OdometryInfo.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 ODOMETRYINFO_H_
#define ODOMETRYINFO_H_

#include <map>
#include "rtabmap/core/Transform.h"
#include "rtabmap/core/RegistrationInfo.h"
#include "rtabmap/core/CameraModel.h"
#include "rtabmap/core/LaserScan.h"
#include <opencv2/features2d/features2d.hpp>

namespace rtabmap {

class OdometryInfo
{
public:
        OdometryInfo() :
                lost(true),
                features(0),
                localMapSize(0),
                localScanMapSize(0),
                localKeyFrames(0),
                localBundleOutliers(0),
                localBundleConstraints(0),
                localBundleTime(0),
                keyFrameAdded(false),
                timeEstimation(0.0f),
                timeParticleFiltering(0.0f),
                stamp(0),
                interval(0),
                distanceTravelled(0.0f),
                memoryUsage(0),
                gravityRollError(0.0),
                gravityPitchError(0.0),
                type(0)
        {}

        OdometryInfo copyWithoutData() const
        {
                OdometryInfo output;
                output.lost = lost;
                output.reg = reg.copyWithoutData();
                output.features = features;
                output.localMapSize = localMapSize;
                output.localScanMapSize = localScanMapSize;
                output.localKeyFrames = localKeyFrames;
                output.localBundleOutliers = localBundleOutliers;
                output.localBundleConstraints = localBundleConstraints;
                output.localBundleTime = localBundleTime;
                output.localBundlePoses = localBundlePoses;
                output.localBundleModels = localBundleModels;
                output.keyFrameAdded = keyFrameAdded;
                output.timeEstimation = timeEstimation;
                output.timeParticleFiltering = timeParticleFiltering;
                output.stamp = stamp;
                output.interval = interval;
                output.transform = transform;
                output.transformFiltered = transformFiltered;
                output.transformGroundTruth = transformGroundTruth;
                output.guessVelocity = guessVelocity;
                output.guess = guess;
                output.distanceTravelled = distanceTravelled;
                output.memoryUsage = memoryUsage;
                output.gravityRollError = gravityRollError;
                output.gravityPitchError = gravityPitchError;
                output.type = type;
                return output;
        }

        bool lost;
        RegistrationInfo reg;
        int features;
        int localMapSize;
        int localScanMapSize;
        int localKeyFrames;
        int localBundleOutliers;
        int localBundleConstraints;
        float localBundleTime;
        std::map<int, Transform> localBundlePoses;
        std::map<int, std::vector<CameraModel> > localBundleModels;
        bool keyFrameAdded;
        float timeEstimation;
        float timeParticleFiltering;
        double stamp;
        double interval;
        Transform transform;
        Transform transformFiltered;
        Transform transformGroundTruth;
        Transform guessVelocity; // deprecated, will be removed. Use guess and interval instead.
        Transform guess;
        float distanceTravelled;
        int memoryUsage; //MB
        double gravityRollError;
        double gravityPitchError;

        int type;

        // F2M
        std::multimap<int, cv::KeyPoint> words;
        std::map<int, cv::Point3f> localMap;
        LaserScan localScanMap;

        // F2F
        std::vector<cv::Point2f> refCorners;
        std::vector<cv::Point2f> newCorners;
        std::vector<int> cornerInliers;
};

}

#endif /* ODOMETRYINFO_H_ */