/*
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.
*/

#include <tango-gl/conversions.h>

#include "RTABMapApp.h"

#include <rtabmap/core/Rtabmap.h>
#include <rtabmap/core/util3d.h>
#include <rtabmap/core/util3d_transforms.h>
#include <rtabmap/core/util3d_filtering.h>
#include <rtabmap/core/Graph.h>
#include <rtabmap/utilite/UEventsManager.h>
#include <rtabmap/utilite/UStl.h>
#include <rtabmap/utilite/UDirectory.h>
#include <rtabmap/utilite/UFile.h>
#include <opencv2/opencv_modules.hpp>
#include <rtabmap/core/util3d_surface.h>
#include <rtabmap/utilite/UConversion.h>
#include <rtabmap/utilite/UTimer.h>
#include <rtabmap/core/ParamEvent.h>
#include <rtabmap/core/Compression.h>
#include <rtabmap/core/Optimizer.h>
#include <rtabmap/core/VWDictionary.h>
#include <rtabmap/core/Memory.h>
#include <pcl/filters/extract_indices.h>
#include <pcl/io/ply_io.h>
#include <pcl/io/obj_io.h>

const int kVersionStringLength = 128;

static JavaVM *jvm;
static jobject RTABMapActivity = 0;

namespace {
constexpr int kTangoCoreMinimumVersion = 9377;
}  // anonymous namespace.

rtabmap::ParametersMap RTABMapApp::getRtabmapParameters()
{
	rtabmap::ParametersMap parameters;

	parameters.insert(mappingParameters_.begin(), mappingParameters_.end());

	parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kKpDetectorStrategy(), std::string("6"))); // GFTT/BRIEF
	parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kGFTTQualityLevel(), std::string("0.0001")));
	parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kMemImagePreDecimation(), std::string(fullResolution_?"2":"1")));
	parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kFASTThreshold(), std::string("1")));
	parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kBRIEFBytes(), std::string("64")));
	parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRtabmapTimeThr(), std::string("800")));
	parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kMemBinDataKept(), uBool2Str(!trajectoryMode_)));
	parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kMemNotLinkedNodesKept(), std::string("false")));
	parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOptimizerIterations(), graphOptimization_?"10":"0"));
	parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kMemIncrementalMemory(), uBool2Str(!localizationMode_)));
	parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRtabmapMaxRetrieved(), uBool2Str(!localizationMode_)));
	parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kKpMaxDepth(), std::string("10"))); // to avoid extracting features in invalid depth (as we compute transformation directly from the words)
	parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRGBDOptimizeFromGraphEnd(), std::string("true")));
	parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kDbSqlite3InMemory(), std::string("true")));
	parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kVisMinInliers(), std::string("15")));
	parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kVisEstimationType(), std::string("0"))); // 0=3D-3D 1=PnP
	parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRGBDOptimizeMaxError(), std::string("0.05")));

	return parameters;
}

RTABMapApp::RTABMapApp() :
		camera_(0),
		rtabmapThread_(0),
		rtabmap_(0),
		logHandler_(0),
		odomCloudShown_(true),
		graphOptimization_(true),
		nodesFiltering_(false),
		localizationMode_(false),
		trajectoryMode_(false),
		autoExposure_(false),
		fullResolution_(false),
		maxCloudDepth_(0.0),
		meshTrianglePix_(1),
		meshAngleToleranceDeg_(10.0),
		clearSceneOnNextRender_(false),
		totalPoints_(0),
		totalPolygons_(0),
		lastDrawnCloudsCount_(0),
		renderingFPS_(0.0f)

{

}

RTABMapApp::~RTABMapApp() {
  if(camera_)
  {
	  delete camera_;
  }
  if(rtabmapThread_)
  {
	  rtabmapThread_->close(false);
	  delete rtabmapThread_;
  }
  if(logHandler_)
  {
	  delete logHandler_;
  }
}

void RTABMapApp::onCreate(JNIEnv* env, jobject caller_activity)
{
	env->GetJavaVM(&jvm);
	RTABMapActivity = env->NewGlobalRef(caller_activity);

	LOGI("RTABMapApp::onCreate()");
	createdMeshes_.clear();
	rawPoses_.clear();
	clearSceneOnNextRender_ = true;
	totalPoints_ = 0;
	totalPolygons_ = 0;
	lastDrawnCloudsCount_ = 0;
	renderingFPS_ = 0.0f;

	if(camera_)
	{
	  delete camera_;
	}
	if(rtabmapThread_)
	{
		rtabmapThread_->close(false);
	    delete rtabmapThread_;
	    rtabmapThread_ = 0;
	    rtabmap_ = 0;
	}

	if(logHandler_ == 0)
	{
		logHandler_ = new LogHandler();
	}
	ULogger::setEventLevel(ULogger::kInfo);
	ULogger::setPrintThreadId(true);

	this->registerToEventsManager();

	camera_ = new rtabmap::CameraTango(fullResolution_?1:2, autoExposure_);
}

void RTABMapApp::openDatabase(const std::string & databasePath)
{
	this->unregisterFromEventsManager(); // to ignore published init events when closing rtabmap
	status_.first = rtabmap::RtabmapEventInit::kInitializing;
	rtabmapMutex_.lock();
	if(rtabmapThread_)
	{
		rtabmapThread_->close(false);
		delete rtabmapThread_;
		rtabmapThread_ = 0;
		rtabmap_ = 0;
	}

	//Rtabmap
	rtabmap_ = new rtabmap::Rtabmap();
	rtabmap::ParametersMap parameters = getRtabmapParameters();

	rtabmap_->init(parameters, databasePath);
	rtabmapThread_ = new rtabmap::RtabmapThread(rtabmap_);

	// Generate all meshes
	std::map<int, rtabmap::Signature> signatures;
	std::map<int, rtabmap::Transform> poses;
	std::multimap<int, rtabmap::Link> links;
	rtabmap_->get3DMap(
			signatures,
			poses,
			links,
			true,
			true);

	clearSceneOnNextRender_ = true;
	rtabmap::Statistics stats;
	stats.setSignatures(signatures);
	stats.addStatistic(rtabmap::Statistics::kMemoryWorking_memory_size(), (float)rtabmap_->getWMSize());
	stats.addStatistic(rtabmap::Statistics::kKeypointDictionary_size(), (float)rtabmap_->getMemory()->getVWDictionary()->getVisualWords().size());
	stats.addStatistic(rtabmap::Statistics::kMemoryDatabase_memory_used(), (float)rtabmap_->getMemory()->getDatabaseMemoryUsed());
	stats.setPoses(poses);
	stats.setConstraints(links);
	rtabmapEvents_.push_back(stats);

	// Start threads
	LOGI("Start rtabmap thread");
	this->registerToEventsManager();
	rtabmapThread_->registerToEventsManager();
	rtabmapThread_->start();

	status_.first = rtabmap::RtabmapEventInit::kInitialized;
	status_.second = "";
	rtabmapMutex_.unlock();
}

bool RTABMapApp::onTangoServiceConnected(JNIEnv* env, jobject iBinder)
{
	LOGW("onTangoServiceConnected()");
	if(camera_)
	{
		camera_->join(true);

		if (TangoService_setBinder(env, iBinder) != TANGO_SUCCESS) {
		    LOGE("TangoHandler::ConnectTango, TangoService_setBinder error");
		    return false;
		}

		if(camera_->init())
		{
			LOGI("Start camera thread");
			camera_->start();
			return true;
		}
		LOGE("Failed camera initialization!");
	}
	return false;
}

void RTABMapApp::onPause()
{
	LOGW("onPause()");
	if(camera_)
	{
		camera_->join(true);
		camera_->close();
	}
}


void RTABMapApp::TangoResetMotionTracking() {
  TangoService_resetMotionTracking();
}

// OpenGL thread
void RTABMapApp::InitializeGLContent()
{
	UINFO("");
	main_scene_.InitGLContent();
}

// OpenGL thread
void RTABMapApp::SetViewPort(int width, int height)
{
	UINFO("");
	main_scene_.SetupViewPort(width, height);
}

class PostRenderEvent : public UEvent
{
public:
	PostRenderEvent(const rtabmap::Statistics & stats) :
		stats_(stats)
	{

	}
	virtual std::string getClassName() const {return "PostRenderEvent";}
	const rtabmap::Statistics & getStats() const {return stats_;}
private:
	rtabmap::Statistics stats_;
};

// OpenGL thread
int RTABMapApp::Render()
{
	// should be before clearSceneOnNextRender_ in case openDatabase is called
	std::list<rtabmap::Statistics> rtabmapEvents;
	{
		boost::mutex::scoped_lock  lock(rtabmapMutex_);
		rtabmapEvents = rtabmapEvents_;
		rtabmapEvents_.clear();
	}

	if(clearSceneOnNextRender_)
	{
		odomMutex_.lock();
		odomEvents_.clear();
		odomMutex_.unlock();

		poseMutex_.lock();
		poseEvents_.clear();
		poseMutex_.unlock();

		main_scene_.clear();
		clearSceneOnNextRender_ = false;
		createdMeshes_.clear();
		rawPoses_.clear();
		totalPoints_ = 0;
		totalPolygons_ = 0;
		lastDrawnCloudsCount_ = 0;
		renderingFPS_ = 0.0f;
	}

	// Process events
	rtabmap::Transform pose;
	{
		boost::mutex::scoped_lock lock(poseMutex_);
		if(poseEvents_.size())
		{
			pose = poseEvents_.back();
			poseEvents_.clear();
		}
	}
	if(!pose.isNull())
	{
		// update camera pose?
		main_scene_.SetCameraPose(pose);
	}

	bool notifyDataLoaded = false;
	if(rtabmapEvents.size())
	{
		LOGI("Process rtabmap events");

		// update buffered signatures
		std::map<int, rtabmap::SensorData> bufferedSensorData;
		if(!trajectoryMode_)
		{
			for(std::list<rtabmap::Statistics>::iterator iter=rtabmapEvents.begin(); iter!=rtabmapEvents.end(); ++iter)
			{
				for(std::map<int, rtabmap::Signature>::const_iterator jter=iter->getSignatures().begin(); jter!=iter->getSignatures().end(); ++jter)
				{
					if(!jter->second.sensorData().imageRaw().empty() &&
					   !jter->second.sensorData().depthRaw().empty())
					{
						uInsert(bufferedSensorData, std::make_pair(jter->first, jter->second.sensorData()));
						uInsert(rawPoses_, std::make_pair(jter->first, jter->second.getPose()));
					}
					else if(!jter->second.sensorData().imageCompressed().empty() &&
							!jter->second.sensorData().depthOrRightCompressed().empty())
					{
						// uncompress
						rtabmap::SensorData data = jter->second.sensorData();
						cv::Mat tmpA,tmpB;
						data.uncompressData(&tmpA, &tmpB);
						uInsert(bufferedSensorData, std::make_pair(jter->first, data));
						uInsert(rawPoses_, std::make_pair(jter->first, jter->second.getPose()));
						notifyDataLoaded = true;
					}
				}
			}
		}

		std::map<int, rtabmap::Transform> poses = rtabmapEvents.back().poses();

		// Transform pose in OpenGL world
		for(std::map<int, rtabmap::Transform>::iterator iter=poses.begin(); iter!=poses.end(); ++iter)
		{
			if(!graphOptimization_)
			{
				std::map<int, rtabmap::Transform>::iterator jter = rawPoses_.find(iter->first);
				if(jter != rawPoses_.end())
				{
					iter->second = opengl_world_T_rtabmap_world*jter->second;
				}
			}
			else
			{
				iter->second = opengl_world_T_rtabmap_world*iter->second;
			}
		}

		const std::multimap<int, rtabmap::Link> & links = rtabmapEvents.back().constraints();
		if(poses.size())
		{
			//update graph
			main_scene_.updateGraph(poses, links);

			// update clouds
			boost::mutex::scoped_lock  lock(meshesMutex_);
			std::set<std::string> strIds;
			for(std::map<int, rtabmap::Transform>::iterator iter=poses.begin(); iter!=poses.end(); ++iter)
			{
				int id = iter->first;
				if(!iter->second.isNull())
				{
					if(main_scene_.hasCloud(id))
					{
						//just update pose
						main_scene_.setCloudPose(id, iter->second);
						main_scene_.setCloudVisible(id, true);
						std::map<int, Mesh>::iterator meshIter = createdMeshes_.find(id);
						if(meshIter!=createdMeshes_.end())
						{
							meshIter->second.pose = iter->second;
						}
						else
						{
							UERROR("Not found mesh %d !?!?", id);
						}
					}
					else if(uContains(bufferedSensorData, id))
					{
						rtabmap::SensorData & data = bufferedSensorData.at(id);
						if(!data.imageRaw().empty() && !data.depthRaw().empty())
						{
							// Voxelize and filter depending on the previous cloud?
							pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud;
							pcl::IndicesPtr indices(new std::vector<int>);
							LOGI("Creating node cloud %d (image size=%dx%d)", id, data.imageRaw().cols, data.imageRaw().rows);
							cloud = rtabmap::util3d::cloudRGBFromSensorData(data, data.imageRaw().rows/data.depthRaw().rows, maxCloudDepth_, 0, indices.get());

							if(cloud->size() && indices->size())
							{
								UTimer time;

								// pcl::organizedFastMesh doesn't take indices, so set to NaN points we don't need to mesh
								pcl::PointCloud<pcl::PointXYZRGB>::Ptr output(new pcl::PointCloud<pcl::PointXYZRGB>);
								pcl::ExtractIndices<pcl::PointXYZRGB> filter;
								filter.setIndices(indices);
								filter.setKeepOrganized(true);
								filter.setInputCloud(cloud);
								filter.filter(*output);

								std::vector<pcl::Vertices> polygons = rtabmap::util3d::organizedFastMesh(output, meshAngleToleranceDeg_*M_PI/180.0, false, meshTrianglePix_);
								pcl::PointCloud<pcl::PointXYZRGB>::Ptr outputCloud(new pcl::PointCloud<pcl::PointXYZRGB>);
								std::vector<pcl::Vertices> outputPolygons;

								outputCloud = output;
								outputPolygons = polygons;

								LOGI("Creating mesh, %d polygons (%fs)", (int)outputPolygons.size(), time.ticks());

								if(outputCloud->size() && outputPolygons.size())
								{
									totalPolygons_ += outputPolygons.size();

									main_scene_.addCloud(id, outputCloud, outputPolygons, iter->second, data.imageRaw());


									// protect createdMeshes_ used also by exportMesh() method
									std::pair<std::map<int, Mesh>::iterator, bool> inserted = createdMeshes_.insert(std::make_pair(id, Mesh()));
									UASSERT(inserted.second);
									inserted.first->second.cloud = outputCloud;
									inserted.first->second.polygons = outputPolygons;
									inserted.first->second.pose = iter->second;
									inserted.first->second.texture = data.imageCompressed();
								}
								else
								{
									LOGE("Not mesh could be created for node %d", id);
								}
							}
							totalPoints_+=indices->size();
						}
					}
				}
			}
		}

		//filter poses?
		if(poses.size() > 2)
		{
			if(nodesFiltering_)
			{
				for(std::multimap<int, rtabmap::Link>::const_iterator iter=links.begin(); iter!=links.end(); ++iter)
				{
					if(iter->second.type() != rtabmap::Link::kNeighbor)
					{
						int oldId = iter->second.to()>iter->second.from()?iter->second.from():iter->second.to();
						poses.erase(oldId);
					}
				}
			}
		}

		//update cloud visibility
		std::set<int> addedClouds = main_scene_.getAddedClouds();
		for(std::set<int>::const_iterator iter=addedClouds.begin();
			iter!=addedClouds.end();
			++iter)
		{
			if(*iter > 0 && poses.find(*iter) == poses.end())
			{
				main_scene_.setCloudVisible(*iter, false);
			}
		}
	}
	else
	{
		rtabmap::OdometryEvent event;
		bool set = false;
		{
			boost::mutex::scoped_lock  lock(odomMutex_);
			if(odomEvents_.size())
			{
				LOGI("Process odom events");
				event = odomEvents_.back();
				odomEvents_.clear();
				set = true;
			}
		}

		main_scene_.setCloudVisible(-1, odomCloudShown_ && !trajectoryMode_);

		//just process the last one
		if(set && !event.pose().isNull())
		{
			if(odomCloudShown_ && !trajectoryMode_)
			{
				if(!event.data().imageRaw().empty() && !event.data().depthRaw().empty())
				{
					pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud;
					cloud = rtabmap::util3d::cloudRGBFromSensorData(event.data(), event.data().imageRaw().rows/event.data().depthRaw().rows, maxCloudDepth_);
					if(cloud->size())
					{
						LOGI("Created odom cloud (rgb=%dx%d depth=%dx%d cloud=%dx%d)",
													event.data().imageRaw().cols, event.data().imageRaw().rows,
													event.data().depthRaw().cols, event.data().depthRaw().rows,
													(int)cloud->width, (int)cloud->height);
						std::vector<pcl::Vertices> polygons = rtabmap::util3d::organizedFastMesh(cloud, meshAngleToleranceDeg_*M_PI/180.0, false, meshTrianglePix_);
						main_scene_.addCloud(-1, cloud, polygons, opengl_world_T_rtabmap_world*event.pose(), event.data().imageRaw());
						main_scene_.setCloudVisible(-1, true);
					}
					else
					{
						LOGE("Generated cloud is empty!");
					}
				}
				else
				{
					LOGE("Odom data images are empty!");
				}
			}
		}
	}

	UTimer fpsTime;
    lastDrawnCloudsCount_ = main_scene_.Render();
    renderingFPS_ = 1.0/fpsTime.elapsed();

    if(rtabmapEvents.size())
    {
    	// send statistics to GUI
		LOGI("Posting PostRenderEvent!");
		UEventsManager::post(new PostRenderEvent(rtabmapEvents.back()));
    }

    return notifyDataLoaded?1:0;
}

void RTABMapApp::SetCameraType(
    tango_gl::GestureCamera::CameraType camera_type) {
  main_scene_.SetCameraType(camera_type);
}

void RTABMapApp::OnTouchEvent(int touch_count,
                                      tango_gl::GestureCamera::TouchEvent event,
                                      float x0, float y0, float x1, float y1) {
  main_scene_.OnTouchEvent(touch_count, event, x0, y0, x1, y1);
}

void RTABMapApp::setPausedMapping(bool paused)
{
	if(camera_)
	{
		if(paused)
		{
			LOGW("Pause!");
			camera_->kill();
		}
		else
		{
			LOGW("Resume!");
			camera_->start();
		}
	}
}
void RTABMapApp::setMapCloudShown(bool shown)
{
	main_scene_.setMapRendering(shown);
}
void RTABMapApp::setOdomCloudShown(bool shown)
{
	odomCloudShown_ = shown;
	main_scene_.setTraceVisible(shown);
}
void RTABMapApp::setMeshRendering(bool enabled)
{
	main_scene_.setMeshRendering(enabled);
}
void RTABMapApp::setLocalizationMode(bool enabled)
{
	localizationMode_ = enabled;
	this->post(new rtabmap::ParamEvent(rtabmap::Parameters::kMemIncrementalMemory(), uBool2Str(!localizationMode_)));
}
void RTABMapApp::setTrajectoryMode(bool enabled)
{
	if(trajectoryMode_ != enabled)
	{
		main_scene_.SetCameraType(enabled?tango_gl::GestureCamera::kTopDown:tango_gl::GestureCamera::kThirdPersonFollow);
	}
	trajectoryMode_ = enabled;
	this->post(new rtabmap::ParamEvent(rtabmap::Parameters::kMemBinDataKept(), uBool2Str(!trajectoryMode_)));
}

void RTABMapApp::setGraphOptimization(bool enabled)
{
	graphOptimization_ = enabled;
	if(!camera_->isRunning())
	{
		std::map<int, rtabmap::Transform> poses;
		std::multimap<int, rtabmap::Link> links;
		rtabmap_->getGraph(poses, links, true, true);
		if(poses.size())
		{
			boost::mutex::scoped_lock  lock(rtabmapMutex_);
			rtabmap::Statistics stats = rtabmap_->getStatistics();
			stats.setPoses(poses);
			stats.setConstraints(links);
			rtabmapEvents_.push_back(stats);

			rtabmap_->setOptimizedPoses(poses);
		}
	}
}
void RTABMapApp::setNodesFiltering(bool enabled)
{
	nodesFiltering_ = enabled;
	setGraphOptimization(graphOptimization_); // this will resend the graph if paused
}
void RTABMapApp::setGraphVisible(bool visible)
{
	main_scene_.setGraphVisible(visible);
}

void RTABMapApp::setAutoExposure(bool enabled)
{
	if(autoExposure_ != enabled)
	{
		autoExposure_ = enabled;
		if(camera_)
		{
			camera_->setAutoExposure(autoExposure_);
		}
	}
}

void RTABMapApp::setFullResolution(bool enabled)
{
	if(fullResolution_ != enabled)
	{
		fullResolution_ = enabled;
		if(camera_)
		{
			camera_->setDecimation(fullResolution_?1:2);
		}
		rtabmap::ParametersMap parameters;
		parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kMemImagePreDecimation(), std::string(fullResolution_?"2":"1")));
		this->post(new rtabmap::ParamEvent(parameters));
	}
}

void RTABMapApp::setMaxCloudDepth(float value)
{
	maxCloudDepth_ = value;
}

void RTABMapApp::setMeshAngleTolerance(float value)
{
	meshAngleToleranceDeg_ = value;
}

void RTABMapApp::setMeshTriangleSize(int value)
{
	 meshTrianglePix_ = value;
}

int RTABMapApp::setMappingParameter(const std::string & key, const std::string & value)
{
	if(rtabmap::Parameters::getDefaultParameters().find(key) != rtabmap::Parameters::getDefaultParameters().end())
	{
		LOGI(uFormat("Setting param \"%s\"  to \"\"", key.c_str(), value.c_str()).c_str());
		uInsert(mappingParameters_, rtabmap::ParametersPair(key, value));
		UEventsManager::post(new rtabmap::ParamEvent(mappingParameters_));
		return 0;
	}
	else
	{
		LOGE(uFormat("Key \"%s\" doesn't exist!", key.c_str()).c_str());
		return -1;
	}
}

void RTABMapApp::resetMapping()
{
	LOGW("Reset!");
	status_.first = rtabmap::RtabmapEventInit::kInitializing;
	status_.second = "";

	clearSceneOnNextRender_ = true;

	UEventsManager::post(new rtabmap::RtabmapEventCmd(rtabmap::RtabmapEventCmd::kCmdResetMemory));
}

void RTABMapApp::save()
{
	UEventsManager::post(new rtabmap::RtabmapEventCmd(rtabmap::RtabmapEventCmd::kCmdClose));
}

bool RTABMapApp::exportMesh(const std::string & filePath)
{
	bool success = false;

	//Assemble the meshes
	if(UFile::getExtension(filePath).compare("obj") == 0)
	{
		pcl::TextureMesh textureMesh;
		std::vector<cv::Mat> textures;
		int totalPolygons = 0;
		pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr mergedClouds(new pcl::PointCloud<pcl::PointXYZRGBNormal>);
		{
			boost::mutex::scoped_lock  lock(meshesMutex_);

			textureMesh.tex_materials.resize(createdMeshes_.size());
			textureMesh.tex_polygons.resize(createdMeshes_.size());
			textureMesh.tex_coordinates.resize(createdMeshes_.size());
			textures.resize(createdMeshes_.size());

			int polygonsStep = 0;
			int oi = 0;
			for(std::map<int, Mesh>::iterator iter=createdMeshes_.begin();
				iter!= createdMeshes_.end();
				++iter)
			{
				UASSERT(!iter->second.cloud->is_dense);

				if(!iter->second.texture.empty() &&
					iter->second.cloud->size() &&
					iter->second.polygons.size())
				{
					// OBJ format requires normals
					pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloudWithNormals;
					cloudWithNormals = rtabmap::util3d::computeNormals(iter->second.cloud, 20);

					// create dense cloud
					pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr denseCloud(new pcl::PointCloud<pcl::PointXYZRGBNormal>);
					std::vector<pcl::Vertices> densePolygons;
					std::map<int, int> newToOldIndices;
					newToOldIndices = rtabmap::util3d::filterNotUsedVerticesFromMesh(
							*cloudWithNormals,
							iter->second.polygons,
							*denseCloud,
							densePolygons);

					// polygons
					UASSERT(densePolygons.size());
					unsigned int polygonSize = densePolygons.front().vertices.size();
					textureMesh.tex_polygons[oi].resize(densePolygons.size());
					textureMesh.tex_coordinates[oi].resize(densePolygons.size() * polygonSize);
					for(unsigned int j=0; j<densePolygons.size(); ++j)
					{
						pcl::Vertices vertices = densePolygons[j];
						UASSERT(polygonSize == vertices.vertices.size());
						for(unsigned int k=0; k<vertices.vertices.size(); ++k)
						{
							//uv
							std::map<int, int>::iterator jter = newToOldIndices.find(vertices.vertices[k]);
							textureMesh.tex_coordinates[oi][j*vertices.vertices.size()+k] = Eigen::Vector2f(
									float(jter->second % iter->second.cloud->width) / float(iter->second.cloud->width),   // u
									float(iter->second.cloud->height - jter->second / iter->second.cloud->width) / float(iter->second.cloud->height)); // v

							vertices.vertices[k] += polygonsStep;
						}
						textureMesh.tex_polygons[oi][j] = vertices;

					}
					totalPolygons += densePolygons.size();
					polygonsStep += denseCloud->size();

					pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr transformedCloud = rtabmap::util3d::transformPointCloud(denseCloud, iter->second.pose);
					if(mergedClouds->size() == 0)
					{
						*mergedClouds = *transformedCloud;
					}
					else
					{
						*mergedClouds += *transformedCloud;
					}

					textures[oi] = iter->second.texture;
					textureMesh.tex_materials[oi].tex_illum = 1;
					textureMesh.tex_materials[oi].tex_name = uFormat("material_%d", iter->first);
					++oi;
				}
				else
				{
					UERROR("Texture not set for mesh %d", iter->first);
				}
			}
			textureMesh.tex_materials.resize(oi);
			textureMesh.tex_polygons.resize(oi);
			textures.resize(oi);

			if(textures.size())
			{
				pcl::toPCLPointCloud2(*mergedClouds, textureMesh.cloud);

				std::string textureDirectory = uSplit(filePath, '.').front();
				UINFO("Saving %d textures to %s.", textures.size(), textureDirectory.c_str());
				UDirectory::makeDir(textureDirectory);
				for(unsigned int i=0;i<textures.size(); ++i)
				{
					cv::Mat rawImage = rtabmap::uncompressImage(textures[i]);
					std::string texFile = textureDirectory+"/"+textureMesh.tex_materials[i].tex_name+".png";
					cv::imwrite(texFile, rawImage);

					UINFO("Saved %s (%d bytes).", texFile.c_str(), rawImage.total()*rawImage.channels());

					// relative path
					textureMesh.tex_materials[i].tex_file = uSplit(UFile::getName(filePath), '.').front()+"/"+textureMesh.tex_materials[i].tex_name+".png";
				}

				UINFO("Saving obj (%d vertices, %d polygons) to %s.", (int)mergedClouds->size(), totalPolygons, filePath.c_str());
				success = pcl::io::saveOBJFile(filePath, textureMesh) == 0;
				if(success)
				{
					UINFO("Saved obj to %s!", filePath.c_str());
				}
				else
				{
					UERROR("Failed saving obj to %s!", filePath.c_str());
				}
			}
		}
	}
	else
	{
		pcl::PointCloud<pcl::PointXYZRGB>::Ptr mergedClouds(new pcl::PointCloud<pcl::PointXYZRGB>);
		std::vector<pcl::Vertices> mergedPolygons;

		{
			boost::mutex::scoped_lock  lock(meshesMutex_);

			for(std::map<int, Mesh>::iterator iter=createdMeshes_.begin();
				iter!= createdMeshes_.end();
				++iter)
			{
				pcl::PointCloud<pcl::PointXYZRGB>::Ptr denseCloud(new pcl::PointCloud<pcl::PointXYZRGB>);
				std::vector<pcl::Vertices> densePolygons;

				rtabmap::util3d::filterNotUsedVerticesFromMesh(
						*iter->second.cloud,
						iter->second.polygons,
						*denseCloud,
						densePolygons);

				pcl::PointCloud<pcl::PointXYZRGB>::Ptr transformedCloud = rtabmap::util3d::transformPointCloud(denseCloud, iter->second.pose);
				if(mergedClouds->size() == 0)
				{
					*mergedClouds = *transformedCloud;
					mergedPolygons = densePolygons;
				}
				else
				{
					rtabmap::util3d::appendMesh(*mergedClouds, mergedPolygons, *transformedCloud, densePolygons);
				}
			}
		}

		if(mergedClouds->size() && mergedPolygons.size())
		{
			pcl::PolygonMesh mesh;
			pcl::toPCLPointCloud2(*mergedClouds, mesh.cloud);
			mesh.polygons = mergedPolygons;

			UINFO("Saving ply (%d vertices, %d polygons) to %s.", (int)mergedClouds->size(), (int)mergedPolygons.size(), filePath.c_str());
			success = pcl::io::savePLYFileBinary(filePath, mesh) == 0;
			if(success)
			{
				UINFO("Saved ply to %s!", filePath.c_str());
			}
			else
			{
				UERROR("Failed saving ply to %s!", filePath.c_str());
			}
		}
	}
	return success;
}

int RTABMapApp::postProcessing(int approach)
{
	int returnedValue = 0;
	if(rtabmap_)
	{
		std::map<int, rtabmap::Transform> poses;
		std::multimap<int, rtabmap::Link> links;
		if(approach == 2 || approach == 0)
		{
			if(approach == 2)
			{
				// detect more loop closures
				returnedValue = rtabmap_->detectMoreLoopClosures();
			}

			if(returnedValue >= 0)
			{
				// simple graph optmimization
				rtabmap_->getGraph(poses, links, true, true);
			}
		}
		else if (approach == 1)
		{
			if(rtabmap::Optimizer::isAvailable(rtabmap::Optimizer::kTypeG2O))
			{
				std::map<int, rtabmap::Signature> signatures;
				rtabmap_->getGraph(poses, links, false, true, &signatures);

				rtabmap::ParametersMap param;
				param.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOptimizerIterations(), "30"));
                param.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOptimizerEpsilon(), "0"));
				rtabmap::Optimizer * sba = rtabmap::Optimizer::create(rtabmap::Optimizer::kTypeG2O, param);
				poses = sba->optimizeBA(poses.rbegin()->first, poses, links, signatures);
				delete sba;
			}
			else
			{
				LOGE("g2o not available!");
			}
		}
		else
		{
			LOGE("Invalid approach %d (should be 0 (graph optimization), 1 (sba) or 2 (detect more loop closures))", approach);
			returnedValue = -1;
		}

		if(poses.size())
		{
			boost::mutex::scoped_lock  lock(rtabmapMutex_);
			rtabmap::Statistics stats = rtabmap_->getStatistics();
			stats.setPoses(poses);
			stats.setConstraints(links);
			rtabmapEvents_.push_back(stats);

			rtabmap_->setOptimizedPoses(poses);
		}
		else
		{
			returnedValue = -1;
		}
	}
	return returnedValue;
}

void RTABMapApp::handleEvent(UEvent * event)
{
	if(camera_ && camera_->isRunning())
	{
		// called from events manager thread, so protect the data
		if(event->getClassName().compare("OdometryEvent") == 0)
		{
			LOGI("Received OdometryEvent!");
			if(odomMutex_.try_lock())
			{
				odomEvents_.clear();
				if(camera_->isRunning())
				{
					odomEvents_.push_back(*((rtabmap::OdometryEvent*)(event)));
				}
				odomMutex_.unlock();
			}
		}
		if(status_.first == rtabmap::RtabmapEventInit::kInitialized &&
		   event->getClassName().compare("RtabmapEvent") == 0)
		{
			LOGI("Received RtabmapEvent!");
			if(camera_->isRunning())
			{
				boost::mutex::scoped_lock lock(rtabmapMutex_);
				rtabmapEvents_.push_back(((rtabmap::RtabmapEvent*)event)->getStats());
			}
		}
	}

	if(event->getClassName().compare("PoseEvent") == 0)
	{
		if(poseMutex_.try_lock())
		{
			poseEvents_.clear();
			poseEvents_.push_back(((rtabmap::PoseEvent*)event)->pose());
			poseMutex_.unlock();
		}
	}

	if(event->getClassName().compare("CameraTangoEvent") == 0)
	{
		rtabmap::CameraTangoEvent * tangoEvent = (rtabmap::CameraTangoEvent*)event;

		// Call JAVA callback with tango event msg
		bool success = false;
		if(jvm && RTABMapActivity)
		{
			JNIEnv *env = 0;
			jint rs = jvm->AttachCurrentThread(&env, NULL);
			if(rs == JNI_OK && env)
			{
				jclass clazz = env->GetObjectClass(RTABMapActivity);
				if(clazz)
				{
					jmethodID methodID = env->GetMethodID(clazz, "tangoEventCallback", "(ILjava/lang/String;Ljava/lang/String;)V" );
					if(methodID)
					{
						env->CallVoidMethod(RTABMapActivity, methodID,
								tangoEvent->type(),
								env->NewStringUTF(tangoEvent->key().c_str()),
								env->NewStringUTF(tangoEvent->value().c_str()));
						success = true;
					}
				}
			}
			jvm->DetachCurrentThread();
		}
		if(!success)
		{
			UERROR("Failed to call RTABMapActivity::tangoEventCallback");
		}
	}

	if(event->getClassName().compare("RtabmapEventInit") == 0)
	{
		LOGI("Received RtabmapEventInit!");
		status_.first = ((rtabmap::RtabmapEventInit*)event)->getStatus();
		status_.second = ((rtabmap::RtabmapEventInit*)event)->getInfo();

		if(status_.first == rtabmap::RtabmapEventInit::kClosed)
		{
			clearSceneOnNextRender_ = true;
		}

		// Call JAVA callback with init msg
		bool success = false;
		if(jvm && RTABMapActivity)
		{
			JNIEnv *env = 0;
			jint rs = jvm->AttachCurrentThread(&env, NULL);
			if(rs == JNI_OK && env)
			{
				jclass clazz = env->GetObjectClass(RTABMapActivity);
				if(clazz)
				{
					jmethodID methodID = env->GetMethodID(clazz, "rtabmapInitEventCallback", "(ILjava/lang/String;)V" );
					if(methodID)
					{
						env->CallVoidMethod(RTABMapActivity, methodID,
								status_.first,
								env->NewStringUTF(status_.second.c_str()));
						success = true;
					}
				}
			}
			jvm->DetachCurrentThread();
		}
		if(!success)
		{
			UERROR("Failed to call RTABMapActivity::rtabmapInitEventsCallback");
		}
	}

	if(event->getClassName().compare("PostRenderEvent") == 0)
	{
		LOGI("Received PostRenderEvent!");
		const rtabmap::Statistics & stats = ((PostRenderEvent*)event)->getStats();
		int nodes = (int)uValue(stats.data(), rtabmap::Statistics::kMemoryWorking_memory_size(), 0.0f) +
				uValue(stats.data(), rtabmap::Statistics::kMemoryShort_time_memory_size(), 0.0f);
		int words = (int)uValue(stats.data(), rtabmap::Statistics::kKeypointDictionary_size(), 0.0f);
		float updateTime = uValue(stats.data(), rtabmap::Statistics::kTimingTotal(), 0.0f);
		int loopClosureId = stats.loopClosureId()>0?stats.loopClosureId():stats.proximityDetectionId()>0?stats.proximityDetectionId():0;
		int highestHypId = (int)uValue(stats.data(), rtabmap::Statistics::kLoopHighest_hypothesis_id(), 0.0f);
		int databaseMemoryUsed = (int)uValue(stats.data(), rtabmap::Statistics::kMemoryDatabase_memory_used(), 0.0f);
		int inliers = (int)uValue(stats.data(), rtabmap::Statistics::kLoopVisual_inliers(), 0.0f);
		int rejected = (int)uValue(stats.data(), rtabmap::Statistics::kLoopRejectedHypothesis(), 0.0f);
		int featuresExtracted = stats.getSignatures().size()?stats.getSignatures().rbegin()->second.getWords().size():0;
		float hypothesis = uValue(stats.data(), rtabmap::Statistics::kLoopHighest_hypothesis_value(), 0.0f);

		// Call JAVA callback with some stats
		UINFO("Send statistics to GUI");
		bool success = false;
		if(jvm && RTABMapActivity)
		{
			JNIEnv *env = 0;
			jint rs = jvm->AttachCurrentThread(&env, NULL);
			if(rs == JNI_OK && env)
			{
				jclass clazz = env->GetObjectClass(RTABMapActivity);
				if(clazz)
				{
					jmethodID methodID = env->GetMethodID(clazz, "updateStatsCallback", "(IIIIFIIIIIFIFI)V" );
					if(methodID)
					{
						env->CallVoidMethod(RTABMapActivity, methodID,
								nodes,
								words,
								totalPoints_,
								totalPolygons_,
								updateTime,
								loopClosureId,
								highestHypId,
								databaseMemoryUsed,
								inliers,
								featuresExtracted,
								hypothesis,
								lastDrawnCloudsCount_,
								renderingFPS_,
								rejected);
						success = true;
					}
				}
			}
			jvm->DetachCurrentThread();
		}
		if(!success)
		{
			UERROR("Failed to call RTABMapActivity::updateStatsCallback");
		}
	}
}