MRPT  1.9.9
CHeightGridMap2D_MRF.cpp
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1 /* +------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | https://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2019, Individual contributors, see AUTHORS file |
6  | See: https://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See: https://www.mrpt.org/License |
8  +------------------------------------------------------------------------+ */
9 
10 #include "maps-precomp.h" // Precomp header
11 
13 #include <mrpt/poses/CPose2D.h>
14 #include <mrpt/poses/CPose3D.h>
15 
16 using namespace mrpt;
17 using namespace mrpt::maps;
18 using namespace mrpt::obs;
19 using namespace mrpt::poses;
20 using namespace std;
21 using namespace mrpt::math;
22 
23 // =========== Begin of Map definition ============
25  "CHeightGridMap2D_MRF,dem_mrf", mrpt::maps::CHeightGridMap2D_MRF)
26 
28 
29  = default;
30 
33  const std::string& sectionNamePrefix)
34 {
35  // [<sectionNamePrefix>+"_creationOpts"]
36  const std::string sSectCreation =
37  sectionNamePrefix + string("_creationOpts");
39  run_map_estimation_at_ctor, bool, source, sSectCreation);
40  MRPT_LOAD_CONFIG_VAR(min_x, double, source, sSectCreation);
41  MRPT_LOAD_CONFIG_VAR(max_x, double, source, sSectCreation);
42  MRPT_LOAD_CONFIG_VAR(min_y, double, source, sSectCreation);
43  MRPT_LOAD_CONFIG_VAR(max_y, double, source, sSectCreation);
44  MRPT_LOAD_CONFIG_VAR(resolution, double, source, sSectCreation);
46  sSectCreation, "mapType", mapType);
47 
48  insertionOpts.loadFromConfigFile(
49  source, sectionNamePrefix + string("_insertOpts"));
50 }
51 
53  std::ostream& out) const
54 {
55  out << mrpt::format(
56  "MAP TYPE = %s\n",
58  CHeightGridMap2D_MRF::TMapRepresentation>::value2name(mapType)
59  .c_str());
60  LOADABLEOPTS_DUMP_VAR(run_map_estimation_at_ctor, bool);
61  LOADABLEOPTS_DUMP_VAR(min_x, double);
62  LOADABLEOPTS_DUMP_VAR(max_x, double);
63  LOADABLEOPTS_DUMP_VAR(min_y, double);
64  LOADABLEOPTS_DUMP_VAR(max_y, double);
65  LOADABLEOPTS_DUMP_VAR(resolution, double);
66 
67  this->insertionOpts.dumpToTextStream(out);
68 }
69 
72 {
74  *dynamic_cast<const CHeightGridMap2D_MRF::TMapDefinition*>(&_def);
75  auto* obj = new CHeightGridMap2D_MRF(
76  def.mapType, def.min_x, def.max_x, def.min_y, def.max_y, def.resolution,
78  obj->insertionOptions = def.insertionOpts;
79  return obj;
80 }
81 // =========== End of Map definition Block =========
82 
84 
85 // Constructor
87  TMapRepresentation mapType, double x_min, double x_max, double y_min,
88  double y_max, double resolution, bool run_first_map_estimation_now)
89  : CRandomFieldGridMap2D(mapType, x_min, x_max, y_min, y_max, resolution),
90  insertionOptions()
91 {
92  m_rfgm_run_update_upon_clear = run_first_map_estimation_now;
93  // Set the grid to initial values (and adjusts the KF covariance matrix!)
94  // Also, calling clear() is mandatory to end initialization of our base
95  // class (read note in CRandomFieldGridMap2D::CRandomFieldGridMap2D)
97 }
98 
100  const double x, const double y, const double z,
102 {
103  const TRandomFieldCell* cell = cellByPos(x, y);
104  if (!cell) return false;
105  this->insertIndividualReading(
106  z, mrpt::math::TPoint2D(x, y), params.update_map_after_insertion,
107  true /*time invariant*/, params.pt_z_std);
108  return true;
109 }
110 double CHeightGridMap2D_MRF::dem_get_resolution() const { return m_resolution; }
111 size_t CHeightGridMap2D_MRF::dem_get_size_x() const { return m_size_x; }
112 size_t CHeightGridMap2D_MRF::dem_get_size_y() const { return m_size_y; }
114  const size_t cx, const size_t cy, double& z_out) const
115 {
116  const TRandomFieldCell* cell = cellByIndex(cx, cy);
117  if (cell && cell->kf_mean)
118  {
119  z_out = cell->kf_mean;
120  return true;
121  }
122  else
123  return false;
124 }
126  const double x, const double y, double& z_out) const
127 {
128  const TRandomFieldCell* cell = cellByPos(x, y);
129  if (cell && cell->kf_mean)
130  {
131  z_out = cell->kf_mean;
132  return true;
133  }
134  else
135  return false;
136 }
137 void CHeightGridMap2D_MRF::dem_update_map() { this->updateMapEstimation(); }
139 {
140  // Just do the generic clear:
142  // Anything else special for this derived class?
143 }
144 
146  const CObservation& obs, const CPose3D* robotPose)
147 {
148  return dem_internal_insertObservation(obs, robotPose);
149 }
150 
151 /*---------------------------------------------------------------
152  computeObservationLikelihood
153  ---------------------------------------------------------------*/
155  const CObservation& obs, const CPose3D& takenFrom)
156 {
157  MRPT_UNUSED_PARAM(obs);
158  MRPT_UNUSED_PARAM(takenFrom);
159  THROW_EXCEPTION("Not implemented yet!");
160 }
161 
164 {
165  dyngridcommon_writeToStream(out);
166 
167  // To assure compatibility: The size of each cell:
168  auto n = static_cast<uint32_t>(sizeof(TRandomFieldCell));
169  out << n;
170 
171  // Save the map contents:
172  n = static_cast<uint32_t>(m_map.size());
173  out << n;
174 
175 // Save the "m_map": This requires special handling for big endian systems:
176 #if MRPT_IS_BIG_ENDIAN
177  for (uint32_t i = 0; i < n; i++)
178  {
179  out << m_map[i].kf_mean << m_map[i].dm_mean << m_map[i].dmv_var_mean;
180  }
181 #else
182  // Little endian: just write all at once:
183  out.WriteBuffer(&m_map[0], sizeof(m_map[0]) * m_map.size());
184 #endif
185 
186  // Save the insertion options:
187  out << uint8_t(m_mapType) << m_cov << m_stackedCov;
188 
189  out << insertionOptions.sigma << insertionOptions.cutoffRadius
190  << insertionOptions.R_min << insertionOptions.R_max
191  << insertionOptions.KF_covSigma << insertionOptions.KF_initialCellStd
192  << insertionOptions.KF_observationModelNoise
193  << insertionOptions.KF_defaultCellMeanValue
194  << insertionOptions.KF_W_size;
195 
196  out << m_average_normreadings_mean << m_average_normreadings_var
197  << uint64_t(m_average_normreadings_count);
198 
199  out << genericMapParams;
200 }
201 
204 {
205  switch (version)
206  {
207  case 0:
208  {
209  dyngridcommon_readFromStream(in);
210 
211  // To assure compatibility: The size of each cell:
212  uint32_t n;
213  in >> n;
214 
215  ASSERT_EQUAL_(n, static_cast<uint32_t>(sizeof(TRandomFieldCell)));
216  // Load the map contents:
217  in >> n;
218  m_map.resize(n);
219 
220 // Read the note in writeToStream()
221 #if MRPT_IS_BIG_ENDIAN
222  for (uint32_t i = 0; i < n; i++)
223  in >> m_map[i].kf_mean >> m_map[i].dm_mean >>
224  m_map[i].dmv_var_mean;
225 #else
226  // Little endian: just read all at once:
227  in.ReadBuffer(&m_map[0], sizeof(m_map[0]) * m_map.size());
228 #endif
229 
230  {
231  uint8_t i;
232  in >> i;
233  m_mapType = TMapRepresentation(i);
234 
235  in >> m_cov >> m_stackedCov;
236 
237  in >> insertionOptions.sigma >> insertionOptions.cutoffRadius >>
238  insertionOptions.R_min >> insertionOptions.R_max >>
239  insertionOptions.KF_covSigma >>
240  insertionOptions.KF_initialCellStd >>
241  insertionOptions.KF_observationModelNoise >>
242  insertionOptions.KF_defaultCellMeanValue >>
243  insertionOptions.KF_W_size;
244  }
245 
246  {
247  uint64_t N;
248  in >> m_average_normreadings_mean >>
249  m_average_normreadings_var >> N;
250  m_average_normreadings_count = N;
251  }
252 
253  in >> genericMapParams;
254 
255  m_hasToRecoverMeanAndCov = true;
256  }
257  break;
258  default:
260  };
261 }
262 
263 /*---------------------------------------------------------------
264  TInsertionOptions
265  ---------------------------------------------------------------*/
268  std::ostream& out) const
269 {
270  out << mrpt::format(
271  "\n----------- [CHeightGridMap2D_MRF::TInsertionOptions] ------------ "
272  "\n\n");
273  out << mrpt::format("[TInsertionOptions.Common] ------------ \n\n");
274  internal_dumpToTextStream_common(
275  out); // Common params to all random fields maps:
276 
277  out << mrpt::format("\n");
278 }
279 
280 /*---------------------------------------------------------------
281  loadFromConfigFile
282  ---------------------------------------------------------------*/
284  const mrpt::config::CConfigFileBase& iniFile, const std::string& section)
285 {
286  // Common data fields for all random fields maps:
287  internal_loadFromConfigFile_common(iniFile, section);
288 
289  // Specific data fields for this class:
290  // ...
291 }
292 
293 /*---------------------------------------------------------------
294  getAs3DObject
295 ---------------------------------------------------------------*/
297  mrpt::opengl::CSetOfObjects::Ptr& outObj) const
298 {
299  MRPT_START
300  if (!genericMapParams.enableSaveAs3DObject) return;
302  MRPT_END
303 }
304 
305 /*---------------------------------------------------------------
306  getAs3DObject
307 ---------------------------------------------------------------*/
310  mrpt::opengl::CSetOfObjects::Ptr& varObj) const
311 {
312  MRPT_START
313  if (!genericMapParams.enableSaveAs3DObject) return;
314  CRandomFieldGridMap2D::getAs3DObject(meanObj, varObj);
315  MRPT_END
316 }
void clear()
Erase all the contents of the map.
Definition: CMetricMap.cpp:30
bool run_map_estimation_at_ctor
Runs map estimation at start up (Default:true)
Virtual base for specifying the kind and parameters of one map (normally, to be inserted into mrpt::m...
Extra params for insertIndividualPoint()
#define MRPT_START
Definition: exceptions.h:241
GLdouble GLdouble z
Definition: glext.h:3879
bool internal_insertObservation(const mrpt::obs::CObservation &obs, const mrpt::poses::CPose3D *robotPose=nullptr) override
Internal method called by insertObservation()
#define THROW_EXCEPTION(msg)
Definition: exceptions.h:67
void getAs3DObject(mrpt::opengl::CSetOfObjects::Ptr &outObj) const override
Returns a 3D object representing the map.
#define IMPLEMENTS_SERIALIZABLE(class_name, base, NameSpace)
To be added to all CSerializable-classes implementation files.
mrpt::maps::CHeightGridMap2D_MRF::TMapRepresentation mapType
The kind of map representation (see CHeightGridMap2D_MRF::CHeightGridMap2D_MRF)
void loadFromConfigFile_map_specific(const mrpt::config::CConfigFileBase &source, const std::string &sectionNamePrefix) override
Load all map-specific params.
GLenum GLsizei n
Definition: glext.h:5136
TMapRepresentation
The type of map representation to be used, see CRandomFieldGridMap2D for a discussion.
STL namespace.
void WriteBuffer(const void *Buffer, size_t Count)
Writes a block of bytes to the stream from Buffer.
Definition: CArchive.cpp:49
CHeightGridMap2D_MRF represents digital-elevation-model over a 2D area, with uncertainty, based on a Markov-Random-Field (MRF) estimator.
void serializeFrom(mrpt::serialization::CArchive &in, uint8_t serial_version) override
Pure virtual method for reading (deserializing) from an abstract archive.
GLsizei GLsizei GLuint * obj
Definition: glext.h:4085
void getAs3DObject(mrpt::opengl::CSetOfObjects::Ptr &outObj) const override
Returns a 3D object representing the map (mean)
void dumpToTextStream_map_specific(std::ostream &out) const override
unsigned char uint8_t
Definition: rptypes.h:44
#define MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(__V)
For use in CSerializable implementations.
Definition: exceptions.h:97
uint8_t serializeGetVersion() const override
Must return the current versioning number of the object.
This class allows loading and storing values and vectors of different types from a configuration text...
This base provides a set of functions for maths stuff.
double kf_mean
[KF-methods only] The mean value of this cell
#define ASSERT_EQUAL_(__A, __B)
Assert comparing two values, reporting their actual values upon failure.
Definition: exceptions.h:137
The contents of each cell in a CRandomFieldGridMap2D map.
A helper class that can convert an enum value into its textual representation, and viceversa...
double min_x
See CHeightGridMap2D_MRF::CHeightGridMap2D_MRF.
This namespace contains representation of robot actions and observations.
string iniFile(myDataDir+string("benchmark-options.ini"))
GLsizei const GLchar ** string
Definition: glext.h:4116
void dem_update_map() override
Ensure that all observations are reflected in the map estimate.
bool insertIndividualPoint(const double x, const double y, const double z, const CHeightGridMap2D_Base::TPointInsertParams &params=CHeightGridMap2D_Base::TPointInsertParams()) override
Update the DEM with one new point.
Classes for 2D/3D geometry representation, both of single values and probability density distribution...
bool dem_get_z_by_cell(const size_t cx, const size_t cy, double &z_out) const override
Get cell &#39;z&#39; by (cx,cy) cell indices.
static mrpt::maps::CMetricMap * internal_CreateFromMapDefinition(const mrpt::maps::TMetricMapInitializer &def)
#define LOADABLEOPTS_DUMP_VAR(variableName, variableType)
Macro for dumping a variable to a stream, within the method "dumpToTextStream(out)" (Variable types a...
#define MRPT_LOAD_CONFIG_VAR( variableName, variableType, configFileObject, sectionNameStr)
An useful macro for loading variables stored in a INI-like file under a key with the same name that t...
void serializeTo(mrpt::serialization::CArchive &out) const override
Pure virtual method for writing (serializing) to an abstract archive.
unsigned __int64 uint64_t
Definition: rptypes.h:53
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
#define MAP_DEFINITION_REGISTER(_CLASSNAME_STRINGS, _CLASSNAME_WITH_NS)
Registers one map class into TMetricMapInitializer factory.
CRandomFieldGridMap2D represents a 2D grid map where each cell is associated one real-valued property...
Virtual base class for "archives": classes abstracting I/O streams.
Definition: CArchive.h:53
void dumpToTextStream(std::ostream &out) const override
This method should clearly display all the contents of the structure in textual form, sending it to a std::ostream.
Declares a virtual base class for all metric maps storage classes.
Definition: CMetricMap.h:52
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
Definition: CPose3D.h:84
Declares a class that represents any robot&#39;s observation.
Definition: CObservation.h:43
std::string format(const char *fmt,...) MRPT_printf_format_check(1
A std::string version of C sprintf.
Definition: format.cpp:16
mrpt::maps::CHeightGridMap2D_MRF::TInsertionOptions insertionOpts
Observations insertion options.
void internal_clear() override
Erase all the contents of the map.
#define MRPT_END
Definition: exceptions.h:245
void internal_clear() override
Internal method called by clear()
GLuint in
Definition: glext.h:7391
GLsizei GLsizei GLchar * source
Definition: glext.h:4097
GLenum GLint GLint y
Definition: glext.h:3542
bool dem_get_z(const double x, const double y, double &z_out) const override
Get cell &#39;z&#39; (x,y) by metric coordinates.
double dem_get_resolution() const override
void loadFromConfigFile(const mrpt::config::CConfigFileBase &source, const std::string &section) override
This method load the options from a ".ini"-like file or memory-stored string list.
GLenum GLint x
Definition: glext.h:3542
unsigned __int32 uint32_t
Definition: rptypes.h:50
Lightweight 2D point.
Definition: TPoint2D.h:31
GLenum const GLfloat * params
Definition: glext.h:3538
double internal_computeObservationLikelihood(const mrpt::obs::CObservation &obs, const mrpt::poses::CPose3D &takenFrom) override
Internal method called by computeObservationLikelihood()
#define MRPT_UNUSED_PARAM(a)
Determines whether this is an X86 or AMD64 platform.
Definition: common.h:186



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