CMetricMapBuilder.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 "slam-precomp.h"  // Precompiled headers

#include <mrpt/system/filesystem.h>
#include <mrpt/slam/CMetricMapBuilder.h>
#include <mrpt/poses/CPosePDFGaussian.h>
#include <mrpt/utils/CFileInputStream.h>
#include <mrpt/utils/CFileOutputStream.h>
#include <mrpt/utils/CFileGZInputStream.h>
#include <mrpt/utils/CFileGZOutputStream.h>

using namespace mrpt::slam;
using namespace mrpt::maps;
using namespace mrpt::poses;
using namespace mrpt::utils;

CMetricMapBuilder::CMetricMapBuilder()
        : mrpt::utils::COutputLogger("CMetricMapBuilder"),
          options(this->m_min_verbosity_level)
{
        MRPT_LOG_DEBUG("CMetricMapBuilder ctor.");
}

CMetricMapBuilder::~CMetricMapBuilder()
{
        MRPT_LOG_DEBUG("CMetricMapBuilder dtor.");
}

/*---------------------------------------------------------------
                                        clear
Clear all elements of the maps, and reset localization to (0,0,0deg).
  ---------------------------------------------------------------*/
void CMetricMapBuilder::clear()
{
        MRPT_LOG_DEBUG("CMetricMapBuilder::clear() called.");
        CSimpleMap dummyMap;
        CPosePDFGaussian dummyPose;

        // Initialize with an empty map and pose to (0,0,0)
        initialize(dummyMap, &dummyPose);
}

/*---------------------------------------------------------------
                                        loadCurrentMapFromFile
  ---------------------------------------------------------------*/
void CMetricMapBuilder::loadCurrentMapFromFile(const std::string& fileName)
{
        CSimpleMap map;

        // New file??
        if (mrpt::system::fileExists(fileName))
        {
                MRPT_LOG_INFO_STREAM(
                        "[CMetricMapBuilder::loadCurrentMapFromFile] Loading current map "
                        "from '"
                        << fileName << "' ..." << std::endl);
                CFileGZInputStream f(fileName);

                // Load from file:
                f >> map;
        }
        else
        {  // Is a new file, start with an empty map:
                MRPT_LOG_WARN_STREAM(
                        "[CMetricMapBuilder::loadCurrentMapFromFile] Loading current map "
                        "from '"
                        << fileName << "' ..." << std::endl);
                map.clear();
        }

        // Initialize the map builder with this map
        initialize(map);
}

/*---------------------------------------------------------------
                                        saveCurrentMapToFile
  ---------------------------------------------------------------*/
void CMetricMapBuilder::saveCurrentMapToFile(
        const std::string& fileName, bool compressGZ) const
{
        // get current map:
        CSimpleMap curmap;
        getCurrentlyBuiltMap(curmap);

        MRPT_LOG_INFO_STREAM(
                "[CMetricMapBuilder::saveCurrentMapToFile] Saving current map to '"
                << fileName << "' ..." << std::endl);

        // Save to file:
        if (compressGZ)
                CFileGZOutputStream(fileName) << curmap;
        else
                CFileOutputStream(fileName) << curmap;
}