/home/travis/build/MRPT/srba/examples/cpp/tutorial-srba-relative-graph-slam-se3.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    |
   +---------------------------------------------------------------------------+ */

//#define SRBA_DETAILED_TIME_PROFILING   1

#include <srba.h>
#include <mrpt/random.h>
#include <mrpt/gui.h>  // For rendering results as a 3D scene

using namespace srba;
using namespace std;
using mrpt::utils::square;

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_constant_matrix<observations::RelativePoses_3D>   obs_noise_matrix_t;      // The sensor noise matrix is the same for all observations and equal to some given matrix
//  typedef options::solver_LM_schur_dense_cholesky solver_t;                //!< Solver algorithm (Default: Lev-Marq, with Schur, with dense Cholesky)
};

typedef RbaEngine<
    kf2kf_poses::SE3,               // Parameterization  of KF-to-KF poses
    landmarks::RelativePoses3D,     // Parameterization of landmark positions
    observations::RelativePoses_3D, // Type of observations
    RBA_OPTIONS
    >  my_srba_t;

// --------------------------------------------------------------------------------
// A test dataset (generated with https://github.com/jlblancoc/recursive-world-toolkit )
// --------------------------------------------------------------------------------
const double STD_NOISE_XYZ = 0.01;
const double STD_NOISE_ANGLES = mrpt::utils::DEG2RAD(0.5);

struct basic_graph_slam_dataset_entry_t
{
    unsigned int current_kf;
    unsigned int observed_kf;
    double x,y,z, yaw,pitch,roll,  qr,qx,qy,qz; // Relative pose of "observed_kf" as seen from "current_kf"
};
basic_graph_slam_dataset_entry_t dataset[] = {
 {     1,      0,     -1.78055512,      1.11331694,      0.00000000,     -0.37399920,     -0.00000000,      0.00000000,      0.98256647,      0.00000000,     -0.00000000,     -0.18591164},
 {     2,      1,     -1.71545942,      2.05914961,      0.00000000,     -0.37399882,     -0.00000000,      0.00000000,      0.98256650,      0.00000000,     -0.00000000,     -0.18591146},
 {     2,      0,     -2.96619160,      3.74601658,      0.00000000,     -0.74799802,     -0.00000000,      0.00000000,      0.93087379,      0.00000000,     -0.00000000,     -0.36534092},
 {     3,      2,     -1.15014065,      2.45631509,      0.00000000,     -0.37399920,     -0.00000000,      0.00000000,      0.98256647,      0.00000000,     -0.00000000,     -0.18591164},
 {     4,      3,     -0.71839088,      2.17858845,      0.00000000,     -0.37399920,     -0.00000000,      0.00000000,      0.98256647,      0.00000000,     -0.00000000,     -0.18591164},
 {     4,      2,     -0.89163376,      4.88530127,      0.00000000,     -0.74799839,     -0.00000000,      0.00000000,      0.93087372,      0.00000000,     -0.00000000,     -0.36534109},
 {     5,      4,     -1.33870852,      1.73631597,      0.00000000,     -0.37399882,     -0.00000000,      0.00000000,      0.98256650,      0.00000000,     -0.00000000,     -0.18591146},
 {     5,      3,     -1.21151269,      4.02676447,      0.00000000,     -0.74799802,     -0.00000000,      0.00000000,      0.93087379,      0.00000000,     -0.00000000,     -0.36534092},
 {     6,      5,     -1.67977719,      2.03565806,      0.00000000,     -0.37399920,     -0.00000000,      0.00000000,      0.98256647,      0.00000000,     -0.00000000,     -0.18591164},
 {     6,      4,     -2.29159821,      4.14103420,      0.00000000,     -0.74799802,     -0.00000000,      0.00000000,      0.93087379,      0.00000000,     -0.00000000,     -0.36534092},
 {     7,      6,     -1.49006905,      2.30876608,      0.00000000,     -0.37399920,     -0.00000000,      0.00000000,      0.98256647,      0.00000000,     -0.00000000,     -0.18591164},
 {     8,      7,     -1.15992524,      2.21845386,      0.00000000,     -0.37399882,     -0.00000000,      0.00000000,      0.98256650,      0.00000000,     -0.00000000,     -0.18591146},
 {     9,      8,     -1.28889269,      1.78614744,      0.00000000,     -0.37399920,     -0.00000000,      0.00000000,      0.98256647,      0.00000000,     -0.00000000,     -0.18591164},
 {     9,      7,     -1.55814427,      4.27501619,      0.00000000,     -0.74799802,     -0.00000000,      0.00000000,      0.93087379,      0.00000000,     -0.00000000,     -0.36534092},
 {    10,      9,     -1.67026750,      1.96210498,      0.00000000,     -0.37399920,     -0.00000000,      0.00000000,      0.98256647,      0.00000000,     -0.00000000,     -0.18591164},
 {    10,      8,     -2.21751078,      4.09566815,      0.00000000,     -0.74799839,     -0.00000000,      0.00000000,      0.93087372,      0.00000000,     -0.00000000,     -0.36534109},
 {    11,     10,     -1.55210516,      2.27651848,      0.00000000,     -0.37399882,     -0.00000000,      0.00000000,      0.98256650,      0.00000000,     -0.00000000,     -0.18591146},
 {    12,     11,     -1.21625554,      2.27164636,      0.00000000,     -0.37399920,     -0.00000000,      0.00000000,      0.98256647,      0.00000000,     -0.00000000,     -0.18591164},
 {    13,     12,     -1.45455725,      1.51179033,      0.00000000,     -0.22440012,     -0.00000000,      0.00000000,      0.99371217,      0.00000000,     -0.00000000,     -0.11196480},
 {    13,     11,     -2.13482825,      3.99712454,      0.00000000,     -0.59839931,     -0.00000000,      0.00000000,      0.95557270,      0.00000000,     -0.00000000,     -0.29475552},
 {    14,     13,     -2.36655195,      0.41536284,      0.00000000,      0.00000000,     -0.00000000,      0.00000000,      1.00000000,      0.00000000,      0.00000000,      0.00000000},
 {    14,     12,     -3.82110920,      1.92715317,      0.00000000,     -0.22440012,     -0.00000000,      0.00000000,      0.99371217,      0.00000000,     -0.00000000,     -0.11196480},
 {    15,     14,     -2.74448431,     -0.11373775,      0.00000000,      0.00000000,     -0.00000000,      0.00000000,      1.00000000,      0.00000000,      0.00000000,      0.00000000},
 {    15,      0,      4.16910212,      0.67638546,      0.00000000,      1.57079633,     -0.00000000,      0.00000000,      0.70710678,      0.00000000,      0.00000000,      0.70710678},
 {    16,      0,      1.58658626,      0.30349575,      0.00000000,      1.57079633,     -0.00000000,      0.00000000,      0.70710678,      0.00000000,      0.00000000,      0.70710678},
 {    16,     15,     -2.58251586,     -0.37288971,      0.00000000,      0.00000000,     -0.00000000,      0.00000000,      1.00000000,      0.00000000,      0.00000000,      0.00000000},
 {    16,      1,      1.97243380,      2.36770815,      0.00000000,      1.94479552,     -0.00000000,      0.00000000,      0.56332003,      0.00000000,      0.00000000,      0.82623879},
};

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;
    //rba.parameters.srba.optimize_new_edges_alone  = false;  // skip optimizing new edges one by one? Relative graph-slam without landmarks should be robust enough, but just to make sure we can leave this to "true" (default)

    // Information matrix for relative pose observations:
    {
        Eigen::Matrix<double,6,6> ObsL;
        ObsL.setZero();
        // X,Y,Z:
        for (int i=0;i<3;i++) ObsL(i,i) = 1/square(STD_NOISE_XYZ);
        // Yaw,pitch,roll:
        for (int i=0;i<3;i++) ObsL(3+i,3+i) = 1/square(STD_NOISE_ANGLES);

        // Set:
        rba.parameters.obs_noise.lambda = ObsL;
    }

    // =========== Topology parameters ===========
    rba.parameters.srba.max_tree_depth       = 3;
    rba.parameters.srba.max_optimize_depth   = 3;
    rba.parameters.ecp.submap_size          = 5;
    rba.parameters.ecp.min_obs_to_loop_closure = 1;
    // ===========================================

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

#if MRPT_HAS_WXWIDGETS
    mrpt::gui::CDisplayWindow3D win("RBA results",640,480);
#endif

    // --------------------------------------------------------------------------------
    // Process the dataset:
    // --------------------------------------------------------------------------------
    const size_t nObs = sizeof(dataset)/sizeof(dataset[0]);
    size_t cur_kf = 0; // Start at keyframe #0 in the dataset

    for (size_t obsIdx = 0; obsIdx<nObs;  cur_kf++ /* move to next KF */  )
    {
        // Create list of observations for keyframe: "cur_kf"
        my_srba_t::new_kf_observations_t  list_obs;

        // To emulate graph-SLAM, each keyframe MUST have exactly ONE fixed "fake landmark", representing its pose:
        // ------------------------------------------------------------------------------------------------------------
        {
            my_srba_t::new_kf_observation_t obs_field;
            obs_field.is_fixed = true;
            obs_field.obs.feat_id = cur_kf; // Feature ID == keyframe ID
            obs_field.obs.obs_data.x = 0;   // Landmark values are actually ignored.
            obs_field.obs.obs_data.y = 0;
            obs_field.obs.obs_data.z = 0;
            obs_field.obs.obs_data.yaw = 0;
            obs_field.obs.obs_data.pitch = 0;
            obs_field.obs.obs_data.roll = 0;
            list_obs.push_back( obs_field );
        }

        // The rest "observations" are real observations of relative poses:
        // -----------------------------------------------------------------
        while ( dataset[obsIdx].current_kf == cur_kf && obsIdx<nObs )
        {
            my_srba_t::new_kf_observation_t obs_field;
            obs_field.is_fixed = false;   // "Landmarks" (relative poses) have unknown relative positions (i.e. treat them as unknowns to be estimated)
            obs_field.is_unknown_with_init_val = false; // Ignored, since all observed "fake landmarks" already have an initialized value.

            obs_field.obs.feat_id      = dataset[obsIdx].observed_kf;
            obs_field.obs.obs_data.x   = dataset[obsIdx].x + mrpt::random::randomGenerator.drawGaussian1D(0,STD_NOISE_XYZ);
            obs_field.obs.obs_data.y   = dataset[obsIdx].y + mrpt::random::randomGenerator.drawGaussian1D(0,STD_NOISE_XYZ);
            obs_field.obs.obs_data.z   = dataset[obsIdx].z + mrpt::random::randomGenerator.drawGaussian1D(0,STD_NOISE_XYZ);
            obs_field.obs.obs_data.yaw   = dataset[obsIdx].yaw  + mrpt::random::randomGenerator.drawGaussian1D(0,STD_NOISE_ANGLES);
            obs_field.obs.obs_data.pitch = dataset[obsIdx].pitch  + mrpt::random::randomGenerator.drawGaussian1D(0,STD_NOISE_ANGLES);
            obs_field.obs.obs_data.roll  = dataset[obsIdx].roll  + mrpt::random::randomGenerator.drawGaussian1D(0,STD_NOISE_ANGLES);

            list_obs.push_back( obs_field );
            obsIdx++; // Next dataset entry
        }

        //  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;

    // Display:
#if MRPT_HAS_WXWIDGETS
        // --------------------------------------------------------------------------------
        // 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(
            new_kf_info.kf_id ,  // Root KF: the current (latest) KF
            opengl_options, // Rendering options
            rba_3d  // Output scene
            );

        {
            mrpt::opengl::COpenGLScenePtr &scene = win.get3DSceneAndLock();
            scene->clear();
            scene->insert(rba_3d);
            win.unlockAccess3DScene();
        }
        win.repaint();

        cout << "Press any key to continue.\n";
        win.waitForKey();
#endif

    } // end-for each dataset entry


    // --------------------------------------------------------------------------------
    // 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";


    return 0; // All ok
}