OdometryMono.h
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00001 /*
00002 Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
00003 All rights reserved.
00004 
00005 Redistribution and use in source and binary forms, with or without
00006 modification, are permitted provided that the following conditions are met:
00007     * Redistributions of source code must retain the above copyright
00008       notice, this list of conditions and the following disclaimer.
00009     * Redistributions in binary form must reproduce the above copyright
00010       notice, this list of conditions and the following disclaimer in the
00011       documentation and/or other materials provided with the distribution.
00012     * Neither the name of the Universite de Sherbrooke nor the
00013       names of its contributors may be used to endorse or promote products
00014       derived from this software without specific prior written permission.
00015 
00016 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
00017 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
00018 WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00019 DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
00020 DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
00021 (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00022 LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
00023 ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
00024 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
00025 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00026 */
00027 
00028 #ifndef ODOMETRYMONO_H_
00029 #define ODOMETRYMONO_H_
00030 
00031 #include <rtabmap/core/Odometry.h>
00032 
00033 namespace rtabmap {
00034 
00035 class Memory;
00036 class Stereo;
00037 
00038 class RTABMAP_EXP OdometryMono : public Odometry
00039 {
00040 public:
00041         OdometryMono(const rtabmap::ParametersMap & parameters = rtabmap::ParametersMap());
00042         virtual ~OdometryMono();
00043         virtual void reset(const Transform & initialPose);
00044 
00045 private:
00046         virtual Transform computeTransform(SensorData & data, const Transform & guess = Transform(), OdometryInfo * info = 0);
00047 private:
00048         //Parameters:
00049         int flowWinSize_;
00050         int flowIterations_;
00051         double flowEps_;
00052         int flowMaxLevel_;
00053         int minInliers_;
00054         int iterations_;
00055         double pnpReprojError_;
00056         int pnpFlags_;
00057         int pnpRefineIterations_;
00058 
00059         Stereo * stereo_;
00060 
00061         Memory * memory_;
00062         int localHistoryMaxSize_;
00063         float initMinFlow_;
00064         float initMinTranslation_;
00065         float minTranslation_;
00066         float fundMatrixReprojError_;
00067         float fundMatrixConfidence_;
00068 
00069         cv::Mat refDepthOrRight_;
00070         std::map<int, cv::Point2f> cornersMap_;
00071         std::map<int, cv::Point3f> localMap_;
00072         std::map<int, std::map<int, cv::Point3f> > keyFrameWords3D_;
00073         std::map<int, Transform> keyFramePoses_;
00074         float maxVariance_;
00075 };
00076 
00077 }
00078 
00079 #endif /* ODOMETRYMONO_H_ */


rtabmap
Author(s): Mathieu Labbe
autogenerated on Thu Jun 6 2019 21:59:21