CLevMarqGSO.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, 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_H
#define CLEVMARQGSO_H
 
#include <mrpt/obs/CSensoryFrame.h>
#include <mrpt/config/CLoadableOptions.h>
#include <mrpt/config/CConfigFileBase.h>
#include <mrpt/img/TColor.h>
#include <mrpt/opengl/CRenderizable.h>
#include <mrpt/poses/CPose2D.h>
#include <mrpt/poses/CPose3D.h>
 
#include <mrpt/graphslam/levmarq.h>
#include <mrpt/graphslam/interfaces/CGraphSlamOptimizer.h>
 
#include <iostream>
#include <string>
#include <map>
#include <cmath>  // fabs function
 
namespace mrpt::graphslam::optimizers
{
/**\brief Levenberg-Marquardt non-linear graph slam optimization scheme.
 *
 * ## Description
 *
 * Current decider optimizes the graph according to the
 * graphslam::optimize_spa_levmarq method. Refer to the latter for more
 * details on the implementation.
 *
 * ### .ini Configuration Parameters
 *
 * \htmlinclude graphslam-engine_config_params_preamble.txt
 *
 * - \b class_verbosity
 *   + \a Section       : OptimizerParameters
 *   + \a Default value : 1 (mrpt::system::LVL_INFO)
 *   + \a Required      : FALSE
 *
 * - \b optimization_on_second_thread
 *   + \a Section       : OptimizerParameters
 *   + \a Default value :  FALSE
 *   + \a Required      : FALSE
 *   + \a Description   : Specify whether to use a second thread to optimize
 *   the graph.
 *
 * - \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 optimization_distance
 *  + \a Section       : OptimizerParameters
 *  + \a Default value : 5
 *  + \a Required      : FALSE
 *  + \a Description   : Positions of the nodes within the specified distance
 from the current
 *  graph node are optimized according to the corresponding constraints between
 *  them
 *
 * - \b verbose
 *  + \a Section       : OptimizerParameters
 *  + \a Default value : FALSE
 *  + \a Required      : FALSE
 *  + \a Description   : Refers to the Levenberg-Marquardt optimization.
 *  procedure
 *
 * - \b profiler
 *  + \a Section       : OptimizerParameters
 *  + \a Default value : FALSE
 *  + \a Required      : FALSE
 *  + \a Description   : Refers to the Levenberg-Marquardt optimization.
 *  procedure
 *
 * - \b max_iterations
 *  + \a Section       : OptimizerParameters
 *  + \a Default value : 100
 *  + \a Required      : FALSE
 *  + \a Description   : Refers to the Levenberg-Marquardt optimization. Sets
 *  the maximum number of iterations of the optimization scheme.
 *
 * - \b scale_hessian
 *  + \a Section       : OptimizerParameters
 *  + \a Default value : 0.2
 *  + \a Required      : FALSE
 *  + \a Description   : Refers to the Levenberg-Marquardt optimization.
 *
 * - \b tau
 *  + \a Section       : OptimizerParameters
 *  + \a Default value : 1e-3
 *  + \a Required      : FALSE
 *  + \a Description   : Refers to the Levenberg-Marquardt optimization.
 *
 *  \note For a detailed description of the optimization parameters of the
 *  Levenberg-Marquardt scheme, refer to
 *
 http://reference.mrpt.org/devel/group__mrpt__graphslam__grp.html#ga022f4a70be5ec7c432f46374e4bb9d66
 *
 *  \note For a detailed description of the graph visualization parameters
 *  refer to
 *
 http://reference.mrpt.org/devel/group__mrpt__opengl__grp.html#ga30efc9f6fcb49801e989d174e0f65a61
 
 *
 * \ingroup mrpt_graphslam_grp
 */
template <class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
class CLevMarqGSO
    : public mrpt::graphslam::optimizers::CGraphSlamOptimizer<GRAPH_T>
{
   public:
    // Public methods
    //////////////////////////////////////////////////////////////
    /**\brief Handy typedefs */
    /**\{*/
    using constraint_t = typename GRAPH_T::constraint_t;
    /** type of underlying poses (2D/3D)*/
    using pose_t = typename GRAPH_T::constraint_t::type_value;
    using InfMat = mrpt::math::CMatrixFixedNumeric<
        double, constraint_t::state_length, constraint_t::state_length>;
    using grandpa = mrpt::graphslam::CRegistrationDeciderOrOptimizer<GRAPH_T>;
    using parent = mrpt::graphslam::optimizers::CGraphSlamOptimizer<GRAPH_T>;
    /**\}*/
 
    CLevMarqGSO();
    ~CLevMarqGSO();
 
    bool updateState(
        mrpt::obs::CActionCollection::Ptr action,
        mrpt::obs::CSensoryFrame::Ptr observations,
        mrpt::obs::CObservation::Ptr observation);
 
    void initializeVisuals();
    void updateVisuals();
    /**\brief Get a list of the window events that happened since the last
     * call.
     */
    void notifyOfWindowEvents(
        const std::map<std::string, bool>& events_occurred);
    /**\brief Struct for holding the optimization-related variables in a
     * compact form
     */
    struct OptimizationParams : public mrpt::config::CLoadableOptions
    {
       public:
        OptimizationParams();
        ~OptimizationParams();
 
        void loadFromConfigFile(
            const mrpt::config::CConfigFileBase& source,
            const std::string& section);
        void dumpToTextStream(std::ostream& out) const;
 
        mrpt::system::TParametersDouble cfg;
        // True if optimization procedure is to run in a multithreading fashion
        bool optimization_on_second_thread;
 
        /**\brief optimize only for the nodes found in a certain distance from
         * the current position. Optimize for the entire graph if set to1
         */
        double optimization_distance;
        double offset_y_optimization_distance;
        int text_index_optimization_distance;
        mrpt::img::TColor optimization_distance_color;
        /**\brief Keystroke to toggle the optimization distance on/off */
        std::string keystroke_optimization_distance;
        /**\brief Keystroke to manually trigger a full graph optimization */
        std::string keystroke_optimize_graph;
 
        // nodeID difference for an edge to be considered loop closure
        int LC_min_nodeid_diff;
 
        // Map of TPairNodesID to their corresponding edge as recorded in the
        // last update of the optimizer state
        typename GRAPH_T::edges_map_t last_pair_nodes_to_edge;
    };
 
    /**\brief struct for holding the graph visualization-related variables in a
     * compact form
     */
    struct GraphVisualizationParams : public mrpt::config::CLoadableOptions
    {
       public:
        GraphVisualizationParams();
        ~GraphVisualizationParams();
 
        void loadFromConfigFile(
            const mrpt::config::CConfigFileBase& source,
            const std::string& section);
        void dumpToTextStream(std::ostream& out) const;
 
        mrpt::system::TParametersDouble cfg;
        bool visualize_optimized_graph;
        // textMessage parameters
        std::string keystroke_graph_toggle;  // see Ctor for initialization
        std::string keystroke_graph_autofit;  // see Ctor for initialization
        int text_index_graph;
        double offset_y_graph;
    };
 
    void loadParams(const std::string& source_fname);
    void printParams() const;
    void getDescriptiveReport(std::string* report_str) const;
 
    bool justFullyOptimizedGraph() const;
 
    // Public members
    // ////////////////////////////
    /** Parameters relevant to the optimizatio nfo the graph. */
    OptimizationParams opt_params;
    /** Parameters relevant to the visualization of the graph. */
    GraphVisualizationParams viz_params;
 
   protected:
    // protected methods
    // ////////////////////////////
 
    /**\brief Feedback of the Levenberg-Marquardt graph optimization procedure.
     *
     */
    static void levMarqFeedback(
        const GRAPH_T& graph, const size_t iter, const size_t max_iter,
        const double cur_sq_error);
 
    /**\brief Optimize the given graph.
     *
     * Wrapper around the graphslam::optimize_spa_levmarq method
     * \sa optimize_spa_levmarq, optimizeGraph
     *
     * \param[in] full_update Impose that method optimizes the whole graph
     *
     */
    void _optimizeGraph(bool is_full_update = false);
    /** \brief Wrapper around _optimizeGraph which first locks the section and
     * then calls the _optimizeGraph method.
     *
     * Used in multithreaded optimization
     * \sa _optimizeGraph()
     */
    void optimizeGraph();
    /**\brief Check if a loop closure edge was added in the graph.
     *
     * Match the previously registered edges in the graph with the current. If
     * there is a node difference *in any new edge* greater than
     * \b LC_min_nodeid_diff (see .ini parameter) then new constraint is
     * considered a Loop Closure
     *
     * \return True if \b any of the newly added edges is considered a loop
     * closure
     */
    bool checkForLoopClosures();
    /**\brief Decide whether to issue a full graph optimization
     *
     * In case N consecutive full optimizations have been issued, skip some of
     * the next as they slow down the overall execution and they don't reduce
     * the overall error
     *
     * \return True for issuing a full graph optimization, False otherwise
     */
    bool checkForFullOptimization();
    /**\brief Initialize objects relateed to the Graph Visualization
     */
    void initGraphVisualization();
    /**\brief Called internally for updating the visualization scene for the
     * graph
     * building procedure
     */
    inline void updateGraphVisualization();
    /**\brief Toggle the graph visualization on and off.
     */
    void toggleGraphVisualization();
    /**\brief Set the camera parameters of the CDisplayWindow3D so that the
     * whole
     * graph is viewed in the window.
     *
     * \warning Method assumes that the COpenGLinstance *is not locked* prior to
     * this
     * call, so make sure you have issued
     * CDisplayWindow3D::unlockAccess3DScene() before calling this method.
     */
    inline void fitGraphInView();
 
    /**\brief Initialize the Disk/Sphere used for visualizing the optimization
     * distance.
     */
    /**\{*/
    void initOptDistanceVisualization();
    /**\brief Setup the corresponding Disk/Sphere instance.
     *
     * Method overloads are used to overcome the C++ specialization
     * restrictions
     *
     * \return Disk/Sphere instance for 2D/3D SLAM respectively
     */
    /**\{*/
    mrpt::opengl::CRenderizable::Ptr initOptDistanceVisualizationInternal(
        const mrpt::poses::CPose2D& p_unused);
    mrpt::opengl::CRenderizable::Ptr initOptDistanceVisualizationInternal(
        const mrpt::poses::CPose3D& p_unused);
    /**\}*/
 
    /**\}*/
 
    /**\brief Update the position of the disk indicating the distance in which
     * Levenberg-Marquardt graph optimization is executed
     */
    inline void updateOptDistanceVisualization();
    /**\brief toggle the optimization distance object on and off
     */
    void toggleOptDistanceVisualization();
    /**\brief Get a list of the nodeIDs whose position is within a certain
     * distance to the specified nodeID
     */
    void getNearbyNodesOf(
        std::set<mrpt::graphs::TNodeID>* nodes_set,
        const mrpt::graphs::TNodeID& cur_nodeID, double distance);
 
    // protected members
    //////////////////////////////////////////////////////////////
 
    bool m_first_time_call;
    bool m_has_read_config;
    bool registered_new_node;
    bool m_autozoom_active;
 
    // start optimizing the graph after a certain number of nodes has been
    // added (when m_graph->nodeCount() > m_last_total_num_of_nodes)
    size_t m_last_total_num_of_nodes;
 
    // Use second thread for graph optimization
    std::thread m_thread_optimize;
 
    /**\brief Enumeration that defines the behaviors towards using or ignoring a
     * newly added loop closure to fully optimize the graph
     */
    enum FullOptimizationPolicy
    {
        FOP_IGNORE_LC = 0,
        FOP_USE_LC,
        FOP_TOTAL_NUM
    };
    /**\brief Should I fully optimize the graph on loop closure?
     */
    FullOptimizationPolicy m_optimization_policy;
    /**\name Smart Full-Optimization Command
     *
     * Instead of issuing a full optimization every time a loop closure is
     * detected, ignore current loop closure when enough consecutive loop
     * closures have already been utilised.
     * This avoids the added computational cost that is needed for optimizing
     * the graph without reducing the accuracy of the overall operation
     */
    /**\{*/
 
    /**\brief Number of maximum cosecutive loop closures that are allowed to be
     * issued.
     *
     * \sa m_curr_used_consec_lcs, m_max_ignored_consec_lcs
     */
    size_t m_max_used_consec_lcs;
    /**\brief Number of consecutive loop closures that are currently registered
     *
     * \sa m_max_used_consec_lcs
     */
    size_t m_curr_used_consec_lcs;
    /**\brief Number of consecutive loop closures to ignore after \b
     * m_max_used_consec_lcs have already been issued.
     *
     * \sa m_curr_ignored_consec_lcs, m_max_used_consec_lcs
     */
    size_t m_max_ignored_consec_lcs;
    /**\brief Consecutive Loop Closures that have currently been ignored
     *
     * \sa m_max_ignored_consec_lcs
     */
    size_t m_curr_ignored_consec_lcs;
 
    /**\}*/
 
    /**\brief Indicates whether a full graph optimization was just issued.
     */
    bool m_just_fully_optimized_graph;
 
    /**\brief Minimum number of nodes before we try optimizing the graph */
    size_t m_min_nodes_for_optimization;
};
}
#include "CLevMarqGSO_impl.h"
 
#endif /* end of include guard: CLEVMARQGSO_H */