MultiFrame.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 30, 2015
 *      Author: Stefan Leutenegger (s.leutenegger@imperial.ac.uk)
 *    Modified: Andreas Forster (an.forster@gmail.com)
 *********************************************************************************/

#ifndef INCLUDE_OKVIS_MULTIFRAME_HPP_
#define INCLUDE_OKVIS_MULTIFRAME_HPP_

#include <memory>
#include <okvis/assert_macros.hpp>
#include <okvis/Frame.hpp>
#include <okvis/cameras/NCameraSystem.hpp>

namespace okvis {

class MultiFrame
{
 public:

  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  OKVIS_DEFINE_EXCEPTION(Exception,std::runtime_error)

  
  inline MultiFrame();

  inline MultiFrame(const cameras::NCameraSystem & cameraSystem,
                    const okvis::Time & timestamp, uint64_t id = 0);

  inline virtual ~MultiFrame();

  inline void resetCameraSystemAndFrames(
      const cameras::NCameraSystem & cameraSystem);

  inline void setTimestamp(const okvis::Time & timestamp);

  inline void setId(uint64_t id);

  inline const okvis::Time & timestamp() const;

  inline uint64_t id() const;

  inline size_t numFrames() const;

  inline std::shared_ptr<const okvis::kinematics::Transformation> T_SC(
      size_t cameraIdx) const;


  inline void setImage(size_t cameraIdx, const cv::Mat & image);

  inline void setGeometry(
      size_t cameraIdx,
      std::shared_ptr<const cameras::CameraBase> cameraGeometry);

  inline void setDetector(size_t cameraIdx,
                          std::shared_ptr<cv::FeatureDetector> detector);

  inline void setExtractor(
      size_t cameraIdx,
      std::shared_ptr<cv::DescriptorExtractor> extractor);

  inline const cv::Mat & image(size_t cameraIdx) const;

  inline std::shared_ptr<const cameras::CameraBase> geometry(
      size_t cameraIdx) const;

  template<class GEOMETRY_T>
  inline std::shared_ptr<const GEOMETRY_T> geometryAs(size_t cameraIdx) const;

  inline int detect(size_t cameraIdx);

  inline int describe(size_t cameraIdx,
                      const Eigen::Vector3d & extractionDirection =
                          Eigen::Vector3d(0, 0, 1));
  template<class GEOMETRY_T>
  inline int describeAs(size_t cameraIdx,
                        const Eigen::Vector3d & extractionDirection =
                            Eigen::Vector3d(0, 0, 1));

  inline bool getCvKeypoint(size_t cameraIdx, size_t keypointIdx,
                            cv::KeyPoint & keypoint) const;

  inline bool getKeypoint(size_t cameraIdx, size_t keypointIdx,
                          Eigen::Vector2d & keypoint) const;

  inline bool getKeypointSize(size_t cameraIdx, size_t keypointIdx,
                              double & keypointSize) const;

  inline const unsigned char * keypointDescriptor(size_t cameraIdx,
                                                  size_t keypointIdx);

  inline bool setLandmarkId(size_t cameraIdx, size_t keypointIdx,
                            uint64_t landmarkId);

  inline uint64_t landmarkId(size_t cameraIdx, size_t keypointIdx) const;

  inline bool resetKeypoints(size_t cameraIdx,
                             const std::vector<cv::KeyPoint> & keypoints);

  inline bool resetDescriptors(size_t cameraIdx, const cv::Mat & descriptors);

  inline size_t numKeypoints(size_t cameraIdx) const;


  inline size_t numKeypoints() const;

  inline const cv::Mat overlap(size_t cameraIndexSeenBy,
                               size_t cameraIndex) const
  {
    return cameraSystem_.overlap(cameraIndexSeenBy, cameraIndex);
  }

  inline bool hasOverlap(size_t cameraIndexSeenBy, size_t cameraIndex) const
  {
    return cameraSystem_.hasOverlap(cameraIndexSeenBy, cameraIndex);
  }

 protected:
  okvis::Time timestamp_;  
  uint64_t id_;  
  std::vector<Frame, Eigen::aligned_allocator<Frame>> frames_;  
  cameras::NCameraSystem cameraSystem_;  
};

typedef std::shared_ptr<MultiFrame> MultiFramePtr;  

}  // namespace okvis

#include "implementation/MultiFrame.hpp"

#endif /* INCLUDE_OKVIS_MULTIFRAME_HPP_ */