- "make dist" target to build source packages

- change detection in OccupancyOcTreeBase
FrankXie05 · Jul 27, 2011 · a8957f6 · a8957f6
1 parent 837116a
commit a8957f6
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Showing 4 changed files with 52 additions and 8 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -115,11 +115,23 @@ install_pkg_config_file(octomap
 # Documentation 
 FIND_PACKAGE(Doxygen)
 IF(DOXYGEN_FOUND)
-  ADD_CUSTOM_TARGET(docs ${DOXYGEN_EXECUTABLE} ${CMAKE_SOURCE_DIR}/octomap.dox
+  configure_file(${CMAKE_CURRENT_SOURCE_DIR}/octomap.dox.in ${CMAKE_CURRENT_BINARY_DIR}/octomap.dox @ONLY)
+  ADD_CUSTOM_TARGET(docs ${DOXYGEN_EXECUTABLE} ${CMAKE_CURRENT_BINARY_DIR}/octomap.dox
     WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
     COMMENT "Generating documentation (Doxygen)...")
 ENDIF(DOXYGEN_FOUND)
 
+# make package release from source
+SET(OCTOMAP_PKG_NAME "${PROJECT_NAME}-${OCTOMAP_VERSION}.tar.gz")
+ADD_CUSTOM_TARGET(dist 
+	rm -rf "${CMAKE_BINARY_DIR}/dist" "${CMAKE_BINARY_DIR}/${OCTOMAP_PKG_NAME}"
+	COMMAND mkdir "${CMAKE_BINARY_DIR}/dist"
+	COMMAND svn export --force -q "${CMAKE_SOURCE_DIR}" "${CMAKE_BINARY_DIR}/dist/${PROJECT_NAME}" 
+	COMMAND tar -czf "${CMAKE_BINARY_DIR}/${OCTOMAP_PKG_NAME}" -C "${CMAKE_BINARY_DIR}/dist" --exclude=".hidden" "${PROJECT_NAME}"
+		WORKING_DIRECTORY "${CMAKE_SOURCE_DIR}"
+)
+
+
 # Build viewer if available:
 INCLUDE(CMakeModules/BuildGLViewer.cmake)
 

diff --git a/include/octomap/OccupancyOcTreeBase.h b/include/octomap/OccupancyOcTreeBase.h
@@ -262,7 +262,7 @@ namespace octomap {
     //-- set BBX limit (limits tree updates to this bounding box  
 
     ///  use or ignore BBX limit (default: ignore)
-    void useBBXLimit(bool limit) { use_bbx_limit = limit; }
+    void useBBXLimit(bool enable) { use_bbx_limit = enable; }
     bool bbxSet() const { return use_bbx_limit; }
     /// sets the minimum for a query bounding box to use
     void setBBXMin (point3d& min);
@@ -279,6 +279,15 @@ namespace octomap {
     /// @return true if key is in the currently set bounding box
     bool inBBX(const OcTreeKey& key) const;
 
+    //-- change detection on occupancy:
+    /// track or ignore changes while inserting scans (default: ignore)
+    void enableChangeDetection(bool enable) { use_change_detection = enable; }
+    /// Reset the set of changed keys. Call this after you obtained all changed nodes.
+    void resetChangeSet(){changedKeys.clear();}
+
+    KeySet::const_iterator changedKeysBegin() {return changedKeys.begin();}
+    KeySet::const_iterator changedKeysEnd() {return changedKeys.end();}
+
     //-- parameters for occupancy and sensor model:
 
     /// sets the threshold for occupancy (sensor model)
@@ -430,13 +439,14 @@ namespace octomap {
 
 
   protected:
-    bool use_change_detection;
     bool use_bbx_limit;  ///< use bounding box for queries (needs to be set)?
     point3d bbx_min;
     point3d bbx_max;
     OcTreeKey bbx_min_key;
     OcTreeKey bbx_max_key;
 
+    bool use_change_detection;
+    KeySet changedKeys;
     // occupancy parameters of tree, stored in logodds:
     float clampingThresMin;
     float clampingThresMax;

diff --git a/include/octomap/OccupancyOcTreeBase.hxx b/include/octomap/OccupancyOcTreeBase.hxx
@@ -45,7 +45,7 @@ namespace octomap {
 
   template <class NODE>
   OccupancyOcTreeBase<NODE>::OccupancyOcTreeBase(double _resolution)
-    : OcTreeBase<NODE>(_resolution), use_bbx_limit(false)
+    : OcTreeBase<NODE>(_resolution), use_bbx_limit(false), use_change_detection(false)
   {
     // some sane default values:
     setOccupancyThres(0.5);   // = 0.0 in logodds
@@ -235,7 +235,7 @@ namespace octomap {
     return updateNodeRecurs(this->itsRoot, false, key, 0, log_odds_update, dirty);
   }
 
-
+  // TODO: use only one update function (log odds, change "occupied" flag into LO before update)
   template <class NODE>
   NODE* OccupancyOcTreeBase<NODE>::updateNodeRecurs(NODE* node, bool node_just_created,
                                                     const OcTreeKey& key, unsigned int depth,
@@ -279,8 +279,30 @@ namespace octomap {
 
     // at last level, update node, end of recursion
     else {
-      if (occupied) integrateHit(node);
-      else          integrateMiss(node);
+      if (use_change_detection){
+        bool occBefore = isNodeOccupied(node);
+
+        if (occupied)
+          integrateHit(node);
+        else
+          integrateMiss(node);
+
+        if (occBefore != isNodeOccupied(node)){ // occupancy changed, track it
+          KeySet::iterator it = changedKeys.find(key);
+          if(it == changedKeys.end()){
+            changedKeys.insert(key);
+          } else{
+            changedKeys.erase(it);
+          }
+        }
+      } else{
+
+
+        if (occupied)
+          integrateHit(node);
+        else
+          integrateMiss(node);
+      }
 
       return node;
     }

diff --git a/octomap.dox → octomap.dox.in b/octomap.dox → octomap.dox.in
@@ -31,7 +31,7 @@ PROJECT_NAME           = "octomap"
 # This could be handy for archiving the generated documentation or 
 # if some version control system is used.
 
-PROJECT_NUMBER         = 
+PROJECT_NUMBER         = @OCTOMAP_VERSION@
 
 # The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute) 
 # base path where the generated documentation will be put.