OdometryF2M.h

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/*
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.

Redistribution and use in source and binary forms, with or without
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    * Redistributions in binary form must reproduce the above copyright
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      documentation and/or other materials provided with the distribution.
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      names of its contributors may be used to endorse or promote products
      derived from this software without specific prior written permission.

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#ifndef ODOMETRYF2M_H_
#define ODOMETRYF2M_H_

#include <rtabmap/core/Odometry.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/pcl_base.h>
#include <rtabmap/core/Link.h>

namespace rtabmap {

class Signature;
class Registration;
class Optimizer;

class RTABMAP_EXP OdometryF2M : public Odometry
{
public:
        OdometryF2M(const rtabmap::ParametersMap & parameters = rtabmap::ParametersMap());
        virtual ~OdometryF2M();

        virtual void reset(const Transform & initialPose = Transform::getIdentity());
        const Signature & getMap() const {return *map_;}
        const Signature & getLastFrame() const {return *lastFrame_;}

        virtual Odometry::Type getType() {return Odometry::kTypeF2M;}

private:
        virtual Transform computeTransform(SensorData & data, const Transform & guess = Transform(), OdometryInfo * info = 0);

private:
        //Parameters
        int maximumMapSize_;
        float keyFrameThr_;
        int visKeyFrameThr_;
        int maxNewFeatures_;
        float scanKeyFrameThr_;
        int scanMaximumMapSize_;
        float scanSubtractRadius_;
        float scanSubtractAngle_;
        int bundleAdjustment_;
        int bundleMaxFrames_;

        Registration * regPipeline_;
        Signature * map_;
        Signature * lastFrame_;
        int lastFrameOldestNewId_;
        std::vector<std::pair<pcl::PointCloud<pcl::PointNormal>::Ptr, pcl::IndicesPtr> > scansBuffer_;

        std::map<int, std::map<int, cv::Point3f> > bundleWordReferences_; //<WordId, <FrameId, pt2D+depth>>
        std::map<int, Transform> bundlePoses_;
        std::multimap<int, Link> bundleLinks_;
        std::map<int, CameraModel> bundleModels_;
        std::map<int, int> bundlePoseReferences_;
        int bundleSeq_;
        Optimizer * sba_;
        ParametersMap parameters_;
};

}

#endif /* ODOMETRYF2M_H_ */