NCameraSystem.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 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
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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_NCAMERASYSTEM_HPP_
#define INCLUDE_OKVIS_NCAMERASYSTEM_HPP_

#include <memory>
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wnon-virtual-dtor"
#include <opencv2/core/core.hpp> // Code that causes warning goes here
#pragma GCC diagnostic pop
#include <okvis/kinematics/Transformation.hpp>
#include <okvis/assert_macros.hpp>
#include "okvis/cameras/CameraBase.hpp"

namespace okvis {
namespace cameras {

class NCameraSystem
{
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  OKVIS_DEFINE_EXCEPTION(Exception,std::runtime_error)

  
  enum DistortionType  {
    Equidistant = 0, 
    RadialTangential = 1, 
    NoDistortion = 2,
    RadialTangential8 = 3 
  };

  inline NCameraSystem();
  inline NCameraSystem(const std::vector<std::shared_ptr<const okvis::kinematics::Transformation>> & T_SC,
                       const std::vector<std::shared_ptr<const cameras::CameraBase>> & cameraGeometries,
                       const std::vector<DistortionType>& distortionTypes,
                       bool computeOverlaps);

  inline virtual ~NCameraSystem();

  inline void reset(const std::vector<std::shared_ptr<const okvis::kinematics::Transformation>> & T_SC,
                    const std::vector<std::shared_ptr<const cameras::CameraBase>> & cameraGeometries,
                    const std::vector<DistortionType>& distortionTypes,
                    bool computeOverlaps);

  inline void addCamera(std::shared_ptr<const okvis::kinematics::Transformation> T_SC,
                        std::shared_ptr<const cameras::CameraBase> cameraGeometry,
                        DistortionType distortionType,
                        bool computeOverlaps = true);

  inline size_t numCameras() const;

  void computeOverlaps();

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

  inline std::shared_ptr<const cameras::CameraBase> cameraGeometry(size_t cameraIndex) const;

  inline DistortionType distortionType(size_t cameraIndex) const;

  inline const cv::Mat overlap(size_t cameraIndexSeenBy,
                                 size_t cameraIndex) const;

  inline bool hasOverlap(size_t cameraIndexSeenBy, size_t cameraIndex) const;

 protected:
  inline bool overlapComputationValid() const;
  std::vector<std::shared_ptr<const okvis::kinematics::Transformation>> T_SC_;  
  std::vector<std::shared_ptr<const cameras::CameraBase>> cameraGeometries_;  
  std::vector<DistortionType> distortionTypes_;
  std::vector<std::vector<cv::Mat>> overlapMats_;  
  std::vector<std::vector<bool>> overlaps_;  
};

}  // namespace cameras
}  // namespace okvis

#include "implementation/NCameraSystem.hpp"

#endif /* INCLUDE_OKVIS_NCAMERASYSTEM_HPP_ */