CGraphSlamHandler_impl.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 CGRAPHSLAMHANDLER_IMPL_H
#define CGRAPHSLAMHANDLER_IMPL_H
 
// Implementation file for CGraphSlamHandler class
#include "CGraphSlamHandler.h"
#include <mrpt/io/CFileGZInputStream.h>
#include <mrpt/serialization/CArchive.h>
#include <mrpt/obs/CRawlog.h>
 
template <class GRAPH_T>
CGraphSlamHandler<GRAPH_T>::CGraphSlamHandler(
        mrpt::system::COutputLogger* logger,
        mrpt::graphslam::apps::TUserOptionsChecker<GRAPH_T>* options_checker,
        const bool enable_visuals /*=true*/)
        : m_logger(logger),
          m_options_checker(options_checker),
          m_do_save_results(true),
          m_has_set_fnames(false),
          m_enable_visuals(enable_visuals)
{
        using namespace mrpt::system;
        ASSERTDEB_(m_logger);
        ASSERTDEB_(m_options_checker);
 
        m_engine = NULL;
        m_win_manager = NULL;
        m_win_observer = NULL;
        m_win = NULL;
        if (m_enable_visuals)
        {
                this->initVisualization();
        }
}
 
//////////////////////////////////////////////////////////////////////////////
 
//////////////////////////////////////////////////////////////////////////////
template <class GRAPH_T>
CGraphSlamHandler<GRAPH_T>::~CGraphSlamHandler()
{
        m_logger->logFmt(mrpt::system::LVL_WARN, "graphslam-engine has finished.");
 
        // keep the window open until user closes it.
        if (m_win)
        {
                m_logger->logFmt(
                        mrpt::system::LVL_WARN,
                        "Application will exit when the display window is closed.");
                bool break_exec = false;
                while (m_win->isOpen() && break_exec == false)
                {
                        break_exec = !this->queryObserverForEvents();
                        std::this_thread::sleep_for(100ms);
                        m_win->forceRepaint();
                }
        }
 
        if (m_do_save_results)
        {
                this->initOutputDir(m_output_dir_fname);
                if (m_engine)
                {
                        this->saveResults(m_output_dir_fname);
                }
        }
 
        if (m_engine)
        {
                delete m_engine;
        }
 
        if (m_enable_visuals)
        {
                if (m_win)
                {
                        m_logger->logFmt(
                                mrpt::system::LVL_DEBUG,
                                "Releasing CDisplayWindow3D instance...");
                        delete m_win;
                }
 
                if (m_win_observer)
                {
                        m_logger->logFmt(
                                mrpt::system::LVL_DEBUG,
                                "Releasing CWindowObserver instance...");
                        delete m_win_observer;
                }
 
                if (m_win_manager)
                {
                        m_logger->logFmt(
                                mrpt::system::LVL_DEBUG,
                                "Releasing CWindowManager instance...");
                        delete m_win_manager;
                }
        }
        m_logger->logFmt(mrpt::system::LVL_INFO, "Exited.");
}
 
template <class GRAPH_T>
void CGraphSlamHandler<GRAPH_T>::initOutputDir(
        const std::string& output_dir_fname /* = graphslam_results */)
{
        MRPT_START;
        using namespace std;
        using namespace mrpt::system;
        using namespace mrpt;
 
        m_logger->logFmt(
                mrpt::system::LVL_INFO, "Setting up output directory: %s",
                output_dir_fname.c_str());
 
        // current time vars - handy in the rest of the function.
        mrpt::system::TTimeStamp cur_date(getCurrentTime());
        string cur_date_str(timeToString(cur_date));
        string cur_date_validstr(fileNameStripInvalidChars(cur_date_str));
 
        // Determine what to do with existing results if previous output directory
        // exists
        if (directoryExists(output_dir_fname))
        {
                int answer_int;
                if (m_user_decides_about_output_dir)
                {
                        stringstream question;
                        string answer;
 
                        question << "Directory exists. Choose between the "
                                         << "following options" << std::endl;
                        question << "\t 1: Rename current folder and start new "
                                         << "output directory (default)" << std::endl;
                        question << "\t 2: Remove existing contents and continue execution "
                                         << std::endl;
                        question << "\t 3: Handle potential conflict manually "
                                                "(Halts program execution)"
                                         << std::endl;
                        question << "\t [ 1 | 2 | 3 ] --> ";
                        std::cout << question.str();
 
                        getline(cin, answer);
                        answer = mrpt::system::trim(answer);
                        answer_int = atoi(&answer[0]);
                }
                else
                {
                        answer_int = 2;
                }
 
                switch (answer_int)
                {
                        case 2:
                        {
                                m_logger->logFmt(
                                        mrpt::system::LVL_INFO, "Deleting existing files...");
                                // purge directory
                                deleteFilesInDirectory(
                                        output_dir_fname,
                                        /*deleteDirectoryAsWell = */ false);
                                break;
                        }
                        case 3:
                        {
                                // I don't need to exit gracefully here..
                                exit(0);
                        }
                        case 1:
                        default:
                        {
                                // rename the whole directory to DATE_TIME_${OUTPUT_DIR_NAME}
                                string dst_fname = output_dir_fname + cur_date_validstr;
                                m_logger->logFmt(
                                        mrpt::system::LVL_INFO, "Renaming directory to: %s",
                                        dst_fname.c_str());
                                string error_msg;
                                bool did_rename =
                                        renameFile(output_dir_fname, dst_fname, &error_msg);
                                ASSERTDEBMSG_(
                                        did_rename, format(
                                                                        "\nError while trying to rename the output "
                                                                        "directory: %s",
                                                                        error_msg.c_str()));
                                break;
                        }
                }  // SWITCH (ANSWER_INT)
        }  // IF DIRECTORY EXISTS..
 
        // Now rebuild the directory from scratch
        m_logger->logFmt(
                mrpt::system::LVL_INFO, "Creating the new directory structure...");
        string cur_fname;
 
        // debug_fname
        createDirectory(output_dir_fname);
        m_logger->logFmt(
                mrpt::system::LVL_INFO, "Finished initializing output directory.");
 
        MRPT_END;
}  // end of initOutputDir
 
//////////////////////////////////////////////////////////////////////////////
template <class GRAPH_T>
void CGraphSlamHandler<GRAPH_T>::setFNames(
        const std::string& ini_fname, const std::string& rawlog_fname,
        const std::string& ground_truth_fname /*=std::string()*/)
{
        this->m_ini_fname = ini_fname;
        this->m_rawlog_fname = rawlog_fname;
        this->m_gt_fname = ground_truth_fname;
 
        this->readConfigFname(m_ini_fname);
 
        m_has_set_fnames = true;
}
 
////////////////////////////////////////////////////////////////////////////////
 
template <class GRAPH_T>
void CGraphSlamHandler<GRAPH_T>::readConfigFname(const std::string& fname)
{
        ASSERTDEBMSG_(
                mrpt::system::fileExists(fname),
                mrpt::format("\nConfiguration file not found: \n%s\n", fname.c_str()));
 
        m_logger->logFmt(mrpt::system::LVL_INFO, "Reading the .ini file... ");
 
        mrpt::config::CConfigFile cfg_file(fname);
 
        m_user_decides_about_output_dir = cfg_file.read_bool(
                "GeneralConfiguration", "user_decides_about_output_dir", false, false);
        m_output_dir_fname = cfg_file.read_string(
                "GeneralConfiguration", "output_dir_fname", "graphslam_results", false);
        m_save_graph =
                cfg_file.read_bool("GeneralConfiguration", "save_graph", true, false);
        m_save_3DScene =
                cfg_file.read_bool("GeneralConfiguration", "save_3DScene", true, false);
        m_save_map =
                cfg_file.read_bool("GeneralConfiguration", "save_map", true, false);
        m_save_graph_fname = cfg_file.read_string(
                "GeneralConfiguration", "save_graph_fname", "output_graph.graph",
                false);
        m_save_3DScene_fname = cfg_file.read_string(
                "GeneralConfiguration", "save_3DScene_fname", "scene.3DScene", false);
        m_save_map_fname = cfg_file.read_string(
                "GeneralConfiguration", "save_map_fname", "output_map", false);
}
 
template <class GRAPH_T>
void CGraphSlamHandler<GRAPH_T>::initEngine(
        const std::string& node_reg_str, const std::string& edge_reg_str,
        const std::string& optimizer_str)
{
        using namespace mrpt;
 
        ASSERTDEB_(m_has_set_fnames);
 
        ASSERTDEBMSG_(
                m_options_checker->checkRegistrationDeciderExists(node_reg_str, "node"),
                format(
                        "\nNode Registration Decider %s is not available.\n",
                        node_reg_str.c_str()));
        ASSERTDEBMSG_(
                m_options_checker->checkRegistrationDeciderExists(edge_reg_str, "edge"),
                format(
                        "\nEdge Registration Decider %s is not available.\n",
                        edge_reg_str.c_str()));
        ASSERTDEBMSG_(
                m_options_checker->checkOptimizerExists(optimizer_str),
                format("\nOptimizer %s is not available\n", optimizer_str.c_str()));
 
        m_engine = new mrpt::graphslam::CGraphSlamEngine<GRAPH_T>(
                m_ini_fname, m_rawlog_fname, m_gt_fname, m_win_manager,
                m_options_checker->node_regs_map[node_reg_str](),
                m_options_checker->edge_regs_map[edge_reg_str](),
                m_options_checker->optimizers_map[optimizer_str]());
}
 
//////////////////////////////////////////////////////////////////////////////
 
template <class GRAPH_T>
void CGraphSlamHandler<GRAPH_T>::printParams() const
{
        std::cout << this->getParamsAsString() << std::endl;
        m_engine->printParams();
}
 
//////////////////////////////////////////////////////////////////////////////
template <class GRAPH_T>
void CGraphSlamHandler<GRAPH_T>::getParamsAsString(std::string* str) const
{
        using namespace std;
 
        ASSERTDEB_(str);
 
        stringstream ss_out("");
 
        ss_out << "\n------------[ graphslam-engine_app Parameters ]------------"
                   << std::endl;
 
        // general configuration parameters
        ss_out << "User decides about output dir?  = "
                   << (m_user_decides_about_output_dir ? "TRUE" : "FALSE") << std::endl;
        ss_out << "Output directory                = " << m_output_dir_fname
                   << std::endl;
        ss_out << "Generate .graph file?           = "
                   << (m_save_graph ? "TRUE" : "FALSE") << std::endl;
        ss_out << "Generate .3DScene file?         = "
                   << (m_save_3DScene ? "TRUE" : "FALSE") << std::endl;
        if (m_save_graph)
        {
                ss_out << "Generated .graph filename       = " << m_save_graph_fname
                           << std::endl;
        }
        if (m_save_3DScene)
        {
                ss_out << "Generated .3DScene filename     = " << m_save_3DScene_fname
                           << std::endl;
        }
        ss_out << "Rawlog filename                 = " << m_rawlog_fname
                   << std::endl;
 
        *str = ss_out.str();
}
//////////////////////////////////////////////////////////////////////////////
template <class GRAPH_T>
std::string CGraphSlamHandler<GRAPH_T>::getParamsAsString() const
{
        std::string str;
        this->getParamsAsString(&str);
        return str;
}
 
//////////////////////////////////////////////////////////////////////////////
 
template <class GRAPH_T>
void CGraphSlamHandler<GRAPH_T>::setResultsDirName(const std::string& dirname)
{
        m_output_dir_fname = mrpt::system::fileNameStripInvalidChars(dirname);
        m_logger->logFmt(
                mrpt::system::LVL_WARN, "Overriding .ini Results directory -> %s...",
                m_output_dir_fname.c_str());
}
 
template <class GRAPH_T>
void CGraphSlamHandler<GRAPH_T>::saveResults(
        const std::string& output_dir_fname)
{
        ASSERTDEB_(m_engine);
 
        m_logger->logFmt(mrpt::system::LVL_INFO, "Generating overall report...");
        m_engine->generateReportFiles(output_dir_fname);
        // save the graph and the 3DScene
        if (m_save_graph)
        {
                std::string save_graph_fname =
                        output_dir_fname + "/" + m_save_graph_fname;
                m_engine->saveGraph(&save_graph_fname);
        }
        if (m_enable_visuals && m_save_3DScene)
        {
                std::string save_3DScene_fname =
                        output_dir_fname + "/" + m_save_3DScene_fname;
                m_engine->save3DScene(&save_3DScene_fname);
        }
 
        // get the occupancy map that was built
        if (m_save_map)
        {
                this->saveMap(output_dir_fname + "/" + m_save_map_fname);
        }
 
        m_logger->logFmt(mrpt::system::LVL_INFO, "Generated report.");
}
 
template <class GRAPH_T>
void CGraphSlamHandler<GRAPH_T>::saveMap(const std::string& fname)
{
        mrpt::maps::COccupancyGridMap2D::Ptr map =
                mrpt::make_aligned_shared<mrpt::maps::COccupancyGridMap2D>();
        m_engine->getMap(map);
        // map->saveAsBitmapFile(fname); // doesn't work.
        map->saveMetricMapRepresentationToFile(fname);
}
 
template <class GRAPH_T>
void CGraphSlamHandler<GRAPH_T>::execute()
{
        using namespace mrpt::obs;
        ASSERTDEB_(m_engine);
 
        // Variables initialization
        mrpt::io::CFileGZInputStream rawlog_stream(m_rawlog_fname);
        CActionCollection::Ptr action;
        CSensoryFrame::Ptr observations;
        CObservation::Ptr observation;
        size_t curr_rawlog_entry;
        auto arch = mrpt::serialization::archiveFrom(rawlog_stream);
 
        // Read the dataset and pass the measurements to CGraphSlamEngine
        bool cont_exec = true;
        while (CRawlog::getActionObservationPairOrObservation(
                           arch, action, observations, observation, curr_rawlog_entry) &&
                   cont_exec)
        {
                // actual call to the graphSLAM execution method
                // Exit if user pressed C-c
                cont_exec = m_engine->_execGraphSlamStep(
                        action, observations, observation, curr_rawlog_entry);
        }
        m_logger->logFmt(mrpt::system::LVL_WARN, "Finished graphslam execution.");
}
 
//////////////////////////////////////////////////////////////////////////////
template <class GRAPH_T>
void CGraphSlamHandler<GRAPH_T>::initVisualization()
{
        using namespace mrpt::opengl;
        using namespace mrpt::gui;
        using namespace mrpt::graphslam;
 
        m_win_observer = new CWindowObserver();
        m_win = new CDisplayWindow3D("GraphSlam building procedure", 800, 600);
        m_win->setPos(400, 200);
        m_win_observer->observeBegin(*m_win);
        {
                COpenGLScene::Ptr& scene = m_win->get3DSceneAndLock();
                COpenGLViewport::Ptr main_view = scene->getViewport("main");
                m_win_observer->observeBegin(*main_view);
                m_win->unlockAccess3DScene();
        }
 
        m_logger->logFmt(
                mrpt::system::LVL_DEBUG, "Initialized CDisplayWindow3D...");
        m_logger->logFmt(
                mrpt::system::LVL_DEBUG, "Listening to CDisplayWindow3D events...");
 
        // pass the window and the observer pointers to the CWindowManager instance
        m_win_manager = new mrpt::graphslam::CWindowManager();
        m_win_manager->setCDisplayWindow3DPtr(m_win);
        m_win_manager->setWindowObserverPtr(m_win_observer);
}
 
//////////////////////////////////////////////////////////////////////////////
template <class GRAPH_T>
bool CGraphSlamHandler<GRAPH_T>::queryObserverForEvents()
{
        std::map<std::string, bool> events_occurred;
        m_win_observer->returnEventsStruct(
                &events_occurred,
                /* reset_keypresses = */ false);
        bool request_to_exit = events_occurred.find("Ctrl+c")->second;
 
        return !request_to_exit;
}
 
#endif /* end of include guard: CGRAPHSLAMHANDLER_IMPL_H */