CPosePDFGrid.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/CPosePDFGrid.h>
#include <mrpt/poses/CPosePDFParticles.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(CPosePDFGrid, CPosePDF, mrpt::poses)

/*---------------------------------------------------------------
    Constructor
  ---------------------------------------------------------------*/
CPosePDFGrid::CPosePDFGrid(
    double xMin, double xMax, double yMin, double yMax, double resolutionXY,
    double resolutionPhi, double phiMin, double phiMax)
    : CPose2DGridTemplate<double>(
          xMin, xMax, yMin, yMax, resolutionXY, resolutionPhi, phiMin, phiMax)
{
    uniformDistribution();
}

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

    THROW_EXCEPTION("Not implemented yet!");
}

/*---------------------------------------------------------------
    Destructor
  ---------------------------------------------------------------*/
CPosePDFGrid::~CPosePDFGrid() = default;
/*---------------------------------------------------------------
                        getMean
  Returns an estimate of the pose, (the mean, or mathematical expectation of the
 PDF), computed
        as a weighted average over all particles.
 ---------------------------------------------------------------*/
void CPosePDFGrid::getMean(CPose2D& p) const
{
    // Calc average on SE(2)
    mrpt::poses::SE_average<2> se_averager;
    for (size_t phiInd = 0; phiInd < m_sizePhi; phiInd++)
        for (size_t y = 0; y < m_sizeY; y++)
            for (size_t x = 0; x < m_sizeX; x++)
            {
                const double w = *getByIndex(x, y, phiInd);
                se_averager.append(
                    CPose2D(idx2x(x), idx2y(y), idx2phi(phiInd)), w);
            }
    se_averager.get_average(p);
}

std::tuple<CMatrixDouble33, CPose2D> CPosePDFGrid::getCovarianceAndMean() const
{
    CPosePDFParticles auxParts;
    auxParts.resetDeterministic(
        TPose2D(0, 0, 0), m_sizePhi * m_sizeY * m_sizeX);
    size_t idx = 0;
    for (size_t phiInd = 0; phiInd < m_sizePhi; phiInd++)
    {
        for (size_t y = 0; y < m_sizeY; y++)
            for (size_t x = 0; x < m_sizeX; x++)
            {
                auxParts.m_particles[idx].log_w =
                    log(*getByIndex(x, y, phiInd));
                auxParts.m_particles[idx].d =
                    TPose2D(idx2x(x), idx2y(y), idx2phi(phiInd));
            }
    }
    return auxParts.getCovarianceAndMean();
}

uint8_t CPosePDFGrid::serializeGetVersion() const { return 0; }
void CPosePDFGrid::serializeTo(mrpt::serialization::CArchive& out) const
{
    // The size:
    out << m_xMin << m_xMax << m_yMin << m_yMax << m_phiMin << m_phiMax
        << m_resolutionXY << m_resolutionPhi << static_cast<int32_t>(m_sizeX)
        << static_cast<int32_t>(m_sizeY) << static_cast<int32_t>(m_sizePhi)
        << static_cast<int32_t>(m_sizeXY) << static_cast<int32_t>(m_idxLeftX)
        << static_cast<int32_t>(m_idxLeftY)
        << static_cast<int32_t>(m_idxLeftPhi);

    // The data:
    out << m_data;
}
void CPosePDFGrid::serializeFrom(
    mrpt::serialization::CArchive& in, uint8_t version)
{
    switch (version)
    {
        case 0:
        {
            // The size:
            in >> m_xMin >> m_xMax >> m_yMin >> m_yMax >> m_phiMin >>
                m_phiMax >> m_resolutionXY >> m_resolutionPhi;

            int32_t sizeX, sizeY, sizePhi, sizeXY, idxLeftX, idxLeftY,
                idxLeftPhi;

            in >> sizeX >> sizeY >> sizePhi >> sizeXY >> idxLeftX >> idxLeftY >>
                idxLeftPhi;

            m_sizeX = sizeX;
            m_sizeY = sizeY;
            m_sizePhi = sizePhi;
            m_sizeXY = sizeXY;
            m_idxLeftX = idxLeftX;
            m_idxLeftY = idxLeftY;
            m_idxLeftPhi = idxLeftPhi;

            // The data:
            in >> m_data;
        }
        break;
        default:
            MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version);
    };
}

bool CPosePDFGrid::saveToTextFile(const std::string& dataFile) const
{
    const auto dimsFile = dataFile + std::string("_dims.txt");

    std::ofstream f_d(dataFile), f_s(dimsFile);
    if (!f_d.is_open() || !f_s.is_open()) return false;

    // Save dims:
    f_s << mrpt::format(
        "%u %u %u %f %f %f %f %f %f\n", (unsigned)m_sizeX, (unsigned)m_sizeY,
        (unsigned)m_sizePhi, m_xMin, m_xMax, m_yMin, m_yMax, m_phiMin,
        m_phiMax);

    // Save one rectangular matrix each time:
    for (unsigned int phiInd = 0; phiInd < m_sizePhi; phiInd++)
    {
        for (unsigned int y = 0; y < m_sizeY; y++)
        {
            for (unsigned int x = 0; x < m_sizeX; x++)
                f_d << mrpt::format("%.5e ", *getByIndex(x, y, phiInd));
            f_d << std::endl;
        }
    }

    return true;  // Done!
}

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

/*---------------------------------------------------------------
                    bayesianFusion
 ---------------------------------------------------------------*/
void CPosePDFGrid::bayesianFusion(
    [[maybe_unused]] const CPosePDF& p1, [[maybe_unused]] const CPosePDF& p2,
    [[maybe_unused]] const double minMahalanobisDistToDrop)
{
    THROW_EXCEPTION("Not implemented yet!");
}

/*---------------------------------------------------------------
                    inverse
 ---------------------------------------------------------------*/
void CPosePDFGrid::inverse([[maybe_unused]] CPosePDF& o) const
{
    THROW_EXCEPTION("Not implemented yet!");
}

/*---------------------------------------------------------------
                    drawSingleSample
 ---------------------------------------------------------------*/
void CPosePDFGrid::drawSingleSample([[maybe_unused]] CPose2D& outPart) const
{
    THROW_EXCEPTION("Not implemented yet!");
}

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

/*---------------------------------------------------------------
                    CPosePDFGrid
 ---------------------------------------------------------------*/
void CPosePDFGrid::normalize()
{
    double SUM = 0;

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

    if (SUM > 0)
    {
        // Normalize:
        for (double& it : m_data) it /= SUM;
    }
}

/*---------------------------------------------------------------
                        uniformDistribution
  ---------------------------------------------------------------*/
void CPosePDFGrid::uniformDistribution()
{
    double val = 1.0f / m_data.size();

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