ndt_voxel.hpp

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// Copyright 2019-2021 the Autoware Foundation
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
//
// Co-developed by Tier IV, Inc. and Apex.AI, Inc.
 
#ifndef NDT__NDT_VOXEL_HPP_
#define NDT__NDT_VOXEL_HPP_
 
#include <common/types.hpp>
#include <experimental/optional>
#include <ndt/ndt_common.hpp>
#include <voxel_grid/voxels.hpp>
 
#include <Eigen/Core>
 
using autoware::common::types::bool8_t;
 
namespace autoware
{
namespace localization
{
namespace ndt
{
 
enum class Invertibility
{
  INVERTIBLE,
  NOT_INVERTIBLE,
  UNKNOWN
};
 
class NDT_PUBLIC DynamicNDTVoxel
{
public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  using Point = Eigen::Vector3d;
  using Cov = Eigen::Matrix3d;
  DynamicNDTVoxel();
 
  // TODO(yunus.caliskan): make this configurable.
  // Number of points a voxel should have to count as occupied. Set to the dimension of a 3D point.
  static constexpr uint32_t NUM_POINT_THRESHOLD = 3U;
 
  void add_observation(const Point & pt);
 
  bool8_t try_stabilize();
 
  bool8_t usable() const noexcept;
 
  const Cov & covariance() const;
 
  std::experimental::optional<Cov> inverse_covariance() const;
 
  const Point & centroid() const;
 
  uint64_t count() const noexcept;
 
private:
  Point m_centroid;
  Cov m_M2;  // Used in covariance computation.
  Cov m_covariance;
  Invertibility m_invertible{Invertibility::UNKNOWN};
  uint64_t m_num_points{0U};
};
 
class NDT_PUBLIC StaticNDTVoxel
{
public:
  using Point = Eigen::Vector3d;
  using Cov = Eigen::Matrix3d;
  StaticNDTVoxel();
 
  StaticNDTVoxel(const Point & centroid, const Cov & inv_covariance);
 
  Cov covariance() const;
  const Point & centroid() const;
 
  const Cov & inverse_covariance() const;
 
  bool8_t usable() const noexcept;
 
private:
  Point m_centroid;
  Cov m_inv_covariance;
  bool8_t m_occupied{false};
};
}  // namespace ndt
}  // namespace localization
}  // namespace autoware
 
#endif  // NDT__NDT_VOXEL_HPP_