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 <pcl/point_cloud.h>
33 #include <pcl/point_types.h>
34 #include <pcl/pcl_base.h>
35 #include <rtabmap/core/Link.h>
36 
37 namespace rtabmap {
38 
39 class Signature;
40 class Registration;
41 class Optimizer;
42 
44 {
45 public:
47  virtual ~OdometryF2M();
48 
49  virtual void reset(const Transform & initialPose = Transform::getIdentity());
50  const Signature & getMap() const {return *map_;}
51  const Signature & getLastFrame() const {return *lastFrame_;}
52 
54 
55 private:
56  virtual Transform computeTransform(SensorData & data, const Transform & guess = Transform(), OdometryInfo * info = 0);
57 
58 private:
59  //Parameters
61  float keyFrameThr_;
70 
75  std::vector<std::pair<pcl::PointCloud<pcl::PointNormal>::Ptr, pcl::IndicesPtr> > scansBuffer_;
76 
77  std::map<int, std::map<int, cv::Point3f> > bundleWordReferences_; //<WordId, <FrameId, pt2D+depth>>
78  std::map<int, Transform> bundlePoses_;
79  std::multimap<int, Link> bundleLinks_;
80  std::map<int, CameraModel> bundleModels_;
81  std::map<int, int> bundlePoseReferences_;
85 };
86 
87 }
88 
89 #endif /* ODOMETRYF2M_H_ */
ParametersMap parameters_
Definition: OdometryF2M.h:84
virtual Odometry::Type getType()
Definition: OdometryF2M.h:53
Registration * regPipeline_
Definition: OdometryF2M.h:71
static Transform getIdentity()
Definition: Transform.cpp:364
Optimizer * sba_
Definition: OdometryF2M.h:83
std::map< std::string, std::string > ParametersMap
Definition: Parameters.h:41
const Signature & getLastFrame() const
Definition: OdometryF2M.h:51
#define RTABMAP_EXP
Definition: RtabmapExp.h:38
Signature * lastFrame_
Definition: OdometryF2M.h:73
std::map< int, int > bundlePoseReferences_
Definition: OdometryF2M.h:81
const Signature & getMap() const
Definition: OdometryF2M.h:50
std::vector< std::pair< pcl::PointCloud< pcl::PointNormal >::Ptr, pcl::IndicesPtr > > scansBuffer_
Definition: OdometryF2M.h:75
std::map< int, Transform > bundlePoses_
Definition: OdometryF2M.h:78
Signature * map_
Definition: OdometryF2M.h:72
std::multimap< int, Link > bundleLinks_
Definition: OdometryF2M.h:79
std::map< int, CameraModel > bundleModels_
Definition: OdometryF2M.h:80
std::map< int, std::map< int, cv::Point3f > > bundleWordReferences_
Definition: OdometryF2M.h:77


rtabmap
Author(s): Mathieu Labbe
autogenerated on Wed Jun 5 2019 22:41:32