OdometryVINSFusion.h

/*
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 ODOMETRYVINSFUSION_H_
#define ODOMETRYVINSFUSION_H_
 
#include <rtabmap/core/Odometry.h>
 
namespace rtabmap {
 
class VinsFusionEstimator;
 
class RTABMAP_CORE_EXPORT OdometryVINSFusion : public Odometry
{
public:
  OdometryVINSFusion(const rtabmap::ParametersMap & parameters = rtabmap::ParametersMap());
  virtual ~OdometryVINSFusion();
 
  virtual void reset(const Transform & initialPose = Transform::getIdentity());
  virtual Odometry::Type getType() {return Odometry::kTypeVINSFusion;}
  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_VINS_FUSION
  VinsFusionEstimator * vinsEstimator_;
  bool initGravity_;
  Transform previousPose_;
  Transform previousLocalTransform_;
  IMU lastImu_;
  double lastImuStamp_;
#endif
};
 
}
 
#endif /* ODOMETRYVINSFUSION_H_ */