OdometryOpenVINS.h

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/*
Copyright (c) 2010-2021, 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.
    * 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 ODOMETRYOPENVINS_H_
#define ODOMETRYOPENVINS_H_

#include <rtabmap/core/Odometry.h>

namespace ov_msckf {
class VioManager;
}

namespace rtabmap {

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

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

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

private:
#ifdef RTABMAP_OPENVINS
        ov_msckf::VioManager * vioManager_;
        bool initGravity_;
        Transform previousPose_;
        Transform previousLocalTransform_;
        Transform imuLocalTransform_;
        std::map<double, IMU> imuBuffer_;
#endif
};

}

#endif /* ODOMETRYOPENVINS_H_ */