text: /*
  Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
  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 Universite de Sherbrooke 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.
  */
  #include "rtabmap/core/Graph.h"
  
  #include <rtabmap/utilite/ULogger.h>
  #include <rtabmap/utilite/UStl.h>
  #include <rtabmap/utilite/UMath.h>
  #include <rtabmap/utilite/UConversion.h>
  #include <rtabmap/utilite/UTimer.h>
  #include <set>
  
  #include <rtabmap/core/OptimizerCVSBA.h>
  
  #ifdef RTABMAP_CVSBA
  #include <cvsba/cvsba.h>
  #include "rtabmap/core/util3d_motion_estimation.h"
  #include "rtabmap/core/util3d_transforms.h"
  #include "rtabmap/core/util3d_correspondences.h"
  #endif
  
  namespace rtabmap {
  
  bool OptimizerCVSBA::available()
  {
  #ifdef RTABMAP_CVSBA
  	return true;
  #else
  	return false;
  #endif
  }
  
  std::map<int, Transform> OptimizerCVSBA::optimizeBA(
  		int rootId,
  		const std::map<int, Transform> & poses,
  		const std::multimap<int, Link> & links,
  		const std::map<int, CameraModel> & models,
  		std::map<int, cv::Point3f> & points3DMap,
  		const std::map<int, std::map<int, cv::Point2f> > & wordReferences) // <ID words, IDs frames + keypoint>)
  {
  #ifdef RTABMAP_CVSBA
  	// run sba optimization
  	cvsba::Sba sba;
  
  	// change params if desired
  	cvsba::Sba::Params params ;
  	params.type = cvsba::Sba::MOTIONSTRUCTURE;
  	params.iterations = this->iterations();
  	params.minError = this->epsilon();
  	params.fixedIntrinsics = 5;
  	params.fixedDistortion = 5; // updated below
  	params.verbose=ULogger::level() <= ULogger::kInfo;
  	sba.setParams(params);
  
  	std::vector<cv::Mat> cameraMatrix(poses.size()); //nframes
  	std::vector<cv::Mat> R(poses.size()); //nframes
  	std::vector<cv::Mat> T(poses.size()); //nframes
  	std::vector<cv::Mat> distCoeffs(poses.size()); //nframes
  	std::map<int, int> frameIdToIndex;
  	int oi=0;
  	for(std::map<int, Transform>::const_iterator iter=poses.begin(); iter!=poses.end(); ++iter)
  	{
  		// Get camera model
  		std::map<int, CameraModel>::const_iterator iterModel = models.find(iter->first);
  		UASSERT(iterModel != models.end() && iterModel->second.isValidForProjection());
  
  		frameIdToIndex.insert(std::make_pair(iter->first, oi));
  
  		cameraMatrix[oi] = iterModel->second.K();
  		if(iterModel->second.D().cols != 5)
  		{
  			distCoeffs[oi] = cv::Mat::zeros(1, 5, CV_64FC1);
  			UWARN("Camera model %d: Distortion coefficients are not 5, setting all them to 0 (assuming no distortion)", iter->first);
  		}
  		else
  		{
  			distCoeffs[oi] = iterModel->second.D();
  		}
  
  		Transform t = (iter->second * iterModel->second.localTransform()).inverse();
  
  		R[oi] = (cv::Mat_<double>(3,3) <<
  				(double)t.r11(), (double)t.r12(), (double)t.r13(),
  				(double)t.r21(), (double)t.r22(), (double)t.r23(),
  				(double)t.r31(), (double)t.r32(), (double)t.r33());
  		T[oi] = (cv::Mat_<double>(1,3) << (double)t.x(), (double)t.y(), (double)t.z());
  		++oi;
  
  		UDEBUG("Pose %d = %s", iter->first, t.prettyPrint().c_str());
  	}
  	cameraMatrix.resize(oi);
  	R.resize(oi);
  	T.resize(oi);
  	distCoeffs.resize(oi);
  
  	UDEBUG("points=%d frames=%d", (int)points3DMap.size(), (int)poses.size());
  	std::vector<cv::Point3f> points(points3DMap.size()); //npoints
  	std::vector<std::vector<cv::Point2f> >  imagePoints(poses.size()); //nframes -> npoints
  	std::vector<std::vector<int> > visibility(poses.size()); //nframes -> npoints
  	for(unsigned int i=0; i<poses.size(); ++i)
  	{
  		imagePoints[i].resize(wordReferences.size(), cv::Point2f(std::numeric_limits<float>::quiet_NaN(), std::numeric_limits<float>::quiet_NaN()));
  		visibility[i].resize(wordReferences.size(), 0);
  	}
  	int i=0;
  	for(std::map<int, cv::Point3f>::const_iterator kter = points3DMap.begin(); kter!=points3DMap.end(); ++kter)
  	{
  		points[i] = kter->second;
  
  		std::map<int, std::map<int, cv::Point2f> >::const_iterator iter = wordReferences.find(kter->first);
  		if(iter != wordReferences.end())
  		{
  			for(std::map<int, cv::Point2f>::const_iterator jter=iter->second.begin(); jter!=iter->second.end(); ++jter)
  			{
  				if(frameIdToIndex.find(jter->first) != frameIdToIndex.end())
  				{
  					imagePoints[frameIdToIndex.at(jter->first)][i] = jter->second;
  					visibility[frameIdToIndex.at(jter->first)][i] = 1;
  				}
  			}
  		}
  		++i;
  	}
  
  	// SBA
  	try
  	{
  		sba.run( points, imagePoints, visibility, cameraMatrix, R, T, distCoeffs);
  	}
  	catch(cv::Exception & e)
  	{
  		UERROR("Running SBA... error! %s", e.what());
  		return std::map<int, Transform>();
  	}
  
  	//update poses
  	i=0;
  	std::map<int, Transform> newPoses = poses;
  	for(std::map<int, Transform>::iterator iter=newPoses.begin(); iter!=newPoses.end(); ++iter)
  	{
  		Transform t(R[i].at<double>(0,0), R[i].at<double>(0,1), R[i].at<double>(0,2), T[i].at<double>(0),
  					R[i].at<double>(1,0), R[i].at<double>(1,1), R[i].at<double>(1,2), T[i].at<double>(1),
  					R[i].at<double>(2,0), R[i].at<double>(2,1), R[i].at<double>(2,2), T[i].at<double>(2));
  
  		UDEBUG("New pose %d = %s", iter->first, t.prettyPrint().c_str());
  
  		if(this->isSlam2d())
  		{
  			t = (models.at(iter->first).localTransform() * t).inverse();
  			t = iter->second.inverse() * t;
  			iter->second *= t.to3DoF();
  		}
  		else
  		{
  			iter->second = (models.at(iter->first).localTransform() * t).inverse();
  		}
  
  		++i;
  	}
  
  	//update 3D points
  	i=0;
  	for(std::map<int, cv::Point3f>::iterator kter = points3DMap.begin(); kter!=points3DMap.end(); ++kter)
  	{
  		kter->second = points[i++];
  	}
  
  	return newPoses;
  
  #else
  	UERROR("RTAB-Map is not built with cvsba!");
  	return std::map<int, Transform>();
  #endif
  }
  
  } /* namespace rtabmap */
  