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[octomap_server] Filtering In Base Frame Instead of Map Frame #83

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[octomap_server] Filtering In Base Frame Instead of Map Frame #83

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e98d602
Apply filtering in base link frame
Jan 19, 2021
84d04a6
feat: Dynamic clearing of map after filtering
Jan 19, 2021
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72 changes: 25 additions & 47 deletions octomap_server/src/OctomapServer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -260,24 +260,29 @@ bool OctomapServer::openFile(const std::string& filename){

void OctomapServer::insertCloudCallback(const sensor_msgs::PointCloud2::ConstPtr& cloud){
ros::WallTime startTime = ros::WallTime::now();


//
// ground filtering in base frame
//
PCLPointCloud pc; // input cloud for filtering and ground-detection
pcl::fromROSMsg(*cloud, pc);

tf::StampedTransform sensorToWorldTf;
tf::StampedTransform sensorToWorldTf, sensorToBaseTf, baseToWorldTf;
try {
m_tfListener.lookupTransform(m_worldFrameId, cloud->header.frame_id, cloud->header.stamp, sensorToWorldTf);
m_tfListener.waitForTransform(m_baseFrameId, cloud->header.frame_id, cloud->header.stamp, ros::Duration(0.2));
m_tfListener.lookupTransform(m_baseFrameId, cloud->header.frame_id, cloud->header.stamp, sensorToBaseTf);
m_tfListener.lookupTransform(m_worldFrameId, m_baseFrameId, cloud->header.stamp, baseToWorldTf);
} catch(tf::TransformException& ex){
ROS_ERROR_STREAM( "Transform error of sensor data: " << ex.what() << ", quitting callback");
ROS_ERROR_STREAM( "Transform error of sensor data: " << ex.what() << ", quitting callback.\n"
"You need to set base_frame_id to apply filtering.\n"
"Also check if transforms exist between map, sensor and base frames.");
return;
}

Eigen::Matrix4f sensorToWorld;
Eigen::Matrix4f sensorToWorld, sensorToBase, baseToWorld;
pcl_ros::transformAsMatrix(sensorToWorldTf, sensorToWorld);
pcl_ros::transformAsMatrix(sensorToBaseTf, sensorToBase);
pcl_ros::transformAsMatrix(baseToWorldTf, baseToWorld);


// set up filter for height range, also removes NANs:
Expand All @@ -294,55 +299,28 @@ void OctomapServer::insertCloudCallback(const sensor_msgs::PointCloud2::ConstPtr
PCLPointCloud pc_ground; // segmented ground plane
PCLPointCloud pc_nonground; // everything else

// transform pointcloud from sensor frame to fixed robot frame
pcl::transformPointCloud(pc, pc, sensorToBase);
pass_x.setInputCloud(pc.makeShared());
pass_x.filter(pc);
pass_y.setInputCloud(pc.makeShared());
pass_y.filter(pc);

if (m_filterGroundPlane){
tf::StampedTransform sensorToBaseTf, baseToWorldTf;
try{
m_tfListener.waitForTransform(m_baseFrameId, cloud->header.frame_id, cloud->header.stamp, ros::Duration(0.2));
m_tfListener.lookupTransform(m_baseFrameId, cloud->header.frame_id, cloud->header.stamp, sensorToBaseTf);
m_tfListener.lookupTransform(m_worldFrameId, m_baseFrameId, cloud->header.stamp, baseToWorldTf);


}catch(tf::TransformException& ex){
ROS_ERROR_STREAM( "Transform error for ground plane filter: " << ex.what() << ", quitting callback.\n"
"You need to set the base_frame_id or disable filter_ground.");
}


Eigen::Matrix4f sensorToBase, baseToWorld;
pcl_ros::transformAsMatrix(sensorToBaseTf, sensorToBase);
pcl_ros::transformAsMatrix(baseToWorldTf, baseToWorld);

// transform pointcloud from sensor frame to fixed robot frame
pcl::transformPointCloud(pc, pc, sensorToBase);
pass_x.setInputCloud(pc.makeShared());
pass_x.filter(pc);
pass_y.setInputCloud(pc.makeShared());
pass_y.filter(pc);
pass_z.setInputCloud(pc.makeShared());
pass_z.filter(pc);
filterGroundPlane(pc, pc_ground, pc_nonground);

// transform clouds to world frame for insertion
pcl::transformPointCloud(pc_ground, pc_ground, baseToWorld);
pcl::transformPointCloud(pc_nonground, pc_nonground, baseToWorld);
} else {
// directly transform to map frame:
pcl::transformPointCloud(pc, pc, sensorToWorld);

// just filter height range:
pass_x.setInputCloud(pc.makeShared());
pass_x.filter(pc);
pass_y.setInputCloud(pc.makeShared());
pass_y.filter(pc);
}
else {
pass_z.setInputCloud(pc.makeShared());
pass_z.filter(pc);

pc_nonground = pc;
// pc_nonground is empty without ground segmentation
pc_ground.header = pc.header;
pc_nonground.header = pc.header;
pass_z.filter(pc_nonground);
pass_z.setFilterLimitsNegative(true);
pass_z.filter(pc_ground);
}

// transform clouds to world frame for insertion
pcl::transformPointCloud(pc_ground, pc_ground, baseToWorld);
pcl::transformPointCloud(pc_nonground, pc_nonground, baseToWorld);

insertScan(sensorToWorldTf.getOrigin(), pc_ground, pc_nonground);

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