DenseMatcher.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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 *     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"
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 *  Created on: 
 *      Author: Simon Lynen
 *    Modified: Stefan Leutenegger (s.leutenegger@imperial.ac.uk)
 *********************************************************************************/

#ifndef INCLUDE_OKVIS_DENSEMATCHER_HPP_
#define INCLUDE_OKVIS_DENSEMATCHER_HPP_

#include <algorithm>
#include <memory>
#include <mutex>

#include <okvis/MatchingAlgorithm.hpp>

#include <okvis/assert_macros.hpp>
#include "ThreadPool.hpp"

namespace okvis {

class DenseMatcher {
 public:
  OKVIS_DEFINE_EXCEPTION(Exception, std::runtime_error)
  typedef std::shared_ptr<DenseMatcher> Ptr;
  DenseMatcher(unsigned char numMatcherThreads = 8, unsigned char numBest = 4,
               bool useDistanceRatioThreshold = false);

  virtual ~DenseMatcher();

  template<typename MATCHING_ALGORITHM_T>
  void match(MATCHING_ALGORITHM_T & matchingAlgorithm);

  template<typename MATCHING_ALGORITHM_T>
  void matchInImageSpace(MATCHING_ALGORITHM_T & matchingAlgorithm);

  void matchSlow(MatchingAlgorithm & matchingAlgorithm);

  typedef float distance_t;

  struct Pairing {
    Pairing()
        : indexA(-1),
          distance(std::numeric_limits<float>::max()) {
    }
    Pairing(int ia)
        : indexA(ia),
          distance(std::numeric_limits<float>::max()) {
    }
    Pairing(int ia, distance_t d)
        : indexA(ia),
          distance(d) {
    }

    bool operator<(const Pairing & rhs) const {
      return distance < rhs.distance;
    }

    int indexA; 
    distance_t distance; 
  };

  typedef DenseMatcher::Pairing pairing_t;
  typedef std::vector<pairing_t> pairing_list_t;

  struct MatchJob {

    //convenience, to make clear what is meant
    typedef DenseMatcher::pairing_t pairing_t;
    typedef std::vector<pairing_t> pairing_list_t;

    std::vector<std::vector<pairing_t> > * vMyBest;

    int iThreadID;

    DenseMatcher::pairing_list_t * vpairs;

    std::mutex* mutexes;
  };

  template<typename MATCHING_ALGORITHM_T>
  void matchBody(
      void (DenseMatcher::*doWorkPtr)(MatchJob&, MATCHING_ALGORITHM_T*),
      MATCHING_ALGORITHM_T& matchingAlgorithm);

  template<typename MATCHING_ALGORITHM_T>
  void doWorkLinearMatching(MatchJob & my_job,
                            MATCHING_ALGORITHM_T* matchingAlgorithm);

  template<typename MATCHING_ALGORITHM_T>
  void doWorkImageSpaceMatching(MatchJob & my_job,
                                MATCHING_ALGORITHM_T* matchingAlgorithm);

  void assignbest(int myIndexScored, pairing_list_t & vPairsWithScore,
                  std::vector<std::vector<pairing_t> > & aiBestList,
                  std::mutex* locks, int startidx);

  template<typename MATCHING_ALGORITHM_T>
  inline void listBIteration(MATCHING_ALGORITHM_T* matchingAlgorithm,
                             std::vector<pairing_t>& aiBest, size_t shortindexA,
                             size_t i);

  unsigned char numMatcherThreads_; 
  unsigned char numBest_;           
  bool useDistanceRatioThreshold_;  

  std::unique_ptr<okvis::ThreadPool> matcherThreadPool_;  
};

}  // namespace okvis

#include "implementation/DenseMatcher.hpp"

#endif /* INCLUDE_OKVIS_DENSEMATCHER_HPP_ */