OdometryORBSLAM.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
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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 ODOMETRYORBSLAM_H_
#define ODOMETRYORBSLAM_H_

#include <rtabmap/core/Odometry.h>

#if RTABMAP_ORB_SLAM == 3
namespace ORB_SLAM3 {
#else
namespace ORB_SLAM2 {
#endif
class System;
}

class ORBSLAMSystem;

namespace rtabmap {

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

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

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

private:
#ifdef RTABMAP_ORB_SLAM
        ORBSLAMSystem * orbslam_;
        bool firstFrame_;
        Transform originLocalTransform_;
        Transform previousPose_;
        bool useIMU_;
        Transform imuLocalTransform_;
#endif

};

}

#endif /* ODOMETRYORBSLAM_H_ */