rtabmap::OdometryMono Class Reference

#include <OdometryMono.h>

Inheritance diagram for rtabmap::OdometryMono:

List of all members.

Public Member Functions
	OdometryMono (const rtabmap::ParametersMap &parameters=rtabmap::ParametersMap())
virtual void	reset (const Transform &initialPose)
virtual	~OdometryMono ()
Private Member Functions
virtual Transform	computeTransform (SensorData &data, const Transform &guess=Transform(), OdometryInfo *info=0)
Private Attributes
std::map< int, cv::Point2f >	cornersMap_
double	flowEps_
int	flowIterations_
int	flowMaxLevel_
int	flowWinSize_
float	fundMatrixConfidence_
float	fundMatrixReprojError_
float	initMinFlow_
float	initMinTranslation_
int	iterations_
std::map< int, Transform >	keyFramePoses_
std::map< int, std::map< int, cv::Point3f > >	keyFrameWords3D_
int	localHistoryMaxSize_
std::map< int, cv::Point3f >	localMap_
float	maxVariance_
Memory *	memory_
int	minInliers_
float	minTranslation_
int	pnpFlags_
int	pnpRefineIterations_
double	pnpReprojError_
cv::Mat	refDepthOrRight_
Stereo *	stereo_

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Detailed Description

Definition at line 38 of file OdometryMono.h.

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Constructor & Destructor Documentation

rtabmap::OdometryMono::OdometryMono

(

const rtabmap::ParametersMap &

parameters = rtabmap::ParametersMap()

)

Definition at line 51 of file OdometryMono.cpp.

rtabmap::OdometryMono::~OdometryMono

(

)

[virtual]

Definition at line 156 of file OdometryMono.cpp.

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Member Function Documentation

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

Implements rtabmap::Odometry.

Definition at line 173 of file OdometryMono.cpp.

void rtabmap::OdometryMono::reset

(

const Transform &

initialPose

)

[virtual]

Reimplemented from rtabmap::Odometry.

Definition at line 162 of file OdometryMono.cpp.

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Member Data Documentation

std::map<int, cv::Point2f> rtabmap::OdometryMono::cornersMap_ [private]

Definition at line 70 of file OdometryMono.h.

double rtabmap::OdometryMono::flowEps_ [private]

Definition at line 51 of file OdometryMono.h.

int rtabmap::OdometryMono::flowIterations_ [private]

Definition at line 50 of file OdometryMono.h.

int rtabmap::OdometryMono::flowMaxLevel_ [private]

Definition at line 52 of file OdometryMono.h.

int rtabmap::OdometryMono::flowWinSize_ [private]

Definition at line 49 of file OdometryMono.h.

float rtabmap::OdometryMono::fundMatrixConfidence_ [private]

Definition at line 67 of file OdometryMono.h.

float rtabmap::OdometryMono::fundMatrixReprojError_ [private]

Definition at line 66 of file OdometryMono.h.

float rtabmap::OdometryMono::initMinFlow_ [private]

Definition at line 63 of file OdometryMono.h.

float rtabmap::OdometryMono::initMinTranslation_ [private]

Definition at line 64 of file OdometryMono.h.

int rtabmap::OdometryMono::iterations_ [private]

Definition at line 54 of file OdometryMono.h.

std::map<int, Transform> rtabmap::OdometryMono::keyFramePoses_ [private]

Definition at line 73 of file OdometryMono.h.

std::map<int, std::map<int, cv::Point3f> > rtabmap::OdometryMono::keyFrameWords3D_ [private]

Definition at line 72 of file OdometryMono.h.

int rtabmap::OdometryMono::localHistoryMaxSize_ [private]

Definition at line 62 of file OdometryMono.h.

std::map<int, cv::Point3f> rtabmap::OdometryMono::localMap_ [private]

Definition at line 71 of file OdometryMono.h.

float rtabmap::OdometryMono::maxVariance_ [private]

Definition at line 74 of file OdometryMono.h.

Memory* rtabmap::OdometryMono::memory_ [private]

Definition at line 61 of file OdometryMono.h.

int rtabmap::OdometryMono::minInliers_ [private]

Definition at line 53 of file OdometryMono.h.

float rtabmap::OdometryMono::minTranslation_ [private]

Definition at line 65 of file OdometryMono.h.

int rtabmap::OdometryMono::pnpFlags_ [private]

Definition at line 56 of file OdometryMono.h.

int rtabmap::OdometryMono::pnpRefineIterations_ [private]

Definition at line 57 of file OdometryMono.h.

double rtabmap::OdometryMono::pnpReprojError_ [private]

Definition at line 55 of file OdometryMono.h.

cv::Mat rtabmap::OdometryMono::refDepthOrRight_ [private]

Definition at line 69 of file OdometryMono.h.

Stereo* rtabmap::OdometryMono::stereo_ [private]

Definition at line 59 of file OdometryMono.h.

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

• OdometryMono.h
• OdometryMono.cpp