v01

include/basalt/optical_flow/optical_flow.h

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