CHeightGridMap2D_MRF.cpp

Go to the documentation of this file.

/* +------------------------------------------------------------------------+
   |                     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 |
   +------------------------------------------------------------------------+ */

#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::utils;
using namespace mrpt::poses;
using namespace std;
using namespace mrpt::math;

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

CHeightGridMap2D_MRF::TMapDefinition::TMapDefinition()
        : run_map_estimation_at_ctor(true),
          min_x(-2),
          max_x(2),
          min_y(-2),
          max_y(2),
          resolution(0.10f),
          mapType(mrGMRF_SD)
{
}

void CHeightGridMap2D_MRF::TMapDefinition::loadFromConfigFile_map_specific(
        const mrpt::utils::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(
        mrpt::utils::CStream& out) const
{
        out.printf(
                "MAP TYPE                                  = %s\n",
                mrpt::utils::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);
        CHeightGridMap2D_MRF* 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(
        const CObservation* obs, const CPose3D& takenFrom)
{
        MRPT_UNUSED_PARAM(obs);
        MRPT_UNUSED_PARAM(takenFrom);
        THROW_EXCEPTION("Not implemented yet!");
}

/*---------------------------------------------------------------
  Implements the writing to a CStream capability of CSerializable objects
 ---------------------------------------------------------------*/
void CHeightGridMap2D_MRF::writeToStream(
        mrpt::utils::CStream& out, int* version) const
{
        if (version)
                *version = 0;
        else
        {
                dyngridcommon_writeToStream(out);

                // To assure compatibility: The size of each cell:
                uint32_t 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;
        }
}

/*---------------------------------------------------------------
  Implements the reading from a CStream capability of CSerializable objects
 ---------------------------------------------------------------*/
void CHeightGridMap2D_MRF::readFromStream(mrpt::utils::CStream& in, int 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() {}
/*---------------------------------------------------------------
                                        dumpToTextStream
  ---------------------------------------------------------------*/
void CHeightGridMap2D_MRF::TInsertionOptions::dumpToTextStream(
        mrpt::utils::CStream& out) const
{
        out.printf(
                "\n----------- [CHeightGridMap2D_MRF::TInsertionOptions] ------------ "
                "\n\n");
        out.printf("[TInsertionOptions.Common] ------------ \n\n");
        internal_dumpToTextStream_common(
                out);  // Common params to all random fields maps:

        //      out.printf("[TInsertionOptions.CHeightGridMap2D_MRF] ------------
        //\n\n");
        //      out.printf("std_windNoise_phi                                           = %f\n",
        // std_windNoise_phi);

        out.printf("\n");
}

/*---------------------------------------------------------------
                                        loadFromConfigFile
  ---------------------------------------------------------------*/
void CHeightGridMap2D_MRF::TInsertionOptions::loadFromConfigFile(
        const mrpt::utils::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
}