ndt_map.h

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#ifndef NDT_MAP_HH
#define NDT_MAP_HH

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

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


namespace lslgeneric
{

template <typename PointT>
class NDTMap
{
public:
    NDTMap()
    {
        index_ = NULL;
        guess_size_ = true;
    }
    NDTMap(SpatialIndex<PointT> *idx)
    {

        index_ = idx;
        //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;
        map_sizex = -1.0;
        map_sizey = -1.0;
        map_sizez = -1.0;
        is3D = true;
                                guess_size_ = true;
    }

    NDTMap(const NDTMap& other)
    {
        if(other.index_ != NULL)
        {
            this->index_ = other.index_->copy();
            isFirstLoad_ = false;
        }
    }

    NDTMap(SpatialIndex<PointT> *idx, float cenx, float ceny, float cenz, float sizex, float sizey, float sizez)
    {
        if(idx == NULL)
        {
            fprintf(stderr,"Idx == NULL - abort()\n");
            exit(1);
        }
        index_ = idx;

        //this is used to prevent memory de-allocation of the *si
        //si was allocated outside the NDT class and should be deallocated outside
        isFirstLoad_=false;

        NDTCell<PointT> *ptCell = new NDTCell<PointT>();
        index_->setCellType(ptCell);
        delete ptCell;
        index_->setCenter(cenx,ceny,cenz);
        index_->setSize(sizex,sizey,sizez);
        map_sizex = sizex;
        map_sizey = sizey;
        map_sizez = sizez;
        is3D=true;
        LazyGrid<PointT> *lz = dynamic_cast<LazyGrid<PointT>*>(index_);
        if(lz == NULL)
        {
            fprintf(stderr,"Unfortunately This constructor works only with Lazygrid!\n");
            exit(1);
        }
        lz->initializeAll();
                                guess_size_ = false;
    }

    void initialize(double cenx, double ceny, double cenz, double sizex, double sizey, double sizez)
    {
        isFirstLoad_=false;

        NDTCell<PointT> *ptCell = new NDTCell<PointT>();
        index_->setCellType(ptCell);
        delete ptCell;
        index_->setCenter(cenx,ceny,cenz);
        index_->setSize(sizex,sizey,sizez);
        map_sizex = sizex;
        map_sizey = sizey;
        map_sizez = sizez;
        is3D=true;
        LazyGrid<PointT> *lz = dynamic_cast<LazyGrid<PointT>*>(index_);
        if(lz == NULL)
        {
            fprintf(stderr,"Unfortunately This constructor works only with Lazygrid!\n");
            exit(1);
        }
        lz->initializeAll();
                                guess_size_ = false;
    }



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

    void setMode(bool is3D_)
    {
        is3D=is3D_;
    }

    void setMapSize(float sx, float sy, float sz)
    {
        map_sizex = sx;
        map_sizey = sy;
        map_sizez = sz;
    }


    virtual void addPointCloud(const Eigen::Vector3d &origin, const pcl::PointCloud<PointT> &pc, double classifierTh=0.06, 
                                                                                                                                double maxz = 100.0, double sensor_noise = 0.25, double occupancy_limit = 255);

    void addPointCloudSimple(const pcl::PointCloud<PointT> &pc,double maxz=100.0);


    virtual void addPointCloudMeanUpdate(const Eigen::Vector3d &origin, 
            const pcl::PointCloud<PointT> &pc, 
            const Eigen::Vector3d &localmapsize,
            unsigned int maxnumpoints = 1e9, float occupancy_limit=255 ,double maxz = 100.0, double sensor_noise = 0.25);

    virtual bool addMeasurement(const Eigen::Vector3d &origin,PointT endpoint, double classifierTh, double maxz, double sensor_noise);


    void addDistributionToCell(const Eigen::Matrix3d &ucov,const Eigen::Vector3d &umean, unsigned int numpointsindistribution, 
                                                                                                                        float r=0, float g=0,float b=0, unsigned int maxnumpoints=1e9, float max_occupancy=1024);


    virtual void loadPointCloud(const pcl::PointCloud<PointT> &pc, double range_limit = -1);



    void loadPointCloud(const pcl::PointCloud<PointT> &pc, const std::vector<std::vector<size_t> > &indices);

    void loadPointCloudCentroid(const pcl::PointCloud<PointT> &pc, const Eigen::Vector3d &origin, const Eigen::Vector3d &old_centroid, const Eigen::Vector3d &map_size, double range_limit);
                
                
    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);

    virtual void computeNDTCells(int cellupdatemode = CELL_UPDATE_MODE_SAMPLE_VARIANCE, unsigned int maxnumpoints = 1e9, float occupancy_limit=255, Eigen::Vector3d origin = Eigen::Vector3d(0,0,0), double sensor_noise=0.1);

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

    int writeToJFF(const char* filename);
    int writeLazyGridJFF(FILE * jffout);
    int writeCellVectorJFF(FILE * jffout);
    int writeOctTreeJFF(FILE * jffout);

    int loadFromJFF(const char* filename);

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

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

    virtual bool getCellAtPoint(const PointT &refPoint, NDTCell<PointT> *&cell);

    virtual bool getCellForPoint(const PointT &refPoint, NDTCell<PointT> *&cell, bool checkForGaussian=true) const;
    virtual std::vector<NDTCell<PointT>*> getCellsForPoint(const PointT pt, int n_neighbours, bool checkForGaussian=true) const;
    virtual std::vector<NDTCell<PointT>*> getInitializedCellsForPoint(const PointT pt) const;


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

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

    NDTMap<PointT>* pseudoTransformNDTMap(Eigen::Transform<double,3,Eigen::Affine,Eigen::ColMajor> T);
    virtual std::vector<lslgeneric::NDTCell<PointT>*> getAllCells() const;

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


    int numberOfActiveCells();

    virtual bool getCentroid(double &cx, double &cy, double &cz)
    {
        LazyGrid<PointT> *lz = dynamic_cast<LazyGrid<PointT>*>(index_);
        if(lz == NULL) return false;
        lz->getCenter(cx, cy, cz);
        return true;
    }
    bool getGridSizeInMeters(double &cx, double &cy, double &cz)
    {
        LazyGrid<PointT> *lz = dynamic_cast<LazyGrid<PointT>*>(index_);
        if(lz == NULL) return false;
        lz->getGridSizeInMeters(cx, cy, cz);
        return true;
    }
    void guessSize(float cenx, float ceny, float cenz, float sizex, float sizey, float sizez) {
                        guess_size_ = true;
                        centerx=cenx;
                        centery=ceny;
                        centerz=cenz;
                        map_sizex=sizex;
                        map_sizey=sizey;
                        map_sizez=sizez;
    }

    //tsv: temporary debug function
    void debugToVRML(const char* fname, pcl::PointCloud<PointT> &pc);
    
    double getDepth(Eigen::Vector3d origin, Eigen::Vector3d dir, double maxDepth=100);
    double getDepthSmooth(Eigen::Vector3d origin,
                          Eigen::Vector3d dir,
                          double maxDepth = 20,
                          int n_neigh = 1,
                          double weight = 5.0,
                          double threshold = 0.2,
                          Eigen::Vector3d *hit = NULL);
    
protected:
    bool is3D;
    SpatialIndex<PointT> *index_;
    bool isFirstLoad_;
    float map_sizex;
    float map_sizey;
    float map_sizez;
    float centerx,centery,centerz;
    bool guess_size_;
    std::set<NDTCell<PointT>*> update_set;

public:
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
    pcl::PointCloud<PointT> conflictPoints; 


};

} // end namespace

#include <impl/ndt_map.hpp>

#endif