OdometryViso2.h

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

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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 ODOMETRYVISO2_H_
#define ODOMETRYVISO2_H_

#include <rtabmap/core/Odometry.h>

class VisualOdometryStereo;

namespace rtabmap {

class RTABMAP_EXP OdometryViso2 : public Odometry
{
public:
        OdometryViso2(const rtabmap::ParametersMap & parameters = rtabmap::ParametersMap());
        virtual ~OdometryViso2();

        virtual void reset(const Transform & initialPose = Transform::getIdentity());
        virtual Odometry::Type getType() {return Odometry::kTypeViso2;}

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

private:
#ifdef RTABMAP_VISO2
        VisualOdometryStereo * viso2_;
        int ref_frame_change_method_;       // Reference frame method (defautl 0): 0=under inliers threshold, 1=min pixel motion,
        int ref_frame_inlier_threshold_;    // method 0. Change the reference frame if the number of inliers is low
        double ref_frame_motion_threshold_; // method 1. Change the reference frame if last motion is small
        bool lost_;
        bool keep_reference_frame_;
#endif
        Transform reference_motion_;
        Transform previousLocalTransform_;
        ParametersMap viso2Parameters_;
};

}

#endif /* ODOMETRYVISO2_H_ */