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97 lines
3.2 KiB
C++
97 lines
3.2 KiB
C++
/*
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Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright
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notice, this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright
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notice, this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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* Neither the name of the Universite de Sherbrooke nor the
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names of its contributors may be used to endorse or promote products
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derived from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
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DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#ifndef SRC_OCTOMAP_H_
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#define SRC_OCTOMAP_H_
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#include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
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#include <octomap/ColorOcTree.h>
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#include <octomap/OcTreeKey.h>
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#include <pcl/pcl_base.h>
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#include <pcl/point_types.h>
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#include <rtabmap/core/Transform.h>
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#include <map>
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#include <string>
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namespace rtabmap {
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class OcTreeNodeInfo
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{
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public:
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OcTreeNodeInfo(int nodeRefId, const octomap::OcTreeKey & key, bool isObstacle) :
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nodeRefId_(nodeRefId),
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key_(key),
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isObstacle_(isObstacle) {}
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int nodeRefId_;
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octomap::OcTreeKey key_;
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bool isObstacle_;
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};
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class RTABMAP_EXP OctoMap {
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public:
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OctoMap(float voxelSize = 0.1f);
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const std::map<int, Transform> & addedNodes() const {return addedNodes_;}
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void addToCache(int nodeId,
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pcl::PointCloud<pcl::PointXYZRGB>::Ptr & ground,
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pcl::PointCloud<pcl::PointXYZRGB>::Ptr & obstacles);
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void update(const std::map<int, Transform> & poses);
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const octomap::ColorOcTree * octree() const {return octree_;}
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pcl::PointCloud<pcl::PointXYZRGB>::Ptr createCloud(
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unsigned int treeDepth = 0,
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std::vector<int> * obstacleIndices = 0,
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std::vector<int> * emptyIndices = 0) const;
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cv::Mat createProjectionMap(
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float & xMin,
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float & yMin,
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float & gridCellSize,
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float minGridSize);
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bool writeBinary(const std::string & path);
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virtual ~OctoMap();
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void clear();
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private:
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std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGB>::Ptr, pcl::PointCloud<pcl::PointXYZRGB>::Ptr> > cache_;
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octomap::ColorOcTree * octree_;
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std::map<octomap::ColorOcTreeNode*, OcTreeNodeInfo> occupiedCells_;
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std::map<int, Transform> addedNodes_;
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octomap::KeyRay keyRay_;
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};
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} /* namespace rtabmap */
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#endif /* SRC_OCTOMAP_H_ */
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