OdometryF2F.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.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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*/

#ifndef ODOMETRYF2F_H_
#define ODOMETRYF2F_H_

#include <rtabmap/core/Odometry.h>
#include <rtabmap/core/Signature.h>

namespace rtabmap {

class Registration;

class RTABMAP_EXP OdometryF2F : public Odometry
{
public:
        OdometryF2F(const rtabmap::ParametersMap & parameters = rtabmap::ParametersMap());
        virtual ~OdometryF2F();

        virtual void reset(const Transform & initialPose = Transform::getIdentity());

        const Signature & getRefFrame() const {return refFrame_;}

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

private:
        //Parameters:
        float keyFrameThr_;
        float scanKeyFrameThr_;

        Registration * registrationPipeline_;
        Signature refFrame_;
        Transform lastKeyFramePose_;
};

}

#endif /* ODOMETRYF2F_H_ */