spantree_update_symbolic.h

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/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2014, 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    |
   +---------------------------------------------------------------------------+ */

#pragma once

namespace mrpt { namespace srba {


#define SYM_ST_SUPER_VERBOSE 0

using namespace std;

/** Incremental update of spanning trees after the insertion of ONE new node and ONE OR MORE edges */
template <class KF2KF_POSE_TYPE,class LM_TYPE,class OBS_TYPE,class RBA_OPTIONS>
void TRBA_Problem_state<KF2KF_POSE_TYPE,LM_TYPE,OBS_TYPE,RBA_OPTIONS>::TSpanningTree::update_symbolic_new_node(
        const TKeyFrameID                    new_node_id,
        const TPairKeyFrameID & new_edge,
        const topo_dist_t                    max_depth,
        const bool                           check_all_obs_are_connected,
        const new_kf_observations_t        * obs
        )
{
        ASSERT_(max_depth>=1)

        // Maintain a list of those nodes whose list of shortest spanning trees ("next_edge") has been modified, so we
        // can rebuild their "all_edges" lists.
        std::set<TPairKeyFrameID> kfs_with_modified_next_edge;

        // Generic algorithm for 1 or more new edges at once from the new_kf_id to the rest of the graph:
        // -----------------------------------------------------------------------------------------------
        // The first edge was already introduced in the STs above. Go on with the rest:
        // (Notation is according to the ICRA2013 paper, see explanatory graphs or understanding this is a hell!! ;-)
        {
                //const TKeyFrameID ik = getTheOtherFromPair(new_node_id, new_edges[nE] );
                const TKeyFrameID ik = getTheOtherFromPair(new_node_id, new_edge );

                // Build set tk = all nodes within distance <=(max_depth-1) from "ik"
                const map<TKeyFrameID,TSpanTreeEntry> & st_ik = sym.next_edge[ik];  // O(1)
                vector<pair<TKeyFrameID,topo_dist_t> > tk;
                for (map<TKeyFrameID,TSpanTreeEntry>::const_iterator it=st_ik.begin();it!=st_ik.end();++it)
                        if (it->second.distance<max_depth)
                                tk.push_back( make_pair(it->first,it->second.distance) );
                tk.push_back( make_pair(ik,0) ); // The set includes the root itself, which is not in the STs structures.

                // Build set STn = all nodes within distance <=max_depth from "new_node_id"
                // This will also CREATE the empty ST for "new_node_id" upon first call to [], in amortized O(1)
                const map<TKeyFrameID,TSpanTreeEntry> & st_n = sym.next_edge[new_node_id];  // access O(1)
                vector<pair<TKeyFrameID,const TSpanTreeEntry*> > STn;
                for (map<TKeyFrameID,TSpanTreeEntry>::const_iterator it=st_n.begin();it!=st_n.end();++it)
                        STn.push_back( make_pair(it->first,&it->second) );
                STn.push_back( pair<TKeyFrameID,const TSpanTreeEntry*>(new_node_id,static_cast<const TSpanTreeEntry*>(NULL)) ); // The set includes the root itself, which is not in the STs structures.

                // for each r \in ST_W(n)
                for (size_t r_idx=0;r_idx<STn.size();r_idx++)
                {
                        const TKeyFrameID      r        = STn[r_idx].first;
                        const TSpanTreeEntry * ste_n2r  = STn[r_idx].second;
                        const topo_dist_t      dist_r2n = ste_n2r ? ste_n2r->distance : 0;

                        map<TKeyFrameID,TSpanTreeEntry> & st_r = sym.next_edge[r];  // O(1)

                        TSpanTreeEntry * ste_r2n = NULL; // Will stay NULL for r=new_node_id
                        if (r!=new_node_id)
                        {
                                map<TKeyFrameID,TSpanTreeEntry>::iterator it = st_r.find(new_node_id);
                                ASSERT_(it!=st_r.end())
                                ste_r2n = &it->second;
                        }

                        // for each s \in ST_{W-1}(i_k)
                        for (size_t s_idx=0;s_idx<tk.size();s_idx++)
                        {
                                const TKeyFrameID s         = tk[s_idx].first;
                                if (r==s) continue;
                                const topo_dist_t dist_s2ik = tk[s_idx].second;

                                map<TKeyFrameID,TSpanTreeEntry> & st_s = sym.next_edge[s];  // O(1)

                                TSpanTreeEntry *ste_s2ik=NULL;  // =NULL if s==ik
                                if (s!=ik)
                                {
                                        map<TKeyFrameID,TSpanTreeEntry>::iterator it_ik_inSTs = st_s.find(ik);
                                        ASSERTDEB_(it_ik_inSTs != st_s.end())
                                        ste_s2ik = &it_ik_inSTs->second;
                                }

                                // new tentative distance s <--> ik
                                const topo_dist_t new_dist = dist_r2n + dist_s2ik + 1;

                                // Is s \in ST(r)?
                                map<TKeyFrameID,TSpanTreeEntry>::iterator it_s_inSTr = st_r.find(s);    // O(log N)
                                if (it_s_inSTr != st_r.end())
                                {       // Found:
                                        // Is it shorter to go (r)->(n)--[dist=1]-->(ik)->(s) than (r)->(s) ? Then modify spanning tree
                                        if (new_dist < it_s_inSTr->second.distance)
                                        {
#if SYM_ST_SUPER_VERBOSE
cout << "ST: Shorter path ST["<<r<<"]["<<s<<"].N was "<<it_s_inSTr->second.next << " => "<<(ste_r2n ? ste_r2n->next : ik) << "[D:"<<it_s_inSTr->second.distance<<"=>"<<new_dist<<"]"<<endl;
cout << "ST: Shorter path ST["<<s<<"]["<<r<<"].N was "<<st_s[r].next << " => "<<(ste_s2ik ? ste_s2ik->next : new_node_id) << "[D:"<<st_s[r].distance<<"=>"<<new_dist<<"]"<<endl;
#endif
                                                // It's shorter: change spanning tree
                                                //  ST[r][s]
                                                it_s_inSTr->second.distance = new_dist;
                                                it_s_inSTr->second.next     = ste_r2n ? ste_r2n->next : ik;  // Next node in the direction towards "new_node_id"
                                                ASSERT_NOT_EQUAL_(r,it_s_inSTr->second.next) // no self-loops!

                                                //  ST[s][r]
                                                TSpanTreeEntry &ste_r_inSTs = st_s[r];
                                                ste_r_inSTs.distance = new_dist;
                                                ste_r_inSTs.next     = ste_s2ik ? ste_s2ik->next : new_node_id; // Next node in the direction towards "ik" or to "n" if this is "ik"
                                                ASSERT_NOT_EQUAL_(s,ste_r_inSTs.next) // no self-loops!

                                                // Mark nodes with their "next_node" modified:
                                                kfs_with_modified_next_edge.insert( make_pair(s,r) );
                                                kfs_with_modified_next_edge.insert( make_pair(r,s) );
                                        }
                                        // Otherwise, leave things stay.
                                }
                                else
                                {       // Not found:
                                        if (new_dist<=max_depth)
                                        {
#if SYM_ST_SUPER_VERBOSE
cout << "ST: New path ST["<<r<<"]["<<s<<"].N ="<<(ste_r2n ? ste_r2n->next : ik) << "[D:"<<dist_r2n + dist_s2ik + 1<<"]"<<endl;
cout << "ST: New path ST["<<s<<"]["<<r<<"].N ="<<(ste_s2ik ? ste_s2ik->next : new_node_id) << "[D:"<<dist_r2n + dist_s2ik + 1<<"]"<<endl;
#endif

                                                // Then the node "s" wasn't reachable from "r" but now it is:
                                                //  ST[r][s]
                                                TSpanTreeEntry &ste_s_inSTr = st_r[s]; // O(log N)

                                                ste_s_inSTr.distance = new_dist;
                                                ste_s_inSTr.next     = ste_r2n ? ste_r2n->next : ik;  // Next node in the direction towards "new_node_id"
                                                ASSERT_NOT_EQUAL_(r,ste_s_inSTr.next) // no self-loops!

                                                //  ST[s][r]
                                                TSpanTreeEntry &ste_r_inSTs = st_s[r]; // O(log N)
                                                ste_r_inSTs.distance = new_dist;
                                                ste_r_inSTs.next     = ste_s2ik ? ste_s2ik->next : new_node_id; // Next node in the direction towards "ik"
                                                ASSERT_NOT_EQUAL_(s, ste_r_inSTs.next) // no self-loops!

                                                // Mark nodes with their "next_node" modified:
                                                kfs_with_modified_next_edge.insert(make_pair(r,s));
                                                kfs_with_modified_next_edge.insert(make_pair(s,r));
                                        }
                                }

                        } // end for each s
                } // end for each r

        } // end for each new edge


        // Optional check for correct connection of observed base KFs to current KF  -------------
        if (check_all_obs_are_connected)
        {
                ASSERT_(obs)

                // 1) Build a first list of pending spanning trees to build from observations:
                std::set<TPairKeyFrameID>  pending_checks;

                for (size_t i=0;i<obs->size();i++)
                {
                        const new_kf_observation_t &o = (*obs)[i];

                        // If it's a new Landmark (observed for the first time, already not added to the data structures), just skip
                        // since we won't need spanning trees for it.
                        if (o.obs.feat_id>=m_parent->all_lms.size() || m_parent->all_lms[ o.obs.feat_id ].rfp==NULL)
                                continue;

                        const TKeyFrameID base_id = m_parent->all_lms[ o.obs.feat_id ].rfp->id_frame_base;

                        // make sure a spanning tree exists between "new_node_id" -> "base_id":
                        pending_checks.insert( TPairKeyFrameID( new_node_id, base_id ) );
                }

                std::set<TPairKeyFrameID>  done_checks;
                while (!pending_checks.empty())
                {
                        // Get first one:
                        const TPairKeyFrameID ft = *pending_checks.begin();  // copy, don't make a ref since we're deleting the element in the container!
                        pending_checks.erase(pending_checks.begin());

                        if (done_checks.find(ft)!=done_checks.end())
                                continue; // We already done this one.

                        // Create path:
                        std::map<TKeyFrameID,TSpanTreeEntry> & span_trees_from = sym.next_edge[ft.first];

                        if ( span_trees_from.find(ft.second)==span_trees_from.end() )
                        {       // It doesn't exist: create it.

                                // We need the starting edge from "ft.first" in the direction towards "ft.second",
                                //  and in the way mark as pending all the edges "intermediary node" -> "ft.second".
                                vector<TKeyFrameID> found_path;

                                bool found = m_parent->find_path_bfs(
                                        ft.first, // from
                                        ft.second, // target node
                                        &found_path);

                                ASSERT_(found && !found_path.empty())

                                // save direction:
                                TSpanTreeEntry & ste = span_trees_from[ft.second];
                                ste.distance = found_path.size();
                                ste.next = *found_path.rbegin();  // the last element

                                // and append the rest of KFs as pending:
                                for (size_t i=0;i<found_path.size();i++)
                                        if (found_path[i]!=ft.second)
                                                pending_checks.insert( TPairKeyFrameID( found_path[i] , ft.second ) );

                                // Remember to update the node's "all_edges" field:
                                kfs_with_modified_next_edge.insert( ft );
                        }

                        // Mark as done:
                        done_checks.insert(ft);
                }

        } // end if "check_all_obs_are_connected"


#if defined(SYM_ST_SUPER_VERBOSE_SAVE_ALL_SPANNING_TREES)
        {
                static int i=0;
                const std::string sFil    = mrpt::format("debug_spantree_%05i.txt",i);
                const std::string sFilDot = mrpt::format("debug_spantree_%05i.dot",i);
                const std::string sFilPng = mrpt::format("debug_spantree_%05i.png",i);
                this->dump_as_text_to_file(sFil);
                this->save_as_dot_file(sFilDot);
                ::system(mrpt::format("dot %s -o %s -Tpng",sFilDot.c_str(), sFilPng.c_str() ).c_str());
                i++;
        }
#endif

        // Update "all_edges" --------------------------------------------
        // Only for those who were really modified.
        for (std::set<TPairKeyFrameID>::const_iterator it=kfs_with_modified_next_edge.begin();it!=kfs_with_modified_next_edge.end();++it)
        {
                const TKeyFrameID kf_id = it->first;
                const std::map<TKeyFrameID,TSpanTreeEntry> & Ds = sym.next_edge[ kf_id ];  // O(1) in map_as_vector

                std::map<TKeyFrameID,TSpanTreeEntry>::const_iterator it2=Ds.find(it->second);
                ASSERT_(it2!=Ds.end())
                

                const TKeyFrameID dst_kf_id = it2->first;

                const TKeyFrameID from = std::max(dst_kf_id, kf_id);
                const TKeyFrameID to   = std::min(dst_kf_id, kf_id);

                // find_path_bfs
                typename kf2kf_pose_traits<KF2KF_POSE_TYPE>::k2k_edge_vector_t & path = sym.all_edges[from][to];  // O(1) in map_as_vector
                path.clear();
                bool path_found = m_parent->find_path_bfs(from,to, NULL, &path);
                ASSERT_(path_found)
        } // end for each "kfs_with_modified_next_edge"


#if defined(SYM_ST_EXTRA_SECURITY_CHECKS)
        {
                // Security check: All spanning trees must have a max. depth of "max_depth"
                // 1st step: define nodes & their depths:
                for (next_edge_maps_t::const_iterator it1=sym.next_edge.begin();it1!=sym.next_edge.end();++it1)
                        for (map<TKeyFrameID,TSpanTreeEntry>::const_iterator it=it1->second.begin();it!=it1->second.end();++it)
                                if (it->second.distance>max_depth)
                                {
                                        std::stringstream s;
                                        s << "CONSISTENCY ERROR: Spanning tree of kf #" << it1->first << " has kf #" << it->first
                                        << " at depth=" << it->second.distance << " > Max=" << max_depth << endl;
                                        s << "After updating symbolic spanning trees for new kf #" << new_node_id << " with new edges: ";
                                        for (size_t i=0;i<new_edges.size();i++) s << new_edges[i].first << "->" << new_edges[i].second << ", ";
                                        s << endl;
                                        THROW_EXCEPTION(s.str())
                                }
        }
#endif
}

template <class k2k_edge_t>
struct TBFSEntry
{
        TBFSEntry() : prev_edge(NULL),dist( std::numeric_limits<topo_dist_t>::max() )
        {}

        TKeyFrameID prev;
        k2k_edge_t *prev_edge;
        topo_dist_t dist;
};

// Aux. function for "check_all_obs_are_connected":
//  Breadth-first search (BFS) for "trg_node"
//  Return: true: found
template <class KF2KF_POSE_TYPE,class LM_TYPE,class OBS_TYPE,class RBA_OPTIONS>
bool TRBA_Problem_state<KF2KF_POSE_TYPE,LM_TYPE,OBS_TYPE,RBA_OPTIONS>::find_path_bfs(
        const TKeyFrameID           cur_node,
        const TKeyFrameID           trg_node,
        std::vector<TKeyFrameID>  * out_path_IDs,
        typename kf2kf_pose_traits<KF2KF_POSE_TYPE>::k2k_edge_vector_t * out_path_edges ) const
{
        if (out_path_IDs) out_path_IDs->clear();
        if (out_path_edges) out_path_edges->clear();
        if (cur_node==trg_node) return true; // No need to do any search...

        std::set<TKeyFrameID>   visited;
        std::queue<TKeyFrameID> pending;
        std::map<TKeyFrameID,TBFSEntry<k2k_edge_t> >    preceding;

        // Insert:
        pending.push(cur_node);
        visited.insert(cur_node);
        preceding[cur_node].dist = 0;

        while (!pending.empty())
        {
                const TKeyFrameID next_kf = pending.front();
                pending.pop();

                TBFSEntry<k2k_edge_t> & bfs_data_next = preceding[next_kf];
                const topo_dist_t cur_dist = bfs_data_next.dist;

                if (next_kf==trg_node)
                {
                        // Path found: go thru the path in inverse order:
                        topo_dist_t  dist = bfs_data_next.dist;
                        if (out_path_IDs) out_path_IDs->resize(dist);
                        if (out_path_edges) out_path_edges->resize(dist);
                        TKeyFrameID path_node = trg_node;
                        while (path_node != cur_node)
                        {
                                ASSERT_(dist>=0)
                                if (out_path_IDs) (*out_path_IDs)[--dist] = path_node;

                                typename std::map<TKeyFrameID,TBFSEntry<k2k_edge_t> >::const_iterator it_prec = preceding.find(path_node);
                                ASSERT_(it_prec != preceding.end())
                                path_node = it_prec->second.prev;

                                if (out_path_edges) (*out_path_edges)[--dist] = it_prec->second.prev_edge;
                        }
                        return true; // End of search
                }

                // Get all connections of this node:
                ASSERTDEB_(next_kf < keyframes.size())
                const keyframe_info & kfi = keyframes[next_kf];

                for (size_t i=0;i<kfi.adjacent_k2k_edges.size();i++)
                {
                        const k2k_edge_t* ed = kfi.adjacent_k2k_edges[i];
                        const TKeyFrameID new_kf = getTheOtherFromPair2(next_kf, *ed);
                        if (!visited.count(new_kf))
                        {
                                pending.push(new_kf);
                                visited.insert(new_kf);

                                TBFSEntry<k2k_edge_t> & p = preceding[new_kf];

                                if (p.dist>cur_dist+1)
                                {
                                        p.dist = cur_dist+1;
                                        p.prev = next_kf;
                                        p.prev_edge = const_cast<k2k_edge_t*>(ed);
                                }
                        }
                }
        }
        return false; // No path found.
}

} } // end NS