OdometryOpenVINS.h

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/*
Copyright (c) 2010-2021, 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 ODOMETRYOPENVINS_H_
#define ODOMETRYOPENVINS_H_
 
#include <rtabmap/core/Odometry.h>
 
namespace ov_msckf {
class VioManager;
struct VioManagerOptions;
}
 
namespace rtabmap {
 
class RTABMAP_CORE_EXPORT OdometryOpenVINS : public Odometry
{
public:
        OdometryOpenVINS(const rtabmap::ParametersMap & parameters = rtabmap::ParametersMap());
 
        virtual void reset(const Transform & initialPose = Transform::getIdentity());
        virtual Odometry::Type getType() {return Odometry::kTypeOpenVINS;}
        virtual bool canProcessRawImages() const {return true;}
        virtual bool canProcessAsyncIMU() const {return true;}
 
private:
        virtual Transform computeTransform(SensorData & image, const Transform & guess = Transform(), OdometryInfo * info = 0);
 
private:
#ifdef RTABMAP_OPENVINS
        std::unique_ptr<ov_msckf::VioManager> vioManager_;
        std::unique_ptr<ov_msckf::VioManagerOptions> params_;
        bool initGravity_;
        Transform previousPoseInv_;
        Transform imuLocalTransformInv_;
        Eigen::Matrix<double, 6, 6> Phi_;
#endif
};
 
}
 
#endif /* ODOMETRYOPENVINS_H_ */