CMultiMetricMap.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 "slam-precomp.h"   // Precompiled headers

#include <mrpt/utils/CConfigFile.h>
#include <mrpt/poses/CPoint2D.h>
#include <mrpt/maps/CMultiMetricMap.h>
#include <mrpt/utils/metaprogramming.h>
#include <mrpt/utils/CStream.h>

using namespace mrpt::maps;
using namespace mrpt::utils;
using namespace mrpt::poses;
using namespace mrpt::obs;
using namespace mrpt::utils::metaprogramming;

IMPLEMENTS_SERIALIZABLE( CMultiMetricMap, CMetricMap, mrpt::maps )

// ------------------------------------------------------------------------
// A few words explaining how all this works:
//  The main hub for operating with all the maps in the internal list
//   if MapExecutor.
//
// All operations go thru MapExecutor::run<OP>() with OP being one of the
//  possible map operations (clear, matching, likelihood, etc.). The
//  idea is that when adding new map types to the internal list of
//  CMultiMetricMap, *only* "MapExecutor" methods must be updated.
// (The only exception are readFromStream() & writeToStream())
//
// The map-specific operations all go into template specializations of
//  other helper structures or in overloaded methods.
//                                                 JLBC (7-AUG-2011)
// ------------------------------------------------------------------------

struct MapExecutor {
        // Apply operation to maps in the same order as declared in CMultiMetricMap.h:
        template <typename OP>
        static void run(const CMultiMetricMap &_mmm, OP &op)
        {
                MRPT_START
                CMultiMetricMap &mmm = const_cast<CMultiMetricMap&>(_mmm);  // This is to avoid duplicating "::run()" for const and non-const.
                for_each( mmm.maps.begin(),mmm.maps.end(), op );
                MRPT_END
        }
};  // end of MapExecutor

// ------------------- Begin of map-operations helper templates -------------------
struct MapVectorClearer
{
        template<typename T>
        inline void operator()(T &container) {
                container.clear();
        }
};

struct MapComputeLikelihood
{
        const CObservation    * obs;
        const CPose3D         & takenFrom;
        double                & total_log_lik;

        MapComputeLikelihood(const CMultiMetricMap &m,const CObservation * _obs, const CPose3D & _takenFrom, double & _total_log_lik) :
                obs(_obs), takenFrom(_takenFrom),
                total_log_lik(_total_log_lik)
        {
                total_log_lik=0;
        }

        template <typename PTR>
        inline void operator()(PTR &ptr) {
                total_log_lik+=ptr->computeObservationLikelihood(obs,takenFrom);
        }

}; // end of MapComputeLikelihood

struct MapCanComputeLikelihood
{
        const CObservation    * obs;
        bool                  & can;

        MapCanComputeLikelihood(const CMultiMetricMap &m,const CObservation * _obs, bool & _can) :
                obs(_obs),
                can(_can)
        {
                can = false;
        }

        template <typename PTR>
        inline void operator()(PTR &ptr) {
                can = can || ptr->canComputeObservationLikelihood(obs);
        }

}; // end of MapCanComputeLikelihood


struct MapInsertObservation
{
        const CObservation    * obs;
        const CPose3D         * robot_pose;
        int                   & total_insert;

        MapInsertObservation(const CMultiMetricMap &m,const CObservation * _obs, const CPose3D * _robot_pose, int & _total_insert) :
                obs(_obs), robot_pose(_robot_pose),
                total_insert(_total_insert)
        {
                total_insert = 0;
        }

        template <typename PTR>
        inline void operator()(PTR &ptr) {
                bool ret = ptr->insertObservation(obs,robot_pose);
                if (ret) total_insert++;
        }
}; // end of MapInsertObservation

struct MapGetAs3DObject
{
        mrpt::opengl::CSetOfObjectsPtr & obj_gl;

        MapGetAs3DObject(mrpt::opengl::CSetOfObjectsPtr &_obj_gl) : obj_gl(_obj_gl)
        {
        }

        template <typename PTR>
        inline void operator()(PTR &ptr) {
                if (ptr) ptr->getAs3DObject(obj_gl);
        }
}; // end of MapGetAs3DObject

struct MapAuxPFCleanup
{
        MapAuxPFCleanup() { }

        template <typename PTR>
        inline void operator()(PTR &ptr) {
                if (ptr) ptr->auxParticleFilterCleanUp();
        }
}; // end of MapAuxPFCleanup


struct MapIsEmpty
{
        bool & is_empty;

        MapIsEmpty(bool & _is_empty) : is_empty(_is_empty)
        {
                is_empty = true;
        }

        template <typename PTR>
        inline void operator()(PTR &ptr) {
                if (ptr)
                        is_empty = is_empty && ptr->isEmpty();
        }
}; // end of MapIsEmpty

// ------------------- End of map-operations helper templates -------------------

#define ALL_PROXIES_INIT \
        m_pointsMaps(maps), \
        m_gridMaps(maps), \
        m_octoMaps(maps), \
        m_colourOctoMaps(maps), \
        m_gasGridMaps(maps), \
        m_wifiGridMaps(maps), \
        m_heightMaps(maps), \
        m_heightMRFMaps(maps), \
        m_reflectivityMaps(maps), \
        m_colourPointsMap(maps), \
        m_weightedPointsMap(maps), \
        m_landmarksMap(maps), \
        m_beaconMap(maps)

// Ctor
CMultiMetricMap::CMultiMetricMap(const TSetOfMetricMapInitializers *initializers) :
        maps(),
        ALL_PROXIES_INIT,
        m_ID(0)
{
        MRPT_START
        setListOfMaps(initializers);
        MRPT_END
}

CMultiMetricMap::CMultiMetricMap(const CMultiMetricMap &o) :
        maps(o.maps),
        ALL_PROXIES_INIT,
        m_ID(o.m_ID)
{
}

CMultiMetricMap& CMultiMetricMap::operator =(const CMultiMetricMap &o)
{
        maps = o.maps;
        m_ID = o.m_ID;
        return *this;
}

#if (__cplusplus>199711L)
CMultiMetricMap::CMultiMetricMap(CMultiMetricMap &&o) :
        maps(std::move(o.maps)),
        ALL_PROXIES_INIT,
        m_ID(o.m_ID)
{
}

CMultiMetricMap& CMultiMetricMap::operator =(CMultiMetricMap &&o)
{
        maps = std::move(o.maps);
        m_ID = o.m_ID;
        return *this;
}
#endif

/*---------------------------------------------------------------
                        setListOfMaps
  ---------------------------------------------------------------*/
void  CMultiMetricMap::setListOfMaps( const mrpt::maps::TSetOfMetricMapInitializers *initializers )
{
        MRPT_START

        // Erase current list of maps:
        deleteAllMaps();

        internal::TMetricMapTypesRegistry & mmr = internal::TMetricMapTypesRegistry::Instance();

        // Do we have any initializer?
        if (initializers!=NULL)
        {
                // Process each entry in the "initializers" and create maps accordingly:
                for (TSetOfMetricMapInitializers::const_iterator it = initializers->begin();it!=initializers->end();++it)
                {
                        // Create map from the list of all params:
                        mrpt::maps::CMetricMap *theMap = mmr.factoryMapObjectFromDefinition(*it->pointer());
                        ASSERT_(theMap)

                        // Add to the list of maps:
                        this->maps.push_back( mrpt::maps::CMetricMapPtr(theMap) );
                }

        } // end if initializers!=NULL

        MRPT_END
}

/*---------------------------------------------------------------
                                        clear
  ---------------------------------------------------------------*/
void  CMultiMetricMap::internal_clear()
{
        ObjectClear op;
        MapExecutor::run(*this, op);
}

// Deletes all maps and clears the internal lists of maps (with clear_unique(), so user copies remain alive)
void  CMultiMetricMap::deleteAllMaps()
{
        // Clear smart pointers:
        ObjectClearUnique<mrpt::utils::poly_ptr_ptr<mrpt::maps::CMetricMapPtr> > op_clear_unique;
        MapExecutor::run(*this, op_clear_unique);

        // Clear list:
        maps.clear();
        m_ID = 0;
}

/*---------------------------------------------------------------
  Implements the writing to a CStream capability of CSerializable objects
 ---------------------------------------------------------------*/
void  CMultiMetricMap::writeToStream(mrpt::utils::CStream &out, int *version) const
{
        if (version)
                *version = 11;
        else
        {
                // Version 11: simply the list of maps:
                out << static_cast<uint32_t>(m_ID);

                const uint32_t n = static_cast<uint32_t>(maps.size());
                for (uint32_t i=0;i<n;i++)
                        out << *maps[i];
        }
}

/*---------------------------------------------------------------
  Implements the reading from a CStream capability of CSerializable objects
 ---------------------------------------------------------------*/
void  CMultiMetricMap::readFromStream(mrpt::utils::CStream &in, int version)
{
        switch(version)
        {
        case 11:
                {
                        // ID: 
                        {
                                uint32_t        ID;
                                in >> ID; m_ID = ID;
                        }

                        // List of maps:
                        uint32_t  n;
                        in >> n;
                        this->maps.resize(n);
                        for_each( maps.begin(), maps.end(), ObjectReadFromStreamToPtrs<mrpt::maps::CMetricMapPtr>(&in) );

                } break;
        default:
                MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version)

        };
}

// Read docs in base class
double   CMultiMetricMap::internal_computeObservationLikelihood(
                        const CObservation              *obs,
                        const CPose3D                   &takenFrom )
{
        double ret_log_lik;
        MapComputeLikelihood op_likelihood(*this,obs,takenFrom,ret_log_lik);

        MapExecutor::run(*this,op_likelihood);

        MRPT_CHECK_NORMAL_NUMBER(ret_log_lik) //-V614
        return ret_log_lik;
}

// Read docs in base class
bool CMultiMetricMap::internal_canComputeObservationLikelihood( const CObservation *obs ) const
{
        bool can_comp;

        MapCanComputeLikelihood op_can_likelihood(*this,obs,can_comp);
        MapExecutor::run(*this,op_can_likelihood);
        return can_comp; //-V614
}

/*---------------------------------------------------------------
                                        insertObservation

Insert the observation information into this map.
 ---------------------------------------------------------------*/
bool  CMultiMetricMap::internal_insertObservation(
                const CObservation      *obs,
                const CPose3D                   *robotPose)
{
        int total_insert;
        MapInsertObservation op_insert_obs(*this,obs,robotPose,total_insert);
        MapExecutor::run(*this,op_insert_obs);
        return total_insert!=0; //-V614
}

/*---------------------------------------------------------------
                                        computeMatchingWith2D
 ---------------------------------------------------------------*/
void CMultiMetricMap::determineMatching2D(
        const mrpt::maps::CMetricMap      * otherMap,
        const CPose2D         & otherMapPose,
        TMatchingPairList     & correspondences,
        const TMatchingParams & params,
        TMatchingExtraResults & extraResults ) const
{
    MRPT_START
        ASSERTMSG_( m_pointsMaps.size()==1, "There is not exactly 1 points maps in the multimetric map." );
        m_pointsMaps[0]->determineMatching2D(otherMap,otherMapPose,correspondences,params,extraResults);
    MRPT_END
}

/*---------------------------------------------------------------
                                        isEmpty
 ---------------------------------------------------------------*/
bool  CMultiMetricMap::isEmpty() const
{
        bool is_empty;
        MapIsEmpty op_insert_obs(is_empty); //-V614
        MapExecutor::run(*this,op_insert_obs);
        return is_empty;
}

void  CMultiMetricMap::saveMetricMapRepresentationToFile(const std::string      &filNamePrefix) const
{
        MRPT_START

        for (size_t idx=0;idx<maps.size();idx++)
        {
                const mrpt::maps::CMetricMap * m = maps[idx].pointer();
                ASSERT_(m)

                std::string fil = filNamePrefix;
                fil += format("_%s_%02u", m->GetRuntimeClass()->className, static_cast<unsigned int>(idx));
                m->saveMetricMapRepresentationToFile(fil);
        }

        MRPT_END
}


/*---------------------------------------------------------------
                                                getAs3DObject
---------------------------------------------------------------*/
void  CMultiMetricMap::getAs3DObject( mrpt::opengl::CSetOfObjectsPtr    &outObj ) const
{
        MRPT_START
        MapGetAs3DObject op_get_3D(outObj);
        MapExecutor::run(*this,op_get_3D);
        MRPT_END
}

// See docs in base class
float  CMultiMetricMap::compute3DMatchingRatio(const mrpt::maps::CMetricMap *otherMap, const mrpt::poses::CPose3D &otherMapPose, const TMatchingRatioParams &params) const
{
        MRPT_START

        float accumResult = 0;

        for (size_t idx=0;idx<maps.size();idx++)
        {
                const mrpt::maps::CMetricMap * m = maps[idx].pointer();
                ASSERT_(m)
                accumResult += m->compute3DMatchingRatio( otherMap, otherMapPose,params);
        }

        // Return average:
        const size_t nMapsComputed = maps.size();
        if (nMapsComputed) accumResult/=nMapsComputed;
        return accumResult;

        MRPT_END
}

/*---------------------------------------------------------------
                                        auxParticleFilterCleanUp
 ---------------------------------------------------------------*/
void  CMultiMetricMap::auxParticleFilterCleanUp()
{
        MRPT_START
        MapAuxPFCleanup op_cleanup;
        MapExecutor::run(*this,op_cleanup);
        MRPT_END
}

/** If the map is a simple points map or it's a multi-metric map that contains EXACTLY one simple points map, return it.
* Otherwise, return NULL
*/
const CSimplePointsMap * CMultiMetricMap::getAsSimplePointsMap() const
{
        MRPT_START
        ASSERT_(m_pointsMaps.size()==1 || m_pointsMaps.size()==0)
        if (m_pointsMaps.empty()) return NULL;
        else return m_pointsMaps[0].pointer();
        MRPT_END
}
CSimplePointsMap * CMultiMetricMap::getAsSimplePointsMap()
{
        MRPT_START
        ASSERT_(m_pointsMaps.size()==1 || m_pointsMaps.size()==0)
        if (m_pointsMaps.empty()) return NULL;
        else return m_pointsMaps[0].pointer();
        MRPT_END
}


/** Gets the i-th map \exception std::runtime_error On out-of-bounds */
mrpt::maps::CMetricMapPtr CMultiMetricMap::getMapByIndex(size_t idx) const
{
        ASSERT_BELOW_(idx,maps.size())
        return maps[idx].get_ptr();
}