Optimizer.h

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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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    * Redistributions in binary form must reproduce the above copyright
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      documentation and/or other materials provided with the distribution.
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      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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*/

#ifndef OPTIMIZER_H_
#define OPTIMIZER_H_

#include "rtabmap/core/RtabmapExp.h" // DLL export/import defines

#include <map>
#include <list>
#include <rtabmap/core/Link.h>
#include <rtabmap/core/Parameters.h>
#include <rtabmap/core/Signature.h>

namespace rtabmap {

class FeatureBA
{
public:
        FeatureBA(const cv::KeyPoint & kptIn, const float & depthIn = 0.0f, const cv::Mat & descriptorIn = cv::Mat(), int cameraIndexIn = 0):
                kpt(kptIn),
                depth(depthIn),
                descriptor(descriptorIn),
                cameraIndex(cameraIndexIn)
        {
                //UDEBUG("kpt=(%f,%f) depth=%f, camIndex=%d", kpt.pt.x, kpt.pt.y, depth, cameraIndex);
        }
        cv::KeyPoint kpt;
        float depth;
        cv::Mat descriptor;
        int cameraIndex;
};

// Graph optimizers
class RTABMAP_EXP Optimizer
{
public:
        enum Type {
                kTypeUndef = -1,
                kTypeTORO = 0,
                kTypeG2O = 1,
                kTypeGTSAM = 2,
                kTypeCeres = 3,
                kTypeCVSBA = 4
        };
        static bool isAvailable(Optimizer::Type type);
        static Optimizer * create(const ParametersMap & parameters);
        static Optimizer * create(Optimizer::Type type, const ParametersMap & parameters = ParametersMap());

        // Get connected poses and constraints from a set of links
        void getConnectedGraph(
                        int fromId,
                        const std::map<int, Transform> & posesIn,
                        const std::multimap<int, Link> & linksIn,
                        std::map<int, Transform> & posesOut,
                        std::multimap<int, Link> & linksOut,
                        bool adjustPosesWithConstraints = true) const;

public:
        virtual ~Optimizer() {}

        virtual Type type() const = 0;

        // getters
        int iterations() const {return iterations_;}
        bool isSlam2d() const {return slam2d_;}
        bool isCovarianceIgnored() const {return covarianceIgnored_;}
        double epsilon() const {return epsilon_;}
        bool isRobust() const {return robust_;}
        bool priorsIgnored() const {return priorsIgnored_;}
        bool landmarksIgnored() const {return landmarksIgnored_;}
        float gravitySigma() const {return gravitySigma_;}

        // setters
        void setIterations(int iterations) {iterations_ = iterations;}
        void setSlam2d(bool enabled) {slam2d_ = enabled;}
        void setCovarianceIgnored(bool enabled) {covarianceIgnored_ = enabled;}
        void setEpsilon(double epsilon) {epsilon_ = epsilon;}
        void setRobust(bool enabled) {robust_ = enabled;}
        void setPriorsIgnored(bool enabled) {priorsIgnored_ = enabled;}
        void setLandmarksIgnored(bool enabled) {landmarksIgnored_ = enabled;}
        void setGravitySigma(float value) {gravitySigma_ = value;}

        virtual void parseParameters(const ParametersMap & parameters);

        std::map<int, Transform> optimizeIncremental(
                        int rootId,
                        const std::map<int, Transform> & poses,
                        const std::multimap<int, Link> & constraints,
                        std::list<std::map<int, Transform> > * intermediateGraphes = 0,
                        double * finalError = 0,
                        int * iterationsDone = 0);

        std::map<int, Transform> optimize(
                                int rootId,
                                const std::map<int, Transform> & poses,
                                const std::multimap<int, Link> & constraints,
                                std::list<std::map<int, Transform> > * intermediateGraphes = 0,
                                double * finalError = 0,
                                int * iterationsDone = 0);

        // inherited classes should implement one of these methods
        virtual std::map<int, Transform> optimize(
                                int rootId,
                                const std::map<int, Transform> & poses,
                                const std::multimap<int, Link> & constraints,
                                cv::Mat & outputCovariance,
                                std::list<std::map<int, Transform> > * intermediateGraphes = 0,
                                double * finalError = 0,
                                int * iterationsDone = 0);
        virtual std::map<int, Transform> optimizeBA(
                        int rootId, // if negative, all other poses are fixed
                        const std::map<int, Transform> & poses,
                        const std::multimap<int, Link> & links,
                        const std::map<int, std::vector<CameraModel> > & models, // in case of stereo, Tx should be set
                        std::map<int, cv::Point3f> & points3DMap,
                        const std::map<int, std::map<int, FeatureBA> > & wordReferences, // <ID words, IDs frames + keypoint/depth/descriptor>
                        std::set<int> * outliers = 0);

        std::map<int, Transform> optimizeBA(
                        int rootId,
                        const std::map<int, Transform> & poses,
                        const std::multimap<int, Link> & links,
                        const std::map<int, Signature> & signatures,
                        std::map<int, cv::Point3f> & points3DMap,
                        std::map<int, std::map<int, FeatureBA> > & wordReferences, // <ID words, IDs frames + keypoint/depth/descriptor>
                        bool rematchFeatures = false);

        std::map<int, Transform> optimizeBA(
                        int rootId,
                        const std::map<int, Transform> & poses,
                        const std::multimap<int, Link> & links,
                        const std::map<int, Signature> & signatures,
                        bool rematchFeatures = false);

        Transform optimizeBA(
                        const Link & link,
                        const CameraModel & model,
                        std::map<int, cv::Point3f> & points3DMap,
                        const std::map<int, std::map<int, FeatureBA> > & wordReferences,
                        std::set<int> * outliers = 0);

        void computeBACorrespondences(
                        const std::map<int, Transform> & poses,
                        const std::multimap<int, Link> & links,
                        const std::map<int, Signature> & signatures,
                        std::map<int, cv::Point3f> & points3DMap,
                        std::map<int, std::map<int, FeatureBA > > & wordReferences, // <ID words, IDs frames + keypoint/depth/descriptor>
                        bool rematchFeatures = false);

protected:
        Optimizer(
                        int iterations         = Parameters::defaultOptimizerIterations(),
                        bool slam2d            = Parameters::defaultRegForce3DoF(),
                        bool covarianceIgnored = Parameters::defaultOptimizerVarianceIgnored(),
                        double epsilon         = Parameters::defaultOptimizerEpsilon(),
                        bool robust            = Parameters::defaultOptimizerRobust(),
                        bool priorsIgnored     = Parameters::defaultOptimizerPriorsIgnored(),
                        bool landmarksIgnored  = Parameters::defaultOptimizerLandmarksIgnored(),
                        float gravitySigma     = Parameters::defaultOptimizerGravitySigma());
        Optimizer(const ParametersMap & parameters);

private:
        int iterations_;
        bool slam2d_;
        bool covarianceIgnored_;
        double epsilon_;
        bool robust_;
        bool priorsIgnored_;
        bool landmarksIgnored_;
        float gravitySigma_;
};

} /* namespace rtabmap */
#endif /* OPTIMIZER_H_ */