Public Member Functions | Private Member Functions | Private Attributes | List of all members
rtabmap::OdometryF2M Class Reference

#include <OdometryF2M.h>

Inheritance diagram for rtabmap::OdometryF2M:
Inheritance graph
[legend]

Public Member Functions

virtual bool canProcessIMU () const
 
const SignaturegetLastFrame () const
 
const SignaturegetMap () const
 
virtual Odometry::Type getType ()
 
 OdometryF2M (const rtabmap::ParametersMap &parameters=rtabmap::ParametersMap())
 
virtual void reset (const Transform &initialPose=Transform::getIdentity())
 
virtual ~OdometryF2M ()
 
- Public Member Functions inherited from rtabmap::Odometry
virtual bool canProcessRawImages () const
 
unsigned int framesProcessed () const
 
const TransformgetPose () const
 
const TransformgetVelocityGuess () 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 &data, const Transform &guess=Transform(), OdometryInfo *info=0)
 

Private Attributes

int bundleAdjustment_
 
std::multimap< int, LinkbundleIMUOrientations_
 
std::multimap< int, LinkbundleLinks_
 
int bundleMaxFrames_
 
std::map< int, CameraModelbundleModels_
 
std::map< int, int > bundlePoseReferences_
 
std::map< int, TransformbundlePoses_
 
int bundleSeq_
 
std::map< int, std::map< int, FeatureBA > > bundleWordReferences_
 
bool initGravity_
 
float keyFrameThr_
 
SignaturelastFrame_
 
int lastFrameOldestNewId_
 
Signaturemap_
 
int maximumMapSize_
 
int maxNewFeatures_
 
ParametersMap parameters_
 
int pointToPlaneK_
 
float pointToPlaneRadius_
 
RegistrationregPipeline_
 
Optimizersba_
 
float scanKeyFrameThr_
 
float scanMapMaxRange_
 
int scanMaximumMapSize_
 
std::vector< std::pair< pcl::PointCloud< pcl::PointXYZINormal >::Ptr, pcl::IndicesPtr > > scansBuffer_
 
float scanSubtractAngle_
 
float scanSubtractRadius_
 
float validDepthRatio_
 
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 Odometrycreate (const ParametersMap &parameters=ParametersMap())
 
static Odometrycreate (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 44 of file OdometryF2M.h.

Constructor & Destructor Documentation

rtabmap::OdometryF2M::OdometryF2M ( const rtabmap::ParametersMap parameters = rtabmap::ParametersMap())

Definition at line 57 of file OdometryF2M.cpp.

rtabmap::OdometryF2M::~OdometryF2M ( )
virtual

Definition at line 171 of file OdometryF2M.cpp.

Member Function Documentation

bool rtabmap::OdometryF2M::canProcessIMU ( ) const
virtual

Reimplemented from rtabmap::Odometry.

Definition at line 202 of file OdometryF2M.cpp.

Transform rtabmap::OdometryF2M::computeTransform ( SensorData data,
const Transform guess = Transform(),
OdometryInfo info = 0 
)
privatevirtual

Implements rtabmap::Odometry.

Definition at line 208 of file OdometryF2M.cpp.

const Signature& rtabmap::OdometryF2M::getLastFrame ( ) const
inline

Definition at line 52 of file OdometryF2M.h.

const Signature& rtabmap::OdometryF2M::getMap ( ) const
inline

Definition at line 51 of file OdometryF2M.h.

virtual Odometry::Type rtabmap::OdometryF2M::getType ( )
inlinevirtual

Implements rtabmap::Odometry.

Definition at line 55 of file OdometryF2M.h.

void rtabmap::OdometryF2M::reset ( const Transform initialPose = Transform::getIdentity())
virtual

Reimplemented from rtabmap::Odometry.

Definition at line 181 of file OdometryF2M.cpp.

Member Data Documentation

int rtabmap::OdometryF2M::bundleAdjustment_
private

Definition at line 71 of file OdometryF2M.h.

std::multimap<int, Link> rtabmap::OdometryF2M::bundleIMUOrientations_
private

Definition at line 87 of file OdometryF2M.h.

std::multimap<int, Link> rtabmap::OdometryF2M::bundleLinks_
private

Definition at line 86 of file OdometryF2M.h.

int rtabmap::OdometryF2M::bundleMaxFrames_
private

Definition at line 72 of file OdometryF2M.h.

std::map<int, CameraModel> rtabmap::OdometryF2M::bundleModels_
private

Definition at line 88 of file OdometryF2M.h.

std::map<int, int> rtabmap::OdometryF2M::bundlePoseReferences_
private

Definition at line 89 of file OdometryF2M.h.

std::map<int, Transform> rtabmap::OdometryF2M::bundlePoses_
private

Definition at line 85 of file OdometryF2M.h.

int rtabmap::OdometryF2M::bundleSeq_
private

Definition at line 90 of file OdometryF2M.h.

std::map<int, std::map<int, FeatureBA> > rtabmap::OdometryF2M::bundleWordReferences_
private

Definition at line 84 of file OdometryF2M.h.

bool rtabmap::OdometryF2M::initGravity_
private

Definition at line 82 of file OdometryF2M.h.

float rtabmap::OdometryF2M::keyFrameThr_
private

Definition at line 63 of file OdometryF2M.h.

Signature* rtabmap::OdometryF2M::lastFrame_
private

Definition at line 79 of file OdometryF2M.h.

int rtabmap::OdometryF2M::lastFrameOldestNewId_
private

Definition at line 80 of file OdometryF2M.h.

Signature* rtabmap::OdometryF2M::map_
private

Definition at line 78 of file OdometryF2M.h.

int rtabmap::OdometryF2M::maximumMapSize_
private

Definition at line 62 of file OdometryF2M.h.

int rtabmap::OdometryF2M::maxNewFeatures_
private

Definition at line 65 of file OdometryF2M.h.

ParametersMap rtabmap::OdometryF2M::parameters_
private

Definition at line 92 of file OdometryF2M.h.

int rtabmap::OdometryF2M::pointToPlaneK_
private

Definition at line 74 of file OdometryF2M.h.

float rtabmap::OdometryF2M::pointToPlaneRadius_
private

Definition at line 75 of file OdometryF2M.h.

Registration* rtabmap::OdometryF2M::regPipeline_
private

Definition at line 77 of file OdometryF2M.h.

Optimizer* rtabmap::OdometryF2M::sba_
private

Definition at line 91 of file OdometryF2M.h.

float rtabmap::OdometryF2M::scanKeyFrameThr_
private

Definition at line 66 of file OdometryF2M.h.

float rtabmap::OdometryF2M::scanMapMaxRange_
private

Definition at line 70 of file OdometryF2M.h.

int rtabmap::OdometryF2M::scanMaximumMapSize_
private

Definition at line 67 of file OdometryF2M.h.

std::vector<std::pair<pcl::PointCloud<pcl::PointXYZINormal>::Ptr, pcl::IndicesPtr> > rtabmap::OdometryF2M::scansBuffer_
private

Definition at line 81 of file OdometryF2M.h.

float rtabmap::OdometryF2M::scanSubtractAngle_
private

Definition at line 69 of file OdometryF2M.h.

float rtabmap::OdometryF2M::scanSubtractRadius_
private

Definition at line 68 of file OdometryF2M.h.

float rtabmap::OdometryF2M::validDepthRatio_
private

Definition at line 73 of file OdometryF2M.h.

int rtabmap::OdometryF2M::visKeyFrameThr_
private

Definition at line 64 of file OdometryF2M.h.


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


rtabmap
Author(s): Mathieu Labbe
autogenerated on Mon Dec 14 2020 03:37:09