OdometryDVO.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 ODOMETRYDVO_H_
#define ODOMETRYDVO_H_

#include <rtabmap/core/Odometry.h>

namespace dvo {
class DenseTracker;
namespace core {
class RgbdImagePyramid;
class RgbdCameraPyramid;
}
}

namespace rtabmap {

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

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

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

private:
#ifdef RTABMAP_DVO
        dvo::DenseTracker * dvo_;
        dvo::core::RgbdImagePyramid * reference_;
        dvo::core::RgbdCameraPyramid * camera_;
        bool lost_;
#endif
        Transform motionFromKeyFrame_;
        Transform previousLocalTransform_;

};

}

#endif /* ODOMETRYDVO_H_ */