CMultiMetricMap.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"  // Precompiled headers

#include <mrpt/config/CConfigFile.h>
#include <mrpt/maps/CMultiMetricMap.h>
#include <mrpt/maps/CSimplePointsMap.h>
#include <mrpt/poses/CPoint2D.h>
#include <mrpt/serialization/CArchive.h>
#include <mrpt/serialization/metaprogramming_serialization.h>
#include <mrpt/system/filesystem.h>

using namespace mrpt::maps;
using namespace mrpt::poses;
using namespace mrpt::obs;
using namespace mrpt::tfest;
using namespace mrpt::serialization::metaprogramming;

IMPLEMENTS_SERIALIZABLE(CMultiMetricMap, CMetricMap, mrpt::maps)

// ------------------------------------------------------------------------
// A few words explaining how all this works:
//  The main hub for operating with all the maps in the internal list
//   if MapExecutor.
//
// All operations go thru MapExecutor::run<OP>() with OP being one of the
//  possible map operations (clear, matching, likelihood, etc.). The
//  idea is that when adding new map types to the internal list of
//  CMultiMetricMap, *only* "MapExecutor" methods must be updated.
// (The only exception are readFromStream() & writeToStream())
//
// The map-specific operations all go into template specializations of
//  other helper structures or in overloaded methods.
//                                                 JLBC (7-AUG-2011)
// ------------------------------------------------------------------------

struct MapExecutor
{
    // Apply operation to maps in the same order as declared in
    // CMultiMetricMap.h:
    template <typename OP>
    static void run(const CMultiMetricMap& _mmm, OP op)
    {
        MRPT_START
        // This is to avoid duplicating "::run()" for const and non-const.
        auto& mmm = const_cast<CMultiMetricMap&>(_mmm);
        std::for_each(mmm.maps.begin(), mmm.maps.end(), op);
        MRPT_END
    }
};  // end of MapExecutor

// ------------------- Begin of map-operations helper templates

struct MapCanComputeLikelihood
{
    const CObservation* obs;
    bool& can;

    MapCanComputeLikelihood(
        const CMultiMetricMap& m, const CObservation* _obs, bool& _can)
        : obs(_obs), can(_can)
    {
        can = false;
    }

    template <typename PTR>
    inline void operator()(PTR& ptr)
    {
        can = can || ptr->canComputeObservationLikelihood(obs);
    }

};  // end of MapCanComputeLikelihood

struct MapAuxPFCleanup
{
    MapAuxPFCleanup() = default;
    template <typename PTR>
    inline void operator()(PTR& ptr)
    {
        if (ptr) ptr->auxParticleFilterCleanUp();
    }
};  // end of MapAuxPFCleanup

struct MapIsEmpty
{
    bool& is_empty;

    MapIsEmpty(bool& _is_empty) : is_empty(_is_empty) { is_empty = true; }
    template <typename PTR>
    inline void operator()(PTR& ptr)
    {
        if (ptr) is_empty = is_empty && ptr->isEmpty();
    }
};  // end of MapIsEmpty

// ---- End of map-operations helper templates

// Ctor
CMultiMetricMap::CMultiMetricMap(const TSetOfMetricMapInitializers& i)
{
    MRPT_START
    setListOfMaps(i);
    MRPT_END
}

void CMultiMetricMap::setListOfMaps(const TSetOfMetricMapInitializers& inits)
{
    MRPT_START
    // Erase current list of maps:
    maps.clear();

    auto& mmr = mrpt::maps::internal::TMetricMapTypesRegistry::Instance();

    // Process each entry in the "initializers" and create maps accordingly:
    for (const auto& i : inits)
    {
        // Create map from the list of all params:
        auto* theMap = mmr.factoryMapObjectFromDefinition(*i.get());
        ASSERT_(theMap);
        // Add to the list of maps:
        this->maps.push_back(mrpt::maps::CMetricMap::Ptr(theMap));
    }
    MRPT_END
}

void CMultiMetricMap::internal_clear()
{
    std::for_each(maps.begin(), maps.end(), [](auto ptr) {
        if (ptr) ptr->clear();
    });
}

uint8_t CMultiMetricMap::serializeGetVersion() const { return 12; }
void CMultiMetricMap::serializeTo(mrpt::serialization::CArchive& out) const
{
    const auto n = static_cast<uint32_t>(maps.size());
    out << n;
    for (uint32_t i = 0; i < n; i++) out << *maps[i];
}

void CMultiMetricMap::serializeFrom(
    mrpt::serialization::CArchive& in, uint8_t version)
{
    switch (version)
    {
        case 11:
        case 12:
        {
            // ID:
            if (version < 12)  // ID was removed in v12
            {
                uint32_t ID;
                in >> ID;
            }

            // List of maps:
            uint32_t n;
            in >> n;
            this->maps.resize(n);
            for_each(
                maps.begin(), maps.end(),
                ObjectReadFromStreamToPtrs<mrpt::maps::CMetricMap::Ptr>(&in));
        }
        break;
        default:
            MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version);
    };
}

// Read docs in base class
double CMultiMetricMap::internal_computeObservationLikelihood(
    const CObservation& obs, const CPose3D& takenFrom)
{
    MRPT_START
    double ret_log_lik = 0;

    std::for_each(maps.begin(), maps.end(), [&](auto& ptr) {
        ret_log_lik += ptr->computeObservationLikelihood(obs, takenFrom);
    });
    return ret_log_lik;

    MRPT_END
}

// Read docs in base class
bool CMultiMetricMap::internal_canComputeObservationLikelihood(
    const CObservation& obs) const
{
    bool can_comp = false;
    std::for_each(maps.begin(), maps.end(), [&](auto& ptr) {
        can_comp = can_comp || ptr->canComputeObservationLikelihood(obs);
    });
    return can_comp;  //-V614
}

bool CMultiMetricMap::internal_insertObservation(
    const CObservation& obs, const CPose3D* robotPose)
{
    int total_insert = 0;

    std::for_each(maps.begin(), maps.end(), [&](auto& ptr) {
        const bool ret = ptr->insertObservation(obs, robotPose);
        if (ret) total_insert++;
    });
    return total_insert != 0;
}

void CMultiMetricMap::determineMatching2D(
    const mrpt::maps::CMetricMap* otherMap, const CPose2D& otherMapPose,
    TMatchingPairList& correspondences, const TMatchingParams& params,
    TMatchingExtraResults& extraResults) const
{
    MRPT_START
    const auto numPointsMaps = countMapsByClass<CSimplePointsMap>();

    ASSERTMSG_(
        numPointsMaps == 1,
        "There is not exactly 1 points maps in the multimetric map.");
    mapByClass<CSimplePointsMap>()->determineMatching2D(
        otherMap, otherMapPose, correspondences, params, extraResults);
    MRPT_END
}

bool CMultiMetricMap::isEmpty() const
{
    bool is_empty;
    MapIsEmpty op_insert_obs(is_empty);  //-V614
    MapExecutor::run(*this, op_insert_obs);
    return is_empty;
}

void CMultiMetricMap::saveMetricMapRepresentationToFile(
    const std::string& filNamePrefix) const
{
    MRPT_START

    for (size_t idx = 0; idx < maps.size(); idx++)
    {
        const mrpt::maps::CMetricMap* m = maps[idx].get();
        ASSERT_(m);
        std::string fil = filNamePrefix;
        fil += format(
            "_%s_%02u",
            mrpt::system::fileNameStripInvalidChars(
                m->GetRuntimeClass()->className)
                .c_str(),
            static_cast<unsigned int>(idx));
        m->saveMetricMapRepresentationToFile(fil);
    }

    MRPT_END
}

void CMultiMetricMap::getAs3DObject(
    mrpt::opengl::CSetOfObjects::Ptr& outObj) const
{
    MRPT_START
    std::for_each(maps.begin(), maps.end(), [&](auto& ptr) {
        ptr->getAs3DObject(outObj);
    });
    MRPT_END
}

// See docs in base class
float CMultiMetricMap::compute3DMatchingRatio(
    const mrpt::maps::CMetricMap* otherMap,
    const mrpt::poses::CPose3D& otherMapPose,
    const TMatchingRatioParams& params) const
{
    MRPT_START

    float accumResult = 0;

    for (const auto& map : maps)
    {
        const mrpt::maps::CMetricMap* m = map.get();
        ASSERT_(m);
        accumResult +=
            m->compute3DMatchingRatio(otherMap, otherMapPose, params);
    }

    // Return average:
    const size_t nMapsComputed = maps.size();
    if (nMapsComputed) accumResult /= nMapsComputed;
    return accumResult;

    MRPT_END
}

void CMultiMetricMap::auxParticleFilterCleanUp()
{
    MRPT_START
    std::for_each(maps.begin(), maps.end(), [](auto& ptr) {
        ptr->auxParticleFilterCleanUp();
    });
    MRPT_END
}

const CSimplePointsMap* CMultiMetricMap::getAsSimplePointsMap() const
{
    MRPT_START
    const auto numPointsMaps = countMapsByClass<CSimplePointsMap>();
    ASSERT_(numPointsMaps == 1 || numPointsMaps == 0);
    if (!numPointsMaps)
        return nullptr;
    else
        return this->mapByClass<CSimplePointsMap>(0).get();
    MRPT_END
}

mrpt::maps::CMetricMap::Ptr CMultiMetricMap::mapByIndex(size_t idx) const
{
    MRPT_START
    return maps.at(idx).get_ptr();
    MRPT_END
}