rtabmap::OdometryF2M Class Reference

#include <OdometryF2M.h>

Inheritance diagram for rtabmap::OdometryF2M:

Public Member Functions
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
bool	imagesAlreadyRectified () const
bool	isInfoDataFilled () const
double	previousStamp () const
const Transform &	previousVelocityTransform () const
Transform	process (SensorData &data, OdometryInfo *info=0)
Transform	process (SensorData &data, const Transform &guess, OdometryInfo *info=0)
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 >	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, cv::Point3f > >	bundleWordReferences_
float	keyFrameThr_
Signature *	lastFrame_
int	lastFrameOldestNewId_
Signature *	map_
int	maximumMapSize_
int	maxNewFeatures_
ParametersMap	parameters_
Registration *	regPipeline_
Optimizer *	sba_
float	scanKeyFrameThr_
int	scanMaximumMapSize_
std::vector< std::pair< pcl::PointCloud< pcl::PointNormal >::Ptr, pcl::IndicesPtr > >	scansBuffer_
float	scanSubtractAngle_
float	scanSubtractRadius_
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 }
Static Public Member Functions inherited from rtabmap::Odometry
static Odometry *	create (const ParametersMap &parameters)
static Odometry *	create (Type &type, const ParametersMap &parameters=ParametersMap())
Protected Member Functions inherited from rtabmap::Odometry
	Odometry (const rtabmap::ParametersMap &parameters)

Detailed Description

Definition at line 43 of file OdometryF2M.h.

Constructor & Destructor Documentation

rtabmap::OdometryF2M::OdometryF2M

(

const rtabmap::ParametersMap &

parameters = rtabmap::ParametersMap()

)

Definition at line 59 of file OdometryF2M.cpp.

rtabmap::OdometryF2M::~OdometryF2M ( )

virtual

Definition at line 140 of file OdometryF2M.cpp.

Member Function Documentation

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

privatevirtual

Implements rtabmap::Odometry.

Definition at line 172 of file OdometryF2M.cpp.

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

inline

Definition at line 51 of file OdometryF2M.h.

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

inline

Definition at line 50 of file OdometryF2M.h.

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

inlinevirtual

Implements rtabmap::Odometry.

Definition at line 53 of file OdometryF2M.h.

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

virtual

Reimplemented from rtabmap::Odometry.

Definition at line 156 of file OdometryF2M.cpp.

Member Data Documentation

int rtabmap::OdometryF2M::bundleAdjustment_

private

Definition at line 68 of file OdometryF2M.h.

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

private

Definition at line 79 of file OdometryF2M.h.

int rtabmap::OdometryF2M::bundleMaxFrames_

private

Definition at line 69 of file OdometryF2M.h.

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

private

Definition at line 80 of file OdometryF2M.h.

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

private

Definition at line 81 of file OdometryF2M.h.

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

private

Definition at line 78 of file OdometryF2M.h.

int rtabmap::OdometryF2M::bundleSeq_

private

Definition at line 82 of file OdometryF2M.h.

std::map<int, std::map<int, cv::Point3f> > rtabmap::OdometryF2M::bundleWordReferences_

private

Definition at line 77 of file OdometryF2M.h.

float rtabmap::OdometryF2M::keyFrameThr_

private

Definition at line 61 of file OdometryF2M.h.

Signature* rtabmap::OdometryF2M::lastFrame_

private

Definition at line 73 of file OdometryF2M.h.

int rtabmap::OdometryF2M::lastFrameOldestNewId_

private

Definition at line 74 of file OdometryF2M.h.

Signature* rtabmap::OdometryF2M::map_

private

Definition at line 72 of file OdometryF2M.h.

int rtabmap::OdometryF2M::maximumMapSize_

private

Definition at line 60 of file OdometryF2M.h.

int rtabmap::OdometryF2M::maxNewFeatures_

private

Definition at line 63 of file OdometryF2M.h.

ParametersMap rtabmap::OdometryF2M::parameters_

private

Definition at line 84 of file OdometryF2M.h.

Registration* rtabmap::OdometryF2M::regPipeline_

private

Definition at line 71 of file OdometryF2M.h.

Optimizer* rtabmap::OdometryF2M::sba_

private

Definition at line 83 of file OdometryF2M.h.

float rtabmap::OdometryF2M::scanKeyFrameThr_

private

Definition at line 64 of file OdometryF2M.h.

int rtabmap::OdometryF2M::scanMaximumMapSize_

private

Definition at line 65 of file OdometryF2M.h.

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

private

Definition at line 75 of file OdometryF2M.h.

float rtabmap::OdometryF2M::scanSubtractAngle_

private

Definition at line 67 of file OdometryF2M.h.

float rtabmap::OdometryF2M::scanSubtractRadius_

private

Definition at line 66 of file OdometryF2M.h.

int rtabmap::OdometryF2M::visKeyFrameThr_

private

Definition at line 62 of file OdometryF2M.h.

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

• OdometryF2M.h
• OdometryF2M.cpp