CICPCriteriaERD.h

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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          |
   +------------------------------------------------------------------------+ */

#pragma once

#include <mrpt/config/CConfigFileBase.h>
#include <mrpt/config/CLoadableOptions.h>
#include <mrpt/img/TColor.h>
#include <mrpt/obs/CActionCollection.h>
#include <mrpt/obs/CObservation2DRangeScan.h>
#include <mrpt/obs/CObservation3DRangeScan.h>
#include <mrpt/obs/CSensoryFrame.h>
#include <mrpt/slam/CICP.h>

#include <map>
#include <set>
#include <string>

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

namespace mrpt::graphslam::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 (mrpt::system::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 */
    using constraint_t = typename GRAPH_T::constraint_t;
    /**\brief type of underlying poses (2D/3D). */
    using pose_t = typename GRAPH_T::constraint_t::type_value;
    using parent_t = CRangeScanEdgeRegistrationDecider<GRAPH_T>;
    using range_ops_t = typename parent_t::range_ops_t;
    /** self type - Handy type */
    using decider_t = CICPCriteriaERD<GRAPH_T>;
    using nodes_to_scans2D_t = typename parent_t::nodes_to_scans2D_t;
    /**\}*/

    // Public methods
    //////////////////////////////////////////////////////////////
    CICPCriteriaERD();
    ~CICPCriteriaERD() override = default;

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

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

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

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

        void loadFromConfigFile(
            const mrpt::config::CConfigFileBase& source,
            const std::string& section) override;
        void dumpToTextStream(std::ostream& out) const override;

        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 override;

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

   protected:
    // protected functions
    //////////////////////////////////////////////////////////////
    void checkRegistrationCondition2D(
        const std::set<mrpt::graphs::TNodeID>& nodes_set);
    void checkRegistrationCondition3D(
        const std::set<mrpt::graphs::TNodeID>& nodes_set);
    void registerNewEdge(
        const mrpt::graphs::TNodeID& from, const mrpt::graphs::TNodeID& to,
        const constraint_t& rel_edge) override;
    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::graphs::TNodeID>* nodes_set,
        const mrpt::graphs::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::img::TColor m_search_disk_color;
    /** see Constructor for initialization */
    mrpt::img::TColor m_laser_scans_color;
    double m_offset_y_search_disk;
    int m_text_index_search_disk;

    std::map<mrpt::graphs::TNodeID, mrpt::obs::CObservation2DRangeScan::Ptr>
        m_nodes_to_laser_scans2D;
    std::map<mrpt::graphs::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{false};

    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;
};
}  // namespace mrpt::graphslam::deciders
#include "CICPCriteriaERD_impl.h"