Parameters.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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 *     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"
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 *
 *  Created on: Apr 22, 2012
 *      Author: Stefan Leutenegger (s.leutenegger@imperial.ac.uk)
 *    Modified: Andreas Forster (an.forster@gmail.com)
 *********************************************************************************/

#ifndef INCLUDE_OKVIS_PARAMETERS_HPP_
#define INCLUDE_OKVIS_PARAMETERS_HPP_

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

namespace okvis {

struct ExtrinsicsEstimationParameters
{
  // set to 0 in order to turn off
  ExtrinsicsEstimationParameters()
      : sigma_absolute_translation(0.0),
        sigma_absolute_orientation(0.0),
        sigma_c_relative_translation(0.0),
        sigma_c_relative_orientation(0.0)
  {
  }

  ExtrinsicsEstimationParameters(double sigma_absolute_translation,
                                 double sigma_absolute_orientation,
                                 double sigma_c_relative_translation,
                                 double sigma_c_relative_orientation)
      : sigma_absolute_translation(sigma_absolute_translation),
        sigma_absolute_orientation(sigma_absolute_orientation),
        sigma_c_relative_translation(sigma_c_relative_translation),
        sigma_c_relative_orientation(sigma_c_relative_orientation)
  {
  }

  // absolute (prior) w.r.t frame S
  double sigma_absolute_translation; 
  double sigma_absolute_orientation; 

  // relative (temporal)
  double sigma_c_relative_translation; 
  double sigma_c_relative_orientation; 
};

struct ImuParameters{
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  okvis::kinematics::Transformation T_BS; 
  double a_max;  
  double g_max;  
  double sigma_g_c;  
  double sigma_bg;  
  double sigma_a_c;  
  double sigma_ba;  
  double sigma_gw_c; 
  double sigma_aw_c; 
  double tau;  
  double g;  
  Eigen::Vector3d a0;  
  int rate;  
};

struct MagnetometerParameters{
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  double stdev; 
  double priorStdev; 
  double tau;        
  double sigma_c;    
  double updateFrequency; 
};

struct GpsParameters{
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  Eigen::Vector3d antennaOffset; 
};

struct PositionSensorParameters{
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  Eigen::Vector3d positionSensorOffset; 
  bool isLeveled; 
};

struct MagneticEnuZParameters{
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  double priorStdev;  
  double sigma_c;     
  double tau;         
  double updateFrequency; 
};

struct BarometerParameters{
  double staticPressureStdev; 
  double temperatureStdev; 
};

struct QffParameters{
  double priorStdev;  
  double sigma_c;     
  double tau;         
  double updateFrequency; 
};

struct DifferentialPressureSensorParameters{
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  double differentialPressureStdev; 
  double accelerationStdev;
  Eigen::VectorXd c_minus_z_of_alpha;
  double c_y_of_beta; 
  double m; 
  double A; 
};

struct WindParameters{
  double priorStdev;  
  double sigma_c;     
  double tau;         
  double updateFrequency; 
};

struct Optimization{
  int max_iterations; 
  int min_iterations; 
  double timeLimitForMatchingAndOptimization; 
  okvis::Duration timeReserve; 
  double detectionThreshold;  
  bool useMedianFilter;     
  int detectionOctaves;     
  int maxNoKeypoints;       
  int numKeyframes; 
  int numImuFrames; 
};

struct SensorsInformation {
  int cameraRate;     
  double imageDelay;  
  int imuIdx;         
  double frameTimestampTolerance; 
};

struct Visualization {
  bool displayImages; 
};

enum class FrameName { B, S, W, Wc };

struct PublishingParameters {
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  int publishRate = 200;  
  bool publishLandmarks = true; 
  float landmarkQualityThreshold = 1.0e-5; 
  float maxLandmarkQuality = 0.05; 
  size_t maxPathLength = 100 ; 
  bool publishImuPropagatedState = true; 
  okvis::kinematics::Transformation T_Wc_W = okvis::kinematics::Transformation::Identity(); 
  FrameName trackedBodyFrame = FrameName::B; 
  FrameName velocitiesFrame = FrameName::B; 
};

struct VioParameters {
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  Optimization optimization;    
  Visualization visualization;  
  SensorsInformation sensors_information; 
  ExtrinsicsEstimationParameters camera_extrinsics; 
  okvis::cameras::NCameraSystem nCameraSystem;  
  ImuParameters imu;  
  MagnetometerParameters magnetometer;  
  PositionSensorParameters position;  
  GpsParameters gps; 
  MagneticEnuZParameters magnetic_enu_z;  
  BarometerParameters barometer;  
  QffParameters qff;  
  DifferentialPressureSensorParameters differential; 
  WindParameters wind;  
  PublishingParameters publishing; 
};

} // namespace okvis

#endif // INCLUDE_OKVIS_PARAMETERS_HPP_