Merge branch 'devel' for 1.8.0 release

dynamicEDT3D/CMakeLists.txt

@@ -5,8 +5,8 @@ ENABLE_TESTING()
 
 # version (e.g. for packaging)
 set(DYNAMICEDT3D_MAJOR_VERSION 1)
-set(DYNAMICEDT3D_MINOR_VERSION 7)
-set(DYNAMICEDT3D_PATCH_VERSION 2)
+set(DYNAMICEDT3D_MINOR_VERSION 8)
+set(DYNAMICEDT3D_PATCH_VERSION 0)
 set(DYNAMICEDT3D_VERSION ${DYNAMICEDT3D_MAJOR_VERSION}.${DYNAMICEDT3D_MINOR_VERSION}.${DYNAMICEDT3D_PATCH_VERSION})
 set(DYNAMICEDT3D_SOVERSION ${DYNAMICEDT3D_MAJOR_VERSION}.${DYNAMICEDT3D_MINOR_VERSION})
 
@@ -50,6 +50,9 @@ find_package(octomap REQUIRED
   HINTS ${CMAKE_SOURCE_DIR}/lib/cmake/octomap
    ${CMAKE_SOURCE_DIR}/../octomap/lib/cmake/octomap
 )
+MESSAGE(STATUS "Found octomap version: " ${octomap_VERSION})
+MESSAGE(STATUS "octomap libraries: ${OCTOMAP_LIBRARIES}")
+
 INCLUDE_DIRECTORIES(${OCTOMAP_INCLUDE_DIRS})
 
 ADD_SUBDIRECTORY(src)

dynamicEDT3D/package.xml

@@ -1,6 +1,6 @@
 <package>
   <name>dynamic_edt_3d</name>
-  <version>1.7.2</version>
+  <version>1.8.0</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="[email protected]">Christoph Sprunk</author>

increase_version.py

@@ -103,7 +103,8 @@
   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"
+  print "  git push origin master devel && git push --tags"
+  print "\n(adjust when not on the \"devel\" branch)\n"
 
 
 

octomap/AUTHORS.txt

@@ -9,4 +9,7 @@ Further contributors:
 * R. Bogdan Rusu, Willow Garage Inc.
 * C. Dornhege, University of Freiburg
 * F-M. de Rainville, Universite Laval Quebec
-* B. Jensen, TU Munich
+* B. Jensen, TU Munich
+* A. Ecins, University of Maryland
+* C. Brew
+* F. Boniardi, University of Freiburg

octomap/CHANGELOG.txt

@@ -1,3 +1,31 @@
+v1.8.0: 2016-04-20
+==================
+- Fixed #98: The tree structure in memory is now maintained in OcTreeBaseImpl to 
+  enable safely deriving custom node classes. The following functions were 
+  moved from OcTreeDataNode into OcTreeBaseImpl:
+    createChild(...) -> OcTreeBaseImpl::createNodeChild(...)
+    getChild(...)    -> OcTreeBaseImpl::getNodeChild(...)
+    expandNode()     -> OcTreeBaseImpl::expandNode(...)
+    pruneNode()      -> OcTreeBaseImpl::pruneNode(...)
+    hasChildren()    -> OcTreeBaseImpl::nodeHasChildren(...)
+    childExists(...) -> OcTreeBaseImpl::nodeChildExist(...)
+    collapsible()    -> OcTreeBaseImpl::isNodeCollapsible(...)
+  If you use custom derived node classes, you need to adjust your code to the 
+  new API (have a look at ColorOcTree.h as an example). In particular, you 
+  should no longer use the above node member functions in your nodes.
+- Extended unit tests for the new memory management
+- Added valgrind memcheck suppression file with known ("wanted") leaks due to 
+  StaticMemberInitializer.
+- Replaced `unsigned short int` for key values with octomap::key_type 
+  (=uint16_t) and unsigned char with uint8_t in API.
+- Cleaned up OcTreeKey and KeyRay API (used internally)
+- Reduced unneeded memory for StaticMemberInitializer 
+- Cleaned up const refs to primitive types in ColorOcTree interface
+- Removed deprecated insertScan functions (replaced by insertPointCloud)
+- Removed no longer used ROS logging macros and unmaintained  OcTreeLUT, 
+  OcTreeBaseSE classes
+- octovis: Internal version of libQGLViewer updated to 2.6.3
+
 v1.7.2: 2016-03-26
 ==================
 - BBX iterators fixed for empty trees (point3d version)

octomap/CMakeLists.txt

@@ -5,8 +5,8 @@ ENABLE_TESTING()
 
 # version (e.g. for packaging)
 set(OCTOMAP_MAJOR_VERSION 1)
-set(OCTOMAP_MINOR_VERSION 7)
-set(OCTOMAP_PATCH_VERSION 2)
+set(OCTOMAP_MINOR_VERSION 8)
+set(OCTOMAP_PATCH_VERSION 0)
 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)

octomap/include/octomap/ColorOcTree.h

@@ -41,22 +41,26 @@
 
 namespace octomap {
 
+  // forward declaraton for "friend"
+  class ColorOcTree;
+
   // node definition
   class ColorOcTreeNode : public OcTreeNode {    
   public:
+    friend class ColorOcTree; // needs access to node children (inherited)
 
     class Color {
     public:
     Color() : r(255), g(255), b(255) {}
-    Color(unsigned char _r, unsigned char _g, unsigned char _b) 
+    Color(uint8_t _r, uint8_t _g, uint8_t _b) 
       : r(_r), g(_g), b(_b) {}
       inline bool operator== (const Color &other) const {
         return (r==other.r && g==other.g && b==other.b);
       }
       inline bool operator!= (const Color &other) const {
         return (r!=other.r || g!=other.g || b!=other.b);
       }
-      unsigned char r, g, b;
+      uint8_t r, g, b;
     };
 
   public:
@@ -68,26 +72,14 @@ namespace octomap {
       return (rhs.value == value && rhs.color == color);
     }
 
-    // children
-    inline ColorOcTreeNode* getChild(unsigned int i) {
-      return static_cast<ColorOcTreeNode*> (OcTreeNode::getChild(i));
-    }
-    inline const ColorOcTreeNode* getChild(unsigned int i) const {
-      return static_cast<const ColorOcTreeNode*> (OcTreeNode::getChild(i));
+    void copyData(const ColorOcTreeNode& from){
+      OcTreeNode::copyData(from);
+      this->color =  from.getColor();
     }
-
-    bool createChild(unsigned int i) {
-      if (children == NULL) allocChildren();
-      children[i] = new ColorOcTreeNode();
-      return true;
-    }
-
-    bool pruneNode();
-    void expandNode();
-
+
     inline Color getColor() const { return color; }
     inline void  setColor(Color c) {this->color = c; }
-    inline void  setColor(unsigned char r, unsigned char g, unsigned char b) {
+    inline void  setColor(uint8_t r, uint8_t g, uint8_t b) {
       this->color = Color(r,g,b); 
     }
 
@@ -104,8 +96,8 @@ namespace octomap {
     ColorOcTreeNode::Color getAverageChildColor() const;
 
     // file I/O
-    std::istream& readValue (std::istream &s);
-    std::ostream& writeValue(std::ostream &s) const;
+    std::istream& readData(std::istream &s);
+    std::ostream& writeData(std::ostream &s) const;
 
   protected:
     Color color;
@@ -124,38 +116,48 @@ namespace octomap {
     ColorOcTree* create() const {return new ColorOcTree(resolution); }
 
     std::string getTreeType() const {return "ColorOcTree";}
-
+
+     /**
+     * Prunes a node when it is collapsible. This overloaded
+     * version only considers the node occupancy for pruning,
+     * different colors of child nodes are ignored.
+     * @return true if pruning was successful
+     */
+    virtual bool pruneNode(ColorOcTreeNode* node);
+
+    virtual bool isNodeCollapsible(const ColorOcTreeNode* node) const;
+
     // set node color at given key or coordinate. Replaces previous color.
-    ColorOcTreeNode* setNodeColor(const OcTreeKey& key, const unsigned char& r, 
-                                 const unsigned char& g, const unsigned char& b);
+    ColorOcTreeNode* setNodeColor(const OcTreeKey& key, uint8_t r, 
+                                 uint8_t g, uint8_t b);
 
-    ColorOcTreeNode* setNodeColor(const float& x, const float& y, 
-                                 const float& z, const unsigned char& r, 
-                                 const unsigned char& g, const unsigned char& b) {
+    ColorOcTreeNode* setNodeColor(float x, float y, 
+                                 float z, uint8_t r, 
+                                 uint8_t g, uint8_t b) {
       OcTreeKey key;
       if (!this->coordToKeyChecked(point3d(x,y,z), key)) return NULL;
       return setNodeColor(key,r,g,b);
     }
 
     // integrate color measurement at given key or coordinate. Average with previous color
-    ColorOcTreeNode* averageNodeColor(const OcTreeKey& key, const unsigned char& r, 
-                                  const unsigned char& g, const unsigned char& b);
+    ColorOcTreeNode* averageNodeColor(const OcTreeKey& key, uint8_t r, 
+                                  uint8_t g, uint8_t b);
 
-    ColorOcTreeNode* averageNodeColor(const float& x, const float& y, 
-                                      const float& z, const unsigned char& r, 
-                                      const unsigned char& g, const unsigned char& b) {
+    ColorOcTreeNode* averageNodeColor(float x, float y, 
+                                      float z, uint8_t r, 
+                                      uint8_t g, uint8_t b) {
       OcTreeKey key;
       if (!this->coordToKeyChecked(point3d(x,y,z), key)) return NULL;
       return averageNodeColor(key,r,g,b);
     }
 
     // integrate color measurement at given key or coordinate. Average with previous color
-    ColorOcTreeNode* integrateNodeColor(const OcTreeKey& key, const unsigned char& r, 
-                                  const unsigned char& g, const unsigned char& b);
+    ColorOcTreeNode* integrateNodeColor(const OcTreeKey& key, uint8_t r, 
+                                  uint8_t g, uint8_t b);
 
-    ColorOcTreeNode* integrateNodeColor(const float& x, const float& y, 
-                                      const float& z, const unsigned char& r, 
-                                      const unsigned char& g, const unsigned char& b) {
+    ColorOcTreeNode* integrateNodeColor(float x, float y, 
+                                      float z, uint8_t r, 
+                                      uint8_t g, uint8_t b) {
       OcTreeKey key;
       if (!this->coordToKeyChecked(point3d(x,y,z), key)) return NULL;
       return integrateNodeColor(key,r,g,b);
@@ -181,6 +183,7 @@ namespace octomap {
        public:
          StaticMemberInitializer() {
            ColorOcTree* tree = new ColorOcTree(0.1);
+           tree->clearKeyRays();
            AbstractOcTree::registerTreeType(tree);
          }
 

octomap/include/octomap/CountingOcTree.h

@@ -56,22 +56,11 @@ namespace octomap {
 
     CountingOcTreeNode();
     ~CountingOcTreeNode();
-    bool createChild(unsigned int i);
-
-    inline CountingOcTreeNode* getChild(unsigned int i) {
-      return static_cast<CountingOcTreeNode*> (OcTreeDataNode<unsigned int>::getChild(i));
-    }
-
-    inline const CountingOcTreeNode* getChild(unsigned int i) const {
-      return static_cast<const CountingOcTreeNode*> (OcTreeDataNode<unsigned int>::getChild(i));
-    }
-
+
     inline unsigned int getCount() const { return getValue(); }
     inline void increaseCount() { value++; }
     inline void setCount(unsigned c) {this->setValue(c); }
 
-    // overloaded:
-    void expandNode();
   };
 
 
@@ -82,8 +71,7 @@ namespace octomap {
    * Count is recursive, parent nodes have the summed count of their
    * children.
    *
-   * \note In our mapping system this data structure is used in
-   *       the sensor model only. Do not use, e.g., insertScan.
+   * \note Was only used internally, not used anymore
    */
   class CountingOcTree : public OcTreeBase <CountingOcTreeNode> {
 
@@ -113,6 +101,7 @@ namespace octomap {
        public:
          StaticMemberInitializer() {
            CountingOcTree* tree = new CountingOcTree(0.1);
+           tree->clearKeyRays();
            AbstractOcTree::registerTreeType(tree);
          }
 

octomap/include/octomap/OcTree.h

@@ -80,6 +80,7 @@ namespace octomap {
     public:
       StaticMemberInitializer() {
         OcTree* tree = new OcTree(0.1);
+        tree->clearKeyRays();
         AbstractOcTree::registerTreeType(tree);
       }