CGraphSlamEngine.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, 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 |
   +------------------------------------------------------------------------+ */

#ifndef GRAPHSLAMENGINE_H
#define GRAPHSLAMENGINE_H

#include <mrpt/maps/CSimpleMap.h>
#include <mrpt/maps/COccupancyGridMap2D.h>
#include <mrpt/maps/COctoMap.h>
#include <mrpt/graphs/CNetworkOfPoses.h>
#include <mrpt/gui/CDisplayWindow3D.h>
#include <mrpt/gui/CDisplayWindowPlots.h>
#include <mrpt/opengl/CSetOfObjects.h>
#include <mrpt/obs/CAction.h>
#include <mrpt/obs/CObservation2DRangeScan.h>
#include <mrpt/obs/CObservation3DRangeScan.h>
#include <mrpt/obs/CSensoryFrame.h>
#include <mrpt/obs/obs_utils.h>
#include <mrpt/poses/CPose2D.h>
#include <mrpt/poses/CPose3D.h>
#include <mrpt/io/CFileOutputStream.h>
#include <mrpt/img/TColor.h>
#include <mrpt/system/COutputLogger.h>

#include <mrpt/graphslam/misc/CEdgeCounter.h>
#include <mrpt/graphslam/interfaces/CNodeRegistrationDecider.h>
#include <mrpt/graphslam/interfaces/CEdgeRegistrationDecider.h>
#include <mrpt/graphslam/interfaces/CGraphSlamOptimizer.h>

#include <string>
#include <map>
#include <set>

namespace mrpt::graphslam
{
/**\brief Main file for the GraphSlamEngine.
 *
 * ## Description
 *
 * Given a dataset of measurements build a graph of nodes (keyframes) and
 * constraints (edges) and solve it to find an estimation of the actual robot
 * trajectory.
 *
 * // TODO - change this description
 * The template arguments are listed below:
 * - \em GRAPH_T: The type of Graph to be constructed and optimized. Currently
 *   CGraphSlamEngine works only with CPosePDFGaussianInf GRAPH_T instances.
 * - \em NODE_REGISTRAR: Class responsible of adding new nodes in the graph.
 *   Class should at least implement the deciders::CNodeRegistrationDecider
 *   interface provided in CNodeRegistrationDecider.h file.
 * - \em EDGE_REGISTRAR: Class responsible of adding new edges in the graph.
 *   Class should at least implement the deciders::CEdgeRegistrationDecider
 *   interface provided in CEdgeRegistrationDecider.h file.
 * - \em OPTIMIZER: Class responsible of optimizing the graph. Class should at
 *   least implement the optimizers::CGraphSlamOptimizer interface provided
 *   in CGraphSlamOptimizer.h file.
 *
 * \note The GRAPH_T resource is accessed after having locked the relevant
 * section
 * \em m_graph_section. Critical section is also <em> locked prior to the calls
 * to the deciders/optimizers </em>.
 *
 * ### .ini Configuration Parameters
 *
 * \htmlinclude graphslam-engine_config_params_preamble.txt
 *
 * - \b output_dir_fname
 *   + \a Section       : GeneralConfiguration
 *   + \a Default value : 1 (mrpt::system::LVL_INFO)
 *   + \a Required      : FALSE
 *
 * - \b user_decides_about_output_dir
 *   + \a Section       : GeneralConfiguration
 *   + \a Default value : FALSE
 *   + \a Required      : FALSE
 *   + \a Description   : If flag true and in case of name conflict with output
 * directory of the
 *   previous execution, a command-line is presented to the user to decide what
 *   to do about the new output directory. By default output directory from
 *   previous run is overwritten by the directory of the current run.
 *
 * - \b ground_truth_file_format
 *   + \a Section       : GeneralConfiguration
 *   + \a Default value : NavSimul
 *   + \a Required      : FALSE
 *   + \a Description   : Specify the format of the ground-truth file if one is
 *   provided. Currently CGraphSlamEngine supports ground truth files generated
 *   by the GridMapNavSimul tool or ground truth files corresponding to
 *   RGBD-TUM datasets.
 *   + \a Available Options: NavSimul, RGBD_TUM
 *
 * - \b class_verbosity
 *   + \a Section       : GeneralConfiguration
 *   + \a Default value : 1 (mrpt::system::LVL_INFO)
 *   + \a Required      : FALSE
 *
 *
 * - \b visualize_map
 *   + \a Section       : VisualizationParameters
 *   + \a Default value : TRUE
 *   + \a Required      : FALSE
 *
 * - \b visualize_odometry_poses
 *   + \a Section       : VisualizationParameters
 *   + \a Default value : TRUE
 *   + \a Required      : FALSE
 *
 * - \b visualize_estimated_trajectory
 *   + \a Section       : VisualizationParameters
 *   + \a Default value : TRUE
 *   + \a Required      : FALSE
 *
 * - \b visualize_GT
 *   + \a Section       : VisualizationParameters
 *   + \a Default value : TRUE
 *   + \a Required      : FALSE
 *
 * - \b visualize_SLAM_metric
 *   + \a Section       : VisualizationParameters
 *   + \a Default value : TRUE
 *   + \a Required      : FALSE
 *
 * - \b enable_curr_pos_viewport
 *   + \a Section       : VisualizationParameters
 *   + \a Default value : TRUE
 *   + \a Required      : FALSE
 *   + \a Description   : Applicable only when dealing with RGB-D datasets
 *
 * - \b enable_range_viewport
 *   + \a Section       : VisualizationParameters
 *   + \a Default value : TRUE
 *   + \a Required      : FALSE
 *   + \a Description   : Applicable only when dealing with RGB-D datasets
 *
 * - \b enable_intensity_viewport
 *   + \a Section       : VisualizationParameters
 *   + \a Default value : FALSE
 *   + \a Required      : FALSE
 *   + \a Description   : Applicable only when dealing with RGB-D datasets
 *
 *
 * \note Implementation can be found in the file \em CGraphSlamEngine_impl.h
 * \ingroup mrpt_graphslam_grp
 */
template <class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
class CGraphSlamEngine : public mrpt::system::COutputLogger
{
   public:
    /**\brief Handy typedefs */
    /**\{*/
    /**\brief Map for managing output file streams.*/
    using fstreams_out = std::map<std::string, mrpt::io::CFileOutputStream>;
    /**\brief Map for iterating over output file streams.*/
    using fstreams_out_it = typename fstreams_out::iterator;

    /**\brief Type of graph constraints */
    using constraint_t = typename GRAPH_T::constraint_t;
    /**\brief Type of underlying poses (2D/3D). */
    using pose_t = typename GRAPH_T::constraint_t::type_value;
    using global_pose_t = typename GRAPH_T::global_pose_t;
    using nodes_to_scans2D_t = std::map<
        mrpt::graphs::TNodeID, mrpt::obs::CObservation2DRangeScan::Ptr>;
    /**\}*/

    /**\brief Constructor of CGraphSlamEngine class template.
     *
     * // TODO - remove the deprecated arguments
     * \param[in] config_file .ini file containing the configuration
     * parameters for the CGraphSlamEngine as well as the deciders/optimizer
     * classes that CGraphSlamEngine is using
     * \param[in] win_manager CwindowManager instance that includes a pointer
     * to a CDisplayWindow3D and a CWindowObserver instance for properly
     * interacting with the display window
     * \param[in] rawlog_fname .rawlog dataset file, containing the robot
     * measurements. CGraphSlamEngine supports both
     * <a href="http://www.mrpt.org/Rawlog_Format"> MRPT rwalog formats </a>
     * but in order for graphSLAM to work as expected the rawlog foromat has to
     * be supported by the every decider/optimizer class that
     * CGraphSlamEngine makes use of.
     * \param[in] fname_GT Textfile containing the ground truth path of the
     * robot. Currently the class can read ground truth files corresponding
     * either to <em>RGBD - TUM datasets</em> or to rawlog files generated with
     * the \em GridMapNavSimul MRPT application.
     * // TODO add the deciders/optimizer
     *
     *
     * \note If a nullptr CWindowManager pointer is porovided, the application
     * runs on <em> headless mode </em>. In this case, no visual feedback is
     * given but application receives a big boost in performance
     */
    CGraphSlamEngine(
        const std::string& config_file, const std::string& rawlog_fname = "",
        const std::string& fname_GT = "",
        mrpt::graphslam::CWindowManager* win_manager = NULL,
        mrpt::graphslam::deciders::CNodeRegistrationDecider<GRAPH_T>* node_reg =
            NULL,
        mrpt::graphslam::deciders::CEdgeRegistrationDecider<GRAPH_T>* edge_reg =
            NULL,
        mrpt::graphslam::optimizers::CGraphSlamOptimizer<GRAPH_T>* optimizer =
            NULL);
    /**\brief Default Destructor. */
    virtual ~CGraphSlamEngine();

    // Public function definitions
    //////////////////////////////////////////////////////////////
    /**\brief Query CGraphSlamEngine instance for the current estimated robot
     * position
     */
    global_pose_t getCurrentRobotPosEstimation() const;
    /***\brief Get the estimated trajectory of the robot given by the running
     * graphSLAM algorithm.
     * @returns Current list of nodes registered in the graph
     */
    virtual typename GRAPH_T::global_poses_t getRobotEstimatedTrajectory()
        const;
    /**\brief Return the list of nodeIDs which make up robot trajectory
     * \sa updateEstimatedTrajectoryVisualization
     */
    virtual void getNodeIDsOfEstimatedTrajectory(
        std::set<mrpt::graphs::TNodeID>* nodes_set) const;
    /**\brief Wrapper method around the GRAPH_T::saveToTextFile method.
     * Method saves the graph in the format used by TORO & HoG-man strategies
     *
     * \param[in] fname_in Name of the generated graph file - Defaults to
     * "output_graph" if not
     * set by the user
     *
     * \sa save3DScene, http://www.mrpt.org/Robotics_file_formats
     */
    void saveGraph(const std::string* fname_in = nullptr) const;
    /**\brief Wrapper method around the COpenGLScene::saveToFile method.
     *
     * \param[in] Name of the generated graph file - Defaults to "output_graph"
     * if not
     * set by the user
     *
     * \sa saveGraph
     */
    void save3DScene(const std::string* fname_in = nullptr) const;
    /**\brief Read the configuration variables from the <em>.ini file</em>
     * specified by
     * the user.
     * Method is automatically called, upon CGraphSlamEngine initialization
     *
     */
    void loadParams(const std::string& fname);
    /**\brief Fill in the provided string with the class configuration
     * parameters.
     *
     * \sa printParams
     */
    void getParamsAsString(std::string* params_out) const;
    /**\brief Wrapper around getParamsAsString.
     * Returns the generated string instead of passing it as an argument to the
     * call
     *
     * \sa printParams
     */
    std::string getParamsAsString() const;
    /** \name Map computation and acquisition methods
     * \brief Fill the given map based on the observations that have been
     * recorded so far.
     */
    /**\{*/
    /* \brief Method is a wrapper around the computeMap method
     * \param[out] map Pointer to the map instance that is
     * to be filled
     * \param[out] acquisition_time Timestamp that the map was computed at.
     * This does not (necessarily) matches with the query time since the
     * cached version is used as long as a new node has not been registered
     * since the last time the gridmap was computed.
     *
     * \sa computeMap
     */
    void getMap(
        mrpt::maps::COccupancyGridMap2D::Ptr map,
        mrpt::system::TTimeStamp* acquisition_time = NULL) const;
    void getMap(
        mrpt::maps::COctoMap::Ptr map,
        mrpt::system::TTimeStamp* acquisition_time = NULL) const;
    /**\brief   Compute the map of the environment based on the
     * recorded measurements.
     *
     * \warning Currently only mrpt::obs::2DRangeScans are supported
     * \sa getMap
     */
    void computeMap() const;
    /**\}*/
    /**\brief Print the problem parameters to the console for verification.
     *
     * Method is a wrapper around CGraphSlamEngine::getParamsAsString method
     * \sa getParamsAsString
     */
    void printParams() const;
    /**\brief Wrapper method around _execGraphSlamStep.
     *
     * Handy for not having to specify any action/observations objects
     * \return False if the user has requested to exit the graphslam execution
     * (e.g. pressed ctrl-c), True otherwise
     */
    bool execGraphSlamStep(
        mrpt::obs::CObservation::Ptr& observation, size_t& rawlog_entry);
    /**\brief Main class method responsible for parsing each measurement and
     * for executing graphSLAM.
     *
     * \note Method reads each measurement seperately, so the application that
     * invokes it is responsibe for fetching the measurements (e.g. from a
     * rawlog file).
     *
     * \return False if the user has requested to exit the graphslam execution
     * (e.g. pressed ctrl-c), True otherwise
     **/
    virtual bool _execGraphSlamStep(
        mrpt::obs::CActionCollection::Ptr& action,
        mrpt::obs::CSensoryFrame::Ptr& observations,
        mrpt::obs::CObservation::Ptr& observation, size_t& rawlog_entry);

    /**\brief Return a reference to the underlying GRAPH_T instance. */
    const GRAPH_T& getGraph() const { return m_graph; }
    /**\brief Return the filename of the used rawlog file.*/
    inline std::string getRawlogFname() { return m_rawlog_fname; }
    /**\name ground-truth parsing methods */
    /**\{*/
    /**\brief Parse the ground truth .txt file and fill in the corresponding
     * gt_poses vector.
     *
     * It is assumed that the rawlog, thererfore the groundtruth file has been
     * generated using the <em>GridMapNavSimul</em> MRPT application. If not
     * user should abide the ground-truth file format to that of the files
     * generated by the GridMapNavSimul app.
     *
     * \sa readGTFileRGBD_TUM
     *
     * \param[in] fname_GT Ground truth filename from which the measurements
     * are to be read
     * \param[out] gt_poses std::vector which is to contain the 2D ground truth
     * poses.
     * \param[out] gt_timestamps std::vector which is to contain the timestamps
     * for the corresponding ground truth poses. Ignore this argument if
     * timestamps are not needed.
     */
    static void readGTFile(
        const std::string& fname_GT,
        std::vector<mrpt::poses::CPose2D>* gt_poses,
        std::vector<mrpt::system::TTimeStamp>* gt_timestamps = NULL);
    static void readGTFile(
        const std::string& fname_GT,
        std::vector<mrpt::poses::CPose3D>* gt_poses,
        std::vector<mrpt::system::TTimeStamp>* gt_timestamps = NULL);
    /**\brief Parse the ground truth .txt file and fill in the corresponding
     * m_GT_poses vector. The poses returned are given with regards to the
     * MRPT reference frame.
     *
     * It is assumed that the groundtruth file has been generated using the
     * <em>rgbd_dataset2rawlog</em> MRPT tool.
     *
     * \param[in] fname_GT Ground truth filename from which the measurements
     * are to be read
     * \param[out] gt_poses std::vector which is to contain the
     * 2D ground truth poses.
     * \param[out] gt_timestamps std::vector which is to contain the timestamps
     * for the corresponding ground truth poses. Ignore this argument if
     * timestamps are not needed.
     *
     * \sa readGTFile,
     * http://www.mrpt.org/Collection_of_Kinect_RGBD_datasets_with_ground_truth_CVPR_TUM_2011
     */
    static void readGTFileRGBD_TUM(
        const std::string& fname_GT,
        std::vector<mrpt::poses::CPose2D>* gt_poses,
        std::vector<mrpt::system::TTimeStamp>* gt_timestamps = NULL);

    /**\}*/

    /**\brief Generate and write to a corresponding report for each of the
     * respective self/decider/optimizer classes.
     *
     * \param[in] output_dir_fname directory name to generate the files in.
     * Directory must be crated prior to this call
     *
     * \sa getDescriptiveReport, CGraphSlamHandler::initOutputDir
     */
    void generateReportFiles(const std::string& output_dir_fname_in);
    /**\brief Fill the given vector with the deformation energy values computed
     * for the SLAM evaluation metric
     *
     * \param[out] vec_out deformation energy vector to be filled
     * \sa m_deformation_energy_vec
     */
    void getDeformationEnergyVector(std::vector<double>* vec_out) const;
    /**\brief Fill the given maps with stats regarding the overall execution of
     * graphslam.
     */
    bool getGraphSlamStats(
        std::map<std::string, int>* node_stats,
        std::map<std::string, int>* edge_stats,
        mrpt::system::TTimeStamp* timestamp = NULL);

    /**\name pause/resume execution */
    /**\{ */
    bool isPaused() const { return m_is_paused; }
    void togglePause()
    {
        if (isPaused())
        {
            this->resumeExec();
        }
        else
        {
            this->pauseExec();
        }
    }
    void resumeExec() const
    {
        if (!isPaused())
        {
            return;
        }
        MRPT_LOG_INFO_STREAM("Program resumed.");
        m_is_paused = false;

        if (m_enable_visuals)
        {
            this->m_win->addTextMessage(
                0.3, 0.8, "", mrpt::img::TColorf(1.0, 0, 0),
                m_text_index_paused_message);
        }
    }

    void pauseExec()
    {
        if (isPaused())
        {
            return;
        }
        MRPT_LOG_WARN_STREAM(
            "Program is paused. "
            << "Press \"" << m_keystroke_pause_exec << " or \""
            << system::upperCase(m_keystroke_pause_exec)
            << "\" in the dipslay window to resume");
        m_is_paused = true;
        if (m_enable_visuals)
        {
            this->m_win->addTextMessage(
                0.3, 0.8, m_paused_message, mrpt::img::TColorf(1.0, 0, 0),
                m_text_index_paused_message);
        }

        while (this->isPaused())
        {
            std::this_thread::sleep_for(1s);
            this->queryObserverForEvents();
        }
    }
    /**\} */

   protected:
    // Private function definitions
    //////////////////////////////////////////////////////////////
    /**\brief General initialization method to call from the Class
     * Constructors.
     *
     * \note Method is automatically called in the class constructor
     */
    void initClass();
    /**\brief Automate the creation and initialization of a results file
     * relevant to
     * the application.
     *
     * Open the file (corresponding to the provided filename) and write an
     * introductory message.
     *
     * \sa CGraphSlamHandler::initOutputDir
     */
    void initResultsFile(const std::string& fname);
    /**\brief Fill the provided string with a detailed report of the class state
     *
     * Report includes the following:
     * - Timing of important methods
     * - Properties fo class at the current time
     * - Logging of commands until current time
     *
     * \note Decider/Optimizer classes should also implement a
     * getDescriptiveReport
     * method for printing information on their part of the execution.
     */
    void getDescriptiveReport(std::string* report_str) const;
    /** \name Initialization of Visuals
     * Methods used for initializing various visualization features relevant to
     * the application at hand. If the visual feature is specified by the user
     * (via the .ini file) and if it is relevant to the application then the
     * corresponding method is called in the initClass class method
     */
    /**\{*/
    void initVisualization();

    void initRangeImageViewport();
    void initIntensityImageViewport();

    mrpt::opengl::CSetOfObjects::Ptr initRobotModelVisualization();
    /**\brief Method to help overcome the partial template specialization
     * restriction of C++. Apply polymorphism by overloading function arguments
     * instead
     */
    /**\{ */
    mrpt::opengl::CSetOfObjects::Ptr initRobotModelVisualizationInternal(
        const mrpt::poses::CPose2D& p_unused);
    mrpt::opengl::CSetOfObjects::Ptr initRobotModelVisualizationInternal(
        const mrpt::poses::CPose3D& p_unused);
    /**\} */

    void initCurrPosViewport();
    void initGTVisualization();
    void initOdometryVisualization();
    void initEstimatedTrajectoryVisualization();
    void initSlamMetricVisualization();
    /**\}*/

    /** \name Update of Visuals
     * Methods used for updating various visualization features relevant to
     * the application at hand. If relevant to the application at hand update
     * is periodically scheduled inside the execGraphSlam method
     */
    /**\{*/
    /**\brief Wrapper around the deciders/optimizer updateVisuals methods
     */
    void updateAllVisuals();
    /**\brief In RGB-D TUM Datasets update the Range image displayed in a
     * seperate viewport
     */
    void updateRangeImageViewport();
    /**\brief In RGB-D TUM Datasets update the Intensity image displayed in a
     * seperate viewport
     */
    void updateIntensityImageViewport();
    /**\brief Update the viewport responsible for displaying the graph-building
     * procedure in the estimated position of the robot
     */
    virtual void updateCurrPosViewport();
    /**\brief return the 3D Pose of a LaserScan that is to be visualized.
     *
     * Used during the computeMap call for the occupancy gridmap
     */
    virtual mrpt::poses::CPose3D getLSPoseForGridMapVisualization(
        const mrpt::graphs::TNodeID nodeID) const;
    /**\brief Set the properties of the map visual object based on the nodeID
     * that
     * it was produced by.
     * Derived classes may override this method if they want to have different
     * visual properties (color, shape etc.) for different nodeIDs.
     *
     * \note Base class method sets only the color of the object
     */
    virtual void setObjectPropsFromNodeID(
        const mrpt::graphs::TNodeID nodeID,
        mrpt::opengl::CSetOfObjects::Ptr& viz_object);
    void initMapVisualization();
    /**\brief Update the map visualization based on the current graphSLAM
     * state.
     *
     * Map is produced by arranging the range scans based on the estimated
     * robot trajectory.
     *
     * \sa updateEstimatedTrajectoryVisualization
     */
    void updateMapVisualization(
        const std::map<
            mrpt::graphs::TNodeID, mrpt::obs::CObservation2DRangeScan::Ptr>&
            nodes_to_laser_scans2D,
        bool full_update = false);
    /**\brief Display the next ground truth position in the visualization
     * window.
     *
     * \sa updateOdometryVisualization
     */
    void updateGTVisualization();
    /**\brief Update odometry-only cloud with latest odometry estimation.
     *
     * \sa updateGTVisualization
     * */
    void updateOdometryVisualization();
    /**\brief Update the Esstimated robot trajectory with the latest estimated
     * robot position.
     *
     * Update CSetOfLines visualization object with the latest graph node
     * position. If full update is asked, method clears the CSetOfLines
     * object and redraws all the lines based on the updated (optimized)
     * positions of the nodes
     */
    void updateEstimatedTrajectoryVisualization(bool full_update = false);
    /**\brief Update the displayPlots window with the new information with
     * regards to the metric
     */
    void updateSlamMetricVisualization();
    /**\}*/
    /** \name Toggling of Visuals
     * Methods used for toggling various visualization features relevant to
     * the application at hand.
     */
    /**\{*/
    void toggleOdometryVisualization();
    void toggleGTVisualization();
    void toggleMapVisualization();
    void toggleEstimatedTrajectoryVisualization();
    /**\}*/

    /**\brief Cut down on the size of the given laser scan.
     *
     * Handy for reducing the size of the resulting mrpt::opengl::CSetOfObjects
     * that would be inserted in the visualization scene. Increase the
     * decimation rate - keep-every_n_entries - to reduce the computational
     * cost of updating the map visualization
     *
     * \sa updateMapVisualization
     */
    void decimateLaserScan(
        mrpt::obs::CObservation2DRangeScan& laser_scan_in,
        mrpt::obs::CObservation2DRangeScan* laser_scan_out,
        const int keep_every_n_entries = 2);
    void alignOpticalWithMRPTFrame();  // TODO - either use it or remove it
    /**\brief Query the observer instance for any user events.
     *
     * Query the given observer for any events (keystrokes, mouse clicks,
     * that may have occurred in the CDisplayWindow3D  and fill in the
     * corresponding class variables
     */
    inline void queryObserverForEvents();

    /** \brief Compare the SLAM result (estimated trajectory) with the GT path.
     *
     * See <a
     * href="http://europa.informatik.uni-freiburg.de/files/burgard09iros.pdf">
     * A Comparison of SLAM Algorithms Based on a Graph of Relations</a>
     * for more details on this.
     */
    void computeSlamMetric(mrpt::graphs::TNodeID nodeID, size_t gt_index);

    /**\brief Wrapper method that used for printing error messages in a
     * consistent manner
     *
     * Makes use of the COutputLogger instance. Prints error message when
     * toggling illegal visual features in the display window
     */
    void dumpVisibilityErrorMsg(
        std::string viz_flag, int sleep_time = 500 /* ms */);
    // TODO - move this to a different module - to be accessed globally
    /**\brief Fill the TTimestamp in a consistent manner.
     *
     * Method can be used in both MRPT Rawlog formats
     *
     * \param[in] action_ptr Pointer to the action (action-observations format)
     * \param[in] observations Pointer to list of observations
     * (action-observations format)
     * \param[in] observation Pointer to single observation (observation-only
     * format)
     *
     * \note if both action_ptr and observation_ptr contains valid timestamps,
     * the
     * action is preferred.
     *
     * \return mrpt::system::TTimeStamp
     */
    static mrpt::system::TTimeStamp getTimeStamp(
        const mrpt::obs::CActionCollection::Ptr action,
        const mrpt::obs::CSensoryFrame::Ptr observations,
        const mrpt::obs::CObservation::Ptr observation);
    // TODO - move these somewhere else.
    /**\name Class specific supplementary functions.
     */
    /**\{*/
    static double accumulateAngleDiffs(
        const mrpt::poses::CPose2D& p1, const mrpt::poses::CPose2D& p2);
    static double accumulateAngleDiffs(
        const mrpt::poses::CPose3D& p1, const mrpt::poses::CPose3D& p2);
    /**\}*/
    /**\brief Set the opengl model that indicates the latest position of the
     * trajectory at hand
     *
     * \param[in] model_name Name of the resulting opengl object.
     * \param[in] model_color Color of the object.
     * \param[in] model_size Scaling of the object.
     * \param[in] init_pose Initial position of the object.
     *
     * \todo Use an airplane/quad model for 3D operations
     *
     * \returns CSetOfObjects::Ptr instance.
     *
     * \note Different model is used depending on whether we are running 2D or
     * 3D SLAM.
     */
    mrpt::opengl::CSetOfObjects::Ptr setCurrentPositionModel(
        const std::string& model_name,
        const mrpt::img::TColor& model_color = mrpt::img::TColor(0, 0, 0),
        const size_t model_size = 1, const pose_t& init_pose = pose_t());

    /**\brief Assert that the given nodes number matches the registered graph
     * nodes, otherwise throw exception
     *
     * \note Method locks the graph internally.
     *
     * \raise logic_error if the expected node count mismatches with the
     * graph current node count.
     */
    virtual void monitorNodeRegistration(
        bool registered = false, std::string class_name = "Class");
    /**\brief Wrapper around the GRAPH_T::dijkstra_nodes_estimate
     *
     * Update the global position of the nodes
     */
    void execDijkstraNodesEstimation();

    // VARIABLES
    //////////////////////////////////////////////////////////////
    mrpt::system::CTimeLogger m_time_logger; /**<Time logger instance */

    /**\brief The graph object to be built and optimized. */
    GRAPH_T m_graph;

    /**\name Decider/Optimizer instances. Delegating the GRAPH_T tasks to these
     * classes makes up for a modular and configurable design
     */
    /**\{*/
    mrpt::graphslam::deciders::CNodeRegistrationDecider<GRAPH_T>* m_node_reg;
    mrpt::graphslam::deciders::CEdgeRegistrationDecider<GRAPH_T>* m_edge_reg;
    mrpt::graphslam::optimizers::CGraphSlamOptimizer<GRAPH_T>* m_optimizer;
    /**\}*/

    /**\brief Determine if we are to enable visualization support or not. */
    const bool m_enable_visuals;

    std::string m_config_fname;

    /**\brief Rawlog file from which to read the measurements.
     *
     * If string is empty, process is to be run online
     */
    std::string m_rawlog_fname;

    std::string m_fname_GT;

    /**\brief Counter for reading back the GT_poses. */
    size_t m_GT_poses_index;
    /**\brief Rate at which to read the GT poses. */
    size_t m_GT_poses_step;

    bool m_user_decides_about_output_dir;

    bool m_has_read_config;
    bool m_observation_only_dataset;

    /**\brief keeps track of the out fstreams so that they can be closed (if
     * still open) in the class Dtor.
     */
    fstreams_out m_out_streams;

    /**\name Visualization - related objects */
    /**\{*/
    mrpt::graphslam::CWindowManager* m_win_manager;
    mrpt::gui::CDisplayWindow3D* m_win;
    mrpt::graphslam::CWindowObserver* m_win_observer;
    /**\brief DisplayPlots instance for visualizing the evolution of the SLAM
     * metric
     */
    mrpt::gui::CDisplayWindowPlots* m_win_plot;
    /**\}*/

    /** \name Visualization - related flags
     * \brief Flags for visualizing various trajectories/objects of interest.
     *
     * These are set from the .ini configuration file. The actual visualization
     * of these objects can be overriden if the user issues the corresponding
     * keystrokes in the CDisplayWindow3D. In order for them to have any
     * effect, a pointer to CDisplayWindow3D has to be given first.
     */
    /**\{*/
    bool m_visualize_odometry_poses;
    bool m_visualize_GT;
    bool m_visualize_map;
    bool m_visualize_estimated_trajectory;
    bool m_visualize_SLAM_metric;
    bool m_enable_curr_pos_viewport;
    bool m_enable_intensity_viewport;
    bool m_enable_range_viewport;
    /**\}*/

    /**\brief Indicated if program is temporarily paused by the user
     */
    mutable bool m_is_paused;

    /**\brief Message to be displayed while paused. */
    const std::string m_paused_message;

    /**\name textMessage - related Parameters
     * Parameters relevant to the textMessages appearing in the visualization
     * window. These are divided into
     * - Y offsets: vertical position of the textMessage, starting from the top
     *   side.
     * - Indices: Unique ID number of each textMessage, used for updating it
     */
    /**\{*/
    /**\brief Offset from the \a left side of the canvas.
     * Common for all the messages that are displayed on that side.
     */
    double m_offset_x_left;

    double m_offset_y_odometry;
    double m_offset_y_GT;
    double m_offset_y_estimated_traj;
    double m_offset_y_timestamp;
    double m_offset_y_current_constraint_type;
    double m_offset_y_paused_message;

    int m_text_index_odometry;
    int m_text_index_GT;
    int m_text_index_estimated_traj;
    int m_text_index_timestamp;
    int m_text_index_current_constraint_type;
    int m_text_index_paused_message;
    /**\}*/

    /**\name User available keystrokes
     * Keystrokes for toggling the corresponding objects in the CDisplayWindow
     * upon user press
     */
    /**\{*/
    std::string m_keystroke_pause_exec;
    std::string m_keystroke_odometry;
    std::string m_keystroke_GT;
    std::string m_keystroke_estimated_trajectory;
    std::string m_keystroke_map;
    /**\}*/

    /**\brief Instance to keep track of all the edges + visualization related
     * operations
     */
    mrpt::graphslam::detail::CEdgeCounter m_edge_counter;

    /**\brief Flag for specifying if we are going to use ground truth data at
     * all.
     *
     * This is set to true either if the evolution of the SLAM metric or the
     * ground truth visualization is set to true.
     */
    bool m_use_GT;

    // pose_t vectors
    std::vector<pose_t> m_odometry_poses;
    std::vector<pose_t> m_GT_poses;

    std::string m_GT_file_format;

    /**\brief Map of NodeIDs to their corresponding LaserScans.
     */
    nodes_to_scans2D_t m_nodes_to_laser_scans2D;
    /**\brief Last laser scan that the current class instance received.
     */
    mrpt::obs::CObservation2DRangeScan::Ptr m_last_laser_scan2D;
    /**\brief First recorded laser scan - assigned to the root */
    mrpt::obs::CObservation2DRangeScan::Ptr m_first_laser_scan2D;
    /**\brief Last laser scan that the current class instance received.
     */
    mrpt::obs::CObservation3DRangeScan::Ptr m_last_laser_scan3D;

    /**\name Trajectories colors */
    /**\{*/
    mrpt::img::TColor m_odometry_color;
    mrpt::img::TColor m_GT_color;
    mrpt::img::TColor m_estimated_traj_color;
    mrpt::img::TColor m_optimized_map_color;
    mrpt::img::TColor m_current_constraint_type_color;
    /**\}*/

    // frame transformation from the RGBD_TUM GrountTruth to the MRPT
    // reference frame
    // TODO - either use it or lose it...
    mrpt::math::CMatrixDouble33 m_rot_TUM_to_MRPT;
    /** How big are the robots going to be in the scene */
    size_t m_robot_model_size;
    /**\brief Internal counter for querying for the number of nodeIDs.
     *
     * Handy for not locking the m_graph resource
     */
    mrpt::graphs::TNodeID m_nodeID_max;
    /** Mark graph modification/accessing explicitly for multithreaded
     * implementation
     */
    mutable std::mutex m_graph_section;

    // keep track of the storage directory for the 3DRangeScan depth/range
    // images
    std::string m_img_external_storage_dir;
    std::string m_img_prev_path_base;

    /**\name Slam Metric related variables */
    /**\{*/
    /**\brief Map from nodeIDs to their corresponding closest GT pose index.
     * Keep track of the nodeIDs instead of the node positions as the latter
     * are about to change in the Edge Registration / Loop closing procedures
     */
    std::map<mrpt::graphs::TNodeID, size_t> m_nodeID_to_gt_indices;
    double m_curr_deformation_energy;
    std::vector<double> m_deformation_energy_vec;
    /**\}*/

    /**\brief Struct responsible for keeping the parameters of the .info file
     * in RGBD related datasets
     */
    struct TRGBDInfoFileParams
    {
        TRGBDInfoFileParams();
        TRGBDInfoFileParams(const std::string& rawlog_fname);
        ~TRGBDInfoFileParams();

        void initTRGBDInfoFileParams();
        /**\brief Parse the RGBD information file to gain information about the
         * rawlog
         * file contents
         */
        void parseFile();
        void setRawlogFile(const std::string& rawlog_fname);

        /**\brief Format for the parameters in the info file:
         * <em>string literal - related value</em> (kept in a string
         * representation)
         */
        std::map<std::string, std::string> fields;

        std::string info_fname;

    } m_info_params;

    /**\brief Time it took to record the dataset.
     * Processing time should (at least) be equal to the grab time for the
     * algorithm to run in real-time
     */
    double m_dataset_grab_time;

    /**\brief First recorded timestamp in the dataset. */
    mrpt::system::TTimeStamp m_init_timestamp;
    /**\brief Current dataset timestamp */
    mrpt::system::TTimeStamp m_curr_timestamp;
    /**\brief Current robot position based solely on odometry */
    pose_t m_curr_odometry_only_pose;

    /**\brief Indicate whether the user wants to exit the application (e.g.
     * pressed by pressign ctrl-c)
     */
    bool m_request_to_exit;

    /**\name Map-related objects
     * \brief Cached version and corresponding flag of map
     */
    /**\{*/
    mutable mrpt::maps::COccupancyGridMap2D::Ptr m_gridmap_cached;
    /**\brief Acquired map in CSimpleMap representation */
    mutable mrpt::maps::CSimpleMap m_simple_map_cached;
    mutable mrpt::maps::COctoMap::Ptr m_octomap_cached;
    /**\brief Indicates if the map is cached.
     *
     *\note Common var for both 2D and 3D maps.
     */
    mutable bool m_map_is_cached;
    /**\brief Timestamp at which the map was computed
     *
     *\note Common var for both 2D and 3D maps.
     */
    mutable mrpt::system::TTimeStamp m_map_acq_time;
    /**\}*/

    std::string m_class_name;
    /**\brief Track the first node registration occurance
     *
     * Handy so that we can assign a measurement to the root node as well.
     */
    bool m_is_first_time_node_reg;

    /**\brief MRPT CNetworkOfPoses constraint classes that are currently
     * supported
     */
    std::vector<std::string> m_supported_constraint_types;
    /**\brief Type of constraint currently in use.
     */
    std::string m_current_constraint_type;

    /**\brief Separator string to be used in debugging messages
     */
    static const std::string header_sep;
    static const std::string report_sep;
};
}
// pseudo-split the definition and implementation of template
#include "CGraphSlamEngine_impl.h"

#endif /* end of include guard: GRAPHSLAMENGINE_H */