rtabmap/corelib/include/rtabmap/core/LocalGridMaker.h

/*
Copyright (c) 2010-2023, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.

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#ifndef SRC_LOCAL_MAP_H_
#define SRC_LOCAL_MAP_H_

#include "rtabmap/core/rtabmap_core_export.h" // DLL export/import defines

#include <pcl/pcl_base.h>
#include <pcl/point_types.h>

#include <rtabmap/core/Transform.h>
#include <rtabmap/core/Parameters.h>
#include <rtabmap/core/Signature.h>

namespace rtabmap {

/**
 * @class LocalGridMaker
 * @brief Builds per-node local occupancy grids from laser scans or depth clouds.
 *
 * Configured via `Grid/` parameters (@ref parseParameters()). Used by @ref Memory
 * to populate @ref LocalGrid cells (ground / obstacles / empty) stored on
 * @ref SensorData and cached in @ref LocalGridCache for global maps
 * (@ref OccupancyGrid, @ref OctoMap, @ref GridMap).
 *
 * **Sensor source** (`Grid/Sensor`, @ref isGridFromDepth()):
 * - `0` — laser scan only
 * - `1` — depth image(s) only (default)
 * - `2` — laser scan and depth
 *
 * **2D laser path:** projects a 2D @ref LaserScan with @ref util3d::occupancy2DFromLaserScan().
 *
 * **3D path:** segments the scan/cloud into ground and obstacles (@ref segmentCloud()),
 * then outputs @ref LocalGrid cell matrices (2D projection or 3D cells per `Grid/3D`).
 *
 * @see LocalGrid
 * @see Memory
 */
class RTABMAP_CORE_EXPORT LocalGridMaker
{
public:
	/** @brief Constructs with @ref parseParameters() on @p parameters (or defaults). */
	LocalGridMaker(const ParametersMap & parameters = ParametersMap());
	virtual ~LocalGridMaker();

	/** @brief Updates grid settings from `Grid/` entries in @p parameters. */
	virtual void parseParameters(const ParametersMap & parameters);

	/** @return Current `Grid/CellSize` (m). */
	float getCellSize() const {return cellSize_;}
	/** @return True if occupancy is built from depth (`Grid/Sensor` is 1 or 2). */
	bool isGridFromDepth() const {return occupancySensor_;}
	/** @return True if `Grid/MapFrameProjection` is enabled. */
	bool isMapFrameProjection() const {return projMapFrame_;}

	/**
	 * @brief Segments a point cloud into ground and obstacle indices.
	 *
	 * Applies optional voxel filtering (`Grid/PreVoxelFiltering`, leaf size `Grid/CellSize`),
	 * footprint crop, height filtering, then either normal-based ground segmentation
	 * (`Grid/NormalsSegmentation`) or Z passthrough.
	 *
	 * @param cloud Input cloud (sensor frame, transformed internally using @p pose). Must be non-null; an empty cloud is allowed and returns empty outputs.
	 * @param indices Subset of @p cloud to process (must be non-null; empty = all points when the cloud is dense).
	 * @param pose Node pose (used for map-frame projection and footprint).
	 * @param viewPoint Sensor origin for segmentation / ray tracing.
	 * @param groundIndices Output indices of ground points.
	 * @param obstaclesIndices Output indices of obstacle points.
	 * @param flatObstacles Optional output for flat obstacle clusters.
	 * @return Segmented cloud (voxel-downsampled when `Grid/PreVoxelFiltering` is true, using `Grid/CellSize`).
	 */
	template<typename PointT>
	typename pcl::PointCloud<PointT>::Ptr segmentCloud(
			const typename pcl::PointCloud<PointT>::Ptr & cloud,
			const pcl::IndicesPtr & indices,
			const Transform & pose,
			const cv::Point3f & viewPoint,
			pcl::IndicesPtr & groundIndices,        // output cloud indices
			pcl::IndicesPtr & obstaclesIndices,     // output cloud indices
			pcl::IndicesPtr * flatObstacles = 0) const; // output cloud indices

	/**
	 * @brief Creates a local grid from a @ref Signature's laser scan or depth data.
	 * @param node Signature with sensor data (pose used for 3D scans).
	 * @param groundCells Output ground cells (@ref LocalGrid format).
	 * @param obstacleCells Output obstacle cells.
	 * @param emptyCells Output empty/free cells. Behavior depends on the sensor path:
	 *                   - **2D laser, laser-only mode** (`Grid/Sensor`=0 and a 2D @ref LaserScan):
	 *                     uses @ref util3d::occupancy2DFromLaserScan() / @ref util3d::create2DMap().
	 *                     Free space along each hit beam is always ray-traced (sensor → obstacle).
	 *                     `Grid/Scan2dUnknownSpaceFilled` is separate: when true, it additionally
	 *                     sweeps unknown angular gaps between the first and last hit (sparse FOV /
	 *                     “holes” in coverage) out to `Grid/RangeMax` or scan max range.
	 *                   - **Other cases** (3D scan, depth, `Grid/Sensor`=2, etc.): see
	 *                     the @ref LaserScan overload of @ref createLocalMap().
	 * @param viewPoint Output view point used for the grid.
	 */
	void createLocalMap(
			const Signature & node,
			cv::Mat & groundCells,
			cv::Mat & obstacleCells,
			cv::Mat & emptyCells,
			cv::Point3f & viewPoint);

	/**
	 * @brief Creates a local grid from a 3D (or organized) @ref LaserScan.
	 * @param cloud Input scan in sensor frame.
	 * @param pose Node pose in map/odom frame.
	 * @param groundCells Output ground cells.
	 * @param obstacleCells Output obstacle cells.
	 * @param emptyCells Output empty/free cells. Filled when `Grid/RayTracing` is true:
	 *                   3D via OctoMap if `Grid/3D` and OctoMap support are enabled
	 *                   (`Grid/RangeMax`, `Grid/CellSize`); otherwise 2D ray fill via
	 *                   `occupancy2DFromLaserScan` when `Grid/3D` is false (`Grid/RangeMax`,
	 *                   `Grid/CellSize`).
	 * @param viewPointInOut View point (may be rotated if @ref isMapFrameProjection()).
	 */
	void createLocalMap(
			const LaserScan & cloud,
			const Transform & pose,
			cv::Mat & groundCells,
			cv::Mat & obstacleCells,
			cv::Mat & emptyCells,
			cv::Point3f & viewPointInOut) const;

private:
	/**
	 * @brief Radius filters the points closer than @p maxRange, keeping the farther
	 *        points as-is (in case we want to ray trace empty space beyond max range).
	 * @param cloud Input cloud.
	 * @param indices Subset of @p cloud to filter. Asserted to be non-null and non-empty
	 *                (@ref util3d::radiusFiltering() would filter the whole cloud otherwise).
	 * @param maxRange Range (m) above which points are not filtered. 0 means no limit.
	 * @param radiusSearch Radius (m) used for the noise filtering.
	 * @param minNeighborsInRadius Minimum neighbors required inside @p radiusSearch.
	 * @return Indices of the points that passed the filtering, plus those beyond @p maxRange.
	 */
	template<typename PointT>
	static pcl::IndicesPtr noiseFilteringWithMaxRange(
			const typename pcl::PointCloud<PointT>::Ptr & cloud,
			const pcl::IndicesPtr & indices,
			float maxRange,
			float radiusSearch,
			int minNeighborsInRadius);

protected:
	ParametersMap parameters_;

	unsigned int cloudDecimation_;
	float rangeMax_;
	float rangeMin_;
	std::vector<float> roiRatios_;
	float footprintLength_;
	float footprintWidth_;
	float footprintHeight_;
	int scanDecimation_;
	float cellSize_;
	bool preVoxelFiltering_;
	int occupancySensor_;
	bool projMapFrame_;
	float maxObstacleHeight_;
	int normalKSearch_;
	float groundNormalsUp_;
	float maxGroundAngle_;
	float clusterRadius_;
	int minClusterSize_;
	bool flatObstaclesDetected_;
	float minGroundHeight_;
	float maxGroundHeight_;
	bool normalsSegmentation_;
	bool grid3D_;
	bool groundIsObstacle_;
	float noiseFilteringRadius_;
	int noiseFilteringMinNeighbors_;
	bool scan2dUnknownSpaceFilled_;
	bool rayTracing_;
};

} /* namespace rtabmap */

#include <rtabmap/core/impl/LocalMapMaker.hpp>

#endif /* SRC_LOCAL_MAP_H_ */