VioFrontendInterface.hpp

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/*********************************************************************************
 *  OKVIS - Open Keyframe-based Visual-Inertial SLAM
 *  Copyright (c) 2015, Autonomous Systems Lab / ETH Zurich
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 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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 *  Created on: Mar 20, 2012
 *      Author: Stefan Leutenegger (s.leutenegger@imperial.ac.uk)
 *    Modified: Andreas Forster (an.forster@gmail.com)
 *********************************************************************************/

#ifndef INCLUDE_OKVIS_VIOFRONTENDINTERFACE_HPP_
#define INCLUDE_OKVIS_VIOFRONTENDINTERFACE_HPP_

#include <vector>
#include <memory>

#include <Eigen/Core>

#include <opencv2/core/core.hpp>
#include <opencv2/features2d/features2d.hpp>

#include <okvis/kinematics/Transformation.hpp>

#include <okvis/Measurements.hpp>
#include <okvis/Parameters.hpp>
#include <okvis/Time.hpp>
#include <okvis/FrameTypedefs.hpp>
#include <okvis/VioBackendInterface.hpp>
#include <okvis/MultiFrame.hpp>

class Estimator;

namespace okvis {

class VioFrontendInterface {
 public:
  VioFrontendInterface() {
  }
  virtual ~VioFrontendInterface() {
  }

  virtual bool detectAndDescribe(
      size_t cameraIndex, std::shared_ptr<okvis::MultiFrame> frameOut,
      const okvis::kinematics::Transformation& T_WC,
      const std::vector<cv::KeyPoint> * keypoints) = 0;

  virtual bool dataAssociationAndInitialization(
      okvis::Estimator& estimator,
      okvis::kinematics::Transformation& T_WS_propagated,
      const okvis::VioParameters & params,
      const std::shared_ptr<okvis::MapPointVector> map,
      std::shared_ptr<okvis::MultiFrame> framesInOut, bool* asKeyframe) = 0;

  virtual bool propagation(const okvis::ImuMeasurementDeque & imuMeasurements,
                           const okvis::ImuParameters & imuParams,
                           okvis::kinematics::Transformation& T_WS_propagated,
                           okvis::SpeedAndBias & speedAndBiases,
                           const okvis::Time& t_start, const okvis::Time& t_end,
                           Eigen::Matrix<double, 15, 15>* covariance,
                           Eigen::Matrix<double, 15, 15>* jacobian) const = 0;

};

}

#endif /* INCLUDE_OKVIS_VIOFRONTENDINTERFACE_HPP_ */