/usr/include/octomap/OcTreeBaseSE.hxx is in liboctomap-dev 1.6.8+dfsg-1.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 | /*
* OctoMap - An Efficient Probabilistic 3D Mapping Framework Based on Octrees
* http://octomap.github.com/
*
* 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 <limits>
#include <cmath>
#include <stdio.h>
#include <stdlib.h>
namespace octomap {
template <class NODE>
OcTreeBaseSE<NODE>::OcTreeBaseSE (double _resolution) :
OcTreeBase<NODE>(_resolution) {
lut = new OcTreeLUT (this->tree_depth);
}
template <class NODE>
OcTreeBaseSE<NODE>::~OcTreeBaseSE () {
delete lut;
}
template <class NODE>
bool OcTreeBaseSE<NODE>::computeRayKeys(const point3d& origin,
const point3d& end,
KeyRay& ray) const {
// std::cout << "using key ray method\n";
// see "A Faster Voxel Traversal Algorithm for Ray Tracing" by Amanatides & Woo
// basically: DDA in 3D
ray.reset();
OcTreeKey key_origin, key_end;
if ( !OcTreeBase<NODE>::coordToKeyChecked(origin, key_origin) ||
!OcTreeBase<NODE>::coordToKeyChecked(end, key_end) ) {
OCTOMAP_WARNING_STR("Coordinates out of bounds during ray casting");
return false;
}
ray.addKey(key_origin);
if (key_origin == key_end) return true; // same tree cell, we're done.
// Initialization phase -------------------------------------------------------
point3d direction = (end - origin);
double length = direction.norm2();
direction /= length; // normalize vector
int step[3];
double tMax[3];
double tDelta[3];
OcTreeKey current_key = key_origin;
for(unsigned int i=0; i < 3; ++i) {
// compute step direction
if (direction(i) > 0.0) step[i] = 1;
else if (direction(i) < 0.0) step[i] = -1;
else step[i] = 0;
// compute tMax, tDelta
double voxelBorder = this->keyToCoord(current_key[i]); // negative corner point of voxel
voxelBorder += double(step[i] * this->resolution * 0.5);
if (step[i] != 0) {
tMax[i] = ( voxelBorder - origin(i) ) / direction(i);
tDelta[i] = this->resolution / fabs( direction(i) );
}
else {
tMax[i] = std::numeric_limits<double>::max();
tDelta[i] = std::numeric_limits<double>::max();
}
}
// for speedup:
point3d origin_scaled = origin;
origin_scaled /= this->resolution;
double length_scaled = length - this->resolution/2.; // safety margin
length_scaled /= this->resolution; // scale
length_scaled = length_scaled*length_scaled; // avoid sqrt in dist comp.
// Incremental phase ---------------------------------------------------------
bool done = false;
while (!done) {
unsigned int dim;
// find minimum tMax:
if (tMax[0] < tMax[1]){
if (tMax[0] < tMax[2]) dim = 0;
else dim = 2;
}
else {
if (tMax[1] < tMax[2]) dim = 1;
else dim = 2;
}
// advance in direction "dim"
current_key[dim] += step[dim];
tMax[dim] += tDelta[dim];
assert ((current_key[dim] >= 0) && (current_key[dim] < 2*this->tree_max_val));
// reached endpoint, key equv?
if (current_key == key_end) {
done = true;
break;
}
else {
// reached endpoint world coords?
double dist_from_endpoint = 0;
for (unsigned int j = 0; j < 3; j++) {
double coord = (double) current_key[j] - (double) this->tree_max_val;
dist_from_endpoint += (coord - origin_scaled(j)) * (coord - origin_scaled(j));
}
if (dist_from_endpoint > length_scaled) {
done = true;
break;
}
else { // continue to add freespace cells
ray.addKey(current_key);
}
}
assert ( ray.size() < ray.sizeMax() - 1);
} // end while
return true;
}
template <class NODE>
NODE* OcTreeBaseSE<NODE>::getLUTNeighbor (const point3d& node_coord, OcTreeLUT::NeighborDirection dir) const {
OcTreeKey start_key;
if (! OcTreeBase<NODE>::coordToKeyChecked(node_coord, start_key)) {
OCTOMAP_ERROR_STR("Error in search: ["<< node_coord <<"] is out of OcTree bounds!");
return NULL;
}
OcTreeKey neighbor_key;
lut->genNeighborKey(start_key, (signed char&) dir, neighbor_key);
return this->search(neighbor_key);
}
}
|