VioManager.h

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/*
 * OpenVINS: An Open Platform for Visual-Inertial Research
 * Copyright (C) 2018-2023 Patrick Geneva
 * Copyright (C) 2018-2023 Guoquan Huang
 * Copyright (C) 2018-2023 OpenVINS Contributors
 * Copyright (C) 2018-2019 Kevin Eckenhoff
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */

#ifndef OV_MSCKF_VIOMANAGER_H
#define OV_MSCKF_VIOMANAGER_H

#include <Eigen/StdVector>
#include <algorithm>
#include <atomic>
#include <boost/filesystem.hpp>
#include <fstream>
#include <memory>
#include <mutex>
#include <string>

#include "VioManagerOptions.h"

namespace ov_core {
struct ImuData;
struct CameraData;
class TrackBase;
class FeatureInitializer;
} // namespace ov_core
namespace ov_init {
class InertialInitializer;
} // namespace ov_init

namespace ov_msckf {

class State;
class StateHelper;
class UpdaterMSCKF;
class UpdaterSLAM;
class UpdaterZeroVelocity;
class Propagator;

class VioManager {

public:
  VioManager(VioManagerOptions &params_);

  void feed_measurement_imu(const ov_core::ImuData &message);

  void feed_measurement_camera(const ov_core::CameraData &message) { track_image_and_update(message); }

  void feed_measurement_simulation(double timestamp, const std::vector<int> &camids,
                                   const std::vector<std::vector<std::pair<size_t, Eigen::VectorXf>>> &feats);

  void initialize_with_gt(Eigen::Matrix<double, 17, 1> imustate);

  bool initialized() { return is_initialized_vio && timelastupdate != -1; }

  double initialized_time() { return startup_time; }

  VioManagerOptions get_params() { return params; }

  std::shared_ptr<State> get_state() { return state; }

  std::shared_ptr<Propagator> get_propagator() { return propagator; }

  cv::Mat get_historical_viz_image();

  std::vector<Eigen::Vector3d> get_features_SLAM();

  std::vector<Eigen::Vector3d> get_features_ARUCO();

  std::vector<Eigen::Vector3d> get_good_features_MSCKF() { return good_features_MSCKF; }

  void get_active_image(double &timestamp, cv::Mat &image) {
    timestamp = active_tracks_time;
    image = active_image;
  }

  void get_active_tracks(double &timestamp, std::unordered_map<size_t, Eigen::Vector3d> &feat_posinG,
                         std::unordered_map<size_t, Eigen::Vector3d> &feat_tracks_uvd) {
    timestamp = active_tracks_time;
    feat_posinG = active_tracks_posinG;
    feat_tracks_uvd = active_tracks_uvd;
  }

protected:
  void track_image_and_update(const ov_core::CameraData &message);

  void do_feature_propagate_update(const ov_core::CameraData &message);

  bool try_to_initialize(const ov_core::CameraData &message);

  void retriangulate_active_tracks(const ov_core::CameraData &message);

  VioManagerOptions params;

  std::shared_ptr<State> state;

  std::shared_ptr<Propagator> propagator;

  std::shared_ptr<ov_core::TrackBase> trackFEATS;

  std::shared_ptr<ov_core::TrackBase> trackARUCO;

  std::shared_ptr<ov_init::InertialInitializer> initializer;

  bool is_initialized_vio = false;

  std::shared_ptr<UpdaterMSCKF> updaterMSCKF;

  std::shared_ptr<UpdaterSLAM> updaterSLAM;

  std::shared_ptr<UpdaterZeroVelocity> updaterZUPT;

  std::vector<double> camera_queue_init;
  std::mutex camera_queue_init_mtx;

  // Timing statistic file and variables
  std::ofstream of_statistics;
  boost::posix_time::ptime rT1, rT2, rT3, rT4, rT5, rT6, rT7;

  // Track how much distance we have traveled
  double timelastupdate = -1;
  double distance = 0;

  // Startup time of the filter
  double startup_time = -1;

  // Threads and their atomics
  std::atomic<bool> thread_init_running, thread_init_success;

  // If we did a zero velocity update
  bool did_zupt_update = false;
  bool has_moved_since_zupt = false;

  // Good features that where used in the last update (used in visualization)
  std::vector<Eigen::Vector3d> good_features_MSCKF;

  // Re-triangulated features 3d positions seen from the current frame (used in visualization)
  // For each feature we have a linear system A * p_FinG = b we create and increment their costs
  double active_tracks_time = -1;
  std::unordered_map<size_t, Eigen::Vector3d> active_tracks_posinG;
  std::unordered_map<size_t, Eigen::Vector3d> active_tracks_uvd;
  cv::Mat active_image;
  std::map<size_t, Eigen::Matrix3d> active_feat_linsys_A;
  std::map<size_t, Eigen::Vector3d> active_feat_linsys_b;
  std::map<size_t, int> active_feat_linsys_count;
};

} // namespace ov_msckf

#endif // OV_MSCKF_VIOMANAGER_H