CIncrementalMapPartitioner.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2019, 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 "slam-precomp.h"  // Precompiled headers

#include <mrpt/config/CConfigFilePrefixer.h>
#include <mrpt/graphs/CGraphPartitioner.h>
#include <mrpt/maps/CMultiMetricMap.h>
#include <mrpt/opengl/CGridPlaneXY.h>
#include <mrpt/opengl/CSetOfObjects.h>
#include <mrpt/opengl/CSimpleLine.h>
#include <mrpt/opengl/CSphere.h>
#include <mrpt/poses/CPose3DPDFParticles.h>
#include <mrpt/poses/CPosePDFParticles.h>
#include <mrpt/serialization/stl_serialization.h>
#include <mrpt/slam/CIncrementalMapPartitioner.h>
#include <mrpt/slam/observations_overlap.h>
#include <mrpt/system/CTicTac.h>
#include <Eigen/Dense>

using namespace mrpt::slam;
using namespace mrpt::obs;
using namespace mrpt::maps;
using namespace mrpt::math;
using namespace mrpt::graphs;
using namespace mrpt::poses;
using namespace mrpt;
using namespace std;

IMPLEMENTS_SERIALIZABLE(CIncrementalMapPartitioner, CSerializable, mrpt::slam)

static double eval_similarity_metric_map_matching(
    const CIncrementalMapPartitioner* parent, const map_keyframe_t& kf1,
    const map_keyframe_t& kf2, const mrpt::poses::CPose3D& relPose2wrt1)
{
    return kf1.metric_map->compute3DMatchingRatio(
        kf2.metric_map.get(), relPose2wrt1, parent->options.mrp);
}
static double eval_similarity_observation_overlap(
    const map_keyframe_t& kf1, const map_keyframe_t& kf2,
    const mrpt::poses::CPose3D& relPose2wrt1)
{
    return observationsOverlap(
        kf1.raw_observations, kf2.raw_observations, &relPose2wrt1);
}

CIncrementalMapPartitioner::TOptions::TOptions()
{
    CSimplePointsMap::TMapDefinition def;
    metricmap.push_back(def);
}

void CIncrementalMapPartitioner::TOptions::loadFromConfigFile(
    const mrpt::config::CConfigFileBase& source, const string& section)
{
    MRPT_START

    MRPT_LOAD_CONFIG_VAR(partitionThreshold, double, source, section);
    MRPT_LOAD_CONFIG_VAR(forceBisectionOnly, bool, source, section);
    MRPT_LOAD_CONFIG_VAR(simil_method, enum, source, section);
    MRPT_LOAD_CONFIG_VAR(
        minimumNumberElementsEachCluster, uint64_t, source, section);
    MRPT_LOAD_HERE_CONFIG_VAR(
        "minDistForCorrespondence", double, mrp.maxDistForCorr, source,
        section);
    MRPT_LOAD_HERE_CONFIG_VAR(
        "minMahaDistForCorrespondence", double, mrp.maxMahaDistForCorr, source,
        section);
    MRPT_LOAD_CONFIG_VAR(maxKeyFrameDistanceToEval, uint64_t, source, section);

    mrpt::config::CConfigFilePrefixer cfp(
        source, section + std::string("."), "");
    metricmap.loadFromConfigFile(cfp, "metricmap");
    MRPT_TODO("Add link to example INI file");

    MRPT_END
}

void CIncrementalMapPartitioner::TOptions::saveToConfigFile(
    mrpt::config::CConfigFileBase& c, const std::string& s) const
{
    MRPT_SAVE_CONFIG_VAR_COMMENT(
        partitionThreshold, "N-cut partition threshold [0,2]");
    MRPT_SAVE_CONFIG_VAR_COMMENT(
        forceBisectionOnly,
        "Force bisection (true) or automatically determine number of "
        "partitions(false = default)");
    MRPT_SAVE_CONFIG_VAR_COMMENT(simil_method, "Similarity method");
    MRPT_SAVE_CONFIG_VAR_COMMENT(minimumNumberElementsEachCluster, "");
    MRPT_SAVE_CONFIG_VAR_COMMENT(
        maxKeyFrameDistanceToEval, "Max KF ID distance");
    c.write(
        s, "minDistForCorrespondence", mrp.maxDistForCorr,
        mrpt::config::MRPT_SAVE_NAME_PADDING(),
        mrpt::config::MRPT_SAVE_VALUE_PADDING());
    c.write(
        s, "minMahaDistForCorrespondence", mrp.maxMahaDistForCorr,
        mrpt::config::MRPT_SAVE_NAME_PADDING(),
        mrpt::config::MRPT_SAVE_VALUE_PADDING());

    mrpt::config::CConfigFilePrefixer cfp(c, s + std::string("."), "");
    metricmap.saveToConfigFile(cfp, "metricmap");
}

void CIncrementalMapPartitioner::clear()
{
    m_last_last_partition_are_new_ones = false;
    m_A.setSize(0, 0);
    m_individualFrames.clear();  // Free the map...
    m_individualMaps.clear();
    m_last_partition.clear();  // Delete last partitions
}

uint32_t CIncrementalMapPartitioner::addMapFrame(
    const mrpt::obs::CSensoryFrame& frame,
    const mrpt::poses::CPose3DPDF& robotPose)
{
    MRPT_START

    const uint32_t new_id = m_individualMaps.size();
    const size_t n = new_id + 1;  // new size

    // Create new new metric map:
    m_individualMaps.push_back(CMultiMetricMap::Create());
    auto& newMetricMap = m_individualMaps.back();
    newMetricMap->setListOfMaps(options.metricmap);

    // Build robo-centric map for each keyframe:
    frame.insertObservationsInto(newMetricMap.get());

    // Add tuple (pose,SF) to "simplemap":
    m_individualFrames.insert(&robotPose, frame);

    // Expand the adjacency matrix (pads with 0)
    m_A.setSize(n, n);

    ASSERT_(m_individualMaps.size() == n);
    ASSERT_(m_individualFrames.size() == n);

    // Select method to evaluate similarity:
    similarity_func_t sim_func;
    using namespace std::placeholders;  // for _1, _2 etc.
    switch (options.simil_method)
    {
        case smMETRIC_MAP_MATCHING:
            sim_func = std::bind(
                &eval_similarity_metric_map_matching, this, _1, _2, _3);
            break;
        case smOBSERVATION_OVERLAP:
            sim_func = &eval_similarity_observation_overlap;
            break;
        case smCUSTOM_FUNCTION:
            sim_func = m_sim_func;
            break;
        default:
            THROW_EXCEPTION("Invalid value for `simil_method`");
    };

    // Evaluate the similarity metric for the last row & column:
    // (0:new_id, new_id)  and (new_id, 0:new_id)
    // ----------------------------------------------------------------
    {
        auto i = new_id;

        // KF "i":
        map_keyframe_t map_i;
        map_i.kf_id = i;
        map_i.metric_map = m_individualMaps[i];
        CPose3DPDF::Ptr posePDF_i;
        m_individualFrames.get(i, posePDF_i, map_i.raw_observations);
        auto pose_i = posePDF_i->getMeanVal();

        for (uint32_t j = 0; j < new_id; j++)
        {
            const auto id_diff = new_id - j;
            double s_sym;
            if (id_diff > options.maxKeyFrameDistanceToEval)
            {
                // skip evaluation
                s_sym = .0;
            }
            else
            {
                // KF "j":
                map_keyframe_t map_j;
                CPose3DPDF::Ptr posePDF_j;
                map_j.kf_id = j;
                m_individualFrames.get(j, posePDF_j, map_j.raw_observations);
                auto pose_j = posePDF_j->getMeanVal();
                map_j.metric_map = m_individualMaps[j];

                auto relPose = pose_j - pose_i;

                // Evaluate similarity metric & make it symetric:
                const auto s_ij = sim_func(map_i, map_j, relPose);
                const auto s_ji = sim_func(map_j, map_i, relPose);
                s_sym = 0.5 * (s_ij + s_ji);
            }
            m_A(i, j) = m_A(j, i) = s_sym;
        }  // for j
    }  // i=n-1=new_id

    // Self-similatity: Not used
    m_A(new_id, new_id) = 0;

    // If a partition has been already computed, add these new keyframes
    // into a new partition on its own. When the user calls updatePartitions()
    // all keyframes will be re-distributed according to the real similarity
    // scores.
    if (m_last_last_partition_are_new_ones)
    {
        // Insert into the "new_ones" partition:
        m_last_partition[m_last_partition.size() - 1].push_back(n - 1);
    }
    else
    {
        // Add a new partition:
        std::vector<uint32_t> dummyPart;
        dummyPart.push_back(n - 1);
        m_last_partition.emplace_back(dummyPart);

        // The last one is the new_ones partition:
        m_last_last_partition_are_new_ones = true;
    }

    return n - 1;  // Index of the new node

    MRPT_END
}

void CIncrementalMapPartitioner::updatePartitions(
    vector<std::vector<uint32_t>>& partitions)
{
    MRPT_START

    partitions.clear();
    CGraphPartitioner<CMatrixD>::RecursiveSpectralPartition(
        m_A, partitions, options.partitionThreshold, true, true,
        !options.forceBisectionOnly, options.minimumNumberElementsEachCluster,
        false /* verbose */
    );

    m_last_partition = partitions;
    m_last_last_partition_are_new_ones = false;

    MRPT_END
}

size_t CIncrementalMapPartitioner::getNodesCount()
{
    return m_individualFrames.size();
}

void CIncrementalMapPartitioner::removeSetOfNodes(
    std::vector<uint32_t> indexesToRemove, bool changeCoordsRef)
{
    MRPT_START

    size_t nOld = m_A.cols();
    size_t nNew = nOld - indexesToRemove.size();
    size_t i, j;

    // Assure indexes are sorted:
    std::sort(indexesToRemove.begin(), indexesToRemove.end());

    ASSERT_(nNew >= 1);

    // Build the vector with the nodes that REMAINS;
    std::vector<uint32_t> indexesToStay;
    indexesToStay.reserve(nNew);
    for (i = 0; i < nOld; i++)
    {
        bool remov = false;
        for (j = 0; !remov && j < indexesToRemove.size(); j++)
        {
            if (indexesToRemove[j] == i) remov = true;
        }

        if (!remov) indexesToStay.push_back(i);
    }

    ASSERT_(indexesToStay.size() == nNew);

    // Update the A matrix:
    // ---------------------------------------------------
    CMatrixDouble newA(nNew, nNew);
    for (i = 0; i < nNew; i++)
        for (j = 0; j < nNew; j++)
            newA(i, j) = m_A(indexesToStay[i], indexesToStay[j]);

    // Substitute "A":
    m_A = newA;

    // The last partitioning is all the nodes together:
    // --------------------------------------------------
    m_last_partition.resize(1);
    m_last_partition[0].resize(nNew);
    for (i = 0; i < nNew; i++) m_last_partition[0][i] = i;

    m_last_last_partition_are_new_ones = false;

    // The new sequence of maps:
    // --------------------------------------------------
    for (auto it = indexesToRemove.rbegin(); it != indexesToRemove.rend(); ++it)
    {
        auto itM = m_individualMaps.begin() + *it;
        m_individualMaps.erase(itM);  // Delete from list
    }

    // The new sequence of localized SFs:
    // --------------------------------------------------
    for (auto it = indexesToRemove.rbegin(); it != indexesToRemove.rend(); ++it)
        m_individualFrames.remove(*it);

    // Change coordinates reference of frames:
    CSensoryFrame::Ptr SF;
    CPose3DPDF::Ptr posePDF;

    if (changeCoordsRef)
    {
        ASSERT_(m_individualFrames.size() > 0);
        m_individualFrames.get(0, posePDF, SF);

        CPose3D p;
        posePDF->getMean(p);
        m_individualFrames.changeCoordinatesOrigin(p);
    }

    // All done!
    MRPT_END
}

void CIncrementalMapPartitioner::changeCoordinatesOrigin(
    const CPose3D& newOrigin)
{
    m_individualFrames.changeCoordinatesOrigin(newOrigin);
}

void CIncrementalMapPartitioner::changeCoordinatesOriginPoseIndex(
    unsigned int newOriginPose)
{
    MRPT_START

    CPose3DPDF::Ptr pdf;
    CSensoryFrame::Ptr sf;
    m_individualFrames.get(newOriginPose, pdf, sf);

    CPose3D p;
    pdf->getMean(p);
    changeCoordinatesOrigin(-p);

    MRPT_END
}

void CIncrementalMapPartitioner::getAs3DScene(
    mrpt::opengl::CSetOfObjects::Ptr& objs,
    const std::map<uint32_t, int64_t>* renameIndexes) const
{
    objs->clear();
    ASSERT_((int)m_individualFrames.size() == m_A.cols());

    auto gl_grid = opengl::CGridPlaneXY::Create();
    objs->insert(gl_grid);
    int bbminx = std::numeric_limits<int>::max(),
        bbminy = std::numeric_limits<int>::max();
    int bbmaxx = -bbminx, bbmaxy = -bbminy;

    for (size_t i = 0; i < m_individualFrames.size(); i++)
    {
        CPose3DPDF::Ptr i_pdf;
        CSensoryFrame::Ptr i_sf;
        m_individualFrames.get(i, i_pdf, i_sf);

        CPose3D i_mean;
        i_pdf->getMean(i_mean);

        mrpt::keep_min(bbminx, (int)floor(i_mean.x()));
        mrpt::keep_min(bbminy, (int)floor(i_mean.y()));
        mrpt::keep_max(bbmaxx, (int)ceil(i_mean.x()));
        mrpt::keep_max(bbmaxy, (int)ceil(i_mean.y()));

        opengl::CSphere::Ptr i_sph = std::make_shared<opengl::CSphere>();
        i_sph->setRadius(0.02f);
        i_sph->setColor(0, 0, 1);

        if (!renameIndexes)
            i_sph->setName(format("%u", static_cast<unsigned int>(i)));
        else
        {
            auto itName = renameIndexes->find(i);
            ASSERT_(itName != renameIndexes->end());
            i_sph->setName(
                format("%lu", static_cast<unsigned long>(itName->second)));
        }

        i_sph->enableShowName();
        i_sph->setPose(i_mean);

        objs->insert(i_sph);

        // Arcs:
        for (size_t j = i + 1; j < m_individualFrames.size(); j++)
        {
            CPose3DPDF::Ptr j_pdf;
            CSensoryFrame::Ptr j_sf;
            m_individualFrames.get(j, j_pdf, j_sf);

            CPose3D j_mean;
            j_pdf->getMean(j_mean);

            float SSO_ij = m_A(i, j);

            if (SSO_ij > 0.01)
            {
                opengl::CSimpleLine::Ptr lin =
                    std::make_shared<opengl::CSimpleLine>();
                lin->setLineCoords(
                    i_mean.x(), i_mean.y(), i_mean.z(), j_mean.x(), j_mean.y(),
                    j_mean.z());

                lin->setColor(SSO_ij, 0, 1 - SSO_ij, SSO_ij * 0.6);
                lin->setLineWidth(SSO_ij * 10);

                objs->insert(lin);
            }
        }
    }
    gl_grid->setPlaneLimits(bbminx, bbmaxx, bbminy, bbmaxy);
    gl_grid->setGridFrequency(5);
}

void CIncrementalMapPartitioner::serializeFrom(
    mrpt::serialization::CArchive& in, uint8_t version)
{
    switch (version)
    {
        case 0:
        case 1:
        {
            in >> m_individualFrames >> m_individualMaps >> m_A >>
                m_last_partition >> m_last_last_partition_are_new_ones;
            if (version == 0)
            {
                // field removed in v1
                std::vector<uint8_t> old_modified_nodes;
                in >> old_modified_nodes;
            }
        }
        break;
        default:
            MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version);
    };
}

uint8_t CIncrementalMapPartitioner::serializeGetVersion() const { return 1; }
void CIncrementalMapPartitioner::serializeTo(
    mrpt::serialization::CArchive& out) const
{
    out << m_individualFrames << m_individualMaps << m_A << m_last_partition
        << m_last_last_partition_are_new_ones;
}