Add map skeletonizer for Revit floor plans (graph generation)

map_skeletonizer/.clang-format

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+BasedOnStyle: Google
+UseTab: Never
+ColumnLimit: 80
+AccessModifierOffset: -2
+AlignConsecutiveAssignments: true
+AlignConsecutiveMacros: true

map_skeletonizer/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.0.2)
+project(map_skeletonizer)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+set(CMAKE_CXX_STANDARD 14)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  cad2cav_types
+  roscpp
+)
+
+## System dependencies are found with CMake's conventions
+find_package(Boost REQUIRED)
+find_package(Eigen3 REQUIRED)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   std_msgs  # Or other packages containing msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+  INCLUDE_DIRS include
+  LIBRARIES map_skeletonizer
+  CATKIN_DEPENDS cad2cav_types roscpp
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+  include
+  ${catkin_INCLUDE_DIRS}
+  ${Boost_INCLUDE_DIR}
+  ${EIGEN3_INCLUDE_DIR}
+)
+
+## Declare a C++ library
+add_library(${PROJECT_NAME}
+  src/distance_map.cpp
+)
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/map_skeletonizer_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+target_link_libraries(${PROJECT_NAME}
+  ${catkin_LIBRARIES}
+  ${Boost_LIBRARIES}
+)
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# catkin_install_python(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+# install(TARGETS ${PROJECT_NAME}_node
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+install(TARGETS ${PROJECT_NAME}
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+)
+
+## Mark cpp header files for installation
+install(DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+  FILES_MATCHING
+  PATTERN "*.h"
+  PATTERN "*.hpp"
+  PATTERN ".svn" EXCLUDE
+)
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_map_skeletonizer.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)

map_skeletonizer/include/map_skeletonizer/distance_map.hpp

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+#ifndef __MAP_SKELETONIZER_DISTANCE_MAP_HPP__
+#define __MAP_SKELETONIZER_DISTANCE_MAP_HPP__
+
+/**
+ * @file distance_map.hpp
+ * @author Zhihao Ruan ([email protected])
+ *
+ * @brief Implements distance map update strategy in:
+ *    B. Lau, C. Sprunk and W. Burgard, "Improved updating of Euclidean distance
+ *  maps and Voronoi diagrams," IROS 2010.
+ *
+ * @date 2021-11-14
+ */
+
+#include <Eigen/Dense>
+#include <limits>
+#include <queue>
+#include <vector>
+
+#include "cad2cav_types/types.hpp"
+
+namespace cad2cav {
+namespace skeletonizer {
+
+struct CellAttribute {
+  Eigen::Vector2i obs_pos;  // position of the closest obstacle in map
+  bool to_raise;
+  bool on_voronoi;
+
+  CellAttribute() : obs_pos(-1, -1), to_raise(false), on_voronoi(false) {}
+};
+
+struct Cell {
+  // cell position in map
+  Eigen::Vector2i pos;
+  // distance to closest obstacle in map
+  double dist;
+  // may be the same attribute as in attrib_, or value-to-set
+  CellAttribute attrib;
+
+  Cell() : pos(-1, -1), dist(std::numeric_limits<double>::infinity()) {}
+  Cell(Eigen::Vector2i in_pos, double in_dist) : pos(in_pos), dist(in_dist) {}
+};
+
+bool operator>(const Cell& a, const Cell& b) { return a.dist > b.dist; }
+
+class DistanceMapBuilder {
+public:
+  DistanceMapBuilder() : map_width_(-1), map_height_(-1) {}
+  DistanceMapBuilder(const nav_msgs::OccupancyGrid& occ_grid,
+                     int8_t cell_occupied_threshold = 50);
+  /**
+   * @brief Gets the current distance map. Stored in row-major order.
+   *
+   * @return const std::vector<double>&
+   */
+  const std::vector<double>& getDistanceMap() const noexcept { return dist_; }
+  /**
+   * @brief Gets the distance to closest obstacle of cell (x,y).
+   *
+   * @param x
+   * @param y
+   * @return double&
+   */
+  double& distAt(int x, int y);
+  double& distAt(Eigen::Vector2i xy);
+  const double& distAt(int x, int y) const;
+  const double& distAt(Eigen::Vector2i xy) const;
+  /**
+   * @brief Gets the attribute of cell (x,y).
+   *
+   * @param x
+   * @param y
+   * @return CellAttribute&
+   */
+  CellAttribute& attributeAt(int x, int y);
+  CellAttribute& attributeAt(Eigen::Vector2i xy);
+  const CellAttribute& attributeAt(int x, int y) const;
+  const CellAttribute& attributeAt(Eigen::Vector2i xy) const;
+  /**
+   * @brief Check if (x,y) is an obstacle.
+   *  Only depends on whether attrib_[x,y].obs_pos == (x,y).
+   *
+   * @param x
+   * @param y
+   * @return true
+   * @return false
+   */
+  bool isOccupied(int x, int y) const;
+  bool isOccupied(Eigen::Vector2i xy) const;
+  /**
+   * @brief Makes (x,y) as a new obstacle, and starts a new wave propagation.
+   *
+   * @param x
+   * @param y
+   * @return Cell
+   */
+  Cell makeObstacle(int x, int y) const;
+  /**
+   * @brief Makes (x,y) as a free cell (unoccupied), and starts a new wave
+   * propagation.
+   *  Sets: cell.dist = inf, cell.attrib.obs_pos = (-1,-1).
+   *
+   * @param x
+   * @param y
+   * @return Cell
+   */
+  Cell makeFree(int x, int y) const;
+  /**
+   * @brief Updates distance map with `open` queue and brushfire algorithm.
+   *
+   * Reference:
+   * https://cs.gmu.edu/~kosecka/cs685/cs685-motion-planning.pdf
+   *
+   */
+  void updateDistanceMap();
+
+private:
+  int map_width_;
+  int map_height_;
+
+  // distance map
+  std::vector<double> dist_;
+  // attributes for each cell in distance map
+  std::vector<CellAttribute> attrib_;
+  // `open` priority queue
+  std::priority_queue<Cell, std::vector<Cell>, std::greater<Cell>> open_;
+
+  /**
+   * @brief Boundary check for map element/attribute access.
+   *
+   * @param x
+   * @param y
+   */
+  bool isOutOfBound(int x, int y) const;
+  bool isOutOfBound(Eigen::Vector2i xy) const;
+  bool isOutOfBound(int x, int y, std::string& err_msg) const;
+  /**
+   * @brief Resize dist_ and attrib_ to default empty values of size
+   *   (map_height, map_width).
+   *
+   * @param map_width
+   * @param map_height
+   */
+  void allocateEmptyDistMap(int map_width, int map_height);
+};
+
+}  // namespace skeletonizer
+}  // namespace cad2cav
+
+#endif /* __MAP_SKELETONIZER_DISTANCE_MAP_HPP__ */