COctoMapBase_impl.h

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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          |
   +------------------------------------------------------------------------+ */

// This file is to be included from <mrpt/maps/COctoMapBase.h>
#include <mrpt/io/CFileOutputStream.h>
#include <mrpt/maps/CPointsMap.h>
#include <mrpt/obs/CObservation2DRangeScan.h>
#include <mrpt/obs/CObservation3DRangeScan.h>
#include <mrpt/obs/CObservationPointCloud.h>
#include <mrpt/obs/CObservationVelodyneScan.h>
#include <mrpt/serialization/CArchive.h>

namespace mrpt::maps
{
template <class OCTREE, class OCTREE_NODE>
struct mrpt::maps::COctoMapBase<OCTREE, OCTREE_NODE>::Impl
{
    OCTREE m_octomap;
};

template <class OCTREE, class OCTREE_NODE>
COctoMapBase<OCTREE, OCTREE_NODE>::COctoMapBase(double resolution)
    : insertionOptions(*this), m_impl(new Impl({resolution}))
{
}

template <class OCTREE, class OCTREE_NODE>
template <class octomap_point3d, class octomap_pointcloud>
bool COctoMapBase<OCTREE, OCTREE_NODE>::
    internal_build_PointCloud_for_observation(
        const mrpt::obs::CObservation& obs,
        const mrpt::poses::CPose3D* robotPose, octomap_point3d& sensorPt,
        octomap_pointcloud& scan) const
{
    using namespace mrpt::poses;
    using namespace mrpt::obs;

    scan.clear();

    CPose3D robotPose3D;
    if (robotPose)  // Default values are (0,0,0)
        robotPose3D = (*robotPose);

    if (IS_CLASS(obs, CObservation2DRangeScan))
    {
        /********************************************************************
                 OBSERVATION TYPE: CObservation2DRangeScan
         ********************************************************************/
        const auto& o = static_cast<const CObservation2DRangeScan&>(obs);

        // Build a points-map representation of the points from the scan
        // (coordinates are wrt the robot base)

        // Sensor_pose = robot_pose (+) sensor_pose_on_robot
        CPose3D sensorPose(UNINITIALIZED_POSE);
        sensorPose.composeFrom(robotPose3D, o.sensorPose);
        sensorPt =
            octomap::point3d(sensorPose.x(), sensorPose.y(), sensorPose.z());

        const auto* scanPts = o.buildAuxPointsMap<mrpt::maps::CPointsMap>();
        const size_t nPts = scanPts->size();

        // Transform 3D point cloud:
        scan.reserve(nPts);

        mrpt::math::TPoint3Df pt;
        for (size_t i = 0; i < nPts; i++)
        {
            // Load the next point:
            scanPts->getPointFast(i, pt.x, pt.y, pt.z);

            // Translation:
            double gx, gy, gz;
            robotPose3D.composePoint(pt.x, pt.y, pt.z, gx, gy, gz);

            // Add to this map:
            scan.push_back(gx, gy, gz);
        }
        return true;
    }
    else if (
        IS_CLASS(obs, CObservation3DRangeScan) ||
        IS_CLASS(obs, CObservationPointCloud) ||
        IS_CLASS(obs, CObservationVelodyneScan))
    {
        // Observations that can be converted into 3D point clouds:
        const auto* o_scan3D =
            dynamic_cast<const CObservation3DRangeScan*>(&obs);
        const auto* o_pc = dynamic_cast<const CObservationPointCloud*>(&obs);
        const auto* o_velo =
            dynamic_cast<const CObservationVelodyneScan*>(&obs);

        // No points?
        if (o_scan3D && !o_scan3D->hasPoints3D) return false;
        if (o_pc && (!o_pc->pointcloud || !o_pc->pointcloud->size()))
            return false;
        if (o_velo && !o_velo->point_cloud.size()) return false;

        // Build a points-map representation of the points from the scan
        // (coordinates are wrt the robot base)

        // Sensor_pose = robot_pose (+) sensor_pose_on_robot
        CPose3D sensorPose(UNINITIALIZED_POSE);
        obs.getSensorPose(sensorPose);
        sensorPose.composeFrom(robotPose3D, sensorPose);
        sensorPt =
            octomap::point3d(sensorPose.x(), sensorPose.y(), sensorPose.z());

        obs.load();  // ensure points are loaded from an external source

        // size:
        std::size_t sizeRangeScan = 0;
        const float *xs = nullptr, *ys = nullptr, *zs = nullptr;
        if (o_scan3D)
        {
            sizeRangeScan = o_scan3D->points3D_x.size();
            xs = &o_scan3D->points3D_x[0];
            ys = &o_scan3D->points3D_y[0];
            zs = &o_scan3D->points3D_z[0];
        }
        if (o_pc)
        {
            sizeRangeScan = o_pc->pointcloud->size();
            xs = &o_pc->pointcloud->getPointsBufferRef_x()[0];
            ys = &o_pc->pointcloud->getPointsBufferRef_y()[0];
            zs = &o_pc->pointcloud->getPointsBufferRef_z()[0];
        }
        if (o_velo)
        {
            sizeRangeScan = o_velo->point_cloud.size();
            xs = &o_velo->point_cloud.x[0];
            ys = &o_velo->point_cloud.y[0];
            zs = &o_velo->point_cloud.z[0];
        }

        // Transform 3D point cloud:
        scan.reserve(sizeRangeScan);

        // For quicker access to values as "float" instead of "doubles":
        mrpt::math::CMatrixDouble44 H;
        robotPose3D.getHomogeneousMatrix(H);
        const float m00 = H(0, 0);
        const float m01 = H(0, 1);
        const float m02 = H(0, 2);
        const float m03 = H(0, 3);
        const float m10 = H(1, 0);
        const float m11 = H(1, 1);
        const float m12 = H(1, 2);
        const float m13 = H(1, 3);
        const float m20 = H(2, 0);
        const float m21 = H(2, 1);
        const float m22 = H(2, 2);
        const float m23 = H(2, 3);

        mrpt::math::TPoint3Df pt;
        for (size_t i = 0; i < sizeRangeScan; i++)
        {
            pt.x = xs[i];
            pt.y = ys[i];
            pt.z = zs[i];

            // Valid point?
            if (pt.x != 0 || pt.y != 0 || pt.z != 0)
            {
                // Translation:
                const float gx = m00 * pt.x + m01 * pt.y + m02 * pt.z + m03;
                const float gy = m10 * pt.x + m11 * pt.y + m12 * pt.z + m13;
                const float gz = m20 * pt.x + m21 * pt.y + m22 * pt.z + m23;

                // Add to this map:
                scan.push_back(gx, gy, gz);
            }
        }
        return true;
    }

    return false;
}

template <class OCTREE, class OCTREE_NODE>
void COctoMapBase<OCTREE, OCTREE_NODE>::saveMetricMapRepresentationToFile(
    const std::string& filNamePrefix) const
{
    MRPT_START

    // Save as 3D Scene:
    {
        mrpt::opengl::COpenGLScene scene;
        mrpt::opengl::CSetOfObjects::Ptr obj3D =
            mrpt::opengl::CSetOfObjects::Create();

        this->getAs3DObject(obj3D);

        scene.insert(obj3D);

        const std::string fil = filNamePrefix + std::string("_3D.3Dscene");
        scene.saveToFile(fil);
    }

    // Save as ".bt" file (a binary format from the octomap lib):
    {
        const std::string fil = filNamePrefix + std::string("_binary.bt");
        m_impl->m_octomap.writeBinaryConst(fil);
    }
    MRPT_END
}

template <class OCTREE, class OCTREE_NODE>
double COctoMapBase<OCTREE, OCTREE_NODE>::internal_computeObservationLikelihood(
    const mrpt::obs::CObservation& obs, const mrpt::poses::CPose3D& takenFrom)
{
    octomap::point3d sensorPt;
    octomap::Pointcloud scan;

    if (!internal_build_PointCloud_for_observation(
            obs, &takenFrom, sensorPt, scan))
        return 0;  // Nothing to do.

    octomap::OcTreeKey key;
    const size_t N = scan.size();

    double log_lik = 0;
    for (size_t i = 0; i < N; i += likelihoodOptions.decimation)
    {
        if (m_impl->m_octomap.coordToKeyChecked(scan.getPoint(i), key))
        {
            OCTREE_NODE* node = m_impl->m_octomap.search(key, 0 /*depth*/);
            if (node) log_lik += std::log(node->getOccupancy());
        }
    }

    return log_lik;
}

template <class OCTREE, class OCTREE_NODE>
bool COctoMapBase<OCTREE, OCTREE_NODE>::getPointOccupancy(
    const float x, const float y, const float z, double& prob_occupancy) const
{
    octomap::OcTreeKey key;
    if (m_impl->m_octomap.coordToKeyChecked(octomap::point3d(x, y, z), key))
    {
        OCTREE_NODE* node = m_impl->m_octomap.search(key, 0 /*depth*/);
        if (!node) return false;

        prob_occupancy = node->getOccupancy();
        return true;
    }
    else
        return false;
}

template <class OCTREE, class OCTREE_NODE>
void COctoMapBase<OCTREE, OCTREE_NODE>::insertPointCloud(
    const CPointsMap& ptMap, const float sensor_x, const float sensor_y,
    const float sensor_z)
{
    MRPT_START
    const octomap::point3d sensorPt(sensor_x, sensor_y, sensor_z);
    size_t N;
    const float *xs, *ys, *zs;
    ptMap.getPointsBuffer(N, xs, ys, zs);
    for (size_t i = 0; i < N; i++)
        m_impl->m_octomap.insertRay(
            sensorPt, octomap::point3d(xs[i], ys[i], zs[i]),
            insertionOptions.maxrange, insertionOptions.pruning);
    MRPT_END
}

template <class OCTREE, class OCTREE_NODE>
bool COctoMapBase<OCTREE, OCTREE_NODE>::castRay(
    const mrpt::math::TPoint3D& origin, const mrpt::math::TPoint3D& direction,
    mrpt::math::TPoint3D& end, bool ignoreUnknownCells, double maxRange) const
{
    octomap::point3d _end;

    const bool ret = m_impl->m_octomap.castRay(
        octomap::point3d(origin.x, origin.y, origin.z),
        octomap::point3d(direction.x, direction.y, direction.z), _end,
        ignoreUnknownCells, maxRange);

    end.x = _end.x();
    end.y = _end.y();
    end.z = _end.z();
    return ret;
}

/*---------------------------------------------------------------
                TInsertionOptions
 ---------------------------------------------------------------*/
template <class OCTREE, class OCTREE_NODE>
COctoMapBase<OCTREE, OCTREE_NODE>::TInsertionOptions::TInsertionOptions(
    COctoMapBase<OCTREE, OCTREE_NODE>& parent)
    : maxrange(-1.),
      pruning(true),
      m_parent(&parent),
      // Default values from octomap:
      occupancyThres(0.5),
      probHit(0.7),
      probMiss(0.4),
      clampingThresMin(0.1192),
      clampingThresMax(0.971)
{
}

template <class OCTREE, class OCTREE_NODE>
COctoMapBase<OCTREE, OCTREE_NODE>::TInsertionOptions::TInsertionOptions()
    : m_parent(nullptr)

{
}

template <class OCTREE, class OCTREE_NODE>
COctoMapBase<OCTREE, OCTREE_NODE>::TLikelihoodOptions::TLikelihoodOptions()

    = default;

template <class OCTREE, class OCTREE_NODE>
void COctoMapBase<OCTREE, OCTREE_NODE>::TLikelihoodOptions::writeToStream(
    mrpt::serialization::CArchive& out) const
{
    const int8_t version = 0;
    out << version;
    out << decimation;
}

template <class OCTREE, class OCTREE_NODE>
void COctoMapBase<OCTREE, OCTREE_NODE>::TLikelihoodOptions::readFromStream(
    mrpt::serialization::CArchive& in)
{
    int8_t version;
    in >> version;
    switch (version)
    {
        case 0:
        {
            in >> decimation;
        }
        break;
        default:
            MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version);
    }
}

template <class OCTREE, class OCTREE_NODE>
void COctoMapBase<OCTREE, OCTREE_NODE>::TInsertionOptions::dumpToTextStream(
    std::ostream& out) const
{
    out << "\n----------- [COctoMapBase<>::TInsertionOptions] ------------ "
           "\n\n";

    LOADABLEOPTS_DUMP_VAR(maxrange, double);
    LOADABLEOPTS_DUMP_VAR(pruning, bool);

    LOADABLEOPTS_DUMP_VAR(getOccupancyThres(), double);
    LOADABLEOPTS_DUMP_VAR(getProbHit(), double);
    LOADABLEOPTS_DUMP_VAR(getProbMiss(), double);
    LOADABLEOPTS_DUMP_VAR(getClampingThresMin(), double);
    LOADABLEOPTS_DUMP_VAR(getClampingThresMax(), double);

    out << "\n";
}

template <class OCTREE, class OCTREE_NODE>
void COctoMapBase<OCTREE, OCTREE_NODE>::TLikelihoodOptions::dumpToTextStream(
    std::ostream& out) const
{
    out << "\n----------- [COctoMapBase<>::TLikelihoodOptions] ------------ "
           "\n\n";

    LOADABLEOPTS_DUMP_VAR(decimation, int);
}

/*---------------------------------------------------------------
                    loadFromConfigFile
  ---------------------------------------------------------------*/
template <class OCTREE, class OCTREE_NODE>
void COctoMapBase<OCTREE, OCTREE_NODE>::TInsertionOptions::loadFromConfigFile(
    const mrpt::config::CConfigFileBase& iniFile, const std::string& section)
{
    MRPT_LOAD_CONFIG_VAR(maxrange, double, iniFile, section);
    MRPT_LOAD_CONFIG_VAR(pruning, bool, iniFile, section);

    MRPT_LOAD_CONFIG_VAR(occupancyThres, double, iniFile, section);
    MRPT_LOAD_CONFIG_VAR(probHit, double, iniFile, section);
    MRPT_LOAD_CONFIG_VAR(probMiss, double, iniFile, section);
    MRPT_LOAD_CONFIG_VAR(clampingThresMin, double, iniFile, section);
    MRPT_LOAD_CONFIG_VAR(clampingThresMax, double, iniFile, section);

    // Set loaded options into the actual octomap object, if any:
    this->setOccupancyThres(occupancyThres);
    this->setProbHit(probHit);
    this->setProbMiss(probMiss);
    this->setClampingThresMin(clampingThresMin);
    this->setClampingThresMax(clampingThresMax);
}

template <class OCTREE, class OCTREE_NODE>
void COctoMapBase<OCTREE, OCTREE_NODE>::TLikelihoodOptions::loadFromConfigFile(
    const mrpt::config::CConfigFileBase& iniFile, const std::string& section)
{
    MRPT_LOAD_CONFIG_VAR(decimation, int, iniFile, section);
}

/*  COctoMapColoured */
template <class OCTREE, class OCTREE_NODE>
void COctoMapBase<OCTREE, OCTREE_NODE>::TRenderingOptions::writeToStream(
    mrpt::serialization::CArchive& out) const
{
    const int8_t version = 0;
    out << version;
    out << generateGridLines << generateOccupiedVoxels << visibleOccupiedVoxels
        << generateFreeVoxels << visibleFreeVoxels;
}

template <class OCTREE, class OCTREE_NODE>
void COctoMapBase<OCTREE, OCTREE_NODE>::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);
    }
}

}  // namespace mrpt::maps