text: /*
  Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
  All rights reserved.
  
  Redistribution and use in source and binary forms, with or without
  modification, are permitted provided that the following conditions are met:
      * Redistributions of source code must retain the above copyright
        notice, this list of conditions and the following disclaimer.
      * Redistributions in binary form must reproduce the above copyright
        notice, this list of conditions and the following disclaimer in the
        documentation and/or other materials provided with the distribution.
      * Neither the name of the Universite de Sherbrooke nor the
        names of its contributors may be used to endorse or promote products
        derived from this software without specific prior written permission.
  
  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
  ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
  WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
  DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
  DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
  (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
  ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
  (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
  SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  */
  
  #include <rtabmap/core/OccupancyGrid.h>
  #include <rtabmap/core/util3d.h>
  #include <rtabmap/utilite/ULogger.h>
  #include <rtabmap/utilite/UConversion.h>
  #include <rtabmap/utilite/UStl.h>
  #include <rtabmap/utilite/UTimer.h>
  
  #ifdef RTABMAP_OCTOMAP
  #include <rtabmap/core/OctoMap.h>
  #endif
  
  #include <pcl/io/pcd_io.h>
  
  namespace rtabmap {
  
  OccupancyGrid::OccupancyGrid(const ParametersMap & parameters) :
  	parameters_(parameters),
  	cloudDecimation_(Parameters::defaultGridDepthDecimation()),
  	cloudMaxDepth_(Parameters::defaultGridRangeMax()),
  	cloudMinDepth_(Parameters::defaultGridRangeMin()),
  	//roiRatios_(Parameters::defaultGridDepthRoiRatios()), // initialized in parseParameters()
  	footprintLength_(Parameters::defaultGridFootprintLength()),
  	footprintWidth_(Parameters::defaultGridFootprintWidth()),
  	footprintHeight_(Parameters::defaultGridFootprintHeight()),
  	scanDecimation_(Parameters::defaultGridScanDecimation()),
  	cellSize_(Parameters::defaultGridCellSize()),
  	preVoxelFiltering_(Parameters::defaultGridPreVoxelFiltering()),
  	occupancyFromDepth_(Parameters::defaultGridFromDepth()),
  	projMapFrame_(Parameters::defaultGridMapFrameProjection()),
  	maxObstacleHeight_(Parameters::defaultGridMaxObstacleHeight()),
  	normalKSearch_(Parameters::defaultGridNormalK()),
  	maxGroundAngle_(Parameters::defaultGridMaxGroundAngle()*M_PI/180.0f),
  	clusterRadius_(Parameters::defaultGridClusterRadius()),
  	minClusterSize_(Parameters::defaultGridMinClusterSize()),
  	flatObstaclesDetected_(Parameters::defaultGridFlatObstacleDetected()),
  	minGroundHeight_(Parameters::defaultGridMinGroundHeight()),
  	maxGroundHeight_(Parameters::defaultGridMaxGroundHeight()),
  	normalsSegmentation_(Parameters::defaultGridNormalsSegmentation()),
  	grid3D_(Parameters::defaultGrid3D()),
  	groundIsObstacle_(Parameters::defaultGridGroundIsObstacle()),
  	noiseFilteringRadius_(Parameters::defaultGridNoiseFilteringRadius()),
  	noiseFilteringMinNeighbors_(Parameters::defaultGridNoiseFilteringMinNeighbors()),
  	scan2dUnknownSpaceFilled_(Parameters::defaultGridScan2dUnknownSpaceFilled()),
  	rayTracing_(Parameters::defaultGridRayTracing()),
  	fullUpdate_(Parameters::defaultGridGlobalFullUpdate()),
  	minMapSize_(Parameters::defaultGridGlobalMinSize()),
  	erode_(Parameters::defaultGridGlobalEroded()),
  	footprintRadius_(Parameters::defaultGridGlobalFootprintRadius()),
  	updateError_(Parameters::defaultGridGlobalUpdateError()),
  	occupancyThr_(Parameters::defaultGridGlobalOccupancyThr()),
  	probHit_(logodds(Parameters::defaultGridGlobalProbHit())),
  	probMiss_(logodds(Parameters::defaultGridGlobalProbMiss())),
  	probClampingMin_(logodds(Parameters::defaultGridGlobalProbClampingMin())),
  	probClampingMax_(logodds(Parameters::defaultGridGlobalProbClampingMax())),
  	xMin_(0.0f),
  	yMin_(0.0f),
  	cloudAssembling_(false),
  	assembledGround_(new pcl::PointCloud<pcl::PointXYZRGB>),
  	assembledObstacles_(new pcl::PointCloud<pcl::PointXYZRGB>),
  	assembledEmptyCells_(new pcl::PointCloud<pcl::PointXYZRGB>)
  {
  	this->parseParameters(parameters);
  }
  
  void OccupancyGrid::parseParameters(const ParametersMap & parameters)
  {
  	Parameters::parse(parameters, Parameters::kGridFromDepth(), occupancyFromDepth_);
  	Parameters::parse(parameters, Parameters::kGridDepthDecimation(), cloudDecimation_);
  	if(cloudDecimation_ == 0)
  	{
  		cloudDecimation_ = 1;
  	}
  	Parameters::parse(parameters, Parameters::kGridRangeMin(), cloudMinDepth_);
  	Parameters::parse(parameters, Parameters::kGridRangeMax(), cloudMaxDepth_);
  	Parameters::parse(parameters, Parameters::kGridFootprintLength(), footprintLength_);
  	Parameters::parse(parameters, Parameters::kGridFootprintWidth(), footprintWidth_);
  	Parameters::parse(parameters, Parameters::kGridFootprintHeight(), footprintHeight_);
  	Parameters::parse(parameters, Parameters::kGridScanDecimation(), scanDecimation_);
  	float cellSize = cellSize_;
  	if(Parameters::parse(parameters, Parameters::kGridCellSize(), cellSize))
  	{
  		this->setCellSize(cellSize);
  	}
  
  	Parameters::parse(parameters, Parameters::kGridPreVoxelFiltering(), preVoxelFiltering_);
  	Parameters::parse(parameters, Parameters::kGridMapFrameProjection(), projMapFrame_);
  	Parameters::parse(parameters, Parameters::kGridMaxObstacleHeight(), maxObstacleHeight_);
  	Parameters::parse(parameters, Parameters::kGridMinGroundHeight(), minGroundHeight_);
  	Parameters::parse(parameters, Parameters::kGridMaxGroundHeight(), maxGroundHeight_);
  	Parameters::parse(parameters, Parameters::kGridNormalK(), normalKSearch_);
  	if(Parameters::parse(parameters, Parameters::kGridMaxGroundAngle(), maxGroundAngle_))
  	{
  		maxGroundAngle_ *= M_PI/180.0f;
  	}
  	Parameters::parse(parameters, Parameters::kGridClusterRadius(), clusterRadius_);
  	UASSERT_MSG(clusterRadius_ > 0.0f, uFormat("Param name is \"%s\"", Parameters::kGridClusterRadius().c_str()).c_str());
  	Parameters::parse(parameters, Parameters::kGridMinClusterSize(), minClusterSize_);
  	Parameters::parse(parameters, Parameters::kGridFlatObstacleDetected(), flatObstaclesDetected_);
  	Parameters::parse(parameters, Parameters::kGridNormalsSegmentation(), normalsSegmentation_);
  	Parameters::parse(parameters, Parameters::kGrid3D(), grid3D_);
  	Parameters::parse(parameters, Parameters::kGridGroundIsObstacle(), groundIsObstacle_);
  	Parameters::parse(parameters, Parameters::kGridNoiseFilteringRadius(), noiseFilteringRadius_);
  	Parameters::parse(parameters, Parameters::kGridNoiseFilteringMinNeighbors(), noiseFilteringMinNeighbors_);
  	Parameters::parse(parameters, Parameters::kGridScan2dUnknownSpaceFilled(), scan2dUnknownSpaceFilled_);
  	Parameters::parse(parameters, Parameters::kGridRayTracing(), rayTracing_);
  	Parameters::parse(parameters, Parameters::kGridGlobalFullUpdate(), fullUpdate_);
  	Parameters::parse(parameters, Parameters::kGridGlobalMinSize(), minMapSize_);
  	Parameters::parse(parameters, Parameters::kGridGlobalEroded(), erode_);
  	Parameters::parse(parameters, Parameters::kGridGlobalFootprintRadius(), footprintRadius_);
  	Parameters::parse(parameters, Parameters::kGridGlobalUpdateError(), updateError_);
  
  	Parameters::parse(parameters, Parameters::kGridGlobalOccupancyThr(), occupancyThr_);
  	if(Parameters::parse(parameters, Parameters::kGridGlobalProbHit(), probHit_))
  	{
  		probHit_ = logodds(probHit_);
  		UASSERT_MSG(probHit_ >= 0.0f, uFormat("probHit_=%f",probHit_).c_str());
  	}
  	if(Parameters::parse(parameters, Parameters::kGridGlobalProbMiss(), probMiss_))
  	{
  		probMiss_ = logodds(probMiss_);
  		UASSERT_MSG(probMiss_ <= 0.0f, uFormat("probMiss_=%f",probMiss_).c_str());
  	}
  	if(Parameters::parse(parameters, Parameters::kGridGlobalProbClampingMin(), probClampingMin_))
  	{
  		probClampingMin_ = logodds(probClampingMin_);
  	}
  	if(Parameters::parse(parameters, Parameters::kGridGlobalProbClampingMax(), probClampingMax_))
  	{
  		probClampingMax_ = logodds(probClampingMax_);
  	}
  	UASSERT(probClampingMax_ > probClampingMin_);
  
  	UASSERT(minMapSize_ >= 0.0f);
  
  	// convert ROI from string to vector
  	ParametersMap::const_iterator iter;
  	if((iter=parameters.find(Parameters::kGridDepthRoiRatios())) != parameters.end())
  	{
  		std::list<std::string> strValues = uSplit(iter->second, ' ');
  		if(strValues.size() != 4)
  		{
  			ULOGGER_ERROR("The number of values must be 4 (%s=\"%s\")", iter->first.c_str(), iter->second.c_str());
  		}
  		else
  		{
  			std::vector<float> tmpValues(4);
  			unsigned int i=0;
  			for(std::list<std::string>::iterator jter = strValues.begin(); jter!=strValues.end(); ++jter)
  			{
  				tmpValues[i] = uStr2Float(*jter);
  				++i;
  			}
  
  			if(tmpValues[0] >= 0 && tmpValues[0] < 1 && tmpValues[0] < 1.0f-tmpValues[1] &&
  				tmpValues[1] >= 0 && tmpValues[1] < 1 && tmpValues[1] < 1.0f-tmpValues[0] &&
  				tmpValues[2] >= 0 && tmpValues[2] < 1 && tmpValues[2] < 1.0f-tmpValues[3] &&
  				tmpValues[3] >= 0 && tmpValues[3] < 1 && tmpValues[3] < 1.0f-tmpValues[2])
  			{
  				roiRatios_ = tmpValues;
  			}
  			else
  			{
  				ULOGGER_ERROR("The roi ratios are not valid (%s=\"%s\")", iter->first.c_str(), iter->second.c_str());
  			}
  		}
  	}
  
  	if(maxGroundHeight_ == 0.0f && !normalsSegmentation_)
  	{
  		UWARN("\"%s\" should be not equal to 0 if not using normals "
  				"segmentation approach. Setting it to cell size (%f).",
  				Parameters::kGridMaxGroundHeight().c_str(), cellSize_);
  		maxGroundHeight_ = cellSize_;
  	}
  	if(maxGroundHeight_ != 0.0f &&
  		maxObstacleHeight_ != 0.0f &&
  		maxObstacleHeight_ < maxGroundHeight_)
  	{
  		UWARN("\"%s\" should be lower than \"%s\", setting \"%s\" to 0 (disabled).",
  				Parameters::kGridMaxGroundHeight().c_str(),
  				Parameters::kGridMaxObstacleHeight().c_str(),
  				Parameters::kGridMaxObstacleHeight().c_str());
  		maxObstacleHeight_ = 0;
  	}
  	if(maxGroundHeight_ != 0.0f &&
  		minGroundHeight_ != 0.0f &&
  		maxGroundHeight_ < minGroundHeight_)
  	{
  		UWARN("\"%s\" should be lower than \"%s\", setting \"%s\" to 0 (disabled).",
  				Parameters::kGridMinGroundHeight().c_str(),
  				Parameters::kGridMaxGroundHeight().c_str(),
  				Parameters::kGridMinGroundHeight().c_str());
  		minGroundHeight_ = 0;
  	}
  }
  
  void OccupancyGrid::setMap(const cv::Mat & map, float xMin, float yMin, float cellSize, const std::map<int, Transform> & poses)
  {
  	UDEBUG("map=%d/%d xMin=%f yMin=%f cellSize=%f poses=%d",
  			map.cols, map.rows, xMin, yMin, cellSize, (int)poses.size());
  	this->clear();
  	if(!poses.empty() && !map.empty())
  	{
  		UASSERT(cellSize > 0.0f);
  		UASSERT(map.type() == CV_8SC1);
  		map_ = map.clone();
  		mapInfo_ = cv::Mat::zeros(map.size(), CV_32FC4);
  		for(int i=0; i<map_.rows; ++i)
  		{
  			for(int j=0; j<map_.cols; ++j)
  			{
  				const char value = map_.at<char>(i,j);
  				auto& info = mapInfo_.at<MapInfoElement>(i, j);
  				if(value == 0)
  				{
  					info[3] = probClampingMin_;
  				}
  				else if(value == 100)
  				{
  					info[3] = probClampingMax_;
  				}
  			}
  		}
  		xMin_ = xMin;
  		yMin_ = yMin;
  		cellSize_ = cellSize;
  		addedNodes_.insert(poses.lower_bound(1), poses.end());
  	}
  }
  
  void OccupancyGrid::setCellSize(float cellSize)
  {
  	UASSERT_MSG(cellSize > 0.0f, uFormat("Param name is \"%s\"", Parameters::kGridCellSize().c_str()).c_str());
  	if(cellSize_ != cellSize)
  	{
  		if(!map_.empty())
  		{
  			UWARN("Grid cell size has changed, the map is cleared!");
  		}
  		this->clear();
  		cellSize_ = cellSize;
  	}
  }
  
  void OccupancyGrid::setCloudAssembling(bool enabled)
  {
  	cloudAssembling_ = enabled;
  	if(!cloudAssembling_)
  	{
  		assembledGround_->clear();
  		assembledObstacles_->clear();
  	}
  }
  
  void OccupancyGrid::createLocalMap(
  		const Signature & node,
  		cv::Mat& groundCells,
  		cv::Mat& obstacleCells,
  		cv::Mat& undergroundCells,
  		cv::Mat& emptyCells,
  		cv::Point3f & viewPoint) const
  {
  	UDEBUG("scan format=%d, occupancyFromDepth_=%d normalsSegmentation_=%d grid3D_=%d",
  			node.sensorData().laserScanRaw().isEmpty()?0:node.sensorData().laserScanRaw().format(), occupancyFromDepth_?1:0, normalsSegmentation_?1:0, grid3D_?1:0);
  
  	if((node.sensorData().laserScanRaw().is2d()) && !occupancyFromDepth_)
  	{
  		UDEBUG("2D laser scan");
  		//2D
  		viewPoint = cv::Point3f(
  				node.sensorData().laserScanRaw().localTransform().x(),
  				node.sensorData().laserScanRaw().localTransform().y(),
  				node.sensorData().laserScanRaw().localTransform().z());
  
  		LaserScan scan = node.sensorData().laserScanRaw();
  		if(cloudMinDepth_ > 0.0f)
  		{
  			scan = util3d::rangeFiltering(scan, cloudMinDepth_, 0.0f);
  		}
  
  		float maxRange = cloudMaxDepth_;
  		if(cloudMaxDepth_>0.0f && node.sensorData().laserScanRaw().rangeMax()>0.0f)
  		{
  			maxRange = cloudMaxDepth_ < node.sensorData().laserScanRaw().rangeMax()?cloudMaxDepth_:node.sensorData().laserScanRaw().rangeMax();
  		}
  		else if(scan2dUnknownSpaceFilled_ && node.sensorData().laserScanRaw().rangeMax()>0.0f)
  		{
  			maxRange = node.sensorData().laserScanRaw().rangeMax();
  		}
  		util3d::occupancy2DFromLaserScan(
  				util3d::transformLaserScan(scan, node.sensorData().laserScanRaw().localTransform()).data(),
  				cv::Mat(),
  				viewPoint,
  				emptyCells,
  				obstacleCells,
  				undergroundCells,
  				cellSize_,
  				scan2dUnknownSpaceFilled_,
  				maxRange);
  
  		UDEBUG("ground=%d obstacles=%d obstacles.channels=%d", emptyCells.cols, obstacleCells.cols, obstacleCells.cols?obstacleCells.channels():emptyCells.channels());
  		UDEBUG("ground=%d underground=%d underground.channels=%d", emptyCells.cols, undergroundCells.cols, undergroundCells.cols?undergroundCells.channels():emptyCells.channels());
  	}
  	else
  	{
  		// 3D
  		if(!occupancyFromDepth_)
  		{
  			if(!node.sensorData().laserScanRaw().isEmpty())
  			{
  				UDEBUG("3D laser scan");
  				const Transform & t = node.sensorData().laserScanRaw().localTransform();
  				LaserScan scan = util3d::downsample(node.sensorData().laserScanRaw(), scanDecimation_);
  #ifdef RTABMAP_OCTOMAP
  				// clipping will be done in OctoMap
  				float maxRange = grid3D_&&rayTracing_?0.0f:cloudMaxDepth_;
  #else
  				float maxRange = cloudMaxDepth_;
  #endif
  				if(cloudMinDepth_ > 0.0f || maxRange > 0.0f)
  				{
  					scan = util3d::rangeFiltering(scan, cloudMinDepth_, maxRange);
  				}
  
  				// update viewpoint
  				viewPoint = cv::Point3f(t.x(), t.y(), t.z());
  
  				UDEBUG("scan format=%d", scan.format());
  				createLocalMap(scan, node.getPose(), groundCells, obstacleCells, undergroundCells, emptyCells, viewPoint);
  			}
  			else
  			{
  				UWARN("Cannot create local map, scan is empty (node=%d).", node.id());
  			}
  		}
  		else
  		{
  			pcl::IndicesPtr indices = boost::make_shared<std::vector<int>>();
  			pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud;
  			UDEBUG("Depth image : decimation=%d max=%f min=%f",
  					cloudDecimation_,
  					cloudMaxDepth_,
  					cloudMinDepth_);
  			cloud = util3d::cloudRGBFromSensorData(
  					node.sensorData(),
  					cloudDecimation_,
  #ifdef RTABMAP_OCTOMAP
  					// clipping will be done in OctoMap
  					grid3D_&&rayTracing_?0.0f:cloudMaxDepth_,
  #else
  					cloudMaxDepth_,
  #endif
  					cloudMinDepth_,
  					indices.get(),
  					parameters_,
  					roiRatios_);
  
  			// update viewpoint
  			if(node.sensorData().cameraModels().size())
  			{
  				// average of all local transforms
  				unsigned int sum = 0;
  				for(unsigned int i=0; i<node.sensorData().cameraModels().size(); ++i)
  				{
  					const Transform & t = node.sensorData().cameraModels()[i].localTransform();
  					if(!t.isNull())
  					{
  						viewPoint.x += t.x();
  						viewPoint.y += t.y();
  						viewPoint.z += t.z();
  						++sum;
  					}
  				}
  				if (sum > 0) {
  					viewPoint.x /= static_cast<float>(sum);
  					viewPoint.y /= static_cast<float>(sum);
  					viewPoint.z /= static_cast<float>(sum);
  				}
  			}
  			else
  			{
  				const Transform & t = node.sensorData().stereoCameraModel().localTransform();
  				viewPoint = cv::Point3f(t.x(), t.y(), t.z());
  			}
  			createLocalMap(LaserScan(util3d::laserScanFromPointCloud(*cloud, indices), 0, 0.0f, LaserScan::kXYZRGB), node.getPose(), groundCells, obstacleCells, undergroundCells, emptyCells, viewPoint);
  		}
  	}
  }
  
  void OccupancyGrid::createLocalMap(
  		const LaserScan& scan,
  		const Transform& pose,
  		cv::Mat& groundCells,
  		cv::Mat& obstacleCells,
  		cv::Mat& undergroundCells,
  		cv::Mat& emptyCells,
  		cv::Point3f& viewPointInOut) const
  {
  	if (projMapFrame_) {
  		//we should rotate viewPoint in /map frame
  		float roll, pitch, yaw;
  		pose.getEulerAngles(roll, pitch, yaw);
  		auto viewpointRotated = Transform(0, 0, 0, roll, pitch, 0) * Transform(viewPointInOut.x, viewPointInOut.y, viewPointInOut.z, 0, 0, 0);
  		viewPointInOut.x = viewpointRotated.x();
  		viewPointInOut.y = viewpointRotated.y();
  		viewPointInOut.z = viewpointRotated.z();
  	}
  
  	if (scan.size()) {
  		pcl::IndicesPtr groundIndices = boost::make_shared<std::vector<int>>();
  		pcl::IndicesPtr obstaclesIndices = boost::make_shared<std::vector<int>>();
  		pcl::IndicesPtr undergroundIndices = boost::make_shared<std::vector<int>>();
  		cv::Mat groundCloud;
  		cv::Mat obstaclesCloud;
  		cv::Mat undergroundCloud;
  
  		if(scan.hasRGB() && scan.hasNormals())
  		{
  			pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloud = util3d::laserScanToPointCloudRGBNormal(scan, scan.localTransform());
  			pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloudSegmented = segmentCloud<pcl::PointXYZRGBNormal>(cloud, boost::make_shared<std::vector<int>>(), pose, viewPointInOut, groundIndices, obstaclesIndices, undergroundIndices);
  			UDEBUG("groundIndices=%d, obstaclesIndices=%d, undergroundIndices=%d", (int)groundIndices->size(), (int)obstaclesIndices->size(), (int)undergroundIndices->size());
  			if(grid3D_)
  			{
  				groundCloud = util3d::laserScanFromPointCloud(*cloudSegmented, groundIndices);
  				obstaclesCloud = util3d::laserScanFromPointCloud(*cloudSegmented, obstaclesIndices);
  				undergroundCloud = util3d::laserScanFromPointCloud(*cloudSegmented, undergroundIndices);
  			}
  			else
  			{
  				util3d::occupancy2DFromGroundObstacles<pcl::PointXYZRGBNormal>(cloudSegmented, groundIndices, obstaclesIndices, undergroundIndices, groundCells, obstacleCells, undergroundCells, cellSize_);
  			}
  		}
  		else if(scan.hasRGB())
  		{
  			pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud = util3d::laserScanToPointCloudRGB(scan, scan.localTransform());
  			pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudSegmented = segmentCloud<pcl::PointXYZRGB>(cloud, boost::make_shared<std::vector<int>>(), pose, viewPointInOut, groundIndices, obstaclesIndices, undergroundIndices);
  			UDEBUG("groundIndices=%d, obstaclesIndices=%d, undergroundIndices=%d", (int)groundIndices->size(), (int)obstaclesIndices->size(), (int)undergroundIndices->size());
  			if(grid3D_)
  			{
  				groundCloud = util3d::laserScanFromPointCloud(*cloudSegmented, groundIndices);
  				obstaclesCloud = util3d::laserScanFromPointCloud(*cloudSegmented, obstaclesIndices);
  				undergroundCloud = util3d::laserScanFromPointCloud(*cloudSegmented, undergroundIndices);
  			}
  			else
  			{
  				util3d::occupancy2DFromGroundObstacles<pcl::PointXYZRGB>(cloudSegmented, groundIndices, obstaclesIndices, undergroundIndices, groundCells, obstacleCells, undergroundCells, cellSize_);
  			}
  		}
  		else if(scan.hasNormals())
  		{
  			pcl::PointCloud<pcl::PointNormal>::Ptr cloud = util3d::laserScanToPointCloudNormal(scan, scan.localTransform());
  			pcl::PointCloud<pcl::PointNormal>::Ptr cloudSegmented = segmentCloud<pcl::PointNormal>(cloud, boost::make_shared<std::vector<int>>(), pose, viewPointInOut, groundIndices, obstaclesIndices, undergroundIndices);
  			UDEBUG("groundIndices=%d, obstaclesIndices=%d, undergroundIndices=%d", (int)groundIndices->size(), (int)obstaclesIndices->size(), (int)undergroundIndices->size());
  			if(grid3D_)
  			{
  				groundCloud = util3d::laserScanFromPointCloud(*cloudSegmented, groundIndices);
  				obstaclesCloud = util3d::laserScanFromPointCloud(*cloudSegmented, obstaclesIndices);
  				undergroundCloud = util3d::laserScanFromPointCloud(*cloudSegmented, undergroundIndices);
  			}
  			else
  			{
  				util3d::occupancy2DFromGroundObstacles<pcl::PointNormal>(cloudSegmented, groundIndices, obstaclesIndices, undergroundIndices, groundCells, obstacleCells, undergroundCells, cellSize_);
  			}
  		}
  		else
  		{
  			pcl::PointCloud<pcl::PointXYZ>::Ptr cloud = util3d::laserScanToPointCloud(scan, scan.localTransform());
  			pcl::PointCloud<pcl::PointXYZ>::Ptr cloudSegmented = segmentCloud<pcl::PointXYZ>(cloud, boost::make_shared<std::vector<int>>(), pose, viewPointInOut, groundIndices, obstaclesIndices, undergroundIndices);
  			UDEBUG("groundIndices=%d, obstaclesIndices=%d, undergroundIndices=%d", (int)groundIndices->size(), (int)obstaclesIndices->size(), (int)undergroundIndices->size());
  			if(grid3D_)
  			{
  				groundCloud = util3d::laserScanFromPointCloud(*cloudSegmented, groundIndices);
  				obstaclesCloud = util3d::laserScanFromPointCloud(*cloudSegmented, obstaclesIndices);
  				undergroundCloud = util3d::laserScanFromPointCloud(*cloudSegmented, undergroundIndices);
  			}
  			else
  			{
  				util3d::occupancy2DFromGroundObstacles<pcl::PointXYZ>(cloudSegmented, groundIndices, obstaclesIndices, undergroundIndices, groundCells, obstacleCells, undergroundCells, cellSize_);
  			}
  		}
  
  		if (!grid3D_ && rayTracing_ && (!obstacleCells.empty() || !groundCells.empty() || !undergroundCells.empty())) {
  			cv::Mat laserScan = obstacleCells;
  			// TODO(deni.sukhonina): Add underground cells
  			cv::Mat laserScanNoHit = groundCells;
  			obstacleCells = cv::Mat();
  			groundCells = cv::Mat();
  			undergroundCells = cv::Mat();
  			util3d::occupancy2DFromLaserScan(
  					laserScan,
  					laserScanNoHit,
  					viewPointInOut,
  					emptyCells,
  					obstacleCells,
  					undergroundCells,
  					cellSize_,
  					false, // don't fill unknown space
  					cloudMaxDepth_);
  		} else if (grid3D_ && (!obstaclesCloud.empty() || !groundCloud.empty() || !undergroundCloud.empty())) {
  			UDEBUG("ground=%d obstacles=%d", groundCloud.cols, obstaclesCloud.cols);
  			if (groundIsObstacle_ && !groundCloud.empty()) {
  				if (obstaclesCloud.empty()) {
  					obstaclesCloud = groundCloud;
  					groundCloud = cv::Mat();
  				} else {
  					UASSERT(obstaclesCloud.type() == groundCloud.type());
  					cv::Mat merged(1, obstaclesCloud.cols+groundCloud.cols, obstaclesCloud.type());
  					obstaclesCloud.copyTo(merged(cv::Range::all(), cv::Range(0, obstaclesCloud.cols)));
  					groundCloud.copyTo(merged(cv::Range::all(), cv::Range(obstaclesCloud.cols, obstaclesCloud.cols+groundCloud.cols)));
  				}
  			}
  
  			// transform back in base frame
  			float roll, pitch, yaw;
  			pose.getEulerAngles(roll, pitch, yaw);
  			Transform tinv = Transform(0, 0, projMapFrame_ ? pose.z() : 0, roll, pitch, 0).inverse();
  
  			UWARN("RTAB-Map is not built with OctoMap dependency, 3D ray tracing is ignored. Set \"%s\" to false to avoid this warning.", Parameters::kGridRayTracing().c_str());
  
  			groundCells = util3d::transformLaserScan(LaserScan::backwardCompatibility(groundCloud), tinv).data();
  			obstacleCells = util3d::transformLaserScan(LaserScan::backwardCompatibility(obstaclesCloud), tinv).data();
  			undergroundCells = util3d::transformLaserScan(LaserScan::backwardCompatibility(undergroundCloud), tinv).data();
  		}
  	}
  	UDEBUG("ground=%d obstacles=%d underground=%d empty=%d, channels=%d", groundCells.cols, obstacleCells.cols, undergroundCells.cols, emptyCells.cols, obstacleCells.cols?obstacleCells.channels():groundCells.channels());
  }
  
  void OccupancyGrid::clear()
  {
  	cache_.clear();
  	map_ = cv::Mat();
  	mapInfo_ = cv::Mat();
  	cellCount_.clear();
  	xMin_ = 0.0f;
  	yMin_ = 0.0f;
  	addedNodes_.clear();
  	assembledGround_->clear();
  	assembledObstacles_->clear();
  }
  
  cv::Mat OccupancyGrid::getMap(float & xMin, float & yMin) const
  {
  	xMin = xMin_;
  	yMin = yMin_;
  
  	cv::Mat map = map_;
  
  	UTimer t;
  	if(occupancyThr_ != 0.0f && !map.empty())
  	{
  		const float occThr = logodds(occupancyThr_);
  		map = cv::Mat(map.size(), map.type());
  		UASSERT(mapInfo_.cols == map.cols && mapInfo_.rows == map.rows);
  		for (int i = 0; i < map.rows; ++i) {
  			for (int j = 0; j < map.cols; ++j) {
  				const auto& info = mapInfo_.at<cv::Vec<const float, 5>>(i, j);
  				if (info[3] == 0.0f) {
  					map.at<char>(i, j) = kUnknown;
  				}	else if (info[3] >= occThr) {
  					map.at<char>(i, j) = info[4] > 0 ? kOccupied : kUnderground;
  				}	else {
  					map.at<char>(i, j) = kFree;
  				}
  			}
  		}
  		UDEBUG("Converting map from probabilities (thr=%f) = %fs", occupancyThr_, t.ticks());
  	}
  
  	if(erode_ && !map.empty())
  	{
  		map = util3d::erodeMap(map);
  		UDEBUG("Eroding map = %fs", t.ticks());
  	}
  	return map;
  }
  
  cv::Mat OccupancyGrid::getProbMap(float & xMin, float & yMin) const
  {
  	xMin = xMin_;
  	yMin = yMin_;
  
  	cv::Mat map;
  	if(!mapInfo_.empty())
  	{
  		map = cv::Mat(mapInfo_.size(), map_.type());
  		for(int i=0; i<map.rows; ++i)
  		{
  			for(int j=0; j<map.cols; ++j)
  			{
  				const auto& info = mapInfo_.at<cv::Vec<const float, 5>>(i, j);
  				if (info[3] == 0.0f) {
  					map.at<char>(i, j) = kUnknown;
  				} else {
  					map.at<char>(i, j) = static_cast<char>(probability(info[3]) * 100.0f);
  				}
  			}
  		}
  	}
  	return map;
  }
  
  void OccupancyGrid::addToCache(
  		int nodeId,
  		const cv::Mat & ground,
  		const cv::Mat & obstacles,
  		const cv::Mat & empty)
  {
  	UDEBUG("nodeId=%d", nodeId);
  	if(nodeId < 0)
  	{
  		UWARN("Cannot add nodes with negative id (nodeId=%d)", nodeId);
  		return;
  	}
  	uInsert(cache_, std::make_pair(nodeId==0?-1:nodeId, std::make_pair(std::make_pair(ground, obstacles), empty)));
  }
  
  bool OccupancyGrid::update(const std::map<int, Transform> & posesIn)
  {
  	UTimer timer;
  	UDEBUG("Update (poses=%d addedNodes_=%d)", (int)posesIn.size(), (int)addedNodes_.size());
  
  	float margin = cellSize_*10.0f+(footprintRadius_>cellSize_*1.5f?float(int(footprintRadius_/cellSize_)+1):0.0f)*cellSize_;
  
  	float minX=-minMapSize_/2.0f;
  	float minY=-minMapSize_/2.0f;
  	float maxX=minMapSize_/2.0f;
  	float maxY=minMapSize_/2.0f;
  	bool undefinedSize = minMapSize_ == 0.0f;
  	std::map<int, cv::Mat> emptyLocalMaps;
  	std::map<int, cv::Mat> occupiedLocalMaps;
  
  	// First, check of the graph has changed. If so, re-create the map by moving all occupied nodes (fullUpdate==false).
  	bool graphOptimized = false; // If a loop closure happened (e.g., poses are modified)
  	bool graphChanged = !addedNodes_.empty(); // If the new map doesn't have any node from the previous map
  	std::map<int, Transform> transforms;
  	float updateErrorSqrd = updateError_*updateError_;
  	for(std::map<int, Transform>::iterator iter=addedNodes_.begin(); iter!=addedNodes_.end(); ++iter)
  	{
  		std::map<int, Transform>::const_iterator jter = posesIn.find(iter->first);
  		if (jter == posesIn.end()) {
  			UDEBUG("Updated pose for node %d is not found, some points may not be copied if graph has changed.", iter->first);
  			continue;
  		}
  
  		graphChanged = false;
  
  		UASSERT(!iter->second.isNull() && !jter->second.isNull());
  		Transform t = Transform::getIdentity();
  		if (iter->second.getDistanceSquared(jter->second) > updateErrorSqrd) {
  			t = jter->second * iter->second.inverse();
  			graphOptimized = true;
  		}
  		transforms.emplace(jter->first, std::move(t));
  
  		float x = jter->second.x();
  		float y = jter->second.y();
  		if (undefinedSize) {
  			minX = maxX = x;
  			minY = maxY = y;
  			undefinedSize = false;
  		} else {
  			if (minX > x)
  				minX = x;
  			else if (maxX < x)
  				maxX = x;
  
  			if (minY > y)
  				minY = y;
  			else if (maxY < y)
  				maxY = y;
  		}
  	}
  
  	bool assembledGroundUpdated = false;
  	bool assembledObstaclesUpdated = false;
  	bool assembledEmptyCellsUpdated = false;
  
  	if(graphOptimized || graphChanged)
  	{
  		if(graphChanged)
  		{
  			UWARN("Graph has changed! The whole map should be rebuilt.");
  		}
  		else
  		{
  			UINFO("Graph optimized!");
  		}
  
  		if(cloudAssembling_)
  		{
  			assembledGround_->clear();
  			assembledObstacles_->clear();
  		}
  
  		if(!fullUpdate_ && !graphChanged && !map_.empty()) // incremental, just move cells
  		{
  			// 1) recreate all local maps
  			UASSERT(map_.cols == mapInfo_.cols &&
  					map_.rows == mapInfo_.rows);
  			std::map<int, std::pair<int, int> > tmpIndices;
  			for (auto iter = cellCount_.begin(); iter != cellCount_.end(); ++iter) {
  				if(!uContains(cache_, iter->first) && transforms.find(iter->first) != transforms.end())
  				{
  					if (iter->second.first) {
  						emptyLocalMaps.emplace(iter->first, cv::Mat(1, iter->second.first, CV_32FC2));
  					}
  					if (iter->second.second) {
  						occupiedLocalMaps.emplace(iter->first, cv::Mat(1, iter->second.second, CV_32FC2));
  					}
  					tmpIndices.emplace(iter->first, std::make_pair(0, 0));
  				}
  			}
  			for(int y=0; y<map_.rows; ++y)
  			{
  				for(int x=0; x<map_.cols; ++x)
  				{
  					auto& info = mapInfo_.at<MapInfoElement>(y, x);
  					int nodeId = (int)info[0];
  					if(nodeId > 0 && map_.at<char>(y,x) >= 0)
  					{
  						if(tmpIndices.find(nodeId)!=tmpIndices.end())
  						{
  							std::map<int, Transform>::iterator tter = transforms.find(nodeId);
  							UASSERT(tter != transforms.end());
  
  							cv::Point3f pt(info[1], info[2], 0.0f);
  							pt = util3d::transformPoint(pt, tter->second);
  
  							if(minX > pt.x)
  								minX = pt.x;
  							else if(maxX < pt.x)
  								maxX = pt.x;
  
  							if(minY > pt.y)
  								minY = pt.y;
  							else if(maxY < pt.y)
  								maxY = pt.y;
  
  							std::map<int, std::pair<int, int> >::iterator jter = tmpIndices.find(nodeId);
  							if(map_.at<char>(y, x) == 0)
  							{
  								// ground
  								std::map<int, cv::Mat>::iterator iter = emptyLocalMaps.find(nodeId);
  								UASSERT(iter != emptyLocalMaps.end());
  								UASSERT(jter->second.first < iter->second.cols);
  								float * ptf = iter->second.ptr<float>(0,jter->second.first++);
  								ptf[0] = pt.x;
  								ptf[1] = pt.y;
  							}
  							else
  							{
  								// obstacle
  								std::map<int, cv::Mat>::iterator iter = occupiedLocalMaps.find(nodeId);
  								UASSERT(iter != occupiedLocalMaps.end());
  								UASSERT(jter->second.second < iter->second.cols);
  								float * ptf = iter->second.ptr<float>(0,jter->second.second++);
  								ptf[0] = pt.x;
  								ptf[1] = pt.y;
  							}
  						}
  					}
  					else if(nodeId > 0)
  					{
  						UERROR("Cell referred b node %d is unknown!?", nodeId);
  					}
  				}
  			}
  
  			//verify if all cells were added
  			for(std::map<int, std::pair<int, int> >::iterator iter=tmpIndices.begin(); iter!=tmpIndices.end(); ++iter)
  			{
  				std::map<int, cv::Mat>::iterator jter = emptyLocalMaps.find(iter->first);
  				UASSERT_MSG((iter->second.first == 0 && (jter==emptyLocalMaps.end() || jter->second.empty())) ||
  						(iter->second.first != 0 && jter!=emptyLocalMaps.end() && jter->second.cols == iter->second.first),
  						uFormat("iter->second.first=%d jter->second.cols=%d", iter->second.first, jter!=emptyLocalMaps.end()?jter->second.cols:-1).c_str());
  				jter = occupiedLocalMaps.find(iter->first);
  				UASSERT_MSG((iter->second.second == 0 && (jter==occupiedLocalMaps.end() || jter->second.empty())) ||
  						(iter->second.second != 0 && jter!=occupiedLocalMaps.end() && jter->second.cols == iter->second.second),
  						uFormat("iter->second.first=%d jter->second.cols=%d", iter->second.first, jter!=emptyLocalMaps.end()?jter->second.cols:-1).c_str());
  			}
  
  			UDEBUG("min (%f,%f) max(%f,%f)", minX, minY, maxX, maxY);
  		}
  
  		addedNodes_.clear();
  		map_ = cv::Mat();
  		mapInfo_ = cv::Mat();
  		cellCount_.clear();
  		xMin_ = 0.0f;
  		yMin_ = 0.0f;
  	}
  	else if(!map_.empty())
  	{
  		// update
  		minX=xMin_+margin+cellSize_/2.0f;
  		minY=yMin_+margin+cellSize_/2.0f;
  		maxX=xMin_+float(map_.cols)*cellSize_ - margin;
  		maxY=yMin_+float(map_.rows)*cellSize_ - margin;
  		undefinedSize = false;
  	}
  
  	bool incrementalGraphUpdate = graphOptimized && !fullUpdate_ && !graphChanged;
  
  	std::list<std::pair<int, Transform> > poses;
  	int lastId = addedNodes_.size()?addedNodes_.rbegin()->first:0;
  	UDEBUG("Last id = %d", lastId);
  
  	// add old poses that were not in the current map (they were just retrieved from LTM)
  	for(std::map<int, Transform>::const_iterator iter=posesIn.lower_bound(1); iter!=posesIn.end(); ++iter)
  	{
  		if(addedNodes_.find(iter->first) == addedNodes_.end())
  		{
  			UDEBUG("Pose %d not found in current added poses, it will be added to map", iter->first);
  			poses.push_back(*iter);
  		}
  	}
  
  	// insert zero after
  	if(posesIn.find(0) != posesIn.end())
  	{
  		poses.push_back(std::make_pair(-1, posesIn.at(0)));
  	}
  
  	if(!poses.empty())
  	{
  		for(std::list<std::pair<int, Transform> >::const_iterator iter = poses.begin(); iter!=poses.end(); ++iter)
  		{
  			UASSERT(!iter->second.isNull());
  
  			float x = iter->second.x();
  			float y  =iter->second.y();
  			if(undefinedSize)
  			{
  				minX = maxX = x;
  				minY = maxY = y;
  				undefinedSize = false;
  			}
  			else
  			{
  				if(minX > x)
  					minX = x;
  				else if(maxX < x)
  					maxX = x;
  
  				if(minY > y)
  					minY = y;
  				else if(maxY < y)
  					maxY = y;
  			}
  		}
  
  		if(!cache_.empty())
  		{
  			for(std::list<std::pair<int, Transform> >::const_iterator iter = poses.begin(); iter!=poses.end(); ++iter)
  			{
  				if(uContains(cache_, iter->first))
  				{
  					const std::pair<std::pair<cv::Mat, cv::Mat>, cv::Mat> & pair = cache_.at(iter->first);
  
  					UDEBUG("Adding grid %d: ground=%d obstacles=%d empty=%d", iter->first, pair.first.first.cols, pair.first.second.cols, pair.second.cols);
  
  					//ground
  					if(pair.first.first.cols)
  					{
  						if(pair.first.first.rows > 1 && pair.first.first.cols == 1)
  						{
  							UFATAL("Occupancy local maps should be 1 row and X cols! (rows=%d cols=%d)", pair.first.first.rows, pair.first.first.cols);
  						}
  						cv::Mat ground(1, pair.first.first.cols, CV_32FC2);
  						for(int i=0; i<ground.cols; ++i)
  						{
  							const float * vi = pair.first.first.ptr<float>(0,i);
  							float * vo = ground.ptr<float>(0,i);
  							cv::Point3f vt;
  							if(pair.first.first.channels() != 2 && pair.first.first.channels() != 5)
  							{
  								vt = util3d::transformPoint(cv::Point3f(vi[0], vi[1], vi[2]), iter->second);
  							}
  							else
  							{
  								vt = util3d::transformPoint(cv::Point3f(vi[0], vi[1], 0), iter->second);
  							}
  							vo[0] = vt.x;
  							vo[1] = vt.y;
  							if(minX > vo[0])
  								minX = vo[0];
  							else if(maxX < vo[0])
  								maxX = vo[0];
  
  							if(minY > vo[1])
  								minY = vo[1];
  							else if(maxY < vo[1])
  								maxY = vo[1];
  						}
  						uInsert(emptyLocalMaps, std::make_pair(iter->first, ground));
  
  						if(cloudAssembling_)
  						{
  							*assembledGround_ += *util3d::laserScanToPointCloudRGB(LaserScan::backwardCompatibility(pair.first.first), iter->second, 0, 255, 0);
  							assembledGroundUpdated = true;
  						}
  					}
  
  					//empty
  					if(pair.second.cols)
  					{
  						if(pair.second.rows > 1 && pair.second.cols == 1)
  						{
  							UFATAL("Occupancy local maps should be 1 row and X cols! (rows=%d cols=%d)", pair.second.rows, pair.second.cols);
  						}
  						cv::Mat ground(1, pair.second.cols, CV_32FC2);
  						for(int i=0; i<ground.cols; ++i)
  						{
  							const float * vi = pair.second.ptr<float>(0,i);
  							float * vo = ground.ptr<float>(0,i);
  							cv::Point3f vt;
  							if(pair.second.channels() != 2 && pair.second.channels() != 5)
  							{
  								vt = util3d::transformPoint(cv::Point3f(vi[0], vi[1], vi[2]), iter->second);
  							}
  							else
  							{
  								vt = util3d::transformPoint(cv::Point3f(vi[0], vi[1], 0), iter->second);
  							}
  							vo[0] = vt.x;
  							vo[1] = vt.y;
  							if(minX > vo[0])
  								minX = vo[0];
  							else if(maxX < vo[0])
  								maxX = vo[0];
  
  							if(minY > vo[1])
  								minY = vo[1];
  							else if(maxY < vo[1])
  								maxY = vo[1];
  						}
  						uInsert(emptyLocalMaps, std::make_pair(iter->first, ground));
  
  						if(cloudAssembling_)
  						{
  							*assembledEmptyCells_ += *util3d::laserScanToPointCloudRGB(LaserScan::backwardCompatibility(pair.second), iter->second, 0, 255, 0);
  							assembledEmptyCellsUpdated = true;
  						}
  					}
  
  					//obstacles
  					if(pair.first.second.cols)
  					{
  						if(pair.first.second.rows > 1 && pair.first.second.cols == 1)
  						{
  							UFATAL("Occupancy local maps should be 1 row and X cols! (rows=%d cols=%d)", pair.first.second.rows, pair.first.second.cols);
  						}
  						cv::Mat obstacles(1, pair.first.second.cols, CV_32FC2);
  						for(int i=0; i<obstacles.cols; ++i)
  						{
  							const float * vi = pair.first.second.ptr<float>(0,i);
  							float * vo = obstacles.ptr<float>(0,i);
  							cv::Point3f vt;
  							if(pair.first.second.channels() != 2 && pair.first.second.channels() != 5)
  							{
  								vt = util3d::transformPoint(cv::Point3f(vi[0], vi[1], vi[2]), iter->second);
  							}
  							else
  							{
  								vt = util3d::transformPoint(cv::Point3f(vi[0], vi[1], 0), iter->second);
  							}
  							vo[0] = vt.x;
  							vo[1] = vt.y;
  							if(minX > vo[0])
  								minX = vo[0];
  							else if(maxX < vo[0])
  								maxX = vo[0];
  
  							if(minY > vo[1])
  								minY = vo[1];
  							else if(maxY < vo[1])
  								maxY = vo[1];
  						}
  						uInsert(occupiedLocalMaps, std::make_pair(iter->first, obstacles));
  
  						if(cloudAssembling_)
  						{
  							*assembledObstacles_ += *util3d::laserScanToPointCloudRGB(LaserScan::backwardCompatibility(pair.first.second), iter->second, 255, 0, 0);
  							assembledObstaclesUpdated = true;
  						}
  					}
  				}
  			}
  		}
  
  		cv::Mat map;
  		cv::Mat mapInfo;
  		if(minX != maxX && minY != maxY)
  		{
  			//Get map size
  			float xMin = minX-margin;
  			xMin -= cellSize_/2.0f;
  			float yMin = minY-margin;
  			yMin -= cellSize_/2.0f;
  			float xMax = maxX+margin;
  			float yMax = maxY+margin;
  
  			if(fabs((yMax - yMin) / cellSize_) > 99999 ||
  			   fabs((xMax - xMin) / cellSize_) > 99999)
  			{
  				UERROR("Large map size!! map min=(%f, %f) max=(%f,%f). "
  						"There's maybe an error with the poses provided! The map will not be created!",
  						xMin, yMin, xMax, yMax);
  			}
  			else
  			{
  				UDEBUG("map min=(%f, %f) odlMin(%f,%f) max=(%f,%f)", xMin, yMin, xMin_, yMin_, xMax, yMax);
  				cv::Size newMapSize((xMax - xMin) / cellSize_+0.5f, (yMax - yMin) / cellSize_+0.5f);
  				if(map_.empty())
  				{
  					UDEBUG("Map empty!");
  					map = cv::Mat::ones(newMapSize, CV_8S)*-1;
  					mapInfo = cv::Mat::zeros(newMapSize, CV_32FC(5));
  				}
  				else
  				{
  					if(xMin == xMin_ && yMin == yMin_ &&
  							newMapSize.width == map_.cols &&
  							newMapSize.height == map_.rows)
  					{
  						// same map size and origin, don't do anything
  						UDEBUG("Map same size!");
  						map = map_;
  						mapInfo = mapInfo_;
  					}
  					else
  					{
  						UASSERT_MSG(xMin <= xMin_+cellSize_/2, uFormat("xMin=%f, xMin_=%f, cellSize_=%f", xMin, xMin_, cellSize_).c_str());
  						UASSERT_MSG(yMin <= yMin_+cellSize_/2, uFormat("yMin=%f, yMin_=%f, cellSize_=%f", yMin, yMin_, cellSize_).c_str());
  						UASSERT_MSG(xMax >= xMin_+float(map_.cols)*cellSize_ - cellSize_/2, uFormat("xMin=%f, xMin_=%f, cols=%d cellSize_=%f", xMin, xMin_, map_.cols, cellSize_).c_str());
  						UASSERT_MSG(yMax >= yMin_+float(map_.rows)*cellSize_ - cellSize_/2, uFormat("yMin=%f, yMin_=%f, cols=%d cellSize_=%f", yMin, yMin_, map_.rows, cellSize_).c_str());
  
  						UDEBUG("Copy map");
  						// copy the old map in the new map
  						// make sure the translation is cellSize
  						int deltaX = 0;
  						if(xMin < xMin_)
  						{
  							deltaX = (xMin_ - xMin) / cellSize_ + 1.0f;
  							xMin = xMin_-float(deltaX)*cellSize_;
  						}
  						int deltaY = 0;
  						if(yMin < yMin_)
  						{
  							deltaY = (yMin_ - yMin) / cellSize_ + 1.0f;
  							yMin = yMin_-float(deltaY)*cellSize_;
  						}
  						UDEBUG("deltaX=%d, deltaY=%d", deltaX, deltaY);
  						newMapSize.width = (xMax - xMin) / cellSize_+0.5f;
  						newMapSize.height = (yMax - yMin) / cellSize_+0.5f;
  						UDEBUG("%d/%d -> %d/%d", map_.cols, map_.rows, newMapSize.width, newMapSize.height);
  						UASSERT(newMapSize.width >= map_.cols && newMapSize.height >= map_.rows);
  						UASSERT(newMapSize.width >= map_.cols+deltaX && newMapSize.height >= map_.rows+deltaY);
  						UASSERT(deltaX>=0 && deltaY>=0);
  						map = cv::Mat::ones(newMapSize, CV_8S)*-1;
  						mapInfo = cv::Mat::zeros(newMapSize, mapInfo_.type());
  						map_.copyTo(map(cv::Rect(deltaX, deltaY, map_.cols, map_.rows)));
  						mapInfo_.copyTo(mapInfo(cv::Rect(deltaX, deltaY, map_.cols, map_.rows)));
  					}
  				}
  				UASSERT(map.cols == mapInfo.cols && map.rows == mapInfo.rows);
  				UDEBUG("map %d %d", map.cols, map.rows);
  				if(poses.size())
  				{
  					UDEBUG("first pose= %d last pose=%d", poses.begin()->first, poses.rbegin()->first);
  				}
  				for(std::list<std::pair<int, Transform> >::const_iterator kter = poses.begin(); kter!=poses.end(); ++kter)
  				{
  					if(kter->first > 0)
  					{
  						uInsert(addedNodes_, *kter);
  					}
  					std::map<int, cv::Mat >::iterator iter = emptyLocalMaps.find(kter->first);
  					std::map<int, cv::Mat >::iterator jter = occupiedLocalMaps.find(kter->first);
  					std::map<int, std::pair<int, int> >::iterator cter = cellCount_.find(kter->first);
  					if (cter == cellCount_.end() && kter->first > 0) {
  						cter = cellCount_.emplace(kter->first, std::make_pair(0, 0)).first;
  					}
  					if(iter!=emptyLocalMaps.end())
  					{
  						for(int i=0; i<iter->second.cols; ++i)
  						{
  							float * ptf = iter->second.ptr<float>(0,i);
  							cv::Point2i pt((ptf[0]-xMin)/cellSize_, (ptf[1]-yMin)/cellSize_);
  							UASSERT_MSG(pt.y >=0 && pt.y < map.rows && pt.x >= 0 && pt.x < map.cols,
  									uFormat("%d: pt=(%d,%d) map=%dx%d rawPt=(%f,%f) xMin=%f yMin=%f channels=%dvs%d (graph modified=%d)",
  											kter->first, pt.x, pt.y, map.cols, map.rows, ptf[0], ptf[1], xMin, yMin, iter->second.channels(), mapInfo.channels()-1, (graphOptimized || graphChanged)?1:0).c_str());
  							char & value = map.at<char>(pt.y, pt.x);
  							if(value != -2 && (!incrementalGraphUpdate || value==-1))
  							{
  								auto& info = mapInfo.at<MapInfoElement>(pt.y, pt.x);
  								int nodeId = (int)info[0];
  								if(value != -1)
  								{
  									if(kter->first > 0 && (kter->first <  nodeId || nodeId < 0))
  									{
  										// cannot rewrite on cells referred by more recent nodes
  										continue;
  									}
  									if(nodeId > 0)
  									{
  										auto eter = cellCount_.find(nodeId);
  										UASSERT_MSG(eter != cellCount_.end(), uFormat("current pose=%d nodeId=%d", kter->first, nodeId).c_str());
  										switch (value) {
  											case kFree:
  												eter->second.first -= 1;
  												break;
  											case kOccupied:
  											case kUnderground:
  												eter->second.second -= 1;
  												break;
  										}
  										if(kter->first < 0)
  										{
  											eter->second.first += 1;
  										}
  									}
  								}
  								if(kter->first > 0)
  								{
  									info[0] = (float)kter->first;
  									info[1] = ptf[0];
  									info[2] = ptf[1];
  									cter->second.first+=1;
  								}
  								value = 0; // free space
  
  								// update odds
  								if(nodeId != kter->first)
  								{
  									info[3] += probMiss_;
  									if (info[3] < probClampingMin_)
  									{
  										info[3] = probClampingMin_;
  									}
  									if (info[3] > probClampingMax_)
  									{
  										info[3] = probClampingMax_;
  									}
  								}
  							}
  						}
  					}
  
  					if(footprintRadius_ >= cellSize_*1.5f)
  					{
  						// place free space under the footprint of the robot
  						cv::Point2i ptBegin((kter->second.x()-footprintRadius_-xMin)/cellSize_, (kter->second.y()-footprintRadius_-yMin)/cellSize_);
  						cv::Point2i ptEnd((kter->second.x()+footprintRadius_-xMin)/cellSize_, (kter->second.y()+footprintRadius_-yMin)/cellSize_);
  						if(ptBegin.x < 0)
  							ptBegin.x = 0;
  						if(ptEnd.x >= map.cols)
  							ptEnd.x = map.cols-1;
  
  						if(ptBegin.y < 0)
  							ptBegin.y = 0;
  						if(ptEnd.y >= map.rows)
  							ptEnd.y = map.rows-1;
  						for(int i=ptBegin.x; i<ptEnd.x; ++i)
  						{
  							for(int j=ptBegin.y; j<ptEnd.y; ++j)
  							{
  								UASSERT(j < map.rows && i < map.cols);
  								char & value = map.at<char>(j, i);
  								auto& info = mapInfo.at<MapInfoElement>(j, i);
  								int nodeId = (int)info[0];
  								if(value != -1)
  								{
  									if(kter->first > 0 && (kter->first <  nodeId || nodeId < 0))
  									{
  										// cannot rewrite on cells referred by more recent nodes
  										continue;
  									}
  									if(nodeId>0)
  									{
  										auto eter = cellCount_.find(nodeId);
  										UASSERT_MSG(eter != cellCount_.end(), uFormat("current pose=%d nodeId=%d", kter->first, nodeId).c_str());
  										switch (value) {
  											case kFree:
  												eter->second.first -= 1;
  												break;
  											case kOccupied:
  											case kUnderground:
  												eter->second.second -= 1;
  												break;
  										}
  										if(kter->first < 0)
  										{
  											eter->second.second += 1;
  										}
  									}
  								}
  								if(kter->first > 0)
  								{
  									info[0] = (float)kter->first;
  									info[1] = float(i) * cellSize_ + xMin;
  									info[2] = float(j) * cellSize_ + yMin;
  									cter->second.first+=1;
  								}
  								value = -2; // free space (footprint)
  							}
  						}
  					}
  
  					if(jter!=occupiedLocalMaps.end())
  					{
  						for(int i=0; i<jter->second.cols; ++i)
  						{
  							float * ptf = jter->second.ptr<float>(0,i);
  							cv::Point2i pt((ptf[0]-xMin)/cellSize_, (ptf[1]-yMin)/cellSize_);
  							UASSERT_MSG(pt.y>=0 && pt.y < map.rows && pt.x>=0 && pt.x < map.cols,
  										uFormat("%d: pt=(%d,%d) map=%dx%d rawPt=(%f,%f) xMin=%f yMin=%f channels=%dvs%d (graph modified=%d)",
  												kter->first, pt.x, pt.y, map.cols, map.rows, ptf[0], ptf[1], xMin, yMin, jter->second.channels(), mapInfo.channels()-1, (graphOptimized || graphChanged)?1:0).c_str());
  							char & value = map.at<char>(pt.y, pt.x);
  							if(value != -2)
  							{
  								auto& info = mapInfo.at<MapInfoElement>(pt.y, pt.x);
  								int nodeId = (int)info[0];
  								if(value != -1)
  								{
  									if(kter->first > 0 && (kter->first <  nodeId || nodeId < 0))
  									{
  										// cannot rewrite on cells referred by more recent nodes
  										continue;
  									}
  									if(nodeId>0)
  									{
  										auto eter = cellCount_.find(nodeId);
  										UASSERT_MSG(eter != cellCount_.end(), uFormat("current pose=%d nodeId=%d", kter->first, nodeId).c_str());
  										switch (value) {
  											case kFree:
  												eter->second.first -= 1;
  												break;
  											case kOccupied:
  											case kUnderground:
  												eter->second.second -= 1;
  												break;
  										}
  										if(kter->first < 0)
  										{
  											eter->second.second += 1;
  										}
  									}
  								}
  								if(kter->first > 0)
  								{
  									info[0] = (float)kter->first;
  									info[1] = ptf[0];
  									info[2] = ptf[1];
  									cter->second.second+=1;
  								}
  
  								// update odds
  								if(nodeId != kter->first || value!=100)
  								{
  									info[3] += probHit_;
  									if (info[3] < probClampingMin_)
  									{
  										info[3] = probClampingMin_;
  									}
  									if (info[3] > probClampingMax_)
  									{
  										info[3] = probClampingMax_;
  									}
  								}
  
  								value = 100; // obstacles
  							}
  						}
  					}
  				}
  
  				if(footprintRadius_ >= cellSize_*1.5f || incrementalGraphUpdate)
  				{
  					for(int i=1; i<map.rows-1; ++i)
  					{
  						for(int j=1; j<map.cols-1; ++j)
  						{
  							char & value = map.at<char>(i, j);
  							if(value == -2)
  							{
  								value = 0;
  							}
  
  							if(incrementalGraphUpdate && value == -1)
  							{
  								auto& info = mapInfo.at<MapInfoElement>(i, j);
  
  								// fill obstacle
  								if(map.at<char>(i+1, j) == 100 && map.at<char>(i-1, j) == 100)
  								{
  									value = 100;
  									// associate with the nearest pose
  									if (mapInfo.at<MapInfoElement>(i + 1, j)[0] > 0.0f) {
  										info[0] = mapInfo.at<MapInfoElement>(i + 1, j)[0];
  										info[1] = float(j) * cellSize_ + xMin;
  										info[2] = float(i) * cellSize_ + yMin;
  										auto cter = cellCount_.find(int(info[0]));
  										UASSERT(cter != cellCount_.end());
  										++cter->second.second;
  									} else if (mapInfo.at<MapInfoElement>(i - 1, j)[0] > 0.0f) {
  										info[0] = mapInfo.at<MapInfoElement>(i - 1, j)[0];
  										info[1] = float(j) * cellSize_ + xMin;
  										info[2] = float(i) * cellSize_ + yMin;
  										auto cter = cellCount_.find(int(info[0]));
  										UASSERT(cter != cellCount_.end());
  										++cter->second.second;
  									}
  								}
  								else if(map.at<char>(i, j+1) == 100 && map.at<char>(i, j-1) == 100)
  								{
  									value = 100;
  									// associate with the nearest pose
  									if (mapInfo.at<MapInfoElement>(i, j + 1)[0] > 0.0f) {
  										info[0] = mapInfo.at<MapInfoElement>(i, j+1)[0];
  										info[1] = float(j) * cellSize_ + xMin;
  										info[2] = float(i) * cellSize_ + yMin;
  										auto cter = cellCount_.find(int(info[0]));
  										UASSERT(cter != cellCount_.end());
  										++cter->second.second;
  									} else if (mapInfo.at<MapInfoElement>(i, j - 1)[0] > 0.0f) {
  										info[0] = mapInfo.at<MapInfoElement>(i, j - 1)[0];
  										info[1] = float(j) * cellSize_ + xMin;
  										info[2] = float(i) * cellSize_ + yMin;
  										auto cter = cellCount_.find(int(info[0]));
  										UASSERT(cter != cellCount_.end());
  										++cter->second.second;
  									}
  								}
  								else
  								{
  									// fill empty
  									char sum =  (map.at<char>(i+1, j) == 0?1:0) +
  												(map.at<char>(i-1, j) == 0?1:0) +
  												(map.at<char>(i, j+1) == 0?1:0) +
  												(map.at<char>(i, j-1) == 0?1:0);
  									if(sum >=3)
  									{
  										value = 0;
  										// associate with the nearest pose, only check two cases (as 3 are required)
  										if (map.at<char>(i+1, j) != -1 && mapInfo.at<MapInfoElement>(i + 1, j)[0] > 0.0f) {
  											info[0] = mapInfo.at<MapInfoElement>(i + 1, j)[0];
  											info[1] = float(j) * cellSize_ + xMin;
  											info[2] = float(i) * cellSize_ + yMin;
  											auto cter = cellCount_.find(int(info[0]));
  											UASSERT(cter != cellCount_.end());
  											++cter->second.first;
  										} else if (map.at<char>(i-1, j) != -1 && mapInfo.at<MapInfoElement>(i - 1, j)[0] > 0.0f) {
  											info[0] = mapInfo.at<MapInfoElement>(i - 1, j)[0];
  											info[1] = float(j) * cellSize_ + xMin;
  											info[2] = float(i) * cellSize_ + yMin;
  											auto cter = cellCount_.find(int(info[0]));
  											UASSERT(cter != cellCount_.end());
  											++cter->second.first;
  										}
  									}
  								}
  							}
  
  							//const auto& info = mapInfo.at<cv::Vec<const float, 5>>(i,j);
  							//if(info[0] > 0)
  							//{
  							//	cloud->at(oi).x = info[1];
  							//	cloud->at(oi).y = info[2];
  							//	oi++;
  							//}
  						}
  					}
  				}
  				//if(graphChanged)
  				//{
  				//	cloud->resize(oi);
  				//	pcl::io::savePCDFileBinary("mapInfo.pcd", *cloud);
  				//	UWARN("Saved mapInfo.pcd");
  				//}
  
  				map_ = map;
  				mapInfo_ = mapInfo;
  				xMin_ = xMin;
  				yMin_ = yMin;
  
  				// clean cellCount_
  				for (auto iter = cellCount_.begin(); iter != cellCount_.end(); ) {
  					UASSERT(iter->second.first >= 0 && iter->second.second >= 0);
  					if(iter->second.first == 0 && iter->second.second == 0)	{
  						iter = cellCount_.erase(iter);
  					}	else	{
  						++iter;
  					}
  				}
  			}
  		}
  
  		if(cloudAssembling_)
  		{
  			if(assembledGroundUpdated && assembledGround_->size() > 1)
  			{
  				assembledGround_ = util3d::voxelize(assembledGround_, cellSize_);
  			}
  			if(assembledObstaclesUpdated && assembledGround_->size() > 1)
  			{
  				assembledObstacles_ = util3d::voxelize(assembledObstacles_, cellSize_);
  			}
  			if(assembledEmptyCellsUpdated && assembledEmptyCells_->size() > 1)
  			{
  				assembledEmptyCells_ = util3d::voxelize(assembledEmptyCells_, cellSize_);
  			}
  		}
  	}
  
  	if(!fullUpdate_ && !cloudAssembling_)
  	{
  		cache_.clear();
  	}
  	else
  	{
  		//clear only negative ids
  		for(std::map<int, std::pair<std::pair<cv::Mat, cv::Mat>, cv::Mat> >::iterator iter=cache_.begin(); iter!=cache_.end();)
  		{
  			if(iter->first < 0)
  			{
  				cache_.erase(iter++);
  			}
  			else
  			{
  				break;
  			}
  		}
  	}
  
  	bool updated = !poses.empty() || graphOptimized || graphChanged;
  	UDEBUG("Occupancy Grid update time = %f s (updated=%s)", timer.ticks(), updated?"true":"false");
  	return updated;
  }
  
  }
  