Program Listing for File FramePoseStruct.h

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#pragma once
#include <memory>

#include "util/SophusUtil.h"
#include "GlobalMapping/g2oTypeSim3Sophus.h"


namespace lsd_slam
{
class Frame;

class FramePoseStruct {
public:
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW

    typedef std::shared_ptr<FramePoseStruct> SharedPtr;

    FramePoseStruct( Frame &frame );
    virtual ~FramePoseStruct();

    FramePoseStruct &operator=( const FramePoseStruct &other );

    Sim3 setThisToParent( const Sim3 &val );

    // set initially as tracking result (then it's a SE(3)),
    // and is changed only once, when the frame becomes a KF (->rescale).
    Sim3 thisToParent_raw;

    Frame &frame;
    //int frameID;

    // whether this poseStruct is registered in the Graph. if true MEMORY WILL BE HANDLED BY GRAPH
    bool isRegisteredToGraph;

    // whether pose is optimized (true only for KF, after first applyPoseGraphOptResult())
    bool isOptimized;

    // true as soon as the vertex is added to the g2o graph.
    bool isInGraph;

    // graphVertex (if the frame has one, i.e. is a KF and has been added to the graph, otherwise 0).
    VertexSim3* graphVertex;

    void setPoseGraphOptResult(Sim3 camToWorld);
    void applyPoseGraphOptResult();

    Sim3 getCamToWorld(int recursionDepth = 0);
    void invalidateCache();

private:
    int cacheValidFor;
    static int cacheValidCounter;

    // absolute position (camToWorld).
    // can change when optimization offset is merged.
    Sim3 camToWorld;

    // new, optimized absolute position. is added on mergeOptimization.
    Sim3 camToWorld_new;

    // whether camToWorld_new is newer than camToWorld
    bool hasUnmergedPose;
};

}