Integrated DVO odometry approach

corelib/include/rtabmap/core/Odometry.h

@@ -47,7 +47,8 @@ public:
 		kTypeF2M = 0,
 		kTypeF2F = 1,
 		kTypeFovis = 2,
-		kTypeViso2 = 3
+		kTypeViso2 = 3,
+		kTypeDVO = 4
 	};
 
 public:

corelib/include/rtabmap/core/OdometryDVO.h

@@ -0,0 +1,66 @@
+/*
+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
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef ODOMETRYDVO_H_
+#define ODOMETRYDVO_H_
+
+#include <rtabmap/core/Odometry.h>
+
+namespace dvo {
+class DenseTracker;
+namespace core {
+class RgbdImagePyramid;
+class RgbdCameraPyramid;
+}
+}
+
+namespace rtabmap {
+
+class RTABMAP_EXP OdometryDVO : public Odometry
+{
+public:
+	OdometryDVO(const rtabmap::ParametersMap & parameters = rtabmap::ParametersMap());
+	virtual ~OdometryDVO();
+
+	virtual void reset(const Transform & initialPose = Transform::getIdentity());
+	virtual Odometry::Type getType() {return Odometry::kTypeDVO;}
+
+private:
+	virtual Transform computeTransform(SensorData & image, const Transform & guess = Transform(), OdometryInfo * info = 0);
+
+private:
+	dvo::DenseTracker * dvo_;
+	dvo::core::RgbdImagePyramid * reference_;
+	dvo::core::RgbdCameraPyramid * camera_;
+	bool lost_;
+	Transform motionFromKeyFrame_;
+
+};
+
+}
+
+#endif /* ODOMETRYDVO_H_ */