stereo_visual_odometry_alg.h

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// Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
// Author 
// All rights reserved.
//
// This file is part of iri-ros-pkg
// iri-ros-pkg is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program.  If not, see <http://www.gnu.org/licenses/>.
// 
// IMPORTANT NOTE: This code has been generated through a script from the 
// iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
// of the scripts. ROS topics can be easly add by using those scripts. Please
// refer to the IRI wiki page for more information:
// http://wikiri.upc.es/index.php/Robotics_Lab

#ifndef _stereo_visual_odometry_alg_h_
#define _stereo_visual_odometry_alg_h_

#include <iri_stereo_visual_odometry/StereoVisualOdometryConfig.h>
#include "mutex.h"
#include <stereo_vo.h>
#include <cv_bridge/cv_bridge.h>
#include <sensor_msgs/image_encodings.h>
#include <tf/transform_datatypes.h>

//include stereo_visual_odometry_alg main library


class StereoVisualOdometryAlgorithm
{
  protected:
    CMutex alg_mutex_;
    
    // private attributes and methods

  public:
    typedef iri_stereo_visual_odometry::StereoVisualOdometryConfig Config;

    Config config_;

    StereoVisualOdometryAlgorithm(void);

    void lock(void) { alg_mutex_.enter(); };

    void unlock(void) { alg_mutex_.exit(); };

    bool try_enter(void) { return alg_mutex_.try_enter(); };

    void config_update(Config& new_cfg, uint32_t level=0);

    // here define all stereo_visual_odometry_alg interface methods to retrieve and set
    // the driver parameters

    ~StereoVisualOdometryAlgorithm(void);
    
    void compute_H_Hcov(cv::Mat& img1, cv::Mat& img2, cv::Mat& img3, cv::Mat& img4, cv::Mat& H, cv::Mat& Hcov, cv::Mat& point);
    void extract_ypr(cv::Mat& H,double& y,double& p,double& r);

};

#endif