CWirelessPowerGridMap2D.cpp

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/* +------------------------------------------------------------------------+
   |                     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/CWirelessPowerGridMap2D.h>
#include <mrpt/obs/CObservationWirelessPower.h>
#include <mrpt/system/os.h>
#include <mrpt/utils/round.h>
#include <mrpt/utils/CTicTac.h>
#include <mrpt/utils/color_maps.h>
#include <mrpt/opengl/CSetOfObjects.h>
#include <mrpt/utils/CStream.h>

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

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

CWirelessPowerGridMap2D::TMapDefinition::TMapDefinition()
        : min_x(-2),
          max_x(2),
          min_y(-2),
          max_y(2),
          resolution(0.10f),
          mapType(CWirelessPowerGridMap2D::mrKernelDM)
{
}

void CWirelessPowerGridMap2D::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(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(
        mrpt::utils::CStream& out) const
{
        out.printf(
                "MAP TYPE                                  = %s\n",
                mrpt::utils::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);
        CWirelessPowerGridMap2D* 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() {}
/*---------------------------------------------------------------
                                                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 CObservationWirelessPower* o =
                        static_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(
        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 CWirelessPowerGridMap2D::writeToStream(
        mrpt::utils::CStream& out, int* version) const
{
        if (version)
                *version = 5;
        else
        {
                dyngridcommon_writeToStream(out);

                // To ensure 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());  // 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;
};

/*---------------------------------------------------------------
  Implements the reading from a CStream capability of CSerializable objects
 ---------------------------------------------------------------*/
void CWirelessPowerGridMap2D::readFromStream(
        mrpt::utils::CStream& in, int 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)
        };
}

/*---------------------------------------------------------------
                                        TInsertionOptions
 ---------------------------------------------------------------*/
CWirelessPowerGridMap2D::TInsertionOptions::TInsertionOptions() {}
/*---------------------------------------------------------------
                                        dumpToTextStream
  ---------------------------------------------------------------*/
void CWirelessPowerGridMap2D::TInsertionOptions::dumpToTextStream(
        mrpt::utils::CStream& out) const
{
        out.printf(
                "\n----------- [CWirelessPowerGridMap2D::TInsertionOptions] "
                "------------ \n\n");
        internal_dumpToTextStream_common(
                out);  // Common params to all random fields maps:

        out.printf("\n");
}

/*---------------------------------------------------------------
                                        loadFromConfigFile
  ---------------------------------------------------------------*/
void CWirelessPowerGridMap2D::TInsertionOptions::loadFromConfigFile(
        const mrpt::utils::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
}