CMultiMetricMap.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, 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 "slam-precomp.h"  // Precompiled headers

#include <mrpt/config/CConfigFile.h>
#include <mrpt/poses/CPoint2D.h>
#include <mrpt/maps/CMultiMetricMap.h>
#include <mrpt/serialization/CArchive.h>
#include <mrpt/serialization/metaprogramming_serialization.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
        CMultiMetricMap& mmm =
            const_cast<CMultiMetricMap&>(_mmm);  // This is to avoid duplicating
        // "::run()" for const and
        // non-const.
        for_each(mmm.maps.begin(), mmm.maps.end(), op);
        MRPT_END
    }
};  // end of MapExecutor

// ------------------- Begin of map-operations helper templates
// -------------------
struct MapVectorClearer
{
    template <typename T>
    inline void operator()(T& container)
    {
        container.clear();
    }
};

struct MapComputeLikelihood
{
    const CObservation* obs;
    const CPose3D& takenFrom;
    double& total_log_lik;

    MapComputeLikelihood(
        const CMultiMetricMap& m, const CObservation* _obs,
        const CPose3D& _takenFrom, double& _total_log_lik)
        : obs(_obs), takenFrom(_takenFrom), total_log_lik(_total_log_lik)
    {
        total_log_lik = 0;
    }

    template <typename PTR>
    inline void operator()(PTR& ptr)
    {
        total_log_lik += ptr->computeObservationLikelihood(obs, takenFrom);
    }

};  // end of MapComputeLikelihood

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 MapInsertObservation
{
    const CObservation* obs;
    const CPose3D* robot_pose;
    int& total_insert;

    MapInsertObservation(
        const CMultiMetricMap& m, const CObservation* _obs,
        const CPose3D* _robot_pose, int& _total_insert)
        : obs(_obs), robot_pose(_robot_pose), total_insert(_total_insert)
    {
        total_insert = 0;
    }

    template <typename PTR>
    inline void operator()(PTR& ptr)
    {
        bool ret = ptr->insertObservation(obs, robot_pose);
        if (ret) total_insert++;
    }
};  // end of MapInsertObservation

struct MapGetAs3DObject
{
    mrpt::opengl::CSetOfObjects::Ptr& obj_gl;

    MapGetAs3DObject(mrpt::opengl::CSetOfObjects::Ptr& _obj_gl)
        : obj_gl(_obj_gl)
    {
    }

    template <typename PTR>
    inline void operator()(PTR& ptr)
    {
        if (ptr) ptr->getAs3DObject(obj_gl);
    }
};  // end of MapGetAs3DObject

struct MapAuxPFCleanup
{
    MapAuxPFCleanup() {}
    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
// -------------------

#define ALL_PROXIES_INIT                                                     \
    m_pointsMaps(maps), m_gridMaps(maps), m_octoMaps(maps),                  \
        m_colourOctoMaps(maps), m_gasGridMaps(maps), m_wifiGridMaps(maps),   \
        m_heightMaps(maps), m_heightMRFMaps(maps), m_reflectivityMaps(maps), \
        m_colourPointsMap(maps), m_weightedPointsMap(maps),                  \
        m_landmarksMap(maps), m_beaconMap(maps)

// Ctor
CMultiMetricMap::CMultiMetricMap(
    const TSetOfMetricMapInitializers* initializers)
    : maps(), ALL_PROXIES_INIT, m_ID(0)
{
    MRPT_START
    setListOfMaps(initializers);
    MRPT_END
}

CMultiMetricMap::CMultiMetricMap(const CMultiMetricMap& o)
    : maps(o.maps), ALL_PROXIES_INIT, m_ID(o.m_ID)
{
}

CMultiMetricMap& CMultiMetricMap::operator=(const CMultiMetricMap& o)
{
    maps = o.maps;
    m_ID = o.m_ID;
    return *this;
}

CMultiMetricMap::CMultiMetricMap(CMultiMetricMap&& o)
    : maps(std::move(o.maps)), ALL_PROXIES_INIT, m_ID(o.m_ID)
{
}

CMultiMetricMap& CMultiMetricMap::operator=(CMultiMetricMap&& o)
{
    maps = std::move(o.maps);
    m_ID = o.m_ID;
    return *this;
}

/*---------------------------------------------------------------
            setListOfMaps
  ---------------------------------------------------------------*/
void CMultiMetricMap::setListOfMaps(
    const mrpt::maps::TSetOfMetricMapInitializers* initializers)
{
    MRPT_START

    // Erase current list of maps:
    deleteAllMaps();

    internal::TMetricMapTypesRegistry& mmr =
        internal::TMetricMapTypesRegistry::Instance();

    // Do we have any initializer?
    if (initializers != nullptr)
    {
        // Process each entry in the "initializers" and create maps accordingly:
        for (TSetOfMetricMapInitializers::const_iterator it =
                 initializers->begin();
             it != initializers->end(); ++it)
        {
            // Create map from the list of all params:
            mrpt::maps::CMetricMap* theMap =
                mmr.factoryMapObjectFromDefinition(*it->get());
            ASSERT_(theMap);
            // Add to the list of maps:
            this->maps.push_back(mrpt::maps::CMetricMap::Ptr(theMap));
        }

    }  // end if initializers!=nullptr

    MRPT_END
}

void CMultiMetricMap::internal_clear()
{
    MapExecutor::run(*this, [](auto ptr) {
        if (ptr) ptr->clear();
    });
}

void CMultiMetricMap::deleteAllMaps()
{
    // Clear list:
    maps.clear();
    m_ID = 0;
}

uint8_t CMultiMetricMap::serializeGetVersion() const { return 11; }
void CMultiMetricMap::serializeTo(mrpt::serialization::CArchive& out) const
{
    // Version 11: simply the list of maps:
    out << static_cast<uint32_t>(m_ID);
    const uint32_t n = static_cast<uint32_t>(maps.size());
    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:
        {
            // ID:
            {
                uint32_t ID;
                in >> ID;
                m_ID = 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)
{
    double ret_log_lik;
    MapComputeLikelihood op_likelihood(*this, obs, takenFrom, ret_log_lik);

    MapExecutor::run(*this, op_likelihood);

    MRPT_CHECK_NORMAL_NUMBER(ret_log_lik);  //-V614
    return ret_log_lik;
}

// Read docs in base class
bool CMultiMetricMap::internal_canComputeObservationLikelihood(
    const CObservation* obs) const
{
    bool can_comp;

    MapCanComputeLikelihood op_can_likelihood(*this, obs, can_comp);
    MapExecutor::run(*this, op_can_likelihood);
    return can_comp;  //-V614
}

/*---------------------------------------------------------------
                    insertObservation

Insert the observation information into this map.
 ---------------------------------------------------------------*/
bool CMultiMetricMap::internal_insertObservation(
    const CObservation* obs, const CPose3D* robotPose)
{
    int total_insert;
    MapInsertObservation op_insert_obs(*this, obs, robotPose, total_insert);
    MapExecutor::run(*this, op_insert_obs);
    return total_insert != 0;  //-V614
}

/*---------------------------------------------------------------
                    computeMatchingWith2D
 ---------------------------------------------------------------*/
void CMultiMetricMap::determineMatching2D(
    const mrpt::maps::CMetricMap* otherMap, const CPose2D& otherMapPose,
    TMatchingPairList& correspondences, const TMatchingParams& params,
    TMatchingExtraResults& extraResults) const
{
    MRPT_START
    ASSERTMSG_(
        m_pointsMaps.size() == 1,
        "There is not exactly 1 points maps in the multimetric map.");
    m_pointsMaps[0]->determineMatching2D(
        otherMap, otherMapPose, correspondences, params, extraResults);
    MRPT_END
}

/*---------------------------------------------------------------
                    isEmpty
 ---------------------------------------------------------------*/
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", m->GetRuntimeClass()->className,
            static_cast<unsigned int>(idx));
        m->saveMetricMapRepresentationToFile(fil);
    }

    MRPT_END
}

/*---------------------------------------------------------------
                        getAs3DObject
---------------------------------------------------------------*/
void CMultiMetricMap::getAs3DObject(
    mrpt::opengl::CSetOfObjects::Ptr& outObj) const
{
    MRPT_START
    MapGetAs3DObject op_get_3D(outObj);
    MapExecutor::run(*this, op_get_3D);
    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 (size_t idx = 0; idx < maps.size(); idx++)
    {
        const mrpt::maps::CMetricMap* m = maps[idx].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
}

/*---------------------------------------------------------------
                    auxParticleFilterCleanUp
 ---------------------------------------------------------------*/
void CMultiMetricMap::auxParticleFilterCleanUp()
{
    MRPT_START
    MapAuxPFCleanup op_cleanup;
    MapExecutor::run(*this, op_cleanup);
    MRPT_END
}

/** If the map is a simple points map or it's a multi-metric map that contains
 * EXACTLY one simple points map, return it.
 * Otherwise, return NULL
 */
const CSimplePointsMap* CMultiMetricMap::getAsSimplePointsMap() const
{
    MRPT_START
    ASSERT_(m_pointsMaps.size() == 1 || m_pointsMaps.size() == 0);
    if (m_pointsMaps.empty())
        return nullptr;
    else
        return m_pointsMaps[0].get();
    MRPT_END
}
CSimplePointsMap* CMultiMetricMap::getAsSimplePointsMap()
{
    MRPT_START
    ASSERT_(m_pointsMaps.size() == 1 || m_pointsMaps.size() == 0);
    if (m_pointsMaps.empty())
        return nullptr;
    else
        return m_pointsMaps[0].get();
    MRPT_END
}

/** Gets the i-th map \exception std::runtime_error On out-of-bounds */
mrpt::maps::CMetricMap::Ptr CMultiMetricMap::getMapByIndex(size_t idx) const
{
    ASSERT_BELOW_(idx, maps.size());
    return maps[idx].get_ptr();
}