OctoMap.h

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/*
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.

Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
    * Redistributions of source code must retain the above copyright
      notice, this list of conditions and the following disclaimer.
    * Redistributions in binary form must reproduce the above copyright
      notice, this list of conditions and the following disclaimer in the
      documentation and/or other materials provided with the distribution.
    * Neither the name of the Universite de Sherbrooke nor the
      names of its contributors may be used to endorse or promote products
      derived from this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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*/

#ifndef SRC_OCTOMAP_H_
#define SRC_OCTOMAP_H_

#include "rtabmap/core/RtabmapExp.h" // DLL export/import defines

#include <octomap/ColorOcTree.h>
#include <octomap/OcTreeKey.h>

#include <pcl/pcl_base.h>
#include <pcl/point_types.h>

#include <rtabmap/core/Transform.h>
#include <rtabmap/core/Parameters.h>

#include <map>
#include <unordered_set>
#include <string>
#include <queue>

namespace rtabmap {

// forward declaraton for "friend"
class RtabmapColorOcTree;

class RtabmapColorOcTreeNode : public octomap::ColorOcTreeNode
{
public:
        enum OccupancyType {kTypeUnknown=-1, kTypeEmpty=0, kTypeGround=1, kTypeObstacle=100};

public:
        friend class RtabmapColorOcTree; // needs access to node children (inherited)

        RtabmapColorOcTreeNode() : ColorOcTreeNode(), nodeRefId_(0), type_(kTypeUnknown) {}
        RtabmapColorOcTreeNode(const RtabmapColorOcTreeNode& rhs) : ColorOcTreeNode(rhs), nodeRefId_(rhs.nodeRefId_), type_(rhs.type_) {}

        void setNodeRefId(int nodeRefId) {nodeRefId_ = nodeRefId;}
        void setOccupancyType(char type) {type_=type;}
        void setPointRef(const octomap::point3d & point) {pointRef_ = point;}
        int getNodeRefId() const {return nodeRefId_;}
        int getOccupancyType() const {return type_;}
        const octomap::point3d & getPointRef() const {return pointRef_;}

        // following methods defined for octomap < 1.8 compatibility
        RtabmapColorOcTreeNode* getChild(unsigned int i);
        const RtabmapColorOcTreeNode* getChild(unsigned int i) const;
        bool pruneNode();
        void expandNode();
        bool createChild(unsigned int i);

        void updateOccupancyTypeChildren();

private:
        int nodeRefId_;
        int type_; // -1=undefined, 0=empty, 100=obstacle, 1=ground
        octomap::point3d pointRef_;
};

// Same as official ColorOctree but using RtabmapColorOcTreeNode, which is inheriting ColorOcTreeNode
class RtabmapColorOcTree : public octomap::OccupancyOcTreeBase <RtabmapColorOcTreeNode> {

  public:
        RtabmapColorOcTree(double resolution);
        virtual ~RtabmapColorOcTree() {}

        RtabmapColorOcTree* create() const {return new RtabmapColorOcTree(resolution); }

    std::string getTreeType() const {return "ColorOcTree";} // same type as ColorOcTree to be compatible with ROS OctoMap msg

    virtual bool pruneNode(RtabmapColorOcTreeNode* node);

    virtual bool isNodeCollapsible(const RtabmapColorOcTreeNode* node) const;

    // set node color at given key or coordinate. Replaces previous color.
    RtabmapColorOcTreeNode* setNodeColor(const octomap::OcTreeKey& key, uint8_t r,
                                 uint8_t g, uint8_t b);

    RtabmapColorOcTreeNode* setNodeColor(float x, float y,
                                 float z, uint8_t r,
                                 uint8_t g, uint8_t b) {
        octomap::OcTreeKey key;
      if (!this->coordToKeyChecked(octomap::point3d(x,y,z), key)) return NULL;
      return setNodeColor(key,r,g,b);
    }

    // integrate color measurement at given key or coordinate. Average with previous color
    RtabmapColorOcTreeNode* averageNodeColor(const octomap::OcTreeKey& key, uint8_t r,
                                  uint8_t g, uint8_t b);

    RtabmapColorOcTreeNode* averageNodeColor(float x, float y,
                                      float z, uint8_t r,
                                      uint8_t g, uint8_t b) {
        octomap:: OcTreeKey key;
      if (!this->coordToKeyChecked(octomap::point3d(x,y,z), key)) return NULL;
      return averageNodeColor(key,r,g,b);
    }

    // integrate color measurement at given key or coordinate. Average with previous color
    RtabmapColorOcTreeNode* integrateNodeColor(const octomap::OcTreeKey& key, uint8_t r,
                                  uint8_t g, uint8_t b);

    RtabmapColorOcTreeNode* integrateNodeColor(float x, float y,
                                      float z, uint8_t r,
                                      uint8_t g, uint8_t b) {
        octomap::OcTreeKey key;
      if (!this->coordToKeyChecked(octomap::point3d(x,y,z), key)) return NULL;
      return integrateNodeColor(key,r,g,b);
    }

    // update inner nodes, sets color to average child color
    void updateInnerOccupancy();

  protected:
    void updateInnerOccupancyRecurs(RtabmapColorOcTreeNode* node, unsigned int depth);

    class StaticMemberInitializer{
       public:
         StaticMemberInitializer();

         void ensureLinking() {};
    };
    static StaticMemberInitializer RtabmapColorOcTreeMemberInit;

  };

class RTABMAP_EXP OctoMap {
public:
        OctoMap(const ParametersMap & parameters = ParametersMap());

        const std::map<int, Transform> & addedNodes() const {return addedNodes_;}
        void addToCache(int nodeId,
                        const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & ground,
                        const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & obstacles,
                        const pcl::PointXYZ & viewPoint);
        void addToCache(int nodeId,
                        const cv::Mat & ground,
                        const cv::Mat & obstacles,
                        const cv::Mat & empty,
                        const cv::Point3f & viewPoint);
        bool update(const std::map<int, Transform> & poses); // return true if map has changed

        const RtabmapColorOcTree * octree() const {return octree_;}

        pcl::PointCloud<pcl::PointXYZRGB>::Ptr createCloud(
                        unsigned int treeDepth = 0,
                        std::vector<int> * obstacleIndices = 0,
                        std::vector<int> * emptyIndices = 0,
                        std::vector<int> * groundIndices = 0,
                        bool originalRefPoints = true,
                        std::vector<int> * frontierIndices = 0,
                        std::vector<double> * cloudProb = 0) const;

        cv::Mat createProjectionMap(
                        float & xMin,
                        float & yMin,
                        float & gridCellSize,
                        float minGridSize = 0.0f,
                        unsigned int treeDepth = 0);

        bool writeBinary(const std::string & path);

        virtual ~OctoMap();
        void clear();

        void getGridMin(double & x, double & y, double & z) const {x=minValues_[0];y=minValues_[1];z=minValues_[2];}
        void getGridMax(double & x, double & y, double & z) const {x=maxValues_[0];y=maxValues_[1];z=maxValues_[2];}

        void setMaxRange(float value) {rangeMax_ = value;}
        void setRayTracing(bool enabled) {rayTracing_ = enabled;}
        bool hasColor() const {return hasColor_;}

    static std::unordered_set<octomap::OcTreeKey, octomap::OcTreeKey::KeyHash> findEmptyNode(RtabmapColorOcTree* octree_, unsigned int treeDepth, octomap::point3d startPosition);
    static void floodFill(RtabmapColorOcTree* octree_, unsigned int treeDepth,octomap::point3d startPosition, std::unordered_set<octomap::OcTreeKey, octomap::OcTreeKey::KeyHash> & EmptyNodes,std::queue<octomap::point3d>& positionToExplore);
    static bool isNodeVisited(std::unordered_set<octomap::OcTreeKey,octomap::OcTreeKey::KeyHash> const & EmptyNodes,octomap::OcTreeKey const key);
    static octomap::point3d findCloseEmpty(RtabmapColorOcTree* octree_, unsigned int treeDepth,octomap::point3d startPosition);
    static bool isValidEmpty(RtabmapColorOcTree* octree_, unsigned int treeDepth,octomap::point3d startPosition);

private:
        void updateMinMax(const octomap::point3d & point);

private:
        std::map<int, std::pair<std::pair<cv::Mat, cv::Mat>, cv::Mat> > cache_; // [id: < <ground, obstacles>, empty>]
        std::map<int, std::pair<const pcl::PointCloud<pcl::PointXYZRGB>::Ptr, const pcl::PointCloud<pcl::PointXYZRGB>::Ptr> > cacheClouds_; // [id: <ground, obstacles>]
        std::map<int, cv::Point3f> cacheViewPoints_;
        RtabmapColorOcTree * octree_;
        std::map<int, Transform> addedNodes_;
        bool hasColor_;
        bool fullUpdate_;
        float updateError_;
        float rangeMax_;
        bool rayTracing_;
    unsigned int emptyFloodFillDepth_;
        double minValues_[3];
        double maxValues_[3];
};

} /* namespace rtabmap */

#endif /* SRC_OCTOMAP_H_ */