Frontend.hpp

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/*********************************************************************************
 *  OKVIS - Open Keyframe-based Visual-Inertial SLAM
 *  Copyright (c) 2015, Autonomous Systems Lab / ETH Zurich
 *
 *  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 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
 *  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 *  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER 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
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 *  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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 *
 *  Created on: Mar 27, 2015
 *      Author: Andreas Forster (an.forster@gmail.com)
 *    Modified: Stefan Leutenegger (s.leutenegger@imperial.ac.uk)
 *********************************************************************************/

#ifndef INCLUDE_OKVIS_FRONTEND_HPP_
#define INCLUDE_OKVIS_FRONTEND_HPP_

#include <mutex>
#include <okvis/assert_macros.hpp>
#include <okvis/Estimator.hpp>
#include <okvis/VioFrontendInterface.hpp>
#include <okvis/timing/Timer.hpp>
#include <okvis/DenseMatcher.hpp>

namespace okvis {

class Frontend : public VioFrontendInterface {
 public:
  OKVIS_DEFINE_EXCEPTION(Exception, std::runtime_error)

#ifdef DEACTIVATE_TIMERS
  typedef okvis::timing::DummyTimer TimerSwitchable;
#else
  typedef okvis::timing::Timer TimerSwitchable;
#endif

  Frontend(size_t numCameras);
  virtual ~Frontend() {
  }


  virtual bool detectAndDescribe(size_t cameraIndex,
                                 std::shared_ptr<okvis::MultiFrame> frameOut,
                                 const okvis::kinematics::Transformation& T_WC,
                                 const std::vector<cv::KeyPoint> * keypoints);

  virtual bool dataAssociationAndInitialization(
      okvis::Estimator& estimator,
      okvis::kinematics::Transformation& T_WS_propagated,
      const okvis::VioParameters & params,
      const std::shared_ptr<okvis::MapPointVector> map,
      std::shared_ptr<okvis::MultiFrame> framesInOut, bool* asKeyframe);

  virtual bool propagation(const okvis::ImuMeasurementDeque & imuMeasurements,
                           const okvis::ImuParameters & imuParams,
                           okvis::kinematics::Transformation& T_WS_propagated,
                           okvis::SpeedAndBias & speedAndBiases,
                           const okvis::Time& t_start, const okvis::Time& t_end,
                           Eigen::Matrix<double, 15, 15>* covariance,
                           Eigen::Matrix<double, 15, 15>* jacobian) const;


  size_t getBriskDetectionOctaves() const {
    return briskDetectionOctaves_;
  }

  double getBriskDetectionThreshold() const {
    return briskDetectionThreshold_;
  }

  double getBriskDetectionAbsoluteThreshold() const {
    return briskDetectionAbsoluteThreshold_;
  }

  size_t getBriskDetectionMaximumKeypoints() const {
    return briskDetectionMaximumKeypoints_;
  }


  bool getBriskDescriptionRotationInvariance() const {
    return briskDescriptionRotationInvariance_;
  }

  bool getBriskDescriptionScaleInvariance() const {
    return briskDescriptionScaleInvariance_;
  }


  double getBriskMatchingThreshold() const {
    return briskMatchingThreshold_;
  }

  float getKeyframeInsertionOverlapThershold() const {
    return keyframeInsertionOverlapThreshold_;
  }

  float getKeyframeInsertionMatchingRatioThreshold() const {
    return keyframeInsertionMatchingRatioThreshold_;
  }

  bool isInitialized() {
    return isInitialized_;
  }


  void setBriskDetectionOctaves(size_t octaves) {
    briskDetectionOctaves_ = octaves;
    initialiseBriskFeatureDetectors();
  }

  void setBriskDetectionThreshold(double threshold) {
    briskDetectionThreshold_ = threshold;
    initialiseBriskFeatureDetectors();
  }

  void setBriskDetectionAbsoluteThreshold(double threshold) {
    briskDetectionAbsoluteThreshold_ = threshold;
    initialiseBriskFeatureDetectors();
  }

  void setBriskDetectionMaximumKeypoints(size_t maxKeypoints) {
    briskDetectionMaximumKeypoints_ = maxKeypoints;
    initialiseBriskFeatureDetectors();
  }


  void setBriskDescriptionRotationInvariance(bool invariance) {
    briskDescriptionRotationInvariance_ = invariance;
    initialiseBriskFeatureDetectors();
  }

  void setBriskDescriptionScaleInvariance(bool invariance) {
    briskDescriptionScaleInvariance_ = invariance;
    initialiseBriskFeatureDetectors();
  }


  void setBriskMatchingThreshold(double threshold) {
    briskMatchingThreshold_ = threshold;
  }

  void setKeyframeInsertionOverlapThreshold(float threshold) {
    keyframeInsertionOverlapThreshold_ = threshold;
  }

  void setKeyframeInsertionMatchingRatioThreshold(float threshold) {
    keyframeInsertionMatchingRatioThreshold_ = threshold;
  }


 private:

  std::vector<std::shared_ptr<cv::FeatureDetector> > featureDetectors_;
  std::vector<std::shared_ptr<cv::DescriptorExtractor> > descriptorExtractors_;
  std::vector<std::unique_ptr<std::mutex> > featureDetectorMutexes_;

  bool isInitialized_;        
  const size_t numCameras_;   


  size_t briskDetectionOctaves_;            
  double briskDetectionThreshold_;          
  double briskDetectionAbsoluteThreshold_;  
  size_t briskDetectionMaximumKeypoints_;   


  bool briskDescriptionRotationInvariance_; 
  bool briskDescriptionScaleInvariance_;    


  double briskMatchingThreshold_; 


  std::unique_ptr<okvis::DenseMatcher> matcher_; 

  float keyframeInsertionOverlapThreshold_;  //0.6
  float keyframeInsertionMatchingRatioThreshold_;  //0.2

  bool doWeNeedANewKeyframe(const okvis::Estimator& estimator,
                            std::shared_ptr<okvis::MultiFrame> currentFrame);  // based on some overlap area heuristics

  template<class MATCHING_ALGORITHM>
  int matchToKeyframes(okvis::Estimator& estimator,
                       const okvis::VioParameters& params,
                       const uint64_t currentFrameId, bool& rotationOnly,
                       bool usePoseUncertainty = true,
                       double* uncertainMatchFraction = 0,
                       bool removeOutliers = true);  // for wide-baseline matches (good initial guess)

  template<class MATCHING_ALGORITHM>
  int matchToLastFrame(okvis::Estimator& estimator,
                       const okvis::VioParameters& params,
                       const uint64_t currentFrameId,
                       bool usePoseUncertainty = true,
                       bool removeOutliers = true);

  template<class MATCHING_ALGORITHM>
  void matchStereo(okvis::Estimator& estimator,
                   std::shared_ptr<okvis::MultiFrame> multiFrame);

  int runRansac3d2d(okvis::Estimator& estimator,
                    const okvis::cameras::NCameraSystem &nCameraSystem,
                    std::shared_ptr<okvis::MultiFrame> currentFrame,
                    bool removeOutliers);

  int runRansac2d2d(okvis::Estimator& estimator,
                    const okvis::VioParameters& params, uint64_t currentFrameId,
                    uint64_t olderFrameId, bool initializePose,
                    bool removeOutliers, bool &rotationOnly);

  void initialiseBriskFeatureDetectors();

};

}  // namespace okvis

#endif // INCLUDE_OKVIS_FRONTEND_HPP_