CPose3DPDFGrid.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 "poses-precomp.h"  // Precompiled headers

#include <mrpt/poses/CPose3D.h>
#include <mrpt/poses/CPose3DPDFGrid.h>
#include <mrpt/poses/CPose3DPDFParticles.h>
#include <mrpt/poses/SO_SE_average.h>
#include <mrpt/random.h>
#include <mrpt/serialization/CArchive.h>
#include <mrpt/system/os.h>
#include <fstream>

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

IMPLEMENTS_SERIALIZABLE(CPose3DPDFGrid, CPose3DPDF, mrpt::poses)

CPose3DPDFGrid::CPose3DPDFGrid(
    const mrpt::math::TPose3D& bb_min, const mrpt::math::TPose3D& bb_max,
    double resolution_XYZ, double resolution_YPR)
    : CPose3DGridTemplate<double>(
          bb_min, bb_max, resolution_XYZ, resolution_YPR)
{
    uniformDistribution();
}

void CPose3DPDFGrid::copyFrom(const CPose3DPDF& o)
{
    if (this == &o) return;  // It may be used sometimes

    THROW_EXCEPTION("Not implemented yet!");
}

void CPose3DPDFGrid::getMean(CPose3D& p) const
{
    // Calc average on SE(3)
    mrpt::poses::SE_average<3> se_averager;

    for (size_t cR = 0; cR < m_sizeRoll; cR++)
        for (size_t cP = 0; cP < m_sizePitch; cP++)
            for (size_t cY = 0; cY < m_sizeYaw; cY++)
                for (size_t cz = 0; cz < m_sizeZ; cz++)
                    for (size_t cy = 0; cy < m_sizeY; cy++)
                        for (size_t cx = 0; cx < m_sizeX; cx++)
                        {
                            const double w =
                                *getByIndex(cx, cy, cz, cY, cP, cR);
                            se_averager.append(
                                CPose3D(
                                    idx2x(cx), idx2y(cy), idx2z(cz),
                                    idx2yaw(cY), idx2pitch(cP), idx2roll(cR)),
                                w);
                        }
    se_averager.get_average(p);
}

std::tuple<CMatrixDouble66, CPose3D> CPose3DPDFGrid::getCovarianceAndMean()
    const
{
    CPose3DPDFParticles auxParts;
    auxParts.resetDeterministic(TPose3D(), m_size_xyzYPR);

    size_t idx = 0;
    for (size_t cR = 0; cR < m_sizeRoll; cR++)
        for (size_t cP = 0; cP < m_sizePitch; cP++)
            for (size_t cY = 0; cY < m_sizeYaw; cY++)
                for (size_t cz = 0; cz < m_sizeZ; cz++)
                    for (size_t cy = 0; cy < m_sizeY; cy++)
                        for (size_t cx = 0; cx < m_sizeX; cx++)
                        {
                            const double w =
                                *getByIndex(cx, cy, cz, cY, cP, cR);
                            auxParts.m_particles[idx].log_w = std::log(w);
                            auxParts.m_particles[idx].d = mrpt::math::TPose3D(
                                idx2x(cx), idx2y(cy), idx2z(cz), idx2yaw(cY),
                                idx2pitch(cP), idx2roll(cR));

                            ++idx;
                        }
    return auxParts.getCovarianceAndMean();
}

uint8_t CPose3DPDFGrid::serializeGetVersion() const { return 0; }
void CPose3DPDFGrid::serializeTo(mrpt::serialization::CArchive& out) const
{
    // The size:
    out << m_bb_min << m_bb_max << m_resolutionXYZ << m_resolutionYPR;
    out.WriteAs<int32_t>(m_sizeX);
    out.WriteAs<int32_t>(m_sizeY);
    out.WriteAs<int32_t>(m_sizeZ);
    out.WriteAs<int32_t>(m_sizeYaw);
    out.WriteAs<int32_t>(m_sizePitch);
    out.WriteAs<int32_t>(m_sizeRoll);
    out << m_sizeX << m_sizeY << m_sizeZ << m_sizeYaw << m_sizePitch
        << m_sizeRoll;
    out << m_min_cidX << m_min_cidY << m_min_cidZ << m_min_cidYaw
        << m_min_cidPitch << m_min_cidRoll;

    // The data:
    out << m_data;
}
void CPose3DPDFGrid::serializeFrom(
    mrpt::serialization::CArchive& in, uint8_t version)
{
    switch (version)
    {
        case 0:
        {
            in >> m_bb_min >> m_bb_max >> m_resolutionXYZ >> m_resolutionYPR;
            m_sizeX = in.ReadAs<int32_t>();
            m_sizeY = in.ReadAs<int32_t>();
            m_sizeZ = in.ReadAs<int32_t>();
            m_sizeYaw = in.ReadAs<int32_t>();
            m_sizePitch = in.ReadAs<int32_t>();
            m_sizeRoll = in.ReadAs<int32_t>();
            in >> m_sizeX >> m_sizeY >> m_sizeZ >> m_sizeYaw >> m_sizePitch >>
                m_sizeRoll;
            in >> m_min_cidX >> m_min_cidY >> m_min_cidZ >> m_min_cidYaw >>
                m_min_cidPitch >> m_min_cidRoll;

            // The data:
            in >> m_data;

            update_cached_size_products();

            ASSERT_EQUAL_(m_data.size(), m_size_xyzYPR);
        }
        break;
        default:
            MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version);
    };
}

bool CPose3DPDFGrid::saveToTextFile(const std::string& dataFile) const
{
    THROW_EXCEPTION("Not implemented yet");

    //  return true;  // Done!
}

void CPose3DPDFGrid::changeCoordinatesReference([
    [maybe_unused]] const CPose3D& newReferenceBase)
{
    THROW_EXCEPTION("Not implemented yet!");
}

void CPose3DPDFGrid::bayesianFusion(
    [[maybe_unused]] const CPose3DPDF& p1,
    [[maybe_unused]] const CPose3DPDF& p2)
{
    THROW_EXCEPTION("Not implemented yet!");
}

void CPose3DPDFGrid::inverse([[maybe_unused]] CPose3DPDF& o) const
{
    THROW_EXCEPTION("Not implemented yet!");
}

void CPose3DPDFGrid::drawSingleSample([[maybe_unused]] CPose3D& outPart) const
{
    THROW_EXCEPTION("Not implemented yet!");
}

void CPose3DPDFGrid::drawManySamples(
    [[maybe_unused]] size_t N,
    [[maybe_unused]] std::vector<CVectorDouble>& outSamples) const
{
    THROW_EXCEPTION("Not implemented yet!");
}

void CPose3DPDFGrid::normalize()
{
    double SUM = 0;

    // SUM:
    for (auto it = m_data.begin(); it != m_data.end(); ++it) SUM += *it;

    if (SUM > 0)
    {
        const auto f = 1.0 / SUM;
        for (double& it : m_data) it *= f;
    }
}

void CPose3DPDFGrid::uniformDistribution()
{
    const double val = 1.0 / m_data.size();

    for (double& it : m_data) it = val;
}