rtabmap::OdometryMono Class Reference

#include <OdometryMono.h>

Inheritance diagram for rtabmap::OdometryMono:

Public Member Functions
	OdometryMono (const rtabmap::ParametersMap &parameters=rtabmap::ParametersMap())
virtual void	reset (const Transform &initialPose)
virtual	~OdometryMono ()
Public Member Functions inherited from rtabmap::Odometry
virtual bool	canProcessRawImages () const
unsigned int	framesProcessed () const
const Transform &	getPose () const
virtual Odometry::Type	getType ()=0
bool	imagesAlreadyRectified () const
bool	isInfoDataFilled () const
double	previousStamp () const
const Transform &	previousVelocityTransform () const
Transform	process (SensorData &data, OdometryInfo *info=0)
Transform	process (SensorData &data, const Transform &guess, OdometryInfo *info=0)
virtual	~Odometry ()

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_

Additional Inherited Members
Public Types inherited from rtabmap::Odometry
enum	Type {   kTypeUndef = -1, kTypeF2M = 0, kTypeF2F = 1, kTypeFovis = 2,   kTypeViso2 = 3, kTypeDVO = 4, kTypeORBSLAM2 = 5, kTypeOkvis = 6,   kTypeLOAM = 7, kTypeMSCKF = 8 }
Static Public Member Functions inherited from rtabmap::Odometry
static Odometry *	create (const ParametersMap &parameters)
static Odometry *	create (Type &type, const ParametersMap &parameters=ParametersMap())
Protected Member Functions inherited from rtabmap::Odometry
	Odometry (const rtabmap::ParametersMap &parameters)

Detailed Description

Definition at line 38 of file OdometryMono.h.

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.

Member Function Documentation

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

privatevirtual

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.

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