Merge pull request #196 from zang09/master

Add save_map service for save PCD file more easier.

CMakeLists.txt

@@ -32,6 +32,12 @@ add_message_files(
   cloud_info.msg
 )
 
+add_service_files(
+  DIRECTORY srv
+  FILES
+  save_map.srv
+)
+
 generate_messages(
   DEPENDENCIES
   geometry_msgs

README.md

@@ -179,6 +179,17 @@ rosbag play your-bag.bag -r 3
     <img src="./config/doc/ouster-demo.gif" alt="drawing" width="300"/>
 </p>
 
+## Service
+  - /lio_sam/save_map
+    - save map as a PCD file.
+      ``` bash
+        rosservice call [service] [resolution] [destination]
+      ```
+      - Example:
+      ``` bash
+        $ rosservice call /lio_sam/save_map 0.2 "/Downloads/LOAM/"
+      ```
+
 ## Issues
 
   - **Zigzag or jerking behavior**: if your lidar and IMU data formats are consistent with the requirement of LIO-SAM, this problem is likely caused by un-synced timestamp of lidar and IMU data.

src/mapOptmization.cpp

 #include "utility.h"
 #include "lio_sam/cloud_info.h"
+#include "lio_sam/save_map.h"
 
 #include <gtsam/geometry/Rot3.h>
 #include <gtsam/geometry/Pose3.h>
@@ -76,6 +77,8 @@ public:
     ros::Subscriber subGPS;
     ros::Subscriber subLoop;
 
+    ros::ServiceServer srvSaveMap;
+
     std::deque<nav_msgs::Odometry> gpsQueue;
     lio_sam::cloud_info cloudInfo;
 
@@ -166,6 +169,8 @@ public:
         subGPS   = nh.subscribe<nav_msgs::Odometry> (gpsTopic, 200, &mapOptimization::gpsHandler, this, ros::TransportHints().tcpNoDelay());
         subLoop  = nh.subscribe<std_msgs::Float64MultiArray>("lio_loop/loop_closure_detection", 1, &mapOptimization::loopInfoHandler, this, ros::TransportHints().tcpNoDelay());
 
+        srvSaveMap  = nh.advertiseService("lio_sam/save_map", &mapOptimization::saveMapService, this);
+
         pubHistoryKeyFrames   = nh.advertise<sensor_msgs::PointCloud2>("lio_sam/mapping/icp_loop_closure_history_cloud", 1);
         pubIcpKeyFrames       = nh.advertise<sensor_msgs::PointCloud2>("lio_sam/mapping/icp_loop_closure_corrected_cloud", 1);
         pubLoopConstraintEdge = nh.advertise<visualization_msgs::MarkerArray>("/lio_sam/mapping/loop_closure_constraints", 1);
@@ -343,6 +348,71 @@ public:
 
 
 
+    bool saveMapService(lio_sam::save_mapRequest& req, lio_sam::save_mapResponse& res)
+    {
+      string saveMapDirectory;
+
+      cout << "****************************************************" << endl;
+      cout << "Saving map to pcd files ..." << endl;
+      if(req.destination.empty()) saveMapDirectory = std::getenv("HOME") + savePCDDirectory;
+      else saveMapDirectory = std::getenv("HOME") + req.destination;
+      cout << "Save destination: " << saveMapDirectory << endl;
+      // create directory and remove old files;
+      int unused = system((std::string("exec rm -r ") + saveMapDirectory).c_str());
+      unused = system((std::string("mkdir -p ") + saveMapDirectory).c_str());
+      // save key frame transformations
+      pcl::io::savePCDFileBinary(saveMapDirectory + "/trajectory.pcd", *cloudKeyPoses3D);
+      pcl::io::savePCDFileBinary(saveMapDirectory + "/transformations.pcd", *cloudKeyPoses6D);
+      // extract global point cloud map
+      pcl::PointCloud<PointType>::Ptr globalCornerCloud(new pcl::PointCloud<PointType>());
+      pcl::PointCloud<PointType>::Ptr globalCornerCloudDS(new pcl::PointCloud<PointType>());
+      pcl::PointCloud<PointType>::Ptr globalSurfCloud(new pcl::PointCloud<PointType>());
+      pcl::PointCloud<PointType>::Ptr globalSurfCloudDS(new pcl::PointCloud<PointType>());
+      pcl::PointCloud<PointType>::Ptr globalMapCloud(new pcl::PointCloud<PointType>());
+      for (int i = 0; i < (int)cloudKeyPoses3D->size(); i++) {
+          *globalCornerCloud += *transformPointCloud(cornerCloudKeyFrames[i],  &cloudKeyPoses6D->points[i]);
+          *globalSurfCloud   += *transformPointCloud(surfCloudKeyFrames[i],    &cloudKeyPoses6D->points[i]);
+          cout << "\r" << std::flush << "Processing feature cloud " << i << " of " << cloudKeyPoses6D->size() << " ...";
+      }
+
+      if(req.resolution != 0)
+      {
+        cout << "\n\nSave resolution: " << req.resolution << endl;
+
+        // down-sample and save corner cloud
+        downSizeFilterCorner.setInputCloud(globalCornerCloud);
+        downSizeFilterCorner.setLeafSize(req.resolution, req.resolution, req.resolution);
+        downSizeFilterCorner.filter(*globalCornerCloudDS);
+        pcl::io::savePCDFileBinary(saveMapDirectory + "/CornerMap.pcd", *globalCornerCloudDS);
+        // down-sample and save surf cloud
+        downSizeFilterSurf.setInputCloud(globalSurfCloud);
+        downSizeFilterSurf.setLeafSize(req.resolution, req.resolution, req.resolution);
+        downSizeFilterSurf.filter(*globalSurfCloudDS);
+        pcl::io::savePCDFileBinary(saveMapDirectory + "/SurfMap.pcd", *globalSurfCloudDS);
+      }
+      else
+      {
+        // save corner cloud
+        pcl::io::savePCDFileBinary(saveMapDirectory + "/CornerMap.pcd", *globalCornerCloud);
+        // save surf cloud
+        pcl::io::savePCDFileBinary(saveMapDirectory + "/SurfMap.pcd", *globalSurfCloud);
+      }
+
+      // save global point cloud map
+      *globalMapCloud += *globalCornerCloud;
+      *globalMapCloud += *globalSurfCloud;
+
+      int ret = pcl::io::savePCDFileBinary(saveMapDirectory + "/GlobalMap.pcd", *globalMapCloud);
+      res.success = ret == 0;
+
+      downSizeFilterCorner.setLeafSize(mappingCornerLeafSize, mappingCornerLeafSize, mappingCornerLeafSize);
+      downSizeFilterSurf.setLeafSize(mappingSurfLeafSize, mappingSurfLeafSize, mappingSurfLeafSize);
+
+      cout << "****************************************************" << endl;
+      cout << "Saving map to pcd files completed\n" << endl;
+
+      return true;
+    }
 
     void visualizeGlobalMapThread()
     {
@@ -355,40 +425,12 @@ public:
         if (savePCD == false)
             return;
 
-        cout << "****************************************************" << endl;
-        cout << "Saving map to pcd files ..." << endl;
-        // create directory and remove old files;
-        savePCDDirectory = std::getenv("HOME") + savePCDDirectory;
-        int unused = system((std::string("exec rm -r ") + savePCDDirectory).c_str());
-        unused = system((std::string("mkdir ") + savePCDDirectory).c_str());
-        // save key frame transformations
-        pcl::io::savePCDFileASCII(savePCDDirectory + "trajectory.pcd", *cloudKeyPoses3D);
-        pcl::io::savePCDFileASCII(savePCDDirectory + "transformations.pcd", *cloudKeyPoses6D);
-        // extract global point cloud map        
-        pcl::PointCloud<PointType>::Ptr globalCornerCloud(new pcl::PointCloud<PointType>());
-        pcl::PointCloud<PointType>::Ptr globalCornerCloudDS(new pcl::PointCloud<PointType>());
-        pcl::PointCloud<PointType>::Ptr globalSurfCloud(new pcl::PointCloud<PointType>());
-        pcl::PointCloud<PointType>::Ptr globalSurfCloudDS(new pcl::PointCloud<PointType>());
-        pcl::PointCloud<PointType>::Ptr globalMapCloud(new pcl::PointCloud<PointType>());
-        for (int i = 0; i < (int)cloudKeyPoses3D->size(); i++) {
-            *globalCornerCloud += *transformPointCloud(cornerCloudKeyFrames[i],  &cloudKeyPoses6D->points[i]);
-            *globalSurfCloud   += *transformPointCloud(surfCloudKeyFrames[i],    &cloudKeyPoses6D->points[i]);
-            cout << "\r" << std::flush << "Processing feature cloud " << i << " of " << cloudKeyPoses6D->size() << " ...";
+        lio_sam::save_mapRequest  req;
+        lio_sam::save_mapResponse res;
+
+        if(!saveMapService(req, res)){
+            cout << "Fail to save map" << endl;
         }
-        // down-sample and save corner cloud
-        downSizeFilterCorner.setInputCloud(globalCornerCloud);
-        downSizeFilterCorner.filter(*globalCornerCloudDS);
-        pcl::io::savePCDFileASCII(savePCDDirectory + "cloudCorner.pcd", *globalCornerCloudDS);
-        // down-sample and save surf cloud
-        downSizeFilterSurf.setInputCloud(globalSurfCloud);
-        downSizeFilterSurf.filter(*globalSurfCloudDS);
-        pcl::io::savePCDFileASCII(savePCDDirectory + "cloudSurf.pcd", *globalSurfCloudDS);
-        // down-sample and save global point cloud map
-        *globalMapCloud += *globalCornerCloud;
-        *globalMapCloud += *globalSurfCloud;
-        pcl::io::savePCDFileASCII(savePCDDirectory + "cloudGlobal.pcd", *globalMapCloud);
-        cout << "****************************************************" << endl;
-        cout << "Saving map to pcd files completed" << endl;
     }
 
     void publishGlobalMap()

srv/save_map.srv

+float32 resolution
+string destination
+---
+bool success