OdometryF2M.h
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1 /*
2 Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
3 All rights reserved.
4 
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8  notice, this list of conditions and the following disclaimer.
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10  notice, this list of conditions and the following disclaimer in the
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27 
28 #ifndef ODOMETRYF2M_H_
29 #define ODOMETRYF2M_H_
30 
31 #include <rtabmap/core/Odometry.h>
32 #include <rtabmap/core/Optimizer.h>
33 #include <pcl/point_cloud.h>
34 #include <pcl/point_types.h>
35 #include <pcl/pcl_base.h>
36 #include <rtabmap/core/Link.h>
37 
38 namespace rtabmap {
39 
40 class Signature;
41 class Registration;
42 class Optimizer;
43 
45 {
46 public:
48  virtual ~OdometryF2M();
49 
50  virtual void reset(const Transform & initialPose = Transform::getIdentity());
51  const Signature & getMap() const {return *map_;}
52  const Signature & getLastFrame() const {return *lastFrame_;}
53  virtual bool canProcessIMU() const;
54 
56 
57 private:
58  virtual Transform computeTransform(SensorData & data, const Transform & guess = Transform(), OdometryInfo * info = 0);
59 
60 private:
61  //Parameters
63  float keyFrameThr_;
76 
81  std::vector<std::pair<pcl::PointCloud<pcl::PointXYZINormal>::Ptr, pcl::IndicesPtr> > scansBuffer_;
83 
84  std::map<int, std::map<int, FeatureBA> > bundleWordReferences_; //<WordId, <FrameId, pt2D+depth>>
85  std::map<int, Transform> bundlePoses_;
86  std::multimap<int, Link> bundleLinks_;
87  std::multimap<int, Link> bundleIMUOrientations_;
88  std::map<int, CameraModel> bundleModels_;
89  std::map<int, int> bundlePoseReferences_;
93 };
94 
95 }
96 
97 #endif /* ODOMETRYF2M_H_ */
ParametersMap parameters_
Definition: OdometryF2M.h:92
virtual Odometry::Type getType()
Definition: OdometryF2M.h:55
Registration * regPipeline_
Definition: OdometryF2M.h:77
std::vector< std::pair< pcl::PointCloud< pcl::PointXYZINormal >::Ptr, pcl::IndicesPtr > > scansBuffer_
Definition: OdometryF2M.h:81
static Transform getIdentity()
Definition: Transform.cpp:380
Optimizer * sba_
Definition: OdometryF2M.h:91
std::map< std::string, std::string > ParametersMap
Definition: Parameters.h:43
const Signature & getLastFrame() const
Definition: OdometryF2M.h:52
std::map< int, std::map< int, FeatureBA > > bundleWordReferences_
Definition: OdometryF2M.h:84
std::multimap< int, Link > bundleIMUOrientations_
Definition: OdometryF2M.h:87
#define RTABMAP_EXP
Definition: RtabmapExp.h:38
Signature * lastFrame_
Definition: OdometryF2M.h:79
std::map< int, int > bundlePoseReferences_
Definition: OdometryF2M.h:89
const Signature & getMap() const
Definition: OdometryF2M.h:51
std::map< int, Transform > bundlePoses_
Definition: OdometryF2M.h:85
Signature * map_
Definition: OdometryF2M.h:78
std::multimap< int, Link > bundleLinks_
Definition: OdometryF2M.h:86
std::map< int, CameraModel > bundleModels_
Definition: OdometryF2M.h:88


rtabmap
Author(s): Mathieu Labbe
autogenerated on Mon Dec 14 2020 03:34:59