VioVisualizer.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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 *   * 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.
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 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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 *
 *  Created on: Sep 15, 2014
 *      Author: Pascal Gohl
 *    Modified: Stefan Leutenegger (s.leutenegger@imperial.ac.uk)
 *    Modified: Andreas Forster (an.forster@gmail.com)
 *********************************************************************************/

#ifndef INCLUDE_OKVIS_VIOVISUALIZER_HPP_
#define INCLUDE_OKVIS_VIOVISUALIZER_HPP_

#include <opencv/highgui.h>
#include <okvis/assert_macros.hpp>

#include <okvis/Parameters.hpp>
#include <okvis/MultiFrame.hpp>
#include <okvis/FrameTypedefs.hpp>

namespace okvis {

class VioVisualizer {
 public:

  struct VisualizationData {
    typedef std::shared_ptr<VisualizationData> Ptr;
    okvis::ObservationVector observations;    
    std::shared_ptr<okvis::MultiFrame> currentFrames; 
    std::shared_ptr<okvis::MultiFrame> keyFrames;     
    okvis::kinematics::Transformation T_WS_keyFrame;  
  };

  OKVIS_DEFINE_EXCEPTION(Exception, std::runtime_error)

  
  VioVisualizer(okvis::VioParameters& parameters);
  virtual ~VioVisualizer();

  void init(okvis::VioParameters& parameters);
  void showDebugImages(VisualizationData::Ptr& data);

  cv::Mat drawMatches(VisualizationData::Ptr& data, size_t image_number);
  
 private:
  cv::Mat drawKeypoints(VisualizationData::Ptr& data, size_t cameraIndex);

  okvis::VioParameters parameters_;
};

} /* namespace okvis */

#endif /* INCLUDE_OKVIS_VIOVISUALIZER_HPP_ */