COccupancyGridMap3D.h

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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          |
   +------------------------------------------------------------------------+ */
#pragma once

#include <mrpt/config/CLoadableOptions.h>
#include <mrpt/maps/CLogOddsGridMap3D.h>
#include <mrpt/maps/CLogOddsGridMapLUT.h>
#include <mrpt/maps/CMetricMap.h>
#include <mrpt/maps/OccupancyGridCellType.h>
#include <mrpt/opengl/opengl_frwds.h>
#include <mrpt/serialization/CSerializable.h>
#include <mrpt/typemeta/TEnumType.h>

namespace mrpt::maps
{
/** A 3D occupancy grid map with a regular, even distribution of voxels.
 *
 * This is a faster alternative to COctoMap, but use with caution with limited
 *map extensions, since it could easily exaust available memory.
 *
 * Each voxel follows a Bernoulli probability distribution: a value of 0 means
 *certainly occupied, 1 means a certainly empty voxel. Initially 0.5 means
 *uncertainty.
 *
 * \ingroup mrpt_maps_grp
 **/
class COccupancyGridMap3D
    : public CMetricMap,
      public CLogOddsGridMap3D<OccGridCellTraits::cellType>
{
    DEFINE_SERIALIZABLE(COccupancyGridMap3D)
   public:
    /** The type of the map voxels: */
    using voxelType = OccGridCellTraits::cellType;
    using voxelTypeUnsigned = OccGridCellTraits::cellTypeUnsigned;

   protected:
    // friend class CMultiMetricMap;
    // friend class CMultiMetricMapPDF;

    /** Lookup tables for log-odds */
    static CLogOddsGridMapLUT<voxelType>& get_logodd_lut();

    /** True upon construction; used by isEmpty() */
    bool m_is_empty{true};

    /** See base class */
    void OnPostSuccesfulInsertObs(const mrpt::obs::CObservation&) override;

    /** Clear the map: It set all voxels to their default occupancy value (0.5),
     * without changing the resolution (the grid extension is reset to the
     * default values). */
    void internal_clear() override;

    /** Insert the observation information into this map.
     *
     * \param obs The observation
     * \param robotPose The 3D pose of the robot mobile base in the map
     * reference system, or nullptr (default) if you want to use
     * CPose2D(0,0,deg)
     *
     * \sa insertionOptions, CObservation::insertObservationInto
     */
    bool internal_insertObservation(
        const mrpt::obs::CObservation& obs,
        const mrpt::poses::CPose3D* robotPose = nullptr) override;

    void internal_insertObservationScan2D(
        const mrpt::obs::CObservation2DRangeScan& o,
        const mrpt::poses::CPose3D& robotPose);

    void internal_insertObservationScan3D(
        const mrpt::obs::CObservation3DRangeScan& o,
        const mrpt::poses::CPose3D& robotPose);

   public:
    /** Constructor */
    COccupancyGridMap3D(
        const mrpt::math::TPoint3D& corner_min = {-5.0f, -5.0f, -5.0f},
        const mrpt::math::TPoint3D& corner_max = {5.0f, 5.0f, 5.0f},
        float resolution = 0.25f);

    /** Fills all the voxels with a default value. */
    void fill(float default_value = 0.5f);

    /** Change the size of gridmap, erasing all its previous contents.
     * \param resolution The new size of voxels.
     * \param default_value The value of voxels, tipically 0.5.
     * \sa ResizeGrid
     */
    void setSize(
        const mrpt::math::TPoint3D& corner_min,
        const mrpt::math::TPoint3D& corner_max, float resolution,
        float default_value = 0.5f);

    /** Change the size of gridmap, maintaining previous contents.
     * \param new_voxels_default_value Value of new voxels, tipically 0.5
     * \sa setSize()
     */
    void resizeGrid(
        const mrpt::math::TPoint3D& corner_min,
        const mrpt::math::TPoint3D& corner_max,
        float new_voxels_default_value = 0.5f);

    /** Scales an integer representation of the log-odd into a real valued
     * probability in [0,1], using p=exp(l)/(1+exp(l))  */
    static inline float l2p(const voxelType l)
    {
        return get_logodd_lut().l2p(l);
    }
    /** Scales an integer representation of the log-odd into a linear scale
     * [0,255], using p=exp(l)/(1+exp(l)) */
    static inline uint8_t l2p_255(const voxelType l)
    {
        return get_logodd_lut().l2p_255(l);
    }
    /** Scales a real valued probability in [0,1] to an integer representation
     * of: log(p)-log(1-p)  in the valid range of voxelType */
    static inline voxelType p2l(const float p)
    {
        return get_logodd_lut().p2l(p);
    }

    /** Performs the Bayesian fusion of a new observation of a cell  \sa
     * updateInfoChangeOnly, updateCell_fast_occupied, updateCell_fast_free */
    void updateCell(int cx_idx, int cy_idx, int cz_idx, float v);

    /** Change the contents [0,1] (0:occupied, 1:free) of a voxel, given its
     * index. */
    inline void setCellFreeness(
        unsigned int cx, unsigned int cy, unsigned int cz, float value)
    {
        if (auto* c = m_grid.cellByIndex(cx, cy, cz); c != nullptr)
            *c = p2l(value);
    }

    /** Read the real valued [0,1] (0:occupied, 1:free) contents of a voxel,
     * given its index */
    inline float getCellFreeness(
        unsigned int cx, unsigned int cy, unsigned int cz) const
    {
        if (auto* c = m_grid.cellByIndex(cx, cy, cz); c != nullptr)
            return l2p(*c);
        else
            return .5f;
    }

    /** Change the contents [0,1] of a voxel, given its coordinates */
    inline void setFreenessByPos(float x, float y, float z, float value)
    {
        setCellFreeness(
            m_grid.x2idx(x), m_grid.y2idx(y), m_grid.z2idx(z), value);
    }

    /** Read the real valued [0,1] contents of a voxel, given its coordinates */
    inline float getFreenessByPos(float x, float y, float z) const
    {
        return getCellFreeness(
            m_grid.x2idx(x), m_grid.y2idx(y), m_grid.z2idx(z));
    }

    /** Increases the freeness of a ray segment, and the occupancy of the voxel
     * at its end point (unless endIsOccupied=false).
     * Normally, users would prefer the higher-level method
     * CMetricMap::insertObservation()
     */
    void insertRay(
        const mrpt::math::TPoint3D& sensor, const mrpt::math::TPoint3D& end,
        bool endIsOccupied = true);

    /** Calls insertRay() for each point in the point cloud, using as sensor
     * central point (the origin of all rays), the given `sensorCenter`.
     * \param[in] maxValidRange If a point has larger distance from
     * `sensorCenter` than `maxValidRange`, it will be considered a non-echo,
     * and NO occupied voxel will be created at the end of the segment.
     * \sa insertionOptions parameters are observed in this method.
     */
    void insertPointCloud(
        const mrpt::math::TPoint3D& sensorCenter,
        const mrpt::maps::CPointsMap& pts,
        const float maxValidRange = std::numeric_limits<float>::max());

    /** \sa renderingOptions */
    void getAsOctoMapVoxels(mrpt::opengl::COctoMapVoxels& gl_obj) const;

    /** Returns a 3D object representing the map. \sa renderingOptions */
    void getAs3DObject(mrpt::opengl::CSetOfObjects::Ptr& outObj) const override;

    /** With this struct options are provided to the observation insertion
     * process.
     * \sa CObservation::insertIntoGridMap */
    class TInsertionOptions : public mrpt::config::CLoadableOptions
    {
       public:
        TInsertionOptions() = default;

        /** This method load the options from a ".ini" file.
         *   Only those parameters found in the given "section" and having
         *   the same name that the variable are loaded. Those not found in
         *   the file will stay with their previous values (usually the default
         *   values loaded at initialization). An example of an ".ini" file:
         *  \code
         *  [section]
         *  resolution=0.10     ; blah blah...
         *  modeSelection=1     ; 0=blah, 1=blah,...
         *  \endcode
         */
        void loadFromConfigFile(
            const mrpt::config::CConfigFileBase& source,
            const std::string& section) override;
        // See base docs
        void saveToConfigFile(
            mrpt::config::CConfigFileBase& target,
            const std::string& section) const override;

        /** Largest distance at which voxels are updated (Default: 15 meters) */
        float maxDistanceInsertion{15.0f};
        /** A value in the range [0.5,1] used for updating voxel with a Bayesian
         * approach (default 0.65) */
        float maxOccupancyUpdateCertainty{0.65f};
        /** A value in the range [0.5,1] for updating a free voxel. (default=0
         * means use the same than maxOccupancyUpdateCertainty) */
        float maxFreenessUpdateCertainty{.0f};
        /** Specify the decimation of 3D range scans.
         * "N" means keeping the minimum range of each block of "NxN" range
         * pixels.
         * (default=8)
         */
        uint16_t decimation_3d_range{8};

        /** Decimation for insertPointCloud() or 2D range scans (Default: 1) */
        uint16_t decimation{1};
    };

    /** With this struct options are provided to the observation insertion
     * process \sa CObservation::insertIntoGridMap */
    TInsertionOptions insertionOptions;

    /** The type for selecting a likelihood computation method */
    enum TLikelihoodMethod
    {
        lmLikelihoodField_Thrun = 0,
        lmRayTracing
        // Remember: Update TEnumType below if new values are added here!
    };

    /** With this struct options are provided to the observation likelihood
     * computation process */
    class TLikelihoodOptions : public mrpt::config::CLoadableOptions
    {
       public:
        TLikelihoodOptions() = default;

        /** This method load the options from a ".ini" file.
         *   Only those parameters found in the given "section" and having
         *   the same name that the variable are loaded. Those not found in
         *   the file will stay with their previous values (usually the default
         *   values loaded at initialization). An example of an ".ini" file:
         *  \code
         *  [section]
         *  resolution=0.10     ; blah blah...
         *  modeSelection=1     ; 0=blah, 1=blah,...
         *  \endcode
         */
        void loadFromConfigFile(
            const mrpt::config::CConfigFileBase& source,
            const std::string& section) override;
        // See base docs
        void saveToConfigFile(
            mrpt::config::CConfigFileBase& c,
            const std::string& s) const override;

        /** The selected method to compute an observation likelihood */
        TLikelihoodMethod likelihoodMethod{lmLikelihoodField_Thrun};
        /** [LikelihoodField] The laser range "sigma" used in computations;
         * Default value = 0.35 */
        float LF_stdHit{0.35f};
        /** [LikelihoodField] */
        float LF_zHit{0.95f}, LF_zRandom{0.05f};
        /** [LikelihoodField] The max. range of the sensor (Default= 81 m) */
        float LF_maxRange{20.0f};
        /** [LikelihoodField] The decimation of the points in a scan, default=1
         * == no decimation */
        uint32_t LF_decimation{1};
        /** [LikelihoodField] The max. distance for searching correspondences
         * around each sensed point */
        float LF_maxCorrsDistance{0.3f};
        /** [LikelihoodField] (Default:false) Use `exp(dist^2/std^2)` instead of
         * `exp(dist^2/std^2)` */
        bool LF_useSquareDist{false};
        /** [rayTracing] One out of "rayTracing_decimation" rays will be
         * simulated and compared only: set to 1 to use all the sensed ranges.
         */
        int32_t rayTracing_decimation{10};
        /** [rayTracing] The laser range sigma. */
        float rayTracing_stdHit{1.0f};
    };

    TLikelihoodOptions likelihoodOptions;

    /** Options for the conversion of a mrpt::maps::COccupancyGridMap3D into a
     * mrpt::opengl::COctoMapVoxels */
    struct TRenderingOptions
    {
        TRenderingOptions() = default;

        /** Generate grid lines for all octree nodes, useful to draw the
         "structure" of the
         octree, but computationally costly (Default: false) */
        bool generateGridLines{false};

        /** Generate voxels for the occupied volumes  (Default=true) */
        bool generateOccupiedVoxels{true};

        /** Set occupied voxels visible (requires generateOccupiedVoxels=true)
         * (Default=true)*/
        bool visibleOccupiedVoxels{true};

        /** Generate voxels for the freespace (Default=true) */
        bool generateFreeVoxels{true};

        /** Set free voxels visible (requires generateFreeVoxels=true)
         * (Default=true) */
        bool visibleFreeVoxels{true};

        /** Binary dump to stream */
        void writeToStream(mrpt::serialization::CArchive& out) const;
        /** Binary dump to stream */
        void readFromStream(mrpt::serialization::CArchive& in);
    };

    TRenderingOptions renderingOptions;

    /** Simulate just one "ray" in the grid map. This method is used internally
     * to sonarSimulator and laserScanSimulator. \sa
     * COccupancyGridMap3D::RAYTRACE_STEP_SIZE_IN_CELL_UNITS */
    void simulateScanRay(
        const double x, const double y, const double angle_direction,
        float& out_range, bool& out_valid, const double max_range_meters,
        const float threshold_free = 0.4f, const double noiseStd = .0,
        const double angleNoiseStd = .0) const;

    /** Computes the likelihood [0,1] of a set of points, given the current grid
     * map as reference.
     * \param pm The points map
     * \param relativePose The relative pose of the points map in this map's
     * coordinates, or nullptr for (0,0,0).
     *  See "likelihoodOptions" for configuration parameters.
     */
    double computeLikelihoodField_Thrun(
        const CPointsMap& pm,
        const mrpt::poses::CPose3D& relativePose = mrpt::poses::CPose3D());

    /** Returns true upon map construction or after calling clear(), the return
     *  changes to false upon successful insertObservation() or any other
     * method to load data in the map.
     */
    bool isEmpty() const override;

    /** See docs in base class: in this class this always returns 0 */
    void determineMatching2D(
        const mrpt::maps::CMetricMap* otherMap,
        const mrpt::poses::CPose2D& otherMapPose,
        mrpt::tfest::TMatchingPairList& correspondences,
        const TMatchingParams& params,
        TMatchingExtraResults& extraResults) const override;

    /** See docs in base class: in this class this always returns 0 */
    float compute3DMatchingRatio(
        const mrpt::maps::CMetricMap* otherMap,
        const mrpt::poses::CPose3D& otherMapPose,
        const TMatchingRatioParams& params) const override;

    void saveMetricMapRepresentationToFile(const std::string& f) const override;

   private:
    // See docs in base class
    double internal_computeObservationLikelihood(
        const mrpt::obs::CObservation& obs,
        const mrpt::poses::CPose3D& takenFrom) override;
    // See docs in base class
    bool internal_canComputeObservationLikelihood(
        const mrpt::obs::CObservation& obs) const override;

    MAP_DEFINITION_START(COccupancyGridMap3D)
    /** See COccupancyGridMap3D::COccupancyGridMap3D */
    float min_x{-5.0f}, max_x{5.0f};
    float min_y{-5.0f}, max_y{5.0f};
    float min_z{-5.0f}, max_z{5.0f};
    float resolution{0.25f};

    /** Observations insertion options */
    mrpt::maps::COccupancyGridMap3D::TInsertionOptions insertionOpts;
    /** Probabilistic observation likelihood options */
    mrpt::maps::COccupancyGridMap3D::TLikelihoodOptions likelihoodOpts;
    MAP_DEFINITION_END(COccupancyGridMap3D)
};

}  // namespace mrpt::maps

MRPT_ENUM_TYPE_BEGIN(mrpt::maps::COccupancyGridMap3D::TLikelihoodMethod)
MRPT_FILL_ENUM_MEMBER(mrpt::maps::COccupancyGridMap3D, lmRayTracing);
MRPT_FILL_ENUM_MEMBER(mrpt::maps::COccupancyGridMap3D, lmLikelihoodField_Thrun);
MRPT_ENUM_TYPE_END()