Adds IntensityOcTree: per-voxel intensity payload for OctoMap

octomap/CMakeLists.txt

@@ -59,6 +59,7 @@ set(octomap_SOURCES
     src/OcTreeNode.cpp
     src/OcTreeStamped.cpp
     src/ColorOcTree.cpp
+    src/IntensityOcTree.cpp
 )
 add_library(octomap ${octomap_SOURCES})
 target_compile_features(octomap PUBLIC cxx_std_11)

octomap/include/octomap/IntensityOcTree.h

@@ -0,0 +1,179 @@
+/*
+ * OctoMap - An Efficient Probabilistic 3D Mapping Framework Based on Octrees
+ * https://octomap.github.io/
+ *
+ * Copyright (c) 2009-2013, K.M. Wurm and A. Hornung, University of Freiburg
+ * All rights reserved.
+ * License: New BSD
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the University of Freiburg nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef OCTOMAP_INTENSITY_OCTREE_H
+#define OCTOMAP_INTENSITY_OCTREE_H
+
+#include <iostream>
+
+#include <octomap/OcTreeNode.h>
+#include <octomap/OccupancyOcTreeBase.h>
+
+namespace octomap
+{
+
+// forward declaration for "friend"
+class IntensityOcTree;
+
+// node definition
+class IntensityOcTreeNode : public OcTreeNode
+{
+public:
+    friend class IntensityOcTree;// needs access to node children (inherited)
+
+    // Constructors
+    IntensityOcTreeNode() : OcTreeNode(), intensity(0.0)
+    {
+    }
+
+    IntensityOcTreeNode(const IntensityOcTreeNode &rhs)
+        : OcTreeNode(rhs), intensity(rhs.intensity)
+    {
+    }
+
+    // Comparator
+    bool operator==(const IntensityOcTreeNode &rhs) const
+    {
+        return (rhs.value == value && rhs.intensity == intensity);
+    }
+
+    // Payload helpers
+    inline double getIntensity() const
+    {
+        return intensity;
+    }
+    inline void setIntensity(double i)
+    {
+        intensity = i;
+    }
+
+    // Copy when replacing a node
+    void copyData(const IntensityOcTreeNode &from)
+    {
+        OcTreeNode::copyData(from);
+        this->intensity = from.getIntensity();
+    }
+
+    // Update occupancy and intensity of inner nodes
+    inline void updateIntensityChildren();
+    double getAverageChildIntensity() const;
+    inline bool isIntensitySet() const
+    {
+        return (ZERO_EPSILON < intensity);
+    }
+
+    // Serialisation and deserialisation
+    std::istream &readData(std::istream &s);
+    std::ostream &writeData(std::ostream &s) const;
+
+protected:
+    double intensity;
+    static constexpr double ZERO_EPSILON = 1e-6;// to avoid division by zero
+};
+
+// tree definition
+class IntensityOcTree : public OccupancyOcTreeBase<IntensityOcTreeNode>
+{
+public:
+    // Default constructor, sets resolution of leafs
+    IntensityOcTree(double resolution);
+
+    /// virtual constructor: creates a new object of same type
+    /// (Covariant return type requires an up-to-date compiler)
+    IntensityOcTree *create() const override
+    {
+        return new IntensityOcTree(resolution);
+    }
+
+    std::string getTreeType() const
+    {
+        return "IntensityOcTree";
+    }
+
+    /**
+   * Prunes a node when it is collapsible. This overloaded
+   * version only considers the node occupancy for pruning,
+   * different intensities of child nodes are ignored.
+   * @return true if pruning was successful
+   */
+    virtual bool pruneNode(IntensityOcTreeNode *node);
+
+    void updateInnerOccupancy();
+
+    void computeUpdateKeys(const octomap::Pointcloud &scan,
+                           const octomath::Vector3 &origin,
+                           octomap::KeySet &free_cells,
+                           octomap::KeySet &occupied_cells,
+                           double maxrange = -1.0);
+
+    IntensityOcTreeNode *integrateNodeIntensity(const OcTreeKey &key,
+                                                double intensity);
+    IntensityOcTreeNode *integrateNodeIntensity(float x, float y, float z,
+                                                double intensity);
+
+protected:
+    void updateInnerOccupancyRecurs(IntensityOcTreeNode *node, unsigned 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()
+        {
+            IntensityOcTree *tree = new IntensityOcTree(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()
+        {
+        }
+    };
+
+    /// to ensure static initialization (only once)
+    static StaticMemberInitializer intensityOcTreeMemberInit;
+};
+
+}// namespace octomap
+
+#endif// OCTOMAP_INTENSITY_OCTREE_H

octomap/src/IntensityOcTree.cpp

@@ -0,0 +1,187 @@
+/*
+ * OctoMap - An Efficient Probabilistic 3D Mapping Framework Based on Octrees
+ * https://octomap.github.io/
+ *
+ * Copyright (c) 2009-2013, K.M. Wurm and A. Hornung, University of Freiburg
+ * All rights reserved.
+ * License: New BSD
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the University of Freiburg nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include "octomap/IntensityOcTree.h"
+
+namespace octomap
+{
+// Node implementation
+std::istream &IntensityOcTreeNode::readData(std::istream &s)
+{
+    s.read((char *) &value, sizeof(value));// occupancy
+    s.read(reinterpret_cast<char *>(&intensity), sizeof(intensity));
+
+    return s;
+}
+
+std::ostream &IntensityOcTreeNode::writeData(std::ostream &s) const
+{
+    s.write((const char *) &value, sizeof(value));// occupancy
+    s.write(reinterpret_cast<const char *>(&intensity), sizeof(intensity));
+
+    return s;
+}
+
+double IntensityOcTreeNode::getAverageChildIntensity() const
+{
+    double sum = 0.0;
+    unsigned cnt = 0;
+
+    if (children != NULL)
+    {
+        for (unsigned i = 0; i < 8; ++i)
+        {
+            IntensityOcTreeNode *child =
+                    static_cast<IntensityOcTreeNode *>(children[i]);
+
+            if (child != NULL && child->isIntensitySet())
+            {
+                sum += child->getIntensity();
+                ++cnt;
+            }
+        }
+    }
+
+    double average_intensity = cnt ? sum / cnt : intensity;
+    return average_intensity;
+}
+
+inline void IntensityOcTreeNode::updateIntensityChildren()
+{
+    intensity = getAverageChildIntensity();
+}
+
+// Tree implementation
+IntensityOcTree::IntensityOcTree(double resolution)
+    : OccupancyOcTreeBase<IntensityOcTreeNode>(resolution)
+{
+    intensityOcTreeMemberInit.ensureLinking();
+}
+
+
+void IntensityOcTree::updateInnerOccupancy()
+{
+    this->updateInnerOccupancyRecurs(this->root, 0);
+}
+
+void IntensityOcTree::updateInnerOccupancyRecurs(IntensityOcTreeNode *node,
+                                                 unsigned depth)
+{
+    if (nodeHasChildren(node))
+    {
+        if (depth < this->tree_depth)
+        {
+            for (unsigned i = 0; i < 8; ++i)
+            {
+                if (nodeChildExists(node, i))
+                    updateInnerOccupancyRecurs(getNodeChild(node, i),
+                                               depth + 1);
+            }
+        }
+        node->updateOccupancyChildren();
+        node->updateIntensityChildren();
+    }
+}
+
+
+void IntensityOcTree::computeUpdateKeys(const octomap::Pointcloud &scan,
+                                        const octomath::Vector3 &origin,
+                                        octomap::KeySet &free_cells,
+                                        octomap::KeySet &occupied_cells,
+                                        double maxrange)
+{
+    // Delegates to base class
+    computeUpdate(scan, octomap::point3d(origin.x(), origin.y(), origin.z()),
+                  free_cells, occupied_cells, maxrange);
+}
+
+// Node Pruning
+bool IntensityOcTree::pruneNode(IntensityOcTreeNode *node)
+{
+    if (!isNodeCollapsible(node))
+        return false;
+
+    // set value to children's values (all assumed equal)
+    node->copyData(*(getNodeChild(node, 0)));
+
+    // update intensity
+    if (node->isIntensitySet())
+        node->setIntensity(node->getAverageChildIntensity());
+
+    // delete children
+    for (unsigned int i = 0; i < 8; i++)
+    {
+        deleteNodeChild(node, i);
+    }
+    delete[] node->children;
+    node->children = NULL;
+
+    return true;
+}
+
+
+// Integration
+IntensityOcTreeNode *
+IntensityOcTree::integrateNodeIntensity(const OcTreeKey &key, double intensity)
+{
+    IntensityOcTreeNode *n = search(key);
+    if (n != 0)
+    {
+        if (n->isIntensitySet())
+        {
+            double prev_intensity = n->getIntensity();
+            double node_prob = n->getOccupancy();
+
+            double new_intensity = (prev_intensity * node_prob +
+                                    intensity * (1.0 - node_prob));
+            n->setIntensity(new_intensity);
+        }
+        else
+        {
+            n->setIntensity(intensity);
+        }
+    }
+    return n;
+}
+
+IntensityOcTreeNode *IntensityOcTree::integrateNodeIntensity(float x, float y,
+                                                             float z,
+                                                             double intensity)
+{
+    OcTreeKey key;
+    if (!this->coordToKeyChecked(point3d(x, y, z), key))
+        return NULL;
+    return integrateNodeIntensity(key, intensity);
+}
+
+}// namespace octomap

octomap/src/testing/CMakeLists.txt

@@ -16,6 +16,9 @@ target_link_libraries(test_scans octomap)
 add_executable(test_color_tree test_color_tree.cpp)
 target_link_libraries(test_color_tree octomap)
 
+add_executable(test_intensity_tree test_intensity_tree.cpp)
+target_link_libraries(test_intensity_tree octomap)
+
 add_executable(color_tree_histogram color_tree_histogram.cpp)
 target_link_libraries(color_tree_histogram octomap)
 
@@ -57,6 +60,7 @@ add_test(NAME test_mapcollection
                  ${PROJECT_SOURCE_DIR}/share/data/mapcoll.txt
 )
 add_test(NAME test_color_tree COMMAND test_color_tree)
+add_test(NAME test_intensity_tree COMMAND test_intensity_tree)
 add_test(NAME test_bbx COMMAND test_bbx)
 
 set_tests_properties(ReadGraph PROPERTIES DEPENDS InsertScan)