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 <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>
 
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)
        : COctoMapBase<octomap::ColorOcTree, octomap::ColorOcTreeNode>(resolution),
          m_colour_method(INTEGRATE)
{
}
 
/*---------------------------------------------------------------
                                                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*>(&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");
                                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:
                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::CPointCloudColoured::Ptr pts =
                        mrpt::make_aligned_shared<mrpt::opengl::CPointCloudColoured>();
                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;
                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)
                {
                        m_octomap.updateNode(*it, false, false);
                }
                for (octomap::KeySet::iterator it = occupied_cells.begin();
                         it != occupied_cells.end(); ++it)
                {
                        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) 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 (m_octomap.coordToKeyChecked(octomap::point3d(x, y, z), key))
        {
                octomap::ColorOcTreeNode* node = 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:
                        m_octomap.integrateNodeColor(x, y, z, r, g, b);
                        break;
                case SET:
                        m_octomap.setNodeColor(x, y, z, r, g, b);
                        break;
                case AVERAGE:
                        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 = 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 =
                         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 = (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);
        }
}