include/svo/frame_handler_mono.h

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// This file is part of SVO - Semi-direct Visual Odometry.
//
// Copyright (C) 2014 Christian Forster <forster at ifi dot uzh dot ch>
// (Robotics and Perception Group, University of Zurich, Switzerland).
//
// SVO is free software: you can redistribute it and/or modify it under the
// terms of the GNU General Public License as published by the Free Software
// Foundation, either version 3 of the License, or any later version.
//
// SVO 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 General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program.  If not, see <http://www.gnu.org/licenses/>.

#ifndef SVO_FRAME_HANDLER_H_
#define SVO_FRAME_HANDLER_H_

#include <vikit/abstract_camera.h>
#include <svo/frame_handler_base.h>
#include <svo/reprojector.h>
#include <svo/initialization.h>

namespace svo {

class FrameHandlerMono : public FrameHandlerBase
{
public:
  FrameHandlerMono(vk::AbstractCamera* cam);
  virtual ~FrameHandlerMono();

  void addImage(const cv::Mat& img, double timestamp);

  void setFirstFrame(const FramePtr& first_frame);

  FramePtr lastFrame() { return last_frame_; }

  const set<FramePtr>& coreKeyframes() { return core_kfs_; }

  const vector<cv::Point2f>& initFeatureTrackRefPx() const { return klt_homography_init_.px_ref_; }
  const vector<cv::Point2f>& initFeatureTrackCurPx() const { return klt_homography_init_.px_cur_; }

  DepthFilter* depthFilter() const { return depth_filter_; }

  bool relocalizeFrameAtPose(
      const int keyframe_id,
      const SE3& T_kf_f,
      const cv::Mat& img,
      const double timestamp);

protected:
  vk::AbstractCamera* cam_;                     
  Reprojector reprojector_;                     
  FramePtr new_frame_;                          
  FramePtr last_frame_;                         
  set<FramePtr> core_kfs_;                      
  vector< pair<FramePtr,size_t> > overlap_kfs_; 
  initialization::KltHomographyInit klt_homography_init_; 
  DepthFilter* depth_filter_;                   

  virtual void initialize();

  virtual UpdateResult processFirstFrame();

  virtual UpdateResult processSecondFrame();

  virtual UpdateResult processFrame();

  virtual UpdateResult relocalizeFrame(
      const SE3& T_cur_ref,
      FramePtr ref_keyframe);

  virtual void resetAll();

  virtual bool needNewKf(double scene_depth_mean);

  void setCoreKfs(size_t n_closest);
};

} // namespace svo

#endif // SVO_FRAME_HANDLER_H_