ProbabilisticStereoTriangulator.hpp

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/*********************************************************************************
 *  OKVIS - Open Keyframe-based Visual-Inertial SLAM
 *  Copyright (c) 2015, Autonomous Systems Lab / ETH Zurich
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 *  Created on: Oct 17, 2013
 *      Author: Stefan Leutenegger (s.leutenegger@imperial.ac.uk)
 *    Modified: Andreas Forster (an.forster@gmail.com)
 *********************************************************************************/

#ifndef INCLUDE_OKVIS_TRIANGULATION_PROBABILISTICSTEREOTRIANGULATOR_HPP_
#define INCLUDE_OKVIS_TRIANGULATION_PROBABILISTICSTEREOTRIANGULATOR_HPP_

#include <memory>

#include <Eigen/Core>
#include <okvis/kinematics/Transformation.hpp>
#include <okvis/assert_macros.hpp>
#include <okvis/FrameTypedefs.hpp>
#include <okvis/ceres/PoseParameterBlock.hpp>
#include <okvis/MultiFrame.hpp>

namespace okvis {
namespace triangulation {

template<class CAMERA_GEOMETRY_T>
class ProbabilisticStereoTriangulator {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  OKVIS_DEFINE_EXCEPTION(Exception, std::runtime_error)

  
  ProbabilisticStereoTriangulator(double pixelSigma = 0.5);

  ProbabilisticStereoTriangulator(std::shared_ptr<okvis::MultiFrame> frameA_ptr,
                                  std::shared_ptr<okvis::MultiFrame> frameB_ptr,
                                  size_t camIdA, size_t camIdB,
                                  const okvis::kinematics::Transformation& T_AB,
                                  const Eigen::Matrix<double, 6, 6>& UOplus,
                                  double pixelSigma = 0.5);

  void resetFrames(std::shared_ptr<okvis::MultiFrame> frameA_ptr,
                   std::shared_ptr<okvis::MultiFrame> frameB_ptr, size_t camIdA,
                   size_t camIdB, const okvis::kinematics::Transformation& T_AB,
                   const Eigen::Matrix<double, 6, 6>& UOplus);

  ~ProbabilisticStereoTriangulator();

  bool stereoTriangulate(size_t keypointIdxA, size_t keypointIdxB,
                         Eigen::Vector4d & outHomogeneousPoint_A,
                         bool & outCanBeInitializedInaccuarate,
                         double sigmaRay = -1.0) const;

  bool stereoTriangulate(size_t keypointIdxA, size_t keypointIdxB,
                         Eigen::Vector4d & outHomogeneousPoint_A,
                         Eigen::Matrix3d & outPointUOplus_A,
                         bool & outCanBeInitialized,
                         double sigmaRay = -1.0) const;

  void getUncertainty(size_t keypointIdxA, size_t keypointIdxB,
                      const Eigen::Vector4d & homogeneousPoint_A,
                      Eigen::Matrix3d& outPointUOplus_A,
                      bool & outCanBeInitialized) const;

 protected:
  double sigmaRay_;  
  std::shared_ptr<okvis::MultiFrame> frameA_;
  std::shared_ptr<okvis::MultiFrame> frameB_;

  size_t camIdA_;
  size_t camIdB_;

  okvis::kinematics::Transformation T_AB_;
  ::okvis::ceres::PoseParameterBlock poseA_;  // identity
  ::okvis::ceres::PoseParameterBlock poseB_;
  ::okvis::ceres::PoseParameterBlock extrinsics_;
  okvis::kinematics::Transformation T_BA_;

  Eigen::Matrix<double, 6, 6> UOplus_;

  Eigen::Matrix<double, 9, 9> H_;

  bool computeReprojectionError4(
      const std::shared_ptr<okvis::MultiFrame> &frame, size_t camId,
      size_t keypointId, const Eigen::Vector4d& homogeneousPoint,
      double& outError) const;
};

}  // namespace triangulation
}  // namespace okvis

#endif /* INCLUDE_OKVIS_TRIANGULATION_PROBABILISTICSTEREOTRIANGULATOR_HPP_ */