data = load('segmatchMapFullParkingLot.mat');
sMap = data.segmatchMapFullParkingLot;

data = load('fullParkingLotData.mat');
ptCloudScans = data.fullParkingLotData;

ax = show(sMap);

view(2)
pause(0.2)

outerCylinderRadius = 20;
innerCylinderRadius = 3;

distThreshold = 0.5;
angleThreshold = 180;

sz = [65 30 20];
submapThreshold = 10;

radius = 0.5;

for n = 1:numel(ptCloudScans)
    ptCloud = ptCloudScans(n);

    % Segment and remove the ground plane.
    groundPtsIdx = segmentGroundFromLidarData(ptCloud,'ElevationAngleDelta',11);
    ptCloud = select(ptCloud,~groundPtsIdx,'OutputSize','full');

    % Select the cylindrical neighborhood.
    dists = sqrt(ptCloud.Location(:,:,1).^2 + ptCloud.Location(:,:,2).^2);
    cylinderIdx = dists <= outerCylinderRadius & dists > innerCylinderRadius;
    ptCloud = select(ptCloud,cylinderIdx,'OutputSize','full');

    % Segment the point cloud.
    labels = segmentLidarData(ptCloud,distThreshold,angleThreshold,'NumClusterPoints',[50 5000]);

    % Extract features from the point cloud.
    [features,segments] = extractEigenFeatures(ptCloud,labels);

    % Localize by finding the absolute pose in the map that aligns the segment matches.
    [absPoseMap,~,inlierFeatures,inlierSegments] = findPose(sMap,features,segments);
    
    if isempty(absPoseMap)
        continue;
    end
 
    % Display the position estimate in the map.
    poseTranslation = absPoseMap.Translation;
    pos = [poseTranslation(1:2) radius];
    showShape('circle',pos,'Color','r','Parent',ax);
    pause(0.2)

    % Determine if the selected submap needs to be updated.
    [isInside,distToEdge] = isInsideSubmap(sMap,poseTranslation);
    needSelectSubmap = ~isInside ...                  % Current pose is outside submap
        || any(distToEdge(1:2) < submapThreshold) ... % Current pose is close to submap edge
        || n == 1;                                    % 1st time localizing using whole map

    % Select a new submap.
    if needSelectSubmap
        sMap = selectSubmap(sMap,poseTranslation,sz);
    end
 end

% Visualize the last segment matches.
figure; 
pcshowMatchedFeatures(inlierSegments(:,1),inlierSegments(:,2),inlierFeatures(:,1),inlierFeatures(:,2))