OdometryOpenVINS.h

/*
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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      notice, this list of conditions and the following disclaimer.
    * 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;
struct VioManagerOptions;
}
 
namespace rtabmap {
 
class RTABMAP_CORE_EXPORT OdometryOpenVINS : public Odometry
{
public:
  OdometryOpenVINS(const rtabmap::ParametersMap & parameters = rtabmap::ParametersMap());
 
  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
  std::unique_ptr<ov_msckf::VioManager> vioManager_;
  std::unique_ptr<ov_msckf::VioManagerOptions> params_;
  bool initGravity_;
  Transform previousPoseInv_;
  Transform imuLocalTransformInv_;
  Eigen::Matrix<double, 6, 6> Phi_;
#endif
};
 
}
 
#endif /* ODOMETRYOPENVINS_H_ */