CColouredOctoMap.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/ColorOcTree.h>

#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 <sstream>
#include <mrpt/io/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::poses;
using namespace mrpt::img;
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::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 CColouredOctoMap::TMapDefinition::dumpToTextStream_map_specific(
    std::ostream& 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)

CColouredOctoMap::CColouredOctoMap(const double resolution) :
    COctoMapBase<octomap::ColorOcTree, octomap::ColorOcTreeNode>(resolution),
    m_colour_method(INTEGRATE)
{
}

CColouredOctoMap::~CColouredOctoMap() {}
uint8_t CColouredOctoMap::serializeGetVersion() const { return 3; }
void CColouredOctoMap::serializeTo(mrpt::serialization::CArchive& out) const
{
    this->likelihoodOptions.writeToStream(out);
    this->renderingOptions.writeToStream(out);  // Added in v1
    out << genericMapParams;  // v2

    // v2->v3: remove CMemoryChunk
    std::stringstream ss;
    m_impl->m_octomap.writeBinaryConst(ss);
    const std::string& buf = ss.str();
    out << buf;
}

void CColouredOctoMap::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)
    };
}

/*---------------------------------------------------------------
                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_impl->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_impl->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_impl->m_octomap.updateNode(*it, false, false);
        }
        for (octomap::KeySet::iterator it = occupied_cells.begin();
             it != occupied_cells.end(); ++it)
        {
            m_impl->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_impl->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_impl->m_octomap
            .coordToKeyChecked(octomap::point3d(x, y, z), key))
    {
        octomap::ColorOcTreeNode* node =
            m_impl->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_impl->m_octomap
                .integrateNodeColor(x, y, z, r, g, b);
            break;
        case SET:
            m_impl->m_octomap
                .setNodeColor(x, y, z, r, g, b);
            break;
        case AVERAGE:
            m_impl->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_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;
    this->getMetricMin(xmin, ymin, zmin);
    this->getMetricMax(xmax, ymax, zmax);

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