COccupancyGridMap3D.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, 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 "maps-precomp.h"  // Precomp header

#include <mrpt/config/CConfigFileBase.h>
#include <mrpt/maps/COccupancyGridMap3D.h>
#include <mrpt/maps/CSimplePointsMap.h>
#include <mrpt/opengl/COctoMapVoxels.h>
#include <mrpt/poses/CPose3D.h>
#include <mrpt/serialization/CArchive.h>

using namespace mrpt;
using namespace mrpt::maps;

//  =========== Begin of Map definition ============
MAP_DEFINITION_REGISTER(
    "mrpt::maps::COccupancyGridMap3D", mrpt::maps::COccupancyGridMap3D)

COccupancyGridMap3D::TMapDefinition::TMapDefinition() = default;

void COccupancyGridMap3D::TMapDefinition::loadFromConfigFile_map_specific(
    const mrpt::config::CConfigFileBase& source, const std::string& sect)
{
    using namespace std::string_literals;

    // [<sect>+"_creationOpts"]
    const auto sSectCreation = sect + "_creationOpts"s;
    MRPT_LOAD_CONFIG_VAR(min_x, float, source, sSectCreation);
    MRPT_LOAD_CONFIG_VAR(max_x, float, source, sSectCreation);
    MRPT_LOAD_CONFIG_VAR(min_y, float, source, sSectCreation);
    MRPT_LOAD_CONFIG_VAR(max_y, float, source, sSectCreation);
    MRPT_LOAD_CONFIG_VAR(min_z, float, source, sSectCreation);
    MRPT_LOAD_CONFIG_VAR(max_z, float, source, sSectCreation);
    MRPT_LOAD_CONFIG_VAR(resolution, float, source, sSectCreation);

    // [<sectionName>+"_occupancyGrid_##_insertOpts"]
    insertionOpts.loadFromConfigFile(source, sect + "_insertOpts"s);

    // [<sectionName>+"_occupancyGrid_##_likelihoodOpts"]
    likelihoodOpts.loadFromConfigFile(source, sect + "_likelihoodOpts"s);
}

void COccupancyGridMap3D::TMapDefinition::dumpToTextStream_map_specific(
    std::ostream& out) const
{
    LOADABLEOPTS_DUMP_VAR(min_x, float);
    LOADABLEOPTS_DUMP_VAR(max_x, float);
    LOADABLEOPTS_DUMP_VAR(min_y, float);
    LOADABLEOPTS_DUMP_VAR(max_y, float);
    LOADABLEOPTS_DUMP_VAR(min_z, float);
    LOADABLEOPTS_DUMP_VAR(max_z, float);
    LOADABLEOPTS_DUMP_VAR(resolution, float);

    this->insertionOpts.dumpToTextStream(out);
    this->likelihoodOpts.dumpToTextStream(out);
}

mrpt::maps::CMetricMap* COccupancyGridMap3D::internal_CreateFromMapDefinition(
    const mrpt::maps::TMetricMapInitializer& _def)
{
    auto& def = dynamic_cast<const COccupancyGridMap3D::TMapDefinition&>(_def);
    auto* obj = new COccupancyGridMap3D(
        mrpt::math::TPoint3D(def.min_x, def.min_y, def.min_z),
        mrpt::math::TPoint3D(def.max_x, def.max_y, def.max_z), def.resolution);
    obj->insertionOptions = def.insertionOpts;
    obj->likelihoodOptions = def.likelihoodOpts;
    return obj;
}
//  =========== End of Map definition Block =========

IMPLEMENTS_SERIALIZABLE(COccupancyGridMap3D, CMetricMap, mrpt::maps)

// Static lookup tables for log-odds
static CLogOddsGridMapLUT<COccupancyGridMap3D::voxelType> logodd_lut;

CLogOddsGridMapLUT<COccupancyGridMap3D::voxelType>&
    COccupancyGridMap3D::get_logodd_lut()
{
    return logodd_lut;
}

COccupancyGridMap3D::COccupancyGridMap3D(
    const mrpt::math::TPoint3D& corner_min,
    const mrpt::math::TPoint3D& corner_max, float resolution)
{
    MRPT_START
    setSize(corner_min, corner_max, resolution, 0.5f);
    MRPT_END
}

void COccupancyGridMap3D::setSize(
    const mrpt::math::TPoint3D& cmin, const mrpt::math::TPoint3D& cmax,
    double res, float default_value)
{
    MRPT_START

    ASSERT_ABOVE_(res, 0.0);
    ASSERT_ABOVE_(cmax.x, cmin.x);
    ASSERT_ABOVE_(cmax.y, cmin.y);
    ASSERT_ABOVE_(cmax.z, cmin.z);
    ASSERT_ABOVEEQ_(default_value, 0.0f);
    ASSERT_BELOWEQ_(default_value, 1.0f);

    const auto def_value = p2l(default_value);
    m_grid.setSize(
        cmin.x, cmax.x, cmin.y, cmax.y, cmin.z, cmax.z, res, res, &def_value);

    // m_likelihoodCacheOutDated = true;
    m_is_empty = true;

    MRPT_END
}

void COccupancyGridMap3D::resizeGrid(
    const mrpt::math::TPoint3D& cmin, const mrpt::math::TPoint3D& cmax,
    float new_cells_default_value)
{
    MRPT_START

    const auto def_value = p2l(new_cells_default_value);
    const double additionalMargin = .0;
    m_grid.resize(
        cmin.x, cmax.x, cmin.y, cmax.y, cmin.z, cmax.z, def_value,
        additionalMargin);

    // m_likelihoodCacheOutDated = true;
    m_is_empty = true;

    MRPT_END
}

void COccupancyGridMap3D::internal_clear()
{
    TMapDefinition md;

    setSize(
        mrpt::math::TPoint3D(md.min_x, md.min_y, md.min_z),
        mrpt::math::TPoint3D(md.max_x, md.max_y, md.max_z),
        m_grid.getResolutionXY());

    // m_likelihoodCacheOutDated = true;
    m_is_empty = true;
}

void COccupancyGridMap3D::fill(float default_value)
{
    const voxelType defValue = p2l(default_value);
    m_grid.fill(defValue);
    // m_likelihoodCacheOutDated = true;
}

void COccupancyGridMap3D::updateCell(int x, int y, int z, float v)
{
    if (m_grid.isOutOfBounds(x, y, z)) return;

    // Get the current contents of the cell:
    auto* cp = m_grid.cellByIndex(x, y, z);
    ASSERT_(cp != nullptr);
    voxelType& theCell = *cp;

    // Compute the new Bayesian-fused value of the cell:
    // The observation: will be >0 for free, <0 for occupied.
    const voxelType obs = p2l(v);
    if (obs > 0)
    {
        // Saturate
        if (theCell > (CLogOddsGridMap3D<voxelType>::CELLTYPE_MAX - obs))
            theCell = CLogOddsGridMap3D<voxelType>::CELLTYPE_MAX;
        else
            theCell += obs;
    }
    else
    {
        // Saturate
        if (theCell < (CLogOddsGridMap3D<voxelType>::CELLTYPE_MIN - obs))
            theCell = CLogOddsGridMap3D<voxelType>::CELLTYPE_MIN;
        else
            theCell += obs;
    }
}

void COccupancyGridMap3D::determineMatching2D(
    const mrpt::maps::CMetricMap* otherMap2,
    const mrpt::poses::CPose2D& otherMapPose_,
    mrpt::tfest::TMatchingPairList& correspondences,
    const mrpt::maps::TMatchingParams& params,
    mrpt::maps::TMatchingExtraResults& extraResults) const
{
    MRPT_START

    THROW_EXCEPTION("Implement me!");

    MRPT_END
}

bool COccupancyGridMap3D::isEmpty() const { return m_is_empty; }

float COccupancyGridMap3D::compute3DMatchingRatio(
    [[maybe_unused]] const mrpt::maps::CMetricMap* otherMap,
    [[maybe_unused]] const mrpt::poses::CPose3D& otherMapPose,
    [[maybe_unused]] const TMatchingRatioParams& params) const
{
    THROW_EXCEPTION("Implement me!");
    return 0;
}

void COccupancyGridMap3D::getAsOctoMapVoxels(
    mrpt::opengl::COctoMapVoxels& gl_obj) const
{
    MRPT_START

    using mrpt::img::TColor;
    using mrpt::img::TColorf;
    using namespace mrpt::opengl;

    const size_t N = m_grid.getSizeX() * m_grid.getSizeY() * m_grid.getSizeZ();
    const TColorf general_color = gl_obj.getColor();
    const TColor general_color_u = general_color.asTColor();

    gl_obj.clear();
    gl_obj.resizeVoxelSets(2);  // 2 sets of voxels: occupied & free
    if (renderingOptions.generateGridLines) gl_obj.reserveGridCubes(N);

    gl_obj.showVoxels(
        mrpt::opengl::VOXEL_SET_OCCUPIED,
        renderingOptions.visibleOccupiedVoxels);
    gl_obj.showVoxels(
        mrpt::opengl::VOXEL_SET_FREESPACE, renderingOptions.visibleFreeVoxels);

    gl_obj.reserveVoxels(mrpt::opengl::VOXEL_SET_OCCUPIED, N / 4);
    gl_obj.reserveVoxels(mrpt::opengl::VOXEL_SET_FREESPACE, N / 4);

    const mrpt::math::TPoint3D bbmin(
        m_grid.getXMin(), m_grid.getYMin(), m_grid.getZMin());
    const mrpt::math::TPoint3D bbmax(
        m_grid.getXMax(), m_grid.getYMax(), m_grid.getZMax());
    const float inv_dz = 1.0f / d2f(bbmax.z - bbmin.z + 0.01f);
    const double L = 0.5 * m_grid.getResolutionZ();

    for (size_t cz = 0; cz < m_grid.getSizeZ(); cz++)
    {
        // voxel center coordinates:
        const double z = m_grid.idx2z(cz) + m_grid.getResolutionZ() * 0.5;
        for (size_t cy = 0; cy < m_grid.getSizeY(); cy++)
        {
            const double y = m_grid.idx2y(cy) + m_grid.getResolutionXY() * 0.5;
            for (size_t cx = 0; cx < m_grid.getSizeX(); cx++)
            {
                const double x =
                    m_grid.idx2x(cx) + m_grid.getResolutionXY() * 0.5;
                const float occ = 1.0f - this->getCellFreeness(cx, cy, cz);
                const bool is_occupied = occ > 0.501f;
                const bool is_free = occ < 0.499f;
                if ((is_occupied && renderingOptions.generateOccupiedVoxels) ||
                    (is_free && renderingOptions.generateFreeVoxels))
                {
                    mrpt::img::TColor vx_color;
                    float coefc, coeft;
                    switch (gl_obj.getVisualizationMode())
                    {
                        case COctoMapVoxels::FIXED:
                            vx_color = general_color_u;
                            break;
                        case COctoMapVoxels::COLOR_FROM_HEIGHT:
                            coefc = 255 * inv_dz * d2f(z - bbmin.z);
                            vx_color = TColor(
                                f2u8(coefc * general_color.R),
                                f2u8(coefc * general_color.G),
                                f2u8(coefc * general_color.B),
                                f2u8(255 * general_color.A));
                            break;

                        case COctoMapVoxels::COLOR_FROM_OCCUPANCY:
                            coefc = 240 * (1 - occ) + 15;
                            vx_color = TColor(
                                f2u8(coefc * general_color.R),
                                f2u8(coefc * general_color.G),
                                f2u8(coefc * general_color.B),
                                f2u8(255 * general_color.A));
                            break;

                        case COctoMapVoxels::TRANSPARENCY_FROM_OCCUPANCY:
                            coeft = 255 - 510 * (1 - occ);
                            if (coeft < 0)
                            {
                                coeft = 0;
                            }
                            vx_color = general_color.asTColor();
                            vx_color.A = mrpt::round(coeft);
                            break;

                        case COctoMapVoxels::TRANS_AND_COLOR_FROM_OCCUPANCY:
                            coefc = 240 * (1 - occ) + 15;
                            vx_color = TColor(
                                f2u8(coefc * general_color.R),
                                f2u8(coefc * general_color.G),
                                f2u8(coefc * general_color.B), 50);
                            break;

                        case COctoMapVoxels::MIXED:
                            coefc = d2f(255 * inv_dz * (z - bbmin.z));
                            coeft = d2f(255 - 510 * (1 - occ));
                            if (coeft < 0)
                            {
                                coeft = 0;
                            }
                            vx_color = TColor(
                                f2u8(coefc * general_color.R),
                                f2u8(coefc * general_color.G),
                                f2u8(coefc * general_color.B),
                                static_cast<uint8_t>(coeft));
                            break;

                        default:
                            THROW_EXCEPTION("Unknown coloring scheme!");
                    }

                    const size_t vx_set =
                        is_occupied ? VOXEL_SET_OCCUPIED : VOXEL_SET_FREESPACE;

                    gl_obj.push_back_Voxel(
                        vx_set,
                        COctoMapVoxels::TVoxel(
                            mrpt::math::TPoint3D(x, y, z), 2 * L, vx_color));
                }

                if (renderingOptions.generateGridLines)
                {
                    // Not leaf-nodes:
                    const mrpt::math::TPoint3D pt_min(x - L, y - L, z - L);
                    const mrpt::math::TPoint3D pt_max(x + L, y + L, z + L);
                    gl_obj.push_back_GridCube(
                        COctoMapVoxels::TGridCube(pt_min, pt_max));
                }
            }
        }
    }  // end for each voxel

    // if we use transparency, sort cubes by "Z" as an approximation to
    // far-to-near render ordering:
    if (gl_obj.isCubeTransparencyEnabled()) gl_obj.sort_voxels_by_z();

    // Set bounding box:
    gl_obj.setBoundingBox(bbmin, bbmax);

    MRPT_END
}

void COccupancyGridMap3D::getAs3DObject(
    mrpt::opengl::CSetOfObjects::Ptr& outObj) const
{
    auto gl_obj = mrpt::opengl::COctoMapVoxels::Create();
    this->getAsOctoMapVoxels(*gl_obj);
    outObj->insert(gl_obj);
}

uint8_t COccupancyGridMap3D::serializeGetVersion() const { return 0; }
void COccupancyGridMap3D::serializeTo(mrpt::serialization::CArchive& out) const
{
// Version 2: Save OCCUPANCY_GRIDMAP_CELL_SIZE_8BITS/16BITS
#ifdef OCCUPANCY_GRIDMAP_CELL_SIZE_8BITS
    out << uint8_t(8);
#else
    out << uint8_t(16);
#endif

    // Save grid dimensions:
    m_grid.dyngridcommon_writeToStream(out);

#ifdef OCCUPANCY_GRIDMAP_CELL_SIZE_8BITS
    out.WriteBuffer
#else
    out.WriteBufferFixEndianness
#endif
        (m_grid.cellByIndex(0, 0, 0), sizeof(cell_t) * m_grid.getSizeX() *
                                          m_grid.getSizeY() *
                                          m_grid.getSizeZ());

    // insertionOptions:
    out << insertionOptions.maxDistanceInsertion
        << insertionOptions.maxOccupancyUpdateCertainty
        << insertionOptions.maxFreenessUpdateCertainty
        << insertionOptions.decimation << insertionOptions.decimation_3d_range;

    // Likelihood:
    out.WriteAs<int32_t>(likelihoodOptions.likelihoodMethod);
    out << likelihoodOptions.LF_stdHit << likelihoodOptions.LF_zHit
        << likelihoodOptions.LF_zRandom << likelihoodOptions.LF_maxRange
        << likelihoodOptions.LF_decimation
        << likelihoodOptions.LF_maxCorrsDistance
        << likelihoodOptions.LF_useSquareDist
        << likelihoodOptions.rayTracing_decimation
        << likelihoodOptions.rayTracing_stdHit;

    out << genericMapParams;

    renderingOptions.writeToStream(out);
}

void COccupancyGridMap3D::serializeFrom(
    mrpt::serialization::CArchive& in, uint8_t version)
{
    m_is_empty = false;

    switch (version)
    {
        case 0:
        {
            uint8_t bitsPerCellStream;
            in >> bitsPerCellStream;

#ifdef OCCUPANCY_GRIDMAP_CELL_SIZE_8BITS
            ASSERT_(bitsPerCellStream == 8);
#else
            ASSERT_(bitsPerCellStream == 16);
#endif

            // Save grid dimensions:
            m_grid.dyngridcommon_readFromStream(in);

#ifdef OCCUPANCY_GRIDMAP_CELL_SIZE_8BITS
            in.ReadBuffer
#else
            in.ReadBufferFixEndianness
#endif
                (m_grid.cellByIndex(0, 0, 0),
                 sizeof(cell_t) * m_grid.getSizeX() * m_grid.getSizeY() *
                     m_grid.getSizeZ());

            // insertionOptions:
            in >> insertionOptions.maxDistanceInsertion >>
                insertionOptions.maxOccupancyUpdateCertainty >>
                insertionOptions.maxFreenessUpdateCertainty >>
                insertionOptions.decimation >>
                insertionOptions.decimation_3d_range;

            // Likelihood:
            in.ReadAsAndCastTo<int32_t, TLikelihoodMethod>(
                likelihoodOptions.likelihoodMethod);

            in >> likelihoodOptions.LF_stdHit >> likelihoodOptions.LF_zHit >>
                likelihoodOptions.LF_zRandom >> likelihoodOptions.LF_maxRange >>
                likelihoodOptions.LF_decimation >>
                likelihoodOptions.LF_maxCorrsDistance >>
                likelihoodOptions.LF_useSquareDist >>
                likelihoodOptions.rayTracing_decimation >>
                likelihoodOptions.rayTracing_stdHit;

            in >> genericMapParams;

            renderingOptions.readFromStream(in);
        }
        break;
        default:
            MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version);
    };
}

void COccupancyGridMap3D::TRenderingOptions::writeToStream(
    mrpt::serialization::CArchive& out) const
{
    const int8_t version = 0;
    out << version;
    out << generateGridLines << generateOccupiedVoxels << visibleOccupiedVoxels
        << generateFreeVoxels << visibleFreeVoxels;
}

void COccupancyGridMap3D::TRenderingOptions::readFromStream(
    mrpt::serialization::CArchive& in)
{
    int8_t version;
    in >> version;
    switch (version)
    {
        case 0:
        {
            in >> generateGridLines >> generateOccupiedVoxels >>
                visibleOccupiedVoxels >> generateFreeVoxels >>
                visibleFreeVoxels;
        }
        break;
        default:
            MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version);
    }
}

void COccupancyGridMap3D::saveMetricMapRepresentationToFile(
    const std::string& filNamePrefix) const
{
    using namespace std::string_literals;
    const auto fil = filNamePrefix + ".txt";
    // todo
}