ndt_voxel.hpp

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// Copyright 2019 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 <ndt/ndt_common.hpp>
#include <experimental/optional>
#include <voxel_grid/voxels.hpp>
#include "common/types.hpp"

using autoware::common::types::bool8_t;

namespace autoware
{
namespace localization
{
namespace ndt
{

enum class Invertibility
{
  INVERTIBLE,
  NOT_INVERTIBLE,
  UNKNOWN
};

class NDT_PUBLIC DynamicNDTVoxel
{
public:
  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_