OdometryF2M.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.
 
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
 
#ifndef ODOMETRYF2M_H_
#define ODOMETRYF2M_H_
 
#include <rtabmap/core/Odometry.h>
#include <rtabmap/core/Optimizer.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/pcl_base.h>
#include <rtabmap/core/Link.h>
 
namespace rtabmap {
 
class Signature;
class Registration;
class Optimizer;
 
class RTABMAP_CORE_EXPORT OdometryF2M : public Odometry
{
public:
  OdometryF2M(const rtabmap::ParametersMap & parameters = rtabmap::ParametersMap());
  virtual ~OdometryF2M();
 
  virtual void reset(const Transform & initialPose = Transform::getIdentity());
  const Signature & getMap() const {return *map_;}
  const Signature & getLastFrame() const {return *lastFrame_;}
 
  virtual Odometry::Type getType() {return Odometry::kTypeF2M;}
 
private:
  virtual Transform computeTransform(SensorData & data, const Transform & guess = Transform(), OdometryInfo * info = 0);
 
private:
  //Parameters
  int maximumMapSize_;
  float keyFrameThr_;
  int visKeyFrameThr_;
  int maxNewFeatures_;
  float initDepthFactor_;
  float floorThreshold_;
  float scanKeyFrameThr_;
  int scanMaximumMapSize_;
  float scanSubtractRadius_;
  float scanSubtractAngle_;
  float scanMapMaxRange_;
  int bundleAdjustment_;
  int bundleMaxFrames_;
  float bundleMinMotion_;
  int bundleMaxKeyFramesPerFeature_;
  bool bundleUpdateFeatureMapOnAllFrames_;
  float validDepthRatio_;
  int pointToPlaneK_;
  float pointToPlaneRadius_;
 
  Registration * regPipeline_;
  Signature * map_;
  Signature * lastFrame_;
  int lastFrameOldestNewId_;
  // The scan keyframes the local scan map is assembled from
  struct ScanKeyFrame
  {
    pcl::PointCloud<pcl::PointXYZINormal>::Ptr cloud; // in odometry frame, at pose
    pcl::IndicesPtr indices; // points kept in the map (not subtracted), all if empty
    int id = 0;
    Transform pose;          // odometry pose of the keyframe
    Transform gravity;       // IMU orientation at the keyframe (null if not available)
    Link link;               // registration from the previous keyframe (not set on the first)
  };
  std::vector<ScanKeyFrame> scansBuffer_;
  pcl::PointCloud<pcl::PointXYZINormal>::Ptr assembleScanMap() const;
  bool alignScanKeyFramesWithGravity();
  bool scanGravity_;
  Optimizer * scanOptimizer_;
  int scanKeyFrameSeq_;
 
  std::map<int, std::map<int, FeatureBA> > bundleWordReferences_; //<WordId, <FrameId, pt2D+depth>>
  std::map<int, Transform> bundlePoses_;
  std::multimap<int, Link> bundleLinks_;
  std::multimap<int, Link> bundleIMUOrientations_;
  std::map<int, std::vector<CameraModel> > bundleModels_;
  std::map<int, int> bundlePoseReferences_;
  int bundleSeq_;
  Optimizer * sba_;
  ParametersMap parameters_;
};
 
}
 
#endif /* ODOMETRYF2M_H_ */