rtabmap::OdometryOpticalFlow Class Reference

#include <Odometry.h>

Inheritance diagram for rtabmap::OdometryOpticalFlow:

List of all members.

Public Member Functions
const std::vector< cv::Point2f > &	getLastCorners () const
const pcl::PointCloud < pcl::PointXYZ >::Ptr &	getLastCorners3D () const
const cv::Mat &	getLastFrame () const
	OdometryOpticalFlow (const rtabmap::ParametersMap &parameters=rtabmap::ParametersMap())
virtual void	reset (const Transform &initialPose=Transform::getIdentity())
virtual	~OdometryOpticalFlow ()
Private Member Functions
virtual Transform	computeTransform (const SensorData &image, OdometryInfo *info=0)
Transform	computeTransformMono (const SensorData &image, OdometryInfo *info)
Transform	computeTransformRGBD (const SensorData &image, OdometryInfo *info)
Transform	computeTransformStereo (const SensorData &image, OdometryInfo *info)
Private Attributes
Feature2D *	feature2D_
double	flowEps_
int	flowIterations_
int	flowMaxLevel_
int	flowWinSize_
pcl::PointCloud< pcl::PointXYZ > ::Ptr	refCorners3D_
std::vector< cv::Point2f >	refCorners_
cv::Mat	refFrame_
cv::Mat	refRightFrame_
double	stereoEps_
int	stereoIterations_
int	stereoMaxLevel_
float	stereoMaxSlope_
int	stereoWinSize_
double	subPixEps_
int	subPixIterations_
int	subPixWinSize_

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Detailed Description

Definition at line 112 of file Odometry.h.

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Constructor & Destructor Documentation

rtabmap::OdometryOpticalFlow::OdometryOpticalFlow

(

const rtabmap::ParametersMap &

parameters = rtabmap::ParametersMap()

)

Definition at line 41 of file OdometryOpticalFlow.cpp.

rtabmap::OdometryOpticalFlow::~OdometryOpticalFlow

(

)

[virtual]

Definition at line 101 of file OdometryOpticalFlow.cpp.

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Member Function Documentation

Transform rtabmap::OdometryOpticalFlow::computeTransform	(	const SensorData &	image,
		OdometryInfo *	info = 0
	)		[private, virtual]

Implements rtabmap::Odometry.

Definition at line 116 of file OdometryOpticalFlow.cpp.

Transform rtabmap::OdometryOpticalFlow::computeTransformMono	(	const SensorData &	image,
		OdometryInfo *	info
	)		[private]

Transform rtabmap::OdometryOpticalFlow::computeTransformRGBD	(	const SensorData &	image,
		OdometryInfo *	info
	)		[private]

Definition at line 561 of file OdometryOpticalFlow.cpp.

Transform rtabmap::OdometryOpticalFlow::computeTransformStereo	(	const SensorData &	image,
		OdometryInfo *	info
	)		[private]

Definition at line 139 of file OdometryOpticalFlow.cpp.

const std::vector<cv::Point2f>& rtabmap::OdometryOpticalFlow::getLastCorners

(

)

const [inline]

Definition at line 121 of file Odometry.h.

const pcl::PointCloud<pcl::PointXYZ>::Ptr& rtabmap::OdometryOpticalFlow::getLastCorners3D

(

)

const [inline]

Definition at line 122 of file Odometry.h.

const cv::Mat& rtabmap::OdometryOpticalFlow::getLastFrame

(

)

const [inline]

Definition at line 120 of file Odometry.h.

void rtabmap::OdometryOpticalFlow::reset

(

const Transform &

initialPose = Transform::getIdentity()

)

[virtual]

Reimplemented from rtabmap::Odometry.

Definition at line 107 of file OdometryOpticalFlow.cpp.

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Member Data Documentation

Feature2D* rtabmap::OdometryOpticalFlow::feature2D_ [private]

Definition at line 146 of file Odometry.h.

double rtabmap::OdometryOpticalFlow::flowEps_ [private]

Definition at line 133 of file Odometry.h.

int rtabmap::OdometryOpticalFlow::flowIterations_ [private]

Definition at line 132 of file Odometry.h.

int rtabmap::OdometryOpticalFlow::flowMaxLevel_ [private]

Definition at line 134 of file Odometry.h.

int rtabmap::OdometryOpticalFlow::flowWinSize_ [private]

Definition at line 131 of file Odometry.h.

pcl::PointCloud<pcl::PointXYZ>::Ptr rtabmap::OdometryOpticalFlow::refCorners3D_ [private]

Definition at line 151 of file Odometry.h.

std::vector<cv::Point2f> rtabmap::OdometryOpticalFlow::refCorners_ [private]

Definition at line 150 of file Odometry.h.

cv::Mat rtabmap::OdometryOpticalFlow::refFrame_ [private]

Definition at line 148 of file Odometry.h.

cv::Mat rtabmap::OdometryOpticalFlow::refRightFrame_ [private]

Definition at line 149 of file Odometry.h.

double rtabmap::OdometryOpticalFlow::stereoEps_ [private]

Definition at line 138 of file Odometry.h.

int rtabmap::OdometryOpticalFlow::stereoIterations_ [private]

Definition at line 137 of file Odometry.h.

int rtabmap::OdometryOpticalFlow::stereoMaxLevel_ [private]

Definition at line 139 of file Odometry.h.

float rtabmap::OdometryOpticalFlow::stereoMaxSlope_ [private]

Definition at line 140 of file Odometry.h.

int rtabmap::OdometryOpticalFlow::stereoWinSize_ [private]

Definition at line 136 of file Odometry.h.

double rtabmap::OdometryOpticalFlow::subPixEps_ [private]

Definition at line 144 of file Odometry.h.

int rtabmap::OdometryOpticalFlow::subPixIterations_ [private]

Definition at line 143 of file Odometry.h.

int rtabmap::OdometryOpticalFlow::subPixWinSize_ [private]

Definition at line 142 of file Odometry.h.

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The documentation for this class was generated from the following files:

• Odometry.h
• OdometryOpticalFlow.cpp