octree.hpp

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/*
 * SPDX-FileCopyrightText: 2016-2019 Emanuele Vespa
 * SPDX-FileCopyrightText: 2019-2024 Smart Robotics Lab, Imperial College London, Technical University of Munich
 * SPDX-FileCopyrightText: 2019-2021 Nils Funk
 * SPDX-FileCopyrightText: 2019-2024 Sotiris Papatheodorou
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef SE_OCTREE_HPP
#define SE_OCTREE_HPP
 
#include <Eigen/Geometry>
#include <memory>
#include <se/map/algorithms/marching_cube.hpp>
#include <se/map/algorithms/mesh.hpp>
#include <se/map/algorithms/structure_meshing.hpp>
#include <se/map/io/mesh_io.hpp>
#include <se/map/octree/iterator.hpp>
#include <se/map/utils/memory_pool.hpp>
 
namespace se {
 
template<typename DataT, Res ResT = Res::Single, int BlockSize = 8>
class Octree {
    public:
    typedef std::shared_ptr<Octree<DataT, ResT, BlockSize>> Ptr;
    typedef DataT DataType;
    typedef Node<DataT, ResT> NodeType;
    typedef Block<DataT, ResT, BlockSize> BlockType;
    typedef TriangleMesh<DataT::col_, DataT::sem_> SurfaceMesh;
    typedef QuadMesh<Colour::Off, Semantics::Off> StructureMesh;
 
    Octree(const int size);
 
    Octree(const Octree&) = delete;
 
    Octree& operator=(const Octree&) = delete;
 
    OctreeIterator<Octree<DataT, ResT, BlockSize>> begin();
    OctreeIterator<const Octree<DataT, ResT, BlockSize>> begin() const;
    OctreeIterator<const Octree<DataT, ResT, BlockSize>> cbegin() const;
    OctreeIterator<Octree<DataT, ResT, BlockSize>> end();
    OctreeIterator<const Octree<DataT, ResT, BlockSize>> end() const;
    OctreeIterator<const Octree<DataT, ResT, BlockSize>> cend() const;
 
    bool contains(const Eigen::Vector3i& voxel_coord) const;
 
    OctantBase* getRoot();
 
    OctantBase* getRoot() const;
 
    int getSize() const;
 
    int getMaxScale() const;
 
    int getBlockDepth() const;
 
    SurfaceMesh mesh(const Eigen::Affine3f& T_OV = Eigen::Affine3f::Identity(),
                     const int min_desired_scale = 0) const;
 
    int saveMesh(const std::string& filename,
                 const Eigen::Affine3f& T_OV = Eigen::Affine3f::Identity(),
                 const int min_desired_scale = 0) const;
 
    StructureMesh structure(const Eigen::Affine3f& T_OV = Eigen::Affine3f::Identity(),
                            const bool only_leaves = true) const;
 
    int saveStructure(const std::string& filename,
                      const Eigen::Affine3f& T_OV = Eigen::Affine3f::Identity(),
                      const bool only_leaves = true) const;
 
    bool allocate(NodeType* const parent_ptr, const int child_idx, OctantBase*& child_ptr);
 
    void allocateChildren(NodeType* const parent_ptr);
 
    void deleteChildren(NodeType* const parent_ptr);
 
    const Eigen::AlignedBox3i& aabb() const;
 
    void aabbExtend(const Eigen::Vector3i& voxel_coord, const int size);
 
    static constexpr Field fld_ = DataT::fld_;
    static constexpr Colour col_ = DataT::col_;
    static constexpr Semantics sem_ = DataT::sem_;
    static constexpr Res res_ = ResT;
    static constexpr int block_size = BlockSize;
    static constexpr scale_t max_block_scale = octantops::size_to_scale(BlockSize);
 
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
    private:
    const int size_;
    // Allocates and deallocates memory for nodes and blocks.
    MemoryPool<NodeType, BlockType> memory_pool_;
    OctantBase* const root_ptr_; // The pointer lifetime is managed by memory_pool_.
    Eigen::AlignedBox3i aabb_;
};
 
} // namespace se
 
#include "impl/octree_impl.hpp"
 
#endif // SE_OCTREE_HPP