TrackBase.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_CORE_TRACK_BASE_H
#define OV_CORE_TRACK_BASE_H
 
#include <atomic>
#include <iostream>
#include <mutex>
#include <thread>
#include <unordered_map>
 
#include <boost/date_time/posix_time/posix_time.hpp>
#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/opencv.hpp>
 
#include "utils/colors.h"
#include "utils/print.h"
#include "utils/sensor_data.h"
 
namespace ov_core {
 
class Feature;
class CamBase;
class FeatureDatabase;
 
class TrackBase {
 
public:
  enum HistogramMethod { NONE, HISTOGRAM, CLAHE };
 
  TrackBase(std::unordered_map<size_t, std::shared_ptr<CamBase>> cameras, int numfeats, int numaruco, bool stereo,
            HistogramMethod histmethod);
 
  virtual ~TrackBase() {}
 
  virtual void feed_new_camera(const CameraData &message) = 0;
 
  virtual void display_active(cv::Mat &img_out, int r1, int g1, int b1, int r2, int g2, int b2, std::string overlay = "");
 
  virtual void display_history(cv::Mat &img_out, int r1, int g1, int b1, int r2, int g2, int b2, std::vector<size_t> highlighted = {},
                               std::string overlay = "");
 
  std::shared_ptr<FeatureDatabase> get_feature_database() { return database; }
 
  void change_feat_id(size_t id_old, size_t id_new);
 
  std::unordered_map<size_t, std::vector<cv::KeyPoint>> get_last_obs() {
    std::lock_guard<std::mutex> lckv(mtx_last_vars);
    return pts_last;
  }
 
  std::unordered_map<size_t, std::vector<size_t>> get_last_ids() {
    std::lock_guard<std::mutex> lckv(mtx_last_vars);
    return ids_last;
  }
 
  int get_num_features() { return num_features; }
 
  void set_num_features(int _num_features) { num_features = _num_features; }
 
protected:
  std::unordered_map<size_t, std::shared_ptr<CamBase>> camera_calib;
 
  std::shared_ptr<FeatureDatabase> database;
 
  std::map<size_t, bool> camera_fisheye;
 
  int num_features;
 
  bool use_stereo;
 
  HistogramMethod histogram_method;
 
  std::vector<std::mutex> mtx_feeds;
 
  std::mutex mtx_last_vars;
 
  std::map<size_t, cv::Mat> img_last;
 
  std::map<size_t, cv::Mat> img_mask_last;
 
  std::unordered_map<size_t, std::vector<cv::KeyPoint>> pts_last;
 
  std::unordered_map<size_t, std::vector<size_t>> ids_last;
 
  std::atomic<size_t> currid;
 
  // Timing variables (most children use these...)
  boost::posix_time::ptime rT1, rT2, rT3, rT4, rT5, rT6, rT7;
};
 
} // namespace ov_core
 
#endif /* OV_CORE_TRACK_BASE_H */