CColouredOctoMap.cpp

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/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2017, 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/ColorOcTree.h>
#include <mrpt/utils/pimpl.h>
PIMPL_IMPLEMENT(octomap::ColorOcTree);

#include <mrpt/maps/CColouredOctoMap.h>
#include <mrpt/maps/CPointsMap.h>
#include <mrpt/obs/CObservation2DRangeScan.h>
#include <mrpt/obs/CObservation3DRangeScan.h>

#include <mrpt/opengl/COctoMapVoxels.h>
#include <mrpt/opengl/COpenGLScene.h>
#include <mrpt/opengl/CPointCloudColoured.h>

#include <mrpt/system/filesystem.h>
#include <mrpt/utils/CMemoryChunk.h>
#include <mrpt/utils/CFileOutputStream.h>

#include "COctoMapBase_impl.h"

// Explicit instantiation:
template class mrpt::maps::COctoMapBase<octomap::ColorOcTree,octomap::ColorOcTreeNode>;


using namespace std;
using namespace mrpt;
using namespace mrpt::maps;
using namespace mrpt::obs;
using namespace mrpt::utils;
using namespace mrpt::poses;
using namespace mrpt::opengl;
using namespace mrpt::math;

//  =========== Begin of Map definition ============
MAP_DEFINITION_REGISTER("CColouredOctoMap,colourOctoMap,colorOctoMap", mrpt::maps::CColouredOctoMap)

CColouredOctoMap::TMapDefinition::TMapDefinition() :
        resolution(0.10)
{
}

void CColouredOctoMap::TMapDefinition::loadFromConfigFile_map_specific(const mrpt::utils::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 CColouredOctoMap::TMapDefinition::dumpToTextStream_map_specific(mrpt::utils::CStream &out) const
{
        LOADABLEOPTS_DUMP_VAR(resolution     , double);

        this->insertionOpts.dumpToTextStream(out);
        this->likelihoodOpts.dumpToTextStream(out);
}

mrpt::maps::CMetricMap* CColouredOctoMap::internal_CreateFromMapDefinition(const mrpt::maps::TMetricMapInitializer &_def)
{
        const CColouredOctoMap::TMapDefinition &def = *dynamic_cast<const CColouredOctoMap::TMapDefinition*>(&_def);
        CColouredOctoMap *obj = new CColouredOctoMap(def.resolution);
        obj->insertionOptions  = def.insertionOpts;
        obj->likelihoodOptions = def.likelihoodOpts;
        return obj;
}
//  =========== End of Map definition Block =========


IMPLEMENTS_SERIALIZABLE(CColouredOctoMap, CMetricMap,mrpt::maps)

/*---------------------------------------------------------------
                                                Constructor
  ---------------------------------------------------------------*/
CColouredOctoMap::CColouredOctoMap(const double resolution) :
        m_colour_method(INTEGRATE)
{
        m_octomap.ptr.reset(new octomap::ColorOcTree(resolution));
}

/*---------------------------------------------------------------
                                                Destructor
  ---------------------------------------------------------------*/
CColouredOctoMap::~CColouredOctoMap()
{
}

/*---------------------------------------------------------------
                                        writeToStream
   Implements the writing to a CStream capability of
                                CSerializable objects
  ---------------------------------------------------------------*/
void  CColouredOctoMap::writeToStream(mrpt::utils::CStream &out, int *version) const
{
        if (version)
                *version = 2;
        else
        {
                this->likelihoodOptions.writeToStream(out);
                this->renderingOptions.writeToStream(out);  // Added in v1
                out << genericMapParams; // v2

                CMemoryChunk chunk;
                const string    tmpFil = mrpt::system::getTempFileName();
                const_cast<octomap::ColorOcTree*>(&PIMPL_GET_REF(ColorOcTree,m_octomap))->writeBinary(tmpFil);
                chunk.loadBufferFromFile(tmpFil);
                mrpt::system::deleteFile(tmpFil);
                out << chunk;

        }
}

/*---------------------------------------------------------------
                                        readFromStream
   Implements the reading from a CStream capability of
      CSerializable objects
  ---------------------------------------------------------------*/
void  CColouredOctoMap::readFromStream(mrpt::utils::CStream &in, int version)
{
        switch(version)
        {
        case 0:
        case 1:
        case 2:
                {
                        this->likelihoodOptions.readFromStream(in);
                        if (version>=1) this->renderingOptions.readFromStream(in);
                        if (version>=2) in >> genericMapParams;

                        this->clear();

                        CMemoryChunk chunk;
                        in >> chunk;

                        if (chunk.getTotalBytesCount())
                        {
                                const string    tmpFil = mrpt::system::getTempFileName();
                                if (!chunk.saveBufferToFile( tmpFil ) ) THROW_EXCEPTION("Error saving temporary file");
                                PIMPL_GET_REF(ColorOcTree, m_octomap).readBinary(tmpFil);
                                mrpt::system::deleteFile( tmpFil );
                        }

                } break;
        default:
                MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version)
        };

}

/*---------------------------------------------------------------
                                insertObservation
 ---------------------------------------------------------------*/
bool CColouredOctoMap::internal_insertObservation(const mrpt::obs::CObservation *obs,const CPose3D *robotPose)
{
        octomap::point3d     sensorPt;
        octomap::Pointcloud  scan;

        CPose3D         robotPose3D;
        if (robotPose) // Default values are (0,0,0)
                robotPose3D = (*robotPose);

        if ( IS_CLASS(obs,CObservation2DRangeScan) )
        {
                /********************************************************************
                                OBSERVATION TYPE: CObservation2DRangeScan
                ********************************************************************/
                const CObservation2DRangeScan   *o = static_cast<const CObservation2DRangeScan*>( obs );

                // Build a points-map representation of the points from the scan (coordinates are wrt the robot base)

                // Sensor_pose = robot_pose (+) sensor_pose_on_robot
                CPose3D sensorPose(UNINITIALIZED_POSE);
                sensorPose.composeFrom(robotPose3D,o->sensorPose);
                sensorPt = octomap::point3d(sensorPose.x(),sensorPose.y(),sensorPose.z());

                const CPointsMap *scanPts = o->buildAuxPointsMap<mrpt::maps::CPointsMap>();
                const size_t nPts = scanPts->size();

                // Transform 3D point cloud:
                scan.reserve(nPts);

                mrpt::math::TPoint3Df pt;
                for (size_t i=0;i<nPts;i++)
                {
                        // Load the next point:
                        scanPts->getPointFast(i,pt.x,pt.y,pt.z);

                        // Translation:
                        double gx,gy,gz;
                        robotPose3D.composePoint(pt.x,pt.y,pt.z,  gx,gy,gz);

                        // Add to this map:
                        scan.push_back(gx,gy,gz);
                }

                // Insert rays:
                PIMPL_GET_REF(ColorOcTree, m_octomap).insertPointCloud(scan, sensorPt, insertionOptions.maxrange, insertionOptions.pruning);
                return true;
        }
        else if ( IS_CLASS(obs,CObservation3DRangeScan) )
        {
                /********************************************************************
                                OBSERVATION TYPE: CObservation3DRangeScan
                ********************************************************************/
                const CObservation3DRangeScan   *o = static_cast<const CObservation3DRangeScan*>( obs );

                o->load(); // Just to make sure the points are loaded from an external source, if that's the case...

                // Project 3D points & color:
                mrpt::opengl::CPointCloudColouredPtr pts = mrpt::opengl::CPointCloudColoured::Create();
                T3DPointsProjectionParams proj_params;
                proj_params.PROJ3D_USE_LUT = true;
                proj_params.robotPoseInTheWorld = robotPose;
                const_cast<CObservation3DRangeScan*>(o)->project3DPointsFromDepthImageInto(*pts,proj_params);

                // Sensor_pose = robot_pose (+) sensor_pose_on_robot
                CPose3D sensorPose(UNINITIALIZED_POSE);
                sensorPose.composeFrom(robotPose3D,o->sensorPose);
                sensorPt = octomap::point3d(sensorPose.x(),sensorPose.y(),sensorPose.z());

                const size_t sizeRangeScan = pts->size();
                scan.reserve(sizeRangeScan);

                for (size_t i=0;i<sizeRangeScan;i++)
                {
                        const mrpt::opengl::CPointCloudColoured::TPointColour & pt = pts->getPoint(i);

                        // Add to this map:
                        if (pt.x!=0 || pt.y!=0 || pt.z!=0)
                                scan.push_back(pt.x,pt.y,pt.z);
                }

                // Insert rays:
                octomap::KeySet free_cells, occupied_cells;
                PIMPL_GET_REF(ColorOcTree, m_octomap).computeUpdate(scan, sensorPt, free_cells, occupied_cells, insertionOptions.maxrange);

                // insert data into tree  -----------------------
                for (octomap::KeySet::iterator it = free_cells.begin(); it != free_cells.end(); ++it) {
                        PIMPL_GET_REF(ColorOcTree, m_octomap).updateNode(*it, false, false);
                }
                for (octomap::KeySet::iterator it = occupied_cells.begin(); it != occupied_cells.end(); ++it) {
                        PIMPL_GET_REF(ColorOcTree, m_octomap).updateNode(*it, true, false);
                }

                // Update color -----------------------
                const float colF2B = 255.0f;
                for (size_t i=0;i<sizeRangeScan;i++)
                {
                        const mrpt::opengl::CPointCloudColoured::TPointColour & pt = pts->getPoint(i);

                        // Add to this map:
                        if (pt.x!=0 || pt.y!=0 || pt.z!=0)
                                this->updateVoxelColour(pt.x,pt.y,pt.z, uint8_t(pt.R*colF2B),uint8_t(pt.G*colF2B),uint8_t(pt.B*colF2B) );
                }

                // TODO: does pruning make sense if we used "lazy_eval"?
                if (insertionOptions.pruning) PIMPL_GET_REF(ColorOcTree, m_octomap).prune();

                return true;
        }

        return false;
}

/** Get the RGB colour of a point
* \return false if the point is not mapped, in which case the returned colour is undefined. */
bool CColouredOctoMap::getPointColour(const float x, const float y, const float z, uint8_t& r, uint8_t& g, uint8_t& b) const
{
    octomap::OcTreeKey key;
        if (PIMPL_GET_REF(ColorOcTree, m_octomap).coordToKeyChecked(octomap::point3d(x,y,z), key))
        {
                octomap::ColorOcTreeNode *node = PIMPL_GET_REF(ColorOcTree, m_octomap).search(key,0 /*depth*/);
                if (!node) return false;

                const octomap::ColorOcTreeNode::Color &col = node->getColor();
                r = col.r;
                g = col.g;
                b = col.b;
                return true;
        }
        else return false;
}

/** Manually update the colour of the voxel at (x,y,z) */
void CColouredOctoMap::updateVoxelColour(const double x, const double y, const double z, const uint8_t r, const uint8_t g, const uint8_t b)
{
        switch (m_colour_method) {
        case INTEGRATE:
                PIMPL_GET_REF(ColorOcTree, m_octomap).integrateNodeColor(x,y,z,r,g,b);
                break;
        case SET:
                PIMPL_GET_REF(ColorOcTree, m_octomap).setNodeColor(x,y,z,r,g,b);
                break;
        case AVERAGE:
                PIMPL_GET_REF(ColorOcTree, m_octomap).averageNodeColor(x,y,z,r,g,b);
                break;
        default:
                THROW_EXCEPTION("Invalid value found for 'm_colour_method'")
        }
}


/** Builds a renderizable representation of the octomap as a mrpt::opengl::COctoMapVoxels object. */
void CColouredOctoMap::getAsOctoMapVoxels(mrpt::opengl::COctoMapVoxels &gl_obj) const
{
        // Go thru all voxels:

        //OcTreeVolume voxel; // current voxel, possibly transformed
        octomap::ColorOcTree::tree_iterator it_end = PIMPL_GET_REF(ColorOcTree, 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;
        this->getMetricMin(xmin, ymin, zmin);
        this->getMetricMax(xmax, ymax, zmax);

        for(octomap::ColorOcTree::tree_iterator it = PIMPL_GET_REF(ColorOcTree, 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::utils::TColor vx_color;
                                octomap::ColorOcTreeNode::Color node_color = it->getColor();
                                vx_color = TColor(node_color.r, node_color.g, node_color.b);

                                const size_t vx_set = (PIMPL_GET_REF(ColorOcTree, 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 CColouredOctoMap::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)
{
        PIMPL_GET_REF(ColorOcTree, m_octomap).insertRay(octomap::point3d(sensor_x, sensor_y, sensor_z), octomap::point3d(end_x, end_y, end_z), insertionOptions.maxrange, insertionOptions.pruning);
}
void CColouredOctoMap::updateVoxel(const double x, const double y, const double z, bool occupied)
{
        PIMPL_GET_REF(ColorOcTree, m_octomap).updateNode(x, y, z, occupied);
}
bool CColouredOctoMap::isPointWithinOctoMap(const float x, const float y, const float z) const
{
        octomap::OcTreeKey key;
        return PIMPL_GET_CONSTREF(ColorOcTree, m_octomap).coordToKeyChecked(octomap::point3d(x, y, z), key);
}

double CColouredOctoMap::getResolution() const { return PIMPL_GET_CONSTREF(ColorOcTree, m_octomap).getResolution(); }
unsigned int CColouredOctoMap::getTreeDepth() const { return PIMPL_GET_CONSTREF(ColorOcTree, m_octomap).getTreeDepth(); }
size_t CColouredOctoMap::size() const { return  PIMPL_GET_CONSTREF(ColorOcTree, m_octomap).size(); }
size_t CColouredOctoMap::memoryUsage() const { return  PIMPL_GET_CONSTREF(ColorOcTree, m_octomap).memoryUsage(); }
size_t CColouredOctoMap::memoryUsageNode() const { return  PIMPL_GET_CONSTREF(ColorOcTree, m_octomap).memoryUsageNode(); }
size_t CColouredOctoMap::memoryFullGrid() const { return  PIMPL_GET_CONSTREF(ColorOcTree, m_octomap).memoryFullGrid(); }
double CColouredOctoMap::volume() { return PIMPL_GET_REF(ColorOcTree, m_octomap).volume(); }
void CColouredOctoMap::getMetricSize(double& x, double& y, double& z) { return PIMPL_GET_REF(ColorOcTree, m_octomap).getMetricSize(x, y, z); }
void CColouredOctoMap::getMetricSize(double& x, double& y, double& z) const { return  PIMPL_GET_CONSTREF(ColorOcTree, m_octomap).getMetricSize(x, y, z); }
void CColouredOctoMap::getMetricMin(double& x, double& y, double& z) { return PIMPL_GET_REF(ColorOcTree, m_octomap).getMetricMin(x, y, z); }
void CColouredOctoMap::getMetricMin(double& x, double& y, double& z) const { return  PIMPL_GET_CONSTREF(ColorOcTree, m_octomap).getMetricMin(x, y, z); }
void CColouredOctoMap::getMetricMax(double& x, double& y, double& z) { return PIMPL_GET_REF(ColorOcTree, m_octomap).getMetricMax(x, y, z); }
void CColouredOctoMap::getMetricMax(double& x, double& y, double& z) const { return  PIMPL_GET_CONSTREF(ColorOcTree, m_octomap).getMetricMax(x, y, z); }
size_t CColouredOctoMap::calcNumNodes() const { return PIMPL_GET_REF(ColorOcTree, m_octomap).calcNumNodes(); }
size_t CColouredOctoMap::getNumLeafNodes() const { return PIMPL_GET_CONSTREF(ColorOcTree, m_octomap).getNumLeafNodes(); }
void CColouredOctoMap::setOccupancyThres(double prob) { PIMPL_GET_REF(ColorOcTree, m_octomap).setOccupancyThres(prob) ; }
void CColouredOctoMap::setProbHit(double prob) { PIMPL_GET_REF(ColorOcTree, m_octomap).setProbHit(prob); }
void CColouredOctoMap::setProbMiss(double prob) { PIMPL_GET_REF(ColorOcTree, m_octomap).setProbMiss(prob); }
void CColouredOctoMap::setClampingThresMin(double thresProb) { PIMPL_GET_REF(ColorOcTree, m_octomap).setClampingThresMin(thresProb); }
void CColouredOctoMap::setClampingThresMax(double thresProb) { PIMPL_GET_REF(ColorOcTree, m_octomap).setClampingThresMax(thresProb); }
double CColouredOctoMap::getOccupancyThres() const { return PIMPL_GET_REF(ColorOcTree, m_octomap).getOccupancyThres(); }
float CColouredOctoMap::getOccupancyThresLog() const { return PIMPL_GET_REF(ColorOcTree, m_octomap).getOccupancyThresLog(); }
double CColouredOctoMap::getProbHit() const { return PIMPL_GET_REF(ColorOcTree, m_octomap).getProbHit(); }
float CColouredOctoMap::getProbHitLog() const { return PIMPL_GET_REF(ColorOcTree, m_octomap).getProbHitLog(); }
double CColouredOctoMap::getProbMiss() const { return PIMPL_GET_REF(ColorOcTree, m_octomap).getProbMiss(); }
float CColouredOctoMap::getProbMissLog() const { return PIMPL_GET_REF(ColorOcTree, m_octomap).getProbMissLog(); }
double CColouredOctoMap::getClampingThresMin() const { return PIMPL_GET_REF(ColorOcTree, m_octomap).getClampingThresMin(); }
float CColouredOctoMap::getClampingThresMinLog() const { return PIMPL_GET_REF(ColorOcTree, m_octomap).getClampingThresMinLog(); }
double CColouredOctoMap::getClampingThresMax() const { return PIMPL_GET_REF(ColorOcTree, m_octomap).getClampingThresMax(); }
float CColouredOctoMap::getClampingThresMaxLog() const { return PIMPL_GET_REF(ColorOcTree, m_octomap).getClampingThresMaxLog(); }
void CColouredOctoMap::internal_clear() { PIMPL_GET_REF(ColorOcTree, m_octomap).clear(); }