OptimizerCVSBA.cpp

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/*
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.

Redistribution and use in source and binary forms, with or without
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      notice, 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 the Universite de Sherbrooke 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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#include "rtabmap/core/Graph.h"

#include <rtabmap/utilite/ULogger.h>
#include <rtabmap/utilite/UStl.h>
#include <rtabmap/utilite/UMath.h>
#include <rtabmap/utilite/UConversion.h>
#include <rtabmap/utilite/UTimer.h>
#include <set>

#include <rtabmap/core/optimizer/OptimizerCVSBA.h>

#ifdef RTABMAP_CVSBA
#include <cvsba/cvsba.h>
#include "rtabmap/core/util3d_motion_estimation.h"
#include "rtabmap/core/util3d_transforms.h"
#include "rtabmap/core/util3d_correspondences.h"
#endif

namespace rtabmap {

bool OptimizerCVSBA::available()
{
#ifdef RTABMAP_CVSBA
        return true;
#else
        return false;
#endif
}

std::map<int, Transform> OptimizerCVSBA::optimizeBA(
                int rootId,
                const std::map<int, Transform> & posesIn,
                const std::multimap<int, Link> & links,
                const std::map<int, CameraModel> & models,
                std::map<int, cv::Point3f> & points3DMap,
                const std::map<int, std::map<int, FeatureBA> > & wordReferences, // <ID words, IDs frames + keypoint/Disparity>)
                std::set<int> * outliers)
{
#ifdef RTABMAP_CVSBA
        // run sba optimization
        cvsba::Sba sba;

        std::map<int, Transform> poses(posesIn.lower_bound(1), posesIn.end());

        // change params if desired
        cvsba::Sba::Params params ;
        params.type = cvsba::Sba::MOTIONSTRUCTURE;
        params.iterations = this->iterations();
        params.minError = this->epsilon();
        params.fixedIntrinsics = 5;
        params.fixedDistortion = 5; // updated below
        params.verbose=ULogger::level() <= ULogger::kInfo;
        sba.setParams(params);

        std::vector<cv::Mat> cameraMatrix(poses.size()); //nframes
        std::vector<cv::Mat> R(poses.size()); //nframes
        std::vector<cv::Mat> T(poses.size()); //nframes
        std::vector<cv::Mat> distCoeffs(poses.size()); //nframes
        std::map<int, int> frameIdToIndex;
        int oi=0;
        for(std::map<int, Transform>::const_iterator iter=poses.begin(); iter!=poses.end(); ++iter)
        {
                // Get camera model
                std::map<int, CameraModel>::const_iterator iterModel = models.find(iter->first);
                UASSERT(iterModel != models.end() && iterModel->second.isValidForProjection());

                frameIdToIndex.insert(std::make_pair(iter->first, oi));

                cameraMatrix[oi] = iterModel->second.K();
                if(iterModel->second.D().cols != 5)
                {
                        distCoeffs[oi] = cv::Mat::zeros(1, 5, CV_64FC1);
                        UWARN("Camera model %d: Distortion coefficients are not 5, setting all them to 0 (assuming no distortion)", iter->first);
                }
                else
                {
                        distCoeffs[oi] = iterModel->second.D();
                }

                Transform t = (iter->second * iterModel->second.localTransform()).inverse();

                R[oi] = (cv::Mat_<double>(3,3) <<
                                (double)t.r11(), (double)t.r12(), (double)t.r13(),
                                (double)t.r21(), (double)t.r22(), (double)t.r23(),
                                (double)t.r31(), (double)t.r32(), (double)t.r33());
                T[oi] = (cv::Mat_<double>(1,3) << (double)t.x(), (double)t.y(), (double)t.z());
                ++oi;

                UDEBUG("Pose %d = %s", iter->first, t.prettyPrint().c_str());
        }
        cameraMatrix.resize(oi);
        R.resize(oi);
        T.resize(oi);
        distCoeffs.resize(oi);

        UDEBUG("points=%d frames=%d", (int)points3DMap.size(), (int)poses.size());
        std::vector<cv::Point3f> points(points3DMap.size()); //npoints
        std::vector<std::vector<cv::Point2f> >  imagePoints(poses.size()); //nframes -> npoints
        std::vector<std::vector<int> > visibility(poses.size()); //nframes -> npoints
        for(unsigned int i=0; i<poses.size(); ++i)
        {
                imagePoints[i].resize(wordReferences.size(), cv::Point2f(std::numeric_limits<float>::quiet_NaN(), std::numeric_limits<float>::quiet_NaN()));
                visibility[i].resize(wordReferences.size(), 0);
        }
        int i=0;
        for(std::map<int, cv::Point3f>::const_iterator kter = points3DMap.begin(); kter!=points3DMap.end(); ++kter)
        {
                points[i] = kter->second;

                std::map<int, std::map<int, FeatureBA> >::const_iterator iter = wordReferences.find(kter->first);
                if(iter != wordReferences.end())
                {
                        for(std::map<int, FeatureBA>::const_iterator jter=iter->second.begin(); jter!=iter->second.end(); ++jter)
                        {
                                if(frameIdToIndex.find(jter->first) != frameIdToIndex.end())
                                {
                                        imagePoints[frameIdToIndex.at(jter->first)][i] = cv::Point2f(jter->second.kpt.pt.x, jter->second.kpt.pt.y);
                                        visibility[frameIdToIndex.at(jter->first)][i] = 1;
                                }
                        }
                }
                ++i;
        }

        // SBA
        try
        {
                sba.run( points, imagePoints, visibility, cameraMatrix, R, T, distCoeffs);
        }
        catch(cv::Exception & e)
        {
                UERROR("Running SBA... error! %s", e.what());
                return std::map<int, Transform>();
        }

        //update poses
        i=0;
        std::map<int, Transform> newPoses = poses;
        for(std::map<int, Transform>::iterator iter=newPoses.begin(); iter!=newPoses.end(); ++iter)
        {
                Transform t(R[i].at<double>(0,0), R[i].at<double>(0,1), R[i].at<double>(0,2), T[i].at<double>(0),
                                        R[i].at<double>(1,0), R[i].at<double>(1,1), R[i].at<double>(1,2), T[i].at<double>(1),
                                        R[i].at<double>(2,0), R[i].at<double>(2,1), R[i].at<double>(2,2), T[i].at<double>(2));

                UDEBUG("New pose %d = %s", iter->first, t.prettyPrint().c_str());

                if(this->isSlam2d())
                {
                        t = (models.at(iter->first).localTransform() * t).inverse();
                        t = iter->second.inverse() * t;
                        iter->second *= t.to3DoF();
                }
                else
                {
                        iter->second = (models.at(iter->first).localTransform() * t).inverse();
                }

                ++i;
        }

        //update 3D points
        i=0;
        for(std::map<int, cv::Point3f>::iterator kter = points3DMap.begin(); kter!=points3DMap.end(); ++kter)
        {
                kter->second = points[i++];
        }

        return newPoses;

#else
        UERROR("RTAB-Map is not built with cvsba!");
        return std::map<int, Transform>();
#endif
}

} /* namespace rtabmap */