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Road-boundary-detection-based-on-Lidar
/
main_line.cpp

#include <iostream>
#include<read_bin.h>
#include<read_pose.h>
#include<cloud_mapper.h>
#include<rectify.h>
#include<boost/make_shared.hpp>
#include<pcl/io/pcd_io.h>
#include<pcl/visualization/pcl_visualizer.h>
#include<pcl/visualization/point_cloud_color_handlers.h>
#include"ground_segment.h"
#include<pcl/ModelCoefficients.h>
#include<pcl/PointIndices.h>
#include<pcl/console/parse.h>
#include"curb_point.h"
#include"curbfit.h"
#include<eigen3/Eigen/Core>
#include<pcl/visualization/pcl_plotter.h>
#include<pcl/features/normal_3d_omp.h>
#include<pcl/features/don.h>
#include <pcl/filters/conditional_removal.h>
#include"tracking.h"
#include"read_frametransform.h"
#include"curb_refine_ransac.h"
#include<sstream>

#define Eigen_DONT_VECTORIZE
#define EIGEN_DISABLE_UNALIGNED_ASSERT

using namespace std;
using namespace Eigen;
typedef vector<pcl::PointCloud<pcl::PointXYZI> > CloudList;


boost::mutex mutex1;
bool update=false;

void curb_extract(string bin_path, vector<Matrix4d,aligned_allocator<Matrix4d>> frameTransform, pcl::PointCloud<pcl::PointXYZI>::Ptr curb_points,
                  vector<pcl::PointXYZ>* lineLeft3D,vector<pcl::PointXYZ>* lineRight3D,pcl::PointCloud<pcl::PointXYZI>::Ptr complete_points,
                  double* distanceLeft_,double* distanceRight_)
{
    Tracking curbTrackerLeft;

    Tracking curbTrackerRight;
    read_bin reader(bin_path);

    int i=0;

    while(i<reader.getNumberofFile())
    {
        boost::mutex::scoped_lock lock(mutex1);
        if(update==false)
        {
            update=true;
            curb_points->clear();
            complete_points->clear();
            //            lineLeft3D->clear();
            //            lineRight3D->clear();
            cout<<" now frame "<<i<<" is processed"<<endl;
            //读取bin点云文件
            pcl::PointCloud<pcl::PointXYZI>::Ptr completeCloud(new pcl::PointCloud<pcl::PointXYZI>);
            reader.process(completeCloud,i);

            //地面提取
            pcl::PointCloud<pcl::PointXYZI>::Ptr ground_points(new pcl::PointCloud<pcl::PointXYZI>);
            pcl::PointCloud<pcl::PointXYZI>::Ptr ground_points_no(new pcl::PointCloud<pcl::PointXYZI>);
            ground_segment ground(completeCloud);
            ground.groundfilter(ground_points,ground_points_no,0.2);
            cout<<"ground points is "<<ground_points->points.size()<<endl;
            cout<<"no ground points is "<<ground_points_no->points.size()<<endl;


            //点云mapper
            cloud_mapper mapper2;
            scanIndices scanIDindices;
            pcl::PointCloud<pcl::PointXYZI>::Ptr ground_points_mapper(new pcl::PointCloud<pcl::PointXYZI>);
            mapper2.processByIntensity(ground_points,ground_points_mapper,scanIDindices);
            cout<<"ground points mapper is "<<ground_points_mapper->points.size()<<endl;


            //特征点提取
            pcl::PointCloud<pcl::PointXYZI>::Ptr featurePoints(new pcl::PointCloud<pcl::PointXYZI>);
            curb_point curbExtract(ground_points_mapper,scanIDindices);
            curbExtract.extractFeatures(featurePoints);
            cout<<"feature points is "<<featurePoints->points.size()<<endl;


            //创建curb_refine对象
            curb_refine_ransac refinePoints(*featurePoints);
            CloudPtrList clusterPtr(2);
            //        pcl::PointCloud<pcl::PointXYZI>::Ptr cloud_filtered(new pcl::PointCloud<pcl::PointXYZI>);
            for(int i=0;i<clusterPtr.size();++i)
            {

                clusterPtr[i]=boost::make_shared<pcl::PointCloud<pcl::PointXYZI> >();
            }
            refinePoints.process(ground_points,clusterPtr);
            //             左右curb点拟合
            //                        vector<double> lineLeft(2);
            //                        vector<double> lineRight(2);
            if(clusterPtr[0]->points.size()>6)
            {
                curbFit lineFitLeft(clusterPtr[0]);
                lineFitLeft.process(*lineLeft3D);
                //                lineFitLeft.nurbFit(curve[0]);
                //                lineFitLeft.ransac_curve(clusterPtr[0],0.1,*lineLeft3D);
                //左右curb点跟踪（卡尔曼filter）
                curbTrackerLeft.ProcessMeasurement(*lineLeft3D,frameTransform[i],true);
            }
            else
            {
                curbTrackerLeft.ProcessMeasurement(*lineLeft3D,frameTransform[i],false);
            }
            if(clusterPtr[1]->points.size()>6)
            {
                curbFit lineFitRight(clusterPtr[1]);
                lineFitRight.process(*lineRight3D);
                //                lineFitRight.nurbFit(curve[1]);
                //                lineFitRight.ransac_curve(clusterPtr[1],0.1,*lineRight3D);
                //左右curb点跟踪（卡尔曼filter）
                curbTrackerRight.ProcessMeasurement(*lineRight3D,frameTransform[i],true);
            }
            else
            {
                curbTrackerRight.ProcessMeasurement(*lineRight3D,frameTransform[i],false);
            }

            //输出curb点和全点云
            *curb_points+=*clusterPtr[0];
            *curb_points+=*clusterPtr[1];
            *complete_points=*completeCloud;

            //输出左右边界距离

            *distanceLeft_=abs((0-(*lineLeft3D)[0].x)/((*lineLeft3D)[1].x-(*lineLeft3D)[0].x)*((*lineLeft3D)[1].y-(*lineLeft3D)[0].y)+(*lineLeft3D)[0].y);
            *distanceRight_=abs((0-(*lineRight3D)[0].x)/((*lineRight3D)[1].x-(*lineRight3D)[0].x)*((*lineRight3D)[1].y-(*lineRight3D)[0].y)+(*lineRight3D)[0].y);
//cout<<"Right curb distance is "<<distanceRight<<" m"<<endl;
            //            *curb_points=*cloud_list[i];

            ++i;
        }

    }
}

int main(int argc,char** argv)
{

    std::string bin_path = "/home/wangguojun/Data/dataset/kitti/odom/sequences/01/velodyne/";
    std::string pcd_path = "/home/wangguojun/Data/dataset/kitti/raw_data/2011_09_26/2011_09_26_drive_0056_sync/velodyne_points/pcd/";
    std::string bin_path_1="/home/wangguojun/Data/dataset/kitti/raw_data/2011_09_26/2011_09_26_drive_0056_sync/velodyne_points/data/";

    pcl::PointCloud<pcl::PointXYZI>::Ptr ground_points(new pcl::PointCloud<pcl::PointXYZI>);
    pcl::PointCloud<pcl::PointXYZI>::Ptr curb_points( new pcl::PointCloud<pcl::PointXYZI>);

    vector<pcl::PointXYZ> lineLeft3D(2);
    vector<pcl::PointXYZ> lineRight3D(2);
    double distanceLeft;
    double distanceRight;

    //读取帧间变换信息
    vector<Matrix4d,aligned_allocator<Matrix4d>> frameTransforms;
    read_frameTransform readTransform("/home/wangguojun/source_code/curb_detection/detection/TrOneFrame.txt");
    readTransform.process(frameTransforms);

    //新建线程处理点云输出拟合直线
    boost::thread t1(boost::bind(curb_extract,bin_path_1,frameTransforms,curb_points,&lineLeft3D,&lineRight3D,ground_points,&distanceLeft,&distanceRight));
    //    norDiff(cloudptrlist[frame],scale1,scale2,threshold, curb_points,ground_point_out);
    //    cout<<"curb points is "<<curb_points->points.size()<<endl;


    //可视化
    pcl::visualization::PCLVisualizer viewer("curb_viewer");
    int v1(0);
    int v2(0);
    //    int v3(2);
    viewer.createViewPort(0,0,0.5,1,v1);
    viewer.createViewPort(0.5,0,1,1,v2);
    //    viewer.createViewPort(2/3,0,1,1,v3);
    viewer.setBackgroundColor(0,0,0);
    viewer.addCoordinateSystem(5);
    //    viewer.setSize(1920,1080);
    pcl::visualization::PointCloudColorHandler<pcl::PointXYZI>::Ptr handler_cloud(new pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZI>(255,255,255));
    pcl::visualization::PointCloudColorHandler<pcl::PointXYZI>::Ptr handler_curb(new pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZI>(0,255,0));


    int i=0;
    while (!viewer.wasStopped())
    {
        viewer.spinOnce(100);
        boost::mutex::scoped_lock lock(mutex1);

        if (update)

        {
            cout<<" lineleft start point parameter is "<<lineLeft3D[0].x<<" "<<lineLeft3D[0].y<<" "<<lineLeft3D[0].z<<endl;
            cout<<" lineleft end point parameter is "<<lineLeft3D[1].x<<" "<<lineLeft3D[1].y<<" "<<lineLeft3D[1].z<<endl;
            cout<<" lineright start point parameter is "<<lineRight3D[0].x<<" "<<lineRight3D[0].y<<" "<<lineRight3D[0].z<<endl;
            cout<<" lineright end point parameter is "<<lineRight3D[1].x<<" "<<lineRight3D[1].y<<" "<<lineRight3D[1].z<<endl;
            viewer.removeAllShapes(); //删掉形状缓存
            viewer.removeAllPointClouds();//删除点云缓存
            viewer.removeText3D();//删除Txt3D缓存
            //添加点云
            handler_cloud->setInputCloud(ground_points);
            handler_curb->setInputCloud(curb_points);
            viewer.addPointCloud(curb_points,*handler_curb,"curb_points",v2);
            viewer.addPointCloud(ground_points,*handler_cloud,"ground_points",v1);
            viewer.setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 3, "curb_points",v2);

            //添加车道直线

            viewer.addLine(lineLeft3D[0],lineLeft3D[1],"lineleft",v1);
            viewer.addLine(lineRight3D[0],lineRight3D[1] ,"lineright",v1);
            viewer.setShapeRenderingProperties(pcl::visualization::PCL_VISUALIZER_LINE_WIDTH,3,"lineleft",v1);
            viewer.setShapeRenderingProperties(pcl::visualization::PCL_VISUALIZER_LINE_WIDTH,3,"lineright",v1);
            viewer.setShapeRenderingProperties(pcl::visualization::PCL_VISUALIZER_COLOR,0,1,0,"lineright",v1);
            viewer.setShapeRenderingProperties(pcl::visualization::PCL_VISUALIZER_COLOR,0,1,0,"lineleft",v1);

            //添加车道曲线(B样条曲线）

            //            for (std::size_t i = 0; i < curve_curb[0]->size () - 1; i++)
            //            {
            //                pcl::PointXYZRGB &p1 = curve_curb[0]->at (i);
            //                pcl::PointXYZRGB &p2 = curve_curb[0]->at (i + 1);
            //                std::ostringstream os;
            //                os << "lineLeft_" << i;
            //                viewer.addLine<pcl::PointXYZRGB> (p1, p2, 1, 0, 0, os.str ());
            //                viewer.setShapeRenderingProperties(pcl::visualization::PCL_VISUALIZER_LINE_WIDTH,3,os.str());
            //            }
            //            for (std::size_t i = 0; i < curve_curb[1]->size () - 1; i++)
            //            {
            //                pcl::PointXYZRGB &p1 = curve_curb[1]->at (i);
            //                pcl::PointXYZRGB &p2 = curve_curb[1]->at (i + 1);
            //                std::ostringstream os;
            //                os << "lineRight_" << i;
            //                viewer.addLine<pcl::PointXYZRGB> (p1, p2, 1, 0, 0, os.str ());
            //                viewer.setShapeRenderingProperties(pcl::visualization::PCL_VISUALIZER_LINE_WIDTH,3,os.str());
            //            }


            //ransac二次曲线

            //            for (std::size_t i = 0; i < lineLeft3D.size () - 1; i++)
            //            {
            //                pcl::PointXYZ &p1 =  lineLeft3D[i];
            //                pcl::PointXYZ &p2 = lineLeft3D[i+1];
            //                std::ostringstream os;
            //                os << "lineLeft_" << i;
            //                viewer.addLine<pcl::PointXYZ> (p1, p2, 1, 0, 0, os.str (),v1);
            //                viewer.setShapeRenderingProperties(pcl::visualization::PCL_VISUALIZER_LINE_WIDTH,3,os.str(),v1);
            //            }

            //            for (std::size_t i = 0; i < lineRight3D.size () - 1; i++)
            //            {
            //                pcl::PointXYZ &p1 =  lineRight3D[i];
            //                pcl::PointXYZ &p2 = lineRight3D[i+1];
            //                std::ostringstream os;
            //                os << "lineRight_" << i;
            //                viewer.addLine<pcl::PointXYZ> (p1, p2, 1, 0, 0, os.str (),v1);
            //                viewer.setShapeRenderingProperties(pcl::visualization::PCL_VISUALIZER_LINE_WIDTH,3,os.str(),v1);
            //            }
            //            cout<<" here"<<endl;

            //添加文本

            ostringstream ssLeft;
            ssLeft<<" Left Curb Distance is "<<distanceLeft<<" m";

            ostringstream ssRight;
            ssRight<<" Right Curb Distance is "<<distanceRight<<" m";

            if(!viewer.updateText(ssLeft.str(),350,1000,20,1,0,0,"leftTxt"))
            {
                viewer.addText(ssLeft.str(),350,1000,20,1,0,0,"leftTxt",v1);
            }
            if(!viewer.updateText(ssRight.str(),350,950,20,1,0,0))
            {
                viewer.addText(ssRight.str(),350,950,20,1,0,0,"rightTxt",v1);
            }
            string curbTxt="Curb Points";
            if(!viewer.updateText(curbTxt,350,950,20,1,0,0))
            {
                viewer.addText(curbTxt,350,950,20,1,0,0,"curbTxt",v2);
            }
            string hostVehicle="HostVehicle";
            pcl::PointXYZ hostPosition;
            hostPosition.x=hostPosition.y=hostPosition.z=0;
            viewer.addText3D(hostVehicle,hostPosition,0.5,1,0,0,"hostVehicle",v1);
            viewer.addText3D(hostVehicle,hostPosition,0.5,1,0,0,"hostVehicle",v2);
            update=false;
        }
        ++i;
    }

    t1.join();
    return 0;

}


//读取帧间姿态信息并计算帧间姿态变换
//    string txt_path=
//            "/home/wangguojun/Data/dataset/kitti/raw_data/2"
//            "011_09_26/2011_09_26_drive_0056_sync/oxts/data/";
//    string pose_path="/home/wangguojun/Data/dataset/kitti/raw_data/2011_09_26/2011_09_26_drive_0056_sync/oxts/poses.txt";
//    vector<Matrix<double,2,3> > tran(294);  //帧间位移变换矩阵向量
//    read_pose read(txt_path,pose_path);
//    read.process(tran);
//    for(int i=0;i<294;++i)
//    {
//        cout<< "tran "<<i<<" is \n"<<tran[i]<<endl;
//    }


//点云矫正
//    CloudPtrList CloudPtrList_rectify(cloudptrlist.size());//矫正后点云列表

//    for(int i=0;i<CloudPtrList_rectify.size();++i)
//    {

//        CloudPtrList_rectify[i]=boost::make_shared<pcl::PointCloud<pcl::PointXYZI> >();
//    }

//    rectify rectify_point;

//    rectify_point.process(cloudptrlist[1],tran[1],CloudPtrList_rectify[1]);//输出矫正后的点云


//特征点聚类提取
//    int searchRadius;
//    float smoothThreshold;
//    float curveThreshold;

//    float lineThreshold_1;
//    float lineThreshold_2;
//关于curb点精提取的参数解析
//    pcl::console::parse_argument(argc, argv, "-radius", searchRadius);
//    pcl::console::parse_argument(argc, argv, "-smooth",smoothThreshold);
//    pcl::console::parse_argument(argc, argv, "-curve",curveThreshold);

//    pcl::console::parse_argument(argc, argv, "-line1",lineThreshold_1);
//    pcl::console::parse_argument(argc, argv, "-line2",lineThreshold_2);
//    pcl::console::parse_argument(argc, argv, "-ymin",ymin);
//    pcl::console::parse_argument(argc, argv, "-ymax",ymax);

//    pcl::PointCloud<pcl::PointXY>::Ptr featurePointsXY(new pcl::PointCloud<pcl::PointXY>);
//    pcl::copyPointCloud(*featurePoints,*featurePointsXY);
//    cout<<" left line is "<<lineLeft<<endl;
//    cout<<"right line is "<<lineRight<<endl;
//点云可视化

//pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZINormal> handler_1(featurePoints, 0, 255, 0);
//    handler->setInputCloud(featurePoints);
//        handler_1->setInputCloud(featurePoints);
//        //    viewer.addPointCloud(featurePoints, *handler, "cloud",v1);
//        viewer.addPointCloud(featurePoints, *handler_1, "cloud_1",v1);

//显示后处理的特征点
//        for (int i = 0; i<clusterPtr.size(); i++)
//        {
//            if(clusterPtr[i]->points.size()>0)
//            {
//                double r=(rand()%(256+1));
//                double g=(rand()%(256+1));
//                double b=(rand()%(256+1));
//                pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZI> ::Ptr handler_tempt(new pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZI>(r, g, b));
//                handler_tempt->setInputCloud(clusterPtr[i]);
//                std::ostringstream oss;
//                oss << i;
//                viewer.addPointCloud(clusterPtr[i], *handler_tempt, "cluster" + oss.str(),v2);
//                viewer.setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1.5, "cluster" + oss.str(),v2);
//            }

//        }