OdometryViso2.h
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1 /*
2 Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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27 
28 #ifndef ODOMETRYVISO2_H_
29 #define ODOMETRYVISO2_H_
30 
31 #include <rtabmap/core/Odometry.h>
32 
33 class VisualOdometryStereo;
34 
35 namespace rtabmap {
36 
37 class RTABMAP_CORE_EXPORT OdometryViso2 : public Odometry
38 {
39 public:
41  virtual ~OdometryViso2();
42 
43  virtual void reset(const Transform & initialPose = Transform::getIdentity());
45 
46 private:
47  virtual Transform computeTransform(SensorData & image, const Transform & guess = Transform(), OdometryInfo * info = 0);
48 
49 private:
50 #ifdef RTABMAP_VISO2
51  VisualOdometryStereo * viso2_;
52  int ref_frame_change_method_; // Reference frame method (defautl 0): 0=under inliers threshold, 1=min pixel motion,
53  int ref_frame_inlier_threshold_; // method 0. Change the reference frame if the number of inliers is low
54  double ref_frame_motion_threshold_; // method 1. Change the reference frame if last motion is small
55  bool lost_;
56  bool keep_reference_frame_;
57 #endif
61 };
62 
63 }
64 
65 #endif /* ODOMETRYVISO2_H_ */
rtabmap::SensorData
Definition: SensorData.h:51
rtabmap::OdometryViso2::getType
virtual Odometry::Type getType()
Definition: OdometryViso2.h:44
rtabmap::OdometryViso2::viso2Parameters_
ParametersMap viso2Parameters_
Definition: OdometryViso2.h:60
rtabmap::Transform::getIdentity
static Transform getIdentity()
Definition: Transform.cpp:411
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Definition: Parameters.h:43
rtabmap::OdometryViso2::reference_motion_
Transform reference_motion_
Definition: OdometryViso2.h:58
rtabmap::Odometry::kTypeViso2
@ kTypeViso2
Definition: Odometry.h:50
Odometry.h
rtabmap::OdometryViso2::previousLocalTransform_
Transform previousLocalTransform_
Definition: OdometryViso2.h:59
rtabmap::Transform
Definition: Transform.h:41
rtabmap::OdometryViso2
Definition: OdometryViso2.h:37
rtabmap::Odometry
Definition: Odometry.h:42
rtabmap::OdometryInfo
Definition: OdometryInfo.h:40
rtabmap::Odometry::Type
Type
Definition: Odometry.h:45
rtabmap
Definition: CameraARCore.cpp:35


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