rtabmap::OdometryF2M Class Reference

#include <OdometryF2M.h>

Inheritance diagram for rtabmap::OdometryF2M:

Public Member Functions
virtual bool	canProcessIMU () const
const Signature &	getLastFrame () const
const Signature &	getMap () const
virtual Odometry::Type	getType ()
	OdometryF2M (const rtabmap::ParametersMap &parameters=rtabmap::ParametersMap())
virtual void	reset (const Transform &initialPose=Transform::getIdentity())
virtual	~OdometryF2M ()
Public Member Functions inherited from rtabmap::Odometry
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
Transform	process (SensorData &data, OdometryInfo *info=0)
Transform	process (SensorData &data, const Transform &guess, OdometryInfo *info=0)
	RTABMAP_DEPRECATED (const Transform &previousVelocityTransform() const,"Use getVelocityGuess() instead.")
virtual	~Odometry ()

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

Private Attributes
int	bundleAdjustment_
std::multimap< int, Link >	bundleIMUOrientations_
std::multimap< int, Link >	bundleLinks_
int	bundleMaxFrames_
std::map< int, CameraModel >	bundleModels_
std::map< int, int >	bundlePoseReferences_
std::map< int, Transform >	bundlePoses_
int	bundleSeq_
std::map< int, std::map< int, FeatureBA > >	bundleWordReferences_
bool	initGravity_
float	keyFrameThr_
Signature *	lastFrame_
int	lastFrameOldestNewId_
Signature *	map_
int	maximumMapSize_
int	maxNewFeatures_
ParametersMap	parameters_
int	pointToPlaneK_
float	pointToPlaneRadius_
Registration *	regPipeline_
Optimizer *	sba_
float	scanKeyFrameThr_
float	scanMapMaxRange_
int	scanMaximumMapSize_
std::vector< std::pair< pcl::PointCloud< pcl::PointXYZINormal >::Ptr, pcl::IndicesPtr > >	scansBuffer_
float	scanSubtractAngle_
float	scanSubtractRadius_
float	validDepthRatio_
int	visKeyFrameThr_

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, kTypeVINS = 9 }
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 44 of file OdometryF2M.h.

Constructor & Destructor Documentation

rtabmap::OdometryF2M::OdometryF2M

(

const rtabmap::ParametersMap &

parameters = rtabmap::ParametersMap()

)

Definition at line 57 of file OdometryF2M.cpp.

rtabmap::OdometryF2M::~OdometryF2M ( )

virtual

Definition at line 171 of file OdometryF2M.cpp.

Member Function Documentation

bool rtabmap::OdometryF2M::canProcessIMU ( ) const

virtual

Reimplemented from rtabmap::Odometry.

Definition at line 202 of file OdometryF2M.cpp.

Transform rtabmap::OdometryF2M::computeTransform ( SensorData &  data, const Transform &  guess = Transform(), OdometryInfo *  info = 0  )

privatevirtual

Implements rtabmap::Odometry.

Definition at line 208 of file OdometryF2M.cpp.

const Signature& rtabmap::OdometryF2M::getLastFrame ( ) const

inline

Definition at line 52 of file OdometryF2M.h.

const Signature& rtabmap::OdometryF2M::getMap ( ) const

inline

Definition at line 51 of file OdometryF2M.h.

virtual Odometry::Type rtabmap::OdometryF2M::getType ( )

inlinevirtual

Implements rtabmap::Odometry.

Definition at line 55 of file OdometryF2M.h.

void rtabmap::OdometryF2M::reset ( const Transform &  initialPose = Transform::getIdentity() )

virtual

Reimplemented from rtabmap::Odometry.

Definition at line 181 of file OdometryF2M.cpp.

Member Data Documentation

int rtabmap::OdometryF2M::bundleAdjustment_

private

Definition at line 71 of file OdometryF2M.h.

std::multimap<int, Link> rtabmap::OdometryF2M::bundleIMUOrientations_

private

Definition at line 87 of file OdometryF2M.h.

std::multimap<int, Link> rtabmap::OdometryF2M::bundleLinks_

private

Definition at line 86 of file OdometryF2M.h.

int rtabmap::OdometryF2M::bundleMaxFrames_

private

Definition at line 72 of file OdometryF2M.h.

std::map<int, CameraModel> rtabmap::OdometryF2M::bundleModels_

private

Definition at line 88 of file OdometryF2M.h.

std::map<int, int> rtabmap::OdometryF2M::bundlePoseReferences_

private

Definition at line 89 of file OdometryF2M.h.

std::map<int, Transform> rtabmap::OdometryF2M::bundlePoses_

private

Definition at line 85 of file OdometryF2M.h.

int rtabmap::OdometryF2M::bundleSeq_

private

Definition at line 90 of file OdometryF2M.h.

std::map<int, std::map<int, FeatureBA> > rtabmap::OdometryF2M::bundleWordReferences_

private

Definition at line 84 of file OdometryF2M.h.

bool rtabmap::OdometryF2M::initGravity_

private

Definition at line 82 of file OdometryF2M.h.

float rtabmap::OdometryF2M::keyFrameThr_

private

Definition at line 63 of file OdometryF2M.h.

Signature* rtabmap::OdometryF2M::lastFrame_

private

Definition at line 79 of file OdometryF2M.h.

int rtabmap::OdometryF2M::lastFrameOldestNewId_

private

Definition at line 80 of file OdometryF2M.h.

Signature* rtabmap::OdometryF2M::map_

private

Definition at line 78 of file OdometryF2M.h.

int rtabmap::OdometryF2M::maximumMapSize_

private

Definition at line 62 of file OdometryF2M.h.

int rtabmap::OdometryF2M::maxNewFeatures_

private

Definition at line 65 of file OdometryF2M.h.

ParametersMap rtabmap::OdometryF2M::parameters_

private

Definition at line 92 of file OdometryF2M.h.

int rtabmap::OdometryF2M::pointToPlaneK_

private

Definition at line 74 of file OdometryF2M.h.

float rtabmap::OdometryF2M::pointToPlaneRadius_

private

Definition at line 75 of file OdometryF2M.h.

Registration* rtabmap::OdometryF2M::regPipeline_

private

Definition at line 77 of file OdometryF2M.h.

Optimizer* rtabmap::OdometryF2M::sba_

private

Definition at line 91 of file OdometryF2M.h.

float rtabmap::OdometryF2M::scanKeyFrameThr_

private

Definition at line 66 of file OdometryF2M.h.

float rtabmap::OdometryF2M::scanMapMaxRange_

private

Definition at line 70 of file OdometryF2M.h.

int rtabmap::OdometryF2M::scanMaximumMapSize_

private

Definition at line 67 of file OdometryF2M.h.

std::vector<std::pair<pcl::PointCloud<pcl::PointXYZINormal>::Ptr, pcl::IndicesPtr> > rtabmap::OdometryF2M::scansBuffer_

private

Definition at line 81 of file OdometryF2M.h.

float rtabmap::OdometryF2M::scanSubtractAngle_

private

Definition at line 69 of file OdometryF2M.h.

float rtabmap::OdometryF2M::scanSubtractRadius_

private

Definition at line 68 of file OdometryF2M.h.

float rtabmap::OdometryF2M::validDepthRatio_

private

Definition at line 73 of file OdometryF2M.h.

int rtabmap::OdometryF2M::visKeyFrameThr_

private

Definition at line 64 of file OdometryF2M.h.

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

• OdometryF2M.h
• OdometryF2M.cpp