VioParametersReader.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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 *     its contributors may be used to endorse or promote products derived from
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 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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 *  Created on: Jun 17, 2013
 *      Author: Stefan Leutenegger (s.leutenegger@imperial.ac.uk)
 *    Modified: Andreas Forster (an.forster@gmail.com)
 *********************************************************************************/

#ifndef INCLUDE_OKVIS_VIOPARAMETERSREADER_HPP_
#define INCLUDE_OKVIS_VIOPARAMETERSREADER_HPP_

#include <string>

#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wnon-virtual-dtor"
#include <opencv2/core/core.hpp>
#pragma GCC diagnostic pop

#include <okvis/assert_macros.hpp>
#include <okvis/Parameters.hpp>

namespace okvis {

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

  
  VioParametersReader();

  VioParametersReader(const std::string& filename);

  virtual ~VioParametersReader() {}

  void readConfigFile(const std::string& filename);

  bool getParameters(okvis::VioParameters& parameters) const{
    if(readConfigFile_)
      parameters = vioParameters_;
    return readConfigFile_;
  }

  bool useDriver;

  std::shared_ptr<void> viSensor;

 protected:

  struct CameraCalibration {
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
    okvis::kinematics::Transformation T_SC;   
    Eigen::Vector2d imageDimension;           
    Eigen::VectorXd distortionCoefficients;   
    Eigen::Vector2d focalLength;              
    Eigen::Vector2d principalPoint;           
    std::string distortionType;               
  };

  bool readConfigFile_;
  okvis::VioParameters vioParameters_;

  bool parseBoolean(cv::FileNode node, bool& val) const;

  virtual bool getCameraCalibration(
      std::vector<CameraCalibration,Eigen::aligned_allocator<CameraCalibration>> & calibrations,
      cv::FileStorage& configurationFile);

  bool getCalibrationViaConfig(
      std::vector<CameraCalibration,Eigen::aligned_allocator<CameraCalibration>> & calibrations,
      cv::FileNode cameraNode) const;

  bool getCalibrationViaVisensorAPI(
      std::vector<CameraCalibration,Eigen::aligned_allocator<CameraCalibration>> & calibrations) const;

};

}

#endif /* INCLUDE_OKVIS_VIOPARAMETERSREADER_HPP_ */