TrackKLT.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_KLT_H
#define OV_CORE_TRACK_KLT_H
 
#include "TrackBase.h"
 
namespace ov_core {
 
class TrackKLT : public TrackBase {
 
public:
  explicit TrackKLT(std::unordered_map<size_t, std::shared_ptr<CamBase>> cameras, int numfeats, int numaruco, bool stereo,
                    HistogramMethod histmethod, int fast_threshold, int gridx, int gridy, int minpxdist)
      : TrackBase(cameras, numfeats, numaruco, stereo, histmethod), threshold(fast_threshold), grid_x(gridx), grid_y(gridy),
        min_px_dist(minpxdist) {}
 
  void feed_new_camera(const CameraData &message) override;
 
protected:
  void feed_monocular(const CameraData &message, size_t msg_id);
 
  void feed_stereo(const CameraData &message, size_t msg_id_left, size_t msg_id_right);
 
  void perform_detection_monocular(const std::vector<cv::Mat> &img0pyr, const cv::Mat &mask0, std::vector<cv::KeyPoint> &pts0,
                                   std::vector<size_t> &ids0);
 
  void perform_detection_stereo(const std::vector<cv::Mat> &img0pyr, const std::vector<cv::Mat> &img1pyr, const cv::Mat &mask0,
                                const cv::Mat &mask1, size_t cam_id_left, size_t cam_id_right, std::vector<cv::KeyPoint> &pts0,
                                std::vector<cv::KeyPoint> &pts1, std::vector<size_t> &ids0, std::vector<size_t> &ids1);
 
  void perform_matching(const std::vector<cv::Mat> &img0pyr, const std::vector<cv::Mat> &img1pyr, std::vector<cv::KeyPoint> &pts0,
                        std::vector<cv::KeyPoint> &pts1, size_t id0, size_t id1, std::vector<uchar> &mask_out);
 
  // Parameters for our FAST grid detector
  int threshold;
  int grid_x;
  int grid_y;
 
  // Minimum pixel distance to be "far away enough" to be a different extracted feature
  int min_px_dist;
 
  // How many pyramid levels to track
  int pyr_levels = 5;
  cv::Size win_size = cv::Size(15, 15);
 
  // Last set of image pyramids
  std::map<size_t, std::vector<cv::Mat>> img_pyramid_last;
  std::map<size_t, cv::Mat> img_curr;
  std::map<size_t, std::vector<cv::Mat>> img_pyramid_curr;
};
 
} // namespace ov_core
 
#endif /* OV_CORE_TRACK_KLT_H */