COctoMap.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
 
#include "maps-precomp.h"  // Precomp header
 
#include <octomap/octomap.h>
#include <octomap/OcTree.h>
#include <mrpt/maps/COctoMap.h>
#include <mrpt/maps/CPointsMap.h>
#include <mrpt/obs/CObservation2DRangeScan.h>
#include <mrpt/obs/CObservation3DRangeScan.h>
#include <mrpt/serialization/CArchive.h>
#include <mrpt/system/filesystem.h>
 
#include "COctoMapBase_impl.h"
 
// Explicit instantiation:
template class mrpt::maps::COctoMapBase<octomap::OcTree, octomap::OcTreeNode>;
 
using namespace std;
using namespace mrpt;
using namespace mrpt::maps;
using namespace mrpt::img;
using namespace mrpt::obs;
using namespace mrpt::poses;
using namespace mrpt::math;
using namespace mrpt::opengl;
 
//  =========== Begin of Map definition ============
MAP_DEFINITION_REGISTER("COctoMap,octoMap", mrpt::maps::COctoMap)
 
COctoMap::TMapDefinition::TMapDefinition() : resolution(0.10) {}
void COctoMap::TMapDefinition::loadFromConfigFile_map_specific(
        const mrpt::config::CConfigFileBase& source,
        const std::string& sectionNamePrefix)
{
        // [<sectionNamePrefix>+"_creationOpts"]
        const std::string sSectCreation =
                sectionNamePrefix + string("_creationOpts");
        MRPT_LOAD_CONFIG_VAR(resolution, double, source, sSectCreation);
 
        insertionOpts.loadFromConfigFile(
                source, sectionNamePrefix + string("_insertOpts"));
        likelihoodOpts.loadFromConfigFile(
                source, sectionNamePrefix + string("_likelihoodOpts"));
}
 
void COctoMap::TMapDefinition::dumpToTextStream_map_specific(
        std::ostream& out) const
{
        LOADABLEOPTS_DUMP_VAR(resolution, double);
 
        this->insertionOpts.dumpToTextStream(out);
        this->likelihoodOpts.dumpToTextStream(out);
}
 
mrpt::maps::CMetricMap* COctoMap::internal_CreateFromMapDefinition(
        const mrpt::maps::TMetricMapInitializer& _def)
{
        const COctoMap::TMapDefinition& def =
                *dynamic_cast<const COctoMap::TMapDefinition*>(&_def);
        COctoMap* obj = new COctoMap(def.resolution);
        obj->insertionOptions = def.insertionOpts;
        obj->likelihoodOptions = def.likelihoodOpts;
        return obj;
}
//  =========== End of Map definition Block =========
 
IMPLEMENTS_SERIALIZABLE(COctoMap, CMetricMap, mrpt::maps)
 
/*---------------------------------------------------------------
                                                Constructor
  ---------------------------------------------------------------*/
COctoMap::COctoMap(const double resolution) :
        COctoMapBase<octomap::OcTree, octomap::OcTreeNode>(resolution)
{
}
 
COctoMap::~COctoMap() {}
uint8_t COctoMap::serializeGetVersion() const { return 3; }
void COctoMap::serializeTo(mrpt::serialization::CArchive& out) const
{
        this->likelihoodOptions.writeToStream(out);
        this->renderingOptions.writeToStream(out);  // Added in v1
        out << genericMapParams;
        // v2->v3: remove CMemoryChunk
        std::stringstream ss;
        const_cast<octomap::OcTree*>(&m_impl->m_octomap)
                ->writeBinary(ss);
        const std::string& buf = ss.str();
        out << buf;
}
 
void COctoMap::serializeFrom(mrpt::serialization::CArchive& in, uint8_t version)
{
        switch (version)
        {
                case 0:
                case 1:
                case 2:
                {
                        THROW_EXCEPTION(
                                "Deserialization of old versions of this class was "
                                "discontinued in MRPT 1.9.9 [no CMemoryChunk]");
                }
                break;
                case 3:
                {
                        this->likelihoodOptions.readFromStream(in);
                        if (version >= 1) this->renderingOptions.readFromStream(in);
                        if (version >= 2) in >> genericMapParams;
 
                        this->clear();
 
                        std::string buf;
                        in >> buf;
 
                        if (!buf.empty())
                        {
                                std::stringstream ss;
                                ss.str(buf);
                                ss.seekg(0);
                                m_impl->m_octomap.readBinary(ss);
                        }
                }
                break;
                default:
                        MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version)
        };
}
 
bool COctoMap::internal_insertObservation(
        const mrpt::obs::CObservation* obs, const CPose3D* robotPose)
{
        octomap::point3d sensorPt;
        octomap::Pointcloud scan;
        if (!internal_build_PointCloud_for_observation(
                        obs, robotPose, sensorPt, scan))
                return false;  // Nothing to do.
        // Insert rays:
        m_impl->m_octomap
                .insertPointCloud(
                        scan, sensorPt, insertionOptions.maxrange,
                        insertionOptions.pruning);
        return true;
}
 
/** Builds a renderizable representation of the octomap as a
 * mrpt::opengl::COctoMapVoxels object. */
void COctoMap::getAsOctoMapVoxels(mrpt::opengl::COctoMapVoxels& gl_obj) const
{
        // Go thru all voxels:
        // OcTreeVolume voxel; // current voxel, possibly transformed
        octomap::OcTree::tree_iterator it_end =
                m_impl->m_octomap.end_tree();
 
        const unsigned char max_depth = 0;  // all
        const TColorf general_color = gl_obj.getColor();
        const TColor general_color_u(
                general_color.R * 255, general_color.G * 255, general_color.B * 255,
                general_color.A * 255);
 
        gl_obj.clear();
        gl_obj.reserveGridCubes(this->calcNumNodes());
 
        gl_obj.resizeVoxelSets(2);  // 2 sets of voxels: occupied & free
 
        gl_obj.showVoxels(
                VOXEL_SET_OCCUPIED, renderingOptions.visibleOccupiedVoxels);
        gl_obj.showVoxels(VOXEL_SET_FREESPACE, renderingOptions.visibleFreeVoxels);
 
        const size_t nLeafs = this->getNumLeafNodes();
        gl_obj.reserveVoxels(VOXEL_SET_OCCUPIED, nLeafs);
        gl_obj.reserveVoxels(VOXEL_SET_FREESPACE, nLeafs);
 
        double xmin, xmax, ymin, ymax, zmin, zmax, inv_dz;
        this->getMetricMin(xmin, ymin, zmin);
        this->getMetricMax(xmax, ymax, zmax);
        inv_dz = 1 / (zmax - zmin + 0.01);
 
        for (octomap::OcTree::tree_iterator it =
                         m_impl->m_octomap.begin_tree(max_depth);
                 it != it_end; ++it)
        {
                const octomap::point3d vx_center = it.getCoordinate();
                const double vx_length = it.getSize();
                const double L = 0.5 * vx_length;
 
                if (it.isLeaf())
                {
                        // voxels for leaf nodes
                        const double occ = it->getOccupancy();
                        if ((occ >= 0.5 && renderingOptions.generateOccupiedVoxels) ||
                                (occ < 0.5 && renderingOptions.generateFreeVoxels))
                        {
                                mrpt::img::TColor vx_color;
                                double coefc, coeft;
                                switch (gl_obj.getVisualizationMode())
                                {
                                        case COctoMapVoxels::FIXED:
                                                vx_color = general_color_u;
                                                break;
                                        case COctoMapVoxels::COLOR_FROM_HEIGHT:
                                                coefc = 255 * inv_dz * (vx_center.z() - zmin);
                                                vx_color = TColor(
                                                        coefc * general_color.R, coefc * general_color.G,
                                                        coefc * general_color.B, 255.0 * general_color.A);
                                                break;
 
                                        case COctoMapVoxels::COLOR_FROM_OCCUPANCY:
                                                coefc = 240 * (1 - occ) + 15;
                                                vx_color = TColor(
                                                        coefc * general_color.R, coefc * general_color.G,
                                                        coefc * general_color.B, 255.0 * general_color.A);
                                                break;
 
                                        case COctoMapVoxels::TRANSPARENCY_FROM_OCCUPANCY:
                                                coeft = 255 - 510 * (1 - occ);
                                                if (coeft < 0)
                                                {
                                                        coeft = 0;
                                                }
                                                vx_color = TColor(
                                                        255 * general_color.R, 255 * general_color.G,
                                                        255 * general_color.B, coeft);
                                                break;
 
                                        case COctoMapVoxels::TRANS_AND_COLOR_FROM_OCCUPANCY:
                                                coefc = 240 * (1 - occ) + 15;
                                                vx_color = TColor(
                                                        coefc * general_color.R, coefc * general_color.G,
                                                        coefc * general_color.B, 50);
                                                break;
 
                                        case COctoMapVoxels::MIXED:
                                                coefc = 255 * inv_dz * (vx_center.z() - zmin);
                                                coeft = 255 - 510 * (1 - occ);
                                                if (coeft < 0)
                                                {
                                                        coeft = 0;
                                                }
                                                vx_color = TColor(
                                                        coefc * general_color.R, coefc * general_color.G,
                                                        coefc * general_color.B, coeft);
                                                break;
 
                                        default:
                                                THROW_EXCEPTION("Unknown coloring scheme!");
                                }
 
                                const size_t vx_set =
                                        (m_impl->m_octomap.isNodeOccupied(*it))
                                                ? VOXEL_SET_OCCUPIED
                                                : VOXEL_SET_FREESPACE;
 
                                gl_obj.push_back_Voxel(
                                        vx_set,
                                        COctoMapVoxels::TVoxel(
                                                TPoint3D(vx_center.x(), vx_center.y(), vx_center.z()),
                                                vx_length, vx_color));
                        }
                }
                else if (renderingOptions.generateGridLines)
                {
                        // Not leaf-nodes:
                        const mrpt::math::TPoint3D pt_min(
                                vx_center.x() - L, vx_center.y() - L, vx_center.z() - L);
                        const mrpt::math::TPoint3D pt_max(
                                vx_center.x() + L, vx_center.y() + L, vx_center.z() + L);
                        gl_obj.push_back_GridCube(
                                COctoMapVoxels::TGridCube(pt_min, pt_max));
                }
        }  // end for each voxel
 
        // if we use transparency, sort cubes by "Z" as an approximation to
        // far-to-near render ordering:
        if (gl_obj.isCubeTransparencyEnabled()) gl_obj.sort_voxels_by_z();
 
        // Set bounding box:
        {
                mrpt::math::TPoint3D bbmin, bbmax;
                this->getMetricMin(bbmin.x, bbmin.y, bbmin.z);
                this->getMetricMax(bbmax.x, bbmax.y, bbmax.z);
                gl_obj.setBoundingBox(bbmin, bbmax);
        }
}
 
void COctoMap::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)
{
        m_impl->m_octomap
                .insertRay(
                        octomap::point3d(sensor_x, sensor_y, sensor_z),
                        octomap::point3d(end_x, end_y, end_z), insertionOptions.maxrange,
                        insertionOptions.pruning);
}
void COctoMap::updateVoxel(
        const double x, const double y, const double z, bool occupied)
{
        m_impl->m_octomap.updateNode(x, y, z, occupied);
}
bool COctoMap::isPointWithinOctoMap(
        const float x, const float y, const float z) const
{
        octomap::OcTreeKey key;
        return m_impl->m_octomap
                .coordToKeyChecked(octomap::point3d(x, y, z), key);
}
 
double COctoMap::getResolution() const
{
        return m_impl->m_octomap.getResolution();
}
unsigned int COctoMap::getTreeDepth() const
{
        return m_impl->m_octomap.getTreeDepth();
}
size_t COctoMap::size() const
{
        return m_impl->m_octomap.size();
}
size_t COctoMap::memoryUsage() const
{
        return m_impl->m_octomap.memoryUsage();
}
size_t COctoMap::memoryUsageNode() const
{
        return m_impl->m_octomap.memoryUsageNode();
}
size_t COctoMap::memoryFullGrid() const
{
        return m_impl->m_octomap.memoryFullGrid();
}
double COctoMap::volume() { return m_impl->m_octomap.volume(); }
void COctoMap::getMetricSize(double& x, double& y, double& z)
{
        return m_impl->m_octomap.getMetricSize(x, y, z);
}
void COctoMap::getMetricSize(double& x, double& y, double& z) const
{
        return m_impl->m_octomap.getMetricSize(x, y, z);
}
void COctoMap::getMetricMin(double& x, double& y, double& z)
{
        return m_impl->m_octomap.getMetricMin(x, y, z);
}
void COctoMap::getMetricMin(double& x, double& y, double& z) const
{
        return m_impl->m_octomap.getMetricMin(x, y, z);
}
void COctoMap::getMetricMax(double& x, double& y, double& z)
{
        return m_impl->m_octomap.getMetricMax(x, y, z);
}
void COctoMap::getMetricMax(double& x, double& y, double& z) const
{
        return m_impl->m_octomap.getMetricMax(x, y, z);
}
size_t COctoMap::calcNumNodes() const
{
        return m_impl->m_octomap.calcNumNodes();
}
size_t COctoMap::getNumLeafNodes() const
{
        return m_impl->m_octomap.getNumLeafNodes();
}
void COctoMap::setOccupancyThres(double prob)
{
        m_impl->m_octomap.setOccupancyThres(prob);
}
void COctoMap::setProbHit(double prob)
{
        m_impl->m_octomap.setProbHit(prob);
}
void COctoMap::setProbMiss(double prob)
{
        m_impl->m_octomap.setProbMiss(prob);
}
void COctoMap::setClampingThresMin(double thresProb)
{
        m_impl->m_octomap.setClampingThresMin(thresProb);
}
void COctoMap::setClampingThresMax(double thresProb)
{
        m_impl->m_octomap.setClampingThresMax(thresProb);
}
double COctoMap::getOccupancyThres() const
{
        return m_impl->m_octomap.getOccupancyThres();
}
float COctoMap::getOccupancyThresLog() const
{
        return m_impl->m_octomap.getOccupancyThresLog();
}
double COctoMap::getProbHit() const
{
        return m_impl->m_octomap.getProbHit();
}
float COctoMap::getProbHitLog() const
{
        return m_impl->m_octomap.getProbHitLog();
}
double COctoMap::getProbMiss() const
{
        return m_impl->m_octomap.getProbMiss();
}
float COctoMap::getProbMissLog() const
{
        return m_impl->m_octomap.getProbMissLog();
}
double COctoMap::getClampingThresMin() const
{
        return m_impl->m_octomap.getClampingThresMin();
}
float COctoMap::getClampingThresMinLog() const
{
        return m_impl->m_octomap.getClampingThresMinLog();
}
double COctoMap::getClampingThresMax() const
{
        return m_impl->m_octomap.getClampingThresMax();
}
float COctoMap::getClampingThresMaxLog() const
{
        return m_impl->m_octomap.getClampingThresMaxLog();
}
void COctoMap::internal_clear() { m_impl->m_octomap.clear(); }