OdometryMono.h
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1 /*
2 Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
3 All rights reserved.
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27 
28 #ifndef ODOMETRYMONO_H_
29 #define ODOMETRYMONO_H_
30 
31 #include <rtabmap/core/Odometry.h>
32 #include <rtabmap/core/Link.h>
33 
34 namespace rtabmap {
35 
36 class Memory;
37 class Feature2D;
38 
39 class RTABMAP_CORE_EXPORT OdometryMono : public Odometry
40 {
41 public:
43  virtual ~OdometryMono();
44  virtual void reset(const Transform & initialPose);
45  virtual Odometry::Type getType() {return kTypeUndef;}
46 
47 private:
48  virtual Transform computeTransform(SensorData & data, const Transform & guess = Transform(), OdometryInfo * info = 0);
49 private:
50  //Parameters:
53  double flowEps_;
58  int pnpFlags_;
60 
62 
65  float initMinFlow_;
70 
71  std::map<int, cv::Point2f> firstFrameGuessCorners_;
72  std::map<int, cv::Point3f> localMap_;
73  std::map<int, std::map<int, cv::Point3f> > keyFrameWords3D_;
74  std::map<int, Transform> keyFramePoses_;
75  std::multimap<int, Link> keyFrameLinks_;
76  std::map<int, std::vector<CameraModel> > keyFrameModels_;
77  float maxVariance_;
78  float keyFrameThr_;
79 };
80 
81 }
82 
83 #endif /* ODOMETRYMONO_H_ */
rtabmap::OdometryMono::feature2D_
Feature2D * feature2D_
Definition: OdometryMono.h:61
rtabmap::SensorData
Definition: SensorData.h:51
rtabmap::OdometryMono::fundMatrixConfidence_
float fundMatrixConfidence_
Definition: OdometryMono.h:69
rtabmap::OdometryMono::firstFrameGuessCorners_
std::map< int, cv::Point2f > firstFrameGuessCorners_
Definition: OdometryMono.h:71
rtabmap::OdometryMono::minTranslation_
float minTranslation_
Definition: OdometryMono.h:67
rtabmap::OdometryMono::localHistoryMaxSize_
int localHistoryMaxSize_
Definition: OdometryMono.h:64
rtabmap::OdometryMono::maxVariance_
float maxVariance_
Definition: OdometryMono.h:77
rtabmap::OdometryMono::minInliers_
int minInliers_
Definition: OdometryMono.h:55
rtabmap::OdometryMono::initMinTranslation_
float initMinTranslation_
Definition: OdometryMono.h:66
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Definition: Parameters.h:43
rtabmap::OdometryMono::memory_
Memory * memory_
Definition: OdometryMono.h:63
rtabmap::OdometryMono::getType
virtual Odometry::Type getType()
Definition: OdometryMono.h:45
Odometry.h
rtabmap::OdometryMono::iterations_
int iterations_
Definition: OdometryMono.h:56
rtabmap::OdometryMono::pnpFlags_
int pnpFlags_
Definition: OdometryMono.h:58
rtabmap::OdometryMono::flowWinSize_
int flowWinSize_
Definition: OdometryMono.h:51
rtabmap::Feature2D
Definition: Features2d.h:106
rtabmap::OdometryMono::pnpRefineIterations_
int pnpRefineIterations_
Definition: OdometryMono.h:59
rtabmap::OdometryMono::flowIterations_
int flowIterations_
Definition: OdometryMono.h:52
rtabmap::OdometryMono::fundMatrixReprojError_
float fundMatrixReprojError_
Definition: OdometryMono.h:68
rtabmap::Transform
Definition: Transform.h:41
rtabmap::OdometryMono::flowEps_
double flowEps_
Definition: OdometryMono.h:53
rtabmap::OdometryMono::keyFrameThr_
float keyFrameThr_
Definition: OdometryMono.h:78
rtabmap::OdometryMono::keyFrameLinks_
std::multimap< int, Link > keyFrameLinks_
Definition: OdometryMono.h:75
rtabmap::Odometry
Definition: Odometry.h:42
rtabmap::OdometryMono::keyFrameModels_
std::map< int, std::vector< CameraModel > > keyFrameModels_
Definition: OdometryMono.h:76
rtabmap::OdometryInfo
Definition: OdometryInfo.h:40
rtabmap::Memory
Definition: Memory.h:64
rtabmap::OdometryMono::keyFramePoses_
std::map< int, Transform > keyFramePoses_
Definition: OdometryMono.h:74
rtabmap::Odometry::Type
Type
Definition: Odometry.h:45
rtabmap::OdometryMono
Definition: OdometryMono.h:39
rtabmap::OdometryMono::initMinFlow_
float initMinFlow_
Definition: OdometryMono.h:65
rtabmap::OdometryMono::localMap_
std::map< int, cv::Point3f > localMap_
Definition: OdometryMono.h:72
rtabmap
Definition: CameraARCore.cpp:35
rtabmap::OdometryMono::keyFrameWords3D_
std::map< int, std::map< int, cv::Point3f > > keyFrameWords3D_
Definition: OdometryMono.h:73
rtabmap::OdometryMono::pnpReprojError_
double pnpReprojError_
Definition: OdometryMono.h:57
rtabmap::OdometryMono::flowMaxLevel_
int flowMaxLevel_
Definition: OdometryMono.h:54


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