CVTrackedWAI.h

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/**
 * \file      CVTrackedWAI.h
 * \date      Spring 2020
 * \remarks   Please use clangformat to format the code. See more code style on
 *            https://github.com/cpvrlab/SLProject4/wiki/SLProject-Coding-Style
 * \authors   Michael Goettlicher, Jan Dellsperger
 * \copyright http://opensource.org/licenses/GPL-3.0
*/
 
#ifndef CVTrackedWAI_H
#define CVTrackedWAI_H
 
#include <CVTracked.h>
#include <WAIOrbVocabulary.h>
#include <WAISlam.h>
 
//-----------------------------------------------------------------------------
//! Tracker that uses the ORB-Slam based WAI library (Where Am I)
/*
 This tracker can can track a on-the-fly built 3D point cloud generated by
 the ORB-SLAM2 library that is integrated within the lib-WAI. It only works
 well if the camera is calibrated. SLAM stands for Simultaneous Localisation
 And Mapping. See the app-demo Demo Scene > Video > Track WAI.
 */
class CVTrackedWAI : public CVTracked
{
public:
    explicit CVTrackedWAI(const string& vocabularyFile);
    ~CVTrackedWAI() override;
 
    bool track(CVMat          imageGray,
               CVMat          imageBgr,
               CVCalibration* calib) final;
 
private:
    WAISlam*                 _waiSlamer               = nullptr;
    ORB_SLAM2::ORBextractor* _trackingExtractor       = nullptr;
    ORB_SLAM2::ORBextractor* _initializationExtractor = nullptr;
    WAIOrbVocabulary*        _voc;
};
//-----------------------------------------------------------------------------
#endif