rtabmap::OdometryMono Class Reference

#include <OdometryMono.h>

Inheritance diagram for rtabmap::OdometryMono:

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

Private Member Functions
virtual Transform	computeTransform (SensorData &data, const Transform &guess=Transform(), OdometryInfo *info=0)

Private Attributes
Feature2D *	feature2D_
std::map< int, cv::Point2f >	firstFrameGuessCorners_
double	flowEps_
int	flowIterations_
int	flowMaxLevel_
int	flowWinSize_
float	fundMatrixConfidence_
float	fundMatrixReprojError_
float	initMinFlow_
float	initMinTranslation_
int	iterations_
std::multimap< int, Link >	keyFrameLinks_
std::map< int, std::vector< CameraModel > >	keyFrameModels_
std::map< int, Transform >	keyFramePoses_
float	keyFrameThr_
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_

Additional Inherited Members
Public Types inherited from rtabmap::Odometry
enum	Type {   kTypeUndef = -1, kTypeF2M = 0, kTypeF2F = 1, kTypeFovis = 2,   kTypeViso2 = 3, kTypeDVO = 4, kTypeORBSLAM = 5, kTypeOkvis = 6,   kTypeLOAM = 7, kTypeMSCKF = 8, kTypeVINS = 9, kTypeOpenVINS = 10,   kTypeFLOAM = 11, kTypeOpen3D = 12 }
Static Public Member Functions inherited from rtabmap::Odometry
static Odometry *	create (const ParametersMap &parameters=ParametersMap())
static Odometry *	create (Type &type, const ParametersMap &parameters=ParametersMap())
Protected Member Functions inherited from rtabmap::Odometry
const std::map< double, Transform > &	imus () const
	Odometry (const rtabmap::ParametersMap &parameters)

Detailed Description

Definition at line 39 of file OdometryMono.h.

Constructor & Destructor Documentation

OdometryMono()

rtabmap::OdometryMono::OdometryMono

(

const rtabmap::ParametersMap &

parameters = rtabmap::ParametersMap()

)

Definition at line 52 of file OdometryMono.cpp.

~OdometryMono()

rtabmap::OdometryMono::~OdometryMono ( )

virtual

Definition at line 145 of file OdometryMono.cpp.

Member Function Documentation

computeTransform()

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

privatevirtual

Implements rtabmap::Odometry.

Definition at line 163 of file OdometryMono.cpp.

getType()

virtual Odometry::Type rtabmap::OdometryMono::getType ( )

inlinevirtual

Implements rtabmap::Odometry.

Definition at line 45 of file OdometryMono.h.

reset()

void rtabmap::OdometryMono::reset ( const Transform &  initialPose )

virtual

Reimplemented from rtabmap::Odometry.

Definition at line 151 of file OdometryMono.cpp.

Member Data Documentation

feature2D_

Feature2D* rtabmap::OdometryMono::feature2D_

private

Definition at line 61 of file OdometryMono.h.

firstFrameGuessCorners_

std::map<int, cv::Point2f> rtabmap::OdometryMono::firstFrameGuessCorners_

private

Definition at line 71 of file OdometryMono.h.

flowEps_

double rtabmap::OdometryMono::flowEps_

private

Definition at line 53 of file OdometryMono.h.

flowIterations_

int rtabmap::OdometryMono::flowIterations_

private

Definition at line 52 of file OdometryMono.h.

flowMaxLevel_

int rtabmap::OdometryMono::flowMaxLevel_

private

Definition at line 54 of file OdometryMono.h.

flowWinSize_

int rtabmap::OdometryMono::flowWinSize_

private

Definition at line 51 of file OdometryMono.h.

fundMatrixConfidence_

float rtabmap::OdometryMono::fundMatrixConfidence_

private

Definition at line 69 of file OdometryMono.h.

fundMatrixReprojError_

float rtabmap::OdometryMono::fundMatrixReprojError_

private

Definition at line 68 of file OdometryMono.h.

initMinFlow_

float rtabmap::OdometryMono::initMinFlow_

private

Definition at line 65 of file OdometryMono.h.

initMinTranslation_

float rtabmap::OdometryMono::initMinTranslation_

private

Definition at line 66 of file OdometryMono.h.

iterations_

int rtabmap::OdometryMono::iterations_

private

Definition at line 56 of file OdometryMono.h.

keyFrameLinks_

std::multimap<int, Link> rtabmap::OdometryMono::keyFrameLinks_

private

Definition at line 75 of file OdometryMono.h.

keyFrameModels_

std::map<int, std::vector<CameraModel> > rtabmap::OdometryMono::keyFrameModels_

private

Definition at line 76 of file OdometryMono.h.

keyFramePoses_

std::map<int, Transform> rtabmap::OdometryMono::keyFramePoses_

private

Definition at line 74 of file OdometryMono.h.

keyFrameThr_

float rtabmap::OdometryMono::keyFrameThr_

private

Definition at line 78 of file OdometryMono.h.

keyFrameWords3D_

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

private

Definition at line 73 of file OdometryMono.h.

localHistoryMaxSize_

int rtabmap::OdometryMono::localHistoryMaxSize_

private

Definition at line 64 of file OdometryMono.h.

localMap_

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

private

Definition at line 72 of file OdometryMono.h.

maxVariance_

float rtabmap::OdometryMono::maxVariance_

private

Definition at line 77 of file OdometryMono.h.

memory_

Memory* rtabmap::OdometryMono::memory_

private

Definition at line 63 of file OdometryMono.h.

minInliers_

int rtabmap::OdometryMono::minInliers_

private

Definition at line 55 of file OdometryMono.h.

minTranslation_

float rtabmap::OdometryMono::minTranslation_

private

Definition at line 67 of file OdometryMono.h.

pnpFlags_

int rtabmap::OdometryMono::pnpFlags_

private

Definition at line 58 of file OdometryMono.h.

pnpRefineIterations_

int rtabmap::OdometryMono::pnpRefineIterations_

private

Definition at line 59 of file OdometryMono.h.

pnpReprojError_

double rtabmap::OdometryMono::pnpReprojError_

private

Definition at line 57 of file OdometryMono.h.

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

• OdometryMono.h
• OdometryMono.cpp