FeatureInitializer.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 OPEN_VINS_FEATUREINITIALIZER_H
#define OPEN_VINS_FEATUREINITIALIZER_H
 
#include <unordered_map>
 
#include "FeatureInitializerOptions.h"
 
namespace ov_core {
 
class Feature;
 
class FeatureInitializer {
 
public:
  struct ClonePose {
 
    Eigen::Matrix<double, 3, 3> _Rot;
 
    Eigen::Matrix<double, 3, 1> _pos;
 
    ClonePose(const Eigen::Matrix<double, 3, 3> &R, const Eigen::Matrix<double, 3, 1> &p) {
      _Rot = R;
      _pos = p;
    }
 
    ClonePose(const Eigen::Matrix<double, 4, 1> &q, const Eigen::Matrix<double, 3, 1> &p) {
      _Rot = quat_2_Rot(q);
      _pos = p;
    }
 
    ClonePose() {
      _Rot = Eigen::Matrix<double, 3, 3>::Identity();
      _pos = Eigen::Matrix<double, 3, 1>::Zero();
    }
 
    const Eigen::Matrix<double, 3, 3> &Rot() { return _Rot; }
 
    const Eigen::Matrix<double, 3, 1> &pos() { return _pos; }
  };
 
  FeatureInitializer(FeatureInitializerOptions &options) : _options(options) {}
 
  bool single_triangulation(std::shared_ptr<Feature> feat, std::unordered_map<size_t, std::unordered_map<double, ClonePose>> &clonesCAM);
 
  bool single_triangulation_1d(std::shared_ptr<Feature> feat, std::unordered_map<size_t, std::unordered_map<double, ClonePose>> &clonesCAM);
 
  bool single_gaussnewton(std::shared_ptr<Feature> feat, std::unordered_map<size_t, std::unordered_map<double, ClonePose>> &clonesCAM);
 
  const FeatureInitializerOptions config() { return _options; }
 
protected:
  FeatureInitializerOptions _options;
 
  double compute_error(std::unordered_map<size_t, std::unordered_map<double, ClonePose>> &clonesCAM, std::shared_ptr<Feature> feat,
                       double alpha, double beta, double rho);
};
 
} // namespace ov_core
 
#endif // OPEN_VINS_FEATUREINITIALIZER_H