COctoMap.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/config/CLoadableOptions.h>
#include <mrpt/core/safe_pointers.h>
#include <mrpt/maps/CMetricMap.h>
#include <mrpt/obs/obs_frwds.h>

namespace octomap
{
class OcTree;
}
namespace octomap
{
class OcTreeNode;
}

namespace mrpt
{
namespace maps
{
/** A three-dimensional probabilistic occupancy grid, implemented as an
 * octo-tree with the "octomap" C++ library.
 *  This version only stores occupancy information 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 COctoMap : public COctoMapBase<octomap::OcTree, octomap::OcTreeNode>
{
    // This must be added to any CSerializable derived class:
    DEFINE_SERIALIZABLE(COctoMap, mrpt::maps)

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

    void getAsOctoMapVoxels(
        mrpt::opengl::COctoMapVoxels& gl_obj) const override;

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

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