28 #ifndef ODOMETRYMONO_H_ 29 #define ODOMETRYMONO_H_ 44 virtual void reset(
const Transform & initialPose);
std::map< int, cv::Point2f > firstFrameGuessCorners_
std::map< std::string, std::string > ParametersMap
float initMinTranslation_
virtual Odometry::Type getType()
std::map< int, CameraModel > keyFrameModels_
std::map< int, Transform > keyFramePoses_
float fundMatrixReprojError_
float fundMatrixConfidence_
std::map< int, std::map< int, cv::Point3f > > keyFrameWords3D_
std::multimap< int, Link > keyFrameLinks_
std::map< int, cv::Point3f > localMap_