carmen_log_tools.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 "obs-precomp.h"  // Precompiled headers

#include <mrpt/math/TPose2D.h>
#include <mrpt/obs/CObservation2DRangeScan.h>
#include <mrpt/obs/CObservationOdometry.h>
#include <mrpt/obs/carmen_log_tools.h>
#include <mrpt/system/TParameters.h>
#include <mrpt/system/string_utils.h>

using namespace mrpt;
using namespace mrpt::obs;
using namespace mrpt::poses;
using namespace mrpt::system;
using namespace std;

// Read the declaration in the .h file for documentation.
bool mrpt::obs::carmen_log_parse_line(
    std::istream& in_stream,
    std::vector<mrpt::obs::CObservation::Ptr>& out_observations,
    const mrpt::system::TTimeStamp& time_start_log)
{
    /** global parameters loaded in previous calls. */
    static TParametersString global_log_params;

    out_observations.clear();  // empty output container

    // Try to get line:
    string line;
    while (line.empty())
    {
        if (!in_stream) return false;  // End of file
        std::getline(in_stream, line);
        line = trim(line);
    };

    // Now we have a line: analyze it:
    if (strStartsI(line, "ROBOTLASER"))
    {
        // ROBOTLASER message
        // ---------------------------
        std::istringstream S;  // Read from the string as if it was a stream
        S.str(line);

        CObservation2DRangeScan::Ptr obsLaser_ptr =
            std::make_shared<CObservation2DRangeScan>();
        CObservation2DRangeScan* obsLaser =
            obsLaser_ptr.get();  // Faster access

        // Parse:
        int laser_type;  //  SICK_LMS = 0, SICK_PLS = 1, HOKUYO_URG = 2,
        //  SIMULATED_LASER = 3,
        double start_angle, angular_resolution, accuracy;
        int remission_mode;  // OFF = 0, DIRECT = 1, NORMALIZED = 2

        if (!(S >> obsLaser->sensorLabel >> laser_type >> start_angle >>
              obsLaser->aperture >> angular_resolution >> obsLaser->maxRange >>
              accuracy >> remission_mode))
            THROW_EXCEPTION_FMT(
                "Error parsing line from CARMEN log (params):\n'%s'\n",
                line.c_str());

        size_t nRanges;
        S >> nRanges;

        obsLaser->resizeScan(nRanges);

        for (size_t i = 0; i < nRanges; i++)
        {
            float range;
            if (!(S >> range))
                THROW_EXCEPTION_FMT(
                    "Error parsing line from CARMEN log (ranges):\n'%s'\n",
                    line.c_str());
            obsLaser->setScanRange(i, range);
            // Valid value?
            obsLaser->setScanRangeValidity(
                i, (obsLaser->scan[i] >= obsLaser->maxRange ||
                    obsLaser->scan[i] <= 0));
        }

        size_t remmision_count;
        if (!(S >> remmision_count))
            THROW_EXCEPTION_FMT(
                "Error parsing line from CARMEN log (remmision_count):\n'%s'\n",
                line.c_str());

        vector<double> remission;
        remission.resize(remmision_count);

        for (size_t i = 0; i < remmision_count; i++)
        {
            if (!(S >> remission[i]))
                THROW_EXCEPTION_FMT(
                    "Error parsing line from CARMEN log (remmision "
                    "vals):\n'%s'\n",
                    line.c_str());
        }

        mrpt::math::TPose2D globalLaserPose;
        mrpt::math::TPose2D globalRobotPose;

        if (!(S >> globalLaserPose.x >> globalLaserPose.y >>
              globalLaserPose.phi >> globalRobotPose.x >> globalRobotPose.y >>
              globalRobotPose.phi))
            THROW_EXCEPTION_FMT(
                "Error parsing line from CARMEN log (poses):\n'%s'\n",
                line.c_str());

        // Compute pose of laser on the robot:
        obsLaser->sensorPose =
            CPose3D(CPose2D(globalLaserPose) - CPose2D(globalRobotPose));

        double tv, rv, fw_dist, side_dist, turn_axis;
        S >> tv >> rv >> fw_dist >> side_dist >> turn_axis;

        double timestamp;
        string robotName;
        S >> timestamp >> robotName;

        const mrpt::system::TTimeStamp obs_time =
            time_start_log +
            std::chrono::microseconds(static_cast<uint64_t>(1e-6 * timestamp));

        obsLaser->timestamp = obs_time;

        // Create odometry observation:
        {
            CObservationOdometry::Ptr obsOdo_ptr =
                std::make_shared<CObservationOdometry>();

            obsOdo_ptr->timestamp = obs_time;
            obsOdo_ptr->odometry = CPose2D(globalRobotPose);
            obsOdo_ptr->sensorLabel = "ODOMETRY";

            out_observations.push_back(obsOdo_ptr);
        }

        // Send out laser observation:
        out_observations.push_back(obsLaser_ptr);

    }  // end ROBOTLASER
    else if (strStartsI(line, "FLASER") || strStartsI(line, "RLASER"))
    {
        // [F,R]LASER message
        // FLASER num_readings [range_readings] x y theta odom_x odom_y
        // odom_theta
        // ---------------------------
        std::istringstream S;  // Read from the string as if it was a stream
        S.str(line);

        CObservation2DRangeScan::Ptr obsLaser_ptr =
            std::make_shared<CObservation2DRangeScan>();
        CObservation2DRangeScan* obsLaser =
            obsLaser_ptr.get();  // Faster access

        // Parse:
        size_t nRanges;

        if (!(S >> obsLaser->sensorLabel >> nRanges))
            THROW_EXCEPTION_FMT(
                "Error parsing line from CARMEN log (params):\n'%s'\n",
                line.c_str());

        // Params:
        {
            double maxRange = 81.0;
            double resolutionDeg = 0.5;
            using namespace std::string_literals;

            if (line[0] == 'F')
            {  // front:
                maxRange = atof(
                    global_log_params
                        .getWithDefaultVal("robot_front_laser_max", "81.0"s)
                        .c_str());
                resolutionDeg =
                    atof(global_log_params
                             .getWithDefaultVal(
                                 "laser_front_laser_resolution", "0.5"s)
                             .c_str());
            }
            else if (line[0] == 'R')
            {  // rear:
                maxRange =
                    atof(global_log_params
                             .getWithDefaultVal("robot_rear_laser_max", "81.0"s)
                             .c_str());
                resolutionDeg =
                    atof(global_log_params
                             .getWithDefaultVal(
                                 "laser_rear_laser_resolution", "0.5"s)
                             .c_str());
            }
            obsLaser->maxRange = maxRange;
            obsLaser->aperture = DEG2RAD(resolutionDeg) * nRanges;
        }

        obsLaser->resizeScan(nRanges);

        for (size_t i = 0; i < nRanges; i++)
        {
            float range;
            if (!(S >> range))
                THROW_EXCEPTION_FMT(
                    "Error parsing line from CARMEN log (ranges):\n'%s'\n",
                    line.c_str());
            obsLaser->setScanRange(i, range);
            // Valid value?
            obsLaser->setScanRangeValidity(
                i, (obsLaser->scan[i] >= obsLaser->maxRange ||
                    obsLaser->scan[i] <= 0));
        }

        mrpt::math::TPose2D globalLaserPose;
        mrpt::math::TPose2D globalRobotPose;
        if (!(S >> globalLaserPose.x >> globalLaserPose.y >>
              globalLaserPose.phi >> globalRobotPose.x >> globalRobotPose.y >>
              globalRobotPose.phi))
            THROW_EXCEPTION_FMT(
                "Error parsing line from CARMEN log (poses):\n'%s'\n",
                line.c_str());

        // Compute pose of laser on the robot:
        obsLaser->sensorPose =
            CPose3D(CPose2D(globalLaserPose) - CPose2D(globalRobotPose));

        double timestamp;
        string robotName;
        S >> timestamp >> robotName;

        const mrpt::system::TTimeStamp obs_time =
            time_start_log +
            std::chrono::microseconds(static_cast<uint64_t>(1e-6 * timestamp));

        obsLaser->timestamp = obs_time;

        // Create odometry observation:
        {
            CObservationOdometry::Ptr obsOdo_ptr =
                std::make_shared<CObservationOdometry>();

            obsOdo_ptr->timestamp = obs_time;
            obsOdo_ptr->odometry = CPose2D(globalRobotPose);
            obsOdo_ptr->sensorLabel = "ODOMETRY";

            out_observations.push_back(obsOdo_ptr);
        }

        // Send out laser observation:
        out_observations.push_back(obsLaser_ptr);

    }  // end RAWLASER
    else if (strStartsI(line, "PARAM "))
    {
        // PARAM message
        // ---------------------------
        std::istringstream S;  // Read from the string as if it was a stream
        S.str(line);

        string key, val;
        S >> key;  // This is "PARAM"

        if (!(S >> key >> val))
            THROW_EXCEPTION_FMT(
                "Error parsing line from CARMEN log (PARAM):\n'%s'\n",
                line.c_str());

        if (!key.empty() && !val.empty())

            global_log_params[lowerCase(key)] = val;

    }  // end RAWLASER

    return true;  // OK
}