LocalGrid.cpp

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/*
Copyright (c) 2010-2023, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
 
Redistribution and use in source and binary forms, with or without
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      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.
 
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*/
 
#include <rtabmap/core/GlobalMap.h>
#include <rtabmap/utilite/ULogger.h>
#include <rtabmap/utilite/UStl.h>
 
namespace rtabmap {
 
LocalGrid::LocalGrid(const cv::Mat & groundIn,
                         const cv::Mat & obstaclesIn,
                         const cv::Mat & emptyIn,
                         float cellSizeIn,
                         const cv::Point3f & viewPointIn) :
                groundCells(groundIn),
                obstacleCells(obstaclesIn),
                emptyCells(emptyIn),
                cellSize(cellSizeIn),
                viewPoint(viewPointIn)
{
        UASSERT(cellSize > 0.0f);
}
 
bool LocalGrid::is3D() const
{
        return (groundCells.empty() || groundCells.type() == CV_32FC3 || groundCells.type() == CV_32FC(4) || groundCells.type() == CV_32FC(6)) &&
                   (obstacleCells.empty() || obstacleCells.type() == CV_32FC3 || obstacleCells.type() == CV_32FC(4) || obstacleCells.type() == CV_32FC(6)) &&
                   (emptyCells.empty() || emptyCells.type() == CV_32FC3 || emptyCells.type() == CV_32FC(4) || emptyCells.type() == CV_32FC(6));
}
 
void LocalGridCache::add(int nodeId,
                const cv::Mat & ground,
                const cv::Mat & obstacles,
                const cv::Mat & empty,
                float cellSize,
                const cv::Point3f & viewPoint)
{
        add(nodeId, LocalGrid(ground, obstacles, empty, cellSize, viewPoint));
}
 
void LocalGridCache::add(int nodeId, const LocalGrid & localGrid)
{
        UDEBUG("nodeId=%d (ground=%d/%d obstacles=%d/%d empty=%d/%d)",
                        nodeId, localGrid.groundCells.cols,  localGrid.groundCells.channels(),  localGrid.obstacleCells.cols,  localGrid.obstacleCells.channels(), localGrid.emptyCells.cols,  localGrid.emptyCells.channels());
        if(nodeId < 0)
        {
                UWARN("Cannot add nodes with negative id (nodeId=%d)", nodeId);
                return;
        }
        uInsert(localGrids_, std::make_pair(nodeId==0?-1:nodeId, localGrid));
}
 
bool LocalGridCache::shareTo(int nodeId, LocalGridCache & anotherCache) const
{
        if(uContains(localGrids_, nodeId) && !uContains(anotherCache.localGrids(), nodeId))
        {
                const LocalGrid & localGrid = localGrids_.at(nodeId);
                anotherCache.add(nodeId, localGrid.groundCells, localGrid.obstacleCells, localGrid.emptyCells, localGrid.cellSize, localGrid.viewPoint);
                return true;
        }
        return false;
}
 
unsigned long LocalGridCache::getMemoryUsed() const
{
        unsigned long memoryUsage = 0;
        memoryUsage += localGrids_.size()*(sizeof(int) + sizeof(LocalGrid) + sizeof(std::map<int, LocalGrid>::iterator)) + sizeof(std::map<int, LocalGrid>);
        for(std::map<int, LocalGrid>::const_iterator iter=localGrids_.begin(); iter!=localGrids_.end(); ++iter)
        {
                memoryUsage += iter->second.groundCells.total() * iter->second.groundCells.elemSize();
                memoryUsage += iter->second.obstacleCells.total() * iter->second.obstacleCells.elemSize();
                memoryUsage += iter->second.emptyCells.total() * iter->second.emptyCells.elemSize();
                memoryUsage += sizeof(int);
                memoryUsage += sizeof(cv::Point3f);
        }
        return memoryUsage;
}
 
void LocalGridCache::clear(bool temporaryOnly)
{
        if(temporaryOnly)
        {
                //clear only negative ids
                for(std::map<int, LocalGrid>::iterator iter=localGrids_.begin(); iter!=localGrids_.end();)
                {
                        if(iter->first < 0)
                        {
                                localGrids_.erase(iter++);
                        }
                        else
                        {
                                break;
                        }
                }
        }
        else
        {
                localGrids_.clear();
        }
}
 
} // namespace rtabmap