COccupancyGridMap2D_simulate.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, 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 "maps-precomp.h"  // Precomp header
 
#include <mrpt/maps/COccupancyGridMap2D.h>
#include <mrpt/obs/CObservation2DRangeScan.h>
#include <mrpt/obs/CObservationRange.h>
#include <mrpt/core/round.h>  // round()
#include <mrpt/math/transform_gaussian.h>
 
#include <mrpt/random.h>
 
using namespace mrpt;
using namespace mrpt::maps;
using namespace mrpt::obs;
using namespace mrpt::random;
using namespace mrpt::poses;
using namespace std;
 
double COccupancyGridMap2D::RAYTRACE_STEP_SIZE_IN_CELL_UNITS = 0.8;
 
// See docs in header
void COccupancyGridMap2D::laserScanSimulator(
        mrpt::obs::CObservation2DRangeScan& inout_Scan, const CPose2D& robotPose,
        float threshold, size_t N, float noiseStd, unsigned int decimation,
        float angleNoiseStd) const
{
        MRPT_START
 
        ASSERT_(decimation >= 1);
        ASSERT_(N >= 2);
 
        // Sensor pose in global coordinates
        CPose3D sensorPose3D = CPose3D(robotPose) + inout_Scan.sensorPose;
        // Aproximation: grid is 2D !!!
        CPose2D sensorPose(sensorPose3D);
 
        // Scan size:
        inout_Scan.resizeScan(N);
 
        double A = sensorPose.phi() +
                           (inout_Scan.rightToLeft ? -0.5 : +0.5) * inout_Scan.aperture;
        const double AA =
                (inout_Scan.rightToLeft ? 1.0 : -1.0) * (inout_Scan.aperture / (N - 1));
 
        const float free_thres = 1.0f - threshold;
 
        for (size_t i = 0; i < N; i += decimation, A += AA * decimation)
        {
                bool valid;
                float out_range;
                simulateScanRay(
                        sensorPose.x(), sensorPose.y(), A, out_range, valid,
                        inout_Scan.maxRange, free_thres, noiseStd, angleNoiseStd);
                inout_Scan.setScanRange(i, out_range);
                inout_Scan.setScanRangeValidity(i, valid);
        }
 
        MRPT_END
}
 
void COccupancyGridMap2D::sonarSimulator(
        CObservationRange& inout_observation, const CPose2D& robotPose,
        float threshold, float rangeNoiseStd, float angleNoiseStd) const
{
        const float free_thres = 1.0f - threshold;
 
        for (CObservationRange::iterator itR = inout_observation.begin();
                 itR != inout_observation.end(); ++itR)
        {
                const CPose2D sensorAbsolutePose =
                        CPose2D(CPose3D(robotPose) + CPose3D(itR->sensorPose));
 
                // For each sonar cone, simulate several rays and keep the shortest
                // distance:
                ASSERT_(inout_observation.sensorConeApperture > 0);
                size_t nRays =
                        round(1 + inout_observation.sensorConeApperture / DEG2RAD(1.0));
 
                double direction = sensorAbsolutePose.phi() -
                                                   0.5 * inout_observation.sensorConeApperture;
                const double Adir = inout_observation.sensorConeApperture / nRays;
 
                float min_detected_obs = 0;
                for (size_t i = 0; i < nRays; i++, direction += Adir)
                {
                        bool valid;
                        float sim_rang;
                        simulateScanRay(
                                sensorAbsolutePose.x(), sensorAbsolutePose.y(), direction,
                                sim_rang, valid, inout_observation.maxSensorDistance,
                                free_thres, rangeNoiseStd, angleNoiseStd);
 
                        if (valid && (sim_rang < min_detected_obs || !i))
                                min_detected_obs = sim_rang;
                }
                // Save:
                itR->sensedDistance = min_detected_obs;
        }
}
 
void COccupancyGridMap2D::simulateScanRay(
        const double start_x, const double start_y, const double angle_direction,
        float& out_range, bool& out_valid, const double max_range_meters,
        const float threshold_free, const double noiseStd,
        const double angleNoiseStd) const
{
        const double A_ =
                angle_direction +
                (angleNoiseStd > .0
                         ? getRandomGenerator().drawGaussian1D_normalized() * angleNoiseStd
                         : .0);
 
// Unit vector in the directorion of the ray:
#ifdef HAVE_SINCOS
        double Arx, Ary;
        ::sincos(A_, &Ary, &Arx);
#else
        const double Arx = cos(A_);
        const double Ary = sin(A_);
#endif
 
        // Ray tracing, until collision, out of the map or out of range:
        const unsigned int max_ray_len = mrpt::round(max_range_meters / resolution);
        unsigned int ray_len = 0;
 
// Use integers for all ray tracing for efficiency
#define INTPRECNUMBIT 10
#define int_x2idx(_X) (_X >> INTPRECNUMBIT)
#define int_y2idx(_Y) (_Y >> INTPRECNUMBIT)
 
        int64_t rxi = static_cast<int64_t>(
                ((start_x - x_min) / resolution) * (1L << INTPRECNUMBIT));
        int64_t ryi = static_cast<int64_t>(
                ((start_y - y_min) / resolution) * (1L << INTPRECNUMBIT));
 
        const int64_t Arxi = static_cast<int64_t>(
                RAYTRACE_STEP_SIZE_IN_CELL_UNITS * Arx * (1L << INTPRECNUMBIT));
        const int64_t Aryi = static_cast<int64_t>(
                RAYTRACE_STEP_SIZE_IN_CELL_UNITS * Ary * (1L << INTPRECNUMBIT));
 
        cellType hitCellOcc_int = 0;  // p2l(0.5f)
        const cellType threshold_free_int = p2l(threshold_free);
        int x, y = int_y2idx(ryi);
 
        while ((x = int_x2idx(rxi)) >= 0 && (y = int_y2idx(ryi)) >= 0 &&
                   x < static_cast<int>(size_x) && y < static_cast<int>(size_y) &&
                   (hitCellOcc_int = map[x + y * size_x]) > threshold_free_int &&
                   ray_len < max_ray_len)
        {
                rxi += Arxi;
                ryi += Aryi;
                ray_len++;
        }
 
        // Store:
        // Check out of the grid?
        // Tip: if x<0, (unsigned)(x) will also be >>> size_x ;-)
        if (abs(hitCellOcc_int) <= 1 || static_cast<unsigned>(x) >= size_x ||
                static_cast<unsigned>(y) >= size_y)
        {
                out_valid = false;
                out_range = max_range_meters;
        }
        else
        {  // No: The normal case:
                out_range = RAYTRACE_STEP_SIZE_IN_CELL_UNITS * ray_len * resolution;
                out_valid = (ray_len < max_ray_len);  // out_range<max_range_meters;
                // Add additive Gaussian noise:
                if (noiseStd > 0 && out_valid)
                        out_range +=
                                noiseStd * getRandomGenerator().drawGaussian1D_normalized();
        }
}
 
COccupancyGridMap2D::TLaserSimulUncertaintyParams::
	TLaserSimulUncertaintyParams()
        : method(sumUnscented),
          UT_alpha(0.99),
          UT_kappa(.0),
          UT_beta(2.0),
          MC_samples(10),
          aperture(M_PIf),
          rightToLeft(true),
          maxRange(80.f),
          nRays(361),
          rangeNoiseStd(.0f),
          angleNoiseStd(.0f),
          decimation(1),
          threshold(.6f)
{
}
 
COccupancyGridMap2D::TLaserSimulUncertaintyResult::
	TLaserSimulUncertaintyResult()
{
}
 
struct TFunctorLaserSimulData
{
        const COccupancyGridMap2D::TLaserSimulUncertaintyParams* params;
        const COccupancyGridMap2D* grid;
};
 
static void func_laserSimul_callback(
        const Eigen::Vector3d& x_pose, const TFunctorLaserSimulData& fixed_param,
        Eigen::VectorXd& y_scanRanges)
{
        ASSERT_(fixed_param.params && fixed_param.grid);
        ASSERT_(fixed_param.params->decimation >= 1);
        ASSERT_(fixed_param.params->nRays >= 2);
 
        const size_t N = fixed_param.params->nRays;
 
        // Sensor pose in global coordinates
        const CPose3D sensorPose3D =
                CPose3D(x_pose[0], x_pose[1], .0, x_pose[2], .0, .0) +
                fixed_param.params->sensorPose;
        // Aproximation: grid is 2D !!!
        const CPose2D sensorPose(sensorPose3D);
 
        // Scan size:
        y_scanRanges.resize(N);
 
        double A = sensorPose.phi() +
                           (fixed_param.params->rightToLeft ? -0.5 : +0.5) *
                                   fixed_param.params->aperture;
        const double AA = (fixed_param.params->rightToLeft ? 1.0 : -1.0) *
                                          (fixed_param.params->aperture / (N - 1));
 
        const float free_thres = 1.0f - fixed_param.params->threshold;
 
        for (size_t i = 0; i < N; i += fixed_param.params->decimation,
                                A += AA * fixed_param.params->decimation)
        {
                bool valid;
                float range;
 
                fixed_param.grid->simulateScanRay(
                        sensorPose.x(), sensorPose.y(), A, range, valid,
                        fixed_param.params->maxRange, free_thres, .0 /*noiseStd*/,
                        .0 /*angleNoiseStd*/);
                y_scanRanges[i] = valid ? range : fixed_param.params->maxRange;
        }
}
 
void COccupancyGridMap2D::laserScanSimulatorWithUncertainty(
        const COccupancyGridMap2D::TLaserSimulUncertaintyParams& in_params,
        COccupancyGridMap2D::TLaserSimulUncertaintyResult& out_results) const
{
        const Eigen::Vector3d robPoseMean =
                in_params.robotPose.mean.getAsVectorVal();
 
        TFunctorLaserSimulData simulData;
        simulData.grid = this;
        simulData.params = &in_params;
 
        switch (in_params.method)
        {
                case sumUnscented:
                        mrpt::math::transform_gaussian_unscented(
                                robPoseMean,  // x_mean
                                in_params.robotPose.cov,  // x_cov
                                &func_laserSimul_callback,  // void  (*functor)(const
                                // VECTORLIKE1 &x,const USERPARAM
                                // &fixed_param, VECTORLIKE3 &y)
                                simulData,  // const USERPARAM &fixed_param,
                                out_results.scanWithUncert.rangesMean,
                                out_results.scanWithUncert.rangesCovar,
                                nullptr,  // elem_do_wrap2pi,
                                in_params.UT_alpha, in_params.UT_kappa,
                                in_params.UT_beta  // alpha, K, beta
                                );
                        break;
                case sumMonteCarlo:
                        //
                        mrpt::math::transform_gaussian_montecarlo(
                                robPoseMean,  // x_mean
                                in_params.robotPose.cov,  // x_cov
                                &func_laserSimul_callback,  // void  (*functor)(const
                                // VECTORLIKE1 &x,const USERPARAM
                                // &fixed_param, VECTORLIKE3 &y)
                                simulData,  // const USERPARAM &fixed_param,
                                out_results.scanWithUncert.rangesMean,
                                out_results.scanWithUncert.rangesCovar, in_params.MC_samples);
                        break;
                default:
                        throw std::runtime_error(
                                "[laserScanSimulatorWithUncertainty] Unknown `method` value");
                        break;
        };
 
        // Outputs:
        out_results.scanWithUncert.rangeScan.aperture = in_params.aperture;
        out_results.scanWithUncert.rangeScan.maxRange = in_params.maxRange;
        out_results.scanWithUncert.rangeScan.rightToLeft = in_params.rightToLeft;
        out_results.scanWithUncert.rangeScan.sensorPose = in_params.sensorPose;
 
        out_results.scanWithUncert.rangeScan.resizeScan(in_params.nRays);
        for (unsigned i = 0; i < in_params.nRays; i++)
        {
                out_results.scanWithUncert.rangeScan.setScanRange(
                        i, (float)out_results.scanWithUncert.rangesMean[i]);
                out_results.scanWithUncert.rangeScan.setScanRangeValidity(i, true);
        }
 
        // Add minimum uncertainty: grid cell resolution:
        out_results.scanWithUncert.rangesCovar.diagonal().array() +=
                0.5 * resolution * resolution;
}