RTABMapDatabase.hpp

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// SPDX-FileCopyrightText: 2025 Povl Filip Sonne-Frederiksen
//
// SPDX-License-Identifier: GPL-3.0-or-later
#pragma once
 
#include <filesystem>
#include <map>
#include <memory>
#include <vector>
 
#include <opencv2/core/mat.hpp>
 
// Forward declarations to avoid including RTABMap headers
namespace rtabmap {
class Transform;
class Link;
class Signature;
} // namespace rtabmap
 
namespace ReUseX::io {

class RTABMapDatabase {
public:
    explicit RTABMapDatabase(std::filesystem::path dbPath, bool readOnly = false);

    ~RTABMapDatabase();
 
    // Non-copyable (RAII resource management)
    RTABMapDatabase(const RTABMapDatabase&) = delete;
    RTABMapDatabase& operator=(const RTABMapDatabase&) = delete;
 
    // Movable
    RTABMapDatabase(RTABMapDatabase&&) noexcept;
    RTABMapDatabase& operator=(RTABMapDatabase&&) noexcept;
 
    // --- Core Database Operations ---

    bool isOpen() const noexcept;

    const std::filesystem::path& getPath() const noexcept;

    void validateSchema() const;
 
    // --- Node Operations ---

    std::vector<int> getNodeIds(bool ignoreChildren = false) const;

    cv::Mat getImage(int nodeId) const;
 
    // --- Graph Operations ---

    void getGraph(
        std::map<int, rtabmap::Transform>& poses,
        std::multimap<int, rtabmap::Link>& links,
        std::map<int, rtabmap::Signature>* signatures = nullptr,
        bool optimized = true,
        bool withImages = false,
        bool withScan = false) const;
 
    // --- Segmentation Table Operations ---

    bool hasSegmentation(int nodeId) const;

    cv::Mat getLabels(int nodeId) const;

    void saveLabels(int nodeId, const cv::Mat& labels, bool autoRotate = true);

    void saveLabels(const std::vector<int>& nodeIds,
                   const std::vector<cv::Mat>& labels,
                   bool autoRotate = true);
 
private:
    // Pimpl idiom to hide RTABMap dependencies
    class Impl;
    std::unique_ptr<Impl> impl_;
};
 
} // namespace ReUseX::io