CPosePDFGrid.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 "poses-precomp.h"  // Precompiled headers
 
#include <mrpt/poses/CPosePDFGrid.h>
#include <mrpt/poses/CPose3D.h>
#include <mrpt/poses/CPosePDFParticles.h>
#include <mrpt/serialization/CArchive.h>
#include <mrpt/random.h>
#include <mrpt/system/os.h>
#include <mrpt/poses/SO_SE_average.h>
#include <fstream>
 
using namespace std;
using namespace mrpt;
using namespace mrpt::math;
using namespace mrpt::poses;
using namespace mrpt::system;
 
IMPLEMENTS_SERIALIZABLE(CPosePDFGrid, CPosePDF, mrpt::poses)
 
/*---------------------------------------------------------------
        Constructor
  ---------------------------------------------------------------*/
CPosePDFGrid::CPosePDFGrid(
        double xMin, double xMax, double yMin, double yMax, double resolutionXY,
        double resolutionPhi, double phiMin, double phiMax)
        : CPose2DGridTemplate<double>(
                  xMin, xMax, yMin, yMax, resolutionXY, resolutionPhi, phiMin, phiMax)
{
        uniformDistribution();
}
 
void CPosePDFGrid::copyFrom(const CPosePDF& o)
{
        if (this == &o) return;  // It may be used sometimes
 
        THROW_EXCEPTION("Not implemented yet!");
}
 
/*---------------------------------------------------------------
        Destructor
  ---------------------------------------------------------------*/
CPosePDFGrid::~CPosePDFGrid() {}
/*---------------------------------------------------------------
                                                getMean
  Returns an estimate of the pose, (the mean, or mathematical expectation of the
 PDF), computed
                as a weighted average over all particles.
 ---------------------------------------------------------------*/
void CPosePDFGrid::getMean(CPose2D& p) const
{
        // Calc average on SE(2)
        mrpt::poses::SE_average<2> se_averager;
        for (size_t phiInd = 0; phiInd < m_sizePhi; phiInd++)
                for (size_t y = 0; y < m_sizeY; y++)
                        for (size_t x = 0; x < m_sizeX; x++)
                        {
                                const double w = *getByIndex(x, y, phiInd);
                                se_averager.append(
                                        CPose2D(idx2x(x), idx2y(y), idx2phi(phiInd)), w);
                        }
        se_averager.get_average(p);
}
 
/*---------------------------------------------------------------
                                                getCovarianceAndMean
  ---------------------------------------------------------------*/
void CPosePDFGrid::getCovarianceAndMean(CMatrixDouble33& cov, CPose2D& p) const
{
        CPosePDFParticles auxParts;
        auxParts.resetDeterministic(
                TPose2D(0, 0, 0), m_sizePhi * m_sizeY * m_sizeX);
        size_t idx = 0;
        for (size_t phiInd = 0; phiInd < m_sizePhi; phiInd++)
        {
                for (size_t y = 0; y < m_sizeY; y++)
                        for (size_t x = 0; x < m_sizeX; x++)
                        {
                                auxParts.m_particles[idx].log_w =
                                        log(*getByIndex(x, y, phiInd));
                                auxParts.m_particles[idx].d =
                                        TPose2D(idx2x(x), idx2y(y), idx2phi(phiInd));
                        }
        }
        auxParts.getCovarianceAndMean(cov, p);
}
 
uint8_t CPosePDFGrid::serializeGetVersion() const { return 0; }
void CPosePDFGrid::serializeTo(mrpt::serialization::CArchive& out) const
{
        // The size:
        out << m_xMin << m_xMax << m_yMin << m_yMax << m_phiMin << m_phiMax
                << m_resolutionXY << m_resolutionPhi << static_cast<int32_t>(m_sizeX)
                << static_cast<int32_t>(m_sizeY) << static_cast<int32_t>(m_sizePhi)
                << static_cast<int32_t>(m_sizeXY) << static_cast<int32_t>(m_idxLeftX)
                << static_cast<int32_t>(m_idxLeftY)
                << static_cast<int32_t>(m_idxLeftPhi);
 
        // The data:
        out << m_data;
}
void CPosePDFGrid::serializeFrom(
        mrpt::serialization::CArchive& in, uint8_t version)
{
        switch (version)
        {
                case 0:
                {
                        // The size:
                        in >> m_xMin >> m_xMax >> m_yMin >> m_yMax >> m_phiMin >>
                                m_phiMax >> m_resolutionXY >> m_resolutionPhi;
 
                        int32_t sizeX, sizeY, sizePhi, sizeXY, idxLeftX, idxLeftY,
                                idxLeftPhi;
 
                        in >> sizeX >> sizeY >> sizePhi >> sizeXY >> idxLeftX >> idxLeftY >>
                                idxLeftPhi;
 
                        m_sizeX = sizeX;
                        m_sizeY = sizeY;
                        m_sizePhi = sizePhi;
                        m_sizeXY = sizeXY;
                        m_idxLeftX = idxLeftX;
                        m_idxLeftY = idxLeftY;
                        m_idxLeftPhi = idxLeftPhi;
 
                        // The data:
                        in >> m_data;
                }
                break;
                default:
                        MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version)
        };
}
 
bool CPosePDFGrid::saveToTextFile(const std::string& dataFile) const
{
        const auto dimsFile = dataFile + std::string("_dims.txt");
 
        std::ofstream f_d(dataFile), f_s(dimsFile);
        if (!f_d.is_open() || !f_s.is_open()) return false;
 
        // Save dims:
        f_s << mrpt::format(
                "%u %u %u %f %f %f %f %f %f\n", (unsigned)m_sizeX, (unsigned)m_sizeY,
                (unsigned)m_sizePhi, m_xMin, m_xMax, m_yMin, m_yMax, m_phiMin,
                m_phiMax);
 
        // Save one rectangular matrix each time:
        for (unsigned int phiInd = 0; phiInd < m_sizePhi; phiInd++)
        {
                for (unsigned int y = 0; y < m_sizeY; y++)
                {
                        for (unsigned int x = 0; x < m_sizeX; x++)
                                f_d << mrpt::format("%.5e ", *getByIndex(x, y, phiInd));
                        f_d << std::endl;
                }
        }
 
        return true;  // Done!
}
 
/*---------------------------------------------------------------
                                                changeCoordinatesReference
  ---------------------------------------------------------------*/
void CPosePDFGrid::changeCoordinatesReference(const CPose3D& newReferenceBase)
{
        MRPT_UNUSED_PARAM(newReferenceBase);
        THROW_EXCEPTION("Not implemented yet!");
}
 
/*---------------------------------------------------------------
                                        bayesianFusion
 ---------------------------------------------------------------*/
void CPosePDFGrid::bayesianFusion(
        const CPosePDF& p1, const CPosePDF& p2,
        const double minMahalanobisDistToDrop)
{
        MRPT_UNUSED_PARAM(p1);
        MRPT_UNUSED_PARAM(p2);
        MRPT_UNUSED_PARAM(minMahalanobisDistToDrop);
        THROW_EXCEPTION("Not implemented yet!");
}
 
/*---------------------------------------------------------------
                                        inverse
 ---------------------------------------------------------------*/
void CPosePDFGrid::inverse(CPosePDF& o) const
{
        MRPT_UNUSED_PARAM(o);
        THROW_EXCEPTION("Not implemented yet!");
}
 
/*---------------------------------------------------------------
                                        drawSingleSample
 ---------------------------------------------------------------*/
void CPosePDFGrid::drawSingleSample(CPose2D& outPart) const
{
        MRPT_UNUSED_PARAM(outPart);
        THROW_EXCEPTION("Not implemented yet!");
}
 
/*---------------------------------------------------------------
                                        drawSingleSample
 ---------------------------------------------------------------*/
void CPosePDFGrid::drawManySamples(
        size_t N, std::vector<CVectorDouble>& outSamples) const
{
        MRPT_UNUSED_PARAM(N);
        MRPT_UNUSED_PARAM(outSamples);
 
        THROW_EXCEPTION("Not implemented yet!");
}
 
/*---------------------------------------------------------------
                                        CPosePDFGrid
 ---------------------------------------------------------------*/
void CPosePDFGrid::normalize()
{
        double SUM = 0;
 
        // SUM:
        for (vector<double>::const_iterator it = m_data.begin(); it != m_data.end();
                 ++it)
                SUM += *it;
 
        if (SUM > 0)
        {
                // Normalize:
                for (vector<double>::iterator it = m_data.begin(); it != m_data.end();
                         ++it)
                        *it /= SUM;
        }
}
 
/*---------------------------------------------------------------
                                                uniformDistribution
  ---------------------------------------------------------------*/
void CPosePDFGrid::uniformDistribution()
{
        double val = 1.0f / m_data.size();
 
        for (vector<double>::iterator it = m_data.begin(); it != m_data.end(); ++it)
                *it = val;
}