PbMapLocaliser.h

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

/*  Plane-based Map (PbMap) library
 *  Construction of plane-based maps and localization in it from RGBD Images.
 *  Writen by Eduardo Fernandez-Moral. See docs for <a
 * href="group__mrpt__pbmap__grp.html" >mrpt-pbmap</a>
 */

#ifndef __PBMAPLOCALISER_H
#define __PBMAPLOCALISER_H

#include <mrpt/config.h>

#if MRPT_HAS_PCL

#include <mrpt/utils/utils_defs.h>

#include <mrpt/pbmap/PbMap.h>
#include <mrpt/pbmap/SubgraphMatcher.h>
#include <mrpt/pbmap/ConsistencyTest.h>
#include <thread>

namespace mrpt
{
namespace pbmap
{
/*! This class is used to explore the PbMap (or other previously acquired
 * PbMaps)
 *  to find places observed previously (it has uses in e.g. place recognition or
 * relocalization).
 *  PbMapLocaliser run its own thread, which is created at initialization.
 *
 * \ingroup mrpt_pbmap_grp
 */
class PbMapLocaliser
{
   public:
        /*!Constructor.*/
        PbMapLocaliser(PbMap& mPbM, const std::string& config_file);
        ~PbMapLocaliser();

        /*!Vector to store the name of previous PbMaps (previous places).*/
        std::vector<std::string> previousPbMapNames;

        /*!Vector of vectors containing previous PbMaps.*/
        std::vector<PbMap> previousPbMaps;

        ///*!Vector to store the index of the floor plane for the previous PbMaps
        ///(-1 indicates that the floor was not detected).*/  // Mover a la clase
        /// PbMapLocaliser  y montarlo en un define
        //  std::vector<int> vFloors;

        /*!Number of planes of our search space.*/
        size_t totalPrevPlanes;

        /*!observedPlanes is a list containing the current observed planes.*/
        std::vector<unsigned> vQueueObservedPlanes;

        /*!List of places where the system has been localised, keeping also the associated point cloud corresponding to the PbMap.*/  // Mover a la clase PbMapLocaliser
        std::map<std::string, pcl::PointXYZ> foundPlaces;

        /*!Point cloud of recognized place.*/
        pcl::PointCloud<pcl::PointXYZRGBA>::Ptr alignedModelPtr;

        std::map<unsigned, std::vector<std::pair<double, int>>> evalColor;

   private:
        /*!The current PbMap.*/
        PbMap& mPbMap;

        /*!The matching object.*/
        SubgraphMatcher matcher;

        /*!Load previous PbMaps to search for previous places.*/
        void LoadPreviousPbMaps(std::string fileMaps);

        /*!List of places that have been matched, together with their plane correspondences.*/  // Cambiar nombre
        std::map<std::string, std::pair<int, double>> planeRecognitionLUT;

        /*!Search the subgraph defined by a plane (neighborhood of 1-connected planes) in the rest of the PbMap or PbMaps aquired till the moment.*/  // Cambiar nombre
        bool searchPlaneContext(Plane& searchPlane);

        /*!Search the 2nd order neighbors.*/
        void compareSubgraphNeighbors(SubgraphMatcher& matcher);

        double getAreaMatch();

        /*!Best previous PbMap correspondence.*/
        unsigned bestMap;

        /*!Best correspondence between pair of planes.*/
        std::map<unsigned, unsigned> bestMatch;

        /*!Score of the matched places.*/  // Cambiar nombre o Quitar!
        double score;

   protected:
        /*!This executes the PbMapLocaliser's thread*/
        void run();

        /*!PbMapLocaliser's thread handle*/
        std::thread pbMapLocaliser_hd;

        /*!PbMapLocaliser's exit thread*/
        bool stop_pbMapLocaliser();

        /*!PbMapLocaliser's stop controller*/
        bool m_pbMapLocaliser_must_stop;

        /*!PbMapLocaliser's stop var*/
        bool m_pbMapLocaliser_finished;
};
}
}  // End of namespaces

#endif

#endif