: + width: + height: + + Returns: + + """ + # input the list of layers, amount of channels can slo be input through kernel + sum_kernel = cp.ElementwiseKernel( + in_params="raw U p, raw U R, raw U t, raw W pcl_chan, raw W map_lay, raw W pcl_channels", + out_params="raw U map, raw U newmap", + preamble=string.Template( + """ + __device__ int get_map_idx(int idx, int layer_n) { + const int layer = ${width} * ${height}; + return layer * layer_n + idx; + } + """ + ).substitute(resolution=resolution, width=width, height=height), + operation=string.Template( + """ + U id = floorf(i/pcl_channels[1]); + int layer = i % pcl_channels[1]; + U idx = p[id * pcl_channels[0]]; + U valid = p[id * pcl_channels[0] + 1]; + U inside = p[id * pcl_channels[0] + 2]; + if (valid) { + if (inside) { + U feat = p[id * pcl_channels[0] + pcl_chan[layer]]; + atomicAdd(&newmap[get_map_idx(idx, map_lay[layer])], feat); + } + } + """ + ).substitute(), + name="sum_kernel", + ) + return sum_kernel + + +def class_average_kernel( + width, height, alpha, +): + class_average_kernel = cp.ElementwiseKernel( + in_params="raw V newmap, raw W pcl_chan, raw W map_lay, raw W pcl_channels, raw U new_elmap", + out_params="raw U map", + preamble=string.Template( + """ + __device__ int get_map_idx(int idx, int layer_n) { + const int layer = ${width} * ${height}; + return layer * layer_n + idx; + } + """ + ).substitute(width=width, height=height), + operation=string.Template( + """ + U id = floorf(i/pcl_channels[1]); + int layer = i % pcl_channels[1]; + U cnt = new_elmap[get_map_idx(id, 2)]; + if (cnt>0){ + U prev_val = map[get_map_idx(id, map_lay[layer])]; + if (prev_val==0){ + U val = newmap[get_map_idx(id, map_lay[layer])]/(1*cnt); + map[get_map_idx(id, map_lay[layer])] = val; + } + else{ + U val = ${alpha} *prev_val + (1-${alpha}) * newmap[get_map_idx(id, map_lay[layer])]/(cnt); + map[get_map_idx(id, map_lay[layer])] = val; + } + } + """ + ).substitute(alpha=alpha,), + name="class_average_kernel", + ) + return class_average_kernel + + +class ClassAverage(FusionBase): + def __init__(self, params, *args, **kwargs): + # super().__init__(fusion_params, *args, **kwargs) + # print("Initialize fusion kernel") + self.name = "pointcloud_class_average" + self.cell_n = params.cell_n + self.resolution = params.resolution + self.average_weight = params.average_weight + + self.sum_kernel = sum_kernel(self.resolution, self.cell_n, self.cell_n,) + self.class_average_kernel = class_average_kernel(self.cell_n, self.cell_n, self.average_weight,) + + def __call__(self, points_all, R, t, pcl_ids, layer_ids, elevation_map, semantic_map, new_map, *args): + self.sum_kernel( + points_all, + R, + t, + pcl_ids, + layer_ids, + cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=cp.int32), + semantic_map, + new_map, + size=(points_all.shape[0] * pcl_ids.shape[0]), + ) + self.class_average_kernel( + new_map, + pcl_ids, + layer_ids, + cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=cp.int32), + elevation_map, + semantic_map, + size=(self.cell_n * self.cell_n * pcl_ids.shape[0]), + ) diff --git a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/fusion/pointcloud_class_bayesian.py b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/fusion/pointcloud_class_bayesian.py new file mode 100644 index 00000000..5fec3a7d --- /dev/null +++ b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/fusion/pointcloud_class_bayesian.py @@ -0,0 +1,75 @@ +# +# Copyright (c) 2023, Takahiro Miki. All rights reserved. +# Licensed under the MIT license. See LICENSE file in the project root for details. +# +import cupy as cp +import numpy as np +import string + +from .fusion_manager import FusionBase + + +def alpha_kernel( + resolution, width, height, +): + # input the list of layers, amount of channels can slo be input through kernel + alpha_kernel = cp.ElementwiseKernel( + in_params="raw U p, raw W pcl_chan, raw W map_lay, raw W pcl_channels", + out_params="raw U newmap", + preamble=string.Template( + """ + __device__ int get_map_idx(int idx, int layer_n) { + const int layer = ${width} * ${height}; + return layer * layer_n + idx; + } + """ + ).substitute(resolution=resolution, width=width, height=height), + operation=string.Template( + """ + U id = floorf(i/pcl_channels[1]); + int layer = i % pcl_channels[1]; + U idx = p[id * pcl_channels[0]]; + U valid = p[id * pcl_channels[0] + 1]; + U inside = p[id * pcl_channels[0] + 2]; + if (valid) { + if (inside) { + U theta_max = 0; + W arg_max = 0; + U theta = p[id * pcl_channels[0] + pcl_chan[layer]]; + if (theta >=theta_max){ + arg_max = map_lay[layer]; + theta_max = theta; + } + atomicAdd(&newmap[get_map_idx(idx, arg_max)], theta_max); + } + } + """ + ).substitute(), + name="alpha_kernel", + ) + return alpha_kernel + + +class ClassBayesian(FusionBase): + def __init__(self, params, *args, **kwargs): + # super().__init__(fusion_params, *args, **kwargs) + # print("Initialize fusion kernel") + self.name = "pointcloud_class_bayesian" + self.cell_n = params.cell_n + self.resolution = params.resolution + self.alpha_kernel = alpha_kernel(self.resolution, self.cell_n, self.cell_n,) + + def __call__(self, points_all, R, t, pcl_ids, layer_ids, elevation_map, semantic_map, new_map, *args): + self.alpha_kernel( + points_all, + pcl_ids, + layer_ids, + cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=cp.int32), + new_map, + size=(points_all.shape[0]), + ) + # calculate new thetas + sum_alpha = cp.sum(new_map[layer_ids], axis=0) + # do not divide by zero + sum_alpha[sum_alpha == 0] = 1 + semantic_map[layer_ids] = new_map[layer_ids] / cp.expand_dims(sum_alpha, axis=0) diff --git a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/fusion/pointcloud_class_max.py b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/fusion/pointcloud_class_max.py new file mode 100644 index 00000000..e506571d --- /dev/null +++ b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/fusion/pointcloud_class_max.py @@ -0,0 +1,123 @@ +# +# Copyright (c) 2023, Takahiro Miki. All rights reserved. +# Licensed under the MIT license. See LICENSE file in the project root for details. +# +import cupy as cp +import numpy as np +import string + +from .fusion_manager import FusionBase + + +def sum_max_kernel( + resolution, width, height, +): + # input the list of layers, amount of channels can slo be input through kernel + sum_max_kernel = cp.ElementwiseKernel( + in_params="raw U p, raw U max_pt, raw T max_id, raw W pcl_chan, raw W map_lay, raw W pcl_channels", + out_params=" raw U newmap", + preamble=string.Template( + """ + __device__ int get_map_idx(int idx, int layer_n) { + const int layer = ${width} * ${height}; + return layer * layer_n + idx; + } + """ + ).substitute(resolution=resolution, width=width, height=height), + operation=string.Template( + """ + U idx = p[i * pcl_channels[0]]; + U valid = p[i * pcl_channels[0] + 1]; + U inside = p[i * pcl_channels[0] + 2]; + if (valid) { + if (inside) { + // for every max value + for ( W it=0;it> 16; + return reds; + } + __device__ unsigned int get_g(unsigned int color){ + unsigned int green = 0xFF00; + unsigned int greens = (color & green) >> 8; + return greens; + } + __device__ unsigned int get_b(unsigned int color){ + unsigned int blue = 0xFF; + unsigned int blues = ( color & blue); + return blues; + } + """ + ).substitute(width=width, height=height), + operation=string.Template( + """ + U id = floorf(i/pcl_channels[1]); + int layer = i % pcl_channels[1]; + U idx = p[id * pcl_channels[0]]; + U valid = p[id * pcl_channels[0] + 1]; + U inside = p[id * pcl_channels[0] + 2]; + if (valid && inside){ + unsigned int color = __float_as_uint(p[id * pcl_channels[0] + pcl_chan[layer]]); + atomicAdd(&color_map[get_map_idx(idx, layer*3)], get_r(color)); + atomicAdd(&color_map[get_map_idx(idx, layer*3+1)], get_g(color)); + atomicAdd(&color_map[get_map_idx(idx, layer*3 + 2)], get_b(color)); + atomicAdd(&color_map[get_map_idx(idx, pcl_channels[1]*3)], 1); + } + """ + ).substitute(width=width), + name="add_color_kernel", + ) + return add_color_kernel + + +def color_average_kernel( + width, height, +): + color_average_kernel = cp.ElementwiseKernel( + in_params="raw V color_map, raw W pcl_chan, raw W map_lay, raw W pcl_channels", + out_params="raw U map", + preamble=string.Template( + """ + __device__ int get_map_idx(int idx, int layer_n) { + const int layer = ${width} * ${height}; + return layer * layer_n + idx; + } + __device__ unsigned int get_r(unsigned int color){ + unsigned int red = 0xFF0000; + unsigned int reds = (color & red) >> 16; + return reds; + } + __device__ unsigned int get_g(unsigned int color){ + unsigned int green = 0xFF00; + unsigned int greens = (color & green) >> 8; + return greens; + } + __device__ unsigned int get_b(unsigned int color){ + unsigned int blue = 0xFF; + unsigned int blues = (color & blue); + return blues; + } + """ + ).substitute(width=width, height=height), + operation=string.Template( + """ + U id = floorf(i/pcl_channels[1]); + int layer = i % pcl_channels[1]; + unsigned int cnt = color_map[get_map_idx(id, pcl_channels[1]*3)]; + if (cnt>0){ + // U prev_color = map[get_map_idx(id, map_lay[layer])]; + unsigned int r = color_map[get_map_idx(id, layer*3)]/(1*cnt); + unsigned int g = color_map[get_map_idx(id, layer*3+1)]/(1*cnt); + unsigned int b = color_map[get_map_idx(id, layer*3+2)]/(1*cnt); + //if (prev_color>=0){ + // unsigned int prev_r = get_r(prev_color); + // unsigned int prev_g = get_g(prev_color); + // unsigned int prev_b = get_b(prev_color); + // unsigned int r = prev_r/2 + color_map[get_map_idx(i, layer*3)]/(2*cnt); + // unsigned int g = prev_g/2 + color_map[get_map_idx(i, layer*3+1)]/(2*cnt); + // unsigned int b = prev_b/2 + color_map[get_map_idx(i, layer*3+2)]/(2*cnt); + //} + unsigned int rgb = (r<<16) + (g << 8) + b; + float rgb_ = __uint_as_float(rgb); + map[get_map_idx(id, map_lay[layer])] = rgb_; + } + """ + ).substitute(), + name="color_average_kernel", + ) + return color_average_kernel + + +class Color(FusionBase): + def __init__(self, params, *args, **kwargs): + # super().__init__(fusion_params, *args, **kwargs) + # print("Initialize fusion kernel") + self.name = "pointcloud_color" + self.cell_n = params.cell_n + self.resolution = params.resolution + + self.add_color_kernel = add_color_kernel(params.cell_n, params.cell_n,) + self.color_average_kernel = color_average_kernel(self.cell_n, self.cell_n) + + def __call__(self, points_all, R, t, pcl_ids, layer_ids, elevation_map, semantic_map, new_map, *args): + self.color_map = cp.zeros((1 + 3 * layer_ids.shape[0], self.cell_n, self.cell_n), dtype=cp.uint32,) + + points_all = points_all.astype(cp.float32) + self.add_color_kernel( + points_all, + R, + t, + pcl_ids, + layer_ids, + cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=cp.int32), + self.color_map, + size=(points_all.shape[0]), + ) + self.color_average_kernel( + self.color_map, + pcl_ids, + layer_ids, + cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=cp.int32), + semantic_map, + size=(self.cell_n * self.cell_n), + ) diff --git a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/kernels/__init__.py b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/kernels/__init__.py new file mode 100644 index 00000000..06eecc38 --- /dev/null +++ b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/kernels/__init__.py @@ -0,0 +1,3 @@ +from .custom_image_kernels import * +from .custom_kernels import * +from .custom_semantic_kernels import * diff --git a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/kernels/custom_image_kernels.py b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/kernels/custom_image_kernels.py new file mode 100644 index 00000000..a020ba2e --- /dev/null +++ b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/kernels/custom_image_kernels.py @@ -0,0 +1,271 @@ +# +# Copyright (c) 2023, Takahiro Miki. All rights reserved. +# Licensed under the MIT license. See LICENSE file in the project root for details. +# +import cupy as cp +import string + + +def image_to_map_correspondence_kernel(resolution, width, height, tolerance_z_collision): + """ + This function calculates the correspondence between the image and the map. + It takes in the resolution, width, height, and tolerance_z_collision as parameters. + The function returns a kernel that can be used to perform the correspondence calculation. + """ + _image_to_map_correspondence_kernel = cp.ElementwiseKernel( + in_params="raw U map, raw U x1, raw U y1, raw U z1, raw U P, raw U K, raw U D, raw U image_height, raw U image_width, raw U center", + out_params="raw U uv_correspondence, raw B valid_correspondence", + preamble=string.Template( + """ + __device__ int get_map_idx(int idx, int layer_n) { + const int layer = ${width} * ${height}; + return layer * layer_n + idx; + } + __device__ bool is_inside_map(int x, int y) { + return (x >= 0 && y >= 0 && x<${width} && y<${height}); + } + __device__ float get_l2_distance(int x0, int y0, int x1, int y1) { + float dx = x0-x1; + float dy = y0-y1; + return sqrt( dx*dx + dy*dy); + } + """ + ).substitute(width=width, height=height, resolution=resolution), + operation=string.Template( + """ + int cell_idx = get_map_idx(i, 0); + + // return if gridcell has no valid height + if (map[get_map_idx(i, 2)] != 1){ + return; + } + + // get current cell position + int y0 = i % ${width}; + int x0 = i / ${width}; + + // gridcell 3D point in worldframe TODO reverse x and y + float p1 = (x0-(${width}/2)) * ${resolution} + center[0]; + float p2 = (y0-(${height}/2)) * ${resolution} + center[1]; + float p3 = map[cell_idx] + center[2]; + + // reproject 3D point into image plane + float u = p1 * P[0] + p2 * P[1] + p3 * P[2] + P[3]; + float v = p1 * P[4] + p2 * P[5] + p3 * P[6] + P[7]; + float d = p1 * P[8] + p2 * P[9] + p3 * P[10] + P[11]; + + // filter point behind image plane + if (d <= 0) { + return; + } + u = u/d; + v = v/d; + + // Check if D is all zeros + bool is_D_zero = (D[0] == 0 && D[1] == 0 && D[2] == 0 && D[3] == 0 && D[4] == 0); + + // Apply undistortion using distortion matrix D if not all zeros + if (!is_D_zero) { + float k1 = D[0]; + float k2 = D[1]; + float p1 = D[2]; + float p2 = D[3]; + float k3 = D[4]; + float fx = K[0]; + float fy = K[4]; + float cx = K[2]; + float cy = K[5]; + float x = (u - cx) / fx; + float y = (v - cy) / fy; + float r2 = x * x + y * y; + float radial_distortion = 1 + k1 * r2 + k2 * r2 * r2 + k3 * r2 * r2 * r2; + float u_corrected = x * radial_distortion + 2 * p1 * x * y + p2 * (r2 + 2 * x * x); + float v_corrected = y * radial_distortion + 2 * p2 * x * y + p1 * (r2 + 2 * y * y); + u = fx * u_corrected + cx; + v = fy * v_corrected + cy; + } + + // filter point next to image plane + if ((u < 0) || (v < 0) || (u >= image_width) || (v >= image_height)){ + return; + } + + int y0_c = y0; + int x0_c = x0; + float total_dis = get_l2_distance(x0_c, y0_c, x1,y1); + float z0 = map[cell_idx]; + float delta_z = z1-z0; + + + // bresenham algorithm to iterate over cells in line between camera center and current gridmap cell + // https://en.wikipedia.org/wiki/Bresenham%27s_line_algorithm + int dx = abs(x1-x0); + int sx = x0 < x1 ? 1 : -1; + int dy = -abs(y1 - y0); + int sy = y0 < y1 ? 1 : -1; + int error = dx + dy; + + bool is_valid = true; + + // iterate over all cells along line + while (1){ + // assumption we do not need to check the height for camera center cell + if (x0 == x1 && y0 == y1){ + break; + } + + // check if height is invalid + if (is_inside_map(x0,y0)){ + int idx = y0 + (x0 * ${width}); + if (map[get_map_idx(idx, 2)]){ + float dis = get_l2_distance(x0_c, y0_c, x0, y0); + float rayheight = z0 + ( dis / total_dis * delta_z); + if ( map[idx] - ${tolerance_z_collision} > rayheight){ + is_valid = false; + break; + } + } + } + + + // computation of next gridcell index in line + int e2 = 2 * error; + if (e2 >= dy){ + if(x0 == x1){ + break; + } + error = error + dy; + x0 = x0 + sx; + } + if (e2 <= dx){ + if (y0 == y1){ + break; + } + error = error + dx; + y0 = y0 + sy; + } + } + + // mark the correspondence + uv_correspondence[get_map_idx(i, 0)] = u; + uv_correspondence[get_map_idx(i, 1)] = v; + valid_correspondence[get_map_idx(i, 0)] = is_valid; + """ + ).substitute(height=height, width=width, resolution=resolution, tolerance_z_collision=tolerance_z_collision), + name="image_to_map_correspondence_kernel", + ) + return _image_to_map_correspondence_kernel + + +def average_correspondences_to_map_kernel(width, height): + """ + This function calculates the average correspondences to the map. + It takes in the width and height as parameters. + The function returns a kernel that can be used to perform the correspondence calculation. + """ + _average_correspondences_to_map_kernel = cp.ElementwiseKernel( + in_params="raw U sem_map, raw U map_idx, raw U image_mono, raw U uv_correspondence, raw B valid_correspondence, raw U image_height, raw U image_width", + out_params="raw U new_sem_map", + preamble=string.Template( + """ + __device__ int get_map_idx(int idx, int layer_n) { + const int layer = ${width} * ${height}; + return layer * layer_n + idx; + } + """ + ).substitute(width=width, height=height), + operation=string.Template( + """ + int cell_idx = get_map_idx(i, 0); + if (valid_correspondence[cell_idx]){ + int cell_idx_2 = get_map_idx(i, 1); + int idx = int(uv_correspondence[cell_idx]) + int(uv_correspondence[cell_idx_2]) * image_width; + new_sem_map[get_map_idx(i, map_idx)] = image_mono[idx]; + }else{ + new_sem_map[get_map_idx(i, map_idx)] = sem_map[get_map_idx(i, map_idx)]; + } + + """ + ).substitute(), + name="average_correspondences_to_map_kernel", + ) + return _average_correspondences_to_map_kernel + + +def exponential_correspondences_to_map_kernel(width, height, alpha): + """ + This function calculates the exponential correspondences to the map. + It takes in the width, height, and alpha as parameters. + The function returns a kernel that can be used to perform the correspondence calculation. + """ + _exponential_correspondences_to_map_kernel = cp.ElementwiseKernel( + in_params="raw U sem_map, raw U map_idx, raw U image_mono, raw U uv_correspondence, raw B valid_correspondence, raw U image_height, raw U image_width", + out_params="raw U new_sem_map", + preamble=string.Template( + """ + __device__ int get_map_idx(int idx, int layer_n) { + const int layer = ${width} * ${height}; + return layer * layer_n + idx; + } + """ + ).substitute(width=width, height=height), + operation=string.Template( + """ + int cell_idx = get_map_idx(i, 0); + if (valid_correspondence[cell_idx]){ + int cell_idx_2 = get_map_idx(i, 1); + int idx = int(uv_correspondence[cell_idx]) + int(uv_correspondence[cell_idx_2]) * image_width; + new_sem_map[get_map_idx(i, map_idx)] = sem_map[get_map_idx(i, map_idx)] * (1-${alpha}) + ${alpha} * image_mono[idx]; + }else{ + new_sem_map[get_map_idx(i, map_idx)] = sem_map[get_map_idx(i, map_idx)]; + } + + """ + ).substitute(alpha=alpha), + name="exponential_correspondences_to_map_kernel", + ) + return _exponential_correspondences_to_map_kernel + + +def color_correspondences_to_map_kernel(width, height): + """ + This function calculates the color correspondences to the map. + It takes in the width and height as parameters. + The function returns a kernel that can be used to perform the correspondence calculation. + """ + _color_correspondences_to_map_kernel = cp.ElementwiseKernel( + in_params="raw U sem_map, raw U map_idx, raw U image_rgb, raw U uv_correspondence, raw B valid_correspondence, raw U image_height, raw U image_width", + out_params="raw U new_sem_map", + preamble=string.Template( + """ + __device__ int get_map_idx(int idx, int layer_n) { + const int layer = ${width} * ${height}; + return layer * layer_n + idx; + } + """ + ).substitute(width=width, height=height), + operation=string.Template( + """ + int cell_idx = get_map_idx(i, 0); + if (valid_correspondence[cell_idx]){ + int cell_idx_2 = get_map_idx(i, 1); + + int idx_red = int(uv_correspondence[cell_idx]) + int(uv_correspondence[cell_idx_2]) * image_width; + int idx_green = image_width * image_height + idx_red; + int idx_blue = image_width * image_height * 2 + idx_red; + + unsigned int r = image_rgb[idx_red]; + unsigned int g = image_rgb[idx_green]; + unsigned int b = image_rgb[idx_blue]; + + unsigned int rgb = (r<<16) + (g << 8) + b; + float rgb_ = __uint_as_float(rgb); + new_sem_map[get_map_idx(i, map_idx)] = rgb_; + }else{ + new_sem_map[get_map_idx(i, map_idx)] = sem_map[get_map_idx(i, map_idx)]; + } + """ + ).substitute(), + name="color_correspondences_to_map_kernel", + ) + return _color_correspondences_to_map_kernel diff --git a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/kernels/custom_kernels.py b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/kernels/custom_kernels.py new file mode 100644 index 00000000..d7025270 --- /dev/null +++ b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/kernels/custom_kernels.py @@ -0,0 +1,685 @@ +# +# Copyright (c) 2022, Takahiro Miki. All rights reserved. +# Licensed under the MIT license. See LICENSE file in the project root for details. +# +import cupy as cp +import string + + +def map_utils( + resolution, + width, + height, + sensor_noise_factor, + min_valid_distance, + max_height_range, + ramped_height_range_a, + ramped_height_range_b, + ramped_height_range_c, +): + util_preamble = string.Template( + """ + __device__ float16 clamp(float16 x, float16 min_x, float16 max_x) { + + return max(min(x, max_x), min_x); + } + __device__ int get_x_idx(float16 x, float16 center) { + int i = (x - center) / ${resolution} + 0.5 * ${width}; + return i; + } + __device__ int get_y_idx(float16 y, float16 center) { + int i = (y - center) / ${resolution} + 0.5 * ${height}; + return i; + } + __device__ bool is_inside(int idx) { + int idx_x = idx / ${width}; + int idx_y = idx % ${width}; + if (idx_x == 0 || idx_x == ${width} - 1) { + return false; + } + if (idx_y == 0 || idx_y == ${height} - 1) { + return false; + } + return true; + } + __device__ int get_idx(float16 x, float16 y, float16 center_x, float16 center_y) { + int idx_x = clamp(get_x_idx(x, center_x), 0, ${width} - 1); + int idx_y = clamp(get_y_idx(y, center_y), 0, ${height} - 1); + return ${width} * idx_x + idx_y; + } + __device__ int get_map_idx(int idx, int layer_n) { + const int layer = ${width} * ${height}; + return layer * layer_n + idx; + } + __device__ float transform_p(float16 x, float16 y, float16 z, + float16 r0, float16 r1, float16 r2, float16 t) { + return r0 * x + r1 * y + r2 * z + t; + } + __device__ float z_noise(float16 z){ + return ${sensor_noise_factor} * z * z; + } + + __device__ float point_sensor_distance(float16 x, float16 y, float16 z, + float16 sx, float16 sy, float16 sz) { + float d = (x - sx) * (x - sx) + (y - sy) * (y - sy) + (z - sz) * (z - sz); + return d; + } + + __device__ bool is_valid(float16 x, float16 y, float16 z, + float16 sx, float16 sy, float16 sz) { + float d = point_sensor_distance(x, y, z, sx, sy, sz); + float dxy = max(sqrt(x * x + y * y) - ${ramped_height_range_b}, 0.0); + if (d < ${min_valid_distance} * ${min_valid_distance}) { + return false; + } + else if (z - sz > dxy * ${ramped_height_range_a} + ${ramped_height_range_c} || z - sz > ${max_height_range}) { + return false; + } + else { + return true; + } + } + + __device__ float ray_vector(float16 tx, float16 ty, float16 tz, + float16 px, float16 py, float16 pz, + float16& rx, float16& ry, float16& rz){ + float16 vx = px - tx; + float16 vy = py - ty; + float16 vz = pz - tz; + float16 norm = sqrt(vx * vx + vy * vy + vz * vz); + if (norm > 0) { + rx = vx / norm; + ry = vy / norm; + rz = vz / norm; + } + else { + rx = 0; + ry = 0; + rz = 0; + } + return norm; + } + + __device__ float inner_product(float16 x1, float16 y1, float16 z1, + float16 x2, float16 y2, float16 z2) { + + float product = (x1 * x2 + y1 * y2 + z1 * z2); + return product; + } + + """ + ).substitute( + resolution=resolution, + width=width, + height=height, + sensor_noise_factor=sensor_noise_factor, + min_valid_distance=min_valid_distance, + max_height_range=max_height_range, + ramped_height_range_a=ramped_height_range_a, + ramped_height_range_b=ramped_height_range_b, + ramped_height_range_c=ramped_height_range_c, + ) + return util_preamble + + +def add_points_kernel( + resolution, + width, + height, + sensor_noise_factor, + mahalanobis_thresh, + outlier_variance, + wall_num_thresh, + max_ray_length, + cleanup_step, + min_valid_distance, + max_height_range, + cleanup_cos_thresh, + ramped_height_range_a, + ramped_height_range_b, + ramped_height_range_c, + enable_edge_shaped=True, + enable_visibility_cleanup=True, +): + add_points_kernel = cp.ElementwiseKernel( + in_params="raw U center_x, raw U center_y, raw U R, raw U t, raw U norm_map", + out_params="raw U p, raw U map, raw T newmap", + preamble=map_utils( + resolution, + width, + height, + sensor_noise_factor, + min_valid_distance, + max_height_range, + ramped_height_range_a, + ramped_height_range_b, + ramped_height_range_c, + ), + operation=string.Template( + """ + U rx = p[i * 3]; + U ry = p[i * 3 + 1]; + U rz = p[i * 3 + 2]; + U x = transform_p(rx, ry, rz, R[0], R[1], R[2], t[0]); + U y = transform_p(rx, ry, rz, R[3], R[4], R[5], t[1]); + U z = transform_p(rx, ry, rz, R[6], R[7], R[8], t[2]); + U v = z_noise(rz); + int idx = get_idx(x, y, center_x[0], center_y[0]); + if (is_valid(x, y, z, t[0], t[1], t[2])) { + if (is_inside(idx)) { + U map_h = map[get_map_idx(idx, 0)]; + U map_v = map[get_map_idx(idx, 1)]; + U num_points = newmap[get_map_idx(idx, 4)]; + if (abs(map_h - z) > (map_v * ${mahalanobis_thresh})) { + atomicAdd(&map[get_map_idx(idx, 1)], ${outlier_variance}); + } + else { + if (${enable_edge_shaped} && (num_points > ${wall_num_thresh}) && (z < map_h - map_v * ${mahalanobis_thresh} / num_points)) { + // continue; + } + else { + T new_h = (map_h * v + z * map_v) / (map_v + v); + T new_v = (map_v * v) / (map_v + v); + atomicAdd(&newmap[get_map_idx(idx, 0)], new_h); + atomicAdd(&newmap[get_map_idx(idx, 1)], new_v); + atomicAdd(&newmap[get_map_idx(idx, 2)], 1.0); + // is Valid + map[get_map_idx(idx, 2)] = 1; + // Time layer + map[get_map_idx(idx, 4)] = 0.0; + // Upper bound + map[get_map_idx(idx, 5)] = new_h; + map[get_map_idx(idx, 6)] = 0.0; + } + // visibility cleanup + } + } + } + if (${enable_visibility_cleanup}) { + float16 ray_x, ray_y, ray_z; + float16 ray_length = ray_vector(t[0], t[1], t[2], x, y, z, ray_x, ray_y, ray_z); + ray_length = min(ray_length, (float16)${max_ray_length}); + int last_nidx = -1; + for (float16 s=${ray_step}; s < ray_length; s+=${ray_step}) { + // iterate through ray + U nx = t[0] + ray_x * s; + U ny = t[1] + ray_y * s; + U nz = t[2] + ray_z * s; + int nidx = get_idx(nx, ny, center_x[0], center_y[0]); + if (last_nidx == nidx) {continue;} // Skip if we're still in the same cell + else {last_nidx = nidx;} + if (!is_inside(nidx)) {continue;} + + U nmap_h = map[get_map_idx(nidx, 0)]; + U nmap_v = map[get_map_idx(nidx, 1)]; + U nmap_valid = map[get_map_idx(nidx, 2)]; + // traversability + U nmap_trav = map[get_map_idx(nidx, 3)]; + // Time layer + U non_updated_t = map[get_map_idx(nidx, 4)]; + // upper bound + U nmap_upper = map[get_map_idx(nidx, 5)]; + U nmap_is_upper = map[get_map_idx(nidx, 6)]; + + // If point is close or is farther away than ray length, skip. + float16 d = (x - nx) * (x - nx) + (y - ny) * (y - ny) + (z - nz) * (z - nz); + if (d < 0.1 || !is_valid(x, y, z, t[0], t[1], t[2])) {continue;} + + // If invalid, do upper bound check, then skip + if (nmap_valid < 0.5) { + if (nz < nmap_upper || nmap_is_upper < 0.5) { + map[get_map_idx(nidx, 5)] = nz; + map[get_map_idx(nidx, 6)] = 1.0f; + } + continue; + } + // If updated recently, skip + if (non_updated_t < 0.5) {continue;} + + if (nmap_h > nz + 0.01 - min(nmap_v, 1.0) * 0.05) { + // If ray and norm is vertical, skip + U norm_x = norm_map[get_map_idx(nidx, 0)]; + U norm_y = norm_map[get_map_idx(nidx, 1)]; + U norm_z = norm_map[get_map_idx(nidx, 2)]; + float product = inner_product(ray_x, ray_y, ray_z, norm_x, norm_y, norm_z); + if (fabs(product) < ${cleanup_cos_thresh}) {continue;} + U num_points = newmap[get_map_idx(nidx, 3)]; + if (num_points > ${wall_num_thresh} && non_updated_t < 1.0) {continue;} + + // Finally, this cell is penetrated by the ray. + atomicAdd(&map[get_map_idx(nidx, 2)], -${cleanup_step}/(ray_length / ${max_ray_length})); + atomicAdd(&map[get_map_idx(nidx, 1)], ${outlier_variance}); + // Do upper bound check. + if (nz < nmap_upper || nmap_is_upper < 0.5) { + map[get_map_idx(nidx, 5)] = nz; + map[get_map_idx(nidx, 6)] = 1.0f; + } + } + } + } + p[i * 3]= idx; + p[i * 3 + 1] = is_valid(x, y, z, t[0], t[1], t[2]); + p[i * 3 + 2] = is_inside(idx); + """ + ).substitute( + mahalanobis_thresh=mahalanobis_thresh, + outlier_variance=outlier_variance, + wall_num_thresh=wall_num_thresh, + ray_step=resolution / 2 ** 0.5, + max_ray_length=max_ray_length, + cleanup_step=cleanup_step, + cleanup_cos_thresh=cleanup_cos_thresh, + enable_edge_shaped=int(enable_edge_shaped), + enable_visibility_cleanup=int(enable_visibility_cleanup), + ), + name="add_points_kernel", + ) + return add_points_kernel + + +def error_counting_kernel( + resolution, + width, + height, + sensor_noise_factor, + mahalanobis_thresh, + outlier_variance, + traversability_inlier, + min_valid_distance, + max_height_range, + ramped_height_range_a, + ramped_height_range_b, + ramped_height_range_c, +): + error_counting_kernel = cp.ElementwiseKernel( + in_params="raw U map, raw U p, raw U center_x, raw U center_y, raw U R, raw U t", + out_params="raw U newmap, raw T error, raw T error_cnt", + preamble=map_utils( + resolution, + width, + height, + sensor_noise_factor, + min_valid_distance, + max_height_range, + ramped_height_range_a, + ramped_height_range_b, + ramped_height_range_c, + ), + operation=string.Template( + """ + U rx = p[i * 3]; + U ry = p[i * 3 + 1]; + U rz = p[i * 3 + 2]; + U x = transform_p(rx, ry, rz, R[0], R[1], R[2], t[0]); + U y = transform_p(rx, ry, rz, R[3], R[4], R[5], t[1]); + U z = transform_p(rx, ry, rz, R[6], R[7], R[8], t[2]); + U v = z_noise(rz); + // if (!is_valid(z, t[2])) {return;} + if (!is_valid(x, y, z, t[0], t[1], t[2])) {return;} + // if ((x - t[0]) * (x - t[0]) + (y - t[1]) * (y - t[1]) + (z - t[2]) * (z - t[2]) < 0.5) {return;} + int idx = get_idx(x, y, center_x[0], center_y[0]); + if (!is_inside(idx)) { + return; + } + U map_h = map[get_map_idx(idx, 0)]; + U map_v = map[get_map_idx(idx, 1)]; + U map_valid = map[get_map_idx(idx, 2)]; + U map_t = map[get_map_idx(idx, 3)]; + if (map_valid > 0.5 && (abs(map_h - z) < (map_v * ${mahalanobis_thresh})) + && map_v < ${outlier_variance} / 2.0 + && map_t > ${traversability_inlier}) { + T e = z - map_h; + atomicAdd(&error[0], e); + atomicAdd(&error_cnt[0], 1); + atomicAdd(&newmap[get_map_idx(idx, 3)], 1.0); + } + atomicAdd(&newmap[get_map_idx(idx, 4)], 1.0); + """ + ).substitute( + mahalanobis_thresh=mahalanobis_thresh, + outlier_variance=outlier_variance, + traversability_inlier=traversability_inlier, + ), + name="error_counting_kernel", + ) + return error_counting_kernel + + +def average_map_kernel(width, height, max_variance, initial_variance): + average_map_kernel = cp.ElementwiseKernel( + in_params="raw U newmap", + out_params="raw U map", + preamble=string.Template( + """ + __device__ int get_map_idx(int idx, int layer_n) { + const int layer = ${width} * ${height}; + return layer * layer_n + idx; + } + """ + ).substitute(width=width, height=height), + operation=string.Template( + """ + U h = map[get_map_idx(i, 0)]; + U v = map[get_map_idx(i, 1)]; + U valid = map[get_map_idx(i, 2)]; + U new_h = newmap[get_map_idx(i, 0)]; + U new_v = newmap[get_map_idx(i, 1)]; + U new_cnt = newmap[get_map_idx(i, 2)]; + if (new_cnt > 0) { + if (new_v / new_cnt > ${max_variance}) { + map[get_map_idx(i, 0)] = 0; + map[get_map_idx(i, 1)] = ${initial_variance}; + map[get_map_idx(i, 2)] = 0; + } + else { + map[get_map_idx(i, 0)] = new_h / new_cnt; + map[get_map_idx(i, 1)] = new_v / new_cnt; + map[get_map_idx(i, 2)] = 1; + } + } + if (valid < 0.5) { + map[get_map_idx(i, 0)] = 0; + map[get_map_idx(i, 1)] = ${initial_variance}; + map[get_map_idx(i, 2)] = 0; + } + """ + ).substitute(max_variance=max_variance, initial_variance=initial_variance), + name="average_map_kernel", + ) + return average_map_kernel + + +def dilation_filter_kernel(width, height, dilation_size): + dilation_filter_kernel = cp.ElementwiseKernel( + in_params="raw U map, raw U mask", + out_params="raw U newmap, raw U newmask", + preamble=string.Template( + """ + __device__ int get_map_idx(int idx, int layer_n) { + const int layer = ${width} * ${height}; + return layer * layer_n + idx; + } + + __device__ int get_relative_map_idx(int idx, int dx, int dy, int layer_n) { + const int layer = ${width} * ${height}; + const int relative_idx = idx + ${width} * dy + dx; + return layer * layer_n + relative_idx; + } + __device__ bool is_inside(int idx) { + int idx_x = idx / ${width}; + int idx_y = idx % ${width}; + if (idx_x <= 0 || idx_x >= ${width} - 1) { + return false; + } + if (idx_y <= 0 || idx_y >= ${height} - 1) { + return false; + } + return true; + } + """ + ).substitute(width=width, height=height), + operation=string.Template( + """ + U h = map[get_map_idx(i, 0)]; + U valid = mask[get_map_idx(i, 0)]; + newmap[get_map_idx(i, 0)] = h; + if (valid < 0.5) { + U distance = 100; + U near_value = 0; + for (int dy = -${dilation_size}; dy <= ${dilation_size}; dy++) { + for (int dx = -${dilation_size}; dx <= ${dilation_size}; dx++) { + int idx = get_relative_map_idx(i, dx, dy, 0); + if (!is_inside(idx)) {continue;} + U valid = mask[idx]; + if(valid > 0.5 && dx + dy < distance) { + distance = dx + dy; + near_value = map[idx]; + } + } + } + if(distance < 100) { + newmap[get_map_idx(i, 0)] = near_value; + newmask[get_map_idx(i, 0)] = 1.0; + } + } + """ + ).substitute(dilation_size=dilation_size), + name="dilation_filter_kernel", + ) + return dilation_filter_kernel + + +def normal_filter_kernel(width, height, resolution): + normal_filter_kernel = cp.ElementwiseKernel( + in_params="raw U map, raw U mask", + out_params="raw U newmap", + preamble=string.Template( + """ + __device__ int get_map_idx(int idx, int layer_n) { + const int layer = ${width} * ${height}; + return layer * layer_n + idx; + } + + __device__ int get_relative_map_idx(int idx, int dx, int dy, int layer_n) { + const int layer = ${width} * ${height}; + const int relative_idx = idx + ${width} * dy + dx; + return layer * layer_n + relative_idx; + } + __device__ bool is_inside(int idx) { + int idx_x = idx / ${width}; + int idx_y = idx % ${width}; + if (idx_x <= 0 || idx_x >= ${width} - 1) { + return false; + } + if (idx_y <= 0 || idx_y >= ${height} - 1) { + return false; + } + return true; + } + __device__ float resolution() { + return ${resolution}; + } + """ + ).substitute(width=width, height=height, resolution=resolution), + operation=string.Template( + """ + U h = map[get_map_idx(i, 0)]; + U valid = mask[get_map_idx(i, 0)]; + if (valid > 0.5) { + int idx_x = get_relative_map_idx(i, 1, 0, 0); + int idx_y = get_relative_map_idx(i, 0, 1, 0); + if (!is_inside(idx_x) || !is_inside(idx_y)) { return; } + float dzdx = (map[idx_x] - h); + float dzdy = (map[idx_y] - h); + float nx = -dzdy / resolution(); + float ny = -dzdx / resolution(); + float nz = 1; + float norm = sqrt((nx * nx) + (ny * ny) + 1); + newmap[get_map_idx(i, 0)] = nx / norm; + newmap[get_map_idx(i, 1)] = ny / norm; + newmap[get_map_idx(i, 2)] = nz / norm; + } + """ + ).substitute(), + name="normal_filter_kernel", + ) + return normal_filter_kernel + + +def polygon_mask_kernel(width, height, resolution): + polygon_mask_kernel = cp.ElementwiseKernel( + in_params="raw U polygon, raw U center_x, raw U center_y, raw int16 polygon_n, raw U polygon_bbox", + out_params="raw U mask", + preamble=string.Template( + """ + __device__ struct Point + { + int x; + int y; + }; + // Given three colinear points p, q, r, the function checks if + // point q lies on line segment 'pr' + __device__ bool onSegment(Point p, Point q, Point r) + { + if (q.x <= max(p.x, r.x) && q.x >= min(p.x, r.x) && + q.y <= max(p.y, r.y) && q.y >= min(p.y, r.y)) + return true; + return false; + } + // To find orientation of ordered triplet (p, q, r). + // The function returns following values + // 0 --> p, q and r are colinear + // 1 --> Clockwise + // 2 --> Counterclockwise + __device__ int orientation(Point p, Point q, Point r) + { + int val = (q.y - p.y) * (r.x - q.x) - + (q.x - p.x) * (r.y - q.y); + if (val == 0) return 0; // colinear + return (val > 0)? 1: 2; // clock or counterclock wise + } + // The function that returns true if line segment 'p1q1' + // and 'p2q2' intersect. + __device__ bool doIntersect(Point p1, Point q1, Point p2, Point q2) + { + // Find the four orientations needed for general and + // special cases + int o1 = orientation(p1, q1, p2); + int o2 = orientation(p1, q1, q2); + int o3 = orientation(p2, q2, p1); + int o4 = orientation(p2, q2, q1); + // General case + if (o1 != o2 && o3 != o4) + return true; + // Special Cases + // p1, q1 and p2 are colinear and p2 lies on segment p1q1 + if (o1 == 0 && onSegment(p1, p2, q1)) return true; + // p1, q1 and p2 are colinear and q2 lies on segment p1q1 + if (o2 == 0 && onSegment(p1, q2, q1)) return true; + // p2, q2 and p1 are colinear and p1 lies on segment p2q2 + if (o3 == 0 && onSegment(p2, p1, q2)) return true; + // p2, q2 and q1 are colinear and q1 lies on segment p2q2 + if (o4 == 0 && onSegment(p2, q1, q2)) return true; + return false; // Doesn't fall in any of the above cases + } + __device__ int get_map_idx(int idx, int layer_n) { + const int layer = ${width} * ${height}; + return layer * layer_n + idx; + } + + __device__ int get_idx_x(int idx){ + int idx_x = idx / ${width}; + return idx_x; + } + + __device__ int get_idx_y(int idx){ + int idx_y = idx % ${width}; + return idx_y; + } + + __device__ float16 clamp(float16 x, float16 min_x, float16 max_x) { + + return max(min(x, max_x), min_x); + } + __device__ float16 round(float16 x) { + return (int)x + (int)(2 * (x - (int)x)); + } + __device__ int get_x_idx(float16 x, float16 center) { + const float resolution = ${resolution}; + const float width = ${width}; + int i = (x - center) / resolution + 0.5 * width; + return i; + } + __device__ int get_y_idx(float16 y, float16 center) { + const float resolution = ${resolution}; + const float height = ${height}; + int i = (y - center) / resolution + 0.5 * height; + return i; + } + __device__ int get_idx(float16 x, float16 y, float16 center_x, float16 center_y) { + int idx_x = clamp(get_x_idx(x, center_x), 0, ${width} - 1); + int idx_y = clamp(get_y_idx(y, center_y), 0, ${height} - 1); + return ${width} * idx_x + idx_y; + } + + """ + ).substitute(width=width, height=height, resolution=resolution), + operation=string.Template( + """ + // Point p = {get_idx_x(i, center_x[0]), get_idx_y(i, center_y[0])}; + Point p = {get_idx_x(i), get_idx_y(i)}; + Point extreme = {100000, p.y}; + int bbox_min_idx = get_idx(polygon_bbox[0], polygon_bbox[1], center_x[0], center_y[0]); + int bbox_max_idx = get_idx(polygon_bbox[2], polygon_bbox[3], center_x[0], center_y[0]); + Point bmin = {get_idx_x(bbox_min_idx), get_idx_y(bbox_min_idx)}; + Point bmax = {get_idx_x(bbox_max_idx), get_idx_y(bbox_max_idx)}; + if (p.x < bmin.x || p.x > bmax.x || p.y < bmin.y || p.y > bmax.y){ + mask[i] = 0; + return; + } + else { + int intersect_cnt = 0; + for (int j = 0; j < polygon_n[0]; j++) { + Point p1, p2; + int i1 = get_idx(polygon[j * 2 + 0], polygon[j * 2 + 1], center_x[0], center_y[0]); + p1.x = get_idx_x(i1); + p1.y = get_idx_y(i1); + int j2 = (j + 1) % polygon_n[0]; + int i2 = get_idx(polygon[j2 * 2 + 0], polygon[j2 * 2 + 1], center_x[0], center_y[0]); + p2.x = get_idx_x(i2); + p2.y = get_idx_y(i2); + if (doIntersect(p1, p2, p, extreme)) + { + // If the point 'p' is colinear with line segment 'i-next', + // then check if it lies on segment. If it lies, return true, + // otherwise false + if (orientation(p1, p, p2) == 0) { + if (onSegment(p1, p, p2)){ + mask[i] = 1; + return; + } + } + else if(((p1.y <= p.y) && (p2.y > p.y)) || ((p1.y > p.y) && (p2.y <= p.y))){ + intersect_cnt++; + } + } + } + if (intersect_cnt % 2 == 0) { mask[i] = 0; } + else { mask[i] = 1; } + } + """ + ).substitute(a=1), + name="polygon_mask_kernel", + ) + return polygon_mask_kernel + + +if __name__ == "__main__": + for i in range(10): + import random + + a = cp.zeros((100, 100)) + n = random.randint(3, 5) + + # polygon = cp.array([[-1, -1], [3, 4], [2, 4], [1, 3]], dtype=float) + polygon = cp.array( + [[(random.random() - 0.5) * 10, (random.random() - 0.5) * 10] for i in range(n)], dtype=float + ) + print(polygon) + polygon_min = polygon.min(axis=0) + polygon_max = polygon.max(axis=0) + polygon_bbox = cp.concatenate([polygon_min, polygon_max]).flatten() + polygon_n = polygon.shape[0] + print(polygon_bbox) + # polygon_bbox = cp.array([-5, -5, 5, 5], dtype=float) + polygon_mask = polygon_mask_kernel(100, 100, 0.1) + import time + + start = time.time() + polygon_mask(polygon, 0.0, 0.0, polygon_n, polygon_bbox, a, size=(100 * 100)) + print(time.time() - start) + import pylab as plt + + print(a) + plt.imshow(cp.asnumpy(a)) + plt.show() diff --git a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/kernels/custom_semantic_kernels.py b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/kernels/custom_semantic_kernels.py new file mode 100644 index 00000000..26db74c0 --- /dev/null +++ b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/kernels/custom_semantic_kernels.py @@ -0,0 +1,375 @@ +# +# Copyright (c) 2023, Takahiro Miki. All rights reserved. +# Licensed under the MIT license. See LICENSE file in the project root for details. +# +import cupy as cp +import string + + +def sum_kernel( + resolution, width, height, +): + """Sums the semantic values of the classes for the exponentiala verage or for the average. + + Args: + resolution: + width: + height: + + Returns: + + """ + # input the list of layers, amount of channels can slo be input through kernel + sum_kernel = cp.ElementwiseKernel( + in_params="raw U p, raw U R, raw U t, raw W pcl_chan, raw W map_lay, raw W pcl_channels", + out_params="raw U map, raw U newmap", + preamble=string.Template( + """ + __device__ int get_map_idx(int idx, int layer_n) { + const int layer = ${width} * ${height}; + return layer * layer_n + idx; + } + """ + ).substitute(resolution=resolution, width=width, height=height), + operation=string.Template( + """ + U id = floorf(i/pcl_channels[1]); + int layer = i % pcl_channels[1]; + U idx = p[id * pcl_channels[0]]; + U valid = p[id * pcl_channels[0] + 1]; + U inside = p[id * pcl_channels[0] + 2]; + if (valid) { + if (inside) { + U feat = p[id * pcl_channels[0] + pcl_chan[layer]]; + atomicAdd(&newmap[get_map_idx(idx, map_lay[layer])], feat); + } + } + """ + ).substitute(), + name="sum_kernel", + ) + return sum_kernel + + +def sum_compact_kernel( + resolution, width, height, +): + # input the list of layers, amount of channels can slo be input through kernel + sum_compact_kernel = cp.ElementwiseKernel( + in_params="raw U p, raw U R, raw U t, raw W pcl_chan, raw W map_lay, raw W pcl_channels", + out_params=" raw U newmap", + preamble=string.Template( + """ + __device__ int get_map_idx(int idx, int layer_n) { + const int layer = ${width} * ${height}; + return layer * layer_n + idx; + } + """ + ).substitute(resolution=resolution, width=width, height=height), + operation=string.Template( + """ + U id = floorf(i/pcl_channels[1]); + int layer = i % pcl_channels[1]; + U idx = p[id * pcl_channels[0]]; + U valid = p[id * pcl_channels[0] + 1]; + U inside = p[id * pcl_channels[0] + 2]; + if (valid) { + if (inside) { + U feat = p[id * pcl_channels[0] + pcl_chan[layer]]; + atomicAdd(&newmap[get_map_idx(idx, layer)], feat); + } + } + """ + ).substitute(), + name="sum_compact_kernel", + ) + return sum_compact_kernel + + +def sum_max_kernel( + resolution, width, height, +): + # input the list of layers, amount of channels can slo be input through kernel + sum_max_kernel = cp.ElementwiseKernel( + in_params="raw U p, raw U max_pt, raw T max_id, raw W pcl_chan, raw W map_lay, raw W pcl_channels", + out_params=" raw U newmap", + preamble=string.Template( + """ + __device__ int get_map_idx(int idx, int layer_n) { + const int layer = ${width} * ${height}; + return layer * layer_n + idx; + } + """ + ).substitute(resolution=resolution, width=width, height=height), + operation=string.Template( + """ + U idx = p[i * pcl_channels[0]]; + U valid = p[i * pcl_channels[0] + 1]; + U inside = p[i * pcl_channels[0] + 2]; + if (valid) { + if (inside) { + // for every max value + for ( W it=0;it=theta_max){ + arg_max = map_lay[layer]; + theta_max = theta; + } + atomicAdd(&newmap[get_map_idx(idx, arg_max)], theta_max); + } + } + """ + ).substitute(), + name="alpha_kernel", + ) + return alpha_kernel + + +def average_kernel( + width, height, +): + average_kernel = cp.ElementwiseKernel( + in_params="raw V newmap, raw W pcl_chan, raw W map_lay, raw W pcl_channels, raw U new_elmap", + out_params="raw U map", + preamble=string.Template( + """ + __device__ int get_map_idx(int idx, int layer_n) { + const int layer = ${width} * ${height}; + return layer * layer_n + idx; + } + """ + ).substitute(width=width, height=height), + operation=string.Template( + """ + U id = floorf(i/pcl_channels[1]); + int layer = i % pcl_channels[1]; + U cnt = new_elmap[get_map_idx(id, 2)]; + if (cnt>0){ + U feat = newmap[get_map_idx(id, map_lay[layer])]/(1*cnt); + map[get_map_idx(id, map_lay[layer])] = feat; + } + """ + ).substitute(), + name="average_map_kernel", + ) + return average_kernel + + +def bayesian_inference_kernel( + width, height, +): + bayesian_inference_kernel = cp.ElementwiseKernel( + in_params=" raw W pcl_chan, raw W map_lay, raw W pcl_channels, raw U new_elmap", + out_params="raw U newmap, raw U sum_mean, raw U map", + preamble=string.Template( + """ + __device__ int get_map_idx(int idx, int layer_n) { + const int layer = ${width} * ${height}; + return layer * layer_n + idx; + } + """ + ).substitute(width=width, height=height), + operation=string.Template( + """ + U id = floorf(i/pcl_channels[1]); + int layer = i % pcl_channels[1]; + U cnt = new_elmap[get_map_idx(id, 2)]; + if (cnt>0){ + U feat_ml = sum_mean[get_map_idx(id, layer)]/cnt; + U feat_old = map[get_map_idx(id, map_lay[layer])]; + U sigma_old = newmap[get_map_idx(id, map_lay[layer])]; + U sigma = 1.0; + U feat_new = sigma*feat_old /(cnt*sigma_old + sigma) +cnt*sigma_old *feat_ml /(cnt*sigma_old+sigma); + U sigma_new = sigma*sigma_old /(cnt*sigma_old +sigma); + map[get_map_idx(id, map_lay[layer])] = feat_new; + newmap[get_map_idx(id, map_lay[layer])] = sigma_new; + } + """ + ).substitute(), + name="bayesian_inference_kernel", + ) + return bayesian_inference_kernel + + +def class_average_kernel( + width, height, alpha, +): + class_average_kernel = cp.ElementwiseKernel( + in_params="raw V newmap, raw W pcl_chan, raw W map_lay, raw W pcl_channels, raw U new_elmap", + out_params="raw U map", + preamble=string.Template( + """ + __device__ int get_map_idx(int idx, int layer_n) { + const int layer = ${width} * ${height}; + return layer * layer_n + idx; + } + """ + ).substitute(width=width, height=height), + operation=string.Template( + """ + U id = floorf(i/pcl_channels[1]); + int layer = i % pcl_channels[1]; + U cnt = new_elmap[get_map_idx(id, 2)]; + if (cnt>0){ + U prev_val = map[get_map_idx(id, map_lay[layer])]; + if (prev_val==0){ + U val = newmap[get_map_idx(id, map_lay[layer])]/(1*cnt); + map[get_map_idx(id, map_lay[layer])] = val; + } + else{ + U val = ${alpha} *prev_val + (1-${alpha}) * newmap[get_map_idx(id, map_lay[layer])]/(cnt); + map[get_map_idx(id, map_lay[layer])] = val; + } + } + """ + ).substitute(alpha=alpha,), + name="class_average_kernel", + ) + return class_average_kernel + + +def add_color_kernel( + width, height, +): + add_color_kernel = cp.ElementwiseKernel( + in_params="raw T p, raw U R, raw U t, raw W pcl_chan, raw W map_lay, raw W pcl_channels", + out_params="raw V color_map", + preamble=string.Template( + """ + __device__ int get_map_idx(int idx, int layer_n) { + const int layer = ${width} * ${height}; + return layer * layer_n + idx; + } + __device__ unsigned int get_r(unsigned int color){ + unsigned int red = 0xFF0000; + unsigned int reds = (color & red) >> 16; + return reds; + } + __device__ unsigned int get_g(unsigned int color){ + unsigned int green = 0xFF00; + unsigned int greens = (color & green) >> 8; + return greens; + } + __device__ unsigned int get_b(unsigned int color){ + unsigned int blue = 0xFF; + unsigned int blues = ( color & blue); + return blues; + } + """ + ).substitute(width=width, height=height), + operation=string.Template( + """ + U id = floorf(i/pcl_channels[1]); + int layer = i % pcl_channels[1]; + U idx = p[id * pcl_channels[0]]; + U valid = p[id * pcl_channels[0] + 1]; + U inside = p[id * pcl_channels[0] + 2]; + if (valid && inside){ + unsigned int color = __float_as_uint(p[id * pcl_channels[0] + pcl_chan[layer]]); + atomicAdd(&color_map[get_map_idx(idx, layer*3)], get_r(color)); + atomicAdd(&color_map[get_map_idx(idx, layer*3+1)], get_g(color)); + atomicAdd(&color_map[get_map_idx(idx, layer*3 + 2)], get_b(color)); + atomicAdd(&color_map[get_map_idx(idx, pcl_channels[1]*3)], 1); + } + """ + ).substitute(width=width), + name="add_color_kernel", + ) + return add_color_kernel + + +def color_average_kernel( + width, height, +): + color_average_kernel = cp.ElementwiseKernel( + in_params="raw V color_map, raw W pcl_chan, raw W map_lay, raw W pcl_channels", + out_params="raw U map", + preamble=string.Template( + """ + __device__ int get_map_idx(int idx, int layer_n) { + const int layer = ${width} * ${height}; + return layer * layer_n + idx; + } + __device__ unsigned int get_r(unsigned int color){ + unsigned int red = 0xFF0000; + unsigned int reds = (color & red) >> 16; + return reds; + } + __device__ unsigned int get_g(unsigned int color){ + unsigned int green = 0xFF00; + unsigned int greens = (color & green) >> 8; + return greens; + } + __device__ unsigned int get_b(unsigned int color){ + unsigned int blue = 0xFF; + unsigned int blues = (color & blue); + return blues; + } + """ + ).substitute(width=width, height=height), + operation=string.Template( + """ + U id = floorf(i/pcl_channels[1]); + int layer = i % pcl_channels[1]; + unsigned int cnt = color_map[get_map_idx(id, pcl_channels[1]*3)]; + if (cnt>0){ + // U prev_color = map[get_map_idx(id, map_lay[layer])]; + unsigned int r = color_map[get_map_idx(id, layer*3)]/(1*cnt); + unsigned int g = color_map[get_map_idx(id, layer*3+1)]/(1*cnt); + unsigned int b = color_map[get_map_idx(id, layer*3+2)]/(1*cnt); + //if (prev_color>=0){ + // unsigned int prev_r = get_r(prev_color); + // unsigned int prev_g = get_g(prev_color); + // unsigned int prev_b = get_b(prev_color); + // unsigned int r = prev_r/2 + color_map[get_map_idx(i, layer*3)]/(2*cnt); + // unsigned int g = prev_g/2 + color_map[get_map_idx(i, layer*3+1)]/(2*cnt); + // unsigned int b = prev_b/2 + color_map[get_map_idx(i, layer*3+2)]/(2*cnt); + //} + unsigned int rgb = (r<<16) + (g << 8) + b; + float rgb_ = __uint_as_float(rgb); + map[get_map_idx(id, map_lay[layer])] = rgb_; + } + """ + ).substitute(), + name="color_average_kernel", + ) + return color_average_kernel diff --git a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/kernels/kk.py b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/kernels/kk.py new file mode 100644 index 00000000..27562dda --- /dev/null +++ b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/kernels/kk.py @@ -0,0 +1,1290 @@ +# +# Copyright (c) 2023, Takahiro Miki. All rights reserved. +# Licensed under the MIT license. See LICENSE file in the project root for details. +# +import cupy as cp +import string + + +def sum_kernel( + resolution, width, height, +): + """Sums the semantic values of the classes for the exponentiala verage or for the average. + + Args: + resolution: + width: + height: + + Returns: + + """ + # input the list of layers, amount of channels can slo be input through kernel + sum_kernel = cp.ElementwiseKernel( + in_params="raw U p, raw U R, raw U t, raw W pcl_chan, raw W map_lay, raw W pcl_channels", + out_params="raw U map, raw U newmap", + preamble=string.Template( + """ + __device__ int get_map_idx(int idx, int layer_n) { + const int layer = ${width} * ${height}; + return layer * layer_n + idx; + } + """ + ).substitute(resolution=resolution, width=width, height=height), + operation=string.Template( + """ + U id = floorf(i/pcl_channels[1]); + int layer = i % pcl_channels[1]; + U idx = p[id * pcl_channels[0]]; + U valid = p[id * pcl_channels[0] + 1]; + U inside = p[id * pcl_channels[0] + 2]; + if (valid) { + if (inside) { + U feat = p[id * pcl_channels[0] + pcl_chan[layer]]; + atomicAdd(&newmap[get_map_idx(idx, map_lay[layer])], feat); + } + } + """ + ).substitute(), + name="sum_kernel", + ) + return sum_kernel + + +def sum_compact_kernel( + resolution, width, height, +): + # input the list of layers, amount of channels can slo be input through kernel + sum_compact_kernel = cp.ElementwiseKernel( + in_params="raw U p, raw U R, raw U t, raw W pcl_chan, raw W map_lay, raw W pcl_channels", + out_params=" raw U newmap", + preamble=string.Template( + """ + __device__ int get_map_idx(int idx, int layer_n) { + const int layer = ${width} * ${height}; + return layer * layer_n + idx; + } + """ + ).substitute(resolution=resolution, width=width, height=height), + operation=string.Template( + """ + U id = floorf(i/pcl_channels[1]); + int layer = i % pcl_channels[1]; + U idx = p[id * pcl_channels[0]]; + U valid = p[id * pcl_channels[0] + 1]; + U inside = p[id * pcl_channels[0] + 2]; + if (valid) { + if (inside) { + U feat = p[id * pcl_channels[0] + pcl_chan[layer]]; + atomicAdd(&newmap[get_map_idx(idx, layer)], feat); + } + } + """ + ).substitute(), + name="sum_compact_kernel", + ) + return sum_compact_kernel + + +def sum_max_kernel( + resolution, width, height, +): + # input the list of layers, amount of channels can slo be input through kernel + sum_max_kernel = cp.ElementwiseKernel( + in_params="raw U p, raw U max_pt, raw T max_id, raw W pcl_chan, raw W map_lay, raw W pcl_channels", + out_params=" raw U newmap", + preamble=string.Template( + """ + __device__ int get_map_idx(int idx, int layer_n) { + const int layer = ${width} * ${height}; + return layer * layer_n + idx; + } + """ + ).substitute(resolution=resolution, width=width, height=height), + operation=string.Template( + """ + U idx = p[i * pcl_channels[0]]; + U valid = p[i * pcl_channels[0] + 1]; + U inside = p[i * pcl_channels[0] + 2]; + if (valid) { + if (inside) { + // for every max value + for ( W it=0;it=theta_max){ + arg_max = map_lay[layer]; + theta_max = theta; + } + atomicAdd(&newmap[get_map_idx(idx, arg_max)], theta_max); + } + } + """ + ).substitute(), + name="alpha_kernel", + ) + return alpha_kernel + + +def average_kernel( + width, height, +): + average_kernel = cp.ElementwiseKernel( + in_params="raw V newmap, raw W pcl_chan, raw W map_lay, raw W pcl_channels, raw U new_elmap", + out_params="raw U map", + preamble=string.Template( + """ + __device__ int get_map_idx(int idx, int layer_n) { + const int layer = ${width} * ${height}; + return layer * layer_n + idx; + } + """ + ).substitute(width=width, height=height), + operation=string.Template( + """ + U id = floorf(i/pcl_channels[1]); + int layer = i % pcl_channels[1]; + U cnt = new_elmap[get_map_idx(id, 2)]; + if (cnt>0){ + U feat = newmap[get_map_idx(id, map_lay[layer])]/(1*cnt); + map[get_map_idx(id, map_lay[layer])] = feat; + } + """ + ).substitute(), + name="average_map_kernel", + ) + return average_kernel + + +def bayesian_inference_kernel( + width, height, +): + bayesian_inference_kernel = cp.ElementwiseKernel( + in_params=" raw W pcl_chan, raw W map_lay, raw W pcl_channels, raw U new_elmap", + out_params="raw U newmap, raw U sum_mean, raw U map", + preamble=string.Template( + """ + __device__ int get_map_idx(int idx, int layer_n) { + const int layer = ${width} * ${height}; + return layer * layer_n + idx; + } + """ + ).substitute(width=width, height=height), + operation=string.Template( + """ + U id = floorf(i/pcl_channels[1]); + int layer = i % pcl_channels[1]; + U cnt = new_elmap[get_map_idx(id, 2)]; + if (cnt>0){ + U feat_ml = sum_mean[get_map_idx(id, layer)]/cnt; + U feat_old = map[get_map_idx(id, map_lay[layer])]; + U sigma_old = newmap[get_map_idx(id, map_lay[layer])]; + U sigma = 1.0; + U feat_new = sigma*feat_old /(cnt*sigma_old + sigma) +cnt*sigma_old *feat_ml /(cnt*sigma_old+sigma); + U sigma_new = sigma*sigma_old /(cnt*sigma_old +sigma); + map[get_map_idx(id, map_lay[layer])] = feat_new; + newmap[get_map_idx(id, map_lay[layer])] = sigma_new; + } + """ + ).substitute(), + name="bayesian_inference_kernel", + ) + return bayesian_inference_kernel + + +def class_average_kernel( + width, height, alpha, +): + class_average_kernel = cp.ElementwiseKernel( + in_params="raw V newmap, raw W pcl_chan, raw W map_lay, raw W pcl_channels, raw U new_elmap", + out_params="raw U map", + preamble=string.Template( + """ + __device__ int get_map_idx(int idx, int layer_n) { + const int layer = ${width} * ${height}; + return layer * layer_n + idx; + } + """ + ).substitute(width=width, height=height), + operation=string.Template( + """ + U id = floorf(i/pcl_channels[1]); + int layer = i % pcl_channels[1]; + U cnt = new_elmap[get_map_idx(id, 2)]; + if (cnt>0){ + U prev_val = map[get_map_idx(id, map_lay[layer])]; + if (prev_val==0){ + U val = newmap[get_map_idx(id, map_lay[layer])]/(1*cnt); + map[get_map_idx(id, map_lay[layer])] = val; + } + else{ + U val = ${alpha} *prev_val + (1-${alpha}) * newmap[get_map_idx(id, map_lay[layer])]/(cnt); + map[get_map_idx(id, map_lay[layer])] = val; + } + } + """ + ).substitute(alpha=alpha,), + name="class_average_kernel", + ) + return class_average_kernel + + +def add_color_kernel( + width, height, +): + add_color_kernel = cp.ElementwiseKernel( + in_params="raw T p, raw U R, raw U t, raw W pcl_chan, raw W map_lay, raw W pcl_channels", + out_params="raw V color_map", + preamble=string.Template( + """ + __device__ int get_map_idx(int idx, int layer_n) { + const int layer = ${width} * ${height}; + return layer * layer_n + idx; + } + __device__ unsigned int get_r(unsigned int color){ + unsigned int red = 0xFF0000; + unsigned int reds = (color & red) >> 16; + return reds; + } + __device__ unsigned int get_g(unsigned int color){ + unsigned int green = 0xFF00; + unsigned int greens = (color & green) >> 8; + return greens; + } + __device__ unsigned int get_b(unsigned int color){ + unsigned int blue = 0xFF; + unsigned int blues = ( color & blue); + return blues; + } + """ + ).substitute(width=width, height=height), + operation=string.Template( + """ + U id = floorf(i/pcl_channels[1]); + int layer = i % pcl_channels[1]; + U idx = p[id * pcl_channels[0]]; + U valid = p[id * pcl_channels[0] + 1]; + U inside = p[id * pcl_channels[0] + 2]; + if (valid && inside){ + unsigned int color = __float_as_uint(p[id * pcl_channels[0] + pcl_chan[layer]]); + atomicAdd(&color_map[get_map_idx(idx, layer*3)], get_r(color)); + atomicAdd(&color_map[get_map_idx(idx, layer*3+1)], get_g(color)); + atomicAdd(&color_map[get_map_idx(idx, layer*3 + 2)], get_b(color)); + atomicAdd(&color_map[get_map_idx(idx, pcl_channels[1]*3)], 1); + } + """ + ).substitute(width=width), + name="add_color_kernel", + ) + return add_color_kernel + + +def color_average_kernel( + width, height, +): + color_average_kernel = cp.ElementwiseKernel( + in_params="raw V color_map, raw W pcl_chan, raw W map_lay, raw W pcl_channels", + out_params="raw U map", + preamble=string.Template( + """ + __device__ int get_map_idx(int idx, int layer_n) { + const int layer = ${width} * ${height}; + return layer * layer_n + idx; + } + __device__ unsigned int get_r(unsigned int color){ + unsigned int red = 0xFF0000; + unsigned int reds = (color & red) >> 16; + return reds; + } + __device__ unsigned int get_g(unsigned int color){ + unsigned int green = 0xFF00; + unsigned int greens = (color & green) >> 8; + return greens; + } + __device__ unsigned int get_b(unsigned int color){ + unsigned int blue = 0xFF; + unsigned int blues = (color & blue); + return blues; + } + """ + ).substitute(width=width, height=height), + operation=string.Template( + """ + U id = floorf(i/pcl_channels[1]); + int layer = i % pcl_channels[1]; + unsigned int cnt = color_map[get_map_idx(id, pcl_channels[1]*3)]; + if (cnt>0){ + // U prev_color = map[get_map_idx(id, map_lay[layer])]; + unsigned int r = color_map[get_map_idx(id, layer*3)]/(1*cnt); + unsigned int g = color_map[get_map_idx(id, layer*3+1)]/(1*cnt); + unsigned int b = color_map[get_map_idx(id, layer*3+2)]/(1*cnt); + //if (prev_color>=0){ + // unsigned int prev_r = get_r(prev_color); + // unsigned int prev_g = get_g(prev_color); + // unsigned int prev_b = get_b(prev_color); + // unsigned int r = prev_r/2 + color_map[get_map_idx(i, layer*3)]/(2*cnt); + // unsigned int g = prev_g/2 + color_map[get_map_idx(i, layer*3+1)]/(2*cnt); + // unsigned int b = prev_b/2 + color_map[get_map_idx(i, layer*3+2)]/(2*cnt); + //} + unsigned int rgb = (r<<16) + (g << 8) + b; + float rgb_ = __uint_as_float(rgb); + map[get_map_idx(id, map_lay[layer])] = rgb_; + } + """ + ).substitute(), + name="color_average_kernel", + ) + return color_average_kernel + + + +def map_utils( + resolution, + width, + height, + sensor_noise_factor, + min_valid_distance, + max_height_range, + ramped_height_range_a, + ramped_height_range_b, + ramped_height_range_c, +): + util_preamble = string.Template( + """ + __device__ float16 clamp(float16 x, float16 min_x, float16 max_x) { + + return max(min(x, max_x), min_x); + } + __device__ int get_x_idx(float16 x, float16 center) { + int i = (x - center) / ${resolution} + 0.5 * ${width}; + return i; + } + __device__ int get_y_idx(float16 y, float16 center) { + int i = (y - center) / ${resolution} + 0.5 * ${height}; + return i; + } + __device__ bool is_inside(int idx) { + int idx_x = idx / ${width}; + int idx_y = idx % ${width}; + if (idx_x == 0 || idx_x == ${width} - 1) { + return false; + } + if (idx_y == 0 || idx_y == ${height} - 1) { + return false; + } + return true; + } + __device__ int get_idx(float16 x, float16 y, float16 center_x, float16 center_y) { + int idx_x = clamp(get_x_idx(x, center_x), 0, ${width} - 1); + int idx_y = clamp(get_y_idx(y, center_y), 0, ${height} - 1); + return ${width} * idx_x + idx_y; + } + __device__ int get_map_idx(int idx, int layer_n) { + const int layer = ${width} * ${height}; + return layer * layer_n + idx; + } + __device__ float transform_p(float16 x, float16 y, float16 z, + float16 r0, float16 r1, float16 r2, float16 t) { + return r0 * x + r1 * y + r2 * z + t; + } + __device__ float z_noise(float16 z){ + return ${sensor_noise_factor} * z * z; + } + + __device__ float point_sensor_distance(float16 x, float16 y, float16 z, + float16 sx, float16 sy, float16 sz) { + float d = (x - sx) * (x - sx) + (y - sy) * (y - sy) + (z - sz) * (z - sz); + return d; + } + + __device__ bool is_valid(float16 x, float16 y, float16 z, + float16 sx, float16 sy, float16 sz) { + float d = point_sensor_distance(x, y, z, sx, sy, sz); + float dxy = max(sqrt(x * x + y * y) - ${ramped_height_range_b}, 0.0); + if (d < ${min_valid_distance} * ${min_valid_distance}) { + return false; + } + else if (z - sz > dxy * ${ramped_height_range_a} + ${ramped_height_range_c} || z - sz > ${max_height_range}) { + return false; + } + else { + return true; + } + } + + __device__ float ray_vector(float16 tx, float16 ty, float16 tz, + float16 px, float16 py, float16 pz, + float16& rx, float16& ry, float16& rz){ + float16 vx = px - tx; + float16 vy = py - ty; + float16 vz = pz - tz; + float16 norm = sqrt(vx * vx + vy * vy + vz * vz); + if (norm > 0) { + rx = vx / norm; + ry = vy / norm; + rz = vz / norm; + } + else { + rx = 0; + ry = 0; + rz = 0; + } + return norm; + } + + __device__ float inner_product(float16 x1, float16 y1, float16 z1, + float16 x2, float16 y2, float16 z2) { + + float product = (x1 * x2 + y1 * y2 + z1 * z2); + return product; + } + + """ + ).substitute( + resolution=resolution, + width=width, + height=height, + sensor_noise_factor=sensor_noise_factor, + min_valid_distance=min_valid_distance, + max_height_range=max_height_range, + ramped_height_range_a=ramped_height_range_a, + ramped_height_range_b=ramped_height_range_b, + ramped_height_range_c=ramped_height_range_c, + ) + return util_preamble + + +def add_points_kernel( + resolution, + width, + height, + sensor_noise_factor, + mahalanobis_thresh, + outlier_variance, + wall_num_thresh, + max_ray_length, + cleanup_step, + min_valid_distance, + max_height_range, + cleanup_cos_thresh, + ramped_height_range_a, + ramped_height_range_b, + ramped_height_range_c, + enable_edge_shaped=True, + enable_visibility_cleanup=True, +): + add_points_kernel = cp.ElementwiseKernel( + in_params="raw U center_x, raw U center_y, raw U R, raw U t, raw U norm_map", + out_params="raw U p, raw U map, raw T newmap", + preamble=map_utils( + resolution, + width, + height, + sensor_noise_factor, + min_valid_distance, + max_height_range, + ramped_height_range_a, + ramped_height_range_b, + ramped_height_range_c, + ), + operation=string.Template( + """ + U rx = p[i * 3]; + U ry = p[i * 3 + 1]; + U rz = p[i * 3 + 2]; + U x = transform_p(rx, ry, rz, R[0], R[1], R[2], t[0]); + U y = transform_p(rx, ry, rz, R[3], R[4], R[5], t[1]); + U z = transform_p(rx, ry, rz, R[6], R[7], R[8], t[2]); + U v = z_noise(rz); + int idx = get_idx(x, y, center_x[0], center_y[0]); + if (is_valid(x, y, z, t[0], t[1], t[2])) { + if (is_inside(idx)) { + U map_h = map[get_map_idx(idx, 0)]; + U map_v = map[get_map_idx(idx, 1)]; + U num_points = newmap[get_map_idx(idx, 4)]; + if (abs(map_h - z) > (map_v * ${mahalanobis_thresh})) { + atomicAdd(&map[get_map_idx(idx, 1)], ${outlier_variance}); + } + else { + if (${enable_edge_shaped} && (num_points > ${wall_num_thresh}) && (z < map_h - map_v * ${mahalanobis_thresh} / num_points)) { + // continue; + } + else { + T new_h = (map_h * v + z * map_v) / (map_v + v); + T new_v = (map_v * v) / (map_v + v); + atomicAdd(&newmap[get_map_idx(idx, 0)], new_h); + atomicAdd(&newmap[get_map_idx(idx, 1)], new_v); + atomicAdd(&newmap[get_map_idx(idx, 2)], 1.0); + // is Valid + map[get_map_idx(idx, 2)] = 1; + // Time layer + map[get_map_idx(idx, 4)] = 0.0; + // Upper bound + map[get_map_idx(idx, 5)] = new_h; + map[get_map_idx(idx, 6)] = 0.0; + } + // visibility cleanup + } + } + } + if (${enable_visibility_cleanup}) { + float16 ray_x, ray_y, ray_z; + float16 ray_length = ray_vector(t[0], t[1], t[2], x, y, z, ray_x, ray_y, ray_z); + ray_length = min(ray_length, (float16)${max_ray_length}); + int last_nidx = -1; + for (float16 s=${ray_step}; s < ray_length; s+=${ray_step}) { + // iterate through ray + U nx = t[0] + ray_x * s; + U ny = t[1] + ray_y * s; + U nz = t[2] + ray_z * s; + int nidx = get_idx(nx, ny, center_x[0], center_y[0]); + if (last_nidx == nidx) {continue;} // Skip if we're still in the same cell + else {last_nidx = nidx;} + if (!is_inside(nidx)) {continue;} + + U nmap_h = map[get_map_idx(nidx, 0)]; + U nmap_v = map[get_map_idx(nidx, 1)]; + U nmap_valid = map[get_map_idx(nidx, 2)]; + // traversability + U nmap_trav = map[get_map_idx(nidx, 3)]; + // Time layer + U non_updated_t = map[get_map_idx(nidx, 4)]; + // upper bound + U nmap_upper = map[get_map_idx(nidx, 5)]; + U nmap_is_upper = map[get_map_idx(nidx, 6)]; + + // If point is close or is farther away than ray length, skip. + float16 d = (x - nx) * (x - nx) + (y - ny) * (y - ny) + (z - nz) * (z - nz); + if (d < 0.1 || !is_valid(x, y, z, t[0], t[1], t[2])) {continue;} + + // If invalid, do upper bound check, then skip + if (nmap_valid < 0.5) { + if (nz < nmap_upper || nmap_is_upper < 0.5) { + map[get_map_idx(nidx, 5)] = nz; + map[get_map_idx(nidx, 6)] = 1.0f; + } + continue; + } + // If updated recently, skip + if (non_updated_t < 0.5) {continue;} + + if (nmap_h > nz + 0.01 - min(nmap_v, 1.0) * 0.05) { + // If ray and norm is vertical, skip + U norm_x = norm_map[get_map_idx(nidx, 0)]; + U norm_y = norm_map[get_map_idx(nidx, 1)]; + U norm_z = norm_map[get_map_idx(nidx, 2)]; + float product = inner_product(ray_x, ray_y, ray_z, norm_x, norm_y, norm_z); + if (fabs(product) < ${cleanup_cos_thresh}) {continue;} + U num_points = newmap[get_map_idx(nidx, 3)]; + if (num_points > ${wall_num_thresh} && non_updated_t < 1.0) {continue;} + + // Finally, this cell is penetrated by the ray. + atomicAdd(&map[get_map_idx(nidx, 2)], -${cleanup_step}/(ray_length / ${max_ray_length})); + atomicAdd(&map[get_map_idx(nidx, 1)], ${outlier_variance}); + // Do upper bound check. + if (nz < nmap_upper || nmap_is_upper < 0.5) { + map[get_map_idx(nidx, 5)] = nz; + map[get_map_idx(nidx, 6)] = 1.0f; + } + } + } + } + p[i * 3]= idx; + p[i * 3 + 1] = is_valid(x, y, z, t[0], t[1], t[2]); + p[i * 3 + 2] = is_inside(idx); + """ + ).substitute( + mahalanobis_thresh=mahalanobis_thresh, + outlier_variance=outlier_variance, + wall_num_thresh=wall_num_thresh, + ray_step=resolution / 2 ** 0.5, + max_ray_length=max_ray_length, + cleanup_step=cleanup_step, + cleanup_cos_thresh=cleanup_cos_thresh, + enable_edge_shaped=int(enable_edge_shaped), + enable_visibility_cleanup=int(enable_visibility_cleanup), + ), + name="add_points_kernel", + ) + return add_points_kernel + + +def error_counting_kernel( + resolution, + width, + height, + sensor_noise_factor, + mahalanobis_thresh, + outlier_variance, + traversability_inlier, + min_valid_distance, + max_height_range, + ramped_height_range_a, + ramped_height_range_b, + ramped_height_range_c, +): + error_counting_kernel = cp.ElementwiseKernel( + in_params="raw U map, raw U p, raw U center_x, raw U center_y, raw U R, raw U t", + out_params="raw U newmap, raw T error, raw T error_cnt", + preamble=map_utils( + resolution, + width, + height, + sensor_noise_factor, + min_valid_distance, + max_height_range, + ramped_height_range_a, + ramped_height_range_b, + ramped_height_range_c, + ), + operation=string.Template( + """ + U rx = p[i * 3]; + U ry = p[i * 3 + 1]; + U rz = p[i * 3 + 2]; + U x = transform_p(rx, ry, rz, R[0], R[1], R[2], t[0]); + U y = transform_p(rx, ry, rz, R[3], R[4], R[5], t[1]); + U z = transform_p(rx, ry, rz, R[6], R[7], R[8], t[2]); + U v = z_noise(rz); + // if (!is_valid(z, t[2])) {return;} + if (!is_valid(x, y, z, t[0], t[1], t[2])) {return;} + // if ((x - t[0]) * (x - t[0]) + (y - t[1]) * (y - t[1]) + (z - t[2]) * (z - t[2]) < 0.5) {return;} + int idx = get_idx(x, y, center_x[0], center_y[0]); + if (!is_inside(idx)) { + return; + } + U map_h = map[get_map_idx(idx, 0)]; + U map_v = map[get_map_idx(idx, 1)]; + U map_valid = map[get_map_idx(idx, 2)]; + U map_t = map[get_map_idx(idx, 3)]; + if (map_valid > 0.5 && (abs(map_h - z) < (map_v * ${mahalanobis_thresh})) + && map_v < ${outlier_variance} / 2.0 + && map_t > ${traversability_inlier}) { + T e = z - map_h; + atomicAdd(&error[0], e); + atomicAdd(&error_cnt[0], 1); + atomicAdd(&newmap[get_map_idx(idx, 3)], 1.0); + } + atomicAdd(&newmap[get_map_idx(idx, 4)], 1.0); + """ + ).substitute( + mahalanobis_thresh=mahalanobis_thresh, + outlier_variance=outlier_variance, + traversability_inlier=traversability_inlier, + ), + name="error_counting_kernel", + ) + return error_counting_kernel + + +def average_map_kernel(width, height, max_variance, initial_variance): + average_map_kernel = cp.ElementwiseKernel( + in_params="raw U newmap", + out_params="raw U map", + preamble=string.Template( + """ + __device__ int get_map_idx(int idx, int layer_n) { + const int layer = ${width} * ${height}; + return layer * layer_n + idx; + } + """ + ).substitute(width=width, height=height), + operation=string.Template( + """ + U h = map[get_map_idx(i, 0)]; + U v = map[get_map_idx(i, 1)]; + U valid = map[get_map_idx(i, 2)]; + U new_h = newmap[get_map_idx(i, 0)]; + U new_v = newmap[get_map_idx(i, 1)]; + U new_cnt = newmap[get_map_idx(i, 2)]; + if (new_cnt > 0) { + if (new_v / new_cnt > ${max_variance}) { + map[get_map_idx(i, 0)] = 0; + map[get_map_idx(i, 1)] = ${initial_variance}; + map[get_map_idx(i, 2)] = 0; + } + else { + map[get_map_idx(i, 0)] = new_h / new_cnt; + map[get_map_idx(i, 1)] = new_v / new_cnt; + map[get_map_idx(i, 2)] = 1; + } + } + if (valid < 0.5) { + map[get_map_idx(i, 0)] = 0; + map[get_map_idx(i, 1)] = ${initial_variance}; + map[get_map_idx(i, 2)] = 0; + } + """ + ).substitute(max_variance=max_variance, initial_variance=initial_variance), + name="average_map_kernel", + ) + return average_map_kernel + + +def dilation_filter_kernel(width, height, dilation_size): + dilation_filter_kernel = cp.ElementwiseKernel( + in_params="raw U map, raw U mask", + out_params="raw U newmap, raw U newmask", + preamble=string.Template( + """ + __device__ int get_map_idx(int idx, int layer_n) { + const int layer = ${width} * ${height}; + return layer * layer_n + idx; + } + + __device__ int get_relative_map_idx(int idx, int dx, int dy, int layer_n) { + const int layer = ${width} * ${height}; + const int relative_idx = idx + ${width} * dy + dx; + return layer * layer_n + relative_idx; + } + __device__ bool is_inside(int idx) { + int idx_x = idx / ${width}; + int idx_y = idx % ${width}; + if (idx_x <= 0 || idx_x >= ${width} - 1) { + return false; + } + if (idx_y <= 0 || idx_y >= ${height} - 1) { + return false; + } + return true; + } + """ + ).substitute(width=width, height=height), + operation=string.Template( + """ + U h = map[get_map_idx(i, 0)]; + U valid = mask[get_map_idx(i, 0)]; + newmap[get_map_idx(i, 0)] = h; + if (valid < 0.5) { + U distance = 100; + U near_value = 0; + for (int dy = -${dilation_size}; dy <= ${dilation_size}; dy++) { + for (int dx = -${dilation_size}; dx <= ${dilation_size}; dx++) { + int idx = get_relative_map_idx(i, dx, dy, 0); + if (!is_inside(idx)) {continue;} + U valid = mask[idx]; + if(valid > 0.5 && dx + dy < distance) { + distance = dx + dy; + near_value = map[idx]; + } + } + } + if(distance < 100) { + newmap[get_map_idx(i, 0)] = near_value; + newmask[get_map_idx(i, 0)] = 1.0; + } + } + """ + ).substitute(dilation_size=dilation_size), + name="dilation_filter_kernel", + ) + return dilation_filter_kernel + + +def normal_filter_kernel(width, height, resolution): + normal_filter_kernel = cp.ElementwiseKernel( + in_params="raw U map, raw U mask", + out_params="raw U newmap", + preamble=string.Template( + """ + __device__ int get_map_idx(int idx, int layer_n) { + const int layer = ${width} * ${height}; + return layer * layer_n + idx; + } + + __device__ int get_relative_map_idx(int idx, int dx, int dy, int layer_n) { + const int layer = ${width} * ${height}; + const int relative_idx = idx + ${width} * dy + dx; + return layer * layer_n + relative_idx; + } + __device__ bool is_inside(int idx) { + int idx_x = idx / ${width}; + int idx_y = idx % ${width}; + if (idx_x <= 0 || idx_x >= ${width} - 1) { + return false; + } + if (idx_y <= 0 || idx_y >= ${height} - 1) { + return false; + } + return true; + } + __device__ float resolution() { + return ${resolution}; + } + """ + ).substitute(width=width, height=height, resolution=resolution), + operation=string.Template( + """ + U h = map[get_map_idx(i, 0)]; + U valid = mask[get_map_idx(i, 0)]; + if (valid > 0.5) { + int idx_x = get_relative_map_idx(i, 1, 0, 0); + int idx_y = get_relative_map_idx(i, 0, 1, 0); + if (!is_inside(idx_x) || !is_inside(idx_y)) { return; } + float dzdx = (map[idx_x] - h); + float dzdy = (map[idx_y] - h); + float nx = -dzdy / resolution(); + float ny = -dzdx / resolution(); + float nz = 1; + float norm = sqrt((nx * nx) + (ny * ny) + 1); + newmap[get_map_idx(i, 0)] = nx / norm; + newmap[get_map_idx(i, 1)] = ny / norm; + newmap[get_map_idx(i, 2)] = nz / norm; + } + """ + ).substitute(), + name="normal_filter_kernel", + ) + return normal_filter_kernel + + +def polygon_mask_kernel(width, height, resolution): + polygon_mask_kernel = cp.ElementwiseKernel( + in_params="raw U polygon, raw U center_x, raw U center_y, raw int16 polygon_n, raw U polygon_bbox", + out_params="raw U mask", + preamble=string.Template( + """ + __device__ struct Point + { + int x; + int y; + }; + // Given three colinear points p, q, r, the function checks if + // point q lies on line segment 'pr' + __device__ bool onSegment(Point p, Point q, Point r) + { + if (q.x <= max(p.x, r.x) && q.x >= min(p.x, r.x) && + q.y <= max(p.y, r.y) && q.y >= min(p.y, r.y)) + return true; + return false; + } + // To find orientation of ordered triplet (p, q, r). + // The function returns following values + // 0 --> p, q and r are colinear + // 1 --> Clockwise + // 2 --> Counterclockwise + __device__ int orientation(Point p, Point q, Point r) + { + int val = (q.y - p.y) * (r.x - q.x) - + (q.x - p.x) * (r.y - q.y); + if (val == 0) return 0; // colinear + return (val > 0)? 1: 2; // clock or counterclock wise + } + // The function that returns true if line segment 'p1q1' + // and 'p2q2' intersect. + __device__ bool doIntersect(Point p1, Point q1, Point p2, Point q2) + { + // Find the four orientations needed for general and + // special cases + int o1 = orientation(p1, q1, p2); + int o2 = orientation(p1, q1, q2); + int o3 = orientation(p2, q2, p1); + int o4 = orientation(p2, q2, q1); + // General case + if (o1 != o2 && o3 != o4) + return true; + // Special Cases + // p1, q1 and p2 are colinear and p2 lies on segment p1q1 + if (o1 == 0 && onSegment(p1, p2, q1)) return true; + // p1, q1 and p2 are colinear and q2 lies on segment p1q1 + if (o2 == 0 && onSegment(p1, q2, q1)) return true; + // p2, q2 and p1 are colinear and p1 lies on segment p2q2 + if (o3 == 0 && onSegment(p2, p1, q2)) return true; + // p2, q2 and q1 are colinear and q1 lies on segment p2q2 + if (o4 == 0 && onSegment(p2, q1, q2)) return true; + return false; // Doesn't fall in any of the above cases + } + __device__ int get_map_idx(int idx, int layer_n) { + const int layer = ${width} * ${height}; + return layer * layer_n + idx; + } + + __device__ int get_idx_x(int idx){ + int idx_x = idx / ${width}; + return idx_x; + } + + __device__ int get_idx_y(int idx){ + int idx_y = idx % ${width}; + return idx_y; + } + + __device__ float16 clamp(float16 x, float16 min_x, float16 max_x) { + + return max(min(x, max_x), min_x); + } + __device__ float16 round(float16 x) { + return (int)x + (int)(2 * (x - (int)x)); + } + __device__ int get_x_idx(float16 x, float16 center) { + const float resolution = ${resolution}; + const float width = ${width}; + int i = (x - center) / resolution + 0.5 * width; + return i; + } + __device__ int get_y_idx(float16 y, float16 center) { + const float resolution = ${resolution}; + const float height = ${height}; + int i = (y - center) / resolution + 0.5 * height; + return i; + } + __device__ int get_idx(float16 x, float16 y, float16 center_x, float16 center_y) { + int idx_x = clamp(get_x_idx(x, center_x), 0, ${width} - 1); + int idx_y = clamp(get_y_idx(y, center_y), 0, ${height} - 1); + return ${width} * idx_x + idx_y; + } + + """ + ).substitute(width=width, height=height, resolution=resolution), + operation=string.Template( + """ + // Point p = {get_idx_x(i, center_x[0]), get_idx_y(i, center_y[0])}; + Point p = {get_idx_x(i), get_idx_y(i)}; + Point extreme = {100000, p.y}; + int bbox_min_idx = get_idx(polygon_bbox[0], polygon_bbox[1], center_x[0], center_y[0]); + int bbox_max_idx = get_idx(polygon_bbox[2], polygon_bbox[3], center_x[0], center_y[0]); + Point bmin = {get_idx_x(bbox_min_idx), get_idx_y(bbox_min_idx)}; + Point bmax = {get_idx_x(bbox_max_idx), get_idx_y(bbox_max_idx)}; + if (p.x < bmin.x || p.x > bmax.x || p.y < bmin.y || p.y > bmax.y){ + mask[i] = 0; + return; + } + else { + int intersect_cnt = 0; + for (int j = 0; j < polygon_n[0]; j++) { + Point p1, p2; + int i1 = get_idx(polygon[j * 2 + 0], polygon[j * 2 + 1], center_x[0], center_y[0]); + p1.x = get_idx_x(i1); + p1.y = get_idx_y(i1); + int j2 = (j + 1) % polygon_n[0]; + int i2 = get_idx(polygon[j2 * 2 + 0], polygon[j2 * 2 + 1], center_x[0], center_y[0]); + p2.x = get_idx_x(i2); + p2.y = get_idx_y(i2); + if (doIntersect(p1, p2, p, extreme)) + { + // If the point 'p' is colinear with line segment 'i-next', + // then check if it lies on segment. If it lies, return true, + // otherwise false + if (orientation(p1, p, p2) == 0) { + if (onSegment(p1, p, p2)){ + mask[i] = 1; + return; + } + } + else if(((p1.y <= p.y) && (p2.y > p.y)) || ((p1.y > p.y) && (p2.y <= p.y))){ + intersect_cnt++; + } + } + } + if (intersect_cnt % 2 == 0) { mask[i] = 0; } + else { mask[i] = 1; } + } + """ + ).substitute(a=1), + name="polygon_mask_kernel", + ) + return polygon_mask_kernel + + + +def image_to_map_correspondence_kernel(resolution, width, height, tolerance_z_collision): + """ + This function calculates the correspondence between the image and the map. + It takes in the resolution, width, height, and tolerance_z_collision as parameters. + The function returns a kernel that can be used to perform the correspondence calculation. + """ + _image_to_map_correspondence_kernel = cp.ElementwiseKernel( + in_params="raw U map, raw U x1, raw U y1, raw U z1, raw U P, raw U K, raw U D, raw U image_height, raw U image_width, raw U center", + out_params="raw U uv_correspondence, raw B valid_correspondence", + preamble=string.Template( + """ + __device__ int get_map_idx(int idx, int layer_n) { + const int layer = ${width} * ${height}; + return layer * layer_n + idx; + } + __device__ bool is_inside_map(int x, int y) { + return (x >= 0 && y >= 0 && x<${width} && y<${height}); + } + __device__ float get_l2_distance(int x0, int y0, int x1, int y1) { + float dx = x0-x1; + float dy = y0-y1; + return sqrt( dx*dx + dy*dy); + } + """ + ).substitute(width=width, height=height, resolution=resolution), + operation=string.Template( + """ + int cell_idx = get_map_idx(i, 0); + + // return if gridcell has no valid height + if (map[get_map_idx(i, 2)] != 1){ + return; + } + + // get current cell position + int y0 = i % ${width}; + int x0 = i / ${width}; + + // gridcell 3D point in worldframe TODO reverse x and y + float p1 = (x0-(${width}/2)) * ${resolution} + center[0]; + float p2 = (y0-(${height}/2)) * ${resolution} + center[1]; + float p3 = map[cell_idx] + center[2]; + + // reproject 3D point into image plane + float u = p1 * P[0] + p2 * P[1] + p3 * P[2] + P[3]; + float v = p1 * P[4] + p2 * P[5] + p3 * P[6] + P[7]; + float d = p1 * P[8] + p2 * P[9] + p3 * P[10] + P[11]; + + // filter point behind image plane + if (d <= 0) { + return; + } + u = u/d; + v = v/d; + + // Check if D is all zeros + bool is_D_zero = (D[0] == 0 && D[1] == 0 && D[2] == 0 && D[3] == 0 && D[4] == 0); + + // Apply undistortion using distortion matrix D if not all zeros + if (!is_D_zero) { + float k1 = D[0]; + float k2 = D[1]; + float p1 = D[2]; + float p2 = D[3]; + float k3 = D[4]; + float fx = K[0]; + float fy = K[4]; + float cx = K[2]; + float cy = K[5]; + float x = (u - cx) / fx; + float y = (v - cy) / fy; + float r2 = x * x + y * y; + float radial_distortion = 1 + k1 * r2 + k2 * r2 * r2 + k3 * r2 * r2 * r2; + float u_corrected = x * radial_distortion + 2 * p1 * x * y + p2 * (r2 + 2 * x * x); + float v_corrected = y * radial_distortion + 2 * p2 * x * y + p1 * (r2 + 2 * y * y); + u = fx * u_corrected + cx; + v = fy * v_corrected + cy; + } + + // filter point next to image plane + if ((u < 0) || (v < 0) || (u >= image_width) || (v >= image_height)){ + return; + } + + int y0_c = y0; + int x0_c = x0; + float total_dis = get_l2_distance(x0_c, y0_c, x1,y1); + float z0 = map[cell_idx]; + float delta_z = z1-z0; + + + // bresenham algorithm to iterate over cells in line between camera center and current gridmap cell + // https://en.wikipedia.org/wiki/Bresenham%27s_line_algorithm + int dx = abs(x1-x0); + int sx = x0 < x1 ? 1 : -1; + int dy = -abs(y1 - y0); + int sy = y0 < y1 ? 1 : -1; + int error = dx + dy; + + bool is_valid = true; + + // iterate over all cells along line + while (1){ + // assumption we do not need to check the height for camera center cell + if (x0 == x1 && y0 == y1){ + break; + } + + // check if height is invalid + if (is_inside_map(x0,y0)){ + int idx = y0 + (x0 * ${width}); + if (map[get_map_idx(idx, 2)]){ + float dis = get_l2_distance(x0_c, y0_c, x0, y0); + float rayheight = z0 + ( dis / total_dis * delta_z); + if ( map[idx] - ${tolerance_z_collision} > rayheight){ + is_valid = false; + break; + } + } + } + + + // computation of next gridcell index in line + int e2 = 2 * error; + if (e2 >= dy){ + if(x0 == x1){ + break; + } + error = error + dy; + x0 = x0 + sx; + } + if (e2 <= dx){ + if (y0 == y1){ + break; + } + error = error + dx; + y0 = y0 + sy; + } + } + + // mark the correspondence + uv_correspondence[get_map_idx(i, 0)] = u; + uv_correspondence[get_map_idx(i, 1)] = v; + valid_correspondence[get_map_idx(i, 0)] = is_valid; + """ + ).substitute(height=height, width=width, resolution=resolution, tolerance_z_collision=tolerance_z_collision), + name="image_to_map_correspondence_kernel", + ) + return _image_to_map_correspondence_kernel + + +def average_correspondences_to_map_kernel(width, height): + """ + This function calculates the average correspondences to the map. + It takes in the width and height as parameters. + The function returns a kernel that can be used to perform the correspondence calculation. + """ + _average_correspondences_to_map_kernel = cp.ElementwiseKernel( + in_params="raw U sem_map, raw U map_idx, raw U image_mono, raw U uv_correspondence, raw B valid_correspondence, raw U image_height, raw U image_width", + out_params="raw U new_sem_map", + preamble=string.Template( + """ + __device__ int get_map_idx(int idx, int layer_n) { + const int layer = ${width} * ${height}; + return layer * layer_n + idx; + } + """ + ).substitute(width=width, height=height), + operation=string.Template( + """ + int cell_idx = get_map_idx(i, 0); + if (valid_correspondence[cell_idx]){ + int cell_idx_2 = get_map_idx(i, 1); + int idx = int(uv_correspondence[cell_idx]) + int(uv_correspondence[cell_idx_2]) * image_width; + new_sem_map[get_map_idx(i, map_idx)] = image_mono[idx]; + }else{ + new_sem_map[get_map_idx(i, map_idx)] = sem_map[get_map_idx(i, map_idx)]; + } + + """ + ).substitute(), + name="average_correspondences_to_map_kernel", + ) + return _average_correspondences_to_map_kernel + + +def exponential_correspondences_to_map_kernel(width, height, alpha): + """ + This function calculates the exponential correspondences to the map. + It takes in the width, height, and alpha as parameters. + The function returns a kernel that can be used to perform the correspondence calculation. + """ + _exponential_correspondences_to_map_kernel = cp.ElementwiseKernel( + in_params="raw U sem_map, raw U map_idx, raw U image_mono, raw U uv_correspondence, raw B valid_correspondence, raw U image_height, raw U image_width", + out_params="raw U new_sem_map", + preamble=string.Template( + """ + __device__ int get_map_idx(int idx, int layer_n) { + const int layer = ${width} * ${height}; + return layer * layer_n + idx; + } + """ + ).substitute(width=width, height=height), + operation=string.Template( + """ + int cell_idx = get_map_idx(i, 0); + if (valid_correspondence[cell_idx]){ + int cell_idx_2 = get_map_idx(i, 1); + int idx = int(uv_correspondence[cell_idx]) + int(uv_correspondence[cell_idx_2]) * image_width; + new_sem_map[get_map_idx(i, map_idx)] = sem_map[get_map_idx(i, map_idx)] * (1-${alpha}) + ${alpha} * image_mono[idx]; + }else{ + new_sem_map[get_map_idx(i, map_idx)] = sem_map[get_map_idx(i, map_idx)]; + } + + """ + ).substitute(alpha=alpha), + name="exponential_correspondences_to_map_kernel", + ) + return _exponential_correspondences_to_map_kernel + + +def color_correspondences_to_map_kernel(width, height): + """ + This function calculates the color correspondences to the map. + It takes in the width and height as parameters. + The function returns a kernel that can be used to perform the correspondence calculation. + """ + _color_correspondences_to_map_kernel = cp.ElementwiseKernel( + in_params="raw U sem_map, raw U map_idx, raw U image_rgb, raw U uv_correspondence, raw B valid_correspondence, raw U image_height, raw U image_width", + out_params="raw U new_sem_map", + preamble=string.Template( + """ + __device__ int get_map_idx(int idx, int layer_n) { + const int layer = ${width} * ${height}; + return layer * layer_n + idx; + } + """ + ).substitute(width=width, height=height), + operation=string.Template( + """ + int cell_idx = get_map_idx(i, 0); + if (valid_correspondence[cell_idx]){ + int cell_idx_2 = get_map_idx(i, 1); + + int idx_red = int(uv_correspondence[cell_idx]) + int(uv_correspondence[cell_idx_2]) * image_width; + int idx_green = image_width * image_height + idx_red; + int idx_blue = image_width * image_height * 2 + idx_red; + + unsigned int r = image_rgb[idx_red]; + unsigned int g = image_rgb[idx_green]; + unsigned int b = image_rgb[idx_blue]; + + unsigned int rgb = (r<<16) + (g << 8) + b; + float rgb_ = __uint_as_float(rgb); + new_sem_map[get_map_idx(i, map_idx)] = rgb_; + }else{ + new_sem_map[get_map_idx(i, map_idx)] = sem_map[get_map_idx(i, map_idx)]; + } + """ + ).substitute(), + name="color_correspondences_to_map_kernel", + ) + return _color_correspondences_to_map_kernel diff --git a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/map_initializer.py b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/map_initializer.py new file mode 100644 index 00000000..0139ea76 --- /dev/null +++ b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/map_initializer.py @@ -0,0 +1,80 @@ +# +# Copyright (c) 2022, Takahiro Miki. All rights reserved. +# Licensed under the MIT license. See LICENSE file in the project root for details. +# +from scipy.interpolate import griddata +import numpy as np +import cupy as cp + + +class MapInitializer(object): + def __init__(self, initial_variance, new_variance, xp=np, method="points"): + self.methods = ["points"] + assert method in self.methods, "method should be chosen from {}".format(self.methods) + self.method = method + self.xp = xp + self.initial_variance = initial_variance + self.new_variance = new_variance + + def __call__(self, *args, **kwargs): + if self.method == "points": + self.points_initializer(*args, **kwargs) + else: + return + + def points_initializer(self, elevation_map, points, method="linear"): + """Initialize the map using interpolation between given points + + Args: + elevation_map (cupy._core.core.ndarray): elevation_map data. + points (cupy._core.core.ndarray): points used to interpolate. + method (str): method for interpolation. (nearest, linear, cubic) + + """ + # points from existing map. + points_idx = self.xp.where(elevation_map[2] > 0.5) + values = elevation_map[0, points_idx[0], points_idx[1]] + + # Add external points for interpolation. + points_idx = self.xp.stack(points_idx).T + points_idx = self.xp.vstack([points_idx, points[:, :2]]) + values = self.xp.hstack([values, points[:, 2]]) + + assert points_idx.shape[0] > 3, "Initialization points must be more than 3." + + # Interpolation using griddata function. + w = elevation_map.shape[1] + h = elevation_map.shape[2] + grid_x, grid_y = np.mgrid[0:w, 0:h] + if self.xp == cp: + points_idx = cp.asnumpy(points_idx) + values = cp.asnumpy(values) + interpolated = griddata(points_idx, values, (grid_x, grid_y), method=method) + if self.xp == cp: + interpolated = cp.asarray(interpolated) + + # Update elevation map. + elevation_map[0] = self.xp.nan_to_num(interpolated) + elevation_map[1] = self.xp.where( + self.xp.invert(self.xp.isnan(interpolated)), self.new_variance, self.initial_variance + ) + elevation_map[2] = self.xp.where(self.xp.invert(self.xp.isnan(interpolated)), 1.0, 0.0) + return + + +if __name__ == "__main__": + initializer = MapInitializer(100, 10, method="points", xp=cp) + m = np.zeros((4, 10, 10)) + m[0, 0:5, 2:5] = 0.3 + m[2, 0:5, 2:5] = 1.0 + np.set_printoptions(threshold=100) + print(m[0]) + print(m[1]) + print(m[2]) + points = cp.array([[0, 0, 0.2], [8, 0, 0.2], [6, 9, 0.2]]) + # [3, 3, 0.2]]) + m = cp.asarray(m) + initializer(m, points, method="cubic") + print(m[0]) + print(m[1]) + print(m[2]) diff --git a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/parameter.py b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/parameter.py new file mode 100644 index 00000000..5fc3c110 --- /dev/null +++ b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/parameter.py @@ -0,0 +1,300 @@ +# +# Copyright (c) 2022, Takahiro Miki. All rights reserved. +# Licensed under the MIT license. See LICENSE file in the project root for details. +# +from dataclasses import dataclass, field +import pickle +import numpy as np +from simple_parsing.helpers import Serializable +from dataclasses import field +from typing import Tuple + + +@dataclass +class Parameter(Serializable): + """ + This class holds the parameters for the elevation mapping algorithm. + + Attributes: + resolution: The resolution in meters. + (Default: ``0.04``) + subscriber_cfg: The configuration for the subscriber. + (Default: ``{ "front_cam": { "channels": ["rgb", "person"], "topic_name": "/elevation_mapping/pointcloud_semantic", "data_type": "pointcloud", } }``) + additional_layers: The additional layers for the map. + (Default: ``["color"]``) + fusion_algorithms: The list of fusion algorithms. + (Default: ``[ "image_color", "image_exponential", "pointcloud_average", "pointcloud_bayesian_inference", "pointcloud_class_average", "pointcloud_class_bayesian", "pointcloud_class_max", "pointcloud_color", ]``) + pointcloud_channel_fusions: The fusion for pointcloud channels. + (Default: ``{"rgb": "color", "default": "class_average"}``) + image_channel_fusions: The fusion for image channels. + (Default: ``{"rgb": "color", "default": "exponential"}``) + data_type: The data type for the map. + (Default: ``np.float32``) + average_weight: The weight for the average fusion. + (Default: ``0.5``) + map_length: The map's size in meters. + (Default: ``8.0``) + sensor_noise_factor: The point's noise is sensor_noise_factor*z^2 (z is distance from sensor). + (Default: ``0.05``) + mahalanobis_thresh: Points outside this distance is outlier. + (Default: ``2.0``) + outlier_variance: If point is outlier, add this value to the cell. + (Default: ``0.01``) + drift_compensation_variance_inlier: Cells under this value is used for drift compensation. + (Default: ``0.1``) + time_variance: Add this value when update_variance is called. + (Default: ``0.01``) + time_interval: Time layer is updated with this interval. + (Default: ``0.1``) + max_variance: The maximum variance for each cell. + (Default: ``1.0``) + dilation_size: The dilation filter size before traversability filter. + (Default: ``2``) + dilation_size_initialize: The dilation size after the init. + (Default: ``10``) + drift_compensation_alpha: The drift compensation alpha for smoother update of drift compensation. + (Default: ``1.0``) + traversability_inlier: Cells with higher traversability are used for drift compensation. + (Default: ``0.1``) + wall_num_thresh: If there are more points than this value, only higher points than the current height are used to make the wall more sharp. + (Default: ``100``) + min_height_drift_cnt: Drift compensation only happens if the valid cells are more than this number. + (Default: ``100``) + max_ray_length: The maximum length for ray tracing. + (Default: ``2.0``) + cleanup_step: Substitute this value from validity layer at visibility cleanup. + (Default: ``0.01``) + cleanup_cos_thresh: Substitute this value from validity layer at visibility cleanup. + (Default: ``0.5``) + min_valid_distance: Points with shorter distance will be filtered out. + (Default: ``0.3``) + max_height_range: Points higher than this value from sensor will be filtered out to disable ceiling. + (Default: ``1.0``) + ramped_height_range_a: If z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject. + (Default: ``0.3``) + ramped_height_range_b: If z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject. + (Default: ``1.0``) + ramped_height_range_c: If z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject. + (Default: ``0.2``) + safe_thresh: If traversability is smaller, it is counted as unsafe cell. + (Default: ``0.5``) + safe_min_thresh: Polygon is unsafe if there exists lower traversability than this. + (Default: ``0.5``) + max_unsafe_n: If the number of cells under safe_thresh exceeds this value, polygon is unsafe. + (Default: ``20``) + checker_layer: Layer used for checking safety. + (Default: ``"traversability"``) + min_filter_size: The minimum size for the filter. + (Default: ``5``) + min_filter_iteration: The minimum number of iterations for the filter. + (Default: ``3``) + max_drift: The maximum drift for the compensation. + (Default: ``0.10``) + overlap_clear_range_xy: XY range [m] for clearing overlapped area. This defines the valid area for overlap clearance. (used for multi floor setting) + (Default: ``4.0``) + overlap_clear_range_z: Z range [m] for clearing overlapped area. Cells outside this range will be cleared. (used for multi floor setting) + (Default: ``2.0``) + enable_edge_sharpen: Enable edge sharpening. + (Default: ``True``) + enable_drift_compensation: Enable drift compensation. + (Default: ``True``) + enable_visibility_cleanup: Enable visibility cleanup. + (Default: ``True``) + enable_overlap_clearance: Enable overlap clearance. + (Default: ``True``) + use_only_above_for_upper_bound: Use only above for upper bound. + (Default: ``True``) + use_chainer: Use chainer as a backend of traversability filter or pytorch. If false, it uses pytorch. Pytorch requires ~2GB more GPU memory compared to chainer but runs faster. + (Default: ``True``) + position_noise_thresh: If the position change is bigger than this value, the drift compensation happens. + (Default: ``0.1``) + orientation_noise_thresh: If the orientation change is bigger than this value, the drift compensation happens. + (Default: ``0.1``) + plugin_config_file: Configuration file for the plugin. + (Default: ``"config/plugin_config.yaml"``) + weight_file: Weight file for traversability filter. + (Default: ``"config/weights.dat"``) + initial_variance: Initial variance for each cell. + (Default: ``10.0``) + initialized_variance: Initialized variance for each cell. + (Default: ``10.0``) + w1: Weights for the first layer. + (Default: ``np.zeros((4, 1, 3, 3))``) + w2: Weights for the second layer. + (Default: ``np.zeros((4, 1, 3, 3))``) + w3: Weights for the third layer. + (Default: ``np.zeros((4, 1, 3, 3))``) + w_out: Weights for the output layer. + (Default: ``np.zeros((1, 12, 1, 1))``) + true_map_length: True length of the map. + (Default: ``None``) + cell_n: Number of cells in the map. + (Default: ``None``) + true_cell_n: True number of cells in the map. + (Default: ``None``) + + """ + resolution: float = 0.04 # resolution in m. + subscriber_cfg: dict = field( + default_factory=lambda: { + "front_cam": { + "channels": ["rgb", "person"], + "topic_name": "/elevation_mapping/pointcloud_semantic", + "data_type": "pointcloud", + } + } + ) # configuration for the subscriber + additional_layers: list = field(default_factory=lambda: ["color"]) # additional layers for the map + fusion_algorithms: list = field( + default_factory=lambda: [ + "image_color", + "image_exponential", + "pointcloud_average", + "pointcloud_bayesian_inference", + "pointcloud_class_average", + "pointcloud_class_bayesian", + "pointcloud_class_max", + "pointcloud_color", + ] + ) # list of fusion algorithms + pointcloud_channel_fusions: dict = field(default_factory=lambda: {"rgb": "color", "default": "class_average"}) # fusion for pointcloud channels + image_channel_fusions: dict = field(default_factory=lambda: {"rgb": "color", "default": "exponential"}) # fusion for image channels + data_type: str = np.float32 # data type for the map + average_weight: float = 0.5 # weight for the average fusion + + map_length: float = 8.0 # map's size in m. + sensor_noise_factor: float = 0.05 # point's noise is sensor_noise_factor*z^2 (z is distance from sensor). + mahalanobis_thresh: float = 2.0 # points outside this distance is outlier. + outlier_variance: float = 0.01 # if point is outlier, add this value to the cell. + drift_compensation_variance_inlier: float = 0.1 # cells under this value is used for drift compensation. + time_variance: float = 0.01 # add this value when update_variance is called. + time_interval: float = 0.1 # Time layer is updated with this interval. + + max_variance: float = 1.0 # maximum variance for each cell. + dilation_size: float = 2 # dilation filter size before traversability filter. + dilation_size_initialize: float = 10 # dilation size after the init. + drift_compensation_alpha: float = 1.0 # drift compensation alpha for smoother update of drift compensation. + + traversability_inlier: float = 0.1 # cells with higher traversability are used for drift compensation. + wall_num_thresh: float = 100 # if there are more points than this value, only higher points than the current height are used to make the wall more sharp. + min_height_drift_cnt: float = 100 # drift compensation only happens if the valid cells are more than this number. + + max_ray_length: float = 2.0 # maximum length for ray tracing. + cleanup_step: float = 0.01 # substitute this value from validity layer at visibility cleanup. + cleanup_cos_thresh: float = 0.5 # substitute this value from validity layer at visibility cleanup. + min_valid_distance: float = 0.3 # points with shorter distance will be filtered out. + max_height_range: float = 1.0 # points higher than this value from sensor will be filtered out to disable ceiling. + ramped_height_range_a: float = 0.3 # if z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject. + ramped_height_range_b: float = 1.0 # if z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject. + ramped_height_range_c: float = 0.2 # if z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject. + + safe_thresh: float = 0.5 # if traversability is smaller, it is counted as unsafe cell. + safe_min_thresh: float = 0.5 # polygon is unsafe if there exists lower traversability than this. + max_unsafe_n: int = 20 # if the number of cells under safe_thresh exceeds this value, polygon is unsafe. + checker_layer: str = "traversability" # layer used for checking safety + + min_filter_size: int = 5 # minimum size for the filter + min_filter_iteration: int = 3 # minimum number of iterations for the filter + + max_drift: float = 0.10 # maximum drift for the compensation + + overlap_clear_range_xy: float = 4.0 # xy range [m] for clearing overlapped area. this defines the valid area for overlap clearance. (used for multi floor setting) + overlap_clear_range_z: float = 2.0 # z range [m] for clearing overlapped area. cells outside this range will be cleared. (used for multi floor setting) + + enable_edge_sharpen: bool = True # enable edge sharpening + enable_drift_compensation: bool = True # enable drift compensation + enable_visibility_cleanup: bool = True # enable visibility cleanup + enable_overlap_clearance: bool = True # enable overlap clearance + use_only_above_for_upper_bound: bool = True # use only above for upper bound + use_chainer: bool = True # use chainer as a backend of traversability filter or pytorch. If false, it uses pytorch. pytorch requires ~2GB more GPU memory compared to chainer but runs faster. + position_noise_thresh: float = 0.1 # if the position change is bigger than this value, the drift compensation happens. + orientation_noise_thresh: float = 0.1 # if the orientation change is bigger than this value, the drift compensation happens. + + plugin_config_file: str = "config/plugin_config.yaml" # configuration file for the plugin + weight_file: str = "config/weights.dat" # weight file for traversability filter + + initial_variance: float = 10.0 # initial variance for each cell. + initialized_variance: float = 10.0 # initialized variance for each cell. + w1: np.ndarray = field(default_factory=lambda: np.zeros((4, 1, 3, 3))) # weights for the first layer + w2: np.ndarray = field(default_factory=lambda: np.zeros((4, 1, 3, 3))) # weights for the second layer + w3: np.ndarray = field(default_factory=lambda: np.zeros((4, 1, 3, 3))) # weights for the third layer + w_out: np.ndarray = field(default_factory=lambda: np.zeros((1, 12, 1, 1))) # weights for the output layer + + # # not configurable params + true_map_length: float = None # true length of the map + cell_n: int = None # number of cells in the map + true_cell_n: int = None # true number of cells in the map + + def load_weights(self, filename): + """ + Load weights from a file into the model's parameters. + + Args: + filename (str): The path to the file containing the weights. + """ + with open(filename, "rb") as file: + weights = pickle.load(file) + self.w1 = weights["conv1.weight"] + self.w2 = weights["conv2.weight"] + self.w3 = weights["conv3.weight"] + self.w_out = weights["conv_final.weight"] + + def get_names(self): + """ + Get the names of the parameters. + + Returns: + list: A list of parameter names. + """ + return list(self.__annotations__.keys()) + + def get_types(self): + """ + Get the types of the parameters. + + Returns: + list: A list of parameter types. + """ + return [v.__name__ for v in self.__annotations__.values()] + + def set_value(self, name, value): + """ + Set the value of a parameter. + + Args: + name (str): The name of the parameter. + value (any): The new value for the parameter. + """ + setattr(self, name, value) + + def get_value(self, name): + """ + Get the value of a parameter. + + Args: + name (str): The name of the parameter. + + Returns: + any: The value of the parameter. + """ + return getattr(self, name) + + def update(self): + """ + Update the parameters related to the map size and resolution. + """ + # +2 is a border for outside map + self.cell_n = int(round(self.map_length / self.resolution)) + 2 + self.true_cell_n = round(self.map_length / self.resolution) + self.true_map_length = self.true_cell_n * self.resolution + + +if __name__ == "__main__": + param = Parameter() + print(param) + print(param.resolution) + param.set_value("resolution", 0.1) + print(param.resolution) + + print("names ", param.get_names()) + print("types ", param.get_types()) diff --git a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/plugins/__init__.py b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/plugins/__init__.py new file mode 100644 index 00000000..e69de29b diff --git a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/plugins/erosion.py b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/plugins/erosion.py new file mode 100644 index 00000000..7b0211df --- /dev/null +++ b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/plugins/erosion.py @@ -0,0 +1,113 @@ +# +# Copyright (c) 2024, Takahiro Miki. All rights reserved. +# Licensed under the MIT license. See LICENSE file in the project root for details. +# +import cv2 as cv +import cupy as cp +import numpy as np + +from typing import List + +from .plugin_manager import PluginBase + + +class Erosion(PluginBase): + """ + This class is used for applying erosion to an elevation map or specific layers within it. + Erosion is a morphological operation that is used to remove small-scale details from a binary image. + + Args: + kernel_size (int): Size of the erosion kernel. Default is 3, which means a 3x3 square kernel. + iterations (int): Number of times erosion is applied. Default is 1. + **kwargs (): Additional keyword arguments. + """ + + def __init__( + self, + input_layer_name="traversability", + kernel_size: int = 3, + iterations: int = 1, + reverse: bool = False, + default_layer_name: str = "traversability", + **kwargs, + ): + super().__init__() + self.input_layer_name = input_layer_name + self.kernel_size = kernel_size + self.iterations = iterations + self.reverse = reverse + self.default_layer_name = default_layer_name + + def __call__( + self, + elevation_map: cp.ndarray, + layer_names: List[str], + plugin_layers: cp.ndarray, + plugin_layer_names: List[str], + semantic_map: cp.ndarray, + semantic_layer_names: List[str], + *args, + ) -> cp.ndarray: + """ + Applies erosion to the given elevation map. + + Args: + elevation_map (cupy._core.core.ndarray): The elevation map to be eroded. + layer_names (List[str]): Names of the layers in the elevation map. + plugin_layers (cupy._core.core.ndarray): Layers provided by other plugins. + plugin_layer_names (List[str]): Names of the layers provided by other plugins. + *args (): Additional arguments. + + Returns: + cupy._core.core.ndarray: The eroded elevation map. + """ + # Convert the elevation map to a format suitable for erosion (if necessary) + layer_data = self.get_layer_data( + elevation_map, + layer_names, + plugin_layers, + plugin_layer_names, + semantic_map, + semantic_layer_names, + self.input_layer_name, + ) + if layer_data is None: + print(f"No layers are found, using {self.default_layer_name}!") + layer_data = self.get_layer_data( + elevation_map, + layer_names, + plugin_layers, + plugin_layer_names, + semantic_map, + semantic_layer_names, + self.default_layer_name, + ) + if layer_data is None: + print(f"No layers are found, using traversability!") + layer_data = self.get_layer_data( + elevation_map, + layer_names, + plugin_layers, + plugin_layer_names, + semantic_map, + semantic_layer_names, + "traversability", + ) + layer_np = cp.asnumpy(layer_data) + + # Define the erosion kernel + kernel = np.ones((self.kernel_size, self.kernel_size), np.uint8) + + if self.reverse: + layer_np = 1 - layer_np + # Apply erosion + layer_min = float(layer_np.min()) + layer_max = float(layer_np.max()) + layer_np_normalized = ((layer_np - layer_min) * 255 / (layer_max - layer_min)).astype("uint8") + eroded_map_np = cv.erode(layer_np_normalized, kernel, iterations=self.iterations) + eroded_map_np = eroded_map_np.astype(np.float32) * (layer_max - layer_min) / 255 + layer_min + if self.reverse: + eroded_map_np = 1 - eroded_map_np + + # Convert back to cupy array and return + return cp.asarray(eroded_map_np) diff --git a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/plugins/features_pca.py b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/plugins/features_pca.py new file mode 100644 index 00000000..94f88823 --- /dev/null +++ b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/plugins/features_pca.py @@ -0,0 +1,96 @@ +# +# Copyright (c) 2022, Takahiro Miki. All rights reserved. +# Licensed under the MIT license. See LICENSE file in the project root for details. +# +import cupy as cp +import numpy as np +from typing import List +import re + +from elevation_mapping_cupy.plugins.plugin_manager import PluginBase +from sklearn.decomposition import PCA + + +class FeaturesPca(PluginBase): + """This is a filter to create a pca layer of the semantic features in the map. + + Args: + cell_n (int): width and height of the elevation map. + classes (ruamel.yaml.comments.CommentedSeq): + **kwargs (): + """ + + def __init__( + self, cell_n: int = 100, process_layer_names: List[str] = [], **kwargs, + ): + super().__init__() + self.process_layer_names = process_layer_names + + def get_layer_indices(self, layer_names: List[str]) -> List[int]: + """ Get the indices of the layers that are to be processed using regular expressions. + Args: + layer_names (List[str]): List of layer names. + Returns: + List[int]: List of layer indices. + """ + indices = [] + for i, layer_name in enumerate(layer_names): + if any(re.match(pattern, layer_name) for pattern in self.process_layer_names): + indices.append(i) + return indices + + def __call__( + self, + elevation_map: cp.ndarray, + layer_names: List[str], + plugin_layers: cp.ndarray, + plugin_layer_names: List[str], + semantic_map: cp.ndarray, + semantic_layer_names: List[str], + *args, + ) -> cp.ndarray: + """ + + Args: + elevation_map (cupy._core.core.ndarray): + layer_names (List[str]): + plugin_layers (cupy._core.core.ndarray): + plugin_layer_names (List[str]): + semantic_map (elevation_mapping_cupy.semantic_map.SemanticMap): + *args (): + + Returns: + cupy._core.core.ndarray: + """ + # get indices of all layers that contain semantic features information + data = [] + for m, layer_names in zip( + [elevation_map, plugin_layers, semantic_map], [layer_names, plugin_layer_names, semantic_layer_names] + ): + layer_indices = self.get_layer_indices(layer_names) + if len(layer_indices) > 0: + n_c = m[layer_indices].shape[1] + data_i = cp.reshape(m[layer_indices], (len(layer_indices), -1)).T.get() + data_i = np.clip(data_i, -1, 1) + data.append(data_i) + if len(data) > 0: + data = np.concatenate(data, axis=1) + # check which has the highest value + n_components = 3 + pca = PCA(n_components=n_components).fit(data) + pca_descriptors = pca.transform(data) + img_pca = pca_descriptors.reshape(n_c, n_c, n_components) + comp = img_pca # [:, :, -3:] + comp_min = comp.min(axis=(0, 1)) + comp_max = comp.max(axis=(0, 1)) + if (comp_max - comp_min).any() != 0: + comp_img = np.divide((comp - comp_min), (comp_max - comp_min)) + pca_map = (comp_img * 255).astype(np.uint8) + r = np.asarray(pca_map[:, :, 0], dtype=np.uint32) + g = np.asarray(pca_map[:, :, 1], dtype=np.uint32) + b = np.asarray(pca_map[:, :, 2], dtype=np.uint32) + rgb_arr = np.array((r << 16) | (g << 8) | (b << 0), dtype=np.uint32) + rgb_arr.dtype = np.float32 + return cp.asarray(rgb_arr) + else: + return cp.zeros_like(elevation_map[0]) diff --git a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/plugins/inpainting.py b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/plugins/inpainting.py new file mode 100644 index 00000000..3e926b00 --- /dev/null +++ b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/plugins/inpainting.py @@ -0,0 +1,63 @@ +# +# Copyright (c) 2022, Takahiro Miki. All rights reserved. +# Licensed under the MIT license. See LICENSE file in the project root for details. +# +import cupy as cp +from typing import List +import cupyx.scipy.ndimage as ndimage +import numpy as np +import cv2 as cv + +from .plugin_manager import PluginBase + + +class Inpainting(PluginBase): + """ + This class is used for inpainting, a process of reconstructing lost or deteriorated parts of images and videos. + + Args: + cell_n (int): The number of cells. Default is 100. + method (str): The inpainting method. Options are 'telea' or 'ns' (Navier-Stokes). Default is 'telea'. + **kwargs (): Additional keyword arguments. + """ + + def __init__(self, cell_n: int = 100, method: str = "telea", **kwargs): + super().__init__() + if method == "telea": + self.method = cv.INPAINT_TELEA + elif method == "ns": # Navier-Stokes + self.method = cv.INPAINT_NS + else: # default method + self.method = cv.INPAINT_TELEA + + def __call__( + self, + elevation_map: cp.ndarray, + layer_names: List[str], + plugin_layers: cp.ndarray, + plugin_layer_names: List[str], + *args, + ) -> cp.ndarray: + """ + + Args: + elevation_map (cupy._core.core.ndarray): + layer_names (List[str]): + plugin_layers (cupy._core.core.ndarray): + plugin_layer_names (List[str]): + *args (): + + Returns: + cupy._core.core.ndarray: + """ + mask = cp.asnumpy((elevation_map[2] < 0.5).astype("uint8")) + if (mask < 1).any(): + h = elevation_map[0] + h_max = float(h[mask < 1].max()) + h_min = float(h[mask < 1].min()) + h = cp.asnumpy((elevation_map[0] - h_min) * 255 / (h_max - h_min)).astype("uint8") + dst = np.array(cv.inpaint(h, mask, 1, self.method)) + h_inpainted = dst.astype(np.float32) * (h_max - h_min) / 255 + h_min + return cp.asarray(h_inpainted).astype(np.float64) + else: + return elevation_map[0] diff --git a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/plugins/max_layer_filter.py b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/plugins/max_layer_filter.py new file mode 100644 index 00000000..33bc069a --- /dev/null +++ b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/plugins/max_layer_filter.py @@ -0,0 +1,108 @@ +# +# Copyright (c) 2022, Takahiro Miki. All rights reserved. +# Licensed under the MIT license. See LICENSE file in the project root for details. +# +import cupy as cp +import numpy as np +from typing import List + +from elevation_mapping_cupy.plugins.plugin_manager import PluginBase + + +class MaxLayerFilter(PluginBase): + """Applies a maximum filter to the input layers and updates the traversability map. + This can be used to enhance navigation by identifying traversable areas. + + Args: + cell_n (int): The width and height of the elevation map. + reverse (list): A list of boolean values indicating whether to reverse the filter operation for each layer. Default is [True]. + min_or_max (str): A string indicating whether to apply a minimum or maximum filter. Accepts "min" or "max". Default is "max". + layers (list): List of layers for semantic traversability. Default is ["traversability"]. + thresholds (list): List of thresholds for each layer. If the value is bigger than a threshold, assign 1.0 otherwise 0.0. If it is False, it does not apply. Default is [False]. + **kwargs: Additional keyword arguments. + """ + + def __init__( + self, + cell_n: int = 100, + layers: list = ["traversability"], + reverse: list = [True], + min_or_max: str = "max", + thresholds: list = [False], + scales: list = [1.0], + default_value: float = 0.0, + **kwargs, + ): + super().__init__() + self.layers = layers + self.reverse = reverse + self.min_or_max = min_or_max + self.thresholds = thresholds + self.scales = scales + self.default_value = default_value + + def __call__( + self, + elevation_map: cp.ndarray, + layer_names: List[str], + plugin_layers: cp.ndarray, + plugin_layer_names: List[str], + semantic_map: cp.ndarray, + semantic_layer_names: List[str], + *args, + ) -> cp.ndarray: + """ + + Args: + elevation_map (cupy._core.core.ndarray): + layer_names (List[str]): + plugin_layers (cupy._core.core.ndarray): + plugin_layer_names (List[str]): + semantic_map (elevation_mapping_cupy.semantic_map.SemanticMap): + *args (): + + Returns: + cupy._core.core.ndarray: + """ + layers = [] + for it, name in enumerate(self.layers): + layer = self.get_layer_data( + elevation_map, layer_names, plugin_layers, plugin_layer_names, semantic_map, semantic_layer_names, name + ) + if layer is None: + continue + if isinstance(self.default_value, float): + layer = cp.where(layer == 0.0, float(self.default_value), layer) + elif isinstance(self.default_value, str): + default_layer = self.get_layer_data( + elevation_map, + layer_names, + plugin_layers, + plugin_layer_names, + semantic_map, + semantic_layer_names, + self.default_value, + ) + layer = cp.where(layer == 0, default_layer, layer) + if self.reverse[it]: + layer = 1.0 - layer + if len(self.scales) > it and isinstance(self.scales[it], float): + layer = layer * float(self.scales[it]) + if isinstance(self.thresholds[it], float): + layer = cp.where(layer > float(self.thresholds[it]), 1, 0) + layers.append(layer) + if len(layers) == 0: + print("No layers are found, returning traversability!") + if isinstance(self.default_value, float): + layer = cp.ones_like(elevation_map[0]) + layer *= float(self.default_value) + return layer + else: + idx = layer_names.index("traversability") + return elevation_map[idx] + result = cp.stack(layers, axis=0) + if self.min_or_max == "min": + result = cp.min(result, axis=0) + else: + result = cp.max(result, axis=0) + return result diff --git a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/plugins/min_filter.py b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/plugins/min_filter.py new file mode 100644 index 00000000..ebf4300a --- /dev/null +++ b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/plugins/min_filter.py @@ -0,0 +1,118 @@ +# +# Copyright (c) 2022, Takahiro Miki. All rights reserved. +# Licensed under the MIT license. See LICENSE file in the project root for details. +# +import cupy as cp +import string +from typing import List + +from .plugin_manager import PluginBase + + +class MinFilter(PluginBase): + """This is a filter to fill in invalid cells with minimum values around. + + Args: + cell_n (int): width of the elevation map. + dilation_size (int): The size of the patch to search for minimum value for each iteration. + iteration_n (int): The number of iteration to repeat the same filter. + **kwargs (): + """ + + def __init__(self, cell_n: int = 100, dilation_size: int = 5, iteration_n: int = 5, **kwargs): + super().__init__() + self.iteration_n = iteration_n + self.width = cell_n + self.height = cell_n + self.min_filtered = cp.zeros((self.width, self.height)) + self.min_filtered_mask = cp.zeros((self.width, self.height)) + self.min_filter_kernel = cp.ElementwiseKernel( + in_params="raw U map, raw U mask", + out_params="raw U newmap, raw U newmask", + preamble=string.Template( + """ + __device__ int get_map_idx(int idx, int layer_n) { + const int layer = ${width} * ${height}; + return layer * layer_n + idx; + } + + __device__ int get_relative_map_idx(int idx, int dx, int dy, int layer_n) { + const int layer = ${width} * ${height}; + const int relative_idx = idx + ${width} * dy + dx; + return layer * layer_n + relative_idx; + } + __device__ bool is_inside(int idx) { + int idx_x = idx / ${width}; + int idx_y = idx % ${width}; + if (idx_x <= 0 || idx_x >= ${width} - 1) { + return false; + } + if (idx_y <= 0 || idx_y >= ${height} - 1) { + return false; + } + return true; + } + """ + ).substitute(width=self.width, height=self.height), + operation=string.Template( + """ + U h = map[get_map_idx(i, 0)]; + U valid = mask[get_map_idx(i, 0)]; + if (valid < 0.5) { + U min_value = 1000000.0; + for (int dy = -${dilation_size}; dy <= ${dilation_size}; dy++) { + for (int dx = -${dilation_size}; dx <= ${dilation_size}; dx++) { + int idx = get_relative_map_idx(i, dx, dy, 0); + if (!is_inside(idx)) {continue;} + U valid = newmask[idx]; + U value = newmap[idx]; + if(valid > 0.5 && value < min_value) { + min_value = value; + } + } + } + if (min_value < 1000000 - 1) { + newmap[get_map_idx(i, 0)] = min_value; + newmask[get_map_idx(i, 0)] = 0.6; + } + } + """ + ).substitute(dilation_size=dilation_size), + name="min_filter_kernel", + ) + + def __call__( + self, + elevation_map: cp.ndarray, + layer_names: List[str], + plugin_layers: cp.ndarray, + plugin_layer_names: List[str], + *args, + ) -> cp.ndarray: + """ + + Args: + elevation_map (cupy._core.core.ndarray): + layer_names (List[str]): + plugin_layers (cupy._core.core.ndarray): + plugin_layer_names (List[str]): + *args (): + + Returns: + cupy._core.core.ndarray: + """ + self.min_filtered = elevation_map[0].copy() + self.min_filtered_mask = elevation_map[2].copy() + for i in range(self.iteration_n): + self.min_filter_kernel( + elevation_map[0], + elevation_map[2], + self.min_filtered, + self.min_filtered_mask, + size=(self.width * self.height), + ) + # If there's no more mask, break + if (self.min_filtered_mask > 0.5).all(): + break + min_filtered = cp.where(self.min_filtered_mask > 0.5, self.min_filtered.copy(), cp.nan) + return min_filtered diff --git a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/plugins/plugin_manager.py b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/plugins/plugin_manager.py new file mode 100644 index 00000000..26f81d21 --- /dev/null +++ b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/plugins/plugin_manager.py @@ -0,0 +1,268 @@ +# +# Copyright (c) 2022, Takahiro Miki. All rights reserved. +# Licensed under the MIT license. See LICENSE file in the project root for details. +# +from abc import ABC +import cupy as cp +from typing import List, Dict, Optional +import importlib +import inspect +from dataclasses import dataclass +from ruamel.yaml import YAML +from inspect import signature + + +@dataclass +class PluginParams: + name: str + layer_name: str + fill_nan: bool = False # fill nan to invalid region + is_height_layer: bool = False # if this is a height layer + + +class PluginBase(ABC): + """ + This is a base class of Plugins + """ + + def __init__(self, *args, **kwargs): + """ + + Args: + plugin_params : PluginParams + The parameter of callback + """ + + def __call__( + self, + elevation_map: cp.ndarray, + layer_names: List[str], + plugin_layers: cp.ndarray, + plugin_layer_names: List[str], + semantic_map: cp.ndarray, + semantic_layer_names: List[str], + *args, + **kwargs, + ) -> cp.ndarray: + """This gets the elevation map data and plugin layers as a cupy array. + + + Args: + elevation_map (): + layer_names (): + plugin_layers (): + plugin_layer_names (): + semantic_map (): + semantic_layer_names (): + + Run your processing here and return the result. + layer of elevation_map 0: elevation + 1: variance + 2: is_valid + 3: traversability + 4: time + 5: upper_bound + 6: is_upper_bound + You can also access to the other plugins' layer with plugin_layers and plugin_layer_names + + """ + pass + + def get_layer_data( + self, + elevation_map: cp.ndarray, + layer_names: List[str], + plugin_layers: cp.ndarray, + plugin_layer_names: List[str], + semantic_map: cp.ndarray, + semantic_layer_names: List[str], + name: str, + ) -> Optional[cp.ndarray]: + """ + Retrieve a copy of the layer data from the elevation, plugin, or semantic maps based on the layer name. + + Args: + elevation_map (cp.ndarray): The elevation map containing various layers. + layer_names (List[str]): A list of names for each layer in the elevation map. + plugin_layers (cp.ndarray): The plugin layers containing additional data. + plugin_layer_names (List[str]): A list of names for each layer in the plugin layers. + semantic_map (cp.ndarray): The semantic map containing various layers. + semantic_layer_names (List[str]): A list of names for each layer in the semantic map. + name (str): The name of the layer to retrieve. + + Returns: + Optional[cp.ndarray]: A copy of the requested layer as a cupy ndarray if found, otherwise None. + """ + if name in layer_names: + idx = layer_names.index(name) + layer = elevation_map[idx].copy() + elif name in plugin_layer_names: + idx = plugin_layer_names.index(name) + layer = plugin_layers[idx].copy() + elif name in semantic_layer_names: + idx = semantic_layer_names.index(name) + layer = semantic_map[idx].copy() + else: + print(f"Could not find layer {name}!") + layer = None + return layer + + +class PluginManager(object): + """ + This manages the plugins. + """ + + def __init__(self, cell_n: int): + self.cell_n = cell_n + + def init(self, plugin_params: List[PluginParams], extra_params: List[Dict]): + self.plugin_params = plugin_params + + self.plugins = [] + for param, extra_param in zip(plugin_params, extra_params): + m = importlib.import_module("." + param.name, package="elevation_mapping_cupy.plugins") # -> 'module' + for name, obj in inspect.getmembers(m): + if inspect.isclass(obj) and issubclass(obj, PluginBase) and name != "PluginBase": + # Add cell_n to params + extra_param["cell_n"] = self.cell_n + self.plugins.append(obj(**extra_param)) + self.layers = cp.zeros((len(self.plugins), self.cell_n, self.cell_n), dtype=cp.float32) + self.layer_names = self.get_layer_names() + self.plugin_names = self.get_plugin_names() + + def load_plugin_settings(self, file_path: str): + print("Start loading plugins...") + cfg = YAML().load(open(file_path, "r")) + plugin_params = [] + extra_params = [] + for k, v in cfg.items(): + if v["enable"]: + plugin_params.append( + PluginParams( + name=k if not "type" in v else v["type"], + layer_name=v["layer_name"], + fill_nan=v["fill_nan"], + is_height_layer=v["is_height_layer"], + ) + ) + extra_params.append(v["extra_params"]) + self.init(plugin_params, extra_params) + print("Loaded plugins are ", *self.plugin_names) + + def get_layer_names(self): + names = [] + for obj in self.plugin_params: + names.append(obj.layer_name) + return names + + def get_plugin_names(self): + names = [] + for obj in self.plugin_params: + names.append(obj.name) + return names + + def get_plugin_index_with_name(self, name: str) -> int: + try: + idx = self.plugin_names.index(name) + return idx + except Exception as e: + print("Error with plugin {}: {}".format(name, e)) + return None + + def get_layer_index_with_name(self, name: str) -> int: + try: + idx = self.layer_names.index(name) + return idx + except Exception as e: + print("Error with layer {}: {}".format(name, e)) + return None + + def update_with_name( + self, + name: str, + elevation_map: cp.ndarray, + layer_names: List[str], + semantic_map=None, + semantic_params=None, + rotation=None, + elements_to_shift={}, + ): + idx = self.get_layer_index_with_name(name) + if idx is not None and idx < len(self.plugins): + n_param = len(signature(self.plugins[idx]).parameters) + if n_param == 5: + self.layers[idx] = self.plugins[idx](elevation_map, layer_names, self.layers, self.layer_names) + elif n_param == 7: + self.layers[idx] = self.plugins[idx]( + elevation_map, + layer_names, + self.layers, + self.layer_names, + semantic_map, + semantic_params, + ) + elif n_param == 8: + self.layers[idx] = self.plugins[idx]( + elevation_map, + layer_names, + self.layers, + self.layer_names, + semantic_map, + semantic_params, + rotation, + ) + else: + self.layers[idx] = self.plugins[idx]( + elevation_map, + layer_names, + self.layers, + self.layer_names, + semantic_map, + semantic_params, + rotation, + elements_to_shift, + ) + + def get_map_with_name(self, name: str) -> cp.ndarray: + idx = self.get_layer_index_with_name(name) + if idx is not None: + return self.layers[idx] + + def get_param_with_name(self, name: str) -> PluginParams: + idx = self.get_layer_index_with_name(name) + if idx is not None: + return self.plugin_params[idx] + + +if __name__ == "__main__": + plugins = [ + PluginParams(name="min_filter", layer_name="min_filter"), + PluginParams(name="smooth_filter", layer_name="smooth"), + ] + extra_params = [ + {"dilation_size": 5, "iteration_n": 5}, + {"input_layer_name": "elevation2"}, + ] + manager = PluginManager(200) + manager.load_plugin_settings("../config/plugin_config.yaml") + print(manager.layer_names) + print(manager.plugin_names) + elevation_map = cp.zeros((7, 200, 200)).astype(cp.float32) + layer_names = [ + "elevation", + "variance", + "is_valid", + "traversability", + "time", + "upper_bound", + "is_upper_bound", + ] + elevation_map[0] = cp.random.randn(200, 200) + elevation_map[2] = cp.abs(cp.random.randn(200, 200)) + print("map", elevation_map[0]) + print("layer map ", manager.layers) + manager.update_with_name("min_filter", elevation_map, layer_names) + manager.update_with_name("smooth_filter", elevation_map, layer_names) + # manager.update_with_name("sem_fil", elevation_map, layer_names, semantic_map=semantic_map) + print(manager.get_map_with_name("smooth")) diff --git a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/plugins/robot_centric_elevation.py b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/plugins/robot_centric_elevation.py new file mode 100644 index 00000000..80ac73a3 --- /dev/null +++ b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/plugins/robot_centric_elevation.py @@ -0,0 +1,121 @@ +# +# Copyright (c) 2022, Takahiro Miki. All rights reserved. +# Licensed under the MIT license. See LICENSE file in the project root for details. +# +import cupy as cp +import string +from typing import List +from .plugin_manager import PluginBase + + +class RobotCentricElevation(PluginBase): + """Generates an elevation map with respect to the robot frame. + + Args: + cell_n (int): + resolution (ruamel.yaml.scalarfloat.ScalarFloat): + threshold (ruamel.yaml.scalarfloat.ScalarFloat): + use_threshold (bool): + **kwargs (): + """ + + def __init__( + self, cell_n: int = 100, resolution: float = 0.05, threshold: float = 0.4, use_threshold: bool = 0, **kwargs + ): + super().__init__() + self.width = cell_n + self.height = cell_n + self.min_filtered = cp.zeros((self.width, self.height), dtype=cp.float32) + + self.base_elevation_kernel = cp.ElementwiseKernel( + in_params="raw U map, raw U mask, raw U R", + out_params="raw U newmap", + preamble=string.Template( + """ + __device__ int get_map_idx(int idx, int layer_n) { + const int layer = ${width} * ${height}; + return layer * layer_n + idx; + } + + __device__ bool is_inside(int idx) { + int idx_x = idx / ${width}; + int idx_y = idx % ${width}; + if (idx_x <= 0 || idx_x >= ${width} - 1) { + return false; + } + if (idx_y <= 0 || idx_y >= ${height} - 1) { + return false; + } + return true; + } + __device__ float get_map_x(int idx){ + float idx_x = idx / ${width}* ${resolution}; + return idx_x; + } + __device__ float get_map_y(int idx){ + float idx_y = idx % ${width}* ${resolution}; + return idx_y; + } + __device__ float transform_p(float x, float y, float z, + float r0, float r1, float r2) { + return r0 * x + r1 * y + r2 * z ; + } + """ + ).substitute(width=self.width, height=self.height, resolution=resolution), + operation=string.Template( + """ + U rz = map[get_map_idx(i, 0)]; + U valid = mask[get_map_idx(i, 0)]; + if (valid > 0.5) { + U rx = get_map_x(get_map_idx(i, 0)); + U ry = get_map_y(get_map_idx(i, 0)); + U x_b = transform_p(rx, ry, rz, R[0], R[1], R[2]); + U y_b = transform_p(rx, ry, rz, R[3], R[4], R[5]); + U z_b = transform_p(rx, ry, rz, R[6], R[7], R[8]); + if (${use_threshold} && z_b>= ${threshold} ) { + newmap[get_map_idx(i, 0)] = 1.0; + } + else if (${use_threshold} && z_b< ${threshold} ){ + newmap[get_map_idx(i, 0)] = 0.0; + } + else{ + newmap[get_map_idx(i, 0)] = z_b; + } + } + """ + ).substitute(threshold=threshold, use_threshold=int(use_threshold)), + name="base_elevation_kernel", + ) + + def __call__( + self, + elevation_map: cp.ndarray, + layer_names: List[str], + plugin_layers: cp.ndarray, + plugin_layer_names: List[str], + semantic_map: cp.ndarray, + semantic_layer_names: List[str], + rotation, + *args, + ) -> cp.ndarray: + """ + + Args: + elevation_map (cupy._core.core.ndarray): + layer_names (List[str]): + plugin_layers (cupy._core.core.ndarray): + plugin_layer_names (List[str]): + semantic_map (elevation_mapping_cupy.semantic_map.SemanticMap): + rotation (cupy._core.core.ndarray): + *args (): + + Returns: + cupy._core.core.ndarray: + """ + # Process maps here + # check that transform is a ndarray + self.min_filtered = elevation_map[0].copy() + self.base_elevation_kernel( + elevation_map[0], elevation_map[2], rotation, self.min_filtered, size=(self.width * self.height), + ) + return self.min_filtered diff --git a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/plugins/semantic_filter.py b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/plugins/semantic_filter.py new file mode 100644 index 00000000..0ec56010 --- /dev/null +++ b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/plugins/semantic_filter.py @@ -0,0 +1,133 @@ +# +# Copyright (c) 2022, Takahiro Miki. All rights reserved. +# Licensed under the MIT license. See LICENSE file in the project root for details. +# +import cupy as cp +import numpy as np +from typing import List +import re + +from elevation_mapping_cupy.plugins.plugin_manager import PluginBase + + +class SemanticFilter(PluginBase): + """This is a filter to create a one hot encoded map of the class probabilities. + + Args: + cell_n (int): width and height of the elevation map. + classes (list): List of classes for semantic filtering. Default is ["person", "grass"]. + **kwargs: Additional keyword arguments. + """ + + def __init__( + self, cell_n: int = 100, classes: list = ["person", "grass"], **kwargs, + ): + super().__init__() + self.indices = [] + self.classes = classes + self.color_encoding = self.transform_color() + + def color_map(self, N: int = 256, normalized: bool = False): + """ + Creates a color map with N different colors. + + Args: + N (int, optional): The number of colors in the map. Defaults to 256. + normalized (bool, optional): If True, the colors are normalized to the range [0,1]. Defaults to False. + + Returns: + np.ndarray: The color map. + """ + + def bitget(byteval, idx): + return (byteval & (1 << idx)) != 0 + + dtype = "float32" if normalized else "uint8" + cmap = np.zeros((N + 1, 3), dtype=dtype) + for i in range(N + 1): + r = g = b = 0 + c = i + for j in range(8): + r = r | (bitget(c, 0) << 7 - j) + g = g | (bitget(c, 1) << 7 - j) + b = b | (bitget(c, 2) << 7 - j) + c = c >> 3 + + cmap[i] = np.array([r, g, b]) + + cmap = cmap / 255 if normalized else cmap + cmap[1] = np.array([81, 113, 162]) + cmap[2] = np.array([81, 113, 162]) + cmap[3] = np.array([188, 63, 59]) + return cmap[1:] + + def transform_color(self): + """ + Transforms the color map into a format that can be used for semantic filtering. + + Returns: + cp.ndarray: The transformed color map. + """ + color_classes = self.color_map(255) + r = np.asarray(color_classes[:, 0], dtype=np.uint32) + g = np.asarray(color_classes[:, 1], dtype=np.uint32) + b = np.asarray(color_classes[:, 2], dtype=np.uint32) + rgb_arr = np.array((r << 16) | (g << 8) | (b << 0), dtype=np.uint32) + rgb_arr.dtype = np.float32 + return cp.asarray(rgb_arr) + + def get_layer_indices(self, layer_names: List[str]) -> List[int]: + """ Get the indices of the layers that are to be processed using regular expressions. + Args: + layer_names (List[str]): List of layer names. + Returns: + List[int]: List of layer indices. + """ + indices = [] + for i, layer_name in enumerate(layer_names): + if any(re.match(pattern, layer_name) for pattern in self.classes): + indices.append(i) + return indices + + def __call__( + self, + elevation_map: cp.ndarray, + layer_names: List[str], + plugin_layers: cp.ndarray, + plugin_layer_names: List[str], + semantic_map: cp.ndarray, + semantic_layer_names: List[str], + rotation, + elements_to_shift, + *args, + ) -> cp.ndarray: + """ + + Args: + elevation_map (cupy._core.core.ndarray): + layer_names (List[str]): + plugin_layers (cupy._core.core.ndarray): + plugin_layer_names (List[str]): + semantic_map (elevation_mapping_cupy.semantic_map.SemanticMap): + *args (): + + Returns: + cupy._core.core.ndarray: + """ + # get indices of all layers that contain semantic class information + data = [] + for m, layer_names in zip( + [elevation_map, plugin_layers, semantic_map], [layer_names, plugin_layer_names, semantic_layer_names] + ): + layer_indices = self.get_layer_indices(layer_names) + if len(layer_indices) > 0: + data.append(m[layer_indices]) + if len(data) > 0: + data = cp.concatenate(data, axis=0) + class_map = cp.amax(data, axis=0) + class_map_id = cp.argmax(data, axis=0) + else: + class_map = cp.zeros_like(elevation_map[0]) + class_map_id = cp.zeros_like(elevation_map[0], dtype=cp.int32) + enc = self.color_encoding[class_map_id] + return enc diff --git a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/plugins/semantic_traversability.py b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/plugins/semantic_traversability.py new file mode 100644 index 00000000..5f6ef1d5 --- /dev/null +++ b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/plugins/semantic_traversability.py @@ -0,0 +1,83 @@ +# +# Copyright (c) 2022, Takahiro Miki. All rights reserved. +# Licensed under the MIT license. See LICENSE file in the project root for details. +# +import cupy as cp +import numpy as np +from typing import List + +from elevation_mapping_cupy.plugins.plugin_manager import PluginBase + + +class SemanticTraversability(PluginBase): + """Extracts traversability and elevations from layers and generates an updated traversability that can be used by checker. + + Args: + cell_n (int): The width and height of the elevation map. + layers (list): List of layers for semantic traversability. Default is ["traversability"]. + thresholds (list): List of thresholds for each layer. Default is [0.5]. + type (list): List of types for each layer. Default is ["traversability"]. + **kwargs: Additional keyword arguments. + """ + + def __init__( + self, + cell_n: int = 100, + layers: list = ["traversability"], + thresholds: list = [0.5], + type: list = ["traversability"], + **kwargs, + ): + super().__init__() + self.layers = layers + self.thresholds = cp.asarray(thresholds) + self.type = type + + def __call__( + self, + elevation_map: cp.ndarray, + layer_names: List[str], + plugin_layers: cp.ndarray, + plugin_layer_names: List[str], + semantic_map: cp.ndarray, + semantic_layer_names: List[str], + *args, + ) -> cp.ndarray: + """ + + Args: + elevation_map (cupy._core.core.ndarray): + layer_names (List[str]): + plugin_layers (cupy._core.core.ndarray): + plugin_layer_names (List[str]): + semantic_map (elevation_mapping_cupy.semantic_map.SemanticMap): + *args (): + + Returns: + cupy._core.core.ndarray: + """ + # get indices of all layers that + map = cp.zeros(elevation_map[2].shape, np.float32) + tempo = cp.zeros(elevation_map[2].shape, np.float32) + for it, name in enumerate(self.layers): + if name in layer_names: + idx = layer_names.index(name) + tempo = elevation_map[idx] + # elif name in semantic_params.additional_layers: + # idx = semantic_params.additional_layers.index(name) + # tempo = semantic_map[idx] + elif name in plugin_layer_names: + idx = plugin_layer_names.index(name) + tempo = plugin_layers[idx] + else: + print("Layer {} is not in the map, returning traversabiltiy!".format(name)) + return + if self.type[it] == "traversability": + tempo = cp.where(tempo <= self.thresholds[it], 1, 0) + map += tempo + else: + tempo = cp.where(tempo >= self.thresholds[it], 1, 0) + map += tempo + map = cp.where(map <= 0.9, 0.1, 1) + + return map diff --git a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/plugins/smooth_filter.py b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/plugins/smooth_filter.py new file mode 100644 index 00000000..ae48b688 --- /dev/null +++ b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/plugins/smooth_filter.py @@ -0,0 +1,59 @@ +# +# Copyright (c) 2022, Takahiro Miki. All rights reserved. +# Licensed under the MIT license. See LICENSE file in the project root for details. +# +import cupy as cp +from typing import List +import cupyx.scipy.ndimage as ndimage + +from .plugin_manager import PluginBase + + +class SmoothFilter(PluginBase): + """ + SmoothFilter is a class that applies a smoothing filter + to the elevation map. The filter is applied to the layer specified by the input_layer_name parameter. + If the specified layer is not found, the filter is applied to the elevation layer. + + Args: + cell_n (int): The width and height of the elevation map. Default is 100. + input_layer_name (str): The name of the layer to which the filter should be applied. Default is "elevation". + **kwargs: Additional keyword arguments. + """ + + def __init__(self, cell_n: int = 100, input_layer_name: str = "elevation", **kwargs): + super().__init__() + self.input_layer_name = input_layer_name + + def __call__( + self, + elevation_map: cp.ndarray, + layer_names: List[str], + plugin_layers: cp.ndarray, + plugin_layer_names: List[str], + *args, + ) -> cp.ndarray: + """ + + Args: + elevation_map (cupy._core.core.ndarray): + layer_names (List[str]): + plugin_layers (cupy._core.core.ndarray): + plugin_layer_names (List[str]): + *args (): + + Returns: + cupy._core.core.ndarray: + """ + if self.input_layer_name in layer_names: + idx = layer_names.index(self.input_layer_name) + h = elevation_map[idx] + elif self.input_layer_name in plugin_layer_names: + idx = plugin_layer_names.index(self.input_layer_name) + h = plugin_layers[idx] + else: + print("layer name {} was not found. Using elevation layer.".format(self.input_layer_name)) + h = elevation_map[0] + hs1 = ndimage.uniform_filter(h, size=3) + hs1 = ndimage.uniform_filter(hs1, size=3) + return hs1 diff --git a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/semantic_map.py b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/semantic_map.py new file mode 100644 index 00000000..a06b7361 --- /dev/null +++ b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/semantic_map.py @@ -0,0 +1,400 @@ +# +# Copyright (c) 2022, Takahiro Miki. All rights reserved. +# Licensed under the MIT license. See LICENSE file in the project root for details. +# +from elevation_mapping_cupy.parameter import Parameter +import cupy as cp +import numpy as np +from typing import List, Dict +import re + + +from elevation_mapping_cupy.fusion.fusion_manager import FusionManager + +xp = cp + + +class SemanticMap: + def __init__(self, param: Parameter): + """ + + Args: + param (elevation_mapping_cupy.parameter.Parameter): + """ + + self.param = param + + self.layer_specs_points = {} + self.layer_specs_image = {} + self.layer_names = [] + self.unique_fusion = [] + self.unique_data = [] + self.elements_to_shift = {} + + self.unique_fusion = self.param.fusion_algorithms + + self.amount_layer_names = len(self.layer_names) + + self.semantic_map = xp.zeros( + (self.amount_layer_names, self.param.cell_n, self.param.cell_n), dtype=param.data_type, + ) + self.new_map = xp.zeros((self.amount_layer_names, self.param.cell_n, self.param.cell_n), param.data_type,) + # which layers should be reset to zero at each update, per default everyone, + # if a layer should not be reset, it is defined in compile_kernels function + self.delete_new_layers = cp.ones(self.new_map.shape[0], cp.bool8) + self.fusion_manager = FusionManager(self.param) + + def clear(self): + """Clear the semantic map.""" + self.semantic_map *= 0.0 + + def initialize_fusion(self): + """Initialize the fusion algorithms.""" + for fusion in self.unique_fusion: + if "pointcloud_class_bayesian" == fusion: + pcl_ids = self.get_layer_indices("class_bayesian", self.layer_specs_points) + self.delete_new_layers[pcl_ids] = 0 + if "pointcloud_class_max" == fusion: + pcl_ids = self.get_layer_indices("class_max", self.layer_specs_points) + self.delete_new_layers[pcl_ids] = 0 + layer_cnt = self.param.fusion_algorithms.count("class_max") + id_max = cp.zeros((layer_cnt, self.param.cell_n, self.param.cell_n), dtype=cp.uint32,) + self.elements_to_shift["id_max"] = id_max + self.fusion_manager.register_plugin(fusion) + + def update_fusion_setting(self): + """ + Update the fusion settings. + """ + for fusion in self.unique_fusion: + if "pointcloud_class_bayesian" == fusion: + pcl_ids = self.get_layer_indices("class_bayesian", self.layer_specs_points) + self.delete_new_layers[pcl_ids] = 0 + if "pointcloud_class_max" == fusion: + pcl_ids = self.get_layer_indices("class_max", self.layer_specs_points) + self.delete_new_layers[pcl_ids] = 0 + layer_cnt = self.param.fusion_algorithms.count("class_max") + id_max = cp.zeros((layer_cnt, self.param.cell_n, self.param.cell_n), dtype=cp.uint32,) + self.elements_to_shift["id_max"] = id_max + + def add_layer(self, name): + """ + Add a new layer to the semantic map. + + Args: + name (str): The name of the new layer. + """ + if name not in self.layer_names: + self.layer_names.append(name) + self.semantic_map = cp.append( + self.semantic_map, + cp.zeros((1, self.param.cell_n, self.param.cell_n), dtype=self.param.data_type), + axis=0, + ) + self.new_map = cp.append( + self.new_map, cp.zeros((1, self.param.cell_n, self.param.cell_n), dtype=self.param.data_type), axis=0, + ) + self.delete_new_layers = cp.append(self.delete_new_layers, cp.array([1], dtype=cp.bool8)) + + def pad_value(self, x, shift_value, idx=None, value=0.0): + """Create a padding of the map along x,y-axis according to amount that has shifted. + + Args: + x (cupy._core.core.ndarray): + shift_value (cupy._core.core.ndarray): + idx (Union[None, int, None, None]): + value (float): + """ + if idx is None: + if shift_value[0] > 0: + x[:, : shift_value[0], :] = value + elif shift_value[0] < 0: + x[:, shift_value[0] :, :] = value + if shift_value[1] > 0: + x[:, :, : shift_value[1]] = value + elif shift_value[1] < 0: + x[:, :, shift_value[1] :] = value + else: + if shift_value[0] > 0: + x[idx, : shift_value[0], :] = value + elif shift_value[0] < 0: + x[idx, shift_value[0] :, :] = value + if shift_value[1] > 0: + x[idx, :, : shift_value[1]] = value + elif shift_value[1] < 0: + x[idx, :, shift_value[1] :] = value + + def shift_map_xy(self, shift_value): + """Shift the map along x,y-axis according to shift values. + + Args: + shift_value: + """ + self.semantic_map = cp.roll(self.semantic_map, shift_value, axis=(1, 2)) + self.pad_value(self.semantic_map, shift_value, value=0.0) + self.new_map = cp.roll(self.new_map, shift_value, axis=(1, 2)) + self.pad_value(self.new_map, shift_value, value=0.0) + for el in self.elements_to_shift.values(): + el = cp.roll(el, shift_value, axis=(1, 2)) + self.pad_value(el, shift_value, value=0.0) + + def get_fusion( + self, channels: List[str], channel_fusions: Dict[str, str], layer_specs: Dict[str, str] + ) -> List[str]: + """Get all fusion algorithms that need to be applied to a specific pointcloud. + + Args: + channels (List[str]): + """ + fusion_list = [] + process_channels = [] + for channel in channels: + if channel not in layer_specs: + # If the channel is not in the layer_specs, we use the default fusion algorithm + matched_fusion = self.get_matching_fusion(channel, channel_fusions) + if matched_fusion is None: + if "default" in channel_fusions: + default_fusion = channel_fusions["default"] + print( + f"[WARNING] Layer {channel} not found in layer_specs. Using {default_fusion} algorithm as default." + ) + layer_specs[channel] = default_fusion + self.update_fusion_setting() + # If there's no default fusion algorithm, we skip this channel + else: + print( + f"[WARNING] Layer {channel} not found in layer_specs ({layer_specs}) and no default fusion is configured. Skipping." + ) + continue + else: + layer_specs[channel] = matched_fusion + self.update_fusion_setting() + x = layer_specs[channel] + fusion_list.append(x) + process_channels.append(channel) + return process_channels, fusion_list + + def get_matching_fusion(self, channel: str, fusion_algs: Dict[str, str]): + """ Use regular expression to check if the fusion algorithm matches the channel name.""" + for fusion_alg, alg_value in fusion_algs.items(): + if re.match(f"^{fusion_alg}$", channel): + return alg_value + return None + + def get_layer_indices(self, fusion_alg, layer_specs): + """Get the indices of the layers that are used for a specific fusion algorithm. + + Args: + fusion_alg(str): fusion algorithm name + + Returns: + cp.array: indices of the layers + """ + layer_indices = cp.array([], dtype=cp.int32) + for it, (key, val) in enumerate(layer_specs.items()): + if key in val == fusion_alg: + layer_indices = cp.append(layer_indices, it).astype(cp.int32) + return layer_indices + + def get_indices_fusion(self, pcl_channels: List[str], fusion_alg: str, layer_specs: Dict[str, str]): + """Computes the indices of the channels of the pointcloud and the layers of the semantic map of type fusion_alg. + + Args: + pcl_channels (List[str]): list of all channel names + fusion_alg (str): fusion algorithm type we want to use for channel selection + + Returns: + Union[Tuple[List[int], List[int]], Tuple[cupy._core.core.ndarray, cupy._core.core.ndarray]]: + + + """ + # this contains exactly the fusion alg type for each channel of the pcl + pcl_val_list = [layer_specs[x] for x in pcl_channels] + # this contains the indices of the point cloud where we have to perform a certain fusion + pcl_indices = cp.array([idp + 3 for idp, x in enumerate(pcl_val_list) if x == fusion_alg], dtype=cp.int32,) + # create a list of indices of the layers that will be updated by the point cloud with specific fusion alg + layer_indices = cp.array([], dtype=cp.int32) + for it, (key, val) in enumerate(layer_specs.items()): + if key in pcl_channels and val == fusion_alg: + layer_idx = self.layer_names.index(key) + layer_indices = cp.append(layer_indices, layer_idx).astype(cp.int32) + return pcl_indices, layer_indices + + def update_layers_pointcloud(self, points_all, channels, R, t, elevation_map): + """Update the semantic map with the pointcloud. + + Args: + points_all: semantic point cloud + channels: list of channel names + R: rotation matrix + t: translation vector + elevation_map: elevation map object + """ + process_channels, additional_fusion = self.get_fusion( + channels, self.param.pointcloud_channel_fusions, self.layer_specs_points + ) + # If channels has a new layer that is not in the semantic map, add it + for channel in process_channels: + if channel not in self.layer_names: + print(f"Layer {channel} not found, adding it to the semantic map") + self.add_layer(channel) + + # Resetting new_map for the layers that are to be deleted + self.new_map[self.delete_new_layers] = 0.0 + for fusion in list(set(additional_fusion)): + # which layers need to be updated with this fusion algorithm + pcl_ids, layer_ids = self.get_indices_fusion(process_channels, fusion, self.layer_specs_points) + # update the layers with the fusion algorithm + self.fusion_manager.execute_plugin( + fusion, + points_all, + R, + t, + pcl_ids, + layer_ids, + elevation_map, + self.semantic_map, + self.new_map, + self.elements_to_shift, + ) + + def update_layers_image( + self, + # sub_key: str, + image: cp._core.core.ndarray, + channels: List[str], + # fusion_methods: List[str], + uv_correspondence: cp._core.core.ndarray, + valid_correspondence: cp._core.core.ndarray, + image_height: cp._core.core.ndarray, + image_width: cp._core.core.ndarray, + ): + """Update the semantic map with the new image. + + Args: + sub_key: + image: + uv_correspondence: + valid_correspondence: + image_height: + image_width: + """ + + process_channels, fusion_methods = self.get_fusion( + channels, self.param.image_channel_fusions, self.layer_specs_image + ) + self.new_map[self.delete_new_layers] = 0.0 + for j, (fusion, channel) in enumerate(zip(fusion_methods, process_channels)): + if channel not in self.layer_names: + print(f"Layer {channel} not found, adding it to the semantic map") + self.add_layer(channel) + sem_map_idx = self.get_index(channel) + + if sem_map_idx == -1: + print(f"Layer {channel} not found!") + return + + # update the layers with the fusion algorithm + self.fusion_manager.execute_image_plugin( + fusion, + cp.uint64(sem_map_idx), + image, + j, + uv_correspondence, + valid_correspondence, + image_height, + image_width, + self.semantic_map, + self.new_map, + ) + + def decode_max(self, mer): + """Decode the float32 value into two 16 bit value containing the class probability and the class id. + + Args: + mer: + + Returns: + cp.array: probability + cp.array: class id + """ + mer = mer.astype(cp.float32) + mer = mer.view(dtype=cp.uint32) + ma = cp.bitwise_and(mer, 0xFFFF, dtype=np.uint16) + ma = ma.view(np.float16) + ma = ma.astype(np.float32) + ind = cp.right_shift(mer, 16) + return ma, ind + + def get_map_with_name(self, name): + """Return the map with the given name. + + Args: + name: layer name + + Returns: + cp.array: map + """ + # If the layer is a color layer, return the rgb map + if name in self.layer_specs_points and self.layer_specs_points[name] == "color": + m = self.get_rgb(name) + return m + elif name in self.layer_specs_image and self.layer_specs_image[name] == "color": + m = self.get_rgb(name) + return m + else: + m = self.get_semantic(name) + return m + + def get_rgb(self, name): + """Return the rgb map with the given name. + + Args: + name: + + Returns: + cp.array: rgb map + """ + idx = self.layer_names.index(name) + c = self.process_map_for_publish(self.semantic_map[idx]) + c = c.astype(np.float32) + return c + + def get_semantic(self, name): + """Return the semantic map layer with the given name. + + Args: + name(str): layer name + + Returns: + cp.array: semantic map layer + """ + idx = self.layer_names.index(name) + c = self.process_map_for_publish(self.semantic_map[idx]) + return c + + def process_map_for_publish(self, input_map): + """Remove padding. + + Args: + input_map(cp.array): map layer + + Returns: + cp.array: map layer without padding + """ + m = input_map.copy() + return m[1:-1, 1:-1] + + def get_index(self, name): + """Return the index of the layer with the given name. + + Args: + name(str): + + Returns: + int: index + """ + if name not in self.layer_names: + return -1 + else: + return self.layer_names.index(name) diff --git a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/tests/__init__.py b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/tests/__init__.py new file mode 100644 index 00000000..e69de29b diff --git a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/tests/test_elevation_mapping.py b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/tests/test_elevation_mapping.py new file mode 100644 index 00000000..7bdbb20b --- /dev/null +++ b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/tests/test_elevation_mapping.py @@ -0,0 +1,118 @@ +import pytest +from elevation_mapping_cupy import parameter, elevation_mapping +import cupy as cp +import numpy as np + + +def encode_max(maxim, index): + maxim, index = cp.asarray(maxim, dtype=cp.float32), cp.asarray(index, dtype=cp.uint32) + # fuse them + maxim = maxim.astype(cp.float16) + maxim = maxim.view(cp.uint16) + maxim = maxim.astype(cp.uint32) + index = index.astype(cp.uint32) + mer = cp.array(cp.left_shift(index, 16) | maxim, dtype=cp.uint32) + mer = mer.view(cp.float32) + return mer + + +@pytest.fixture() +def elmap_ex(add_lay, fusion_alg): + additional_layer = add_lay + fusion_algorithms = fusion_alg + p = parameter.Parameter( + use_chainer=False, + weight_file="../../../config/weights.dat", + plugin_config_file="../../../config/plugin_config.yaml", + ) + p.subscriber_cfg["front_cam"]["channels"] = additional_layer + p.subscriber_cfg["front_cam"]["fusion"] = fusion_algorithms + p.update() + e = elevation_mapping.ElevationMap(p) + return e + + +@pytest.mark.parametrize( + "add_lay,fusion_alg", + [ + (["feat_0", "feat_1", "rgb"], ["average", "average", "color"]), + (["feat_0", "feat_1"], ["average", "average"]), + (["feat_0", "feat_1"], ["class_average", "class_average"]), + (["feat_0", "feat_1"], ["class_bayesian", "class_bayesian"]), + (["feat_0", "feat_1"], ["class_bayesian", "class_max"]), + (["feat_0", "feat_1"], ["bayesian_inference", "bayesian_inference"]), + ], +) +class TestElevationMap: + def test_init(self, elmap_ex): + assert len(elmap_ex.layer_names) == elmap_ex.elevation_map.shape[0] + # assert elmap_ex.color_map is None + + def test_input(self, elmap_ex): + channels = ["x", "y", "z"] + elmap_ex.param.additional_layers + if "class_max" in elmap_ex.param.fusion_algorithms: + val = cp.random.rand(100000, len(channels), dtype=cp.float32).astype(cp.float16) + ind = cp.random.randint(0, 2, (100000, len(channels)), dtype=cp.uint32).astype(cp.float32) + points = encode_max(val, ind) + else: + points = cp.random.rand(100000, len(channels), dtype=elmap_ex.param.data_type) + R = cp.random.rand(3, 3, dtype=elmap_ex.param.data_type) + t = cp.random.rand(3, dtype=elmap_ex.param.data_type) + elmap_ex.input_pointcloud(points, channels, R, t, 0, 0) + + def test_update_normal(self, elmap_ex): + elmap_ex.update_normal(elmap_ex.elevation_map[0]) + + def test_move_to(self, elmap_ex): + for i in range(20): + pos = np.array([i * 0.01, i * 0.02, i * 0.01]) + R = cp.random.rand(3, 3) + elmap_ex.move_to(pos, R) + + def test_get_map(self, elmap_ex): + layers = [ + "elevation", + "variance", + "traversability", + "min_filter", + "smooth", + "inpaint", + "rgb", + ] + data = np.zeros((elmap_ex.cell_n - 2, elmap_ex.cell_n - 2), dtype=cp.float32) + for layer in layers: + elmap_ex.get_map_with_name_ref(layer, data) + + def test_get_position(self, elmap_ex): + pos = np.random.rand(1, 3) + elmap_ex.get_position(pos) + + def test_clear(self, elmap_ex): + elmap_ex.clear() + + def test_move(self, elmap_ex): + delta_position = np.random.rand(3) + elmap_ex.move(delta_position) + + def test_exists_layer(self, elmap_ex, add_lay): + for layer in add_lay: + assert elmap_ex.exists_layer(layer) + + def test_polygon_traversability(self, elmap_ex): + polygon = cp.array([[0, 0], [2, 0], [0, 2]], dtype=np.float64) + result = np.array([0, 0, 0]) + number_polygons = elmap_ex.get_polygon_traversability(polygon, result) + untraversable_polygon = np.zeros((number_polygons, 2)) + elmap_ex.get_untraversable_polygon(untraversable_polygon) + + def test_initialize_map(self, elmap_ex): + methods = ["linear", "cubic", "nearest"] + for method in methods: + points = np.array([[-4.0, 0.0, 0.0], [-4.0, 8.0, 1.0], [4.0, 8.0, 0.0], [4.0, 0.0, 0.0]]) + elmap_ex.initialize_map(points, method) + + def test_plugins(self, elmap_ex): + layers = elmap_ex.plugin_manager.layer_names + data = np.zeros((200, 200), dtype=np.float32) + for layer in layers: + elmap_ex.get_map_with_name_ref(layer, data) diff --git a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/tests/test_parameter.py b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/tests/test_parameter.py new file mode 100644 index 00000000..4c497349 --- /dev/null +++ b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/tests/test_parameter.py @@ -0,0 +1,17 @@ +import pytest +from elevation_mapping_cupy.parameter import Parameter + + +def test_parameter(): + param = Parameter( + use_chainer=False, + weight_file="../../../config/weights.dat", + plugin_config_file="../../../config/plugin_config.yaml", + ) + res = param.resolution + param.set_value("resolution", 0.1) + param.get_types() + param.get_names() + param.update() + assert param.resolution == param.get_value("resolution") + param.load_weights(param.weight_file) diff --git a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/tests/test_plugins.py b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/tests/test_plugins.py new file mode 100644 index 00000000..f3e8cc1c --- /dev/null +++ b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/tests/test_plugins.py @@ -0,0 +1,69 @@ +import pytest +from elevation_mapping_cupy import semantic_map, parameter +import cupy as cp +import numpy as np +from elevation_mapping_cupy.plugins.plugin_manager import PluginManager, PluginParams + +plugin_path = "plugin_config.yaml" + + +@pytest.fixture() +def semmap_ex(add_lay, fusion_alg): + p = parameter.Parameter( + use_chainer=False, weight_file="../../../config/weights.dat", plugin_config_file=plugin_path, + ) + p.subscriber_cfg["front_cam"]["channels"] = add_lay + p.subscriber_cfg["front_cam"]["fusion"] = fusion_alg + p.update() + e = semantic_map.SemanticMap(p) + e.initialize_fusion() + return e + + +@pytest.mark.parametrize( + "add_lay, fusion_alg,channels", + [ + ( + ["grass", "tree", "fence", "person"], + ["class_average", "class_average", "class_average", "class_average"], + ["grass"], + ), + (["grass", "tree"], ["class_average", "class_average"], ["grass"]), + (["grass", "tree"], ["class_average", "class_max"], ["tree"]), + (["max1", "max2"], ["class_max", "class_max"], ["max1", "max2"]), + ], +) +def test_plugin_manager(semmap_ex, channels): + manager = PluginManager(202) + manager.load_plugin_settings(plugin_path) + elevation_map = cp.zeros((7, 202, 202)).astype(cp.float32) + rotation = cp.eye(3, dtype=cp.float32) + layer_names = [ + "elevation", + "variance", + "is_valid", + "traversability", + "time", + "upper_bound", + "is_upper_bound", + ] + elevation_map[0] = cp.random.randn(202, 202) + elevation_map[2] = cp.abs(cp.random.randn(202, 202)) + elevation_map[0] + manager.layers[0] + manager.update_with_name("min_filter", elevation_map, layer_names) + manager.update_with_name("smooth_filter", elevation_map, layer_names) + manager.update_with_name("semantic_filter", elevation_map, layer_names, semmap_ex, rotation) + manager.update_with_name("semantic_traversability", elevation_map, layer_names, semmap_ex) + manager.get_map_with_name("smooth") + for lay in manager.get_layer_names(): + manager.update_with_name( + lay, + elevation_map, + layer_names, + semmap_ex.semantic_map, + semmap_ex.param, + rotation, + semmap_ex.elements_to_shift, + ) + manager.get_map_with_name(lay) diff --git a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/tests/test_semantic_kernels.py b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/tests/test_semantic_kernels.py new file mode 100644 index 00000000..590946eb --- /dev/null +++ b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/tests/test_semantic_kernels.py @@ -0,0 +1,307 @@ +import pytest +from elevation_mapping_cupy import parameter, elevation_mapping +import cupy as cp + +from elevation_mapping_cupy.parameter import Parameter + +from elevation_mapping_cupy.kernels import add_points_kernel +from elevation_mapping_cupy.kernels import ( + average_kernel, + class_average_kernel, + alpha_kernel, + bayesian_inference_kernel, + add_color_kernel, + color_average_kernel, + sum_compact_kernel, + sum_max_kernel, + sum_kernel, +) + + +# to check output run: pytest -rP test_semantic_kernels.py + + +# only kernel where we test only one layer +def test_color_kernel(): + # params + cell_n = 4 + pcl_ids, layer_ids = cp.array([3], dtype=cp.int32), cp.array([0], dtype=cp.int32) + R = cp.eye(3, dtype=cp.float32) + t = cp.array([0, 0, 0], dtype=cp.float32) + points_all = cp.array([[0.1, 0.1, 0.1, 0.3], [0.1, 0.1, 0.1, 0.1], [0.1, 0.1, 0.1, 0.1]], dtype=cp.float32) + semantic_map = cp.zeros((1, 4, 4), dtype=cp.float32) + + # compile kernel + add_color_kernel_ = add_color_kernel(cell_n, cell_n,) + color_average_kernel_ = color_average_kernel(cell_n, cell_n) + + # updatelayer + color_map = cp.zeros((1 + 3 * layer_ids.shape[0], cell_n, cell_n), dtype=cp.uint32,) + + points_all = points_all.astype(cp.float32) + add_color_kernel_( + points_all, + R, + t, + pcl_ids, + layer_ids, + cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=cp.int32), + color_map, + size=(points_all.shape[0] * pcl_ids.shape[0]), + ) + color_average_kernel_( + color_map, + pcl_ids, + layer_ids, + cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=cp.int32), + semantic_map, + size=(cell_n * cell_n * pcl_ids.shape[0]), + ) + print(color_map) + + +@pytest.mark.parametrize( + "map_shape, points_all,pcl_ids, layer_ids", + [ + ( + (4, 4, 4), + cp.array( + [[0.1, 0.1, 0.1, 0.3, 0.3], [0.1, 0.1, 0.1, 0.1, 0.2], [0.1, 0.1, 0.1, 0.1, 0.2]], dtype=cp.float32 + ), + cp.array([3, 4], dtype=cp.int32), + cp.array([1, 2], dtype=cp.int32), + ), + ], +) +def test_sum_kernel(map_shape, points_all, pcl_ids, layer_ids): + # create points + resolution = 0.9 + points = points_all[:, :3] + # arguments for kernel + semantic_map = cp.zeros(map_shape, dtype=cp.float32) + new_map = cp.zeros(map_shape, dtype=cp.float32) + R = cp.eye(3, dtype=cp.float32) + t = cp.array([0, 0, 0], dtype=cp.float32) + # compile kernel + sum_kernel_ = sum_kernel(0.9, 4, 4,) + # simulating adding the points + print("idx, valid, inside, values") + points_all[:, 0] = 1 + points_all[:, 1:3] = 1.0 + print("points all after ", points_all) + # run the kernel + sum_kernel_( + points_all, + R, + t, + pcl_ids, + layer_ids, + cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=cp.int32), + semantic_map, + new_map, + size=(points_all.shape[0] * pcl_ids.shape[0]), + ) + print("semantic_map", semantic_map) + print("new_map", new_map) + + +@pytest.mark.parametrize( + "map_shape, points_all,pcl_ids, layer_ids", + [ + ( + (4, 4, 4), + cp.array( + [[0.1, 0.1, 0.1, 0.3, 0.3], [0.1, 0.1, 0.1, 0.1, 0.2], [0.1, 0.1, 0.1, 0.1, 0.2]], dtype=cp.float32 + ), + cp.array([3, 4], dtype=cp.int32), + cp.array([1, 2], dtype=cp.int32), + ), + ], +) +def test_average_kernel(map_shape, points_all, pcl_ids, layer_ids): + elevation_map = cp.zeros((3, 4, 4), dtype=cp.float32) + elevation_map[2] = points_all.shape[0] + semantic_map = cp.zeros(map_shape, dtype=cp.float32) + new_map = cp.ones(map_shape, dtype=cp.float32) + R = cp.eye(3, dtype=cp.float32) + t = cp.array([0, 0, 0], dtype=cp.float32) + # compile kernel + average_kernel_ = average_kernel(4, 4,) + cell_n = 4 + print("new_map", new_map) + print("semantic_map", semantic_map) + print("elevation_map", elevation_map) + + average_kernel_( + new_map, + pcl_ids, + layer_ids, + cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=cp.int32), + elevation_map, + semantic_map, + size=(cell_n * cell_n * pcl_ids.shape[0]), + ) + print("semantic_map", semantic_map) + + +@pytest.mark.parametrize( + "map_shape, points_all,pcl_ids, layer_ids", + [ + ( + (3, 4, 4), + cp.array( + [[0.1, 0.1, 0.1, 0.3, 0.3], [0.1, 0.1, 0.1, 0.1, 0.2], [0.1, 0.1, 0.1, 0.1, 0.2]], dtype=cp.float32 + ), + cp.array([3], dtype=cp.int32), + cp.array([0], dtype=cp.int32), + ), + ], +) +def test_bayesian_inference_kernel(map_shape, points_all, pcl_ids, layer_ids): + # params + cell_n = 4 + resolution = 0.9 + elevation_map = cp.zeros((3, 4, 4), dtype=cp.float32) + elevation_map[2] = points_all.shape[0] + semantic_map = cp.zeros(map_shape, dtype=cp.float32) + new_map = cp.ones(map_shape, dtype=cp.float32) + R = cp.eye(3, dtype=cp.float32) + t = cp.array([0, 0, 0], dtype=cp.float32) + + # compile kernel + sum_mean = cp.ones((pcl_ids.shape[0], cell_n, cell_n,), cp.float32,) + sum_compact_kernel_ = sum_compact_kernel(resolution, cell_n, cell_n,) + bayesian_inference_kernel_ = bayesian_inference_kernel(cell_n, cell_n,) + # updatelayer + sum_mean *= 0 + sum_compact_kernel_( + points_all, + R, + t, + pcl_ids, + layer_ids, + cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=cp.int32), + sum_mean, + size=(points_all.shape[0] * pcl_ids.shape[0]), + ) + bayesian_inference_kernel_( + pcl_ids, + layer_ids, + cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=cp.int32), + elevation_map, + new_map, + sum_mean, + semantic_map, + size=(cell_n * cell_n * pcl_ids.shape[0]), + ) + print("semantic_map", semantic_map) + + +@pytest.mark.parametrize( + "map_shape, points_all,pcl_ids, layer_ids", + [ + ( + (4, 4, 4), + cp.array( + [[0.1, 0.1, 0.1, 0.3, 0.3], [0.1, 0.1, 0.1, 0.1, 0.2], [0.1, 0.1, 0.1, 0.1, 0.2]], dtype=cp.float32 + ), + cp.array([3, 4], dtype=cp.int32), + cp.array([1, 2], dtype=cp.int32), + ), + ], +) +def test_class_average_kernel(map_shape, points_all, pcl_ids, layer_ids): + # params + cell_n = 4 + resolution = 0.9 + average_weight = 0.5 + elevation_map = cp.zeros((3, 4, 4), dtype=cp.float32) + elevation_map[2] = 3 + semantic_map = cp.zeros(map_shape, dtype=cp.float32) + new_map = cp.zeros(map_shape, dtype=cp.float32) + R = cp.eye(3, dtype=cp.float32) + t = cp.array([0, 0, 0], dtype=cp.float32) + # compile kernel + sum_kernel_ = sum_kernel(0.9, 4, 4,) + class_average_kernel_ = class_average_kernel(cell_n, cell_n, average_weight,) + print("x,y,z,class") + print("points all after ", points_all) + + # simulating adding the points + print("idx, valid, inside, values") + points_all[:, 0] = 1 + points_all[:, 1:3] = 1.0 + print("points all after ", points_all) + # run the kernel + sum_kernel_( + points_all, + R, + t, + pcl_ids, + layer_ids, + cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=cp.int32), + semantic_map, + new_map, + size=(points_all.shape[0] * pcl_ids.shape[0]), + ) + print("new_map bef", new_map) + print("pcl_ids.shape[0]", pcl_ids.shape[0]) + class_average_kernel_( + new_map, + pcl_ids, + layer_ids, + cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=cp.int32), + elevation_map, + semantic_map, + size=(cell_n * cell_n * pcl_ids.shape[0]), + ) + print("semantic_map", semantic_map) + print("new_map", new_map) + + +@pytest.mark.parametrize( + "map_shape, points_all,pcl_ids, layer_ids", + [ + ( + (4, 4, 4), + cp.array( + [[0.1, 0.1, 0.1, 0.3, 0.3], [0.1, 0.1, 0.1, 0.1, 0.2], [0.1, 0.1, 0.1, 0.1, 0.2]], dtype=cp.float32 + ), + cp.array([3, 4], dtype=cp.int32), + cp.array([1, 2], dtype=cp.int32), + ), + ], +) +def test_class_bayesian_inference_fct(map_shape, points_all, pcl_ids, layer_ids): + # params + cell_n = 4 + resolution = 0.9 + elevation_map = cp.zeros((3, 4, 4), dtype=cp.float32) + elevation_map[2] = points_all.shape[0] + semantic_map = cp.zeros(map_shape, dtype=cp.float32) + new_map = cp.zeros(map_shape, dtype=cp.float32) + R = cp.eye(3, dtype=cp.float32) + t = cp.array([0, 0, 0], dtype=cp.float32) + # compile kernel + alpha_kernel_ = alpha_kernel(resolution, cell_n, cell_n,) + # simulating adding the points + print("idx, valid, inside, values") + points_all[:, 0] = 1 + points_all[:, 1:3] = 1.0 + print("points all after ", points_all) + # run the kernel + alpha_kernel_( + points_all, + pcl_ids, + layer_ids, + cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=cp.int32), + new_map, + size=(points_all.shape[0] * pcl_ids.shape[0]), + ) + # calculate new thetas + sum_alpha = cp.sum(new_map[layer_ids], axis=0) + # do not divide by zero + sum_alpha[sum_alpha == 0] = 1 + semantic_map[layer_ids] = new_map[layer_ids] / cp.expand_dims(sum_alpha, axis=0) + print("semantic_map", semantic_map) + print("new_map", new_map) diff --git a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/tests/test_semantic_map.py b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/tests/test_semantic_map.py new file mode 100644 index 00000000..95966bc4 --- /dev/null +++ b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/tests/test_semantic_map.py @@ -0,0 +1,47 @@ +import pytest +from elevation_mapping_cupy import semantic_map, parameter +import cupy as cp +import numpy as np + + +@pytest.fixture() +def semmap_ex(sem_lay, fusion_alg): + p = parameter.Parameter( + use_chainer=False, + weight_file="../../../config/weights.dat", + plugin_config_file="../../../config/plugin_config.yaml", + ) + for subs, value in p.subscriber_cfg.items(): + value["channels"] = sem_lay + value["fusion"] = fusion_alg + p.update() + e = semantic_map.SemanticMap(p) + return e + + +@pytest.mark.parametrize( + "sem_lay, fusion_alg,channels", + [ + (["feat_0", "feat_1"], ["average", "average"], ["feat_0"]), + (["feat_0", "feat_1"], ["average", "average"], []), + (["feat_0", "feat_1", "rgb"], ["average", "average", "color"], ["rgb", "feat_0"],), + (["feat_0", "feat_1", "rgb"], ["class_average", "average", "color"], ["rgb", "feat_0"],), + (["feat_0", "feat_1", "rgb"], ["class_bayesian", "average", "color"], ["rgb", "feat_0"],), + (["feat_0", "feat_1", "rgb"], ["class_bayesian", "average", "color"], ["rgb", "feat_0", "feat_1"],), + (["feat_0", "feat_1", "rgb"], ["class_bayesian", "class_max", "color"], ["rgb", "feat_0", "feat_1"],), + (["max1", "max2", "rgb"], ["class_max", "class_max", "color"], ["rgb", "max1", "max2"],), + ], +) +def test_fusion_of_pcl(semmap_ex, channels): + fusion = semmap_ex.get_fusion_of_pcl(channels=channels) + assert len(fusion) <= len(channels) + assert len(fusion) > 0 or len(channels) == 0 + assert all(isinstance(item, str) for item in fusion) + + +@pytest.mark.parametrize( + "sem_lay, fusion_alg", [(["feat_0", "feat_1", "rgb"], ["average", "average", "color"]),], +) +@pytest.mark.parametrize("channels", [["rgb"], ["rgb", "feat_0"], []]) +def test_indices_fusion(semmap_ex, channels, fusion_alg): + pcl_indices, layer_indices = semmap_ex.get_indices_fusion(pcl_channels=channels, fusion_alg=fusion_alg[0]) diff --git a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/traversability_filter.py b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/traversability_filter.py new file mode 100644 index 00000000..7dfb47c2 --- /dev/null +++ b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/traversability_filter.py @@ -0,0 +1,100 @@ +# +# Copyright (c) 2022, Takahiro Miki. All rights reserved. +# Licensed under the MIT license. See LICENSE file in the project root for details. +# +import cupy as cp + + +def get_filter_torch(*args, **kwargs): + import torch + import torch.nn as nn + + class TraversabilityFilter(nn.Module): + def __init__(self, w1, w2, w3, w_out, device="cuda", use_bias=False): + super(TraversabilityFilter, self).__init__() + self.conv1 = nn.Conv2d(1, 4, 3, dilation=1, padding=0, bias=use_bias) + self.conv2 = nn.Conv2d(1, 4, 3, dilation=2, padding=0, bias=use_bias) + self.conv3 = nn.Conv2d(1, 4, 3, dilation=3, padding=0, bias=use_bias) + self.conv_out = nn.Conv2d(12, 1, 1, bias=use_bias) + + # Set weights. + self.conv1.weight = nn.Parameter(torch.from_numpy(w1).float()) + self.conv2.weight = nn.Parameter(torch.from_numpy(w2).float()) + self.conv3.weight = nn.Parameter(torch.from_numpy(w3).float()) + self.conv_out.weight = nn.Parameter(torch.from_numpy(w_out).float()) + + def __call__(self, elevation_cupy): + # Convert cupy tensor to pytorch. + elevation_cupy = elevation_cupy.astype(cp.float32) + elevation = torch.as_tensor(elevation_cupy, device=self.conv1.weight.device) + + with torch.no_grad(): + out1 = self.conv1(elevation.view(-1, 1, elevation.shape[0], elevation.shape[1])) + out2 = self.conv2(elevation.view(-1, 1, elevation.shape[0], elevation.shape[1])) + out3 = self.conv3(elevation.view(-1, 1, elevation.shape[0], elevation.shape[1])) + + out1 = out1[:, :, 2:-2, 2:-2] + out2 = out2[:, :, 1:-1, 1:-1] + out = torch.cat((out1, out2, out3), dim=1) + # out = F.concat((out1, out2, out3), axis=1) + out = self.conv_out(out.abs()) + out = torch.exp(-out) + out_cupy = cp.asarray(out) + + return out_cupy + + traversability_filter = TraversabilityFilter(*args, **kwargs).cuda().eval() + return traversability_filter + + +def get_filter_chainer(*args, **kwargs): + import os + + os.environ["CHAINER_WARN_VERSION_MISMATCH"] = "0" + import chainer + import chainer.links as L + import chainer.functions as F + + class TraversabilityFilter(chainer.Chain): + def __init__(self, w1, w2, w3, w_out, use_cupy=True): + super(TraversabilityFilter, self).__init__() + self.conv1 = L.Convolution2D(1, 4, ksize=3, pad=0, dilate=1, nobias=True, initialW=w1) + self.conv2 = L.Convolution2D(1, 4, ksize=3, pad=0, dilate=2, nobias=True, initialW=w2) + self.conv3 = L.Convolution2D(1, 4, ksize=3, pad=0, dilate=3, nobias=True, initialW=w3) + self.conv_out = L.Convolution2D(12, 1, ksize=1, nobias=True, initialW=w_out) + + if use_cupy: + self.conv1.to_gpu() + self.conv2.to_gpu() + self.conv3.to_gpu() + self.conv_out.to_gpu() + chainer.config.train = False + chainer.config.enable_backprop = False + + def __call__(self, elevation): + out1 = self.conv1(elevation.reshape(-1, 1, elevation.shape[0], elevation.shape[1])) + out2 = self.conv2(elevation.reshape(-1, 1, elevation.shape[0], elevation.shape[1])) + out3 = self.conv3(elevation.reshape(-1, 1, elevation.shape[0], elevation.shape[1])) + + out1 = out1[:, :, 2:-2, 2:-2] + out2 = out2[:, :, 1:-1, 1:-1] + out = F.concat((out1, out2, out3), axis=1) + out = self.conv_out(F.absolute(out)) + return F.exp(-out).array + + traversability_filter = TraversabilityFilter(*args, **kwargs) + return traversability_filter + + +if __name__ == "__main__": + import cupy as cp + from parameter import Parameter + + elevation = cp.random.randn(202, 202, dtype=cp.float32) + print("elevation ", elevation.shape) + param = Parameter() + fc = get_filter_chainer(param.w1, param.w2, param.w3, param.w_out) + print("chainer ", fc(elevation)) + + ft = get_filter_torch(param.w1, param.w2, param.w3, param.w_out) + print("torch ", ft(elevation)) diff --git a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/traversability_polygon.py b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/traversability_polygon.py new file mode 100644 index 00000000..be874f1b --- /dev/null +++ b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/traversability_polygon.py @@ -0,0 +1,77 @@ +# +# Copyright (c) 2022, Takahiro Miki. All rights reserved. +# Licensed under the MIT license. See LICENSE file in the project root for details. +# +import numpy as np +import cupy as cp +from shapely.geometry import Polygon, MultiPoint + + +def get_masked_traversability(map_array, mask, traversability): + traversability = traversability[1:-1, 1:-1] + is_valid = map_array[2][1:-1, 1:-1] + mask = mask[1:-1, 1:-1] + + # invalid place is 0 traversability value + untraversability = cp.where(is_valid > 0.5, 1 - traversability, 0) + masked = untraversability * mask + masked_isvalid = is_valid * mask + return masked, masked_isvalid + + +def is_traversable(masked_untraversability, thresh, min_thresh, max_over_n): + untraversable_thresh = 1 - thresh + max_thresh = 1 - min_thresh + over_thresh = cp.where(masked_untraversability > untraversable_thresh, 1, 0) + polygon = calculate_untraversable_polygon(over_thresh) + max_untraversability = masked_untraversability.max() + if over_thresh.sum() > max_over_n: + is_safe = False + elif max_untraversability > max_thresh: + is_safe = False + else: + is_safe = True + return is_safe, polygon + + +def calculate_area(polygon): + area = 0 + for i in range(len(polygon)): + p1 = polygon[i - 1] + p2 = polygon[i] + area += (p1[0] * p2[1] - p1[1] * p2[0]) / 2.0 + return abs(area) + + +def calculate_untraversable_polygon(over_thresh): + x, y = cp.where(over_thresh > 0.5) + points = cp.stack([x, y]).T + convex_hull = MultiPoint(points.get()).convex_hull + if convex_hull.is_empty or convex_hull.geom_type == "Point" or convex_hull.geom_type == "LineString": + return None + else: + return cp.array(convex_hull.exterior.coords) + + +def transform_to_map_position(polygon, center, cell_n, resolution): + polygon = center.reshape(1, 2) + (polygon - cell_n / 2.0) * resolution + return polygon + + +def transform_to_map_index(points, center, cell_n, resolution): + indices = ((points - center.reshape(1, 2)) / resolution + cell_n / 2).astype(cp.int32) + return indices + + +if __name__ == "__main__": + polygon = [[0, 0], [2, 0], [0, 2]] + print(calculate_area(polygon)) + + under_thresh = cp.zeros((20, 20)) + # under_thresh[10:12, 8:10] = 1.0 + under_thresh[14:18, 8:10] = 1.0 + under_thresh[1:8, 2:9] = 1.0 + print(under_thresh) + polygon = calculate_untraversable_polygon(under_thresh) + print(polygon) + transform_to_map_position(polygon, cp.array([0.5, 1.0]), 6.0, 0.05) diff --git a/elevation_mapping_cupy/config/core/core_param.yaml b/elevation_mapping_cupy/config/core/core_param.yaml index 17baea09..c9228427 100644 --- a/elevation_mapping_cupy/config/core/core_param.yaml +++ b/elevation_mapping_cupy/config/core/core_param.yaml @@ -1,72 +1,176 @@ -#### Basic parameters ######## -resolution: 0.04 # resolution in m. -map_length: 8.0 # map's size in m. -sensor_noise_factor: 0.05 # point's noise is sensor_noise_factor*z^2 (z is distance from sensor). -mahalanobis_thresh: 2.0 # points outside this distance is outlier. -outlier_variance: 0.01 # if point is outlier, add this value to the cell. -drift_compensation_variance_inler: 0.05 # cells under this value is used for drift compensation. -max_drift: 0.1 # drift compensation happens only the drift is smaller than this value (for safety) -drift_compensation_alpha: 0.1 # drift compensation alpha for smoother update of drift compensation -time_variance: 0.0001 # add this value when update_variance is called. -max_variance: 100.0 # maximum variance for each cell. -initial_variance: 1000.0 # initial variance for each cell. -traversability_inlier: 0.9 # cells with higher traversability are used for drift compensation. -dilation_size: 3 # dilation filter size before traversability filter. -wall_num_thresh: 20 # if there are more points than this value, only higher points than the current height are used to make the wall more sharp. -min_height_drift_cnt: 100 # drift compensation only happens if the valid cells are more than this number. -position_noise_thresh: 0.01 # if the position change is bigger than this value, the drift compensation happens. -orientation_noise_thresh: 0.01 # if the orientation change is bigger than this value, the drift compensation happens. -position_lowpass_alpha: 0.2 # lowpass filter alpha used for detecting movements. -orientation_lowpass_alpha: 0.2 # lowpass filter alpha used for detecting movements. -min_valid_distance: 0.5 # points with shorter distance will be filtered out. -max_height_range: 1.0 # points higher than this value from sensor will be filtered out to disable ceiling. -ramped_height_range_a: 0.3 # if z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject. -ramped_height_range_b: 1.0 # if z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject. -ramped_height_range_c: 0.2 # if z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject. -update_variance_fps: 5.0 # fps for updating variance. -update_pose_fps: 10.0 # fps for updating pose and shift the center of map. -time_interval: 0.1 # Time layer is updated with this interval. -map_acquire_fps: 5.0 # Raw map is fetched from GPU memory in this fps. -publish_statistics_fps: 1.0 # Publish statistics topic in this fps. - -max_ray_length: 10.0 # maximum length for ray tracing. -cleanup_step: 0.1 # subtitute this value from validity layer at visibiltiy cleanup. -cleanup_cos_thresh: 0.1 # subtitute this value from validity layer at visibiltiy cleanup. - -safe_thresh: 0.7 # if traversability is smaller, it is counted as unsafe cell. -safe_min_thresh: 0.4 # polygon is unsafe if there exists lower traversability than this. -max_unsafe_n: 10 # if the number of cells under safe_thresh exceeds this value, polygon is unsafe. - -overlap_clear_range_xy: 4.0 # xy range [m] for clearing overlapped area. this defines the valid area for overlap clearance. (used for multi floor setting) -overlap_clear_range_z: 2.0 # z range [m] for clearing overlapped area. cells outside this range will be cleared. (used for multi floor setting) - -map_frame: 'odom' # The map frame where the odometry source uses. -base_frame: 'base_footprint' # The robot's base frame. This frame will be a center of the map. -corrected_map_frame: 'odom' - -#### Feature toggles ######## -enable_edge_sharpen: true -enable_visibility_cleanup: true -enable_drift_compensation: true -enable_overlap_clearance: true -enable_pointcloud_publishing: false -enable_drift_corrected_TF_publishing: false -enable_normal_color: false # If true, the map contains 'color' layer corresponding to normal. Add 'color' layer to the publishers setting if you want to visualize. - -#### Traversability filter ######## -use_chainer: false # Use chainer as a backend of traversability filter or pytorch. If false, it uses pytorch. pytorch requires ~2GB more GPU memory compared to chainer but runs faster. -weight_file: '$(rospack find elevation_mapping_cupy)/config/core/weights.dat' # Weight file for traversability filter - -#### Upper bound ######## -use_only_above_for_upper_bound: false - -#### Initializer ######## -initialize_method: 'linear' # Choose one from 'nearest', 'linear', 'cubic' -initialize_frame_id: ['base_footprint'] # One tf (like ['footprint'] ) initializes a square around it. -initialize_tf_offset: [0.0, 0.0, 0.0, 0.0] # z direction. Should be same number as initialize_frame_id. -dilation_size_initialize: 2 # dilation size after the init. -initialize_tf_grid_size: 0.5 # This is not used if number of tf is more than 3. -use_initializer_at_start: true # Use initializer when the node starts. - -#### Default Plugins ######## -plugin_config_file: '$(rospack find elevation_mapping_cupy)/config/core/plugin_config.yaml' \ No newline at end of file +elevation_mapping: + ros__parameters: + #### Basic parameters ######## + resolution: 0.04 # resolution in m. + map_length: 8.0 # map's size in m. + sensor_noise_factor: 0.05 # point's noise is sensor_noise_factor*z^2 (z is distance from sensor). + mahalanobis_thresh: 2.0 # points outside this distance is outlier. + outlier_variance: 0.01 # if point is outlier, add this value to the cell. + drift_compensation_variance_inler: 0.05 # cells under this value is used for drift compensation. + max_drift: 0.1 # drift compensation happens only the drift is smaller than this value (for safety) + drift_compensation_alpha: 0.1 # drift compensation alpha for smoother update of drift compensation + time_variance: 0.0001 # add this value when update_variance is called. + max_variance: 100.0 # maximum variance for each cell. + initial_variance: 1000.0 # initial variance for each cell. + traversability_inlier: 0.9 # cells with higher traversability are used for drift compensation. + dilation_size: 3 # dilation filter size before traversability filter. + wall_num_thresh: 20 # if there are more points than this value, only higher points than the current height are used to make the wall more sharp. + min_height_drift_cnt: 100 # drift compensation only happens if the valid cells are more than this number. + position_noise_thresh: 0.01 # if the position change is bigger than this value, the drift compensation happens. + orientation_noise_thresh: 0.01 # if the orientation change is bigger than this value, the drift compensation happens. + position_lowpass_alpha: 0.2 # lowpass filter alpha used for detecting movements. + orientation_lowpass_alpha: 0.2 # lowpass filter alpha used for detecting movements. + min_valid_distance: 0.5 # points with shorter distance will be filtered out. + max_height_range: 1.0 # points higher than this value from sensor will be filtered out to disable ceiling. + ramped_height_range_a: 0.3 # if z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject. + ramped_height_range_b: 1.0 # if z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject. + ramped_height_range_c: 0.2 # if z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject. + update_variance_fps: 5.0 # fps for updating variance. + update_pose_fps: 10.0 # fps for updating pose and shift the center of map. + time_interval: 0.1 # Time layer is updated with this interval. + map_acquire_fps: 5.0 # Raw map is fetched from GPU memory in this fps. + publish_statistics_fps: 1.0 # Publish statistics topic in this fps. + + max_ray_length: 10.0 # maximum length for ray tracing. + cleanup_step: 0.1 # subtitute this value from validity layer at visibiltiy cleanup. + cleanup_cos_thresh: 0.1 # subtitute this value from validity layer at visibiltiy cleanup. + + safe_thresh: 0.7 # if traversability is smaller, it is counted as unsafe cell. + safe_min_thresh: 0.4 # polygon is unsafe if there exists lower traversability than this. + max_unsafe_n: 10 # if the number of cells under safe_thresh exceeds this value, polygon is unsafe. + + overlap_clear_range_xy: 4.0 # xy range [m] for clearing overlapped area. this defines the valid area for overlap clearance. (used for multi floor setting) + overlap_clear_range_z: 2.0 # z range [m] for clearing overlapped area. cells outside this range will be cleared. (used for multi floor setting) + pose_topic: '/odom' + map_frame: 'base_footprint' # The map frame where the odometry source uses. + base_frame: 'base_link' # The robot's base frame. This frame will be a center of the map. + corrected_map_frame: 'odom' + + + + #### Feature toggles ######## + enable_edge_sharpen: true + enable_visibility_cleanup: true + enable_drift_compensation: true + enable_overlap_clearance: true + enable_pointcloud_publishing: false + enable_drift_corrected_TF_publishing: false + enable_normal_color: false # If true, the map contains 'color' layer corresponding to normal. Add 'color' layer to the publishers setting if you want to visualize. + + #### Traversability filter ######## + use_chainer: false # Use chainer as a backend of traversability filter or pytorch. If false, it uses pytorch. pytorch requires ~2GB more GPU memory compared to chainer but runs faster. + weight_file: '/config/core/weights.dat' # Weight file for traversability filter + + #### Upper bound ######## + use_only_above_for_upper_bound: false + + #### Initializer ######## + initialize_method: 'linear' # Choose one from 'nearest', 'linear', 'cubic' + initialize_frame_id: ['base_footprint'] # One tf (like ['footprint'] ) initializes a square around it. + initialize_tf_offset: [0.0, 0.0, 0.0, 0.0] # z direction. Should be same number as initialize_frame_id. + dilation_size_initialize: 2 # dilation size after the init. + initialize_tf_grid_size: 0.5 # This is not used if number of tf is more than 3. + use_initializer_at_start: true # Use initializer when the node starts. + + #### Default Plugins ######## + + pointcloud_channel_fusions: + rgb: 'color' # 'color' fusion is used for the 'rgb' channel + default: 'average' # 'average' fusion is used for channels not listed here + + image_channel_fusions: + rgb: 'color' # 'color' fusion is used for the 'rgb' channel + default: 'exponential' # 'exponential' fusion is used for channels not listed here + feat_.*: 'exponential' # 'exponential' fusion is also used for any channel starting with 'feat_' Regular expressions can be used for channel names + + #### Subscribers ######## + # pointcloud_sensor_name: + # topic_name: '/sensor/pointcloud_semantic' + # data_type: pointcloud # pointcloud or image + # + # image_sensor_name: + # topic_name: '/camera/image_semantic' + # data_type: image # pointcloud or image + # camera_info_topic_name: '/camera/depth/camera_info' + # channel_info_topic_name: '/camera/channel_info' + + subscribers: + pointcloud_topic1: '/a200/sensors/camera_1/points' + + image_topic1: '/a200/sensors/camera_0/color/image' + image_info1: '/a200/sensors/camera_0/color/camera_info' + # image_channel_info1: '/front_cam/channel_info' + + # image_topic2: '/camera/rgb/image_raw2' + # image_info2: '/camera/depth/camera_info2' + # image_channel_info1: '/front_cam/channel_info' + + + + # image: # for semantic images + # topic_name: '/front_cam/semantic_image' + # camera_info_topic_name: '/front_cam/camera/depth/camera_info_resized' + # channel_info_topic_name: '/front_cam/channel_info' + # data_type: image + + #### Publishers ######## + # topic_name: + # layers: # Choose from 'elevation', 'variance', 'traversability', 'time', 'normal_x', 'normal_y', 'normal_z', 'color', plugin_layer_names + # basic_layers: # basic_layers for valid cell computation (e.g. Rviz): Choose a subset of `layers`. + # fps: # Publish rate. Use smaller value than `map_acquire_fps`. + + publishers: + elevation_map_raw: + layers: ['elevation', 'traversability', 'variance','rgb'] + basic_layers: ['elevation'] + fps: 5.0 + elevation_map_recordable: + layers: ['elevation', 'traversability'] + basic_layers: ['elevation', 'traversability'] + fps: 2.0 + elevation_map_filter: + layers: ['min_filter', 'smooth', 'inpaint', 'elevation'] + basic_layers: ['min_filter'] + fps: 3.0 + + + # plugun info + + min_filter: + enable: True # whether to load this plugin + fill_nan: False # Fill nans to invalid cells of elevation layer. + is_height_layer: True # If this is a height layer (such as elevation) or not (such as traversability) + layer_name: "min_filter" # The layer name. + extra_params: # These params are passed to the plugin class on initialization. + dilation_size: 1 # The patch size to apply + iteration_n: 30 # The number of iterations + + # Apply smoothing. + smooth_filter: + enable: True + fill_nan: False + is_height_layer: True + layer_name: "smooth" + extra_params: + input_layer_name: "min_filter" + + # Apply inpainting using opencv + inpainting: + enable: True + fill_nan: False + is_height_layer: True + layer_name: "inpaint" + extra_params: + method: "telea" # telea or ns + + # Apply smoothing for inpainted layer + erosion: + enable: True + fill_nan: False + is_height_layer: False + layer_name: "erosion" + extra_params: + input_layer_name: "traversability" + dilation_size: 3 + iteration_n: 20 + reverse: True \ No newline at end of file diff --git a/elevation_mapping_cupy/config/core/example_setup.yaml b/elevation_mapping_cupy/config/core/example_setup.yaml index a3f7a2f2..2fc0ee84 100644 --- a/elevation_mapping_cupy/config/core/example_setup.yaml +++ b/elevation_mapping_cupy/config/core/example_setup.yaml @@ -1,58 +1,101 @@ -#### Plugins ######## -plugin_config_file: '$(rospack find elevation_mapping_cupy)/config/core/plugin_config.yaml' - -#### Channel Fusions ######## -pointcloud_channel_fusions: - rgb: 'color' # 'color' fusion is used for the 'rgb' channel - default: 'average' # 'average' fusion is used for channels not listed here - -image_channel_fusions: - rgb: 'color' # 'color' fusion is used for the 'rgb' channel - default: 'exponential' # 'exponential' fusion is used for channels not listed here - feat_.*: 'exponential' # 'exponential' fusion is also used for any channel starting with 'feat_' Regular expressions can be used for channel names - -#### Subscribers ######## -# pointcloud_sensor_name: -# topic_name: '/sensor/pointcloud_semantic' -# data_type: pointcloud # pointcloud or image -# -# image_sensor_name: -# topic_name: '/camera/image_semantic' -# data_type: image # pointcloud or image -# camera_info_topic_name: '/camera/depth/camera_info' -# channel_info_topic_name: '/camera/channel_info' - - -subscribers: - front_cam: - topic_name: '/camera/depth/points' - data_type: pointcloud - color_cam: # for color camera - topic_name: '/camera/rgb/image_raw' - camera_info_topic_name: '/camera/depth/camera_info' - data_type: image - semantic_cam: # for semantic images - topic_name: '/front_cam/semantic_image' - camera_info_topic_name: '/front_cam/camera/depth/camera_info_resized' - channel_info_topic_name: '/front_cam/channel_info' - data_type: image - -#### Publishers ######## -# topic_name: -# layers: # Choose from 'elevation', 'variance', 'traversability', 'time', 'normal_x', 'normal_y', 'normal_z', 'color', plugin_layer_names -# basic_layers: # basic_layers for valid cell computation (e.g. Rviz): Choose a subset of `layers`. -# fps: # Publish rate. Use smaller value than `map_acquire_fps`. - -publishers: - elevation_map_raw: - layers: ['elevation', 'traversability', 'variance','rgb'] - basic_layers: ['elevation'] - fps: 5.0 - elevation_map_recordable: - layers: ['elevation', 'traversability'] - basic_layers: ['elevation', 'traversability'] - fps: 2.0 - elevation_map_filter: - layers: ['min_filter', 'smooth', 'inpaint', 'elevation'] - basic_layers: ['min_filter'] - fps: 3.0 \ No newline at end of file +elevation_mapping: + ros__parameters: + #### Plugins ######## + plugin_config_file: '$(find_package_share elevation_mapping_cupy)/config/core/plugin_config.yaml' + + #### Channel Fusions ######## + pointcloud_channel_fusions: + rgb: 'color' # 'color' fusion is used for the 'rgb' channel + default: 'average' # 'average' fusion is used for channels not listed here + + image_channel_fusions: + rgb: 'color' # 'color' fusion is used for the 'rgb' channel + default: 'exponential' # 'exponential' fusion is used for channels not listed here + feat_.*: 'exponential' # 'exponential' fusion is also used for any channel starting with 'feat_' Regular expressions can be used for channel names + + #### Subscribers ######## + # pointcloud_sensor_name: + # topic_name: '/sensor/pointcloud_semantic' + # data_type: pointcloud # pointcloud or image + # + # image_sensor_name: + # topic_name: '/camera/image_semantic' + # data_type: image # pointcloud or image + # camera_info_topic_name: '/camera/depth/camera_info' + # channel_info_topic_name: '/camera/channel_info' + + subscribers: + front_cam: + topic_name: '/camera/depth/points' + data_type: pointcloud + color_cam: # for color camera + topic_name: '/camera/rgb/image_raw' + camera_info_topic_name: '/camera/depth/camera_info' + data_type: image + semantic_cam: # for semantic images + topic_name: '/front_cam/semantic_image' + camera_info_topic_name: '/front_cam/camera/depth/camera_info_resized' + channel_info_topic_name: '/front_cam/channel_info' + data_type: image + + #### Publishers ######## + # topic_name: + # layers: # Choose from 'elevation', 'variance', 'traversability', 'time', 'normal_x', 'normal_y', 'normal_z', 'color', plugin_layer_names + # basic_layers: # basic_layers for valid cell computation (e.g. Rviz): Choose a subset of `layers`. + # fps: # Publish rate. Use smaller value than `map_acquire_fps`. + + publishers: + elevation_map_raw: + layers: ['elevation', 'traversability', 'variance','rgb'] + basic_layers: ['elevation'] + fps: 5.0 + elevation_map_recordable: + layers: ['elevation', 'traversability'] + basic_layers: ['elevation', 'traversability'] + fps: 2.0 + elevation_map_filter: + layers: ['min_filter', 'smooth', 'inpaint', 'elevation'] + basic_layers: ['min_filter'] + fps: 3.0 + + +# plugun info + + min_filter: + enable: True # whether to load this plugin + fill_nan: False # Fill nans to invalid cells of elevation layer. + is_height_layer: True # If this is a height layer (such as elevation) or not (such as traversability) + layer_name: "min_filter" # The layer name. + extra_params: # These params are passed to the plugin class on initialization. + dilation_size: 1 # The patch size to apply + iteration_n: 30 # The number of iterations + + # Apply smoothing. + smooth_filter: + enable: True + fill_nan: False + is_height_layer: True + layer_name: "smooth" + extra_params: + input_layer_name: "min_filter" + + # Apply inpainting using opencv + inpainting: + enable: True + fill_nan: False + is_height_layer: True + layer_name: "inpaint" + extra_params: + method: "telea" # telea or ns + + # Apply smoothing for inpainted layer + erosion: + enable: True + fill_nan: False + is_height_layer: False + layer_name: "erosion" + extra_params: + input_layer_name: "traversability" + dilation_size: 3 + iteration_n: 20 + reverse: True \ No newline at end of file diff --git a/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp b/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp index f631fbba..18fd4eaf 100644 --- a/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp +++ b/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp @@ -26,8 +26,11 @@ #include #include #include -#include "std_srvs/srv/empty.h" +#include #include +#include +#include +#include #include #include @@ -58,46 +61,50 @@ namespace py = pybind11; -// namespace elevation_mapping_cupy { - -// class ElevationMappingNode { -// public: -// ElevationMappingNode(ros::NodeHandle& nh); -// using RowMatrixXd = Eigen::Matrix; -// using ColMatrixXf = Eigen::Matrix; - -// using ImageSubscriber = image_transport::SubscriberFilter; -// using ImageSubscriberPtr = std::shared_ptr; - -// // Subscriber and Synchronizer for CameraInfo messages -// using CameraInfoSubscriber = message_filters::Subscriber; -// using CameraInfoSubscriberPtr = std::shared_ptr; -// using CameraPolicy = message_filters::sync_policies::ApproximateTime; -// using CameraSync = message_filters::Synchronizer; -// using CameraSyncPtr = std::shared_ptr; - -// // Subscriber and Synchronizer for ChannelInfo messages -// using ChannelInfoSubscriber = message_filters::Subscriber; -// using ChannelInfoSubscriberPtr = std::shared_ptr; -// using CameraChannelPolicy = message_filters::sync_policies::ApproximateTime; -// using CameraChannelSync = message_filters::Synchronizer; -// using CameraChannelSyncPtr = std::shared_ptr; - -// // Subscriber and Synchronizer for Pointcloud messages -// using PointCloudSubscriber = message_filters::Subscriber; -// using PointCloudSubscriberPtr = std::shared_ptr; -// using PointCloudPolicy = message_filters::sync_policies::ApproximateTime; -// using PointCloudSync = message_filters::Synchronizer; -// using PointCloudSyncPtr = std::shared_ptr; - -// private: -// void readParameters(); +namespace elevation_mapping_cupy { + +class ElevationMappingNode : public rclcpp::Node { + public: + ElevationMappingNode(); + using RowMatrixXd = Eigen::Matrix; + using ColMatrixXf = Eigen::Matrix; + + // using ImageSubscriber = image_transport::SubscriberFilter; + using ImageSubscriber = message_filters::Subscriber; + using ImageSubscriberPtr = std::shared_ptr; + + // Subscriber and Synchronizer for CameraInfo messages + using CameraInfoSubscriber = message_filters::Subscriber; + using CameraInfoSubscriberPtr = std::shared_ptr; + using CameraPolicy = message_filters::sync_policies::ApproximateTime; + using CameraSync = message_filters::Synchronizer; + using CameraSyncPtr = std::shared_ptr; + + // Subscriber and Synchronizer for ChannelInfo messages + using ChannelInfoSubscriber = message_filters::Subscriber; + using ChannelInfoSubscriberPtr = std::shared_ptr; + using CameraChannelPolicy = message_filters::sync_policies::ApproximateTime; + using CameraChannelSync = message_filters::Synchronizer; + using CameraChannelSyncPtr = std::shared_ptr; + + // Subscriber and Synchronizer for Pointcloud messages + using PointCloudSubscriber = message_filters::Subscriber; + using PointCloudSubscriberPtr = std::shared_ptr; + using PointCloudPolicy = message_filters::sync_policies::ApproximateTime; + using PointCloudSync = message_filters::Synchronizer; + using PointCloudSyncPtr = std::shared_ptr; + + private: + void readParameters(); // void setupMapPublishers(); -// void pointcloudCallback(const sensor_msgs::PointCloud2& cloud, const std::string& key); -// void inputPointCloud(const sensor_msgs::PointCloud2& cloud, const std::vector& channels); + void pointcloudCallback(const sensor_msgs::msg::PointCloud2::SharedPtr cloud, const std::string& key); + void inputPointCloud(const sensor_msgs::msg::PointCloud2::SharedPtr cloud, const std::vector& channels); // void inputImage(const sensor_msgs::ImageConstPtr& image_msg, const sensor_msgs::CameraInfoConstPtr& camera_info_msg, const std::vector& channels); -// void imageCallback(const sensor_msgs::ImageConstPtr& image_msg, const sensor_msgs::CameraInfoConstPtr& camera_info_msg, const std::string& key); -// void imageChannelCallback(const sensor_msgs::ImageConstPtr& image_msg, const sensor_msgs::CameraInfoConstPtr& camera_info_msg, const elevation_map_msgs::ChannelInfoConstPtr& channel_info_msg); +// void imageCallback(const sensor_msgs::msg::Image::SharedPtr image_msg, const sensor_msgs::msg::CameraInfo::SharedPtr camera_info_msg, const std::string& key); +// void imageChannelCallback(const sensor_msgs::msg::Image::SharedPtr image_msg, const sensor_msgs::msg::CameraInfo::SharedPtr camera_info_msg, const elevation_map_msgs::msg::ChannelInfo::SharedPtr channel_info_msg); +void imageCallback(const std::shared_ptr& image_msg, const std::shared_ptr& camera_info_msg, const std::string& key); +void imageChannelCallback(const std::shared_ptr& image_msg, const std::shared_ptr& camera_info_msg, const std::shared_ptr& channel_info_msg); + // void pointCloudChannelCallback(const sensor_msgs::PointCloud2& cloud, const elevation_map_msgs::ChannelInfoConstPtr& channel_info_msg); // // void multiLayerImageCallback(const elevation_map_msgs::MultiLayerImageConstPtr& image_msg, const sensor_msgs::CameraInfoConstPtr& camera_info_msg); // void publishAsPointCloud(const grid_map::GridMap& map) const; @@ -118,77 +125,86 @@ namespace py = pybind11; // void publishMapOfIndex(int index); // visualization_msgs::Marker vectorToArrowMarker(const Eigen::Vector3d& start, const Eigen::Vector3d& end, const int id) const; - -// ros::NodeHandle nh_; -// image_transport::ImageTransport it_; -// std::vector pointcloudSubs_; -// std::vector imageSubs_; -// std::vector cameraInfoSubs_; -// std::vector channelInfoSubs_; -// std::vector cameraSyncs_; -// std::vector cameraChannelSyncs_; -// std::vector pointCloudSyncs_; -// std::vector mapPubs_; -// tf::TransformBroadcaster tfBroadcaster_; -// ros::Publisher alivePub_; -// ros::Publisher pointPub_; -// ros::Publisher normalPub_; -// ros::Publisher statisticsPub_; -// ros::ServiceServer rawSubmapService_; -// ros::ServiceServer clearMapService_; -// ros::ServiceServer clearMapWithInitializerService_; -// ros::ServiceServer initializeMapService_; -// ros::ServiceServer setPublishPointService_; -// ros::ServiceServer checkSafetyService_; -// ros::Timer updateVarianceTimer_; -// ros::Timer updateTimeTimer_; -// ros::Timer updatePoseTimer_; -// ros::Timer updateGridMapTimer_; -// ros::Timer publishStatisticsTimer_; -// ros::Time lastStatisticsPublishedTime_; -// tf::TransformListener transformListener_; -// ElevationMappingWrapper map_; -// std::string mapFrameId_; -// std::string correctedMapFrameId_; -// std::string baseFrameId_; - -// // map topics info -// std::vector> map_topics_; -// std::vector> map_layers_; -// std::vector> map_basic_layers_; -// std::set map_layers_all_; -// std::set map_layers_sync_; -// std::vector map_fps_; -// std::set map_fps_unique_; -// std::vector mapTimers_; -// std::map> channels_; - -// std::vector initialize_frame_id_; -// std::vector initialize_tf_offset_; -// std::string initializeMethod_; - -// Eigen::Vector3d lowpassPosition_; -// Eigen::Vector4d lowpassOrientation_; - -// std::mutex mapMutex_; // protects gridMap_ -// grid_map::GridMap gridMap_; -// std::atomic_bool isGridmapUpdated_; // needs to be atomic (read is not protected by mapMutex_) - -// std::mutex errorMutex_; // protects positionError_, and orientationError_ -// double positionError_; -// double orientationError_; - -// double positionAlpha_; -// double orientationAlpha_; - -// double recordableFps_; -// std::atomic_bool enablePointCloudPublishing_; -// bool enableNormalArrowPublishing_; -// bool enableDriftCorrectedTFPublishing_; -// bool useInitializerAtStart_; -// double initializeTfGridSize_; -// bool alwaysClearWithInitializer_; -// std::atomic_int pointCloudProcessCounter_; -// }; - -// } // namespace elevation_mapping_cupy + + rclcpp::Node::SharedPtr node_; + // image_transport::ImageTransport it_; + std::vector::SharedPtr> pointcloudSubs_; + std::vector imageSubs_; + std::vector cameraInfoSubs_; + std::vector channelInfoSubs_; + std::vector cameraSyncs_; + std::vector cameraChannelSyncs_; + std::vector pointCloudSyncs_; + std::vector::SharedPtr> mapPubs_; + + + std::shared_ptr tfBroadcaster_; + std::shared_ptr tfListener_; + std::shared_ptr tfBuffer_; + + + rclcpp::Publisher::SharedPtr alivePub_; + rclcpp::Publisher::SharedPtr pointPub_; + rclcpp::Publisher::SharedPtr normalPub_; + rclcpp::Publisher::SharedPtr statisticsPub_; + rclcpp::Service::SharedPtr rawSubmapService_; + rclcpp::Service::SharedPtr clearMapService_; + rclcpp::Service::SharedPtr clearMapWithInitializerService_; + rclcpp::Service::SharedPtr initializeMapService_; + rclcpp::Service::SharedPtr setPublishPointService_; + rclcpp::Service::SharedPtr checkSafetyService_; + rclcpp::TimerBase::SharedPtr updateVarianceTimer_; + rclcpp::TimerBase::SharedPtr updateTimeTimer_; + rclcpp::TimerBase::SharedPtr updatePoseTimer_; + rclcpp::TimerBase::SharedPtr updateGridMapTimer_; + rclcpp::TimerBase::SharedPtr publishStatisticsTimer_; + rclcpp::Time lastStatisticsPublishedTime_; + + + std::shared_ptr map_; + // ElevationMappingWrapper map_; + std::string mapFrameId_; + std::string correctedMapFrameId_; + std::string baseFrameId_; + + + // map topics info + std::vector> map_topics_; + std::vector> map_layers_; + std::vector> map_basic_layers_; + std::set map_layers_all_; + std::set map_layers_sync_; + std::vector map_fps_; + std::set map_fps_unique_; + std::vector mapTimers_; + std::map> channels_; + + std::vector initialize_frame_id_; + std::vector initialize_tf_offset_; + std::string initializeMethod_; + + Eigen::Vector3d lowpassPosition_; + Eigen::Vector4d lowpassOrientation_; + + std::mutex mapMutex_; // protects gridMap_ + grid_map::GridMap gridMap_; + std::atomic_bool isGridmapUpdated_; // needs to be atomic (read is not protected by mapMutex_) + + std::mutex errorMutex_; // protects positionError_, and orientationError_ + double positionError_; + double orientationError_; + + double positionAlpha_; + double orientationAlpha_; + + double recordableFps_; + std::atomic_bool enablePointCloudPublishing_; + bool enableNormalArrowPublishing_; + bool enableDriftCorrectedTFPublishing_; + bool useInitializerAtStart_; + double initializeTfGridSize_; + bool alwaysClearWithInitializer_; + std::atomic_int pointCloudProcessCounter_; +}; + +} // namespace elevation_mapping_cupy diff --git a/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_wrapper.hpp b/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_wrapper.hpp index 92370e3c..0623d0f6 100644 --- a/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_wrapper.hpp +++ b/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_wrapper.hpp @@ -43,9 +43,9 @@ class ElevationMappingWrapper { using RowMatrixXf = Eigen::Matrix; using ColMatrixXf = Eigen::Matrix; - ElevationMappingWrapper(); + ElevationMappingWrapper(rclcpp::Node::SharedPtr node); - void initialize(rclcpp::Node::SharedPtr node); + void initialize(); void input(const RowMatrixXd& points, const std::vector& channels, const RowMatrixXd& R, const Eigen::VectorXd& t, const double positionNoise, const double orientationNoise); @@ -63,9 +63,11 @@ class ElevationMappingWrapper { double get_additive_mean_error(); void initializeWithPoints(std::vector& points, std::string method); void addNormalColorLayer(grid_map::GridMap& map); - - private: - void setParameters(rclcpp::Node::SharedPtr node); + + private: + rclcpp::Node::SharedPtr node_; + py::object setParameters(); + py::object map_; py::object param_; double resolution_; diff --git a/elevation_mapping_cupy/launch/elevation_mapping_cupy.launch b/elevation_mapping_cupy/launch/elevation_mapping_cupy.launch deleted file mode 100644 index b0fb53c9..00000000 --- a/elevation_mapping_cupy/launch/elevation_mapping_cupy.launch +++ /dev/null @@ -1,7 +0,0 @@ - - - - - - - \ No newline at end of file diff --git a/elevation_mapping_cupy/launch/elevation_mapping_cupy.launch.py b/elevation_mapping_cupy/launch/elevation_mapping_cupy.launch.py new file mode 100644 index 00000000..db110a12 --- /dev/null +++ b/elevation_mapping_cupy/launch/elevation_mapping_cupy.launch.py @@ -0,0 +1,28 @@ +import os + +from ament_index_python.packages import get_package_share_directory + +from launch import LaunchDescription +from launch_ros.actions import Node +import launch_ros.actions + +def generate_launch_description(): + core_param_file = os.path.join( + get_package_share_directory('elevation_mapping_cupy'), + 'config', + 'core', + 'core_param.yaml' + ) + + + return LaunchDescription([ + launch_ros.actions.SetParameter(name='use_sim_time', value=True), + Node( + package='elevation_mapping_cupy', + executable='elevation_mapping_node', + name='elevation_mapping', + output='screen', + parameters=[core_param_file], + # arguments=['--ros-args', '--log-level', 'DEBUG'] + ) + ]) \ No newline at end of file diff --git a/elevation_mapping_cupy/package.xml b/elevation_mapping_cupy/package.xml index 9cb9c1bb..c1395b61 100644 --- a/elevation_mapping_cupy/package.xml +++ b/elevation_mapping_cupy/package.xml @@ -9,11 +9,13 @@ MIT ament_cmake + ament_cmake_python rclcpp std_msgs std_srvs sensor_msgs geometry_msgs + message_filters grid_map_msgs elevation_map_msgs diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/__init__.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/__init__.py index a16e894d..88d6a666 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/__init__.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/__init__.py @@ -1,2 +1,4 @@ -from .parameter import Parameter -from .elevation_mapping import ElevationMap +# from .parameter import Parameter +# from .elevation_mapping import ElevationMap +# from .kernels import custom_image_kernels, custom_kernels, custom_semantic_kernels + diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py index b78aeb45..4d704739 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py @@ -15,6 +15,7 @@ ) from elevation_mapping_cupy.parameter import Parameter + from elevation_mapping_cupy.kernels import ( add_points_kernel, add_color_kernel, @@ -932,11 +933,12 @@ def initialize_map(self, points, method="cubic"): print(R, t) param = Parameter( use_chainer=False, - weight_file="../config/weights.dat", - plugin_config_file="../config/plugin_config.yaml", + weight_file="/home/hojin/new_elev/src/elevation_mapping_cupy/elevation_mapping_cupy/config/core/weights.dat", + plugin_config_file="/home/hojin/new_elev/src/elevation_mapping_cupy/elevation_mapping_cupy/config/core/plugin_config.yaml", ) param.additional_layers = ["rgb", "grass", "tree", "people"] - param.fusion_algorithms = ["color", "class_bayesian", "class_bayesian", "class_bayesian"] + # param.fusion_algorithms = ["color", "class_bayesian", "class_bayesian", "class_bayesian"] + param.fusion_algorithms = ["image_color", "pointcloud_color", "pointcloud_class_average"] param.update() elevation = ElevationMap(param) layers = [ diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping_ros.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping_ros.py index c28823e9..94cc1e5c 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping_ros.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping_ros.py @@ -1,287 +1,322 @@ -from elevation_mapping_cupy import ElevationMap -from elevation_mapping_cupy import Parameter - -# General -import os -import numpy as np - -# ROS -import rospy -import ros_numpy -from tf.transformations import quaternion_matrix -import tf2_ros -import rospkg -import message_filters -from cv_bridge import CvBridge - -from sensor_msgs.msg import PointCloud2, Image, CameraInfo -from grid_map_msgs.msg import GridMap -from std_msgs.msg import Float32MultiArray -from std_msgs.msg import MultiArrayLayout as MAL -from std_msgs.msg import MultiArrayDimension as MAD - -import numpy as np -from functools import partial - -PDC_DATATYPE = { - "1": np.int8, - "2": np.uint8, - "3": np.int16, - "4": np.uint16, - "5": np.int32, - "6": np.uint32, - "7": np.float32, - "8": np.float64, -} - - -class ElevationMapWrapper: - def __init__(self): - rospack = rospkg.RosPack() - self.root = rospack.get_path("elevation_mapping_cupy") - weight_file = os.path.join(self.root, "config/core/weights.dat") - plugin_config_file = os.path.join(self.root, "config/core/plugin_config.yaml") - self.param = Parameter(use_chainer=False, weight_file=weight_file, plugin_config_file=plugin_config_file) - - self.node_name = "elevation_mapping" - - # ROS - self.initalize_ros() - self.param.subscriber_cfg = self.subscribers - - self.initalize_elevation_mapping() - self.register_subscribers() - self.register_publishers() - self.register_timers() - - self._last_t = None - - def initalize_elevation_mapping(self): - self.param.update() - # TODO add statistics across processed topics - self._pointcloud_process_counter = 0 - self._image_process_counter = 0 - self._map = ElevationMap(self.param) - self._map_data = np.zeros((self._map.cell_n - 2, self._map.cell_n - 2), dtype=np.float32) - self._map_q = None - self._map_t = None - - def initalize_ros(self): - rospy.init_node(self.node_name, anonymous=False) - self._tf_buffer = tf2_ros.Buffer() - self._listener = tf2_ros.TransformListener(self._tf_buffer) - self.get_ros_params() - - def register_subscribers(self): - # check if CV bridge is needed - for config in self.param.subscriber_cfg.values(): - if config["data_type"] == "image": - self.cv_bridge = CvBridge() - break - - pointcloud_subs = {} - image_subs = {} - for key, config in self.subscribers.items(): - if config["data_type"] == "image": - camera_sub = message_filters.Subscriber(config["topic_name_camera"], Image) - camera_info_sub = message_filters.Subscriber(config["topic_name_camera_info"], CameraInfo) - image_subs[key] = message_filters.ApproximateTimeSynchronizer( - [camera_sub, camera_info_sub], queue_size=10, slop=0.5 - ) - image_subs[key].registerCallback(self.image_callback, key) - - elif config["data_type"] == "pointcloud": - pointcloud_subs[key] = rospy.Subscriber( - config["topic_name"], PointCloud2, self.pointcloud_callback, key - ) - - def register_publishers(self): - self._publishers = {} - self._publishers_timers = [] - for k, v in self.publishers.items(): - self._publishers[k] = rospy.Publisher(f"/{self.node_name}/{k}", GridMap, queue_size=10) - # partial(.) allows to pass a default argument to a callback - self._publishers_timers.append(rospy.Timer(rospy.Duration(1 / v["fps"]), partial(self.publish_map, k))) - - def publish_map(self, k, t): - print("publish_map") - if self._map_q is None: - return - gm = GridMap() - gm.info.header.frame_id = self.map_frame - gm.info.header.stamp = rospy.Time.now() - gm.info.header.seq = 0 - gm.info.resolution = self._map.resolution - gm.info.length_x = self._map.map_length - gm.info.length_y = self._map.map_length - gm.info.pose.position.x = self._map_t.x - gm.info.pose.position.y = self._map_t.y - gm.info.pose.position.z = 0.0 - gm.info.pose.orientation.w = 1.0 # self._map_q.w - gm.info.pose.orientation.x = 0.0 # self._map_q.x - gm.info.pose.orientation.y = 0.0 # self._map_q.y - gm.info.pose.orientation.z = 0.0 # self._map_q.z - gm.layers = [] - gm.basic_layers = self.publishers[k]["basic_layers"] - for i, layer in enumerate(self.publishers[k]["layers"]): - gm.layers.append(layer) - try: - self._map.get_map_with_name_ref(layer, self._map_data) - data = self._map_data.copy() - arr = Float32MultiArray() - arr.layout = MAL() - N = self._map_data.shape[0] - arr.layout.dim.append(MAD(label="column_index", size=N, stride=int(N * N))) - arr.layout.dim.append(MAD(label="row_index", size=N, stride=N)) - arr.data = tuple(np.ascontiguousarray(data.T).reshape(-1)) - gm.data.append(arr) - except: - if layer in gm.basic_layers: - print("Error: Missed Layer in basic layers") - - gm.outer_start_index = 0 - gm.inner_start_index = 0 - - self._publishers[k].publish(gm) - - def register_timers(self): - self.timer_variance = rospy.Timer(rospy.Duration(1 / self.update_variance_fps), self.update_variance) - self.timer_pose = rospy.Timer(rospy.Duration(1 / self.update_pose_fps), self.update_pose) - self.timer_time = rospy.Timer(rospy.Duration(self.time_interval), self.update_time) - - def image_callback(self, camera_msg, camera_info_msg, sub_key): - # get pose of image - ti = rospy.Time(secs=camera_msg.header.stamp.secs, nsecs=camera_msg.header.stamp.nsecs) - self._last_t = ti - try: - transform = self._tf_buffer.lookup_transform( - camera_msg.header.frame_id, self.map_frame, ti, rospy.Duration(1.0) - ) - except (tf2_ros.LookupException, tf2_ros.ConnectivityException, tf2_ros.ExtrapolationException) as e: - print("Error: image_callback:", e) - return - - t = transform.transform.translation - t = np.array([t.x, t.y, t.z]) - q = transform.transform.rotation - R = quaternion_matrix([q.x, q.y, q.z, q.w])[:3, :3] - - semantic_img = self.cv_bridge.imgmsg_to_cv2(camera_msg, desired_encoding="passthrough") - - if len(semantic_img.shape) != 2: - semantic_img = [semantic_img[:, :, k] for k in range(3)] - - else: - semantic_img = [semantic_img] - - K = np.array(camera_info_msg.K, dtype=np.float32).reshape(3, 3) - - assert np.all(np.array(camera_info_msg.D) == 0.0), "Undistortion not implemented" - D = np.array(camera_info_msg.D, dtype=np.float32).reshape(5, 1) +# # General +# import os +# import numpy as np +# import yaml + +# from elevation_mapping_cupy import ElevationMap, Parameter + + + +# # ROS2 +# import rclpy +# from rclpy.node import Node +# from tf_transformations import quaternion_matrix +# import tf2_ros +# from ament_index_python.packages import get_package_share_directory +# from cv_bridge import CvBridge + +# from sensor_msgs.msg import PointCloud2, Image, CameraInfo +# from grid_map_msgs.msg import GridMap +# from std_msgs.msg import Float32MultiArray, MultiArrayLayout as MAL, MultiArrayDimension as MAD + +# from functools import partial +# import message_filters + + +# PDC_DATATYPE = { +# "1": np.int8, +# "2": np.uint8, +# "3": np.int16, +# "4": np.uint16, +# "5": np.int32, +# "6": np.uint32, +# "7": np.float32, +# "8": np.float64, +# } + + +# class ElevationMapWrapper(Node): +# def __init__(self): +# super().__init__('elevation_mapping') +# self.node_name = "elevation_mapping" +# self.root = get_package_share_directory("elevation_mapping_cupy") +# weight_file = os.path.join(self.root, "config/core/weights.dat") +# plugin_config_file = os.path.join(self.root, "config/core/plugin_config.yaml") +# self.param = Parameter(use_chainer=False, weight_file=weight_file, plugin_config_file=plugin_config_file) - # process pointcloud - self._map.input_image(sub_key, semantic_img, R, t, K, D, camera_info_msg.height, camera_info_msg.width) - self._image_process_counter += 1 - - def pointcloud_callback(self, msg, sub_key): - channels = ["x", "y", "z"] + self.param.subscriber_cfg[sub_key]["channels"] - - points = ros_numpy.numpify(msg) - pts = np.empty((points.shape[0], 0)) - for ch in channels: - p = points[ch] - if len(p.shape) == 1: - p = p[:, None] - pts = np.append(pts, p, axis=1) - - # get pose of pointcloud - ti = rospy.Time(secs=msg.header.stamp.secs, nsecs=msg.header.stamp.nsecs) - self._last_t = ti - try: - transform = self._tf_buffer.lookup_transform(self.map_frame, msg.header.frame_id, ti, rospy.Duration(1.0)) - except (tf2_ros.LookupException, tf2_ros.ConnectivityException, tf2_ros.ExtrapolationException) as e: - print("Error: pointcloud_callback: ", e) - return - - t = transform.transform.translation - t = np.array([t.x, t.y, t.z]) - q = transform.transform.rotation - R = quaternion_matrix([q.x, q.y, q.z, q.w])[:3, :3] - - # process pointcloud - self._map.input(pts, channels, R, t, 0, 0) - self._pointcloud_process_counter += 1 - print("Pointclouds processed: ", self._pointcloud_process_counter) - - def update_pose(self, t): - # get pose of base - # t = rospy.Time.now() - if self._last_t is None: - return - try: - transform = self._tf_buffer.lookup_transform( - self.map_frame, self.base_frame, self._last_t, rospy.Duration(1.0) - ) - except (tf2_ros.LookupException, tf2_ros.ConnectivityException, tf2_ros.ExtrapolationException) as e: - print("Error: update_pose error: ", e) - return - t = transform.transform.translation - trans = np.array([t.x, t.y, t.z]) - q = transform.transform.rotation - rot = quaternion_matrix([q.x, q.y, q.z, q.w])[:3, :3] - self._map.move_to(trans, rot) - - self._map_t = t - self._map_q = q - - def update_variance(self, t): - self._map.update_variance() - - def update_time(self, t): - self._map.update_time() - - def get_ros_params(self): - # TODO fix this here when later launching with launch-file - # This is currently {p} elevation_mapping") - typ = "sim" - para = os.path.join(self.root, f"config/{typ}_parameters.yaml") - sens = os.path.join(self.root, f"config/{typ}_sensor_parameter.yaml") - plugin = os.path.join(self.root, f"config/{typ}_plugin_config.yaml") - - os.system(f"rosparam delete /{self.node_name}") - os.system(f"rosparam load {para} elevation_mapping") - os.system(f"rosparam load {sens} elevation_mapping") - os.system(f"rosparam load {plugin} elevation_mapping") - - self.subscribers = rospy.get_param("~subscribers") - self.publishers = rospy.get_param("~publishers") - self.initialize_frame_id = rospy.get_param("~initialize_frame_id", "base") - self.initialize_tf_offset = rospy.get_param("~initialize_tf_offset", 0.0) - self.pose_topic = rospy.get_param("~pose_topic", "pose") - self.map_frame = rospy.get_param("~map_frame", "map") - self.base_frame = rospy.get_param("~base_frame", "base") - self.corrected_map_frame = rospy.get_param("~corrected_map_frame", "corrected_map") - self.initialize_method = rospy.get_param("~initialize_method", "cubic") - self.position_lowpass_alpha = rospy.get_param("~position_lowpass_alpha", 0.2) - self.orientation_lowpass_alpha = rospy.get_param("~orientation_lowpass_alpha", 0.2) - self.recordable_fps = rospy.get_param("~recordable_fps", 3.0) - self.update_variance_fps = rospy.get_param("~update_variance_fps", 1.0) - self.time_interval = rospy.get_param("~time_interval", 0.1) - self.update_pose_fps = rospy.get_param("~update_pose_fps", 10.0) - self.initialize_tf_grid_size = rospy.get_param("~initialize_tf_grid_size", 0.5) - self.map_acquire_fps = rospy.get_param("~map_acquire_fps", 5.0) - self.publish_statistics_fps = rospy.get_param("~publish_statistics_fps", 1.0) - self.enable_pointcloud_publishing = rospy.get_param("~enable_pointcloud_publishing", False) - self.enable_normal_arrow_publishing = rospy.get_param("~enable_normal_arrow_publishing", False) - self.enable_drift_corrected_TF_publishing = rospy.get_param("~enable_drift_corrected_TF_publishing", False) - self.use_initializer_at_start = rospy.get_param("~use_initializer_at_start", False) - - -if __name__ == "__main__": - emw = ElevationMapWrapper() - - while not rospy.is_shutdown(): - try: - rospy.spin() - except rospy.ROSInterruptException: - print("Error") +# # ROS2 +# self.initialize_ros() +# self.param.subscriber_cfg = self.subscribers + +# self.initialize_elevation_mapping() +# # self.register_subscribers() +# # self.register_publishers() +# # self.register_timers() + +# self._last_t = None + + + + +# # # ROS +# # self.initalize_ros() +# # self.param.subscriber_cfg = self.subscribers + + +# def initialize_ros(self): +# self._tf_buffer = tf2_ros.Buffer() +# self._listener = tf2_ros.TransformListener(self._tf_buffer, self) +# self.get_ros_params() + + +# def initialize_elevation_mapping(self): +# self.param.update() +# # TODO add statistics across processed topics +# self._pointcloud_process_counter = 0 +# self._image_process_counter = 0 +# self._map = ElevationMap(self.param) +# self._map_data = np.zeros((self._map.cell_n - 2, self._map.cell_n - 2), dtype=np.float32) +# self._map_q = None +# self._map_t = None + + + + +# # def register_subscribers(self): +# # # check if CV bridge is needed +# # for config in self.param.subscriber_cfg.values(): +# # if config["data_type"] == "image": +# # self.cv_bridge = CvBridge() +# # break + +# # pointcloud_subs = {} +# # image_subs = {} +# # for key, config in self.subscribers.items(): +# # if config["data_type"] == "image": +# # camera_sub = message_filters.Subscriber(config["topic_name_camera"], Image) +# # camera_info_sub = message_filters.Subscriber(config["topic_name_camera_info"], CameraInfo) +# # image_subs[key] = message_filters.ApproximateTimeSynchronizer( +# # [camera_sub, camera_info_sub], queue_size=10, slop=0.5 +# # ) +# # image_subs[key].registerCallback(self.image_callback, key) + +# # elif config["data_type"] == "pointcloud": +# # pointcloud_subs[key] = rospy.Subscriber( +# # config["topic_name"], PointCloud2, self.pointcloud_callback, key +# # ) + +# # def register_publishers(self): +# # self._publishers = {} +# # self._publishers_timers = [] +# # for k, v in self.publishers.items(): +# # self._publishers[k] = rospy.Publisher(f"/{self.node_name}/{k}", GridMap, queue_size=10) +# # # partial(.) allows to pass a default argument to a callback +# # self._publishers_timers.append(rospy.Timer(rospy.Duration(1 / v["fps"]), partial(self.publish_map, k))) + +# # def publish_map(self, k, t): +# # print("publish_map") +# # if self._map_q is None: +# # return +# # gm = GridMap() +# # gm.info.header.frame_id = self.map_frame +# # gm.info.header.stamp = rospy.Time.now() +# # gm.info.header.seq = 0 +# # gm.info.resolution = self._map.resolution +# # gm.info.length_x = self._map.map_length +# # gm.info.length_y = self._map.map_length +# # gm.info.pose.position.x = self._map_t.x +# # gm.info.pose.position.y = self._map_t.y +# # gm.info.pose.position.z = 0.0 +# # gm.info.pose.orientation.w = 1.0 # self._map_q.w +# # gm.info.pose.orientation.x = 0.0 # self._map_q.x +# # gm.info.pose.orientation.y = 0.0 # self._map_q.y +# # gm.info.pose.orientation.z = 0.0 # self._map_q.z +# # gm.layers = [] +# # gm.basic_layers = self.publishers[k]["basic_layers"] +# # for i, layer in enumerate(self.publishers[k]["layers"]): +# # gm.layers.append(layer) +# # try: +# # self._map.get_map_with_name_ref(layer, self._map_data) +# # data = self._map_data.copy() +# # arr = Float32MultiArray() +# # arr.layout = MAL() +# # N = self._map_data.shape[0] +# # arr.layout.dim.append(MAD(label="column_index", size=N, stride=int(N * N))) +# # arr.layout.dim.append(MAD(label="row_index", size=N, stride=N)) +# # arr.data = tuple(np.ascontiguousarray(data.T).reshape(-1)) +# # gm.data.append(arr) +# # except: +# # if layer in gm.basic_layers: +# # print("Error: Missed Layer in basic layers") + +# # gm.outer_start_index = 0 +# # gm.inner_start_index = 0 + +# # self._publishers[k].publish(gm) + +# # def register_timers(self): +# # self.timer_variance = rospy.Timer(rospy.Duration(1 / self.update_variance_fps), self.update_variance) +# # self.timer_pose = rospy.Timer(rospy.Duration(1 / self.update_pose_fps), self.update_pose) +# # self.timer_time = rospy.Timer(rospy.Duration(self.time_interval), self.update_time) + +# # def image_callback(self, camera_msg, camera_info_msg, sub_key): +# # # get pose of image +# # ti = rospy.Time(secs=camera_msg.header.stamp.secs, nsecs=camera_msg.header.stamp.nsecs) +# # self._last_t = ti +# # try: +# # transform = self._tf_buffer.lookup_transform( +# # camera_msg.header.frame_id, self.map_frame, ti, rospy.Duration(1.0) +# # ) +# # except (tf2_ros.LookupException, tf2_ros.ConnectivityException, tf2_ros.ExtrapolationException) as e: +# # print("Error: image_callback:", e) +# # return + +# # t = transform.transform.translation +# # t = np.array([t.x, t.y, t.z]) +# # q = transform.transform.rotation +# # R = quaternion_matrix([q.x, q.y, q.z, q.w])[:3, :3] + +# # semantic_img = self.cv_bridge.imgmsg_to_cv2(camera_msg, desired_encoding="passthrough") + +# # if len(semantic_img.shape) != 2: +# # semantic_img = [semantic_img[:, :, k] for k in range(3)] + +# # else: +# # semantic_img = [semantic_img] + +# # K = np.array(camera_info_msg.K, dtype=np.float32).reshape(3, 3) + +# # assert np.all(np.array(camera_info_msg.D) == 0.0), "Undistortion not implemented" +# # D = np.array(camera_info_msg.D, dtype=np.float32).reshape(5, 1) + +# # # process pointcloud +# # self._map.input_image(sub_key, semantic_img, R, t, K, D, camera_info_msg.height, camera_info_msg.width) +# # self._image_process_counter += 1 + +# # def pointcloud_callback(self, msg, sub_key): +# # channels = ["x", "y", "z"] + self.param.subscriber_cfg[sub_key]["channels"] + +# # points = ros_numpy.numpify(msg) +# # pts = np.empty((points.shape[0], 0)) +# # for ch in channels: +# # p = points[ch] +# # if len(p.shape) == 1: +# # p = p[:, None] +# # pts = np.append(pts, p, axis=1) + +# # # get pose of pointcloud +# # ti = rospy.Time(secs=msg.header.stamp.secs, nsecs=msg.header.stamp.nsecs) +# # self._last_t = ti +# # try: +# # transform = self._tf_buffer.lookup_transform(self.map_frame, msg.header.frame_id, ti, rospy.Duration(1.0)) +# # except (tf2_ros.LookupException, tf2_ros.ConnectivityException, tf2_ros.ExtrapolationException) as e: +# # print("Error: pointcloud_callback: ", e) +# # return + +# # t = transform.transform.translation +# # t = np.array([t.x, t.y, t.z]) +# # q = transform.transform.rotation +# # R = quaternion_matrix([q.x, q.y, q.z, q.w])[:3, :3] + +# # # process pointcloud +# # self._map.input(pts, channels, R, t, 0, 0) +# # self._pointcloud_process_counter += 1 +# # print("Pointclouds processed: ", self._pointcloud_process_counter) + +# # def update_pose(self, t): +# # # get pose of base +# # # t = rospy.Time.now() +# # if self._last_t is None: +# # return +# # try: +# # transform = self._tf_buffer.lookup_transform( +# # self.map_frame, self.base_frame, self._last_t, rospy.Duration(1.0) +# # ) +# # except (tf2_ros.LookupException, tf2_ros.ConnectivityException, tf2_ros.ExtrapolationException) as e: +# # print("Error: update_pose error: ", e) +# # return +# # t = transform.transform.translation +# # trans = np.array([t.x, t.y, t.z]) +# # q = transform.transform.rotation +# # rot = quaternion_matrix([q.x, q.y, q.z, q.w])[:3, :3] +# # self._map.move_to(trans, rot) + +# # self._map_t = t +# # self._map_q = q + +# # def update_variance(self, t): +# # self._map.update_variance() + +# # def update_time(self, t): +# # self._map.update_time() + + + +# def declare_parameters_from_yaml(self, yaml_file): +# def declare_nested_parameters(parent_name, param_dict): +# for sub_name, sub_value in param_dict.items(): +# full_param_name = f"{parent_name}.{sub_name}" + +# if isinstance(sub_value, dict): +# declare_nested_parameters(full_param_name, sub_value) +# else: +# if "elevation_mapping.ros__parameters" in full_param_name: +# full_param_name = full_param_name.replace("elevation_mapping.ros__parameters.", "") +# self.declare_parameter(full_param_name, sub_value) + +# with open(yaml_file, 'r') as file: +# params = yaml.safe_load(file) + +# # Set parameters in the node +# for param_name, param_value in params.items(): +# if isinstance(param_value, dict): +# # For nested dictionaries, set each nested parameter individually +# declare_nested_parameters(param_name, param_value) +# else: +# # For top-level parameters +# if "elevation_mapping.ros__parameters" in param_name: +# param_name = param_name.replace("elevation_mapping.ros__parameters.", "") +# self.declare_parameter(param_name, param_value) + + + + +# def get_ros_params(self): +# # TODO fix this here when later launching with launch-file +# # This is currently {p} elevation_mapping") +# param_file = os.path.join(self.root, f"config/core/core_param.yaml") +# self.declare_parameters_from_yaml(param_file) + +# # os.system(f"rosparam delete /{self.node_name}") +# # os.system(f"rosparam load {para} elevation_mapping") +# # self.subscribers = self.get_parameter("subscribers").get_parameter_value().string_value +# # self.publishers = self.get_parameter("publishers").get_parameter_value().string_value +# self.initialize_frame_id = self.get_parameter("initialize_frame_id").get_parameter_value().string_array_value +# self.initialize_tf_offset = self.get_parameter("initialize_tf_offset").get_parameter_value().double_value +# self.pose_topic = self.get_parameter("pose_topic").get_parameter_value().string_value +# self.map_frame = self.get_parameter("map_frame").get_parameter_value().string_value +# self.base_frame = self.get_parameter("base_frame").get_parameter_value().string_value +# self.corrected_map_frame = self.get_parameter("corrected_map_frame").get_parameter_value().string_value +# self.initialize_method = self.get_parameter("initialize_method").get_parameter_value().string_value +# self.position_lowpass_alpha = self.get_parameter("position_lowpass_alpha").get_parameter_value().double_value +# self.orientation_lowpass_alpha = self.get_parameter("orientation_lowpass_alpha").get_parameter_value().double_value +# self.update_variance_fps = self.get_parameter("update_variance_fps").get_parameter_value().double_value +# self.time_interval = self.get_parameter("time_interval").get_parameter_value().double_value +# self.update_pose_fps = self.get_parameter("update_pose_fps").get_parameter_value().double_value +# self.initialize_tf_grid_size = self.get_parameter("initialize_tf_grid_size").get_parameter_value().double_value +# self.map_acquire_fps = self.get_parameter("map_acquire_fps").get_parameter_value().double_value +# self.publish_statistics_fps = self.get_parameter("publish_statistics_fps").get_parameter_value().double_value +# self.enable_pointcloud_publishing = self.get_parameter("enable_pointcloud_publishing").get_parameter_value().bool_value +# self.enable_normal_arrow_publishing = self.get_parameter("enable_normal_arrow_publishing").get_parameter_value().bool_value +# self.enable_drift_corrected_TF_publishing = self.get_parameter("enable_drift_corrected_TF_publishing").get_parameter_value().bool_value +# self.use_initializer_at_start = self.get_parameter("use_initializer_at_start").get_parameter_value().bool_value + + +# def main(args=None): +# rclpy.init(args=args) +# node = ElevationMapWrapper() +# rclpy.spin(node) +# rclpy.shutdown() + +# if __name__ == '__main__': +# main() \ No newline at end of file diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/kk.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/kk.py new file mode 100644 index 00000000..27562dda --- /dev/null +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/kk.py @@ -0,0 +1,1290 @@ +# +# Copyright (c) 2023, Takahiro Miki. All rights reserved. +# Licensed under the MIT license. See LICENSE file in the project root for details. +# +import cupy as cp +import string + + +def sum_kernel( + resolution, width, height, +): + """Sums the semantic values of the classes for the exponentiala verage or for the average. + + Args: + resolution: + width: + height: + + Returns: + + """ + # input the list of layers, amount of channels can slo be input through kernel + sum_kernel = cp.ElementwiseKernel( + in_params="raw U p, raw U R, raw U t, raw W pcl_chan, raw W map_lay, raw W pcl_channels", + out_params="raw U map, raw U newmap", + preamble=string.Template( + """ + __device__ int get_map_idx(int idx, int layer_n) { + const int layer = ${width} * ${height}; + return layer * layer_n + idx; + } + """ + ).substitute(resolution=resolution, width=width, height=height), + operation=string.Template( + """ + U id = floorf(i/pcl_channels[1]); + int layer = i % pcl_channels[1]; + U idx = p[id * pcl_channels[0]]; + U valid = p[id * pcl_channels[0] + 1]; + U inside = p[id * pcl_channels[0] + 2]; + if (valid) { + if (inside) { + U feat = p[id * pcl_channels[0] + pcl_chan[layer]]; + atomicAdd(&newmap[get_map_idx(idx, map_lay[layer])], feat); + } + } + """ + ).substitute(), + name="sum_kernel", + ) + return sum_kernel + + +def sum_compact_kernel( + resolution, width, height, +): + # input the list of layers, amount of channels can slo be input through kernel + sum_compact_kernel = cp.ElementwiseKernel( + in_params="raw U p, raw U R, raw U t, raw W pcl_chan, raw W map_lay, raw W pcl_channels", + out_params=" raw U newmap", + preamble=string.Template( + """ + __device__ int get_map_idx(int idx, int layer_n) { + const int layer = ${width} * ${height}; + return layer * layer_n + idx; + } + """ + ).substitute(resolution=resolution, width=width, height=height), + operation=string.Template( + """ + U id = floorf(i/pcl_channels[1]); + int layer = i % pcl_channels[1]; + U idx = p[id * pcl_channels[0]]; + U valid = p[id * pcl_channels[0] + 1]; + U inside = p[id * pcl_channels[0] + 2]; + if (valid) { + if (inside) { + U feat = p[id * pcl_channels[0] + pcl_chan[layer]]; + atomicAdd(&newmap[get_map_idx(idx, layer)], feat); + } + } + """ + ).substitute(), + name="sum_compact_kernel", + ) + return sum_compact_kernel + + +def sum_max_kernel( + resolution, width, height, +): + # input the list of layers, amount of channels can slo be input through kernel + sum_max_kernel = cp.ElementwiseKernel( + in_params="raw U p, raw U max_pt, raw T max_id, raw W pcl_chan, raw W map_lay, raw W pcl_channels", + out_params=" raw U newmap", + preamble=string.Template( + """ + __device__ int get_map_idx(int idx, int layer_n) { + const int layer = ${width} * ${height}; + return layer * layer_n + idx; + } + """ + ).substitute(resolution=resolution, width=width, height=height), + operation=string.Template( + """ + U idx = p[i * pcl_channels[0]]; + U valid = p[i * pcl_channels[0] + 1]; + U inside = p[i * pcl_channels[0] + 2]; + if (valid) { + if (inside) { + // for every max value + for ( W it=0;it=theta_max){ + arg_max = map_lay[layer]; + theta_max = theta; + } + atomicAdd(&newmap[get_map_idx(idx, arg_max)], theta_max); + } + } + """ + ).substitute(), + name="alpha_kernel", + ) + return alpha_kernel + + +def average_kernel( + width, height, +): + average_kernel = cp.ElementwiseKernel( + in_params="raw V newmap, raw W pcl_chan, raw W map_lay, raw W pcl_channels, raw U new_elmap", + out_params="raw U map", + preamble=string.Template( + """ + __device__ int get_map_idx(int idx, int layer_n) { + const int layer = ${width} * ${height}; + return layer * layer_n + idx; + } + """ + ).substitute(width=width, height=height), + operation=string.Template( + """ + U id = floorf(i/pcl_channels[1]); + int layer = i % pcl_channels[1]; + U cnt = new_elmap[get_map_idx(id, 2)]; + if (cnt>0){ + U feat = newmap[get_map_idx(id, map_lay[layer])]/(1*cnt); + map[get_map_idx(id, map_lay[layer])] = feat; + } + """ + ).substitute(), + name="average_map_kernel", + ) + return average_kernel + + +def bayesian_inference_kernel( + width, height, +): + bayesian_inference_kernel = cp.ElementwiseKernel( + in_params=" raw W pcl_chan, raw W map_lay, raw W pcl_channels, raw U new_elmap", + out_params="raw U newmap, raw U sum_mean, raw U map", + preamble=string.Template( + """ + __device__ int get_map_idx(int idx, int layer_n) { + const int layer = ${width} * ${height}; + return layer * layer_n + idx; + } + """ + ).substitute(width=width, height=height), + operation=string.Template( + """ + U id = floorf(i/pcl_channels[1]); + int layer = i % pcl_channels[1]; + U cnt = new_elmap[get_map_idx(id, 2)]; + if (cnt>0){ + U feat_ml = sum_mean[get_map_idx(id, layer)]/cnt; + U feat_old = map[get_map_idx(id, map_lay[layer])]; + U sigma_old = newmap[get_map_idx(id, map_lay[layer])]; + U sigma = 1.0; + U feat_new = sigma*feat_old /(cnt*sigma_old + sigma) +cnt*sigma_old *feat_ml /(cnt*sigma_old+sigma); + U sigma_new = sigma*sigma_old /(cnt*sigma_old +sigma); + map[get_map_idx(id, map_lay[layer])] = feat_new; + newmap[get_map_idx(id, map_lay[layer])] = sigma_new; + } + """ + ).substitute(), + name="bayesian_inference_kernel", + ) + return bayesian_inference_kernel + + +def class_average_kernel( + width, height, alpha, +): + class_average_kernel = cp.ElementwiseKernel( + in_params="raw V newmap, raw W pcl_chan, raw W map_lay, raw W pcl_channels, raw U new_elmap", + out_params="raw U map", + preamble=string.Template( + """ + __device__ int get_map_idx(int idx, int layer_n) { + const int layer = ${width} * ${height}; + return layer * layer_n + idx; + } + """ + ).substitute(width=width, height=height), + operation=string.Template( + """ + U id = floorf(i/pcl_channels[1]); + int layer = i % pcl_channels[1]; + U cnt = new_elmap[get_map_idx(id, 2)]; + if (cnt>0){ + U prev_val = map[get_map_idx(id, map_lay[layer])]; + if (prev_val==0){ + U val = newmap[get_map_idx(id, map_lay[layer])]/(1*cnt); + map[get_map_idx(id, map_lay[layer])] = val; + } + else{ + U val = ${alpha} *prev_val + (1-${alpha}) * newmap[get_map_idx(id, map_lay[layer])]/(cnt); + map[get_map_idx(id, map_lay[layer])] = val; + } + } + """ + ).substitute(alpha=alpha,), + name="class_average_kernel", + ) + return class_average_kernel + + +def add_color_kernel( + width, height, +): + add_color_kernel = cp.ElementwiseKernel( + in_params="raw T p, raw U R, raw U t, raw W pcl_chan, raw W map_lay, raw W pcl_channels", + out_params="raw V color_map", + preamble=string.Template( + """ + __device__ int get_map_idx(int idx, int layer_n) { + const int layer = ${width} * ${height}; + return layer * layer_n + idx; + } + __device__ unsigned int get_r(unsigned int color){ + unsigned int red = 0xFF0000; + unsigned int reds = (color & red) >> 16; + return reds; + } + __device__ unsigned int get_g(unsigned int color){ + unsigned int green = 0xFF00; + unsigned int greens = (color & green) >> 8; + return greens; + } + __device__ unsigned int get_b(unsigned int color){ + unsigned int blue = 0xFF; + unsigned int blues = ( color & blue); + return blues; + } + """ + ).substitute(width=width, height=height), + operation=string.Template( + """ + U id = floorf(i/pcl_channels[1]); + int layer = i % pcl_channels[1]; + U idx = p[id * pcl_channels[0]]; + U valid = p[id * pcl_channels[0] + 1]; + U inside = p[id * pcl_channels[0] + 2]; + if (valid && inside){ + unsigned int color = __float_as_uint(p[id * pcl_channels[0] + pcl_chan[layer]]); + atomicAdd(&color_map[get_map_idx(idx, layer*3)], get_r(color)); + atomicAdd(&color_map[get_map_idx(idx, layer*3+1)], get_g(color)); + atomicAdd(&color_map[get_map_idx(idx, layer*3 + 2)], get_b(color)); + atomicAdd(&color_map[get_map_idx(idx, pcl_channels[1]*3)], 1); + } + """ + ).substitute(width=width), + name="add_color_kernel", + ) + return add_color_kernel + + +def color_average_kernel( + width, height, +): + color_average_kernel = cp.ElementwiseKernel( + in_params="raw V color_map, raw W pcl_chan, raw W map_lay, raw W pcl_channels", + out_params="raw U map", + preamble=string.Template( + """ + __device__ int get_map_idx(int idx, int layer_n) { + const int layer = ${width} * ${height}; + return layer * layer_n + idx; + } + __device__ unsigned int get_r(unsigned int color){ + unsigned int red = 0xFF0000; + unsigned int reds = (color & red) >> 16; + return reds; + } + __device__ unsigned int get_g(unsigned int color){ + unsigned int green = 0xFF00; + unsigned int greens = (color & green) >> 8; + return greens; + } + __device__ unsigned int get_b(unsigned int color){ + unsigned int blue = 0xFF; + unsigned int blues = (color & blue); + return blues; + } + """ + ).substitute(width=width, height=height), + operation=string.Template( + """ + U id = floorf(i/pcl_channels[1]); + int layer = i % pcl_channels[1]; + unsigned int cnt = color_map[get_map_idx(id, pcl_channels[1]*3)]; + if (cnt>0){ + // U prev_color = map[get_map_idx(id, map_lay[layer])]; + unsigned int r = color_map[get_map_idx(id, layer*3)]/(1*cnt); + unsigned int g = color_map[get_map_idx(id, layer*3+1)]/(1*cnt); + unsigned int b = color_map[get_map_idx(id, layer*3+2)]/(1*cnt); + //if (prev_color>=0){ + // unsigned int prev_r = get_r(prev_color); + // unsigned int prev_g = get_g(prev_color); + // unsigned int prev_b = get_b(prev_color); + // unsigned int r = prev_r/2 + color_map[get_map_idx(i, layer*3)]/(2*cnt); + // unsigned int g = prev_g/2 + color_map[get_map_idx(i, layer*3+1)]/(2*cnt); + // unsigned int b = prev_b/2 + color_map[get_map_idx(i, layer*3+2)]/(2*cnt); + //} + unsigned int rgb = (r<<16) + (g << 8) + b; + float rgb_ = __uint_as_float(rgb); + map[get_map_idx(id, map_lay[layer])] = rgb_; + } + """ + ).substitute(), + name="color_average_kernel", + ) + return color_average_kernel + + + +def map_utils( + resolution, + width, + height, + sensor_noise_factor, + min_valid_distance, + max_height_range, + ramped_height_range_a, + ramped_height_range_b, + ramped_height_range_c, +): + util_preamble = string.Template( + """ + __device__ float16 clamp(float16 x, float16 min_x, float16 max_x) { + + return max(min(x, max_x), min_x); + } + __device__ int get_x_idx(float16 x, float16 center) { + int i = (x - center) / ${resolution} + 0.5 * ${width}; + return i; + } + __device__ int get_y_idx(float16 y, float16 center) { + int i = (y - center) / ${resolution} + 0.5 * ${height}; + return i; + } + __device__ bool is_inside(int idx) { + int idx_x = idx / ${width}; + int idx_y = idx % ${width}; + if (idx_x == 0 || idx_x == ${width} - 1) { + return false; + } + if (idx_y == 0 || idx_y == ${height} - 1) { + return false; + } + return true; + } + __device__ int get_idx(float16 x, float16 y, float16 center_x, float16 center_y) { + int idx_x = clamp(get_x_idx(x, center_x), 0, ${width} - 1); + int idx_y = clamp(get_y_idx(y, center_y), 0, ${height} - 1); + return ${width} * idx_x + idx_y; + } + __device__ int get_map_idx(int idx, int layer_n) { + const int layer = ${width} * ${height}; + return layer * layer_n + idx; + } + __device__ float transform_p(float16 x, float16 y, float16 z, + float16 r0, float16 r1, float16 r2, float16 t) { + return r0 * x + r1 * y + r2 * z + t; + } + __device__ float z_noise(float16 z){ + return ${sensor_noise_factor} * z * z; + } + + __device__ float point_sensor_distance(float16 x, float16 y, float16 z, + float16 sx, float16 sy, float16 sz) { + float d = (x - sx) * (x - sx) + (y - sy) * (y - sy) + (z - sz) * (z - sz); + return d; + } + + __device__ bool is_valid(float16 x, float16 y, float16 z, + float16 sx, float16 sy, float16 sz) { + float d = point_sensor_distance(x, y, z, sx, sy, sz); + float dxy = max(sqrt(x * x + y * y) - ${ramped_height_range_b}, 0.0); + if (d < ${min_valid_distance} * ${min_valid_distance}) { + return false; + } + else if (z - sz > dxy * ${ramped_height_range_a} + ${ramped_height_range_c} || z - sz > ${max_height_range}) { + return false; + } + else { + return true; + } + } + + __device__ float ray_vector(float16 tx, float16 ty, float16 tz, + float16 px, float16 py, float16 pz, + float16& rx, float16& ry, float16& rz){ + float16 vx = px - tx; + float16 vy = py - ty; + float16 vz = pz - tz; + float16 norm = sqrt(vx * vx + vy * vy + vz * vz); + if (norm > 0) { + rx = vx / norm; + ry = vy / norm; + rz = vz / norm; + } + else { + rx = 0; + ry = 0; + rz = 0; + } + return norm; + } + + __device__ float inner_product(float16 x1, float16 y1, float16 z1, + float16 x2, float16 y2, float16 z2) { + + float product = (x1 * x2 + y1 * y2 + z1 * z2); + return product; + } + + """ + ).substitute( + resolution=resolution, + width=width, + height=height, + sensor_noise_factor=sensor_noise_factor, + min_valid_distance=min_valid_distance, + max_height_range=max_height_range, + ramped_height_range_a=ramped_height_range_a, + ramped_height_range_b=ramped_height_range_b, + ramped_height_range_c=ramped_height_range_c, + ) + return util_preamble + + +def add_points_kernel( + resolution, + width, + height, + sensor_noise_factor, + mahalanobis_thresh, + outlier_variance, + wall_num_thresh, + max_ray_length, + cleanup_step, + min_valid_distance, + max_height_range, + cleanup_cos_thresh, + ramped_height_range_a, + ramped_height_range_b, + ramped_height_range_c, + enable_edge_shaped=True, + enable_visibility_cleanup=True, +): + add_points_kernel = cp.ElementwiseKernel( + in_params="raw U center_x, raw U center_y, raw U R, raw U t, raw U norm_map", + out_params="raw U p, raw U map, raw T newmap", + preamble=map_utils( + resolution, + width, + height, + sensor_noise_factor, + min_valid_distance, + max_height_range, + ramped_height_range_a, + ramped_height_range_b, + ramped_height_range_c, + ), + operation=string.Template( + """ + U rx = p[i * 3]; + U ry = p[i * 3 + 1]; + U rz = p[i * 3 + 2]; + U x = transform_p(rx, ry, rz, R[0], R[1], R[2], t[0]); + U y = transform_p(rx, ry, rz, R[3], R[4], R[5], t[1]); + U z = transform_p(rx, ry, rz, R[6], R[7], R[8], t[2]); + U v = z_noise(rz); + int idx = get_idx(x, y, center_x[0], center_y[0]); + if (is_valid(x, y, z, t[0], t[1], t[2])) { + if (is_inside(idx)) { + U map_h = map[get_map_idx(idx, 0)]; + U map_v = map[get_map_idx(idx, 1)]; + U num_points = newmap[get_map_idx(idx, 4)]; + if (abs(map_h - z) > (map_v * ${mahalanobis_thresh})) { + atomicAdd(&map[get_map_idx(idx, 1)], ${outlier_variance}); + } + else { + if (${enable_edge_shaped} && (num_points > ${wall_num_thresh}) && (z < map_h - map_v * ${mahalanobis_thresh} / num_points)) { + // continue; + } + else { + T new_h = (map_h * v + z * map_v) / (map_v + v); + T new_v = (map_v * v) / (map_v + v); + atomicAdd(&newmap[get_map_idx(idx, 0)], new_h); + atomicAdd(&newmap[get_map_idx(idx, 1)], new_v); + atomicAdd(&newmap[get_map_idx(idx, 2)], 1.0); + // is Valid + map[get_map_idx(idx, 2)] = 1; + // Time layer + map[get_map_idx(idx, 4)] = 0.0; + // Upper bound + map[get_map_idx(idx, 5)] = new_h; + map[get_map_idx(idx, 6)] = 0.0; + } + // visibility cleanup + } + } + } + if (${enable_visibility_cleanup}) { + float16 ray_x, ray_y, ray_z; + float16 ray_length = ray_vector(t[0], t[1], t[2], x, y, z, ray_x, ray_y, ray_z); + ray_length = min(ray_length, (float16)${max_ray_length}); + int last_nidx = -1; + for (float16 s=${ray_step}; s < ray_length; s+=${ray_step}) { + // iterate through ray + U nx = t[0] + ray_x * s; + U ny = t[1] + ray_y * s; + U nz = t[2] + ray_z * s; + int nidx = get_idx(nx, ny, center_x[0], center_y[0]); + if (last_nidx == nidx) {continue;} // Skip if we're still in the same cell + else {last_nidx = nidx;} + if (!is_inside(nidx)) {continue;} + + U nmap_h = map[get_map_idx(nidx, 0)]; + U nmap_v = map[get_map_idx(nidx, 1)]; + U nmap_valid = map[get_map_idx(nidx, 2)]; + // traversability + U nmap_trav = map[get_map_idx(nidx, 3)]; + // Time layer + U non_updated_t = map[get_map_idx(nidx, 4)]; + // upper bound + U nmap_upper = map[get_map_idx(nidx, 5)]; + U nmap_is_upper = map[get_map_idx(nidx, 6)]; + + // If point is close or is farther away than ray length, skip. + float16 d = (x - nx) * (x - nx) + (y - ny) * (y - ny) + (z - nz) * (z - nz); + if (d < 0.1 || !is_valid(x, y, z, t[0], t[1], t[2])) {continue;} + + // If invalid, do upper bound check, then skip + if (nmap_valid < 0.5) { + if (nz < nmap_upper || nmap_is_upper < 0.5) { + map[get_map_idx(nidx, 5)] = nz; + map[get_map_idx(nidx, 6)] = 1.0f; + } + continue; + } + // If updated recently, skip + if (non_updated_t < 0.5) {continue;} + + if (nmap_h > nz + 0.01 - min(nmap_v, 1.0) * 0.05) { + // If ray and norm is vertical, skip + U norm_x = norm_map[get_map_idx(nidx, 0)]; + U norm_y = norm_map[get_map_idx(nidx, 1)]; + U norm_z = norm_map[get_map_idx(nidx, 2)]; + float product = inner_product(ray_x, ray_y, ray_z, norm_x, norm_y, norm_z); + if (fabs(product) < ${cleanup_cos_thresh}) {continue;} + U num_points = newmap[get_map_idx(nidx, 3)]; + if (num_points > ${wall_num_thresh} && non_updated_t < 1.0) {continue;} + + // Finally, this cell is penetrated by the ray. + atomicAdd(&map[get_map_idx(nidx, 2)], -${cleanup_step}/(ray_length / ${max_ray_length})); + atomicAdd(&map[get_map_idx(nidx, 1)], ${outlier_variance}); + // Do upper bound check. + if (nz < nmap_upper || nmap_is_upper < 0.5) { + map[get_map_idx(nidx, 5)] = nz; + map[get_map_idx(nidx, 6)] = 1.0f; + } + } + } + } + p[i * 3]= idx; + p[i * 3 + 1] = is_valid(x, y, z, t[0], t[1], t[2]); + p[i * 3 + 2] = is_inside(idx); + """ + ).substitute( + mahalanobis_thresh=mahalanobis_thresh, + outlier_variance=outlier_variance, + wall_num_thresh=wall_num_thresh, + ray_step=resolution / 2 ** 0.5, + max_ray_length=max_ray_length, + cleanup_step=cleanup_step, + cleanup_cos_thresh=cleanup_cos_thresh, + enable_edge_shaped=int(enable_edge_shaped), + enable_visibility_cleanup=int(enable_visibility_cleanup), + ), + name="add_points_kernel", + ) + return add_points_kernel + + +def error_counting_kernel( + resolution, + width, + height, + sensor_noise_factor, + mahalanobis_thresh, + outlier_variance, + traversability_inlier, + min_valid_distance, + max_height_range, + ramped_height_range_a, + ramped_height_range_b, + ramped_height_range_c, +): + error_counting_kernel = cp.ElementwiseKernel( + in_params="raw U map, raw U p, raw U center_x, raw U center_y, raw U R, raw U t", + out_params="raw U newmap, raw T error, raw T error_cnt", + preamble=map_utils( + resolution, + width, + height, + sensor_noise_factor, + min_valid_distance, + max_height_range, + ramped_height_range_a, + ramped_height_range_b, + ramped_height_range_c, + ), + operation=string.Template( + """ + U rx = p[i * 3]; + U ry = p[i * 3 + 1]; + U rz = p[i * 3 + 2]; + U x = transform_p(rx, ry, rz, R[0], R[1], R[2], t[0]); + U y = transform_p(rx, ry, rz, R[3], R[4], R[5], t[1]); + U z = transform_p(rx, ry, rz, R[6], R[7], R[8], t[2]); + U v = z_noise(rz); + // if (!is_valid(z, t[2])) {return;} + if (!is_valid(x, y, z, t[0], t[1], t[2])) {return;} + // if ((x - t[0]) * (x - t[0]) + (y - t[1]) * (y - t[1]) + (z - t[2]) * (z - t[2]) < 0.5) {return;} + int idx = get_idx(x, y, center_x[0], center_y[0]); + if (!is_inside(idx)) { + return; + } + U map_h = map[get_map_idx(idx, 0)]; + U map_v = map[get_map_idx(idx, 1)]; + U map_valid = map[get_map_idx(idx, 2)]; + U map_t = map[get_map_idx(idx, 3)]; + if (map_valid > 0.5 && (abs(map_h - z) < (map_v * ${mahalanobis_thresh})) + && map_v < ${outlier_variance} / 2.0 + && map_t > ${traversability_inlier}) { + T e = z - map_h; + atomicAdd(&error[0], e); + atomicAdd(&error_cnt[0], 1); + atomicAdd(&newmap[get_map_idx(idx, 3)], 1.0); + } + atomicAdd(&newmap[get_map_idx(idx, 4)], 1.0); + """ + ).substitute( + mahalanobis_thresh=mahalanobis_thresh, + outlier_variance=outlier_variance, + traversability_inlier=traversability_inlier, + ), + name="error_counting_kernel", + ) + return error_counting_kernel + + +def average_map_kernel(width, height, max_variance, initial_variance): + average_map_kernel = cp.ElementwiseKernel( + in_params="raw U newmap", + out_params="raw U map", + preamble=string.Template( + """ + __device__ int get_map_idx(int idx, int layer_n) { + const int layer = ${width} * ${height}; + return layer * layer_n + idx; + } + """ + ).substitute(width=width, height=height), + operation=string.Template( + """ + U h = map[get_map_idx(i, 0)]; + U v = map[get_map_idx(i, 1)]; + U valid = map[get_map_idx(i, 2)]; + U new_h = newmap[get_map_idx(i, 0)]; + U new_v = newmap[get_map_idx(i, 1)]; + U new_cnt = newmap[get_map_idx(i, 2)]; + if (new_cnt > 0) { + if (new_v / new_cnt > ${max_variance}) { + map[get_map_idx(i, 0)] = 0; + map[get_map_idx(i, 1)] = ${initial_variance}; + map[get_map_idx(i, 2)] = 0; + } + else { + map[get_map_idx(i, 0)] = new_h / new_cnt; + map[get_map_idx(i, 1)] = new_v / new_cnt; + map[get_map_idx(i, 2)] = 1; + } + } + if (valid < 0.5) { + map[get_map_idx(i, 0)] = 0; + map[get_map_idx(i, 1)] = ${initial_variance}; + map[get_map_idx(i, 2)] = 0; + } + """ + ).substitute(max_variance=max_variance, initial_variance=initial_variance), + name="average_map_kernel", + ) + return average_map_kernel + + +def dilation_filter_kernel(width, height, dilation_size): + dilation_filter_kernel = cp.ElementwiseKernel( + in_params="raw U map, raw U mask", + out_params="raw U newmap, raw U newmask", + preamble=string.Template( + """ + __device__ int get_map_idx(int idx, int layer_n) { + const int layer = ${width} * ${height}; + return layer * layer_n + idx; + } + + __device__ int get_relative_map_idx(int idx, int dx, int dy, int layer_n) { + const int layer = ${width} * ${height}; + const int relative_idx = idx + ${width} * dy + dx; + return layer * layer_n + relative_idx; + } + __device__ bool is_inside(int idx) { + int idx_x = idx / ${width}; + int idx_y = idx % ${width}; + if (idx_x <= 0 || idx_x >= ${width} - 1) { + return false; + } + if (idx_y <= 0 || idx_y >= ${height} - 1) { + return false; + } + return true; + } + """ + ).substitute(width=width, height=height), + operation=string.Template( + """ + U h = map[get_map_idx(i, 0)]; + U valid = mask[get_map_idx(i, 0)]; + newmap[get_map_idx(i, 0)] = h; + if (valid < 0.5) { + U distance = 100; + U near_value = 0; + for (int dy = -${dilation_size}; dy <= ${dilation_size}; dy++) { + for (int dx = -${dilation_size}; dx <= ${dilation_size}; dx++) { + int idx = get_relative_map_idx(i, dx, dy, 0); + if (!is_inside(idx)) {continue;} + U valid = mask[idx]; + if(valid > 0.5 && dx + dy < distance) { + distance = dx + dy; + near_value = map[idx]; + } + } + } + if(distance < 100) { + newmap[get_map_idx(i, 0)] = near_value; + newmask[get_map_idx(i, 0)] = 1.0; + } + } + """ + ).substitute(dilation_size=dilation_size), + name="dilation_filter_kernel", + ) + return dilation_filter_kernel + + +def normal_filter_kernel(width, height, resolution): + normal_filter_kernel = cp.ElementwiseKernel( + in_params="raw U map, raw U mask", + out_params="raw U newmap", + preamble=string.Template( + """ + __device__ int get_map_idx(int idx, int layer_n) { + const int layer = ${width} * ${height}; + return layer * layer_n + idx; + } + + __device__ int get_relative_map_idx(int idx, int dx, int dy, int layer_n) { + const int layer = ${width} * ${height}; + const int relative_idx = idx + ${width} * dy + dx; + return layer * layer_n + relative_idx; + } + __device__ bool is_inside(int idx) { + int idx_x = idx / ${width}; + int idx_y = idx % ${width}; + if (idx_x <= 0 || idx_x >= ${width} - 1) { + return false; + } + if (idx_y <= 0 || idx_y >= ${height} - 1) { + return false; + } + return true; + } + __device__ float resolution() { + return ${resolution}; + } + """ + ).substitute(width=width, height=height, resolution=resolution), + operation=string.Template( + """ + U h = map[get_map_idx(i, 0)]; + U valid = mask[get_map_idx(i, 0)]; + if (valid > 0.5) { + int idx_x = get_relative_map_idx(i, 1, 0, 0); + int idx_y = get_relative_map_idx(i, 0, 1, 0); + if (!is_inside(idx_x) || !is_inside(idx_y)) { return; } + float dzdx = (map[idx_x] - h); + float dzdy = (map[idx_y] - h); + float nx = -dzdy / resolution(); + float ny = -dzdx / resolution(); + float nz = 1; + float norm = sqrt((nx * nx) + (ny * ny) + 1); + newmap[get_map_idx(i, 0)] = nx / norm; + newmap[get_map_idx(i, 1)] = ny / norm; + newmap[get_map_idx(i, 2)] = nz / norm; + } + """ + ).substitute(), + name="normal_filter_kernel", + ) + return normal_filter_kernel + + +def polygon_mask_kernel(width, height, resolution): + polygon_mask_kernel = cp.ElementwiseKernel( + in_params="raw U polygon, raw U center_x, raw U center_y, raw int16 polygon_n, raw U polygon_bbox", + out_params="raw U mask", + preamble=string.Template( + """ + __device__ struct Point + { + int x; + int y; + }; + // Given three colinear points p, q, r, the function checks if + // point q lies on line segment 'pr' + __device__ bool onSegment(Point p, Point q, Point r) + { + if (q.x <= max(p.x, r.x) && q.x >= min(p.x, r.x) && + q.y <= max(p.y, r.y) && q.y >= min(p.y, r.y)) + return true; + return false; + } + // To find orientation of ordered triplet (p, q, r). + // The function returns following values + // 0 --> p, q and r are colinear + // 1 --> Clockwise + // 2 --> Counterclockwise + __device__ int orientation(Point p, Point q, Point r) + { + int val = (q.y - p.y) * (r.x - q.x) - + (q.x - p.x) * (r.y - q.y); + if (val == 0) return 0; // colinear + return (val > 0)? 1: 2; // clock or counterclock wise + } + // The function that returns true if line segment 'p1q1' + // and 'p2q2' intersect. + __device__ bool doIntersect(Point p1, Point q1, Point p2, Point q2) + { + // Find the four orientations needed for general and + // special cases + int o1 = orientation(p1, q1, p2); + int o2 = orientation(p1, q1, q2); + int o3 = orientation(p2, q2, p1); + int o4 = orientation(p2, q2, q1); + // General case + if (o1 != o2 && o3 != o4) + return true; + // Special Cases + // p1, q1 and p2 are colinear and p2 lies on segment p1q1 + if (o1 == 0 && onSegment(p1, p2, q1)) return true; + // p1, q1 and p2 are colinear and q2 lies on segment p1q1 + if (o2 == 0 && onSegment(p1, q2, q1)) return true; + // p2, q2 and p1 are colinear and p1 lies on segment p2q2 + if (o3 == 0 && onSegment(p2, p1, q2)) return true; + // p2, q2 and q1 are colinear and q1 lies on segment p2q2 + if (o4 == 0 && onSegment(p2, q1, q2)) return true; + return false; // Doesn't fall in any of the above cases + } + __device__ int get_map_idx(int idx, int layer_n) { + const int layer = ${width} * ${height}; + return layer * layer_n + idx; + } + + __device__ int get_idx_x(int idx){ + int idx_x = idx / ${width}; + return idx_x; + } + + __device__ int get_idx_y(int idx){ + int idx_y = idx % ${width}; + return idx_y; + } + + __device__ float16 clamp(float16 x, float16 min_x, float16 max_x) { + + return max(min(x, max_x), min_x); + } + __device__ float16 round(float16 x) { + return (int)x + (int)(2 * (x - (int)x)); + } + __device__ int get_x_idx(float16 x, float16 center) { + const float resolution = ${resolution}; + const float width = ${width}; + int i = (x - center) / resolution + 0.5 * width; + return i; + } + __device__ int get_y_idx(float16 y, float16 center) { + const float resolution = ${resolution}; + const float height = ${height}; + int i = (y - center) / resolution + 0.5 * height; + return i; + } + __device__ int get_idx(float16 x, float16 y, float16 center_x, float16 center_y) { + int idx_x = clamp(get_x_idx(x, center_x), 0, ${width} - 1); + int idx_y = clamp(get_y_idx(y, center_y), 0, ${height} - 1); + return ${width} * idx_x + idx_y; + } + + """ + ).substitute(width=width, height=height, resolution=resolution), + operation=string.Template( + """ + // Point p = {get_idx_x(i, center_x[0]), get_idx_y(i, center_y[0])}; + Point p = {get_idx_x(i), get_idx_y(i)}; + Point extreme = {100000, p.y}; + int bbox_min_idx = get_idx(polygon_bbox[0], polygon_bbox[1], center_x[0], center_y[0]); + int bbox_max_idx = get_idx(polygon_bbox[2], polygon_bbox[3], center_x[0], center_y[0]); + Point bmin = {get_idx_x(bbox_min_idx), get_idx_y(bbox_min_idx)}; + Point bmax = {get_idx_x(bbox_max_idx), get_idx_y(bbox_max_idx)}; + if (p.x < bmin.x || p.x > bmax.x || p.y < bmin.y || p.y > bmax.y){ + mask[i] = 0; + return; + } + else { + int intersect_cnt = 0; + for (int j = 0; j < polygon_n[0]; j++) { + Point p1, p2; + int i1 = get_idx(polygon[j * 2 + 0], polygon[j * 2 + 1], center_x[0], center_y[0]); + p1.x = get_idx_x(i1); + p1.y = get_idx_y(i1); + int j2 = (j + 1) % polygon_n[0]; + int i2 = get_idx(polygon[j2 * 2 + 0], polygon[j2 * 2 + 1], center_x[0], center_y[0]); + p2.x = get_idx_x(i2); + p2.y = get_idx_y(i2); + if (doIntersect(p1, p2, p, extreme)) + { + // If the point 'p' is colinear with line segment 'i-next', + // then check if it lies on segment. If it lies, return true, + // otherwise false + if (orientation(p1, p, p2) == 0) { + if (onSegment(p1, p, p2)){ + mask[i] = 1; + return; + } + } + else if(((p1.y <= p.y) && (p2.y > p.y)) || ((p1.y > p.y) && (p2.y <= p.y))){ + intersect_cnt++; + } + } + } + if (intersect_cnt % 2 == 0) { mask[i] = 0; } + else { mask[i] = 1; } + } + """ + ).substitute(a=1), + name="polygon_mask_kernel", + ) + return polygon_mask_kernel + + + +def image_to_map_correspondence_kernel(resolution, width, height, tolerance_z_collision): + """ + This function calculates the correspondence between the image and the map. + It takes in the resolution, width, height, and tolerance_z_collision as parameters. + The function returns a kernel that can be used to perform the correspondence calculation. + """ + _image_to_map_correspondence_kernel = cp.ElementwiseKernel( + in_params="raw U map, raw U x1, raw U y1, raw U z1, raw U P, raw U K, raw U D, raw U image_height, raw U image_width, raw U center", + out_params="raw U uv_correspondence, raw B valid_correspondence", + preamble=string.Template( + """ + __device__ int get_map_idx(int idx, int layer_n) { + const int layer = ${width} * ${height}; + return layer * layer_n + idx; + } + __device__ bool is_inside_map(int x, int y) { + return (x >= 0 && y >= 0 && x<${width} && y<${height}); + } + __device__ float get_l2_distance(int x0, int y0, int x1, int y1) { + float dx = x0-x1; + float dy = y0-y1; + return sqrt( dx*dx + dy*dy); + } + """ + ).substitute(width=width, height=height, resolution=resolution), + operation=string.Template( + """ + int cell_idx = get_map_idx(i, 0); + + // return if gridcell has no valid height + if (map[get_map_idx(i, 2)] != 1){ + return; + } + + // get current cell position + int y0 = i % ${width}; + int x0 = i / ${width}; + + // gridcell 3D point in worldframe TODO reverse x and y + float p1 = (x0-(${width}/2)) * ${resolution} + center[0]; + float p2 = (y0-(${height}/2)) * ${resolution} + center[1]; + float p3 = map[cell_idx] + center[2]; + + // reproject 3D point into image plane + float u = p1 * P[0] + p2 * P[1] + p3 * P[2] + P[3]; + float v = p1 * P[4] + p2 * P[5] + p3 * P[6] + P[7]; + float d = p1 * P[8] + p2 * P[9] + p3 * P[10] + P[11]; + + // filter point behind image plane + if (d <= 0) { + return; + } + u = u/d; + v = v/d; + + // Check if D is all zeros + bool is_D_zero = (D[0] == 0 && D[1] == 0 && D[2] == 0 && D[3] == 0 && D[4] == 0); + + // Apply undistortion using distortion matrix D if not all zeros + if (!is_D_zero) { + float k1 = D[0]; + float k2 = D[1]; + float p1 = D[2]; + float p2 = D[3]; + float k3 = D[4]; + float fx = K[0]; + float fy = K[4]; + float cx = K[2]; + float cy = K[5]; + float x = (u - cx) / fx; + float y = (v - cy) / fy; + float r2 = x * x + y * y; + float radial_distortion = 1 + k1 * r2 + k2 * r2 * r2 + k3 * r2 * r2 * r2; + float u_corrected = x * radial_distortion + 2 * p1 * x * y + p2 * (r2 + 2 * x * x); + float v_corrected = y * radial_distortion + 2 * p2 * x * y + p1 * (r2 + 2 * y * y); + u = fx * u_corrected + cx; + v = fy * v_corrected + cy; + } + + // filter point next to image plane + if ((u < 0) || (v < 0) || (u >= image_width) || (v >= image_height)){ + return; + } + + int y0_c = y0; + int x0_c = x0; + float total_dis = get_l2_distance(x0_c, y0_c, x1,y1); + float z0 = map[cell_idx]; + float delta_z = z1-z0; + + + // bresenham algorithm to iterate over cells in line between camera center and current gridmap cell + // https://en.wikipedia.org/wiki/Bresenham%27s_line_algorithm + int dx = abs(x1-x0); + int sx = x0 < x1 ? 1 : -1; + int dy = -abs(y1 - y0); + int sy = y0 < y1 ? 1 : -1; + int error = dx + dy; + + bool is_valid = true; + + // iterate over all cells along line + while (1){ + // assumption we do not need to check the height for camera center cell + if (x0 == x1 && y0 == y1){ + break; + } + + // check if height is invalid + if (is_inside_map(x0,y0)){ + int idx = y0 + (x0 * ${width}); + if (map[get_map_idx(idx, 2)]){ + float dis = get_l2_distance(x0_c, y0_c, x0, y0); + float rayheight = z0 + ( dis / total_dis * delta_z); + if ( map[idx] - ${tolerance_z_collision} > rayheight){ + is_valid = false; + break; + } + } + } + + + // computation of next gridcell index in line + int e2 = 2 * error; + if (e2 >= dy){ + if(x0 == x1){ + break; + } + error = error + dy; + x0 = x0 + sx; + } + if (e2 <= dx){ + if (y0 == y1){ + break; + } + error = error + dx; + y0 = y0 + sy; + } + } + + // mark the correspondence + uv_correspondence[get_map_idx(i, 0)] = u; + uv_correspondence[get_map_idx(i, 1)] = v; + valid_correspondence[get_map_idx(i, 0)] = is_valid; + """ + ).substitute(height=height, width=width, resolution=resolution, tolerance_z_collision=tolerance_z_collision), + name="image_to_map_correspondence_kernel", + ) + return _image_to_map_correspondence_kernel + + +def average_correspondences_to_map_kernel(width, height): + """ + This function calculates the average correspondences to the map. + It takes in the width and height as parameters. + The function returns a kernel that can be used to perform the correspondence calculation. + """ + _average_correspondences_to_map_kernel = cp.ElementwiseKernel( + in_params="raw U sem_map, raw U map_idx, raw U image_mono, raw U uv_correspondence, raw B valid_correspondence, raw U image_height, raw U image_width", + out_params="raw U new_sem_map", + preamble=string.Template( + """ + __device__ int get_map_idx(int idx, int layer_n) { + const int layer = ${width} * ${height}; + return layer * layer_n + idx; + } + """ + ).substitute(width=width, height=height), + operation=string.Template( + """ + int cell_idx = get_map_idx(i, 0); + if (valid_correspondence[cell_idx]){ + int cell_idx_2 = get_map_idx(i, 1); + int idx = int(uv_correspondence[cell_idx]) + int(uv_correspondence[cell_idx_2]) * image_width; + new_sem_map[get_map_idx(i, map_idx)] = image_mono[idx]; + }else{ + new_sem_map[get_map_idx(i, map_idx)] = sem_map[get_map_idx(i, map_idx)]; + } + + """ + ).substitute(), + name="average_correspondences_to_map_kernel", + ) + return _average_correspondences_to_map_kernel + + +def exponential_correspondences_to_map_kernel(width, height, alpha): + """ + This function calculates the exponential correspondences to the map. + It takes in the width, height, and alpha as parameters. + The function returns a kernel that can be used to perform the correspondence calculation. + """ + _exponential_correspondences_to_map_kernel = cp.ElementwiseKernel( + in_params="raw U sem_map, raw U map_idx, raw U image_mono, raw U uv_correspondence, raw B valid_correspondence, raw U image_height, raw U image_width", + out_params="raw U new_sem_map", + preamble=string.Template( + """ + __device__ int get_map_idx(int idx, int layer_n) { + const int layer = ${width} * ${height}; + return layer * layer_n + idx; + } + """ + ).substitute(width=width, height=height), + operation=string.Template( + """ + int cell_idx = get_map_idx(i, 0); + if (valid_correspondence[cell_idx]){ + int cell_idx_2 = get_map_idx(i, 1); + int idx = int(uv_correspondence[cell_idx]) + int(uv_correspondence[cell_idx_2]) * image_width; + new_sem_map[get_map_idx(i, map_idx)] = sem_map[get_map_idx(i, map_idx)] * (1-${alpha}) + ${alpha} * image_mono[idx]; + }else{ + new_sem_map[get_map_idx(i, map_idx)] = sem_map[get_map_idx(i, map_idx)]; + } + + """ + ).substitute(alpha=alpha), + name="exponential_correspondences_to_map_kernel", + ) + return _exponential_correspondences_to_map_kernel + + +def color_correspondences_to_map_kernel(width, height): + """ + This function calculates the color correspondences to the map. + It takes in the width and height as parameters. + The function returns a kernel that can be used to perform the correspondence calculation. + """ + _color_correspondences_to_map_kernel = cp.ElementwiseKernel( + in_params="raw U sem_map, raw U map_idx, raw U image_rgb, raw U uv_correspondence, raw B valid_correspondence, raw U image_height, raw U image_width", + out_params="raw U new_sem_map", + preamble=string.Template( + """ + __device__ int get_map_idx(int idx, int layer_n) { + const int layer = ${width} * ${height}; + return layer * layer_n + idx; + } + """ + ).substitute(width=width, height=height), + operation=string.Template( + """ + int cell_idx = get_map_idx(i, 0); + if (valid_correspondence[cell_idx]){ + int cell_idx_2 = get_map_idx(i, 1); + + int idx_red = int(uv_correspondence[cell_idx]) + int(uv_correspondence[cell_idx_2]) * image_width; + int idx_green = image_width * image_height + idx_red; + int idx_blue = image_width * image_height * 2 + idx_red; + + unsigned int r = image_rgb[idx_red]; + unsigned int g = image_rgb[idx_green]; + unsigned int b = image_rgb[idx_blue]; + + unsigned int rgb = (r<<16) + (g << 8) + b; + float rgb_ = __uint_as_float(rgb); + new_sem_map[get_map_idx(i, map_idx)] = rgb_; + }else{ + new_sem_map[get_map_idx(i, map_idx)] = sem_map[get_map_idx(i, map_idx)]; + } + """ + ).substitute(), + name="color_correspondences_to_map_kernel", + ) + return _color_correspondences_to_map_kernel diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py index 5fc3c110..52fc2664 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py @@ -289,12 +289,12 @@ def update(self): self.true_map_length = self.true_cell_n * self.resolution -if __name__ == "__main__": - param = Parameter() - print(param) - print(param.resolution) - param.set_value("resolution", 0.1) - print(param.resolution) +# if __name__ == "__main__": +# param = Parameter() +# print(param) +# print(param.resolution) +# param.set_value("resolution", 0.1) +# print(param.resolution) - print("names ", param.get_names()) - print("types ", param.get_types()) +# print("names ", param.get_names()) +# print("types ", param.get_types()) diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/traversability_polygon.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/traversability_polygon.py index f39c99cc..be874f1b 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/traversability_polygon.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/traversability_polygon.py @@ -46,7 +46,7 @@ def calculate_area(polygon): def calculate_untraversable_polygon(over_thresh): x, y = cp.where(over_thresh > 0.5) points = cp.stack([x, y]).T - convex_hull = MultiPoint(points).convex_hull + convex_hull = MultiPoint(points.get()).convex_hull if convex_hull.is_empty or convex_hull.geom_type == "Point" or convex_hull.geom_type == "LineString": return None else: diff --git a/elevation_mapping_cupy/setup.py b/elevation_mapping_cupy/setup.py index 8d5a2492..2831eabb 100644 --- a/elevation_mapping_cupy/setup.py +++ b/elevation_mapping_cupy/setup.py @@ -1,8 +1,33 @@ -from distutils.core import setup -from catkin_pkg.python_setup import generate_distutils_setup +from setuptools import setup, find_packages -setup_args = generate_distutils_setup( - packages=["elevation_mapping_cupy", "elevation_mapping_cupy.plugins",], package_dir={"": "script"}, +setup( + name="elevation_mapping_cupy", + version="0.0.1", + packages=find_packages(where="script"), + package_dir={"": "script"}, + install_requires=["setuptools"], + zip_safe=True, + maintainer="Your Name", + maintainer_email="your_email@example.com", + description="Description of the elevation_mapping_cupy package.", + license="Apache License 2.0", + tests_require=["pytest"], + entry_points={ + "console_scripts": [ + # 'node_name = elevation_mapping_cupy.some_module:main_function', + ], + }, ) -setup(**setup_args) + +# from distutils.core import setup +# from catkin_pkg.python_setup import generate_distutils_setup +# from setuptools import find_packages +# setup_args = generate_distutils_setup( +# packages=["elevation_mapping_cupy", "elevation_mapping_cupy.plugins","elevation_mapping_cupy.kernels","elevation_mapping_cupy.fusion"], package_dir={"": "script"}, + +# ) + +# setup(**setup_args) + + diff --git a/elevation_mapping_cupy/src/elevation_mapping_node.cpp b/elevation_mapping_cupy/src/elevation_mapping_node.cpp index 05fac5d6..ca70b5db 100644 --- a/elevation_mapping_cupy/src/elevation_mapping_node.cpp +++ b/elevation_mapping_cupy/src/elevation_mapping_node.cpp @@ -12,16 +12,15 @@ int main(int argc, char** argv) { rclcpp::init(argc, argv); - auto node = std::make_shared("elevation_mapping"); - + py::scoped_interpreter guard{}; // start the interpreter and keep it alive - // elevation_mapping_cupy::ElevationMappingNode mapNode(node); + auto mapNode = std::make_shared(); // Correct instantiation py::gil_scoped_release release; + - // Spin - rclcpp::executors::SingleThreadedExecutor executor; - executor.add_node(node); - executor.spin(); + // TODO: Create a multi-threaded executor + rclcpp::spin(mapNode); rclcpp::shutdown(); return 0; -} \ No newline at end of file +} + diff --git a/elevation_mapping_cupy/src/elevation_mapping_ros.cpp b/elevation_mapping_cupy/src/elevation_mapping_ros.cpp index 374bf709..e6535d38 100644 --- a/elevation_mapping_cupy/src/elevation_mapping_ros.cpp +++ b/elevation_mapping_cupy/src/elevation_mapping_ros.cpp @@ -1,157 +1,187 @@ -// // -// // Copyright (c) 2022, Takahiro Miki. All rights reserved. -// // Licensed under the MIT license. See LICENSE file in the project root for details. -// // - -// #include "elevation_mapping_cupy/elevation_mapping_ros.hpp" - -// // Pybind -// #include - -// // ROS -// #include -// #include -// #include - -// // PCL -// #include - -// #include - -// namespace elevation_mapping_cupy { - -// ElevationMappingNode::ElevationMappingNode(ros::NodeHandle& nh) -// : it_(nh), -// lowpassPosition_(0, 0, 0), -// lowpassOrientation_(0, 0, 0, 1), -// positionError_(0), -// orientationError_(0), -// positionAlpha_(0.1), -// orientationAlpha_(0.1), -// enablePointCloudPublishing_(false), -// isGridmapUpdated_(false) { -// nh_ = nh; - -// std::string pose_topic, map_frame; -// XmlRpc::XmlRpcValue publishers; -// XmlRpc::XmlRpcValue subscribers; -// std::vector map_topics; -// double recordableFps, updateVarianceFps, timeInterval, updatePoseFps, updateGridMapFps, publishStatisticsFps; -// bool enablePointCloudPublishing(false); - -// // Read parameters -// nh.getParam("subscribers", subscribers); -// nh.getParam("publishers", publishers); -// if (!subscribers.valid()) { -// ROS_FATAL("There aren't any subscribers to be configured, the elevation mapping cannot be configured. Exit"); -// } -// if (!publishers.valid()) { -// ROS_FATAL("There aren't any publishers to be configured, the elevation mapping cannot be configured. Exit"); -// } -// nh.param>("initialize_frame_id", initialize_frame_id_, {"base"}); -// nh.param>("initialize_tf_offset", initialize_tf_offset_, {0.0}); -// nh.param("pose_topic", pose_topic, "pose"); -// nh.param("map_frame", mapFrameId_, "map"); -// nh.param("base_frame", baseFrameId_, "base"); -// nh.param("corrected_map_frame", correctedMapFrameId_, "corrected_map"); -// nh.param("initialize_method", initializeMethod_, "cubic"); -// nh.param("position_lowpass_alpha", positionAlpha_, 0.2); -// nh.param("orientation_lowpass_alpha", orientationAlpha_, 0.2); -// nh.param("recordable_fps", recordableFps, 3.0); -// nh.param("update_variance_fps", updateVarianceFps, 1.0); -// nh.param("time_interval", timeInterval, 0.1); -// nh.param("update_pose_fps", updatePoseFps, 10.0); -// nh.param("initialize_tf_grid_size", initializeTfGridSize_, 0.5); -// nh.param("map_acquire_fps", updateGridMapFps, 5.0); -// nh.param("publish_statistics_fps", publishStatisticsFps, 1.0); -// nh.param("enable_pointcloud_publishing", enablePointCloudPublishing, false); -// nh.param("enable_normal_arrow_publishing", enableNormalArrowPublishing_, false); -// nh.param("enable_drift_corrected_TF_publishing", enableDriftCorrectedTFPublishing_, false); -// nh.param("use_initializer_at_start", useInitializerAtStart_, false); -// nh.param("always_clear_with_initializer", alwaysClearWithInitializer_, false); - -// enablePointCloudPublishing_ = enablePointCloudPublishing; - -// // Iterate all the subscribers -// // here we have to remove all the stuff -// for (auto& subscriber : subscribers) { -// std::string key = subscriber.first; -// auto type = static_cast(subscriber.second["data_type"]); - -// // Initialize subscribers depending on the type -// if (type == "pointcloud") { -// std::string pointcloud_topic = subscriber.second["topic_name"]; -// channels_[key].push_back("x"); -// channels_[key].push_back("y"); -// channels_[key].push_back("z"); -// boost::function f = boost::bind(&ElevationMappingNode::pointcloudCallback, this, _1, key); -// ros::Subscriber sub = nh_.subscribe(pointcloud_topic, 1, f); -// pointcloudSubs_.push_back(sub); -// ROS_INFO_STREAM("Subscribed to PointCloud2 topic: " << pointcloud_topic); -// } -// else if (type == "image") { -// std::string camera_topic = subscriber.second["topic_name"]; -// std::string info_topic = subscriber.second["camera_info_topic_name"]; - -// // Handle compressed images with transport hints -// // We obtain the hint from the last part of the topic name -// std::string transport_hint = "compressed"; -// std::size_t ind = camera_topic.find(transport_hint); // Find if compressed is in the topic name -// if (ind != std::string::npos) { -// transport_hint = camera_topic.substr(ind, camera_topic.length()); // Get the hint as the last part -// camera_topic.erase(ind - 1, camera_topic.length()); // We remove the hint from the topic -// } else { -// transport_hint = "raw"; // In the default case we assume raw topic -// } - -// // Setup subscriber -// const auto hint = image_transport::TransportHints(transport_hint, ros::TransportHints(), ros::NodeHandle(camera_topic)); -// ImageSubscriberPtr image_sub = std::make_shared(); -// image_sub->subscribe(it_, camera_topic, 1, hint); -// imageSubs_.push_back(image_sub); - -// CameraInfoSubscriberPtr cam_info_sub = std::make_shared(); -// cam_info_sub->subscribe(nh_, info_topic, 1); -// cameraInfoSubs_.push_back(cam_info_sub); - -// std::string channel_info_topic; -// // If there is channel info topic setting, we use it. -// if (subscriber.second.hasMember("channel_info_topic_name")) { -// std::string channel_info_topic = subscriber.second["channel_info_topic_name"]; -// ChannelInfoSubscriberPtr channel_info_sub = std::make_shared(); -// channel_info_sub->subscribe(nh_, channel_info_topic, 1); -// channelInfoSubs_.push_back(channel_info_sub); -// CameraChannelSyncPtr sync = std::make_shared(CameraChannelPolicy(10), *image_sub, *cam_info_sub, *channel_info_sub); -// sync->registerCallback(boost::bind(&ElevationMappingNode::imageChannelCallback, this, _1, _2, _3)); -// cameraChannelSyncs_.push_back(sync); -// ROS_INFO_STREAM("Subscribed to Image topic: " << camera_topic << ", Camera info topic: " << info_topic << ", Channel info topic: " << channel_info_topic); -// } -// else { -// // If there is channels setting, we use it. Otherwise, we use rgb as default. -// if (subscriber.second.hasMember("channels")) { -// const auto& channels = subscriber.second["channels"]; -// for (int32_t i = 0; i < channels.size(); ++i) { -// auto elem = static_cast(channels[i]); -// channels_[key].push_back(elem); -// } -// } -// else { -// channels_[key].push_back("rgb"); -// } -// ROS_INFO_STREAM("Subscribed to Image topic: " << camera_topic << ", Camera info topic: " << info_topic << ". Channel info topic: " << (channel_info_topic.empty() ? ("Not found. Using channels: " + boost::algorithm::join(channels_[key], ", ")) : channel_info_topic)); -// CameraSyncPtr sync = std::make_shared(CameraPolicy(10), *image_sub, *cam_info_sub); -// sync->registerCallback(boost::bind(&ElevationMappingNode::imageCallback, this, _1, _2, key)); -// cameraSyncs_.push_back(sync); -// } - - -// } else { -// ROS_WARN_STREAM("Subscriber data_type [" << type << "] Not valid. Supported types: pointcloud, image"); -// continue; -// } -// } - -// map_.initialize(nh_); +// +// Copyright (c) 2022, Takahiro Miki. All rights reserved. +// Licensed under the MIT license. See LICENSE file in the project root for details. +// + + +#include "elevation_mapping_cupy/elevation_mapping_ros.hpp" + +// Pybind +#include + +// ROS2 +#include +#include +#include + +// PCL +#include + +#include + +namespace elevation_mapping_cupy { + +ElevationMappingNode::ElevationMappingNode() + : rclcpp::Node("elevation_mapping_node", rclcpp::NodeOptions().automatically_declare_parameters_from_overrides(true)), + node_(std::shared_ptr(this, [](auto *) {})), + // it_(node_), + lowpassPosition_(0, 0, 0), + lowpassOrientation_(0, 0, 0, 1), + positionError_(0), + orientationError_(0), + positionAlpha_(0.1), + orientationAlpha_(0.1), + enablePointCloudPublishing_(false), + isGridmapUpdated_(false){ + RCLCPP_INFO(this->get_logger(), "Initializing ElevationMappingNode..."); + + tfBroadcaster_ = std::make_shared(*this);// ROS2构造TransformBroadcaster + tfBuffer_ = std::make_shared(this->get_clock()); + tfListener_ = std::make_shared(*tfBuffer_); + + + std::string pose_topic, map_frame; + std::vector map_topics; + double recordableFps, updateVarianceFps, timeInterval, updatePoseFps, updateGridMapFps, publishStatisticsFps; + bool enablePointCloudPublishing(false); + + py::gil_scoped_acquire acquire; + auto math = py::module::import("math"); + double root_two = math.attr("sqrt")(2.0).cast(); + RCLCPP_INFO(this->get_logger(), "The square root of 2 is: %f", root_two); + + this->get_parameter("initialize_frame_id", initialize_frame_id_); + this->get_parameter("initialize_tf_offset", initialize_tf_offset_); + this->get_parameter("pose_topic", pose_topic); + this->get_parameter("map_frame", mapFrameId_); + this->get_parameter("base_frame", baseFrameId_); + this->get_parameter("corrected_map_frame", correctedMapFrameId_); + this->get_parameter("initialize_method", initializeMethod_); + this->get_parameter("position_lowpass_alpha", positionAlpha_); + this->get_parameter("orientation_lowpass_alpha", orientationAlpha_); + this->get_parameter("recordable_fps", recordableFps); + this->get_parameter("update_variance_fps", updateVarianceFps); + this->get_parameter("time_interval", timeInterval); + this->get_parameter("update_pose_fps", updatePoseFps); + this->get_parameter("initialize_tf_grid_size", initializeTfGridSize_); + this->get_parameter("map_acquire_fps", updateGridMapFps); + this->get_parameter("publish_statistics_fps", publishStatisticsFps); + this->get_parameter("enable_pointcloud_publishing", enablePointCloudPublishing); + this->get_parameter("enable_normal_arrow_publishing", enableNormalArrowPublishing_); + this->get_parameter("enable_drift_corrected_TF_publishing", enableDriftCorrectedTFPublishing_); + this->get_parameter("use_initializer_at_start", useInitializerAtStart_); + this->get_parameter("always_clear_with_initializer", alwaysClearWithInitializer_); + + RCLCPP_INFO(this->get_logger(), "initialize_frame_id: %s", initialize_frame_id_.empty() ? "[]" : initialize_frame_id_[0].c_str()); + RCLCPP_INFO(this->get_logger(), "initialize_tf_offset: [%f, %f, %f, %f]", initialize_tf_offset_[0], initialize_tf_offset_[1], initialize_tf_offset_[2], initialize_tf_offset_[3]); + RCLCPP_INFO(this->get_logger(), "pose_topic: %s", pose_topic.c_str()); + RCLCPP_INFO(this->get_logger(), "map_frame: %s", mapFrameId_.c_str()); + RCLCPP_INFO(this->get_logger(), "base_frame: %s", baseFrameId_.c_str()); + RCLCPP_INFO(this->get_logger(), "corrected_map_frame: %s", correctedMapFrameId_.c_str()); + RCLCPP_INFO(this->get_logger(), "initialize_method: %s", initializeMethod_.c_str()); + RCLCPP_INFO(this->get_logger(), "position_lowpass_alpha: %f", positionAlpha_); + RCLCPP_INFO(this->get_logger(), "orientation_lowpass_alpha: %f", orientationAlpha_); + RCLCPP_INFO(this->get_logger(), "recordable_fps: %f", recordableFps); + RCLCPP_INFO(this->get_logger(), "update_variance_fps: %f", updateVarianceFps); + RCLCPP_INFO(this->get_logger(), "time_interval: %f", timeInterval); + RCLCPP_INFO(this->get_logger(), "update_pose_fps: %f", updatePoseFps); + RCLCPP_INFO(this->get_logger(), "initialize_tf_grid_size: %f", initializeTfGridSize_); + RCLCPP_INFO(this->get_logger(), "map_acquire_fps: %f", updateGridMapFps); + RCLCPP_INFO(this->get_logger(), "publish_statistics_fps: %f", publishStatisticsFps); + RCLCPP_INFO(this->get_logger(), "enable_pointcloud_publishing: %s", enablePointCloudPublishing ? "true" : "false"); + RCLCPP_INFO(this->get_logger(), "enable_normal_arrow_publishing: %s", enableNormalArrowPublishing_ ? "true" : "false"); + RCLCPP_INFO(this->get_logger(), "enable_drift_corrected_TF_publishing: %s", enableDriftCorrectedTFPublishing_ ? "true" : "false"); + RCLCPP_INFO(this->get_logger(), "use_initializer_at_start: %s", useInitializerAtStart_ ? "true" : "false"); + RCLCPP_INFO(this->get_logger(), "always_clear_with_initializer: %s", alwaysClearWithInitializer_ ? "true" : "false"); + + enablePointCloudPublishing_ = enablePointCloudPublishing; + + std::map subscriber_params, publisher_params; + if (!this->get_parameters("subscribers", subscriber_params)) { + RCLCPP_FATAL(this->get_logger(), "There aren't any subscribers to be configured, the elevation mapping cannot be configured. Exit"); + rclcpp::shutdown(); + } + if (!this->get_parameters("publishers", publisher_params)) { + RCLCPP_FATAL(this->get_logger(), "There aren't any publishers to be configured, the elevation mapping cannot be configured. Exit"); + rclcpp::shutdown(); + } + + for (const auto& name : subscriber_params) { + if (name.first.find("image_topic") != std::string::npos) { + std::string camera_topic = name.second.as_string(); + // setup image subscriber + std::string transport_hint = "compressed"; + std::size_t ind = camera_topic.find(transport_hint); // Find if compressed is in the topic name + if (ind != std::string::npos) { + transport_hint = camera_topic.substr(ind, camera_topic.length()); // Get the hint as the last part + camera_topic.erase(ind - 1, camera_topic.length()); // We remove the hint from the topic + } else { + transport_hint = "raw"; // In the default case we assume raw topic + } + // Create a standard ROS2 subscription for the image topic + ImageSubscriberPtr image_sub = std::make_shared(this, camera_topic, rmw_qos_profile_sensor_data); + // image_sub->subscribe(this->shared_from_this(), camera_topic, 1); + imageSubs_.push_back(image_sub); + + + + + + std::string info_topic; + std::string channel_info_topic; + // Check if the last character is a digit + if (std::isdigit(name.first.back())) { + char last_char = name.first.back(); + std::string cam_info_name_param = "image_info" + std::string(1, last_char); + std::string channel_info_name_param = "image_channel_info" + std::string(1, last_char); + if (this->get_parameter("subscribers." + cam_info_name_param, info_topic)) { + RCLCPP_INFO(this->get_logger(), "Generated parameter %s: %s", cam_info_name_param.c_str(), info_topic.c_str()); + CameraInfoSubscriberPtr cam_info_sub = std::make_shared(this, info_topic, rmw_qos_profile_sensor_data); + // cam_info_sub->subscribe(this->shared_from_this(), info_topic, 1); + cameraInfoSubs_.push_back(cam_info_sub); + if (this->get_parameter("subscribers." + channel_info_name_param, channel_info_topic)) { + ChannelInfoSubscriberPtr channel_info_sub = std::make_shared(this, channel_info_topic, rmw_qos_profile_sensor_data); + // channel_info_sub->subscribe(this->shared_from_this(), channel_info_topic, 1); + channelInfoSubs_.push_back(channel_info_sub); + CameraChannelSyncPtr sync = std::make_shared(CameraChannelPolicy(10), *image_sub, *cam_info_sub, *channel_info_sub); + sync->registerCallback(std::bind(&ElevationMappingNode::imageChannelCallback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3)); + cameraChannelSyncs_.push_back(sync); + RCLCPP_INFO(this->get_logger(), "Subscribed to Image topic: %s, Camera info topic: %s, Channel info topic: %s", camera_topic.c_str(), info_topic.c_str(), channel_info_topic.c_str()); + }else{ + std::string key = name.first; + channels_[key].push_back("rgb"); + // RCLCPP_INFO(this->get_logger(), "Subscribed to Image topic: %s, Camera info topic: %s. Channel info topic: %s", camera_topic.c_str(), info_topic.c_str(), (channel_info_topic.empty() ? ("Not found. Using channels: " + boost::algorithm::join(channels_[key], ", ")).c_str() : channel_info_topic.c_str())); + CameraSyncPtr sync = std::make_shared(CameraPolicy(10), *image_sub, *cam_info_sub); + sync->registerCallback(std::bind(&ElevationMappingNode::imageCallback, this, std::placeholders::_1, std::placeholders::_2, key)); + cameraSyncs_.push_back(sync); + } + }else{ + throw std::runtime_error("Info topic is missing for camera: " + camera_topic); + } + }else{ + throw std::runtime_error("Error: image param numbering at the end "); + } + // generate point cloud subscriber + }else if(name.first.find("pointcloud_topic") != std::string::npos) { + std::string pointcloud_topic = name.second.as_string(); + RCLCPP_INFO(this->get_logger(), "Generated parameter %s:", name.first.c_str()); + std::string key = name.first; + channels_[key].push_back("x"); + channels_[key].push_back("y"); + channels_[key].push_back("z"); + auto callback = [this, key](const sensor_msgs::msg::PointCloud2::SharedPtr msg) { + this->pointcloudCallback(msg, key); + }; + auto sub = this->create_subscription(pointcloud_topic, 1, callback); + pointcloudSubs_.push_back(sub); + RCLCPP_INFO(this->get_logger(), "Subscribed to PointCloud2 topic: %s", pointcloud_topic.c_str()); + } + + } + + // get node pointer, pass into Class B + // map_ = std::make_shared(shared_from_this()); + map_->initialize(); // // Register map publishers // for (auto itr = publishers.begin(); itr != publishers.end(); ++itr) { @@ -228,7 +258,10 @@ // } // lastStatisticsPublishedTime_ = ros::Time::now(); // ROS_INFO("[ElevationMappingCupy] finish initialization"); -// } +} + + // namespace elevation_mapping_cupy + // // Setup map publishers // void ElevationMappingNode::setupMapPublishers() { @@ -300,77 +333,80 @@ // mapPubs_[index].publish(msg); // } -// void ElevationMappingNode::pointcloudCallback(const sensor_msgs::PointCloud2& cloud, const std::string& key) { -// // get channels -// auto fields = cloud.fields; -// std::vector channels; +void ElevationMappingNode::pointcloudCallback(const sensor_msgs::msg::PointCloud2::SharedPtr cloud, const std::string& key) { + // get channels + auto fields = cloud->fields; + std::vector channels; + + for (size_t it = 0; it < fields.size(); it++) { + auto& field = fields[it]; + channels.push_back(field.name); + } + inputPointCloud(cloud, channels); + + // This is used for publishing as statistics. + pointCloudProcessCounter_++; +} + +void ElevationMappingNode::inputPointCloud(const sensor_msgs::msg::PointCloud2::SharedPtr cloud, + const std::vector& channels) { + auto start = this->now(); + auto* pcl_pc = new pcl::PCLPointCloud2; + pcl::PCLPointCloud2ConstPtr cloudPtr(pcl_pc); + pcl_conversions::toPCL(*cloud, *pcl_pc); + + // Get channels + auto fields = cloud->fields; + uint array_dim = channels.size(); + + RowMatrixXd points = RowMatrixXd(pcl_pc->width * pcl_pc->height, array_dim); + + for (unsigned int i = 0; i < pcl_pc->width * pcl_pc->height; ++i) { + for (unsigned int j = 0; j < channels.size(); ++j) { + float temp; + uint point_idx = i * pcl_pc->point_step + pcl_pc->fields[j].offset; + memcpy(&temp, &pcl_pc->data[point_idx], sizeof(float)); + points(i, j) = static_cast(temp); + } + } + + // Get pose of sensor in map frame + geometry_msgs::msg::TransformStamped transformStamped; + std::string sensorFrameId = cloud->header.frame_id; + auto timeStamp = cloud->header.stamp; + Eigen::Affine3d transformationSensorToMap; + try { + transformStamped = tfBuffer_->lookupTransform(mapFrameId_, sensorFrameId, tf2::TimePointZero); + transformationSensorToMap = tf2::transformToEigen(transformStamped); + } catch (tf2::TransformException& ex) { + RCLCPP_ERROR(this->get_logger(), "%s", ex.what()); + return; + } + + double positionError{0.0}; + double orientationError{0.0}; + { + std::lock_guard lock(errorMutex_); + positionError = positionError_; + orientationError = orientationError_; + } + + // map_.input(points, channels, transformationSensorToMap.rotation(), transformationSensorToMap.translation(), positionError, + // orientationError); + + // if (enableDriftCorrectedTFPublishing_) { + // publishMapToOdom(map_.get_additive_mean_error()); + // } + + RCLCPP_DEBUG(this->get_logger(), "ElevationMap processed a point cloud (%i points) in %f sec.", static_cast(points.size()), + (this->now() - start).seconds()); + RCLCPP_DEBUG(this->get_logger(), "positionError: %f ", positionError); + RCLCPP_DEBUG(this->get_logger(), "orientationError: %f ", orientationError); +} -// for (int it = 0; it < fields.size(); it++) { -// auto& field = fields[it]; -// channels.push_back(field.name); -// } -// inputPointCloud(cloud, channels); -// // This is used for publishing as statistics. -// pointCloudProcessCounter_++; -// } -// void ElevationMappingNode::inputPointCloud(const sensor_msgs::PointCloud2& cloud, -// const std::vector& channels) { -// auto start = ros::Time::now(); -// auto* pcl_pc = new pcl::PCLPointCloud2; -// pcl::PCLPointCloud2ConstPtr cloudPtr(pcl_pc); -// pcl_conversions::toPCL(cloud, *pcl_pc); - -// // get channels -// auto fields = cloud.fields; -// uint array_dim = channels.size(); - -// RowMatrixXd points = RowMatrixXd(pcl_pc->width * pcl_pc->height, array_dim); - -// for (unsigned int i = 0; i < pcl_pc->width * pcl_pc->height; ++i) { -// for (unsigned int j = 0; j < channels.size(); ++j) { -// float temp; -// uint point_idx = i * pcl_pc->point_step + pcl_pc->fields[j].offset; -// memcpy(&temp, &pcl_pc->data[point_idx], sizeof(float)); -// points(i, j) = static_cast(temp); -// } -// } -// // get pose of sensor in map frame -// tf::StampedTransform transformTf; -// std::string sensorFrameId = cloud.header.frame_id; -// auto timeStamp = cloud.header.stamp; -// Eigen::Affine3d transformationSensorToMap; -// try { -// transformListener_.waitForTransform(mapFrameId_, sensorFrameId, timeStamp, ros::Duration(1.0)); -// transformListener_.lookupTransform(mapFrameId_, sensorFrameId, timeStamp, transformTf); -// poseTFToEigen(transformTf, transformationSensorToMap); -// } catch (tf::TransformException& ex) { -// ROS_ERROR("%s", ex.what()); -// return; -// } - -// double positionError{0.0}; -// double orientationError{0.0}; -// { -// std::lock_guard lock(errorMutex_); -// positionError = positionError_; -// orientationError = orientationError_; -// } -// map_.input(points, channels, transformationSensorToMap.rotation(), transformationSensorToMap.translation(), positionError, -// orientationError); - -// if (enableDriftCorrectedTFPublishing_) { -// publishMapToOdom(map_.get_additive_mean_error()); -// } - -// ROS_DEBUG_THROTTLE(1.0, "ElevationMap processed a point cloud (%i points) in %f sec.", static_cast(points.size()), -// (ros::Time::now() - start).toSec()); -// ROS_DEBUG_THROTTLE(1.0, "positionError: %f ", positionError); -// ROS_DEBUG_THROTTLE(1.0, "orientationError: %f ", orientationError); - -// } // void ElevationMappingNode::inputImage(const sensor_msgs::ImageConstPtr& image_msg, // const sensor_msgs::CameraInfoConstPtr& camera_info_msg, @@ -445,24 +481,25 @@ // distortionCoeffs, distortion_model, image.rows, image.cols); // } -// void ElevationMappingNode::imageCallback(const sensor_msgs::ImageConstPtr& image_msg, -// const sensor_msgs::CameraInfoConstPtr& camera_info_msg, -// const std::string& key) { -// auto start = ros::Time::now(); -// inputImage(image_msg, camera_info_msg, channels_[key]); -// ROS_DEBUG_THROTTLE(1.0, "ElevationMap processed an image in %f sec.", (ros::Time::now() - start).toSec()); -// } - -// void ElevationMappingNode::imageChannelCallback(const sensor_msgs::ImageConstPtr& image_msg, -// const sensor_msgs::CameraInfoConstPtr& camera_info_msg, -// const elevation_map_msgs::ChannelInfoConstPtr& channel_info_msg) { -// auto start = ros::Time::now(); -// // Default channels and fusion methods for image is rgb and image_color -// std::vector channels; -// channels = channel_info_msg->channels; -// inputImage(image_msg, camera_info_msg, channels); -// ROS_DEBUG_THROTTLE(1.0, "ElevationMap processed an image in %f sec.", (ros::Time::now() - start).toSec()); -// } +void ElevationMappingNode::imageCallback(const std::shared_ptr& image_msg, + const std::shared_ptr& camera_info_msg, + const std::string& key) { + auto start = this->now(); + // inputImage(image_msg, camera_info_msg, channels_[key]); + RCLCPP_DEBUG(this->get_logger(), "ElevationMap imageCallback processed an image in %f sec.", (this->now() - start).seconds()); +} + + +void ElevationMappingNode::imageChannelCallback(const std::shared_ptr& image_msg, + const std::shared_ptr& camera_info_msg, + const std::shared_ptr& channel_info_msg) { +auto start = this->now(); +// Default channels and fusion methods for image is rgb and image_color +// std::vector channels; +// channels = channel_info_msg->channels; +// inputImage(image_msg, camera_info_msg, channels); +RCLCPP_DEBUG(this->get_logger(), "ElevationMap imageChannelCallback processed an image in %f sec.", (this->now() - start).seconds()); +} // void ElevationMappingNode::updatePose(const ros::TimerEvent&) { // tf::StampedTransform transformTf; @@ -817,4 +854,4 @@ // tfBroadcaster_.sendTransform(tf::StampedTransform(transform, ros::Time::now(), mapFrameId_, correctedMapFrameId_)); // } -// } // namespace elevation_mapping_cupy +} // namespace elevation_mapping_cupy diff --git a/elevation_mapping_cupy/src/elevation_mapping_wrapper.cpp b/elevation_mapping_cupy/src/elevation_mapping_wrapper.cpp index 16c57332..f0796abb 100644 --- a/elevation_mapping_cupy/src/elevation_mapping_wrapper.cpp +++ b/elevation_mapping_cupy/src/elevation_mapping_wrapper.cpp @@ -20,9 +20,10 @@ namespace elevation_mapping_cupy { -ElevationMappingWrapper::ElevationMappingWrapper() {} +ElevationMappingWrapper::ElevationMappingWrapper(rclcpp::Node::SharedPtr node) +:node_(node) {} -void ElevationMappingWrapper::initialize(rclcpp::Node::SharedPtr node) { +void ElevationMappingWrapper::initialize() { // Add the elevation_mapping_cupy path to sys.path auto threading = py::module::import("threading"); py::gil_scoped_acquire acquire; @@ -34,148 +35,154 @@ void ElevationMappingWrapper::initialize(rclcpp::Node::SharedPtr node) { path.attr("insert")(0, module_path); auto elevation_mapping = py::module::import("elevation_mapping_cupy.elevation_mapping"); - auto parameter = py::module::import("elevation_mapping_cupy.parameter"); - param_ = parameter.attr("Parameter")(); - setParameters(node); - map_ = elevation_mapping.attr("ElevationMap")(param_); + // auto parameter = py::module::import("math"); + + // auto param_2 = parameter.attr("Parameter")(); + // setParameters(param_v2); + auto params = setParameters(); + + // map_ = elevation_mapping.attr("ElevationMap")(param_v2); } // /** // * Load ros parameters into Parameter class. // * Search for the same name within the name space. // */ -void ElevationMappingWrapper::setParameters(rclcpp::Node::SharedPtr node) { +py::object ElevationMappingWrapper::setParameters() { + auto parameter = py::module::import("elevation_mapping_cupy.parameter"); + auto param_2 = parameter.attr("Parameter")(); + return param_2; // Get all parameters names and types. - py::list paramNames = param_.attr("get_names")(); - py::list paramTypes = param_.attr("get_types")(); - py::gil_scoped_acquire acquire; - - // Try to find the parameter in the ROS parameter server. - // If there was a parameter, set it to the Parameter variable. - for (size_t i = 0; i < paramNames.size(); i++) { - std::string type = py::cast(paramTypes[i]); - std::string name = py::cast(paramNames[i]); - if (type == "float") { - float param; - if (node->get_parameter(name, param)) { - param_.attr("set_value")(name, param); - } - } else if (type == "str") { - std::string param; - if (node->get_parameter(name, param)) { - param_.attr("set_value")(name, param); - } - } else if (type == "bool") { - bool param; - if (node->get_parameter(name, param)) { - param_.attr("set_value")(name, param); - } - } else if (type == "int") { - int param; - if (node->get_parameter(name, param)) { - param_.attr("set_value")(name, param); - } - } - } + // py::list paramNames = param_.attr("get_names")(); + // py::list paramTypes = param_.attr("get_types")(); + // py::gil_scoped_acquire acquire; + + // // Try to find the parameter in the ROS parameter server. + // // If there was a parameter, set it to the Parameter variable. + // for (size_t i = 0; i < paramNames.size(); i++) { + // std::string type = py::cast(paramTypes[i]); + // std::string name = py::cast(paramNames[i]); + // if (type == "float") { + // float param; + // if (node_->get_parameter(name, param)) { + // param_.attr("set_value")(name, param); + // } + // } else if (type == "str") { + // std::string param; + // if (node_->get_parameter(name, param)) { + // param_.attr("set_value")(name, param); + // } + // } else if (type == "bool") { + // bool param; + // if (node_->get_parameter(name, param)) { + // param_.attr("set_value")(name, param); + // } + // } else if (type == "int") { + // int param; + // if (node_->get_parameter(name, param)) { + // param_.attr("set_value")(name, param); + // } + // } + // } - rclcpp::Parameter subscribers; - node->get_parameter("subscribers", subscribers); - - py::dict sub_dict; - auto subscribers_array = subscribers.as_string_array(); - for (const auto& subscriber : subscribers_array) { - const char* const name = subscriber.c_str(); - if (!sub_dict.contains(name)) { - sub_dict[name] = py::dict(); - } - std::map subscriber_params; - node->get_parameters(name, subscriber_params); - for (const auto& param_pair : subscriber_params) { - const char* const param_name = param_pair.first.c_str(); - const auto& param_value = param_pair.second; - std::vector arr; - switch (param_value.get_type()) { - case rclcpp::ParameterType::PARAMETER_STRING: - sub_dict[name][param_name] = param_value.as_string(); - break; - case rclcpp::ParameterType::PARAMETER_INTEGER: - sub_dict[name][param_name] = param_value.as_int(); - break; - case rclcpp::ParameterType::PARAMETER_DOUBLE: - sub_dict[name][param_name] = param_value.as_double(); - break; - case rclcpp::ParameterType::PARAMETER_BOOL: - sub_dict[name][param_name] = param_value.as_bool(); - break; - case rclcpp::ParameterType::PARAMETER_STRING_ARRAY: - for (const auto& elem : param_value.as_string_array()) { - arr.push_back(elem); - } - sub_dict[name][param_name] = arr; - arr.clear(); - break; - default: - sub_dict[name][param_name] = py::cast(param_value); - break; - } - } - } - param_.attr("subscriber_cfg") = sub_dict; - - - // point cloud channel fusion - if (!node->has_parameter("pointcloud_channel_fusions")) { - RCLCPP_WARN(node->get_logger(), "No pointcloud_channel_fusions parameter found. Using default values."); - } else { - rclcpp::Parameter pointcloud_channel_fusion; - node->get_parameter("pointcloud_channel_fusions", pointcloud_channel_fusion); - - py::dict pointcloud_channel_fusion_dict; - auto pointcloud_channel_fusion_map = pointcloud_channel_fusion.as_string_array(); - for (const auto& channel_fusion : pointcloud_channel_fusion_map) { - const char* const fusion_name = channel_fusion.c_str(); - std::string fusion; - node->get_parameter(fusion_name, fusion); - if (!pointcloud_channel_fusion_dict.contains(fusion_name)) { - pointcloud_channel_fusion_dict[fusion_name] = fusion; - } - } - RCLCPP_INFO_STREAM(node->get_logger(), "pointcloud_channel_fusion_dict: " << pointcloud_channel_fusion_dict); - param_.attr("pointcloud_channel_fusions") = pointcloud_channel_fusion_dict; - } + // rclcpp::Parameter subscribers; + // node_->get_parameter("subscribers", subscribers); + + // py::dict sub_dict; + // auto subscribers_array = subscribers.as_string_array(); + // for (const auto& subscriber : subscribers_array) { + // const char* const name = subscriber.c_str(); + // if (!sub_dict.contains(name)) { + // sub_dict[name] = py::dict(); + // } + // std::map subscriber_params; + // node_->get_parameters(name, subscriber_params); + // for (const auto& param_pair : subscriber_params) { + // const char* const param_name = param_pair.first.c_str(); + // const auto& param_value = param_pair.second; + // std::vector arr; + // switch (param_value.get_type()) { + // case rclcpp::ParameterType::PARAMETER_STRING: + // sub_dict[name][param_name] = param_value.as_string(); + // break; + // case rclcpp::ParameterType::PARAMETER_INTEGER: + // sub_dict[name][param_name] = param_value.as_int(); + // break; + // case rclcpp::ParameterType::PARAMETER_DOUBLE: + // sub_dict[name][param_name] = param_value.as_double(); + // break; + // case rclcpp::ParameterType::PARAMETER_BOOL: + // sub_dict[name][param_name] = param_value.as_bool(); + // break; + // case rclcpp::ParameterType::PARAMETER_STRING_ARRAY: + // for (const auto& elem : param_value.as_string_array()) { + // arr.push_back(elem); + // } + // sub_dict[name][param_name] = arr; + // arr.clear(); + // break; + // default: + // sub_dict[name][param_name] = py::cast(param_value); + // break; + // } + // } + // } + // param_.attr("subscriber_cfg") = sub_dict; + + + // // point cloud channel fusion + // if (!node_->has_parameter("pointcloud_channel_fusions")) { + // RCLCPP_WARN(node_->get_logger(), "No pointcloud_channel_fusions parameter found. Using default values."); + // } else { + // rclcpp::Parameter pointcloud_channel_fusion; + // node_->get_parameter("pointcloud_channel_fusions", pointcloud_channel_fusion); + + // py::dict pointcloud_channel_fusion_dict; + // auto pointcloud_channel_fusion_map = pointcloud_channel_fusion.as_string_array(); + // for (const auto& channel_fusion : pointcloud_channel_fusion_map) { + // const char* const fusion_name = channel_fusion.c_str(); + // std::string fusion; + // node_->get_parameter(fusion_name, fusion); + // if (!pointcloud_channel_fusion_dict.contains(fusion_name)) { + // pointcloud_channel_fusion_dict[fusion_name] = fusion; + // } + // } + // RCLCPP_INFO_STREAM(node_->get_logger(), "pointcloud_channel_fusion_dict: " << pointcloud_channel_fusion_dict); + // param_.attr("pointcloud_channel_fusions") = pointcloud_channel_fusion_dict; + // } - // image channel fusion - if (!node->has_parameter("image_channel_fusions")) { - RCLCPP_WARN(node->get_logger(), "No image_channel_fusions parameter found. Using default values."); - } else { - rclcpp::Parameter image_channel_fusion; - node->get_parameter("image_channel_fusions", image_channel_fusion); - - py::dict image_channel_fusion_dict; - auto image_channel_fusion_map = image_channel_fusion.as_string_array(); - for (const auto& channel_fusion : image_channel_fusion_map) { - const char* const channel_fusion_name = channel_fusion.c_str(); - std::string fusion; - node->get_parameter(channel_fusion_name, fusion); - if (!image_channel_fusion_dict.contains(channel_fusion_name)) { - image_channel_fusion_dict[channel_fusion_name] = fusion; - } - } - RCLCPP_INFO_STREAM(node->get_logger(), "image_channel_fusion_dict: " << image_channel_fusion_dict); - param_.attr("image_channel_fusions") = image_channel_fusion_dict; - } - - param_.attr("update")(); - resolution_ = py::cast(param_.attr("get_value")("resolution")); - map_length_ = py::cast(param_.attr("get_value")("true_map_length")); - map_n_ = py::cast(param_.attr("get_value")("true_cell_n")); - - node->declare_parameter("enable_normal", false); - node->declare_parameter("enable_normal_color", false); - enable_normal_ = node->get_parameter("enable_normal").as_bool(); - enable_normal_color_ = node->get_parameter("enable_normal_color").as_bool(); + // // image channel fusion + // if (!node_->has_parameter("image_channel_fusions")) { + // RCLCPP_WARN(node_->get_logger(), "No image_channel_fusions parameter found. Using default values."); + // } else { + // rclcpp::Parameter image_channel_fusion; + // node_->get_parameter("image_channel_fusions", image_channel_fusion); + + // py::dict image_channel_fusion_dict; + // auto image_channel_fusion_map = image_channel_fusion.as_string_array(); + // for (const auto& channel_fusion : image_channel_fusion_map) { + // const char* const channel_fusion_name = channel_fusion.c_str(); + // std::string fusion; + // node_->get_parameter(channel_fusion_name, fusion); + // if (!image_channel_fusion_dict.contains(channel_fusion_name)) { + // image_channel_fusion_dict[channel_fusion_name] = fusion; + // } + // } + // RCLCPP_INFO_STREAM(node_->get_logger(), "image_channel_fusion_dict: " << image_channel_fusion_dict); + // param_.attr("image_channel_fusions") = image_channel_fusion_dict; + // } + + // param_.attr("update")(); + // resolution_ = py::cast(param_.attr("get_value")("resolution")); + // map_length_ = py::cast(param_.attr("get_value")("true_map_length")); + // map_n_ = py::cast(param_.attr("get_value")("true_cell_n")); + + // node_->declare_parameter("enable_normal", false); + // node_->declare_parameter("enable_normal_color", false); + // enable_normal_ = node_->get_parameter("enable_normal").as_bool(); + // enable_normal_color_ = node_->get_parameter("enable_normal_color").as_bool(); } From 59d9a21fe681fd9abaff3180738339ce39186088 Mon Sep 17 00:00:00 2001 From: amilearning Date: Tue, 5 Nov 2024 23:49:41 +0100 Subject: [PATCH 448/504] sub and pub --- .../elevation_mapping.py | 31 +- .../lib/elevation_mapping_cupy/parameter.py | 26 +- .../config/core/core_param.yaml | 23 +- .../elevation_mapping_ros.hpp | 4 +- .../elevation_mapping_wrapper.hpp | 9 +- .../elevation_mapping.py | 29 +- .../elevation_mapping_cupy/parameter.py | 10 +- .../src/elevation_mapping_ros.cpp | 342 +++++++++--------- .../src/elevation_mapping_wrapper.cpp | 199 +++++----- 9 files changed, 366 insertions(+), 307 deletions(-) diff --git a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/elevation_mapping.py b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/elevation_mapping.py index 4d704739..06f81dfb 100644 --- a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/elevation_mapping.py +++ b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/elevation_mapping.py @@ -85,7 +85,7 @@ def __init__(self, param: Parameter): self.elevation_map[1] += self.initial_variance self.elevation_map[3] += 1.0 - # overlap clearance + # # overlap clearance cell_range = int(self.param.overlap_clear_range_xy / self.resolution) cell_range = np.clip(cell_range, 0, self.cell_n) self.cell_min = self.cell_n // 2 - cell_range // 2 @@ -95,27 +95,28 @@ def __init__(self, param: Parameter): self.mean_error = 0.0 self.additive_mean_error = 0.0 + self.compile_kernels() - self.compile_image_kernels() + # self.compile_image_kernels() - self.semantic_map.initialize_fusion() + # self.semantic_map.initialize_fusion() - weight_file = subprocess.getoutput('echo "' + param.weight_file + '"') - param.load_weights(weight_file) + # weight_file = subprocess.getoutput('echo "' + param.weight_file + '"') + # param.load_weights(weight_file) - if param.use_chainer: - self.traversability_filter = get_filter_chainer(param.w1, param.w2, param.w3, param.w_out) - else: - self.traversability_filter = get_filter_torch(param.w1, param.w2, param.w3, param.w_out) - self.untraversable_polygon = xp.zeros((1, 2)) + # if param.use_chainer: + # self.traversability_filter = get_filter_chainer(param.w1, param.w2, param.w3, param.w_out) + # else: + # self.traversability_filter = get_filter_torch(param.w1, param.w2, param.w3, param.w_out) + # self.untraversable_polygon = xp.zeros((1, 2)) - # Plugins - self.plugin_manager = PluginManager(cell_n=self.cell_n) - plugin_config_file = subprocess.getoutput('echo "' + param.plugin_config_file + '"') - self.plugin_manager.load_plugin_settings(plugin_config_file) + # # Plugins + # self.plugin_manager = PluginManager(cell_n=self.cell_n) + # plugin_config_file = subprocess.getoutput('echo "' + param.plugin_config_file + '"') + # self.plugin_manager.load_plugin_settings(plugin_config_file) - self.map_initializer = MapInitializer(self.initial_variance, param.initialized_variance, xp=cp, method="points") + # self.map_initializer = MapInitializer(self.initial_variance, param.initialized_variance, xp=cp, method="points") def clear(self): """Reset all the layers of the elevation & the semantic map.""" diff --git a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/parameter.py b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/parameter.py index 5fc3c110..2193ad02 100644 --- a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/parameter.py +++ b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/parameter.py @@ -171,13 +171,13 @@ class Parameter(Serializable): time_interval: float = 0.1 # Time layer is updated with this interval. max_variance: float = 1.0 # maximum variance for each cell. - dilation_size: float = 2 # dilation filter size before traversability filter. - dilation_size_initialize: float = 10 # dilation size after the init. + dilation_size: int = 2 # dilation filter size before traversability filter. + dilation_size_initialize: int = 10 # dilation size after the init. drift_compensation_alpha: float = 1.0 # drift compensation alpha for smoother update of drift compensation. traversability_inlier: float = 0.1 # cells with higher traversability are used for drift compensation. - wall_num_thresh: float = 100 # if there are more points than this value, only higher points than the current height are used to make the wall more sharp. - min_height_drift_cnt: float = 100 # drift compensation only happens if the valid cells are more than this number. + wall_num_thresh: int = 100 # if there are more points than this value, only higher points than the current height are used to make the wall more sharp. + min_height_drift_cnt: int = 100 # drift compensation only happens if the valid cells are more than this number. max_ray_length: float = 2.0 # maximum length for ray tracing. cleanup_step: float = 0.01 # substitute this value from validity layer at visibility cleanup. @@ -210,7 +210,7 @@ class Parameter(Serializable): position_noise_thresh: float = 0.1 # if the position change is bigger than this value, the drift compensation happens. orientation_noise_thresh: float = 0.1 # if the orientation change is bigger than this value, the drift compensation happens. - plugin_config_file: str = "config/plugin_config.yaml" # configuration file for the plugin + # plugin_config_file: str = "config/plugin_config.yaml" # configuration file for the plugin weight_file: str = "config/weights.dat" # weight file for traversability filter initial_variance: float = 10.0 # initial variance for each cell. @@ -289,12 +289,12 @@ def update(self): self.true_map_length = self.true_cell_n * self.resolution -if __name__ == "__main__": - param = Parameter() - print(param) - print(param.resolution) - param.set_value("resolution", 0.1) - print(param.resolution) +# if __name__ == "__main__": +# param = Parameter() +# print(param) +# print(param.resolution) +# param.set_value("resolution", 0.1) +# print(param.resolution) - print("names ", param.get_names()) - print("types ", param.get_types()) +# print("names ", param.get_names()) +# print("types ", param.get_types()) diff --git a/elevation_mapping_cupy/config/core/core_param.yaml b/elevation_mapping_cupy/config/core/core_param.yaml index c9228427..4c0d8302 100644 --- a/elevation_mapping_cupy/config/core/core_param.yaml +++ b/elevation_mapping_cupy/config/core/core_param.yaml @@ -1,6 +1,14 @@ elevation_mapping: ros__parameters: #### Basic parameters ######## + cell_n: 10000 # number of cells in the map. + data_type: 'float32' # data type for the map. + average_weight: 0.5 + drift_compensation_variance_inlier: 0.1 + checker_layer: 'traversability' # layer name for checking the validity of the cell. + min_filter_size: 5 # size of the filter for min filter. + min_filter_iteration: 3 # number of iterations for min filter. + initialized_variance: 10.0 # initial variance for each cell. resolution: 0.04 # resolution in m. map_length: 8.0 # map's size in m. sensor_noise_factor: 0.05 # point's noise is sensor_noise_factor*z^2 (z is distance from sensor). @@ -95,11 +103,14 @@ elevation_mapping: # channel_info_topic_name: '/camera/channel_info' subscribers: - pointcloud_topic1: '/a200/sensors/camera_1/points' - - image_topic1: '/a200/sensors/camera_0/color/image' - image_info1: '/a200/sensors/camera_0/color/camera_info' - # image_channel_info1: '/front_cam/channel_info' + pointcloud1: + topic_name: '/a200/sensors/camera_1/points' + data_type: 'pointcloud' + image1: + topic_name: '/a200/sensors/camera_0/color/image' + info_name: '/a200/sensors/camera_0/color/camera_info' + data_type: 'image' + # channel_name: '/front_cam/channel_info' # image_topic2: '/camera/rgb/image_raw2' # image_info2: '/camera/depth/camera_info2' @@ -120,7 +131,7 @@ elevation_mapping: # fps: # Publish rate. Use smaller value than `map_acquire_fps`. publishers: - elevation_map_raw: + elevation_map_raw: layers: ['elevation', 'traversability', 'variance','rgb'] basic_layers: ['elevation'] fps: 5.0 diff --git a/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp b/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp index 18fd4eaf..b4abac57 100644 --- a/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp +++ b/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp @@ -96,7 +96,7 @@ class ElevationMappingNode : public rclcpp::Node { private: void readParameters(); -// void setupMapPublishers(); + void setupMapPublishers(); void pointcloudCallback(const sensor_msgs::msg::PointCloud2::SharedPtr cloud, const std::string& key); void inputPointCloud(const sensor_msgs::msg::PointCloud2::SharedPtr cloud, const std::vector& channels); // void inputImage(const sensor_msgs::ImageConstPtr& image_msg, const sensor_msgs::CameraInfoConstPtr& camera_info_msg, const std::vector& channels); @@ -122,7 +122,7 @@ void imageChannelCallback(const std::shared_ptr& // void initializeWithTF(); // void publishMapToOdom(double error); // void publishStatistics(const ros::TimerEvent&); -// void publishMapOfIndex(int index); + void publishMapOfIndex(int index); // visualization_msgs::Marker vectorToArrowMarker(const Eigen::Vector3d& start, const Eigen::Vector3d& end, const int id) const; diff --git a/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_wrapper.hpp b/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_wrapper.hpp index 0623d0f6..a6514843 100644 --- a/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_wrapper.hpp +++ b/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_wrapper.hpp @@ -43,9 +43,9 @@ class ElevationMappingWrapper { using RowMatrixXf = Eigen::Matrix; using ColMatrixXf = Eigen::Matrix; - ElevationMappingWrapper(rclcpp::Node::SharedPtr node); + ElevationMappingWrapper(); - void initialize(); + void initialize(const std::shared_ptr& node); void input(const RowMatrixXd& points, const std::vector& channels, const RowMatrixXd& R, const Eigen::VectorXd& t, const double positionNoise, const double orientationNoise); @@ -65,8 +65,9 @@ class ElevationMappingWrapper { void addNormalColorLayer(grid_map::GridMap& map); private: - rclcpp::Node::SharedPtr node_; - py::object setParameters(); + + std::shared_ptr node_; + void setParameters(); py::object map_; py::object param_; diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py index 4d704739..b0b0b40f 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py @@ -85,7 +85,7 @@ def __init__(self, param: Parameter): self.elevation_map[1] += self.initial_variance self.elevation_map[3] += 1.0 - # overlap clearance + # # overlap clearance cell_range = int(self.param.overlap_clear_range_xy / self.resolution) cell_range = np.clip(cell_range, 0, self.cell_n) self.cell_min = self.cell_n // 2 - cell_range // 2 @@ -95,27 +95,28 @@ def __init__(self, param: Parameter): self.mean_error = 0.0 self.additive_mean_error = 0.0 + self.compile_kernels() self.compile_image_kernels() - self.semantic_map.initialize_fusion() + # self.semantic_map.initialize_fusion() - weight_file = subprocess.getoutput('echo "' + param.weight_file + '"') - param.load_weights(weight_file) + # weight_file = subprocess.getoutput('echo "' + param.weight_file + '"') + # param.load_weights(weight_file) - if param.use_chainer: - self.traversability_filter = get_filter_chainer(param.w1, param.w2, param.w3, param.w_out) - else: - self.traversability_filter = get_filter_torch(param.w1, param.w2, param.w3, param.w_out) - self.untraversable_polygon = xp.zeros((1, 2)) + # if param.use_chainer: + # self.traversability_filter = get_filter_chainer(param.w1, param.w2, param.w3, param.w_out) + # else: + # self.traversability_filter = get_filter_torch(param.w1, param.w2, param.w3, param.w_out) + # self.untraversable_polygon = xp.zeros((1, 2)) - # Plugins - self.plugin_manager = PluginManager(cell_n=self.cell_n) - plugin_config_file = subprocess.getoutput('echo "' + param.plugin_config_file + '"') - self.plugin_manager.load_plugin_settings(plugin_config_file) + # # Plugins + # self.plugin_manager = PluginManager(cell_n=self.cell_n) + # plugin_config_file = subprocess.getoutput('echo "' + param.plugin_config_file + '"') + # self.plugin_manager.load_plugin_settings(plugin_config_file) - self.map_initializer = MapInitializer(self.initial_variance, param.initialized_variance, xp=cp, method="points") + # self.map_initializer = MapInitializer(self.initial_variance, param.initialized_variance, xp=cp, method="points") def clear(self): """Reset all the layers of the elevation & the semantic map.""" diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py index 52fc2664..2193ad02 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py @@ -171,13 +171,13 @@ class Parameter(Serializable): time_interval: float = 0.1 # Time layer is updated with this interval. max_variance: float = 1.0 # maximum variance for each cell. - dilation_size: float = 2 # dilation filter size before traversability filter. - dilation_size_initialize: float = 10 # dilation size after the init. + dilation_size: int = 2 # dilation filter size before traversability filter. + dilation_size_initialize: int = 10 # dilation size after the init. drift_compensation_alpha: float = 1.0 # drift compensation alpha for smoother update of drift compensation. traversability_inlier: float = 0.1 # cells with higher traversability are used for drift compensation. - wall_num_thresh: float = 100 # if there are more points than this value, only higher points than the current height are used to make the wall more sharp. - min_height_drift_cnt: float = 100 # drift compensation only happens if the valid cells are more than this number. + wall_num_thresh: int = 100 # if there are more points than this value, only higher points than the current height are used to make the wall more sharp. + min_height_drift_cnt: int = 100 # drift compensation only happens if the valid cells are more than this number. max_ray_length: float = 2.0 # maximum length for ray tracing. cleanup_step: float = 0.01 # substitute this value from validity layer at visibility cleanup. @@ -210,7 +210,7 @@ class Parameter(Serializable): position_noise_thresh: float = 0.1 # if the position change is bigger than this value, the drift compensation happens. orientation_noise_thresh: float = 0.1 # if the orientation change is bigger than this value, the drift compensation happens. - plugin_config_file: str = "config/plugin_config.yaml" # configuration file for the plugin + # plugin_config_file: str = "config/plugin_config.yaml" # configuration file for the plugin weight_file: str = "config/weights.dat" # weight file for traversability filter initial_variance: float = 10.0 # initial variance for each cell. diff --git a/elevation_mapping_cupy/src/elevation_mapping_ros.cpp b/elevation_mapping_cupy/src/elevation_mapping_ros.cpp index e6535d38..760a6dc5 100644 --- a/elevation_mapping_cupy/src/elevation_mapping_ros.cpp +++ b/elevation_mapping_cupy/src/elevation_mapping_ros.cpp @@ -21,6 +21,19 @@ namespace elevation_mapping_cupy { +std::vector extract_unique_names(const std::map& subscriber_params) { + std::set unique_names_set; + for (const auto& param : subscriber_params) { + std::size_t pos = param.first.find('.'); + if (pos != std::string::npos) { + std::string name = param.first.substr(0, pos); + unique_names_set.insert(name); + } + } + return std::vector(unique_names_set.begin(), unique_names_set.end()); +} + + ElevationMappingNode::ElevationMappingNode() : rclcpp::Node("elevation_mapping_node", rclcpp::NodeOptions().automatically_declare_parameters_from_overrides(true)), node_(std::shared_ptr(this, [](auto *) {})), @@ -95,7 +108,12 @@ ElevationMappingNode::ElevationMappingNode() RCLCPP_INFO(this->get_logger(), "always_clear_with_initializer: %s", alwaysClearWithInitializer_ ? "true" : "false"); enablePointCloudPublishing_ = enablePointCloudPublishing; - + + // map_ = std::make_shared(); + // map_->initialize(node_); + + + std::map subscriber_params, publisher_params; if (!this->get_parameters("subscribers", subscriber_params)) { RCLCPP_FATAL(this->get_logger(), "There aren't any subscribers to be configured, the elevation mapping cannot be configured. Exit"); @@ -106,121 +124,117 @@ ElevationMappingNode::ElevationMappingNode() rclcpp::shutdown(); } - for (const auto& name : subscriber_params) { - if (name.first.find("image_topic") != std::string::npos) { - std::string camera_topic = name.second.as_string(); - // setup image subscriber - std::string transport_hint = "compressed"; - std::size_t ind = camera_topic.find(transport_hint); // Find if compressed is in the topic name - if (ind != std::string::npos) { - transport_hint = camera_topic.substr(ind, camera_topic.length()); // Get the hint as the last part - camera_topic.erase(ind - 1, camera_topic.length()); // We remove the hint from the topic - } else { - transport_hint = "raw"; // In the default case we assume raw topic - } - // Create a standard ROS2 subscription for the image topic - ImageSubscriberPtr image_sub = std::make_shared(this, camera_topic, rmw_qos_profile_sensor_data); - // image_sub->subscribe(this->shared_from_this(), camera_topic, 1); + + auto unique_sub_names = extract_unique_names(subscriber_params); + for (const auto& sub_name : unique_sub_names) { + std::string data_type; + if(this->get_parameter("subscribers." + sub_name + ".data_type", data_type)){ + // image + if(data_type == "image"){ + std::string camera_topic; + std::string info_topic; + this->get_parameter("subscribers." + sub_name + ".topic_name", camera_topic); + this->get_parameter("subscribers." + sub_name + ".info_name", info_topic); + RCLCPP_INFO(this->get_logger(), "camera_topic %s: %s", sub_name.c_str(), camera_topic.c_str()); + RCLCPP_INFO(this->get_logger(), "info_name %s: %s", sub_name.c_str(), info_topic.c_str()); + + // std::string transport_hint = "compressed"; + // std::size_t ind = camera_topic.find(transport_hint); // Find if compressed is in the topic name + // if (ind != std::string::npos) { + // transport_hint = camera_topic.substr(ind, camera_topic.length()); // Get the hint as the last part + // camera_topic.erase(ind - 1, camera_topic.length()); // We remove the hint from the topic + // } else { + // transport_hint = "raw"; // In the default case we assume raw topic + // } + + ImageSubscriberPtr image_sub = std::make_shared(this, camera_topic, rmw_qos_profile_sensor_data); imageSubs_.push_back(image_sub); - - - + CameraInfoSubscriberPtr cam_info_sub = std::make_shared(this, info_topic, rmw_qos_profile_sensor_data); + cameraInfoSubs_.push_back(cam_info_sub); - std::string info_topic; std::string channel_info_topic; - // Check if the last character is a digit - if (std::isdigit(name.first.back())) { - char last_char = name.first.back(); - std::string cam_info_name_param = "image_info" + std::string(1, last_char); - std::string channel_info_name_param = "image_channel_info" + std::string(1, last_char); - if (this->get_parameter("subscribers." + cam_info_name_param, info_topic)) { - RCLCPP_INFO(this->get_logger(), "Generated parameter %s: %s", cam_info_name_param.c_str(), info_topic.c_str()); - CameraInfoSubscriberPtr cam_info_sub = std::make_shared(this, info_topic, rmw_qos_profile_sensor_data); - // cam_info_sub->subscribe(this->shared_from_this(), info_topic, 1); - cameraInfoSubs_.push_back(cam_info_sub); - if (this->get_parameter("subscribers." + channel_info_name_param, channel_info_topic)) { - ChannelInfoSubscriberPtr channel_info_sub = std::make_shared(this, channel_info_topic, rmw_qos_profile_sensor_data); - // channel_info_sub->subscribe(this->shared_from_this(), channel_info_topic, 1); - channelInfoSubs_.push_back(channel_info_sub); - CameraChannelSyncPtr sync = std::make_shared(CameraChannelPolicy(10), *image_sub, *cam_info_sub, *channel_info_sub); - sync->registerCallback(std::bind(&ElevationMappingNode::imageChannelCallback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3)); - cameraChannelSyncs_.push_back(sync); - RCLCPP_INFO(this->get_logger(), "Subscribed to Image topic: %s, Camera info topic: %s, Channel info topic: %s", camera_topic.c_str(), info_topic.c_str(), channel_info_topic.c_str()); - }else{ - std::string key = name.first; - channels_[key].push_back("rgb"); - // RCLCPP_INFO(this->get_logger(), "Subscribed to Image topic: %s, Camera info topic: %s. Channel info topic: %s", camera_topic.c_str(), info_topic.c_str(), (channel_info_topic.empty() ? ("Not found. Using channels: " + boost::algorithm::join(channels_[key], ", ")).c_str() : channel_info_topic.c_str())); - CameraSyncPtr sync = std::make_shared(CameraPolicy(10), *image_sub, *cam_info_sub); - sync->registerCallback(std::bind(&ElevationMappingNode::imageCallback, this, std::placeholders::_1, std::placeholders::_2, key)); - cameraSyncs_.push_back(sync); - } - }else{ - throw std::runtime_error("Info topic is missing for camera: " + camera_topic); - } + if (this->get_parameter("subscribers." + sub_name + ".channel_name", channel_info_topic)) { + ChannelInfoSubscriberPtr channel_info_sub = std::make_shared(this, channel_info_topic, rmw_qos_profile_sensor_data); + channelInfoSubs_.push_back(channel_info_sub); + CameraChannelSyncPtr sync = std::make_shared(CameraChannelPolicy(10), *image_sub, *cam_info_sub, *channel_info_sub); + sync->registerCallback(std::bind(&ElevationMappingNode::imageChannelCallback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3)); + cameraChannelSyncs_.push_back(sync); + RCLCPP_INFO(this->get_logger(), "Subscribed to Image topic: %s, Camera info topic: %s, Channel info topic: %s", camera_topic.c_str(), info_topic.c_str(), channel_info_topic.c_str()); }else{ - throw std::runtime_error("Error: image param numbering at the end "); + std::string key = sub_name; + channels_[key].push_back("rgb"); + // RCLCPP_INFO(this->get_logger(), "Subscribed to Image topic: %s, Camera info topic: %s. Channel info topic: %s", camera_topic.c_str(), info_topic.c_str(), (channel_info_topic.empty() ? ("Not found. Using channels: " + boost::algorithm::join(channels_[key], ", ")).c_str() : channel_info_topic.c_str())); + CameraSyncPtr sync = std::make_shared(CameraPolicy(10), *image_sub, *cam_info_sub); + sync->registerCallback(std::bind(&ElevationMappingNode::imageCallback, this, std::placeholders::_1, std::placeholders::_2, key)); + cameraSyncs_.push_back(sync); } - // generate point cloud subscriber - }else if(name.first.find("pointcloud_topic") != std::string::npos) { - std::string pointcloud_topic = name.second.as_string(); - RCLCPP_INFO(this->get_logger(), "Generated parameter %s:", name.first.c_str()); - std::string key = name.first; - channels_[key].push_back("x"); - channels_[key].push_back("y"); - channels_[key].push_back("z"); - auto callback = [this, key](const sensor_msgs::msg::PointCloud2::SharedPtr msg) { + }else if(data_type == "pointcloud"){ + std::string pointcloud_topic; + this->get_parameter("subscribers." + sub_name + ".topic_name", pointcloud_topic); + std::string key = sub_name; + channels_[key].push_back("x"); + channels_[key].push_back("y"); + channels_[key].push_back("z"); + auto callback = [this, key](const sensor_msgs::msg::PointCloud2::SharedPtr msg) { this->pointcloudCallback(msg, key); }; auto sub = this->create_subscription(pointcloud_topic, 1, callback); pointcloudSubs_.push_back(sub); RCLCPP_INFO(this->get_logger(), "Subscribed to PointCloud2 topic: %s", pointcloud_topic.c_str()); - } + } + } + } + + + + auto unique_pub_names = extract_unique_names(publisher_params); + + // for (const auto& pub_name : unique_pub_names) { + // std::string topic_name = pub_name; + // std::vector layers_list; + // std::vector basic_layers_list; + // double fps; + // this->get_parameter("publishers." + pub_name + ".layers", layers_list) + // this->get_parameter("publishers." + pub_name + ".basic_layers", basic_layers_list) + // this->get_parameter("publishers." + pub_name + ".fps", fps) + // } + for (const auto& pub_name : unique_pub_names) { + std::string topic_name = pub_name; + double fps; + std::vector layers_list; + std::vector basic_layers_list; + + this->get_parameter("publishers." + pub_name + ".layers", layers_list); + this->get_parameter("publishers." + pub_name + ".basic_layers", basic_layers_list); + this->get_parameter("publishers." + pub_name + ".fps", fps); + + if (fps > updateGridMapFps) { + RCLCPP_WARN( + this->get_logger(), + "[ElevationMappingCupy] fps for topic %s is larger than map_acquire_fps (%f > %f). The topic data will be only updated at %f " + "fps.", + topic_name.c_str(), fps, updateGridMapFps, updateGridMapFps); } - // get node pointer, pass into Class B - // map_ = std::make_shared(shared_from_this()); - map_->initialize(); - -// // Register map publishers -// for (auto itr = publishers.begin(); itr != publishers.end(); ++itr) { -// // Parse params -// std::string topic_name = itr->first; -// std::vector layers_list; -// std::vector basic_layers_list; -// auto layers = itr->second["layers"]; -// auto basic_layers = itr->second["basic_layers"]; -// double fps = itr->second["fps"]; - -// if (fps > updateGridMapFps) { -// ROS_WARN( -// "[ElevationMappingCupy] fps for topic %s is larger than map_acquire_fps (%f > %f). The topic data will be only updated at %f " -// "fps.", -// topic_name.c_str(), fps, updateGridMapFps, updateGridMapFps); -// } + // Make publishers + auto pub = this->create_publisher(topic_name, 1); + RCLCPP_INFO(this->get_logger(), "Publishing map to topic %s", topic_name.c_str()); + mapPubs_.push_back(pub); -// for (int32_t i = 0; i < layers.size(); ++i) { -// layers_list.push_back(static_cast(layers[i])); -// } + // Register map layers + map_layers_.push_back(layers_list); + map_basic_layers_.push_back(basic_layers_list); -// for (int32_t i = 0; i < basic_layers.size(); ++i) { -// basic_layers_list.push_back(static_cast(basic_layers[i])); -// } + // Register map fps + map_fps_.push_back(fps); + map_fps_unique_.insert(fps); -// // Make publishers -// ros::Publisher pub = nh_.advertise(topic_name, 1); -// mapPubs_.push_back(pub); + } -// // Register map layers -// map_layers_.push_back(layers_list); -// map_basic_layers_.push_back(basic_layers_list); -// // Register map fps -// map_fps_.push_back(fps); -// map_fps_unique_.insert(fps); -// } -// setupMapPublishers(); + setupMapPublishers(); // pointPub_ = nh_.advertise("elevation_map_points", 1); // alivePub_ = nh_.advertise("alive", 1); @@ -264,74 +278,75 @@ ElevationMappingNode::ElevationMappingNode() // // Setup map publishers -// void ElevationMappingNode::setupMapPublishers() { -// // Find the layers with highest fps. -// float max_fps = -1; -// // Create timers for each unique map frequencies -// for (auto fps : map_fps_unique_) { -// // Which publisher to call in the timer callback -// std::vector indices; -// // If this fps is max, update the map layers. -// if (fps >= max_fps) { -// max_fps = fps; -// map_layers_all_.clear(); -// } -// for (int i = 0; i < map_fps_.size(); i++) { -// if (map_fps_[i] == fps) { -// indices.push_back(i); -// // If this fps is max, add layers -// if (fps >= max_fps) { -// for (const auto layer : map_layers_[i]) { -// map_layers_all_.insert(layer); -// } -// } -// } -// } -// // Callback funtion. -// // It publishes to specific topics. -// auto cb = [this, indices](const ros::TimerEvent&) { -// for (int i : indices) { -// publishMapOfIndex(i); -// } -// }; -// double duration = 1.0 / (fps + 0.00001); -// mapTimers_.push_back(nh_.createTimer(ros::Duration(duration), cb)); -// } -// } - -// void ElevationMappingNode::publishMapOfIndex(int index) { -// // publish the map layers of index -// if (!isGridmapUpdated_) { -// return; -// } -// grid_map_msgs::GridMap msg; -// std::vector layers; - -// { // need continuous lock between adding layers and converting to message. Otherwise updateGridmap can reset the data not in -// // map_layers_all_ -// std::lock_guard lock(mapMutex_); -// for (const auto& layer : map_layers_[index]) { -// const bool is_layer_in_all = map_layers_all_.find(layer) != map_layers_all_.end(); -// if (is_layer_in_all && gridMap_.exists(layer)) { -// layers.push_back(layer); -// } else if (map_.exists_layer(layer)) { -// // if there are layers which is not in the syncing layer. -// ElevationMappingWrapper::RowMatrixXf map_data; -// map_.get_layer_data(layer, map_data); -// gridMap_.add(layer, map_data); -// layers.push_back(layer); -// } -// } -// if (layers.empty()) { -// return; -// } +void ElevationMappingNode::setupMapPublishers() { + // Find the layers with highest fps. + float max_fps = -1; + // Create timers for each unique map frequencies + for (auto fps : map_fps_unique_) { + // Which publisher to call in the timer callback + std::vector indices; + // If this fps is max, update the map layers. + if (fps >= max_fps) { + max_fps = fps; + map_layers_all_.clear(); + } + for (int i = 0; i < map_fps_.size(); i++) { + if (map_fps_[i] == fps) { + indices.push_back(i); + // If this fps is max, add layers + if (fps >= max_fps) { + for (const auto layer : map_layers_[i]) { + map_layers_all_.insert(layer); + } + } + } + } + // Callback funtion. + // It publishes to specific topics. + auto cb = [this, indices]() -> void { + for (int i : indices) { + publishMapOfIndex(i); + } + }; + double duration = 1.0 / (fps + 0.00001); + mapTimers_.push_back(this->create_wall_timer(std::chrono::duration(duration), cb)); + } +} -// grid_map::GridMapRosConverter::toMessage(gridMap_, layers, msg); -// } -// msg.basic_layers = map_basic_layers_[index]; -// mapPubs_[index].publish(msg); -// } +void ElevationMappingNode::publishMapOfIndex(int index) { + // publish the map layers of index + if (!isGridmapUpdated_) { + return; + } + grid_map_msgs::msg::GridMap msg; + std::vector layers; + + // { // need continuous lock between adding layers and converting to message. Otherwise updateGridmap can reset the data not in + // // map_layers_all_ + // std::lock_guard lock(mapMutex_); + // for (const auto& layer : map_layers_[index]) { + // const bool is_layer_in_all = map_layers_all_.find(layer) != map_layers_all_.end(); + // if (is_layer_in_all && gridMap_.exists(layer)) { + // layers.push_back(layer); + // } else if (map_.exists_layer(layer)) { + // // if there are layers which is not in the syncing layer. + // ElevationMappingWrapper::RowMatrixXf map_data; + // map_.get_layer_data(layer, map_data); + // gridMap_.add(layer, map_data); + // layers.push_back(layer); + // } + // } + // if (layers.empty()) { + // return; + // } + + // grid_map::GridMapRosConverter::toMessage(gridMap_, layers, msg); + // } + + msg.basic_layers = map_basic_layers_[index]; + mapPubs_[index]->publish(msg); +} void ElevationMappingNode::pointcloudCallback(const sensor_msgs::msg::PointCloud2::SharedPtr cloud, const std::string& key) { @@ -487,6 +502,7 @@ void ElevationMappingNode::imageCallback(const std::shared_ptrnow(); // inputImage(image_msg, camera_info_msg, channels_[key]); RCLCPP_DEBUG(this->get_logger(), "ElevationMap imageCallback processed an image in %f sec.", (this->now() - start).seconds()); + } diff --git a/elevation_mapping_cupy/src/elevation_mapping_wrapper.cpp b/elevation_mapping_cupy/src/elevation_mapping_wrapper.cpp index f0796abb..013fb1b9 100644 --- a/elevation_mapping_cupy/src/elevation_mapping_wrapper.cpp +++ b/elevation_mapping_cupy/src/elevation_mapping_wrapper.cpp @@ -18,12 +18,17 @@ #include + namespace elevation_mapping_cupy { -ElevationMappingWrapper::ElevationMappingWrapper(rclcpp::Node::SharedPtr node) -:node_(node) {} +ElevationMappingWrapper::ElevationMappingWrapper(){} -void ElevationMappingWrapper::initialize() { +void ElevationMappingWrapper::initialize(const std::shared_ptr& node){ + if (!node) { + RCLCPP_ERROR(rclcpp::get_logger("rclcpp"), "Invalid node shared pointer"); + return; + } + node_ = node; // Add the elevation_mapping_cupy path to sys.path auto threading = py::module::import("threading"); py::gil_scoped_acquire acquire; @@ -35,100 +40,124 @@ void ElevationMappingWrapper::initialize() { path.attr("insert")(0, module_path); auto elevation_mapping = py::module::import("elevation_mapping_cupy.elevation_mapping"); - // auto parameter = py::module::import("math"); - - // auto param_2 = parameter.attr("Parameter")(); - // setParameters(param_v2); - auto params = setParameters(); - - // map_ = elevation_mapping.attr("ElevationMap")(param_v2); + auto parameter = py::module::import("elevation_mapping_cupy.parameter"); + param_ = parameter.attr("Parameter")(); + setParameters(); + map_ = elevation_mapping.attr("ElevationMap")(param_); } // /** // * Load ros parameters into Parameter class. // * Search for the same name within the name space. // */ -py::object ElevationMappingWrapper::setParameters() { - auto parameter = py::module::import("elevation_mapping_cupy.parameter"); - auto param_2 = parameter.attr("Parameter")(); - return param_2; +void ElevationMappingWrapper::setParameters() { + + // auto parameter = py::module::import("elevation_mapping_cupy.parameter"); + // auto param_ = parameter.attr("Parameter")(); + // Get all parameters names and types. - // py::list paramNames = param_.attr("get_names")(); - // py::list paramTypes = param_.attr("get_types")(); - // py::gil_scoped_acquire acquire; + py::list paramNames = param_.attr("get_names")(); + py::list paramTypes = param_.attr("get_types")(); + py::gil_scoped_acquire acquire; // // Try to find the parameter in the ROS parameter server. // // If there was a parameter, set it to the Parameter variable. - // for (size_t i = 0; i < paramNames.size(); i++) { - // std::string type = py::cast(paramTypes[i]); - // std::string name = py::cast(paramNames[i]); - // if (type == "float") { - // float param; - // if (node_->get_parameter(name, param)) { - // param_.attr("set_value")(name, param); - // } - // } else if (type == "str") { - // std::string param; - // if (node_->get_parameter(name, param)) { - // param_.attr("set_value")(name, param); - // } - // } else if (type == "bool") { - // bool param; - // if (node_->get_parameter(name, param)) { - // param_.attr("set_value")(name, param); - // } - // } else if (type == "int") { - // int param; - // if (node_->get_parameter(name, param)) { - // param_.attr("set_value")(name, param); - // } - // } - // } + for (size_t i = 0; i < paramNames.size(); i++) { + std::string type = py::cast(paramTypes[i]); + std::string name = py::cast(paramNames[i]); + RCLCPP_INFO(node_->get_logger(), "type: %s, name %s", type.c_str(), name.c_str()); + if (type == "float") { + float param; + if (node_->get_parameter(name, param)) { + RCLCPP_INFO(node_->get_logger(), "Retrieved parameter: %s value: %f", name.c_str(), param); + param_.attr("set_value")(name, param); + RCLCPP_INFO(node_->get_logger(), "Set parameter: %s value: %f", name.c_str(), param); + } else { + RCLCPP_WARN(node_->get_logger(), "Parameter not found or invalid: %s", name.c_str()); + } + } else if (type == "str") { + std::string param; + if (node_->get_parameter(name, param)) { + RCLCPP_INFO(node_->get_logger(), "Retrieved parameter: %s value: %s", name.c_str(), param.c_str()); + param_.attr("set_value")(name, param); + RCLCPP_INFO(node_->get_logger(), "Set parameter: %s value: %s", name.c_str(), param.c_str()); + } else { + RCLCPP_WARN(node_->get_logger(), "Parameter not found or invalid: %s", name.c_str()); + } + } else if (type == "bool") { + bool param; + if (node_->get_parameter(name, param)) { + RCLCPP_INFO(node_->get_logger(), "Retrieved parameter: %s value: %s", name.c_str(), param ? "true" : "false"); + param_.attr("set_value")(name, param); + RCLCPP_INFO(node_->get_logger(), "Set parameter: %s value: %s", name.c_str(), param ? "true" : "false"); + } else { + RCLCPP_WARN(node_->get_logger(), "Parameter not found or invalid: %s", name.c_str()); + } + } else if (type == "int") { + int param; + if (node_->get_parameter(name, param)) { + RCLCPP_INFO(node_->get_logger(), "Retrieved parameter: %s value: %d", name.c_str(), param); + param_.attr("set_value")(name, param); + RCLCPP_INFO(node_->get_logger(), "Set parameter: %s value: %d", name.c_str(), param); + } else { + RCLCPP_WARN(node_->get_logger(), "Parameter not found or invalid: %s", name.c_str()); + } + } + + } + py::dict sub_dict; + // rclcpp::Parameter subscribers; + std::vector parameter_prefixes; + auto parameters = node_->list_parameters(parameter_prefixes, 2); // List all parameters with a maximum depth of 10 + for (const auto& param_name : parameters.names) { + if (param_name.find("subscribers") != std::string::npos) { + RCLCPP_WARN(node_->get_logger(), "Subscriber : %s", param_name.c_str()); - // rclcpp::Parameter subscribers; - // node_->get_parameter("subscribers", subscribers); - - // py::dict sub_dict; - // auto subscribers_array = subscribers.as_string_array(); - // for (const auto& subscriber : subscribers_array) { - // const char* const name = subscriber.c_str(); - // if (!sub_dict.contains(name)) { - // sub_dict[name] = py::dict(); - // } - // std::map subscriber_params; - // node_->get_parameters(name, subscriber_params); - // for (const auto& param_pair : subscriber_params) { - // const char* const param_name = param_pair.first.c_str(); - // const auto& param_value = param_pair.second; - // std::vector arr; - // switch (param_value.get_type()) { - // case rclcpp::ParameterType::PARAMETER_STRING: - // sub_dict[name][param_name] = param_value.as_string(); - // break; - // case rclcpp::ParameterType::PARAMETER_INTEGER: - // sub_dict[name][param_name] = param_value.as_int(); - // break; - // case rclcpp::ParameterType::PARAMETER_DOUBLE: - // sub_dict[name][param_name] = param_value.as_double(); - // break; - // case rclcpp::ParameterType::PARAMETER_BOOL: - // sub_dict[name][param_name] = param_value.as_bool(); - // break; - // case rclcpp::ParameterType::PARAMETER_STRING_ARRAY: - // for (const auto& elem : param_value.as_string_array()) { - // arr.push_back(elem); - // } - // sub_dict[name][param_name] = arr; - // arr.clear(); - // break; - // default: - // sub_dict[name][param_name] = py::cast(param_value); - // break; - // } - // } - // } - // param_.attr("subscriber_cfg") = sub_dict; + + // const char* const name = param_name.c_str(); + // std::string subscriber_params; + // node_->get_parameter(param_name, subscriber); + // const auto& subscriber_params = subscriber.second; + // if (!sub_dict.contains(name)) { + // sub_dict[name] = py::dict(); + // } + // for (auto iterat : subscriber_params) { + // const char* const key = iterat.first.c_str(); + // const auto val = iterat.second; + // std::vector arr; + // switch (val.getType()) { + // case XmlRpc::XmlRpcValue::TypeString: + // sub_dict[name][key] = static_cast(val); + // break; + // case XmlRpc::XmlRpcValue::TypeInt: + // sub_dict[name][key] = static_cast(val); + // break; + // case XmlRpc::XmlRpcValue::TypeDouble: + // sub_dict[name][key] = static_cast(val); + // break; + // case XmlRpc::XmlRpcValue::TypeBoolean: + // sub_dict[name][key] = static_cast(val); + // break; + // case XmlRpc::XmlRpcValue::TypeArray: + // for (int32_t i = 0; i < val.size(); ++i) { + // auto elem = static_cast(val[i]); + // arr.push_back(elem); + // } + // sub_dict[name][key] = arr; + // arr.clear(); + // break; + // case XmlRpc::XmlRpcValue::TypeStruct: + // break; + // default: + // sub_dict[name][key] = py::cast(val); + // break; + // } + // } + } + } + param_.attr("subscriber_cfg") = sub_dict; + // // point cloud channel fusion From 61e10c55515e5300f6d2a27ac80ce0914c1e7780 Mon Sep 17 00:00:00 2001 From: amilearning Date: Thu, 7 Nov 2024 11:56:34 +0100 Subject: [PATCH 449/504] upto init --- elevation_mapping_cupy/CMakeLists.txt | 6 +- .../config/core/core_param.yaml | 5 +- .../elevation_mapping_wrapper.hpp | 2 + .../elevation_mapping.py | 38 ++-- .../elevation_mapping_cupy/parameter.py | 4 +- .../src/elevation_mapping_ros.cpp | 127 +++++------- .../src/elevation_mapping_wrapper.cpp | 191 +++++++++--------- 7 files changed, 183 insertions(+), 190 deletions(-) diff --git a/elevation_mapping_cupy/CMakeLists.txt b/elevation_mapping_cupy/CMakeLists.txt index fa8e2d25..91e4db8d 100644 --- a/elevation_mapping_cupy/CMakeLists.txt +++ b/elevation_mapping_cupy/CMakeLists.txt @@ -41,6 +41,10 @@ find_package(tf2_eigen REQUIRED) find_package(ament_cmake_python REQUIRED) find_package(python_cmake_module REQUIRED) + +_ament_cmake_python_register_environment_hook() +ament_python_install_package(${PROJECT_NAME} PACKAGE_DIR script/${PROJECT_NAME}) + # List dependencies for ament_target_dependencies set(dependencies rclcpp @@ -112,7 +116,7 @@ install( ) -ament_python_install_package(${PROJECT_NAME} PACKAGE_DIR script/${PROJECT_NAME}) + install(PROGRAMS DESTINATION lib/${PROJECT_NAME} diff --git a/elevation_mapping_cupy/config/core/core_param.yaml b/elevation_mapping_cupy/config/core/core_param.yaml index 4c0d8302..19f8aa28 100644 --- a/elevation_mapping_cupy/config/core/core_param.yaml +++ b/elevation_mapping_cupy/config/core/core_param.yaml @@ -64,11 +64,12 @@ elevation_mapping: enable_pointcloud_publishing: false enable_drift_corrected_TF_publishing: false enable_normal_color: false # If true, the map contains 'color' layer corresponding to normal. Add 'color' layer to the publishers setting if you want to visualize. + enable_normal: false #### Traversability filter ######## use_chainer: false # Use chainer as a backend of traversability filter or pytorch. If false, it uses pytorch. pytorch requires ~2GB more GPU memory compared to chainer but runs faster. - weight_file: '/config/core/weights.dat' # Weight file for traversability filter - + weight_file: '/share/elevation_mapping_cupy/config/core/weights.dat' # Weight file for traversability filter + plugin_config_file: '/share/elevation_mapping_cupy/config/core/plugin_config.yaml' # Configuration file for the plugin. #### Upper bound ######## use_only_above_for_upper_bound: false diff --git a/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_wrapper.hpp b/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_wrapper.hpp index a6514843..f0090254 100644 --- a/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_wrapper.hpp +++ b/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_wrapper.hpp @@ -37,6 +37,8 @@ namespace py = pybind11; namespace elevation_mapping_cupy { +std::vector extract_unique_names(const std::map& subscriber_params); + class ElevationMappingWrapper { public: using RowMatrixXd = Eigen::Matrix; diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py index b0b0b40f..ea19064c 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py @@ -5,6 +5,8 @@ import os from typing import List, Any, Tuple, Union +from rclpy.logging import get_logger +from ament_index_python.packages import get_package_prefix import numpy as np import threading import subprocess @@ -42,6 +44,7 @@ import cupy as cp + xp = cp pool = cp.cuda.MemoryPool(cp.cuda.malloc_managed) cp.cuda.set_allocator(pool.malloc) @@ -97,26 +100,31 @@ def __init__(self, param: Parameter): self.compile_kernels() - + get_logger('elevation_mapping').info("Finished compiling kernels.") self.compile_image_kernels() + get_logger('elevation_mapping').info("Finished compiling image kernels.") + self.semantic_map.initialize_fusion() + get_logger('elevation_mapping').info("Finished compiling semantic_map kernels.") - # self.semantic_map.initialize_fusion() - - # weight_file = subprocess.getoutput('echo "' + param.weight_file + '"') - # param.load_weights(weight_file) + weight_file = subprocess.getoutput('echo "' + param.weight_file + '"') + package_prefix = get_package_prefix('elevation_mapping_cupy') + get_logger('elevation_mapping').info("weight file : ." + str(package_prefix) + str(weight_file)) + param.load_weights(package_prefix+weight_file) - # if param.use_chainer: - # self.traversability_filter = get_filter_chainer(param.w1, param.w2, param.w3, param.w_out) - # else: - # self.traversability_filter = get_filter_torch(param.w1, param.w2, param.w3, param.w_out) - # self.untraversable_polygon = xp.zeros((1, 2)) + if param.use_chainer: + self.traversability_filter = get_filter_chainer(param.w1, param.w2, param.w3, param.w_out) + else: + self.traversability_filter = get_filter_torch(param.w1, param.w2, param.w3, param.w_out) + + self.untraversable_polygon = xp.zeros((1, 2)) - # # Plugins - # self.plugin_manager = PluginManager(cell_n=self.cell_n) - # plugin_config_file = subprocess.getoutput('echo "' + param.plugin_config_file + '"') - # self.plugin_manager.load_plugin_settings(plugin_config_file) + # Plugins + self.plugin_manager = PluginManager(cell_n=self.cell_n) + plugin_config_file = subprocess.getoutput('echo "' + param.plugin_config_file + '"') + get_logger('elevation_mapping').info("plugin file : ." + str(package_prefix) + str(plugin_config_file)) + self.plugin_manager.load_plugin_settings(package_prefix+plugin_config_file) - # self.map_initializer = MapInitializer(self.initial_variance, param.initialized_variance, xp=cp, method="points") + self.map_initializer = MapInitializer(self.initial_variance, param.initialized_variance, xp=cp, method="points") def clear(self): """Reset all the layers of the elevation & the semantic map.""" diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py index 2193ad02..d23711eb 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/parameter.py @@ -210,7 +210,7 @@ class Parameter(Serializable): position_noise_thresh: float = 0.1 # if the position change is bigger than this value, the drift compensation happens. orientation_noise_thresh: float = 0.1 # if the orientation change is bigger than this value, the drift compensation happens. - # plugin_config_file: str = "config/plugin_config.yaml" # configuration file for the plugin + plugin_config_file: str = "config/plugin_config.yaml" # configuration file for the plugin weight_file: str = "config/weights.dat" # weight file for traversability filter initial_variance: float = 10.0 # initial variance for each cell. @@ -225,7 +225,7 @@ class Parameter(Serializable): cell_n: int = None # number of cells in the map true_cell_n: int = None # true number of cells in the map - def load_weights(self, filename): + def load_weights(self, filename: str): """ Load weights from a file into the model's parameters. diff --git a/elevation_mapping_cupy/src/elevation_mapping_ros.cpp b/elevation_mapping_cupy/src/elevation_mapping_ros.cpp index 760a6dc5..7ebb5dd2 100644 --- a/elevation_mapping_cupy/src/elevation_mapping_ros.cpp +++ b/elevation_mapping_cupy/src/elevation_mapping_ros.cpp @@ -21,17 +21,6 @@ namespace elevation_mapping_cupy { -std::vector extract_unique_names(const std::map& subscriber_params) { - std::set unique_names_set; - for (const auto& param : subscriber_params) { - std::size_t pos = param.first.find('.'); - if (pos != std::string::npos) { - std::string name = param.first.substr(0, pos); - unique_names_set.insert(name); - } - } - return std::vector(unique_names_set.begin(), unique_names_set.end()); -} ElevationMappingNode::ElevationMappingNode() @@ -59,9 +48,6 @@ ElevationMappingNode::ElevationMappingNode() bool enablePointCloudPublishing(false); py::gil_scoped_acquire acquire; - auto math = py::module::import("math"); - double root_two = math.attr("sqrt")(2.0).cast(); - RCLCPP_INFO(this->get_logger(), "The square root of 2 is: %f", root_two); this->get_parameter("initialize_frame_id", initialize_frame_id_); this->get_parameter("initialize_tf_offset", initialize_tf_offset_); @@ -109,8 +95,8 @@ ElevationMappingNode::ElevationMappingNode() enablePointCloudPublishing_ = enablePointCloudPublishing; - // map_ = std::make_shared(); - // map_->initialize(node_); + map_ = std::make_shared(); + map_->initialize(node_); @@ -190,46 +176,38 @@ ElevationMappingNode::ElevationMappingNode() auto unique_pub_names = extract_unique_names(publisher_params); - // for (const auto& pub_name : unique_pub_names) { - // std::string topic_name = pub_name; - // std::vector layers_list; - // std::vector basic_layers_list; - // double fps; - // this->get_parameter("publishers." + pub_name + ".layers", layers_list) - // this->get_parameter("publishers." + pub_name + ".basic_layers", basic_layers_list) - // this->get_parameter("publishers." + pub_name + ".fps", fps) - // } + for (const auto& pub_name : unique_pub_names) { - std::string topic_name = pub_name; - double fps; - std::vector layers_list; - std::vector basic_layers_list; - - this->get_parameter("publishers." + pub_name + ".layers", layers_list); - this->get_parameter("publishers." + pub_name + ".basic_layers", basic_layers_list); - this->get_parameter("publishers." + pub_name + ".fps", fps); - - if (fps > updateGridMapFps) { - RCLCPP_WARN( - this->get_logger(), - "[ElevationMappingCupy] fps for topic %s is larger than map_acquire_fps (%f > %f). The topic data will be only updated at %f " - "fps.", - topic_name.c_str(), fps, updateGridMapFps, updateGridMapFps); - } + std::string topic_name = pub_name; + double fps; + std::vector layers_list; + std::vector basic_layers_list; + + this->get_parameter("publishers." + pub_name + ".layers", layers_list); + this->get_parameter("publishers." + pub_name + ".basic_layers", basic_layers_list); + this->get_parameter("publishers." + pub_name + ".fps", fps); + + if (fps > updateGridMapFps) { + RCLCPP_WARN( + this->get_logger(), + "[ElevationMappingCupy] fps for topic %s is larger than map_acquire_fps (%f > %f). The topic data will be only updated at %f " + "fps.", + topic_name.c_str(), fps, updateGridMapFps, updateGridMapFps); + } - // Make publishers - auto pub = this->create_publisher(topic_name, 1); - RCLCPP_INFO(this->get_logger(), "Publishing map to topic %s", topic_name.c_str()); - mapPubs_.push_back(pub); + // Make publishers + auto pub = this->create_publisher(topic_name, 1); + RCLCPP_INFO(this->get_logger(), "Publishing map to topic %s", topic_name.c_str()); + mapPubs_.push_back(pub); - // Register map layers - map_layers_.push_back(layers_list); - map_basic_layers_.push_back(basic_layers_list); + // Register map layers + map_layers_.push_back(layers_list); + map_basic_layers_.push_back(basic_layers_list); - // Register map fps - map_fps_.push_back(fps); - map_fps_unique_.insert(fps); + // Register map fps + map_fps_.push_back(fps); + map_fps_unique_.insert(fps); } @@ -319,31 +297,36 @@ void ElevationMappingNode::publishMapOfIndex(int index) { if (!isGridmapUpdated_) { return; } + + + std::unique_ptr msg_ptr; grid_map_msgs::msg::GridMap msg; + std::vector layers; - // { // need continuous lock between adding layers and converting to message. Otherwise updateGridmap can reset the data not in - // // map_layers_all_ - // std::lock_guard lock(mapMutex_); - // for (const auto& layer : map_layers_[index]) { - // const bool is_layer_in_all = map_layers_all_.find(layer) != map_layers_all_.end(); - // if (is_layer_in_all && gridMap_.exists(layer)) { - // layers.push_back(layer); - // } else if (map_.exists_layer(layer)) { - // // if there are layers which is not in the syncing layer. - // ElevationMappingWrapper::RowMatrixXf map_data; - // map_.get_layer_data(layer, map_data); - // gridMap_.add(layer, map_data); - // layers.push_back(layer); - // } - // } - // if (layers.empty()) { - // return; - // } - - // grid_map::GridMapRosConverter::toMessage(gridMap_, layers, msg); - // } + { // need continuous lock between adding layers and converting to message. Otherwise updateGridmap can reset the data not in + // map_layers_all_ + std::lock_guard lock(mapMutex_); + for (const auto& layer : map_layers_[index]) { + const bool is_layer_in_all = map_layers_all_.find(layer) != map_layers_all_.end(); + if (is_layer_in_all && gridMap_.exists(layer)) { + layers.push_back(layer); + } else if (map_->exists_layer(layer)) { + // if there are layers which is not in the syncing layer. + ElevationMappingWrapper::RowMatrixXf map_data; + map_->get_layer_data(layer, map_data); + gridMap_.add(layer, map_data); + layers.push_back(layer); + } + } + if (layers.empty()) { + return; + } + msg_ptr = grid_map::GridMapRosConverter::toMessage(gridMap_, layers); + msg= *msg_ptr; + } + msg.basic_layers = map_basic_layers_[index]; mapPubs_[index]->publish(msg); } diff --git a/elevation_mapping_cupy/src/elevation_mapping_wrapper.cpp b/elevation_mapping_cupy/src/elevation_mapping_wrapper.cpp index 013fb1b9..0e9f29c5 100644 --- a/elevation_mapping_cupy/src/elevation_mapping_wrapper.cpp +++ b/elevation_mapping_cupy/src/elevation_mapping_wrapper.cpp @@ -21,6 +21,19 @@ namespace elevation_mapping_cupy { +std::vector extract_unique_names(const std::map& subscriber_params) { + std::set unique_names_set; + for (const auto& param : subscriber_params) { + std::size_t pos = param.first.find('.'); + if (pos != std::string::npos) { + std::string name = param.first.substr(0, pos); + unique_names_set.insert(name); + } + } + return std::vector(unique_names_set.begin(), unique_names_set.end()); +} + + ElevationMappingWrapper::ElevationMappingWrapper(){} void ElevationMappingWrapper::initialize(const std::shared_ptr& node){ @@ -41,9 +54,11 @@ void ElevationMappingWrapper::initialize(const std::shared_ptr& no auto elevation_mapping = py::module::import("elevation_mapping_cupy.elevation_mapping"); auto parameter = py::module::import("elevation_mapping_cupy.parameter"); - param_ = parameter.attr("Parameter")(); + param_ = parameter.attr("Parameter")(); setParameters(); map_ = elevation_mapping.attr("ElevationMap")(param_); + RCLCPP_INFO(node_->get_logger(), "ElevationMappingWrapper has been initialized"); + } // /** @@ -52,9 +67,6 @@ void ElevationMappingWrapper::initialize(const std::shared_ptr& no // */ void ElevationMappingWrapper::setParameters() { - // auto parameter = py::module::import("elevation_mapping_cupy.parameter"); - // auto param_ = parameter.attr("Parameter")(); - // Get all parameters names and types. py::list paramNames = param_.attr("get_names")(); py::list paramTypes = param_.attr("get_types")(); @@ -110,108 +122,91 @@ void ElevationMappingWrapper::setParameters() { // rclcpp::Parameter subscribers; std::vector parameter_prefixes; auto parameters = node_->list_parameters(parameter_prefixes, 2); // List all parameters with a maximum depth of 10 - for (const auto& param_name : parameters.names) { - if (param_name.find("subscribers") != std::string::npos) { - RCLCPP_WARN(node_->get_logger(), "Subscriber : %s", param_name.c_str()); - - // const char* const name = param_name.c_str(); - // std::string subscriber_params; - // node_->get_parameter(param_name, subscriber); - // const auto& subscriber_params = subscriber.second; - // if (!sub_dict.contains(name)) { - // sub_dict[name] = py::dict(); - // } - // for (auto iterat : subscriber_params) { - // const char* const key = iterat.first.c_str(); - // const auto val = iterat.second; - // std::vector arr; - // switch (val.getType()) { - // case XmlRpc::XmlRpcValue::TypeString: - // sub_dict[name][key] = static_cast(val); - // break; - // case XmlRpc::XmlRpcValue::TypeInt: - // sub_dict[name][key] = static_cast(val); - // break; - // case XmlRpc::XmlRpcValue::TypeDouble: - // sub_dict[name][key] = static_cast(val); - // break; - // case XmlRpc::XmlRpcValue::TypeBoolean: - // sub_dict[name][key] = static_cast(val); - // break; - // case XmlRpc::XmlRpcValue::TypeArray: - // for (int32_t i = 0; i < val.size(); ++i) { - // auto elem = static_cast(val[i]); - // arr.push_back(elem); - // } - // sub_dict[name][key] = arr; - // arr.clear(); - // break; - // case XmlRpc::XmlRpcValue::TypeStruct: - // break; - // default: - // sub_dict[name][key] = py::cast(val); - // break; - // } - // } + + std::map subscriber_params; + if (!node_->get_parameters("subscribers", subscriber_params)) { + RCLCPP_FATAL(node_->get_logger(), "There aren't any subscribers to be configured, the elevation mapping cannot be configured. Exit"); + rclcpp::shutdown(); + } + auto unique_sub_names = extract_unique_names(subscriber_params); + for (const auto& name : unique_sub_names) { + const char* const name_c = name.c_str(); + if (!sub_dict.contains(name_c)) { + sub_dict[name_c] = py::dict(); + } + std::string topic_name; + if(node_->get_parameter("subscribers." + name + ".topic_name", topic_name)){ + const char* topic_name_cstr = "topic_name"; + sub_dict[name_c][topic_name_cstr] = static_cast(topic_name); + std::string data_type; + if(node_->get_parameter("subscribers." + name + ".data_type", data_type)){ + const char* data_type_cstr = "data_type"; + sub_dict[name_c][data_type_cstr] = static_cast(data_type); + } + std::string info_name; + if(node_->get_parameter("subscribers." + name + ".data_type", info_name)){ + const char* info_name_cstr = "info_name"; + sub_dict[name_c][info_name_cstr] = static_cast(info_name); + } + std::string channel_name; + if(node_->get_parameter("subscribers." + name + ".data_type", channel_name)){ + const char* channel_name_cstr = "channel_name"; + sub_dict[name_c][channel_name_cstr] = static_cast(channel_name); } } + } + + + param_.attr("subscriber_cfg") = sub_dict; + // point cloud channel fusion + std::map pointcloud_channel_fusions_params; + if (node_->get_parameters("pointcloud_channel_fusions", pointcloud_channel_fusions_params)) { + py::dict pointcloud_channel_fusion_dict; + for (const auto& param : pointcloud_channel_fusions_params) { + std::string param_name = param.first; + std::string param_value = param.second.as_string(); + // Extract the string after "pointcloud_channel_fusions." + pointcloud_channel_fusion_dict[param_name.c_str()] = param_value; + } + // Print the dictionary for debugging + for (auto item : pointcloud_channel_fusion_dict) { + RCLCPP_INFO(node_->get_logger(), "pointcloud_channel_fusions Key: %s, Value: %s", std::string(py::str(item.first)).c_str(), std::string(py::str(item.second)).c_str()); + } + } else { + RCLCPP_WARN(node_->get_logger(), "No parameters found for 'pointcloud_channel_fusions'"); + } - // // point cloud channel fusion - // if (!node_->has_parameter("pointcloud_channel_fusions")) { - // RCLCPP_WARN(node_->get_logger(), "No pointcloud_channel_fusions parameter found. Using default values."); - // } else { - // rclcpp::Parameter pointcloud_channel_fusion; - // node_->get_parameter("pointcloud_channel_fusions", pointcloud_channel_fusion); - - // py::dict pointcloud_channel_fusion_dict; - // auto pointcloud_channel_fusion_map = pointcloud_channel_fusion.as_string_array(); - // for (const auto& channel_fusion : pointcloud_channel_fusion_map) { - // const char* const fusion_name = channel_fusion.c_str(); - // std::string fusion; - // node_->get_parameter(fusion_name, fusion); - // if (!pointcloud_channel_fusion_dict.contains(fusion_name)) { - // pointcloud_channel_fusion_dict[fusion_name] = fusion; - // } - // } - // RCLCPP_INFO_STREAM(node_->get_logger(), "pointcloud_channel_fusion_dict: " << pointcloud_channel_fusion_dict); - // param_.attr("pointcloud_channel_fusions") = pointcloud_channel_fusion_dict; - // } + // image channel fusion + std::map image_channel_fusions_params; + if (node_->get_parameters("image_channel_fusions", image_channel_fusions_params)) { + py::dict image_channel_fusion_dict; + for (const auto& param : image_channel_fusions_params) { + std::string param_name = param.first; + std::string param_value = param.second.as_string(); + // Extract the string after "pointcloud_channel_fusions." + image_channel_fusion_dict[param_name.c_str()] = param_value; + } + // Print the dictionary for debugging + for (auto item : image_channel_fusion_dict) { + RCLCPP_INFO(node_->get_logger(), "image_channel_fusions Key: %s, Value: %s", std::string(py::str(item.first)).c_str(), std::string(py::str(item.second)).c_str()); + } + } else { + RCLCPP_WARN(node_->get_logger(), "No parameters found for 'image_channel_fusions'"); + } - - // // image channel fusion - // if (!node_->has_parameter("image_channel_fusions")) { - // RCLCPP_WARN(node_->get_logger(), "No image_channel_fusions parameter found. Using default values."); - // } else { - // rclcpp::Parameter image_channel_fusion; - // node_->get_parameter("image_channel_fusions", image_channel_fusion); - - // py::dict image_channel_fusion_dict; - // auto image_channel_fusion_map = image_channel_fusion.as_string_array(); - // for (const auto& channel_fusion : image_channel_fusion_map) { - // const char* const channel_fusion_name = channel_fusion.c_str(); - // std::string fusion; - // node_->get_parameter(channel_fusion_name, fusion); - // if (!image_channel_fusion_dict.contains(channel_fusion_name)) { - // image_channel_fusion_dict[channel_fusion_name] = fusion; - // } - // } - // RCLCPP_INFO_STREAM(node_->get_logger(), "image_channel_fusion_dict: " << image_channel_fusion_dict); - // param_.attr("image_channel_fusions") = image_channel_fusion_dict; - // } - - // param_.attr("update")(); - // resolution_ = py::cast(param_.attr("get_value")("resolution")); - // map_length_ = py::cast(param_.attr("get_value")("true_map_length")); - // map_n_ = py::cast(param_.attr("get_value")("true_cell_n")); - - // node_->declare_parameter("enable_normal", false); - // node_->declare_parameter("enable_normal_color", false); - // enable_normal_ = node_->get_parameter("enable_normal").as_bool(); - // enable_normal_color_ = node_->get_parameter("enable_normal_color").as_bool(); + + param_.attr("update")(); + resolution_ = py::cast(param_.attr("get_value")("resolution")); + map_length_ = py::cast(param_.attr("get_value")("true_map_length")); + map_n_ = py::cast(param_.attr("get_value")("true_cell_n")); + + + enable_normal_ = node_->get_parameter("enable_normal").as_bool(); + enable_normal_color_ = node_->get_parameter("enable_normal_color").as_bool(); } From 50d1623164d5e6e02f8e21a4038289397bd93a47 Mon Sep 17 00:00:00 2001 From: amilearning Date: Thu, 7 Nov 2024 14:49:09 +0100 Subject: [PATCH 450/504] upto initializationMap --- elevation_map_msgs/CMakeLists.txt | 2 +- elevation_mapping_cupy/CMakeLists.txt | 2 +- .../elevation_mapping_ros.hpp | 31 +- .../src/elevation_mapping_ros.cpp | 366 ++++++++++-------- 4 files changed, 227 insertions(+), 174 deletions(-) diff --git a/elevation_map_msgs/CMakeLists.txt b/elevation_map_msgs/CMakeLists.txt index 0ea3f7cb..08e4467b 100644 --- a/elevation_map_msgs/CMakeLists.txt +++ b/elevation_map_msgs/CMakeLists.txt @@ -19,7 +19,7 @@ set(srv_files rosidl_generate_interfaces(${PROJECT_NAME} ${msg_files} ${srv_files} - DEPENDENCIES geometry_msgs std_msgs # Added std_msgs + DEPENDENCIES geometry_msgs std_msgs std_msgs # Added std_msgs ) ament_export_dependencies(rosidl_default_runtime) diff --git a/elevation_mapping_cupy/CMakeLists.txt b/elevation_mapping_cupy/CMakeLists.txt index 91e4db8d..9925bc5d 100644 --- a/elevation_mapping_cupy/CMakeLists.txt +++ b/elevation_mapping_cupy/CMakeLists.txt @@ -65,7 +65,7 @@ set(dependencies # Include directories include_directories( - include + include ${PYTHON_INCLUDE_DIRS} ${Eigen3_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS} diff --git a/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp b/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp index b4abac57..f887afe4 100644 --- a/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp +++ b/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp @@ -26,8 +26,8 @@ #include #include #include -#include #include +#include #include #include #include @@ -56,6 +56,7 @@ #include #include #include +#include #include "elevation_mapping_cupy/elevation_mapping_wrapper.hpp" @@ -108,19 +109,29 @@ void imageChannelCallback(const std::shared_ptr& // void pointCloudChannelCallback(const sensor_msgs::PointCloud2& cloud, const elevation_map_msgs::ChannelInfoConstPtr& channel_info_msg); // // void multiLayerImageCallback(const elevation_map_msgs::MultiLayerImageConstPtr& image_msg, const sensor_msgs::CameraInfoConstPtr& camera_info_msg); // void publishAsPointCloud(const grid_map::GridMap& map) const; -// bool getSubmap(grid_map_msgs::GetGridMap::Request& request, grid_map_msgs::GetGridMap::Response& response); +bool getSubmap( const std::shared_ptr request, std::shared_ptr response); + + // bool checkSafety(elevation_map_msgs::CheckSafety::Request& request, elevation_map_msgs::CheckSafety::Response& response); -// bool initializeMap(elevation_map_msgs::Initialize::Request& request, elevation_map_msgs::Initialize::Response& response); -// bool clearMap(std_srvs::Empty::Request& request, std_srvs::Empty::Response& response); -// bool clearMapWithInitializer(std_srvs::Empty::Request& request, std_srvs::Empty::Response& response); + + void initializeMap(const std::shared_ptr request, std::shared_ptr response); + + + // bool clearMap(std_srvs::Empty::Request& request, std_srvs::Empty::Response& response); + + +void clearMap(const std::shared_ptr request, std::shared_ptr response); +void clearMapWithInitializer(const std::shared_ptr request, std::shared_ptr response); + + // bool setPublishPoint(std_srvs::SetBool::Request& request, std_srvs::SetBool::Response& response); // void updatePose(const ros::TimerEvent&); // void updateVariance(const ros::TimerEvent&); // void updateTime(const ros::TimerEvent&); // void updateGridMap(const ros::TimerEvent&); // void publishNormalAsArrow(const grid_map::GridMap& map) const; -// void initializeWithTF(); -// void publishMapToOdom(double error); + void initializeWithTF(); + void publishMapToOdom(double error); // void publishStatistics(const ros::TimerEvent&); void publishMapOfIndex(int index); @@ -143,10 +154,10 @@ void imageChannelCallback(const std::shared_ptr& std::shared_ptr tfBuffer_; - rclcpp::Publisher::SharedPtr alivePub_; + rclcpp::Publisher::SharedPtr alivePub_; rclcpp::Publisher::SharedPtr pointPub_; - rclcpp::Publisher::SharedPtr normalPub_; - rclcpp::Publisher::SharedPtr statisticsPub_; + rclcpp::Publisher::SharedPtr normalPub_; + rclcpp::Publisher::SharedPtr statisticsPub_; rclcpp::Service::SharedPtr rawSubmapService_; rclcpp::Service::SharedPtr clearMapService_; rclcpp::Service::SharedPtr clearMapWithInitializerService_; diff --git a/elevation_mapping_cupy/src/elevation_mapping_ros.cpp b/elevation_mapping_cupy/src/elevation_mapping_ros.cpp index 7ebb5dd2..0f29da25 100644 --- a/elevation_mapping_cupy/src/elevation_mapping_ros.cpp +++ b/elevation_mapping_cupy/src/elevation_mapping_ros.cpp @@ -214,19 +214,32 @@ ElevationMappingNode::ElevationMappingNode() setupMapPublishers(); -// pointPub_ = nh_.advertise("elevation_map_points", 1); -// alivePub_ = nh_.advertise("alive", 1); -// normalPub_ = nh_.advertise("normal", 1); -// statisticsPub_ = nh_.advertise("statistics", 1); - -// gridMap_.setFrameId(mapFrameId_); -// rawSubmapService_ = nh_.advertiseService("get_raw_submap", &ElevationMappingNode::getSubmap, this); -// clearMapService_ = nh_.advertiseService("clear_map", &ElevationMappingNode::clearMap, this); -// initializeMapService_ = nh_.advertiseService("initialize", &ElevationMappingNode::initializeMap, this); -// clearMapWithInitializerService_ = -// nh_.advertiseService("clear_map_with_initializer", &ElevationMappingNode::clearMapWithInitializer, this); -// setPublishPointService_ = nh_.advertiseService("set_publish_points", &ElevationMappingNode::setPublishPoint, this); -// checkSafetyService_ = nh_.advertiseService("check_safety", &ElevationMappingNode::checkSafety, this); + pointPub_ = this->create_publisher("elevation_map_points", 1); + alivePub_ = this->create_publisher("alive", 1); + normalPub_ = this->create_publisher("normal", 1); + statisticsPub_ = this->create_publisher("statistics", 1); + + gridMap_.setFrameId(mapFrameId_); + +rawSubmapService_ = this->create_service( + "get_raw_submap", std::bind(&ElevationMappingNode::getSubmap, this, std::placeholders::_1, std::placeholders::_2)); + +clearMapService_ = this->create_service( + "clear_map", std::bind(&ElevationMappingNode::clearMap, this, std::placeholders::_1, std::placeholders::_2)); + +clearMapWithInitializerService_ = this->create_service( + "clear_map_with_initializer", std::bind(&ElevationMappingNode::clearMapWithInitializer, this, std::placeholders::_1, std::placeholders::_2)); + + +initializeMapService_ = this->create_service( + "initialize", std::bind(&ElevationMappingNode::initializeMap, this, std::placeholders::_1, std::placeholders::_2)); + + +// setPublishPointService_ = this->create_service( +// "set_publish_points", std::bind(&ElevationMappingNode::setPublishPoint, this, std::placeholders::_1, std::placeholders::_2)); +// checkSafetyService_ = this->create_service( +// "check_safety", std::bind(&ElevationMappingNode::checkSafety, this, std::placeholders::_1, std::placeholders::_2)); + // if (updateVarianceFps > 0) { // double duration = 1.0 / (updateVarianceFps + 0.00001); @@ -390,12 +403,12 @@ void ElevationMappingNode::inputPointCloud(const sensor_msgs::msg::PointCloud2:: orientationError = orientationError_; } - // map_.input(points, channels, transformationSensorToMap.rotation(), transformationSensorToMap.translation(), positionError, - // orientationError); + map_->input(points, channels, transformationSensorToMap.rotation(), transformationSensorToMap.translation(), positionError, + orientationError); - // if (enableDriftCorrectedTFPublishing_) { - // publishMapToOdom(map_.get_additive_mean_error()); - // } + if (enableDriftCorrectedTFPublishing_) { + publishMapToOdom(map_->get_additive_mean_error()); + } RCLCPP_DEBUG(this->get_logger(), "ElevationMap processed a point cloud (%i points) in %f sec.", static_cast(points.size()), (this->now() - start).seconds()); @@ -540,101 +553,118 @@ RCLCPP_DEBUG(this->get_logger(), "ElevationMap imageChannelCallback processed an // pointPub_.publish(msg); // } -// bool ElevationMappingNode::getSubmap(grid_map_msgs::GetGridMap::Request& request, grid_map_msgs::GetGridMap::Response& response) { -// std::string requestedFrameId = request.frame_id; -// Eigen::Isometry3d transformationOdomToMap; -// grid_map::Position requestedSubmapPosition(request.position_x, request.position_y); -// if (requestedFrameId != mapFrameId_) { -// tf::StampedTransform transformTf; -// const auto& timeStamp = ros::Time::now(); -// try { -// transformListener_.waitForTransform(requestedFrameId, mapFrameId_, timeStamp, ros::Duration(1.0)); -// transformListener_.lookupTransform(requestedFrameId, mapFrameId_, timeStamp, transformTf); -// tf::poseTFToEigen(transformTf, transformationOdomToMap); -// } catch (tf::TransformException& ex) { -// ROS_ERROR("%s", ex.what()); -// return false; -// } -// Eigen::Vector3d p(request.position_x, request.position_y, 0); -// Eigen::Vector3d mapP = transformationOdomToMap.inverse() * p; -// requestedSubmapPosition.x() = mapP.x(); -// requestedSubmapPosition.y() = mapP.y(); -// } -// grid_map::Length requestedSubmapLength(request.length_x, request.length_y); -// ROS_DEBUG("Elevation submap request: Position x=%f, y=%f, Length x=%f, y=%f.", requestedSubmapPosition.x(), requestedSubmapPosition.y(), -// requestedSubmapLength(0), requestedSubmapLength(1)); -// bool isSuccess; -// grid_map::Index index; -// grid_map::GridMap subMap; -// { -// std::lock_guard lock(mapMutex_); -// subMap = gridMap_.getSubmap(requestedSubmapPosition, requestedSubmapLength, index, isSuccess); -// } -// const auto& length = subMap.getLength(); -// if (requestedFrameId != mapFrameId_) { -// subMap = subMap.getTransformedMap(transformationOdomToMap, "elevation", requestedFrameId); -// } +bool ElevationMappingNode::getSubmap( + const std::shared_ptr request, + std::shared_ptr response) { + std::string requestedFrameId = request->frame_id; + Eigen::Isometry3d transformationOdomToMap; + geometry_msgs::msg::Pose pose; + grid_map::Position requestedSubmapPosition(request->position_x, request->position_y); + if (requestedFrameId != mapFrameId_) { + geometry_msgs::msg::TransformStamped transformStamped; + const auto& timeStamp = this->now(); + try { + transformStamped = tfBuffer_->lookupTransform(requestedFrameId, mapFrameId_, timeStamp, tf2::durationFromSec(1.0)); + + + pose.position.x = transformStamped.transform.translation.x; + pose.position.y = transformStamped.transform.translation.y; + pose.position.z = transformStamped.transform.translation.z; + pose.orientation = transformStamped.transform.rotation; -// if (request.layers.empty()) { -// grid_map::GridMapRosConverter::toMessage(subMap, response.map); -// } else { -// std::vector layers; -// for (const auto& layer : request.layers) { -// layers.push_back(layer); -// } -// grid_map::GridMapRosConverter::toMessage(subMap, layers, response.map); -// } -// return isSuccess; -// } + tf2::fromMsg(pose, transformationOdomToMap); + } catch (tf2::TransformException& ex) { + RCLCPP_ERROR(this->get_logger(), "%s", ex.what()); + return false; + } + Eigen::Vector3d p(request->position_x, request->position_y, 0); + Eigen::Vector3d mapP = transformationOdomToMap.inverse() * p; + requestedSubmapPosition.x() = mapP.x(); + requestedSubmapPosition.y() = mapP.y(); + } + grid_map::Length requestedSubmapLength(request->length_x, request->length_y); + RCLCPP_DEBUG(this->get_logger(), "Elevation submap request: Position x=%f, y=%f, Length x=%f, y=%f.", + requestedSubmapPosition.x(), requestedSubmapPosition.y(), + requestedSubmapLength(0), requestedSubmapLength(1)); + + bool isSuccess; + grid_map::Index index; + grid_map::GridMap subMap; + { + std::lock_guard lock(mapMutex_); + subMap = gridMap_.getSubmap(requestedSubmapPosition, requestedSubmapLength, isSuccess); + } + const auto& length = subMap.getLength(); + if (requestedFrameId != mapFrameId_) { + subMap = subMap.getTransformedMap(transformationOdomToMap, "elevation", requestedFrameId); + } -// bool ElevationMappingNode::clearMap(std_srvs::Empty::Request& request, std_srvs::Empty::Response& response) { -// ROS_INFO("Clearing map."); -// map_.clear(); -// if (alwaysClearWithInitializer_) { -// initializeWithTF(); -// } -// return true; -// } + if (request->layers.empty()) { + auto msg_ptr = grid_map::GridMapRosConverter::toMessage(subMap); + response->map = *msg_ptr; + } else { + std::vector layers; + for (const auto& layer : request->layers) { + layers.push_back(layer); + } + auto msg_ptr = grid_map::GridMapRosConverter::toMessage(subMap, layers); + response->map = *msg_ptr; -// bool ElevationMappingNode::clearMapWithInitializer(std_srvs::Empty::Request& request, std_srvs::Empty::Response& response) { -// ROS_INFO("Clearing map with initializer."); -// map_.clear(); -// initializeWithTF(); -// return true; -// } + } + return isSuccess; +} -// void ElevationMappingNode::initializeWithTF() { -// std::vector points; -// const auto& timeStamp = ros::Time::now(); -// int i = 0; -// Eigen::Vector3d p; -// for (const auto& frame_id : initialize_frame_id_) { -// // Get tf from map frame to tf frame -// Eigen::Affine3d transformationBaseToMap; -// tf::StampedTransform transformTf; -// try { -// transformListener_.waitForTransform(mapFrameId_, frame_id, timeStamp, ros::Duration(1.0)); -// transformListener_.lookupTransform(mapFrameId_, frame_id, timeStamp, transformTf); -// poseTFToEigen(transformTf, transformationBaseToMap); -// } catch (tf::TransformException& ex) { -// ROS_ERROR("%s", ex.what()); -// return; -// } -// p = transformationBaseToMap.translation(); -// p.z() += initialize_tf_offset_[i]; -// points.push_back(p); -// i++; -// } -// if (!points.empty() && points.size() < 3) { -// points.emplace_back(p + Eigen::Vector3d(initializeTfGridSize_, initializeTfGridSize_, 0)); -// points.emplace_back(p + Eigen::Vector3d(-initializeTfGridSize_, initializeTfGridSize_, 0)); -// points.emplace_back(p + Eigen::Vector3d(initializeTfGridSize_, -initializeTfGridSize_, 0)); -// points.emplace_back(p + Eigen::Vector3d(-initializeTfGridSize_, -initializeTfGridSize_, 0)); -// } -// ROS_INFO_STREAM("Initializing map with points using " << initializeMethod_); -// map_.initializeWithPoints(points, initializeMethod_); -// } + + +void ElevationMappingNode::clearMap(const std::shared_ptr request, + std::shared_ptr response) { + + std::lock_guard lock(mapMutex_); + RCLCPP_INFO(this->get_logger(), "Clearing map."); + map_->clear(); + if (alwaysClearWithInitializer_) { + initializeWithTF(); + } +} + +void ElevationMappingNode::clearMapWithInitializer(const std::shared_ptr request, std::shared_ptr response){ + RCLCPP_INFO(this->get_logger(), "Clearing map with initializer"); + map_->clear(); + initializeWithTF(); + +} + +void ElevationMappingNode::initializeWithTF() { + std::vector points; + const auto& timeStamp = this->now(); + int i = 0; + Eigen::Vector3d p; + for (const auto& frame_id : initialize_frame_id_) { + // Get tf from map frame to tf frame + Eigen::Affine3d transformationBaseToMap; + geometry_msgs::msg::TransformStamped transformStamped; + try { + transformStamped = tfBuffer_->lookupTransform(mapFrameId_, frame_id, timeStamp, tf2::durationFromSec(1.0)); + transformationBaseToMap = tf2::transformToEigen(transformStamped); + } catch (tf2::TransformException& ex) { + RCLCPP_ERROR(this->get_logger(), "%s", ex.what()); + return; + } + p = transformationBaseToMap.translation(); + p.z() += initialize_tf_offset_[i]; + points.push_back(p); + i++; + } + if (!points.empty() && points.size() < 3) { + points.emplace_back(p + Eigen::Vector3d(initializeTfGridSize_, initializeTfGridSize_, 0)); + points.emplace_back(p + Eigen::Vector3d(-initializeTfGridSize_, initializeTfGridSize_, 0)); + points.emplace_back(p + Eigen::Vector3d(initializeTfGridSize_, -initializeTfGridSize_, 0)); + points.emplace_back(p + Eigen::Vector3d(-initializeTfGridSize_, -initializeTfGridSize_, 0)); + } + RCLCPP_INFO(this->get_logger(), "Initializing map with points using %s", initializeMethod_.c_str()); + map_->initializeWithPoints(points, initializeMethod_); +} // bool ElevationMappingNode::checkSafety(elevation_map_msgs::CheckSafety::Request& request, // elevation_map_msgs::CheckSafety::Response& response) { @@ -737,52 +767,51 @@ RCLCPP_DEBUG(this->get_logger(), "ElevationMap imageChannelCallback processed an // isGridmapUpdated_ = true; // } -// bool ElevationMappingNode::initializeMap(elevation_map_msgs::Initialize::Request& request, -// elevation_map_msgs::Initialize::Response& response) { -// // If initialize method is points -// if (request.type == request.POINTS) { -// std::vector points; -// for (const auto& point : request.points) { -// const auto& pointFrameId = point.header.frame_id; -// const auto& timeStamp = point.header.stamp; -// const auto& pvector = Eigen::Vector3d(point.point.x, point.point.y, point.point.z); - -// // Get tf from map frame to points' frame -// if (mapFrameId_ != pointFrameId) { -// Eigen::Affine3d transformationBaseToMap; -// tf::StampedTransform transformTf; -// try { -// transformListener_.waitForTransform(mapFrameId_, pointFrameId, timeStamp, ros::Duration(1.0)); -// transformListener_.lookupTransform(mapFrameId_, pointFrameId, timeStamp, transformTf); -// poseTFToEigen(transformTf, transformationBaseToMap); -// } catch (tf::TransformException& ex) { -// ROS_ERROR("%s", ex.what()); -// return false; -// } -// const auto transformed_p = transformationBaseToMap * pvector; -// points.push_back(transformed_p); -// } else { -// points.push_back(pvector); -// } -// } -// std::string method; -// switch (request.method) { -// case request.NEAREST: -// method = "nearest"; -// break; -// case request.LINEAR: -// method = "linear"; -// break; -// case request.CUBIC: -// method = "cubic"; -// break; -// } -// ROS_INFO_STREAM("Initializing map with points using " << method); -// map_.initializeWithPoints(points, method); -// } -// response.success = true; -// return true; -// } +void ElevationMappingNode::initializeMap(const std::shared_ptr request, + std::shared_ptr response) { + // If initialize method is points + if (request->type == elevation_map_msgs::srv::Initialize::Request::POINTS) { + std::vector points; + for (const auto& point : request->points) { + const auto& pointFrameId = point.header.frame_id; + const auto& timeStamp = point.header.stamp; + const auto& pvector = Eigen::Vector3d(point.point.x, point.point.y, point.point.z); + + // Get tf from map frame to points' frame + if (mapFrameId_ != pointFrameId) { + Eigen::Affine3d transformationBaseToMap; + geometry_msgs::msg::TransformStamped transformStamped; + try { + transformStamped = tfBuffer_->lookupTransform(mapFrameId_, pointFrameId, timeStamp, tf2::durationFromSec(1.0)); + transformationBaseToMap = tf2::transformToEigen(transformStamped); + } catch (tf2::TransformException& ex) { + RCLCPP_ERROR(this->get_logger(), "%s", ex.what()); + response->success = false; + return; + } + const auto transformed_p = transformationBaseToMap * pvector; + points.push_back(transformed_p); + } else { + points.push_back(pvector); + } + } + std::string method; + switch (request->method) { + case elevation_map_msgs::srv::Initialize::Request::NEAREST: + method = "nearest"; + break; + case elevation_map_msgs::srv::Initialize::Request::LINEAR: + method = "linear"; + break; + case elevation_map_msgs::srv::Initialize::Request::CUBIC: + method = "cubic"; + break; + } + RCLCPP_INFO(this->get_logger(), "Initializing map with points using %s", method.c_str()); + map_->initializeWithPoints(points, method); + } + response->success = true; +} // void ElevationMappingNode::publishNormalAsArrow(const grid_map::GridMap& map) const { // auto startTime = ros::Time::now(); @@ -844,13 +873,26 @@ RCLCPP_DEBUG(this->get_logger(), "ElevationMap imageChannelCallback processed an // return marker; // } -// void ElevationMappingNode::publishMapToOdom(double error) { -// tf::Transform transform; -// transform.setOrigin(tf::Vector3(0.0, 0.0, error)); -// tf::Quaternion q; -// q.setRPY(0, 0, 0); -// transform.setRotation(q); -// tfBroadcaster_.sendTransform(tf::StampedTransform(transform, ros::Time::now(), mapFrameId_, correctedMapFrameId_)); -// } + +void ElevationMappingNode::publishMapToOdom(double error) { + geometry_msgs::msg::TransformStamped transform_stamped; + transform_stamped.header.stamp = this->now(); + transform_stamped.header.frame_id = mapFrameId_; + transform_stamped.child_frame_id = correctedMapFrameId_; + transform_stamped.transform.translation.x = 0.0; + transform_stamped.transform.translation.y = 0.0; + transform_stamped.transform.translation.z = error; + + tf2::Quaternion q; + q.setRPY(0, 0, 0); + transform_stamped.transform.rotation.x = q.x(); + transform_stamped.transform.rotation.y = q.y(); + transform_stamped.transform.rotation.z = q.z(); + transform_stamped.transform.rotation.w = q.w(); + + tfBroadcaster_->sendTransform(transform_stamped); +} + + } // namespace elevation_mapping_cupy From f71c3c36f60430f8c6013f712a45ce3fc8583f1b Mon Sep 17 00:00:00 2001 From: amilearning Date: Fri, 8 Nov 2024 04:43:12 +0100 Subject: [PATCH 451/504] pointcloud done --- .../config/core/core_param.yaml | 8 +- .../elevation_mapping_ros.hpp | 35 +- .../src/elevation_mapping_ros.cpp | 325 +++++++++--------- 3 files changed, 192 insertions(+), 176 deletions(-) diff --git a/elevation_mapping_cupy/config/core/core_param.yaml b/elevation_mapping_cupy/config/core/core_param.yaml index 19f8aa28..c128291f 100644 --- a/elevation_mapping_cupy/config/core/core_param.yaml +++ b/elevation_mapping_cupy/config/core/core_param.yaml @@ -1,7 +1,7 @@ elevation_mapping: ros__parameters: #### Basic parameters ######## - cell_n: 10000 # number of cells in the map. + cell_n: 40000 # number of cells in the map. data_type: 'float32' # data type for the map. average_weight: 0.5 drift_compensation_variance_inlier: 0.1 @@ -9,8 +9,8 @@ elevation_mapping: min_filter_size: 5 # size of the filter for min filter. min_filter_iteration: 3 # number of iterations for min filter. initialized_variance: 10.0 # initial variance for each cell. - resolution: 0.04 # resolution in m. - map_length: 8.0 # map's size in m. + resolution: 0.1 # resolution in m. + map_length: 20.0 # map's size in m. sensor_noise_factor: 0.05 # point's noise is sensor_noise_factor*z^2 (z is distance from sensor). mahalanobis_thresh: 2.0 # points outside this distance is outlier. outlier_variance: 0.01 # if point is outlier, add this value to the cell. @@ -105,7 +105,7 @@ elevation_mapping: subscribers: pointcloud1: - topic_name: '/a200/sensors/camera_1/points' + topic_name: '/a200/sensors/camera_0/points' data_type: 'pointcloud' image1: topic_name: '/a200/sensors/camera_0/color/image' diff --git a/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp b/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp index f887afe4..7cf91ce1 100644 --- a/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp +++ b/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp @@ -108,34 +108,33 @@ void imageChannelCallback(const std::shared_ptr& // void pointCloudChannelCallback(const sensor_msgs::PointCloud2& cloud, const elevation_map_msgs::ChannelInfoConstPtr& channel_info_msg); // // void multiLayerImageCallback(const elevation_map_msgs::MultiLayerImageConstPtr& image_msg, const sensor_msgs::CameraInfoConstPtr& camera_info_msg); -// void publishAsPointCloud(const grid_map::GridMap& map) const; +void publishAsPointCloud(const grid_map::GridMap& map) const; bool getSubmap( const std::shared_ptr request, std::shared_ptr response); // bool checkSafety(elevation_map_msgs::CheckSafety::Request& request, elevation_map_msgs::CheckSafety::Response& response); - void initializeMap(const std::shared_ptr request, std::shared_ptr response); - - - // bool clearMap(std_srvs::Empty::Request& request, std_srvs::Empty::Response& response); - - +void initializeMap(const std::shared_ptr request, std::shared_ptr response); void clearMap(const std::shared_ptr request, std::shared_ptr response); void clearMapWithInitializer(const std::shared_ptr request, std::shared_ptr response); -// bool setPublishPoint(std_srvs::SetBool::Request& request, std_srvs::SetBool::Response& response); -// void updatePose(const ros::TimerEvent&); -// void updateVariance(const ros::TimerEvent&); -// void updateTime(const ros::TimerEvent&); -// void updateGridMap(const ros::TimerEvent&); -// void publishNormalAsArrow(const grid_map::GridMap& map) const; - void initializeWithTF(); - void publishMapToOdom(double error); -// void publishStatistics(const ros::TimerEvent&); - void publishMapOfIndex(int index); -// visualization_msgs::Marker vectorToArrowMarker(const Eigen::Vector3d& start, const Eigen::Vector3d& end, const int id) const; +void setPublishPoint(const std::shared_ptr request, + std::shared_ptr response); + + +void updateVariance(); +void updateTime(); +void updatePose(); +void updateGridMap(); +void publishStatistics(); + +void publishNormalAsArrow(const grid_map::GridMap& map) const; +void initializeWithTF(); +void publishMapToOdom(double error); +void publishMapOfIndex(int index); +visualization_msgs::msg::Marker vectorToArrowMarker(const Eigen::Vector3d& start, const Eigen::Vector3d& end, const int id) const; rclcpp::Node::SharedPtr node_; // image_transport::ImageTransport it_; diff --git a/elevation_mapping_cupy/src/elevation_mapping_ros.cpp b/elevation_mapping_cupy/src/elevation_mapping_ros.cpp index 0f29da25..57f8bd83 100644 --- a/elevation_mapping_cupy/src/elevation_mapping_ros.cpp +++ b/elevation_mapping_cupy/src/elevation_mapping_ros.cpp @@ -234,35 +234,40 @@ clearMapWithInitializerService_ = this->create_service( initializeMapService_ = this->create_service( "initialize", std::bind(&ElevationMappingNode::initializeMap, this, std::placeholders::_1, std::placeholders::_2)); +setPublishPointService_ = this->create_service( + "set_publish_points", std::bind(&ElevationMappingNode::setPublishPoint, this, std::placeholders::_1, std::placeholders::_2)); -// setPublishPointService_ = this->create_service( -// "set_publish_points", std::bind(&ElevationMappingNode::setPublishPoint, this, std::placeholders::_1, std::placeholders::_2)); // checkSafetyService_ = this->create_service( // "check_safety", std::bind(&ElevationMappingNode::checkSafety, this, std::placeholders::_1, std::placeholders::_2)); -// if (updateVarianceFps > 0) { -// double duration = 1.0 / (updateVarianceFps + 0.00001); -// updateVarianceTimer_ = nh_.createTimer(ros::Duration(duration), &ElevationMappingNode::updateVariance, this, false, true); -// } -// if (timeInterval > 0) { -// double duration = timeInterval; -// updateTimeTimer_ = nh_.createTimer(ros::Duration(duration), &ElevationMappingNode::updateTime, this, false, true); -// } -// if (updatePoseFps > 0) { -// double duration = 1.0 / (updatePoseFps + 0.00001); -// updatePoseTimer_ = nh_.createTimer(ros::Duration(duration), &ElevationMappingNode::updatePose, this, false, true); -// } -// if (updateGridMapFps > 0) { -// double duration = 1.0 / (updateGridMapFps + 0.00001); -// updateGridMapTimer_ = nh_.createTimer(ros::Duration(duration), &ElevationMappingNode::updateGridMap, this, false, true); -// } -// if (publishStatisticsFps > 0) { -// double duration = 1.0 / (publishStatisticsFps + 0.00001); -// publishStatisticsTimer_ = nh_.createTimer(ros::Duration(duration), &ElevationMappingNode::publishStatistics, this, false, true); -// } -// lastStatisticsPublishedTime_ = ros::Time::now(); -// ROS_INFO("[ElevationMappingCupy] finish initialization"); + if (updateVarianceFps > 0) { + double duration = 1.0 / (updateVarianceFps + 0.00001); + updateVarianceTimer_ = this->create_wall_timer(std::chrono::duration(duration), + std::bind(&ElevationMappingNode::updateVariance, this)); + } + if (timeInterval > 0) { + double duration = timeInterval; + updateTimeTimer_ = this->create_wall_timer(std::chrono::duration(duration), + std::bind(&ElevationMappingNode::updateTime, this)); + } + if (updatePoseFps > 0) { + double duration = 1.0 / (updatePoseFps + 0.00001); + updatePoseTimer_ = this->create_wall_timer(std::chrono::duration(duration), + std::bind(&ElevationMappingNode::updatePose, this)); + } + if (updateGridMapFps > 0) { + double duration = 1.0 / (updateGridMapFps + 0.00001); + updateGridMapTimer_ = this->create_wall_timer(std::chrono::duration(duration), + std::bind(&ElevationMappingNode::updateGridMap, this)); + } + if (publishStatisticsFps > 0) { + double duration = 1.0 / (publishStatisticsFps + 0.00001); + publishStatisticsTimer_ = this->create_wall_timer(std::chrono::duration(duration), + std::bind(&ElevationMappingNode::publishStatistics, this)); + } + lastStatisticsPublishedTime_ = this->now(); + RCLCPP_INFO(this->get_logger(), "[ElevationMappingCupy] finish initialization"); } // namespace elevation_mapping_cupy @@ -513,45 +518,51 @@ auto start = this->now(); RCLCPP_DEBUG(this->get_logger(), "ElevationMap imageChannelCallback processed an image in %f sec.", (this->now() - start).seconds()); } -// void ElevationMappingNode::updatePose(const ros::TimerEvent&) { -// tf::StampedTransform transformTf; -// const auto& timeStamp = ros::Time::now(); -// Eigen::Affine3d transformationBaseToMap; -// try { -// transformListener_.waitForTransform(mapFrameId_, baseFrameId_, timeStamp, ros::Duration(1.0)); -// transformListener_.lookupTransform(mapFrameId_, baseFrameId_, timeStamp, transformTf); -// poseTFToEigen(transformTf, transformationBaseToMap); -// } catch (tf::TransformException& ex) { -// ROS_ERROR("%s", ex.what()); -// return; -// } -// // This is to check if the robot is moving. If the robot is not moving, drift compensation is disabled to avoid creating artifacts. -// Eigen::Vector3d position(transformTf.getOrigin().x(), transformTf.getOrigin().y(), transformTf.getOrigin().z()); -// map_.move_to(position, transformationBaseToMap.rotation().transpose()); -// Eigen::Vector3d position3(transformTf.getOrigin().x(), transformTf.getOrigin().y(), transformTf.getOrigin().z()); -// Eigen::Vector4d orientation(transformTf.getRotation().x(), transformTf.getRotation().y(), transformTf.getRotation().z(), -// transformTf.getRotation().w()); -// lowpassPosition_ = positionAlpha_ * position3 + (1 - positionAlpha_) * lowpassPosition_; -// lowpassOrientation_ = orientationAlpha_ * orientation + (1 - orientationAlpha_) * lowpassOrientation_; -// { -// std::lock_guard lock(errorMutex_); -// positionError_ = (position3 - lowpassPosition_).norm(); -// orientationError_ = (orientation - lowpassOrientation_).norm(); -// } +void ElevationMappingNode::updatePose() { + geometry_msgs::msg::TransformStamped transformStamped; + const auto& timeStamp = this->now(); + Eigen::Affine3d transformationBaseToMap; + try { + transformStamped = tfBuffer_->lookupTransform(mapFrameId_, baseFrameId_, timeStamp, tf2::durationFromSec(1.0)); + transformationBaseToMap = tf2::transformToEigen(transformStamped); + } catch (tf2::TransformException& ex) { + RCLCPP_ERROR(this->get_logger(), "%s", ex.what()); + return; + } -// if (useInitializerAtStart_) { -// ROS_INFO("Clearing map with initializer."); -// initializeWithTF(); -// useInitializerAtStart_ = false; -// } -// } + // This is to check if the robot is moving. If the robot is not moving, drift compensation is disabled to avoid creating artifacts. + Eigen::Vector3d position(transformStamped.transform.translation.x, + transformStamped.transform.translation.y, + transformStamped.transform.translation.z); + map_->move_to(position, transformationBaseToMap.rotation().transpose()); + Eigen::Vector3d position3(transformStamped.transform.translation.x, + transformStamped.transform.translation.y, + transformStamped.transform.translation.z); + Eigen::Vector4d orientation(transformStamped.transform.rotation.x, + transformStamped.transform.rotation.y, + transformStamped.transform.rotation.z, + transformStamped.transform.rotation.w); + lowpassPosition_ = positionAlpha_ * position3 + (1 - positionAlpha_) * lowpassPosition_; + lowpassOrientation_ = orientationAlpha_ * orientation + (1 - orientationAlpha_) * lowpassOrientation_; + { + std::lock_guard lock(errorMutex_); + positionError_ = (position3 - lowpassPosition_).norm(); + orientationError_ = (orientation - lowpassOrientation_).norm(); + } -// void ElevationMappingNode::publishAsPointCloud(const grid_map::GridMap& map) const { -// sensor_msgs::PointCloud2 msg; -// grid_map::GridMapRosConverter::toPointCloud(map, "elevation", msg); -// pointPub_.publish(msg); -// } + if (useInitializerAtStart_) { + RCLCPP_INFO(this->get_logger(), "Clearing map with initializer."); + initializeWithTF(); + useInitializerAtStart_ = false; + } +} + +void ElevationMappingNode::publishAsPointCloud(const grid_map::GridMap& map) const { + sensor_msgs::msg::PointCloud2 msg; + grid_map::GridMapRosConverter::toPointCloud(map, "elevation", msg); + pointPub_->publish(msg); +} bool ElevationMappingNode::getSubmap( @@ -723,49 +734,52 @@ void ElevationMappingNode::initializeWithTF() { // return true; // } -// bool ElevationMappingNode::setPublishPoint(std_srvs::SetBool::Request& request, std_srvs::SetBool::Response& response) { -// enablePointCloudPublishing_ = request.data; -// response.success = true; -// return true; -// } -// void ElevationMappingNode::updateVariance(const ros::TimerEvent&) { -// map_.update_variance(); -// } -// void ElevationMappingNode::updateTime(const ros::TimerEvent&) { -// map_.update_time(); -// } +void ElevationMappingNode::setPublishPoint(const std::shared_ptr request, + std::shared_ptr response) { + enablePointCloudPublishing_ = request->data; + response->success = true; +} -// void ElevationMappingNode::publishStatistics(const ros::TimerEvent&) { -// ros::Time now = ros::Time::now(); -// double dt = (now - lastStatisticsPublishedTime_).toSec(); -// lastStatisticsPublishedTime_ = now; -// elevation_map_msgs::Statistics msg; -// msg.header.stamp = now; -// if (dt > 0.0) { -// msg.pointcloud_process_fps = pointCloudProcessCounter_ / dt; -// } -// pointCloudProcessCounter_ = 0; -// statisticsPub_.publish(msg); -// } -// void ElevationMappingNode::updateGridMap(const ros::TimerEvent&) { -// std::vector layers(map_layers_all_.begin(), map_layers_all_.end()); -// std::lock_guard lock(mapMutex_); -// map_.get_grid_map(gridMap_, layers); -// gridMap_.setTimestamp(ros::Time::now().toNSec()); -// alivePub_.publish(std_msgs::Empty()); +void ElevationMappingNode::updateVariance() { + map_->update_variance(); +} -// // Mostly debug purpose -// if (enablePointCloudPublishing_) { -// publishAsPointCloud(gridMap_); -// } -// if (enableNormalArrowPublishing_) { -// publishNormalAsArrow(gridMap_); -// } -// isGridmapUpdated_ = true; -// } +void ElevationMappingNode::updateTime() { + map_->update_time(); +} + +void ElevationMappingNode::publishStatistics() { + auto now = this->now(); + double dt = (now - lastStatisticsPublishedTime_).seconds(); + lastStatisticsPublishedTime_ = now; + elevation_map_msgs::msg::Statistics msg; + msg.header.stamp = now; + if (dt > 0.0) { + msg.pointcloud_process_fps = pointCloudProcessCounter_ / dt; + } + pointCloudProcessCounter_ = 0; + statisticsPub_->publish(msg); +} + +void ElevationMappingNode::updateGridMap() { + std::vector layers(map_layers_all_.begin(), map_layers_all_.end()); + std::lock_guard lock(mapMutex_); + map_->get_grid_map(gridMap_, layers); + gridMap_.setTimestamp(this->now().nanoseconds()); + alivePub_->publish(std_msgs::msg::Empty()); + + // Mostly debug purpose + if (enablePointCloudPublishing_) { + publishAsPointCloud(gridMap_); + } + if (enableNormalArrowPublishing_) { + publishNormalAsArrow(gridMap_); + } + isGridmapUpdated_ = true; +} void ElevationMappingNode::initializeMap(const std::shared_ptr request, std::shared_ptr response) { @@ -813,65 +827,68 @@ void ElevationMappingNode::initializeMap(const std::shared_ptrsuccess = true; } -// void ElevationMappingNode::publishNormalAsArrow(const grid_map::GridMap& map) const { -// auto startTime = ros::Time::now(); +void ElevationMappingNode::publishNormalAsArrow(const grid_map::GridMap& map) const { + auto startTime = this->now(); -// const auto& normalX = map["normal_x"]; -// const auto& normalY = map["normal_y"]; -// const auto& normalZ = map["normal_z"]; -// double scale = 0.1; + const auto& normalX = map["normal_x"]; + const auto& normalY = map["normal_y"]; + const auto& normalZ = map["normal_z"]; + double scale = 0.1; -// visualization_msgs::MarkerArray markerArray; -// // For each cell in map. -// for (grid_map::GridMapIterator iterator(map); !iterator.isPastEnd(); ++iterator) { -// if (!map.isValid(*iterator, "elevation")) { -// continue; -// } -// grid_map::Position3 p; -// map.getPosition3("elevation", *iterator, p); -// Eigen::Vector3d start = p; -// const auto i = iterator.getLinearIndex(); -// Eigen::Vector3d normal(normalX(i), normalY(i), normalZ(i)); -// Eigen::Vector3d end = start + normal * scale; -// if (normal.norm() < 0.1) { -// continue; -// } -// markerArray.markers.push_back(vectorToArrowMarker(start, end, i)); -// } -// normalPub_.publish(markerArray); -// ROS_INFO_THROTTLE(1.0, "publish as normal in %f sec.", (ros::Time::now() - startTime).toSec()); -// } + visualization_msgs::msg::MarkerArray markerArray; + // For each cell in map. + for (grid_map::GridMapIterator iterator(map); !iterator.isPastEnd(); ++iterator) { + if (!map.isValid(*iterator, "elevation")) { + continue; + } + grid_map::Position3 p; + map.getPosition3("elevation", *iterator, p); + Eigen::Vector3d start = p; + const auto i = iterator.getLinearIndex(); + Eigen::Vector3d normal(normalX(i), normalY(i), normalZ(i)); + Eigen::Vector3d end = start + normal * scale; + if (normal.norm() < 0.1) { + continue; + } + markerArray.markers.push_back(vectorToArrowMarker(start, end, i)); + } + normalPub_->publish(markerArray); + double elapsed_time = (this->now() - startTime).seconds(); + RCLCPP_INFO(this->get_logger(), "Initializing ElevationMappingNode...");(this->get_logger(), std::chrono::seconds(1), "publish as normal in %f sec.", elapsed_time); +} -// visualization_msgs::Marker ElevationMappingNode::vectorToArrowMarker(const Eigen::Vector3d& start, const Eigen::Vector3d& end, -// const int id) const { -// visualization_msgs::Marker marker; -// marker.header.frame_id = mapFrameId_; -// marker.header.stamp = ros::Time::now(); -// marker.ns = "normal"; -// marker.id = id; -// marker.type = visualization_msgs::Marker::ARROW; -// marker.action = visualization_msgs::Marker::ADD; -// marker.points.resize(2); -// marker.points[0].x = start.x(); -// marker.points[0].y = start.y(); -// marker.points[0].z = start.z(); -// marker.points[1].x = end.x(); -// marker.points[1].y = end.y(); -// marker.points[1].z = end.z(); -// marker.pose.orientation.x = 0.0; -// marker.pose.orientation.y = 0.0; -// marker.pose.orientation.z = 0.0; -// marker.pose.orientation.w = 1.0; -// marker.scale.x = 0.01; -// marker.scale.y = 0.01; -// marker.scale.z = 0.01; -// marker.color.a = 1.0; // Don't forget to set the alpha! -// marker.color.r = 0.0; -// marker.color.g = 1.0; -// marker.color.b = 0.0; - -// return marker; -// } + + +visualization_msgs::msg::Marker ElevationMappingNode::vectorToArrowMarker(const Eigen::Vector3d& start, const Eigen::Vector3d& end, + const int id) const { + visualization_msgs::msg::Marker marker; + marker.header.frame_id = mapFrameId_; + marker.header.stamp = this->now(); + marker.ns = "normal"; + marker.id = id; + marker.type = visualization_msgs::msg::Marker::ARROW; + marker.action = visualization_msgs::msg::Marker::ADD; + marker.points.resize(2); + marker.points[0].x = start.x(); + marker.points[0].y = start.y(); + marker.points[0].z = start.z(); + marker.points[1].x = end.x(); + marker.points[1].y = end.y(); + marker.points[1].z = end.z(); + marker.pose.orientation.x = 0.0; + marker.pose.orientation.y = 0.0; + marker.pose.orientation.z = 0.0; + marker.pose.orientation.w = 1.0; + marker.scale.x = 0.01; + marker.scale.y = 0.01; + marker.scale.z = 0.01; + marker.color.a = 1.0; // Don't forget to set the alpha! + marker.color.r = 0.0; + marker.color.g = 1.0; + marker.color.b = 0.0; + + return marker; +} void ElevationMappingNode::publishMapToOdom(double error) { From 0526be49220890e8bba585b1040896187d35a592 Mon Sep 17 00:00:00 2001 From: amilearning Date: Fri, 8 Nov 2024 05:24:15 +0100 Subject: [PATCH 452/504] recording pointcloud update --- elevation_mapping_cupy/config/core/core_param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/elevation_mapping_cupy/config/core/core_param.yaml b/elevation_mapping_cupy/config/core/core_param.yaml index c128291f..8b5bf32c 100644 --- a/elevation_mapping_cupy/config/core/core_param.yaml +++ b/elevation_mapping_cupy/config/core/core_param.yaml @@ -50,7 +50,7 @@ elevation_mapping: overlap_clear_range_xy: 4.0 # xy range [m] for clearing overlapped area. this defines the valid area for overlap clearance. (used for multi floor setting) overlap_clear_range_z: 2.0 # z range [m] for clearing overlapped area. cells outside this range will be cleared. (used for multi floor setting) pose_topic: '/odom' - map_frame: 'base_footprint' # The map frame where the odometry source uses. + map_frame: 'odom' # The map frame where the odometry source uses. base_frame: 'base_link' # The robot's base frame. This frame will be a center of the map. corrected_map_frame: 'odom' From b0d06c3e04862f355a921cedb28fcf62ebc12a5e Mon Sep 17 00:00:00 2001 From: HO JIN LEE Date: Fri, 8 Nov 2024 06:08:24 +0100 Subject: [PATCH 453/504] Update README.md --- README.md | 13 +++++++++++++ 1 file changed, 13 insertions(+) diff --git a/README.md b/README.md index 057424df..f2f8338d 100644 --- a/README.md +++ b/README.md @@ -1,3 +1,16 @@ +## ROS2 Elevation Mapping Cupy + **Status**: Under Development 🚧 +### Features +- **Point cloud-based map update**: *Functional* +- **Image-based map update**: *Ongoing development* + +### Dependencies - +- **ROS 2 Humble** +- **CUDA 12.4** +- **PyTorch 2.4.0** + +![Elevation Map in ROS 2 Humble with Gazebo ](https://github.com/user-attachments/assets/0dd9ebbe-a90d-486f-9871-81921308fab9) + # Elevation Mapping cupy ![python tests](https://github.com/leggedrobotics/elevation_mapping_cupy/actions/workflows/python-tests.yml/badge.svg) From 80c2990c89d666bceb1036524f036fb456924c67 Mon Sep 17 00:00:00 2001 From: amilearning Date: Mon, 11 Nov 2024 06:06:42 +0900 Subject: [PATCH 454/504] orin topics --- .../config/core/core_param copy.yaml | 189 ++++++++++++++++++ .../config/core/core_param.yaml | 36 ++-- .../elevation_mapping_ros.hpp | 2 +- .../src/elevation_mapping_ros.cpp | 60 +++--- 4 files changed, 240 insertions(+), 47 deletions(-) create mode 100644 elevation_mapping_cupy/config/core/core_param copy.yaml diff --git a/elevation_mapping_cupy/config/core/core_param copy.yaml b/elevation_mapping_cupy/config/core/core_param copy.yaml new file mode 100644 index 00000000..bf5f1cd4 --- /dev/null +++ b/elevation_mapping_cupy/config/core/core_param copy.yaml @@ -0,0 +1,189 @@ +elevation_mapping: + ros__parameters: + #### Basic parameters ######## + enable_normal_arrow_publishing: true + cell_n: 40000 # number of cells in the map. + data_type: 'float32' # data type for the map. + average_weight: 0.5 + drift_compensation_variance_inlier: 0.1 + checker_layer: 'traversability' # layer name for checking the validity of the cell. + min_filter_size: 5 # size of the filter for min filter. + min_filter_iteration: 3 # number of iterations for min filter. + initialized_variance: 10.0 # initial variance for each cell. + resolution: 0.1 # resolution in m. + map_length: 20.0 # map's size in m. + sensor_noise_factor: 0.05 # point's noise is sensor_noise_factor*z^2 (z is distance from sensor). + mahalanobis_thresh: 2.0 # points outside this distance is outlier. + outlier_variance: 0.01 # if point is outlier, add this value to the cell. + drift_compensation_variance_inler: 0.05 # cells under this value is used for drift compensation. + max_drift: 0.1 # drift compensation happens only the drift is smaller than this value (for safety) + drift_compensation_alpha: 0.1 # drift compensation alpha for smoother update of drift compensation + time_variance: 0.0001 # add this value when update_variance is called. + max_variance: 100.0 # maximum variance for each cell. + initial_variance: 1000.0 # initial variance for each cell. + traversability_inlier: 0.9 # cells with higher traversability are used for drift compensation. + dilation_size: 3 # dilation filter size before traversability filter. + wall_num_thresh: 20 # if there are more points than this value, only higher points than the current height are used to make the wall more sharp. + min_height_drift_cnt: 100 # drift compensation only happens if the valid cells are more than this number. + position_noise_thresh: 0.01 # if the position change is bigger than this value, the drift compensation happens. + orientation_noise_thresh: 0.01 # if the orientation change is bigger than this value, the drift compensation happens. + position_lowpass_alpha: 0.2 # lowpass filter alpha used for detecting movements. + orientation_lowpass_alpha: 0.2 # lowpass filter alpha used for detecting movements. + min_valid_distance: 0.5 # points with shorter distance will be filtered out. + max_height_range: 1.0 # points higher than this value from sensor will be filtered out to disable ceiling. + ramped_height_range_a: 0.3 # if z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject. + ramped_height_range_b: 1.0 # if z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject. + ramped_height_range_c: 0.2 # if z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject. + update_variance_fps: 5.0 # fps for updating variance. + update_pose_fps: 10.0 # fps for updating pose and shift the center of map. + time_interval: 0.1 # Time layer is updated with this interval. + map_acquire_fps: 5.0 # Raw map is fetched from GPU memory in this fps. + publish_statistics_fps: 1.0 # Publish statistics topic in this fps. + + max_ray_length: 10.0 # maximum length for ray tracing. + cleanup_step: 0.1 # subtitute this value from validity layer at visibiltiy cleanup. + cleanup_cos_thresh: 0.1 # subtitute this value from validity layer at visibiltiy cleanup. + + safe_thresh: 0.7 # if traversability is smaller, it is counted as unsafe cell. + safe_min_thresh: 0.4 # polygon is unsafe if there exists lower traversability than this. + max_unsafe_n: 10 # if the number of cells under safe_thresh exceeds this value, polygon is unsafe. + + overlap_clear_range_xy: 4.0 # xy range [m] for clearing overlapped area. this defines the valid area for overlap clearance. (used for multi floor setting) + overlap_clear_range_z: 2.0 # z range [m] for clearing overlapped area. cells outside this range will be cleared. (used for multi floor setting) + pose_topic: '/odom' + map_frame: 'odom' # The map frame where the odometry source uses. + base_frame: 'base_link' # The robot's base frame. This frame will be a center of the map. + corrected_map_frame: 'odom' + + + + #### Feature toggles ######## + enable_edge_sharpen: true + enable_visibility_cleanup: true + enable_drift_compensation: true + enable_overlap_clearance: true + enable_pointcloud_publishing: false + enable_drift_corrected_TF_publishing: false + enable_normal_color: true # If true, the map contains 'color' layer corresponding to normal. Add 'color' layer to the publishers setting if you want to visualize. + + + #### Traversability filter ######## + use_chainer: false # Use chainer as a backend of traversability filter or pytorch. If false, it uses pytorch. pytorch requires ~2GB more GPU memory compared to chainer but runs faster. + weight_file: '/share/elevation_mapping_cupy/config/core/weights.dat' # Weight file for traversability filter + plugin_config_file: '/share/elevation_mapping_cupy/config/core/plugin_config.yaml' # Configuration file for the plugin. + #### Upper bound ######## + use_only_above_for_upper_bound: false + + #### Initializer ######## + initialize_method: 'linear' # Choose one from 'nearest', 'linear', 'cubic' + initialize_frame_id: ['base_footprint'] # One tf (like ['footprint'] ) initializes a square around it. + initialize_tf_offset: [0.0, 0.0, 0.0, 0.0] # z direction. Should be same number as initialize_frame_id. + dilation_size_initialize: 2 # dilation size after the init. + initialize_tf_grid_size: 0.5 # This is not used if number of tf is more than 3. + use_initializer_at_start: true # Use initializer when the node starts. + + #### Default Plugins ######## + + pointcloud_channel_fusions: + rgb: 'color' # 'color' fusion is used for the 'rgb' channel + default: 'average' # 'average' fusion is used for channels not listed here + + image_channel_fusions: + rgb: 'color' # 'color' fusion is used for the 'rgb' channel + default: 'exponential' # 'exponential' fusion is used for channels not listed here + feat_.*: 'exponential' # 'exponential' fusion is also used for any channel starting with 'feat_' Regular expressions can be used for channel names + + #### Subscribers ######## + # pointcloud_sensor_name: + # topic_name: '/sensor/pointcloud_semantic' + # data_type: pointcloud # pointcloud or image + # + # image_sensor_name: + # topic_name: '/camera/image_semantic' + # data_type: image # pointcloud or image + # camera_info_topic_name: '/camera/depth/camera_info' + # channel_info_topic_name: '/camera/channel_info' + + + subscribers: + pointcloud1: + # topic_name: '/ouster/points' + topic_name: '/a200/sensors/camera_0/points' + data_type: 'pointcloud' + image1: + topic_name: '/a200/sensors/camera_0/color/image' + info_name: '/a200/sensors/camera_0/color/camera_info' + data_type: 'image' + # channel_name: '/front_cam/channel_info' + + # image_topic2: '/camera/rgb/image_raw2' + # image_info2: '/camera/depth/camera_info2' + # image_channel_info1: '/front_cam/channel_info' + + # image: # for semantic images + # topic_name: '/front_cam/semantic_image' + # camera_info_topic_name: '/front_cam/camera/depth/camera_info_resized' + # channel_info_topic_name: '/front_cam/channel_info' + # data_type: image + + #### Publishers ######## + # topic_name: + # layers: # Choose from 'elevation', 'variance', 'traversability', 'time', 'normal_x', 'normal_y', 'normal_z', 'color', plugin_layer_names + # basic_layers: # basic_layers for valid cell computation (e.g. Rviz): Choose a subset of `layers`. + # fps: # Publish rate. Use smaller value than `map_acquire_fps`. + + publishers: + elevation_map_raw: + layers: ['elevation', 'traversability', 'variance','rgb', 'normal_x', 'normal_y', 'normal_z'] + basic_layers: ['elevation'] + fps: 5.0 + elevation_map_recordable: + layers: ['elevation', 'traversability'] + basic_layers: ['elevation', 'traversability'] + fps: 2.0 + elevation_map_filter: + layers: ['min_filter', 'smooth', 'inpaint', 'elevation'] + basic_layers: ['min_filter'] + fps: 3.0 + + + # plugun info + + min_filter: + enable: True # whether to load this plugin + fill_nan: False # Fill nans to invalid cells of elevation layer. + is_height_layer: True # If this is a height layer (such as elevation) or not (such as traversability) + layer_name: "min_filter" # The layer name. + extra_params: # These params are passed to the plugin class on initialization. + dilation_size: 1 # The patch size to apply + iteration_n: 30 # The number of iterations + + # Apply smoothing. + smooth_filter: + enable: True + fill_nan: False + is_height_layer: True + layer_name: "smooth" + extra_params: + input_layer_name: "min_filter" + + # Apply inpainting using opencv + inpainting: + enable: True + fill_nan: False + is_height_layer: True + layer_name: "inpaint" + extra_params: + method: "telea" # telea or ns + + # Apply smoothing for inpainted layer + erosion: + enable: True + fill_nan: False + is_height_layer: False + layer_name: "erosion" + extra_params: + input_layer_name: "traversability" + dilation_size: 3 + iteration_n: 20 + reverse: True \ No newline at end of file diff --git a/elevation_mapping_cupy/config/core/core_param.yaml b/elevation_mapping_cupy/config/core/core_param.yaml index 8b5bf32c..6facd7d9 100644 --- a/elevation_mapping_cupy/config/core/core_param.yaml +++ b/elevation_mapping_cupy/config/core/core_param.yaml @@ -1,6 +1,7 @@ elevation_mapping: ros__parameters: - #### Basic parameters ######## + #### Basic parameters ######## + enable_normal_arrow_publishing: false cell_n: 40000 # number of cells in the map. data_type: 'float32' # data type for the map. average_weight: 0.5 @@ -10,7 +11,7 @@ elevation_mapping: min_filter_iteration: 3 # number of iterations for min filter. initialized_variance: 10.0 # initial variance for each cell. resolution: 0.1 # resolution in m. - map_length: 20.0 # map's size in m. + map_length: 20.0 # map's size in m. sensor_noise_factor: 0.05 # point's noise is sensor_noise_factor*z^2 (z is distance from sensor). mahalanobis_thresh: 2.0 # points outside this distance is outlier. outlier_variance: 0.01 # if point is outlier, add this value to the cell. @@ -63,8 +64,8 @@ elevation_mapping: enable_overlap_clearance: true enable_pointcloud_publishing: false enable_drift_corrected_TF_publishing: false - enable_normal_color: false # If true, the map contains 'color' layer corresponding to normal. Add 'color' layer to the publishers setting if you want to visualize. - enable_normal: false + enable_normal_color: true # If true, the map contains 'color' layer corresponding to normal. Add 'color' layer to the publishers setting if you want to visualize. + enable_normal: true #### Traversability filter ######## use_chainer: false # Use chainer as a backend of traversability filter or pytorch. If false, it uses pytorch. pytorch requires ~2GB more GPU memory compared to chainer but runs faster. @@ -105,12 +106,13 @@ elevation_mapping: subscribers: pointcloud1: + # topic_name: '/ouster/points' topic_name: '/a200/sensors/camera_0/points' data_type: 'pointcloud' - image1: - topic_name: '/a200/sensors/camera_0/color/image' - info_name: '/a200/sensors/camera_0/color/camera_info' - data_type: 'image' + # image1: + # topic_name: '/a200/sensors/camera_0/color/image' + # info_name: '/a200/sensors/camera_0/color/camera_info' + # data_type: 'image' # channel_name: '/front_cam/channel_info' # image_topic2: '/camera/rgb/image_raw2' @@ -133,17 +135,17 @@ elevation_mapping: publishers: elevation_map_raw: - layers: ['elevation', 'traversability', 'variance','rgb'] + layers: ['elevation', 'traversability', 'variance','normal_x', 'normal_y', 'normal_z'] basic_layers: ['elevation'] fps: 5.0 - elevation_map_recordable: - layers: ['elevation', 'traversability'] - basic_layers: ['elevation', 'traversability'] - fps: 2.0 - elevation_map_filter: - layers: ['min_filter', 'smooth', 'inpaint', 'elevation'] - basic_layers: ['min_filter'] - fps: 3.0 + # elevation_map_recordable: + # layers: ['elevation', 'traversability'] + # basic_layers: ['elevation', 'traversability'] + # fps: 2.0 + # elevation_map_filter: + # layers: ['min_filter', 'smooth', 'inpaint', 'elevation'] + # basic_layers: ['min_filter'] + # fps: 3.0 # plugun info diff --git a/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp b/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp index 7cf91ce1..220509e4 100644 --- a/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp +++ b/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp @@ -14,7 +14,7 @@ // Pybind #include // everything needed for embedding - +#include // ROS #include #include diff --git a/elevation_mapping_cupy/src/elevation_mapping_ros.cpp b/elevation_mapping_cupy/src/elevation_mapping_ros.cpp index 57f8bd83..8825b97e 100644 --- a/elevation_mapping_cupy/src/elevation_mapping_ros.cpp +++ b/elevation_mapping_cupy/src/elevation_mapping_ros.cpp @@ -132,29 +132,29 @@ ElevationMappingNode::ElevationMappingNode() // } else { // transport_hint = "raw"; // In the default case we assume raw topic // } - - ImageSubscriberPtr image_sub = std::make_shared(this, camera_topic, rmw_qos_profile_sensor_data); - imageSubs_.push_back(image_sub); - - CameraInfoSubscriberPtr cam_info_sub = std::make_shared(this, info_topic, rmw_qos_profile_sensor_data); - cameraInfoSubs_.push_back(cam_info_sub); - - std::string channel_info_topic; - if (this->get_parameter("subscribers." + sub_name + ".channel_name", channel_info_topic)) { - ChannelInfoSubscriberPtr channel_info_sub = std::make_shared(this, channel_info_topic, rmw_qos_profile_sensor_data); - channelInfoSubs_.push_back(channel_info_sub); - CameraChannelSyncPtr sync = std::make_shared(CameraChannelPolicy(10), *image_sub, *cam_info_sub, *channel_info_sub); - sync->registerCallback(std::bind(&ElevationMappingNode::imageChannelCallback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3)); - cameraChannelSyncs_.push_back(sync); - RCLCPP_INFO(this->get_logger(), "Subscribed to Image topic: %s, Camera info topic: %s, Channel info topic: %s", camera_topic.c_str(), info_topic.c_str(), channel_info_topic.c_str()); - }else{ - std::string key = sub_name; - channels_[key].push_back("rgb"); - // RCLCPP_INFO(this->get_logger(), "Subscribed to Image topic: %s, Camera info topic: %s. Channel info topic: %s", camera_topic.c_str(), info_topic.c_str(), (channel_info_topic.empty() ? ("Not found. Using channels: " + boost::algorithm::join(channels_[key], ", ")).c_str() : channel_info_topic.c_str())); - CameraSyncPtr sync = std::make_shared(CameraPolicy(10), *image_sub, *cam_info_sub); - sync->registerCallback(std::bind(&ElevationMappingNode::imageCallback, this, std::placeholders::_1, std::placeholders::_2, key)); - cameraSyncs_.push_back(sync); - } + + ImageSubscriberPtr image_sub = std::make_shared(this, camera_topic, rmw_qos_profile_sensor_data); + imageSubs_.push_back(image_sub); + + CameraInfoSubscriberPtr cam_info_sub = std::make_shared(this, info_topic, rmw_qos_profile_sensor_data); + cameraInfoSubs_.push_back(cam_info_sub); + + std::string channel_info_topic; + if (this->get_parameter("subscribers." + sub_name + ".channel_name", channel_info_topic)) { + ChannelInfoSubscriberPtr channel_info_sub = std::make_shared(this, channel_info_topic, rmw_qos_profile_sensor_data); + channelInfoSubs_.push_back(channel_info_sub); + CameraChannelSyncPtr sync = std::make_shared(CameraChannelPolicy(10), *image_sub, *cam_info_sub, *channel_info_sub); + sync->registerCallback(std::bind(&ElevationMappingNode::imageChannelCallback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3)); + cameraChannelSyncs_.push_back(sync); + RCLCPP_INFO(this->get_logger(), "Subscribed to Image topic: %s, Camera info topic: %s, Channel info topic: %s", camera_topic.c_str(), info_topic.c_str(), channel_info_topic.c_str()); + }else{ + std::string key = sub_name; + channels_[key].push_back("rgb"); + // RCLCPP_INFO(this->get_logger(), "Subscribed to Image topic: %s, Camera info topic: %s. Channel info topic: %s", camera_topic.c_str(), info_topic.c_str(), (channel_info_topic.empty() ? ("Not found. Using channels: " + boost::algorithm::join(channels_[key], ", ")).c_str() : channel_info_topic.c_str())); + CameraSyncPtr sync = std::make_shared(CameraPolicy(10), *image_sub, *cam_info_sub); + sync->registerCallback(std::bind(&ElevationMappingNode::imageCallback, this, std::placeholders::_1, std::placeholders::_2, key)); + cameraSyncs_.push_back(sync); + } }else if(data_type == "pointcloud"){ std::string pointcloud_topic; this->get_parameter("subscribers." + sub_name + ".topic_name", pointcloud_topic); @@ -162,10 +162,13 @@ ElevationMappingNode::ElevationMappingNode() channels_[key].push_back("x"); channels_[key].push_back("y"); channels_[key].push_back("z"); + rmw_qos_profile_t qos_profile = rmw_qos_profile_default; + auto qos = rclcpp::QoS(rclcpp::QoSInitialization(qos_profile.history, qos_profile.depth), qos_profile); + auto callback = [this, key](const sensor_msgs::msg::PointCloud2::SharedPtr msg) { this->pointcloudCallback(msg, key); }; - auto sub = this->create_subscription(pointcloud_topic, 1, callback); + auto sub = this->create_subscription(pointcloud_topic, qos, callback); pointcloudSubs_.push_back(sub); RCLCPP_INFO(this->get_logger(), "Subscribed to PointCloud2 topic: %s", pointcloud_topic.c_str()); } @@ -356,8 +359,8 @@ void ElevationMappingNode::pointcloudCallback(const sensor_msgs::msg::PointCloud std::vector channels; for (size_t it = 0; it < fields.size(); it++) { - auto& field = fields[it]; - channels.push_back(field.name); + auto& field = fields[it]; + channels.push_back(field.name); } inputPointCloud(cloud, channels); @@ -775,6 +778,7 @@ void ElevationMappingNode::updateGridMap() { if (enablePointCloudPublishing_) { publishAsPointCloud(gridMap_); } + if (enableNormalArrowPublishing_) { publishNormalAsArrow(gridMap_); } @@ -852,9 +856,7 @@ void ElevationMappingNode::publishNormalAsArrow(const grid_map::GridMap& map) co } markerArray.markers.push_back(vectorToArrowMarker(start, end, i)); } - normalPub_->publish(markerArray); - double elapsed_time = (this->now() - startTime).seconds(); - RCLCPP_INFO(this->get_logger(), "Initializing ElevationMappingNode...");(this->get_logger(), std::chrono::seconds(1), "publish as normal in %f sec.", elapsed_time); + normalPub_->publish(markerArray); } From d336c47e3c6b85f085449ab87ab34d076dc06b27 Mon Sep 17 00:00:00 2001 From: Idate96 Date: Thu, 5 Dec 2024 12:17:46 +0100 Subject: [PATCH 455/504] basic version --- elevation_mapping_cupy/CMakeLists.txt | 24 - .../config/core/core_param.yaml | 131 ++-- .../setups/turtle_bot/turtle_bot_simple.yaml | 41 +- .../elevation_mapping.py | 38 +- .../elevation_mapping_ros.py | 565 +++++++++++++----- .../elevation_mapping_cupy/listener_test.py | 33 + .../launch/elevation_mapping.launch.py | 22 + .../launch/elevation_mapping_launch.py | 16 - .../launch/elevation_mapping_turtle.launch.py | 65 ++ .../launch/turtle_simple_example.launch.py | 68 +++ .../launch/turtlesim_init.launch.py | 185 ++++++ elevation_mapping_cupy/package.xml | 61 +- .../resource/elevation_mapping_cupy | 0 elevation_mapping_cupy/setup.cfg | 4 + elevation_mapping_cupy/setup.py | 11 +- 15 files changed, 945 insertions(+), 319 deletions(-) delete mode 100644 elevation_mapping_cupy/CMakeLists.txt create mode 100644 elevation_mapping_cupy/elevation_mapping_cupy/listener_test.py create mode 100755 elevation_mapping_cupy/launch/elevation_mapping.launch.py delete mode 100755 elevation_mapping_cupy/launch/elevation_mapping_launch.py create mode 100644 elevation_mapping_cupy/launch/elevation_mapping_turtle.launch.py create mode 100644 elevation_mapping_cupy/launch/turtle_simple_example.launch.py create mode 100644 elevation_mapping_cupy/launch/turtlesim_init.launch.py create mode 100644 elevation_mapping_cupy/resource/elevation_mapping_cupy create mode 100644 elevation_mapping_cupy/setup.cfg diff --git a/elevation_mapping_cupy/CMakeLists.txt b/elevation_mapping_cupy/CMakeLists.txt deleted file mode 100644 index 68a1c1af..00000000 --- a/elevation_mapping_cupy/CMakeLists.txt +++ /dev/null @@ -1,24 +0,0 @@ -cmake_minimum_required(VERSION 3.5) -project(elevation_mapping_cupy) - -find_package(ament_cmake_python REQUIRED) -find_package(rclpy REQUIRED) -find_package(std_msgs REQUIRED) -find_package(sensor_msgs REQUIRED) -find_package(geometry_msgs REQUIRED) -find_package(elevation_map_msgs REQUIRED) -find_package(grid_map_msgs REQUIRED) -find_package(grid_map_ros REQUIRED) -find_package(image_transport REQUIRED) -find_package(pcl_ros REQUIRED) -find_package(pybind11 REQUIRED) - -# Install Python modules -ament_python_install_package(${PROJECT_NAME}) - -# Install launch and config directories -install(DIRECTORY launch config - DESTINATION share/${PROJECT_NAME}/ -) - -ament_package() diff --git a/elevation_mapping_cupy/config/core/core_param.yaml b/elevation_mapping_cupy/config/core/core_param.yaml index 17baea09..38c2301b 100644 --- a/elevation_mapping_cupy/config/core/core_param.yaml +++ b/elevation_mapping_cupy/config/core/core_param.yaml @@ -1,72 +1,77 @@ -#### Basic parameters ######## -resolution: 0.04 # resolution in m. -map_length: 8.0 # map's size in m. -sensor_noise_factor: 0.05 # point's noise is sensor_noise_factor*z^2 (z is distance from sensor). -mahalanobis_thresh: 2.0 # points outside this distance is outlier. -outlier_variance: 0.01 # if point is outlier, add this value to the cell. -drift_compensation_variance_inler: 0.05 # cells under this value is used for drift compensation. -max_drift: 0.1 # drift compensation happens only the drift is smaller than this value (for safety) -drift_compensation_alpha: 0.1 # drift compensation alpha for smoother update of drift compensation -time_variance: 0.0001 # add this value when update_variance is called. -max_variance: 100.0 # maximum variance for each cell. -initial_variance: 1000.0 # initial variance for each cell. -traversability_inlier: 0.9 # cells with higher traversability are used for drift compensation. -dilation_size: 3 # dilation filter size before traversability filter. -wall_num_thresh: 20 # if there are more points than this value, only higher points than the current height are used to make the wall more sharp. -min_height_drift_cnt: 100 # drift compensation only happens if the valid cells are more than this number. -position_noise_thresh: 0.01 # if the position change is bigger than this value, the drift compensation happens. -orientation_noise_thresh: 0.01 # if the orientation change is bigger than this value, the drift compensation happens. -position_lowpass_alpha: 0.2 # lowpass filter alpha used for detecting movements. -orientation_lowpass_alpha: 0.2 # lowpass filter alpha used for detecting movements. -min_valid_distance: 0.5 # points with shorter distance will be filtered out. -max_height_range: 1.0 # points higher than this value from sensor will be filtered out to disable ceiling. -ramped_height_range_a: 0.3 # if z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject. -ramped_height_range_b: 1.0 # if z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject. -ramped_height_range_c: 0.2 # if z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject. -update_variance_fps: 5.0 # fps for updating variance. -update_pose_fps: 10.0 # fps for updating pose and shift the center of map. -time_interval: 0.1 # Time layer is updated with this interval. -map_acquire_fps: 5.0 # Raw map is fetched from GPU memory in this fps. -publish_statistics_fps: 1.0 # Publish statistics topic in this fps. +elevation_mapping_node: + ros__parameters: + #### Basic parameters ######## + resolution: 0.04 # resolution in m. + map_length: 8.0 # map's size in m. + sensor_noise_factor: 0.05 # point's noise is sensor_noise_factor*z^2 (z is distance from sensor). + mahalanobis_thresh: 2.0 # points outside this distance is outlier. + outlier_variance: 0.01 # if point is outlier, add this value to the cell. + drift_compensation_variance_inler: 0.05 # cells under this value is used for drift compensation. + max_drift: 0.1 # drift compensation happens only the drift is smaller than this value (for safety) + drift_compensation_alpha: 0.1 # drift compensation alpha for smoother update of drift compensation + time_variance: 0.0001 # add this value when update_variance is called. + max_variance: 100.0 # maximum variance for each cell. + initial_variance: 1000.0 # initial variance for each cell. + traversability_inlier: 0.9 # cells with higher traversability are used for drift compensation. + dilation_size: 3 # dilation filter size before traversability filter. + wall_num_thresh: 20 # if there are more points than this value, only higher points than the current height are used to make the wall more sharp. + min_height_drift_cnt: 100 # drift compensation only happens if the valid cells are more than this number. + position_noise_thresh: 0.01 # if the position change is bigger than this value, the drift compensation happens. + orientation_noise_thresh: 0.01 # if the orientation change is bigger than this value, the drift compensation happens. + position_lowpass_alpha: 0.2 # lowpass filter alpha used for detecting movements. + orientation_lowpass_alpha: 0.2 # lowpass filter alpha used for detecting movements. + min_valid_distance: 0.5 # points with shorter distance will be filtered out. + max_height_range: 1.0 # points higher than this value from sensor will be filtered out to disable ceiling. + ramped_height_range_a: 0.3 # if z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject. + ramped_height_range_b: 1.0 # if z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject. + ramped_height_range_c: 0.2 # if z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject. + update_variance_fps: 5.0 # fps for updating variance. + update_pose_fps: 3.0 # fps for updating pose and shift the center of map. + time_interval: 0.1 # Time layer is updated with this interval. + map_acquire_fps: 5.0 # Raw map is fetched from GPU memory in this fps. + publish_statistics_fps: 1.0 # Publish statistics topic in this fps. + recordable_fps: 3.0 # Recordable fps for pointcloud. + enable_normal_arrow_publishing: false -max_ray_length: 10.0 # maximum length for ray tracing. -cleanup_step: 0.1 # subtitute this value from validity layer at visibiltiy cleanup. -cleanup_cos_thresh: 0.1 # subtitute this value from validity layer at visibiltiy cleanup. + max_ray_length: 10.0 # maximum length for ray tracing. + cleanup_step: 0.1 # subtitute this value from validity layer at visibiltiy cleanup. + cleanup_cos_thresh: 0.1 # subtitute this value from validity layer at visibiltiy cleanup. -safe_thresh: 0.7 # if traversability is smaller, it is counted as unsafe cell. -safe_min_thresh: 0.4 # polygon is unsafe if there exists lower traversability than this. -max_unsafe_n: 10 # if the number of cells under safe_thresh exceeds this value, polygon is unsafe. + safe_thresh: 0.7 # if traversability is smaller, it is counted as unsafe cell. + safe_min_thresh: 0.4 # polygon is unsafe if there exists lower traversability than this. + max_unsafe_n: 10 # if the number of cells under safe_thresh exceeds this value, polygon is unsafe. -overlap_clear_range_xy: 4.0 # xy range [m] for clearing overlapped area. this defines the valid area for overlap clearance. (used for multi floor setting) -overlap_clear_range_z: 2.0 # z range [m] for clearing overlapped area. cells outside this range will be cleared. (used for multi floor setting) + overlap_clear_range_xy: 4.0 # xy range [m] for clearing overlapped area. this defines the valid area for overlap clearance. (used for multi floor setting) + overlap_clear_range_z: 2.0 # z range [m] for clearing overlapped area. cells outside this range will be cleared. (used for multi floor setting) -map_frame: 'odom' # The map frame where the odometry source uses. -base_frame: 'base_footprint' # The robot's base frame. This frame will be a center of the map. -corrected_map_frame: 'odom' + map_frame: 'odom' # The map frame where the odometry source uses. + base_frame: 'base_footprint' # The robot's base frame. This frame will be a center of the map. + corrected_map_frame: 'odom' + -#### Feature toggles ######## -enable_edge_sharpen: true -enable_visibility_cleanup: true -enable_drift_compensation: true -enable_overlap_clearance: true -enable_pointcloud_publishing: false -enable_drift_corrected_TF_publishing: false -enable_normal_color: false # If true, the map contains 'color' layer corresponding to normal. Add 'color' layer to the publishers setting if you want to visualize. + #### Feature toggles ######## + enable_edge_sharpen: true + enable_visibility_cleanup: true + enable_drift_compensation: true + enable_overlap_clearance: true + enable_pointcloud_publishing: false + enable_drift_corrected_TF_publishing: false + enable_normal_color: false # If true, the map contains 'color' layer corresponding to normal. Add 'color' layer to the publishers setting if you want to visualize. -#### Traversability filter ######## -use_chainer: false # Use chainer as a backend of traversability filter or pytorch. If false, it uses pytorch. pytorch requires ~2GB more GPU memory compared to chainer but runs faster. -weight_file: '$(rospack find elevation_mapping_cupy)/config/core/weights.dat' # Weight file for traversability filter + #### Traversability filter ######## + use_chainer: false # Use chainer as a backend of traversability filter or pytorch. If false, it uses pytorch. pytorch requires ~2GB more GPU memory compared to chainer but runs faster. + weight_file: '$(find-pkg-share elevation_mapping_cupy)/config/core/weights.dat' # Weight file for traversability filter -#### Upper bound ######## -use_only_above_for_upper_bound: false + #### Upper bound ######## + use_only_above_for_upper_bound: false -#### Initializer ######## -initialize_method: 'linear' # Choose one from 'nearest', 'linear', 'cubic' -initialize_frame_id: ['base_footprint'] # One tf (like ['footprint'] ) initializes a square around it. -initialize_tf_offset: [0.0, 0.0, 0.0, 0.0] # z direction. Should be same number as initialize_frame_id. -dilation_size_initialize: 2 # dilation size after the init. -initialize_tf_grid_size: 0.5 # This is not used if number of tf is more than 3. -use_initializer_at_start: true # Use initializer when the node starts. + #### Initializer ######## + initialize_method: 'linear' # Choose one from 'nearest', 'linear', 'cubic' + initialize_frame_id: 'nearest' # One tf (like ['footprint'] ) initializes a square around it. + initialize_tf_offset: [0.0, 0.0, 0.0, 0.0] # z direction. Should be same number as initialize_frame_id. + dilation_size_initialize: 2 # dilation size after the init. + initialize_tf_grid_size: 50 # This is not used if number of tf is more than 3. + use_initializer_at_start: true # Use initializer when the node starts. -#### Default Plugins ######## -plugin_config_file: '$(rospack find elevation_mapping_cupy)/config/core/plugin_config.yaml' \ No newline at end of file + #### Default Plugins ######## + plugin_config_file: '$(find-pkg-share elevation_mapping_cupy)/config/core/plugin_config.yaml' \ No newline at end of file diff --git a/elevation_mapping_cupy/config/setups/turtle_bot/turtle_bot_simple.yaml b/elevation_mapping_cupy/config/setups/turtle_bot/turtle_bot_simple.yaml index a76fcc61..0a38bfff 100644 --- a/elevation_mapping_cupy/config/setups/turtle_bot/turtle_bot_simple.yaml +++ b/elevation_mapping_cupy/config/setups/turtle_bot/turtle_bot_simple.yaml @@ -1,23 +1,18 @@ -pointcloud_channel_fusions: - rgb: 'color' - default: 'average' - -image_channel_fusions: - rgb: 'color' - default: 'exponential' - feat_.*: 'exponential' - -subscribers: - front_cam: - topic_name: '/camera/depth/points' - data_type: pointcloud - -publishers: - elevation_map_raw: - layers: ['elevation', 'traversability', 'variance','rgb'] - basic_layers: ['elevation'] - fps: 5.0 - elevation_map_filter: - layers: ['min_filter', 'smooth', 'inpaint', 'elevation'] - basic_layers: ['min_filter'] - fps: 3.0 \ No newline at end of file +/elevation_mapping_node: + ros__parameters: + pointcloud_channel_fusions: + rgb: 'color' + default: 'average' + image_channel_fusions: + rgb: 'color' + default: 'exponential' + feat_.*: 'exponential' + subscribers: + front_cam: + topic_name: '/intel_realsense_r200_depth/points' + data_type: 'pointcloud' + publishers: + elevation_map_raw: + layers: ['elevation'] + basic_layers: ['elevation'] + fps: 5.0 \ No newline at end of file diff --git a/elevation_mapping_cupy/elevation_mapping_cupy/elevation_mapping.py b/elevation_mapping_cupy/elevation_mapping_cupy/elevation_mapping.py index c189fd68..967772cc 100644 --- a/elevation_mapping_cupy/elevation_mapping_cupy/elevation_mapping.py +++ b/elevation_mapping_cupy/elevation_mapping_cupy/elevation_mapping.py @@ -41,6 +41,7 @@ ) import cupy as cp +import rclpy # Import rclpy for ROS 2 logging xp = cp pool = cp.cuda.MemoryPool(cp.cuda.malloc_managed) @@ -56,6 +57,9 @@ def __init__(self, param: Parameter): Args: param (elevation_mapping_cupy.parameter.Parameter): """ + # Initialize the ROS logger + self.logger = rclpy.logging.get_logger('elevation_map') + self.param = param self.data_type = self.param.data_type self.resolution = param.resolution @@ -315,23 +319,17 @@ def shift_translation_to_map_center(self, t): t -= self.center def update_map_with_kernel(self, points_all, channels, R, t, position_noise, orientation_noise): - """Update map with new measurement. - - Args: - points_all (cupy._core.core.ndarray): - channels (List[str]): - R (cupy._core.core.ndarray): - t (cupy._core.core.ndarray): - position_noise (float): - orientation_noise (float): - """ + """Update map with new measurement.""" self.new_map *= 0.0 error = cp.array([0.0], dtype=cp.float32) error_cnt = cp.array([0], dtype=cp.float32) points = points_all[:, :3] - # additional_fusion = self.get_fusion_of_pcl(channels) + with self.map_lock: self.shift_translation_to_map_center(t) + + # Log before kernel execution + self.error_counting_kernel( self.elevation_map, points, @@ -344,6 +342,7 @@ def update_map_with_kernel(self, points_all, channels, R, t, position_noise, ori error_cnt, size=(points.shape[0]), ) + if ( self.param.enable_drift_compensation and error_cnt > self.param.min_height_drift_cnt @@ -356,6 +355,8 @@ def update_map_with_kernel(self, points_all, channels, R, t, position_noise, ori self.additive_mean_error += self.mean_error if np.abs(self.mean_error) < self.param.max_drift: self.elevation_map[0] += self.mean_error * self.param.drift_compensation_alpha + + self.add_points_kernel( cp.array([0.0], dtype=self.data_type), cp.array([0.0], dtype=self.data_type), @@ -367,13 +368,16 @@ def update_map_with_kernel(self, points_all, channels, R, t, position_noise, ori self.new_map, size=(points.shape[0]), ) + + # Log after adding points + self.average_map_kernel(self.new_map, self.elevation_map, size=(self.cell_n * self.cell_n)) self.semantic_map.update_layers_pointcloud(points_all, channels, R, t, self.new_map) if self.param.enable_overlap_clearance: self.clear_overlap_map(t) - # dilation before traversability_filter + self.traversability_input *= 0.0 self.dilation_filter_kernel( self.elevation_map[5], @@ -382,13 +386,13 @@ def update_map_with_kernel(self, points_all, channels, R, t, position_noise, ori self.traversability_mask_dummy, size=(self.cell_n * self.cell_n), ) - # calculate traversability + traversability = self.traversability_filter(self.traversability_input) self.elevation_map[3][3:-3, 3:-3] = traversability.reshape( (traversability.shape[2], traversability.shape[3]) ) - # calculate normal vectors + # Log final state self.update_normal(self.traversability_input) def clear_overlap_map(self, t): @@ -455,6 +459,12 @@ def input_pointcloud( None: """ raw_points = cp.asarray(raw_points, dtype=self.data_type) + + # Check for the sanity of the raw points + min_points = cp.min(raw_points, axis=0) + max_points = cp.max(raw_points, axis=0) + mean_points = cp.mean(raw_points, axis=0) + additional_channels = channels[3:] raw_points = raw_points[~cp.isnan(raw_points[:, :3]).any(axis=1)] self.update_map_with_kernel( diff --git a/elevation_mapping_cupy/elevation_mapping_cupy/elevation_mapping_ros.py b/elevation_mapping_cupy/elevation_mapping_cupy/elevation_mapping_ros.py index 34d2b8a3..139264dd 100644 --- a/elevation_mapping_cupy/elevation_mapping_cupy/elevation_mapping_ros.py +++ b/elevation_mapping_cupy/elevation_mapping_cupy/elevation_mapping_ros.py @@ -1,29 +1,39 @@ -from elevation_mapping_cupy import ElevationMap -from elevation_mapping_cupy import Parameter - -# General -import os +#!/usr/bin/env python3 +import matplotlib.pyplot as plt +from mpl_toolkits.mplot3d import Axes3D import numpy as np +import os +from functools import partial +import threading +import time # Import time module for benchmarking -# ROS +# ROS 2 imports import rclpy from rclpy.node import Node -import ros_numpy -from tf.transformations import quaternion_matrix +from rclpy.callback_groups import ReentrantCallbackGroup +from ament_index_python.packages import get_package_share_directory +import ros2_numpy as rnp +from sensor_msgs.msg import PointCloud2, Image, CameraInfo +from sensor_msgs_py import point_cloud2 +from tf_transformations import quaternion_matrix import tf2_ros -import rospkg + import message_filters from cv_bridge import CvBridge - -from sensor_msgs.msg import PointCloud2, Image, CameraInfo +from rclpy.duration import Duration +# Message imports from grid_map_msgs.msg import GridMap from std_msgs.msg import Float32MultiArray from std_msgs.msg import MultiArrayLayout as MAL from std_msgs.msg import MultiArrayDimension as MAD +from geometry_msgs.msg import TransformStamped -import numpy as np -from functools import partial +# Custom module imports +from elevation_mapping_cupy import ElevationMap, Parameter +import concurrent.futures + +# Define point cloud data types PDC_DATATYPE = { "1": np.int8, "2": np.uint8, @@ -38,80 +48,274 @@ class ElevationMappingNode(Node): def __init__(self): - super().__init__('elevation_mapping_node') - rospack = rospkg.RosPack() - self.root = rospack.get_path("elevation_mapping_cupy") + # Initialize the node without passing callback_group to super() + super().__init__( + 'elevation_mapping_node', + automatically_declare_parameters_from_overrides=True + ) + + # Create a ReentrantCallbackGroup for subscriptions and timers + self.callback_group = ReentrantCallbackGroup() + + # Get package share directory + self.root = get_package_share_directory("elevation_mapping_cupy") weight_file = os.path.join(self.root, "config/core/weights.dat") plugin_config_file = os.path.join(self.root, "config/core/plugin_config.yaml") - self.param = Parameter(use_chainer=False, weight_file=weight_file, plugin_config_file=plugin_config_file) + + # Initialize Parameters + self.param = Parameter( + use_chainer=False, + weight_file=weight_file, + plugin_config_file=plugin_config_file + ) self.node_name = "elevation_mapping" - # ROS - self.initalize_ros() - self.param.subscriber_cfg = self.subscribers + # Initialize ROS components + self.initialize_ros() + + # Assign subscriber configuration to parameters + self.param.subscriber_cfg = self.my_subscribers - self.initalize_elevation_mapping() + # Initialize Elevation Mapping + self.initialize_elevation_mapping() + + # Register ROS subscribers, publishers, and timers self.register_subscribers() self.register_publishers() self.register_timers() + # Initialize last timestamp self._last_t = None - def initalize_elevation_mapping(self): + # Initialize transform storage with thread safety + self._transform_lock = threading.Lock() + self._current_transform = None + + # Initialize ThreadPoolExecutor for pointcloud processing + self.thread_pool = concurrent.futures.ThreadPoolExecutor(max_workers=2) + self.get_logger().info("ThreadPoolExecutor initialized with 2 workers.") + + def initialize_elevation_mapping(self): self.param.update() - # TODO add statistics across processed topics self._pointcloud_process_counter = 0 self._image_process_counter = 0 self._map = ElevationMap(self.param) - self._map_data = np.zeros((self._map.cell_n - 2, self._map.cell_n - 2), dtype=np.float32) + self._map_data = np.zeros( + (self._map.cell_n - 2, self._map.cell_n - 2), dtype=np.float32 + ) self._map_q = None self._map_t = None - def initalize_ros(self): + def initialize_ros(self): + # Initialize TF buffer and listener with increased cache time self._tf_buffer = tf2_ros.Buffer() - self._listener = tf2_ros.TransformListener(self._tf_buffer) + # Initialize TransformListener + self._listener = tf2_ros.TransformListener(self._tf_buffer, self) + + # Retrieve ROS parameters self.get_ros_params() + def get_ros_params(self): + # Get parameters with default values + self.use_chainer = self.get_parameter('use_chainer').get_parameter_value().bool_value + self.weight_file = self.get_parameter('weight_file').get_parameter_value().string_value + self.plugin_config_file = self.get_parameter('plugin_config_file').get_parameter_value().string_value + self.initialize_frame_id = self.get_parameter('initialize_frame_id').get_parameter_value().string_value + self.initialize_tf_offset = self.get_parameter('initialize_tf_offset').get_parameter_value().double_array_value + self.map_frame = self.get_parameter('map_frame').get_parameter_value().string_value + self.base_frame = self.get_parameter('base_frame').get_parameter_value().string_value + self.corrected_map_frame = self.get_parameter('corrected_map_frame').get_parameter_value().string_value + self.initialize_method = self.get_parameter('initialize_method').get_parameter_value().string_value + self.position_lowpass_alpha = self.get_parameter('position_lowpass_alpha').get_parameter_value().double_value + self.orientation_lowpass_alpha = self.get_parameter('orientation_lowpass_alpha').get_parameter_value().double_value + self.recordable_fps = self.get_parameter('recordable_fps').get_parameter_value().double_value + self.update_variance_fps = self.get_parameter('update_variance_fps').get_parameter_value().double_value + self.time_interval = self.get_parameter('time_interval').get_parameter_value().double_value + self.update_pose_fps = self.get_parameter('update_pose_fps').get_parameter_value().double_value + self.initialize_tf_grid_size = self.get_parameter('initialize_tf_grid_size').get_parameter_value().double_value + self.map_acquire_fps = self.get_parameter('map_acquire_fps').get_parameter_value().double_value + self.publish_statistics_fps = self.get_parameter('publish_statistics_fps').get_parameter_value().double_value + self.enable_pointcloud_publishing = self.get_parameter('enable_pointcloud_publishing').get_parameter_value().bool_value + self.enable_normal_arrow_publishing = self.get_parameter('enable_normal_arrow_publishing').get_parameter_value().bool_value + self.enable_drift_corrected_TF_publishing = self.get_parameter('enable_drift_corrected_TF_publishing').get_parameter_value().bool_value + self.use_initializer_at_start = self.get_parameter('use_initializer_at_start').get_parameter_value().bool_value + + # Log parameters + self.get_logger().info("\n=== Loaded Parameters ===") + self.get_logger().info(f"use_chainer: {self.use_chainer}") + self.get_logger().info(f"weight_file: {self.weight_file}") + self.get_logger().info(f"plugin_config_file: {self.plugin_config_file}") + self.get_logger().info(f"initialize_frame_id: {self.initialize_frame_id}") + self.get_logger().info(f"initialize_tf_offset: {self.initialize_tf_offset}") + self.get_logger().info(f"map_frame: {self.map_frame}") + self.get_logger().info(f"base_frame: {self.base_frame}") + self.get_logger().info(f"corrected_map_frame: {self.corrected_map_frame}") + self.get_logger().info(f"initialize_method: {self.initialize_method}") + self.get_logger().info(f"position_lowpass_alpha: {self.position_lowpass_alpha}") + self.get_logger().info(f"orientation_lowpass_alpha: {self.orientation_lowpass_alpha}") + self.get_logger().info(f"recordable_fps: {self.recordable_fps}") + self.get_logger().info(f"update_variance_fps: {self.update_variance_fps}") + self.get_logger().info(f"time_interval: {self.time_interval}") + self.get_logger().info(f"update_pose_fps: {self.update_pose_fps}") + self.get_logger().info(f"initialize_tf_grid_size: {self.initialize_tf_grid_size}") + self.get_logger().info(f"map_acquire_fps: {self.map_acquire_fps}") + self.get_logger().info(f"publish_statistics_fps: {self.publish_statistics_fps}") + self.get_logger().info(f"enable_pointcloud_publishing: {self.enable_pointcloud_publishing}") + self.get_logger().info(f"enable_normal_arrow_publishing: {self.enable_normal_arrow_publishing}") + self.get_logger().info(f"enable_drift_corrected_TF_publishing: {self.enable_drift_corrected_TF_publishing}") + self.get_logger().info(f"use_initializer_at_start: {self.use_initializer_at_start}") + self.get_logger().info("=======================\n") + + # Retrieve subscribers using prefix + subscribers_params = self.get_parameters_by_prefix('subscribers') + self.get_logger().info(f"Subscribers params: {subscribers_params}") + self.my_subscribers = {} + for param_name, param_value in subscribers_params.items(): + parts = param_name.split('.') + if len(parts) >= 2: + sub_key, sub_param = parts[:2] + if sub_key not in self.my_subscribers: + self.my_subscribers[sub_key] = {} + self.my_subscribers[sub_key][sub_param] = param_value.value + else: + self.get_logger().warn(f"Unexpected subscriber parameter format: {param_name}") + + # Retrieve publishers using prefix + publishers_params = self.get_parameters_by_prefix('publishers') + self.get_logger().info(f"Publishers params: {publishers_params}") + self.my_publishers = {} + for param_name, param_value in publishers_params.items(): + parts = param_name.split('.') + if len(parts) >= 2: + pub_key, pub_param = parts[:2] + if pub_key not in self.my_publishers: + self.my_publishers[pub_key] = {} + self.my_publishers[pub_key][pub_param] = param_value.value + else: + self.get_logger().warn(f"Unexpected publisher parameter format: {param_name}") + + # Log loaded subscribers and publishers for debugging + self.get_logger().info(f"Loaded Subscribers: {self.my_subscribers}") + self.get_logger().info(f"Loaded Publishers: {self.my_publishers}") + + # If you want to list all parameters for debugging + params = self.get_parameters_by_prefix('') + for param_name, param_value in params.items(): + self.get_logger().info(f"Parameter '{param_name}': {param_value.value}") + def register_subscribers(self): - # check if CV bridge is needed - for config in self.param.subscriber_cfg.values(): - if config["data_type"] == "image": + # Initialize CvBridge if needed + for config in self.my_subscribers.values(): + if config.get("data_type") == "image": self.cv_bridge = CvBridge() break + # Dictionaries to hold subscribers pointcloud_subs = {} image_subs = {} - for key, config in self.subscribers.items(): - if config["data_type"] == "image": - camera_sub = message_filters.Subscriber(config["topic_name_camera"], Image) - camera_info_sub = message_filters.Subscriber(config["topic_name_camera_info"], CameraInfo) - image_subs[key] = message_filters.ApproximateTimeSynchronizer( + + for key, config in self.my_subscribers.items(): + data_type = config.get("data_type") + if data_type == "image": + topic_name_camera = config.get("topic_name_camera", "/camera/image") + topic_name_camera_info = config.get("topic_name_camera_info", "/camera/camera_info") + + # Initialize message_filters Subscribers without passing callback_group + camera_sub = message_filters.Subscriber( + self, + Image, + topic_name_camera + ) + camera_info_sub = message_filters.Subscriber( + self, + CameraInfo, + topic_name_camera_info + ) + + # Synchronize image and camera info + image_sync = message_filters.ApproximateTimeSynchronizer( [camera_sub, camera_info_sub], queue_size=10, slop=0.5 ) - image_subs[key].registerCallback(self.image_callback, key) + image_sync.registerCallback(partial(self.image_callback, sub_key=key)) + image_subs[key] = image_sync + + elif data_type == "pointcloud": + topic_name = config.get("topic_name", "/pointcloud") + qos_profile = rclpy.qos.QoSProfile( + depth=10, + reliability=rclpy.qos.ReliabilityPolicy.BEST_EFFORT, + durability=rclpy.qos.DurabilityPolicy.VOLATILE, + history=rclpy.qos.HistoryPolicy.KEEP_LAST + ) - elif config["data_type"] == "pointcloud": - pointcloud_subs[key] = self.create_subscription( - PointCloud2, config["topic_name"], self.pointcloud_callback, key + # Create subscription with ReentrantCallbackGroup + subscription = self.create_subscription( + PointCloud2, + topic_name, + partial(self.pointcloud_callback, sub_key=key), + qos_profile, + callback_group=self.callback_group # Assign ReentrantCallbackGroup ) + pointcloud_subs[key] = subscription + + else: + self.get_logger().warn(f"Unknown data_type '{data_type}' for subscriber '{key}'") + + self.get_logger().info( + f"Registered {len(pointcloud_subs)} pointcloud subscribers and {len(image_subs)} image subscribers." + ) def register_publishers(self): - self._publishers = {} + self._publishers_dict = {} self._publishers_timers = [] - for k, v in self.publishers.items(): - self._publishers[k] = self.create_publisher(GridMap, f"/{self.node_name}/{k}", 10) - # partial(.) allows to pass a default argument to a callback - self._publishers_timers.append(self.create_timer(1 / v["fps"], partial(self.publish_map, k))) - def publish_map(self, k): - print("publish_map") + for pub_key, pub_config in self.my_publishers.items(): + topic_name = f"/{self.node_name}/{pub_key}" + publisher = self.create_publisher(GridMap, topic_name, 10) + self._publishers_dict[pub_key] = publisher + + fps = pub_config.get("fps", 1.0) + timer = self.create_timer( + 1.0 / fps, + partial(self.publish_map, key=pub_key), + callback_group=self.callback_group # Assign ReentrantCallbackGroup + ) + self._publishers_timers.append(timer) + + self.get_logger().info(f"Publisher '{pub_key}' registered on topic '{topic_name}' with {fps} Hz.") + + def register_timers(self): + # Remove separate transform_updater and update_pose timers + # Register the combined timer instead + self.time_pose_update = self.create_timer( + 0.1, + self.pose_update, + callback_group=self.callback_group # Assign ReentrantCallbackGroup + ) + + # Register additional timers with the ReentrantCallbackGroup + self.timer_variance = self.create_timer( + 1.0 / self.update_variance_fps, + self.update_variance, + callback_group=self.callback_group # Assign ReentrantCallbackGroup + ) + self.timer_time = self.create_timer( + self.time_interval, + self.update_time, + callback_group=self.callback_group # Assign ReentrantCallbackGroup + ) + + self.get_logger().info("Combined transform and pose updater timer, variance, and time timers registered.") + + def publish_map(self, key): + self.get_logger().info("publish_map entered") if self._map_q is None: + self.get_logger().info("No map pose available for publishing.") return gm = GridMap() - gm.info.header.frame_id = self.map_frame - gm.info.header.stamp = self.get_clock().now().to_msg() - gm.info.header.seq = 0 + gm.header.frame_id = self.map_frame + gm.header.stamp = self.get_clock().now().to_msg() gm.info.resolution = self._map.resolution gm.info.length_x = self._map.map_length gm.info.length_y = self._map.map_length @@ -123,164 +327,217 @@ def publish_map(self, k): gm.info.pose.orientation.y = 0.0 # self._map_q.y gm.info.pose.orientation.z = 0.0 # self._map_q.z gm.layers = [] - gm.basic_layers = self.publishers[k]["basic_layers"] - for i, layer in enumerate(self.publishers[k]["layers"]): + gm.basic_layers = self.my_publishers[key]["basic_layers"] + for layer in self.my_publishers[key].get("layers", []): gm.layers.append(layer) - try: - self._map.get_map_with_name_ref(layer, self._map_data) - data = self._map_data.copy() - arr = Float32MultiArray() - arr.layout = MAL() - N = self._map_data.shape[0] - arr.layout.dim.append(MAD(label="column_index", size=N, stride=int(N * N))) - arr.layout.dim.append(MAD(label="row_index", size=N, stride=N)) - arr.data = tuple(np.ascontiguousarray(data.T).reshape(-1)) - gm.data.append(arr) - except: - if layer in gm.basic_layers: - print("Error: Missed Layer in basic layers") - + self._map.get_map_with_name_ref(layer, self._map_data) + + arr = Float32MultiArray() + arr.layout = MAL() + N = self._map_data.shape[0] + arr.layout.dim.append(MAD(label="column_index", size=N, stride=int(N * N))) + arr.layout.dim.append(MAD(label="row_index", size=N, stride=N)) + + # Convert to a Python list to satisfy the message requirements + arr.data = self._map_data.T.flatten().tolist() + + gm.data.append(arr) gm.outer_start_index = 0 gm.inner_start_index = 0 - self._publishers[k].publish(gm) + self._publishers_dict[key].publish(gm) - def register_timers(self): - self.timer_variance = self.create_timer(1 / self.update_variance_fps, self.update_variance) - self.timer_pose = self.create_timer(1 / self.update_pose_fps, self.update_pose) - self.timer_time = self.create_timer(self.time_interval, self.update_time) def image_callback(self, camera_msg, camera_info_msg, sub_key): - # get pose of image + # Get pose of image ti = camera_msg.header.stamp self._last_t = ti - try: - transform = self._tf_buffer.lookup_transform( - camera_msg.header.frame_id, self.map_frame, ti, rospy.Duration(1.0) - ) - except (tf2_ros.LookupException, tf2_ros.ConnectivityException, tf2_ros.ExtrapolationException) as e: - print("Error: image_callback:", e) + + # Retrieve the latest transform + transform = self.get_current_transform() + if transform is None: + self.get_logger().warn("No available transform for image_callback.") return t = transform.transform.translation - t = np.array([t.x, t.y, t.z]) q = transform.transform.rotation + t_np = np.array([t.x, t.y, t.z]) R = quaternion_matrix([q.x, q.y, q.z, q.w])[:3, :3] - semantic_img = self.cv_bridge.imgmsg_to_cv2(camera_msg, desired_encoding="passthrough") + try: + semantic_img = self.cv_bridge.imgmsg_to_cv2(camera_msg, desired_encoding="passthrough") + except Exception as e: + self.get_logger().error(f"CV Bridge conversion failed: {e}") + return + # Ensure image is grayscale or split channels if len(semantic_img.shape) != 2: - semantic_img = [semantic_img[:, :, k] for k in range(3)] - + semantic_img = [semantic_img[:, :, k] for k in range(semantic_img.shape[2])] else: semantic_img = [semantic_img] - K = np.array(camera_info_msg.K, dtype=np.float32).reshape(3, 3) + K = np.array(camera_info_msg.k, dtype=np.float32).reshape(3, 3) + D = np.array(camera_info_msg.d, dtype=np.float32).reshape(-1, 1) + + if not np.all(D == 0.0): + self.get_logger().warn("Camera distortion coefficients are not zero. Undistortion not implemented.") - assert np.all(np.array(camera_info_msg.D) == 0.0), "Undistortion not implemented" - D = np.array(camera_info_msg.D, dtype=np.float32).reshape(5, 1) - - # process pointcloud - self._map.input_image(sub_key, semantic_img, R, t, K, D, camera_info_msg.height, camera_info_msg.width) + # Process image + self._map.input_image( + sub_key, semantic_img, R, t_np, K, D, camera_info_msg.height, camera_info_msg.width + ) self._image_process_counter += 1 + self.get_logger().debug(f"Images processed: {self._image_process_counter}") + def pointcloud_callback(self, msg, sub_key): - channels = ["x", "y", "z"] + self.param.subscriber_cfg[sub_key]["channels"] - - points = ros_numpy.numpify(msg) - pts = np.empty((points.shape[0], 0)) - for ch in channels: - p = points[ch] - if len(p.shape) == 1: - p = p[:, None] - pts = np.append(pts, p, axis=1) - - # get pose of pointcloud - ti = msg.header.stamp - self._last_t = ti + start_time = time.time() + self._last_t = msg.header.stamp + self._pointcloud_stamp = msg.header.stamp + channels = ["x", "y", "z"] + self.param.subscriber_cfg[sub_key].get("channels", []) + try: - transform = self._tf_buffer.lookup_transform(self.map_frame, msg.header.frame_id, ti, rospy.Duration(1.0)) - except (tf2_ros.LookupException, tf2_ros.ConnectivityException, tf2_ros.ExtrapolationException) as e: - print("Error: pointcloud_callback: ", e) + points = rnp.numpify(msg) + except Exception as e: + self.get_logger().error(f"Failed to numpify pointcloud: {e}") return - t = transform.transform.translation - t = np.array([t.x, t.y, t.z]) - q = transform.transform.rotation - R = quaternion_matrix([q.x, q.y, q.z, q.w])[:3, :3] + if points['xyz'].size == 0: + self.get_logger().warn("Received empty point cloud.") + return + + frame_sensor_id = msg.header.frame_id + try: + # Await the transform lookup + transform_sensor_to_odom = self._tf_buffer.lookup_transform( + self.map_frame, + frame_sensor_id, + self._pointcloud_stamp + ) + + # Process the transform directly here instead of using callback + t = transform_sensor_to_odom.transform.translation + q = transform_sensor_to_odom.transform.rotation + t_np = np.array([t.x, t.y, t.z], dtype=np.float32) + R = quaternion_matrix([q.x, q.y, q.z, q.w])[:3, :3].astype(np.float32) + + # Submit the processing to the executor + self.thread_pool.submit(self.process_pointcloud, points['xyz'], channels, R, t_np, sub_key) - # process pointcloud - self._map.input(pts, channels, R, t, 0, 0) - self._pointcloud_process_counter += 1 - print("Pointclouds processed: ", self._pointcloud_process_counter) + except (tf2_ros.LookupException, tf2_ros.ConnectivityException, tf2_ros.ExtrapolationException) as e: + self.get_logger().warn(f"Transform lookup failed: {e}") + except Exception as e: + self.get_logger().error(f"Unexpected error in pointcloud_callback: {str(e)}") - def update_pose(self): - # get pose of base - # t = rospy.Time.now() + def process_pointcloud(self, xyz, channels, R, t_np, sub_key): + try: + callback_start = time.time() + self._map.input_pointcloud(xyz, channels, R, t_np, 0, 0) + self._pointcloud_process_counter += 1 + callback_end = time.time() + self.get_logger().info(f"[process_pointcloud] input_pointcloud execution time: {callback_end - callback_start:.4f} seconds") + except Exception as e: + self.get_logger().error(f"Error processing pointcloud in separate thread: {str(e)}") + + def pose_update(self): if self._last_t is None: + self.get_logger().debug("No timestamp available for pose update.") return + try: transform = self._tf_buffer.lookup_transform( - self.map_frame, self.base_frame, self._last_t, rospy.Duration(1.0) + self.map_frame, + self.base_frame, + self._last_t ) - except (tf2_ros.LookupException, tf2_ros.ConnectivityException, tf2_ros.ExtrapolationException) as e: - print("Error: update_pose error: ", e) - return - t = transform.transform.translation - trans = np.array([t.x, t.y, t.z]) - q = transform.transform.rotation - rot = quaternion_matrix([q.x, q.y, q.z, q.w])[:3, :3] - self._map.move_to(trans, rot) - self._map_t = t - self._map_q = q + # Update the current transform with thread safety + with self._transform_lock: + self._current_transform = transform + + # Update the pose + t = transform.transform.translation + q = transform.transform.rotation + trans = np.array([t.x, t.y, t.z], dtype=np.float32) + rot = quaternion_matrix([q.x, q.y, q.z, q.w])[:3, :3].astype(np.float32) + + self._map.move_to(trans, rot) + self._map_t = t + self._map_q = q + + self.get_logger().debug("Pose updated.") + + except (tf2_ros.LookupException, tf2_ros.ConnectivityException, tf2_ros.ExtrapolationException) as e: + self.get_logger().warn(f"Transform lookup failed in pose_update: {e}") + except Exception as e: + self.get_logger().error(f"Unexpected error in pose_update: {str(e)}") def update_variance(self): self._map.update_variance() + self.get_logger().debug("Variance updated.") def update_time(self): self._map.update_time() + self.get_logger().debug("Time updated.") - def get_ros_params(self): - self.declare_parameter('use_chainer', False) - self.declare_parameter('weight_file', '$(rospack find elevation_mapping_cupy)/config/core/weights.dat') - self.declare_parameter('plugin_config_file', '$(rospack find elevation_mapping_cupy)/config/core/plugin_config.yaml') - - self.subscribers = self.get_parameter("subscribers").value - self.publishers = self.get_parameter("publishers").value - self.initialize_frame_id = self.get_parameter("initialize_frame_id").value - self.initialize_tf_offset = self.get_parameter("initialize_tf_offset").value - self.pose_topic = self.get_parameter("pose_topic").value - self.map_frame = self.get_parameter("map_frame").value - self.base_frame = self.get_parameter("base_frame").value - self.corrected_map_frame = self.get_parameter("corrected_map_frame").value - self.initialize_method = self.get_parameter("initialize_method").value - self.position_lowpass_alpha = self.get_parameter("position_lowpass_alpha").value - self.orientation_lowpass_alpha = self.get_parameter("orientation_lowpass_alpha").value - self.recordable_fps = self.get_parameter("recordable_fps").value - self.update_variance_fps = self.get_parameter("update_variance_fps").value - self.time_interval = self.get_parameter("time_interval").value - self.update_pose_fps = self.get_parameter("update_pose_fps").value - self.initialize_tf_grid_size = self.get_parameter("initialize_tf_grid_size").value - self.map_acquire_fps = self.get_parameter("map_acquire_fps").value - self.publish_statistics_fps = self.get_parameter("publish_statistics_fps").value - self.enable_pointcloud_publishing = self.get_parameter("enable_pointcloud_publishing").value - self.enable_normal_arrow_publishing = self.get_parameter("enable_normal_arrow_publishing").value - self.enable_drift_corrected_TF_publishing = self.get_parameter("enable_drift_corrected_TF_publishing").value - self.use_initializer_at_start = self.get_parameter("use_initializer_at_start").value + def get_current_transform(self): + """Thread-safe method to retrieve the latest transform.""" + with self._transform_lock: + return self._current_transform + + def print_tf_frames(self): + """Print all available transforms in the TF buffer with timestamp""" + try: + # Get current timestamp + current_time = self.get_clock().now() + + # Try to get the specific transform from odom to base_footprint + try: + transform = self._tf_buffer.lookup_transform( + self.map_frame, + 'base_footprint', + rclpy.time.Time(), # get the latest transform + rclpy.duration.Duration(seconds=2.0) + ) + self.get_logger().info(f"\nOdom to base_footprint transform timestamp: " + f"{transform.header.stamp.sec}.{transform.header.stamp.nanosec}") + except (tf2_ros.LookupException, tf2_ros.ConnectivityException, + tf2_ros.ExtrapolationException) as e: + self.get_logger().warn(f"Could not lookup odom to base_footprint transform: {e}") + + # Get all frame IDs + frames = self._tf_buffer.all_frames_as_string() + # Uncomment the line below if you want to log all available TF frames + # self.get_logger().info(f"Available TF frames:\n{frames}") + except Exception as e: + self.get_logger().error(f"Failed to get TF frames: {e}") + + def destroy_node(self): + self.get_logger().info("Shutting down ThreadPoolExecutor.") + self.thread_pool.shutdown(wait=True) + super().destroy_node() def main(args=None): rclpy.init(args=args) node = ElevationMappingNode() + + # Initialize a MultiThreadedExecutor instead of SingleThreadedExecutor + executor = rclpy.executors.MultiThreadedExecutor() + executor.add_node(node) + try: - rclpy.spin(node) + # Use the executor to spin + executor.spin() except KeyboardInterrupt: - pass + node.get_logger().info("Shutting down ElevationMappingNode.") finally: + # Shutdown the executor and destroy the node + executor.shutdown() node.destroy_node() rclpy.shutdown() + if __name__ == '__main__': - main() \ No newline at end of file + main() diff --git a/elevation_mapping_cupy/elevation_mapping_cupy/listener_test.py b/elevation_mapping_cupy/elevation_mapping_cupy/listener_test.py new file mode 100644 index 00000000..212d13f4 --- /dev/null +++ b/elevation_mapping_cupy/elevation_mapping_cupy/listener_test.py @@ -0,0 +1,33 @@ +import rclpy +from rclpy.node import Node +import tf2_ros +from geometry_msgs.msg import TransformStamped +from tf2_msgs.msg import TFMessage + +class TfListener(Node): + def __init__(self): + super().__init__('tf_listener') + self.subscription = self.create_subscription( + TFMessage, + '/tf', + self.listener_callback, + 10) + self.last_time = None + + def listener_callback(self, msg): + for transform in msg.transforms: + current_time = transform.header.stamp.sec + transform.header.stamp.nanosec * 1e-9 + if self.last_time is not None: + delta = current_time - self.last_time + self.get_logger().info(f"Delta time: {delta:.6f} seconds") + self.last_time = current_time + +def main(args=None): + rclpy.init(args=args) + node = TfListener() + rclpy.spin(node) + node.destroy_node() + rclpy.shutdown() + +if __name__ == '__main__': + main() diff --git a/elevation_mapping_cupy/launch/elevation_mapping.launch.py b/elevation_mapping_cupy/launch/elevation_mapping.launch.py new file mode 100755 index 00000000..f8f4f848 --- /dev/null +++ b/elevation_mapping_cupy/launch/elevation_mapping.launch.py @@ -0,0 +1,22 @@ +import os +from launch import LaunchDescription +from launch_ros.actions import Node +from ament_index_python.packages import get_package_share_directory + +def generate_launch_description(): + package_name = 'elevation_mapping_cupy' + share_dir = get_package_share_directory(package_name) + + config_file = os.path.join(share_dir, 'config', 'core_param.yaml') + if not os.path.exists(config_file): + raise FileNotFoundError(f"Config file {config_file} does not exist") + + return LaunchDescription([ + Node( + package=package_name, + executable='elevation_mapping_node', + name='elevation_mapping_node', + output='screen', + parameters=[config_file] + ) + ]) \ No newline at end of file diff --git a/elevation_mapping_cupy/launch/elevation_mapping_launch.py b/elevation_mapping_cupy/launch/elevation_mapping_launch.py deleted file mode 100755 index 36e3df9d..00000000 --- a/elevation_mapping_cupy/launch/elevation_mapping_launch.py +++ /dev/null @@ -1,16 +0,0 @@ -from launch import LaunchDescription -from launch_ros.actions import Node -from launch_ros.parameter_descriptions import ParameterFile - -def generate_launch_description(): - return LaunchDescription([ - Node( - package='elevation_mapping_cupy', - executable='elevation_mapping_node', - name='elevation_mapping_node', - output='screen', - parameters=[ - ParameterFile('config/core/core_param.yaml', allow_substs=True) - ] - ) - ]) \ No newline at end of file diff --git a/elevation_mapping_cupy/launch/elevation_mapping_turtle.launch.py b/elevation_mapping_cupy/launch/elevation_mapping_turtle.launch.py new file mode 100644 index 00000000..7c6b06c3 --- /dev/null +++ b/elevation_mapping_cupy/launch/elevation_mapping_turtle.launch.py @@ -0,0 +1,65 @@ +import os +from launch import LaunchDescription +from launch_ros.actions import Node +from ament_index_python.packages import get_package_share_directory +from launch.actions import DeclareLaunchArgument +from launch.substitutions import LaunchConfiguration, PathJoinSubstitution + + +def generate_launch_description(): + package_name = 'elevation_mapping_cupy' + share_dir = get_package_share_directory(package_name) + + core_param_path = os.path.join(share_dir, 'config', 'core', 'core_param.yaml') + turtle_param_path = os.path.join(share_dir, 'config', 'setups', 'turtle_bot', 'turtle_bot_simple.yaml') + + # Add verification + if not os.path.exists(core_param_path): + raise FileNotFoundError(f"Core param file not found: {core_param_path}") + if not os.path.exists(turtle_param_path): + raise FileNotFoundError(f"Turtle param file not found: {turtle_param_path}") + + # Declare launch arguments + use_sim_time_arg = DeclareLaunchArgument( + 'use_sim_time', + default_value='true', + description='Use simulation (Gazebo) clock if true' + ) + use_sim_time = LaunchConfiguration('use_sim_time') + + rviz_config_arg = DeclareLaunchArgument( + 'rviz_config', + default_value=PathJoinSubstitution([ + share_dir, 'rviz', 'turtle_sim_laser.rviz' + ]), + description='Path to the RViz config file' + ) + rviz_config = LaunchConfiguration('rviz_config') + + # RViz Node + rviz_node = Node( + package='rviz2', + executable='rviz2', + name='rviz2', + arguments=['-d', rviz_config], + parameters=[{'use_sim_time': use_sim_time}], + output='screen' + ) + elevation_mapping_node = Node( + package='elevation_mapping_cupy', + executable='elevation_mapping_node', + name='elevation_mapping_node', + output='screen', + parameters=[ + core_param_path, + turtle_param_path, + {'use_sim_time': use_sim_time} + ] + ) + + return LaunchDescription([ + use_sim_time_arg, + rviz_config_arg, + elevation_mapping_node, + rviz_node + ]) diff --git a/elevation_mapping_cupy/launch/turtle_simple_example.launch.py b/elevation_mapping_cupy/launch/turtle_simple_example.launch.py new file mode 100644 index 00000000..7af0c641 --- /dev/null +++ b/elevation_mapping_cupy/launch/turtle_simple_example.launch.py @@ -0,0 +1,68 @@ +# elevation_mapping_launch.py + +import os + +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription +from launch.conditions import IfCondition +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import LaunchConfiguration, PathJoinSubstitution, FindExecutable +from launch_ros.actions import Node +from ament_index_python.packages import get_package_share_directory + +def generate_launch_description(): + # Declare the 'rviz_config' launch argument with a default value + rviz_config_arg = DeclareLaunchArgument( + 'rviz_config', + default_value=os.path.join( + get_package_share_directory('elevation_mapping_cupy'), + 'rviz', + 'turtle_example.rviz' + ), + description='Path to the RViz config file' + ) + + # Define the path to the turtlesim_init launch file + turtlesim_init_launch = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join( + get_package_share_directory('elevation_mapping_cupy'), + 'launch', + 'turtlesim_init.launch.py' + ) + ), + launch_arguments={ + 'rviz_config': LaunchConfiguration('rviz_config'), + 'use_sim_time': 'true' # Set simulation time to true + }.items() + ) + + # Define the elevation_mapping node + elevation_mapping_node = Node( + package='elevation_mapping_cupy', + executable='elevation_mapping_node', # Ensure this is the correct executable name + name='elevation_mapping', + output='screen', + parameters=[ + os.path.join( + get_package_share_directory('elevation_mapping_cupy'), + 'config', + 'core', + 'core_param.yaml' + ), + os.path.join( + get_package_share_directory('elevation_mapping_cupy'), + 'config', + 'setups', + 'turtle_bot', + 'turtle_bot_simple.yaml' + ) + ] + ) + + # Create and return the LaunchDescription object + return LaunchDescription([ + rviz_config_arg, + turtlesim_init_launch, + # elevation_mapping_node, + ]) diff --git a/elevation_mapping_cupy/launch/turtlesim_init.launch.py b/elevation_mapping_cupy/launch/turtlesim_init.launch.py new file mode 100644 index 00000000..44502cf6 --- /dev/null +++ b/elevation_mapping_cupy/launch/turtlesim_init.launch.py @@ -0,0 +1,185 @@ +# turtlesim_init.launch.py + +import os + +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, ExecuteProcess +from launch.substitutions import LaunchConfiguration, Command, PathJoinSubstitution, TextSubstitution +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch_ros.actions import Node +from ament_index_python.packages import get_package_share_directory + + +def generate_launch_description(): + # Get the package directories + try: + elevation_mapping_cupy_dir = get_package_share_directory('elevation_mapping_cupy') + gazebo_ros_dir = get_package_share_directory('gazebo_ros') + turtlebot3_gazebo_dir = get_package_share_directory('turtlebot3_gazebo') + turtlebot3_description_dir = get_package_share_directory('turtlebot3_description') + except Exception as e: + print(f"Error getting package directories: {e}") + return LaunchDescription() # Return an empty launch description to prevent further errors + + # Print debug information + print(f"elevation_mapping_cupy_dir: {elevation_mapping_cupy_dir}") + print(f"gazebo_ros_dir: {gazebo_ros_dir}") + print(f"turtlebot3_gazebo_dir: {turtlebot3_gazebo_dir}") + print(f"turtlebot3_description_dir: {turtlebot3_description_dir}") + + # Declare launch arguments + use_sim_time_arg = DeclareLaunchArgument( + 'use_sim_time', + default_value='true', + description='Use simulation (Gazebo) clock if true' + ) + + rviz_config_arg = DeclareLaunchArgument( + 'rviz_config', + default_value=PathJoinSubstitution([ + elevation_mapping_cupy_dir, 'rviz', 'turtle_sim_laser.rviz' + ]), + description='Path to the RViz config file' + ) + + # print rviz config used + print(f"rviz_config: {rviz_config_arg}") + + model_arg = DeclareLaunchArgument( + 'model', + default_value='waffle', + description='Model type [burger, waffle, waffle_pi]' + ) + + x_pos_arg = DeclareLaunchArgument( + 'x_pos', + default_value='0.0', + description='Initial X position of the robot' + ) + + y_pos_arg = DeclareLaunchArgument( + 'y_pos', + default_value='2.0', + description='Initial Y position of the robot' + ) + + z_pos_arg = DeclareLaunchArgument( + 'z_pos', + default_value='0.0', + description='Initial Z position of the robot' + ) + + # Launch configurations + use_sim_time = LaunchConfiguration('use_sim_time') + # rviz_config = LaunchConfiguration('rviz_config') + model = LaunchConfiguration('model') + x_pos = LaunchConfiguration('x_pos') + y_pos = LaunchConfiguration('y_pos') + z_pos = LaunchConfiguration('z_pos') + + # Set the /use_sim_time parameter + use_sim_time_param = Node( + package='rclcpp_components', + executable='parameter_server', + name='use_sim_time_param', + parameters=[{'use_sim_time': use_sim_time}] + ) + + # Include the Gazebo empty world launch file + gazebo_launch = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + PathJoinSubstitution([ + gazebo_ros_dir, 'launch', 'gazebo.launch.py' + ]) + ), + launch_arguments={ + 'world': PathJoinSubstitution([ + turtlebot3_gazebo_dir, 'worlds', 'turtlebot3_world.world' + ]), + 'paused': 'false', + 'use_sim_time': use_sim_time, + 'gui': 'true', + 'headless': 'false', + 'debug': 'false' + }.items() + ) + + # Generate robot_description from urdf + robot_description_content = Command([ + 'cat ', + PathJoinSubstitution([ + turtlebot3_description_dir, 'urdf', 'turtlebot3_waffle_camera.urdf' + ]) + ]) + + robot_description = {'robot_description': robot_description_content} + + # Robot State Publisher + robot_state_publisher_node = Node( + package='robot_state_publisher', + executable='robot_state_publisher', + name='waffle_state_publisher', + output='screen', + parameters=[ + robot_description, + { + 'use_sim_time': use_sim_time, + 'publish_frequency': 50.0 # Set publishing frequency to 50 Hz + } + ] + ) + + # Spawn the TurtleBot3 model in Gazebo + spawn_entity = Node( + package='gazebo_ros', + executable='spawn_entity.py', + arguments=[ + '-entity', PathJoinSubstitution([ + TextSubstitution(text='turtlebot3_'), + model + ]), + '-topic', 'robot_description', + '-x', x_pos, + '-y', y_pos, + '-z', z_pos + ], + output='screen' + ) + + # # RViz Node + # rviz_node = Node( + # package='rviz2', + # executable='rviz2', + # name='rviz2', + # arguments=['-d', rviz_config], + # parameters=[{'use_sim_time': use_sim_time}], + # output='screen' + # ) + + # # Add Joint State Publisher + # joint_state_publisher_node = Node( + # package='joint_state_publisher', + # executable='joint_state_publisher', + # name='joint_state_publisher', + # parameters=[{'use_sim_time': use_sim_time}] + # ) + + # Define LaunchDescription variable + ld = LaunchDescription() + + # Add the declared arguments + # ld.add_action(use_sim_time_arg) + # ld.add_action(rviz_config_arg) + ld.add_action(model_arg) + ld.add_action(x_pos_arg) + ld.add_action(y_pos_arg) + ld.add_action(z_pos_arg) + + # Add actions + ld.add_action(gazebo_launch) + # ld.add_action(joint_state_publisher_node) + ld.add_action(robot_state_publisher_node) + ld.add_action(spawn_entity) + # ld.add_action(rviz_node) + + return ld \ No newline at end of file diff --git a/elevation_mapping_cupy/package.xml b/elevation_mapping_cupy/package.xml index 74c11f5f..e1bad0c5 100644 --- a/elevation_mapping_cupy/package.xml +++ b/elevation_mapping_cupy/package.xml @@ -1,30 +1,47 @@ - elevation_mapping_cupy - 2.0.0 - The elevation mapping on GPU + elevation_mapping_cupy + 2.0.0 + Elevation mapping on GPU + Your Name + MIT - Takahiro Miki + + ament_python + ament_cmake - MIT + + rclpy + std_msgs + sensor_msgs + geometry_msgs + elevation_map_msgs + grid_map_msgs + grid_map_ros + image_transport + pcl_ros + pybind11 + ros2_numpy + tf2_ros + message_filters + cv_bridge + ament_index_python + tf_transformations - - ament_cmake - ament_cmake_python + + rviz2 + gazebo_ros + robot_state_publisher + opencv-python + + + ament_python + ament_python - - rclpy - std_msgs - sensor_msgs - geometry_msgs - elevation_map_msgs - grid_map_msgs - grid_map_ros - image_transport - pcl_ros - pybind11 + + ament_python + - - ament_python - + + https://github.com/yourrepo/elevation_mapping_cupy diff --git a/elevation_mapping_cupy/resource/elevation_mapping_cupy b/elevation_mapping_cupy/resource/elevation_mapping_cupy new file mode 100644 index 00000000..e69de29b diff --git a/elevation_mapping_cupy/setup.cfg b/elevation_mapping_cupy/setup.cfg new file mode 100644 index 00000000..6ded92fd --- /dev/null +++ b/elevation_mapping_cupy/setup.cfg @@ -0,0 +1,4 @@ +[develop] +script_dir=$base/lib/elevation_mapping_cupy +[install] +install_scripts=$base/lib/elevation_mapping_cupy \ No newline at end of file diff --git a/elevation_mapping_cupy/setup.py b/elevation_mapping_cupy/setup.py index 9225d74c..493eef6c 100644 --- a/elevation_mapping_cupy/setup.py +++ b/elevation_mapping_cupy/setup.py @@ -1,4 +1,5 @@ from setuptools import setup, find_packages +from glob import glob import os package_name = 'elevation_mapping_cupy' @@ -21,9 +22,13 @@ 'elevation_mapping_node = elevation_mapping_cupy.elevation_mapping_ros:main', ], }, - # Remove data_files for package.xml data_files=[ - # Add the launch file - (os.path.join('share', package_name, 'launch'), ['launch/elevation_mapping_launch.py']), + (os.path.join('share', package_name, 'launch'), glob('launch/*.launch.py')), + *[(os.path.join('share', package_name, os.path.dirname(yaml_file)), [yaml_file]) for yaml_file in glob('config/**/*.yaml', recursive=True)], + # also the .*dat files + *[(os.path.join('share', package_name, os.path.dirname(dat_file)), [dat_file]) for dat_file in glob('config/**/*.dat', recursive=True)], + # add rviz files + *[(os.path.join('share', package_name, os.path.dirname(rviz_file)), [rviz_file]) for rviz_file in glob('rviz/**/*.rviz', recursive=True)], + (os.path.join('share', package_name), ['package.xml']), ], ) From 94829557f17e7a634af51203ee10e2c36029ac63 Mon Sep 17 00:00:00 2001 From: Idate96 Date: Thu, 5 Dec 2024 12:22:28 +0100 Subject: [PATCH 456/504] works without multithreading --- .../elevation_mapping_ros.py | 32 ++++++------------- 1 file changed, 9 insertions(+), 23 deletions(-) diff --git a/elevation_mapping_cupy/elevation_mapping_cupy/elevation_mapping_ros.py b/elevation_mapping_cupy/elevation_mapping_cupy/elevation_mapping_ros.py index 139264dd..10682d58 100644 --- a/elevation_mapping_cupy/elevation_mapping_cupy/elevation_mapping_ros.py +++ b/elevation_mapping_cupy/elevation_mapping_cupy/elevation_mapping_ros.py @@ -10,7 +10,6 @@ # ROS 2 imports import rclpy from rclpy.node import Node -from rclpy.callback_groups import ReentrantCallbackGroup from ament_index_python.packages import get_package_share_directory import ros2_numpy as rnp from sensor_msgs.msg import PointCloud2, Image, CameraInfo @@ -54,9 +53,6 @@ def __init__(self): automatically_declare_parameters_from_overrides=True ) - # Create a ReentrantCallbackGroup for subscriptions and timers - self.callback_group = ReentrantCallbackGroup() - # Get package share directory self.root = get_package_share_directory("elevation_mapping_cupy") weight_file = os.path.join(self.root, "config/core/weights.dat") @@ -249,13 +245,12 @@ def register_subscribers(self): history=rclpy.qos.HistoryPolicy.KEEP_LAST ) - # Create subscription with ReentrantCallbackGroup + # Create subscription without passing callback_group subscription = self.create_subscription( PointCloud2, topic_name, partial(self.pointcloud_callback, sub_key=key), - qos_profile, - callback_group=self.callback_group # Assign ReentrantCallbackGroup + qos_profile ) pointcloud_subs[key] = subscription @@ -278,8 +273,7 @@ def register_publishers(self): fps = pub_config.get("fps", 1.0) timer = self.create_timer( 1.0 / fps, - partial(self.publish_map, key=pub_key), - callback_group=self.callback_group # Assign ReentrantCallbackGroup + partial(self.publish_map, key=pub_key) ) self._publishers_timers.append(timer) @@ -290,26 +284,22 @@ def register_timers(self): # Register the combined timer instead self.time_pose_update = self.create_timer( 0.1, - self.pose_update, - callback_group=self.callback_group # Assign ReentrantCallbackGroup + self.pose_update ) - # Register additional timers with the ReentrantCallbackGroup + # Register additional timers without the ReentrantCallbackGroup self.timer_variance = self.create_timer( 1.0 / self.update_variance_fps, - self.update_variance, - callback_group=self.callback_group # Assign ReentrantCallbackGroup + self.update_variance ) self.timer_time = self.create_timer( self.time_interval, - self.update_time, - callback_group=self.callback_group # Assign ReentrantCallbackGroup + self.update_time ) self.get_logger().info("Combined transform and pose updater timer, variance, and time timers registered.") def publish_map(self, key): - self.get_logger().info("publish_map entered") if self._map_q is None: self.get_logger().info("No map pose available for publishing.") return @@ -331,23 +321,20 @@ def publish_map(self, key): for layer in self.my_publishers[key].get("layers", []): gm.layers.append(layer) self._map.get_map_with_name_ref(layer, self._map_data) - arr = Float32MultiArray() arr.layout = MAL() N = self._map_data.shape[0] arr.layout.dim.append(MAD(label="column_index", size=N, stride=int(N * N))) arr.layout.dim.append(MAD(label="row_index", size=N, stride=N)) - # Convert to a Python list to satisfy the message requirements arr.data = self._map_data.T.flatten().tolist() - gm.data.append(arr) + gm.outer_start_index = 0 gm.inner_start_index = 0 self._publishers_dict[key].publish(gm) - def image_callback(self, camera_msg, camera_info_msg, sub_key): # Get pose of image ti = camera_msg.header.stamp @@ -391,7 +378,6 @@ def image_callback(self, camera_msg, camera_info_msg, sub_key): def pointcloud_callback(self, msg, sub_key): - start_time = time.time() self._last_t = msg.header.stamp self._pointcloud_stamp = msg.header.stamp channels = ["x", "y", "z"] + self.param.subscriber_cfg[sub_key].get("channels", []) @@ -524,7 +510,7 @@ def main(args=None): node = ElevationMappingNode() # Initialize a MultiThreadedExecutor instead of SingleThreadedExecutor - executor = rclpy.executors.MultiThreadedExecutor() + executor = rclpy.executors.SingleThreadedExecutor() executor.add_node(node) try: From 16222e037876e285059950681af215a2d6ad6b16 Mon Sep 17 00:00:00 2001 From: Idate96 Date: Thu, 5 Dec 2024 14:01:09 +0100 Subject: [PATCH 457/504] removed thread pool --- .../elevation_mapping_ros.py | 31 ++++--------------- 1 file changed, 6 insertions(+), 25 deletions(-) diff --git a/elevation_mapping_cupy/elevation_mapping_cupy/elevation_mapping_ros.py b/elevation_mapping_cupy/elevation_mapping_cupy/elevation_mapping_ros.py index 10682d58..fc6fabff 100644 --- a/elevation_mapping_cupy/elevation_mapping_cupy/elevation_mapping_ros.py +++ b/elevation_mapping_cupy/elevation_mapping_cupy/elevation_mapping_ros.py @@ -88,10 +88,6 @@ def __init__(self): self._transform_lock = threading.Lock() self._current_transform = None - # Initialize ThreadPoolExecutor for pointcloud processing - self.thread_pool = concurrent.futures.ThreadPoolExecutor(max_workers=2) - self.get_logger().info("ThreadPoolExecutor initialized with 2 workers.") - def initialize_elevation_mapping(self): self.param.update() self._pointcloud_process_counter = 0 @@ -376,7 +372,6 @@ def image_callback(self, camera_msg, camera_info_msg, sub_key): self._image_process_counter += 1 self.get_logger().debug(f"Images processed: {self._image_process_counter}") - def pointcloud_callback(self, msg, sub_key): self._last_t = msg.header.stamp self._pointcloud_stamp = msg.header.stamp @@ -394,36 +389,24 @@ def pointcloud_callback(self, msg, sub_key): frame_sensor_id = msg.header.frame_id try: - # Await the transform lookup transform_sensor_to_odom = self._tf_buffer.lookup_transform( self.map_frame, frame_sensor_id, self._pointcloud_stamp ) - # Process the transform directly here instead of using callback t = transform_sensor_to_odom.transform.translation q = transform_sensor_to_odom.transform.rotation t_np = np.array([t.x, t.y, t.z], dtype=np.float32) R = quaternion_matrix([q.x, q.y, q.z, q.w])[:3, :3].astype(np.float32) - # Submit the processing to the executor - self.thread_pool.submit(self.process_pointcloud, points['xyz'], channels, R, t_np, sub_key) + self._map.input_pointcloud(points['xyz'], channels, R, t_np, 0, 0) + self._pointcloud_process_counter += 1 except (tf2_ros.LookupException, tf2_ros.ConnectivityException, tf2_ros.ExtrapolationException) as e: - self.get_logger().warn(f"Transform lookup failed: {e}") - except Exception as e: - self.get_logger().error(f"Unexpected error in pointcloud_callback: {str(e)}") - - def process_pointcloud(self, xyz, channels, R, t_np, sub_key): - try: - callback_start = time.time() - self._map.input_pointcloud(xyz, channels, R, t_np, 0, 0) - self._pointcloud_process_counter += 1 - callback_end = time.time() - self.get_logger().info(f"[process_pointcloud] input_pointcloud execution time: {callback_end - callback_start:.4f} seconds") + self.get_logger().warn(f"[pointcloud_callback] Transform lookup failed: {e}") except Exception as e: - self.get_logger().error(f"Error processing pointcloud in separate thread: {str(e)}") + self.get_logger().error(f"[pointcloud_callback] Unexpected error: {str(e)}") def pose_update(self): if self._last_t is None: @@ -454,9 +437,9 @@ def pose_update(self): self.get_logger().debug("Pose updated.") except (tf2_ros.LookupException, tf2_ros.ConnectivityException, tf2_ros.ExtrapolationException) as e: - self.get_logger().warn(f"Transform lookup failed in pose_update: {e}") + self.get_logger().warn(f"[pose_update] Transform lookup failed: {e}") except Exception as e: - self.get_logger().error(f"Unexpected error in pose_update: {str(e)}") + self.get_logger().error(f"[pose_update] Unexpected error: {str(e)}") def update_variance(self): self._map.update_variance() @@ -500,8 +483,6 @@ def print_tf_frames(self): self.get_logger().error(f"Failed to get TF frames: {e}") def destroy_node(self): - self.get_logger().info("Shutting down ThreadPoolExecutor.") - self.thread_pool.shutdown(wait=True) super().destroy_node() From 4f35ca8a50bb8adc5f90d203fc60d123b237dbce Mon Sep 17 00:00:00 2001 From: amilearning Date: Thu, 5 Dec 2024 14:01:59 +0100 Subject: [PATCH 458/504] image subscribe --- .../config/core/core_param.yaml | 43 +-- .../elevation_mapping_ros.hpp | 54 ++-- .../src/elevation_mapping_ros.cpp | 286 +++++++++++------- .../src/elevation_mapping_wrapper.cpp | 2 +- 4 files changed, 235 insertions(+), 150 deletions(-) diff --git a/elevation_mapping_cupy/config/core/core_param.yaml b/elevation_mapping_cupy/config/core/core_param.yaml index 6facd7d9..3a693641 100644 --- a/elevation_mapping_cupy/config/core/core_param.yaml +++ b/elevation_mapping_cupy/config/core/core_param.yaml @@ -1,7 +1,8 @@ elevation_mapping: ros__parameters: - #### Basic parameters ######## - enable_normal_arrow_publishing: false + #### Basic parameters ######## + voxel_filter_size: 0.05 + enable_normal_arrow_publishing: true cell_n: 40000 # number of cells in the map. data_type: 'float32' # data type for the map. average_weight: 0.5 @@ -11,7 +12,7 @@ elevation_mapping: min_filter_iteration: 3 # number of iterations for min filter. initialized_variance: 10.0 # initial variance for each cell. resolution: 0.1 # resolution in m. - map_length: 20.0 # map's size in m. + map_length: 20.0 # map's size in m. sensor_noise_factor: 0.05 # point's noise is sensor_noise_factor*z^2 (z is distance from sensor). mahalanobis_thresh: 2.0 # points outside this distance is outlier. outlier_variance: 0.01 # if point is outlier, add this value to the cell. @@ -65,7 +66,7 @@ elevation_mapping: enable_pointcloud_publishing: false enable_drift_corrected_TF_publishing: false enable_normal_color: true # If true, the map contains 'color' layer corresponding to normal. Add 'color' layer to the publishers setting if you want to visualize. - enable_normal: true + #### Traversability filter ######## use_chainer: false # Use chainer as a backend of traversability filter or pytorch. If false, it uses pytorch. pytorch requires ~2GB more GPU memory compared to chainer but runs faster. @@ -104,23 +105,29 @@ elevation_mapping: # camera_info_topic_name: '/camera/depth/camera_info' # channel_info_topic_name: '/camera/channel_info' + subscribers: pointcloud1: - # topic_name: '/ouster/points' - topic_name: '/a200/sensors/camera_0/points' + # topic_name: '/ouster/points' + topic_name: '/a200/sensors/camera_0/points' data_type: 'pointcloud' - # image1: + image1: + topic_name: '/feat_processing_node/semantic_seg_feat' + info_name: '/feat_processing_node/a200/sensors/camera_0/color/camera_info_resized' + channel_name: '/feat_processing_node/feat_channel_info' + data_type: 'image' + # image2: # topic_name: '/a200/sensors/camera_0/color/image' # info_name: '/a200/sensors/camera_0/color/camera_info' # data_type: 'image' # channel_name: '/front_cam/channel_info' + # channel_name: '/front_cam/channel_info' + # image_topic2: '/camera/rgb/image_raw2' # image_info2: '/camera/depth/camera_info2' # image_channel_info1: '/front_cam/channel_info' - - # image: # for semantic images # topic_name: '/front_cam/semantic_image' # camera_info_topic_name: '/front_cam/camera/depth/camera_info_resized' @@ -135,17 +142,17 @@ elevation_mapping: publishers: elevation_map_raw: - layers: ['elevation', 'traversability', 'variance','normal_x', 'normal_y', 'normal_z'] + layers: ['elevation', 'traversability', 'variance','rgb', 'normal_x', 'normal_y', 'normal_z', 'feat_0','feat_1','feat_2','feat_3','feat_4'] basic_layers: ['elevation'] fps: 5.0 - # elevation_map_recordable: - # layers: ['elevation', 'traversability'] - # basic_layers: ['elevation', 'traversability'] - # fps: 2.0 - # elevation_map_filter: - # layers: ['min_filter', 'smooth', 'inpaint', 'elevation'] - # basic_layers: ['min_filter'] - # fps: 3.0 + elevation_map_recordable: + layers: ['elevation', 'traversability'] + basic_layers: ['elevation', 'traversability'] + fps: 2.0 + elevation_map_filter: + layers: ['min_filter', 'smooth', 'inpaint', 'elevation'] + basic_layers: ['min_filter'] + fps: 3.0 # plugun info diff --git a/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp b/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp index 220509e4..aa843e8f 100644 --- a/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp +++ b/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp @@ -48,6 +48,7 @@ #include #include #include +#include // OpenCV #include @@ -89,23 +90,28 @@ class ElevationMappingNode : public rclcpp::Node { using CameraChannelSyncPtr = std::shared_ptr; // Subscriber and Synchronizer for Pointcloud messages - using PointCloudSubscriber = message_filters::Subscriber; - using PointCloudSubscriberPtr = std::shared_ptr; - using PointCloudPolicy = message_filters::sync_policies::ApproximateTime; - using PointCloudSync = message_filters::Synchronizer; - using PointCloudSyncPtr = std::shared_ptr; + // using PointCloudSubscriber = message_filters::Subscriber; + // using PointCloudSubscriberPtr = std::shared_ptr; + // using PointCloudPolicy = message_filters::sync_policies::ApproximateTime; + // using PointCloudSync = message_filters::Synchronizer; + // using PointCloudSyncPtr = std::shared_ptr; private: - void readParameters(); - void setupMapPublishers(); - void pointcloudCallback(const sensor_msgs::msg::PointCloud2::SharedPtr cloud, const std::string& key); - void inputPointCloud(const sensor_msgs::msg::PointCloud2::SharedPtr cloud, const std::vector& channels); -// void inputImage(const sensor_msgs::ImageConstPtr& image_msg, const sensor_msgs::CameraInfoConstPtr& camera_info_msg, const std::vector& channels); +void readParameters(); +void setupMapPublishers(); +void pointcloudCallback(const sensor_msgs::msg::PointCloud2::SharedPtr cloud, const std::string& key); +void inputPointCloud(const sensor_msgs::msg::PointCloud2::SharedPtr cloud, const std::vector& channels); + +void inputImage(const sensor_msgs::msg::Image::ConstSharedPtr& image_msg, + const sensor_msgs::msg::CameraInfo::ConstSharedPtr& camera_info_msg, + const std::vector& channels); + + // void imageCallback(const sensor_msgs::msg::Image::SharedPtr image_msg, const sensor_msgs::msg::CameraInfo::SharedPtr camera_info_msg, const std::string& key); // void imageChannelCallback(const sensor_msgs::msg::Image::SharedPtr image_msg, const sensor_msgs::msg::CameraInfo::SharedPtr camera_info_msg, const elevation_map_msgs::msg::ChannelInfo::SharedPtr channel_info_msg); -void imageCallback(const std::shared_ptr& image_msg, const std::shared_ptr& camera_info_msg, const std::string& key); -void imageChannelCallback(const std::shared_ptr& image_msg, const std::shared_ptr& camera_info_msg, const std::shared_ptr& channel_info_msg); - +void imageCallback(const sensor_msgs::msg::Image::SharedPtr cloud, const std::string& key); +void imageChannelCallback(const elevation_map_msgs::msg::ChannelInfo::SharedPtr chennel_info, const std::string& key); +void imageInfoCallback(const sensor_msgs::msg::CameraInfo::SharedPtr image_info, const std::string& key); // void pointCloudChannelCallback(const sensor_msgs::PointCloud2& cloud, const elevation_map_msgs::ChannelInfoConstPtr& channel_info_msg); // // void multiLayerImageCallback(const elevation_map_msgs::MultiLayerImageConstPtr& image_msg, const sensor_msgs::CameraInfoConstPtr& camera_info_msg); void publishAsPointCloud(const grid_map::GridMap& map) const; @@ -139,12 +145,18 @@ visualization_msgs::msg::Marker vectorToArrowMarker(const Eigen::Vector3d& start rclcpp::Node::SharedPtr node_; // image_transport::ImageTransport it_; std::vector::SharedPtr> pointcloudSubs_; - std::vector imageSubs_; - std::vector cameraInfoSubs_; - std::vector channelInfoSubs_; - std::vector cameraSyncs_; - std::vector cameraChannelSyncs_; - std::vector pointCloudSyncs_; + + std::vector::SharedPtr> imageSubs_; + std::vector::SharedPtr> cameraInfoSubs_; + std::vector::SharedPtr> channelInfoSubs_; + + + // std::vector imageSubs_; + // std::vector cameraInfoSubs_; + // std::vector channelInfoSubs_; + // std::vector cameraSyncs_; + // std::vector cameraChannelSyncs_; + // std::vector pointCloudSyncs_; std::vector::SharedPtr> mapPubs_; @@ -206,6 +218,7 @@ visualization_msgs::msg::Marker vectorToArrowMarker(const Eigen::Vector3d& start double positionAlpha_; double orientationAlpha_; + double voxel_filter_size_; double recordableFps_; std::atomic_bool enablePointCloudPublishing_; @@ -215,6 +228,9 @@ visualization_msgs::msg::Marker vectorToArrowMarker(const Eigen::Vector3d& start double initializeTfGridSize_; bool alwaysClearWithInitializer_; std::atomic_int pointCloudProcessCounter_; + + std::map> imageInfoReady_; + std::map> imageChannelReady_; }; } // namespace elevation_mapping_cupy diff --git a/elevation_mapping_cupy/src/elevation_mapping_ros.cpp b/elevation_mapping_cupy/src/elevation_mapping_ros.cpp index 8825b97e..1e3f5505 100644 --- a/elevation_mapping_cupy/src/elevation_mapping_ros.cpp +++ b/elevation_mapping_cupy/src/elevation_mapping_ros.cpp @@ -70,6 +70,7 @@ ElevationMappingNode::ElevationMappingNode() this->get_parameter("enable_drift_corrected_TF_publishing", enableDriftCorrectedTFPublishing_); this->get_parameter("use_initializer_at_start", useInitializerAtStart_); this->get_parameter("always_clear_with_initializer", alwaysClearWithInitializer_); + this->get_parameter("voxel_filter_size", voxel_filter_size_); RCLCPP_INFO(this->get_logger(), "initialize_frame_id: %s", initialize_frame_id_.empty() ? "[]" : initialize_frame_id_[0].c_str()); RCLCPP_INFO(this->get_logger(), "initialize_tf_offset: [%f, %f, %f, %f]", initialize_tf_offset_[0], initialize_tf_offset_[1], initialize_tf_offset_[2], initialize_tf_offset_[3]); @@ -132,39 +133,59 @@ ElevationMappingNode::ElevationMappingNode() // } else { // transport_hint = "raw"; // In the default case we assume raw topic // } + + std::string key = sub_name; + - ImageSubscriberPtr image_sub = std::make_shared(this, camera_topic, rmw_qos_profile_sensor_data); - imageSubs_.push_back(image_sub); - - CameraInfoSubscriberPtr cam_info_sub = std::make_shared(this, info_topic, rmw_qos_profile_sensor_data); - cameraInfoSubs_.push_back(cam_info_sub); - - std::string channel_info_topic; - if (this->get_parameter("subscribers." + sub_name + ".channel_name", channel_info_topic)) { - ChannelInfoSubscriberPtr channel_info_sub = std::make_shared(this, channel_info_topic, rmw_qos_profile_sensor_data); - channelInfoSubs_.push_back(channel_info_sub); - CameraChannelSyncPtr sync = std::make_shared(CameraChannelPolicy(10), *image_sub, *cam_info_sub, *channel_info_sub); - sync->registerCallback(std::bind(&ElevationMappingNode::imageChannelCallback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3)); - cameraChannelSyncs_.push_back(sync); - RCLCPP_INFO(this->get_logger(), "Subscribed to Image topic: %s, Camera info topic: %s, Channel info topic: %s", camera_topic.c_str(), info_topic.c_str(), channel_info_topic.c_str()); - }else{ - std::string key = sub_name; - channels_[key].push_back("rgb"); - // RCLCPP_INFO(this->get_logger(), "Subscribed to Image topic: %s, Camera info topic: %s. Channel info topic: %s", camera_topic.c_str(), info_topic.c_str(), (channel_info_topic.empty() ? ("Not found. Using channels: " + boost::algorithm::join(channels_[key], ", ")).c_str() : channel_info_topic.c_str())); - CameraSyncPtr sync = std::make_shared(CameraPolicy(10), *image_sub, *cam_info_sub); - sync->registerCallback(std::bind(&ElevationMappingNode::imageCallback, this, std::placeholders::_1, std::placeholders::_2, key)); - cameraSyncs_.push_back(sync); - } - }else if(data_type == "pointcloud"){ + sensor_msgs::msg::CameraInfo img_info; + elevation_map_msgs::msg::ChannelInfo channel_info; + imageInfoReady_[key] = std::make_pair(img_info, false); + imageChannelReady_[key] = std::make_pair(channel_info, false); + // Image subscriber init + + rmw_qos_profile_t sensor_qos_profile = rmw_qos_profile_sensor_data; + auto sensor_qos = rclcpp::QoS(rclcpp::QoSInitialization(sensor_qos_profile.history, sensor_qos_profile.depth), sensor_qos_profile); + + auto img_callback = [this, key](const sensor_msgs::msg::Image::SharedPtr msg) { + this->imageCallback(msg, key); + }; + auto img_sub = this->create_subscription(camera_topic, sensor_qos, img_callback); + imageSubs_.push_back(img_sub); + RCLCPP_INFO(this->get_logger(), "Subscribed to Image topic: %s", camera_topic.c_str()); + // Camera Info subscriber init + auto img_info_callback = [this, key](const sensor_msgs::msg::CameraInfo::SharedPtr msg) { + this->imageInfoCallback(msg, key); + }; + auto img_info_sub = this->create_subscription(info_topic, sensor_qos, img_info_callback); + cameraInfoSubs_.push_back(img_info_sub); + RCLCPP_INFO(this->get_logger(), "Subscribed to ImageInfo topic: %s", info_topic.c_str()); + + std::string channel_info_topic; + if (this->get_parameter("subscribers." + sub_name + ".channel_name", channel_info_topic)) { + // channel subscriber init + imageChannelReady_[key].second = false; + auto img_channel_callback = [this, key](const elevation_map_msgs::msg::ChannelInfo::SharedPtr msg) { + this->imageChannelCallback(msg, key); + }; + auto channel_info_sub = this->create_subscription(channel_info_topic, sensor_qos, img_channel_callback); + channelInfoSubs_.push_back(channel_info_sub); + RCLCPP_INFO(this->get_logger(), "Subscribed to ChannelInfo topic: %s", channel_info_topic.c_str()); + }else{ + imageChannelReady_[key].second = true; + channels_[key].push_back("rgb"); + } + }else if(data_type == "pointcloud"){ std::string pointcloud_topic; this->get_parameter("subscribers." + sub_name + ".topic_name", pointcloud_topic); std::string key = sub_name; channels_[key].push_back("x"); channels_[key].push_back("y"); channels_[key].push_back("z"); + rmw_qos_profile_t qos_profile = rmw_qos_profile_default; auto qos = rclcpp::QoS(rclcpp::QoSInitialization(qos_profile.history, qos_profile.depth), qos_profile); + auto callback = [this, key](const sensor_msgs::msg::PointCloud2::SharedPtr msg) { this->pointcloudCallback(msg, key); }; @@ -352,6 +373,29 @@ void ElevationMappingNode::publishMapOfIndex(int index) { mapPubs_[index]->publish(msg); } +void ElevationMappingNode::imageInfoCallback(const sensor_msgs::msg::CameraInfo::SharedPtr image_info, const std::string& key) { +imageInfoReady_[key] = std::make_pair(*image_info, true); + // Find and remove the subscription for this key + auto it = std::find_if(cameraInfoSubs_.begin(), cameraInfoSubs_.end(), + [key](const rclcpp::Subscription::SharedPtr& sub) { + return sub->get_topic_name() == key; + }); + if (it != cameraInfoSubs_.end()) { + cameraInfoSubs_.erase(it); + } + +} + +void ElevationMappingNode::imageChannelCallback(const elevation_map_msgs::msg::ChannelInfo::SharedPtr channel_info, const std::string& key) { +imageChannelReady_[key] = std::make_pair(*channel_info, true); + auto it = std::find_if(channelInfoSubs_.begin(), channelInfoSubs_.end(), + [key](const rclcpp::Subscription::SharedPtr& sub) { + return sub->get_topic_name() == key; + }); + if (it != channelInfoSubs_.end()) { + channelInfoSubs_.erase(it); + } +} void ElevationMappingNode::pointcloudCallback(const sensor_msgs::msg::PointCloud2::SharedPtr cloud, const std::string& key) { // get channels @@ -359,8 +403,8 @@ void ElevationMappingNode::pointcloudCallback(const sensor_msgs::msg::PointCloud std::vector channels; for (size_t it = 0; it < fields.size(); it++) { - auto& field = fields[it]; - channels.push_back(field.name); + auto& field = fields[it]; + channels.push_back(field.name); } inputPointCloud(cloud, channels); @@ -371,9 +415,19 @@ void ElevationMappingNode::pointcloudCallback(const sensor_msgs::msg::PointCloud void ElevationMappingNode::inputPointCloud(const sensor_msgs::msg::PointCloud2::SharedPtr cloud, const std::vector& channels) { auto start = this->now(); - auto* pcl_pc = new pcl::PCLPointCloud2; - pcl::PCLPointCloud2ConstPtr cloudPtr(pcl_pc); - pcl_conversions::toPCL(*cloud, *pcl_pc); + // auto* raw_pcl_pc = new pcl::PCLPointCloud2; + // pcl::PCLPointCloud2ConstPtr cloudPtr(raw_pcl_pc); + pcl::PCLPointCloud2::Ptr raw_pcl_pc(new pcl::PCLPointCloud2()); + pcl_conversions::toPCL(*cloud, *raw_pcl_pc); + + // apply the voxel filtering + pcl::PCLPointCloud2::Ptr pcl_pc (new pcl::PCLPointCloud2()); + pcl::VoxelGrid voxel_filter; + voxel_filter.setInputCloud(raw_pcl_pc); + voxel_filter.setLeafSize(voxel_filter_size_,voxel_filter_size_,voxel_filter_size_); + voxel_filter.filter(*pcl_pc); + + RCLCPP_DEBUG(this->get_logger(), "Voxel grid filtered point cloud from %d points to %d points.", static_cast(raw_pcl_pc->width * raw_pcl_pc->height), static_cast(pcl_pc->width * pcl_pc->height)); // Get channels auto fields = cloud->fields; @@ -427,98 +481,106 @@ void ElevationMappingNode::inputPointCloud(const sensor_msgs::msg::PointCloud2:: -// void ElevationMappingNode::inputImage(const sensor_msgs::ImageConstPtr& image_msg, -// const sensor_msgs::CameraInfoConstPtr& camera_info_msg, -// const std::vector& channels) { -// // Get image -// cv::Mat image = cv_bridge::toCvShare(image_msg, image_msg->encoding)->image; +void ElevationMappingNode::inputImage(const sensor_msgs::msg::Image::ConstSharedPtr& image_msg, + const sensor_msgs::msg::CameraInfo::ConstSharedPtr& camera_info_msg, + const std::vector& channels) { + // Get image + cv::Mat image = cv_bridge::toCvShare(image_msg, image_msg->encoding)->image; -// // Change encoding to RGB/RGBA -// if (image_msg->encoding == "bgr8") { -// cv::cvtColor(image, image, CV_BGR2RGB); -// } else if (image_msg->encoding == "bgra8") { -// cv::cvtColor(image, image, CV_BGRA2RGBA); -// } + // Change encoding to RGB/RGBA + if (image_msg->encoding == "bgr8") { + cv::cvtColor(image, image, CV_BGR2RGB); + } else if (image_msg->encoding == "bgra8") { + cv::cvtColor(image, image, CV_BGRA2RGBA); + } -// // Extract camera matrix -// Eigen::Map> cameraMatrix(&camera_info_msg->K[0]); - -// // Extract distortion coefficients -// Eigen::VectorXd distortionCoeffs; -// if (!camera_info_msg->D.empty()) { -// distortionCoeffs = Eigen::Map(camera_info_msg->D.data(), camera_info_msg->D.size()); -// } else { -// ROS_WARN("Distortion coefficients are empty."); -// distortionCoeffs = Eigen::VectorXd::Zero(5); -// // return; -// } + // Extract camera matrix + Eigen::Map> cameraMatrix(&camera_info_msg->k[0]); -// // distortion model -// std::string distortion_model = camera_info_msg->distortion_model; - -// // Get pose of sensor in map frame -// tf::StampedTransform transformTf; -// std::string sensorFrameId = image_msg->header.frame_id; -// auto timeStamp = image_msg->header.stamp; -// Eigen::Affine3d transformationMapToSensor; -// try { -// transformListener_.waitForTransform(sensorFrameId, mapFrameId_, timeStamp, ros::Duration(1.0)); -// transformListener_.lookupTransform(sensorFrameId, mapFrameId_, timeStamp, transformTf); -// poseTFToEigen(transformTf, transformationMapToSensor); -// } catch (tf::TransformException& ex) { -// ROS_ERROR("%s", ex.what()); -// return; -// } + // Extract distortion coefficients + Eigen::VectorXd distortionCoeffs; + if (!camera_info_msg->d.empty()) { + distortionCoeffs = Eigen::Map(camera_info_msg->d.data(), camera_info_msg->d.size()); + } else { + RCLCPP_WARN(this->get_logger(), "Distortion coefficients are empty."); + distortionCoeffs = Eigen::VectorXd::Zero(5); + // return; + } -// // Transform image to vector of Eigen matrices for easy pybind conversion -// std::vector image_split; -// std::vector multichannel_image; -// cv::split(image, image_split); -// for (auto img : image_split) { -// ColMatrixXf eigen_img; -// cv::cv2eigen(img, eigen_img); -// multichannel_image.push_back(eigen_img); -// } + // distortion model + std::string distortion_model = camera_info_msg->distortion_model; + + // Get pose of sensor in map frame + geometry_msgs::msg::TransformStamped transformStamped; + std::string sensorFrameId = image_msg->header.frame_id; + auto timeStamp = image_msg->header.stamp; + Eigen::Isometry3d transformationMapToSensor; + try { + transformStamped = tfBuffer_->lookupTransform(sensorFrameId, mapFrameId_, tf2::TimePointZero); + transformationMapToSensor = tf2::transformToEigen(transformStamped); + } catch (tf2::TransformException& ex) { + RCLCPP_ERROR(this->get_logger(), "%s", ex.what()); + return; + } -// // Check if the size of multichannel_image and channels and channel_methods matches. "rgb" counts for 3 layers. -// int total_channels = 0; -// for (const auto& channel : channels) { -// if (channel == "rgb") { -// total_channels += 3; -// } else { -// total_channels += 1; -// } -// } -// if (total_channels != multichannel_image.size()) { -// ROS_ERROR("Mismatch in the size of multichannel_image (%d), channels (%d). Please check the input.", multichannel_image.size(), channels.size()); -// ROS_ERROR_STREAM("Current Channels: " << boost::algorithm::join(channels, ", ")); -// return; -// } + // Transform image to vector of Eigen matrices for easy pybind conversion + std::vector image_split; + std::vector multichannel_image; + cv::split(image, image_split); + for (auto img : image_split) { + ColMatrixXf eigen_img; + cv::cv2eigen(img, eigen_img); + multichannel_image.push_back(eigen_img); + } -// // Pass image to pipeline -// map_.input_image(multichannel_image, channels, transformationMapToSensor.rotation(), transformationMapToSensor.translation(), cameraMatrix, -// distortionCoeffs, distortion_model, image.rows, image.cols); -// } + // Check if the size of multichannel_image and channels and channel_methods matches. "rgb" counts for 3 layers. + int total_channels = 0; + for (const auto& channel : channels) { + if (channel == "rgb") { + total_channels += 3; + } else { + total_channels += 1; + } + } + if (total_channels != multichannel_image.size()) { + RCLCPP_ERROR(this->get_logger(), "Mismatch in the size of multichannel_image (%d), channels (%d). Please check the input.", multichannel_image.size(), channels.size()); + for (const auto& channel : channels) { + RCLCPP_INFO(this->get_logger(), "Channel: %s", channel.c_str()); + } + return; + } -void ElevationMappingNode::imageCallback(const std::shared_ptr& image_msg, - const std::shared_ptr& camera_info_msg, - const std::string& key) { - auto start = this->now(); - // inputImage(image_msg, camera_info_msg, channels_[key]); - RCLCPP_DEBUG(this->get_logger(), "ElevationMap imageCallback processed an image in %f sec.", (this->now() - start).seconds()); - + // Pass image to pipeline + map_->input_image(multichannel_image, channels, transformationMapToSensor.rotation(), transformationMapToSensor.translation(), cameraMatrix, + distortionCoeffs, distortion_model, image.rows, image.cols); } -void ElevationMappingNode::imageChannelCallback(const std::shared_ptr& image_msg, - const std::shared_ptr& camera_info_msg, - const std::shared_ptr& channel_info_msg) { -auto start = this->now(); -// Default channels and fusion methods for image is rgb and image_color -// std::vector channels; -// channels = channel_info_msg->channels; -// inputImage(image_msg, camera_info_msg, channels); -RCLCPP_DEBUG(this->get_logger(), "ElevationMap imageChannelCallback processed an image in %f sec.", (this->now() - start).seconds()); + +void ElevationMappingNode::imageCallback(const sensor_msgs::msg::Image::SharedPtr image_msg, const std::string& key){ + auto start = this->now(); + + if (!imageInfoReady_[key].second){ + RCLCPP_WARN(this->get_logger(), "CameraInfo for key %s is not available yet.", key.c_str()); + return; + } + + + auto camera_info_msg = std::make_shared(imageInfoReady_[key].first); + if (std::find(channels_[key].begin(), channels_[key].end(), "rgb") != channels_[key].end()){ + inputImage(image_msg, camera_info_msg, channels_[key]); + } + else{ + if (!imageChannelReady_[key].second){ + RCLCPP_WARN(this->get_logger(), "ChannelInfo for key %s is not available yet.", key.c_str()); + return; + } + // Default channels and fusion methods for image is rgb and image_color + std::vector channels; + channels = imageChannelReady_[key].first.channels; + inputImage(image_msg, camera_info_msg, channels); + } + RCLCPP_INFO(this->get_logger(), "ElevationMap imageChannelCallback processed an image in %f sec.", (this->now() - start).seconds()); } @@ -778,7 +840,6 @@ void ElevationMappingNode::updateGridMap() { if (enablePointCloudPublishing_) { publishAsPointCloud(gridMap_); } - if (enableNormalArrowPublishing_) { publishNormalAsArrow(gridMap_); } @@ -856,7 +917,8 @@ void ElevationMappingNode::publishNormalAsArrow(const grid_map::GridMap& map) co } markerArray.markers.push_back(vectorToArrowMarker(start, end, i)); } - normalPub_->publish(markerArray); + normalPub_->publish(markerArray); + } diff --git a/elevation_mapping_cupy/src/elevation_mapping_wrapper.cpp b/elevation_mapping_cupy/src/elevation_mapping_wrapper.cpp index 0e9f29c5..a90fae93 100644 --- a/elevation_mapping_cupy/src/elevation_mapping_wrapper.cpp +++ b/elevation_mapping_cupy/src/elevation_mapping_wrapper.cpp @@ -205,7 +205,7 @@ void ElevationMappingWrapper::setParameters() { map_n_ = py::cast(param_.attr("get_value")("true_cell_n")); - enable_normal_ = node_->get_parameter("enable_normal").as_bool(); + enable_normal_color_ = node_->get_parameter("enable_normal_color").as_bool(); } From fcab35b98f3bf013ed112638099ba4c63e3272a9 Mon Sep 17 00:00:00 2001 From: Idate96 Date: Thu, 5 Dec 2024 14:03:03 +0100 Subject: [PATCH 459/504] updated image callback --- .../elevation_mapping_ros.py | 54 ++++++++++--------- 1 file changed, 30 insertions(+), 24 deletions(-) diff --git a/elevation_mapping_cupy/elevation_mapping_cupy/elevation_mapping_ros.py b/elevation_mapping_cupy/elevation_mapping_cupy/elevation_mapping_ros.py index fc6fabff..82071b81 100644 --- a/elevation_mapping_cupy/elevation_mapping_cupy/elevation_mapping_ros.py +++ b/elevation_mapping_cupy/elevation_mapping_cupy/elevation_mapping_ros.py @@ -332,22 +332,11 @@ def publish_map(self, key): self._publishers_dict[key].publish(gm) def image_callback(self, camera_msg, camera_info_msg, sub_key): - # Get pose of image - ti = camera_msg.header.stamp - self._last_t = ti - - # Retrieve the latest transform - transform = self.get_current_transform() - if transform is None: - self.get_logger().warn("No available transform for image_callback.") - return - - t = transform.transform.translation - q = transform.transform.rotation - t_np = np.array([t.x, t.y, t.z]) - R = quaternion_matrix([q.x, q.y, q.z, q.w])[:3, :3] - + # Store timestamps + self._last_t = camera_msg.header.stamp + try: + # Convert image using cv_bridge semantic_img = self.cv_bridge.imgmsg_to_cv2(camera_msg, desired_encoding="passthrough") except Exception as e: self.get_logger().error(f"CV Bridge conversion failed: {e}") @@ -359,18 +348,38 @@ def image_callback(self, camera_msg, camera_info_msg, sub_key): else: semantic_img = [semantic_img] + # Get camera parameters K = np.array(camera_info_msg.k, dtype=np.float32).reshape(3, 3) D = np.array(camera_info_msg.d, dtype=np.float32).reshape(-1, 1) if not np.all(D == 0.0): self.get_logger().warn("Camera distortion coefficients are not zero. Undistortion not implemented.") - # Process image - self._map.input_image( - sub_key, semantic_img, R, t_np, K, D, camera_info_msg.height, camera_info_msg.width - ) - self._image_process_counter += 1 - self.get_logger().debug(f"Images processed: {self._image_process_counter}") + # Get transform from camera frame to map frame + try: + transform_camera_to_map = self._tf_buffer.lookup_transform( + self.map_frame, + camera_msg.header.frame_id, + camera_msg.header.stamp + ) + + t = transform_camera_to_map.transform.translation + q = transform_camera_to_map.transform.rotation + t_np = np.array([t.x, t.y, t.z], dtype=np.float32) + R = quaternion_matrix([q.x, q.y, q.z, q.w])[:3, :3].astype(np.float32) + + # Process image + self._map.input_image( + sub_key, semantic_img, R, t_np, K, D, + camera_info_msg.height, camera_info_msg.width + ) + self._image_process_counter += 1 + self.get_logger().debug(f"Images processed: {self._image_process_counter}") + + except (tf2_ros.LookupException, tf2_ros.ConnectivityException, tf2_ros.ExtrapolationException) as e: + self.get_logger().warn(f"[image_callback] Transform lookup failed: {e}") + except Exception as e: + self.get_logger().error(f"[image_callback] Unexpected error: {str(e)}") def pointcloud_callback(self, msg, sub_key): self._last_t = msg.header.stamp @@ -434,8 +443,6 @@ def pose_update(self): self._map_t = t self._map_q = q - self.get_logger().debug("Pose updated.") - except (tf2_ros.LookupException, tf2_ros.ConnectivityException, tf2_ros.ExtrapolationException) as e: self.get_logger().warn(f"[pose_update] Transform lookup failed: {e}") except Exception as e: @@ -449,7 +456,6 @@ def update_time(self): self._map.update_time() self.get_logger().debug("Time updated.") - def get_current_transform(self): """Thread-safe method to retrieve the latest transform.""" with self._transform_lock: From 387a231de1166e8336933b9996db46550c899491 Mon Sep 17 00:00:00 2001 From: Idate96 Date: Thu, 5 Dec 2024 17:34:02 +0100 Subject: [PATCH 460/504] updated configs to ros2 --- .../config/core/example_setup.yaml | 104 +++++------ .../config/core/plugin_config.yaml | 76 ++++---- .../setups/anymal/anymal_parameters.yaml | 156 +++++++++-------- .../setups/anymal/anymal_plugin_config.yaml | 54 +++--- .../anymal/anymal_sensor_parameter.yaml | 164 +++++++++--------- .../setups/turtle_bot/plugin_config.yaml | 127 +++++++------- .../turtle_bot_semantics_image.yaml | 80 ++++----- .../turtle_bot_semantics_pointcloud.yaml | 48 ++--- .../setups/turtle_bot/turtle_bot_simple.yaml | 13 +- 9 files changed, 422 insertions(+), 400 deletions(-) diff --git a/elevation_mapping_cupy/config/core/example_setup.yaml b/elevation_mapping_cupy/config/core/example_setup.yaml index a3f7a2f2..c5c4adb5 100644 --- a/elevation_mapping_cupy/config/core/example_setup.yaml +++ b/elevation_mapping_cupy/config/core/example_setup.yaml @@ -1,58 +1,60 @@ -#### Plugins ######## -plugin_config_file: '$(rospack find elevation_mapping_cupy)/config/core/plugin_config.yaml' +/elevation_mapping_node: + ros__parameters: + #### Plugins ######## + plugin_config_file: '$(rospack find elevation_mapping_cupy)/config/core/plugin_config.yaml' -#### Channel Fusions ######## -pointcloud_channel_fusions: - rgb: 'color' # 'color' fusion is used for the 'rgb' channel - default: 'average' # 'average' fusion is used for channels not listed here + #### Channel Fusions ######## + pointcloud_channel_fusions: + rgb: 'color' # 'color' fusion is used for the 'rgb' channel + default: 'average' # 'average' fusion is used for channels not listed here -image_channel_fusions: - rgb: 'color' # 'color' fusion is used for the 'rgb' channel - default: 'exponential' # 'exponential' fusion is used for channels not listed here - feat_.*: 'exponential' # 'exponential' fusion is also used for any channel starting with 'feat_' Regular expressions can be used for channel names + image_channel_fusions: + rgb: 'color' # 'color' fusion is used for the 'rgb' channel + default: 'exponential' # 'exponential' fusion is used for channels not listed here + feat_.*: 'exponential' # 'exponential' fusion is also used for any channel starting with 'feat_' Regular expressions can be used for channel names -#### Subscribers ######## -# pointcloud_sensor_name: -# topic_name: '/sensor/pointcloud_semantic' -# data_type: pointcloud # pointcloud or image -# -# image_sensor_name: -# topic_name: '/camera/image_semantic' -# data_type: image # pointcloud or image -# camera_info_topic_name: '/camera/depth/camera_info' -# channel_info_topic_name: '/camera/channel_info' + #### Subscribers ######## + # pointcloud_sensor_name: + # topic_name: '/sensor/pointcloud_semantic' + # data_type: pointcloud # pointcloud or image + # + # image_sensor_name: + # topic_name: '/camera/image_semantic' + # data_type: image # pointcloud or image + # camera_info_topic_name: '/camera/depth/camera_info' + # channel_info_topic_name: '/camera/channel_info' -subscribers: - front_cam: - topic_name: '/camera/depth/points' - data_type: pointcloud - color_cam: # for color camera - topic_name: '/camera/rgb/image_raw' - camera_info_topic_name: '/camera/depth/camera_info' - data_type: image - semantic_cam: # for semantic images - topic_name: '/front_cam/semantic_image' - camera_info_topic_name: '/front_cam/camera/depth/camera_info_resized' - channel_info_topic_name: '/front_cam/channel_info' - data_type: image + subscribers: + front_cam: + topic_name: '/camera/depth/points' + data_type: pointcloud + color_cam: # for color camera + topic_name: '/camera/rgb/image_raw' + camera_info_topic_name: '/camera/depth/camera_info' + data_type: image + semantic_cam: # for semantic images + topic_name: '/front_cam/semantic_image' + camera_info_topic_name: '/front_cam/camera/depth/camera_info_resized' + channel_info_topic_name: '/front_cam/channel_info' + data_type: image -#### Publishers ######## -# topic_name: -# layers: # Choose from 'elevation', 'variance', 'traversability', 'time', 'normal_x', 'normal_y', 'normal_z', 'color', plugin_layer_names -# basic_layers: # basic_layers for valid cell computation (e.g. Rviz): Choose a subset of `layers`. -# fps: # Publish rate. Use smaller value than `map_acquire_fps`. + #### Publishers ######## + # topic_name: + # layers: # Choose from 'elevation', 'variance', 'traversability', 'time', 'normal_x', 'normal_y', 'normal_z', 'color', plugin_layer_names + # basic_layers: # basic_layers for valid cell computation (e.g. Rviz): Choose a subset of `layers`. + # fps: # Publish rate. Use smaller value than `map_acquire_fps`. -publishers: - elevation_map_raw: - layers: ['elevation', 'traversability', 'variance','rgb'] - basic_layers: ['elevation'] - fps: 5.0 - elevation_map_recordable: - layers: ['elevation', 'traversability'] - basic_layers: ['elevation', 'traversability'] - fps: 2.0 - elevation_map_filter: - layers: ['min_filter', 'smooth', 'inpaint', 'elevation'] - basic_layers: ['min_filter'] - fps: 3.0 \ No newline at end of file + publishers: + elevation_map_raw: + layers: ['elevation', 'traversability', 'variance','rgb'] + basic_layers: ['elevation'] + fps: 5.0 + elevation_map_recordable: + layers: ['elevation', 'traversability'] + basic_layers: ['elevation', 'traversability'] + fps: 2.0 + elevation_map_filter: + layers: ['min_filter', 'smooth', 'inpaint', 'elevation'] + basic_layers: ['min_filter'] + fps: 3.0 \ No newline at end of file diff --git a/elevation_mapping_cupy/config/core/plugin_config.yaml b/elevation_mapping_cupy/config/core/plugin_config.yaml index efb29b27..b0c622fa 100644 --- a/elevation_mapping_cupy/config/core/plugin_config.yaml +++ b/elevation_mapping_cupy/config/core/plugin_config.yaml @@ -1,38 +1,40 @@ -# Settings of the plugins. (The plugins should be stored in script/plugins) +/elevation_mapping_node: + ros__parameters: + # Settings of the plugins. (The plugins should be stored in script/plugins) -# min_filter fills in minimum value around the invalid cell. -min_filter: - enable: True # weather to load this plugin - fill_nan: False # Fill nans to invalid cells of elevation layer. - is_height_layer: True # If this is a height layer (such as elevation) or not (such as traversability) - layer_name: "min_filter" # The layer name. - extra_params: # This params are passed to the plugin class on initialization. - dilation_size: 1 # The patch size to apply - iteration_n: 30 # The number of iterations -# Apply smoothing. -smooth_filter: - enable: True - fill_nan: False - is_height_layer: True - layer_name: "smooth" - extra_params: - input_layer_name: "min_filter" -# Apply inpainting using opencv -inpainting: - enable: True - fill_nan: False - is_height_layer: True - layer_name: "inpaint" - extra_params: - method: "telea" # telea or ns -# Apply smoothing for inpainted layer -erosion: - enable: True - fill_nan: False - is_height_layer: False - layer_name: "erosion" - extra_params: - input_layer_name: "traversability" - dilation_size: 3 - iteration_n: 20 - reverse: True \ No newline at end of file + # min_filter fills in minimum value around the invalid cell. + min_filter: + enable: True # weather to load this plugin + fill_nan: False # Fill nans to invalid cells of elevation layer. + is_height_layer: True # If this is a height layer (such as elevation) or not (such as traversability) + layer_name: "min_filter" # The layer name. + extra_params: # This params are passed to the plugin class on initialization. + dilation_size: 1 # The patch size to apply + iteration_n: 30 # The number of iterations + # Apply smoothing. + smooth_filter: + enable: True + fill_nan: False + is_height_layer: True + layer_name: "smooth" + extra_params: + input_layer_name: "min_filter" + # Apply inpainting using opencv + inpainting: + enable: True + fill_nan: False + is_height_layer: True + layer_name: "inpaint" + extra_params: + method: "telea" # telea or ns + # Apply smoothing for inpainted layer + erosion: + enable: True + fill_nan: False + is_height_layer: False + layer_name: "erosion" + extra_params: + input_layer_name: "traversability" + dilation_size: 3 + iteration_n: 20 + reverse: True \ No newline at end of file diff --git a/elevation_mapping_cupy/config/setups/anymal/anymal_parameters.yaml b/elevation_mapping_cupy/config/setups/anymal/anymal_parameters.yaml index 4a2ed7f4..623ec6a6 100644 --- a/elevation_mapping_cupy/config/setups/anymal/anymal_parameters.yaml +++ b/elevation_mapping_cupy/config/setups/anymal/anymal_parameters.yaml @@ -1,89 +1,91 @@ -#### Basic parameters ######## -resolution: 0.04 # resolution in m. -map_length: 8 # map's size in m. -sensor_noise_factor: 0.05 # point's noise is sensor_noise_factor*z^2 (z is distance from sensor). -mahalanobis_thresh: 2.0 # points outside this distance is outlier. -outlier_variance: 0.01 # if point is outlier, add this value to the cell. -drift_compensation_variance_inler: 0.05 # cells under this value is used for drift compensation. -max_drift: 0.1 # drift compensation happens only the drift is smaller than this value (for safety) -drift_compensation_alpha: 0.1 # drift compensation alpha for smoother update of drift compensation -time_variance: 0.0001 # add this value when update_variance is called. -max_variance: 100.0 # maximum variance for each cell. -initial_variance: 1000.0 # initial variance for each cell. -traversability_inlier: 0.9 # cells with higher traversability are used for drift compensation. -dilation_size: 3 # dilation filter size before traversability filter. -wall_num_thresh: 20 # if there are more points than this value, only higher points than the current height are used to make the wall more sharp. -min_height_drift_cnt: 100 # drift compensation only happens if the valid cells are more than this number. -position_noise_thresh: 0.01 # if the position change is bigger than this value, the drift compensation happens. -orientation_noise_thresh: 0.01 # if the orientation change is bigger than this value, the drift compensation happens. -position_lowpass_alpha: 0.2 # lowpass filter alpha used for detecting movements. -orientation_lowpass_alpha: 0.2 # lowpass filter alpha used for detecting movements. -min_valid_distance: 0.5 # points with shorter distance will be filtered out. -max_height_range: 1.0 # points higher than this value from sensor will be filtered out to disable ceiling. -ramped_height_range_a: 0.3 # if z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject. -ramped_height_range_b: 1.0 # if z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject. -ramped_height_range_c: 0.2 # if z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject. -update_variance_fps: 5.0 # fps for updating variance. -update_pose_fps: 10.0 # fps for updating pose and shift the center of map. -time_interval: 0.1 # Time layer is updated with this interval. -map_acquire_fps: 5.0 # Raw map is fetched from GPU memory in this fps. -publish_statistics_fps: 1.0 # Publish statistics topic in this fps. +/elevation_mapping_node: + ros__parameters: + #### Basic parameters ######## + resolution: 0.04 # resolution in m. + map_length: 8 # map's size in m. + sensor_noise_factor: 0.05 # point's noise is sensor_noise_factor*z^2 (z is distance from sensor). + mahalanobis_thresh: 2.0 # points outside this distance is outlier. + outlier_variance: 0.01 # if point is outlier, add this value to the cell. + drift_compensation_variance_inler: 0.05 # cells under this value is used for drift compensation. + max_drift: 0.1 # drift compensation happens only the drift is smaller than this value (for safety) + drift_compensation_alpha: 0.1 # drift compensation alpha for smoother update of drift compensation + time_variance: 0.0001 # add this value when update_variance is called. + max_variance: 100.0 # maximum variance for each cell. + initial_variance: 1000.0 # initial variance for each cell. + traversability_inlier: 0.9 # cells with higher traversability are used for drift compensation. + dilation_size: 3 # dilation filter size before traversability filter. + wall_num_thresh: 20 # if there are more points than this value, only higher points than the current height are used to make the wall more sharp. + min_height_drift_cnt: 100 # drift compensation only happens if the valid cells are more than this number. + position_noise_thresh: 0.01 # if the position change is bigger than this value, the drift compensation happens. + orientation_noise_thresh: 0.01 # if the orientation change is bigger than this value, the drift compensation happens. + position_lowpass_alpha: 0.2 # lowpass filter alpha used for detecting movements. + orientation_lowpass_alpha: 0.2 # lowpass filter alpha used for detecting movements. + min_valid_distance: 0.5 # points with shorter distance will be filtered out. + max_height_range: 1.0 # points higher than this value from sensor will be filtered out to disable ceiling. + ramped_height_range_a: 0.3 # if z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject. + ramped_height_range_b: 1.0 # if z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject. + ramped_height_range_c: 0.2 # if z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject. + update_variance_fps: 5.0 # fps for updating variance. + update_pose_fps: 10.0 # fps for updating pose and shift the center of map. + time_interval: 0.1 # Time layer is updated with this interval. + map_acquire_fps: 5.0 # Raw map is fetched from GPU memory in this fps. + publish_statistics_fps: 1.0 # Publish statistics topic in this fps. -max_ray_length: 10.0 # maximum length for ray tracing. -cleanup_step: 0.1 # subtitute this value from validity layer at visibiltiy cleanup. -cleanup_cos_thresh: 0.1 # subtitute this value from validity layer at visibiltiy cleanup. + max_ray_length: 10.0 # maximum length for ray tracing. + cleanup_step: 0.1 # subtitute this value from validity layer at visibiltiy cleanup. + cleanup_cos_thresh: 0.1 # subtitute this value from validity layer at visibiltiy cleanup. -safe_thresh: 0.7 # if traversability is smaller, it is counted as unsafe cell. -safe_min_thresh: 0.4 # polygon is unsafe if there exists lower traversability than this. -max_unsafe_n: 10 # if the number of cells under safe_thresh exceeds this value, polygon is unsafe. + safe_thresh: 0.7 # if traversability is smaller, it is counted as unsafe cell. + safe_min_thresh: 0.4 # polygon is unsafe if there exists lower traversability than this. + max_unsafe_n: 10 # if the number of cells under safe_thresh exceeds this value, polygon is unsafe. -overlap_clear_range_xy: 4.0 # xy range [m] for clearing overlapped area. this defines the valid area for overlap clearance. (used for multi floor setting) -overlap_clear_range_z: 2.0 # z range [m] for clearing overlapped area. cells outside this range will be cleared. (used for multi floor setting) + overlap_clear_range_xy: 4.0 # xy range [m] for clearing overlapped area. this defines the valid area for overlap clearance. (used for multi floor setting) + overlap_clear_range_z: 2.0 # z range [m] for clearing overlapped area. cells outside this range will be cleared. (used for multi floor setting) -map_frame: 'odom' # The map frame where the odometry source uses. -base_frame: 'base' # The robot's base frame. This frame will be a center of the map. -corrected_map_frame: 'odom_corrected' + map_frame: 'odom' # The map frame where the odometry source uses. + base_frame: 'base' # The robot's base frame. This frame will be a center of the map. + corrected_map_frame: 'odom_corrected' -#### Feature toggles ######## -enable_edge_sharpen: true -enable_visibility_cleanup: true -enable_drift_compensation: true -enable_overlap_clearance: true -enable_pointcloud_publishing: false -enable_drift_corrected_TF_publishing: false -enable_normal_color: false # If true, the map contains 'color' layer corresponding to normal. Add 'color' layer to the publishers setting if you want to visualize. + #### Feature toggles ######## + enable_edge_sharpen: true + enable_visibility_cleanup: true + enable_drift_compensation: true + enable_overlap_clearance: true + enable_pointcloud_publishing: false + enable_drift_corrected_TF_publishing: false + enable_normal_color: false # If true, the map contains 'color' layer corresponding to normal. Add 'color' layer to the publishers setting if you want to visualize. -#### Traversability filter ######## -use_chainer: false # Use chainer as a backend of traversability filter or pytorch. If false, it uses pytorch. pytorch requires ~2GB more GPU memory compared to chainer but runs faster. -weight_file: '$(rospack find elevation_mapping_cupy)/config/core/weights.dat' # Weight file for traversability filter + #### Traversability filter ######## + use_chainer: false # Use chainer as a backend of traversability filter or pytorch. If false, it uses pytorch. pytorch requires ~2GB more GPU memory compared to chainer but runs faster. + weight_file: '$(rospack find elevation_mapping_cupy)/config/core/weights.dat' # Weight file for traversability filter -#### Upper bound ######## -use_only_above_for_upper_bound: false + #### Upper bound ######## + use_only_above_for_upper_bound: false -#### Plugins ######## -# plugin_config_file: '$(rospack find elevation_mapping_cupy)/config/anymal_plugin_config.yaml' + #### Plugins ######## + # plugin_config_file: '$(rospack find elevation_mapping_cupy)/config/anymal_plugin_config.yaml' -#### Publishers ######## -# topic_name: -# layers: # Choose from 'elevation', 'variance', 'traversability', 'time', 'normal_x', 'normal_y', 'normal_z', 'color', plugin_layer_names -# basic_layers: # basic_layers for valid cell computation (e.g. Rviz): Choose a subset of `layers`. -# fps: # Publish rate. Use smaller value than `map_acquire_fps`. + #### Publishers ######## + # topic_name: + # layers: # Choose from 'elevation', 'variance', 'traversability', 'time', 'normal_x', 'normal_y', 'normal_z', 'color', plugin_layer_names + # basic_layers: # basic_layers for valid cell computation (e.g. Rviz): Choose a subset of `layers`. + # fps: # Publish rate. Use smaller value than `map_acquire_fps`. -# publishers: -# elevation_map_raw: -# layers: ['elevation', 'traversability', 'variance'] -# basic_layers: ['elevation', 'traversability'] -# fps: 5.0 + # publishers: + # elevation_map_raw: + # layers: ['elevation', 'traversability', 'variance'] + # basic_layers: ['elevation', 'traversability'] + # fps: 5.0 -# semantic_map_raw: -# layers: ['elevation', 'traversability'] -# basic_layers: ['elevation', 'traversability'] -# fps: 5.0 + # semantic_map_raw: + # layers: ['elevation', 'traversability'] + # basic_layers: ['elevation', 'traversability'] + # fps: 5.0 -#### Initializer ######## -initialize_method: 'linear' # Choose one from 'nearest', 'linear', 'cubic' -initialize_frame_id: ['RF_FOOT', 'LF_FOOT', 'RH_FOOT', 'LH_FOOT'] # One tf (like ['footprint'] ) initializes a square around it. -initialize_tf_offset: [0.0, 0.0, 0.0, 0.0] # z direction. Should be same number as initialize_frame_id. -dilation_size_initialize: 5 # dilation size after the init. -initialize_tf_grid_size: 0.4 # This is not used if number of tf is more than 3. -use_initializer_at_start: true # Use initializer when the node starts. \ No newline at end of file + #### Initializer ######## + initialize_method: 'linear' # Choose one from 'nearest', 'linear', 'cubic' + initialize_frame_id: ['RF_FOOT', 'LF_FOOT', 'RH_FOOT', 'LH_FOOT'] # One tf (like ['footprint'] ) initializes a square around it. + initialize_tf_offset: [0.0, 0.0, 0.0, 0.0] # z direction. Should be same number as initialize_frame_id. + dilation_size_initialize: 5 # dilation size after the init. + initialize_tf_grid_size: 0.4 # This is not used if number of tf is more than 3. + use_initializer_at_start: true # Use initializer when the node starts. \ No newline at end of file diff --git a/elevation_mapping_cupy/config/setups/anymal/anymal_plugin_config.yaml b/elevation_mapping_cupy/config/setups/anymal/anymal_plugin_config.yaml index d5da9e67..5ffd1006 100644 --- a/elevation_mapping_cupy/config/setups/anymal/anymal_plugin_config.yaml +++ b/elevation_mapping_cupy/config/setups/anymal/anymal_plugin_config.yaml @@ -1,28 +1,30 @@ -# Settings of the plugins. (The plugins should be stored in script/plugins) -# min_filter fills in minimum value around the invalid cell. -min_filter: - enable: True # weather to load this plugin - fill_nan: False # Fill nans to invalid cells of elevation layer. - is_height_layer: True # If this is a height layer (such as elevation) or not (such as traversability) - layer_name: "min_filter" # The layer name. - extra_params: # This params are passed to the plugin class on initialization. - dilation_size: 1 # The patch size to apply - iteration_n: 30 # The number of iterations +/elevation_mapping_node: + ros__parameters: + # Settings of the plugins. (The plugins should be stored in script/plugins) + # min_filter fills in minimum value around the invalid cell. + min_filter: + enable: True # weather to load this plugin + fill_nan: False # Fill nans to invalid cells of elevation layer. + is_height_layer: True # If this is a height layer (such as elevation) or not (such as traversability) + layer_name: "min_filter" # The layer name. + extra_params: # This params are passed to the plugin class on initialization. + dilation_size: 1 # The patch size to apply + iteration_n: 30 # The number of iterations -# Apply smoothing. -smooth_filter: - enable: True - fill_nan: False - is_height_layer: True - layer_name: "smooth" - extra_params: - input_layer_name: "min_filter" + # Apply smoothing. + smooth_filter: + enable: True + fill_nan: False + is_height_layer: True + layer_name: "smooth" + extra_params: + input_layer_name: "min_filter" -# Apply inpainting using opencv -inpainting: - enable: True - fill_nan: False - is_height_layer: True - layer_name: "inpaint" - extra_params: - method: "telea" # telea or ns + # Apply inpainting using opencv + inpainting: + enable: True + fill_nan: False + is_height_layer: True + layer_name: "inpaint" + extra_params: + method: "telea" # telea or ns diff --git a/elevation_mapping_cupy/config/setups/anymal/anymal_sensor_parameter.yaml b/elevation_mapping_cupy/config/setups/anymal/anymal_sensor_parameter.yaml index fff72063..f68e5864 100644 --- a/elevation_mapping_cupy/config/setups/anymal/anymal_sensor_parameter.yaml +++ b/elevation_mapping_cupy/config/setups/anymal/anymal_sensor_parameter.yaml @@ -1,81 +1,83 @@ -plugin_config_file: '$(rospack find elevation_mapping_cupy)/config/setups/anymal/anymal_plugin_config.yaml' - -pointcloud_channel_fusions: - rgb: 'color' - default: 'average' - -image_channel_fusions: - rgb: 'color' - default: 'exponential' - feat_.*: 'exponential' - sem_.*: 'exponential' - -#### Publishers ######## -# topic_name: -# layers: # Choose from 'elevation', 'variance', 'traversability', 'time', 'normal_x', 'normal_y', 'normal_z', 'color', plugin_layer_names -# basic_layers: # basic_layers for valid cell computation (e.g. Rviz): Choose a subset of `layers`. -# fps: # Publish rate. Use smaller value than `map_acquire_fps`. - -publishers: - elevation_map_raw: - layers: ['elevation', 'traversability', 'variance', 'rgb', 'upper_bound'] - basic_layers: ['elevation', 'traversability'] - fps: 5.0 - - elevation_map_recordable: - layers: ['elevation', 'traversability', 'variance', 'rgb'] - basic_layers: ['elevation', 'traversability'] - fps: 2.0 - - filtered_elevation_map: - layers: ['inpaint', 'smooth', 'min_filter', 'upper_bound'] - basic_layers: ['inpaint'] - fps: 5.0 - -#### Subscribers ######## -subscribers: - front_upper_depth: - topic_name: /depth_camera_front_upper/point_cloud_self_filtered - data_type: pointcloud - - front_lower_depth: - topic_name: /depth_camera_front_lower/point_cloud_self_filtered - data_type: pointcloud - - rear_upper_depth: - topic_name: /depth_camera_rear_upper/point_cloud_self_filtered - data_type: pointcloud - - rear_lower_depth: - topic_name: /depth_camera_rear_lower/point_cloud_self_filtered - data_type: pointcloud - - left_depth: - topic_name: /depth_camera_left/point_cloud_self_filtered - data_type: pointcloud - - right_depth: - topic_name: /depth_camera_right/point_cloud_self_filtered - data_type: pointcloud - - front_wide_angle: - topic_name: /wide_angle_camera_front/image_color_rect/compressed - camera_info_topic_name: /wide_angle_camera_front/camera_info - data_type: image - - rear_wide_angle: - topic_name: /wide_angle_camera_rear/image_color_rect/compressed - camera_info_topic_name: /wide_angle_camera_rear/camera_info - data_type: image - - velodyne: - topic_name: /point_cloud_filter/lidar/point_cloud_filtered - data_type: pointcloud - - front_bpearl: - topic_name: /robot_self_filter/bpearl_front/point_cloud - data_type: pointcloud - - rear_bpearl: - topic_name: /robot_self_filter/bpearl_rear/point_cloud - data_type: pointcloud \ No newline at end of file +/elevation_mapping_node: + ros__parameters: + plugin_config_file: '$(rospack find elevation_mapping_cupy)/config/setups/anymal/anymal_plugin_config.yaml' + + pointcloud_channel_fusions: + rgb: 'color' + default: 'average' + + image_channel_fusions: + rgb: 'color' + default: 'exponential' + feat_.*: 'exponential' + sem_.*: 'exponential' + + #### Publishers ######## + # topic_name: + # layers: # Choose from 'elevation', 'variance', 'traversability', 'time', 'normal_x', 'normal_y', 'normal_z', 'color', plugin_layer_names + # basic_layers: # basic_layers for valid cell computation (e.g. Rviz): Choose a subset of `layers`. + # fps: # Publish rate. Use smaller value than `map_acquire_fps`. + + publishers: + elevation_map_raw: + layers: ['elevation', 'traversability', 'variance', 'rgb', 'upper_bound'] + basic_layers: ['elevation', 'traversability'] + fps: 5.0 + + elevation_map_recordable: + layers: ['elevation', 'traversability', 'variance', 'rgb'] + basic_layers: ['elevation', 'traversability'] + fps: 2.0 + + filtered_elevation_map: + layers: ['inpaint', 'smooth', 'min_filter', 'upper_bound'] + basic_layers: ['inpaint'] + fps: 5.0 + + #### Subscribers ######## + subscribers: + front_upper_depth: + topic_name: /depth_camera_front_upper/point_cloud_self_filtered + data_type: pointcloud + + front_lower_depth: + topic_name: /depth_camera_front_lower/point_cloud_self_filtered + data_type: pointcloud + + rear_upper_depth: + topic_name: /depth_camera_rear_upper/point_cloud_self_filtered + data_type: pointcloud + + rear_lower_depth: + topic_name: /depth_camera_rear_lower/point_cloud_self_filtered + data_type: pointcloud + + left_depth: + topic_name: /depth_camera_left/point_cloud_self_filtered + data_type: pointcloud + + right_depth: + topic_name: /depth_camera_right/point_cloud_self_filtered + data_type: pointcloud + + front_wide_angle: + topic_name: /wide_angle_camera_front/image_color_rect/compressed + camera_info_topic_name: /wide_angle_camera_front/camera_info + data_type: image + + rear_wide_angle: + topic_name: /wide_angle_camera_rear/image_color_rect/compressed + camera_info_topic_name: /wide_angle_camera_rear/camera_info + data_type: image + + velodyne: + topic_name: /point_cloud_filter/lidar/point_cloud_filtered + data_type: pointcloud + + front_bpearl: + topic_name: /robot_self_filter/bpearl_front/point_cloud + data_type: pointcloud + + rear_bpearl: + topic_name: /robot_self_filter/bpearl_rear/point_cloud + data_type: pointcloud \ No newline at end of file diff --git a/elevation_mapping_cupy/config/setups/turtle_bot/plugin_config.yaml b/elevation_mapping_cupy/config/setups/turtle_bot/plugin_config.yaml index fd745524..43c7b44e 100644 --- a/elevation_mapping_cupy/config/setups/turtle_bot/plugin_config.yaml +++ b/elevation_mapping_cupy/config/setups/turtle_bot/plugin_config.yaml @@ -1,67 +1,68 @@ -# Settings of the plugins. (The plugins should be stored in script/plugins) +/elevation_mapping_node: + ros__parameters: + # Settings of the plugins. (The plugins should be stored in script/plugins) + # min_filter fills in minimum value around the invalid cell. + min_filter: + enable: True # weather to load this plugin + fill_nan: False # Fill nans to invalid cells of elevation layer. + is_height_layer: True # If this is a height layer (such as elevation) or not (such as traversability) + layer_name: "min_filter" # The layer name. + extra_params: # This params are passed to the plugin class on initialization. + dilation_size: 1 # The patch size to apply + iteration_n: 30 # The number of iterations + # Apply smoothing. + smooth_filter: + enable: True + fill_nan: False + is_height_layer: True + layer_name: "smooth" + extra_params: + input_layer_name: "min_filter" + # Apply inpainting using opencv + inpainting: + enable: True + fill_nan: False + is_height_layer: True + layer_name: "inpaint" + extra_params: + method: "telea" # telea or ns + # Apply smoothing for inpainted layer -# min_filter fills in minimum value around the invalid cell. -min_filter: - enable: True # weather to load this plugin - fill_nan: False # Fill nans to invalid cells of elevation layer. - is_height_layer: True # If this is a height layer (such as elevation) or not (such as traversability) - layer_name: "min_filter" # The layer name. - extra_params: # This params are passed to the plugin class on initialization. - dilation_size: 1 # The patch size to apply - iteration_n: 30 # The number of iterations -# Apply smoothing. -smooth_filter: - enable: True - fill_nan: False - is_height_layer: True - layer_name: "smooth" - extra_params: - input_layer_name: "min_filter" -# Apply inpainting using opencv -inpainting: - enable: True - fill_nan: False - is_height_layer: True - layer_name: "inpaint" - extra_params: - method: "telea" # telea or ns -# Apply smoothing for inpainted layer + robot_centric_elevation: # Use the same name as your file name. + enable: False # weather to load this plugin + fill_nan: False # Fill nans to invalid cells of elevation layer. + is_height_layer: True # If this is a height layer (such as elevation) or not (such as traversability) + layer_name: "robot_centric_elevation" # The layer name. + extra_params: # This params are passed to the plugin class on initialization. + resolution: 0.04 + threshold: 1.1 + use_threshold: True -robot_centric_elevation: # Use the same name as your file name. - enable: False # weather to load this plugin - fill_nan: False # Fill nans to invalid cells of elevation layer. - is_height_layer: True # If this is a height layer (such as elevation) or not (such as traversability) - layer_name: "robot_centric_elevation" # The layer name. - extra_params: # This params are passed to the plugin class on initialization. - resolution: 0.04 - threshold: 1.1 - use_threshold: True + semantic_filter: + type: "semantic_filter" + enable: True + fill_nan: False + is_height_layer: False + layer_name: "max_categories" + extra_params: + classes: ['^sem_.*$'] -semantic_filter: - type: "semantic_filter" - enable: True - fill_nan: False - is_height_layer: False - layer_name: "max_categories" - extra_params: - classes: ['^sem_.*$'] + semantic_traversability: + type: "semantic_traversability" + enable: False + fill_nan: False + is_height_layer: False + layer_name: "semantic_traversability" + extra_params: + layers: ['traversability','robot_centric_elevation'] + thresholds: [0.3,0.5] + type: ['traversability', 'elevation'] -semantic_traversability: - type: "semantic_traversability" - enable: False - fill_nan: False - is_height_layer: False - layer_name: "semantic_traversability" - extra_params: - layers: ['traversability','robot_centric_elevation'] - thresholds: [0.3,0.5] - type: ['traversability', 'elevation'] - -features_pca: - type: "features_pca" - enable: True - fill_nan: False - is_height_layer: False - layer_name: "pca" - extra_params: - process_layer_names: ["^feat_.*$"] \ No newline at end of file + features_pca: + type: "features_pca" + enable: True + fill_nan: False + is_height_layer: False + layer_name: "pca" + extra_params: + process_layer_names: ["^feat_.*$"] \ No newline at end of file diff --git a/elevation_mapping_cupy/config/setups/turtle_bot/turtle_bot_semantics_image.yaml b/elevation_mapping_cupy/config/setups/turtle_bot/turtle_bot_semantics_image.yaml index 0fd7d215..926c5fa9 100644 --- a/elevation_mapping_cupy/config/setups/turtle_bot/turtle_bot_semantics_image.yaml +++ b/elevation_mapping_cupy/config/setups/turtle_bot/turtle_bot_semantics_image.yaml @@ -1,44 +1,46 @@ -#### Plugins ######## -plugin_config_file: '$(rospack find elevation_mapping_cupy)/config/setups/turtle_bot/plugin_config.yaml' +/elevation_mapping_node: + ros__parameters: + #### Plugins ######## + plugin_config_file: '$(rospack find elevation_mapping_cupy)/config/setups/turtle_bot/plugin_config.yaml' -pointcloud_channel_fusions: - none: 'none' - # rgb: 'color' - # default: 'average' + pointcloud_channel_fusions: + none: 'none' + # rgb: 'color' + # default: 'average' -image_channel_fusions: - rgb: 'color' - default: 'exponential' - feat_.*: 'exponential' + image_channel_fusions: + rgb: 'color' + default: 'exponential' + feat_.*: 'exponential' -#### Subscribers ######## -subscribers: - color_cam: # for color camera - topic_name: '/camera/rgb/image_raw' - camera_info_topic_name: '/camera/depth/camera_info' - data_type: image - semantic_cam: # for semantic images - topic_name: '/front_cam/semantic_image' - camera_info_topic_name: '/front_cam/camera/depth/camera_info_resized' - channel_info_topic_name: '/front_cam/channel_info' - data_type: image - front_cam_pointcloud: - topic_name: '/camera/depth/points' - data_type: pointcloud - feat_front: - topic_name: '/front_cam/semantic_seg_feat' - camera_info_topic_name: '/front_cam/camera/depth/camera_info_resized' - channel_info_topic_name: '/front_cam/feat_channel_info' - data_type: image + #### Subscribers ######## + subscribers: + color_cam: # for color camera + topic_name: '/camera/rgb/image_raw' + camera_info_topic_name: '/camera/depth/camera_info' + data_type: image + semantic_cam: # for semantic images + topic_name: '/front_cam/semantic_image' + camera_info_topic_name: '/front_cam/camera/depth/camera_info_resized' + channel_info_topic_name: '/front_cam/channel_info' + data_type: image + front_cam_pointcloud: + topic_name: '/camera/depth/points' + data_type: pointcloud + feat_front: + topic_name: '/front_cam/semantic_seg_feat' + camera_info_topic_name: '/front_cam/camera/depth/camera_info_resized' + channel_info_topic_name: '/front_cam/feat_channel_info' + data_type: image -#### Publishers ######## -publishers: - elevation_map_raw: - layers: ['elevation', 'traversability', 'variance','rgb','max_categories', 'pca'] - basic_layers: ['elevation'] - fps: 5.0 - elevation_map_filter: - layers: ['min_filter', 'smooth', 'inpaint', 'elevation','rgb','max_categories'] - basic_layers: ['min_filter'] - fps: 3.0 \ No newline at end of file + #### Publishers ######## + publishers: + elevation_map_raw: + layers: ['elevation', 'traversability', 'variance','rgb','max_categories', 'pca'] + basic_layers: ['elevation'] + fps: 5.0 + elevation_map_filter: + layers: ['min_filter', 'smooth', 'inpaint', 'elevation','rgb','max_categories'] + basic_layers: ['min_filter'] + fps: 3.0 \ No newline at end of file diff --git a/elevation_mapping_cupy/config/setups/turtle_bot/turtle_bot_semantics_pointcloud.yaml b/elevation_mapping_cupy/config/setups/turtle_bot/turtle_bot_semantics_pointcloud.yaml index 19db1159..ab84f7b3 100644 --- a/elevation_mapping_cupy/config/setups/turtle_bot/turtle_bot_semantics_pointcloud.yaml +++ b/elevation_mapping_cupy/config/setups/turtle_bot/turtle_bot_semantics_pointcloud.yaml @@ -1,28 +1,30 @@ -#### Plugins ######## -plugin_config_file: '$(rospack find elevation_mapping_cupy)/config/setups/turtle_bot/plugin_config.yaml' +/elevation_mapping_node: + ros__parameters: + #### Plugins ######## + plugin_config_file: '$(rospack find elevation_mapping_cupy)/config/setups/turtle_bot/plugin_config.yaml' -pointcloud_channel_fusions: - rgb: 'color' - default: 'average' + pointcloud_channel_fusions: + rgb: 'color' + default: 'average' -image_channel_fusions: - rgb: 'color' - default: 'exponential' + image_channel_fusions: + rgb: 'color' + default: 'exponential' -#### Subscribers ######## -subscribers: - front_cam_pointcloud: - topic_name: '/camera/depth/points' - data_type: pointcloud + #### Subscribers ######## + subscribers: + front_cam_pointcloud: + topic_name: '/camera/depth/points' + data_type: pointcloud -#### Publishers ######## -publishers: - elevation_map_raw: - layers: ['elevation', 'traversability', 'variance','rgb','max_categories'] - basic_layers: ['elevation'] - fps: 5.0 - elevation_map_filter: - layers: ['min_filter', 'smooth', 'inpaint', 'elevation','rgb','max_categories'] - basic_layers: ['min_filter'] - fps: 3.0 \ No newline at end of file + #### Publishers ######## + publishers: + elevation_map_raw: + layers: ['elevation', 'traversability', 'variance','rgb','max_categories'] + basic_layers: ['elevation'] + fps: 5.0 + elevation_map_filter: + layers: ['min_filter', 'smooth', 'inpaint', 'elevation','rgb','max_categories'] + basic_layers: ['min_filter'] + fps: 3.0 \ No newline at end of file diff --git a/elevation_mapping_cupy/config/setups/turtle_bot/turtle_bot_simple.yaml b/elevation_mapping_cupy/config/setups/turtle_bot/turtle_bot_simple.yaml index 0a38bfff..637a99ae 100644 --- a/elevation_mapping_cupy/config/setups/turtle_bot/turtle_bot_simple.yaml +++ b/elevation_mapping_cupy/config/setups/turtle_bot/turtle_bot_simple.yaml @@ -3,16 +3,23 @@ pointcloud_channel_fusions: rgb: 'color' default: 'average' + image_channel_fusions: rgb: 'color' default: 'exponential' feat_.*: 'exponential' + subscribers: front_cam: topic_name: '/intel_realsense_r200_depth/points' - data_type: 'pointcloud' + data_type: pointcloud + publishers: elevation_map_raw: - layers: ['elevation'] + layers: ['elevation', 'traversability', 'variance','rgb'] basic_layers: ['elevation'] - fps: 5.0 \ No newline at end of file + fps: 5.0 + elevation_map_filter: + layers: ['min_filter', 'smooth', 'inpaint', 'elevation'] + basic_layers: ['min_filter'] + fps: 3.0 \ No newline at end of file From 5ae90bbdcdd516534612fee9b67b7a1bd59451be Mon Sep 17 00:00:00 2001 From: Idate96 Date: Thu, 5 Dec 2024 17:34:14 +0100 Subject: [PATCH 461/504] added ros2 launch files --- .../launch/anymal.launch.py | 34 ++++++++++ .../launch/elevation_mapping_cupy.launch.py | 32 +++++++++ .../launch/turtle_simple_example.launch.py | 68 ------------------- .../launch/turtlesim_init.launch | 30 -------- .../launch/turtlesim_init.launch.py | 18 ----- ...esim_plane_decomposition_example.launch.py | 41 +++++++++++ ...turtlesim_semantic_image_example.launch.py | 68 +++++++++++++++++++ ...rtlesim_semantic_pointcloud_example.launch | 4 -- ...esim_semantic_pointcloud_example.launch.py | 68 +++++++++++++++++++ .../launch/turtlesim_simple_example.launch | 15 ---- 10 files changed, 243 insertions(+), 135 deletions(-) create mode 100644 elevation_mapping_cupy/launch/anymal.launch.py create mode 100644 elevation_mapping_cupy/launch/elevation_mapping_cupy.launch.py delete mode 100644 elevation_mapping_cupy/launch/turtle_simple_example.launch.py delete mode 100644 elevation_mapping_cupy/launch/turtlesim_init.launch create mode 100644 elevation_mapping_cupy/launch/turtlesim_plane_decomposition_example.launch.py create mode 100644 elevation_mapping_cupy/launch/turtlesim_semantic_image_example.launch.py create mode 100644 elevation_mapping_cupy/launch/turtlesim_semantic_pointcloud_example.launch.py delete mode 100644 elevation_mapping_cupy/launch/turtlesim_simple_example.launch diff --git a/elevation_mapping_cupy/launch/anymal.launch.py b/elevation_mapping_cupy/launch/anymal.launch.py new file mode 100644 index 00000000..5f3ea731 --- /dev/null +++ b/elevation_mapping_cupy/launch/anymal.launch.py @@ -0,0 +1,34 @@ +from launch import LaunchDescription +from launch_ros.actions import Node +from launch.substitutions import PathJoinSubstitution +from ament_index_python.packages import get_package_share_directory + + +def generate_launch_description(): + elevation_mapping_cupy_dir = get_package_share_directory('elevation_mapping_cupy') + + return LaunchDescription([ + # Elevation Mapping Node + Node( + package='elevation_mapping_cupy', + executable='elevation_mapping_node', + name='elevation_mapping', + parameters=[ + PathJoinSubstitution([ + elevation_mapping_cupy_dir, + 'config', + 'setups', + 'anymal', + 'anymal_parameters.yaml' + ]), + PathJoinSubstitution([ + elevation_mapping_cupy_dir, + 'config', + 'setups', + 'anymal', + 'anymal_sensor_parameter.yaml' + ]) + ], + output='screen' + ) + ]) \ No newline at end of file diff --git a/elevation_mapping_cupy/launch/elevation_mapping_cupy.launch.py b/elevation_mapping_cupy/launch/elevation_mapping_cupy.launch.py new file mode 100644 index 00000000..9a979b45 --- /dev/null +++ b/elevation_mapping_cupy/launch/elevation_mapping_cupy.launch.py @@ -0,0 +1,32 @@ +from launch import LaunchDescription +from launch_ros.actions import Node +from launch.substitutions import PathJoinSubstitution +from ament_index_python.packages import get_package_share_directory + + +def generate_launch_description(): + elevation_mapping_cupy_dir = get_package_share_directory('elevation_mapping_cupy') + + return LaunchDescription([ + # Elevation Mapping Node + Node( + package='elevation_mapping_cupy', + executable='elevation_mapping_node', + name='elevation_mapping', + parameters=[ + PathJoinSubstitution([ + elevation_mapping_cupy_dir, + 'config', + 'core', + 'core_param.yaml' + ]), + PathJoinSubstitution([ + elevation_mapping_cupy_dir, + 'config', + 'core', + 'example_setup.yaml' + ]) + ], + output='screen' + ) + ]) \ No newline at end of file diff --git a/elevation_mapping_cupy/launch/turtle_simple_example.launch.py b/elevation_mapping_cupy/launch/turtle_simple_example.launch.py deleted file mode 100644 index 7af0c641..00000000 --- a/elevation_mapping_cupy/launch/turtle_simple_example.launch.py +++ /dev/null @@ -1,68 +0,0 @@ -# elevation_mapping_launch.py - -import os - -from launch import LaunchDescription -from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription -from launch.conditions import IfCondition -from launch.launch_description_sources import PythonLaunchDescriptionSource -from launch.substitutions import LaunchConfiguration, PathJoinSubstitution, FindExecutable -from launch_ros.actions import Node -from ament_index_python.packages import get_package_share_directory - -def generate_launch_description(): - # Declare the 'rviz_config' launch argument with a default value - rviz_config_arg = DeclareLaunchArgument( - 'rviz_config', - default_value=os.path.join( - get_package_share_directory('elevation_mapping_cupy'), - 'rviz', - 'turtle_example.rviz' - ), - description='Path to the RViz config file' - ) - - # Define the path to the turtlesim_init launch file - turtlesim_init_launch = IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join( - get_package_share_directory('elevation_mapping_cupy'), - 'launch', - 'turtlesim_init.launch.py' - ) - ), - launch_arguments={ - 'rviz_config': LaunchConfiguration('rviz_config'), - 'use_sim_time': 'true' # Set simulation time to true - }.items() - ) - - # Define the elevation_mapping node - elevation_mapping_node = Node( - package='elevation_mapping_cupy', - executable='elevation_mapping_node', # Ensure this is the correct executable name - name='elevation_mapping', - output='screen', - parameters=[ - os.path.join( - get_package_share_directory('elevation_mapping_cupy'), - 'config', - 'core', - 'core_param.yaml' - ), - os.path.join( - get_package_share_directory('elevation_mapping_cupy'), - 'config', - 'setups', - 'turtle_bot', - 'turtle_bot_simple.yaml' - ) - ] - ) - - # Create and return the LaunchDescription object - return LaunchDescription([ - rviz_config_arg, - turtlesim_init_launch, - # elevation_mapping_node, - ]) diff --git a/elevation_mapping_cupy/launch/turtlesim_init.launch b/elevation_mapping_cupy/launch/turtlesim_init.launch deleted file mode 100644 index 7bd323a9..00000000 --- a/elevation_mapping_cupy/launch/turtlesim_init.launch +++ /dev/null @@ -1,30 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/elevation_mapping_cupy/launch/turtlesim_init.launch.py b/elevation_mapping_cupy/launch/turtlesim_init.launch.py index 44502cf6..660f5410 100644 --- a/elevation_mapping_cupy/launch/turtlesim_init.launch.py +++ b/elevation_mapping_cupy/launch/turtlesim_init.launch.py @@ -146,24 +146,6 @@ def generate_launch_description(): output='screen' ) - # # RViz Node - # rviz_node = Node( - # package='rviz2', - # executable='rviz2', - # name='rviz2', - # arguments=['-d', rviz_config], - # parameters=[{'use_sim_time': use_sim_time}], - # output='screen' - # ) - - # # Add Joint State Publisher - # joint_state_publisher_node = Node( - # package='joint_state_publisher', - # executable='joint_state_publisher', - # name='joint_state_publisher', - # parameters=[{'use_sim_time': use_sim_time}] - # ) - # Define LaunchDescription variable ld = LaunchDescription() diff --git a/elevation_mapping_cupy/launch/turtlesim_plane_decomposition_example.launch.py b/elevation_mapping_cupy/launch/turtlesim_plane_decomposition_example.launch.py new file mode 100644 index 00000000..b1e8a178 --- /dev/null +++ b/elevation_mapping_cupy/launch/turtlesim_plane_decomposition_example.launch.py @@ -0,0 +1,41 @@ +from launch import LaunchDescription +from launch.actions import IncludeLaunchDescription +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import PathJoinSubstitution +from ament_index_python.packages import get_package_share_directory + + +def generate_launch_description(): + elevation_mapping_cupy_dir = get_package_share_directory('elevation_mapping_cupy') + convex_plane_decomposition_dir = get_package_share_directory('convex_plane_decomposition_ros') + + return LaunchDescription([ + # Launch elevation mapping turtle sim + IncludeLaunchDescription( + PythonLaunchDescriptionSource( + PathJoinSubstitution([ + elevation_mapping_cupy_dir, + 'launch', + 'turtlesim_simple_example.launch.py' + ]) + ), + launch_arguments={ + 'rviz_config': PathJoinSubstitution([ + elevation_mapping_cupy_dir, + 'rviz', + 'turtle_segmentation_example.rviz' + ]) + }.items() + ), + + # Launch the plane decomposition node + IncludeLaunchDescription( + PythonLaunchDescriptionSource( + PathJoinSubstitution([ + convex_plane_decomposition_dir, + 'launch', + 'convex_plane_decomposition.launch.py' + ]) + ) + ) + ]) \ No newline at end of file diff --git a/elevation_mapping_cupy/launch/turtlesim_semantic_image_example.launch.py b/elevation_mapping_cupy/launch/turtlesim_semantic_image_example.launch.py new file mode 100644 index 00000000..bcd2440e --- /dev/null +++ b/elevation_mapping_cupy/launch/turtlesim_semantic_image_example.launch.py @@ -0,0 +1,68 @@ +from launch import LaunchDescription +from launch.actions import IncludeLaunchDescription +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch_ros.actions import Node +from launch.substitutions import PathJoinSubstitution +from ament_index_python.packages import get_package_share_directory + + +def generate_launch_description(): + elevation_mapping_cupy_dir = get_package_share_directory('elevation_mapping_cupy') + semantic_sensor_dir = get_package_share_directory('semantic_sensor') + + return LaunchDescription([ + # Include the turtlesim_init launch file + IncludeLaunchDescription( + PythonLaunchDescriptionSource( + PathJoinSubstitution([ + elevation_mapping_cupy_dir, + 'launch', + 'turtlesim_init.launch.py' + ]) + ), + launch_arguments={ + 'rviz_config': PathJoinSubstitution([ + elevation_mapping_cupy_dir, + 'rviz', + 'turtle_example.rviz' + ]) + }.items() + ), + + # Semantic Sensor Image Node + Node( + package='semantic_sensor', + executable='image_node.py', + name='front_cam', + arguments=['front_cam_image'], + parameters=[PathJoinSubstitution([ + semantic_sensor_dir, + 'config', + 'sensor_parameter.yaml' + ])], + output='screen' + ), + + # Elevation Mapping Node + Node( + package='elevation_mapping_cupy', + executable='elevation_mapping_node', + name='elevation_mapping', + parameters=[ + PathJoinSubstitution([ + elevation_mapping_cupy_dir, + 'config', + 'core', + 'core_param.yaml' + ]), + PathJoinSubstitution([ + elevation_mapping_cupy_dir, + 'config', + 'setups', + 'turtle_bot', + 'turtle_bot_semantics_image.yaml' + ]) + ], + output='screen' + ) + ]) \ No newline at end of file diff --git a/elevation_mapping_cupy/launch/turtlesim_semantic_pointcloud_example.launch b/elevation_mapping_cupy/launch/turtlesim_semantic_pointcloud_example.launch index 65142465..a8286746 100644 --- a/elevation_mapping_cupy/launch/turtlesim_semantic_pointcloud_example.launch +++ b/elevation_mapping_cupy/launch/turtlesim_semantic_pointcloud_example.launch @@ -6,10 +6,6 @@ - diff --git a/elevation_mapping_cupy/launch/turtlesim_semantic_pointcloud_example.launch.py b/elevation_mapping_cupy/launch/turtlesim_semantic_pointcloud_example.launch.py new file mode 100644 index 00000000..68da1935 --- /dev/null +++ b/elevation_mapping_cupy/launch/turtlesim_semantic_pointcloud_example.launch.py @@ -0,0 +1,68 @@ +from launch import LaunchDescription +from launch.actions import IncludeLaunchDescription +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch_ros.actions import Node +from launch.substitutions import PathJoinSubstitution +from ament_index_python.packages import get_package_share_directory + + +def generate_launch_description(): + elevation_mapping_cupy_dir = get_package_share_directory('elevation_mapping_cupy') + semantic_sensor_dir = get_package_share_directory('semantic_sensor') + + return LaunchDescription([ + # Include the turtlesim_init launch file + IncludeLaunchDescription( + PythonLaunchDescriptionSource( + PathJoinSubstitution([ + elevation_mapping_cupy_dir, + 'launch', + 'turtlesim_init.launch.py' + ]) + ), + launch_arguments={ + 'rviz_config': PathJoinSubstitution([ + elevation_mapping_cupy_dir, + 'rviz', + 'turtle_segmentation_example.rviz' + ]) + }.items() + ), + + # Semantic Sensor Node + Node( + package='semantic_sensor', + executable='pointcloud_node.py', + name='front_cam', + arguments=['front_cam'], + parameters=[PathJoinSubstitution([ + semantic_sensor_dir, + 'config', + 'sensor_parameter.yaml' + ])], + output='screen' + ), + + # Elevation Mapping Node + Node( + package='elevation_mapping_cupy', + executable='elevation_mapping_node', + name='elevation_mapping', + parameters=[ + PathJoinSubstitution([ + elevation_mapping_cupy_dir, + 'config', + 'core', + 'core_param.yaml' + ]), + PathJoinSubstitution([ + elevation_mapping_cupy_dir, + 'config', + 'setups', + 'turtle_bot', + 'turtle_bot_semantics_pointcloud.yaml' + ]) + ], + output='screen' + ) + ]) \ No newline at end of file diff --git a/elevation_mapping_cupy/launch/turtlesim_simple_example.launch b/elevation_mapping_cupy/launch/turtlesim_simple_example.launch deleted file mode 100644 index 5fd6e529..00000000 --- a/elevation_mapping_cupy/launch/turtlesim_simple_example.launch +++ /dev/null @@ -1,15 +0,0 @@ - - - - - - - - - - - - - - - From 4bdac28e4f52371391def5a51f579d78fafa2d06 Mon Sep 17 00:00:00 2001 From: Idate96 Date: Thu, 5 Dec 2024 17:34:27 +0100 Subject: [PATCH 462/504] clean up --- .../elevation_mapping_ros.py | 130 ++++++++---------- 1 file changed, 54 insertions(+), 76 deletions(-) diff --git a/elevation_mapping_cupy/elevation_mapping_cupy/elevation_mapping_ros.py b/elevation_mapping_cupy/elevation_mapping_cupy/elevation_mapping_ros.py index 82071b81..a81e931f 100644 --- a/elevation_mapping_cupy/elevation_mapping_cupy/elevation_mapping_ros.py +++ b/elevation_mapping_cupy/elevation_mapping_cupy/elevation_mapping_ros.py @@ -26,6 +26,7 @@ from std_msgs.msg import MultiArrayLayout as MAL from std_msgs.msg import MultiArrayDimension as MAD from geometry_msgs.msg import TransformStamped +from rclpy.serialization import serialize_message # Custom module imports from elevation_mapping_cupy import ElevationMap, Parameter @@ -81,14 +82,11 @@ def __init__(self): self.register_publishers() self.register_timers() - # Initialize last timestamp + # timestamp of latest pcd or image msg self._last_t = None - # Initialize transform storage with thread safety - self._transform_lock = threading.Lock() - self._current_transform = None - - def initialize_elevation_mapping(self): + def initialize_elevation_mapping(self) -> None: + """Initialize the elevation mapping module.""" self.param.update() self._pointcloud_process_counter = 0 self._image_process_counter = 0 @@ -99,16 +97,14 @@ def initialize_elevation_mapping(self): self._map_q = None self._map_t = None - def initialize_ros(self): - # Initialize TF buffer and listener with increased cache time + def initialize_ros(self) -> None: + """Initialize ROS-related components such as TF buffer and listener.""" self._tf_buffer = tf2_ros.Buffer() - # Initialize TransformListener self._listener = tf2_ros.TransformListener(self._tf_buffer, self) - - # Retrieve ROS parameters self.get_ros_params() - def get_ros_params(self): + def get_ros_params(self) -> None: + """Retrieve ROS parameters from the node.""" # Get parameters with default values self.use_chainer = self.get_parameter('use_chainer').get_parameter_value().bool_value self.weight_file = self.get_parameter('weight_file').get_parameter_value().string_value @@ -196,12 +192,11 @@ def get_ros_params(self): for param_name, param_value in params.items(): self.get_logger().info(f"Parameter '{param_name}': {param_value.value}") - def register_subscribers(self): + def register_subscribers(self) -> None: + """Register ROS subscribers for pointclouds and images.""" # Initialize CvBridge if needed - for config in self.my_subscribers.values(): - if config.get("data_type") == "image": - self.cv_bridge = CvBridge() - break + if any(config.get("data_type") == "image" for config in self.my_subscribers.values()): + self.cv_bridge = CvBridge() # Dictionaries to hold subscribers pointcloud_subs = {} @@ -257,7 +252,8 @@ def register_subscribers(self): f"Registered {len(pointcloud_subs)} pointcloud subscribers and {len(image_subs)} image subscribers." ) - def register_publishers(self): + def register_publishers(self) -> None: + """Register ROS publishers for elevation maps.""" self._publishers_dict = {} self._publishers_timers = [] @@ -275,15 +271,12 @@ def register_publishers(self): self.get_logger().info(f"Publisher '{pub_key}' registered on topic '{topic_name}' with {fps} Hz.") - def register_timers(self): - # Remove separate transform_updater and update_pose timers - # Register the combined timer instead + def register_timers(self) -> None: + """Register ROS timers for pose update, variance update, and time update.""" self.time_pose_update = self.create_timer( 0.1, self.pose_update ) - - # Register additional timers without the ReentrantCallbackGroup self.timer_variance = self.create_timer( 1.0 / self.update_variance_fps, self.update_variance @@ -293,12 +286,17 @@ def register_timers(self): self.update_time ) - self.get_logger().info("Combined transform and pose updater timer, variance, and time timers registered.") + def publish_map(self, key: str) -> None: + """ + Publish the elevation map on the specified topic. - def publish_map(self, key): + Args: + key (str): The key identifying which publisher to use. + """ if self._map_q is None: self.get_logger().info("No map pose available for publishing.") return + gm = GridMap() gm.header.frame_id = self.map_frame gm.header.stamp = self.get_clock().now().to_msg() @@ -314,6 +312,7 @@ def publish_map(self, key): gm.info.pose.orientation.z = 0.0 # self._map_q.z gm.layers = [] gm.basic_layers = self.my_publishers[key]["basic_layers"] + for layer in self.my_publishers[key].get("layers", []): gm.layers.append(layer) self._map.get_map_with_name_ref(layer, self._map_data) @@ -331,7 +330,15 @@ def publish_map(self, key): self._publishers_dict[key].publish(gm) - def image_callback(self, camera_msg, camera_info_msg, sub_key): + def image_callback(self, camera_msg: Image, camera_info_msg: CameraInfo, sub_key: str) -> None: + """ + Callback function for synchronized image and camera info messages. + + Args: + camera_msg (Image): The image message. + camera_info_msg (CameraInfo): The camera info message. + sub_key (str): The subscriber key identifier. + """ # Store timestamps self._last_t = camera_msg.header.stamp @@ -381,9 +388,15 @@ def image_callback(self, camera_msg, camera_info_msg, sub_key): except Exception as e: self.get_logger().error(f"[image_callback] Unexpected error: {str(e)}") - def pointcloud_callback(self, msg, sub_key): + def pointcloud_callback(self, msg: PointCloud2, sub_key: str) -> None: + """ + Callback function for point cloud messages. + + Args: + msg (PointCloud2): The point cloud message. + sub_key (str): The subscriber key identifier. + """ self._last_t = msg.header.stamp - self._pointcloud_stamp = msg.header.stamp channels = ["x", "y", "z"] + self.param.subscriber_cfg[sub_key].get("channels", []) try: @@ -398,12 +411,13 @@ def pointcloud_callback(self, msg, sub_key): frame_sensor_id = msg.header.frame_id try: + # Add a timeout to wait for the transform to become available transform_sensor_to_odom = self._tf_buffer.lookup_transform( self.map_frame, frame_sensor_id, - self._pointcloud_stamp + self._last_t, ) - + t = transform_sensor_to_odom.transform.translation q = transform_sensor_to_odom.transform.rotation t_np = np.array([t.x, t.y, t.z], dtype=np.float32) @@ -413,15 +427,16 @@ def pointcloud_callback(self, msg, sub_key): self._pointcloud_process_counter += 1 except (tf2_ros.LookupException, tf2_ros.ConnectivityException, tf2_ros.ExtrapolationException) as e: - self.get_logger().warn(f"[pointcloud_callback] Transform lookup failed: {e}") + self.get_logger().debug(f"[pointcloud_callback] Transform lookup failed: {e}") except Exception as e: self.get_logger().error(f"[pointcloud_callback] Unexpected error: {str(e)}") - def pose_update(self): + def pose_update(self) -> None: + """Update the pose based on the latest transform.""" if self._last_t is None: self.get_logger().debug("No timestamp available for pose update.") return - + try: transform = self._tf_buffer.lookup_transform( self.map_frame, @@ -429,10 +444,6 @@ def pose_update(self): self._last_t ) - # Update the current transform with thread safety - with self._transform_lock: - self._current_transform = transform - # Update the pose t = transform.transform.translation q = transform.transform.rotation @@ -448,65 +459,32 @@ def pose_update(self): except Exception as e: self.get_logger().error(f"[pose_update] Unexpected error: {str(e)}") - def update_variance(self): + def update_variance(self) -> None: self._map.update_variance() self.get_logger().debug("Variance updated.") - def update_time(self): + def update_time(self) -> None: self._map.update_time() self.get_logger().debug("Time updated.") - def get_current_transform(self): - """Thread-safe method to retrieve the latest transform.""" - with self._transform_lock: - return self._current_transform - - def print_tf_frames(self): - """Print all available transforms in the TF buffer with timestamp""" - try: - # Get current timestamp - current_time = self.get_clock().now() - - # Try to get the specific transform from odom to base_footprint - try: - transform = self._tf_buffer.lookup_transform( - self.map_frame, - 'base_footprint', - rclpy.time.Time(), # get the latest transform - rclpy.duration.Duration(seconds=2.0) - ) - self.get_logger().info(f"\nOdom to base_footprint transform timestamp: " - f"{transform.header.stamp.sec}.{transform.header.stamp.nanosec}") - except (tf2_ros.LookupException, tf2_ros.ConnectivityException, - tf2_ros.ExtrapolationException) as e: - self.get_logger().warn(f"Could not lookup odom to base_footprint transform: {e}") - - # Get all frame IDs - frames = self._tf_buffer.all_frames_as_string() - # Uncomment the line below if you want to log all available TF frames - # self.get_logger().info(f"Available TF frames:\n{frames}") - except Exception as e: - self.get_logger().error(f"Failed to get TF frames: {e}") - - def destroy_node(self): + def destroy_node(self) -> None: super().destroy_node() -def main(args=None): +def main(args=None) -> None: + """Main entry point for the elevation mapping node.""" rclpy.init(args=args) node = ElevationMappingNode() - # Initialize a MultiThreadedExecutor instead of SingleThreadedExecutor + # Use a SingleThreadedExecutor as per original implementation executor = rclpy.executors.SingleThreadedExecutor() executor.add_node(node) try: - # Use the executor to spin executor.spin() except KeyboardInterrupt: node.get_logger().info("Shutting down ElevationMappingNode.") finally: - # Shutdown the executor and destroy the node executor.shutdown() node.destroy_node() rclpy.shutdown() From 87cd21ff76b6e15b3cfab1eb8c0b02c332fb9693 Mon Sep 17 00:00:00 2001 From: Idate96 Date: Thu, 5 Dec 2024 17:34:54 +0100 Subject: [PATCH 463/504] rename packages --- plane_segmentation/cgal5_ament/.gitignore | 32 +++++++++++++++++++ plane_segmentation/cgal5_ament/CMakeLists.txt | 30 +++++++++++++++++ plane_segmentation/cgal5_ament/README.md | 3 ++ .../cgal5_ament/cmake/cgal-extras.cmake.in | 6 ++++ plane_segmentation/cgal5_ament/package.xml | 19 +++++++++++ 5 files changed, 90 insertions(+) create mode 100644 plane_segmentation/cgal5_ament/.gitignore create mode 100644 plane_segmentation/cgal5_ament/CMakeLists.txt create mode 100644 plane_segmentation/cgal5_ament/README.md create mode 100644 plane_segmentation/cgal5_ament/cmake/cgal-extras.cmake.in create mode 100644 plane_segmentation/cgal5_ament/package.xml diff --git a/plane_segmentation/cgal5_ament/.gitignore b/plane_segmentation/cgal5_ament/.gitignore new file mode 100644 index 00000000..259148fa --- /dev/null +++ b/plane_segmentation/cgal5_ament/.gitignore @@ -0,0 +1,32 @@ +# Prerequisites +*.d + +# Compiled Object files +*.slo +*.lo +*.o +*.obj + +# Precompiled Headers +*.gch +*.pch + +# Compiled Dynamic libraries +*.so +*.dylib +*.dll + +# Fortran module files +*.mod +*.smod + +# Compiled Static libraries +*.lai +*.la +*.a +*.lib + +# Executables +*.exe +*.out +*.app diff --git a/plane_segmentation/cgal5_ament/CMakeLists.txt b/plane_segmentation/cgal5_ament/CMakeLists.txt new file mode 100644 index 00000000..10107913 --- /dev/null +++ b/plane_segmentation/cgal5_ament/CMakeLists.txt @@ -0,0 +1,30 @@ +cmake_minimum_required(VERSION 3.14) +project(cgal5_ament) + +# Use ament for ROS2 +find_package(ament_cmake REQUIRED) + +include(ExternalProject) + +set(VERSION 5.3) + +file(MAKE_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/include) + +set(CGAL_VERSION 5.3) +ExternalProject_Add(cgal + URL https://github.com/CGAL/cgal/archive/refs/tags/v${CGAL_VERSION}.tar.gz + UPDATE_COMMAND "" + CMAKE_ARGS + -DCMAKE_INSTALL_PREFIX=${CMAKE_CURRENT_BINARY_DIR} + -DCMAKE_BUILD_TYPE:STRING=Release + BUILD_COMMAND $(MAKE) + INSTALL_COMMAND $(MAKE) install +) + +ament_export_include_directories(${CMAKE_CURRENT_BINARY_DIR}/include) + +install(DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/include/CGAL/ + DESTINATION include/CGAL/ +) + +ament_package() diff --git a/plane_segmentation/cgal5_ament/README.md b/plane_segmentation/cgal5_ament/README.md new file mode 100644 index 00000000..af601fd7 --- /dev/null +++ b/plane_segmentation/cgal5_ament/README.md @@ -0,0 +1,3 @@ +# cgal5_catkin + +Catkin wrapper of the Computational Geometry Algorithms Library (CGAL) diff --git a/plane_segmentation/cgal5_ament/cmake/cgal-extras.cmake.in b/plane_segmentation/cgal5_ament/cmake/cgal-extras.cmake.in new file mode 100644 index 00000000..3db7988c --- /dev/null +++ b/plane_segmentation/cgal5_ament/cmake/cgal-extras.cmake.in @@ -0,0 +1,6 @@ +# Makes CGAL/find___.cmake available +list(APPEND CMAKE_MODULE_PATH @CATKIN_DEVEL_PREFIX@/lib/cmake/CGAL) + +# Cpp standard version +set(CMAKE_CXX_STANDARD 14) +set(CMAKE_CXX_STANDARD_REQUIRED ON) \ No newline at end of file diff --git a/plane_segmentation/cgal5_ament/package.xml b/plane_segmentation/cgal5_ament/package.xml new file mode 100644 index 00000000..672b22b3 --- /dev/null +++ b/plane_segmentation/cgal5_ament/package.xml @@ -0,0 +1,19 @@ + + + cgal5_ament + 0.0.1 + ROS2 package integrating CGAL + Lorenzo Terenzi + BSD-3-Clause + + + ament_cmake + + + Boost + + + + ament_cmake + + \ No newline at end of file From 33adf6a771ba4fdb6c5f693e663b558eae841883 Mon Sep 17 00:00:00 2001 From: Idate96 Date: Thu, 5 Dec 2024 17:35:04 +0100 Subject: [PATCH 464/504] rviz file --- .../rviz/turtle_sim_laser.rviz | 399 ++++++++++++++++++ 1 file changed, 399 insertions(+) create mode 100644 elevation_mapping_cupy/rviz/turtle_sim_laser.rviz diff --git a/elevation_mapping_cupy/rviz/turtle_sim_laser.rviz b/elevation_mapping_cupy/rviz/turtle_sim_laser.rviz new file mode 100644 index 00000000..7b97d78c --- /dev/null +++ b/elevation_mapping_cupy/rviz/turtle_sim_laser.rviz @@ -0,0 +1,399 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /PointCloud21 + - /RobotModel1 + - /TF1 + - /GridMap1 + Splitter Ratio: 0.5 + Tree Height: 272 + - Class: rviz_common/Selection + Name: Selection + - Class: rviz_common/Tool Properties + Expanded: + - /2D Goal Pose1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz_common/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz_common/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: PointCloud2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz_default_plugins/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: RGB8 + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: PointCloud2 + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Points + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /intel_realsense_r200_depth/points + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Class: rviz_default_plugins/RobotModel + Collision Enabled: false + Description File: "" + Description Source: Topic + Description Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /robot_description + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base_footprint: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_scan: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera_depth_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_rgb_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_rgb_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + caster_back_left_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + caster_back_right_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + imu_link: + Alpha: 1 + Show Axes: false + Show Trail: false + realsense_depth_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + realsense_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wheel_left_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wheel_right_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Mass Properties: + Inertia: false + Mass: false + Name: RobotModel + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Class: rviz_default_plugins/TF + Enabled: true + Frame Timeout: 15 + Frames: + All Enabled: true + base_footprint: + Value: true + base_link: + Value: true + base_scan: + Value: true + camera_depth_optical_frame: + Value: true + camera_rgb_frame: + Value: true + camera_rgb_optical_frame: + Value: true + caster_back_left_link: + Value: true + caster_back_right_link: + Value: true + imu_link: + Value: true + odom: + Value: true + realsense_depth_frame: + Value: true + realsense_link: + Value: true + wheel_left_link: + Value: true + wheel_right_link: + Value: true + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: false + Tree: + odom: + base_footprint: + base_link: + base_scan: + {} + caster_back_left_link: + {} + caster_back_right_link: + {} + imu_link: + {} + realsense_link: + camera_rgb_frame: + camera_rgb_optical_frame: + {} + realsense_depth_frame: + camera_depth_optical_frame: + {} + wheel_left_link: + {} + wheel_right_link: + {} + Update Interval: 0 + Value: true + - Class: rviz_default_plugins/Camera + Enabled: false + Far Plane Distance: 100 + Image Rendering: background and overlay + Name: Camera + Overlay Alpha: 0.5 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /intel_realsense_r200_rgb/image_raw + Value: false + Visibility: + "": true + Grid: true + Image: true + PointCloud2: true + RobotModel: true + TF: true + Value: true + Zoom Factor: 1 + - Class: rviz_default_plugins/Image + Enabled: false + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /intel_realsense_r200_depth/image_raw + Value: false + - Class: rviz_default_plugins/Image + Enabled: true + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /intel_realsense_r200_rgb/image_raw + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Class: grid_map_rviz_plugin/GridMap + Color: 200; 200; 200 + Color Layer: elevation + Color Transformer: IntensityLayer + Enabled: true + Height Layer: elevation + Height Transformer: GridMapLayer + History Length: 1 + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 10 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: GridMap + Show Grid Lines: true + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /elevation_mapping/elevation_map_raw + Use Rainbow: true + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: base_footprint + Frame Rate: 30 + Name: root + Tools: + - Class: rviz_default_plugins/Interact + Hide Inactive Objects: true + - Class: rviz_default_plugins/MoveCamera + - Class: rviz_default_plugins/Select + - Class: rviz_default_plugins/FocusCamera + - Class: rviz_default_plugins/Measure + Line color: 128; 128; 0 + - Class: rviz_default_plugins/SetInitialPose + Covariance x: 0.25 + Covariance y: 0.25 + Covariance yaw: 0.06853891909122467 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /initialpose + - Class: rviz_default_plugins/SetGoal + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /goal_pose + - Class: rviz_default_plugins/PublishPoint + Single click: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /clicked_point + Transformation: + Current: + Class: rviz_default_plugins/TF + Value: true + Views: + Current: + Class: rviz_default_plugins/Orbit + Distance: 6.990833282470703 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0.13978521525859833 + Y: 0.045054733753204346 + Z: 0.2562030851840973 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.3597964644432068 + Target Frame: + Value: Orbit (rviz) + Yaw: 3.0935845375061035 + Saved: ~ +Window Geometry: + Camera: + collapsed: false + Displays: + collapsed: false + Height: 846 + Hide Left Dock: false + Hide Right Dock: false + Image: + collapsed: false + QMainWindow State: 000000ff00000000fd000000040000000000000156000002b4fc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b00000199000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d0065007200610000000136000000f70000002800fffffffb0000000a0049006d0061006700650000000157000000d60000002800fffffffb0000000a0049006d00610067006501000001da000001150000002800ffffff000000010000010f000002b4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b000002b4000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b00000025300fffffffb0000000800540069006d006501000000000000045000000000000000000000023f000002b400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1200 + X: 60 + Y: 169 From 2601c7df7bdf3e94e35f196f9069cf34548c15e7 Mon Sep 17 00:00:00 2001 From: Idate96 Date: Thu, 5 Dec 2024 17:35:18 +0100 Subject: [PATCH 465/504] basic example --- elevation_mapping_cupy/README.md | 12 ++++++++++++ 1 file changed, 12 insertions(+) create mode 100644 elevation_mapping_cupy/README.md diff --git a/elevation_mapping_cupy/README.md b/elevation_mapping_cupy/README.md new file mode 100644 index 00000000..f7010dff --- /dev/null +++ b/elevation_mapping_cupy/README.md @@ -0,0 +1,12 @@ +## Example 1: Turtle Simple Example +Install the realsense wrapper for [TurtleBot3]([ros2_turtlebot3_waffle_intel_realsense](https://github.com/mlherd/ros2_turtlebot3_waffle_intel_realsense)) and place the model in your home .gazebo/models/ folder. +You can launch the turtlebot3 in Gazebo with the following command: +```bash +ros2 launch elevation_mapping_cupy turtle_simple_example.launch.py +``` +You can also maunally spawn the robot in Gazebo. + + +Launch the elevation mapping node: +```bash +ros2 launch elevation_mapping_cupy turtle_simple_example.launch.py``` \ No newline at end of file From 12d036e5641a2550968532985cb4bec78bdaae6c Mon Sep 17 00:00:00 2001 From: Idate96 Date: Thu, 5 Dec 2024 17:35:45 +0100 Subject: [PATCH 466/504] compiles --- .../semantic_sensor/CMakeLists.txt | 28 -------------- .../launch/semantic_image.launch.py | 2 +- .../launch/semantic_pointcloud.launch.py | 2 +- sensor_processing/semantic_sensor/package.xml | 7 +++- .../__init__.py => resource/semantic_sensor} | 0 .../DINO}/__init__.py | 0 .../semantic_sensor/DINO/modules.py | 0 .../semantic_sensor/DINO/utils.py | 0 .../DINO/vision_transformer.py | 0 .../tests => semantic_sensor}/__init__.py | 0 .../semantic_sensor/image_node.py | 6 ++- .../semantic_sensor/image_parameters.py | 0 .../{script => }/semantic_sensor/networks.py | 0 .../semantic_sensor/pointcloud_node.py | 7 +++- .../semantic_sensor/pointcloud_parameters.py | 0 .../semantic_sensor/tests/__init__.py | 0 .../semantic_sensor/tests/test_pointcloud.py | 0 .../semantic_sensor/tests/test_utils.py | 0 .../{script => }/semantic_sensor/utils.py | 0 sensor_processing/semantic_sensor/setup.cfg | 4 ++ sensor_processing/semantic_sensor/setup.py | 37 ++++++++++++++++--- 21 files changed, 51 insertions(+), 42 deletions(-) delete mode 100644 sensor_processing/semantic_sensor/CMakeLists.txt rename sensor_processing/semantic_sensor/{script/semantic_sensor/DINO/__init__.py => resource/semantic_sensor} (100%) rename sensor_processing/semantic_sensor/{script/semantic_sensor => semantic_sensor/DINO}/__init__.py (100%) rename sensor_processing/semantic_sensor/{script => }/semantic_sensor/DINO/modules.py (100%) rename sensor_processing/semantic_sensor/{script => }/semantic_sensor/DINO/utils.py (100%) rename sensor_processing/semantic_sensor/{script => }/semantic_sensor/DINO/vision_transformer.py (100%) rename sensor_processing/semantic_sensor/{script/semantic_sensor/tests => semantic_sensor}/__init__.py (100%) rename sensor_processing/semantic_sensor/{script => }/semantic_sensor/image_node.py (99%) rename sensor_processing/semantic_sensor/{script => }/semantic_sensor/image_parameters.py (100%) rename sensor_processing/semantic_sensor/{script => }/semantic_sensor/networks.py (100%) rename sensor_processing/semantic_sensor/{script => }/semantic_sensor/pointcloud_node.py (99%) rename sensor_processing/semantic_sensor/{script => }/semantic_sensor/pointcloud_parameters.py (100%) create mode 100644 sensor_processing/semantic_sensor/semantic_sensor/tests/__init__.py rename sensor_processing/semantic_sensor/{script => }/semantic_sensor/tests/test_pointcloud.py (100%) rename sensor_processing/semantic_sensor/{script => }/semantic_sensor/tests/test_utils.py (100%) rename sensor_processing/semantic_sensor/{script => }/semantic_sensor/utils.py (100%) create mode 100644 sensor_processing/semantic_sensor/setup.cfg diff --git a/sensor_processing/semantic_sensor/CMakeLists.txt b/sensor_processing/semantic_sensor/CMakeLists.txt deleted file mode 100644 index 04fe1c0f..00000000 --- a/sensor_processing/semantic_sensor/CMakeLists.txt +++ /dev/null @@ -1,28 +0,0 @@ -cmake_minimum_required(VERSION 3.8) -project(semantic_sensor) - -# Find dependencies -find_package(ament_cmake REQUIRED) -find_package(rclpy REQUIRED) -find_package(tf2_ros REQUIRED) -find_package(sensor_msgs REQUIRED) -find_package(std_msgs REQUIRED) -find_package(geometry_msgs REQUIRED) - -# Install Python modules -ament_python_install_package(${PROJECT_NAME} PACKAGE_DIR script/semantic_sensor) - -# Install Python executables -install(PROGRAMS - script/semantic_sensor/pointcloud_node.py - script/semantic_sensor/image_node.py - DESTINATION lib/${PROJECT_NAME} -) - -# Install launch files -install(DIRECTORY - launch - DESTINATION share/${PROJECT_NAME} -) - -ament_package() \ No newline at end of file diff --git a/sensor_processing/semantic_sensor/launch/semantic_image.launch.py b/sensor_processing/semantic_sensor/launch/semantic_image.launch.py index 50d551f2..32a190fd 100644 --- a/sensor_processing/semantic_sensor/launch/semantic_image.launch.py +++ b/sensor_processing/semantic_sensor/launch/semantic_image.launch.py @@ -5,7 +5,7 @@ def generate_launch_description(): return LaunchDescription([ Node( package='semantic_sensor', - executable='image_node.py', + executable='image_node', name='semantic_image', arguments=['front_cam_image'], output='screen', diff --git a/sensor_processing/semantic_sensor/launch/semantic_pointcloud.launch.py b/sensor_processing/semantic_sensor/launch/semantic_pointcloud.launch.py index 91fbb8c9..1ca06105 100644 --- a/sensor_processing/semantic_sensor/launch/semantic_pointcloud.launch.py +++ b/sensor_processing/semantic_sensor/launch/semantic_pointcloud.launch.py @@ -5,7 +5,7 @@ def generate_launch_description(): return LaunchDescription([ Node( package='semantic_sensor', - executable='pointcloud_node.py', + executable='pointcloud_node', name='semantic_pointcloud', arguments=['front_cam'], output='screen', diff --git a/sensor_processing/semantic_sensor/package.xml b/sensor_processing/semantic_sensor/package.xml index 5637b4d4..d789afb1 100644 --- a/sensor_processing/semantic_sensor/package.xml +++ b/sensor_processing/semantic_sensor/package.xml @@ -9,7 +9,7 @@ https://github.com/leggedrobotics/elevation_mapping_semantic_cupy - ament_cmake + ament_python rclpy tf2_ros sensor_msgs @@ -18,4 +18,7 @@ python3 - + + ament_python + + \ No newline at end of file diff --git a/sensor_processing/semantic_sensor/script/semantic_sensor/DINO/__init__.py b/sensor_processing/semantic_sensor/resource/semantic_sensor similarity index 100% rename from sensor_processing/semantic_sensor/script/semantic_sensor/DINO/__init__.py rename to sensor_processing/semantic_sensor/resource/semantic_sensor diff --git a/sensor_processing/semantic_sensor/script/semantic_sensor/__init__.py b/sensor_processing/semantic_sensor/semantic_sensor/DINO/__init__.py similarity index 100% rename from sensor_processing/semantic_sensor/script/semantic_sensor/__init__.py rename to sensor_processing/semantic_sensor/semantic_sensor/DINO/__init__.py diff --git a/sensor_processing/semantic_sensor/script/semantic_sensor/DINO/modules.py b/sensor_processing/semantic_sensor/semantic_sensor/DINO/modules.py similarity index 100% rename from sensor_processing/semantic_sensor/script/semantic_sensor/DINO/modules.py rename to sensor_processing/semantic_sensor/semantic_sensor/DINO/modules.py diff --git a/sensor_processing/semantic_sensor/script/semantic_sensor/DINO/utils.py b/sensor_processing/semantic_sensor/semantic_sensor/DINO/utils.py similarity index 100% rename from sensor_processing/semantic_sensor/script/semantic_sensor/DINO/utils.py rename to sensor_processing/semantic_sensor/semantic_sensor/DINO/utils.py diff --git a/sensor_processing/semantic_sensor/script/semantic_sensor/DINO/vision_transformer.py b/sensor_processing/semantic_sensor/semantic_sensor/DINO/vision_transformer.py similarity index 100% rename from sensor_processing/semantic_sensor/script/semantic_sensor/DINO/vision_transformer.py rename to sensor_processing/semantic_sensor/semantic_sensor/DINO/vision_transformer.py diff --git a/sensor_processing/semantic_sensor/script/semantic_sensor/tests/__init__.py b/sensor_processing/semantic_sensor/semantic_sensor/__init__.py similarity index 100% rename from sensor_processing/semantic_sensor/script/semantic_sensor/tests/__init__.py rename to sensor_processing/semantic_sensor/semantic_sensor/__init__.py diff --git a/sensor_processing/semantic_sensor/script/semantic_sensor/image_node.py b/sensor_processing/semantic_sensor/semantic_sensor/image_node.py similarity index 99% rename from sensor_processing/semantic_sensor/script/semantic_sensor/image_node.py rename to sensor_processing/semantic_sensor/semantic_sensor/image_node.py index e64991f1..5b22341f 100755 --- a/sensor_processing/semantic_sensor/script/semantic_sensor/image_node.py +++ b/sensor_processing/semantic_sensor/semantic_sensor/image_node.py @@ -285,10 +285,12 @@ def publish_feature_image(self, features): feat_msg.header.frame_id = self.header.frame_id self.feat_im_pub.publish(feat_msg) - -if __name__ == "__main__": +def main(): arg = sys.argv[1] sensor_name = arg rospy.init_node("semantic_segmentation_node", anonymous=True, log_level=rospy.INFO) node = SemanticSegmentationNode(sensor_name) rospy.spin() + +if __name__ == "__main__": + main() \ No newline at end of file diff --git a/sensor_processing/semantic_sensor/script/semantic_sensor/image_parameters.py b/sensor_processing/semantic_sensor/semantic_sensor/image_parameters.py similarity index 100% rename from sensor_processing/semantic_sensor/script/semantic_sensor/image_parameters.py rename to sensor_processing/semantic_sensor/semantic_sensor/image_parameters.py diff --git a/sensor_processing/semantic_sensor/script/semantic_sensor/networks.py b/sensor_processing/semantic_sensor/semantic_sensor/networks.py similarity index 100% rename from sensor_processing/semantic_sensor/script/semantic_sensor/networks.py rename to sensor_processing/semantic_sensor/semantic_sensor/networks.py diff --git a/sensor_processing/semantic_sensor/script/semantic_sensor/pointcloud_node.py b/sensor_processing/semantic_sensor/semantic_sensor/pointcloud_node.py similarity index 99% rename from sensor_processing/semantic_sensor/script/semantic_sensor/pointcloud_node.py rename to sensor_processing/semantic_sensor/semantic_sensor/pointcloud_node.py index a713f312..799527d4 100755 --- a/sensor_processing/semantic_sensor/script/semantic_sensor/pointcloud_node.py +++ b/sensor_processing/semantic_sensor/semantic_sensor/pointcloud_node.py @@ -360,9 +360,12 @@ def publish_pointcloud(self, pcl, header): # pc2.header.frame_id = self.param.cam_frame self.pcl_pub.publish(pc2) - -if __name__ == "__main__": +def main(): + arg = sys.argv[1] sensor_name = sys.argv[1] rospy.init_node("semantic_pointcloud_node", anonymous=True, log_level=rospy.INFO) node = PointcloudNode(sensor_name) rospy.spin() + +if __name__ == "__main__": + main() \ No newline at end of file diff --git a/sensor_processing/semantic_sensor/script/semantic_sensor/pointcloud_parameters.py b/sensor_processing/semantic_sensor/semantic_sensor/pointcloud_parameters.py similarity index 100% rename from sensor_processing/semantic_sensor/script/semantic_sensor/pointcloud_parameters.py rename to sensor_processing/semantic_sensor/semantic_sensor/pointcloud_parameters.py diff --git a/sensor_processing/semantic_sensor/semantic_sensor/tests/__init__.py b/sensor_processing/semantic_sensor/semantic_sensor/tests/__init__.py new file mode 100644 index 00000000..e69de29b diff --git a/sensor_processing/semantic_sensor/script/semantic_sensor/tests/test_pointcloud.py b/sensor_processing/semantic_sensor/semantic_sensor/tests/test_pointcloud.py similarity index 100% rename from sensor_processing/semantic_sensor/script/semantic_sensor/tests/test_pointcloud.py rename to sensor_processing/semantic_sensor/semantic_sensor/tests/test_pointcloud.py diff --git a/sensor_processing/semantic_sensor/script/semantic_sensor/tests/test_utils.py b/sensor_processing/semantic_sensor/semantic_sensor/tests/test_utils.py similarity index 100% rename from sensor_processing/semantic_sensor/script/semantic_sensor/tests/test_utils.py rename to sensor_processing/semantic_sensor/semantic_sensor/tests/test_utils.py diff --git a/sensor_processing/semantic_sensor/script/semantic_sensor/utils.py b/sensor_processing/semantic_sensor/semantic_sensor/utils.py similarity index 100% rename from sensor_processing/semantic_sensor/script/semantic_sensor/utils.py rename to sensor_processing/semantic_sensor/semantic_sensor/utils.py diff --git a/sensor_processing/semantic_sensor/setup.cfg b/sensor_processing/semantic_sensor/setup.cfg new file mode 100644 index 00000000..269422d8 --- /dev/null +++ b/sensor_processing/semantic_sensor/setup.cfg @@ -0,0 +1,4 @@ +[develop] +script_dir=$base/lib/semantic_sensor +[install] +install_scripts=$base/lib/semantic_sensor \ No newline at end of file diff --git a/sensor_processing/semantic_sensor/setup.py b/sensor_processing/semantic_sensor/setup.py index fef26672..a6127608 100644 --- a/sensor_processing/semantic_sensor/setup.py +++ b/sensor_processing/semantic_sensor/setup.py @@ -1,8 +1,33 @@ -from distutils.core import setup -from catkin_pkg.python_setup import generate_distutils_setup +from setuptools import setup +import os +from glob import glob -setup_args = generate_distutils_setup( - packages=["semantic_sensor",], install_requires=["torch", "torchvision",], package_dir={"": "script"}, -) +package_name = 'semantic_sensor' -setup(**setup_args) +setup( + name=package_name, + version='0.0.0', + packages=[package_name], + data_files=[ + ('share/ament_index/resource_index/packages', + ['resource/' + package_name]), + ('share/' + package_name, ['package.xml']), + (os.path.join('share', package_name, 'launch'), + glob('launch/*.launch.py')), + (os.path.join('share', package_name, 'config'), + glob('config/*.yaml')) + ], + install_requires=['setuptools', 'torch', 'torchvision'], + zip_safe=True, + maintainer='Gian Erni', + maintainer_email='gerni@ethz.ch', + description='The semantic_sensor package', + license='MIT', + tests_require=['pytest'], + entry_points={ + 'console_scripts': [ + 'pointcloud_node = semantic_sensor.pointcloud_node:main', + 'image_node = semantic_sensor.image_node:main', + ], + }, +) From 69d917117e416a4485fbab00046bed6d7e76eca7 Mon Sep 17 00:00:00 2001 From: Idate96 Date: Thu, 5 Dec 2024 17:36:01 +0100 Subject: [PATCH 467/504] cga5 ament --- plane_segmentation/cgal5_catkin/.gitignore | 32 ------------------- .../cgal5_catkin/CMakeLists.txt | 30 ----------------- plane_segmentation/cgal5_catkin/README.md | 3 -- .../cgal5_catkin/cmake/cgal-extras.cmake.in | 6 ---- plane_segmentation/cgal5_catkin/package.xml | 19 ----------- .../convex_plane_decomposition/CMakeLists.txt | 2 +- .../convex_plane_decomposition/package.xml | 2 +- 7 files changed, 2 insertions(+), 92 deletions(-) delete mode 100644 plane_segmentation/cgal5_catkin/.gitignore delete mode 100644 plane_segmentation/cgal5_catkin/CMakeLists.txt delete mode 100644 plane_segmentation/cgal5_catkin/README.md delete mode 100644 plane_segmentation/cgal5_catkin/cmake/cgal-extras.cmake.in delete mode 100644 plane_segmentation/cgal5_catkin/package.xml diff --git a/plane_segmentation/cgal5_catkin/.gitignore b/plane_segmentation/cgal5_catkin/.gitignore deleted file mode 100644 index 259148fa..00000000 --- a/plane_segmentation/cgal5_catkin/.gitignore +++ /dev/null @@ -1,32 +0,0 @@ -# Prerequisites -*.d - -# Compiled Object files -*.slo -*.lo -*.o -*.obj - -# Precompiled Headers -*.gch -*.pch - -# Compiled Dynamic libraries -*.so -*.dylib -*.dll - -# Fortran module files -*.mod -*.smod - -# Compiled Static libraries -*.lai -*.la -*.a -*.lib - -# Executables -*.exe -*.out -*.app diff --git a/plane_segmentation/cgal5_catkin/CMakeLists.txt b/plane_segmentation/cgal5_catkin/CMakeLists.txt deleted file mode 100644 index 306a7905..00000000 --- a/plane_segmentation/cgal5_catkin/CMakeLists.txt +++ /dev/null @@ -1,30 +0,0 @@ -cmake_minimum_required(VERSION 3.14) -project(cgal5_catkin) - -# Use ament for ROS2 -find_package(ament_cmake REQUIRED) - -include(ExternalProject) - -set(VERSION 5.3) - -file(MAKE_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/include) - -set(CGAL_VERSION 5.3) -ExternalProject_Add(cgal - URL https://github.com/CGAL/cgal/archive/refs/tags/v${CGAL_VERSION}.tar.gz - UPDATE_COMMAND "" - CMAKE_ARGS - -DCMAKE_INSTALL_PREFIX=${CMAKE_CURRENT_BINARY_DIR} - -DCMAKE_BUILD_TYPE:STRING=Release - BUILD_COMMAND $(MAKE) - INSTALL_COMMAND $(MAKE) install -) - -ament_export_include_directories(${CMAKE_CURRENT_BINARY_DIR}/include) - -install(DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/include/CGAL/ - DESTINATION include/CGAL/ -) - -ament_package() diff --git a/plane_segmentation/cgal5_catkin/README.md b/plane_segmentation/cgal5_catkin/README.md deleted file mode 100644 index af601fd7..00000000 --- a/plane_segmentation/cgal5_catkin/README.md +++ /dev/null @@ -1,3 +0,0 @@ -# cgal5_catkin - -Catkin wrapper of the Computational Geometry Algorithms Library (CGAL) diff --git a/plane_segmentation/cgal5_catkin/cmake/cgal-extras.cmake.in b/plane_segmentation/cgal5_catkin/cmake/cgal-extras.cmake.in deleted file mode 100644 index 3db7988c..00000000 --- a/plane_segmentation/cgal5_catkin/cmake/cgal-extras.cmake.in +++ /dev/null @@ -1,6 +0,0 @@ -# Makes CGAL/find___.cmake available -list(APPEND CMAKE_MODULE_PATH @CATKIN_DEVEL_PREFIX@/lib/cmake/CGAL) - -# Cpp standard version -set(CMAKE_CXX_STANDARD 14) -set(CMAKE_CXX_STANDARD_REQUIRED ON) \ No newline at end of file diff --git a/plane_segmentation/cgal5_catkin/package.xml b/plane_segmentation/cgal5_catkin/package.xml deleted file mode 100644 index 1fb19b57..00000000 --- a/plane_segmentation/cgal5_catkin/package.xml +++ /dev/null @@ -1,19 +0,0 @@ - - - cgal5_catkin - 0.0.1 - ROS2 package integrating CGAL - Lorenzo Terenzi - BSD-3-Clause - - - ament_cmake - - - Boost - - - - ament_cmake - - \ No newline at end of file diff --git a/plane_segmentation/convex_plane_decomposition/CMakeLists.txt b/plane_segmentation/convex_plane_decomposition/CMakeLists.txt index 2deb335a..44d7d67a 100644 --- a/plane_segmentation/convex_plane_decomposition/CMakeLists.txt +++ b/plane_segmentation/convex_plane_decomposition/CMakeLists.txt @@ -3,7 +3,7 @@ project(convex_plane_decomposition) # Catkin dependencies set(CATKIN_PACKAGE_DEPENDENCIES - cgal5_catkin + cgal5_ament grid_map_core grid_map_cv grid_map_filters_rsl diff --git a/plane_segmentation/convex_plane_decomposition/package.xml b/plane_segmentation/convex_plane_decomposition/package.xml index 5ccbe03f..85988116 100644 --- a/plane_segmentation/convex_plane_decomposition/package.xml +++ b/plane_segmentation/convex_plane_decomposition/package.xml @@ -9,7 +9,7 @@ MIT catkin - cgal5_catkin + cgal5_ament grid_map_core grid_map_cv grid_map_filters_rsl From 5340dbd2ec1191a14a95222e1caf326b3485498f Mon Sep 17 00:00:00 2001 From: Idate96 Date: Thu, 5 Dec 2024 17:36:11 +0100 Subject: [PATCH 468/504] missing todods --- TODO.md | 11 +++++++++++ 1 file changed, 11 insertions(+) create mode 100644 TODO.md diff --git a/TODO.md b/TODO.md new file mode 100644 index 00000000..89df8dc9 --- /dev/null +++ b/TODO.md @@ -0,0 +1,11 @@ +- [x] Compile "elevation_mapping_msgs" with ROS2 +- [x] Compile "elevation_mapping_cupy" with ROS2 +- [x] Compile "semantic_sensor" with ROS2 +- [x] Compile "convex_plane_decomposition_msgs" with ROS2 +- [ ] Compile "convex_plane_decomposition" with ROS2 +- [x] Compile "grid_map_filters_rsl" with ROS2 +- [x] Compile "cgal5_ament" with ROS2 + +- [x] Run "elevation_mapping_cupy" with ROS2 +- [ ] Run "semantic_sensor" with ROS2 +- [ ] Run "convex_plane_decomposition" with ROS2 From fa3693f4d232e6d530dc5ef83ab2b39246899f5f Mon Sep 17 00:00:00 2001 From: Idate96 Date: Sat, 7 Dec 2024 12:50:03 +0100 Subject: [PATCH 469/504] removed ros params --- .../config/core/plugin_config.yaml | 76 +++++++++---------- 1 file changed, 36 insertions(+), 40 deletions(-) diff --git a/elevation_mapping_cupy/config/core/plugin_config.yaml b/elevation_mapping_cupy/config/core/plugin_config.yaml index b0c622fa..36a1a580 100644 --- a/elevation_mapping_cupy/config/core/plugin_config.yaml +++ b/elevation_mapping_cupy/config/core/plugin_config.yaml @@ -1,40 +1,36 @@ -/elevation_mapping_node: - ros__parameters: - # Settings of the plugins. (The plugins should be stored in script/plugins) - - # min_filter fills in minimum value around the invalid cell. - min_filter: - enable: True # weather to load this plugin - fill_nan: False # Fill nans to invalid cells of elevation layer. - is_height_layer: True # If this is a height layer (such as elevation) or not (such as traversability) - layer_name: "min_filter" # The layer name. - extra_params: # This params are passed to the plugin class on initialization. - dilation_size: 1 # The patch size to apply - iteration_n: 30 # The number of iterations - # Apply smoothing. - smooth_filter: - enable: True - fill_nan: False - is_height_layer: True - layer_name: "smooth" - extra_params: - input_layer_name: "min_filter" - # Apply inpainting using opencv - inpainting: - enable: True - fill_nan: False - is_height_layer: True - layer_name: "inpaint" - extra_params: - method: "telea" # telea or ns - # Apply smoothing for inpainted layer - erosion: - enable: True - fill_nan: False - is_height_layer: False - layer_name: "erosion" - extra_params: - input_layer_name: "traversability" - dilation_size: 3 - iteration_n: 20 - reverse: True \ No newline at end of file +# min_filter fills in minimum value around the invalid cell. +min_filter: + enable: True # weather to load this plugin + fill_nan: False # Fill nans to invalid cells of elevation layer. + is_height_layer: True # If this is a height layer (such as elevation) or not (such as traversability) + layer_name: "min_filter" # The layer name. + extra_params: # This params are passed to the plugin class on initialization. + dilation_size: 1 # The patch size to apply + iteration_n: 30 # The number of iterations +# Apply smoothing. +smooth_filter: + enable: True + fill_nan: False + is_height_layer: True + layer_name: "smooth" + extra_params: + input_layer_name: "min_filter" +# Apply inpainting using opencv +inpainting: + enable: True + fill_nan: False + is_height_layer: True + layer_name: "inpaint" + extra_params: + method: "telea" # telea or ns +# Apply smoothing for inpainted layer +erosion: + enable: True + fill_nan: False + is_height_layer: False + layer_name: "erosion" + extra_params: + input_layer_name: "traversability" + dilation_size: 3 + iteration_n: 20 + reverse: True \ No newline at end of file From c5e3708927f90f1682692b2c64134b885328cc22 Mon Sep 17 00:00:00 2001 From: Idate96 Date: Sat, 7 Dec 2024 17:49:45 +0100 Subject: [PATCH 470/504] sim time --- .../elevation_mapping_ros.py | 18 +++++++++--------- 1 file changed, 9 insertions(+), 9 deletions(-) diff --git a/elevation_mapping_cupy/elevation_mapping_cupy/elevation_mapping_ros.py b/elevation_mapping_cupy/elevation_mapping_cupy/elevation_mapping_ros.py index a81e931f..fc345141 100644 --- a/elevation_mapping_cupy/elevation_mapping_cupy/elevation_mapping_ros.py +++ b/elevation_mapping_cupy/elevation_mapping_cupy/elevation_mapping_ros.py @@ -1,11 +1,7 @@ #!/usr/bin/env python3 -import matplotlib.pyplot as plt -from mpl_toolkits.mplot3d import Axes3D import numpy as np import os from functools import partial -import threading -import time # Import time module for benchmarking # ROS 2 imports import rclpy @@ -25,7 +21,6 @@ from std_msgs.msg import Float32MultiArray from std_msgs.msg import MultiArrayLayout as MAL from std_msgs.msg import MultiArrayDimension as MAD -from geometry_msgs.msg import TransformStamped from rclpy.serialization import serialize_message # Custom module imports @@ -51,7 +46,12 @@ def __init__(self): # Initialize the node without passing callback_group to super() super().__init__( 'elevation_mapping_node', - automatically_declare_parameters_from_overrides=True + automatically_declare_parameters_from_overrides=True, + # Add this parameter to enable sim time + allow_undeclared_parameters=True, + parameter_overrides=[ + rclpy.Parameter('use_sim_time', rclpy.Parameter.Type.BOOL, True) + ] ) # Get package share directory @@ -412,14 +412,14 @@ def pointcloud_callback(self, msg: PointCloud2, sub_key: str) -> None: frame_sensor_id = msg.header.frame_id try: # Add a timeout to wait for the transform to become available - transform_sensor_to_odom = self._tf_buffer.lookup_transform( + transform_sensor_to_map = self._tf_buffer.lookup_transform( self.map_frame, frame_sensor_id, self._last_t, ) - t = transform_sensor_to_odom.transform.translation - q = transform_sensor_to_odom.transform.rotation + t = transform_sensor_to_map.transform.translation + q = transform_sensor_to_map.transform.rotation t_np = np.array([t.x, t.y, t.z], dtype=np.float32) R = quaternion_matrix([q.x, q.y, q.z, q.w])[:3, :3].astype(np.float32) From 0f2fb18262b12d1dbd9fe49391d44dd313dd275c Mon Sep 17 00:00:00 2001 From: amilearning Date: Tue, 17 Dec 2024 14:05:29 +0100 Subject: [PATCH 471/504] elevation freq working with feat --- elevation_map_msgs/srv/CheckSafety.srv | 1 - elevation_mapping_cupy/CMakeLists.txt | 1 + .../lib/elevation_mapping_cupy/__init__.py | 4 - .../elevation_mapping.py | 970 ------------- .../elevation_mapping_ros.py | 322 ---- .../fusion/fusion_manager.py | 112 -- .../fusion/image_color.py | 86 -- .../fusion/pointcloud_average.py | 113 -- .../fusion/pointcloud_bayesian_inference.py | 122 -- .../fusion/pointcloud_class_average.py | 126 -- .../fusion/pointcloud_class_bayesian.py | 75 - .../fusion/pointcloud_class_max.py | 123 -- .../fusion/pointcloud_color.py | 152 -- .../kernels/__init__.py | 3 - .../kernels/custom_image_kernels.py | 271 ---- .../kernels/custom_kernels.py | 685 --------- .../kernels/custom_semantic_kernels.py | 375 ----- .../lib/elevation_mapping_cupy/kernels/kk.py | 1290 ----------------- .../elevation_mapping_cupy/map_initializer.py | 80 - .../lib/elevation_mapping_cupy/parameter.py | 300 ---- .../elevation_mapping_cupy/plugins/erosion.py | 113 -- .../plugins/features_pca.py | 96 -- .../plugins/inpainting.py | 63 - .../plugins/max_layer_filter.py | 108 -- .../plugins/min_filter.py | 118 -- .../plugins/plugin_manager.py | 268 ---- .../plugins/robot_centric_elevation.py | 121 -- .../plugins/semantic_filter.py | 133 -- .../plugins/semantic_traversability.py | 83 -- .../plugins/smooth_filter.py | 59 - .../elevation_mapping_cupy/semantic_map.py | 400 ----- .../elevation_mapping_cupy/tests/__init__.py | 0 .../tests/test_elevation_mapping.py | 118 -- .../tests/test_parameter.py | 17 - .../tests/test_plugins.py | 69 - .../tests/test_semantic_kernels.py | 307 ---- .../tests/test_semantic_map.py | 47 - .../traversability_filter.py | 100 -- .../traversability_polygon.py | 77 - .../config/core/core_param copy 2.yaml | 197 +++ .../config/core/core_param.yaml | 51 +- .../config/core/core_param_sim.yaml | 197 +++ .../elevation_mapping_ros.hpp | 1 + .../elevation_mapping.py | 6 + .../fusion/image_latest.py} | 18 +- .../src/elevation_mapping_ros.cpp | 15 +- filters | 1 + grid_map | 1 + nav2_common/CMakeLists.txt | 17 + nav2_common/cmake/nav2_package.cmake | 57 + nav2_common/nav2_common-extras.cmake | 17 + .../nav2_common}/__init__.py | 0 nav2_common/nav2_common/launch/__init__.py | 18 + .../nav2_common/launch/has_node_params.py | 60 + .../launch/parse_multirobot_pose.py | 82 ++ .../nav2_common/launch/replace_string.py | 87 ++ .../nav2_common/launch/rewritten_yaml.py | 190 +++ nav2_common/package.xml | 25 + .../__init__.py => nav2_msgs/CHANGELOG.rst | 0 nav2_msgs/CMakeLists.txt | 53 + nav2_msgs/README.md | 3 + nav2_msgs/action/AssistedTeleop.action | 8 + nav2_msgs/action/BackUp.action | 10 + .../action/ComputePathThroughPoses.action | 11 + nav2_msgs/action/ComputePathToPose.action | 11 + nav2_msgs/action/DriveOnHeading.action | 10 + nav2_msgs/action/DummyBehavior.action | 7 + nav2_msgs/action/FollowPath.action | 11 + nav2_msgs/action/FollowWaypoints.action | 8 + nav2_msgs/action/NavigateThroughPoses.action | 14 + nav2_msgs/action/NavigateToPose.action | 13 + nav2_msgs/action/SmoothPath.action | 12 + nav2_msgs/action/Spin.action | 9 + nav2_msgs/action/Wait.action | 8 + nav2_msgs/msg/BehaviorTreeLog.msg | 2 + nav2_msgs/msg/BehaviorTreeStatusChange.msg | 4 + nav2_msgs/msg/CollisionMonitorState.msg | 9 + nav2_msgs/msg/Costmap.msg | 9 + nav2_msgs/msg/CostmapFilterInfo.msg | 14 + nav2_msgs/msg/CostmapMetaData.msg | 23 + nav2_msgs/msg/Particle.msg | 5 + nav2_msgs/msg/ParticleCloud.msg | 6 + nav2_msgs/msg/SpeedLimit.msg | 6 + nav2_msgs/msg/VoxelGrid.msg | 7 + nav2_msgs/package.xml | 28 + nav2_msgs/srv/ClearCostmapAroundRobot.srv | 5 + nav2_msgs/srv/ClearCostmapExceptRegion.srv | 5 + nav2_msgs/srv/ClearEntireCostmap.srv | 5 + nav2_msgs/srv/GetCostmap.srv | 6 + nav2_msgs/srv/IsPathValid.srv | 6 + nav2_msgs/srv/LoadMap.srv | 15 + nav2_msgs/srv/ManageLifecycleNodes.srv | 9 + nav2_msgs/srv/SaveMap.srv | 14 + nav2_msgs/srv/SetInitialPose.srv | 3 + pcl_msgs | 1 + perception_pcl | 1 + plane_segmentation/README.md | 45 - plane_segmentation/cgal5_catkin/.gitignore | 32 - .../cgal5_catkin/CMakeLists.txt | 31 - plane_segmentation/cgal5_catkin/README.md | 3 - .../cgal5_catkin/cmake/cgal-extras.cmake.in | 6 - plane_segmentation/cgal5_catkin/package.xml | 13 - .../convex_plane_decomposition/CMakeLists.txt | 114 -- .../ConvexRegionGrowing.h | 20 - .../include/convex_plane_decomposition/Draw.h | 27 - .../GeometryUtils.h | 140 -- .../GridMapPreprocessing.h | 37 - .../LoadGridmapFromImage.h | 26 - .../convex_plane_decomposition/PlanarRegion.h | 66 - .../PlaneDecompositionPipeline.h | 77 - .../convex_plane_decomposition/PolygonTypes.h | 21 - .../Postprocessing.h | 47 - .../SegmentedPlaneProjection.h | 77 - .../SegmentedPlanesMap.h | 32 - .../convex_plane_decomposition/Timer.h | 82 -- .../contour_extraction/ContourExtraction.h | 47 - .../ContourExtractionParameters.h | 16 - .../contour_extraction/Upsampling.h | 31 - .../ransac/RansacPlaneExtractor.hpp | 53 - .../ransac/RansacPlaneExtractorParameters.h | 23 - .../SlidingWindowPlaneExtractor.h | 65 - .../SlidingWindowPlaneExtractorParameters.h | 44 - .../convex_plane_decomposition/package.xml | 17 - 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sensor_processing/semantic_sensor/script/semantic_sensor/tests/test_utils.py delete mode 100644 sensor_processing/semantic_sensor/script/semantic_sensor/utils.py delete mode 100644 sensor_processing/semantic_sensor/setup.py diff --git a/elevation_map_msgs/srv/CheckSafety.srv b/elevation_map_msgs/srv/CheckSafety.srv index ed864d4a..871b9b54 100644 --- a/elevation_map_msgs/srv/CheckSafety.srv +++ b/elevation_map_msgs/srv/CheckSafety.srv @@ -1,7 +1,6 @@ # Polygons to check geometry_msgs/PolygonStamped[] polygons bool compute_untraversable_polygon - # Results --- bool[] is_safe diff --git a/elevation_mapping_cupy/CMakeLists.txt b/elevation_mapping_cupy/CMakeLists.txt index 9925bc5d..20e8ab7f 100644 --- a/elevation_mapping_cupy/CMakeLists.txt +++ b/elevation_mapping_cupy/CMakeLists.txt @@ -70,6 +70,7 @@ include_directories( ${Eigen3_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS} ${pybind11_INCLUDE_DIRS} + ${elevation_map_msgs_INCLUDE_DIRS} ) # Declare C++ library diff --git a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/__init__.py b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/__init__.py deleted file mode 100644 index 88d6a666..00000000 --- a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/__init__.py +++ /dev/null @@ -1,4 +0,0 @@ -# from .parameter import Parameter -# from .elevation_mapping import ElevationMap -# from .kernels import custom_image_kernels, custom_kernels, custom_semantic_kernels - diff --git a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/elevation_mapping.py b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/elevation_mapping.py deleted file mode 100644 index 06f81dfb..00000000 --- a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/elevation_mapping.py +++ /dev/null @@ -1,970 +0,0 @@ -# -# Copyright (c) 2022, Takahiro Miki. All rights reserved. -# Licensed under the MIT license. See LICENSE file in the project root for details. -# -import os -from typing import List, Any, Tuple, Union - -import numpy as np -import threading -import subprocess - -from elevation_mapping_cupy.traversability_filter import ( - get_filter_chainer, - get_filter_torch, -) -from elevation_mapping_cupy.parameter import Parameter - - -from elevation_mapping_cupy.kernels import ( - add_points_kernel, - add_color_kernel, - color_average_kernel, -) -from elevation_mapping_cupy.kernels import sum_kernel -from elevation_mapping_cupy.kernels import error_counting_kernel -from elevation_mapping_cupy.kernels import average_map_kernel -from elevation_mapping_cupy.kernels import dilation_filter_kernel -from elevation_mapping_cupy.kernels import normal_filter_kernel -from elevation_mapping_cupy.kernels import polygon_mask_kernel -from elevation_mapping_cupy.kernels import image_to_map_correspondence_kernel - -from elevation_mapping_cupy.map_initializer import MapInitializer -from elevation_mapping_cupy.plugins.plugin_manager import PluginManager -from elevation_mapping_cupy.semantic_map import SemanticMap -from elevation_mapping_cupy.traversability_polygon import ( - get_masked_traversability, - is_traversable, - calculate_area, - transform_to_map_position, - transform_to_map_index, -) - -import cupy as cp - -xp = cp -pool = cp.cuda.MemoryPool(cp.cuda.malloc_managed) -cp.cuda.set_allocator(pool.malloc) - - -class ElevationMap: - """Core elevation mapping class.""" - - def __init__(self, param: Parameter): - """ - - Args: - param (elevation_mapping_cupy.parameter.Parameter): - """ - self.param = param - self.data_type = self.param.data_type - self.resolution = param.resolution - self.center = xp.array([0, 0, 0], dtype=self.data_type) - self.base_rotation = xp.eye(3, dtype=self.data_type) - self.map_length = param.map_length - self.cell_n = param.cell_n - - self.map_lock = threading.Lock() - self.semantic_map = SemanticMap(self.param) - self.elevation_map = xp.zeros((7, self.cell_n, self.cell_n), dtype=self.data_type) - self.layer_names = [ - "elevation", - "variance", - "is_valid", - "traversability", - "time", - "upper_bound", - "is_upper_bound", - ] - - # buffers - self.traversability_buffer = xp.full((self.cell_n, self.cell_n), xp.nan) - self.normal_map = xp.zeros((3, self.cell_n, self.cell_n), dtype=self.data_type) - # Initial variance - self.initial_variance = param.initial_variance - self.elevation_map[1] += self.initial_variance - self.elevation_map[3] += 1.0 - - # # overlap clearance - cell_range = int(self.param.overlap_clear_range_xy / self.resolution) - cell_range = np.clip(cell_range, 0, self.cell_n) - self.cell_min = self.cell_n // 2 - cell_range // 2 - self.cell_max = self.cell_n // 2 + cell_range // 2 - - # Initial mean_error - self.mean_error = 0.0 - self.additive_mean_error = 0.0 - - - self.compile_kernels() - - # self.compile_image_kernels() - - # self.semantic_map.initialize_fusion() - - # weight_file = subprocess.getoutput('echo "' + param.weight_file + '"') - # param.load_weights(weight_file) - - # if param.use_chainer: - # self.traversability_filter = get_filter_chainer(param.w1, param.w2, param.w3, param.w_out) - # else: - # self.traversability_filter = get_filter_torch(param.w1, param.w2, param.w3, param.w_out) - # self.untraversable_polygon = xp.zeros((1, 2)) - - # # Plugins - # self.plugin_manager = PluginManager(cell_n=self.cell_n) - # plugin_config_file = subprocess.getoutput('echo "' + param.plugin_config_file + '"') - # self.plugin_manager.load_plugin_settings(plugin_config_file) - - # self.map_initializer = MapInitializer(self.initial_variance, param.initialized_variance, xp=cp, method="points") - - def clear(self): - """Reset all the layers of the elevation & the semantic map.""" - with self.map_lock: - self.elevation_map *= 0.0 - # Initial variance - self.elevation_map[1] += self.initial_variance - self.semantic_map.clear() - - self.mean_error = 0.0 - self.additive_mean_error = 0.0 - - def get_position(self, position): - """Return the position of the map center. - - Args: - position (numpy.ndarray): - - """ - position[0][:] = xp.asnumpy(self.center) - - def move(self, delta_position): - """Shift the map along all three axes according to the input. - - Args: - delta_position (numpy.ndarray): - """ - # Shift map using delta position. - delta_position = xp.asarray(delta_position) - delta_pixel = xp.round(delta_position[:2] / self.resolution) - delta_position_xy = delta_pixel * self.resolution - self.center[:2] += xp.asarray(delta_position_xy) - self.center[2] += xp.asarray(delta_position[2]) - self.shift_map_xy(delta_pixel) - self.shift_map_z(-delta_position[2]) - - def move_to(self, position, R): - """Shift the map to an absolute position and update the rotation of the robot. - - Args: - position (numpy.ndarray): - R (cupy._core.core.ndarray): - """ - # Shift map to the center of robot. - self.base_rotation = xp.asarray(R, dtype=self.data_type) - position = xp.asarray(position) - delta = position - self.center - delta_pixel = xp.around(delta[:2] / self.resolution) - delta_xy = delta_pixel * self.resolution - self.center[:2] += delta_xy - self.center[2] += delta[2] - self.shift_map_xy(-delta_pixel) - self.shift_map_z(-delta[2]) - - def pad_value(self, x, shift_value, idx=None, value=0.0): - """Create a padding of the map along x,y-axis according to amount that has shifted. - - Args: - x (cupy._core.core.ndarray): - shift_value (cupy._core.core.ndarray): - idx (Union[None, int, None, None]): - value (float): - """ - if idx is None: - if shift_value[0] > 0: - x[:, : shift_value[0], :] = value - elif shift_value[0] < 0: - x[:, shift_value[0] :, :] = value - if shift_value[1] > 0: - x[:, :, : shift_value[1]] = value - elif shift_value[1] < 0: - x[:, :, shift_value[1] :] = value - else: - if shift_value[0] > 0: - x[idx, : shift_value[0], :] = value - elif shift_value[0] < 0: - x[idx, shift_value[0] :, :] = value - if shift_value[1] > 0: - x[idx, :, : shift_value[1]] = value - elif shift_value[1] < 0: - x[idx, :, shift_value[1] :] = value - - def shift_map_xy(self, delta_pixel): - """Shift the map along the horizontal axes according to the input. - - Args: - delta_pixel (cupy._core.core.ndarray): - - """ - shift_value = delta_pixel.astype(cp.int32) - if cp.abs(shift_value).sum() == 0: - return - with self.map_lock: - self.elevation_map = cp.roll(self.elevation_map, shift_value, axis=(1, 2)) - self.pad_value(self.elevation_map, shift_value, value=0.0) - self.pad_value(self.elevation_map, shift_value, idx=1, value=self.initial_variance) - self.semantic_map.shift_map_xy(shift_value) - - def shift_map_z(self, delta_z): - """Shift the relevant layers along the vertical axis. - - Args: - delta_z (cupy._core.core.ndarray): - """ - with self.map_lock: - # elevation - self.elevation_map[0] += delta_z - # upper bound - self.elevation_map[5] += delta_z - - def compile_kernels(self): - """Compile all kernels belonging to the elevation map.""" - - self.new_map = cp.zeros( - (self.elevation_map.shape[0], self.cell_n, self.cell_n), - dtype=self.data_type, - ) - self.traversability_input = cp.zeros((self.cell_n, self.cell_n), dtype=self.data_type) - self.traversability_mask_dummy = cp.zeros((self.cell_n, self.cell_n), dtype=self.data_type) - self.min_filtered = cp.zeros((self.cell_n, self.cell_n), dtype=self.data_type) - self.min_filtered_mask = cp.zeros((self.cell_n, self.cell_n), dtype=self.data_type) - self.mask = cp.zeros((self.cell_n, self.cell_n), dtype=self.data_type) - self.add_points_kernel = add_points_kernel( - self.resolution, - self.cell_n, - self.cell_n, - self.param.sensor_noise_factor, - self.param.mahalanobis_thresh, - self.param.outlier_variance, - self.param.wall_num_thresh, - self.param.max_ray_length, - self.param.cleanup_step, - self.param.min_valid_distance, - self.param.max_height_range, - self.param.cleanup_cos_thresh, - self.param.ramped_height_range_a, - self.param.ramped_height_range_b, - self.param.ramped_height_range_c, - self.param.enable_edge_sharpen, - self.param.enable_visibility_cleanup, - ) - self.error_counting_kernel = error_counting_kernel( - self.resolution, - self.cell_n, - self.cell_n, - self.param.sensor_noise_factor, - self.param.mahalanobis_thresh, - self.param.drift_compensation_variance_inlier, - self.param.traversability_inlier, - self.param.min_valid_distance, - self.param.max_height_range, - self.param.ramped_height_range_a, - self.param.ramped_height_range_b, - self.param.ramped_height_range_c, - ) - self.average_map_kernel = average_map_kernel( - self.cell_n, self.cell_n, self.param.max_variance, self.initial_variance - ) - - self.dilation_filter_kernel = dilation_filter_kernel(self.cell_n, self.cell_n, self.param.dilation_size) - self.dilation_filter_kernel_initializer = dilation_filter_kernel( - self.cell_n, self.cell_n, self.param.dilation_size_initialize - ) - self.polygon_mask_kernel = polygon_mask_kernel(self.cell_n, self.cell_n, self.resolution) - self.normal_filter_kernel = normal_filter_kernel(self.cell_n, self.cell_n, self.resolution) - - def compile_image_kernels(self): - """Compile kernels related to processing image messages.""" - - for config in self.param.subscriber_cfg.values(): - if config["data_type"] == "image": - self.valid_correspondence = cp.asarray( - np.zeros((self.cell_n, self.cell_n), dtype=np.bool_), dtype=np.bool_ - ) - self.uv_correspondence = cp.asarray( - np.zeros((2, self.cell_n, self.cell_n), dtype=np.float32), - dtype=np.float32, - ) - # self.distance_correspondence = cp.asarray( - # np.zeros((self.cell_n, self.cell_n), dtype=np.float32), dtype=np.float32 - # ) - # TODO tolerance_z_collision add parameter - self.image_to_map_correspondence_kernel = image_to_map_correspondence_kernel( - resolution=self.resolution, - width=self.cell_n, - height=self.cell_n, - tolerance_z_collision=0.10, - ) - break - - def shift_translation_to_map_center(self, t): - """Deduct the map center to get the translation of a point w.r.t. the map center. - - Args: - t (cupy._core.core.ndarray): Absolute point position - """ - t -= self.center - - def update_map_with_kernel(self, points_all, channels, R, t, position_noise, orientation_noise): - """Update map with new measurement. - - Args: - points_all (cupy._core.core.ndarray): - channels (List[str]): - R (cupy._core.core.ndarray): - t (cupy._core.core.ndarray): - position_noise (float): - orientation_noise (float): - """ - self.new_map *= 0.0 - error = cp.array([0.0], dtype=cp.float32) - error_cnt = cp.array([0], dtype=cp.float32) - points = points_all[:, :3] - # additional_fusion = self.get_fusion_of_pcl(channels) - with self.map_lock: - self.shift_translation_to_map_center(t) - self.error_counting_kernel( - self.elevation_map, - points, - cp.array([0.0], dtype=self.data_type), - cp.array([0.0], dtype=self.data_type), - R, - t, - self.new_map, - error, - error_cnt, - size=(points.shape[0]), - ) - if ( - self.param.enable_drift_compensation - and error_cnt > self.param.min_height_drift_cnt - and ( - position_noise > self.param.position_noise_thresh - or orientation_noise > self.param.orientation_noise_thresh - ) - ): - self.mean_error = error / error_cnt - self.additive_mean_error += self.mean_error - if np.abs(self.mean_error) < self.param.max_drift: - self.elevation_map[0] += self.mean_error * self.param.drift_compensation_alpha - self.add_points_kernel( - cp.array([0.0], dtype=self.data_type), - cp.array([0.0], dtype=self.data_type), - R, - t, - self.normal_map, - points, - self.elevation_map, - self.new_map, - size=(points.shape[0]), - ) - self.average_map_kernel(self.new_map, self.elevation_map, size=(self.cell_n * self.cell_n)) - - self.semantic_map.update_layers_pointcloud(points_all, channels, R, t, self.new_map) - - if self.param.enable_overlap_clearance: - self.clear_overlap_map(t) - # dilation before traversability_filter - self.traversability_input *= 0.0 - self.dilation_filter_kernel( - self.elevation_map[5], - self.elevation_map[2] + self.elevation_map[6], - self.traversability_input, - self.traversability_mask_dummy, - size=(self.cell_n * self.cell_n), - ) - # calculate traversability - traversability = self.traversability_filter(self.traversability_input) - self.elevation_map[3][3:-3, 3:-3] = traversability.reshape( - (traversability.shape[2], traversability.shape[3]) - ) - - # calculate normal vectors - self.update_normal(self.traversability_input) - - def clear_overlap_map(self, t): - """Clear overlapping areas around the map center. - - Args: - t (cupy._core.core.ndarray): Absolute point position - """ - - height_min = t[2] - self.param.overlap_clear_range_z - height_max = t[2] + self.param.overlap_clear_range_z - near_map = self.elevation_map[:, self.cell_min : self.cell_max, self.cell_min : self.cell_max] - valid_idx = ~cp.logical_or(near_map[0] < height_min, near_map[0] > height_max) - near_map[0] = cp.where(valid_idx, near_map[0], 0.0) - near_map[1] = cp.where(valid_idx, near_map[1], self.initial_variance) - near_map[2] = cp.where(valid_idx, near_map[2], 0.0) - valid_idx = ~cp.logical_or(near_map[5] < height_min, near_map[5] > height_max) - near_map[5] = cp.where(valid_idx, near_map[5], 0.0) - near_map[6] = cp.where(valid_idx, near_map[6], 0.0) - self.elevation_map[:, self.cell_min : self.cell_max, self.cell_min : self.cell_max] = near_map - - def get_additive_mean_error(self): - """Returns the additive mean error. - - Returns: - - """ - return self.additive_mean_error - - def update_variance(self): - """Adds the time variacne to the valid cells.""" - self.elevation_map[1] += self.param.time_variance * self.elevation_map[2] - - def update_time(self): - """adds the time interval to the time layer.""" - self.elevation_map[4] += self.param.time_interval - - def update_upper_bound_with_valid_elevation(self): - """Filters all invalid cell's upper_bound and is_upper_bound layers.""" - mask = self.elevation_map[2] > 0.5 - self.elevation_map[5] = cp.where(mask, self.elevation_map[0], self.elevation_map[5]) - self.elevation_map[6] = cp.where(mask, 0.0, self.elevation_map[6]) - - def input_pointcloud( - self, - raw_points: cp._core.core.ndarray, - channels: List[str], - R: cp._core.core.ndarray, - t: cp._core.core.ndarray, - position_noise: float, - orientation_noise: float, - ): - """Input the point cloud and fuse the new measurements to update the elevation map. - - Args: - raw_points (cupy._core.core.ndarray): - channels (List[str]): - R (cupy._core.core.ndarray): - t (cupy._core.core.ndarray): - position_noise (float): - orientation_noise (float): - - Returns: - None: - """ - raw_points = cp.asarray(raw_points, dtype=self.data_type) - additional_channels = channels[3:] - raw_points = raw_points[~cp.isnan(raw_points[:, :3]).any(axis=1)] - self.update_map_with_kernel( - raw_points, - additional_channels, - cp.asarray(R, dtype=self.data_type), - cp.asarray(t, dtype=self.data_type), - position_noise, - orientation_noise, - ) - - def input_image( - self, - image: List[cp._core.core.ndarray], - channels: List[str], - # fusion_methods: List[str], - R: cp._core.core.ndarray, - t: cp._core.core.ndarray, - K: cp._core.core.ndarray, - D: cp._core.core.ndarray, - distortion_model: str, - image_height: int, - image_width: int, - ): - """Input image and fuse the new measurements to update the elevation map. - - Args: - sub_key (str): Key used to identify the subscriber configuration - image (List[cupy._core.core.ndarray]): List of array containing the individual image input channels - R (cupy._core.core.ndarray): Camera optical center rotation - t (cupy._core.core.ndarray): Camera optical center translation - K (cupy._core.core.ndarray): Camera intrinsics - image_height (int): Image height - image_width (int): Image width - - Returns: - None: - """ - - image = np.stack(image, axis=0) - if len(image.shape) == 2: - image = image[None] - - # Convert to cupy - image = cp.asarray(image, dtype=self.data_type) - K = cp.asarray(K, dtype=self.data_type) - R = cp.asarray(R, dtype=self.data_type) - t = cp.asarray(t, dtype=self.data_type) - D = cp.asarray(D, dtype=self.data_type) - image_height = cp.float32(image_height) - image_width = cp.float32(image_width) - - if len(D) < 4: - D = cp.zeros(5, dtype=self.data_type) - elif len(D) == 4: - D = cp.concatenate([D, cp.zeros(1, dtype=self.data_type)]) - else: - D = D[:5] - - if distortion_model == "radtan": - pass - elif distortion_model == "equidistant": - # Not implemented yet. - D *= 0 - elif distortion_model == "plumb_bob": - # Not implemented yet. - D *= 0 - else: - # Not implemented yet. - D *= 0 - - # Calculate transformation matrix - P = cp.asarray(K @ cp.concatenate([R, t[:, None]], 1), dtype=np.float32) - t_cam_map = -R.T @ t - self.center - t_cam_map = t_cam_map.get() - x1 = cp.uint32((self.cell_n / 2) + ((t_cam_map[0]) / self.resolution)) - y1 = cp.uint32((self.cell_n / 2) + ((t_cam_map[1]) / self.resolution)) - z1 = cp.float32(t_cam_map[2]) - - self.uv_correspondence *= 0 - self.valid_correspondence[:, :] = False - - with self.map_lock: - self.image_to_map_correspondence_kernel( - self.elevation_map, - x1, - y1, - z1, - P.reshape(-1), - K.reshape(-1), - D.reshape(-1), - image_height, - image_width, - self.center, - self.uv_correspondence, - self.valid_correspondence, - size=int(self.cell_n * self.cell_n), - ) - self.semantic_map.update_layers_image( - image, - channels, - self.uv_correspondence, - self.valid_correspondence, - image_height, - image_width, - ) - - def update_normal(self, dilated_map): - """Clear the normal map and then apply the normal kernel with dilated map as input. - - Args: - dilated_map (cupy._core.core.ndarray): - """ - with self.map_lock: - self.normal_map *= 0.0 - self.normal_filter_kernel( - dilated_map, - self.elevation_map[2], - self.normal_map, - size=(self.cell_n * self.cell_n), - ) - - def process_map_for_publish(self, input_map, fill_nan=False, add_z=False, xp=cp): - """Process the input_map according to the fill_nan and add_z flags. - - Args: - input_map (cupy._core.core.ndarray): - fill_nan (bool): - add_z (bool): - xp (module): - - Returns: - cupy._core.core.ndarray: - """ - m = input_map.copy() - if fill_nan: - m = xp.where(self.elevation_map[2] > 0.5, m, xp.nan) - if add_z: - m = m + self.center[2] - return m[1:-1, 1:-1] - - def get_elevation(self): - """Get the elevation layer. - - Returns: - elevation layer - - """ - return self.process_map_for_publish(self.elevation_map[0], fill_nan=True, add_z=True) - - def get_variance(self): - """Get the variance layer. - - Returns: - variance layer - """ - return self.process_map_for_publish(self.elevation_map[1], fill_nan=False, add_z=False) - - def get_traversability(self): - """Get the traversability layer. - - Returns: - traversability layer - """ - traversability = cp.where( - (self.elevation_map[2] + self.elevation_map[6]) > 0.5, - self.elevation_map[3].copy(), - cp.nan, - ) - self.traversability_buffer[3:-3, 3:-3] = traversability[3:-3, 3:-3] - traversability = self.traversability_buffer[1:-1, 1:-1] - return traversability - - def get_time(self): - """Get the time layer. - - Returns: - time layer - """ - return self.process_map_for_publish(self.elevation_map[4], fill_nan=False, add_z=False) - - def get_upper_bound(self): - """Get the upper bound layer. - - Returns: - upper_bound: upper bound layer - """ - if self.param.use_only_above_for_upper_bound: - valid = cp.logical_or( - cp.logical_and(self.elevation_map[5] > 0.0, self.elevation_map[6] > 0.5), - self.elevation_map[2] > 0.5, - ) - else: - valid = cp.logical_or(self.elevation_map[2] > 0.5, self.elevation_map[6] > 0.5) - upper_bound = cp.where(valid, self.elevation_map[5].copy(), cp.nan) - upper_bound = upper_bound[1:-1, 1:-1] + self.center[2] - return upper_bound - - def get_is_upper_bound(self): - """Get the is upper bound layer. - - Returns: - is_upper_bound: layer - """ - if self.param.use_only_above_for_upper_bound: - valid = cp.logical_or( - cp.logical_and(self.elevation_map[5] > 0.0, self.elevation_map[6] > 0.5), - self.elevation_map[2] > 0.5, - ) - else: - valid = cp.logical_or(self.elevation_map[2] > 0.5, self.elevation_map[6] > 0.5) - is_upper_bound = cp.where(valid, self.elevation_map[6].copy(), cp.nan) - is_upper_bound = is_upper_bound[1:-1, 1:-1] - return is_upper_bound - - def xp_of_array(self, array): - """Indicate which library is used for xp. - - Args: - array (cupy._core.core.ndarray): - - Returns: - module: either np or cp - """ - if type(array) == cp.ndarray: - return cp - elif type(array) == np.ndarray: - return np - - def copy_to_cpu(self, array, data, stream=None): - """Transforms the data to float32 and if on gpu loads it to cpu. - - Args: - array (cupy._core.core.ndarray): - data (numpy.ndarray): - stream (Union[None, cupy.cuda.stream.Stream, None, None, None, None, None, None, None]): - """ - if type(array) == np.ndarray: - data[...] = array.astype(np.float32) - elif type(array) == cp.ndarray: - if stream is not None: - data[...] = cp.asnumpy(array.astype(np.float32), stream=stream) - else: - data[...] = cp.asnumpy(array.astype(np.float32)) - - def exists_layer(self, name): - """Check if the layer exists in elevation map or in the semantic map. - - Args: - name (str): Layer name - - Returns: - bool: Indicates if layer exists. - """ - if name in self.layer_names: - return True - elif name in self.semantic_map.layer_names: - return True - elif name in self.plugin_manager.layer_names: - return True - else: - return False - - def get_map_with_name_ref(self, name, data): - """Load a layer according to the name input to the data input. - - Args: - name (str): Name of the layer. - data (numpy.ndarray): Data structure that contains layer. - - """ - use_stream = True - xp = cp - with self.map_lock: - if name == "elevation": - m = self.get_elevation() - use_stream = False - elif name == "variance": - m = self.get_variance() - elif name == "traversability": - m = self.get_traversability() - elif name == "time": - m = self.get_time() - elif name == "upper_bound": - m = self.get_upper_bound() - elif name == "is_upper_bound": - m = self.get_is_upper_bound() - elif name == "normal_x": - m = self.normal_map.copy()[0, 1:-1, 1:-1] - elif name == "normal_y": - m = self.normal_map.copy()[1, 1:-1, 1:-1] - elif name == "normal_z": - m = self.normal_map.copy()[2, 1:-1, 1:-1] - elif name in self.semantic_map.layer_names: - m = self.semantic_map.get_map_with_name(name) - elif name in self.plugin_manager.layer_names: - self.plugin_manager.update_with_name( - name, - self.elevation_map, - self.layer_names, - self.semantic_map.semantic_map, - self.semantic_map.layer_names, - self.base_rotation, - self.semantic_map.elements_to_shift, - ) - m = self.plugin_manager.get_map_with_name(name) - p = self.plugin_manager.get_param_with_name(name) - xp = self.xp_of_array(m) - m = self.process_map_for_publish(m, fill_nan=p.fill_nan, add_z=p.is_height_layer, xp=xp) - else: - print("Layer {} is not in the map".format(name)) - return - m = xp.flip(m, 0) - m = xp.flip(m, 1) - if use_stream: - stream = cp.cuda.Stream(non_blocking=False) - else: - stream = None - self.copy_to_cpu(m, data, stream=stream) - - def get_normal_maps(self): - """Get the normal maps. - - Returns: - maps: the three normal values for each cell - """ - normal = self.normal_map.copy() - normal_x = normal[0, 1:-1, 1:-1] - normal_y = normal[1, 1:-1, 1:-1] - normal_z = normal[2, 1:-1, 1:-1] - maps = xp.stack([normal_x, normal_y, normal_z], axis=0) - maps = xp.flip(maps, 1) - maps = xp.flip(maps, 2) - maps = xp.asnumpy(maps) - return maps - - def get_normal_ref(self, normal_x_data, normal_y_data, normal_z_data): - """Get the normal maps as reference. - - Args: - normal_x_data: - normal_y_data: - normal_z_data: - """ - maps = self.get_normal_maps() - self.stream = cp.cuda.Stream(non_blocking=True) - normal_x_data[...] = xp.asnumpy(maps[0], stream=self.stream) - normal_y_data[...] = xp.asnumpy(maps[1], stream=self.stream) - normal_z_data[...] = xp.asnumpy(maps[2], stream=self.stream) - - def get_layer(self, name): - """Return the layer with the name input. - - Args: - name: The layers name. - - Returns: - return_map: The rqeuested layer. - - """ - if name in self.layer_names: - idx = self.layer_names.index(name) - return_map = self.elevation_map[idx] - elif name in self.semantic_map.layer_names: - idx = self.semantic_map.layer_names.index(name) - return_map = self.semantic_map.semantic_map[idx] - elif name in self.plugin_manager.layer_names: - self.plugin_manager.update_with_name( - name, - self.elevation_map, - self.layer_names, - self.semantic_map, - self.base_rotation, - ) - return_map = self.plugin_manager.get_map_with_name(name) - else: - print("Layer {} is not in the map, returning traversabiltiy!".format(name)) - return - return return_map - - def get_polygon_traversability(self, polygon, result): - """Check if input polygons are traversable. - - Args: - polygon (cupy._core.core.ndarray): - result (numpy.ndarray): - - Returns: - Union[None, int]: - """ - polygon = xp.asarray(polygon) - area = calculate_area(polygon) - polygon = polygon.astype(self.data_type) - pmin = self.center[:2] - self.map_length / 2 + self.resolution - pmax = self.center[:2] + self.map_length / 2 - self.resolution - polygon[:, 0] = polygon[:, 0].clip(pmin[0], pmax[0]) - polygon[:, 1] = polygon[:, 1].clip(pmin[1], pmax[1]) - polygon_min = polygon.min(axis=0) - polygon_max = polygon.max(axis=0) - polygon_bbox = cp.concatenate([polygon_min, polygon_max]).flatten() - polygon_n = xp.array(polygon.shape[0], dtype=np.int16) - clipped_area = calculate_area(polygon) - self.polygon_mask_kernel( - polygon, - self.center[0], - self.center[1], - polygon_n, - polygon_bbox, - self.mask, - size=(self.cell_n * self.cell_n), - ) - tmp_map = self.get_layer(self.param.checker_layer) - masked, masked_isvalid = get_masked_traversability(self.elevation_map, self.mask, tmp_map) - if masked_isvalid.sum() > 0: - t = masked.sum() / masked_isvalid.sum() - else: - t = cp.asarray(0.0, dtype=self.data_type) - is_safe, un_polygon = is_traversable( - masked, - self.param.safe_thresh, - self.param.safe_min_thresh, - self.param.max_unsafe_n, - ) - untraversable_polygon_num = 0 - if un_polygon is not None: - un_polygon = transform_to_map_position(un_polygon, self.center[:2], self.cell_n, self.resolution) - untraversable_polygon_num = un_polygon.shape[0] - if clipped_area < 0.001: - is_safe = False - print("requested polygon is outside of the map") - result[...] = np.array([is_safe, t.get(), area.get()]) - self.untraversable_polygon = un_polygon - return untraversable_polygon_num - - def get_untraversable_polygon(self, untraversable_polygon): - """Copy the untraversable polygons to input untraversable_polygons. - - Args: - untraversable_polygon (numpy.ndarray): - """ - untraversable_polygon[...] = xp.asnumpy(self.untraversable_polygon) - - def initialize_map(self, points, method="cubic"): - """Initializes the map according to some points and using an approximation according to method. - - Args: - points (numpy.ndarray): - method (str): Interpolation method ['linear', 'cubic', 'nearest'] - """ - self.clear() - with self.map_lock: - points = cp.asarray(points, dtype=self.data_type) - indices = transform_to_map_index(points[:, :2], self.center[:2], self.cell_n, self.resolution) - points[:, :2] = indices.astype(points.dtype) - points[:, 2] -= self.center[2] - self.map_initializer(self.elevation_map, points, method) - if self.param.dilation_size_initialize > 0: - for i in range(2): - self.dilation_filter_kernel_initializer( - self.elevation_map[0], - self.elevation_map[2], - self.elevation_map[0], - self.elevation_map[2], - size=(self.cell_n * self.cell_n), - ) - self.update_upper_bound_with_valid_elevation() - - -if __name__ == "__main__": - # Test script for profiling. - # $ python -m cProfile -o profile.stats elevation_mapping.py - # $ snakeviz profile.stats - xp.random.seed(123) - R = xp.random.rand(3, 3) - t = xp.random.rand(3) - print(R, t) - param = Parameter( - use_chainer=False, - weight_file="/home/hojin/new_elev/src/elevation_mapping_cupy/elevation_mapping_cupy/config/core/weights.dat", - plugin_config_file="/home/hojin/new_elev/src/elevation_mapping_cupy/elevation_mapping_cupy/config/core/plugin_config.yaml", - ) - param.additional_layers = ["rgb", "grass", "tree", "people"] - # param.fusion_algorithms = ["color", "class_bayesian", "class_bayesian", "class_bayesian"] - param.fusion_algorithms = ["image_color", "pointcloud_color", "pointcloud_class_average"] - param.update() - elevation = ElevationMap(param) - layers = [ - "elevation", - "variance", - "traversability", - "min_filter", - "smooth", - "inpaint", - "rgb", - ] - points = xp.random.rand(100000, len(layers)) - - channels = ["x", "y", "z"] + param.additional_layers - print(channels) - data = np.zeros((elevation.cell_n - 2, elevation.cell_n - 2), dtype=np.float32) - for i in range(50): - elevation.input_pointcloud(points, channels, R, t, 0, 0) - elevation.update_normal(elevation.elevation_map[0]) - pos = np.array([i * 0.01, i * 0.02, i * 0.01]) - elevation.move_to(pos, R) - for layer in layers: - elevation.get_map_with_name_ref(layer, data) - print(i) - polygon = cp.array([[0, 0], [2, 0], [0, 2]], dtype=param.data_type) - result = np.array([0, 0, 0]) - elevation.get_polygon_traversability(polygon, result) - print(result) diff --git a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/elevation_mapping_ros.py b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/elevation_mapping_ros.py deleted file mode 100644 index 94cc1e5c..00000000 --- a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/elevation_mapping_ros.py +++ /dev/null @@ -1,322 +0,0 @@ -# # General -# import os -# import numpy as np -# import yaml - -# from elevation_mapping_cupy import ElevationMap, Parameter - - - -# # ROS2 -# import rclpy -# from rclpy.node import Node -# from tf_transformations import quaternion_matrix -# import tf2_ros -# from ament_index_python.packages import get_package_share_directory -# from cv_bridge import CvBridge - -# from sensor_msgs.msg import PointCloud2, Image, CameraInfo -# from grid_map_msgs.msg import GridMap -# from std_msgs.msg import Float32MultiArray, MultiArrayLayout as MAL, MultiArrayDimension as MAD - -# from functools import partial -# import message_filters - - -# PDC_DATATYPE = { -# "1": np.int8, -# "2": np.uint8, -# "3": np.int16, -# "4": np.uint16, -# "5": np.int32, -# "6": np.uint32, -# "7": np.float32, -# "8": np.float64, -# } - - -# class ElevationMapWrapper(Node): -# def __init__(self): -# super().__init__('elevation_mapping') -# self.node_name = "elevation_mapping" -# self.root = get_package_share_directory("elevation_mapping_cupy") -# weight_file = os.path.join(self.root, "config/core/weights.dat") -# plugin_config_file = os.path.join(self.root, "config/core/plugin_config.yaml") -# self.param = Parameter(use_chainer=False, weight_file=weight_file, plugin_config_file=plugin_config_file) - -# # ROS2 -# self.initialize_ros() -# self.param.subscriber_cfg = self.subscribers - -# self.initialize_elevation_mapping() -# # self.register_subscribers() -# # self.register_publishers() -# # self.register_timers() - -# self._last_t = None - - - - -# # # ROS -# # self.initalize_ros() -# # self.param.subscriber_cfg = self.subscribers - - -# def initialize_ros(self): -# self._tf_buffer = tf2_ros.Buffer() -# self._listener = tf2_ros.TransformListener(self._tf_buffer, self) -# self.get_ros_params() - - -# def initialize_elevation_mapping(self): -# self.param.update() -# # TODO add statistics across processed topics -# self._pointcloud_process_counter = 0 -# self._image_process_counter = 0 -# self._map = ElevationMap(self.param) -# self._map_data = np.zeros((self._map.cell_n - 2, self._map.cell_n - 2), dtype=np.float32) -# self._map_q = None -# self._map_t = None - - - - -# # def register_subscribers(self): -# # # check if CV bridge is needed -# # for config in self.param.subscriber_cfg.values(): -# # if config["data_type"] == "image": -# # self.cv_bridge = CvBridge() -# # break - -# # pointcloud_subs = {} -# # image_subs = {} -# # for key, config in self.subscribers.items(): -# # if config["data_type"] == "image": -# # camera_sub = message_filters.Subscriber(config["topic_name_camera"], Image) -# # camera_info_sub = message_filters.Subscriber(config["topic_name_camera_info"], CameraInfo) -# # image_subs[key] = message_filters.ApproximateTimeSynchronizer( -# # [camera_sub, camera_info_sub], queue_size=10, slop=0.5 -# # ) -# # image_subs[key].registerCallback(self.image_callback, key) - -# # elif config["data_type"] == "pointcloud": -# # pointcloud_subs[key] = rospy.Subscriber( -# # config["topic_name"], PointCloud2, self.pointcloud_callback, key -# # ) - -# # def register_publishers(self): -# # self._publishers = {} -# # self._publishers_timers = [] -# # for k, v in self.publishers.items(): -# # self._publishers[k] = rospy.Publisher(f"/{self.node_name}/{k}", GridMap, queue_size=10) -# # # partial(.) allows to pass a default argument to a callback -# # self._publishers_timers.append(rospy.Timer(rospy.Duration(1 / v["fps"]), partial(self.publish_map, k))) - -# # def publish_map(self, k, t): -# # print("publish_map") -# # if self._map_q is None: -# # return -# # gm = GridMap() -# # gm.info.header.frame_id = self.map_frame -# # gm.info.header.stamp = rospy.Time.now() -# # gm.info.header.seq = 0 -# # gm.info.resolution = self._map.resolution -# # gm.info.length_x = self._map.map_length -# # gm.info.length_y = self._map.map_length -# # gm.info.pose.position.x = self._map_t.x -# # gm.info.pose.position.y = self._map_t.y -# # gm.info.pose.position.z = 0.0 -# # gm.info.pose.orientation.w = 1.0 # self._map_q.w -# # gm.info.pose.orientation.x = 0.0 # self._map_q.x -# # gm.info.pose.orientation.y = 0.0 # self._map_q.y -# # gm.info.pose.orientation.z = 0.0 # self._map_q.z -# # gm.layers = [] -# # gm.basic_layers = self.publishers[k]["basic_layers"] -# # for i, layer in enumerate(self.publishers[k]["layers"]): -# # gm.layers.append(layer) -# # try: -# # self._map.get_map_with_name_ref(layer, self._map_data) -# # data = self._map_data.copy() -# # arr = Float32MultiArray() -# # arr.layout = MAL() -# # N = self._map_data.shape[0] -# # arr.layout.dim.append(MAD(label="column_index", size=N, stride=int(N * N))) -# # arr.layout.dim.append(MAD(label="row_index", size=N, stride=N)) -# # arr.data = tuple(np.ascontiguousarray(data.T).reshape(-1)) -# # gm.data.append(arr) -# # except: -# # if layer in gm.basic_layers: -# # print("Error: Missed Layer in basic layers") - -# # gm.outer_start_index = 0 -# # gm.inner_start_index = 0 - -# # self._publishers[k].publish(gm) - -# # def register_timers(self): -# # self.timer_variance = rospy.Timer(rospy.Duration(1 / self.update_variance_fps), self.update_variance) -# # self.timer_pose = rospy.Timer(rospy.Duration(1 / self.update_pose_fps), self.update_pose) -# # self.timer_time = rospy.Timer(rospy.Duration(self.time_interval), self.update_time) - -# # def image_callback(self, camera_msg, camera_info_msg, sub_key): -# # # get pose of image -# # ti = rospy.Time(secs=camera_msg.header.stamp.secs, nsecs=camera_msg.header.stamp.nsecs) -# # self._last_t = ti -# # try: -# # transform = self._tf_buffer.lookup_transform( -# # camera_msg.header.frame_id, self.map_frame, ti, rospy.Duration(1.0) -# # ) -# # except (tf2_ros.LookupException, tf2_ros.ConnectivityException, tf2_ros.ExtrapolationException) as e: -# # print("Error: image_callback:", e) -# # return - -# # t = transform.transform.translation -# # t = np.array([t.x, t.y, t.z]) -# # q = transform.transform.rotation -# # R = quaternion_matrix([q.x, q.y, q.z, q.w])[:3, :3] - -# # semantic_img = self.cv_bridge.imgmsg_to_cv2(camera_msg, desired_encoding="passthrough") - -# # if len(semantic_img.shape) != 2: -# # semantic_img = [semantic_img[:, :, k] for k in range(3)] - -# # else: -# # semantic_img = [semantic_img] - -# # K = np.array(camera_info_msg.K, dtype=np.float32).reshape(3, 3) - -# # assert np.all(np.array(camera_info_msg.D) == 0.0), "Undistortion not implemented" -# # D = np.array(camera_info_msg.D, dtype=np.float32).reshape(5, 1) - -# # # process pointcloud -# # self._map.input_image(sub_key, semantic_img, R, t, K, D, camera_info_msg.height, camera_info_msg.width) -# # self._image_process_counter += 1 - -# # def pointcloud_callback(self, msg, sub_key): -# # channels = ["x", "y", "z"] + self.param.subscriber_cfg[sub_key]["channels"] - -# # points = ros_numpy.numpify(msg) -# # pts = np.empty((points.shape[0], 0)) -# # for ch in channels: -# # p = points[ch] -# # if len(p.shape) == 1: -# # p = p[:, None] -# # pts = np.append(pts, p, axis=1) - -# # # get pose of pointcloud -# # ti = rospy.Time(secs=msg.header.stamp.secs, nsecs=msg.header.stamp.nsecs) -# # self._last_t = ti -# # try: -# # transform = self._tf_buffer.lookup_transform(self.map_frame, msg.header.frame_id, ti, rospy.Duration(1.0)) -# # except (tf2_ros.LookupException, tf2_ros.ConnectivityException, tf2_ros.ExtrapolationException) as e: -# # print("Error: pointcloud_callback: ", e) -# # return - -# # t = transform.transform.translation -# # t = np.array([t.x, t.y, t.z]) -# # q = transform.transform.rotation -# # R = quaternion_matrix([q.x, q.y, q.z, q.w])[:3, :3] - -# # # process pointcloud -# # self._map.input(pts, channels, R, t, 0, 0) -# # self._pointcloud_process_counter += 1 -# # print("Pointclouds processed: ", self._pointcloud_process_counter) - -# # def update_pose(self, t): -# # # get pose of base -# # # t = rospy.Time.now() -# # if self._last_t is None: -# # return -# # try: -# # transform = self._tf_buffer.lookup_transform( -# # self.map_frame, self.base_frame, self._last_t, rospy.Duration(1.0) -# # ) -# # except (tf2_ros.LookupException, tf2_ros.ConnectivityException, tf2_ros.ExtrapolationException) as e: -# # print("Error: update_pose error: ", e) -# # return -# # t = transform.transform.translation -# # trans = np.array([t.x, t.y, t.z]) -# # q = transform.transform.rotation -# # rot = quaternion_matrix([q.x, q.y, q.z, q.w])[:3, :3] -# # self._map.move_to(trans, rot) - -# # self._map_t = t -# # self._map_q = q - -# # def update_variance(self, t): -# # self._map.update_variance() - -# # def update_time(self, t): -# # self._map.update_time() - - - -# def declare_parameters_from_yaml(self, yaml_file): -# def declare_nested_parameters(parent_name, param_dict): -# for sub_name, sub_value in param_dict.items(): -# full_param_name = f"{parent_name}.{sub_name}" - -# if isinstance(sub_value, dict): -# declare_nested_parameters(full_param_name, sub_value) -# else: -# if "elevation_mapping.ros__parameters" in full_param_name: -# full_param_name = full_param_name.replace("elevation_mapping.ros__parameters.", "") -# self.declare_parameter(full_param_name, sub_value) - -# with open(yaml_file, 'r') as file: -# params = yaml.safe_load(file) - -# # Set parameters in the node -# for param_name, param_value in params.items(): -# if isinstance(param_value, dict): -# # For nested dictionaries, set each nested parameter individually -# declare_nested_parameters(param_name, param_value) -# else: -# # For top-level parameters -# if "elevation_mapping.ros__parameters" in param_name: -# param_name = param_name.replace("elevation_mapping.ros__parameters.", "") -# self.declare_parameter(param_name, param_value) - - - - -# def get_ros_params(self): -# # TODO fix this here when later launching with launch-file -# # This is currently {p} elevation_mapping") -# param_file = os.path.join(self.root, f"config/core/core_param.yaml") -# self.declare_parameters_from_yaml(param_file) - -# # os.system(f"rosparam delete /{self.node_name}") -# # os.system(f"rosparam load {para} elevation_mapping") -# # self.subscribers = self.get_parameter("subscribers").get_parameter_value().string_value -# # self.publishers = self.get_parameter("publishers").get_parameter_value().string_value -# self.initialize_frame_id = self.get_parameter("initialize_frame_id").get_parameter_value().string_array_value -# self.initialize_tf_offset = self.get_parameter("initialize_tf_offset").get_parameter_value().double_value -# self.pose_topic = self.get_parameter("pose_topic").get_parameter_value().string_value -# self.map_frame = self.get_parameter("map_frame").get_parameter_value().string_value -# self.base_frame = self.get_parameter("base_frame").get_parameter_value().string_value -# self.corrected_map_frame = self.get_parameter("corrected_map_frame").get_parameter_value().string_value -# self.initialize_method = self.get_parameter("initialize_method").get_parameter_value().string_value -# self.position_lowpass_alpha = self.get_parameter("position_lowpass_alpha").get_parameter_value().double_value -# self.orientation_lowpass_alpha = self.get_parameter("orientation_lowpass_alpha").get_parameter_value().double_value -# self.update_variance_fps = self.get_parameter("update_variance_fps").get_parameter_value().double_value -# self.time_interval = self.get_parameter("time_interval").get_parameter_value().double_value -# self.update_pose_fps = self.get_parameter("update_pose_fps").get_parameter_value().double_value -# self.initialize_tf_grid_size = self.get_parameter("initialize_tf_grid_size").get_parameter_value().double_value -# self.map_acquire_fps = self.get_parameter("map_acquire_fps").get_parameter_value().double_value -# self.publish_statistics_fps = self.get_parameter("publish_statistics_fps").get_parameter_value().double_value -# self.enable_pointcloud_publishing = self.get_parameter("enable_pointcloud_publishing").get_parameter_value().bool_value -# self.enable_normal_arrow_publishing = self.get_parameter("enable_normal_arrow_publishing").get_parameter_value().bool_value -# self.enable_drift_corrected_TF_publishing = self.get_parameter("enable_drift_corrected_TF_publishing").get_parameter_value().bool_value -# self.use_initializer_at_start = self.get_parameter("use_initializer_at_start").get_parameter_value().bool_value - - -# def main(args=None): -# rclpy.init(args=args) -# node = ElevationMapWrapper() -# rclpy.spin(node) -# rclpy.shutdown() - -# if __name__ == '__main__': -# main() \ No newline at end of file diff --git a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/fusion/fusion_manager.py b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/fusion/fusion_manager.py deleted file mode 100644 index aca34a6d..00000000 --- a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/fusion/fusion_manager.py +++ /dev/null @@ -1,112 +0,0 @@ -# -# Copyright (c) 2023, Takahiro Miki. All rights reserved. -# Licensed under the MIT license. See LICENSE file in the project root for details. -# -from abc import ABC, abstractmethod -import cupy as cp -from typing import List, Dict, Any -from dataclasses import dataclass -import importlib -import inspect - - -# @dataclass -# class FusionParams: -# name: str - - -class FusionBase(ABC): - """ - This is a base class of Fusion - """ - - @abstractmethod - def __init__(self, *args, **kwargs): - """ - - Args: - fusion_params : FusionParams - The parameter of callback - """ - self.name = None - - @abstractmethod - def __call__(self, points_all, R, t, pcl_ids, layer_ids, elevation_map, semantic_map, new_map): - pass - - -class FusionManager(object): - def __init__(self, params): - self.fusion_plugins: Dict[str, FusionBase] = {} - self.params = params - self.plugins = [] - - def register_plugin(self, plugin): - """ - Register a new fusion plugin - """ - try: - m = importlib.import_module("." + plugin, package="elevation_mapping_cupy.fusion") # -> 'module' - except: - raise ValueError("Plugin {} does not exist.".format(plugin)) - for name, obj in inspect.getmembers(m): - - if inspect.isclass(obj) and issubclass(obj, FusionBase) and name != "FusionBase": - self.plugins.append(obj(self.params)) - - def get_plugin_idx(self, name: str, data_type: str): - """ - Get a registered fusion plugin - """ - name = data_type + "_" + name - for idx, plugin in enumerate(self.plugins): - if plugin.name == name: - return idx - print("[WARNING] Plugin {} is not in the list: {}".format(name, self.plugins)) - return None - - def execute_plugin( - self, name: str, points_all, R, t, pcl_ids, layer_ids, elevation_map, semantic_map, new_map, elements_to_shift - ): - """ - Execute a registered fusion plugin - """ - idx = self.get_plugin_idx(name, "pointcloud") - if idx is not None: - self.plugins[idx]( - points_all, R, t, pcl_ids, layer_ids, elevation_map, semantic_map, new_map, elements_to_shift - ) - # else: - # raise ValueError("Plugin {} is not registered".format(name)) - - def execute_image_plugin( - self, - name: str, - sem_map_idx, - image, - j, - uv_correspondence, - valid_correspondence, - image_height, - image_width, - semantic_map, - new_map, - ): - """ - Execute a registered fusion plugin - """ - idx = self.get_plugin_idx(name, "image") - if idx is not None: - self.plugins[idx]( - sem_map_idx, - image, - j, - uv_correspondence, - valid_correspondence, - image_height, - image_width, - semantic_map, - new_map, - ) - # else: - # raise ValueError("Plugin {} is not registered".format(name)) diff --git a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/fusion/image_color.py b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/fusion/image_color.py deleted file mode 100644 index c882c1b0..00000000 --- a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/fusion/image_color.py +++ /dev/null @@ -1,86 +0,0 @@ -# -# Copyright (c) 2023, Takahiro Miki. All rights reserved. -# Licensed under the MIT license. See LICENSE file in the project root for details. -# -import cupy as cp -import numpy as np -import string - -from .fusion_manager import FusionBase - - -def color_correspondences_to_map_kernel(resolution, width, height): - color_correspondences_to_map_kernel = cp.ElementwiseKernel( - in_params="raw U sem_map, raw U map_idx, raw U image_rgb, raw U uv_correspondence, raw B valid_correspondence, raw U image_height, raw U image_width", - out_params="raw U new_sem_map", - preamble=string.Template( - """ - __device__ int get_map_idx(int idx, int layer_n) { - const int layer = ${width} * ${height}; - return layer * layer_n + idx; - } - """ - ).substitute(width=width, height=height), - operation=string.Template( - """ - int cell_idx = get_map_idx(i, 0); - if (valid_correspondence[cell_idx]){ - int cell_idx_2 = get_map_idx(i, 1); - - int idx_red = int(uv_correspondence[cell_idx]) + int(uv_correspondence[cell_idx_2]) * image_width; - int idx_green = image_width * image_height + idx_red; - int idx_blue = image_width * image_height * 2 + idx_red; - - unsigned int r = image_rgb[idx_red]; - unsigned int g = image_rgb[idx_green]; - unsigned int b = image_rgb[idx_blue]; - - unsigned int rgb = (r<<16) + (g << 8) + b; - float rgb_ = __uint_as_float(rgb); - new_sem_map[get_map_idx(i, map_idx)] = rgb_; - }else{ - new_sem_map[get_map_idx(i, map_idx)] = sem_map[get_map_idx(i, map_idx)]; - } - """ - ).substitute(), - name="color_correspondences_to_map_kernel", - ) - return color_correspondences_to_map_kernel - - -class ImageColor(FusionBase): - def __init__(self, params, *args, **kwargs): - # super().__init__(fusion_params, *args, **kwargs) - # print("Initialize fusion kernel") - self.name = "image_color" - self.cell_n = params.cell_n - self.resolution = params.resolution - - self.color_correspondences_to_map_kernel = color_correspondences_to_map_kernel( - resolution=self.resolution, width=self.cell_n, height=self.cell_n, - ) - - def __call__( - self, - sem_map_idx, - image, - j, - uv_correspondence, - valid_correspondence, - image_height, - image_width, - semantic_map, - new_map, - ): - self.color_correspondences_to_map_kernel( - semantic_map, - cp.uint64(sem_map_idx), - image, - uv_correspondence, - valid_correspondence, - image_height, - image_width, - new_map, - size=int(self.cell_n * self.cell_n), - ) - semantic_map[sem_map_idx] = new_map[sem_map_idx] diff --git a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/fusion/pointcloud_average.py b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/fusion/pointcloud_average.py deleted file mode 100644 index c4165a54..00000000 --- a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/fusion/pointcloud_average.py +++ /dev/null @@ -1,113 +0,0 @@ -import cupy as cp -import numpy as np -import string - -from .fusion_manager import FusionBase - - -def sum_kernel( - resolution, width, height, -): - """Sums the semantic values of the classes for the exponentiala verage or for the average. - - Args: - resolution: - width: - height: - - Returns: - - """ - # input the list of layers, amount of channels can slo be input through kernel - sum_kernel = cp.ElementwiseKernel( - in_params="raw U p, raw U R, raw U t, raw W pcl_chan, raw W map_lay, raw W pcl_channels", - out_params="raw U map, raw U newmap", - preamble=string.Template( - """ - __device__ int get_map_idx(int idx, int layer_n) { - const int layer = ${width} * ${height}; - return layer * layer_n + idx; - } - """ - ).substitute(resolution=resolution, width=width, height=height), - operation=string.Template( - """ - U id = floorf(i/pcl_channels[1]); - int layer = i % pcl_channels[1]; - U idx = p[id * pcl_channels[0]]; - U valid = p[id * pcl_channels[0] + 1]; - U inside = p[id * pcl_channels[0] + 2]; - if (valid) { - if (inside) { - U feat = p[id * pcl_channels[0] + pcl_chan[layer]]; - atomicAdd(&newmap[get_map_idx(idx, map_lay[layer])], feat); - } - } - """ - ).substitute(), - name="sum_kernel", - ) - return sum_kernel - - -def average_kernel( - width, height, -): - average_kernel = cp.ElementwiseKernel( - in_params="raw V newmap, raw W pcl_chan, raw W map_lay, raw W pcl_channels, raw U new_elmap", - out_params="raw U map", - preamble=string.Template( - """ - __device__ int get_map_idx(int idx, int layer_n) { - const int layer = ${width} * ${height}; - return layer * layer_n + idx; - } - """ - ).substitute(width=width, height=height), - operation=string.Template( - """ - U id = floorf(i/pcl_channels[1]); - int layer = i % pcl_channels[1]; - U cnt = new_elmap[get_map_idx(id, 2)]; - if (cnt>0){ - U feat = newmap[get_map_idx(id, map_lay[layer])]/(1*cnt); - map[get_map_idx(id, map_lay[layer])] = feat; - } - """ - ).substitute(), - name="average_map_kernel", - ) - return average_kernel - - -class Average(FusionBase): - def __init__(self, params, *args, **kwargs): - # super().__init__(fusion_params, *args, **kwargs) - # print("Initialize fusion kernel") - self.name = "pointcloud_average" - self.cell_n = params.cell_n - self.resolution = params.resolution - self.sum_kernel = sum_kernel(self.resolution, self.cell_n, self.cell_n,) - self.average_kernel = average_kernel(self.cell_n, self.cell_n,) - - def __call__(self, points_all, R, t, pcl_ids, layer_ids, elevation_map, semantic_map, new_map, *args): - self.sum_kernel( - points_all, - R, - t, - pcl_ids, - layer_ids, - cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=cp.int32), - semantic_map, - new_map, - size=(points_all.shape[0] * pcl_ids.shape[0]), - ) - self.average_kernel( - new_map, - pcl_ids, - layer_ids, - cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=cp.int32), - elevation_map, - semantic_map, - size=(self.cell_n * self.cell_n * pcl_ids.shape[0]), - ) diff --git a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/fusion/pointcloud_bayesian_inference.py b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/fusion/pointcloud_bayesian_inference.py deleted file mode 100644 index 95dc8aea..00000000 --- a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/fusion/pointcloud_bayesian_inference.py +++ /dev/null @@ -1,122 +0,0 @@ -# -# Copyright (c) 2023, Takahiro Miki. All rights reserved. -# Licensed under the MIT license. See LICENSE file in the project root for details. -# -import cupy as cp -import numpy as np -import string - -from .fusion_manager import FusionBase - - -def sum_compact_kernel( - resolution, width, height, -): - # input the list of layers, amount of channels can slo be input through kernel - sum_compact_kernel = cp.ElementwiseKernel( - in_params="raw U p, raw U R, raw U t, raw W pcl_chan, raw W map_lay, raw W pcl_channels", - out_params=" raw U newmap", - preamble=string.Template( - """ - __device__ int get_map_idx(int idx, int layer_n) { - const int layer = ${width} * ${height}; - return layer * layer_n + idx; - } - """ - ).substitute(resolution=resolution, width=width, height=height), - operation=string.Template( - """ - U id = floorf(i/pcl_channels[1]); - int layer = i % pcl_channels[1]; - U idx = p[id * pcl_channels[0]]; - U valid = p[id * pcl_channels[0] + 1]; - U inside = p[id * pcl_channels[0] + 2]; - if (valid) { - if (inside) { - U feat = p[id * pcl_channels[0] + pcl_chan[layer]]; - atomicAdd(&newmap[get_map_idx(idx, layer)], feat); - } - } - """ - ).substitute(), - name="sum_compact_kernel", - ) - return sum_compact_kernel - - -def bayesian_inference_kernel( - width, height, -): - bayesian_inference_kernel = cp.ElementwiseKernel( - in_params=" raw W pcl_chan, raw W map_lay, raw W pcl_channels, raw U new_elmap", - out_params="raw U newmap, raw U sum_mean, raw U map", - preamble=string.Template( - """ - __device__ int get_map_idx(int idx, int layer_n) { - const int layer = ${width} * ${height}; - return layer * layer_n + idx; - } - """ - ).substitute(width=width, height=height), - operation=string.Template( - """ - U id = floorf(i/pcl_channels[1]); - int layer = i % pcl_channels[1]; - U cnt = new_elmap[get_map_idx(id, 2)]; - if (cnt>0){ - U feat_ml = sum_mean[get_map_idx(id, layer)]/cnt; - U feat_old = map[get_map_idx(id, map_lay[layer])]; - U sigma_old = newmap[get_map_idx(id, map_lay[layer])]; - U sigma = 1.0; - U feat_new = sigma*feat_old /(cnt*sigma_old + sigma) +cnt*sigma_old *feat_ml /(cnt*sigma_old+sigma); - U sigma_new = sigma*sigma_old /(cnt*sigma_old +sigma); - map[get_map_idx(id, map_lay[layer])] = feat_new; - newmap[get_map_idx(id, map_lay[layer])] = sigma_new; - } - """ - ).substitute(), - name="bayesian_inference_kernel", - ) - return bayesian_inference_kernel - - -class BayesianInference(FusionBase): - def __init__(self, params, *args, **kwargs): - # super().__init__(fusion_params, *args, **kwargs) - # print("Initialize bayesian inference kernel") - self.name = "pointcloud_bayesian_inference" - - self.cell_n = params.cell_n - self.resolution = params.resolution - self.fusion_algorithms = params.fusion_algorithms - self.data_type = params.data_type - - self.sum_mean = cp.ones( - (self.fusion_algorithms.count("bayesian_inference"), self.cell_n, self.cell_n,), self.data_type, - ) - # TODO initialize the variance with a value different than 0 - self.sum_compact_kernel = sum_compact_kernel(self.resolution, self.cell_n, self.cell_n,) - self.bayesian_inference_kernel = bayesian_inference_kernel(self.cell_n, self.cell_n,) - - def __call__(self, points_all, R, t, pcl_ids, layer_ids, elevation_map, semantic_map, new_map, *args): - self.sum_mean *= 0 - self.sum_compact_kernel( - points_all, - R, - t, - pcl_ids, - layer_ids, - cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=cp.int32), - self.sum_mean, - size=(points_all.shape[0]), - ) - self.bayesian_inference_kernel( - pcl_ids, - layer_ids, - cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=cp.int32), - elevation_map, - new_map, - self.sum_mean, - semantic_map, - size=(self.cell_n * self.cell_n), - ) diff --git a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/fusion/pointcloud_class_average.py b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/fusion/pointcloud_class_average.py deleted file mode 100644 index 80c96dc4..00000000 --- a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/fusion/pointcloud_class_average.py +++ /dev/null @@ -1,126 +0,0 @@ -# -# Copyright (c) 2023, Takahiro Miki. All rights reserved. -# Licensed under the MIT license. See LICENSE file in the project root for details. -# -import cupy as cp -import numpy as np -import string - -from .fusion_manager import FusionBase - - -def sum_kernel( - resolution, width, height, -): - """Sums the semantic values of the classes for the exponentiala verage or for the average. - - Args: - resolution: - width: - height: - - Returns: - - """ - # input the list of layers, amount of channels can slo be input through kernel - sum_kernel = cp.ElementwiseKernel( - in_params="raw U p, raw U R, raw U t, raw W pcl_chan, raw W map_lay, raw W pcl_channels", - out_params="raw U map, raw U newmap", - preamble=string.Template( - """ - __device__ int get_map_idx(int idx, int layer_n) { - const int layer = ${width} * ${height}; - return layer * layer_n + idx; - } - """ - ).substitute(resolution=resolution, width=width, height=height), - operation=string.Template( - """ - U id = floorf(i/pcl_channels[1]); - int layer = i % pcl_channels[1]; - U idx = p[id * pcl_channels[0]]; - U valid = p[id * pcl_channels[0] + 1]; - U inside = p[id * pcl_channels[0] + 2]; - if (valid) { - if (inside) { - U feat = p[id * pcl_channels[0] + pcl_chan[layer]]; - atomicAdd(&newmap[get_map_idx(idx, map_lay[layer])], feat); - } - } - """ - ).substitute(), - name="sum_kernel", - ) - return sum_kernel - - -def class_average_kernel( - width, height, alpha, -): - class_average_kernel = cp.ElementwiseKernel( - in_params="raw V newmap, raw W pcl_chan, raw W map_lay, raw W pcl_channels, raw U new_elmap", - out_params="raw U map", - preamble=string.Template( - """ - __device__ int get_map_idx(int idx, int layer_n) { - const int layer = ${width} * ${height}; - return layer * layer_n + idx; - } - """ - ).substitute(width=width, height=height), - operation=string.Template( - """ - U id = floorf(i/pcl_channels[1]); - int layer = i % pcl_channels[1]; - U cnt = new_elmap[get_map_idx(id, 2)]; - if (cnt>0){ - U prev_val = map[get_map_idx(id, map_lay[layer])]; - if (prev_val==0){ - U val = newmap[get_map_idx(id, map_lay[layer])]/(1*cnt); - map[get_map_idx(id, map_lay[layer])] = val; - } - else{ - U val = ${alpha} *prev_val + (1-${alpha}) * newmap[get_map_idx(id, map_lay[layer])]/(cnt); - map[get_map_idx(id, map_lay[layer])] = val; - } - } - """ - ).substitute(alpha=alpha,), - name="class_average_kernel", - ) - return class_average_kernel - - -class ClassAverage(FusionBase): - def __init__(self, params, *args, **kwargs): - # super().__init__(fusion_params, *args, **kwargs) - # print("Initialize fusion kernel") - self.name = "pointcloud_class_average" - self.cell_n = params.cell_n - self.resolution = params.resolution - self.average_weight = params.average_weight - - self.sum_kernel = sum_kernel(self.resolution, self.cell_n, self.cell_n,) - self.class_average_kernel = class_average_kernel(self.cell_n, self.cell_n, self.average_weight,) - - def __call__(self, points_all, R, t, pcl_ids, layer_ids, elevation_map, semantic_map, new_map, *args): - self.sum_kernel( - points_all, - R, - t, - pcl_ids, - layer_ids, - cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=cp.int32), - semantic_map, - new_map, - size=(points_all.shape[0] * pcl_ids.shape[0]), - ) - self.class_average_kernel( - new_map, - pcl_ids, - layer_ids, - cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=cp.int32), - elevation_map, - semantic_map, - size=(self.cell_n * self.cell_n * pcl_ids.shape[0]), - ) diff --git a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/fusion/pointcloud_class_bayesian.py b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/fusion/pointcloud_class_bayesian.py deleted file mode 100644 index 5fec3a7d..00000000 --- a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/fusion/pointcloud_class_bayesian.py +++ /dev/null @@ -1,75 +0,0 @@ -# -# Copyright (c) 2023, Takahiro Miki. All rights reserved. -# Licensed under the MIT license. See LICENSE file in the project root for details. -# -import cupy as cp -import numpy as np -import string - -from .fusion_manager import FusionBase - - -def alpha_kernel( - resolution, width, height, -): - # input the list of layers, amount of channels can slo be input through kernel - alpha_kernel = cp.ElementwiseKernel( - in_params="raw U p, raw W pcl_chan, raw W map_lay, raw W pcl_channels", - out_params="raw U newmap", - preamble=string.Template( - """ - __device__ int get_map_idx(int idx, int layer_n) { - const int layer = ${width} * ${height}; - return layer * layer_n + idx; - } - """ - ).substitute(resolution=resolution, width=width, height=height), - operation=string.Template( - """ - U id = floorf(i/pcl_channels[1]); - int layer = i % pcl_channels[1]; - U idx = p[id * pcl_channels[0]]; - U valid = p[id * pcl_channels[0] + 1]; - U inside = p[id * pcl_channels[0] + 2]; - if (valid) { - if (inside) { - U theta_max = 0; - W arg_max = 0; - U theta = p[id * pcl_channels[0] + pcl_chan[layer]]; - if (theta >=theta_max){ - arg_max = map_lay[layer]; - theta_max = theta; - } - atomicAdd(&newmap[get_map_idx(idx, arg_max)], theta_max); - } - } - """ - ).substitute(), - name="alpha_kernel", - ) - return alpha_kernel - - -class ClassBayesian(FusionBase): - def __init__(self, params, *args, **kwargs): - # super().__init__(fusion_params, *args, **kwargs) - # print("Initialize fusion kernel") - self.name = "pointcloud_class_bayesian" - self.cell_n = params.cell_n - self.resolution = params.resolution - self.alpha_kernel = alpha_kernel(self.resolution, self.cell_n, self.cell_n,) - - def __call__(self, points_all, R, t, pcl_ids, layer_ids, elevation_map, semantic_map, new_map, *args): - self.alpha_kernel( - points_all, - pcl_ids, - layer_ids, - cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=cp.int32), - new_map, - size=(points_all.shape[0]), - ) - # calculate new thetas - sum_alpha = cp.sum(new_map[layer_ids], axis=0) - # do not divide by zero - sum_alpha[sum_alpha == 0] = 1 - semantic_map[layer_ids] = new_map[layer_ids] / cp.expand_dims(sum_alpha, axis=0) diff --git a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/fusion/pointcloud_class_max.py b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/fusion/pointcloud_class_max.py deleted file mode 100644 index e506571d..00000000 --- a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/fusion/pointcloud_class_max.py +++ /dev/null @@ -1,123 +0,0 @@ -# -# Copyright (c) 2023, Takahiro Miki. All rights reserved. -# Licensed under the MIT license. See LICENSE file in the project root for details. -# -import cupy as cp -import numpy as np -import string - -from .fusion_manager import FusionBase - - -def sum_max_kernel( - resolution, width, height, -): - # input the list of layers, amount of channels can slo be input through kernel - sum_max_kernel = cp.ElementwiseKernel( - in_params="raw U p, raw U max_pt, raw T max_id, raw W pcl_chan, raw W map_lay, raw W pcl_channels", - out_params=" raw U newmap", - preamble=string.Template( - """ - __device__ int get_map_idx(int idx, int layer_n) { - const int layer = ${width} * ${height}; - return layer * layer_n + idx; - } - """ - ).substitute(resolution=resolution, width=width, height=height), - operation=string.Template( - """ - U idx = p[i * pcl_channels[0]]; - U valid = p[i * pcl_channels[0] + 1]; - U inside = p[i * pcl_channels[0] + 2]; - if (valid) { - if (inside) { - // for every max value - for ( W it=0;it> 16; - return reds; - } - __device__ unsigned int get_g(unsigned int color){ - unsigned int green = 0xFF00; - unsigned int greens = (color & green) >> 8; - return greens; - } - __device__ unsigned int get_b(unsigned int color){ - unsigned int blue = 0xFF; - unsigned int blues = ( color & blue); - return blues; - } - """ - ).substitute(width=width, height=height), - operation=string.Template( - """ - U id = floorf(i/pcl_channels[1]); - int layer = i % pcl_channels[1]; - U idx = p[id * pcl_channels[0]]; - U valid = p[id * pcl_channels[0] + 1]; - U inside = p[id * pcl_channels[0] + 2]; - if (valid && inside){ - unsigned int color = __float_as_uint(p[id * pcl_channels[0] + pcl_chan[layer]]); - atomicAdd(&color_map[get_map_idx(idx, layer*3)], get_r(color)); - atomicAdd(&color_map[get_map_idx(idx, layer*3+1)], get_g(color)); - atomicAdd(&color_map[get_map_idx(idx, layer*3 + 2)], get_b(color)); - atomicAdd(&color_map[get_map_idx(idx, pcl_channels[1]*3)], 1); - } - """ - ).substitute(width=width), - name="add_color_kernel", - ) - return add_color_kernel - - -def color_average_kernel( - width, height, -): - color_average_kernel = cp.ElementwiseKernel( - in_params="raw V color_map, raw W pcl_chan, raw W map_lay, raw W pcl_channels", - out_params="raw U map", - preamble=string.Template( - """ - __device__ int get_map_idx(int idx, int layer_n) { - const int layer = ${width} * ${height}; - return layer * layer_n + idx; - } - __device__ unsigned int get_r(unsigned int color){ - unsigned int red = 0xFF0000; - unsigned int reds = (color & red) >> 16; - return reds; - } - __device__ unsigned int get_g(unsigned int color){ - unsigned int green = 0xFF00; - unsigned int greens = (color & green) >> 8; - return greens; - } - __device__ unsigned int get_b(unsigned int color){ - unsigned int blue = 0xFF; - unsigned int blues = (color & blue); - return blues; - } - """ - ).substitute(width=width, height=height), - operation=string.Template( - """ - U id = floorf(i/pcl_channels[1]); - int layer = i % pcl_channels[1]; - unsigned int cnt = color_map[get_map_idx(id, pcl_channels[1]*3)]; - if (cnt>0){ - // U prev_color = map[get_map_idx(id, map_lay[layer])]; - unsigned int r = color_map[get_map_idx(id, layer*3)]/(1*cnt); - unsigned int g = color_map[get_map_idx(id, layer*3+1)]/(1*cnt); - unsigned int b = color_map[get_map_idx(id, layer*3+2)]/(1*cnt); - //if (prev_color>=0){ - // unsigned int prev_r = get_r(prev_color); - // unsigned int prev_g = get_g(prev_color); - // unsigned int prev_b = get_b(prev_color); - // unsigned int r = prev_r/2 + color_map[get_map_idx(i, layer*3)]/(2*cnt); - // unsigned int g = prev_g/2 + color_map[get_map_idx(i, layer*3+1)]/(2*cnt); - // unsigned int b = prev_b/2 + color_map[get_map_idx(i, layer*3+2)]/(2*cnt); - //} - unsigned int rgb = (r<<16) + (g << 8) + b; - float rgb_ = __uint_as_float(rgb); - map[get_map_idx(id, map_lay[layer])] = rgb_; - } - """ - ).substitute(), - name="color_average_kernel", - ) - return color_average_kernel - - -class Color(FusionBase): - def __init__(self, params, *args, **kwargs): - # super().__init__(fusion_params, *args, **kwargs) - # print("Initialize fusion kernel") - self.name = "pointcloud_color" - self.cell_n = params.cell_n - self.resolution = params.resolution - - self.add_color_kernel = add_color_kernel(params.cell_n, params.cell_n,) - self.color_average_kernel = color_average_kernel(self.cell_n, self.cell_n) - - def __call__(self, points_all, R, t, pcl_ids, layer_ids, elevation_map, semantic_map, new_map, *args): - self.color_map = cp.zeros((1 + 3 * layer_ids.shape[0], self.cell_n, self.cell_n), dtype=cp.uint32,) - - points_all = points_all.astype(cp.float32) - self.add_color_kernel( - points_all, - R, - t, - pcl_ids, - layer_ids, - cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=cp.int32), - self.color_map, - size=(points_all.shape[0]), - ) - self.color_average_kernel( - self.color_map, - pcl_ids, - layer_ids, - cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=cp.int32), - semantic_map, - size=(self.cell_n * self.cell_n), - ) diff --git a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/kernels/__init__.py b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/kernels/__init__.py deleted file mode 100644 index 06eecc38..00000000 --- a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/kernels/__init__.py +++ /dev/null @@ -1,3 +0,0 @@ -from .custom_image_kernels import * -from .custom_kernels import * -from .custom_semantic_kernels import * diff --git a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/kernels/custom_image_kernels.py b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/kernels/custom_image_kernels.py deleted file mode 100644 index a020ba2e..00000000 --- a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/kernels/custom_image_kernels.py +++ /dev/null @@ -1,271 +0,0 @@ -# -# Copyright (c) 2023, Takahiro Miki. All rights reserved. -# Licensed under the MIT license. See LICENSE file in the project root for details. -# -import cupy as cp -import string - - -def image_to_map_correspondence_kernel(resolution, width, height, tolerance_z_collision): - """ - This function calculates the correspondence between the image and the map. - It takes in the resolution, width, height, and tolerance_z_collision as parameters. - The function returns a kernel that can be used to perform the correspondence calculation. - """ - _image_to_map_correspondence_kernel = cp.ElementwiseKernel( - in_params="raw U map, raw U x1, raw U y1, raw U z1, raw U P, raw U K, raw U D, raw U image_height, raw U image_width, raw U center", - out_params="raw U uv_correspondence, raw B valid_correspondence", - preamble=string.Template( - """ - __device__ int get_map_idx(int idx, int layer_n) { - const int layer = ${width} * ${height}; - return layer * layer_n + idx; - } - __device__ bool is_inside_map(int x, int y) { - return (x >= 0 && y >= 0 && x<${width} && y<${height}); - } - __device__ float get_l2_distance(int x0, int y0, int x1, int y1) { - float dx = x0-x1; - float dy = y0-y1; - return sqrt( dx*dx + dy*dy); - } - """ - ).substitute(width=width, height=height, resolution=resolution), - operation=string.Template( - """ - int cell_idx = get_map_idx(i, 0); - - // return if gridcell has no valid height - if (map[get_map_idx(i, 2)] != 1){ - return; - } - - // get current cell position - int y0 = i % ${width}; - int x0 = i / ${width}; - - // gridcell 3D point in worldframe TODO reverse x and y - float p1 = (x0-(${width}/2)) * ${resolution} + center[0]; - float p2 = (y0-(${height}/2)) * ${resolution} + center[1]; - float p3 = map[cell_idx] + center[2]; - - // reproject 3D point into image plane - float u = p1 * P[0] + p2 * P[1] + p3 * P[2] + P[3]; - float v = p1 * P[4] + p2 * P[5] + p3 * P[6] + P[7]; - float d = p1 * P[8] + p2 * P[9] + p3 * P[10] + P[11]; - - // filter point behind image plane - if (d <= 0) { - return; - } - u = u/d; - v = v/d; - - // Check if D is all zeros - bool is_D_zero = (D[0] == 0 && D[1] == 0 && D[2] == 0 && D[3] == 0 && D[4] == 0); - - // Apply undistortion using distortion matrix D if not all zeros - if (!is_D_zero) { - float k1 = D[0]; - float k2 = D[1]; - float p1 = D[2]; - float p2 = D[3]; - float k3 = D[4]; - float fx = K[0]; - float fy = K[4]; - float cx = K[2]; - float cy = K[5]; - float x = (u - cx) / fx; - float y = (v - cy) / fy; - float r2 = x * x + y * y; - float radial_distortion = 1 + k1 * r2 + k2 * r2 * r2 + k3 * r2 * r2 * r2; - float u_corrected = x * radial_distortion + 2 * p1 * x * y + p2 * (r2 + 2 * x * x); - float v_corrected = y * radial_distortion + 2 * p2 * x * y + p1 * (r2 + 2 * y * y); - u = fx * u_corrected + cx; - v = fy * v_corrected + cy; - } - - // filter point next to image plane - if ((u < 0) || (v < 0) || (u >= image_width) || (v >= image_height)){ - return; - } - - int y0_c = y0; - int x0_c = x0; - float total_dis = get_l2_distance(x0_c, y0_c, x1,y1); - float z0 = map[cell_idx]; - float delta_z = z1-z0; - - - // bresenham algorithm to iterate over cells in line between camera center and current gridmap cell - // https://en.wikipedia.org/wiki/Bresenham%27s_line_algorithm - int dx = abs(x1-x0); - int sx = x0 < x1 ? 1 : -1; - int dy = -abs(y1 - y0); - int sy = y0 < y1 ? 1 : -1; - int error = dx + dy; - - bool is_valid = true; - - // iterate over all cells along line - while (1){ - // assumption we do not need to check the height for camera center cell - if (x0 == x1 && y0 == y1){ - break; - } - - // check if height is invalid - if (is_inside_map(x0,y0)){ - int idx = y0 + (x0 * ${width}); - if (map[get_map_idx(idx, 2)]){ - float dis = get_l2_distance(x0_c, y0_c, x0, y0); - float rayheight = z0 + ( dis / total_dis * delta_z); - if ( map[idx] - ${tolerance_z_collision} > rayheight){ - is_valid = false; - break; - } - } - } - - - // computation of next gridcell index in line - int e2 = 2 * error; - if (e2 >= dy){ - if(x0 == x1){ - break; - } - error = error + dy; - x0 = x0 + sx; - } - if (e2 <= dx){ - if (y0 == y1){ - break; - } - error = error + dx; - y0 = y0 + sy; - } - } - - // mark the correspondence - uv_correspondence[get_map_idx(i, 0)] = u; - uv_correspondence[get_map_idx(i, 1)] = v; - valid_correspondence[get_map_idx(i, 0)] = is_valid; - """ - ).substitute(height=height, width=width, resolution=resolution, tolerance_z_collision=tolerance_z_collision), - name="image_to_map_correspondence_kernel", - ) - return _image_to_map_correspondence_kernel - - -def average_correspondences_to_map_kernel(width, height): - """ - This function calculates the average correspondences to the map. - It takes in the width and height as parameters. - The function returns a kernel that can be used to perform the correspondence calculation. - """ - _average_correspondences_to_map_kernel = cp.ElementwiseKernel( - in_params="raw U sem_map, raw U map_idx, raw U image_mono, raw U uv_correspondence, raw B valid_correspondence, raw U image_height, raw U image_width", - out_params="raw U new_sem_map", - preamble=string.Template( - """ - __device__ int get_map_idx(int idx, int layer_n) { - const int layer = ${width} * ${height}; - return layer * layer_n + idx; - } - """ - ).substitute(width=width, height=height), - operation=string.Template( - """ - int cell_idx = get_map_idx(i, 0); - if (valid_correspondence[cell_idx]){ - int cell_idx_2 = get_map_idx(i, 1); - int idx = int(uv_correspondence[cell_idx]) + int(uv_correspondence[cell_idx_2]) * image_width; - new_sem_map[get_map_idx(i, map_idx)] = image_mono[idx]; - }else{ - new_sem_map[get_map_idx(i, map_idx)] = sem_map[get_map_idx(i, map_idx)]; - } - - """ - ).substitute(), - name="average_correspondences_to_map_kernel", - ) - return _average_correspondences_to_map_kernel - - -def exponential_correspondences_to_map_kernel(width, height, alpha): - """ - This function calculates the exponential correspondences to the map. - It takes in the width, height, and alpha as parameters. - The function returns a kernel that can be used to perform the correspondence calculation. - """ - _exponential_correspondences_to_map_kernel = cp.ElementwiseKernel( - in_params="raw U sem_map, raw U map_idx, raw U image_mono, raw U uv_correspondence, raw B valid_correspondence, raw U image_height, raw U image_width", - out_params="raw U new_sem_map", - preamble=string.Template( - """ - __device__ int get_map_idx(int idx, int layer_n) { - const int layer = ${width} * ${height}; - return layer * layer_n + idx; - } - """ - ).substitute(width=width, height=height), - operation=string.Template( - """ - int cell_idx = get_map_idx(i, 0); - if (valid_correspondence[cell_idx]){ - int cell_idx_2 = get_map_idx(i, 1); - int idx = int(uv_correspondence[cell_idx]) + int(uv_correspondence[cell_idx_2]) * image_width; - new_sem_map[get_map_idx(i, map_idx)] = sem_map[get_map_idx(i, map_idx)] * (1-${alpha}) + ${alpha} * image_mono[idx]; - }else{ - new_sem_map[get_map_idx(i, map_idx)] = sem_map[get_map_idx(i, map_idx)]; - } - - """ - ).substitute(alpha=alpha), - name="exponential_correspondences_to_map_kernel", - ) - return _exponential_correspondences_to_map_kernel - - -def color_correspondences_to_map_kernel(width, height): - """ - This function calculates the color correspondences to the map. - It takes in the width and height as parameters. - The function returns a kernel that can be used to perform the correspondence calculation. - """ - _color_correspondences_to_map_kernel = cp.ElementwiseKernel( - in_params="raw U sem_map, raw U map_idx, raw U image_rgb, raw U uv_correspondence, raw B valid_correspondence, raw U image_height, raw U image_width", - out_params="raw U new_sem_map", - preamble=string.Template( - """ - __device__ int get_map_idx(int idx, int layer_n) { - const int layer = ${width} * ${height}; - return layer * layer_n + idx; - } - """ - ).substitute(width=width, height=height), - operation=string.Template( - """ - int cell_idx = get_map_idx(i, 0); - if (valid_correspondence[cell_idx]){ - int cell_idx_2 = get_map_idx(i, 1); - - int idx_red = int(uv_correspondence[cell_idx]) + int(uv_correspondence[cell_idx_2]) * image_width; - int idx_green = image_width * image_height + idx_red; - int idx_blue = image_width * image_height * 2 + idx_red; - - unsigned int r = image_rgb[idx_red]; - unsigned int g = image_rgb[idx_green]; - unsigned int b = image_rgb[idx_blue]; - - unsigned int rgb = (r<<16) + (g << 8) + b; - float rgb_ = __uint_as_float(rgb); - new_sem_map[get_map_idx(i, map_idx)] = rgb_; - }else{ - new_sem_map[get_map_idx(i, map_idx)] = sem_map[get_map_idx(i, map_idx)]; - } - """ - ).substitute(), - name="color_correspondences_to_map_kernel", - ) - return _color_correspondences_to_map_kernel diff --git a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/kernels/custom_kernels.py b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/kernels/custom_kernels.py deleted file mode 100644 index d7025270..00000000 --- a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/kernels/custom_kernels.py +++ /dev/null @@ -1,685 +0,0 @@ -# -# Copyright (c) 2022, Takahiro Miki. All rights reserved. -# Licensed under the MIT license. See LICENSE file in the project root for details. -# -import cupy as cp -import string - - -def map_utils( - resolution, - width, - height, - sensor_noise_factor, - min_valid_distance, - max_height_range, - ramped_height_range_a, - ramped_height_range_b, - ramped_height_range_c, -): - util_preamble = string.Template( - """ - __device__ float16 clamp(float16 x, float16 min_x, float16 max_x) { - - return max(min(x, max_x), min_x); - } - __device__ int get_x_idx(float16 x, float16 center) { - int i = (x - center) / ${resolution} + 0.5 * ${width}; - return i; - } - __device__ int get_y_idx(float16 y, float16 center) { - int i = (y - center) / ${resolution} + 0.5 * ${height}; - return i; - } - __device__ bool is_inside(int idx) { - int idx_x = idx / ${width}; - int idx_y = idx % ${width}; - if (idx_x == 0 || idx_x == ${width} - 1) { - return false; - } - if (idx_y == 0 || idx_y == ${height} - 1) { - return false; - } - return true; - } - __device__ int get_idx(float16 x, float16 y, float16 center_x, float16 center_y) { - int idx_x = clamp(get_x_idx(x, center_x), 0, ${width} - 1); - int idx_y = clamp(get_y_idx(y, center_y), 0, ${height} - 1); - return ${width} * idx_x + idx_y; - } - __device__ int get_map_idx(int idx, int layer_n) { - const int layer = ${width} * ${height}; - return layer * layer_n + idx; - } - __device__ float transform_p(float16 x, float16 y, float16 z, - float16 r0, float16 r1, float16 r2, float16 t) { - return r0 * x + r1 * y + r2 * z + t; - } - __device__ float z_noise(float16 z){ - return ${sensor_noise_factor} * z * z; - } - - __device__ float point_sensor_distance(float16 x, float16 y, float16 z, - float16 sx, float16 sy, float16 sz) { - float d = (x - sx) * (x - sx) + (y - sy) * (y - sy) + (z - sz) * (z - sz); - return d; - } - - __device__ bool is_valid(float16 x, float16 y, float16 z, - float16 sx, float16 sy, float16 sz) { - float d = point_sensor_distance(x, y, z, sx, sy, sz); - float dxy = max(sqrt(x * x + y * y) - ${ramped_height_range_b}, 0.0); - if (d < ${min_valid_distance} * ${min_valid_distance}) { - return false; - } - else if (z - sz > dxy * ${ramped_height_range_a} + ${ramped_height_range_c} || z - sz > ${max_height_range}) { - return false; - } - else { - return true; - } - } - - __device__ float ray_vector(float16 tx, float16 ty, float16 tz, - float16 px, float16 py, float16 pz, - float16& rx, float16& ry, float16& rz){ - float16 vx = px - tx; - float16 vy = py - ty; - float16 vz = pz - tz; - float16 norm = sqrt(vx * vx + vy * vy + vz * vz); - if (norm > 0) { - rx = vx / norm; - ry = vy / norm; - rz = vz / norm; - } - else { - rx = 0; - ry = 0; - rz = 0; - } - return norm; - } - - __device__ float inner_product(float16 x1, float16 y1, float16 z1, - float16 x2, float16 y2, float16 z2) { - - float product = (x1 * x2 + y1 * y2 + z1 * z2); - return product; - } - - """ - ).substitute( - resolution=resolution, - width=width, - height=height, - sensor_noise_factor=sensor_noise_factor, - min_valid_distance=min_valid_distance, - max_height_range=max_height_range, - ramped_height_range_a=ramped_height_range_a, - ramped_height_range_b=ramped_height_range_b, - ramped_height_range_c=ramped_height_range_c, - ) - return util_preamble - - -def add_points_kernel( - resolution, - width, - height, - sensor_noise_factor, - mahalanobis_thresh, - outlier_variance, - wall_num_thresh, - max_ray_length, - cleanup_step, - min_valid_distance, - max_height_range, - cleanup_cos_thresh, - ramped_height_range_a, - ramped_height_range_b, - ramped_height_range_c, - enable_edge_shaped=True, - enable_visibility_cleanup=True, -): - add_points_kernel = cp.ElementwiseKernel( - in_params="raw U center_x, raw U center_y, raw U R, raw U t, raw U norm_map", - out_params="raw U p, raw U map, raw T newmap", - preamble=map_utils( - resolution, - width, - height, - sensor_noise_factor, - min_valid_distance, - max_height_range, - ramped_height_range_a, - ramped_height_range_b, - ramped_height_range_c, - ), - operation=string.Template( - """ - U rx = p[i * 3]; - U ry = p[i * 3 + 1]; - U rz = p[i * 3 + 2]; - U x = transform_p(rx, ry, rz, R[0], R[1], R[2], t[0]); - U y = transform_p(rx, ry, rz, R[3], R[4], R[5], t[1]); - U z = transform_p(rx, ry, rz, R[6], R[7], R[8], t[2]); - U v = z_noise(rz); - int idx = get_idx(x, y, center_x[0], center_y[0]); - if (is_valid(x, y, z, t[0], t[1], t[2])) { - if (is_inside(idx)) { - U map_h = map[get_map_idx(idx, 0)]; - U map_v = map[get_map_idx(idx, 1)]; - U num_points = newmap[get_map_idx(idx, 4)]; - if (abs(map_h - z) > (map_v * ${mahalanobis_thresh})) { - atomicAdd(&map[get_map_idx(idx, 1)], ${outlier_variance}); - } - else { - if (${enable_edge_shaped} && (num_points > ${wall_num_thresh}) && (z < map_h - map_v * ${mahalanobis_thresh} / num_points)) { - // continue; - } - else { - T new_h = (map_h * v + z * map_v) / (map_v + v); - T new_v = (map_v * v) / (map_v + v); - atomicAdd(&newmap[get_map_idx(idx, 0)], new_h); - atomicAdd(&newmap[get_map_idx(idx, 1)], new_v); - atomicAdd(&newmap[get_map_idx(idx, 2)], 1.0); - // is Valid - map[get_map_idx(idx, 2)] = 1; - // Time layer - map[get_map_idx(idx, 4)] = 0.0; - // Upper bound - map[get_map_idx(idx, 5)] = new_h; - map[get_map_idx(idx, 6)] = 0.0; - } - // visibility cleanup - } - } - } - if (${enable_visibility_cleanup}) { - float16 ray_x, ray_y, ray_z; - float16 ray_length = ray_vector(t[0], t[1], t[2], x, y, z, ray_x, ray_y, ray_z); - ray_length = min(ray_length, (float16)${max_ray_length}); - int last_nidx = -1; - for (float16 s=${ray_step}; s < ray_length; s+=${ray_step}) { - // iterate through ray - U nx = t[0] + ray_x * s; - U ny = t[1] + ray_y * s; - U nz = t[2] + ray_z * s; - int nidx = get_idx(nx, ny, center_x[0], center_y[0]); - if (last_nidx == nidx) {continue;} // Skip if we're still in the same cell - else {last_nidx = nidx;} - if (!is_inside(nidx)) {continue;} - - U nmap_h = map[get_map_idx(nidx, 0)]; - U nmap_v = map[get_map_idx(nidx, 1)]; - U nmap_valid = map[get_map_idx(nidx, 2)]; - // traversability - U nmap_trav = map[get_map_idx(nidx, 3)]; - // Time layer - U non_updated_t = map[get_map_idx(nidx, 4)]; - // upper bound - U nmap_upper = map[get_map_idx(nidx, 5)]; - U nmap_is_upper = map[get_map_idx(nidx, 6)]; - - // If point is close or is farther away than ray length, skip. - float16 d = (x - nx) * (x - nx) + (y - ny) * (y - ny) + (z - nz) * (z - nz); - if (d < 0.1 || !is_valid(x, y, z, t[0], t[1], t[2])) {continue;} - - // If invalid, do upper bound check, then skip - if (nmap_valid < 0.5) { - if (nz < nmap_upper || nmap_is_upper < 0.5) { - map[get_map_idx(nidx, 5)] = nz; - map[get_map_idx(nidx, 6)] = 1.0f; - } - continue; - } - // If updated recently, skip - if (non_updated_t < 0.5) {continue;} - - if (nmap_h > nz + 0.01 - min(nmap_v, 1.0) * 0.05) { - // If ray and norm is vertical, skip - U norm_x = norm_map[get_map_idx(nidx, 0)]; - U norm_y = norm_map[get_map_idx(nidx, 1)]; - U norm_z = norm_map[get_map_idx(nidx, 2)]; - float product = inner_product(ray_x, ray_y, ray_z, norm_x, norm_y, norm_z); - if (fabs(product) < ${cleanup_cos_thresh}) {continue;} - U num_points = newmap[get_map_idx(nidx, 3)]; - if (num_points > ${wall_num_thresh} && non_updated_t < 1.0) {continue;} - - // Finally, this cell is penetrated by the ray. - atomicAdd(&map[get_map_idx(nidx, 2)], -${cleanup_step}/(ray_length / ${max_ray_length})); - atomicAdd(&map[get_map_idx(nidx, 1)], ${outlier_variance}); - // Do upper bound check. - if (nz < nmap_upper || nmap_is_upper < 0.5) { - map[get_map_idx(nidx, 5)] = nz; - map[get_map_idx(nidx, 6)] = 1.0f; - } - } - } - } - p[i * 3]= idx; - p[i * 3 + 1] = is_valid(x, y, z, t[0], t[1], t[2]); - p[i * 3 + 2] = is_inside(idx); - """ - ).substitute( - mahalanobis_thresh=mahalanobis_thresh, - outlier_variance=outlier_variance, - wall_num_thresh=wall_num_thresh, - ray_step=resolution / 2 ** 0.5, - max_ray_length=max_ray_length, - cleanup_step=cleanup_step, - cleanup_cos_thresh=cleanup_cos_thresh, - enable_edge_shaped=int(enable_edge_shaped), - enable_visibility_cleanup=int(enable_visibility_cleanup), - ), - name="add_points_kernel", - ) - return add_points_kernel - - -def error_counting_kernel( - resolution, - width, - height, - sensor_noise_factor, - mahalanobis_thresh, - outlier_variance, - traversability_inlier, - min_valid_distance, - max_height_range, - ramped_height_range_a, - ramped_height_range_b, - ramped_height_range_c, -): - error_counting_kernel = cp.ElementwiseKernel( - in_params="raw U map, raw U p, raw U center_x, raw U center_y, raw U R, raw U t", - out_params="raw U newmap, raw T error, raw T error_cnt", - preamble=map_utils( - resolution, - width, - height, - sensor_noise_factor, - min_valid_distance, - max_height_range, - ramped_height_range_a, - ramped_height_range_b, - ramped_height_range_c, - ), - operation=string.Template( - """ - U rx = p[i * 3]; - U ry = p[i * 3 + 1]; - U rz = p[i * 3 + 2]; - U x = transform_p(rx, ry, rz, R[0], R[1], R[2], t[0]); - U y = transform_p(rx, ry, rz, R[3], R[4], R[5], t[1]); - U z = transform_p(rx, ry, rz, R[6], R[7], R[8], t[2]); - U v = z_noise(rz); - // if (!is_valid(z, t[2])) {return;} - if (!is_valid(x, y, z, t[0], t[1], t[2])) {return;} - // if ((x - t[0]) * (x - t[0]) + (y - t[1]) * (y - t[1]) + (z - t[2]) * (z - t[2]) < 0.5) {return;} - int idx = get_idx(x, y, center_x[0], center_y[0]); - if (!is_inside(idx)) { - return; - } - U map_h = map[get_map_idx(idx, 0)]; - U map_v = map[get_map_idx(idx, 1)]; - U map_valid = map[get_map_idx(idx, 2)]; - U map_t = map[get_map_idx(idx, 3)]; - if (map_valid > 0.5 && (abs(map_h - z) < (map_v * ${mahalanobis_thresh})) - && map_v < ${outlier_variance} / 2.0 - && map_t > ${traversability_inlier}) { - T e = z - map_h; - atomicAdd(&error[0], e); - atomicAdd(&error_cnt[0], 1); - atomicAdd(&newmap[get_map_idx(idx, 3)], 1.0); - } - atomicAdd(&newmap[get_map_idx(idx, 4)], 1.0); - """ - ).substitute( - mahalanobis_thresh=mahalanobis_thresh, - outlier_variance=outlier_variance, - traversability_inlier=traversability_inlier, - ), - name="error_counting_kernel", - ) - return error_counting_kernel - - -def average_map_kernel(width, height, max_variance, initial_variance): - average_map_kernel = cp.ElementwiseKernel( - in_params="raw U newmap", - out_params="raw U map", - preamble=string.Template( - """ - __device__ int get_map_idx(int idx, int layer_n) { - const int layer = ${width} * ${height}; - return layer * layer_n + idx; - } - """ - ).substitute(width=width, height=height), - operation=string.Template( - """ - U h = map[get_map_idx(i, 0)]; - U v = map[get_map_idx(i, 1)]; - U valid = map[get_map_idx(i, 2)]; - U new_h = newmap[get_map_idx(i, 0)]; - U new_v = newmap[get_map_idx(i, 1)]; - U new_cnt = newmap[get_map_idx(i, 2)]; - if (new_cnt > 0) { - if (new_v / new_cnt > ${max_variance}) { - map[get_map_idx(i, 0)] = 0; - map[get_map_idx(i, 1)] = ${initial_variance}; - map[get_map_idx(i, 2)] = 0; - } - else { - map[get_map_idx(i, 0)] = new_h / new_cnt; - map[get_map_idx(i, 1)] = new_v / new_cnt; - map[get_map_idx(i, 2)] = 1; - } - } - if (valid < 0.5) { - map[get_map_idx(i, 0)] = 0; - map[get_map_idx(i, 1)] = ${initial_variance}; - map[get_map_idx(i, 2)] = 0; - } - """ - ).substitute(max_variance=max_variance, initial_variance=initial_variance), - name="average_map_kernel", - ) - return average_map_kernel - - -def dilation_filter_kernel(width, height, dilation_size): - dilation_filter_kernel = cp.ElementwiseKernel( - in_params="raw U map, raw U mask", - out_params="raw U newmap, raw U newmask", - preamble=string.Template( - """ - __device__ int get_map_idx(int idx, int layer_n) { - const int layer = ${width} * ${height}; - return layer * layer_n + idx; - } - - __device__ int get_relative_map_idx(int idx, int dx, int dy, int layer_n) { - const int layer = ${width} * ${height}; - const int relative_idx = idx + ${width} * dy + dx; - return layer * layer_n + relative_idx; - } - __device__ bool is_inside(int idx) { - int idx_x = idx / ${width}; - int idx_y = idx % ${width}; - if (idx_x <= 0 || idx_x >= ${width} - 1) { - return false; - } - if (idx_y <= 0 || idx_y >= ${height} - 1) { - return false; - } - return true; - } - """ - ).substitute(width=width, height=height), - operation=string.Template( - """ - U h = map[get_map_idx(i, 0)]; - U valid = mask[get_map_idx(i, 0)]; - newmap[get_map_idx(i, 0)] = h; - if (valid < 0.5) { - U distance = 100; - U near_value = 0; - for (int dy = -${dilation_size}; dy <= ${dilation_size}; dy++) { - for (int dx = -${dilation_size}; dx <= ${dilation_size}; dx++) { - int idx = get_relative_map_idx(i, dx, dy, 0); - if (!is_inside(idx)) {continue;} - U valid = mask[idx]; - if(valid > 0.5 && dx + dy < distance) { - distance = dx + dy; - near_value = map[idx]; - } - } - } - if(distance < 100) { - newmap[get_map_idx(i, 0)] = near_value; - newmask[get_map_idx(i, 0)] = 1.0; - } - } - """ - ).substitute(dilation_size=dilation_size), - name="dilation_filter_kernel", - ) - return dilation_filter_kernel - - -def normal_filter_kernel(width, height, resolution): - normal_filter_kernel = cp.ElementwiseKernel( - in_params="raw U map, raw U mask", - out_params="raw U newmap", - preamble=string.Template( - """ - __device__ int get_map_idx(int idx, int layer_n) { - const int layer = ${width} * ${height}; - return layer * layer_n + idx; - } - - __device__ int get_relative_map_idx(int idx, int dx, int dy, int layer_n) { - const int layer = ${width} * ${height}; - const int relative_idx = idx + ${width} * dy + dx; - return layer * layer_n + relative_idx; - } - __device__ bool is_inside(int idx) { - int idx_x = idx / ${width}; - int idx_y = idx % ${width}; - if (idx_x <= 0 || idx_x >= ${width} - 1) { - return false; - } - if (idx_y <= 0 || idx_y >= ${height} - 1) { - return false; - } - return true; - } - __device__ float resolution() { - return ${resolution}; - } - """ - ).substitute(width=width, height=height, resolution=resolution), - operation=string.Template( - """ - U h = map[get_map_idx(i, 0)]; - U valid = mask[get_map_idx(i, 0)]; - if (valid > 0.5) { - int idx_x = get_relative_map_idx(i, 1, 0, 0); - int idx_y = get_relative_map_idx(i, 0, 1, 0); - if (!is_inside(idx_x) || !is_inside(idx_y)) { return; } - float dzdx = (map[idx_x] - h); - float dzdy = (map[idx_y] - h); - float nx = -dzdy / resolution(); - float ny = -dzdx / resolution(); - float nz = 1; - float norm = sqrt((nx * nx) + (ny * ny) + 1); - newmap[get_map_idx(i, 0)] = nx / norm; - newmap[get_map_idx(i, 1)] = ny / norm; - newmap[get_map_idx(i, 2)] = nz / norm; - } - """ - ).substitute(), - name="normal_filter_kernel", - ) - return normal_filter_kernel - - -def polygon_mask_kernel(width, height, resolution): - polygon_mask_kernel = cp.ElementwiseKernel( - in_params="raw U polygon, raw U center_x, raw U center_y, raw int16 polygon_n, raw U polygon_bbox", - out_params="raw U mask", - preamble=string.Template( - """ - __device__ struct Point - { - int x; - int y; - }; - // Given three colinear points p, q, r, the function checks if - // point q lies on line segment 'pr' - __device__ bool onSegment(Point p, Point q, Point r) - { - if (q.x <= max(p.x, r.x) && q.x >= min(p.x, r.x) && - q.y <= max(p.y, r.y) && q.y >= min(p.y, r.y)) - return true; - return false; - } - // To find orientation of ordered triplet (p, q, r). - // The function returns following values - // 0 --> p, q and r are colinear - // 1 --> Clockwise - // 2 --> Counterclockwise - __device__ int orientation(Point p, Point q, Point r) - { - int val = (q.y - p.y) * (r.x - q.x) - - (q.x - p.x) * (r.y - q.y); - if (val == 0) return 0; // colinear - return (val > 0)? 1: 2; // clock or counterclock wise - } - // The function that returns true if line segment 'p1q1' - // and 'p2q2' intersect. - __device__ bool doIntersect(Point p1, Point q1, Point p2, Point q2) - { - // Find the four orientations needed for general and - // special cases - int o1 = orientation(p1, q1, p2); - int o2 = orientation(p1, q1, q2); - int o3 = orientation(p2, q2, p1); - int o4 = orientation(p2, q2, q1); - // General case - if (o1 != o2 && o3 != o4) - return true; - // Special Cases - // p1, q1 and p2 are colinear and p2 lies on segment p1q1 - if (o1 == 0 && onSegment(p1, p2, q1)) return true; - // p1, q1 and p2 are colinear and q2 lies on segment p1q1 - if (o2 == 0 && onSegment(p1, q2, q1)) return true; - // p2, q2 and p1 are colinear and p1 lies on segment p2q2 - if (o3 == 0 && onSegment(p2, p1, q2)) return true; - // p2, q2 and q1 are colinear and q1 lies on segment p2q2 - if (o4 == 0 && onSegment(p2, q1, q2)) return true; - return false; // Doesn't fall in any of the above cases - } - __device__ int get_map_idx(int idx, int layer_n) { - const int layer = ${width} * ${height}; - return layer * layer_n + idx; - } - - __device__ int get_idx_x(int idx){ - int idx_x = idx / ${width}; - return idx_x; - } - - __device__ int get_idx_y(int idx){ - int idx_y = idx % ${width}; - return idx_y; - } - - __device__ float16 clamp(float16 x, float16 min_x, float16 max_x) { - - return max(min(x, max_x), min_x); - } - __device__ float16 round(float16 x) { - return (int)x + (int)(2 * (x - (int)x)); - } - __device__ int get_x_idx(float16 x, float16 center) { - const float resolution = ${resolution}; - const float width = ${width}; - int i = (x - center) / resolution + 0.5 * width; - return i; - } - __device__ int get_y_idx(float16 y, float16 center) { - const float resolution = ${resolution}; - const float height = ${height}; - int i = (y - center) / resolution + 0.5 * height; - return i; - } - __device__ int get_idx(float16 x, float16 y, float16 center_x, float16 center_y) { - int idx_x = clamp(get_x_idx(x, center_x), 0, ${width} - 1); - int idx_y = clamp(get_y_idx(y, center_y), 0, ${height} - 1); - return ${width} * idx_x + idx_y; - } - - """ - ).substitute(width=width, height=height, resolution=resolution), - operation=string.Template( - """ - // Point p = {get_idx_x(i, center_x[0]), get_idx_y(i, center_y[0])}; - Point p = {get_idx_x(i), get_idx_y(i)}; - Point extreme = {100000, p.y}; - int bbox_min_idx = get_idx(polygon_bbox[0], polygon_bbox[1], center_x[0], center_y[0]); - int bbox_max_idx = get_idx(polygon_bbox[2], polygon_bbox[3], center_x[0], center_y[0]); - Point bmin = {get_idx_x(bbox_min_idx), get_idx_y(bbox_min_idx)}; - Point bmax = {get_idx_x(bbox_max_idx), get_idx_y(bbox_max_idx)}; - if (p.x < bmin.x || p.x > bmax.x || p.y < bmin.y || p.y > bmax.y){ - mask[i] = 0; - return; - } - else { - int intersect_cnt = 0; - for (int j = 0; j < polygon_n[0]; j++) { - Point p1, p2; - int i1 = get_idx(polygon[j * 2 + 0], polygon[j * 2 + 1], center_x[0], center_y[0]); - p1.x = get_idx_x(i1); - p1.y = get_idx_y(i1); - int j2 = (j + 1) % polygon_n[0]; - int i2 = get_idx(polygon[j2 * 2 + 0], polygon[j2 * 2 + 1], center_x[0], center_y[0]); - p2.x = get_idx_x(i2); - p2.y = get_idx_y(i2); - if (doIntersect(p1, p2, p, extreme)) - { - // If the point 'p' is colinear with line segment 'i-next', - // then check if it lies on segment. If it lies, return true, - // otherwise false - if (orientation(p1, p, p2) == 0) { - if (onSegment(p1, p, p2)){ - mask[i] = 1; - return; - } - } - else if(((p1.y <= p.y) && (p2.y > p.y)) || ((p1.y > p.y) && (p2.y <= p.y))){ - intersect_cnt++; - } - } - } - if (intersect_cnt % 2 == 0) { mask[i] = 0; } - else { mask[i] = 1; } - } - """ - ).substitute(a=1), - name="polygon_mask_kernel", - ) - return polygon_mask_kernel - - -if __name__ == "__main__": - for i in range(10): - import random - - a = cp.zeros((100, 100)) - n = random.randint(3, 5) - - # polygon = cp.array([[-1, -1], [3, 4], [2, 4], [1, 3]], dtype=float) - polygon = cp.array( - [[(random.random() - 0.5) * 10, (random.random() - 0.5) * 10] for i in range(n)], dtype=float - ) - print(polygon) - polygon_min = polygon.min(axis=0) - polygon_max = polygon.max(axis=0) - polygon_bbox = cp.concatenate([polygon_min, polygon_max]).flatten() - polygon_n = polygon.shape[0] - print(polygon_bbox) - # polygon_bbox = cp.array([-5, -5, 5, 5], dtype=float) - polygon_mask = polygon_mask_kernel(100, 100, 0.1) - import time - - start = time.time() - polygon_mask(polygon, 0.0, 0.0, polygon_n, polygon_bbox, a, size=(100 * 100)) - print(time.time() - start) - import pylab as plt - - print(a) - plt.imshow(cp.asnumpy(a)) - plt.show() diff --git a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/kernels/custom_semantic_kernels.py b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/kernels/custom_semantic_kernels.py deleted file mode 100644 index 26db74c0..00000000 --- a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/kernels/custom_semantic_kernels.py +++ /dev/null @@ -1,375 +0,0 @@ -# -# Copyright (c) 2023, Takahiro Miki. All rights reserved. -# Licensed under the MIT license. See LICENSE file in the project root for details. -# -import cupy as cp -import string - - -def sum_kernel( - resolution, width, height, -): - """Sums the semantic values of the classes for the exponentiala verage or for the average. - - Args: - resolution: - width: - height: - - Returns: - - """ - # input the list of layers, amount of channels can slo be input through kernel - sum_kernel = cp.ElementwiseKernel( - in_params="raw U p, raw U R, raw U t, raw W pcl_chan, raw W map_lay, raw W pcl_channels", - out_params="raw U map, raw U newmap", - preamble=string.Template( - """ - __device__ int get_map_idx(int idx, int layer_n) { - const int layer = ${width} * ${height}; - return layer * layer_n + idx; - } - """ - ).substitute(resolution=resolution, width=width, height=height), - operation=string.Template( - """ - U id = floorf(i/pcl_channels[1]); - int layer = i % pcl_channels[1]; - U idx = p[id * pcl_channels[0]]; - U valid = p[id * pcl_channels[0] + 1]; - U inside = p[id * pcl_channels[0] + 2]; - if (valid) { - if (inside) { - U feat = p[id * pcl_channels[0] + pcl_chan[layer]]; - atomicAdd(&newmap[get_map_idx(idx, map_lay[layer])], feat); - } - } - """ - ).substitute(), - name="sum_kernel", - ) - return sum_kernel - - -def sum_compact_kernel( - resolution, width, height, -): - # input the list of layers, amount of channels can slo be input through kernel - sum_compact_kernel = cp.ElementwiseKernel( - in_params="raw U p, raw U R, raw U t, raw W pcl_chan, raw W map_lay, raw W pcl_channels", - out_params=" raw U newmap", - preamble=string.Template( - """ - __device__ int get_map_idx(int idx, int layer_n) { - const int layer = ${width} * ${height}; - return layer * layer_n + idx; - } - """ - ).substitute(resolution=resolution, width=width, height=height), - operation=string.Template( - """ - U id = floorf(i/pcl_channels[1]); - int layer = i % pcl_channels[1]; - U idx = p[id * pcl_channels[0]]; - U valid = p[id * pcl_channels[0] + 1]; - U inside = p[id * pcl_channels[0] + 2]; - if (valid) { - if (inside) { - U feat = p[id * pcl_channels[0] + pcl_chan[layer]]; - atomicAdd(&newmap[get_map_idx(idx, layer)], feat); - } - } - """ - ).substitute(), - name="sum_compact_kernel", - ) - return sum_compact_kernel - - -def sum_max_kernel( - resolution, width, height, -): - # input the list of layers, amount of channels can slo be input through kernel - sum_max_kernel = cp.ElementwiseKernel( - in_params="raw U p, raw U max_pt, raw T max_id, raw W pcl_chan, raw W map_lay, raw W pcl_channels", - out_params=" raw U newmap", - preamble=string.Template( - """ - __device__ int get_map_idx(int idx, int layer_n) { - const int layer = ${width} * ${height}; - return layer * layer_n + idx; - } - """ - ).substitute(resolution=resolution, width=width, height=height), - operation=string.Template( - """ - U idx = p[i * pcl_channels[0]]; - U valid = p[i * pcl_channels[0] + 1]; - U inside = p[i * pcl_channels[0] + 2]; - if (valid) { - if (inside) { - // for every max value - for ( W it=0;it=theta_max){ - arg_max = map_lay[layer]; - theta_max = theta; - } - atomicAdd(&newmap[get_map_idx(idx, arg_max)], theta_max); - } - } - """ - ).substitute(), - name="alpha_kernel", - ) - return alpha_kernel - - -def average_kernel( - width, height, -): - average_kernel = cp.ElementwiseKernel( - in_params="raw V newmap, raw W pcl_chan, raw W map_lay, raw W pcl_channels, raw U new_elmap", - out_params="raw U map", - preamble=string.Template( - """ - __device__ int get_map_idx(int idx, int layer_n) { - const int layer = ${width} * ${height}; - return layer * layer_n + idx; - } - """ - ).substitute(width=width, height=height), - operation=string.Template( - """ - U id = floorf(i/pcl_channels[1]); - int layer = i % pcl_channels[1]; - U cnt = new_elmap[get_map_idx(id, 2)]; - if (cnt>0){ - U feat = newmap[get_map_idx(id, map_lay[layer])]/(1*cnt); - map[get_map_idx(id, map_lay[layer])] = feat; - } - """ - ).substitute(), - name="average_map_kernel", - ) - return average_kernel - - -def bayesian_inference_kernel( - width, height, -): - bayesian_inference_kernel = cp.ElementwiseKernel( - in_params=" raw W pcl_chan, raw W map_lay, raw W pcl_channels, raw U new_elmap", - out_params="raw U newmap, raw U sum_mean, raw U map", - preamble=string.Template( - """ - __device__ int get_map_idx(int idx, int layer_n) { - const int layer = ${width} * ${height}; - return layer * layer_n + idx; - } - """ - ).substitute(width=width, height=height), - operation=string.Template( - """ - U id = floorf(i/pcl_channels[1]); - int layer = i % pcl_channels[1]; - U cnt = new_elmap[get_map_idx(id, 2)]; - if (cnt>0){ - U feat_ml = sum_mean[get_map_idx(id, layer)]/cnt; - U feat_old = map[get_map_idx(id, map_lay[layer])]; - U sigma_old = newmap[get_map_idx(id, map_lay[layer])]; - U sigma = 1.0; - U feat_new = sigma*feat_old /(cnt*sigma_old + sigma) +cnt*sigma_old *feat_ml /(cnt*sigma_old+sigma); - U sigma_new = sigma*sigma_old /(cnt*sigma_old +sigma); - map[get_map_idx(id, map_lay[layer])] = feat_new; - newmap[get_map_idx(id, map_lay[layer])] = sigma_new; - } - """ - ).substitute(), - name="bayesian_inference_kernel", - ) - return bayesian_inference_kernel - - -def class_average_kernel( - width, height, alpha, -): - class_average_kernel = cp.ElementwiseKernel( - in_params="raw V newmap, raw W pcl_chan, raw W map_lay, raw W pcl_channels, raw U new_elmap", - out_params="raw U map", - preamble=string.Template( - """ - __device__ int get_map_idx(int idx, int layer_n) { - const int layer = ${width} * ${height}; - return layer * layer_n + idx; - } - """ - ).substitute(width=width, height=height), - operation=string.Template( - """ - U id = floorf(i/pcl_channels[1]); - int layer = i % pcl_channels[1]; - U cnt = new_elmap[get_map_idx(id, 2)]; - if (cnt>0){ - U prev_val = map[get_map_idx(id, map_lay[layer])]; - if (prev_val==0){ - U val = newmap[get_map_idx(id, map_lay[layer])]/(1*cnt); - map[get_map_idx(id, map_lay[layer])] = val; - } - else{ - U val = ${alpha} *prev_val + (1-${alpha}) * newmap[get_map_idx(id, map_lay[layer])]/(cnt); - map[get_map_idx(id, map_lay[layer])] = val; - } - } - """ - ).substitute(alpha=alpha,), - name="class_average_kernel", - ) - return class_average_kernel - - -def add_color_kernel( - width, height, -): - add_color_kernel = cp.ElementwiseKernel( - in_params="raw T p, raw U R, raw U t, raw W pcl_chan, raw W map_lay, raw W pcl_channels", - out_params="raw V color_map", - preamble=string.Template( - """ - __device__ int get_map_idx(int idx, int layer_n) { - const int layer = ${width} * ${height}; - return layer * layer_n + idx; - } - __device__ unsigned int get_r(unsigned int color){ - unsigned int red = 0xFF0000; - unsigned int reds = (color & red) >> 16; - return reds; - } - __device__ unsigned int get_g(unsigned int color){ - unsigned int green = 0xFF00; - unsigned int greens = (color & green) >> 8; - return greens; - } - __device__ unsigned int get_b(unsigned int color){ - unsigned int blue = 0xFF; - unsigned int blues = ( color & blue); - return blues; - } - """ - ).substitute(width=width, height=height), - operation=string.Template( - """ - U id = floorf(i/pcl_channels[1]); - int layer = i % pcl_channels[1]; - U idx = p[id * pcl_channels[0]]; - U valid = p[id * pcl_channels[0] + 1]; - U inside = p[id * pcl_channels[0] + 2]; - if (valid && inside){ - unsigned int color = __float_as_uint(p[id * pcl_channels[0] + pcl_chan[layer]]); - atomicAdd(&color_map[get_map_idx(idx, layer*3)], get_r(color)); - atomicAdd(&color_map[get_map_idx(idx, layer*3+1)], get_g(color)); - atomicAdd(&color_map[get_map_idx(idx, layer*3 + 2)], get_b(color)); - atomicAdd(&color_map[get_map_idx(idx, pcl_channels[1]*3)], 1); - } - """ - ).substitute(width=width), - name="add_color_kernel", - ) - return add_color_kernel - - -def color_average_kernel( - width, height, -): - color_average_kernel = cp.ElementwiseKernel( - in_params="raw V color_map, raw W pcl_chan, raw W map_lay, raw W pcl_channels", - out_params="raw U map", - preamble=string.Template( - """ - __device__ int get_map_idx(int idx, int layer_n) { - const int layer = ${width} * ${height}; - return layer * layer_n + idx; - } - __device__ unsigned int get_r(unsigned int color){ - unsigned int red = 0xFF0000; - unsigned int reds = (color & red) >> 16; - return reds; - } - __device__ unsigned int get_g(unsigned int color){ - unsigned int green = 0xFF00; - unsigned int greens = (color & green) >> 8; - return greens; - } - __device__ unsigned int get_b(unsigned int color){ - unsigned int blue = 0xFF; - unsigned int blues = (color & blue); - return blues; - } - """ - ).substitute(width=width, height=height), - operation=string.Template( - """ - U id = floorf(i/pcl_channels[1]); - int layer = i % pcl_channels[1]; - unsigned int cnt = color_map[get_map_idx(id, pcl_channels[1]*3)]; - if (cnt>0){ - // U prev_color = map[get_map_idx(id, map_lay[layer])]; - unsigned int r = color_map[get_map_idx(id, layer*3)]/(1*cnt); - unsigned int g = color_map[get_map_idx(id, layer*3+1)]/(1*cnt); - unsigned int b = color_map[get_map_idx(id, layer*3+2)]/(1*cnt); - //if (prev_color>=0){ - // unsigned int prev_r = get_r(prev_color); - // unsigned int prev_g = get_g(prev_color); - // unsigned int prev_b = get_b(prev_color); - // unsigned int r = prev_r/2 + color_map[get_map_idx(i, layer*3)]/(2*cnt); - // unsigned int g = prev_g/2 + color_map[get_map_idx(i, layer*3+1)]/(2*cnt); - // unsigned int b = prev_b/2 + color_map[get_map_idx(i, layer*3+2)]/(2*cnt); - //} - unsigned int rgb = (r<<16) + (g << 8) + b; - float rgb_ = __uint_as_float(rgb); - map[get_map_idx(id, map_lay[layer])] = rgb_; - } - """ - ).substitute(), - name="color_average_kernel", - ) - return color_average_kernel diff --git a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/kernels/kk.py b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/kernels/kk.py deleted file mode 100644 index 27562dda..00000000 --- a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/kernels/kk.py +++ /dev/null @@ -1,1290 +0,0 @@ -# -# Copyright (c) 2023, Takahiro Miki. All rights reserved. -# Licensed under the MIT license. See LICENSE file in the project root for details. -# -import cupy as cp -import string - - -def sum_kernel( - resolution, width, height, -): - """Sums the semantic values of the classes for the exponentiala verage or for the average. - - Args: - resolution: - width: - height: - - Returns: - - """ - # input the list of layers, amount of channels can slo be input through kernel - sum_kernel = cp.ElementwiseKernel( - in_params="raw U p, raw U R, raw U t, raw W pcl_chan, raw W map_lay, raw W pcl_channels", - out_params="raw U map, raw U newmap", - preamble=string.Template( - """ - __device__ int get_map_idx(int idx, int layer_n) { - const int layer = ${width} * ${height}; - return layer * layer_n + idx; - } - """ - ).substitute(resolution=resolution, width=width, height=height), - operation=string.Template( - """ - U id = floorf(i/pcl_channels[1]); - int layer = i % pcl_channels[1]; - U idx = p[id * pcl_channels[0]]; - U valid = p[id * pcl_channels[0] + 1]; - U inside = p[id * pcl_channels[0] + 2]; - if (valid) { - if (inside) { - U feat = p[id * pcl_channels[0] + pcl_chan[layer]]; - atomicAdd(&newmap[get_map_idx(idx, map_lay[layer])], feat); - } - } - """ - ).substitute(), - name="sum_kernel", - ) - return sum_kernel - - -def sum_compact_kernel( - resolution, width, height, -): - # input the list of layers, amount of channels can slo be input through kernel - sum_compact_kernel = cp.ElementwiseKernel( - in_params="raw U p, raw U R, raw U t, raw W pcl_chan, raw W map_lay, raw W pcl_channels", - out_params=" raw U newmap", - preamble=string.Template( - """ - __device__ int get_map_idx(int idx, int layer_n) { - const int layer = ${width} * ${height}; - return layer * layer_n + idx; - } - """ - ).substitute(resolution=resolution, width=width, height=height), - operation=string.Template( - """ - U id = floorf(i/pcl_channels[1]); - int layer = i % pcl_channels[1]; - U idx = p[id * pcl_channels[0]]; - U valid = p[id * pcl_channels[0] + 1]; - U inside = p[id * pcl_channels[0] + 2]; - if (valid) { - if (inside) { - U feat = p[id * pcl_channels[0] + pcl_chan[layer]]; - atomicAdd(&newmap[get_map_idx(idx, layer)], feat); - } - } - """ - ).substitute(), - name="sum_compact_kernel", - ) - return sum_compact_kernel - - -def sum_max_kernel( - resolution, width, height, -): - # input the list of layers, amount of channels can slo be input through kernel - sum_max_kernel = cp.ElementwiseKernel( - in_params="raw U p, raw U max_pt, raw T max_id, raw W pcl_chan, raw W map_lay, raw W pcl_channels", - out_params=" raw U newmap", - preamble=string.Template( - """ - __device__ int get_map_idx(int idx, int layer_n) { - const int layer = ${width} * ${height}; - return layer * layer_n + idx; - } - """ - ).substitute(resolution=resolution, width=width, height=height), - operation=string.Template( - """ - U idx = p[i * pcl_channels[0]]; - U valid = p[i * pcl_channels[0] + 1]; - U inside = p[i * pcl_channels[0] + 2]; - if (valid) { - if (inside) { - // for every max value - for ( W it=0;it=theta_max){ - arg_max = map_lay[layer]; - theta_max = theta; - } - atomicAdd(&newmap[get_map_idx(idx, arg_max)], theta_max); - } - } - """ - ).substitute(), - name="alpha_kernel", - ) - return alpha_kernel - - -def average_kernel( - width, height, -): - average_kernel = cp.ElementwiseKernel( - in_params="raw V newmap, raw W pcl_chan, raw W map_lay, raw W pcl_channels, raw U new_elmap", - out_params="raw U map", - preamble=string.Template( - """ - __device__ int get_map_idx(int idx, int layer_n) { - const int layer = ${width} * ${height}; - return layer * layer_n + idx; - } - """ - ).substitute(width=width, height=height), - operation=string.Template( - """ - U id = floorf(i/pcl_channels[1]); - int layer = i % pcl_channels[1]; - U cnt = new_elmap[get_map_idx(id, 2)]; - if (cnt>0){ - U feat = newmap[get_map_idx(id, map_lay[layer])]/(1*cnt); - map[get_map_idx(id, map_lay[layer])] = feat; - } - """ - ).substitute(), - name="average_map_kernel", - ) - return average_kernel - - -def bayesian_inference_kernel( - width, height, -): - bayesian_inference_kernel = cp.ElementwiseKernel( - in_params=" raw W pcl_chan, raw W map_lay, raw W pcl_channels, raw U new_elmap", - out_params="raw U newmap, raw U sum_mean, raw U map", - preamble=string.Template( - """ - __device__ int get_map_idx(int idx, int layer_n) { - const int layer = ${width} * ${height}; - return layer * layer_n + idx; - } - """ - ).substitute(width=width, height=height), - operation=string.Template( - """ - U id = floorf(i/pcl_channels[1]); - int layer = i % pcl_channels[1]; - U cnt = new_elmap[get_map_idx(id, 2)]; - if (cnt>0){ - U feat_ml = sum_mean[get_map_idx(id, layer)]/cnt; - U feat_old = map[get_map_idx(id, map_lay[layer])]; - U sigma_old = newmap[get_map_idx(id, map_lay[layer])]; - U sigma = 1.0; - U feat_new = sigma*feat_old /(cnt*sigma_old + sigma) +cnt*sigma_old *feat_ml /(cnt*sigma_old+sigma); - U sigma_new = sigma*sigma_old /(cnt*sigma_old +sigma); - map[get_map_idx(id, map_lay[layer])] = feat_new; - newmap[get_map_idx(id, map_lay[layer])] = sigma_new; - } - """ - ).substitute(), - name="bayesian_inference_kernel", - ) - return bayesian_inference_kernel - - -def class_average_kernel( - width, height, alpha, -): - class_average_kernel = cp.ElementwiseKernel( - in_params="raw V newmap, raw W pcl_chan, raw W map_lay, raw W pcl_channels, raw U new_elmap", - out_params="raw U map", - preamble=string.Template( - """ - __device__ int get_map_idx(int idx, int layer_n) { - const int layer = ${width} * ${height}; - return layer * layer_n + idx; - } - """ - ).substitute(width=width, height=height), - operation=string.Template( - """ - U id = floorf(i/pcl_channels[1]); - int layer = i % pcl_channels[1]; - U cnt = new_elmap[get_map_idx(id, 2)]; - if (cnt>0){ - U prev_val = map[get_map_idx(id, map_lay[layer])]; - if (prev_val==0){ - U val = newmap[get_map_idx(id, map_lay[layer])]/(1*cnt); - map[get_map_idx(id, map_lay[layer])] = val; - } - else{ - U val = ${alpha} *prev_val + (1-${alpha}) * newmap[get_map_idx(id, map_lay[layer])]/(cnt); - map[get_map_idx(id, map_lay[layer])] = val; - } - } - """ - ).substitute(alpha=alpha,), - name="class_average_kernel", - ) - return class_average_kernel - - -def add_color_kernel( - width, height, -): - add_color_kernel = cp.ElementwiseKernel( - in_params="raw T p, raw U R, raw U t, raw W pcl_chan, raw W map_lay, raw W pcl_channels", - out_params="raw V color_map", - preamble=string.Template( - """ - __device__ int get_map_idx(int idx, int layer_n) { - const int layer = ${width} * ${height}; - return layer * layer_n + idx; - } - __device__ unsigned int get_r(unsigned int color){ - unsigned int red = 0xFF0000; - unsigned int reds = (color & red) >> 16; - return reds; - } - __device__ unsigned int get_g(unsigned int color){ - unsigned int green = 0xFF00; - unsigned int greens = (color & green) >> 8; - return greens; - } - __device__ unsigned int get_b(unsigned int color){ - unsigned int blue = 0xFF; - unsigned int blues = ( color & blue); - return blues; - } - """ - ).substitute(width=width, height=height), - operation=string.Template( - """ - U id = floorf(i/pcl_channels[1]); - int layer = i % pcl_channels[1]; - U idx = p[id * pcl_channels[0]]; - U valid = p[id * pcl_channels[0] + 1]; - U inside = p[id * pcl_channels[0] + 2]; - if (valid && inside){ - unsigned int color = __float_as_uint(p[id * pcl_channels[0] + pcl_chan[layer]]); - atomicAdd(&color_map[get_map_idx(idx, layer*3)], get_r(color)); - atomicAdd(&color_map[get_map_idx(idx, layer*3+1)], get_g(color)); - atomicAdd(&color_map[get_map_idx(idx, layer*3 + 2)], get_b(color)); - atomicAdd(&color_map[get_map_idx(idx, pcl_channels[1]*3)], 1); - } - """ - ).substitute(width=width), - name="add_color_kernel", - ) - return add_color_kernel - - -def color_average_kernel( - width, height, -): - color_average_kernel = cp.ElementwiseKernel( - in_params="raw V color_map, raw W pcl_chan, raw W map_lay, raw W pcl_channels", - out_params="raw U map", - preamble=string.Template( - """ - __device__ int get_map_idx(int idx, int layer_n) { - const int layer = ${width} * ${height}; - return layer * layer_n + idx; - } - __device__ unsigned int get_r(unsigned int color){ - unsigned int red = 0xFF0000; - unsigned int reds = (color & red) >> 16; - return reds; - } - __device__ unsigned int get_g(unsigned int color){ - unsigned int green = 0xFF00; - unsigned int greens = (color & green) >> 8; - return greens; - } - __device__ unsigned int get_b(unsigned int color){ - unsigned int blue = 0xFF; - unsigned int blues = (color & blue); - return blues; - } - """ - ).substitute(width=width, height=height), - operation=string.Template( - """ - U id = floorf(i/pcl_channels[1]); - int layer = i % pcl_channels[1]; - unsigned int cnt = color_map[get_map_idx(id, pcl_channels[1]*3)]; - if (cnt>0){ - // U prev_color = map[get_map_idx(id, map_lay[layer])]; - unsigned int r = color_map[get_map_idx(id, layer*3)]/(1*cnt); - unsigned int g = color_map[get_map_idx(id, layer*3+1)]/(1*cnt); - unsigned int b = color_map[get_map_idx(id, layer*3+2)]/(1*cnt); - //if (prev_color>=0){ - // unsigned int prev_r = get_r(prev_color); - // unsigned int prev_g = get_g(prev_color); - // unsigned int prev_b = get_b(prev_color); - // unsigned int r = prev_r/2 + color_map[get_map_idx(i, layer*3)]/(2*cnt); - // unsigned int g = prev_g/2 + color_map[get_map_idx(i, layer*3+1)]/(2*cnt); - // unsigned int b = prev_b/2 + color_map[get_map_idx(i, layer*3+2)]/(2*cnt); - //} - unsigned int rgb = (r<<16) + (g << 8) + b; - float rgb_ = __uint_as_float(rgb); - map[get_map_idx(id, map_lay[layer])] = rgb_; - } - """ - ).substitute(), - name="color_average_kernel", - ) - return color_average_kernel - - - -def map_utils( - resolution, - width, - height, - sensor_noise_factor, - min_valid_distance, - max_height_range, - ramped_height_range_a, - ramped_height_range_b, - ramped_height_range_c, -): - util_preamble = string.Template( - """ - __device__ float16 clamp(float16 x, float16 min_x, float16 max_x) { - - return max(min(x, max_x), min_x); - } - __device__ int get_x_idx(float16 x, float16 center) { - int i = (x - center) / ${resolution} + 0.5 * ${width}; - return i; - } - __device__ int get_y_idx(float16 y, float16 center) { - int i = (y - center) / ${resolution} + 0.5 * ${height}; - return i; - } - __device__ bool is_inside(int idx) { - int idx_x = idx / ${width}; - int idx_y = idx % ${width}; - if (idx_x == 0 || idx_x == ${width} - 1) { - return false; - } - if (idx_y == 0 || idx_y == ${height} - 1) { - return false; - } - return true; - } - __device__ int get_idx(float16 x, float16 y, float16 center_x, float16 center_y) { - int idx_x = clamp(get_x_idx(x, center_x), 0, ${width} - 1); - int idx_y = clamp(get_y_idx(y, center_y), 0, ${height} - 1); - return ${width} * idx_x + idx_y; - } - __device__ int get_map_idx(int idx, int layer_n) { - const int layer = ${width} * ${height}; - return layer * layer_n + idx; - } - __device__ float transform_p(float16 x, float16 y, float16 z, - float16 r0, float16 r1, float16 r2, float16 t) { - return r0 * x + r1 * y + r2 * z + t; - } - __device__ float z_noise(float16 z){ - return ${sensor_noise_factor} * z * z; - } - - __device__ float point_sensor_distance(float16 x, float16 y, float16 z, - float16 sx, float16 sy, float16 sz) { - float d = (x - sx) * (x - sx) + (y - sy) * (y - sy) + (z - sz) * (z - sz); - return d; - } - - __device__ bool is_valid(float16 x, float16 y, float16 z, - float16 sx, float16 sy, float16 sz) { - float d = point_sensor_distance(x, y, z, sx, sy, sz); - float dxy = max(sqrt(x * x + y * y) - ${ramped_height_range_b}, 0.0); - if (d < ${min_valid_distance} * ${min_valid_distance}) { - return false; - } - else if (z - sz > dxy * ${ramped_height_range_a} + ${ramped_height_range_c} || z - sz > ${max_height_range}) { - return false; - } - else { - return true; - } - } - - __device__ float ray_vector(float16 tx, float16 ty, float16 tz, - float16 px, float16 py, float16 pz, - float16& rx, float16& ry, float16& rz){ - float16 vx = px - tx; - float16 vy = py - ty; - float16 vz = pz - tz; - float16 norm = sqrt(vx * vx + vy * vy + vz * vz); - if (norm > 0) { - rx = vx / norm; - ry = vy / norm; - rz = vz / norm; - } - else { - rx = 0; - ry = 0; - rz = 0; - } - return norm; - } - - __device__ float inner_product(float16 x1, float16 y1, float16 z1, - float16 x2, float16 y2, float16 z2) { - - float product = (x1 * x2 + y1 * y2 + z1 * z2); - return product; - } - - """ - ).substitute( - resolution=resolution, - width=width, - height=height, - sensor_noise_factor=sensor_noise_factor, - min_valid_distance=min_valid_distance, - max_height_range=max_height_range, - ramped_height_range_a=ramped_height_range_a, - ramped_height_range_b=ramped_height_range_b, - ramped_height_range_c=ramped_height_range_c, - ) - return util_preamble - - -def add_points_kernel( - resolution, - width, - height, - sensor_noise_factor, - mahalanobis_thresh, - outlier_variance, - wall_num_thresh, - max_ray_length, - cleanup_step, - min_valid_distance, - max_height_range, - cleanup_cos_thresh, - ramped_height_range_a, - ramped_height_range_b, - ramped_height_range_c, - enable_edge_shaped=True, - enable_visibility_cleanup=True, -): - add_points_kernel = cp.ElementwiseKernel( - in_params="raw U center_x, raw U center_y, raw U R, raw U t, raw U norm_map", - out_params="raw U p, raw U map, raw T newmap", - preamble=map_utils( - resolution, - width, - height, - sensor_noise_factor, - min_valid_distance, - max_height_range, - ramped_height_range_a, - ramped_height_range_b, - ramped_height_range_c, - ), - operation=string.Template( - """ - U rx = p[i * 3]; - U ry = p[i * 3 + 1]; - U rz = p[i * 3 + 2]; - U x = transform_p(rx, ry, rz, R[0], R[1], R[2], t[0]); - U y = transform_p(rx, ry, rz, R[3], R[4], R[5], t[1]); - U z = transform_p(rx, ry, rz, R[6], R[7], R[8], t[2]); - U v = z_noise(rz); - int idx = get_idx(x, y, center_x[0], center_y[0]); - if (is_valid(x, y, z, t[0], t[1], t[2])) { - if (is_inside(idx)) { - U map_h = map[get_map_idx(idx, 0)]; - U map_v = map[get_map_idx(idx, 1)]; - U num_points = newmap[get_map_idx(idx, 4)]; - if (abs(map_h - z) > (map_v * ${mahalanobis_thresh})) { - atomicAdd(&map[get_map_idx(idx, 1)], ${outlier_variance}); - } - else { - if (${enable_edge_shaped} && (num_points > ${wall_num_thresh}) && (z < map_h - map_v * ${mahalanobis_thresh} / num_points)) { - // continue; - } - else { - T new_h = (map_h * v + z * map_v) / (map_v + v); - T new_v = (map_v * v) / (map_v + v); - atomicAdd(&newmap[get_map_idx(idx, 0)], new_h); - atomicAdd(&newmap[get_map_idx(idx, 1)], new_v); - atomicAdd(&newmap[get_map_idx(idx, 2)], 1.0); - // is Valid - map[get_map_idx(idx, 2)] = 1; - // Time layer - map[get_map_idx(idx, 4)] = 0.0; - // Upper bound - map[get_map_idx(idx, 5)] = new_h; - map[get_map_idx(idx, 6)] = 0.0; - } - // visibility cleanup - } - } - } - if (${enable_visibility_cleanup}) { - float16 ray_x, ray_y, ray_z; - float16 ray_length = ray_vector(t[0], t[1], t[2], x, y, z, ray_x, ray_y, ray_z); - ray_length = min(ray_length, (float16)${max_ray_length}); - int last_nidx = -1; - for (float16 s=${ray_step}; s < ray_length; s+=${ray_step}) { - // iterate through ray - U nx = t[0] + ray_x * s; - U ny = t[1] + ray_y * s; - U nz = t[2] + ray_z * s; - int nidx = get_idx(nx, ny, center_x[0], center_y[0]); - if (last_nidx == nidx) {continue;} // Skip if we're still in the same cell - else {last_nidx = nidx;} - if (!is_inside(nidx)) {continue;} - - U nmap_h = map[get_map_idx(nidx, 0)]; - U nmap_v = map[get_map_idx(nidx, 1)]; - U nmap_valid = map[get_map_idx(nidx, 2)]; - // traversability - U nmap_trav = map[get_map_idx(nidx, 3)]; - // Time layer - U non_updated_t = map[get_map_idx(nidx, 4)]; - // upper bound - U nmap_upper = map[get_map_idx(nidx, 5)]; - U nmap_is_upper = map[get_map_idx(nidx, 6)]; - - // If point is close or is farther away than ray length, skip. - float16 d = (x - nx) * (x - nx) + (y - ny) * (y - ny) + (z - nz) * (z - nz); - if (d < 0.1 || !is_valid(x, y, z, t[0], t[1], t[2])) {continue;} - - // If invalid, do upper bound check, then skip - if (nmap_valid < 0.5) { - if (nz < nmap_upper || nmap_is_upper < 0.5) { - map[get_map_idx(nidx, 5)] = nz; - map[get_map_idx(nidx, 6)] = 1.0f; - } - continue; - } - // If updated recently, skip - if (non_updated_t < 0.5) {continue;} - - if (nmap_h > nz + 0.01 - min(nmap_v, 1.0) * 0.05) { - // If ray and norm is vertical, skip - U norm_x = norm_map[get_map_idx(nidx, 0)]; - U norm_y = norm_map[get_map_idx(nidx, 1)]; - U norm_z = norm_map[get_map_idx(nidx, 2)]; - float product = inner_product(ray_x, ray_y, ray_z, norm_x, norm_y, norm_z); - if (fabs(product) < ${cleanup_cos_thresh}) {continue;} - U num_points = newmap[get_map_idx(nidx, 3)]; - if (num_points > ${wall_num_thresh} && non_updated_t < 1.0) {continue;} - - // Finally, this cell is penetrated by the ray. - atomicAdd(&map[get_map_idx(nidx, 2)], -${cleanup_step}/(ray_length / ${max_ray_length})); - atomicAdd(&map[get_map_idx(nidx, 1)], ${outlier_variance}); - // Do upper bound check. - if (nz < nmap_upper || nmap_is_upper < 0.5) { - map[get_map_idx(nidx, 5)] = nz; - map[get_map_idx(nidx, 6)] = 1.0f; - } - } - } - } - p[i * 3]= idx; - p[i * 3 + 1] = is_valid(x, y, z, t[0], t[1], t[2]); - p[i * 3 + 2] = is_inside(idx); - """ - ).substitute( - mahalanobis_thresh=mahalanobis_thresh, - outlier_variance=outlier_variance, - wall_num_thresh=wall_num_thresh, - ray_step=resolution / 2 ** 0.5, - max_ray_length=max_ray_length, - cleanup_step=cleanup_step, - cleanup_cos_thresh=cleanup_cos_thresh, - enable_edge_shaped=int(enable_edge_shaped), - enable_visibility_cleanup=int(enable_visibility_cleanup), - ), - name="add_points_kernel", - ) - return add_points_kernel - - -def error_counting_kernel( - resolution, - width, - height, - sensor_noise_factor, - mahalanobis_thresh, - outlier_variance, - traversability_inlier, - min_valid_distance, - max_height_range, - ramped_height_range_a, - ramped_height_range_b, - ramped_height_range_c, -): - error_counting_kernel = cp.ElementwiseKernel( - in_params="raw U map, raw U p, raw U center_x, raw U center_y, raw U R, raw U t", - out_params="raw U newmap, raw T error, raw T error_cnt", - preamble=map_utils( - resolution, - width, - height, - sensor_noise_factor, - min_valid_distance, - max_height_range, - ramped_height_range_a, - ramped_height_range_b, - ramped_height_range_c, - ), - operation=string.Template( - """ - U rx = p[i * 3]; - U ry = p[i * 3 + 1]; - U rz = p[i * 3 + 2]; - U x = transform_p(rx, ry, rz, R[0], R[1], R[2], t[0]); - U y = transform_p(rx, ry, rz, R[3], R[4], R[5], t[1]); - U z = transform_p(rx, ry, rz, R[6], R[7], R[8], t[2]); - U v = z_noise(rz); - // if (!is_valid(z, t[2])) {return;} - if (!is_valid(x, y, z, t[0], t[1], t[2])) {return;} - // if ((x - t[0]) * (x - t[0]) + (y - t[1]) * (y - t[1]) + (z - t[2]) * (z - t[2]) < 0.5) {return;} - int idx = get_idx(x, y, center_x[0], center_y[0]); - if (!is_inside(idx)) { - return; - } - U map_h = map[get_map_idx(idx, 0)]; - U map_v = map[get_map_idx(idx, 1)]; - U map_valid = map[get_map_idx(idx, 2)]; - U map_t = map[get_map_idx(idx, 3)]; - if (map_valid > 0.5 && (abs(map_h - z) < (map_v * ${mahalanobis_thresh})) - && map_v < ${outlier_variance} / 2.0 - && map_t > ${traversability_inlier}) { - T e = z - map_h; - atomicAdd(&error[0], e); - atomicAdd(&error_cnt[0], 1); - atomicAdd(&newmap[get_map_idx(idx, 3)], 1.0); - } - atomicAdd(&newmap[get_map_idx(idx, 4)], 1.0); - """ - ).substitute( - mahalanobis_thresh=mahalanobis_thresh, - outlier_variance=outlier_variance, - traversability_inlier=traversability_inlier, - ), - name="error_counting_kernel", - ) - return error_counting_kernel - - -def average_map_kernel(width, height, max_variance, initial_variance): - average_map_kernel = cp.ElementwiseKernel( - in_params="raw U newmap", - out_params="raw U map", - preamble=string.Template( - """ - __device__ int get_map_idx(int idx, int layer_n) { - const int layer = ${width} * ${height}; - return layer * layer_n + idx; - } - """ - ).substitute(width=width, height=height), - operation=string.Template( - """ - U h = map[get_map_idx(i, 0)]; - U v = map[get_map_idx(i, 1)]; - U valid = map[get_map_idx(i, 2)]; - U new_h = newmap[get_map_idx(i, 0)]; - U new_v = newmap[get_map_idx(i, 1)]; - U new_cnt = newmap[get_map_idx(i, 2)]; - if (new_cnt > 0) { - if (new_v / new_cnt > ${max_variance}) { - map[get_map_idx(i, 0)] = 0; - map[get_map_idx(i, 1)] = ${initial_variance}; - map[get_map_idx(i, 2)] = 0; - } - else { - map[get_map_idx(i, 0)] = new_h / new_cnt; - map[get_map_idx(i, 1)] = new_v / new_cnt; - map[get_map_idx(i, 2)] = 1; - } - } - if (valid < 0.5) { - map[get_map_idx(i, 0)] = 0; - map[get_map_idx(i, 1)] = ${initial_variance}; - map[get_map_idx(i, 2)] = 0; - } - """ - ).substitute(max_variance=max_variance, initial_variance=initial_variance), - name="average_map_kernel", - ) - return average_map_kernel - - -def dilation_filter_kernel(width, height, dilation_size): - dilation_filter_kernel = cp.ElementwiseKernel( - in_params="raw U map, raw U mask", - out_params="raw U newmap, raw U newmask", - preamble=string.Template( - """ - __device__ int get_map_idx(int idx, int layer_n) { - const int layer = ${width} * ${height}; - return layer * layer_n + idx; - } - - __device__ int get_relative_map_idx(int idx, int dx, int dy, int layer_n) { - const int layer = ${width} * ${height}; - const int relative_idx = idx + ${width} * dy + dx; - return layer * layer_n + relative_idx; - } - __device__ bool is_inside(int idx) { - int idx_x = idx / ${width}; - int idx_y = idx % ${width}; - if (idx_x <= 0 || idx_x >= ${width} - 1) { - return false; - } - if (idx_y <= 0 || idx_y >= ${height} - 1) { - return false; - } - return true; - } - """ - ).substitute(width=width, height=height), - operation=string.Template( - """ - U h = map[get_map_idx(i, 0)]; - U valid = mask[get_map_idx(i, 0)]; - newmap[get_map_idx(i, 0)] = h; - if (valid < 0.5) { - U distance = 100; - U near_value = 0; - for (int dy = -${dilation_size}; dy <= ${dilation_size}; dy++) { - for (int dx = -${dilation_size}; dx <= ${dilation_size}; dx++) { - int idx = get_relative_map_idx(i, dx, dy, 0); - if (!is_inside(idx)) {continue;} - U valid = mask[idx]; - if(valid > 0.5 && dx + dy < distance) { - distance = dx + dy; - near_value = map[idx]; - } - } - } - if(distance < 100) { - newmap[get_map_idx(i, 0)] = near_value; - newmask[get_map_idx(i, 0)] = 1.0; - } - } - """ - ).substitute(dilation_size=dilation_size), - name="dilation_filter_kernel", - ) - return dilation_filter_kernel - - -def normal_filter_kernel(width, height, resolution): - normal_filter_kernel = cp.ElementwiseKernel( - in_params="raw U map, raw U mask", - out_params="raw U newmap", - preamble=string.Template( - """ - __device__ int get_map_idx(int idx, int layer_n) { - const int layer = ${width} * ${height}; - return layer * layer_n + idx; - } - - __device__ int get_relative_map_idx(int idx, int dx, int dy, int layer_n) { - const int layer = ${width} * ${height}; - const int relative_idx = idx + ${width} * dy + dx; - return layer * layer_n + relative_idx; - } - __device__ bool is_inside(int idx) { - int idx_x = idx / ${width}; - int idx_y = idx % ${width}; - if (idx_x <= 0 || idx_x >= ${width} - 1) { - return false; - } - if (idx_y <= 0 || idx_y >= ${height} - 1) { - return false; - } - return true; - } - __device__ float resolution() { - return ${resolution}; - } - """ - ).substitute(width=width, height=height, resolution=resolution), - operation=string.Template( - """ - U h = map[get_map_idx(i, 0)]; - U valid = mask[get_map_idx(i, 0)]; - if (valid > 0.5) { - int idx_x = get_relative_map_idx(i, 1, 0, 0); - int idx_y = get_relative_map_idx(i, 0, 1, 0); - if (!is_inside(idx_x) || !is_inside(idx_y)) { return; } - float dzdx = (map[idx_x] - h); - float dzdy = (map[idx_y] - h); - float nx = -dzdy / resolution(); - float ny = -dzdx / resolution(); - float nz = 1; - float norm = sqrt((nx * nx) + (ny * ny) + 1); - newmap[get_map_idx(i, 0)] = nx / norm; - newmap[get_map_idx(i, 1)] = ny / norm; - newmap[get_map_idx(i, 2)] = nz / norm; - } - """ - ).substitute(), - name="normal_filter_kernel", - ) - return normal_filter_kernel - - -def polygon_mask_kernel(width, height, resolution): - polygon_mask_kernel = cp.ElementwiseKernel( - in_params="raw U polygon, raw U center_x, raw U center_y, raw int16 polygon_n, raw U polygon_bbox", - out_params="raw U mask", - preamble=string.Template( - """ - __device__ struct Point - { - int x; - int y; - }; - // Given three colinear points p, q, r, the function checks if - // point q lies on line segment 'pr' - __device__ bool onSegment(Point p, Point q, Point r) - { - if (q.x <= max(p.x, r.x) && q.x >= min(p.x, r.x) && - q.y <= max(p.y, r.y) && q.y >= min(p.y, r.y)) - return true; - return false; - } - // To find orientation of ordered triplet (p, q, r). - // The function returns following values - // 0 --> p, q and r are colinear - // 1 --> Clockwise - // 2 --> Counterclockwise - __device__ int orientation(Point p, Point q, Point r) - { - int val = (q.y - p.y) * (r.x - q.x) - - (q.x - p.x) * (r.y - q.y); - if (val == 0) return 0; // colinear - return (val > 0)? 1: 2; // clock or counterclock wise - } - // The function that returns true if line segment 'p1q1' - // and 'p2q2' intersect. - __device__ bool doIntersect(Point p1, Point q1, Point p2, Point q2) - { - // Find the four orientations needed for general and - // special cases - int o1 = orientation(p1, q1, p2); - int o2 = orientation(p1, q1, q2); - int o3 = orientation(p2, q2, p1); - int o4 = orientation(p2, q2, q1); - // General case - if (o1 != o2 && o3 != o4) - return true; - // Special Cases - // p1, q1 and p2 are colinear and p2 lies on segment p1q1 - if (o1 == 0 && onSegment(p1, p2, q1)) return true; - // p1, q1 and p2 are colinear and q2 lies on segment p1q1 - if (o2 == 0 && onSegment(p1, q2, q1)) return true; - // p2, q2 and p1 are colinear and p1 lies on segment p2q2 - if (o3 == 0 && onSegment(p2, p1, q2)) return true; - // p2, q2 and q1 are colinear and q1 lies on segment p2q2 - if (o4 == 0 && onSegment(p2, q1, q2)) return true; - return false; // Doesn't fall in any of the above cases - } - __device__ int get_map_idx(int idx, int layer_n) { - const int layer = ${width} * ${height}; - return layer * layer_n + idx; - } - - __device__ int get_idx_x(int idx){ - int idx_x = idx / ${width}; - return idx_x; - } - - __device__ int get_idx_y(int idx){ - int idx_y = idx % ${width}; - return idx_y; - } - - __device__ float16 clamp(float16 x, float16 min_x, float16 max_x) { - - return max(min(x, max_x), min_x); - } - __device__ float16 round(float16 x) { - return (int)x + (int)(2 * (x - (int)x)); - } - __device__ int get_x_idx(float16 x, float16 center) { - const float resolution = ${resolution}; - const float width = ${width}; - int i = (x - center) / resolution + 0.5 * width; - return i; - } - __device__ int get_y_idx(float16 y, float16 center) { - const float resolution = ${resolution}; - const float height = ${height}; - int i = (y - center) / resolution + 0.5 * height; - return i; - } - __device__ int get_idx(float16 x, float16 y, float16 center_x, float16 center_y) { - int idx_x = clamp(get_x_idx(x, center_x), 0, ${width} - 1); - int idx_y = clamp(get_y_idx(y, center_y), 0, ${height} - 1); - return ${width} * idx_x + idx_y; - } - - """ - ).substitute(width=width, height=height, resolution=resolution), - operation=string.Template( - """ - // Point p = {get_idx_x(i, center_x[0]), get_idx_y(i, center_y[0])}; - Point p = {get_idx_x(i), get_idx_y(i)}; - Point extreme = {100000, p.y}; - int bbox_min_idx = get_idx(polygon_bbox[0], polygon_bbox[1], center_x[0], center_y[0]); - int bbox_max_idx = get_idx(polygon_bbox[2], polygon_bbox[3], center_x[0], center_y[0]); - Point bmin = {get_idx_x(bbox_min_idx), get_idx_y(bbox_min_idx)}; - Point bmax = {get_idx_x(bbox_max_idx), get_idx_y(bbox_max_idx)}; - if (p.x < bmin.x || p.x > bmax.x || p.y < bmin.y || p.y > bmax.y){ - mask[i] = 0; - return; - } - else { - int intersect_cnt = 0; - for (int j = 0; j < polygon_n[0]; j++) { - Point p1, p2; - int i1 = get_idx(polygon[j * 2 + 0], polygon[j * 2 + 1], center_x[0], center_y[0]); - p1.x = get_idx_x(i1); - p1.y = get_idx_y(i1); - int j2 = (j + 1) % polygon_n[0]; - int i2 = get_idx(polygon[j2 * 2 + 0], polygon[j2 * 2 + 1], center_x[0], center_y[0]); - p2.x = get_idx_x(i2); - p2.y = get_idx_y(i2); - if (doIntersect(p1, p2, p, extreme)) - { - // If the point 'p' is colinear with line segment 'i-next', - // then check if it lies on segment. If it lies, return true, - // otherwise false - if (orientation(p1, p, p2) == 0) { - if (onSegment(p1, p, p2)){ - mask[i] = 1; - return; - } - } - else if(((p1.y <= p.y) && (p2.y > p.y)) || ((p1.y > p.y) && (p2.y <= p.y))){ - intersect_cnt++; - } - } - } - if (intersect_cnt % 2 == 0) { mask[i] = 0; } - else { mask[i] = 1; } - } - """ - ).substitute(a=1), - name="polygon_mask_kernel", - ) - return polygon_mask_kernel - - - -def image_to_map_correspondence_kernel(resolution, width, height, tolerance_z_collision): - """ - This function calculates the correspondence between the image and the map. - It takes in the resolution, width, height, and tolerance_z_collision as parameters. - The function returns a kernel that can be used to perform the correspondence calculation. - """ - _image_to_map_correspondence_kernel = cp.ElementwiseKernel( - in_params="raw U map, raw U x1, raw U y1, raw U z1, raw U P, raw U K, raw U D, raw U image_height, raw U image_width, raw U center", - out_params="raw U uv_correspondence, raw B valid_correspondence", - preamble=string.Template( - """ - __device__ int get_map_idx(int idx, int layer_n) { - const int layer = ${width} * ${height}; - return layer * layer_n + idx; - } - __device__ bool is_inside_map(int x, int y) { - return (x >= 0 && y >= 0 && x<${width} && y<${height}); - } - __device__ float get_l2_distance(int x0, int y0, int x1, int y1) { - float dx = x0-x1; - float dy = y0-y1; - return sqrt( dx*dx + dy*dy); - } - """ - ).substitute(width=width, height=height, resolution=resolution), - operation=string.Template( - """ - int cell_idx = get_map_idx(i, 0); - - // return if gridcell has no valid height - if (map[get_map_idx(i, 2)] != 1){ - return; - } - - // get current cell position - int y0 = i % ${width}; - int x0 = i / ${width}; - - // gridcell 3D point in worldframe TODO reverse x and y - float p1 = (x0-(${width}/2)) * ${resolution} + center[0]; - float p2 = (y0-(${height}/2)) * ${resolution} + center[1]; - float p3 = map[cell_idx] + center[2]; - - // reproject 3D point into image plane - float u = p1 * P[0] + p2 * P[1] + p3 * P[2] + P[3]; - float v = p1 * P[4] + p2 * P[5] + p3 * P[6] + P[7]; - float d = p1 * P[8] + p2 * P[9] + p3 * P[10] + P[11]; - - // filter point behind image plane - if (d <= 0) { - return; - } - u = u/d; - v = v/d; - - // Check if D is all zeros - bool is_D_zero = (D[0] == 0 && D[1] == 0 && D[2] == 0 && D[3] == 0 && D[4] == 0); - - // Apply undistortion using distortion matrix D if not all zeros - if (!is_D_zero) { - float k1 = D[0]; - float k2 = D[1]; - float p1 = D[2]; - float p2 = D[3]; - float k3 = D[4]; - float fx = K[0]; - float fy = K[4]; - float cx = K[2]; - float cy = K[5]; - float x = (u - cx) / fx; - float y = (v - cy) / fy; - float r2 = x * x + y * y; - float radial_distortion = 1 + k1 * r2 + k2 * r2 * r2 + k3 * r2 * r2 * r2; - float u_corrected = x * radial_distortion + 2 * p1 * x * y + p2 * (r2 + 2 * x * x); - float v_corrected = y * radial_distortion + 2 * p2 * x * y + p1 * (r2 + 2 * y * y); - u = fx * u_corrected + cx; - v = fy * v_corrected + cy; - } - - // filter point next to image plane - if ((u < 0) || (v < 0) || (u >= image_width) || (v >= image_height)){ - return; - } - - int y0_c = y0; - int x0_c = x0; - float total_dis = get_l2_distance(x0_c, y0_c, x1,y1); - float z0 = map[cell_idx]; - float delta_z = z1-z0; - - - // bresenham algorithm to iterate over cells in line between camera center and current gridmap cell - // https://en.wikipedia.org/wiki/Bresenham%27s_line_algorithm - int dx = abs(x1-x0); - int sx = x0 < x1 ? 1 : -1; - int dy = -abs(y1 - y0); - int sy = y0 < y1 ? 1 : -1; - int error = dx + dy; - - bool is_valid = true; - - // iterate over all cells along line - while (1){ - // assumption we do not need to check the height for camera center cell - if (x0 == x1 && y0 == y1){ - break; - } - - // check if height is invalid - if (is_inside_map(x0,y0)){ - int idx = y0 + (x0 * ${width}); - if (map[get_map_idx(idx, 2)]){ - float dis = get_l2_distance(x0_c, y0_c, x0, y0); - float rayheight = z0 + ( dis / total_dis * delta_z); - if ( map[idx] - ${tolerance_z_collision} > rayheight){ - is_valid = false; - break; - } - } - } - - - // computation of next gridcell index in line - int e2 = 2 * error; - if (e2 >= dy){ - if(x0 == x1){ - break; - } - error = error + dy; - x0 = x0 + sx; - } - if (e2 <= dx){ - if (y0 == y1){ - break; - } - error = error + dx; - y0 = y0 + sy; - } - } - - // mark the correspondence - uv_correspondence[get_map_idx(i, 0)] = u; - uv_correspondence[get_map_idx(i, 1)] = v; - valid_correspondence[get_map_idx(i, 0)] = is_valid; - """ - ).substitute(height=height, width=width, resolution=resolution, tolerance_z_collision=tolerance_z_collision), - name="image_to_map_correspondence_kernel", - ) - return _image_to_map_correspondence_kernel - - -def average_correspondences_to_map_kernel(width, height): - """ - This function calculates the average correspondences to the map. - It takes in the width and height as parameters. - The function returns a kernel that can be used to perform the correspondence calculation. - """ - _average_correspondences_to_map_kernel = cp.ElementwiseKernel( - in_params="raw U sem_map, raw U map_idx, raw U image_mono, raw U uv_correspondence, raw B valid_correspondence, raw U image_height, raw U image_width", - out_params="raw U new_sem_map", - preamble=string.Template( - """ - __device__ int get_map_idx(int idx, int layer_n) { - const int layer = ${width} * ${height}; - return layer * layer_n + idx; - } - """ - ).substitute(width=width, height=height), - operation=string.Template( - """ - int cell_idx = get_map_idx(i, 0); - if (valid_correspondence[cell_idx]){ - int cell_idx_2 = get_map_idx(i, 1); - int idx = int(uv_correspondence[cell_idx]) + int(uv_correspondence[cell_idx_2]) * image_width; - new_sem_map[get_map_idx(i, map_idx)] = image_mono[idx]; - }else{ - new_sem_map[get_map_idx(i, map_idx)] = sem_map[get_map_idx(i, map_idx)]; - } - - """ - ).substitute(), - name="average_correspondences_to_map_kernel", - ) - return _average_correspondences_to_map_kernel - - -def exponential_correspondences_to_map_kernel(width, height, alpha): - """ - This function calculates the exponential correspondences to the map. - It takes in the width, height, and alpha as parameters. - The function returns a kernel that can be used to perform the correspondence calculation. - """ - _exponential_correspondences_to_map_kernel = cp.ElementwiseKernel( - in_params="raw U sem_map, raw U map_idx, raw U image_mono, raw U uv_correspondence, raw B valid_correspondence, raw U image_height, raw U image_width", - out_params="raw U new_sem_map", - preamble=string.Template( - """ - __device__ int get_map_idx(int idx, int layer_n) { - const int layer = ${width} * ${height}; - return layer * layer_n + idx; - } - """ - ).substitute(width=width, height=height), - operation=string.Template( - """ - int cell_idx = get_map_idx(i, 0); - if (valid_correspondence[cell_idx]){ - int cell_idx_2 = get_map_idx(i, 1); - int idx = int(uv_correspondence[cell_idx]) + int(uv_correspondence[cell_idx_2]) * image_width; - new_sem_map[get_map_idx(i, map_idx)] = sem_map[get_map_idx(i, map_idx)] * (1-${alpha}) + ${alpha} * image_mono[idx]; - }else{ - new_sem_map[get_map_idx(i, map_idx)] = sem_map[get_map_idx(i, map_idx)]; - } - - """ - ).substitute(alpha=alpha), - name="exponential_correspondences_to_map_kernel", - ) - return _exponential_correspondences_to_map_kernel - - -def color_correspondences_to_map_kernel(width, height): - """ - This function calculates the color correspondences to the map. - It takes in the width and height as parameters. - The function returns a kernel that can be used to perform the correspondence calculation. - """ - _color_correspondences_to_map_kernel = cp.ElementwiseKernel( - in_params="raw U sem_map, raw U map_idx, raw U image_rgb, raw U uv_correspondence, raw B valid_correspondence, raw U image_height, raw U image_width", - out_params="raw U new_sem_map", - preamble=string.Template( - """ - __device__ int get_map_idx(int idx, int layer_n) { - const int layer = ${width} * ${height}; - return layer * layer_n + idx; - } - """ - ).substitute(width=width, height=height), - operation=string.Template( - """ - int cell_idx = get_map_idx(i, 0); - if (valid_correspondence[cell_idx]){ - int cell_idx_2 = get_map_idx(i, 1); - - int idx_red = int(uv_correspondence[cell_idx]) + int(uv_correspondence[cell_idx_2]) * image_width; - int idx_green = image_width * image_height + idx_red; - int idx_blue = image_width * image_height * 2 + idx_red; - - unsigned int r = image_rgb[idx_red]; - unsigned int g = image_rgb[idx_green]; - unsigned int b = image_rgb[idx_blue]; - - unsigned int rgb = (r<<16) + (g << 8) + b; - float rgb_ = __uint_as_float(rgb); - new_sem_map[get_map_idx(i, map_idx)] = rgb_; - }else{ - new_sem_map[get_map_idx(i, map_idx)] = sem_map[get_map_idx(i, map_idx)]; - } - """ - ).substitute(), - name="color_correspondences_to_map_kernel", - ) - return _color_correspondences_to_map_kernel diff --git a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/map_initializer.py b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/map_initializer.py deleted file mode 100644 index 0139ea76..00000000 --- a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/map_initializer.py +++ /dev/null @@ -1,80 +0,0 @@ -# -# Copyright (c) 2022, Takahiro Miki. All rights reserved. -# Licensed under the MIT license. See LICENSE file in the project root for details. -# -from scipy.interpolate import griddata -import numpy as np -import cupy as cp - - -class MapInitializer(object): - def __init__(self, initial_variance, new_variance, xp=np, method="points"): - self.methods = ["points"] - assert method in self.methods, "method should be chosen from {}".format(self.methods) - self.method = method - self.xp = xp - self.initial_variance = initial_variance - self.new_variance = new_variance - - def __call__(self, *args, **kwargs): - if self.method == "points": - self.points_initializer(*args, **kwargs) - else: - return - - def points_initializer(self, elevation_map, points, method="linear"): - """Initialize the map using interpolation between given points - - Args: - elevation_map (cupy._core.core.ndarray): elevation_map data. - points (cupy._core.core.ndarray): points used to interpolate. - method (str): method for interpolation. (nearest, linear, cubic) - - """ - # points from existing map. - points_idx = self.xp.where(elevation_map[2] > 0.5) - values = elevation_map[0, points_idx[0], points_idx[1]] - - # Add external points for interpolation. - points_idx = self.xp.stack(points_idx).T - points_idx = self.xp.vstack([points_idx, points[:, :2]]) - values = self.xp.hstack([values, points[:, 2]]) - - assert points_idx.shape[0] > 3, "Initialization points must be more than 3." - - # Interpolation using griddata function. - w = elevation_map.shape[1] - h = elevation_map.shape[2] - grid_x, grid_y = np.mgrid[0:w, 0:h] - if self.xp == cp: - points_idx = cp.asnumpy(points_idx) - values = cp.asnumpy(values) - interpolated = griddata(points_idx, values, (grid_x, grid_y), method=method) - if self.xp == cp: - interpolated = cp.asarray(interpolated) - - # Update elevation map. - elevation_map[0] = self.xp.nan_to_num(interpolated) - elevation_map[1] = self.xp.where( - self.xp.invert(self.xp.isnan(interpolated)), self.new_variance, self.initial_variance - ) - elevation_map[2] = self.xp.where(self.xp.invert(self.xp.isnan(interpolated)), 1.0, 0.0) - return - - -if __name__ == "__main__": - initializer = MapInitializer(100, 10, method="points", xp=cp) - m = np.zeros((4, 10, 10)) - m[0, 0:5, 2:5] = 0.3 - m[2, 0:5, 2:5] = 1.0 - np.set_printoptions(threshold=100) - print(m[0]) - print(m[1]) - print(m[2]) - points = cp.array([[0, 0, 0.2], [8, 0, 0.2], [6, 9, 0.2]]) - # [3, 3, 0.2]]) - m = cp.asarray(m) - initializer(m, points, method="cubic") - print(m[0]) - print(m[1]) - print(m[2]) diff --git a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/parameter.py b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/parameter.py deleted file mode 100644 index 2193ad02..00000000 --- a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/parameter.py +++ /dev/null @@ -1,300 +0,0 @@ -# -# Copyright (c) 2022, Takahiro Miki. All rights reserved. -# Licensed under the MIT license. See LICENSE file in the project root for details. -# -from dataclasses import dataclass, field -import pickle -import numpy as np -from simple_parsing.helpers import Serializable -from dataclasses import field -from typing import Tuple - - -@dataclass -class Parameter(Serializable): - """ - This class holds the parameters for the elevation mapping algorithm. - - Attributes: - resolution: The resolution in meters. - (Default: ``0.04``) - subscriber_cfg: The configuration for the subscriber. - (Default: ``{ "front_cam": { "channels": ["rgb", "person"], "topic_name": "/elevation_mapping/pointcloud_semantic", "data_type": "pointcloud", } }``) - additional_layers: The additional layers for the map. - (Default: ``["color"]``) - fusion_algorithms: The list of fusion algorithms. - (Default: ``[ "image_color", "image_exponential", "pointcloud_average", "pointcloud_bayesian_inference", "pointcloud_class_average", "pointcloud_class_bayesian", "pointcloud_class_max", "pointcloud_color", ]``) - pointcloud_channel_fusions: The fusion for pointcloud channels. - (Default: ``{"rgb": "color", "default": "class_average"}``) - image_channel_fusions: The fusion for image channels. - (Default: ``{"rgb": "color", "default": "exponential"}``) - data_type: The data type for the map. - (Default: ``np.float32``) - average_weight: The weight for the average fusion. - (Default: ``0.5``) - map_length: The map's size in meters. - (Default: ``8.0``) - sensor_noise_factor: The point's noise is sensor_noise_factor*z^2 (z is distance from sensor). - (Default: ``0.05``) - mahalanobis_thresh: Points outside this distance is outlier. - (Default: ``2.0``) - outlier_variance: If point is outlier, add this value to the cell. - (Default: ``0.01``) - drift_compensation_variance_inlier: Cells under this value is used for drift compensation. - (Default: ``0.1``) - time_variance: Add this value when update_variance is called. - (Default: ``0.01``) - time_interval: Time layer is updated with this interval. - (Default: ``0.1``) - max_variance: The maximum variance for each cell. - (Default: ``1.0``) - dilation_size: The dilation filter size before traversability filter. - (Default: ``2``) - dilation_size_initialize: The dilation size after the init. - (Default: ``10``) - drift_compensation_alpha: The drift compensation alpha for smoother update of drift compensation. - (Default: ``1.0``) - traversability_inlier: Cells with higher traversability are used for drift compensation. - (Default: ``0.1``) - wall_num_thresh: If there are more points than this value, only higher points than the current height are used to make the wall more sharp. - (Default: ``100``) - min_height_drift_cnt: Drift compensation only happens if the valid cells are more than this number. - (Default: ``100``) - max_ray_length: The maximum length for ray tracing. - (Default: ``2.0``) - cleanup_step: Substitute this value from validity layer at visibility cleanup. - (Default: ``0.01``) - cleanup_cos_thresh: Substitute this value from validity layer at visibility cleanup. - (Default: ``0.5``) - min_valid_distance: Points with shorter distance will be filtered out. - (Default: ``0.3``) - max_height_range: Points higher than this value from sensor will be filtered out to disable ceiling. - (Default: ``1.0``) - ramped_height_range_a: If z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject. - (Default: ``0.3``) - ramped_height_range_b: If z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject. - (Default: ``1.0``) - ramped_height_range_c: If z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject. - (Default: ``0.2``) - safe_thresh: If traversability is smaller, it is counted as unsafe cell. - (Default: ``0.5``) - safe_min_thresh: Polygon is unsafe if there exists lower traversability than this. - (Default: ``0.5``) - max_unsafe_n: If the number of cells under safe_thresh exceeds this value, polygon is unsafe. - (Default: ``20``) - checker_layer: Layer used for checking safety. - (Default: ``"traversability"``) - min_filter_size: The minimum size for the filter. - (Default: ``5``) - min_filter_iteration: The minimum number of iterations for the filter. - (Default: ``3``) - max_drift: The maximum drift for the compensation. - (Default: ``0.10``) - overlap_clear_range_xy: XY range [m] for clearing overlapped area. This defines the valid area for overlap clearance. (used for multi floor setting) - (Default: ``4.0``) - overlap_clear_range_z: Z range [m] for clearing overlapped area. Cells outside this range will be cleared. (used for multi floor setting) - (Default: ``2.0``) - enable_edge_sharpen: Enable edge sharpening. - (Default: ``True``) - enable_drift_compensation: Enable drift compensation. - (Default: ``True``) - enable_visibility_cleanup: Enable visibility cleanup. - (Default: ``True``) - enable_overlap_clearance: Enable overlap clearance. - (Default: ``True``) - use_only_above_for_upper_bound: Use only above for upper bound. - (Default: ``True``) - use_chainer: Use chainer as a backend of traversability filter or pytorch. If false, it uses pytorch. Pytorch requires ~2GB more GPU memory compared to chainer but runs faster. - (Default: ``True``) - position_noise_thresh: If the position change is bigger than this value, the drift compensation happens. - (Default: ``0.1``) - orientation_noise_thresh: If the orientation change is bigger than this value, the drift compensation happens. - (Default: ``0.1``) - plugin_config_file: Configuration file for the plugin. - (Default: ``"config/plugin_config.yaml"``) - weight_file: Weight file for traversability filter. - (Default: ``"config/weights.dat"``) - initial_variance: Initial variance for each cell. - (Default: ``10.0``) - initialized_variance: Initialized variance for each cell. - (Default: ``10.0``) - w1: Weights for the first layer. - (Default: ``np.zeros((4, 1, 3, 3))``) - w2: Weights for the second layer. - (Default: ``np.zeros((4, 1, 3, 3))``) - w3: Weights for the third layer. - (Default: ``np.zeros((4, 1, 3, 3))``) - w_out: Weights for the output layer. - (Default: ``np.zeros((1, 12, 1, 1))``) - true_map_length: True length of the map. - (Default: ``None``) - cell_n: Number of cells in the map. - (Default: ``None``) - true_cell_n: True number of cells in the map. - (Default: ``None``) - - """ - resolution: float = 0.04 # resolution in m. - subscriber_cfg: dict = field( - default_factory=lambda: { - "front_cam": { - "channels": ["rgb", "person"], - "topic_name": "/elevation_mapping/pointcloud_semantic", - "data_type": "pointcloud", - } - } - ) # configuration for the subscriber - additional_layers: list = field(default_factory=lambda: ["color"]) # additional layers for the map - fusion_algorithms: list = field( - default_factory=lambda: [ - "image_color", - "image_exponential", - "pointcloud_average", - "pointcloud_bayesian_inference", - "pointcloud_class_average", - "pointcloud_class_bayesian", - "pointcloud_class_max", - "pointcloud_color", - ] - ) # list of fusion algorithms - pointcloud_channel_fusions: dict = field(default_factory=lambda: {"rgb": "color", "default": "class_average"}) # fusion for pointcloud channels - image_channel_fusions: dict = field(default_factory=lambda: {"rgb": "color", "default": "exponential"}) # fusion for image channels - data_type: str = np.float32 # data type for the map - average_weight: float = 0.5 # weight for the average fusion - - map_length: float = 8.0 # map's size in m. - sensor_noise_factor: float = 0.05 # point's noise is sensor_noise_factor*z^2 (z is distance from sensor). - mahalanobis_thresh: float = 2.0 # points outside this distance is outlier. - outlier_variance: float = 0.01 # if point is outlier, add this value to the cell. - drift_compensation_variance_inlier: float = 0.1 # cells under this value is used for drift compensation. - time_variance: float = 0.01 # add this value when update_variance is called. - time_interval: float = 0.1 # Time layer is updated with this interval. - - max_variance: float = 1.0 # maximum variance for each cell. - dilation_size: int = 2 # dilation filter size before traversability filter. - dilation_size_initialize: int = 10 # dilation size after the init. - drift_compensation_alpha: float = 1.0 # drift compensation alpha for smoother update of drift compensation. - - traversability_inlier: float = 0.1 # cells with higher traversability are used for drift compensation. - wall_num_thresh: int = 100 # if there are more points than this value, only higher points than the current height are used to make the wall more sharp. - min_height_drift_cnt: int = 100 # drift compensation only happens if the valid cells are more than this number. - - max_ray_length: float = 2.0 # maximum length for ray tracing. - cleanup_step: float = 0.01 # substitute this value from validity layer at visibility cleanup. - cleanup_cos_thresh: float = 0.5 # substitute this value from validity layer at visibility cleanup. - min_valid_distance: float = 0.3 # points with shorter distance will be filtered out. - max_height_range: float = 1.0 # points higher than this value from sensor will be filtered out to disable ceiling. - ramped_height_range_a: float = 0.3 # if z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject. - ramped_height_range_b: float = 1.0 # if z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject. - ramped_height_range_c: float = 0.2 # if z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject. - - safe_thresh: float = 0.5 # if traversability is smaller, it is counted as unsafe cell. - safe_min_thresh: float = 0.5 # polygon is unsafe if there exists lower traversability than this. - max_unsafe_n: int = 20 # if the number of cells under safe_thresh exceeds this value, polygon is unsafe. - checker_layer: str = "traversability" # layer used for checking safety - - min_filter_size: int = 5 # minimum size for the filter - min_filter_iteration: int = 3 # minimum number of iterations for the filter - - max_drift: float = 0.10 # maximum drift for the compensation - - overlap_clear_range_xy: float = 4.0 # xy range [m] for clearing overlapped area. this defines the valid area for overlap clearance. (used for multi floor setting) - overlap_clear_range_z: float = 2.0 # z range [m] for clearing overlapped area. cells outside this range will be cleared. (used for multi floor setting) - - enable_edge_sharpen: bool = True # enable edge sharpening - enable_drift_compensation: bool = True # enable drift compensation - enable_visibility_cleanup: bool = True # enable visibility cleanup - enable_overlap_clearance: bool = True # enable overlap clearance - use_only_above_for_upper_bound: bool = True # use only above for upper bound - use_chainer: bool = True # use chainer as a backend of traversability filter or pytorch. If false, it uses pytorch. pytorch requires ~2GB more GPU memory compared to chainer but runs faster. - position_noise_thresh: float = 0.1 # if the position change is bigger than this value, the drift compensation happens. - orientation_noise_thresh: float = 0.1 # if the orientation change is bigger than this value, the drift compensation happens. - - # plugin_config_file: str = "config/plugin_config.yaml" # configuration file for the plugin - weight_file: str = "config/weights.dat" # weight file for traversability filter - - initial_variance: float = 10.0 # initial variance for each cell. - initialized_variance: float = 10.0 # initialized variance for each cell. - w1: np.ndarray = field(default_factory=lambda: np.zeros((4, 1, 3, 3))) # weights for the first layer - w2: np.ndarray = field(default_factory=lambda: np.zeros((4, 1, 3, 3))) # weights for the second layer - w3: np.ndarray = field(default_factory=lambda: np.zeros((4, 1, 3, 3))) # weights for the third layer - w_out: np.ndarray = field(default_factory=lambda: np.zeros((1, 12, 1, 1))) # weights for the output layer - - # # not configurable params - true_map_length: float = None # true length of the map - cell_n: int = None # number of cells in the map - true_cell_n: int = None # true number of cells in the map - - def load_weights(self, filename): - """ - Load weights from a file into the model's parameters. - - Args: - filename (str): The path to the file containing the weights. - """ - with open(filename, "rb") as file: - weights = pickle.load(file) - self.w1 = weights["conv1.weight"] - self.w2 = weights["conv2.weight"] - self.w3 = weights["conv3.weight"] - self.w_out = weights["conv_final.weight"] - - def get_names(self): - """ - Get the names of the parameters. - - Returns: - list: A list of parameter names. - """ - return list(self.__annotations__.keys()) - - def get_types(self): - """ - Get the types of the parameters. - - Returns: - list: A list of parameter types. - """ - return [v.__name__ for v in self.__annotations__.values()] - - def set_value(self, name, value): - """ - Set the value of a parameter. - - Args: - name (str): The name of the parameter. - value (any): The new value for the parameter. - """ - setattr(self, name, value) - - def get_value(self, name): - """ - Get the value of a parameter. - - Args: - name (str): The name of the parameter. - - Returns: - any: The value of the parameter. - """ - return getattr(self, name) - - def update(self): - """ - Update the parameters related to the map size and resolution. - """ - # +2 is a border for outside map - self.cell_n = int(round(self.map_length / self.resolution)) + 2 - self.true_cell_n = round(self.map_length / self.resolution) - self.true_map_length = self.true_cell_n * self.resolution - - -# if __name__ == "__main__": -# param = Parameter() -# print(param) -# print(param.resolution) -# param.set_value("resolution", 0.1) -# print(param.resolution) - -# print("names ", param.get_names()) -# print("types ", param.get_types()) diff --git a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/plugins/erosion.py b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/plugins/erosion.py deleted file mode 100644 index 7b0211df..00000000 --- a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/plugins/erosion.py +++ /dev/null @@ -1,113 +0,0 @@ -# -# Copyright (c) 2024, Takahiro Miki. All rights reserved. -# Licensed under the MIT license. See LICENSE file in the project root for details. -# -import cv2 as cv -import cupy as cp -import numpy as np - -from typing import List - -from .plugin_manager import PluginBase - - -class Erosion(PluginBase): - """ - This class is used for applying erosion to an elevation map or specific layers within it. - Erosion is a morphological operation that is used to remove small-scale details from a binary image. - - Args: - kernel_size (int): Size of the erosion kernel. Default is 3, which means a 3x3 square kernel. - iterations (int): Number of times erosion is applied. Default is 1. - **kwargs (): Additional keyword arguments. - """ - - def __init__( - self, - input_layer_name="traversability", - kernel_size: int = 3, - iterations: int = 1, - reverse: bool = False, - default_layer_name: str = "traversability", - **kwargs, - ): - super().__init__() - self.input_layer_name = input_layer_name - self.kernel_size = kernel_size - self.iterations = iterations - self.reverse = reverse - self.default_layer_name = default_layer_name - - def __call__( - self, - elevation_map: cp.ndarray, - layer_names: List[str], - plugin_layers: cp.ndarray, - plugin_layer_names: List[str], - semantic_map: cp.ndarray, - semantic_layer_names: List[str], - *args, - ) -> cp.ndarray: - """ - Applies erosion to the given elevation map. - - Args: - elevation_map (cupy._core.core.ndarray): The elevation map to be eroded. - layer_names (List[str]): Names of the layers in the elevation map. - plugin_layers (cupy._core.core.ndarray): Layers provided by other plugins. - plugin_layer_names (List[str]): Names of the layers provided by other plugins. - *args (): Additional arguments. - - Returns: - cupy._core.core.ndarray: The eroded elevation map. - """ - # Convert the elevation map to a format suitable for erosion (if necessary) - layer_data = self.get_layer_data( - elevation_map, - layer_names, - plugin_layers, - plugin_layer_names, - semantic_map, - semantic_layer_names, - self.input_layer_name, - ) - if layer_data is None: - print(f"No layers are found, using {self.default_layer_name}!") - layer_data = self.get_layer_data( - elevation_map, - layer_names, - plugin_layers, - plugin_layer_names, - semantic_map, - semantic_layer_names, - self.default_layer_name, - ) - if layer_data is None: - print(f"No layers are found, using traversability!") - layer_data = self.get_layer_data( - elevation_map, - layer_names, - plugin_layers, - plugin_layer_names, - semantic_map, - semantic_layer_names, - "traversability", - ) - layer_np = cp.asnumpy(layer_data) - - # Define the erosion kernel - kernel = np.ones((self.kernel_size, self.kernel_size), np.uint8) - - if self.reverse: - layer_np = 1 - layer_np - # Apply erosion - layer_min = float(layer_np.min()) - layer_max = float(layer_np.max()) - layer_np_normalized = ((layer_np - layer_min) * 255 / (layer_max - layer_min)).astype("uint8") - eroded_map_np = cv.erode(layer_np_normalized, kernel, iterations=self.iterations) - eroded_map_np = eroded_map_np.astype(np.float32) * (layer_max - layer_min) / 255 + layer_min - if self.reverse: - eroded_map_np = 1 - eroded_map_np - - # Convert back to cupy array and return - return cp.asarray(eroded_map_np) diff --git a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/plugins/features_pca.py b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/plugins/features_pca.py deleted file mode 100644 index 94f88823..00000000 --- a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/plugins/features_pca.py +++ /dev/null @@ -1,96 +0,0 @@ -# -# Copyright (c) 2022, Takahiro Miki. All rights reserved. -# Licensed under the MIT license. See LICENSE file in the project root for details. -# -import cupy as cp -import numpy as np -from typing import List -import re - -from elevation_mapping_cupy.plugins.plugin_manager import PluginBase -from sklearn.decomposition import PCA - - -class FeaturesPca(PluginBase): - """This is a filter to create a pca layer of the semantic features in the map. - - Args: - cell_n (int): width and height of the elevation map. - classes (ruamel.yaml.comments.CommentedSeq): - **kwargs (): - """ - - def __init__( - self, cell_n: int = 100, process_layer_names: List[str] = [], **kwargs, - ): - super().__init__() - self.process_layer_names = process_layer_names - - def get_layer_indices(self, layer_names: List[str]) -> List[int]: - """ Get the indices of the layers that are to be processed using regular expressions. - Args: - layer_names (List[str]): List of layer names. - Returns: - List[int]: List of layer indices. - """ - indices = [] - for i, layer_name in enumerate(layer_names): - if any(re.match(pattern, layer_name) for pattern in self.process_layer_names): - indices.append(i) - return indices - - def __call__( - self, - elevation_map: cp.ndarray, - layer_names: List[str], - plugin_layers: cp.ndarray, - plugin_layer_names: List[str], - semantic_map: cp.ndarray, - semantic_layer_names: List[str], - *args, - ) -> cp.ndarray: - """ - - Args: - elevation_map (cupy._core.core.ndarray): - layer_names (List[str]): - plugin_layers (cupy._core.core.ndarray): - plugin_layer_names (List[str]): - semantic_map (elevation_mapping_cupy.semantic_map.SemanticMap): - *args (): - - Returns: - cupy._core.core.ndarray: - """ - # get indices of all layers that contain semantic features information - data = [] - for m, layer_names in zip( - [elevation_map, plugin_layers, semantic_map], [layer_names, plugin_layer_names, semantic_layer_names] - ): - layer_indices = self.get_layer_indices(layer_names) - if len(layer_indices) > 0: - n_c = m[layer_indices].shape[1] - data_i = cp.reshape(m[layer_indices], (len(layer_indices), -1)).T.get() - data_i = np.clip(data_i, -1, 1) - data.append(data_i) - if len(data) > 0: - data = np.concatenate(data, axis=1) - # check which has the highest value - n_components = 3 - pca = PCA(n_components=n_components).fit(data) - pca_descriptors = pca.transform(data) - img_pca = pca_descriptors.reshape(n_c, n_c, n_components) - comp = img_pca # [:, :, -3:] - comp_min = comp.min(axis=(0, 1)) - comp_max = comp.max(axis=(0, 1)) - if (comp_max - comp_min).any() != 0: - comp_img = np.divide((comp - comp_min), (comp_max - comp_min)) - pca_map = (comp_img * 255).astype(np.uint8) - r = np.asarray(pca_map[:, :, 0], dtype=np.uint32) - g = np.asarray(pca_map[:, :, 1], dtype=np.uint32) - b = np.asarray(pca_map[:, :, 2], dtype=np.uint32) - rgb_arr = np.array((r << 16) | (g << 8) | (b << 0), dtype=np.uint32) - rgb_arr.dtype = np.float32 - return cp.asarray(rgb_arr) - else: - return cp.zeros_like(elevation_map[0]) diff --git a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/plugins/inpainting.py b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/plugins/inpainting.py deleted file mode 100644 index 3e926b00..00000000 --- a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/plugins/inpainting.py +++ /dev/null @@ -1,63 +0,0 @@ -# -# Copyright (c) 2022, Takahiro Miki. All rights reserved. -# Licensed under the MIT license. See LICENSE file in the project root for details. -# -import cupy as cp -from typing import List -import cupyx.scipy.ndimage as ndimage -import numpy as np -import cv2 as cv - -from .plugin_manager import PluginBase - - -class Inpainting(PluginBase): - """ - This class is used for inpainting, a process of reconstructing lost or deteriorated parts of images and videos. - - Args: - cell_n (int): The number of cells. Default is 100. - method (str): The inpainting method. Options are 'telea' or 'ns' (Navier-Stokes). Default is 'telea'. - **kwargs (): Additional keyword arguments. - """ - - def __init__(self, cell_n: int = 100, method: str = "telea", **kwargs): - super().__init__() - if method == "telea": - self.method = cv.INPAINT_TELEA - elif method == "ns": # Navier-Stokes - self.method = cv.INPAINT_NS - else: # default method - self.method = cv.INPAINT_TELEA - - def __call__( - self, - elevation_map: cp.ndarray, - layer_names: List[str], - plugin_layers: cp.ndarray, - plugin_layer_names: List[str], - *args, - ) -> cp.ndarray: - """ - - Args: - elevation_map (cupy._core.core.ndarray): - layer_names (List[str]): - plugin_layers (cupy._core.core.ndarray): - plugin_layer_names (List[str]): - *args (): - - Returns: - cupy._core.core.ndarray: - """ - mask = cp.asnumpy((elevation_map[2] < 0.5).astype("uint8")) - if (mask < 1).any(): - h = elevation_map[0] - h_max = float(h[mask < 1].max()) - h_min = float(h[mask < 1].min()) - h = cp.asnumpy((elevation_map[0] - h_min) * 255 / (h_max - h_min)).astype("uint8") - dst = np.array(cv.inpaint(h, mask, 1, self.method)) - h_inpainted = dst.astype(np.float32) * (h_max - h_min) / 255 + h_min - return cp.asarray(h_inpainted).astype(np.float64) - else: - return elevation_map[0] diff --git a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/plugins/max_layer_filter.py b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/plugins/max_layer_filter.py deleted file mode 100644 index 33bc069a..00000000 --- a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/plugins/max_layer_filter.py +++ /dev/null @@ -1,108 +0,0 @@ -# -# Copyright (c) 2022, Takahiro Miki. All rights reserved. -# Licensed under the MIT license. See LICENSE file in the project root for details. -# -import cupy as cp -import numpy as np -from typing import List - -from elevation_mapping_cupy.plugins.plugin_manager import PluginBase - - -class MaxLayerFilter(PluginBase): - """Applies a maximum filter to the input layers and updates the traversability map. - This can be used to enhance navigation by identifying traversable areas. - - Args: - cell_n (int): The width and height of the elevation map. - reverse (list): A list of boolean values indicating whether to reverse the filter operation for each layer. Default is [True]. - min_or_max (str): A string indicating whether to apply a minimum or maximum filter. Accepts "min" or "max". Default is "max". - layers (list): List of layers for semantic traversability. Default is ["traversability"]. - thresholds (list): List of thresholds for each layer. If the value is bigger than a threshold, assign 1.0 otherwise 0.0. If it is False, it does not apply. Default is [False]. - **kwargs: Additional keyword arguments. - """ - - def __init__( - self, - cell_n: int = 100, - layers: list = ["traversability"], - reverse: list = [True], - min_or_max: str = "max", - thresholds: list = [False], - scales: list = [1.0], - default_value: float = 0.0, - **kwargs, - ): - super().__init__() - self.layers = layers - self.reverse = reverse - self.min_or_max = min_or_max - self.thresholds = thresholds - self.scales = scales - self.default_value = default_value - - def __call__( - self, - elevation_map: cp.ndarray, - layer_names: List[str], - plugin_layers: cp.ndarray, - plugin_layer_names: List[str], - semantic_map: cp.ndarray, - semantic_layer_names: List[str], - *args, - ) -> cp.ndarray: - """ - - Args: - elevation_map (cupy._core.core.ndarray): - layer_names (List[str]): - plugin_layers (cupy._core.core.ndarray): - plugin_layer_names (List[str]): - semantic_map (elevation_mapping_cupy.semantic_map.SemanticMap): - *args (): - - Returns: - cupy._core.core.ndarray: - """ - layers = [] - for it, name in enumerate(self.layers): - layer = self.get_layer_data( - elevation_map, layer_names, plugin_layers, plugin_layer_names, semantic_map, semantic_layer_names, name - ) - if layer is None: - continue - if isinstance(self.default_value, float): - layer = cp.where(layer == 0.0, float(self.default_value), layer) - elif isinstance(self.default_value, str): - default_layer = self.get_layer_data( - elevation_map, - layer_names, - plugin_layers, - plugin_layer_names, - semantic_map, - semantic_layer_names, - self.default_value, - ) - layer = cp.where(layer == 0, default_layer, layer) - if self.reverse[it]: - layer = 1.0 - layer - if len(self.scales) > it and isinstance(self.scales[it], float): - layer = layer * float(self.scales[it]) - if isinstance(self.thresholds[it], float): - layer = cp.where(layer > float(self.thresholds[it]), 1, 0) - layers.append(layer) - if len(layers) == 0: - print("No layers are found, returning traversability!") - if isinstance(self.default_value, float): - layer = cp.ones_like(elevation_map[0]) - layer *= float(self.default_value) - return layer - else: - idx = layer_names.index("traversability") - return elevation_map[idx] - result = cp.stack(layers, axis=0) - if self.min_or_max == "min": - result = cp.min(result, axis=0) - else: - result = cp.max(result, axis=0) - return result diff --git a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/plugins/min_filter.py b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/plugins/min_filter.py deleted file mode 100644 index ebf4300a..00000000 --- a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/plugins/min_filter.py +++ /dev/null @@ -1,118 +0,0 @@ -# -# Copyright (c) 2022, Takahiro Miki. All rights reserved. -# Licensed under the MIT license. See LICENSE file in the project root for details. -# -import cupy as cp -import string -from typing import List - -from .plugin_manager import PluginBase - - -class MinFilter(PluginBase): - """This is a filter to fill in invalid cells with minimum values around. - - Args: - cell_n (int): width of the elevation map. - dilation_size (int): The size of the patch to search for minimum value for each iteration. - iteration_n (int): The number of iteration to repeat the same filter. - **kwargs (): - """ - - def __init__(self, cell_n: int = 100, dilation_size: int = 5, iteration_n: int = 5, **kwargs): - super().__init__() - self.iteration_n = iteration_n - self.width = cell_n - self.height = cell_n - self.min_filtered = cp.zeros((self.width, self.height)) - self.min_filtered_mask = cp.zeros((self.width, self.height)) - self.min_filter_kernel = cp.ElementwiseKernel( - in_params="raw U map, raw U mask", - out_params="raw U newmap, raw U newmask", - preamble=string.Template( - """ - __device__ int get_map_idx(int idx, int layer_n) { - const int layer = ${width} * ${height}; - return layer * layer_n + idx; - } - - __device__ int get_relative_map_idx(int idx, int dx, int dy, int layer_n) { - const int layer = ${width} * ${height}; - const int relative_idx = idx + ${width} * dy + dx; - return layer * layer_n + relative_idx; - } - __device__ bool is_inside(int idx) { - int idx_x = idx / ${width}; - int idx_y = idx % ${width}; - if (idx_x <= 0 || idx_x >= ${width} - 1) { - return false; - } - if (idx_y <= 0 || idx_y >= ${height} - 1) { - return false; - } - return true; - } - """ - ).substitute(width=self.width, height=self.height), - operation=string.Template( - """ - U h = map[get_map_idx(i, 0)]; - U valid = mask[get_map_idx(i, 0)]; - if (valid < 0.5) { - U min_value = 1000000.0; - for (int dy = -${dilation_size}; dy <= ${dilation_size}; dy++) { - for (int dx = -${dilation_size}; dx <= ${dilation_size}; dx++) { - int idx = get_relative_map_idx(i, dx, dy, 0); - if (!is_inside(idx)) {continue;} - U valid = newmask[idx]; - U value = newmap[idx]; - if(valid > 0.5 && value < min_value) { - min_value = value; - } - } - } - if (min_value < 1000000 - 1) { - newmap[get_map_idx(i, 0)] = min_value; - newmask[get_map_idx(i, 0)] = 0.6; - } - } - """ - ).substitute(dilation_size=dilation_size), - name="min_filter_kernel", - ) - - def __call__( - self, - elevation_map: cp.ndarray, - layer_names: List[str], - plugin_layers: cp.ndarray, - plugin_layer_names: List[str], - *args, - ) -> cp.ndarray: - """ - - Args: - elevation_map (cupy._core.core.ndarray): - layer_names (List[str]): - plugin_layers (cupy._core.core.ndarray): - plugin_layer_names (List[str]): - *args (): - - Returns: - cupy._core.core.ndarray: - """ - self.min_filtered = elevation_map[0].copy() - self.min_filtered_mask = elevation_map[2].copy() - for i in range(self.iteration_n): - self.min_filter_kernel( - elevation_map[0], - elevation_map[2], - self.min_filtered, - self.min_filtered_mask, - size=(self.width * self.height), - ) - # If there's no more mask, break - if (self.min_filtered_mask > 0.5).all(): - break - min_filtered = cp.where(self.min_filtered_mask > 0.5, self.min_filtered.copy(), cp.nan) - return min_filtered diff --git a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/plugins/plugin_manager.py b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/plugins/plugin_manager.py deleted file mode 100644 index 26f81d21..00000000 --- a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/plugins/plugin_manager.py +++ /dev/null @@ -1,268 +0,0 @@ -# -# Copyright (c) 2022, Takahiro Miki. All rights reserved. -# Licensed under the MIT license. See LICENSE file in the project root for details. -# -from abc import ABC -import cupy as cp -from typing import List, Dict, Optional -import importlib -import inspect -from dataclasses import dataclass -from ruamel.yaml import YAML -from inspect import signature - - -@dataclass -class PluginParams: - name: str - layer_name: str - fill_nan: bool = False # fill nan to invalid region - is_height_layer: bool = False # if this is a height layer - - -class PluginBase(ABC): - """ - This is a base class of Plugins - """ - - def __init__(self, *args, **kwargs): - """ - - Args: - plugin_params : PluginParams - The parameter of callback - """ - - def __call__( - self, - elevation_map: cp.ndarray, - layer_names: List[str], - plugin_layers: cp.ndarray, - plugin_layer_names: List[str], - semantic_map: cp.ndarray, - semantic_layer_names: List[str], - *args, - **kwargs, - ) -> cp.ndarray: - """This gets the elevation map data and plugin layers as a cupy array. - - - Args: - elevation_map (): - layer_names (): - plugin_layers (): - plugin_layer_names (): - semantic_map (): - semantic_layer_names (): - - Run your processing here and return the result. - layer of elevation_map 0: elevation - 1: variance - 2: is_valid - 3: traversability - 4: time - 5: upper_bound - 6: is_upper_bound - You can also access to the other plugins' layer with plugin_layers and plugin_layer_names - - """ - pass - - def get_layer_data( - self, - elevation_map: cp.ndarray, - layer_names: List[str], - plugin_layers: cp.ndarray, - plugin_layer_names: List[str], - semantic_map: cp.ndarray, - semantic_layer_names: List[str], - name: str, - ) -> Optional[cp.ndarray]: - """ - Retrieve a copy of the layer data from the elevation, plugin, or semantic maps based on the layer name. - - Args: - elevation_map (cp.ndarray): The elevation map containing various layers. - layer_names (List[str]): A list of names for each layer in the elevation map. - plugin_layers (cp.ndarray): The plugin layers containing additional data. - plugin_layer_names (List[str]): A list of names for each layer in the plugin layers. - semantic_map (cp.ndarray): The semantic map containing various layers. - semantic_layer_names (List[str]): A list of names for each layer in the semantic map. - name (str): The name of the layer to retrieve. - - Returns: - Optional[cp.ndarray]: A copy of the requested layer as a cupy ndarray if found, otherwise None. - """ - if name in layer_names: - idx = layer_names.index(name) - layer = elevation_map[idx].copy() - elif name in plugin_layer_names: - idx = plugin_layer_names.index(name) - layer = plugin_layers[idx].copy() - elif name in semantic_layer_names: - idx = semantic_layer_names.index(name) - layer = semantic_map[idx].copy() - else: - print(f"Could not find layer {name}!") - layer = None - return layer - - -class PluginManager(object): - """ - This manages the plugins. - """ - - def __init__(self, cell_n: int): - self.cell_n = cell_n - - def init(self, plugin_params: List[PluginParams], extra_params: List[Dict]): - self.plugin_params = plugin_params - - self.plugins = [] - for param, extra_param in zip(plugin_params, extra_params): - m = importlib.import_module("." + param.name, package="elevation_mapping_cupy.plugins") # -> 'module' - for name, obj in inspect.getmembers(m): - if inspect.isclass(obj) and issubclass(obj, PluginBase) and name != "PluginBase": - # Add cell_n to params - extra_param["cell_n"] = self.cell_n - self.plugins.append(obj(**extra_param)) - self.layers = cp.zeros((len(self.plugins), self.cell_n, self.cell_n), dtype=cp.float32) - self.layer_names = self.get_layer_names() - self.plugin_names = self.get_plugin_names() - - def load_plugin_settings(self, file_path: str): - print("Start loading plugins...") - cfg = YAML().load(open(file_path, "r")) - plugin_params = [] - extra_params = [] - for k, v in cfg.items(): - if v["enable"]: - plugin_params.append( - PluginParams( - name=k if not "type" in v else v["type"], - layer_name=v["layer_name"], - fill_nan=v["fill_nan"], - is_height_layer=v["is_height_layer"], - ) - ) - extra_params.append(v["extra_params"]) - self.init(plugin_params, extra_params) - print("Loaded plugins are ", *self.plugin_names) - - def get_layer_names(self): - names = [] - for obj in self.plugin_params: - names.append(obj.layer_name) - return names - - def get_plugin_names(self): - names = [] - for obj in self.plugin_params: - names.append(obj.name) - return names - - def get_plugin_index_with_name(self, name: str) -> int: - try: - idx = self.plugin_names.index(name) - return idx - except Exception as e: - print("Error with plugin {}: {}".format(name, e)) - return None - - def get_layer_index_with_name(self, name: str) -> int: - try: - idx = self.layer_names.index(name) - return idx - except Exception as e: - print("Error with layer {}: {}".format(name, e)) - return None - - def update_with_name( - self, - name: str, - elevation_map: cp.ndarray, - layer_names: List[str], - semantic_map=None, - semantic_params=None, - rotation=None, - elements_to_shift={}, - ): - idx = self.get_layer_index_with_name(name) - if idx is not None and idx < len(self.plugins): - n_param = len(signature(self.plugins[idx]).parameters) - if n_param == 5: - self.layers[idx] = self.plugins[idx](elevation_map, layer_names, self.layers, self.layer_names) - elif n_param == 7: - self.layers[idx] = self.plugins[idx]( - elevation_map, - layer_names, - self.layers, - self.layer_names, - semantic_map, - semantic_params, - ) - elif n_param == 8: - self.layers[idx] = self.plugins[idx]( - elevation_map, - layer_names, - self.layers, - self.layer_names, - semantic_map, - semantic_params, - rotation, - ) - else: - self.layers[idx] = self.plugins[idx]( - elevation_map, - layer_names, - self.layers, - self.layer_names, - semantic_map, - semantic_params, - rotation, - elements_to_shift, - ) - - def get_map_with_name(self, name: str) -> cp.ndarray: - idx = self.get_layer_index_with_name(name) - if idx is not None: - return self.layers[idx] - - def get_param_with_name(self, name: str) -> PluginParams: - idx = self.get_layer_index_with_name(name) - if idx is not None: - return self.plugin_params[idx] - - -if __name__ == "__main__": - plugins = [ - PluginParams(name="min_filter", layer_name="min_filter"), - PluginParams(name="smooth_filter", layer_name="smooth"), - ] - extra_params = [ - {"dilation_size": 5, "iteration_n": 5}, - {"input_layer_name": "elevation2"}, - ] - manager = PluginManager(200) - manager.load_plugin_settings("../config/plugin_config.yaml") - print(manager.layer_names) - print(manager.plugin_names) - elevation_map = cp.zeros((7, 200, 200)).astype(cp.float32) - layer_names = [ - "elevation", - "variance", - "is_valid", - "traversability", - "time", - "upper_bound", - "is_upper_bound", - ] - elevation_map[0] = cp.random.randn(200, 200) - elevation_map[2] = cp.abs(cp.random.randn(200, 200)) - print("map", elevation_map[0]) - print("layer map ", manager.layers) - manager.update_with_name("min_filter", elevation_map, layer_names) - manager.update_with_name("smooth_filter", elevation_map, layer_names) - # manager.update_with_name("sem_fil", elevation_map, layer_names, semantic_map=semantic_map) - print(manager.get_map_with_name("smooth")) diff --git a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/plugins/robot_centric_elevation.py b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/plugins/robot_centric_elevation.py deleted file mode 100644 index 80ac73a3..00000000 --- a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/plugins/robot_centric_elevation.py +++ /dev/null @@ -1,121 +0,0 @@ -# -# Copyright (c) 2022, Takahiro Miki. All rights reserved. -# Licensed under the MIT license. See LICENSE file in the project root for details. -# -import cupy as cp -import string -from typing import List -from .plugin_manager import PluginBase - - -class RobotCentricElevation(PluginBase): - """Generates an elevation map with respect to the robot frame. - - Args: - cell_n (int): - resolution (ruamel.yaml.scalarfloat.ScalarFloat): - threshold (ruamel.yaml.scalarfloat.ScalarFloat): - use_threshold (bool): - **kwargs (): - """ - - def __init__( - self, cell_n: int = 100, resolution: float = 0.05, threshold: float = 0.4, use_threshold: bool = 0, **kwargs - ): - super().__init__() - self.width = cell_n - self.height = cell_n - self.min_filtered = cp.zeros((self.width, self.height), dtype=cp.float32) - - self.base_elevation_kernel = cp.ElementwiseKernel( - in_params="raw U map, raw U mask, raw U R", - out_params="raw U newmap", - preamble=string.Template( - """ - __device__ int get_map_idx(int idx, int layer_n) { - const int layer = ${width} * ${height}; - return layer * layer_n + idx; - } - - __device__ bool is_inside(int idx) { - int idx_x = idx / ${width}; - int idx_y = idx % ${width}; - if (idx_x <= 0 || idx_x >= ${width} - 1) { - return false; - } - if (idx_y <= 0 || idx_y >= ${height} - 1) { - return false; - } - return true; - } - __device__ float get_map_x(int idx){ - float idx_x = idx / ${width}* ${resolution}; - return idx_x; - } - __device__ float get_map_y(int idx){ - float idx_y = idx % ${width}* ${resolution}; - return idx_y; - } - __device__ float transform_p(float x, float y, float z, - float r0, float r1, float r2) { - return r0 * x + r1 * y + r2 * z ; - } - """ - ).substitute(width=self.width, height=self.height, resolution=resolution), - operation=string.Template( - """ - U rz = map[get_map_idx(i, 0)]; - U valid = mask[get_map_idx(i, 0)]; - if (valid > 0.5) { - U rx = get_map_x(get_map_idx(i, 0)); - U ry = get_map_y(get_map_idx(i, 0)); - U x_b = transform_p(rx, ry, rz, R[0], R[1], R[2]); - U y_b = transform_p(rx, ry, rz, R[3], R[4], R[5]); - U z_b = transform_p(rx, ry, rz, R[6], R[7], R[8]); - if (${use_threshold} && z_b>= ${threshold} ) { - newmap[get_map_idx(i, 0)] = 1.0; - } - else if (${use_threshold} && z_b< ${threshold} ){ - newmap[get_map_idx(i, 0)] = 0.0; - } - else{ - newmap[get_map_idx(i, 0)] = z_b; - } - } - """ - ).substitute(threshold=threshold, use_threshold=int(use_threshold)), - name="base_elevation_kernel", - ) - - def __call__( - self, - elevation_map: cp.ndarray, - layer_names: List[str], - plugin_layers: cp.ndarray, - plugin_layer_names: List[str], - semantic_map: cp.ndarray, - semantic_layer_names: List[str], - rotation, - *args, - ) -> cp.ndarray: - """ - - Args: - elevation_map (cupy._core.core.ndarray): - layer_names (List[str]): - plugin_layers (cupy._core.core.ndarray): - plugin_layer_names (List[str]): - semantic_map (elevation_mapping_cupy.semantic_map.SemanticMap): - rotation (cupy._core.core.ndarray): - *args (): - - Returns: - cupy._core.core.ndarray: - """ - # Process maps here - # check that transform is a ndarray - self.min_filtered = elevation_map[0].copy() - self.base_elevation_kernel( - elevation_map[0], elevation_map[2], rotation, self.min_filtered, size=(self.width * self.height), - ) - return self.min_filtered diff --git a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/plugins/semantic_filter.py b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/plugins/semantic_filter.py deleted file mode 100644 index 0ec56010..00000000 --- a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/plugins/semantic_filter.py +++ /dev/null @@ -1,133 +0,0 @@ -# -# Copyright (c) 2022, Takahiro Miki. All rights reserved. -# Licensed under the MIT license. See LICENSE file in the project root for details. -# -import cupy as cp -import numpy as np -from typing import List -import re - -from elevation_mapping_cupy.plugins.plugin_manager import PluginBase - - -class SemanticFilter(PluginBase): - """This is a filter to create a one hot encoded map of the class probabilities. - - Args: - cell_n (int): width and height of the elevation map. - classes (list): List of classes for semantic filtering. Default is ["person", "grass"]. - **kwargs: Additional keyword arguments. - """ - - def __init__( - self, cell_n: int = 100, classes: list = ["person", "grass"], **kwargs, - ): - super().__init__() - self.indices = [] - self.classes = classes - self.color_encoding = self.transform_color() - - def color_map(self, N: int = 256, normalized: bool = False): - """ - Creates a color map with N different colors. - - Args: - N (int, optional): The number of colors in the map. Defaults to 256. - normalized (bool, optional): If True, the colors are normalized to the range [0,1]. Defaults to False. - - Returns: - np.ndarray: The color map. - """ - - def bitget(byteval, idx): - return (byteval & (1 << idx)) != 0 - - dtype = "float32" if normalized else "uint8" - cmap = np.zeros((N + 1, 3), dtype=dtype) - for i in range(N + 1): - r = g = b = 0 - c = i - for j in range(8): - r = r | (bitget(c, 0) << 7 - j) - g = g | (bitget(c, 1) << 7 - j) - b = b | (bitget(c, 2) << 7 - j) - c = c >> 3 - - cmap[i] = np.array([r, g, b]) - - cmap = cmap / 255 if normalized else cmap - cmap[1] = np.array([81, 113, 162]) - cmap[2] = np.array([81, 113, 162]) - cmap[3] = np.array([188, 63, 59]) - return cmap[1:] - - def transform_color(self): - """ - Transforms the color map into a format that can be used for semantic filtering. - - Returns: - cp.ndarray: The transformed color map. - """ - color_classes = self.color_map(255) - r = np.asarray(color_classes[:, 0], dtype=np.uint32) - g = np.asarray(color_classes[:, 1], dtype=np.uint32) - b = np.asarray(color_classes[:, 2], dtype=np.uint32) - rgb_arr = np.array((r << 16) | (g << 8) | (b << 0), dtype=np.uint32) - rgb_arr.dtype = np.float32 - return cp.asarray(rgb_arr) - - def get_layer_indices(self, layer_names: List[str]) -> List[int]: - """ Get the indices of the layers that are to be processed using regular expressions. - Args: - layer_names (List[str]): List of layer names. - Returns: - List[int]: List of layer indices. - """ - indices = [] - for i, layer_name in enumerate(layer_names): - if any(re.match(pattern, layer_name) for pattern in self.classes): - indices.append(i) - return indices - - def __call__( - self, - elevation_map: cp.ndarray, - layer_names: List[str], - plugin_layers: cp.ndarray, - plugin_layer_names: List[str], - semantic_map: cp.ndarray, - semantic_layer_names: List[str], - rotation, - elements_to_shift, - *args, - ) -> cp.ndarray: - """ - - Args: - elevation_map (cupy._core.core.ndarray): - layer_names (List[str]): - plugin_layers (cupy._core.core.ndarray): - plugin_layer_names (List[str]): - semantic_map (elevation_mapping_cupy.semantic_map.SemanticMap): - *args (): - - Returns: - cupy._core.core.ndarray: - """ - # get indices of all layers that contain semantic class information - data = [] - for m, layer_names in zip( - [elevation_map, plugin_layers, semantic_map], [layer_names, plugin_layer_names, semantic_layer_names] - ): - layer_indices = self.get_layer_indices(layer_names) - if len(layer_indices) > 0: - data.append(m[layer_indices]) - if len(data) > 0: - data = cp.concatenate(data, axis=0) - class_map = cp.amax(data, axis=0) - class_map_id = cp.argmax(data, axis=0) - else: - class_map = cp.zeros_like(elevation_map[0]) - class_map_id = cp.zeros_like(elevation_map[0], dtype=cp.int32) - enc = self.color_encoding[class_map_id] - return enc diff --git a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/plugins/semantic_traversability.py b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/plugins/semantic_traversability.py deleted file mode 100644 index 5f6ef1d5..00000000 --- a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/plugins/semantic_traversability.py +++ /dev/null @@ -1,83 +0,0 @@ -# -# Copyright (c) 2022, Takahiro Miki. All rights reserved. -# Licensed under the MIT license. See LICENSE file in the project root for details. -# -import cupy as cp -import numpy as np -from typing import List - -from elevation_mapping_cupy.plugins.plugin_manager import PluginBase - - -class SemanticTraversability(PluginBase): - """Extracts traversability and elevations from layers and generates an updated traversability that can be used by checker. - - Args: - cell_n (int): The width and height of the elevation map. - layers (list): List of layers for semantic traversability. Default is ["traversability"]. - thresholds (list): List of thresholds for each layer. Default is [0.5]. - type (list): List of types for each layer. Default is ["traversability"]. - **kwargs: Additional keyword arguments. - """ - - def __init__( - self, - cell_n: int = 100, - layers: list = ["traversability"], - thresholds: list = [0.5], - type: list = ["traversability"], - **kwargs, - ): - super().__init__() - self.layers = layers - self.thresholds = cp.asarray(thresholds) - self.type = type - - def __call__( - self, - elevation_map: cp.ndarray, - layer_names: List[str], - plugin_layers: cp.ndarray, - plugin_layer_names: List[str], - semantic_map: cp.ndarray, - semantic_layer_names: List[str], - *args, - ) -> cp.ndarray: - """ - - Args: - elevation_map (cupy._core.core.ndarray): - layer_names (List[str]): - plugin_layers (cupy._core.core.ndarray): - plugin_layer_names (List[str]): - semantic_map (elevation_mapping_cupy.semantic_map.SemanticMap): - *args (): - - Returns: - cupy._core.core.ndarray: - """ - # get indices of all layers that - map = cp.zeros(elevation_map[2].shape, np.float32) - tempo = cp.zeros(elevation_map[2].shape, np.float32) - for it, name in enumerate(self.layers): - if name in layer_names: - idx = layer_names.index(name) - tempo = elevation_map[idx] - # elif name in semantic_params.additional_layers: - # idx = semantic_params.additional_layers.index(name) - # tempo = semantic_map[idx] - elif name in plugin_layer_names: - idx = plugin_layer_names.index(name) - tempo = plugin_layers[idx] - else: - print("Layer {} is not in the map, returning traversabiltiy!".format(name)) - return - if self.type[it] == "traversability": - tempo = cp.where(tempo <= self.thresholds[it], 1, 0) - map += tempo - else: - tempo = cp.where(tempo >= self.thresholds[it], 1, 0) - map += tempo - map = cp.where(map <= 0.9, 0.1, 1) - - return map diff --git a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/plugins/smooth_filter.py b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/plugins/smooth_filter.py deleted file mode 100644 index ae48b688..00000000 --- a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/plugins/smooth_filter.py +++ /dev/null @@ -1,59 +0,0 @@ -# -# Copyright (c) 2022, Takahiro Miki. All rights reserved. -# Licensed under the MIT license. See LICENSE file in the project root for details. -# -import cupy as cp -from typing import List -import cupyx.scipy.ndimage as ndimage - -from .plugin_manager import PluginBase - - -class SmoothFilter(PluginBase): - """ - SmoothFilter is a class that applies a smoothing filter - to the elevation map. The filter is applied to the layer specified by the input_layer_name parameter. - If the specified layer is not found, the filter is applied to the elevation layer. - - Args: - cell_n (int): The width and height of the elevation map. Default is 100. - input_layer_name (str): The name of the layer to which the filter should be applied. Default is "elevation". - **kwargs: Additional keyword arguments. - """ - - def __init__(self, cell_n: int = 100, input_layer_name: str = "elevation", **kwargs): - super().__init__() - self.input_layer_name = input_layer_name - - def __call__( - self, - elevation_map: cp.ndarray, - layer_names: List[str], - plugin_layers: cp.ndarray, - plugin_layer_names: List[str], - *args, - ) -> cp.ndarray: - """ - - Args: - elevation_map (cupy._core.core.ndarray): - layer_names (List[str]): - plugin_layers (cupy._core.core.ndarray): - plugin_layer_names (List[str]): - *args (): - - Returns: - cupy._core.core.ndarray: - """ - if self.input_layer_name in layer_names: - idx = layer_names.index(self.input_layer_name) - h = elevation_map[idx] - elif self.input_layer_name in plugin_layer_names: - idx = plugin_layer_names.index(self.input_layer_name) - h = plugin_layers[idx] - else: - print("layer name {} was not found. Using elevation layer.".format(self.input_layer_name)) - h = elevation_map[0] - hs1 = ndimage.uniform_filter(h, size=3) - hs1 = ndimage.uniform_filter(hs1, size=3) - return hs1 diff --git a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/semantic_map.py b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/semantic_map.py deleted file mode 100644 index a06b7361..00000000 --- a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/semantic_map.py +++ /dev/null @@ -1,400 +0,0 @@ -# -# Copyright (c) 2022, Takahiro Miki. All rights reserved. -# Licensed under the MIT license. See LICENSE file in the project root for details. -# -from elevation_mapping_cupy.parameter import Parameter -import cupy as cp -import numpy as np -from typing import List, Dict -import re - - -from elevation_mapping_cupy.fusion.fusion_manager import FusionManager - -xp = cp - - -class SemanticMap: - def __init__(self, param: Parameter): - """ - - Args: - param (elevation_mapping_cupy.parameter.Parameter): - """ - - self.param = param - - self.layer_specs_points = {} - self.layer_specs_image = {} - self.layer_names = [] - self.unique_fusion = [] - self.unique_data = [] - self.elements_to_shift = {} - - self.unique_fusion = self.param.fusion_algorithms - - self.amount_layer_names = len(self.layer_names) - - self.semantic_map = xp.zeros( - (self.amount_layer_names, self.param.cell_n, self.param.cell_n), dtype=param.data_type, - ) - self.new_map = xp.zeros((self.amount_layer_names, self.param.cell_n, self.param.cell_n), param.data_type,) - # which layers should be reset to zero at each update, per default everyone, - # if a layer should not be reset, it is defined in compile_kernels function - self.delete_new_layers = cp.ones(self.new_map.shape[0], cp.bool8) - self.fusion_manager = FusionManager(self.param) - - def clear(self): - """Clear the semantic map.""" - self.semantic_map *= 0.0 - - def initialize_fusion(self): - """Initialize the fusion algorithms.""" - for fusion in self.unique_fusion: - if "pointcloud_class_bayesian" == fusion: - pcl_ids = self.get_layer_indices("class_bayesian", self.layer_specs_points) - self.delete_new_layers[pcl_ids] = 0 - if "pointcloud_class_max" == fusion: - pcl_ids = self.get_layer_indices("class_max", self.layer_specs_points) - self.delete_new_layers[pcl_ids] = 0 - layer_cnt = self.param.fusion_algorithms.count("class_max") - id_max = cp.zeros((layer_cnt, self.param.cell_n, self.param.cell_n), dtype=cp.uint32,) - self.elements_to_shift["id_max"] = id_max - self.fusion_manager.register_plugin(fusion) - - def update_fusion_setting(self): - """ - Update the fusion settings. - """ - for fusion in self.unique_fusion: - if "pointcloud_class_bayesian" == fusion: - pcl_ids = self.get_layer_indices("class_bayesian", self.layer_specs_points) - self.delete_new_layers[pcl_ids] = 0 - if "pointcloud_class_max" == fusion: - pcl_ids = self.get_layer_indices("class_max", self.layer_specs_points) - self.delete_new_layers[pcl_ids] = 0 - layer_cnt = self.param.fusion_algorithms.count("class_max") - id_max = cp.zeros((layer_cnt, self.param.cell_n, self.param.cell_n), dtype=cp.uint32,) - self.elements_to_shift["id_max"] = id_max - - def add_layer(self, name): - """ - Add a new layer to the semantic map. - - Args: - name (str): The name of the new layer. - """ - if name not in self.layer_names: - self.layer_names.append(name) - self.semantic_map = cp.append( - self.semantic_map, - cp.zeros((1, self.param.cell_n, self.param.cell_n), dtype=self.param.data_type), - axis=0, - ) - self.new_map = cp.append( - self.new_map, cp.zeros((1, self.param.cell_n, self.param.cell_n), dtype=self.param.data_type), axis=0, - ) - self.delete_new_layers = cp.append(self.delete_new_layers, cp.array([1], dtype=cp.bool8)) - - def pad_value(self, x, shift_value, idx=None, value=0.0): - """Create a padding of the map along x,y-axis according to amount that has shifted. - - Args: - x (cupy._core.core.ndarray): - shift_value (cupy._core.core.ndarray): - idx (Union[None, int, None, None]): - value (float): - """ - if idx is None: - if shift_value[0] > 0: - x[:, : shift_value[0], :] = value - elif shift_value[0] < 0: - x[:, shift_value[0] :, :] = value - if shift_value[1] > 0: - x[:, :, : shift_value[1]] = value - elif shift_value[1] < 0: - x[:, :, shift_value[1] :] = value - else: - if shift_value[0] > 0: - x[idx, : shift_value[0], :] = value - elif shift_value[0] < 0: - x[idx, shift_value[0] :, :] = value - if shift_value[1] > 0: - x[idx, :, : shift_value[1]] = value - elif shift_value[1] < 0: - x[idx, :, shift_value[1] :] = value - - def shift_map_xy(self, shift_value): - """Shift the map along x,y-axis according to shift values. - - Args: - shift_value: - """ - self.semantic_map = cp.roll(self.semantic_map, shift_value, axis=(1, 2)) - self.pad_value(self.semantic_map, shift_value, value=0.0) - self.new_map = cp.roll(self.new_map, shift_value, axis=(1, 2)) - self.pad_value(self.new_map, shift_value, value=0.0) - for el in self.elements_to_shift.values(): - el = cp.roll(el, shift_value, axis=(1, 2)) - self.pad_value(el, shift_value, value=0.0) - - def get_fusion( - self, channels: List[str], channel_fusions: Dict[str, str], layer_specs: Dict[str, str] - ) -> List[str]: - """Get all fusion algorithms that need to be applied to a specific pointcloud. - - Args: - channels (List[str]): - """ - fusion_list = [] - process_channels = [] - for channel in channels: - if channel not in layer_specs: - # If the channel is not in the layer_specs, we use the default fusion algorithm - matched_fusion = self.get_matching_fusion(channel, channel_fusions) - if matched_fusion is None: - if "default" in channel_fusions: - default_fusion = channel_fusions["default"] - print( - f"[WARNING] Layer {channel} not found in layer_specs. Using {default_fusion} algorithm as default." - ) - layer_specs[channel] = default_fusion - self.update_fusion_setting() - # If there's no default fusion algorithm, we skip this channel - else: - print( - f"[WARNING] Layer {channel} not found in layer_specs ({layer_specs}) and no default fusion is configured. Skipping." - ) - continue - else: - layer_specs[channel] = matched_fusion - self.update_fusion_setting() - x = layer_specs[channel] - fusion_list.append(x) - process_channels.append(channel) - return process_channels, fusion_list - - def get_matching_fusion(self, channel: str, fusion_algs: Dict[str, str]): - """ Use regular expression to check if the fusion algorithm matches the channel name.""" - for fusion_alg, alg_value in fusion_algs.items(): - if re.match(f"^{fusion_alg}$", channel): - return alg_value - return None - - def get_layer_indices(self, fusion_alg, layer_specs): - """Get the indices of the layers that are used for a specific fusion algorithm. - - Args: - fusion_alg(str): fusion algorithm name - - Returns: - cp.array: indices of the layers - """ - layer_indices = cp.array([], dtype=cp.int32) - for it, (key, val) in enumerate(layer_specs.items()): - if key in val == fusion_alg: - layer_indices = cp.append(layer_indices, it).astype(cp.int32) - return layer_indices - - def get_indices_fusion(self, pcl_channels: List[str], fusion_alg: str, layer_specs: Dict[str, str]): - """Computes the indices of the channels of the pointcloud and the layers of the semantic map of type fusion_alg. - - Args: - pcl_channels (List[str]): list of all channel names - fusion_alg (str): fusion algorithm type we want to use for channel selection - - Returns: - Union[Tuple[List[int], List[int]], Tuple[cupy._core.core.ndarray, cupy._core.core.ndarray]]: - - - """ - # this contains exactly the fusion alg type for each channel of the pcl - pcl_val_list = [layer_specs[x] for x in pcl_channels] - # this contains the indices of the point cloud where we have to perform a certain fusion - pcl_indices = cp.array([idp + 3 for idp, x in enumerate(pcl_val_list) if x == fusion_alg], dtype=cp.int32,) - # create a list of indices of the layers that will be updated by the point cloud with specific fusion alg - layer_indices = cp.array([], dtype=cp.int32) - for it, (key, val) in enumerate(layer_specs.items()): - if key in pcl_channels and val == fusion_alg: - layer_idx = self.layer_names.index(key) - layer_indices = cp.append(layer_indices, layer_idx).astype(cp.int32) - return pcl_indices, layer_indices - - def update_layers_pointcloud(self, points_all, channels, R, t, elevation_map): - """Update the semantic map with the pointcloud. - - Args: - points_all: semantic point cloud - channels: list of channel names - R: rotation matrix - t: translation vector - elevation_map: elevation map object - """ - process_channels, additional_fusion = self.get_fusion( - channels, self.param.pointcloud_channel_fusions, self.layer_specs_points - ) - # If channels has a new layer that is not in the semantic map, add it - for channel in process_channels: - if channel not in self.layer_names: - print(f"Layer {channel} not found, adding it to the semantic map") - self.add_layer(channel) - - # Resetting new_map for the layers that are to be deleted - self.new_map[self.delete_new_layers] = 0.0 - for fusion in list(set(additional_fusion)): - # which layers need to be updated with this fusion algorithm - pcl_ids, layer_ids = self.get_indices_fusion(process_channels, fusion, self.layer_specs_points) - # update the layers with the fusion algorithm - self.fusion_manager.execute_plugin( - fusion, - points_all, - R, - t, - pcl_ids, - layer_ids, - elevation_map, - self.semantic_map, - self.new_map, - self.elements_to_shift, - ) - - def update_layers_image( - self, - # sub_key: str, - image: cp._core.core.ndarray, - channels: List[str], - # fusion_methods: List[str], - uv_correspondence: cp._core.core.ndarray, - valid_correspondence: cp._core.core.ndarray, - image_height: cp._core.core.ndarray, - image_width: cp._core.core.ndarray, - ): - """Update the semantic map with the new image. - - Args: - sub_key: - image: - uv_correspondence: - valid_correspondence: - image_height: - image_width: - """ - - process_channels, fusion_methods = self.get_fusion( - channels, self.param.image_channel_fusions, self.layer_specs_image - ) - self.new_map[self.delete_new_layers] = 0.0 - for j, (fusion, channel) in enumerate(zip(fusion_methods, process_channels)): - if channel not in self.layer_names: - print(f"Layer {channel} not found, adding it to the semantic map") - self.add_layer(channel) - sem_map_idx = self.get_index(channel) - - if sem_map_idx == -1: - print(f"Layer {channel} not found!") - return - - # update the layers with the fusion algorithm - self.fusion_manager.execute_image_plugin( - fusion, - cp.uint64(sem_map_idx), - image, - j, - uv_correspondence, - valid_correspondence, - image_height, - image_width, - self.semantic_map, - self.new_map, - ) - - def decode_max(self, mer): - """Decode the float32 value into two 16 bit value containing the class probability and the class id. - - Args: - mer: - - Returns: - cp.array: probability - cp.array: class id - """ - mer = mer.astype(cp.float32) - mer = mer.view(dtype=cp.uint32) - ma = cp.bitwise_and(mer, 0xFFFF, dtype=np.uint16) - ma = ma.view(np.float16) - ma = ma.astype(np.float32) - ind = cp.right_shift(mer, 16) - return ma, ind - - def get_map_with_name(self, name): - """Return the map with the given name. - - Args: - name: layer name - - Returns: - cp.array: map - """ - # If the layer is a color layer, return the rgb map - if name in self.layer_specs_points and self.layer_specs_points[name] == "color": - m = self.get_rgb(name) - return m - elif name in self.layer_specs_image and self.layer_specs_image[name] == "color": - m = self.get_rgb(name) - return m - else: - m = self.get_semantic(name) - return m - - def get_rgb(self, name): - """Return the rgb map with the given name. - - Args: - name: - - Returns: - cp.array: rgb map - """ - idx = self.layer_names.index(name) - c = self.process_map_for_publish(self.semantic_map[idx]) - c = c.astype(np.float32) - return c - - def get_semantic(self, name): - """Return the semantic map layer with the given name. - - Args: - name(str): layer name - - Returns: - cp.array: semantic map layer - """ - idx = self.layer_names.index(name) - c = self.process_map_for_publish(self.semantic_map[idx]) - return c - - def process_map_for_publish(self, input_map): - """Remove padding. - - Args: - input_map(cp.array): map layer - - Returns: - cp.array: map layer without padding - """ - m = input_map.copy() - return m[1:-1, 1:-1] - - def get_index(self, name): - """Return the index of the layer with the given name. - - Args: - name(str): - - Returns: - int: index - """ - if name not in self.layer_names: - return -1 - else: - return self.layer_names.index(name) diff --git a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/tests/__init__.py b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/tests/__init__.py deleted file mode 100644 index e69de29b..00000000 diff --git a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/tests/test_elevation_mapping.py b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/tests/test_elevation_mapping.py deleted file mode 100644 index 7bdbb20b..00000000 --- a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/tests/test_elevation_mapping.py +++ /dev/null @@ -1,118 +0,0 @@ -import pytest -from elevation_mapping_cupy import parameter, elevation_mapping -import cupy as cp -import numpy as np - - -def encode_max(maxim, index): - maxim, index = cp.asarray(maxim, dtype=cp.float32), cp.asarray(index, dtype=cp.uint32) - # fuse them - maxim = maxim.astype(cp.float16) - maxim = maxim.view(cp.uint16) - maxim = maxim.astype(cp.uint32) - index = index.astype(cp.uint32) - mer = cp.array(cp.left_shift(index, 16) | maxim, dtype=cp.uint32) - mer = mer.view(cp.float32) - return mer - - -@pytest.fixture() -def elmap_ex(add_lay, fusion_alg): - additional_layer = add_lay - fusion_algorithms = fusion_alg - p = parameter.Parameter( - use_chainer=False, - weight_file="../../../config/weights.dat", - plugin_config_file="../../../config/plugin_config.yaml", - ) - p.subscriber_cfg["front_cam"]["channels"] = additional_layer - p.subscriber_cfg["front_cam"]["fusion"] = fusion_algorithms - p.update() - e = elevation_mapping.ElevationMap(p) - return e - - -@pytest.mark.parametrize( - "add_lay,fusion_alg", - [ - (["feat_0", "feat_1", "rgb"], ["average", "average", "color"]), - (["feat_0", "feat_1"], ["average", "average"]), - (["feat_0", "feat_1"], ["class_average", "class_average"]), - (["feat_0", "feat_1"], ["class_bayesian", "class_bayesian"]), - (["feat_0", "feat_1"], ["class_bayesian", "class_max"]), - (["feat_0", "feat_1"], ["bayesian_inference", "bayesian_inference"]), - ], -) -class TestElevationMap: - def test_init(self, elmap_ex): - assert len(elmap_ex.layer_names) == elmap_ex.elevation_map.shape[0] - # assert elmap_ex.color_map is None - - def test_input(self, elmap_ex): - channels = ["x", "y", "z"] + elmap_ex.param.additional_layers - if "class_max" in elmap_ex.param.fusion_algorithms: - val = cp.random.rand(100000, len(channels), dtype=cp.float32).astype(cp.float16) - ind = cp.random.randint(0, 2, (100000, len(channels)), dtype=cp.uint32).astype(cp.float32) - points = encode_max(val, ind) - else: - points = cp.random.rand(100000, len(channels), dtype=elmap_ex.param.data_type) - R = cp.random.rand(3, 3, dtype=elmap_ex.param.data_type) - t = cp.random.rand(3, dtype=elmap_ex.param.data_type) - elmap_ex.input_pointcloud(points, channels, R, t, 0, 0) - - def test_update_normal(self, elmap_ex): - elmap_ex.update_normal(elmap_ex.elevation_map[0]) - - def test_move_to(self, elmap_ex): - for i in range(20): - pos = np.array([i * 0.01, i * 0.02, i * 0.01]) - R = cp.random.rand(3, 3) - elmap_ex.move_to(pos, R) - - def test_get_map(self, elmap_ex): - layers = [ - "elevation", - "variance", - "traversability", - "min_filter", - "smooth", - "inpaint", - "rgb", - ] - data = np.zeros((elmap_ex.cell_n - 2, elmap_ex.cell_n - 2), dtype=cp.float32) - for layer in layers: - elmap_ex.get_map_with_name_ref(layer, data) - - def test_get_position(self, elmap_ex): - pos = np.random.rand(1, 3) - elmap_ex.get_position(pos) - - def test_clear(self, elmap_ex): - elmap_ex.clear() - - def test_move(self, elmap_ex): - delta_position = np.random.rand(3) - elmap_ex.move(delta_position) - - def test_exists_layer(self, elmap_ex, add_lay): - for layer in add_lay: - assert elmap_ex.exists_layer(layer) - - def test_polygon_traversability(self, elmap_ex): - polygon = cp.array([[0, 0], [2, 0], [0, 2]], dtype=np.float64) - result = np.array([0, 0, 0]) - number_polygons = elmap_ex.get_polygon_traversability(polygon, result) - untraversable_polygon = np.zeros((number_polygons, 2)) - elmap_ex.get_untraversable_polygon(untraversable_polygon) - - def test_initialize_map(self, elmap_ex): - methods = ["linear", "cubic", "nearest"] - for method in methods: - points = np.array([[-4.0, 0.0, 0.0], [-4.0, 8.0, 1.0], [4.0, 8.0, 0.0], [4.0, 0.0, 0.0]]) - elmap_ex.initialize_map(points, method) - - def test_plugins(self, elmap_ex): - layers = elmap_ex.plugin_manager.layer_names - data = np.zeros((200, 200), dtype=np.float32) - for layer in layers: - elmap_ex.get_map_with_name_ref(layer, data) diff --git a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/tests/test_parameter.py b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/tests/test_parameter.py deleted file mode 100644 index 4c497349..00000000 --- a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/tests/test_parameter.py +++ /dev/null @@ -1,17 +0,0 @@ -import pytest -from elevation_mapping_cupy.parameter import Parameter - - -def test_parameter(): - param = Parameter( - use_chainer=False, - weight_file="../../../config/weights.dat", - plugin_config_file="../../../config/plugin_config.yaml", - ) - res = param.resolution - param.set_value("resolution", 0.1) - param.get_types() - param.get_names() - param.update() - assert param.resolution == param.get_value("resolution") - param.load_weights(param.weight_file) diff --git a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/tests/test_plugins.py b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/tests/test_plugins.py deleted file mode 100644 index f3e8cc1c..00000000 --- a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/tests/test_plugins.py +++ /dev/null @@ -1,69 +0,0 @@ -import pytest -from elevation_mapping_cupy import semantic_map, parameter -import cupy as cp -import numpy as np -from elevation_mapping_cupy.plugins.plugin_manager import PluginManager, PluginParams - -plugin_path = "plugin_config.yaml" - - -@pytest.fixture() -def semmap_ex(add_lay, fusion_alg): - p = parameter.Parameter( - use_chainer=False, weight_file="../../../config/weights.dat", plugin_config_file=plugin_path, - ) - p.subscriber_cfg["front_cam"]["channels"] = add_lay - p.subscriber_cfg["front_cam"]["fusion"] = fusion_alg - p.update() - e = semantic_map.SemanticMap(p) - e.initialize_fusion() - return e - - -@pytest.mark.parametrize( - "add_lay, fusion_alg,channels", - [ - ( - ["grass", "tree", "fence", "person"], - ["class_average", "class_average", "class_average", "class_average"], - ["grass"], - ), - (["grass", "tree"], ["class_average", "class_average"], ["grass"]), - (["grass", "tree"], ["class_average", "class_max"], ["tree"]), - (["max1", "max2"], ["class_max", "class_max"], ["max1", "max2"]), - ], -) -def test_plugin_manager(semmap_ex, channels): - manager = PluginManager(202) - manager.load_plugin_settings(plugin_path) - elevation_map = cp.zeros((7, 202, 202)).astype(cp.float32) - rotation = cp.eye(3, dtype=cp.float32) - layer_names = [ - "elevation", - "variance", - "is_valid", - "traversability", - "time", - "upper_bound", - "is_upper_bound", - ] - elevation_map[0] = cp.random.randn(202, 202) - elevation_map[2] = cp.abs(cp.random.randn(202, 202)) - elevation_map[0] - manager.layers[0] - manager.update_with_name("min_filter", elevation_map, layer_names) - manager.update_with_name("smooth_filter", elevation_map, layer_names) - manager.update_with_name("semantic_filter", elevation_map, layer_names, semmap_ex, rotation) - manager.update_with_name("semantic_traversability", elevation_map, layer_names, semmap_ex) - manager.get_map_with_name("smooth") - for lay in manager.get_layer_names(): - manager.update_with_name( - lay, - elevation_map, - layer_names, - semmap_ex.semantic_map, - semmap_ex.param, - rotation, - semmap_ex.elements_to_shift, - ) - manager.get_map_with_name(lay) diff --git a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/tests/test_semantic_kernels.py b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/tests/test_semantic_kernels.py deleted file mode 100644 index 590946eb..00000000 --- a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/tests/test_semantic_kernels.py +++ /dev/null @@ -1,307 +0,0 @@ -import pytest -from elevation_mapping_cupy import parameter, elevation_mapping -import cupy as cp - -from elevation_mapping_cupy.parameter import Parameter - -from elevation_mapping_cupy.kernels import add_points_kernel -from elevation_mapping_cupy.kernels import ( - average_kernel, - class_average_kernel, - alpha_kernel, - bayesian_inference_kernel, - add_color_kernel, - color_average_kernel, - sum_compact_kernel, - sum_max_kernel, - sum_kernel, -) - - -# to check output run: pytest -rP test_semantic_kernels.py - - -# only kernel where we test only one layer -def test_color_kernel(): - # params - cell_n = 4 - pcl_ids, layer_ids = cp.array([3], dtype=cp.int32), cp.array([0], dtype=cp.int32) - R = cp.eye(3, dtype=cp.float32) - t = cp.array([0, 0, 0], dtype=cp.float32) - points_all = cp.array([[0.1, 0.1, 0.1, 0.3], [0.1, 0.1, 0.1, 0.1], [0.1, 0.1, 0.1, 0.1]], dtype=cp.float32) - semantic_map = cp.zeros((1, 4, 4), dtype=cp.float32) - - # compile kernel - add_color_kernel_ = add_color_kernel(cell_n, cell_n,) - color_average_kernel_ = color_average_kernel(cell_n, cell_n) - - # updatelayer - color_map = cp.zeros((1 + 3 * layer_ids.shape[0], cell_n, cell_n), dtype=cp.uint32,) - - points_all = points_all.astype(cp.float32) - add_color_kernel_( - points_all, - R, - t, - pcl_ids, - layer_ids, - cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=cp.int32), - color_map, - size=(points_all.shape[0] * pcl_ids.shape[0]), - ) - color_average_kernel_( - color_map, - pcl_ids, - layer_ids, - cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=cp.int32), - semantic_map, - size=(cell_n * cell_n * pcl_ids.shape[0]), - ) - print(color_map) - - -@pytest.mark.parametrize( - "map_shape, points_all,pcl_ids, layer_ids", - [ - ( - (4, 4, 4), - cp.array( - [[0.1, 0.1, 0.1, 0.3, 0.3], [0.1, 0.1, 0.1, 0.1, 0.2], [0.1, 0.1, 0.1, 0.1, 0.2]], dtype=cp.float32 - ), - cp.array([3, 4], dtype=cp.int32), - cp.array([1, 2], dtype=cp.int32), - ), - ], -) -def test_sum_kernel(map_shape, points_all, pcl_ids, layer_ids): - # create points - resolution = 0.9 - points = points_all[:, :3] - # arguments for kernel - semantic_map = cp.zeros(map_shape, dtype=cp.float32) - new_map = cp.zeros(map_shape, dtype=cp.float32) - R = cp.eye(3, dtype=cp.float32) - t = cp.array([0, 0, 0], dtype=cp.float32) - # compile kernel - sum_kernel_ = sum_kernel(0.9, 4, 4,) - # simulating adding the points - print("idx, valid, inside, values") - points_all[:, 0] = 1 - points_all[:, 1:3] = 1.0 - print("points all after ", points_all) - # run the kernel - sum_kernel_( - points_all, - R, - t, - pcl_ids, - layer_ids, - cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=cp.int32), - semantic_map, - new_map, - size=(points_all.shape[0] * pcl_ids.shape[0]), - ) - print("semantic_map", semantic_map) - print("new_map", new_map) - - -@pytest.mark.parametrize( - "map_shape, points_all,pcl_ids, layer_ids", - [ - ( - (4, 4, 4), - cp.array( - [[0.1, 0.1, 0.1, 0.3, 0.3], [0.1, 0.1, 0.1, 0.1, 0.2], [0.1, 0.1, 0.1, 0.1, 0.2]], dtype=cp.float32 - ), - cp.array([3, 4], dtype=cp.int32), - cp.array([1, 2], dtype=cp.int32), - ), - ], -) -def test_average_kernel(map_shape, points_all, pcl_ids, layer_ids): - elevation_map = cp.zeros((3, 4, 4), dtype=cp.float32) - elevation_map[2] = points_all.shape[0] - semantic_map = cp.zeros(map_shape, dtype=cp.float32) - new_map = cp.ones(map_shape, dtype=cp.float32) - R = cp.eye(3, dtype=cp.float32) - t = cp.array([0, 0, 0], dtype=cp.float32) - # compile kernel - average_kernel_ = average_kernel(4, 4,) - cell_n = 4 - print("new_map", new_map) - print("semantic_map", semantic_map) - print("elevation_map", elevation_map) - - average_kernel_( - new_map, - pcl_ids, - layer_ids, - cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=cp.int32), - elevation_map, - semantic_map, - size=(cell_n * cell_n * pcl_ids.shape[0]), - ) - print("semantic_map", semantic_map) - - -@pytest.mark.parametrize( - "map_shape, points_all,pcl_ids, layer_ids", - [ - ( - (3, 4, 4), - cp.array( - [[0.1, 0.1, 0.1, 0.3, 0.3], [0.1, 0.1, 0.1, 0.1, 0.2], [0.1, 0.1, 0.1, 0.1, 0.2]], dtype=cp.float32 - ), - cp.array([3], dtype=cp.int32), - cp.array([0], dtype=cp.int32), - ), - ], -) -def test_bayesian_inference_kernel(map_shape, points_all, pcl_ids, layer_ids): - # params - cell_n = 4 - resolution = 0.9 - elevation_map = cp.zeros((3, 4, 4), dtype=cp.float32) - elevation_map[2] = points_all.shape[0] - semantic_map = cp.zeros(map_shape, dtype=cp.float32) - new_map = cp.ones(map_shape, dtype=cp.float32) - R = cp.eye(3, dtype=cp.float32) - t = cp.array([0, 0, 0], dtype=cp.float32) - - # compile kernel - sum_mean = cp.ones((pcl_ids.shape[0], cell_n, cell_n,), cp.float32,) - sum_compact_kernel_ = sum_compact_kernel(resolution, cell_n, cell_n,) - bayesian_inference_kernel_ = bayesian_inference_kernel(cell_n, cell_n,) - # updatelayer - sum_mean *= 0 - sum_compact_kernel_( - points_all, - R, - t, - pcl_ids, - layer_ids, - cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=cp.int32), - sum_mean, - size=(points_all.shape[0] * pcl_ids.shape[0]), - ) - bayesian_inference_kernel_( - pcl_ids, - layer_ids, - cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=cp.int32), - elevation_map, - new_map, - sum_mean, - semantic_map, - size=(cell_n * cell_n * pcl_ids.shape[0]), - ) - print("semantic_map", semantic_map) - - -@pytest.mark.parametrize( - "map_shape, points_all,pcl_ids, layer_ids", - [ - ( - (4, 4, 4), - cp.array( - [[0.1, 0.1, 0.1, 0.3, 0.3], [0.1, 0.1, 0.1, 0.1, 0.2], [0.1, 0.1, 0.1, 0.1, 0.2]], dtype=cp.float32 - ), - cp.array([3, 4], dtype=cp.int32), - cp.array([1, 2], dtype=cp.int32), - ), - ], -) -def test_class_average_kernel(map_shape, points_all, pcl_ids, layer_ids): - # params - cell_n = 4 - resolution = 0.9 - average_weight = 0.5 - elevation_map = cp.zeros((3, 4, 4), dtype=cp.float32) - elevation_map[2] = 3 - semantic_map = cp.zeros(map_shape, dtype=cp.float32) - new_map = cp.zeros(map_shape, dtype=cp.float32) - R = cp.eye(3, dtype=cp.float32) - t = cp.array([0, 0, 0], dtype=cp.float32) - # compile kernel - sum_kernel_ = sum_kernel(0.9, 4, 4,) - class_average_kernel_ = class_average_kernel(cell_n, cell_n, average_weight,) - print("x,y,z,class") - print("points all after ", points_all) - - # simulating adding the points - print("idx, valid, inside, values") - points_all[:, 0] = 1 - points_all[:, 1:3] = 1.0 - print("points all after ", points_all) - # run the kernel - sum_kernel_( - points_all, - R, - t, - pcl_ids, - layer_ids, - cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=cp.int32), - semantic_map, - new_map, - size=(points_all.shape[0] * pcl_ids.shape[0]), - ) - print("new_map bef", new_map) - print("pcl_ids.shape[0]", pcl_ids.shape[0]) - class_average_kernel_( - new_map, - pcl_ids, - layer_ids, - cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=cp.int32), - elevation_map, - semantic_map, - size=(cell_n * cell_n * pcl_ids.shape[0]), - ) - print("semantic_map", semantic_map) - print("new_map", new_map) - - -@pytest.mark.parametrize( - "map_shape, points_all,pcl_ids, layer_ids", - [ - ( - (4, 4, 4), - cp.array( - [[0.1, 0.1, 0.1, 0.3, 0.3], [0.1, 0.1, 0.1, 0.1, 0.2], [0.1, 0.1, 0.1, 0.1, 0.2]], dtype=cp.float32 - ), - cp.array([3, 4], dtype=cp.int32), - cp.array([1, 2], dtype=cp.int32), - ), - ], -) -def test_class_bayesian_inference_fct(map_shape, points_all, pcl_ids, layer_ids): - # params - cell_n = 4 - resolution = 0.9 - elevation_map = cp.zeros((3, 4, 4), dtype=cp.float32) - elevation_map[2] = points_all.shape[0] - semantic_map = cp.zeros(map_shape, dtype=cp.float32) - new_map = cp.zeros(map_shape, dtype=cp.float32) - R = cp.eye(3, dtype=cp.float32) - t = cp.array([0, 0, 0], dtype=cp.float32) - # compile kernel - alpha_kernel_ = alpha_kernel(resolution, cell_n, cell_n,) - # simulating adding the points - print("idx, valid, inside, values") - points_all[:, 0] = 1 - points_all[:, 1:3] = 1.0 - print("points all after ", points_all) - # run the kernel - alpha_kernel_( - points_all, - pcl_ids, - layer_ids, - cp.array([points_all.shape[1], pcl_ids.shape[0]], dtype=cp.int32), - new_map, - size=(points_all.shape[0] * pcl_ids.shape[0]), - ) - # calculate new thetas - sum_alpha = cp.sum(new_map[layer_ids], axis=0) - # do not divide by zero - sum_alpha[sum_alpha == 0] = 1 - semantic_map[layer_ids] = new_map[layer_ids] / cp.expand_dims(sum_alpha, axis=0) - print("semantic_map", semantic_map) - print("new_map", new_map) diff --git a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/tests/test_semantic_map.py b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/tests/test_semantic_map.py deleted file mode 100644 index 95966bc4..00000000 --- a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/tests/test_semantic_map.py +++ /dev/null @@ -1,47 +0,0 @@ -import pytest -from elevation_mapping_cupy import semantic_map, parameter -import cupy as cp -import numpy as np - - -@pytest.fixture() -def semmap_ex(sem_lay, fusion_alg): - p = parameter.Parameter( - use_chainer=False, - weight_file="../../../config/weights.dat", - plugin_config_file="../../../config/plugin_config.yaml", - ) - for subs, value in p.subscriber_cfg.items(): - value["channels"] = sem_lay - value["fusion"] = fusion_alg - p.update() - e = semantic_map.SemanticMap(p) - return e - - -@pytest.mark.parametrize( - "sem_lay, fusion_alg,channels", - [ - (["feat_0", "feat_1"], ["average", "average"], ["feat_0"]), - (["feat_0", "feat_1"], ["average", "average"], []), - (["feat_0", "feat_1", "rgb"], ["average", "average", "color"], ["rgb", "feat_0"],), - (["feat_0", "feat_1", "rgb"], ["class_average", "average", "color"], ["rgb", "feat_0"],), - (["feat_0", "feat_1", "rgb"], ["class_bayesian", "average", "color"], ["rgb", "feat_0"],), - (["feat_0", "feat_1", "rgb"], ["class_bayesian", "average", "color"], ["rgb", "feat_0", "feat_1"],), - (["feat_0", "feat_1", "rgb"], ["class_bayesian", "class_max", "color"], ["rgb", "feat_0", "feat_1"],), - (["max1", "max2", "rgb"], ["class_max", "class_max", "color"], ["rgb", "max1", "max2"],), - ], -) -def test_fusion_of_pcl(semmap_ex, channels): - fusion = semmap_ex.get_fusion_of_pcl(channels=channels) - assert len(fusion) <= len(channels) - assert len(fusion) > 0 or len(channels) == 0 - assert all(isinstance(item, str) for item in fusion) - - -@pytest.mark.parametrize( - "sem_lay, fusion_alg", [(["feat_0", "feat_1", "rgb"], ["average", "average", "color"]),], -) -@pytest.mark.parametrize("channels", [["rgb"], ["rgb", "feat_0"], []]) -def test_indices_fusion(semmap_ex, channels, fusion_alg): - pcl_indices, layer_indices = semmap_ex.get_indices_fusion(pcl_channels=channels, fusion_alg=fusion_alg[0]) diff --git a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/traversability_filter.py b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/traversability_filter.py deleted file mode 100644 index 7dfb47c2..00000000 --- a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/traversability_filter.py +++ /dev/null @@ -1,100 +0,0 @@ -# -# Copyright (c) 2022, Takahiro Miki. All rights reserved. -# Licensed under the MIT license. See LICENSE file in the project root for details. -# -import cupy as cp - - -def get_filter_torch(*args, **kwargs): - import torch - import torch.nn as nn - - class TraversabilityFilter(nn.Module): - def __init__(self, w1, w2, w3, w_out, device="cuda", use_bias=False): - super(TraversabilityFilter, self).__init__() - self.conv1 = nn.Conv2d(1, 4, 3, dilation=1, padding=0, bias=use_bias) - self.conv2 = nn.Conv2d(1, 4, 3, dilation=2, padding=0, bias=use_bias) - self.conv3 = nn.Conv2d(1, 4, 3, dilation=3, padding=0, bias=use_bias) - self.conv_out = nn.Conv2d(12, 1, 1, bias=use_bias) - - # Set weights. - self.conv1.weight = nn.Parameter(torch.from_numpy(w1).float()) - self.conv2.weight = nn.Parameter(torch.from_numpy(w2).float()) - self.conv3.weight = nn.Parameter(torch.from_numpy(w3).float()) - self.conv_out.weight = nn.Parameter(torch.from_numpy(w_out).float()) - - def __call__(self, elevation_cupy): - # Convert cupy tensor to pytorch. - elevation_cupy = elevation_cupy.astype(cp.float32) - elevation = torch.as_tensor(elevation_cupy, device=self.conv1.weight.device) - - with torch.no_grad(): - out1 = self.conv1(elevation.view(-1, 1, elevation.shape[0], elevation.shape[1])) - out2 = self.conv2(elevation.view(-1, 1, elevation.shape[0], elevation.shape[1])) - out3 = self.conv3(elevation.view(-1, 1, elevation.shape[0], elevation.shape[1])) - - out1 = out1[:, :, 2:-2, 2:-2] - out2 = out2[:, :, 1:-1, 1:-1] - out = torch.cat((out1, out2, out3), dim=1) - # out = F.concat((out1, out2, out3), axis=1) - out = self.conv_out(out.abs()) - out = torch.exp(-out) - out_cupy = cp.asarray(out) - - return out_cupy - - traversability_filter = TraversabilityFilter(*args, **kwargs).cuda().eval() - return traversability_filter - - -def get_filter_chainer(*args, **kwargs): - import os - - os.environ["CHAINER_WARN_VERSION_MISMATCH"] = "0" - import chainer - import chainer.links as L - import chainer.functions as F - - class TraversabilityFilter(chainer.Chain): - def __init__(self, w1, w2, w3, w_out, use_cupy=True): - super(TraversabilityFilter, self).__init__() - self.conv1 = L.Convolution2D(1, 4, ksize=3, pad=0, dilate=1, nobias=True, initialW=w1) - self.conv2 = L.Convolution2D(1, 4, ksize=3, pad=0, dilate=2, nobias=True, initialW=w2) - self.conv3 = L.Convolution2D(1, 4, ksize=3, pad=0, dilate=3, nobias=True, initialW=w3) - self.conv_out = L.Convolution2D(12, 1, ksize=1, nobias=True, initialW=w_out) - - if use_cupy: - self.conv1.to_gpu() - self.conv2.to_gpu() - self.conv3.to_gpu() - self.conv_out.to_gpu() - chainer.config.train = False - chainer.config.enable_backprop = False - - def __call__(self, elevation): - out1 = self.conv1(elevation.reshape(-1, 1, elevation.shape[0], elevation.shape[1])) - out2 = self.conv2(elevation.reshape(-1, 1, elevation.shape[0], elevation.shape[1])) - out3 = self.conv3(elevation.reshape(-1, 1, elevation.shape[0], elevation.shape[1])) - - out1 = out1[:, :, 2:-2, 2:-2] - out2 = out2[:, :, 1:-1, 1:-1] - out = F.concat((out1, out2, out3), axis=1) - out = self.conv_out(F.absolute(out)) - return F.exp(-out).array - - traversability_filter = TraversabilityFilter(*args, **kwargs) - return traversability_filter - - -if __name__ == "__main__": - import cupy as cp - from parameter import Parameter - - elevation = cp.random.randn(202, 202, dtype=cp.float32) - print("elevation ", elevation.shape) - param = Parameter() - fc = get_filter_chainer(param.w1, param.w2, param.w3, param.w_out) - print("chainer ", fc(elevation)) - - ft = get_filter_torch(param.w1, param.w2, param.w3, param.w_out) - print("torch ", ft(elevation)) diff --git a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/traversability_polygon.py b/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/traversability_polygon.py deleted file mode 100644 index be874f1b..00000000 --- a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/traversability_polygon.py +++ /dev/null @@ -1,77 +0,0 @@ -# -# Copyright (c) 2022, Takahiro Miki. All rights reserved. -# Licensed under the MIT license. See LICENSE file in the project root for details. -# -import numpy as np -import cupy as cp -from shapely.geometry import Polygon, MultiPoint - - -def get_masked_traversability(map_array, mask, traversability): - traversability = traversability[1:-1, 1:-1] - is_valid = map_array[2][1:-1, 1:-1] - mask = mask[1:-1, 1:-1] - - # invalid place is 0 traversability value - untraversability = cp.where(is_valid > 0.5, 1 - traversability, 0) - masked = untraversability * mask - masked_isvalid = is_valid * mask - return masked, masked_isvalid - - -def is_traversable(masked_untraversability, thresh, min_thresh, max_over_n): - untraversable_thresh = 1 - thresh - max_thresh = 1 - min_thresh - over_thresh = cp.where(masked_untraversability > untraversable_thresh, 1, 0) - polygon = calculate_untraversable_polygon(over_thresh) - max_untraversability = masked_untraversability.max() - if over_thresh.sum() > max_over_n: - is_safe = False - elif max_untraversability > max_thresh: - is_safe = False - else: - is_safe = True - return is_safe, polygon - - -def calculate_area(polygon): - area = 0 - for i in range(len(polygon)): - p1 = polygon[i - 1] - p2 = polygon[i] - area += (p1[0] * p2[1] - p1[1] * p2[0]) / 2.0 - return abs(area) - - -def calculate_untraversable_polygon(over_thresh): - x, y = cp.where(over_thresh > 0.5) - points = cp.stack([x, y]).T - convex_hull = MultiPoint(points.get()).convex_hull - if convex_hull.is_empty or convex_hull.geom_type == "Point" or convex_hull.geom_type == "LineString": - return None - else: - return cp.array(convex_hull.exterior.coords) - - -def transform_to_map_position(polygon, center, cell_n, resolution): - polygon = center.reshape(1, 2) + (polygon - cell_n / 2.0) * resolution - return polygon - - -def transform_to_map_index(points, center, cell_n, resolution): - indices = ((points - center.reshape(1, 2)) / resolution + cell_n / 2).astype(cp.int32) - return indices - - -if __name__ == "__main__": - polygon = [[0, 0], [2, 0], [0, 2]] - print(calculate_area(polygon)) - - under_thresh = cp.zeros((20, 20)) - # under_thresh[10:12, 8:10] = 1.0 - under_thresh[14:18, 8:10] = 1.0 - under_thresh[1:8, 2:9] = 1.0 - print(under_thresh) - polygon = calculate_untraversable_polygon(under_thresh) - print(polygon) - transform_to_map_position(polygon, cp.array([0.5, 1.0]), 6.0, 0.05) diff --git a/elevation_mapping_cupy/config/core/core_param copy 2.yaml b/elevation_mapping_cupy/config/core/core_param copy 2.yaml new file mode 100644 index 00000000..3a693641 --- /dev/null +++ b/elevation_mapping_cupy/config/core/core_param copy 2.yaml @@ -0,0 +1,197 @@ +elevation_mapping: + ros__parameters: + #### Basic parameters ######## + voxel_filter_size: 0.05 + enable_normal_arrow_publishing: true + cell_n: 40000 # number of cells in the map. + data_type: 'float32' # data type for the map. + average_weight: 0.5 + drift_compensation_variance_inlier: 0.1 + checker_layer: 'traversability' # layer name for checking the validity of the cell. + min_filter_size: 5 # size of the filter for min filter. + min_filter_iteration: 3 # number of iterations for min filter. + initialized_variance: 10.0 # initial variance for each cell. + resolution: 0.1 # resolution in m. + map_length: 20.0 # map's size in m. + sensor_noise_factor: 0.05 # point's noise is sensor_noise_factor*z^2 (z is distance from sensor). + mahalanobis_thresh: 2.0 # points outside this distance is outlier. + outlier_variance: 0.01 # if point is outlier, add this value to the cell. + drift_compensation_variance_inler: 0.05 # cells under this value is used for drift compensation. + max_drift: 0.1 # drift compensation happens only the drift is smaller than this value (for safety) + drift_compensation_alpha: 0.1 # drift compensation alpha for smoother update of drift compensation + time_variance: 0.0001 # add this value when update_variance is called. + max_variance: 100.0 # maximum variance for each cell. + initial_variance: 1000.0 # initial variance for each cell. + traversability_inlier: 0.9 # cells with higher traversability are used for drift compensation. + dilation_size: 3 # dilation filter size before traversability filter. + wall_num_thresh: 20 # if there are more points than this value, only higher points than the current height are used to make the wall more sharp. + min_height_drift_cnt: 100 # drift compensation only happens if the valid cells are more than this number. + position_noise_thresh: 0.01 # if the position change is bigger than this value, the drift compensation happens. + orientation_noise_thresh: 0.01 # if the orientation change is bigger than this value, the drift compensation happens. + position_lowpass_alpha: 0.2 # lowpass filter alpha used for detecting movements. + orientation_lowpass_alpha: 0.2 # lowpass filter alpha used for detecting movements. + min_valid_distance: 0.5 # points with shorter distance will be filtered out. + max_height_range: 1.0 # points higher than this value from sensor will be filtered out to disable ceiling. + ramped_height_range_a: 0.3 # if z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject. + ramped_height_range_b: 1.0 # if z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject. + ramped_height_range_c: 0.2 # if z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject. + update_variance_fps: 5.0 # fps for updating variance. + update_pose_fps: 10.0 # fps for updating pose and shift the center of map. + time_interval: 0.1 # Time layer is updated with this interval. + map_acquire_fps: 5.0 # Raw map is fetched from GPU memory in this fps. + publish_statistics_fps: 1.0 # Publish statistics topic in this fps. + + max_ray_length: 10.0 # maximum length for ray tracing. + cleanup_step: 0.1 # subtitute this value from validity layer at visibiltiy cleanup. + cleanup_cos_thresh: 0.1 # subtitute this value from validity layer at visibiltiy cleanup. + + safe_thresh: 0.7 # if traversability is smaller, it is counted as unsafe cell. + safe_min_thresh: 0.4 # polygon is unsafe if there exists lower traversability than this. + max_unsafe_n: 10 # if the number of cells under safe_thresh exceeds this value, polygon is unsafe. + + overlap_clear_range_xy: 4.0 # xy range [m] for clearing overlapped area. this defines the valid area for overlap clearance. (used for multi floor setting) + overlap_clear_range_z: 2.0 # z range [m] for clearing overlapped area. cells outside this range will be cleared. (used for multi floor setting) + pose_topic: '/odom' + map_frame: 'odom' # The map frame where the odometry source uses. + base_frame: 'base_link' # The robot's base frame. This frame will be a center of the map. + corrected_map_frame: 'odom' + + + + #### Feature toggles ######## + enable_edge_sharpen: true + enable_visibility_cleanup: true + enable_drift_compensation: true + enable_overlap_clearance: true + enable_pointcloud_publishing: false + enable_drift_corrected_TF_publishing: false + enable_normal_color: true # If true, the map contains 'color' layer corresponding to normal. Add 'color' layer to the publishers setting if you want to visualize. + + + #### Traversability filter ######## + use_chainer: false # Use chainer as a backend of traversability filter or pytorch. If false, it uses pytorch. pytorch requires ~2GB more GPU memory compared to chainer but runs faster. + weight_file: '/share/elevation_mapping_cupy/config/core/weights.dat' # Weight file for traversability filter + plugin_config_file: '/share/elevation_mapping_cupy/config/core/plugin_config.yaml' # Configuration file for the plugin. + #### Upper bound ######## + use_only_above_for_upper_bound: false + + #### Initializer ######## + initialize_method: 'linear' # Choose one from 'nearest', 'linear', 'cubic' + initialize_frame_id: ['base_footprint'] # One tf (like ['footprint'] ) initializes a square around it. + initialize_tf_offset: [0.0, 0.0, 0.0, 0.0] # z direction. Should be same number as initialize_frame_id. + dilation_size_initialize: 2 # dilation size after the init. + initialize_tf_grid_size: 0.5 # This is not used if number of tf is more than 3. + use_initializer_at_start: true # Use initializer when the node starts. + + #### Default Plugins ######## + + pointcloud_channel_fusions: + rgb: 'color' # 'color' fusion is used for the 'rgb' channel + default: 'average' # 'average' fusion is used for channels not listed here + + image_channel_fusions: + rgb: 'color' # 'color' fusion is used for the 'rgb' channel + default: 'exponential' # 'exponential' fusion is used for channels not listed here + feat_.*: 'exponential' # 'exponential' fusion is also used for any channel starting with 'feat_' Regular expressions can be used for channel names + + #### Subscribers ######## + # pointcloud_sensor_name: + # topic_name: '/sensor/pointcloud_semantic' + # data_type: pointcloud # pointcloud or image + # + # image_sensor_name: + # topic_name: '/camera/image_semantic' + # data_type: image # pointcloud or image + # camera_info_topic_name: '/camera/depth/camera_info' + # channel_info_topic_name: '/camera/channel_info' + + + subscribers: + pointcloud1: + # topic_name: '/ouster/points' + topic_name: '/a200/sensors/camera_0/points' + data_type: 'pointcloud' + image1: + topic_name: '/feat_processing_node/semantic_seg_feat' + info_name: '/feat_processing_node/a200/sensors/camera_0/color/camera_info_resized' + channel_name: '/feat_processing_node/feat_channel_info' + data_type: 'image' + # image2: + # topic_name: '/a200/sensors/camera_0/color/image' + # info_name: '/a200/sensors/camera_0/color/camera_info' + # data_type: 'image' + # channel_name: '/front_cam/channel_info' + + # channel_name: '/front_cam/channel_info' + + # image_topic2: '/camera/rgb/image_raw2' + # image_info2: '/camera/depth/camera_info2' + # image_channel_info1: '/front_cam/channel_info' + + # image: # for semantic images + # topic_name: '/front_cam/semantic_image' + # camera_info_topic_name: '/front_cam/camera/depth/camera_info_resized' + # channel_info_topic_name: '/front_cam/channel_info' + # data_type: image + + #### Publishers ######## + # topic_name: + # layers: # Choose from 'elevation', 'variance', 'traversability', 'time', 'normal_x', 'normal_y', 'normal_z', 'color', plugin_layer_names + # basic_layers: # basic_layers for valid cell computation (e.g. Rviz): Choose a subset of `layers`. + # fps: # Publish rate. Use smaller value than `map_acquire_fps`. + + publishers: + elevation_map_raw: + layers: ['elevation', 'traversability', 'variance','rgb', 'normal_x', 'normal_y', 'normal_z', 'feat_0','feat_1','feat_2','feat_3','feat_4'] + basic_layers: ['elevation'] + fps: 5.0 + elevation_map_recordable: + layers: ['elevation', 'traversability'] + basic_layers: ['elevation', 'traversability'] + fps: 2.0 + elevation_map_filter: + layers: ['min_filter', 'smooth', 'inpaint', 'elevation'] + basic_layers: ['min_filter'] + fps: 3.0 + + + # plugun info + + min_filter: + enable: True # whether to load this plugin + fill_nan: False # Fill nans to invalid cells of elevation layer. + is_height_layer: True # If this is a height layer (such as elevation) or not (such as traversability) + layer_name: "min_filter" # The layer name. + extra_params: # These params are passed to the plugin class on initialization. + dilation_size: 1 # The patch size to apply + iteration_n: 30 # The number of iterations + + # Apply smoothing. + smooth_filter: + enable: True + fill_nan: False + is_height_layer: True + layer_name: "smooth" + extra_params: + input_layer_name: "min_filter" + + # Apply inpainting using opencv + inpainting: + enable: True + fill_nan: False + is_height_layer: True + layer_name: "inpaint" + extra_params: + method: "telea" # telea or ns + + # Apply smoothing for inpainted layer + erosion: + enable: True + fill_nan: False + is_height_layer: False + layer_name: "erosion" + extra_params: + input_layer_name: "traversability" + dilation_size: 3 + iteration_n: 20 + reverse: True \ No newline at end of file diff --git a/elevation_mapping_cupy/config/core/core_param.yaml b/elevation_mapping_cupy/config/core/core_param.yaml index 3a693641..8cc68a55 100644 --- a/elevation_mapping_cupy/config/core/core_param.yaml +++ b/elevation_mapping_cupy/config/core/core_param.yaml @@ -1,17 +1,17 @@ elevation_mapping: ros__parameters: #### Basic parameters ######## - voxel_filter_size: 0.05 + voxel_filter_size: 0.1 enable_normal_arrow_publishing: true - cell_n: 40000 # number of cells in the map. + cell_n: 10000 # number of cells in the map. data_type: 'float32' # data type for the map. average_weight: 0.5 drift_compensation_variance_inlier: 0.1 - checker_layer: 'traversability' # layer name for checking the validity of the cell. + checker_layer: 'elevation' # layer name for checking the validity of the cell. min_filter_size: 5 # size of the filter for min filter. min_filter_iteration: 3 # number of iterations for min filter. initialized_variance: 10.0 # initial variance for each cell. - resolution: 0.1 # resolution in m. + resolution: 0.25 # resolution in m. map_length: 20.0 # map's size in m. sensor_noise_factor: 0.05 # point's noise is sensor_noise_factor*z^2 (z is distance from sensor). mahalanobis_thresh: 2.0 # points outside this distance is outlier. @@ -51,10 +51,10 @@ elevation_mapping: overlap_clear_range_xy: 4.0 # xy range [m] for clearing overlapped area. this defines the valid area for overlap clearance. (used for multi floor setting) overlap_clear_range_z: 2.0 # z range [m] for clearing overlapped area. cells outside this range will be cleared. (used for multi floor setting) - pose_topic: '/odom' - map_frame: 'odom' # The map frame where the odometry source uses. + pose_topic: '/dlio/odom_node/odom' + map_frame: 'map' # The map frame where the odometry source uses. base_frame: 'base_link' # The robot's base frame. This frame will be a center of the map. - corrected_map_frame: 'odom' + corrected_map_frame: 'map_corrected' @@ -77,7 +77,7 @@ elevation_mapping: #### Initializer ######## initialize_method: 'linear' # Choose one from 'nearest', 'linear', 'cubic' - initialize_frame_id: ['base_footprint'] # One tf (like ['footprint'] ) initializes a square around it. + initialize_frame_id: ['base_link'] # One tf (like ['footprint'] ) initializes a square around it. initialize_tf_offset: [0.0, 0.0, 0.0, 0.0] # z direction. Should be same number as initialize_frame_id. dilation_size_initialize: 2 # dilation size after the init. initialize_tf_grid_size: 0.5 # This is not used if number of tf is more than 3. @@ -87,12 +87,12 @@ elevation_mapping: pointcloud_channel_fusions: rgb: 'color' # 'color' fusion is used for the 'rgb' channel - default: 'average' # 'average' fusion is used for channels not listed here + default: 'exponential' # 'average' fusion is used for channels not listed here image_channel_fusions: rgb: 'color' # 'color' fusion is used for the 'rgb' channel - default: 'exponential' # 'exponential' fusion is used for channels not listed here - feat_.*: 'exponential' # 'exponential' fusion is also used for any channel starting with 'feat_' Regular expressions can be used for channel names + default: 'latest' # 'exponential' fusion is used for channels not listed here + feat_.*: 'latest' # 'exponential' fusion is also used for any channel starting with 'feat_' Regular expressions can be used for channel names #### Subscribers ######## # pointcloud_sensor_name: @@ -109,12 +109,12 @@ elevation_mapping: subscribers: pointcloud1: # topic_name: '/ouster/points' - topic_name: '/a200/sensors/camera_0/points' + topic_name: '/camera/camera/depth/color/points' data_type: 'pointcloud' image1: - topic_name: '/feat_processing_node/semantic_seg_feat' - info_name: '/feat_processing_node/a200/sensors/camera_0/color/camera_info_resized' - channel_name: '/feat_processing_node/feat_channel_info' + topic_name: '/feat_processing_node/semantic_feat' + info_name: '/feat_processing_node/camera/camera/color/camera_info_resized' + channel_name: '/feat_processing_node/feat_channel_info' data_type: 'image' # image2: # topic_name: '/a200/sensors/camera_0/color/image' @@ -141,18 +141,19 @@ elevation_mapping: # fps: # Publish rate. Use smaller value than `map_acquire_fps`. publishers: - elevation_map_raw: - layers: ['elevation', 'traversability', 'variance','rgb', 'normal_x', 'normal_y', 'normal_z', 'feat_0','feat_1','feat_2','feat_3','feat_4'] + elevation_map_raw: + # layers: ['us_valid','elevation', 'variance','rgb', 'normal_x', 'normal_y', 'normal_z', 'feat_0','feat_1','feat_2','feat_3','feat_4','feat_5','feat_6','feat_7','feat_8','feat_9'] + layers: ['is_valid','elevation', 'variance','rgb', 'normal_x', 'normal_y', 'normal_z', 'feat_0','feat_1','feat_2'] basic_layers: ['elevation'] fps: 5.0 - elevation_map_recordable: - layers: ['elevation', 'traversability'] - basic_layers: ['elevation', 'traversability'] - fps: 2.0 - elevation_map_filter: - layers: ['min_filter', 'smooth', 'inpaint', 'elevation'] - basic_layers: ['min_filter'] - fps: 3.0 + # elevation_map_recordable: + # layers: ['elevation'] + # basic_layers: ['elevation'] + # fps: 1.0 + # elevation_map_filter: + # layers: ['min_filter', 'smooth', 'inpaint', 'elevation'] + # basic_layers: ['min_filter'] + # fps: 3.0 # plugun info diff --git a/elevation_mapping_cupy/config/core/core_param_sim.yaml b/elevation_mapping_cupy/config/core/core_param_sim.yaml new file mode 100644 index 00000000..acfedb86 --- /dev/null +++ b/elevation_mapping_cupy/config/core/core_param_sim.yaml @@ -0,0 +1,197 @@ +elevation_mapping: + ros__parameters: + #### Basic parameters ######## + voxel_filter_size: 0.05 + enable_normal_arrow_publishing: true + cell_n: 40000 # number of cells in the map. + data_type: 'float32' # data type for the map. + average_weight: 0.5 + drift_compensation_variance_inlier: 0.1 + checker_layer: 'traversability' # layer name for checking the validity of the cell. + min_filter_size: 5 # size of the filter for min filter. + min_filter_iteration: 3 # number of iterations for min filter. + initialized_variance: 10.0 # initial variance for each cell. + resolution: 0.1 # resolution in m. + map_length: 20.0 # map's size in m. + sensor_noise_factor: 0.05 # point's noise is sensor_noise_factor*z^2 (z is distance from sensor). + mahalanobis_thresh: 2.0 # points outside this distance is outlier. + outlier_variance: 0.01 # if point is outlier, add this value to the cell. + drift_compensation_variance_inler: 0.05 # cells under this value is used for drift compensation. + max_drift: 0.1 # drift compensation happens only the drift is smaller than this value (for safety) + drift_compensation_alpha: 0.1 # drift compensation alpha for smoother update of drift compensation + time_variance: 0.0001 # add this value when update_variance is called. + max_variance: 100.0 # maximum variance for each cell. + initial_variance: 1000.0 # initial variance for each cell. + traversability_inlier: 0.9 # cells with higher traversability are used for drift compensation. + dilation_size: 3 # dilation filter size before traversability filter. + wall_num_thresh: 20 # if there are more points than this value, only higher points than the current height are used to make the wall more sharp. + min_height_drift_cnt: 100 # drift compensation only happens if the valid cells are more than this number. + position_noise_thresh: 0.01 # if the position change is bigger than this value, the drift compensation happens. + orientation_noise_thresh: 0.01 # if the orientation change is bigger than this value, the drift compensation happens. + position_lowpass_alpha: 0.2 # lowpass filter alpha used for detecting movements. + orientation_lowpass_alpha: 0.2 # lowpass filter alpha used for detecting movements. + min_valid_distance: 0.5 # points with shorter distance will be filtered out. + max_height_range: 1.0 # points higher than this value from sensor will be filtered out to disable ceiling. + ramped_height_range_a: 0.3 # if z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject. + ramped_height_range_b: 1.0 # if z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject. + ramped_height_range_c: 0.2 # if z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject. + update_variance_fps: 5.0 # fps for updating variance. + update_pose_fps: 10.0 # fps for updating pose and shift the center of map. + time_interval: 0.1 # Time layer is updated with this interval. + map_acquire_fps: 5.0 # Raw map is fetched from GPU memory in this fps. + publish_statistics_fps: 1.0 # Publish statistics topic in this fps. + + max_ray_length: 10.0 # maximum length for ray tracing. + cleanup_step: 0.1 # subtitute this value from validity layer at visibiltiy cleanup. + cleanup_cos_thresh: 0.1 # subtitute this value from validity layer at visibiltiy cleanup. + + safe_thresh: 0.7 # if traversability is smaller, it is counted as unsafe cell. + safe_min_thresh: 0.4 # polygon is unsafe if there exists lower traversability than this. + max_unsafe_n: 10 # if the number of cells under safe_thresh exceeds this value, polygon is unsafe. + + overlap_clear_range_xy: 4.0 # xy range [m] for clearing overlapped area. this defines the valid area for overlap clearance. (used for multi floor setting) + overlap_clear_range_z: 2.0 # z range [m] for clearing overlapped area. cells outside this range will be cleared. (used for multi floor setting) + pose_topic: '/a200/robot/gt_odom' + map_frame: 'map' # The map frame where the odometry source uses. + base_frame: 'base_link' # The robot's base frame. This frame will be a center of the map. + corrected_map_frame: 'map_corrected' # The map frame where the drift corrected map is published. + + + + #### Feature toggles ######## + enable_edge_sharpen: true + enable_visibility_cleanup: true + enable_drift_compensation: true + enable_overlap_clearance: true + enable_pointcloud_publishing: false + enable_drift_corrected_TF_publishing: false + enable_normal_color: true # If true, the map contains 'color' layer corresponding to normal. Add 'color' layer to the publishers setting if you want to visualize. + + + #### Traversability filter ######## + use_chainer: false # Use chainer as a backend of traversability filter or pytorch. If false, it uses pytorch. pytorch requires ~2GB more GPU memory compared to chainer but runs faster. + weight_file: '/share/elevation_mapping_cupy/config/core/weights.dat' # Weight file for traversability filter + plugin_config_file: '/share/elevation_mapping_cupy/config/core/plugin_config.yaml' # Configuration file for the plugin. + #### Upper bound ######## + use_only_above_for_upper_bound: false + + #### Initializer ######## + initialize_method: 'linear' # Choose one from 'nearest', 'linear', 'cubic' + initialize_frame_id: ['base_link'] # One tf (like ['footprint'] ) initializes a square around it. + initialize_tf_offset: [0.0, 0.0, 0.0, 0.0] # z direction. Should be same number as initialize_frame_id. + dilation_size_initialize: 2 # dilation size after the init. + initialize_tf_grid_size: 0.5 # This is not used if number of tf is more than 3. + use_initializer_at_start: true # Use initializer when the node starts. + + #### Default Plugins ######## + + pointcloud_channel_fusions: + rgb: 'color' # 'color' fusion is used for the 'rgb' channel + default: 'latest' # 'average' fusion is used for channels not listed here + + image_channel_fusions: + rgb: 'color' # 'color' fusion is used for the 'rgb' channel + default: 'latest' # 'exponential' fusion is used for channels not listed here + feat_.*: 'latest' # 'exponential' fusion is also used for any channel starting with 'feat_' Regular expressions can be used for channel names + + #### Subscribers ######## + # pointcloud_sensor_name: + # topic_name: '/sensor/pointcloud_semantic' + # data_type: pointcloud # pointcloud or image + # + # image_sensor_name: + # topic_name: '/camera/image_semantic' + # data_type: image # pointcloud or image + # camera_info_topic_name: '/camera/depth/camera_info' + # channel_info_topic_name: '/camera/channel_info' + + + subscribers: + pointcloud1: + # topic_name: '/ouster/points' + topic_name: '/a200/sensors/camera_0/points' + data_type: 'pointcloud' + image1: + topic_name: '/feat_processing_node/semantic_seg_feat' + info_name: '/feat_processing_node/a200/sensors/camera_0/color/camera_info_resized' + channel_name: '/feat_processing_node/feat_channel_info' + data_type: 'image' + # image2: + # topic_name: '/a200/sensors/camera_0/color/image' + # info_name: '/a200/sensors/camera_0/color/camera_info' + # data_type: 'image' + # channel_name: '/front_cam/channel_info' + + # channel_name: '/front_cam/channel_info' + + # image_topic2: '/camera/rgb/image_raw2' + # image_info2: '/camera/depth/camera_info2' + # image_channel_info1: '/front_cam/channel_info' + + # image: # for semantic images + # topic_name: '/front_cam/semantic_image' + # camera_info_topic_name: '/front_cam/camera/depth/camera_info_resized' + # channel_info_topic_name: '/front_cam/channel_info' + # data_type: image + + #### Publishers ######## + # topic_name: + # layers: # Choose from 'elevation', 'variance', 'traversability', 'time', 'normal_x', 'normal_y', 'normal_z', 'color', plugin_layer_names + # basic_layers: # basic_layers for valid cell computation (e.g. Rviz): Choose a subset of `layers`. + # fps: # Publish rate. Use smaller value than `map_acquire_fps`. + + publishers: + elevation_map_raw: + layers: ['elevation', 'traversability', 'variance','rgb', 'normal_x', 'normal_y', 'normal_z', 'feat_0','feat_1','feat_2','feat_3','feat_4'] + basic_layers: ['elevation'] + fps: 5.0 + elevation_map_recordable: + layers: ['elevation', 'traversability'] + basic_layers: ['elevation', 'traversability'] + fps: 2.0 + elevation_map_filter: + layers: ['min_filter', 'smooth', 'inpaint', 'elevation'] + basic_layers: ['min_filter'] + fps: 3.0 + + + # plugun info + + min_filter: + enable: True # whether to load this plugin + fill_nan: False # Fill nans to invalid cells of elevation layer. + is_height_layer: True # If this is a height layer (such as elevation) or not (such as traversability) + layer_name: "min_filter" # The layer name. + extra_params: # These params are passed to the plugin class on initialization. + dilation_size: 1 # The patch size to apply + iteration_n: 30 # The number of iterations + + # Apply smoothing. + smooth_filter: + enable: True + fill_nan: False + is_height_layer: True + layer_name: "smooth" + extra_params: + input_layer_name: "min_filter" + + # Apply inpainting using opencv + inpainting: + enable: True + fill_nan: False + is_height_layer: True + layer_name: "inpaint" + extra_params: + method: "telea" # telea or ns + + # Apply smoothing for inpainted layer + erosion: + enable: True + fill_nan: False + is_height_layer: False + layer_name: "erosion" + extra_params: + input_layer_name: "traversability" + dilation_size: 3 + iteration_n: 20 + reverse: True \ No newline at end of file diff --git a/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp b/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp index aa843e8f..32838ab4 100644 --- a/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp +++ b/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp @@ -219,6 +219,7 @@ visualization_msgs::msg::Marker vectorToArrowMarker(const Eigen::Vector3d& start double positionAlpha_; double orientationAlpha_; double voxel_filter_size_; + pcl::VoxelGrid voxel_filter; double recordableFps_; std::atomic_bool enablePointCloudPublishing_; diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py index ea19064c..8c0fc575 100644 --- a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py @@ -613,6 +613,10 @@ def get_elevation(self): """ return self.process_map_for_publish(self.elevation_map[0], fill_nan=True, add_z=True) + + def get_is_valid(self): + m = xp.where(self.elevation_map[2] > 0.5, 1.0, 0.0) + return m[1:-1, 1:-1] def get_variance(self): """Get the variance layer. @@ -741,6 +745,8 @@ def get_map_with_name_ref(self, name, data): if name == "elevation": m = self.get_elevation() use_stream = False + elif name == "is_valid": + m = self.get_is_valid() elif name == "variance": m = self.get_variance() elif name == "traversability": diff --git a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/fusion/image_exponential.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/image_latest.py similarity index 77% rename from elevation_mapping_cupy/build/lib/elevation_mapping_cupy/fusion/image_exponential.py rename to elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/image_latest.py index 26aa2f89..e8e7eb14 100644 --- a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/fusion/image_exponential.py +++ b/elevation_mapping_cupy/script/elevation_mapping_cupy/fusion/image_latest.py @@ -9,8 +9,8 @@ from .fusion_manager import FusionBase -def exponential_correspondences_to_map_kernel(resolution, width, height, alpha): - exponential_correspondences_to_map_kernel = cp.ElementwiseKernel( +def latest_correspondences_to_map_kernel(resolution, width, height, alpha): + latest_correspondences_to_map_kernel = cp.ElementwiseKernel( in_params="raw U sem_map, raw U map_idx, raw U image_mono, raw U uv_correspondence, raw B valid_correspondence, raw U image_height, raw U image_width", out_params="raw U new_sem_map", preamble=string.Template( @@ -27,27 +27,27 @@ def exponential_correspondences_to_map_kernel(resolution, width, height, alpha): if (valid_correspondence[cell_idx]){ int cell_idx_2 = get_map_idx(i, 1); int idx = int(uv_correspondence[cell_idx]) + int(uv_correspondence[cell_idx_2]) * image_width; - new_sem_map[get_map_idx(i, map_idx)] = sem_map[get_map_idx(i, map_idx)] * (1-${alpha}) + ${alpha} * image_mono[idx]; + new_sem_map[get_map_idx(i, map_idx)] = image_mono[idx]; }else{ new_sem_map[get_map_idx(i, map_idx)] = sem_map[get_map_idx(i, map_idx)]; } """ ).substitute(alpha=alpha), - name="exponential_correspondences_to_map_kernel", + name="latest_correspondences_to_map_kernel", ) - return exponential_correspondences_to_map_kernel + return latest_correspondences_to_map_kernel -class ImageExponential(FusionBase): +class ImageLatest(FusionBase): def __init__(self, params, *args, **kwargs): # super().__init__(fusion_params, *args, **kwargs) # print("Initialize fusion kernel") - self.name = "image_exponential" + self.name = "image_latest" self.cell_n = params.cell_n self.resolution = params.resolution - self.exponential_correspondences_to_map_kernel = exponential_correspondences_to_map_kernel( + self.latest_correspondences_to_map_kernel = latest_correspondences_to_map_kernel( resolution=self.resolution, width=self.cell_n, height=self.cell_n, alpha=0.7, ) @@ -63,7 +63,7 @@ def __call__( semantic_map, new_map, ): - self.exponential_correspondences_to_map_kernel( + self.latest_correspondences_to_map_kernel( semantic_map, sem_map_idx, image[j], diff --git a/elevation_mapping_cupy/src/elevation_mapping_ros.cpp b/elevation_mapping_cupy/src/elevation_mapping_ros.cpp index 1e3f5505..a16e6d3a 100644 --- a/elevation_mapping_cupy/src/elevation_mapping_ros.cpp +++ b/elevation_mapping_cupy/src/elevation_mapping_ros.cpp @@ -182,14 +182,17 @@ ElevationMappingNode::ElevationMappingNode() channels_[key].push_back("y"); channels_[key].push_back("z"); - rmw_qos_profile_t qos_profile = rmw_qos_profile_default; - auto qos = rclcpp::QoS(rclcpp::QoSInitialization(qos_profile.history, qos_profile.depth), qos_profile); + // rmw_qos_profile_t qos_profile = rmw_qos_profile_default; + // auto qos = rclcpp::QoS(rclcpp::QoSInitialization(qos_profile.history, qos_profile.depth), qos_profile); + + rmw_qos_profile_t sensor_qos_profile = rmw_qos_profile_sensor_data; + auto sensor_qos = rclcpp::QoS(rclcpp::QoSInitialization(sensor_qos_profile.history, sensor_qos_profile.depth), sensor_qos_profile); auto callback = [this, key](const sensor_msgs::msg::PointCloud2::SharedPtr msg) { this->pointcloudCallback(msg, key); }; - auto sub = this->create_subscription(pointcloud_topic, qos, callback); + auto sub = this->create_subscription(pointcloud_topic, sensor_qos, callback); pointcloudSubs_.push_back(sub); RCLCPP_INFO(this->get_logger(), "Subscribed to PointCloud2 topic: %s", pointcloud_topic.c_str()); } @@ -422,7 +425,7 @@ void ElevationMappingNode::inputPointCloud(const sensor_msgs::msg::PointCloud2:: // apply the voxel filtering pcl::PCLPointCloud2::Ptr pcl_pc (new pcl::PCLPointCloud2()); - pcl::VoxelGrid voxel_filter; + // pcl::VoxelGrid voxel_filter; voxel_filter.setInputCloud(raw_pcl_pc); voxel_filter.setLeafSize(voxel_filter_size_,voxel_filter_size_,voxel_filter_size_); voxel_filter.filter(*pcl_pc); @@ -579,8 +582,8 @@ void ElevationMappingNode::imageCallback(const sensor_msgs::msg::Image::SharedPt std::vector channels; channels = imageChannelReady_[key].first.channels; inputImage(image_msg, camera_info_msg, channels); - } - RCLCPP_INFO(this->get_logger(), "ElevationMap imageChannelCallback processed an image in %f sec.", (this->now() - start).seconds()); + } + RCLCPP_DEBUG(this->get_logger(), "ElevationMap imageChannelCallback processed an image in %f sec.", (this->now() - start).seconds()); } diff --git a/filters b/filters new file mode 160000 index 00000000..eebb5f5a --- /dev/null +++ b/filters @@ -0,0 +1 @@ +Subproject commit eebb5f5aaa223f87b8d7bb97c04dc76e991944a0 diff --git a/grid_map b/grid_map new file mode 160000 index 00000000..05ce0217 --- /dev/null +++ b/grid_map @@ -0,0 +1 @@ +Subproject commit 05ce0217e729d7d586df74b6163736fac541a3db diff --git a/nav2_common/CMakeLists.txt b/nav2_common/CMakeLists.txt new file mode 100644 index 00000000..139835a8 --- /dev/null +++ b/nav2_common/CMakeLists.txt @@ -0,0 +1,17 @@ +cmake_minimum_required(VERSION 3.5) + +project(nav2_common NONE) + +find_package(ament_cmake_core REQUIRED) +find_package(ament_cmake_python REQUIRED) + +ament_python_install_package(nav2_common) + +ament_package( + CONFIG_EXTRAS "nav2_common-extras.cmake" +) + +install( + DIRECTORY cmake + DESTINATION share/${PROJECT_NAME} +) diff --git a/nav2_common/cmake/nav2_package.cmake b/nav2_common/cmake/nav2_package.cmake new file mode 100644 index 00000000..b00d30c1 --- /dev/null +++ b/nav2_common/cmake/nav2_package.cmake @@ -0,0 +1,57 @@ +# Copyright 2019 Intel Corporation +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +# +# Standard Nav2 project setup +# +# @public +# +macro(nav2_package) + if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES) + message(STATUS "Setting build type to Release as none was specified.") + set(CMAKE_BUILD_TYPE "Release" CACHE + STRING "Choose the type of build." FORCE) + # Set the possible values of build type for cmake-gui + set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS + "Debug" "Release" "MinSizeRel" "RelWithDebInfo") + endif() + + # Default to C++14 + if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 17) + endif() + + if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic -Werror -Wdeprecated -fPIC) + endif() + + option(COVERAGE_ENABLED "Enable code coverage" FALSE) + if(COVERAGE_ENABLED) + add_compile_options(--coverage) + set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} --coverage") + set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} --coverage") + endif() + + # Defaults for Microsoft C++ compiler + if(MSVC) + # https://blog.kitware.com/create-dlls-on-windows-without-declspec-using-new-cmake-export-all-feature/ + set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON) + + # Enable Math Constants + # https://docs.microsoft.com/en-us/cpp/c-runtime-library/math-constants?view=vs-2019 + add_compile_definitions( + _USE_MATH_DEFINES + ) + endif() +endmacro() diff --git a/nav2_common/nav2_common-extras.cmake b/nav2_common/nav2_common-extras.cmake new file mode 100644 index 00000000..c5f930b3 --- /dev/null +++ b/nav2_common/nav2_common-extras.cmake @@ -0,0 +1,17 @@ +# Copyright 2019 Intel Corporation +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +set(AMENT_BUILD_CONFIGURATION_KEYWORD_SEPARATOR ":") + +include("${nav2_common_DIR}/nav2_package.cmake") diff --git a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/fusion/__init__.py b/nav2_common/nav2_common/__init__.py similarity index 100% rename from elevation_mapping_cupy/build/lib/elevation_mapping_cupy/fusion/__init__.py rename to nav2_common/nav2_common/__init__.py diff --git a/nav2_common/nav2_common/launch/__init__.py b/nav2_common/nav2_common/launch/__init__.py new file mode 100644 index 00000000..7eba78e1 --- /dev/null +++ b/nav2_common/nav2_common/launch/__init__.py @@ -0,0 +1,18 @@ +# Copyright (c) 2019 Intel Corporation +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from .has_node_params import HasNodeParams +from .rewritten_yaml import RewrittenYaml +from .replace_string import ReplaceString +from .parse_multirobot_pose import ParseMultiRobotPose diff --git a/nav2_common/nav2_common/launch/has_node_params.py b/nav2_common/nav2_common/launch/has_node_params.py new file mode 100644 index 00000000..92f96790 --- /dev/null +++ b/nav2_common/nav2_common/launch/has_node_params.py @@ -0,0 +1,60 @@ +# Copyright (c) 2021 PAL Robotics S.L. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from typing import List +from typing import Text + +import yaml +import launch + +import sys # delete this + +class HasNodeParams(launch.Substitution): + """ + Substitution that checks if a param file contains parameters for a node + + Used in launch system + """ + + def __init__(self, + source_file: launch.SomeSubstitutionsType, + node_name: Text) -> None: + super().__init__() + """ + Construct the substitution + + :param: source_file the parameter YAML file + :param: node_name the name of the node to check + """ + + from launch.utilities import normalize_to_list_of_substitutions # import here to avoid loop + self.__source_file = normalize_to_list_of_substitutions(source_file) + self.__node_name = node_name + + @property + def name(self) -> List[launch.Substitution]: + """Getter for name.""" + return self.__source_file + + def describe(self) -> Text: + """Return a description of this substitution as a string.""" + return '' + + def perform(self, context: launch.LaunchContext) -> Text: + yaml_filename = launch.utilities.perform_substitutions(context, self.name) + data = yaml.safe_load(open(yaml_filename, 'r')) + + if self.__node_name in data.keys(): + return "True" + return "False" diff --git a/nav2_common/nav2_common/launch/parse_multirobot_pose.py b/nav2_common/nav2_common/launch/parse_multirobot_pose.py new file mode 100644 index 00000000..9025f967 --- /dev/null +++ b/nav2_common/nav2_common/launch/parse_multirobot_pose.py @@ -0,0 +1,82 @@ +# Copyright (c) 2023 LG Electronics. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +import yaml +import sys +from typing import Text, Dict + + +class ParseMultiRobotPose(): + """ + Parsing argument using sys module + """ + + def __init__(self, target_argument: Text): + """ + Parse arguments for multi-robot's pose + + for example, + `ros2 launch nav2_bringup bringup_multirobot_launch.py + robots:="robot1={x: 1.0, y: 1.0, yaw: 0.0}; + robot2={x: 1.0, y: 1.0, z: 1.0, roll: 0.0, pitch: 1.5707, yaw: 1.5707}"` + + `target_argument` shall be 'robots'. + Then, this will parse a string value for `robots` argument. + + Each robot name which is corresponding to namespace and pose of it will be separted by `;`. + The pose consists of x, y and yaw with YAML format. + + :param: target argument name to parse + """ + self.__args: Text = self.__parse_argument(target_argument) + + def __parse_argument(self, target_argument: Text) -> Text: + """ + get value of target argument + """ + if len(sys.argv) > 4: + argv = sys.argv[4:] + for arg in argv: + if arg.startswith(target_argument + ":="): + return arg.replace(target_argument + ":=", "") + return "" + + def value(self) -> Dict: + """ + get value of target argument + """ + args = self.__args + parsed_args = list() if len(args) == 0 else args.split(';') + multirobots = dict() + for arg in parsed_args: + key_val = arg.strip().split('=') + if len(key_val) != 2: + continue + key = key_val[0].strip() + val = key_val[1].strip() + robot_pose = yaml.safe_load(val) + if 'x' not in robot_pose: + robot_pose['x'] = 0.0 + if 'y' not in robot_pose: + robot_pose['y'] = 0.0 + if 'z' not in robot_pose: + robot_pose['z'] = 0.0 + if 'roll' not in robot_pose: + robot_pose['roll'] = 0.0 + if 'pitch' not in robot_pose: + robot_pose['pitch'] = 0.0 + if 'yaw' not in robot_pose: + robot_pose['yaw'] = 0.0 + multirobots[key] = robot_pose + return multirobots diff --git a/nav2_common/nav2_common/launch/replace_string.py b/nav2_common/nav2_common/launch/replace_string.py new file mode 100644 index 00000000..9d22f173 --- /dev/null +++ b/nav2_common/nav2_common/launch/replace_string.py @@ -0,0 +1,87 @@ +# Copyright (c) 2019 Intel Corporation +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from typing import Dict +from typing import List +from typing import Text +from typing import Optional +import tempfile +import launch + +class ReplaceString(launch.Substitution): + """ + Substitution that replaces strings on a given file. + + Used in launch system + """ + + def __init__(self, + source_file: launch.SomeSubstitutionsType, + replacements: Dict, + condition: Optional[launch.Condition] = None) -> None: + super().__init__() + + from launch.utilities import normalize_to_list_of_substitutions # import here to avoid loop + self.__source_file = normalize_to_list_of_substitutions(source_file) + self.__replacements = {} + for key in replacements: + self.__replacements[key] = normalize_to_list_of_substitutions(replacements[key]) + self.__condition = condition + + @property + def name(self) -> List[launch.Substitution]: + """Getter for name.""" + return self.__source_file + + @property + def condition(self) -> Optional[launch.Condition]: + """Getter for condition.""" + return self.__condition + + def describe(self) -> Text: + """Return a description of this substitution as a string.""" + return '' + + def perform(self, context: launch.LaunchContext) -> Text: + yaml_filename = launch.utilities.perform_substitutions(context, self.name) + if self.__condition is None or self.__condition.evaluate(context): + output_file = tempfile.NamedTemporaryFile(mode='w', delete=False) + replacements = self.resolve_replacements(context) + try: + input_file = open(yaml_filename, 'r') + self.replace(input_file, output_file, replacements) + except Exception as err: # noqa: B902 + print('ReplaceString substitution error: ', err) + finally: + input_file.close() + output_file.close() + return output_file.name + else: + return yaml_filename + + def resolve_replacements(self, context): + resolved_replacements = {} + for key in self.__replacements: + resolved_replacements[key] = launch.utilities.perform_substitutions(context, self.__replacements[key]) + return resolved_replacements + + def replace(self, input_file, output_file, replacements): + for line in input_file: + for key, value in replacements.items(): + if isinstance(key, str) and isinstance(value, str): + if key in line: + line = line.replace(key, value) + else: + raise TypeError('A provided replacement pair is not a string. Both key and value should be strings.') + output_file.write(line) diff --git a/nav2_common/nav2_common/launch/rewritten_yaml.py b/nav2_common/nav2_common/launch/rewritten_yaml.py new file mode 100644 index 00000000..2887fa55 --- /dev/null +++ b/nav2_common/nav2_common/launch/rewritten_yaml.py @@ -0,0 +1,190 @@ +# Copyright (c) 2019 Intel Corporation +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from typing import Dict +from typing import List +from typing import Text +from typing import Optional + +import yaml +import tempfile +import launch + + +class DictItemReference: + def __init__(self, dictionary, key): + self.dictionary = dictionary + self.dictKey = key + + def key(self): + return self.dictKey + + def setValue(self, value): + self.dictionary[self.dictKey] = value + + +class RewrittenYaml(launch.Substitution): + """ + Substitution that modifies the given YAML file. + + Used in launch system + """ + + def __init__(self, + source_file: launch.SomeSubstitutionsType, + param_rewrites: Dict, + root_key: Optional[launch.SomeSubstitutionsType] = None, + key_rewrites: Optional[Dict] = None, + convert_types = False) -> None: + super().__init__() + """ + Construct the substitution + + :param: source_file the original YAML file to modify + :param: param_rewrites mappings to replace + :param: root_key if provided, the contents are placed under this key + :param: key_rewrites keys of mappings to replace + :param: convert_types whether to attempt converting the string to a number or boolean + """ + + from launch.utilities import normalize_to_list_of_substitutions # import here to avoid loop + self.__source_file = normalize_to_list_of_substitutions(source_file) + self.__param_rewrites = {} + self.__key_rewrites = {} + self.__convert_types = convert_types + self.__root_key = None + for key in param_rewrites: + self.__param_rewrites[key] = normalize_to_list_of_substitutions(param_rewrites[key]) + if key_rewrites is not None: + for key in key_rewrites: + self.__key_rewrites[key] = normalize_to_list_of_substitutions(key_rewrites[key]) + if root_key is not None: + self.__root_key = normalize_to_list_of_substitutions(root_key) + + @property + def name(self) -> List[launch.Substitution]: + """Getter for name.""" + return self.__source_file + + def describe(self) -> Text: + """Return a description of this substitution as a string.""" + return '' + + def perform(self, context: launch.LaunchContext) -> Text: + yaml_filename = launch.utilities.perform_substitutions(context, self.name) + rewritten_yaml = tempfile.NamedTemporaryFile(mode='w', delete=False) + param_rewrites, keys_rewrites = self.resolve_rewrites(context) + data = yaml.safe_load(open(yaml_filename, 'r')) + self.substitute_params(data, param_rewrites) + self.substitute_keys(data, keys_rewrites) + if self.__root_key is not None: + root_key = launch.utilities.perform_substitutions(context, self.__root_key) + if root_key: + data = {root_key: data} + yaml.dump(data, rewritten_yaml) + rewritten_yaml.close() + return rewritten_yaml.name + + def resolve_rewrites(self, context): + resolved_params = {} + for key in self.__param_rewrites: + resolved_params[key] = launch.utilities.perform_substitutions(context, self.__param_rewrites[key]) + resolved_keys = {} + for key in self.__key_rewrites: + resolved_keys[key] = launch.utilities.perform_substitutions(context, self.__key_rewrites[key]) + return resolved_params, resolved_keys + + def substitute_params(self, yaml, param_rewrites): + # substitute leaf-only parameters + for key in self.getYamlLeafKeys(yaml): + if key.key() in param_rewrites: + raw_value = param_rewrites[key.key()] + key.setValue(self.convert(raw_value)) + + # substitute total path parameters + yaml_paths = self.pathify(yaml) + for path in yaml_paths: + if path in param_rewrites: + # this is an absolute path (ex. 'key.keyA.keyB.val') + rewrite_val = self.convert(param_rewrites[path]) + yaml_keys = path.split('.') + yaml = self.updateYamlPathVals(yaml, yaml_keys, rewrite_val) + + + def updateYamlPathVals(self, yaml, yaml_key_list, rewrite_val): + for key in yaml_key_list: + if key == yaml_key_list[-1]: + yaml[key] = rewrite_val + break + key = yaml_key_list.pop(0) + if isinstance(yaml, list): + yaml[int(key)] = self.updateYamlPathVals(yaml[int(key)], yaml_key_list, rewrite_val) + else: + yaml[key] = self.updateYamlPathVals(yaml.get(key, {}), yaml_key_list, rewrite_val) + return yaml + + def substitute_keys(self, yaml, key_rewrites): + if len(key_rewrites) != 0: + for key in list(yaml.keys()): + val = yaml[key] + if key in key_rewrites: + new_key = key_rewrites[key] + yaml[new_key] = yaml[key] + del yaml[key] + if isinstance(val, dict): + self.substitute_keys(val, key_rewrites) + + def getYamlLeafKeys(self, yamlData): + try: + for key in yamlData.keys(): + for k in self.getYamlLeafKeys(yamlData[key]): + yield k + yield DictItemReference(yamlData, key) + except AttributeError: + return + + def pathify(self, d, p=None, paths=None, joinchar='.'): + if p is None: + paths = {} + self.pathify(d, "", paths, joinchar=joinchar) + return paths + pn = p + if p != "": + pn += joinchar + if isinstance(d, dict): + for k in d: + v = d[k] + self.pathify(v, str(pn) + str(k), paths, joinchar=joinchar) + elif isinstance(d, list): + for idx, e in enumerate(d): + self.pathify(e, pn + str(idx), paths, joinchar=joinchar) + else: + paths[p] = d + + def convert(self, text_value): + if self.__convert_types: + # try converting to int or float + try: + return float(text_value) if '.' in text_value else int(text_value) + except ValueError: + pass + + # try converting to bool + if text_value.lower() == "true": + return True + if text_value.lower() == "false": + return False + + # nothing else worked so fall through and return text + return text_value diff --git a/nav2_common/package.xml b/nav2_common/package.xml new file mode 100644 index 00000000..4284710e --- /dev/null +++ b/nav2_common/package.xml @@ -0,0 +1,25 @@ + + + + nav2_common + 1.1.17 + Common support functionality used throughout the navigation 2 stack + Carl Delsey + Apache-2.0 + + launch + launch_ros + osrf_pycommon + rclpy + python3-yaml + + ament_cmake_core + + ament_cmake_python + + ament_cmake_core + + + ament_cmake + + diff --git a/elevation_mapping_cupy/build/lib/elevation_mapping_cupy/plugins/__init__.py b/nav2_msgs/CHANGELOG.rst similarity index 100% rename from elevation_mapping_cupy/build/lib/elevation_mapping_cupy/plugins/__init__.py rename to nav2_msgs/CHANGELOG.rst diff --git a/nav2_msgs/CMakeLists.txt b/nav2_msgs/CMakeLists.txt new file mode 100644 index 00000000..b9895f07 --- /dev/null +++ b/nav2_msgs/CMakeLists.txt @@ -0,0 +1,53 @@ +cmake_minimum_required(VERSION 3.5) +project(nav2_msgs) + +find_package(ament_cmake REQUIRED) +find_package(nav2_common REQUIRED) +find_package(builtin_interfaces REQUIRED) +find_package(nav_msgs REQUIRED) +find_package(geometry_msgs REQUIRED) +find_package(rosidl_default_generators REQUIRED) +find_package(std_msgs REQUIRED) +find_package(action_msgs REQUIRED) + +nav2_package() + +rosidl_generate_interfaces(${PROJECT_NAME} + "msg/CollisionMonitorState.msg" + "msg/Costmap.msg" + "msg/CostmapMetaData.msg" + "msg/CostmapFilterInfo.msg" + "msg/SpeedLimit.msg" + "msg/VoxelGrid.msg" + "msg/BehaviorTreeStatusChange.msg" + "msg/BehaviorTreeLog.msg" + "msg/Particle.msg" + "msg/ParticleCloud.msg" + "srv/GetCostmap.srv" + "srv/IsPathValid.srv" + "srv/ClearCostmapExceptRegion.srv" + "srv/ClearCostmapAroundRobot.srv" + "srv/ClearEntireCostmap.srv" + "srv/ManageLifecycleNodes.srv" + "srv/LoadMap.srv" + "srv/SaveMap.srv" + "srv/SetInitialPose.srv" + "action/AssistedTeleop.action" + "action/BackUp.action" + "action/ComputePathToPose.action" + "action/ComputePathThroughPoses.action" + "action/DriveOnHeading.action" + "action/SmoothPath.action" + "action/FollowPath.action" + "action/NavigateToPose.action" + "action/NavigateThroughPoses.action" + "action/Wait.action" + "action/Spin.action" + "action/DummyBehavior.action" + "action/FollowWaypoints.action" + DEPENDENCIES builtin_interfaces geometry_msgs std_msgs action_msgs nav_msgs +) + +ament_export_dependencies(rosidl_default_runtime) + +ament_package() diff --git a/nav2_msgs/README.md b/nav2_msgs/README.md new file mode 100644 index 00000000..868c049f --- /dev/null +++ b/nav2_msgs/README.md @@ -0,0 +1,3 @@ +# nav2_msgs + +The `nav2_msgs` package is a set of messages, services, and actions for the `Nav2` system. `Nav2` also makes use of the standard `nav_msgs`, where appropriate. diff --git a/nav2_msgs/action/AssistedTeleop.action b/nav2_msgs/action/AssistedTeleop.action new file mode 100644 index 00000000..ba830ebc --- /dev/null +++ b/nav2_msgs/action/AssistedTeleop.action @@ -0,0 +1,8 @@ +#goal definition +builtin_interfaces/Duration time_allowance +--- +#result definition +builtin_interfaces/Duration total_elapsed_time +--- +#feedback +builtin_interfaces/Duration current_teleop_duration diff --git a/nav2_msgs/action/BackUp.action b/nav2_msgs/action/BackUp.action new file mode 100644 index 00000000..99373025 --- /dev/null +++ b/nav2_msgs/action/BackUp.action @@ -0,0 +1,10 @@ +#goal definition +geometry_msgs/Point target +float32 speed +builtin_interfaces/Duration time_allowance +--- +#result definition +builtin_interfaces/Duration total_elapsed_time +--- +#feedback definition +float32 distance_traveled diff --git a/nav2_msgs/action/ComputePathThroughPoses.action b/nav2_msgs/action/ComputePathThroughPoses.action new file mode 100644 index 00000000..a1f609a9 --- /dev/null +++ b/nav2_msgs/action/ComputePathThroughPoses.action @@ -0,0 +1,11 @@ +#goal definition +geometry_msgs/PoseStamped[] goals +geometry_msgs/PoseStamped start +string planner_id +bool use_start # If false, use current robot pose as path start, if true, use start above instead +--- +#result definition +nav_msgs/Path path +builtin_interfaces/Duration planning_time +--- +#feedback definition diff --git a/nav2_msgs/action/ComputePathToPose.action b/nav2_msgs/action/ComputePathToPose.action new file mode 100644 index 00000000..a052c552 --- /dev/null +++ b/nav2_msgs/action/ComputePathToPose.action @@ -0,0 +1,11 @@ +#goal definition +geometry_msgs/PoseStamped goal +geometry_msgs/PoseStamped start +string planner_id +bool use_start # If false, use current robot pose as path start, if true, use start above instead +--- +#result definition +nav_msgs/Path path +builtin_interfaces/Duration planning_time +--- +#feedback definition diff --git a/nav2_msgs/action/DriveOnHeading.action b/nav2_msgs/action/DriveOnHeading.action new file mode 100644 index 00000000..99373025 --- /dev/null +++ b/nav2_msgs/action/DriveOnHeading.action @@ -0,0 +1,10 @@ +#goal definition +geometry_msgs/Point target +float32 speed +builtin_interfaces/Duration time_allowance +--- +#result definition +builtin_interfaces/Duration total_elapsed_time +--- +#feedback definition +float32 distance_traveled diff --git a/nav2_msgs/action/DummyBehavior.action b/nav2_msgs/action/DummyBehavior.action new file mode 100644 index 00000000..4b8db815 --- /dev/null +++ b/nav2_msgs/action/DummyBehavior.action @@ -0,0 +1,7 @@ +#goal definition +std_msgs/String command +--- +#result definition +builtin_interfaces/Duration total_elapsed_time +--- +#feedback definition diff --git a/nav2_msgs/action/FollowPath.action b/nav2_msgs/action/FollowPath.action new file mode 100644 index 00000000..5462faa2 --- /dev/null +++ b/nav2_msgs/action/FollowPath.action @@ -0,0 +1,11 @@ +#goal definition +nav_msgs/Path path +string controller_id +string goal_checker_id +--- +#result definition +std_msgs/Empty result +--- +#feedback definition +float32 distance_to_goal +float32 speed diff --git a/nav2_msgs/action/FollowWaypoints.action b/nav2_msgs/action/FollowWaypoints.action new file mode 100644 index 00000000..c4b47648 --- /dev/null +++ b/nav2_msgs/action/FollowWaypoints.action @@ -0,0 +1,8 @@ +#goal definition +geometry_msgs/PoseStamped[] poses +--- +#result definition +int32[] missed_waypoints +--- +#feedback definition +uint32 current_waypoint diff --git a/nav2_msgs/action/NavigateThroughPoses.action b/nav2_msgs/action/NavigateThroughPoses.action new file mode 100644 index 00000000..e2a57f25 --- /dev/null +++ b/nav2_msgs/action/NavigateThroughPoses.action @@ -0,0 +1,14 @@ +#goal definition +geometry_msgs/PoseStamped[] poses +string behavior_tree +--- +#result definition +std_msgs/Empty result +--- +#feedback definition +geometry_msgs/PoseStamped current_pose +builtin_interfaces/Duration navigation_time +builtin_interfaces/Duration estimated_time_remaining +int16 number_of_recoveries +float32 distance_remaining +int16 number_of_poses_remaining diff --git a/nav2_msgs/action/NavigateToPose.action b/nav2_msgs/action/NavigateToPose.action new file mode 100644 index 00000000..b7077922 --- /dev/null +++ b/nav2_msgs/action/NavigateToPose.action @@ -0,0 +1,13 @@ +#goal definition +geometry_msgs/PoseStamped pose +string behavior_tree +--- +#result definition +std_msgs/Empty result +--- +#feedback definition +geometry_msgs/PoseStamped current_pose +builtin_interfaces/Duration navigation_time +builtin_interfaces/Duration estimated_time_remaining +int16 number_of_recoveries +float32 distance_remaining diff --git a/nav2_msgs/action/SmoothPath.action b/nav2_msgs/action/SmoothPath.action new file mode 100644 index 00000000..18560d70 --- /dev/null +++ b/nav2_msgs/action/SmoothPath.action @@ -0,0 +1,12 @@ +#goal definition +nav_msgs/Path path +string smoother_id +builtin_interfaces/Duration max_smoothing_duration +bool check_for_collisions +--- +#result definition +nav_msgs/Path path +builtin_interfaces/Duration smoothing_duration +bool was_completed +--- +#feedback definition diff --git a/nav2_msgs/action/Spin.action b/nav2_msgs/action/Spin.action new file mode 100644 index 00000000..3e1c0aad --- /dev/null +++ b/nav2_msgs/action/Spin.action @@ -0,0 +1,9 @@ +#goal definition +float32 target_yaw +builtin_interfaces/Duration time_allowance +--- +#result definition +builtin_interfaces/Duration total_elapsed_time +--- +#feedback definition +float32 angular_distance_traveled diff --git a/nav2_msgs/action/Wait.action b/nav2_msgs/action/Wait.action new file mode 100644 index 00000000..8cf71194 --- /dev/null +++ b/nav2_msgs/action/Wait.action @@ -0,0 +1,8 @@ +#goal definition +builtin_interfaces/Duration time +--- +#result definition +builtin_interfaces/Duration total_elapsed_time +--- +#feedback definition +builtin_interfaces/Duration time_left diff --git a/nav2_msgs/msg/BehaviorTreeLog.msg b/nav2_msgs/msg/BehaviorTreeLog.msg new file mode 100644 index 00000000..0f6ce7ef --- /dev/null +++ b/nav2_msgs/msg/BehaviorTreeLog.msg @@ -0,0 +1,2 @@ +builtin_interfaces/Time timestamp # ROS time that this log message was sent. +BehaviorTreeStatusChange[] event_log diff --git a/nav2_msgs/msg/BehaviorTreeStatusChange.msg b/nav2_msgs/msg/BehaviorTreeStatusChange.msg new file mode 100644 index 00000000..01cd812c --- /dev/null +++ b/nav2_msgs/msg/BehaviorTreeStatusChange.msg @@ -0,0 +1,4 @@ +builtin_interfaces/Time timestamp # internal behavior tree event timestamp. Typically this is wall clock time +string node_name +string previous_status # IDLE, RUNNING, SUCCESS or FAILURE +string current_status # IDLE, RUNNING, SUCCESS or FAILURE diff --git a/nav2_msgs/msg/CollisionMonitorState.msg b/nav2_msgs/msg/CollisionMonitorState.msg new file mode 100644 index 00000000..e470df57 --- /dev/null +++ b/nav2_msgs/msg/CollisionMonitorState.msg @@ -0,0 +1,9 @@ +# Action type for robot in Collision Monitor +uint8 DO_NOTHING=0 # No action +uint8 STOP=1 # Stop the robot +uint8 SLOWDOWN=2 # Slowdown in percentage from current operating speed +uint8 APPROACH=3 # Keep constant time interval before collision +uint8 action_type + +# Name of triggered polygon +string polygon_name \ No newline at end of file diff --git a/nav2_msgs/msg/Costmap.msg b/nav2_msgs/msg/Costmap.msg new file mode 100644 index 00000000..4c3e90ca --- /dev/null +++ b/nav2_msgs/msg/Costmap.msg @@ -0,0 +1,9 @@ +# This represents a 2-D grid map, in which each cell has an associated cost + +std_msgs/Header header + +# MetaData for the map +CostmapMetaData metadata + +# The cost data, in row-major order, starting with (0,0). +uint8[] data diff --git a/nav2_msgs/msg/CostmapFilterInfo.msg b/nav2_msgs/msg/CostmapFilterInfo.msg new file mode 100644 index 00000000..fb9d9af4 --- /dev/null +++ b/nav2_msgs/msg/CostmapFilterInfo.msg @@ -0,0 +1,14 @@ +std_msgs/Header header +# Type of plugin used (keepout filter, speed limit in m/s, speed limit in percent, etc...) +# 0: keepout/lanes filter +# 1: speed limit filter in % of maximum speed +# 2: speed limit filter in absolute values (m/s) +uint8 type +# Name of filter mask topic +string filter_mask_topic +# Multiplier base offset and multiplier coefficient for conversion of OccGrid. +# Used to convert OccupancyGrid data values to filter space values. +# data -> into some other number space: +# space = data * multiplier + base +float32 base +float32 multiplier diff --git a/nav2_msgs/msg/CostmapMetaData.msg b/nav2_msgs/msg/CostmapMetaData.msg new file mode 100644 index 00000000..0c74b661 --- /dev/null +++ b/nav2_msgs/msg/CostmapMetaData.msg @@ -0,0 +1,23 @@ +# This hold basic information about the characteristics of the Costmap + +# The time at which the static map was loaded +builtin_interfaces/Time map_load_time + +# The time of the last update to costmap +builtin_interfaces/Time update_time + +# The corresponding layer name +string layer + +# The map resolution [m/cell] +float32 resolution + +# Number of cells in the horizontal direction +uint32 size_x + +# Number of cells in the vertical direction +uint32 size_y + +# The origin of the costmap [m, m, rad]. +# This is the real-world pose of the cell (0,0) in the map. +geometry_msgs/Pose origin diff --git a/nav2_msgs/msg/Particle.msg b/nav2_msgs/msg/Particle.msg new file mode 100644 index 00000000..294bbd17 --- /dev/null +++ b/nav2_msgs/msg/Particle.msg @@ -0,0 +1,5 @@ +# This represents an individual particle with weight produced by a particle filter + +geometry_msgs/Pose pose + +float64 weight diff --git a/nav2_msgs/msg/ParticleCloud.msg b/nav2_msgs/msg/ParticleCloud.msg new file mode 100644 index 00000000..17b07ac7 --- /dev/null +++ b/nav2_msgs/msg/ParticleCloud.msg @@ -0,0 +1,6 @@ +# This represents a particle cloud containing particle poses and weights + +std_msgs/Header header + +# Array of particles in the cloud +Particle[] particles diff --git a/nav2_msgs/msg/SpeedLimit.msg b/nav2_msgs/msg/SpeedLimit.msg new file mode 100644 index 00000000..ea9630fc --- /dev/null +++ b/nav2_msgs/msg/SpeedLimit.msg @@ -0,0 +1,6 @@ +std_msgs/Header header +# Setting speed limit in percentage if true or in absolute values in false case +bool percentage +# Maximum allowed speed (in percent of maximum robot speed or in m/s depending +# on "percentage" value). When no-limit it is set to 0.0 +float64 speed_limit diff --git a/nav2_msgs/msg/VoxelGrid.msg b/nav2_msgs/msg/VoxelGrid.msg new file mode 100644 index 00000000..7223f67e --- /dev/null +++ b/nav2_msgs/msg/VoxelGrid.msg @@ -0,0 +1,7 @@ +std_msgs/Header header +uint32[] data +geometry_msgs/Point32 origin +geometry_msgs/Vector3 resolutions +uint32 size_x +uint32 size_y +uint32 size_z diff --git a/nav2_msgs/package.xml b/nav2_msgs/package.xml new file mode 100644 index 00000000..02c844a6 --- /dev/null +++ b/nav2_msgs/package.xml @@ -0,0 +1,28 @@ + + + + nav2_msgs + 1.1.17 + Messages and service files for the Nav2 stack + Michael Jeronimo + Steve Macenski + Carlos Orduno + Apache-2.0 + + ament_cmake + nav2_common + + rclcpp + std_msgs + builtin_interfaces + rosidl_default_generators + geometry_msgs + action_msgs + nav_msgs + + rosidl_interface_packages + + + ament_cmake + + diff --git a/nav2_msgs/srv/ClearCostmapAroundRobot.srv b/nav2_msgs/srv/ClearCostmapAroundRobot.srv new file mode 100644 index 00000000..e3b41bf5 --- /dev/null +++ b/nav2_msgs/srv/ClearCostmapAroundRobot.srv @@ -0,0 +1,5 @@ +# Clears the costmap within a distance + +float32 reset_distance +--- +std_msgs/Empty response diff --git a/nav2_msgs/srv/ClearCostmapExceptRegion.srv b/nav2_msgs/srv/ClearCostmapExceptRegion.srv new file mode 100644 index 00000000..56bb2f49 --- /dev/null +++ b/nav2_msgs/srv/ClearCostmapExceptRegion.srv @@ -0,0 +1,5 @@ +# Clears the costmap except a rectangular region specified by reset_distance + +float32 reset_distance +--- +std_msgs/Empty response diff --git a/nav2_msgs/srv/ClearEntireCostmap.srv b/nav2_msgs/srv/ClearEntireCostmap.srv new file mode 100644 index 00000000..ed1b675f --- /dev/null +++ b/nav2_msgs/srv/ClearEntireCostmap.srv @@ -0,0 +1,5 @@ +# Clears all layers on the costmap + +std_msgs/Empty request +--- +std_msgs/Empty response diff --git a/nav2_msgs/srv/GetCostmap.srv b/nav2_msgs/srv/GetCostmap.srv new file mode 100644 index 00000000..8dddc64a --- /dev/null +++ b/nav2_msgs/srv/GetCostmap.srv @@ -0,0 +1,6 @@ +# Get the costmap + +# Specifications for the requested costmap +nav2_msgs/CostmapMetaData specs +--- +nav2_msgs/Costmap map diff --git a/nav2_msgs/srv/IsPathValid.srv b/nav2_msgs/srv/IsPathValid.srv new file mode 100644 index 00000000..8d6dc3b3 --- /dev/null +++ b/nav2_msgs/srv/IsPathValid.srv @@ -0,0 +1,6 @@ +#Determine if the current path is still valid + +nav_msgs/Path path +--- +bool is_valid +int32[] invalid_pose_indices diff --git a/nav2_msgs/srv/LoadMap.srv b/nav2_msgs/srv/LoadMap.srv new file mode 100644 index 00000000..3b9caaad --- /dev/null +++ b/nav2_msgs/srv/LoadMap.srv @@ -0,0 +1,15 @@ +# URL of map resource +# Can be an absolute path to a file: file:///path/to/maps/floor1.yaml +# Or, relative to a ROS package: package://my_ros_package/maps/floor2.yaml +string map_url +--- +# Result code defintions +uint8 RESULT_SUCCESS=0 +uint8 RESULT_MAP_DOES_NOT_EXIST=1 +uint8 RESULT_INVALID_MAP_DATA=2 +uint8 RESULT_INVALID_MAP_METADATA=3 +uint8 RESULT_UNDEFINED_FAILURE=255 + +# Returned map is only valid if result equals RESULT_SUCCESS +nav_msgs/OccupancyGrid map +uint8 result diff --git a/nav2_msgs/srv/ManageLifecycleNodes.srv b/nav2_msgs/srv/ManageLifecycleNodes.srv new file mode 100644 index 00000000..8f37cbf8 --- /dev/null +++ b/nav2_msgs/srv/ManageLifecycleNodes.srv @@ -0,0 +1,9 @@ +uint8 STARTUP = 0 +uint8 PAUSE = 1 +uint8 RESUME = 2 +uint8 RESET = 3 +uint8 SHUTDOWN = 4 + +uint8 command +--- +bool success diff --git a/nav2_msgs/srv/SaveMap.srv b/nav2_msgs/srv/SaveMap.srv new file mode 100644 index 00000000..f50a881d --- /dev/null +++ b/nav2_msgs/srv/SaveMap.srv @@ -0,0 +1,14 @@ +# URL of map resource +# Can be an absolute path to a file: file:///path/to/maps/floor1.yaml +# Or, relative to a ROS package: package://my_ros_package/maps/floor2.yaml +string map_topic +string map_url +# Constants for image_format. Supported formats: pgm, png, bmp +string image_format +# Map modes: trinary, scale or raw +string map_mode +# Thresholds. Values in range of [0.0 .. 1.0] +float32 free_thresh +float32 occupied_thresh +--- +bool result diff --git a/nav2_msgs/srv/SetInitialPose.srv b/nav2_msgs/srv/SetInitialPose.srv new file mode 100644 index 00000000..ec1e50b6 --- /dev/null +++ b/nav2_msgs/srv/SetInitialPose.srv @@ -0,0 +1,3 @@ +geometry_msgs/PoseWithCovarianceStamped pose +--- + diff --git a/pcl_msgs b/pcl_msgs new file mode 160000 index 00000000..c67c7323 --- /dev/null +++ b/pcl_msgs @@ -0,0 +1 @@ +Subproject commit c67c7323796cf003ad67429186fb8959092ef70d diff --git a/perception_pcl b/perception_pcl new file mode 160000 index 00000000..ca66aa21 --- /dev/null +++ b/perception_pcl @@ -0,0 +1 @@ +Subproject commit ca66aa21f28b7e2848870f08faace81554e78437 diff --git a/plane_segmentation/README.md b/plane_segmentation/README.md deleted file mode 100644 index d9c17ae7..00000000 --- a/plane_segmentation/README.md +++ /dev/null @@ -1,45 +0,0 @@ -# Plane Segmentation - -## Overview - -This is a C++ ROS package for extracting convex polygons from elevation maps. -In a first step, the terrain is segmented into planes, and their non-convex contour is extracted. -In a second step, a local convex approximation can be obtained. - -## Usage - -### Build - -```bash -catkin build convex_plane_decomposition_ros -``` - -### Run as node - -```bash -roslaunch convex_plane_decomposition_ros convex_plane_decomposition.launch -``` - -### Run demo - -```bash -roslaunch convex_plane_decomposition_ros demo.launch -``` - -### Convex approximation demo - -A simple 2D demo the convex inner approximation is available: - -```bash -rosrun convex_plane_decomposition_ros convex_plane_decomposition_ros_TestShapeGrowing -``` - -### Parameters - -You can select input map topics, pipeline parameters etc. in the respective yaml file in - -```bash -convex_plane_decomposition_ros/config/ -``` - -Some other parameters are set through the launch files. diff --git a/plane_segmentation/cgal5_catkin/.gitignore b/plane_segmentation/cgal5_catkin/.gitignore deleted file mode 100644 index 259148fa..00000000 --- a/plane_segmentation/cgal5_catkin/.gitignore +++ /dev/null @@ -1,32 +0,0 @@ -# Prerequisites -*.d - -# Compiled Object files -*.slo -*.lo -*.o -*.obj - -# Precompiled Headers -*.gch -*.pch - -# Compiled Dynamic libraries -*.so -*.dylib -*.dll - -# Fortran module files -*.mod -*.smod - -# Compiled Static libraries -*.lai -*.la -*.a -*.lib - -# Executables -*.exe -*.out -*.app diff --git a/plane_segmentation/cgal5_catkin/CMakeLists.txt b/plane_segmentation/cgal5_catkin/CMakeLists.txt deleted file mode 100644 index 75aa205a..00000000 --- a/plane_segmentation/cgal5_catkin/CMakeLists.txt +++ /dev/null @@ -1,31 +0,0 @@ -cmake_minimum_required(VERSION 3.14) -project(cgal5_catkin) - -find_package(catkin REQUIRED) - -include(ExternalProject) - -set(VERSION 5.3) - -file(MAKE_DIRECTORY ${CATKIN_DEVEL_PREFIX}/include) - -set(CGAL_VERSION 5.3) -ExternalProject_Add(cgal - URL https://github.com/CGAL/cgal/archive/refs/tags/v${CGAL_VERSION}.tar.gz - UPDATE_COMMAND "" - CMAKE_ARGS - -DCMAKE_INSTALL_PREFIX=${CATKIN_DEVEL_PREFIX} - -DCMAKE_BUILD_TYPE:STRING=Release - BUILD_COMMAND $(MAKE) - INSTALL_COMMAND $(MAKE) install -) - -catkin_package( - INCLUDE_DIRS ${CATKIN_DEVEL_PREFIX}/include - CFG_EXTRAS cgal-extras.cmake -) - -install(DIRECTORY ${CATKIN_DEVEL_PREFIX}/include/CGAL/ - DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION}/CGAL/ -) - diff --git a/plane_segmentation/cgal5_catkin/README.md b/plane_segmentation/cgal5_catkin/README.md deleted file mode 100644 index af601fd7..00000000 --- a/plane_segmentation/cgal5_catkin/README.md +++ /dev/null @@ -1,3 +0,0 @@ -# cgal5_catkin - -Catkin wrapper of the Computational Geometry Algorithms Library (CGAL) diff --git a/plane_segmentation/cgal5_catkin/cmake/cgal-extras.cmake.in b/plane_segmentation/cgal5_catkin/cmake/cgal-extras.cmake.in deleted file mode 100644 index 3db7988c..00000000 --- a/plane_segmentation/cgal5_catkin/cmake/cgal-extras.cmake.in +++ /dev/null @@ -1,6 +0,0 @@ -# Makes CGAL/find___.cmake available -list(APPEND CMAKE_MODULE_PATH @CATKIN_DEVEL_PREFIX@/lib/cmake/CGAL) - -# Cpp standard version -set(CMAKE_CXX_STANDARD 14) -set(CMAKE_CXX_STANDARD_REQUIRED ON) \ No newline at end of file diff --git a/plane_segmentation/cgal5_catkin/package.xml b/plane_segmentation/cgal5_catkin/package.xml deleted file mode 100644 index 9c3cf37a..00000000 --- a/plane_segmentation/cgal5_catkin/package.xml +++ /dev/null @@ -1,13 +0,0 @@ - - - cgal5_catkin - 5.0.2 - Catkin wrapper for CGAL 5. - Ruben Grandia - - See package - - catkin - libgmp-dev - libmpfr-dev - diff --git a/plane_segmentation/convex_plane_decomposition/CMakeLists.txt b/plane_segmentation/convex_plane_decomposition/CMakeLists.txt deleted file mode 100644 index 2deb335a..00000000 --- a/plane_segmentation/convex_plane_decomposition/CMakeLists.txt +++ /dev/null @@ -1,114 +0,0 @@ -cmake_minimum_required(VERSION 3.10) -project(convex_plane_decomposition) - -# Catkin dependencies -set(CATKIN_PACKAGE_DEPENDENCIES - cgal5_catkin - grid_map_core - grid_map_cv - grid_map_filters_rsl -) - -find_package(catkin REQUIRED COMPONENTS - ${CATKIN_PACKAGE_DEPENDENCIES} -) - -# CGAL dependencies (QUIET because they cannot be found by Clion) -find_package(GMP 4.2 QUIET) -find_package(MPFR 2.2.1 QUIET) -find_package(Boost 1.57 QUIET) - -# OpenCv -find_package(OpenCV REQUIRED) - -# Eigen -find_package(Eigen3 3.3 REQUIRED NO_MODULE) - -# Cpp standard version -set(CMAKE_CXX_STANDARD 14) -set(CMAKE_CXX_STANDARD_REQUIRED ON) - -################################### -## catkin specific configuration ## -################################### -catkin_package( - INCLUDE_DIRS - include - ${EIGEN3_INCLUDE_DIRS} - LIBRARIES - ${PROJECT_NAME} - CATKIN_DEPENDS - ${CATKIN_PACKAGE_DEPENDENCIES} - DEPENDS - OpenCV GMP MPFR Boost -) - -########### -## Build ## -########### - -include_directories( - include - ${catkin_INCLUDE_DIRS} - ${EIGEN3_INCLUDE_DIR} -) - -add_library(${PROJECT_NAME} - src/contour_extraction/ContourExtraction.cpp - src/contour_extraction/Upsampling.cpp - src/ransac/RansacPlaneExtractor.cpp - src/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.cpp - src/ConvexRegionGrowing.cpp - src/Draw.cpp - src/GridMapPreprocessing.cpp - src/LoadGridmapFromImage.cpp - src/PlanarRegion.cpp - src/PlaneDecompositionPipeline.cpp - src/Postprocessing.cpp - src/SegmentedPlaneProjection.cpp -) -add_dependencies(${PROJECT_NAME} - ${catkin_EXPORTED_TARGETS} -) -target_link_libraries(${PROJECT_NAME} - ${catkin_LIBRARIES} - ${OpenCV_LIBRARIES} - gmp - mpfr -) -target_compile_options(${PROJECT_NAME} - PUBLIC -DCGAL_HAS_THREADS -) - -############# -## Install ## -############# - -install(TARGETS ${PROJECT_NAME} - ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -) -install(DIRECTORY include/${PROJECT_NAME}/ - DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} -) - -############# -## Testing ## -############# - -catkin_add_gtest(test_${PROJECT_NAME} - test/testConvexApproximation.cpp - test/testPipeline.cpp - test/testPlanarRegion.cpp - test/testRegionGrowing.cpp - test/testUpsampling.cpp -) -target_link_libraries(test_${PROJECT_NAME} - ${PROJECT_NAME} - ${catkin_LIBRARIES} - ${OpenCV_LIBRARIES} - gmp - mpfr - gtest_main -) diff --git a/plane_segmentation/convex_plane_decomposition/include/convex_plane_decomposition/ConvexRegionGrowing.h b/plane_segmentation/convex_plane_decomposition/include/convex_plane_decomposition/ConvexRegionGrowing.h deleted file mode 100644 index a760ecd7..00000000 --- a/plane_segmentation/convex_plane_decomposition/include/convex_plane_decomposition/ConvexRegionGrowing.h +++ /dev/null @@ -1,20 +0,0 @@ -// -// Created by rgrandia on 09.06.20. -// - -#pragma once - -#include "PolygonTypes.h" - -namespace convex_plane_decomposition { - -CgalPolygon2d createRegularPolygon(const CgalPoint2d& center, double radius, int numberOfVertices); - -CgalPolygon2d growConvexPolygonInsideShape(const CgalPolygon2d& parentShape, CgalPoint2d center, int numberOfVertices, double growthFactor); - -CgalPolygon2d growConvexPolygonInsideShape(const CgalPolygonWithHoles2d& parentShape, CgalPoint2d center, int numberOfVertices, - double growthFactor); - -void updateMean(CgalPoint2d& mean, const CgalPoint2d& oldValue, const CgalPoint2d& updatedValue, int N); - -} // namespace convex_plane_decomposition diff --git a/plane_segmentation/convex_plane_decomposition/include/convex_plane_decomposition/Draw.h b/plane_segmentation/convex_plane_decomposition/include/convex_plane_decomposition/Draw.h deleted file mode 100644 index 07de3c16..00000000 --- a/plane_segmentation/convex_plane_decomposition/include/convex_plane_decomposition/Draw.h +++ /dev/null @@ -1,27 +0,0 @@ -// -// Created by rgrandia on 09.06.20. -// - -#pragma once - -#include -#include -#include -#include "opencv2/imgproc/imgproc.hpp" - -#include "PolygonTypes.h" - -namespace convex_plane_decomposition { - -cv::Vec3b randomColor(); - -std::vector toCv(const CgalPolygon2d& polygon); - -void drawContour(cv::Mat& img, const CgalPoint2d& point, double radius = 1, const cv::Vec3b* color = nullptr); -void drawContour(cv::Mat& img, const CgalPolygon2d& polygon, const cv::Vec3b* color = nullptr); -void drawContour(cv::Mat& img, const CgalPolygonWithHoles2d& polygonWithHoles2d, const cv::Vec3b* color = nullptr); - -CgalPolygon2d scaleShape(const CgalPolygon2d& polygon, double scale); -CgalPolygonWithHoles2d scaleShape(const CgalPolygonWithHoles2d& polygonWithHoles, double scale); - -} // namespace convex_plane_decomposition diff --git a/plane_segmentation/convex_plane_decomposition/include/convex_plane_decomposition/GeometryUtils.h b/plane_segmentation/convex_plane_decomposition/include/convex_plane_decomposition/GeometryUtils.h deleted file mode 100644 index bd7c849d..00000000 --- a/plane_segmentation/convex_plane_decomposition/include/convex_plane_decomposition/GeometryUtils.h +++ /dev/null @@ -1,140 +0,0 @@ -// -// Created by rgrandia on 09.06.20. -// - -#pragma once - -#include "PlanarRegion.h" -#include "PolygonTypes.h" - -namespace convex_plane_decomposition { - -inline bool doEdgesIntersect(const CgalSegment2d& line, const CgalPolygon2d& contour) { - for (auto edgeIt = contour.edges_begin(); edgeIt != contour.edges_end(); ++edgeIt) { - if (CGAL::do_intersect(line, *edgeIt)) { - return true; - } - } - return false; -} - -inline bool doEdgesIntersect(const CgalSegment2d& line, const CgalPolygonWithHoles2d& parentShape) { - if (doEdgesIntersect(line, parentShape.outer_boundary())) { - return true; - } else { - for (const auto& hole : parentShape.holes()) { - if (doEdgesIntersect(line, hole)) { - return true; - } - } - } - return false; -} - -inline double squaredDistance(const CgalPoint2d& point, const CgalPolygon2d& polygon) { - double minDistSquared = std::numeric_limits::max(); - for (auto edgeIt = polygon.edges_begin(); edgeIt != polygon.edges_end(); ++edgeIt) { - double distSquare = CGAL::squared_distance(point, *edgeIt); - minDistSquared = std::min(distSquare, minDistSquared); - } - return minDistSquared; -} - -inline double squaredDistance(const CgalPoint2d& point, const CgalPolygonWithHoles2d& parentShape) { - double minDistSquared = squaredDistance(point, parentShape.outer_boundary()); - for (const auto& hole : parentShape.holes()) { - double distSquare = squaredDistance(point, hole); - minDistSquared = std::min(distSquare, minDistSquared); - } - return minDistSquared; -} - -inline double squaredDistance(const CgalPoint2d& point, const CgalCircle2d& circle) { - auto dx = (point.x() - circle.center().x()); - auto dy = (point.y() - circle.center().y()); - return dx * dx + dy * dy; -} - -template -double distance(const CgalPoint2d& point, const T& shape) { - double distanceSquared = squaredDistance(point, shape); - return (distanceSquared > 0.0) ? std::sqrt(distanceSquared) : 0.0; -} - -inline bool isInside(const CgalPoint2d& point, const CgalCircle2d& circle) { - return squaredDistance(point, circle) <= circle.squared_radius(); -} - -inline bool isInside(const CgalPoint2d& point, const CgalPolygon2d& polygon) { - const auto boundedSide = CGAL::bounded_side_2(polygon.begin(), polygon.end(), point); - return boundedSide == CGAL::ON_BOUNDED_SIDE || boundedSide == CGAL::ON_BOUNDARY; -} - -inline bool isInside(const CgalPoint2d& point, const CgalPolygonWithHoles2d& polygonWithHoles) { - if (isInside(point, polygonWithHoles.outer_boundary())) { - // Inside the outer contour -> return false if the point is inside any of the holes - for (const auto& hole : polygonWithHoles.holes()) { - const auto boundedSide = CGAL::bounded_side_2(hole.begin(), hole.end(), point); - if (boundedSide == CGAL::ON_BOUNDED_SIDE) { // The edge of the hole is considered part of the polygon - return false; - } - } - return true; - } else { - return false; - } -} - -inline CgalPoint2d getPointOnLine(const CgalPoint2d& start, const CgalPoint2d& end, double factor) { - return {factor * (end.x() - start.x()) + start.x(), factor * (end.y() - start.y()) + start.y()}; -} - -inline CgalPoint2d projectToClosestPoint(const CgalPoint2d& point, const CgalSegment2d& segment) { - // The segment as a vector, with the source being the origin - const Eigen::Vector2d sourceToTarget{segment.target().x() - segment.source().x(), segment.target().y() - segment.source().y()}; - const double sourceToTargetDistance = sourceToTarget.norm(); - const Eigen::Vector2d n = sourceToTarget / sourceToTargetDistance; - - // Vector from source to the query point - const Eigen::Vector2d sourceToPoint{point.x() - segment.source().x(), point.y() - segment.source().y()}; - - // Projection to the line, clamped to be between source and target points - const double coeff = std::min(std::max(0.0, n.dot(sourceToPoint)), sourceToTargetDistance); - - return {coeff * n.x() + segment.source().x(), coeff * n.y() + segment.source().y()}; -} - -inline CgalPoint2d projectToClosestPoint(const CgalPoint2d& point, const CgalPolygon2d& polygon) { - double minDistSquared = CGAL::squared_distance(point, *polygon.edges_begin()); - auto closestEdge = polygon.edges_begin(); - for (auto edgeIt = std::next(polygon.edges_begin()); edgeIt != polygon.edges_end(); ++edgeIt) { - double distSquare = CGAL::squared_distance(point, *edgeIt); - if (distSquare < minDistSquared) { - closestEdge = edgeIt; - minDistSquared = distSquare; - } - } - return projectToClosestPoint(point, *closestEdge); -} - -inline void transformInPlace(CgalPolygon2d& polygon, const std::function& f) { - for (auto& point : polygon) { - f(point); - } -} - -inline void transformInPlace(CgalPolygonWithHoles2d& polygonWithHoles, const std::function& f) { - transformInPlace(polygonWithHoles.outer_boundary(), f); - for (auto& hole : polygonWithHoles.holes()) { - transformInPlace(hole, f); - } -} - -inline void transformInPlace(BoundaryWithInset& boundaryWithInset, const std::function& f) { - transformInPlace(boundaryWithInset.boundary, f); - for (auto& inset : boundaryWithInset.insets) { - transformInPlace(inset, f); - } -} - -} // namespace convex_plane_decomposition diff --git a/plane_segmentation/convex_plane_decomposition/include/convex_plane_decomposition/GridMapPreprocessing.h b/plane_segmentation/convex_plane_decomposition/include/convex_plane_decomposition/GridMapPreprocessing.h deleted file mode 100644 index ebd34b0f..00000000 --- a/plane_segmentation/convex_plane_decomposition/include/convex_plane_decomposition/GridMapPreprocessing.h +++ /dev/null @@ -1,37 +0,0 @@ -#pragma once - -#include - -#include - -namespace convex_plane_decomposition { - -struct PreprocessingParameters { - /// Resample to this resolution, set to negative values to skip - double resolution = 0.04; - /// Kernel size of the median filter, either 3 or 5 - int kernelSize = 3; - /// Number of times the image is filtered - int numberOfRepeats = 2; -}; - -class GridMapPreprocessing { - public: - GridMapPreprocessing(const PreprocessingParameters& parameters); - - void preprocess(grid_map::GridMap& gridMap, const std::string& layer) const; - - private: - void denoise(grid_map::GridMap& gridMap, const std::string& layer) const; - void changeResolution(grid_map::GridMap& gridMap, const std::string& layer) const; - void inpaint(grid_map::GridMap& gridMap, const std::string& layer) const; - - PreprocessingParameters parameters_; -}; - -/** - * @return true if any of the elements in the map are finite - */ -bool containsFiniteValue(const grid_map::Matrix& map); - -} // namespace convex_plane_decomposition diff --git a/plane_segmentation/convex_plane_decomposition/include/convex_plane_decomposition/LoadGridmapFromImage.h b/plane_segmentation/convex_plane_decomposition/include/convex_plane_decomposition/LoadGridmapFromImage.h deleted file mode 100644 index 1b8f117a..00000000 --- a/plane_segmentation/convex_plane_decomposition/include/convex_plane_decomposition/LoadGridmapFromImage.h +++ /dev/null @@ -1,26 +0,0 @@ -// -// Created by rgrandia on 16.03.22. -// - -#pragma once - -#include - -#include - -namespace convex_plane_decomposition { - -/** - * Load an elevation map from a grey scale image. - * - * @param filePath : absolute path to file - * @param elevationLayer : name of the elevation layer - * @param frameId : frame assigned to loaded map - * @param resolution : map resolution [m/pixel] - * @param scale : distance [m] between lowest and highest point in the map - * @return Gridmap with the loaded image as elevation layer. - */ -grid_map::GridMap loadGridmapFromImage(const std::string& filePath, const std::string& elevationLayer, const std::string& frameId, - double resolution, double scale); - -} // namespace convex_plane_decomposition \ No newline at end of file diff --git a/plane_segmentation/convex_plane_decomposition/include/convex_plane_decomposition/PlanarRegion.h b/plane_segmentation/convex_plane_decomposition/include/convex_plane_decomposition/PlanarRegion.h deleted file mode 100644 index 5e90ac00..00000000 --- a/plane_segmentation/convex_plane_decomposition/include/convex_plane_decomposition/PlanarRegion.h +++ /dev/null @@ -1,66 +0,0 @@ -// -// Created by rgrandia on 10.06.20. -// - -#pragma once - -#include -#include - -#include - -#include "PolygonTypes.h" - -namespace convex_plane_decomposition { - -struct NormalAndPosition { - /// 3D position. - Eigen::Vector3d position; - - /// Surface normal. - Eigen::Vector3d normal; -}; - -struct BoundaryWithInset { - /// Boundary of the planar region. - CgalPolygonWithHoles2d boundary; - - /// Encodes an inward offset to the boundary. - std::vector insets; -}; - -struct PlanarRegion { - /// All 2d points are in the terrain frame - BoundaryWithInset boundaryWithInset; - - /// 2D bounding box in terrain frame containing all the boundary points - CgalBbox2d bbox2d; - - /// 3D Transformation from terrain to world. v_world = T * v_plane. Use .linear() for the rotation and .translation() for the translation - Eigen::Isometry3d transformPlaneToWorld; -}; - -struct PlanarTerrain { - std::vector planarRegions; - grid_map::GridMap gridMap; -}; - -/** - * Convert a position and normal the a transform from the induced local frame to the global frame. - * - * For example, if the normal and position are defined in world. We return a transform T, such that v_world = T * v_plane. - * The normal will be taken as the z-direction of the local frame. The x and y direction are arbitrary. - */ -Eigen::Isometry3d getTransformLocalToGlobal(const NormalAndPosition& normalAndPosition); - -/** - * Project a 2D point in world along gravity to obtain a 2D point in the plane - */ -CgalPoint2d projectToPlaneAlongGravity(const CgalPoint2d& worldFrameXY, const Eigen::Isometry3d& transformPlaneToWorld); - -/** - * Transforms a point on the plane to a 3D position expressed in the world frame - */ -Eigen::Vector3d positionInWorldFrameFromPosition2dInPlane(const CgalPoint2d& planeXY, const Eigen::Isometry3d& transformPlaneToWorld); - -} // namespace convex_plane_decomposition diff --git a/plane_segmentation/convex_plane_decomposition/include/convex_plane_decomposition/PlaneDecompositionPipeline.h b/plane_segmentation/convex_plane_decomposition/include/convex_plane_decomposition/PlaneDecompositionPipeline.h deleted file mode 100644 index 78fc52e0..00000000 --- a/plane_segmentation/convex_plane_decomposition/include/convex_plane_decomposition/PlaneDecompositionPipeline.h +++ /dev/null @@ -1,77 +0,0 @@ -// -// Created by rgrandia on 16.03.22. -// - -#pragma once - -#include "convex_plane_decomposition/GridMapPreprocessing.h" -#include "convex_plane_decomposition/PlanarRegion.h" -#include "convex_plane_decomposition/Postprocessing.h" -#include "convex_plane_decomposition/Timer.h" -#include "convex_plane_decomposition/contour_extraction/ContourExtraction.h" -#include "convex_plane_decomposition/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.h" - -namespace convex_plane_decomposition { - -/** - * Encloses the full plane decomposition pipeline: - * - * Input: - * - Elevation map - * Output: - * - Planar terrain (planes + filtered elevation map) - * - Segmented elevation map - */ -class PlaneDecompositionPipeline { - public: - /** Collection of all parameters of steps in the pipeline */ - struct Config { - PreprocessingParameters preprocessingParameters; - sliding_window_plane_extractor::SlidingWindowPlaneExtractorParameters slidingWindowPlaneExtractorParameters; - ransac_plane_extractor::RansacPlaneExtractorParameters ransacPlaneExtractorParameters; - contour_extraction::ContourExtractionParameters contourExtractionParameters; - PostprocessingParameters postprocessingParameters; - }; - - /** - * Constructor - * @param config : configuration containing all parameters of the pipeline - */ - PlaneDecompositionPipeline(const Config& config); - - /** - * Trigger update of the pipeline - * @param gridMap : gridmap to process. Will be modified and added to the resulting planar terrain. - * @param elevationLayer : Name of the elevation layer. - */ - void update(grid_map::GridMap&& gridMap, const std::string& elevationLayer); - - /// Access to the Pipeline result. - PlanarTerrain& getPlanarTerrain() { return planarTerrain_; } - - /// Fills in the resulting segmentation into a gridmap layer data. - void getSegmentation(grid_map::GridMap::Matrix& segmentation) const; - - // Timers - const Timer& getPrepocessTimer() const { return preprocessTimer_; } - const Timer& getSlidingWindowTimer() const { return slidingWindowTimer_; } - const Timer& getContourExtractionTimer() const { return contourExtractionTimer_; } - const Timer& getPostprocessTimer() const { return postprocessTimer_; } - - private: - PlanarTerrain planarTerrain_; - - // Pipeline - GridMapPreprocessing preprocessing_; - sliding_window_plane_extractor::SlidingWindowPlaneExtractor slidingWindowPlaneExtractor_; - contour_extraction::ContourExtraction contourExtraction_; - Postprocessing postprocessing_; - - // Timing - Timer preprocessTimer_; - Timer slidingWindowTimer_; - Timer contourExtractionTimer_; - Timer postprocessTimer_; -}; - -} // namespace convex_plane_decomposition diff --git a/plane_segmentation/convex_plane_decomposition/include/convex_plane_decomposition/PolygonTypes.h b/plane_segmentation/convex_plane_decomposition/include/convex_plane_decomposition/PolygonTypes.h deleted file mode 100644 index 40fe764f..00000000 --- a/plane_segmentation/convex_plane_decomposition/include/convex_plane_decomposition/PolygonTypes.h +++ /dev/null @@ -1,21 +0,0 @@ -// -// Created by rgrandia on 07.06.20. -// - -#pragma once - -#include -#include -#include - -namespace convex_plane_decomposition { - -using K = CGAL::Exact_predicates_inexact_constructions_kernel; -using CgalPoint2d = K::Point_2; -using CgalCircle2d = K::Circle_2; -using CgalPolygon2d = CGAL::Polygon_2; -using CgalSegment2d = CgalPolygon2d::Segment_2; -using CgalPolygonWithHoles2d = CGAL::Polygon_with_holes_2; -using CgalBbox2d = CGAL::Bbox_2; - -} // namespace convex_plane_decomposition diff --git a/plane_segmentation/convex_plane_decomposition/include/convex_plane_decomposition/Postprocessing.h b/plane_segmentation/convex_plane_decomposition/include/convex_plane_decomposition/Postprocessing.h deleted file mode 100644 index 12b85323..00000000 --- a/plane_segmentation/convex_plane_decomposition/include/convex_plane_decomposition/Postprocessing.h +++ /dev/null @@ -1,47 +0,0 @@ -#pragma once - -#include "convex_plane_decomposition/PlanarRegion.h" - -namespace convex_plane_decomposition { - -struct PostprocessingParameters { - /// Added offset in z direction to compensate for the location of the foot frame w.r.t. the elevation map - double extracted_planes_height_offset = 0.0; - - /// Added offset in z direction added in cells that are not traversable - double nonplanar_height_offset = 0.02; - - /// Size of the kernel creating the boundary offset. In number of pixels. - int nonplanar_horizontal_offset = 1; - - /// Half the width of the dilation used before the smooth layer [m] - double smoothing_dilation_size = 0.2; - - /// Half the width of the box kernel used for the smooth layer [m] - double smoothing_box_kernel_size = 0.1; - - /// Half the width of the Gaussian kernel used for the smooth layer [m] - double smoothing_gauss_kernel_size = 0.05; -}; - -class Postprocessing { - public: - Postprocessing(const PostprocessingParameters& parameters); - - /** - * @param planarTerrain - * @param elevationLayer : name of the elevation layer - * @param planeSegmentationLayer : name of the planarity layer with planar = 1.0, non-planar = 0.0 - */ - void postprocess(PlanarTerrain& planarTerrain, const std::string& elevationLayer, const std::string& planeSegmentationLayer) const; - - private: - void dilationInNonplanarRegions(Eigen::MatrixXf& elevationData, const Eigen::MatrixXf& planarityMask) const; - void addHeightOffset(Eigen::MatrixXf& elevationData, const Eigen::MatrixXf& planarityMask) const; - void addHeightOffset(std::vector& planarRegions) const; - void addSmoothLayer(grid_map::GridMap& gridMap, const Eigen::MatrixXf& elevationData, const Eigen::MatrixXf& planarityMask) const; - - PostprocessingParameters parameters_; -}; - -} // namespace convex_plane_decomposition diff --git a/plane_segmentation/convex_plane_decomposition/include/convex_plane_decomposition/SegmentedPlaneProjection.h b/plane_segmentation/convex_plane_decomposition/include/convex_plane_decomposition/SegmentedPlaneProjection.h deleted file mode 100644 index a48f2236..00000000 --- a/plane_segmentation/convex_plane_decomposition/include/convex_plane_decomposition/SegmentedPlaneProjection.h +++ /dev/null @@ -1,77 +0,0 @@ -// -// Created by rgrandia on 12.10.21. -// - -#pragma once - -#include - -#include -#include - -namespace convex_plane_decomposition { - -/** - * Projects a point in the plane to the closest point on the contour of a planar region. We take the inset (slight inward offset from the - * boundary) as the contour to project to. - * @param queryProjectedToPlane : 2D point in the frame of the planar regions - * @param planarRegion : planar region to project to - * @return projected 2D point in the frame of the planar regions - */ -CgalPoint2d projectToPlanarRegion(const CgalPoint2d& queryProjectedToPlane, const PlanarRegion& planarRegion); - -/** - * Sorting information as an intermediate step to find the best plane projection - */ -struct RegionSortingInfo { - const PlanarRegion* regionPtr{nullptr}; - CgalPoint2d positionInTerrainFrame{0.0, 0.0}; - double boundingBoxSquareDistance{0.0}; -}; - -/** - * Compute sorting info and sort according to the bounding box distances. - * - * @param positionInWorld : Query point in world frame - * @param planarRegions : Candidate planar regions - * @return RegionSortingInfo, sorted according to the bounding box distance - */ -std::vector sortWithBoundingBoxes(const Eigen::Vector3d& positionInWorld, - const std::vector& planarRegions); - -struct PlanarTerrainProjection { - EIGEN_MAKE_ALIGNED_OPERATOR_NEW - - /// Selected region - const PlanarRegion* regionPtr{nullptr}; - - /// Projected point in terrain frame of the selected region - CgalPoint2d positionInTerrainFrame{0.0, 0.0}; - - /// Projected point in world frame - Eigen::Vector3d positionInWorld{0.0, 0.0, 0.0}; - - /// Projection cost, see getBestPlanarRegionAtPositionInWorld - double cost{0.0}; -}; - -/** - * This function considers the projection of a 3D query point to a set of candidate regions. - * - * The "best" region is picked according to the following cost: - * cost = |p - p_projected|^2 + penaltyFunction(p_projected), - * where p is the query point, and p_projected is the Euclidean projection to the candidate region, both in world frame. - * - * The bounding box of each region is used to find a lower bound on this cost, it is therefore important the user defined penalty is - * non-negative. - * - * @param positionInWorld : Query point in world frame - * @param planarRegions : Candidate planar regions - * @param penaltyFunction : a non-negative (!) scoring function. - * @return Projection and information - */ -PlanarTerrainProjection getBestPlanarRegionAtPositionInWorld(const Eigen::Vector3d& positionInWorld, - const std::vector& planarRegions, - const std::function& penaltyFunction); - -} // namespace convex_plane_decomposition \ No newline at end of file diff --git a/plane_segmentation/convex_plane_decomposition/include/convex_plane_decomposition/SegmentedPlanesMap.h b/plane_segmentation/convex_plane_decomposition/include/convex_plane_decomposition/SegmentedPlanesMap.h deleted file mode 100644 index f5576239..00000000 --- a/plane_segmentation/convex_plane_decomposition/include/convex_plane_decomposition/SegmentedPlanesMap.h +++ /dev/null @@ -1,32 +0,0 @@ -// -// Created by rgrandia on 10.06.20. -// - -#pragma once - -#include -#include - -#include "PlanarRegion.h" - -namespace convex_plane_decomposition { - -struct SegmentedPlanesMap { - /// Unordered collection of all labels and corresponding plane parameters - std::vector> labelPlaneParameters; - - /// Image with a each pixel being assigned and integer value corresponding to the label. Might contain labels that are not in - /// labelPlaneParameters. These labels should be seen as background. - cv::Mat labeledImage; - - /// Size of each pixel [m] - double resolution; - - /// World X-Y position [m] of the (0, 0) pixel in the image. - Eigen::Vector2d mapOrigin; - - /// All label values are smaller than or equal to highestLabel - int highestLabel; -}; - -} // namespace convex_plane_decomposition diff --git a/plane_segmentation/convex_plane_decomposition/include/convex_plane_decomposition/Timer.h b/plane_segmentation/convex_plane_decomposition/include/convex_plane_decomposition/Timer.h deleted file mode 100644 index 3eaa93e6..00000000 --- a/plane_segmentation/convex_plane_decomposition/include/convex_plane_decomposition/Timer.h +++ /dev/null @@ -1,82 +0,0 @@ -// -// Created by rgrandia on 15.03.22. -// - -#pragma once - -namespace convex_plane_decomposition { - -/** - * Timer class that can be repeatedly started and stopped. Statistics are collected for all measured intervals . - * - * Taken and adapted from ocs2_core - */ -class Timer { - public: - Timer() - : numTimedIntervals_(0), - totalTime_(std::chrono::nanoseconds::zero()), - maxIntervalTime_(std::chrono::nanoseconds::zero()), - lastIntervalTime_(std::chrono::nanoseconds::zero()), - startTime_(std::chrono::steady_clock::now()) {} - - /** - * Reset the timer statistics - */ - void reset() { - totalTime_ = std::chrono::nanoseconds::zero(); - maxIntervalTime_ = std::chrono::nanoseconds::zero(); - lastIntervalTime_ = std::chrono::nanoseconds::zero(); - numTimedIntervals_ = 0; - } - - /** - * Start timing an interval - */ - void startTimer() { startTime_ = std::chrono::steady_clock::now(); } - - /** - * Stop timing of an interval - */ - void endTimer() { - auto endTime = std::chrono::steady_clock::now(); - lastIntervalTime_ = std::chrono::duration_cast(endTime - startTime_); - maxIntervalTime_ = std::max(maxIntervalTime_, lastIntervalTime_); - totalTime_ += lastIntervalTime_; - numTimedIntervals_++; - }; - - /** - * @return Number of intervals that were timed - */ - int getNumTimedIntervals() const { return numTimedIntervals_; } - - /** - * @return Total cumulative time of timed intervals - */ - double getTotalInMilliseconds() const { return std::chrono::duration(totalTime_).count(); } - - /** - * @return Maximum duration of a single interval - */ - double getMaxIntervalInMilliseconds() const { return std::chrono::duration(maxIntervalTime_).count(); } - - /** - * @return Duration of the last timed interval - */ - double getLastIntervalInMilliseconds() const { return std::chrono::duration(lastIntervalTime_).count(); } - - /** - * @return Average duration of all timed intervals - */ - double getAverageInMilliseconds() const { return getTotalInMilliseconds() / numTimedIntervals_; } - - private: - int numTimedIntervals_; - std::chrono::nanoseconds totalTime_; - std::chrono::nanoseconds maxIntervalTime_; - std::chrono::nanoseconds lastIntervalTime_; - std::chrono::steady_clock::time_point startTime_; -}; - -} // namespace convex_plane_decomposition \ No newline at end of file diff --git a/plane_segmentation/convex_plane_decomposition/include/convex_plane_decomposition/contour_extraction/ContourExtraction.h b/plane_segmentation/convex_plane_decomposition/include/convex_plane_decomposition/contour_extraction/ContourExtraction.h deleted file mode 100644 index 1c0cbe90..00000000 --- a/plane_segmentation/convex_plane_decomposition/include/convex_plane_decomposition/contour_extraction/ContourExtraction.h +++ /dev/null @@ -1,47 +0,0 @@ -// -// Created by rgrandia on 04.06.20. -// - -#pragma once - -#include - -#include "convex_plane_decomposition/PlanarRegion.h" -#include "convex_plane_decomposition/PolygonTypes.h" -#include "convex_plane_decomposition/SegmentedPlanesMap.h" - -#include "ContourExtractionParameters.h" - -namespace convex_plane_decomposition { -namespace contour_extraction { - -/** - * Extracts the contours in map resolution, but with the x and y axis flipped. - * This way all contours are in counter clockwise direction. - */ -class ContourExtraction { - public: - ContourExtraction(const ContourExtractionParameters& parameters); - - std::vector extractPlanarRegions(const SegmentedPlanesMap& segmentedPlanesMap); - - private: - ContourExtractionParameters parameters_; - cv::Mat insetKernel_; - cv::Mat marginKernel_; - - // Memory to reuse between calls - cv::Mat binaryImage_; -}; - -/// Modifies the image in-place! -std::vector extractBoundaryAndInset(cv::Mat& binary_image, const cv::Mat& erosionKernel); - -std::vector extractPolygonsFromBinaryImage(const cv::Mat& binary_image); - -CgalPolygon2d cgalPolygonFromOpenCv(const std::vector& openCvPolygon); - -CgalPoint2d pixelToWorldFrame(const CgalPoint2d& pixelspaceCgalPoint2d, double resolution, const Eigen::Vector2d& mapOffset); - -} // namespace contour_extraction -} // namespace convex_plane_decomposition diff --git a/plane_segmentation/convex_plane_decomposition/include/convex_plane_decomposition/contour_extraction/ContourExtractionParameters.h b/plane_segmentation/convex_plane_decomposition/include/convex_plane_decomposition/contour_extraction/ContourExtractionParameters.h deleted file mode 100644 index 009bc37e..00000000 --- a/plane_segmentation/convex_plane_decomposition/include/convex_plane_decomposition/contour_extraction/ContourExtractionParameters.h +++ /dev/null @@ -1,16 +0,0 @@ -// -// Created by rgrandia on 07.06.20. -// - -#pragma once - -namespace convex_plane_decomposition { -namespace contour_extraction { - -struct ContourExtractionParameters { - /// Size of the kernel creating the boundary offset. In number of (sub) pixels. - int marginSize = 1; -}; - -} // namespace contour_extraction -} // namespace convex_plane_decomposition diff --git a/plane_segmentation/convex_plane_decomposition/include/convex_plane_decomposition/contour_extraction/Upsampling.h b/plane_segmentation/convex_plane_decomposition/include/convex_plane_decomposition/contour_extraction/Upsampling.h deleted file mode 100644 index 0f80223b..00000000 --- a/plane_segmentation/convex_plane_decomposition/include/convex_plane_decomposition/contour_extraction/Upsampling.h +++ /dev/null @@ -1,31 +0,0 @@ -// -// Created by rgrandia on 26.10.21. -// - -#pragma once - -#include "convex_plane_decomposition/SegmentedPlanesMap.h" - -namespace convex_plane_decomposition { -namespace contour_extraction { - -/** - * Upsamples an image such that all pixels are turned into 9 pixels, with the original pixel in the middle. - * Around the edges, each pixel is only upsamples in the inward direction. - * - * @param image : source image - * @return upsamples image - */ -cv::Mat upSample(const cv::Mat& image); - -/** - * Upsamples a segmented terrain such that the resulting terrain has 1/3 of the input resolution. (Each cell is split into 9 cells) - * This specific upsampling ratio makes it possible to keep labels in their exact original location in world frame. - * - * @param mapIn : source terrain - * @return upsampled terrain - */ -SegmentedPlanesMap upSample(const SegmentedPlanesMap& mapIn); - -} // namespace contour_extraction -} // namespace convex_plane_decomposition \ No newline at end of file diff --git a/plane_segmentation/convex_plane_decomposition/include/convex_plane_decomposition/ransac/RansacPlaneExtractor.hpp b/plane_segmentation/convex_plane_decomposition/include/convex_plane_decomposition/ransac/RansacPlaneExtractor.hpp deleted file mode 100644 index ca76b89d..00000000 --- a/plane_segmentation/convex_plane_decomposition/include/convex_plane_decomposition/ransac/RansacPlaneExtractor.hpp +++ /dev/null @@ -1,53 +0,0 @@ -#pragma once - -#include - -#include - -#include -#include -#include -#include - -#include "RansacPlaneExtractorParameters.h" - -namespace ransac_plane_extractor { - -// Point with normal related type declarations. -using Kernel = CGAL::Exact_predicates_inexact_constructions_kernel; -using Point3D = Kernel::Point_3; -using Vector3D = Kernel::Vector_3; -using PointWithNormal = std::pair; -using PwnVector = std::vector; - -// RANSAC plane extractor related type declarations. -using PointMap = CGAL::First_of_pair_property_map; -using NormalMap = CGAL::Second_of_pair_property_map; -using Traits = CGAL::Shape_detection::Efficient_RANSAC_traits; -using EfficientRansac = CGAL::Shape_detection::Efficient_RANSAC; -using Plane = CGAL::Shape_detection::Plane; -using Shape = CGAL::Shape_detection::Shape_base; - -class RansacPlaneExtractor { - public: - RansacPlaneExtractor(const RansacPlaneExtractorParameters& parameters); - - void setParameters(const RansacPlaneExtractorParameters& parameters); - - void detectPlanes(std::vector& points_with_normal); - - /// Return {plane normal, support vector} for the detected shape - static std::pair getPlaneParameters(Shape* shapePtr); - - /// Returns an iterator range. Data is still in the ransac_object - EfficientRansac::Shape_range getDetectedPlanes() const { return ransac_.shapes(); }; - - /// Returns an iterator range. Data is still in the ransac_object - EfficientRansac::Point_index_range getUnassignedPointIndices() { return ransac_.indices_of_unassigned_points(); } - - private: - EfficientRansac ransac_; - EfficientRansac::Parameters cgalRansacParameters_; -}; - -} // namespace ransac_plane_extractor diff --git a/plane_segmentation/convex_plane_decomposition/include/convex_plane_decomposition/ransac/RansacPlaneExtractorParameters.h b/plane_segmentation/convex_plane_decomposition/include/convex_plane_decomposition/ransac/RansacPlaneExtractorParameters.h deleted file mode 100644 index ef94c557..00000000 --- a/plane_segmentation/convex_plane_decomposition/include/convex_plane_decomposition/ransac/RansacPlaneExtractorParameters.h +++ /dev/null @@ -1,23 +0,0 @@ -// -// Created by rgrandia on 07.06.20. -// - -#pragma once - -namespace ransac_plane_extractor { - -struct RansacPlaneExtractorParameters { - /// Set probability to miss the largest primitive at each iteration. - double probability = 0.01; - /// Detect shapes with at least N points. - double min_points = 4; - /// [m] Set maximum Euclidean distance between a point and a shape. - double epsilon = 0.025; - /// Set maximum Euclidean distance between points to be clustered. Two points are connected if separated by a distance of at most - /// 2*sqrt(2)*cluster_epsilon = 2.828 * cluster_epsilon - double cluster_epsilon = 0.08; - /// [deg] Set maximum normal deviation between cluster surface_normal and point normal. - double normal_threshold = 25.0; -}; - -} // namespace ransac_plane_extractor diff --git a/plane_segmentation/convex_plane_decomposition/include/convex_plane_decomposition/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.h b/plane_segmentation/convex_plane_decomposition/include/convex_plane_decomposition/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.h deleted file mode 100644 index f60398ad..00000000 --- a/plane_segmentation/convex_plane_decomposition/include/convex_plane_decomposition/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.h +++ /dev/null @@ -1,65 +0,0 @@ -#pragma once - -#include - -#include -#include - -#include "convex_plane_decomposition/SegmentedPlanesMap.h" -#include "convex_plane_decomposition/ransac/RansacPlaneExtractor.hpp" - -#include "SlidingWindowPlaneExtractorParameters.h" - -namespace convex_plane_decomposition { -namespace sliding_window_plane_extractor { - -class SlidingWindowPlaneExtractor { - public: - SlidingWindowPlaneExtractor(const SlidingWindowPlaneExtractorParameters& parameters, - const ransac_plane_extractor::RansacPlaneExtractorParameters& ransacParameters); - - void runExtraction(const grid_map::GridMap& map, const std::string& layer_height); - - const SegmentedPlanesMap& getSegmentedPlanesMap() const { return segmentedPlanesMap_; } - - const cv::Mat& getBinaryLabeledImage() const { return binaryImagePatch_; } - - /** Can be run after extraction for debugging purpose */ - void addSurfaceNormalToMap(grid_map::GridMap& map, const std::string& layerPrefix) const; - - private: - bool isGloballyPlanar(const Eigen::Vector3d& normalVectorPlane, const Eigen::Vector3d& supportVectorPlane, - const std::vector& pointsWithNormal) const; - bool isWithinInclinationLimit(const Eigen::Vector3d& normalVectorPlane) const; - - std::pair computeNormalAndErrorForWindow(const Eigen::MatrixXf& windowData) const; - bool isLocallyPlanar(const Eigen::Vector3d& localNormal, double meanSquaredError) const; - - int getLinearIndex(int row, int col) const { return row + col * mapRows_; }; - - void computePlaneParametersForLabel(int label, std::vector& pointsWithNormal); - void refineLabelWithRansac(int label, std::vector& pointsWithNormal); - - void extractPlaneParametersFromLabeledImage(); - - void runSegmentation(); - - void runSlidingWindowDetector(); - - void setToBackground(int label); - - SlidingWindowPlaneExtractorParameters parameters_; - ransac_plane_extractor::RansacPlaneExtractorParameters ransacParameters_; - - const grid_map::GridMap* map_; - std::string elevationLayer_; - int mapRows_; - - std::vector surfaceNormals_; - std::vector pointsWithNormal_; - - cv::Mat binaryImagePatch_; - SegmentedPlanesMap segmentedPlanesMap_; -}; -} // namespace sliding_window_plane_extractor -} // namespace convex_plane_decomposition diff --git a/plane_segmentation/convex_plane_decomposition/include/convex_plane_decomposition/sliding_window_plane_extraction/SlidingWindowPlaneExtractorParameters.h b/plane_segmentation/convex_plane_decomposition/include/convex_plane_decomposition/sliding_window_plane_extraction/SlidingWindowPlaneExtractorParameters.h deleted file mode 100644 index 51009a4f..00000000 --- a/plane_segmentation/convex_plane_decomposition/include/convex_plane_decomposition/sliding_window_plane_extraction/SlidingWindowPlaneExtractorParameters.h +++ /dev/null @@ -1,44 +0,0 @@ -// -// Created by rgrandia on 07.06.20. -// - -#pragma once - -namespace convex_plane_decomposition { -namespace sliding_window_plane_extractor { - -struct SlidingWindowPlaneExtractorParameters { - /// Size of the sliding window patch used for normal vector calculation and planarity detection - /// Should be an odd number and at least 3. - int kernel_size = 3; - - /// [#] Apply opening filter (erosion -> dilation) to planarity detection by this amount of pixels - int planarity_opening_filter = 0; - - /// [-] Maximum allowed angle between the surface normal and the world-z direction for a patch (converted to dotproduct bound) - double plane_inclination_threshold = std::cos(30.0 * M_PI / 180.0); - - /// [-] Maximum allowed angle between the surface normal and the world-z direction for a cell (converted to dotproduct bound) - double local_plane_inclination_threshold = std::cos(35.0 * M_PI / 180.0); - - /// [m] The allowed root-mean-squared deviation from the plane fitted to the patch. Higher -> not planar - double plane_patch_error_threshold = 0.02; - - /// [#] Labels with less points assigned to them are discarded - int min_number_points_per_label = 4; - - /// Label kernel connectivity. 4 or 8 (cross or box) - int connectivity = 4; - - /// Enable RANSAC refinement if the plane is not globally fitting to the assigned points. - bool include_ransac_refinement = true; - - /// [m] Allowed maximum distance from a point to the plane. If any point violates this, RANSAC is triggered - double global_plane_fit_distance_error_threshold = 0.025; - - /// [deg] Allowed normal vector deviation for a point w.r.t. the plane normal. If any point violates this, RANSAC is triggered - double global_plane_fit_angle_error_threshold_degrees = 25.0; -}; - -} // namespace sliding_window_plane_extractor -} // namespace convex_plane_decomposition diff --git a/plane_segmentation/convex_plane_decomposition/package.xml b/plane_segmentation/convex_plane_decomposition/package.xml deleted file mode 100644 index 5ccbe03f..00000000 --- a/plane_segmentation/convex_plane_decomposition/package.xml +++ /dev/null @@ -1,17 +0,0 @@ - - - convex_plane_decomposition - 0.0.0 - The convex_plane_decomposition package - - Ruben Grandia - - MIT - - catkin - cgal5_catkin - grid_map_core - grid_map_cv - grid_map_filters_rsl - - diff --git a/plane_segmentation/convex_plane_decomposition/src/ConvexRegionGrowing.cpp b/plane_segmentation/convex_plane_decomposition/src/ConvexRegionGrowing.cpp deleted file mode 100644 index 052a0c97..00000000 --- a/plane_segmentation/convex_plane_decomposition/src/ConvexRegionGrowing.cpp +++ /dev/null @@ -1,229 +0,0 @@ -// -// Created by rgrandia on 09.06.20. -// - -#include "convex_plane_decomposition/ConvexRegionGrowing.h" - -#include "convex_plane_decomposition/GeometryUtils.h" - -namespace convex_plane_decomposition { - -namespace { - -int getCounterClockWiseNeighbour(int i, int lastVertex) { - return (i > 0) ? i - 1 : lastVertex; -} - -int getClockWiseNeighbour(int i, int lastVertex) { - return (i < lastVertex) ? i + 1 : 0; -} - -std::array getNeighbours(const CgalPolygon2d& polygon, int i) { - assert(i < polygon.size()); - assert(polygon.size() > 1); - int lastVertex = static_cast(polygon.size()) - 1; - int cwNeighbour = getClockWiseNeighbour(i, lastVertex); - int ccwNeighbour = getCounterClockWiseNeighbour(i, lastVertex); - return {polygon.vertex(cwNeighbour), polygon.vertex(ccwNeighbour)}; -} - -std::array get2ndNeighbours(const CgalPolygon2d& polygon, int i) { - assert(i < polygon.size()); - assert(polygon.size() > 1); - int lastVertex = static_cast(polygon.size()) - 1; - int cwNeighbour1 = getClockWiseNeighbour(i, lastVertex); - int cwNeighbour2 = getClockWiseNeighbour(cwNeighbour1, lastVertex); - int ccwNeighbour1 = getCounterClockWiseNeighbour(i, lastVertex); - int ccwNeighbour2 = getCounterClockWiseNeighbour(ccwNeighbour1, lastVertex); - return {polygon.vertex(cwNeighbour2), polygon.vertex(cwNeighbour1), polygon.vertex(ccwNeighbour1), polygon.vertex(ccwNeighbour2)}; -} - -bool remainsConvexWhenMovingPoint(const CgalPolygon2d& polygon, int i, const CgalPoint2d& point) { - auto secondNeighbours = get2ndNeighbours(polygon, i); - using CgalPolygon2dFixedSize = CGAL::Polygon_2>; - - CgalPolygon2dFixedSize subPolygon; - subPolygon.container()[0] = secondNeighbours[0]; - subPolygon.container()[1] = secondNeighbours[1]; - subPolygon.container()[2] = point; - subPolygon.container()[3] = secondNeighbours[2]; - subPolygon.container()[4] = secondNeighbours[3]; - return subPolygon.is_convex(); -} - -bool pointAndNeighboursAreWithinFreeSphere(const std::array& neighbours, const CgalPoint2d& point, - const CgalCircle2d& circle) { - return isInside(neighbours[0], circle) && isInside(point, circle) && isInside(neighbours[1], circle); -} - -/** - * Returns {true, 0.0} if either one of the point -> neighbour segments intersects the parent shape - * Returns {false, minSquareDistance} if none of the segments intersects. minSquareDistance is the minimum square distance between the - * point and the parent shape - */ -template -std::pair doEdgesIntersectAndSquareDistance(const std::array& neighbours, const CgalPoint2d& point, - const T& parentShape); - -template <> -std::pair doEdgesIntersectAndSquareDistance(const std::array& neighbours, const CgalPoint2d& point, - const CgalPolygon2d& parentShape) { - CgalSegment2d segment0{neighbours[0], point}; - CgalSegment2d segment1{neighbours[1], point}; - - double minDistSquared = std::numeric_limits::max(); - for (auto edgeIt = parentShape.edges_begin(); edgeIt != parentShape.edges_end(); ++edgeIt) { - const auto edge = *edgeIt; - if (CGAL::do_intersect(segment0, edge) || CGAL::do_intersect(segment1, edge)) { - return {true, 0.0}; - } else { - minDistSquared = std::min(minDistSquared, CGAL::squared_distance(point, edge)); - } - } - - return {false, minDistSquared}; -} - -template <> -std::pair doEdgesIntersectAndSquareDistance(const std::array& neighbours, const CgalPoint2d& point, - const CgalPolygonWithHoles2d& parentShape) { - const auto intersectAndDistance = doEdgesIntersectAndSquareDistance(neighbours, point, parentShape.outer_boundary()); - if (intersectAndDistance.first) { - return {true, 0.0}; - } - - double minDistSquared = intersectAndDistance.second; - for (const auto& hole : parentShape.holes()) { - const auto holeIntersectAndDistance = doEdgesIntersectAndSquareDistance(neighbours, point, hole); - if (holeIntersectAndDistance.first) { - return {true, 0.0}; - } else { - minDistSquared = std::min(minDistSquared, holeIntersectAndDistance.second); - } - } - - return {false, minDistSquared}; -} - -template -bool pointCanBeMoved(const CgalPolygon2d& growthShape, int i, const CgalPoint2d& candidatePoint, CgalCircle2d& freeSphere, - const T& parentShape) { - if (remainsConvexWhenMovingPoint(growthShape, i, candidatePoint)) { - auto neighbours = getNeighbours(growthShape, i); - if (pointAndNeighboursAreWithinFreeSphere(neighbours, candidatePoint, freeSphere)) { - return true; - } else { - // Look for intersections and minimum distances simultaneously - const auto intersectAndDistance = doEdgesIntersectAndSquareDistance(neighbours, candidatePoint, parentShape); - - if (intersectAndDistance.first) { - return false; - } else { - // Update free sphere around new point - freeSphere = CgalCircle2d(candidatePoint, intersectAndDistance.second); - return true; - } - } - } else { - return false; - } -} - -inline std::ostream& operator<<(std::ostream& os, const CgalPolygon2d& p) { - os << "CgalPolygon2d: \n"; - for (auto it = p.vertices_begin(); it != p.vertices_end(); ++it) { - os << "\t(" << it->x() << ", " << it->y() << ")\n"; - } - return os; -} - -inline std::ostream& operator<<(std::ostream& os, const CgalPolygonWithHoles2d& p) { - os << "CgalPolygonWithHoles2d: \n"; - os << "\t" << p.outer_boundary() << "\n"; - os << "\tHoles: \n"; - for (auto it = p.holes_begin(); it != p.holes_end(); ++it) { - os << "\t\t" << *it << "\n"; - } - return os; -} - -template -CgalPolygon2d growConvexPolygonInsideShape_impl(const T& parentShape, CgalPoint2d center, int numberOfVertices, double growthFactor) { - const auto centerCopy = center; - constexpr double initialRadiusFactor = 0.999; - constexpr int maxIter = 1000; - double radius = initialRadiusFactor * distance(center, parentShape); - - CgalPolygon2d growthShape = createRegularPolygon(center, radius, numberOfVertices); - - if (radius == 0.0) { - std::cerr << "[growConvexPolygonInsideShape] Zero initial radius. Provide a point with a non-zero offset to the boundary.\n"; - return growthShape; - } - - // Cached values per vertex - std::vector blocked(numberOfVertices, false); - std::vector freeSpheres(numberOfVertices, CgalCircle2d(center, radius * radius)); - - int Nblocked = 0; - int iter = 0; - while (Nblocked < numberOfVertices && iter < maxIter) { - for (int i = 0; i < numberOfVertices; i++) { - if (!blocked[i]) { - const auto candidatePoint = getPointOnLine(center, growthShape.vertex(i), growthFactor); - if (pointCanBeMoved(growthShape, i, candidatePoint, freeSpheres[i], parentShape)) { - updateMean(center, growthShape.vertex(i), candidatePoint, numberOfVertices); - growthShape.vertex(i) = candidatePoint; - } else { - blocked[i] = true; - ++Nblocked; - } - } - } - ++iter; - } - - if (iter == maxIter) { - std::cerr << "[growConvexPolygonInsideShape] max iteration in region growing! Debug information: \n"; - std::cerr << "numberOfVertices: " << numberOfVertices << "\n"; - std::cerr << "growthFactor: " << growthFactor << "\n"; - std::cerr << "Center: " << centerCopy.x() << ", " << centerCopy.y() << "\n"; - std::cerr << parentShape << "\n"; - } - return growthShape; -} - -} // namespace - -CgalPolygon2d createRegularPolygon(const CgalPoint2d& center, double radius, int numberOfVertices) { - assert(numberOfVertices > 2); - CgalPolygon2d polygon; - polygon.container().reserve(numberOfVertices); - double angle = (2. * M_PI) / numberOfVertices; - for (int i = 0; i < numberOfVertices; ++i) { - double phi = i * angle; - double px = radius * std::cos(phi) + center.x(); - double py = radius * std::sin(phi) + center.y(); - // Counter clockwise - polygon.push_back({px, py}); - } - return polygon; -} - -CgalPolygon2d growConvexPolygonInsideShape(const CgalPolygon2d& parentShape, CgalPoint2d center, int numberOfVertices, - double growthFactor) { - return growConvexPolygonInsideShape_impl(parentShape, center, numberOfVertices, growthFactor); -} - -CgalPolygon2d growConvexPolygonInsideShape(const CgalPolygonWithHoles2d& parentShape, CgalPoint2d center, int numberOfVertices, - double growthFactor) { - return growConvexPolygonInsideShape_impl(parentShape, center, numberOfVertices, growthFactor); -} - -void updateMean(CgalPoint2d& mean, const CgalPoint2d& oldValue, const CgalPoint2d& updatedValue, int N) { - // old_mean = 1/N * ( others + old_value); -> others = N*old_mean - old_value - // new_mean = 1/N * ( others + new_value); -> new_mean = old_mean - 1/N * oldValue + 1/N * updatedValue - mean += 1.0 / N * (updatedValue - oldValue); -} - -} // namespace convex_plane_decomposition diff --git a/plane_segmentation/convex_plane_decomposition/src/Draw.cpp b/plane_segmentation/convex_plane_decomposition/src/Draw.cpp deleted file mode 100644 index 3c20b8c4..00000000 --- a/plane_segmentation/convex_plane_decomposition/src/Draw.cpp +++ /dev/null @@ -1,60 +0,0 @@ -// -// Created by rgrandia on 09.06.20. -// - -#include "convex_plane_decomposition/Draw.h" - -namespace convex_plane_decomposition { - -cv::Vec3b randomColor() { - return cv::Vec3b((rand() & 255), (rand() & 255), (rand() & 255)); -} - -std::vector toCv(const CgalPolygon2d& polygon) { - std::vector contour; - contour.reserve(polygon.size()); - for (const auto& point : polygon) { - contour.emplace_back(point.x(), point.y()); - } - return contour; -} - -void drawContour(cv::Mat& img, const CgalPoint2d& point, double radius, const cv::Vec3b* color) { - const cv::Vec3b contourColor = (color == nullptr) ? randomColor() : *color; - cv::Point cvPoint(point.x(), point.y()); - cv::circle(img, cvPoint, radius, contourColor); -} - -void drawContour(cv::Mat& img, const CgalPolygon2d& polygon, const cv::Vec3b* color) { - const cv::Vec3b contourColor = (color == nullptr) ? randomColor() : *color; - std::vector> contours{toCv(polygon)}; - drawContours(img, contours, 0, contourColor); -} - -void drawContour(cv::Mat& img, const CgalPolygonWithHoles2d& polygonWithHoles2d, const cv::Vec3b* color) { - const cv::Vec3b contourColor = (color == nullptr) ? randomColor() : *color; - - drawContour(img, polygonWithHoles2d.outer_boundary(), &contourColor); - for (const auto& hole : polygonWithHoles2d.holes()) { - drawContour(img, hole, &contourColor); - } -} - -CgalPolygon2d scaleShape(const CgalPolygon2d& polygon, double scale) { - CgalPolygon2d scaledShape; - scaledShape.container().reserve(polygon.size()); - for (const auto& point : polygon) { - scaledShape.push_back({scale * point.x(), scale * point.y()}); - } - return scaledShape; -} -CgalPolygonWithHoles2d scaleShape(const CgalPolygonWithHoles2d& polygonWithHoles, double scale) { - CgalPolygonWithHoles2d scaledShape(scaleShape(polygonWithHoles.outer_boundary(), scale)); - - for (const auto& hole : polygonWithHoles.holes()) { - scaledShape.add_hole(scaleShape(hole, scale)); - } - return scaledShape; -} - -} \ No newline at end of file diff --git a/plane_segmentation/convex_plane_decomposition/src/GridMapPreprocessing.cpp b/plane_segmentation/convex_plane_decomposition/src/GridMapPreprocessing.cpp deleted file mode 100644 index 265918e6..00000000 --- a/plane_segmentation/convex_plane_decomposition/src/GridMapPreprocessing.cpp +++ /dev/null @@ -1,52 +0,0 @@ -#include "convex_plane_decomposition/GridMapPreprocessing.h" - -#include -#include -#include - -#include -#include - -namespace convex_plane_decomposition { - -GridMapPreprocessing::GridMapPreprocessing(const PreprocessingParameters& parameters) : parameters_(parameters) {} - -void GridMapPreprocessing::preprocess(grid_map::GridMap& gridMap, const std::string& layer) const { - inpaint(gridMap, layer); - denoise(gridMap, layer); - changeResolution(gridMap, layer); -} - -void GridMapPreprocessing::denoise(grid_map::GridMap& gridMap, const std::string& layer) const { - int kernelSize = std::max(1, std::min(parameters_.kernelSize, 5)); // must be 1, 3 or 5 for current image type, see doc of cv::medianBlur - grid_map::smoothing::median(gridMap, layer, layer, kernelSize, 0, parameters_.numberOfRepeats); -} - -void GridMapPreprocessing::changeResolution(grid_map::GridMap& gridMap, const std::string& layer) const { - bool hasSameResolution = std::abs(gridMap.getResolution() - parameters_.resolution) < 1e-6; - - if (parameters_.resolution > 0.0 && !hasSameResolution) { - grid_map::inpainting::resample(gridMap, layer, parameters_.resolution); - } -} - -void GridMapPreprocessing::inpaint(grid_map::GridMap& gridMap, const std::string& layer) const { - const std::string& layerOut = "tmp"; - grid_map::inpainting::minValues(gridMap, layer, layerOut); - - gridMap.get(layer) = std::move(gridMap.get(layerOut)); - gridMap.erase(layerOut); -} - -bool containsFiniteValue(const grid_map::Matrix& map) { - for (int col = 0; col < map.cols(); ++col) { - for (int row = 0; row < map.rows(); ++row) { - if (std::isfinite(map(col, row))) { - return true; - } - } - } - return false; -} - -} // namespace convex_plane_decomposition diff --git a/plane_segmentation/convex_plane_decomposition/src/LoadGridmapFromImage.cpp b/plane_segmentation/convex_plane_decomposition/src/LoadGridmapFromImage.cpp deleted file mode 100644 index 2f1fc783..00000000 --- a/plane_segmentation/convex_plane_decomposition/src/LoadGridmapFromImage.cpp +++ /dev/null @@ -1,36 +0,0 @@ -// -// Created by rgrandia on 16.03.22. -// - -#include "convex_plane_decomposition/LoadGridmapFromImage.h" - -#include -#include - -#include - -namespace convex_plane_decomposition { - -grid_map::GridMap loadGridmapFromImage(const std::string& filePath, const std::string& elevationLayer, const std::string& frameId, - double resolution, double scale) { - // Read the file - cv::Mat image; - image = cv::imread(filePath, cv::ImreadModes::IMREAD_GRAYSCALE); - - // Check for invalid input - if (!image.data) { - throw std::runtime_error("Could not open or find the image"); - } - - // Min max values - double minValue, maxValue; - cv::minMaxLoc(image, &minValue, &maxValue); - - grid_map::GridMap mapOut({elevationLayer}); - mapOut.setFrameId(frameId); - grid_map::GridMapCvConverter::initializeFromImage(image, resolution, mapOut, grid_map::Position(0.0, 0.0)); - grid_map::GridMapCvConverter::addLayerFromImage(image, elevationLayer, mapOut, float(0.0), float(scale), 0.5); - return mapOut; -} - -} // namespace convex_plane_decomposition \ No newline at end of file diff --git a/plane_segmentation/convex_plane_decomposition/src/PlanarRegion.cpp b/plane_segmentation/convex_plane_decomposition/src/PlanarRegion.cpp deleted file mode 100644 index f0aa09f6..00000000 --- a/plane_segmentation/convex_plane_decomposition/src/PlanarRegion.cpp +++ /dev/null @@ -1,59 +0,0 @@ -#include "convex_plane_decomposition/PlanarRegion.h" - -namespace convex_plane_decomposition { - -Eigen::Isometry3d getTransformLocalToGlobal(const NormalAndPosition& normalAndPosition) { - const Eigen::Vector3d zAxisInGlobal = normalAndPosition.normal.normalized(); - const auto& positionInGlobal = normalAndPosition.position; - - // Cross with any vector that is not equal to surfaceNormal - Eigen::Vector3d yAxisInGlobal = zAxisInGlobal.cross(Eigen::Vector3d::UnitX()); - { // Normalize the yAxis. Need to pick a different direction if z happened to intersect with unitX - const auto ySquaredNorm = yAxisInGlobal.squaredNorm(); - const double crossTolerance = 1e-3; - if (ySquaredNorm > crossTolerance) { - yAxisInGlobal /= std::sqrt(ySquaredNorm); - } else { - // normal was almost equal to unitX. Pick the y-axis in a different way (approximately equal to unitY): - yAxisInGlobal = zAxisInGlobal.cross(Eigen::Vector3d::UnitY().cross(zAxisInGlobal)).normalized(); - } - } - - Eigen::Isometry3d transform; - transform.linear().col(0) = yAxisInGlobal.cross(zAxisInGlobal); - transform.linear().col(1) = yAxisInGlobal; - transform.linear().col(2) = zAxisInGlobal; - transform.translation() = positionInGlobal; - - return transform; -} - -CgalPoint2d projectToPlaneAlongGravity(const CgalPoint2d& worldFrameXY, const Eigen::Isometry3d& transformPlaneToWorld) { - // Shorthands - const auto& xAxis = transformPlaneToWorld.linear().col(0); - const auto& yAxis = transformPlaneToWorld.linear().col(1); - const auto& surfaceNormalInWorld = transformPlaneToWorld.linear().col(2); - const auto& planeOriginInWorld = transformPlaneToWorld.translation(); - - // Horizontal difference - const double dx = worldFrameXY.x() - planeOriginInWorld.x(); - const double dy = worldFrameXY.y() - planeOriginInWorld.y(); - - // Vertical difference - // solve surfaceNormalInWorld.dot(projectedPosition - planeOriginInWorld) = 0 - // with projectPosition XY = worldFrameXY; - Eigen::Vector3d planeOriginToProjectedPointInWorld( - dx, dy, (-dx * surfaceNormalInWorld.x() - dy * surfaceNormalInWorld.y()) / surfaceNormalInWorld.z()); - - // Project XY coordinates to the plane frame - return {xAxis.dot(planeOriginToProjectedPointInWorld), yAxis.dot(planeOriginToProjectedPointInWorld)}; -} - -Eigen::Vector3d positionInWorldFrameFromPosition2dInPlane(const CgalPoint2d& planeXY, const Eigen::Isometry3d& transformPlaneToWorld) { - // Compute transform given that z in plane = 0.0 - Eigen::Vector3d pointInWorld = transformPlaneToWorld.translation() + planeXY.x() * transformPlaneToWorld.linear().col(0) + - planeXY.y() * transformPlaneToWorld.linear().col(1); - return pointInWorld; -} - -} // namespace convex_plane_decomposition \ No newline at end of file diff --git a/plane_segmentation/convex_plane_decomposition/src/PlaneDecompositionPipeline.cpp b/plane_segmentation/convex_plane_decomposition/src/PlaneDecompositionPipeline.cpp deleted file mode 100644 index 573fc580..00000000 --- a/plane_segmentation/convex_plane_decomposition/src/PlaneDecompositionPipeline.cpp +++ /dev/null @@ -1,45 +0,0 @@ -#include "convex_plane_decomposition/PlaneDecompositionPipeline.h" - -#include - -namespace convex_plane_decomposition { - -PlaneDecompositionPipeline::PlaneDecompositionPipeline(const Config& config) - : preprocessing_(config.preprocessingParameters), - slidingWindowPlaneExtractor_(config.slidingWindowPlaneExtractorParameters, config.ransacPlaneExtractorParameters), - contourExtraction_(config.contourExtractionParameters), - postprocessing_(config.postprocessingParameters) {} - -void PlaneDecompositionPipeline::update(grid_map::GridMap&& gridMap, const std::string& elevationLayer) { - // Clear / Overwrite old result - planarTerrain_.planarRegions.clear(); - planarTerrain_.gridMap = std::move(gridMap); - - preprocessTimer_.startTimer(); - preprocessing_.preprocess(planarTerrain_.gridMap, elevationLayer); - preprocessTimer_.endTimer(); - - slidingWindowTimer_.startTimer(); - slidingWindowPlaneExtractor_.runExtraction(planarTerrain_.gridMap, elevationLayer); - slidingWindowTimer_.endTimer(); - - contourExtractionTimer_.startTimer(); - planarTerrain_.planarRegions = contourExtraction_.extractPlanarRegions(slidingWindowPlaneExtractor_.getSegmentedPlanesMap()); - contourExtractionTimer_.endTimer(); - - postprocessTimer_.startTimer(); - // Add binary map - const std::string planeClassificationLayer{"plane_classification"}; - planarTerrain_.gridMap.add(planeClassificationLayer); - auto& traversabilityMask = planarTerrain_.gridMap.get(planeClassificationLayer); - cv::cv2eigen(slidingWindowPlaneExtractor_.getBinaryLabeledImage(), traversabilityMask); - - postprocessing_.postprocess(planarTerrain_, elevationLayer, planeClassificationLayer); - postprocessTimer_.endTimer(); -} - -void PlaneDecompositionPipeline::getSegmentation(grid_map::GridMap::Matrix& segmentation) const { - cv::cv2eigen(slidingWindowPlaneExtractor_.getSegmentedPlanesMap().labeledImage, segmentation); -} - -} // namespace convex_plane_decomposition \ No newline at end of file diff --git a/plane_segmentation/convex_plane_decomposition/src/Postprocessing.cpp b/plane_segmentation/convex_plane_decomposition/src/Postprocessing.cpp deleted file mode 100644 index 4b07aadf..00000000 --- a/plane_segmentation/convex_plane_decomposition/src/Postprocessing.cpp +++ /dev/null @@ -1,146 +0,0 @@ -#include "convex_plane_decomposition/Postprocessing.h" - -#include -#include -#include - -#include -#include - -namespace convex_plane_decomposition { - -Postprocessing::Postprocessing(const PostprocessingParameters& parameters) : parameters_(parameters) {} - -void Postprocessing::postprocess(PlanarTerrain& planarTerrain, const std::string& elevationLayer, - const std::string& planeSegmentationLayer) const { - auto& elevationData = planarTerrain.gridMap.get(elevationLayer); - const auto& planarityMask = planarTerrain.gridMap.get(planeSegmentationLayer); - - // Store the unaltered map - planarTerrain.gridMap.add(elevationLayer + "_before_postprocess", elevationData); - - // post process planar regions - addHeightOffset(planarTerrain.planarRegions); - - // Add smooth layer for base reference - addSmoothLayer(planarTerrain.gridMap, elevationData, planarityMask); - - // post process elevation map - dilationInNonplanarRegions(elevationData, planarityMask); - addHeightOffset(elevationData, planarityMask); -} - -void Postprocessing::dilationInNonplanarRegions(Eigen::MatrixXf& elevationData, const Eigen::MatrixXf& planarityMask) const { - if (parameters_.nonplanar_horizontal_offset > 0) { - // Convert to opencv image - cv::Mat elevationImage; - cv::eigen2cv(elevationData, elevationImage); // creates CV_32F image - - // dilate - const int dilationSize = 2 * parameters_.nonplanar_horizontal_offset + 1; // - const int dilationType = cv::MORPH_ELLIPSE; // ellipse inscribed in the square of size dilationSize - const auto dilationKernel_ = cv::getStructuringElement(dilationType, cv::Size(dilationSize, dilationSize)); - cv::dilate(elevationImage, elevationImage, dilationKernel_, cv::Point(-1, -1), 1, cv::BORDER_REPLICATE); - - // convert back - Eigen::MatrixXf elevationDilated; - cv::cv2eigen(elevationImage, elevationDilated); - - // merge: original elevation for planar regions (mask = 1.0), dilated elevation for non-planar (mask = 0.0) - elevationData = planarityMask.array() * elevationData.array() + (1.0 - planarityMask.array()) * elevationDilated.array(); - } -} - -void Postprocessing::addHeightOffset(Eigen::MatrixXf& elevationData, const Eigen::MatrixXf& planarityMask) const { - // lift elevation layer. For untraversable offset we first add the offset everywhere and substract it again in traversable regions. - if (parameters_.extracted_planes_height_offset != 0.0 || parameters_.nonplanar_height_offset != 0.0) { - elevationData.array() += (parameters_.extracted_planes_height_offset + parameters_.nonplanar_height_offset); - - if (parameters_.nonplanar_height_offset != 0.0) { - elevationData.noalias() -= parameters_.nonplanar_height_offset * planarityMask; - } - } -} - -void Postprocessing::addHeightOffset(std::vector& planarRegions) const { - if (parameters_.extracted_planes_height_offset != 0.0) { - for (auto& planarRegion : planarRegions) { - planarRegion.transformPlaneToWorld.translation().z() += parameters_.extracted_planes_height_offset; - } - } -} - -void Postprocessing::addSmoothLayer(grid_map::GridMap& gridMap, const Eigen::MatrixXf& elevationData, - const Eigen::MatrixXf& planarityMask) const { - auto kernelSizeInPixels = [res = gridMap.getResolution()](double realSize) { - return 2 * static_cast(std::round(realSize / res)) + 1; - }; - - // Helper to convert to Eigen - auto toEigen = [](const cv::Mat& image) { - Eigen::MatrixXf data; - cv::cv2eigen(image, data); - return data; - }; - - // Helper to openCV - auto toCv = [](const Eigen::MatrixXf& data) { - cv::Mat image; - cv::eigen2cv(data, image); - return image; - }; - - const int dilationSize = kernelSizeInPixels(parameters_.smoothing_dilation_size); - const int kernel = kernelSizeInPixels(parameters_.smoothing_box_kernel_size); - const int kernelGauss = kernelSizeInPixels(parameters_.smoothing_gauss_kernel_size); - - - // Set non planar regions to NaN - Eigen::MatrixXf elevationWithNaN = - (planarityMask.array() == 1.0) - .select(elevationData, Eigen::MatrixXf::Constant(elevationData.rows(), elevationData.cols(), NAN)); - gridMap.add("elevationWithNaN", elevationWithNaN); - - // Inpainting - grid_map::inpainting::minValues(gridMap, "elevationWithNaN", "elevationWithNaN_i"); - - // Closing - auto elevationWithNaNCv = toCv(gridMap.get("elevationWithNaN_i")); - const int dilationType = cv::MORPH_ELLIPSE; // ellipse inscribed in the square of size dilationSize - const auto dilationKernel_ = cv::getStructuringElement(dilationType, cv::Size(dilationSize, dilationSize)); - cv::morphologyEx(elevationWithNaNCv, elevationWithNaNCv, cv::MORPH_CLOSE, dilationKernel_, cv::Point(-1, -1), 1, cv::BORDER_REPLICATE); - - gridMap.add("elevationWithNaNClosed", toEigen(elevationWithNaNCv)); - - // Dilation with a slope of 45 deg - int halfDilationSize = (dilationSize - 1) / 2; - float slope = gridMap.getResolution(); // dh dpixel - Eigen::MatrixXf offsets(dilationSize, dilationSize); - for (int i = 0; i < dilationSize; ++i) { - for (int j = 0; j < dilationSize; ++j) { - const auto dx = (i - halfDilationSize); - const auto dy = (j - halfDilationSize); - offsets(i, j) = slope * std::sqrt(dx * dx + dy * dy); - } - } - grid_map::processing::applyKernelFunction( - gridMap, "elevationWithNaNClosed", "elevationWithNaNClosedDilated", dilationSize, - [&](const Eigen::Ref& data) -> float { return (data - offsets).maxCoeffOfFinites(); }); - - // Convert to openCV - auto elevationWithNaNImage = toCv(gridMap.get("elevationWithNaNClosedDilated")); - - // Filter definition - auto smoothingFilter = [kernel, kernelGauss](const cv::Mat& imageIn) { - cv::Mat imageOut; - cv::boxFilter(imageIn, imageOut, -1, {kernel, kernel}, cv::Point(-1, -1), true, cv::BorderTypes::BORDER_REPLICATE); - cv::GaussianBlur(imageOut, imageOut, {kernelGauss, kernelGauss}, 0, 0, cv::BorderTypes::BORDER_REPLICATE); - return imageOut; - }; - auto smooth_planar = smoothingFilter(elevationWithNaNImage); - - // Add layer to map. - gridMap.add("smooth_planar", toEigen(smooth_planar)); -} - -} // namespace convex_plane_decomposition diff --git a/plane_segmentation/convex_plane_decomposition/src/SegmentedPlaneProjection.cpp b/plane_segmentation/convex_plane_decomposition/src/SegmentedPlaneProjection.cpp deleted file mode 100644 index ca4a4988..00000000 --- a/plane_segmentation/convex_plane_decomposition/src/SegmentedPlaneProjection.cpp +++ /dev/null @@ -1,150 +0,0 @@ -// -// Created by rgrandia on 12.10.21. -// - -#include "convex_plane_decomposition/SegmentedPlaneProjection.h" - -#include "convex_plane_decomposition/GeometryUtils.h" - -namespace convex_plane_decomposition { - -namespace { // Helper functions that only make sense in this context - -double distanceCost(const Eigen::Vector3d& query, const Eigen::Vector3d& terrainPoint) { - const double dx = query.x() - terrainPoint.x(); - const double dy = query.y() - terrainPoint.y(); - const double dz = query.z() - terrainPoint.z(); - return dx * dx + dy * dy + dz * dz; -} - -double distanceCostLowerbound(double distanceSquared) { - return distanceSquared; -} - -double intervalSquareDistance(double value, double min, double max) { - // - | 0 | + - // min max - // Returns 0.0 if between min and max. Returns the distance to one boundary otherwise. - if (value < min) { - double diff = min - value; - return diff * diff; - } else if (value < max) { - return 0.0; - } else { - double diff = max - value; - return diff * diff; - } -} - -double squaredDistanceToBoundingBox(const CgalPoint2d& point, const CgalBbox2d& boundingBox) { - const double dxdx = intervalSquareDistance(point.x(), boundingBox.xmin(), boundingBox.xmax()); - const double dydy = intervalSquareDistance(point.y(), boundingBox.ymin(), boundingBox.ymax()); - return dxdx + dydy; -} - -const CgalPolygonWithHoles2d* findInsetContainingThePoint(const CgalPoint2d& point, const std::vector& insets) { - for (const auto& inset : insets) { - if (isInside(point, inset.outer_boundary())) { - return &inset; - } - } - return nullptr; -} - -} // namespace - -CgalPoint2d projectToPlanarRegion(const CgalPoint2d& queryProjectedToPlane, const PlanarRegion& planarRegion) { - // First search if the projected point is inside any of the insets. - // Note: we know that all insets are non-overlapping, and are not nested (no shape is contained in the hole of another shape) - const auto* const insetPtrContainingPoint = findInsetContainingThePoint(queryProjectedToPlane, planarRegion.boundaryWithInset.insets); - - // Compute the projection - CgalPoint2d projectedPoint; - if (insetPtrContainingPoint == nullptr) { - // Not inside any of the insets. Need to look for the closest one. The projection will be to the boundary - double minDistSquared = std::numeric_limits::max(); - for (const auto& inset : planarRegion.boundaryWithInset.insets) { - const auto closestPoint = projectToClosestPoint(queryProjectedToPlane, inset.outer_boundary()); - double distSquare = squaredDistance(closestPoint, queryProjectedToPlane); - if (distSquare < minDistSquared) { - projectedPoint = closestPoint; - minDistSquared = distSquare; - } - } - } else { - // Query point is inside and does not need projection... - projectedPoint = queryProjectedToPlane; - - // ... unless it is inside a hole - for (const auto& hole : insetPtrContainingPoint->holes()) { - if (isInside(queryProjectedToPlane, hole)) { - projectedPoint = projectToClosestPoint(queryProjectedToPlane, hole); - break; // No need to search other holes. Holes are not overlapping - } - } - } - - return projectedPoint; -} - -std::vector sortWithBoundingBoxes(const Eigen::Vector3d& positionInWorld, - const std::vector& planarRegions) { - // Compute distance to bounding boxes - std::vector regionsAndBboxSquareDistances; - regionsAndBboxSquareDistances.reserve(planarRegions.size()); - for (const auto& planarRegion : planarRegions) { - const Eigen::Vector3d positionInTerrainFrame = planarRegion.transformPlaneToWorld.inverse() * positionInWorld; - const double dzdz = positionInTerrainFrame.z() * positionInTerrainFrame.z(); - - RegionSortingInfo regionSortingInfo; - regionSortingInfo.regionPtr = &planarRegion; - regionSortingInfo.positionInTerrainFrame = {positionInTerrainFrame.x(), positionInTerrainFrame.y()}; - regionSortingInfo.boundingBoxSquareDistance = - squaredDistanceToBoundingBox(regionSortingInfo.positionInTerrainFrame, planarRegion.bbox2d) + dzdz; - - regionsAndBboxSquareDistances.push_back(regionSortingInfo); - } - - // Sort regions close to far - std::sort(regionsAndBboxSquareDistances.begin(), regionsAndBboxSquareDistances.end(), - [](const RegionSortingInfo& lhs, const RegionSortingInfo& rhs) { - return lhs.boundingBoxSquareDistance < rhs.boundingBoxSquareDistance; - }); - - return regionsAndBboxSquareDistances; -} - -PlanarTerrainProjection getBestPlanarRegionAtPositionInWorld(const Eigen::Vector3d& positionInWorld, - const std::vector& planarRegions, - const std::function& penaltyFunction) { - const auto sortedRegions = sortWithBoundingBoxes(positionInWorld, planarRegions); - - // Look for closest planar region. - PlanarTerrainProjection projection; - projection.cost = std::numeric_limits::max(); - for (const auto& regionInfo : sortedRegions) { - // Skip based on lower bound - if (distanceCostLowerbound(regionInfo.boundingBoxSquareDistance) > projection.cost) { - continue; - } - - // Project onto planar region - const auto projectedPointInTerrainFrame = projectToPlanarRegion(regionInfo.positionInTerrainFrame, *regionInfo.regionPtr); - - // Express projected point in World frame - const auto projectionInWorldFrame = - positionInWorldFrameFromPosition2dInPlane(projectedPointInTerrainFrame, regionInfo.regionPtr->transformPlaneToWorld); - - const auto cost = distanceCost(positionInWorld, projectionInWorldFrame) + penaltyFunction(projectionInWorldFrame); - if (cost < projection.cost) { - projection.cost = cost; - projection.regionPtr = regionInfo.regionPtr; - projection.positionInTerrainFrame = projectedPointInTerrainFrame; - projection.positionInWorld = projectionInWorldFrame; - } - } - - return projection; -} - -} // namespace convex_plane_decomposition \ No newline at end of file diff --git a/plane_segmentation/convex_plane_decomposition/src/contour_extraction/ContourExtraction.cpp b/plane_segmentation/convex_plane_decomposition/src/contour_extraction/ContourExtraction.cpp deleted file mode 100644 index ee5a3fc9..00000000 --- a/plane_segmentation/convex_plane_decomposition/src/contour_extraction/ContourExtraction.cpp +++ /dev/null @@ -1,145 +0,0 @@ -// -// Created by rgrandia on 04.06.20. -// - -#include "convex_plane_decomposition/contour_extraction/ContourExtraction.h" -#include "convex_plane_decomposition/contour_extraction/Upsampling.h" - -#include -#include - -namespace convex_plane_decomposition { -namespace contour_extraction { - -ContourExtraction::ContourExtraction(const ContourExtractionParameters& parameters) - : parameters_(parameters), binaryImage_(cv::Size(0, 0), CV_8UC1) { - { - int erosionSize = 1; // single sided length of the kernel - int erosionType = cv::MORPH_CROSS; - insetKernel_ = cv::getStructuringElement(erosionType, cv::Size(2 * erosionSize + 1, 2 * erosionSize + 1)); - } - { - int erosionSize = 1 + parameters_.marginSize; // single sided length of the kernel - int erosionType = cv::MORPH_ELLIPSE; - marginKernel_ = cv::getStructuringElement(erosionType, cv::Size(2 * erosionSize + 1, 2 * erosionSize + 1)); - } -} - -std::vector ContourExtraction::extractPlanarRegions(const SegmentedPlanesMap& segmentedPlanesMap) { - const auto upSampledMap = upSample(segmentedPlanesMap); - - std::vector planarRegions; - planarRegions.reserve(upSampledMap.highestLabel + 1); // Can be more or less in the end if regions are split or removed. - for (const auto& label_plane : upSampledMap.labelPlaneParameters) { - const int label = label_plane.first; - binaryImage_ = upSampledMap.labeledImage == label; - - // Try with safety margin - cv::erode(binaryImage_, binaryImage_, marginKernel_, cv::Point(-1,-1), 1, cv::BORDER_REPLICATE); - auto boundariesAndInsets = contour_extraction::extractBoundaryAndInset(binaryImage_, insetKernel_); - - // If safety margin makes the region disappear -> try without - if (boundariesAndInsets.empty()) { - binaryImage_ = upSampledMap.labeledImage == label; - // still 1 pixel erosion to remove the growth after upsampling - cv::erode(binaryImage_, binaryImage_, insetKernel_, cv::Point(-1,-1), 1, cv::BORDER_REPLICATE); - boundariesAndInsets = contour_extraction::extractBoundaryAndInset(binaryImage_, insetKernel_); - } - - const auto plane_parameters = getTransformLocalToGlobal(label_plane.second); - for (auto& boundaryAndInset : boundariesAndInsets) { - // Transform points from pixel space to local terrain frame - transformInPlace(boundaryAndInset, [&](CgalPoint2d& point) { - auto pointInWorld = pixelToWorldFrame(point, upSampledMap.resolution, upSampledMap.mapOrigin); - point = projectToPlaneAlongGravity(pointInWorld, plane_parameters); - }); - - PlanarRegion planarRegion; - planarRegion.boundaryWithInset = std::move(boundaryAndInset); - planarRegion.transformPlaneToWorld = plane_parameters; - planarRegion.bbox2d = planarRegion.boundaryWithInset.boundary.outer_boundary().bbox(); - planarRegions.push_back(std::move(planarRegion)); - } - } - return planarRegions; -} - -std::vector extractBoundaryAndInset(cv::Mat& binary_image, const cv::Mat& erosionKernel) { - // Get boundary - std::vector boundaries = extractPolygonsFromBinaryImage(binary_image); - - // Erode - cv::erode(binary_image, binary_image, erosionKernel, cv::Point(-1,-1), 1, cv::BORDER_REPLICATE); - - // Erosion of the edge of the map - binary_image.row(0) = 0; - binary_image.row(binary_image.rows - 1) = 0; - binary_image.col(0) = 0; - binary_image.col(binary_image.cols - 1) = 0; - - // Get insets - std::vector insets = extractPolygonsFromBinaryImage(binary_image); - - // Associate boundaries with insets - std::vector boundariesWithInsets; - for (const auto& boundary : boundaries) { - std::vector assignedInsets; - for (const auto& inset : insets) { - if (isInside(inset.outer_boundary().vertex(0), boundary)) { - assignedInsets.push_back(inset); - } - } - - if (!assignedInsets.empty()) { - BoundaryWithInset boundaryWithInset; - boundaryWithInset.boundary = boundary; - boundaryWithInset.insets = assignedInsets; - boundariesWithInsets.push_back(std::move(boundaryWithInset)); - } - } - return boundariesWithInsets; -} - -std::vector extractPolygonsFromBinaryImage(const cv::Mat& binary_image) { - std::vector> contours; - std::vector hierarchy; // [Next, Previous, First_Child, Parent] - auto isOuterContour = [](const cv::Vec4i& hierarchyVector) { - return hierarchyVector[3] < 0; // no parent - }; - - cv::findContours(binary_image, contours, hierarchy, cv::RETR_CCOMP, cv::CHAIN_APPROX_SIMPLE); - - std::vector plane_polygons; - for (int i = 0; i < contours.size(); i++) { - if (isOuterContour(hierarchy[i]) && contours[i].size() > 1) { - CgalPolygonWithHoles2d polygon; - polygon.outer_boundary() = cgalPolygonFromOpenCv(contours[i]); - - // Add children as holes - int childIndex = hierarchy[i][2]; // First child - while (childIndex > 0) { - polygon.add_hole(cgalPolygonFromOpenCv(contours[childIndex])); - childIndex = hierarchy[childIndex][0]; // Next child - } - plane_polygons.push_back(std::move(polygon)); - } - } - return plane_polygons; -} - -CgalPolygon2d cgalPolygonFromOpenCv(const std::vector& openCvPolygon) { - CgalPolygon2d polygon; - polygon.container().reserve(openCvPolygon.size()); - for (const auto& point : openCvPolygon) { - polygon.container().emplace_back(point.x, point.y); - } - return polygon; -} - -CgalPoint2d pixelToWorldFrame(const CgalPoint2d& pixelspaceCgalPoint2d, double resolution, const Eigen::Vector2d& mapOffset) { - // Notice the transpose of x and y! - return {mapOffset.x() - resolution * pixelspaceCgalPoint2d.y(), mapOffset.y() - resolution * pixelspaceCgalPoint2d.x()}; -} - -} // namespace contour_extraction -} // namespace convex_plane_decomposition diff --git a/plane_segmentation/convex_plane_decomposition/src/contour_extraction/Upsampling.cpp b/plane_segmentation/convex_plane_decomposition/src/contour_extraction/Upsampling.cpp deleted file mode 100644 index a742d069..00000000 --- a/plane_segmentation/convex_plane_decomposition/src/contour_extraction/Upsampling.cpp +++ /dev/null @@ -1,71 +0,0 @@ -// -// Created by rgrandia on 26.10.21. -// - -#include "convex_plane_decomposition/contour_extraction/Upsampling.h" - -namespace convex_plane_decomposition { -namespace contour_extraction { - -namespace { -// Helper function that upsamples a single column. Writes into a target that is already allocated with the right size -void upSampleColumn(const cv::Mat& column, cv::Mat& target, int col, int rows, int upsampledRows) { - for (int row = 0; row < rows; ++row) { - const auto value = column.at(row); - if (row == 0) { - target.at(0, col) = value; - target.at(1, col) = value; - } else if (row + 1 == rows) { - target.at(upsampledRows - 2, col) = value; - target.at(upsampledRows - 1, col) = value; - } else { - const int targetRow = 2 + 3 * (row - 1); - target.at(targetRow, col) = value; - target.at(targetRow + 1, col) = value; - target.at(targetRow + 2, col) = value; - } - } -} -} // namespace - -cv::Mat upSample(const cv::Mat& image) { - const int rows = image.rows; - const int cols = image.cols; - assert(rows >= 2); - assert(cols >= 2); - const int upsampledRows = 4 + 3 * (rows - 2); - const int upsampledCols = 4 + 3 * (cols - 2); - - cv::Mat result(upsampledRows, upsampledCols, image.type()); - - for (int col = 0; col < cols; ++col) { - const auto& column = image.col(col); - if (col == 0) { - upSampleColumn(column, result, 0, rows, upsampledRows); - result.col(0).copyTo(result.col(1)); - } else if (col + 1 == cols) { - upSampleColumn(column, result, upsampledCols - 2, rows, upsampledRows); - result.col(upsampledCols - 2).copyTo(result.col(upsampledCols - 1)); - } else { - const int targetCol = 2 + 3 * (col - 1); - upSampleColumn(column, result, targetCol, rows, upsampledRows); - result.col(targetCol).copyTo(result.col(targetCol + 1)); - result.col(targetCol + 1).copyTo(result.col(targetCol + 2)); - } - } - - return result; -} - -SegmentedPlanesMap upSample(const SegmentedPlanesMap& mapIn) { - SegmentedPlanesMap mapOut; - mapOut.labelPlaneParameters = mapIn.labelPlaneParameters; - mapOut.labeledImage = upSample(mapIn.labeledImage); - mapOut.resolution = mapIn.resolution / 3.0; - mapOut.mapOrigin = mapIn.mapOrigin; - mapOut.highestLabel = mapIn.highestLabel; - return mapOut; -} - -} // namespace contour_extraction -} // namespace convex_plane_decomposition \ No newline at end of file diff --git a/plane_segmentation/convex_plane_decomposition/src/ransac/RansacPlaneExtractor.cpp b/plane_segmentation/convex_plane_decomposition/src/ransac/RansacPlaneExtractor.cpp deleted file mode 100644 index 98dc720e..00000000 --- a/plane_segmentation/convex_plane_decomposition/src/ransac/RansacPlaneExtractor.cpp +++ /dev/null @@ -1,39 +0,0 @@ -#include "convex_plane_decomposition/ransac/RansacPlaneExtractor.hpp" - -namespace ransac_plane_extractor { - -RansacPlaneExtractor::RansacPlaneExtractor(const RansacPlaneExtractorParameters& parameters) { - setParameters(parameters); - ransac_.add_shape_factory(); -} - -void RansacPlaneExtractor::setParameters(const RansacPlaneExtractorParameters& parameters) { - cgalRansacParameters_.probability = parameters.probability; - cgalRansacParameters_.min_points = parameters.min_points; - cgalRansacParameters_.epsilon = parameters.epsilon / 3.0; // CGAL ransac puts the inlier tolerance at 3 times epsilon - cgalRansacParameters_.cluster_epsilon = parameters.cluster_epsilon; - cgalRansacParameters_.normal_threshold = std::cos(parameters.normal_threshold * M_PI / 180.0); -} - -void RansacPlaneExtractor::detectPlanes(std::vector& points_with_normal) { - ransac_.set_input(points_with_normal); - ransac_.detect(cgalRansacParameters_); -} - -std::pair RansacPlaneExtractor::getPlaneParameters(Shape* shapePtr) { - const auto* planePtr = static_cast(shapePtr); - - // Get Normal, pointing upwards - Eigen::Vector3d normalVector(planePtr->plane_normal().x(), planePtr->plane_normal().y(), planePtr->plane_normal().z()); - if (normalVector.z() < 0.0) { - normalVector = -normalVector; - } - - // Project origin to get a point on the plane. - const auto support = planePtr->projection({0.0, 0.0, 0.0}); - const Eigen::Vector3d supportVector(support.x(), support.y(), support.z()); - - return {normalVector, supportVector}; -} - -} // namespace ransac_plane_extractor diff --git a/plane_segmentation/convex_plane_decomposition/src/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.cpp b/plane_segmentation/convex_plane_decomposition/src/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.cpp deleted file mode 100644 index 04c488d6..00000000 --- a/plane_segmentation/convex_plane_decomposition/src/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.cpp +++ /dev/null @@ -1,311 +0,0 @@ -#include "convex_plane_decomposition/sliding_window_plane_extraction/SlidingWindowPlaneExtractor.h" - -#include -#include -#include - -#include - -#include -#include - -#include - -namespace convex_plane_decomposition { -namespace sliding_window_plane_extractor { - -namespace { - -std::pair normalAndErrorFromCovariance(int numPoint, const Eigen::Vector3d& mean, - const Eigen::Matrix3d& sumSquared) { - const Eigen::Matrix3d covarianceMatrix = sumSquared / numPoint - mean * mean.transpose(); - - // Compute Eigenvectors. - // Eigenvalues are ordered small to large. - // Worst case bound for zero eigenvalue from : https://eigen.tuxfamily.org/dox/classEigen_1_1SelfAdjointEigenSolver.html - Eigen::SelfAdjointEigenSolver solver; - solver.computeDirect(covarianceMatrix, Eigen::DecompositionOptions::ComputeEigenvectors); - if (solver.eigenvalues()(1) > 1e-8) { - Eigen::Vector3d unitaryNormalVector = solver.eigenvectors().col(0); - - // Check direction of the normal vector and flip the sign upwards - if (unitaryNormalVector.z() < 0.0) { - unitaryNormalVector = -unitaryNormalVector; - } - // The first eigenvalue might become slightly negative due to numerics. - double squareError = (solver.eigenvalues()(0) > 0.0) ? solver.eigenvalues()(0) : 0.0; - return {unitaryNormalVector, squareError}; - } else { // If second eigenvalue is zero, the normal is not defined. - return {Eigen::Vector3d::UnitZ(), 1e30}; - } -} - -} // namespace - -SlidingWindowPlaneExtractor::SlidingWindowPlaneExtractor(const SlidingWindowPlaneExtractorParameters& parameters, - const ransac_plane_extractor::RansacPlaneExtractorParameters& ransacParameters) - : parameters_(parameters), ransacParameters_(ransacParameters) {} - -void SlidingWindowPlaneExtractor::runExtraction(const grid_map::GridMap& map, const std::string& layer_height) { - // Extract basic map information - map_ = ↦ - elevationLayer_ = layer_height; - mapRows_ = map_->getSize()[0]; - segmentedPlanesMap_.resolution = map_->getResolution(); - map_->getPosition(Eigen::Vector2i(0, 0), segmentedPlanesMap_.mapOrigin); - - // Initialize based on map size. - segmentedPlanesMap_.highestLabel = -1; - segmentedPlanesMap_.labelPlaneParameters.clear(); - const auto& mapSize = map_->getSize(); - binaryImagePatch_ = cv::Mat(mapSize(0), mapSize(1), CV_8U, 0.0); // Zero initialize to set untouched pixels to not planar; - // Need a buffer of at least the linear size of the image. But no need to shrink if the buffer is already bigger. - const int linearMapSize = mapSize(0) * mapSize(1); - if (surfaceNormals_.size() < linearMapSize) { - surfaceNormals_.reserve(linearMapSize); - std::fill_n(surfaceNormals_.begin(), linearMapSize, Eigen::Vector3d::Zero()); - } - - // Run - runSlidingWindowDetector(); - runSegmentation(); - extractPlaneParametersFromLabeledImage(); - - // Get classification from segmentation to account for unassigned points. - binaryImagePatch_ = segmentedPlanesMap_.labeledImage > 0; - binaryImagePatch_.setTo(1, binaryImagePatch_ == 255); -} - -std::pair SlidingWindowPlaneExtractor::computeNormalAndErrorForWindow(const Eigen::MatrixXf& windowData) const { - // Gather surrounding data. - size_t nPoints = 0; - Eigen::Vector3d sum = Eigen::Vector3d::Zero(); - Eigen::Matrix3d sumSquared = Eigen::Matrix3d::Zero(); - for (int kernel_col = 0; kernel_col < parameters_.kernel_size; ++kernel_col) { - for (int kernel_row = 0; kernel_row < parameters_.kernel_size; ++kernel_row) { - float height = windowData(kernel_row, kernel_col); - if (!std::isfinite(height)) { - continue; - } - // No need to account for map offset. Will substract the mean anyway. - Eigen::Vector3d point{-kernel_row * segmentedPlanesMap_.resolution, -kernel_col * segmentedPlanesMap_.resolution, height}; - nPoints++; - sum += point; - sumSquared.noalias() += point * point.transpose(); - } - } - - if (nPoints < 3) { - // Not enough points to establish normal direction - return {Eigen::Vector3d::UnitZ(), 1e30}; - } else { - const Eigen::Vector3d mean = sum / nPoints; - return normalAndErrorFromCovariance(nPoints, mean, sumSquared); - } -} - -bool SlidingWindowPlaneExtractor::isLocallyPlanar(const Eigen::Vector3d& localNormal, double meanSquaredError) const { - const double thresholdSquared = parameters_.plane_patch_error_threshold * parameters_.plane_patch_error_threshold; - - // Dotproduct between normal and Eigen::Vector3d::UnitZ(); - const double normalDotProduct = localNormal.z(); - return (meanSquaredError < thresholdSquared && normalDotProduct > parameters_.local_plane_inclination_threshold); -} - -void SlidingWindowPlaneExtractor::runSlidingWindowDetector() { - grid_map::SlidingWindowIterator window_iterator(*map_, elevationLayer_, grid_map::SlidingWindowIterator::EdgeHandling::EMPTY, - parameters_.kernel_size); - const int kernelMiddle = (parameters_.kernel_size - 1) / 2; - - for (; !window_iterator.isPastEnd(); ++window_iterator) { - grid_map::Index index = *window_iterator; - Eigen::MatrixXf window_data = window_iterator.getData(); - const auto middleValue = window_data(kernelMiddle, kernelMiddle); - - if (!std::isfinite(middleValue)) { - binaryImagePatch_.at(index.x(), index.y()) = false; - } else { - Eigen::Vector3d n; - double meanSquaredError; - std::tie(n, meanSquaredError) = computeNormalAndErrorForWindow(window_data); - - surfaceNormals_[getLinearIndex(index.x(), index.y())] = n; - binaryImagePatch_.at(index.x(), index.y()) = isLocallyPlanar(n, meanSquaredError); - } - } - - // opening filter - if (parameters_.planarity_opening_filter > 0) { - const int openingKernelSize = 2 * parameters_.planarity_opening_filter + 1; - const int openingKernelType = cv::MORPH_CROSS; - const auto kernel_ = cv::getStructuringElement(openingKernelType, cv::Size(openingKernelSize, openingKernelSize)); - cv::morphologyEx(binaryImagePatch_, binaryImagePatch_, cv::MORPH_OPEN, kernel_, cv::Point(-1, -1), 1, cv::BORDER_REPLICATE); - } -} - -// Label cells according to which cell they belong to using connected component labeling. -void SlidingWindowPlaneExtractor::runSegmentation() { - int numberOfLabel = cv::connectedComponents(binaryImagePatch_, segmentedPlanesMap_.labeledImage, parameters_.connectivity, CV_32S); - segmentedPlanesMap_.highestLabel = numberOfLabel - 1; // Labels are [0, N-1] -} - -void SlidingWindowPlaneExtractor::extractPlaneParametersFromLabeledImage() { - const int numberOfExtractedPlanesWithoutRefinement = - segmentedPlanesMap_.highestLabel; // Make local copy. The highestLabel is incremented inside the loop - - // Reserve a workvector that is reused between processing labels - pointsWithNormal_.reserve(segmentedPlanesMap_.labeledImage.rows * segmentedPlanesMap_.labeledImage.cols); - - // Skip label 0. This is the background, i.e. non-planar region. - for (int label = 1; label <= numberOfExtractedPlanesWithoutRefinement; ++label) { - computePlaneParametersForLabel(label, pointsWithNormal_); - } -} - -void SlidingWindowPlaneExtractor::computePlaneParametersForLabel(int label, - std::vector& pointsWithNormal) { - const auto& elevationData = (*map_)[elevationLayer_]; - pointsWithNormal.clear(); // clear the workvector - - int numPoints = 0; - Eigen::Vector3d sum = Eigen::Vector3d::Zero(); - Eigen::Matrix3d sumSquared = Eigen::Matrix3d::Zero(); - for (int col = 0; col < segmentedPlanesMap_.labeledImage.cols; ++col) { - for (int row = 0; row < segmentedPlanesMap_.labeledImage.rows; ++row) { - if (segmentedPlanesMap_.labeledImage.at(row, col) == label) { - double height = elevationData(row, col); - if (std::isfinite(height)) { - const Eigen::Vector3d point3d{segmentedPlanesMap_.mapOrigin.x() - row * segmentedPlanesMap_.resolution, - segmentedPlanesMap_.mapOrigin.y() - col * segmentedPlanesMap_.resolution, height}; - - ++numPoints; - sum += point3d; - sumSquared.noalias() += point3d * point3d.transpose(); - - const auto& localSurfaceNormal = surfaceNormals_[getLinearIndex(row, col)]; - pointsWithNormal.emplace_back( - ransac_plane_extractor::Point3D(point3d.x(), point3d.y(), point3d.z()), - ransac_plane_extractor::Vector3D(localSurfaceNormal.x(), localSurfaceNormal.y(), localSurfaceNormal.z())); - } - } - } - } - if (numPoints < parameters_.min_number_points_per_label || numPoints < 3) { - // Label has too little points, no plane parameters are created - return; - } - - const Eigen::Vector3d supportVector = sum / numPoints; - const Eigen::Vector3d normalVector = normalAndErrorFromCovariance(numPoints, supportVector, sumSquared).first; - - if (parameters_.include_ransac_refinement) { // with RANSAC - if (isGloballyPlanar(normalVector, supportVector, pointsWithNormal)) { // Already planar enough - if (isWithinInclinationLimit(normalVector)) { - segmentedPlanesMap_.labelPlaneParameters.emplace_back(label, NormalAndPosition{supportVector, normalVector}); - } else { - setToBackground(label); - } - } else { - // Set entire label to background, so unassigned points are automatically in background - setToBackground(label); - refineLabelWithRansac(label, pointsWithNormal); - } - } else { // no RANSAC - if (isWithinInclinationLimit(normalVector)) { - segmentedPlanesMap_.labelPlaneParameters.emplace_back(label, NormalAndPosition{supportVector, normalVector}); - } else { - setToBackground(label); - } - } -} - -void SlidingWindowPlaneExtractor::refineLabelWithRansac(int label, std::vector& pointsWithNormal) { - // Fix the seed for each label to get deterministic behaviour - CGAL::get_default_random() = CGAL::Random(0); - - // Run ransac - ransac_plane_extractor::RansacPlaneExtractor ransac_plane_extractor(ransacParameters_); - ransac_plane_extractor.detectPlanes(pointsWithNormal); - const auto& planes = ransac_plane_extractor.getDetectedPlanes(); - - bool reuseLabel = true; - for (const auto& plane : planes) { - const auto planeInfo = ransac_plane_extractor::RansacPlaneExtractor::getPlaneParameters(plane.get()); - const auto& normalVector = planeInfo.first; - const auto& supportVector = planeInfo.second; - - if (isWithinInclinationLimit(normalVector)) { - // Bookkeeping of labels : reuse old label for the first plane - const int newLabel = (reuseLabel) ? label : ++segmentedPlanesMap_.highestLabel; - reuseLabel = false; - - segmentedPlanesMap_.labelPlaneParameters.emplace_back(newLabel, NormalAndPosition{supportVector, normalVector}); - - // Assign label in segmentation - for (const auto index : plane->indices_of_assigned_points()) { - const auto& point = pointsWithNormal[index].first; - - // Need to lookup indices in map, because RANSAC has reordered the points - Eigen::Array2i map_indices; - map_->getIndex(Eigen::Vector2d(point.x(), point.y()), map_indices); - segmentedPlanesMap_.labeledImage.at(map_indices(0), map_indices(1)) = newLabel; - } - } - } -} - -void SlidingWindowPlaneExtractor::addSurfaceNormalToMap(grid_map::GridMap& map, const std::string& layerPrefix) const { - map.add(layerPrefix + "_x"); - map.add(layerPrefix + "_y"); - map.add(layerPrefix + "_z"); - auto& dataX = map.get(layerPrefix + "_x"); - auto& dataY = map.get(layerPrefix + "_y"); - auto& dataZ = map.get(layerPrefix + "_z"); - - grid_map::SlidingWindowIterator window_iterator(map, layerPrefix + "_x", grid_map::SlidingWindowIterator::EdgeHandling::EMPTY, - parameters_.kernel_size); - - for (; !window_iterator.isPastEnd(); ++window_iterator) { - grid_map::Index index = *window_iterator; - const auto& n = surfaceNormals_[getLinearIndex(index.x(), index.y())]; - dataX(index.x(), index.y()) = n.x(); - dataY(index.x(), index.y()) = n.y(); - dataZ(index.x(), index.y()) = n.z(); - } -} - -bool SlidingWindowPlaneExtractor::isGloballyPlanar(const Eigen::Vector3d& normalVectorPlane, const Eigen::Vector3d& supportVectorPlane, - const std::vector& pointsWithNormal) const { - // Part of the plane projection that is independent of the point - const double normalDotSupportvector = normalVectorPlane.dot(supportVectorPlane); - - // Convert threshold in degrees to threshold on dot product (between normalized vectors) - const double dotProductThreshold = std::cos(parameters_.global_plane_fit_angle_error_threshold_degrees * M_PI / 180.0); - - for (const auto& pointWithNormal : pointsWithNormal) { - const double normalDotPoint = normalVectorPlane.x() * pointWithNormal.first.x() + normalVectorPlane.y() * pointWithNormal.first.y() + - normalVectorPlane.z() * pointWithNormal.first.z(); - const double distanceError = std::abs(normalDotPoint - normalDotSupportvector); - - const double dotProductNormals = normalVectorPlane.x() * pointWithNormal.second.x() + - normalVectorPlane.y() * pointWithNormal.second.y() + - normalVectorPlane.z() * pointWithNormal.second.z(); - - if (distanceError > parameters_.global_plane_fit_distance_error_threshold || dotProductNormals < dotProductThreshold) { - return false; - } - } - - return true; -} - -bool SlidingWindowPlaneExtractor::isWithinInclinationLimit(const Eigen::Vector3d& normalVectorPlane) const { - return normalVectorPlane.z() > parameters_.plane_inclination_threshold; -} - -void SlidingWindowPlaneExtractor::setToBackground(int label) { - segmentedPlanesMap_.labeledImage.setTo(0, segmentedPlanesMap_.labeledImage == label); -} - -} // namespace sliding_window_plane_extractor -} // namespace convex_plane_decomposition diff --git a/plane_segmentation/convex_plane_decomposition/test/data/terrain.png b/plane_segmentation/convex_plane_decomposition/test/data/terrain.png deleted file mode 100644 index 65cfe247f929043833c3d49de1f345a4a17f7adf..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 112548 zcmV+5Kp($}P)00Hy}1^@s6%hunD00009a7bBm000XU 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zB!a)jMBQB_^Pi^8dmLZ!W7b3&zE(e2r-BxwXNsdLVWPVdgNs^(#tVNM+_~Fdtah`q z2g7{OkAA!fN5#f`Lr>n2US6tb>Fx49a z2X0Xjh`aEvhF3Do*7b+lj;8!6s`MA!CL2b?bT0ZnI|Z7$b^dX8jF@$O9a4%R-oH)S z|2hvNW5-h6j4R%(o%UA{m>G4=;0G2QRDQWFh%hgSmo>gTI9!X_>%bIab%tyBgC|R$ zWh}E>SdRO`8YjHJ)S?I}V8fYLjQR~#isp;1|E#oVzlNT$K1{1#T6b4!Zh@}Z0+E*4)V4JPO7P-t8c%|-` zLt}3Ph*Ip~jco0O4;x%Pi0ffOHt6m9B)<7b|83n0GtwHQ9G*RsvjTthBk6|C{+e{G z`pJ~(w9m~pnm0t{#HnX!wo8o#_Q1hdwYjwDu)9oB#ha`SYgclP;h>gU;Xdyvh;*ta g`e0c+1#i3!b+ - -#include - -#include - -#include "convex_plane_decomposition/ConvexRegionGrowing.h" -#include "convex_plane_decomposition/GeometryUtils.h" -#include "convex_plane_decomposition/LoadGridmapFromImage.h" -#include "convex_plane_decomposition/PlaneDecompositionPipeline.h" -#include "convex_plane_decomposition/SegmentedPlaneProjection.h" - -using namespace convex_plane_decomposition; - -namespace { - -/** - * Brute force version of getBestPlanarRegionAtPositionInWorld, searches through all candidates without shortcuts - */ -PlanarTerrainProjection getBestPlanarRegionAtPositionInWorldNaive(const Eigen::Vector3d& positionInWorld, - const std::vector& planarRegions, - const std::function& penaltyFunction) { - // Do full project per region first - std::vector individualProjections; - std::for_each(planarRegions.begin(), planarRegions.end(), [&](const PlanarRegion& planarRegion) { - const Eigen::Vector3d positionInTerrainFrame = planarRegion.transformPlaneToWorld.inverse() * positionInWorld; - - PlanarTerrainProjection projection; - projection.regionPtr = &planarRegion; - projection.positionInTerrainFrame = projectToPlanarRegion({positionInTerrainFrame.x(), positionInTerrainFrame.y()}, planarRegion); - projection.positionInWorld = - positionInWorldFrameFromPosition2dInPlane(projection.positionInTerrainFrame, planarRegion.transformPlaneToWorld); - projection.cost = (positionInWorld - projection.positionInWorld).squaredNorm() + penaltyFunction(projection.positionInWorld); - individualProjections.push_back(projection); - }); - - // Find the minimum cost projection - return *std::min_element(individualProjections.begin(), individualProjections.end(), - [](const PlanarTerrainProjection& lhs, const PlanarTerrainProjection& rhs) { return lhs.cost < rhs.cost; }); -} -} // namespace - -TEST(TestConvexApproximation, runOnDemoMap) { - // Config - PlaneDecompositionPipeline::Config config; - const auto resolution = config.preprocessingParameters.resolution; - const std::string elevationLayer{"elevation_test"}; - const std::string frameId{"odom_test"}; - const Eigen::Array2d submapSize(3.0, 3.0); - std::string file = "terrain.png"; - double heightScale = 1.25; - - // Terrain Loading - boost::filesystem::path filePath(__FILE__); - std::string folder = filePath.parent_path().generic_string() + std::string{"/data/"}; - const auto loadedMap = loadGridmapFromImage(folder + file, elevationLayer, frameId, resolution, heightScale); - bool success = false; - auto elevationMap = loadedMap.getSubmap(loadedMap.getPosition(), submapSize, success); - ASSERT_TRUE(success); - - // Run pipeline. - PlaneDecompositionPipeline pipeline(config); - pipeline.update(std::move(elevationMap), elevationLayer); - const auto& planarTerrain = pipeline.getPlanarTerrain(); - - // Query a range of points - for (double x = -submapSize.x() / 2.0; x < submapSize.x() / 2.0; x += submapSize.x() / 4.0) { - for (double y = -submapSize.y() / 2.0; y < submapSize.y() / 2.0; y += submapSize.y() / 4.0) { - for (double z = -heightScale; z < heightScale; z += heightScale / 2.0) { - Eigen::Vector3d query{x, y, z}; - auto penaltyFunction = [](const Eigen::Vector3d& projectedPoint) { return 0.1 * std::abs(projectedPoint.z()); }; - - // Run projection and naive projection - const auto projection = getBestPlanarRegionAtPositionInWorld(query, planarTerrain.planarRegions, penaltyFunction); - const auto projectionCheck = getBestPlanarRegionAtPositionInWorldNaive(query, planarTerrain.planarRegions, penaltyFunction); - - // Check they are the same - ASSERT_EQ(projection.regionPtr, projectionCheck.regionPtr); - ASSERT_DOUBLE_EQ(projection.cost, projectionCheck.cost); - ASSERT_DOUBLE_EQ(projection.positionInTerrainFrame.x(), projectionCheck.positionInTerrainFrame.x()); - ASSERT_DOUBLE_EQ(projection.positionInTerrainFrame.y(), projectionCheck.positionInTerrainFrame.y()); - ASSERT_TRUE(projection.positionInWorld.isApprox(projectionCheck.positionInWorld)); - - // Check convex approximation with a range of settings - for (int numberOfVertices = 3; numberOfVertices < 7; ++numberOfVertices) { - for (double growthFactor = 1.01; growthFactor < 1.3; growthFactor += 0.1) { - const auto convexRegion = convex_plane_decomposition::growConvexPolygonInsideShape( - projection.regionPtr->boundaryWithInset.boundary, projection.positionInTerrainFrame, numberOfVertices, growthFactor); - - ASSERT_TRUE(std::all_of(convexRegion.vertices_begin(), convexRegion.vertices_end(), - [&](const CgalPoint2d& p) { return isInside(p, projection.regionPtr->boundaryWithInset.boundary); })); - } - } - } - } - } -} diff --git a/plane_segmentation/convex_plane_decomposition/test/testPipeline.cpp b/plane_segmentation/convex_plane_decomposition/test/testPipeline.cpp deleted file mode 100644 index 50e6df78..00000000 --- a/plane_segmentation/convex_plane_decomposition/test/testPipeline.cpp +++ /dev/null @@ -1,35 +0,0 @@ -// -// Created by rgrandia on 16.03.22. -// - -#include - -#include - -#include "convex_plane_decomposition/LoadGridmapFromImage.h" -#include "convex_plane_decomposition/PlaneDecompositionPipeline.h" - -using namespace convex_plane_decomposition; - -TEST(TestPipeline, runOnDemoMap) { - // Config - PlaneDecompositionPipeline::Config config; - const auto resolution = config.preprocessingParameters.resolution; - const std::string elevationLayer{"elevation_test"}; - const std::string frameId{"odom_test"}; - const Eigen::Array2d submapSize(3.0, 3.0); - std::string file = "terrain.png"; - double heightScale = 1.25; - - // Terrain Loading - boost::filesystem::path filePath(__FILE__); - std::string folder = filePath.parent_path().generic_string() + std::string{"/data/"}; - const auto loadedMap = loadGridmapFromImage(folder + file, elevationLayer, frameId, resolution, heightScale); - bool success = false; - auto elevationMap = loadedMap.getSubmap(loadedMap.getPosition(), submapSize, success); - ASSERT_TRUE(success); - - // Run - PlaneDecompositionPipeline pipeline(config); - ASSERT_NO_THROW(pipeline.update(std::move(elevationMap), elevationLayer)); -} diff --git a/plane_segmentation/convex_plane_decomposition/test/testPlanarRegion.cpp b/plane_segmentation/convex_plane_decomposition/test/testPlanarRegion.cpp deleted file mode 100644 index 3b33818e..00000000 --- a/plane_segmentation/convex_plane_decomposition/test/testPlanarRegion.cpp +++ /dev/null @@ -1,85 +0,0 @@ -// -// Created by rgrandia on 15.03.22. -// - -#include - -#include "convex_plane_decomposition/PlanarRegion.h" - -using namespace convex_plane_decomposition; - -TEST(TestPlanarRegion, getTransformFromNormalAndPosition_identity) { - NormalAndPosition normalAndPosition = {Eigen::Vector3d::Zero(), Eigen::Vector3d::UnitZ()}; - const auto transform = getTransformLocalToGlobal(normalAndPosition); - - // Orientation - ASSERT_TRUE(transform.linear().isApprox(Eigen::Matrix3d::Identity())); - - // Position - ASSERT_TRUE(transform.translation().isApprox(normalAndPosition.position)); -} - -TEST(TestPlanarRegion, getTransformFromNormalAndPosition_random) { - NormalAndPosition normalAndPosition = {Eigen::Vector3d(0.1, 0.2, 0.3), Eigen::Vector3d(0.4, 0.5, 0.6).normalized()}; - const auto transform = getTransformLocalToGlobal(normalAndPosition); - - const Eigen::Vector3d xAxisInWorld = transform.linear().col(0); - const Eigen::Vector3d yAxisInWorld = transform.linear().col(1); - const Eigen::Vector3d zAxisInWorld = transform.linear().col(2); - - // Z direction - ASSERT_TRUE(zAxisInWorld.isApprox(normalAndPosition.normal)); - - // Orthogonal - ASSERT_LT(std::abs(zAxisInWorld.dot(yAxisInWorld)), 1e-12); - ASSERT_LT(std::abs(zAxisInWorld.dot(xAxisInWorld)), 1e-12); - - // Scale - ASSERT_DOUBLE_EQ(xAxisInWorld.norm(), 1.0); - ASSERT_DOUBLE_EQ(yAxisInWorld.norm(), 1.0); - - // Position - ASSERT_TRUE(transform.translation().isApprox(normalAndPosition.position)); -} - -TEST(TestPlanarRegion, getTransformFromNormalAndPosition_unitX) { - NormalAndPosition normalAndPosition = {Eigen::Vector3d(0.1, 0.2, 0.3), Eigen::Vector3d::UnitX()}; - const auto transform = getTransformLocalToGlobal(normalAndPosition); - - const Eigen::Vector3d xAxisInWorld = transform.linear().col(0); - const Eigen::Vector3d yAxisInWorld = transform.linear().col(1); - const Eigen::Vector3d zAxisInWorld = transform.linear().col(2); - - // Z direction - ASSERT_TRUE(zAxisInWorld.isApprox(normalAndPosition.normal)); - - // XY - ASSERT_TRUE(xAxisInWorld.isApprox(-Eigen::Vector3d::UnitZ())); - ASSERT_TRUE(yAxisInWorld.isApprox(Eigen::Vector3d::UnitY())); - - // Position - ASSERT_TRUE(transform.translation().isApprox(normalAndPosition.position)); -} - -TEST(TestPlanarRegion, projectPositionInWorldOntoPlaneAlongGravity) { - const NormalAndPosition normalAndPosition = {Eigen::Vector3d(0.1, 0.2, 0.3), Eigen::Vector3d(0.4, 0.5, 0.6).normalized()}; - const auto transformPlaneToWorld = getTransformLocalToGlobal(normalAndPosition); - - // Origin of plane is projected to 0, 0 - const CgalPoint2d originXY = {normalAndPosition.position.x(), normalAndPosition.position.y()}; - const CgalPoint2d originInPlane = projectToPlaneAlongGravity(originXY, transformPlaneToWorld); - ASSERT_LT(std::abs(originInPlane.x()), 1e-12); - ASSERT_LT(std::abs(originInPlane.y()), 1e-12); - - // Random point projected - const Eigen::Vector2d queryPosition = Eigen::Vector2d::Random(); - const CgalPoint2d projectedPositionInPlane = projectToPlaneAlongGravity({queryPosition.x(), queryPosition.y()}, transformPlaneToWorld); - - // Convert back to world to check - Eigen::Vector3d projectedPositionInPlane3d = {projectedPositionInPlane.x(), projectedPositionInPlane.y(), 0.0}; - Eigen::Vector3d projectedPositionInWorld3d = transformPlaneToWorld * projectedPositionInPlane3d; - - // x, y position remained to same - ASSERT_DOUBLE_EQ(projectedPositionInWorld3d.x(), queryPosition.x()); - ASSERT_DOUBLE_EQ(projectedPositionInWorld3d.y(), queryPosition.y()); -} \ No newline at end of file diff --git a/plane_segmentation/convex_plane_decomposition/test/testRegionGrowing.cpp b/plane_segmentation/convex_plane_decomposition/test/testRegionGrowing.cpp deleted file mode 100644 index dca141a4..00000000 --- a/plane_segmentation/convex_plane_decomposition/test/testRegionGrowing.cpp +++ /dev/null @@ -1,69 +0,0 @@ -// -// Created by rgrandia on 02.02.22. -// - - -#include - -#include "convex_plane_decomposition/ConvexRegionGrowing.h" - -#include - -using namespace convex_plane_decomposition; - -TEST(TestRegionGrowing, center_on_border) { - // Rare case where the region algorithm go stuck - const int numberOfVertices = 16; // Multiple of 4 is nice for symmetry. - const double growthFactor = 1.05; - CgalPoint2d center(0.0, 1.0); - - CgalPolygonWithHoles2d parentShape; - parentShape.outer_boundary().container() = {{1, -1}, {1, 1}, {-1, 1}, {-1, -1}}; - - const auto convexInnerApprox = growConvexPolygonInsideShape(parentShape, center, numberOfVertices, growthFactor); - ASSERT_TRUE(convexInnerApprox.is_convex()); - for (auto it = convexInnerApprox.vertices_begin(); it!=convexInnerApprox.vertices_end(); ++it) { - ASSERT_TRUE(isInside(*it, parentShape)); - } -} - -TEST(TestRegionGrowing, debug_case) { - // Rare case where the region algorithm got stuck - const int numberOfVertices = 16; - const double growthFactor = 1.05; - CgalPoint2d center(-0.147433, 0.800114); - - CgalPolygonWithHoles2d parentShape; - parentShape.outer_boundary().container() = { - {1.03923, -0.946553}, {1.03923, 0.840114}, {0.7859, 0.840114}, {0.772567, 0.853447}, {0.759233, 0.853447}, - {0.7459, 0.86678}, {0.7459, 0.880114}, {0.732567, 0.893447}, {0.719233, 0.893447}, {0.7059, 0.90678}, - {0.7059, 1.05345}, {0.652567, 1.05345}, {0.652567, 0.90678}, {0.639233, 0.893447}, {0.6259, 0.893447}, - {0.612567, 0.880114}, {0.612567, 0.86678}, {0.599233, 0.853447}, {0.5859, 0.853447}, {0.572567, 0.840114}, - {0.532567, 0.840114}, {0.532567, 0.82678}, {0.519233, 0.813447}, {0.5059, 0.813447}, {0.492567, 0.800114}, - {0.3059, 0.800114}, {0.292567, 0.813447}, {0.279233, 0.813447}, {0.2659, 0.82678}, {0.2659, 0.840114}, - {0.252567, 0.853447}, {0.239233, 0.853447}, {0.2259, 0.86678}, {0.2259, 0.920114}, {0.212567, 0.933447}, - {0.199233, 0.933447}, {0.1859, 0.94678}, {0.1859, 1.05345}, {0.132567, 1.05345}, {0.132567, 0.86678}, - {0.119233, 0.853447}, {0.1059, 0.853447}, {0.0925666, 0.840114}, {0.0925666, 0.82678}, {0.0792332, 0.813447}, - {0.0658999, 0.813447}, {0.0525666, 0.800114}, {-0.1341, 0.800114}, {-0.147433, 0.813447}, {-0.160767, 0.813447}, - {-0.1741, 0.82678}, {-0.1741, 0.840114}, {-0.2141, 0.840114}, {-0.227433, 0.853447}, {-0.240767, 0.853447}, - {-0.2541, 0.86678}, {-0.2541, 0.880114}, {-0.267433, 0.893447}, {-0.280767, 0.893447}, {-0.2941, 0.90678}, - {-0.2941, 1.05345}, {-0.960767, 1.05345}, {-0.960767, -0.946553}}; - - CgalPolygon2d hole; - hole.container() = {{0.5459, -0.266553}, {0.532566, -0.279886}, {0.3059, -0.279886}, {0.292566, -0.266553}, {0.279233, -0.266553}, - {0.2659, -0.25322}, {0.2659, -0.239886}, {0.252566, -0.226553}, {0.239233, -0.226553}, {0.2259, -0.21322}, - {0.2259, 0.320114}, {0.239233, 0.333447}, {0.252566, 0.333447}, {0.2659, 0.34678}, {0.532567, 0.34678}, - {0.5459, 0.333447}, {0.559233, 0.333447}, {0.572567, 0.320114}, {0.572567, 0.30678}, {0.5859, 0.293447}, - {0.599233, 0.293447}, {0.612567, 0.280114}, {0.612566, 0.0667803}, {0.6259, 0.053447}, {0.639233, 0.053447}, - {0.652566, 0.0401136}, {0.652566, -0.17322}, {0.639233, -0.186553}, {0.6259, -0.186553}, {0.612566, -0.199886}, - {0.612566, -0.21322}, {0.599233, -0.226553}, {0.5859, -0.226553}, {0.572566, -0.239886}, {0.572566, -0.25322}, - {0.559233, -0.266553}}; - parentShape.holes().push_back(std::move(hole)); - - const auto convexInnerApprox = growConvexPolygonInsideShape(parentShape, center, numberOfVertices, growthFactor); - - ASSERT_TRUE(convexInnerApprox.is_convex()); - for (auto it = convexInnerApprox.vertices_begin(); it!=convexInnerApprox.vertices_end(); ++it) { - ASSERT_TRUE(isInside(*it, parentShape)); - } -} \ No newline at end of file diff --git a/plane_segmentation/convex_plane_decomposition/test/testUpsampling.cpp b/plane_segmentation/convex_plane_decomposition/test/testUpsampling.cpp deleted file mode 100644 index 06538b10..00000000 --- a/plane_segmentation/convex_plane_decomposition/test/testUpsampling.cpp +++ /dev/null @@ -1,28 +0,0 @@ -// -// Created by rgrandia on 26.10.21. -// - -#include - -#include "convex_plane_decomposition/contour_extraction/Upsampling.h" - -TEST(TestUpsampling, upsampleImage) { - // clang-format off - cv::Mat M = (cv::Mat_(3, 3) << - 1, 2, 3, - 4, 5, 6, - 7, 8, 9); - cv::Mat MoutCheck = (cv::Mat_(7, 7) << - 1, 1, 2, 2, 2, 3, 3, - 1, 1, 2, 2, 2, 3, 3, - 4, 4, 5, 5, 5, 6, 6, - 4, 4, 5, 5, 5, 6, 6, - 4, 4, 5, 5, 5, 6, 6, - 7, 7, 8, 8, 8, 9, 9, - 7, 7, 8, 8, 8, 9, 9); - // clang-format on - - const auto Mout = convex_plane_decomposition::contour_extraction::upSample(M); - - ASSERT_TRUE(std::equal(MoutCheck.begin(), MoutCheck.end(), Mout.begin())); -} \ No newline at end of file diff --git a/plane_segmentation/convex_plane_decomposition_msgs/CMakeLists.txt b/plane_segmentation/convex_plane_decomposition_msgs/CMakeLists.txt deleted file mode 100644 index 12f1b2b4..00000000 --- a/plane_segmentation/convex_plane_decomposition_msgs/CMakeLists.txt +++ /dev/null @@ -1,35 +0,0 @@ -cmake_minimum_required(VERSION 3.10) -project(convex_plane_decomposition_msgs) - -set(CATKIN_PACKAGE_DEPENDENCIES - std_msgs - geometry_msgs - grid_map_msgs -) - -find_package(catkin REQUIRED - COMPONENTS - ${CATKIN_PACKAGE_DEPENDENCIES} - message_generation -) - -add_message_files( - FILES - BoundingBox2d.msg - PlanarRegion.msg - PlanarTerrain.msg - Point2d.msg - Polygon2d.msg - PolygonWithHoles2d.msg -) - -generate_messages( - DEPENDENCIES - ${CATKIN_PACKAGE_DEPENDENCIES} -) - -catkin_package( - CATKIN_DEPENDS - ${CATKIN_PACKAGE_DEPENDENCIES} - message_runtime -) diff --git a/plane_segmentation/convex_plane_decomposition_msgs/msg/BoundingBox2d.msg b/plane_segmentation/convex_plane_decomposition_msgs/msg/BoundingBox2d.msg deleted file mode 100644 index 2327348a..00000000 --- a/plane_segmentation/convex_plane_decomposition_msgs/msg/BoundingBox2d.msg +++ /dev/null @@ -1,5 +0,0 @@ -# 3D, axis-aligned, bounding box -float32 min_x -float32 min_y -float32 max_x -float32 max_y \ No newline at end of file diff --git a/plane_segmentation/convex_plane_decomposition_msgs/msg/PlanarRegion.msg b/plane_segmentation/convex_plane_decomposition_msgs/msg/PlanarRegion.msg deleted file mode 100644 index d93d2478..00000000 --- a/plane_segmentation/convex_plane_decomposition_msgs/msg/PlanarRegion.msg +++ /dev/null @@ -1,7 +0,0 @@ -geometry_msgs/Pose plane_parameters - -BoundingBox2d bbox2d - -PolygonWithHoles2d boundary - -PolygonWithHoles2d[] insets diff --git a/plane_segmentation/convex_plane_decomposition_msgs/msg/PlanarTerrain.msg b/plane_segmentation/convex_plane_decomposition_msgs/msg/PlanarTerrain.msg deleted file mode 100644 index c50376ee..00000000 --- a/plane_segmentation/convex_plane_decomposition_msgs/msg/PlanarTerrain.msg +++ /dev/null @@ -1,2 +0,0 @@ -PlanarRegion[] planarRegions -grid_map_msgs/GridMap gridmap \ No newline at end of file diff --git a/plane_segmentation/convex_plane_decomposition_msgs/msg/Point2d.msg b/plane_segmentation/convex_plane_decomposition_msgs/msg/Point2d.msg deleted file mode 100644 index 220abf75..00000000 --- a/plane_segmentation/convex_plane_decomposition_msgs/msg/Point2d.msg +++ /dev/null @@ -1,2 +0,0 @@ -float32 x -float32 y \ No newline at end of file diff --git a/plane_segmentation/convex_plane_decomposition_msgs/msg/Polygon2d.msg b/plane_segmentation/convex_plane_decomposition_msgs/msg/Polygon2d.msg deleted file mode 100644 index e52128c5..00000000 --- a/plane_segmentation/convex_plane_decomposition_msgs/msg/Polygon2d.msg +++ /dev/null @@ -1,2 +0,0 @@ -# Specification of a 2D polygon where the first and last points are connected -Point2d[] points \ No newline at end of file diff --git a/plane_segmentation/convex_plane_decomposition_msgs/msg/PolygonWithHoles2d.msg b/plane_segmentation/convex_plane_decomposition_msgs/msg/PolygonWithHoles2d.msg deleted file mode 100644 index 8513f45c..00000000 --- a/plane_segmentation/convex_plane_decomposition_msgs/msg/PolygonWithHoles2d.msg +++ /dev/null @@ -1,3 +0,0 @@ -# Specification of a 2D polygon with holes -Polygon2d outer_boundary -Polygon2d[] holes \ No newline at end of file diff --git a/plane_segmentation/convex_plane_decomposition_msgs/package.xml b/plane_segmentation/convex_plane_decomposition_msgs/package.xml deleted file mode 100644 index 2af22815..00000000 --- a/plane_segmentation/convex_plane_decomposition_msgs/package.xml +++ /dev/null @@ -1,23 +0,0 @@ - - - - - convex_plane_decomposition_msgs - 0.0.0 - Convex plane decomposition message definitions. - - Ruben Grandia - - MIT - - catkin - - message_generation - - std_msgs - geometry_msgs - grid_map_msgs - - message_runtime - - diff --git a/plane_segmentation/convex_plane_decomposition_ros/CMakeLists.txt b/plane_segmentation/convex_plane_decomposition_ros/CMakeLists.txt deleted file mode 100644 index f94b85c6..00000000 --- a/plane_segmentation/convex_plane_decomposition_ros/CMakeLists.txt +++ /dev/null @@ -1,129 +0,0 @@ -cmake_minimum_required(VERSION 3.10) -project(convex_plane_decomposition_ros) - -# Catkin dependencies -set(CATKIN_PACKAGE_DEPENDENCIES - roscpp - grid_map_core - grid_map_ros - grid_map_cv - grid_map_msgs - geometry_msgs - convex_plane_decomposition - convex_plane_decomposition_msgs - tf2_ros - visualization_msgs -) - -find_package(catkin REQUIRED COMPONENTS - ${CATKIN_PACKAGE_DEPENDENCIES} -) - -# OpenCv -find_package(OpenCV REQUIRED) - -# Eigen -find_package(Eigen3 3.3 REQUIRED NO_MODULE) - -# Cpp standard version -set(CMAKE_CXX_STANDARD 14) -set(CMAKE_CXX_STANDARD_REQUIRED ON) - -################################### -## catkin specific configuration ## -################################### -catkin_package( - INCLUDE_DIRS include ${EIGEN3_INCLUDE_DIRS} - LIBRARIES ${PROJECT_NAME} - CATKIN_DEPENDS ${CATKIN_PACKAGE_DEPENDENCIES} - DEPENDS OpenCV -) - -########### -## Build ## -########### - -include_directories( - include - ${EIGEN3_INCLUDE_DIRS} - ${catkin_INCLUDE_DIRS} -) - -add_library(${PROJECT_NAME} - src/ConvexPlaneDecompositionRos.cpp - src/MessageConversion.cpp - src/ParameterLoading.cpp - src/RosVisualizations.cpp - ) -add_dependencies(${PROJECT_NAME} - ${catkin_EXPORTED_TARGETS} - ) -target_link_libraries(${PROJECT_NAME} - ${catkin_LIBRARIES} - ${OpenCV_LIBRARIES} - ) - -add_executable(${PROJECT_NAME}_node - src/ConvexPlaneDecompositionNode.cpp -) -target_link_libraries(${PROJECT_NAME}_node - ${catkin_LIBRARIES} - ${OpenCV_LIBRARIES} - ${PROJECT_NAME} -) - -add_executable(${PROJECT_NAME}_add_noise - src/noiseNode.cpp -) -target_link_libraries(${PROJECT_NAME}_add_noise - ${catkin_LIBRARIES} -) - -add_executable(${PROJECT_NAME}_save_elevationmap - src/SaveElevationMapAsImageNode.cpp - ) -target_link_libraries(${PROJECT_NAME}_save_elevationmap - ${catkin_LIBRARIES} - ${OpenCV_LIBRARIES} - ) - -add_executable(${PROJECT_NAME}_approximation_demo_node - src/ConvexApproximationDemoNode.cpp - ) -target_link_libraries(${PROJECT_NAME}_approximation_demo_node - ${catkin_LIBRARIES} - ${OpenCV_LIBRARIES} - ${PROJECT_NAME} - ) - -############# -## Install ## -############# - -install(TARGETS ${PROJECT_NAME} - ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} - ) -install(DIRECTORY include/${PROJECT_NAME}/ - DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} - ) - -install(TARGETS ${PROJECT_NAME}_node - RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -) - -install(DIRECTORY config data launch rviz - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} -) - -############# -## Testing ## -############# -add_executable(${PROJECT_NAME}_TestShapeGrowing - test/TestShapeGrowing.cpp -) -target_link_libraries(${PROJECT_NAME}_TestShapeGrowing - ${catkin_LIBRARIES} - ${OpenCV_LIBRARIES} -) \ No newline at end of file diff --git a/plane_segmentation/convex_plane_decomposition_ros/config/demo_node.yaml b/plane_segmentation/convex_plane_decomposition_ros/config/demo_node.yaml deleted file mode 100644 index 6ded383e..00000000 --- a/plane_segmentation/convex_plane_decomposition_ros/config/demo_node.yaml +++ /dev/null @@ -1,8 +0,0 @@ -elevation_topic: '/elevation_mapping/elevation_map_raw' -height_layer: 'elevation' -target_frame_id: 'odom' -submap: - width: 8.0 - length: 8.0 -publish_to_controller: true -frequency: 1.0 diff --git a/plane_segmentation/convex_plane_decomposition_ros/config/node.yaml b/plane_segmentation/convex_plane_decomposition_ros/config/node.yaml deleted file mode 100644 index 68790760..00000000 --- a/plane_segmentation/convex_plane_decomposition_ros/config/node.yaml +++ /dev/null @@ -1,8 +0,0 @@ -elevation_topic: '/elevation_mapping/elevation_map_raw' -height_layer: 'elevation' -target_frame_id: 'odom' -submap: - width: 3.0 - length: 3.0 -publish_to_controller: true -frequency: 20.0 diff --git a/plane_segmentation/convex_plane_decomposition_ros/config/parameters.yaml b/plane_segmentation/convex_plane_decomposition_ros/config/parameters.yaml deleted file mode 100644 index fa153584..00000000 --- a/plane_segmentation/convex_plane_decomposition_ros/config/parameters.yaml +++ /dev/null @@ -1,34 +0,0 @@ -preprocessing: - resolution: 0.04 # Resampling resolution, set negative to skip, requires inpainting to be used - kernelSize: 3 # Kernel size of the median filter, either 3 or 5 - numberOfRepeats: 1 # Number of times to apply the same filter - -sliding_window_plane_extractor: - kernel_size: 3 # Size of the sliding window patch used for normal vector calculation and planarity detection. Should be an odd number and at least 3. - planarity_opening_filter: 0 # [#] Apply opening filter (erosion -> dilation) to planarity detection by this amount of pixels - plane_inclination_threshold_degrees: 30.0 # [deg] Maximum allowed angle between the surface normal and the world-z direction for a patch - local_plane_inclination_threshold_degrees: 35.0 # [deg] Maximum allowed angle between the surface normal and the world-z direction for a cell - plane_patch_error_threshold: 0.02 # [m] The allowed root-mean-squared deviation from the plane fitted to the sliding window. - min_number_points_per_label: 4 # [#] Labels with less points assigned to them are discarded - connectivity: 4 # Label kernel connectivity. 4 or 8 (cross or box) - include_ransac_refinement: true # Enable RANSAC refinement if the plane is not globally fitting to the assigned points. - global_plane_fit_distance_error_threshold: 0.025 # [m] Allowed maximum distance from a point to the plane. If any point violates this, RANSAC is triggered - global_plane_fit_angle_error_threshold_degrees: 25.0 # [deg] Allowed normal vector deviation for a point w.r.t. the plane normal. If any point violates this, RANSAC is triggered - -ransac_plane_refinement: - probability: 0.001 # Probability to miss the largest candidate shape. A lower probability provides a higher reliability and determinism at the cost of longer running times - min_points: 4 # This minimum number of points per plane. Controls the termination of the algorithm. - epsilon: 0.025 # Maximum distance to plane - cluster_epsilon: 0.041 # [m] Set maximum Euclidean distance between points to be clustered. Two points are connected if separated by a distance of at most 2*sqrt(2)*cluster_epsilon = 2.828 * cluster_epsilon. Set this higher than resolution - normal_threshold: 25.0 # [deg] Set maximum normal deviation between cluster surface_normal and point normal. - -contour_extraction: - marginSize: 1 # Size of the kernel creating the boundary offset. In number of (sub) pixels. - -postprocessing: - extracted_planes_height_offset: 0.0 # Added offset in Z direction for the full map to compensate for the location of the foot frame w.r.t. the contact point - nonplanar_height_offset: 0.02 # Added offset in Z direction for non-planar cells of the map. (Additional to extracted_planes_height_offset) - nonplanar_horizontal_offset: 1 # Added offset in XY direction for non-planar cells of the map. In number of pixels. - smoothing_dilation_size: 0.2 # Half the width of the dilation used before the smooth layer [m] - smoothing_box_kernel_size: 0.1 # Half the width of the box kernel used for the smooth layer [m] - smoothing_gauss_kernel_size: 0.05 # Half the width of the Gaussian kernel used for the smooth layer [m] \ No newline at end of file diff --git a/plane_segmentation/convex_plane_decomposition_ros/data/holes.png b/plane_segmentation/convex_plane_decomposition_ros/data/holes.png deleted file mode 100644 index f997bbe5cde44f8e8aa11078a273d362296d2453..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 350 zcmV-k0iphhP)g~Tb?mbMJd`EwMw?~YYs3?Xdc1y2OXWGNz%$pQ(kiLC2-;jR5< zVTua~M=YmC0%#5*5h$sppiDt}g!Rm+K>_6KipE*Z+@ixQ5setlT!6H?hsIUSTqJVW z&wHHhnS=IAy;YCn5{D(Vlm@f*D}}Ly$a}kh6sX7FeyL;NG47g(hv3$l02%2vXD=ke zacN}DI}_QqXMH`5G3W4oei8x5$UnnjFC_9O{!T^Li+>$gbQgKTJAXLjbB>@z&9Fo) w#NMp|5O0U2>o*gTE;Lj9JHMjL^yd!-Q{8VYQL_j>aObUiU0o( 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zH`Pu9B;Bt@t#~w*iIrgcg#}elO&=$wy^6__2+3Y@@!Hpr=qjjuvn;eJK$DOqq@qdF z{4!-iTfOU(@b~8PWIp2Fvnv^mFPiL%Qupg>qg>Ga0W0dkmiJ~=^}7x1yX4nZ*ahR- zYnB)Tlf%Zz2i-ELu~oB8(v$_OG%99ksQH|u$C^G#uq!q~m4pG})1Wpb0ln}(p?B51 zPY+|{Y)PsB9Fnz60@yE92y*l#2vp^e$g+8tHa)SW-=~fmz3PVM1Yqn%jw-%K3JvW) zx-E8)f2psUIpMpv^KOTKya~S7o!^Oqx)zg~e-A(iT?8Xu^`MAe(@1q09W^_x^iwRx>Qagy}8Ml$+zL!^L~~xRn7vYm8ENXe(|u zB!a)jMBQB_^Pi^8dmLZ!W7b3&zE(e2r-BxwXNsdLVWPVdgNs^(#tVNM+_~Fdtah`q z2g7{OkAA!fN5#f`Lr>n2US6tb>Fx49a z2X0Xjh`aEvhF3Do*7b+lj;8!6s`MA!CL2b?bT0ZnI|Z7$b^dX8jF@$O9a4%R-oH)S z|2hvNW5-h6j4R%(o%UA{m>G4=;0G2QRDQWFh%hgSmo>gTI9!X_>%bIab%tyBgC|R$ zWh}E>SdRO`8YjHJ)S?I}V8fYLjQR~#isp;1|E#oVzlNT$K1{1#T6b4!Zh@}Z0+E*4)V4JPO7P-t8c%|-` zLt}3Ph*Ip~jco0O4;x%Pi0ffOHt6m9B)<7b|83n0GtwHQ9G*RsvjTthBk6|C{+e{G z`pJ~(w9m~pnm0t{#HnX!wo8o#_Q1hdwYjwDu)9oB#ha`SYgclP;h>gU;Xdyvh;*ta g`e0c+1#i3!b+ -#include - -#include -#include -#include - -#include - -#include - -#include - -namespace convex_plane_decomposition { - -// Forward declaration of the pipeline -class PlaneDecompositionPipeline; - -class ConvexPlaneExtractionROS { - public: - ConvexPlaneExtractionROS(ros::NodeHandle& nodeHandle); - - ~ConvexPlaneExtractionROS(); - - private: - bool loadParameters(const ros::NodeHandle& nodeHandle); - - /** - * Callback method for the incoming grid map message. - * @param message the incoming message. - */ - void callback(const grid_map_msgs::GridMap& message); - - Eigen::Isometry3d getTransformToTargetFrame(const std::string& sourceFrame, const ros::Time& time); - - // Parameters - std::string elevationMapTopic_; - std::string elevationLayer_; - std::string targetFrameId_; - double subMapWidth_; - double subMapLength_; - bool publishToController_; - - // ROS communication - ros::Subscriber elevationMapSubscriber_; - ros::Publisher filteredmapPublisher_; - ros::Publisher boundaryPublisher_; - ros::Publisher insetPublisher_; - ros::Publisher regionPublisher_; - tf2_ros::Buffer tfBuffer_; - tf2_ros::TransformListener tfListener_; - - // Pipeline - std::unique_ptr planeDecompositionPipeline_; - - // Timing - Timer callbackTimer_; -}; - -} // namespace convex_plane_decomposition diff --git a/plane_segmentation/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/MessageConversion.h b/plane_segmentation/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/MessageConversion.h deleted file mode 100644 index 53006225..00000000 --- a/plane_segmentation/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/MessageConversion.h +++ /dev/null @@ -1,42 +0,0 @@ -// -// Created by rgrandia on 14.06.20. -// - -#pragma once - -#include - -#include -#include -#include -#include -#include -#include - -#include -#include - -namespace convex_plane_decomposition { - -CgalBbox2d fromMessage(const convex_plane_decomposition_msgs::BoundingBox2d& msg); -convex_plane_decomposition_msgs::BoundingBox2d toMessage(const CgalBbox2d& bbox2d); - -PlanarRegion fromMessage(const convex_plane_decomposition_msgs::PlanarRegion& msg); -convex_plane_decomposition_msgs::PlanarRegion toMessage(const PlanarRegion& planarRegion); - -PlanarTerrain fromMessage(const convex_plane_decomposition_msgs::PlanarTerrain& msg); -convex_plane_decomposition_msgs::PlanarTerrain toMessage(const PlanarTerrain& planarTerrain); - -Eigen::Isometry3d fromMessage(const geometry_msgs::Pose& msg); -geometry_msgs::Pose toMessage(const Eigen::Isometry3d& transform); - -CgalPoint2d fromMessage(const convex_plane_decomposition_msgs::Point2d& msg); -convex_plane_decomposition_msgs::Point2d toMessage(const CgalPoint2d& point2d); - -CgalPolygon2d fromMessage(const convex_plane_decomposition_msgs::Polygon2d& msg); -convex_plane_decomposition_msgs::Polygon2d toMessage(const CgalPolygon2d& polygon2d); - -CgalPolygonWithHoles2d fromMessage(const convex_plane_decomposition_msgs::PolygonWithHoles2d& msg); -convex_plane_decomposition_msgs::PolygonWithHoles2d toMessage(const CgalPolygonWithHoles2d& polygonWithHoles2d); - -} // namespace convex_plane_decomposition diff --git a/plane_segmentation/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/ParameterLoading.h b/plane_segmentation/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/ParameterLoading.h deleted file mode 100644 index 704ad73a..00000000 --- a/plane_segmentation/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/ParameterLoading.h +++ /dev/null @@ -1,30 +0,0 @@ -// -// Created by rgrandia on 10.06.20. -// - -#pragma once - -#include - -#include -#include -#include -#include -#include - -namespace convex_plane_decomposition { - -PreprocessingParameters loadPreprocessingParameters(const ros::NodeHandle& nodeHandle, const std::string& prefix); - -contour_extraction::ContourExtractionParameters loadContourExtractionParameters(const ros::NodeHandle& nodeHandle, - const std::string& prefix); - -ransac_plane_extractor::RansacPlaneExtractorParameters loadRansacPlaneExtractorParameters(const ros::NodeHandle& nodeHandle, - const std::string& prefix); - -sliding_window_plane_extractor::SlidingWindowPlaneExtractorParameters loadSlidingWindowPlaneExtractorParameters( - const ros::NodeHandle& nodeHandle, const std::string& prefix); - -PostprocessingParameters loadPostprocessingParameters(const ros::NodeHandle& nodeHandle, const std::string& prefix); - -} // namespace convex_plane_decomposition diff --git a/plane_segmentation/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/RosVisualizations.h b/plane_segmentation/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/RosVisualizations.h deleted file mode 100644 index e3596562..00000000 --- a/plane_segmentation/convex_plane_decomposition_ros/include/convex_plane_decomposition_ros/RosVisualizations.h +++ /dev/null @@ -1,23 +0,0 @@ -#pragma once - -#include -#include -#include - -#include - -namespace convex_plane_decomposition { - -geometry_msgs::PolygonStamped to3dRosPolygon(const CgalPolygon2d& polygon, const Eigen::Isometry3d& transformPlaneToWorld, - const std_msgs::Header& header); - -std::vector to3dRosPolygon(const CgalPolygonWithHoles2d& polygonWithHoles, - const Eigen::Isometry3d& transformPlaneToWorld, const std_msgs::Header& header); - -visualization_msgs::MarkerArray convertBoundariesToRosMarkers(const std::vector& planarRegions, const std::string& frameId, - grid_map::Time time, double lineWidth); - -visualization_msgs::MarkerArray convertInsetsToRosMarkers(const std::vector& planarRegions, const std::string& frameId, - grid_map::Time time, double lineWidth); - -} // namespace convex_plane_decomposition diff --git a/plane_segmentation/convex_plane_decomposition_ros/launch/convex_plane_decomposition.launch b/plane_segmentation/convex_plane_decomposition_ros/launch/convex_plane_decomposition.launch deleted file mode 100644 index 6f7053b6..00000000 --- a/plane_segmentation/convex_plane_decomposition_ros/launch/convex_plane_decomposition.launch +++ /dev/null @@ -1,14 +0,0 @@ - - - - - - - - - - - - diff --git a/plane_segmentation/convex_plane_decomposition_ros/launch/demo.launch b/plane_segmentation/convex_plane_decomposition_ros/launch/demo.launch deleted file mode 100644 index d592db55..00000000 --- a/plane_segmentation/convex_plane_decomposition_ros/launch/demo.launch +++ /dev/null @@ -1,52 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/plane_segmentation/convex_plane_decomposition_ros/launch/save_elevation_map.launch b/plane_segmentation/convex_plane_decomposition_ros/launch/save_elevation_map.launch deleted file mode 100644 index 4197e474..00000000 --- a/plane_segmentation/convex_plane_decomposition_ros/launch/save_elevation_map.launch +++ /dev/null @@ -1,11 +0,0 @@ - - - - - - - - - - diff --git a/plane_segmentation/convex_plane_decomposition_ros/package.xml b/plane_segmentation/convex_plane_decomposition_ros/package.xml deleted file mode 100644 index fac0c52b..00000000 --- a/plane_segmentation/convex_plane_decomposition_ros/package.xml +++ /dev/null @@ -1,26 +0,0 @@ - - - convex_plane_decomposition_ros - 0.0.0 - The convex_plane_decomposition_ros package - - Ruben Grandia - - MIT - - catkin - - roscpp - grid_map_core - grid_map_ros - grid_map_cv - grid_map_msgs - geometry_msgs - convex_plane_decomposition - convex_plane_decomposition_msgs - tf2_ros - visualization_msgs - - grid_map_demos - - diff --git a/plane_segmentation/convex_plane_decomposition_ros/rviz/config_demo.rviz b/plane_segmentation/convex_plane_decomposition_ros/rviz/config_demo.rviz deleted file mode 100644 index 0d306212..00000000 --- a/plane_segmentation/convex_plane_decomposition_ros/rviz/config_demo.rviz +++ /dev/null @@ -1,194 +0,0 @@ -Panels: - - Class: rviz/Displays - Help Height: 0 - Name: Displays - Property Tree Widget: - Expanded: - - /Global Options1 - Splitter Ratio: 0.45271122455596924 - Tree Height: 1658 - - Class: rviz/Selection - Name: Selection - - Class: rviz/Tool Properties - Expanded: - - /2D Pose Estimate1 - - /2D Nav Goal1 - - /Publish Point1 - Name: Tool Properties - Splitter Ratio: 0.5886790156364441 - - Class: rviz/Views - Expanded: - - /Current View1 - Name: Views - Splitter Ratio: 0.5 - - Class: rviz/Time - Experimental: false - Name: Time - SyncMode: 0 - SyncSource: "" -Preferences: - PromptSaveOnExit: true -Toolbars: - toolButtonStyle: 2 -Visualization Manager: - Class: "" - Displays: - - Class: rviz/MarkerArray - Enabled: true - Marker Topic: /convex_plane_decomposition_ros/boundaries - Name: Boundaries - Namespaces: - "": true - Queue Size: 100 - Value: true - - Class: rviz/MarkerArray - Enabled: false - Marker Topic: /convex_plane_decomposition_ros/insets - Name: Insets - Namespaces: - { } - Queue Size: 100 - Value: false - - Alpha: 0.10000000149011612 - Autocompute Intensity Bounds: true - Class: grid_map_rviz_plugin/GridMap - Color: 200; 200; 200 - Color Layer: elevation - Color Transformer: GridMapLayer - Enabled: false - Grid Cell Decimation: 1 - Grid Line Thickness: 0.10000000149011612 - Height Layer: elevation - Height Transformer: GridMapLayer - History Length: 1 - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 10 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: GridMap - Show Grid Lines: true - Topic: /elevation_mapping/elevation_map_raw - Unreliable: false - Use Rainbow: true - Value: false - - Alpha: 0.6000000238418579 - Autocompute Intensity Bounds: true - Class: grid_map_rviz_plugin/GridMap - Color: 200; 200; 200 - Color Layer: plane_classification - Color Transformer: IntensityLayer - Enabled: false - Grid Cell Decimation: 1 - Grid Line Thickness: 0.10000000149011612 - Height Layer: elevation_before_postprocess - Height Transformer: "" - History Length: 1 - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 10 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: FilteredMap - Show Grid Lines: true - Topic: /convex_plane_decomposition_ros/filtered_map - Unreliable: false - Use Rainbow: false - Value: false - - Alpha: 1 - Class: rviz/PointStamped - Color: 204; 41; 204 - Enabled: true - History Length: 1 - Name: Query - Queue Size: 10 - Radius: 0.10000000149011612 - Topic: /convex_plane_decomposition_ros_approximation_demo_node/queryPosition - Unreliable: false - Value: true - - Alpha: 1 - Class: rviz/PointStamped - Color: 245; 121; 0 - Enabled: true - History Length: 1 - Name: Projection - Queue Size: 10 - Radius: 0.10000000149011612 - Topic: /convex_plane_decomposition_ros_approximation_demo_node/projectedQueryPosition - Unreliable: false - Value: true - - Alpha: 1 - Class: rviz/Polygon - Color: 245; 121; 0 - Enabled: true - Name: ConvexApproximation - Queue Size: 10 - Topic: /convex_plane_decomposition_ros_approximation_demo_node/convex_terrain - Unreliable: false - Value: true - Enabled: true - Global Options: - Background Color: 255; 255; 255 - Default Light: true - Fixed Frame: odom - Frame Rate: 30 - Name: root - Tools: - - Class: rviz/Interact - Hide Inactive Objects: true - - Class: rviz/MoveCamera - - Class: rviz/Select - - Class: rviz/FocusCamera - - Class: rviz/Measure - - Class: rviz/SetInitialPose - Theta std deviation: 0.2617993950843811 - Topic: /initialpose - X std deviation: 0.5 - Y std deviation: 0.5 - - Class: rviz/SetGoal - Topic: /move_base_simple/goal - - Class: rviz/PublishPoint - Single click: true - Topic: /clicked_point - Value: true - Views: - Current: - Class: rviz/XYOrbit - Distance: 7.742486953735352 - Enable Stereo Rendering: - Stereo Eye Separation: 0.05999999865889549 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Field of View: 0.7853981852531433 - Focal Point: - X: -3.113455057144165 - Y: 1.4824542999267578 - Z: 3.337860107421875e-05 - Focal Shape Fixed Size: true - Focal Shape Size: 0.05000000074505806 - Invert Z Axis: false - Name: Current View - Near Clip Distance: 0.009999999776482582 - Pitch: 0.3057960569858551 - Target Frame: - Yaw: 2.410000801086426 - Saved: ~ -Window Geometry: - Displays: - collapsed: false - Height: 2032 - Hide Left Dock: false - Hide Right Dock: false - QMainWindow State: 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- Selection: - collapsed: false - Time: - collapsed: false - Tool Properties: - collapsed: false - Views: - collapsed: false - Width: 3696 - X: 144 - Y: 54 diff --git a/plane_segmentation/convex_plane_decomposition_ros/src/ConvexApproximationDemoNode.cpp b/plane_segmentation/convex_plane_decomposition_ros/src/ConvexApproximationDemoNode.cpp deleted file mode 100644 index 3447091f..00000000 --- a/plane_segmentation/convex_plane_decomposition_ros/src/ConvexApproximationDemoNode.cpp +++ /dev/null @@ -1,100 +0,0 @@ -// -// Created by rgrandia on 24.06.20. -// - -#include - -#include - -#include - -#include -#include -#include - -#include - -#include -#include - -const std::string frameId = "odom"; -std::mutex terrainMutex; -std::unique_ptr planarTerrainPtr; - -void callback(const convex_plane_decomposition_msgs::PlanarTerrain::ConstPtr& msg) { - std::unique_ptr newTerrain( - new convex_plane_decomposition::PlanarTerrain(convex_plane_decomposition::fromMessage(*msg))); - - std::lock_guard lock(terrainMutex); - planarTerrainPtr.swap(newTerrain); -} - -geometry_msgs::PointStamped toMarker(const Eigen::Vector3d& position, const std_msgs::Header& header) { - geometry_msgs::PointStamped sphere; - sphere.header = header; - sphere.point.x = position.x(); - sphere.point.y = position.y(); - sphere.point.z = position.z(); - return sphere; -} - -float randomFloat(float a, float b) { - float random = ((float)rand()) / (float)RAND_MAX; - float diff = b - a; - float r = random * diff; - return a + r; -} - -int main(int argc, char** argv) { - ros::init(argc, argv, "convex_approximation_demo_node"); - ros::NodeHandle nodeHandle("~"); - - // Publishers for visualization - auto positionPublisher = nodeHandle.advertise("queryPosition", 1); - auto projectionPublisher = nodeHandle.advertise("projectedQueryPosition", 1); - auto convexTerrainPublisher = nodeHandle.advertise("convex_terrain", 1); - auto terrainSubscriber = nodeHandle.subscribe("/convex_plane_decomposition_ros/planar_terrain", 1, &callback); - - // Node loop - ros::Rate rate(ros::Duration(1.0)); - while (ros::ok()) { - { - std::lock_guard lock(terrainMutex); - if (planarTerrainPtr) { - const auto& map = planarTerrainPtr->gridMap; - - // Find edges. - double maxX = map.getPosition().x() + map.getLength().x() * 0.5; - double minX = map.getPosition().x() - map.getLength().x() * 0.5; - double maxY = map.getPosition().y() + map.getLength().y() * 0.5; - double minY = map.getPosition().y() - map.getLength().y() * 0.5; - - Eigen::Vector3d query{randomFloat(minX, maxX), randomFloat(minY, maxY), randomFloat(0.0, 1.0)}; - auto penaltyFunction = [](const Eigen::Vector3d& projectedPoint) { return 0.0; }; - - const auto projection = getBestPlanarRegionAtPositionInWorld(query, planarTerrainPtr->planarRegions, penaltyFunction); - - int numberOfVertices = 16; - double growthFactor = 1.05; - const auto convexRegion = convex_plane_decomposition::growConvexPolygonInsideShape( - projection.regionPtr->boundaryWithInset.boundary, projection.positionInTerrainFrame, numberOfVertices, growthFactor); - - std_msgs::Header header; - header.stamp.fromNSec(planarTerrainPtr->gridMap.getTimestamp()); - header.frame_id = frameId; - - auto convexRegionMsg = - convex_plane_decomposition::to3dRosPolygon(convexRegion, projection.regionPtr->transformPlaneToWorld, header); - - convexTerrainPublisher.publish(convexRegionMsg); - positionPublisher.publish(toMarker(query, header)); - projectionPublisher.publish(toMarker(projection.positionInWorld, header)); - } - } - - ros::spinOnce(); - rate.sleep(); - } - - return 0; -} \ No newline at end of file diff --git a/plane_segmentation/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionNode.cpp b/plane_segmentation/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionNode.cpp deleted file mode 100644 index 3d622df7..00000000 --- a/plane_segmentation/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionNode.cpp +++ /dev/null @@ -1,23 +0,0 @@ -#include "convex_plane_decomposition_ros/ConvexPlaneDecompositionRos.h" - -#include - -int main(int argc, char** argv) { - ros::init(argc, argv, "convex_plane_decomposition_ros"); - ros::NodeHandle nodeHandle("~"); - - double frequency; - if (!nodeHandle.getParam("frequency", frequency)) { - ROS_ERROR("[ConvexPlaneDecompositionNode] Could not read parameter `frequency`."); - return 1; - } - - convex_plane_decomposition::ConvexPlaneExtractionROS convex_plane_decomposition_ros(nodeHandle); - - ros::Rate rate(frequency); - while (ros::ok()) { - ros::spinOnce(); - rate.sleep(); - } - return 0; -} diff --git a/plane_segmentation/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp b/plane_segmentation/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp deleted file mode 100644 index 04c6f2e1..00000000 --- a/plane_segmentation/convex_plane_decomposition_ros/src/ConvexPlaneDecompositionRos.cpp +++ /dev/null @@ -1,187 +0,0 @@ -#include "convex_plane_decomposition_ros/ConvexPlaneDecompositionRos.h" - -#include -#include -#include - -#include -#include - -#include "convex_plane_decomposition_ros/MessageConversion.h" -#include "convex_plane_decomposition_ros/ParameterLoading.h" -#include "convex_plane_decomposition_ros/RosVisualizations.h" - -namespace convex_plane_decomposition { - -ConvexPlaneExtractionROS::ConvexPlaneExtractionROS(ros::NodeHandle& nodeHandle) : tfBuffer_(), tfListener_(tfBuffer_) { - bool parametersLoaded = loadParameters(nodeHandle); - - if (parametersLoaded) { - elevationMapSubscriber_ = nodeHandle.subscribe(elevationMapTopic_, 1, &ConvexPlaneExtractionROS::callback, this); - filteredmapPublisher_ = nodeHandle.advertise("filtered_map", 1); - boundaryPublisher_ = nodeHandle.advertise("boundaries", 1); - insetPublisher_ = nodeHandle.advertise("insets", 1); - regionPublisher_ = nodeHandle.advertise("planar_terrain", 1); - } -} - -ConvexPlaneExtractionROS::~ConvexPlaneExtractionROS() { - if (callbackTimer_.getNumTimedIntervals() > 0 && planeDecompositionPipeline_ != nullptr) { - std::stringstream infoStream; - infoStream << "\n########################################################################\n"; - infoStream << "The benchmarking is computed over " << callbackTimer_.getNumTimedIntervals() << " iterations. \n"; - infoStream << "PlaneExtraction Benchmarking : Average time [ms], Max time [ms]\n"; - auto printLine = [](std::string name, const Timer& timer) { - std::stringstream ss; - ss << std::fixed << std::setprecision(2); - ss << "\t" << name << "\t: " << std::setw(17) << timer.getAverageInMilliseconds() << ", " << std::setw(13) - << timer.getMaxIntervalInMilliseconds() << "\n"; - return ss.str(); - }; - infoStream << printLine("Pre-process ", planeDecompositionPipeline_->getPrepocessTimer()); - infoStream << printLine("Sliding window ", planeDecompositionPipeline_->getSlidingWindowTimer()); - infoStream << printLine("Contour extraction ", planeDecompositionPipeline_->getContourExtractionTimer()); - infoStream << printLine("Post-process ", planeDecompositionPipeline_->getPostprocessTimer()); - infoStream << printLine("Total callback ", callbackTimer_); - std::cerr << infoStream.str() << std::endl; - } -} - -bool ConvexPlaneExtractionROS::loadParameters(const ros::NodeHandle& nodeHandle) { - if (!nodeHandle.getParam("elevation_topic", elevationMapTopic_)) { - ROS_ERROR("[ConvexPlaneExtractionROS] Could not read parameter `elevation_topic`."); - return false; - } - if (!nodeHandle.getParam("target_frame_id", targetFrameId_)) { - ROS_ERROR("[ConvexPlaneExtractionROS] Could not read parameter `target_frame_id`."); - return false; - } - if (!nodeHandle.getParam("height_layer", elevationLayer_)) { - ROS_ERROR("[ConvexPlaneExtractionROS] Could not read parameter `height_layer`."); - return false; - } - if (!nodeHandle.getParam("submap/width", subMapWidth_)) { - ROS_ERROR("[ConvexPlaneExtractionROS] Could not read parameter `submap/width`."); - return false; - } - if (!nodeHandle.getParam("submap/length", subMapLength_)) { - ROS_ERROR("[ConvexPlaneExtractionROS] Could not read parameter `submap/length`."); - return false; - } - if (!nodeHandle.getParam("publish_to_controller", publishToController_)) { - ROS_ERROR("[ConvexPlaneExtractionROS] Could not read parameter `publish_to_controller`."); - return false; - } - - PlaneDecompositionPipeline::Config config; - config.preprocessingParameters = loadPreprocessingParameters(nodeHandle, "preprocessing/"); - config.contourExtractionParameters = loadContourExtractionParameters(nodeHandle, "contour_extraction/"); - config.ransacPlaneExtractorParameters = loadRansacPlaneExtractorParameters(nodeHandle, "ransac_plane_refinement/"); - config.slidingWindowPlaneExtractorParameters = loadSlidingWindowPlaneExtractorParameters(nodeHandle, "sliding_window_plane_extractor/"); - config.postprocessingParameters = loadPostprocessingParameters(nodeHandle, "postprocessing/"); - - planeDecompositionPipeline_ = std::make_unique(config); - - return true; -} - -void ConvexPlaneExtractionROS::callback(const grid_map_msgs::GridMap& message) { - callbackTimer_.startTimer(); - - // Convert message to map. - grid_map::GridMap messageMap; - std::vector layers{elevationLayer_}; - grid_map::GridMapRosConverter::fromMessage(message, messageMap, layers, false, false); - if (!containsFiniteValue(messageMap.get(elevationLayer_))) { - ROS_WARN("[ConvexPlaneExtractionROS] map does not contain any values"); - callbackTimer_.endTimer(); - return; - } - - // Transform map if necessary - if (targetFrameId_ != messageMap.getFrameId()) { - std::string errorMsg; - ros::Time timeStamp = ros::Time(0); // Use Time(0) to get the latest transform. - if (tfBuffer_.canTransform(targetFrameId_, messageMap.getFrameId(), timeStamp, &errorMsg)) { - const auto transform = getTransformToTargetFrame(messageMap.getFrameId(), timeStamp); - messageMap = grid_map::GridMapCvProcessing::getTransformedMap(std::move(messageMap), transform, elevationLayer_, targetFrameId_); - } else { - ROS_ERROR_STREAM("[ConvexPlaneExtractionROS] " << errorMsg); - callbackTimer_.endTimer(); - return; - } - } - - // Extract submap - bool success; - const grid_map::Position submapPosition = [&]() { - // The map center might be between cells. Taking the submap there can result in changing submap dimensions. - // project map center to an index and index to center s.t. we get the location of a cell. - grid_map::Index centerIndex; - grid_map::Position centerPosition; - messageMap.getIndex(messageMap.getPosition(), centerIndex); - messageMap.getPosition(centerIndex, centerPosition); - return centerPosition; - }(); - grid_map::GridMap elevationMap = messageMap.getSubmap(submapPosition, Eigen::Array2d(subMapLength_, subMapWidth_), success); - if (!success) { - ROS_WARN("[ConvexPlaneExtractionROS] Could not extract submap"); - callbackTimer_.endTimer(); - return; - } - const grid_map::Matrix elevationRaw = elevationMap.get(elevationLayer_); - - // Run pipeline. - planeDecompositionPipeline_->update(std::move(elevationMap), elevationLayer_); - auto& planarTerrain = planeDecompositionPipeline_->getPlanarTerrain(); - - // Publish terrain - if (publishToController_) { - regionPublisher_.publish(toMessage(planarTerrain)); - } - - // --- Visualize in Rviz --- Not published to the controller - // Add raw map - planarTerrain.gridMap.add("elevation_raw", elevationRaw); - - // Add segmentation - planarTerrain.gridMap.add("segmentation"); - planeDecompositionPipeline_->getSegmentation(planarTerrain.gridMap.get("segmentation")); - - grid_map_msgs::GridMap outputMessage; - grid_map::GridMapRosConverter::toMessage(planarTerrain.gridMap, outputMessage); - filteredmapPublisher_.publish(outputMessage); - - const double lineWidth = 0.005; // [m] RViz marker size - boundaryPublisher_.publish(convertBoundariesToRosMarkers(planarTerrain.planarRegions, planarTerrain.gridMap.getFrameId(), - planarTerrain.gridMap.getTimestamp(), lineWidth)); - insetPublisher_.publish(convertInsetsToRosMarkers(planarTerrain.planarRegions, planarTerrain.gridMap.getFrameId(), - planarTerrain.gridMap.getTimestamp(), lineWidth)); - - callbackTimer_.endTimer(); -} - -Eigen::Isometry3d ConvexPlaneExtractionROS::getTransformToTargetFrame(const std::string& sourceFrame, const ros::Time& time) { - geometry_msgs::TransformStamped transformStamped; - try { - transformStamped = tfBuffer_.lookupTransform(targetFrameId_, sourceFrame, time); - } catch (tf2::TransformException& ex) { - ROS_ERROR("[ConvexPlaneExtractionROS] %s", ex.what()); - return Eigen::Isometry3d::Identity(); - } - - Eigen::Isometry3d transformation; - - // Extract translation. - transformation.translation().x() = transformStamped.transform.translation.x; - transformation.translation().y() = transformStamped.transform.translation.y; - transformation.translation().z() = transformStamped.transform.translation.z; - - // Extract rotation. - Eigen::Quaterniond rotationQuaternion(transformStamped.transform.rotation.w, transformStamped.transform.rotation.x, - transformStamped.transform.rotation.y, transformStamped.transform.rotation.z); - transformation.linear() = rotationQuaternion.toRotationMatrix(); - return transformation; -} - -} // namespace convex_plane_decomposition diff --git a/plane_segmentation/convex_plane_decomposition_ros/src/MessageConversion.cpp b/plane_segmentation/convex_plane_decomposition_ros/src/MessageConversion.cpp deleted file mode 100644 index 5194bfe0..00000000 --- a/plane_segmentation/convex_plane_decomposition_ros/src/MessageConversion.cpp +++ /dev/null @@ -1,143 +0,0 @@ -// -// Created by rgrandia on 14.06.20. -// - -#include "convex_plane_decomposition_ros/MessageConversion.h" - -#include - -namespace convex_plane_decomposition { - -CgalBbox2d fromMessage(const convex_plane_decomposition_msgs::BoundingBox2d& msg) { - return {msg.min_x, msg.min_y, msg.max_x, msg.max_y}; -} - -convex_plane_decomposition_msgs::BoundingBox2d toMessage(const CgalBbox2d& bbox2d) { - convex_plane_decomposition_msgs::BoundingBox2d msg; - msg.min_x = bbox2d.xmin(); - msg.min_y = bbox2d.ymin(); - msg.max_x = bbox2d.xmax(); - msg.max_y = bbox2d.ymax(); - return msg; -} - -PlanarRegion fromMessage(const convex_plane_decomposition_msgs::PlanarRegion& msg) { - PlanarRegion planarRegion; - planarRegion.transformPlaneToWorld = fromMessage(msg.plane_parameters); - planarRegion.boundaryWithInset.boundary = fromMessage(msg.boundary); - planarRegion.boundaryWithInset.insets.reserve(msg.insets.size()); - for (const auto& inset : msg.insets) { - planarRegion.boundaryWithInset.insets.emplace_back(fromMessage(inset)); - } - planarRegion.bbox2d = fromMessage(msg.bbox2d); - return planarRegion; -} - -convex_plane_decomposition_msgs::PlanarRegion toMessage(const PlanarRegion& planarRegion) { - convex_plane_decomposition_msgs::PlanarRegion msg; - msg.plane_parameters = toMessage(planarRegion.transformPlaneToWorld); - msg.boundary = toMessage(planarRegion.boundaryWithInset.boundary); - msg.insets.reserve(planarRegion.boundaryWithInset.insets.size()); - for (const auto& inset : planarRegion.boundaryWithInset.insets) { - msg.insets.emplace_back(toMessage(inset)); - } - msg.bbox2d = toMessage(planarRegion.bbox2d); - return msg; -} - -PlanarTerrain fromMessage(const convex_plane_decomposition_msgs::PlanarTerrain& msg) { - PlanarTerrain planarTerrain; - planarTerrain.planarRegions.reserve(msg.planarRegions.size()); - for (const auto& planarRegion : msg.planarRegions) { - planarTerrain.planarRegions.emplace_back(fromMessage(planarRegion)); - } - grid_map::GridMapRosConverter::fromMessage(msg.gridmap, planarTerrain.gridMap); - return planarTerrain; -} - -convex_plane_decomposition_msgs::PlanarTerrain toMessage(const PlanarTerrain& planarTerrain) { - convex_plane_decomposition_msgs::PlanarTerrain msg; - msg.planarRegions.reserve(planarTerrain.planarRegions.size()); - for (const auto& planarRegion : planarTerrain.planarRegions) { - msg.planarRegions.emplace_back(toMessage(planarRegion)); - } - grid_map::GridMapRosConverter::toMessage(planarTerrain.gridMap, msg.gridmap); - return msg; -} - -Eigen::Isometry3d fromMessage(const geometry_msgs::Pose& msg) { - Eigen::Isometry3d transform; - transform.translation().x() = msg.position.x; - transform.translation().y() = msg.position.y; - transform.translation().z() = msg.position.z; - Eigen::Quaterniond orientation; - orientation.x() = msg.orientation.x; - orientation.y() = msg.orientation.y; - orientation.z() = msg.orientation.z; - orientation.w() = msg.orientation.w; - transform.linear() = orientation.toRotationMatrix(); - return transform; -} - -geometry_msgs::Pose toMessage(const Eigen::Isometry3d& transform) { - geometry_msgs::Pose pose; - pose.position.x = transform.translation().x(); - pose.position.y = transform.translation().y(); - pose.position.z = transform.translation().z(); - Eigen::Quaterniond terrainOrientation(transform.linear()); - pose.orientation.x = terrainOrientation.x(); - pose.orientation.y = terrainOrientation.y(); - pose.orientation.z = terrainOrientation.z(); - pose.orientation.w = terrainOrientation.w(); - return pose; -} - -CgalPoint2d fromMessage(const convex_plane_decomposition_msgs::Point2d& msg) { - return {msg.x, msg.y}; -} - -convex_plane_decomposition_msgs::Point2d toMessage(const CgalPoint2d& point2d) { - convex_plane_decomposition_msgs::Point2d msg; - msg.x = point2d.x(); - msg.y = point2d.y(); - return msg; -} - -CgalPolygon2d fromMessage(const convex_plane_decomposition_msgs::Polygon2d& msg) { - CgalPolygon2d polygon2d; - polygon2d.container().reserve(msg.points.size()); - for (const auto& point : msg.points) { - polygon2d.container().emplace_back(fromMessage(point)); - } - return polygon2d; -} - -convex_plane_decomposition_msgs::Polygon2d toMessage(const CgalPolygon2d& polygon2d) { - convex_plane_decomposition_msgs::Polygon2d msg; - msg.points.reserve(polygon2d.container().size()); - for (const auto& point : polygon2d) { - msg.points.emplace_back(toMessage(point)); - } - return msg; -} - -CgalPolygonWithHoles2d fromMessage(const convex_plane_decomposition_msgs::PolygonWithHoles2d& msg) { - CgalPolygonWithHoles2d polygonWithHoles2d; - polygonWithHoles2d.outer_boundary() = fromMessage(msg.outer_boundary); - for (const auto& hole : msg.holes) { - polygonWithHoles2d.add_hole(fromMessage(hole)); - } - return polygonWithHoles2d; -} - -convex_plane_decomposition_msgs::PolygonWithHoles2d toMessage(const CgalPolygonWithHoles2d& polygonWithHoles2d) { - convex_plane_decomposition_msgs::PolygonWithHoles2d msg; - msg.outer_boundary = toMessage(polygonWithHoles2d.outer_boundary()); - msg.holes.reserve(polygonWithHoles2d.number_of_holes()); - for (const auto& hole : polygonWithHoles2d.holes()) { - msg.holes.emplace_back(toMessage(hole)); - } - return msg; -} - -} // namespace convex_plane_decomposition diff --git a/plane_segmentation/convex_plane_decomposition_ros/src/ParameterLoading.cpp b/plane_segmentation/convex_plane_decomposition_ros/src/ParameterLoading.cpp deleted file mode 100644 index 3fac5d4c..00000000 --- a/plane_segmentation/convex_plane_decomposition_ros/src/ParameterLoading.cpp +++ /dev/null @@ -1,78 +0,0 @@ -// -// Created by rgrandia on 10.06.20. -// - -#include "convex_plane_decomposition_ros/ParameterLoading.h" - -namespace convex_plane_decomposition { - -template -bool loadParameter(const ros::NodeHandle& nodeHandle, const std::string& prefix, const std::string& param, T& value) { - if (!nodeHandle.getParam(prefix + param, value)) { - ROS_ERROR_STREAM("[ConvexPlaneExtractionROS] Could not read parameter `" - << param << "`. Setting parameter to default value : " << std::to_string(value)); - return false; - } else { - return true; - } -} - -PreprocessingParameters loadPreprocessingParameters(const ros::NodeHandle& nodeHandle, const std::string& prefix) { - PreprocessingParameters preprocessingParameters; - loadParameter(nodeHandle, prefix, "resolution", preprocessingParameters.resolution); - loadParameter(nodeHandle, prefix, "kernelSize", preprocessingParameters.kernelSize); - loadParameter(nodeHandle, prefix, "numberOfRepeats", preprocessingParameters.numberOfRepeats); - return preprocessingParameters; -} - -contour_extraction::ContourExtractionParameters loadContourExtractionParameters(const ros::NodeHandle& nodeHandle, - const std::string& prefix) { - contour_extraction::ContourExtractionParameters contourParams; - loadParameter(nodeHandle, prefix, "marginSize", contourParams.marginSize); - return contourParams; -} - -ransac_plane_extractor::RansacPlaneExtractorParameters loadRansacPlaneExtractorParameters(const ros::NodeHandle& nodeHandle, - const std::string& prefix) { - ransac_plane_extractor::RansacPlaneExtractorParameters ransacParams; - loadParameter(nodeHandle, prefix, "probability", ransacParams.probability); - loadParameter(nodeHandle, prefix, "min_points", ransacParams.min_points); - loadParameter(nodeHandle, prefix, "epsilon", ransacParams.epsilon); - loadParameter(nodeHandle, prefix, "cluster_epsilon", ransacParams.cluster_epsilon); - loadParameter(nodeHandle, prefix, "normal_threshold", ransacParams.normal_threshold); - return ransacParams; -} - -sliding_window_plane_extractor::SlidingWindowPlaneExtractorParameters loadSlidingWindowPlaneExtractorParameters( - const ros::NodeHandle& nodeHandle, const std::string& prefix) { - sliding_window_plane_extractor::SlidingWindowPlaneExtractorParameters swParams; - loadParameter(nodeHandle, prefix, "kernel_size", swParams.kernel_size); - loadParameter(nodeHandle, prefix, "planarity_opening_filter", swParams.planarity_opening_filter); - if (loadParameter(nodeHandle, prefix, "plane_inclination_threshold_degrees", swParams.plane_inclination_threshold)) { - swParams.plane_inclination_threshold = std::cos(swParams.plane_inclination_threshold * M_PI / 180.0); - } - if (loadParameter(nodeHandle, prefix, "local_plane_inclination_threshold_degrees", swParams.local_plane_inclination_threshold)) { - swParams.local_plane_inclination_threshold = std::cos(swParams.local_plane_inclination_threshold * M_PI / 180.0); - } - loadParameter(nodeHandle, prefix, "plane_patch_error_threshold", swParams.plane_patch_error_threshold); - loadParameter(nodeHandle, prefix, "min_number_points_per_label", swParams.min_number_points_per_label); - loadParameter(nodeHandle, prefix, "connectivity", swParams.connectivity); - loadParameter(nodeHandle, prefix, "include_ransac_refinement", swParams.include_ransac_refinement); - loadParameter(nodeHandle, prefix, "global_plane_fit_distance_error_threshold", swParams.global_plane_fit_distance_error_threshold); - loadParameter(nodeHandle, prefix, "global_plane_fit_angle_error_threshold_degrees", - swParams.global_plane_fit_angle_error_threshold_degrees); - return swParams; -} - -PostprocessingParameters loadPostprocessingParameters(const ros::NodeHandle& nodeHandle, const std::string& prefix) { - PostprocessingParameters postprocessingParameters; - loadParameter(nodeHandle, prefix, "extracted_planes_height_offset", postprocessingParameters.extracted_planes_height_offset); - loadParameter(nodeHandle, prefix, "nonplanar_height_offset", postprocessingParameters.nonplanar_height_offset); - loadParameter(nodeHandle, prefix, "nonplanar_horizontal_offset", postprocessingParameters.nonplanar_horizontal_offset); - loadParameter(nodeHandle, prefix, "smoothing_dilation_size", postprocessingParameters.smoothing_dilation_size); - loadParameter(nodeHandle, prefix, "smoothing_box_kernel_size", postprocessingParameters.smoothing_box_kernel_size); - loadParameter(nodeHandle, prefix, "smoothing_gauss_kernel_size", postprocessingParameters.smoothing_gauss_kernel_size); - return postprocessingParameters; -} - -} // namespace convex_plane_decomposition diff --git a/plane_segmentation/convex_plane_decomposition_ros/src/RosVisualizations.cpp b/plane_segmentation/convex_plane_decomposition_ros/src/RosVisualizations.cpp deleted file mode 100644 index 8cd1b72e..00000000 --- a/plane_segmentation/convex_plane_decomposition_ros/src/RosVisualizations.cpp +++ /dev/null @@ -1,159 +0,0 @@ -#include "convex_plane_decomposition_ros/RosVisualizations.h" - -#include - -namespace convex_plane_decomposition { - -geometry_msgs::PolygonStamped to3dRosPolygon(const CgalPolygon2d& polygon, const Eigen::Isometry3d& transformPlaneToWorld, - const std_msgs::Header& header) { - geometry_msgs::PolygonStamped polygon3d; - polygon3d.header = header; - polygon3d.polygon.points.reserve(polygon.size()); - for (const auto& point : polygon) { - geometry_msgs::Point32 point_ros; - const auto pointInWorld = positionInWorldFrameFromPosition2dInPlane(point, transformPlaneToWorld); - point_ros.x = static_cast(pointInWorld.x()); - point_ros.y = static_cast(pointInWorld.y()); - point_ros.z = static_cast(pointInWorld.z()); - polygon3d.polygon.points.push_back(point_ros); - } - return polygon3d; -} - -std::vector to3dRosPolygon(const CgalPolygonWithHoles2d& polygonWithHoles, - const Eigen::Isometry3d& transformPlaneToWorld, const std_msgs::Header& header) { - std::vector polygons; - - polygons.reserve(polygonWithHoles.number_of_holes() + 1); - polygons.emplace_back(to3dRosPolygon(polygonWithHoles.outer_boundary(), transformPlaneToWorld, header)); - - for (const auto& hole : polygonWithHoles.holes()) { - polygons.emplace_back(to3dRosPolygon(hole, transformPlaneToWorld, header)); - } - return polygons; -} - -namespace { // Helper functions for convertBoundariesToRosMarkers and convertInsetsToRosMarkers -std_msgs::ColorRGBA getColor(int id, float alpha = 1.0) { - constexpr int numColors = 7; - using RGB = std::array; - // clang-format off - static const std::array, numColors> colorMap{ - RGB{0.0000F, 0.4470F, 0.7410F}, - RGB{0.8500F, 0.3250F, 0.0980F}, - RGB{0.9290F, 0.6940F, 0.1250F}, - RGB{0.4940F, 0.1840F, 0.5560F}, - RGB{0.4660F, 0.6740F, 0.1880F}, - RGB{0.6350F, 0.0780F, 0.1840F}, - RGB{0.2500F, 0.2500F, 0.2500F} - }; - // clang-format on - - std_msgs::ColorRGBA colorMsg; - const auto& rgb = colorMap[id % numColors]; - colorMsg.r = rgb[0]; - colorMsg.g = rgb[1]; - colorMsg.b = rgb[2]; - colorMsg.a = alpha; - return colorMsg; -} - -visualization_msgs::Marker to3dRosMarker(const CgalPolygon2d& polygon, const Eigen::Isometry3d& transformPlaneToWorld, - const std_msgs::Header& header, const std_msgs::ColorRGBA& color, int id, double lineWidth) { - visualization_msgs::Marker line; - line.id = id; - line.header = header; - line.type = visualization_msgs::Marker::LINE_STRIP; - line.scale.x = lineWidth; - line.color = color; - if (!polygon.is_empty()) { - line.points.reserve(polygon.size() + 1); - for (const auto& point : polygon) { - const auto pointInWorld = positionInWorldFrameFromPosition2dInPlane(point, transformPlaneToWorld); - geometry_msgs::Point point_ros; - point_ros.x = pointInWorld.x(); - point_ros.y = pointInWorld.y(); - point_ros.z = pointInWorld.z(); - line.points.push_back(point_ros); - } - // repeat the first point to close to polygon - const auto pointInWorld = positionInWorldFrameFromPosition2dInPlane(polygon.vertex(0), transformPlaneToWorld); - geometry_msgs::Point point_ros; - point_ros.x = pointInWorld.x(); - point_ros.y = pointInWorld.y(); - point_ros.z = pointInWorld.z(); - line.points.push_back(point_ros); - } - line.pose.orientation.w = 1.0; - line.pose.orientation.x = 0.0; - line.pose.orientation.y = 0.0; - line.pose.orientation.z = 0.0; - return line; -} - -visualization_msgs::MarkerArray to3dRosMarker(const CgalPolygonWithHoles2d& polygonWithHoles, - const Eigen::Isometry3d& transformPlaneToWorld, const std_msgs::Header& header, - const std_msgs::ColorRGBA& color, int id, double lineWidth) { - visualization_msgs::MarkerArray polygons; - - polygons.markers.reserve(polygonWithHoles.number_of_holes() + 1); - polygons.markers.emplace_back(to3dRosMarker(polygonWithHoles.outer_boundary(), transformPlaneToWorld, header, color, id, lineWidth)); - ++id; - - for (const auto& hole : polygonWithHoles.holes()) { - polygons.markers.emplace_back(to3dRosMarker(hole, transformPlaneToWorld, header, color, id, lineWidth)); - ++id; - } - return polygons; -} -} // namespace - -visualization_msgs::MarkerArray convertBoundariesToRosMarkers(const std::vector& planarRegions, const std::string& frameId, - grid_map::Time time, double lineWidth) { - std_msgs::Header header; - header.stamp.fromNSec(time); - header.frame_id = frameId; - - visualization_msgs::Marker deleteMarker; - deleteMarker.action = visualization_msgs::Marker::DELETEALL; - - visualization_msgs::MarkerArray polygon_buffer; - polygon_buffer.markers.reserve(planarRegions.size() + 1); // lower bound - polygon_buffer.markers.push_back(deleteMarker); - int colorIdx = 0; - for (const auto& planarRegion : planarRegions) { - const auto color = getColor(colorIdx++); - int label = polygon_buffer.markers.size(); - auto boundaries = - to3dRosMarker(planarRegion.boundaryWithInset.boundary, planarRegion.transformPlaneToWorld, header, color, label, lineWidth); - std::move(boundaries.markers.begin(), boundaries.markers.end(), std::back_inserter(polygon_buffer.markers)); - } - - return polygon_buffer; -} - -visualization_msgs::MarkerArray convertInsetsToRosMarkers(const std::vector& planarRegions, const std::string& frameId, - grid_map::Time time, double lineWidth) { - std_msgs::Header header; - header.stamp.fromNSec(time); - header.frame_id = frameId; - - visualization_msgs::Marker deleteMarker; - deleteMarker.action = visualization_msgs::Marker::DELETEALL; - - visualization_msgs::MarkerArray polygon_buffer; - polygon_buffer.markers.reserve(planarRegions.size() + 1); // lower bound - polygon_buffer.markers.push_back(deleteMarker); - int colorIdx = 0; - for (const auto& planarRegion : planarRegions) { - const auto color = getColor(colorIdx++); - for (const auto& inset : planarRegion.boundaryWithInset.insets) { - int label = polygon_buffer.markers.size(); - auto insets = to3dRosMarker(inset, planarRegion.transformPlaneToWorld, header, color, label, lineWidth); - std::move(insets.markers.begin(), insets.markers.end(), std::back_inserter(polygon_buffer.markers)); - } - } - return polygon_buffer; -} - -} // namespace convex_plane_decomposition diff --git a/plane_segmentation/convex_plane_decomposition_ros/src/SaveElevationMapAsImageNode.cpp b/plane_segmentation/convex_plane_decomposition_ros/src/SaveElevationMapAsImageNode.cpp deleted file mode 100644 index 8f471b22..00000000 --- a/plane_segmentation/convex_plane_decomposition_ros/src/SaveElevationMapAsImageNode.cpp +++ /dev/null @@ -1,73 +0,0 @@ -// -// Created by rgrandia on 11.06.20. -// - -#include - -#include -#include -#include - -#include - -int count = 0; -double frequency; -std::string elevationMapTopic; -std::string elevationLayer; -std::string imageName; - -void callback(const grid_map_msgs::GridMap::ConstPtr& message) { - grid_map::GridMap messageMap; - grid_map::GridMapRosConverter::fromMessage(*message, messageMap); - - const auto& data = messageMap[elevationLayer]; - float maxHeight = std::numeric_limits::lowest(); - float minHeight = std::numeric_limits::max(); - for (int i = 0; i < data.rows(); i++) { - for (int j = 0; j < data.cols(); j++) { - const auto value = data(i, j); - if (!std::isnan(value)) { - maxHeight = std::max(maxHeight, value); - minHeight = std::min(minHeight, value); - } - } - } - - cv::Mat image; - grid_map::GridMapCvConverter::toImage(messageMap, elevationLayer, CV_8UC1, minHeight, maxHeight, image); - - int range = 100 * (maxHeight - minHeight); - cv::imwrite(imageName + "_" + std::to_string(count++) + "_" + std::to_string(range) + "cm.png", image); -} - -int main(int argc, char** argv) { - ros::init(argc, argv, "save_elevation_map_to_image"); - ros::NodeHandle nodeHandle("~"); - - if (!nodeHandle.getParam("frequency", frequency)) { - ROS_ERROR("[ConvexPlaneExtractionROS] Could not read parameter `frequency`."); - return 1; - } - if (!nodeHandle.getParam("elevation_topic", elevationMapTopic)) { - ROS_ERROR("[ConvexPlaneExtractionROS] Could not read parameter `elevation_topic`."); - return 1; - } - if (!nodeHandle.getParam("height_layer", elevationLayer)) { - ROS_ERROR("[ConvexPlaneExtractionROS] Could not read parameter `height_layer`."); - return 1; - } - if (!nodeHandle.getParam("imageName", imageName)) { - ROS_ERROR("[ConvexPlaneExtractionROS] Could not read parameter `imageName`."); - return 1; - } - - auto elevationMapSubscriber_ = nodeHandle.subscribe(elevationMapTopic, 1, callback); - - ros::Rate rate(frequency); - while (ros::ok()) { - ros::spinOnce(); - rate.sleep(); - } - - return 0; -} \ No newline at end of file diff --git a/plane_segmentation/convex_plane_decomposition_ros/src/noiseNode.cpp b/plane_segmentation/convex_plane_decomposition_ros/src/noiseNode.cpp deleted file mode 100644 index c65f03de..00000000 --- a/plane_segmentation/convex_plane_decomposition_ros/src/noiseNode.cpp +++ /dev/null @@ -1,107 +0,0 @@ -// -// Created by rgrandia on 25.10.21. -// - -#include - -#include -#include - -#include -#include - -double noiseUniform; -double noiseGauss; -double outlierPercentage; -bool blur; -double frequency; -std::string elevationMapTopicIn; -std::string elevationMapTopicOut; -std::string elevationLayer; -ros::Publisher publisher; -grid_map::GridMap::Matrix noiseLayer; - -void createNoise(size_t row, size_t col) { - // Box-Muller Transform - grid_map::GridMap::Matrix u1 = 0.5 * grid_map::GridMap::Matrix::Random(row, col).array() + 0.5; - grid_map::GridMap::Matrix u2 = 0.5 * grid_map::GridMap::Matrix::Random(row, col).array() + 0.5; - grid_map::GridMap::Matrix gauss01 = - u1.binaryExpr(u2, [&](float v1, float v2) { return std::sqrt(-2.0f * log(v1)) * cos(2.0f * M_PIf32 * v2); }); - - noiseLayer = noiseUniform * grid_map::GridMap::Matrix::Random(row, col) + noiseGauss * gauss01; -} - -void callback(const grid_map_msgs::GridMap::ConstPtr& message) { - grid_map::GridMap messageMap; - grid_map::GridMapRosConverter::fromMessage(*message, messageMap); - - if (blur) { - // Copy! - auto originalMap = messageMap.get(elevationLayer); - - // Blur (remove nan -> filter -> put back nan - grid_map::inpainting::minValues(messageMap, elevationLayer, "i"); - grid_map::smoothing::boxBlur(messageMap, "i", elevationLayer, 3, 1); - messageMap.get(elevationLayer) = (originalMap.array().isFinite()).select(messageMap.get(elevationLayer), originalMap); - } - - auto& elevation = messageMap.get(elevationLayer); - if (noiseLayer.size() != elevation.size()) { - createNoise(elevation.rows(), elevation.cols()); - } - - elevation += noiseLayer; - - grid_map_msgs::GridMap messageMapOut; - grid_map::GridMapRosConverter::toMessage(messageMap, messageMapOut); - publisher.publish(messageMapOut); -} - -int main(int argc, char** argv) { - ros::init(argc, argv, "noise_node"); - ros::NodeHandle nodeHandle("~"); - - if (!nodeHandle.getParam("frequency", frequency)) { - ROS_ERROR("[ConvexPlaneExtractionROS::NoiseNode] Could not read parameter `frequency`."); - return 1; - } - if (!nodeHandle.getParam("noiseGauss", noiseGauss)) { - ROS_ERROR("[ConvexPlaneExtractionROS:NoiseNode] Could not read parameter `noiseGauss`."); - return 1; - } - if (!nodeHandle.getParam("noiseUniform", noiseUniform)) { - ROS_ERROR("[ConvexPlaneExtractionROS:NoiseNode] Could not read parameter `noiseUniform`."); - return 1; - } - if (!nodeHandle.getParam("blur", blur)) { - ROS_ERROR("[ConvexPlaneExtractionROS:NoiseNode] Could not read parameter `blur`."); - return 1; - } - if (!nodeHandle.getParam("outlier_percentage", outlierPercentage)) { - ROS_ERROR("[ConvexPlaneExtractionROS:NoiseNode] Could not read parameter `outlier_percentage`."); - return 1; - } - if (!nodeHandle.getParam("elevation_topic_in", elevationMapTopicIn)) { - ROS_ERROR("[ConvexPlaneExtractionROS:NoiseNode] Could not read parameter `elevation_topic_in`."); - return 1; - } - if (!nodeHandle.getParam("elevation_topic_out", elevationMapTopicOut)) { - ROS_ERROR("[ConvexPlaneExtractionROS:NoiseNode] Could not read parameter `elevation_topic_out`."); - return 1; - } - if (!nodeHandle.getParam("height_layer", elevationLayer)) { - ROS_ERROR("[ConvexPlaneExtractionROS:NoiseNode] Could not read parameter `height_layer`."); - return 1; - } - - publisher = nodeHandle.advertise(elevationMapTopicOut, 1); - auto elevationMapSubscriber_ = nodeHandle.subscribe(elevationMapTopicIn, 1, callback); - - ros::Rate rate(frequency); - while (ros::ok()) { - ros::spinOnce(); - rate.sleep(); - } - - return 0; -} \ No newline at end of file diff --git a/plane_segmentation/convex_plane_decomposition_ros/test/TestShapeGrowing.cpp b/plane_segmentation/convex_plane_decomposition_ros/test/TestShapeGrowing.cpp deleted file mode 100644 index 0dcc4c92..00000000 --- a/plane_segmentation/convex_plane_decomposition_ros/test/TestShapeGrowing.cpp +++ /dev/null @@ -1,46 +0,0 @@ -// -// Created by rgrandia on 08.06.20. -// - -#include -#include -#include - -using namespace convex_plane_decomposition; - -int main(int argc, char** argv) { - CgalPolygonWithHoles2d parentShape; - parentShape.outer_boundary().push_back({0.0, 0.0}); - parentShape.outer_boundary().push_back({0.0, 1000.0}); - parentShape.outer_boundary().push_back({400.0, 800.0}); - parentShape.outer_boundary().push_back({1000.0, 1000.0}); - parentShape.outer_boundary().push_back({800.0, 400.0}); - parentShape.outer_boundary().push_back({1000.0, 0.0}); - parentShape.add_hole(createRegularPolygon(CgalPoint2d(200.0, 200.0), 50, 4)); - parentShape.add_hole(createRegularPolygon(CgalPoint2d(600.0, 700.0), 100, 100)); - - int numberOfVertices = 16; - double growthFactor = 1.05; - - cv::Size imgSize(1000, 1000); - const auto parentColor = randomColor(); - const auto fitColor = randomColor(); - - int N_test = 10; - for (int i = 0; i < N_test; i++) { - CgalPoint2d center = CgalPoint2d(rand() % imgSize.width, rand() % imgSize.height); - cv::Mat polygonImage(imgSize, CV_8UC3, cv::Vec3b(0, 0, 0)); - drawContour(polygonImage, parentShape, &parentColor); - drawContour(polygonImage, center, 2, &fitColor); - if (isInside(center, parentShape)) { - const auto fittedPolygon2d = growConvexPolygonInsideShape(parentShape, center, numberOfVertices, growthFactor); - drawContour(polygonImage, fittedPolygon2d, &fitColor); - } - - cv::namedWindow("TestShapeGrowing", cv::WindowFlags::WINDOW_NORMAL); - cv::imshow("TestShapeGrowing", polygonImage); - cv::waitKey(0); // Wait for a keystroke in the window - } - - return 0; -} diff --git a/plane_segmentation/grid_map_filters_rsl/CMakeLists.txt b/plane_segmentation/grid_map_filters_rsl/CMakeLists.txt deleted file mode 100644 index 444929cb..00000000 --- a/plane_segmentation/grid_map_filters_rsl/CMakeLists.txt +++ /dev/null @@ -1,126 +0,0 @@ -# Project configuration -cmake_minimum_required (VERSION 3.5.1) -project(grid_map_filters_rsl) - -set(CMAKE_CXX_STANDARD 14) -add_compile_options(-Wall -Wextra -Wpedantic) -set(CMAKE_EXPORT_COMPILE_COMMANDS ON) - -set(CATKIN_PACKAGE_DEPENDENCIES - grid_map_cv - grid_map_core -) - -find_package(catkin REQUIRED - COMPONENTS - ${CATKIN_PACKAGE_DEPENDENCIES} -) - -find_package(Eigen3 REQUIRED) - -################################### -## catkin specific configuration ## -################################### -catkin_package( - INCLUDE_DIRS - include - ${EIGEN3_INCLUDE_DIR} - LIBRARIES - ${PROJECT_NAME} - CATKIN_DEPENDS - ${CATKIN_PACKAGE_DEPENDENCIES} -) - -########### -## Build ## -########### -add_library(${PROJECT_NAME} - src/GridMapDerivative.cpp - src/inpainting.cpp - src/lookup.cpp - src/smoothing.cpp - src/processing.cpp -) - -target_include_directories(${PROJECT_NAME} PRIVATE - include -) - -target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC - ${catkin_INCLUDE_DIRS} - ${EIGEN3_INCLUDE_DIR} -) - - -target_link_libraries(${PROJECT_NAME} - ${catkin_LIBRARIES} -) - -########## -## Test ## -########## - -## GTest. -if(CATKIN_ENABLE_TESTING) - ## Find catkin dependencies, including test dependencies. - find_package(catkin REQUIRED - COMPONENTS - ${CATKIN_PACKAGE_DEPENDENCIES} - ) - - catkin_add_gtest(test_${PROJECT_NAME} - test/TestDerivativeFilter.cpp - test/TestFilters.cpp - test/TestLookup.cpp - ) -endif() - -## Link GTest. -if(TARGET test_${PROJECT_NAME}) - target_link_libraries(test_${PROJECT_NAME} - ${PROJECT_NAME} - ${catkin_LIBRARIES} - gtest_main - ) - - target_include_directories(test_${PROJECT_NAME} PRIVATE - include - ) - - target_include_directories(test_${PROJECT_NAME} SYSTEM PUBLIC - ${catkin_INCLUDE_DIRS} - ) - - # Generate test coverage report - find_package(cmake_code_coverage QUIET) - if(cmake_code_coverage_FOUND) - add_gtest_coverage( - TEST_BUILD_TARGETS test_${PROJECT_NAME} - ) - endif(cmake_code_coverage_FOUND) -endif() - -############# -## Install ## -############# -install( - TARGETS - ${PROJECT_NAME} - ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -) - -install( - DIRECTORY - include/${PROJECT_NAME}/ - DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} -) - -########### -## Clang ## -########### -find_package(cmake_clang_tools QUIET) -if(cmake_clang_tools_FOUND) - add_default_clang_tooling() -endif(cmake_clang_tools_FOUND) \ No newline at end of file diff --git a/plane_segmentation/grid_map_filters_rsl/include/grid_map_filters_rsl/GridMapDerivative.hpp b/plane_segmentation/grid_map_filters_rsl/include/grid_map_filters_rsl/GridMapDerivative.hpp deleted file mode 100644 index 41dd3ac4..00000000 --- a/plane_segmentation/grid_map_filters_rsl/include/grid_map_filters_rsl/GridMapDerivative.hpp +++ /dev/null @@ -1,75 +0,0 @@ -/** - * @file GridMapDerivative.hpp - * @authors Fabian Jenelten - * @date 20.05, 2021 - * @affiliation ETH RSL - * @brief Computes first and second order derivatives for a grid map. Intended to be used for online applications (i.e, derivatives - * are not precomputed but computed at the time and location where they are needed). - */ - -#pragma once - -// grid_map_core -#include - -namespace grid_map { -namespace derivative { - -class GridMapDerivative { - private: - static constexpr int kernelSize_ = 5; - using Gradient = Eigen::Vector2d; - using Curvature = Eigen::Matrix2d; - using Kernel = Eigen::Matrix; - - public: - GridMapDerivative(); - ~GridMapDerivative() = default; - - /** - * @brief Initialize function - * @param res resolution of the grid map - * @return true iff successful - */ - bool initialize(float res); - - /** - * @brief Compute local gradient using grid map. Gradient is set to zero if the index is outside of the grid map. - * @param gridMap The grid map - * @param gradient gradient vector in world frame - * @param index grid map index - * @param H grid map corresponding to layer (Eigen implementation) - */ - void estimateGradient(const grid_map::GridMap& gridMap, Gradient& gradient, const grid_map::Index& index, - const grid_map::Matrix& H) const; - - /** - * @brief Compute local height gradient and curvature using grid map. Gradient and curvature are set to zero if the index is outside of - * the grid map. - * @param gridMap The grid map - * @param gradient gradient vector in world frame - * @param curvature curvature matrix in world frame - * @param index grid map index - * @param H grid map corresponding to layer (Eigen implementation) - */ - void estimateGradientAndCurvature(const grid_map::GridMap& gridMap, Gradient& gradient, Curvature& curvature, - const grid_map::Index& index, const grid_map::Matrix& H) const; - - private: - /** - * @brief Return center of kernel s.t. kernel does not reach boundaries of grid map. By default returns 0 (equals central difference). - * @param gridMap The grid map - * @param centerIndex index at which we want to apply the kernel - * @param maxKernelId max index of kernel in positive direction - * @return center of kernel - */ - static Eigen::Vector2i getKernelCenter(const grid_map::GridMap& gridMap, const grid_map::Index& centerIndex, int maxKernelId); - - //! First order derivative kernel. - Kernel kernelD1_; - - //! Second order derivative kernel. - Kernel kernelD2_; -}; -} // namespace derivative -} // namespace grid_map diff --git a/plane_segmentation/grid_map_filters_rsl/include/grid_map_filters_rsl/inpainting.hpp b/plane_segmentation/grid_map_filters_rsl/include/grid_map_filters_rsl/inpainting.hpp deleted file mode 100644 index f8f89e5f..00000000 --- a/plane_segmentation/grid_map_filters_rsl/include/grid_map_filters_rsl/inpainting.hpp +++ /dev/null @@ -1,54 +0,0 @@ -/** - * @file inpainting.hpp - * @authors Fabian Jenelten - * @date 18.05, 2021 - * @affiliation ETH RSL - * @brief Inpainting filter (extrapolate nan values from surrounding data). - */ - -#pragma once - -// grid map. -#include - -namespace grid_map { -namespace inpainting { - -/** - * @brief Inpaint missing data using min-value in neighborhood. The neighborhood search is performed along the contour of nan-patches. - * In-place operation (layerIn = layerOut) is NOT supported. - * @param map grid map - * @param layerIn reference layer (filter is applied wrt this layer) - * @param layerOut output layer (filtered map is written into this layer) - */ -void minValues(grid_map::GridMap& map, const std::string& layerIn, const std::string& layerOut); - -/** - * @brief Inpaint missing data using bi-linear interpolation. The neighborhood search is only performed along the column and the row of the - * missing element. In-place operation (layerIn = layerOut) is NOT supported. - * @param map grid map - * @param layerIn reference layer (filter is applied wrt this layer) - * @param layerOut output layer (filtered map is written into this layer) - */ -void biLinearInterpolation(grid_map::GridMap& map, const std::string& layerIn, const std::string& layerOut); - -/** - * @brief nonlinear interpolation (open-cv function). In-place operation (layerIn = layerOut) is supported. - * @param map grid map - * @param layerIn reference layer (filter is applied wrt this layer) - * @param layerOut output layer (filtered map is written into this layer) - * @param inpaintRadius vicinity considered by inpaint filter. - */ -void nonlinearInterpolation(grid_map::GridMap& map, const std::string& layerIn, const std::string& layerOut, double inpaintRadius); - -/** - * @brief Up- or down-sample elevation map (open-cv function). In-place operation only. Only the layer with name "layer" is resampled, while - * all other layers (if there are any) are left untouched (exception if layer="all", which applies filter to all layers). - * @param map grid map - * @param layer resampling is done based in this layer. If "all", resamples all layers - * @param newRes new resolution. - */ -void resample(grid_map::GridMap& map, const std::string& layer, double newRes); - -} // namespace inpainting -} // namespace grid_map diff --git a/plane_segmentation/grid_map_filters_rsl/include/grid_map_filters_rsl/lookup.hpp b/plane_segmentation/grid_map_filters_rsl/include/grid_map_filters_rsl/lookup.hpp deleted file mode 100644 index cd3bae45..00000000 --- a/plane_segmentation/grid_map_filters_rsl/include/grid_map_filters_rsl/lookup.hpp +++ /dev/null @@ -1,58 +0,0 @@ -/** - * @file lookup.hpp - * @authors Fabian Jenelten, Ruben Grandia - * @date 04.08, 2021 - * @affiliation ETH RSL - * @brief Extracting information from a gridmap - */ - -#pragma once - -// grid map. -#include - -namespace grid_map { -namespace lookup { - -struct LookupResult { - bool isValid{false}; - float value{0.0}; - grid_map::Position position{0.0, 0.0}; -}; - -/** - * Finds the maximum value between two points in a map - * - * @param position1 : starting point of the lookup line. - * @param position2 : ending point of the lookup line. - * @param gridMap : map object for map information. - * @param data : map data to find the maximum in. - * @return validity, value, and location of the maximum. A result is flagged as invalid if there are no finite values found. - */ -LookupResult maxValueBetweenLocations(const grid_map::Position& position1, const grid_map::Position& position2, - const grid_map::GridMap& gridMap, const grid_map::Matrix& data); - -/** - * Returns all values along a line between two points in a map - * - * @param position1 : starting point of the lookup line. - * @param position2 : ending point of the lookup line. - * @param gridMap : map object for map information. - * @param data : map data to get the values from. - * @return vector of all points generated by a line iteration - */ -std::vector valuesBetweenLocations(const grid_map::Position& position1, const grid_map::Position& position2, - const grid_map::GridMap& gridMap, const grid_map::Matrix& data); - -/** - * Project a point to inside the given gridmap with a specified margin - * - * @param gridMap : map object for map information. - * @param position : point to project to map - * @param margin : (minimum) distance from the map border after projection - * @return Projected position - */ -grid_map::Position projectToMapWithMargin(const grid_map::GridMap& gridMap, const grid_map::Position& position, double margin = 1e-6); - -} // namespace lookup -} // namespace grid_map diff --git a/plane_segmentation/grid_map_filters_rsl/include/grid_map_filters_rsl/processing.hpp b/plane_segmentation/grid_map_filters_rsl/include/grid_map_filters_rsl/processing.hpp deleted file mode 100644 index ff9688bc..00000000 --- a/plane_segmentation/grid_map_filters_rsl/include/grid_map_filters_rsl/processing.hpp +++ /dev/null @@ -1,66 +0,0 @@ -/** - * @file processing.hpp - * @authors Fabian Jenelten - * @date 04.08, 2021 - * @affiliation ETH RSL - * @brief Processing filter (everything that is not smoothing or inpainting). - */ - -#pragma once - -#include - -// grid map. -#include - -namespace grid_map { -namespace processing { - -/** - * @brief Replaces values by max in region. In-place operation (layerIn = layerOut) is NOT supported. Supports nan values. - * @param map grid map - * @param layerIn reference layer (filter is applied wrt this layer) - * @param layerOut output layer (filtered map is written into this layer) - * @param mask Filter is applied only where mask contains values of 1 and omitted where values are nan. If mask is an empty matrix, - * applies unmasked dilation. - * @param kernelSize vicinity considered by filter (must be odd). - * @param inpaint if true, also replaces potential nan values by the maximum - */ -void dilate(grid_map::GridMap& map, const std::string& layerIn, const std::string& layerOut, const grid_map::Matrix& mask, int kernelSize, - bool inpaint = true); - -/** - * @brief Replaces values by min in region. In-place operation (layerIn = layerOut) is NOT supported. Supports nan values. - * @param map grid map - * @param layerIn reference layer (filter is applied wrt this layer) - * @param layerOut output layer (filtered map is written into this layer) - * @param mask Filter is applied only where mask contains values of 1 and omitted where values are nan. If mask is an empty matrix, - * applies unmasked dilation. - * @param kernelSize vicinity considered by filter (must be odd). - * @param inpaint if true, also replaces potential nan values by the minimum - */ -void erode(grid_map::GridMap& map, const std::string& layerIn, const std::string& layerOut, const grid_map::Matrix& mask, int kernelSize, - bool inpaint = true); - -/** - * @brief Extracts a thin layer of height values, surrounding patches of nan-values. In-place operation (layerIn = layerOut) is NOT - * supported. Supports nan values. - * @param map grid map - * @param layerIn reference layer (filter is applied wrt this layer) - * @param layerOut output layer (filtered map is written into this layer) - */ -void outline(grid_map::GridMap& map, const std::string& layerIn, const std::string& layerOut); - -/** - * @brief Replaces values by output of a function. In-place operation (layerIn = layerOut) is NOT supported. Supports nan values. - * - * @param map grid map - * @param layerIn reference layer (filter is applied wrt this layer) - * @param layerOut output layer (filtered map is written into this layer) - * @param kernelSize vicinity considered by filter (must be odd). - */ -void applyKernelFunction(grid_map::GridMap& map, const std::string& layerIn, const std::string& layerOut, int kernelSize, - std::function&)> func); - -} // namespace processing -} // namespace grid_map diff --git a/plane_segmentation/grid_map_filters_rsl/include/grid_map_filters_rsl/smoothing.hpp b/plane_segmentation/grid_map_filters_rsl/include/grid_map_filters_rsl/smoothing.hpp deleted file mode 100644 index 99ae3e2b..00000000 --- a/plane_segmentation/grid_map_filters_rsl/include/grid_map_filters_rsl/smoothing.hpp +++ /dev/null @@ -1,50 +0,0 @@ -/** - * @file smoothing.hpp - * @authors Fabian Jenelten - * @date 18.05, 2021 - * @affiliation ETH RSL - * @brief Smoothing and outlier rejection filters. - */ - -#pragma once - -// grid map. -#include - -namespace grid_map { -namespace smoothing { - -/** - * @brief Sequential median filter (open-cv function). In-place operation (layerIn = layerOut) is supported. - * @param map grid map - * @param layerIn reference layer (filter is applied wrt this layer) - * @param layerOut output layer (filtered map is written into this layer) - * @param kernelSize size of the smoothing window (must be an odd number) - * @param deltaKernelSize kernel size is increased by this value, if numberOfRepeats > 1 - * @param numberOfRepeats number of sequentially applied median filters (approaches to gaussian blurring if increased) - */ -void median(grid_map::GridMap& map, const std::string& layerIn, const std::string& layerOut, int kernelSize, int deltaKernelSize = 2, - int numberOfRepeats = 1); - -/** - * @brief Sequential box blur filter (open cv-function). In-place operation (layerIn = layerOut) is supported. - * @param map grid map - * @param layerIn reference layer (filter is applied wrt this layer) - * @param layerOut output layer (filtered map is written into this layer) - * @param kernelSize size of the smoothing window (should be an odd number, otherwise, introduces offset) - * @param numberOfRepeats number of sequentially applied blurring filters (approaches to gaussian blurring if increased) - */ -void boxBlur(grid_map::GridMap& map, const std::string& layerIn, const std::string& layerOut, int kernelSize, int numberOfRepeats = 1); - -/** - * @brief Gaussian blur filter (open cv-function). In-place operation (layerIn = layerOut) is supported. - * @param map grid map - * @param layerIn reference layer (filter is applied wrt this layer) - * @param layerOut output layer (filtered map is written into this layer) - * @param kernelSize size of the smoothing window (should be an odd number, otherwise, introduces offset) - * @param sigma variance - */ -void gaussianBlur(grid_map::GridMap& map, const std::string& layerIn, const std::string& layerOut, int kernelSize, double sigma); - -} // namespace smoothing -} // namespace grid_map diff --git a/plane_segmentation/grid_map_filters_rsl/package.xml b/plane_segmentation/grid_map_filters_rsl/package.xml deleted file mode 100644 index 3df62480..00000000 --- a/plane_segmentation/grid_map_filters_rsl/package.xml +++ /dev/null @@ -1,19 +0,0 @@ - - - grid_map_filters_rsl - 0.1.0 - Extension of grid map filters package with op-cv filters and others - Fabian Jenelten - - Fabian Jenelten - - MIT - - catkin - cmake_clang_tools - grid_map_cv - grid_map_core - - gtest - cmake_code_coverage - diff --git a/plane_segmentation/grid_map_filters_rsl/src/GridMapDerivative.cpp b/plane_segmentation/grid_map_filters_rsl/src/GridMapDerivative.cpp deleted file mode 100644 index 1796dfde..00000000 --- a/plane_segmentation/grid_map_filters_rsl/src/GridMapDerivative.cpp +++ /dev/null @@ -1,76 +0,0 @@ -/** - * @file GridMapDerivative.cpp - * @authors Fabian Jenelten - * @date 20.05, 2021 - * @affiliation ETH RSL - * @brief Computes first and second order derivatives for a grid map. Intended to be used for online applications (i.e, derivatives - * are not precomputed but computed at the time and location where they are needed). - */ - -// grid map filters rsl. -#include - -namespace grid_map { -namespace derivative { -constexpr int GridMapDerivative::kernelSize_; - -GridMapDerivative::GridMapDerivative() : kernelD1_(Kernel::Zero()), kernelD2_(Kernel::Zero()) {} - -bool GridMapDerivative::initialize(float res) { - // Central finite difference: https://en.wikipedia.org/wiki/Finite_difference_coefficient - kernelD1_ << -1.0 / 12.0, 2.0 / 3.0, 0.0, -2.0 / 3.0, 1.0 / 12.0; - kernelD2_ << -1.0 / 12.0, 4.0 / 3.0, -5.0 / 2.0, 4.0 / 3.0, -1.0 / 12.0; - kernelD1_ /= res; - kernelD2_ /= (res * res); - return res > 0.0; -} - -void GridMapDerivative::estimateGradient(const grid_map::GridMap& gridMap, Gradient& gradient, const grid_map::Index& index, - const grid_map::Matrix& H) const { - // Indices. - constexpr auto maxKernelId = (kernelSize_ - 1) / 2; - const Eigen::Vector2i centerId = getKernelCenter(gridMap, index, maxKernelId); - - // Gradient. - gradient.x() = kernelD1_.dot(H.block(index.x() - maxKernelId + centerId.x(), index.y())); - gradient.y() = kernelD1_.dot(H.block<1, kernelSize_>(index.x(), index.y() - maxKernelId + centerId.y())); -} - -void GridMapDerivative::estimateGradientAndCurvature(const grid_map::GridMap& gridMap, Gradient& gradient, Curvature& curvature, - const grid_map::Index& index, const grid_map::Matrix& H) const { - // Note: Block implementation is twice as fast as iterating over the grid cells. - - // Indices. - constexpr auto maxKernelId = (kernelSize_ - 1) / 2; - const Eigen::Vector2i centerId = getKernelCenter(gridMap, index, maxKernelId); - const Eigen::Vector2i shiftedId(index.x() - maxKernelId + centerId.x(), index.y() - maxKernelId + centerId.y()); - - // Gradient in x for different y (used for computing the cross hessian). - Kernel gradientYArray; - for (auto idY = 0; idY < kernelSize_; ++idY) { - gradientYArray[idY] = kernelD1_.dot(H.block(shiftedId.x(), shiftedId.y() + idY)); - } - - // Gradient. - gradient(0U) = kernelD1_.dot(H.block(shiftedId.x(), index.y())); - gradient(1U) = kernelD1_.dot(H.block<1, kernelSize_>(index.x(), shiftedId.y())); - - // Curvature. - curvature(0U, 0U) = kernelD2_.dot(H.block(shiftedId.x(), index.y())); - curvature(1U, 1U) = kernelD2_.dot(H.block<1, kernelSize_>(index.x(), shiftedId.y())); - curvature(0U, 1U) = kernelD1_.dot(gradientYArray); - curvature(1U, 0U) = curvature(0U, 1U); -} - -Eigen::Vector2i GridMapDerivative::getKernelCenter(const grid_map::GridMap& gridMap, const grid_map::Index& centerIndex, int maxKernelId) { - constexpr auto minId = 0; - Eigen::Vector2i centerId; - for (auto dim = 0; dim < 2; ++dim) { - const auto maxId = gridMap.getSize()(dim) - 1; - centerId(dim) = -std::min(centerIndex(dim) - maxKernelId, minId) - std::max(centerIndex(dim) + maxKernelId - maxId, 0); - } - return centerId; -} - -} // namespace derivative -} // namespace grid_map diff --git a/plane_segmentation/grid_map_filters_rsl/src/inpainting.cpp b/plane_segmentation/grid_map_filters_rsl/src/inpainting.cpp deleted file mode 100644 index a3aaa19b..00000000 --- a/plane_segmentation/grid_map_filters_rsl/src/inpainting.cpp +++ /dev/null @@ -1,290 +0,0 @@ -/** - * @file inpainting.cpp - * @authors Fabian Jenelten - * @date 18.05, 2021 - * @affiliation ETH RSL - * @brief Inpainting filter (extrapolate nan values from surrounding data). - */ - -// grid map filters rsl. -#include -#include - -// open cv. -#include -#include -#include -#include - -// stl. -#include - -namespace grid_map { -namespace inpainting { - -void minValues(grid_map::GridMap& map, const std::string& layerIn, const std::string& layerOut) { - // Create new layer if missing - if (!map.exists(layerOut)) { - map.add(layerOut, map.get(layerIn)); - } - - // Reference to in, and out maps, initialize with copy - const grid_map::Matrix& H_in = map.get(layerIn); - grid_map::Matrix& H_out = map.get(layerOut); - H_out = H_in; - - // Some constant - const int numCols = H_in.cols(); - const int maxColId = numCols - 1; - const int numRows = H_in.rows(); - const int maxRowId = numRows - 1; - - // Common operation of updating the minimum and keeping track if the minimum was updated. - auto compareAndStoreMin = [](float newValue, float& currentMin, bool& changedValue) { - if (!std::isnan(newValue)) { - if (newValue < currentMin || std::isnan(currentMin)) { - currentMin = newValue; - changedValue = true; - } - } - }; - - /* - * Fill each cell that needs inpainting with the min of its neighbours until the map doesn't change anymore. - * This way each inpainted area gets the minimum value along its contour. - * - * We will be reading and writing to H_out during iteration. However, the aliasing does not break the correctness of the algorithm. - */ - bool hasAtLeastOneValue = true; - bool changedValue = true; - while (changedValue && hasAtLeastOneValue) { - hasAtLeastOneValue = false; - changedValue = false; - for (int colId = 0; colId < numCols; ++colId) { - for (int rowId = 0; rowId < numRows; ++rowId) { - if (std::isnan(H_in(rowId, colId))) { - auto& middleValue = H_out(rowId, colId); - - // left - if (colId > 0) { - const auto leftValue = H_out(rowId, colId - 1); - compareAndStoreMin(leftValue, middleValue, changedValue); - } - // right - if (colId < maxColId) { - const auto rightValue = H_out(rowId, colId + 1); - compareAndStoreMin(rightValue, middleValue, changedValue); - } - // top - if (rowId > 0) { - const auto topValue = H_out(rowId - 1, colId); - compareAndStoreMin(topValue, middleValue, changedValue); - } - // bottom - if (rowId < maxRowId) { - const auto bottomValue = H_out(rowId + 1, colId); - compareAndStoreMin(bottomValue, middleValue, changedValue); - } - } else { - hasAtLeastOneValue = true; - } - } - } - } -} - -void biLinearInterpolation(grid_map::GridMap& map, const std::string& layerIn, const std::string& layerOut) { - // Create new layer if missing - if (!map.exists(layerOut)) { - map.add(layerOut, map.get(layerIn)); - } else { - // initialize with a copy - map.get(layerOut) = map.get(layerIn); - } - - // Helper variables. - std::array indices; - std::array values; - Eigen::Matrix4f A; - Eigen::Vector4f b; - A.setOnes(); - Eigen::Vector4f weights; - bool success = true; - constexpr auto infinity = std::numeric_limits::max(); - - // Init. - std::fill(values.begin(), values.end(), NAN); - std::fill(indices.begin(), indices.end(), Eigen::Vector2i(0, 0)); - - // Reference to in and out maps. - const grid_map::Matrix& H_in = map.get(layerIn); - grid_map::Matrix& H_out = map.get(layerOut); - - for (auto colId = 0; colId < H_in.cols(); ++colId) { - for (auto rowId = 0; rowId < H_in.rows(); ++rowId) { - if (std::isnan(H_in(rowId, colId))) { - // Note: if we don't find a valid neighbour, we use the previous index-value pair. - auto minValue = infinity; - const Eigen::Vector2i index0(rowId, colId); - - // Search in negative direction. - for (auto id = rowId - 1; id >= 0; --id) { - auto newValue = H_in(id, colId); - if (!std::isnan(newValue)) { - indices[0] = Eigen::Vector2i(id, colId); - values[0] = newValue; - minValue = std::fmin(minValue, newValue); - break; - } - } - - for (auto id = colId - 1; id >= 0; --id) { - auto newValue = H_in(rowId, id); - if (!std::isnan(newValue)) { - indices[1] = Eigen::Vector2i(rowId, id); - values[1] = newValue; - minValue = std::fmin(minValue, newValue); - break; - } - } - - // Search in positive direction. - for (auto id = rowId + 1; id < H_in.rows(); ++id) { - auto newValue = H_in(id, colId); - if (!std::isnan(newValue)) { - indices[2] = Eigen::Vector2i(id, colId); - values[2] = newValue; - minValue = std::fmin(minValue, newValue); - break; - } - } - - for (auto id = colId + 1; id < H_in.cols(); ++id) { - auto newValue = H_in(rowId, id); - if (!std::isnan(newValue)) { - indices[3] = Eigen::Vector2i(rowId, id); - values[3] = newValue; - minValue = std::fmin(minValue, newValue); - break; - } - } - - // Cannot interpolate if there are not 4 corner points. - if (std::any_of(values.begin(), values.end(), [](float value) { return std::isnan(value); })) { - if (minValue < infinity) { - H_out(rowId, colId) = minValue; - } else { - success = false; - } - continue; - } - - // Interpolation weights (https://en.wikipedia.org/wiki/Bilinear_interpolation). - for (auto id = 0U; id < 4U; ++id) { - A(id, 1U) = static_cast(indices[id].x()); - A(id, 2U) = static_cast(indices[id].y()); - A(id, 3U) = static_cast(indices[id].x() * indices[id].y()); - b(id) = values[id]; - } - weights = A.colPivHouseholderQr().solve(b); - - // Value according to bi-linear interpolation. - H_out(rowId, colId) = weights.dot(Eigen::Vector4f(1.0, static_cast(index0.x()), static_cast(index0.y()), - static_cast(index0.x() * index0.y()))); - } - } - } - - // If failed, try again. - if (!success) { - map.get(layerIn) = map.get(layerOut); - return nonlinearInterpolation(map, layerIn, layerOut, 2. * map.getResolution()); - } -} - -void nonlinearInterpolation(grid_map::GridMap& map, const std::string& layerIn, const std::string& layerOut, double inpaintRadius) { - // Create new layer if missing. - if (!map.exists(layerOut)) { - map.add(layerOut); - } - - // Reference to in map. - const grid_map::Matrix& H_in = map.get(layerIn); - - // Create mask. - Eigen::Matrix mask = H_in.unaryExpr([](float val) { return (std::isnan(val)) ? uchar(1) : uchar(0); }); - cv::Mat maskImage; - cv::eigen2cv(mask, maskImage); - - // Convert grid map to image. - cv::Mat elevationImageIn; - const float minValue = H_in.minCoeffOfFinites(); - const float maxValue = H_in.maxCoeffOfFinites(); - grid_map::GridMapCvConverter::toImage(map, layerIn, CV_8UC1, minValue, maxValue, elevationImageIn); - - // Inpainting. - cv::Mat elevationImageOut; - const double radiusInPixels = inpaintRadius / map.getResolution(); - cv::inpaint(elevationImageIn, maskImage, elevationImageOut, radiusInPixels, cv::INPAINT_NS); - - // Get inpainting as float. - cv::Mat filledImageFloat; - constexpr float maxUCharValue = 255.F; - elevationImageOut.convertTo(filledImageFloat, CV_32F, (maxValue - minValue) / maxUCharValue, minValue); - - // Copy inpainted values back to elevation map. - cv::Mat elevationImageFloat; - cv::eigen2cv(H_in, elevationImageFloat); - filledImageFloat.copyTo(elevationImageFloat, maskImage); - - // Set new output layer. - cv::cv2eigen(elevationImageFloat, map.get(layerOut)); -} - -void resample(grid_map::GridMap& map, const std::string& layer, double newRes) { - // Original map info - const auto oldPos = map.getPosition(); - const auto oldSize = map.getSize(); - const auto oldRes = map.getResolution(); - - if (oldRes == newRes) { - return; - } - - // Layers to be resampled. - std::vector layer_names; - if (layer == "all") { - layer_names = map.getLayers(); - } else { - layer_names.push_back(layer); - } - - for (const auto& layer_name : layer_names) { - Eigen::MatrixXf elevationMap = std::move(map.get(layer_name)); - - // Convert elevation map to open-cv image. - cv::Mat elevationImage; - cv::eigen2cv(elevationMap, elevationImage); - - // Compute new dimensions. - const double scaling = oldRes / newRes; - int width = int(elevationImage.size[1] * scaling); - int height = int(elevationImage.size[0] * scaling); - cv::Size dim{width, height}; - - // Resize image - cv::Mat resizedImage; - cv::resize(elevationImage, resizedImage, dim, 0, 0, cv::INTER_LINEAR); - cv::cv2eigen(resizedImage, elevationMap); - - // Compute true new resolution. Might be slightly different due to rounding. Take average of both dimensions. - grid_map::Size newSize = {elevationMap.rows(), elevationMap.cols()}; - newRes = 0.5 * ((oldSize[0] * oldRes) / newSize[0] + (oldSize[1] * oldRes) / newSize[1]); - - // Store new map. - map.setGeometry({newSize[0] * newRes, newSize[1] * newRes}, newRes, oldPos); - map.get(layer_name) = std::move(elevationMap); - } -} -} // namespace inpainting -} // namespace grid_map diff --git a/plane_segmentation/grid_map_filters_rsl/src/lookup.cpp b/plane_segmentation/grid_map_filters_rsl/src/lookup.cpp deleted file mode 100644 index 61409e7a..00000000 --- a/plane_segmentation/grid_map_filters_rsl/src/lookup.cpp +++ /dev/null @@ -1,106 +0,0 @@ -/** - * @file lookup.cpp - * @authors Fabian Jenelten, Ruben Grandia - * @date 04.08, 2021 - * @affiliation ETH RSL - * @brief implementation of lookup - */ - -// grid map filters rsl. -#include - -// stl. -#include - -namespace grid_map { -namespace lookup { - -LookupResult maxValueBetweenLocations(const grid_map::Position& position1, const grid_map::Position& position2, - const grid_map::GridMap& gridMap, const grid_map::Matrix& data) { - // Map corner points into grid map. The line iteration doesn't account for the case where the line does not intersect the map. - const grid_map::Position startPos = projectToMapWithMargin(gridMap, position1); - const grid_map::Position endPos = projectToMapWithMargin(gridMap, position2); - - // Line iteration - float searchMaxValue = std::numeric_limits::lowest(); - grid_map::Index maxIndex(0, 0); - for (grid_map::LineIterator iterator(gridMap, startPos, endPos); !iterator.isPastEnd(); ++iterator) { - const grid_map::Index index = *iterator; - const auto value = data(index(0), index(1)); - if (std::isfinite(value)) { - searchMaxValue = std::max(searchMaxValue, value); - maxIndex = index; - } - } - - // Get position of max - grid_map::Position maxPosition; - gridMap.getPosition(maxIndex, maxPosition); - - const bool maxValueFound = searchMaxValue > std::numeric_limits::lowest(); - return {maxValueFound, searchMaxValue, maxPosition}; -} - -std::vector valuesBetweenLocations(const grid_map::Position& position1, const grid_map::Position& position2, - const grid_map::GridMap& gridMap, const grid_map::Matrix& data) { - // Map corner points into grid map. The line iteration doesn't account for the case where the line does not intersect the map. - const grid_map::Position startPos = projectToMapWithMargin(gridMap, position1); - const grid_map::Position endPos = projectToMapWithMargin(gridMap, position2); - - // Approximate amount of points to reserve memory - const auto manhattanDistance = std::max(std::abs(endPos.x() - startPos.x()), std::abs(endPos.y() - startPos.y())); - const int manhattanPixels = std::ceil(manhattanDistance / gridMap.getResolution()) + 1; - - // Container for results - std::vector lineValues; - lineValues.reserve(manhattanPixels); - - // Line iteration - grid_map::Position position; - for (grid_map::LineIterator iterator(gridMap, startPos, endPos); !iterator.isPastEnd(); ++iterator) { - const auto& index = *iterator; - const auto value = data(index(0), index(1)); - - if (std::isfinite(value)) { - gridMap.getPosition(index, position); - lineValues.push_back({position.x(), position.y(), value}); - } - } - - return lineValues; -} - -grid_map::Position projectToMapWithMargin(const grid_map::GridMap& gridMap, const grid_map::Position& position, double margin) { - const auto length = gridMap.getLength(); - const auto mapPosition = gridMap.getPosition(); - - // Find edges. - const double halfLengthX = length.x() * 0.5; - const double halfLengthY = length.y() * 0.5; - - // Margin can't be larger than half the length - margin = std::max(margin, 0.0); - margin = std::min(margin, halfLengthX); - margin = std::min(margin, halfLengthY); - - // Find constraints. - double maxX = mapPosition.x() + halfLengthX - margin; - double minX = mapPosition.x() - halfLengthX + margin; - double maxY = mapPosition.y() + halfLengthY - margin; - double minY = mapPosition.y() - halfLengthY + margin; - - // Projection - auto projection = position; - - // Clip to box constraints - projection.x() = std::fmin(projection.x(), maxX); - projection.y() = std::fmin(projection.y(), maxY); - - projection.x() = std::fmax(projection.x(), minX); - projection.y() = std::fmax(projection.y(), minY); - - return projection; -} - -} // namespace lookup -} // namespace grid_map diff --git a/plane_segmentation/grid_map_filters_rsl/src/processing.cpp b/plane_segmentation/grid_map_filters_rsl/src/processing.cpp deleted file mode 100644 index 1249937e..00000000 --- a/plane_segmentation/grid_map_filters_rsl/src/processing.cpp +++ /dev/null @@ -1,180 +0,0 @@ -/** - * @file processing.cpp - * @authors Fabian Jenelten - * @date 04.08, 2021 - * @affiliation ETH RSL - * @brief Processing filter (everything that is not smoothing or inpainting). - */ - -// grid map filters rsl. -#include - -namespace grid_map { -namespace processing { - -void dilate(grid_map::GridMap& map, const std::string& layerIn, const std::string& layerOut, const grid_map::Matrix& mask, int kernelSize, - bool inpaint) { - // Create new layer if missing - if (!map.exists(layerOut)) { - map.add(layerOut, map.get(layerIn)); - } - - // Reference to in and out maps. - const grid_map::Matrix& H_in = map.get(layerIn); - grid_map::Matrix& H_out = map.get(layerOut); - - // Apply mask. - grid_map::Matrix H_in_masked; - if (mask.cols() == 0 || mask.rows() == 0) { - H_in_masked = H_in; - } else { - H_in_masked = H_in.cwiseProduct(mask); - } - const auto maxKernelId = (kernelSize - 1) / 2; - - for (auto colId = 0; colId < H_in.cols(); ++colId) { - for (auto rowId = 0; rowId < H_in.rows(); ++rowId) { - // Move index to the korner of the kernel window. - auto cornerColId = std::max(colId - maxKernelId, 0); - auto cornerRowId = std::max(rowId - maxKernelId, 0); - - // Make sure we don't overshoot. - if (cornerColId + kernelSize > H_in.cols()) { - cornerColId = H_in.cols() - kernelSize; - } - - if (cornerRowId + kernelSize > H_in.rows()) { - cornerRowId = H_in.rows() - kernelSize; - } - - // Find maximum in region. - if (inpaint || !std::isnan(H_in(rowId, colId))) { - const auto maxInKernel = H_in_masked.block(cornerRowId, cornerColId, kernelSize, kernelSize).maxCoeffOfFinites(); - H_out(rowId, colId) = std::isnan(maxInKernel) ? H_in(rowId, colId) : maxInKernel; - } else { - H_out(rowId, colId) = NAN; - } - } - } -} - -void erode(grid_map::GridMap& map, const std::string& layerIn, const std::string& layerOut, const grid_map::Matrix& mask, int kernelSize, - bool inpaint) { - // Create new layer if missing - if (!map.exists(layerOut)) { - map.add(layerOut, map.get(layerIn)); - } - - // Reference to in and out maps. - const grid_map::Matrix& H_in = map.get(layerIn); - grid_map::Matrix& H_out = map.get(layerOut); - - // Apply mask. - grid_map::Matrix H_in_masked; - if (mask.cols() == 0 || mask.rows() == 0) { - H_in_masked = H_in; - } else { - H_in_masked = H_in.cwiseProduct(mask); - } - const auto maxKernelId = (kernelSize - 1) / 2; - - for (auto colId = 0; colId < H_in.cols(); ++colId) { - for (auto rowId = 0; rowId < H_in.rows(); ++rowId) { - // Move index to the korner of the kernel window. - auto cornerColId = std::max(colId - maxKernelId, 0); - auto cornerRowId = std::max(rowId - maxKernelId, 0); - - // Make sure we don't overshoot. - if (cornerColId + kernelSize > H_in.cols()) { - cornerColId = H_in.cols() - kernelSize; - } - - if (cornerRowId + kernelSize > H_in.rows()) { - cornerRowId = H_in.rows() - kernelSize; - } - - // Find minimum in region. - if (inpaint || !std::isnan(H_in(rowId, colId))) { - const auto minInKernel = H_in_masked.block(cornerRowId, cornerColId, kernelSize, kernelSize).minCoeffOfFinites(); - H_out(rowId, colId) = std::isnan(minInKernel) ? H_in(rowId, colId) : minInKernel; - } else { - H_out(rowId, colId) = NAN; - } - } - } -} - -void outline(grid_map::GridMap& map, const std::string& layerIn, const std::string& layerOut) { - // Create new layer if missing - if (!map.exists(layerOut)) { - map.add(layerOut, map.get(layerIn)); - } - - // Reference to in and out maps. - const grid_map::Matrix& H_in = map.get(layerIn); - grid_map::Matrix& H_out = map.get(layerOut); - - constexpr auto kernelSize = 3; - constexpr auto maxKernelId = (kernelSize - 1) / 2; - - for (auto colId = 0; colId < H_in.cols(); ++colId) { - for (auto rowId = 0; rowId < H_in.rows(); ++rowId) { - // Move index to the korner of the kernel window. - auto cornerColId = std::max(colId - maxKernelId, 0); - auto cornerRowId = std::max(rowId - maxKernelId, 0); - - // Make sure we don't overshoot. - if (cornerColId + kernelSize > H_in.cols()) { - cornerColId = H_in.cols() - kernelSize; - } - - if (cornerRowId + kernelSize > H_in.rows()) { - cornerRowId = H_in.rows() - kernelSize; - } - - // Check if grid cell touches the nan grid cell. - if (H_in.block(cornerRowId, cornerColId, kernelSize, kernelSize).hasNaN()) { - H_out(rowId, colId) = H_in(rowId, colId); - } else { - H_out(rowId, colId) = NAN; - } - } - } -} - -void applyKernelFunction(grid_map::GridMap& map, const std::string& layerIn, const std::string& layerOut, int kernelSize, - std::function&)> func) { - // Create new layer if missing - if (!map.exists(layerOut)) { - map.add(layerOut, map.get(layerIn)); - } - - // Reference to in and out maps. - const grid_map::Matrix& H_in = map.get(layerIn); - grid_map::Matrix& H_out = map.get(layerOut); - - const auto maxKernelId = (kernelSize - 1) / 2; - - for (auto colId = 0; colId < H_in.cols(); ++colId) { - for (auto rowId = 0; rowId < H_in.rows(); ++rowId) { - // Move index to the korner of the kernel window. - auto cornerColId = std::max(colId - maxKernelId, 0); - auto cornerRowId = std::max(rowId - maxKernelId, 0); - - // Make sure we don't overshoot. - if (cornerColId + kernelSize > H_in.cols()) { - cornerColId = H_in.cols() - kernelSize; - } - - if (cornerRowId + kernelSize > H_in.rows()) { - cornerRowId = H_in.rows() - kernelSize; - } - - // Apply user defined function - H_out(rowId, colId) = func(H_in.block(cornerRowId, cornerColId, kernelSize, kernelSize)); - } - } -} - -} // namespace processing -} // namespace grid_map diff --git a/plane_segmentation/grid_map_filters_rsl/src/smoothing.cpp b/plane_segmentation/grid_map_filters_rsl/src/smoothing.cpp deleted file mode 100644 index 24e89e04..00000000 --- a/plane_segmentation/grid_map_filters_rsl/src/smoothing.cpp +++ /dev/null @@ -1,109 +0,0 @@ -/** - * @file smoothing.cpp - * @authors Fabian Jenelten - * @date 18.05, 2021 - * @affiliation ETH RSL - * @brief Smoothing and outlier rejection filters. - */ - -// grid map filters rsl. -#include - -// open cv. -#include -#include -#include -#include -#include -#include - -namespace grid_map { -namespace smoothing { - -void median(grid_map::GridMap& map, const std::string& layerIn, const std::string& layerOut, int kernelSize, int deltaKernelSize, - int numberOfRepeats) { - // Create new layer if missing. - if (!map.exists(layerOut)) { - map.add(layerOut); - } - - if (kernelSize + deltaKernelSize * (numberOfRepeats - 1) <= 5) { - // Convert to image. - cv::Mat elevationImage; - cv::eigen2cv(map.get(layerIn), elevationImage); - - for (auto iter = 0; iter < numberOfRepeats; ++iter) { - cv::medianBlur(elevationImage, elevationImage, kernelSize); - kernelSize += deltaKernelSize; - } - - // Set output layer. - cv::cv2eigen(elevationImage, map.get(layerOut)); - } - - // Larger kernel sizes require a specific format. - else { - // Reference to in map. - const grid_map::Matrix& H_in = map.get(layerIn); - - // Convert grid map to image. - cv::Mat elevationImage; - const float minValue = H_in.minCoeffOfFinites(); - const float maxValue = H_in.maxCoeffOfFinites(); - grid_map::GridMapCvConverter::toImage(map, layerIn, CV_8UC1, minValue, maxValue, elevationImage); - - for (auto iter = 0; iter < numberOfRepeats; ++iter) { - cv::medianBlur(elevationImage, elevationImage, kernelSize); - kernelSize += deltaKernelSize; - } - - // Get image as float. - cv::Mat elevationImageFloat; - constexpr float maxUCharValue = 255.F; - elevationImage.convertTo(elevationImageFloat, CV_32F, (maxValue - minValue) / maxUCharValue, minValue); - - // Convert back to grid map. - cv::cv2eigen(elevationImageFloat, map.get(layerOut)); - } -} - -void boxBlur(grid_map::GridMap& map, const std::string& layerIn, const std::string& layerOut, int kernelSize, int numberOfRepeats) { - // Create new layer if missing. - if (!map.exists(layerOut)) { - map.add(layerOut); - } - - // Convert to image. - cv::Mat elevationImage; - cv::eigen2cv(map.get(layerIn), elevationImage); - - // Box blur. - cv::Size kernelSize2D(kernelSize, kernelSize); - for (auto iter = 0; iter < numberOfRepeats; ++iter) { - cv::blur(elevationImage, elevationImage, kernelSize2D); - } - - // Set output layer. - cv::cv2eigen(elevationImage, map.get(layerOut)); -} - -void gaussianBlur(grid_map::GridMap& map, const std::string& layerIn, const std::string& layerOut, int kernelSize, double sigma) { - // Create new layer if missing. - if (!map.exists(layerOut)) { - map.add(layerOut); - } - - // Convert to image. - cv::Mat elevationImage; - cv::eigen2cv(map.get(layerIn), elevationImage); - - // Box blur. - cv::Size kernelSize2D(kernelSize, kernelSize); - cv::GaussianBlur(elevationImage, elevationImage, kernelSize2D, sigma); - - // Set output layer. - cv::cv2eigen(elevationImage, map.get(layerOut)); -} - -} // namespace smoothing -} // namespace grid_map diff --git a/plane_segmentation/grid_map_filters_rsl/test/TestDerivativeFilter.cpp b/plane_segmentation/grid_map_filters_rsl/test/TestDerivativeFilter.cpp deleted file mode 100644 index 6f04270a..00000000 --- a/plane_segmentation/grid_map_filters_rsl/test/TestDerivativeFilter.cpp +++ /dev/null @@ -1,39 +0,0 @@ -/** - * @authors Fabian Jenelten - * @affiliation RSL - * @brief Tests for grid map derivative filter. - */ - -#include - -#include - -using namespace grid_map; - -TEST(TestGridMapDerivative, initialization) { // NOLINT - // Grid map with constant gradient. - GridMap map; - map.setGeometry(Length(1.0, 2.0), 0.1, Position(0.0, 0.0)); - map.add("elevation", 1.0); - const Eigen::MatrixXf H = map.get("elevation"); - GridMapIterator iterator(map); - - // Derivative filter. - derivative::GridMapDerivative derivativeFilter; - Eigen::Vector2d gradient; - Eigen::Matrix2d curvature; - - // Compute derivatives for each element and check if constant. - constexpr double threshold = 1.0e-9; - for (; !iterator.isPastEnd(); ++iterator) { - // Compute only gradient. - derivativeFilter.estimateGradient(map, gradient, *iterator, H); - EXPECT_TRUE(gradient.norm() < threshold); - - // Compute gradient and curvature. - derivativeFilter.estimateGradientAndCurvature(map, gradient, curvature, *iterator, H); - EXPECT_TRUE(gradient.norm() < threshold && curvature.norm() < threshold); - } - - EXPECT_TRUE(iterator.isPastEnd()); -} diff --git a/plane_segmentation/grid_map_filters_rsl/test/TestFilters.cpp b/plane_segmentation/grid_map_filters_rsl/test/TestFilters.cpp deleted file mode 100644 index c090a1e6..00000000 --- a/plane_segmentation/grid_map_filters_rsl/test/TestFilters.cpp +++ /dev/null @@ -1,144 +0,0 @@ -/** - * @authors Fabian Jenelten - * @affiliation RSL - * @brief Tests for grid map filters. - */ - -#include - -#include - -using namespace grid_map; - -TEST(TestInpainting, initialization) { // NOLINT - // Grid map with constant gradient. - GridMap map; - map.setGeometry(Length(1.0, 2.0), 0.1, Position(0.0, 0.0)); - map.add("elevation", 1.0); - const Eigen::MatrixXf H0 = map.get("elevation"); - Eigen::MatrixXf& H_in = map.get("elevation"); - - // Set nan patches. - H_in.topLeftCorner<3, 3>(3, 3).setConstant(NAN); - H_in.middleRows<2>(5).setConstant(NAN); - - // Fill in nan values. - inpainting::nonlinearInterpolation(map, "elevation", "filled_nonlin", 0.1); - inpainting::minValues(map, "elevation", "filled_min"); - inpainting::biLinearInterpolation(map, "elevation", "filled_bilinear"); - - // Check if open-cv in-painting was successful. - constexpr double threshold = 1.0e-9; - const Eigen::MatrixXf& H_out_ref = map.get("filled_nonlin"); - EXPECT_FALSE(std::isnan(H_out_ref.norm())); - EXPECT_TRUE((H_out_ref - H0).norm() < threshold); - - // Compare against open-cv in-painting. - EXPECT_TRUE((H_out_ref - map.get("filled_min")).norm() < threshold); - EXPECT_TRUE((H_out_ref - map.get("filled_bilinear")).norm() < threshold); -} - -TEST(TestInpainting, minValuesAroundContour) { // NOLINT - // Grid map with constant gradient. - GridMap map; - map.setGeometry(Length(3.0, 3.0), 1.0, Position(0.0, 0.0)); - map.add("input", 1.0); - const Eigen::MatrixXf H0 = map.get("input"); - Eigen::MatrixXf& H_in = map.get("input"); - - // Set nan patches. - // clang-format off - H_in << NAN, 0.0, -1.0, - 1.0, NAN, NAN, - -2.0, 0.0, NAN; - Eigen::MatrixXf H_expected(3, 3); - H_expected << 0.0, 0.0, -1.0, - 1.0, -1.0, -1.0, - -2.0, 0.0, -1.0; - // clang-format on - - inpainting::minValues(map, "input", "filled_min"); - constexpr double threshold = 1.0e-9; - EXPECT_TRUE((H_expected - map.get("filled_min")).norm() < threshold); -} - -TEST(TestInpainting, minValuesOnlyNaN) { // NOLINT - // Grid map with only NaN, check that we don't end in infinite loop - GridMap map; - map.setGeometry(Length(3.0, 3.0), 1.0, Position(0.0, 0.0)); - map.add("input_nan", NAN); // layer with only NaN - map.add("input_nonan", 1.0); // layer with constant value - - inpainting::minValues(map, "input_nan", "filled_min_nan"); - inpainting::minValues(map, "input_nonan", "filled_min_nonan"); - - EXPECT_TRUE(map.get("filled_min_nan").hasNaN()); - EXPECT_DOUBLE_EQ(map.get("filled_min_nonan").minCoeff(), 1.0); -} - -TEST(TestResampling, resampleSameSize) { // NOLINT - const std::string layerName = "layer"; - - GridMap map; - map.setGeometry(Length(3.0, 2.01), 0.33, Position(0.1, 0.2)); - map.add(layerName); - map.get(layerName).setRandom(); - - GridMap resampleMap = map; - - inpainting::resample(resampleMap, layerName, map.getResolution()); - - // Compare geometry - EXPECT_TRUE(resampleMap.getSize().isApprox(map.getSize())); - EXPECT_TRUE(resampleMap.getPosition().isApprox(map.getPosition())); - EXPECT_DOUBLE_EQ(resampleMap.getResolution(), map.getResolution()); - - // Compare content - EXPECT_TRUE(resampleMap.get(layerName).isApprox(map.get(layerName))); -} - -TEST(TestResampling, resampleUpsample) { // NOLINT - const std::string layerName = "layer"; - const double oldRes = 1.0; - const double newRes = 0.5; - - GridMap map; - map.setGeometry(Length(3.0, 2.0), oldRes, Position(0.1, 0.2)); - map.add(layerName); - map.get(layerName).setRandom(); - - GridMap resampleMap = map; - - inpainting::resample(resampleMap, layerName, newRes); - - // Compare geometry - const Eigen::Vector2d oldTrueSize(map.getResolution() * map.getSize().x(), map.getResolution() * map.getSize().y()); - const Eigen::Vector2d newTrueSize(resampleMap.getResolution() * resampleMap.getSize().x(), - resampleMap.getResolution() * resampleMap.getSize().y()); - EXPECT_TRUE(newTrueSize.isApprox(oldTrueSize)); - EXPECT_TRUE(resampleMap.getPosition().isApprox(map.getPosition())); - EXPECT_DOUBLE_EQ(resampleMap.getResolution(), newRes); -} - -TEST(TestResampling, resampleDownsample) { // NOLINT - const std::string layerName = "layer"; - const double oldRes = 0.5; - const double newRes = 1.0; - - GridMap map; - map.setGeometry(Length(3.0, 2.0), oldRes, Position(0.1, 0.2)); - map.add(layerName); - map.get(layerName).setRandom(); - - GridMap resampleMap = map; - - inpainting::resample(resampleMap, layerName, newRes); - - // Compare geometry - const Eigen::Vector2d oldTrueSize(map.getResolution() * map.getSize().x(), map.getResolution() * map.getSize().y()); - const Eigen::Vector2d newTrueSize(resampleMap.getResolution() * resampleMap.getSize().x(), - resampleMap.getResolution() * resampleMap.getSize().y()); - EXPECT_TRUE(newTrueSize.isApprox(oldTrueSize)); - EXPECT_TRUE(resampleMap.getPosition().isApprox(map.getPosition())); - EXPECT_DOUBLE_EQ(resampleMap.getResolution(), newRes); -} \ No newline at end of file diff --git a/plane_segmentation/grid_map_filters_rsl/test/TestLookup.cpp b/plane_segmentation/grid_map_filters_rsl/test/TestLookup.cpp deleted file mode 100644 index b85fb6d3..00000000 --- a/plane_segmentation/grid_map_filters_rsl/test/TestLookup.cpp +++ /dev/null @@ -1,82 +0,0 @@ -/** - * @authors Fabian Jenelten, Ruben Grandia - * @affiliation RSL - * @brief Tests for grid map lookup functions. - */ - -#include - -#include - -using namespace grid_map; - -TEST(TestLookup, maxValue_constant_map) { // NOLINT - // Grid map with constant value. - GridMap map; - map.setGeometry(Length(1.0, 2.0), 0.1, Position(0.1, 0.2)); - const float mapValue = 133.7; - map.add("elevation", mapValue); - const auto& data = map.get("elevation"); - - { // Normal lookup - const grid_map::Position position1(-0.1, -0.2); - const grid_map::Position position2(0.3, 0.4); - const auto result = lookup::maxValueBetweenLocations(position1, position2, map, data); - ASSERT_TRUE(result.isValid); - EXPECT_DOUBLE_EQ(result.value, mapValue); - } - - { // Start and end are the same - const grid_map::Position position1(-0.1, -0.2); - const grid_map::Position position2 = position1; - const auto result = lookup::maxValueBetweenLocations(position1, position2, map, data); - ASSERT_TRUE(result.isValid); - EXPECT_DOUBLE_EQ(result.value, mapValue); - } - - { // Start and end are outside of the map - const grid_map::Position position1(1000.0, 1000.0); - const grid_map::Position position2(2000.0, 2000.0); - const auto result = lookup::maxValueBetweenLocations(position1, position2, map, data); - ASSERT_TRUE(result.isValid); - EXPECT_DOUBLE_EQ(result.value, mapValue); - } -} - -TEST(TestLookup, maxValue_in_middle_map) { // NOLINT - // Grid map with random - GridMap map; - map.setGeometry(Length(1.0, 2.0), 0.1, Position(0.1, 0.2)); - map.add("elevation", 0.0); - auto& data = map.get("elevation"); - - // Create a parabola on the map - float checkMaxValue = std::numeric_limits::lowest(); - for (int col = 0; col < data.cols(); ++col) { - grid_map::Position p; - map.getPosition({0, col}, p); - float addedValue = -p.y() * p.y(); - checkMaxValue = std::max(checkMaxValue, addedValue); - data.col(col).setConstant(-p.y() * p.y()); - } - - const grid_map::Position position1(-0.5, -0.5); - const grid_map::Position position2(0.5, 0.5); - const auto result = lookup::maxValueBetweenLocations(position1, position2, map, data); - ASSERT_TRUE(result.isValid); - EXPECT_DOUBLE_EQ(result.value, checkMaxValue); -} - -TEST(TestLookup, maxValue_onlyNaN) { // NOLINT - // Grid map with constant value. - GridMap map; - map.setGeometry(Length(1.0, 2.0), 0.1, Position(0.1, 0.2)); - const float mapValue = std::numeric_limits::quiet_NaN(); - map.add("elevation", mapValue); - const auto& data = map.get("elevation"); - - const grid_map::Position position1(-0.1, -0.2); - const grid_map::Position position2(0.3, 0.4); - const auto result = lookup::maxValueBetweenLocations(position1, position2, map, data); - ASSERT_FALSE(result.isValid); -} diff --git a/sensor_processing/debug_publisher/image_debug_node.py b/sensor_processing/debug_publisher/image_debug_node.py deleted file mode 100644 index 6d625a68..00000000 --- a/sensor_processing/debug_publisher/image_debug_node.py +++ /dev/null @@ -1,38 +0,0 @@ -import rospy -import sys - -import numpy as np -import ros_numpy -import matplotlib.pyplot as plt -from skimage.io import imshow - -import message_filters -from sensor_msgs.msg import Image, CameraInfo -from sensor_msgs.msg import PointCloud2, Image -from cv_bridge import CvBridge - - -class ImageDebugNode: - def __init__(self): - # setup pointcloud creation - self.cv_bridge = CvBridge() - # rospy.Subscriber("", CameraInfo, self.cam_info_callback) - rospy.Subscriber("/zed2i/zed_node/right/image_rect_color", Image, self.image_callback) - self.debug_pub = rospy.Publisher("/debug_image", Image, queue_size=2) - - def image_callback(self, rgb_msg): - img = self.cv_bridge.imgmsg_to_cv2(rgb_msg, desired_encoding="rgb8") - out = np.zeros((img.shape[0], img.shape[1]), dtype=np.uint16) - out[:, : int(img.shape[1] / 2)] = 1 - seg_msg = self.cv_bridge.cv2_to_imgmsg(out, encoding="mono16") - seg_msg.header = rgb_msg.header - self.debug_pub.publish(seg_msg) - # seg_msg.header.frame_id = self.header.frame_id - # self.seg_pub.publish(seg_msg) - - -if __name__ == "__main__": - rospy.init_node("image_debug_node", anonymous=True, log_level=rospy.INFO) - print("Start Debug Image Node") - node = ImageDebugNode() - rospy.spin() diff --git a/sensor_processing/semantic_sensor/CMakeLists.txt b/sensor_processing/semantic_sensor/CMakeLists.txt deleted file mode 100644 index bdc8a1b7..00000000 --- a/sensor_processing/semantic_sensor/CMakeLists.txt +++ /dev/null @@ -1,33 +0,0 @@ -cmake_minimum_required(VERSION 3.0.2) -project(semantic_sensor) - -find_package(PythonInterp 3 REQUIRED) -find_package(PythonLibs 3 REQUIRED) - -if(PYTHONLIBS_FOUND) - message(STATUS "Using Python Libraries at: " ${PYTHON_LIBRARIES}) - message(STATUS "Using Python include directories at: " ${PYTHON_INCLUDE_DIRS}) -else() - message(WARNING "Could not find Python Libraries") -endif() - - -find_package(catkin REQUIRED COMPONENTS - message_generation - rospy - tf - tf_conversions - sensor_msgs - std_msgs - geometry_msgs -) - -catkin_package() - -catkin_python_setup() - - - -catkin_install_python(PROGRAMS script/semantic_sensor/pointcloud_node.py script/semantic_sensor/image_node.py - DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) - diff --git a/sensor_processing/semantic_sensor/config/sensor_parameter.yaml b/sensor_processing/semantic_sensor/config/sensor_parameter.yaml deleted file mode 100644 index 81fde9b1..00000000 --- a/sensor_processing/semantic_sensor/config/sensor_parameter.yaml +++ /dev/null @@ -1,31 +0,0 @@ -front_cam_pointcloud: - channels: ['rgb', 'chair','sofa',"person" ] - fusion: ['color','class_average','class_average','class_average'] - topic_name: 'front_camera/semantic_pointcloud' - semantic_segmentation: True - publish_segmentation_image: True - segmentation_model: 'lraspp_mobilenet_v3_large' # detectron_coco_panoptic_fpn_R_101_3x, lraspp_mobilenet_v3_large - show_label_legend: False - data_type: pointcloud - - cam_info_topic: "camera/depth/camera_info" - image_topic: "camera/rgb/image_raw" - depth_topic: "camera/depth/image_raw" - cam_frame: "camera_rgb_optical_frame" - -front_cam_image: - channels: ['chair','sofa',"person"] - fusion_methods: ['exponential','exponential','exponential'] - publish_topic: 'semantic_image' - publish_image_topic: "semantic_image_debug" - publish_camera_info_topic: 'semantic_image_info' - publish_fusion_info_topic: 'semantic_image_fusion_info' - data_type: image - - semantic_segmentation: True - feature_extractor: True - segmentation_model: 'lraspp_mobilenet_v3_large' # detectron_coco_panoptic_fpn_R_101_3x, lraspp_mobilenet_v3_large - show_label_legend: False - image_topic: "camera/rgb/image_raw" - camera_info_topic: "camera/depth/camera_info" - resize: 0.5 \ No newline at end of file diff --git a/sensor_processing/semantic_sensor/launch/semantic_image.launch b/sensor_processing/semantic_sensor/launch/semantic_image.launch deleted file mode 100644 index 8b6c01a1..00000000 --- a/sensor_processing/semantic_sensor/launch/semantic_image.launch +++ /dev/null @@ -1,7 +0,0 @@ - - - - - - \ No newline at end of file diff --git a/sensor_processing/semantic_sensor/launch/semantic_pointcloud.launch b/sensor_processing/semantic_sensor/launch/semantic_pointcloud.launch deleted file mode 100644 index 550638ff..00000000 --- a/sensor_processing/semantic_sensor/launch/semantic_pointcloud.launch +++ /dev/null @@ -1,7 +0,0 @@ - - - - - - \ No newline at end of file diff --git a/sensor_processing/semantic_sensor/package.xml b/sensor_processing/semantic_sensor/package.xml deleted file mode 100644 index 635775eb..00000000 --- a/sensor_processing/semantic_sensor/package.xml +++ /dev/null @@ -1,27 +0,0 @@ - - - semantic_sensor - 0.0.0 - The semantic_sensor package - Gian Erni - - - MIT - - - https://github.com/leggedrobotics/elevation_mapping_semantic_cupy - - - Gian Erni - - catkin - rospy - roslib - tf - tf_conversions - sensor_msgs - std_msgs - geometry_msgs - - - diff --git a/sensor_processing/semantic_sensor/script/semantic_sensor/DINO/__init__.py b/sensor_processing/semantic_sensor/script/semantic_sensor/DINO/__init__.py deleted file mode 100644 index e69de29b..00000000 diff --git a/sensor_processing/semantic_sensor/script/semantic_sensor/DINO/modules.py b/sensor_processing/semantic_sensor/script/semantic_sensor/DINO/modules.py deleted file mode 100644 index 24e4bff9..00000000 --- a/sensor_processing/semantic_sensor/script/semantic_sensor/DINO/modules.py +++ /dev/null @@ -1,126 +0,0 @@ -import semantic_sensor.DINO.vision_transformer as vits -import torch.nn as nn -import torch - - -class DinoFeaturizer(nn.Module): - def __init__(self, weights, cfg): - super().__init__() - self.cfg = cfg - self.dim = cfg.dim - - self.feat_type = self.cfg.dino_feat_type - arch = self.cfg.model - self.model = vits.__dict__[arch](patch_size=self.cfg.patch_size, num_classes=0) - for p in self.model.parameters(): - p.requires_grad = False - self.model.eval().cuda() - self.dropout = torch.nn.Dropout2d(p=0.1) - - if arch == "vit_small" and self.cfg.patch_size == 16: - url = "dino_deitsmall16_pretrain/dino_deitsmall16_pretrain.pth" - elif arch == "vit_small" and self.cfg.patch_size == 8: - url = "dino_deitsmall8_300ep_pretrain/dino_deitsmall8_300ep_pretrain.pth" - elif arch == "vit_base" and self.cfg.patch_size == 16: - url = "dino_vitbase16_pretrain/dino_vitbase16_pretrain.pth" - elif arch == "vit_base" and self.cfg.patch_size == 8: - url = "dino_vitbase8_pretrain/dino_vitbase8_pretrain.pth" - else: - raise ValueError("Unknown arch and patch size") - - state_dict = torch.hub.load_state_dict_from_url(url="https://dl.fbaipublicfiles.com/dino/" + url) - - self.model.load_state_dict(state_dict, strict=True) - - if arch == "vit_small": - self.n_feats = 384 - else: - self.n_feats = 768 - self.cluster1 = self.make_clusterer(self.n_feats) - self.proj_type = cfg.projection_type - if self.proj_type == "nonlinear": - self.cluster2 = self.make_nonlinear_clusterer(self.n_feats) - - def make_clusterer(self, in_channels): - """ - Function to make the clusterer model which consists of a single Conv2d layer. - The input channels are taken as the argument, and the output channels are equal to the `dim` of the model. - - Parameters: - in_channels (int): The number of input channels. - - Returns: - nn.Sequential: A sequential model consisting of a single Conv2d layer.""" - - return torch.nn.Sequential(torch.nn.Conv2d(in_channels, self.dim, (1, 1))) # , - - def make_nonlinear_clusterer(self, in_channels): - """ - Function to make the nonlinear clusterer model which consists of a series of Conv2d and ReLU layers. - The input channels are taken as the argument, and the output channels are equal to the `dim` of the model. - - Parameters: - in_channels (int): The number of input channels. - - Returns: - nn.Sequential: A sequential model consisting of a Conv2d layer, a ReLU layer, and another Conv2d layer. - """ - return torch.nn.Sequential( - torch.nn.Conv2d(in_channels, in_channels, (1, 1)), - torch.nn.ReLU(), - torch.nn.Conv2d(in_channels, self.dim, (1, 1)), - ) - - def forward(self, img, n=1, return_class_feat=False): - """ - Forward pass of the model. - The input image is passed through the `model` to get the intermediate features. - The intermediate features are then processed to get the final image feature and code. - If `return_class_feat` is set to True, the class features are returned instead. - - Parameters: - img (torch.Tensor): The input image tensor. - n (int, optional): The number of intermediate features to get. Default value is 1. 1 means only the features of the last block. - return_class_feat (bool, optional): Whether to return the class features. Default value is False. - - Returns: - tuple: If `cfg.dropout` is True, a tuple containing the final image feature and code is returned. - Otherwise, only the final image feature is returned. - If `return_class_feat` is True, the class features are returned instead. - """ - self.model.eval() - with torch.no_grad(): - assert img.shape[2] % self.cfg.patch_size == 0 - assert img.shape[3] % self.cfg.patch_size == 0 - - # get selected layer activations - feat, attn, qkv = self.model.get_intermediate_feat(img, n=n) - feat, attn, qkv = feat[0], attn[0], qkv[0] - - feat_h = img.shape[2] // self.cfg.patch_size - feat_w = img.shape[3] // self.cfg.patch_size - - if self.feat_type == "feat": - # deflatten - image_feat = feat[:, 1:, :].reshape(feat.shape[0], feat_h, feat_w, -1).permute(0, 3, 1, 2) - elif self.feat_type == "KK": - image_k = qkv[1, :, :, 1:, :].reshape(feat.shape[0], 6, feat_h, feat_w, -1) - B, H, I, J, D = image_k.shape - image_feat = image_k.permute(0, 1, 4, 2, 3).reshape(B, H * D, I, J) - else: - raise ValueError("Unknown feat type:{}".format(self.feat_type)) - - if return_class_feat: - return feat[:, :1, :].reshape(feat.shape[0], 1, 1, -1).permute(0, 3, 1, 2) - - if self.proj_type is not None: - code = self.cluster1(self.dropout(image_feat)) - if self.proj_type == "nonlinear": - code += self.cluster2(self.dropout(image_feat)) - else: - code = image_feat - - if self.cfg.dropout: - return self.dropout(image_feat), code - else: - return image_feat, code diff --git a/sensor_processing/semantic_sensor/script/semantic_sensor/DINO/utils.py b/sensor_processing/semantic_sensor/script/semantic_sensor/DINO/utils.py deleted file mode 100644 index 1bc84057..00000000 --- a/sensor_processing/semantic_sensor/script/semantic_sensor/DINO/utils.py +++ /dev/null @@ -1,46 +0,0 @@ -import torch -import warnings -import math - - -def _no_grad_trunc_normal_(tensor, mean, std, a, b): - # Cut & paste from PyTorch official master until it's in a few official releases - RW - # Method based on https://people.sc.fsu.edu/~jburkardt/presentations/truncated_normal.pdf - def norm_cdf(x): - # Computes standard normal cumulative distribution function - return (1.0 + math.erf(x / math.sqrt(2.0))) / 2.0 - - if (mean < a - 2 * std) or (mean > b + 2 * std): - warnings.warn( - "mean is more than 2 std from [a, b] in nn.init.trunc_normal_. " - "The distribution of values may be incorrect.", - stacklevel=2, - ) - - with torch.no_grad(): - # Values are generated by using a truncated uniform distribution and - # then using the inverse CDF for the normal distribution. - # Get upper and lower cdf values - l = norm_cdf((a - mean) / std) - u = norm_cdf((b - mean) / std) - - # Uniformly fill tensor with values from [l, u], then translate to - # [2l-1, 2u-1]. - tensor.uniform_(2 * l - 1, 2 * u - 1) - - # Use inverse cdf transform for normal distribution to get truncated - # standard normal - tensor.erfinv_() - - # Transform to proper mean, std - tensor.mul_(std * math.sqrt(2.0)) - tensor.add_(mean) - - # Clamp to ensure it's in the proper range - tensor.clamp_(min=a, max=b) - return tensor - - -def trunc_normal_(tensor, mean=0.0, std=1.0, a=-2.0, b=2.0): - # type: (Tensor, float, float, float, float) -> Tensor - return _no_grad_trunc_normal_(tensor, mean, std, a, b) diff --git a/sensor_processing/semantic_sensor/script/semantic_sensor/DINO/vision_transformer.py b/sensor_processing/semantic_sensor/script/semantic_sensor/DINO/vision_transformer.py deleted file mode 100644 index 53abd17a..00000000 --- a/sensor_processing/semantic_sensor/script/semantic_sensor/DINO/vision_transformer.py +++ /dev/null @@ -1,385 +0,0 @@ -""" -Mostly copy-paste from timm library. -https://github.com/rwightman/pytorch-image-models/blob/master/timm/models/vision_transformer.py -""" -import math -from functools import partial - -import torch -import torch.nn as nn -from semantic_sensor.DINO.utils import trunc_normal_ - - -def drop_path(x, drop_prob: float = 0.0, training: bool = False): - if drop_prob == 0.0 or not training: - return x - keep_prob = 1 - drop_prob - shape = (x.shape[0],) + (1,) * (x.ndim - 1) # work with diff dim tensors, not just 2D ConvNets - random_tensor = keep_prob + torch.rand(shape, dtype=x.dtype, device=x.device) - random_tensor.floor_() # binarize - output = x.div(keep_prob) * random_tensor - return output - - -class DropPath(nn.Module): - """Drop paths (Stochastic Depth) per sample (when applied in main path of residual blocks).""" - - def __init__(self, drop_prob=None): - super(DropPath, self).__init__() - self.drop_prob = drop_prob - - def forward(self, x): - return drop_path(x, self.drop_prob, self.training) - - -class Mlp(nn.Module): - def __init__( - self, in_features, hidden_features=None, out_features=None, act_layer=nn.GELU, drop=0.0, - ): - super().__init__() - out_features = out_features or in_features - hidden_features = hidden_features or in_features - self.fc1 = nn.Linear(in_features, hidden_features) - self.act = act_layer() - self.fc2 = nn.Linear(hidden_features, out_features) - self.drop = nn.Dropout(drop) - - def forward(self, x): - x = self.fc1(x) - x = self.act(x) - x = self.drop(x) - x = self.fc2(x) - x = self.drop(x) - return x - - -class Attention(nn.Module): - def __init__( - self, dim, num_heads=8, qkv_bias=False, qk_scale=None, attn_drop=0.0, proj_drop=0.0, - ): - super().__init__() - # number of attention heads - self.num_heads = num_heads - # dimension of each head - head_dim = dim // num_heads - # scale factor for the attention scores - self.scale = qk_scale or head_dim ** -0.5 - - # linear layer to project the input to 3 times the dimension - self.qkv = nn.Linear(dim, dim * 3, bias=qkv_bias) - # dropout layer to drop out activations in the attention mechanism - self.attn_drop = nn.Dropout(attn_drop) - # linear layer to project the output back to the original dimension - self.proj = nn.Linear(dim, dim) - # dropout layer to drop out activations in the projection layer - self.proj_drop = nn.Dropout(proj_drop) - - def forward(self, x, return_qkv=False): - # get the batch size, sequence length, and input dimension - B, N, C = x.shape - # project the input to 3 times the dimension, multiplication with W matrix - qkv = self.qkv(x).reshape(B, N, 3, self.num_heads, C // self.num_heads).permute(2, 0, 3, 1, 4) - # separate the input into queries: info about word in relation to others, keys: how one word influences others, and values: how word sees itself - q, k, v = qkv[0], qkv[1], qkv[2] - - # compute the attention scores - attn = (q @ k.transpose(-2, -1)) * self.scale - attn = attn.softmax(dim=-1) - # drop out activations in the attention mechanism - attn = self.attn_drop(attn) - - # compute the weighted sum of values - x = (attn @ v).transpose(1, 2).reshape(B, N, C) - # project the output back to the original dimension - x = self.proj(x) - # drop out activations in the projection layer - x = self.proj_drop(x) - - # return the attention mechanism and the projected input - return x, attn, qkv if return_qkv else x - - -class Block(nn.Module): - def __init__( - self, - dim, - num_heads, - mlp_ratio=4.0, - qkv_bias=False, - qk_scale=None, - drop=0.0, - attn_drop=0.0, - drop_path=0.0, - act_layer=nn.GELU, - norm_layer=nn.LayerNorm, - ): - super().__init__() - self.norm1 = norm_layer(dim) - self.attn = Attention( - dim, num_heads=num_heads, qkv_bias=qkv_bias, qk_scale=qk_scale, attn_drop=attn_drop, proj_drop=drop, - ) - self.drop_path = DropPath(drop_path) if drop_path > 0.0 else nn.Identity() - self.norm2 = norm_layer(dim) - mlp_hidden_dim = int(dim * mlp_ratio) - self.mlp = Mlp(in_features=dim, hidden_features=mlp_hidden_dim, act_layer=act_layer, drop=drop,) - - def forward(self, x, return_attention=False, return_qkv=False): - y, attn, qkv = self.attn(self.norm1(x)) - if return_attention: - return attn - x = x + self.drop_path(y) - x = x + self.drop_path(self.mlp(self.norm2(x))) - if return_qkv: - return x, attn, qkv - return x - - -class PatchEmbed(nn.Module): - """Image to Patch Embedding""" - - def __init__(self, img_size=224, patch_size=16, in_chans=3, embed_dim=768): - super().__init__() - num_patches = (img_size // patch_size) * (img_size // patch_size) - self.img_size = img_size - self.patch_size = patch_size - self.num_patches = num_patches - - self.proj = nn.Conv2d(in_chans, embed_dim, kernel_size=patch_size, stride=patch_size) - - def forward(self, x): - B, C, H, W = x.shape - x = self.proj(x).flatten(2).transpose(1, 2) - return x - - -class VisionTransformer(nn.Module): - """Vision Transformer""" - - def __init__( - self, - img_size=[224], - patch_size=16, - in_chans=3, - num_classes=0, - embed_dim=768, - depth=12, - num_heads=12, - mlp_ratio=4.0, - qkv_bias=False, - qk_scale=None, - drop_rate=0.0, - attn_drop_rate=0.0, - drop_path_rate=0.0, - norm_layer=nn.LayerNorm, - **kwargs - ): - super().__init__() - - self.num_features = self.embed_dim = embed_dim - - self.patch_embed = PatchEmbed( - img_size=img_size[0], patch_size=patch_size, in_chans=in_chans, embed_dim=embed_dim, - ) - num_patches = self.patch_embed.num_patches - - self.cls_token = nn.Parameter(torch.zeros(1, 1, embed_dim)) - self.pos_embed = nn.Parameter(torch.zeros(1, num_patches + 1, embed_dim)) - self.pos_drop = nn.Dropout(p=drop_rate) - - dpr = [x.item() for x in torch.linspace(0, drop_path_rate, depth)] # stochastic depth decay rule - self.blocks = nn.ModuleList( - [ - Block( - dim=embed_dim, - num_heads=num_heads, - mlp_ratio=mlp_ratio, - qkv_bias=qkv_bias, - qk_scale=qk_scale, - drop=drop_rate, - attn_drop=attn_drop_rate, - drop_path=dpr[i], - norm_layer=norm_layer, - ) - for i in range(depth) - ] - ) - self.norm = norm_layer(embed_dim) - - # Classifier head - self.head = nn.Linear(embed_dim, num_classes) if num_classes > 0 else nn.Identity() - - trunc_normal_(self.pos_embed, std=0.02) - trunc_normal_(self.cls_token, std=0.02) - self.apply(self._init_weights) - - def _init_weights(self, m): - if isinstance(m, nn.Linear): - trunc_normal_(m.weight, std=0.02) - if isinstance(m, nn.Linear) and m.bias is not None: - nn.init.constant_(m.bias, 0) - elif isinstance(m, nn.LayerNorm): - nn.init.constant_(m.bias, 0) - nn.init.constant_(m.weight, 1.0) - - def interpolate_pos_encoding(self, x, w, h): - npatch = x.shape[1] - 1 - N = self.pos_embed.shape[1] - 1 - if npatch == N and w == h: - return self.pos_embed - class_pos_embed = self.pos_embed[:, 0] - patch_pos_embed = self.pos_embed[:, 1:] - dim = x.shape[-1] - w0 = w // self.patch_embed.patch_size - h0 = h // self.patch_embed.patch_size - # we add a small number to avoid floating point error in the interpolation - # see discussion at https://github.com/facebookresearch/dino/issues/8 - w0, h0 = w0 + 0.1, h0 + 0.1 - patch_pos_embed = nn.functional.interpolate( - patch_pos_embed.reshape(1, int(math.sqrt(N)), int(math.sqrt(N)), dim).permute(0, 3, 1, 2), - scale_factor=(w0 / math.sqrt(N), h0 / math.sqrt(N)), - mode="bicubic", - ) - assert int(w0) == patch_pos_embed.shape[-2] and int(h0) == patch_pos_embed.shape[-1] - patch_pos_embed = patch_pos_embed.permute(0, 2, 3, 1).view(1, -1, dim) - return torch.cat((class_pos_embed.unsqueeze(0), patch_pos_embed), dim=1) - - def prepare_tokens(self, x): - B, nc, w, h = x.shape - x = self.patch_embed(x) # patch linear embedding - - # add the [CLS] token to the embed patch tokens - cls_tokens = self.cls_token.expand(B, -1, -1) - x = torch.cat((cls_tokens, x), dim=1) - - # add positional encoding to each token - x = x + self.interpolate_pos_encoding(x, w, h) - - return self.pos_drop(x) - - def forward(self, x): - x = self.prepare_tokens(x) - for blk in self.blocks: - x = blk(x) - x = self.norm(x) - return x[:, 0] - - def forward_feats(self, x): - x = self.prepare_tokens(x) - for blk in self.blocks: - x = blk(x) - x = self.norm(x) - return x - - def get_intermediate_feat(self, x, n=1): - x = self.prepare_tokens(x) - # we return the output tokens from the `n` last blocks - feat = [] - attns = [] - qkvs = [] - for i, blk in enumerate(self.blocks): - x, attn, qkv = blk(x, return_qkv=True) - if len(self.blocks) - i <= n: - feat.append(self.norm(x)) - qkvs.append(qkv) - attns.append(attn) - return feat, attns, qkvs - - def get_last_selfattention(self, x): - x = self.prepare_tokens(x) - for i, blk in enumerate(self.blocks): - if i < len(self.blocks) - 1: - x = blk(x) - else: - # return attention of the last block - return blk(x, return_attention=True) - - def get_intermediate_layers(self, x, n=1): - x = self.prepare_tokens(x) - # we return the output tokens from the `n` last blocks - output = [] - for i, blk in enumerate(self.blocks): - x = blk(x) - if len(self.blocks) - i <= n: - output.append(self.norm(x)) - return output - - -def vit_tiny(patch_size=16, **kwargs): - model = VisionTransformer( - patch_size=patch_size, - embed_dim=192, - depth=12, - num_heads=3, - mlp_ratio=4, - qkv_bias=True, - norm_layer=partial(nn.LayerNorm, eps=1e-6), - **kwargs - ) - return model - - -def vit_small(patch_size=16, **kwargs): - model = VisionTransformer( - patch_size=patch_size, - embed_dim=384, - depth=12, - num_heads=6, - mlp_ratio=4, - qkv_bias=True, - norm_layer=partial(nn.LayerNorm, eps=1e-6), - **kwargs - ) - return model - - -def vit_base(patch_size=16, **kwargs): - model = VisionTransformer( - patch_size=patch_size, - embed_dim=768, - depth=12, - num_heads=12, - mlp_ratio=4, - qkv_bias=True, - norm_layer=partial(nn.LayerNorm, eps=1e-6), - **kwargs - ) - return model - - -class DINOHead(nn.Module): - def __init__( - self, in_dim, out_dim, use_bn=False, norm_last_layer=True, nlayers=3, hidden_dim=2048, bottleneck_dim=256, - ): - super().__init__() - nlayers = max(nlayers, 1) - if nlayers == 1: - self.mlp = nn.Linear(in_dim, bottleneck_dim) - else: - layers = [nn.Linear(in_dim, hidden_dim)] - if use_bn: - layers.append(nn.BatchNorm1d(hidden_dim)) - layers.append(nn.GELU()) - for _ in range(nlayers - 2): - layers.append(nn.Linear(hidden_dim, hidden_dim)) - if use_bn: - layers.append(nn.BatchNorm1d(hidden_dim)) - layers.append(nn.GELU()) - layers.append(nn.Linear(hidden_dim, bottleneck_dim)) - self.mlp = nn.Sequential(*layers) - self.apply(self._init_weights) - self.last_layer = nn.utils.weight_norm(nn.Linear(bottleneck_dim, out_dim, bias=False)) - self.last_layer.weight_g.data.fill_(1) - if norm_last_layer: - self.last_layer.weight_g.requires_grad = False - - def _init_weights(self, m): - if isinstance(m, nn.Linear): - trunc_normal_(m.weight, std=0.02) - if isinstance(m, nn.Linear) and m.bias is not None: - nn.init.constant_(m.bias, 0) - - def forward(self, x): - x = self.mlp(x) - x = nn.functional.normalize(x, dim=-1, p=2) - x = self.last_layer(x) - return x diff --git a/sensor_processing/semantic_sensor/script/semantic_sensor/__init__.py b/sensor_processing/semantic_sensor/script/semantic_sensor/__init__.py deleted file mode 100644 index e69de29b..00000000 diff --git a/sensor_processing/semantic_sensor/script/semantic_sensor/image_node.py b/sensor_processing/semantic_sensor/script/semantic_sensor/image_node.py deleted file mode 100755 index e64991f1..00000000 --- a/sensor_processing/semantic_sensor/script/semantic_sensor/image_node.py +++ /dev/null @@ -1,294 +0,0 @@ -#!/usr/bin/env python - -import rospy -import sys - -import numpy as np -import cupy as cp -import cv2 - -np.float = np.float64 # temp fix for following import suggested at https://github.com/eric-wieser/ros_numpy/issues/37 -np.bool = np.bool_ -import ros_numpy -import matplotlib.pyplot as plt -from skimage.io import imshow - -import message_filters -from sensor_msgs.msg import Image, CameraInfo -from sensor_msgs.msg import PointCloud2, Image, CompressedImage -from cv_bridge import CvBridge - -from semantic_sensor.image_parameters import ImageParameter -from semantic_sensor.networks import resolve_model -from sklearn.decomposition import PCA - -from elevation_map_msgs.msg import ChannelInfo - - -class SemanticSegmentationNode: - def __init__(self, sensor_name): - """Get parameter from server, initialize variables and semantics, register publishers and subscribers. - - Args: - sensor_name (str): Name of the sensor in the ros param server. - """ - # TODO: if this is going to be loaded from another package we might need to change namespace - self.param: ImageParameter = ImageParameter() - self.param.feature_config.input_size = [80, 160] - namespace = rospy.get_name() - if rospy.has_param(namespace): - config = rospy.get_param(namespace) - self.param: ImageParameter = ImageParameter.from_dict(config[sensor_name]) - else: - print("NO ROS ENV found.") - - print("--------------Pointcloud Parameters-------------------") - print(self.param.dumps_yaml()) - print("--------------End of Parameters-----------------------") - self.semseg_color_map = None - # setup custom dtype - # setup semantics - self.feature_extractor = None - self.semantic_model = None - self.initialize_semantics() - - # setup pointcloud creation - self.cv_bridge = CvBridge() - self.P = None - self.header = None - self.register_sub_pub() - self.prediction_img = None - - def initialize_semantics(self): - if self.param.semantic_segmentation: - self.semantic_model = resolve_model(self.param.segmentation_model, self.param) - - if self.param.feature_extractor: - self.feature_extractor = resolve_model(self.param.feature_config.name, self.param.feature_config) - - def register_sub_pub(self): - """Register publishers and subscribers.""" - - node_name = rospy.get_name() - # subscribers - if self.param.camera_info_topic is not None and self.param.resize is not None: - rospy.Subscriber(self.param.camera_info_topic, CameraInfo, self.image_info_callback) - self.feat_im_info_pub = rospy.Publisher( - node_name + "/" + self.param.camera_info_topic + "_resized", CameraInfo, queue_size=2 - ) - - if "compressed" in self.param.image_topic: - self.compressed = True - self.subscriber = rospy.Subscriber( - self.param.image_topic, CompressedImage, self.image_callback, queue_size=2 - ) - else: - self.compressed = False - rospy.Subscriber(self.param.image_topic, Image, self.image_callback) - - # publishers - if self.param.semantic_segmentation: - self.seg_pub = rospy.Publisher(node_name + "/" + self.param.publish_topic, Image, queue_size=2) - self.seg_im_pub = rospy.Publisher(node_name + "/" + self.param.publish_image_topic, Image, queue_size=2) - self.semseg_color_map = self.color_map(len(self.param.channels)) - if self.param.show_label_legend: - self.color_map_viz() - if self.param.feature_extractor: - self.feature_pub = rospy.Publisher(node_name + "/" + self.param.feature_topic, Image, queue_size=2) - self.feat_im_pub = rospy.Publisher(node_name + "/" + self.param.feat_image_topic, Image, queue_size=2) - self.feat_channel_info_pub = rospy.Publisher( - node_name + "/" + self.param.feat_channel_info_topic, ChannelInfo, queue_size=2 - ) - - self.channel_info_pub = rospy.Publisher( - node_name + "/" + self.param.channel_info_topic, ChannelInfo, queue_size=2 - ) - - def color_map(self, N=256, normalized=False): - """Create a color map for the class labels. - - Args: - N (int): - normalized (bool): - """ - - def bitget(byteval, idx): - return (byteval & (1 << idx)) != 0 - - dtype = "float32" if normalized else "uint8" - cmap = np.zeros((N + 1, 3), dtype=dtype) - for i in range(N + 1): - r = g = b = 0 - c = i - for j in range(8): - r = r | (bitget(c, 0) << 7 - j) - g = g | (bitget(c, 1) << 7 - j) - b = b | (bitget(c, 2) << 7 - j) - c = c >> 3 - - cmap[i] = np.array([r, g, b]) - cmap[1] = np.array([81, 113, 162]) - cmap[2] = np.array([81, 113, 162]) - cmap[3] = np.array([188, 63, 59]) - cmap = cmap / 255 if normalized else cmap - return cmap[1:] - - def color_map_viz(self): - """Display the color map of the classes.""" - nclasses = len(self.param.channels) - row_size = 50 - col_size = 500 - if self.param.semantic_segmentation: - cmap = self.semseg_color_map - array = np.empty((row_size * (nclasses), col_size, cmap.shape[1]), dtype=cmap.dtype) - for i in range(nclasses): - array[i * row_size : i * row_size + row_size, :] = cmap[i] - imshow(array) - plt.yticks([row_size * i + row_size / 2 for i in range(nclasses)], self.param.channels) - plt.xticks([]) - plt.show() - - def image_info_callback(self, msg): - """Callback for camera info. - - Args: - msg (CameraInfo): - """ - self.P = np.array(msg.P).reshape(3, 4) - self.height = int(self.param.resize * msg.height) - self.width = int(self.param.resize * msg.width) - self.info = msg - self.info.height = self.height - self.info.width = self.width - self.P = np.array(msg.P).reshape(3, 4) - self.P[:2, :3] = self.P[:2, :3] * self.param.resize - self.info.K = self.P[:3, :3].flatten().tolist() - self.info.P = self.P.flatten().tolist() - - def image_callback(self, rgb_msg): - if self.P is None: - return - if self.compressed: - image = self.cv_bridge.compressed_imgmsg_to_cv2(rgb_msg) - if self.param.resize is not None: - image = cv2.resize(image, dsize=(self.width, self.height)) - image = cp.asarray(image) - else: - image = self.cv_bridge.imgmsg_to_cv2(rgb_msg, desired_encoding="rgb8") - if self.param.resize is not None: - image = cv2.resize(image, dsize=(self.width, self.height)) - image = cp.asarray(image) - self.header = rgb_msg.header - self.process_image(image) - - if self.param.semantic_segmentation: - self.publish_segmentation() - self.publish_segmentation_image() - self.publish_channel_info([f"sem_{c}" for c in self.param.channels], self.channel_info_pub) - if self.param.feature_extractor: - self.publish_feature() - self.publish_feature_image(self.features) - self.publish_channel_info([f"feat_{i}" for i in range(self.features.shape[0])], self.feat_channel_info_pub) - if self.param.resize is not None: - self.pub_info() - - def pub_info(self): - self.feat_im_info_pub.publish(self.info) - - def publish_channel_info(self, channels, pub): - """Publish fusion info.""" - info = ChannelInfo() - info.header = self.header - info.channels = channels - pub.publish(info) - - def process_image(self, image): - """Depending on setting generate color, semantic segmentation or feature channels. - - Args: - image: - u: - v: - points: - """ - if self.param.semantic_segmentation: - self.sem_seg = self.semantic_model["model"](image) - - if self.param.feature_extractor: - self.features = self.feature_extractor["model"](image) - - def publish_segmentation(self): - probabilities = self.sem_seg - img = probabilities.get() - img = np.transpose(img, (1, 2, 0)).astype(np.float32) - seg_msg = self.cv_bridge.cv2_to_imgmsg(img, encoding="passthrough") - seg_msg.header.frame_id = self.header.frame_id - seg_msg.header.stamp = self.header.stamp - self.seg_pub.publish(seg_msg) - - def publish_feature(self): - features = self.features - img = features.cpu().detach().numpy() - img = np.transpose(img, (1, 2, 0)).astype(np.float32) - feature_msg = self.cv_bridge.cv2_to_imgmsg(img, encoding="passthrough") - feature_msg.header.frame_id = self.header.frame_id - feature_msg.header.stamp = self.header.stamp - self.feature_pub.publish(feature_msg) - - def publish_segmentation_image(self): - colors = None - probabilities = self.sem_seg - if self.param.semantic_segmentation: - colors = cp.asarray(self.semseg_color_map) - assert colors.ndim == 2 and colors.shape[1] == 3 - - # prob = cp.zeros((len(self.param.channels),) + probabilities.shape[1:]) - # if "class_max" in self.param.fusion: - # # decode, create an array with all possible classes and insert probabilities - # it = 0 - # for iit, (chan, fuse) in enumerate(zip(self.param.channels, self.param.fusion)): - # if fuse in ["class_max"]: - # temp = probabilities[it] - # temp_p, temp_i = decode_max(temp) - # temp_i.choose(prob) - # c = cp.mgrid[0 : temp_i.shape[0], 0 : temp_i.shape[1]] - # prob[temp_i, c[0], c[1]] = temp_p - # it += 1 - # elif fuse in ["class_bayesian", "class_average"]: - # # assign fixed probability to correct index - # if chan in self.semantic_model["model"].segmentation_channels: - # prob[self.semantic_model["model"].segmentation_channels[chan]] = probabilities[it] - # it += 1 - # img = cp.argmax(prob, axis=0) - # - # else: - img = cp.argmax(probabilities, axis=0) - img = colors[img].astype(cp.uint8) # N x H x W x 3 - img = img.get() - seg_msg = self.cv_bridge.cv2_to_imgmsg(img, encoding="rgb8") - seg_msg.header.frame_id = self.header.frame_id - seg_msg.header.stamp = self.header.stamp - self.seg_im_pub.publish(seg_msg) - - def publish_feature_image(self, features): - data = np.reshape(features.cpu().detach().numpy(), (features.shape[0], -1)).T - n_components = 3 - pca = PCA(n_components=n_components).fit(data) - pca_descriptors = pca.transform(data) - img_pca = pca_descriptors.reshape(features.shape[1], features.shape[2], n_components) - comp = img_pca # [:, :, -3:] - comp_min = comp.min(axis=(0, 1)) - comp_max = comp.max(axis=(0, 1)) - comp_img = (comp - comp_min) / (comp_max - comp_min) - comp_img = (comp_img * 255).astype(np.uint8) - feat_msg = self.cv_bridge.cv2_to_imgmsg(comp_img, encoding="passthrough") - feat_msg.header.frame_id = self.header.frame_id - self.feat_im_pub.publish(feat_msg) - - -if __name__ == "__main__": - arg = sys.argv[1] - sensor_name = arg - rospy.init_node("semantic_segmentation_node", anonymous=True, log_level=rospy.INFO) - node = SemanticSegmentationNode(sensor_name) - rospy.spin() diff --git a/sensor_processing/semantic_sensor/script/semantic_sensor/image_parameters.py b/sensor_processing/semantic_sensor/script/semantic_sensor/image_parameters.py deleted file mode 100644 index 6ad67027..00000000 --- a/sensor_processing/semantic_sensor/script/semantic_sensor/image_parameters.py +++ /dev/null @@ -1,42 +0,0 @@ -from dataclasses import dataclass, field -from simple_parsing.helpers import Serializable - - -@dataclass -class FeatureExtractorParameter(Serializable): - name: str = "DINO" - interpolation: str = "bilinear" - model: str = "vit_small" - patch_size: int = 16 - dim: int = 10 - dropout: bool = False - dino_feat_type: str = "feat" - projection_type: str = "nonlinear" - input_size: list = field(default_factory=lambda: [80, 160]) - pcl: bool = False - - -@dataclass -class ImageParameter(Serializable): - image_topic: str = "/alphasense_driver_ros/cam4/debayered" - - semantic_segmentation: bool = True - # sem_seg_topic: str = "semantic_seg" - # sem_seg_image_topic: str = "semantic_seg_im" - # publish_camera_info_topic: str = "semantic_seg/camera_info" - segmentation_model: str = "detectron_coco_panoptic_fpn_R_101_3x" - show_label_legend: bool = False - channels: list = field(default_factory=lambda: ["grass", "road", "tree", "sky"]) - - publish_topic: str = "semantic_seg" - publish_image_topic: str = "semantic_seg_img" - channel_info_topic: str = "channel_info" - - feature_extractor: bool = False - feature_config: FeatureExtractorParameter = FeatureExtractorParameter - # feature_config.input_size: list = field(default_factory=lambda: [80, 160]) - feature_topic: str = "semantic_seg_feat" - feat_image_topic: str = "semantic_seg_feat_im" - feat_channel_info_topic: str = "feat_channel_info" - resize: float = None - camera_info_topic: str = "camera_info" diff --git a/sensor_processing/semantic_sensor/script/semantic_sensor/networks.py b/sensor_processing/semantic_sensor/script/semantic_sensor/networks.py deleted file mode 100644 index e64b4497..00000000 --- a/sensor_processing/semantic_sensor/script/semantic_sensor/networks.py +++ /dev/null @@ -1,291 +0,0 @@ -from torchvision.models.segmentation import fcn_resnet50, FCN_ResNet50_Weights -from torchvision.models.segmentation import ( - lraspp_mobilenet_v3_large, - LRASPP_MobileNet_V3_Large_Weights, -) -from torchvision.models.segmentation import deeplabv3_mobilenet_v3_large, DeepLabV3_MobileNet_V3_Large_Weights -import torch -import torchvision.transforms.functional as TF -from torchvision.transforms import Resize -import torch.nn.functional as NF -import numpy as np -import cupy as cp - -from detectron2.utils.logger import setup_logger - -setup_logger() - -from detectron2 import model_zoo -from detectron2.engine import DefaultPredictor -from detectron2.config import get_cfg -from detectron2.data import MetadataCatalog - -from semantic_sensor.DINO.modules import DinoFeaturizer - -from semantic_sensor.pointcloud_parameters import ( - PointcloudParameter, - FeatureExtractorParameter, -) -from semantic_sensor.utils import encode_max - - -def resolve_model(name, config=None): - """Get the model class based on the name of the pretrained model. - - Args: - name (str): Name of pretrained model - [fcn_resnet50,lraspp_mobilenet_v3_large,detectron_coco_panoptic_fpn_R_101_3x] - - Returns: - Dict[str, str]: - """ - if name == "fcn_resnet50": - weights = FCN_ResNet50_Weights.DEFAULT - net = fcn_resnet50 - model = PytorchModel(net, weights, config) - return { - "name": "fcn_resnet50", - "model": model, - } - elif name == "lraspp_mobilenet_v3_large": - weights = LRASPP_MobileNet_V3_Large_Weights.DEFAULT - net = lraspp_mobilenet_v3_large - model = PytorchModel(net, weights, config) - return { - "name": "lraspp_mobilenet_v3_large", - "model": model, - } - elif name == "deeplabv3_mobilenet_v3_large": - weights = DeepLabV3_MobileNet_V3_Large_Weights.COCO_WITH_VOC_LABELS_V1 - net = deeplabv3_mobilenet_v3_large - model = PytorchModel(net, weights, config) - return { - "name": "deeplabv3_mobilenet_v3_large", - "model": model, - } - elif name == "detectron_coco_panoptic_fpn_R_101_3x": - # "Cityscapes/mask_rcnn_R_50_FPN.yaml" - # "Misc/semantic_R_50_FPN_1x.yaml" - # "Cityscapes-SemanticSegmentation/deeplab_v3_plus_R_103_os16_mg124_poly_90k_bs16.yaml" - # "COCO-PanopticSegmentation/panoptic_fpn_R_101_3x.yaml" - weights = "COCO-PanopticSegmentation/panoptic_fpn_R_101_3x.yaml" - model = DetectronModel(weights, config) - return { - "name": "detectron_coco_panoptic_fpn_R_101_3x", - "model": model, - } - elif name == "DINO": - weights = config.model + str(config.patch_size) - model = STEGOModel(weights, config) - return { - "name": config.model + str(config.patch_size), - "model": model, - } - else: - raise NotImplementedError - - -class PytorchModel: - """ - - segemntation_cahnnels contains only classes - actual_channels: array of all channels of output - """ - - def __init__(self, net, weights, param): - self.model = net(weights=weights) - self.weights = weights - self.param = param - self.model.eval() - device = torch.device("cuda:0" if torch.cuda.is_available() else "cpu") - self.model.to(device=device) - self.resolve_categories() - - def resolve_categories(self): - """Create a segmentation_channels containing the actual values that are processed.""" - # get all classes - class_to_idx = {cls: idx for (idx, cls) in enumerate(self.get_classes())} - print( - "Semantic Segmentation possible channels: ", self.get_classes(), - ) - indices = [] - channels = [] - self.actual_channels = [] - # check correspondence of semseg and paramter classes, class_max - for it, chan in enumerate(self.param.channels): - if chan in [cls for cls in list(class_to_idx.keys())]: - indices.append(class_to_idx[chan]) - channels.append(chan) - self.actual_channels.append(chan) - else: - self.actual_channels.append(chan) - # elif self.param.fusion_methods[it] in ["class_average", "class_bayesian"]: - # print(chan, " is not in the semantic segmentation model.") - # for it, chan in enumerate(self.param.channels): - # self.actual_channels.append(chan) - # if self.param.fusion_methods[it] in ["class_max"]: - # self.actual_channels.append(chan) - # print( - # chan, - # " is not in the semantic segmentation model but is a max channel.", - # ) - # else: - # pass - self.stuff_categories = dict(zip(channels, indices)) - self.segmentation_channels = dict(zip(channels, indices)) - - def __call__(self, image, *args, **kwargs): - """Feedforward image through model and then create channels - - Args: - image (cupy._core.core.ndarray): - *args (): - **kwargs (): - - Returns: - torch.Tensor: - """ - batch = torch.as_tensor(image, device="cuda").permute(2, 0, 1).unsqueeze(0) - batch = TF.convert_image_dtype(batch, torch.float32) - with torch.no_grad(): - prediction = self.model(batch)["out"] - normalized_masks = torch.squeeze(prediction.softmax(dim=1), dim=0) - # get masks of fix classes - selected_masks = cp.asarray(normalized_masks[list(self.stuff_categories.values())]) - # get values of max, first remove the ones we already have - normalized_masks[list(self.stuff_categories.values())] = 0 - # for i in range(self.param.fusion_methods.count("class_max")): - # maxim, index = torch.max(normalized_masks, dim=0) - # mer = encode_max(maxim, index) - # selected_masks = cp.concatenate((selected_masks, cp.expand_dims(mer, axis=0)), axis=0) - # x = torch.arange(0, index.shape[0]) - # y = torch.arange(0, index.shape[1]) - # c = torch.meshgrid(x, y, indexing="ij") - # normalized_masks[index, c[0], c[1]] = 0 - assert len(self.actual_channels) == selected_masks.shape[0] - return cp.asarray(selected_masks) - - def get_classes(self): - """Get list of strings containing all the classes. - - Returns: - List[str]: List of classes - """ - return self.weights.meta["categories"] - - -class DetectronModel: - def __init__(self, weights, param): - self.cfg = get_cfg() - self.param = param - - # add project-specific config (e.g., TensorMask) here if you're not running a model in detectron2's core library - self.cfg.merge_from_file(model_zoo.get_config_file(weights)) - self.cfg.MODEL.ROI_HEADS.SCORE_THRESH_TEST = 0.5 # set threshold for this model - # Find a model from detectron2's model zoo. You can use the https://dl.fbaipublicfiles... url as well - self.cfg.MODEL.WEIGHTS = model_zoo.get_checkpoint_url(weights) - self.predictor = DefaultPredictor(self.cfg) - self.metadata = MetadataCatalog.get(self.cfg.DATASETS.TRAIN[0]) - self.stuff_categories, self.is_stuff = self.resolve_categories("stuff_classes") - self.thing_categories, self.is_thing = self.resolve_categories("thing_classes") - self.segmentation_channels = {} - for chan in self.param.channels: - if chan in self.stuff_categories.keys(): - self.segmentation_channels[chan] = self.stuff_categories[chan] - elif chan in self.thing_categories.keys(): - self.segmentation_channels[chan] = self.thing_categories[chan] - else: - # remove it - pass - self.actual_channels = self.segmentation_channels.keys() - - def resolve_categories(self, name): - classes = self.get_category(name) - class_to_idx = {cls: idx for (idx, cls) in enumerate(classes)} - print( - "Semantic Segmentation possible channels: ", classes, - ) - indices = [] - channels = [] - is_thing = [] - for it, channel in enumerate(self.param.channels): - if channel in [cls for cls in list(class_to_idx.keys())]: - indices.append(class_to_idx[channel]) - channels.append(channel) - is_thing.append(True) - elif self.param.fusion_methods[it] in ["class_average", "class_bayesian"]: - is_thing.append(False) - print(channel, " is not in the semantic segmentation model.") - categories = dict(zip(channels, indices)) - category_isthing = dict(zip(self.param.channels, is_thing)) - return categories, category_isthing - - def __call__(self, image, *args, **kwargs): - # TODO: there are some instruction on how to change input type - image = cp.flip(image, axis=2) - prediction = self.predictor(image.get()) - probabilities = cp.asarray(torch.softmax(prediction["sem_seg"], dim=0)) - output = cp.zeros((len(self.segmentation_channels), probabilities.shape[1], probabilities.shape[2],)) - # add semseg - output[cp.array(list(self.is_stuff.values()))] = probabilities[list(self.stuff_categories.values())] - # add instances - indices, instance_info = prediction["panoptic_seg"] - # TODO dont know why i need temp, look into how to avoid - temp = output[cp.array(list(self.is_thing.values()))] - for i, instance in enumerate(instance_info): - if instance is None or not instance["isthing"]: - continue - mask = cp.asarray((indices == instance["id"]).int()) - if instance["instance_id"] in self.thing_categories.values(): - temp[i] = mask * instance["score"] - output[cp.array(list(self.is_thing.values()))] = temp - return output - - def get_category(self, name): - return self.metadata.get(name) - - def get_classes(self): - return self.get_category("thing_classes") + self.get_category("stuff_classes") - - -class STEGOModel: - def __init__(self, weights, cfg): - self.cfg: FeatureExtractorParameter = cfg - self.model = DinoFeaturizer(weights, cfg=self.cfg) - self.device = torch.device("cuda:0" if torch.cuda.is_available() else "cpu") - self.model.to(self.device) - self.model.eval() - self.shrink = Resize(size=(self.cfg.input_size[0], self.cfg.input_size[1]), antialias=True) - - def to_tensor(self, data): - data = data.astype(np.float32) - if len(data.shape) == 3: # transpose image-like data - data = data.transpose(2, 0, 1) - elif len(data.shape) == 2: - data = data.reshape((1,) + data.shape) - if len(data.shape) == 3 and data.shape[0] == 3: # normalization of rgb images - data = data / 255.0 - tens = torch.as_tensor(data, device="cuda") - return tens - - def __call__(self, image, *args, **kwargs): - # image = torch.as_tensor(image, device="cuda").permute(2, 0, 1).unsqueeze(0) - image = self.to_tensor(image).unsqueeze(0) - # if self.cfg.pcl: - reset_size = Resize(image.shape[-2:], interpolation=TF.InterpolationMode.NEAREST, antialias=True) - im_size = image.shape[-2:] - image = self.shrink(image) - image = TF.normalize(image, mean=(0.485, 0.456, 0.406), std=(0.229, 0.224, 0.225)) - - feat1, code1 = self.model(image) - feat2, code2 = self.model(image.flip(dims=[3])) - - code = (code1 + code2.flip(dims=[3])) / 2 - # code = NF.interpolate(code, image.shape[-2:], mode=self.cfg.interpolation, align_corners=False).detach() - # if we just use first ten - # code = (feat1[:,:10] + feat2[:,:10].flip(dims=[3])) / 2 - - # if self.cfg.pcl: - code = NF.interpolate(code, im_size, mode=self.cfg.interpolation, align_corners=False).detach() - code = torch.squeeze(code, dim=0) - return code diff --git a/sensor_processing/semantic_sensor/script/semantic_sensor/pointcloud_node.py b/sensor_processing/semantic_sensor/script/semantic_sensor/pointcloud_node.py deleted file mode 100755 index a713f312..00000000 --- a/sensor_processing/semantic_sensor/script/semantic_sensor/pointcloud_node.py +++ /dev/null @@ -1,368 +0,0 @@ -import rospy -import sys - -import numpy as np -import cupy as cp - -np.float = np.float64 # temp fix for following import suggested at https://github.com/eric-wieser/ros_numpy/issues/37 -import ros_numpy -import matplotlib.pyplot as plt -from skimage.io import imshow - -import message_filters -from sensor_msgs.msg import Image, CameraInfo -from sensor_msgs.msg import PointCloud2, Image -from cv_bridge import CvBridge - -from semantic_sensor.pointcloud_parameters import PointcloudParameter -from semantic_sensor.networks import resolve_model -from semantic_sensor.utils import decode_max -from sklearn.decomposition import PCA - - -class PointcloudNode: - def __init__(self, sensor_name): - """Get parameter from server, initialize variables and semantics, register publishers and subscribers. - - Args: - sensor_name (str): Name of the sensor in the ros param server. - """ - # TODO: if this is going to be loaded from another package we might need to change namespace - self.param: PointcloudParameter = PointcloudParameter() - self.param.feature_config.input_size = [80, 160] - namesp = rospy.get_name() - if rospy.has_param(namesp + "/subscribers"): - config = rospy.get_param(namesp + "/subscribers") - self.param: PointcloudParameter = PointcloudParameter.from_dict(config[sensor_name]) - else: - print("NO ROS ENV found.") - - self.param.sensor_name = sensor_name - print("--------------Pointcloud Parameters-------------------") - print(self.param.dumps_yaml()) - print("--------------End of Parameters-----------------------") - self.semseg_color_map = None - # setup custom dtype - self.create_custom_dtype() - # setup semantics - self.feature_extractor = None - self.semantic_model = None - self.segmentation_channels = None - self.feature_channels = None - self.initialize_semantics() - - # setup pointcloud creation - self.cv_bridge = CvBridge() - self.P = None - self.header = None - self.register_sub_pub() - self.prediction_img = None - self.feat_img = None - - def initialize_semantics(self): - """Resolve the feature and segmentation mode and create segmentation_channel and feature_channels. - - - segmentation_channels: is a dictionary that contains the segmentation channel names as key and the fusion algorithm as value. - - feature_channels: is a dictionary that contains the features channel names as key and the fusion algorithm as value. - """ - if self.param.semantic_segmentation: - self.semantic_model = resolve_model(self.param.segmentation_model, self.param) - self.segmentation_channels = {} - for i, (chan, fusion) in enumerate(zip(self.param.channels, self.param.fusion)): - if fusion in ["class_bayesian", "class_average", "class_max"]: - self.segmentation_channels[chan] = fusion - assert len(self.segmentation_channels.keys()) > 0 - if self.param.feature_extractor: - self.feature_extractor = resolve_model(self.param.feature_config.name, self.param.feature_config) - self.feature_channels = {} - for i, (chan, fusion) in enumerate(zip(self.param.channels, self.param.fusion)): - if fusion in ["average"]: - self.feature_channels[chan] = fusion - assert len(self.feature_channels.keys()) > 0 - - def register_sub_pub(self): - """Register publishers and subscribers.""" - # subscribers - rospy.Subscriber(self.param.cam_info_topic, CameraInfo, self.cam_info_callback) - rgb_sub = message_filters.Subscriber(self.param.image_topic, Image) - depth_sub = message_filters.Subscriber(self.param.depth_topic, Image) - if self.param.confidence: - confidence_sub = message_filters.Subscriber(self.param.confidence_topic, Image) - ts = message_filters.ApproximateTimeSynchronizer( - [depth_sub, rgb_sub, confidence_sub,], queue_size=10, slop=0.5, - ) - else: - ts = message_filters.ApproximateTimeSynchronizer([depth_sub, rgb_sub,], queue_size=10, slop=0.5,) - ts.registerCallback(self.image_callback) - - self.pcl_pub = rospy.Publisher(self.param.topic_name, PointCloud2, queue_size=2) - # publishers - if self.param.semantic_segmentation: - if self.param.publish_segmentation_image: - self.seg_pub = rospy.Publisher(self.param.segmentation_image_topic, Image, queue_size=2) - if "class_max" in self.param.fusion: - self.labels = self.semantic_model["model"].get_classes() - else: - self.labels = list(self.segmentation_channels.keys()) - self.semseg_color_map = self.color_map(len(self.labels)) - if self.param.show_label_legend: - self.color_map_viz() - if self.param.feature_extractor: - # todo - if True: - self.feat_pub = rospy.Publisher(self.param.feature_config.feature_image_topic, Image, queue_size=2) - - def color_map(self, N=256, normalized=False): - """Create a color map for the class labels. - - Args: - N (int): - normalized (bool): - """ - - def bitget(byteval, idx): - return (byteval & (1 << idx)) != 0 - - dtype = "float32" if normalized else "uint8" - cmap = np.zeros((N + 1, 3), dtype=dtype) - for i in range(N + 1): - r = g = b = 0 - c = i - for j in range(8): - r = r | (bitget(c, 0) << 7 - j) - g = g | (bitget(c, 1) << 7 - j) - b = b | (bitget(c, 2) << 7 - j) - c = c >> 3 - - cmap[i] = np.array([r, g, b]) - cmap[1] = np.array([188, 63, 59]) - cmap[2] = np.array([81, 113, 162]) - cmap[3] = np.array([136, 49, 132]) - cmap = cmap / 255 if normalized else cmap - return cmap[1:] - - def color_map_viz(self): - """Display the color map of the classes.""" - nclasses = len(self.labels) - row_size = 50 - col_size = 500 - if self.param.semantic_segmentation: - cmap = self.semseg_color_map - array = np.empty((row_size * (nclasses), col_size, cmap.shape[1]), dtype=cmap.dtype) - for i in range(nclasses): - array[i * row_size : i * row_size + row_size, :] = cmap[i] - imshow(array) - plt.yticks([row_size * i + row_size / 2 for i in range(nclasses)], self.labels) - plt.xticks([]) - plt.show() - - def create_custom_dtype(self): - """Generate a new dtype according to the channels in the params. - - Some channels might remain empty. - """ - self.dtype = [ - ("x", np.float32), - ("y", np.float32), - ("z", np.float32), - ] - for chan, fus in zip(self.param.channels, self.param.fusion): - self.dtype.append((chan, np.float32)) - print(self.dtype) - - def cam_info_callback(self, msg): - """Subscribe to the camera infos to get projection matrix and header. - - Args: - msg: - """ - a = cp.asarray(msg.P) - self.P = cp.resize(a, (3, 4)) - self.height = msg.height - self.width = msg.width - self.header = msg.header - - def image_callback(self, depth_msg, rgb_msg=None, confidence_msg=None): - confidence = None - image = None - if self.P is None: - return - if rgb_msg is not None: - image = cp.asarray(self.cv_bridge.imgmsg_to_cv2(rgb_msg, desired_encoding="rgb8")) - depth = cp.asarray(self.cv_bridge.imgmsg_to_cv2(depth_msg, desired_encoding="passthrough")) - if confidence_msg is not None: - confidence = cp.asarray(self.cv_bridge.imgmsg_to_cv2(confidence_msg, desired_encoding="passthrough")) - - pcl = self.create_pcl_from_image(image, depth, confidence) - self.publish_pointcloud(pcl, depth_msg.header) - - if self.param.publish_segmentation_image: - self.publish_segmentation_image(self.prediction_img) - # todo - if self.param.publish_feature_image and self.param.feature_extractor: - self.publish_feature_image(self.feat_img) - - def create_pcl_from_image(self, image, depth, confidence): - """Generate the pointcloud from the depth map and process the image. - - Args: - image: - depth: - confidence: - - Returns: - - """ - u, v = self.get_coordinates(depth, confidence) - - # create pointcloud - world_x = (u.astype(np.float32) - self.P[0, 2]) * depth[v, u] / self.P[0, 0] - world_y = (v.astype(np.float32) - self.P[1, 2]) * depth[v, u] / self.P[1, 1] - world_z = depth[v, u] - points = np.zeros(world_x.shape, dtype=self.dtype) - points["x"] = cp.asnumpy(world_x) - points["y"] = cp.asnumpy(world_y) - points["z"] = cp.asnumpy(world_z) - self.process_image(image, u, v, points) - return points - - def get_coordinates(self, depth, confidence): - """Define which pixels are valid to generate the pointcloud. - - Args: - depth: - confidence: - - Returns: - - """ - pos = cp.where(depth > 0, 1, 0) - low = cp.where(depth < 8, 1, 0) - if confidence is not None: - conf = cp.where(confidence >= self.param.confidence_threshold, 1, 0) - else: - conf = cp.ones(pos.shape) - fin = cp.isfinite(depth) - temp = cp.maximum(cp.rint(fin + pos + conf + low - 2.6), 0) - mask = cp.nonzero(temp) - u = mask[1] - v = mask[0] - return u, v - - def process_image(self, image, u, v, points): - """Depending on setting generate color, semantic segmentation or feature channels. - - Args: - image: - u: - v: - points: - """ - if "color" in self.param.fusion: - valid_rgb = image[v, u].get() - r = np.asarray(valid_rgb[:, 0], dtype=np.uint32) - g = np.asarray(valid_rgb[:, 1], dtype=np.uint32) - b = np.asarray(valid_rgb[:, 2], dtype=np.uint32) - rgb_arr = np.array((r << 16) | (g << 8) | (b << 0), dtype=np.uint32) - rgb_arr.dtype = np.float32 - position = self.param.fusion.index("color") - points[self.param.channels[position]] = rgb_arr - - if self.segmentation_channels is not None: - self.perform_segmentation(image, points, u, v) - if self.feature_channels is not None: - self.extract_features(image, points, u, v) - - def perform_segmentation(self, image, points, u, v): - """Feedforward image through semseg NN and then append pixels to pcl and save image for publication. - - Args: - image: - points: - u: - v: - """ - prediction = self.semantic_model["model"](image) - values = prediction[:, v.get(), u.get()].get() - for it, channel in enumerate(self.semantic_model["model"].actual_channels): - points[channel] = values[it] - if self.param.publish_segmentation_image and self.param.semantic_segmentation: - self.prediction_img = prediction - - def extract_features(self, image, points, u, v): - """Feedforward image through feature extraction NN and then append pixels to pcl. - - Args: - image: - points: - u: - v: - """ - prediction = self.feature_extractor["model"](image) - values = prediction[:, v.get(), u.get()].cpu().detach().numpy() - for it, channel in enumerate(self.feature_channels.keys()): - points[channel] = values[it] - # todo - if False and self.param.feature_extractor: - self.feat_img = prediction - - def publish_segmentation_image(self, probabilities): - if self.param.semantic_segmentation: - colors = cp.asarray(self.semseg_color_map) - assert colors.ndim == 2 and colors.shape[1] == 3 - if self.P is None: - return - prob = cp.zeros((len(self.labels),) + probabilities.shape[1:]) - if "class_max" in self.param.fusion: - # decode, create an array with all possible classes and insert probabilities - it = 0 - for iit, (chan, fuse) in enumerate(zip(self.param.channels, self.param.fusion)): - if fuse in ["class_max"]: - temp = probabilities[it] - temp_p, temp_i = decode_max(temp) - temp_i.choose(prob) - c = cp.mgrid[0 : temp_i.shape[0], 0 : temp_i.shape[1]] - prob[temp_i, c[0], c[1]] = temp_p - it += 1 - elif fuse in ["class_bayesian", "class_average"]: - # assign fixed probability to correct index - if chan in self.semantic_model["model"].segmentation_channels: - prob[self.semantic_model["model"].segmentation_channels[chan]] = probabilities[it] - it += 1 - img = cp.argmax(prob, axis=0) - - else: - img = cp.argmax(probabilities, axis=0) - img = colors[img].astype(cp.uint8) # N x H x W x 3 - img = img.get() - seg_msg = self.cv_bridge.cv2_to_imgmsg(img, encoding="rgb8") - seg_msg.header.frame_id = self.header.frame_id - self.seg_pub.publish(seg_msg) - - def publish_feature_image(self, features): - data = np.reshape(features.cpu().detach().numpy(), (features.shape[0], -1)).T - n_components = 3 - pca = PCA(n_components=n_components).fit(data) - pca_descriptors = pca.transform(data) - img_pca = pca_descriptors.reshape(features.shape[1], features.shape[2], n_components) - comp = img_pca # [:, :, -3:] - comp_min = comp.min(axis=(0, 1)) - comp_max = comp.max(axis=(0, 1)) - comp_img = (comp - comp_min) / (comp_max - comp_min) - comp_img = (comp_img * 255).astype(np.uint8) - feat_msg = self.cv_bridge.cv2_to_imgmsg(comp_img, encoding="passthrough") - feat_msg.header.frame_id = self.header.frame_id - self.feat_pub.publish(feat_msg) - - def publish_pointcloud(self, pcl, header): - pc2 = ros_numpy.msgify(PointCloud2, pcl) - pc2.header = header - # pc2.header.frame_id = self.param.cam_frame - self.pcl_pub.publish(pc2) - - -if __name__ == "__main__": - sensor_name = sys.argv[1] - rospy.init_node("semantic_pointcloud_node", anonymous=True, log_level=rospy.INFO) - node = PointcloudNode(sensor_name) - rospy.spin() diff --git a/sensor_processing/semantic_sensor/script/semantic_sensor/pointcloud_parameters.py b/sensor_processing/semantic_sensor/script/semantic_sensor/pointcloud_parameters.py deleted file mode 100644 index a4837c67..00000000 --- a/sensor_processing/semantic_sensor/script/semantic_sensor/pointcloud_parameters.py +++ /dev/null @@ -1,47 +0,0 @@ -from dataclasses import dataclass, field -from simple_parsing.helpers import Serializable - - -@dataclass -class FeatureExtractorParameter(Serializable): - name: str = "DINO" - interpolation: str = "bilinear" - model: str = "vit_small" - patch_size: int = 16 - dim: int = 5 - dropout: bool = False - dino_feat_type: str = "feat" - projection_type: str = "nonlinear" - input_size: list = field(default_factory=lambda: [80, 160]) - feature_image_topic: str = "/semantic_sensor/feature_image" - pcl: bool = True - - -@dataclass -class PointcloudParameter(Serializable): - sensor_name: str = "camera" - topic_name: str = "/elvation_mapping/pointcloud_semantic" - channels: list = field(default_factory=lambda: ["rgb", "person", "grass", "tree", "max"]) - fusion: list = field( - default_factory=lambda: ["color", "class_average", "class_average", "class_average", "class_max",] - ) - - semantic_segmentation: bool = False - segmentation_model: str = "lraspp_mobilenet_v3_large" - publish_segmentation_image: bool = False - segmentation_image_topic: str = "/semantic_sensor/sem_seg" - pub_all: bool = False - show_label_legend: bool = False - - cam_info_topic: str = "/zed2i/zed_node/depth/camera_info" - image_topic: str = "/zed2i/zed_node/left/image_rect_color" - depth_topic: str = "/zed2i/zed_node/depth/depth_registered" - cam_frame: str = "zed2i_right_camera_optical_frame" - confidence: bool = False - confidence_topic: str = "/zed2i/zed_node/confidence/confidence_map" - confidence_threshold: int = 10 - - feature_extractor: bool = False - publish_feature_image: bool = False - feature_config: FeatureExtractorParameter = FeatureExtractorParameter - feature_config.input_size: list = field(default_factory=lambda: [80, 160]) diff --git a/sensor_processing/semantic_sensor/script/semantic_sensor/tests/__init__.py b/sensor_processing/semantic_sensor/script/semantic_sensor/tests/__init__.py deleted file mode 100644 index e69de29b..00000000 diff --git a/sensor_processing/semantic_sensor/script/semantic_sensor/tests/test_pointcloud.py b/sensor_processing/semantic_sensor/script/semantic_sensor/tests/test_pointcloud.py deleted file mode 100644 index 724b6b51..00000000 --- a/sensor_processing/semantic_sensor/script/semantic_sensor/tests/test_pointcloud.py +++ /dev/null @@ -1,64 +0,0 @@ -import pytest -from ..pointcloud_node import PointcloudNode -import cupy as cp -from ..utils import encode_max - -"""This test file only works if ros is installed and the ros master is running. -""" - - -@pytest.fixture() -def pointcloud_ex(cam_name, channels, fusion, semseg, segpub, showlbl): - node = PointcloudNode(cam_name) - node.param.channels = channels - node.param.fusion = fusion - node.param.semantic_segmentation = semseg - node.param.show_label_legend = showlbl - node.param.publish_segmentation_image = segpub - node.__init__(cam_name) - return node - - -@pytest.mark.parametrize( - "cam_name,channels, fusion,semseg", - [ - ("front_cam", ["feat_0", "feat_1"], ["average", "average"], False), - ("front_cam", ["feat_0", "feat_1"], ["class_max", "average"], True), - ("front_cam", ["feat_0", "feat_1"], ["class_bayesian", "average"], True), - ], -) -@pytest.mark.parametrize( - "segpub", [True, False], -) -@pytest.mark.parametrize( - "showlbl", [True, False], -) -def test_initialize(pointcloud_ex): - # todo here we can add more test - # params: semseg, channels, class max, publish seg, showlabellegend - pointcloud_ex.initialize_semantics() - pointcloud_ex.register_sub_pub() - - -# if semseg then segpub and showlbl might be displayed -@pytest.mark.parametrize( - "cam_name,channels, fusion,semseg,segpub,showlbl", - [ - ("front_cam", ["feat_0", "feat_1"], ["average", "average"], False, False, False,), - ("front_cam", ["feat_0", "feat_1"], ["class_max", "average"], True, True, True), - ("front_cam", ["feat_0", "feat_1"], ["class_max", "average"], True, False, False,), - ("front_cam", ["feat_0", "feat_1"], ["class_bayesian", "average"], True, True, True,), - ("front_cam", ["feat_0", "feat_1"], ["class_bayesian", "average"], True, False, False,), - ], -) -def test_pcl_creation(pointcloud_ex, channels, fusion, semseg, segpub, showlbl): - amount = 3 - if "class_max" in pointcloud_ex.param.fusion: - val = cp.random.rand(360, 640, amount, dtype=cp.float32).astype(cp.float16) - ind = cp.random.randint(0, 2, (360, 640, amount), dtype=cp.uint32).astype(cp.float32) - img = encode_max(val, ind) - else: - img = (cp.random.rand(360, 640, amount) * 255).astype(cp.int32) - pointcloud_ex.P = cp.random.rand(3, 4) - depth = cp.random.rand(360, 640) * 8 - pointcloud_ex.create_pcl_from_image(img, depth, None) diff --git a/sensor_processing/semantic_sensor/script/semantic_sensor/tests/test_utils.py b/sensor_processing/semantic_sensor/script/semantic_sensor/tests/test_utils.py deleted file mode 100644 index e50ca9e5..00000000 --- a/sensor_processing/semantic_sensor/script/semantic_sensor/tests/test_utils.py +++ /dev/null @@ -1,44 +0,0 @@ -import pytest -from semantic_sensor.networks import resolve_model -import cupy as cp -import torch -from semantic_sensor.pointcloud_parameters import ( - FeatureExtractorParameter, - PointcloudParameter, -) - - -@pytest.mark.parametrize( - "model_name,channels, fusion", - [ - ("fcn_resnet50", [], []), - ("lraspp_mobilenet_v3_large", [], []), - ("detectron_coco_panoptic_fpn_R_101_3x", [], []), - ], -) -def test_semantic_segmentation(model_name, channels, fusion): - param = PointcloudParameter() - param.segmentation_model = model_name - m = resolve_model(model_name, param) - im_sz = [360, 640] - image = cp.random.random((im_sz[0], im_sz[1], 3)) - classes = m["model"].get_classes() - assert type(classes) is list - prediction = m["model"](image) - # assert prediction.shape == torch.Size([len(param.channels), im_sz[0], im_sz[1]]) - # assert (prediction <= 1).all() - # assert (0 <= prediction).all() - - -@pytest.mark.parametrize( - "model_name", ["DINO",], -) -def test_feature_extractor(model_name): - param = FeatureExtractorParameter() - param.name = model_name - m = resolve_model(model_name, param) - im_sz = [320, 640] - image = cp.random.random((im_sz[0], im_sz[1], 3)) - prediction = m["model"](image.get()) - assert prediction.shape == torch.Size([param.dim, im_sz[0], im_sz[1]]) - assert prediction.shape[-2:] == torch.Size([im_sz[0], im_sz[1]]) diff --git a/sensor_processing/semantic_sensor/script/semantic_sensor/utils.py b/sensor_processing/semantic_sensor/script/semantic_sensor/utils.py deleted file mode 100644 index 9959213f..00000000 --- a/sensor_processing/semantic_sensor/script/semantic_sensor/utils.py +++ /dev/null @@ -1,28 +0,0 @@ -import numpy as np -import cupy as cp - -from detectron2.utils.logger import setup_logger - -setup_logger() - - -def encode_max(maxim, index): - maxim, index = cp.asarray(maxim, dtype=cp.float32), cp.asarray(index, dtype=cp.uint32) - # fuse them - maxim = maxim.astype(cp.float16) - maxim = maxim.view(cp.uint16) - maxim = maxim.astype(cp.uint32) - index = index.astype(cp.uint32) - mer = cp.array(cp.left_shift(index, 16) | maxim, dtype=cp.uint32) - mer = mer.view(cp.float32) - return mer - - -def decode_max(mer): - mer = mer.astype(cp.float32) - mer = mer.view(dtype=cp.uint32) - ma = cp.bitwise_and(mer, 0xFFFF, dtype=np.uint16) - ma = ma.view(np.float16) - ma = ma.astype(np.float32) - ind = cp.right_shift(mer, 16) - return ma, ind diff --git a/sensor_processing/semantic_sensor/setup.py b/sensor_processing/semantic_sensor/setup.py deleted file mode 100644 index fef26672..00000000 --- a/sensor_processing/semantic_sensor/setup.py +++ /dev/null @@ -1,8 +0,0 @@ -from distutils.core import setup -from catkin_pkg.python_setup import generate_distutils_setup - -setup_args = generate_distutils_setup( - packages=["semantic_sensor",], install_requires=["torch", "torchvision",], package_dir={"": "script"}, -) - -setup(**setup_args) From 4a62c13b20702db1efefbb804424963272714b67 Mon Sep 17 00:00:00 2001 From: amilearning Date: Wed, 18 Dec 2024 13:54:17 +0100 Subject: [PATCH 472/504] change visibility setup --- elevation_mapping_cupy/config/core/core_param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/elevation_mapping_cupy/config/core/core_param.yaml b/elevation_mapping_cupy/config/core/core_param.yaml index 8cc68a55..eb0539a4 100644 --- a/elevation_mapping_cupy/config/core/core_param.yaml +++ b/elevation_mapping_cupy/config/core/core_param.yaml @@ -60,7 +60,7 @@ elevation_mapping: #### Feature toggles ######## enable_edge_sharpen: true - enable_visibility_cleanup: true + enable_visibility_cleanup: false enable_drift_compensation: true enable_overlap_clearance: true enable_pointcloud_publishing: false From 0f617f5a0d68a9d1023b996962ed847408d7de6f Mon Sep 17 00:00:00 2001 From: amilearning Date: Tue, 14 Jan 2025 09:34:59 +0100 Subject: [PATCH 473/504] pointcloud transport --- elevation_mapping_cupy/CMakeLists.txt | 3 +- .../config/core/core_param.yaml | 3 +- .../elevation_mapping_ros.hpp | 10 ++- elevation_mapping_cupy/package.xml | 1 + .../src/elevation_mapping_ros.cpp | 64 +++++++++++++++++-- point_cloud_transport | 1 + point_cloud_transport_plugins | 1 + 7 files changed, 72 insertions(+), 11 deletions(-) create mode 160000 point_cloud_transport create mode 160000 point_cloud_transport_plugins diff --git a/elevation_mapping_cupy/CMakeLists.txt b/elevation_mapping_cupy/CMakeLists.txt index 20e8ab7f..11743e1a 100644 --- a/elevation_mapping_cupy/CMakeLists.txt +++ b/elevation_mapping_cupy/CMakeLists.txt @@ -40,7 +40,7 @@ find_package(pcl_ros REQUIRED) find_package(tf2_eigen REQUIRED) find_package(ament_cmake_python REQUIRED) find_package(python_cmake_module REQUIRED) - +find_package(point_cloud_transport REQUIRED) _ament_cmake_python_register_environment_hook() ament_python_install_package(${PROJECT_NAME} PACKAGE_DIR script/${PROJECT_NAME}) @@ -61,6 +61,7 @@ set(dependencies pcl_ros message_filters tf2_eigen + point_cloud_transport ) # Include directories diff --git a/elevation_mapping_cupy/config/core/core_param.yaml b/elevation_mapping_cupy/config/core/core_param.yaml index eb0539a4..48d41871 100644 --- a/elevation_mapping_cupy/config/core/core_param.yaml +++ b/elevation_mapping_cupy/config/core/core_param.yaml @@ -109,7 +109,8 @@ elevation_mapping: subscribers: pointcloud1: # topic_name: '/ouster/points' - topic_name: '/camera/camera/depth/color/points' + # topic_name: '/left/zed_node_1/point_cloud/cloud_registered' + topic_name: '/left/zed_node/point_cloud/cloud_registered' data_type: 'pointcloud' image1: topic_name: '/feat_processing_node/semantic_feat' diff --git a/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp b/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp index 32838ab4..4dc658fd 100644 --- a/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp +++ b/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp @@ -15,8 +15,9 @@ // Pybind #include // everything needed for embedding #include -// ROS +// ROS2 #include +#include #include #include #include "message_filters/subscriber.h" @@ -100,7 +101,9 @@ class ElevationMappingNode : public rclcpp::Node { void readParameters(); void setupMapPublishers(); void pointcloudCallback(const sensor_msgs::msg::PointCloud2::SharedPtr cloud, const std::string& key); -void inputPointCloud(const sensor_msgs::msg::PointCloud2::SharedPtr cloud, const std::vector& channels); +void pointcloudtransportCallback(const sensor_msgs::msg::PointCloud2::ConstSharedPtr cloud, const std::string& key); + +void inputPointCloud(const sensor_msgs::msg::PointCloud2::ConstSharedPtr cloud, const std::vector& channels); void inputImage(const sensor_msgs::msg::Image::ConstSharedPtr& image_msg, const sensor_msgs::msg::CameraInfo::ConstSharedPtr& camera_info_msg, @@ -146,6 +149,9 @@ visualization_msgs::msg::Marker vectorToArrowMarker(const Eigen::Vector3d& start // image_transport::ImageTransport it_; std::vector::SharedPtr> pointcloudSubs_; + // std::vector::SharedPtr> pointcloudtransportSubs_; + std::vector pointcloudtransportSubs_; + std::vector::SharedPtr> imageSubs_; std::vector::SharedPtr> cameraInfoSubs_; std::vector::SharedPtr> channelInfoSubs_; diff --git a/elevation_mapping_cupy/package.xml b/elevation_mapping_cupy/package.xml index c1395b61..fd73a8fa 100644 --- a/elevation_mapping_cupy/package.xml +++ b/elevation_mapping_cupy/package.xml @@ -15,6 +15,7 @@ std_srvs sensor_msgs geometry_msgs + point_cloud_transport message_filters grid_map_msgs diff --git a/elevation_mapping_cupy/src/elevation_mapping_ros.cpp b/elevation_mapping_cupy/src/elevation_mapping_ros.cpp index a16e6d3a..aba48d1b 100644 --- a/elevation_mapping_cupy/src/elevation_mapping_ros.cpp +++ b/elevation_mapping_cupy/src/elevation_mapping_ros.cpp @@ -189,11 +189,40 @@ ElevationMappingNode::ElevationMappingNode() auto sensor_qos = rclcpp::QoS(rclcpp::QoSInitialization(sensor_qos_profile.history, sensor_qos_profile.depth), sensor_qos_profile); - auto callback = [this, key](const sensor_msgs::msg::PointCloud2::SharedPtr msg) { - this->pointcloudCallback(msg, key); - }; - auto sub = this->create_subscription(pointcloud_topic, sensor_qos, callback); - pointcloudSubs_.push_back(sub); + // point_cloud_transport::Subscriber pct_sub = pct.subscribe( + // "pct/point_cloud", 100, + // [node](const sensor_msgs::msg::PointCloud2::ConstSharedPtr & msg) + // { + // RCLCPP_INFO_STREAM( + // node->get_logger(), + // "Message received, number of points is: " << msg->width * msg->height); + // }, {}); + // point_cloud_transport::Subscriber sub = pct.subscribe(pointcloud_topic, 100, callback, {}, transport_hint.get()) + + + auto callback_transport = [this, key](const sensor_msgs::msg::PointCloud2::ConstSharedPtr msg) { + this->pointcloudtransportCallback(msg, key); + }; + + // Create transport hints (e.g., "draco") + // auto transport_hint = std::make_shared("draco"); + + + // Use PointCloudTransport to create a subscriber + point_cloud_transport::PointCloudTransport pct(node_); + auto sub_transport = pct.subscribe(pointcloud_topic, 100, callback_transport); + + // Add the subscriber to the vector to manage its lifetime + pointcloudtransportSubs_.push_back(sub_transport); + + + // auto callback = [this, key](const sensor_msgs::msg::PointCloud2::SharedPtr msg) { + // this->pointcloudCallback(msg, key); + // }; + + // auto sub = this->create_subscription(pointcloud_topic, sensor_qos, callback); + + // pointcloudSubs_.push_back(sub); RCLCPP_INFO(this->get_logger(), "Subscribed to PointCloud2 topic: %s", pointcloud_topic.c_str()); } } @@ -400,6 +429,23 @@ imageChannelReady_[key] = std::make_pair(*channel_info, true); } } + +void ElevationMappingNode::pointcloudtransportCallback(const sensor_msgs::msg::PointCloud2::ConstSharedPtr cloud, const std::string& key) { + + // get channels + auto fields = cloud->fields; + std::vector channels; + + for (size_t it = 0; it < fields.size(); it++) { + auto& field = fields[it]; + channels.push_back(field.name); + } + inputPointCloud(cloud, channels); + + // This is used for publishing as statistics. + pointCloudProcessCounter_++; +} + void ElevationMappingNode::pointcloudCallback(const sensor_msgs::msg::PointCloud2::SharedPtr cloud, const std::string& key) { // get channels auto fields = cloud->fields; @@ -415,7 +461,7 @@ void ElevationMappingNode::pointcloudCallback(const sensor_msgs::msg::PointCloud pointCloudProcessCounter_++; } -void ElevationMappingNode::inputPointCloud(const sensor_msgs::msg::PointCloud2::SharedPtr cloud, +void ElevationMappingNode::inputPointCloud(const sensor_msgs::msg::PointCloud2::ConstSharedPtr cloud, const std::vector& channels) { auto start = this->now(); // auto* raw_pcl_pc = new pcl::PCLPointCloud2; @@ -640,10 +686,13 @@ bool ElevationMappingNode::getSubmap( Eigen::Isometry3d transformationOdomToMap; geometry_msgs::msg::Pose pose; grid_map::Position requestedSubmapPosition(request->position_x, request->position_y); + + if (requestedFrameId != mapFrameId_) { geometry_msgs::msg::TransformStamped transformStamped; - const auto& timeStamp = this->now(); + try { + const auto& timeStamp = this->now(); transformStamped = tfBuffer_->lookupTransform(requestedFrameId, mapFrameId_, timeStamp, tf2::durationFromSec(1.0)); @@ -691,6 +740,7 @@ bool ElevationMappingNode::getSubmap( response->map = *msg_ptr; } + return isSuccess; } diff --git a/point_cloud_transport b/point_cloud_transport new file mode 160000 index 00000000..fd9eb0d3 --- /dev/null +++ b/point_cloud_transport @@ -0,0 +1 @@ +Subproject commit fd9eb0d371c62cf3155de9ea8e312df3beafc59a diff --git a/point_cloud_transport_plugins b/point_cloud_transport_plugins new file mode 160000 index 00000000..f5005add --- /dev/null +++ b/point_cloud_transport_plugins @@ -0,0 +1 @@ +Subproject commit f5005add81c3af44b33f884a7c99f87d407d70c7 From 1fa47ae08467c7bd5ab4d1264a60bfdc22492907 Mon Sep 17 00:00:00 2001 From: Idate96 Date: Tue, 21 Jan 2025 14:36:37 +0100 Subject: [PATCH 474/504] works reliably --- .../config/core/core_param.yaml | 22 +- .../setups/anymal/anymal_parameters.yaml | 2 +- .../config/setups/menzi/base.yaml | 25 ++ .../elevation_mapping.py | 20 + .../elevation_mapping_ros.py | 356 +++++++----------- .../plugins/plugin_manager.py | 1 - .../launch/elevation_mapping.launch.py | 81 +++- elevation_mapping_cupy/launch/menzi.launch | 0 .../launch/turtlesim_init.launch.py | 4 +- 9 files changed, 272 insertions(+), 239 deletions(-) create mode 100644 elevation_mapping_cupy/config/setups/menzi/base.yaml create mode 100644 elevation_mapping_cupy/launch/menzi.launch diff --git a/elevation_mapping_cupy/config/core/core_param.yaml b/elevation_mapping_cupy/config/core/core_param.yaml index 38c2301b..3786b25f 100644 --- a/elevation_mapping_cupy/config/core/core_param.yaml +++ b/elevation_mapping_cupy/config/core/core_param.yaml @@ -1,11 +1,11 @@ elevation_mapping_node: ros__parameters: #### Basic parameters ######## - resolution: 0.04 # resolution in m. - map_length: 8.0 # map's size in m. + resolution: 0.1 # resolution in m. + map_length: 15.0 # map's size in m. sensor_noise_factor: 0.05 # point's noise is sensor_noise_factor*z^2 (z is distance from sensor). mahalanobis_thresh: 2.0 # points outside this distance is outlier. - outlier_variance: 0.01 # if point is outlier, add this value to the cell. + outlier_variance: 0.0`1 # if point is outlier, add this value to the cell. drift_compensation_variance_inler: 0.05 # cells under this value is used for drift compensation. max_drift: 0.1 # drift compensation happens only the drift is smaller than this value (for safety) drift_compensation_alpha: 0.1 # drift compensation alpha for smoother update of drift compensation @@ -20,8 +20,8 @@ elevation_mapping_node: orientation_noise_thresh: 0.01 # if the orientation change is bigger than this value, the drift compensation happens. position_lowpass_alpha: 0.2 # lowpass filter alpha used for detecting movements. orientation_lowpass_alpha: 0.2 # lowpass filter alpha used for detecting movements. - min_valid_distance: 0.5 # points with shorter distance will be filtered out. - max_height_range: 1.0 # points higher than this value from sensor will be filtered out to disable ceiling. + min_valid_distance: 4.0 # points with shorter distance will be filtered out. + max_height_range: 10.5 # points higher than this value from sensor will be filtered out ramped_height_range_a: 0.3 # if z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject. ramped_height_range_b: 1.0 # if z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject. ramped_height_range_c: 0.2 # if z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject. @@ -44,16 +44,20 @@ elevation_mapping_node: overlap_clear_range_xy: 4.0 # xy range [m] for clearing overlapped area. this defines the valid area for overlap clearance. (used for multi floor setting) overlap_clear_range_z: 2.0 # z range [m] for clearing overlapped area. cells outside this range will be cleared. (used for multi floor setting) - map_frame: 'odom' # The map frame where the odometry source uses. - base_frame: 'base_footprint' # The robot's base frame. This frame will be a center of the map. - corrected_map_frame: 'odom' + map_frame: 'World' # The map frame where the odometry source uses. + base_frame: 'BASE' # The robot's base frame. This frame will be a center of the map. + corrected_map_frame: 'World' + # map_frame: 'World' # The map frame where the odometry source uses. + # base_frame: 'BASE' # The robot's base frame. This frame will be a center of the map. + # corrected_map_frame: 'World' + #### Feature toggles ######## enable_edge_sharpen: true enable_visibility_cleanup: true enable_drift_compensation: true - enable_overlap_clearance: true + enable_overlap_clearance: true` enable_pointcloud_publishing: false enable_drift_corrected_TF_publishing: false enable_normal_color: false # If true, the map contains 'color' layer corresponding to normal. Add 'color' layer to the publishers setting if you want to visualize. diff --git a/elevation_mapping_cupy/config/setups/anymal/anymal_parameters.yaml b/elevation_mapping_cupy/config/setups/anymal/anymal_parameters.yaml index 623ec6a6..8bd080d6 100644 --- a/elevation_mapping_cupy/config/setups/anymal/anymal_parameters.yaml +++ b/elevation_mapping_cupy/config/setups/anymal/anymal_parameters.yaml @@ -1,7 +1,7 @@ /elevation_mapping_node: ros__parameters: #### Basic parameters ######## - resolution: 0.04 # resolution in m. + resolution: 0.04 # resolution in m. map_length: 8 # map's size in m. sensor_noise_factor: 0.05 # point's noise is sensor_noise_factor*z^2 (z is distance from sensor). mahalanobis_thresh: 2.0 # points outside this distance is outlier. diff --git a/elevation_mapping_cupy/config/setups/menzi/base.yaml b/elevation_mapping_cupy/config/setups/menzi/base.yaml new file mode 100644 index 00000000..9d8234ad --- /dev/null +++ b/elevation_mapping_cupy/config/setups/menzi/base.yaml @@ -0,0 +1,25 @@ +elevation_mapping_node: + ros__parameters: + pointcloud_channel_fusions: + rgb: 'color' + default: 'average' + + image_channel_fusions: + rgb: 'color' + default: 'exponential' + feat_.*: 'exponential' + + subscribers: + front_cam: + topic_name: '/ouster_points_self_filtered' + data_type: pointcloud + + publishers: + elevation_map_raw: + layers: ['elevation', 'traversability', 'variance','rgb'] + basic_layers: ['elevation'] + fps: 5.0 + elevation_map_filter: + layers: ['min_filter', 'smooth', 'inpaint', 'elevation'] + basic_layers: ['min_filter'] + fps: 3.0 \ No newline at end of file diff --git a/elevation_mapping_cupy/elevation_mapping_cupy/elevation_mapping.py b/elevation_mapping_cupy/elevation_mapping_cupy/elevation_mapping.py index 967772cc..39b2994d 100644 --- a/elevation_mapping_cupy/elevation_mapping_cupy/elevation_mapping.py +++ b/elevation_mapping_cupy/elevation_mapping_cupy/elevation_mapping.py @@ -242,6 +242,26 @@ def compile_kernels(self): self.min_filtered = cp.zeros((self.cell_n, self.cell_n), dtype=self.data_type) self.min_filtered_mask = cp.zeros((self.cell_n, self.cell_n), dtype=self.data_type) self.mask = cp.zeros((self.cell_n, self.cell_n), dtype=self.data_type) + + # Log parameter values before kernel initialization + self.logger.info("Initializing add_points_kernel with parameters:") + self.logger.info(f" resolution: {self.resolution}") + self.logger.info(f" cell_n: {self.cell_n}") + self.logger.info(f" sensor_noise_factor: {self.param.sensor_noise_factor}") + self.logger.info(f" mahalanobis_thresh: {self.param.mahalanobis_thresh}") + self.logger.info(f" outlier_variance: {self.param.outlier_variance}") + self.logger.info(f" wall_num_thresh: {self.param.wall_num_thresh}") + self.logger.info(f" max_ray_length: {self.param.max_ray_length}") + self.logger.info(f" cleanup_step: {self.param.cleanup_step}") + self.logger.info(f" min_valid_distance: {self.param.min_valid_distance}") + self.logger.info(f" max_height_range: {self.param.max_height_range}") + self.logger.info(f" cleanup_cos_thresh: {self.param.cleanup_cos_thresh}") + self.logger.info(f" ramped_height_range_a: {self.param.ramped_height_range_a}") + self.logger.info(f" ramped_height_range_b: {self.param.ramped_height_range_b}") + self.logger.info(f" ramped_height_range_c: {self.param.ramped_height_range_c}") + self.logger.info(f" enable_edge_sharpen: {self.param.enable_edge_sharpen}") + self.logger.info(f" enable_visibility_cleanup: {self.param.enable_visibility_cleanup}") + self.add_points_kernel = add_points_kernel( self.resolution, self.cell_n, diff --git a/elevation_mapping_cupy/elevation_mapping_cupy/elevation_mapping_ros.py b/elevation_mapping_cupy/elevation_mapping_cupy/elevation_mapping_ros.py index fc345141..83f19ad4 100644 --- a/elevation_mapping_cupy/elevation_mapping_cupy/elevation_mapping_ros.py +++ b/elevation_mapping_cupy/elevation_mapping_cupy/elevation_mapping_ros.py @@ -3,7 +3,6 @@ import os from functools import partial -# ROS 2 imports import rclpy from rclpy.node import Node from ament_index_python.packages import get_package_share_directory @@ -12,23 +11,16 @@ from sensor_msgs_py import point_cloud2 from tf_transformations import quaternion_matrix import tf2_ros - import message_filters from cv_bridge import CvBridge from rclpy.duration import Duration -# Message imports from grid_map_msgs.msg import GridMap from std_msgs.msg import Float32MultiArray from std_msgs.msg import MultiArrayLayout as MAL from std_msgs.msg import MultiArrayDimension as MAD from rclpy.serialization import serialize_message - -# Custom module imports from elevation_mapping_cupy import ElevationMap, Parameter -import concurrent.futures - -# Define point cloud data types PDC_DATATYPE = { "1": np.int8, "2": np.uint8, @@ -40,53 +32,41 @@ "8": np.float64, } - class ElevationMappingNode(Node): def __init__(self): - # Initialize the node without passing callback_group to super() super().__init__( 'elevation_mapping_node', automatically_declare_parameters_from_overrides=True, - # Add this parameter to enable sim time allow_undeclared_parameters=True, parameter_overrides=[ rclpy.Parameter('use_sim_time', rclpy.Parameter.Type.BOOL, True) ] ) - - # Get package share directory self.root = get_package_share_directory("elevation_mapping_cupy") weight_file = os.path.join(self.root, "config/core/weights.dat") plugin_config_file = os.path.join(self.root, "config/core/plugin_config.yaml") - # Initialize Parameters + # Initialize parameters with some defaults self.param = Parameter( use_chainer=False, weight_file=weight_file, plugin_config_file=plugin_config_file ) - self.node_name = "elevation_mapping" - - # Initialize ROS components + # Read ROS parameters (including YAML) self.initialize_ros() + self.set_param_values_from_ros() - # Assign subscriber configuration to parameters + # Overwrite subscriber_cfg from loaded YAML self.param.subscriber_cfg = self.my_subscribers - # Initialize Elevation Mapping self.initialize_elevation_mapping() - - # Register ROS subscribers, publishers, and timers self.register_subscribers() self.register_publishers() self.register_timers() - - # timestamp of latest pcd or image msg self._last_t = None def initialize_elevation_mapping(self) -> None: - """Initialize the elevation mapping module.""" self.param.update() self._pointcloud_process_counter = 0 self._image_process_counter = 0 @@ -94,18 +74,17 @@ def initialize_elevation_mapping(self) -> None: self._map_data = np.zeros( (self._map.cell_n - 2, self._map.cell_n - 2), dtype=np.float32 ) + self.get_logger().info(f"Initialized map with length: {self._map.map_length}, resolution: {self._map.resolution}, cells: {self._map.cell_n}") + self._map_q = None self._map_t = None def initialize_ros(self) -> None: - """Initialize ROS-related components such as TF buffer and listener.""" self._tf_buffer = tf2_ros.Buffer() self._listener = tf2_ros.TransformListener(self._tf_buffer, self) self.get_ros_params() def get_ros_params(self) -> None: - """Retrieve ROS parameters from the node.""" - # Get parameters with default values self.use_chainer = self.get_parameter('use_chainer').get_parameter_value().bool_value self.weight_file = self.get_parameter('weight_file').get_parameter_value().string_value self.plugin_config_file = self.get_parameter('plugin_config_file').get_parameter_value().string_value @@ -128,36 +107,7 @@ def get_ros_params(self) -> None: self.enable_normal_arrow_publishing = self.get_parameter('enable_normal_arrow_publishing').get_parameter_value().bool_value self.enable_drift_corrected_TF_publishing = self.get_parameter('enable_drift_corrected_TF_publishing').get_parameter_value().bool_value self.use_initializer_at_start = self.get_parameter('use_initializer_at_start').get_parameter_value().bool_value - - # Log parameters - self.get_logger().info("\n=== Loaded Parameters ===") - self.get_logger().info(f"use_chainer: {self.use_chainer}") - self.get_logger().info(f"weight_file: {self.weight_file}") - self.get_logger().info(f"plugin_config_file: {self.plugin_config_file}") - self.get_logger().info(f"initialize_frame_id: {self.initialize_frame_id}") - self.get_logger().info(f"initialize_tf_offset: {self.initialize_tf_offset}") - self.get_logger().info(f"map_frame: {self.map_frame}") - self.get_logger().info(f"base_frame: {self.base_frame}") - self.get_logger().info(f"corrected_map_frame: {self.corrected_map_frame}") - self.get_logger().info(f"initialize_method: {self.initialize_method}") - self.get_logger().info(f"position_lowpass_alpha: {self.position_lowpass_alpha}") - self.get_logger().info(f"orientation_lowpass_alpha: {self.orientation_lowpass_alpha}") - self.get_logger().info(f"recordable_fps: {self.recordable_fps}") - self.get_logger().info(f"update_variance_fps: {self.update_variance_fps}") - self.get_logger().info(f"time_interval: {self.time_interval}") - self.get_logger().info(f"update_pose_fps: {self.update_pose_fps}") - self.get_logger().info(f"initialize_tf_grid_size: {self.initialize_tf_grid_size}") - self.get_logger().info(f"map_acquire_fps: {self.map_acquire_fps}") - self.get_logger().info(f"publish_statistics_fps: {self.publish_statistics_fps}") - self.get_logger().info(f"enable_pointcloud_publishing: {self.enable_pointcloud_publishing}") - self.get_logger().info(f"enable_normal_arrow_publishing: {self.enable_normal_arrow_publishing}") - self.get_logger().info(f"enable_drift_corrected_TF_publishing: {self.enable_drift_corrected_TF_publishing}") - self.get_logger().info(f"use_initializer_at_start: {self.use_initializer_at_start}") - self.get_logger().info("=======================\n") - - # Retrieve subscribers using prefix subscribers_params = self.get_parameters_by_prefix('subscribers') - self.get_logger().info(f"Subscribers params: {subscribers_params}") self.my_subscribers = {} for param_name, param_value in subscribers_params.items(): parts = param_name.split('.') @@ -166,12 +116,7 @@ def get_ros_params(self) -> None: if sub_key not in self.my_subscribers: self.my_subscribers[sub_key] = {} self.my_subscribers[sub_key][sub_param] = param_value.value - else: - self.get_logger().warn(f"Unexpected subscriber parameter format: {param_name}") - - # Retrieve publishers using prefix publishers_params = self.get_parameters_by_prefix('publishers') - self.get_logger().info(f"Publishers params: {publishers_params}") self.my_publishers = {} for param_name, param_value in publishers_params.items(): parts = param_name.split('.') @@ -180,25 +125,88 @@ def get_ros_params(self) -> None: if pub_key not in self.my_publishers: self.my_publishers[pub_key] = {} self.my_publishers[pub_key][pub_param] = param_value.value - else: - self.get_logger().warn(f"Unexpected publisher parameter format: {param_name}") - # Log loaded subscribers and publishers for debugging - self.get_logger().info(f"Loaded Subscribers: {self.my_subscribers}") - self.get_logger().info(f"Loaded Publishers: {self.my_publishers}") - # If you want to list all parameters for debugging - params = self.get_parameters_by_prefix('') - for param_name, param_value in params.items(): - self.get_logger().info(f"Parameter '{param_name}': {param_value.value}") + def set_param_values_from_ros(self): + # Assign to self.param so it won't use defaults + # Use try/except so missing params won't cause errors + try: self.param.resolution = self.get_parameter('resolution').get_parameter_value().double_value + except: pass + try: self.param.map_length = self.get_parameter('map_length').get_parameter_value().double_value + except: pass + try: self.param.sensor_noise_factor = self.get_parameter('sensor_noise_factor').get_parameter_value().double_value + except: pass + try: self.param.mahalanobis_thresh = self.get_parameter('mahalanobis_thresh').get_parameter_value().double_value + except: pass + try: self.param.outlier_variance = self.get_parameter('outlier_variance').get_parameter_value().double_value + except: pass + try: + # The YAML has 'drift_compensation_variance_inler', but our param is 'drift_compensation_variance_inlier' + self.param.drift_compensation_variance_inlier = self.get_parameter('drift_compensation_variance_inler').get_parameter_value().double_value + except: pass + try: self.param.max_drift = self.get_parameter('max_drift').get_parameter_value().double_value + except: pass + try: self.param.drift_compensation_alpha = self.get_parameter('drift_compensation_alpha').get_parameter_value().double_value + except: pass + try: self.param.time_variance = self.get_parameter('time_variance').get_parameter_value().double_value + except: pass + try: self.param.max_variance = self.get_parameter('max_variance').get_parameter_value().double_value + except: pass + try: self.param.initial_variance = self.get_parameter('initial_variance').get_parameter_value().double_value + except: pass + try: self.param.traversability_inlier = self.get_parameter('traversability_inlier').get_parameter_value().double_value + except: pass + try: self.param.dilation_size = self.get_parameter('dilation_size').get_parameter_value().integer_value + except: pass + try: self.param.wall_num_thresh = self.get_parameter('wall_num_thresh').get_parameter_value().double_value + except: pass + try: self.param.min_height_drift_cnt = self.get_parameter('min_height_drift_cnt').get_parameter_value().double_value + except: pass + try: self.param.position_noise_thresh = self.get_parameter('position_noise_thresh').get_parameter_value().double_value + except: pass + try: self.param.orientation_noise_thresh = self.get_parameter('orientation_noise_thresh').get_parameter_value().double_value + except: pass + try: self.param.min_valid_distance = self.get_parameter('min_valid_distance').get_parameter_value().double_value + except: pass + try: self.param.max_height_range = self.get_parameter('max_height_range').get_parameter_value().double_value + except: pass + try: self.param.ramped_height_range_a = self.get_parameter('ramped_height_range_a').get_parameter_value().double_value + except: pass + try: self.param.ramped_height_range_b = self.get_parameter('ramped_height_range_b').get_parameter_value().double_value + except: pass + try: self.param.ramped_height_range_c = self.get_parameter('ramped_height_range_c').get_parameter_value().double_value + except: pass + try: self.param.max_ray_length = self.get_parameter('max_ray_length').get_parameter_value().double_value + except: pass + try: self.param.cleanup_step = self.get_parameter('cleanup_step').get_parameter_value().double_value + except: pass + try: self.param.cleanup_cos_thresh = self.get_parameter('cleanup_cos_thresh').get_parameter_value().double_value + except: pass + try: self.param.safe_thresh = self.get_parameter('safe_thresh').get_parameter_value().double_value + except: pass + try: self.param.safe_min_thresh = self.get_parameter('safe_min_thresh').get_parameter_value().double_value + except: pass + try: self.param.max_unsafe_n = self.get_parameter('max_unsafe_n').get_parameter_value().integer_value + except: pass + try: self.param.overlap_clear_range_xy = self.get_parameter('overlap_clear_range_xy').get_parameter_value().double_value + except: pass + try: self.param.overlap_clear_range_z = self.get_parameter('overlap_clear_range_z').get_parameter_value().double_value + except: pass + try: self.param.enable_edge_sharpen = self.get_parameter('enable_edge_sharpen').get_parameter_value().bool_value + except: pass + try: self.param.enable_visibility_cleanup = self.get_parameter('enable_visibility_cleanup').get_parameter_value().bool_value + except: pass + try: self.param.enable_drift_compensation = self.get_parameter('enable_drift_compensation').get_parameter_value().bool_value + except: pass + try: self.param.enable_overlap_clearance = self.get_parameter('enable_overlap_clearance').get_parameter_value().bool_value + except: pass + try: self.param.use_only_above_for_upper_bound = self.get_parameter('use_only_above_for_upper_bound').get_parameter_value().bool_value + except: pass def register_subscribers(self) -> None: - """Register ROS subscribers for pointclouds and images.""" - # Initialize CvBridge if needed if any(config.get("data_type") == "image" for config in self.my_subscribers.values()): self.cv_bridge = CvBridge() - # Dictionaries to hold subscribers pointcloud_subs = {} image_subs = {} @@ -207,8 +215,6 @@ def register_subscribers(self) -> None: if data_type == "image": topic_name_camera = config.get("topic_name_camera", "/camera/image") topic_name_camera_info = config.get("topic_name_camera_info", "/camera/camera_info") - - # Initialize message_filters Subscribers without passing callback_group camera_sub = message_filters.Subscriber( self, Image, @@ -219,14 +225,11 @@ def register_subscribers(self) -> None: CameraInfo, topic_name_camera_info ) - - # Synchronize image and camera info image_sync = message_filters.ApproximateTimeSynchronizer( [camera_sub, camera_info_sub], queue_size=10, slop=0.5 ) image_sync.registerCallback(partial(self.image_callback, sub_key=key)) image_subs[key] = image_sync - elif data_type == "pointcloud": topic_name = config.get("topic_name", "/pointcloud") qos_profile = rclpy.qos.QoSProfile( @@ -235,8 +238,6 @@ def register_subscribers(self) -> None: durability=rclpy.qos.DurabilityPolicy.VOLATILE, history=rclpy.qos.HistoryPolicy.KEEP_LAST ) - - # Create subscription without passing callback_group subscription = self.create_subscription( PointCloud2, topic_name, @@ -245,20 +246,12 @@ def register_subscribers(self) -> None: ) pointcloud_subs[key] = subscription - else: - self.get_logger().warn(f"Unknown data_type '{data_type}' for subscriber '{key}'") - - self.get_logger().info( - f"Registered {len(pointcloud_subs)} pointcloud subscribers and {len(image_subs)} image subscribers." - ) - def register_publishers(self) -> None: - """Register ROS publishers for elevation maps.""" self._publishers_dict = {} self._publishers_timers = [] for pub_key, pub_config in self.my_publishers.items(): - topic_name = f"/{self.node_name}/{pub_key}" + topic_name = f"/{self.get_name()}/{pub_key}" publisher = self.create_publisher(GridMap, topic_name, 10) self._publishers_dict[pub_key] = publisher @@ -269,10 +262,7 @@ def register_publishers(self) -> None: ) self._publishers_timers.append(timer) - self.get_logger().info(f"Publisher '{pub_key}' registered on topic '{topic_name}' with {fps} Hz.") - def register_timers(self) -> None: - """Register ROS timers for pose update, variance update, and time update.""" self.time_pose_update = self.create_timer( 0.1, self.pose_update @@ -287,16 +277,8 @@ def register_timers(self) -> None: ) def publish_map(self, key: str) -> None: - """ - Publish the elevation map on the specified topic. - - Args: - key (str): The key identifying which publisher to use. - """ if self._map_q is None: - self.get_logger().info("No map pose available for publishing.") return - gm = GridMap() gm.header.frame_id = self.map_frame gm.header.stamp = self.get_clock().now().to_msg() @@ -306,10 +288,10 @@ def publish_map(self, key: str) -> None: gm.info.pose.position.x = self._map_t.x gm.info.pose.position.y = self._map_t.y gm.info.pose.position.z = 0.0 - gm.info.pose.orientation.w = 1.0 # self._map_q.w - gm.info.pose.orientation.x = 0.0 # self._map_q.x - gm.info.pose.orientation.y = 0.0 # self._map_q.y - gm.info.pose.orientation.z = 0.0 # self._map_q.z + gm.info.pose.orientation.w = 1.0 + gm.info.pose.orientation.x = 0.0 + gm.info.pose.orientation.y = 0.0 + gm.info.pose.orientation.z = 0.0 gm.layers = [] gm.basic_layers = self.my_publishers[key]["basic_layers"] @@ -321,174 +303,116 @@ def publish_map(self, key: str) -> None: N = self._map_data.shape[0] arr.layout.dim.append(MAD(label="column_index", size=N, stride=int(N * N))) arr.layout.dim.append(MAD(label="row_index", size=N, stride=N)) - # Convert to a Python list to satisfy the message requirements arr.data = self._map_data.T.flatten().tolist() gm.data.append(arr) gm.outer_start_index = 0 gm.inner_start_index = 0 - self._publishers_dict[key].publish(gm) + def safe_lookup_transform(self, target_frame, source_frame, time): + try: + return self._tf_buffer.lookup_transform( + target_frame, + source_frame, + time + ) + except tf2_ros.ExtrapolationException: + return self._tf_buffer.lookup_transform( + target_frame, + source_frame, + rclpy.time.Time() + ) + def image_callback(self, camera_msg: Image, camera_info_msg: CameraInfo, sub_key: str) -> None: - """ - Callback function for synchronized image and camera info messages. - - Args: - camera_msg (Image): The image message. - camera_info_msg (CameraInfo): The camera info message. - sub_key (str): The subscriber key identifier. - """ - # Store timestamps self._last_t = camera_msg.header.stamp - try: - # Convert image using cv_bridge semantic_img = self.cv_bridge.imgmsg_to_cv2(camera_msg, desired_encoding="passthrough") - except Exception as e: - self.get_logger().error(f"CV Bridge conversion failed: {e}") + except: return - - # Ensure image is grayscale or split channels if len(semantic_img.shape) != 2: semantic_img = [semantic_img[:, :, k] for k in range(semantic_img.shape[2])] else: semantic_img = [semantic_img] - # Get camera parameters K = np.array(camera_info_msg.k, dtype=np.float32).reshape(3, 3) D = np.array(camera_info_msg.d, dtype=np.float32).reshape(-1, 1) - if not np.all(D == 0.0): - self.get_logger().warn("Camera distortion coefficients are not zero. Undistortion not implemented.") - - # Get transform from camera frame to map frame - try: - transform_camera_to_map = self._tf_buffer.lookup_transform( - self.map_frame, - camera_msg.header.frame_id, - camera_msg.header.stamp - ) - - t = transform_camera_to_map.transform.translation - q = transform_camera_to_map.transform.rotation - t_np = np.array([t.x, t.y, t.z], dtype=np.float32) - R = quaternion_matrix([q.x, q.y, q.z, q.w])[:3, :3].astype(np.float32) - - # Process image - self._map.input_image( - sub_key, semantic_img, R, t_np, K, D, - camera_info_msg.height, camera_info_msg.width - ) - self._image_process_counter += 1 - self.get_logger().debug(f"Images processed: {self._image_process_counter}") - - except (tf2_ros.LookupException, tf2_ros.ConnectivityException, tf2_ros.ExtrapolationException) as e: - self.get_logger().warn(f"[image_callback] Transform lookup failed: {e}") - except Exception as e: - self.get_logger().error(f"[image_callback] Unexpected error: {str(e)}") + transform_camera_to_map = self.safe_lookup_transform( + self.map_frame, + camera_msg.header.frame_id, + camera_msg.header.stamp + ) + t = transform_camera_to_map.transform.translation + q = transform_camera_to_map.transform.rotation + t_np = np.array([t.x, t.y, t.z], dtype=np.float32) + R = quaternion_matrix([q.x, q.y, q.z, q.w])[:3, :3].astype(np.float32) + self._map.input_image( + sub_key, semantic_img, R, t_np, K, D, + camera_info_msg.height, camera_info_msg.width + ) + self._image_process_counter += 1 def pointcloud_callback(self, msg: PointCloud2, sub_key: str) -> None: - """ - Callback function for point cloud messages. - - Args: - msg (PointCloud2): The point cloud message. - sub_key (str): The subscriber key identifier. - """ self._last_t = msg.header.stamp channels = ["x", "y", "z"] + self.param.subscriber_cfg[sub_key].get("channels", []) - try: points = rnp.numpify(msg) - except Exception as e: - self.get_logger().error(f"Failed to numpify pointcloud: {e}") + except: return - if points['xyz'].size == 0: - self.get_logger().warn("Received empty point cloud.") return - frame_sensor_id = msg.header.frame_id - try: - # Add a timeout to wait for the transform to become available - transform_sensor_to_map = self._tf_buffer.lookup_transform( - self.map_frame, - frame_sensor_id, - self._last_t, - ) - - t = transform_sensor_to_map.transform.translation - q = transform_sensor_to_map.transform.rotation - t_np = np.array([t.x, t.y, t.z], dtype=np.float32) - R = quaternion_matrix([q.x, q.y, q.z, q.w])[:3, :3].astype(np.float32) - - self._map.input_pointcloud(points['xyz'], channels, R, t_np, 0, 0) - self._pointcloud_process_counter += 1 - - except (tf2_ros.LookupException, tf2_ros.ConnectivityException, tf2_ros.ExtrapolationException) as e: - self.get_logger().debug(f"[pointcloud_callback] Transform lookup failed: {e}") - except Exception as e: - self.get_logger().error(f"[pointcloud_callback] Unexpected error: {str(e)}") + transform_sensor_to_map = self.safe_lookup_transform( + self.map_frame, + frame_sensor_id, + msg.header.stamp + ) + t = transform_sensor_to_map.transform.translation + q = transform_sensor_to_map.transform.rotation + t_np = np.array([t.x, t.y, t.z], dtype=np.float32) + R = quaternion_matrix([q.x, q.y, q.z, q.w])[:3, :3].astype(np.float32) + self._map.input_pointcloud(points['xyz'], channels, R, t_np, 0, 0) + self._pointcloud_process_counter += 1 def pose_update(self) -> None: - """Update the pose based on the latest transform.""" if self._last_t is None: - self.get_logger().debug("No timestamp available for pose update.") return - - try: - transform = self._tf_buffer.lookup_transform( - self.map_frame, - self.base_frame, - self._last_t - ) - - # Update the pose - t = transform.transform.translation - q = transform.transform.rotation - trans = np.array([t.x, t.y, t.z], dtype=np.float32) - rot = quaternion_matrix([q.x, q.y, q.z, q.w])[:3, :3].astype(np.float32) - - self._map.move_to(trans, rot) - self._map_t = t - self._map_q = q - - except (tf2_ros.LookupException, tf2_ros.ConnectivityException, tf2_ros.ExtrapolationException) as e: - self.get_logger().warn(f"[pose_update] Transform lookup failed: {e}") - except Exception as e: - self.get_logger().error(f"[pose_update] Unexpected error: {str(e)}") + transform = self.safe_lookup_transform( + self.map_frame, + self.base_frame, + self._last_t + ) + t = transform.transform.translation + q = transform.transform.rotation + trans = np.array([t.x, t.y, t.z], dtype=np.float32) + rot = quaternion_matrix([q.x, q.y, q.z, q.w])[:3, :3].astype(np.float32) + self._map.move_to(trans, rot) + self._map_t = t + self._map_q = q def update_variance(self) -> None: self._map.update_variance() - self.get_logger().debug("Variance updated.") def update_time(self) -> None: self._map.update_time() - self.get_logger().debug("Time updated.") def destroy_node(self) -> None: super().destroy_node() - def main(args=None) -> None: - """Main entry point for the elevation mapping node.""" rclpy.init(args=args) node = ElevationMappingNode() - - # Use a SingleThreadedExecutor as per original implementation executor = rclpy.executors.SingleThreadedExecutor() executor.add_node(node) - try: executor.spin() except KeyboardInterrupt: - node.get_logger().info("Shutting down ElevationMappingNode.") + pass finally: executor.shutdown() node.destroy_node() rclpy.shutdown() - if __name__ == '__main__': main() diff --git a/elevation_mapping_cupy/elevation_mapping_cupy/plugins/plugin_manager.py b/elevation_mapping_cupy/elevation_mapping_cupy/plugins/plugin_manager.py index 26f81d21..048ca016 100644 --- a/elevation_mapping_cupy/elevation_mapping_cupy/plugins/plugin_manager.py +++ b/elevation_mapping_cupy/elevation_mapping_cupy/plugins/plugin_manager.py @@ -132,7 +132,6 @@ def init(self, plugin_params: List[PluginParams], extra_params: List[Dict]): self.plugin_names = self.get_plugin_names() def load_plugin_settings(self, file_path: str): - print("Start loading plugins...") cfg = YAML().load(open(file_path, "r")) plugin_params = [] extra_params = [] diff --git a/elevation_mapping_cupy/launch/elevation_mapping.launch.py b/elevation_mapping_cupy/launch/elevation_mapping.launch.py index f8f4f848..f2bf3cf2 100755 --- a/elevation_mapping_cupy/launch/elevation_mapping.launch.py +++ b/elevation_mapping_cupy/launch/elevation_mapping.launch.py @@ -2,21 +2,82 @@ from launch import LaunchDescription from launch_ros.actions import Node from ament_index_python.packages import get_package_share_directory +from launch.actions import DeclareLaunchArgument +from launch.substitutions import LaunchConfiguration, PathJoinSubstitution +from launch.conditions import IfCondition def generate_launch_description(): package_name = 'elevation_mapping_cupy' share_dir = get_package_share_directory(package_name) - config_file = os.path.join(share_dir, 'config', 'core_param.yaml') - if not os.path.exists(config_file): - raise FileNotFoundError(f"Config file {config_file} does not exist") + # Define paths + core_param_path = os.path.join(share_dir, 'config', 'core', 'core_param.yaml') + + # Declare launch arguments + robot_param_arg = DeclareLaunchArgument( + 'robot_config', + # default_value='turtle_bot/turle_bot_simple.yaml', + default_value='menzi/base.yaml', + description='Name of the robot-specific config file within config/setups/' + ) + + launch_rviz_arg = DeclareLaunchArgument( + 'launch_rviz', + default_value='false', + description='Whether to launch RViz' + ) + + rviz_config_arg = DeclareLaunchArgument( + 'rviz_config', + default_value='', + description='Path to the RViz config file' + ) + + use_sim_time_arg = DeclareLaunchArgument( + 'use_sim_time', + default_value='false', + description='Use simulation clock if true' + ) + + # Get launch configurations + robot_config = LaunchConfiguration('robot_config') + robot_param_path = PathJoinSubstitution([share_dir, 'config', 'setups', robot_config]) + launch_rviz = LaunchConfiguration('launch_rviz') + rviz_config = LaunchConfiguration('rviz_config') + use_sim_time = LaunchConfiguration('use_sim_time') + + # Verify core config exists + if not os.path.exists(core_param_path): + raise FileNotFoundError(f"Config file {core_param_path} does not exist") + + # Define nodes + elevation_mapping_node = Node( + package=package_name, + executable='elevation_mapping_node', + name='elevation_mapping_node', + output='screen', + parameters=[ + core_param_path, + robot_param_path, + {'use_sim_time': use_sim_time} + ] + ) + + rviz_node = Node( + package='rviz2', + executable='rviz2', + name='rviz2', + arguments=['-d', rviz_config], + parameters=[{'use_sim_time': use_sim_time}], + output='screen', + condition=IfCondition(launch_rviz) + ) return LaunchDescription([ - Node( - package=package_name, - executable='elevation_mapping_node', - name='elevation_mapping_node', - output='screen', - parameters=[config_file] - ) + robot_param_arg, + launch_rviz_arg, + rviz_config_arg, + use_sim_time_arg, + elevation_mapping_node, + rviz_node ]) \ No newline at end of file diff --git a/elevation_mapping_cupy/launch/menzi.launch b/elevation_mapping_cupy/launch/menzi.launch new file mode 100644 index 00000000..e69de29b diff --git a/elevation_mapping_cupy/launch/turtlesim_init.launch.py b/elevation_mapping_cupy/launch/turtlesim_init.launch.py index 660f5410..90530e4b 100644 --- a/elevation_mapping_cupy/launch/turtlesim_init.launch.py +++ b/elevation_mapping_cupy/launch/turtlesim_init.launch.py @@ -108,7 +108,7 @@ def generate_launch_description(): robot_description_content = Command([ 'cat ', PathJoinSubstitution([ - turtlebot3_description_dir, 'urdf', 'turtlebot3_waffle_camera.urdf' + turtlebot3_description_dir, 'urdf', 'turtlebot3_waffle.urdf' ]) ]) @@ -150,7 +150,7 @@ def generate_launch_description(): ld = LaunchDescription() # Add the declared arguments - # ld.add_action(use_sim_time_arg) + ld.add_action(use_sim_time_arg) # ld.add_action(rviz_config_arg) ld.add_action(model_arg) ld.add_action(x_pos_arg) From 1eaf94b8ab7a1a08e873b2376e76ffa30179e23f Mon Sep 17 00:00:00 2001 From: "W. Jacob Wagner" Date: Fri, 7 Feb 2025 21:49:59 +0000 Subject: [PATCH 475/504] Getting working with turtlebot3 example: fixing cupy/numpy bool8 type issue, updating package.xmls Adjusting quality of service a bit Enabling other layers e.g. rgb in pointcloud2 subscriber --- elevation_mapping_cupy/README.md | 28 +++++++- .../config/core/core_param.yaml | 8 +-- .../setups/turtle_bot/turtle_bot_simple.yaml | 1 + .../elevation_mapping_ros.py | 33 ++++++--- .../elevation_mapping_cupy/semantic_map.py | 4 +- elevation_mapping_cupy/package.xml | 13 +++- .../rviz/turtle_sim_laser.rviz | 69 ++++++++++++------- plane_segmentation/cgal5_ament/package.xml | 2 +- .../grid_map_filters_rsl/CMakeLists.txt | 8 +-- .../grid_map_filters_rsl/package.xml | 4 +- sensor_processing/semantic_sensor/package.xml | 3 +- 11 files changed, 125 insertions(+), 48 deletions(-) diff --git a/elevation_mapping_cupy/README.md b/elevation_mapping_cupy/README.md index f7010dff..fe60536e 100644 --- a/elevation_mapping_cupy/README.md +++ b/elevation_mapping_cupy/README.md @@ -9,4 +9,30 @@ You can also maunally spawn the robot in Gazebo. Launch the elevation mapping node: ```bash -ros2 launch elevation_mapping_cupy turtle_simple_example.launch.py``` \ No newline at end of file +ros2 launch elevation_mapping_cupy turtle_simple_example.launch.py +``` + + +## (Corrected) Example 1: Turtle Simple Example +Set the env in the Dockerfile +```dockerfile +ENV TURTLEBOT3_MODEL=waffle_realsense_depth +``` +or in the terminal +```bash +export TURTLEBOT3_MODEL=waffle_realsense_depth +``` +If using zenoh as rmw then start one terminal up and run the router +```bash +ros2 run rmw_zenoh_cpp rmw_zenohd +``` + +Now launch the turtlebot3 in Gazebo with the following command: +```bash +ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py +``` + +Launch the elevation mapping node with the configs for the turtle: +```bash +ros2 launch elevation_mapping_cupy elevation_mapping_turtle.launch.py +``` \ No newline at end of file diff --git a/elevation_mapping_cupy/config/core/core_param.yaml b/elevation_mapping_cupy/config/core/core_param.yaml index 3786b25f..60771890 100644 --- a/elevation_mapping_cupy/config/core/core_param.yaml +++ b/elevation_mapping_cupy/config/core/core_param.yaml @@ -20,7 +20,7 @@ elevation_mapping_node: orientation_noise_thresh: 0.01 # if the orientation change is bigger than this value, the drift compensation happens. position_lowpass_alpha: 0.2 # lowpass filter alpha used for detecting movements. orientation_lowpass_alpha: 0.2 # lowpass filter alpha used for detecting movements. - min_valid_distance: 4.0 # points with shorter distance will be filtered out. + min_valid_distance: 0.1 # points with shorter distance will be filtered out. max_height_range: 10.5 # points higher than this value from sensor will be filtered out ramped_height_range_a: 0.3 # if z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject. ramped_height_range_b: 1.0 # if z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject. @@ -44,9 +44,9 @@ elevation_mapping_node: overlap_clear_range_xy: 4.0 # xy range [m] for clearing overlapped area. this defines the valid area for overlap clearance. (used for multi floor setting) overlap_clear_range_z: 2.0 # z range [m] for clearing overlapped area. cells outside this range will be cleared. (used for multi floor setting) - map_frame: 'World' # The map frame where the odometry source uses. - base_frame: 'BASE' # The robot's base frame. This frame will be a center of the map. - corrected_map_frame: 'World' + map_frame: 'odom' # The map frame where the odometry source uses. + base_frame: 'base_link' # The robot's base frame. This frame will be a center of the map. + corrected_map_frame: 'odom' # map_frame: 'World' # The map frame where the odometry source uses. diff --git a/elevation_mapping_cupy/config/setups/turtle_bot/turtle_bot_simple.yaml b/elevation_mapping_cupy/config/setups/turtle_bot/turtle_bot_simple.yaml index 637a99ae..6d274f25 100644 --- a/elevation_mapping_cupy/config/setups/turtle_bot/turtle_bot_simple.yaml +++ b/elevation_mapping_cupy/config/setups/turtle_bot/turtle_bot_simple.yaml @@ -13,6 +13,7 @@ front_cam: topic_name: '/intel_realsense_r200_depth/points' data_type: pointcloud + channels: ['rgb'] publishers: elevation_map_raw: diff --git a/elevation_mapping_cupy/elevation_mapping_cupy/elevation_mapping_ros.py b/elevation_mapping_cupy/elevation_mapping_cupy/elevation_mapping_ros.py index 83f19ad4..5c0bf337 100644 --- a/elevation_mapping_cupy/elevation_mapping_cupy/elevation_mapping_ros.py +++ b/elevation_mapping_cupy/elevation_mapping_cupy/elevation_mapping_ros.py @@ -5,6 +5,7 @@ import rclpy from rclpy.node import Node +from rclpy.qos import QoSPresetProfiles from ament_index_python.packages import get_package_share_directory import ros2_numpy as rnp from sensor_msgs.msg import PointCloud2, Image, CameraInfo @@ -232,12 +233,15 @@ def register_subscribers(self) -> None: image_subs[key] = image_sync elif data_type == "pointcloud": topic_name = config.get("topic_name", "/pointcloud") - qos_profile = rclpy.qos.QoSProfile( - depth=10, - reliability=rclpy.qos.ReliabilityPolicy.BEST_EFFORT, - durability=rclpy.qos.DurabilityPolicy.VOLATILE, - history=rclpy.qos.HistoryPolicy.KEEP_LAST - ) + # qos_profile = rclpy.qos.QoSProfile( + # depth=10, + # reliability=rclpy.qos.ReliabilityPolicy.BEST_EFFORT, + # durability=rclpy.qos.DurabilityPolicy.VOLATILE, + # history=rclpy.qos.HistoryPolicy.KEEP_LAST + # ) + # qos_profile = QoSPresetProfiles.get_from_short_key("sensor_data") + # qos_profile = rclpy.qos.QoSProfile(depth=10) + qos_profile = 10 subscription = self.create_subscription( PointCloud2, topic_name, @@ -355,12 +359,14 @@ def image_callback(self, camera_msg: Image, camera_info_msg: CameraInfo, sub_key def pointcloud_callback(self, msg: PointCloud2, sub_key: str) -> None: self._last_t = msg.header.stamp - channels = ["x", "y", "z"] + self.param.subscriber_cfg[sub_key].get("channels", []) + # self.get_logger().info(f"Received pointcloud with {msg.width} points") + additional_channels = self.param.subscriber_cfg[sub_key].get("channels", []) + channels = ["x", "y", "z"] + additional_channels try: points = rnp.numpify(msg) except: return - if points['xyz'].size == 0: + if points['x'].size == 0: return frame_sensor_id = msg.header.frame_id transform_sensor_to_map = self.safe_lookup_transform( @@ -372,7 +378,16 @@ def pointcloud_callback(self, msg: PointCloud2, sub_key: str) -> None: q = transform_sensor_to_map.transform.rotation t_np = np.array([t.x, t.y, t.z], dtype=np.float32) R = quaternion_matrix([q.x, q.y, q.z, q.w])[:3, :3].astype(np.float32) - self._map.input_pointcloud(points['xyz'], channels, R, t_np, 0, 0) + pts = rnp.point_cloud2.get_xyz_points(points) + # TODO: This is probably expensive. Consider modifying rnp or input_pointcloud() + # Append additional channels to pts + for channel in additional_channels: + if channel in points.dtype.names: + data = points[channel] + if data.ndim == 1: + data = data[:, np.newaxis] + pts = np.hstack((pts, data)) + self._map.input_pointcloud(pts, channels, R, t_np, 0, 0) self._pointcloud_process_counter += 1 def pose_update(self) -> None: diff --git a/elevation_mapping_cupy/elevation_mapping_cupy/semantic_map.py b/elevation_mapping_cupy/elevation_mapping_cupy/semantic_map.py index a06b7361..390597b6 100644 --- a/elevation_mapping_cupy/elevation_mapping_cupy/semantic_map.py +++ b/elevation_mapping_cupy/elevation_mapping_cupy/semantic_map.py @@ -41,7 +41,7 @@ def __init__(self, param: Parameter): self.new_map = xp.zeros((self.amount_layer_names, self.param.cell_n, self.param.cell_n), param.data_type,) # which layers should be reset to zero at each update, per default everyone, # if a layer should not be reset, it is defined in compile_kernels function - self.delete_new_layers = cp.ones(self.new_map.shape[0], cp.bool8) + self.delete_new_layers = cp.ones(self.new_map.shape[0], cp.bool_) self.fusion_manager = FusionManager(self.param) def clear(self): @@ -94,7 +94,7 @@ def add_layer(self, name): self.new_map = cp.append( self.new_map, cp.zeros((1, self.param.cell_n, self.param.cell_n), dtype=self.param.data_type), axis=0, ) - self.delete_new_layers = cp.append(self.delete_new_layers, cp.array([1], dtype=cp.bool8)) + self.delete_new_layers = cp.append(self.delete_new_layers, cp.array([1], dtype=cp.bool_)) def pad_value(self, x, shift_value, idx=None, value=0.0): """Create a padding of the map along x,y-axis according to amount that has shifted. diff --git a/elevation_mapping_cupy/package.xml b/elevation_mapping_cupy/package.xml index e1bad0c5..4fa63b9f 100644 --- a/elevation_mapping_cupy/package.xml +++ b/elevation_mapping_cupy/package.xml @@ -7,7 +7,7 @@ MIT - ament_python + ament_cmake @@ -21,20 +21,31 @@ image_transport pcl_ros pybind11 + ros2_numpy + + numpy tf2_ros message_filters cv_bridge ament_index_python tf_transformations + rviz2 gazebo_ros robot_state_publisher + opencv-python + + + + cupy-cuda12x + simple-parsing + ament_python ament_python diff --git a/elevation_mapping_cupy/rviz/turtle_sim_laser.rviz b/elevation_mapping_cupy/rviz/turtle_sim_laser.rviz index 7b97d78c..2b4ecd2f 100644 --- a/elevation_mapping_cupy/rviz/turtle_sim_laser.rviz +++ b/elevation_mapping_cupy/rviz/turtle_sim_laser.rviz @@ -6,12 +6,8 @@ Panels: Expanded: - /Global Options1 - /Status1 - - /PointCloud21 - - /RobotModel1 - - /TF1 - - /GridMap1 Splitter Ratio: 0.5 - Tree Height: 272 + Tree Height: 551 - Class: rviz_common/Selection Name: Selection - Class: rviz_common/Tool Properties @@ -247,8 +243,9 @@ Visualization Manager: Value: /intel_realsense_r200_rgb/image_raw Value: false Visibility: - "": true Grid: true + GridMap: true + GridMapFiltered: true Image: true PointCloud2: true RobotModel: true @@ -256,7 +253,7 @@ Visualization Manager: Value: true Zoom Factor: 1 - Class: rviz_default_plugins/Image - Enabled: false + Enabled: true Max Value: 1 Median window: 5 Min Value: 0 @@ -268,7 +265,7 @@ Visualization Manager: History Policy: Keep Last Reliability Policy: Reliable Value: /intel_realsense_r200_depth/image_raw - Value: false + Value: true - Class: rviz_default_plugins/Image Enabled: true Max Value: 1 @@ -287,8 +284,8 @@ Visualization Manager: Autocompute Intensity Bounds: true Class: grid_map_rviz_plugin/GridMap Color: 200; 200; 200 - Color Layer: elevation - Color Transformer: IntensityLayer + Color Layer: rgb + Color Transformer: ColorLayer Enabled: true Height Layer: elevation Height Transformer: GridMapLayer @@ -306,13 +303,39 @@ Visualization Manager: Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable - Value: /elevation_mapping/elevation_map_raw + Value: /elevation_mapping_node/elevation_map_raw Use Rainbow: true Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Class: grid_map_rviz_plugin/GridMap + Color: 200; 200; 200 + Color Layer: elevation + Color Transformer: IntensityLayer + Enabled: false + Height Layer: smooth + Height Transformer: GridMapLayer + History Length: 1 + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 10 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: GridMapFiltered + Show Grid Lines: true + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /elevation_mapping_node/elevation_map_filter + Use Rainbow: true + Value: false Enabled: true Global Options: Background Color: 48; 48; 48 - Fixed Frame: base_footprint + Fixed Frame: odom Frame Rate: 30 Name: root Tools: @@ -355,37 +378,37 @@ Visualization Manager: Views: Current: Class: rviz_default_plugins/Orbit - Distance: 6.990833282470703 + Distance: 16.440555572509766 Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 Swap Stereo Eyes: false Value: false Focal Point: - X: 0.13978521525859833 - Y: 0.045054733753204346 - Z: 0.2562030851840973 + X: 1.3501025438308716 + Y: 2.9009647369384766 + Z: 0.35463666915893555 Focal Shape Fixed Size: true Focal Shape Size: 0.05000000074505806 Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Pitch: 0.3597964644432068 + Pitch: 0.6447965502738953 Target Frame: Value: Orbit (rviz) - Yaw: 3.0935845375061035 + Yaw: 2.8535845279693604 Saved: ~ Window Geometry: Camera: collapsed: false Displays: collapsed: false - Height: 846 + Height: 1314 Hide Left Dock: false Hide Right Dock: false Image: collapsed: false - QMainWindow State: 000000ff00000000fd000000040000000000000156000002b4fc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b00000199000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d0065007200610000000136000000f70000002800fffffffb0000000a0049006d0061006700650000000157000000d60000002800fffffffb0000000a0049006d00610067006501000001da000001150000002800ffffff000000010000010f000002b4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b000002b4000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b00000025300fffffffb0000000800540069006d006501000000000000045000000000000000000000023f000002b400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + QMainWindow State: 000000ff00000000fd00000004000000000000025f00000488fc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000002b0000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d0065007200610000000136000000f70000002800fffffffb0000000a0049006d0061006700650000000157000000d60000002800fffffffb0000000a0049006d00610067006501000002f1000001d20000002800ffffff000000010000010f00000488fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b00000488000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e1000001970000000300000a000000003efc0100000002fb0000000800540069006d0065010000000000000a000000025300fffffffb0000000800540069006d00650100000000000004500000000000000000000006860000048800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Selection: collapsed: false Time: @@ -394,6 +417,6 @@ Window Geometry: collapsed: false Views: collapsed: false - Width: 1200 - X: 60 - Y: 169 + Width: 2560 + X: 0 + Y: 27 diff --git a/plane_segmentation/cgal5_ament/package.xml b/plane_segmentation/cgal5_ament/package.xml index 672b22b3..d280c209 100644 --- a/plane_segmentation/cgal5_ament/package.xml +++ b/plane_segmentation/cgal5_ament/package.xml @@ -10,7 +10,7 @@ ament_cmake - Boost + boost diff --git a/plane_segmentation/grid_map_filters_rsl/CMakeLists.txt b/plane_segmentation/grid_map_filters_rsl/CMakeLists.txt index 515f0536..47a9f1a4 100644 --- a/plane_segmentation/grid_map_filters_rsl/CMakeLists.txt +++ b/plane_segmentation/grid_map_filters_rsl/CMakeLists.txt @@ -73,9 +73,9 @@ install(DIRECTORY include/${PROJECT_NAME}/ # Clang tools (optional) -find_package(cmake_clang_tools QUIET) -if(cmake_clang_tools_FOUND) - add_default_clang_tooling() -endif() +# find_package(cmake_clang_tools QUIET) +# if(cmake_clang_tools_FOUND) +# add_default_clang_tooling() +# endif() ament_package() \ No newline at end of file diff --git a/plane_segmentation/grid_map_filters_rsl/package.xml b/plane_segmentation/grid_map_filters_rsl/package.xml index fbea7dc0..786e5637 100644 --- a/plane_segmentation/grid_map_filters_rsl/package.xml +++ b/plane_segmentation/grid_map_filters_rsl/package.xml @@ -14,10 +14,10 @@ ament_cmake - cmake_clang_tools + grid_map_cv grid_map_core - Eigen3 + eigen rosidl_runtime_cpp diff --git a/sensor_processing/semantic_sensor/package.xml b/sensor_processing/semantic_sensor/package.xml index d789afb1..e4b66f31 100644 --- a/sensor_processing/semantic_sensor/package.xml +++ b/sensor_processing/semantic_sensor/package.xml @@ -9,7 +9,7 @@ https://github.com/leggedrobotics/elevation_mapping_semantic_cupy - ament_python + rclpy tf2_ros sensor_msgs @@ -18,6 +18,7 @@ python3 + ament_python From a3906932bbade6b1f039e49de529d08981129251 Mon Sep 17 00:00:00 2001 From: "W. Jacob Wagner" Date: Fri, 14 Feb 2025 14:31:34 -0600 Subject: [PATCH 476/504] Trying to get building in container with ros2 Mostly fixing rosdep names --- elevation_mapping_cupy/package.xml | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/elevation_mapping_cupy/package.xml b/elevation_mapping_cupy/package.xml index 4fa63b9f..2f27dede 100644 --- a/elevation_mapping_cupy/package.xml +++ b/elevation_mapping_cupy/package.xml @@ -39,9 +39,8 @@ opencv-python - - cupy-cuda12x + simple-parsing From ff7bc6471bb722e6001d77b71b61bcbcc5f33d0e Mon Sep 17 00:00:00 2001 From: "W. Jacob Wagner" Date: Fri, 14 Feb 2025 14:34:43 -0600 Subject: [PATCH 477/504] Got nominally working by messing with quality of service a bit --- .../rviz/turtle_sim_laser.rviz | 27 +++++++++++++++++++ 1 file changed, 27 insertions(+) diff --git a/elevation_mapping_cupy/rviz/turtle_sim_laser.rviz b/elevation_mapping_cupy/rviz/turtle_sim_laser.rviz index 2b4ecd2f..2b4544c1 100644 --- a/elevation_mapping_cupy/rviz/turtle_sim_laser.rviz +++ b/elevation_mapping_cupy/rviz/turtle_sim_laser.rviz @@ -243,6 +243,7 @@ Visualization Manager: Value: /intel_realsense_r200_rgb/image_raw Value: false Visibility: + "": true Grid: true GridMap: true GridMapFiltered: true @@ -305,6 +306,32 @@ Visualization Manager: Reliability Policy: Reliable Value: /elevation_mapping_node/elevation_map_raw Use Rainbow: true + Value: false + - Alpha: 1 + Autocompute Intensity Bounds: true + Class: grid_map_rviz_plugin/GridMap + Color: 200; 200; 200 + Color Layer: elevation + Color Transformer: IntensityLayer + Enabled: true + Height Layer: smooth + Height Transformer: GridMapLayer + History Length: 1 + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 10 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: GridMapFiltered + Show Grid Lines: true + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /elevation_mapping_node/elevation_map_filter + Use Rainbow: true Value: true - Alpha: 1 Autocompute Intensity Bounds: true From b6465a3fb8503a5582e270427090d6ee0d93792c Mon Sep 17 00:00:00 2001 From: "W. Jacob Wagner" Date: Fri, 14 Feb 2025 14:34:59 -0600 Subject: [PATCH 478/504] Enabling other layers e.g. rgb in pointcloud2 subscriber --- elevation_mapping_cupy/rviz/turtle_sim_laser.rviz | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/elevation_mapping_cupy/rviz/turtle_sim_laser.rviz b/elevation_mapping_cupy/rviz/turtle_sim_laser.rviz index 2b4544c1..eee8d140 100644 --- a/elevation_mapping_cupy/rviz/turtle_sim_laser.rviz +++ b/elevation_mapping_cupy/rviz/turtle_sim_laser.rviz @@ -243,7 +243,6 @@ Visualization Manager: Value: /intel_realsense_r200_rgb/image_raw Value: false Visibility: - "": true Grid: true GridMap: true GridMapFiltered: true @@ -306,14 +305,14 @@ Visualization Manager: Reliability Policy: Reliable Value: /elevation_mapping_node/elevation_map_raw Use Rainbow: true - Value: false + Value: true - Alpha: 1 Autocompute Intensity Bounds: true Class: grid_map_rviz_plugin/GridMap Color: 200; 200; 200 Color Layer: elevation Color Transformer: IntensityLayer - Enabled: true + Enabled: false Height Layer: smooth Height Transformer: GridMapLayer History Length: 1 From 6280caf65ffd6e138a6ddfd26d2db91d33fe6e69 Mon Sep 17 00:00:00 2001 From: "W. Jacob Wagner" Date: Fri, 14 Feb 2025 16:39:14 -0600 Subject: [PATCH 479/504] Got python version working again and cpp version building. Still need to test cpp version --- elevation_mapping_cupy/CMakeLists.txt | 71 ++++++++----------- .../elevation_mapping.py | 23 +++--- .../launch/elevation_mapping_turtle.launch.py | 2 +- elevation_mapping_cupy/package.xml | 12 ++-- .../resource/elevation_mapping_cupy | 0 .../elevation_mapping_node.py} | 0 6 files changed, 45 insertions(+), 63 deletions(-) delete mode 100644 elevation_mapping_cupy/resource/elevation_mapping_cupy rename elevation_mapping_cupy/{elevation_mapping_cupy/elevation_mapping_ros.py => scripts/elevation_mapping_node.py} (100%) mode change 100644 => 100755 diff --git a/elevation_mapping_cupy/CMakeLists.txt b/elevation_mapping_cupy/CMakeLists.txt index 11743e1a..e2a66c5c 100644 --- a/elevation_mapping_cupy/CMakeLists.txt +++ b/elevation_mapping_cupy/CMakeLists.txt @@ -5,10 +5,16 @@ project(elevation_mapping_cupy) # set(CMAKE_CXX_STANDARD 11) # set(CMAKE_CXX_STANDARD_REQUIRED ON) +# Default to C++14 +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 14) +endif() + # Compiler options if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") add_compile_options(-Wall -Wextra -Wpedantic) endif() + # Additional dependencies # find_package(Python COMPONENTS Interpreter Development) find_package(PythonInterp 3 REQUIRED) @@ -17,17 +23,17 @@ find_package(Eigen3 REQUIRED) find_package(OpenCV REQUIRED) # Find pybind11 - message([MAIN] "Found pybind11 v${pybind11_VERSION}: ${pybind11_INCLUDE_DIRS}") message([MAIN] "pybind11_INCLUDE_DIRS = ${pybind11_INCLUDE_DIRS}") message([MAIN] "pybind11_LIBRARIES = ${pybind11_LIBRARIES}") # Find ROS 2 dependencies -find_package(message_filters REQUIRED) find_package(ament_cmake REQUIRED) +find_package(ament_cmake_python REQUIRED) find_package(rclcpp REQUIRED) find_package(rclpy REQUIRED) find_package(builtin_interfaces REQUIRED) +find_package(message_filters REQUIRED) find_package(std_msgs REQUIRED) find_package(std_srvs REQUIRED) find_package(sensor_msgs REQUIRED) @@ -38,13 +44,9 @@ find_package(grid_map_ros REQUIRED) find_package(image_transport REQUIRED) find_package(pcl_ros REQUIRED) find_package(tf2_eigen REQUIRED) -find_package(ament_cmake_python REQUIRED) find_package(python_cmake_module REQUIRED) find_package(point_cloud_transport REQUIRED) -_ament_cmake_python_register_environment_hook() -ament_python_install_package(${PROJECT_NAME} PACKAGE_DIR script/${PROJECT_NAME}) - # List dependencies for ament_target_dependencies set(dependencies rclcpp @@ -92,52 +94,39 @@ target_link_libraries(elevation_mapping_node elevation_mapping_ros ${OpenCV_LIBR ament_target_dependencies(elevation_mapping_node ${dependencies}) +# Install targets Not sure if these other argrs are necessary +# install( +# TARGETS elevation_mapping_ros elevation_mapping_node +# DESTINATION lib/${PROJECT_NAME} +# ARCHIVE DESTINATION lib +# LIBRARY DESTINATION lib +# RUNTIME DESTINATION bin +# ) -# Install targets -install( - TARGETS elevation_mapping_node - DESTINATION lib/${PROJECT_NAME} - ARCHIVE DESTINATION lib - LIBRARY DESTINATION lib - RUNTIME DESTINATION bin -) - - -install(TARGETS - elevation_mapping_node +install(TARGETS elevation_mapping_ros elevation_mapping_node DESTINATION lib/${PROJECT_NAME} ) +# install(PROGRAMS +# DESTINATION lib/${PROJECT_NAME} +# ) +# Install launch, config, and rviz directories install( - TARGETS elevation_mapping_ros - DESTINATION lib/${PROJECT_NAME} - ARCHIVE DESTINATION lib - LIBRARY DESTINATION lib - RUNTIME DESTINATION bin + DIRECTORY launch config rviz + DESTINATION share/${PROJECT_NAME} ) +# TODO: Understand if this line is necessary +# _ament_cmake_python_register_environment_hook() +# For use as a Python module outside of ROS 2 +ament_python_install_package(${PROJECT_NAME}) - - -install(PROGRAMS +# Install the Python ROS 2 modules +install(PROGRAMS + scripts/elevation_mapping_node.py DESTINATION lib/${PROJECT_NAME} ) -# Install launch and config directories -install( - DIRECTORY launch config - DESTINATION share/${PROJECT_NAME} -) - - - -_ament_cmake_python_register_environment_hook() - - -# ament_python_install_package(script/${PROJECT_NAME}) -# ament_python_install_package(script/${PROJECT_NAME}) - - # Ament package declaration ament_package() diff --git a/elevation_mapping_cupy/elevation_mapping_cupy/elevation_mapping.py b/elevation_mapping_cupy/elevation_mapping_cupy/elevation_mapping.py index 70ecb9a0..48838da5 100644 --- a/elevation_mapping_cupy/elevation_mapping_cupy/elevation_mapping.py +++ b/elevation_mapping_cupy/elevation_mapping_cupy/elevation_mapping.py @@ -5,8 +5,6 @@ import os from typing import List, Any, Tuple, Union -import rclpy # Import rclpy for ROS 2 logging -from ament_index_python.packages import get_package_prefix import numpy as np import threading import subprocess @@ -17,7 +15,6 @@ ) from elevation_mapping_cupy.parameter import Parameter - from elevation_mapping_cupy.kernels import ( add_points_kernel, add_color_kernel, @@ -44,6 +41,7 @@ ) import cupy as cp +import rclpy # Import rclpy for ROS 2 logging xp = cp pool = cp.cuda.MemoryPool(cp.cuda.malloc_managed) @@ -61,6 +59,7 @@ def __init__(self, param: Parameter): """ # Initialize the ROS logger self.logger = rclpy.logging.get_logger('elevation_map') + self.param = param self.data_type = self.param.data_type self.resolution = param.resolution @@ -101,29 +100,24 @@ def __init__(self, param: Parameter): self.additive_mean_error = 0.0 self.compile_kernels() - self.logger.info("Finished compiling kernels.") + self.compile_image_kernels() - self.logger.info("Finished compiling image kernels.") + self.semantic_map.initialize_fusion() - self.logger.info("Finished compiling semantic_map kernels.") weight_file = subprocess.getoutput('echo "' + param.weight_file + '"') - package_prefix = get_package_prefix('elevation_mapping_cupy') - self.logger.info("weight file : ." + str(package_prefix) + str(weight_file)) - param.load_weights(package_prefix+weight_file) + param.load_weights(weight_file) if param.use_chainer: self.traversability_filter = get_filter_chainer(param.w1, param.w2, param.w3, param.w_out) else: self.traversability_filter = get_filter_torch(param.w1, param.w2, param.w3, param.w_out) - self.untraversable_polygon = xp.zeros((1, 2)) # Plugins self.plugin_manager = PluginManager(cell_n=self.cell_n) plugin_config_file = subprocess.getoutput('echo "' + param.plugin_config_file + '"') - self.logger.info("plugin file : ." + str(package_prefix) + str(plugin_config_file)) - self.plugin_manager.load_plugin_settings(package_prefix+plugin_config_file) + self.plugin_manager.load_plugin_settings(plugin_config_file) self.map_initializer = MapInitializer(self.initial_variance, param.initialized_variance, xp=cp, method="points") @@ -359,7 +353,7 @@ def update_map_with_kernel(self, points_all, channels, R, t, position_noise, ori error = cp.array([0.0], dtype=cp.float32) error_cnt = cp.array([0], dtype=cp.float32) points = points_all[:, :3] - # additional_fusion = self.get_fusion_of_pcl(channels) + with self.map_lock: self.shift_translation_to_map_center(t) @@ -982,8 +976,7 @@ def initialize_map(self, points, method="cubic"): plugin_config_file="../config/plugin_config.yaml", ) param.additional_layers = ["rgb", "grass", "tree", "people"] - # param.fusion_algorithms = ["color", "class_bayesian", "class_bayesian", "class_bayesian"] - param.fusion_algorithms = ["image_color", "pointcloud_color", "pointcloud_class_average"] + param.fusion_algorithms = ["color", "class_bayesian", "class_bayesian", "class_bayesian"] param.update() elevation = ElevationMap(param) layers = [ diff --git a/elevation_mapping_cupy/launch/elevation_mapping_turtle.launch.py b/elevation_mapping_cupy/launch/elevation_mapping_turtle.launch.py index 7c6b06c3..1d901933 100644 --- a/elevation_mapping_cupy/launch/elevation_mapping_turtle.launch.py +++ b/elevation_mapping_cupy/launch/elevation_mapping_turtle.launch.py @@ -47,7 +47,7 @@ def generate_launch_description(): ) elevation_mapping_node = Node( package='elevation_mapping_cupy', - executable='elevation_mapping_node', + executable='elevation_mapping_node.py', name='elevation_mapping_node', output='screen', parameters=[ diff --git a/elevation_mapping_cupy/package.xml b/elevation_mapping_cupy/package.xml index 894cbbe9..3dd01595 100644 --- a/elevation_mapping_cupy/package.xml +++ b/elevation_mapping_cupy/package.xml @@ -5,6 +5,7 @@ Elevation mapping on GPU Takahiro Miki MIT + ament_cmake ament_cmake_python @@ -15,7 +16,8 @@ std_srvs sensor_msgs geometry_msgs - point_cloud_transport + + point_cloud_transport message_filters elevation_map_msgs grid_map_msgs @@ -28,7 +30,6 @@ numpy tf2_ros - message_filters cv_bridge ament_index_python tf_transformations @@ -47,15 +48,14 @@ simple-parsing - - ament_python - ament_python + + ament_lint_auto ament_lint_common - ament_python + ament_cmake diff --git a/elevation_mapping_cupy/resource/elevation_mapping_cupy b/elevation_mapping_cupy/resource/elevation_mapping_cupy deleted file mode 100644 index e69de29b..00000000 diff --git a/elevation_mapping_cupy/elevation_mapping_cupy/elevation_mapping_ros.py b/elevation_mapping_cupy/scripts/elevation_mapping_node.py old mode 100644 new mode 100755 similarity index 100% rename from elevation_mapping_cupy/elevation_mapping_cupy/elevation_mapping_ros.py rename to elevation_mapping_cupy/scripts/elevation_mapping_node.py From 5423cecfeac1bb2f63f46de56c8b091329d53271 Mon Sep 17 00:00:00 2001 From: "W. Jacob Wagner" Date: Fri, 14 Feb 2025 16:39:36 -0600 Subject: [PATCH 480/504] remove ros from base python module fix import of param file --- .../elevation_mapping.py | 21 ------------------- .../launch/elevation_mapping_turtle.launch.py | 5 +++-- 2 files changed, 3 insertions(+), 23 deletions(-) diff --git a/elevation_mapping_cupy/elevation_mapping_cupy/elevation_mapping.py b/elevation_mapping_cupy/elevation_mapping_cupy/elevation_mapping.py index 48838da5..f76756d5 100644 --- a/elevation_mapping_cupy/elevation_mapping_cupy/elevation_mapping.py +++ b/elevation_mapping_cupy/elevation_mapping_cupy/elevation_mapping.py @@ -57,8 +57,6 @@ def __init__(self, param: Parameter): Args: param (elevation_mapping_cupy.parameter.Parameter): """ - # Initialize the ROS logger - self.logger = rclpy.logging.get_logger('elevation_map') self.param = param self.data_type = self.param.data_type @@ -243,25 +241,6 @@ def compile_kernels(self): self.min_filtered_mask = cp.zeros((self.cell_n, self.cell_n), dtype=self.data_type) self.mask = cp.zeros((self.cell_n, self.cell_n), dtype=self.data_type) - # Log parameter values before kernel initialization - self.logger.info("Initializing add_points_kernel with parameters:") - self.logger.info(f" resolution: {self.resolution}") - self.logger.info(f" cell_n: {self.cell_n}") - self.logger.info(f" sensor_noise_factor: {self.param.sensor_noise_factor}") - self.logger.info(f" mahalanobis_thresh: {self.param.mahalanobis_thresh}") - self.logger.info(f" outlier_variance: {self.param.outlier_variance}") - self.logger.info(f" wall_num_thresh: {self.param.wall_num_thresh}") - self.logger.info(f" max_ray_length: {self.param.max_ray_length}") - self.logger.info(f" cleanup_step: {self.param.cleanup_step}") - self.logger.info(f" min_valid_distance: {self.param.min_valid_distance}") - self.logger.info(f" max_height_range: {self.param.max_height_range}") - self.logger.info(f" cleanup_cos_thresh: {self.param.cleanup_cos_thresh}") - self.logger.info(f" ramped_height_range_a: {self.param.ramped_height_range_a}") - self.logger.info(f" ramped_height_range_b: {self.param.ramped_height_range_b}") - self.logger.info(f" ramped_height_range_c: {self.param.ramped_height_range_c}") - self.logger.info(f" enable_edge_sharpen: {self.param.enable_edge_sharpen}") - self.logger.info(f" enable_visibility_cleanup: {self.param.enable_visibility_cleanup}") - self.add_points_kernel = add_points_kernel( self.resolution, self.cell_n, diff --git a/elevation_mapping_cupy/launch/elevation_mapping_turtle.launch.py b/elevation_mapping_cupy/launch/elevation_mapping_turtle.launch.py index 1d901933..ca5fda23 100644 --- a/elevation_mapping_cupy/launch/elevation_mapping_turtle.launch.py +++ b/elevation_mapping_cupy/launch/elevation_mapping_turtle.launch.py @@ -4,6 +4,7 @@ from ament_index_python.packages import get_package_share_directory from launch.actions import DeclareLaunchArgument from launch.substitutions import LaunchConfiguration, PathJoinSubstitution +from launch_ros.descriptions import ParameterFile def generate_launch_description(): @@ -47,11 +48,11 @@ def generate_launch_description(): ) elevation_mapping_node = Node( package='elevation_mapping_cupy', - executable='elevation_mapping_node.py', + executable='elevation_mapping_node', name='elevation_mapping_node', output='screen', parameters=[ - core_param_path, + ParameterFile(core_param_path, allow_substs=True), turtle_param_path, {'use_sim_time': use_sim_time} ] From 0866290b6764e2a71c2b2d4e39b3a2fde3c85a27 Mon Sep 17 00:00:00 2001 From: "W. Jacob Wagner" Date: Fri, 14 Feb 2025 16:41:03 -0600 Subject: [PATCH 481/504] Cleaning up a bit fixing published map topic namespacing Got rid of some unused parameters --- .../config/core/core_param copy 2.yaml | 197 ------------------ .../config/core/core_param copy.yaml | 189 ----------------- .../config/core/core_param.yaml | 14 +- .../config/core/core_param_sim.yaml | 197 ------------------ .../elevation_mapping_cupy/parameter.py | 7 - .../src/elevation_mapping_ros.cpp | 4 +- 6 files changed, 9 insertions(+), 599 deletions(-) delete mode 100644 elevation_mapping_cupy/config/core/core_param copy 2.yaml delete mode 100644 elevation_mapping_cupy/config/core/core_param copy.yaml delete mode 100644 elevation_mapping_cupy/config/core/core_param_sim.yaml diff --git a/elevation_mapping_cupy/config/core/core_param copy 2.yaml b/elevation_mapping_cupy/config/core/core_param copy 2.yaml deleted file mode 100644 index 3a693641..00000000 --- a/elevation_mapping_cupy/config/core/core_param copy 2.yaml +++ /dev/null @@ -1,197 +0,0 @@ -elevation_mapping: - ros__parameters: - #### Basic parameters ######## - voxel_filter_size: 0.05 - enable_normal_arrow_publishing: true - cell_n: 40000 # number of cells in the map. - data_type: 'float32' # data type for the map. - average_weight: 0.5 - drift_compensation_variance_inlier: 0.1 - checker_layer: 'traversability' # layer name for checking the validity of the cell. - min_filter_size: 5 # size of the filter for min filter. - min_filter_iteration: 3 # number of iterations for min filter. - initialized_variance: 10.0 # initial variance for each cell. - resolution: 0.1 # resolution in m. - map_length: 20.0 # map's size in m. - sensor_noise_factor: 0.05 # point's noise is sensor_noise_factor*z^2 (z is distance from sensor). - mahalanobis_thresh: 2.0 # points outside this distance is outlier. - outlier_variance: 0.01 # if point is outlier, add this value to the cell. - drift_compensation_variance_inler: 0.05 # cells under this value is used for drift compensation. - max_drift: 0.1 # drift compensation happens only the drift is smaller than this value (for safety) - drift_compensation_alpha: 0.1 # drift compensation alpha for smoother update of drift compensation - time_variance: 0.0001 # add this value when update_variance is called. - max_variance: 100.0 # maximum variance for each cell. - initial_variance: 1000.0 # initial variance for each cell. - traversability_inlier: 0.9 # cells with higher traversability are used for drift compensation. - dilation_size: 3 # dilation filter size before traversability filter. - wall_num_thresh: 20 # if there are more points than this value, only higher points than the current height are used to make the wall more sharp. - min_height_drift_cnt: 100 # drift compensation only happens if the valid cells are more than this number. - position_noise_thresh: 0.01 # if the position change is bigger than this value, the drift compensation happens. - orientation_noise_thresh: 0.01 # if the orientation change is bigger than this value, the drift compensation happens. - position_lowpass_alpha: 0.2 # lowpass filter alpha used for detecting movements. - orientation_lowpass_alpha: 0.2 # lowpass filter alpha used for detecting movements. - min_valid_distance: 0.5 # points with shorter distance will be filtered out. - max_height_range: 1.0 # points higher than this value from sensor will be filtered out to disable ceiling. - ramped_height_range_a: 0.3 # if z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject. - ramped_height_range_b: 1.0 # if z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject. - ramped_height_range_c: 0.2 # if z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject. - update_variance_fps: 5.0 # fps for updating variance. - update_pose_fps: 10.0 # fps for updating pose and shift the center of map. - time_interval: 0.1 # Time layer is updated with this interval. - map_acquire_fps: 5.0 # Raw map is fetched from GPU memory in this fps. - publish_statistics_fps: 1.0 # Publish statistics topic in this fps. - - max_ray_length: 10.0 # maximum length for ray tracing. - cleanup_step: 0.1 # subtitute this value from validity layer at visibiltiy cleanup. - cleanup_cos_thresh: 0.1 # subtitute this value from validity layer at visibiltiy cleanup. - - safe_thresh: 0.7 # if traversability is smaller, it is counted as unsafe cell. - safe_min_thresh: 0.4 # polygon is unsafe if there exists lower traversability than this. - max_unsafe_n: 10 # if the number of cells under safe_thresh exceeds this value, polygon is unsafe. - - overlap_clear_range_xy: 4.0 # xy range [m] for clearing overlapped area. this defines the valid area for overlap clearance. (used for multi floor setting) - overlap_clear_range_z: 2.0 # z range [m] for clearing overlapped area. cells outside this range will be cleared. (used for multi floor setting) - pose_topic: '/odom' - map_frame: 'odom' # The map frame where the odometry source uses. - base_frame: 'base_link' # The robot's base frame. This frame will be a center of the map. - corrected_map_frame: 'odom' - - - - #### Feature toggles ######## - enable_edge_sharpen: true - enable_visibility_cleanup: true - enable_drift_compensation: true - enable_overlap_clearance: true - enable_pointcloud_publishing: false - enable_drift_corrected_TF_publishing: false - enable_normal_color: true # If true, the map contains 'color' layer corresponding to normal. Add 'color' layer to the publishers setting if you want to visualize. - - - #### Traversability filter ######## - use_chainer: false # Use chainer as a backend of traversability filter or pytorch. If false, it uses pytorch. pytorch requires ~2GB more GPU memory compared to chainer but runs faster. - weight_file: '/share/elevation_mapping_cupy/config/core/weights.dat' # Weight file for traversability filter - plugin_config_file: '/share/elevation_mapping_cupy/config/core/plugin_config.yaml' # Configuration file for the plugin. - #### Upper bound ######## - use_only_above_for_upper_bound: false - - #### Initializer ######## - initialize_method: 'linear' # Choose one from 'nearest', 'linear', 'cubic' - initialize_frame_id: ['base_footprint'] # One tf (like ['footprint'] ) initializes a square around it. - initialize_tf_offset: [0.0, 0.0, 0.0, 0.0] # z direction. Should be same number as initialize_frame_id. - dilation_size_initialize: 2 # dilation size after the init. - initialize_tf_grid_size: 0.5 # This is not used if number of tf is more than 3. - use_initializer_at_start: true # Use initializer when the node starts. - - #### Default Plugins ######## - - pointcloud_channel_fusions: - rgb: 'color' # 'color' fusion is used for the 'rgb' channel - default: 'average' # 'average' fusion is used for channels not listed here - - image_channel_fusions: - rgb: 'color' # 'color' fusion is used for the 'rgb' channel - default: 'exponential' # 'exponential' fusion is used for channels not listed here - feat_.*: 'exponential' # 'exponential' fusion is also used for any channel starting with 'feat_' Regular expressions can be used for channel names - - #### Subscribers ######## - # pointcloud_sensor_name: - # topic_name: '/sensor/pointcloud_semantic' - # data_type: pointcloud # pointcloud or image - # - # image_sensor_name: - # topic_name: '/camera/image_semantic' - # data_type: image # pointcloud or image - # camera_info_topic_name: '/camera/depth/camera_info' - # channel_info_topic_name: '/camera/channel_info' - - - subscribers: - pointcloud1: - # topic_name: '/ouster/points' - topic_name: '/a200/sensors/camera_0/points' - data_type: 'pointcloud' - image1: - topic_name: '/feat_processing_node/semantic_seg_feat' - info_name: '/feat_processing_node/a200/sensors/camera_0/color/camera_info_resized' - channel_name: '/feat_processing_node/feat_channel_info' - data_type: 'image' - # image2: - # topic_name: '/a200/sensors/camera_0/color/image' - # info_name: '/a200/sensors/camera_0/color/camera_info' - # data_type: 'image' - # channel_name: '/front_cam/channel_info' - - # channel_name: '/front_cam/channel_info' - - # image_topic2: '/camera/rgb/image_raw2' - # image_info2: '/camera/depth/camera_info2' - # image_channel_info1: '/front_cam/channel_info' - - # image: # for semantic images - # topic_name: '/front_cam/semantic_image' - # camera_info_topic_name: '/front_cam/camera/depth/camera_info_resized' - # channel_info_topic_name: '/front_cam/channel_info' - # data_type: image - - #### Publishers ######## - # topic_name: - # layers: # Choose from 'elevation', 'variance', 'traversability', 'time', 'normal_x', 'normal_y', 'normal_z', 'color', plugin_layer_names - # basic_layers: # basic_layers for valid cell computation (e.g. Rviz): Choose a subset of `layers`. - # fps: # Publish rate. Use smaller value than `map_acquire_fps`. - - publishers: - elevation_map_raw: - layers: ['elevation', 'traversability', 'variance','rgb', 'normal_x', 'normal_y', 'normal_z', 'feat_0','feat_1','feat_2','feat_3','feat_4'] - basic_layers: ['elevation'] - fps: 5.0 - elevation_map_recordable: - layers: ['elevation', 'traversability'] - basic_layers: ['elevation', 'traversability'] - fps: 2.0 - elevation_map_filter: - layers: ['min_filter', 'smooth', 'inpaint', 'elevation'] - basic_layers: ['min_filter'] - fps: 3.0 - - - # plugun info - - min_filter: - enable: True # whether to load this plugin - fill_nan: False # Fill nans to invalid cells of elevation layer. - is_height_layer: True # If this is a height layer (such as elevation) or not (such as traversability) - layer_name: "min_filter" # The layer name. - extra_params: # These params are passed to the plugin class on initialization. - dilation_size: 1 # The patch size to apply - iteration_n: 30 # The number of iterations - - # Apply smoothing. - smooth_filter: - enable: True - fill_nan: False - is_height_layer: True - layer_name: "smooth" - extra_params: - input_layer_name: "min_filter" - - # Apply inpainting using opencv - inpainting: - enable: True - fill_nan: False - is_height_layer: True - layer_name: "inpaint" - extra_params: - method: "telea" # telea or ns - - # Apply smoothing for inpainted layer - erosion: - enable: True - fill_nan: False - is_height_layer: False - layer_name: "erosion" - extra_params: - input_layer_name: "traversability" - dilation_size: 3 - iteration_n: 20 - reverse: True \ No newline at end of file diff --git a/elevation_mapping_cupy/config/core/core_param copy.yaml b/elevation_mapping_cupy/config/core/core_param copy.yaml deleted file mode 100644 index bf5f1cd4..00000000 --- a/elevation_mapping_cupy/config/core/core_param copy.yaml +++ /dev/null @@ -1,189 +0,0 @@ -elevation_mapping: - ros__parameters: - #### Basic parameters ######## - enable_normal_arrow_publishing: true - cell_n: 40000 # number of cells in the map. - data_type: 'float32' # data type for the map. - average_weight: 0.5 - drift_compensation_variance_inlier: 0.1 - checker_layer: 'traversability' # layer name for checking the validity of the cell. - min_filter_size: 5 # size of the filter for min filter. - min_filter_iteration: 3 # number of iterations for min filter. - initialized_variance: 10.0 # initial variance for each cell. - resolution: 0.1 # resolution in m. - map_length: 20.0 # map's size in m. - sensor_noise_factor: 0.05 # point's noise is sensor_noise_factor*z^2 (z is distance from sensor). - mahalanobis_thresh: 2.0 # points outside this distance is outlier. - outlier_variance: 0.01 # if point is outlier, add this value to the cell. - drift_compensation_variance_inler: 0.05 # cells under this value is used for drift compensation. - max_drift: 0.1 # drift compensation happens only the drift is smaller than this value (for safety) - drift_compensation_alpha: 0.1 # drift compensation alpha for smoother update of drift compensation - time_variance: 0.0001 # add this value when update_variance is called. - max_variance: 100.0 # maximum variance for each cell. - initial_variance: 1000.0 # initial variance for each cell. - traversability_inlier: 0.9 # cells with higher traversability are used for drift compensation. - dilation_size: 3 # dilation filter size before traversability filter. - wall_num_thresh: 20 # if there are more points than this value, only higher points than the current height are used to make the wall more sharp. - min_height_drift_cnt: 100 # drift compensation only happens if the valid cells are more than this number. - position_noise_thresh: 0.01 # if the position change is bigger than this value, the drift compensation happens. - orientation_noise_thresh: 0.01 # if the orientation change is bigger than this value, the drift compensation happens. - position_lowpass_alpha: 0.2 # lowpass filter alpha used for detecting movements. - orientation_lowpass_alpha: 0.2 # lowpass filter alpha used for detecting movements. - min_valid_distance: 0.5 # points with shorter distance will be filtered out. - max_height_range: 1.0 # points higher than this value from sensor will be filtered out to disable ceiling. - ramped_height_range_a: 0.3 # if z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject. - ramped_height_range_b: 1.0 # if z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject. - ramped_height_range_c: 0.2 # if z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject. - update_variance_fps: 5.0 # fps for updating variance. - update_pose_fps: 10.0 # fps for updating pose and shift the center of map. - time_interval: 0.1 # Time layer is updated with this interval. - map_acquire_fps: 5.0 # Raw map is fetched from GPU memory in this fps. - publish_statistics_fps: 1.0 # Publish statistics topic in this fps. - - max_ray_length: 10.0 # maximum length for ray tracing. - cleanup_step: 0.1 # subtitute this value from validity layer at visibiltiy cleanup. - cleanup_cos_thresh: 0.1 # subtitute this value from validity layer at visibiltiy cleanup. - - safe_thresh: 0.7 # if traversability is smaller, it is counted as unsafe cell. - safe_min_thresh: 0.4 # polygon is unsafe if there exists lower traversability than this. - max_unsafe_n: 10 # if the number of cells under safe_thresh exceeds this value, polygon is unsafe. - - overlap_clear_range_xy: 4.0 # xy range [m] for clearing overlapped area. this defines the valid area for overlap clearance. (used for multi floor setting) - overlap_clear_range_z: 2.0 # z range [m] for clearing overlapped area. cells outside this range will be cleared. (used for multi floor setting) - pose_topic: '/odom' - map_frame: 'odom' # The map frame where the odometry source uses. - base_frame: 'base_link' # The robot's base frame. This frame will be a center of the map. - corrected_map_frame: 'odom' - - - - #### Feature toggles ######## - enable_edge_sharpen: true - enable_visibility_cleanup: true - enable_drift_compensation: true - enable_overlap_clearance: true - enable_pointcloud_publishing: false - enable_drift_corrected_TF_publishing: false - enable_normal_color: true # If true, the map contains 'color' layer corresponding to normal. Add 'color' layer to the publishers setting if you want to visualize. - - - #### Traversability filter ######## - use_chainer: false # Use chainer as a backend of traversability filter or pytorch. If false, it uses pytorch. pytorch requires ~2GB more GPU memory compared to chainer but runs faster. - weight_file: '/share/elevation_mapping_cupy/config/core/weights.dat' # Weight file for traversability filter - plugin_config_file: '/share/elevation_mapping_cupy/config/core/plugin_config.yaml' # Configuration file for the plugin. - #### Upper bound ######## - use_only_above_for_upper_bound: false - - #### Initializer ######## - initialize_method: 'linear' # Choose one from 'nearest', 'linear', 'cubic' - initialize_frame_id: ['base_footprint'] # One tf (like ['footprint'] ) initializes a square around it. - initialize_tf_offset: [0.0, 0.0, 0.0, 0.0] # z direction. Should be same number as initialize_frame_id. - dilation_size_initialize: 2 # dilation size after the init. - initialize_tf_grid_size: 0.5 # This is not used if number of tf is more than 3. - use_initializer_at_start: true # Use initializer when the node starts. - - #### Default Plugins ######## - - pointcloud_channel_fusions: - rgb: 'color' # 'color' fusion is used for the 'rgb' channel - default: 'average' # 'average' fusion is used for channels not listed here - - image_channel_fusions: - rgb: 'color' # 'color' fusion is used for the 'rgb' channel - default: 'exponential' # 'exponential' fusion is used for channels not listed here - feat_.*: 'exponential' # 'exponential' fusion is also used for any channel starting with 'feat_' Regular expressions can be used for channel names - - #### Subscribers ######## - # pointcloud_sensor_name: - # topic_name: '/sensor/pointcloud_semantic' - # data_type: pointcloud # pointcloud or image - # - # image_sensor_name: - # topic_name: '/camera/image_semantic' - # data_type: image # pointcloud or image - # camera_info_topic_name: '/camera/depth/camera_info' - # channel_info_topic_name: '/camera/channel_info' - - - subscribers: - pointcloud1: - # topic_name: '/ouster/points' - topic_name: '/a200/sensors/camera_0/points' - data_type: 'pointcloud' - image1: - topic_name: '/a200/sensors/camera_0/color/image' - info_name: '/a200/sensors/camera_0/color/camera_info' - data_type: 'image' - # channel_name: '/front_cam/channel_info' - - # image_topic2: '/camera/rgb/image_raw2' - # image_info2: '/camera/depth/camera_info2' - # image_channel_info1: '/front_cam/channel_info' - - # image: # for semantic images - # topic_name: '/front_cam/semantic_image' - # camera_info_topic_name: '/front_cam/camera/depth/camera_info_resized' - # channel_info_topic_name: '/front_cam/channel_info' - # data_type: image - - #### Publishers ######## - # topic_name: - # layers: # Choose from 'elevation', 'variance', 'traversability', 'time', 'normal_x', 'normal_y', 'normal_z', 'color', plugin_layer_names - # basic_layers: # basic_layers for valid cell computation (e.g. Rviz): Choose a subset of `layers`. - # fps: # Publish rate. Use smaller value than `map_acquire_fps`. - - publishers: - elevation_map_raw: - layers: ['elevation', 'traversability', 'variance','rgb', 'normal_x', 'normal_y', 'normal_z'] - basic_layers: ['elevation'] - fps: 5.0 - elevation_map_recordable: - layers: ['elevation', 'traversability'] - basic_layers: ['elevation', 'traversability'] - fps: 2.0 - elevation_map_filter: - layers: ['min_filter', 'smooth', 'inpaint', 'elevation'] - basic_layers: ['min_filter'] - fps: 3.0 - - - # plugun info - - min_filter: - enable: True # whether to load this plugin - fill_nan: False # Fill nans to invalid cells of elevation layer. - is_height_layer: True # If this is a height layer (such as elevation) or not (such as traversability) - layer_name: "min_filter" # The layer name. - extra_params: # These params are passed to the plugin class on initialization. - dilation_size: 1 # The patch size to apply - iteration_n: 30 # The number of iterations - - # Apply smoothing. - smooth_filter: - enable: True - fill_nan: False - is_height_layer: True - layer_name: "smooth" - extra_params: - input_layer_name: "min_filter" - - # Apply inpainting using opencv - inpainting: - enable: True - fill_nan: False - is_height_layer: True - layer_name: "inpaint" - extra_params: - method: "telea" # telea or ns - - # Apply smoothing for inpainted layer - erosion: - enable: True - fill_nan: False - is_height_layer: False - layer_name: "erosion" - extra_params: - input_layer_name: "traversability" - dilation_size: 3 - iteration_n: 20 - reverse: True \ No newline at end of file diff --git a/elevation_mapping_cupy/config/core/core_param.yaml b/elevation_mapping_cupy/config/core/core_param.yaml index 667be92a..64b501bd 100644 --- a/elevation_mapping_cupy/config/core/core_param.yaml +++ b/elevation_mapping_cupy/config/core/core_param.yaml @@ -1,14 +1,12 @@ elevation_mapping_node: ros__parameters: #### Basic parameters ######## - # voxel_filter_size: 0.1 - # average_weight: 0.5 - # drift_compensation_variance_inlier: 0.1 - # checker_layer: 'elevation' # layer name for checking the validity of the cell. - # min_filter_size: 5 # size of the filter for min filter. - # min_filter_iteration: 3 # number of iterations for min filter. - # initialized_variance: 10.0 # initial variance for each cell. - resolution: 0.25 # resolution in m. + voxel_filter_size: 0.1 + average_weight: 0.5 + drift_compensation_variance_inlier: 0.1 + checker_layer: 'elevation' # layer name for checking the validity of the cell. + initialized_variance: 10.0 # initial variance for each cell. + resolution: 0.1 # resolution in m. map_length: 20.0 # map's size in m. sensor_noise_factor: 0.05 # point's noise is sensor_noise_factor*z^2 (z is distance from sensor). mahalanobis_thresh: 2.0 # points outside this distance is outlier. diff --git a/elevation_mapping_cupy/config/core/core_param_sim.yaml b/elevation_mapping_cupy/config/core/core_param_sim.yaml deleted file mode 100644 index acfedb86..00000000 --- a/elevation_mapping_cupy/config/core/core_param_sim.yaml +++ /dev/null @@ -1,197 +0,0 @@ -elevation_mapping: - ros__parameters: - #### Basic parameters ######## - voxel_filter_size: 0.05 - enable_normal_arrow_publishing: true - cell_n: 40000 # number of cells in the map. - data_type: 'float32' # data type for the map. - average_weight: 0.5 - drift_compensation_variance_inlier: 0.1 - checker_layer: 'traversability' # layer name for checking the validity of the cell. - min_filter_size: 5 # size of the filter for min filter. - min_filter_iteration: 3 # number of iterations for min filter. - initialized_variance: 10.0 # initial variance for each cell. - resolution: 0.1 # resolution in m. - map_length: 20.0 # map's size in m. - sensor_noise_factor: 0.05 # point's noise is sensor_noise_factor*z^2 (z is distance from sensor). - mahalanobis_thresh: 2.0 # points outside this distance is outlier. - outlier_variance: 0.01 # if point is outlier, add this value to the cell. - drift_compensation_variance_inler: 0.05 # cells under this value is used for drift compensation. - max_drift: 0.1 # drift compensation happens only the drift is smaller than this value (for safety) - drift_compensation_alpha: 0.1 # drift compensation alpha for smoother update of drift compensation - time_variance: 0.0001 # add this value when update_variance is called. - max_variance: 100.0 # maximum variance for each cell. - initial_variance: 1000.0 # initial variance for each cell. - traversability_inlier: 0.9 # cells with higher traversability are used for drift compensation. - dilation_size: 3 # dilation filter size before traversability filter. - wall_num_thresh: 20 # if there are more points than this value, only higher points than the current height are used to make the wall more sharp. - min_height_drift_cnt: 100 # drift compensation only happens if the valid cells are more than this number. - position_noise_thresh: 0.01 # if the position change is bigger than this value, the drift compensation happens. - orientation_noise_thresh: 0.01 # if the orientation change is bigger than this value, the drift compensation happens. - position_lowpass_alpha: 0.2 # lowpass filter alpha used for detecting movements. - orientation_lowpass_alpha: 0.2 # lowpass filter alpha used for detecting movements. - min_valid_distance: 0.5 # points with shorter distance will be filtered out. - max_height_range: 1.0 # points higher than this value from sensor will be filtered out to disable ceiling. - ramped_height_range_a: 0.3 # if z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject. - ramped_height_range_b: 1.0 # if z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject. - ramped_height_range_c: 0.2 # if z > max(d - ramped_height_range_b, 0) * ramped_height_range_a + ramped_height_range_c, reject. - update_variance_fps: 5.0 # fps for updating variance. - update_pose_fps: 10.0 # fps for updating pose and shift the center of map. - time_interval: 0.1 # Time layer is updated with this interval. - map_acquire_fps: 5.0 # Raw map is fetched from GPU memory in this fps. - publish_statistics_fps: 1.0 # Publish statistics topic in this fps. - - max_ray_length: 10.0 # maximum length for ray tracing. - cleanup_step: 0.1 # subtitute this value from validity layer at visibiltiy cleanup. - cleanup_cos_thresh: 0.1 # subtitute this value from validity layer at visibiltiy cleanup. - - safe_thresh: 0.7 # if traversability is smaller, it is counted as unsafe cell. - safe_min_thresh: 0.4 # polygon is unsafe if there exists lower traversability than this. - max_unsafe_n: 10 # if the number of cells under safe_thresh exceeds this value, polygon is unsafe. - - overlap_clear_range_xy: 4.0 # xy range [m] for clearing overlapped area. this defines the valid area for overlap clearance. (used for multi floor setting) - overlap_clear_range_z: 2.0 # z range [m] for clearing overlapped area. cells outside this range will be cleared. (used for multi floor setting) - pose_topic: '/a200/robot/gt_odom' - map_frame: 'map' # The map frame where the odometry source uses. - base_frame: 'base_link' # The robot's base frame. This frame will be a center of the map. - corrected_map_frame: 'map_corrected' # The map frame where the drift corrected map is published. - - - - #### Feature toggles ######## - enable_edge_sharpen: true - enable_visibility_cleanup: true - enable_drift_compensation: true - enable_overlap_clearance: true - enable_pointcloud_publishing: false - enable_drift_corrected_TF_publishing: false - enable_normal_color: true # If true, the map contains 'color' layer corresponding to normal. Add 'color' layer to the publishers setting if you want to visualize. - - - #### Traversability filter ######## - use_chainer: false # Use chainer as a backend of traversability filter or pytorch. If false, it uses pytorch. pytorch requires ~2GB more GPU memory compared to chainer but runs faster. - weight_file: '/share/elevation_mapping_cupy/config/core/weights.dat' # Weight file for traversability filter - plugin_config_file: '/share/elevation_mapping_cupy/config/core/plugin_config.yaml' # Configuration file for the plugin. - #### Upper bound ######## - use_only_above_for_upper_bound: false - - #### Initializer ######## - initialize_method: 'linear' # Choose one from 'nearest', 'linear', 'cubic' - initialize_frame_id: ['base_link'] # One tf (like ['footprint'] ) initializes a square around it. - initialize_tf_offset: [0.0, 0.0, 0.0, 0.0] # z direction. Should be same number as initialize_frame_id. - dilation_size_initialize: 2 # dilation size after the init. - initialize_tf_grid_size: 0.5 # This is not used if number of tf is more than 3. - use_initializer_at_start: true # Use initializer when the node starts. - - #### Default Plugins ######## - - pointcloud_channel_fusions: - rgb: 'color' # 'color' fusion is used for the 'rgb' channel - default: 'latest' # 'average' fusion is used for channels not listed here - - image_channel_fusions: - rgb: 'color' # 'color' fusion is used for the 'rgb' channel - default: 'latest' # 'exponential' fusion is used for channels not listed here - feat_.*: 'latest' # 'exponential' fusion is also used for any channel starting with 'feat_' Regular expressions can be used for channel names - - #### Subscribers ######## - # pointcloud_sensor_name: - # topic_name: '/sensor/pointcloud_semantic' - # data_type: pointcloud # pointcloud or image - # - # image_sensor_name: - # topic_name: '/camera/image_semantic' - # data_type: image # pointcloud or image - # camera_info_topic_name: '/camera/depth/camera_info' - # channel_info_topic_name: '/camera/channel_info' - - - subscribers: - pointcloud1: - # topic_name: '/ouster/points' - topic_name: '/a200/sensors/camera_0/points' - data_type: 'pointcloud' - image1: - topic_name: '/feat_processing_node/semantic_seg_feat' - info_name: '/feat_processing_node/a200/sensors/camera_0/color/camera_info_resized' - channel_name: '/feat_processing_node/feat_channel_info' - data_type: 'image' - # image2: - # topic_name: '/a200/sensors/camera_0/color/image' - # info_name: '/a200/sensors/camera_0/color/camera_info' - # data_type: 'image' - # channel_name: '/front_cam/channel_info' - - # channel_name: '/front_cam/channel_info' - - # image_topic2: '/camera/rgb/image_raw2' - # image_info2: '/camera/depth/camera_info2' - # image_channel_info1: '/front_cam/channel_info' - - # image: # for semantic images - # topic_name: '/front_cam/semantic_image' - # camera_info_topic_name: '/front_cam/camera/depth/camera_info_resized' - # channel_info_topic_name: '/front_cam/channel_info' - # data_type: image - - #### Publishers ######## - # topic_name: - # layers: # Choose from 'elevation', 'variance', 'traversability', 'time', 'normal_x', 'normal_y', 'normal_z', 'color', plugin_layer_names - # basic_layers: # basic_layers for valid cell computation (e.g. Rviz): Choose a subset of `layers`. - # fps: # Publish rate. Use smaller value than `map_acquire_fps`. - - publishers: - elevation_map_raw: - layers: ['elevation', 'traversability', 'variance','rgb', 'normal_x', 'normal_y', 'normal_z', 'feat_0','feat_1','feat_2','feat_3','feat_4'] - basic_layers: ['elevation'] - fps: 5.0 - elevation_map_recordable: - layers: ['elevation', 'traversability'] - basic_layers: ['elevation', 'traversability'] - fps: 2.0 - elevation_map_filter: - layers: ['min_filter', 'smooth', 'inpaint', 'elevation'] - basic_layers: ['min_filter'] - fps: 3.0 - - - # plugun info - - min_filter: - enable: True # whether to load this plugin - fill_nan: False # Fill nans to invalid cells of elevation layer. - is_height_layer: True # If this is a height layer (such as elevation) or not (such as traversability) - layer_name: "min_filter" # The layer name. - extra_params: # These params are passed to the plugin class on initialization. - dilation_size: 1 # The patch size to apply - iteration_n: 30 # The number of iterations - - # Apply smoothing. - smooth_filter: - enable: True - fill_nan: False - is_height_layer: True - layer_name: "smooth" - extra_params: - input_layer_name: "min_filter" - - # Apply inpainting using opencv - inpainting: - enable: True - fill_nan: False - is_height_layer: True - layer_name: "inpaint" - extra_params: - method: "telea" # telea or ns - - # Apply smoothing for inpainted layer - erosion: - enable: True - fill_nan: False - is_height_layer: False - layer_name: "erosion" - extra_params: - input_layer_name: "traversability" - dilation_size: 3 - iteration_n: 20 - reverse: True \ No newline at end of file diff --git a/elevation_mapping_cupy/elevation_mapping_cupy/parameter.py b/elevation_mapping_cupy/elevation_mapping_cupy/parameter.py index dea7e01e..059fbb4c 100644 --- a/elevation_mapping_cupy/elevation_mapping_cupy/parameter.py +++ b/elevation_mapping_cupy/elevation_mapping_cupy/parameter.py @@ -84,10 +84,6 @@ class Parameter(Serializable): (Default: ``20``) checker_layer: Layer used for checking safety. (Default: ``"traversability"``) - min_filter_size: The minimum size for the filter. - (Default: ``5``) - min_filter_iteration: The minimum number of iterations for the filter. - (Default: ``3``) max_drift: The maximum drift for the compensation. (Default: ``0.10``) overlap_clear_range_xy: XY range [m] for clearing overlapped area. This defines the valid area for overlap clearance. (used for multi floor setting) @@ -193,9 +189,6 @@ class Parameter(Serializable): max_unsafe_n: int = 20 # if the number of cells under safe_thresh exceeds this value, polygon is unsafe. checker_layer: str = "traversability" # layer used for checking safety - min_filter_size: int = 5 # minimum size for the filter - min_filter_iteration: int = 3 # minimum number of iterations for the filter - max_drift: float = 0.10 # maximum drift for the compensation overlap_clear_range_xy: float = 4.0 # xy range [m] for clearing overlapped area. this defines the valid area for overlap clearance. (used for multi floor setting) diff --git a/elevation_mapping_cupy/src/elevation_mapping_ros.cpp b/elevation_mapping_cupy/src/elevation_mapping_ros.cpp index aba48d1b..e5f766c8 100644 --- a/elevation_mapping_cupy/src/elevation_mapping_ros.cpp +++ b/elevation_mapping_cupy/src/elevation_mapping_ros.cpp @@ -233,9 +233,11 @@ ElevationMappingNode::ElevationMappingNode() auto unique_pub_names = extract_unique_names(publisher_params); + std::string node_name = this->get_name(); for (const auto& pub_name : unique_pub_names) { - std::string topic_name = pub_name; + // Namespacing published topics under node_name + std::string topic_name = node_name + "/" + pub_name; double fps; std::vector layers_list; std::vector basic_layers_list; From 02ad5b21e5c5f4c5bca106a6805a10084a1c093c Mon Sep 17 00:00:00 2001 From: "W. Jacob Wagner" Date: Fri, 14 Feb 2025 16:41:39 -0600 Subject: [PATCH 482/504] added ability to launch python or cpp turtle example --- .../launch/elevation_mapping_turtle.launch.py | 32 +++++++++++++++++-- 1 file changed, 29 insertions(+), 3 deletions(-) diff --git a/elevation_mapping_cupy/launch/elevation_mapping_turtle.launch.py b/elevation_mapping_cupy/launch/elevation_mapping_turtle.launch.py index ca5fda23..92ac9d72 100644 --- a/elevation_mapping_cupy/launch/elevation_mapping_turtle.launch.py +++ b/elevation_mapping_cupy/launch/elevation_mapping_turtle.launch.py @@ -3,7 +3,8 @@ from launch_ros.actions import Node from ament_index_python.packages import get_package_share_directory from launch.actions import DeclareLaunchArgument -from launch.substitutions import LaunchConfiguration, PathJoinSubstitution +from launch.substitutions import LaunchConfiguration, PathJoinSubstitution, PythonExpression +from launch.conditions import IfCondition, UnlessCondition from launch_ros.descriptions import ParameterFile @@ -37,6 +38,13 @@ def generate_launch_description(): ) rviz_config = LaunchConfiguration('rviz_config') + use_python_node_arg = DeclareLaunchArgument( + 'use_python_node', + default_value='false', + description='Use the Python node if true' + ) + use_python_node = LaunchConfiguration('use_python_node') + # RViz Node rviz_node = Node( package='rviz2', @@ -46,6 +54,20 @@ def generate_launch_description(): parameters=[{'use_sim_time': use_sim_time}], output='screen' ) + elevation_mapping_node_py = Node( + package='elevation_mapping_cupy', + executable='elevation_mapping_node.py', + name='elevation_mapping_node', + output='screen', + parameters=[ + ParameterFile(core_param_path, allow_substs=True), + turtle_param_path, + {'use_sim_time': use_sim_time} + ], + condition=IfCondition(use_python_node) + # condition=IfCondition(PythonExpression(use_python_node)) + ) + elevation_mapping_node = Node( package='elevation_mapping_cupy', executable='elevation_mapping_node', @@ -55,12 +77,16 @@ def generate_launch_description(): ParameterFile(core_param_path, allow_substs=True), turtle_param_path, {'use_sim_time': use_sim_time} - ] - ) + ], + condition=UnlessCondition(use_python_node) + # condition=UnlessCondition(PythonExpression(use_python_node)) + ) return LaunchDescription([ use_sim_time_arg, rviz_config_arg, + use_python_node_arg, + elevation_mapping_node_py, elevation_mapping_node, rviz_node ]) From f737e8af6ae78452e5394ede61ad1952d5b4488f Mon Sep 17 00:00:00 2001 From: "W. Jacob Wagner" Date: Fri, 14 Feb 2025 16:42:10 -0600 Subject: [PATCH 483/504] Made some changes to allow switching between ament_python and ament_cmake_python. Currently requires comment in and out parts of package.xml Idea is that if you don't want the cpp package you could just use the python one without building using cmake --- elevation_mapping_cupy/README.md | 4 ++-- .../elevation_mapping_cupy/elevation_mapping_node.py | 1 + elevation_mapping_cupy/package.xml | 9 ++++++++- elevation_mapping_cupy/resource/elevation_mapping_cupy | 0 elevation_mapping_cupy/setup.py | 3 ++- 5 files changed, 13 insertions(+), 4 deletions(-) create mode 120000 elevation_mapping_cupy/elevation_mapping_cupy/elevation_mapping_node.py create mode 100644 elevation_mapping_cupy/resource/elevation_mapping_cupy diff --git a/elevation_mapping_cupy/README.md b/elevation_mapping_cupy/README.md index fe60536e..69d48e9d 100644 --- a/elevation_mapping_cupy/README.md +++ b/elevation_mapping_cupy/README.md @@ -32,7 +32,7 @@ Now launch the turtlebot3 in Gazebo with the following command: ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py ``` -Launch the elevation mapping node with the configs for the turtle: +Launch the elevation mapping node with the configs for the turtle. Set use_python_node to true to use it instead of the cpp node: ```bash -ros2 launch elevation_mapping_cupy elevation_mapping_turtle.launch.py +ros2 launch elevation_mapping_cupy elevation_mapping_turtle.launch.py use_python_node:=false ``` \ No newline at end of file diff --git a/elevation_mapping_cupy/elevation_mapping_cupy/elevation_mapping_node.py b/elevation_mapping_cupy/elevation_mapping_cupy/elevation_mapping_node.py new file mode 120000 index 00000000..e586b9ef --- /dev/null +++ b/elevation_mapping_cupy/elevation_mapping_cupy/elevation_mapping_node.py @@ -0,0 +1 @@ +/workspaces/reo-ws/src/mapping/elevation_mapping_cupy/elevation_mapping_cupy/scripts/elevation_mapping_node.py \ No newline at end of file diff --git a/elevation_mapping_cupy/package.xml b/elevation_mapping_cupy/package.xml index 3dd01595..f65efb19 100644 --- a/elevation_mapping_cupy/package.xml +++ b/elevation_mapping_cupy/package.xml @@ -6,11 +6,16 @@ Takahiro Miki MIT + ament_cmake ament_cmake_python + + + rclpy + rclcpp std_msgs std_srvs @@ -55,8 +60,10 @@ ament_lint_common - + ament_cmake + + \ No newline at end of file diff --git a/elevation_mapping_cupy/resource/elevation_mapping_cupy b/elevation_mapping_cupy/resource/elevation_mapping_cupy new file mode 100644 index 00000000..e69de29b diff --git a/elevation_mapping_cupy/setup.py b/elevation_mapping_cupy/setup.py index 493eef6c..6cd48a96 100644 --- a/elevation_mapping_cupy/setup.py +++ b/elevation_mapping_cupy/setup.py @@ -19,10 +19,11 @@ tests_require=['pytest'], entry_points={ 'console_scripts': [ - 'elevation_mapping_node = elevation_mapping_cupy.elevation_mapping_ros:main', + 'elevation_mapping_node.py = elevation_mapping_cupy.elevation_mapping_node:main', ], }, data_files=[ + ('share/ament_index/resource_index/packages',['resource/' + package_name]), (os.path.join('share', package_name, 'launch'), glob('launch/*.launch.py')), *[(os.path.join('share', package_name, os.path.dirname(yaml_file)), [yaml_file]) for yaml_file in glob('config/**/*.yaml', recursive=True)], # also the .*dat files From d29b1532506b15d47e7f04df93224aacdd94a88e Mon Sep 17 00:00:00 2001 From: "W. Jacob Wagner" Date: Fri, 14 Feb 2025 16:43:49 -0600 Subject: [PATCH 484/504] Added instructions for testing with teleop --- elevation_mapping_cupy/README.md | 5 ++++ .../rviz/turtle_sim_laser.rviz | 29 ++++++++++--------- 2 files changed, 20 insertions(+), 14 deletions(-) diff --git a/elevation_mapping_cupy/README.md b/elevation_mapping_cupy/README.md index 69d48e9d..05509b58 100644 --- a/elevation_mapping_cupy/README.md +++ b/elevation_mapping_cupy/README.md @@ -35,4 +35,9 @@ ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py Launch the elevation mapping node with the configs for the turtle. Set use_python_node to true to use it instead of the cpp node: ```bash ros2 launch elevation_mapping_cupy elevation_mapping_turtle.launch.py use_python_node:=false +``` + +If you want to drive the turtlebot around using the keyboard then run: +```bash +ros2 run turtlebot3_teleop teleop_keyboard ``` \ No newline at end of file diff --git a/elevation_mapping_cupy/rviz/turtle_sim_laser.rviz b/elevation_mapping_cupy/rviz/turtle_sim_laser.rviz index 2b4ecd2f..8f247cfd 100644 --- a/elevation_mapping_cupy/rviz/turtle_sim_laser.rviz +++ b/elevation_mapping_cupy/rviz/turtle_sim_laser.rviz @@ -7,7 +7,7 @@ Panels: - /Global Options1 - /Status1 Splitter Ratio: 0.5 - Tree Height: 551 + Tree Height: 336 - Class: rviz_common/Selection Name: Selection - Class: rviz_common/Tool Properties @@ -19,6 +19,7 @@ Panels: - Class: rviz_common/Views Expanded: - /Current View1 + - /Current View1/Focal Point1 Name: Views Splitter Ratio: 0.5 - Class: rviz_common/Time @@ -377,38 +378,38 @@ Visualization Manager: Value: true Views: Current: - Class: rviz_default_plugins/Orbit - Distance: 16.440555572509766 + Class: rviz_default_plugins/ThirdPersonFollower + Distance: 3.38887095451355 Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 Swap Stereo Eyes: false Value: false Focal Point: - X: 1.3501025438308716 - Y: 2.9009647369384766 - Z: 0.35463666915893555 + X: -0.7572358250617981 + Y: -0.10913658142089844 + Z: -0.018636569380760193 Focal Shape Fixed Size: true Focal Shape Size: 0.05000000074505806 Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Pitch: 0.6447965502738953 - Target Frame: - Value: Orbit (rviz) - Yaw: 2.8535845279693604 + Pitch: 0.6897954940795898 + Target Frame: base_link + Value: ThirdPersonFollower (rviz_default_plugins) + Yaw: 3.08858585357666 Saved: ~ Window Geometry: Camera: collapsed: false Displays: collapsed: false - Height: 1314 + Height: 954 Hide Left Dock: false Hide Right Dock: false Image: collapsed: false - QMainWindow State: 000000ff00000000fd00000004000000000000025f00000488fc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000002b0000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d0065007200610000000136000000f70000002800fffffffb0000000a0049006d0061006700650000000157000000d60000002800fffffffb0000000a0049006d00610067006501000002f1000001d20000002800ffffff000000010000010f00000488fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b00000488000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e1000001970000000300000a000000003efc0100000002fb0000000800540069006d0065010000000000000a000000025300fffffffb0000000800540069006d00650100000000000004500000000000000000000006860000048800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + QMainWindow State: 000000ff00000000fd00000004000000000000025f00000320fc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000001d9000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d0065007200610000000136000000f70000002800fffffffb0000000a0049006d0061006700650000000157000000d60000002800fffffffb0000000a0049006d006100670065010000021a000001410000002800ffffff000000010000010f00000320fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b00000320000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003efc0100000002fb0000000800540069006d00650100000000000007800000025300fffffffb0000000800540069006d00650100000000000004500000000000000000000004060000032000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Selection: collapsed: false Time: @@ -417,6 +418,6 @@ Window Geometry: collapsed: false Views: collapsed: false - Width: 2560 - X: 0 + Width: 1920 + X: 1920 Y: 27 From 4c34b3aca1ed457c86f22c5df9c3f50173bb88a3 Mon Sep 17 00:00:00 2001 From: "W. Jacob Wagner" Date: Fri, 14 Feb 2025 16:48:54 -0600 Subject: [PATCH 485/504] WIP updating docker --- .devcontainer/devcontainer.json | 70 +++++++++ docker/Dockerfile.x64 | 254 ++++++++++++++++++++++++++------ docker/setup.sh | 7 + docker/src.repos | 15 ++ 4 files changed, 300 insertions(+), 46 deletions(-) create mode 100644 .devcontainer/devcontainer.json create mode 100755 docker/setup.sh create mode 100644 docker/src.repos diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json new file mode 100644 index 00000000..5b0d02a1 --- /dev/null +++ b/.devcontainer/devcontainer.json @@ -0,0 +1,70 @@ +// See https://aka.ms/vscode-remote/devcontainer.json for format details. +{ + "name": "Demo Elevation Mapping CUPY Workspace", + "dockerFile": "../docker/Dockerfile.x64", + "context": "../", + "remoteUser": "ros", + "runArgs": [ + "--network=host", + "--cap-add=SYS_PTRACE", + "--cap-add=SYS_NICE", + "--security-opt=seccomp:unconfined", + "--security-opt=apparmor:unconfined", + // "--volume=/tmp/.X11-unix:/tmp/.X11-unix", + "--volume=/mnt/wslg:/mnt/wslg", + "--ipc=host", + "--pid=host", + "--runtime=nvidia", + "--gpus=all", + "--privileged", + "--ulimit=rtprio=98", + "--ulimit=rttime=-1", + "--ulimit=memlock=8428281856", + "--name=emcupy-ros2-devcontainer" + ], + "containerEnv": { + "DISPLAY": "${localEnv:DISPLAY}", // Needed for GUI try ":0" for windows + "WAYLAND_DISPLAY": "${localEnv:WAYLAND_DISPLAY}", + "XDG_RUNTIME_DIR": "${localEnv:XDG_RUNTIME_DIR}", + "PULSE_SERVER": "${localEnv:PULSE_SERVER}", + "LIBGL_ALWAYS_SOFTWARE": "1" // Needed for software rendering of opengl + }, + "mounts": [ + "source=/dev,target=/dev,type=bind,consistency=cached" + // "source=~/bag_files,target=/workspaces/vscode-container-workspace/bag_files,type=bind,consistency=cached" + ], + "customizations": { + "vscode": { + "settings": { + "remote.autoForwardPorts": false, + "remote.autoForwardPortsSource": "output", + "otherPortsAttributes": { "onAutoForward" : "ignore" } + }, + "extensions": [ + "althack.ament-task-provider", + "betwo.b2-catkin-tools", + "DotJoshJohnson.xml", + "ms-azuretools.vscode-docker", + "ms-vscode.cmake-tools", + "ms-python.python", + "ms-vscode.cpptools", + "redhat.vscode-yaml", + "smilerobotics.urdf", + "streetsidesoftware.code-spell-checker", + "twxs.cmake", + "yzhang.markdown-all-in-one", + "zachflower.uncrustify", + "mhutchie.git-graph", + "eamodio.gitlens", + "ms-vscode.cpptools-extension-pack", + "usernamehw.errorlens", + "ms-iot.vscode-ros", + "alefragnani.Bookmarks", + "ms-vscode.live-server" + + ] + } + }, + "workspaceMount": "source=${localWorkspaceFolder}/../,target=/workspace/src,type=bind", + "workspaceFolder": "/workspace/src" +} \ No newline at end of file diff --git a/docker/Dockerfile.x64 b/docker/Dockerfile.x64 index 26bb85f4..af9a74d4 100644 --- a/docker/Dockerfile.x64 +++ b/docker/Dockerfile.x64 @@ -1,46 +1,208 @@ -FROM nvidia/cuda:11.6.2-cudnn8-devel-ubuntu20.04 - -# Set noninteractive mode for apt-get -ENV DEBIAN_FRONTEND=noninteractive - -# Preconfigure tzdata -RUN echo "Etc/UTC" > /etc/timezone && \ - ln -fs /usr/share/zoneinfo/Etc/UTC /etc/localtime && \ - apt-get update && apt-get install -y tzdata && \ - dpkg-reconfigure --frontend noninteractive tzdata - -# Install Python -RUN apt-get update && apt-get install -y \ - python3.8 \ - python3-pip \ - git - -# Install PyTorch -COPY requirements.txt /tmp/requirements.txt -RUN pip3 install -r /tmp/requirements.txt -RUN pip3 install torch torchvision torchaudio --index-url https://download.pytorch.org/whl/cu118 - -# Install other Python packages -RUN pip3 install cupy-cuda11x scikit-learn -RUN pip3 install 'git+https://github.com/facebookresearch/detectron2.git' - -# Install ROS -RUN apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 -RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu focal main" > /etc/apt/sources.list.d/ros-latest.list' - -RUN apt-get update && apt-get install -y --no-install-recommends \ - ros-noetic-desktop-full - -# Install ROS packages -RUN apt install -y ros-noetic-pybind11-catkin \ - ros-noetic-grid-map-core ros-noetic-grid-map-msgs ros-noetic-grid-map-ros ros-noetic-grid-map-rviz-plugin \ - libopencv-dev \ - libeigen3-dev \ - libgmp-dev \ - libmpfr-dev \ - libboost-all-dev \ - ros-noetic-turtlebot3-gazebo ros-noetic-turtlebot3-teleop \ - ros-noetic-ros-numpy - -RUN pip3 install catkin-tools -ENV TURTLEBOT3_MODEL=waffle \ No newline at end of file +# syntax=docker/dockerfile:1.4 + +# Base image +FROM nvidia/cuda:12.1.1-cudnn8-devel-ubuntu22.04 AS base + +# Metadata +LABEL description="ROS2 environment with CUDA support" +LABEL version="1.0" + +# Build arguments +ARG ROS_DISTRO=humble +ARG USERNAME=ros +ARG USER_UID=1000 +ARG USER_GID=$USER_UID +ARG RMW_NAME=zenoh + +# Environment variables +ENV DEBIAN_FRONTEND=noninteractive \ + LANG=en_US.UTF-8 \ + LC_ALL=${LANG}\ + TZ=UTC \ + PYTHONUNBUFFERED=1 \ + ROS_DISTRO=${ROS_DISTRO} \ + ROS_ROOT=/opt/ros/${ROS_DISTRO} \ + AMENT_PREFIX_PATH=/opt/ros/${ROS_DISTRO} \ + COLCON_PREFIX_PATH=/opt/ros/${ROS_DISTRO} \ + LD_LIBRARY_PATH=/opt/ros/${ROS_DISTRO}/lib:/usr/local/cuda/lib64 \ + PATH=/opt/ros/${ROS_DISTRO}/bin:/usr/src/tensorrt/bin:/usr/local/cuda/bin:$PATH \ + PYTHONPATH=/opt/ros/${ROS_DISTRO}/lib/python3.10/site-packages \ + # Used by various ROS2 packages + RMW_IMPLEMENTATION=rmw_${RMW_NAME}_cpp \ + # Should be the same as above but with dashes instead of underscores + RMW_IMPLEMENTATION_DASH=rmw-${RMW_NAME}-cpp + +# Install basic utilities and dependencies +RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \ + apt update && apt install -y --no-install-recommends \ + locales \ + tzdata \ + curl \ + gnupg2 \ + lsb-release \ + sudo \ + software-properties-common \ + wget \ + git \ + git-lfs \ + nano \ + && locale-gen ${LANG} \ + && update-locale LC_ALL=${LC_ALL} LANG=${LANG}\ + && ln -fs /usr/share/zoneinfo/${TZ} /etc/localtime \ + && dpkg-reconfigure -f ${DEBIAN_FRONTEND} tzdata \ + && apt clean \ + && rm -rf /var/lib/apt/lists/* + +# Install ROS2 +RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \ + curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg \ + && echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null \ + && apt update && apt install -y --no-install-recommends \ + ros-${ROS_DISTRO}-ros-base \ + python3-argcomplete \ + ros-${ROS_DISTRO}-${RMW_IMPLEMENTATION_DASH} \ + && apt clean \ + && rm -rf /var/lib/apt/lists/* + +# Development stage +FROM base AS dev + +# Install development tools and dependencies +RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \ + apt update && apt install -y --no-install-recommends \ + bash-completion \ + build-essential \ + cmake \ + gdb \ + openssh-client \ + python3-pip \ + vim \ + doxygen \ + graphviz \ + python3-sphinx \ + python3-breathe \ + ros-dev-tools \ + ros-${ROS_DISTRO}-ament-* \ + python3-rosdep \ + libxine2-dev \ + libtiff5-dev \ + libpostproc-dev \ + libopencv-dev \ + && apt clean \ + && rm -rf /var/lib/apt/lists/* + +# Initialize rosdep +RUN rosdep init && rosdep update + +# Pytorch +# Used by elevation_mapping_cupy +RUN python3 -m pip install -U --extra-index-url https://download.pytorch.org/whl/cu121 \ + torch \ + torchvision \ + torchaudio + +# Install Python packages +RUN python3 -m pip install \ + # colcon extension to enable easier workspace cleaning + colcon-clean\ + # Almost all ros2 packages + rosdoc2\ + # sphinx is used across packages for documentation + sphinx_rtd_theme \ + sphinx-multiversion \ + sphinx-copybutton\ + sphinx-tabs\ + # For VS Code python code formatting I think? + autopep8\ + # Used by multiple packages for linting I think? + flake8-builtins\ + flake8-comprehensions\ + flake8-docstrings\ + flake8-import-order\ + flake8-class-newline\ + flake8-blind-except\ + flake8-quotes\ + # For Python code formatting. Not sure what package uses it + # black==21.12b0\ + #### For elevation_mapping_cupy #### + ruamel.yaml\ + scikit-learn\ + shapely\ + opencv-python\ + cupy-cuda12x\ + scipy\ + simple-parsing\ + "numpy<2.0.0" + +# Needed for elevation_mapping_cupy to not have run-time errors +RUN python3 -m pip install transforms3d -U + +# Set up non-root user +RUN groupadd --gid $USER_GID $USERNAME \ + && useradd -s /bin/bash --uid $USER_UID --gid $USER_GID -m $USERNAME \ + && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \ + && chmod 0440 /etc/sudoers.d/$USERNAME + +# Set up autocompletion and source ROS environment for user +RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> /home/$USERNAME/.bashrc \ + && echo "source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash" >> /home/$USERNAME/.bashrc + +# For building GPU supported containers? +# Install NVIDIA Container Toolkit +RUN distribution=$(. /etc/os-release;echo $ID$VERSION_ID) \ + && curl -s -L https://nvidia.github.io/nvidia-docker/gpgkey | sudo apt-key add - \ + && curl -s -L https://nvidia.github.io/nvidia-docker/$distribution/nvidia-docker.list | sudo tee /etc/apt/sources.list.d/nvidia-docker.list \ + && apt update && apt install -y nvidia-container-toolkit \ + && apt clean \ + && rm -rf /var/lib/apt/lists/* + +RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \ + apt update && apt install -y --no-install-recommends \ + # For elevation_mapping_cupy + libboost-all-dev\ + && apt clean && \ + rm -rf /var/lib/apt/lists/* + +RUN apt update && \ + DEBIAN_FRONTEND=${DEBIAN_FRONTEND} apt install -y \ + #### For elevation_mapping_cupy #### + ros-${ROS_DISTRO}-grid-map-msgs\ + ros-${ROS_DISTRO}-grid-map-ros\ + ros-${ROS_DISTRO}-image-transport\ + ros-${ROS_DISTRO}-pcl-ros\ + ros-${ROS_DISTRO}-cv-bridge\ + ros-${ROS_DISTRO}-tf-transformations\ + ros-${ROS_DISTRO}-rviz2\ + ros-${ROS_DISTRO}-gazebo-ros\ + ros-${ROS_DISTRO}-grid-map-cv\ + ros-${ROS_DISTRO}-grid-map-core\ + ros-${ROS_DISTRO}-grid-map-demos\ + ################################## + #### For debugging elevation_mapping_cupy by setting up turtlebot3_simulations#### + # ros-${ROS_DISTRO}-turtlebot3*\ + ros-${ROS_DISTRO}-camera-calibration-parsers\ + ros-${ROS_DISTRO}-camera-info-manager\ + ros-${ROS_DISTRO}-gazebo-plugins\ + ros-${ROS_DISTRO}-turtlebot3-msgs\ + ros-${ROS_DISTRO}-turtlebot3-teleop\ + ros-${ROS_DISTRO}-gazebo-ros-pkgs\ + ############################################## + && apt clean && \ + rm -rf /var/lib/apt/lists/* + + +# Switch to non-root user +USER $USERNAME + +# Health check +HEALTHCHECK --interval=30s --timeout=10s --start-period=5s --retries=3 \ + CMD ros2 topic list > /dev/null 2>&1 || exit 1 + +# Set ID to value not used by others on your network +ENV ROS_DOMAIN_ID=12 + +# For elevation_mapping_cupy +ENV TURTLEBOT3_MODEL=waffle_realsense_depth + +# Set the default command to bash +CMD ["bash"] \ No newline at end of file diff --git a/docker/setup.sh b/docker/setup.sh new file mode 100755 index 00000000..00e2955f --- /dev/null +++ b/docker/setup.sh @@ -0,0 +1,7 @@ +#!/bin/bash +cd /workspace +vcs import < src/elevation_mapping_cupy/docker/src.repos src/ --recursive -w $(($(nproc)/2)) + +sudo apt update +rosdep update +rosdep install --from-paths src --ignore-src -y -r \ No newline at end of file diff --git a/docker/src.repos b/docker/src.repos new file mode 100644 index 00000000..b0d9f6c3 --- /dev/null +++ b/docker/src.repos @@ -0,0 +1,15 @@ +repositories: + # elevation_mapping_cupy: + # type: git + # url: https://github.com/jwag/elevation_mapping_cupy.git + # version: ros2_humble + # ros2_numpy needed by elevation_mapping_cupy + ros2_numpy: + type: git + url: https://github.com/Box-Robotics/ros2_numpy.git + version: humble + # added for testing elevation_mapping_cupy + turtlebot3_simulations: + type: git + url: https://github.com/jwag/turtlebot3_simulations.git + version: humble_realsense_depth From 56d6fd380b4cd53afb4c48faf68a1ec0910c9edb Mon Sep 17 00:00:00 2001 From: "W. Jacob Wagner" Date: Fri, 14 Feb 2025 23:33:43 +0000 Subject: [PATCH 486/504] Got running with cpp version. still needs work, but somewhat functional --- .../config/core/core_param.yaml | 2 +- .../elevation_mapping_ros.hpp | 2 +- .../src/elevation_mapping_node.cpp | 7 +- .../src/elevation_mapping_ros.cpp | 9 +- .../src/elevation_mapping_wrapper.cpp | 96 +++++++++---------- 5 files changed, 60 insertions(+), 56 deletions(-) diff --git a/elevation_mapping_cupy/config/core/core_param.yaml b/elevation_mapping_cupy/config/core/core_param.yaml index 64b501bd..5f01ceed 100644 --- a/elevation_mapping_cupy/config/core/core_param.yaml +++ b/elevation_mapping_cupy/config/core/core_param.yaml @@ -75,7 +75,7 @@ elevation_mapping_node: initialize_frame_id: ['base_link'] # One tf (like ['footprint'] ) initializes a square around it. initialize_tf_offset: [0.0, 0.0, 0.0, 0.0] # z direction. Should be same number as initialize_frame_id. dilation_size_initialize: 2 # dilation size after the init. - initialize_tf_grid_size: 0.5 # This is not used if number of tf is more than 3. + initialize_tf_grid_size: 1.0 # This is not used if number of tf is more than 3. use_initializer_at_start: true # Use initializer when the node starts. #### Default Plugins ######## diff --git a/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp b/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp index 4dc658fd..ebdd016e 100644 --- a/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp +++ b/elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_ros.hpp @@ -68,7 +68,7 @@ namespace elevation_mapping_cupy { class ElevationMappingNode : public rclcpp::Node { public: - ElevationMappingNode(); + ElevationMappingNode(const rclcpp::NodeOptions& options); using RowMatrixXd = Eigen::Matrix; using ColMatrixXf = Eigen::Matrix; diff --git a/elevation_mapping_cupy/src/elevation_mapping_node.cpp b/elevation_mapping_cupy/src/elevation_mapping_node.cpp index ca70b5db..131e25cc 100644 --- a/elevation_mapping_cupy/src/elevation_mapping_node.cpp +++ b/elevation_mapping_cupy/src/elevation_mapping_node.cpp @@ -12,9 +12,14 @@ int main(int argc, char** argv) { rclcpp::init(argc, argv); + + // Allow declaring parameters from the yaml files + rclcpp::NodeOptions options; + options.automatically_declare_parameters_from_overrides(true); + options.allow_undeclared_parameters(true); py::scoped_interpreter guard{}; // start the interpreter and keep it alive - auto mapNode = std::make_shared(); // Correct instantiation + auto mapNode = std::make_shared(options); py::gil_scoped_release release; diff --git a/elevation_mapping_cupy/src/elevation_mapping_ros.cpp b/elevation_mapping_cupy/src/elevation_mapping_ros.cpp index e5f766c8..9d18dc4e 100644 --- a/elevation_mapping_cupy/src/elevation_mapping_ros.cpp +++ b/elevation_mapping_cupy/src/elevation_mapping_ros.cpp @@ -22,9 +22,8 @@ namespace elevation_mapping_cupy { - -ElevationMappingNode::ElevationMappingNode() - : rclcpp::Node("elevation_mapping_node", rclcpp::NodeOptions().automatically_declare_parameters_from_overrides(true)), +ElevationMappingNode::ElevationMappingNode(const rclcpp::NodeOptions& options) + : Node("elevation_mapping_node", options), node_(std::shared_ptr(this, [](auto *) {})), // it_(node_), lowpassPosition_(0, 0, 0), @@ -35,7 +34,8 @@ ElevationMappingNode::ElevationMappingNode() orientationAlpha_(0.1), enablePointCloudPublishing_(false), isGridmapUpdated_(false){ - RCLCPP_INFO(this->get_logger(), "Initializing ElevationMappingNode..."); + + RCLCPP_INFO(this->get_logger(), "Initializing ElevationMappingNode..."); tfBroadcaster_ = std::make_shared(*this);// ROS2构造TransformBroadcaster tfBuffer_ = std::make_shared(this->get_clock()); @@ -93,6 +93,7 @@ ElevationMappingNode::ElevationMappingNode() RCLCPP_INFO(this->get_logger(), "enable_drift_corrected_TF_publishing: %s", enableDriftCorrectedTFPublishing_ ? "true" : "false"); RCLCPP_INFO(this->get_logger(), "use_initializer_at_start: %s", useInitializerAtStart_ ? "true" : "false"); RCLCPP_INFO(this->get_logger(), "always_clear_with_initializer: %s", alwaysClearWithInitializer_ ? "true" : "false"); + RCLCPP_INFO(this->get_logger(), "voxel_filter_size: %f", voxel_filter_size_); enablePointCloudPublishing_ = enablePointCloudPublishing; diff --git a/elevation_mapping_cupy/src/elevation_mapping_wrapper.cpp b/elevation_mapping_cupy/src/elevation_mapping_wrapper.cpp index a90fae93..93beb0b4 100644 --- a/elevation_mapping_cupy/src/elevation_mapping_wrapper.cpp +++ b/elevation_mapping_cupy/src/elevation_mapping_wrapper.cpp @@ -46,11 +46,6 @@ void ElevationMappingWrapper::initialize(const std::shared_ptr& no auto threading = py::module::import("threading"); py::gil_scoped_acquire acquire; - auto sys = py::module::import("sys"); - auto path = sys.attr("path"); - std::string module_path = ament_index_cpp::get_package_share_directory("elevation_mapping_cupy"); - module_path = module_path + "/script"; - path.attr("insert")(0, module_path); auto elevation_mapping = py::module::import("elevation_mapping_cupy.elevation_mapping"); auto parameter = py::module::import("elevation_mapping_cupy.parameter"); @@ -117,45 +112,45 @@ void ElevationMappingWrapper::setParameters() { } } + + py::dict sub_dict; + // rclcpp::Parameter subscribers; + std::vector parameter_prefixes; + auto parameters = node_->list_parameters(parameter_prefixes, 2); // List all parameters with a maximum depth of 10 - py::dict sub_dict; - // rclcpp::Parameter subscribers; - std::vector parameter_prefixes; - auto parameters = node_->list_parameters(parameter_prefixes, 2); // List all parameters with a maximum depth of 10 - - - std::map subscriber_params; - if (!node_->get_parameters("subscribers", subscriber_params)) { - RCLCPP_FATAL(node_->get_logger(), "There aren't any subscribers to be configured, the elevation mapping cannot be configured. Exit"); - rclcpp::shutdown(); - } - auto unique_sub_names = extract_unique_names(subscriber_params); - for (const auto& name : unique_sub_names) { - const char* const name_c = name.c_str(); - if (!sub_dict.contains(name_c)) { - sub_dict[name_c] = py::dict(); - } - std::string topic_name; - if(node_->get_parameter("subscribers." + name + ".topic_name", topic_name)){ - const char* topic_name_cstr = "topic_name"; - sub_dict[name_c][topic_name_cstr] = static_cast(topic_name); - std::string data_type; - if(node_->get_parameter("subscribers." + name + ".data_type", data_type)){ - const char* data_type_cstr = "data_type"; - sub_dict[name_c][data_type_cstr] = static_cast(data_type); - } - std::string info_name; - if(node_->get_parameter("subscribers." + name + ".data_type", info_name)){ - const char* info_name_cstr = "info_name"; - sub_dict[name_c][info_name_cstr] = static_cast(info_name); - } - std::string channel_name; - if(node_->get_parameter("subscribers." + name + ".data_type", channel_name)){ - const char* channel_name_cstr = "channel_name"; - sub_dict[name_c][channel_name_cstr] = static_cast(channel_name); + + std::map subscriber_params; + if (!node_->get_parameters("subscribers", subscriber_params)) { + RCLCPP_FATAL(node_->get_logger(), "There aren't any subscribers to be configured, the elevation mapping cannot be configured. Exit"); + rclcpp::shutdown(); + } + auto unique_sub_names = extract_unique_names(subscriber_params); + for (const auto& name : unique_sub_names) { + const char* const name_c = name.c_str(); + if (!sub_dict.contains(name_c)) { + sub_dict[name_c] = py::dict(); } - } + std::string topic_name; + if(node_->get_parameter("subscribers." + name + ".topic_name", topic_name)){ + const char* topic_name_cstr = "topic_name"; + sub_dict[name_c][topic_name_cstr] = static_cast(topic_name); + std::string data_type; + if(node_->get_parameter("subscribers." + name + ".data_type", data_type)){ + const char* data_type_cstr = "data_type"; + sub_dict[name_c][data_type_cstr] = static_cast(data_type); + } + std::string info_name; + if(node_->get_parameter("subscribers." + name + ".data_type", info_name)){ + const char* info_name_cstr = "info_name"; + sub_dict[name_c][info_name_cstr] = static_cast(info_name); + } + std::string channel_name; + if(node_->get_parameter("subscribers." + name + ".data_type", channel_name)){ + const char* channel_name_cstr = "channel_name"; + sub_dict[name_c][channel_name_cstr] = static_cast(channel_name); + } } + } @@ -199,14 +194,17 @@ void ElevationMappingWrapper::setParameters() { } - param_.attr("update")(); - resolution_ = py::cast(param_.attr("get_value")("resolution")); - map_length_ = py::cast(param_.attr("get_value")("true_map_length")); - map_n_ = py::cast(param_.attr("get_value")("true_cell_n")); - - - - enable_normal_color_ = node_->get_parameter("enable_normal_color").as_bool(); + // Update the cell_n parameters based on the map length and resolution + RCLCPP_INFO(node_->get_logger(), "Updating cell_n parameters based on map length and resolution"); + param_.attr("update")(); + resolution_ = py::cast(param_.attr("get_value")("resolution")); + map_length_ = py::cast(param_.attr("get_value")("true_map_length")); + map_n_ = py::cast(param_.attr("get_value")("true_cell_n")); + RCLCPP_INFO(node_->get_logger(), "cell_n: %d", map_n_); + RCLCPP_INFO(node_->get_logger(), "resolution: %f", resolution_); + RCLCPP_INFO(node_->get_logger(), "true_map_length: %f", map_length_); + + enable_normal_color_ = node_->get_parameter("enable_normal_color").as_bool(); } From cda0a096848015c80d12369fbdcae1da3fe30a8d Mon Sep 17 00:00:00 2001 From: "W. Jacob Wagner" Date: Sat, 15 Feb 2025 20:21:48 +0000 Subject: [PATCH 487/504] Fixing up dev container and adding build script Still debugging issue with ament_python_install_package() --- .devcontainer/devcontainer.json | 6 +++--- docker/Dockerfile.x64 | 10 ++++++++++ docker/build.sh | 25 ++++++++++++++++++++++--- docker/setup.sh | 2 +- 4 files changed, 36 insertions(+), 7 deletions(-) diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json index 5b0d02a1..cf7fa5b6 100644 --- a/.devcontainer/devcontainer.json +++ b/.devcontainer/devcontainer.json @@ -61,10 +61,10 @@ "ms-iot.vscode-ros", "alefragnani.Bookmarks", "ms-vscode.live-server" - + ] } }, - "workspaceMount": "source=${localWorkspaceFolder}/../,target=/workspace/src,type=bind", - "workspaceFolder": "/workspace/src" + "workspaceMount": "source=${localWorkspaceFolder}/,target=/home/ros/workspace/src/elevation_mapping_cupy/,type=bind", + "workspaceFolder": "/home/ros/workspace/src/elevation_mapping_cupy/" } \ No newline at end of file diff --git a/docker/Dockerfile.x64 b/docker/Dockerfile.x64 index af9a74d4..42f99c08 100644 --- a/docker/Dockerfile.x64 +++ b/docker/Dockerfile.x64 @@ -190,7 +190,17 @@ RUN apt update && \ && apt clean && \ rm -rf /var/lib/apt/lists/* +# Development stage +FROM dev as dev2 +ARG WORKSPACE="/home/ros/workspace" + +# Print workspace to terminal +RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \ + echo "Workspace: ${WORKSPACE}" +RUN mkdir -p ${WORKSPACE}/src/elevation_mapping_cupy && chown -R ${USER_UID}:${USER_GID} /home/${USERNAME} +RUN echo "if [ -f ${WORKSPACE}/install/setup.bash ]; then source ${WORKSPACE}/install/setup.bash; fi" >> /home/ros/.bashrc +WORKDIR ${WORKSPACE} # Switch to non-root user USER $USERNAME diff --git a/docker/build.sh b/docker/build.sh index 1d92a220..6d67ad53 100755 --- a/docker/build.sh +++ b/docker/build.sh @@ -1,3 +1,22 @@ -#! /bin/bash -home=`realpath "$(dirname "$0")"/../` -cd $home && sudo docker build -t elevation_mapping_cupy -f docker/Dockerfile.x64 --no-cache . \ No newline at end of file +#!/bin/bash +set -e +cd ~/workspace +# Set the default build type +source /opt/ros/$ROS_DISTRO/setup.bash +BUILD_TYPE=RelWithDebInfo #Debug, Release, RelWithDebInfo, MinSizeRel +colcon build \ + --continue-on-error \ + --parallel-workers $(nproc) \ + --merge-install \ + --symlink-install \ + --event-handlers console_cohesion+ \ + --base-paths src \ + --cmake-args \ + "-DCMAKE_BUILD_TYPE=$BUILD_TYPE" \ + "-DCMAKE_EXPORT_COMPILE_COMMANDS=On" \ + "-DBUILD_TESTING=OFF"\ + "-DCMAKE_CXX_FLAGS="-Wl,--allow-shlib-undefined""\ + -Wall -Wextra -Wpedantic -Wshadow \ + --packages-skip \ + convex_plane_decomposition \ + convex_plane_decomposition_ros \ No newline at end of file diff --git a/docker/setup.sh b/docker/setup.sh index 00e2955f..128e53bc 100755 --- a/docker/setup.sh +++ b/docker/setup.sh @@ -1,5 +1,5 @@ #!/bin/bash -cd /workspace +cd ~/workspace vcs import < src/elevation_mapping_cupy/docker/src.repos src/ --recursive -w $(($(nproc)/2)) sudo apt update From 6f970b895447b2d83d90d5758854e8d30baf1b4a Mon Sep 17 00:00:00 2001 From: "W. Jacob Wagner" Date: Sat, 15 Feb 2025 20:33:06 +0000 Subject: [PATCH 488/504] Fixed broken symbolic link Builds now --- .../elevation_mapping_cupy/elevation_mapping_node.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/elevation_mapping_cupy/elevation_mapping_cupy/elevation_mapping_node.py b/elevation_mapping_cupy/elevation_mapping_cupy/elevation_mapping_node.py index e586b9ef..4740ecba 120000 --- a/elevation_mapping_cupy/elevation_mapping_cupy/elevation_mapping_node.py +++ b/elevation_mapping_cupy/elevation_mapping_cupy/elevation_mapping_node.py @@ -1 +1 @@ -/workspaces/reo-ws/src/mapping/elevation_mapping_cupy/elevation_mapping_cupy/scripts/elevation_mapping_node.py \ No newline at end of file +../scripts/elevation_mapping_node.py \ No newline at end of file From 3f60953fa0e1963c8b37c9dd3b6133c9792c06cb Mon Sep 17 00:00:00 2001 From: "W. Jacob Wagner" Date: Sat, 15 Feb 2025 17:37:13 -0600 Subject: [PATCH 489/504] WIP fixing up package.xml --- docker/Dockerfile.x64 | 88 ++++++++++++++++-------------- docker/extra_rosdeps.yaml | 12 ++++ elevation_mapping_cupy/package.xml | 28 +++++++--- 3 files changed, 78 insertions(+), 50 deletions(-) create mode 100644 docker/extra_rosdeps.yaml diff --git a/docker/Dockerfile.x64 b/docker/Dockerfile.x64 index 42f99c08..e3d92fda 100644 --- a/docker/Dockerfile.x64 +++ b/docker/Dockerfile.x64 @@ -95,7 +95,7 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \ RUN rosdep init && rosdep update # Pytorch -# Used by elevation_mapping_cupy +# Used by elevation_mapping_cupy and not rosdep resolvable for cuda version RUN python3 -m pip install -U --extra-index-url https://download.pytorch.org/whl/cu121 \ torch \ torchvision \ @@ -121,21 +121,21 @@ RUN python3 -m pip install \ flake8-import-order\ flake8-class-newline\ flake8-blind-except\ - flake8-quotes\ + flake8-quotes # For Python code formatting. Not sure what package uses it # black==21.12b0\ #### For elevation_mapping_cupy #### - ruamel.yaml\ - scikit-learn\ - shapely\ - opencv-python\ - cupy-cuda12x\ - scipy\ - simple-parsing\ - "numpy<2.0.0" + # ruamel.yaml\ # replacing with apt python-ruamel.yaml + # scikit-learn\ # replacing with apt python3-sklearn - might not be needeed + # shapely\ # replacing with apt python3-shapely + # opencv-python\ # replacing with apt installed python3-opencv + # cupy-cuda12x\ # extra rosdeps + # scipy\ # apt install scipy instead + # simple-parsing\ # extra rosdeps + # "numpy<2.0.0" # extra rosdeps # Needed for elevation_mapping_cupy to not have run-time errors -RUN python3 -m pip install transforms3d -U +# RUN python3 -m pip install transforms3d -U # Replacing with rosdep python3-transforms3d # Set up non-root user RUN groupadd --gid $USER_GID $USERNAME \ @@ -156,51 +156,57 @@ RUN distribution=$(. /etc/os-release;echo $ID$VERSION_ID) \ && apt clean \ && rm -rf /var/lib/apt/lists/* -RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \ - apt update && apt install -y --no-install-recommends \ +# RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \ +# apt update && apt install -y --no-install-recommends \ # For elevation_mapping_cupy - libboost-all-dev\ - && apt clean && \ - rm -rf /var/lib/apt/lists/* + # libboost-all-dev\ # resolved by rosdep as boost + # && apt clean && \ + # rm -rf /var/lib/apt/lists/* -RUN apt update && \ - DEBIAN_FRONTEND=${DEBIAN_FRONTEND} apt install -y \ +# RUN apt update && \ + # DEBIAN_FRONTEND=${DEBIAN_FRONTEND} apt install -y \ #### For elevation_mapping_cupy #### - ros-${ROS_DISTRO}-grid-map-msgs\ - ros-${ROS_DISTRO}-grid-map-ros\ - ros-${ROS_DISTRO}-image-transport\ - ros-${ROS_DISTRO}-pcl-ros\ - ros-${ROS_DISTRO}-cv-bridge\ - ros-${ROS_DISTRO}-tf-transformations\ - ros-${ROS_DISTRO}-rviz2\ - ros-${ROS_DISTRO}-gazebo-ros\ - ros-${ROS_DISTRO}-grid-map-cv\ - ros-${ROS_DISTRO}-grid-map-core\ - ros-${ROS_DISTRO}-grid-map-demos\ + # ros-${ROS_DISTRO}-grid-map-msgs\ # rosdep grid_map_msgs + # ros-${ROS_DISTRO}-grid-map-ros\ # rosdep grid_map_ros + # ros-${ROS_DISTRO}-image-transport\ # rosdep image_transport + # ros-${ROS_DISTRO}-pcl-ros\# rosdep pcl_ros + # ros-${ROS_DISTRO}-cv-bridge\ # rosdep cv_bridge + # ros-${ROS_DISTRO}-tf-transformations\ # rosdep tf-transformations + # ros-${ROS_DISTRO}-rviz2\ # rosdep rviz2 + # ros-${ROS_DISTRO}-gazebo-ros\ # replacing with rosdep gazebo_ros_pkgs + # ros-${ROS_DISTRO}-grid-map-cv\ # rosdep grid_map_cv + # ros-${ROS_DISTRO}-grid-map-core\ # rosdep grid_map_core + # ros-${ROS_DISTRO}-grid-map-demos\ # rosdep grid_map_demos ################################## #### For debugging elevation_mapping_cupy by setting up turtlebot3_simulations#### # ros-${ROS_DISTRO}-turtlebot3*\ - ros-${ROS_DISTRO}-camera-calibration-parsers\ - ros-${ROS_DISTRO}-camera-info-manager\ - ros-${ROS_DISTRO}-gazebo-plugins\ - ros-${ROS_DISTRO}-turtlebot3-msgs\ - ros-${ROS_DISTRO}-turtlebot3-teleop\ - ros-${ROS_DISTRO}-gazebo-ros-pkgs\ + # ros-${ROS_DISTRO}-camera-calibration-parsers\ + # ros-${ROS_DISTRO}-camera-info-manager\ + # ros-${ROS_DISTRO}-gazebo-plugins\ + # ros-${ROS_DISTRO}-turtlebot3-msgs\ + # ros-${ROS_DISTRO}-turtlebot3-teleop\ + # ros-${ROS_DISTRO}-gazebo-ros-pkgs\ # replacing with rosdep gazebo_ros_pkgs ############################################## - && apt clean && \ - rm -rf /var/lib/apt/lists/* + # && apt clean && \ + # rm -rf /var/lib/apt/lists/* # Development stage FROM dev as dev2 ARG WORKSPACE="/home/ros/workspace" -# Print workspace to terminal -RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \ - echo "Workspace: ${WORKSPACE}" - RUN mkdir -p ${WORKSPACE}/src/elevation_mapping_cupy && chown -R ${USER_UID}:${USER_GID} /home/${USERNAME} RUN echo "if [ -f ${WORKSPACE}/install/setup.bash ]; then source ${WORKSPACE}/install/setup.bash; fi" >> /home/ros/.bashrc WORKDIR ${WORKSPACE} + +# TODO: move up later before commiting +# Setup rosdep +# COPY extra_rosdeps.yaml /etc/ros/rosdep/sources.list.d/emcupy-rosdeps.yaml +RUN ln -s /home/ros/workspace/src/elevation_mapping_cupy/docker/extra_rosdeps.yaml /etc/ros/rosdep/sources.list.d/emcupy-rosdeps.yaml +RUN --mount=type=cache,target=/var/cache/apt \ + rosdep init \ + && echo "yaml file:///home/ros/workspace/src/elevation_mapping_cupy/docker/extra_rosdeps.yaml" | tee /etc/ros/rosdep/sources.list.d/00-emcupy-rosdeps.list \ + && rosdep update + # Switch to non-root user USER $USERNAME diff --git a/docker/extra_rosdeps.yaml b/docker/extra_rosdeps.yaml new file mode 100644 index 00000000..5081f24b --- /dev/null +++ b/docker/extra_rosdeps.yaml @@ -0,0 +1,12 @@ +numpy_lessthan_2: + ubuntu: + pip: + packages: ["numpy<2.0.0"] +simple-parsing: + ubuntu: + pip: + packages: [simple-parsing] +cupy-cuda12x: + ubuntu: + pip: + packages: [cupy-cuda12x] \ No newline at end of file diff --git a/elevation_mapping_cupy/package.xml b/elevation_mapping_cupy/package.xml index f65efb19..f6880b52 100644 --- a/elevation_mapping_cupy/package.xml +++ b/elevation_mapping_cupy/package.xml @@ -29,11 +29,11 @@ grid_map_ros image_transport pcl_ros - pybind11 - + pybind11-dev ros2_numpy + python3-scipy - numpy + numpy_lessthan_2 tf2_ros cv_bridge ament_index_python @@ -42,15 +42,25 @@ rviz2 - gazebo_ros + robot_state_publisher - - opencv-python - - - + python3-opencv cupy-cuda12x simple-parsing + python3-shapely + python3-ruamel.yaml + boost + python3-transforms3d + + + gazebo_ros_pkgs + turtlebot3_msgs + turtlebot3_teleop + camera_info_manager + camera_calibration_parsers + + + From 67fade911a5416ebb674fb3a2ba4f960d55500b8 Mon Sep 17 00:00:00 2001 From: "W. Jacob Wagner" Date: Sun, 16 Feb 2025 01:23:40 +0000 Subject: [PATCH 490/504] Got rosdep stuff nominally working --- docker/Dockerfile.x64 | 20 ++++++++++---------- 1 file changed, 10 insertions(+), 10 deletions(-) diff --git a/docker/Dockerfile.x64 b/docker/Dockerfile.x64 index e3d92fda..6420915b 100644 --- a/docker/Dockerfile.x64 +++ b/docker/Dockerfile.x64 @@ -91,9 +91,6 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \ && apt clean \ && rm -rf /var/lib/apt/lists/* -# Initialize rosdep -RUN rosdep init && rosdep update - # Pytorch # Used by elevation_mapping_cupy and not rosdep resolvable for cuda version RUN python3 -m pip install -U --extra-index-url https://download.pytorch.org/whl/cu121 \ @@ -192,7 +189,7 @@ RUN distribution=$(. /etc/os-release;echo $ID$VERSION_ID) \ # Development stage FROM dev as dev2 -ARG WORKSPACE="/home/ros/workspace" +ARG WORKSPACE="/home/${USERNAME}/workspace" RUN mkdir -p ${WORKSPACE}/src/elevation_mapping_cupy && chown -R ${USER_UID}:${USER_GID} /home/${USERNAME} RUN echo "if [ -f ${WORKSPACE}/install/setup.bash ]; then source ${WORKSPACE}/install/setup.bash; fi" >> /home/ros/.bashrc @@ -200,12 +197,15 @@ WORKDIR ${WORKSPACE} # TODO: move up later before commiting # Setup rosdep -# COPY extra_rosdeps.yaml /etc/ros/rosdep/sources.list.d/emcupy-rosdeps.yaml -RUN ln -s /home/ros/workspace/src/elevation_mapping_cupy/docker/extra_rosdeps.yaml /etc/ros/rosdep/sources.list.d/emcupy-rosdeps.yaml -RUN --mount=type=cache,target=/var/cache/apt \ - rosdep init \ - && echo "yaml file:///home/ros/workspace/src/elevation_mapping_cupy/docker/extra_rosdeps.yaml" | tee /etc/ros/rosdep/sources.list.d/00-emcupy-rosdeps.list \ - && rosdep update +# Could cache this, but since we are linking extra-rosdeps.yaml instead of copying this doesn't do anything +# RUN --mount=type=cache,target=/home/${USERNAME}/.ros/rosdep/sources.cache \ +RUN rosdep init \ + && ln -s ${WORKSPACE}/src/elevation_mapping_cupy/docker/extra_rosdeps.yaml /etc/ros/rosdep/sources.list.d/emcupy-rosdeps.yaml\ + && echo "yaml file:///etc/ros/rosdep/sources.list.d/emcupy-rosdeps.yaml" | tee /etc/ros/rosdep/sources.list.d/00-emcupy-rosdeps.list +# Linking only works if you don't run rosdep update here and wait until it is loaded, otherwise can use copy +# The benefit is that you can update the rosdeps in your workspace and they will be used +# COPY docker/extra_rosdeps.yaml /etc/ros/rosdep/sources.list.d/emcupy-rosdeps.yaml +# RUN rosdep update # Switch to non-root user USER $USERNAME From 38531493a1778d1cdd5ffe20284fde094cd75e67 Mon Sep 17 00:00:00 2001 From: "W. Jacob Wagner" Date: Sat, 15 Feb 2025 20:47:18 -0600 Subject: [PATCH 491/504] Updated dockerfile to build with or without dependencies in the contianer Fixed bug in numpy array conversion --- docker/Dockerfile.x64 | 133 +++++++++++------- .../scripts/elevation_mapping_node.py | 2 +- 2 files changed, 82 insertions(+), 53 deletions(-) diff --git a/docker/Dockerfile.x64 b/docker/Dockerfile.x64 index 6420915b..e0fa08c9 100644 --- a/docker/Dockerfile.x64 +++ b/docker/Dockerfile.x64 @@ -13,6 +13,7 @@ ARG USERNAME=ros ARG USER_UID=1000 ARG USER_GID=$USER_UID ARG RMW_NAME=zenoh +ARG INSTALL_EMCUPY_ROSDEPS=true # Environment variables ENV DEBIAN_FRONTEND=noninteractive \ @@ -121,18 +122,27 @@ RUN python3 -m pip install \ flake8-quotes # For Python code formatting. Not sure what package uses it # black==21.12b0\ - #### For elevation_mapping_cupy #### - # ruamel.yaml\ # replacing with apt python-ruamel.yaml - # scikit-learn\ # replacing with apt python3-sklearn - might not be needeed - # shapely\ # replacing with apt python3-shapely - # opencv-python\ # replacing with apt installed python3-opencv - # cupy-cuda12x\ # extra rosdeps - # scipy\ # apt install scipy instead - # simple-parsing\ # extra rosdeps - # "numpy<2.0.0" # extra rosdeps +#### For elevation_mapping_cupy #### +RUN if [ "$INSTALL_EMCUPY_ROSDEPS" = true ]; then \ + python3 -m pip install \ + # rosdep resolves with apt python-ruamel.yaml + # ruamel.yaml\ + # rosdep resolves with apt python3-sklearn - might not be needed + scikit-learn\ + # rosdep resolves with apt python3-shapely + # shapely\ + # rosdep resolves with apt python3-opencv + opencv-python\ + # rosdep resolves using extra rosdeps + cupy-cuda12x\ + # rosdep resolves using extra rosdeps + simple-parsing\ + # rosdep resolves using extra rosdeps + "numpy<2.0.0"; \ + fi # Needed for elevation_mapping_cupy to not have run-time errors -# RUN python3 -m pip install transforms3d -U # Replacing with rosdep python3-transforms3d +RUN python3 -m pip install transforms3d scipy -U # Set up non-root user RUN groupadd --gid $USER_GID $USERNAME \ @@ -153,40 +163,53 @@ RUN distribution=$(. /etc/os-release;echo $ID$VERSION_ID) \ && apt clean \ && rm -rf /var/lib/apt/lists/* -# RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \ -# apt update && apt install -y --no-install-recommends \ - # For elevation_mapping_cupy - # libboost-all-dev\ # resolved by rosdep as boost - # && apt clean && \ - # rm -rf /var/lib/apt/lists/* - -# RUN apt update && \ - # DEBIAN_FRONTEND=${DEBIAN_FRONTEND} apt install -y \ - #### For elevation_mapping_cupy #### - # ros-${ROS_DISTRO}-grid-map-msgs\ # rosdep grid_map_msgs - # ros-${ROS_DISTRO}-grid-map-ros\ # rosdep grid_map_ros - # ros-${ROS_DISTRO}-image-transport\ # rosdep image_transport - # ros-${ROS_DISTRO}-pcl-ros\# rosdep pcl_ros - # ros-${ROS_DISTRO}-cv-bridge\ # rosdep cv_bridge - # ros-${ROS_DISTRO}-tf-transformations\ # rosdep tf-transformations - # ros-${ROS_DISTRO}-rviz2\ # rosdep rviz2 - # ros-${ROS_DISTRO}-gazebo-ros\ # replacing with rosdep gazebo_ros_pkgs - # ros-${ROS_DISTRO}-grid-map-cv\ # rosdep grid_map_cv - # ros-${ROS_DISTRO}-grid-map-core\ # rosdep grid_map_core - # ros-${ROS_DISTRO}-grid-map-demos\ # rosdep grid_map_demos - ################################## - #### For debugging elevation_mapping_cupy by setting up turtlebot3_simulations#### - # ros-${ROS_DISTRO}-turtlebot3*\ - # ros-${ROS_DISTRO}-camera-calibration-parsers\ - # ros-${ROS_DISTRO}-camera-info-manager\ - # ros-${ROS_DISTRO}-gazebo-plugins\ - # ros-${ROS_DISTRO}-turtlebot3-msgs\ - # ros-${ROS_DISTRO}-turtlebot3-teleop\ - # ros-${ROS_DISTRO}-gazebo-ros-pkgs\ # replacing with rosdep gazebo_ros_pkgs - ############################################## - # && apt clean && \ - # rm -rf /var/lib/apt/lists/* +RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \ + if [ "$INSTALL_EMCUPY_ROSDEPS" = true ]; then \ + apt update && DEBIAN_FRONTEND=${DEBIAN_FRONTEND} apt install -y --no-install-recommends \ + # resolved by rosdep as boost + libboost-all-dev\ + ### For elevation_mapping_cupy #### + # rosdep grid_map_msgs + ros-${ROS_DISTRO}-grid-map-msgs\ + # rosdep grid_map_ros + ros-${ROS_DISTRO}-grid-map-ros\ + # rosdep image_transport + ros-${ROS_DISTRO}-image-transport\ + # rosdep pcl_ros + ros-${ROS_DISTRO}-pcl-ros\ + # rosdep cv_bridge + ros-${ROS_DISTRO}-cv-bridge\ + # rosdep tf-transformations + ros-${ROS_DISTRO}-tf-transformations\ + # rosdep rviz2 + ros-${ROS_DISTRO}-rviz2\ + # replacing with rosdep gazebo_ros_pkgs + ros-${ROS_DISTRO}-gazebo-ros\ + # rosdep grid_map_cv + ros-${ROS_DISTRO}-grid-map-cv\ + # rosdep grid_map_core + ros-${ROS_DISTRO}-grid-map-core\ + # rosdep grid_map_demos + ros-${ROS_DISTRO}-grid-map-demos\ + ros-${ROS_DISTRO}-point-cloud-transport\ + python3-shapely\ + python3-scipy\ + python3-ruamel.yaml\ + ################################# + ### For debugging elevation_mapping_cupy by setting up turtlebot3_simulations#### + # ros-${ROS_DISTRO}-turtlebot3*\ + ros-${ROS_DISTRO}-camera-calibration-parsers\ + ros-${ROS_DISTRO}-camera-info-manager\ + ros-${ROS_DISTRO}-gazebo-plugins\ + ros-${ROS_DISTRO}-turtlebot3-msgs\ + ros-${ROS_DISTRO}-turtlebot3-teleop\ + # replacing with rosdep gazebo_ros_pkgs + ros-${ROS_DISTRO}-gazebo-ros-pkgs\ + ############################################# + && apt clean && \ + rm -rf /var/lib/apt/lists/* ;\ + fi # Development stage FROM dev as dev2 ARG WORKSPACE="/home/${USERNAME}/workspace" @@ -195,17 +218,23 @@ RUN mkdir -p ${WORKSPACE}/src/elevation_mapping_cupy && chown -R ${USER_UID}:${U RUN echo "if [ -f ${WORKSPACE}/install/setup.bash ]; then source ${WORKSPACE}/install/setup.bash; fi" >> /home/ros/.bashrc WORKDIR ${WORKSPACE} -# TODO: move up later before commiting + # Setup rosdep -# Could cache this, but since we are linking extra-rosdeps.yaml instead of copying this doesn't do anything +RUN rosdep init +# COPY docker/extra_rosdeps.yaml /etc/ros/rosdep/sources.list.d/emcupy-rosdeps-fixed.yaml +# Setup rosdep with extra rosdeps and install them for elevation_mapping_cupy # RUN --mount=type=cache,target=/home/${USERNAME}/.ros/rosdep/sources.cache \ -RUN rosdep init \ - && ln -s ${WORKSPACE}/src/elevation_mapping_cupy/docker/extra_rosdeps.yaml /etc/ros/rosdep/sources.list.d/emcupy-rosdeps.yaml\ - && echo "yaml file:///etc/ros/rosdep/sources.list.d/emcupy-rosdeps.yaml" | tee /etc/ros/rosdep/sources.list.d/00-emcupy-rosdeps.list -# Linking only works if you don't run rosdep update here and wait until it is loaded, otherwise can use copy -# The benefit is that you can update the rosdeps in your workspace and they will be used -# COPY docker/extra_rosdeps.yaml /etc/ros/rosdep/sources.list.d/emcupy-rosdeps.yaml -# RUN rosdep update +# RUN if [ "$INSTALL_EMCUPY_ROSDEPS" = true ]; then \ +# echo "yaml file:///etc/ros/rosdep/sources.list.d/emcupy-rosdeps-fixed.yaml" | tee /etc/ros/rosdep/sources.list.d/01-emcupy-rosdeps.list && \ +# rosdep update && \ +# # This install doesn't seem to actually install anything, so removing +# apt update && \ +# rosdep install --from-paths . --ignore-src -y -r; \ +# fi +# Now add the same file again, but this one is symlinked so will change if you change the file in your workspace +RUN ln -s ${WORKSPACE}/src/elevation_mapping_cupy/docker/extra_rosdeps.yaml /etc/ros/rosdep/sources.list.d/emcupy-rosdeps.yaml && \ + echo "yaml file:///etc/ros/rosdep/sources.list.d/emcupy-rosdeps.yaml" | tee /etc/ros/rosdep/sources.list.d/00-emcupy-rosdeps.list; + # Switch to non-root user USER $USERNAME diff --git a/elevation_mapping_cupy/scripts/elevation_mapping_node.py b/elevation_mapping_cupy/scripts/elevation_mapping_node.py index 5c0bf337..50915c91 100755 --- a/elevation_mapping_cupy/scripts/elevation_mapping_node.py +++ b/elevation_mapping_cupy/scripts/elevation_mapping_node.py @@ -383,7 +383,7 @@ def pointcloud_callback(self, msg: PointCloud2, sub_key: str) -> None: # Append additional channels to pts for channel in additional_channels: if channel in points.dtype.names: - data = points[channel] + data = points[channel].flatten() if data.ndim == 1: data = data[:, np.newaxis] pts = np.hstack((pts, data)) From cb57082852e0869ad2b336f6a76679a08998a1fc Mon Sep 17 00:00:00 2001 From: "W. Jacob Wagner" Date: Sun, 16 Feb 2025 19:50:03 +0000 Subject: [PATCH 492/504] Updating READMEs with installation and demo instructions --- README.md | 139 +++++++++++++++++++++++++++++-- elevation_mapping_cupy/README.md | 17 +--- 2 files changed, 132 insertions(+), 24 deletions(-) diff --git a/README.md b/README.md index f2f8338d..7365b632 100644 --- a/README.md +++ b/README.md @@ -1,17 +1,140 @@ -## ROS2 Elevation Mapping Cupy +# ROS2 Elevation Mapping Cupy **Status**: Under Development 🚧 -### Features +## Features - **Point cloud-based map update**: *Functional* - **Image-based map update**: *Ongoing development* +- **C++ Node**: *Functional* +- **Python Node**: *Functional* +- **Docker & VS Code Devcontainer**: *Provided* + + + +## Installation +A docker file, installation and build scripts, and a VS Code Dev Container have all been provided to ease integration and development. +This has been tested with Ubuntu 22.04, ROS 2 Humble, Zenoh RMW, CUDA 12.1, and PyTorch 2.6.0. +Some dependency issues with numpy, transforms3d, scipy, and ros2_numpy arose during setup so if versions of any of these packages are changed you may run into issues. +The package.xml has been updated to ensure most dependencies are automatically installed via rosdep and some extra rosdep entries are provided to ensure proper versioning. +This is not possible for some packages, e.g. pytorch, due to need for providing an --extra-index-url during installation. +Therefore, this requirement is satsified inside of the docker build. + +To test out this package with the turtlebot3 Gazebo (classic) simulation you will need to install: +- VS Code +- Docker +- NVIDIA Container Toolkit +- NVIDIA CUDA Toolkit + +### Visual Studio Code +```bash +sudo snap install --classic code +``` + +### Docker Installation +```bash +# Add Docker's official GPG key +sudo apt-get update +sudo apt-get install ca-certificates curl gnupg -y +sudo install -m 0755 -d /etc/apt/keyrings +curl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo gpg --dearmor -o /etc/apt/keyrings/docker.gpg +sudo chmod a+r /etc/apt/keyrings/docker.gpg + +# Add Docker repository +echo "deb [arch=$(dpkg --print-architecture) signed-by=/etc/apt/keyrings/docker.gpg] https://download.docker.com/linux/ubuntu $(. /etc/os-release && echo "$VERSION_CODENAME") stable" | sudo tee /etc/apt/sources.list.d/docker.list > /dev/null +sudo apt-get update + +# Install Docker +sudo apt-get install docker-ce docker-ce-cli containerd.io docker-buildx-plugin docker-compose-plugin -y + +``` + +### NVIDIA Container Toolkit Installation +```bash +# Configure the repository +curl -fsSL https://nvidia.github.io/libnvidia-container/gpgkey | sudo gpg --dearmor -o /usr/share/keyrings/nvidia-container-toolkit-keyring.gpg +curl -s -L https://nvidia.github.io/libnvidia-container/stable/deb/nvidia-container-toolkit.list | sed 's#deb https://#deb [signed-by=/usr/share/keyrings/nvidia-container-toolkit-keyring.gpg] https://#g' | sudo tee /etc/apt/sources.list.d/nvidia-container-toolkit.list + +# Update and install +sudo apt-get update +sudo apt-get install -y nvidia-container-toolkit + +# Configure Docker for NVIDIA +sudo nvidia-ctk runtime configure --runtime=docker +sudo systemctl restart docker + +# Change Docker root folder +cd +mkdir docker +sudo tee /etc/docker/daemon.json > /dev/null </ +git clone -b ros2_humble https://github.com/jwag/elevation_mapping_cupy.git +``` + +#### Building the Docker Workspace Container +- Open the folder with VS Code +- Select **"Dev Containers: Reopen in container"** in the bottom left from the blue button which will build the docker image. +- Setup the workspace + ```bash + ./docker/setup.sh + ``` +- Build the workspace + ```bash + ./docker/build.sh + +#### Run The Turtlebot3 Demo +The docker should set the environmental variable `TURTLEBOT3_MODEL=waffle_realsense_depth` to select the correct version of the turtlebot to simulate. + +In the first terminal start the zenoh router: +```bash +ros2 run rmw_zenoh_cpp rmw_zenohd +``` + +In a second terminal launch the turtlebot3 in Gazebo with the following command: +```bash +ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py +``` + +In a third terminal launch the elevation mapping node with the configs for the turtle. Set use_python_node to true to override the default use of the cpp node if you wish: +```bash +ros2 launch elevation_mapping_cupy elevation_mapping_turtle.launch.py use_python_node:=false +``` + +In a fourth terminal run the turtlebot3 teleop node if you want to drive the turtlebot around using the keyboard: +```bash +ros2 run turtlebot3_teleop teleop_keyboard +``` -![Elevation Map in ROS 2 Humble with Gazebo ](https://github.com/user-attachments/assets/0dd9ebbe-a90d-486f-9871-81921308fab9) +--- -# Elevation Mapping cupy +# Elevation Mapping cupy (*Instructions Not Updated for ROS2*) ![python tests](https://github.com/leggedrobotics/elevation_mapping_cupy/actions/workflows/python-tests.yml/badge.svg) diff --git a/elevation_mapping_cupy/README.md b/elevation_mapping_cupy/README.md index 05509b58..671de643 100644 --- a/elevation_mapping_cupy/README.md +++ b/elevation_mapping_cupy/README.md @@ -1,19 +1,4 @@ -## Example 1: Turtle Simple Example -Install the realsense wrapper for [TurtleBot3]([ros2_turtlebot3_waffle_intel_realsense](https://github.com/mlherd/ros2_turtlebot3_waffle_intel_realsense)) and place the model in your home .gazebo/models/ folder. -You can launch the turtlebot3 in Gazebo with the following command: -```bash -ros2 launch elevation_mapping_cupy turtle_simple_example.launch.py -``` -You can also maunally spawn the robot in Gazebo. - - -Launch the elevation mapping node: -```bash -ros2 launch elevation_mapping_cupy turtle_simple_example.launch.py -``` - - -## (Corrected) Example 1: Turtle Simple Example +# Example 1: Turtle Simple Example Set the env in the Dockerfile ```dockerfile ENV TURTLEBOT3_MODEL=waffle_realsense_depth From 56e5aa07505ceec1bbff8755bd81395e66854774 Mon Sep 17 00:00:00 2001 From: Lorenzo Terenzi Date: Mon, 17 Feb 2025 09:33:48 +0100 Subject: [PATCH 493/504] fix time for deployment --- .../elevation_mapping_cupy/elevation_mapping_ros.py | 6 ++---- 1 file changed, 2 insertions(+), 4 deletions(-) diff --git a/elevation_mapping_cupy/elevation_mapping_cupy/elevation_mapping_ros.py b/elevation_mapping_cupy/elevation_mapping_cupy/elevation_mapping_ros.py index 83f19ad4..a7fbda14 100644 --- a/elevation_mapping_cupy/elevation_mapping_cupy/elevation_mapping_ros.py +++ b/elevation_mapping_cupy/elevation_mapping_cupy/elevation_mapping_ros.py @@ -37,11 +37,9 @@ def __init__(self): super().__init__( 'elevation_mapping_node', automatically_declare_parameters_from_overrides=True, - allow_undeclared_parameters=True, - parameter_overrides=[ - rclpy.Parameter('use_sim_time', rclpy.Parameter.Type.BOOL, True) - ] + allow_undeclared_parameters=True ) + self.root = get_package_share_directory("elevation_mapping_cupy") weight_file = os.path.join(self.root, "config/core/weights.dat") plugin_config_file = os.path.join(self.root, "config/core/plugin_config.yaml") From e54a9414e8c75bf238d185e526114496b7fdeed3 Mon Sep 17 00:00:00 2001 From: Idate96 Date: Thu, 13 Mar 2025 15:55:35 +0100 Subject: [PATCH 494/504] less confusing name --- .../elevation_mapping_cupy/elevation_mapping.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/elevation_mapping_cupy/elevation_mapping_cupy/elevation_mapping.py b/elevation_mapping_cupy/elevation_mapping_cupy/elevation_mapping.py index 39b2994d..82eebfff 100644 --- a/elevation_mapping_cupy/elevation_mapping_cupy/elevation_mapping.py +++ b/elevation_mapping_cupy/elevation_mapping_cupy/elevation_mapping.py @@ -132,7 +132,7 @@ def clear(self): self.mean_error = 0.0 self.additive_mean_error = 0.0 - def get_position(self, position): + def get_center_position(self, position): """Return the position of the map center. Args: From bbdfb84fdf24c9cc119ffd731e4a50b7b806676d Mon Sep 17 00:00:00 2001 From: Idate96 Date: Thu, 13 Mar 2025 15:56:00 +0100 Subject: [PATCH 495/504] lints --- .../launch/elevation_mapping.launch.py | 15 ++++++++++----- 1 file changed, 10 insertions(+), 5 deletions(-) diff --git a/elevation_mapping_cupy/launch/elevation_mapping.launch.py b/elevation_mapping_cupy/launch/elevation_mapping.launch.py index f2bf3cf2..cb60b8e2 100755 --- a/elevation_mapping_cupy/launch/elevation_mapping.launch.py +++ b/elevation_mapping_cupy/launch/elevation_mapping.launch.py @@ -6,19 +6,22 @@ from launch.substitutions import LaunchConfiguration, PathJoinSubstitution from launch.conditions import IfCondition + def generate_launch_description(): package_name = 'elevation_mapping_cupy' share_dir = get_package_share_directory(package_name) # Define paths - core_param_path = os.path.join(share_dir, 'config', 'core', 'core_param.yaml') + core_param_path = os.path.join( + share_dir, 'config', 'core', 'core_param.yaml') # Declare launch arguments robot_param_arg = DeclareLaunchArgument( 'robot_config', # default_value='turtle_bot/turle_bot_simple.yaml', default_value='menzi/base.yaml', - description='Name of the robot-specific config file within config/setups/' + description='Name of the robot-specific config file within ' + 'config/setups/' ) launch_rviz_arg = DeclareLaunchArgument( @@ -35,20 +38,22 @@ def generate_launch_description(): use_sim_time_arg = DeclareLaunchArgument( 'use_sim_time', - default_value='false', + default_value='true', description='Use simulation clock if true' ) # Get launch configurations robot_config = LaunchConfiguration('robot_config') - robot_param_path = PathJoinSubstitution([share_dir, 'config', 'setups', robot_config]) + robot_param_path = PathJoinSubstitution( + [share_dir, 'config', 'setups', robot_config]) launch_rviz = LaunchConfiguration('launch_rviz') rviz_config = LaunchConfiguration('rviz_config') use_sim_time = LaunchConfiguration('use_sim_time') # Verify core config exists if not os.path.exists(core_param_path): - raise FileNotFoundError(f"Config file {core_param_path} does not exist") + raise FileNotFoundError( + f"Config file {core_param_path} does not exist") # Define nodes elevation_mapping_node = Node( From bdc2e4d84aafe020d44e6ec22e9fe01d711f392c Mon Sep 17 00:00:00 2001 From: Idate96 Date: Thu, 27 Mar 2025 13:23:01 +0100 Subject: [PATCH 496/504] base frame --- elevation_mapping_cupy/config/core/core_param.yaml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/elevation_mapping_cupy/config/core/core_param.yaml b/elevation_mapping_cupy/config/core/core_param.yaml index 3786b25f..29d967c0 100644 --- a/elevation_mapping_cupy/config/core/core_param.yaml +++ b/elevation_mapping_cupy/config/core/core_param.yaml @@ -2,7 +2,7 @@ elevation_mapping_node: ros__parameters: #### Basic parameters ######## resolution: 0.1 # resolution in m. - map_length: 15.0 # map's size in m. + map_length: 20.0 # map's size in m. sensor_noise_factor: 0.05 # point's noise is sensor_noise_factor*z^2 (z is distance from sensor). mahalanobis_thresh: 2.0 # points outside this distance is outlier. outlier_variance: 0.0`1 # if point is outlier, add this value to the cell. @@ -44,9 +44,9 @@ elevation_mapping_node: overlap_clear_range_xy: 4.0 # xy range [m] for clearing overlapped area. this defines the valid area for overlap clearance. (used for multi floor setting) overlap_clear_range_z: 2.0 # z range [m] for clearing overlapped area. cells outside this range will be cleared. (used for multi floor setting) - map_frame: 'World' # The map frame where the odometry source uses. + map_frame: 'BASE' # The map frame where the odometry source uses. base_frame: 'BASE' # The robot's base frame. This frame will be a center of the map. - corrected_map_frame: 'World' + corrected_map_frame: 'BASE' # map_frame: 'World' # The map frame where the odometry source uses. From a4348d298757b935ccafca5250ed0b7219bc49d3 Mon Sep 17 00:00:00 2001 From: Idate96 Date: Fri, 9 May 2025 15:00:41 +0200 Subject: [PATCH 497/504] correct timestamp and dimensions --- .../elevation_mapping_ros.py | 15 ++++++++------- 1 file changed, 8 insertions(+), 7 deletions(-) diff --git a/elevation_mapping_cupy/elevation_mapping_cupy/elevation_mapping_ros.py b/elevation_mapping_cupy/elevation_mapping_cupy/elevation_mapping_ros.py index a7fbda14..0c592d87 100644 --- a/elevation_mapping_cupy/elevation_mapping_cupy/elevation_mapping_ros.py +++ b/elevation_mapping_cupy/elevation_mapping_cupy/elevation_mapping_ros.py @@ -279,10 +279,11 @@ def publish_map(self, key: str) -> None: return gm = GridMap() gm.header.frame_id = self.map_frame - gm.header.stamp = self.get_clock().now().to_msg() + gm.header.stamp = self._last_t if self._last_t is not None else self.get_clock().now().to_msg() gm.info.resolution = self._map.resolution - gm.info.length_x = self._map.map_length - gm.info.length_y = self._map.map_length + actual_map_length = (self._map.cell_n - 2) * self._map.resolution + gm.info.length_x = actual_map_length + gm.info.length_y = actual_map_length gm.info.pose.position.x = self._map_t.x gm.info.pose.position.y = self._map_t.y gm.info.pose.position.z = 0.0 @@ -296,12 +297,12 @@ def publish_map(self, key: str) -> None: for layer in self.my_publishers[key].get("layers", []): gm.layers.append(layer) self._map.get_map_with_name_ref(layer, self._map_data) + map_data_for_gridmap = np.flip(self._map_data, axis=1) arr = Float32MultiArray() arr.layout = MAL() - N = self._map_data.shape[0] - arr.layout.dim.append(MAD(label="column_index", size=N, stride=int(N * N))) - arr.layout.dim.append(MAD(label="row_index", size=N, stride=N)) - arr.data = self._map_data.T.flatten().tolist() + arr.layout.dim.append(MAD(label="column_index", size=map_data_for_gridmap.shape[1], stride=map_data_for_gridmap.shape[0] * map_data_for_gridmap.shape[1])) + arr.layout.dim.append(MAD(label="row_index", size=map_data_for_gridmap.shape[0], stride=map_data_for_gridmap.shape[0])) + arr.data = map_data_for_gridmap.flatten().tolist() gm.data.append(arr) gm.outer_start_index = 0 From e6c7ce44bc81c4aef4ed6d3d24dd6b200f82e56d Mon Sep 17 00:00:00 2001 From: Lorenzo Date: Tue, 19 Aug 2025 12:17:51 +0000 Subject: [PATCH 498/504] Fix elevation map rotation issue with Row-Major indexing - Fixed CUDA kernels to use proper Row-Major convention (Row=Y, Col=X) - Updated is_inside() and get_idx() functions in all kernels - Fixed normal vector calculation (removed swapped components) - Adjusted data flipping for correct GridMap publishing - Kept 180-degree rotation in internal representation - Removed extra flip in elevation_mapping_ros.py The elevation map now correctly aligns with LiDAR data. --- .../elevation_mapping.py | 1 + .../elevation_mapping_ros.py | 4 +- .../kernels/custom_kernels.py | 44 ++++++++++++++----- 3 files changed, 36 insertions(+), 13 deletions(-) diff --git a/elevation_mapping_cupy/elevation_mapping_cupy/elevation_mapping.py b/elevation_mapping_cupy/elevation_mapping_cupy/elevation_mapping.py index 82eebfff..22c8531b 100644 --- a/elevation_mapping_cupy/elevation_mapping_cupy/elevation_mapping.py +++ b/elevation_mapping_cupy/elevation_mapping_cupy/elevation_mapping.py @@ -797,6 +797,7 @@ def get_map_with_name_ref(self, name, data): else: print("Layer {} is not in the map".format(name)) return + # Need 180 degree rotation to match coordinate system m = xp.flip(m, 0) m = xp.flip(m, 1) if use_stream: diff --git a/elevation_mapping_cupy/elevation_mapping_cupy/elevation_mapping_ros.py b/elevation_mapping_cupy/elevation_mapping_cupy/elevation_mapping_ros.py index 0c592d87..5ccbbf5f 100644 --- a/elevation_mapping_cupy/elevation_mapping_cupy/elevation_mapping_ros.py +++ b/elevation_mapping_cupy/elevation_mapping_cupy/elevation_mapping_ros.py @@ -297,9 +297,11 @@ def publish_map(self, key: str) -> None: for layer in self.my_publishers[key].get("layers", []): gm.layers.append(layer) self._map.get_map_with_name_ref(layer, self._map_data) - map_data_for_gridmap = np.flip(self._map_data, axis=1) + # After fixing CUDA kernels and removing flips in elevation_mapping.py, no flip needed here + map_data_for_gridmap = self._map_data arr = Float32MultiArray() arr.layout = MAL() + # Keep original dimension order but fix strides arr.layout.dim.append(MAD(label="column_index", size=map_data_for_gridmap.shape[1], stride=map_data_for_gridmap.shape[0] * map_data_for_gridmap.shape[1])) arr.layout.dim.append(MAD(label="row_index", size=map_data_for_gridmap.shape[0], stride=map_data_for_gridmap.shape[0])) arr.data = map_data_for_gridmap.flatten().tolist() diff --git a/elevation_mapping_cupy/elevation_mapping_cupy/kernels/custom_kernels.py b/elevation_mapping_cupy/elevation_mapping_cupy/kernels/custom_kernels.py index d7025270..238a0a57 100644 --- a/elevation_mapping_cupy/elevation_mapping_cupy/kernels/custom_kernels.py +++ b/elevation_mapping_cupy/elevation_mapping_cupy/kernels/custom_kernels.py @@ -32,11 +32,16 @@ def map_utils( return i; } __device__ bool is_inside(int idx) { - int idx_x = idx / ${width}; - int idx_y = idx % ${width}; + // Fixed: Row-Major (Row=Y, Col=X) + // Row index (Y) + int idx_y = idx / ${width}; + // Column index (X) + int idx_x = idx % ${width}; + // Check Col bounds (Width) if (idx_x == 0 || idx_x == ${width} - 1) { return false; } + // Check Row bounds (Height) if (idx_y == 0 || idx_y == ${height} - 1) { return false; } @@ -45,7 +50,8 @@ def map_utils( __device__ int get_idx(float16 x, float16 y, float16 center_x, float16 center_y) { int idx_x = clamp(get_x_idx(x, center_x), 0, ${width} - 1); int idx_y = clamp(get_y_idx(y, center_y), 0, ${height} - 1); - return ${width} * idx_x + idx_y; + // Fixed: Row-Major (Row=Y, Col=X) + return ${width} * idx_y + idx_x; } __device__ int get_map_idx(int idx, int layer_n) { const int layer = ${width} * ${height}; @@ -406,11 +412,16 @@ def dilation_filter_kernel(width, height, dilation_size): return layer * layer_n + relative_idx; } __device__ bool is_inside(int idx) { - int idx_x = idx / ${width}; - int idx_y = idx % ${width}; + // Fixed: Row-Major (Row=Y, Col=X) + // Row index (Y) + int idx_y = idx / ${width}; + // Column index (X) + int idx_x = idx % ${width}; + // Check Col bounds (Width) if (idx_x <= 0 || idx_x >= ${width} - 1) { return false; } + // Check Row bounds (Height) if (idx_y <= 0 || idx_y >= ${height} - 1) { return false; } @@ -466,11 +477,16 @@ def normal_filter_kernel(width, height, resolution): return layer * layer_n + relative_idx; } __device__ bool is_inside(int idx) { - int idx_x = idx / ${width}; - int idx_y = idx % ${width}; + // Fixed: Row-Major (Row=Y, Col=X) + // Row index (Y) + int idx_y = idx / ${width}; + // Column index (X) + int idx_x = idx % ${width}; + // Check Col bounds (Width) if (idx_x <= 0 || idx_x >= ${width} - 1) { return false; } + // Check Row bounds (Height) if (idx_y <= 0 || idx_y >= ${height} - 1) { return false; } @@ -491,8 +507,9 @@ def normal_filter_kernel(width, height, resolution): if (!is_inside(idx_x) || !is_inside(idx_y)) { return; } float dzdx = (map[idx_x] - h); float dzdy = (map[idx_y] - h); - float nx = -dzdy / resolution(); - float ny = -dzdx / resolution(); + // Fixed: Normal = (-dH/dx, -dH/dy, 1) + float nx = -dzdx / resolution(); + float ny = -dzdy / resolution(); float nz = 1; float norm = sqrt((nx * nx) + (ny * ny) + 1); newmap[get_map_idx(i, 0)] = nx / norm; @@ -568,12 +585,14 @@ def polygon_mask_kernel(width, height, resolution): } __device__ int get_idx_x(int idx){ - int idx_x = idx / ${width}; + // Fixed: Column index (X) + int idx_x = idx % ${width}; return idx_x; } __device__ int get_idx_y(int idx){ - int idx_y = idx % ${width}; + // Fixed: Row index (Y) + int idx_y = idx / ${width}; return idx_y; } @@ -599,7 +618,8 @@ def polygon_mask_kernel(width, height, resolution): __device__ int get_idx(float16 x, float16 y, float16 center_x, float16 center_y) { int idx_x = clamp(get_x_idx(x, center_x), 0, ${width} - 1); int idx_y = clamp(get_y_idx(y, center_y), 0, ${height} - 1); - return ${width} * idx_x + idx_y; + // Fixed: Row-Major (Row=Y, Col=X) + return ${width} * idx_y + idx_x; } """ From b182b06d074068dc81c7069a3877111ff315a226 Mon Sep 17 00:00:00 2001 From: Lorenzo Date: Tue, 19 Aug 2025 12:37:39 +0000 Subject: [PATCH 499/504] Restore generic defaults in core config for PR - Reset map_frame to 'map' and base_frame to 'base_link' (standard ROS) - Reset map_length to 15.0m default - Reset use_sim_time default to 'false' - Excavator-specific configs remain in mole_perception_bringup --- elevation_mapping_cupy/config/core/core_param.yaml | 8 ++++---- elevation_mapping_cupy/launch/elevation_mapping.launch.py | 2 +- 2 files changed, 5 insertions(+), 5 deletions(-) diff --git a/elevation_mapping_cupy/config/core/core_param.yaml b/elevation_mapping_cupy/config/core/core_param.yaml index 29d967c0..05c64c3b 100644 --- a/elevation_mapping_cupy/config/core/core_param.yaml +++ b/elevation_mapping_cupy/config/core/core_param.yaml @@ -2,7 +2,7 @@ elevation_mapping_node: ros__parameters: #### Basic parameters ######## resolution: 0.1 # resolution in m. - map_length: 20.0 # map's size in m. + map_length: 15.0 # map's size in m. sensor_noise_factor: 0.05 # point's noise is sensor_noise_factor*z^2 (z is distance from sensor). mahalanobis_thresh: 2.0 # points outside this distance is outlier. outlier_variance: 0.0`1 # if point is outlier, add this value to the cell. @@ -44,9 +44,9 @@ elevation_mapping_node: overlap_clear_range_xy: 4.0 # xy range [m] for clearing overlapped area. this defines the valid area for overlap clearance. (used for multi floor setting) overlap_clear_range_z: 2.0 # z range [m] for clearing overlapped area. cells outside this range will be cleared. (used for multi floor setting) - map_frame: 'BASE' # The map frame where the odometry source uses. - base_frame: 'BASE' # The robot's base frame. This frame will be a center of the map. - corrected_map_frame: 'BASE' + map_frame: 'map' # The map frame where the odometry source uses. + base_frame: 'base_link' # The robot's base frame. This frame will be a center of the map. + corrected_map_frame: 'map' # map_frame: 'World' # The map frame where the odometry source uses. diff --git a/elevation_mapping_cupy/launch/elevation_mapping.launch.py b/elevation_mapping_cupy/launch/elevation_mapping.launch.py index cb60b8e2..0afc4948 100755 --- a/elevation_mapping_cupy/launch/elevation_mapping.launch.py +++ b/elevation_mapping_cupy/launch/elevation_mapping.launch.py @@ -38,7 +38,7 @@ def generate_launch_description(): use_sim_time_arg = DeclareLaunchArgument( 'use_sim_time', - default_value='true', + default_value='false', description='Use simulation clock if true' ) From e311bfdbcd1f8ddb698b9295a7116e25475581ac Mon Sep 17 00:00:00 2001 From: Lorenzo Terenzi Date: Tue, 19 Aug 2025 14:38:51 +0000 Subject: [PATCH 500/504] Add support for Livox point cloud 'xyz' field format - Handle both dict and structured array formats from ros2_numpy - Support Livox MID-360's combined 'xyz' field instead of separate x,y,z - Add robust error handling for various point cloud structures - Prevent KeyError when processing Livox lidar data --- .../scripts/elevation_mapping_node.py | 83 ++++++++++++++++--- 1 file changed, 72 insertions(+), 11 deletions(-) diff --git a/elevation_mapping_cupy/scripts/elevation_mapping_node.py b/elevation_mapping_cupy/scripts/elevation_mapping_node.py index 142ecdbc..5c599d9a 100755 --- a/elevation_mapping_cupy/scripts/elevation_mapping_node.py +++ b/elevation_mapping_cupy/scripts/elevation_mapping_node.py @@ -365,10 +365,36 @@ def pointcloud_callback(self, msg: PointCloud2, sub_key: str) -> None: channels = ["x", "y", "z"] + additional_channels try: points = rnp.numpify(msg) - except: + except Exception as e: + self.get_logger().warn(f"Failed to numpify point cloud: {e}") return - if points['x'].size == 0: + + # Check if points is empty - handle both structured array and dict cases + if points is None: return + + # Handle different data structures from rnp.numpify + if isinstance(points, dict): + # If it's a dict, check if it has data + if not points or (len(points) == 0): + return + # Check for x,y,z keys or xyz field in dict + if 'xyz' in points: + # Handle combined xyz field (common in Livox lidars) + xyz_data = points['xyz'] + if len(xyz_data) == 0: + return + elif 'x' in points: + # Handle separate x,y,z fields + if len(points['x']) == 0: + return + else: + self.get_logger().warn(f"Point cloud dict missing 'x' or 'xyz' field. Available fields: {list(points.keys())}") + return + else: + # It's a structured numpy array + if points.size == 0: + return frame_sensor_id = msg.header.frame_id transform_sensor_to_map = self.safe_lookup_transform( self.map_frame, @@ -379,15 +405,50 @@ def pointcloud_callback(self, msg: PointCloud2, sub_key: str) -> None: q = transform_sensor_to_map.transform.rotation t_np = np.array([t.x, t.y, t.z], dtype=np.float32) R = quaternion_matrix([q.x, q.y, q.z, q.w])[:3, :3].astype(np.float32) - pts = rnp.point_cloud2.get_xyz_points(points) - # TODO: This is probably expensive. Consider modifying rnp or input_pointcloud() - # Append additional channels to pts - for channel in additional_channels: - if channel in points.dtype.names: - data = points[channel].flatten() - if data.ndim == 1: - data = data[:, np.newaxis] - pts = np.hstack((pts, data)) + + # Extract xyz points based on data structure + if isinstance(points, dict): + # If points is a dict, manually construct xyz array + if 'xyz' in points: + # Handle combined xyz field (common in Livox lidars) + xyz_array = np.array(points['xyz']) + if xyz_array.ndim == 2 and xyz_array.shape[1] == 3: + pts = xyz_array + elif xyz_array.ndim == 1: + # Reshape if flattened + pts = xyz_array.reshape(-1, 3) + else: + # Try to extract x, y, z from the structure + pts = xyz_array[:, :3] if xyz_array.shape[1] >= 3 else xyz_array + elif 'x' in points and 'y' in points and 'z' in points: + # Handle separate x,y,z fields + x = np.array(points['x']).flatten() + y = np.array(points['y']).flatten() + z = np.array(points['z']).flatten() + pts = np.column_stack((x, y, z)) + else: + # Fallback: try to use any available method + self.get_logger().warn(f"Unexpected point cloud structure, attempting fallback") + return + + # Append additional channels + for channel in additional_channels: + if channel in points: + data = np.array(points[channel]).flatten() + if data.ndim == 1: + data = data[:, np.newaxis] + pts = np.hstack((pts, data)) + else: + # Use standard method for structured arrays + pts = rnp.point_cloud2.get_xyz_points(points) + # TODO: This is probably expensive. Consider modifying rnp or input_pointcloud() + # Append additional channels to pts + for channel in additional_channels: + if hasattr(points, 'dtype') and hasattr(points.dtype, 'names') and channel in points.dtype.names: + data = points[channel].flatten() + if data.ndim == 1: + data = data[:, np.newaxis] + pts = np.hstack((pts, data)) self._map.input_pointcloud(pts, channels, R, t_np, 0, 0) self._pointcloud_process_counter += 1 From 50dd1191ad35eeceed3116d620d1d497737deac2 Mon Sep 17 00:00:00 2001 From: Lorenzo Terenzi Date: Tue, 19 Aug 2025 17:01:05 +0200 Subject: [PATCH 501/504] Update README.md --- README.md | 138 +----------------------------------------------------- 1 file changed, 1 insertion(+), 137 deletions(-) diff --git a/README.md b/README.md index 7365b632..27cb1a6c 100644 --- a/README.md +++ b/README.md @@ -1,141 +1,5 @@ # ROS2 Elevation Mapping Cupy - **Status**: Under Development 🚧 -## Features -- **Point cloud-based map update**: *Functional* -- **Image-based map update**: *Ongoing development* -- **C++ Node**: *Functional* -- **Python Node**: *Functional* -- **Docker & VS Code Devcontainer**: *Provided* - - - -## Installation -A docker file, installation and build scripts, and a VS Code Dev Container have all been provided to ease integration and development. -This has been tested with Ubuntu 22.04, ROS 2 Humble, Zenoh RMW, CUDA 12.1, and PyTorch 2.6.0. -Some dependency issues with numpy, transforms3d, scipy, and ros2_numpy arose during setup so if versions of any of these packages are changed you may run into issues. -The package.xml has been updated to ensure most dependencies are automatically installed via rosdep and some extra rosdep entries are provided to ensure proper versioning. -This is not possible for some packages, e.g. pytorch, due to need for providing an --extra-index-url during installation. -Therefore, this requirement is satsified inside of the docker build. - -To test out this package with the turtlebot3 Gazebo (classic) simulation you will need to install: -- VS Code -- Docker -- NVIDIA Container Toolkit -- NVIDIA CUDA Toolkit - -### Visual Studio Code -```bash -sudo snap install --classic code -``` - -### Docker Installation -```bash -# Add Docker's official GPG key -sudo apt-get update -sudo apt-get install ca-certificates curl gnupg -y -sudo install -m 0755 -d /etc/apt/keyrings -curl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo gpg --dearmor -o /etc/apt/keyrings/docker.gpg -sudo chmod a+r /etc/apt/keyrings/docker.gpg - -# Add Docker repository -echo "deb [arch=$(dpkg --print-architecture) signed-by=/etc/apt/keyrings/docker.gpg] https://download.docker.com/linux/ubuntu $(. /etc/os-release && echo "$VERSION_CODENAME") stable" | sudo tee /etc/apt/sources.list.d/docker.list > /dev/null -sudo apt-get update - -# Install Docker -sudo apt-get install docker-ce docker-ce-cli containerd.io docker-buildx-plugin docker-compose-plugin -y - -``` - -### NVIDIA Container Toolkit Installation -```bash -# Configure the repository -curl -fsSL https://nvidia.github.io/libnvidia-container/gpgkey | sudo gpg --dearmor -o /usr/share/keyrings/nvidia-container-toolkit-keyring.gpg -curl -s -L https://nvidia.github.io/libnvidia-container/stable/deb/nvidia-container-toolkit.list | sed 's#deb https://#deb [signed-by=/usr/share/keyrings/nvidia-container-toolkit-keyring.gpg] https://#g' | sudo tee /etc/apt/sources.list.d/nvidia-container-toolkit.list - -# Update and install -sudo apt-get update -sudo apt-get install -y nvidia-container-toolkit - -# Configure Docker for NVIDIA -sudo nvidia-ctk runtime configure --runtime=docker -sudo systemctl restart docker - -# Change Docker root folder -cd -mkdir docker -sudo tee /etc/docker/daemon.json > /dev/null </ -git clone -b ros2_humble https://github.com/jwag/elevation_mapping_cupy.git -``` - -#### Building the Docker Workspace Container -- Open the folder with VS Code -- Select **"Dev Containers: Reopen in container"** in the bottom left from the blue button which will build the docker image. -- Setup the workspace - ```bash - ./docker/setup.sh - ``` -- Build the workspace - ```bash - ./docker/build.sh - -#### Run The Turtlebot3 Demo -The docker should set the environmental variable `TURTLEBOT3_MODEL=waffle_realsense_depth` to select the correct version of the turtlebot to simulate. - -In the first terminal start the zenoh router: -```bash -ros2 run rmw_zenoh_cpp rmw_zenohd -``` - -In a second terminal launch the turtlebot3 in Gazebo with the following command: -```bash -ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py -``` - -In a third terminal launch the elevation mapping node with the configs for the turtle. Set use_python_node to true to override the default use of the cpp node if you wish: -```bash -ros2 launch elevation_mapping_cupy elevation_mapping_turtle.launch.py use_python_node:=false -``` - -In a fourth terminal run the turtlebot3 teleop node if you want to drive the turtlebot around using the keyboard: -```bash -ros2 run turtlebot3_teleop teleop_keyboard -``` - ---- - -# Elevation Mapping cupy (*Instructions Not Updated for ROS2*) - + ![python tests](https://github.com/leggedrobotics/elevation_mapping_cupy/actions/workflows/python-tests.yml/badge.svg) [Documentation](https://leggedrobotics.github.io/elevation_mapping_cupy/) From 1caf0e98eb162ea616a2bb7291225c9edfac7a71 Mon Sep 17 00:00:00 2001 From: Lorenzo Terenzi Date: Tue, 19 Aug 2025 15:39:48 +0000 Subject: [PATCH 502/504] Port useful features from main branch to ROS2 - Fix 'Layer rgb is not in the map' error spam by adding special handling for RGB layer requests - Add max_filter plugin from main branch for filling invalid cells with maximum values - RGB layer now properly retrieves data from semantic layers using color fusion These changes eliminate the repetitive error messages and add the max_filter functionality that was missing in the ROS2 branch. --- .../elevation_mapping.py | 19 +++ .../plugins/max_filter.py | 111 ++++++++++++++++++ 2 files changed, 130 insertions(+) create mode 100644 elevation_mapping_cupy/elevation_mapping_cupy/plugins/max_filter.py diff --git a/elevation_mapping_cupy/elevation_mapping_cupy/elevation_mapping.py b/elevation_mapping_cupy/elevation_mapping_cupy/elevation_mapping.py index 55cd0fb7..b9e11caa 100644 --- a/elevation_mapping_cupy/elevation_mapping_cupy/elevation_mapping.py +++ b/elevation_mapping_cupy/elevation_mapping_cupy/elevation_mapping.py @@ -782,6 +782,25 @@ def get_map_with_name_ref(self, name, data): p = self.plugin_manager.get_param_with_name(name) xp = self.xp_of_array(m) m = self.process_map_for_publish(m, fill_nan=p.fill_nan, add_z=p.is_height_layer, xp=xp) + elif name == "rgb": + # Special handling for rgb layer - check if any semantic layer uses color fusion + color_layer = None + for layer_name in self.semantic_map.layer_names: + if (layer_name in self.semantic_map.layer_specs_points and + self.semantic_map.layer_specs_points[layer_name] == "color"): + color_layer = layer_name + break + elif (layer_name in self.semantic_map.layer_specs_image and + self.semantic_map.layer_specs_image[layer_name] == "color"): + color_layer = layer_name + break + + if color_layer: + # Get the RGB data from the color layer + m = self.semantic_map.get_rgb(color_layer) + else: + # No RGB data available, return silently + return else: print("Layer {} is not in the map".format(name)) return diff --git a/elevation_mapping_cupy/elevation_mapping_cupy/plugins/max_filter.py b/elevation_mapping_cupy/elevation_mapping_cupy/plugins/max_filter.py new file mode 100644 index 00000000..865470b9 --- /dev/null +++ b/elevation_mapping_cupy/elevation_mapping_cupy/plugins/max_filter.py @@ -0,0 +1,111 @@ +# +# Copyright (c) 2022, Takahiro Miki. All rights reserved. +# Licensed under the MIT license. See LICENSE file in the project root for details. +# +import cupy as cp +import string +from typing import List + +from .plugin_manager import PluginBase + + +class MaxFilter(PluginBase): + """This is a filter to fill in invalid cells with maximum values around. + + ... + + Attributes + ---------- + width: int + width of the elevation map. + height: int + height of the elevation map. + dilation_size: int + The size of the patch to search for maximum value for each iteration. + iteration_n: int + The number of iteration to repeat the same filter. + """ + + def __init__(self, cell_n: int = 100, dilation_size: int = 5, iteration_n: int = 5, **kwargs): + super().__init__() + self.iteration_n = iteration_n + self.width = cell_n + self.height = cell_n + self.max_filtered = cp.zeros((self.width, self.height)) + self.max_filtered_mask = cp.zeros((self.width, self.height)) + self.max_filter_kernel = cp.ElementwiseKernel( + in_params="raw U map, raw U mask", + out_params="raw U newmap, raw U newmask", + preamble=string.Template( + """ + __device__ int get_map_idx(int idx, int layer_n) { + const int layer = ${width} * ${height}; + return layer * layer_n + idx; + } + + __device__ int get_relative_map_idx(int idx, int dx, int dy, int layer_n) { + const int layer = ${width} * ${height}; + const int relative_idx = idx + ${width} * dy + dx; + return layer * layer_n + relative_idx; + } + __device__ bool is_inside(int idx) { + int idx_x = idx / ${width}; + int idx_y = idx % ${width}; + if (idx_x <= 0 || idx_x >= ${width} - 1) { + return false; + } + if (idx_y <= 0 || idx_y >= ${height} - 1) { + return false; + } + return true; + } + """ + ).substitute(width=self.width, height=self.height), + operation=string.Template( + """ + U valid = mask[get_map_idx(i, 0)]; + if (valid < 0.5) { + U max_value = -1000000.0; + for (int dy = -${dilation_size}; dy <= ${dilation_size}; dy++) { + for (int dx = -${dilation_size}; dx <= ${dilation_size}; dx++) { + int idx = get_relative_map_idx(i, dx, dy, 0); + if (!is_inside(idx)) {continue;} + U valid = mask[idx]; + U value = map[idx]; + if(valid > 0.5 && value > max_value) { + max_value = value; + } + } + } + if (max_value > -1000000 + 1) { + newmap[get_map_idx(i, 0)] = max_value; + newmask[get_map_idx(i, 0)] = 0.6; + } + } + """ + ).substitute(dilation_size=dilation_size), + name="max_filter_kernel", + ) + + def __call__( + self, + elevation_map: cp.ndarray, + layer_names: List[str], + plugin_layers: cp.ndarray, + plugin_layer_names: List[str], + ) -> cp.ndarray: + self.max_filtered = elevation_map[0].copy() + self.max_filtered_mask = elevation_map[2].copy() + for i in range(self.iteration_n): + self.max_filter_kernel( + self.max_filtered.copy(), + self.max_filtered_mask.copy(), + self.max_filtered, + self.max_filtered_mask, + size=(self.width * self.height), + ) + # If there's no more mask, break + if (self.max_filtered_mask > 0.5).all(): + break + max_filtered = cp.where(self.max_filtered_mask > 0.5, self.max_filtered.copy(), cp.nan) + return max_filtered \ No newline at end of file From df85d97ae512e4c848931755825a787b4ccb7102 Mon Sep 17 00:00:00 2001 From: Idate96 Date: Wed, 27 Aug 2025 23:09:10 +0200 Subject: [PATCH 503/504] feat: Make Python node the default executable for elevation_mapping_cupy - Change executable from 'elevation_mapping_node' to 'elevation_mapping_node.py' in launch files - Use pure Python implementation instead of C++ wrapper to avoid API mismatches - Ensures compatibility with latest Python API changes --- elevation_mapping_cupy/launch/elevation_mapping.launch.py | 2 +- elevation_mapping_cupy/launch/elevation_mapping_cupy.launch.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/elevation_mapping_cupy/launch/elevation_mapping.launch.py b/elevation_mapping_cupy/launch/elevation_mapping.launch.py index 0afc4948..cb418578 100755 --- a/elevation_mapping_cupy/launch/elevation_mapping.launch.py +++ b/elevation_mapping_cupy/launch/elevation_mapping.launch.py @@ -58,7 +58,7 @@ def generate_launch_description(): # Define nodes elevation_mapping_node = Node( package=package_name, - executable='elevation_mapping_node', + executable='elevation_mapping_node.py', name='elevation_mapping_node', output='screen', parameters=[ diff --git a/elevation_mapping_cupy/launch/elevation_mapping_cupy.launch.py b/elevation_mapping_cupy/launch/elevation_mapping_cupy.launch.py index 03d18530..ac46fb70 100644 --- a/elevation_mapping_cupy/launch/elevation_mapping_cupy.launch.py +++ b/elevation_mapping_cupy/launch/elevation_mapping_cupy.launch.py @@ -11,7 +11,7 @@ def generate_launch_description(): launch_ros.actions.SetParameter(name='use_sim_time', value=True), Node( package='elevation_mapping_cupy', - executable='elevation_mapping_node', + executable='elevation_mapping_node.py', name='elevation_mapping', parameters=[ PathJoinSubstitution([ From ef80f85d69cef42772406bfec79173fbe291e3ae Mon Sep 17 00:00:00 2001 From: Fredrikhb Date: Tue, 23 Sep 2025 14:09:56 +0200 Subject: [PATCH 504/504] fix shift_map_xy handling: use [dy,dx] for cp.roll axes --- .../elevation_mapping_cupy/elevation_mapping.py | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/elevation_mapping_cupy/elevation_mapping_cupy/elevation_mapping.py b/elevation_mapping_cupy/elevation_mapping_cupy/elevation_mapping.py index b9e11caa..90b841c7 100644 --- a/elevation_mapping_cupy/elevation_mapping_cupy/elevation_mapping.py +++ b/elevation_mapping_cupy/elevation_mapping_cupy/elevation_mapping.py @@ -151,7 +151,8 @@ def move(self, delta_position): delta_position_xy = delta_pixel * self.resolution self.center[:2] += xp.asarray(delta_position_xy) self.center[2] += xp.asarray(delta_position[2]) - self.shift_map_xy(delta_pixel) + dy_dx = xp.array([delta_pixel[1], delta_pixel[0]]) + self.shift_map_xy(dy_dx) self.shift_map_z(-delta_position[2]) def move_to(self, position, R): @@ -169,7 +170,8 @@ def move_to(self, position, R): delta_xy = delta_pixel * self.resolution self.center[:2] += delta_xy self.center[2] += delta[2] - self.shift_map_xy(-delta_pixel) + dy_dx = xp.array([delta_pixel[1], delta_pixel[0]]) + self.shift_map_xy(-dy_dx) self.shift_map_z(-delta[2]) def pad_value(self, x, shift_value, idx=None, value=0.0):

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