/home/travis/build/MRPT/srba/examples/cpp/tutorial-srba-cartesian2d-se2.cpp

/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2015, 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 <srba.h>
#include <mrpt/gui.h>  // For rendering results as a 3D scene
#include <mrpt/random.h>

using namespace srba;
using namespace mrpt::random;
using namespace std;

struct RBA_OPTIONS : public RBA_OPTIONS_DEFAULT
{
//  typedef ecps::local_areas_fixed_size            edge_creation_policy_t;  //!< One of the most important choices: how to construct the relative coordinates graph problem
//  typedef options::sensor_pose_on_robot_none      sensor_pose_on_robot_t;  //!< The sensor pose coincides with the robot pose
//  typedef options::observation_noise_identity     obs_noise_matrix_t;      //!< The sensor noise matrix is the same for all observations and equal to \sigma * I(identity)
//  typedef options::solver_LM_schur_dense_cholesky solver_t;                //!< Solver algorithm (Default: Lev-Marq, with Schur, with dense Cholesky)
};

typedef RbaEngine<
    kf2kf_poses::SE2,             // Parameterization  of KF-to-KF poses
    landmarks::Euclidean2D,       // Parameterization of landmark positions
    observations::Cartesian_2D,   // Type of observations
    RBA_OPTIONS
    >  my_srba_t;

// --------------------------------------------------------------------------------
// A test dataset. Generated with https://github.com/jlblancoc/recursive-world-toolkit
//  and the script: tutorials_dataset-cartesian.cfg
// --------------------------------------------------------------------------------
const double SENSOR_NOISE_STD = 1e-2;

struct basic_euclidean_dataset_entry_t
{
    unsigned int landmark_id;
    double x,y,z;
};
// Observations for KF#0
const mrpt::poses::CPose3DQuat GT_pose0(0,0,0, mrpt::math::CQuaternionDouble( 0.996195,0.,0.,0.087156));

basic_euclidean_dataset_entry_t  observations_0[] = {
 {    21,   0.15551290,  -0.72945905,   0.00000000},
 {    23,   0.43314868,  -1.98272542,   0.00000000},
 {    39,   2.65545091,  -0.36239644,   0.00000000},
 {    35,   2.86234031,  -0.04707532,   0.00000000},
 {    20,   1.38806971,   2.56802258,   0.00000000},
 {    28,   3.11997887,  -0.57746373,   0.00000000},
 {    18,   1.78694047,  -3.01091272,   0.00000000},
 {    37,   3.21209594,  -1.40895775,   0.00000000},
 {    45,   1.24498942,  -3.32446676,   0.00000000},
 {     6,   3.68972255,  -1.65569177,   0.00000000},
 {    13,   4.44701777,   0.58061391,   0.00000000},
 {    43,   1.00330919,  -4.40925967,   0.00000000},
 {    30,   1.78741597,  -4.28620926,   0.00000000},
 {    24,   4.63351881,   1.72539759,   0.00000000},
 {     3,   4.70305332,  -1.61007267,   0.00000000},
 };
// Observations for KF#10:
const mrpt::poses::CPose3DQuat GT_pose10(1.230806,0.294472,0, mrpt::math::CQuaternionDouble(  0.999999,0.,0.,0.001357));

basic_euclidean_dataset_entry_t  observations_10[] = {
 {    21,  -0.95365746,  -0.98326083,   0.00000000},
 {    39,   1.44671094,  -0.19417495,   0.00000000},
 {    35,   1.59664177,   0.15187617,   0.00000000},
 {    28,   1.94117010,  -0.32665253,   0.00000000},
 {    23,  -0.46583194,  -2.17060428,   0.00000000},
 {    37,   2.17409589,  -1.13015327,   0.00000000},
 {    20,  -0.30303829,   2.47640333,   0.00000000},
 {     6,   2.68687505,  -1.29159175,   0.00000000},
 {    18,   1.04382049,  -2.95218658,   0.00000000},
 {    13,   3.05066582,   1.04126389,   0.00000000},
 {    45,   0.56345958,  -3.35378398,   0.00000000},
 {    24,   3.03869071,   2.20107806,   0.00000000},
 {     3,   3.67748505,  -1.07338963,   0.00000000},
 {    26,   3.78577874,  -0.66206601,   0.00000000},
 {    32,   3.96151904,  -0.93661778,   0.00000000},
 {     8,   3.14718105,  -2.85542922,   0.00000000},
 {     1,   3.04568235,  -3.03423259,   0.00000000},
 {    30,   1.26233346,  -4.20862344,   0.00000000},
 {    12,   4.08965501,   1.81773981,   0.00000000},
 {    43,   0.51081104,  -4.46392502,   0.00000000},
 {     5,   4.56480438,  -0.49754058,   0.00000000},
 {     2,   4.28747355,   1.88540463,   0.00000000},
 {    11,   3.16214953,  -3.54854757,   0.00000000},
 };

int main(int argc, char**argv)
{
    my_srba_t rba;     //  Create an empty RBA problem

    // --------------------------------------------------------------------------------
    // Set parameters
    // --------------------------------------------------------------------------------
    rba.setVerbosityLevel( 1 );   // 0: None; 1:Important only; 2:Verbose

    rba.parameters.srba.use_robust_kernel= true;
    rba.parameters.obs_noise.std_noise_observations = 0.1;

    // =========== Topology parameters ===========
    rba.parameters.srba.max_tree_depth       = 3;
    rba.parameters.srba.max_optimize_depth   = 3;
    // ===========================================

    // Set sensors parameters:
    // rba.sensor_params has no parameters for the "Cartesian" sensor.

    // Alternatively, parameters can be loaded from an .ini-like config file
    // -----------------------------------------------------------------------
    // rba.parameters.loadFromConfigFileName("config_file.cfg", "srba");

    // --------------------------------------------------------------------------------
    // Dump parameters to console (for checking/debugging only)
    // --------------------------------------------------------------------------------
    //cout << "RBA parameters:\n-----------------\n";
    //rba.parameters.dumpToConsole();

    // --------------------------------------------------------------------------------
    // Define observations of KF #0:
    // --------------------------------------------------------------------------------
    my_srba_t::new_kf_observations_t  list_obs;
    my_srba_t::new_kf_observation_t   obs_field;

    obs_field.is_fixed = false;   // Landmarks have unknown relative positions (i.e. treat them as unknowns to be estimated)
    obs_field.is_unknown_with_init_val = false; // We don't have any guess on the initial LM position (will invoke the inverse sensor model)

    for (size_t i=0;i<sizeof(observations_0)/sizeof(observations_0[0]);i++)
    {
        obs_field.obs.feat_id = observations_0[i].landmark_id;
        obs_field.obs.obs_data.pt.x = observations_0[i].x + randomGenerator.drawGaussian1D(0,SENSOR_NOISE_STD);
        obs_field.obs.obs_data.pt.y = observations_0[i].y + randomGenerator.drawGaussian1D(0,SENSOR_NOISE_STD);
        list_obs.push_back( obs_field );
    }


    //  Here happens the main stuff: create Key-frames, build structures, run optimization, etc.
    //  ============================================================================================
    my_srba_t::TNewKeyFrameInfo new_kf_info;
    rba.define_new_keyframe(
        list_obs,      // Input observations for the new KF
        new_kf_info,   // Output info
        true           // Also run local optimization?
        );

    cout << "Created KF #" << new_kf_info.kf_id
        << " | # kf-to-kf edges created:" <<  new_kf_info.created_edge_ids.size()  << endl
        << "Optimization error: " << new_kf_info.optimize_results.total_sqr_error_init << " -> " << new_kf_info.optimize_results.total_sqr_error_final << endl
        << "-------------------------------------------------------" << endl;


    // --------------------------------------------------------------------------------
    // Define observations of next KF:
    // --------------------------------------------------------------------------------
    list_obs.clear();

    for (size_t i=0;i<sizeof(observations_10)/sizeof(observations_10[0]);i++)
    {
        obs_field.obs.feat_id = observations_10[i].landmark_id;
        obs_field.obs.obs_data.pt.x = observations_10[i].x + randomGenerator.drawGaussian1D(0,SENSOR_NOISE_STD);
        obs_field.obs.obs_data.pt.y = observations_10[i].y + randomGenerator.drawGaussian1D(0,SENSOR_NOISE_STD);
        list_obs.push_back( obs_field );
    }

    //  Here happens the main stuff: create Key-frames, build structures, run optimization, etc.
    //  ============================================================================================
    rba.define_new_keyframe(
        list_obs,      // Input observations for the new KF
        new_kf_info,   // Output info
        true           // Also run local optimization?
        );

    cout << "Created KF #" << new_kf_info.kf_id
        << " | # kf-to-kf edges created:" <<  new_kf_info.created_edge_ids.size() << endl
        << "Optimization error: " << new_kf_info.optimize_results.total_sqr_error_init << " -> " << new_kf_info.optimize_results.total_sqr_error_final << endl
        << "-------------------------------------------------------" << endl;


    // Dump the relative pose of KF#0 wrt KF#1:
    cout << "inv_pose of KF-to-KF edge #0 (relative pose of KF#0 wrt KF#1):\n" << rba.get_k2k_edges()[0].inv_pose << endl;
    cout << "Relative pose of KF#1 wrt KF#0:\n" << (-rba.get_k2k_edges()[0].inv_pose) << endl;

    // Compare to ground truth:
    cout << "Ground truth: relative pose of KF#1 wrt KF#0: \n" << mrpt::poses::CPose3D(GT_pose10-GT_pose0) << endl;

    // --------------------------------------------------------------------------------
    // Saving RBA graph as a DOT file:
    // --------------------------------------------------------------------------------
    const string sFil = "graph.dot";
    cout << "Saving final graph of KFs and LMs to: " << sFil << endl;
    rba.save_graph_as_dot(sFil, true /* LMs=save */);
    cout << "Done.\n";

    // --------------------------------------------------------------------------------
    // Show 3D view of the resulting map:
    // --------------------------------------------------------------------------------
    my_srba_t::TOpenGLRepresentationOptions  opengl_options;
    mrpt::opengl::CSetOfObjectsPtr rba_3d = mrpt::opengl::CSetOfObjects::Create();

    rba.build_opengl_representation(
        0,  // Root KF,
        opengl_options, // Rendering options
        rba_3d  // Output scene
        );

    // Display:
#if MRPT_HAS_WXWIDGETS
    mrpt::gui::CDisplayWindow3D win("RBA results",640,480);
    {
        mrpt::opengl::COpenGLScenePtr &scene = win.get3DSceneAndLock();
        scene->insert(rba_3d);
        win.unlockAccess3DScene();
    }
    win.setCameraZoom( 4 );
    win.repaint();

    cout << "Press any key or close window to exit.\n";
    win.waitForKey();
#endif

    return 0; // All ok
}