[hokuyo_estimation] Estimation of tree position and diameter from 2D lidar scan

tree_tracking/CMakeLists.txt

@@ -0,0 +1,83 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(tree_tracking)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## 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
+  cmake_modules
+  cv_bridge
+  dynamic_reconfigure
+  geometry_msgs
+  image_geometry
+  image_transport
+  nodelet
+  roscpp
+  sensor_msgs
+  std_msgs
+  tf
+  laser_filters
+  filters
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+# set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
+add_compile_options(-std=c++11)
+
+find_package(OpenCV REQUIRED)
+message(WARNING "OPENCV ${OpenCV_VERSION} FOUND")
+
+catkin_package(
+  INCLUDE_DIRS include
+  CATKIN_DEPENDS roscpp sensor_msgs nodelet tf std_msgs dynamic_reconfigure geometry_msgs
+  LIBRARIES tree_tracking
+)
+
+###########
+## Build ##
+###########
+include_directories(
+  include
+  ${OpenCV_INCLUDE_DIRS}
+  ${catkin_INCLUDE_DIRS}
+  )
+
+# catkin_package(
+#   INCLUDE_DIRS include
+#   CATKIN_DEPENDS roscpp sensor_msgs nodelet tf std_msgs dynamic_reconfigure geometry_msgs
+#   # LIBRARIES tree_tracking
+# )
+
+add_library(laser_clustering_filter SHARED src/laser_clustering_filter.cpp)
+target_link_libraries(laser_clustering_filter ${catkin_LIBRARIES})
+
+add_library(tree_tracking src/tree_tracking.cpp src/tree_database.cpp src/circle_detection.cpp)
+target_link_libraries(tree_tracking ${catkin_LIBRARIES})
+
+install(TARGETS tree_tracking
+        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+add_executable(tree_tracking_node src/tree_tracking_node.cpp)
+target_link_libraries (tree_tracking_node ${catkin_LIBRARIES} tree_tracking)
+
+#############
+## Install ##
+#############
+install(DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
+
+install(
+  TARGETS tree_tracking_node
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+  )
+install(
+  FILES laser_filters_plugins.xml
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+  )

tree_tracking/config/rviz_config.rviz

@@ -0,0 +1,227 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /Grid1
+        - /LaserScan1
+        - /LaserScan2
+        - /LaserScan3
+        - /MarkerArray1
+        - /Axes1
+      Splitter Ratio: 0.45338207483291626
+    Tree Height: 1239
+  - 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: LaserScan
+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: <Fixed 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/LaserScan
+      Color: 255; 255; 255
+      Color Transformer: Intensity
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Min Color: 0; 0; 0
+      Name: LaserScan
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.009999999776482582
+      Style: Flat Squares
+      Topic: /multirotor/scan
+      Unreliable: false
+      Use Fixed Frame: true
+      Use rainbow: true
+      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/LaserScan
+      Color: 255; 255; 255
+      Color Transformer: Intensity
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Min Color: 0; 0; 0
+      Name: LaserScan
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.009999999776482582
+      Style: Flat Squares
+      Topic: /multirotor/shadow_filtered
+      Unreliable: false
+      Use Fixed Frame: true
+      Use rainbow: true
+      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/LaserScan
+      Color: 255; 255; 255
+      Color Transformer: Intensity
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Min Color: 0; 0; 0
+      Name: LaserScan
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.009999999776482582
+      Style: Flat Squares
+      Topic: /multirotor/scan_clustered
+      Unreliable: false
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Class: rviz/MarkerArray
+      Enabled: true
+      Marker Topic: /multirotor/visualization_marker
+      Name: MarkerArray
+      Namespaces:
+        tree: true
+        tree_diameter: true
+      Queue Size: 100
+      Value: true
+    - Alpha: 1
+      Class: rviz/Axes
+      Enabled: true
+      Length: 1
+      Name: Axes
+      Radius: 0.10000000149011612
+      Reference Frame: multirotor/main_body
+      Show Trail: false
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Default Light: true
+    Fixed Frame: world
+    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: 12.02877140045166
+      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: 1.8418309688568115
+        Y: 0.056299153715372086
+        Z: -0.24842405319213867
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 1.14479660987854
+      Target Frame: <Fixed Frame>
+      Yaw: 3.213582992553711
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: true
+  Height: 1536
+  Hide Left Dock: true
+  Hide Right Dock: true
+  QMainWindow State: 000000ff00000000fd00000004000000000000021900000562fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073000000003d00000562000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010000000562fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000562000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000003f10000003efc0100000002fb0000000800540069006d00650100000000000003f1000003bc00fffffffb0000000800540069006d00650100000000000004500000000000000000000003f10000056200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: true
+  Width: 1009
+  X: 1551
+  Y: 27

tree_tracking/include/tree_tracking/circle_detection.h

@@ -0,0 +1,10 @@
+#ifndef UTIL_CIRCLE_DETECTION_H
+#define UTIL_CIRCLE_DETECTION_H
+
+#include <tf/transform_broadcaster.h>
+#include <vector>
+
+namespace CircleDetection {
+  void circleFitting(const std::vector<tf::Vector3>& points, tf::Vector3& tree_center_location, double& tree_radius, double& regulation);
+}
+#endif