Memory.h

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/*
Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.

Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
    * Redistributions of source code must retain the above copyright
      notice, this list of conditions and the following disclaimer.
    * Redistributions in binary form must reproduce the above copyright
      notice, this list of conditions and the following disclaimer in the
      documentation and/or other materials provided with the distribution.
    * Neither the name of the Universite de Sherbrooke nor the
      names of its contributors may be used to endorse or promote products
      derived from this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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*/

#ifndef MEMORY_H_
#define MEMORY_H_

#include "rtabmap/core/RtabmapExp.h" // DLL export/import defines

#include "rtabmap/utilite/UEventsHandler.h"
#include "rtabmap/core/Parameters.h"
#include "rtabmap/core/SensorData.h"
#include "rtabmap/core/Link.h"
#include "rtabmap/core/Features2d.h"
#include <typeinfo>
#include <list>
#include <map>
#include <set>
#include "rtabmap/utilite/UStl.h"
#include <opencv2/core/core.hpp>
#include <opencv2/features2d/features2d.hpp>

namespace rtabmap {

class Signature;
class DBDriver;
class GraphNode;
class VWDictionary;
class VisualWord;
class Feature2D;
class Statistics;

class RTABMAP_EXP Memory
{
public:
        static const int kIdStart;
        static const int kIdVirtual;
        static const int kIdInvalid;

public:
        Memory(const ParametersMap & parameters = ParametersMap());
        virtual ~Memory();

        virtual void parseParameters(const ParametersMap & parameters);
        bool update(const SensorData & data, Statistics * stats = 0);
        bool init(const std::string & dbUrl,
                        bool dbOverwritten = false,
                        const ParametersMap & parameters = ParametersMap(),
                        bool postInitClosingEvents = false);
        std::map<int, float> computeLikelihood(const Signature * signature,
                        const std::list<int> & ids);
        int incrementMapId();
        void updateAge(int signatureId);

        std::list<int> forget(const std::set<int> & ignoredIds = std::set<int>());
        std::set<int> reactivateSignatures(const std::list<int> & ids, unsigned int maxLoaded, double & timeDbAccess);

        std::list<int> cleanup(const std::list<int> & ignoredIds = std::list<int>());
        void emptyTrash();
        void joinTrashThread();
        bool addLink(int to, int from, const Transform & transform, Link::Type type, float rotVariance, float transVariance);
        void updateLink(int fromId, int toId, const Transform & transform, float rotVariance, float transVariance);
        void removeAllVirtualLinks();
        std::map<int, int> getNeighborsId(
                        int signatureId,
                        int maxGraphDepth,
                        int maxCheckedInDatabase = -1,
                        bool incrementMarginOnLoop = false,
                        bool ignoreLoopIds = false,
                        double * dbAccessTime = 0) const;
        std::map<int, float> getNeighborsIdRadius(
                        int signatureId,
                        float radius,
                        const std::map<int, Transform> & optimizedPoses,
                        int maxGraphDepth) const;
        void deleteLocation(int locationId, std::list<int> * deletedWords = 0);
        void removeLink(int idA, int idB);

        //getters
        const std::map<int, double> & getWorkingMem() const {return _workingMem;}
        const std::set<int> & getStMem() const {return _stMem;}
        int getMaxStMemSize() const {return _maxStMemSize;}
        std::map<int, Link> getNeighborLinks(int signatureId,
                        bool lookInDatabase = false) const;
        std::map<int, Link> getLoopClosureLinks(int signatureId,
                        bool lookInDatabase = false) const;
        bool isRawDataKept() const {return _rawDataKept;}
        bool isBinDataKept() const {return _binDataKept;}
        float getSimilarityThreshold() const {return _similarityThreshold;}
        std::map<int, int> getWeights() const;
        int getLastSignatureId() const;
        const Signature * getLastWorkingSignature() const;
        int getSignatureIdByLabel(const std::string & label, bool lookInDatabase = true) const;
        bool labelSignature(int id, const std::string & label);
        std::map<int, std::string> getAllLabels() const;
        bool setUserData(int id, const std::vector<unsigned char> & data);
        int getDatabaseMemoryUsed() const; // in bytes
        double getDbSavingTime() const;
        Transform getOdomPose(int signatureId, bool lookInDatabase = false) const;
        bool getNodeInfo(int signatureId,
                        Transform & odomPose,
                        int & mapId,
                        int & weight,
                        std::string & label,
                        double & stamp,
                        std::vector<unsigned char> & userData,
                        bool lookInDatabase = false) const;
        cv::Mat getImageCompressed(int signatureId) const;
        Signature getSignatureData(int locationId, bool uncompressedData = false);
        Signature getSignatureDataConst(int locationId) const;
        std::set<int> getAllSignatureIds() const;
        bool memoryChanged() const {return _memoryChanged;}
        bool isIncremental() const {return _incrementalMemory;}
        const Signature * getSignature(int id) const;
        bool isInSTM(int signatureId) const {return _stMem.find(signatureId) != _stMem.end();}
        bool isInWM(int signatureId) const {return _workingMem.find(signatureId) != _workingMem.end();}
        bool isInLTM(int signatureId) const {return !this->isInSTM(signatureId) && !this->isInWM(signatureId);}
        bool isIDsGenerated() const {return _generateIds;}
        int getLastGlobalLoopClosureId() const {return _lastGlobalLoopClosureId;}
        const Feature2D * getFeature2D() const {return _feature2D;}

        void setRoi(const std::string & roi);

        void dumpMemoryTree(const char * fileNameTree) const;
        virtual void dumpMemory(std::string directory) const;
        virtual void dumpSignatures(const char * fileNameSign, bool words3D) const;
        void dumpDictionary(const char * fileNameRef, const char * fileNameDesc) const;

        void generateGraph(const std::string & fileName, std::set<int> ids = std::set<int>());
        void createGraph(GraphNode * parent,
                        unsigned int maxDepth,
                        const std::set<int> & endIds = std::set<int>());

        //keypoint stuff
        const VWDictionary * getVWDictionary() const;
        Feature2D::Type getFeatureType() const {return _featureType;}

        // RGB-D stuff
        void getMetricConstraints(
                        const std::set<int> & ids,
                        std::map<int, Transform> & poses,
                        std::multimap<int, Link> & links,
                        bool lookInDatabase = false);
        float getBowInlierDistance() const {return _bowInlierDistance;}
        int getBowIterations() const {return _bowIterations;}
        int getBowMinInliers() const {return _bowMinInliers;}
        float getBowMaxDepth() const {return _bowMaxDepth;}
        bool getBowForce2D() const {return _bowForce2D;}
        Transform computeVisualTransform(int oldId, int newId, std::string * rejectedMsg = 0, int * inliers = 0, double * variance = 0) const;
        Transform computeVisualTransform(const Signature & oldS, const Signature & newS, std::string * rejectedMsg = 0, int * inliers = 0, double * variance = 0) const;
        Transform computeIcpTransform(int oldId, int newId, Transform guess, bool icp3D, std::string * rejectedMsg = 0, int * correspondences = 0, double * variance = 0, float * correspondencesRatio = 0);
        Transform computeIcpTransform(const Signature & oldS, const Signature & newS, Transform guess, bool icp3D, std::string * rejectedMsg = 0, int * correspondences = 0, double * variance = 0, float * correspondencesRatio = 0) const;
        Transform computeScanMatchingTransform(
                        int newId,
                        int oldId,
                        const std::map<int, Transform> & poses,
                        std::string * rejectedMsg = 0,
                        int * inliers = 0,
                        double * variance = 0);

private:
        void preUpdate();
        void addSignatureToStm(Signature * signature, float poseRotVariance, float poseTransVariance);
        void clear();
        void moveToTrash(Signature * s, bool keepLinkedToGraph = true, std::list<int> * deletedWords = 0);

        void addSignatureToWm(Signature * signature);
        Signature * _getSignature(int id) const;
        std::list<Signature *> getRemovableSignatures(int count,
                        const std::set<int> & ignoredIds = std::set<int>());
        int getNextId();
        void initCountId();
        void rehearsal(Signature * signature, Statistics * stats = 0);
        bool rehearsalMerge(int oldId, int newId);

        const std::map<int, Signature*> & getSignatures() const {return _signatures;}

        void copyData(const Signature * from, Signature * to);
        Signature * createSignature(
                        const SensorData & data,
                        Statistics * stats = 0);

        //keypoint stuff
        void disableWordsRef(int signatureId);
        void enableWordsRef(const std::list<int> & signatureIds);
        void cleanUnusedWords();
        int getNi(int signatureId) const;

protected:
        DBDriver * _dbDriver;

private:
        // parameters
        float _similarityThreshold;
        bool _rawDataKept;
        bool _binDataKept;
        bool _notLinkedNodesKeptInDb;
        bool _incrementalMemory;
        int _maxStMemSize;
        float _recentWmRatio;
        bool _transferSortingByWeightId;
        bool _idUpdatedToNewOneRehearsal;
        bool _generateIds;
        bool _badSignaturesIgnored;
        int _imageDecimation;
        float _laserScanVoxelSize;
        bool _localSpaceLinksKeptInWM;
        float _rehearsalMaxDistance;
        float _rehearsalMaxAngle;
        bool _rehearsalWeightIgnoredWhileMoving;

        int _idCount;
        int _idMapCount;
        Signature * _lastSignature;
        int _lastGlobalLoopClosureId;
        bool _memoryChanged; // False by default, become true only when Memory::update() is called.
        bool _linksChanged; // False by default, become true when links are modified.
        int _signaturesAdded;
        bool _postInitClosingEvents;

        std::map<int, Signature *> _signatures; // TODO : check if a signature is already added? although it is not supposed to occur...
        std::set<int> _stMem; // id
        std::map<int, double> _workingMem; // id,age

        //Keypoint stuff
        VWDictionary * _vwd;
        Feature2D * _feature2D;
        Feature2D::Type _featureType;
        float _badSignRatio;;
        bool _tfIdfLikelihoodUsed;
        bool _parallelized;
        float _wordsMaxDepth; // 0=inf
        std::vector<float> _roiRatios; // size 4

        // RGBD-SLAM stuff
        int _bowMinInliers;
        float _bowInlierDistance;
        int _bowIterations;
        float _bowMaxDepth;
        bool _bowForce2D;
        bool _bowEpipolarGeometry;
        float _bowEpipolarGeometryVar;
        float _icpMaxTranslation;
        float _icpMaxRotation;
        int _icpDecimation;
        float _icpMaxDepth;
        float _icpVoxelSize;
        int _icpSamples;
        float _icpMaxCorrespondenceDistance;
        int _icpMaxIterations;
        float _icpCorrespondenceRatio;
        bool _icpPointToPlane;
        int _icpPointToPlaneNormalNeighbors;
        float _icp2MaxCorrespondenceDistance;
        int _icp2MaxIterations;
        float _icp2CorrespondenceRatio;
        float _icp2VoxelSize;

        // Stereo stuff
        int _stereoFlowWinSize;
        int _stereoFlowIterations;
        double _stereoFlowEpsilon;
        int _stereoFlowMaxLevel;
        float _stereoMaxSlope;

        int _subPixWinSize;
        int _subPixIterations;
        double _subPixEps;
};

} // namespace rtabmap

#endif /* MEMORY_H_ */