CMetricMapBuilderICP.h

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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    |
   +---------------------------------------------------------------------------+ */
#ifndef CMetricMapBuilderICP_H
#define CMetricMapBuilderICP_H

#include <mrpt/slam/CMetricMapBuilder.h>
#include <mrpt/slam/CICP.h>
#include <mrpt/poses/CRobot2DPoseEstimator.h>

#include <mrpt/slam/link_pragmas.h>


namespace mrpt
{
namespace slam
{
        /** A class for very simple 2D SLAM based on ICP. This is a non-probabilistic pose tracking algorithm.
         *   Map are stored as in files as binary dumps of "mrpt::maps::CSimpleMap" objects. The methods are
         *       thread-safe.
         * \ingroup metric_slam_grp
         */
        class SLAM_IMPEXP  CMetricMapBuilderICP : public mrpt::slam::CMetricMapBuilder
        {
         public:
                 /** Default constructor - Upon construction, you can set the parameters in ICP_options, then call "initialize".
                   */
                 CMetricMapBuilderICP();

                 /** Destructor:
                   */
                 virtual ~CMetricMapBuilderICP();

                 /** Algorithm configuration params
                   */
                 struct SLAM_IMPEXP TConfigParams : public mrpt::utils::CLoadableOptions
                 {
                         /** Initializer */
                        TConfigParams (mrpt::utils::VerbosityLevel &parent_verbosity_level);
                        TConfigParams &operator=(const TConfigParams &other);  //Copy assignment

                        void loadFromConfigFile(const mrpt::utils::CConfigFileBase &source,const std::string &section) MRPT_OVERRIDE; // See base docs
                        void dumpToTextStream(mrpt::utils::CStream &out) const MRPT_OVERRIDE; // See base docs
                        /** (default:false) Match against the occupancy grid or the points map? The former is quicker but less precise. */
                        bool    matchAgainstTheGrid;

                        double insertionLinDistance;    //!< Minimum robot linear (m) displacement for a new observation to be inserted in the map.
                        double insertionAngDistance;    //!< Minimum robot angular (rad, deg when loaded from the .ini) displacement for a new observation to be inserted in the map.
                        double localizationLinDistance; //!< Minimum robot linear (m) displacement for a new observation to be used to do ICP-based localization (otherwise, dead-reckon with odometry).
                        double localizationAngDistance;//!< Minimum robot angular (rad, deg when loaded from the .ini) displacement for a new observation to be used to do ICP-based localization (otherwise, dead-reckon with odometry).

                        double minICPgoodnessToAccept;  //!< Minimum ICP goodness (0,1) to accept the resulting corrected position (default: 0.40)

                        mrpt::utils::VerbosityLevel &verbosity_level;

                        /** What maps to create (at least one points map and/or a grid map are needed).
                          *  For the expected format in the .ini file when loaded with loadFromConfigFile(), see documentation of TSetOfMetricMapInitializers.
                          */
                        mrpt::maps::TSetOfMetricMapInitializers mapInitializers;

                 };

                 TConfigParams                  ICP_options; //!< Options for the ICP-SLAM application \sa ICP_params
                 CICP::TConfigParams    ICP_params;  //!< Options for the ICP algorithm itself \sa ICP_options

                /** Initialize the method, starting with a known location PDF "x0"(if supplied, set to NULL to left unmodified) and a given fixed, past map.
                  *  This method MUST be called if using the default constructor, after loading the configuration into ICP_options. In particular, TConfigParams::mapInitializers
                  */
                void  initialize(
                        const mrpt::maps::CSimpleMap &initialMap  = mrpt::maps::CSimpleMap(),
                        mrpt::poses::CPosePDF *x0 = NULL
                        ) MRPT_OVERRIDE;

                /** Returns a copy of the current best pose estimation as a pose PDF.
                  */
                mrpt::poses::CPose3DPDFPtr  getCurrentPoseEstimation() const MRPT_OVERRIDE;

                 /** Sets the "current map file", thus that map will be loaded if it exists or a new one will be created if it does not, and the updated map will be save to that file when destroying the object.
                   */
                 void  setCurrentMapFile( const char *mapFile );

                /** Appends a new action and observations to update this map: See the description of the class at the top of this page to see a more complete description.
                 *  \param action The estimation of the incremental pose change in the robot pose.
                 *      \param in_SF The set of observations that robot senses at the new pose.
                 * See params in CMetricMapBuilder::options and CMetricMapBuilderICP::ICP_options
                 * \sa processObservation
                 */
                void  processActionObservation(
                        mrpt::obs::CActionCollection    &action,
                        mrpt::obs::CSensoryFrame                &in_SF ) MRPT_OVERRIDE;

                /**  The main method of this class: Process one odometry or sensor observation.
                    The new entry point of the algorithm (the old one  was processActionObservation, which now is a wrapper to
                  this method).
                 * See params in CMetricMapBuilder::options and CMetricMapBuilderICP::ICP_options
                  */
                void  processObservation(const mrpt::obs::CObservationPtr &obs);

                /** Fills "out_map" with the set of "poses"-"sensory-frames", thus the so far built map */
                void  getCurrentlyBuiltMap(mrpt::maps::CSimpleMap &out_map) const MRPT_OVERRIDE;

                /** Returns the 2D points of current local map */
                void  getCurrentMapPoints( std::vector<float> &x, std::vector<float> &y);

                const mrpt::maps::CMultiMetricMap* getCurrentlyBuiltMetricMap() const MRPT_OVERRIDE;

                /** Returns just how many sensory-frames are stored in the currently build map */
                unsigned int  getCurrentlyBuiltMapSize() MRPT_OVERRIDE;

                /** A useful method for debugging: the current map (and/or poses) estimation is dumped to an image file.
                  * \param file The output file name
                  * \param formatEMF_BMP Output format = true:EMF, false:BMP
                  */
                void  saveCurrentEstimationToImage(const std::string &file, bool formatEMF_BMP = true) MRPT_OVERRIDE;

         private:
                 /** The set of observations that leads to current map: */
                 mrpt::maps::CSimpleMap         SF_Poses_seq;

                 /** The metric map representation as a points map: */
                 mrpt::maps::CMultiMetricMap                    metricMap;

                 /** Current map file. */
                 std::string                            currentMapFile;

                 /** The pose estimation by the alignment algorithm (ICP). */
                 mrpt::poses::CRobot2DPoseEstimator             m_lastPoseEst;  //!< Last pose estimation (Mean)
                 mrpt::math::CMatrixDouble33                    m_lastPoseEst_cov; //!< Last pose estimation (covariance)

                 /** The estimated robot path:
                   */
                 std::deque<mrpt::math::TPose2D>                m_estRobotPath;
                 mrpt::poses::CPose2D                                   m_auxAccumOdometry;

                /** Traveled distances from last map update / ICP-based localization. */
                struct SLAM_IMPEXP TDist
                {
                        TDist() : lin(0),ang(0) { }
                        double lin; // meters
                        double ang; // degrees
                        mrpt::poses::CPose2D  last_update;
                        
                        void updateDistances(const mrpt::poses::CPose2D &p);
                        void updatePose(const mrpt::poses::CPose2D &p);
                };
                TDist    m_distSinceLastICP;
                mrpt::aligned_containers<std::string,TDist>::map_t  m_distSinceLastInsertion; //!< Indexed by sensor label.
                bool     m_there_has_been_an_odometry;

                void accumulateRobotDisplacementCounters(const mrpt::poses::CPose2D & new_pose);
                void resetRobotDisplacementCounters(const mrpt::poses::CPose2D & new_pose);

        };

        } // End of namespace
} // End of namespace

#endif