CNetworkOfPoses.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2019, 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

/** \file The main class in this file is mrpt::poses::CNetworkOfPoses<>, a
   generic
           basic template for predefined 2D/3D graphs of pose contraints.
*/

#include <iostream>

#include <mrpt/graphs/CDirectedGraph.h>
#include <mrpt/graphs/CDirectedTree.h>
#include <mrpt/graphs/THypothesis.h>
#include <mrpt/graphs/TMRSlamNodeAnnotations.h>
#include <mrpt/graphs/TNodeAnnotations.h>
#include <mrpt/graphs/dijkstra.h>
#include <mrpt/io/CFileGZInputStream.h>
#include <mrpt/io/CFileGZOutputStream.h>
#include <mrpt/math/utils.h>
#include <mrpt/opengl/CSetOfObjects.h>
#include <mrpt/poses/poses_frwds.h>
#include <mrpt/serialization/CSerializable.h>
#include <mrpt/serialization/stl_serialization.h>
#include <mrpt/system/TParameters.h>
#include <mrpt/system/os.h>

#include <algorithm>
#include <iterator>
#include <memory>
#include <optional>
#include <type_traits>  // is_base_of()

namespace mrpt
{
namespace graphs
{
/** Internal functions for MRPT */
namespace detail
{
template <class GRAPH_T>
struct graph_ops;

// forward declaration of CVisualizer
template <
    class CPOSE,  // Type of edges
    class MAPS_IMPLEMENTATION, class NODE_ANNOTATIONS, class EDGE_ANNOTATIONS>
class CVisualizer;
// forward declaration of CMRVisualizer
template <
    class CPOSE,  // Type of edges
    class MAPS_IMPLEMENTATION, class NODE_ANNOTATIONS, class EDGE_ANNOTATIONS>
class CMRVisualizer;
}  // namespace detail

/** A directed graph of pose constraints, with edges being the relative poses
 *between pairs of nodes identified by their numeric IDs (of type
 *mrpt::graphs::TNodeID).
 *  A link or edge between two nodes "i" and "j", that is, the pose \f$ p_{ij}
 *\f$, holds the relative position of "j" with respect to "i".
 *   These poses are stored in the edges in the format specified by the template
 *argument CPOSE. Users should employ the following derived classes
 *   depending on the desired representation of edges:
 *      - mrpt::graphs::CNetworkOfPoses2D    : 2D edges as a simple CPose2D (x y
 *phi)
 *      - mrpt::graphs::CNetworkOfPoses3D    : 3D edges as a simple
 *mrpt::poses::CPose3D (x y z yaw pitch roll)
 *      - mrpt::graphs::CNetworkOfPoses2DInf : 2D edges as a Gaussian PDF with
 *information matrix (CPosePDFGaussianInf)
 *      - mrpt::graphs::CNetworkOfPoses3DInf : 3D edges as a Gaussian PDF with
 *information matrix (CPose3DPDFGaussianInf)
 *      - mrpt::graphs::CNetworkOfPoses2DCov : 2D edges as a Gaussian PDF with
 *covariance matrix (CPosePDFGaussian). It's more efficient to use the
 *information matrix version instead!
 *      - mrpt::graphs::CNetworkOfPoses3DCov : 3D edges as a Gaussian PDF with
 *covariance matrix (CPose3DPDFGaussian). It's more efficient to use the
 *information matrix version instead!
 *
 *  Two main members store all the information in this class:
 *      - \a edges  (in the base class mrpt::graphs::CDirectedGraph::edges): A
 *map
 *from pairs of node ID -> pose constraints.
 *      - \a nodes : A map from node ID -> estimated pose of that node
 *(actually,
 *read below on the template argument MAPS_IMPLEMENTATION).
 *
 *  Graphs can be loaded and saved to text file in the format used by TORO &
 *HoG-man (more on the format <a
 *href="http://www.mrpt.org/Robotics_file_formats" >here</a>),
 *   using \a loadFromTextFile and \a saveToTextFile.
 *
 *  This class is the base for representing networks of poses, which are the
 *main data type of a series
 *   of SLAM algorithms implemented in the library mrpt-slam, in the namespace
 *mrpt::graphslam.
 *
 *  The template arguments are:
 *      - CPOSE: The type of the edges, which hold a relative pose (2D/3D, just
 *a
 *value or a Gaussian, etc.)
 *      - MAPS_IMPLEMENTATION: Can be either mrpt::containers::map_traits_stdmap
 *or mrpt::containers::map_traits_map_as_vector. Determines the type of the list
 *of global poses (member \a nodes).
 *
 * \sa mrpt::graphslam
 * \ingroup mrpt_graphs_grp
 */
template <
    class CPOSE,  // Type of edges
    class MAPS_IMPLEMENTATION =
        mrpt::containers::map_traits_stdmap,  // Use std::map<> vs.
    // std::vector<>
    class NODE_ANNOTATIONS = mrpt::graphs::detail::TNodeAnnotationsEmpty,
    class EDGE_ANNOTATIONS = mrpt::graphs::detail::edge_annotations_empty>
class CNetworkOfPoses
    : public mrpt::graphs::CDirectedGraph<CPOSE, EDGE_ANNOTATIONS>
{
   public:
    /** @name Typedef's
        @{ */
    /** The base class "CDirectedGraph<CPOSE,EDGE_ANNOTATIONS>" */
    using BASE = mrpt::graphs::CDirectedGraph<CPOSE, EDGE_ANNOTATIONS>;
    /** My own type */
    using self_t = CNetworkOfPoses<
        CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS>;

    /** The type of PDF poses in the contraints (edges) (=CPOSE template
     * argument) */
    using constraint_t = CPOSE;
    /** The extra annotations in nodes, apart from a \a constraint_no_pdf_t */
    using node_annotations_t = NODE_ANNOTATIONS;
    /** The extra annotations in edges, apart from a \a constraint_t */
    using edge_annotations_t = EDGE_ANNOTATIONS;

    /** The type of map's implementation (=MAPS_IMPLEMENTATION template
     * argument) */
    using maps_implementation_t = MAPS_IMPLEMENTATION;
    /** The type of edges or their means if they are PDFs (that is, a simple
     * "edge" value) */
    using constraint_no_pdf_t = typename CPOSE::type_value;

    constexpr static auto getClassName()
    {
        using namespace mrpt::typemeta;
        return literal("mrpt::graphs::CNetworkOfPoses<") +
               TTypeName<CPOSE>::get() + literal(",") +
               TTypeName<MAPS_IMPLEMENTATION>::get() + literal(",") +
               TTypeName<NODE_ANNOTATIONS>::get() + literal(",") +
               TTypeName<EDGE_ANNOTATIONS>::get() + literal(">");
    }

    /** The type of each global pose in \a nodes: an extension of the \a
     * constraint_no_pdf_t pose with any optional user-defined data
     */
    struct global_pose_t : public constraint_no_pdf_t, public NODE_ANNOTATIONS
    {
        using self_t = typename CNetworkOfPoses<
            CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS,
            EDGE_ANNOTATIONS>::global_pose_t;

        constexpr static auto getClassName()
        {
            using namespace mrpt::typemeta;
            return literal("global_pose_t<") +
                   TTypeName<constraint_no_pdf_t>::get() + literal(",") +
                   TTypeName<NODE_ANNOTATIONS>::get() + literal(">");
        }

        /**\brief Potential class constructors
         */
        /**\{ */
        inline global_pose_t() : constraint_no_pdf_t() {}
        template <typename ARG1>
        inline global_pose_t(const ARG1& a1) : constraint_no_pdf_t(a1)
        {
        }
        template <typename ARG1, typename ARG2>
        inline global_pose_t(const ARG1& a1, const ARG2& a2)
            : constraint_no_pdf_t(a1, a2)
        {
        }
        /**\} */

        /**\brief Copy constructor - delegate copying to the NODE_ANNOTATIONS
         * struct
         */
        inline global_pose_t(const global_pose_t& other)
            : constraint_no_pdf_t(other), NODE_ANNOTATIONS(other)
        {
        }

        inline bool operator==(const global_pose_t& other) const
        {
            return (
                static_cast<const constraint_no_pdf_t>(*this) ==
                    static_cast<const constraint_no_pdf_t>(other) &&
                static_cast<const NODE_ANNOTATIONS>(*this) ==
                    static_cast<const NODE_ANNOTATIONS>(other));
        }
        inline bool operator!=(const global_pose_t& other) const
        {
            return (!(*this == other));
        }

        inline friend std::ostream& operator<<(
            std::ostream& o, const self_t& global_pose)
        {
            o << global_pose.asString() << "| "
              << global_pose.retAnnotsAsString();
            return o;
        }
    };

    /** A map from pose IDs to their global coordinate estimates, with
     * uncertainty */
    using global_poses_pdf_t = typename MAPS_IMPLEMENTATION::template map<
        mrpt::graphs::TNodeID, CPOSE>;

    /** A map from pose IDs to their global coordinate estimates, without
     * uncertainty (the "most-likely value") */
    using global_poses_t = typename MAPS_IMPLEMENTATION::template map<
        mrpt::graphs::TNodeID, global_pose_t>;

    /** @} */

    /** @name Data members
        @{ */

    /** The nodes (vertices) of the graph, with their estimated "global"
     * (with respect to \a root) position, without an associated covariance.
     * \sa dijkstra_nodes_estimate
     */
    global_poses_t nodes;

    /** The ID of the node that is the origin of coordinates, used as
     * reference by all coordinates in \a nodes. By default, root is the ID
     * "0". */
    mrpt::graphs::TNodeID root{0};

    /** False (default) if an edge i->j stores the normal relative pose of j
     * as seen from i: \f$ \Delta_i^j = j \ominus i \f$ True if an edge i->j
     * stores the inverse relateive pose, that is, i as seen from j: \f$
     * \Delta_i^j = i \ominus j \f$
     */
    bool edges_store_inverse_poses{false};

    /** @} */

    /** @name I/O methods
        @{ */

    /** Saves to a text file in the format used by TORO, HoG-man, G2O.
     * See: https://www.mrpt.org/Graph-SLAM_maps
     * \sa saveToBinaryFile, loadFromTextFile, writeAsText
     * \exception On any error
     */
    void saveToTextFile(const std::string& fileName) const
    {
        detail::graph_ops<self_t>::save_graph_of_poses_to_text_file(
            this, fileName);
    }
    /** Writes as text in the format used by TORO, HoG-man, G2O.
     * See: https://www.mrpt.org/Graph-SLAM_maps
     * \sa saveToBinaryFile, loadFromTextFile, saveToTextFile, readAsText
     * \exception On any error
     */
    void writeAsText(std::ostream& o) const
    {
        detail::graph_ops<self_t>::save_graph_of_poses_to_ostream(this, o);
    }

    /** Loads from a text file in the format used by TORO & HoG-man (more on the
     * format <a href="http://www.mrpt.org/Robotics_file_formats" >here</a>)
     *   Recognized line entries are: VERTEX2, VERTEX3, EDGE2, EDGE3, EQUIV.
     *   If an unknown entry is found, a warning is dumped to std::cerr (only
     * once for each unknown keyword).
     *   An exception will be raised if trying to load a 3D graph into a 2D
     * class (in the opposite case, missing 3D data will default to zero).
     *
     * \param[in] fileName The file to load.
     * \param[in] collapse_dup_edges If true, \a collapseDuplicatedEdges will be
     * called automatically after loading (note that this operation may take
     * significant time for very large graphs).
     *
     * \sa loadFromBinaryFile, saveToTextFile
     *
     * \exception On any error, as a malformed line or loading a 3D graph in
     * a 2D graph.
     */
    inline void loadFromTextFile(
        const std::string& fileName, bool collapse_dup_edges = true)
    {
        detail::graph_ops<self_t>::load_graph_of_poses_from_text_file(
            this, fileName);
        if (collapse_dup_edges) this->collapseDuplicatedEdges();
    }

    /** Reads as text in the format used by TORO, HoG-man, G2O.
     * See: https://www.mrpt.org/Graph-SLAM_maps
     * \sa saveToBinaryFile, loadFromTextFile, saveToTextFile
     * \exception On any error
     */
    void readAsText(std::istream& i)
    {
        detail::graph_ops<self_t>::load_graph_of_poses_from_text_stream(
            this, i);
    }

    /** @} */

    /** @name Utility methods
        @{ */
    /**\brief Return 3D Visual Representation of the edges and nodes in the
     * network of poses
     *
     * Method makes the call to the corresponding method of the CVisualizer
     * class instance.
     */
    inline void getAs3DObject(
        mrpt::opengl::CSetOfObjects::Ptr object,
        const mrpt::system::TParametersDouble& viz_params) const
    {
        using visualizer_t = mrpt::graphs::detail::CVisualizer<
            CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS>;
        using visualizer_multirobot_t = mrpt::graphs::detail::CMRVisualizer<
            CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS>;

        bool is_multirobot = false;
        std::unique_ptr<visualizer_t> viz;
        is_multirobot =
            (std::is_base_of_v<
                mrpt::graphs::detail::TMRSlamNodeAnnotations, global_pose_t>);
        if (is_multirobot)
        {
            viz.reset(new visualizer_multirobot_t(*this));
        }
        else
        {
            viz.reset(new visualizer_t(*this));
        }
        viz->getAs3DObject(object, viz_params);
    }

    /** Spanning tree computation of a simple estimation of the global
     * coordinates of each node just from the information in all edges,
     * sorted in a Dijkstra tree based on the current "root" node.
     *
     * \note The "global" coordinates are with respect to the node with the
     * ID specified in \a root.
     *
     * \note This method takes into account the
     * value of \a edges_store_inverse_poses
     *
     * \sa node, root
     */
    inline void dijkstra_nodes_estimate(
        std::optional<std::reference_wrapper<std::map<TNodeID, size_t>>>
            topological_distances = std::nullopt)
    {
        detail::graph_ops<self_t>::graph_of_poses_dijkstra_init(
            this, topological_distances ? &topological_distances.value().get()
                                        : nullptr);
    }

    /** Look for duplicated edges (even in opposite directions) between all
     * pairs of nodes and fuse them.  Upon return, only one edge remains
     * between each pair of nodes with the mean & covariance (or information
     * matrix) corresponding to the Bayesian fusion of all the Gaussians.
     *
     * \return Overall number of removed edges.
     */
    inline size_t collapseDuplicatedEdges()
    {
        return detail::graph_ops<self_t>::graph_of_poses_collapse_dup_edges(
            this);
    }

    /** Returns the total chi-squared error of the graph. Shortcut for
     * getGlobalSquareError(false). */
    double chi2() const { return getGlobalSquareError(false); }
    /** Evaluates the graph total square error (ignoreCovariances=true) or
     * chi2 (ignoreCovariances=false) from all the pose constraints (edges)
     * with respect to the global poses in \a nodes.
     * \sa getEdgeSquareError
     * \exception std::exception On global poses not in \a nodes
     */
    double getGlobalSquareError(bool ignoreCovariances = true) const
    {
        double sqErr = 0;
        for (auto it = BASE::edges.begin(); it != BASE::edges.end(); ++it)
            sqErr += detail::graph_ops<self_t>::graph_edge_sqerror(
                this, it, ignoreCovariances);
        return sqErr;
    }

    /**\brief Find the edges between the nodes in the node_IDs set and fill
     * given graph pointer accordingly.
     *
     * \param[in] node_IDs Set of nodes, between which, edges should be found
     * and inserted in the given sub_graph pointer
     * \param[in] root_node_in Node ID to be used as the root node of
     * sub_graph. If this is not given, the lowest nodeID is to be used.
     * \param[out] CNetworkOfPoses pointer that is to be filled.
     *
     * \param[in] auto_expand_set If true and in case the node_IDs set
     * contains non-consecutive nodes the returned set is expanded with the
     * in-between nodes. This makes sure that the final graph is always
     * connected.
     * If auto_expand_set is false  but there exist
     * non-consecutive nodes, virtual edges are inserted in the parts that
     * the graph is not connected
     */
    void extractSubGraph(
        const std::set<TNodeID>& node_IDs, self_t* sub_graph,
        const TNodeID root_node_in = INVALID_NODEID,
        const bool& auto_expand_set = true) const
    {
        using namespace std;
        using namespace mrpt;
        using namespace mrpt::math;
        using namespace mrpt::graphs::detail;

        using dijkstra_t = CDijkstra<self_t, MAPS_IMPLEMENTATION>;

        // assert that the given pointers are valid
        ASSERTMSG_(
            sub_graph,
            "\nInvalid pointer to a CNetworkOfPoses instance is given. "
            "Exiting..\n");
        sub_graph->clear();

        // assert that the root_node actually exists in the given node_IDs set
        TNodeID root_node = root_node_in;
        if (root_node != INVALID_NODEID)
        {
            ASSERTMSG_(
                node_IDs.find(root_node) != node_IDs.end(),
                "\nRoot_node does not exist in the given node_IDs set. "
                "Exiting.\n");
        }

        // ask for at least 2 nodes
        ASSERTMSG_(
            node_IDs.size() >= 2,
            format(
                "Very few nodes [%lu] for which to extract a subgraph. "
                "Exiting\n",
                static_cast<unsigned long>(node_IDs.size())));

        // find out if querry contains non-consecutive nodes.
        // Assumption: Set elements are in standard, ascending order.
        bool is_fully_connected_graph = true;
        std::set<TNodeID> node_IDs_real;  // actual set of nodes to be used.
        if (*node_IDs.rbegin() - *node_IDs.begin() + 1 == node_IDs.size())
        {
            node_IDs_real = node_IDs;
        }
        else
        {  // contains non-consecutive nodes
            is_fully_connected_graph = false;

            if (auto_expand_set)
            {  // set auto-expansion
                for (TNodeID curr_node_ID = *node_IDs.begin();
                     curr_node_ID != *node_IDs.rbegin(); ++curr_node_ID)
                {
                    node_IDs_real.insert(curr_node_ID);
                }
            }
            else
            {  // virtual_edge_addition strategy
                node_IDs_real = node_IDs;
            }
        }

        // add all the nodes of the node_IDs_real set to sub_graph
        for (unsigned long node_IDs_it : node_IDs_real)
        {
            // assert that current node exists in *own* graph
            typename global_poses_t::const_iterator own_it;
            for (own_it = nodes.begin(); own_it != nodes.end(); ++own_it)
            {
                if (node_IDs_it == own_it->first)
                {
                    break;  // I throw exception afterwards
                }
            }
            ASSERTMSG_(
                own_it != nodes.end(),
                format(
                    "NodeID [%lu] can't be found in the initial graph.",
                    static_cast<unsigned long>(node_IDs_it)));

            global_pose_t curr_node(nodes.at(node_IDs_it));
            sub_graph->nodes.insert(make_pair(node_IDs_it, curr_node));
        }
        // cout << "Extracting subgraph for nodeIDs: " <<
        // getSTLContainerAsString(node_IDs_real) << endl;

        // set the root of the extracted graph
        if (root_node == INVALID_NODEID)
        {
            // smallest nodeID by default: already ordered inside std::map
            root_node = sub_graph->nodes.begin()->first;
        }
        sub_graph->root = root_node;

        // find all edges (in the initial graph), that exist in the given set
        // of nodes; add them to the given graph
        sub_graph->clearEdges();
        for (const auto& e : BASE::edges)
        {
            const TNodeID& from = e.first.first;
            const TNodeID& to = e.first.second;
            const typename BASE::edge_t& curr_edge = e.second;

            // if both nodes exist in the given set, add the corresponding edge
            if (sub_graph->nodes.find(from) != sub_graph->nodes.end() &&
                sub_graph->nodes.find(to) != sub_graph->nodes.end())
            {
                sub_graph->insertEdge(from, to, curr_edge);
            }
        }

        if (!auto_expand_set && !is_fully_connected_graph)
        {
            // Addition of virtual edges between non-connected graph parts is
            // necessary

            // make sure that the root nodeID is connected to at least one node
            {
                std::set<TNodeID> root_neighbors;
                sub_graph->getNeighborsOf(sub_graph->root, root_neighbors);

                if (root_neighbors.empty())
                {
                    // add an edge between the root and an adjacent nodeID
                    typename global_poses_t::iterator root_it =
                        sub_graph->nodes.find(sub_graph->root);
                    ASSERT_(root_it != sub_graph->nodes.end());
                    if ((*root_it == *sub_graph->nodes.rbegin()))
                    {  // is the last nodeID
                        // add with previous node
                        TNodeID next_to_root = (--root_it)->first;
                        self_t::addVirtualEdge(
                            sub_graph, next_to_root, sub_graph->root);
                        // cout << "next_to_root = " << next_to_root;
                    }
                    else
                    {
                        TNodeID next_to_root = (++root_it)->first;
                        // cout << "next_to_root = " << next_to_root;
                        self_t::addVirtualEdge(
                            sub_graph, sub_graph->root, next_to_root);
                    }
                }
            }

            // as long as the graph is unconnected (as indicated by Dijkstra)
            // add a virtual edge between
            bool dijkstra_runs_successfully = false;

            // loop until the graph is fully connected (i.e. I can reach every
            // node of the graph starting from its root)
            while (!dijkstra_runs_successfully)
            {
                try
                {
                    dijkstra_t dijkstra(*sub_graph, sub_graph->root);
                    dijkstra_runs_successfully = true;
                }
                catch (const mrpt::graphs::detail::NotConnectedGraph& ex)
                {
                    dijkstra_runs_successfully = false;

                    set<TNodeID> unconnected_nodeIDs;
                    ex.getUnconnectedNodeIDs(&unconnected_nodeIDs);
                    // cout << "Unconnected nodeIDs: " <<
                    // mrpt::math::getSTLContainerAsString(unconnected_nodeIDs)
                    // << endl;
                    // mainland: set of nodes that the root nodeID is in
                    // island: set of nodes that the Dijkstra graph traversal
                    // can't
                    // reach starting from the root.
                    // [!] There may be multiple sets of these nodes

                    // set::rend() is the element with the highest value
                    // set::begin() is the element with the lowest value
                    const TNodeID& island_highest =
                        *unconnected_nodeIDs.rbegin();
                    const TNodeID& island_lowest = *unconnected_nodeIDs.begin();
                    // cout << "island_highest: " << island_highest << endl;
                    // cout << "island_lowest: " << island_lowest << endl;
                    // cout << "root: " << sub_graph->root << endl;

                    // find out which nodes are in the same partition with the
                    // root
                    // (i.e. mainland)
                    std::set<TNodeID> mainland;
                    // for all nodes in sub_graph
                    for (typename global_poses_t::const_iterator n_it =
                             sub_graph->nodes.begin();
                         n_it != sub_graph->nodes.end(); ++n_it)
                    {
                        bool is_there = false;

                        // for all unconnected nodes
                        for (unsigned long unconnected_nodeID :
                             unconnected_nodeIDs)
                        {
                            if (n_it->first == unconnected_nodeID)
                            {
                                is_there = true;
                                break;
                            }
                        }

                        if (!is_there)
                        {
                            mainland.insert(n_it->first);
                        }
                    }

                    bool is_single_island =
                        (island_highest - island_lowest + 1 ==
                         unconnected_nodeIDs.size());

                    if (is_single_island)
                    {  // single island
                        // Possible scenarios:
                        // | island                       |
                        // | mainland                                   |
                        // | <low nodeIDs>  island_highest|  --- <virtual_edge>
                        // --->>  | mainland_lowest <high nodeIDs> ... root ...|
                        // --- OR ---
                        // | mainland                       |
                        // | island                       |
                        // | <low nodeIDs>  mainland_highest|  ---
                        // <virtual_edge> --->>  | island_lowest <high nodeIDs>
                        // |

                        const std::set<TNodeID>& island = unconnected_nodeIDs;
                        this->connectGraphPartitions(
                            sub_graph, island, mainland);
                    }
                    else
                    {  // multiple islands
                        // add a virtual edge between the last group before the
                        // mainland and the mainland

                        // split the unconnected_nodeIDs to smaller groups of
                        // nodes
                        // we only care about the nodes that are prior to the
                        // root
                        std::vector<std::set<TNodeID>> vec_of_islands;
                        std::set<TNodeID> curr_island;
                        TNodeID prev_nodeID = *unconnected_nodeIDs.begin();
                        curr_island.insert(
                            prev_nodeID);  // add the initial node;
                        for (auto it = ++unconnected_nodeIDs.begin();
                             *it < sub_graph->root &&
                             it != unconnected_nodeIDs.end();
                             ++it)
                        {
                            if (!(absDiff(*it, prev_nodeID) == 1))
                            {
                                vec_of_islands.push_back(curr_island);
                                curr_island.clear();
                            }
                            curr_island.insert(*it);

                            // update the previous nodeID
                            prev_nodeID = *it;
                        }
                        vec_of_islands.push_back(curr_island);

                        // cout << "last_island: " <<
                        // getSTLContainerAsString(vec_of_islands.back()) <<
                        // endl;
                        // cout << "mainland: " <<
                        // getSTLContainerAsString(mainland) << endl;
                        this->connectGraphPartitions(
                            sub_graph, vec_of_islands.back(), mainland);
                    }
                }
            }
        }

        // estimate the node positions according to the edges - root is (0, 0,
        // 0)
        // just execute dijkstra once for grabbing the updated node positions.
        sub_graph->dijkstra_nodes_estimate();

    }  // end of extractSubGraph

    /**\brief Integrate given graph into own graph using the list of provided
     * common THypotheses. Nodes of the other graph are renumbered upon
     * integration in own graph.
     *
     * \param[in] other Graph (of the same type) that is to be integrated with
     * own graph.
     * \param[in] Hypotheses that join own and other graph.
     * \param[in] hypots_from_other_to_self Specify the direction of the
     * THypothesis objects in the common_hypots. If true (default) they are
     * directed from other to own graph (other \rightarrow own),
     *
     * \param[out] old_to_new_nodeID_mappings_out Map from the old nodeIDs
     * that are in the given graph to the new nodeIDs that have been inserted
     * (by this method) in own graph.
     */
    inline void mergeGraph(
        const self_t& other,
        const typename std::vector<detail::THypothesis<self_t>>& common_hypots,
        const bool hypots_from_other_to_self = true,
        std::map<TNodeID, TNodeID>* old_to_new_nodeID_mappings_out = nullptr)
    {
        MRPT_START;
        using namespace mrpt::graphs;
        using namespace mrpt::graphs::detail;
        using namespace std;

        using hypots_cit_t =
            typename vector<THypothesis<self_t>>::const_iterator;
        using nodes_cit_t = typename global_poses_t::const_iterator;

        const self_t& graph_from = (hypots_from_other_to_self ? other : *this);
        const self_t& graph_to = (hypots_from_other_to_self ? *this : other);

        // assert that both own and other graph have at least two nodes.
        ASSERT_(graph_from.nodes.size() >= 2);
        ASSERT_(graph_to.nodes.size() >= 2);

        // Assert that from-nodeIds, to-nodeIDs in common_hypots exist in own
        // and other graph respectively
        for (hypots_cit_t h_cit = common_hypots.begin();
             h_cit != common_hypots.end(); ++h_cit)
        {
            ASSERTMSG_(
                graph_from.nodes.find(h_cit->from) != graph_from.nodes.end(),
                format("NodeID %lu is not found in (from) graph", h_cit->from));
            ASSERTMSG_(
                graph_to.nodes.find(h_cit->to) != graph_to.nodes.end(),
                format("NodeID %lu is not found in (to) graph", h_cit->to));
        }

        // find the max nodeID in existing graph
        TNodeID max_nodeID = 0;
        for (nodes_cit_t n_cit = this->nodes.begin();
             n_cit != this->nodes.end(); ++n_cit)
        {
            if (n_cit->first > max_nodeID)
            {
                max_nodeID = n_cit->first;
            }
        }
        TNodeID renum_start = max_nodeID + 1;
        size_t renum_counter = 0;
        // cout << "renum_start: " << renum_start << endl;

        // Renumber nodeIDs of other graph so that they don't overlap with own
        // graph nodeIDs
        std::map<TNodeID, TNodeID>* old_to_new_nodeID_mappings;

        // map of TNodeID->TNodeID correspondences to address to if the
        // old_to_new_nodeID_mappings_out is not given.
        // Handy for not having to allocate old_to_new_nodeID_mappings in the
        // heap
        std::map<TNodeID, TNodeID> mappings_tmp;

        // If given, use the old_to_new_nodeID_mappings map.
        if (old_to_new_nodeID_mappings_out)
        {
            old_to_new_nodeID_mappings = old_to_new_nodeID_mappings_out;
        }
        else
        {
            old_to_new_nodeID_mappings = &mappings_tmp;
        }
        old_to_new_nodeID_mappings->clear();

        // add all nodes of other graph - Take care of renumbering them
        // cout << "Adding nodes of other graph" << endl;
        // cout << "====================" << endl;
        for (nodes_cit_t n_cit = other.nodes.begin();
             n_cit != other.nodes.end(); ++n_cit)
        {
            TNodeID new_nodeID = renum_start + renum_counter++;
            old_to_new_nodeID_mappings->insert(
                make_pair(n_cit->first, new_nodeID));
            this->nodes.insert(make_pair(new_nodeID, n_cit->second));

            // cout << "Adding nodeID: " << new_nodeID << endl;
        }

        // add common constraints
        // cout << "Adding common constraints" << endl;
        // cout << "====================" << endl;
        for (hypots_cit_t h_cit = common_hypots.begin();
             h_cit != common_hypots.end(); ++h_cit)
        {
            TNodeID from, to;
            if (hypots_from_other_to_self)
            {
                from = old_to_new_nodeID_mappings->at(h_cit->from);
                to = h_cit->to;
            }
            else
            {
                from = h_cit->from;
                to = old_to_new_nodeID_mappings->at(h_cit->to);
            }
            this->insertEdge(from, to, h_cit->getEdge());
            // cout << from << " -> " << to << " => " << h_cit->getEdge() <<
            // endl;
        }

        // add all constraints of the other graph
        // cout << "Adding constraints of other graph" << endl;
        // cout << "====================" << endl;
        for (typename self_t::const_iterator g_cit = other.begin();
             g_cit != other.end(); ++g_cit)
        {
            TNodeID new_from =
                old_to_new_nodeID_mappings->at(g_cit->first.first);
            TNodeID new_to =
                old_to_new_nodeID_mappings->at(g_cit->first.second);
            this->insertEdge(new_from, new_to, g_cit->second);

            // cout << "[" << new_from << "] -> [" << new_to << "]" << " => " <<
            // g_cit->second << endl;
        }

        // run Dijkstra to update the node positions
        this->dijkstra_nodes_estimate();

        MRPT_END;
    }

    /**\brief Add an edge between the last node of the group with the lower
     * nodeIDs and the first node of the higher nodeIDs.
     *
     * Given groups of nodes should only contain consecutive nodeIDs and
     * there should be no overlapping between them
     *
     * \note It is assumed that the sets of nodes are \b already in ascending
     * order (default std::set behavior.
     */
    inline static void connectGraphPartitions(
        self_t* sub_graph, const std::set<TNodeID>& groupA,
        const std::set<TNodeID>& groupB)
    {
        using namespace mrpt::math;

        ASSERTMSG_(
            sub_graph,
            "\nInvalid pointer to a CNetworkOfPoses instance is given. "
            "Exiting..\n");
        ASSERTMSG_(!groupA.empty(), "\ngroupA is empty.");
        ASSERTMSG_(!groupB.empty(), "\ngroupB is empty.");

        // assertion - non-overlapping groups
        ASSERTMSG_(
            *groupA.rend() < *groupB.rbegin() ||
                *groupA.rbegin() > *groupB.rend(),
            "Groups A, B contain overlapping nodeIDs");

        // decide what group contains the low/high nodeIDs
        // just compare any two nodes of the sets (they are non-overlapping
        const std::set<TNodeID>& low_nodeIDs =
            *groupA.rbegin() < *groupB.rbegin() ? groupA : groupB;
        const std::set<TNodeID>& high_nodeIDs =
            *groupA.rbegin() > *groupB.rbegin() ? groupA : groupB;

        // add virtual edge
        const TNodeID& from_nodeID = *low_nodeIDs.rbegin();
        const TNodeID& to_nodeID = *high_nodeIDs.begin();
        self_t::addVirtualEdge(sub_graph, from_nodeID, to_nodeID);
    }

    /** Computes the square error of one pose constraints (edge) with respect
     * to the global poses in \a nodes If \a ignoreCovariances is false, the
     * squared Mahalanobis distance will be computed instead of the straight
     * square error.
     *
     * \exception std::exception On global poses not in \a nodes
     */
    inline double getEdgeSquareError(
        const typename BASE::edges_map_t::const_iterator& itEdge,
        bool ignoreCovariances = true) const
    {
        return detail::graph_ops<self_t>::graph_edge_sqerror(
            this, itEdge, ignoreCovariances);
    }

    /** Computes the square error of one pose constraints (edge) with respect
     * to the global poses in \a nodes If \a ignoreCovariances is false, the
     * squared Mahalanobis distance will be computed instead of the straight
     * square error.
     *
     * \exception std::exception On edge not existing or global poses not in
     * \a nodes
     */
    double getEdgeSquareError(
        const mrpt::graphs::TNodeID from_id, const mrpt::graphs::TNodeID to_id,
        bool ignoreCovariances = true) const
    {
        const typename BASE::edges_map_t::const_iterator itEdge =
            BASE::edges.find(std::make_pair(from_id, to_id));
        ASSERTMSG_(
            itEdge != BASE::edges.end(),
            format(
                "Request for edge %u->%u that doesn't exist in graph.",
                static_cast<unsigned int>(from_id),
                static_cast<unsigned int>(to_id)));
        return getEdgeSquareError(itEdge, ignoreCovariances);
    }

    /** Empty all edges, nodes and set root to ID 0. */
    inline void clear()
    {
        BASE::edges.clear();
        nodes.clear();
        root = 0;
        edges_store_inverse_poses = false;
    }

    /** Return number of nodes in the list \a nodes of global coordinates
     * (may be different that all nodes appearing in edges)
     *
     * \sa mrpt::graphs::CDirectedGraph::countDifferentNodesInEdges
     */
    inline size_t nodeCount() const { return nodes.size(); }
    /**  @} */

   private:
    /**\brief Add a virtual edge between two nodes in the given graph.
     *
     * Edge is called virtual as its value will be determined solely on the
     * pose difference of the given nodeIDs
     */
    inline static void addVirtualEdge(
        self_t* graph, const TNodeID& from, const TNodeID& to)
    {
        ASSERTMSG_(
            graph, "Invalid pointer to the graph instance was provided.");

        typename self_t::global_pose_t& p_from = graph->nodes.at(from);
        typename self_t::global_pose_t& p_to = graph->nodes.at(to);
        const typename BASE::edge_t& virt_edge(p_to - p_from);

        graph->insertEdge(from, to, virt_edge);
    }
};

/** Binary serialization (write) operator "stream << graph" */
template <
    class CPOSE, class MAPS_IMPLEMENTATION, class NODE_ANNOTATIONS,
    class EDGE_ANNOTATIONS>
mrpt::serialization::CArchive& operator<<(
    mrpt::serialization::CArchive& out,
    const CNetworkOfPoses<
        CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS>& obj)
{
    using graph_t = CNetworkOfPoses<
        CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS>;
    detail::graph_ops<graph_t>::save_graph_of_poses_to_binary_file(&obj, out);
    return out;
}

/** Binary serialization (read) operator "stream >> graph" */
template <
    class CPOSE, class MAPS_IMPLEMENTATION, class NODE_ANNOTATIONS,
    class EDGE_ANNOTATIONS>
mrpt::serialization::CArchive& operator>>(
    mrpt::serialization::CArchive& in,
    CNetworkOfPoses<
        CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS>& obj)
{
    using graph_t = CNetworkOfPoses<
        CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS>;
    detail::graph_ops<graph_t>::read_graph_of_poses_from_binary_file(&obj, in);
    return in;
}

/** \addtogroup mrpt_graphs_grp
 * \name Handy typedefs for CNetworkOfPoses commonly used types
 @{ */

/** The specialization of CNetworkOfPoses for poses of type CPose2D (not a
 * PDF!), also implementing serialization. */
using CNetworkOfPoses2D = CNetworkOfPoses<mrpt::poses::CPose2D>;
/** The specialization of CNetworkOfPoses for poses of type mrpt::poses::CPose3D
 * (not a PDF!), also implementing serialization. */
using CNetworkOfPoses3D = CNetworkOfPoses<mrpt::poses::CPose3D>;
/** The specialization of CNetworkOfPoses for poses of type CPosePDFGaussian,
 * also implementing serialization. */
using CNetworkOfPoses2DCov = CNetworkOfPoses<mrpt::poses::CPosePDFGaussian>;
/** The specialization of CNetworkOfPoses for poses of type CPose3DPDFGaussian,
 * also implementing serialization. */
using CNetworkOfPoses3DCov = CNetworkOfPoses<mrpt::poses::CPose3DPDFGaussian>;
/** The specialization of CNetworkOfPoses for poses of type CPosePDFGaussianInf,
 * also implementing serialization. */
using CNetworkOfPoses2DInf = CNetworkOfPoses<mrpt::poses::CPosePDFGaussianInf>;
/** The specialization of CNetworkOfPoses for poses of type
 * CPose3DPDFGaussianInf, also implementing serialization. */
using CNetworkOfPoses3DInf =
    CNetworkOfPoses<mrpt::poses::CPose3DPDFGaussianInf>;

/**\brief Specializations of CNetworkOfPoses for graphs whose nodes inherit from
 * TMRSlamNodeAnnotations struct */
/**\{ */
using CNetworkOfPoses2DInf_NA = CNetworkOfPoses<
    mrpt::poses::CPosePDFGaussianInf, mrpt::containers::map_traits_stdmap,
    mrpt::graphs::detail::TMRSlamNodeAnnotations>;
using CNetworkOfPoses3DInf_NA = CNetworkOfPoses<
    mrpt::poses::CPose3DPDFGaussianInf, mrpt::containers::map_traits_stdmap,
    mrpt::graphs::detail::TMRSlamNodeAnnotations>;
/**\} */

/** @} */  // end of grouping

}  // namespace graphs

// Specialization of TTypeName must occur in the same namespace:
// These ones are here instead of into mrpt-containers, to avoid
// the dependency mrpt-containers -> mrpt-typemeta
namespace typemeta
{
MRPT_DECLARE_TTYPENAME(mrpt::containers::map_traits_stdmap)
MRPT_DECLARE_TTYPENAME(mrpt::containers::map_traits_map_as_vector)
}  // namespace typemeta

}  // namespace mrpt

// Implementation of templates (in a separate file for clarity)
#include "CNetworkOfPoses_impl.h"

// Visualization related template classes
#include <mrpt/graphs/CMRVisualizer.h>
#include <mrpt/graphs/CVisualizer.h>