CMetricMap.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */

#include "obs-precomp.h"  // Precompiled headers

#include <mrpt/utils/CStream.h>
#include <mrpt/maps/CMetricMap.h>
#include <mrpt/poses/CPosePDF.h>
#include <mrpt/poses/CPoint3D.h>
#include <mrpt/poses/CPose3D.h>
#include <mrpt/obs/CSensoryFrame.h>
#include <mrpt/maps/CSimpleMap.h>
#include <mrpt/math/lightweight_geom_data.h>

using namespace mrpt::obs;
using namespace mrpt::maps;
using namespace mrpt::utils;
using namespace mrpt::poses;
using namespace mrpt::math;

IMPLEMENTS_VIRTUAL_SERIALIZABLE(CMetricMap, CSerializable, mrpt::maps)

CMetricMap::CMetricMap() {}
/** Erase all the contents of the map */
void CMetricMap::clear()
{
        internal_clear();
        publishEvent(mrptEventMetricMapClear(this));
}

void CMetricMap::loadFromProbabilisticPosesAndObservations(
        const mrpt::maps::CSimpleMap& sfSeq)
{
        CPose3DPDF::Ptr posePDF;
        CSensoryFrame::Ptr sf;
        const size_t n = sfSeq.size();

        // Erase previous contents:
        this->clear();

        // Insert new content:
        for (size_t i = 0; i < n; i++)
        {
                sfSeq.get(i, posePDF, sf);
                ASSERTMSG_(posePDF, "Input map has an empty `CPose3DPDF` ptr");
                ASSERTMSG_(sf, "Input map has an empty `CSensoryFrame` ptr");

                CPose3D robotPose;
                posePDF->getMean(robotPose);

                sf->insertObservationsInto(
                        this,  // Insert into THIS map.
                        &robotPose  // At this pose.
                        );
        }
}

/*---------------------------------------------------------------
                                                computeObservationsLikelihood
  ---------------------------------------------------------------*/
double CMetricMap::computeObservationsLikelihood(
        const CSensoryFrame& sf, const CPose2D& takenFrom)
{
        double lik = 0;
        for (CSensoryFrame::const_iterator it = sf.begin(); it != sf.end(); ++it)
                lik += computeObservationLikelihood(it->get(), takenFrom);

        return lik;
}

double CMetricMap::computeObservationLikelihood(
        const CObservation* obs, const CPose2D& takenFrom)
{
        return computeObservationLikelihood(obs, CPose3D(takenFrom));
}

/*---------------------------------------------------------------
                                canComputeObservationLikelihood
  ---------------------------------------------------------------*/
bool CMetricMap::canComputeObservationsLikelihood(const CSensoryFrame& sf) const
{
        bool can = false;
        for (CSensoryFrame::const_iterator it = sf.begin(); !can && it != sf.end();
                 ++it)
                can = can || canComputeObservationLikelihood(it->get());
        return can;
}

bool CMetricMap::insertObservation(
        const CObservation* obs, const CPose3D* robotPose)
{
        if (!genericMapParams.enableObservationInsertion) return false;

        bool done = internal_insertObservation(obs, robotPose);
        if (done)
        {
                OnPostSuccesfulInsertObs(obs);
                publishEvent(mrptEventMetricMapInsert(this, obs, robotPose));
        }
        return done;
}

bool CMetricMap::insertObservationPtr(
        const CObservation::Ptr& obs, const CPose3D* robotPose)
{
        MRPT_START
        if (!obs)
        {
                THROW_EXCEPTION("Trying to pass a null pointer.");
        }
        return insertObservation(obs.get(), robotPose);
        MRPT_END
}

bool CMetricMap::canComputeObservationLikelihood(
        const CObservation::Ptr& obs) const
{
        return canComputeObservationLikelihood(obs.get());
}

void CMetricMap::determineMatching2D(
        const mrpt::maps::CMetricMap* otherMap, const CPose2D& otherMapPose,
        TMatchingPairList& correspondences, const TMatchingParams& params,
        TMatchingExtraResults& extraResults) const
{
        MRPT_UNUSED_PARAM(otherMap);
        MRPT_UNUSED_PARAM(otherMapPose);
        MRPT_UNUSED_PARAM(correspondences);
        MRPT_UNUSED_PARAM(params);
        MRPT_UNUSED_PARAM(extraResults);
        MRPT_START
        THROW_EXCEPTION("Virtual method not implemented in derived class.")
        MRPT_END
}

void CMetricMap::determineMatching3D(
        const mrpt::maps::CMetricMap* otherMap, const CPose3D& otherMapPose,
        TMatchingPairList& correspondences, const TMatchingParams& params,
        TMatchingExtraResults& extraResults) const
{
        MRPT_UNUSED_PARAM(otherMap);
        MRPT_UNUSED_PARAM(otherMapPose);
        MRPT_UNUSED_PARAM(correspondences);
        MRPT_UNUSED_PARAM(params);
        MRPT_UNUSED_PARAM(extraResults);
        MRPT_START
        THROW_EXCEPTION("Virtual method not implemented in derived class.")
        MRPT_END
}

float CMetricMap::compute3DMatchingRatio(
        const mrpt::maps::CMetricMap* otherMap,
        const mrpt::poses::CPose3D& otherMapPose,
        const TMatchingRatioParams& params) const
{
        MRPT_UNUSED_PARAM(otherMap);
        MRPT_UNUSED_PARAM(otherMapPose);
        MRPT_UNUSED_PARAM(params);
        MRPT_START
        THROW_EXCEPTION("Virtual method not implemented in derived class.")
        MRPT_END
}

float CMetricMap::squareDistanceToClosestCorrespondence(
        float x0, float y0) const
{
        MRPT_UNUSED_PARAM(x0);
        MRPT_UNUSED_PARAM(y0);
        MRPT_START
        THROW_EXCEPTION("Virtual method not implemented in derived class.")
        MRPT_END
}

bool CMetricMap::canComputeObservationLikelihood(
        const mrpt::obs::CObservation* obs) const
{
        if (genericMapParams.enableObservationLikelihood)
                return internal_canComputeObservationLikelihood(obs);
        else
                return false;
}

double CMetricMap::computeObservationLikelihood(
        const mrpt::obs::CObservation* obs, const mrpt::poses::CPose3D& takenFrom)
{
        if (genericMapParams.enableObservationLikelihood)
                return internal_computeObservationLikelihood(obs, takenFrom);
        else
                return false;
}