COctoMapBase.h

Go to the documentation of this file.

/* +------------------------------------------------------------------------+
   |                     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 |
   +------------------------------------------------------------------------+ */
 
#ifndef MRPT_COctoMapBase_H
#define MRPT_COctoMapBase_H
 
#include <mrpt/maps/CMetricMap.h>
#include <mrpt/config/CLoadableOptions.h>
#include <mrpt/core/safe_pointers.h>
#include <mrpt/opengl/COctoMapVoxels.h>
#include <mrpt/opengl/COpenGLScene.h>
#include <mrpt/obs/obs_frwds.h>
#include <mrpt/core/pimpl.h>
 
namespace mrpt
{
namespace maps
{
/** A three-dimensional probabilistic occupancy grid, implemented as an
 * octo-tree with the "octomap" C++ library.
 *  This base class represents a 3D map where each voxel may contain an
 * "occupancy" property, RGBD data, etc. depending on the derived class.
 *
 * As with any other mrpt::maps::CMetricMap, you can obtain a 3D representation
 * of the map calling getAs3DObject() or getAsOctoMapVoxels()
 *
 * To use octomap's iterators to go through the voxels, use
 * COctoMap::getOctomap()
 *
 * The octomap library was presented in:
 *  - K. M. Wurm, A. Hornung, M. Bennewitz, C. Stachniss, and W. Burgard,
 *     <i>"OctoMap: A Probabilistic, Flexible, and Compact 3D Map Representation
 * for Robotic Systems"</i>
 *     in Proc. of the ICRA 2010 Workshop on Best Practice in 3D Perception and
 * Modeling for Mobile Manipulation, 2010. Software available at
 * http://octomap.sf.net/.
 *
 * \sa CMetricMap, the example in "MRPT/samples/octomap_simple"
 * \ingroup mrpt_maps_grp
 */
template <class octree_t, class octree_node_t>
class COctoMapBase : public mrpt::maps::CMetricMap
{
   public:
        using myself_t = COctoMapBase<octree_t, octree_node_t>;
 
        /** Constructor, defines the resolution of the octomap (length of each voxel
         * side) */
        COctoMapBase(double resolution);
        virtual ~COctoMapBase() {}
        /** Get a reference to the internal octomap object. Example:
         * \code
         *  mrpt::maps::COctoMap  map;
         *  octomap::OcTree &om = map.getOctomap<octomap::OcTree>();
         * \endcode
         */
        template <class OCTOMAP_CLASS>
        inline OCTOMAP_CLASS& getOctomap()
        {
                return m_impl->m_octomap;
        }
 
        /** With this struct options are provided to the observation insertion
         * process.
         * \sa CObservation::insertObservationInto()
         */
        struct TInsertionOptions : public mrpt::config::CLoadableOptions
        {
                /** Initilization of default parameters */
                TInsertionOptions(myself_t& parent);
 
                TInsertionOptions();  //!< Especial constructor, not attached to a real
                //! COctoMap object: used only in limited
                //! situations, since get*() methods don't work,
                //! etc.
                TInsertionOptions& operator=(const TInsertionOptions& o)
                {
                        // Copy all but the m_parent pointer!
                        maxrange = o.maxrange;
                        pruning = o.pruning;
                        const bool o_has_parent = o.m_parent.get() != NULL;
                        setOccupancyThres(
                                o_has_parent ? o.getOccupancyThres() : o.occupancyThres);
                        setProbHit(o_has_parent ? o.getProbHit() : o.probHit);
                        setProbMiss(o_has_parent ? o.getProbMiss() : o.probMiss);
                        setClampingThresMin(
                                o_has_parent ? o.getClampingThresMin() : o.clampingThresMin);
                        setClampingThresMax(
                                o_has_parent ? o.getClampingThresMax() : o.clampingThresMax);
                        return *this;
                }
 
                void loadFromConfigFile(
                        const mrpt::config::CConfigFileBase& source,
                        const std::string& section) override;  // See base docs
                void dumpToTextStream(
                        std::ostream& out) const override;  // See base docs
 
                double maxrange;  //!< maximum range for how long individual beams are
                //! inserted (default -1: complete beam)
                bool pruning;  //!< whether the tree is (losslessly) pruned after
                //! insertion (default: true)
 
                /// (key name in .ini files: "occupancyThres") sets the threshold for
                /// occupancy (sensor model) (Default=0.5)
                void setOccupancyThres(double prob)
                {
                        if (m_parent.get()) m_parent->setOccupancyThres(prob);
                }
                /// (key name in .ini files: "probHit")sets the probablility for a "hit"
                /// (will be converted to logodds) - sensor model (Default=0.7)
                void setProbHit(double prob)
                {
                        if (m_parent.get()) m_parent->setProbHit(prob);
                }
                /// (key name in .ini files: "probMiss")sets the probablility for a
                /// "miss" (will be converted to logodds) - sensor model (Default=0.4)
                void setProbMiss(double prob)
                {
                        if (m_parent.get()) m_parent->setProbMiss(prob);
                }
                /// (key name in .ini files: "clampingThresMin")sets the minimum
                /// threshold for occupancy clamping (sensor model) (Default=0.1192, -2
                /// in log odds)
                void setClampingThresMin(double thresProb)
                {
                        if (m_parent.get()) m_parent->setClampingThresMin(thresProb);
                }
                /// (key name in .ini files: "clampingThresMax")sets the maximum
                /// threshold for occupancy clamping (sensor model) (Default=0.971, 3.5
                /// in log odds)
                void setClampingThresMax(double thresProb)
                {
                        if (m_parent.get()) m_parent->setClampingThresMax(thresProb);
                }
 
                /// @return threshold (probability) for occupancy - sensor model
                double getOccupancyThres() const
                {
                        if (m_parent.get())
                                return m_parent->getOccupancyThres();
                        else
                                return this->occupancyThres;
                }
                /// @return threshold (logodds) for occupancy - sensor model
                float getOccupancyThresLog() const
                {
                        return m_parent->getOccupancyThresLog();
                }
 
                /// @return probablility for a "hit" in the sensor model (probability)
                double getProbHit() const
                {
                        if (m_parent.get())
                                return m_parent->getProbHit();
                        else
                                return this->probHit;
                }
                /// @return probablility for a "hit" in the sensor model (logodds)
                float getProbHitLog() const { return m_parent->getProbHitLog(); }
                /// @return probablility for a "miss"  in the sensor model (probability)
                double getProbMiss() const
                {
                        if (m_parent.get())
                                return m_parent->getProbMiss();
                        else
                                return this->probMiss;
                }
                /// @return probablility for a "miss"  in the sensor model (logodds)
                float getProbMissLog() const { return m_parent->getProbMissLog(); }
                /// @return minimum threshold for occupancy clamping in the sensor model
                /// (probability)
                double getClampingThresMin() const
                {
                        if (m_parent.get())
                                return m_parent->getClampingThresMin();
                        else
                                return this->clampingThresMin;
                }
                /// @return minimum threshold for occupancy clamping in the sensor model
                /// (logodds)
                float getClampingThresMinLog() const
                {
                        return m_parent->getClampingThresMinLog();
                }
                /// @return maximum threshold for occupancy clamping in the sensor model
                /// (probability)
                double getClampingThresMax() const
                {
                        if (m_parent.get())
                                return m_parent->getClampingThresMax();
                        else
                                return this->clampingThresMax;
                }
                /// @return maximum threshold for occupancy clamping in the sensor model
                /// (logodds)
                float getClampingThresMaxLog() const
                {
                        return m_parent->getClampingThresMaxLog();
                }
 
           private:
                mrpt::ignored_copy_ptr<myself_t> m_parent;
 
                double occupancyThres;  // sets the threshold for occupancy (sensor
                // model) (Default=0.5)
                double probHit;  // sets the probablility for a "hit" (will be converted
                // to logodds) - sensor model (Default=0.7)
                double probMiss;  // sets the probablility for a "miss" (will be
                // converted to logodds) - sensor model (Default=0.4)
                double clampingThresMin;  // sets the minimum threshold for occupancy
                // clamping (sensor model) (Default=0.1192, -2
                // in log odds)
                double clampingThresMax;  // sets the maximum threshold for occupancy
                // clamping (sensor model) (Default=0.971, 3.5
                // in log odds)
        };
 
        TInsertionOptions insertionOptions;  //!< The options used when inserting
        //! observations in the map
 
        /** Options used when evaluating "computeObservationLikelihood"
         * \sa CObservation::computeObservationLikelihood
         */
        struct TLikelihoodOptions : public mrpt::config::CLoadableOptions
        {
                /** Initilization of default parameters
                 */
                TLikelihoodOptions();
                virtual ~TLikelihoodOptions() {}
                void loadFromConfigFile(
                        const mrpt::config::CConfigFileBase& source,
                        const std::string& section) override;  // See base docs
                void dumpToTextStream(
                        std::ostream& out) const override;  // See base docs
 
                /** Binary dump to stream */
                void writeToStream(mrpt::serialization::CArchive& out) const;
                /** Binary dump to stream */
                void readFromStream(mrpt::serialization::CArchive& in);
 
                uint32_t decimation;  //!< Speed up the likelihood computation by
                //! considering only one out of N rays (default=1)
        };
 
        TLikelihoodOptions likelihoodOptions;
 
        virtual void saveMetricMapRepresentationToFile(
                const std::string& filNamePrefix) const override;
 
        /** Options for the conversion of a mrpt::maps::COctoMap into a
         * mrpt::opengl::COctoMapVoxels */
        struct TRenderingOptions
        {
                bool generateGridLines;  //!< Generate grid lines for all octree nodes,
                //! useful to draw the "structure" of the
                //! octree, but computationally costly (Default:
                //! false)
 
                bool generateOccupiedVoxels;  //!< Generate voxels for the occupied
                //! volumes  (Default=true)
                bool visibleOccupiedVoxels;  //!< Set occupied voxels visible (requires
                //! generateOccupiedVoxels=true)
                //!(Default=true)
 
                bool generateFreeVoxels;  //!< Generate voxels for the freespace
                //!(Default=true)
                bool visibleFreeVoxels;  //!< Set free voxels visible (requires
                //! generateFreeVoxels=true) (Default=true)
 
                TRenderingOptions()
                        : generateGridLines(false),
                          generateOccupiedVoxels(true),
                          visibleOccupiedVoxels(true),
                          generateFreeVoxels(true),
                          visibleFreeVoxels(true)
                {
                }
 
                /** Binary dump to stream */
                void writeToStream(mrpt::serialization::CArchive& out) const;
                /** Binary dump to stream */
                void readFromStream(mrpt::serialization::CArchive& in);
        };
 
        TRenderingOptions renderingOptions;
 
        /** Returns a 3D object representing the map.
         * \sa renderingOptions
         */
        virtual void getAs3DObject(
                mrpt::opengl::CSetOfObjects::Ptr& outObj) const override
        {
                auto gl_obj = mrpt::opengl::COctoMapVoxels::Create();
                this->getAsOctoMapVoxels(*gl_obj);
                outObj->insert(gl_obj);
        }
 
        /** Builds a renderizable representation of the octomap as a
         * mrpt::opengl::COctoMapVoxels object.
         * \sa renderingOptions
         */
        virtual void getAsOctoMapVoxels(
                mrpt::opengl::COctoMapVoxels& gl_obj) const = 0;
 
        /** Get the occupancy probability [0,1] of a point
         * \return false if the point is not mapped, in which case the returned
         * "prob" is undefined. */
        bool getPointOccupancy(
                const float x, const float y, const float z,
                double& prob_occupancy) const;
 
        /** Update the octomap with a 2D or 3D scan, given directly as a point cloud
         * and the 3D location of the sensor (the origin of the rays) in this map's
         * frame of reference.
         * Insertion parameters can be found in \a insertionOptions.
         * \sa The generic observation insertion method
         * CMetricMap::insertObservation()
         */
        void insertPointCloud(
                const CPointsMap& ptMap, const float sensor_x, const float sensor_y,
                const float sensor_z);
 
        /** Performs raycasting in 3d, similar to computeRay().
         *
         * A ray is cast from origin with a given direction, the first occupied
         * cell is returned (as center coordinate). If the starting coordinate is
         * already
         * occupied in the tree, this coordinate will be returned as a hit.
         *
         * @param origin starting coordinate of ray
         * @param direction A vector pointing in the direction of the raycast. Does
         * not need to be normalized.
         * @param end returns the center of the cell that was hit by the ray, if
         * successful
         * @param ignoreUnknownCells whether unknown cells are ignored. If false
         * (default), the raycast aborts when an unkown cell is hit.
         * @param maxRange Maximum range after which the raycast is aborted (<= 0:
         * no limit, default)
         * @return whether or not an occupied cell was hit
         */
        bool castRay(
                const mrpt::math::TPoint3D& origin,
                const mrpt::math::TPoint3D& direction, mrpt::math::TPoint3D& end,
                bool ignoreUnknownCells = false, double maxRange = -1.0) const;
 
        virtual void setOccupancyThres(double prob) = 0;
        virtual void setProbHit(double prob) = 0;
        virtual void setProbMiss(double prob) = 0;
        virtual void setClampingThresMin(double thresProb) = 0;
        virtual void setClampingThresMax(double thresProb) = 0;
        virtual double getOccupancyThres() const = 0;
        virtual float getOccupancyThresLog() const = 0;
        virtual double getProbHit() const = 0;
        virtual float getProbHitLog() const = 0;
        virtual double getProbMiss() const = 0;
        virtual float getProbMissLog() const = 0;
        virtual double getClampingThresMin() const = 0;
        virtual float getClampingThresMinLog() const = 0;
        virtual double getClampingThresMax() const = 0;
        virtual float getClampingThresMaxLog() const = 0;
 
   protected:
        /**  Builds the list of 3D points in global coordinates for a generic
         * observation. Used for both, insertObservation() and computeLikelihood().
         * \param[out] point3d_sensorPt Is a pointer to a "point3D".
         * \param[out] ptr_scan Is in fact a pointer to "octomap::Pointcloud". Not
         * declared as such to avoid headers dependencies in user code.
         * \return false if the observation kind is not applicable.
         */
        template <class octomap_point3d, class octomap_pointcloud>
        bool internal_build_PointCloud_for_observation(
                const mrpt::obs::CObservation* obs,
                const mrpt::poses::CPose3D* robotPose, octomap_point3d& sensorPt,
                octomap_pointcloud& scan) const;
 
        struct Impl;
 
        mrpt::pimpl<Impl> m_impl;
 
   private:
        // See docs in base class
        virtual double internal_computeObservationLikelihood(
                const mrpt::obs::CObservation* obs,
                const mrpt::poses::CPose3D& takenFrom) override;
 
};  // End of class def.
}  // namespace maps
}  // namespace mrpt
 
#endif