CWirelessPowerGridMap2D.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/core/round.h>
#include <mrpt/img/color_maps.h>
#include <mrpt/maps/CWirelessPowerGridMap2D.h>
#include <mrpt/obs/CObservationWirelessPower.h>
#include <mrpt/opengl/CSetOfObjects.h>
#include <mrpt/serialization/CArchive.h>
#include <mrpt/system/CTicTac.h>
#include <mrpt/system/os.h>

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

//  =========== Begin of Map definition ============
MAP_DEFINITION_REGISTER(
    "mrpt::maps::CWirelessPowerGridMap2D,wifiGrid",
    mrpt::maps::CWirelessPowerGridMap2D)

CWirelessPowerGridMap2D::TMapDefinition::TMapDefinition() = default;

void CWirelessPowerGridMap2D::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(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<CWirelessPowerGridMap2D::TMapRepresentation>(
        sSectCreation, "mapType", mapType);

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

void CWirelessPowerGridMap2D::TMapDefinition::dumpToTextStream_map_specific(
    std::ostream& out) const
{
    out << mrpt::format(
        "MAP TYPE                                  = %s\n",
        mrpt::typemeta::TEnumType<
            CWirelessPowerGridMap2D::TMapRepresentation>::value2name(mapType)
            .c_str());
    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*
    CWirelessPowerGridMap2D::internal_CreateFromMapDefinition(
        const mrpt::maps::TMetricMapInitializer& _def)
{
    const CWirelessPowerGridMap2D::TMapDefinition& def =
        *dynamic_cast<const CWirelessPowerGridMap2D::TMapDefinition*>(&_def);
    auto* obj = new CWirelessPowerGridMap2D(
        def.mapType, def.min_x, def.max_x, def.min_y, def.max_y,
        def.resolution);
    obj->insertionOptions = def.insertionOpts;
    return obj;
}
//  =========== End of Map definition Block =========

IMPLEMENTS_SERIALIZABLE(
    CWirelessPowerGridMap2D, CRandomFieldGridMap2D, mrpt::maps)

/*---------------------------------------------------------------
                        Constructor
  ---------------------------------------------------------------*/
CWirelessPowerGridMap2D::CWirelessPowerGridMap2D(
    TMapRepresentation mapType, double x_min, double x_max, double y_min,
    double y_max, double resolution)
    : CRandomFieldGridMap2D(mapType, x_min, x_max, y_min, y_max, resolution),
      insertionOptions()
{
    // 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();
}

CWirelessPowerGridMap2D::~CWirelessPowerGridMap2D() = default;
/*---------------------------------------------------------------
                        clear
  ---------------------------------------------------------------*/
void CWirelessPowerGridMap2D::internal_clear()
{
    // Just do the generic clear:
    CRandomFieldGridMap2D::internal_clear();

    // Anything else special for this derived class?
    // ...
}

/*---------------------------------------------------------------
                        insertObservation
  ---------------------------------------------------------------*/
bool CWirelessPowerGridMap2D::internal_insertObservation(
    const CObservation& obs, const CPose3D* robotPose)
{
    MRPT_START

    CPose2D robotPose2D;
    CPose3D robotPose3D;

    if (robotPose)
    {
        robotPose2D = CPose2D(*robotPose);
        robotPose3D = (*robotPose);
    }
    else
    {
        // Default values are (0,0,0)
    }

    if (IS_CLASS(obs, CObservationWirelessPower))
    {
        /********************************************************************
                    OBSERVATION TYPE: CObservationWirelessPower
        ********************************************************************/
        const auto& o = dynamic_cast<const CObservationWirelessPower&>(obs);
        float sensorReading;

        // Compute the 3D sensor pose in world coordinates:
        CPose2D sensorPose = CPose2D(robotPose3D + o.sensorPoseOnRobot);

        sensorReading = o.power;

        // Normalization:
        sensorReading = (sensorReading - insertionOptions.R_min) /
                        (insertionOptions.R_max - insertionOptions.R_min);

        // Update the gross estimates of mean/vars for the whole reading history
        // (see IROS2009 paper):
        m_average_normreadings_mean =
            (sensorReading +
             m_average_normreadings_count * m_average_normreadings_mean) /
            (1 + m_average_normreadings_count);
        m_average_normreadings_var =
            (square(sensorReading - m_average_normreadings_mean) +
             m_average_normreadings_count * m_average_normreadings_var) /
            (1 + m_average_normreadings_count);
        m_average_normreadings_count++;

        // Finally, do the actual map update with that value:
        this->insertIndividualReading(
            sensorReading,
            mrpt::math::TPoint2D(sensorPose.x(), sensorPose.y()));

        return true;  // Done!

    }  // end if "CObservationWirelessPower"

    return false;

    MRPT_END
}

/*---------------------------------------------------------------
                        computeObservationLikelihood
  ---------------------------------------------------------------*/
double CWirelessPowerGridMap2D::internal_computeObservationLikelihood(
    [[maybe_unused]] const CObservation& obs,
    [[maybe_unused]] const CPose3D& takenFrom)
{
    THROW_EXCEPTION("Not implemented yet!");
}

uint8_t CWirelessPowerGridMap2D::serializeGetVersion() const { return 5; }
void CWirelessPowerGridMap2D::serializeTo(
    mrpt::serialization::CArchive& out) const
{
    dyngridcommon_writeToStream(out);

    // To ensure 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());  // TODO: Do this endianness safe!!
#endif

    // Version 1: 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;

    // New in v3:
    out << m_average_normreadings_mean << m_average_normreadings_var
        << uint64_t(m_average_normreadings_count);

    out << genericMapParams;  // v4
}

// Aux struct used below (must be at global scope for STL):
struct TOldCellTypeInVersion1
{
    float mean, std;
    float w, wr;
};

void CWirelessPowerGridMap2D::serializeFrom(
    mrpt::serialization::CArchive& in, uint8_t version)
{
    switch (version)
    {
        case 0:
        case 1:
        case 2:
        case 3:
        case 4:
        case 5:
        {
            dyngridcommon_readFromStream(in, version < 5);

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

            if (version < 2)
            {  // Converter from old versions <=1
                ASSERT_(
                    n == static_cast<uint32_t>(sizeof(TOldCellTypeInVersion1)));
                // Load the map contents in an aux struct:
                in >> n;
                vector<TOldCellTypeInVersion1> old_map(n);
                in.ReadBuffer(&old_map[0], sizeof(old_map[0]) * old_map.size());

                // Convert to newer format:
                m_map.resize(n);
                for (size_t k = 0; k < n; k++)
                {
                    m_map[k].kf_mean() =
                        (old_map[k].w != 0) ? old_map[k].wr : old_map[k].mean;
                    m_map[k].kf_std() =
                        (old_map[k].w != 0) ? old_map[k].w : old_map[k].std;
                }
            }
            else
            {
                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
            }

            // Version 1: Insertion options:
            if (version >= 1)
            {
                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;
            }

            if (version >= 3)
            {
                uint64_t N;
                in >> m_average_normreadings_mean >>
                    m_average_normreadings_var >> N;
                m_average_normreadings_count = N;
            }

            if (version >= 4) in >> genericMapParams;

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

CWirelessPowerGridMap2D::TInsertionOptions::TInsertionOptions() = default;
void CWirelessPowerGridMap2D::TInsertionOptions::dumpToTextStream(
    std::ostream& out) const
{
    out << "\n----------- [CWirelessPowerGridMap2D::TInsertionOptions] "
           "------------ \n\n";
    internal_dumpToTextStream_common(
        out);  // Common params to all random fields maps:

    out << "\n";
}

/*---------------------------------------------------------------
                    loadFromConfigFile
  ---------------------------------------------------------------*/
void CWirelessPowerGridMap2D::TInsertionOptions::loadFromConfigFile(
    const mrpt::config::CConfigFileBase& iniFile, const std::string& section)
{
    // Common data fields for all random fields maps:
    internal_loadFromConfigFile_common(iniFile, section);
}

/*---------------------------------------------------------------
                        getAs3DObject
---------------------------------------------------------------*/
void CWirelessPowerGridMap2D::getAs3DObject(
    mrpt::opengl::CSetOfObjects::Ptr& outObj) const
{
    MRPT_START
    if (!genericMapParams.enableSaveAs3DObject) return;
    CRandomFieldGridMap2D::getAs3DObject(outObj);
    MRPT_END
}