SLAMEngine.h

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#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
{
    /**--------------------------------------------------------------------------------------------------
    \brief A frame of data that can be processed by a SLAM engine to determine relative location
    **/
    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;
    };
    /**--------------------------------------------------------------------------------------------------
    \brief Provides logic to perform SLAM on an object 
    **/
    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;
    };
    /**--------------------------------------------------------------------------------------------------
    \brief Creates a SLAM engine when required
    **/
    class SLAMEngineFactory : public SoftwareService
    {
    public:
        virtual SLAMEngine* createSLAMEngine() = 0;
        virtual UUID id() const = 0;
    };
    /**--------------------------------------------------------------------------------------------------
    \brief Registers engines which can be used in the SLAM process
    **/
    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;
    };
 
}