CICPCriteriaERD.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 CICPCRITERIAERD_H
#define CICPCRITERIAERD_H

#include <mrpt/math/CMatrix.h>
#include <mrpt/math/utils.h>
#include <mrpt/utils/CImage.h>
#include <mrpt/utils/CLoadableOptions.h>
#include <mrpt/utils/CConfigFile.h>
#include <mrpt/utils/CConfigFileBase.h>
#include <mrpt/utils/CTimeLogger.h>
#include <mrpt/utils/CStream.h>
#include <mrpt/utils/types_simple.h>
#include <mrpt/utils/TColor.h>
#include <mrpt/obs/CObservation2DRangeScan.h>
#include <mrpt/obs/CObservation3DRangeScan.h>
#include <mrpt/obs/CActionCollection.h>
#include <mrpt/obs/CSensoryFrame.h>
#include <mrpt/obs/CRawlog.h>
#include <mrpt/opengl/CDisk.h>
#include <mrpt/opengl/CRenderizable.h>
#include <mrpt/opengl/CPlanarLaserScan.h>
#include <mrpt/slam/CICP.h>
#include <mrpt/system/os.h>
#include <mrpt/system/filesystem.h>

#include <stdlib.h>  // abs

#include <iostream>
#include <map>
#include <string>

#include <mrpt/graphslam/interfaces/CRangeScanEdgeRegistrationDecider.h>

namespace mrpt
{
namespace graphslam
{
namespace deciders
{
/**\brief ICP-based Edge Registration.
 *
 * ## Description
 *
 * Register new edges in the graph with the last inserted node. Criterion for
 * adding new edges should be the goodness of the candidate ICP edge. The
 * nodes for ICP are picked <em>based on the distance from the last
 * inserted node</em>.
 * \sa  getNearbyNodesOf
 *
 * ### Specifications
 *
 * - Map type: 2D
 * - MRPT rawlog format: #1, #2
 * - Graph Type: CPosePDFGaussianInf
 * - Observations: CObservation2DRangeScan, CObservation3DRangeScan
 * - Edge Registration Strategy: ICP Goodnesss threshold
 *
 * ### .ini Configuration Parameters
 *
 * \htmlinclude graphslam-engine_config_params_preamble.txt
 *
 * - \b class_verbosity
 *   + \a Section       : EdgeRegistrationDeciderParameters
 *   + \a default value : 1 (LVL_INFO)
 *   + \a Required      : FALSE
 *
 * - \b LC_min_nodeid_diff
 *  + \a Section       : GeneralConfiguration
 *  + \a Default value : 30
 *  + \a Required      : FALSE
 *  + \a Description   : Minimum NodeID difference for an edge to be considered
 *  a loop closure.
 *
 * - \b ICP_max_distance
 *  + \a Section       : EdgeRegistrationDeciderParameters
 *  + \a Default value : 10 // meters
 *  + \a Required      : FALSE
 *  + \a Description   : Maximum distance for scan-matching. Decider tries to
 *  align the laser scans of the current node and each of the previous nodes
 *  that are found within the designated ICP_max_distance.
 *
 * - \b ICP_goodness_thresh
 *   + \a Section       : EdgeRegistrationDeciderParameters
 *   + \a Default value : 0.75
 *   + \a Required      : FALSE
 *   + \a Description   : Threshold for accepting a scan-matching edge between
 *   the current and previous nodes
 *
 * - \b visualize_laser_scans
 *   + \a Section       : VisualizationParameters
 *   + \a Default value : TRUE
 *   + \a Required      : FALSE
 *
 * - \b scans_img_external_dir
 *   + \a Section       : EdgeRegistrationDeciderParameters
 *   + \a Default value : . (current directory)
 *   + \a Required      : FALSE
 *   + \a Description   : Only applicable in datasets with 3DRangeScans that
 *   are externally stored (not stored in the given .rawlog file).
 *
 * \ingroup mrpt_graphslam_grp
 */
template <class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
class CICPCriteriaERD
        : public mrpt::graphslam::deciders::CRangeScanEdgeRegistrationDecider<
                  GRAPH_T>
{
   public:
        /**\brief Handy typedefs */
        /**\{*/
        /**\brief type of graph constraints */
        typedef typename GRAPH_T::constraint_t constraint_t;
        /**\brief type of underlying poses (2D/3D). */
        typedef typename GRAPH_T::constraint_t::type_value pose_t;
        typedef CRangeScanEdgeRegistrationDecider<GRAPH_T> parent_t;
        typedef typename parent_t::range_ops_t range_ops_t;
        typedef CICPCriteriaERD<GRAPH_T>
                decider_t; /**< self type - Handy typedef */
        typedef typename parent_t::nodes_to_scans2D_t nodes_to_scans2D_t;
        /**\}*/

        // Public methods
        //////////////////////////////////////////////////////////////
        CICPCriteriaERD();
        ~CICPCriteriaERD();

        bool updateState(
                mrpt::obs::CActionCollection::Ptr action,
                mrpt::obs::CSensoryFrame::Ptr observations,
                mrpt::obs::CObservation::Ptr observation);

        void notifyOfWindowEvents(
                const std::map<std::string, bool>& events_occurred);
        void getEdgesStats(std::map<std::string, int>* edge_types_to_num) const;

        void initializeVisuals();
        void updateVisuals();
        void loadParams(const std::string& source_fname);
        void printParams() const;

        struct TParams : public mrpt::utils::CLoadableOptions
        {
           public:
                TParams(decider_t& d);
                ~TParams();

                void loadFromConfigFile(
                        const mrpt::utils::CConfigFileBase& source,
                        const std::string& section);
                void dumpToTextStream(mrpt::utils::CStream& out) const;

                decider_t& decider;
                // maximum distance for checking other nodes for ICP constraints
                double ICP_max_distance;
                // threshold for accepting an ICP constraint in the graph
                double ICP_goodness_thresh;
                size_t LC_min_nodeid_diff;
                bool visualize_laser_scans;
                // keystroke to be used for the user to toggle the LaserScans from
                // the CDisplayWindow
                std::string keystroke_laser_scans;

                std::string scans_img_external_dir;

                bool has_read_config;
        };
        void getDescriptiveReport(std::string* report_str) const;

        // Public variables
        // ////////////////////////////
        TParams params;

   protected:
        // protected functions
        //////////////////////////////////////////////////////////////
        void checkRegistrationCondition2D(
                const std::set<mrpt::utils::TNodeID>& nodes_set);
        void checkRegistrationCondition3D(
                const std::set<mrpt::utils::TNodeID>& nodes_set);
        void registerNewEdge(
                const mrpt::utils::TNodeID& from, const mrpt::utils::TNodeID& to,
                const constraint_t& rel_edge);
        void checkIfInvalidDataset(
                mrpt::obs::CActionCollection::Ptr action,
                mrpt::obs::CSensoryFrame::Ptr observations,
                mrpt::obs::CObservation::Ptr observation);
        /**\brief Get a list of the nodeIDs whose position is within a certain
         * distance to the specified nodeID
         */
        void getNearbyNodesOf(
                std::set<mrpt::utils::TNodeID>* nodes_set,
                const mrpt::utils::TNodeID& cur_nodeID, double distance);
        /**\brief togle the LaserScans visualization on and off
         */
        void toggleLaserScansVisualization();
        void dumpVisibilityErrorMsg(
                std::string viz_flag, int sleep_time = 500 /* ms */);

        // protected variables
        //////////////////////////////////////////////////////////////

        /** see Constructor for initialization */
        mrpt::utils::TColor m_search_disk_color;
        /** see Constructor for initialization */
        mrpt::utils::TColor m_laser_scans_color;
        double m_offset_y_search_disk;
        int m_text_index_search_disk;

        std::map<mrpt::utils::TNodeID, mrpt::obs::CObservation2DRangeScan::Ptr>
                m_nodes_to_laser_scans2D;
        std::map<mrpt::utils::TNodeID, mrpt::obs::CObservation3DRangeScan::Ptr>
                m_nodes_to_laser_scans3D;
        std::map<std::string, int> m_edge_types_to_nums;
        bool m_is_using_3DScan;

        mrpt::obs::CObservation2DRangeScan::Ptr m_last_laser_scan2D;
        mrpt::obs::CObservation3DRangeScan::Ptr m_last_laser_scan3D;
        // fake 2D laser scan generated from corresponding 3DRangeScan for
        // visualization reasons
        mrpt::obs::CObservation2DRangeScan::Ptr m_fake_laser_scan2D;
};
}
}
}  // end of namespaces

#include "CICPCriteriaERD_impl.h"
#endif /* end of include guard: CICPCRITERIAERD_H */