VioBackendInterface.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"
 *  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: Aug 21, 2014
 *      Author: Stefan Leutenegger (s.leutenegger@imperial.ac.uk)
 *    Modified: Andreas Forster (an.forster@gmail.com)
 *********************************************************************************/

#ifndef INCLUDE_OKVIS_VIOBACKENDINTERFACE_HPP_
#define INCLUDE_OKVIS_VIOBACKENDINTERFACE_HPP_

#include <memory>

#include <ceres/ceres.h>

#include <okvis/assert_macros.hpp>
#include <okvis/kinematics/Transformation.hpp>

#include <okvis/MultiFrame.hpp>
#include <okvis/FrameTypedefs.hpp>
#include <okvis/Measurements.hpp>
#include <okvis/Parameters.hpp>
#include <okvis/Variables.hpp>
#include <okvis/ceres/PoseParameterBlock.hpp>
#include <okvis/ceres/SpeedAndBiasParameterBlock.hpp>
#include <okvis/ceres/HomogeneousPointParameterBlock.hpp>
#include <okvis/ceres/Map.hpp>
#include <okvis/ceres/MarginalizationError.hpp>
#include <okvis/ceres/ReprojectionError.hpp>

namespace okvis {

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

  VioBackendInterface() {}
  virtual ~VioBackendInterface() {}

  enum class InitializationStatus{
    NotStarted = 0, 
    Ongoing = 1, 
    Complete = 2 
  };


  virtual int addCamera(
      const ExtrinsicsEstimationParameters & extrinsicsEstimationParameters) = 0;

  virtual int addImu(const ImuParameters & imuParameters) = 0;

  virtual void clearCameras() = 0;

  virtual void clearImus() = 0;


  virtual bool addStates(okvis::MultiFramePtr multiFrame,
                         const okvis::ImuMeasurementDeque & imuMeasurements,
                         bool asKeyframe) = 0;

  virtual bool addLandmark(uint64_t landmarkId,
                           const Eigen::Vector4d & landmark) = 0;

  virtual bool removeObservation(uint64_t landmarkId, uint64_t poseId,  size_t camIdx,
                         size_t keypointIdx) = 0;
  virtual void optimize(size_t numIter, size_t numThreads = 1, bool verbose = false) = 0;

  virtual bool setOptimizationTimeLimit(double timeLimit, int minIterations) = 0;

  virtual bool isLandmarkAdded(uint64_t landmarkId) const = 0;

  virtual bool isLandmarkInitialized(uint64_t landmarkId) const = 0;


  virtual bool getLandmark(uint64_t landmarkId, MapPoint& mapPoint) const = 0;

  virtual size_t getLandmarks(PointMap & landmarks) const = 0; // return a copy for thread safety

  virtual okvis::MultiFramePtr multiFrame(uint64_t frameId) const = 0;

  virtual bool get_T_WS(uint64_t poseId, okvis::kinematics::Transformation & T_WS) const = 0;

  virtual bool getSpeedAndBias(uint64_t poseId, uint64_t imuIdx, okvis::SpeedAndBias & speedAndBias) const = 0;

  virtual bool getCameraSensorStates(uint64_t poseId, size_t cameraIdx,
                              okvis::kinematics::Transformation & T_SCi) const = 0;

  virtual size_t numFrames() const = 0;

  virtual size_t numLandmarks() const = 0;

  virtual uint64_t currentFrameId() const = 0;

  virtual InitializationStatus initializationStatus() const {
    OKVIS_THROW(Exception,"Uncertainty computation not implemented");
        return InitializationStatus::NotStarted;
  }


  virtual bool isKeyframe(uint64_t frameId) const = 0;


  virtual okvis::Time timestamp(uint64_t frameId) const = 0;

  virtual bool getPoseUncertainty(Eigen::Matrix<double,6,6> & /*P_T_WS*/) const {
    OKVIS_THROW(Exception,"Uncertainty computation not implemented");
    return false;
  }

  virtual bool getStateUncertainty(Eigen::Matrix<double,15,15> & /*P*/) const {
    OKVIS_THROW(Exception,"Uncertainty computation not implemented");
    return false;
  }


  virtual bool set_T_WS(uint64_t poseId, const okvis::kinematics::Transformation & T_WS) = 0;

  virtual bool setSpeedAndBias(uint64_t poseId, size_t imuIdx, const okvis::SpeedAndBias & speedAndBias) = 0;

  virtual bool setCameraSensorStates(uint64_t poseId, size_t cameraIdx,
                              const okvis::kinematics::Transformation & T_SCi) = 0;

  virtual bool setLandmark(uint64_t landmarkId,
                           const Eigen::Vector4d & landmark) = 0;

  virtual void setLandmarkInitialized(uint64_t landmarkId, bool initialized) = 0;

  virtual void setKeyframe(uint64_t frameId, bool isKeyframe) = 0;

  virtual void setMap(std::shared_ptr<okvis::ceres::Map> mapPtr) = 0;

  virtual void setComputeUncertainty(bool /*computeUncertainty*/) {}

};

}  // namespace okvis

#endif /* INCLUDE_OKVIS_VIOBACKENDINTERFACE_HPP_ */