CLevMarqGSO_impl.h

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/* +---------------------------------------------------------------------------+
         |                     Mobile Robot Programming Toolkit (MRPT)               |
         |                          http://www.mrpt.org/                             |
         |                                                                           |
         | Copyright (c) 2005-2017, 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    |
         +---------------------------------------------------------------------------+ */
 
#ifndef CLEVMARQGSO_IMPL_H
#define CLEVMARQGSO_IMPL_H
 
namespace mrpt { namespace graphslam { namespace optimizers {
 
// Ctors, Dtors
//////////////////////////////////////////////////////////////
 
template<class GRAPH_T>
CLevMarqGSO<GRAPH_T>::CLevMarqGSO():
        m_first_time_call(false),
        m_has_read_config(false),
        m_autozoom_active(true),
        m_last_total_num_of_nodes(5),
        m_optimization_policy(FOP_USE_LC),
        m_curr_used_consec_lcs(0),
        m_curr_ignored_consec_lcs(0),
        m_just_fully_optimized_graph(false),
        m_min_nodes_for_optimization(3)
{
        MRPT_START;
        using namespace mrpt::utils;
        this->initializeLoggers("CLevMarqGSO");
 
        MRPT_END;
}
template<class GRAPH_T>
CLevMarqGSO<GRAPH_T>::~CLevMarqGSO() {
        // JL Removed MRPT_END since it could launch an exception, not allowed in a dtor
}
 
// Member function implementations
//////////////////////////////////////////////////////////////
template<class GRAPH_T>
bool CLevMarqGSO<GRAPH_T>::updateState(
                mrpt::obs::CActionCollectionPtr action,
                mrpt::obs::CSensoryFramePtr observations,
                mrpt::obs::CObservationPtr observation ) {
        MRPT_START;
        using namespace mrpt::utils;
        this->logFmt(LVL_DEBUG, "In updateOptimizerState... ");
 
        if (this->m_graph->nodeCount() > m_last_total_num_of_nodes) {
                m_last_total_num_of_nodes = this->m_graph->nodeCount();
                registered_new_node = true;
 
                if (m_first_time_call) {
                        opt_params.last_pair_nodes_to_edge = this->m_graph->edges;
                        m_first_time_call = true;
                }
 
 
                if (opt_params.optimization_on_second_thread) {
                        //join the previous optimization thread
                        mrpt::system::joinThread(m_thread_optimize);
 
                        // optimize the graph - run on a seperate thread
                        m_thread_optimize = mrpt::system::createThreadFromObjectMethod(
                                        /*obj = */ this,
                                        /* func = */ &CLevMarqGSO::optimizeGraph);
 
                }
                else { // single threaded implementation
                        bool is_full_update = this->checkForFullOptimization();
                        this->_optimizeGraph(is_full_update);
                }
 
        }
 
        return true;
        MRPT_END;
}
 
template<class GRAPH_T>
void CLevMarqGSO<GRAPH_T>::initializeVisuals() {
        MRPT_START;
        ASSERT_(m_has_read_config);
        parent::initializeVisuals();
 
        this->initGraphVisualization();
        this->initOptDistanceVisualization();
 
        MRPT_END;
}
 
template<class GRAPH_T>
void CLevMarqGSO<GRAPH_T>::updateVisuals() {
        MRPT_START;
        parent::updateVisuals();
 
        if (opt_params.optimization_distance > 0) {
                this->updateOptDistanceVisualization();
        }
 
        this->updateGraphVisualization();
 
        MRPT_END;
}
 
template<class GRAPH_T>
void CLevMarqGSO<GRAPH_T>::notifyOfWindowEvents(
                const std::map<std::string, bool>& events_occurred) {
        MRPT_START;
        using namespace std;
        parent::notifyOfWindowEvents(events_occurred);
 
        // I know the keys exists - I registered them explicitly
 
        // optimization_distance toggling
        if (opt_params.optimization_distance > 0) {
                if (events_occurred.find(
                                        opt_params.keystroke_optimization_distance)->second) {
                        this->toggleOptDistanceVisualization();
                }
 
                if (events_occurred.find(opt_params.keystroke_optimize_graph)->second) {
                        this->_optimizeGraph(/*is_full_update=*/ true);
                }
        }
 
        // graph toggling
        if (events_occurred.find(viz_params.keystroke_graph_toggle)->second) {
                this->toggleGraphVisualization();
        }
 
 
        // if mouse event, let the user decide about the camera
        if (events_occurred.find("mouse_clicked")->second) {
                MRPT_LOG_DEBUG_STREAM("Mouse was clicked. Disabling autozoom.");
                m_autozoom_active = false;
        }
 
        // autofit the graph once
        if (events_occurred.find(viz_params.keystroke_graph_autofit)->second) {
                MRPT_LOG_DEBUG_STREAM("Autofit button was pressed");
                this->fitGraphInView();
        }
 
 
        MRPT_END;
} // end of notifyOfWindowEvents
 
template<class GRAPH_T>
inline void CLevMarqGSO<GRAPH_T>::initGraphVisualization() {
        MRPT_START;
        ASSERTMSG_(this->m_win_manager, "No CWindowManager* is given");
 
        if (viz_params.visualize_optimized_graph) {
                this->m_win_observer->registerKeystroke(
                                viz_params.keystroke_graph_toggle,
                                "Toggle Graph visualization");
                this->m_win_observer->registerKeystroke(
                                viz_params.keystroke_graph_autofit,
                                "Fit Graph in view");
 
                this->m_win_manager->assignTextMessageParameters(
                                /* offset_y*    = */ &viz_params.offset_y_graph,
                                /* text_index* = */ &viz_params.text_index_graph );
        }
 
        MRPT_END;
}
template<class GRAPH_T>
inline void CLevMarqGSO<GRAPH_T>::updateGraphVisualization() {
        MRPT_START;
        ASSERTMSG_(this->m_win_manager, "No CWindowManager* is given");
        using namespace mrpt::opengl;
        using namespace mrpt::utils;
 
        this->logFmt(mrpt::utils::LVL_DEBUG, "In the updateGraphVisualization function");
 
        // update the graph (clear and rewrite..)
        COpenGLScenePtr& scene = this->m_win->get3DSceneAndLock();
 
        // remove previous graph and insert the new instance
        // TODO - make this an incremental proocecure
        CRenderizablePtr prev_object = scene->getByName("optimized_graph");
        bool prev_visibility = true;
        if (prev_object) { // set the visibility of the graph correctly
                prev_visibility = prev_object->isVisible();
        }
        scene->removeObject(prev_object);
 
        //CSetOfObjectsPtr graph_obj =
                //graph_tools::graph_visualize(*this->m_graph, viz_params.cfg);
        CSetOfObjectsPtr graph_obj = CSetOfObjects::Create();
        this->m_graph->getAs3DObject(graph_obj, viz_params.cfg);
 
        graph_obj->setName("optimized_graph");
        graph_obj->setVisibility(prev_visibility);
        scene->insert(graph_obj);
        this->m_win->unlockAccess3DScene();
 
        this->m_win_manager->addTextMessage(5,-viz_params.offset_y_graph,
                        format("Optimized Graph: #nodes %d",
                                static_cast<int>(this->m_graph->nodeCount())),
                        TColorf(0.0, 0.0, 0.0),
                        /* unique_index = */ viz_params.text_index_graph);
 
        this->m_win->forceRepaint();
 
        if (m_autozoom_active) {
                this->fitGraphInView();
        }
 
        MRPT_END;
}
 
template<class GRAPH_T>
void CLevMarqGSO<GRAPH_T>::toggleGraphVisualization() {
        MRPT_START;
        using namespace mrpt::opengl;
 
        COpenGLScenePtr& scene = this->m_win->get3DSceneAndLock();
 
        CRenderizablePtr graph_obj = scene->getByName("optimized_graph");
        graph_obj->setVisibility(!graph_obj->isVisible());
 
        this->m_win->unlockAccess3DScene();
        this->m_win->forceRepaint();
 
        MRPT_END;
}
 
template<class GRAPH_T>
void CLevMarqGSO<GRAPH_T>::fitGraphInView() {
        MRPT_START;
        using namespace mrpt::opengl;
 
        ASSERTMSG_(this->m_win,
                        "\nVisualization of data was requested but no CDisplayWindow3D pointer was given\n");
 
        // first fetch the graph object
        COpenGLScenePtr& scene = this->m_win->get3DSceneAndLock();
        CRenderizablePtr obj = scene->getByName("optimized_graph");
        CSetOfObjectsPtr graph_obj = static_cast<CSetOfObjectsPtr>(obj);
        this->m_win->unlockAccess3DScene();
        this->m_win->forceRepaint();
 
        // autofit it based on its grid
        CGridPlaneXYPtr obj_grid =
                graph_obj->CSetOfObjects::getByClass<CGridPlaneXY>();
        if (obj_grid) {
                float x_min,x_max, y_min,y_max;
                obj_grid->getPlaneLimits(x_min,x_max, y_min,y_max);
                const float z_min = obj_grid->getPlaneZcoord();
                this->m_win->setCameraPointingToPoint(
                                0.5*(x_min+x_max), 0.5*(y_min+y_max), z_min);
                this->m_win->setCameraZoom(
                                2.0f * std::max(10.0f, std::max(x_max-x_min, y_max-y_min)));
        }
        this->m_win->setCameraAzimuthDeg(60);
        this->m_win->setCameraElevationDeg(75);
        this->m_win->setCameraProjective(true);
 
        MRPT_END;
}
 
template<class GRAPH_T>
void CLevMarqGSO<GRAPH_T>::initOptDistanceVisualization() {
        MRPT_START;
        using namespace mrpt::opengl;
 
        if (opt_params.optimization_distance > 0) {
                this->m_win_observer->registerKeystroke(
                                opt_params.keystroke_optimization_distance,
                                "Toggle optimization distance on/off");
 
                this->m_win_observer->registerKeystroke(
                                opt_params.keystroke_optimize_graph,
                                "Manually trigger a full graph optimization");
        }
 
        pose_t p;
        CRenderizablePtr obj = this->initOptDistanceVisualizationInternal(p);
        pose_t initial_pose;
        obj->setPose(initial_pose);
        obj->setName("optimization_distance_obj");
 
        COpenGLScenePtr scene = this->m_win->get3DSceneAndLock();
        scene->insert(obj);
        this->m_win->unlockAccess3DScene();
        this->m_win->forceRepaint();
 
        // optimization distance disk - textMessage
        this->m_win_manager->assignTextMessageParameters(
                        &opt_params.offset_y_optimization_distance,
                        &opt_params.text_index_optimization_distance);
 
        this->m_win_manager->addTextMessage(
                        5,-opt_params.offset_y_optimization_distance,
                        format("Radius for graph optimization"),
                        mrpt::utils::TColorf(opt_params.optimization_distance_color),
                        /* unique_index = */ opt_params.text_index_optimization_distance );
        MRPT_END;
}
 
template<class GRAPH_T>
mrpt::opengl::CRenderizablePtr CLevMarqGSO<GRAPH_T>::
initOptDistanceVisualizationInternal(
                const mrpt::poses::CPose2D& p_unused) {
        using namespace mrpt::opengl;
 
        CDiskPtr obj = CDisk::Create();
        obj->setDiskRadius(
                        opt_params.optimization_distance,
                        opt_params.optimization_distance-0.1);
        obj->setColor_u8(opt_params.optimization_distance_color);
 
        return obj;
}
template<class GRAPH_T>
mrpt::opengl::CRenderizablePtr CLevMarqGSO<GRAPH_T>::
initOptDistanceVisualizationInternal(
                const mrpt::poses::CPose3D& p_unused) {
        using namespace mrpt::opengl;
 
        CSpherePtr obj = CSphere::Create();
        obj->setRadius(opt_params.optimization_distance);
        obj->setColor_u8(
                        opt_params.optimization_distance_color.R,
                        opt_params.optimization_distance_color.G,
                        opt_params.optimization_distance_color.B,
                        /*alpha = */ 60);
 
        return obj;
}
 
template<class GRAPH_T>
void CLevMarqGSO<GRAPH_T>::updateOptDistanceVisualization() {
        MRPT_START;
        ASSERTMSG_(this->m_win_manager, "No CWindowManager* is given");
        using namespace mrpt::opengl;
 
        // update ICP_max_distance Disk
        COpenGLScenePtr scene = this->m_win->get3DSceneAndLock();
 
        CRenderizablePtr obj = scene->getByName("optimization_distance_obj");
        obj->setPose(this->m_graph->nodes.rbegin()->second);
 
        this->m_win->unlockAccess3DScene();
        this->m_win->forceRepaint();
        MRPT_END;
}
 
// TODO - implement this
template<class GRAPH_T>
void CLevMarqGSO<GRAPH_T>::toggleOptDistanceVisualization() {
        MRPT_START;
        using namespace mrpt::opengl;
 
        COpenGLScenePtr scene = this->m_win->get3DSceneAndLock();
 
        CRenderizablePtr obj = scene->getByName("optimization_distance_obj");
        obj->setVisibility(!obj->isVisible());
 
        this->m_win->unlockAccess3DScene();
        this->m_win->forceRepaint();
 
        MRPT_END;
}
 
 
 
template<class GRAPH_T>
void CLevMarqGSO<GRAPH_T>::optimizeGraph() {
        MRPT_START;
 
        this->logFmt(mrpt::utils::LVL_DEBUG,
                        "In optimizeGraph\n\tThreadID: %lu\n\tTrying to grab lock... ",
                        mrpt::system::getCurrentThreadId());
 
        mrpt::synch::CCriticalSectionLocker m_graph_lock(this->m_graph_section);
        this->_optimizeGraph();
 
        this->logFmt(mrpt::utils::LVL_DEBUG, "2nd thread grabbed the lock..");
 
        MRPT_END;
}
 
template<class GRAPH_T>
void CLevMarqGSO<GRAPH_T>::_optimizeGraph(bool is_full_update/*=false*/) {
        MRPT_START;
        this->m_time_logger.enter("CLevMarqGSO::_optimizeGraph");
 
        using namespace mrpt::utils;
 
        // if less than X nodes exist overall, do not try optimizing
        if (m_min_nodes_for_optimization > this->m_graph->nodes.size()) {
                return;
        }
 
        CTicTac optimization_timer;
        optimization_timer.Tic();
 
        // set of nodes for which the optimization procedure will take place
        std::set< mrpt::utils::TNodeID>* nodes_to_optimize;
 
        // fill in the nodes in certain distance to the current node, only if
        // is_full_update is not instructed
        if (is_full_update) {
        // nodes_to_optimize: List of nodes to optimize. NULL -> all but the root
        // node.
                nodes_to_optimize = NULL;
        }
        else {
                nodes_to_optimize = new std::set<mrpt::utils::TNodeID>;
 
                // I am certain that this shall not be called when nodeCount = 0, since the
                // optimization procedure starts only after certain number of nodes has
                // been added
                this->getNearbyNodesOf(nodes_to_optimize,
                                this->m_graph->nodeCount()-1,
                                opt_params.optimization_distance);
                nodes_to_optimize->insert(this->m_graph->nodeCount()-1);
        }
 
        graphslam::TResultInfoSpaLevMarq        levmarq_info;
 
        // Execute the optimization
        mrpt::graphslam::optimize_graph_spa_levmarq(
                        *(this->m_graph),
                        levmarq_info,
                        nodes_to_optimize,
                        opt_params.cfg,
                        &CLevMarqGSO<GRAPH_T>::levMarqFeedback); // functor feedback
 
        if (is_full_update) {
                m_just_fully_optimized_graph = true;
        }
        else {
                m_just_fully_optimized_graph = false;
        }
 
 
        double elapsed_time = optimization_timer.Tac();
        this->logFmt(mrpt::utils::LVL_DEBUG,
                        "Optimization of graph took: %fs", elapsed_time);
 
        // deleting the nodes_to_optimize set
        delete nodes_to_optimize;
        nodes_to_optimize = NULL;
 
        this->m_time_logger.leave("CLevMarqGSO::_optimizeGraph");
        MRPT_UNUSED_PARAM(elapsed_time);
        MRPT_END;
} // end of _optimizeGraph
 
template<class GRAPH_T>
bool CLevMarqGSO<GRAPH_T>::checkForLoopClosures() {
        MRPT_START;
 
        bool is_loop_closure = false;
        typename GRAPH_T::edges_map_t curr_pair_nodes_to_edge =  this->m_graph->edges;
 
        // find the *node pairs* that exist in current but not the last nodes_to_edge
        // map If the distance of any of these pairs is greater than
        // LC_min_nodeid_diff then consider this a loop closure
        typename GRAPH_T::edges_map_t::const_iterator search;
        mrpt::utils::TPairNodeIDs curr_pair;
 
        for (typename GRAPH_T::edges_map_t::const_iterator it =
                        curr_pair_nodes_to_edge.begin(); it != curr_pair_nodes_to_edge.end();
                        ++it) {
                search = opt_params.last_pair_nodes_to_edge.find(it->first);
                // if current node pair is not found in the last set...
                if (search == opt_params.last_pair_nodes_to_edge.end()) {
                        curr_pair = it->first;
 
                        if (std::abs(
                                                static_cast<int>(curr_pair.first) -
                                                static_cast<int>(curr_pair.second) ) >
                                        opt_params.LC_min_nodeid_diff ) {
 
                                this->logFmt(mrpt::utils::LVL_DEBUG, "Registering loop closure... ");
                                is_loop_closure = true;
                                break; // no need for more iterations
                        }
                }
        }
 
        // update the pair_nodes_to_edge map
        opt_params.last_pair_nodes_to_edge = curr_pair_nodes_to_edge;
        return is_loop_closure;
 
        MRPT_END;
}
 
template<class GRAPH_T>
bool CLevMarqGSO<GRAPH_T>::checkForFullOptimization() {
        bool is_full_update = false;
 
        if (opt_params.optimization_distance == -1) { // always optimize fully
                return true;
        }
 
        bool added_lc = this->checkForLoopClosures();
 
        // Decide on the LoopClosingAttitude I am in
        if (!added_lc) { // reset both ignored and used counters
                if (m_curr_used_consec_lcs != 0 || m_curr_ignored_consec_lcs != 0) {
                        MRPT_LOG_DEBUG_STREAM("No new Loop Closure found.");
                }
 
                m_curr_used_consec_lcs = 0;
                m_curr_ignored_consec_lcs = 0;
                m_optimization_policy = FOP_USE_LC;
 
                return is_full_update;
        }
        else { // lc found.
                // have I used enough consecutive loop closures?
                bool use_limit_reached =
                        m_curr_used_consec_lcs == m_max_used_consec_lcs;
                // have I ignored enough consecutive loop closures?
                bool ignore_limit_reached =
                        m_curr_ignored_consec_lcs == m_max_ignored_consec_lcs;
 
                // Have I reached any of the limits above?
                if (ignore_limit_reached || use_limit_reached) {
                        m_curr_ignored_consec_lcs = 0;
                        m_curr_used_consec_lcs = 0;
 
                        // decide of the my policy on full optimization
                        if (ignore_limit_reached) {
                                m_optimization_policy = FOP_USE_LC;
                        }
                        if (use_limit_reached) {
                                m_optimization_policy = FOP_IGNORE_LC;
                        }
                }
                else { // no limits reached yet.
                        if (m_optimization_policy == FOP_USE_LC) {
                                m_curr_used_consec_lcs += 1;
                        }
                        else {
                                m_curr_ignored_consec_lcs += 1;
                        }
                }
        }
 
        // Decide on whether to fully optimize the graph based on the mode I am in
        if (m_optimization_policy == FOP_IGNORE_LC) {
                is_full_update = false;
                MRPT_LOG_WARN_STREAM(
                        "*PARTIAL* graph optimization.. ignoring new loop closure");
        }
        else {
                is_full_update = true;
                MRPT_LOG_WARN_STREAM("Commencing with *FULL* graph optimization... ");
        }
        return is_full_update;
 
} // end of checkForFullOptimization
 
template<class GRAPH_T>
bool CLevMarqGSO<GRAPH_T>::justFullyOptimizedGraph() const {
        return m_just_fully_optimized_graph;
}
 
 
template<class GRAPH_T>
void CLevMarqGSO<GRAPH_T>::levMarqFeedback(
                const GRAPH_T &graph,
                const size_t iter,
                const size_t max_iter,
                const double cur_sq_error )
{ }
 
template<class GRAPH_T>
void CLevMarqGSO<GRAPH_T>::getNearbyNodesOf(
                std::set<mrpt::utils::TNodeID> *nodes_set,
                const mrpt::utils::TNodeID& cur_nodeID,
                double distance ) {
        MRPT_START;
 
        if (distance > 0) {
                // check all but the last node.
                for (mrpt::utils::TNodeID nodeID = 0;
                                nodeID < this->m_graph->nodeCount()-1;
                                ++nodeID) {
                        double curr_distance = this->m_graph->nodes[nodeID].distanceTo(
                                        this->m_graph->nodes[cur_nodeID]);
                        if (curr_distance <= distance) {
                                nodes_set->insert(nodeID);
                        }
                }
        }
        else { // check against all nodes
                this->m_graph->getAllNodes(*nodes_set);
        }
 
        MRPT_END;
}
 
template<class GRAPH_T>
void CLevMarqGSO<GRAPH_T>::printParams() const {
        parent::printParams();
 
        opt_params.dumpToConsole();
        viz_params.dumpToConsole();
}
template<class GRAPH_T>
void CLevMarqGSO<GRAPH_T>::loadParams(const std::string& source_fname) {
        MRPT_START;
        using namespace mrpt::utils;
        parent::loadParams(source_fname);
 
        opt_params.loadFromConfigFileName(source_fname, "OptimizerParameters");
        viz_params.loadFromConfigFileName(source_fname, "VisualizationParameters");
 
        CConfigFile source(source_fname);
 
        // TODO - check that these work
        m_max_used_consec_lcs = source.read_int(
                        "OptimizerParameters",
                        "max_used_consecutive_loop_closures",
                        2, false);
 
        m_max_ignored_consec_lcs = source.read_int(
                        "OptimizerParameters",
                        "max_ignored_consecutive_loop_closures",
                        15, false);
 
        // set the logging level if given by the user
        // Minimum verbosity level of the logger
        int min_verbosity_level = source.read_int(
                        "OptimizerParameters",
                        "class_verbosity",
                        1, false);
        this->setMinLoggingLevel(VerbosityLevel(min_verbosity_level));
 
        this->logFmt(mrpt::utils::LVL_DEBUG, "Successfully loaded Params. ");
        m_has_read_config = true;
 
        MRPT_END;
}
 
template<class GRAPH_T>
void CLevMarqGSO<GRAPH_T>::getDescriptiveReport(std::string* report_str) const {
        MRPT_START;
        using namespace std;
 
        const std::string report_sep(2, '\n');
        const std::string header_sep(80, '#');
 
        // Report on graph
        stringstream class_props_ss;
        class_props_ss << "Levenberg Marquardt Optimization Summary: " << std::endl;
        class_props_ss << header_sep << std::endl;
 
        // time and output logging
        const std::string time_res = this->m_time_logger.getStatsAsText();
        const std::string output_res = this->getLogAsString();
 
        // merge the individual reports
        report_str->clear();
        parent::getDescriptiveReport(report_str);
 
        *report_str += class_props_ss.str();
        *report_str += report_sep;
 
        *report_str += time_res;
        *report_str += report_sep;
 
        *report_str += output_res;
        *report_str += report_sep;
 
        MRPT_END;
}
 
 
// OptimizationParams
//////////////////////////////////////////////////////////////
template<class GRAPH_T>
CLevMarqGSO<GRAPH_T>::OptimizationParams::OptimizationParams():
        optimization_distance_color(0, 201, 87),
        keystroke_optimization_distance("u"),
        keystroke_optimize_graph("w")
{ }
template<class GRAPH_T>
CLevMarqGSO<GRAPH_T>::OptimizationParams::~OptimizationParams() {
}
template<class GRAPH_T>
void CLevMarqGSO<GRAPH_T>::OptimizationParams::dumpToTextStream(
                mrpt::utils::CStream &out) const {
        MRPT_START;
 
        out.printf("------------------[ Levenberg-Marquardt Optimization ]------------------\n");
        out.printf("Optimization on second thread  = %s\n",
                        optimization_on_second_thread ? "TRUE" : "FALSE");
        out.printf("Optimize nodes in distance     = %.2f\n", optimization_distance);
        out.printf("Min. node difference for LC    = %d\n", LC_min_nodeid_diff);
 
        out.printf("%s", cfg.getAsString().c_str());
        std::cout << std::endl;
 
        MRPT_END;
}
template<class GRAPH_T>
void CLevMarqGSO<GRAPH_T>::OptimizationParams::loadFromConfigFile(
                const mrpt::utils::CConfigFileBase &source,
                const std::string &section) {
        MRPT_START;
        optimization_on_second_thread = source.read_bool(
                        section,
                        "optimization_on_second_thread",
                        false, false);
        LC_min_nodeid_diff = source.read_int(
                        "GeneralConfiguration",
                        "LC_min_nodeid_diff",
                        30, false);
        optimization_distance = source.read_double(
                        section,
                        "optimization_distance",
                        5, false);
        // asert the previous value
        ASSERTMSG_(optimization_distance == -1 ||
                        optimization_distance > 0,
                        format("Invalid value for optimization distance: %.2f",
                                optimization_distance) );
 
        // optimization parameters
        cfg["verbose"] = source.read_bool(
                        section,
                        "verbose",
                        0, false);
        cfg["profiler"] = source.read_bool(
                        section,
                        "profiler",
                        0, false);
        cfg["max_iterations"] = source.read_double(
                        section,
                        "max_iterations",
                        100, false);
        cfg["scale_hessian"] = source.read_double(
                        "Optimization",
                        "scale_hessian",
                        0.2, false);
        cfg["tau"] = source.read_double(
                        section,
                        "tau",
                        1e-3, false);
 
        MRPT_END;
}
 
// GraphVisualizationParams
//////////////////////////////////////////////////////////////
template<class GRAPH_T>
CLevMarqGSO<GRAPH_T>::GraphVisualizationParams::GraphVisualizationParams():
        keystroke_graph_toggle("s"),
        keystroke_graph_autofit("a")
{
}
template<class GRAPH_T>
CLevMarqGSO<GRAPH_T>::GraphVisualizationParams::~GraphVisualizationParams() {
}
template<class GRAPH_T>
void CLevMarqGSO<GRAPH_T>::GraphVisualizationParams::dumpToTextStream(
                mrpt::utils::CStream &out) const {
        MRPT_START;
 
        out.printf("-----------[ Graph Visualization Parameters ]-----------\n");
        out.printf("Visualize optimized graph = %s\n",
                        visualize_optimized_graph ? "TRUE" : "FALSE");
 
        out.printf("%s", cfg.getAsString().c_str());
 
        std::cout << std::endl;
 
        MRPT_END;
}
template<class GRAPH_T>
void CLevMarqGSO<GRAPH_T>::GraphVisualizationParams::loadFromConfigFile(
                const mrpt::utils::CConfigFileBase &source,
                const std::string &section) {
        MRPT_START;
        using namespace utils;
 
        visualize_optimized_graph = source.read_bool(
                        section,
                        "visualize_optimized_graph",
                        1, false);
 
        cfg["show_ID_labels"] = source.read_bool(
                        section,
                        "optimized_show_ID_labels",
                        0, false);
        cfg["show_ground_grid"] = source.read_double(
                        section,
                        "optimized_show_ground_grid",
                        1, false);
        cfg["show_edges"] = source.read_bool(
                        section,
                        "optimized_show_edges",
                        1, false);
        cfg["edge_color"] = source.read_int(
                        section,
                        "optimized_edge_color",
                        4286611456, false);
        cfg["edge_width"] = source.read_double(
                        section,
                        "optimized_edge_width",
                        1.5, false);
        cfg["show_node_corners"] = source.read_bool(
                        section,
                        "optimized_show_node_corners",
                        1, false);
        cfg["show_edge_rel_poses"] = source.read_bool(
                        section,
                        "optimized_show_edge_rel_poses",
                        1, false);
        cfg["edge_rel_poses_color"] = source.read_int(
                        section,
                        "optimized_edge_rel_poses_color",
                        1090486272, false);
        cfg["nodes_edges_corner_scale"] = source.read_double(
                        section,
                        "optimized_nodes_edges_corner_scale",
                        0.4, false);
        cfg["nodes_corner_scale"] = source.read_double(
                        section,
                        "optimized_nodes_corner_scale",
                        0.7, false);
        cfg["nodes_point_size"] = source.read_int(
                        section,
                        "optimized_nodes_point_size",
                        5, false);
        cfg["nodes_point_color"] = source.read_int(
                        section,
                        "optimized_nodes_point_color",
                        10526880, false);
 
        MRPT_END;
}
 
} } } // end of namespaces
 
#endif /* end of include guard: CLEVMARQGSO_IMPL_H */