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
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Public Member Functions

const Signature & getLastFrame () const
 
const Signature & getMap () 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 canProcessAsyncIMU () 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 &data, const Transform &guess=Transform(), OdometryInfo *info=0)
 

Private Attributes

int bundleAdjustment_
 
std::multimap< int, Link > bundleIMUOrientations_
 
std::multimap< int, Link > bundleLinks_
 
int bundleMaxFrames_
 
std::map< int, std::vector< CameraModel > > bundleModels_
 
std::map< int, int > bundlePoseReferences_
 
std::map< int, Transform > bundlePoses_
 
int bundleSeq_
 
std::map< int, std::map< int, FeatureBA > > bundleWordReferences_
 
float keyFrameThr_
 
Signature * lastFrame_
 
int lastFrameOldestNewId_
 
Signature * map_
 
int maximumMapSize_
 
int maxNewFeatures_
 
ParametersMap parameters_
 
int pointToPlaneK_
 
float pointToPlaneRadius_
 
Registration * regPipeline_
 
Optimizer * sba_
 
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, kTypeORBSLAM = 5, kTypeOkvis = 6,
  kTypeLOAM = 7, kTypeMSCKF = 8, kTypeVINS = 9, kTypeOpenVINS = 10,
  kTypeFLOAM = 11, kTypeOpen3D = 12
}
 
- 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 44 of file OdometryF2M.h.

Constructor & Destructor Documentation

◆ OdometryF2M()

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

Definition at line 57 of file OdometryF2M.cpp.

◆ ~OdometryF2M()

rtabmap::OdometryF2M::~OdometryF2M ( )
virtual

Definition at line 170 of file OdometryF2M.cpp.

Member Function Documentation

◆ computeTransform()

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

Implements rtabmap::Odometry.

Definition at line 199 of file OdometryF2M.cpp.

◆ getLastFrame()

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

Definition at line 52 of file OdometryF2M.h.

◆ getMap()

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

Definition at line 51 of file OdometryF2M.h.

◆ getType()

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

Implements rtabmap::Odometry.

Definition at line 54 of file OdometryF2M.h.

◆ reset()

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

Reimplemented from rtabmap::Odometry.

Definition at line 180 of file OdometryF2M.cpp.

Member Data Documentation

◆ bundleAdjustment_

int rtabmap::OdometryF2M::bundleAdjustment_
private

Definition at line 70 of file OdometryF2M.h.

◆ bundleIMUOrientations_

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

Definition at line 85 of file OdometryF2M.h.

◆ bundleLinks_

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

Definition at line 84 of file OdometryF2M.h.

◆ bundleMaxFrames_

int rtabmap::OdometryF2M::bundleMaxFrames_
private

Definition at line 71 of file OdometryF2M.h.

◆ bundleModels_

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

Definition at line 86 of file OdometryF2M.h.

◆ bundlePoseReferences_

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

Definition at line 87 of file OdometryF2M.h.

◆ bundlePoses_

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

Definition at line 83 of file OdometryF2M.h.

◆ bundleSeq_

int rtabmap::OdometryF2M::bundleSeq_
private

Definition at line 88 of file OdometryF2M.h.

◆ bundleWordReferences_

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

Definition at line 82 of file OdometryF2M.h.

◆ keyFrameThr_

float rtabmap::OdometryF2M::keyFrameThr_
private

Definition at line 62 of file OdometryF2M.h.

◆ lastFrame_

Signature* rtabmap::OdometryF2M::lastFrame_
private

Definition at line 78 of file OdometryF2M.h.

◆ lastFrameOldestNewId_

int rtabmap::OdometryF2M::lastFrameOldestNewId_
private

Definition at line 79 of file OdometryF2M.h.

◆ map_

Signature* rtabmap::OdometryF2M::map_
private

Definition at line 77 of file OdometryF2M.h.

◆ maximumMapSize_

int rtabmap::OdometryF2M::maximumMapSize_
private

Definition at line 61 of file OdometryF2M.h.

◆ maxNewFeatures_

int rtabmap::OdometryF2M::maxNewFeatures_
private

Definition at line 64 of file OdometryF2M.h.

◆ parameters_

ParametersMap rtabmap::OdometryF2M::parameters_
private

Definition at line 90 of file OdometryF2M.h.

◆ pointToPlaneK_

int rtabmap::OdometryF2M::pointToPlaneK_
private

Definition at line 73 of file OdometryF2M.h.

◆ pointToPlaneRadius_

float rtabmap::OdometryF2M::pointToPlaneRadius_
private

Definition at line 74 of file OdometryF2M.h.

◆ regPipeline_

Registration* rtabmap::OdometryF2M::regPipeline_
private

Definition at line 76 of file OdometryF2M.h.

◆ sba_

Optimizer* rtabmap::OdometryF2M::sba_
private

Definition at line 89 of file OdometryF2M.h.

◆ scanKeyFrameThr_

float rtabmap::OdometryF2M::scanKeyFrameThr_
private

Definition at line 65 of file OdometryF2M.h.

◆ scanMapMaxRange_

float rtabmap::OdometryF2M::scanMapMaxRange_
private

Definition at line 69 of file OdometryF2M.h.

◆ scanMaximumMapSize_

int rtabmap::OdometryF2M::scanMaximumMapSize_
private

Definition at line 66 of file OdometryF2M.h.

◆ scansBuffer_

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

Definition at line 80 of file OdometryF2M.h.

◆ scanSubtractAngle_

float rtabmap::OdometryF2M::scanSubtractAngle_
private

Definition at line 68 of file OdometryF2M.h.

◆ scanSubtractRadius_

float rtabmap::OdometryF2M::scanSubtractRadius_
private

Definition at line 67 of file OdometryF2M.h.

◆ validDepthRatio_

float rtabmap::OdometryF2M::validDepthRatio_
private

Definition at line 72 of file OdometryF2M.h.

◆ visKeyFrameThr_

int rtabmap::OdometryF2M::visKeyFrameThr_
private

Definition at line 63 of file OdometryF2M.h.

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

rtabmap
Author(s): Mathieu Labbe
autogenerated on Mon Jan 23 2023 03:39:00