CHierarchicalMHMap.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2019, 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 "hmtslam-precomp.h"  // Precomp header

#include <mrpt/db/CSimpleDatabase.h>
#include <mrpt/poses/CPoint2D.h>
#include <mrpt/serialization/CArchive.h>

using namespace mrpt::poses;
using namespace mrpt::slam;
using namespace mrpt::db;
using namespace mrpt::system;
using namespace mrpt::serialization;
using namespace mrpt::hmtslam;
using namespace std;

IMPLEMENTS_SERIALIZABLE(CHierarchicalMHMap, CSerializable, mrpt::hmtslam)

/*---------------------------------------------------------------
                        Constructor
  ---------------------------------------------------------------*/
CHierarchicalMHMap::CHierarchicalMHMap() = default;
/*---------------------------------------------------------------
                        Destructor
  ---------------------------------------------------------------*/
CHierarchicalMHMap::~CHierarchicalMHMap() { clear(); }
/*---------------------------------------------------------------
                        clear
  ---------------------------------------------------------------*/
void CHierarchicalMHMap::clear()
{
    // Remaining arcs and nodes will be deleted.
    // Using smart ptr makes this simple:
    m_nodes.clear();
    m_arcs.clear();
}

uint8_t CHierarchicalMHMap::serializeGetVersion() const { return 0; }
void CHierarchicalMHMap::serializeTo(mrpt::serialization::CArchive& out) const
{
    // Nodes:
    out.WriteAs<uint32_t>(nodeCount());
    for (const auto& n : m_nodes) out << *n.second;

    // Arcs:
    out.WriteAs<uint32_t>(arcCount());
    for (const auto& a : m_arcs) out << *a;
}

void CHierarchicalMHMap::serializeFrom(
    mrpt::serialization::CArchive& in, uint8_t version)
{
    switch (version)
    {
        case 0:
        {
            uint32_t i, n;

            // Clear previous contents:
            clear();

            // Nodes:
            in >> n;
            for (i = 0; i < n; i++)
            {
                CHMHMapNode::Ptr node = std::make_shared<CHMHMapNode>(
                    this);  // This insert the node in my internal list via the
                // callback method
                in >> *node;
            }

            // Arcs:
            in >> n;
            for (i = 0; i < n; i++)
            {
                // This insert the node in my internal list via the callback
                // method
                CHMHMapNode::Ptr p1, p2;
                CHMHMapArc::Ptr arc = std::make_shared<CHMHMapArc>(
                    p1, p2, THypothesisIDSet(), this);
                in >> *arc;
            }
        }
        break;
        default:
            MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version);
    };
}

/*---------------------------------------------------------------
                        onNodeDestruction
  ---------------------------------------------------------------*/
void CHierarchicalMHMap::onNodeDestruction(CHMHMapNode* node)
{
    TNodeList::iterator it;

    it = m_nodes.find(node->getID());

    if (it != m_nodes.end())
        if (node == it->second.get()) m_nodes.erase(it);
}

/*---------------------------------------------------------------
                        onArcDestruction
  ---------------------------------------------------------------*/
void CHierarchicalMHMap::onArcDestruction(CHMHMapArc* arc)
{
    // Important note: We cannot create a temporary smart pointer here, since
    //  it will lead to an infinity recursion!  (BUGFIX, JLBC SEP-2009)
    auto it = m_arcs.find_ptr_to(arc);
    if (it != m_arcs.end()) m_arcs.erase(it);
}

/*---------------------------------------------------------------
                        onNodeAddition
  ---------------------------------------------------------------*/
void CHierarchicalMHMap::onNodeAddition(CHMHMapNode::Ptr& node)
{
    // Check if it is not already in the list:
    auto it = m_nodes.find(node->m_ID);

    if (it != m_nodes.end())
    {
        // Already in the list:
        ASSERT_(node == it->second);
        return;
    }
    else
    {
        // It is a new node: add to the list:
        m_nodes[node->m_ID] = node;
    }
}

/*---------------------------------------------------------------
                        onArcAddition
  ---------------------------------------------------------------*/
void CHierarchicalMHMap::onArcAddition(CHMHMapArc::Ptr& arc)
{
    // Check if it is not already in the list:
    auto it = m_arcs.find(arc);

    if (it == m_arcs.end())  // Is it new?
        m_arcs.push_back(arc);
}
/*---------------------------------------------------------------
                loadFromXMLfile
  ---------------------------------------------------------------*/

void CHierarchicalMHMap::loadFromXMLfile(std::string fileName)
{
    CSimpleDatabase db;
    CSimpleDatabaseTable::Ptr table;
    size_t j, numnodes, numarcs;

    std::map<size_t, CHMHMapNode::Ptr> nodemap;
    std::map<size_t, CHMHMapNode::Ptr>::iterator nodemapit;
    using IDPair = std::pair<size_t, CHMHMapNode::Ptr>;

    std::map<size_t, CHMHMapNode::TNodeID> nodeanotmap;
    std::map<size_t, CHMHMapNode::TNodeID>::iterator nodeanotmapit;
    using IDnodeanotPair = std::pair<size_t, CHMHMapNode::TNodeID>;

    db.loadFromXML(fileName);

    table = db.getTable("nodes");
    numnodes = table->getRecordCount();

    // printf("Loading nodes\n");
    std::vector<std::string> node_anots;

    for (j = 0; j < numnodes; j++)
    {
        CHMHMapNode::Ptr node;
        node = std::make_shared<CHMHMapNode>(this);
        node->m_label = table->get(j, "nodename");
        nodemap.insert(IDPair(atoi(table->get(j, "id").c_str()), node));
        node->m_nodeType = table->get(j, "nodetype");
        node->m_hypotheses.insert(COMMON_TOPOLOG_HYP);
        printf("Loaded node %s\n", node->m_label.c_str());

        std::deque<std::string> lista;
        mrpt::system::tokenize(table->get(j, "annotation-list"), " ", lista);

        for (auto& r : lista)
            nodeanotmap.insert(
                IDnodeanotPair((size_t)atoi(r.c_str()), node->getID()));

        // A map with key the id of annotations and value the id of nodes;
    }

    table = db.getTable("arcs");
    numarcs = table->getRecordCount();
    printf("Loading arcs\n");
    for (j = 0; j < numarcs; j++)
    {
        CHMHMapArc::Ptr arc, arcrev;
        size_t from, to;
        from = atoi(table->get(j, "from").c_str());
        to = atoi(table->get(j, "to").c_str());

        CHMHMapNode::Ptr nodefrom, nodeto;
        nodemapit = nodemap.find(from);
        nodefrom = nodemapit->second;
        std::cout << "finding nodes" << std::endl;

        nodemapit = nodemap.find(to);
        nodeto = nodemapit->second;
        std::cout << "added arc from " << nodefrom->m_label << " to "
                  << nodeto->m_label << std::endl;

        arc = std::make_shared<CHMHMapArc>(nodefrom, nodeto, 0, this);
        arc->m_arcType = table->get(j, "arctype");
        arc->m_hypotheses.insert(COMMON_TOPOLOG_HYP);

        if (atoi(table->get(j, "bidirectional").c_str()) == 1)
        {
            printf("Creating bidirectional arc\n");
            arcrev = std::make_shared<CHMHMapArc>(nodeto, nodefrom, 0, this);
            arcrev->m_arcType = table->get(j, "arctype");
            arcrev->m_hypotheses.insert(COMMON_TOPOLOG_HYP);
        }
    }

    std::cout << "Graph with [" << numnodes << "] nodes and [" << numarcs
              << "] arcs loaded successfully." << std::endl;

    table = db.getTable("annotations");
    size_t numannot = table->getRecordCount();
    printf("Loading annotations\n");
    for (size_t ja = 0; ja < numannot; ja++)
    {
        string type = table->get(ja, "annotation-type");
        string value = table->get(ja, "annotation-value");
        nodeanotmapit = nodeanotmap.find(atoi(table->get(ja, "id").c_str()));

        if (nodeanotmapit != nodeanotmap.end())
        {
            if (type == "placePose")
            {
                CPoint2D::Ptr o = std::make_shared<CPoint2D>();
                o->fromString(value);

                CHMHMapNode::Ptr node = getNodeByID(nodeanotmapit->second);

                node->m_annotations.set(
                    NODE_ANNOTATION_PLACE_POSE, o, COMMON_TOPOLOG_HYP);
            }
        }
    }
}
/*---------------------------------------------------------------
                dumpAsXMLfile
  ---------------------------------------------------------------*/

void CHierarchicalMHMap::dumpAsXMLfile(std::string fileName) const
{
    CSimpleDatabase db;
    CSimpleDatabaseTable::Ptr tablenodes, tablearcs, tableannots;
    size_t i;

    tablenodes = db.createTable("nodes");
    tablearcs = db.createTable("arcs");
    tableannots = db.createTable("annotations");

    tablenodes->addField("id");
    tablenodes->addField("nodename");
    tablenodes->addField("nodetype");
    tablenodes->addField("annotation-list");

    tablearcs->addField("id");
    tablearcs->addField("from");
    tablearcs->addField("to");
    tablearcs->addField("arctype");
    tablearcs->addField("bidirectional");
    tablearcs->addField("annotation-list");

    tableannots->addField("id");
    tableannots->addField("annotation-type");
    tableannots->addField("annotation-value");

    // for nodes
    printf("Generating nodes\n");
    for (const auto& m_node : m_nodes)
    {
        i = tablenodes->appendRecord();
        tablenodes->set(i, "nodename", m_node.second->m_label.c_str());
        tablenodes->set(
            i, "id", format("%i", static_cast<int>(m_node.second->getID())));
        tablenodes->set(i, "nodetype", m_node.second->m_nodeType);

        tablenodes->set(i, "annotation-list", ".");
        for (auto ann = m_node.second->m_annotations.begin();
             ann != m_node.second->m_annotations.end(); ++ann)
        {
            size_t j = tableannots->appendRecord();
            tableannots->set(
                j, "id", format("%u", static_cast<unsigned int>(j)));
            tableannots->set(j, "annotation-type", ann->name.c_str());
            ASSERT_(ann->value);
            string str;
            if (IS_CLASS(*ann->value, CPoint2D))
            {
                CPoint2D::Ptr o =
                    std::dynamic_pointer_cast<CPoint2D>(ann->value);
                o->asString(str);
            }
            else
            {
                std::vector<uint8_t> v;
                ObjectToOctetVector(ann->value.get(), v);
                str.resize(v.size());
                ::memcpy(&str[0], &v[0], v.size());
            }
            tableannots->set(j, "annotation-value", str);
            if (tablenodes->get(j, "annotation-list") == ".")
                tablenodes->set(
                    i, "annotation-list",
                    format("%u", static_cast<unsigned int>(j)));
            else
                tablenodes->set(
                    i, "annotation-list",
                    tablenodes->get(j, "annotation-list") +
                        format("%u", static_cast<unsigned int>(j)));
        }
    }

    // for arcs
    printf("Generating arcs (%u)\n", static_cast<unsigned int>(m_arcs.size()));

    for (const auto& m_arc : m_arcs)
    {
        size_t fromid, toid;

        fromid = (int)m_arc->getNodeFrom();
        toid = (int)m_arc->getNodeTo();

        i = tablearcs->appendRecord();
        tablearcs->set(i, "id", format("%u", static_cast<unsigned int>(i)));
        tablearcs->set(
            i, "from", format("%u", static_cast<unsigned int>(fromid)));
        tablearcs->set(i, "to", format("%u", static_cast<unsigned int>(toid)));
        tablearcs->set(i, "arctype", m_arc->m_arcType);

        for (auto ann = m_arc->m_annotations.begin();
             ann != m_arc->m_annotations.end(); ++ann)
        {
            i = tableannots->appendRecord();
            tableannots->set(
                i, "id", format("%u", static_cast<unsigned int>(i)));
            tableannots->set(i, "annotation-type", ann->name.c_str());

            // CSerializable *o=ann->value->clone();  // JL: duplicate???
            //  tableannots->set(i,"annotation-value",ObjectToString(o));
        }
    }
    printf("Generating XML file\n");
    db.saveAsXML(fileName.c_str());

    /*
        std::string  s;
            s += format("NODE ID: %i\t LABEL:%s\tARCS: ",
       (int)it->second->getID(), it->second->m_label.c_str() );
            TArcList arcs;
            it->second->getArcs(arcs);
            for (TArcList::const_iterator a=arcs.begin();a!=arcs.end();++a)
                s += format("%i-%i, ", (int)(*a)->getNodeFrom(),
       (int)(*a)->getNodeTo() );

            st << s;

            for (CMHPropertiesValuesList::const_iterator ann =
       it->second->m_annotations.begin(); ann !=
       it->second->m_annotations.end(); ++ann)
            {
                s= format("   [HYPO ID #%02i] Annotation '%s' Class: ",
       (int)ann->ID, ann->name.c_str() );
                if ( ann->value )
                        s+= string(ann->value->GetRuntimeClass()->className);
                else    s+= "(nullptr)";

                st << s;

                if ( ann->name == NODE_ANNOTATION_REF_POSEID )
                {
                    TPoseID refID;
                    it->second->m_annotations.getElemental(NODE_ANNOTATION_REF_POSEID,
       refID, ann->ID );
                    st << format("     VALUE: %i",(int)refID);
                }
                else if ( ann->name == NODE_ANNOTATION_POSES_GRAPH )
                {
                    CRobotPosesGraph::Ptr posesGraph =
       it->second->m_annotations.getAs<CRobotPosesGraph>(NODE_ANNOTATION_POSES_GRAPH,ann->ID);
                    ASSERT_(posesGraph);

                    st << format("     CRobotPosesGraph has %i
       poses:",(int)posesGraph->size());
                    CPose3D  pdfMean;
                    for (CRobotPosesGraph::const_iterator
       p=posesGraph->begin();p!=posesGraph->end();++p)
                    {
                        const CPose3DPDFParticles &pdf = p->second.pdf;
                        pdf.getMean(pdfMean);
                        st << format("       Pose %i \t (%.03f,%.03f,%.03fdeg)",
                            (int)p->first,
                            pdfMean.x(),
                            pdfMean.y(),
                            RAD2DEG(pdfMean.yaw()));
                    }
                }
            }

            st << "";

        }


        st << "";
        st << "";
        st << "LIST OF ARCS";
        st << "================";

        for (TArcList::const_iterator it=m_arcs.begin();it!=m_arcs.end();++it)
        {
            std::string  s;
            s += format("ARC: %i -> %i\n", (int)(*it)->getNodeFrom(),
       (int)(*it)->getNodeTo() );

            s+= string("   Arc type: ")+(*it)->m_arcType;

            st << s;

            for (CMHPropertiesValuesList::const_iterator ann =
       (*it)->m_annotations.begin(); ann != (*it)->m_annotations.end(); ++ann)
            {
                s= format("   [HYPO ID #%02i] Annotation '%s' Class: ",
       (int)ann->ID, ann->name.c_str() );
                if ( ann->value )
                        s+= string(ann->value->GetRuntimeClass()->className);
                else    s+= "(nullptr)";

                st << s;

                if ( ann->name == ARC_ANNOTATION_DELTA_SRC_POSEID )
                {
                    TPoseID refID;
                    (*it)->m_annotations.getElemental(ARC_ANNOTATION_DELTA_SRC_POSEID,
       refID, ann->ID );
                    st << format("     VALUE: %i",(int)refID);
                }
                else if ( ann->name == ARC_ANNOTATION_DELTA_TRG_POSEID )
                {
                    TPoseID refID;
                    (*it)->m_annotations.getElemental(ARC_ANNOTATION_DELTA_TRG_POSEID,
       refID, ann->ID );
                    st << format("     VALUE: %i",(int)refID);
                }
                else if ( ann->name == ARC_ANNOTATION_DELTA )
                {
                    CSerializable::Ptr o =
       (*it)->m_annotations.get(ARC_ANNOTATION_DELTA, ann->ID );
                    ASSERT_(o);

                    CPose3DPDFGaussian relativePoseAcordToArc;
                    relativePoseAcordToArc.copyFrom(*CPose3DPDF::Ptr(o));

                    st << format("     VALUE: (%f,%f,%f , %fdeg,%fdeg,%fdeg)",
                        relativePoseAcordToArc.mean.x(),
                        relativePoseAcordToArc.mean.y(),
                        relativePoseAcordToArc.mean.z(),
                        RAD2DEG( relativePoseAcordToArc.mean.yaw() ),
                        RAD2DEG( relativePoseAcordToArc.mean.pitch() ),
                        RAD2DEG( relativePoseAcordToArc.mean.roll() ) );
                }
            }

            st << "";
        }
    */
}