costmap_to_polygons.h

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 * Author: Christoph Rösmann, Otniel Rinaldo
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#ifndef COSTMAP_TO_POLYGONS_H_
#define COSTMAP_TO_POLYGONS_H_

#include <ros/ros.h>
#include <costmap_converter/costmap_converter_interface.h>
#include <nav_msgs/OccupancyGrid.h>
#include <visualization_msgs/Marker.h>
#include <geometry_msgs/Point.h>
#include <geometry_msgs/Polygon.h>
#include <vector>
#include <algorithm>
#include <Eigen/Core>
#include <Eigen/StdVector>
#include <boost/thread/mutex.hpp>
#include <boost/thread/thread.hpp>

// dynamic reconfigure
#include <costmap_converter/CostmapToPolygonsDBSMCCHConfig.h>
#include <dynamic_reconfigure/server.h>


namespace costmap_converter
{
  
class CostmapToPolygonsDBSMCCH : public BaseCostmapToPolygons
{
  public:
    
    struct KeyPoint
    {
      KeyPoint() {}
      KeyPoint(double x_, double y_) : x(x_), y(y_) {}
      double x; 
      double y; 
      
      void toPointMsg(geometry_msgs::Point& point) const {point.x=x; point.y=y; point.z=0;}
      void toPointMsg(geometry_msgs::Point32& point) const {point.x=x; point.y=y; point.z=0;}
    };

    struct Parameters
    {
      Parameters() : max_distance_(0.4), min_pts_(2), max_pts_(30), min_keypoint_separation_(0.1) {}
      // DBSCAN parameters
      double max_distance_; 
      int min_pts_; 
      int max_pts_; 
      
      // convex hull parameters
      double min_keypoint_separation_; 
    };
    
    CostmapToPolygonsDBSMCCH();
    
    virtual ~CostmapToPolygonsDBSMCCH();
    
    virtual void initialize(ros::NodeHandle nh);
    
    virtual void compute();
        
    virtual void setCostmap2D(costmap_2d::Costmap2D* costmap);
    
    virtual void updateCostmap2D();
    
    
    template< typename Point>
    static void convertPointToPolygon(const Point& point, geometry_msgs::Polygon& polygon)
    {
      polygon.points.resize(1);
      polygon.points.front().x = point.x;
      polygon.points.front().y = point.y;
      polygon.points.front().z = 0;
    }
    
    PolygonContainerConstPtr getPolygons();

    
    
  protected:
    
    void dbScan(std::vector< std::vector<KeyPoint> >& clusters);
    
    void regionQuery(int curr_index, std::vector<int>& neighbor_indices);

    void addPoint(double x, double y)
    {
      int idx = occupied_cells_.size();
      occupied_cells_.emplace_back(x, y);
      int cx, cy;
      pointToNeighborCells(occupied_cells_.back(), cx, cy);
      int nidx = neighborCellsToIndex(cx, cy);
      if (nidx >= 0)
        neighbor_lookup_[nidx].push_back(idx);
    }
    
    void convexHull(std::vector<KeyPoint>& cluster, geometry_msgs::Polygon& polygon);
    
    void convexHull2(std::vector<KeyPoint>& cluster, geometry_msgs::Polygon& polygon);

    void simplifyPolygon(geometry_msgs::Polygon& polygon);
    
    template <typename P1, typename P2, typename P3>
    long double cross(const P1& O, const P2& A, const P3& B)
    { 
        return (long double)(A.x - O.x) * (long double)(B.y - O.y) - (long double)(A.y - O.y) * (long double)(B.x - O.x);
    }
    
      
   void updatePolygonContainer(PolygonContainerPtr polygons);   
          
   
   std::vector<KeyPoint> occupied_cells_; 
   
    std::vector<std::vector<int> > neighbor_lookup_; 
    int neighbor_size_x_; 
    int neighbor_size_y_; 
    double offset_x_;     
    double offset_y_;     

    int neighborCellsToIndex(int cx, int cy)
    {
      if (cx < 0 || cx >= neighbor_size_x_ || cy < 0 || cy >= neighbor_size_y_)
        return -1;
      return cy * neighbor_size_x_ + cx;
    }

    void pointToNeighborCells(const KeyPoint& kp, int& cx, int& cy)
    {
      cx = int((kp.x - offset_x_) / parameter_.max_distance_);
      cy = int((kp.y - offset_y_) / parameter_.max_distance_);
    }


    Parameters parameter_;          //< active parameters throughout computation
    Parameters parameter_buffered_; //< the buffered parameters that are offered to dynamic reconfigure
    boost::mutex parameter_mutex_;  
   
  private:
       
    void reconfigureCB(CostmapToPolygonsDBSMCCHConfig& config, uint32_t level);
    
    
    PolygonContainerPtr polygons_; 
    boost::mutex mutex_; 
    
    dynamic_reconfigure::Server<CostmapToPolygonsDBSMCCHConfig>* dynamic_recfg_; 
   
    costmap_2d::Costmap2D *costmap_; 
   
}; 

  
} //end namespace teb_local_planner

#endif /* COSTMAP_TO_POLYGONS_H_ */