CMetricMapBuilderRBPF.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */

#include "slam-precomp.h"  // Precompiled headers

#include <mrpt/core/round.h>
#include <mrpt/img/CEnhancedMetaFile.h>
#include <mrpt/maps/COccupancyGridMap2D.h>
#include <mrpt/obs/CActionRobotMovement3D.h>
#include <mrpt/obs/CObservationStereoImages.h>
#include <mrpt/slam/CMetricMapBuilderRBPF.h>

using namespace mrpt;
using namespace mrpt::slam;
using namespace mrpt::math;
using namespace mrpt::maps;
using namespace mrpt::obs;
using namespace mrpt::poses;
using namespace mrpt::bayes;
using namespace mrpt::img;

/*---------------------------------------------------------------
                        Constructor
  ---------------------------------------------------------------*/
CMetricMapBuilderRBPF::CMetricMapBuilderRBPF(
    const TConstructionOptions& initializationOptions)
    : mapPDF(
          initializationOptions.PF_options,
          initializationOptions.mapsInitializers,
          initializationOptions.predictionOptions),
      m_PF_options(initializationOptions.PF_options),
      insertionLinDistance(initializationOptions.insertionLinDistance),
      insertionAngDistance(initializationOptions.insertionAngDistance),
      localizeLinDistance(initializationOptions.localizeLinDistance),
      localizeAngDistance(initializationOptions.localizeAngDistance),
      odoIncrementSinceLastLocalization(),
      odoIncrementSinceLastMapUpdate()
{
    setLoggerName("CMetricMapBuilderRBPF");
    setVerbosityLevel(initializationOptions.verbosity_level);
    // Reset:
    clear();
}

CMetricMapBuilderRBPF::CMetricMapBuilderRBPF()
{
    this->setLoggerName("CMetricMapBuilderRBPF");
    MRPT_LOG_WARN("Empty constructor invoked!\n");
}

CMetricMapBuilderRBPF& CMetricMapBuilderRBPF::operator=(
    const CMetricMapBuilderRBPF& src)
{
    if (this == &src)
    {
        return *this;
    }
    mapPDF = src.mapPDF;
    m_PF_options = src.m_PF_options;
    insertionLinDistance = src.insertionLinDistance;
    insertionAngDistance = src.insertionAngDistance;
    localizeLinDistance = src.localizeLinDistance;
    localizeAngDistance = src.localizeAngDistance;
    odoIncrementSinceLastLocalization = src.odoIncrementSinceLastLocalization;
    odoIncrementSinceLastMapUpdate = src.odoIncrementSinceLastMapUpdate;
    m_statsLastIteration = src.m_statsLastIteration;
    return *this;
}

/*---------------------------------------------------------------
                        Destructor
  ---------------------------------------------------------------*/
CMetricMapBuilderRBPF::~CMetricMapBuilderRBPF() = default;
/*---------------------------------------------------------------
                        clear
  ---------------------------------------------------------------*/
void CMetricMapBuilderRBPF::clear()
{
    std::lock_guard<std::mutex> csl(
        critZoneChangingMap);  // Enter critical section (updating map)

    MRPT_LOG_DEBUG("CMetricMapBuilderRBPF::clear() called.");
    static CPose2D nullPose(0, 0, 0);

    // Reset traveled distances counters:
    odoIncrementSinceLastLocalization = CPose3DPDFGaussian();

    odoIncrementSinceLastMapUpdate.setFromValues(0, 0, 0, 0, 0, 0);

    // Clear maps for each particle:
    mapPDF.clear(nullPose);
}

/*---------------------------------------------------------------
                    processActionObservation
  ---------------------------------------------------------------*/
void CMetricMapBuilderRBPF::processActionObservation(
    CActionCollection& action, CSensoryFrame& observations)
{
    MRPT_START
    std::lock_guard<std::mutex> csl(
        critZoneChangingMap);  // Enter critical section (updating map)

    // Update the traveled distance estimations:
    {
        CActionRobotMovement3D::Ptr act3D =
            action.getActionByClass<CActionRobotMovement3D>();
        CActionRobotMovement2D::Ptr act2D =
            action.getActionByClass<CActionRobotMovement2D>();
        if (act3D)
        {
            MRPT_LOG_DEBUG_STREAM(
                "processActionObservation(): Input action is "
                "CActionRobotMovement3D="
                << act3D->poseChange.getMeanVal().asString());
            odoIncrementSinceLastMapUpdate += act3D->poseChange.getMeanVal();
            odoIncrementSinceLastLocalization += act3D->poseChange;
        }
        else if (act2D)
        {
            MRPT_LOG_DEBUG_STREAM(
                "processActionObservation(): Input action is "
                "CActionRobotMovement2D="
                << act2D->poseChange->getMeanVal().asString());
            odoIncrementSinceLastMapUpdate +=
                mrpt::poses::CPose3D(act2D->poseChange->getMeanVal());
            odoIncrementSinceLastLocalization.mean +=
                mrpt::poses::CPose3D(act2D->poseChange->getMeanVal());
        }
        else
        {
            MRPT_LOG_WARN("Action contains no odometry.\n");
        }
    }

    // Execute particle filter:
    //   But only if the traveled distance since the last update is long enough,
    //    or this is the first observation, etc...
    // ----------------------------------------------------------------------------
    bool do_localization =
        (!mapPDF.SFs.size() ||  // This is the first observation!
         options.debugForceInsertion ||
         odoIncrementSinceLastLocalization.mean.norm() > localizeLinDistance ||
         std::abs(odoIncrementSinceLastLocalization.mean.yaw()) >
             localizeAngDistance);

    bool do_map_update =
        (!mapPDF.SFs.size() ||  // This is the first observation!
         options.debugForceInsertion ||
         odoIncrementSinceLastMapUpdate.norm() > insertionLinDistance ||
         std::abs(odoIncrementSinceLastMapUpdate.yaw()) > insertionAngDistance);

    // Used any "options.alwaysInsertByClass" ??
    for (auto itCl = options.alwaysInsertByClass.data.begin();
         !do_map_update && itCl != options.alwaysInsertByClass.data.end();
         ++itCl)
        for (auto& o : observations)
            if (o->GetRuntimeClass() == *itCl)
            {
                do_map_update = true;
                do_localization = true;
                break;
            }

    if (do_map_update) do_localization = true;

    MRPT_LOG_DEBUG(mrpt::format(
        "do_map_update=%s do_localization=%s", do_map_update ? "YES" : "NO",
        do_localization ? "YES" : "NO"));

    if (do_localization)
    {
        // Create an artificial action object, since
        //  we've been collecting them until a threshold:
        // ------------------------------------------------
        CActionCollection fakeActs;
        {
            CActionRobotMovement3D::Ptr act3D =
                action.getActionByClass<CActionRobotMovement3D>();
            if (act3D)
            {
                CActionRobotMovement3D newAct;
                newAct.estimationMethod = act3D->estimationMethod;
                newAct.poseChange = odoIncrementSinceLastLocalization;
                newAct.timestamp = act3D->timestamp;
                fakeActs.insert(newAct);
            }
            else
            {
                // It must be 2D odometry:
                CActionRobotMovement2D::Ptr act2D =
                    action.getActionByClass<CActionRobotMovement2D>();
                ASSERT_(act2D);
                CActionRobotMovement2D newAct;
                newAct.computeFromOdometry(
                    CPose2D(odoIncrementSinceLastLocalization.mean),
                    act2D->motionModelConfiguration);
                newAct.timestamp = act2D->timestamp;
                fakeActs.insert(newAct);
            }
        }

        MRPT_LOG_DEBUG_STREAM(
            "odoIncrementSinceLastLocalization before resetting = "
            << odoIncrementSinceLastLocalization.mean);
        // Reset distance counters:
        odoIncrementSinceLastLocalization.mean.setFromValues(0, 0, 0, 0, 0, 0);
        odoIncrementSinceLastLocalization.cov.setZero();

        CParticleFilter pf;
        pf.m_options = m_PF_options;
        pf.setVerbosityLevel(this->getMinLoggingLevel());

        pf.executeOn(mapPDF, &fakeActs, &observations);

        if (isLoggingLevelVisible(mrpt::system::LVL_INFO))
        {
            // Get current pose estimation:
            CPose3DPDFParticles poseEstimation;
            CPose3D meanPose;
            mapPDF.getEstimatedPosePDF(poseEstimation);
            poseEstimation.getMean(meanPose);

            const auto [cov, estPos] = poseEstimation.getCovarianceAndMean();

            MRPT_LOG_INFO_STREAM(
                "New pose=" << estPos << std::endl
                            << "New ESS:" << mapPDF.ESS() << std::endl);
            MRPT_LOG_INFO(format(
                "   STDs: x=%2.3f y=%2.3f z=%.03f yaw=%2.3fdeg\n",
                sqrt(cov(0, 0)), sqrt(cov(1, 1)), sqrt(cov(2, 2)),
                RAD2DEG(sqrt(cov(3, 3)))));
        }
    }

    if (do_map_update)
    {
        odoIncrementSinceLastMapUpdate.setFromValues(0, 0, 0, 0, 0, 0);

        // Update the particles' maps:
        // -------------------------------------------------
        MRPT_LOG_INFO("New observation inserted into the map.");

        // Add current observation to the map:
        const bool anymap_update = mapPDF.insertObservation(observations);
        if (!anymap_update)
            MRPT_LOG_WARN_STREAM(
                "**No map was updated** after inserting a CSensoryFrame with "
                << observations.size());

        m_statsLastIteration.observationsInserted = true;
    }
    else
    {
        m_statsLastIteration.observationsInserted = false;
    }

    // Added 29/JUN/2007 JLBC: Tell all maps that they can now free aux.
    // variables
    //  (if any) since one PF cycle is over:
    for (auto& m_particle : mapPDF.m_particles)
        m_particle.d->mapTillNow.auxParticleFilterCleanUp();

    MRPT_END
}

MRPT_TODO(
    "Split initialize() in two, one generic without pose, one with "
    "particles-based PDF");

/*---------------------------------------------------------------
                    initialize
  ---------------------------------------------------------------*/
void CMetricMapBuilderRBPF::initialize(
    const CSimpleMap& initialMap, const CPosePDF* x0)
{
    MRPT_LOG_INFO_STREAM(
        "[initialize] Called with " << initialMap.size()
                                    << " nodes in fixed map");

    this->clear();

    std::lock_guard<std::mutex> csl(
        critZoneChangingMap);  // Enter critical section (updating map)

    mrpt::poses::CPose3D curPose;
    if (x0)
    {
        curPose = mrpt::poses::CPose3D(x0->getMeanVal());
    }
    else if (!initialMap.empty())
    {
        // get pose of last keyframe:
        curPose = initialMap.rbegin()->first->getMeanVal();
    }
    MRPT_LOG_INFO_STREAM("[initialize] Initial pose: " << curPose);

    // Clear maps for each particle & set pose:
    mapPDF.clear(initialMap, curPose);
}

/*---------------------------------------------------------------
                        getCurrentPoseEstimation
  ---------------------------------------------------------------*/
CPose3DPDF::Ptr CMetricMapBuilderRBPF::getCurrentPoseEstimation() const
{
    CPose3DPDFParticles::Ptr posePDF = std::make_shared<CPose3DPDFParticles>();
    mapPDF.getEstimatedPosePDF(*posePDF);

    // Adds additional increment from accumulated odometry since last
    // localization update:
    for (auto& p : posePDF->m_particles)
    {
        p.d.composePose(
            this->odoIncrementSinceLastLocalization.mean.asTPose(), p.d);
    }
    return posePDF;
}

/*---------------------------------------------------------------
                        getCurrentMostLikelyPath
  ---------------------------------------------------------------*/
void CMetricMapBuilderRBPF::getCurrentMostLikelyPath(
    std::deque<TPose3D>& outPath) const
{
    double maxW = -1, w;
    size_t mostLik = 0;
    for (size_t i = 0; i < mapPDF.particlesCount(); i++)
    {
        w = mapPDF.getW(i);
        if (w > maxW)
        {
            maxW = w;
            mostLik = i;
        }
    }

    mapPDF.getPath(mostLik, outPath);
}

/*---------------------------------------------------------------
                        getCurrentlyBuiltMap
  ---------------------------------------------------------------*/
void CMetricMapBuilderRBPF::getCurrentlyBuiltMap(CSimpleMap& out_map) const
{
    const_cast<CMetricMapBuilderRBPF*>(this)
        ->mapPDF.updateSensoryFrameSequence();
    out_map = mapPDF.SFs;
}

const CMultiMetricMap* CMetricMapBuilderRBPF::getCurrentlyBuiltMetricMap() const
{
    return mapPDF.getCurrentMostLikelyMetricMap();
}

/*---------------------------------------------------------------
            getCurrentlyBuiltMapSize
  ---------------------------------------------------------------*/
unsigned int CMetricMapBuilderRBPF::getCurrentlyBuiltMapSize()
{
    return mapPDF.SFs.size();
}

void CMetricMapBuilderRBPF::drawCurrentEstimationToImage(CCanvas* img)
{
    using mrpt::round;

    unsigned int i, M = mapPDF.particlesCount();
    std::deque<TPose3D> path;
    unsigned int imgHeight = 0;

    MRPT_START

    const auto* curMap = mapPDF.getCurrentMostLikelyMetricMap();

    ASSERT_(curMap->countMapsByClass<COccupancyGridMap2D>() > 0);

    // Find which is the most likely path index:
    unsigned int bestPath = 0;
    double bestPathLik = -1;
    for (i = 0; i < M; i++)
    {
        if (mapPDF.getW(i) > bestPathLik)
        {
            bestPathLik = mapPDF.getW(i);
            bestPath = i;
        }
    }

    // Compute the length of the paths:
    mapPDF.getPath(0, path);

    // Adapt the canvas size:
    bool alreadyCopiedImage = false;
    auto g = curMap->mapByClass<COccupancyGridMap2D>(0);
    {
        auto* obj = dynamic_cast<CImage*>(img);
        if (obj) obj->resize(g->getSizeX(), g->getSizeY(), mrpt::img::CH_GRAY);
    }
    if (!alreadyCopiedImage)
    {
        CImage imgGrid;

        // grid map as bitmap:
        // ----------------------------------
        g->getAsImage(imgGrid);

        img->drawImage(0, 0, imgGrid);
        imgHeight = imgGrid.getHeight();
    }

    int x1 = 0, x2 = 0, y1 = 0, y2 = 0;
    float x_min = g->getXMin();
    float y_min = g->getYMin();
    float resolution = g->getResolution();

    // Paths hypothesis:
    // ----------------------------------
    /***/
    for (i = 0; i <= M; i++)
    {
        if (i != bestPath || i == M)
        {
            mapPDF.getPath(i == M ? bestPath : i, path);

            size_t nPoses = path.size();

            // First point: (0,0)
            x2 = round((path[0].x - x_min) / resolution);
            y2 = round((path[0].y - y_min) / resolution);

            // Draw path in the bitmap:
            for (size_t j = 0; j < nPoses; j++)
            {
                // For next segment
                x1 = x2;
                y1 = y2;

                // Coordinates -> pixels
                x2 = round((path[j].x - x_min) / resolution);
                y2 = round((path[j].y - y_min) / resolution);

                // Draw line:
                img->line(
                    x1, round((imgHeight - 1) - y1), x2,
                    round((imgHeight - 1) - y2),
                    i == M ? TColor(0, 0, 0)
                           : TColor(0x50, 0x50, 0x50),  // Color, gray levels,
                    i == M ? 3 : 1  // Line width
                );
            }
        }
    }

    MRPT_END
}

/*---------------------------------------------------------------
                    saveCurrentEstimationToImage
  ---------------------------------------------------------------*/
void CMetricMapBuilderRBPF::saveCurrentEstimationToImage(
    const std::string& file, bool formatEMF_BMP)
{
    MRPT_START

    if (formatEMF_BMP)
    {
        // Draw paths (using vectorial plots!) over the EMF file:
        // --------------------------------------------------------
        CEnhancedMetaFile EMF(file, 100 /* Scale */);
        drawCurrentEstimationToImage(&EMF);
    }
    else
    {
        CImage img(1, 1, CH_GRAY);
        drawCurrentEstimationToImage(&img);
        img.saveToFile(file);
    }

    MRPT_END
}

/*---------------------------------------------------------------
                    getCurrentJointEntropy
  ---------------------------------------------------------------*/
double CMetricMapBuilderRBPF::getCurrentJointEntropy()
{
    return mapPDF.getCurrentJointEntropy();
}

/*---------------------------------------------------------------
                    saveCurrentPathEstimationToTextFile
  ---------------------------------------------------------------*/
void CMetricMapBuilderRBPF::saveCurrentPathEstimationToTextFile(
    const std::string& fil)
{
    mapPDF.saveCurrentPathEstimationToTextFile(fil);
}

/*---------------------------------------------------------------
                        TConstructionOptions
  ---------------------------------------------------------------*/
CMetricMapBuilderRBPF::TConstructionOptions::TConstructionOptions()
    : insertionAngDistance(30.0_deg),

      localizeAngDistance(10.0_deg),
      PF_options(),
      mapsInitializers(),
      predictionOptions()

{
}

/*---------------------------------------------------------------
                    dumpToTextStream
  ---------------------------------------------------------------*/
void CMetricMapBuilderRBPF::TConstructionOptions::dumpToTextStream(
    std::ostream& out) const
{
    out << "\n----------- [CMetricMapBuilderRBPF::TConstructionOptions] "
           "------------ \n\n";

    out << mrpt::format(
        "insertionLinDistance                    = %f m\n",
        insertionLinDistance);
    out << mrpt::format(
        "insertionAngDistance                    = %f deg\n",
        RAD2DEG(insertionAngDistance));
    out << mrpt::format(
        "localizeLinDistance                     = %f m\n",
        localizeLinDistance);
    out << mrpt::format(
        "localizeAngDistance                     = %f deg\n",
        RAD2DEG(localizeAngDistance));
    out << mrpt::format(
        "verbosity_level                         = %s\n",
        mrpt::typemeta::TEnumType<mrpt::system::VerbosityLevel>::value2name(
            verbosity_level)
            .c_str());

    PF_options.dumpToTextStream(out);

    out << "  Now showing 'mapsInitializers' and 'predictionOptions':\n";
    out << "\n";

    mapsInitializers.dumpToTextStream(out);
    predictionOptions.dumpToTextStream(out);
}

/*---------------------------------------------------------------
                    loadFromConfigFile
  ---------------------------------------------------------------*/
void CMetricMapBuilderRBPF::TConstructionOptions::loadFromConfigFile(
    const mrpt::config::CConfigFileBase& iniFile, const std::string& section)
{
    MRPT_START

    PF_options.loadFromConfigFile(iniFile, section);

    MRPT_LOAD_CONFIG_VAR(insertionLinDistance, float, iniFile, section);
    MRPT_LOAD_HERE_CONFIG_VAR_DEGREES_NO_DEFAULT(
        insertionAngDistance_deg, double, insertionAngDistance, iniFile,
        section);

    MRPT_LOAD_CONFIG_VAR(localizeLinDistance, float, iniFile, section);
    MRPT_LOAD_HERE_CONFIG_VAR_DEGREES_NO_DEFAULT(
        localizeAngDistance_deg, double, localizeAngDistance, iniFile, section);
    verbosity_level = iniFile.read_enum<mrpt::system::VerbosityLevel>(
        section, "verbosity_level", verbosity_level);

    mapsInitializers.loadFromConfigFile(iniFile, section);
    predictionOptions.loadFromConfigFile(iniFile, section);

    MRPT_END
}