CLocalMetricHypothesis.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, 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/serialization/stl_serialization.h>
#include <mrpt/system/os.h>
#include <mrpt/poses/CPose3DPDFParticles.h>
#include <mrpt/opengl/CGridPlaneXY.h>
#include <mrpt/opengl/CEllipsoid.h>
#include <mrpt/opengl/CSimpleLine.h>
#include <mrpt/opengl/CText.h>
#include <mrpt/opengl/CSphere.h>
#include <mrpt/opengl/CArrow.h>
#include <mrpt/opengl/stock_objects.h>

#include <mrpt/hmtslam/CRobotPosesGraph.h>

using namespace mrpt;
using namespace mrpt::slam;
using namespace mrpt::hmtslam;
using namespace mrpt::opengl;
using namespace mrpt::obs;
using namespace mrpt::maps;
using namespace mrpt::poses;
using namespace mrpt::math;
using namespace std;

IMPLEMENTS_SERIALIZABLE(CLocalMetricHypothesis, CSerializable, mrpt::hmtslam)
IMPLEMENTS_SERIALIZABLE(CLSLAMParticleData, CSerializable, mrpt::hmtslam)

/*---------------------------------------------------------------
                Normal constructor
  ---------------------------------------------------------------*/
CLocalMetricHypothesis::CLocalMetricHypothesis(CHMTSLAM* parent)
    : m_parent(parent), m_log_w_metric_history()
// m_log_w_topol_history()
{
    m_log_w = 0;
    m_accumRobotMovementIsValid = false;
}

/*---------------------------------------------------------------
                Destructor
  ---------------------------------------------------------------*/
CLocalMetricHypothesis::~CLocalMetricHypothesis() { clearParticles(); }
/*---------------------------------------------------------------
                   getAs3DScene

    Returns a 3D representation of the current robot pose, all
    the poses in the auxiliary graph, and each of the areas
    they belong to.
  ---------------------------------------------------------------*/
void CLocalMetricHypothesis::getAs3DScene(
    opengl::CSetOfObjects::Ptr& objs) const
{
    objs->clear();

    // -------------------------------------------
    // Draw a grid on the ground:
    // -------------------------------------------
    {
        opengl::CGridPlaneXY::Ptr obj =
            mrpt::make_aligned_shared<opengl::CGridPlaneXY>(
                -100, 100, -100, 100, 0, 5);
        obj->setColor(0.4, 0.4, 0.4);

        objs->insert(obj);  // it will free the memory
    }

    // ---------------------------------------------------------
    // Draw each of the robot poses as 2D/3D ellipsoids
    //  For the current pose, draw the robot itself as well.
    // ---------------------------------------------------------
    std::map<TPoseID, CPose3DPDFParticles> lstPoses;
    std::map<TPoseID, CPose3DPDFParticles>::iterator it;
    getPathParticles(lstPoses);

    // -----------------------------------------------
    // Draw a 3D coordinates corner for each cluster
    // -----------------------------------------------
    {
        std::lock_guard<std::mutex> lock(m_parent->m_map_cs);

        for (TNodeIDSet::const_iterator n = m_neighbors.begin();
             n != m_neighbors.end(); ++n)
        {
            const CHMHMapNode::Ptr node = m_parent->m_map.getNodeByID(*n);
            ASSERT_(node);
            TPoseID poseID_origin;
            CPose3D originPose;
            if (node->m_annotations.getElemental(
                    NODE_ANNOTATION_REF_POSEID, poseID_origin, m_ID))
            {
                lstPoses[poseID_origin].getMean(originPose);

                opengl::CSetOfObjects::Ptr corner = stock_objects::CornerXYZ();
                corner->setPose(originPose);
                objs->insert(corner);
            }
        }
    }  // end of lock on map_cs

    // Add a camera following the robot:
    // -----------------------------------------
    const CPose3D meanCurPose = lstPoses[m_currentRobotPose].getMeanVal();
    {
        opengl::CCamera::Ptr cam = mrpt::make_aligned_shared<opengl::CCamera>();
        cam->setZoomDistance(85);
        cam->setAzimuthDegrees(45 + RAD2DEG(meanCurPose.yaw()));
        cam->setElevationDegrees(45);
        cam->setPointingAt(meanCurPose);
        objs->insert(cam);
    }

    map<CHMHMapNode::TNodeID, CPoint3D>
        areas_mean;  // Store the mean pose of each area
    map<CHMHMapNode::TNodeID, int> areas_howmany;

    for (it = lstPoses.begin(); it != lstPoses.end(); it++)
    {
        opengl::CEllipsoid::Ptr ellip =
            mrpt::make_aligned_shared<opengl::CEllipsoid>();
        // Color depending on being into the current area:
        if (m_nodeIDmemberships.find(it->first)->second ==
            m_nodeIDmemberships.find(m_currentRobotPose)->second)
            ellip->setColor(0, 0, 1);
        else
            ellip->setColor(1, 0, 0);

        const CPose3DPDFParticles* pdfParts = &it->second;
        CPose3DPDFGaussian pdf;
        pdf.copyFrom(*pdfParts);

        // Mean:
        ellip->setLocation(
            pdf.mean.x(), pdf.mean.y(),
            pdf.mean.z() + 0.005);  // To be above the ground gridmap...

        // Cov:
        CMatrixDouble C = CMatrixDouble(pdf.cov);  // 6x6 cov.
        C.setSize(3, 3);

        // Is a 2D pose??
        if (pdf.mean.pitch() == 0 && pdf.mean.roll() == 0 &&
            pdf.cov(2, 2) < 1e-4f)
            C.setSize(2, 2);

        ellip->setCovMatrix(C);

        ellip->enableDrawSolid3D(false);

        // Name:
        ellip->setName(format("P%u", (unsigned int)it->first));
        ellip->enableShowName();

        // Add it:
        objs->insert(ellip);

        // Add an arrow for the mean direction also:
        {
            mrpt::opengl::CArrow::Ptr obj = mrpt::opengl::CArrow::Create(
                0, 0, 0, 0.20f, 0, 0, 0.25f, 0.005f, 0.02f);
            obj->setColor(1, 0, 0);
            obj->setPose(pdf.mean);
            objs->insert(obj);
        }

        // Is this the current robot pose?
        if (it->first == m_currentRobotPose)
        {
            // Draw robot:
            opengl::CSetOfObjects::Ptr robot = stock_objects::RobotPioneer();
            robot->setPose(pdf.mean);

            // Add it:
            objs->insert(robot);
        }
        else  // The current robot pose does not count
        {
            // Compute the area means:
            std::map<TPoseID, CHMHMapNode::TNodeID>::const_iterator itAreaId =
                m_nodeIDmemberships.find(it->first);
            ASSERT_(itAreaId != m_nodeIDmemberships.end());
            CHMHMapNode::TNodeID areaId = itAreaId->second;
            areas_howmany[areaId]++;
            areas_mean[areaId].x_incr(pdf.mean.x());
            areas_mean[areaId].y_incr(pdf.mean.y());
            areas_mean[areaId].z_incr(pdf.mean.z());
        }
    }  // end for it

    // Average area means:
    map<CHMHMapNode::TNodeID, CPoint3D>::iterator itMeans;
    map<CHMHMapNode::TNodeID, int>::iterator itHowMany;
    ASSERT_(areas_howmany.size() == areas_mean.size());
    for (itMeans = areas_mean.begin(), itHowMany = areas_howmany.begin();
         itMeans != areas_mean.end(); itMeans++, itHowMany++)
    {
        ASSERT_(itHowMany->second > 0);

        float f = 1.0f / itHowMany->second;
        itMeans->second *= f;
    }

    // -------------------------------------------------------------------
    // Draw lines between robot poses & their corresponding area sphere
    // -------------------------------------------------------------------
    for (it = lstPoses.begin(); it != lstPoses.end(); it++)
    {
        if (it->first != m_currentRobotPose)
        {
            CPoint3D areaPnt(
                areas_mean[m_nodeIDmemberships.find(it->first)->second]);
            areaPnt.z_incr(m_parent->m_options.VIEW3D_AREA_SPHERES_HEIGHT);

            const CPose3DPDFParticles* pdfParts = &it->second;
            CPose3DPDFGaussian pdf;
            pdf.copyFrom(*pdfParts);

            opengl::CSimpleLine::Ptr line =
                mrpt::make_aligned_shared<opengl::CSimpleLine>();
            line->setColor(0.8, 0.8, 0.8, 0.3);
            line->setLineWidth(2);

            line->setLineCoords(
                pdf.mean.x(), pdf.mean.y(), pdf.mean.z(), areaPnt.x(),
                areaPnt.y(), areaPnt.z());
            objs->insert(line);
        }
    }  // end for it

    // -------------------------------------------------------------------
    // Draw lines for links between robot poses
    // -------------------------------------------------------------------
    //  for (it=m_robotPoses.begin(); it!=m_robotPoses.end();it++)
    /*  for (it=lstPoses.begin(); it!=lstPoses.end();it++)
        {
            const CPose3DPDFParticles  *myPdfParts = &it->second;
            CPose3DPDFGaussian   myPdf;
            myPdf.copyFrom( *myPdfParts );

            std::map<TPoseID,TInterRobotPosesInfo>::const_iterator itLink;
            for
       (itLink=it->second.m_links.begin();itLink!=it->second.m_links.end();itLink++)
            {
                if (itLink->second.SSO>0.7)
                {
                    CRobotPosesAuxiliaryGraph::const_iterator hisIt =
       m_robotPoses.find( itLink->first );
                    ASSERT_( hisIt !=m_robotPoses.end() );

                    const CPose3DPDFGaussian  *hisPdf = & hisIt->second.m_pose;

                    opengl::CSimpleLine::Ptr line =
       mrpt::make_aligned_shared<opengl::CSimpleLine>();
                    line->m_color_R = 0.2f;
                    line->m_color_G = 0.8f;
                    line->m_color_B = 0.2f;
                    line->m_color_A = 0.3f;
                    line->m_lineWidth = 3.0f;

                    line->m_x0 = myPdf->mean.x;
                    line->m_y0 = myPdf->mean.y;
                    line->m_z0 = myPdf->mean.z;

                    line->m_x1 = hisPdf->mean.x;
                    line->m_y1 = hisPdf->mean.y;
                    line->m_z1 = hisPdf->mean.z;

                    objs->insert( line );
                }
            }
        } // end for it
    */

    // ---------------------------------------------------------
    // Draw each of the areas in the neighborhood:
    // ---------------------------------------------------------
    {
        std::lock_guard<std::mutex> lock(
            m_parent->m_map_cs);  // To access nodes' labels.

        for (itMeans = areas_mean.begin(); itMeans != areas_mean.end();
             itMeans++)
        {
            opengl::CSphere::Ptr sphere =
                mrpt::make_aligned_shared<opengl::CSphere>();

            if (itMeans->first ==
                m_nodeIDmemberships.find(m_currentRobotPose)->second)
            {  // Color of current area
                sphere->setColor(0.1, 0.1, 0.7);
            }
            else
            {  // Color of other areas
                sphere->setColor(0.7, 0, 0);
            }

            sphere->setLocation(
                itMeans->second.x(), itMeans->second.y(),
                itMeans->second.z() +
                    m_parent->m_options.VIEW3D_AREA_SPHERES_HEIGHT);

            sphere->setRadius(m_parent->m_options.VIEW3D_AREA_SPHERES_RADIUS);

            // Add it:
            objs->insert(sphere);

            // And text label:
            opengl::CText::Ptr txt = mrpt::make_aligned_shared<opengl::CText>();
            txt->setColor(1, 1, 1);

            const CHMHMapNode::Ptr node =
                m_parent->m_map.getNodeByID(itMeans->first);
            ASSERT_(node);

            txt->setLocation(
                itMeans->second.x(), itMeans->second.y(),
                itMeans->second.z() +
                    m_parent->m_options.VIEW3D_AREA_SPHERES_HEIGHT);

            //          txt->m_str = node->m_label;
            txt->setString(format("%li", (long int)node->getID()));

            objs->insert(txt);
        }
    }  // end of lock on map_cs

    // ---------------------------------------------------------
    // Draw links between areas:
    // ---------------------------------------------------------
    {
        std::lock_guard<std::mutex> lock(m_parent->m_map_cs);

        for (itMeans = areas_mean.begin(); itMeans != areas_mean.end();
             itMeans++)
        {
            CHMHMapNode::TNodeID srcAreaID = itMeans->first;
            const CHMHMapNode::Ptr srcArea =
                m_parent->m_map.getNodeByID(srcAreaID);
            ASSERT_(srcArea);

            TArcList lstArcs;
            srcArea->getArcs(lstArcs);
            for (TArcList::const_iterator a = lstArcs.begin();
                 a != lstArcs.end(); ++a)
            {
                // target is in the neighborhood of LMH:
                if ((*a)->getNodeFrom() == srcAreaID)
                {
                    map<CHMHMapNode::TNodeID, CPoint3D>::const_iterator
                        trgAreaPoseIt = areas_mean.find((*a)->getNodeTo());
                    if (trgAreaPoseIt != areas_mean.end())
                    {
                        // Yes, target node of the arc is in the LMH: Draw it:
                        opengl::CSimpleLine::Ptr line =
                            mrpt::make_aligned_shared<opengl::CSimpleLine>();
                        line->setColor(0.8, 0.8, 0);
                        line->setLineWidth(3);

                        line->setLineCoords(
                            areas_mean[srcAreaID].x(),
                            areas_mean[srcAreaID].y(),
                            areas_mean[srcAreaID].z() +
                                m_parent->m_options.VIEW3D_AREA_SPHERES_HEIGHT,
                            trgAreaPoseIt->second.x(),
                            trgAreaPoseIt->second.y(),
                            trgAreaPoseIt->second.z() +
                                m_parent->m_options.VIEW3D_AREA_SPHERES_HEIGHT);

                        objs->insert(line);
                    }
                }
            }  // end for each arc
        }  // end for each area

    }  // end of lock on map_cs
}

/** The PF algorithm implementation.  */
void CLocalMetricHypothesis::prediction_and_update_pfAuxiliaryPFOptimal(
    const mrpt::obs::CActionCollection* action,
    const mrpt::obs::CSensoryFrame* observation,
    const bayes::CParticleFilter::TParticleFilterOptions& PF_options)
{
    ASSERT_(m_parent.get());
    ASSERT_(m_parent->m_LSLAM_method);
    m_parent->m_LSLAM_method->prediction_and_update_pfAuxiliaryPFOptimal(
        this, action, observation, PF_options);
}

void CLocalMetricHypothesis::prediction_and_update_pfOptimalProposal(
    const mrpt::obs::CActionCollection* action,
    const mrpt::obs::CSensoryFrame* observation,
    const bayes::CParticleFilter::TParticleFilterOptions& PF_options)
{
    ASSERT_(m_parent.get());
    ASSERT_(m_parent->m_LSLAM_method);
    m_parent->m_LSLAM_method->prediction_and_update_pfOptimalProposal(
        this, action, observation, PF_options);
}

/*---------------------------------------------------------------
                    getMeans
   Returns the mean of each robot pose in this LMH, as
     computed from the set of particles.
  ---------------------------------------------------------------*/
void CLocalMetricHypothesis::getMeans(TMapPoseID2Pose3D& outList) const
{
    MRPT_START

    outList.clear();

    // Build list of particles pdfs:
    std::map<TPoseID, CPose3DPDFParticles> parts;
    getPathParticles(parts);

    std::map<TPoseID, CPose3DPDFParticles>::iterator it;

    for (it = parts.begin(); it != parts.end(); it++)
        it->second.getMean(outList[it->first]);

    MRPT_END
}

/*---------------------------------------------------------------
                    getPathParticles
  ---------------------------------------------------------------*/
void CLocalMetricHypothesis::getPathParticles(
    std::map<TPoseID, CPose3DPDFParticles>& outList) const
{
    MRPT_START

    outList.clear();

    if (m_particles.empty()) return;

    // For each poseID:
    for (TMapPoseID2Pose3D::const_iterator itPoseID =
             m_particles.begin()->d->robotPoses.begin();
         itPoseID != m_particles.begin()->d->robotPoses.end(); ++itPoseID)
    {
        CPose3DPDFParticles auxPDF(m_particles.size());
        CParticleList::const_iterator it;
        CPose3DPDFParticles::CParticleList::iterator itP;
        for (it = m_particles.begin(), itP = auxPDF.m_particles.begin();
             it != m_particles.end(); it++, itP++)
        {
            itP->log_w = it->log_w;
            itP->d = it->d->robotPoses.find(itPoseID->first)->second.asTPose();
        }

        // Save PDF:
        outList[itPoseID->first] = auxPDF;
    }  // end for itPoseID

    MRPT_END
}

/*---------------------------------------------------------------
                    getPoseParticles
  ---------------------------------------------------------------*/
void CLocalMetricHypothesis::getPoseParticles(
    const TPoseID& poseID, CPose3DPDFParticles& outPDF) const
{
    MRPT_START

    ASSERT_(!m_particles.empty());

    CParticleList::const_iterator it;
    outPDF.resetDeterministic(TPose3D(0, 0, 0, 0, 0, 0), m_particles.size());
    CPose3DPDFParticles::CParticleList::iterator itP;
    for (it = m_particles.begin(), itP = outPDF.m_particles.begin();
         it != m_particles.end(); it++, itP++)
    {
        itP->log_w = it->log_w;
        TMapPoseID2Pose3D::const_iterator itPose =
            it->d->robotPoses.find(poseID);
        ASSERT_(itPose != it->d->robotPoses.end());
        itP->d = itPose->second.asTPose();
    }

    MRPT_END
}

/*---------------------------------------------------------------
                    clearRobotPoses
  ---------------------------------------------------------------*/
void CLocalMetricHypothesis::clearRobotPoses()
{
    clearParticles();
    m_particles.resize(m_parent->m_options.pf_options.sampleSize);
    for (CParticleList::iterator it = m_particles.begin();
         it != m_particles.end(); ++it)
    {
        // Create particle:
        it->log_w = 0;
        it->d.reset(new CLSLAMParticleData(
            &m_parent->m_options.defaultMapsInitializers));

        // Fill in:
        it->d->robotPoses.clear();
    }
}

/*---------------------------------------------------------------
                        getCurrentPose
 ---------------------------------------------------------------*/
const CPose3D* CLocalMetricHypothesis::getCurrentPose(
    const size_t& particleIdx) const
{
    if (particleIdx >= m_particles.size())
        THROW_EXCEPTION("Particle index out of bounds!");

    TMapPoseID2Pose3D::const_iterator it =
        m_particles[particleIdx].d->robotPoses.find(m_currentRobotPose);
    ASSERT_(it != m_particles[particleIdx].d->robotPoses.end());
    return &it->second;
}

/*---------------------------------------------------------------
                        getCurrentPose
 ---------------------------------------------------------------*/
CPose3D* CLocalMetricHypothesis::getCurrentPose(const size_t& particleIdx)
{
    if (particleIdx >= m_particles.size())
        THROW_EXCEPTION("Particle index out of bounds!");

    TMapPoseID2Pose3D::iterator it =
        m_particles[particleIdx].d->robotPoses.find(m_currentRobotPose);
    ASSERT_(it != m_particles[particleIdx].d->robotPoses.end());
    return &it->second;
}

/*---------------------------------------------------------------
                        getRelativePose
 ---------------------------------------------------------------*/
void CLocalMetricHypothesis::getRelativePose(
    const TPoseID& reference, const TPoseID& pose,
    CPose3DPDFParticles& outPDF) const
{
    MRPT_START

    // Resize output:
    outPDF.resetDeterministic(TPose3D(0, 0, 0, 0, 0, 0), m_particles.size());

    CParticleList::const_iterator it;
    CPose3DPDFParticles::CParticleList::iterator itP;
    for (it = m_particles.begin(), itP = outPDF.m_particles.begin();
         it != m_particles.end(); it++, itP++)
    {
        itP->log_w = it->log_w;

        auto srcPose = it->d->robotPoses.find(reference);
        auto trgPose = it->d->robotPoses.find(pose);

        ASSERT_(srcPose != it->d->robotPoses.end());
        ASSERT_(trgPose != it->d->robotPoses.end());
        itP->d =
            (CPose3D(trgPose->second) - CPose3D(srcPose->second)).asTPose();
    }

    MRPT_END
}

/*---------------------------------------------------------------
                        changeCoordinateOrigin
 ---------------------------------------------------------------*/
void CLocalMetricHypothesis::changeCoordinateOrigin(const TPoseID& newOrigin)
{
    CPose3DPDFParticles originPDF(m_particles.size());

    CParticleList::iterator it;
    CPose3DPDFParticles::CParticleList::iterator itOrgPDF;

    for (it = m_particles.begin(), itOrgPDF = originPDF.m_particles.begin();
         it != m_particles.end(); it++, itOrgPDF++)
    {
        auto refPoseIt = it->d->robotPoses.find(newOrigin);
        ASSERT_(refPoseIt != it->d->robotPoses.end());
        const CPose3D& refPose = refPoseIt->second;

        // Save in pdf to compute mean:
        itOrgPDF->d = refPose.asTPose();
        itOrgPDF->log_w = it->log_w;

        TMapPoseID2Pose3D::iterator End = it->d->robotPoses.end();
        // Change all other poses first:
        for (TMapPoseID2Pose3D::iterator itP = it->d->robotPoses.begin();
             itP != End; ++itP)
            if (itP != refPoseIt) itP->second = itP->second - refPose;

        // Now set new origin to 0:
        refPoseIt->second.setFromValues(0, 0, 0);
    }

    // Rebuild metric maps for consistency:
    rebuildMetricMaps();

    // Change coords in incr. partitioning as well:
    {
        std::lock_guard<std::mutex> locker(m_robotPosesGraph.lock);

        CSimpleMap* SFseq = m_robotPosesGraph.partitioner.getSequenceOfFrames();
        for (std::map<uint32_t, TPoseID>::const_iterator it =
                 m_robotPosesGraph.idx2pose.begin();
             it != m_robotPosesGraph.idx2pose.end(); ++it)
        {
            CPose3DPDF::Ptr pdf;
            CSensoryFrame::Ptr sf;
            SFseq->get(it->first, pdf, sf);

            // Copy from particles:
            ASSERT_(pdf->GetRuntimeClass() == CLASS_ID(CPose3DPDFParticles));
            CPose3DPDFParticles::Ptr pdfParts =
                std::dynamic_pointer_cast<CPose3DPDFParticles>(pdf);
            getPoseParticles(it->second, *pdfParts);
        }
    }
}

/*---------------------------------------------------------------
                        rebuildMetricMaps
 ---------------------------------------------------------------*/
void CLocalMetricHypothesis::rebuildMetricMaps()
{
    for (CParticleList::iterator it = m_particles.begin();
         it != m_particles.end(); ++it)
    {
        it->d->metricMaps.clear();

        // Follow all robot poses:
        TMapPoseID2Pose3D::iterator End = it->d->robotPoses.end();
        for (TMapPoseID2Pose3D::iterator itP = it->d->robotPoses.begin();
             itP != End; ++itP)
        {
            if (itP->first !=
                m_currentRobotPose)  // Current robot pose has no SF stored.
            {
                std::map<TPoseID, CSensoryFrame>::const_iterator SFit =
                    m_SFs.find(itP->first);
                ASSERT_(SFit != m_SFs.end());
                SFit->second.insertObservationsInto(
                    &it->d->metricMaps, &itP->second);
            }
        }
    }
}

/** Removes a given area from the LMH:
 *  - The corresponding node in the HMT map is updated with the robot poses &
 *SFs in the LMH.
 *  - Robot poses belonging to that area are removed from:
 *      - the particles.
 *      - the graph partitioner.
 *      - the list of SFs.
 *      - the list m_nodeIDmemberships.
 *      - The weights of all particles are changed to remove the effects of the
 *removed metric observations.
 *  - After calling this the metric maps should be updated.
 */
void CLocalMetricHypothesis::removeAreaFromLMH(
    const CHMHMapNode::TNodeID areaID)
{
    MRPT_START

    // Remove from m_neighbors:
    // -----------------------------------
    TNodeIDSet::iterator itNeig = m_neighbors.find(areaID);
    if (itNeig != m_neighbors.end()) m_neighbors.erase(itNeig);

    // Build the list with the poses in the area to be removed from LMH:
    // ----------------------------------------------------------------------
    TNodeIDList lstPoseIDs;
    for (map<TPoseID, CHMHMapNode::TNodeID>::iterator it =
             m_nodeIDmemberships.begin();
         it != m_nodeIDmemberships.end(); ++it)
        if (it->second == areaID) lstPoseIDs.insert(it->first);

    ASSERT_(!lstPoseIDs.empty());

    // ----------------------------------------------------------------------
    // The corresponding node in the HMT map is updated with the
    //   robot poses & SFs in the LMH.
    // ----------------------------------------------------------------------
    updateAreaFromLMH(areaID, true);

    // - Robot poses belonging to that area are removed from:
    //  - the particles.
    // ----------------------------------------------------------------------
    for (TNodeIDList::const_iterator it = lstPoseIDs.begin();
         it != lstPoseIDs.end(); ++it)
        for (CParticleList::iterator p = m_particles.begin();
             p != m_particles.end(); ++p)
            p->d->robotPoses.erase(p->d->robotPoses.find(*it));

    // - The weights of all particles are changed to remove the effects of the
    // removed metric observations.
    // ----------------------------------------------------------------------
    {
        CParticleList::iterator p;
        vector<map<TPoseID, double>>::iterator ws_it;
        ASSERT_(m_log_w_metric_history.size() == m_particles.size());

        for (ws_it = m_log_w_metric_history.begin(), p = m_particles.begin();
             p != m_particles.end(); ++p, ++ws_it)
        {
            for (TNodeIDList::const_iterator it = lstPoseIDs.begin();
                 it != lstPoseIDs.end(); ++it)
            {
                map<TPoseID, double>::iterator itW = ws_it->find(*it);
                if (itW != ws_it->end())
                {
                    MRPT_CHECK_NORMAL_NUMBER(itW->second);

                    p->log_w -= itW->second;
                    // No longer required:
                    ws_it->erase(itW);
                }
            }
        }
    }

    // - Robot poses belonging to that area are removed from:
    //  - the graph partitioner.
    // ----------------------------------------------------------------------
    {
        std::lock_guard<std::mutex> locker(m_robotPosesGraph.lock);

        std::vector<uint32_t> indexesToRemove;
        indexesToRemove.reserve(lstPoseIDs.size());

        for (std::map<uint32_t, TPoseID>::iterator it =
                 m_robotPosesGraph.idx2pose.begin();
             it != m_robotPosesGraph.idx2pose.end();)
        {
            if (lstPoseIDs.find(it->second) != lstPoseIDs.end())
            {
                indexesToRemove.push_back(it->first);

                // Remove from the mapping indexes->nodeIDs as well:
                std::map<uint32_t, TPoseID>::iterator it2 = it;
                it2++;
                // it = m_robotPosesGraph.idx2pose.erase( it );
                m_robotPosesGraph.idx2pose.erase(it);
                it = it2;
            }
            else
                it++;
        }

        m_robotPosesGraph.partitioner.removeSetOfNodes(indexesToRemove);

        // Renumbering of indexes<->posesIDs to be the same than in
        // "m_robotPosesGraph.partitioner":
        unsigned idx = 0;
        map<uint32_t, TPoseID> newList;
        for (map<uint32_t, TPoseID>::iterator i =
                 m_robotPosesGraph.idx2pose.begin();
             i != m_robotPosesGraph.idx2pose.end(); ++i, idx++)
            newList[idx] = i->second;
        m_robotPosesGraph.idx2pose = newList;
    }

    // - Robot poses belonging to that area are removed from:
    // - the list of SFs.
    // ----------------------------------------------------------------------
    // Already done above.

    // - Robot poses belonging to that area are removed from:
    // - the list m_nodeIDmemberships.
    // ----------------------------------------------------------------------
    for (TNodeIDList::const_iterator it = lstPoseIDs.begin();
         it != lstPoseIDs.end(); ++it)
        m_nodeIDmemberships.erase(m_nodeIDmemberships.find(*it));

    double out_max_log_w;
    normalizeWeights(&out_max_log_w);  // Normalize weights:

    MRPT_END
}

/*---------------------------------------------------------------
                    TRobotPosesPartitioning::pose2idx
 ---------------------------------------------------------------*/
unsigned int CLocalMetricHypothesis::TRobotPosesPartitioning::pose2idx(
    const TPoseID& id) const
{
    for (std::map<uint32_t, TPoseID>::const_iterator it = idx2pose.begin();
         it != idx2pose.end(); ++it)
        if (it->second == id) return it->first;
    THROW_EXCEPTION_FMT("PoseID=%i not found.", static_cast<int>(id));
}

/*---------------------------------------------------------------
                    updateAreaFromLMH

// The corresponding node in the HMT map is updated with the
//   robot poses & SFs in the LMH.
 ---------------------------------------------------------------*/
void CLocalMetricHypothesis::updateAreaFromLMH(
    const CHMHMapNode::TNodeID areaID, bool eraseSFsFromLMH)
{
    // Build the list with the poses belonging to that area from LMH:
    // ----------------------------------------------------------------------
    TNodeIDList lstPoseIDs;
    for (map<TPoseID, CHMHMapNode::TNodeID>::const_iterator it =
             m_nodeIDmemberships.begin();
         it != m_nodeIDmemberships.end(); ++it)
        if (it->second == areaID) lstPoseIDs.insert(it->first);

    ASSERT_(!lstPoseIDs.empty());

    CHMHMapNode::Ptr node;
    {
        std::lock_guard<std::mutex>(m_parent->m_map_cs);
        node = m_parent->m_map.getNodeByID(areaID);
        ASSERT_(node);
        ASSERT_(node->m_hypotheses.has(m_ID));
    }  // end of HMT map cs

    // The pose to become the origin:
    TPoseID poseID_origin;
    node->m_annotations.getElemental(
        NODE_ANNOTATION_REF_POSEID, poseID_origin, m_ID, true);

    // 1) The set of robot poses and SFs
    //    In annotation:                    NODE_ANNOTATION_POSES_GRAPH
    // ---------------------------------------------------------------------
    CRobotPosesGraph::Ptr posesGraph;
    {
        CSerializable::Ptr annot =
            node->m_annotations.get(NODE_ANNOTATION_POSES_GRAPH, m_ID);
        if (!annot)
        {
            // Add it now:
            posesGraph = mrpt::make_aligned_shared<CRobotPosesGraph>();
            node->m_annotations.setMemoryReference(
                NODE_ANNOTATION_POSES_GRAPH, posesGraph, m_ID);
        }
        else
        {
            posesGraph = std::dynamic_pointer_cast<CRobotPosesGraph>(annot);
            posesGraph->clear();
        }
    }

    // For each pose in the area:
    CPose3DPDFParticles pdfOrigin;
    bool pdfOrigin_ok = false;
    for (TNodeIDList::const_iterator it = lstPoseIDs.begin();
         it != lstPoseIDs.end(); ++it)
    {
        TPoseInfo& poseInfo = (*posesGraph)[*it];
        getPoseParticles(*it, poseInfo.pdf);  // Save pose particles

        // Save the PDF of the origin:
        if (*it == poseID_origin)
        {
            pdfOrigin.copyFrom(poseInfo.pdf);
            pdfOrigin_ok = true;
        }

        if (*it != m_currentRobotPose)  // The current robot pose has no SF
        {
            std::map<TPoseID, CSensoryFrame>::iterator itSF = m_SFs.find(*it);
            ASSERT_(itSF != m_SFs.end());

            if (eraseSFsFromLMH)
            {
                poseInfo.sf.moveFrom(itSF->second);  // This leaves m_SFs[*it]
                // without observations,
                // but it is being erased
                // just now:
                m_SFs.erase(itSF);
            }
            else
            {
                poseInfo.sf = itSF->second;  // Copy observations
            }
        }
    }

    // Readjust to set the origin pose ID:
    ASSERT_(pdfOrigin_ok);
    CPose3DPDFParticles pdfOriginInv;
    pdfOrigin.inverse(pdfOriginInv);
    for (CRobotPosesGraph::iterator it = posesGraph->begin();
         it != posesGraph->end(); ++it)
    {
        CPose3DPDFParticles::CParticleList::iterator orgIt, pdfIt;
        ASSERT_(it->second.pdf.size() == pdfOriginInv.size());
        for (pdfIt = it->second.pdf.m_particles.begin(),
            orgIt = pdfOriginInv.m_particles.begin();
             orgIt != pdfOriginInv.m_particles.end(); orgIt++, pdfIt++)
            pdfIt->d = (CPose3D(orgIt->d) + CPose3D(pdfIt->d)).asTPose();
    }

    // 2) One single metric map built from the most likelily robot poses
    //    In annotation:                    NODE_ANNOTATION_METRIC_MAPS
    // ---------------------------------------------------------------------
    CMultiMetricMap::Ptr metricMap = node->m_annotations.getAs<CMultiMetricMap>(
        NODE_ANNOTATION_METRIC_MAPS, m_ID, false);
    metricMap->clear();
    posesGraph->insertIntoMetricMap(*metricMap);
}

/*---------------------------------------------------------------
                dumpAsText
  ---------------------------------------------------------------*/
void CLocalMetricHypothesis::dumpAsText(std::vector<std::string>& st) const
{
    st.clear();
    st.push_back("LIST OF POSES IN LMH");
    st.push_back("====================");

    string s;
    s = "Neighbors: ";
    for (TNodeIDSet::const_iterator it = m_neighbors.begin();
         it != m_neighbors.end(); ++it)
        s += format("%i ", (int)*it);
    st.push_back(s);

    TMapPoseID2Pose3D lst;
    getMeans(lst);

    for (TMapPoseID2Pose3D::const_iterator it = lst.begin(); it != lst.end();
         ++it)
    {
        map<TPoseID, CHMHMapNode::TNodeID>::const_iterator area =
            m_nodeIDmemberships.find(it->first);

        string s = format(
            "  ID: %i \t AREA: %i \t %.03f,%.03f,%.03fdeg", (int)it->first,
            (int)area->second, it->second.x(), it->second.y(),
            RAD2DEG(it->second.yaw()));
        st.push_back(s);
    }
}

/*---------------------------------------------------------------
                    readFromStream
  ---------------------------------------------------------------*/
void CLocalMetricHypothesis::serializeFrom(
    mrpt::serialization::CArchive& in, uint8_t version)
{
    switch (version)
    {
        case 0:
        {
            in >> m_ID >> m_currentRobotPose >> m_neighbors >>
                m_nodeIDmemberships >> m_SFs >> m_posesPendingAddPartitioner >>
                m_areasPendingTBI >> m_log_w >> m_log_w_metric_history >>
                m_robotPosesGraph.partitioner >> m_robotPosesGraph.idx2pose;

            // particles:
            readParticlesFromStream(in);
        }
        break;
        default:
            MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version)
    };
}

uint8_t CLocalMetricHypothesis::serializeGetVersion() const { return 0; }
void CLocalMetricHypothesis::serializeTo(
    mrpt::serialization::CArchive& out) const
{
    out << m_ID << m_currentRobotPose << m_neighbors << m_nodeIDmemberships
        << m_SFs << m_posesPendingAddPartitioner << m_areasPendingTBI << m_log_w
        << m_log_w_metric_history << m_robotPosesGraph.partitioner
        << m_robotPosesGraph.idx2pose;

    // particles:
    writeParticlesToStream(out);
}

void CLSLAMParticleData::serializeFrom(
    mrpt::serialization::CArchive& in, uint8_t version)
{
    switch (version)
    {
        case 0:
        {
            in >> metricMaps >> robotPoses;
        }
        break;
        default:
            MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version)
    };
}

uint8_t CLSLAMParticleData::serializeGetVersion() const { return 0; }
void CLSLAMParticleData::serializeTo(mrpt::serialization::CArchive& out) const
{
    out << metricMaps << robotPoses;
}