OdometryF2M.h
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1 /*
2 Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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27 
28 #ifndef ODOMETRYF2M_H_
29 #define ODOMETRYF2M_H_
30 
31 #include <rtabmap/core/Odometry.h>
32 #include <rtabmap/core/Optimizer.h>
33 #include <pcl/point_cloud.h>
34 #include <pcl/point_types.h>
35 #include <pcl/pcl_base.h>
36 #include <rtabmap/core/Link.h>
37 
38 namespace rtabmap {
39 
40 class Signature;
41 class Registration;
42 class Optimizer;
43 
44 class RTABMAP_CORE_EXPORT OdometryF2M : public Odometry
45 {
46 public:
48  virtual ~OdometryF2M();
49 
50  virtual void reset(const Transform & initialPose = Transform::getIdentity());
51  const Signature & getMap() const {return *map_;}
52  const Signature & getLastFrame() const {return *lastFrame_;}
53 
55 
56 private:
57  virtual Transform computeTransform(SensorData & data, const Transform & guess = Transform(), OdometryInfo * info = 0);
58 
59 private:
60  //Parameters
62  float keyFrameThr_;
75 
80  std::vector<std::pair<pcl::PointCloud<pcl::PointXYZINormal>::Ptr, pcl::IndicesPtr> > scansBuffer_;
81 
82  std::map<int, std::map<int, FeatureBA> > bundleWordReferences_; //<WordId, <FrameId, pt2D+depth>>
83  std::map<int, Transform> bundlePoses_;
84  std::multimap<int, Link> bundleLinks_;
85  std::multimap<int, Link> bundleIMUOrientations_;
86  std::map<int, std::vector<CameraModel> > bundleModels_;
87  std::map<int, int> bundlePoseReferences_;
91 };
92 
93 }
94 
95 #endif /* ODOMETRYF2M_H_ */
rtabmap::SensorData
Definition: SensorData.h:51
rtabmap::OdometryF2M::visKeyFrameThr_
int visKeyFrameThr_
Definition: OdometryF2M.h:63
rtabmap::OdometryF2M::bundleAdjustment_
int bundleAdjustment_
Definition: OdometryF2M.h:70
rtabmap::OdometryF2M::keyFrameThr_
float keyFrameThr_
Definition: OdometryF2M.h:62
rtabmap::Registration
Definition: Registration.h:39
rtabmap::Transform::getIdentity
static Transform getIdentity()
Definition: Transform.cpp:411
rtabmap::OdometryF2M::bundlePoseReferences_
std::map< int, int > bundlePoseReferences_
Definition: OdometryF2M.h:87
rtabmap::Optimizer
Definition: Optimizer.h:61
rtabmap::OdometryF2M::maxNewFeatures_
int maxNewFeatures_
Definition: OdometryF2M.h:64
rtabmap::OdometryF2M::lastFrameOldestNewId_
int lastFrameOldestNewId_
Definition: OdometryF2M.h:79
rtabmap::OdometryF2M::bundleLinks_
std::multimap< int, Link > bundleLinks_
Definition: OdometryF2M.h:84
rtabmap::OdometryF2M::bundlePoses_
std::map< int, Transform > bundlePoses_
Definition: OdometryF2M.h:83
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Definition: Parameters.h:43
rtabmap::OdometryF2M::scanSubtractAngle_
float scanSubtractAngle_
Definition: OdometryF2M.h:68
Odometry.h
rtabmap::OdometryF2M::bundleModels_
std::map< int, std::vector< CameraModel > > bundleModels_
Definition: OdometryF2M.h:86
rtabmap::OdometryF2M::sba_
Optimizer * sba_
Definition: OdometryF2M.h:89
rtabmap::OdometryF2M::maximumMapSize_
int maximumMapSize_
Definition: OdometryF2M.h:61
Optimizer.h
rtabmap::OdometryF2M::bundleMaxFrames_
int bundleMaxFrames_
Definition: OdometryF2M.h:71
rtabmap::OdometryF2M::scanMaximumMapSize_
int scanMaximumMapSize_
Definition: OdometryF2M.h:66
rtabmap::OdometryF2M::scansBuffer_
std::vector< std::pair< pcl::PointCloud< pcl::PointXYZINormal >::Ptr, pcl::IndicesPtr > > scansBuffer_
Definition: OdometryF2M.h:80
rtabmap::OdometryF2M::regPipeline_
Registration * regPipeline_
Definition: OdometryF2M.h:76
rtabmap::OdometryF2M::bundleWordReferences_
std::map< int, std::map< int, FeatureBA > > bundleWordReferences_
Definition: OdometryF2M.h:82
rtabmap::OdometryF2M::pointToPlaneK_
int pointToPlaneK_
Definition: OdometryF2M.h:73
rtabmap::OdometryF2M::scanSubtractRadius_
float scanSubtractRadius_
Definition: OdometryF2M.h:67
rtabmap::OdometryF2M
Definition: OdometryF2M.h:44
rtabmap::OdometryF2M::getType
virtual Odometry::Type getType()
Definition: OdometryF2M.h:54
rtabmap::OdometryF2M::getMap
const Signature & getMap() const
Definition: OdometryF2M.h:51
rtabmap::OdometryF2M::lastFrame_
Signature * lastFrame_
Definition: OdometryF2M.h:78
rtabmap::Transform
Definition: Transform.h:41
rtabmap::Odometry
Definition: Odometry.h:42
rtabmap::OdometryInfo
Definition: OdometryInfo.h:40
rtabmap::OdometryF2M::scanKeyFrameThr_
float scanKeyFrameThr_
Definition: OdometryF2M.h:65
rtabmap::OdometryF2M::bundleSeq_
int bundleSeq_
Definition: OdometryF2M.h:88
rtabmap::Odometry::Type
Type
Definition: Odometry.h:45
rtabmap::OdometryF2M::parameters_
ParametersMap parameters_
Definition: OdometryF2M.h:90
rtabmap::OdometryF2M::map_
Signature * map_
Definition: OdometryF2M.h:77
rtabmap::OdometryF2M::validDepthRatio_
float validDepthRatio_
Definition: OdometryF2M.h:72
rtabmap
Definition: CameraARCore.cpp:35
rtabmap::OdometryF2M::pointToPlaneRadius_
float pointToPlaneRadius_
Definition: OdometryF2M.h:74
rtabmap::OdometryF2M::bundleIMUOrientations_
std::multimap< int, Link > bundleIMUOrientations_
Definition: OdometryF2M.h:85
rtabmap::OdometryF2M::getLastFrame
const Signature & getLastFrame() const
Definition: OdometryF2M.h:52
rtabmap::Odometry::kTypeF2M
@ kTypeF2M
Definition: Odometry.h:47
rtabmap::OdometryF2M::scanMapMaxRange_
float scanMapMaxRange_
Definition: OdometryF2M.h:69
rtabmap::Signature
Definition: Signature.h:48


rtabmap
Author(s): Mathieu Labbe
autogenerated on Thu Jul 25 2024 02:50:13