Rtabmap.h

/*
Copyright (c) 2010-2016, 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
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
 
#ifndef RTABMAP_H_
#define RTABMAP_H_
 
#include "rtabmap/core/rtabmap_core_export.h" // DLL export/import defines
 
#include "rtabmap/core/Parameters.h"
#include "rtabmap/core/SensorData.h"
#include "rtabmap/core/Statistics.h"
#include "rtabmap/core/Link.h"
#include "rtabmap/core/ProgressState.h"
#include "rtabmap/core/Graph.h"
 
#include <opencv2/core/core.hpp>
#include <list>
#include <stack>
#include <set>
 
namespace rtabmap
{
 
class EpipolarGeometry;
class Memory;
class BayesFilter;
class Signature;
class Optimizer;
 
class RTABMAP_CORE_EXPORT Rtabmap
{
public:
  enum VhStrategy {
    kVhNone,     
    kVhEpipolar, 
    kVhUndef     
  };
 
public:
  Rtabmap();
  virtual ~Rtabmap();
 
  bool process(
      const SensorData & data,
      Transform odomPose,
      const cv::Mat & odomCovariance = cv::Mat::eye(6,6,CV_64FC1),
      const std::vector<float> & odomVelocity = std::vector<float>(),
      const std::map<std::string, float> & externalStats = std::map<std::string, float>());
  bool process(
      const SensorData & data,
      Transform odomPose,
      float odomLinearVariance,
      float odomAngularVariance,
      const std::vector<float> & odomVelocity = std::vector<float>(),
      const std::map<std::string, float> & externalStats = std::map<std::string, float>());
  bool process(
      const cv::Mat & image,
      int id=0, const std::map<std::string, float> & externalStats = std::map<std::string, float>());
 
  void init(const ParametersMap & parameters, const std::string & databasePath = "", bool loadDatabaseParameters = false);
  void init(const std::string & configFile = "", const std::string & databasePath = "", bool loadDatabaseParameters = false);
 
  void close(bool databaseSaved = true, const std::string & ouputDatabasePath = "");
 
  const std::string & getWorkingDir() const {return _wDir;}
  bool isRGBDMode() const { return _rgbdSlamMode; }
  int getLoopClosureId() const {return _loopClosureHypothesis.first;}
  float getLoopClosureValue() const {return _loopClosureHypothesis.second;}
  int getHighestHypothesisId() const {return _highestHypothesis.first;}
  float getHighestHypothesisValue() const {return _highestHypothesis.second;}
  int getLastLocationId() const;
  std::list<int> getWM() const;
  std::set<int> getSTM() const;
  int getWMSize() const;
  int getSTMSize() const;
  std::map<int, int> getWeights() const;
  int getTotalMemSize() const;
  double getLastProcessTime() const {return _lastProcessTime;};
  bool isInSTM(int locationId) const;
  bool isIDsGenerated() const;
  const Statistics & getStatistics() const;
  const std::map<int, Transform> & getLocalOptimizedPoses() const {return _optimizedPoses;}
  const std::multimap<int, Link> & getLocalConstraints() const {return _constraints;}
  Transform getPose(int locationId) const;
  Transform getMapCorrection() const {return _mapCorrection;}
  const Memory * getMemory() const {return _memory;}
  float getGoalReachedRadius() const {return _goalReachedRadius;}
  float getLocalRadius() const {return _localRadius;}
  const Transform & getLastLocalizationPose() const {return _lastLocalizationPose;}
 
  float getTimeThreshold() const {return _maxTimeAllowed;}
  void setTimeThreshold(float maxTimeAllowed);
  int getMemoryThreshold() const {return _maxMemoryAllowed;}
  void setMemoryThreshold(int maxMemoryAllowed);
 
  void setInitialPose(const Transform & initialPose);
  int triggerNewMap();
  bool labelLocation(int id, const std::string & label);
  bool setUserData(int id, const cv::Mat & data);
  void generateDOTGraph(const std::string & path, int id=0, int margin=5);
  void exportPoses(
      const std::string & path,
      bool optimized,
      bool global,
      int format
  );
  void resetMemory();
  void dumpPrediction() const;
  void dumpData() const;
  void parseParameters(const ParametersMap & parameters);
  const ParametersMap & getParameters() const {return _parameters;}
  void setWorkingDirectory(std::string path);
  void rejectLastLoopClosure();
  void deleteLastLocation();
  void setOptimizedPoses(const std::map<int, Transform> & poses, const std::multimap<int, Link> & constraints);
  Signature getSignatureCopy(int id, bool images, bool scan, bool userData, bool occupancyGrid, bool withWords, bool withGlobalDescriptors) const;
  RTABMAP_DEPRECATED
    void get3DMap(std::map<int, Signature> & signatures,
        std::map<int, Transform> & poses,
        std::multimap<int, Link> & constraints,
        bool optimized,
        bool global) const;
  void getGraph(std::map<int, Transform> & poses,
      std::multimap<int, Link> & constraints,
      bool optimized,
      bool global,
      std::map<int, Signature> * signatures = 0,
      bool withImages = false,
      bool withScan = false,
      bool withUserData = false,
      bool withGrid = false,
      bool withWords = true,
      bool withGlobalDescriptors = true) const;
  std::map<int, Transform> getNodesInRadius(const Transform & pose, float radius, int k=0, std::map<int, float> * distsSqr=0);
  std::map<int, Transform> getNodesInRadius(int nodeId, float radius, int k=0, std::map<int, float> * distsSqr=0);
  int detectMoreLoopClosures(
      float clusterRadiusMax = 0.5f,
      float clusterAngle = M_PI/6.0f,
      int iterations = 1,
      bool intraSession = true,
      bool interSession = true,
      const ProgressState * state = 0,
      float clusterRadiusMin = 0.0f,
      int toFromMapId = -1);
  bool globalBundleAdjustment(
      int optimizerType = 1 /*g2o*/,
      bool rematchFeatures = true,
      int iterations = 0,
      float pixelVariance = 0.0f);
  int cleanupLocalGrids(
      const std::map<int, Transform> & mapPoses,
      const cv::Mat & map,
      float xMin,
      float yMin,
      float cellSize,
      int cropRadius = 1,
      bool filterScans = false);
  int refineLinks();
  bool addLink(const Link & link);
  cv::Mat getInformation(const cv::Mat & covariance) const;
  void addNodesToRepublish(const std::vector<int> & ids);
  void setDummyDictionary(bool enabled = true);
 
  int getPathStatus() const {return _pathStatus;}
  void clearPath(int status);
  bool computePath(int targetNode, bool global);
  bool computePath(const Transform & targetPose, float tolerance = -1.0f);
  const std::vector<std::pair<int, Transform> > & getPath() const {return _path;}
  std::vector<std::pair<int, Transform> > getPathNextPoses() const;
  std::vector<int> getPathNextNodes() const;
  int getPathCurrentGoalId() const;
  unsigned int getPathCurrentIndex() const {return _pathCurrentIndex;}
  unsigned int getPathCurrentGoalIndex() const {return _pathGoalIndex;}
  const Transform & getPathTransformToGoal() const {return _pathTransformToGoal;}
 
  std::map<int, Transform> getForwardWMPoses(int fromId, int maxNearestNeighbors, float radius, int maxDiffID) const;
  std::map<int, std::map<int, Transform> > getPaths(const std::map<int, Transform> & poses, const Transform & target, int maxGraphDepth = 0) const;
  void adjustLikelihood(std::map<int, float> & likelihood) const;
 
private:
  void setInitialGuessFromPreviousMaps(
      int fromId,
      const std::map<int, Transform> & guessPoses,
      const std::multimap<int, Link> & links,
      std::map<int, Transform> & poses) const;
  void updatePreviousMapsOptimizedPoses(const std::multimap<int, Link> * newLinks = 0);
  void optimizeCurrentMap(int id,
      bool lookInDatabase,
      std::map<int, Transform> & optimizedPoses,
      cv::Mat & covariance,
      std::multimap<int, Link> * constraints = 0,
      double * error = 0,
      int * iterationsDone = 0) const;
  std::map<int, Transform> optimizeGraph(
      int fromId,
      const std::set<int> & ids,
      const std::map<int, Transform> & guessPoses,
      bool lookInDatabase,
      cv::Mat & covariance,
      std::multimap<int, Link> * constraints = 0,
      double * error = 0,
      int * iterationsDone = 0) const;
  Link findLoopClosureToRepair(
    const graph::MaxGraphErrors & maxGraphErrors,
    const std::map<int, Transform> & poses,
    const std::multimap<int, Link> & constraints,
    const std::set<std::pair<int, int> > & newLinks) const;
  std::list<std::pair<int, int> > repairGraph(
    const Link & linkToRemove,
    graph::MaxGraphErrors & maxGraphErrors,
    std::map<int, Transform> & poses,
    std::multimap<int, Link> & constraints,
    double & optimizationError,
    int & optimizationIterations,
    cv::Mat & optimizationCovariance,
    const std::set<std::pair<int, int> > & newLinks);
  bool hasLocalizationLinksInOdomCache() const;
  bool isLandmarkNormalValid(const Signature * signature, int landmarkId, const Link & landmarkLink, bool localized, float * error = 0) const;
  void updateGoalIndex();
  bool computePath(int targetNode, std::map<int, Transform> nodes, const std::multimap<int, rtabmap::Link> & constraints);
 
  void createGlobalScanMap();
 
  void setupLogFiles(bool overwrite = false);
  void flushStatisticLogs();
 
private:
  // Modifiable parameters
  bool _publishStats;
  bool _publishLastSignatureData;
  bool _publishPdf;
  bool _publishLikelihood;
  bool _publishRAMUsage;
  bool _computeRMSE;
  bool _saveWMState;
  float _maxTimeAllowed;          
  unsigned int _maxMemoryAllowed; 
  float _loopThr;
  float _loopRatio;
  float _aggressiveLoopThr;
  int _virtualPlaceLikelihoodRatio;
  float _maxLoopClosureDistance;
  bool _verifyLoopClosureHypothesis;
  unsigned int _maxRetrieved;
  unsigned int _maxLocalRetrieved;
  unsigned int _maxRepublished;
  bool _rawDataKept;
  bool _statisticLogsBufferedInRAM;
  bool _statisticLogged;
  bool _statisticLoggedHeaders;
  bool _rgbdSlamMode;
  float _rgbdLinearUpdate;
  float _rgbdAngularUpdate;
  float _rgbdLinearSpeedUpdate;
  float _rgbdAngularSpeedUpdate;
  float _newMapOdomChangeDistance;
  bool _neighborLinkRefining;
  bool _proximityByTime;
  bool _proximityBySpace;
  bool _scanMatchingIdsSavedInLinks;
  bool _loopClosureIdentityGuess;
  float _localRadius;
  float _localImmunizationRatio;
  int _proximityMaxGraphDepth;
  int _proximityMaxPaths;
  int _proximityMaxNeighbors;
  float _proximityFilteringRadius;
  bool _proximityRawPosesUsed;
  float _proximityAngle;
  bool _proximityOdomGuess;
  double _proximityMergedScanCovFactor;
  std::string _databasePath;
  bool _optimizeFromGraphEnd;
  float _optimizationMaxError;
  float _optimizationMaxErrorRepairRadius;
  bool _startNewMapOnLoopClosure;
  bool _startNewMapOnGoodSignature;
  float _goalReachedRadius;       
  bool _goalsSavedInUserData;
  int _pathStuckIterations;
  float _pathLinearVelocity;
  float _pathAngularVelocity;
  bool _forceOdom3doF;
  bool _restartAtOrigin;
  bool _loopCovLimited;
  bool _loopGPS;
  int _maxOdomCacheSize;
  float _landmarkMaxNormalError;
  bool _localizationSmoothing;
  double _localizationPriorInf;
  bool _localizationSecondTryWithoutProximityLinks;
  bool _createGlobalScanMap;
  float _markerPriorsLinearVariance;
  float _markerPriorsAngularVariance;
 
  std::pair<int, float> _loopClosureHypothesis;
  std::pair<int, float> _highestHypothesis;
  double _lastProcessTime;
  bool _someNodesHaveBeenTransferred;
  float _distanceTravelled;
  float _distanceTravelledSinceLastLocalization;
  bool _optimizeFromGraphEndChanged;
 
  // Abstract classes containing all loop closure
  // strategies for a type of signature or configuration.
  EpipolarGeometry * _epipolarGeometry;
  BayesFilter * _bayesFilter;
  Optimizer * _graphOptimizer;
  ParametersMap _parameters;
 
  Memory * _memory;
 
  FILE* _foutFloat;
  FILE* _foutInt;
  std::list<std::string> _bufferedLogsF;
  std::list<std::string> _bufferedLogsI;
 
  Statistics statistics_;
 
  std::string _wDir;
 
  std::map<int, Transform> _optimizedPoses;
  std::multimap<int, Link> _constraints;
  std::list<std::map<int, Transform> > _previousMapsOptimizedPoses; 
  Transform _mapCorrection;
  Transform _mapCorrectionBackup;     
  Transform _lastLocalizationPose;    
  int _lastLocalizationNodeId;        
  bool _localizationApplied;          
  cv::Mat _localizationCovariance;
  std::map<int, std::pair<cv::Point3d, Transform> > _gpsGeocentricCache;
  bool _currentSessionHasGPS;
  LaserScan _globalScanMap;
  std::map<int, Transform> _globalScanMapPoses;
  std::map<int, Transform> _odomCachePoses;       
  std::multimap<int, Link> _odomCacheConstraints; 
  std::map<int, Transform> _markerPriors;
  std::pair<int, int> _lastRejectedLoopClosureIds;
 
  std::set<int> _nodesToRepublish;
 
  // Planning stuff
  int _pathStatus;
  std::vector<std::pair<int,Transform> > _path;
  std::set<unsigned int> _pathUnreachableNodes;
  unsigned int _pathCurrentIndex;
  unsigned int _pathGoalIndex;
  Transform _pathTransformToGoal;
  int _pathStuckCount;
  float _pathStuckDistance;
 
  bool _dummyDictionary;
};
 
} // namespace rtabmap
#endif /* RTABMAP_H_ */