rtabmap::OdometryF2F Class Reference

#include <OdometryF2F.h>

Inheritance diagram for rtabmap::OdometryF2F:

Public Member Functions
const Signature &	getRefFrame () const
virtual Odometry::Type	getType ()
	OdometryF2F (const rtabmap::ParametersMap &parameters=rtabmap::ParametersMap())
virtual void	reset (const Transform &initialPose=Transform::getIdentity())
virtual	~OdometryF2F ()
Public Member Functions inherited from rtabmap::Odometry
virtual bool	canProcessIMU () const
virtual bool	canProcessRawImages () const
unsigned int	framesProcessed () const
const Transform &	getPose () const
const Transform &	getVelocityGuess () const
bool	imagesAlreadyRectified () const
bool	isInfoDataFilled () const
double	previousStamp () const
Transform	process (SensorData &data, OdometryInfo *info=0)
Transform	process (SensorData &data, const Transform &guess, OdometryInfo *info=0)
	RTABMAP_DEPRECATED (const Transform &previousVelocityTransform() const,"Use getVelocityGuess() instead.")
virtual	~Odometry ()

Private Member Functions
virtual Transform	computeTransform (SensorData &image, const Transform &guess=Transform(), OdometryInfo *info=0)

Private Attributes
float	keyFrameThr_
Transform	lastKeyFramePose_
ParametersMap	parameters_
Signature	refFrame_
Registration *	registrationPipeline_
float	scanKeyFrameThr_
int	visKeyFrameThr_

Additional Inherited Members
Public Types inherited from rtabmap::Odometry
enum	Type {   kTypeUndef = -1, kTypeF2M = 0, kTypeF2F = 1, kTypeFovis = 2,   kTypeViso2 = 3, kTypeDVO = 4, kTypeORBSLAM2 = 5, kTypeOkvis = 6,   kTypeLOAM = 7, kTypeMSCKF = 8, kTypeVINS = 9 }
Static Public Member Functions inherited from rtabmap::Odometry
static Odometry *	create (const ParametersMap &parameters=ParametersMap())
static Odometry *	create (Type &type, const ParametersMap &parameters=ParametersMap())
Protected Member Functions inherited from rtabmap::Odometry
const std::map< double, Transform > &	imus () const
	Odometry (const rtabmap::ParametersMap &parameters)

Detailed Description

Definition at line 38 of file OdometryF2F.h.

Constructor & Destructor Documentation

rtabmap::OdometryF2F::OdometryF2F

(

const rtabmap::ParametersMap &

parameters = rtabmap::ParametersMap()

)

Definition at line 39 of file OdometryF2F.cpp.

rtabmap::OdometryF2F::~OdometryF2F ( )

virtual

Definition at line 56 of file OdometryF2F.cpp.

Member Function Documentation

Transform rtabmap::OdometryF2F::computeTransform ( SensorData &  image, const Transform &  guess = Transform(), OdometryInfo *  info = 0  )

privatevirtual

Implements rtabmap::Odometry.

Definition at line 69 of file OdometryF2F.cpp.

const Signature& rtabmap::OdometryF2F::getRefFrame ( ) const

inline

Definition at line 46 of file OdometryF2F.h.

virtual Odometry::Type rtabmap::OdometryF2F::getType ( )

inlinevirtual

Implements rtabmap::Odometry.

Definition at line 48 of file OdometryF2F.h.

void rtabmap::OdometryF2F::reset ( const Transform &  initialPose = Transform::getIdentity() )

virtual

Reimplemented from rtabmap::Odometry.

Definition at line 61 of file OdometryF2F.cpp.

Member Data Documentation

float rtabmap::OdometryF2F::keyFrameThr_

private

Definition at line 55 of file OdometryF2F.h.

Transform rtabmap::OdometryF2F::lastKeyFramePose_

private

Definition at line 61 of file OdometryF2F.h.

ParametersMap rtabmap::OdometryF2F::parameters_

private

Definition at line 62 of file OdometryF2F.h.

Signature rtabmap::OdometryF2F::refFrame_

private

Definition at line 60 of file OdometryF2F.h.

Registration* rtabmap::OdometryF2F::registrationPipeline_

private

Definition at line 59 of file OdometryF2F.h.

float rtabmap::OdometryF2F::scanKeyFrameThr_

private

Definition at line 57 of file OdometryF2F.h.

int rtabmap::OdometryF2F::visKeyFrameThr_

private

Definition at line 56 of file OdometryF2F.h.

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

• OdometryF2F.h
• OdometryF2F.cpp