CObservation2DRangeScan.cpp

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/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file        |
   | See: http://www.mrpt.org/Authors - All rights reserved.                   |
   | Released under BSD License. See details in http://www.mrpt.org/License    |
   +---------------------------------------------------------------------------+ */
 
#include "obs-precomp.h"   // Precompiled headers
 
#include <mrpt/obs/CObservation2DRangeScan.h>
#include <mrpt/poses/CPosePDF.h>
#include <mrpt/utils/CStream.h>
#include <mrpt/math/CMatrix.h>
#include <mrpt/math/wrap2pi.h>
#if MRPT_HAS_MATLAB
#       include <mexplus.h>
#endif
 
using namespace std;
using namespace mrpt::obs;
using namespace mrpt::utils;
using namespace mrpt::poses;
using namespace mrpt::math;
 
// This must be added to any CSerializable class implementation file.
IMPLEMENTS_SERIALIZABLE(CObservation2DRangeScan, CObservation,mrpt::obs)
 
/*---------------------------------------------------------------
                                                        Constructor
 ---------------------------------------------------------------*/
CObservation2DRangeScan::CObservation2DRangeScan( ) :
        m_scan(),
        m_intensity(),
        m_validRange(),
        m_has_intensity(false),
        scan( m_scan ), // proxy ctor
        intensity( m_intensity ), // proxy ctor
        validRange( m_validRange ), // proxy ctor
        aperture( M_PIf ),
        rightToLeft( true ),
        maxRange( 80.0f ),
        sensorPose(),
        stdError( 0.01f ),
        beamAperture(0),
        deltaPitch(0),
        m_cachedMap()
{
}
 
CObservation2DRangeScan::CObservation2DRangeScan(const CObservation2DRangeScan &o ) :
        scan( m_scan ), // proxy ctor
        intensity( m_intensity ), // proxy ctor
        validRange( m_validRange ) // proxy ctor
{
        *this = o; // rely on compiler-generated copy op + the custom = operator in proxies.
}
 
/*---------------------------------------------------------------
                                                        Destructor
 ---------------------------------------------------------------*/
CObservation2DRangeScan::~CObservation2DRangeScan()
{
}
 
/*---------------------------------------------------------------
  Implements the writing to a CStream capability of CSerializable objects
 ---------------------------------------------------------------*/
void  CObservation2DRangeScan::writeToStream(mrpt::utils::CStream &out, int *version) const
{
        if (version)
                *version = 7;
        else
        {
                // The data
                out << aperture << rightToLeft << maxRange << sensorPose;
                uint32_t        N = scan.size();
                out << N;
                ASSERT_(validRange.size() == scan.size() );
                if (N)
                {
                        out.WriteBufferFixEndianness( &m_scan[0], N );
                        out.WriteBuffer( &m_validRange[0],sizeof(m_validRange[0])*N );
                }
                out << stdError;
                out << timestamp;
                out << beamAperture;
 
                out << sensorLabel;
 
                out << deltaPitch;
 
                out << hasIntensity();
                if(hasIntensity())
                        out.WriteBufferFixEndianness( &m_intensity[0], N );
        }
}
 
/*---------------------------------------------------------------
  Filter out invalid points by a minimum distance, a maximum angle and a certain distance at the end (z-coordinate of the lasers must be provided)
 ---------------------------------------------------------------*/
void CObservation2DRangeScan::truncateByDistanceAndAngle(float min_distance, float max_angle, float min_height, float max_height, float h )
{
        // FILTER OUT INVALID POINTS!!
        std::vector<float>::iterator            itScan;
        std::vector<char>::iterator itValid;
        CPose3D                                         pose;
        unsigned int                            k;
        unsigned int                            nPts = scan.size();
 
        for( itScan = m_scan.begin(), itValid = m_validRange.begin(), k = 0;
                 itScan != m_scan.end();
                 itScan++, itValid++, k++ )
        {
                float ang       = fabs(k*aperture/nPts - aperture*0.5);
                float x         = (*itScan)*cos(ang);
 
                if( min_height != 0 || max_height != 0 )
                {
                        ASSERT_( max_height > min_height );
                        if( *itScan < min_distance || ang > max_angle || x > h - min_height || x < h - max_height )
                                *itValid = false;
                } // end if
                else
                        if( *itScan < min_distance || ang > max_angle )
                                *itValid = false;
        }
}
 
/*---------------------------------------------------------------
  Implements the reading from a CStream capability of CSerializable objects
 ---------------------------------------------------------------*/
void  CObservation2DRangeScan::readFromStream(mrpt::utils::CStream &in, int version)
{
        switch(version)
        {
        case 0:
        case 1:
        case 2:
        case 3:
                {
                        CMatrix covSensorPose;
                        in >> aperture >> rightToLeft  >> maxRange >> sensorPose >> covSensorPose;
                        uint32_t                N,i;
 
                        in >> N;
 
                        this->resizeScan(N);
                        if (N)
                                in.ReadBufferFixEndianness( &m_scan[0], N);
 
                        if (version>=1)
                        {       // Load validRange:
                                if (N)
                                        in.ReadBuffer( &m_validRange[0], sizeof(m_validRange[0])*N );
                        }
                        else
                        {
                                // validRange: Default values: If distance is not maxRange
                                for (i=0;i<N;i++)
                                        m_validRange[i]= scan[i] < maxRange;
                        }
 
                        if (version>=2)
                        {
                                in >> stdError;
                        }
                        else
                        {
                                stdError = 0.01f;
                        }
 
                        if (version>=3)
                        {
                                in >> timestamp;
                        }
 
                        // Default values for newer versions:
                        beamAperture = DEG2RAD(0.25f);
 
                        deltaPitch  = 0;
                        sensorLabel = "";
 
                } break;
 
        case 4:
        case 5:
        case 6:
        case 7:
                {
                        uint32_t                N;
 
                        CMatrix covSensorPose;
                        in >> aperture >> rightToLeft  >> maxRange >> sensorPose;
 
                        if (version<6) // covSensorPose was removed in version 6
                                in  >> covSensorPose;
 
                        in >> N;
                        this->resizeScan(N);
                        if (N)
                        {
                                in.ReadBufferFixEndianness( &m_scan[0], N);
                                in.ReadBuffer( &m_validRange[0], sizeof(m_validRange[0])*N );
                        }
                        in >> stdError;
                        in.ReadBufferFixEndianness( &timestamp, 1);
                        in >> beamAperture;
 
                        if (version>=5)
                        {
                                in >> sensorLabel;
                                in >> deltaPitch;
                        }
                        else
                        {
                                sensorLabel = "";
                                deltaPitch  = 0;
                        }
                        if (version>=7)
                        {
                                bool hasIntensity;
                                in >> hasIntensity;
                                setScanHasIntensity(hasIntensity);
                                if (hasIntensity && N) {
                                        in.ReadBufferFixEndianness( &m_intensity[0], N);
                                }
                        }
                } break;
        default:
                MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version)
        };
 
        m_cachedMap.clear();
}
 
/*---------------------------------------------------------------
  Implements the writing to a mxArray for Matlab
 ---------------------------------------------------------------*/
#if MRPT_HAS_MATLAB
// Add to implement mexplus::from template specialization
IMPLEMENTS_MEXPLUS_FROM( mrpt::obs::CObservation2DRangeScan )
 
mxArray* CObservation2DRangeScan::writeToMatlab() const
{
        const char* fields[] = {"class",        // Data common to any MRPT class
                                                        "ts","sensorLabel",             // Data common to any observation
                                                        "scan","validRange","intensity" // Received raw data
                                                        "aperture","rightToLeft","maxRange",    // Scan plane geometry and properties
                                                        "stdError","beamAperture","deltaPitch", // Ray properties
                                                        "pose", // Sensor pose
                                                        "map"}; // Points map
        mexplus::MxArray obs_struct( mexplus::MxArray::Struct(sizeof(fields)/sizeof(fields[0]),fields) );
 
        obs_struct.set("class", this->GetRuntimeClass()->className);
 
        obs_struct.set("ts", this->timestamp);
        obs_struct.set("sensorLabel", this->sensorLabel);
 
        obs_struct.set("scan", this->m_scan);
        // TODO: "validRange should be a vector<bool> for Matlab instead of vector<char>" ==> JLBC: It cannot be done like that since serializing "bool" is not cross-platform safe, while "char" is...
        obs_struct.set("validRange", this->m_validRange);
        obs_struct.set("intensity", this->m_intensity);
        obs_struct.set("aperture", this->aperture);
        obs_struct.set("rightToLeft", this->rightToLeft);
        obs_struct.set("maxRange", this->maxRange);
        obs_struct.set("stdError", this->stdError);
        obs_struct.set("beamAperture", this->beamAperture);
        obs_struct.set("deltaPitch", this->deltaPitch);
        obs_struct.set("pose", this->sensorPose);
        // TODO: obs_struct.set("map", ...)
        return obs_struct.release();
}
#endif
 
/*---------------------------------------------------------------
                                                isPlanarScan
 ---------------------------------------------------------------*/
bool  CObservation2DRangeScan::isPlanarScan( const double tolerance  ) const
{
        return sensorPose.isHorizontal(tolerance);
}
 
bool  CObservation2DRangeScan::hasIntensity() const
{
        return m_has_intensity;
}
void CObservation2DRangeScan::setScanHasIntensity(bool setHasIntensityFlag)
{
        m_has_intensity = setHasIntensityFlag;
}
 
 
/*---------------------------------------------------------------
                                                filterByExclusionAreas
 ---------------------------------------------------------------*/
void CObservation2DRangeScan::filterByExclusionAreas( const TListExclusionAreasWithRanges  &areas )
{
        if (areas.empty()) return;
 
        MRPT_START
 
        double  Ang, dA;
        size_t  sizeRangeScan = scan.size();
 
        ASSERT_(scan.size()==validRange.size());
 
        if (!sizeRangeScan) return;
 
        if (rightToLeft)
        {
                Ang = - 0.5 * aperture;
                dA  = aperture / (sizeRangeScan-1);
        }
        else
        {
                Ang = + 0.5 * aperture;
                dA  = - aperture / (sizeRangeScan-1);
        }
 
        std::vector<char>::iterator   valid_it;
        std::vector<float>::const_iterator  scan_it;
 
        for (scan_it=m_scan.begin(), valid_it=m_validRange.begin(); scan_it!=m_scan.end(); scan_it++, valid_it++)
        {
                if (! *valid_it)
                {
                        Ang+=dA;
                        continue; // Already it's invalid
                }
 
                // Compute point in 2D, local to the laser center:
                const double Lx = *scan_it * cos( Ang );
                const double Ly = *scan_it * sin( Ang );
                Ang+=dA;
 
                // To real 3D pose:
                double Gx,Gy,Gz;
                this->sensorPose.composePoint(Lx,Ly,0, Gx,Gy,Gz);
 
                // Filter by X,Y:
                for (TListExclusionAreasWithRanges::const_iterator i=areas.begin();i!=areas.end();++i)
                {
                        if ( i->first.PointIntoPolygon(Gx,Gy) &&
                                (Gz>=i->second.first && Gz<=i->second.second) )
                        {
                                *valid_it = false;
                                break; // Go for next point
                        }
                } // for each area
        } // for each point
 
        MRPT_END
}
 
/*---------------------------------------------------------------
                                                filterByExclusionAreas
 ---------------------------------------------------------------*/
void CObservation2DRangeScan::filterByExclusionAreas( const std::vector<mrpt::math::CPolygon>  &areas )
{
        if (areas.empty()) return;
 
        TListExclusionAreasWithRanges lst;
        for (size_t i=0;i<areas.size();i++)
        {
                TListExclusionAreasWithRanges::value_type dat;
                dat.first = areas[i];
                dat.second.first  = -std::numeric_limits<double>::max();
                dat.second.second =  std::numeric_limits<double>::max();
 
                lst.push_back(dat);
        }
        filterByExclusionAreas(lst);
}
 
/*---------------------------------------------------------------
                                                filterByExclusionAngles
 ---------------------------------------------------------------*/
void CObservation2DRangeScan::filterByExclusionAngles( const std::vector<std::pair<double,double> >  &angles )
{
        if (angles.empty()) return;
 
        MRPT_START
 
        double  Ang, dA;
        const size_t  sizeRangeScan = scan.size();
 
        ASSERT_(scan.size()==validRange.size());
 
        if (!sizeRangeScan) return;
 
        if (rightToLeft)
        {
                Ang = - 0.5 * aperture;
                dA  = aperture / (sizeRangeScan-1);
        }
        else
        {
                Ang = + 0.5 * aperture;
                dA  = - aperture / (sizeRangeScan-1);
        }
 
        // For each forbiden angle range:
        for (vector<pair<double,double> >::const_iterator itA=angles.begin();itA!=angles.end();++itA)
        {
                int ap_idx_ini = mrpt::math::wrapTo2Pi(itA->first-Ang) / dA;  // The signs are all right! ;-)
                int ap_idx_end = mrpt::math::wrapTo2Pi(itA->second-Ang) / dA;
 
                if (ap_idx_ini<0) ap_idx_ini=0;
                if (ap_idx_end<0) ap_idx_end=0;
 
                if (ap_idx_ini>(int)sizeRangeScan) ap_idx_ini=sizeRangeScan-1;
                if (ap_idx_end>(int)sizeRangeScan) ap_idx_end=sizeRangeScan-1;
 
                const size_t idx_ini = ap_idx_ini;
                const size_t idx_end = ap_idx_end;
 
                if (idx_end>=idx_ini)
                {
                        for (size_t i=idx_ini;i<=idx_end;i++)
                                m_validRange[i]=false;
                }
                else
                {
                        for (size_t i=0;i<idx_end;i++)
                                m_validRange[i]=false;
 
                        for (size_t i=idx_ini;i<sizeRangeScan;i++)
                                m_validRange[i]=false;
                }
        }
 
        MRPT_END
}
 
namespace mrpt
{
        namespace obs
        {
                // Tricky way to call to a library that depends on us, a sort of "run-time" linking:
                //  ptr_internal_build_points_map_from_scan2D is a functor in "mrpt-obs", set by "mrpt-maps" at its startup.
                void OBS_IMPEXP (*ptr_internal_build_points_map_from_scan2D)(const mrpt::obs::CObservation2DRangeScan &obs, mrpt::maps::CMetricMapPtr &out_map, const void *insertOps) = NULL;
        }
}
 
/*---------------------------------------------------------------
                                                internal_buildAuxPointsMap
  ---------------------------------------------------------------*/
void CObservation2DRangeScan::internal_buildAuxPointsMap( const void *options ) const
{
        if (!ptr_internal_build_points_map_from_scan2D)
                throw std::runtime_error("[CObservation2DRangeScan::buildAuxPointsMap] ERROR: This function needs linking against mrpt-maps.\n");
 
        (*ptr_internal_build_points_map_from_scan2D)(*this,m_cachedMap, options);
}
 
/** Fill out a T2DScanProperties structure with the parameters of this scan */
void CObservation2DRangeScan::getScanProperties(T2DScanProperties& p) const
{
        p.nRays       = this->scan.size();
        p.aperture    = this->aperture;
        p.rightToLeft = this->rightToLeft;
}
 
bool mrpt::obs::operator<(const T2DScanProperties&a, const T2DScanProperties&b)
{
        if (a.nRays != b.nRays) return a.nRays<b.nRays;
        if (a.aperture != b.aperture) return a.aperture < b.aperture;
        if (a.rightToLeft != b.rightToLeft) return a.rightToLeft;
        return false;
}
 
 
void CObservation2DRangeScan::getDescriptionAsText(std::ostream &o) const
{
        CObservation::getDescriptionAsText(o);
        o << "Homogeneous matrix for the sensor's 3D pose, relative to robot base:\n";
        o << sensorPose.getHomogeneousMatrixVal() << sensorPose << endl;
 
        o << format("Samples direction: %s\n", (rightToLeft) ? "Right->Left" : "Left->Right");
        o << format("Points in the scan: %u\n", (unsigned)scan.size());
        o << format("Estimated sensor 'sigma': %f\n", stdError );
        o << format("Increment in pitch during the scan: %f deg\n", RAD2DEG( deltaPitch ));
 
        size_t i,inval = 0;
        for (i=0;i<scan.size();i++) if (!validRange[i]) inval++;
        o << format("Invalid points in the scan: %u\n", (unsigned)inval);
 
        o << format("Sensor maximum range: %.02f m\n", maxRange );
        o << format("Sensor field-of-view (\"aperture\"): %.01f deg\n", RAD2DEG(aperture) );
 
        o << "Raw scan values: [";
        for (i=0;i<scan.size();i++) o << format("%.03f ", scan[i] );
        o << "]\n";
 
        o << "Raw valid-scan values: [";
        for (i=0;i<validRange.size();i++) o << format("%u ", validRange[i] ? 1:0 );
        o << "]\n\n";
 
        if(hasIntensity()){
                o << "Raw intensity values: [";
                for (i=0;i<m_intensity.size();i++) o << format("%d ", m_intensity[i]);
                o << "]\n\n";
        }
 
}
 
float CObservation2DRangeScan::getScanRange(const size_t i) const
{
        ASSERT_BELOW_(i,m_scan.size());
        return m_scan[i];
}
 
void CObservation2DRangeScan::setScanRange(const size_t i, const float val)
{
        ASSERT_BELOW_(i,m_scan.size());
        m_scan[i] = val;
}
 
int CObservation2DRangeScan::getScanIntensity(const size_t i) const
{
        ASSERT_BELOW_(i,m_intensity.size());
        return m_intensity[i];
}
void CObservation2DRangeScan::setScanIntensity(const size_t i, const int val)
{
        ASSERT_BELOW_(i,m_intensity.size());
        m_intensity[i] = val;
}
 
bool  CObservation2DRangeScan::getScanRangeValidity(const size_t i) const
{
        ASSERT_BELOW_(i,m_validRange.size());
        return m_validRange[i] != 0;
}
void CObservation2DRangeScan::setScanRangeValidity(const size_t i, const bool val)
{
        ASSERT_BELOW_(i,m_validRange.size());
        m_validRange[i] = val ? 1:0;
}
 
void CObservation2DRangeScan::resizeScan(const size_t len)
{
        const size_t capacity = mrpt::utils::length2length4N(len);
        m_scan.reserve(capacity);
        m_intensity.reserve(capacity);
        m_validRange.reserve(capacity);
 
        m_scan.resize(len);
        m_intensity.resize(len);
        m_validRange.resize(len);
}
 
void CObservation2DRangeScan::resizeScanAndAssign(const size_t len, const float rangeVal, const bool rangeValidity, const int32_t rangeIntensity)
{
        const size_t capacity = mrpt::utils::length2length4N(len);
        m_scan.reserve(capacity);
        m_intensity.reserve(capacity);
        m_validRange.reserve(capacity);
 
        m_scan.assign(len, rangeVal);
        m_validRange.assign(len, rangeValidity);
        m_intensity.assign(len, rangeIntensity);
}
 
size_t CObservation2DRangeScan::getScanSize() const
{
        return m_scan.size();
}
 
void CObservation2DRangeScan::loadFromVectors(size_t nRays, const float *scanRanges, const char *scanValidity )
{
        ASSERT_(scanRanges);
        ASSERT_(scanValidity);
        resizeScan(nRays);
        for (size_t i=0;i<nRays;i++) {
                m_scan[i] = scanRanges[i];
                m_validRange[i] = scanValidity[i];
        }
}