/home/travis/build/MRPT/srba/examples/cpp/tutorial-srba-range-bearing-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::RangeBearing_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-range-bearing-2d.cfg
// --------------------------------------------------------------------------------
const double SENSOR_NOISE_STD = 1e-3;
struct basic_range_bearing_dataset_entry_t 
{
    unsigned int landmark_id;
    double range,yaw,pitch;
};

// Observations for KF#0. Ground truth pose: (xyz,q)= 0.000000 0.000000 0.000000 0.996195 0.000000 0.000000 0.087156
const mrpt::poses::CPose3DQuat GT_pose0(0,0,0, mrpt::math::CQuaternionDouble(0.996195,0.000000,0.000000,0.087156));

basic_range_bearing_dataset_entry_t   observations_0[] = {
 {    21,   0.74585171,  -1.36075146,   0.00000000},
 {    23,   2.02948709,  -1.35571420,   0.00000000},
 {    39,   2.68006543,  -0.13563474,   0.00000000},
 {    35,   2.86272739,  -0.01644496,   0.00000000},
 {    20,   2.91915698,   1.07525990,   0.00000000},
 {    28,   3.17296903,  -0.18301471,   0.00000000},
 {    18,   3.50125002,  -1.03517885,   0.00000000},
 {    37,   3.50752367,  -0.41336794,   0.00000000},
 {    45,   3.54994055,  -1.21247025,   0.00000000},
  };
// Observations for KF#10:(xyz,q)= 1.230805 0.294472 0.000000 0.999999 0.000000 0.000000 0.001357
const mrpt::poses::CPose3DQuat GT_pose10(1.230805, 0.294472,0.000000, mrpt::math::CQuaternionDouble(0.999999,0.000000,0.000000,0.001357));
basic_range_bearing_dataset_entry_t  observations_10[] = {
 {    39,   1.45968442,  -0.13342076,   0.00000000},
 {    35,   1.60384967,   0.09483688,   0.00000000},
 {    28,   1.96846287,  -0.16671414,   0.00000000},
 {    37,   2.45029433,  -0.47938282,   0.00000000},
 {    20,   2.49487594,   1.69256088,   0.00000000},
 {     6,   2.98119279,  -0.44809197,   0.00000000},
 {    18,   3.13128847,  -1.23093971,   0.00000000},
 {    13,   3.22347598,   0.32892426,   0.00000000},
 {    45,   3.40078719,  -1.40434357,   0.00000000},
 {    24,   3.75211822,   0.62688236,   0.00000000},
 {     3,   3.83093551,  -0.28399202,   0.00000000},
 {    26,   3.84323530,  -0.17313155,   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 = false; // true

    rba.parameters.obs_noise.std_noise_observations = 0.05; //SENSOR_NOISE_STD;

    // =========== Topology parameters ===========
    rba.parameters.srba.max_tree_depth       =
    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.range = observations_0[i].range + randomGenerator.drawGaussian1D(0,SENSOR_NOISE_STD);
        obs_field.obs.obs_data.yaw = observations_0[i].yaw + 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.range = observations_10[i].range + randomGenerator.drawGaussian1D(0,SENSOR_NOISE_STD);
        obs_field.obs.obs_data.yaw = observations_10[i].yaw + 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
}