3dpcp/.svn/pristine/b8/b8577205bc1d064eb45065d3f2c765f76e36976b.svn-base

/*
 * managedScan implementation
 *
 * Copyright (C) Kai Lingemann, Thomas Escher
 *
 * Released under the GPL version 3.
 *
 */

#include "slam6d/managedScan.h"

#include "scanserver/clientInterface.h"
#include "slam6d/Boctree.h"
#include "slam6d/kdManaged.h"

#ifdef WITH_METRICS
#include "slam6d/metrics.h"
#endif //WITH_METRICS

#include <sstream>
using std::stringstream;

#include <boost/filesystem/operations.hpp>
using namespace boost::filesystem;



SharedScanVector* ManagedScan::shared_scans = 0;



void ManagedScan::openDirectory(const std::string& path, IOType type, int start, int end)
{
  // start the client first
  try {
    ClientInterface::create();
  } catch(std::runtime_error& e) {
    cerr << "ClientInterface could not be created: " << e.what() << endl;
    cerr << "Start the scanserver first." << endl;
    exit(-1);
  }

#ifdef WITH_METRICS
  Timer t = ClientMetric::read_scan_time.start();
#endif //WITH_METRICS

  ClientInterface* client = ClientInterface::getInstance();
  shared_scans = client->readDirectory(path.c_str(), type, start, end);

  for(SharedScanVector::iterator it = shared_scans->begin(); it != shared_scans->end(); ++it) {
    // add a scan with reference on the shared scan
    SharedScan* shared = it->get();
    ManagedScan* scan = new ManagedScan(shared);
    Scan::allScans.push_back(scan);
  }

#ifdef WITH_METRICS
  ClientMetric::read_scan_time.end(t);
#endif //WITH_METRICS
}

void ManagedScan::closeDirectory()
{
  // clean up the scan vector
  for(std::vector<Scan*>::iterator it = Scan::allScans.begin(); it != Scan::allScans.end(); ++it)
    delete *it;
  allScans.clear();
  // remove the shared scan vector
  ClientInterface* client = ClientInterface::getInstance();
#ifdef WITH_METRICS
  ClientInterface::getInstance()->printMetrics();
#endif //WITH_METRICS
  client->closeDirectory(shared_scans);
}

std::size_t ManagedScan::getMemorySize()
{
  ClientInterface* client = ClientInterface::getInstance();
  return client->getCacheSize();
}



ManagedScan::ManagedScan(SharedScan* shared_scan) :
  m_shared_scan(shared_scan),
  m_reduced_ready(false),
  m_reset_frames_on_write(true)
{
  // request pose from the shared scan
  double* euler = m_shared_scan->getPose();
  rPos[0] = euler[0];
  rPos[1] = euler[1];
  rPos[2] = euler[2];
  rPosTheta[0] = euler[3];
  rPosTheta[1] = euler[4];
  rPosTheta[2] = euler[5];

  // write original pose matrix
  EulerToMatrix4(euler, &euler[3], transMatOrg);

  // initialize transform matrices from the original one, could just copy transMatOrg to transMat instead
  transformMatrix(transMatOrg);

  // reset the delta align matrix to represent only the transformations after local-to-global (transMatOrg) one
  M4identity(dalignxf);
}

ManagedScan::~ManagedScan()
{
  // TODO: something to do?
}

void ManagedScan::setRangeFilter(double max, double min)
{
  m_shared_scan->setRangeParameters(max, min);
}

void ManagedScan::setHeightFilter(double top, double bottom)
{
  m_shared_scan->setHeightParameters(top, bottom);
}

void ManagedScan::setRangeMutation(double range)
{
  m_shared_scan->setRangeMutationParameters(range);
}


void ManagedScan::setReductionParameter(double voxelSize, int nrpts, PointType pointtype)
{
  Scan::setReductionParameter(voxelSize, nrpts, pointtype);

  // set parameters to invalidate old cache data
  stringstream s;
  s << voxelSize << " " << nrpts << " " << transMatOrg;
  m_shared_scan->setReductionParameters(s.str().c_str());
}

void ManagedScan::setShowReductionParameter(double voxelSize, int nrpts, PointType pointtype)
{
  show_reduction_voxelSize = voxelSize;
  show_reduction_nrpts = nrpts;
  show_reduction_pointtype = pointtype;

  // set parameters to invalidate old cache data
  stringstream s;
  s << voxelSize << " " << nrpts;
  m_shared_scan->setShowReductionParameters(s.str().c_str());
}

void ManagedScan::setOcttreeParameter(double reduction_voxelSize, double octtree_voxelSize, PointType pointtype, bool loadOct, bool saveOct)
{
  Scan::setOcttreeParameter(reduction_voxelSize, octtree_voxelSize, pointtype, loadOct, saveOct);

  // set octtree parameters to invalidate cached ones with other parameters (changing range/height is already handled)
  stringstream s;
  s << reduction_voxelSize << " " << octtree_voxelSize << " " << pointtype.toFlags();
  m_shared_scan->setOcttreeParameters(s.str().c_str());
}

DataPointer ManagedScan::get(const std::string& identifier)
{
  if(identifier == "xyz") {
    return m_shared_scan->getXYZ();
  } else
  if(identifier == "rgb") {
    return m_shared_scan->getRGB();
  } else
  if(identifier == "reflectance") {
    return m_shared_scan->getReflectance();
  } else
  if(identifier == "temperature") {
    return m_shared_scan->getTemperature();
  } else
  if(identifier == "amplitude") {
    return m_shared_scan->getAmplitude();
  } else
  if(identifier == "type") {
    return m_shared_scan->getType();
  } else
  if(identifier == "deviation") {
    return m_shared_scan->getDeviation();
  } else
  if(identifier == "xyz reduced") {
    // if this is a fresh run, initialize reduced properly via original or creating it anew
    if(!m_reduced_ready) {
      calcReducedOnDemand();
    }
    return m_shared_scan->getXYZReduced();
  } else
  if(identifier == "xyz reduced original") {
    // if reduction has completed, original will exist (either from last run or created in this run)
    if(!m_reduced_ready) {
      calcReducedOnDemand();
    }
    return m_shared_scan->getXYZReducedOriginal();
  } else
  if(identifier == "xyz reduced show") {
    if(m_shared_scan->getXYZReducedShow().valid())
      return m_shared_scan->getXYZReducedShow();
    calcReducedShow();
    return m_shared_scan->getXYZReducedShow();
  } else
  if(identifier == "octtree") {
    if(m_shared_scan->getOcttree().valid())
      return m_shared_scan->getOcttree();
    createOcttree();
    return m_shared_scan->getOcttree();
  }
  {
    throw runtime_error(string("Identifier '") + identifier + "' not compatible with ManagedScan::get. Upgrade SharedScan for this data field.");
  }
}

void ManagedScan::get(unsigned int types)
{
  m_shared_scan->prefetch(types);
}

DataPointer ManagedScan::create(const std::string& identifier, unsigned int size)
{
  // map identifiers to functions in SharedScan and scale back size from bytes to number of points
  if(identifier == "xyz reduced") {
    return m_shared_scan->createXYZReduced(size / (3*sizeof(double)));
  } else
  if(identifier == "xyz reduced original") {
    return m_shared_scan->createXYZReducedOriginal(size / (3*sizeof(double)));
  } else
  if(identifier == "reflectance") {
    return m_shared_scan->createReflectance(size / (1*sizeof(double)));
  } else
    {
      throw runtime_error(string("Identifier '") + identifier + "' not compatible with ManagedScan::create. Upgrade SharedScan for this data field.");
  }
}

void ManagedScan::clear(const std::string& identifier)
{
  // nothing to do here
  // TODO: mark CacheObjects with a low priority for faster removal by the manager
}

void ManagedScan::createSearchTreePrivate()
{
  switch(searchtree_nnstype)
  {
    case simpleKD:
      kd = new KDtreeManaged(this);
      break;
    case BOCTree:
      kd = new BOctTree<double>(PointerArray<double>(get("xyz reduced original")).get(), size<DataXYZ>("xyz reduced original"), 10.0, PointType(), true);
      break;
    case -1:
      throw runtime_error("Cannot create a SearchTree without setting a type.");
    default:
      throw runtime_error("SearchTree type not implemented for ManagedScan");
  }

  // TODO: look into CUDA compability
}

void ManagedScan::calcReducedOnDemandPrivate()
{
  // either copy from original or create them like BasicScan
  DataXYZ xyz_orig(m_shared_scan->getXYZReducedOriginal());
  if(xyz_orig.valid()) {
    // set true to inform further get("xyz reduced original") calls to get the data instead of looping calcReducedOnDemand
    m_reduced_ready = true;
    copyOriginalToReduced();
  } else {
    // create reduced points and transform to initial position, save a copy of this for SearchTree
    calcReducedPoints();
    // set true to inform further get("xyz reduced") calls to get the data instead of looping calcReducedOnDemand
    m_reduced_ready = true;
    transformReduced(transMatOrg);
    copyReducedToOriginal();
  }
}

void ManagedScan::calcReducedShow()
{
  // create an octtree reduction from full points
  DataXYZ xyz(get("xyz"));
  BOctTree<double>* oct = new BOctTree<double>(PointerArray<double>(xyz).get(), xyz.size(), show_reduction_voxelSize);

  vector<double*> center;
  center.clear();

  if(show_reduction_nrpts > 0) {
    if(show_reduction_nrpts == 1) {
      oct->GetOctTreeRandom(center);
    } else {
      oct->GetOctTreeRandom(center, show_reduction_nrpts);
    }
  } else {
    oct->GetOctTreeCenter(center);
  }

  unsigned int size = center.size();
  TripleArray<float> xyz_r(m_shared_scan->createXYZReducedShow(size));
  for(unsigned int i = 0; i < size; ++i) {
    for(unsigned int j = 0; j < 3; ++j) {
      xyz_r[i][j] = center[i][j];
    }
  }

  delete oct;
}

void ManagedScan::createOcttree()
{
  string scanFileName = string(m_shared_scan->getDirPath()) + "scan" + getIdentifier() + ".oct";
  BOctTree<float>* btree = 0;

  // if loadOct is given, load the octtree under blind assumption that parameters match
  if(octtree_loadOct && exists(scanFileName)) {
    btree = new BOctTree<float>(scanFileName);
  } else {
    if(octtree_reduction_voxelSize > 0) { // with reduction, only xyz points
      TripleArray<float> xyz_r(get("xyz reduced show"));
      btree = new BOctTree<float>(PointerArray<float>(xyz_r).get(), xyz_r.size(), octtree_voxelSize, octtree_pointtype, true);
    } else { // without reduction, xyz + attribute points
      float** pts = octtree_pointtype.createPointArray<float>(this);
      unsigned int nrpts = size<DataXYZ>("xyz");
      btree = new BOctTree<float>(pts, nrpts, octtree_voxelSize, octtree_pointtype, true);
      for(unsigned int i = 0; i < nrpts; ++i) delete[] pts[i]; delete[] pts;
    }
    // save created octtree
    if(octtree_saveOct) {
      cout << "Saving octree " << scanFileName << endl;
      btree->serialize(scanFileName);
    }
  }

  // copy tree into cache
  try {
    unsigned int size = btree->getMemorySize();
    unsigned char* mem_ptr = m_shared_scan->createOcttree(size).get_raw_pointer();
    new(mem_ptr) BOctTree<float>(*btree, mem_ptr, size);
    delete btree; btree = 0;
  } catch(runtime_error& e) {
    // delete tree if copy to cache failed
    delete btree;
    throw e;
  }
}


unsigned int ManagedScan::readFrames()
{
  // automatically read on getFrames
  return m_shared_scan->getFrames().size();
}

void ManagedScan::saveFrames()
{
  m_shared_scan->saveFrames();
}

unsigned int ManagedScan::getFrameCount()
{
  return m_shared_scan->getFrames().size();
}

void ManagedScan::getFrame(unsigned int i, const double*& pose_matrix, AlgoType& type)
{
  const Frame& frame(m_shared_scan->getFrames().at(i));
  pose_matrix = frame.transformation;
  type = static_cast<AlgoType>(frame.type);
}

void ManagedScan::addFrame(AlgoType type)
{
  if(m_reset_frames_on_write) {
    m_shared_scan->clearFrames();
    m_reset_frames_on_write = false;
  }
  m_shared_scan->addFrame(transMat, static_cast<unsigned int>(type));
}