0.16.0: Database updated with Data.empty_cells, Admin.opt_map, Admin.opt_map_x_min and Admin.opt_map_y_min fields. Changed Parameter Grid/ProjRayTracing to Grid/RayTracing (OctoMap ray tracing done for 3D local grids). Improved OctoMap performance.

corelib/include/rtabmap/core/DBDriver.h

@@ -92,6 +92,7 @@ public:
 				int nodeId,
 				const cv::Mat & ground,
 				const cv::Mat & obstacles,
+				const cv::Mat & empty,
 				float cellSize,
 				const cv::Point3f & viewpoint);
 	void updateDepthImage(int nodeId, const cv::Mat & image);
@@ -216,6 +217,7 @@ private:
 				int nodeId,
 				const cv::Mat & ground,
 				const cv::Mat & obstacles,
+				const cv::Mat & empty,
 				float cellSize,
 				const cv::Point3f & viewpoint) const = 0;
 

corelib/include/rtabmap/core/OccupancyGrid.h

@@ -48,6 +48,7 @@ public:
 	float getMinMapSize() const {return minMapSize_;}
 	bool isGridFromDepth() const {return occupancyFromCloud_;}
 	bool isFullUpdate() const {return fullUpdate_;}
+	float getUpdateError() const {return updateError_;}
 	bool isMapFrameProjection() const {return projMapFrame_;}
 	const std::map<int, Transform> & addedNodes() const {return addedNodes_;}
 	int cacheSize() const {return (int)cache_.size();}
@@ -64,19 +65,38 @@ public:
 
 	void createLocalMap(
 			const Signature & node,
-			cv::Mat & ground,
-			cv::Mat & obstacles,
+			cv::Mat & groundCells,
+			cv::Mat & obstacleCells,
+			cv::Mat & emptyCells,
 			cv::Point3f & viewPoint) const;
 
+	void createLocalMap(
+			const pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud, // in base_link frame
+			const Transform & pose,
+			cv::Mat & groundCells,
+			cv::Mat & obstacleCells,
+			cv::Mat & emptyCells,
+			cv::Point3f & viewPointInOut) const;
+	void createLocalMap(
+			const pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud, // in base_link frame
+			const pcl::IndicesPtr & indices,
+			const Transform & pose,
+			cv::Mat & groundCells,
+			cv::Mat & obstacleCells,
+			cv::Mat & emptyCells,
+			cv::Point3f & viewPointInOut) const;
+
 	void clear();
 	void addToCache(
 			int nodeId,
 			const cv::Mat & ground,
-			const cv::Mat & obstacles);
+			const cv::Mat & obstacles,
+			const cv::Mat & empty);
 	void update(const std::map<int, Transform> & poses);
 	cv::Mat getMap(float & xMin, float & yMin) const;
 	const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & getMapGround() const {return assembledGround_;}
 	const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & getMapObstacles() const {return assembledObstacles_;}
+	const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & getMapEmptyCells() const {return assembledEmptyCells_;}
 
 private:
 	ParametersMap parameters_;
@@ -106,13 +126,14 @@ private:
 	int noiseFilteringMinNeighbors_;
 	bool scan2dUnknownSpaceFilled_;
 	double scan2dMaxUnknownSpaceFilledRange_;
-	bool projRayTracing_;
+	bool rayTracing_;
 	bool fullUpdate_;
 	float minMapSize_;
 	bool erode_;
 	float footprintRadius_;
+	float updateError_;
 
-	std::map<int, std::pair<cv::Mat, cv::Mat> > cache_; //<node id, <ground, obstacles> >
+	std::map<int, std::pair<std::pair<cv::Mat, cv::Mat>, cv::Mat> > cache_; //<node id, < <ground, obstacles>, empty> >
 	cv::Mat map_;
 	cv::Mat mapInfo_;
 	std::map<int, std::pair<int, int> > cellCount_; //<node Id, cells>
@@ -123,6 +144,7 @@ private:
 	bool cloudAssembling_;
 	pcl::PointCloud<pcl::PointXYZRGB>::Ptr assembledGround_;
 	pcl::PointCloud<pcl::PointXYZRGB>::Ptr assembledObstacles_;
+	pcl::PointCloud<pcl::PointXYZRGB>::Ptr assembledEmptyCells_;
 };
 
 }

corelib/include/rtabmap/core/OctoMap.h

@@ -44,22 +44,132 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 namespace rtabmap {
 
-class OcTreeNodeInfo
+// forward declaraton for "friend"
+class RtabmapColorOcTree;
+
+class RtabmapColorOcTreeNode : public octomap::ColorOcTreeNode
 {
 public:
-	OcTreeNodeInfo(int nodeRefId, const octomap::OcTreeKey & key, bool isObstacle) :
-		nodeRefId_(nodeRefId),
-		key_(key),
-		isObstacle_(isObstacle) {}
+	enum OccupancyType {kTypeUnknown=-1, kTypeEmpty=0, kTypeGround=1, kTypeObstacle=100};
+
+public:
+	friend class RtabmapColorOcTree; // needs access to node children (inherited)
+
+	RtabmapColorOcTreeNode() : ColorOcTreeNode(), nodeRefId_(0), type_(-1) {}
+	RtabmapColorOcTreeNode(const RtabmapColorOcTreeNode& rhs) : ColorOcTreeNode(rhs), nodeRefId_(rhs.nodeRefId_), type_(rhs.type_) {}
+
+	void setNodeRefId(int nodeRefId) {nodeRefId_ = nodeRefId;}
+	void setOccupancyType(char type) {type_=type;}
+	void setPointRef(const octomap::point3d & point) {pointRef_ = point;}
+	int getNodeRefId() const {return nodeRefId_;}
+	char getOccupancyType() const {return type_;}
+	const octomap::point3d & getPointRef() const {return pointRef_;}
+
+private:
 	int nodeRefId_;
-	octomap::OcTreeKey key_;
-	bool isObstacle_;
+	char type_; // -1=undefined, 0=empty, 100=obstacle, 1=ground
+	octomap::point3d pointRef_;
 };
 
+// Same as official ColorOctree but using RtabmapColorOcTreeNode, which is inheriting ColorOcTreeNode
+class RtabmapColorOcTree : public octomap::OccupancyOcTreeBase <RtabmapColorOcTreeNode> {
+
+  public:
+    /// Default constructor, sets resolution of leafs
+	RtabmapColorOcTree(double resolution);
+
+    /// virtual constructor: creates a new object of same type
+    /// (Covariant return type requires an up-to-date compiler)
+	RtabmapColorOcTree* create() const {return new RtabmapColorOcTree(resolution); }
+
+    std::string getTreeType() const {return "ColorOcTree";} // same type as ColorOcTree to be compatible with ROS OctoMap msg
+
+     /**
+     * Prunes a node when it is collapsible. This overloaded
+     * version only considers the node occupancy for pruning,
+     * different colors of child nodes are ignored.
+     * @return true if pruning was successful
+     */
+    virtual bool pruneNode(RtabmapColorOcTreeNode* node);
+
+    virtual bool isNodeCollapsible(const RtabmapColorOcTreeNode* node) const;
+
+    // set node color at given key or coordinate. Replaces previous color.
+    RtabmapColorOcTreeNode* setNodeColor(const octomap::OcTreeKey& key, uint8_t r,
+                                 uint8_t g, uint8_t b);
+
+    RtabmapColorOcTreeNode* setNodeColor(float x, float y,
+                                 float z, uint8_t r,
+                                 uint8_t g, uint8_t b) {
+    	octomap::OcTreeKey key;
+      if (!this->coordToKeyChecked(octomap::point3d(x,y,z), key)) return NULL;
+      return setNodeColor(key,r,g,b);
+    }
+
+    // integrate color measurement at given key or coordinate. Average with previous color
+    RtabmapColorOcTreeNode* averageNodeColor(const octomap::OcTreeKey& key, uint8_t r,
+                                  uint8_t g, uint8_t b);
+
+    RtabmapColorOcTreeNode* averageNodeColor(float x, float y,
+                                      float z, uint8_t r,
+                                      uint8_t g, uint8_t b) {
+    	octomap:: OcTreeKey key;
+      if (!this->coordToKeyChecked(octomap::point3d(x,y,z), key)) return NULL;
+      return averageNodeColor(key,r,g,b);
+    }
+
+    // integrate color measurement at given key or coordinate. Average with previous color
+    RtabmapColorOcTreeNode* integrateNodeColor(const octomap::OcTreeKey& key, uint8_t r,
+                                  uint8_t g, uint8_t b);
+
+    RtabmapColorOcTreeNode* integrateNodeColor(float x, float y,
+                                      float z, uint8_t r,
+                                      uint8_t g, uint8_t b) {
+    	octomap::OcTreeKey key;
+      if (!this->coordToKeyChecked(octomap::point3d(x,y,z), key)) return NULL;
+      return integrateNodeColor(key,r,g,b);
+    }
+
+    // update inner nodes, sets color to average child color
+    void updateInnerOccupancy();
+
+  protected:
+    void updateInnerOccupancyRecurs(RtabmapColorOcTreeNode* node, unsigned int depth);
+
+    /**
+     * Static member object which ensures that this OcTree's prototype
+     * ends up in the classIDMapping only once. You need this as a
+     * static member in any derived octree class in order to read .ot
+     * files through the AbstractOcTree factory. You should also call
+     * ensureLinking() once from the constructor.
+     */
+    class StaticMemberInitializer{
+       public:
+         StaticMemberInitializer() {
+        	 RtabmapColorOcTree* tree = new RtabmapColorOcTree(0.1);
+           tree->clearKeyRays();
+           AbstractOcTree::registerTreeType(tree);
+         }
+
+         /**
+         * Dummy function to ensure that MSVC does not drop the
+         * StaticMemberInitializer, causing this tree failing to register.
+         * Needs to be called from the constructor of this octree.
+         */
+         void ensureLinking() {};
+    };
+    /// static member to ensure static initialization (only once)
+    static StaticMemberInitializer RtabmapColorOcTreeMemberInit;
+
+  };
+
 class RTABMAP_EXP OctoMap {
+public:
+	static void HSVtoRGB(float *r, float *g, float *b, float h, float s, float v);
+
 public:
 	OctoMap(const ParametersMap & parameters, float occupancyThr = 0.5f);
-	OctoMap(float cellSize = 0.1f, float occupancyThr = 0.5f, bool fullUpdate = false);
+	OctoMap(float cellSize = 0.1f, float occupancyThr = 0.5f, bool fullUpdate = false, float updateError=0.01f);
 
 	const std::map<int, Transform> & addedNodes() const {return addedNodes_;}
 	void addToCache(int nodeId,
@@ -69,15 +179,18 @@ public:
 	void addToCache(int nodeId,
 			const cv::Mat & ground,
 			const cv::Mat & obstacles,
+			const cv::Mat & empty,
 			const cv::Point3f & viewPoint);
 	void update(const std::map<int, Transform> & poses);
 
-	const octomap::ColorOcTree * octree() const {return octree_;}
+	const RtabmapColorOcTree * octree() const {return octree_;}
 
 	pcl::PointCloud<pcl::PointXYZRGB>::Ptr createCloud(
 			unsigned int treeDepth = 0,
 			std::vector<int> * obstacleIndices = 0,
-			std::vector<int> * emptyIndices = 0) const;
+			std::vector<int> * emptyIndices = 0,
+			std::vector<int> * groundIndices = 0,
+			bool originalRefPoints = true) const;
 
 	cv::Mat createProjectionMap(
 			float & xMin,
@@ -91,16 +204,24 @@ public:
 	virtual ~OctoMap();
 	void clear();
 
+	void getGridMin(double & x, double & y, double & z) const {x=minValues_[0];y=minValues_[1];z=minValues_[2];}
+	void getGridMax(double & x, double & y, double & z) const {x=maxValues_[0];y=maxValues_[1];z=maxValues_[2];}
+
 private:
-	std::map<int, std::pair<cv::Mat, cv::Mat> > cache_;
-	std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGB>::Ptr, pcl::PointCloud<pcl::PointXYZRGB>::Ptr> > cacheClouds_;
+	void updateMinMax(const octomap::point3d & point);
+
+private:
+	std::map<int, std::pair<std::pair<cv::Mat, cv::Mat>, cv::Mat> > cache_; // [id: < <ground, obstacles>, empty>]
+	std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGB>::Ptr, pcl::PointCloud<pcl::PointXYZRGB>::Ptr> > cacheClouds_; // [id: <ground, obstacles>]
 	std::map<int, cv::Point3f> cacheViewPoints_;
-	octomap::ColorOcTree * octree_;
-	std::map<octomap::ColorOcTreeNode*, OcTreeNodeInfo> occupiedCells_;
+	RtabmapColorOcTree * octree_;
 	std::map<int, Transform> addedNodes_;
 	octomap::KeyRay keyRay_;
 	bool hasColor_;
 	bool fullUpdate_;
+	float updateError_;
+	double minValues_[3];
+	double maxValues_[3];
 };
 
 } /* namespace rtabmap */

corelib/include/rtabmap/core/Parameters.h

@@ -617,9 +617,10 @@ class RTABMAP_EXP Parameters
     RTABMAP_PARAM(Grid, NoiseFilteringMinNeighbors, int,     5,      "Noise filtering minimum neighbors.");
     RTABMAP_PARAM(Grid, Scan2dUnknownSpaceFilled,   bool,    false,  "Unknown space filled. Only used with 2D laser scans.");
     RTABMAP_PARAM(Grid, Scan2dMaxFilledRange,       float,   4.0,    "Unknown space filled maximum range. If 0, the laser scan maximum range is used.");
-    RTABMAP_PARAM(Grid, ProjRayTracing,             bool,   true,    uFormat("[%s=false] 2D ray tracing is done for each projected obstacle, filling unknown space between the sensor and obstacles.", kGrid3D().c_str()));
+    RTABMAP_PARAM(Grid, RayTracing,                 bool,   false,   uFormat("Ray tracing is done for each occupied cell, filling unknown space between the sensor and occupied cells. If %s=true, RTAB-Map should be built with OctoMap support, otherwise 3D ray tracing is ignored.", kGrid3D().c_str()));
 
     RTABMAP_PARAM(GridGlobal, FullUpdate,           bool,   true,    "When the graph is changed, the whole map will be reconstructed instead of moving individually each cells of the map. Also, data added to cache won't be released after updating the map. This process is longer but more robust to drift that would erase some parts of the map when it should not.");
+    RTABMAP_PARAM(GridGlobal, UpdateError,          float,  0.01,    "Graph changed detection error (m). Update map only if poses in new optimized graph have moved more than this value.");
     RTABMAP_PARAM(GridGlobal, FootprintRadius,      float,  0.0,     "Footprint radius (m) used to clear all obstacles under the graph.");
     RTABMAP_PARAM(GridGlobal, MinSize,              float,  0.0,     "Minimum map size (m).");
     RTABMAP_PARAM(GridGlobal, Eroded,               bool,   false,   "Erode obstacle cells.");

corelib/include/rtabmap/core/SensorData.h

@@ -175,14 +175,16 @@ public:
 			cv::Mat * laserScanRaw = 0,
 			cv::Mat * userDataRaw = 0,
 			cv::Mat * groundCellsRaw = 0,
-			cv::Mat * obstacleCellsRaw = 0);
+			cv::Mat * obstacleCellsRaw = 0,
+			cv::Mat * emptyCellsRaw = 0);
 	void uncompressDataConst(
 			cv::Mat * imageRaw,
 			cv::Mat * depthOrRightRaw,
 			cv::Mat * laserScanRaw = 0,
 			cv::Mat * userDataRaw = 0,
 			cv::Mat * groundCellsRaw = 0,
-			cv::Mat * obstacleCellsRaw = 0) const;
+			cv::Mat * obstacleCellsRaw = 0,
+			cv::Mat * emptyCellsRaw = 0) const;
 
 	const std::vector<CameraModel> & cameraModels() const {return _cameraModels;}
 	const StereoCameraModel & stereoCameraModel() const {return _stereoCameraModel;}
@@ -203,6 +205,7 @@ public:
 	void setOccupancyGrid(
 			const cv::Mat & ground,
 			const cv::Mat & obstacles,
+			const cv::Mat & empty,
 			float cellSize,
 			const cv::Point3f & viewPoint);
 	// remove raw occupancy grids
@@ -211,6 +214,8 @@ public:
 	const cv::Mat & gridGroundCellsCompressed() const {return _groundCellsCompressed;}
 	const cv::Mat & gridObstacleCellsRaw() const {return _obstacleCellsRaw;}
 	const cv::Mat & gridObstacleCellsCompressed() const {return _obstacleCellsCompressed;}
+	const cv::Mat & gridEmptyCellsRaw() const {return _emptyCellsRaw;}
+	const cv::Mat & gridEmptyCellsCompressed() const {return _emptyCellsCompressed;}
 	float gridCellSize() const {return _cellSize;}
 	const cv::Point3f & gridViewPoint() const {return _viewPoint;}
 
@@ -261,8 +266,10 @@ private:
 	// occupancy grid
 	cv::Mat _groundCellsCompressed;
 	cv::Mat _obstacleCellsCompressed;
+	cv::Mat _emptyCellsCompressed;
 	cv::Mat _groundCellsRaw;
 	cv::Mat _obstacleCellsRaw;
+	cv::Mat _emptyCellsRaw;
 	float _cellSize;
 	cv::Point3f _viewPoint;
 

corelib/include/rtabmap/core/util3d.h

@@ -203,6 +203,7 @@ cv::Mat RTABMAP_EXP laserScanFromPointCloud(const pcl::PointCloud<pcl::PointNorm
 cv::Mat RTABMAP_EXP laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZ> & cloud, const pcl::PointCloud<pcl::Normal> & normals, const Transform & transform = Transform());
 // return CV_32FC4 (x,y,z,rgb)
 cv::Mat RTABMAP_EXP laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZRGB> & cloud, const Transform & transform = Transform());
+cv::Mat RTABMAP_EXP laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZRGB> & cloud, const pcl::IndicesPtr & indices, const Transform & transform = Transform());
 // return CV_32FC7 (x,y,z,rgb,normal_x,normal_y,normal_z)
 cv::Mat RTABMAP_EXP laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZRGB> & cloud, const pcl::PointCloud<pcl::Normal> & normals, const Transform & transform = Transform());
 // return CV_32FC7 (x,y,z,rgb,normal_x,normal_y,normal_z)

corelib/include/rtabmap/core/util3d_mapping.h

@@ -45,8 +45,8 @@ namespace util3d
 
 RTABMAP_DEPRECATED(void RTABMAP_EXP occupancy2DFromLaserScan(
 		const cv::Mat & scan, // in /base_link frame
-		cv::Mat & ground,
-		cv::Mat & obstacles,
+		cv::Mat & empty,
+		cv::Mat & occupied,
 		float cellSize,
 		bool unknownSpaceFilled = false,
 		float scanMaxRange = 0.0f), "Use interface with \"viewpoint\" parameter to make sure the ray tracing origin is from the sensor and not the base.");
@@ -54,8 +54,8 @@ RTABMAP_DEPRECATED(void RTABMAP_EXP occupancy2DFromLaserScan(
 RTABMAP_DEPRECATED(void RTABMAP_EXP occupancy2DFromLaserScan(
 		const cv::Mat & scan, // in /base_link frame
 		const cv::Point3f & viewpoint, // /base_link -> /base_scan
-		cv::Mat & ground,
-		cv::Mat & obstacles,
+		cv::Mat & empty,
+		cv::Mat & occupied,
 		float cellSize,
 		bool unknownSpaceFilled = false,
 		float scanMaxRange = 0.0f), "Use interface with scanHit/scanNoHit parameters: scanNoHit set to null matrix has the same functionality than this method.");
@@ -64,8 +64,8 @@ void RTABMAP_EXP occupancy2DFromLaserScan(
 		const cv::Mat & scanHit, // in /base_link frame
 		const cv::Mat & scanNoHit, // in /base_link frame
 		const cv::Point3f & viewpoint, // /base_link -> /base_scan
-		cv::Mat & ground,
-		cv::Mat & obstacles,
+		cv::Mat & empty,
+		cv::Mat & occupied,
 		float cellSize,
 		bool unknownSpaceFilled = false,
 		float scanMaxRange = 0.0f); // would be set if unknownSpaceFilled=true