CICPCriteriaERD_impl.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/opengl/CDisk.h>
#include <mrpt/opengl/CPlanarLaserScan.h>

namespace mrpt::graphslam::deciders
{
// Ctors, Dtors
// //////////////////////////////////

template <class GRAPH_T>
CICPCriteriaERD<GRAPH_T>::CICPCriteriaERD()
    : params(*this),  // pass reference to self when initializing the parameters
      m_search_disk_color(142, 142, 56),
      m_laser_scans_color(0, 20, 255)

{
    MRPT_START

    this->initializeLoggers("CICPCriteriaERD");

    // start ICP constraint registration only when
    m_edge_types_to_nums["ICP2D"] = 0;
    m_edge_types_to_nums["ICP3D"] = 0;
    m_edge_types_to_nums["LC"] = 0;

    this->m_last_total_num_nodes = 2;

    MRPT_LOG_DEBUG("Initialized class object");

    MRPT_END
}

// Methods implementations
// //////////////////////////////////

template <class GRAPH_T>
bool CICPCriteriaERD<GRAPH_T>::updateState(
    [[maybe_unused]] mrpt::obs::CActionCollection::Ptr action,
    mrpt::obs::CSensoryFrame::Ptr observations,
    mrpt::obs::CObservation::Ptr observation)
{
    MRPT_START
    using namespace mrpt::obs;

    // check possible prior node registration
    bool registered_new_node = false;

    if (this->m_last_total_num_nodes < this->m_graph->nodeCount())
    {
        registered_new_node = true;
        this->m_last_total_num_nodes = this->m_graph->nodeCount();
        MRPT_LOG_DEBUG("New node has been registered!");
    }

    if (observation)
    {  // observation-only rawlog format
        if (IS_CLASS(*observation, CObservation2DRangeScan))
        {
            m_last_laser_scan2D =
                std::dynamic_pointer_cast<mrpt::obs::CObservation2DRangeScan>(
                    observation);
            m_is_using_3DScan = false;
        }
        if (IS_CLASS(*observation, CObservation3DRangeScan))
        {
            m_last_laser_scan3D =
                std::dynamic_pointer_cast<mrpt::obs::CObservation3DRangeScan>(
                    observation);
            // just load the range/intensity images - CGraphSlanEngine takes
            // care
            // of the path
            m_last_laser_scan3D->load();

            // grab fake 2D range scan for visualization
            this->convert3DTo2DRangeScan(
                /*from = */ m_last_laser_scan3D,
                /*to   = */ &m_fake_laser_scan2D);

            m_is_using_3DScan = true;
        }

        // New node has been registered.
        // add the last laser_scan
        if (registered_new_node)
        {
            if (m_last_laser_scan2D)
            {
                this->m_nodes_to_laser_scans2D[this->m_graph->nodeCount() - 1] =
                    m_last_laser_scan2D;
                MRPT_LOG_DEBUG(mrpt::format(
                    "Added laser scans of nodeID: %u",
                    (unsigned)(this->m_graph->nodeCount() - 1)));
            }
            if (m_last_laser_scan3D)
            {
                m_nodes_to_laser_scans3D[this->m_graph->nodeCount() - 1] =
                    m_last_laser_scan3D;
                MRPT_LOG_DEBUG(mrpt::format(
                    "Added laser scans of nodeID: %u",
                    (unsigned)(this->m_graph->nodeCount() - 1)));
            }
        }
    }
    else
    {  // action-observations rawlog format
        // append current laser scan
        m_last_laser_scan2D =
            observations->getObservationByClass<CObservation2DRangeScan>();
        if (registered_new_node && m_last_laser_scan2D)
        {
            this->m_nodes_to_laser_scans2D[this->m_graph->nodeCount() - 1] =
                m_last_laser_scan2D;
        }
    }

    // edge registration procedure - same for both rawlog formats
    if (registered_new_node)
    {
        // get set of nodes within predefined distance for ICP
        std::set<mrpt::graphs::TNodeID> nodes_to_check_ICP;
        this->getNearbyNodesOf(
            &nodes_to_check_ICP, this->m_graph->nodeCount() - 1,
            params.ICP_max_distance);
        MRPT_LOG_DEBUG_FMT(
            "Found * %lu * nodes close to nodeID %lu",
            nodes_to_check_ICP.size(), this->m_graph->nodeCount() - 1);

        // reset the loop_closure flag and run registration
        this->m_just_inserted_lc = false;
        registered_new_node = false;

        if (m_is_using_3DScan)
        {
            checkRegistrationCondition3D(nodes_to_check_ICP);
        }
        else
        {
            checkRegistrationCondition2D(nodes_to_check_ICP);
        }
    }

    return true;
    MRPT_END
}

template <class GRAPH_T>
void CICPCriteriaERD<GRAPH_T>::checkRegistrationCondition2D(
    const std::set<mrpt::graphs::TNodeID>& nodes_set)
{
    MRPT_START
    using namespace mrpt;
    using namespace mrpt::obs;
    using namespace mrpt::math;

    mrpt::graphs::TNodeID curr_nodeID = this->m_graph->nodeCount() - 1;
    CObservation2DRangeScan::Ptr curr_laser_scan;
    typename nodes_to_scans2D_t::const_iterator search;

    // search for curr_laser_scan
    search = this->m_nodes_to_laser_scans2D.find(curr_nodeID);
    if (search != this->m_nodes_to_laser_scans2D.end())
    {
        curr_laser_scan = search->second;
    }

    // commence only if I have the current laser scan
    if (curr_laser_scan)
    {
        // try adding ICP constraints with each node in the previous set
        for (mrpt::graphs::TNodeID node_it : nodes_set)
        {
            // get the ICP edge between current and last node
            constraint_t rel_edge;
            mrpt::slam::CICP::TReturnInfo icp_info;
            CObservation2DRangeScan::Ptr prev_laser_scan;

            // search for prev_laser_scan
            search = this->m_nodes_to_laser_scans2D.find(node_it);
            if (search != this->m_nodes_to_laser_scans2D.end())
            {
                prev_laser_scan = search->second;

                // make use of initial node position difference for the ICP edge
                pose_t initial_pose = this->m_graph->nodes[curr_nodeID] -
                                      this->m_graph->nodes[node_it];

                this->m_time_logger.enter("CICPCriteriaERD::getICPEdge");
                this->getICPEdge(
                    *prev_laser_scan, *curr_laser_scan, &rel_edge,
                    &initial_pose, &icp_info);
                this->m_time_logger.leave("CICPCriteriaERD::getICPEdge");

                // Debugging statements
                MRPT_LOG_DEBUG_STREAM(
                    ">>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>"
                    ">>>>>>>>>");
                MRPT_LOG_DEBUG_STREAM(
                    "ICP constraint between NON-successive nodes: "
                    << node_it << " => " << curr_nodeID << std::endl
                    << "\tnIterations = " << icp_info.nIterations
                    << "\tgoodness = " << icp_info.goodness);
                MRPT_LOG_DEBUG_STREAM(
                    "ICP_goodness_thresh: " << params.ICP_goodness_thresh);
                MRPT_LOG_DEBUG_STREAM(
                    "<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<"
                    "<<<<<<<<<");

                // criterion for registering a new node
                if (icp_info.goodness > params.ICP_goodness_thresh)
                {
                    this->registerNewEdge(node_it, curr_nodeID, rel_edge);
                    m_edge_types_to_nums["ICP2D"]++;
                    // in case of loop closure
                    if (absDiff(curr_nodeID, node_it) >
                        params.LC_min_nodeid_diff)
                    {
                        m_edge_types_to_nums["LC"]++;
                        this->m_just_inserted_lc = true;
                    }
                }
            }
        }
    }

    MRPT_END
}
template <class GRAPH_T>
void CICPCriteriaERD<GRAPH_T>::checkRegistrationCondition3D(
    const std::set<mrpt::graphs::TNodeID>& nodes_set)
{
    MRPT_START
    using namespace std;
    using namespace mrpt::obs;
    using namespace mrpt::math;

    mrpt::graphs::TNodeID curr_nodeID = this->m_graph->nodeCount() - 1;
    CObservation3DRangeScan::Ptr curr_laser_scan;
    std::map<mrpt::graphs::TNodeID, mrpt::obs::CObservation3DRangeScan::Ptr>::
        const_iterator search;
    // search for curr_laser_scan
    search = m_nodes_to_laser_scans3D.find(curr_nodeID);
    if (search != m_nodes_to_laser_scans3D.end())
    {
        curr_laser_scan = search->second;
    }

    // commence only if I have the current laser scan
    if (curr_laser_scan)
    {
        // try adding ICP constraints with each node in the previous set
        for (mrpt::graphs::TNodeID node_it : nodes_set)
        {
            // get the ICP edge between current and last node
            constraint_t rel_edge;
            mrpt::slam::CICP::TReturnInfo icp_info;
            CObservation3DRangeScan::Ptr prev_laser_scan;

            // search for prev_laser_scan
            search = m_nodes_to_laser_scans3D.find(node_it);
            if (search != m_nodes_to_laser_scans3D.end())
            {
                prev_laser_scan = search->second;

                // TODO - use initial edge estimation
                this->m_time_logger.enter("CICPCriteriaERD::getICPEdge");
                this->getICPEdge(
                    *prev_laser_scan, *curr_laser_scan, &rel_edge, nullptr,
                    &icp_info);
                this->m_time_logger.leave("CICPCriteriaERD::getICPEdge");

                // criterion for registering a new node
                if (icp_info.goodness > params.ICP_goodness_thresh)
                {
                    this->registerNewEdge(node_it, curr_nodeID, rel_edge);
                    m_edge_types_to_nums["ICP3D"]++;
                    // in case of loop closure
                    if (absDiff(curr_nodeID, node_it) >
                        params.LC_min_nodeid_diff)
                    {
                        m_edge_types_to_nums["LC"]++;
                        this->m_just_inserted_lc = true;
                    }
                }
            }
        }
    }

    MRPT_END
}

template <class GRAPH_T>
void CICPCriteriaERD<GRAPH_T>::registerNewEdge(
    const mrpt::graphs::TNodeID& from, const mrpt::graphs::TNodeID& to,
    const constraint_t& rel_edge)
{
    parent_t::registerNewEdge(from, to, rel_edge);

    this->m_graph->insertEdge(from, to, rel_edge);
}

template <class GRAPH_T>
void CICPCriteriaERD<GRAPH_T>::getNearbyNodesOf(
    std::set<mrpt::graphs::TNodeID>* nodes_set,
    const mrpt::graphs::TNodeID& cur_nodeID, double distance)
{
    MRPT_START

    if (distance > 0)
    {
        // check all but the last node.
        for (mrpt::graphs::TNodeID nodeID = 0;
             nodeID < this->m_graph->nodeCount() - 1; ++nodeID)
        {
            double curr_distance = this->m_graph->nodes[nodeID].distanceTo(
                this->m_graph->nodes[cur_nodeID]);
            if (curr_distance <= distance)
            {
                nodes_set->insert(nodeID);
            }
        }
    }
    else
    {  // check against all nodes
        this->m_graph->getAllNodes(*nodes_set);
    }

    MRPT_END
}

template <class GRAPH_T>
void CICPCriteriaERD<GRAPH_T>::notifyOfWindowEvents(
    const std::map<std::string, bool>& events_occurred)
{
    MRPT_START
    parent_t::notifyOfWindowEvents(events_occurred);

    // I know the key exists - I put it there explicitly
    if (events_occurred.find(params.keystroke_laser_scans)->second)
    {
        this->toggleLaserScansVisualization();
    }

    MRPT_END
}

template <class GRAPH_T>
void CICPCriteriaERD<GRAPH_T>::toggleLaserScansVisualization()
{
    MRPT_START
    ASSERTDEBMSG_(this->m_win, "No CDisplayWindow3D* was provided");
    ASSERTDEBMSG_(this->m_win_manager, "No CWindowManager* was provided");

    using namespace mrpt::opengl;

    this->logFmt(
        mrpt::system::LVL_INFO, "Toggling LaserScans visualization...");

    COpenGLScene::Ptr scene = this->m_win->get3DSceneAndLock();

    if (params.visualize_laser_scans)
    {
        CRenderizable::Ptr obj = scene->getByName("laser_scan_viz");
        obj->setVisibility(!obj->isVisible());
    }
    else
    {
        dumpVisibilityErrorMsg("visualize_laser_scans");
    }

    this->m_win->unlockAccess3DScene();
    this->m_win->forceRepaint();

    MRPT_END
}

template <class GRAPH_T>
void CICPCriteriaERD<GRAPH_T>::getEdgesStats(
    std::map<std::string, int>* edge_types_to_num) const
{
    MRPT_START

    *edge_types_to_num = m_edge_types_to_nums;

    MRPT_END
}

template <class GRAPH_T>
void CICPCriteriaERD<GRAPH_T>::initializeVisuals()
{
    MRPT_START
    using namespace mrpt::opengl;
    this->logFmt(mrpt::system::LVL_DEBUG, "Initializing visuals");
    this->m_time_logger.enter("CICPCriteriaERD::Visuals");
    parent_t::initializeVisuals();

    ASSERTDEBMSG_(
        params.has_read_config, "Configuration parameters aren't loaded yet");

    this->m_win_observer->registerKeystroke(
        params.keystroke_laser_scans, "Toggle LaserScans Visualization");

    // ICP_max_distance disk
    if (params.ICP_max_distance > 0)
    {
        COpenGLScene::Ptr scene = this->m_win->get3DSceneAndLock();

        CDisk::Ptr obj = std::make_shared<CDisk>();
        pose_t initial_pose;
        obj->setPose(initial_pose);
        obj->setName("ICP_max_distance");
        obj->setColor_u8(m_search_disk_color);
        obj->setDiskRadius(
            params.ICP_max_distance, params.ICP_max_distance - 0.1);
        scene->insert(obj);

        this->m_win->unlockAccess3DScene();
        this->m_win->forceRepaint();
    }

    // laser scan visualization
    if (params.visualize_laser_scans)
    {
        COpenGLScene::Ptr scene = this->m_win->get3DSceneAndLock();

        CPlanarLaserScan::Ptr laser_scan_viz =
            mrpt::opengl::CPlanarLaserScan::Create();
        laser_scan_viz->enablePoints(true);
        laser_scan_viz->enableLine(true);
        laser_scan_viz->enableSurface(true);
        laser_scan_viz->setSurfaceColor(
            m_laser_scans_color.R, m_laser_scans_color.G, m_laser_scans_color.B,
            m_laser_scans_color.A);

        laser_scan_viz->setName("laser_scan_viz");

        scene->insert(laser_scan_viz);
        this->m_win->unlockAccess3DScene();
        this->m_win->forceRepaint();
    }

    // max distance disk - textMessage
    if (this->m_win && this->m_win_manager && params.ICP_max_distance > 0)
    {
        this->m_win_manager->assignTextMessageParameters(
            &m_offset_y_search_disk, &m_text_index_search_disk);

        this->m_win_manager->addTextMessage(
            5, -m_offset_y_search_disk, "ICP Edges search radius",
            mrpt::img::TColorf(m_search_disk_color),
            /* unique_index = */ m_text_index_search_disk);
    }

    this->m_time_logger.leave("CICPCriteriaERD::Visuals");
    MRPT_END
}
template <class GRAPH_T>
void CICPCriteriaERD<GRAPH_T>::updateVisuals()
{
    MRPT_START
    this->m_time_logger.enter("CICPCriteriaERD::Visuals");
    using namespace mrpt::opengl;
    using namespace mrpt::math;
    using namespace mrpt::poses;
    parent_t::updateVisuals();

    // update ICP_max_distance Disk
    if (this->m_win && params.ICP_max_distance > 0)
    {
        COpenGLScene::Ptr scene = this->m_win->get3DSceneAndLock();

        CRenderizable::Ptr obj = scene->getByName("ICP_max_distance");
        CDisk::Ptr disk_obj = std::dynamic_pointer_cast<CDisk>(obj);

        disk_obj->setPose(this->m_graph->nodes[this->m_graph->nodeCount() - 1]);

        this->m_win->unlockAccess3DScene();
        this->m_win->forceRepaint();
    }

    // update laser scan visual
    if (this->m_win && params.visualize_laser_scans &&
        (m_last_laser_scan2D || m_fake_laser_scan2D))
    {
        COpenGLScene::Ptr scene = this->m_win->get3DSceneAndLock();

        CRenderizable::Ptr obj = scene->getByName("laser_scan_viz");
        CPlanarLaserScan::Ptr laser_scan_viz =
            std::dynamic_pointer_cast<CPlanarLaserScan>(obj);

        // if fake 2D exists use it
        if (m_fake_laser_scan2D)
        {
            laser_scan_viz->setScan(*m_fake_laser_scan2D);
        }
        else
        {
            laser_scan_viz->setScan(*m_last_laser_scan2D);
        }

        // set the pose of the laser scan
        auto search = this->m_graph->nodes.find(this->m_graph->nodeCount() - 1);
        if (search != this->m_graph->nodes.end())
        {
            laser_scan_viz->setPose(
                this->m_graph->nodes[this->m_graph->nodeCount() - 1]);
            // put the laser scan *underneath* the graph, so that you can still
            // visualize the loop closures with the nodes ahead
            laser_scan_viz->setPose(CPose3D(
                laser_scan_viz->getPoseX(), laser_scan_viz->getPoseY(), -0.15,
                DEG2RAD(laser_scan_viz->getPoseYaw()),
                DEG2RAD(laser_scan_viz->getPosePitch()),
                DEG2RAD(laser_scan_viz->getPoseRoll())));
        }

        this->m_win->unlockAccess3DScene();
        this->m_win->forceRepaint();
    }

    this->m_time_logger.leave("CICPCriteriaERD::Visuals");
    MRPT_END
}

template <class GRAPH_T>
void CICPCriteriaERD<GRAPH_T>::dumpVisibilityErrorMsg(
    std::string viz_flag, int sleep_time /* = 500 milliseconds */)
{
    MRPT_START
    using namespace mrpt;

    MRPT_LOG_ERROR_FMT(
        "Cannot toggle visibility of specified object.\n "
        "Make sure that the corresponding visualization flag ( %s "
        ") is set to true in the .ini file.\n",
        viz_flag.c_str());
    std::this_thread::sleep_for(std::chrono::milliseconds(sleep_time));

    MRPT_END
}

template <class GRAPH_T>
void CICPCriteriaERD<GRAPH_T>::loadParams(const std::string& source_fname)
{
    MRPT_START
    parent_t::loadParams(source_fname);

    params.loadFromConfigFileName(
        source_fname, "EdgeRegistrationDeciderParameters");
    MRPT_LOG_DEBUG("Successfully loaded parameters. ");

    // set the logging level if given by the user
    mrpt::config::CConfigFile source(source_fname);
    int min_verbosity_level = source.read_int(
        "EdgeRegistrationDeciderParameters", "class_verbosity", 1, false);
    this->setMinLoggingLevel(mrpt::system::VerbosityLevel(min_verbosity_level));

    MRPT_END
}
template <class GRAPH_T>
void CICPCriteriaERD<GRAPH_T>::printParams() const
{
    MRPT_START
    parent_t::printParams();
    params.dumpToConsole();

    MRPT_END
}

template <class GRAPH_T>
void CICPCriteriaERD<GRAPH_T>::getDescriptiveReport(
    std::string* report_str) const
{
    MRPT_START
    using namespace std;

    const std::string report_sep(2, '\n');
    const std::string header_sep(80, '#');

    // Report on graph
    stringstream class_props_ss;
    class_props_ss << "ICP Goodness-based Registration Procedure Summary: "
                   << std::endl;
    class_props_ss << header_sep << std::endl;

    // time and output logging
    const std::string time_res = this->m_time_logger.getStatsAsText();
    const std::string output_res = this->getLogAsString();

    // merge the individual reports
    report_str->clear();
    parent_t::getDescriptiveReport(report_str);

    *report_str += class_props_ss.str();
    *report_str += report_sep;

    *report_str += time_res;
    *report_str += report_sep;

    *report_str += output_res;
    *report_str += report_sep;

    MRPT_END
}

// TParameter
// //////////////////////////////////

template <class GRAPH_T>
CICPCriteriaERD<GRAPH_T>::TParams::TParams(decider_t& d)
    : decider(d), keystroke_laser_scans("l"), has_read_config(false)
{
}

template <class GRAPH_T>
CICPCriteriaERD<GRAPH_T>::TParams::~TParams() = default;

template <class GRAPH_T>
void CICPCriteriaERD<GRAPH_T>::TParams::dumpToTextStream(
    std::ostream& out) const
{
    MRPT_START

    out << "------------------[ Goodness-based ICP Edge Registration "
           "]------------------\n";
    out << mrpt::format(
        "ICP goodness threshold         = %.2f%% \n",
        ICP_goodness_thresh * 100);
    out << mrpt::format(
        "ICP max radius for edge search = %.2f\n", ICP_max_distance);
    out << mrpt::format(
        "Min. node difference for LC    = %lu\n", LC_min_nodeid_diff);
    out << mrpt::format(
        "Visualize laser scans          = %d\n", visualize_laser_scans);
    out << mrpt::format(
        "3DScans Image Directory        = %s\n",
        scans_img_external_dir.c_str());

    MRPT_END
}
template <class GRAPH_T>
void CICPCriteriaERD<GRAPH_T>::TParams::loadFromConfigFile(
    const mrpt::config::CConfigFileBase& source, const std::string& section)
{
    MRPT_START

    LC_min_nodeid_diff = source.read_int(
        "GeneralConfiguration", "LC_min_nodeid_diff", 30, false);
    ICP_max_distance =
        source.read_double(section, "ICP_max_distance", 10, false);
    ICP_goodness_thresh =
        source.read_double(section, "ICP_goodness_thresh", 0.75, false);
    visualize_laser_scans = source.read_bool(
        "VisualizationParameters", "visualize_laser_scans", true, false);
    scans_img_external_dir = source.read_string(
        section, "scan_images_external_directory", "./", false);

    has_read_config = true;

    MRPT_END
}
}  // namespace mrpt::graphslam::deciders