MapMaker.h

// -*- c++ -*-
// Copyright 2008 Isis Innovation Limited

//
// This header declares the MapMaker class
// MapMaker makes and maintains the Map struct
// Starting with stereo initialisation from a bunch of matches
// over keyframe insertion, continual bundle adjustment and
// data-association refinement.
// MapMaker runs in its own thread, although some functions
// (notably stereo init) are called by the tracker and run in the
// tracker's thread.

#ifndef __MAPMAKER_H
#define __MAPMAKER_H
#include <cvd/image.h>
#include <cvd/byte.h>
#include <cvd/thread.h>

#include "Map.h"
#include "KeyFrame.h"
#include "ATANCamera.h"
#include <queue>


// Each MapPoint has an associated MapMakerData class
// Where the mapmaker can store extra information

struct MapMakerData
{
    std::set<KeyFrame*> sMeasurementKFs;   // Which keyframes has this map point got measurements in?
    std::set<KeyFrame*> sNeverRetryKFs;    // Which keyframes have measurements failed enough so I should never retry?
    inline int GoodMeasCount()
    {
        return sMeasurementKFs.size();
    }
};

// MapMaker dervives from CVD::Thread, so everything in void run() is its own thread.
class MapMaker : protected CVD::Thread
{
public:
    MapMaker(Map &m, const ATANCamera &cam);
    ~MapMaker();

    // Make a map from scratch. Called by the tracker.
    bool InitFromStereo(KeyFrame &kFirst, KeyFrame &kSecond,
                        std::vector<std::pair<CVD::ImageRef, CVD::ImageRef> > &vMatches,
                        SE3<> &se3CameraPos);

    bool InitFromStereo_OLD(KeyFrame &kFirst, KeyFrame &kSecond,  // EXPERIMENTAL HACK
                            std::vector<std::pair<CVD::ImageRef, CVD::ImageRef> > &vMatches,
                            SE3<> &se3CameraPos);


    void AddKeyFrame(KeyFrame &k);   // Add a key-frame to the map. Called by the tracker.
    void RequestReset();   // Request that the we reset. Called by the tracker.
    bool ResetDone();      // Returns true if the has been done.
    int  QueueSize() {
        return mvpKeyFrameQueue.size() ;   // How many KFs in the queue waiting to be added?
    }
    bool NeedNewKeyFrame(KeyFrame &kCurrent);            // Is it a good camera pose to add another KeyFrame?
    bool IsDistanceToNearestKeyFrameExcessive(KeyFrame &kCurrent);  // Is the camera far away from the nearest KeyFrame (i.e. maybe lost?)

protected:

    Map &mMap;               // The map
    ATANCamera mCamera;      // Same as the tracker's camera: N.B. not a reference variable!
    virtual void run();      // The MapMaker thread code lives here

    // Functions for starting the map from scratch:
    SE3<> CalcPlaneAligner(std::vector<MapPoint*> vpPoints);
    void ApplyGlobalTransformationToMap(SE3<> se3NewFromOld);
    void ApplyGlobalScaleToMap(double dScale);

    // Map expansion functions:
    void AddKeyFrameFromTopOfQueue();
    void ThinCandidates(KeyFrame &k, int nLevel);
    void AddSomeMapPoints(int nLevel);
    bool AddPointEpipolar(KeyFrame &kSrc, KeyFrame &kTarget, int nLevel, int nCandidate);
    // Returns point in ref frame B
    Vector<3> ReprojectPoint(SE3<> se3AfromB, const Vector<2> &v2A, const Vector<2> &v2B);

    // Bundle adjustment functions:
    void BundleAdjust(std::set<KeyFrame*>, std::set<KeyFrame*>, std::set<MapPoint*>, bool);
    void BundleAdjustAll();
    void BundleAdjustRecent();

    // Data association functions:
    int ReFindInSingleKeyFrame(KeyFrame &k);
    void ReFindFromFailureQueue();
    void ReFindNewlyMade();
    void ReFindAll();
    bool ReFind_Common(KeyFrame &k, MapPoint &p);
    void SubPixelRefineMatches(KeyFrame &k, int nLevel);

    // General Maintenance/Utility:
    void Reset();
    void HandleBadPoints();
    double DistToNearestKeyFrame(KeyFrame &kCurrent);
    double KeyFrameLinearDist(KeyFrame &k1, KeyFrame &k2);
    KeyFrame* ClosestKeyFrame(KeyFrame &k);
    std::vector<KeyFrame*> NClosestKeyFrames(KeyFrame &k, unsigned int N);
    void RefreshSceneDepth(KeyFrame *pKF);


    // GUI Interface:
    void GUICommandHandler(std::string sCommand, std::string sParams);
    static void GUICommandCallBack(void* ptr, std::string sCommand, std::string sParams);
    struct Command {
        std::string sCommand;
        std::string sParams;
    };
    std::vector<Command> mvQueuedCommands;


    // Member variables:
    std::vector<KeyFrame*> mvpKeyFrameQueue;  // Queue of keyframes from the tracker waiting to be processed
    std::vector<std::pair<KeyFrame*, MapPoint*> > mvFailureQueue; // Queue of failed observations to re-find
    std::queue<MapPoint*> mqNewQueue;   // Queue of newly-made map points to re-find in other KeyFrames

    double mdWiggleScale;  // Metric distance between the first two KeyFrames (copied from GVar)
    // This sets the scale of the map
    GVars3::gvar3<double> mgvdWiggleScale;   // GVar for above
    double mdWiggleScaleDepthNormalized;  // The above normalized against scene depth,
    // this controls keyframe separation
    bool mbBundleConverged_Full;    // Has global bundle adjustment converged?
    bool mbBundleConverged_Recent;  // Has local bundle adjustment converged?

    // Thread interaction signalling stuff
    bool mbResetRequested;   // A reset has been requested
    bool mbResetDone;        // The reset was done.
    bool mbBundleAbortRequested;      // We should stop bundle adjustment
    bool mbBundleRunning;             // Bundle adjustment is running
    bool mbBundleRunningIsRecent;     //    ... and it's a local bundle adjustment.


};

#endif