rtabmap/corelib/src/GlobalMap.cpp

/*
Copyright (c) 2010-2023, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.

Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
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      notice, this list of conditions and the following disclaimer.
    * Redistributions in binary form must reproduce the above copyright
      notice, this list of conditions and the following disclaimer in the
      documentation and/or other materials provided with the distribution.
    * Neither the name of the Universite de Sherbrooke nor the
      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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ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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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