/*
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.

Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
    * Redistributions of source code must retain the above copyright
      notice, this list of conditions and the following disclaimer.
    * Redistributions in binary form must reproduce the above copyright
      notice, this list of conditions and the following disclaimer in the
      documentation and/or other materials provided with the distribution.
    * Neither the name of the Universite de Sherbrooke nor the
      names of its contributors may be used to endorse or promote products
      derived from this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/

#ifndef MEMORY_H_
#define MEMORY_H_

#include "rtabmap/core/rtabmap_core_export.h" // DLL export/import defines

#include "rtabmap/utilite/UEventsHandler.h"
#include "rtabmap/core/Parameters.h"
#include "rtabmap/core/SensorData.h"
#include "rtabmap/core/Link.h"
#include "rtabmap/core/Features2d.h"
#include <typeinfo>
#include <list>
#include <map>
#include <set>
#include "rtabmap/utilite/UStl.h"
#include <opencv2/core/core.hpp>
#include <opencv2/features2d/features2d.hpp>
#include <pcl/pcl_config.h>

namespace rtabmap {

class Signature;
class DBDriver;
class VWDictionary;
class VisualWord;
class Feature2D;
class Statistics;
class Registration;
class RegistrationInfo;
class RegistrationIcp;
class RegistrationVis;
class Stereo;
class LocalGridMaker;
class MarkerDetector;
class GlobalDescriptorExtractor;

class RTABMAP_CORE_EXPORT Memory
{
public:
	static const int kIdStart;
	static const int kIdVirtual;
	static const int kIdInvalid;

public:
	Memory(const ParametersMap & parameters = ParametersMap());
	virtual ~Memory();

	virtual void parseParameters(const ParametersMap & parameters);
	virtual const ParametersMap & getParameters() const {return parameters_;}
	bool update(const SensorData & data,
			Statistics * stats = 0);
	bool update(const SensorData & data,
			const Transform & pose,
			const cv::Mat & covariance,
			const std::vector<float> & velocity = std::vector<float>(), // vx,vy,vz,vroll,vpitch,vyaw
			Statistics * stats = 0);
	bool init(const std::string & dbUrl,
			bool dbOverwritten = false,
			const ParametersMap & parameters = ParametersMap(),
			bool postInitClosingEvents = false);
	void close(bool databaseSaved = true, bool postInitClosingEvents = false, const std::string & ouputDatabasePath = "");
	std::map<int, float> computeLikelihood(const Signature * signature,
			const std::list<int> & ids);
	int incrementMapId(std::map<int, int> * reducedIds = 0);
	void updateAge(int signatureId);

	std::list<int> forget(const std::set<int> & ignoredIds = std::set<int>());
	std::set<int> reactivateSignatures(const std::list<int> & ids, unsigned int maxLoaded, double & timeDbAccess);

	int cleanup();
	void saveStatistics(const Statistics & statistics, bool saveWMState);
	void savePreviewImage(const cv::Mat & image) const;
	cv::Mat loadPreviewImage() const;
	void saveOptimizedPoses(const std::map<int, Transform> & optimizedPoses, const Transform & lastlocalizationPose) const;
	std::map<int, Transform> loadOptimizedPoses(Transform * lastlocalizationPose) const;
	void save2DMap(const cv::Mat & map, float xMin, float yMin, float cellSize) const;
	cv::Mat load2DMap(float & xMin, float & yMin, float & cellSize) const;
	void saveOptimizedMesh(
			const cv::Mat & cloud,
			const std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > > & polygons = std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > >(),      // Textures -> polygons -> vertices
#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
			const std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > & texCoords = std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > >(), // Textures -> uv coords for each vertex of the polygons
#else
			const std::vector<std::vector<Eigen::Vector2f> > & texCoords = std::vector<std::vector<Eigen::Vector2f> >(), // Textures -> uv coords for each vertex of the polygons
#endif
			const cv::Mat & textures = cv::Mat()) const; // concatenated textures (assuming square textures with all same size)
	cv::Mat loadOptimizedMesh(
			std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > > * polygons = 0,
#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
			std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > * texCoords = 0,
#else
			std::vector<std::vector<Eigen::Vector2f> > * texCoords = 0,
#endif
			cv::Mat * textures = 0) const;
	void emptyTrash();
	void joinTrashThread();
	bool addLink(const Link & link, bool addInDatabase = false);
	void updateLink(const Link & link, bool updateInDatabase = false);
	void removeAllVirtualLinks();
	void removeVirtualLinks(int signatureId);
	std::map<int, int> getNeighborsId(
			int signatureId,
			int maxGraphDepth,
			int maxCheckedInDatabase = -1,
			bool incrementMarginOnLoop = false,
			bool ignoreLoopIds = false,
			bool ignoreIntermediateNodes = false,
			bool ignoreLocalSpaceLoopIds = false,
			const std::set<int> & nodesSet = std::set<int>(),
			double * dbAccessTime = 0) const;
	std::map<int, float> getNeighborsIdRadius(
			int signatureId,
			float radius,
			const std::map<int, Transform> & optimizedPoses,
			int maxGraphDepth) const;
	void convertToIntermediate(int locationId);
	void deleteLocation(int locationId, std::list<int> * deletedWords = 0);
	void saveLocationData(int locationId);
	void removeLink(int idA, int idB);
	void removeRawData(int id, bool image = true, bool scan = true, bool userData = true, bool occupancyGrid = true);
	int reduceNode(int id, float maxDistance = 0.0f, bool keepLinkedInDb = false, int direction = 0);

	//getters
	const std::map<int, double> & getWorkingMem() const {return _workingMem;}
	const std::set<int> & getStMem() const {return _stMem;}
	int getMaxStMemSize() const {return _maxStMemSize;}
	std::multimap<int, Link> getNeighborLinks(int signatureId,
			bool lookInDatabase = false) const;
	std::multimap<int, Link> getLoopClosureLinks(int signatureId,
			bool lookInDatabase = false) const;
	std::multimap<int, Link> getLinks(int signatureId, // can be also used to get links from landmarks
			bool lookInDatabase = false,
			bool withLandmarks = false) const;
	std::multimap<int, Link> getAllLinks(bool lookInDatabase, bool ignoreNullLinks = true, bool withLandmarks = false) const;
	bool isBinDataKept() const {return _binDataKept;}
	float getSimilarityThreshold() const {return _similarityThreshold;}
	std::map<int, int> getWeights() const;
	int getLastSignatureId() const;
	const Signature * getLastWorkingSignature(bool ignoreIntermediateNodes) const;
	std::map<int, Link> getNodesObservingLandmark(int landmarkId, bool lookInDatabase) const;
	int getSignatureIdByLabel(const std::string & label, bool lookInDatabase = true) const;
	bool labelSignature(int id, const std::string & label);
	const std::map<int, std::string> & getAllLabels() const {return _labels;}
	const std::map<int, std::set<int> > & getLandmarksIndex() const {return _landmarksIndex;}
	bool allNodesInWM() const {return _allNodesInWM;}

	/**
	 * Set user data. Detect automatically if raw or compressed. If raw, the data is
	 * compressed too. A matrix of type CV_8UC1 with 1 row is considered as compressed.
	 * If you have one dimension unsigned 8 bits raw data, make sure to transpose it
	 * (to have multiple rows instead of multiple columns) in order to be detected as
	 * not compressed.
	 */
	bool setUserData(int id, const cv::Mat & data);
	int getDatabaseMemoryUsed() const; // in bytes
	std::string getDatabaseVersion() const;
	std::string getDatabaseUrl() const;
	// Record changes made to the database until it is closed, then write a compact delta
	// to outputUrl (empty disables). Returns true if recording started. See DBDriver.
	bool trackDatabaseChanges(const std::string & outputUrl);
	double getDbSavingTime() const;
	int getMapId(int id, bool lookInDatabase = false) const;
	Transform getOdomPose(int signatureId, bool lookInDatabase = false) const;
	Transform getGroundTruthPose(int signatureId, bool lookInDatabase = false) const;
	const std::map<int, Transform> & getGroundTruths() const {return _groundTruths;} // only those in working+STM memory
	void getGPS(int id, GPS & gps, Transform & offsetENU, bool lookInDatabase, int maxGraphDepth = 0) const;
	bool getNodeInfo(int signatureId,
			Transform & odomPose,
			int & mapId,
			int & weight,
			std::string & label,
			double & stamp,
			Transform & groundTruth,
			std::vector<float> & velocity,
			GPS & gps,
			EnvSensors & sensors,
			bool lookInDatabase = false) const;
	cv::Mat getImageCompressed(int signatureId) const;
	SensorData getNodeData(int locationId, bool images, bool scan, bool userData, bool occupancyGrid) const;
	void getNodeWordsAndGlobalDescriptors(int nodeId,
			std::multimap<int, int> & words,
			std::vector<cv::KeyPoint> & wordsKpts,
			std::vector<cv::Point3f> & words3,
			cv::Mat & wordsDescriptors,
			std::vector<GlobalDescriptor> & globalDescriptors) const;
	void getNodeCalibration(int nodeId,
			std::vector<CameraModel> & models,
			std::vector<StereoCameraModel> & stereoModels) const;
	std::set<int> getAllSignatureIds(bool ignoreChildren = true) const;
	bool memoryChanged() const {return _memoryChanged;}
	bool isIncremental() const {return _incrementalMemory;}
	bool isReadOnly() const {return !_incrementalMemory && _localizationReadOnly;}
	bool isLocalizationDataSaved() const {return _localizationDataSaved;}
	const Signature * getSignature(int id) const;
	bool isInSTM(int signatureId) const {return _stMem.find(signatureId) != _stMem.end();}
	bool isInWM(int signatureId) const {return _workingMem.find(signatureId) != _workingMem.end();}
	bool isInLTM(int signatureId) const {return !this->isInSTM(signatureId) && !this->isInWM(signatureId);}
	bool isIDsGenerated() const {return _generateIds;}
	int getLastGlobalLoopClosureId() const {return _lastGlobalLoopClosureId;}
	const Feature2D * getFeature2D() const {return _feature2D;}
	bool isGraphReduced() const {return _reduceGraph;}
	const std::vector<double> & getOdomMaxInf() const {return _odomMaxInf;}
	bool isOdomGravityUsed() const {return _useOdometryGravity;}

	void dumpMemoryTree(const char * fileNameTree) const;
	virtual void dumpMemory(std::string directory) const;
	virtual void dumpSignatures(const char * fileNameSign, bool words3D) const;
	void dumpDictionary(const char * fileNameRef, const char * fileNameDesc) const;
	unsigned long getMemoryUsed() const; //Bytes

	void generateGraph(const std::string & fileName, const std::set<int> & ids = std::set<int>());
	int cleanupLocalGrids(
			const std::map<int, Transform> & poses,
			const cv::Mat & map,
			float xMin,
			float yMin,
			float cellSize,
			int cropRadius = 1,
			bool filterScans = false);

	//keypoint stuff
	const VWDictionary * getVWDictionary() const;

	// RGB-D stuff
	void getMetricConstraints(
			const std::set<int> & ids,
			std::map<int, Transform> & poses,
			std::multimap<int, Link> & links,
			bool lookInDatabase = false,
			bool landmarksAdded = false);

	Transform computeTransform(Signature & fromS, Signature & toS, Transform guess, RegistrationInfo * info = 0, bool useKnownCorrespondencesIfPossible = false) const;
	Transform computeTransform(int fromId, int toId, Transform guess, RegistrationInfo * info = 0, bool useKnownCorrespondencesIfPossible = false);
	Transform computeIcpTransform(const Signature & fromS, const Signature & toS, Transform guess, RegistrationInfo * info = 0) const;
	Transform computeIcpTransformMulti(
			int newId,
			int oldId,
			const std::map<int, Transform> & poses,
			RegistrationInfo * info = 0);

private:
	void preUpdate();
	void addSignatureToStm(Signature * signature, const cv::Mat & covariance);
	void clear();
	void loadDataFromDb(bool postInitClosingEvents);
	void saveFlannIndex(bool postInitClosingEvents);
	void moveToTrash(Signature * s, bool keepLinkedToGraph = true, std::list<int> * deletedWords = 0);

	void moveSignatureToWMFromSTM(int id, int * reducedTo = 0);
	void addSignatureToWmFromLTM(Signature * signature);
	Signature * _getSignature(int id) const;
	std::list<Signature *> getRemovableSignatures(int count,
			const std::set<int> & ignoredIds = std::set<int>());
	int getNextId();
	void initCountId();
	void rehearsal(Signature * signature, Statistics * stats = 0);
	bool rehearsalMerge(int oldId, int newId);
	bool canBeReduced(const Link & link, float maxDistance, int direction);

	const std::map<int, Signature*> & getSignatures() const {return _signatures;}

	void copyData(const Signature * from, Signature * to);
	Signature * createSignature(
			const SensorData & data,
			const Transform & pose,
			Statistics * stats = 0);

	//keypoint stuff
	void disableWordsRef(int signatureId);
	void enableWordsRef(const std::list<int> & signatureIds);
	void cleanUnusedWords();
	int getNi(int signatureId) const;

protected:
	DBDriver * _dbDriver;

private:
	// parameters
	ParametersMap parameters_;
	float _similarityThreshold;
	bool _binDataKept;
	bool _rawDescriptorsKept;
	bool _loadVisualLocalFeaturesOnInit;
	bool _saveDepth16Format;
	bool _notLinkedNodesKeptInDb;
	bool _saveIntermediateNodeData;
	std::string _rgbCompressionFormat;
	std::string _depthCompressionFormat;
	bool _incrementalMemory;
	bool _localizationReadOnly;
	bool _localizationDataSaved;
	bool _flannIndexSaved;
	bool _reduceGraph;
	int _maxStMemSize;
	float _recentWmRatio;
	bool _transferSortingByWeightId;
	bool _idUpdatedToNewOneRehearsal;
	bool _generateIds;
	bool _badSignaturesIgnored;
	bool _mapLabelsAdded;
	bool _depthAsMask;
	float _maskFloorThreshold;
	bool _stereoFromMotion;
	unsigned int _imagePreDecimation;
	unsigned int _imagePostDecimation;
	bool _compressionParallelized;
	float _laserScanDownsampleStepSize;
	float _laserScanVoxelSize;
	int _laserScanNormalK;
	float _laserScanNormalRadius;
	float _laserScanGroundNormalsUp;
	bool _reextractLoopClosureFeatures;
	bool _localBundleOnLoopClosure;
	bool _invertedReg;
	float _rehearsalMaxDistance;
	float _rehearsalMaxAngle;
	bool _rehearsalWeightIgnoredWhileMoving;
	bool _useOdometryFeatures;
	bool _useOdometryGravity;
	bool _rotateImagesUpsideUp;
	bool _createOccupancyGrid;
	int _visMaxFeatures;
	bool _visSSC;
	bool _imagesAlreadyRectified;
	bool _rectifyOnlyFeatures;
	bool _covOffDiagonalIgnored;
	bool _detectMarkers;
	float _markerLinVariance;
	float _markerAngVariance;
	bool _markerOrientationIgnored;

	int _idCount;
	int _idMapCount;
	Signature * _lastSignature;
	int _lastGlobalLoopClosureId;
	bool _memoryChanged; // False by default, become true only when Memory::update() is called.
	bool _linksChanged; // False by default, become true when links are modified.
	int _signaturesAdded;
	bool _allNodesInWM;
	bool _receivingOdometryFeatures;
	GPS _gpsOrigin;
	std::vector<CameraModel> _rectCameraModels;
	std::vector<StereoCameraModel> _rectStereoCameraModels;
	std::vector<double> _odomMaxInf;

	std::map<int, Signature *> _signatures; // TODO : check if a signature is already added? although it is not supposed to occur...
	std::set<int> _stMem; // id
	std::map<int, double> _workingMem; // id,age
	std::map<int, Transform> _groundTruths;
	std::map<int, std::string> _labels;
	std::map<int, std::set<int> > _landmarksIndex; // < -landmarkId, nodeIds >
    std::map<int, float> _landmarksSize;           // +landmarkId

	//Keypoint stuff
	VWDictionary * _vwd;
	Feature2D * _feature2D;
	float _badSignRatio;
	bool _tfIdfLikelihoodUsed;
	bool _parallelized;

	Registration * _registrationPipeline;
	RegistrationIcp * _registrationIcpMulti;
	RegistrationVis * _registrationVis;

	LocalGridMaker * _localMapMaker;

	MarkerDetector * _markerDetector;

	GlobalDescriptorExtractor * _globalDescriptorExtractor;
};

} // namespace rtabmap

#endif /* MEMORY_H_ */
