GlobalMap.cpp

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/*
Copyright (c) 2010-2023, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
 
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      notice, this list of conditions and the following disclaimer.
    * Redistributions in binary form must reproduce the above copyright
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      names of its contributors may be used to endorse or promote products
      derived from this software without specific prior written permission.
 
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#include <rtabmap/core/GlobalMap.h>
#include <rtabmap/utilite/ULogger.h>
#include <rtabmap/utilite/UStl.h>
 
namespace rtabmap {
 
GlobalMap::GlobalMap(const LocalGridCache * cache, const ParametersMap & parameters) :
        cellSize_(Parameters::defaultGridCellSize()),
        updateError_(Parameters::defaultGridGlobalUpdateError()),
        occupancyThr_(Parameters::defaultGridGlobalOccupancyThr()),
        logOddsHit_(logodds(Parameters::defaultGridGlobalProbHit())),
        logOddsMiss_(logodds(Parameters::defaultGridGlobalProbMiss())),
        logOddsClampingMin_(logodds(Parameters::defaultGridGlobalProbClampingMin())),
        logOddsClampingMax_(logodds(Parameters::defaultGridGlobalProbClampingMax())),
        cache_(cache)
{
        UASSERT(cache_);
 
        minValues_[0] = minValues_[1] = minValues_[2] = 0.0;
        maxValues_[0] = maxValues_[1] = maxValues_[2] = 0.0;
 
        Parameters::parse(parameters, Parameters::kGridCellSize(), cellSize_);
        UASSERT(cellSize_>0.0f);
 
        Parameters::parse(parameters, Parameters::kGridGlobalUpdateError(), updateError_);
 
        UDEBUG("cellSize_           =%f", cellSize_);
        UDEBUG("updateError_        =%f", updateError_);
 
        // Probabilistic parameters
        Parameters::parse(parameters, Parameters::kGridGlobalOccupancyThr(), occupancyThr_);
        if(Parameters::parse(parameters, Parameters::kGridGlobalProbHit(), logOddsHit_))
        {
                logOddsHit_ = logodds(logOddsHit_);
                UASSERT_MSG(logOddsHit_ >= 0.0f, uFormat("probHit_=%f",logOddsHit_).c_str());
        }
        if(Parameters::parse(parameters, Parameters::kGridGlobalProbMiss(), logOddsMiss_))
        {
                logOddsMiss_ = logodds(logOddsMiss_);
                UASSERT_MSG(logOddsMiss_ <= 0.0f, uFormat("probMiss_=%f",logOddsMiss_).c_str());
        }
        if(Parameters::parse(parameters, Parameters::kGridGlobalProbClampingMin(), logOddsClampingMin_))
        {
                logOddsClampingMin_ = logodds(logOddsClampingMin_);
        }
        if(Parameters::parse(parameters, Parameters::kGridGlobalProbClampingMax(), logOddsClampingMax_))
        {
                logOddsClampingMax_ = logodds(logOddsClampingMax_);
        }
        UASSERT(logOddsClampingMax_ > logOddsClampingMin_);
}
 
GlobalMap::~GlobalMap()
{
        clear();
}
 
void GlobalMap::clear()
{
        UDEBUG("Clearing");
        addedNodes_.clear();
        minValues_[0] = minValues_[1] = minValues_[2] = 0.0;
        maxValues_[0] = maxValues_[1] = maxValues_[2] = 0.0;
}
 
unsigned long GlobalMap::getMemoryUsed() const
{
        unsigned long memoryUsage = 0;
 
        memoryUsage += addedNodes_.size()*(sizeof(int) + sizeof(Transform)+ sizeof(float)*12 + sizeof(std::map<int, Transform>::iterator)) + sizeof(std::map<int, Transform>);
 
        return memoryUsage;
}
 
bool GlobalMap::update(const std::map<int, Transform> & poses)
{
        UDEBUG("Update (poses=%d addedNodes_=%d)", (int)poses.size(), (int)addedNodes_.size());
 
        // First, check of the graph has changed. If so, re-create the octree by moving all occupied nodes.
        bool graphOptimized = false; // If a loop closure happened (e.g., poses are modified)
        bool graphChanged = addedNodes_.size()>0; // If the new map doesn't have any node from the previous map
        float updateErrorSqrd = updateError_*updateError_;
        for(std::map<int, Transform>::iterator iter=addedNodes_.begin(); iter!=addedNodes_.end(); ++iter)
        {
                std::map<int, Transform>::const_iterator jter = poses.find(iter->first);
                if(jter != poses.end())
                {
                        graphChanged = false;
                        UASSERT(!iter->second.isNull() && !jter->second.isNull());
                        if(iter->second.getDistanceSquared(jter->second) > updateErrorSqrd)
                        {
                                graphOptimized = true;
                        }
                }
                else
                {
                        UDEBUG("Updated pose for node %d is not found, some points may not be copied. Use negative ids to just update cell values without adding new ones.", iter->first);
                }
        }
 
        if(graphOptimized || graphChanged)
        {
                // clear all but keep cache
                clear();
        }
 
        std::list<std::pair<int, Transform> > orderedPoses;
 
        // add old poses that were not in the current map (they were just retrieved from LTM)
        for(std::map<int, Transform>::const_iterator iter=poses.lower_bound(1); iter!=poses.end(); ++iter)
        {
                if(!isNodeAssembled(iter->first))
                {
                        UDEBUG("Pose %d not found in current added poses, it will be added to map", iter->first);
                        orderedPoses.push_back(*iter);
                }
        }
 
        // insert zero after
        if(poses.find(0) != poses.end())
        {
                orderedPoses.push_back(std::make_pair(-1, poses.at(0)));
        }
 
        if(!orderedPoses.empty())
        {
                assemble(orderedPoses);
        }
 
        return !orderedPoses.empty();
}
 
void GlobalMap::addAssembledNode(int id, const Transform & pose)
{
        if(id > 0)
        {
                uInsert(addedNodes_, std::make_pair(id, pose));
        }
}
 
 
} // namespace rtabmap