diff --git a/ros/src/.config/quick_start/sample_lidar_camera/mission_planning.launch b/ros/src/.config/quick_start/sample_lidar_camera/mission_planning.launch index d3a5b20be9d..3d22061e9e7 100755 --- a/ros/src/.config/quick_start/sample_lidar_camera/mission_planning.launch +++ b/ros/src/.config/quick_start/sample_lidar_camera/mission_planning.launch @@ -18,9 +18,9 @@ - + - + diff --git a/ros/src/computing/perception/localization/packages/ndt_localizer/nodes/ndt_matching/ndt_matching.cpp b/ros/src/computing/perception/localization/packages/ndt_localizer/nodes/ndt_matching/ndt_matching.cpp index e4d23d68efb..7afd8a62ae1 100644 --- a/ros/src/computing/perception/localization/packages/ndt_localizer/nodes/ndt_matching/ndt_matching.cpp +++ b/ros/src/computing/perception/localization/packages/ndt_localizer/nodes/ndt_matching/ndt_matching.cpp @@ -139,8 +139,8 @@ static std_msgs::Bool ndt_stat_msg; static ros::Time current_scan_time; static ros::Time previous_scan_time; static ros::Duration scan_duration; -static ros::Publisher estimated_vel_pub; -static std_msgs::Float32 estimated_vel; +static ros::Publisher estimated_vel_mps_pub, estimated_vel_kmph_pub; +static std_msgs::Float32 estimated_vel_mps, estimated_vel_kmph; static std::chrono::time_point matching_start, matching_end;; static ros::Publisher time_ndt_matching_pub; @@ -855,9 +855,11 @@ static void velodyne_callback(const pcl::PointCloud("/ndt_stat", 1000); - estimated_vel_pub = nh.advertise("/estimated_vel", 1000); + estimated_vel_mps_pub = nh.advertise("/estimated_vel_mps", 1000); + + estimated_vel_kmph_pub = nh.advertise("/estimated_vel_kmph", 1000); time_ndt_matching_pub = nh.advertise("/time_ndt_matching", 1000); diff --git a/ros/src/computing/planning/motion/packages/waypoint_follower/CMakeLists.txt b/ros/src/computing/planning/motion/packages/waypoint_follower/CMakeLists.txt index edf661c64b2..79d162c037e 100644 --- a/ros/src/computing/planning/motion/packages/waypoint_follower/CMakeLists.txt +++ b/ros/src/computing/planning/motion/packages/waypoint_follower/CMakeLists.txt @@ -101,7 +101,7 @@ add_executable(twist_through nodes/collision_avoid/twist_through.cpp) target_link_libraries(twist_through ${catkin_LIBRARIES}) add_executable(velocity_set nodes/velocity_set/velocity_set.cpp) -target_link_libraries(velocity_set ${catkin_LIBRARIES}) -add_dependencies(velocity_set - waypoint_follower_generate_messages_cpp) +target_link_libraries(velocity_set libwaypoint_follower ${catkin_LIBRARIES}) +add_dependencies(velocity_set +waypoint_follower_generate_messages_cpp) diff --git a/ros/src/computing/planning/motion/packages/waypoint_follower/launch/velocity_set.launch b/ros/src/computing/planning/motion/packages/waypoint_follower/launch/velocity_set.launch new file mode 100644 index 00000000000..d1aa1d4a382 --- /dev/null +++ b/ros/src/computing/planning/motion/packages/waypoint_follower/launch/velocity_set.launch @@ -0,0 +1,21 @@ + + + + + + + + + + + + + + + + + + + + + diff --git a/ros/src/computing/planning/motion/packages/waypoint_follower/nodes/velocity_set/velocity_set.cpp b/ros/src/computing/planning/motion/packages/waypoint_follower/nodes/velocity_set/velocity_set.cpp index d4e7b5df316..604464dd989 100644 --- a/ros/src/computing/planning/motion/packages/waypoint_follower/nodes/velocity_set/velocity_set.cpp +++ b/ros/src/computing/planning/motion/packages/waypoint_follower/nodes/velocity_set/velocity_set.cpp @@ -29,27 +29,654 @@ */ #include -#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + #include -static ros::Publisher _pub; +#include "waypoint_follower/lane.h" +#include "waypoint_follower/libwaypoint_follower.h" + +#define LOOP_RATE 10 + +static geometry_msgs::TwistStamped _current_twist; +static geometry_msgs::PoseStamped _current_pose; // current pose by the global plane. +static pcl::PointCloud _vscan; + +static std::string _current_pose_topic = "ndt"; +static const std::string pedestrian_sound = "pedestrian"; +static std::string _linelist_frame = "/velodyne"; +//static bool _twist_flag = false; +static bool _pose_flag = false; +static bool _path_flag = false; +static bool _vscan_flag = false; +static bool _changepath_flag = false; + +static double _detection_range = 0; +static int _obstacle_waypoint = -1; +static int _threshold_points = 15; +static double _detection_height_top = 2.0; //actually +2.0m +static double _detection_height_bottom = -2.0; +static double _search_distance = 70; +static int _stop_interval = 5; +static double _car_distance = 8.0; // meter :distance from a front car when stopped +static int _closest_waypoint = -1; +static double _current_vel = 0; // subscribe estimated_vel_mps +static double _decel = 1.5; // (m/s) deceleration +static double _decel_limit = 2.778; // (m/s) about 10 km/h +static visualization_msgs::Marker _linelist; // for obstacle's vscan linelist +static tf::Transform _transform; + +//Publisher +//static ros::Publisher _twist_pub; +static ros::Publisher _vis_pub; +static ros::Publisher _range_pub; +static ros::Publisher _sound_pub; +static ros::Publisher _safety_waypoint_pub; +static ros::Publisher _linelist_pub; + +Path _path_dk; + +class PathVset: public Path{ +private: +public: + void changeWaypoints(int stop_waypoint); + double getVel(int num); + void avoidSuddenBraking(); +}; +PathVset _path_change; + + + +//=============================== +// class function +//=============================== + + +double PathVset::getVel(int num){ + + if (current_path_.waypoints.empty() || num < 0){ + std::cout << "getVel: invalid waypoint" << std::endl; + return 0.0; + } + + return current_path_.waypoints[num].twist.twist.linear.x; +} + + + +void PathVset::avoidSuddenBraking(){ + int i = 0; + int path_size = getPathSize(); + int close_waypoint_threshold = 5; + int fill_in_zero = 5; + int fill_in_vel = 15; + int num; + double temp; + double interval = getInterval(); + + std::cout << "====avoid sudden braking====" << std::endl; + std::cout << "vehicle is decelerating..." << std::endl; + _closest_waypoint = getClosestWaypoint(); + std::cout << "closest_waypoint: " << _closest_waypoint << std::endl; + for (num = _closest_waypoint - close_waypoint_threshold; fill_in_vel > 0; fill_in_vel--){ + if (num-fill_in_vel < 0 || num >= path_size){ + std::cout << "avoidSuddenBraking: invalid waypoint number" << std::endl; + continue; + } + current_path_.waypoints[num-fill_in_vel].twist.twist.linear.x = _current_vel; + } + + for (num = _closest_waypoint - close_waypoint_threshold; num > -1; num++){ + if (num < 0 || num >= path_size){ + std::cout << "avoidSuddenBraking: invalid waypoint number" << std::endl; + return; + } + temp = _current_vel*_current_vel - 2*_decel*i*interval; // sqrt(v^2 - 2*a*x) + if (temp > 0){ + //if (sqrt(temp) > getVel(num)){current_path_.waypoints[num].twist.twist.linear.x = getVel(num);} + current_path_.waypoints[num].twist.twist.linear.x = sqrt(temp);// + //std::cout << "waypoint[" << num << "] vel: " << mps2kmph(sqrt(temp)) << std::endl; + } else { + break; + } + i++; + } + + if (num < 0){ + std::cout << "avoidSuddenBraking: invalid waypoint number" << std::endl; + return; + } + for (int j = 0; j < fill_in_zero; j++){current_path_.waypoints[num+j].twist.twist.linear.x = 0.0;} + + _safety_waypoint_pub.publish(current_path_);// publish new waypoints + std::cout << "====published waypoints====" << std::endl; + + return; +} + + +void PathVset::changeWaypoints(int stop_waypoint){ + int i = 0; + int path_size = getPathSize(); + int close_waypoint_threshold = 4; + int fill_in_zero = 10; + double changed_vel; + double interval = getInterval(); + + + _closest_waypoint = getClosestWaypoint(); + if (_closest_waypoint < 0){ + std::cout << "changeWaypoints: invalid waypoint number" << std::endl; + return; + } + + for (int num = _closest_waypoint + close_waypoint_threshold; num > _closest_waypoint-5; num--){ + if (getVel(num) < _current_vel - _decel_limit){ + avoidSuddenBraking(); + return; + } + } + + for (int num = stop_waypoint; num > _closest_waypoint - close_waypoint_threshold; num--){ + if (num < 0 || num >= path_size){ + std::cout << "invalid waypoint number" << std::endl; + return; + } + changed_vel = sqrt(2.0*_decel*(interval*i)); // sqrt(2*a*x) + + std::cout << "changed_vel[" << num << "]: " << mps2kmph(changed_vel) << " (km/h)"; + std::cout << " distance: " << (_obstacle_waypoint-num)*interval << " (m)"; + std::cout << " current_vel: " << mps2kmph(_current_vel) << std::endl; + + // avoid sudden braking at close waypoint + if (num < _closest_waypoint + close_waypoint_threshold){ + if (changed_vel < _current_vel - _decel_limit){ + avoidSuddenBraking(); + return; + } + } + + if (changed_vel > _current_vel || + changed_vel > _path_dk.getCurrentPath().waypoints[num].twist.twist.linear.x){ // avoid acceleration + std::cout << "too large velocity!!" << std::endl; + current_path_.waypoints[num].twist.twist.linear.x = current_path_.waypoints[num+1].twist.twist.linear.x; + } else { + current_path_.waypoints[num].twist.twist.linear.x = changed_vel; // set waypoint velocity to decelerate + } + + i++; + } + // fill in 0 + for (int j = 1; j < fill_in_zero; j++){ + if (stop_waypoint+j < _closest_waypoint+close_waypoint_threshold && + _current_vel > _decel_limit){ + avoidSuddenBraking(); + return; + } + current_path_.waypoints[stop_waypoint+j].twist.twist.linear.x = 0; + } + + _safety_waypoint_pub.publish(current_path_);// publish new waypoints + std::cout << "---published waypoints---" << std::endl; + + return; +} + + +//=============================== +// class function +//=============================== + + + + + +//=============================== +// Callback +//=============================== + +void EstimatedVelCallback(const std_msgs::Float32ConstPtr &msg){ + + _current_vel = msg->data; +} + +void BaseWaypointCallback(const waypoint_follower::laneConstPtr &msg){ + + ROS_INFO("subscribed safety_waypoint\n"); + _path_dk.setPath(msg); + _path_change.setPath(msg); //++ + if (_path_flag == false) { + std::cout << "waypoint subscribed" << std::endl; + _path_flag = true; + } + + _safety_waypoint_pub.publish(msg); + +} + + +void ObjPoseCallback(const visualization_msgs::MarkerConstPtr &msg){ + + ROS_INFO("subscribed obj_pose\n"); + +} + + +/* +static void TwistCmdCallback(const geometry_msgs::TwistStampedConstPtr &msg) +{ + _current_twist = *msg; + + if (_twist_flag == false) { + std::cout << "twist subscribed" << std::endl; + _twist_flag = true; + } +} +*/ + +static void VscanCallback(const sensor_msgs::PointCloud2ConstPtr &msg) +{ + pcl::fromROSMsg(*msg, _vscan); + if (_vscan_flag == false) { + std::cout << "vscan subscribed" << std::endl; + _vscan_flag = true; + } + +} + +static void NDTCallback(const geometry_msgs::PoseStampedConstPtr &msg) +{ + _current_pose.header = msg->header; + _current_pose.pose = msg->pose; + tf::Transform inverse; + tf::poseMsgToTF(msg->pose, inverse); + _path_dk.setTransform(inverse.inverse()); + _path_change.setTransform(inverse.inverse());//++ + if (_pose_flag == false) { + std::cout << "pose subscribed" << std::endl; + _pose_flag = true; + } +} + +//=============================== +// Callback +//=============================== + + + + -void callback(const waypoint_follower::lane &msg) +// display by markers. +static void DisplayObstacleWaypoint(int i) { - _pub.publish(msg); + + visualization_msgs::Marker marker; + marker.header.frame_id = "/map"; + marker.header.stamp = ros::Time(); + marker.ns = "my_namespace"; + marker.id = 0; + marker.type = visualization_msgs::Marker::CUBE; + marker.action = visualization_msgs::Marker::ADD; + marker.pose.position = _path_dk.getWaypointPosition(i); + marker.pose.orientation = _current_pose.pose.orientation; + marker.scale.x = 1.0; + marker.scale.y = 1.0; + marker.scale.z = _detection_height_top; + marker.color.a = 1.0; + marker.color.r = 0.0; + marker.color.g = 0.0; + marker.color.b = 1.0; + marker.lifetime = ros::Duration(0.1); + marker.frame_locked = true; + + _vis_pub.publish(marker); +} + +// display by markers. +static void DisplayDetectionRange(int i) +{ + + visualization_msgs::Marker marker; + marker.header.frame_id = "/map"; + marker.header.stamp = ros::Time(); + marker.ns = "my_namespace"; + marker.id = 0; + marker.type = visualization_msgs::Marker::SPHERE_LIST; + marker.action = visualization_msgs::Marker::ADD; + + for (int j = 0; j < _search_distance; j++) { + if(i+j > _path_dk.getPathSize() - 1) + break; + + geometry_msgs::Point point; + point = _path_dk.getWaypointPosition(j+i); + marker.points.push_back(point); + } + marker.scale.x = 2 * _detection_range; + marker.scale.y = 2 * _detection_range; + marker.scale.z = _detection_height_top; + marker.color.a = 0.2; + marker.color.r = 0.0; + marker.color.g = 1.0; + marker.color.b = 0.0; + marker.frame_locked = true; + + _range_pub.publish(marker); + marker.points.clear(); +} + +static int vscanDetection(int closest_waypoint) +{ + + if (_vscan.empty() == true) + return -1; + + for (int i = closest_waypoint + 1; i < closest_waypoint + _search_distance; i++) { + + if(i > _path_dk.getPathSize() - 1 ) + return -1; + + tf::Vector3 tf_waypoint = _path_dk.transformWaypoint(i); // waypoint seen by vehicle + tf_waypoint.setZ(0); + //std::cout << "waypoint : "<< tf_waypoint.getX() << " "<< tf_waypoint.getY() << std::endl; + + int point_count = 0; + geometry_msgs::Point vscan_point; + _linelist.points.clear(); + for (pcl::PointCloud::const_iterator item = _vscan.begin(); item != _vscan.end(); item++) { + // out of detection range + if ((item->x == 0 && item->y == 0) /*|| item->z > _detection_height_top || + item->z < _detection_height_bottom*/){ + continue; + } + + tf::Vector3 point((double) item->x, (double) item->y, 0); + + // 2D distance between waypoint and vscan point(obstacle) + double dt = tf::tfDistance(point, tf_waypoint); + if (dt < _detection_range) { + vscan_point.x = item->x; + vscan_point.y = item->y; + vscan_point.z = item->z; + _linelist.points.push_back(vscan_point); + if (item->z > _detection_height_top || item->z < _detection_height_bottom){continue;} + point_count++; + } + + // return closest waypoint from obstacles + if (point_count > _threshold_points){ + //_linelist_pub.publish(_linelist); + _linelist.points.clear(); + return i; + } + } + } + + // no obstacles + return -1; +} + +static void SoundPlay(){ + std_msgs::String string; + string.data = pedestrian_sound; + _sound_pub.publish(string); +} + +static bool ObstacleDetection() +{ + static int false_count = 0; + static bool prev_detection = false; + + int closest_waypoint = _path_change.getClosestWaypoint(); // + _closest_waypoint = closest_waypoint;// + std::cout << "closest_waypoint : " << closest_waypoint << std::endl; + DisplayDetectionRange(closest_waypoint + 1); + int vscan_result = vscanDetection(closest_waypoint); + + if (prev_detection == false) { + if (vscan_result != -1) { // found obstacle + DisplayObstacleWaypoint(vscan_result); + std::cout << "obstacle waypoint : " << vscan_result << std::endl << std::endl; + prev_detection = true; + _obstacle_waypoint = vscan_result; + SoundPlay(); + false_count = 0; + return true; + } else { // no obstacle + prev_detection = false; + return false; + } + } else { //prev_detection = true + if (vscan_result != -1) { // found obstacle + DisplayObstacleWaypoint(vscan_result); + std::cout << "obstacle waypoint : " << vscan_result << std::endl << std::endl; + prev_detection = true; + _obstacle_waypoint = vscan_result; + false_count = 0; + + return true; + } else { // no obstacle + false_count++; + std::cout << "false_count : "<< false_count << std::endl; + } + + //fail-safe + if (false_count >= LOOP_RATE * 2) { + _obstacle_waypoint = -1; + false_count = 0; + prev_detection = false; + return false; + } else { + std::cout << "obstacle waypoint : " << _obstacle_waypoint << std::endl << std::endl; + DisplayObstacleWaypoint(_obstacle_waypoint); + prev_detection = true; + + return true; + } + } + + + +} + +/* +static double Decelerate() +{ + //calculate distance from my position to waypoint + //tf::Vector3 tf_waypoint = TransformWaypoint(_transform,_current_path.waypoints[_obstacle_waypoint].pose.pose); + tf::Vector3 tf_waypoint = _path_dk.transformWaypoint(_obstacle_waypoint); + tf::Vector3 origin_v; + origin_v.setZero(); + double distance = tf::tfDistance(origin_v, tf_waypoint); + // std::cout << "distance " << distance << std::endl; + + //if distance is within stop_interval param, publish 0km/h + if(distance < _stop_interval){ + return 0; + } + + double decel_velocity_ms = DecelerateVelocity(distance,_current_twist.twist.linear.x); + + if(decel_velocity_ms < 1.0){ + decel_velocity_ms = 0; + } + + return decel_velocity_ms; + +} +*/ + +// publish obstacles as RED linelist +static void linelistInit() +{ + + _linelist.header.frame_id = _linelist_frame; + _linelist.header.stamp = ros::Time(0); + _linelist.ns = "vscan_linelist"; + _linelist.id = 0; + _linelist.type = visualization_msgs::Marker::LINE_LIST; + _linelist.action = visualization_msgs::Marker::ADD; + _linelist.scale.x = 0.15; + _linelist.color.a = 0.5; + _linelist.color.r = 1.0; + _linelist.color.g = 0.0; + _linelist.color.b = 0.0; + +} + + +static void ChangeWaypoint(bool detection_result) +{ + + int obs = _obstacle_waypoint; + waypoint_follower::lane lane; + + if (obs != -1){ + std::cout << "====got obstacle waypoint====" << std::endl; + lane = _path_change.getCurrentPath(); + std::cout << "waypoint[" << obs << "] velocity: " << lane.waypoints[obs].twist.twist.linear.x << std::endl; + std::cout << "getDistance: " << _path_change.getDistance(obs) << std::endl; + std::cout << "=============================" << std::endl; + } + + _closest_waypoint = _path_change.getClosestWaypoint(); + if (detection_result){ // DECELERATE + // if obstacle is behind a vehicle, return + if (obs < _closest_waypoint){ + std::cout << "ChangeWaypoint: invalid obstacle waypoint" << std::endl; + return; + } + // *stop_waypoint is about _car_distance meter away from obstacle* + int stop_waypoint = obs - (((int)_car_distance / _path_change.getInterval())); + std::cout << "stop_waypoint: " << stop_waypoint << std::endl; + if (stop_waypoint < 0){ + std::cout << "ChangeWaypoint: invalid stop_waypoint!" << std::endl; + return; + } + _path_change.changeWaypoints(stop_waypoint); + _changepath_flag = true; + } else { // ACELERATE or KEEP + if (_changepath_flag){ + _safety_waypoint_pub.publish(_path_dk.getCurrentPath());/// + _changepath_flag = false; + } + } + + + + + return; } + + +//====================================== +// main +//====================================== + int main(int argc, char **argv) { + int i = 0;/// ros::init(argc, argv, "velocity_set"); ros::NodeHandle nh; - ros::Subscriber twist_sub = nh.subscribe("base_waypoint", 1, callback); - _pub = nh.advertise("safety_waypoint", 1000,true); + ros::NodeHandle private_nh("~"); + //ros::Subscriber twist_sub = nh.subscribe("twist_raw", 1, TwistCmdCallback); + ros::Subscriber ndt_sub = nh.subscribe("control_pose", 1, NDTCallback); + ros::Subscriber vscan_sub = nh.subscribe("vscan_points", 1, VscanCallback); + ros::Subscriber base_waypoint_sub = nh.subscribe("base_waypoint", 1, BaseWaypointCallback); + ros::Subscriber obj_pose_sub = nh.subscribe("obj_pose", 1, ObjPoseCallback); + ros::Subscriber estimated_vel_sub = nh.subscribe("estimated_vel_mps", 1, EstimatedVelCallback); + + //_twist_pub = nh.advertise("twist_cmd", 1000); + _vis_pub = nh.advertise("obstaclewaypoint_mark", 0); + _range_pub = nh.advertise("detection_range", 0); + _sound_pub = nh.advertise("sound_player", 10); + _safety_waypoint_pub = nh.advertise("safety_waypoint", 1000); + _linelist_pub = nh.advertise("vscan_linelist", 10); + + + + private_nh.getParam("detection_range", _detection_range); + std::cout << "detection_range : " << _detection_range << std::endl; + + private_nh.getParam("threshold_points", _threshold_points); + std::cout << "threshold_points : " << _threshold_points << std::endl; + + private_nh.getParam("stop_interval", _stop_interval); + std::cout << "stop_interval : " << _stop_interval << std::endl; + + private_nh.getParam("detection_height_top", _detection_height_top); + std::cout << "detection_height_top : " << _detection_height_top << std::endl; + + private_nh.getParam("detection_height_bottom", _detection_height_bottom); + std::cout << "detection_height_bottom : " << _detection_height_bottom << std::endl; + + private_nh.getParam("current_pose_topic", _current_pose_topic); + std::cout << "current_pose_topic : " << _current_pose_topic << std::endl; + + linelistInit(); + + ros::Rate loop_rate(LOOP_RATE); + while (ros::ok()) { + ros::spinOnce(); + + if (_pose_flag == false || _path_flag == false) { + std::cout << "\rtopic waiting \rtopic waiting"; + for (int j = 0; j < i; j++) {std::cout << ".";} + i++; + i = i%10; + std::cout << std::flush; + loop_rate.sleep(); + continue; + } + + bool detection_result = ObstacleDetection(); + + + /* change waypoints to avoid collision */ + /* if detection_result is true,and then it becomes false,we have to Accelerate */ + ChangeWaypoint(detection_result); + + + /* + if (_twist_flag == true) { + geometry_msgs::TwistStamped twist; + if (detection_result == true) { + //decelerate + std::cout << "twist deceleration..." << std::endl; + twist.twist.linear.x = Decelerate(); + twist.twist.angular.z = _current_twist.twist.angular.z; + } else { + //through + std::cout << "twist through" << std::endl; + twist.twist = _current_twist.twist; + } + std::cout << "twist.linear.x = " << twist.twist.linear.x << std::endl; + std::cout << "twist.angular.z = " << twist.twist.angular.z << std::endl; + std::cout << std::endl; - ros::spin(); + twist.header.stamp = _current_twist.header.stamp; + _twist_pub.publish(twist); + } else { + std::cout << "no twist topic" << std::endl; + } + */ + loop_rate.sleep(); + } return 0; diff --git a/ros/src/computing/planning/motion/packages/waypoint_maker/nodes/waypoint_clicker/waypoint_clicker.cpp b/ros/src/computing/planning/motion/packages/waypoint_maker/nodes/waypoint_clicker/waypoint_clicker.cpp index 97227307f01..4f7fee988a9 100644 --- a/ros/src/computing/planning/motion/packages/waypoint_maker/nodes/waypoint_clicker/waypoint_clicker.cpp +++ b/ros/src/computing/planning/motion/packages/waypoint_maker/nodes/waypoint_clicker/waypoint_clicker.cpp @@ -72,7 +72,7 @@ int main(int argc, char **argv) n.param("/waypoint_clicker/velocity", velocity, 40); n.param("/waypoint_clicker/output_file", output_file, "/tmp/lane_waypoint.csv"); - ros::Subscriber sub_point = n.subscribe("/clicked_point", sub_point_queue_size, write_clicked_point); + ros::Subscriber sub_point = n.subscribe("/initialpose", sub_point_queue_size, write_clicked_point); tf::TransformListener listener; try { diff --git a/ros/src/computing/planning/motion/packages/waypoint_maker/nodes/waypoint_marker_publisher/waypoint_marker_publisher.cpp b/ros/src/computing/planning/motion/packages/waypoint_maker/nodes/waypoint_marker_publisher/waypoint_marker_publisher.cpp index 94237405c97..1197e850c73 100644 --- a/ros/src/computing/planning/motion/packages/waypoint_maker/nodes/waypoint_marker_publisher/waypoint_marker_publisher.cpp +++ b/ros/src/computing/planning/motion/packages/waypoint_maker/nodes/waypoint_marker_publisher/waypoint_marker_publisher.cpp @@ -186,6 +186,17 @@ static void trafficCallback(const waypoint_follower::laneConstPtr &msg) } +static void safetyCallback(const waypoint_follower::laneConstPtr &msg) +{ + visualization_msgs::MarkerArray marker_array; + createWaypointVelocityMarker(*msg, &marker_array); + createWaypointMarker(*msg, &marker_array); + createPathMarker(_color, *msg, &marker_array); + + _lane_mark_pub.publish(marker_array); + +} + int main(int argc, char **argv) { ros::init(argc, argv, "marker_publisher"); @@ -195,6 +206,7 @@ int main(int argc, char **argv) ros::Subscriber lane_sub = nh.subscribe("lane_waypoint",10,laneCallback); ros::Subscriber traffic_sub = nh.subscribe("traffic_waypoint",10,trafficCallback); ros::Subscriber light_sub = nh.subscribe("traffic_light",10,lightCallback); + ros::Subscriber safety_sub = nh.subscribe("safety_waypoint",10,safetyCallback); _lane_mark_pub = nh.advertise("lane_waypoint_mark", 10, true); diff --git a/ros/src/socket/packages/oculus_socket/launch/oculus_sender.launch b/ros/src/socket/packages/oculus_socket/launch/oculus_sender.launch index e24a62c30f8..478aae6bcfb 100644 --- a/ros/src/socket/packages/oculus_socket/launch/oculus_sender.launch +++ b/ros/src/socket/packages/oculus_socket/launch/oculus_sender.launch @@ -1,3 +1,3 @@ - + diff --git a/ros/src/socket/packages/oculus_socket/nodes/oculus_sender/oculus_sender.cpp b/ros/src/socket/packages/oculus_socket/nodes/oculus_sender/oculus_sender.cpp index 2e84c2df375..58e14edda8a 100644 --- a/ros/src/socket/packages/oculus_socket/nodes/oculus_sender/oculus_sender.cpp +++ b/ros/src/socket/packages/oculus_socket/nodes/oculus_sender/oculus_sender.cpp @@ -36,7 +36,7 @@ geometry_msgs::Point prev; struct timeval t; -static void ndt_pose_Callback(const geometry_msgs::PoseStamped::ConstPtr& input) +static void current_pose_Callback(const geometry_msgs::PoseStamped::ConstPtr& input) { tf::Quaternion q(input->pose.orientation.x, input->pose.orientation.y, input->pose.orientation.z, input->pose.orientation.w); @@ -52,9 +52,8 @@ static void ndt_pose_Callback(const geometry_msgs::PoseStamped::ConstPtr& input) sendto(sock1, buf1, sizeof(buf1), 0, (struct sockaddr *)&addr1, sizeof(addr1)); } -static void car_pose_Callback(const visualization_msgs::MarkerArray::ConstPtr& input) +static void obj_pose_Callback(const visualization_msgs::MarkerArray::ConstPtr& input) { - for (std::vector::const_iterator item = input->markers.begin(); item != input->markers.end(); item++){ tf::Quaternion q(item->pose.orientation.x, item->pose.orientation.y, item->pose.orientation.z, item->pose.orientation.w); @@ -64,8 +63,16 @@ static void car_pose_Callback(const visualization_msgs::MarkerArray::ConstPtr& i ROS_INFO("x=[%.6f] y=[%.6f] z=[%.6f]", item->pose.position.x, item->pose.position.y, item->pose.position.z); ROS_INFO("roll=[%f] pitch=[%f] yaw=[%f], PI=[%f]", roll/PI*180, pitch/PI*180, yaw/PI*180, PI); - gettimeofday(&t,NULL); - sprintf(buf1,"%ld%ld OTH %d %f %f %f %f %f %f", t.tv_sec, t.tv_usec , 0, item->pose.position.x, item->pose.position.y, item->pose.position.z, roll/PI*180, pitch/PI*180, yaw/PI*180); + gettimeofday(&t,NULL); + if(item->color.b == 1.0f){ + sprintf(buf1,"%ld%ld OTH %d %f %f %f %f %f %f", t.tv_sec, t.tv_usec , 0, item->pose.position.x, item->pose.position.y, item->pose.position.z, roll/PI*180, pitch/PI*180, yaw/PI*180); + } + else if(item->color.g == 1.0f){ + sprintf(buf1,"%ld%ld PED %d %f %f %f %f %f %f", t.tv_sec, t.tv_usec , 0, item->pose.position.x, item->pose.position.y, item->pose.position.z, roll/PI*180, pitch/PI*180, yaw/PI*180); + } + else { + sprintf(buf1,"%ld%ld OBJ %d %f %f %f %f %f %f", t.tv_sec, t.tv_usec , 0, item->pose.position.x, item->pose.position.y, item->pose.position.z, roll/PI*180, pitch/PI*180, yaw/PI*180); + } sendto(sock1, buf1, sizeof(buf1), 0, (struct sockaddr *)&addr1, sizeof(addr1)); } @@ -99,9 +106,10 @@ int main (int argc, char **argv) ros::init(argc,argv,"udp_sender"); ros::NodeHandle n; - ros::Subscriber ndt_pose_sub = n.subscribe("ndt_pose",1000,ndt_pose_Callback); + ros::Subscriber current_pose_sub = n.subscribe("current_pose",1000,current_pose_Callback); // ros::Subscriber vscan_sub = n.subscribe("vscan_points", 100, vscan_Callback); - ros::Subscriber car_pose_sub = n.subscribe("car_pose",1000,car_pose_Callback); + ros::Subscriber obj_car_sub = n.subscribe("obj_car/obj_pose",1000,obj_pose_Callback); + ros::Subscriber obj_person_sub = n.subscribe("obj_person/obj_pose",1000,obj_pose_Callback); sock1 = socket(AF_INET, SOCK_DGRAM, 0); diff --git a/ros/src/util/packages/runtime_manager/scripts/computing.yaml b/ros/src/util/packages/runtime_manager/scripts/computing.yaml index 9cedf51e803..60c97819ea5 100644 --- a/ros/src/util/packages/runtime_manager/scripts/computing.yaml +++ b/ros/src/util/packages/runtime_manager/scripts/computing.yaml @@ -185,10 +185,10 @@ subs : cmd : rosrun lane_planner lane_select gui : dialog: MyDialogLaneStop - - name : parking_planner + - name : freespace_planner subs : - - name : XXX - cmd : echo "XXX" + - name : astar_navi + cmd : rosrun freespace_planner astar_navi - name : Motion Planning subs : @@ -235,7 +235,7 @@ subs : depend : param_flag stat_topic : [ lf ] - name : velocity_set - cmd : rosrun waypoint_follower velocity_set + cmd : roslaunch waypoint_follower velocity_set.launch - name : collision_avoid cmd : roslaunch waypoint_follower collision_avoid.launch - name : twist_through diff --git a/ui/oculus/ofw/Makefile b/ui/oculus/ofw/Makefile new file mode 100644 index 00000000000..7a7fe8b58f6 --- /dev/null +++ b/ui/oculus/ofw/Makefile @@ -0,0 +1,13 @@ +# Attempt to load a config.make file. +# If none is found, project defaults in config.project.make will be used. +ifneq ($(wildcard config.make),) + include config.make +endif + +# make sure the the OF_ROOT location is defined +ifndef OF_ROOT + OF_ROOT=../../.. +endif + +# call the project makefile! +include $(OF_ROOT)/libs/openFrameworksCompiled/project/makefileCommon/compile.project.mk diff --git a/ui/oculus/ofw/README.txt b/ui/oculus/ofw/README.txt new file mode 100644 index 00000000000..32b1b370e51 --- /dev/null +++ b/ui/oculus/ofw/README.txt @@ -0,0 +1,42 @@ +＊環境構築 + -Linux +　・Ubuntu 14.04 + +　-Oculus +　・Oculus DK2 +　・SDK ovr_sdk_linux_0.4.4 + +　-openFrameworks +　・バージョン of_v0.8.4_linux64_release + +　・手順 + 1.openFrameworks のサイト(http://openframeworks.jp/)より code::blocks(64 bit) をダウンロード + 2.IDE setup guide の手順に従いセットアップ + 3.openFrameworks の addons より ofxOculusDK2 (https://github.com/sphaero/ofxOculusDK2/tree/linux_0.4.4)をダウンロード + 4.of_v0.8.4_linux64_release の addons ディレクトリ以下に ofxOculusDK2 を置く + 5.of_v0.8.4_linux64_release の apps ディレクトリ以下の projectGenerator よりプロジェクトを作成する。(プロジェクト名称は任意) + 6.作成したプロジェクトの bin/data ディレクトリ, src ディレクトリ, Makefile, addons.make, config.make を このディレクトリ(Autoware/ui/oculus/ofw/) のものに置き換える。 + +＊使用方法 + +　・ROS側 + 1.oculus_sender の起動(runtime_maneger の Oculus_Rift ボタン) + + ↓ runtime_maneger を使用しない場合 (現時点ではこちらのみ？) ↓ + 2.端末上で以下のコマンド入力 Oculus PC の ipアドレス を引数にとる + $ roslaunch oculus oculus_sender.launch ip:= "xxx.xxx.xxx.xxx" + +　・ofw側 + 1.ソースコード内、各mapのディレクトリパスの変更 + 　-pointcloud_map.hの変更 + 　　　#define PCD_DIR を 読み込みたいディレクトリのパスに設定 + 　　　#define STATIC_DIR を 読み込みたいディレクトリのパスに設定 + 　-testApp.hの変更 + 　　　#define VECTOR を 読み込みたいディレクトリのパスに設定 + 2.プロジェクトの起動 + +　・Oculus SDK 0.4.4 + 1.ofw の実行の前に Oculus SDK 内で + 　　　　% ./oculusd + 　を実行する必要がある。 + diff --git a/ui/oculus/ofw/addons.make b/ui/oculus/ofw/addons.make new file mode 100644 index 00000000000..0b0ac3338b6 --- /dev/null +++ b/ui/oculus/ofw/addons.make @@ -0,0 +1,3 @@ +ofxNetwork +ofxAssimpModelLoader +ofxOculusDK2 diff --git a/ui/oculus/ofw/config.make b/ui/oculus/ofw/config.make new file mode 100644 index 00000000000..f9aae4ee2bc --- /dev/null +++ b/ui/oculus/ofw/config.make @@ -0,0 +1,142 @@ +################################################################################ +# CONFIGURE PROJECT MAKEFILE (optional) +# This file is where we make project specific configurations. +################################################################################ + +################################################################################ +# OF ROOT +# The location of your root openFrameworks installation +# (default) OF_ROOT = ../../.. +################################################################################ +# OF_ROOT = ../../.. + +################################################################################ +# PROJECT ROOT +# The location of the project - a starting place for searching for files +# (default) PROJECT_ROOT = . (this directory) +# +################################################################################ +# PROJECT_ROOT = . + +################################################################################ +# PROJECT SPECIFIC CHECKS +# This is a project defined section to create internal makefile flags to +# conditionally enable or disable the addition of various features within +# this makefile. For instance, if you want to make changes based on whether +# GTK is installed, one might test that here and create a variable to check. +################################################################################ +# None + +################################################################################ +# PROJECT EXTERNAL SOURCE PATHS +# These are fully qualified paths that are not within the PROJECT_ROOT folder. +# Like source folders in the PROJECT_ROOT, these paths are subject to +# exlclusion via the PROJECT_EXLCUSIONS list. +# +# (default) PROJECT_EXTERNAL_SOURCE_PATHS = (blank) +# +# Note: Leave a leading space when adding list items with the += operator +################################################################################ +# PROJECT_EXTERNAL_SOURCE_PATHS = + +################################################################################ +# PROJECT EXCLUSIONS +# These makefiles assume that all folders in your current project directory +# and any listed in the PROJECT_EXTERNAL_SOURCH_PATHS are are valid locations +# to look for source code. The any folders or files that match any of the +# items in the PROJECT_EXCLUSIONS list below will be ignored. +# +# Each item in the PROJECT_EXCLUSIONS list will be treated as a complete +# string unless teh user adds a wildcard (%) operator to match subdirectories. +# GNU make only allows one wildcard for matching. The second wildcard (%) is +# treated literally. +# +# (default) PROJECT_EXCLUSIONS = (blank) +# +# Will automatically exclude the following: +# +# $(PROJECT_ROOT)/bin% +# $(PROJECT_ROOT)/obj% +# $(PROJECT_ROOT)/%.xcodeproj +# +# Note: Leave a leading space when adding list items with the += operator +################################################################################ +# PROJECT_EXCLUSIONS = + +################################################################################ +# PROJECT LINKER FLAGS +# These flags will be sent to the linker when compiling the executable. +# +# (default) PROJECT_LDFLAGS = -Wl,-rpath=./libs +# +# Note: Leave a leading space when adding list items with the += operator +# +# Currently, shared libraries that are needed are copied to the +# $(PROJECT_ROOT)/bin/libs directory. The following LDFLAGS tell the linker to +# add a runtime path to search for those shared libraries, since they aren't +# incorporated directly into the final executable application binary. +################################################################################ +# PROJECT_LDFLAGS=-Wl,-rpath=./libs +PROJECT_LDFLAGS=-lrt + +################################################################################ +# PROJECT DEFINES +# Create a space-delimited list of DEFINES. The list will be converted into +# CFLAGS with the "-D" flag later in the makefile. +# +# (default) PROJECT_DEFINES = (blank) +# +# Note: Leave a leading space when adding list items with the += operator +################################################################################ +# PROJECT_DEFINES = + +################################################################################ +# PROJECT CFLAGS +# This is a list of fully qualified CFLAGS required when compiling for this +# project. These CFLAGS will be used IN ADDITION TO the PLATFORM_CFLAGS +# defined in your platform specific core configuration files. These flags are +# presented to the compiler BEFORE the PROJECT_OPTIMIZATION_CFLAGS below. +# +# (default) PROJECT_CFLAGS = (blank) +# +# Note: Before adding PROJECT_CFLAGS, note that the PLATFORM_CFLAGS defined in +# your platform specific configuration file will be applied by default and +# further flags here may not be needed. +# +# Note: Leave a leading space when adding list items with the += operator +################################################################################ +# PROJECT_CFLAGS = + +################################################################################ +# PROJECT OPTIMIZATION CFLAGS +# These are lists of CFLAGS that are target-specific. While any flags could +# be conditionally added, they are usually limited to optimization flags. +# These flags are added BEFORE the PROJECT_CFLAGS. +# +# PROJECT_OPTIMIZATION_CFLAGS_RELEASE flags are only applied to RELEASE targets. +# +# (default) PROJECT_OPTIMIZATION_CFLAGS_RELEASE = (blank) +# +# PROJECT_OPTIMIZATION_CFLAGS_DEBUG flags are only applied to DEBUG targets. +# +# (default) PROJECT_OPTIMIZATION_CFLAGS_DEBUG = (blank) +# +# Note: Before adding PROJECT_OPTIMIZATION_CFLAGS, please note that the +# PLATFORM_OPTIMIZATION_CFLAGS defined in your platform specific configuration +# file will be applied by default and further optimization flags here may not +# be needed. +# +# Note: Leave a leading space when adding list items with the += operator +################################################################################ +# PROJECT_OPTIMIZATION_CFLAGS_RELEASE = +# PROJECT_OPTIMIZATION_CFLAGS_DEBUG = + +################################################################################ +# PROJECT COMPILERS +# Custom compilers can be set for CC and CXX +# (default) PROJECT_CXX = (blank) +# (default) PROJECT_CC = (blank) +# Note: Leave a leading space when adding list items with the += operator +################################################################################ +# PROJECT_CXX = +# PROJECT_CC = diff --git a/ui/oculus/ofw/data/prius_model.dae b/ui/oculus/ofw/data/prius_model.dae new file mode 100644 index 00000000000..116f33d7a4f --- /dev/null +++ b/ui/oculus/ofw/data/prius_model.dae @@ -0,0 +1,509 @@ + + + + + Assimp + Assimp Exporter + + 2015-04-15T15:40:54 + 2015-04-15T15:40:54 + + Z_UP + + + + + + + + 0 0 0 1 + + + 0.894118 0.894118 0.894118 1 + + + 1 1 1 1 + + + 26.5225 + + + 0 + + + 1 + + + + + + + + + + + 0 0 0 1 + + + 0.87451 0.87451 0.87451 1 + + + 1 1 1 1 + + + 36 + + + 0 + + + 1 + + + + + + + + + + + 0 0 0 1 + + + 0.87451 0.858824 0.443137 1 + + + 1 1 1 1 + + + 36 + 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+ + + + + + + + 1 0 -0 -0 0 1 -0 -0 -0 -0 1 0 0 0 -0 1 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ui/oculus/ofw/src/main.cpp b/ui/oculus/ofw/src/main.cpp new file mode 100644 index 00000000000..d802524f9d2 --- /dev/null +++ b/ui/oculus/ofw/src/main.cpp @@ -0,0 +1,20 @@ +#include "testApp.h" + +//-------------------------------------------------------------- +int main(){ + // set width, height, mode (OF_WINDOW or OF_FULLSCREEN) + ofSetupOpenGL(960*2, 1080, OF_WINDOW); + + testApp *tA = new testApp(); + + pthread_t udp_t; + pthread_create(&udp_t, NULL, udpThread, (void *) &tA->udp); + pthread_t pcd_t; + pthread_create(&pcd_t, NULL, pcdThread,(void *) &tA->pm); + + ofRunApp(tA); // start the app + + pthread_cancel(udp_t); + pthread_cancel(pcd_t); + +} diff --git a/ui/oculus/ofw/src/pointcloud_map.cpp b/ui/oculus/ofw/src/pointcloud_map.cpp new file mode 100644 index 00000000000..1d45a3f2604 --- /dev/null +++ b/ui/oculus/ofw/src/pointcloud_map.cpp @@ -0,0 +1,294 @@ +#include "pointcloud_map.h" + +void PointcloudMap::searcharea(){ + + char fpath[sizeof(PCD_DIR)+sizeof("/Laserxxxxxx_yyyyyy.pcd")]; + + while(max_x==0||max_y==0){usleep(100);} + int prev_x = x - 2; + int prev_y = y - 2; + int center_x = 1; + int center_y = 1; + // we're going to load a ton of points into an ofMesh + for(int i=0;i<9;i++)mesh[i].setMode(OF_PRIMITIVE_POINTS); + printf("%s %06d %06d \n",PCD_DIR,prev_x, prev_y); + sleep(5); + + sload(); + + while(1){ + if((int)x - prev_x == 1){ + printf("----------------------------------\n"); + printf("[%d] x++\n",(int)x); + prev_x = x; + for(int i = 0; i <= 2; i++){ + sprintf(fpath,"%s/Laser%06d_%06d.pcd", PCD_DIR , (int)prev_x+1, (int)prev_y+i-1); + printf("%s ",fpath); + if(ofFile::doesFileExist(fpath)){ + printf("exist.\n Load: mesh[%d]\n",(center_x+2)%3+((center_y+i+2)%3)*3); + load(fpath,(center_x+2)%3+((center_y+i+2)%3)*3); + }else { + printf("\n Clear: mesh[%d]\n",(center_x+2)%3+((center_y+i+2)%3)*3); + mesh[(center_x+2)%3+((center_y+i+2)%3)*3].clear(); + } + } + center_x = (center_x + 1) % 3; + } + if((int)x - prev_x == -1){ + printf("----------------------------------\n"); + printf("[%d] x--\n",(int)x); + prev_x = x; + for(int i = 0; i <= 2; i++){ + sprintf(fpath,"%s/Laser%06d_%06d.pcd", PCD_DIR , prev_x-1, prev_y+i-1); + printf("%s ",fpath); + if(ofFile::doesFileExist(fpath)){ + printf("exist.\n Load: mesh[%d]\n",(center_x+1)%3+((center_y+i+2)%3)*3); + load(fpath,(center_x+1)%3+((center_y+i+2)%3)*3); + }else { + printf("\n Clear: mesh[%d]\n",(center_x+1)%3+((center_y+i+2)%3)*3); + mesh[(center_x+1)%3+((center_y+i+2)%3)*3].clear(); + } + } + center_x = (center_x + 2) % 3; + } + if((int)y - prev_y == 1){ + printf("----------------------------------\n"); + printf("[%d] y++\n",(int)y); + prev_y = y; + for(int j = 0; j <= 2; j++){ + sprintf(fpath,"%s/Laser%06d_%06d.pcd", PCD_DIR , (int)prev_x+j-1, (int)prev_y+1); + printf("%s ",fpath); + if(ofFile::doesFileExist(fpath)){ + printf("exist.\n Load: mesh[%d]\n",(center_x+j+2)%3+((center_y+2)%3)*3); + load(fpath,(center_x+j+2)%3+((center_y+2)%3)*3); + }else { + printf("\n Clear: mesh[%d]\n",(center_x+j+2)%3+((center_y+2)%3)*3); + mesh[(center_x+j+2)%3+((center_y+2)%3)*3].clear(); + } + } + center_y = (center_y + 1) % 3; + } + if((int)y - prev_y == -1){ + printf("----------------------------------\n"); + printf("[%d] y--\n",(int)y); + prev_y = y; + for(int j = 0; j <= 2; j++){ + sprintf(fpath,"%s/Laser%06d_%06d.pcd", PCD_DIR , (int)prev_x+j-1, (int)prev_y-1); + printf("%s ",fpath); + if(ofFile::doesFileExist(fpath)){ + printf("exist.\n Load: mesh[%d]\n",(center_x+j+2)%3+((center_y+1)%3)*3); + load(fpath,(center_x+j+2)%3+((center_y+1)%3)*3); + }else { + printf("\n Clear: mesh[%d]\n",(center_x+j+2)%3+((center_y+1)%3)*3); + mesh[(center_x+j+2)%3+((center_y+1)%3)*3].clear(); + } + } + center_y = (center_y + 2) % 3; + } + if(abs(x-prev_x)>1||abs(y-prev_y)>1){ + printf("[%d %d]\n",(int)x,(int)y); + prev_x = x; + prev_y = y; + for(int i = 0; i <= 2; i++){ + for(int j = 0; j <= 2; j++){ + sprintf(fpath,"%s/Laser%06d_%06d.pcd", PCD_DIR , (int)prev_x+j-1, (int)prev_y+i-1); + printf("%s ",fpath); + + if(ofFile::doesFileExist(fpath)){ + printf("exist.\n Load: mesh[%d]\n",j+i*3); + load(fpath,j+i*3); + }else{ + printf("\n Clear: mesh[%d]\n",j+i*3); + mesh[j+i*3].clear(); + } + } + } + center_x = 1; + center_y = 1; + } + } +} + +void PointcloudMap::load(char* path, int num){ + loading=num; + mesh[num].clear(); + points.clear(); + + totalPoints = 0; + int startPoint = totalPoints; + fin.open(ofToDataPath(path, true).c_str()); + + if(fin.fail()) { + cerr << "File do not exist.\n"; + }else{ + printf("Reading... "); + } + while(getline(fin, line)){ + lines=(ofSplitString(line, " ")); + if(lines.size() == 4){ + float x = ofToFloat(lines[0]); + float y = ofToFloat(lines[1]); + float z = ofToFloat(lines[2]); + float c = ofToFloat(lines[3]); + //printf("%f %f %f %f\n",x,y,z,c); + points.push_back(PCDPoint(x,y,z,c)); + + // Global MINMAX + if(totalPoints == 0){ + printf("update:GlobalPoints\n"); + // max_x = x; min_x = x; max_y = y; min_y = y; max_z = z; min_z = z; + }else{ + // if(x > max_x) max_x = x; + // if(x < min_x) min_x = x; + // if(y > max_y) max_y = y; + // if(y < min_y) min_y = y; + // if(z > max_z) max_z = z; + // if(z < min_z) min_z = z; + } + // Local MINMAX + if(localPoints == 0){ + printf("update:localPoints\n"); + ma_x = x; mi_x = x; ma_y = y; mi_y = y; ma_z = z; mi_z = z; + }else{ + if(x > ma_x) ma_x = x; + if(x < mi_x) mi_x = x; + if(y > ma_y) ma_y = y; + if(y < mi_y) mi_y = y; + if(z > ma_z) ma_z = z; + if(z < mi_z) mi_z = z; + } + + localPoints++; + totalPoints++; + } + } + fin.close(); + + printf("%d\n X [%f : %f]\n Y [%f : %f]\n Z [%f : %f]\n\n", localPoints,mi_x, ma_x, mi_y, ma_y, mi_z, ma_z); + PCDfile file = (PCDfile(num,startPoint,totalPoints,ma_x, ma_y, ma_z, mi_x, mi_y, mi_z, path)); + localPoints = 0; + + + + ofSetVerticalSync(true); + uint8_t r, g, b; + + printf("Creating mesh ... %d to %d\n",file.start,file.end); + for(int j = file.start; j>16; + g = (*(int32_t*)(&points[j].c))>>8 & 0b11111111; + b = (*(int32_t*)(&points[j].c)) & 0b11111111; + mesh[num].addColor(ofFloatColor((double)r/255.0,(double)g/255.0,(double)b/255.0)); +#else + mesh[num].addColor(ofFloatColor(0.2, 1, 0.2, 0.5)); +#endif // COLOR + ofVec3f pos(points[j].x-(min_x+max_x)/2.0, points[j].z, -(points[j].y-(min_y+max_y)/2.0)); + mesh[num].addVertex(pos); + + } + loading=-1; +} + +void PointcloudMap::sload() +{ + string path = STATIC_DIR; + ofDirectory dir(path); + dir.allowExt("pcd"); + dir.listDir(); + readingFileNum = dir.numFiles(); + start.setMode(OF_PRIMITIVE_POINTS); + for(int i = 0; i < readingFileNum; i++){ + int startPoint; + startPoint = totalPoints; + fin.open(ofToDataPath(dir.getPath(i), true).c_str()); + + if(fin.fail()) { + cerr << "File do not exist.\n"; + }else{ + printf("Reading... "); + } + while(getline(fin, line)){ + lines=(ofSplitString(line, " ")); + if(lines.size() == 4){ + float x = ofToFloat(lines[0]); + float y = ofToFloat(lines[1]); + float z = ofToFloat(lines[2]); + float c = ofToFloat(lines[3]); + points.push_back(PCDPoint(x,y,z,c)); + + // Global MINMAX + if(totalPoints == 0){ + printf("update:GlobalPoints\n"); + // max_x = x; min_x = x; max_y = y; min_y = y; max_z = z; min_z = z; + }else{ + // if(x > max_x) max_x = x; + // if(x < min_x) min_x = x; + // if(y > max_y) max_y = y; + // if(y < min_y) min_y = y; + // if(z > max_z) max_z = z; + // if(z < min_z) min_z = z; + } + // Local MINMAX + if(localPoints == 0){ + printf("update:localPoints\n"); + ma_x = x; mi_x = x; ma_y = y; mi_y = y; ma_z = z; mi_z = z; + }else{ + if(x > ma_x) ma_x = x; + if(x < mi_x) mi_x = x; + if(y > ma_y) ma_y = y; + if(y < mi_y) mi_y = y; + if(z > ma_z) ma_z = z; + if(z < mi_z) mi_z = z; + } + + localPoints++; + totalPoints++; + } + } + fin.close(); + + printf("DONE[ %d / %d] %d\n X [%f : %f] Y [%f : %f] Z [%f : %f]\n\n", i, readingFileNum, localPoints,mi_x, ma_x, mi_y, ma_y, mi_z, ma_z); + files.push_back(PCDfile(i,startPoint,totalPoints,ma_x, ma_y, ma_z, mi_x, mi_y, mi_z, dir.getPath(i))); + localPoints = 0; + } + + printf("TOTAL: %d X [%f : %f] Y [%f : %f] Z [%f : %f]\n",totalPoints, min_x, max_x, min_y, max_y, min_z, max_z); + + ofSetVerticalSync(true); + uint8_t r, g, b; + + // we're going to load a ton of points into an ofMesh + start.setMode(OF_PRIMITIVE_POINTS); + + // loop through the image in the x and y axes + int skip = 1; // load a subset of the points + for(int i = 0; i< readingFileNum; i++){ + printf("Creating mesh ... %d %d to %d\n",i,files[i].start,files[i].end); + for(int j = files[i].start; j>16; + g = (*(int32_t*)(&points[j].c))>>8 & 0b11111111; + b = (*(int32_t*)(&points[j].c)) & 0b11111111; + start.addColor(ofFloatColor((double)r/255.0,(double)g/255.0,(double)b/255.0)); +#else +#ifdef RAINBOW + float level = (11 + 3) / 7.0; + if( - 3 <= points[j].z && points[j].z < level * 1 - 3)start.addColor(ofColor::red); + if(level * 1 - 3 <= points[j].z && points[j].z < level * 2 - 3)start.addColor(ofColor::orange); + if(level * 2 - 3 <= points[j].z && points[j].z < level * 3 - 3)start.addColor(ofColor::yellow); + if(level * 3 - 3 <= points[j].z && points[j].z < level * 4 - 3)start.addColor(ofColor::green); + if(level * 4 - 3 <= points[j].z && points[j].z < level * 5 - 3)start.addColor(ofColor::blue); + if(level * 5 - 3 <= points[j].z && points[j].z < level * 6 - 3)start.addColor(ofColor::navy); + if(level * 6 - 3 <= points[j].z && points[j].z <=level * 7 - 3)start.addColor(ofColor::purple); + +#else + start.addColor(ofFloatColor(0.1, 1.0, 0.1,0.3)); +#endif +#endif + ofVec3f pos(points[j].x-(min_x+max_x)/2.0, points[j].z, -(points[j].y-(min_y+max_y)/2.0)); + start.addVertex(pos); + + } + } +} diff --git a/ui/oculus/ofw/src/pointcloud_map.h b/ui/oculus/ofw/src/pointcloud_map.h new file mode 100644 index 00000000000..68bf4d31cfb --- /dev/null +++ b/ui/oculus/ofw/src/pointcloud_map.h @@ -0,0 +1,86 @@ +#ifndef POINTCLOUD_MAP_H_INCLUDED +#define POINTCLOUD_MAP_H_INCLUDED + +#include "ofMain.h" +#include +#include +#include + +#define PCD_DIR "/data/data_moriyama_0.2/map/pointcloud_map" +#define STATIC_DIR "/data/data_moriyama_0.2/map/global_map" +//#define COLOR + +class PCDPoint{ +public: + float x; + float y; + float z; + float c; + PCDPoint(float x,float y, float z, float c){ + this->x = x; + this->y = y; + this->z = z; + this->c = c; + } +}; + +class PCDfile{ +public: + int id; + int start; + int end; + float max_x; + float max_y; + float max_z; + float min_x; + float min_y; + float min_z; + string name; + + PCDfile(int id, int start, int end,float max_x,float max_y,float max_z,float min_x,float min_y,float min_z, string name){ + this->id = id; + this->start = start; + this->end = end; + this->name = name; + this->max_x = max_x; + this->min_x = min_x; + this->max_y = max_y; + this->min_y = min_y; + this->max_z = max_z; + this->min_z = min_z; + } +}; + +class PointcloudMap{ +public: + vector points; + vector files; + + ifstream fin; + string line; + vector lines, pieces; + int x=0; + int y=0; + float max_x=0; + float min_x=0; + float max_y=0; + float min_y=0; + float max_z; + float min_z; + float ma_x,ma_y,mi_x,mi_y,ma_z,mi_z; + int totalPoints = 0; + int localPoints = 0; + int readingFileNum = 0; + bool f=true; + + void searcharea(); + void load(char* path, int num); + void sload(); + int loading=-1; + + ofVboMesh mesh[9]; + + ofVboMesh start; +}; + +#endif // POINTCLOUD_MAP_H_INCLUDED diff --git a/ui/oculus/ofw/src/testApp.cpp b/ui/oculus/ofw/src/testApp.cpp new file mode 100644 index 00000000000..512159caffe --- /dev/null +++ b/ui/oculus/ofw/src/testApp.cpp @@ -0,0 +1,554 @@ +#include "testApp.h" + +//-------------------------------------------------------------- +void testApp::setup() +{ + ofEnableDepthTest(); + ofEnableAlphaBlending(); + ofEnableSmoothing(); + + while(pm.max_x==0||pm.max_y==0){ + pm.max_x = udp.car_x; + pm.max_y = udp.car_y; + pm.min_x = udp.car_x; + pm.min_y = udp.car_y; + pm.x = udp.car_x < 0 ? udp.car_x / 100.0 - 1 : udp.car_x / 100.0; + pm.y = udp.car_y < 0 ? udp.car_y / 100.0 - 1 : udp.car_y / 100.0; + } + printf("%f %f %d %d\n", pm.max_x, pm.max_y, pm.x, pm.y); + +#ifdef VECTOR + vm.setTF(pm.min_x, pm.max_x, pm.min_y, pm.max_y); + vm.loadAll(VECTOR); + vm.set_all(); +#endif + + vs.setMode(OF_PRIMITIVE_LINES); + + glPointSize(1); // make the points bigger + glHint(GL_POINT_SMOOTH_HINT, GL_NICEST); + glEnable(GL_POINT_SMOOTH); // use circular points instead of square points + glColorMaterial(GL_FRONT,GL_AMBIENT_AND_DIFFUSE); + glShadeModel(GL_SMOOTH); + + float fogColor[4]= {0.1, 0.1, 0.1, 0.3}; + glFogi(GL_FOG_MODE, GL_LINEAR); + glFogfv(GL_FOG_COLOR, fogColor); + glFogf(GL_FOG_DENSITY, 0.35); + glHint(GL_FOG_HINT, GL_NICEST); + glFogf(GL_FOG_START, 50.0); + glFogf(GL_FOG_END, 100.0); + glEnable(GL_FOG); + + ofEnableBlendMode(OF_BLENDMODE_SUBTRACT); + + ofBackground(0); + ofSetVerticalSync( true ); + + showOverlay = false; + predictive = true; + + ofHideCursor(); + + oculusRift.baseCamera = &cam; + oculusRift.setup(); + printf("%f %f\n",(fclip=oculusRift.baseCamera->getFarClip()),oculusRift.baseCamera->getNearClip()); + fclip = 50; + oculusRift.baseCamera->setNearClip(0.1); + oculusRift.baseCamera->setFarClip(fclip); + cam.setNearClip(0.1); + cam.setFarClip(70); + cam1.setNearClip(0.1); + cam1.setFarClip(70); + cam2.setNearClip(0.1); + cam2.setFarClip(70); + cam3.setNearClip(0.1); + cam3.setFarClip(70); + + //enable mouse; + cam.begin(); + cam.end(); + + // JUMP + initial_velocity = 2 * (float)MAX_OFFSET / (float)JUMP_TIME; + accel = initial_velocity / (float)JUMP_TIME; + + // Car Model + model.loadModel("prius_model.dae",true); + model.setScale(0.004, 0.004, 0.004); + + ofToggleFullscreen(); + pm.f=false; + + sun.setDiffuseColor(ofColor::white); + sun.setSpecularColor(ofColor::black); + sun.setDirectional(); + sun.setOrientation(ofVec3f(90,0,45)); + carlight.setDiffuseColor(ofColor::white); + carlight.setSpecularColor(ofColor::black); + carlight.setSpotlight(); +} + +//-------------------------------------------------------------- +void testApp::update() +{ + car.x = udp.car_x - (pm.min_x + pm.max_x) / 2.0; + car.y = (udp.car_y - (pm.min_y + pm.max_y) / 2.0) * (-1); + car.z = udp.car_z; + + pm.x = udp.car_x < 0 ? udp.car_x / 100.0 - 1 : udp.car_x / 100.0; + pm.y = udp.car_y < 0 ? udp.car_y / 100.0 - 1 : udp.car_y / 100.0; + + // Stop vibration + euler.x = (udp.roll < 5) || (udp.roll > -5) ? 0 : udp.roll; + euler.y = udp.yaw - 90; + euler.z = 0; + + // JUMP + if((jump==0 && OculusRPY.x > -100 && OculusRPY.x < -50) || (jump==1 && OculusRPY.x>=-30))count++; + else count = 0; + if(count > 500){ + count = 0; + jump = 1 - jump; + } + fps = ofGetFrameRate(); + if(jump == 1 && offset < MAX_OFFSET){ + offset += velocity / fps; + velocity -= accel / fps; + } + else if(jump == 0 && offset > 0){ + offset -= velocity / fps; + velocity -= accel / fps; + } + if(offset >= MAX_OFFSET){ + offset = MAX_OFFSET; + velocity = initial_velocity; + } + if(offset <= 0){ + offset = 0; + velocity = initial_velocity; + } + cam1.setGlobalPosition(car.x, car.z + offset, car.y); + cam1.setOrientation(euler); + cam2 = cam1; + cam3 = cam1; + cam1.truck(0.3); + cam1.dolly(0.27); + cam1.boom(-0.93); + cam2.dolly(7); + cam2.boom(2); + cam3.boom(-1.8); + cam3.dolly(-1.2); + cam3.truck(-0.9); + cam3.pan(-15); + carlight.setGlobalPosition(car.x, car.z, car.y); + carlight.setOrientation(euler); + carlight.dolly(1); + //Driver's view + switch(mode){ + case 0 : + oculusRift.baseCamera->setGlobalPosition(camPos); + break; + case 1 : + cam = cam1; + break; + case 2 : + cam = cam2; + break; + case 3 : + cam = cam3; + break; + } + if(udp.vscan.size()==vs.getNumVertices()){ + vs.clear(); + for(int i = 0;i < udp.vscan.size(); i++){ + vs.addVertex(ofVec3f(udp.vscan[i].x-(pm.min_x + pm.max_x) / 2.0, udp.vscan[i].z, -(udp.vscan[i].y-(pm.min_y + pm.max_y) / 2.0))); + } + } +} + +//-------------------------------------------------------------- +void testApp::draw() +{ + if(disp){ + if(oculusRift.isSetup()){ + + ofSetColor(100, 100, 250); + glEnable(GL_DEPTH_TEST); + camera = oculusRift.baseCamera->getGlobalPosition(); + OculusQuaternion = oculusRift.getOrientationQuat(); + OculusRPY = OculusQuaternion.getEuler(); + oculusRift.beginLeftEye(); + drawScene(); + oculusRift.endLeftEye(); + + oculusRift.beginRightEye(); + drawScene(); + oculusRift.endRightEye(); + + oculusRift.draw(); + + glDisable(GL_DEPTH_TEST); + ofSetColor(255); + ofDrawBitmapString(ofToString(ofGetFrameRate())+"fps",10,15); + } + else{ + cam.begin(); + + drawScene(); + + cam.end(); + } + }else{ + ofDrawBitmapString(ofToString(ofGetFrameRate())+"fps",10,15); + cam.begin(); + drawScene(); + cam.end(); + } + if(op){ + + ofSetColor(255,255); + ofFill(); + + ofDrawBitmapString("x :\t"+ofToString(udp.car_x),300,100); + ofDrawBitmapString("y :\t"+ofToString(udp.car_y),300,110); + ofDrawBitmapString("z :\t"+ofToString(udp.car_z),300,120); + ofDrawBitmapString("CAM :\t"+ofToString(camPos.x),500,100); + ofDrawBitmapString("CAM :\t"+ofToString(camPos.y),500,110); + ofDrawBitmapString("CAM :\t"+ofToString(camPos.z),500,120); + ofDrawBitmapString("roll :\t"+ofToString(udp.roll),300,150); + ofDrawBitmapString("pitch :\t"+ofToString(udp.pitch),300,160); + ofDrawBitmapString("yaw :\t"+ofToString(udp.yaw),300,170); + ofDrawBitmapString("CAM :\t"+ofToString(oculusRift.baseCamera->getRoll()),500,150); + ofDrawBitmapString("CAM :\t"+ofToString(oculusRift.baseCamera->getPitch()),500,160); + ofDrawBitmapString("CAM :\t"+ofToString(oculusRift.baseCamera->getHeading()),500,170); + ofDrawBitmapString("UNIX :\t"+ofToString(ofGetUnixTime()),300,200); + ofDrawBitmapString("time :\t"+ofToString(ofGetElapsedTimef()),300,210); + } + +} + +//-------------------------------------------------------------- +void testApp::drawScene() +{ +// ofEnableSeparateSpecularLight(); + if(mout){ + ofSetColor(ofColor::silver); +// sun.enable(); + + ofPushMatrix(); + ofTranslate(car.x, car.z-2.0, car.y); + ofRotateX(90); + ofRotateZ(-90-euler.y); + if(fill) model.drawFaces(); + else model.drawWireframe(); + ofPopMatrix(); +// sun.disable(); + } + // Change BackGround Color + ofPushMatrix(); + ofPushStyle(); + ofTranslate(camera); + ofSetColor(ofColor::black); + ofSphere(100); + ofPopStyle(); + ofPopMatrix(); +// carlight.enable(); + pm.start.draw(); + for(int i=0; i < 9; i++) + if(i != pm.loading ) + pm.mesh[i].draw(); + +#ifdef CAR_LOC + ofPushStyle(); + ofNoFill(); + ofSetColor(ofColor::blue); + for(int i = 0;i < udp.oth.size(); i++){ + ofPushMatrix(); + ofTranslate(udp.oth[i].x- (pm.min_x + pm.max_x) / 2.0,udp.car_z-1.5,(udp.oth[i].y - (pm.min_y + pm.max_y) / 2.0) * (-1)); + ofRotateX(90); + ofRotateZ(-90-euler.y); + ofDrawBox(0,0,0,3,1.5,1.5); + ofPopMatrix(); + } + ofSetColor(ofColor::red); + for(int i = 0;i < udp.ped.size(); i++){ + ofPushMatrix(); + ofTranslate(udp.oth[i].x- (pm.min_x + pm.max_x) / 2.0,udp.car_z-1.5,(udp.oth[i].y - (pm.min_y + pm.max_y) / 2.0) * (-1)); +// ofRotateY(); + ofDrawCylinder(0,0,0,0.3,1.5); + ofPopMatrix(); + } + ofSetColor(ofColor::red); + for(int i = 0;i < udp.obj.size(); i++){ + ofDrawBox(udp.obj[i].x- (pm.min_x + pm.max_x) / 2.0,udp.obj[i].z - 1,(udp.obj[i].y - (pm.min_y + pm.max_y) / 2.0) * (-1),1,1,1); + } + ofFill(); + ofPopStyle(); +#endif + vs.draw(); +// udp.vscan.draw(); +#ifdef VECTOR +// vm.draw(); + vm.drawWireframe(); +#endif +// carlight.disable(); +} + +//-------------------------------------------------------------- +void testApp::keyPressed(int key) +{ + switch (key) { + case 'w': + rotAng = (oculusRift.baseCamera->getOrientationEuler()).y; + camPos.x -= sin(rotAng/180.0*PI)*10; + camPos.z -= cos(rotAng/180.0*PI)*10; + break; + case 's': + rotAng = (oculusRift.baseCamera->getOrientationEuler()).y; + camPos.x += sin(rotAng/180.0*PI)*10; + camPos.z += cos(rotAng/180.0*PI)*10; + break; + case 'a': + camPos.z +=10; + break; + case 'd': + camPos.z -=10; + break; + case 'r': + camPos.y +=10; + break; + case 'f': + camPos.y -=10; + break; + + case 'W': + rotAng = (oculusRift.baseCamera->getOrientationEuler()).y; + camPos.x -= sin(rotAng/180.0*PI); + camPos.z -= cos(rotAng/180.0*PI); + break; + case 'S': + rotAng = (oculusRift.baseCamera->getOrientationEuler()).y; + camPos.x += sin(rotAng/180.0*PI); + camPos.z += cos(rotAng/180.0*PI); + break; + case 'A': + camPos.z +=10; + break; + case 'D': + camPos.z -=10; + break; + case 'R': + camPos.y +=10; + break; + case 'F': + camPos.y -=10; + break; + case 'e': + oculusRift.baseCamera->rotate(-10,0,1,0); + break; + case 'q': + oculusRift.baseCamera->rotate(+10,0,1,0); + break; + case 'E': + oculusRift.baseCamera->rotate(-1,0,1,0); + break; + case 'Q': + oculusRift.baseCamera->rotate(+1,0,1,0); + break; + case '0': + ofToggleFullscreen(); + break; + case '1': + mode = 1; + break; + case '2': + mode = 2; + break; + case '3': + mode = 3; + break; + case ' ': + mode = 0; + break; + case 'j': + if(offset == MAX_OFFSET || offset == 0){ + jump = 1 - jump; + } + break; + case 'i': + op = !op; + break; + case '.': + udp.pose = !udp.pose; + break; + case 'm': + mout = !mout; + break; + case 'n': + fill = !fill; + break; + case '@': + disp = !disp; + break; + default: + break; + } + +} + +//-------------------------------------------------------------- +void testApp::keyReleased(int key) +{ + +} + +//-------------------------------------------------------------- +void testApp::mouseMoved(int x, int y) +{ + // cursor2D.set(x, y, cursor2D.z); +} + +//-------------------------------------------------------------- +void testApp::mouseDragged(int x, int y, int button) +{ + // cursor2D.set(x, y, cursor2D.z); +} + +//-------------------------------------------------------------- +void testApp::mousePressed(int x, int y, int button) +{ + +} + +//-------------------------------------------------------------- +void testApp::mouseReleased(int x, int y, int button) +{ + +} + +//-------------------------------------------------------------- +void testApp::windowResized(int w, int h) +{ + +} + +//-------------------------------------------------------------- +void testApp::gotMessage(ofMessage msg) +{ + +} + +//-------------------------------------------------------------- +void testApp::dragEvent(ofDragInfo dragInfo) +{ + +} + +int basetime = 0; + +void *udpThread(void *arg) +{ + udparg *n; + n = (udparg *)arg; + char buf[BUFSIZE]; + float tm; +#ifdef LOCAL + std::ifstream fs(LOCAL); + if (fs.fail()) { + cerr << "Log File do not exist."; + exit(1); + } + n->pose=false; + + while(1){ + while(fs.getline(buf, BUFSIZE)){ + while(n->pose){usleep(100);} + string message = buf; + if(message != ""){ + vector udp = ofSplitString(message, " "); + if(udp.size() == 9){ + if(strcmp(udp[1].c_str(),"CAR")==0){ + n->car_x = atof(udp[3].c_str()); + n->car_y = atof(udp[4].c_str()); + n->car_z = atof(udp[5].c_str()); + n->roll = atof(udp[6].c_str()); + n->pitch = atof(udp[7].c_str()); + n->yaw = atof(udp[8].c_str()); + } + if(strcmp(udp[1].c_str(),"OTH")==0){ + n->oth.push_back(ofVec3f(atof(udp[3].c_str()),atof(udp[4].c_str()),atof(udp[5].c_str()))); + } + } + if(basetime == 0)basetime = string2unixtime(udp[0].c_str()); + // while((float)(string2unixtime(udp[0].c_str()) - basetime) / 1000.0 >= ofGetElapsedTimef()){ + // } + usleep(80009); + n->oth.clear(); + } + } + fs.clear(); + fs.seekg(0, ios_base::beg); + } +#else + //UDPReceiver + ofxUDPManager udpNDT; + udpNDT.Create(); + udpNDT.Bind(PORT); + udpNDT.SetNonBlocking(true); + + while(1){ + udpNDT.Receive(buf, BUFSIZE); + string message = buf; + if(message != ""){ + vector udp = ofSplitString(message, " "); + if(udp.size() == 9){ + if(strcmp(udp[1].c_str(),"CAR")==0){ + n->car_x = atof(udp[3].c_str()); + n->car_y = atof(udp[4].c_str()); + n->car_z = atof(udp[5].c_str()); + n->roll = atof(udp[6].c_str()); + n->pitch = atof(udp[7].c_str()); + n->yaw = atof(udp[8].c_str()); + } + else if(strcmp(udp[1].c_str(),"OTH")==0){ + n->oth.push_back(ofVec3f(atof(udp[3].c_str()),atof(udp[4].c_str()),atof(udp[5].c_str()))); + } + else if(strcmp(udp[1].c_str(),"PED")==0){ + n->ped.push_back(ofVec3f(atof(udp[3].c_str()),atof(udp[4].c_str()),atof(udp[5].c_str()))); + } + else if(strcmp(udp[1].c_str(),"OBJ")==0){ + n->obj.push_back(ofVec3f(atof(udp[3].c_str()),atof(udp[4].c_str()),atof(udp[5].c_str()))); + } + else if(strcmp(udp[1].c_str(),"VSC")==0){ + n->vscan.push_back(ofVec3f(atof(udp[3].c_str()),atof(udp[4].c_str()),atof(udp[5].c_str()))); + n->vscan.push_back(ofVec3f(atof(udp[6].c_str()),atof(udp[7].c_str()),atof(udp[8].c_str()))); + } + } + if(ofGetElapsedTimef() - tm > 0.5){ + tm = ofGetElapsedTimef(); + n->oth.clear(); + n->ped.clear(); + n->obj.clear(); + n->vscan.clear(); + } + } + } +#endif +} + +void *pcdThread(void *arg) +{ + PointcloudMap *p = reinterpret_cast(arg); + p->searcharea(); +} + + +int string2unixtime(string str){ + int rec=0; + for(int i = 0; i < 13; i++){ + rec *= 10; + rec += str[i] - '0'; + } + return rec; +} diff --git a/ui/oculus/ofw/src/testApp.h b/ui/oculus/ofw/src/testApp.h new file mode 100644 index 00000000000..b385918c3cf --- /dev/null +++ b/ui/oculus/ofw/src/testApp.h @@ -0,0 +1,145 @@ +#pragma once + +#include "ofMain.h" +#include "pointcloud_map.h" +#include "ofxNetwork.h" +#include "ofxOculusDK2.h" +#include "vector_map.h" +#include "ofxAssimpModelLoader.h" + + +#define BUFSIZE 100000 +#define PORT 59630 + +#define MAX_OFFSET 20 +#define JUMP_TIME 2 + +//#define LOCAL "/data/log/moriyama_150630/udp.txt" // Run without data transmission +//#define COLOR // Enable PCD map color +#define VECTOR "/data/data_moriyama_0.2/map/vector_map" // Draw vector_map +#define CAR_LOC // Draw other car + +typedef struct{ + ofColor color; + ofVec3f pos; + ofVec3f floatPos; + float radius; + bool bMouseOver; + bool bGazeOver; +} DemoSphere; + + +typedef struct{ + float car_x; + float car_y; + float car_z; + float roll; + float pitch; + float yaw; + bool pose = true; + vector vscan; + vector oth; + vector ped; + vector obj; +} udparg; + +class testApp : public ofBaseApp +{ + public: + + void setup(); + void setPointCloudMap(); + void update(); + void draw(); + + void drawScene(); + + void keyPressed(int key); + void keyReleased(int key); + void mouseMoved(int x, int y); + void mouseDragged(int x, int y, int button); + void mousePressed(int x, int y, int button); + void mouseReleased(int x, int y, int button); + void windowResized(int w, int h); + void dragEvent(ofDragInfo dragInfo); + void gotMessage(ofMessage msg); + + ofxOculusDK2 oculusRift; + + ofLight light; + ofCamera cam; + bool showOverlay; + bool predictive; + vector demos; + + ofVec3f cursor2D; + ofVec3f cursor3D; + + ofVec3f cursorRift; + ofVec3f demoRift; + + ofVec3f cursorGaze; + + vector points; + vector file; + + float max_x; + float min_x; + float max_y; + float min_y; + float max_z; + float min_z; + float ma_x,ma_y,mi_x,mi_y,ma_z,mi_z; + int totalPoints = 0; + int localPoints = 0; + int readingFileNum = 0; + + ofVec3f camPos; + ofVec3f car; + ofVec3f euler; + + float rotAng = 0; + float fc = 0.0; + float fclip; + ifstream fin; + string line; + vector lines, pieces; + + ofVboMesh mesh; + ofVboMesh vs; + + ofCamera cam1,cam2,cam3; + + // Argument for udpThread + udparg udp; + + int mode = 1; + + // For JUMP + int count=0; + int jump = 0; + float offset = 0; + float accel = 0; + float velocity = 0; + float initial_velocity = 0; + float fps = 0; + ofVec3f camera,OculusRPY; + ofQuaternion OculusQuaternion; + + PointcloudMap pm; + VectorMap vm; + + ofLight carlight; + ofxAssimpModelLoader model; + bool op = false; + bool disp = true; + bool mout = true; + bool fill = false; + + ofLight sun; +}; + +int string2unixtime(string str); + +void* pcdThread(void *); +void* udpThread(void *); diff --git a/ui/oculus/ofw/src/vector_map.cpp b/ui/oculus/ofw/src/vector_map.cpp new file mode 100644 index 00000000000..cbe968936b1 --- /dev/null +++ b/ui/oculus/ofw/src/vector_map.cpp @@ -0,0 +1,911 @@ +// +// vector_map.cpp +// ORR_PointCloud +// +// Created by Kenjiro on 6/6/15. +// +// + +#include "vector_map.h" + +typedef std::vector > File_contents; + +static inline File_contents read_csv(const char* filename){ + File_contents fileContents; + fileContents.clear(); + + std::ifstream ifs(filename); + if (ifs == 0){ + ifs.close(); + return fileContents; + } + std::string line_contents; + std::getline(ifs, line_contents); // skip first header line + + while (std::getline(ifs, line_contents)) + { + std::istringstream ss(line_contents); + + std::vector column; + std::string element; + while (std::getline(ss, element, ',')) { + column.push_back(element); + } + fileContents.push_back(column); + } + ifs.close(); + return fileContents; +} + +int VectorMap::read_roadedge(const char* filename){ + File_contents fileContents = read_csv(filename); + if (fileContents.empty()) + return EXIT_FAILURE; + + size_t line_num = fileContents.size(); + for (int i=0; i::value_type(tmp_l.id, tmp_l) ); + } + + return EXIT_SUCCESS; +} +int VectorMap::read_gutter(const char* filename){ + File_contents fileContents = read_csv(filename); + if (fileContents.empty()) + return EXIT_FAILURE; + + size_t line_num = fileContents.size(); + for (int i=0; i::value_type(tmp_l.id, tmp_l) ); + } + + return EXIT_SUCCESS; +} +int VectorMap::read_curb(const char* filename){ + File_contents fileContents = read_csv(filename); + if (fileContents.empty()) + return EXIT_FAILURE; + + size_t line_num = fileContents.size(); + for (int i=0; i::value_type(tmp_l.id, tmp_l) ); + } + + return EXIT_SUCCESS; +} +int VectorMap::read_whiteline(const char* filename){ + File_contents fileContents = read_csv(filename); + if (fileContents.empty()) + return EXIT_FAILURE; + + size_t line_num = fileContents.size(); + for (int i=0; i::value_type(tmp_l.id, tmp_l) ); + } + + return EXIT_SUCCESS; +} +int VectorMap::read_stopline(const char* filename){ + File_contents fileContents = read_csv(filename); + if (fileContents.empty()) + return EXIT_FAILURE; + + size_t line_num = fileContents.size(); + for (int i=0; i::value_type(tmp_l.id, tmp_l) ); + } + + return EXIT_SUCCESS; +} +int VectorMap::read_zebrazone(const char* filename){ + File_contents fileContents = read_csv(filename); + if (fileContents.empty()) + return EXIT_FAILURE; + + size_t line_num = fileContents.size(); + for (int i=0; i::value_type(tmp_l.id, tmp_l) ); + } + + return EXIT_SUCCESS; +} +int VectorMap::read_crosswalk(const char* filename){ + File_contents fileContents = read_csv(filename); + if (fileContents.empty()) + return EXIT_FAILURE; + + size_t line_num = fileContents.size(); + for (int i=0; i::value_type(tmp_l.id, tmp_l) ); + } + + return EXIT_SUCCESS; +} +int VectorMap::read_roadsurfacemark(const char* filename){ + File_contents fileContents = read_csv(filename); + if (fileContents.empty()) + return EXIT_FAILURE; + + size_t line_num = fileContents.size(); + for (int i=0; i::value_type(tmp_l.id, tmp_l) ); + } + + return EXIT_SUCCESS; +} +int VectorMap::read_poledata(const char* filename){ + File_contents fileContents = read_csv(filename); + if (fileContents.empty()) + return EXIT_FAILURE; + + size_t line_num = fileContents.size(); + for (int i=0; i::value_type(tmp_l.id, tmp_l) ); + } + + return EXIT_SUCCESS; +} +int VectorMap::read_roadsign(const char *filename){ + File_contents fileContents = read_csv(filename); + if (fileContents.empty()) + return EXIT_FAILURE; + + size_t line_num = fileContents.size(); + for (int i=0; i::value_type(tmp_s.id, tmp_s) ); + } + + return EXIT_SUCCESS; +} +int VectorMap::read_signaldata(const char *filename){ + File_contents fileContents = read_csv(filename); + if (fileContents.empty()) + return EXIT_FAILURE; + + size_t line_num = fileContents.size(); + for (int i=0; i::value_type(tmp_s.id, tmp_s) ); + } + + return EXIT_SUCCESS; +} +int VectorMap::read_streetlight(const char *filename){ + File_contents fileContents = read_csv(filename); + if (fileContents.empty()) + return EXIT_FAILURE; + + size_t line_num = fileContents.size(); + for (int i=0; i::value_type(tmp_l.id, tmp_l) ); + } + + return EXIT_SUCCESS; +} +int VectorMap::read_utilitypole(const char* filename){ + File_contents fileContents = read_csv(filename); + if (fileContents.empty()) + return EXIT_FAILURE; + + size_t line_num = fileContents.size(); + for (int i=0; i::value_type(tmp_l.id, tmp_l) ); + } + + return EXIT_SUCCESS; +} +int VectorMap::read_pointclass(const char *filename){ + File_contents fileContents = read_csv(filename); + if (fileContents.empty()) + return EXIT_FAILURE; + + size_t line_num = fileContents.size(); + for (int i=0; i::value_type(tmp_p.pid, tmp_p) ); + } + + return EXIT_SUCCESS; +} +int VectorMap::read_vectorclass(const char *filename){ + File_contents fileContents = read_csv(filename); + if (fileContents.empty()) + return EXIT_FAILURE; + + size_t line_num = fileContents.size(); + for (int i=0; i::value_type(tmp_v.vid, tmp_v) ); + } + + return EXIT_SUCCESS; +} +int VectorMap::read_lineclass(const char *filename){ + File_contents fileContents = read_csv(filename); + if (fileContents.empty()) + return EXIT_FAILURE; + + size_t line_num = fileContents.size(); + for (int i=0; i::value_type(tmp_l.lid, tmp_l) ); + } + + return EXIT_SUCCESS; +} +int VectorMap::read_areaclass(const char *filename){ + File_contents fileContents = read_csv(filename); + if (fileContents.empty()) + return EXIT_FAILURE; + + size_t line_num = fileContents.size(); + for (int i=0; i::value_type(tmp_l.aid, tmp_l) ); + } + + return EXIT_SUCCESS; +} +int VectorMap::read_poleclass(const char *filename){ + File_contents fileContents = read_csv(filename); + if (fileContents.empty()) + return EXIT_FAILURE; + + size_t line_num = fileContents.size(); + for (int i=0; i::value_type(tmp_l.plid, tmp_l) ); + } + + return EXIT_SUCCESS; +} +int VectorMap::read_boxclass(const char *filename){ + File_contents fileContents = read_csv(filename); + if (fileContents.empty()) + return EXIT_FAILURE; + + size_t line_num = fileContents.size(); + for (int i=0; i::value_type(tmp_l.bid, tmp_l) ); + } + + return EXIT_SUCCESS; +} +int VectorMap::read_dtlane(const char *filename){ + File_contents fileContents = read_csv(filename); + if (fileContents.empty()) + return EXIT_FAILURE; + + size_t line_num = fileContents.size(); + for (int i=0; i::value_type(tmp_a.did, tmp_a) ); + } + + return EXIT_SUCCESS; +} +int VectorMap::read_nodedata(const char *filename){ + File_contents fileContents = read_csv(filename); + if (fileContents.empty()) + return EXIT_FAILURE; + + size_t line_num = fileContents.size(); + for (int i=0; i::value_type(tmp_a.nid, tmp_a) ); + } + + return EXIT_SUCCESS; +} +int VectorMap::read_lanedata(const char *filename){ + File_contents fileContents = read_csv(filename); + if (fileContents.empty()) + return EXIT_FAILURE; + + size_t line_num = fileContents.size(); + for (int i=0; i::value_type(tmp_l.lnid, tmp_l) ); + } + + return EXIT_SUCCESS; +} + +void VectorMap::loadAll (const std::string &dirname) +{ + string rename = dirname + "/roadedge.csv"; + if (read_roadedge((char*)rename.c_str()) == EXIT_FAILURE) { + std::cerr << rename << "\t load fail." << std::endl; + exit(EXIT_FAILURE); + } + std::cout << rename << "\t load complete." << std::endl; + + string guttername = dirname + "/gutter.csv"; + if (read_gutter((char*)guttername.c_str()) == EXIT_FAILURE) { + std::cerr << guttername << "\t load fail." << std::endl; + exit(EXIT_FAILURE); + } + std::cout << guttername << "\t load complete." << std::endl; + + string curbname = dirname + "/curb.csv"; + if (read_curb((char*)curbname.c_str()) == EXIT_FAILURE) { + std::cerr << curbname << "\t load fail." << std::endl; + exit(EXIT_FAILURE); + } + std::cout << curbname << "\t load complete." << std::endl; + + //string clinename = dirname + "/cline.csv"; + string clinename = dirname + "/whiteline.csv"; + if (read_whiteline ((char*)clinename.c_str()) == EXIT_FAILURE) { + std::cerr << clinename << "\t load fail." << std::endl; + exit(EXIT_FAILURE); + } + std::cout << clinename << "\t load complete." << std::endl; + + string slinename = dirname + "/stopline.csv"; + if (read_stopline ((char*)slinename.c_str()) == EXIT_FAILURE) { + std::cerr << slinename << "\t load fail." << std::endl; + exit(EXIT_FAILURE); + } + std::cout << slinename << "\t load complete." << std::endl; + + string zebraname = dirname + "/zebrazone.csv"; + if (read_zebrazone ((char*)zebraname.c_str()) == EXIT_FAILURE) { + std::cerr << zebraname << "\t load fail." << std::endl; + exit(EXIT_FAILURE); + } + std::cout << zebraname << "\t load complete." << std::endl; + + string crossname = dirname + "/crosswalk.csv"; + if (read_crosswalk ((char*)crossname.c_str()) == EXIT_FAILURE) { + std::cerr << crossname << "\t load fail." << std::endl; + exit(EXIT_FAILURE); + } + std::cout << crossname << "\t load complete." << std::endl; + + string roadsurfname = dirname + "/road_surface_mark.csv"; + if (read_roadsurfacemark ((char*)roadsurfname.c_str()) == EXIT_FAILURE) { + std::cerr << roadsurfname << "\t load fail." << std::endl; + exit(EXIT_FAILURE); + } + std::cout << roadsurfname << "\t load complete." << std::endl; + + string poledataname = dirname + "/poledata.csv"; + if (read_poledata ((char*)poledataname.c_str()) == EXIT_FAILURE) { + std::cerr << poledataname << "\t load fail." << std::endl; + exit(EXIT_FAILURE); + } + std::cout << poledataname << "\t load complete." << std::endl; + + string roadsignname = dirname + "/roadsign.csv"; + if (read_roadsign ((char*)roadsignname.c_str()) == EXIT_FAILURE) { + std::cerr << roadsignname << "\t load fail." << std::endl; + exit(EXIT_FAILURE); + } + std::cout << roadsignname << "\t load complete." << std::endl; + + //string signalname = dirname + "/signal.csv"; + string signalname = dirname + "/signaldata.csv"; + if (read_signaldata ((char*)signalname.c_str()) == EXIT_FAILURE) { + std::cerr << signalname << "\t load fail." << std::endl; + exit(EXIT_FAILURE); + } + std::cout << signalname << "\t load complete." << std::endl; + + string lightname = dirname + "/streetlight.csv"; + if (read_streetlight ((char*)lightname.c_str()) == EXIT_FAILURE) { + std::cerr << lightname << "\t load fail." << std::endl; + exit(EXIT_FAILURE); + } + std::cout << lightname << "\t load complete." << std::endl; + + string utilitypolename = dirname + "/utilitypole.csv"; + if (read_utilitypole ((char*)utilitypolename.c_str()) == EXIT_FAILURE) { + std::cerr << utilitypolename << "\t load fail." << std::endl; + exit(EXIT_FAILURE); + } + std::cout << utilitypolename << "\t load complete." << std::endl; + + + string ptname = dirname + "/point.csv"; + if (read_pointclass((char*)ptname.c_str()) == EXIT_FAILURE) { + std::cerr << ptname << "\t load fail." << std::endl; + exit(EXIT_FAILURE); + } + std::cout << ptname << "\t load complete." << std::endl; + + string vectorname = dirname + "/vector.csv"; + if (read_vectorclass ((char*)vectorname.c_str()) == EXIT_FAILURE) { + std::cerr << vectorname << "\t load fail." << std::endl; + exit(EXIT_FAILURE); + } + std::cout << vectorname << "\t load complete." << std::endl; + + string linename = dirname + "/line.csv"; + if (read_lineclass((char*)linename.c_str()) == EXIT_FAILURE) { + std::cerr << linename << "\t load fail." << std::endl; + exit(EXIT_FAILURE); + } + std::cout << linename << "\t load complete." << std::endl; + + string areaname = dirname + "/area.csv"; + if (read_areaclass ((char*)areaname.c_str()) == EXIT_FAILURE) { + std::cerr << areaname << "\t load fail." << std::endl; + exit(EXIT_FAILURE); + } + std::cout << areaname << "\t load complete." << std::endl; + + string polename = dirname + "/pole.csv"; + if (read_poleclass ((char*)polename.c_str()) == EXIT_FAILURE) { + std::cerr << polename << "\t load fail." << std::endl; + exit(EXIT_FAILURE); + } + std::cout << polename << "\t load complete." << std::endl; + +// string boxname = dirname + "/box.csv"; +// if (read_boxclass ((char*)boxname.c_str()) == EXIT_FAILURE) { +// std::cerr << boxname << "\t load fail." << std::endl; +// exit(EXIT_FAILURE); +// } +// std::cout << boxname << "\t load complete." << std::endl; + + + string dtlanename = dirname + "/dtlane.csv"; + if (read_dtlane((char*)dtlanename.c_str()) == EXIT_FAILURE) { + std::cerr << dtlanename << "\t load fail." << std::endl; + exit(EXIT_FAILURE); + } + std::cout << dtlanename << "\t load complete." << std::endl; + + string nodename = dirname + "/node.csv"; + if (read_vectorclass ((char*)vectorname.c_str()) == EXIT_FAILURE) { + std::cerr << nodename << "\t load fail." << std::endl; + exit(EXIT_FAILURE); + } + std::cout << nodename << "\t load complete." << std::endl; + + + string lanename = dirname + "/lane.csv"; + if (read_lanedata ((char*)lanename.c_str()) == EXIT_FAILURE) { + std::cerr << lanename << "\t load fail." << std::endl; + exit(EXIT_FAILURE); + } + std::cout << lanename << "\t load complete." << std::endl; + + + std::cout << "all vecter maps loaded." << std::endl; + +} + +ofPoint VectorMap::get_point(int pid){ + ofPoint point; + point.x = points[pid].bx - (min_x + max_x) / 2.0; // b or bx? + point.z = (points[pid].ly - (min_y + max_y) / 2.0) * (-1); // l or ly? + point.y = points[pid].h; // Y-up or Z-up? + + return point; +} + +int VectorMap::set_roadedge(){ + for(int i =0;i < roadedges.size();i++){ + if (roadedges[i].id <= 0) continue; + int lid = roadedges[i].lid; + if(lines[lid].blid == 0) { + re_mesh.push_back(set_lineclass(OF_PRIMITIVE_LINE_STRIP, ofColor::white, 3, lid)); + } + } + roadedges.clear(); + return EXIT_SUCCESS; + +} +int VectorMap::set_gutter(){ + for(int i =0;i < gutters.size();i++){ + if (gutters[i].id <= 0) continue; + int aid = gutters[i].aid; + gutter_mesh.push_back(set_areaclass(OF_PRIMITIVE_LINE_STRIP, ofColor::gray, aid)); + } + gutters.clear(); + return EXIT_SUCCESS; +} +int VectorMap::set_curb(){ + for(int i =0;i < curbs.size();i++){ + if (curbs[i].id <= 0) continue; + int lid = curbs[i].lid; + if(lines[lid].blid == 0) { + curb_mesh.push_back(set_lineclass(OF_PRIMITIVE_LINE_STRIP, ofColor::white, 3, lid)); + } + } + curbs.clear(); + return EXIT_SUCCESS; +} +int VectorMap::set_whiteline(){ + for(int i =0;i < whitelines.size();i++){ + if (whitelines[i].id <= 0) continue; + int lid = whitelines[i].lid; + if(lines[lid].blid == 0) { + if(whitelines[i].color == 'W')wline_mesh.push_back(set_lineclass(OF_PRIMITIVE_LINE_STRIP, ofColor::white, 3, lid)); + if(whitelines[i].color == 'Y')wline_mesh.push_back(set_lineclass(OF_PRIMITIVE_LINE_STRIP, ofFloatColor(1.0, 0.5, 0.0), 3, lid)); + } + } + whitelines.clear(); + return EXIT_SUCCESS; +} +int VectorMap::set_stopline(){ + for(int i =0;i < stoplines.size();i++){ + if (stoplines[i].id <= 0) continue; + int lid = stoplines[i].lid; + if(lines[lid].blid == 0) { + sline_mesh.push_back(set_lineclass(OF_PRIMITIVE_LINE_STRIP, ofColor::white, 3, lid)); + } + } + stoplines.clear(); + return EXIT_SUCCESS; +} +int VectorMap::set_zebrazone(){ + for(int i =0;i < zebrazones.size();i++){ + if (zebrazones[i].id <= 0) continue; + int aid = zebrazones[i].aid; + zz_mesh.push_back(set_areaclass(OF_PRIMITIVE_LINE_LOOP, ofColor::white, aid)); + } + zebrazones.clear(); + return EXIT_SUCCESS; +} +int VectorMap::set_crosswalk(){ + for(int i =0;i < crosswalks.size();i++){ + if (crosswalks[i].id <= 0) continue; + int aid = crosswalks[i].aid; + cw_mesh.push_back(set_areaclass(OF_PRIMITIVE_LINE_LOOP, ofColor::white, aid)); + } + crosswalks.clear(); + return EXIT_SUCCESS; +} +int VectorMap::set_roadsurfacemark(){ + for(int i =0;i < roadsurfacemarks.size();i++){ + if (roadsurfacemarks[i].id <= 0) continue; + int aid = roadsurfacemarks[i].aid; + rsm_mesh.push_back(set_areaclass(OF_PRIMITIVE_LINE_LOOP, ofColor::white, aid)); + } + roadsurfacemarks.clear(); + return EXIT_SUCCESS; +} +int VectorMap::set_poledata(){ + for(int i =0;i < poledatas.size();i++){ + if (poledatas[i].id <= 0) continue; + int plid = poledatas[i].plid; + pd_mesh.push_back(set_poleclass(ofColor::gray, plid)); + } + poledatas.clear(); + return EXIT_SUCCESS; +} +int VectorMap::set_roadsign(){ + for(int i =0;i < roadsigns.size();i++){ + if (roadsigns[i].id <= 0) continue; + int plid = roadsigns[i].plid; + rs_mesh.push_back(set_poleclass(ofColor::white, plid)); + } + roadsigns.clear(); + return EXIT_SUCCESS; +} +int VectorMap::set_signaldata(){ + for(int i =0;i < signaldatas.size();i++){ + if (signaldatas[i].id <= 0) continue; + int plid = signaldatas[i].plid; + sd_mesh.push_back(set_poleclass(ofColor::gray, plid)); + } + signaldatas.clear(); + return EXIT_SUCCESS; +} +int VectorMap::set_streetlight(){ + for(int i =0;i < streetlights.size();i++){ + if (streetlights[i].id <= 0) continue; + int lid = streetlights[i].lid; + int plid = streetlights[i].plid; + sl_line_mesh.push_back(set_lineclass(OF_PRIMITIVE_LINE_LOOP, ofColor::yellow, 3, lid)); + sl_pole_mesh.push_back(set_poleclass(ofColor::gray, plid)); + } + streetlights.clear(); + return EXIT_SUCCESS; +} +int VectorMap::set_utilitypole(){ + for(int i =0;i < utilitypoles.size();i++){ + if (utilitypoles[i].id <= 0) continue; + int plid = utilitypoles[i].plid; + up_mesh.push_back(set_poleclass(ofColor::gray, plid)); + } + utilitypoles.clear(); + return EXIT_SUCCESS; +} + +//int VectorMap::draw_pointclass(){} +//int VectorMap::draw_vectorclass(){} +ofVboMesh VectorMap::set_lineclass(ofPrimitiveMode mode, ofColor color, float width, int lineid){ + int lid = lineid; + ofVboMesh tmp; + ofVec3f pos; + tmp.setMode(mode); + pos.set(get_point(lines[lid].bpid)); + tmp.addVertex(pos); + tmp.addColor(color); + if(lines[lid].flid==0){ + pos.set(get_point(lines[lid].fpid)); + tmp.addVertex(pos); + tmp.addColor(color); + } + while(lines[lid].flid!=0){ + pos.set(get_point(lines[lid].fpid)); + tmp.addVertex(pos); + tmp.addColor(color); + lid = lines[lid].flid; + } + return tmp; +} +ofVboMesh VectorMap::set_areaclass(ofPrimitiveMode mode, ofColor color, int aid){ + int lid = areas[aid].slid; + ofVboMesh tmp; + ofVec3f pos; + tmp.setMode(mode); + pos.set(get_point(lines[lid].bpid)); + tmp.addVertex(pos); + tmp.addColor(color); + while(lid != areas[aid].elid){ + pos.set(get_point(lines[lid].fpid)); + tmp.addVertex(pos); + tmp.addColor(color); + lid = lines[lid].flid; + } + return tmp; +} +ofVboMesh VectorMap::set_poleclass(ofColor color, int plid){ + int vid = poles[plid].vid; + ofVboMesh tmp = ofVboMesh::cylinder(poles[plid].dim/2.0, poles[plid].length); + ofVec3f point; + ofVec3f pos = get_point(vectors[vid].pid); + +// RotateX 90 + for(int i = 0; i < tmp.getNumVertices(); i++){ + point = tmp.getVertex(i); + tmp.setVertex(i, ofVec3f(point.x, point.y + poles[plid].length / 2.0, point.z)); + } + + for(int i = 0; i < tmp.getNumVertices(); i++){ + point = tmp.getVertex(i); + point += pos; + tmp.setVertex(i, point); + tmp.addColor(color); + } + return tmp; + } +//int VectorMap::draw_boxclass(){} + +//int VectorMap::draw_dtlane(){} +//int VectorMap::draw_nodedata(){} +//int VectorMap::draw_lanedata(){} + +void VectorMap::set_all (){ + set_roadedge(); + set_gutter(); + set_curb(); + set_whiteline(); + set_stopline(); + set_zebrazone(); + set_crosswalk(); + set_roadsurfacemark(); + set_poledata(); + set_roadsign(); + set_signaldata(); + set_streetlight(); + set_utilitypole(); +} + + +void VectorMap::draw (){ + glDisable(GL_DEPTH_TEST); + for(int i = 0; i < re_mesh.size(); i++) re_mesh[i].draw(); + for(int i = 0; i < gutter_mesh.size(); i++) gutter_mesh[i].draw(); + for(int i = 0; i < curb_mesh.size(); i++) curb_mesh[i].draw(); + for(int i = 0; i < wline_mesh.size(); i++) wline_mesh[i].draw(); + for(int i = 0; i < sline_mesh.size(); i++) sline_mesh[i].draw(); + for(int i = 0; i < zz_mesh.size(); i++) zz_mesh[i].draw(); + for(int i = 0; i < cw_mesh.size(); i++) cw_mesh[i].draw(); + for(int i = 0; i < rsm_mesh.size(); i++) rsm_mesh[i].draw(); + glEnable(GL_DEPTH_TEST); + for(int i = 0; i < pd_mesh.size(); i++) pd_mesh[i].draw(); + for(int i = 0; i < sd_mesh.size(); i++) sd_mesh[i].draw(); + for(int i = 0; i < sl_line_mesh.size(); i++)sl_line_mesh[i].draw(); + for(int i = 0; i < sl_pole_mesh.size(); i++)sl_pole_mesh[i].draw(); + for(int i = 0; i < up_mesh.size(); i++) up_mesh[i].draw(); +} + +void VectorMap::drawWireframe (){ + glDisable(GL_DEPTH_TEST); + for(int i = 0; i < re_mesh.size(); i++) re_mesh[i].drawWireframe(); + for(int i = 0; i < gutter_mesh.size(); i++) gutter_mesh[i].drawWireframe(); + for(int i = 0; i < curb_mesh.size(); i++) curb_mesh[i].drawWireframe(); + for(int i = 0; i < wline_mesh.size(); i++) wline_mesh[i].drawWireframe(); + for(int i = 0; i < sline_mesh.size(); i++) sline_mesh[i].drawWireframe(); + for(int i = 0; i < zz_mesh.size(); i++) zz_mesh[i].drawWireframe(); + for(int i = 0; i < cw_mesh.size(); i++) cw_mesh[i].drawWireframe(); + for(int i = 0; i < rsm_mesh.size(); i++) rsm_mesh[i].drawWireframe(); + glEnable(GL_DEPTH_TEST); + for(int i = 0; i < pd_mesh.size(); i++) pd_mesh[i].drawWireframe(); + for(int i = 0; i < sd_mesh.size(); i++) sd_mesh[i].drawWireframe(); + for(int i = 0; i < sl_line_mesh.size(); i++)sl_line_mesh[i].drawWireframe(); + for(int i = 0; i < sl_pole_mesh.size(); i++)sl_pole_mesh[i].drawWireframe(); + for(int i = 0; i < up_mesh.size(); i++) up_mesh[i].drawWireframe(); +} + diff --git a/ui/oculus/ofw/src/vector_map.h b/ui/oculus/ofw/src/vector_map.h new file mode 100644 index 00000000000..b525863c16f --- /dev/null +++ b/ui/oculus/ofw/src/vector_map.h @@ -0,0 +1,296 @@ +// +// vector_map.h +// ORR_PointCloud +// +// Created by Kenjiro on 6/6/15. +// +// + +#ifndef __ORR_PointCloud__vector_map__ +#define __ORR_PointCloud__vector_map__ + +#include "ofMain.h" +#include +#include +#include +#include + +#define FCLIP 40 + +/* for roadedge.csv */ +struct RoadEdge { + int id; + int lid; + int linkid; +}; +/* for gutter.csv, guardrail.csv */ +struct Gutter { + int id; + int aid; + int type; + int linkid; +}; +/* for curb.csv */ +struct Curb { + int id; + int lid; + double height; + double width; + int dir; + int linkid; +}; +/* for whiteline.csv */ +struct WhiteLine { + int id; + int lid; + double width; + char color; + int type; + int linkid; +}; +/* for stopline.csv */ +struct StopLine { + int id; + int lid; + int tlid; + int signid; + int linkid; +}; +/* for zebrazone.csv, sidewalk.csv, crossroads.csv */ +struct ZebraZone { + int id; + int aid; + int linkid; +}; +/* for crosswalk.csv */ +struct CrossWalk { + int id; + int aid; + int type; + int bdid; + int linkid; +}; +/* for road_surface_mark.csv */ +struct RoadSurfaceMark { + int id; + int aid; + std::string type; + int linkid; +}; +/* for poledata.csv, utilitypole.csv */ +struct PoleData { + int id; + int plid; + int linkid; +}; +/* for signaldata.csv, roadsign.csv */ +struct SignalData { + int id; + int vid; + int plid; + int type; + int linkid; +}; +/* for streetlight.csv */ +struct StreetLight { + int id; + int lid; + int plid; + int linkid; +}; +/* basic class */ +/* for point.csv */ +struct PointClass { + int pid; + double b; + double l; + double h; + double bx; + double ly; + double ref; + int mcode1; + int mcode2; + int mcode3; +}; +/* for vector.csv */ +struct VectorClass { + int vid; + int pid; + double hang; + double vang; +}; +/* for line.csv */ +struct LineClass { + int lid; + int bpid; + int fpid; + int blid; + int flid; +}; +/* for area.csv */ +struct AreaClass { + int aid; + int slid; + int elid; +}; +/* for pole.csv */ +struct PoleClass { + int plid; + int vid; + double length; + double dim; +}; +/* for box.csv */ +struct BoxClass { + int bid; + int pid1; + int pid2; + int pid3; + int pid4; + double height; +}; +/* Road data */ +/* for dtlane.csv */ +struct DTLane { + int did; + double dist; + int pid; + double dir; + int apara; + double r; + double slope; + double cant; + double lw; + double rw; +}; +///* for node.csv */ +struct NodeData { + int nid; + int pid; +}; +/* for lane.csv */ +struct LaneData { + int lnid; + int did; + int blid; + int flid; + int bnid; + int fnid; + int jct; + int blid2; + int blid3; + int blid4; + int flid2; + int flid3; + int flid4; + int clossid; + double span; + int lcnt; + int lno; +}; + +class VectorMap +{ +public: + std::map roadedges; + std::map gutters; + std::map curbs; + std::map whitelines; + std::map stoplines; + std::map zebrazones; + std::map crosswalks; + std::map roadsurfacemarks; + std::map poledatas; + std::map roadsigns; + std::map signaldatas; + std::map streetlights; + std::map utilitypoles; + std::map points; + std::map vectors; + std::map lines; + std::map areas; + std::map poles; + std::map boxes; + std::map dtlanes; + std::map nodedatas; + std::map lanedatas; + int read_roadedge(const char* filename); + int read_gutter(const char* filename); + int read_curb(const char* filename); + int read_whiteline(const char* filename); + int read_stopline(const char* filename); + int read_zebrazone(const char* filename); + int read_crosswalk(const char* filename); + int read_roadsurfacemark(const char* filename); + int read_poledata(const char* filename); + int read_roadsign(const char *filename); + int read_signaldata(const char *filename); + int read_streetlight(const char *filename); + int read_utilitypole(const char* filename); + int read_pointclass(const char *filename); + int read_vectorclass(const char *filename); + int read_lineclass(const char *filename); + int read_areaclass(const char *filename); + int read_poleclass(const char *filename); + int read_boxclass(const char *filename); + int read_dtlane(const char *filename); + int read_nodedata(const char *filename); + int read_lanedata(const char *filename); + + void loadAll (const std::string &dirname); + + float min_x, max_x, min_y, max_y; + + void setTF(float mi_x, float ma_x, float mi_y, float ma_y){ + min_x = mi_x; + max_x = ma_x; + min_y = mi_y; + max_y = ma_y; + } + + ofPoint get_point(int pid); + + int set_roadedge(); + int set_gutter(); + int set_curb(); + int set_whiteline(); + int set_stopline(); + int set_zebrazone(); + int set_crosswalk(); + int set_roadsurfacemark(); + int set_poledata(); + int set_roadsign(); + int set_signaldata(); + int set_streetlight(); + int set_utilitypole(); +// int draw_pointclass(); +// int draw_vectorclass(); + ofVboMesh set_lineclass(ofPrimitiveMode mode, ofColor color, float width, int lineid); + ofVboMesh set_areaclass(ofPrimitiveMode mode, ofColor color, int aid); + ofVboMesh set_poleclass(ofColor color, int plid); +// int draw_boxclass(); +// int draw_dtlane(); +// int draw_nodedata(); +// int draw_lanedata(); + + void set_all(); + void draw (); + void drawWireframe (); + + vector re_mesh; + vector gutter_mesh; + vector curb_mesh; + vector wline_mesh; + vector sline_mesh; + vector zz_mesh; + vector cw_mesh; + vector rsm_mesh; + vector pd_mesh; + vector rs_mesh; + vector sd_mesh; + vector sl_line_mesh; + vector sl_pole_mesh; + vector up_mesh; +}; + +#endif /* defined(__ORR_PointCloud__vector_map__) */