OdometryInfo.h
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1 /*
2 Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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27 
28 #ifndef ODOMETRYINFO_H_
29 #define ODOMETRYINFO_H_
30 
31 #include <map>
32 #include "rtabmap/core/Transform.h"
35 #include "rtabmap/core/LaserScan.h"
36 #include <opencv2/features2d/features2d.hpp>
37 
38 namespace rtabmap {
39 
41 {
42 public:
44  lost(true),
45  features(0),
46  localMapSize(0),
48  localKeyFrames(0),
51  localBundleTime(0),
53  timeDeskewing(0.0f),
54  timeEstimation(0.0f),
56  stamp(0),
57  interval(0),
58  distanceTravelled(0.0f),
59  memoryUsage(0),
60  gravityRollError(0.0),
61  gravityPitchError(0.0),
62  type(0)
63  {}
64 
66  {
67  OdometryInfo output;
68  output.lost = lost;
69  output.reg = reg.copyWithoutData();
70  output.features = features;
71  output.localMapSize = localMapSize;
83  output.stamp = stamp;
84  output.interval = interval;
85  output.transform = transform;
89  output.guess = guess;
91  output.memoryUsage = memoryUsage;
94  output.type = type;
95  return output;
96  }
97 
98  bool lost;
100  int features;
107  std::map<int, Transform> localBundlePoses;
108  std::map<int, std::vector<CameraModel> > localBundleModels;
113  double stamp;
114  double interval;
118  Transform guessVelocity; // deprecated, will be removed. Use guess and interval instead.
121  int memoryUsage; //MB
124 
125  int type;
126 
127  // F2M
128  std::multimap<int, cv::KeyPoint> words;
129  std::map<int, cv::Point3f> localMap;
131 
132  // F2F
133  std::vector<cv::Point2f> refCorners;
134  std::vector<cv::Point2f> newCorners;
135  std::vector<int> cornerInliers;
136 };
137 
138 }
139 
140 #endif /* ODOMETRYINFO_H_ */
rtabmap::OdometryInfo::refCorners
std::vector< cv::Point2f > refCorners
Definition: OdometryInfo.h:133
rtabmap::OdometryInfo::localMapSize
int localMapSize
Definition: OdometryInfo.h:101
rtabmap::OdometryInfo::timeParticleFiltering
float timeParticleFiltering
Definition: OdometryInfo.h:112
rtabmap::OdometryInfo::localMap
std::map< int, cv::Point3f > localMap
Definition: OdometryInfo.h:129
rtabmap::OdometryInfo::localBundleTime
float localBundleTime
Definition: OdometryInfo.h:106
rtabmap::OdometryInfo::keyFrameAdded
bool keyFrameAdded
Definition: OdometryInfo.h:109
rtabmap::OdometryInfo::timeEstimation
float timeEstimation
Definition: OdometryInfo.h:111
rtabmap::RegistrationInfo
Definition: RegistrationInfo.h:34
rtabmap::OdometryInfo::features
int features
Definition: OdometryInfo.h:100
rtabmap::OdometryInfo::lost
bool lost
Definition: OdometryInfo.h:98
rtabmap::OdometryInfo::transformFiltered
Transform transformFiltered
Definition: OdometryInfo.h:116
Transform.h
RegistrationInfo.h
type
true
#define true
Definition: ConvertUTF.c:57
rtabmap::OdometryInfo::localKeyFrames
int localKeyFrames
Definition: OdometryInfo.h:103
rtabmap::LaserScan
Definition: LaserScan.h:37
rtabmap::RegistrationInfo::copyWithoutData
RegistrationInfo copyWithoutData() const
Definition: RegistrationInfo.h:55
rtabmap::OdometryInfo::transform
Transform transform
Definition: OdometryInfo.h:115
rtabmap::OdometryInfo::localBundleModels
std::map< int, std::vector< CameraModel > > localBundleModels
Definition: OdometryInfo.h:108
rtabmap::OdometryInfo::type
int type
Definition: OdometryInfo.h:125
rtabmap::OdometryInfo::localBundlePoses
std::map< int, Transform > localBundlePoses
Definition: OdometryInfo.h:107
rtabmap::OdometryInfo::cornerInliers
std::vector< int > cornerInliers
Definition: OdometryInfo.h:135
rtabmap::OdometryInfo::localBundleConstraints
int localBundleConstraints
Definition: OdometryInfo.h:105
rtabmap::OdometryInfo::guessVelocity
Transform guessVelocity
Definition: OdometryInfo.h:118
rtabmap::OdometryInfo::localScanMapSize
int localScanMapSize
Definition: OdometryInfo.h:102
rtabmap::OdometryInfo::localScanMap
LaserScan localScanMap
Definition: OdometryInfo.h:130
rtabmap::OdometryInfo::words
std::multimap< int, cv::KeyPoint > words
Definition: OdometryInfo.h:128
rtabmap::OdometryInfo::copyWithoutData
OdometryInfo copyWithoutData() const
Definition: OdometryInfo.h:65
f
Point2(* f)(const Point3 &, OptionalJacobian< 2, 3 >)
rtabmap::OdometryInfo::stamp
double stamp
Definition: OdometryInfo.h:113
rtabmap::Transform
Definition: Transform.h:41
rtabmap::OdometryInfo::OdometryInfo
OdometryInfo()
Definition: OdometryInfo.h:43
rtabmap::OdometryInfo::distanceTravelled
float distanceTravelled
Definition: OdometryInfo.h:120
LaserScan.h
rtabmap::OdometryInfo::gravityPitchError
double gravityPitchError
Definition: OdometryInfo.h:123
rtabmap::OdometryInfo::newCorners
std::vector< cv::Point2f > newCorners
Definition: OdometryInfo.h:134
rtabmap::OdometryInfo::interval
double interval
Definition: OdometryInfo.h:114
rtabmap::OdometryInfo::reg
RegistrationInfo reg
Definition: OdometryInfo.h:99
rtabmap::OdometryInfo
Definition: OdometryInfo.h:40
rtabmap::OdometryInfo::memoryUsage
int memoryUsage
Definition: OdometryInfo.h:121
CameraModel.h
rtabmap::OdometryInfo::timeDeskewing
float timeDeskewing
Definition: OdometryInfo.h:110
false
#define false
Definition: ConvertUTF.c:56
rtabmap::OdometryInfo::guess
Transform guess
Definition: OdometryInfo.h:119
rtabmap
Definition: CameraARCore.cpp:35
rtabmap::OdometryInfo::transformGroundTruth
Transform transformGroundTruth
Definition: OdometryInfo.h:117
rtabmap::OdometryInfo::gravityRollError
double gravityRollError
Definition: OdometryInfo.h:122
rtabmap::OdometryInfo::localBundleOutliers
int localBundleOutliers
Definition: OdometryInfo.h:104


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