rtabmap::Odometry Class Reference

#include <Odometry.h>

Inheritance diagram for rtabmap::Odometry:

List of all members.

Public Member Functions
float	getInlierDistance () const
int	getIterations () const
float	getMaxDepth () const
int	getMinInliers () const
int	getPnPFlags () const
double	getPnPReprojError () const
const Transform &	getPose () const
int	getRefineIterations () const
const std::string &	getRoiRatios () const
bool	isInfoDataFilled () const
bool	isPnPEstimationUsed () const
Transform	process (const SensorData &data, OdometryInfo *info=0)
virtual void	reset (const Transform &initialPose=Transform::getIdentity())
virtual	~Odometry ()
Protected Member Functions
	Odometry (const rtabmap::ParametersMap &parameters)
Private Member Functions
virtual Transform	computeTransform (const SensorData &image, OdometryInfo *info=0)=0
Private Attributes
bool	_fillInfoData
bool	_force2D
float	_inlierDistance
int	_iterations
float	_maxDepth
int	_minInliers
bool	_pnpEstimation
int	_pnpFlags
double	_pnpReprojError
Transform	_pose
int	_refineIterations
int	_resetCountdown
int	_resetCurrentCount
std::string	_roiRatios

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Detailed Description

Definition at line 46 of file Odometry.h.

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Constructor & Destructor Documentation

virtual rtabmap::Odometry::~Odometry

(

)

[inline, virtual]

Definition at line 49 of file Odometry.h.

rtabmap::Odometry::Odometry

(

const rtabmap::ParametersMap &

parameters

)

[protected]

Definition at line 35 of file Odometry.cpp.

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Member Function Documentation

virtual Transform rtabmap::Odometry::computeTransform	(	const SensorData &	image,
		OdometryInfo *	info = 0
	)		[private, pure virtual]

Implemented in rtabmap::OdometryICP, rtabmap::OdometryMono, rtabmap::OdometryOpticalFlow, and rtabmap::OdometryBOW.

float rtabmap::Odometry::getInlierDistance

(

)

const [inline]

Definition at line 57 of file Odometry.h.

int rtabmap::Odometry::getIterations

(

)

const [inline]

Definition at line 58 of file Odometry.h.

float rtabmap::Odometry::getMaxDepth

(

)

const [inline]

Definition at line 60 of file Odometry.h.

int rtabmap::Odometry::getMinInliers

(

)

const [inline]

Definition at line 56 of file Odometry.h.

int rtabmap::Odometry::getPnPFlags

(

)

const [inline]

Definition at line 64 of file Odometry.h.

double rtabmap::Odometry::getPnPReprojError

(

)

const [inline]

Definition at line 63 of file Odometry.h.

const Transform& rtabmap::Odometry::getPose

(

)

const [inline]

Definition at line 54 of file Odometry.h.

int rtabmap::Odometry::getRefineIterations

(

)

const [inline]

Definition at line 59 of file Odometry.h.

const std::string& rtabmap::Odometry::getRoiRatios

(

)

const [inline]

Definition at line 55 of file Odometry.h.

bool rtabmap::Odometry::isInfoDataFilled

(

)

const [inline]

Definition at line 61 of file Odometry.h.

bool rtabmap::Odometry::isPnPEstimationUsed

(

)

const [inline]

Definition at line 62 of file Odometry.h.

Transform rtabmap::Odometry::process	(	const SensorData &	data,
		OdometryInfo *	info = 0
	)

Definition at line 85 of file Odometry.cpp.

void rtabmap::Odometry::reset

(

const Transform &

initialPose = Transform::getIdentity()

)

[virtual]

Reimplemented in rtabmap::OdometryICP, rtabmap::OdometryMono, rtabmap::OdometryOpticalFlow, and rtabmap::OdometryBOW.

Definition at line 65 of file Odometry.cpp.

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Member Data Documentation

bool rtabmap::Odometry::_fillInfoData [private]

Definition at line 78 of file Odometry.h.

bool rtabmap::Odometry::_force2D [private]

Definition at line 77 of file Odometry.h.

float rtabmap::Odometry::_inlierDistance [private]

Definition at line 72 of file Odometry.h.

int rtabmap::Odometry::_iterations [private]

Definition at line 73 of file Odometry.h.

float rtabmap::Odometry::_maxDepth [private]

Definition at line 75 of file Odometry.h.

int rtabmap::Odometry::_minInliers [private]

Definition at line 71 of file Odometry.h.

bool rtabmap::Odometry::_pnpEstimation [private]

Definition at line 79 of file Odometry.h.

int rtabmap::Odometry::_pnpFlags [private]

Definition at line 81 of file Odometry.h.

double rtabmap::Odometry::_pnpReprojError [private]

Definition at line 80 of file Odometry.h.

Transform rtabmap::Odometry::_pose [private]

Definition at line 82 of file Odometry.h.

int rtabmap::Odometry::_refineIterations [private]

Definition at line 74 of file Odometry.h.

int rtabmap::Odometry::_resetCountdown [private]

Definition at line 76 of file Odometry.h.

int rtabmap::Odometry::_resetCurrentCount [private]

Definition at line 83 of file Odometry.h.

std::string rtabmap::Odometry::_roiRatios [private]

Definition at line 70 of file Odometry.h.

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The documentation for this class was generated from the following files:

• Odometry.h
• Odometry.cpp