OdometryORBSLAM3.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:
    * 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.
 
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*/
 
#ifndef ODOMETRYORBSLAM3_H_
#define ODOMETRYORBSLAM3_H_
 
#include <rtabmap/core/Odometry.h>
 
#if defined(RTABMAP_ORB_SLAM) and RTABMAP_ORB_SLAM == 3
#include <System.h>
#endif
 
namespace rtabmap {
 
class RTABMAP_CORE_EXPORT OdometryORBSLAM3 : public Odometry
{
public:
        OdometryORBSLAM3(const rtabmap::ParametersMap & parameters = rtabmap::ParametersMap());
        virtual ~OdometryORBSLAM3();
 
        virtual void reset(const Transform & initialPose = Transform::getIdentity());
        virtual Odometry::Type getType() {return Odometry::kTypeORBSLAM;}
        virtual bool canProcessAsyncIMU() const;
 
private:
        virtual Transform computeTransform(SensorData & image, const Transform & guess = Transform(), OdometryInfo * info = 0);
 
        bool init(const rtabmap::CameraModel & model1, const rtabmap::CameraModel & model2, double stamp, bool stereo, double baseline);
private:
#if defined(RTABMAP_ORB_SLAM) and RTABMAP_ORB_SLAM == 3
        ORB_SLAM3::System * orbslam_;
        bool firstFrame_;
        Transform originLocalTransform_;
        Transform previousPose_;
        bool useIMU_;
        Transform imuLocalTransform_;
        ParametersMap parameters_;
        std::vector<ORB_SLAM3::IMU::Point> orbslamImus_;
        double lastImuStamp_;
        double lastImageStamp_;
#endif
 
};
 
}
 
#endif /* ODOMETRYORBSLAM_H3_ */