test.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */

#include <mrpt/config/CConfigFileMemory.h>
#include <mrpt/gui/CDisplayWindowGUI.h>
#include <mrpt/hwdrivers/CCameraSensor.h>
#include <mrpt/maps/CColouredPointsMap.h>
#include <mrpt/maps/CSimplePointsMap.h>
#include <mrpt/opengl/CGridPlaneXY.h>
#include <mrpt/opengl/CPointCloudColoured.h>
#include <mrpt/opengl/stock_objects.h>
#include <mrpt/slam/CICP.h>
#include <mrpt/system/filesystem.h>

#if MRPT_HAS_NANOGUI

using namespace mrpt;
using namespace mrpt::vision;
using namespace mrpt::hwdrivers;
using namespace mrpt::img;
using namespace mrpt::poses;
using namespace mrpt::math;
using namespace mrpt::gui;
using namespace mrpt::tfest;
using namespace mrpt::obs;
using namespace mrpt::maps;
using namespace mrpt::slam;
using namespace mrpt::system;
using namespace mrpt::opengl;
using namespace std;

const double KEYFRAMES_MIN_DISTANCE = 0.50;  // meters
const double KEYFRAMES_MIN_ANG = 20.0_deg;

// Thread for grabbing: Do this is another thread so we divide rendering and
// grabbing
//   and exploit multicore CPUs.
struct TThreadParam
{
    TThreadParam() = default;
    std::atomic_bool quit{false};
    std::atomic<double> Hz{0};

    CObservation3DRangeScan::Ptr new_obs;
};

void thread_grabbing(TThreadParam& p)
{
    try
    {
        mrpt::hwdrivers::CCameraSensor cam;

        const std::string str =
            "[CONFIG]\n"
            "grabber_type=myntd\n";

        mrpt::config::CConfigFileMemory cfg(str);
        cam.loadConfig(cfg, "CONFIG");

        // Open:
        cout << "Calling initialize()...";
        cam.initialize();
        cout << "OK\n";

        CTicTac tictac;
        int nImgs = 0;

        while (!p.quit)
        {
            // Grab new observation from the camera:

            cam.doProcess();

            mrpt::hwdrivers::CGenericSensor::TListObservations obss;
            cam.getObservations(obss);

            if (obss.empty())
            {
                std::this_thread::sleep_for(10ms);
                continue;
            }

            auto obs = mrpt::ptr_cast<mrpt::obs::CObservation3DRangeScan>::from(
                obss.begin()->second);

            if (!obs) continue;

            std::atomic_store(&p.new_obs, obs);

            nImgs++;
            if (nImgs > 10)
            {
                p.Hz = nImgs / tictac.Tac();
                nImgs = 0;
                tictac.Tic();
            }
        }
    }
    catch (const std::exception& e)
    {
        cout << "Exception in Kinect thread: " << mrpt::exception_to_str(e)
             << endl;
        p.quit = true;
    }
}

// ------------------------------------------------------
//              Test_3DCamICP
// ------------------------------------------------------
void Test_3DCamICP()
{
    // Launch grabbing thread:
    // --------------------------------------------------------
    TThreadParam thrPar;
    std::thread thHandle = std::thread(thread_grabbing, std::ref(thrPar));

    // Wait until data stream starts so we can say for sure the sensor has been
    // initialized OK:
    cout << "Waiting for sensor initialization...\n";
    do
    {
        CObservation3DRangeScan::Ptr possiblyNewObs =
            std::atomic_load(&thrPar.new_obs);
        if (possiblyNewObs && possiblyNewObs->timestamp != INVALID_TIMESTAMP)
            break;
        else
            std::this_thread::sleep_for(10ms);
    } while (!thrPar.quit);

    // Check error condition:
    if (thrPar.quit) return;

    // Create window and prepare OpenGL object in the scene:
    // --------------------------------------------------------
    nanogui::init();

    mrpt::gui::CDisplayWindowGUI win("3D camera ICP demo", 1000, 800);

    win.camera().setAzimuthDegrees(140.0f);
    win.camera().setElevationDegrees(20.0f);
    win.camera().setZoomDistance(8.0f);
    win.camera().setCameraFOV(50.0f);
    win.camera().setCameraPointing(2.5, 0, 0);

    // Aux structure to share UI data between threads.
    struct ui_data_t
    {
        // In the 2D image:
        std::atomic_bool SHOW_FEAT_IDS = true;
        std::atomic_bool SHOW_RESPONSES = true;

        std::atomic_bool hasToReset = false;

        unsigned int icpDecimation = 16;

        std::mutex strStatuses_mtx;
        std::array<std::string, 4> strStatuses;

        opengl::COpenGLViewport::Ptr viewInt;
        std::mutex* viewInt_mtx = nullptr;

        // Set defaults:
        ui_data_t() = default;
    };

    ui_data_t ui_data;

    // The main function to be run in parallel to check for new observations,
    // update the GL objects, etc.
    auto lambdaUpdateThread = [&win, &thrPar, &ui_data]() {
        auto gl_points = mrpt::opengl::CPointCloudColoured::Create();
        auto gl_keyframes = mrpt::opengl::CSetOfObjects::Create();
        auto gl_points_map = mrpt::opengl::CPointCloudColoured::Create();
        auto gl_cur_cam_corner = mrpt::opengl::stock_objects::CornerXYZ(0.4f);
        gl_points->setPointSize(1.25f);
        gl_points_map->setPointSize(1.5f);

        {
            auto scene = mrpt::opengl::COpenGLScene::Create();

            // Create the Opengl object for the point cloud:
            scene->insert(gl_points_map);
            scene->insert(gl_points);
            scene->insert(gl_keyframes);
            scene->insert(mrpt::opengl::CGridPlaneXY::Create());

            scene->insert(gl_cur_cam_corner);

            win.background_scene_mtx.lock();
            win.background_scene = std::move(scene);
            win.background_scene_mtx.unlock();
        }

        // The 6D path of the Kinect camera.
        std::vector<TPose3D> camera_key_frames_path;

        // wrt last pose in "camera_key_frames_path"
        CPose3D currentCamPose_wrt_last;

        unsigned int step_num = 0;

        // Need to update gl_keyframes from camera_key_frames_path??
        bool gl_keyframes_must_refresh = true;

        CObservation3DRangeScan::Ptr cur_obs;
        CColouredPointsMap::Ptr cur_points, prev_points;

        // Global points map:
        CColouredPointsMap globalPtsMap;

        globalPtsMap.colorScheme.scheme =
            CColouredPointsMap::cmFromIntensityImage;  // Take points color from
        // RGB+D observations

        mrpt::slam::CICP icp;
        icp.options.maxIterations = 80;
        icp.options.thresholdDist = 0.10;  // [m]
        icp.options.thresholdAng = 1.0_deg;
        icp.options.ALFA = 0.001;  // wun with only 1 set of thresholds

        mrpt::poses::CPose3D lastIcpRelPose;

        // Should we exit?
        while (!thrPar.quit)
        {
            std::this_thread::sleep_for(5ms);

            CObservation3DRangeScan::Ptr possiblyNewObs =
                std::atomic_load(&thrPar.new_obs);
            if (!possiblyNewObs ||
                possiblyNewObs->timestamp == INVALID_TIMESTAMP ||
                (cur_obs && possiblyNewObs->timestamp == cur_obs->timestamp))
                continue;  // No new data

            // It IS a new observation:
            cur_obs = possiblyNewObs;

            // Unproject 3D points:
            if (!cur_points)
                cur_points = CColouredPointsMap::Create();
            else
                cur_points->clear();

            // Also, unproject all for viz:
            mrpt::obs::T3DPointsProjectionParams pp;
            pp.decimation = ui_data.icpDecimation;

            cur_obs->unprojectInto(*cur_points, pp);

            // ICP -------------------------------------------
            // The grabbed image:
            CImage theImg = cur_obs->intensityImage;

            CPose3DPDF::Ptr icp_out;
            mrpt::slam::CICP::TReturnInfo icp_res;

            if (!prev_points)
            {
                // Make a deep copy:
                prev_points = CColouredPointsMap::Create(*cur_points);
            }

            icp_out = icp.Align3D(
                prev_points.get(), cur_points.get(), lastIcpRelPose, icp_res);

            // Load local points map from 3D points + color:
            cur_obs->unprojectInto(*gl_points);

            // Estimate our current camera pose from feature2feature matching:
            // --------------------------------------------------------------------
            if (icp_out && icp_res.nIterations > 0)
            {
                const CPose3D relativePose = icp_out->getMeanVal();
                lastIcpRelPose = relativePose;

                ui_data.strStatuses_mtx.lock();
                ui_data.strStatuses[0] = mrpt::format(
                    "ICP: %d iters, goodness: %.02f%%",
                    int(icp_res.nIterations), icp_res.goodness * 100.0f),

                ui_data.strStatuses[1] =
                    std::string("rel.pose:") + relativePose.asString();
                ui_data.strStatuses[2] =
                    string(icp_res.goodness < 0.3 ? "LOST! Press restart" : "");
                ui_data.strStatuses_mtx.unlock();

                if (icp_res.goodness > 0.65)
                {
                    // Seems a good match:
                    if ((relativePose.norm() > KEYFRAMES_MIN_DISTANCE ||
                         std::abs(relativePose.yaw()) > KEYFRAMES_MIN_ANG ||
                         std::abs(relativePose.pitch()) > KEYFRAMES_MIN_ANG ||
                         std::abs(relativePose.roll()) > KEYFRAMES_MIN_ANG))
                    {
                        // Accept this as a new key-frame pose ------------
                        // Append new global pose of this key-frame:

                        const CPose3D new_keyframe_global =
                            CPose3D(*camera_key_frames_path.rbegin()) +
                            relativePose;

                        camera_key_frames_path.push_back(
                            new_keyframe_global.asTPose());

                        gl_keyframes_must_refresh = true;
                        // It's (0,0,0) since the last
                        // key-frame is the current pose!
                        currentCamPose_wrt_last = CPose3D();

                        cout << "Adding new key-frame: pose="
                             << new_keyframe_global << endl;

                        // Update global map: append another map at a given
                        // position:
                        globalPtsMap.insertAnotherMap(
                            cur_points.get(), new_keyframe_global);

                        win.background_scene_mtx.lock();
                        gl_points_map->loadFromPointsMap(&globalPtsMap);
                        win.background_scene_mtx.unlock();

                        prev_points = std::move(cur_points);  // new KF
                    }
                    else
                    {
                        currentCamPose_wrt_last = relativePose;
                        // cout << "cur pose: " << currentCamPose_wrt_last
                        // << endl;
                    }
                }
            }

            if (camera_key_frames_path.empty())
            {
                // First iteration:
                camera_key_frames_path.clear();
                camera_key_frames_path.emplace_back(0, 0, 0, 0, 0, 0);
                gl_keyframes_must_refresh = true;

                // Update global map:
                globalPtsMap.clear();
                globalPtsMap.insertObservation(*cur_obs);

                win.background_scene_mtx.lock();
                gl_points_map->loadFromPointsMap(&globalPtsMap);
                win.background_scene_mtx.unlock();
            }

            // Update visualization ---------------------------------------

            // Show 3D points & current visible feats, at the current camera 3D
            // pose "currentCamPose_wrt_last"
            // ---------------------------------------------------------------------
            {
                const CPose3D curGlobalPose =
                    CPose3D(*camera_key_frames_path.rbegin()) +
                    currentCamPose_wrt_last;
                win.background_scene_mtx.lock();
                // All 3D points:
                cur_obs->unprojectInto(*gl_points);
                gl_points->setPose(curGlobalPose);

                gl_cur_cam_corner->setPose(curGlobalPose);

                win.background_scene_mtx.unlock();
            }

            if (gl_keyframes_must_refresh)
            {
                gl_keyframes_must_refresh = false;
                // cout << "Updating gl_keyframes with " <<
                // camera_key_frames_path.size() << " frames.\n";

                win.background_scene_mtx.lock();
                gl_keyframes->clear();
                for (const auto& i : camera_key_frames_path)
                {
                    CSetOfObjects::Ptr obj =
                        mrpt::opengl::stock_objects::CornerXYZSimple(0.3f, 3);
                    obj->setPose(i);
                    gl_keyframes->insert(obj);
                }
                win.background_scene_mtx.unlock();
            }

            ui_data.strStatuses_mtx.lock();
            ui_data.strStatuses[3] =
                format("Frames: %.02f Hz", std::atomic_load(&thrPar.Hz));
            ui_data.strStatuses_mtx.unlock();

            step_num++;

            // end update visualization:

            if (ui_data.hasToReset)
            {
                ui_data.hasToReset = false;

                cur_points.reset();
                prev_points.reset();
                lastIcpRelPose = CPose3D();
                camera_key_frames_path.clear();
                gl_keyframes_must_refresh = true;
                globalPtsMap.clear();
                win.background_scene_mtx.lock();
                gl_points_map->loadFromPointsMap(&globalPtsMap);
                win.background_scene_mtx.unlock();
            }

            // Show intensity image
            ui_data.viewInt_mtx->lock();
            ui_data.viewInt->setImageView(std::move(theImg));
            ui_data.viewInt_mtx->unlock();
        }
    };  // end lambdaUpdateThread

    std::thread thWorker = std::thread(lambdaUpdateThread);

    // Add UI controls:
    std::array<nanogui::TextBox*, 4> lbStatuses = {nullptr, nullptr, nullptr,
                                                   nullptr};
    mrpt::gui::MRPT2NanoguiGLCanvas* glCanvasRGBView = nullptr;
    nanogui::Window* subWin2 = nullptr;

    {
        auto subWin = new nanogui::Window(&win, "Control");
        subWin->setLayout(new nanogui::GroupLayout());
        subWin->setFixedWidth(400);

        subWin->add<nanogui::Label>("Visualization", "sans-bold");
        {
            auto cb = subWin->add<nanogui::CheckBox>("Show feature IDs");
            cb->setCallback(
                [&ui_data](bool checked) { ui_data.SHOW_FEAT_IDS = checked; });
            cb->setChecked(true);
        }

        {
            auto cb = subWin->add<nanogui::CheckBox>("Show keypoint responses");
            cb->setCallback(
                [&ui_data](bool checked) { ui_data.SHOW_RESPONSES = checked; });
            cb->setChecked(true);
        }

        for (unsigned int i = 0; i < lbStatuses.size(); i++)
            lbStatuses[i] = subWin->add<nanogui::TextBox>("");

        subWin->add<nanogui::Label>("RGB window size");
        {
            auto cmb = subWin->add<nanogui::ComboBox>(std::vector<std::string>(
                {"Hidden", "200px", "400px", "800px", "1000px"}));
            cmb->setSelectedIndex(2);
            cmb->setCallback([&](int sel) {
                subWin2->setVisible(sel != 0);

                switch (sel)
                {
                    case 0:
                        break;
                    case 1:
                        glCanvasRGBView->setFixedWidth(200);
                        break;
                    case 2:
                        glCanvasRGBView->setFixedWidth(400);
                        break;
                    case 3:
                        glCanvasRGBView->setFixedWidth(800);
                        break;
                    case 4:
                        glCanvasRGBView->setFixedWidth(1000);
                        break;
                };
                win.performLayout();
            });
        }

        {
            nanogui::TextBox* slVal =
                subWin->add<nanogui::TextBox>("Point cloud decimation: 8");
            nanogui::Slider* sl = subWin->add<nanogui::Slider>();

            sl->setRange({2, 4});
            sl->setValue(3);
            sl->setCallback([&ui_data, slVal](float v) {
                const unsigned int decim =
                    mrpt::round(std::pow(2.0, mrpt::round(v)));
                ui_data.icpDecimation = decim;
                auto s = std::string("Point cloud decimation: ") +
                         std::to_string(ui_data.icpDecimation);
                slVal->setValue(s);
            });
        }

        subWin->add<nanogui::Label>("Actions", "sans-bold");

        {
            auto btn =
                subWin->add<nanogui::Button>("Reset", ENTYPO_ICON_BACK_IN_TIME);
            btn->setCallback([&]() { ui_data.hasToReset = true; });
        }

        {
            auto btn =
                subWin->add<nanogui::Button>("Quit", ENTYPO_ICON_ARROW_LEFT);
            btn->setCallback([&]() { win.setVisible(false); });
        }
    }

    {
        subWin2 = new nanogui::Window(&win, "Visible channel");
        subWin2->setLayout(new nanogui::BoxLayout(
            nanogui::Orientation::Horizontal, nanogui::Alignment::Fill));

        glCanvasRGBView = subWin2->add<mrpt::gui::MRPT2NanoguiGLCanvas>();
        glCanvasRGBView->setFixedWidth(600);

        // Create the Opengl objects for the planar images each in a
        // separate viewport:

        glCanvasRGBView->scene = mrpt::opengl::COpenGLScene::Create();
        ui_data.viewInt = glCanvasRGBView->scene->getViewport();
        ui_data.viewInt_mtx = &glCanvasRGBView->scene_mtx;

        subWin2->setPosition({10, 500});
    }

    win.performLayout();

    // Set loop hook to update text messages:
    win.setLoopCallback([&lbStatuses, &ui_data]() {
        ui_data.strStatuses_mtx.lock();
        for (unsigned int i = 0; i < lbStatuses.size(); i++)
            lbStatuses[i]->setValue(ui_data.strStatuses[i]);
        ui_data.strStatuses_mtx.unlock();
    });

    // Update view and process events:
    win.drawAll();
    win.setVisible(true);
    nanogui::mainloop();

    nanogui::shutdown();

    cout << "Waiting for grabbing thread to exit...\n";
    thrPar.quit = true;
    thHandle.join();
    thWorker.join();
    cout << "Bye!\n";
}

#endif  // MRPT_HAS_NANOGUI

int main(int argc, char** argv)
{
    try
    {
#if MRPT_HAS_NANOGUI
        Test_3DCamICP();

        std::this_thread::sleep_for(50ms);
        return 0;
#else
        THROW_EXCEPTION("This program requires MRPT compiled with NANOGUI");
#endif
    }
    catch (const std::exception& e)
    {
        std::cout << "EXCEPCION: " << mrpt::exception_to_str(e) << std::endl;
        return -1;
    }
}