// this method is copied from OctomapServer.cpp and modified
void OctomapInterface::insertScan(const tf::Point& sensorOriginTf, const PCLPointCloud& ground, const PCLPointCloud& nonground){
octomap::point3d sensorOrigin = octomap::pointTfToOctomap(sensorOriginTf);
if (!m_octree->coordToKeyChecked(sensorOrigin, m_updateBBXMin)
|| !m_octree->coordToKeyChecked(sensorOrigin, m_updateBBXMax))
{
ROS_ERROR_STREAM("Could not generate Key for origin "<<sensorOrigin);
}
//
// add mask information to the point cloud
//
OpenRAVE::EnvironmentBasePtr penv = GetEnv();
// create a vector of masked bodies
std::vector<OpenRAVE::KinBodyPtr > maskedBodies;
{
boost::mutex::scoped_lock(m_maskedObjectsMutex);
for (std::vector<std::string >::const_iterator o_it = m_maskedObjects.begin(); o_it != m_maskedObjects.end(); o_it++)
{
KinBodyPtr pbody = penv->GetKinBody(*o_it);
if (pbody.get() != NULL)
{
maskedBodies.push_back( pbody );
}
}
}
int numBodies = maskedBodies.size();
// instead of direct scan insertion, compute update to filter ground:
octomap::KeySet free_cells, occupied_cells;
// insert ground points only as free:
for (PCLPointCloud::const_iterator it = ground.begin(); it != ground.end(); ++it){
octomap::point3d point(it->x, it->y, it->z);
// maxrange check
if ((m_maxRange > 0.0) && ((point - sensorOrigin).norm() > m_maxRange) ) {
point = sensorOrigin + (point - sensorOrigin).normalized() * m_maxRange;
}
// only clear space (ground points)
if (m_octree->computeRayKeys(sensorOrigin, point, m_keyRay)){
free_cells.insert(m_keyRay.begin(), m_keyRay.end());
}
octomap::OcTreeKey endKey;
if (m_octree->coordToKeyChecked(point, endKey)){
updateMinKey(endKey, m_updateBBXMin);
updateMaxKey(endKey, m_updateBBXMax);
} else{
ROS_ERROR_STREAM("Could not generate Key for endpoint "<<point);
}
}
penv->Add(m_sphere, true);
OpenRAVE::Transform tr;
// all other points: free on ray, occupied on endpoint:
for (PCLPointCloud::const_iterator it = nonground.begin(); it != nonground.end(); ++it){
octomap::point3d point(it->x, it->y, it->z);
tr.trans.x = it->x;
tr.trans.y = it->y;
tr.trans.z = it->z;
m_sphere->SetTransform(tr);
bool maskedHit = false;
for (int b_idx = 0; b_idx < numBodies; b_idx++)
{
if (penv->CheckCollision(maskedBodies[b_idx], m_sphere))
{
maskedHit = true;
break;
}
}
if (maskedHit)
{
// free cells
if (m_octree->computeRayKeys(sensorOrigin, point, m_keyRay)){
free_cells.insert(m_keyRay.begin(), m_keyRay.end());
}
}
else if ((m_maxRange < 0.0) || ((point - sensorOrigin).norm() <= m_maxRange) ) { // maxrange check
// free cells
if (m_octree->computeRayKeys(sensorOrigin, point, m_keyRay)){
free_cells.insert(m_keyRay.begin(), m_keyRay.end());
}
// occupied endpoint
octomap::OcTreeKey key;
if (m_octree->coordToKeyChecked(point, key)){
occupied_cells.insert(key);
updateMinKey(key, m_updateBBXMin);
updateMaxKey(key, m_updateBBXMax);
}
} else {// ray longer than maxrange:;
octomap::point3d new_end = sensorOrigin + (point - sensorOrigin).normalized() * m_maxRange;
if (m_octree->computeRayKeys(sensorOrigin, new_end, m_keyRay)){
free_cells.insert(m_keyRay.begin(), m_keyRay.end());
octomap::OcTreeKey endKey;
if (m_octree->coordToKeyChecked(new_end, endKey)){
updateMinKey(endKey, m_updateBBXMin);
updateMaxKey(endKey, m_updateBBXMax);
} else{
ROS_ERROR_STREAM("Could not generate Key for endpoint "<<new_end);
}
}
}
}
penv->Remove(m_sphere);
// mark free cells only if not seen occupied in this cloud
for(octomap::KeySet::iterator it = free_cells.begin(), end=free_cells.end(); it!= end; ++it){
if (occupied_cells.find(*it) == occupied_cells.end()){
m_octree->updateNode(*it, false);
}
}
// now mark all occupied cells:
for (octomap::KeySet::iterator it = occupied_cells.begin(), end=free_cells.end(); it!= end; it++) {
m_octree->updateNode(*it, true);
}
// TODO: eval lazy+updateInner vs. proper insertion
// non-lazy by default (updateInnerOccupancy() too slow for large maps)
//m_octree->updateInnerOccupancy();
octomap::point3d minPt, maxPt;
ROS_DEBUG_STREAM("Bounding box keys (before): " << m_updateBBXMin[0] << " " <<m_updateBBXMin[1] << " " << m_updateBBXMin[2] << " / " <<m_updateBBXMax[0] << " "<<m_updateBBXMax[1] << " "<< m_updateBBXMax[2]);
// TODO: snap max / min keys to larger voxels by m_maxTreeDepth
// if (m_maxTreeDepth < 16)
// {
// OcTreeKey tmpMin = getIndexKey(m_updateBBXMin, m_maxTreeDepth); // this should give us the first key at depth m_maxTreeDepth that is smaller or equal to m_updateBBXMin (i.e. lower left in 2D grid coordinates)
// OcTreeKey tmpMax = getIndexKey(m_updateBBXMax, m_maxTreeDepth); // see above, now add something to find upper right
// tmpMax[0]+= m_octree->getNodeSize( m_maxTreeDepth ) - 1;
// tmpMax[1]+= m_octree->getNodeSize( m_maxTreeDepth ) - 1;
// tmpMax[2]+= m_octree->getNodeSize( m_maxTreeDepth ) - 1;
// m_updateBBXMin = tmpMin;
// m_updateBBXMax = tmpMax;
// }
// TODO: we could also limit the bbx to be within the map bounds here (see publishing check)
minPt = m_octree->keyToCoord(m_updateBBXMin);
maxPt = m_octree->keyToCoord(m_updateBBXMax);
ROS_DEBUG_STREAM("Updated area bounding box: "<< minPt << " - "<<maxPt);
ROS_DEBUG_STREAM("Bounding box keys (after): " << m_updateBBXMin[0] << " " <<m_updateBBXMin[1] << " " << m_updateBBXMin[2] << " / " <<m_updateBBXMax[0] << " "<<m_updateBBXMax[1] << " "<< m_updateBBXMax[2]);
if (m_compressMap)
m_octree->prune();
}
