SLAMEngine.h

#pragma once
#include "DLLInfo.h"
#include <NDEVR/SoftwareService.h>
#include <NDEVR/Buffer.h>
#include <NDEVR/UUID.h>
#include <NDEVR/RGBColor.h>
#include <NDEVR/Vertex.h>
#include <NDEVR/Matrix.h>
#include <NDEVR/Dictionary.h>
namespace NDEVR
{
    class SLAMFrame
    {
    public:
        Matrix<fltp08> estimated_transform = Constant<Matrix<fltp08>>::Invalid; 
        Buffer<Vertex<3, fltp04>> points; 
        Buffer<RGBColor> colors; 
        Buffer<Ray<3, fltp04>> normals; 
        fltp08 time = Constant<fltp08>::Invalid; 
        fltp08 max_distance_error = Constant<fltp08>::Invalid; 
        fltp08 max_transform_error = Constant<fltp08>::Invalid; 
        bool request_filter = true; 
    };

    class SLAMEngine
    {
    public:
        virtual void addFrame(const SLAMFrame& frame) = 0;

        virtual void setTransform(Matrix<fltp08>& transform) = 0;

        virtual Matrix<fltp08> getTransform() const = 0;

        virtual void reset() = 0;
    };

    class SLAMEngineFactory : public SoftwareService
    {
    public:
        virtual SLAMEngine* createSLAMEngine() = 0;

        virtual UUID id() const = 0;
    };

    class NDEVR_DESIGN_API SLAMEngineManager : public SoftwareServiceManager
    {
    public:
        static void RegisterEngine(SLAMEngineFactory* engine, bool make_default);

        static SLAMEngineFactory* DefaultEngineFactory();

        static SLAMEngine* CreateDefaultSLAMEngine();

        static Dictionary<UUID, SLAMEngineFactory*>& Engines();
    private:
        static Dictionary<UUID, SLAMEngineFactory*> s_engines; 
        static UUID s_default_engine; 
    };
 
}