COctoMapBase.h

Go to the documentation of this file.

/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2014, 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/slam/CMetricMap.h>
#include <mrpt/utils/CLoadableOptions.h>
#include <mrpt/utils/safe_pointers.h>
#include <mrpt/otherlibs/octomap/octomap.h>
#include <mrpt/opengl/COctoMapVoxels.h>
#include <mrpt/opengl/COpenGLScene.h>

#include <mrpt/maps/link_pragmas.h>

namespace mrpt
{
        namespace slam
        {
                class CPointsMap;
                class CObservation2DRangeScan;
                class CObservation3DRangeScan;

                /** 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::slam::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,class OCTREE_NODE>
                class COctoMapBase : public CMetricMap
                {
                public:
                        typedef COctoMapBase<OCTREE,OCTREE_NODE> myself_t;       //!< The type of this MRPT class
                        typedef OCTREE                           octree_t;       //!< The type of the octree class in the "octomap" library.
                        typedef OCTREE_NODE                      octree_node_t;  //!< The type of nodes in the octree, in the "octomap" library.


                        /** Constructor, defines the resolution of the octomap (length of each voxel side) */
                        COctoMapBase(const double resolution=0.10) : insertionOptions(*this), m_octomap(resolution) { }
                        virtual ~COctoMapBase() { }

                        /** Get a reference to the internal octomap object. Example:
                           * \code
                           *  mrpt::maps::COctoMap  map;
                           *  ...
                           *  octomap::OcTree &om = map.getOctomap();
                           *
                           *
                           * \endcode
                           */
                        inline OCTREE & getOctomap() { return m_octomap; }

                        /** With this struct options are provided to the observation insertion process.
                        * \sa CObservation::insertObservationInto()
                        */
                        struct TInsertionOptions : public utils::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;
                                }

                                /** See utils::CLoadableOptions */
                                void  loadFromConfigFile(const mrpt::utils::CConfigFileBase  &source,const std::string &section);
                                /** See utils::CLoadableOptions */
                                void  dumpToTextStream(CStream  &out) const;

                                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->m_octomap.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->m_octomap.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->m_octomap.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->m_octomap.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->m_octomap.setClampingThresMax(thresProb); }

                                /// @return threshold (probability) for occupancy - sensor model
                                double getOccupancyThres() const { if(m_parent.get()) return m_parent->m_octomap.getOccupancyThres(); else return this->occupancyThres; }
                                /// @return threshold (logodds) for occupancy - sensor model
                                float getOccupancyThresLog() const { return m_parent->m_octomap.getOccupancyThresLog() ; }

                                /// @return probablility for a "hit" in the sensor model (probability)
                                double getProbHit() const { if(m_parent.get()) return m_parent->m_octomap.getProbHit(); else return this->probHit; }
                                /// @return probablility for a "hit" in the sensor model (logodds)
                                float getProbHitLog() const { return m_parent->m_octomap.getProbHitLog(); }
                                /// @return probablility for a "miss"  in the sensor model (probability)
                                double getProbMiss() const { if(m_parent.get()) return m_parent->m_octomap.getProbMiss(); else return this->probMiss; }
                                /// @return probablility for a "miss"  in the sensor model (logodds)
                                float getProbMissLog() const { return m_parent->m_octomap.getProbMissLog(); }

                                /// @return minimum threshold for occupancy clamping in the sensor model (probability)
                                double getClampingThresMin() const { if(m_parent.get()) return m_parent->m_octomap.getClampingThresMin(); else return this->clampingThresMin; }
                                /// @return minimum threshold for occupancy clamping in the sensor model (logodds)
                                float getClampingThresMinLog() const { return m_parent->m_octomap.getClampingThresMinLog(); }
                                /// @return maximum threshold for occupancy clamping in the sensor model (probability)
                                double getClampingThresMax() const { if(m_parent.get()) return m_parent->m_octomap.getClampingThresMax(); else return this->clampingThresMax; }
                                /// @return maximum threshold for occupancy clamping in the sensor model (logodds)
                                float getClampingThresMaxLog() const { return m_parent->m_octomap.getClampingThresMaxLog(); }

                        private:
                                mrpt::utils::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 utils::CLoadableOptions
                        {
                                /** Initilization of default parameters
                                        */
                                TLikelihoodOptions( );
                                virtual ~TLikelihoodOptions() {}

                                /** See utils::CLoadableOptions */
                                void  loadFromConfigFile(
                                        const mrpt::utils::CConfigFileBase  &source,
                                        const std::string &section);

                                /** See utils::CLoadableOptions */
                                void  dumpToTextStream(CStream  &out) const;

                                void writeToStream(CStream &out) const;         //!< Binary dump to stream
                                void readFromStream(CStream &in);                       //!< Binary dump to stream

                                uint32_t        decimation; //!< Speed up the likelihood computation by considering only one out of N rays (default=1)
                        };

                        TLikelihoodOptions  likelihoodOptions;

                        /** Returns true if the map is empty/no observation has been inserted.
                                */
                        virtual bool  isEmpty() const;


                        // See docs in base class
                        virtual double   computeObservationLikelihood( const CObservation *obs, const CPose3D &takenFrom );

                        virtual void  saveMetricMapRepresentationToFile(const std::string       &filNamePrefix) const;

                        /** Options for the conversion of a mrpt::slam::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)
                                { }

                                void writeToStream(CStream &out) const;         //!< Binary dump to stream
                                void readFromStream(CStream &in);                       //!< Binary dump to stream
                        };

                        TRenderingOptions renderingOptions;

                        /** Returns a 3D object representing the map.
                                * \sa renderingOptions
                                */
                        virtual void  getAs3DObject( mrpt::opengl::CSetOfObjectsPtr     &outObj ) const
                        {
                                mrpt::opengl::COctoMapVoxelsPtr 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;

                        /** 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
                        {
                                octomap::OcTreeKey key;
                                return m_octomap.coordToKeyChecked(octomap::point3d(x,y,z), key);
                        }

                        /** 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;

                        /** 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)
                        {
                                m_octomap.updateNode(x,y,z, occupied);
                        }

                        /** 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);

                        /** 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)
                        {
                                m_octomap.insertRay( octomap::point3d(sensor_x,sensor_y,sensor_z), octomap::point3d(end_x,end_y,end_z), insertionOptions.maxrange,insertionOptions.pruning);
                        }

                        /** 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;

                        /** @name Direct access to octomap library methods
                                @{ */

                        double getResolution() const { return m_octomap.getResolution(); }
                        unsigned int getTreeDepth () const { return m_octomap.getTreeDepth(); }
                        /// \return The number of nodes in the tree
                        size_t size() const { return  m_octomap.size(); }
                        /// \return Memory usage of the complete octree in bytes (may vary between architectures)
                        size_t memoryUsage() const { return  m_octomap.memoryUsage(); }
                        /// \return Memory usage of the a single octree node
                        size_t memoryUsageNode() const { return  m_octomap.memoryUsageNode(); }
                        /// \return Memory usage of a full grid of the same size as the OcTree in bytes (for comparison)
                        size_t memoryFullGrid() const { return  m_octomap.memoryFullGrid(); }
                        double volume() const { return m_octomap.volume(); }
                        /// Size of OcTree (all known space) in meters for x, y and z dimension
                        void getMetricSize(double& x, double& y, double& z) { return  m_octomap.getMetricSize(x,y,z); }
                        /// Size of OcTree (all known space) in meters for x, y and z dimension
                        void getMetricSize(double& x, double& y, double& z) const { return  m_octomap.getMetricSize(x,y,z); }
                        /// minimum value of the bounding box of all known space in x, y, z
                        void getMetricMin(double& x, double& y, double& z) { return  m_octomap.getMetricMin(x,y,z); }
                        /// minimum value of the bounding box of all known space in x, y, z
                        void getMetricMin(double& x, double& y, double& z) const { return  m_octomap.getMetricMin(x,y,z); }
                        /// maximum value of the bounding box of all known space in x, y, z
                        void getMetricMax(double& x, double& y, double& z) { return  m_octomap.getMetricMax(x,y,z); }
                        /// maximum value of the bounding box of all known space in x, y, z
                        void getMetricMax(double& x, double& y, double& z) const { return  m_octomap.getMetricMax(x,y,z); }

                        /// Traverses the tree to calculate the total number of nodes
                        size_t calcNumNodes() const { return  m_octomap.calcNumNodes(); }

                        /// Traverses the tree to calculate the total number of leaf nodes
                        size_t getNumLeafNodes() const { return  m_octomap.getNumLeafNodes(); }

                        /** @} */


                protected:
                        virtual void  internal_clear() {  m_octomap.clear(); }

                        /**  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.
                          */
                        bool internal_build_PointCloud_for_observation(const CObservation *obs,const CPose3D *robotPose, octomap::point3d &point3d_sensorPt, octomap::Pointcloud &ptr_scan) const;

                        OCTREE m_octomap; //!< The actual octo-map object.

                }; // End of class def.
        } // End of namespace
} // End of namespace

#include "COctoMapBase_impl.h"

#endif