Merge branch 'devel'

README.md

@@ -1,10 +1,10 @@
-OctoMap - A probabilistic, flexible, and compact 3D mapping library for robotic systems.
-========================================================================================
+OctoMap - An Efficient Probabilistic 3D Mapping Framework Based on Octrees.
+===========================================================================
 
+http://octomap.github.io
 
-Authors: Kai M. Wurm and Armin Hornung, University of Freiburg, Copyright (C) 2009-2014.
-http://octomap.github.com
-
+Originally developed by Kai M. Wurm and Armin Hornung, University of Freiburg, Copyright (C) 2009-2014.
+Currently maintained by [Armin Hornung](https://github.com/ahornung).
 See the [list of contributors](octomap/AUTHORS.txt) for further authors.
 
 License: 
@@ -13,7 +13,7 @@ License:
 
 
 Download the latest releases:
-  https://github.com/octomap/octomap/tags
+  https://github.com/octomap/octomap/releases
 
 API documentation:
   http://octomap.github.com/octomap/doc/

dynamicEDT3D/CMakeLists.txt

@@ -5,9 +5,10 @@ ENABLE_TESTING()
 
 # version (e.g. for packaging)
 set(DYNAMICEDT3D_MAJOR_VERSION 1)
-set(DYNAMICEDT3D_MINOR_VERSION 5)
-set(DYNAMICEDT3D_PATCH_VERSION 0)
+set(DYNAMICEDT3D_MINOR_VERSION 6)
+set(DYNAMICEDT3D_PATCH_VERSION 6)
 set(DYNAMICEDT3D_VERSION ${DYNAMICEDT3D_MAJOR_VERSION}.${DYNAMICEDT3D_MINOR_VERSION}.${DYNAMICEDT3D_PATCH_VERSION})
+set(DYNAMICEDT3D_SOVERSION ${DYNAMICEDT3D_MAJOR_VERSION}.${DYNAMICEDT3D_MINOR_VERSION})
 
 if(COMMAND cmake_policy)
   cmake_policy(SET CMP0003 NEW)

dynamicEDT3D/package.xml

@@ -0,0 +1,25 @@
+<package>
+  <name>dynamic_edt_3d</name>
+  <version>1.6.6</version>
+  <description> The dynamicEDT3D library implements an inrementally updatable Euclidean distance transform (EDT) in 3D. It comes with a wrapper to use the OctoMap 3D representation and hooks into the change detection of the OctoMap library to propagate changes to the EDT.</description>
+
+  <author email="sprunkc@informatik.uni-freiburg.de">Christoph Sprunk</author>
+  <maintainer email="sprunkc@informatik.uni-freiburg.de">Christoph Sprunk</maintainer>
+  <license>BSD</license>
+
+  <url type="website">http://octomap.github.io</url>
+  <url type="bugtracker">https://github.com/OctoMap/octomap/issues</url>
+
+  <build_depend>octomap</build_depend>
+
+  <run_depend>octomap</run_depend>  
+  <run_depend>catkin</run_depend>
+
+  <buildtool_depend>cmake</buildtool_depend>
+
+
+  <export>
+    <build_type>cmake</build_type>
+  </export>
+
+</package>

dynamicEDT3D/src/CMakeLists.txt

@@ -4,6 +4,10 @@ SET( dynamicEDT3D_SRCS
    )
 
 add_library(dynamicedt3d SHARED ${dynamicEDT3D_SRCS})
+set_target_properties(dynamicedt3d PROPERTIES
+  VERSION ${DYNAMICEDT3D_VERSION}
+  SOVERSION ${DYNAMICEDT3D_SOVERSION}
+)
 target_link_libraries(dynamicedt3d ${OCTOMAP_LIBRARIES})
 
 add_library(dynamicedt3d-static STATIC ${dynamicEDT3D_SRCS})

increase_version.py

@@ -24,8 +24,8 @@
 
 
 
-  manifests=["octomap/package.xml","octovis/package.xml"]
-  cmakelists=["octomap/CMakeLists.txt","octovis/CMakeLists.txt"]
+  manifests=["octomap/package.xml","octovis/package.xml","dynamicEDT3D/package.xml"]
+  cmakelists=["octomap/CMakeLists.txt","octovis/CMakeLists.txt","dynamicEDT3D/CMakeLists.txt"]
   versions = []
 
   # find versions in package.xml
@@ -100,8 +100,10 @@
     with open(manifest, 'w') as f:
       f.write(new_package_str)
 
-  print "Finished writing package.xml and CMakeLists.txt files."
-  print "Now check the output, adjust CHANGELOG, \"git commit\", and run \"git tag v%s\"." % new_version_str
+  print "Finished writing package.xml and CMakeLists.txt files.\n"
+  print "Now check the output, adjust CHANGELOG, and \"git commit\".\nFinally, run:"
+  print "  git checkout master && git merge --no-ff devel && git tag v%s" % new_version_str
+  print "  git push && git push --tags"
 
 
 

octomap/CHANGELOG.txt

@@ -1,3 +1,12 @@
+v1.6.6: 2014-05-26
+==================
+- Support for SOVERSION in the libraries for better packaging
+- Warning for unknown space in castRay() removed (needs to be inferred by
+  calling code depending on return value and endpoint voxel)
+- Marching cubes for ray surface intersection extended
+- Fixed QGLViewer include paths
+- ScanGraph read error no longer exits the process
+
 v1.6.5: 2014-03-14
 ==================
 - Fix octovis includes for QGLViewer > 2.5

octomap/CMakeLists.txt

@@ -6,8 +6,9 @@ ENABLE_TESTING()
 # version (e.g. for packaging)
 set(OCTOMAP_MAJOR_VERSION 1)
 set(OCTOMAP_MINOR_VERSION 6)
-set(OCTOMAP_PATCH_VERSION 5)
+set(OCTOMAP_PATCH_VERSION 6)
 set(OCTOMAP_VERSION ${OCTOMAP_MAJOR_VERSION}.${OCTOMAP_MINOR_VERSION}.${OCTOMAP_PATCH_VERSION})
+set(OCTOMAP_SOVERSION ${OCTOMAP_MAJOR_VERSION}.${OCTOMAP_MINOR_VERSION})
 if(COMMAND cmake_policy)
   cmake_policy(SET CMP0003 NEW)
 endif(COMMAND cmake_policy)

octomap/include/octomap/MCTables.h

@@ -334,18 +334,22 @@ namespace octomap {
 	{-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}};
 
 	static const point3d vertexList[12] = 
-	{point3d(0, 1, -1),
-	 point3d(1, 0, -1),
-	 point3d(0, -1, -1),
-	 point3d(-1, 0, -1),
-	 point3d(0, 1, 1),
-	 point3d(1, 0, 1),
-	 point3d(0, -1, 1),
-	 point3d(-1, 0, 1),
-	 point3d(-1, 1, 0),
-	 point3d(1, 1, 0),
-	 point3d(1, -1, 0),
-	 point3d(-1, -1, 0)};
+	{
+		point3d(1, 0, -1),
+		point3d(0, -1, -1),
+		point3d(-1, 0, -1),
+		point3d(0, 1, -1),
+
+		point3d(1, 0, 1),
+		point3d(0, -1, 1),
+		point3d(-1, 0, 1),
+		point3d(0, 1, 1),
+
+		point3d(1, 1, 0),
+		point3d(1, -1, 0),
+		point3d(-1, -1, 0),
+		point3d(-1, 1, 0),
+	};
 
  }
 #endif

octomap/include/octomap/OccupancyOcTreeBase.h

@@ -309,16 +309,19 @@ namespace octomap {
      * Performs raycasting in 3d, similar to computeRay(). Can be called in parallel e.g. with OpenMP
      * for a speedup.
      *
-     * A ray is cast from origin with a given direction, the first occupied
-     * cell is returned (as center coordinate). If the starting coordinate is already
-     * occupied in the tree, this coordinate will be returned as a hit.
+     * A ray is cast from 'origin' with a given direction, the first non-free
+     * cell is returned in 'end' (as center coordinate). This could also be the 
+     * origin node if it is occupied or unknown. castRay() returns true if an occupied node
+     * was hit by the raycast. If the raycast returns false you can search() the node at 'end' and
+     * see whether it's unknown space.
+     * 
      *
      * @param[in] origin starting coordinate of ray
-     * @param[in] direction A vector pointing in the direction of the raycast. Does not need to be normalized.
-     * @param[out] end returns the center of the cell that was hit by the ray, if successful
-     * @param[in] ignoreUnknownCells whether unknown cells are ignored. If false (default), the raycast aborts when an unknown cell is hit.
+     * @param[in] direction A vector pointing in the direction of the raycast (NOT a point in space). Does not need to be normalized.
+     * @param[out] end returns the center of the last cell on the ray. If the function returns true, it is occupied.
+     * @param[in] ignoreUnknownCells whether unknown cells are ignored (= treated as free). If false (default), the raycast aborts when an unknown cell is hit and returns false.
      * @param[in] maxRange Maximum range after which the raycast is aborted (<= 0: no limit, default)
-     * @return whether or not an occupied cell was hit
+     * @return true if an occupied cell was hit, false if the maximum range or octree bounds are reached, or if an unknown node was hit.
      */
     virtual bool castRay(const point3d& origin, const point3d& direction, point3d& end,
                  bool ignoreUnknownCells=false, double maxRange=-1.0) const;

octomap/include/octomap/OccupancyOcTreeBase.hxx

@@ -567,63 +567,78 @@ namespace octomap {
       return false;
     }
 
+    // OCTOMAP_WARNING("Normal for %f, %f, %f\n", point.x(), point.y(), point.z());
+
     int vertex_values[8];
 
     OcTreeKey current_key;
     NODE* current_node;
 
-    int x_index[4] = {-1, 1, 1, -1};
-    int y_index[4] = {1, 1, -1, -1};
-    int z_index[2] = {-1, 1};
-
-    int k = 0;
-    for(int j = 0; j < 2; ++j){
-      for(int i = 0; i < 4; ++i){
-        current_key[0] = init_key[0] + x_index[i];
-        current_key[1] = init_key[1] + y_index[i];
-        current_key[2] = init_key[2] + z_index[j];
-        current_node = this->search(current_key);
-
-        if(current_node){
-          vertex_values[k] = this->isNodeOccupied(current_node);
-
-          // point3d coord = this->keyToCoord(current_key);
-          // OCTOMAP_WARNING_STR("vertex " << k << " at " << coord << "; value " << vertex_values[k]);
-        }else{
-          // Occupancy of unknown cells
-          vertex_values[k] = unknownStatus;
+    // There is 8 neighbouring sets
+    // The current cube can be at any of the 8 vertex
+    int x_index[4][4] = {{1, 1, 0, 0}, {1, 1, 0, 0}, {0, 0 -1, -1}, {0, 0 -1, -1}};
+    int y_index[4][4] = {{1, 0, 0, 1}, {0, -1, -1, 0}, {0, -1, -1, 0}, {1, 0, 0, 1}};
+    int z_index[2][2] = {{0, 1}, {-1, 0}};
+
+    // Iterate over the 8 neighboring sets
+    for(int m = 0; m < 2; ++m){
+      for(int l = 0; l < 4; ++l){
+
+        int k = 0;
+        // Iterate over the cubes
+        for(int j = 0; j < 2; ++j){
+          for(int i = 0; i < 4; ++i){
+            current_key[0] = init_key[0] + x_index[l][i];
+            current_key[1] = init_key[1] + y_index[l][i];
+            current_key[2] = init_key[2] + z_index[m][j];
+            current_node = this->search(current_key);
+
+            if(current_node){
+              vertex_values[k] = this->isNodeOccupied(current_node);
+
+              // point3d coord = this->keyToCoord(current_key);
+              // OCTOMAP_WARNING_STR("vertex " << k << " at " << coord << "; value " << vertex_values[k]);
+            }else{
+              // Occupancy of unknown cells
+              vertex_values[k] = unknownStatus;
+            }
+            ++k;
+          }
         }
-        ++k;
-      }
-    }
 
-    int cube_index = 0;
-    if (vertex_values[0]) cube_index |= 1;
-    if (vertex_values[1]) cube_index |= 2;
-    if (vertex_values[2]) cube_index |= 4;
-    if (vertex_values[3]) cube_index |= 8;
-    if (vertex_values[4]) cube_index |= 16;
-    if (vertex_values[5]) cube_index |= 32;
-    if (vertex_values[6]) cube_index |= 64;
-    if (vertex_values[7]) cube_index |= 128;
-
-    // OCTOMAP_WARNING_STR("cubde_index: " << cube_index);
-
-    // All vertices are occupied or free resulting in no normal
-    if (edgeTable[cube_index] == 0)
-      return true;
-
-    // No interpolation is done yet, we use vertexList in <MCTables.h>.
-    for(int i = 0; triTable[cube_index][i] != -1; i += 3){
-      point3d p1 = vertexList[triTable[cube_index][i  ]];
-      point3d p2 = vertexList[triTable[cube_index][i+1]];
-      point3d p3 = vertexList[triTable[cube_index][i+2]];
-      point3d v1 = p2 - p1;
-      point3d v2 = p3 - p1;
-
-      // Right hand side cross product to retrieve the normal in the good
-      // direction (pointing to the free nodes).
-      normals.push_back(v1.cross(v2).normalize());
+        int cube_index = 0;
+        if (vertex_values[0]) cube_index |= 1;
+        if (vertex_values[1]) cube_index |= 2;
+        if (vertex_values[2]) cube_index |= 4;
+        if (vertex_values[3]) cube_index |= 8;
+        if (vertex_values[4]) cube_index |= 16;
+        if (vertex_values[5]) cube_index |= 32;
+        if (vertex_values[6]) cube_index |= 64;
+        if (vertex_values[7]) cube_index |= 128;
+
+        // OCTOMAP_WARNING_STR("cubde_index: " << cube_index);
+
+        // All vertices are occupied or free resulting in no normal
+        if (edgeTable[cube_index] == 0)
+          return true;
+
+        // No interpolation is done yet, we use vertexList in <MCTables.h>.
+        for(int i = 0; triTable[cube_index][i] != -1; i += 3){
+          point3d p1 = vertexList[triTable[cube_index][i  ]];
+          point3d p2 = vertexList[triTable[cube_index][i+1]];
+          point3d p3 = vertexList[triTable[cube_index][i+2]];
+          point3d v1 = p2 - p1;
+          point3d v2 = p3 - p1;
+
+          // OCTOMAP_WARNING("Vertex p1 %f, %f, %f\n", p1.x(), p1.y(), p1.z());
+          // OCTOMAP_WARNING("Vertex p2 %f, %f, %f\n", p2.x(), p2.y(), p2.z());
+          // OCTOMAP_WARNING("Vertex p3 %f, %f, %f\n", p3.x(), p3.y(), p3.z());
+
+          // Right hand side cross product to retrieve the normal in the good
+          // direction (pointing to the free nodes).
+          normals.push_back(v1.cross(v2).normalize());
+        }
+      }
     }
 
     return true;
@@ -651,7 +666,6 @@ namespace octomap {
         return true;
       }
     } else if(!ignoreUnknown){
-      OCTOMAP_ERROR_STR("Origin node at " << origin << " for raycasting not found, does the node exist?");
       end = this->keyToCoord(current_key);
       return false;
     }
@@ -746,7 +760,6 @@ namespace octomap {
         }
         // otherwise: node is free and valid, raycasting continues
       } else if (!ignoreUnknown){ // no node found, this usually means we are in "unknown" areas
-        OCTOMAP_WARNING_STR("Search failed in OcTree::castRay() => an unknown area was hit in the map: " << end);
         return false;
       }
     } // end while

octomap/octomap-config.cmake.in

@@ -7,13 +7,15 @@
 #    In your CMakeLists.txt, add these lines:
 #
 #    FIND_PACKAGE(octomap REQUIRED )
+#    INCLUDE_DIRECTORIES(${OCTOMAP_INCLUDE_DIRS})
 #    TARGET_LINK_LIBRARIES(MY_TARGET_NAME ${OCTOMAP_LIBRARIES})
 #
+#
 #    This file will define the following variables:
 #      - OCTOMAP_LIBRARIES      : The list of libraries to links against.
 #      - OCTOMAP_LIBRARY_DIRS   : The directory where lib files are. Calling
 #                                 LINK_DIRECTORIES with this path is NOT needed.
-#      - OCTOMAP_INCLUDE_DIRS   : The OpenCV include directories.
+#      - OCTOMAP_INCLUDE_DIRS   : The OctoMap include directories.
 #
 # Based on the example CMake Tutorial
 # http://www.vtk.org/Wiki/CMake/Tutorials/How_to_create_a_ProjectConfig.cmake_file

octomap/package.xml

@@ -1,6 +1,6 @@
 <package>
   <name>octomap</name>
-  <version>1.6.5</version>
+  <version>1.6.6</version>
   <description>The OctoMap library implements a 3D occupancy grid mapping approach, providing data structures and mapping algorithms in C++. The map implementation is based on an octree. See
   http://octomap.github.io for details.</description>
 

octomap/src/CMakeLists.txt

@@ -13,6 +13,10 @@ SET (octomap_SRCS
 
 # dynamic and static libs, see CMake FAQ:
 ADD_LIBRARY( octomap SHARED ${octomap_SRCS})
+set_target_properties( octomap PROPERTIES
+  VERSION ${OCTOMAP_VERSION}
+  SOVERSION ${OCTOMAP_SOVERSION}
+)
 ADD_LIBRARY( octomap-static STATIC ${octomap_SRCS})
 SET_TARGET_PROPERTIES(octomap-static PROPERTIES OUTPUT_NAME "octomap") 
 

octomap/src/ScanGraph.cpp

@@ -363,8 +363,8 @@ namespace octomap {
 
   std::istream& ScanGraph::readBinary(std::ifstream &s) {
     if (!s.is_open()){
-      OCTOMAP_ERROR_STR("Could not read from input filestream in ScanGraph::readBinary, exiting!");
-      exit(0);
+      OCTOMAP_ERROR_STR("Could not read from input filestream in ScanGraph::readBinary");
+      return s;
     } else if (!s.good()){
       OCTOMAP_WARNING_STR("Input filestream not \"good\" in ScanGraph::readBinary");
     }

octomap/src/bt2vrml.cpp

@@ -98,4 +98,5 @@ int main(int argc, char** argv) {
 
   std::cout << "Finished writing "<< count << " voxels to " << vrmlFilename << std::endl;
 
+  return 0;
 }

octomap/src/compare_octrees.cpp

@@ -153,4 +153,6 @@ int main(int argc, char** argv) {
 
   delete tree1;
   delete tree2;
+
+  return 0;
 }

octomap/src/convert_octree.cpp

@@ -143,6 +143,6 @@ int main(int argc, char** argv) {
 
 
   std::cout << "Finished writing to " << outputFilename << std::endl;
-  exit(0);
-
+
+  return 0;
 }