CGraphSlamHandler.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */
#pragma once

#include <mrpt/config/CConfigFile.h>
#include <mrpt/core/exceptions.h>
#include <mrpt/gui/CDisplayWindow3D.h>
#include <mrpt/system/COutputLogger.h>
#include <mrpt/system/filesystem.h>

#include <mrpt/graphslam/CGraphSlamEngine.h>
#include <mrpt/graphslam/apps_related/TUserOptionsChecker.h>
#include <mrpt/graphslam/misc/CWindowManager.h>
#include <mrpt/graphslam/misc/CWindowObserver.h>

#include <iostream>
#include <sstream>
#include <string>

/**\brief Manage variables and methods related to applications executing
 * graphSLAM using the mrpt-graphslam API.
 *
 * CGraphSlamHandler class instances deal with the following:
 * - Manage user interaction with the visuals (e.g. CDisplayWindow instance)
 * - Manage general user options (e.g. user output directory preferences)
 */
template <class GRAPH_T = mrpt::graphs::CNetworkOfPoses2DInf>
class CGraphSlamHandler
{
   public:
    CGraphSlamHandler(
        mrpt::system::COutputLogger* logger,
        mrpt::graphslam::apps::TUserOptionsChecker<GRAPH_T>* options_checker,
        const bool enable_visuals = true);
    ~CGraphSlamHandler();
    /**\brief Set the relevant filenames for instantiating CGraphSlamEngine
     * instance
     */
    void setFNames(
        const std::string& ini_fname, const std::string& rawlog_fname,
        const std::string& ground_truth_fname = std::string());
    /**\brief Print in a formatted manner the general configuraiton variables
     * for
     * the current graphSLAM execution
     *
     * \sa readConfigFname, getParamsAsString
     */
    void printParams() const;
    /** Fetch the general configuraiton variables for the current graphSLAM
     * execution
     */
    /**\{*/
    void getParamsAsString(std::string* str) const;
    std::string getParamsAsString() const;
    /**\}*/
    /**\brief Initialize visualization (e.g. the CDisplayWindow instance that
     * shows the overall graphSLAM execution)
     */
    void initVisualization();
    /**\brief Method to be called for parsing the rawlog file provided and for
     * running graphSLAM using that information
     */
    void execute();
    void initEngine(
        const std::string& node_reg_str, const std::string& edge_reg_str,
        const std::string& optimizer_str);
    /**\brief Override the results directory filename that was initially set in
     * the .ini file.
     */
    void setResultsDirName(const std::string& dirname);

   protected:
    /**\brief Initialize (clean up and create new files) the output directory.
     *
     * If directory already exists (most probably from previous runs), the user
     * is given 3 options:
     * - Remove the current directory contents
     * - Rename (and keep) the current directory contents
     * - Manually handle the conflict
     *
     * User can also set the .ini parameter user_decides_about_output_dir  flag
     * to false, if he doesn't care about the previous results directory. In
     * this case the 1st choice is picked.
     *
     * \param[in] Name of the output directory to be used
     *
     * \sa CGraphSlamEngine::initResultsFile
     */
    void initOutputDir(
        const std::string& output_dir_fname = "graphslam_results");
    /**\brief Query the CWindowObserver instance for any pressed keys that might
     * be of interest (e.g. <C-c>)
     *
     * \return True if graphslam execution is to be continued normally
     */
    bool queryObserverForEvents();
    /**\brief Read configuration variables for the current graphSLAM execution
     * from a .ini file
     *
     * \sa printParams
     */
    void readConfigFname(const std::string& fname);
    void saveResults(const std::string& output_dir_fname);
    void saveMap(const std::string& fname);

    std::string m_output_dir_fname;
    bool m_user_decides_about_output_dir;

    bool m_save_graph;
    bool m_save_3DScene;
    bool m_save_map;

    std::string m_ini_fname;
    std::string m_rawlog_fname;
    std::string m_gt_fname;

    std::string m_save_graph_fname;
    std::string m_save_3DScene_fname;
    std::string m_save_map_fname;

    mrpt::graphslam::CGraphSlamEngine<GRAPH_T>* m_engine = nullptr;
    mrpt::graphslam::CWindowManager* m_win_manager = nullptr;
    mrpt::graphslam::CWindowObserver* m_win_observer = nullptr;
    mrpt::gui::CDisplayWindow3D* m_win = nullptr;

    mrpt::system::COutputLogger* m_logger;

    /**\brief TUserOptionsChecker instance whose task is to evaluate the
     * Registration Decider, Optimizer instances that are given by the user.
     */
    mrpt::graphslam::apps::TUserOptionsChecker<GRAPH_T>* m_options_checker;

    bool m_do_save_results = true;
    bool m_has_set_fnames = false;
    ;
    bool m_enable_visuals;
};

#include "CGraphSlamHandler_impl.h"