Program Listing for File ImageSet.h

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#pragma once
#include <opencv2/core.hpp>
#include <vector>

#include "DataStructures/Frame.h"
#include "util/SophusUtil.h"
#include "libvideoio/types/Camera.h"

namespace lsd_slam {

// Relies on the lazy-initialize nature of Frame to be efficient
class ImageSet {
public:
  struct Disparity {
    float *iDepth;
    uint8_t *iDepthValid;
    int iDepthSize = 0;
    // Disparity(float *_iDepth, bool _iDepthValid, int _iDepthSize)
    //    : iDepth(_iDepth), iDepthValid(_iDepthValid), iDepthSize(_iDepthSize)
    //    {}
  };
  ImageSet() = delete;

  ImageSet(const ImageSet &) = delete;

  ImageSet(unsigned int id, const cv::Mat &img, const libvideoio::Camera &cam);

  ImageSet(unsigned int id, const std::vector<cv::Mat> &imgs,
           const std::vector<libvideoio::Camera> &cams, const unsigned int ref);
  ~ImageSet();

  Frame::SharedPtr &refFrame() { return _frames[_refFrame]; }

  Frame::SharedPtr &getFrame(const unsigned int frameNum) {
    return _frames[frameNum];
  }

  void pushbackFrame(const cv::Mat &img, const libvideoio::Camera &cam);
  void setDisparityMap(float *_iDepth, uint8_t *_iDepthValid, int _size);
  Sim3 getRefTransformation() { return _frames[_refFrame]->getCamToWorld(); }
  void setReferenceFrame(const unsigned int &frameNum) { _refFrame = frameNum; }
  unsigned int id() { return _frameId; }

  Disparity disparity;

  boost::shared_mutex setMutex;

  typedef std::shared_ptr<ImageSet> SharedPtr;

private:
  unsigned int _refFrame;
  unsigned int _frameId;
  std::vector<Frame::SharedPtr> _frames;
  std::vector<Sophus::SE3d> _se3FromFirst;

  // float *_disparityMap;
};

} // namespace lsd_slam