bundle_adjustment_modal.hpp

#pragma once
 
#include <gtsam/nonlinear/NonlinearFactor.h>
#include <gtsam_points/types/point_cloud.hpp>
#include <glk/drawable.hpp>
 
#include <glim/mapping/sub_map.hpp>
 
namespace guik {
class GLCanvas;
class ProgressModal;
class ProgressInterface;
}  // namespace guik
 
namespace glim {
 
class BundleAdjustmentModal {
public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  BundleAdjustmentModal();
  ~BundleAdjustmentModal();
 
  void set_frames(const std::vector<SubMap::ConstPtr>& submaps, const std::vector<Eigen::Isometry3d>& submap_poses, const Eigen::Vector3d& center);
 
  gtsam::NonlinearFactor::shared_ptr run();
 
private:
  void update_indicator();
  std::vector<std::pair<int, int>> extract_points(double radius);
  Eigen::Vector3d calc_eigenvalues(const std::vector<std::pair<int, int>>& point_indices);
  double auto_radius(guik::ProgressInterface& progress);
 
  gtsam::NonlinearFactor::shared_ptr create_factor();
 
  void draw_canvas();
 
private:
  bool request_to_open;
  std::unique_ptr<guik::GLCanvas> canvas;
  std::unique_ptr<guik::ProgressModal> progress_modal;
 
  float radius;
  float min_radius;
  float max_radius;
  int min_points;
  int max_points;
  float plane_eps;
 
  int num_points;
  Eigen::Vector3d eigenvalues;
 
  Eigen::Vector4d center;
  std::vector<glim::SubMap::ConstPtr> submaps;
  std::vector<std::shared_ptr<const glk::Drawable>> submap_drawables;
  std::vector<Eigen::Isometry3d> submap_poses;
};
 
}  // namespace glim