92 lines
2.9 KiB
C++
92 lines
2.9 KiB
C++
/**
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BSD 3-Clause License
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This file is part of the Basalt project.
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https://gitlab.com/VladyslavUsenko/basalt.git
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Copyright (c) 2019, Vladyslav Usenko and Nikolaus Demmel.
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright notice, this
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list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright notice,
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this list of conditions and the following disclaimer in the documentation
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and/or other materials provided with the distribution.
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* Neither the name of the copyright holder nor the names of its
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contributors may be used to endorse or promote products derived from
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this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
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FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#pragma once
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#include <memory>
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#include <Eigen/Geometry>
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#include <basalt/utils/vio_config.h>
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#include <basalt/io/dataset_io.h>
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#include <basalt/calibration/calibration.hpp>
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#include <basalt/camera/stereographic_param.hpp>
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#include <basalt/utils/sophus_utils.hpp>
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#include <tbb/concurrent_queue.h>
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#include <opencv2/highgui/highgui.hpp>
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namespace basalt {
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using KeypointId = size_t;
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struct OpticalFlowInput {
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using Ptr = std::shared_ptr<OpticalFlowInput>;
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int64_t t_ns;
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std::vector<ImageData> img_data;
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std::vector<cv::Mat> img_cv_data;
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};
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struct OpticalFlowResult {
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using Ptr = std::shared_ptr<OpticalFlowResult>;
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int64_t t_ns;
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std::vector<Eigen::aligned_map<KeypointId, Eigen::AffineCompact2f>>
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observations;
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std::vector<std::map<KeypointId, size_t>> pyramid_levels;
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OpticalFlowInput::Ptr input_images;
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};
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class OpticalFlowBase {
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public:
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using Ptr = std::shared_ptr<OpticalFlowBase>;
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tbb::concurrent_bounded_queue<OpticalFlowInput::Ptr> input_queue;
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tbb::concurrent_bounded_queue<OpticalFlowResult::Ptr>* output_queue = nullptr;
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Eigen::MatrixXf patch_coord;
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};
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class OpticalFlowFactory {
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public:
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static OpticalFlowBase::Ptr getOpticalFlow(const VioConfig& config,
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const Calibration<double>& cam);
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};
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} // namespace basalt
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