CTopLCDetector_GridMatching.cpp

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

#include "hmtslam-precomp.h"  // Precomp header

#include <mrpt/utils/CFileGZOutputStream.h>
#include <mrpt/utils/CFileOutputStream.h>
#include <mrpt/system/filesystem.h>

using namespace mrpt::slam;
using namespace mrpt::hmtslam;
using namespace mrpt::utils;
using namespace mrpt::poses;
using namespace mrpt::obs;
using namespace mrpt::maps;

CTopLCDetector_GridMatching::CTopLCDetector_GridMatching(CHMTSLAM* hmtslam)
        : CTopLCDetectorBase(hmtslam)
{
}

CTopLCDetector_GridMatching::~CTopLCDetector_GridMatching() {}
/** This method must compute the topological observation model.
  * \param out_log_lik The output, a log-likelihood.
  * \return nullptr, or a PDF of the estimated translation between the two areas
 * (can be a multi-modal PDF).
  */
CPose3DPDF::Ptr CTopLCDetector_GridMatching::computeTopologicalObservationModel(
        const THypothesisID& hypID, const CHMHMapNode::Ptr& currentArea,
        const CHMHMapNode::Ptr& refArea, double& out_log_lik)
{
        // ------------------------------------------------------------------------------
        // Compute potential map transformations between the areas "areaID" and
        // "a->first"
        //  For this, we use the grid-to-grid matching method described in the TRO
        //  paper...
        // ------------------------------------------------------------------------------
        out_log_lik = 0;  // Nothing to modify, for now.

        CGridMapAligner gridAligner;
        CGridMapAligner::TReturnInfo info;
        const CPose2D initEstimate(
                0, 0, 0);  // It's actually ignored by the grid-matching

        // Use already loaded options:
        const CTopLCDetector_GridMatching::TOptions& o =
                m_hmtslam->m_options.TLC_grid_options;
        gridAligner.options = o.matchingOptions;

        CMultiMetricMap::Ptr hMapCur =
                currentArea->m_annotations.getAs<CMultiMetricMap>(
                        NODE_ANNOTATION_METRIC_MAPS, hypID, false);
        CMultiMetricMap::Ptr hMapRef =
                refArea->m_annotations.getAs<CMultiMetricMap>(
                        NODE_ANNOTATION_METRIC_MAPS, hypID, false);

        ASSERT_(hMapRef->m_gridMaps.size() >= 1)
        ASSERT_(hMapCur->m_gridMaps.size() >= 1)

#if 0
        {
                static int i = 0;
                CFileOutputStream f(format("debug_%05i.hmtslam",++i));
                f << *m_hmtslam;
        }
#endif

        gridAligner.options.dumpToConsole();

        // Do the map align:
        CPosePDF::Ptr alignRes = gridAligner.Align(
                hMapCur.get(),  // "ref" as seen from "cur"...The order is critical!!!
                hMapRef.get(), initEstimate, nullptr, &info);

#if 0
        {
                hMapCur->m_gridMaps[0]->saveAsBitmapFileWithLandmarks("map1.png", info.landmarks_map1.get());
                hMapRef->m_gridMaps[0]->saveAsBitmapFileWithLandmarks("map2.png", info.landmarks_map2.get());
        }
#endif

        // Transform the 2D SOG into a 3D SOG:
        CPose3DPDF::Ptr res = CPose3DPDF::Ptr(CPose3DPDF::createFrom2D(*alignRes));

// --------------------
// Debug output:
// --------------------
#if 1
        const std::string dbg_dir =
                m_hmtslam->m_options.LOG_OUTPUT_DIR + "/TBI_TESTS";
        if (!m_hmtslam->m_options.LOG_OUTPUT_DIR.empty())
        {
                mrpt::system::createDirectory(dbg_dir);
                static int cnt = 0;
                ++cnt;
                const std::string filStat =
                        dbg_dir + format(
                                                  "/state_%05i_test_%i_%i.hmtslam", cnt,
                                                  (int)currentArea->getID(), (int)refArea->getID());
                const std::string filRes =
                        dbg_dir + format(
                                                  "/state_%05i_test_%i_%i_result.txt", cnt,
                                                  (int)currentArea->getID(), (int)refArea->getID());

                m_hmtslam->logFmt(
                        mrpt::utils::LVL_DEBUG, "[TLCD_gridmatch] DEBUG: Saving %s\n",
                        filStat.c_str());
                CFileGZOutputStream f(filStat);
                this->m_hmtslam->saveState(f);

                m_hmtslam->logFmt(
                        mrpt::utils::LVL_DEBUG, "[TLCD_gridmatch] DEBUG: Saving %s\n",
                        filRes.c_str());
                CFileOutputStream f_res(filRes);
                f_res.printf(
                        "# SOG modes: %i\n",
                        (int)std::dynamic_pointer_cast<CPosePDFSOG>(alignRes)->size());
                f_res.printf("ICP goodness: ");
                f_res.printf_vector("%f ", info.icp_goodness_all_sog_modes);
                f_res.printf("\n");
        }
#endif

        return res;
}

/** Hook method for being warned about the insertion of a new poses into the
 * maps.
  *  This should be independent of hypothesis IDs.
  */
void CTopLCDetector_GridMatching::OnNewPose(
        const TPoseID& poseID, const CSensoryFrame* SF)
{
        MRPT_UNUSED_PARAM(poseID);
        MRPT_UNUSED_PARAM(SF);
}

// Initialization
CTopLCDetector_GridMatching::TOptions::TOptions() : matchingOptions() {}
//  Load parameters from configuration source
void CTopLCDetector_GridMatching::TOptions::loadFromConfigFile(
        const mrpt::utils::CConfigFileBase& source, const std::string& section)
{
        matchingOptions.loadFromConfigFile(source, section);
}

//  This method must display clearly all the contents of the structure in
//  textual form, sending it to a CStream.
void CTopLCDetector_GridMatching::TOptions::dumpToTextStream(
        mrpt::utils::CStream& out) const
{
        out.printf(
                "\n----------- [CTopLCDetector_GridMatching::TOptions] ------------ "
                "\n\n");
        matchingOptions.dumpToTextStream(out);
}