corelib
include
rtabmap
core
OdometryInfo.h
Go to the documentation of this file.
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/*
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Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright
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notice, this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright
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notice, this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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* Neither the name of the Universite de Sherbrooke nor the
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names of its contributors may be used to endorse or promote products
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derived from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
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DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#ifndef ODOMETRYINFO_H_
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#define ODOMETRYINFO_H_
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#include <map>
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#include "
rtabmap/core/Transform.h
"
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#include "
rtabmap/core/RegistrationInfo.h
"
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#include "
rtabmap/core/CameraModel.h
"
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#include "
rtabmap/core/LaserScan.h
"
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#include <opencv2/features2d/features2d.hpp>
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namespace
rtabmap
{
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class
OdometryInfo
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{
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public
:
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OdometryInfo
() :
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lost
(
true
),
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features
(0),
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localMapSize
(0),
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localScanMapSize
(0),
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localKeyFrames
(0),
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localBundleOutliers
(0),
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localBundleConstraints
(0),
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localBundleTime
(0),
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keyFrameAdded
(
false
),
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timeDeskewing
(0.0
f
),
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timeEstimation
(0.0
f
),
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timeParticleFiltering
(0.0
f
),
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stamp
(0),
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interval
(0),
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distanceTravelled
(0.0
f
),
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memoryUsage
(0),
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gravityRollError
(0.0),
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gravityPitchError
(0.0),
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type
(0)
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{}
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OdometryInfo
copyWithoutData
()
const
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{
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OdometryInfo
output;
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output.
lost
=
lost
;
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output.
reg
=
reg
.
copyWithoutData
();
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output.
features
=
features
;
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output.
localMapSize
=
localMapSize
;
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output.
localScanMapSize
=
localScanMapSize
;
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output.
localKeyFrames
=
localKeyFrames
;
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output.
localBundleOutliers
=
localBundleOutliers
;
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output.
localBundleConstraints
=
localBundleConstraints
;
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output.
localBundleTime
=
localBundleTime
;
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output.
localBundlePoses
=
localBundlePoses
;
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output.
localBundleModels
=
localBundleModels
;
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output.
keyFrameAdded
=
keyFrameAdded
;
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output.
timeDeskewing
=
timeDeskewing
;
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output.
timeEstimation
=
timeEstimation
;
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output.
timeParticleFiltering
=
timeParticleFiltering
;
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output.
stamp
=
stamp
;
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output.
interval
=
interval
;
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output.
transform
=
transform
;
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output.
transformFiltered
=
transformFiltered
;
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output.
transformGroundTruth
=
transformGroundTruth
;
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output.
guessVelocity
=
guessVelocity
;
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output.
guess
=
guess
;
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output.
distanceTravelled
=
distanceTravelled
;
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output.
memoryUsage
=
memoryUsage
;
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output.
gravityRollError
=
gravityRollError
;
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output.
gravityPitchError
=
gravityPitchError
;
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output.
type
=
type
;
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return
output;
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}
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bool
lost
;
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RegistrationInfo
reg
;
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int
features
;
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int
localMapSize
;
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int
localScanMapSize
;
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int
localKeyFrames
;
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int
localBundleOutliers
;
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int
localBundleConstraints
;
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float
localBundleTime
;
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std::map<int, Transform>
localBundlePoses
;
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std::map<int, std::vector<CameraModel> >
localBundleModels
;
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bool
keyFrameAdded
;
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float
timeDeskewing
;
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float
timeEstimation
;
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float
timeParticleFiltering
;
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double
stamp
;
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double
interval
;
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Transform
transform
;
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Transform
transformFiltered
;
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Transform
transformGroundTruth
;
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Transform
guessVelocity
;
// deprecated, will be removed. Use guess and interval instead.
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Transform
guess
;
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float
distanceTravelled
;
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int
memoryUsage
;
//MB
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double
gravityRollError
;
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double
gravityPitchError
;
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int
type
;
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// F2M
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std::multimap<int, cv::KeyPoint>
words
;
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std::map<int, cv::Point3f>
localMap
;
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LaserScan
localScanMap
;
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// F2F
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std::vector<cv::Point2f>
refCorners
;
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std::vector<cv::Point2f>
newCorners
;
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std::vector<int>
cornerInliers
;
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};
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}
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#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