CHeightGridMap2D_MRF.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 "maps-precomp.h"  // Precomp header

#include <mrpt/maps/CHeightGridMap2D_MRF.h>
#include <mrpt/poses/CPose2D.h>
#include <mrpt/poses/CPose3D.h>

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

//  =========== Begin of Map definition ============
MAP_DEFINITION_REGISTER(
    "mrpt::maps::CHeightGridMap2D_MRF,dem_mrf",
    mrpt::maps::CHeightGridMap2D_MRF)

CHeightGridMap2D_MRF::TMapDefinition::TMapDefinition() = default;

void CHeightGridMap2D_MRF::TMapDefinition::loadFromConfigFile_map_specific(
    const mrpt::config::CConfigFileBase& source,
    const std::string& sectionNamePrefix)
{
    // [<sectionNamePrefix>+"_creationOpts"]
    const std::string sSectCreation =
        sectionNamePrefix + string("_creationOpts");
    MRPT_LOAD_CONFIG_VAR(
        run_map_estimation_at_ctor, bool, source, sSectCreation);
    MRPT_LOAD_CONFIG_VAR(min_x, double, source, sSectCreation);
    MRPT_LOAD_CONFIG_VAR(max_x, double, source, sSectCreation);
    MRPT_LOAD_CONFIG_VAR(min_y, double, source, sSectCreation);
    MRPT_LOAD_CONFIG_VAR(max_y, double, source, sSectCreation);
    MRPT_LOAD_CONFIG_VAR(resolution, double, source, sSectCreation);
    mapType = source.read_enum<CHeightGridMap2D_MRF::TMapRepresentation>(
        sSectCreation, "mapType", mapType);

    insertionOpts.loadFromConfigFile(
        source, sectionNamePrefix + string("_insertOpts"));
}

void CHeightGridMap2D_MRF::TMapDefinition::dumpToTextStream_map_specific(
    std::ostream& out) const
{
    out << mrpt::format(
        "MAP TYPE                                  = %s\n",
        mrpt::typemeta::TEnumType<
            CHeightGridMap2D_MRF::TMapRepresentation>::value2name(mapType)
            .c_str());
    LOADABLEOPTS_DUMP_VAR(run_map_estimation_at_ctor, bool);
    LOADABLEOPTS_DUMP_VAR(min_x, double);
    LOADABLEOPTS_DUMP_VAR(max_x, double);
    LOADABLEOPTS_DUMP_VAR(min_y, double);
    LOADABLEOPTS_DUMP_VAR(max_y, double);
    LOADABLEOPTS_DUMP_VAR(resolution, double);

    this->insertionOpts.dumpToTextStream(out);
}

mrpt::maps::CMetricMap* CHeightGridMap2D_MRF::internal_CreateFromMapDefinition(
    const mrpt::maps::TMetricMapInitializer& _def)
{
    const CHeightGridMap2D_MRF::TMapDefinition& def =
        *dynamic_cast<const CHeightGridMap2D_MRF::TMapDefinition*>(&_def);
    auto* obj = new CHeightGridMap2D_MRF(
        def.mapType, def.min_x, def.max_x, def.min_y, def.max_y, def.resolution,
        def.run_map_estimation_at_ctor);
    obj->insertionOptions = def.insertionOpts;
    return obj;
}
//  =========== End of Map definition Block =========

IMPLEMENTS_SERIALIZABLE(CHeightGridMap2D_MRF, CRandomFieldGridMap2D, mrpt::maps)

// Constructor
CHeightGridMap2D_MRF::CHeightGridMap2D_MRF(
    TMapRepresentation mapType, double x_min, double x_max, double y_min,
    double y_max, double resolution, bool run_first_map_estimation_now)
    : CRandomFieldGridMap2D(mapType, x_min, x_max, y_min, y_max, resolution),
      insertionOptions()
{
    m_rfgm_run_update_upon_clear = run_first_map_estimation_now;
    // Set the grid to initial values (and adjusts the KF covariance matrix!)
    //  Also, calling clear() is mandatory to end initialization of our base
    //  class (read note in CRandomFieldGridMap2D::CRandomFieldGridMap2D)
    CMetricMap::clear();
}

bool CHeightGridMap2D_MRF::insertIndividualPoint(
    const double x, const double y, const double z,
    const CHeightGridMap2D_Base::TPointInsertParams& params)
{
    const TRandomFieldCell* cell = cellByPos(x, y);
    if (!cell) return false;
    this->insertIndividualReading(
        z, mrpt::math::TPoint2D(x, y), params.update_map_after_insertion,
        true /*time invariant*/, params.pt_z_std);
    return true;
}
double CHeightGridMap2D_MRF::dem_get_resolution() const { return m_resolution; }
size_t CHeightGridMap2D_MRF::dem_get_size_x() const { return m_size_x; }
size_t CHeightGridMap2D_MRF::dem_get_size_y() const { return m_size_y; }
bool CHeightGridMap2D_MRF::dem_get_z_by_cell(
    const size_t cx, const size_t cy, double& z_out) const
{
    const TRandomFieldCell* cell = cellByIndex(cx, cy);
    if (cell && cell->kf_mean())
    {
        z_out = cell->kf_mean();
        return true;
    }
    else
        return false;
}
bool CHeightGridMap2D_MRF::dem_get_z(
    const double x, const double y, double& z_out) const
{
    const TRandomFieldCell* cell = cellByPos(x, y);
    if (cell && cell->kf_mean())
    {
        z_out = cell->kf_mean();
        return true;
    }
    else
        return false;
}
void CHeightGridMap2D_MRF::dem_update_map() { this->updateMapEstimation(); }
void CHeightGridMap2D_MRF::internal_clear()
{
    // Just do the generic clear:
    CRandomFieldGridMap2D::internal_clear();
    // Anything else special for this derived class?
}

bool CHeightGridMap2D_MRF::internal_insertObservation(
    const CObservation& obs, const CPose3D* robotPose)
{
    return dem_internal_insertObservation(obs, robotPose);
}

/*---------------------------------------------------------------
                        computeObservationLikelihood
  ---------------------------------------------------------------*/
double CHeightGridMap2D_MRF::internal_computeObservationLikelihood(
    [[maybe_unused]] const CObservation& obs,
    [[maybe_unused]] const CPose3D& takenFrom)
{
    THROW_EXCEPTION("Not implemented yet!");
}

uint8_t CHeightGridMap2D_MRF::serializeGetVersion() const { return 0; }
void CHeightGridMap2D_MRF::serializeTo(mrpt::serialization::CArchive& out) const
{
    dyngridcommon_writeToStream(out);

    // To assure compatibility: The size of each cell:
    auto n = static_cast<uint32_t>(sizeof(TRandomFieldCell));
    out << n;

    // Save the map contents:
    n = static_cast<uint32_t>(m_map.size());
    out << n;

// Save the "m_map": This requires special handling for big endian systems:
#if MRPT_IS_BIG_ENDIAN
    for (uint32_t i = 0; i < n; i++)
    {
        out << m_map[i].kf_mean << m_map[i].dm_mean << m_map[i].dmv_var_mean;
    }
#else
    // Little endian: just write all at once:
    out.WriteBuffer(&m_map[0], sizeof(m_map[0]) * m_map.size());
#endif

    // Save the insertion options:
    out << uint8_t(m_mapType) << m_cov << m_stackedCov;

    out << insertionOptions.sigma << insertionOptions.cutoffRadius
        << insertionOptions.R_min << insertionOptions.R_max
        << insertionOptions.KF_covSigma << insertionOptions.KF_initialCellStd
        << insertionOptions.KF_observationModelNoise
        << insertionOptions.KF_defaultCellMeanValue
        << insertionOptions.KF_W_size;

    out << m_average_normreadings_mean << m_average_normreadings_var
        << uint64_t(m_average_normreadings_count);

    out << genericMapParams;
}

void CHeightGridMap2D_MRF::serializeFrom(
    mrpt::serialization::CArchive& in, uint8_t version)
{
    switch (version)
    {
        case 0:
        {
            dyngridcommon_readFromStream(in);

            // To assure compatibility: The size of each cell:
            uint32_t n;
            in >> n;

            ASSERT_EQUAL_(n, static_cast<uint32_t>(sizeof(TRandomFieldCell)));
            // Load the map contents:
            in >> n;
            m_map.resize(n);

// Read the note in writeToStream()
#if MRPT_IS_BIG_ENDIAN
            for (uint32_t i = 0; i < n; i++)
                in >> m_map[i].kf_mean >> m_map[i].dm_mean >>
                    m_map[i].dmv_var_mean;
#else
            // Little endian: just read all at once:
            in.ReadBuffer(&m_map[0], sizeof(m_map[0]) * m_map.size());
#endif

            {
                uint8_t i;
                in >> i;
                m_mapType = TMapRepresentation(i);

                in >> m_cov >> m_stackedCov;

                in >> insertionOptions.sigma >> insertionOptions.cutoffRadius >>
                    insertionOptions.R_min >> insertionOptions.R_max >>
                    insertionOptions.KF_covSigma >>
                    insertionOptions.KF_initialCellStd >>
                    insertionOptions.KF_observationModelNoise >>
                    insertionOptions.KF_defaultCellMeanValue >>
                    insertionOptions.KF_W_size;
            }

            {
                uint64_t N;
                in >> m_average_normreadings_mean >>
                    m_average_normreadings_var >> N;
                m_average_normreadings_count = N;
            }

            in >> genericMapParams;

            m_hasToRecoverMeanAndCov = true;
        }
        break;
        default:
            MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version);
    };
}

/*---------------------------------------------------------------
                    TInsertionOptions
 ---------------------------------------------------------------*/
CHeightGridMap2D_MRF::TInsertionOptions::TInsertionOptions() = default;
void CHeightGridMap2D_MRF::TInsertionOptions::dumpToTextStream(
    std::ostream& out) const
{
    out << "\n----------- [CHeightGridMap2D_MRF::TInsertionOptions] "
           "------------ "
           "\n\n";
    out << "[TInsertionOptions.Common] ------------ \n\n";
    internal_dumpToTextStream_common(
        out);  // Common params to all random fields maps:

    out << "\n";
}

/*---------------------------------------------------------------
                    loadFromConfigFile
  ---------------------------------------------------------------*/
void CHeightGridMap2D_MRF::TInsertionOptions::loadFromConfigFile(
    const mrpt::config::CConfigFileBase& iniFile, const std::string& section)
{
    // Common data fields for all random fields maps:
    internal_loadFromConfigFile_common(iniFile, section);

    // Specific data fields for this class:
    // ...
}

/*---------------------------------------------------------------
                        getAs3DObject
---------------------------------------------------------------*/
void CHeightGridMap2D_MRF::getAs3DObject(
    mrpt::opengl::CSetOfObjects::Ptr& outObj) const
{
    MRPT_START
    if (!genericMapParams.enableSaveAs3DObject) return;
    CRandomFieldGridMap2D::getAs3DObject(outObj);
    MRPT_END
}

/*---------------------------------------------------------------
                        getAs3DObject
---------------------------------------------------------------*/
void CHeightGridMap2D_MRF::getAs3DObject(
    mrpt::opengl::CSetOfObjects::Ptr& meanObj,
    mrpt::opengl::CSetOfObjects::Ptr& varObj) const
{
    MRPT_START
    if (!genericMapParams.enableSaveAs3DObject) return;
    CRandomFieldGridMap2D::getAs3DObject(meanObj, varObj);
    MRPT_END
}