Measurements.hpp

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/*********************************************************************************
 *  OKVIS - Open Keyframe-based Visual-Inertial SLAM
 *  Copyright (c) 2015, Autonomous Systems Lab / ETH Zurich
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 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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 *  Created on: Aug 22, 2014
 *      Author: Stefan Leutenegger (s.leutenegger@imperial.ac.uk)
 *********************************************************************************/

#ifndef INCLUDE_OKVIS_MEASUREMENTS_HPP_
#define INCLUDE_OKVIS_MEASUREMENTS_HPP_

#include <deque>
#include <vector>
#include <memory>
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wnon-virtual-dtor"
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Woverloaded-virtual"
#include <opencv2/opencv.hpp>
#pragma GCC diagnostic pop
#pragma GCC diagnostic pop
#include <Eigen/Dense>
#include <okvis/Time.hpp>
#include <okvis/kinematics/Transformation.hpp>

namespace okvis {
template<class MEASUREMENT_T>
struct Measurement {
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  okvis::Time timeStamp;      
  MEASUREMENT_T measurement;  
  int sensorId = -1;          

  Measurement()
      : timeStamp(0.0) {
  }
  Measurement(const okvis::Time& timeStamp_, const MEASUREMENT_T& measurement_,
              int sensorId = -1)
      : timeStamp(timeStamp_),
        measurement(measurement_),
        sensorId(sensorId) {
  }
};

struct ImuSensorReadings {
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  ImuSensorReadings()
      : gyroscopes(),
        accelerometers() {
  }
  ImuSensorReadings(Eigen::Vector3d gyroscopes_,
                    Eigen::Vector3d accelerometers_)
      : gyroscopes(gyroscopes_),
        accelerometers(accelerometers_) {
  }
  Eigen::Vector3d gyroscopes;     
  Eigen::Vector3d accelerometers; 
};

struct DepthCameraData {
  cv::Mat image;  
  cv::Mat depthImage; 
  std::vector<cv::KeyPoint> keypoints;  
  bool deliversKeypoints; 
};

struct PositionReading {
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  Eigen::Vector3d position;           
  Eigen::Vector3d positionOffset;     
  Eigen::Matrix3d positionCovariance; 
};

struct GpsPositionReading {
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  double lat_wgs84;   
  double lon_wgs84;   
  double alt_wgs84;   
  double geoidSeparation; 
  Eigen::Matrix3d positionCovarianceENU; 
};

struct MagnetometerReading {
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  Eigen::Vector3d fluxDensity;
};

struct BarometerReading {
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  double pressure;    
  double temperature; 
};

struct DifferentialPressureReading {
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  double pressure;  
  Eigen::Vector3d acceleration_B;  
};

// this is how we store raw measurements before more advanced filling into
// data structures happens:
typedef Measurement<ImuSensorReadings> ImuMeasurement;
typedef std::deque<ImuMeasurement, Eigen::aligned_allocator<ImuMeasurement> > ImuMeasurementDeque;
struct CameraData {
  cv::Mat image;  
  std::vector<cv::KeyPoint> keypoints; 
  bool deliversKeypoints; 
};
struct KeypointData {
  std::vector<cv::KeyPoint> keypoints;  
  std::vector<long unsigned int> landmarkIds; 
  cv::Mat descriptors;  
};
struct FrameData {
  typedef std::shared_ptr<okvis::FrameData> Ptr;
  CameraData image; 
  KeypointData keypoints; 
};
typedef Measurement<CameraData> CameraMeasurement;
typedef Measurement<FrameData> FrameMeasurement;
typedef Measurement<DepthCameraData> DepthCameraMeasurement;

typedef Measurement<PositionReading> PositionMeasurement;
typedef std::deque<PositionMeasurement,
    Eigen::aligned_allocator<PositionMeasurement> > PositionMeasurementDeque;

typedef Measurement<GpsPositionReading> GpsPositionMeasurement;
typedef std::deque<GpsPositionMeasurement,
    Eigen::aligned_allocator<GpsPositionMeasurement> > GpsPositionMeasurementDeque;

typedef Measurement<MagnetometerReading> MagnetometerMeasurement;
typedef std::deque<MagnetometerMeasurement,
    Eigen::aligned_allocator<MagnetometerMeasurement> > MagnetometerMeasurementDeque;

typedef Measurement<BarometerReading> BarometerMeasurement;

typedef Measurement<DifferentialPressureReading> DifferentialPressureMeasurement;

typedef Eigen::Matrix<double, 9, 1> SpeedAndBias;

}  // namespace okvis

#endif // INCLUDE_OKVIS_MEASUREMENTS_HPP_