#include <Odometry.h>
Inheritance diagram for rtabmap::OdometryICP:
Public Member Functions | |
| OdometryICP (int decimation=4, float voxelSize=0.005f, int samples=0, float maxCorrespondenceDistance=0.05f, int maxIterations=30, float correspondenceRatio=0.7f, bool pointToPlane=true, const ParametersMap &odometryParameter=rtabmap::ParametersMap()) | |
| virtual void | reset (const Transform &initialPose=Transform::getIdentity()) |
Private Member Functions | |
| virtual Transform | computeTransform (const SensorData &image, OdometryInfo *info=0) |
Private Attributes | |
| float | _correspondenceRatio |
| int | _decimation |
| float | _maxCorrespondenceDistance |
| int | _maxIterations |
| bool | _pointToPlane |
| pcl::PointCloud< pcl::PointXYZ > ::Ptr | _previousCloud |
| pcl::PointCloud < pcl::PointNormal >::Ptr | _previousCloudNormal |
| float | _samples |
| float | _voxelSize |
Detailed Description
Definition at line 186 of file Odometry.h.
Constructor & Destructor Documentation
| rtabmap::OdometryICP::OdometryICP | ( | int | decimation = 4, |
| float | voxelSize = 0.005f, |
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| int | samples = 0, |
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| float | maxCorrespondenceDistance = 0.05f, |
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| int | maxIterations = 30, |
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| float | correspondenceRatio = 0.7f, |
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| bool | pointToPlane = true, |
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| const ParametersMap & | odometryParameter = rtabmap::ParametersMap() |
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| ) |
Definition at line 36 of file OdometryICP.cpp.
Member Function Documentation
| Transform rtabmap::OdometryICP::computeTransform | ( | const SensorData & | image, |
| OdometryInfo * | info = 0 |
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| ) | [private, virtual] |
Implements rtabmap::Odometry.
Definition at line 65 of file OdometryICP.cpp.
| void rtabmap::OdometryICP::reset | ( | const Transform & | initialPose = Transform::getIdentity() | ) | [virtual] |
Reimplemented from rtabmap::Odometry.
Definition at line 57 of file OdometryICP.cpp.
Member Data Documentation
float rtabmap::OdometryICP::_correspondenceRatio [private] |
Definition at line 208 of file Odometry.h.
int rtabmap::OdometryICP::_decimation [private] |
Definition at line 203 of file Odometry.h.
float rtabmap::OdometryICP::_maxCorrespondenceDistance [private] |
Definition at line 206 of file Odometry.h.
int rtabmap::OdometryICP::_maxIterations [private] |
Definition at line 207 of file Odometry.h.
bool rtabmap::OdometryICP::_pointToPlane [private] |
Definition at line 209 of file Odometry.h.
pcl::PointCloud<pcl::PointXYZ>::Ptr rtabmap::OdometryICP::_previousCloud [private] |
Definition at line 212 of file Odometry.h.
pcl::PointCloud<pcl::PointNormal>::Ptr rtabmap::OdometryICP::_previousCloudNormal [private] |
Definition at line 211 of file Odometry.h.
float rtabmap::OdometryICP::_samples [private] |
Definition at line 205 of file Odometry.h.
float rtabmap::OdometryICP::_voxelSize [private] |
Definition at line 204 of file Odometry.h.
The documentation for this class was generated from the following files: