/*
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 <rtabmap/core/Odometry.h>
#include "rtabmap/core/Rtabmap.h"
#include "rtabmap/core/CameraStereo.h"
#include "rtabmap/core/Graph.h"
#include "rtabmap/core/OdometryInfo.h"
#include "rtabmap/core/OdometryEvent.h"
#include "rtabmap/core/Memory.h"
#include "rtabmap/core/util3d_registration.h"
#include "rtabmap/utilite/UConversion.h"
#include "rtabmap/utilite/UDirectory.h"
#include "rtabmap/utilite/UFile.h"
#include "rtabmap/utilite/UMath.h"
#include "rtabmap/utilite/UStl.h"
#include "rtabmap/utilite/UProcessInfo.h"
#include "rtabmap/core/IMUFilter.h"
#include <pcl/common/common.h>
#include <rtabmap/core/SensorCaptureThread.h>
#include <yaml-cpp/yaml.h>
#include <stdio.h>
#include <signal.h>
#include <fstream>

using namespace rtabmap;

void showUsage()
{
	printf("\nUsage:\n"
			"rtabmap-kitti_dataset [options] path\n"
			"  path               Folder of the sequence (e.g., \"~/EuRoC/V1_03_difficult\")\n"
			"                        containing least mav0/cam0/sensor.yaml, mav0/cam1/sensor.yaml and \n"
			"                        mav0/cam0/data and mav0/cam1/data folders.\n"
			"  --output           Output directory. By default, results are saved in \"path\".\n"
			"  --output_name      Output database name (default \"rtabmap\").\n"
			"  --quiet            Don't show log messages and iteration updates.\n"
			"  --exposure_comp    Do exposure compensation between left and right images.\n"
			"  --disp             Generate full disparity.\n"
			"  --raw              Use raw images (not rectified, this only works with okvis, msckf or vins odometry).\n"
			"  --imu #            IMU filter: 0=madgwick, 1=complementary (default).\n"
			"%s\n"
			"Example:\n\n"
			"   $ rtabmap-euroc_dataset \\\n"
			"       --Rtabmap/PublishRAMUsage true\\\n"
			"       --Rtabmap/DetectionRate 2\\\n"
			"       --RGBD/LinearUpdate 0\\\n"
			"       --Mem/STMSize 30\\\n"
			"       ~/EuRoC/V1_03_difficult\n\n", rtabmap::Parameters::showUsage());
	exit(1);
}

// catch ctrl-c
bool g_forever = true;
void sighandler(int sig)
{
	printf("\nSignal %d caught...\n", sig);
	g_forever = false;
}

int main(int argc, char * argv[])
{
	signal(SIGABRT, &sighandler);
	signal(SIGTERM, &sighandler);
	signal(SIGINT, &sighandler);

	ULogger::setType(ULogger::kTypeConsole);
	ULogger::setLevel(ULogger::kWarning);

	ParametersMap parameters;
	std::string path;
	std::string output;
	std::string outputName = "rtabmap";
	std::string seq;
	bool disp = false;
	bool raw = false;
	bool exposureCompensation = false;
	bool quiet = false;
	int imuFilter = 1;
	if(argc < 2)
	{
		showUsage();
	}
	else
	{
		for(int i=1; i<argc; ++i)
		{
			if(std::strcmp(argv[i], "--output") == 0)
			{
				output = argv[++i];
			}
			else if(std::strcmp(argv[i], "--output_name") == 0)
			{
				outputName = argv[++i];
			}
			else if(std::strcmp(argv[i], "--quiet") == 0)
			{
				quiet = true;
			}
			else if(std::strcmp(argv[i], "--disp") == 0)
			{
				disp = true;
			}
			else if(std::strcmp(argv[i], "--raw") == 0)
			{
				raw = true;
			}
			else if(std::strcmp(argv[i], "--imu") == 0)
			{
				imuFilter = atoi(argv[++i]);
			}
			else if(std::strcmp(argv[i], "--exposure_comp") == 0)
			{
				exposureCompensation = true;
			}
		}
		parameters = Parameters::parseArguments(argc, argv);
		path = argv[argc-1];
		path = uReplaceChar(path, '~', UDirectory::homeDir());
		path = uReplaceChar(path, '\\', '/');
		if(output.empty())
		{
			output = path;
		}
		else
		{
			output = uReplaceChar(output, '~', UDirectory::homeDir());
			UDirectory::makeDir(output);
		}
		parameters.insert(ParametersPair(Parameters::kRtabmapWorkingDirectory(), output));
		parameters.insert(ParametersPair(Parameters::kRtabmapPublishRAMUsage(), "true"));
		if(raw)
		{
			parameters.insert(ParametersPair(Parameters::kRtabmapImagesAlreadyRectified(), "false"));
		}
	}

	seq = uSplit(path, '/').back();
	std::string pathLeftImages  = path+"/mav0/cam0/data";
	std::string pathRightImages = path+"/mav0/cam1/data";
	std::string pathCalibLeft = path+"/mav0/cam0/sensor.yaml";
	std::string pathCalibRight = path+"/mav0/cam1/sensor.yaml";
	std::string pathGt = path+"/mav0/state_groundtruth_estimate0/data.csv";
	std::string pathImu = path+"/mav0/imu0/data.csv";
	if(!UFile::exists(pathGt))
	{
		UWARN("Ground truth file path doesn't exist: \"%s\", benchmark values won't be computed.", pathGt.c_str());
		pathGt.clear();
	}

	printf("Paths:\n"
			"   Sequence number:  %s\n"
			"   Sequence path:    %s\n"
			"   Output:           %s\n"
			"   Output name:      %s\n"
			"   left images:      %s\n"
			"   right images:     %s\n"
			"   left calib:       %s\n"
			"   right calib:      %s\n",
			seq.c_str(),
			path.c_str(),
			output.c_str(),
			outputName.c_str(),
			pathLeftImages.c_str(),
			pathRightImages.c_str(),
			pathCalibLeft.c_str(),
			pathCalibRight.c_str());
	if(!pathGt.empty())
	{
		printf("   Ground truth:     %s\n", pathGt.c_str());
	}
	if(!pathImu.empty())
	{
		printf("   IMU:              %s\n", pathImu.c_str());
		printf("   IMU Filter:       %d\n", imuFilter);
	}

	printf("   Exposure Compensation: %s\n", exposureCompensation?"true":"false");
	printf("   Disparity:        %s\n", disp?"true":"false");
	printf("   Raw images:       %s\n", raw?"true (Rtabmap/ImagesAlreadyRectified set to false)":"false");

	if(!parameters.empty())
	{
		printf("Parameters:\n");
		for(ParametersMap::iterator iter=parameters.begin(); iter!=parameters.end(); ++iter)
		{
			printf("   %s=%s\n", iter->first.c_str(), iter->second.c_str());
		}
	}
	printf("RTAB-Map version: %s\n", RTABMAP_VERSION);

	std::vector<CameraModel> models;
	int rateHz = 20;
	for(int k=0; k<2; ++k)
	{
		// Left calibration
		std::string calibPath = k==0?pathCalibLeft:pathCalibRight;
		YAML::Node config = YAML::LoadFile(calibPath);
		if(config.IsNull())
		{
			UERROR("Cannot open calibration file \"%s\"", calibPath.c_str());
			return -1;
		}

		YAML::Node T_BS = config["T_BS"];
		YAML::Node data = T_BS["data"];
		UASSERT(data.size() == 16);
		rateHz = config["rate_hz"].as<int>();
		YAML::Node resolution = config["resolution"];
		UASSERT(resolution.size() == 2);
		YAML::Node intrinsics = config["intrinsics"];
		UASSERT(intrinsics.size() == 4);
		YAML::Node distortion_coefficients = config["distortion_coefficients"];
		UASSERT(distortion_coefficients.size() == 4 || distortion_coefficients.size() == 5 || distortion_coefficients.size() == 8);

		cv::Mat K = cv::Mat::eye(3, 3, CV_64FC1);
		K.at<double>(0,0) = intrinsics[0].as<double>();
		K.at<double>(1,1) = intrinsics[1].as<double>();
		K.at<double>(0,2) = intrinsics[2].as<double>();
		K.at<double>(1,2) = intrinsics[3].as<double>();
		cv::Mat R = cv::Mat::eye(3, 3, CV_64FC1);
		cv::Mat P = cv::Mat::zeros(3, 4, CV_64FC1);
		K.copyTo(cv::Mat(P, cv::Range(0,3), cv::Range(0,3)));

		cv::Mat D = cv::Mat::zeros(1, distortion_coefficients.size(), CV_64FC1);
		for(unsigned int i=0; i<distortion_coefficients.size(); ++i)
		{
			D.at<double>(i) = distortion_coefficients[i].as<double>();
		}

		Transform t(data[0].as<float>(), data[1].as<float>(), data[2].as<float>(), data[3].as<float>(),
					data[4].as<float>(), data[5].as<float>(), data[6].as<float>(), data[7].as<float>(),
					data[8].as<float>(), data[9].as<float>(), data[10].as<float>(), data[11].as<float>());

		models.push_back(CameraModel(outputName+"_calib", cv::Size(resolution[0].as<int>(),resolution[1].as<int>()), K, D, R, P, t));
		UASSERT(models.back().isValidForRectification());
	}

	int odomStrategy = Parameters::defaultOdomStrategy();
	Parameters::parse(parameters, Parameters::kOdomStrategy(), odomStrategy);

	StereoCameraModel model(outputName+"_calib", models[0], models[1], models[1].localTransform().inverse() * models[0].localTransform());
	if(!model.save(output, false))
	{
		UERROR("Could not save calibration!");
		return -1;
	}
	printf("Saved calibration \"%s\" to \"%s\"\n", (outputName+"_calib").c_str(), output.c_str());


	if(quiet)
	{
		ULogger::setLevel(ULogger::kError);
	}

	// We use CameraThread only to use postUpdate() method
	Transform baseToImu(0,0,1,0, 0,-1,0,0, 1,0,0,0);
	SensorCaptureThread cameraThread(new
		CameraStereoImages(
				pathLeftImages,
				pathRightImages,
				!raw,
				0.0f,
				baseToImu*models[0].localTransform()*CameraModel::opticalRotation().inverse()), parameters);
	printf("baseToImu=%s\n", baseToImu.prettyPrint().c_str());
	std::cout<<"baseToCam0:\n" << baseToImu*models[0].localTransform()*CameraModel::opticalRotation().inverse() << std::endl;
	printf("baseToCam0=%s\n", (baseToImu*models[0].localTransform()*CameraModel::opticalRotation().inverse()).prettyPrint().c_str());
	printf("imuToCam0=%s\n", models[0].localTransform().prettyPrint().c_str());
	printf("imuToCam1=%s\n", models[1].localTransform().prettyPrint().c_str());
	((CameraStereoImages*)cameraThread.camera())->setTimestamps(true, "", false);
	if(exposureCompensation)
	{
		cameraThread.setStereoExposureCompensation(true);
	}
	if(disp)
	{
		cameraThread.setStereoToDepth(true);
	}
	if(!pathGt.empty())
	{
		((CameraStereoImages*)cameraThread.camera())->setGroundTruthPath(pathGt, 9);
	}

	float detectionRate = Parameters::defaultRtabmapDetectionRate();
	bool intermediateNodes = Parameters::defaultRtabmapCreateIntermediateNodes();
	Parameters::parse(parameters, Parameters::kRtabmapDetectionRate(), detectionRate);
	Parameters::parse(parameters, Parameters::kRtabmapCreateIntermediateNodes(), intermediateNodes);

	int mapUpdate = rateHz / detectionRate;
	if(mapUpdate < 1)
	{
		mapUpdate = 1;
	}

	std::string databasePath = output+"/"+outputName+".db";
	UFile::erase(databasePath);
	if(cameraThread.camera()->init(output, outputName+"_calib"))
	{
		int totalImages = (int)((CameraStereoImages*)cameraThread.camera())->filenames().size();

		printf("Processing %d images...\n", totalImages);

		ParametersMap odomParameters = parameters;
		odomParameters.erase(Parameters::kRtabmapPublishRAMUsage()); // as odometry is in the same process than rtabmap, don't get RAM usage in odometry.
		Odometry * odom = Odometry::create(odomParameters);

		std::ifstream imu_file;

		// open the IMU file
		std::string line;
		imu_file.open(pathImu.c_str());
		if (!imu_file.good()) {
			UERROR("no imu file found at %s",pathImu.c_str());
			return -1;
		}
		int number_of_lines = 0;
		while (std::getline(imu_file, line))
			++number_of_lines;
		printf("No. IMU measurements: %d\n", number_of_lines-1);
		if (number_of_lines - 1 <= 0) {
			UERROR("no imu messages present in %s", pathImu.c_str());
			return -1;
		}
		// set reading position to second line
		imu_file.clear();
		imu_file.seekg(0, std::ios::beg);
		std::getline(imu_file, line);

		if(odomStrategy == Odometry::kTypeMSCKF)
		{
			if(seq.compare("MH_01_easy") == 0)
			{
				printf("MH_01_easy detected with MSCFK odometry, ignoring first moving 440 images...\n");
				((CameraStereoImages*)cameraThread.camera())->setStartIndex(440);
			}
			else if(seq.compare("MH_02_easy") == 0)
			{
				printf("MH_02_easy detected with MSCFK odometry, ignoring first moving 525 images...\n");
				((CameraStereoImages*)cameraThread.camera())->setStartIndex(525);
			}
			else if(seq.compare("MH_03_medium") == 0)
			{
				printf("MH_03_medium detected with MSCFK odometry, ignoring first moving 210 images...\n");
				((CameraStereoImages*)cameraThread.camera())->setStartIndex(210);
			}
			else if(seq.compare("MH_04_difficult") == 0)
			{
				printf("MH_04_difficult detected with MSCFK odometry, ignoring first moving 250 images...\n");
				((CameraStereoImages*)cameraThread.camera())->setStartIndex(250);
			}
			else if(seq.compare("MH_05_difficult") == 0)
			{
				printf("MH_05_difficult detected with MSCFK odometry, ignoring first moving 310 images...\n");
				((CameraStereoImages*)cameraThread.camera())->setStartIndex(310);
			}
		}

		cameraThread.enableIMUFiltering(imuFilter, parameters);

		Rtabmap rtabmap;
		rtabmap.init(parameters, databasePath);

		UTimer totalTime;
		UTimer timer;
		SensorCaptureInfo cameraInfo;
		UDEBUG("");
		SensorData data = cameraThread.camera()->takeData(&cameraInfo);
		UDEBUG("");
		int iteration = 0;
		double start = data.stamp();

		/////////////////////////////
		// Processing dataset begin
		/////////////////////////////
		cv::Mat covariance;
		int odomKeyFrames = 0;
		while(data.isValid() && g_forever)
		{
			UDEBUG("");
			// get all IMU measurements till then
			double t_imu = start;
			do {
				std::string line;
				if (!std::getline(imu_file, line)) {
					std::cout << std::endl << "Finished parsing IMU." << std::endl << std::flush;
					break;
				}

				std::stringstream stream(line);
				std::string s;
				std::getline(stream, s, ',');
				std::string nanoseconds = s.substr(s.size() - 9, 9);
				std::string seconds = s.substr(0, s.size() - 9);

				cv::Vec3d gyr;
				for (int j = 0; j < 3; ++j) {
					std::getline(stream, s, ',');
					gyr[j] = uStr2Double(s);
				}

				cv::Vec3d acc;
				for (int j = 0; j < 3; ++j) {
					std::getline(stream, s, ',');
					acc[j] = uStr2Double(s);
				}

				t_imu = double(uStr2Int(seconds)) + double(uStr2Int(nanoseconds))*1e-9;

				if (t_imu - start + 1 > 0) {

					SensorData dataImu(IMU(gyr, cv::Mat(3,3,CV_64FC1), acc, cv::Mat(3,3,CV_64FC1), baseToImu), 0, t_imu);
					cameraThread.postUpdate(&dataImu);
					odom->process(dataImu);
				}

			} while (t_imu <= data.stamp());


			cameraThread.postUpdate(&data, &cameraInfo);
			cameraInfo.timeTotal = timer.ticks();

			OdometryInfo odomInfo;
			UDEBUG("");
			Transform pose = odom->process(data, &odomInfo);
			UDEBUG("");

			if(odomInfo.keyFrameAdded)
			{
				++odomKeyFrames;
			}

			if(odomStrategy == Odometry::kTypeFovis)
			{
				//special case for FOVIS, set covariance 1 if 9999 is detected
				if(!odomInfo.reg.covariance.empty() && odomInfo.reg.covariance.at<double>(0,0) >= 9999)
				{
					odomInfo.reg.covariance = cv::Mat::eye(6,6,CV_64FC1);
				}
			}

			bool processData = true;
			if(iteration % mapUpdate != 0)
			{
				// set negative id so rtabmap will detect it as an intermediate node
				data.setId(-1);
				data.setFeatures(std::vector<cv::KeyPoint>(), std::vector<cv::Point3f>(), cv::Mat());// remove features
				processData = intermediateNodes;
			}
			if(covariance.empty() || odomInfo.reg.covariance.at<double>(0,0) > covariance.at<double>(0,0))
			{
				covariance = odomInfo.reg.covariance;
			}

			timer.restart();
			if(processData)
			{
				std::map<std::string, float> externalStats;
				// save camera statistics to database
				externalStats.insert(std::make_pair("Camera/BilateralFiltering/ms", cameraInfo.timeBilateralFiltering*1000.0f));
				externalStats.insert(std::make_pair("Camera/Capture/ms", cameraInfo.timeCapture*1000.0f));
				externalStats.insert(std::make_pair("Camera/Disparity/ms", cameraInfo.timeDisparity*1000.0f));
				externalStats.insert(std::make_pair("Camera/ImageDecimation/ms", cameraInfo.timeImageDecimation*1000.0f));
				externalStats.insert(std::make_pair("Camera/Mirroring/ms", cameraInfo.timeMirroring*1000.0f));
				externalStats.insert(std::make_pair("Camera/HistogramEqualization/ms", cameraInfo.timeHistogramEqualization*1000.0f));
				externalStats.insert(std::make_pair("Camera/ExposureCompensation/ms", cameraInfo.timeStereoExposureCompensation*1000.0f));
				externalStats.insert(std::make_pair("Camera/ScanFromDepth/ms", cameraInfo.timeScanFromDepth*1000.0f));
				externalStats.insert(std::make_pair("Camera/TotalTime/ms", cameraInfo.timeTotal*1000.0f));
				externalStats.insert(std::make_pair("Camera/UndistortDepth/ms", cameraInfo.timeUndistortDepth*1000.0f));
				// save odometry statistics to database
				externalStats.insert(std::make_pair("Odometry/LocalBundle/ms", odomInfo.localBundleTime*1000.0f));
				externalStats.insert(std::make_pair("Odometry/LocalBundleConstraints/", odomInfo.localBundleConstraints));
				externalStats.insert(std::make_pair("Odometry/LocalBundleOutliers/", odomInfo.localBundleOutliers));
				externalStats.insert(std::make_pair("Odometry/TotalTime/ms", odomInfo.timeEstimation*1000.0f));
				externalStats.insert(std::make_pair("Odometry/Registration/ms", odomInfo.reg.totalTime*1000.0f));
				externalStats.insert(std::make_pair("Odometry/Inliers/", odomInfo.reg.inliers));
				externalStats.insert(std::make_pair("Odometry/Features/", odomInfo.features));
				externalStats.insert(std::make_pair("Odometry/DistanceTravelled/m", odomInfo.distanceTravelled));
				externalStats.insert(std::make_pair("Odometry/KeyFrameAdded/", odomInfo.keyFrameAdded));
				externalStats.insert(std::make_pair("Odometry/LocalKeyFrames/", odomInfo.localKeyFrames));
				externalStats.insert(std::make_pair("Odometry/LocalMapSize/", odomInfo.localMapSize));
				externalStats.insert(std::make_pair("Odometry/LocalScanMapSize/", odomInfo.localScanMapSize));

				OdometryEvent e(SensorData(), Transform(), odomInfo);
				rtabmap.process(data, pose, covariance, e.velocity(), externalStats);
				covariance = cv::Mat();
			}

			++iteration;
			if(!quiet || iteration == totalImages)
			{
				double slamTime = timer.ticks();

				float rmse = -1;
				if(rtabmap.getStatistics().data().find(Statistics::kGtTranslational_rmse()) != rtabmap.getStatistics().data().end())
				{
					rmse = rtabmap.getStatistics().data().at(Statistics::kGtTranslational_rmse());
				}

				if(data.keypoints().size() == 0 && data.laserScanRaw().size())
				{
					if(rmse >= 0.0f)
					{
						printf("Iteration %d/%d: camera=%dms, odom(quality=%f, kfs=%d)=%dms, slam=%dms, rmse=%fm",
								iteration, totalImages, int(cameraInfo.timeTotal*1000.0f), odomInfo.reg.icpInliersRatio, odomKeyFrames, int(odomInfo.timeEstimation*1000.0f), int(slamTime*1000.0f), rmse);
					}
					else
					{
						printf("Iteration %d/%d: camera=%dms, odom(quality=%f, kfs=%d)=%dms, slam=%dms",
								iteration, totalImages, int(cameraInfo.timeTotal*1000.0f), odomInfo.reg.icpInliersRatio, odomKeyFrames, int(odomInfo.timeEstimation*1000.0f), int(slamTime*1000.0f));
					}
				}
				else
				{
					if(rmse >= 0.0f)
					{
						printf("Iteration %d/%d: camera=%dms, odom(quality=%d/%d, kfs=%d)=%dms, slam=%dms, rmse=%fm",
								iteration, totalImages, int(cameraInfo.timeTotal*1000.0f), odomInfo.reg.inliers, odomInfo.features, odomKeyFrames, int(odomInfo.timeEstimation*1000.0f), int(slamTime*1000.0f), rmse);
					}
					else
					{
						printf("Iteration %d/%d: camera=%dms, odom(quality=%d/%d, kfs=%d)=%dms, slam=%dms",
								iteration, totalImages, int(cameraInfo.timeTotal*1000.0f), odomInfo.reg.inliers, odomInfo.features, odomKeyFrames, int(odomInfo.timeEstimation*1000.0f), int(slamTime*1000.0f));
					}
				}
				if(processData && rtabmap.getLoopClosureId()>0)
				{
					printf(" *");
				}
				printf("\n");
			}
			else if(iteration % (totalImages/10) == 0)
			{
				printf(".");
				fflush(stdout);
			}

			cameraInfo = SensorCaptureInfo();
			timer.restart();
			data = cameraThread.camera()->takeData(&cameraInfo);
		}
		delete odom;
		printf("Total time=%fs\n", totalTime.ticks());
		/////////////////////////////
		// Processing dataset end
		/////////////////////////////

		// Save trajectory
		printf("Saving trajectory ...\n");
		std::map<int, Transform> poses;
		std::map<int, Transform> vo_poses;
		std::multimap<int, Link> links;
		std::map<int, Signature> signatures;
		std::map<int, double> stamps;
		rtabmap.getGraph(vo_poses, links, false, true);
		links.clear();
		rtabmap.getGraph(poses, links, true, true, &signatures);
		for(std::map<int, Signature>::iterator iter=signatures.begin(); iter!=signatures.end(); ++iter)
		{
			stamps.insert(std::make_pair(iter->first, iter->second.getStamp()));
		}
		std::string pathTrajectory = output+"/"+outputName+"_poses.txt";
		if(poses.size() && graph::exportPoses(pathTrajectory, 2, poses, links))
		{
			printf("Saving %s... done!\n", pathTrajectory.c_str());
		}
		else
		{
			printf("Saving %s... failed!\n", pathTrajectory.c_str());
		}

		if(!pathGt.empty())
		{
			// Log ground truth statistics
			std::map<int, Transform> groundTruth;

			for(std::map<int, Transform>::const_iterator iter=poses.begin(); iter!=poses.end(); ++iter)
			{
				Transform o, gtPose;
				int m,w;
				std::string l;
				double s;
				std::vector<float> v;
				GPS gps;
				EnvSensors sensors;
				rtabmap.getMemory()->getNodeInfo(iter->first, o, m, w, l, s, gtPose, v, gps, sensors, true);
				if(!gtPose.isNull())
				{
					groundTruth.insert(std::make_pair(iter->first, gtPose));
				}
			}

			// compute RMSE statistics
			float translational_rmse = 0.0f;
			float translational_mean = 0.0f;
			float translational_median = 0.0f;
			float translational_std = 0.0f;
			float translational_min = 0.0f;
			float translational_max = 0.0f;
			float rotational_rmse = 0.0f;
			float rotational_mean = 0.0f;
			float rotational_median = 0.0f;
			float rotational_std = 0.0f;
			float rotational_min = 0.0f;
			float rotational_max = 0.0f;
			// vo performance
			graph::calcRMSE(
					groundTruth,
					vo_poses,
					translational_rmse,
					translational_mean,
					translational_median,
					translational_std,
					translational_min,
					translational_max,
					rotational_rmse,
					rotational_mean,
					rotational_median,
					rotational_std,
					rotational_min,
					rotational_max);
			float translational_rmse_vo = translational_rmse;
			float rotational_rmse_vo = rotational_rmse;
			// SLAM performance
			graph::calcRMSE(
					groundTruth,
					poses,
					translational_rmse,
					translational_mean,
					translational_median,
					translational_std,
					translational_min,
					translational_max,
					rotational_rmse,
					rotational_mean,
					rotational_median,
					rotational_std,
					rotational_min,
					rotational_max);

			printf("   translational_rmse=   %f m   (vo = %f m)\n", translational_rmse, translational_rmse_vo);
			printf("   rotational_rmse=      %f deg (vo = %f deg)\n", rotational_rmse, rotational_rmse_vo);

			FILE * pFile = 0;
			std::string pathErrors = output+"/"+outputName+"_rmse.txt";
			pFile = fopen(pathErrors.c_str(),"w");
			if(!pFile)
			{
				UERROR("could not save RMSE results to \"%s\"", pathErrors.c_str());
			}
			fprintf(pFile, "Ground truth comparison:\n");
			fprintf(pFile, "  translational_rmse=   %f\n", translational_rmse);
			fprintf(pFile, "  translational_mean=   %f\n", translational_mean);
			fprintf(pFile, "  translational_median= %f\n", translational_median);
			fprintf(pFile, "  translational_std=    %f\n", translational_std);
			fprintf(pFile, "  translational_min=    %f\n", translational_min);
			fprintf(pFile, "  translational_max=    %f\n", translational_max);
			fprintf(pFile, "  rotational_rmse=      %f\n", rotational_rmse);
			fprintf(pFile, "  rotational_mean=      %f\n", rotational_mean);
			fprintf(pFile, "  rotational_median=    %f\n", rotational_median);
			fprintf(pFile, "  rotational_std=       %f\n", rotational_std);
			fprintf(pFile, "  rotational_min=       %f\n", rotational_min);
			fprintf(pFile, "  rotational_max=       %f\n", rotational_max);
			fclose(pFile);
		}
	}
	else
	{
		UERROR("Camera init failed!");
	}

	printf("Saving rtabmap database (with all statistics) to \"%s\"\n", (output+"/"+outputName+".db").c_str());
	printf("Do:\n"
			" $ rtabmap-databaseViewer %s\n\n", (output+"/"+outputName+".db").c_str());

	return 0;
}