sSlam_ucoslam.h

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/*
-----------------------------------------------------------------------------
This source file is part of OpenSpace3D
For the latest info, see http://www.openspace3d.com
 
Copyright (c) 2012 I-maginer
 
This program is free software; you can redistribute it and/or modify it under
the terms of the GNU Lesser General Public License as published by the Free Software
Foundation; either version 2 of the License, or (at your option) any later
version.
 
This program is distributed in the hope that it will be useful, but WITHOUT
ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details.
 
You should have received a copy of the GNU Lesser General Public License along with
this program; if not, write to the Free Software Foundation, Inc., 59 Temple
Place - Suite 330, Boston, MA 02111-1307, USA, or go to
http://www.gnu.org/copyleft/lesser.txt
 
-----------------------------------------------------------------------------
*/
 
#ifndef __BTK_SSLAM_H__
#define __BTK_SSLAM_H__
 
#include "Prerequisites.h"
#include "ArCameraParam.h"
#include "ArManager.h"
#include "BitmapToolkitThread.h"
 
#include "ucoslam/ucoslam.h"
 
 
class Sslam : btopenutils::Thread
{
        public:
    Sslam();
    ~Sslam();
  protected:
 
        private:
    ucoslam::Params mParams;
    ucoslam::ImageParams mCamParams;
    LASTDATA mLastData;
    boost::recursive_mutex mUpdateMutex;    
    ucoslam::UcoSlam* mSlam;
    std::shared_ptr<ucoslam::Map> mMap;
    Vector3 mLastCamPos;
    Quaternion mLastCamQuat;
          uint32_t mFrameIdx;
    float mScale;
    bool mIsDirty;
    std::string mVocFile;
 
    void BuildCameraParam(const aruco::CameraParameters &camparam);
    void InitDetector();
 
        public:
    bool needUpdate;
    void GoThread();
    void SetDirty();
    Vector3 GetCameraPosition();
    Quaternion GetCameraOrientation();
    void DrawLandmarks(cv::Mat image);
  protected:
 
        private:
};
 
#endif