odometry_estimation_base.hpp

#pragma once
 
#include <Eigen/Core>
#include <Eigen/Geometry>
 
#ifdef GLIM_USE_OPENCV
#include <opencv2/core.hpp>
#endif
#include <glim/odometry/estimation_frame.hpp>
#include <glim/preprocess/preprocessed_frame.hpp>
 
namespace spdlog {
class logger;
}
 
namespace glim {
 
class OdometryEstimationBase {
public:
  OdometryEstimationBase();
  virtual ~OdometryEstimationBase() {}
 
  virtual bool requires_imu() const { return true; }
 
#ifdef GLIM_USE_OPENCV
  virtual void insert_image(const double stamp, const cv::Mat& image);
#endif
 
  virtual void insert_imu(const double stamp, const Eigen::Vector3d& linear_acc, const Eigen::Vector3d& angular_vel);
 
  virtual EstimationFrame::ConstPtr insert_frame(const PreprocessedFrame::Ptr& frame, std::vector<EstimationFrame::ConstPtr>& marginalized_states);
 
  virtual std::vector<EstimationFrame::ConstPtr> get_remaining_frames() { return std::vector<EstimationFrame::ConstPtr>(); }
 
  static std::shared_ptr<OdometryEstimationBase> load_module(const std::string& so_name);
 
protected:
  // Logging
  std::shared_ptr<spdlog::logger> logger;
};
 
}  // namespace glim