CMetricMap.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/utils/CStream.h>
#include <mrpt/maps/CMetricMap.h>
#include <mrpt/poses/CPosePDF.h>
#include <mrpt/poses/CPoint3D.h>
#include <mrpt/poses/CPose3D.h>
#include <mrpt/obs/CSensoryFrame.h>
#include <mrpt/maps/CSimpleMap.h>
#include <mrpt/math/lightweight_geom_data.h>

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

IMPLEMENTS_VIRTUAL_SERIALIZABLE(CMetricMap, CSerializable, mrpt::maps)

CMetricMap::CMetricMap()
{
}

/** Erase all the contents of the map */
void  CMetricMap::clear()
{
        internal_clear();
        publishEvent( mrptEventMetricMapClear(this) );
}


/*---------------------------------------------------------------
Load the map contents from a CSensFrameProbSequence object,
erasing all previous content of the map.
This is automaticed invoking "insertObservation" for each
observation at the mean 3D robot pose as given by
the "poses::CPosePDF" in the CSensFrameProbSequence object.
  ---------------------------------------------------------------*/
void  CMetricMap::loadFromProbabilisticPosesAndObservations(const mrpt::maps::CSimpleMap &sfSeq )
{
        CPose3DPDFPtr           posePDF;
        CSensoryFramePtr        sf;
        const size_t n = sfSeq.size();

        // Erase previous contents:
        this->clear();

        // Insert new content:
        for (size_t i=0;i<n;i++)
        {
                sfSeq.get(i,posePDF, sf);

                CPose3D         robotPose;
                posePDF->getMean(robotPose);

                sf->insertObservationsInto(
                                this,           // Insert into THIS map.
                                &robotPose      // At this pose.
                                );
        }
}

/*---------------------------------------------------------------
                                                computeObservationsLikelihood
  ---------------------------------------------------------------*/
double CMetricMap::computeObservationsLikelihood(
        const CSensoryFrame &sf,
        const CPose2D &takenFrom )
{
        double lik = 0;
        for (CSensoryFrame::const_iterator it=sf.begin();it!=sf.end();++it)
                lik += computeObservationLikelihood( it->pointer(), takenFrom );

        return lik;
}

double CMetricMap::computeObservationLikelihood( const CObservation *obs, const CPose2D &takenFrom )
{
        return computeObservationLikelihood(obs,CPose3D(takenFrom));
}

/*---------------------------------------------------------------
                                canComputeObservationLikelihood
  ---------------------------------------------------------------*/
bool CMetricMap::canComputeObservationsLikelihood( const CSensoryFrame &sf ) const
{
        bool can = false;
        for (CSensoryFrame::const_iterator it=sf.begin();!can && it!=sf.end();++it)
                can = can || canComputeObservationLikelihood( it->pointer()  );
        return can;
}

bool CMetricMap::insertObservation(
        const CObservation *obs,
        const CPose3D *robotPose)
{
        if (!genericMapParams.enableObservationInsertion)
                return false;

        bool done = internal_insertObservation(obs,robotPose);
        if (done)
        {
                OnPostSuccesfulInsertObs(obs);
                publishEvent( mrptEventMetricMapInsert(this,obs,robotPose) );
        }
        return done;
}

bool CMetricMap::insertObservationPtr(
        const CObservationPtr &obs,
        const CPose3D *robotPose)
{
        MRPT_START
        if (!obs.present()) { THROW_EXCEPTION("Trying to pass a null pointer."); }
        return insertObservation(obs.pointer(),robotPose);
        MRPT_END
}

bool CMetricMap::canComputeObservationLikelihood( const CObservationPtr &obs ) const {
        return canComputeObservationLikelihood(obs.pointer());
}

void  CMetricMap::determineMatching2D(
        const mrpt::maps::CMetricMap      * otherMap,
        const CPose2D         & otherMapPose,
        TMatchingPairList     & correspondences,
        const TMatchingParams & params,
        TMatchingExtraResults & extraResults ) const
{
        MRPT_UNUSED_PARAM(otherMap);
        MRPT_UNUSED_PARAM(otherMapPose);
        MRPT_UNUSED_PARAM(correspondences);
        MRPT_UNUSED_PARAM(params);
        MRPT_UNUSED_PARAM(extraResults);
        MRPT_START
        THROW_EXCEPTION("Virtual method not implemented in derived class.")
        MRPT_END
}


void CMetricMap::determineMatching3D(
        const mrpt::maps::CMetricMap      * otherMap,
        const CPose3D         & otherMapPose,
        TMatchingPairList     & correspondences,
        const TMatchingParams & params,
        TMatchingExtraResults & extraResults ) const
{
        MRPT_UNUSED_PARAM(otherMap);
        MRPT_UNUSED_PARAM(otherMapPose);
        MRPT_UNUSED_PARAM(correspondences);
        MRPT_UNUSED_PARAM(params);
        MRPT_UNUSED_PARAM(extraResults);
        MRPT_START
        THROW_EXCEPTION("Virtual method not implemented in derived class.")
        MRPT_END
}


float  CMetricMap::compute3DMatchingRatio(const mrpt::maps::CMetricMap *otherMap, const mrpt::poses::CPose3D &otherMapPose, const TMatchingRatioParams &params) const
{
        MRPT_UNUSED_PARAM(otherMap);
        MRPT_UNUSED_PARAM(otherMapPose);
        MRPT_UNUSED_PARAM(params);
        MRPT_START
        THROW_EXCEPTION("Virtual method not implemented in derived class.")
        MRPT_END
}

float CMetricMap::squareDistanceToClosestCorrespondence(
        float x0,
        float y0 ) const
{
        MRPT_UNUSED_PARAM(x0);
        MRPT_UNUSED_PARAM(y0);
        MRPT_START
        THROW_EXCEPTION("Virtual method not implemented in derived class.")
        MRPT_END
}

bool CMetricMap::canComputeObservationLikelihood( const mrpt::obs::CObservation *obs ) const
{ 
        if (genericMapParams.enableObservationLikelihood)
                        return internal_canComputeObservationLikelihood(obs); 
        else return false;
}

double CMetricMap::computeObservationLikelihood( const mrpt::obs::CObservation *obs, const mrpt::poses::CPose3D &takenFrom )
{
        if (genericMapParams.enableObservationLikelihood)
                        return internal_computeObservationLikelihood(obs,takenFrom); 
        else return false;
}