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clear; clc;

addpath(genpath('../../matlab/'));

%% Parameters

data_dir = '../../sample_data/KITTI/00/velodyne/';

basic_max_range = 80; % meter

basic_num_sectors = 60;

basic_num_rings = 20;

%% Visualization of ScanContext

bin_path = [data_dir, '000094.bin'];

ptcloud = KITTIbin2Ptcloud(bin_path);

sc = Ptcloud2ScanContext(ptcloud, basic_num_sectors, basic_num_rings, basic_max_range);

h1 = figure(1); clf;

imagesc(sc);

set(gcf, 'Position', [10 10 800 300]);

xlabel('sector'); ylabel('ring');

% for vivid visualization

colormap jet;

caxis([0, 4]); % KITTI00 is usually in z: [0, 4]

%% Making Ringkey and maintaining kd-tree

% Read the PlaceRecognizer.m

%% ScanContext with different resolution

figure(2); clf;

pcshow(ptcloud); colormap jet; caxis([0 4]);

res = [0.25, 0.5, 1, 2, 3];

h2=figure(3); clf;

set(gcf, 'Position', [10 10 500 1000]);

for i = 1:length(res)

num_sectors = basic_num_sectors * res(i);

num_rings = basic_num_rings * res(i);

sc = Ptcloud2ScanContext(ptcloud, num_sectors, num_rings, basic_max_range);

subplot(length(res), 1, i);

imagesc(sc); hold on;

colormap jet;

caxis([0, 4]); % KITTI00 is usually in z: [0, 4]

end

%% Comparison btn two scan contexts

KITTI_bin1a_path = [data_dir, '000094.bin'];

KITTI_bin1b_path = [data_dir, '000095.bin'];

KITTI_bin2a_path = [data_dir, '000198.bin'];

KITTI_bin2b_path = [data_dir, '000199.bin'];

ptcloud_KITTI1a = KITTIbin2Ptcloud(KITTI_bin1a_path);

ptcloud_KITTI1b = KITTIbin2Ptcloud(KITTI_bin1b_path);

ptcloud_KITTI2a = KITTIbin2Ptcloud(KITTI_bin2a_path);

ptcloud_KITTI2b = KITTIbin2Ptcloud(KITTI_bin2b_path);

sc_KITTI1a = Ptcloud2ScanContext(ptcloud_KITTI1a, basic_num_sectors, basic_num_rings, basic_max_range);

sc_KITTI1b = Ptcloud2ScanContext(ptcloud_KITTI1b, basic_num_sectors, basic_num_rings, basic_max_range);

sc_KITTI2a = Ptcloud2ScanContext(ptcloud_KITTI2a, basic_num_sectors, basic_num_rings, basic_max_range);

sc_KITTI2b = Ptcloud2ScanContext(ptcloud_KITTI2b, basic_num_sectors, basic_num_rings, basic_max_range);

dist_1a_1b = DistanceBtnScanContexts(sc_KITTI1a, sc_KITTI1b);

dist_1b_2a = DistanceBtnScanContexts(sc_KITTI1b, sc_KITTI2a);

dist_1a_2a = DistanceBtnScanContexts(sc_KITTI1a, sc_KITTI2a);

dist_2a_2b = DistanceBtnScanContexts(sc_KITTI2a, sc_KITTI2b);

disp([dist_1a_1b, dist_1b_2a, dist_1a_2a, dist_2a_2b]);