rtabmap::OdometryF2M Class Reference

#include <OdometryF2M.h>

Inheritance diagram for rtabmap::OdometryF2M:

List of all members.

Public Member Functions
const Signature &	getLastFrame () const
const Signature &	getMap () const
virtual Odometry::Type	getType ()
	OdometryF2M (const rtabmap::ParametersMap &parameters=rtabmap::ParametersMap())
virtual void	reset (const Transform &initialPose=Transform::getIdentity())
virtual	~OdometryF2M ()
Private Member Functions
virtual Transform	computeTransform (SensorData &data, const Transform &guess=Transform(), OdometryInfo *info=0)
Private Attributes
int	bundleAdjustment_
std::multimap< int, Link >	bundleLinks_
int	bundleMaxFrames_
std::map< int, CameraModel >	bundleModels_
std::map< int, int >	bundlePoseReferences_
std::map< int, Transform >	bundlePoses_
int	bundleSeq_
std::map< int, std::map< int, cv::Point3f > >	bundleWordReferences_
float	keyFrameThr_
Signature *	lastFrame_
int	lastFrameOldestNewId_
Signature *	map_
int	maximumMapSize_
int	maxNewFeatures_
ParametersMap	parameters_
Registration *	regPipeline_
Optimizer *	sba_
float	scanKeyFrameThr_
int	scanMaximumMapSize_
std::vector< std::pair < pcl::PointCloud < pcl::PointNormal >::Ptr, pcl::IndicesPtr > >	scansBuffer_
float	scanSubtractAngle_
float	scanSubtractRadius_
int	visKeyFrameThr_

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Detailed Description

Definition at line 43 of file OdometryF2M.h.

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Constructor & Destructor Documentation

rtabmap::OdometryF2M::OdometryF2M

(

const rtabmap::ParametersMap &

parameters = rtabmap::ParametersMap()

)

Definition at line 59 of file OdometryF2M.cpp.

rtabmap::OdometryF2M::~OdometryF2M

(

)

[virtual]

Definition at line 140 of file OdometryF2M.cpp.

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Member Function Documentation

Transform rtabmap::OdometryF2M::computeTransform	(	SensorData &	data,
		const Transform &	guess = Transform(),
		OdometryInfo *	info = 0
	)		[private, virtual]

Implements rtabmap::Odometry.

Definition at line 172 of file OdometryF2M.cpp.

const Signature& rtabmap::OdometryF2M::getLastFrame

(

)

const [inline]

Definition at line 51 of file OdometryF2M.h.

const Signature& rtabmap::OdometryF2M::getMap

(

)

const [inline]

Definition at line 50 of file OdometryF2M.h.

virtual Odometry::Type rtabmap::OdometryF2M::getType

(

)

[inline, virtual]

Implements rtabmap::Odometry.

Definition at line 53 of file OdometryF2M.h.

void rtabmap::OdometryF2M::reset

(

const Transform &

initialPose = Transform::getIdentity()

)

[virtual]

Reimplemented from rtabmap::Odometry.

Definition at line 156 of file OdometryF2M.cpp.

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Member Data Documentation

int rtabmap::OdometryF2M::bundleAdjustment_ [private]

Definition at line 68 of file OdometryF2M.h.

std::multimap<int, Link> rtabmap::OdometryF2M::bundleLinks_ [private]

Definition at line 79 of file OdometryF2M.h.

int rtabmap::OdometryF2M::bundleMaxFrames_ [private]

Definition at line 69 of file OdometryF2M.h.

std::map<int, CameraModel> rtabmap::OdometryF2M::bundleModels_ [private]

Definition at line 80 of file OdometryF2M.h.

std::map<int, int> rtabmap::OdometryF2M::bundlePoseReferences_ [private]

Definition at line 81 of file OdometryF2M.h.

std::map<int, Transform> rtabmap::OdometryF2M::bundlePoses_ [private]

Definition at line 78 of file OdometryF2M.h.

int rtabmap::OdometryF2M::bundleSeq_ [private]

Definition at line 82 of file OdometryF2M.h.

std::map<int, std::map<int, cv::Point3f> > rtabmap::OdometryF2M::bundleWordReferences_ [private]

Definition at line 77 of file OdometryF2M.h.

float rtabmap::OdometryF2M::keyFrameThr_ [private]

Definition at line 61 of file OdometryF2M.h.

Signature* rtabmap::OdometryF2M::lastFrame_ [private]

Definition at line 73 of file OdometryF2M.h.

int rtabmap::OdometryF2M::lastFrameOldestNewId_ [private]

Definition at line 74 of file OdometryF2M.h.

Signature* rtabmap::OdometryF2M::map_ [private]

Definition at line 72 of file OdometryF2M.h.

int rtabmap::OdometryF2M::maximumMapSize_ [private]

Definition at line 60 of file OdometryF2M.h.

int rtabmap::OdometryF2M::maxNewFeatures_ [private]

Definition at line 63 of file OdometryF2M.h.

ParametersMap rtabmap::OdometryF2M::parameters_ [private]

Definition at line 84 of file OdometryF2M.h.

Registration* rtabmap::OdometryF2M::regPipeline_ [private]

Definition at line 71 of file OdometryF2M.h.

Optimizer* rtabmap::OdometryF2M::sba_ [private]

Definition at line 83 of file OdometryF2M.h.

float rtabmap::OdometryF2M::scanKeyFrameThr_ [private]

Definition at line 64 of file OdometryF2M.h.

int rtabmap::OdometryF2M::scanMaximumMapSize_ [private]

Definition at line 65 of file OdometryF2M.h.

std::vector<std::pair<pcl::PointCloud<pcl::PointNormal>::Ptr, pcl::IndicesPtr> > rtabmap::OdometryF2M::scansBuffer_ [private]

Definition at line 75 of file OdometryF2M.h.

float rtabmap::OdometryF2M::scanSubtractAngle_ [private]

Definition at line 67 of file OdometryF2M.h.

float rtabmap::OdometryF2M::scanSubtractRadius_ [private]

Definition at line 66 of file OdometryF2M.h.

int rtabmap::OdometryF2M::visKeyFrameThr_ [private]

Definition at line 62 of file OdometryF2M.h.

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

• OdometryF2M.h
• OdometryF2M.cpp