include/octomap/ScanGraph.h

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// $Id: ScanGraph.h 245 2011-08-09 10:00:53Z kai_wurm $

/*
 * Copyright (c) 2009, K. M. Wurm, A. Hornung, University of Freiburg
 * All rights reserved.
 *
 * 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_SCANGRAPH_H
#define OCTOMAP_SCANGRAPH_H


#include <string>
#include <math.h>

#include "Pointcloud.h"
#include "octomap_types.h"

namespace octomap {

  class ScanGraph;


  class ScanNode {

   public:

    ScanNode (Pointcloud* _scan, pose6d _pose, unsigned int _id)
      : scan(_scan), pose(_pose), id(_id) {}
    ScanNode ()
      : scan(NULL) {}

    ~ScanNode();

    bool operator == (const ScanNode& other) {
      return (id == other.id);
    }

    std::ostream& writeBinary(std::ostream &s) const;
    std::istream& readBinary(std::istream &s);

    std::ostream& writePoseASCII(std::ostream &s) const;
    std::istream& readPoseASCII(std::istream &s);

    Pointcloud* scan;
    pose6d pose; 
    unsigned int id;

  };

  class ScanEdge {

   public:

    ScanEdge(ScanNode* _first, ScanNode* _second, pose6d _constraint)
      : first(_first), second(_second), constraint(_constraint), weight(1.0) { }
    ScanEdge() {}

    bool operator == (const ScanEdge& other) {
      return ( (*first == *(other.first) ) && ( *second == *(other.second) ) );
    }

    std::ostream& writeBinary(std::ostream &s) const;
    // a graph has to be given to recover ScanNode pointers
    std::istream& readBinary(std::istream &s, ScanGraph& graph);

    std::ostream& writeASCII(std::ostream &s) const;
    std::istream& readASCII(std::istream &s, ScanGraph& graph);

    ScanNode* first;
    ScanNode* second;

    pose6d constraint;
    double weight;
  };


  class ScanGraph {

   public:

    ScanGraph() {};
    ~ScanGraph();

    void clear();

    ScanNode* addNode(Pointcloud* scan, pose6d pose);

    ScanEdge* addEdge(ScanNode* first, ScanNode* second, pose6d constraint);

    ScanEdge* addEdge(unsigned int first_id, unsigned int second_id);

    ScanNode* getNodeByID(unsigned int id);

    bool edgeExists(unsigned int first_id, unsigned int second_id);

    void connectPrevious();

    std::vector<unsigned int> getNeighborIDs(unsigned int id);
    std::vector<ScanEdge*> getOutEdges(ScanNode* node);
    // warning: constraints are reversed
    std::vector<ScanEdge*> getInEdges(ScanNode* node);

    void exportDot(std::string filename);

    void transformScans();

    void crop(point3d lowerBound, point3d upperBound);

    void cropEachScan(point3d lowerBound, point3d upperBound);


    typedef std::vector<ScanNode*>::iterator iterator;
    typedef std::vector<ScanNode*>::const_iterator const_iterator;
    iterator begin() { return nodes.begin(); }
    iterator end()   { return nodes.end(); }
    const_iterator begin() const { return nodes.begin(); }
    const_iterator end() const { return nodes.end(); }

    unsigned int size() const { return nodes.size(); }
    unsigned int getNumPoints(unsigned int max_id = -1) const;

    typedef std::vector<ScanEdge*>::iterator edge_iterator;
    typedef std::vector<ScanEdge*>::const_iterator const_edge_iterator;
    edge_iterator edges_begin() { return edges.begin(); }
    edge_iterator edges_end()  { return edges.end(); }
    const_edge_iterator edges_begin() const { return edges.begin(); }
    const_edge_iterator edges_end() const  { return edges.end(); }


    std::ostream& writeBinary(std::ostream &s) const;
    std::istream& readBinary(std::ifstream &s);
    bool writeBinary(const std::string& filename) const;
    bool readBinary(const std::string& filename);


    std::ostream& writeEdgesASCII(std::ostream &s) const;
    std::istream& readEdgesASCII(std::istream &s);

    std::ostream& writeNodePosesASCII(std::ostream &s) const;
    std::istream& readNodePosesASCII(std::istream &s);

    std::istream& readPlainASCII(std::istream& s);
    void readPlainASCII(const std::string& filename);

   protected:

    std::vector<ScanNode*> nodes;
    std::vector<ScanEdge*> edges;
  };

}


#endif