CColouredOctoMap.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */

#pragma once

#include <mrpt/maps/COctoMapBase.h>
#include <mrpt/obs/obs_frwds.h>

namespace octomap
{
class ColorOcTree;
}
namespace octomap
{
class ColorOcTreeNode;
}

namespace mrpt
{
namespace maps
{
/** A three-dimensional probabilistic occupancy grid, implemented as an
 * octo-tree with the "octomap" C++ library.
 *  This version stores both, occupancy information and RGB colour data at
 * each octree node. See the base class mrpt::maps::COctoMapBase.
 *
 * \sa CMetricMap, the example in "MRPT/samples/octomap_simple"
 * \ingroup mrpt_maps_grp
 */
class CColouredOctoMap
    : public COctoMapBase<octomap::ColorOcTree, octomap::ColorOcTreeNode>
{
    // This must be added to any CSerializable derived class:
    DEFINE_SERIALIZABLE(CColouredOctoMap, mrpt::maps)

   public:
    CColouredOctoMap(const double resolution = 0.10);  //!< Default constructor
    ~CColouredOctoMap() override;  //!< Destructor

    /** This allows the user to select the desired method to update voxels
       colour.
        SET = Set the colour of the voxel at (x,y,z) directly
        AVERAGE = Set the colour of the voxel at (x,y,z) as the mean of
       its previous colour and the new observed one.
        INTEGRATE = Calculate the new colour of the voxel at (x,y,z) using
       this formula: prev_color*node_prob +  new_color*(0.99-node_prob)
        If there isn't any previous color, any method is equivalent to
       SET.
        INTEGRATE is the default option*/
    enum TColourUpdate
    {
        INTEGRATE = 0,
        SET,
        AVERAGE
    };

    /** Get the RGB colour of a point
     * \return false if the point is not mapped, in which case the
     * returned colour is undefined. */
    bool getPointColour(
        const float x, const float y, const float z, uint8_t& r, uint8_t& g,
        uint8_t& b) const;

    /** Manually update the colour of the voxel at (x,y,z) */
    void updateVoxelColour(
        const double x, const double y, const double z, const uint8_t r,
        const uint8_t g, const uint8_t b);

    /// Set the method used to update voxels colour
    void setVoxelColourMethod(TColourUpdate new_method)
    {
        m_colour_method = new_method;
    }

    /// Get the method used to update voxels colour
    TColourUpdate getVoxelColourMethod() { return m_colour_method; }
    void getAsOctoMapVoxels(
        mrpt::opengl::COctoMapVoxels& gl_obj) const override;

    MAP_DEFINITION_START(CColouredOctoMap)
    double resolution{
        0.10};  //!< The finest resolution of the octomap (default: 0.10
    //! meters)
    mrpt::maps::CColouredOctoMap::TInsertionOptions
        insertionOpts;  //!< Observations insertion options
    mrpt::maps::CColouredOctoMap::TLikelihoodOptions
        likelihoodOpts;  //!< Probabilistic observation likelihood options
    MAP_DEFINITION_END(CColouredOctoMap)

    /** Returns true if the map is empty/no observation has been inserted */
    bool isEmpty() const override { return size() == 1; }
    /** @name Direct access to octomap library methods
    @{ */

    /** Just like insertPointCloud but with a single ray. */
    void insertRay(
        const float end_x, const float end_y, const float end_z,
        const float sensor_x, const float sensor_y, const float sensor_z);
    /** Manually updates the occupancy of the voxel at (x,y,z) as being occupied
     * (true) or free (false), using the log-odds parameters in \a
     * insertionOptions */
    void updateVoxel(
        const double x, const double y, const double z, bool occupied);
    /** Check whether the given point lies within the volume covered by the
     * octomap (that is, whether it is "mapped") */
    bool isPointWithinOctoMap(
        const float x, const float y, const float z) const;
    double getResolution() const;
    unsigned int getTreeDepth() const;
    /// \return The number of nodes in the tree
    size_t size() const;
    /// \return Memory usage of the complete octree in bytes (may vary between
    /// architectures)
    size_t memoryUsage() const;
    /// \return Memory usage of the a single octree node
    size_t memoryUsageNode() const;
    /// \return Memory usage of a full grid of the same size as the OcTree in
    /// bytes (for comparison)
    size_t memoryFullGrid() const;
    double volume();
    /// Size of OcTree (all known space) in meters for x, y and z dimension
    void getMetricSize(double& x, double& y, double& z);
    /// Size of OcTree (all known space) in meters for x, y and z dimension
    void getMetricSize(double& x, double& y, double& z) const;
    /// minimum value of the bounding box of all known space in x, y, z
    void getMetricMin(double& x, double& y, double& z);
    /// minimum value of the bounding box of all known space in x, y, z
    void getMetricMin(double& x, double& y, double& z) const;
    /// maximum value of the bounding box of all known space in x, y, z
    void getMetricMax(double& x, double& y, double& z);
    /// maximum value of the bounding box of all known space in x, y, z
    void getMetricMax(double& x, double& y, double& z) const;
    /// Traverses the tree to calculate the total number of nodes
    size_t calcNumNodes() const;
    /// Traverses the tree to calculate the total number of leaf nodes
    size_t getNumLeafNodes() const;

    void setOccupancyThres(double prob) override;
    void setProbHit(double prob) override;
    void setProbMiss(double prob) override;
    void setClampingThresMin(double thresProb) override;
    void setClampingThresMax(double thresProb) override;
    double getOccupancyThres() const override;
    float getOccupancyThresLog() const override;
    double getProbHit() const override;
    float getProbHitLog() const override;
    double getProbMiss() const override;
    float getProbMissLog() const override;
    double getClampingThresMin() const override;
    float getClampingThresMinLog() const override;
    double getClampingThresMax() const override;
    float getClampingThresMaxLog() const override;
    /** @} */

   protected:
    void internal_clear() override;

    bool internal_insertObservation(
        const mrpt::obs::CObservation& obs,
        const mrpt::poses::CPose3D* robotPose) override;

    TColourUpdate m_colour_method{
        INTEGRATE};  //! Method used to updated voxels colour.

};  // End of class def.
}  // namespace maps
}  // namespace mrpt