FrameSynchronizer.hpp

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/*********************************************************************************
 *  OKVIS - Open Keyframe-based Visual-Inertial SLAM
 *  Copyright (c) 2015, Autonomous Systems Lab / ETH Zurich
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 *  modification, are permitted provided that the following conditions are met:
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 *   * Redistributions in binary form must reproduce the above copyright notice,
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 *   * Neither the name of Autonomous Systems Lab / ETH Zurich 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
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 *
 *  Created on: Sep 14, 2014
 *      Author: Pascal Gohl
 *    Modified: Stefan Leutenegger (s.leutenegger@imperial.ac.uk)
 *    Modified: Andreas Forster (an.forster@gmail.com)
 *********************************************************************************/

#ifndef INCLUDE_OKVIS_FRAMESYNCHRONIZER_HPP_
#define INCLUDE_OKVIS_FRAMESYNCHRONIZER_HPP_

#include <memory>
#include <okvis/Measurements.hpp>
#include <okvis/MultiFrame.hpp>
#include <okvis/VioInterface.hpp>
#include <okvis/Parameters.hpp>
#include <okvis/assert_macros.hpp>

namespace okvis {

class FrameSynchronizer {
 public:
  OKVIS_DEFINE_EXCEPTION(Exception, std::runtime_error)

  
  FrameSynchronizer(okvis::VioParameters& parameters);

  virtual ~FrameSynchronizer();

  void init(okvis::VioParameters& parameters);

  std::shared_ptr<okvis::MultiFrame> addNewFrame(
      std::shared_ptr<okvis::CameraMeasurement> &frame);

  bool detectionEndedForMultiFrame(uint64_t multiFrameId);

  bool detectionCompletedForAllCameras(uint64_t multiFrameId);

 private:

  bool findFrameByTime(const okvis::Time& timestamp, int& position) const;


  bool findFrameById(uint64_t mfId, int& position) const;

  okvis::VioParameters parameters_;
  size_t numCameras_;
  double timeTol_;
  std::vector<std::pair<std::shared_ptr<okvis::MultiFrame>, size_t> > frameBuffer_;
  int bufferPosition_;

  okvis::Time lastCompletedFrameTimestamp_;
  uint64_t lastCompletedFrameId_;

};

} /* namespace okvis */

#endif /* INCLUDE_OKVIS_FRAMESYNCHRONIZER_HPP_ */