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
modification, are permitted provided that the following conditions are met:
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      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.

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*/

#ifndef ODOMETRYF2M_H_
#define ODOMETRYF2M_H_

#include <rtabmap/core/Odometry.h>
#include <rtabmap/core/Optimizer.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_;
        float scanMapMaxRange_;
        int bundleAdjustment_;
        int bundleMaxFrames_;
        float validDepthRatio_;
        int pointToPlaneK_;
        float pointToPlaneRadius_;

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

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

}

#endif /* ODOMETRYF2M_H_ */