ndt_occupancy_map.h

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#ifndef NDT_OCCUPANCY_MAP_HH
#define NDT_OCCUPANCY_MAP_HH

#include <spatial_index.h>
#include <ndt_cell.h>
#include <depth_camera.h>

#include <cstdlib>

#include <cv.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>

namespace lslgeneric
{

template <typename PointT>
class NDTOccupancyMap
{
public:

    NDTOccupancyMap()
    {
        index_ = NULL;
    }
    NDTOccupancyMap(SpatialIndex<PointT> *idx, float _resolution)
    {
        //std::cout<<"STORE INDEX PROTOTYPE\n";
        index_ = idx;
        resolution = _resolution;
        //this is used to prevent memory de-allocation of the *si
        //si was allocated outside the NDT class and should be deallocated outside
        isFirstLoad_=true;
    }

    NDTOccupancyMap(const NDTOccupancyMap& other)
    {
        //std::cout<<"COPY MAP\n";
        if(other.index_ != NULL)
        {
            //std::cout<<"COPY INDEX\n";
            this->index_ = index_->copy();
            isFirstLoad_ = false;
        }
        this->resolution = other.resolution;
    }

    virtual ~NDTOccupancyMap()
    {
        //std::cout<<"DELETE MAP\n";
        if(index_ !=NULL && !isFirstLoad_)
        {
            //std::cout<<"DELETE INDEX\n";
            delete index_;
        }
    }

    void addPointCloud(const Eigen::Vector3d &origin, const pcl::PointCloud<PointT> &pc);





    void loadPointCloud(const pcl::PointCloud<PointT> &pc, const std::vector<std::vector<size_t> > &indices);
    void loadDepthImage(const cv::Mat& depthImage, DepthCamera<PointT> &cameraParams);
    pcl::PointCloud<PointT> loadDepthImageFeatures(const cv::Mat& depthImage, std::vector<cv::KeyPoint> &keypoints,
            size_t &supportSize, double maxVar, DepthCamera<PointT> &cameraParams, bool estimateParamsDI=false, bool nonMean = false);

    void computeNDTCells(int cellupdatemode = CELL_UPDATE_MODE_SAMPLE_VARIANCE_WITH_RESET);

    void writeToVRML(const char* filename);
    virtual void writeToVRML(FILE* fout);
    virtual void writeToVRML(FILE* fout, Eigen::Vector3d col);

    inline SpatialIndex<PointT>* getMyIndex() const
    {
        return index_;
    }
    std::string getMyIndexStr() const;

    //computes the likelihood of a single observation
    double getLikelihoodForPoint(PointT pt);

    //returns the covariance matrix of the closest cell to refPoint
    bool getCellForPoint(const PointT &refPoint, NDTCell<PointT> *&cell);
    std::vector<NDTCell<PointT>*> getCellsForPoint(const PointT pt, double radius);

    NDTCell<PointT>* getCellIdx(unsigned int idx);

    std::vector<NDTCell<PointT>*> pseudoTransformNDT(Eigen::Transform<double,3,Eigen::Affine,Eigen::ColMajor> T);

    std::vector<lslgeneric::NDTCell<PointT>*> getAllCells();

    std::vector<lslgeneric::NDTCell<PointT>*> getDynamicCells(unsigned int Timescale, float threshold);


    int numberOfActiveCells();

    //tsv: temporary debug function
    void debugToVRML(const char* fname, pcl::PointCloud<PointT> &pc);
protected:
    SpatialIndex<PointT> *index_;
    bool isFirstLoad_;
    void loadPointCloud(const Eigen::Vector3d &origin, const pcl::PointCloud<PointT> &pc);
    float resolution;
public:
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW


};

} // end namespace

#include <impl/ndt_occupancy_map.hpp>

#endif