CObservation2DRangeScan.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/obs/CObservation2DRangeScan.h>
#include <mrpt/poses/CPosePDF.h>
#include <mrpt/utils/CStream.h>
#include <mrpt/math/CMatrix.h>
#include <mrpt/math/wrap2pi.h>
#if MRPT_HAS_MATLAB
#include <mexplus.h>
#endif
 
using namespace std;
using namespace mrpt::obs;
using namespace mrpt::utils;
using namespace mrpt::poses;
using namespace mrpt::math;
 
// This must be added to any CSerializable class implementation file.
IMPLEMENTS_SERIALIZABLE(CObservation2DRangeScan, CObservation, mrpt::obs)
 
/*---------------------------------------------------------------
                                                        Constructor
 ---------------------------------------------------------------*/
CObservation2DRangeScan::CObservation2DRangeScan()
        : m_scan(),
          m_intensity(),
          m_validRange(),
          m_has_intensity(false),
          scan(m_scan),  // proxy ctor
          intensity(m_intensity),  // proxy ctor
          validRange(m_validRange),  // proxy ctor
          aperture(M_PIf),
          rightToLeft(true),
          maxRange(80.0f),
          sensorPose(),
          stdError(0.01f),
          beamAperture(0),
          deltaPitch(0),
          m_cachedMap()
{
}
 
CObservation2DRangeScan::CObservation2DRangeScan(
        const CObservation2DRangeScan& o)
        : scan(m_scan),  // proxy ctor
          intensity(m_intensity),  // proxy ctor
          validRange(m_validRange)  // proxy ctor
{
        *this = o;  // rely on compiler-generated copy op + the custom = operator in
        // proxies.
}
 
/*---------------------------------------------------------------
                                                        Destructor
 ---------------------------------------------------------------*/
CObservation2DRangeScan::~CObservation2DRangeScan() {}
/*---------------------------------------------------------------
  Implements the writing to a CStream capability of CSerializable objects
 ---------------------------------------------------------------*/
void CObservation2DRangeScan::writeToStream(
        mrpt::utils::CStream& out, int* version) const
{
        if (version)
                *version = 7;
        else
        {
                // The data
                out << aperture << rightToLeft << maxRange << sensorPose;
                uint32_t N = scan.size();
                out << N;
                ASSERT_(validRange.size() == scan.size());
                if (N)
                {
                        out.WriteBufferFixEndianness(&m_scan[0], N);
                        out.WriteBuffer(&m_validRange[0], sizeof(m_validRange[0]) * N);
                }
                out << stdError;
                out << timestamp;
                out << beamAperture;
 
                out << sensorLabel;
 
                out << deltaPitch;
 
                out << hasIntensity();
                if (hasIntensity()) out.WriteBufferFixEndianness(&m_intensity[0], N);
        }
}
 
/*---------------------------------------------------------------
  Filter out invalid points by a minimum distance, a maximum angle and a certain
 distance at the end (z-coordinate of the lasers must be provided)
 ---------------------------------------------------------------*/
void CObservation2DRangeScan::truncateByDistanceAndAngle(
        float min_distance, float max_angle, float min_height, float max_height,
        float h)
{
        // FILTER OUT INVALID POINTS!!
        std::vector<float>::iterator itScan;
        std::vector<char>::iterator itValid;
        CPose3D pose;
        unsigned int k;
        unsigned int nPts = scan.size();
 
        for (itScan = m_scan.begin(), itValid = m_validRange.begin(), k = 0;
                 itScan != m_scan.end(); itScan++, itValid++, k++)
        {
                float ang = fabs(k * aperture / nPts - aperture * 0.5);
                float x = (*itScan) * cos(ang);
 
                if (min_height != 0 || max_height != 0)
                {
                        ASSERT_(max_height > min_height);
                        if (*itScan < min_distance || ang > max_angle ||
                                x > h - min_height || x < h - max_height)
                                *itValid = false;
                }  // end if
                else if (*itScan < min_distance || ang > max_angle)
                        *itValid = false;
        }
}
 
/*---------------------------------------------------------------
  Implements the reading from a CStream capability of CSerializable objects
 ---------------------------------------------------------------*/
void CObservation2DRangeScan::readFromStream(
        mrpt::utils::CStream& in, int version)
{
        switch (version)
        {
                case 0:
                case 1:
                case 2:
                case 3:
                {
                        CMatrix covSensorPose;
                        in >> aperture >> rightToLeft >> maxRange >> sensorPose >>
                                covSensorPose;
                        uint32_t N, i;
 
                        in >> N;
 
                        this->resizeScan(N);
                        if (N) in.ReadBufferFixEndianness(&m_scan[0], N);
 
                        if (version >= 1)
                        {  // Load validRange:
                                if (N)
                                        in.ReadBuffer(
                                                &m_validRange[0], sizeof(m_validRange[0]) * N);
                        }
                        else
                        {
                                // validRange: Default values: If distance is not maxRange
                                for (i = 0; i < N; i++) m_validRange[i] = scan[i] < maxRange;
                        }
 
                        if (version >= 2)
                        {
                                in >> stdError;
                        }
                        else
                        {
                                stdError = 0.01f;
                        }
 
                        if (version >= 3)
                        {
                                in >> timestamp;
                        }
 
                        // Default values for newer versions:
                        beamAperture = DEG2RAD(0.25f);
 
                        deltaPitch = 0;
                        sensorLabel = "";
                }
                break;
 
                case 4:
                case 5:
                case 6:
                case 7:
                {
                        uint32_t N;
 
                        CMatrix covSensorPose;
                        in >> aperture >> rightToLeft >> maxRange >> sensorPose;
 
                        if (version < 6)  // covSensorPose was removed in version 6
                                in >> covSensorPose;
 
                        in >> N;
                        this->resizeScan(N);
                        if (N)
                        {
                                in.ReadBufferFixEndianness(&m_scan[0], N);
                                in.ReadBuffer(&m_validRange[0], sizeof(m_validRange[0]) * N);
                        }
                        in >> stdError;
                        in.ReadBufferFixEndianness(&timestamp, 1);
                        in >> beamAperture;
 
                        if (version >= 5)
                        {
                                in >> sensorLabel;
                                in >> deltaPitch;
                        }
                        else
                        {
                                sensorLabel = "";
                                deltaPitch = 0;
                        }
                        if (version >= 7)
                        {
                                bool hasIntensity;
                                in >> hasIntensity;
                                setScanHasIntensity(hasIntensity);
                                if (hasIntensity && N)
                                {
                                        in.ReadBufferFixEndianness(&m_intensity[0], N);
                                }
                        }
                }
                break;
                default:
                        MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version)
        };
 
        m_cachedMap.reset();
}
 
/*---------------------------------------------------------------
  Implements the writing to a mxArray for Matlab
 ---------------------------------------------------------------*/
#if MRPT_HAS_MATLAB
// Add to implement mexplus::from template specialization
IMPLEMENTS_MEXPLUS_FROM(mrpt::obs::CObservation2DRangeScan)
 
mxArray* CObservation2DRangeScan::writeToMatlab() const
{
        const char* fields[] = {
                "class",  // Data common to any MRPT class
                "ts", "sensorLabel",  // Data common to any observation
                "scan", "validRange",
                "intensity"  // Received raw data
                "aperture",
                "rightToLeft", "maxRange",  // Scan plane geometry and properties
                "stdError", "beamAperture", "deltaPitch",  // Ray properties
                "pose",  // Sensor pose
                "map"};  // Points map
        mexplus::MxArray obs_struct(
                mexplus::MxArray::Struct(sizeof(fields) / sizeof(fields[0]), fields));
 
        obs_struct.set("class", this->GetRuntimeClass()->className);
 
        obs_struct.set("ts", this->timestamp);
        obs_struct.set("sensorLabel", this->sensorLabel);
 
        obs_struct.set("scan", this->m_scan);
        // TODO: "validRange should be a vector<bool> for Matlab instead of
        // vector<char>" ==> JLBC: It cannot be done like that since serializing
        // "bool" is not cross-platform safe, while "char" is...
        obs_struct.set("validRange", this->m_validRange);
        obs_struct.set("intensity", this->m_intensity);
        obs_struct.set("aperture", this->aperture);
        obs_struct.set("rightToLeft", this->rightToLeft);
        obs_struct.set("maxRange", this->maxRange);
        obs_struct.set("stdError", this->stdError);
        obs_struct.set("beamAperture", this->beamAperture);
        obs_struct.set("deltaPitch", this->deltaPitch);
        obs_struct.set("pose", this->sensorPose);
        // TODO: obs_struct.set("map", ...)
        return obs_struct.release();
}
#endif
 
/*---------------------------------------------------------------
                                                isPlanarScan
 ---------------------------------------------------------------*/
bool CObservation2DRangeScan::isPlanarScan(const double tolerance) const
{
        return sensorPose.isHorizontal(tolerance);
}
 
bool CObservation2DRangeScan::hasIntensity() const { return m_has_intensity; }
void CObservation2DRangeScan::setScanHasIntensity(bool setHasIntensityFlag)
{
        m_has_intensity = setHasIntensityFlag;
}
 
/*---------------------------------------------------------------
                                                filterByExclusionAreas
 ---------------------------------------------------------------*/
void CObservation2DRangeScan::filterByExclusionAreas(
        const TListExclusionAreasWithRanges& areas)
{
        if (areas.empty()) return;
 
        MRPT_START
 
        double Ang, dA;
        size_t sizeRangeScan = scan.size();
 
        ASSERT_(scan.size() == validRange.size());
 
        if (!sizeRangeScan) return;
 
        if (rightToLeft)
        {
                Ang = -0.5 * aperture;
                dA = aperture / (sizeRangeScan - 1);
        }
        else
        {
                Ang = +0.5 * aperture;
                dA = -aperture / (sizeRangeScan - 1);
        }
 
        std::vector<char>::iterator valid_it;
        std::vector<float>::const_iterator scan_it;
 
        for (scan_it = m_scan.begin(), valid_it = m_validRange.begin();
                 scan_it != m_scan.end(); scan_it++, valid_it++)
        {
                if (!*valid_it)
                {
                        Ang += dA;
                        continue;  // Already it's invalid
                }
 
                // Compute point in 2D, local to the laser center:
                const double Lx = *scan_it * cos(Ang);
                const double Ly = *scan_it * sin(Ang);
                Ang += dA;
 
                // To real 3D pose:
                double Gx, Gy, Gz;
                this->sensorPose.composePoint(Lx, Ly, 0, Gx, Gy, Gz);
 
                // Filter by X,Y:
                for (TListExclusionAreasWithRanges::const_iterator i = areas.begin();
                         i != areas.end(); ++i)
                {
                        if (i->first.PointIntoPolygon(Gx, Gy) &&
                                (Gz >= i->second.first && Gz <= i->second.second))
                        {
                                *valid_it = false;
                                break;  // Go for next point
                        }
                }  // for each area
        }  // for each point
 
        MRPT_END
}
 
/*---------------------------------------------------------------
                                                filterByExclusionAreas
 ---------------------------------------------------------------*/
void CObservation2DRangeScan::filterByExclusionAreas(
        const std::vector<mrpt::math::CPolygon>& areas)
{
        if (areas.empty()) return;
 
        TListExclusionAreasWithRanges lst;
        for (size_t i = 0; i < areas.size(); i++)
        {
                TListExclusionAreasWithRanges::value_type dat;
                dat.first = areas[i];
                dat.second.first = -std::numeric_limits<double>::max();
                dat.second.second = std::numeric_limits<double>::max();
 
                lst.push_back(dat);
        }
        filterByExclusionAreas(lst);
}
 
/*---------------------------------------------------------------
                                                filterByExclusionAngles
 ---------------------------------------------------------------*/
void CObservation2DRangeScan::filterByExclusionAngles(
        const std::vector<std::pair<double, double>>& angles)
{
        if (angles.empty()) return;
 
        MRPT_START
 
        double Ang, dA;
        const size_t sizeRangeScan = scan.size();
 
        ASSERT_(scan.size() == validRange.size());
 
        if (!sizeRangeScan) return;
 
        if (rightToLeft)
        {
                Ang = -0.5 * aperture;
                dA = aperture / (sizeRangeScan - 1);
        }
        else
        {
                Ang = +0.5 * aperture;
                dA = -aperture / (sizeRangeScan - 1);
        }
 
        // For each forbiden angle range:
        for (vector<pair<double, double>>::const_iterator itA = angles.begin();
                 itA != angles.end(); ++itA)
        {
                int ap_idx_ini = mrpt::math::wrapTo2Pi(itA->first - Ang) /
                                                 dA;  // The signs are all right! ;-)
                int ap_idx_end = mrpt::math::wrapTo2Pi(itA->second - Ang) / dA;
 
                if (ap_idx_ini < 0) ap_idx_ini = 0;
                if (ap_idx_end < 0) ap_idx_end = 0;
 
                if (ap_idx_ini > (int)sizeRangeScan) ap_idx_ini = sizeRangeScan - 1;
                if (ap_idx_end > (int)sizeRangeScan) ap_idx_end = sizeRangeScan - 1;
 
                const size_t idx_ini = ap_idx_ini;
                const size_t idx_end = ap_idx_end;
 
                if (idx_end >= idx_ini)
                {
                        for (size_t i = idx_ini; i <= idx_end; i++) m_validRange[i] = false;
                }
                else
                {
                        for (size_t i = 0; i < idx_end; i++) m_validRange[i] = false;
 
                        for (size_t i = idx_ini; i < sizeRangeScan; i++)
                                m_validRange[i] = false;
                }
        }
 
        MRPT_END
}
 
namespace mrpt
{
namespace obs
{
// Tricky way to call to a library that depends on us, a sort of "run-time"
// linking: ptr_internal_build_points_map_from_scan2D is a functor in 
// "mrpt-obs", set by "mrpt-maps" at its startup.
using scan2pts_functor = void(*)(
        const mrpt::obs::CObservation2DRangeScan& obs,
        mrpt::maps::CMetricMap::Ptr& out_map, const void* insertOps);
 
scan2pts_functor ptr_internal_build_points_map_from_scan2D = nullptr;
 
void internal_set_build_points_map_from_scan2D(scan2pts_functor fn)
{
        ptr_internal_build_points_map_from_scan2D = fn;
}
}
}
 
/*---------------------------------------------------------------
                                                internal_buildAuxPointsMap
  ---------------------------------------------------------------*/
void CObservation2DRangeScan::internal_buildAuxPointsMap(
        const void* options) const
{
        if (!ptr_internal_build_points_map_from_scan2D)
                throw std::runtime_error(
                        "[CObservation2DRangeScan::buildAuxPointsMap] ERROR: This function "
                        "needs linking against mrpt-maps.\n");
 
        (*ptr_internal_build_points_map_from_scan2D)(*this, m_cachedMap, options);
}
 
/** Fill out a T2DScanProperties structure with the parameters of this scan */
void CObservation2DRangeScan::getScanProperties(T2DScanProperties& p) const
{
        p.nRays = this->scan.size();
        p.aperture = this->aperture;
        p.rightToLeft = this->rightToLeft;
}
 
bool mrpt::obs::operator<(
        const T2DScanProperties& a, const T2DScanProperties& b)
{
        if (a.nRays != b.nRays) return a.nRays < b.nRays;
        if (a.aperture != b.aperture) return a.aperture < b.aperture;
        if (a.rightToLeft != b.rightToLeft) return a.rightToLeft;
        return false;
}
 
void CObservation2DRangeScan::getDescriptionAsText(std::ostream& o) const
{
        CObservation::getDescriptionAsText(o);
        o << "Homogeneous matrix for the sensor's 3D pose, relative to robot "
                 "base:\n";
        o << sensorPose.getHomogeneousMatrixVal() << sensorPose << endl;
 
        o << format(
                "Samples direction: %s\n",
                (rightToLeft) ? "Right->Left" : "Left->Right");
        o << format("Points in the scan: %u\n", (unsigned)scan.size());
        o << format("Estimated sensor 'sigma': %f\n", stdError);
        o << format(
                "Increment in pitch during the scan: %f deg\n", RAD2DEG(deltaPitch));
 
        size_t i, inval = 0;
        for (i = 0; i < scan.size(); i++)
                if (!validRange[i]) inval++;
        o << format("Invalid points in the scan: %u\n", (unsigned)inval);
 
        o << format("Sensor maximum range: %.02f m\n", maxRange);
        o << format(
                "Sensor field-of-view (\"aperture\"): %.01f deg\n", RAD2DEG(aperture));
 
        o << "Raw scan values: [";
        for (i = 0; i < scan.size(); i++) o << format("%.03f ", scan[i]);
        o << "]\n";
 
        o << "Raw valid-scan values: [";
        for (i = 0; i < validRange.size(); i++)
                o << format("%u ", validRange[i] ? 1 : 0);
        o << "]\n\n";
 
        if (hasIntensity())
        {
                o << "Raw intensity values: [";
                for (i = 0; i < m_intensity.size(); i++)
                        o << format("%d ", m_intensity[i]);
                o << "]\n\n";
        }
}
 
float CObservation2DRangeScan::getScanRange(const size_t i) const
{
        ASSERT_BELOW_(i, m_scan.size());
        return m_scan[i];
}
 
void CObservation2DRangeScan::setScanRange(const size_t i, const float val)
{
        ASSERT_BELOW_(i, m_scan.size());
        m_scan[i] = val;
}
 
int CObservation2DRangeScan::getScanIntensity(const size_t i) const
{
        ASSERT_BELOW_(i, m_intensity.size());
        return m_intensity[i];
}
void CObservation2DRangeScan::setScanIntensity(const size_t i, const int val)
{
        ASSERT_BELOW_(i, m_intensity.size());
        m_intensity[i] = val;
}
 
bool CObservation2DRangeScan::getScanRangeValidity(const size_t i) const
{
        ASSERT_BELOW_(i, m_validRange.size());
        return m_validRange[i] != 0;
}
void CObservation2DRangeScan::setScanRangeValidity(
        const size_t i, const bool val)
{
        ASSERT_BELOW_(i, m_validRange.size());
        m_validRange[i] = val ? 1 : 0;
}
 
void CObservation2DRangeScan::resizeScan(const size_t len)
{
        const size_t capacity = mrpt::utils::length2length4N(len);
        m_scan.reserve(capacity);
        m_intensity.reserve(capacity);
        m_validRange.reserve(capacity);
 
        m_scan.resize(len);
        m_intensity.resize(len);
        m_validRange.resize(len);
}
 
void CObservation2DRangeScan::resizeScanAndAssign(
        const size_t len, const float rangeVal, const bool rangeValidity,
        const int32_t rangeIntensity)
{
        const size_t capacity = mrpt::utils::length2length4N(len);
        m_scan.reserve(capacity);
        m_intensity.reserve(capacity);
        m_validRange.reserve(capacity);
 
        m_scan.assign(len, rangeVal);
        m_validRange.assign(len, rangeValidity);
        m_intensity.assign(len, rangeIntensity);
}
 
size_t CObservation2DRangeScan::getScanSize() const { return m_scan.size(); }
void CObservation2DRangeScan::loadFromVectors(
        size_t nRays, const float* scanRanges, const char* scanValidity)
{
        ASSERT_(scanRanges);
        ASSERT_(scanValidity);
        resizeScan(nRays);
        for (size_t i = 0; i < nRays; i++)
        {
                m_scan[i] = scanRanges[i];
                m_validRange[i] = scanValidity[i];
        }
}