coal/octree.h

Go to the documentation of this file.

/*
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2011-2014, Willow Garage, Inc.
 *  Copyright (c) 2014-2015, Open Source Robotics Foundation
 *  Copyright (c) 2022-2024, Inria
 *  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 Open Source Robotics Foundation 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 DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 */
 
#ifndef COAL_OCTREE_H
#define COAL_OCTREE_H
 
#include <algorithm>
 
#include <octomap/octomap.h>
#include "coal/fwd.hh"
#include "coal/BV/AABB.h"
#include "coal/collision_object.h"
 
namespace coal {
 
class COAL_DLLAPI OcTree : public CollisionGeometry {
 protected:
  shared_ptr<const octomap::OcTree> tree;
 
  CoalScalar default_occupancy;
 
  CoalScalar occupancy_threshold;
  CoalScalar free_threshold;
 
 public:
  typedef octomap::OcTreeNode OcTreeNode;
 
  explicit OcTree(CoalScalar resolution)
      : tree(shared_ptr<const octomap::OcTree>(
            new octomap::OcTree(resolution))) {
    default_occupancy = tree->getOccupancyThres();
 
    // default occupancy/free threshold is consistent with default setting from
    // octomap
    occupancy_threshold = tree->getOccupancyThres();
    free_threshold = 0;
  }
 
  explicit OcTree(const shared_ptr<const octomap::OcTree>& tree_)
      : tree(tree_) {
    default_occupancy = tree->getOccupancyThres();
 
    // default occupancy/free threshold is consistent with default setting from
    // octomap
    occupancy_threshold = tree->getOccupancyThres();
    free_threshold = 0;
  }
 
  OcTree(const OcTree& other)
      : CollisionGeometry(other),
        tree(other.tree),
        default_occupancy(other.default_occupancy),
        occupancy_threshold(other.occupancy_threshold),
        free_threshold(other.free_threshold) {}
 
  OcTree* clone() const { return new OcTree(*this); }
 
  shared_ptr<const octomap::OcTree> getTree() const { return tree; }
 
  void exportAsObjFile(const std::string& filename) const;
 
  void computeLocalAABB() {
    typedef Eigen::Matrix<float, 3, 1> Vec3sloat;
    Vec3sloat max_extent, min_extent;
 
    octomap::OcTree::iterator it =
        tree->begin((unsigned char)tree->getTreeDepth());
    octomap::OcTree::iterator end = tree->end();
 
    if (it == end) return;
 
    {
      const octomap::point3d& coord =
          it.getCoordinate();  // getCoordinate returns a copy
      max_extent = min_extent = Eigen::Map<const Vec3sloat>(&coord.x());
      for (++it; it != end; ++it) {
        const octomap::point3d& coord = it.getCoordinate();
        const Vec3sloat pos = Eigen::Map<const Vec3sloat>(&coord.x());
        max_extent = max_extent.array().max(pos.array());
        min_extent = min_extent.array().min(pos.array());
      }
    }
 
    // Account for the size of the boxes.
    const CoalScalar resolution = tree->getResolution();
    max_extent.array() += float(resolution / 2.);
    min_extent.array() -= float(resolution / 2.);
 
    aabb_local =
        AABB(min_extent.cast<CoalScalar>(), max_extent.cast<CoalScalar>());
    aabb_center = aabb_local.center();
    aabb_radius = (aabb_local.min_ - aabb_center).norm();
  }
 
  AABB getRootBV() const {
    CoalScalar delta = (1 << tree->getTreeDepth()) * tree->getResolution() / 2;
 
    // std::cout << "octree size " << delta << std::endl;
    return AABB(Vec3s(-delta, -delta, -delta), Vec3s(delta, delta, delta));
  }
 
  unsigned int getTreeDepth() const { return tree->getTreeDepth(); }
 
  unsigned long size() const { return tree->size(); }
 
  CoalScalar getResolution() const { return tree->getResolution(); }
 
  OcTreeNode* getRoot() const { return tree->getRoot(); }
 
  bool isNodeOccupied(const OcTreeNode* node) const {
    // return tree->isNodeOccupied(node);
    return node->getOccupancy() >= occupancy_threshold;
  }
 
  bool isNodeFree(const OcTreeNode* node) const {
    // return false; // default no definitely free node
    return node->getOccupancy() <= free_threshold;
  }
 
  bool isNodeUncertain(const OcTreeNode* node) const {
    return (!isNodeOccupied(node)) && (!isNodeFree(node));
  }
 
  std::vector<Vec6s> toBoxes() const {
    std::vector<Vec6s> boxes;
    boxes.reserve(tree->size() / 2);
    for (octomap::OcTree::iterator
             it = tree->begin((unsigned char)tree->getTreeDepth()),
             end = tree->end();
         it != end; ++it) {
      // if(tree->isNodeOccupied(*it))
      if (isNodeOccupied(&*it)) {
        CoalScalar x = it.getX();
        CoalScalar y = it.getY();
        CoalScalar z = it.getZ();
        CoalScalar size = it.getSize();
        CoalScalar c = (*it).getOccupancy();
        CoalScalar t = tree->getOccupancyThres();
 
        Vec6s box;
        box << x, y, z, size, c, t;
        boxes.push_back(box);
      }
    }
    return boxes;
  }
 
  std::vector<uint8_t> tobytes() const {
    typedef Eigen::Matrix<float, 3, 1> Vec3sloat;
    const size_t total_size = (tree->size() * sizeof(CoalScalar) * 3) / 2;
    std::vector<uint8_t> bytes;
    bytes.reserve(total_size);
 
    for (octomap::OcTree::iterator
             it = tree->begin((unsigned char)tree->getTreeDepth()),
             end = tree->end();
         it != end; ++it) {
      const Vec3s box_pos =
          Eigen::Map<Vec3sloat>(&it.getCoordinate().x()).cast<CoalScalar>();
      if (isNodeOccupied(&*it))
        std::copy(box_pos.data(), box_pos.data() + sizeof(CoalScalar) * 3,
                  std::back_inserter(bytes));
    }
 
    return bytes;
  }
 
  CoalScalar getOccupancyThres() const { return occupancy_threshold; }
 
  CoalScalar getFreeThres() const { return free_threshold; }
 
  CoalScalar getDefaultOccupancy() const { return default_occupancy; }
 
  void setCellDefaultOccupancy(CoalScalar d) { default_occupancy = d; }
 
  void setOccupancyThres(CoalScalar d) { occupancy_threshold = d; }
 
  void setFreeThres(CoalScalar d) { free_threshold = d; }
 
  OcTreeNode* getNodeChild(OcTreeNode* node, unsigned int childIdx) {
#if OCTOMAP_VERSION_AT_LEAST(1, 8, 0)
    return tree->getNodeChild(node, childIdx);
#else
    return node->getChild(childIdx);
#endif
  }
 
  const OcTreeNode* getNodeChild(const OcTreeNode* node,
                                 unsigned int childIdx) const {
#if OCTOMAP_VERSION_AT_LEAST(1, 8, 0)
    return tree->getNodeChild(node, childIdx);
#else
    return node->getChild(childIdx);
#endif
  }
 
  bool nodeChildExists(const OcTreeNode* node, unsigned int childIdx) const {
#if OCTOMAP_VERSION_AT_LEAST(1, 8, 0)
    return tree->nodeChildExists(node, childIdx);
#else
    return node->childExists(childIdx);
#endif
  }
 
  bool nodeHasChildren(const OcTreeNode* node) const {
#if OCTOMAP_VERSION_AT_LEAST(1, 8, 0)
    return tree->nodeHasChildren(node);
#else
    return node->hasChildren();
#endif
  }
 
  OBJECT_TYPE getObjectType() const { return OT_OCTREE; }
 
  NODE_TYPE getNodeType() const { return GEOM_OCTREE; }
 
 private:
  virtual bool isEqual(const CollisionGeometry& _other) const {
    const OcTree* other_ptr = dynamic_cast<const OcTree*>(&_other);
    if (other_ptr == nullptr) return false;
    const OcTree& other = *other_ptr;
 
    return (tree.get() == other.tree.get() || toBoxes() == other.toBoxes()) &&
           default_occupancy == other.default_occupancy &&
           occupancy_threshold == other.occupancy_threshold &&
           free_threshold == other.free_threshold;
  }
 
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
 
static inline void computeChildBV(const AABB& root_bv, unsigned int i,
                                  AABB& child_bv) {
  if (i & 1) {
    child_bv.min_[0] = (root_bv.min_[0] + root_bv.max_[0]) * 0.5;
    child_bv.max_[0] = root_bv.max_[0];
  } else {
    child_bv.min_[0] = root_bv.min_[0];
    child_bv.max_[0] = (root_bv.min_[0] + root_bv.max_[0]) * 0.5;
  }
 
  if (i & 2) {
    child_bv.min_[1] = (root_bv.min_[1] + root_bv.max_[1]) * 0.5;
    child_bv.max_[1] = root_bv.max_[1];
  } else {
    child_bv.min_[1] = root_bv.min_[1];
    child_bv.max_[1] = (root_bv.min_[1] + root_bv.max_[1]) * 0.5;
  }
 
  if (i & 4) {
    child_bv.min_[2] = (root_bv.min_[2] + root_bv.max_[2]) * 0.5;
    child_bv.max_[2] = root_bv.max_[2];
  } else {
    child_bv.min_[2] = root_bv.min_[2];
    child_bv.max_[2] = (root_bv.min_[2] + root_bv.max_[2]) * 0.5;
  }
}
 
COAL_DLLAPI OcTreePtr_t
makeOctree(const Eigen::Matrix<CoalScalar, Eigen::Dynamic, 3>& point_cloud,
           const CoalScalar resolution);
 
}  // namespace coal
 
#endif