ndt_fuser_hmt.h

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#ifndef NDT_FUSER_HMT_HH
#define NDT_FUSER_HMT_HH

#include <ndt_visualisation/ndt_viz.h>
#include <ndt_map/ndt_map.h>
#include <ndt_map/ndt_map_hmt.h>
#include <ndt_registration/ndt_matcher_d2d_2d.h>
#include <ndt_registration/ndt_matcher_d2d.h>
#include <pointcloud_vrml/pointcloud_utils.h>

#include <Eigen/Eigen>
#include <pcl/point_cloud.h>

//#define BASELINE

namespace lslgeneric {
template <typename PointT>
class NDTFuserHMT{
    public:
        Eigen::Affine3d Tnow, Tlast_fuse, Todom; 
        //lslgeneric::NDTMapHMT<PointT> *map;  ///< da map
        lslgeneric::NDTMap<PointT> *map;  
        bool checkConsistency;            
        double max_translation_norm, max_rotation_norm;
        double sensor_range;
        bool be2D, doMultires, fuseIncomplete, beHMT;
        int ctr;
        std::string prefix;
        std::string hmt_map_dir;
        NDTViz<PointT> *viewer;
        FILE *fAddTimes, *fRegTimes;

        NDTFuserHMT(double map_resolution, double map_size_x_, double map_size_y_, double map_size_z_, double sensor_range_ = 3, 
                    bool visualize_=false, bool be2D_=false, bool doMultires_=false, bool fuseIncomplete_=false, int max_itr=30, 
                    std::string prefix_="", bool beHMT_=true, std::string hmt_map_dir_="map", bool _step_control=true){
            isInit = false;
            resolution = map_resolution;
            sensor_pose.setIdentity();
            checkConsistency = false;
            visualize = true;
            translation_fuse_delta = 0.05;
            rotation_fuse_delta = 0.01;
            max_translation_norm = 1.;
            max_rotation_norm = M_PI/4;
            map_size_x = map_size_x_;
            map_size_y = map_size_y_;
            map_size_z = map_size_z_;
            visualize = visualize_;
            be2D = be2D_;
            sensor_range = sensor_range_;
            prefix = prefix_;
            doMultires = doMultires_;
            ctr =0;
            viewer = new NDTViz<PointT>(visualize);
            localMapSize<<sensor_range_,sensor_range_,map_size_z_;
            fuseIncomplete = fuseIncomplete_;
            matcher.ITR_MAX = max_itr;
            matcher2D.ITR_MAX = max_itr;
            matcher.step_control=_step_control;
            matcher2D.step_control=_step_control;
            beHMT = beHMT_;
            hmt_map_dir=hmt_map_dir_;

            
            char fname[1000];
            snprintf(fname,999,"%s_addTime.txt",prefix.c_str());
            fAddTimes = fopen(fname,"w");

            std::cout<<"MAP: resolution: "<<resolution<<" size "<<map_size_x<<" "<<map_size_y<<" "<<map_size_z<<" sr "<<sensor_range<<std::endl;
        }
        ~NDTFuserHMT()
        {
            delete map;
            delete viewer;
            if(fAddTimes!=NULL) fclose(fAddTimes);
            if(fRegTimes!=NULL) fclose(fRegTimes);
        }

        double getDoubleTime()
        {
            struct timeval time;
            gettimeofday(&time,NULL);
            return time.tv_sec + time.tv_usec * 1e-6;
        }
        void setSensorPose(Eigen::Affine3d spose){
            sensor_pose = spose;
        }
        
        bool wasInit()
        {
            return isInit;
        }

        bool saveMap() {
            if(!isInit) return false;
            if(map == NULL) return false;
            if(beHMT) {
                lslgeneric::NDTMapHMT<PointT> *map_hmt = dynamic_cast<lslgeneric::NDTMapHMT<PointT>*> (map);
                if(map_hmt==NULL) return false;
                return (map_hmt->writeTo()==0);
            } else {
                char fname[1000];
                snprintf(fname,999,"%s/%s_map.jff",hmt_map_dir.c_str(),prefix.c_str());
                return (map->writeToJFF(fname) == 0);
            }
        }

        void initialize(Eigen::Affine3d initPos, pcl::PointCloud<PointT> &cloud, bool preLoad=false){
            lslgeneric::transformPointCloudInPlace(sensor_pose, cloud);
            lslgeneric::transformPointCloudInPlace(initPos, cloud);
            Tnow = initPos;
//#ifdef BASELINE
//#else
            if(beHMT) {
                map = new lslgeneric::NDTMapHMT<PointT>(resolution,
                        Tnow.translation()(0),Tnow.translation()(1),Tnow.translation()(2),
                        map_size_x,map_size_y,map_size_z,sensor_range,hmt_map_dir,true);
                if(preLoad) {
                    lslgeneric::NDTMapHMT<PointT> *map_hmt = dynamic_cast<lslgeneric::NDTMapHMT<PointT>*> (map);
                    std::cout<<"Trying to pre-load maps at "<<initPos.translation()<<std::endl;
                    map_hmt->tryLoadPosition(initPos.translation());
                }
            } else {
                map = new lslgeneric::NDTMap<PointT>(new lslgeneric::LazyGrid<PointT>(resolution));
                map->initialize(Tnow.translation()(0),Tnow.translation()(1),Tnow.translation()(2),map_size_x,map_size_y,map_size_z);
            }
//#endif
            map->addPointCloud(Tnow.translation(),cloud, 0.1, 100.0, 0.1);
            //map->addPointCloudMeanUpdate(Tnow.translation(),cloud,localMapSize, 1e5, 1250, map_size_z/2, 0.06);
            //map->addPointCloudMeanUpdate(Tnow.translation(),cloud,localMapSize, 0.1, 100.0, 0.1);
            map->computeNDTCells(CELL_UPDATE_MODE_SAMPLE_VARIANCE, 1e5, 255, Tnow.translation(), 0.1);
            isInit = true;
            Tlast_fuse = Tnow;
            Todom = Tnow;
            if(visualize) 
            {
                viewer->plotNDTSAccordingToOccupancy(-1,map); 
                viewer->plotLocalNDTMap(cloud,resolution);
                viewer->addTrajectoryPoint(Tnow.translation()(0),Tnow.translation()(1),Tnow.translation()(2)+0.2,1,0,0);
                viewer->addTrajectoryPoint(Todom.translation()(0),Todom.translation()(1),Todom.translation()(2)+0.2,0,1,0);
                viewer->displayTrajectory();
                viewer->setCameraPointing(Tnow.translation()(0),Tnow.translation()(1),Tnow.translation()(2)+3);
                viewer->repaint();      
            }
        }

        Eigen::Affine3d update(Eigen::Affine3d Tmotion, pcl::PointCloud<PointT> &cloud){
            if(!isInit){
                fprintf(stderr,"NDT-FuserHMT: Call Initialize first!!\n");
                return Tnow;
            }
            Todom = Todom * Tmotion; //we track this only for display purposes!
            double t0=0,t1=0,t2=0,t3=0,t4=0,t5=0,t6=0;
            lslgeneric::transformPointCloudInPlace(sensor_pose, cloud);
            t0 = getDoubleTime();
            lslgeneric::NDTMap<PointT> ndlocal(new lslgeneric::LazyGrid<PointT>(resolution));
            ndlocal.guessSize(0,0,0,sensor_range,sensor_range,map_size_z);
            ndlocal.loadPointCloud(cloud,sensor_range);
            ndlocal.computeNDTCells(CELL_UPDATE_MODE_SAMPLE_VARIANCE);
            //pass through ndlocal and set all cells with vertically pointing normals to non-gaussian :-O
            /*SpatialIndex<PointT> *index = ndlocal.getMyIndex();
            typename SpatialIndex<PointT>::CellVectorItr it = index->begin();
            while (it != index->end())
            {
                NDTCell<PointT> *cell = dynamic_cast<NDTCell<PointT>*> (*it);
                if(cell!=NULL)
                {
                    if(cell->hasGaussian_)
                    {
                        if(cell->getClass() == NDTCell<PointT>::HORIZONTAL) {
                            cell->hasGaussian_ = false;
                        }
                    }
                }
                it++;
            }*/

            t1 = getDoubleTime();
            Eigen::Affine3d Tinit = Tnow * Tmotion;
            if(doMultires) {
                //create two ndt maps with resolution = 3*resolution (or 5?)
                lslgeneric::NDTMap<PointT> ndlocalLow(new lslgeneric::LazyGrid<PointT>(3*resolution));
                ndlocalLow.guessSize(0,0,0,sensor_range,sensor_range,map_size_z);
                ndlocalLow.loadPointCloud(cloud,sensor_range);
                ndlocalLow.computeNDTCells(CELL_UPDATE_MODE_SAMPLE_VARIANCE);

                lslgeneric::NDTMap<PointT> mapLow(new lslgeneric::LazyGrid<PointT>(3*resolution));
                //add distros
                double cx,cy,cz;
                if(!map->getCentroid(cx, cy, cz)){
                    fprintf(stderr,"Centroid NOT Given-abort!\n");
                }
                mapLow.initialize(cx,cy,cz,3*map_size_x,3*map_size_y,map_size_z);

                std::vector<lslgeneric::NDTCell<PointT>*> ndts;
                ndts = map->getAllCells(); //this copies cells?
        
                for(int i=0; i<ndts.size(); i++)        
                {
                    NDTCell<PointT> *cell = ndts[i];
                    if(cell!=NULL)
                    {
                        if(cell->hasGaussian_)
                        {
                            Eigen::Vector3d m = cell->getMean();        
                            Eigen::Matrix3d cov = cell->getCov();
                            unsigned int nump = cell->getN();
                            mapLow.addDistributionToCell(cov, m,nump);
                        }
                    }
                    delete cell;
                }
                //do match
                if(matcher2D.match( mapLow, ndlocalLow,Tinit,true)){
                    //if success, set Tmotion to result
                    t2 = getDoubleTime();
                    //std::cout<<"success: new initial guess! t= "<<t2-t1<<std::endl;
                } else {
                    Tinit = Tnow * Tmotion;
                }           
            }
            
            if(be2D) {
                t2 = getDoubleTime();
                if(matcher2D.match( *map, ndlocal,Tinit,true) || fuseIncomplete){
                    t3 = getDoubleTime();
                    Eigen::Affine3d diff = (Tnow * Tmotion).inverse() * Tinit;
                    if((diff.translation().norm() > max_translation_norm || 
                                diff.rotation().eulerAngles(0,1,2).norm() > max_rotation_norm) && checkConsistency){
                        fprintf(stderr,"****  NDTFuserHMT -- ALMOST DEFINATELY A REGISTRATION FAILURE *****\n");
                        Tnow = Tnow * Tmotion;
                    }else{
                        Tnow = Tinit;
                        lslgeneric::transformPointCloudInPlace(Tnow, cloud);
                        Eigen::Affine3d spose = Tnow*sensor_pose;
                        Eigen::Affine3d diff_fuse = Tlast_fuse.inverse()*Tnow;
                        if(diff_fuse.translation().norm() > translation_fuse_delta ||
                                diff_fuse.rotation().eulerAngles(0,1,2).norm() > rotation_fuse_delta)
                        {
                            //std::cout<<"F: "<<spose.translation().transpose()<<" "<<spose.rotation().eulerAngles(0,1,2).transpose()<<std::endl;
                            t4 = getDoubleTime();
                            map->addPointCloudMeanUpdate(spose.translation(),cloud,localMapSize, 1e5, 1250, map_size_z/2, 0.06);
                            t5 = getDoubleTime();
                            //map->addPointCloudMeanUpdate(spose.translation(),cloud,localMapSize, 1e5, 25, 2*map_size_z, 0.06);
                            //map->addPointCloud(spose.translation(),cloud, 0.06, 25);
                            //map->computeNDTCells(CELL_UPDATE_MODE_SAMPLE_VARIANCE, 1e5, 255, spose.translation(), 0.1);
                            //t4 = getDoubleTime();
                            //std::cout<<"match: "<<t3-t2<<" addPointCloud: "<<t5-t4<<" ndlocal "<<t1-t0<<" total: "<<t5-t0<<std::endl;
                            Tlast_fuse = Tnow;
                            if(visualize) //&&ctr%20==0) 
                            {
                                if(ctr%20==0) {
                                    viewer->plotNDTSAccordingToOccupancy(-1,map); 
                                    viewer->plotLocalNDTMap(cloud,resolution); 
                                }
                                viewer->addTrajectoryPoint(Tnow.translation()(0),Tnow.translation()(1),Tnow.translation()(2),1,0,0);
                                viewer->addTrajectoryPoint(Todom.translation()(0),Todom.translation()(1),Todom.translation()(2),0,1,0);
                                viewer->displayTrajectory();
                                viewer->setCameraPointing(Tnow.translation()(0),Tnow.translation()(1),Tnow.translation()(2)+3);
                                viewer->repaint();      
                            }
                            ctr++;
                        }
                    }
                }else{
                    t3 = getDoubleTime();
                    Tnow = Tnow * Tmotion;
                }

            }
            else
            {
                
                t2 = getDoubleTime();
                if(matcher.match( *map, ndlocal,Tinit,true) || fuseIncomplete){
                    t3 = getDoubleTime();
                    Eigen::Affine3d diff = (Tnow * Tmotion).inverse() * Tinit;
                    
                    if((diff.translation().norm() > max_translation_norm || 
                                diff.rotation().eulerAngles(0,1,2).norm() > max_rotation_norm) && checkConsistency){
                        fprintf(stderr,"****  NDTFuserHMT -- ALMOST DEFINATELY A REGISTRATION FAILURE *****\n");
                        Tnow = Tnow * Tmotion;
                        //save offending map:
                        //map->writeToJFF("map.jff");
                        //ndlocal.writeToJFF("local.jff");
                    }else{
                        Tnow = Tinit;
                        //Tnow = Tnow * Tmotion;
                        lslgeneric::transformPointCloudInPlace(Tnow, cloud);
                        Eigen::Affine3d spose = Tnow*sensor_pose;
                        Eigen::Affine3d diff_fuse = Tlast_fuse.inverse()*Tnow;
                        if(diff_fuse.translation().norm() > translation_fuse_delta ||
                                diff_fuse.rotation().eulerAngles(0,1,2).norm() > rotation_fuse_delta)
                        {
                            //std::cout<<"F: "<<spose.translation().transpose()<<" "<<spose.rotation().eulerAngles(0,1,2).transpose()<<std::endl;
                            t4 = getDoubleTime();
                            map->addPointCloudMeanUpdate(spose.translation(),cloud,localMapSize, 1e5, 1250, map_size_z/2, 0.06);
                            t5 = getDoubleTime();
                            //map->addPointCloudMeanUpdate(spose.translation(),cloud,localMapSize, 1e5, 25, 2*map_size_z, 0.06);
                            //map->addPointCloud(spose.translation(),cloud, 0.06, 25);
                            //map->computeNDTCells(CELL_UPDATE_MODE_SAMPLE_VARIANCE, 1e5, 255, spose.translation(), 0.1);
                            //t4 = getDoubleTime();
                            //std::cout<<"match: "<<t3-t2<<" addPointCloud: "<<t5-t4<<" ndlocal "<<t1-t0<<" total: "<<t5-t0<<std::endl;
                            Tlast_fuse = Tnow;
                            if(visualize) //&&ctr%20==0) 
                            {
                                viewer->plotNDTSAccordingToOccupancy(-1,map); 
                                viewer->plotLocalNDTMap(cloud,resolution); 
                            }
                            ctr++;
                        }
                    }
                }else{
                    t3 = getDoubleTime();
                    Tnow = Tnow * Tmotion;
                }
            }
            
            t6 = getDoubleTime();
            if(fAddTimes!=NULL) {
                fprintf(fAddTimes,"%lf %lf %lf\n",t3-t2,t5-t4,t6-t0);
                fflush(fAddTimes);
            }

            return Tnow;
        }

    private:
        bool isInit;

        double resolution; 
        double map_size;
        
        double translation_fuse_delta, rotation_fuse_delta;
        double map_size_x;
        double map_size_y;
        double map_size_z;
        bool visualize;

        Eigen::Affine3d sensor_pose;
        lslgeneric::NDTMatcherD2D<PointT,PointT> matcher;
        lslgeneric::NDTMatcherD2D_2D<PointT,PointT> matcher2D;
        Eigen::Vector3d localMapSize;

    public:
        EIGEN_MAKE_ALIGNED_OPERATOR_NEW

};
}
#endif